re-organized memory (stack and pool) allocators. this lets the user pass in their own memory allocators.

Demos/BasicDemo/BasicDemo.cpp

@@ -187,9 +187,9 @@ void	BasicDemo::initPhysics()
 #ifdef USE_SIMPLE_DYNAMICS_WORLD
 	//btSimpleDynamicsWorld doesn't support 'cache friendly' optimization, so disable this
 	sol->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
-	m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
+	m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,collisionConfiguration);
 #else
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,collisionConfiguration);
 #endif //USE_SIMPLE_DYNAMICS_WORLD
 	m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
 

Demos/BspDemo/BspDemo.cpp

@@ -144,7 +144,7 @@ void	BspDemo::initPhysics(char* bspfilename)
 	//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
 	//ConstraintSolver* solver = new OdeConstraintSolver;
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
 
 	m_dynamicsWorld->setGravity(-m_cameraUp * 10);
 	m_dynamicsWorld->setDebugDrawer(&debugDrawer);

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -477,7 +477,7 @@ int maxNumOutstandingTasks = 4;
 	solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
 #endif //USER_DEFINED_FRICTION_MODEL
 
-		btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
+		btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
 		m_dynamicsWorld = world;
 
 #ifdef DO_BENCHMARK_PYRAMIDS

Demos/ColladaDemo/ColladaDemo.cpp

@@ -178,7 +178,7 @@ void	ColladaDemo::initPhysics(const char* filename)
 	btVector3 worldMax(1000,1000,1000);
 	btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
 
 	//m_dynamicsWorld = new btSimpleDynamicsWorld();
 

Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp

@@ -91,7 +91,7 @@ void	CollisionInterfaceDemo::initPhysics()
 	//SimpleBroadphase is a brute force alternative, performing N^2 aabb overlap tests
 	//SimpleBroadphase*	broadphase = new btSimpleBroadphase;
 
-	collisionWorld = new btCollisionWorld(dispatcher,broadphase);
+	collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
 		
 	collisionWorld->addCollisionObject(&objects[0]);
 	collisionWorld->addCollisionObject(&objects[1]);

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -270,7 +270,7 @@ btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollision
 	btVector3 worldMax(1000,1000,1000);
 	btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
 #ifdef USE_PARALLEL_DISPATCHER
 	m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
 #endif //USE_PARALLEL_DISPATCHER

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -84,7 +84,7 @@ void	ConstraintDemo::initPhysics()
 	//btBroadphaseInterface* broadphase = new btSimpleBroadphase();
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
 	//ConstraintSolver* solver = new OdeConstraintSolver;
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
 
 	//m_dynamicsWorld->setGravity(btVector3(0,0,0));
 	

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -128,7 +128,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 	//btBroadphaseInterface* broadphase = new btSimpleBroadphase();
 
 	btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
 
 #ifdef USE_PARALLEL_DISPATCHER
 	m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;

Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp

@@ -89,7 +89,7 @@ void	DoublePrecisionDemo::initPhysics()
 
 	btAxisSweep3*	broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
 	
-	collisionWorld = new btCollisionWorld(dispatcher,broadphase);
+	collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
 		
 	collisionWorld->addCollisionObject(&objects[0]);
 	collisionWorld->addCollisionObject(&objects[1]);

Demos/GenericJointDemo/GenericJointDemo.cpp

@@ -1,153 +1,153 @@
-/*
+/*
-Bullet Continuous Collision Detection and Physics Library
+Bullet Continuous Collision Detection and Physics Library
-Ragdoll Demo
+Ragdoll Demo
-Copyright (c) 2007 Starbreeze Studios
+Copyright (c) 2007 Starbreeze Studios
-
+
-This software is provided 'as-is', without any express or implied warranty.
+This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
+In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
+Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
+including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
+subject to the following restrictions:
-
+
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
+3. This notice may not be removed or altered from any source distribution.
-
+
 Originally Written by: Marten Svanfeldt
-ReWritten by: Francisco Le<4C>n
+ReWritten by: Francisco Le<4C>n
-*/
+*/
 
