Fix issues with btSortedOverlappingPairCache, both for btAxisSweep3 and btDbvtBroadphase.

Demos/BspDemo/main.cpp

@@ -54,6 +54,6 @@ int main(int argc,char** argv)
 
 	
 
-	return glutmain(argc, argv,640,480,"Bullet Quake BSP Physics Viewer http://bullet.sourceforge.net",bspDemo);
+	return glutmain(argc, argv,640,480,"Bullet Quake BSP Physics Viewer http://bulletphysics.org",bspDemo);
 }
 

Demos/ColladaDemo/ColladaDemo.cpp

@@ -98,7 +98,7 @@ int main(int argc,char** argv)
 
 	colladaDemo->setCameraDistance(26.f);
 
-	return glutmain(argc, argv,640,480,"Bullet COLLADA Physics Viewer http://bullet.sourceforge.net",colladaDemo);
+	return glutmain(argc, argv,640,480,"Bullet COLLADA Physics Viewer http://bulletphysics.org",colladaDemo);
 }
 
 void	ColladaDemo::initPhysics(const char* filename)

Demos/OpenGL/DemoApplication.cpp

@@ -278,7 +278,7 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 	m_lastKey = 0;
 
 #ifndef BT_NO_PROFILE
-	if (key >= 0x31 && key < 0x37)
+	if (key >= 0x31 && key <= 0x39)
 	{
 		int child = key-0x31;
 		m_profileIterator->Enter_Child(child);
@@ -1248,6 +1248,7 @@ void DemoApplication::renderme()
 	updateCamera();
 
 }
+#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
 
 void	DemoApplication::clientResetScene()
 {
@@ -1290,6 +1291,8 @@ void	DemoApplication::clientResetScene()
 			}
 		}
 
+		btAxisSweep3* sap = (btAxisSweep3*)m_dynamicsWorld->getBroadphase();
+		sap->resetPool();
 		/*
 		//quickly search some issue at a certain simulation frame, pressing space to reset
 		int fixed=18;

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -229,8 +229,13 @@ class btBroadphasePairSortPredicate
 
 		bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
 		{
-			 return a.m_pProxy0->m_uniqueId > b.m_pProxy0->m_uniqueId || 
-				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1->m_uniqueId > b.m_pProxy1->m_uniqueId) ||
+			const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
+			const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
+			const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
+			const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
+
+			 return uidA0 > uidB0 || 
+				(a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
 				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
 		}
 };

src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

@@ -341,6 +341,73 @@ void							btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 		m_clock.reset();
 	}
 #endif
+
+	if (m_paircache->hasDeferredRemoval())
+	{
+	
+		btBroadphasePairArray&	overlappingPairArray = m_paircache->getOverlappingPairArray();
+
+		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
+		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+
+		int invalidPair = 0;
+
+		
+		int i;
+
+		btBroadphasePair previousPair;
+		previousPair.m_pProxy0 = 0;
+		previousPair.m_pProxy1 = 0;
+		previousPair.m_algorithm = 0;
+		
+		
+		for (i=0;i<overlappingPairArray.size();i++)
+		{
+		
+			btBroadphasePair& pair = overlappingPairArray[i];
+
+			bool isDuplicate = (pair == previousPair);
+
+			previousPair = pair;
+
+			bool needsRemoval = false;
+
+			if (!isDuplicate)
+			{
+				btDbvtProxy*		pa=(btDbvtProxy*)pair.m_pProxy0;
+				btDbvtProxy*		pb=(btDbvtProxy*)pair.m_pProxy1;
+				bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
+
+				if (hasOverlap)
+				{
+					needsRemoval = false;//callback->processOverlap(pair);
+				} else
+				{
+					needsRemoval = true;
+				}
+			} else
+			{
+				//remove duplicate
+				needsRemoval = true;
+				//should have no algorithm
+				btAssert(!pair.m_algorithm);
+			}
+			
+			if (needsRemoval)
+			{
+				m_paircache->cleanOverlappingPair(pair,dispatcher);
+
+				pair.m_pProxy0 = 0;
+				pair.m_pProxy1 = 0;
+				invalidPair++;
+			} 
+			
+		}
+
+		//perform a sort, to sort 'invalid' pairs to the end
+		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+		overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
+	}
 }
 
 //