Merge pull request #21836 from AndreaCatania/bulletUpdate

Update bullet to Master 12409f1118a7c7a266f9071350c70789dfe73bb9

1 files changed, 10 insertions, 4 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index 7f4dea1c6d..91b7809c17 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -156,10 +156,12 @@ public:
 			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index);
 			
 			btCollisionAlgorithm* algo = 0;
+			bool allocatedAlgorithm = false;
 
 			if (m_resultOut->m_closestPointDistanceThreshold > 0)
 			{
 				algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
+				allocatedAlgorithm = true;
 			}
 			else
 			{
@@ -204,7 +206,11 @@ public:
 			{
 				m_resultOut->setBody1Wrap(tmpWrap);
 			}
-			
+			if(allocatedAlgorithm)
+			{
+				algo->~btCollisionAlgorithm();
+				m_dispatcher->freeCollisionAlgorithm(algo);
+ 			}
 		}
 	}
 	void		Process(const btDbvtNode* leaf)
@@ -253,9 +259,9 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 		m_compoundShapeRevision = compoundShape->getUpdateRevision();
 	}
 
-    if (m_childCollisionAlgorithms.size()==0)
-        return;
-    
+	if (m_childCollisionAlgorithms.size()==0)
+		return;
+
 	const btDbvt* tree = compoundShape->getDynamicAabbTree();
 	//use a dynamic aabb tree to cull potential child-overlaps
 	btCompoundLeafCallback  callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);