 //#define USE_ODE_QUICKSTEP 1
-
+
-
+
-#include "btBulletDynamicsCommon.h"
+#include "btBulletDynamicsCommon.h"
-#include "GlutStuff.h"
+#include "GlutStuff.h"
-#include "GL_ShapeDrawer.h"
+#include "GL_ShapeDrawer.h"
-
+
 #include "LinearMath/btIDebugDraw.h"
 
-#include "GLDebugDrawer.h"
+#include "GLDebugDrawer.h"
 #include "GenericJointDemo.h"
 
-#ifdef USE_ODE_QUICKSTEP
+#ifdef USE_ODE_QUICKSTEP
 	#include "OdeConstraintSolver.h"
 #endif
 
-
+
-GLDebugDrawer debugDrawer;
+GLDebugDrawer debugDrawer;
-
+
-
+
-
+
-int main(int argc,char* argv[])
+int main(int argc,char* argv[])
-{
+{
 	GenericJointDemo demoApp;
-//	demoApp.configDebugDrawer(&debugDrawer);
+//	demoApp.configDebugDrawer(&debugDrawer);
-
+
-	demoApp.initPhysics();
+	demoApp.initPhysics();
-	demoApp.setCameraDistance(btScalar(10.));
+	demoApp.setCameraDistance(btScalar(10.));
 
 #ifdef USE_ODE_QUICKSTEP
 	return glutmain(argc, argv,640,480,"Joint 6DOF - ODE QuickStep Solver",&demoApp);
 #else
 	return glutmain(argc, argv,640,480,"Joint 6DOF - Sequencial Impulse Solver",&demoApp);
 #endif
-
-
-}
-
 
-
+
-void GenericJointDemo::initPhysics()
+}
-{
+
-	// Setup the basic world
+
+
+void GenericJointDemo::initPhysics()
+{
+	// Setup the basic world
 
 	btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
-
+
-	btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
+	btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
-
+
-	btPoint3 worldAabbMin(-10000,-10000,-10000);
+	btPoint3 worldAabbMin(-10000,-10000,-10000);
-	btPoint3 worldAabbMax(10000,10000,10000);
+	btPoint3 worldAabbMax(10000,10000,10000);
-	btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
+	btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
 
 #ifdef USE_ODE_QUICKSTEP
 	btConstraintSolver* constraintSolver = new OdeConstraintSolver();
 #else
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
-#endif
+#endif
 
-
-
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver);
 
