more solver optimizations, can be disabled using solver->setSolverMode(SOLVER_RANDMIZE_ORDER)

src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp

@@ -252,6 +252,11 @@ void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle)
 
 extern int gOverlappingPairs;
 
+
+void	btAxisSweep3::refreshOverlappingPairs()
+{
+
+}
 void	btAxisSweep3::processAllOverlappingPairs(btOverlapCallback* callback)
 {
 
@@ -269,6 +274,8 @@ void	btAxisSweep3::processAllOverlappingPairs(btOverlapCallback* callback)
 	m_overlappingPairArray.resize(m_overlappingPairArray.size() - m_invalidPair);
 	m_invalidPair = 0;
 #endif
+
+	
 	int i;
 
 	btBroadphasePair previousPair;

src/BulletCollision/BroadphaseCollision/btAxisSweep3.h

@@ -112,10 +112,7 @@ public:
 	btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384);
 	virtual	~btAxisSweep3();
 
-	virtual void	refreshOverlappingPairs()
-	{
-		//this is performed incrementally by sweep and prune (add pair), and during pair traversal (remove pair)
-	}
+	virtual void	refreshOverlappingPairs();
 	
 	BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
 	void removeHandle(BP_FP_INT_TYPE handle);

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -119,7 +119,7 @@ void	btCollisionWorld::performDiscreteCollisionDetection()
 {
 	btDispatcherInfo& dispatchInfo = getDispatchInfo();
 
-	BEGIN_PROFILE("performDiscreteCollisionDetection");
+	BEGIN_PROFILE("perform Broadphase Collision Detection");
 
 
 	//update aabb (of all moved objects)
@@ -133,6 +133,11 @@ void	btCollisionWorld::performDiscreteCollisionDetection()
 
 	m_broadphasePairCache->refreshOverlappingPairs();
 
+	
+	END_PROFILE("perform Broadphase Collision Detection");
+
+	BEGIN_PROFILE("performDiscreteCollisionDetection");
+
 	btDispatcher* dispatcher = getDispatcher();
 	if (dispatcher)
 		dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache,dispatchInfo);