Override btCollisionWorld::addCollisionObject with flags more appropriate for btDynamicsWorld (StaticFilter)

Minor fixes (#ifndef SPU_COLLISION_OBJECT_WRAPPER_H block etc)
Only update 'setNumTasks' when necessary
Revert vectormath.h include (can't resolve conflicts with PS3 SDK, need additional #include path)

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -88,6 +88,8 @@ btCollisionWorld::~btCollisionWorld()
 void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
 {
 
+	btAssert(collisionObject);
+
 	//check that the object isn't already added
 		btAssert( m_collisionObjects.findLinearSearch(collisionObject)  == m_collisionObjects.size());
 
@@ -705,7 +707,7 @@ struct btSingleRayCallback : public btBroadphaseRayCallback
 
 void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
 {
-	BT_PROFILE("rayTest");
+	//BT_PROFILE("rayTest");
 	/// use the broadphase to accelerate the search for objects, based on their aabb
 	/// and for each object with ray-aabb overlap, perform an exact ray test
 	btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);

src/BulletCollision/CollisionShapes/btTriangleShape.h

@@ -32,6 +32,11 @@ public:
 		return 3;
 	}
 
+	btVector3& getVertexPtr(int index)
+	{
+		return m_vertices1[index];
+	}
+
 	const btVector3& getVertexPtr(int index) const
 	{
 		return m_vertices1[index];
@@ -77,7 +82,10 @@ public:
 
 	}
 
-
+	btTriangleShape() : btPolyhedralConvexShape ()
+    {
+		m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
+	}
 
 	btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape ()
     {