-	m_dynamicsWorld->setGravity(btVector3(0,-30,0));
+
-
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
+
+	m_dynamicsWorld->setGravity(btVector3(0,-30,0));
+
 	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
-
+
-	// Setup a big ground box
+	// Setup a big ground box
-	{
+	{
-		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
+		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
-		btTransform groundTransform;
+		btTransform groundTransform;
-		groundTransform.setIdentity();
+		groundTransform.setIdentity();
-		groundTransform.setOrigin(btVector3(0,-15,0));
+		groundTransform.setOrigin(btVector3(0,-15,0));
-		localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
+		localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
-	}
+	}
-
+
-	// Spawn one ragdoll
+	// Spawn one ragdoll
-	spawnRagdoll();
+	spawnRagdoll();
-
+
-	clientResetScene();
+	clientResetScene();
-}
+}
-
+
-void GenericJointDemo::spawnRagdoll(bool random)
+void GenericJointDemo::spawnRagdoll(bool random)
-{
+{
-	RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
+	RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
-	m_ragdolls.push_back(ragDoll);
+	m_ragdolls.push_back(ragDoll);
-}
+}
-
+
-void GenericJointDemo::clientMoveAndDisplay()
+void GenericJointDemo::clientMoveAndDisplay()
-{
+{
-	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
+
-	//simple dynamics world doesn't handle fixed-time-stepping
+	//simple dynamics world doesn't handle fixed-time-stepping
-	float ms = m_clock.getTimeMicroseconds();
+	float ms = m_clock.getTimeMicroseconds();
-	m_clock.reset();
+	m_clock.reset();
-	float minFPS = 1000000.f/60.f;
+	float minFPS = 1000000.f/60.f;
-	if (ms > minFPS)
+	if (ms > minFPS)
-		ms = minFPS;
+		ms = minFPS;
-
+
-	if (m_dynamicsWorld)
+	if (m_dynamicsWorld)
-		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
-
+
-	renderme();
+	renderme();
-
+
-	glFlush();
+	glFlush();
-
+
-	glutSwapBuffers();
+	glutSwapBuffers();
-}
+}
-
+
-void GenericJointDemo::displayCallback()
+void GenericJointDemo::displayCallback()
-{
+{
-	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
+
-	if (m_dynamicsWorld)
+	if (m_dynamicsWorld)
-		m_dynamicsWorld->updateAabbs();
+		m_dynamicsWorld->updateAabbs();
-
+
-	renderme();
+	renderme();
-
+
-	glFlush();
+	glFlush();
-	glutSwapBuffers();
+	glutSwapBuffers();
-}
+}
-
+
-void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
+void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
-{
+{
-	switch (key)
+	switch (key)
-	{
+	{
-	case 'e':
+	case 'e':
-		spawnRagdoll(true);
+		spawnRagdoll(true);
-		break;
+		break;
-	default:
+	default:
-		DemoApplication::keyboardCallback(key, x, y);
+		DemoApplication::keyboardCallback(key, x, y);
-	}
+	}
-
+
-
+
-}
+}

Demos/GimpactTestDemo/GimpactTestDemo.cpp

@@ -415,7 +415,7 @@ void	GimpactConcaveDemo::initPhysics()
 
 	m_constraintSolver = new btSequentialImpulseConstraintSolver();
 
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration);
 	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 
 	//create trimesh model and shape

Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp

@@ -1652,7 +1652,7 @@ void	ConcaveDemo::initPhysics()
 	btBroadphaseInterface* broadphase = new btSimpleBroadphase();
 
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver,collisionConfiguration);
 
 
 	//create trimesh model and shape

Demos/OpenGL/GLDebugDrawer.cpp

@@ -40,6 +40,12 @@ void	GLDebugDrawer::setDebugMode(int debugMode)
 
 }
 
+void	GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
+{
+	glRasterPos3f(location.x(),  location.y(),  location.z());
+	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
+}
+
 void	GLDebugDrawer::reportErrorWarning(const char* warningString)
 {
 	printf(warningString);

Demos/OpenGL/GLDebugDrawer.h

@@ -20,6 +20,8 @@ public:
 
 	virtual void	reportErrorWarning(const char* warningString);
 
+	virtual void	draw3dText(const btVector3& location,const char* textString);
+
 	virtual void	setDebugMode(int debugMode);
 
 	virtual int		getDebugMode() const { return m_debugMode;}

Demos/RagdollDemo/RagdollDemo.cpp

@@ -328,7 +328,7 @@ void RagdollDemo::initPhysics()
 
 	btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
 
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);
 
 	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 

Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp

@@ -112,7 +112,7 @@ void	UserCollisionAlgorithm::initPhysics()
 	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
 	
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver,collisionConfiguration);
 	
 	float mass = 0.f;
 	btTransform	startTransform;

Demos/VehicleDemo/VehicleDemo.cpp

@@ -124,7 +124,7 @@ void VehicleDemo::setupPhysics()
 	btVector3 worldMax(1000,1000,1000);
 	btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
 #ifdef FORCE_ZAXIS_UP
 	m_dynamicsWorld->setGravity(btVector3(0,0,-10));
 #endif 

src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h

@@ -17,6 +17,9 @@ subject to the following restrictions:
 #define BT_COLLISION_CONFIGURATION
 struct btCollisionAlgorithmCreateFunc;
 
