diff --git a/data/multibody.bullet b/data/multibody.bullet
index 1074b55dc..31800308c 100644
Binary files a/data/multibody.bullet and b/data/multibody.bullet differ
diff --git a/examples/CommonInterfaces/CommonMultiBodyBase.h b/examples/CommonInterfaces/CommonMultiBodyBase.h
index 3219f8294..48130b2d1 100644
--- a/examples/CommonInterfaces/CommonMultiBodyBase.h
+++ b/examples/CommonInterfaces/CommonMultiBodyBase.h
@@ -63,7 +63,7 @@ struct CommonMultiBodyBase : public CommonExampleInterface
 		///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 		m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
 
-		m_broadphase = new btDbvtBroadphase();
+		m_broadphase = new btDbvtBroadphase();//btSimpleBroadphase();
 
 		m_solver = new btMultiBodyConstraintSolver;
 
@@ -97,6 +97,20 @@ struct CommonMultiBodyBase : public CommonExampleInterface
             {
                 m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
             }
+			
+			for (i = m_dynamicsWorld->getNumMultiBodyConstraints() - 1; i >= 0; i--)
+			{
+				btMultiBodyConstraint* mbc = m_dynamicsWorld->getMultiBodyConstraint(i);
+				m_dynamicsWorld->removeMultiBodyConstraint(mbc);
+				delete mbc;
+			}
+
+			for (i = m_dynamicsWorld->getNumMultibodies() - 1; i >= 0; i--)
+			{
+				btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
+				m_dynamicsWorld->removeMultiBody(mb);
+				delete mb;
+			}
 			for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
 			{
 				btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
diff --git a/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp b/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp
index 4cfcc8f10..7a87be819 100644
--- a/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp
+++ b/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp
@@ -21,6 +21,7 @@ void GraphingTexture::destroy()
 	m_height=0;
 	glDeleteTextures(1,(GLuint*)&m_textureId);
 	m_textureId=0;
+	
 }
 
 bool GraphingTexture::create(int texWidth, int texHeight)
diff --git a/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp b/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp
index d376246ec..597ff834d 100644
--- a/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp
+++ b/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp
@@ -44,7 +44,7 @@ public:
 	
   
 	CProfileIterator* profIter;
-	
+	class MyMenuItems* m_menuItems;
 	MyProfileWindow (	Gwen::Controls::Base* pParent)
     : Gwen::Controls::WindowControl( pParent ),
 	profIter(0)
@@ -83,6 +83,12 @@ public:
 		
 	}
 	
+	virtual ~MyProfileWindow()
+	{
+		
+		delete m_node;
+		delete m_ctrl;
+	}
 	
 	float	dumpRecursive(CProfileIterator* profileIterator, Gwen::Controls::TreeNode* parentNode)
 	{
@@ -266,11 +272,16 @@ public:
 MyProfileWindow* setupProfileWindow(GwenInternalData* data)
 {
 	MyMenuItems* menuItems = new MyMenuItems;
+	
 	MyProfileWindow* profWindow = new MyProfileWindow(data->pCanvas);
 	//profWindow->SetHidden(true);	
-	profWindow->profIter = CProfileManager::Get_Iterator();
+	
+	profWindow->m_menuItems = menuItems;
+	//profWindow->profIter = CProfileManager::Get_Iterator();
 	data->m_viewMenu->GetMenu()->AddItem( L"Profiler", menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::MenuItemSelect);
+	
 	menuItems->m_profWindow = profWindow;
+	
 	return profWindow;
 }
 
@@ -290,5 +301,6 @@ void profileWindowSetVisible(MyProfileWindow* window, bool visible)
 }
 void destroyProfileWindow(MyProfileWindow* window)
 {
+	CProfileManager::Release_Iterator(window->profIter);
 	delete window;
 }
diff --git a/examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h b/examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h
index ec0982571..3fc3bb4b4 100644
--- a/examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h
+++ b/examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h
@@ -45,7 +45,10 @@ struct GwenInternalData
 	Gwen::Controls::ListBox*		m_TextOutput;
 	Gwen::Controls::Label*		m_exampleInfoGroupBox;
 	Gwen::Controls::ListBox*			m_exampleInfoTextOutput;
-	
+	struct MyTestMenuBar*		m_menubar;
+	Gwen::Controls::StatusBar* m_bar;
+	Gwen::Controls::ScrollControl* m_windowRight;
+	Gwen::Controls::TabControl* m_tab;
 
 	int		m_curYposition;
 
diff --git a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
index a70d9268a..fcff13968 100644
--- a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
+++ b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
@@ -17,6 +17,83 @@ GwenUserInterface::GwenUserInterface()
 
 }
 
+class MyMenuItems : public Gwen::Controls::Base
+{
+public:
+
+	b3FileOpenCallback m_fileOpenCallback;
+	b3QuitCallback m_quitCallback;
+
+	MyMenuItems() :Gwen::Controls::Base(0), m_fileOpenCallback(0)
+	{
+	}
+	void myQuitApp(Gwen::Controls::Base* pControl)
+	{
+		if (m_quitCallback)
+		{
+			(*m_quitCallback)();
+		}
+	}
+	void fileOpen(Gwen::Controls::Base* pControl)
+	{
+		if (m_fileOpenCallback)
+		{
+			(*m_fileOpenCallback)();
+		}
+	}
+
+};
+
+
+
+struct MyTestMenuBar : public Gwen::Controls::MenuStrip
+{
+
+	Gwen::Controls::MenuItem* m_fileMenu;
+	Gwen::Controls::MenuItem* m_viewMenu;
+	MyMenuItems*                m_menuItems;
+
+	MyTestMenuBar(Gwen::Controls::Base* pParent)
+		:Gwen::Controls::MenuStrip(pParent)
+	{
+		//		Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
+		{
+			m_menuItems = new MyMenuItems();
+			m_menuItems->m_fileOpenCallback = 0;
+			m_menuItems->m_quitCallback = 0;
+
+			m_fileMenu = AddItem(L"File");
+
+			m_fileMenu->GetMenu()->AddItem(L"Open", m_menuItems, (Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
+			m_fileMenu->GetMenu()->AddItem(L"Quit", m_menuItems, (Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
+			m_viewMenu = AddItem(L"View");
+
+		}
+	}
+	virtual ~MyTestMenuBar()
+	{
+		delete m_menuItems;
+	}
+
+};
+
+
+void	GwenUserInterface::exit()
+{
+	//m_data->m_menubar->RemoveAllChildren();
+	delete m_data->m_tab;
+	delete m_data->m_windowRight;
+	delete m_data->m_leftStatusBar;
+	delete m_data->m_TextOutput;
+	delete m_data->m_rightStatusBar;
+	delete m_data->m_bar;
+	delete m_data->m_menubar;
+	
+	m_data->m_menubar = 0;
+	delete m_data->pCanvas;
+	m_data->pCanvas = 0;
+}
+
 GwenUserInterface::~GwenUserInterface()
 {
 	for (int i=0;i<m_data->m_handlers.size();i++)
@@ -26,72 +103,15 @@ GwenUserInterface::~GwenUserInterface()
 
 	m_data->m_handlers.clear();
 
-
-	delete m_data->pCanvas;
-
-
+	
 	delete m_data;
 
-
-
 }
 
 
 
 
-class MyMenuItems :  public Gwen::Controls::Base
-{
-public:
 
-    b3FileOpenCallback m_fileOpenCallback;
-    b3QuitCallback m_quitCallback;
-    
-    MyMenuItems() :Gwen::Controls::Base(0),m_fileOpenCallback(0)
-    {
-    }
-    void myQuitApp( Gwen::Controls::Base* pControl )
-    {
-        if (m_quitCallback)
-        {
-            (*m_quitCallback)();
-        }
-    }
-    void fileOpen( Gwen::Controls::Base* pControl )
-    {
-        if (m_fileOpenCallback)
-        {
-            (*m_fileOpenCallback)();
-        }
-    }
-    
-};
-
-struct MyTestMenuBar : public Gwen::Controls::MenuStrip
-{
-
-	Gwen::Controls::MenuItem* m_fileMenu;
-	Gwen::Controls::MenuItem* m_viewMenu;
-    MyMenuItems*                m_menuItems;
-
-	MyTestMenuBar(Gwen::Controls::Base* pParent)
-		:Gwen::Controls::MenuStrip(pParent)
-	{
-//		Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
-		{
-			m_menuItems = new MyMenuItems();
-            m_menuItems->m_fileOpenCallback = 0;
-            m_menuItems->m_quitCallback = 0;
-            
-			m_fileMenu = AddItem( L"File" );
-			
-            m_fileMenu->GetMenu()->AddItem(L"Open",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
-            m_fileMenu->GetMenu()->AddItem(L"Quit",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
-            m_viewMenu = AddItem( L"View" );
-			
-		}
-	}
-
-};
 
 void	GwenUserInterface::resize(int width, int height)
 {
@@ -232,6 +252,7 @@ void	GwenUserInterface::setStatusBarMessage(const char* message, bool isLeft)
 	}
 }
 
+
 void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback)
 {
     m_data->m_menuItems->m_fileOpenCallback = callback;
@@ -249,35 +270,43 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	m_data->pRenderer = renderer;//new GwenOpenGL3CoreRenderer(m_data->m_primRenderer,stash,width,height,retinaScale);
 
 	m_data->skin.SetRender( m_data->pRenderer );
+	
 
 	m_data->pCanvas= new Gwen::Controls::Canvas( &m_data->skin );
 	m_data->pCanvas->SetSize( width,height);
 	m_data->pCanvas->SetDrawBackground( false);
 	m_data->pCanvas->SetBackgroundColor( Gwen::Color( 150, 170, 170, 255 ) );
-
-
-
+	
+	
+	
 	MyTestMenuBar* menubar = new MyTestMenuBar(m_data->pCanvas);
 	m_data->m_viewMenu = menubar->m_viewMenu;
     m_data->m_menuItems = menubar->m_menuItems;
-    
+	m_data->m_menubar = menubar;
+	
 	
