- 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/CollisionDispatch/btCollisionDispatcher.cpp

@@ -25,7 +25,6 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include <algorithm>
 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
 
 int gNumManifold = 0;
@@ -135,20 +134,17 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 	gNumManifold--;
 
 	//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
-
 	clearManifold(manifold);
 
-	std::vector<btPersistentManifold*>::iterator i =
-		std::find(m_manifoldsPtr.begin(), m_manifoldsPtr.end(), manifold);
-	if (!(i == m_manifoldsPtr.end()))
+	///todo: this can be improved a lot, linear search might be slow part!
+	int findIndex = m_manifoldsPtr.findLinearSearch(manifold);
+	if (findIndex < m_manifoldsPtr.size())
 	{
-		std::swap(*i, m_manifoldsPtr.back());
+		m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1);
 		m_manifoldsPtr.pop_back();
 		delete manifold;
-
 	}
 	
-	
 }