+class btStackAlloc;
+class btPoolAllocator;
+
 ///btCollisionConfiguration allows to configure Bullet collision detection
 ///stack allocator size, default collision algorithms and persistent manifold pool size
 ///todo: describe the meaning
@@ -29,14 +32,12 @@ public:
 	{
 	}
 
-	///pool size for the persistent contact manifold
+	///memory pools
-	virtual int	getPersistentManifoldPoolSize() = 0;
+	virtual btPoolAllocator* getPersistentManifoldPool() = 0;
 
-	virtual int	getStackAllocatorSize() = 0;
+	virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
 
-	virtual int	getCollisionAlgorithmPoolSize() = 0;
+	virtual btStackAlloc*	getStackAllocator() = 0;
-
-	virtual int	getCollisionAlgorithmMaxElementSize() = 0;
 
 	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;
 

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -41,9 +41,9 @@ btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisio
 
 	setNearCallback(defaultNearCallback);
 	
-	m_collisionAlgorithmPoolAllocator = new btPoolAllocator(m_collisionConfiguration->getCollisionAlgorithmMaxElementSize(),m_collisionConfiguration->getCollisionAlgorithmPoolSize());
+	m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
 
-	m_persistentManifoldPoolAllocator = new btPoolAllocator(sizeof(btPersistentManifold),m_collisionConfiguration->getPersistentManifoldPoolSize());
+	m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
 
 	for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
 	{
@@ -65,8 +65,6 @@ void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int prox
 
 btCollisionDispatcher::~btCollisionDispatcher()
 {
-	delete m_collisionAlgorithmPoolAllocator;
-	delete m_persistentManifoldPoolAllocator;
 }
 
 btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1) 

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

@@ -124,6 +124,20 @@ public:
 
 	virtual	void freeCollisionAlgorithm(void* ptr);
 
+	btCollisionConfiguration*	getCollisionConfiguration()
+	{
+		return m_collisionConfiguration;
+	}
+
+	const btCollisionConfiguration*	getCollisionConfiguration() const
+	{
+		return m_collisionConfiguration;
+	}
+
+	void	setCollisionConfiguration(btCollisionConfiguration* config)
+	{
+		m_collisionConfiguration = config;
+	}
 
 };
 

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -35,24 +35,22 @@ subject to the following restrictions:
 //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
+#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
 
 
-
+btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
-btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, int stackSize)
 :m_dispatcher1(dispatcher),
 m_broadphasePairCache(pairCache),
 m_ownsDispatcher(false),
 m_ownsBroadphasePairCache(false)
 {
-	m_stackAlloc = new btStackAlloc(stackSize);
+	m_stackAlloc = collisionConfiguration->getStackAllocator();
 	m_dispatchInfo.m_stackAllocator = m_stackAlloc;
 }
 
 
 btCollisionWorld::~btCollisionWorld()
 {
-	m_stackAlloc->destroy();
-	delete m_stackAlloc;
 
 	//clean up remaining objects
 	int i;

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -98,7 +98,7 @@ protected:
 public:
 
 	//this constructor doesn't own the dispatcher and paircache/broadphase
-	btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, int stackSize = 2*1024*1024);
+	btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);
 
 	virtual ~btCollisionWorld();
 

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -24,15 +24,16 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
 
+#include "LinearMath/btStackAlloc.h"
+#include "LinearMath/btPoolAllocator.h"
+
+
+
 #define DEFAULT_MAX_OVERLAPPING_PAIRS 65535
 #define DEFAULT_STACK_ALLOCATOR_SIZE	(5*1024*1024)
 
