Don't pass along unused btStackAlloc everywhere. The API change might user code (derived classes with the old virtual method are not called anymore)

Demos/OpenGL/DemoApplication.cpp

@@ -326,6 +326,25 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 
 	switch (key) 
 	{
+	case 8:
+		{
+			int numObj = getDynamicsWorld()->getNumCollisionObjects();
+			if (numObj)
+			{
+				btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
+
+				getDynamicsWorld()->removeCollisionObject(obj);
+				btRigidBody* body = btRigidBody::upcast(obj);
+				if (body && body->getMotionState())
+				{
+					delete body->getMotionState();					
+				}
+				delete obj;
+
+
+			}
+			break;
+		}
 	case 'q' : 
 #ifdef BT_USE_FREEGLUT
 		//return from glutMainLoop(), detect memory leaks etc.
@@ -1182,8 +1201,8 @@ void	DemoApplication::renderscene(int pass)
 			}
 		}
 
-		btVector3 aabbMin,aabbMax;
+		btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
-		m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
+		//m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
 		
 		aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
 		aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);

Demos/OpenGL/DemoApplication.h

@@ -150,6 +150,11 @@ public:
 		m_azi = azi;
 	}
 
+	void	setEle(float ele)
+	{
+		m_ele = ele;
+	}
+	
 	void	setCameraUp(const btVector3& camUp)
 	{
 		m_cameraUp = camUp;

src/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -25,7 +25,6 @@ class btOverlappingPairCache;
 struct btCollisionObjectWrapper;
 
 class btPersistentManifold;
-class btStackAlloc;
 class btPoolAllocator;
 
 struct btDispatcherInfo
@@ -47,8 +46,7 @@ struct btDispatcherInfo
 		m_useEpa(true),
 		m_allowedCcdPenetration(btScalar(0.04)),
 		m_useConvexConservativeDistanceUtil(false),
-		m_convexConservativeDistanceThreshold(0.0f),
+		m_convexConservativeDistanceThreshold(0.0f)
-		m_stackAllocator(0)
 	{
 
 	}
@@ -64,7 +62,6 @@ struct btDispatcherInfo
 	btScalar	m_allowedCcdPenetration;
 	bool		m_useConvexConservativeDistanceUtil;
 	btScalar	m_convexConservativeDistanceThreshold;
-	btStackAlloc*	m_stackAllocator;
 };
 
 ///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.

src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h

@@ -18,7 +18,6 @@ subject to the following restrictions:
 
 struct btCollisionAlgorithmCreateFunc;
 
-class btStackAlloc;
 class btPoolAllocator;
 
 ///btCollisionConfiguration allows to configure Bullet collision detection
@@ -38,7 +37,6 @@ public:
 
 	virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
 
-	virtual btStackAlloc*	getStackAllocator() = 0;
 
 	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;
 

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -31,7 +31,6 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
 #include "LinearMath/btAabbUtil2.h"
 #include "LinearMath/btQuickprof.h"
-#include "LinearMath/btStackAlloc.h"
 #include "LinearMath/btSerializer.h"
 #include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
@@ -73,8 +72,6 @@ m_broadphasePairCache(pairCache),
 m_debugDrawer(0),
 m_forceUpdateAllAabbs(true)
 {
-	m_stackAlloc = collisionConfiguration->getStackAllocator();
-	m_dispatchInfo.m_stackAllocator = m_stackAlloc;
 }
 
 

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -65,7 +65,6 @@ subject to the following restrictions:
 #ifndef BT_COLLISION_WORLD_H
 #define BT_COLLISION_WORLD_H
 
-class btStackAlloc;
 class btCollisionShape;
 class btConvexShape;
 class btBroadphaseInterface;
@@ -91,8 +90,6 @@ protected:
 
 	btDispatcherInfo	m_dispatchInfo;
 
-	btStackAlloc*	m_stackAlloc;
-
 	btBroadphaseInterface*	m_broadphasePairCache;
 
 	btIDebugDraw*	m_debugDrawer;

src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp

@@ -132,7 +132,6 @@ void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrap
 			input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
 		}
 
-		input.m_stackAlloc = dispatchInfo.m_stackAllocator;
 		input.m_transformA = body0Wrap->getWorldTransform();
 		input.m_transformB = body1Wrap->getWorldTransform();
 