     
-    
 	Gwen::Controls::StatusBar* bar = new Gwen::Controls::StatusBar(m_data->pCanvas);
+	m_data->m_bar = bar;
+	
+
 	m_data->m_rightStatusBar = new Gwen::Controls::Label( bar );
+	
 	m_data->m_rightStatusBar->SetWidth(width/2);
 	//m_data->m_rightStatusBar->SetText( L"Label Added to Right" );
 	bar->AddControl( m_data->m_rightStatusBar, true );
-
+	
 	m_data->m_TextOutput = new Gwen::Controls::ListBox( m_data->pCanvas );
+	
 	m_data->m_TextOutput->Dock( Gwen::Pos::Bottom );
 	m_data->m_TextOutput->SetHeight( 100 );
-
+	
 	m_data->m_leftStatusBar = new Gwen::Controls::Label( bar );
+	
 	//m_data->m_leftStatusBar->SetText( L"Label Added to Left" );
 	m_data->m_leftStatusBar->SetWidth(width/2);
 	bar->AddControl( m_data->m_leftStatusBar,false);
+	
 	//Gwen::KeyboardFocus
 	/*Gwen::Controls::GroupBox* box = new Gwen::Controls::GroupBox(m_data->pCanvas);
 	box->SetText("text");
@@ -289,11 +318,14 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	windowRight->SetWidth(250);
 	windowRight->SetHeight(250);
 	windowRight->SetScroll(false,true);
-
+	m_data->m_windowRight = windowRight;
 
 
 	//windowLeft->SetSkin(
 	Gwen::Controls::TabControl* tab = new Gwen::Controls::TabControl(windowRight);
+	m_data->m_tab = tab;
+
+	
 
 	//tab->SetHeight(300);
 	tab->SetWidth(240);
@@ -304,7 +336,8 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 
 	Gwen::UnicodeString str1(L"Params");
 	m_data->m_demoPage = tab->AddPage(str1);
-
+	
+	
 
 
 
@@ -348,7 +381,7 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	//windowLeft->SetClosable(false);
 	//	windowLeft->SetShouldDrawBackground(true);
 	windowLeft->SetTabable(true);
-
+	
 	Gwen::Controls::TabControl* explorerTab = new Gwen::Controls::TabControl(windowLeft);
 
 	//tab->SetHeight(300);
@@ -388,7 +421,6 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	m_data->m_exampleInfoGroupBox->SetText("Example Description");
 
 	m_data->m_exampleInfoTextOutput = new Gwen::Controls::ListBox(m_data->m_explorerPage->GetPage());
-	
 
 	//m_data->m_exampleInfoTextOutput->Dock( Gwen::Pos::Bottom );
 	m_data->m_exampleInfoTextOutput->SetPos(2, 332);
diff --git a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h
index c448e9fff..d66b59828 100644
--- a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h
+++ b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h
@@ -26,6 +26,7 @@ class GwenUserInterface
 		virtual ~GwenUserInterface();
 		
 		void	init(int width, int height,Gwen::Renderer::Base* gwenRenderer,float retinaScale);
+		void	exit();
 		void	setFocus();
 		void	forceUpdateScrollBars();
 		
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 64eb707a9..e06d5f205 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -42,19 +42,65 @@
 #include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
 #include "../Importers/ImportBullet/SerializeSetup.h"
 
+#include "Bullet3Common/b3HashMap.h"
+
+struct GL3TexLoader : public MyTextureLoader
+{
+	b3HashMap<b3HashString, GLint> m_hashMap;
+
+	virtual void LoadTexture(Gwen::Texture* pTexture)
+	{
+		Gwen::String namestr = pTexture->name.Get();
+		const char* n = namestr.c_str();
+		GLint* texIdPtr = m_hashMap[n];
+		if (texIdPtr)
+		{
+			pTexture->m_intData = *texIdPtr;
+		}
+	}
+	virtual void FreeTexture(Gwen::Texture* pTexture)
+	{
+	}
+};
+
+
+struct OpenGLExampleBrowserInternalData
+{
+	Gwen::Renderer::Base* m_gwenRenderer;
+	CommonGraphicsApp* m_app;
+//	MyProfileWindow* m_profWindow;
+	btAlignedObjectArray<Gwen::Controls::TreeNode*> m_nodes;
+	GwenUserInterface* m_gui;
+	GL3TexLoader* m_myTexLoader;
+	struct MyMenuItemHander* m_handler2;
+	btAlignedObjectArray<MyMenuItemHander*> m_handlers;
+
+	OpenGLExampleBrowserInternalData()
+		: m_gwenRenderer(0),
+		m_app(0),
+//		m_profWindow(0),
+		m_gui(0),
+		m_myTexLoader(0),
+		m_handler2(0)
+	{
+
+	}
+};
+
 static CommonGraphicsApp* s_app=0;
 
 static CommonWindowInterface* s_window = 0;
 static CommonParameterInterface*	s_parameterInterface=0;
 static CommonRenderInterface*	s_instancingRenderer=0;
 static OpenGLGuiHelper*	s_guiHelper=0;
-static MyProfileWindow* s_profWindow =0;
+//static MyProfileWindow* s_profWindow =0;
 static SharedMemoryInterface* sSharedMem = 0;
 
 #define DEMO_SELECTION_COMBOBOX 13
 const char* startFileName = "0_Bullet3Demo.txt";
 char staticPngFileName[1024];
-static GwenUserInterface* gui  = 0;
+//static GwenUserInterface* gui  = 0;
+static GwenUserInterface* gui2 = 0;
 static int sCurrentDemoIndex = -1;
 static int sCurrentHightlighted = 0;
 static CommonExampleInterface* sCurrentDemo = 0;
@@ -123,9 +169,9 @@ void MyKeyboardCallback(int key, int state)
 	//b3Printf("key=%d, state=%d", key, state);
 	bool handled = false;
 	
-	if (gui && !handled )
+	if (gui2 && !handled )
 	{
-		handled = gui->keyboardCallback(key, state);
+		handled = gui2->keyboardCallback(key, state);
 	}
 	
 	if (!handled && sCurrentDemo)
@@ -226,8 +272,8 @@ static void MyMouseMoveCallback( float x, float y)
   	bool handled = false;
 	if (sCurrentDemo)
 		handled = sCurrentDemo->mouseMoveCallback(x,y);
-	if (!handled && gui)
-		handled = gui->mouseMoveCallback(x,y);
+	if (!handled && gui2)
+		handled = gui2->mouseMoveCallback(x,y);
 	if (!handled)
 	{
 		if (prevMouseMoveCallback)
@@ -244,8 +290,8 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
 	if (sCurrentDemo)
 		handled = sCurrentDemo->mouseButtonCallback(button,state,x,y);
 
-	if (!handled && gui)
-		handled = gui->mouseButtonCallback(button,state,x,y);
+	if (!handled && gui2)
+		handled = gui2->mouseButtonCallback(button,state,x,y);
 
 	if (!handled)
 	{
@@ -333,7 +379,10 @@ void selectDemo(int demoIndex)
 	CommonExampleInterface::CreateFunc* func = gAllExamples->getExampleCreateFunc(demoIndex);
 	if (func)
 	{
-		s_parameterInterface->removeAllParameters();
+		if (s_parameterInterface)
+		{
+			s_parameterInterface->removeAllParameters();
+		}
 		int option = gAllExamples->getExampleOption(demoIndex);
 		s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
 		CommonExampleOptions options(s_guiHelper, option);
@@ -341,12 +390,15 @@ void selectDemo(int demoIndex)
 		sCurrentDemo = (*func)(options);
 		if (sCurrentDemo)
 		{
-			if (gui)
+			if (gui2)
 			{
-				gui->setStatusBarMessage("Status: OK", false);
+				gui2->setStatusBarMessage("Status: OK", false);
 			}
 			b3Printf("Selected demo: %s",gAllExamples->getExampleName(demoIndex));
-			gui->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
+			if (gui2)
+			{
+				gui2->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
+			}
 			
 			sCurrentDemo->initPhysics();
 			if(resetCamera)
@@ -437,10 +489,10 @@ void	MyComboBoxCallback(int comboId, const char* item)
 void MyGuiPrintf(const char* msg)
 {
 	printf("b3Printf: %s\n",msg);
-	if (gui)
+	if (gui2)
 	{
-		gui->textOutput(msg);
-		gui->forceUpdateScrollBars();
+		gui2->textOutput(msg);
+		gui2->forceUpdateScrollBars();
 	}
 }
 
@@ -449,10 +501,10 @@ void MyGuiPrintf(const char* msg)
 void MyStatusBarPrintf(const char* msg)
 {
 	printf("b3Printf: %s\n", msg);
-	if (gui)
+	if (gui2)
 	{
 		bool isLeft = true;
-		gui->setStatusBarMessage(msg,isLeft);
+		gui2->setStatusBarMessage(msg,isLeft);
 	}
 }
 
