- 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

src/BulletCollision/BroadphaseCollision/btAxisSweep3.h

@@ -72,6 +72,7 @@ private:
 
 	Edge* m_pEdges[3];						// edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
 
+	int m_invalidPair;
 
 	// allocation/deallocation
 	unsigned short allocHandle();
@@ -80,6 +81,7 @@ private:
 
 	bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
 
+
 	//Overlap* AddOverlap(unsigned short handleA, unsigned short handleB);
 	//void RemoveOverlap(unsigned short handleA, unsigned short handleB);
 
@@ -96,7 +98,7 @@ public:
 
 	virtual void	refreshOverlappingPairs()
 	{
-		//this is replace by sweep and prune
+		//this is performed incrementally by sweep and prune (add pair), and during pair traversal (remove pair)
 	}
 	
 	unsigned short addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
@@ -104,11 +106,13 @@ public:
 	void updateHandle(unsigned short handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
 	inline Handle* getHandle(unsigned short index) const {return m_pHandles + index;}
 
+	void	processAllOverlappingPairs(btOverlapCallback* callback);
 
 	//Broadphase Interface
 	virtual btBroadphaseProxy*	createProxy(  const btVector3& min,  const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
 	virtual void	destroyProxy(btBroadphaseProxy* proxy);
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
+	bool testOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
 };