disable help text by default in AllBulletDemos (text slows down many graphics cards)

improve CollisionDemo.cpp, show multi-contact generation using perturbation
improve ColladaConverter: add hinge/point 2 point constraint conversion support, add btScaledTriangleMeshShape support
Fix Dynamica MayaPlygin: remove 'active' flag, it has to be replaced by mass=0 for active, mass<>0 for passive
Added missing projectfiles
Fixed single-shot contact generation. it is disabled by default to improve performance
Bugfixes for character controller, thanks to John McCutchan for reporting
Constraint solver: better default settings
btDefaultAllocator: aligned allocator uses non-aligned allocator (instead of directly malloc/free)
disable memalign by default, use Bullet's aligned allocator

src/LinearMath/btAlignedAllocator.cpp

@@ -19,6 +19,21 @@ int gNumAlignedAllocs = 0;
 int gNumAlignedFree = 0;
 int gTotalBytesAlignedAllocs = 0;//detect memory leaks
 
+static void *btAllocDefault(size_t size)
+{
+	return malloc(size);
+}
+
+static void btFreeDefault(void *ptr)
+{
+	free(ptr);
+}
+
+static btAllocFunc *sAllocFunc = btAllocDefault;
+static btFreeFunc *sFreeFunc = btFreeDefault;
+
+
+
 #if defined (BT_HAS_ALIGNED_ALLOCATOR)
 #include <malloc.h>
 static void *btAlignedAllocDefault(size_t size, int alignment)
@@ -49,7 +64,7 @@ static inline void *btAlignedAllocDefault(size_t size, int alignment)
   char *real;
   unsigned long offset;
 
-  real = (char *)malloc(size + sizeof(void *) + (alignment-1));
+  real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1));
   if (real) {
     offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1);
     ret = (void *)((real + sizeof(void *)) + offset);
@@ -66,25 +81,14 @@ static inline void btAlignedFreeDefault(void *ptr)
 
   if (ptr) {
     real = *((void **)(ptr)-1);
-    free(real);
+    sFreeFunc(real);
   }
 }
 #endif
 
-static void *btAllocDefault(size_t size)
-{
-	return malloc(size);
-}
-
-static void btFreeDefault(void *ptr)
-{
-	free(ptr);
-}
 
 static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault;
 static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault;
-static btAllocFunc *sAllocFunc = btAllocDefault;
-static btFreeFunc *sFreeFunc = btFreeDefault;
 
 void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc)
 {

src/LinearMath/btAlignedAllocator.h

@@ -49,8 +49,11 @@ typedef void (btAlignedFreeFunc)(void *memblock);
 typedef void *(btAllocFunc)(size_t size);
 typedef void (btFreeFunc)(void *memblock);
 
-void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc);
+///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom
 void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc);
+///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it.
+void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc);
+
 
 ///The btAlignedAllocator is a portable class for aligned memory allocations.
 ///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned.

src/LinearMath/btScalar.h

@@ -45,7 +45,7 @@ inline int	btGetVersion()
 			#define ATTRIBUTE_ALIGNED16(a) a
 			#define ATTRIBUTE_ALIGNED128(a) a
 		#else
-			#define BT_HAS_ALIGNED_ALLOCATOR
+			//#define BT_HAS_ALIGNED_ALLOCATOR
 			#pragma warning(disable : 4324) // disable padding warning
 //			#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
 //			#pragma warning(disable:4996) //Turn off warnings about deprecated C routines