@@ -460,12 +512,12 @@ void MyStatusBarPrintf(const char* msg)
 void MyStatusBarError(const char* msg)
 {
 	printf("Warning: %s\n", msg);
-	if (gui)
+	if (gui2)
 	{
 		bool isLeft = false;
-		gui->setStatusBarMessage(msg,isLeft);
-		gui->textOutput(msg);
-		gui->forceUpdateScrollBars();
+		gui2->setStatusBarMessage(msg,isLeft);
+		gui2->textOutput(msg);
+		gui2->forceUpdateScrollBars();
 	}
 }
 
@@ -534,7 +586,7 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 	{
 	//	printf("select %d\n",m_buttonId);
 		sCurrentHightlighted = m_buttonId;
-		gui->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
+		gui2->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
 	}
 
 	void onButtonF(Gwen::Controls::Base* pControl)
@@ -549,26 +601,6 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 
 
 
-};
-#include "Bullet3Common/b3HashMap.h"
-
-struct GL3TexLoader : public MyTextureLoader
-{
-	b3HashMap<b3HashString,GLint> m_hashMap;
-	
-	virtual void LoadTexture( Gwen::Texture* pTexture )
-	{
-		Gwen::String namestr = pTexture->name.Get();
-		const char* n = namestr.c_str();
-		GLint* texIdPtr = m_hashMap[n];
-		if (texIdPtr)
-		{
-			pTexture->m_intData = *texIdPtr;
-		}
-	}
-	virtual void FreeTexture( Gwen::Texture* pTexture )
-	{
-	}
 };
 
 void quitCallback()
@@ -623,7 +655,7 @@ struct QuickCanvas : public Common2dCanvasInterface
 			
 			m_curNumGraphWindows++;
 
-			MyGraphInput input(gui->getInternalData());
+			MyGraphInput input(gui2->getInternalData());
 			input.m_width=width;
 			input.m_height=height;
 			input.m_xPos = 10000;//GUI will clamp it to the right//300;
@@ -643,7 +675,10 @@ struct QuickCanvas : public Common2dCanvasInterface
 	virtual void destroyCanvas(int canvasId)
 	{
 		btAssert(canvasId>=0);
+		delete m_gt[canvasId];
+		m_gt[canvasId] = 0;
 		destroyTextureWindow(m_gw[canvasId]);
+		m_gw[canvasId] = 0;
 		m_curNumGraphWindows--;
 	}
 	virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
@@ -669,12 +704,51 @@ struct QuickCanvas : public Common2dCanvasInterface
 
 OpenGLExampleBrowser::OpenGLExampleBrowser(class ExampleEntries* examples)
 {
+	m_internalData = new OpenGLExampleBrowserInternalData;
+
 	gAllExamples = examples;
 }
 
 OpenGLExampleBrowser::~OpenGLExampleBrowser()
 {
-    deleteDemo();
+	deleteDemo();
+	for (int i = 0; i < m_internalData->m_nodes.size(); i++)
+	{
+		delete m_internalData->m_nodes[i];
+	}
+	delete m_internalData->m_handler2;
+	for (int i = 0; i < m_internalData->m_handlers.size(); i++)
+	{
+		delete m_internalData->m_handlers[i];
+	}
+	m_internalData->m_handlers.clear();
+	m_internalData->m_nodes.clear();
+	delete s_parameterInterface;
+	s_parameterInterface = 0;
+	delete s_app->m_2dCanvasInterface;
+	s_app->m_2dCanvasInterface = 0;
+
+	m_internalData->m_gui->exit();
+	
+
+	delete m_internalData->m_gui;
+	delete m_internalData->m_gwenRenderer;
+	delete m_internalData->m_myTexLoader;
+
+
+
+
+	
+	delete m_internalData->m_app;
+	s_app = 0;
+	
+	
+	
+//	delete m_internalData->m_profWindow;
+	
+	delete m_internalData;
+    
+	gFileImporterByExtension.clear();
 	gAllExamples = 0;
 }
 
@@ -732,11 +806,10 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		char title[1024];
 		sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
         simpleApp = new SimpleOpenGL3App(title,width,height, gAllowRetina);
-
-        
         s_app = simpleApp;
     }
 #endif
+	m_internalData->m_app = s_app;
     char* gVideoFileName = 0;
     args.GetCmdLineArgument("mp4",gVideoFileName);
    #ifndef NO_OPENGL3 
@@ -792,43 +865,67 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 
     assert(glGetError()==GL_NO_ERROR);
 	
+	{
+		GL3TexLoader* myTexLoader = new GL3TexLoader;
+		m_internalData->m_myTexLoader = myTexLoader;
 
-	gui = new GwenUserInterface;
-	GL3TexLoader* myTexLoader = new GL3TexLoader;
-    
-    Gwen::Renderer::Base* gwenRenderer = 0;
-    if (sUseOpenGL2 )
-    {
-        gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
-    } 
+		sth_stash* fontstash = simpleApp->getFontStash();
+		
+		if (sUseOpenGL2)
+		{
+			m_internalData->m_gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
+		}
 #ifndef NO_OPENGL3
-	else
-    {
-        sth_stash* fontstash=simpleApp->getFontStash();
-        gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer,fontstash,width,height,s_window->getRetinaScale(),myTexLoader);
-    }
+		else
+		{
+			sth_stash* fontstash = simpleApp->getFontStash();
+			m_internalData->m_gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer, fontstash, width, height, s_window->getRetinaScale(), myTexLoader);
+		}
 #endif
+
+		gui2 = new GwenUserInterface;
+		
+		m_internalData->m_gui = gui2;
+		
+		m_internalData->m_myTexLoader = myTexLoader;
+
+
+		
+		gui2->init(width, height, m_internalData->m_gwenRenderer, s_window->getRetinaScale());
+		
+		
+	}
+	//gui = 0;// new GwenUserInterface;
+	
+	GL3TexLoader* myTexLoader = m_internalData->m_myTexLoader;
+	// = myTexLoader;
+    
+    
+ 
 	//
 
-	gui->init(width,height,gwenRenderer,s_window->getRetinaScale());
-	
-	
-	
-	
-//	gui->getInternalData()->m_explorerPage
-	Gwen::Controls::TreeControl* tree = gui->getInternalData()->m_explorerTreeCtrl;
+	if (gui2)
+	{
+		
 
+
+
+
+		//	gui->getInternalData()->m_explorerPage
+		Gwen::Controls::TreeControl* tree = gui2->getInternalData()->m_explorerTreeCtrl;
+
+
+		//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
+
+
+//		s_profWindow= setupProfileWindow(gui2->getInternalData());
+		//m_internalData->m_profWindow = s_profWindow;
+	//	profileWindowSetVisible(s_profWindow,false);
+		gui2->setFocus();
+
+		s_parameterInterface = s_app->m_parameterInterface = new GwenParameterInterface(gui2->getInternalData());
+		s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
 	
-	//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
-
-	
-	s_profWindow= setupProfileWindow(gui->getInternalData());
-	profileWindowSetVisible(s_profWindow,false);
-	gui->setFocus();
-
-	s_parameterInterface  = s_app->m_parameterInterface = new GwenParameterInterface(gui->getInternalData());
-	s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
-
 
 	///add some demos to the gAllExamples
 
@@ -839,7 +936,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	//int curDemo = 0;
 	int selectedDemo = 0;
 	Gwen::Controls::TreeNode* curNode = tree;
-	MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
+	m_internalData->m_handler2 = new MyMenuItemHander(-1);
 
 	char* demoNameFromCommandOption = 0;
 	args.GetCmdLineArgument("start_demo_name", demoNameFromCommandOption);
@@ -847,7 +944,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		selectedDemo = -1;
 	}
 
-	tree->onReturnKeyDown.Add(handler2, &MyMenuItemHander::onButtonD);
+	tree->onReturnKeyDown.Add(m_internalData->m_handler2, &MyMenuItemHander::onButtonD);
 	int firstAvailableDemoIndex=-1;
 	Gwen::Controls::TreeNode* firstNode=0;
 
@@ -894,13 +991,18 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 				}
 			}
 
+#if 1
 			MyMenuItemHander* handler = new MyMenuItemHander(d);
+			m_internalData->m_handlers.push_back(handler);
+			
 			pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonA);
 			pNode->GetButton()->onDoubleClick.Add(handler, &MyMenuItemHander::onButtonB);
 			pNode->GetButton()->onDown.Add(handler, &MyMenuItemHander::onButtonC);
 			pNode->onSelect.Add(handler, &MyMenuItemHander::onButtonE);
 			pNode->onReturnKeyDown.Add(handler, &MyMenuItemHander::onButtonG);
 			pNode->onSelectChange.Add(handler, &MyMenuItemHander::onButtonF);
+			
+#endif
 //			pNode->onKeyReturn.Add(handler, &MyMenuItemHander::onButtonD);
 //			pNode->GetButton()->onKeyboardReturn.Add(handler, &MyMenuItemHander::onButtonD);
 	//		pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonD);
@@ -910,6 +1012,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		 else
 		 {
 			 curNode = tree->AddNode(nodeUText);
+			 m_internalData->m_nodes.push_back(curNode);
 		 }
 	}
 
@@ -928,6 +1031,9 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		}
 
 	}
+	free(demoNameFromCommandOption);
+	demoNameFromCommandOption = 0;
+
 	btAssert(sCurrentDemo!=0);
 	if (sCurrentDemo==0)
 	{
@@ -935,9 +1041,11 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		exit(0);
 	}
 	
-    gui->registerFileOpenCallback(fileOpenCallback);
-	gui->registerQuitCallback(quitCallback);
-   
+    gui2->registerFileOpenCallback(fileOpenCallback);
+	gui2->registerQuitCallback(quitCallback);
+   }
+
+
 	return true;
 }
 