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -373,7 +373,6 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
 		input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
 	}
 
-	input.m_stackAlloc = dispatchInfo.m_stackAllocator;
 	input.m_transformA = body0Wrap->getWorldTransform();
 	input.m_transformB = body1Wrap->getWorldTransform();
 

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -32,7 +32,6 @@ subject to the following restrictions:
 
 
 
-#include "LinearMath/btStackAlloc.h"
 #include "LinearMath/btPoolAllocator.h"
 
 
@@ -106,16 +105,6 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
 
-	if (constructionInfo.m_stackAlloc)
-	{
-		m_ownsStackAllocator = false;
-		this->m_stackAlloc = constructionInfo.m_stackAlloc;
-	} else
-	{
-		m_ownsStackAllocator = true;
-		void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
-		m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize);
-	}
 		
 	if (constructionInfo.m_persistentManifoldPool)
 	{
@@ -144,12 +133,6 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 
 btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
 {
-	if (m_ownsStackAllocator)
-	{
-		m_stackAlloc->destroy();
-		m_stackAlloc->~btStackAlloc();
-		btAlignedFree(m_stackAlloc);
-	}
 	if (m_ownsCollisionAlgorithmPool)
 	{
 		m_collisionAlgorithmPool->~btPoolAllocator();

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -22,23 +22,19 @@ class btConvexPenetrationDepthSolver;
 
 struct	btDefaultCollisionConstructionInfo
 {
-	btStackAlloc*		m_stackAlloc;
 	btPoolAllocator*	m_persistentManifoldPool;
 	btPoolAllocator*	m_collisionAlgorithmPool;
 	int					m_defaultMaxPersistentManifoldPoolSize;
 	int					m_defaultMaxCollisionAlgorithmPoolSize;
 	int					m_customCollisionAlgorithmMaxElementSize;
-	int					m_defaultStackAllocatorSize;
 	int					m_useEpaPenetrationAlgorithm;
 
 	btDefaultCollisionConstructionInfo()
-		:m_stackAlloc(0),
+		:m_persistentManifoldPool(0),
-		m_persistentManifoldPool(0),
 		m_collisionAlgorithmPool(0),
 		m_defaultMaxPersistentManifoldPoolSize(4096),
 		m_defaultMaxCollisionAlgorithmPoolSize(4096),
 		m_customCollisionAlgorithmMaxElementSize(0),
-		m_defaultStackAllocatorSize(0),
 		m_useEpaPenetrationAlgorithm(true)
 	{
 	}
@@ -56,8 +52,6 @@ protected:
 
 	int	m_persistentManifoldPoolSize;
 	
-	btStackAlloc*	m_stackAlloc;
-	bool	m_ownsStackAllocator;
 
 	btPoolAllocator*	m_persistentManifoldPool;
 	bool	m_ownsPersistentManifoldPool;
@@ -105,10 +99,6 @@ public:
 		return m_collisionAlgorithmPool;
 	}
 
-	virtual btStackAlloc*	getStackAllocator()
-	{
-		return m_stackAlloc;
-	}
 
 	virtual	btVoronoiSimplexSolver*	getSimplexSolver()
 	{

src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h

@@ -17,7 +17,6 @@ subject to the following restrictions:
 #ifndef BT_CONVEX_PENETRATION_DEPTH_H
 #define BT_CONVEX_PENETRATION_DEPTH_H
 
-class btStackAlloc;
 class btVector3;
 #include "btSimplexSolverInterface.h"
 class btConvexShape;
@@ -33,8 +32,7 @@ public:
 		const btConvexShape* convexA,const btConvexShape* convexB,
 					const btTransform& transA,const btTransform& transB,
 				btVector3& v, btVector3& pa, btVector3& pb,
-				class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
+				class btIDebugDraw* debugDraw) = 0;
-				) = 0;
 
 
 };

src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h

@@ -19,7 +19,6 @@ subject to the following restrictions:
 
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btVector3.h"
-class btStackAlloc;
 