 
-btDefaultCollisionConfiguration::btDefaultCollisionConfiguration()
+btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc*	stackAlloc,btPoolAllocator*	persistentManifoldPool,btPoolAllocator*	collisionAlgorithmPool)
-:m_persistentManifoldPoolSize(DEFAULT_MAX_OVERLAPPING_PAIRS),
-m_stackAllocatorSize(DEFAULT_STACK_ALLOCATOR_SIZE),
-m_collisionAlgorithmPoolSize(DEFAULT_MAX_OVERLAPPING_PAIRS),
-m_collisionAlgorithmMaxElementSize(0)
 {
 
 	//default CreationFunctions, filling the m_doubleDispatch table
@@ -58,14 +59,62 @@ m_collisionAlgorithmMaxElementSize(0)
 	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
 	int maxSize4 = sizeof(btEmptyAlgorithm);
 	
-	m_collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
+	int	collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
-	m_collisionAlgorithmMaxElementSize = btMax(m_collisionAlgorithmMaxElementSize,maxSize3);
+	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
-	m_collisionAlgorithmMaxElementSize = btMax(m_collisionAlgorithmMaxElementSize,maxSize4);
+	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
+
+	if (stackAlloc)
+	{
+		m_ownsStackAllocator = false;
+		this->m_stackAlloc = stackAlloc;
+	} else
+	{
+		m_ownsStackAllocator = true;
+		void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
+		m_stackAlloc = new(mem)btStackAlloc(DEFAULT_STACK_ALLOCATOR_SIZE);
+	}
+		
+	if (persistentManifoldPool)
+	{
+		m_ownsPersistentManifoldPool = false;
+		m_persistentManifoldPool = persistentManifoldPool;
+	} else
+	{
+		m_ownsPersistentManifoldPool = true;
+		void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
+		m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),DEFAULT_MAX_OVERLAPPING_PAIRS);
+	}
+	
+	if (collisionAlgorithmPool)
+	{
+		m_ownsCollisionAlgorithmPool = false;
+		m_collisionAlgorithmPool = collisionAlgorithmPool;
+	} else
+	{
+		m_ownsCollisionAlgorithmPool = true;
+		void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
+		m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,DEFAULT_MAX_OVERLAPPING_PAIRS);
+	}
+
 
 }
 
 btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
 {
+	if (m_ownsStackAllocator)
+	{
+		m_stackAlloc->destroy();
+		btAlignedFree(m_stackAlloc);
+	}
+	if (m_ownsCollisionAlgorithmPool)
+	{
+		btAlignedFree(m_collisionAlgorithmPool);
+	}
+	if (m_ownsPersistentManifoldPool)
+	{
+		btAlignedFree(m_persistentManifoldPool);
+	}
+
 	delete m_convexConvexCreateFunc;
 	delete m_convexConcaveCreateFunc;
 	delete m_swappedConvexConcaveCreateFunc;
@@ -79,28 +128,6 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
 	delete m_triangleSphereCF;
 
 
-}
-
-	///pool size for the persistent contact manifold
-int	btDefaultCollisionConfiguration::getPersistentManifoldPoolSize()
-{
-	return m_persistentManifoldPoolSize;
-}
-
-int	btDefaultCollisionConfiguration::getStackAllocatorSize()
-{
-	return m_stackAllocatorSize;
-}
-
-int	btDefaultCollisionConfiguration::getCollisionAlgorithmPoolSize()
-{
-	return m_collisionAlgorithmPoolSize;
-}
-
-int	btDefaultCollisionConfiguration::getCollisionAlgorithmMaxElementSize()
-{
-	return m_collisionAlgorithmMaxElementSize;
-
 }
 
 

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -19,19 +19,23 @@ subject to the following restrictions:
 #include "btCollisionConfiguration.h"
 
 ///btCollisionConfiguration allows to configure Bullet collision detection
-///stack allocator size, default collision algorithms and persistent manifold pool size
+///stack allocator, pool memory allocators
 ///todo: describe the meaning
 class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 {
 
 	int	m_persistentManifoldPoolSize;
 	
