prepare and added constraint solver optimizations, not activated yet.

src/LinearMath/btAlignedObjectArray.h

@@ -136,6 +136,17 @@ class btAlignedObjectArray
 		}
 	
 
+		SIMD_FORCE_INLINE	T&  expand()
+		{	
+			int sz = size();
+			if( sz == capacity() )
+			{
+				reserve( allocSize(size()) );
+			}
+			m_size++;
+
+			return m_data[sz];		
+		}
 
 		SIMD_FORCE_INLINE	void push_back(const T& _Val)
 		{	

src/LinearMath/btQuickprof.cpp

@@ -27,7 +27,7 @@ subject to the following restrictions:
 // Note: We must declare these private static variables again here to 
 // avoid link errors.
 bool btProfiler::mEnabled = false;
-hidden::Clock btProfiler::mClock;
+btClock btProfiler::mClock;
 unsigned long int btProfiler::mCurrentCycleStartMicroseconds = 0;
 unsigned long int btProfiler::mLastCycleDurationMicroseconds = 0;
 std::map<std::string, hidden::ProfileBlock*> btProfiler::mProfileBlocks;

src/LinearMath/btQuickprof.h

@@ -22,6 +22,12 @@ subject to the following restrictions:
 #ifndef QUICK_PROF_H
 #define QUICK_PROF_H
 
+#include "btScalar.h"
+
+//#define USE_QUICKPROF 1
+//Don't use quickprof for now, because it contains STL. TODO: replace STL by Bullet container classes.
+
+
 //if you don't need btClock, you can comment next line
 #define USE_BT_CLOCK 1
 
@@ -224,13 +230,10 @@ class btClock
 #endif //USE_BT_CLOCK
 
 
-//#define USE_QUICKPROF 1
-//Don't use quickprof for now, because it contains STL. TODO: replace STL by Bullet container classes.
-
 #ifdef USE_QUICKPROF
 
 
-//#include <iostream>
+#include <iostream>
 #include <fstream>
 #include <string>
 #include <map>
@@ -355,6 +358,7 @@ public:
 	/// Prints an error message to standard output.
 	inline static void printError(const std::string& msg)
 	{
+		//btAssert(0);
 		std::cout << "[QuickProf error] " << msg << std::endl;
 	}