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/BulletDynamics/ConstraintSolver/btContactConstraint.cpp

@@ -22,7 +22,7 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 
-#define ASSERT2 assert
+#define ASSERT2 btAssert
 
 #define USE_INTERNAL_APPLY_IMPULSE 1
 
@@ -114,7 +114,7 @@ btScalar resolveSingleCollision(
 	btScalar Kcor = Kerp *Kfps;
 
 	btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
+	btAssert(cpd);
 	btScalar distance = cpd->m_penetration;
 	btScalar positionalError = Kcor *-distance;
 	btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;
@@ -166,7 +166,7 @@ btScalar resolveSingleFriction(
 	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
 	
 	btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
+	btAssert(cpd);
 
 	btScalar combinedFriction = cpd->m_friction;
 	
@@ -255,7 +255,7 @@ btScalar resolveSingleFrictionOriginal(
 	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
 	
 	btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
+	btAssert(cpd);
 
 	btScalar combinedFriction = cpd->m_friction;
 	
@@ -337,7 +337,7 @@ btScalar resolveSingleCollisionCombined(
 	btScalar Kcor = Kerp *Kfps;
 
 	btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
+	btAssert(cpd);
 	btScalar distance = cpd->m_penetration;
 	btScalar positionalError = Kcor *-distance;
 	btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -262,7 +262,6 @@ btSolverConstraint&	btSequentialImpulseConstraintSolver::addFrictionConstraint(c
 
 	solverConstraint.m_solverBodyIdA = solverBodyIdA;
 	solverConstraint.m_solverBodyIdB = solverBodyIdB;
-	solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D;
 	solverConstraint.m_frictionIndex = frictionIndex;
 
 	solverConstraint.m_friction = cp.m_combinedFriction;
@@ -465,6 +464,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 					info2.m_J2linearAxis = 0;
 					info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
 					info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
+					///the size of btSolverConstraint needs be a multiple of btScalar
+					btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
 					info2.m_constraintError = &currentConstraintRow->m_rhs;
 					info2.cfm = &currentConstraintRow->m_cfm;
 					info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
@@ -581,7 +582,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 							solverConstraint.m_solverBodyIdA = solverBodyIdA;
 							solverConstraint.m_solverBodyIdB = solverBodyIdB;
-							solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D;
 
 							solverConstraint.m_originalContactPoint = &cp;
 
@@ -945,6 +945,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
 /// btSequentialImpulseConstraintSolver Sequentially applies impulses
 btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
 {
+
+	
+
 	BT_PROFILE("solveGroup");
 	//we only implement SOLVER_CACHE_FRIENDLY now
 	//you need to provide at least some bodies

src/BulletDynamics/ConstraintSolver/btSolverBody.h

@@ -49,9 +49,10 @@ struct	btSimdScalar
 	}
 	union
 	{
-		__m128	m_vec128;
-		float	m_floats[4];
-		int		m_ints[4];
+		__m128		m_vec128;
+		float		m_floats[4];
+		int			m_ints[4];
+		btScalar	m_unusedPadding;
 	};
 	SIMD_FORCE_INLINE	__m128	get128()
 	{

src/BulletDynamics/ConstraintSolver/btSolverConstraint.h

@@ -37,22 +37,40 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverConstraint
 	//btVector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
 
 	btVector3		m_angularComponentA;
-	btVector3	m_angularComponentB;
+	btVector3		m_angularComponentB;
 	
 	mutable btSimdScalar	m_appliedPushImpulse;
 	mutable btSimdScalar	m_appliedImpulse;
 	
-	int			m_solverBodyIdA;
-	int			m_solverBodyIdB;
 	
 	btScalar	m_friction;
 	btScalar	m_restitution;
 	btScalar	m_jacDiagABInv;
 	btScalar	m_penetration;
-		
-	int			m_constraintType;
-	int			m_frictionIndex;
-	void*		m_originalContactPoint;
+
+
+	union
+	{
+		int			m_frictionIndex;
+		btScalar	m_unusedPadding1;
+	};
+	union
+	{
+		int			m_solverBodyIdA;
+		btScalar	m_unusedPadding2;
+	};
+	union
+	{
+		int			m_solverBodyIdB;
+		btScalar	m_unusedPadding3;
+	};
+	
+	union
+	{
+		void*		m_originalContactPoint;
+		btScalar	m_unusedPadding4;
+	};
+
 	btScalar		m_rhs;
 	btScalar		m_cfm;
 	btScalar		m_lowerLimit;

src/BulletDynamics/ConstraintSolver/btTypedConstraint.h

@@ -67,7 +67,7 @@ public:
 		int m_numConstraintRows,nub;
 	};
 
-	ATTRIBUTE_ALIGNED16(struct) btConstraintInfo2 {
+	struct btConstraintInfo2 {
 		// integrator parameters: frames per second (1/stepsize), default error
 		// reduction parameter (0..1).
 		btScalar fps,erp;