- 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/LinearMath/btAlignedObjectArray.h

@@ -74,6 +74,8 @@ class btAlignedObjectArray
 			}
 		}
 
+	
+
 
 	public:
 		
@@ -172,6 +174,127 @@ class btAlignedObjectArray
 			}
 		}
 
+
+		class less
+		{
+			public:
+
+				bool operator() ( const T& a, const T& b )
+				{
+					return ( a < b );
+				}
+		};
+	
+
+		///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
+		template <typename L>
+		void downHeap(T *pArr, int k, int n,L CompareFunc)
+		{
+			/*  PRE: a[k+1..N] is a heap */
+			/* POST:  a[k..N]  is a heap */
+			
+			T temp = pArr[k - 1];
+			/* k has child(s) */
+			while (k <= n/2) 
+			{
+				int child = 2*k;
+				
+				if ((child < n) && CompareFunc(pArr[child - 1] , pArr[child]))
+				{
+					child++;
+				}
+				/* pick larger child */
+				if (CompareFunc(temp , pArr[child - 1]))
+				{
+					/* move child up */
+					pArr[k - 1] = pArr[child - 1];
+					k = child;
+				}
+				else
+				{
+					break;
+				}
+			}
+			pArr[k - 1] = temp;
+		} /*downHeap*/
+
+		void	swap(int index0,int index1)
+		{
+			T temp = m_data[index0];
+			m_data[index0] = m_data[index1];
+			m_data[index1] = temp;
+		}
+
+	template <typename L>
+	void heapSort(L CompareFunc)
+	{
+		/* sort a[0..N-1],  N.B. 0 to N-1 */
+		int k;
+		int n = m_size;
+		for (k = n/2; k > 0; k--) 
+		{
+			downHeap(m_data, k, n, CompareFunc);
+		}
+
+		/* a[1..N] is now a heap */
+		while ( n>=1 ) 
+		{
+			swap(0,n-1); /* largest of a[0..n-1] */
+
+
+			n = n - 1;
+			/* restore a[1..i-1] heap */
+			downHeap(m_data, 1, n, CompareFunc);
+		} 
+	}
+
+	///non-recursive binary search, assumes sorted array
+	int	findBinarySearch(const T& key) const
+	{
+		int first = 0;
+		int last = size();
+
+		//assume sorted array
+		while (first <= last) {
+			int mid = (first + last) / 2;  // compute mid point.
+			if (key > m_data[mid]) 
+				first = mid + 1;  // repeat search in top half.
+			else if (key < m_data[mid]) 
+				last = mid - 1; // repeat search in bottom half.
+			else
+				return mid;     // found it. return position /////
+		}
+		return size();    // failed to find key
+	}
+
+
+	int	findLinearSearch(const T& key) const
+	{
+		int index=size();
+		int i;
+
+		for (i=0;i<size();i++)
+		{
+			if (m_data[i] == key)
+			{
+				index = i;
+				break;
+			}
+		}
+		return index;
+	}
+
+	void	remove(const T& key)
+	{
+
+		int findIndex = findLinearSearch(key);
+		if (findIndex<size())
+		{
+			swap( findIndex,size()-1);
+			pop_back();
+		}
+	}
+
 };
 
 #endif //BT_OBJECT_ARRAY__