-	int	m_stackAllocatorSize;
+	btStackAlloc*	m_stackAlloc;
+	bool	m_ownsStackAllocator;
 
-	int m_collisionAlgorithmPoolSize;
+	btPoolAllocator*	m_persistentManifoldPool;
+	bool	m_ownsPersistentManifoldPool;
 
-	int m_collisionAlgorithmMaxElementSize;
+	btPoolAllocator*	m_collisionAlgorithmPool;
+	bool	m_ownsCollisionAlgorithmPool;
 
+	
 	//default CreationFunctions, filling the m_doubleDispatch table
 	btCollisionAlgorithmCreateFunc*	m_convexConvexCreateFunc;
 	btCollisionAlgorithmCreateFunc*	m_convexConcaveCreateFunc;
@@ -47,35 +51,30 @@ class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 
 public:
 
-	btDefaultCollisionConfiguration();
+	btDefaultCollisionConfiguration(btStackAlloc*	stackAlloc=0,btPoolAllocator*	persistentManifoldPool=0,btPoolAllocator*	collisionAlgorithmPool=0);
 
 	virtual ~btDefaultCollisionConfiguration();
 
-	///pool size for the persistent contact manifold
+		///memory pools
-	virtual int	getPersistentManifoldPoolSize();
+	virtual btPoolAllocator* getPersistentManifoldPool()
+	{
+		return m_persistentManifoldPool;
+	}
 
-	virtual int	getStackAllocatorSize();
+	virtual btPoolAllocator* getCollisionAlgorithmPool()
+	{
+		return m_collisionAlgorithmPool;
+	}
 
-	virtual int	getCollisionAlgorithmPoolSize();
+	virtual btStackAlloc*	getStackAllocator()
+	{
+		return m_stackAlloc;
+	}
 
-	virtual int	getCollisionAlgorithmMaxElementSize();
 
 	btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
 
-	void	setStackAllocatorSize(int size)
-	{
-		m_stackAllocatorSize = size;
-	}
 
-	void	setPersistentManifoldPoolSize(int size)
-	{
-		m_persistentManifoldPoolSize = size;
-	}
-
-	void	setCollisionAlgorithmPoolSize(int size)
-	{
-		m_collisionAlgorithmPoolSize = size;
-	}
 };
 
 #endif //BT_DEFAULT_COLLISION_CONFIGURATION

src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -25,17 +25,17 @@ void btSimulationIslandManager::initUnionFind(int n)
 }
 		
 
-void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
+void btSimulationIslandManager::findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld)
 {
 	
 	{
-		for (int i=0;i<dispatcher->getNumManifolds();i++)
+		btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
-		{
-			const btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
-			//static objects (invmass btScalar(0.)) don't merge !
 
-			 const  btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
+		for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
-			 const  btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
+		{
+			const btBroadphasePair& collisionPair = pairPtr[i];
+			btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+			btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
 
 			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
 				((colObj1) && ((colObj1)->mergesSimulationIslands())))
@@ -71,7 +71,7 @@ void	btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld
 	}
 	// do the union find
 	
-	findUnions(dispatcher);
+	findUnions(dispatcher,colWorld);
 	
 
 	
@@ -259,11 +259,11 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 		{
 		
 			//kinematic objects don't merge islands, but wake up all connected objects
-			if (colObj0->isStaticOrKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
+			if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
 			{
 				colObj1->activate();
 			}
-			if (colObj1->isStaticOrKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
+			if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
 			{
 				colObj0->activate();
 			}
@@ -300,6 +300,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 
 	btAlignedObjectArray<btCollisionObject*>	islandBodies;
 
+//	printf("Start Islands\n");
 
