- removed STL from the Bullet library: replace std::vector by btAlignedObjectArray. Also removed the std::set for overlapping pair set, and turned it into an overlapping pair array. The SAP only adds objects, never removed. Removal is postponed for during traversal of overlapping pairs (duplicates and non-overlapping pairs are removed during that traversal).

- added heap sort and binary search/linear search to btAlignedObjectArray
- fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015

Demos/BasicDemo/BasicDemo.cpp

@@ -117,8 +117,9 @@ void	BasicDemo::initPhysics()
 
 
 	m_dispatcher = new	btCollisionDispatcher(true);
-	
+//#define USE_SWEEP_AND_PRUNE 1
 #ifdef USE_SWEEP_AND_PRUNE
+#define maxProxies 8192
 	btVector3 worldAabbMin(-10000,-10000,-10000);
 	btVector3 worldAabbMax(10000,10000,10000);
 	m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);

Demos/BasicDemo/BasicDemo.h

@@ -17,7 +17,6 @@ subject to the following restrictions:
 
 #include "DemoApplication.h"
 
-#include <vector>
 
 class btCollisionShape;
 class btOverlappingPairCache;
@@ -30,7 +29,7 @@ class BasicDemo : public DemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup
-	std::vector<btCollisionShape*>	m_collisionShapes;
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
 
 	btOverlappingPairCache*	m_overlappingPairCache;
 

Demos/BspDemo/BspConverter.cpp

@@ -17,6 +17,9 @@ subject to the following restrictions:
 #include "BspLoader.h"
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btGeometryUtil.h"
+#include <stdio.h>
+#include <string.h>
+
 
 void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
 {

Demos/BspDemo/BspConverter.h

@@ -17,7 +17,6 @@ subject to the following restrictions:
 #define BSP_CONVERTER_H
 
 class BspLoader;
-#include <vector>
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btAlignedObjectArray.h"
 

Demos/BspDemo/BspDemo.cpp

@@ -195,9 +195,9 @@ void	BspDemo::initPhysics(char* bspfilename)
 void BspDemo::clientMoveAndDisplay()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
-
 	float dt = m_clock.getTimeMicroseconds() * 0.000001f;
 	m_clock.reset();
+
 	m_dynamicsWorld->stepSimulation(dt);
 
 	renderme();

Demos/BspDemo/BspLoader.cpp

@@ -22,6 +22,8 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
 
 #include "BspLoader.h"
+#include <stdio.h>
+#include <string.h>
 
 typedef struct
 {
@@ -45,6 +47,20 @@ bool tokenready;                     // only true if UnGetToken was just called
 
 int extrasize = 100;
 
+BspLoader::BspLoader()
+	:m_num_entities(0)
+{
+	m_Endianness = getMachineEndianness();
+	if (m_Endianness == BSP_BIG_ENDIAN)
+	{
+		printf("Machine is BIG_ENDIAN\n");
+	} else
+	{
+		printf("Machine is Little Endian\n");
+	}
+}
+
+
 bool	BspLoader::loadBSPFile( void* memoryBuffer) {
 	
 	BSPHeader	*header = (BSPHeader*) memoryBuffer;

Demos/BspDemo/BspLoader.h

@@ -25,6 +25,8 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 #ifndef BSP_LOADER_H
 #define BSP_LOADER_H
 
+#include "LinearMath/btAlignedObjectArray.h"
+
 #define	BSPMAXTOKEN	1024
 #define	BSPMAX_KEY				32
 #define	BSPMAX_VALUE			1024
@@ -49,7 +51,6 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 #define	HEADER_LUMPS		17
 #define	MAX_QPATH		64
 
-#include <vector>
 
 
 typedef struct {
@@ -172,18 +173,8 @@ class BspLoader
 
 	public:
 
