Add btConvexHullShape::optimizeConvexHull method,

it automatically removes vertices that are not on the convex hull.
It uses the btConvexHullComputer for this.

src/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -22,6 +22,8 @@ subject to the following restrictions:
 
 #include "LinearMath/btQuaternion.h"
 #include "LinearMath/btSerializer.h"
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btConvexHullComputer.h"
 
 btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
 {
@@ -121,10 +123,17 @@ btVector3	btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
 }
 
 
-
-
-
-
+void btConvexHullShape::optimizeConvexHull()
+{
+	btConvexHullComputer conv;
+	conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3),m_unscaledPoints.size(),0.f,0.f);
+	int numVerts = conv.vertices.size();
+	m_unscaledPoints.resize(0);
+	for (int i=0;i<numVerts;i++)
+    {
+        m_unscaledPoints.push_back(conv.vertices[i]);
+    }
+}
 
 
 

src/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -55,9 +55,8 @@ public:
 		return getUnscaledPoints();
 	}
 
-	
-
-
+    void optimizeConvexHull();
+    
 	SIMD_FORCE_INLINE	btVector3 getScaledPoint(int i) const
 	{
 		return m_unscaledPoints[i] * m_localScaling;