fixed memoryleak,

added RayTestSingle to CollisionWorld
prepared to add VehicleDemo

Bullet/BroadphaseCollision/OverlappingPairCache.cpp

@@ -101,6 +101,7 @@ void	OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,Broadphase
 ///this FindPair becomes really slow. Either sort the list to speedup the query, or
 ///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
 ///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
+///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
 BroadphasePair*	OverlappingPairCache::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
 {
 	BroadphasePair* foundPair = 0;

Bullet/CollisionDispatch/CollisionWorld.cpp

@@ -103,6 +103,8 @@ void	CollisionWorld::PerformDiscreteCollisionDetection()
 		m_pairCache->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
 	}
 
+	m_pairCache->RefreshOverlappingPairs();
+
 	Dispatcher* dispatcher = GetDispatcher();
 	if (dispatcher)
 		dispatcher->DispatchAllCollisionPairs(&m_pairCache->GetOverlappingPair(0),m_pairCache->GetNumOverlappingPairs(),dispatchInfo);
@@ -140,11 +142,11 @@ void	CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
 		}
 }
 
-void	RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
+void	CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
 					  CollisionObject* collisionObject,
 					  const CollisionShape* collisionShape,
 					  const SimdTransform& colObjWorldTransform,
-					  CollisionWorld::RayResultCallback& resultCallback)
+					  RayResultCallback& resultCallback)
 {
 	
 	SphereShape pointShape(0.0f);

Bullet/CollisionDispatch/CollisionWorld.h

@@ -204,8 +204,18 @@ public:
 		return m_collisionObjects.size();
 	}
 
+	/// RayTest performs a raycast on all objects in the CollisionWorld, and calls the resultCallback
+	/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
 	void	RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback);
 
+	/// RayTestSingle performs a raycast call and calls the resultCallback. It is used internally by RayTest.
+	/// In a future implementation, we consider moving the ray test as a virtual method in CollisionShape.
+	/// This allows more customization.
+	void	RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
+					  CollisionObject* collisionObject,
+					  const CollisionShape* collisionShape,
+					  const SimdTransform& colObjWorldTransform,
+					  RayResultCallback& resultCallback);
 
 	void	AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
 

Bullet/CollisionShapes/OptimizedBvh.cpp

@@ -85,6 +85,11 @@ void OptimizedBvh::Build(StridingMeshInterface* triangles)
 //	OptimizedBvhNode* leafNodes = new OptimizedBvhNode;
 }
 
+OptimizedBvh::~OptimizedBvh()
+{
+	if (m_contiguousNodes)
+		delete m_contiguousNodes;
+}
 
 OptimizedBvhNode*	OptimizedBvh::BuildTree	(NodeArray&	leafNodes,int startIndex,int endIndex)
 {

Bullet/CollisionShapes/OptimizedBvh.h

@@ -69,7 +69,7 @@ class OptimizedBvh
 
 public:
 	OptimizedBvh() :m_rootNode1(0), m_numNodes(0) { }
-	virtual ~OptimizedBvh() {};
+	virtual ~OptimizedBvh();
 	
 	void	Build(StridingMeshInterface* triangles);