free memory for btShapeHulls, keep track of it in GL_ShapeDrawer.

move btShapeHull and btConvexHull into its own library in Extras/ConvexHull (it allocates memory using mem/delete and refactoring into using btAlignedAlloc/Free takes too much time)
fix heightfield / btOptimizedBvh for quantization, so that raycast can use quantized aabb (clamp up for maxima and down for minima)

work-in-progress (update projectfiles etc)

Demos/OpenGL/DebugCastResult.h

@@ -37,9 +37,10 @@ struct btDebugCastResult : public btConvexCast::CastResult
 	const btPolyhedralConvexShape* m_shape;
 	btVector3	m_linVel;
 	btVector3 m_angVel;
+	GL_ShapeDrawer* m_shapeDrawer;
 
 	btDebugCastResult(const btTransform& fromTrans,const btPolyhedralConvexShape* shape,
-					const btVector3& linVel,const btVector3& angVel)
+					const btVector3& linVel,const btVector3& angVel,GL_ShapeDrawer* drawer)
 	:m_fromTrans(fromTrans),
 	m_shape(shape),
 	m_linVel(linVel),
@@ -74,8 +75,7 @@ struct btDebugCastResult : public btConvexCast::CastResult
 		btTransform hitTrans;
 		btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
 		hitTrans.getOpenGLMatrix(m);
-		GL_ShapeDrawer::drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug);
-	
+		m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug);
 	}
 };
 

Demos/OpenGL/DemoApplication.cpp

@@ -927,7 +927,7 @@ void DemoApplication::renderme()
 				}
 			}
 
-			GL_ShapeDrawer::drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
+			m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
 		}
 
 

Demos/OpenGL/DemoApplication.h

@@ -18,6 +18,7 @@ subject to the following restrictions:
 
 
 #include "GlutStuff.h"
+#include "GL_ShapeDrawer.h"
 
 #include <stdlib.h>
 #include <stdio.h>
@@ -37,7 +38,6 @@ class	btTypedConstraint;
 
 
 
-
 class DemoApplication
 {
 	void	displayProfileString(int xOffset,int yStart,char* message);
@@ -81,6 +81,7 @@ class DemoApplication
 
 	void showProfileInfo(float& xOffset,float& yStart, float yIncr);
 
+	GL_ShapeDrawer	m_shapeDrawer;
 
 public:
 		

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -40,7 +40,8 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
-#include "BulletCollision/CollisionShapes/btShapeHull.h"
+///
+#include "btShapeHull.h"
 
 #include "LinearMath/btTransformUtil.h"
 
@@ -470,7 +471,12 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 						if (!shape->getUserPointer())
 						{
 							//create a hull approximation
-							btShapeHull* hull = new btShapeHull(convexShape);
+							void* mem = btAlignedAlloc(sizeof(btShapeHull),16);
+							btShapeHull* hull = new(mem) btShapeHull(convexShape);
+					
+							///cleanup memory
+							m_shapeHulls.push_back(hull);
+
 							btScalar margin = shape->getMargin();
 							hull->buildHull(margin);
 							convexShape->setUserPointer(hull);
@@ -655,3 +661,22 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
     glPopMatrix();
 	
 }
+
+
+GL_ShapeDrawer::GL_ShapeDrawer()
+{
+}
+
+GL_ShapeDrawer::~GL_ShapeDrawer()
+{
+	int i;
+	for (i=0;i<m_shapeHulls.size();i++)
+	{
+		btShapeHull* hull = m_shapeHulls[i];
+		hull->~btShapeHull();
+		btAlignedFree(hull);
+		m_shapeHulls[i] = 0;
+	}
+	m_shapeHulls.clear();
+}
+

Demos/OpenGL/GL_ShapeDrawer.h

@@ -16,16 +16,26 @@ subject to the following restrictions:
 #define GL_SHAPE_DRAWER_H
 
 class btCollisionShape;
+class btShapeHull;
+#include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btVector3.h"
 
 /// OpenGL shape drawing
 class GL_ShapeDrawer
 {
-	public:
+	//clean-up memory of dynamically created shape hulls
+	btAlignedObjectArray<btShapeHull*>	m_shapeHulls;
 
-		static 	void	drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode);
-		static void		drawCoordSystem();
+	public:
+		GL_ShapeDrawer();
+
+		virtual ~GL_ShapeDrawer();
+
+		///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
+		void		drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode);
+		
 		static void		drawCylinder(float radius,float halfHeight, int upAxis);
+		static void		drawCoordSystem();
 };
 
 void OGL_displaylist_register_shape(btCollisionShape * shape);