@@ -1044,7 +1152,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 
 		{
 			
-			if (s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
+			if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
 			{
 				char msg[1024];
 				float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
@@ -1053,7 +1161,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				float camTarget[3];
 				s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
 				sprintf(msg,"dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
-				gui->setStatusBarMessage(msg, true);	
+				gui2->setStatusBarMessage(msg, true);	
 			}
 			
 		}
@@ -1061,16 +1169,24 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		static int toggle = 1;
 		if (renderGui)
 		{
-            if (!pauseSimulation)
-                processProfileData(s_profWindow,false);
+			//            if (!pauseSimulation)
+			//                processProfileData(s_profWindow,false);
 
-            if (sUseOpenGL2)
+			if (sUseOpenGL2)
 			{
-					
-				saveOpenGLState(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
+
+				saveOpenGLState(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
 			}
-            BT_PROFILE("Draw Gwen GUI");
-            gui->draw(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
+			BT_PROFILE("Draw Gwen GUI");
+			if (m_internalData->m_gui)
+			{
+				m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
+			}
+			if (gui2)
+			{
+				gui2->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
+			}
+
             if (sUseOpenGL2)
             {
                 restoreOpenGLState();
@@ -1084,14 +1200,20 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		toggle=1-toggle;
         {
             BT_PROFILE("Sync Parameters");
-            s_parameterInterface->syncParameters();
+			if (s_parameterInterface)
+			{
+				s_parameterInterface->syncParameters();
+			}
         }
         {
             BT_PROFILE("Swap Buffers");
             s_app->swapBuffer();
         }
 	
-		gui->forceUpdateScrollBars();
+		if (gui2)
+		{
+			gui2->forceUpdateScrollBars();
+		}
 
 }
 
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.h b/examples/ExampleBrowser/OpenGLExampleBrowser.h
index ac9acd2f6..1f68abedb 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.h
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.h
@@ -5,6 +5,9 @@
 
 class OpenGLExampleBrowser : public ExampleBrowserInterface
 {
+	
+	struct OpenGLExampleBrowserInternalData* m_internalData;
+
 public:
 
 	OpenGLExampleBrowser(class ExampleEntries* examples);
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 1ed1ffb19..a5d7e0c3d 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -167,6 +167,7 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
 
 OpenGLGuiHelper::~OpenGLGuiHelper()
 {
+	delete m_data->m_debugDraw;
 	delete m_data->m_gl2ShapeDrawer;
 	delete m_data;
 }
diff --git a/examples/ExampleBrowser/main.cpp b/examples/ExampleBrowser/main.cpp
index b245cdecb..d0f132c1a 100644
--- a/examples/ExampleBrowser/main.cpp
+++ b/examples/ExampleBrowser/main.cpp
@@ -1,4 +1,5 @@
 
+
 #include "OpenGLExampleBrowser.h"
 
 #include "Bullet3Common/b3CommandLineArgs.h"
@@ -14,38 +15,45 @@
 #include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
 #include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
 #include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
-
+#include "LinearMath/btAlignedAllocator.h"
 
 
 int main(int argc, char* argv[])
 {
-	b3CommandLineArgs args(argc,argv);
-	b3Clock clock;
-	
-	
-	ExampleEntriesAll examples;
-	examples.initExampleEntries();
-
-	OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
-	bool init = exampleBrowser->init(argc,argv);
-	exampleBrowser->registerFileImporter(".urdf",ImportURDFCreateFunc);
-	exampleBrowser->registerFileImporter(".sdf",ImportSDFCreateFunc);
-	exampleBrowser->registerFileImporter(".obj",ImportObjCreateFunc);
-	exampleBrowser->registerFileImporter(".stl",ImportSTLCreateFunc);
-	
-	clock.reset();
-	if (init)
 	{
-		do 
-		{
-			float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
-			clock.reset();
-			exampleBrowser->update(deltaTimeInSeconds);
+		b3CommandLineArgs args(argc, argv);
+		b3Clock clock;
+
+
+		ExampleEntriesAll examples;
+		examples.initExampleEntries();
+
+		OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
+		bool init = exampleBrowser->init(argc, argv);
+		exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
+		exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
+		exampleBrowser->registerFileImporter(".obj", ImportObjCreateFunc);
+		exampleBrowser->registerFileImporter(".stl", ImportSTLCreateFunc);
+
+		clock.reset();
+		if (init)
+		{
+			do
+			{
+				float deltaTimeInSeconds = clock.getTimeMicroseconds() / 1000000.f;
+				clock.reset();
+				exampleBrowser->update(deltaTimeInSeconds);
+
+			} while (!exampleBrowser->requestedExit());
+		}
+		delete exampleBrowser;
 
-		} while (!exampleBrowser->requestedExit());
 	}
-	delete exampleBrowser;
 	
+#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
+	int numBytesLeaked = btDumpMemoryLeaks();
+	btAssert(numBytesLeaked==0);
+#endif//BT_DEBUG_MEMORY_ALLOCATIONS
 	
 	return 0;
 }
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 1c24c2eba..f081325b3 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -1058,13 +1058,14 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
 		{
 			const UrdfCollision& col = link->m_collisionArray[v];
 			btCollisionShape* childShape = convertURDFToCollisionShape(&col ,pathPrefix);
+			m_data->m_allocatedCollisionShapes.push_back(childShape);
 			
 			if (childShape)
 			{
 				btTransform childTrans = col.m_linkLocalFrame;
 				
 				compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
-           		}
+			}
 		}
 	}
 	
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 33bc35d32..46b69cc08 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -207,7 +207,7 @@ void ImportUrdfSetup::initPhysics()
 	BulletURDFImporter u2b(m_guiHelper, 0);
 	
 	
-	bool loadOk =  u2b.loadURDF(m_fileName);
+	bool loadOk = u2b.loadURDF(m_fileName);
 
 #ifdef TEST_MULTIBODY_SERIALIZATION	
 	//test to serialize a multibody to disk or shared memory, with base, link and joint names
@@ -238,7 +238,11 @@ void ImportUrdfSetup::initPhysics()
 			m_data->m_rb = creation.getRigidBody();
 			m_data->m_mb = creation.getBulletMultiBody();
 			btMultiBody* mb = m_data->m_mb;
-            
+			for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
+			{
+				m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
+			}
+
 			if (m_useMultiBody && mb )
 			{
 				std::string*   name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
@@ -348,6 +352,7 @@ void ImportUrdfSetup::initPhysics()
 			btVector3 groundHalfExtents(20,20,20);
 			groundHalfExtents[upAxis]=1.f;
 			btBoxShape* box = new btBoxShape(groundHalfExtents);
+			m_collisionShapes.push_back(box);
 			box->initializePolyhedralFeatures();
 
 			m_guiHelper->createCollisionShapeGraphicsObject(box);
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 64be1573b..6ed9ac2c8 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -61,7 +61,9 @@ static bool parseVector4(btVector4& vec4, const std::string& vector_str)
 	vec4.setZero();
 	btArray<std::string> pieces;
 	btArray<float> rgba;
-	urdfStringSplit(pieces, vector_str, urdfIsAnyOf(" "));
+	btAlignedObjectArray<std::string> strArray;
+	urdfIsAnyOf(" ", strArray);
+	urdfStringSplit(pieces, vector_str, strArray);
 	for (int i = 0; i < pieces.size(); ++i)
 	{
 		if (!pieces[i].empty())
@@ -82,7 +84,9 @@ static bool parseVector3(btVector3& vec3, const std::string& vector_str, ErrorLo
 	vec3.setZero();
 	btArray<std::string> pieces;
 	btArray<float> rgba;
-	urdfStringSplit(pieces, vector_str, urdfIsAnyOf(" "));
+	btAlignedObjectArray<std::string> strArray;
+	urdfIsAnyOf(" ", strArray);
+	urdfStringSplit(pieces, vector_str, strArray);
 	for (int i = 0; i < pieces.size(); ++i)
 	{
 		if (!pieces[i].empty())
diff --git a/examples/Importers/ImportURDFDemo/urdfStringSplit.cpp b/examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
index a5a1adf83..9ed88e7f4 100644
--- a/examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+++ b/examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
@@ -8,7 +8,7 @@
 
 #include "urdfStringSplit.h"
 
-void urdfStringSplit( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, btAlignedObjectArray<std::string> separators)
+void urdfStringSplit( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, const btAlignedObjectArray<std::string>& separators)
 	{
 		assert(separators.size()==1);
 		if (separators.size()==1)
@@ -20,10 +20,9 @@ void urdfStringSplit( btAlignedObjectArray<std::string>&pieces, const std::strin
 			urdfStrArrayFree(strArray);
 		}
 	}
-	btAlignedObjectArray<std::string> urdfIsAnyOf(const char* seps)
+	void urdfIsAnyOf(const char* seps, btAlignedObjectArray<std::string>& strArray)
 	{
-		btAlignedObjectArray<std::string> strArray;
-
+	
 		int numSeps = strlen(seps);
 		for (int i=0;i<numSeps;i++)
 		{
@@ -32,8 +31,6 @@ void urdfStringSplit( btAlignedObjectArray<std::string>&pieces, const std::strin
 			sep2[0] = seps[i];
 			strArray.push_back(sep2);
 		}
-		return strArray;
-		
 	}
 
 
diff --git a/examples/Importers/ImportURDFDemo/urdfStringSplit.h b/examples/Importers/ImportURDFDemo/urdfStringSplit.h
index 6eaa42b6d..dd7af9158 100644
--- a/examples/Importers/ImportURDFDemo/urdfStringSplit.h
+++ b/examples/Importers/ImportURDFDemo/urdfStringSplit.h
@@ -7,9 +7,9 @@
 #include "LinearMath/btAlignedObjectArray.h"
 
