Fixes for broadphase/paircache determinism.

Revert definition for ATTRIBUTE_ALIGNED16, and try to force sizeof(btSolverConstraint) by using unions with btScalar, for non-btScalar data types.
Use btAssert and not assert.
Don't access btAlignedObjectArray elements, for zero sets

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -52,7 +52,7 @@ btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisio
 		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
 		{
 			m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
-			assert(m_doubleDispatch[i][j]);
+			btAssert(m_doubleDispatch[i][j]);
 		}
 	}
 	
@@ -160,8 +160,8 @@ bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionOb
 
 bool	btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
 {
-	assert(body0);
-	assert(body1);
+	btAssert(body0);
+	btAssert(body1);
 
 	bool needsCollision = true;
 

src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -29,7 +29,7 @@ m_sharedManifold(ci.m_manifold)
 	m_ownsManifold = false;
 
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	assert (colObj->getCollisionShape()->isCompound());
+	btAssert (colObj->getCollisionShape()->isCompound());
 	
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 	m_compoundShapeRevision = compoundShape->getUpdateRevision();
@@ -41,7 +41,7 @@ void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject*
 {
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-	assert (colObj->getCollisionShape()->isCompound());
+	btAssert (colObj->getCollisionShape()->isCompound());
 	
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 
@@ -186,7 +186,7 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 
 	
 
-	assert (colObj->getCollisionShape()->isCompound());
+	btAssert (colObj->getCollisionShape()->isCompound());
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 
 	///btCompoundShape might have changed:
@@ -296,7 +296,7 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-	assert (colObj->getCollisionShape()->isCompound());
+	btAssert (colObj->getCollisionShape()->isCompound());
 	
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 

src/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -55,7 +55,7 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
 
 void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
 {
-	assert(m_manifoldPtr);
+	btAssert(m_manifoldPtr);
 	//order in manifold needs to match
 	
 	if (depth > m_manifoldPtr->getContactBreakingThreshold())

src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -43,10 +43,10 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
 {
 	
 	{
-		btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
-
+		
 		for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
 		{
+			btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
 			const btBroadphasePair& collisionPair = pairPtr[i];
 			btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
 			btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
@@ -185,7 +185,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 //				printf("error in island management\n");
 			}
 
-			assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+			btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 			if (colObj0->getIslandTag() == islandId)
 			{
 				if (colObj0->getActivationState()== ACTIVE_TAG)
@@ -212,7 +212,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 //					printf("error in island management\n");
 				}
 
-				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
@@ -233,7 +233,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 //					printf("error in island management\n");
 				}
 
-				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{

src/BulletCollision/CollisionDispatch/btUnionFind.cpp

@@ -14,8 +14,6 @@ subject to the following restrictions:
 */
 
 #include "btUnionFind.h"
-#include <assert.h>
-
 
 
 

src/BulletCollision/CollisionDispatch/btUnionFind.h

@@ -98,8 +98,8 @@ class btUnionFind
 
 		int find(int x)
 		{ 
-			//assert(x < m_N);
-			//assert(x >= 0);
+			//btAssert(x < m_N);
+			//btAssert(x >= 0);
 
 			while (x != m_elements[x].m_id) 
 			{
@@ -110,8 +110,8 @@ class btUnionFind
 				m_elements[x].m_id = m_elements[m_elements[x].m_id].m_id;
 		#endif //
 				x = m_elements[x].m_id;
-				//assert(x < m_N);
-				//assert(x >= 0);
+				//btAssert(x < m_N);
+				//btAssert(x >= 0);
 
 			}
 			return x;