fixed some outstanding issues with Bullet soft bodies:

1) re-allocate a pool allocator, if one of the soft body collision algorithms is larger than max pool element size
2) manage child shapes properly, and call RemoveReferences on the m_sparsesdf

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -48,6 +48,8 @@ struct	btDefaultCollisionConstructionInfo
 class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 {
 
+protected:
+
 	int	m_persistentManifoldPoolSize;
 	
 	btStackAlloc*	m_stackAlloc;
@@ -56,6 +58,7 @@ class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 	btPoolAllocator*	m_persistentManifoldPool;
 	bool	m_ownsPersistentManifoldPool;
 
+
 	btPoolAllocator*	m_collisionAlgorithmPool;
 	bool	m_ownsCollisionAlgorithmPool;
 

src/BulletSoftBody/btSoftBody.h

@@ -609,6 +609,11 @@ public:
 
 	btAlignedObjectArray<int>	m_userIndexMapping;
 
+	btSoftBodyWorldInfo*	getWorldInfo()
+	{
+		return m_worldInfo;
+	}
+
 	virtual void	setCollisionShape(btCollisionShape* collisionShape)
 	{
 		//don't do anything, due to the internal shape hack: todo: fix this

src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp

@@ -74,35 +74,23 @@ btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
 
 void	btSoftBodyTriangleCallback::clearCache()
 {
-	//m_dispatcher->clearManifold(m_manifoldPtr);
+	for (int i=0;i<m_shapeCache.size();i++)
+	{
+		btTriIndex* tmp = m_shapeCache.getAtIndex(i);
+		btAssert(tmp);
+		btAssert(tmp->m_childShape);
+		m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary?
+		delete tmp->m_childShape;
+	}
+	m_shapeCache.clear();
 };
 
 
-static const int maxParts = 1;
-static const int maxTriangleIndex = 100*100;
-
-btCollisionShape* shapeCache[maxParts][maxTriangleIndex];
-
-
 void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
 {
-	static bool hackedFirst = true;
+ 	//just for debugging purposes
-	if (hackedFirst)
-	{
-		hackedFirst = false;
-		int i,j;
-		for (i=0;i<maxParts;i++)
-		{
-			for (j=0;j<maxTriangleIndex;j++)
-			{
-				shapeCache[i][j]=0;
-			}
-		}
-	}
- 
-	//just for debugging purposes
 	//printf("triangle %d",m_triangleCount++);
-btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
+	btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
@@ -114,18 +102,17 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
-
-		//btVector3 center = triangle[0] + triangle[1]+triangle[2];
-		//center *= btScalar(0.333333);
-		//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
-		//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
-		//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
-
 	}
 
-	if (shapeCache[partId][triangleIndex])
+	btTriIndex	triIndex(partId,triangleIndex,0);
+	btHashKey<btTriIndex> triKey(triIndex.getUid());
+
+	
+	btTriIndex* shapeIndex = m_shapeCache[triKey];
+	if (shapeIndex)
 	{
-		btCollisionShape* tm = shapeCache[partId][triangleIndex];
+		btCollisionShape* tm = shapeIndex->m_childShape;
+		btAssert(tm);
 
 		//copy over user pointers to temporary shape
 		tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
@@ -145,13 +132,6 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 
 	//aabb filter is already applied!	
 
-
-	
-
-	
-
-
-
 	//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
 	
 //	if (m_softBody->getCollisionShape()->getShapeType()==
@@ -194,10 +174,11 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 		colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-		ob->internalSetTemporaryCollisionShape( tmpShape );
-//		delete tm;
 		
-		shapeCache[partId][triangleIndex] = tm;
+		
+		ob->internalSetTemporaryCollisionShape( tmpShape );
+		triIndex.m_childShape = tm;
+		m_shapeCache.insert(triKey,triIndex);
 
 	}
 

src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h

@@ -25,6 +25,39 @@ class btDispatcher;
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 class btSoftBody;
+class btCollisionShape;
+
+#include "LinearMath/btHashMap.h"
+
+#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
+
+struct btTriIndex
+{
+	int m_PartIdTriangleIndex;
+	class btCollisionShape*	m_childShape;
+	
+	btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
+	{
+		m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
+		m_childShape = shape;
+	}
+
+	int	getTriangleIndex() const
+	{
+		// Get only the lower bits where the triangle index is stored
+		return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
+	}
+	int	getPartId() const
+	{
+		// Get only the highest bits where the part index is stored
+		return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
+	}
+	int	getUid() const
+	{
+		return m_PartIdTriangleIndex;
+	}
+};
+
 
 ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
 class btSoftBodyTriangleCallback : public btTriangleCallback
@@ -41,6 +74,8 @@ class btSoftBodyTriangleCallback : public btTriangleCallback
 	const btDispatcherInfo* m_dispatchInfoPtr;
 	btScalar m_collisionMarginTriangle;
 
+	btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
+	
 public:
 int	m_triangleCount;
 	

src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp

@@ -18,6 +18,8 @@ subject to the following restrictions:
 #include "btSoftBodyConcaveCollisionAlgorithm.h"
 #include "btSoftSoftCollisionAlgorithm.h"
 
+#include "LinearMath/btPoolAllocator.h"
+
 #define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
 
 btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
@@ -44,6 +46,31 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
 	m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
 #endif
 
+	//replace pool by a new one, with potential larger size
+	
+	if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
+	{
+		int curElemSize = m_collisionAlgorithmPool->getElementSize();
+		///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
+		
+		
+		int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
+		int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
+		int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
+
+		int	collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
+		collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
+		if (collisionAlgorithmMaxElementSize > curElemSize)
+		{
+			btAlignedFree(m_collisionAlgorithmPool);
+			void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
+			m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
+		}
+	}
+
+
+
+
 }
 
 btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()

src/LinearMath/btPoolAllocator.h

@@ -91,6 +91,11 @@ public:
         }
 	}
 
+	int	getElementSize() const
+	{
+		return m_elemSize;
+	}
+
 
 };