 
-void urdfStringSplit( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, btAlignedObjectArray<std::string> separators);
+void urdfStringSplit( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, const btAlignedObjectArray<std::string>& separators);
 
-btAlignedObjectArray<std::string> urdfIsAnyOf(const char* seps);
+void urdfIsAnyOf(const char* seps, btAlignedObjectArray<std::string>& strArray);
 
 ///The string split C code is by Lars Wirzenius
 ///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index 20cff9204..ebf7efb0d 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -105,7 +105,7 @@ InverseDynamicsExample::InverseDynamicsExample(struct GUIHelperInterface* helper
 
 InverseDynamicsExample::~InverseDynamicsExample()
 {
-    delete m_multiBody;
+	
     delete m_inverseModel;
     delete m_timeSeriesCanvas;
 }
@@ -166,6 +166,10 @@ void InverseDynamicsExample::initPhysics()
                     btTransform identityTrans;
                     identityTrans.setIdentity();
                     ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,true,u2b.getPathPrefix());
+					for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
+					{
+						m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
+					}
                     m_multiBody = creation.getBulletMultiBody();
                     if (m_multiBody)
                     {
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index 0ed1db2ea..1423f2841 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -650,9 +650,14 @@ void SimpleOpenGL3App::setBackgroundColor(float red, float green, float blue)
 
 SimpleOpenGL3App::~SimpleOpenGL3App()
 {
+	
+	delete m_instancingRenderer;
 	delete m_primRenderer ;
-
+	sth_delete(m_data->m_fontStash);
+	delete m_data->m_renderCallbacks;
+	TwDeleteDefaultFonts();
 	m_window->closeWindow();
+	
 	delete m_window;
 	delete m_data ;
 }
diff --git a/examples/OpenGLWindow/TwFonts.cpp b/examples/OpenGLWindow/TwFonts.cpp
index e5cd37595..eaf351eec 100644
--- a/examples/OpenGLWindow/TwFonts.cpp
+++ b/examples/OpenGLWindow/TwFonts.cpp
@@ -4883,18 +4883,33 @@ static const unsigned char s_FontFixed1[] = {
 
 void TwGenerateDefaultFonts()
 {
-    g_DefaultSmallFont = TwGenerateFont(s_Font0, FONT0_BM_W, FONT0_BM_H);
-    assert(g_DefaultSmallFont && g_DefaultSmallFont->m_NbCharRead==224);
+	if (g_DefaultSmallFont == 0)
+	{
+		g_DefaultSmallFont = TwGenerateFont(s_Font0, FONT0_BM_W, FONT0_BM_H);
+		assert(g_DefaultSmallFont && g_DefaultSmallFont->m_NbCharRead == 224);
+	}
 
-	g_DefaultNormalFont = TwGenerateFont(s_Font1, FONT1_BM_W, FONT1_BM_H);
-    assert(g_DefaultNormalFont && g_DefaultNormalFont->m_NbCharRead==224);
+	if (g_DefaultNormalFont == 0)
+	{
+		g_DefaultNormalFont = TwGenerateFont(s_Font1, FONT1_BM_W, FONT1_BM_H);
+		assert(g_DefaultNormalFont && g_DefaultNormalFont->m_NbCharRead == 224);
+	}
 
-    g_DefaultNormalFontAA = TwGenerateFont(s_Font1AA, FONT1AA_BM_W, FONT1AA_BM_H);
-    assert(g_DefaultNormalFontAA && g_DefaultNormalFontAA->m_NbCharRead==224);
-    g_DefaultLargeFont = TwGenerateFont(s_Font2AA, FONT2AA_BM_W, FONT2AA_BM_H);
-    assert(g_DefaultLargeFont && g_DefaultLargeFont->m_NbCharRead==224);
-    g_DefaultFixed1Font = TwGenerateFont(s_FontFixed1, FONTFIXED1_BM_W, FONTFIXED1_BM_H);
-    assert(g_DefaultFixed1Font && g_DefaultFixed1Font->m_NbCharRead==224);
+	if (g_DefaultNormalFontAA == 0)
+	{
+		g_DefaultNormalFontAA = TwGenerateFont(s_Font1AA, FONT1AA_BM_W, FONT1AA_BM_H);
+		assert(g_DefaultNormalFontAA && g_DefaultNormalFontAA->m_NbCharRead == 224);
+	}
+	if (g_DefaultLargeFont == 0)
+	{
+		g_DefaultLargeFont = TwGenerateFont(s_Font2AA, FONT2AA_BM_W, FONT2AA_BM_H);
+		assert(g_DefaultLargeFont && g_DefaultLargeFont->m_NbCharRead == 224);
+	}
+	if (g_DefaultFixed1Font == 0)
+	{
+		g_DefaultFixed1Font = TwGenerateFont(s_FontFixed1, FONTFIXED1_BM_W, FONTFIXED1_BM_H);
+		assert(g_DefaultFixed1Font && g_DefaultFixed1Font->m_NbCharRead == 224);
+	}
 }
 
 //  ---------------------------------------------------------------------------
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index cce14de16..5c82e3381 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -31,6 +31,10 @@ struct UrdfLinkNameMapUtil
 	UrdfLinkNameMapUtil():m_mb(0),m_memSerializer(0)
 	{
 	}
+	virtual ~UrdfLinkNameMapUtil()
+	{
+		delete m_memSerializer;
+	}
 };
 
 
@@ -701,15 +705,6 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
         {
             btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
             m_data->m_collisionShapes.push_back(shape);
-            if (shape->isCompound())
-            {
-                btCompoundShape* compound = (btCompoundShape*) shape;
-                for (int childIndex=0;childIndex<compound->getNumChildShapes();childIndex++)
-                {
-                    m_data->m_collisionShapes.push_back(compound->getChildShape(childIndex));
-                }
-            }
-
         }
 
         btTransform rootTrans;
@@ -851,15 +846,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
         {
             btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
             m_data->m_collisionShapes.push_back(shape);
-            if (shape->isCompound())
-            {
-                btCompoundShape* compound = (btCompoundShape*) shape;
-                for (int childIndex=0;childIndex<compound->getNumChildShapes();childIndex++)
-                {
-                    m_data->m_collisionShapes.push_back(compound->getChildShape(childIndex));
-                }
-            }
-
         }
 
         btMultiBody* mb = creation.getBulletMultiBody();
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index 0d29fae1e..d0b583969 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -78,7 +78,6 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* shar
 	}
 
 	m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
-	m_data->m_commandProcessor ->createEmptyDynamicsWorld();
 
 
 }
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index 92bca7498..9457652a6 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -701,7 +701,16 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
 
 void TinyRendererVisualShapeConverter::resetAll()
 {
-	//todo: free memory
+	for (int i=0;i<m_data->m_swRenderInstances.size();i++)
+	{
+		TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);
+		if (ptrptr && *ptrptr)
+		{
+			TinyRendererObjectArray* ptr = *ptrptr;
+			delete ptr;
+		}
+	}
+	
 	m_data->m_swRenderInstances.clear();
 }
 
diff --git a/examples/SimpleOpenGL3/main.cpp b/examples/SimpleOpenGL3/main.cpp
index 726abf693..fe637778f 100644
--- a/examples/SimpleOpenGL3/main.cpp
+++ b/examples/SimpleOpenGL3/main.cpp
@@ -1,3 +1,6 @@
+
+
+
 #include "OpenGLWindow/SimpleOpenGL3App.h"
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3CommandLineArgs.h"
@@ -58,98 +61,103 @@ void MyKeyboardCallback(int keycode, int state)
 
 int main(int argc, char* argv[])
 {
-    b3CommandLineArgs myArgs(argc,argv);
-
-
-	SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App",gWidth,gHeight,true);
-	
-	app->m_instancingRenderer->getActiveCamera()->setCameraDistance(13);
-	app->m_instancingRenderer->getActiveCamera()->setCameraPitch(0);
-	app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(0,0,0);
-	sOldKeyboardCB = app->m_window->getKeyboardCallback();	
-	app->m_window->setKeyboardCallback(MyKeyboardCallback);
-	sOldMouseMoveCB = app->m_window->getMouseMoveCallback();
-	app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
-	sOldMouseButtonCB = app->m_window->getMouseButtonCallback();
-	app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
-	sOldWheelCB = app->m_window->getWheelCallback();
-	app->m_window->setWheelCallback(MyWheelCallback);
-	sOldResizeCB = app->m_window->getResizeCallback();
-	app->m_window->setResizeCallback(MyResizeCallback);
-  
-
-    myArgs.GetCmdLineArgument("mp4_file",gVideoFileName);
-    if (gVideoFileName)
-        app->dumpFramesToVideo(gVideoFileName);
-
-    myArgs.GetCmdLineArgument("png_file",gPngFileName);
-    char fileName[1024];
-    
-    int textureWidth = 128;
-    int textureHeight = 128;
-    
-    unsigned char*	image=new unsigned char[textureWidth*textureHeight*4];
-        
-    
-    int textureHandle = app->m_renderer->registerTexture(image,textureWidth,textureHeight);
-
-    int cubeIndex = app->registerCubeShape(1,1,1);
-    
-    b3Vector3 pos = b3MakeVector3(0,0,0);
-    b3Quaternion orn(0,0,0,1);
-    b3Vector3 color=b3MakeVector3(1,0,0);
-    b3Vector3 scaling=b3MakeVector3 (1,1,1);
-    app->m_renderer->registerGraphicsInstance(cubeIndex,pos,orn,color,scaling);
-    app->m_renderer->writeTransforms();
-    
-	do
 	{
-	    static int frameCount = 0;
-		frameCount++;
-		if (gPngFileName)
-        {
-            printf("gPngFileName=%s\n",gPngFileName);
-
-            sprintf(fileName,"%s%d.png",gPngFileName,frameCount++);
-            app->dumpNextFrameToPng(fileName);
-        }
-
-        
-        
-        //update the texels of the texture using a simple pattern, animated using frame index
-        for(int y=0;y<textureHeight;++y)
-        {
-            const int	t=(y+frameCount)>>4;
-            unsigned char*	pi=image+y*textureWidth*3;
-            for(int x=0;x<textureWidth;++x)
-            {
-                const int		s=x>>4;
-                const unsigned char	b=180;					
-                unsigned char			c=b+((s+(t&1))&1)*(255-b);
-                pi[0]=pi[1]=pi[2]=pi[3]=c;pi+=3;
-            }
-        }
-    
-        app->m_renderer->activateTexture(textureHandle);
-        app->m_renderer->updateTexture(textureHandle,image);
-        
-        float color[4] = {255,1,1,1};
-        app->m_primRenderer->drawTexturedRect(100,200,gWidth/2-50,gHeight/2-50,color,0,0,1,1,true);
-        
-		
-		app->m_instancingRenderer->init();
-		app->m_instancingRenderer->updateCamera();
-
-        app->m_renderer->renderScene();
-		app->drawGrid();
-		char bla[1024];
-		sprintf(bla,"Simple test frame %d", frameCount);
-
-		app->drawText(bla,10,10);
-		app->swapBuffer();
-	} while (!app->m_window->requestedExit());
+		b3CommandLineArgs myArgs(argc, argv);
 