-		BspLoader()
-			:m_num_entities(0)
-		{
-			m_Endianness = getMachineEndianness();
-			if (m_Endianness == BSP_BIG_ENDIAN)
-			{
-				printf("Machine is BIG_ENDIAN\n");
-			} else
-			{
-				printf("Machine is Little Endian\n");
-			}
-		}
+		BspLoader();
+
 		bool	loadBSPFile( void* memoryBuffer);
 
 		const char* getValueForKey( const BSPEntity *ent, const char *key ) const;
@@ -236,53 +227,53 @@ class BspLoader
 	
 	public: //easier for conversion
 		int			m_num_entities;
-		std::vector<BSPEntity>	m_entities;
+		btAlignedObjectArray<BSPEntity>	m_entities;
 		
 		int			m_nummodels;
-		std::vector<BSPModel>	m_dmodels;
+		btAlignedObjectArray<BSPModel>	m_dmodels;
 
 		int			m_numShaders;
-		std::vector<BSPShader>	m_dshaders;
+		btAlignedObjectArray<BSPShader>	m_dshaders;
 
 		int			m_entdatasize;
-		std::vector<char>		m_dentdata;
+		btAlignedObjectArray<char>		m_dentdata;
 
 		int			m_numleafs;
-		std::vector<BSPLeaf>		m_dleafs;
+		btAlignedObjectArray<BSPLeaf>		m_dleafs;
 
 		int			m_numplanes;
-		std::vector<BSPPlane>	m_dplanes;
+		btAlignedObjectArray<BSPPlane>	m_dplanes;
 
 		int			m_numnodes;
-		std::vector<BSPNode>		m_dnodes;
+		btAlignedObjectArray<BSPNode>		m_dnodes;
 
 		int			m_numleafsurfaces;
-		std::vector<int>			m_dleafsurfaces;
+		btAlignedObjectArray<int>			m_dleafsurfaces;
 
 		int			m_numleafbrushes;
-		std::vector<int>			m_dleafbrushes;
+		btAlignedObjectArray<int>			m_dleafbrushes;
 
 		int			m_numbrushes;
-		std::vector<BSPBrush>	m_dbrushes;
+		btAlignedObjectArray<BSPBrush>	m_dbrushes;
 
 		int			m_numbrushsides;
-		std::vector<BSPBrushSide>	m_dbrushsides;
+		btAlignedObjectArray<BSPBrushSide>	m_dbrushsides;
 
 		int			m_numLightBytes;
-		std::vector<unsigned char>		m_lightBytes;
+		btAlignedObjectArray<unsigned char>		m_lightBytes;
 
 		int			m_numGridPoints;
-		std::vector<unsigned char>		m_gridData;
+		btAlignedObjectArray<unsigned char>		m_gridData;
 
 		int			m_numVisBytes;
-		std::vector<unsigned char>		m_visBytes;
+		btAlignedObjectArray<unsigned char>		m_visBytes;
 
 		
 		int			m_numDrawIndexes;
-		std::vector<int>			m_drawIndexes;
+		btAlignedObjectArray<int>			m_drawIndexes;
 
 		int			m_numDrawSurfaces;
-		std::vector<BSPSurface>	m_drawSurfaces;
+		btAlignedObjectArray<BSPSurface>	m_drawSurfaces;
 
 		enum
 		{

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -203,6 +203,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
 
 #endif //USE_KINEMATIC_GROUND
 
+
 	float dt = m_clock.getTimeMicroseconds() * 0.000001f;
 	m_clock.reset();
 	printf("dt = %f: ",dt);

Demos/ColladaDemo/ColladaConverter.cpp

@@ -747,7 +747,10 @@ void	ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
 
 	}
 
+	if (startScale.length() < 0.001)
+		printf("invalid scale\n");
 
+	colShape->setLocalScaling(startScale);
 
 	btRigidBody* body= createRigidBody(isDynamics,mass,startTransform,colShape);
 	if (body)
@@ -881,7 +884,7 @@ bool ColladaConverter::saveAs(const char* filename)
 }
 
