Finally applied patch to removeChildShape from btCompoundShape

http://code.google.com/p/bullet/issues/detail?id=51
Thanks to Ola Røer Thorsen for the patch!

src/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -62,9 +62,53 @@ void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
 	}
 }
 
+void btCompoundShape::removeChildShape(btCollisionShape* shape)
+{
+   bool done_removing;
+   
+   // Find the children containing the shape specified, and remove those children.
+   do
+   {
+      done_removing = true;
+      
+      for(int i = 0; i < m_children.size(); i++)
+      {
+         if(m_children[i].m_childShape == shape)
+         {
+            m_children.remove(m_children[i]);
+            done_removing = false;  // Do another iteration pass after removing from the vector
+            break;
+         }
+      }
+   }
+   while (!done_removing);
+   
+   recalculateLocalAabb();
+}
 
-
-	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btCompoundShape::recalculateLocalAabb()
+{
+   // Recalculate the local aabb
+   // Brute force, it iterates over all the shapes left.
+   m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+   m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
+   
+   //extend the local aabbMin/aabbMax
+   for (int j = 0; j < m_children.size(); j++)
+   {
+      btVector3 localAabbMin,localAabbMax;
+      m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
+      for (int i=0;i<3;i++)
+      {
+         if (m_localAabbMin[i] > localAabbMin[i])
+             m_localAabbMin[i] = localAabbMin[i];
+         if (m_localAabbMax[i] < localAabbMax[i])
+             m_localAabbMax[i] = localAabbMax[i];
+      }
+   }
+}
+	
+   ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
 void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
 {
 	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);

src/BulletCollision/CollisionShapes/btCompoundShape.h

@@ -36,7 +36,15 @@ ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
 	int					m_childShapeType;
 	btScalar			m_childMargin;
 };
-	
+
+SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
+{
+   return  ( c1.m_transform      == c2.m_transform &&
+             c1.m_childShape     == c2.m_childShape &&
+             c1.m_childShapeType == c2.m_childShapeType &&
+             c1.m_childMargin    == c2.m_childMargin );
+}
+
 /// btCompoundShape allows to store multiple other btCollisionShapes
 /// This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape.
 ATTRIBUTE_ALIGNED16(class) btCompoundShape	: public btCollisionShape
@@ -58,6 +66,12 @@ public:
 
 	void	addChildShape(const btTransform& localTransform,btCollisionShape* shape);
 
+   /** Remove all children shapes that contain the specified shape. */
+	virtual void removeChildShape(btCollisionShape* shape);
+
+	  
+	
+
 	int		getNumChildShapes() const
 	{
 		return int (m_children.size());
@@ -88,8 +102,11 @@ public:
 	}
 
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
+	virtual	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	
+   /** Re-calculate the local Aabb. Is called at the end of removeChildShapes. 
+       Use this yourself if you modify the children or their transforms. */
+	virtual void recalculateLocalAabb(); 
 
 	virtual void	setLocalScaling(const btVector3& scaling)
 	{

src/LinearMath/btMatrix3x3.h

@@ -406,5 +406,11 @@ class btMatrix3x3 {
 }
 */
 
+SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
+{
+   return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
+            m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
+            m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] );
+}
 
 #endif

src/LinearMath/btTransform.h

@@ -188,8 +188,13 @@ btTransform::operator*(const btTransform& t) const
 {
 	return btTransform(m_basis * t.m_basis, 
 		(*this)(t.m_origin));
-}	
+}
 
+SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
+{
+   return ( t1.getBasis()  == t2.getBasis() &&
+            t1.getOrigin() == t2.getOrigin() );
+}
 
 
 #endif
@@ -198,3 +203,4 @@ btTransform::operator*(const btTransform& t) const
 
 
 
+