 
-	delete app;
+		SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App", gWidth, gHeight, true);
+
+		app->m_instancingRenderer->getActiveCamera()->setCameraDistance(13);
+		app->m_instancingRenderer->getActiveCamera()->setCameraPitch(0);
+		app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
+		sOldKeyboardCB = app->m_window->getKeyboardCallback();
+		app->m_window->setKeyboardCallback(MyKeyboardCallback);
+		sOldMouseMoveCB = app->m_window->getMouseMoveCallback();
+		app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
+		sOldMouseButtonCB = app->m_window->getMouseButtonCallback();
+		app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
+		sOldWheelCB = app->m_window->getWheelCallback();
+		app->m_window->setWheelCallback(MyWheelCallback);
+		sOldResizeCB = app->m_window->getResizeCallback();
+		app->m_window->setResizeCallback(MyResizeCallback);
+
+
+		myArgs.GetCmdLineArgument("mp4_file", gVideoFileName);
+		if (gVideoFileName)
+			app->dumpFramesToVideo(gVideoFileName);
+
+		myArgs.GetCmdLineArgument("png_file", gPngFileName);
+		char fileName[1024];
+
+		int textureWidth = 128;
+		int textureHeight = 128;
+
+		unsigned char*	image = new unsigned char[textureWidth*textureHeight * 4];
+
+
+		int textureHandle = app->m_renderer->registerTexture(image, textureWidth, textureHeight);
+
+		int cubeIndex = app->registerCubeShape(1, 1, 1);
+
+		b3Vector3 pos = b3MakeVector3(0, 0, 0);
+		b3Quaternion orn(0, 0, 0, 1);
+		b3Vector3 color = b3MakeVector3(1, 0, 0);
+		b3Vector3 scaling = b3MakeVector3 (1, 1, 1);
+		app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
+		app->m_renderer->writeTransforms();
+
+		do
+		{
+			static int frameCount = 0;
+			frameCount++;
+			if (gPngFileName)
+			{
+				printf("gPngFileName=%s\n", gPngFileName);
+
+				sprintf(fileName, "%s%d.png", gPngFileName, frameCount++);
+				app->dumpNextFrameToPng(fileName);
+			}
+
+
+
+			//update the texels of the texture using a simple pattern, animated using frame index
+			for (int y = 0; y < textureHeight; ++y)
+			{
+				const int	t = (y + frameCount) >> 4;
+				unsigned char*	pi = image + y*textureWidth * 3;
+				for (int x = 0; x < textureWidth; ++x)
+				{
+					const int		s = x >> 4;
+					const unsigned char	b = 180;
+					unsigned char			c = b + ((s + (t & 1)) & 1)*(255 - b);
+					pi[0] = pi[1] = pi[2] = pi[3] = c; pi += 3;
+				}
+			}
+
+			app->m_renderer->activateTexture(textureHandle);
+			app->m_renderer->updateTexture(textureHandle, image);
+
+			float color[4] = { 255, 1, 1, 1 };
+			app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true);
+
+
+			app->m_instancingRenderer->init();
+			app->m_instancingRenderer->updateCamera();
+
+			app->m_renderer->renderScene();
+			app->drawGrid();
+			char bla[1024];
+			sprintf(bla, "Simple test frame %d", frameCount);
+
+			app->drawText(bla, 10, 10);
+			app->swapBuffer();
+		} while (!app->m_window->requestedExit());
+
+
+
+		delete app;
+
+		delete[] image;
+	}
 	return 0;
 }
diff --git a/examples/StandaloneMain/main_console_single_example.cpp b/examples/StandaloneMain/main_console_single_example.cpp
index c29ebcd79..5764e28fb 100644
--- a/examples/StandaloneMain/main_console_single_example.cpp
+++ b/examples/StandaloneMain/main_console_single_example.cpp
@@ -28,22 +28,22 @@ subject to the following restrictions:
 
 int main(int argc, char* argv[])
 {
-	
-	DummyGUIHelper noGfx;
-
-	CommonExampleOptions options(&noGfx);
-	CommonExampleInterface*    example = StandaloneExampleCreateFunc(options);
-	
-	example->initPhysics();
-	for (int i=0;i<1000;i++)
 	{
-		printf("Simulating step %d\n",i);
-		example->stepSimulation(1.f/60.f);
+		DummyGUIHelper noGfx;
+
+		CommonExampleOptions options(&noGfx);
+		CommonExampleInterface*    example = StandaloneExampleCreateFunc(options);
+
+		example->initPhysics();
+		for (int i = 0; i < 1000; i++)
+		{
+			printf("Simulating step %d\n", i);
+			example->stepSimulation(1.f / 60.f);
+		}
+		example->exitPhysics();
+
+		delete example;
 	}
-	example->exitPhysics();
-
-	delete example;
-
 	return 0;
 }
 
diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h
index db4e482f2..bee17e5c8 100644
--- a/src/BulletCollision/BroadphaseCollision/btDbvt.h
+++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -122,6 +122,7 @@ subject to the following restrictions:
 #error "DBVT_INT0_IMPL undefined"
 #endif
 
+
 //
 // Defaults volumes
 //
@@ -188,6 +189,9 @@ struct	btDbvtNode
 	};
 };
 
+typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack;
+
+
 ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
 ///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes.
 ///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
@@ -325,6 +329,16 @@ struct	btDbvt
 		void		collideTV(	const btDbvtNode* root,
 		const btDbvtVolume& volume,
 		DBVT_IPOLICY) const;
+	
+	DBVT_PREFIX
+	void		collideTVNoStackAlloc(	const btDbvtNode* root,
+						  const btDbvtVolume& volume,
+						  btNodeStack& stack,
+						  DBVT_IPOLICY) const;
+	
+	
+	
+	
 	///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
 	///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
 	DBVT_PREFIX
@@ -917,39 +931,72 @@ inline void		btDbvt::collideTT(	const btDbvtNode* root0,
 }
 #endif 
 
-//
 DBVT_PREFIX
 inline void		btDbvt::collideTV(	const btDbvtNode* root,
 								  const btDbvtVolume& vol,
 								  DBVT_IPOLICY) const
 {
 	DBVT_CHECKTYPE
-		if(root)
-		{
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume(vol);
-			btAlignedObjectArray<const btDbvtNode*>	stack;
-			stack.resize(0);
-			stack.reserve(SIMPLE_STACKSIZE);
-			stack.push_back(root);
-			do	{
-				const btDbvtNode*	n=stack[stack.size()-1];
-				stack.pop_back();
-				if(Intersect(n->volume,volume))
+	if(root)
+	{
+		ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume(vol);
+		btAlignedObjectArray<const btDbvtNode*>	stack;
+		stack.resize(0);
+		stack.reserve(SIMPLE_STACKSIZE);
+		stack.push_back(root);
+		do	{
+			const btDbvtNode*	n=stack[stack.size()-1];
+			stack.pop_back();
+			if(Intersect(n->volume,volume))
+			{
+				if(n->isinternal())
 				{
-					if(n->isinternal())
-					{
-						stack.push_back(n->childs[0]);
-						stack.push_back(n->childs[1]);
-					}
-					else
-					{
-						policy.Process(n);
-					}
+					stack.push_back(n->childs[0]);
+					stack.push_back(n->childs[1]);
 				}
-			} while(stack.size()>0);
-		}
+				else
+				{
+					policy.Process(n);
+				}
+			}
+		} while(stack.size()>0);
+	}
 }
 