 //some code that de-mangles the windows filename passed in as argument
-char cleaned_filename[512];
+char cleaned_filename[513];
 char* getLastFileName()
 {
 	return cleaned_filename;
@@ -928,7 +931,7 @@ char* fixFileName(const char* lpCmdLine)
 		out++;
 	}
 	
-	cleaned_filename[i] = '\0'; 
+	cleaned_filename[i+1] = '\0'; 
 	return cleaned_filename;
 }
 

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -192,7 +192,6 @@ void ConcaveDemo::clientMoveAndDisplay()
 
 	float dt = m_clock.getTimeMicroseconds() * 0.000001f;
 	m_clock.reset();
-	
 	m_dynamicsWorld->stepSimulation(dt);
 	
 	renderme();

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -172,7 +172,6 @@ void ConstraintDemo::clientMoveAndDisplay()
 
  	float dt = float(m_clock.getTimeMicroseconds()) * 0.000001f;
 	m_clock.reset();
-
 	//printf("dt = %f: ",dt);
 	
  {

Demos/MovingConcaveDemo/ConcaveDemo.h

@@ -17,7 +17,7 @@ subject to the following restrictions:
 
 #include "DemoApplication.h"
 
-class btCollisionAlgorithmCreateFunc;
+struct btCollisionAlgorithmCreateFunc;
 
 ///ConcaveDemo shows usage of static concave triangle meshes
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback

Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp

@@ -1868,7 +1868,6 @@ void ConcaveDemo::clientMoveAndDisplay()
 
  	float dt = float(m_clock.getTimeMicroseconds()) * 0.000001f;
 	m_clock.reset();
-
 	m_dynamicsWorld->stepSimulation(dt);
 
 	renderme();

Demos/OpenGL/DemoApplication.cpp

@@ -900,13 +900,16 @@ void	DemoApplication::clientResetScene()
 	{
 		btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
 		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body && body->getMotionState())
+		if (body)
 		{
-			btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
-			myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
-			colObj->setWorldTransform( myMotionState->m_graphicsWorldTrans );
-			colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
-			colObj->activate();
+			if (body->getMotionState())
+			{
+				btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
+				myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
+				colObj->setWorldTransform( myMotionState->m_graphicsWorldTrans );
+				colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
+				colObj->activate();
+			}
 			//removed cached contact points
 			m_dynamicsWorld->getBroadphase()->cleanProxyFromPairs(colObj->getBroadphaseHandle());
 

Demos/OpenGL/DemoApplication.h

@@ -49,9 +49,8 @@ class DemoApplication
 {
 	
 	protected:
-		
 
-	hidden::Clock m_clock;
+	btClock m_clock;
 
 	///this is the most important class
 	btDynamicsWorld*		m_dynamicsWorld;

Demos/OpenGL/GLDebugDrawer.cpp

@@ -40,6 +40,11 @@ void	GLDebugDrawer::setDebugMode(int debugMode)
 
 }
 
+void	GLDebugDrawer::reportErrorWarning(const char* warningString)
+{
+	printf(warningString);
+}
+
 void	GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
 {
 	if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)

Demos/OpenGL/GLDebugDrawer.h

@@ -19,6 +19,8 @@ public:
 
 	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color);
 
+	virtual void	reportErrorWarning(const char* warningString);
+
 	virtual void	setDebugMode(int debugMode);
 
 	virtual int		getDebugMode() const { return m_debugMode;}

Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp

@@ -143,10 +143,8 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
 {
 	 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	
 	float dt = m_clock.getTimeMicroseconds() * 0.000001f;
 	m_clock.reset();
-	
 
 	m_dynamicsWorld->stepSimulation(dt);
 	

Demos/VehicleDemo/VehicleDemo.cpp

@@ -325,7 +325,6 @@ void VehicleDemo::clientMoveAndDisplay()
 
 	float dt = m_clock.getTimeMicroseconds() * 0.000001f;
 	m_clock.reset();
-		
 	if (m_dynamicsWorld)
 	{
 		//during idle mode, just run 1 simulation step maximum