 /// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
 /// This interface allows to query for closest points and penetration depth between two (convex) objects
@@ -43,15 +42,13 @@ struct btDiscreteCollisionDetectorInterface
 	struct ClosestPointInput
 	{
 		ClosestPointInput()
-			:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)),
+			:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
-			m_stackAlloc(0)
 		{
 		}
 
 		btTransform m_transformA;
 		btTransform m_transformB;
 		btScalar	m_maximumDistanceSquared;
-		btStackAlloc* m_stackAlloc;
 	};
 
 	virtual ~btDiscreteCollisionDetectorInterface() {};

src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp

@@ -25,7 +25,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
 											  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
 											  const btTransform& transformA, const btTransform& transformB,
 											  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
-											  class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
+											  class btIDebugDraw* debugDraw)
 {
 
 	(void)debugDraw;

src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h

@@ -33,7 +33,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
 									  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
 									  const btTransform& transformA, const btTransform& transformB,
 									  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
-									  class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
+									  class btIDebugDraw* debugDraw);
 
 	private :
 

src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -355,7 +355,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
 					m_minkowskiA,m_minkowskiB,
 					localTransA,localTransB,
 					m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
-					debugDraw,input.m_stackAlloc
+					debugDraw
 					);
 
 

src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp

@@ -26,11 +26,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 												   const btConvexShape* convexA,const btConvexShape* convexB,
 												   const btTransform& transA,const btTransform& transB,
 												   btVector3& v, btVector3& pa, btVector3& pb,
-												   class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
+												   class btIDebugDraw* debugDraw
 												   )
 {
 
-	(void)stackAlloc;
 	(void)v;
 	
 	bool check2d= convexA->isConvex2d() && convexB->isConvex2d();

src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h

@@ -32,7 +32,7 @@ public:
 	const btConvexShape* convexA,const btConvexShape* convexB,
 				const btTransform& transA,const btTransform& transB,
 			btVector3& v, btVector3& pa, btVector3& pb,
-			class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
+			class btIDebugDraw* debugDraw
 			);
 };
 

src/BulletDynamics/ConstraintSolver/btConstraintSolver.h

@@ -38,9 +38,9 @@ public:
 	virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
 
 	///solve a group of constraints
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0;
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer,btDispatcher* dispatcher) = 0;
 
-	virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;}
+	virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */) {;}
 
 	///clear internal cached data and reset random seed
 	virtual	void	reset() = 0;

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -909,10 +909,9 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 	}
 }
 
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
 {
 	BT_PROFILE("solveGroupCacheFriendlySetup");
-	(void)stackAlloc;
 	(void)debugDrawer;
 
 	m_maxOverrideNumSolverIterations = 0;
@@ -1256,7 +1255,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 }
 
 
-btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
+btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
 {
 
 	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
@@ -1492,7 +1491,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 }
 
 
-void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
 {
 	int iteration;
 	if (infoGlobal.m_splitImpulse)
@@ -1532,20 +1531,20 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
 	}
 }
 
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
 {
 	BT_PROFILE("solveGroupCacheFriendlyIterations");
 
 	{
 		///this is a special step to resolve penetrations (just for contacts)
-		solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
+		solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
 
 		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
 
 		for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
 		//for ( int iteration = maxIterations-1  ; iteration >= 0;iteration--)
 		{			
-			solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
+			solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
 		}
 		
 	}
@@ -1632,15 +1631,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
 
 
 /// btSequentialImpulseConstraintSolver Sequentially applies impulses
-btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
+btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btDispatcher* /*dispatcher*/)
 {
 
 	BT_PROFILE("solveGroup");
 	//you need to provide at least some bodies
 	
-	solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
+	solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
 
-	solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
+	solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
 
 	solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
 	

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -18,7 +18,6 @@ subject to the following restrictions:
 
 class btIDebugDraw;
 class btPersistentManifold;
-class btStackAlloc;
 class btDispatcher;
 class btCollisionObject;
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
@@ -97,12 +96,12 @@ protected:
 protected:
 	
 	
-	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
 	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
-	btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
 
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
 
 
 public:
@@ -112,7 +111,7 @@ public:
 	btSequentialImpulseConstraintSolver();
 	virtual ~btSequentialImpulseConstraintSolver();
 
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
 	
 
 	