+//
+DBVT_PREFIX
+inline void		btDbvt::collideTVNoStackAlloc(	const btDbvtNode* root,
+											 const btDbvtVolume& vol,
+											 btNodeStack& stack,
+											 DBVT_IPOLICY) const
+{
+	DBVT_CHECKTYPE
+	if(root)
+	{
+		ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume(vol);
+		stack.resize(0);
+		stack.reserve(SIMPLE_STACKSIZE);
+		stack.push_back(root);
+		do	{
+			const btDbvtNode*	n=stack[stack.size()-1];
+			stack.pop_back();
+			if(Intersect(n->volume,volume))
+			{
+				if(n->isinternal())
+				{
+					stack.push_back(n->childs[0]);
+					stack.push_back(n->childs[1]);
+				}
+				else
+				{
+					policy.Process(n);
+				}
+			}
+		} while(stack.size()>0);
+	}
+}
+
+
 DBVT_PREFIX
 inline void		btDbvt::rayTestInternal(	const btDbvtNode* root,
 								const btVector3& rayFrom,
diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index a80c438d1..13cddc11a 100644
--- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -244,7 +244,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 	///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
 	{
 		int i;
-		btManifoldArray manifoldArray;
+		manifoldArray.resize(0);
 		for (i=0;i<m_childCollisionAlgorithms.size();i++)
 		{
 			if (m_childCollisionAlgorithms[i])
@@ -274,7 +274,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 
 		const ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
 		//process all children, that overlap with  the given AABB bounds
-		tree->collideTV(tree->m_root,bounds,callback);
+		tree->collideTVNoStackAlloc(tree->m_root,bounds,stack2,callback);
 
 	} else
 	{
@@ -291,7 +291,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 				//iterate over all children, perform an AABB check inside ProcessChildShape
 		int numChildren = m_childCollisionAlgorithms.size();
 		int i;
-		btManifoldArray	manifoldArray;
+		manifoldArray.resize(0);
         const btCollisionShape* childShape = 0;
         btTransform	orgTrans;
         
diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
index 7d792c18d..d2086fbc0 100644
--- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
@@ -26,6 +26,7 @@ class btDispatcher;
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "btCollisionCreateFunc.h"
 #include "LinearMath/btAlignedObjectArray.h"
+#include "BulletCollision/BroadphaseCollision/btDbvt.h"
 class btDispatcher;
 class btCollisionObject;
 
@@ -36,6 +37,9 @@ extern btShapePairCallback gCompoundChildShapePairCallback;
 /// btCompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
 class btCompoundCollisionAlgorithm  : public btActivatingCollisionAlgorithm
 {
+	btNodeStack stack2;
+	btManifoldArray manifoldArray;
+
 protected:
 	btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
 	bool m_isSwapped;
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index 7f2722aa4..b9cc04186 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -503,9 +503,11 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
 				
 //				printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
 
+				worldVertsB1.resize(0);
 				btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
 					body0Wrap->getWorldTransform(), 
-					body1Wrap->getWorldTransform(), minDist-threshold, threshold, *resultOut);
+																 body1Wrap->getWorldTransform(), minDist-threshold, threshold, worldVertsB1,worldVertsB2,
+																 *resultOut);
  				
 			}
 			if (m_ownManifold)
@@ -568,8 +570,9 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
 				
 			if (foundSepAxis)
 			{
+				worldVertsB2.resize(0);
 				btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), 
-					body0Wrap->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
+					body0Wrap->getWorldTransform(), vertices, worldVertsB2,minDist-threshold, maxDist, *resultOut);
 			}
 				
 				
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index 51db0c654..d0ff3b3c1 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -24,6 +24,7 @@ subject to the following restrictions:
 #include "btCollisionCreateFunc.h"
 #include "btCollisionDispatcher.h"
 #include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
+#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
 
 class btConvexPenetrationDepthSolver;
 
@@ -45,6 +46,8 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
 	btSimplexSolverInterface*		m_simplexSolver;
 	btConvexPenetrationDepthSolver* m_pdSolver;
 
+	btVertexArray worldVertsB1;
+	btVertexArray worldVertsB2;
 	
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
diff --git a/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp b/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
index d5f4a964b..ea380bc5f 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
@@ -411,9 +411,9 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 	return true;
 }
 
-void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA,  const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
+void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA,  const btTransform& transA, btVertexArray& worldVertsB1,btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
 {
-	btVertexArray worldVertsB2;
+	worldVertsB2.resize(0);
 	btVertexArray* pVtxIn = &worldVertsB1;
 	btVertexArray* pVtxOut = &worldVertsB2;
 	pVtxOut->reserve(pVtxIn->size());
@@ -527,7 +527,7 @@ void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
 
 
 
-void	btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
+void	btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btVertexArray& worldVertsB1,btVertexArray& worldVertsB2,btDiscreteCollisionDetectorInterface::Result& resultOut)
 {
 
 	btVector3 separatingNormal = separatingNormal1.normalized();
@@ -552,7 +552,7 @@ void	btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatin
 			}
 		}
 	}
-				btVertexArray worldVertsB1;
+	worldVertsB1.resize(0);
 				{
 					const btFace& polyB = hullB.m_faces[closestFaceB];
 					const int numVertices = polyB.m_indices.size();
@@ -565,6 +565,6 @@ void	btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatin
 
 	
 	if (closestFaceB>=0)
-		clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, minDist, maxDist,resultOut);
+		clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, worldVertsB2,minDist, maxDist,resultOut);
 
 }
diff --git a/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h b/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
index b87bd4f32..30e3db687 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
@@ -32,8 +32,11 @@ typedef btAlignedObjectArray<btVector3> btVertexArray;
 // Clips a face to the back of a plane
 struct btPolyhedralContactClipping
 {
-	static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
-	static void	clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA,  const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
+
+	static void	clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btVertexArray& worldVertsB1,btVertexArray& worldVertsB2,btDiscreteCollisionDetectorInterface::Result& resultOut);
+
+	static void	clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA,  const btTransform& transA, btVertexArray& worldVertsB1,btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
+
 
 	static bool findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut);
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index a9c0b33b3..d94d1d4ea 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -396,22 +396,17 @@ btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld ()
 
 void	btMultiBodyDynamicsWorld::forwardKinematics()
 {
-	btAlignedObjectArray<btQuaternion> world_to_local;
-	btAlignedObjectArray<btVector3> local_origin;
 
 	for (int b=0;b<m_multiBodies.size();b++)
 	{
 		btMultiBody* bod = m_multiBodies[b];
-		bod->forwardKinematics(world_to_local,local_origin);
+		bod->forwardKinematics(m_scratch_world_to_local,m_scratch_local_origin);
 	}
 }
 void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 {
 	forwardKinematics();
 
-	btAlignedObjectArray<btScalar> scratch_r;
-	btAlignedObjectArray<btVector3> scratch_v;
-	btAlignedObjectArray<btMatrix3x3> scratch_m;
 
 
 	BT_PROFILE("solveConstraints");
@@ -463,9 +458,9 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 			if (!isSleeping)
 			{
 				//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-				scratch_r.resize(bod->getNumLinks()+1);			//multidof? ("Y"s use it and it is used to store qdd)
-				scratch_v.resize(bod->getNumLinks()+1);
-				scratch_m.resize(bod->getNumLinks()+1);
+				m_scratch_r.resize(bod->getNumLinks()+1);			//multidof? ("Y"s use it and it is used to store qdd)
+				m_scratch_v.resize(bod->getNumLinks()+1);
+				m_scratch_m.resize(bod->getNumLinks()+1);
 
 				bod->addBaseForce(m_gravity * bod->getBaseMass());
 
@@ -500,15 +495,15 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 			if (!isSleeping)
 			{
 				//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-				scratch_r.resize(bod->getNumLinks()+1);			//multidof? ("Y"s use it and it is used to store qdd)
-				scratch_v.resize(bod->getNumLinks()+1);
-				scratch_m.resize(bod->getNumLinks()+1);
+				m_scratch_r.resize(bod->getNumLinks()+1);			//multidof? ("Y"s use it and it is used to store qdd)
+				m_scratch_v.resize(bod->getNumLinks()+1);
+				m_scratch_m.resize(bod->getNumLinks()+1);
 				bool doNotUpdatePos = false;
 
 				{
 					if(!bod->isUsingRK4Integration())
 					{
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m);
 					}
 					else
 					{						
@@ -594,9 +589,9 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 						//
 
 						btScalar h = solverInfo.m_timeStep;
-						#define output &scratch_r[bod->getNumDofs()]
+						#define output &m_scratch_r[bod->getNumDofs()]
 						//calc qdd0 from: q0 & qd0	
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m);
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
 						pCopy(output, scratch_qdd0, 0, numDofs);
 						//calc q1 = q0 + h/2 * qd0
 						pResetQx();
@@ -606,7 +601,7 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 						//
 						//calc qdd1 from: q1 & qd1
 						pCopyToVelocityVector(bod, scratch_qd1);
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m);
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
 						pCopy(output, scratch_qdd1, 0, numDofs);
 						//calc q2 = q0 + h/2 * qd1
 						pResetQx();
@@ -616,7 +611,7 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 						//
 						//calc qdd2 from: q2 & qd2
 						pCopyToVelocityVector(bod, scratch_qd2);
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m);
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
 						pCopy(output, scratch_qdd2, 0, numDofs);
 						//calc q3 = q0 + h * qd2
 						pResetQx();
@@ -626,7 +621,7 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 						//
 						//calc qdd3 from: q3 & qd3
 						pCopyToVelocityVector(bod, scratch_qd3);
-						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m);
+						bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m);
 						pCopy(output, scratch_qdd3, 0, numDofs);
 
 						//
@@ -661,7 +656,7 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 						{
 							for(int link = 0; link < bod->getNumLinks(); ++link)
 								bod->getLink(link).updateCacheMultiDof();
-							bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, scratch_r, scratch_v, scratch_m);
+							bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m);
 						}
 						
