fixed two recently introduced bugs, that cause crashes when removing objects.

one related to UnionFind optimization, the other to broadphase optimizations. Should do better unittesting next time!

Bullet/BroadphaseCollision/AxisSweep3.cpp

@@ -212,7 +212,10 @@ void AxisSweep3::RemoveHandle(unsigned short handle)
 {
 	Handle* pHandle = GetHandle(handle);
 
-	//RemoveOverlappingPairsContainingProxy(pHandle);
+	//explicitly remove the pairs containing the proxy
+	//we could do it also in the SortMinUp (passing true)
+	//todo: compare performance
+	RemoveOverlappingPairsContainingProxy(pHandle);
 
 
 	// compute current limit of edge arrays

Bullet/CollisionDispatch/UnionFind.cpp

@@ -26,29 +26,17 @@ UnionFind::~UnionFind()
 }
 
 UnionFind::UnionFind()
-:m_elements(0),
-m_N(0)
 { 
 
 }
 
 void	UnionFind::Allocate(int N)
 {
-	if (m_N < N)
-	{
-		//Free(); //not necessary with stl vectors
-
-		m_N = N;
-		m_elements.resize(N);// = new Element[N]; 
-	}
+	m_elements.resize(N);
 }
 void	UnionFind::Free()
 {
-	if (m_N)
-	{
-		m_N=0;
-		m_elements.clear();
-	}
+	m_elements.clear();
 }
 
 
@@ -56,7 +44,7 @@ void	UnionFind::reset(int N)
 {
 	Allocate(N);
 
-	for (int i = 0; i < m_N; i++) 
+	for (int i = 0; i < N; i++) 
 	{ 
 		m_elements[i].m_id = i; m_elements[i].m_sz = 1; 
 	} 

Bullet/CollisionDispatch/UnionFind.h

@@ -30,7 +30,6 @@ class UnionFind
   {
     private:
 		std::vector<Element>	m_elements;
-		int m_N;
 
     public:
 	  
@@ -46,7 +45,7 @@ class UnionFind
 
 	  inline int	getNumElements() const
 	  {
-		  return m_N;
+		  return m_elements.size();
 	  }
 	  inline bool  isRoot(int x) const
 	  {