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -87,7 +87,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 	btTypedConstraint**		m_sortedConstraints;
 	int						m_numConstraints;
 	btIDebugDraw*			m_debugDrawer;
-	btStackAlloc*			m_stackAlloc;
 	btDispatcher*			m_dispatcher;
 	
 	btAlignedObjectArray<btCollisionObject*> m_bodies;
@@ -104,7 +103,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 		m_sortedConstraints(NULL),
 		m_numConstraints(0),
 		m_debugDrawer(NULL),
-		m_stackAlloc(stackAlloc),
 		m_dispatcher(dispatcher)
 	{
 
@@ -135,7 +133,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 		if (islandId<0)
 		{
 			///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-			m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+			m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
 		} else
 		{
 				//also add all non-contact constraints/joints for this island
@@ -163,7 +161,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 
 			if (m_solverInfo->m_minimumSolverBatchSize<=1)
 			{
-				m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+				m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
 			} else
 			{
 				
@@ -190,7 +188,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 		btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
 		btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
 			
-		m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+		m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher);
 		m_bodies.resize(0);
 		m_manifolds.resize(0);
 		m_constraints.resize(0);
@@ -232,7 +230,7 @@ m_profileTimings(0)
 
 	{
 		void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16);
-		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, m_stackAlloc, dispatcher);
+		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, 0, dispatcher);
 	}
 }
 
@@ -724,7 +722,7 @@ void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 
 	m_solverIslandCallback->processConstraints();
 
-	m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
+	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
 }
 
 

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -33,7 +33,8 @@ enum btDynamicsWorldType
 	BT_SIMPLE_DYNAMICS_WORLD=1,
 	BT_DISCRETE_DYNAMICS_WORLD=2,
 	BT_CONTINUOUS_DYNAMICS_WORLD=3,
-	BT_SOFT_RIGID_DYNAMICS_WORLD=4
+	BT_SOFT_RIGID_DYNAMICS_WORLD=4,
+	BT_GPU_DYNAMICS_WORLD=5
 };
 
 ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -78,8 +78,8 @@ int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
 		btContactSolverInfo infoGlobal;
 		infoGlobal.m_timeStep = timeStep;
 		m_constraintSolver->prepareSolve(0,numManifolds);
-		m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
+		m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
-		m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
+		m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
 	}
 
 	///integrate transforms

src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h

@@ -20,7 +20,6 @@ subject to the following restrictions:
 
 
 
-class btStackAlloc;
 class btIDebugDraw;
 #include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
 
@@ -37,7 +36,7 @@ public:
 	        void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
             btTransform& transA,const btTransform& transB,
 			btVector3& v, btVector3& pa, btVector3& pb,
-			class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
+			class btIDebugDraw* debugDraw,
 			struct SpuConvexPolyhedronVertexData* convexVertexDataA,
 			struct SpuConvexPolyhedronVertexData* convexVertexDataB
 			) const = 0;

src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp

@@ -72,10 +72,9 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface&
 		const btConvexShape* convexA,const btConvexShape* convexB,
 					const btTransform& transA,const btTransform& transB,
 				btVector3& v, btVector3& pa, btVector3& pb,
-				class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc)
+				class btIDebugDraw* debugDraw)
 {
 #if 0
-	(void)stackAlloc;
 	(void)v;
 	
 

src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h

@@ -20,7 +20,6 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
 
-class btStackAlloc;
 class btIDebugDraw;
 class btVoronoiSimplexSolver;
 class btConvexShape;
@@ -37,7 +36,7 @@ public:
 		const btConvexShape* convexA,const btConvexShape* convexB,
 					const btTransform& transA,const btTransform& transB,
 				btVector3& v, btVector3& pa, btVector3& pb,
-				class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
+				class btIDebugDraw* debugDraw
 				);
 
 

src/BulletMultiThreaded/btParallelConstraintSolver.cpp

@@ -1163,7 +1163,7 @@ btParallelConstraintSolver::~btParallelConstraintSolver()
 
 
 
-btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher)
+btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
 {
 	
 /*	int sz = sizeof(PfxSolverBody);

src/BulletMultiThreaded/btParallelConstraintSolver.h

@@ -279,7 +279,7 @@ public:
 	
 	virtual ~btParallelConstraintSolver();
 
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
 
 };
 

src/LinearMath/btSerializer.h

@@ -17,7 +17,6 @@ subject to the following restrictions:
 #define BT_SERIALIZER_H
 
 #include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
-#include "btStackAlloc.h"
 #include "btHashMap.h"
 
 #if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)