Fixed SIMD compilation issues under msvc 7

src/BulletCollision/BroadphaseCollision/btDbvt.h

@@ -61,8 +61,7 @@ subject to the following restrictions:
 
 // Specific methods implementation
 
-//SSE gives errors on a MSVC 7.1
-#if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400)
+#ifdef WIN32
 #define DBVT_SELECT_IMPL		DBVT_IMPL_SSE
 #define DBVT_MERGE_IMPL			DBVT_IMPL_SSE
 #define DBVT_INT0_IMPL			DBVT_IMPL_SSE
@@ -498,7 +497,8 @@ DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
 #if	DBVT_INT0_IMPL == DBVT_IMPL_SSE
 const __m128	rt(_mm_or_ps(	_mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
 								_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
-return((rt.m128_u32[0]|rt.m128_u32[1]|rt.m128_u32[2])==0);
+const __int32*	pu((const __int32*)&rt);
+return((pu[0]|pu[1]|pu[2])==0);
 #else
 return(	(a.mi.x()<=b.mx.x())&&
 		(a.mx.x()>=b.mi.x())&&

src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

@@ -91,6 +91,7 @@ value=zerodummy;
 struct	btDbvtTreeCollider : btDbvt::ICollide
 {
 btDbvtBroadphase*	pbp;
+btDbvtProxy*		proxy;
 		btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
 void	Process(const btDbvtNode* na,const btDbvtNode* nb)
 	{
@@ -105,6 +106,10 @@ void	Process(const btDbvtNode* na,const btDbvtNode* nb)
 		++pbp->m_newpairs;
 		}
 	}
+void	Process(const btDbvtNode* n)
+	{
+	Process(n,proxy->leaf);
+	}
 };
 
 //
@@ -116,7 +121,6 @@ btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
 {
 m_initialize		=	true;
 m_deferedcollide	=	true;
-m_predictedframes	=	2;
 m_needcleanup		=	true;
 m_releasepaircache	=	(paircache!=0)?false:true;
 m_prediction		=	1/(btScalar)2;
@@ -200,7 +204,6 @@ void							btDbvtBroadphase::setAabb(		btBroadphaseProxy* absproxy,
 {
 btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
 ATTRIBUTE_ALIGNED16(btDbvtVolume)	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
-
 #if DBVT_BP_PREVENTFALSEUPDATE
 if(NotEqual(aabb,proxy->leaf->volume))
 #endif
@@ -305,7 +308,9 @@ if(current)
 		btDbvtProxy*	next=current->links[1];
 		listremove(current,m_stageRoots[current->stage]);
 		listappend(current,m_stageRoots[STAGECOUNT]);
-		btDbvt::collideTT(m_sets[1].m_root,current->leaf,collider);
+		m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
+		collider.proxy=current;
+		btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
 		m_sets[0].remove(current->leaf);
 		current->leaf	=	m_sets[1].insert(current->aabb,current);
 		current->stage	=	STAGECOUNT;	

src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h

@@ -84,7 +84,6 @@ int						m_cid;						// Cleanup index
 int						m_gid;						// Gen id
 bool					m_releasepaircache;			// Release pair cache on delete
 bool					m_deferedcollide;			// Defere dynamic/static collision to collide call
-int						m_predictedframes;			// Nathanael?
 bool					m_needcleanup;				// Need to run cleanup?
 bool					m_initialize;				// Initialization
 #if DBVT_BP_PROFILE