 	//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
 	for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
@@ -343,6 +344,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 		if (!islandSleeping)
 		{
 			callback->ProcessIsland(&islandBodies[0],islandBodies.size(),startManifold,numIslandManifolds, islandId);
+//			printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
 		}
 		
 		if (numIslandManifolds)

src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h

@@ -42,7 +42,7 @@ public:
 	virtual	void	storeIslandActivationState(btCollisionWorld* world);
 
 
-	void	findUnions(btDispatcher* dispatcher);
+	void	findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld);
 
 	
 

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -117,6 +117,7 @@ public:
 			m_pointCache[index] = m_pointCache[lastUsedIndex]; 
 			//get rid of duplicated userPersistentData pointer
 			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
+			m_pointCache[lastUsedIndex].m_lifeTime = 0;
 		}
 
 		btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -447,6 +447,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 	END_PROFILE("refreshManifolds");
 #endif //FORCE_REFESH_CONTACT_MANIFOLDS
 
+	btVector3 color(0,1,0);
 
 
 	BEGIN_PROFILE("gatherSolverData");
@@ -559,6 +560,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 				{
 					
 					btManifoldPoint& cp = manifold->getContactPoint(j);
+					
+					if (debugDrawer)
+						debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
 
 					
 					if (cp.getDistance() <= btScalar(0.))
@@ -938,6 +942,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
 				solveFriction((btRigidBody*)manifold->getBody0(),
 					(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
 			}
+			
 		}
 	}
 		

src/BulletDynamics/Dynamics/Bullet-C-API.cpp

@@ -70,7 +70,7 @@ plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle)
 	btBroadphaseInterface*		pairCache = new btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax);
 	btConstraintSolver*			constraintSolver = new btSequentialImpulseConstraintSolver();
 
-	return (plDynamicsWorldHandle) new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
+	return (plDynamicsWorldHandle) new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
 }
 void           plDeleteDynamicsWorld(plDynamicsWorldHandle world)
 {

src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp

@@ -33,8 +33,8 @@ subject to the following restrictions:
 
 #include <stdio.h>
 
-btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver)
+btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
-:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver)
+:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
 {
 }
 

src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h

@@ -28,7 +28,7 @@ class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld
 
 	public:
 
-		btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
+		btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
 		virtual ~btContinuousDynamicsWorld();
 		
 		///time stepping with calculation of time of impact for selected fast moving objects

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -57,8 +57,8 @@ subject to the following restrictions:
 
 
 
-btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver)
+btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
-:btDynamicsWorld(dispatcher,pairCache),
+:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
 m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
 m_debugDrawer(0),
 m_gravity(0,-10,0),

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -86,7 +86,7 @@ public:
 
 
 	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
-	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
+	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
 
 	virtual ~btDiscreteDynamicsWorld();
 

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -28,8 +28,8 @@ class btDynamicsWorld : public btCollisionWorld
 	public:
 		
 
-		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase)
+		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
-		:btCollisionWorld(dispatcher,broadphase)
+		:btCollisionWorld(dispatcher,broadphase,collisionConfiguration)
 		{
 		}
 

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -32,8 +32,8 @@ extern "C" void btBulletDynamicsProbe () {}
 
 
 
-btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver)
+btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
-:btDynamicsWorld(dispatcher,pairCache),
+:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
 m_constraintSolver(constraintSolver),
 m_ownsConstraintSolver(false),
 m_debugDrawer(0),

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -48,7 +48,7 @@ public:
 
 
 	///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
-	btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
+	btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
 
 	virtual ~btSimpleDynamicsWorld();
 		

src/LinearMath/btIDebugDraw.h

@@ -60,6 +60,8 @@ class	btIDebugDraw
 
 	virtual void	reportErrorWarning(const char* warningString) = 0;
 
+	virtual void	draw3dText(const btVector3& location,const char* textString) = 0;
+	
 	virtual void	setDebugMode(int debugMode) =0;
 	
 	virtual int		getDebugMode() const = 0;