fix btSimpleBroadphase, it shouldn't store the allocated handles, they are simply in m_pHandles.

Thanks to Ole K. for reporting the issue:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2560

src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp

@@ -62,10 +62,8 @@ btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* o
 		{
 			m_pHandles[i].SetNextFree(i + 1);
 			m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
-			m_pHandles[i].SetNextAllocated(-1);
 		}
 		m_pHandles[maxProxies - 1].SetNextFree(0);
-		m_pHandles[maxProxies - 1].SetNextAllocated(-1);
 	
 	}
 
@@ -179,31 +177,29 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 	//first check for new overlapping pairs
 	int i,j;
 
-	if (m_firstAllocatedHandle >= 0)
+	if (m_numHandles >= 0)
 	{
 
-		btSimpleBroadphaseProxy* proxy0 = &m_pHandles[m_firstAllocatedHandle];
-
 		for (i=0;i<m_numHandles;i++)
 		{
-			btSimpleBroadphaseProxy* proxy1 = &m_pHandles[m_firstAllocatedHandle];
+			btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
 
-			for (j=0;j<m_numHandles;j++)
+			for (j=i+1;j<m_numHandles;j++)
 			{
+				btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
+				btAssert(proxy0 != proxy1);
 
-				if (proxy0 != proxy1)
+				btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
+				btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
+
+				if (aabbOverlap(p0,p1))
 				{
-					btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
+					if ( !m_pairCache->findPair(proxy0,proxy1))
-					btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
-
-					if (aabbOverlap(p0,p1))
-					{
-						if ( !m_pairCache->findPair(proxy0,proxy1))
-						{
-							m_pairCache->addOverlappingPair(proxy0,proxy1);
-						}
-					} else
 					{
+						m_pairCache->addOverlappingPair(proxy0,proxy1);
+					}
+				} else
+				{
 					if (!m_pairCache->hasDeferredRemoval())
 					{
 						if ( m_pairCache->findPair(proxy0,proxy1))
@@ -211,14 +207,8 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 							m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
 						}
 					}
-
-					}
 				}
-				proxy1 = &m_pHandles[proxy1->GetNextAllocated()];
-
 			}
-			proxy0 = &m_pHandles[proxy0->GetNextAllocated()];
-
 		}
 
 		if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
@@ -273,8 +263,8 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 				{
 					m_pairCache->cleanOverlappingPair(pair,dispatcher);
 
-			//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+					//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-			//		m_overlappingPairArray.pop_back();
+					//		m_overlappingPairArray.pop_back();
 					pair.m_pProxy0 = 0;
 					pair.m_pProxy1 = 0;
 					m_invalidPair++;
@@ -283,16 +273,16 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 
 			}
 
-		///if you don't like to skip the invalid pairs in the array, execute following code:
+			///if you don't like to skip the invalid pairs in the array, execute following code:
-		#define CLEAN_INVALID_PAIRS 1
+#define CLEAN_INVALID_PAIRS 1
-		#ifdef CLEAN_INVALID_PAIRS
+#ifdef CLEAN_INVALID_PAIRS
 
 			//perform a sort, to sort 'invalid' pairs to the end
 			overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
 
 			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
 			m_invalidPair = 0;
-		#endif//CLEAN_INVALID_PAIRS
+#endif//CLEAN_INVALID_PAIRS
 
 		}
 	}

src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h

@@ -25,7 +25,7 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 	btVector3	m_min;
 	btVector3	m_max;
 	int			m_nextFree;
-	int			m_nextAllocated;
+	
 //	int			m_handleId;
 
 	
@@ -42,8 +42,7 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 	SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
 	SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}
 
-	SIMD_FORCE_INLINE void SetNextAllocated(int next) {m_nextAllocated = next;}
+	
-	SIMD_FORCE_INLINE int GetNextAllocated() const {return m_nextAllocated;}
 
 
 };
@@ -57,22 +56,19 @@ protected:
 
 	int		m_numHandles;						// number of active handles
 	int		m_maxHandles;						// max number of handles
+	
 	btSimpleBroadphaseProxy* m_pHandles;						// handles pool
+
 	void* m_pHandlesRawPtr;
 	int		m_firstFreeHandle;		// free handles list
 	int		m_firstAllocatedHandle;
 
 	int allocHandle()
 	{
-
+		btAssert(m_firstFreeHandle);
 		int freeHandle = m_firstFreeHandle;
 		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
-		
-		m_pHandles[freeHandle].SetNextAllocated(m_firstAllocatedHandle);
-		m_firstAllocatedHandle = freeHandle;
-		
 		m_numHandles++;
-
 		return freeHandle;
 	}
 
@@ -84,13 +80,9 @@ protected:
 		proxy->SetNextFree(m_firstFreeHandle);
 		m_firstFreeHandle = handle;
 
-		m_firstAllocatedHandle = proxy->GetNextAllocated();
-		proxy->SetNextAllocated(-1);
-
 		m_numHandles--;
 	}
 
-
 	btOverlappingPairCache*	m_pairCache;
 	bool	m_ownsPairCache;