 					}
@@ -701,16 +696,16 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
                         if (!isSleeping)
                         {
                                 //useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
-                                scratch_r.resize(bod->getNumLinks()+1);                 //multidof? ("Y"s use it and it is used to store qdd)
-                                scratch_v.resize(bod->getNumLinks()+1);
-                                scratch_m.resize(bod->getNumLinks()+1);
+                                m_scratch_r.resize(bod->getNumLinks()+1);                 //multidof? ("Y"s use it and it is used to store qdd)
+                                m_scratch_v.resize(bod->getNumLinks()+1);
+                                m_scratch_m.resize(bod->getNumLinks()+1);
 
                                 
                             {
                                 if(!bod->isUsingRK4Integration())
                                 {
 									bool isConstraintPass = true;
-                                    bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m, isConstraintPass);
+                                    bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass);
                                 }
 				}
 			}
@@ -732,9 +727,7 @@ void	btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 	{
 		BT_PROFILE("btMultiBody stepPositions");
 		//integrate and update the Featherstone hierarchies
-		btAlignedObjectArray<btQuaternion> world_to_local;
-		btAlignedObjectArray<btVector3> local_origin;
-
+	
 		for (int b=0;b<m_multiBodies.size();b++)
 		{
 			btMultiBody* bod = m_multiBodies[b];
@@ -770,10 +763,10 @@ void	btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 					}
 				}
 				
-				world_to_local.resize(nLinks+1);
-				local_origin.resize(nLinks+1);
+				m_scratch_world_to_local.resize(nLinks+1);
+				m_scratch_local_origin.resize(nLinks+1);
 
-				bod->updateCollisionObjectWorldTransforms(world_to_local,local_origin);
+				bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local,m_scratch_local_origin);
 				
 			} else
 			{
@@ -818,8 +811,6 @@ void	btMultiBodyDynamicsWorld::debugDrawWorld()
 		{
 			BT_PROFILE("btMultiBody debugDrawWorld");
 			
-			btAlignedObjectArray<btQuaternion> world_to_local1;
-			btAlignedObjectArray<btVector3> local_origin1;
 
 			for (int c=0;c<m_multiBodyConstraints.size();c++)
 			{
@@ -830,7 +821,7 @@ void	btMultiBodyDynamicsWorld::debugDrawWorld()
 			for (int b = 0; b<m_multiBodies.size(); b++)
 			{
 				btMultiBody* bod = m_multiBodies[b];
-				bod->forwardKinematics(world_to_local1,local_origin1);
+				bod->forwardKinematics(m_scratch_world_to_local1,m_scratch_local_origin1);
 				
 				getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
index 03ef3335c..2c912da5c 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
@@ -36,6 +36,16 @@ protected:
 	btMultiBodyConstraintSolver*	m_multiBodyConstraintSolver;
 	MultiBodyInplaceSolverIslandCallback*	m_solverMultiBodyIslandCallback;
 
+	//cached data to avoid memory allocations
+	btAlignedObjectArray<btQuaternion> m_scratch_world_to_local;
+	btAlignedObjectArray<btVector3> m_scratch_local_origin;
+	btAlignedObjectArray<btQuaternion> m_scratch_world_to_local1;
+	btAlignedObjectArray<btVector3> m_scratch_local_origin1;
+	btAlignedObjectArray<btScalar> m_scratch_r;
+	btAlignedObjectArray<btVector3> m_scratch_v;
+	btAlignedObjectArray<btMatrix3x3> m_scratch_m;
+
+	
 	virtual void	calculateSimulationIslands();
 	virtual void	updateActivationState(btScalar timeStep);
 	virtual void	solveConstraints(btContactSolverInfo& solverInfo);
diff --git a/src/LinearMath/btAlignedAllocator.cpp b/src/LinearMath/btAlignedAllocator.cpp
index a65296c6a..e5f6040c4 100644
--- a/src/LinearMath/btAlignedAllocator.cpp
+++ b/src/LinearMath/btAlignedAllocator.cpp
@@ -105,30 +105,94 @@ void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc)
 }
 
 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
+
+static int allocations_id[10241024];
+static int allocations_bytes[10241024];
+static int mynumallocs = 0;
+#include <stdio.h>
+
+int btDumpMemoryLeaks()
+{
+	int totalLeak = 0;
+	
+	for (int i=0;i<mynumallocs;i++)
+	{
+		printf("Error: leaked memory of allocation #%d (%d bytes)\n", allocations_id[i], allocations_bytes[i]);
+		totalLeak+=allocations_bytes[i];
+	}
+	if (totalLeak)
+	{
+		printf("Error: memory leaks: %d allocations were not freed and leaked together %d bytes\n",mynumallocs,totalLeak);
+	}
+	return totalLeak;
+}
 //this generic allocator provides the total allocated number of bytes
 #include <stdio.h>
 
+struct btDebugPtrMagic
+{
+	union
+	{
+		void** vptrptr;
+		void* vptr;
+		int* iptr;
+		char* cptr;
+	};
+};
+
+
 void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filename)
 {
+	if (size==0)
+	{
+		printf("Whaat? size==0");
+		return 0;
+	}
+	static int allocId = 0;
+	
  void *ret;
  char *real;
 
+// to find some particular memory leak, you could do something like this:
+//	if (allocId==172)
+//	{
+//		printf("catch me!\n");
+//	}
+//	if (size>1024*1024)
+//	{
+//		printf("big alloc!%d\n", size);
+//	}
+
  gTotalBytesAlignedAllocs += size;
  gNumAlignedAllocs++;
 
  
- real = (char *)sAllocFunc(size + 2*sizeof(void *) + (alignment-1));
+int sz4prt = 4*sizeof(void *);
+	
+ real = (char *)sAllocFunc(size + sz4prt + (alignment-1));
  if (real) {
-   ret = (void*) btAlignPointer(real + 2*sizeof(void *), alignment);
-   *((void **)(ret)-1) = (void *)(real);
-       *((int*)(ret)-2) = size;
+	 
+   ret = (void*) btAlignPointer(real + sz4prt, alignment);
+	 btDebugPtrMagic p;
+	 p.vptr = ret;
+	 p.cptr-=sizeof(void*);
+	 *p.vptrptr = (void*)real;
+	 p.cptr-=sizeof(void*);
+	 *p.iptr = size;
+	 p.cptr-=sizeof(void*);
+	 *p.iptr = allocId;
+	 
+	 allocations_id[mynumallocs] = allocId;
+	 allocations_bytes[mynumallocs] = size;
+	 mynumallocs++;
 
  } else {
    ret = (void *)(real);//??
  }
 
- printf("allocation#%d at address %x, from %s,line %d, size %d\n",gNumAlignedAllocs,real, filename,line,size);
-
+ printf("allocation %d at address %x, from %s,line %d, size %d (total allocated = %d)\n",allocId,real, filename,line,size,gTotalBytesAlignedAllocs);
+	allocId++;
+	
  int* ptr = (int*)ret;
  *ptr = 12;
  return (ret);
@@ -138,19 +202,43 @@ void    btAlignedFreeInternal   (void* ptr,int line,char* filename)
 {
 
  void* real;
- gNumAlignedFree++;
 
  if (ptr) {
-   real = *((void **)(ptr)-1);
-       int size = *((int*)(ptr)-2);
-       gTotalBytesAlignedAllocs -= size;
+	 gNumAlignedFree++;
 
-	   printf("free #%d at address %x, from %s,line %d, size %d\n",gNumAlignedFree,real, filename,line,size);
+	 btDebugPtrMagic p;
+	 p.vptr = ptr;
+	 p.cptr-=sizeof(void*);
+	 real = *p.vptrptr;
+	 p.cptr-=sizeof(void*);
+	 int size = *p.iptr;
+	 p.cptr-=sizeof(void*);
+	 int allocId = *p.iptr;
+
+	 bool found = false;
+	 
+	 for (int i=0;i<mynumallocs;i++)
+	 {
+		 if ( allocations_id[i] == allocId)
+		 {
+			 allocations_id[i] = allocations_id[mynumallocs-1];
+			 allocations_bytes[i] = allocations_bytes[mynumallocs-1];
+			 mynumallocs--;
+			 found = true;
+			 break;
+		 }
+	 }
+	 
+	
+	gTotalBytesAlignedAllocs -= size;
+
+	 int diff = gNumAlignedAllocs-gNumAlignedFree;
+	printf("free %d at address %x, from %s,line %d, size %d (total remain = %d in %d non-freed allocations)\n",allocId,real, filename,line,size, gTotalBytesAlignedAllocs, diff);
 
    sFreeFunc(real);
  } else
  {
-	 printf("NULL ptr\n");
+	 //printf("deleting a NULL ptr, no effect\n");
  }
 }
 
diff --git a/src/LinearMath/btAlignedAllocator.h b/src/LinearMath/btAlignedAllocator.h
index f168f3c66..9873b338d 100644
--- a/src/LinearMath/btAlignedAllocator.h
+++ b/src/LinearMath/btAlignedAllocator.h
@@ -21,9 +21,15 @@ subject to the following restrictions:
 ///that is better portable and more predictable
 
 #include "btScalar.h"
-//#define BT_DEBUG_MEMORY_ALLOCATIONS 1
+
+
+///BT_DEBUG_MEMORY_ALLOCATIONS preprocessor can be set in build system
+///for regression tests to detect memory leaks
+///#define BT_DEBUG_MEMORY_ALLOCATIONS 1
 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
 
+int btDumpMemoryLeaks();
+
 #define btAlignedAlloc(a,b) \
 		btAlignedAllocInternal(a,b,__LINE__,__FILE__)