Replaced most STL std::vector with btAlignedObjectArray.

Same interface but less features (push_back, pop_back, clear, size, [] etc).
To prepare for SIMD/SSE code: Added 		#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -261,7 +261,7 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
 	dispatchInfo.m_debugDraw = getDebugDrawer();
 
 	///perform collision detection
-	performDiscreteCollisionDetection(dispatchInfo);
+	performDiscreteCollisionDetection();
 
 	calculateSimulationIslands();
 

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -110,16 +110,17 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
 #endif //OBSOLETE_MOTIONSTATE_LESS
 
 
-#define EXPERIMENTAL_JITTER_REMOVAL 1
+//#define EXPERIMENTAL_JITTER_REMOVAL 1
 #ifdef EXPERIMENTAL_JITTER_REMOVAL
 //Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
 //doesn't work very well yet (value 0 disabled this damping)
 //note there this influences deactivation thresholds!
 float gClippedAngvelThresholdSqr = 0.01f;
 float	gClippedLinearThresholdSqr = 0.01f;
-float	gJitterVelocityDampingFactor = 1.f;
 #endif //EXPERIMENTAL_JITTER_REMOVAL
 
+float	gJitterVelocityDampingFactor = 1.f;
+
 void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) 
 {
 

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -46,13 +46,13 @@ int		btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, floa
 	///apply gravity, predict motion
 	predictUnconstraintMotion(timeStep);
 
-	btDispatcherInfo	dispatchInfo;
+	btDispatcherInfo&	dispatchInfo = getDispatchInfo();
 	dispatchInfo.m_timeStep = timeStep;
 	dispatchInfo.m_stepCount = 0;
 	dispatchInfo.m_debugDraw = getDebugDrawer();
 
 	///perform collision detection
-	performDiscreteCollisionDetection(dispatchInfo );
+	performDiscreteCollisionDetection();
 
 	///solve contact constraints
 	int numManifolds = m_dispatcher1->getNumManifolds();

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -128,11 +128,10 @@ void	btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT
 void btRaycastVehicle::resetSuspension()
 {
 
-	std::vector<btWheelInfo>::iterator wheelIt;
-	for (wheelIt = m_wheelInfo.begin();
-	!(wheelIt == m_wheelInfo.end());wheelIt++)
+	int i;
+	for (i=0;i<m_wheelInfo.size();	i++)
 	{
-			btWheelInfo& wheel = *wheelIt;
+			btWheelInfo& wheel = m_wheelInfo[i];
 			wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
 			wheel.m_suspensionRelativeVelocity = 0.0f;
 			
@@ -285,23 +284,21 @@ void btRaycastVehicle::updateVehicle( btScalar step )
 	//
 	// simulate suspension
 	//
-	std::vector<btWheelInfo>::iterator wheelIt;
+	
 	int i=0;
-	for (wheelIt = m_wheelInfo.begin();
-	!(wheelIt == m_wheelInfo.end());wheelIt++,i++)
+	for (i=0;i<m_wheelInfo.size();i++)
 	{
 		btScalar depth; 
-		depth = rayCast( *wheelIt );
+		depth = rayCast( m_wheelInfo[i]);
 	}
 
 	updateSuspension(step);
 
 	
-	for (wheelIt = m_wheelInfo.begin();
-	!(wheelIt == m_wheelInfo.end());wheelIt++)
+	for (i=0;i<m_wheelInfo.size();i++)
 	{
 		//apply suspension force
-		btWheelInfo& wheel = *wheelIt;
+		btWheelInfo& wheel = m_wheelInfo[i];
 		
 		float suspensionForce = wheel.m_wheelsSuspensionForce;
 		
@@ -322,10 +319,9 @@ void btRaycastVehicle::updateVehicle( btScalar step )
 	updateFriction( step);
 
 	
-	for (wheelIt = m_wheelInfo.begin();
-	!(wheelIt == m_wheelInfo.end());wheelIt++)
+	for (i=0;i<m_wheelInfo.size();i++)
 	{
-		btWheelInfo& wheel = *wheelIt;
+		btWheelInfo& wheel = m_wheelInfo[i];
 		btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
 		btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );
 

src/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -15,7 +15,7 @@
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
 #include "btVehicleRaycaster.h"
 class btDynamicsWorld;
-
+#include "LinearMath/btAlignedObjectArray.h"
 #include "btWheelInfo.h"
 
 class btVehicleTuning;
@@ -95,7 +95,7 @@ public:
 		return int (m_wheelInfo.size());
 	}
 	
-	std::vector<btWheelInfo>	m_wheelInfo;
+	btAlignedObjectArray<btWheelInfo>	m_wheelInfo;
 
 
 	const btWheelInfo&	getWheelInfo(int index) const;