1 files changed, 9 insertions, 12 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
index d4a1aa78e4..20b542f670 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
@@ -181,11 +181,12 @@ struct	btCompoundCompoundLeafCallback : btDbvt::ICollide
 			
 
 			btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1);
-
+			bool removePair = false;
 			btCollisionAlgorithm* colAlgo = 0;
 			if (m_resultOut->m_closestPointDistanceThreshold > 0)
 			{
 				colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS);
+				removePair = true;
 			}
 			else
 			{
@@ -223,7 +224,11 @@ struct	btCompoundCompoundLeafCallback : btDbvt::ICollide
 			m_resultOut->setBody0Wrap(tmpWrap0);
 			m_resultOut->setBody1Wrap(tmpWrap1);
 			
-
+			if (removePair)
+			{
+				colAlgo->~btCollisionAlgorithm();
+				m_dispatcher->freeCollisionAlgorithm(colAlgo);
+			}
 
 		}
 	}
@@ -396,32 +401,24 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
 				btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
 
 				{
-					btTransform	orgTrans0;
 					const btCollisionShape* childShape0 = 0;
 					
 					btTransform	newChildWorldTrans0;
-					btTransform	orgInterpolationTrans0;
 					childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
-					orgTrans0 = col0ObjWrap->getWorldTransform();
-					orgInterpolationTrans0 = col0ObjWrap->getWorldTransform();
 					const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
-					newChildWorldTrans0 = orgTrans0*childTrans0 ;
+					newChildWorldTrans0 = col0ObjWrap->getWorldTransform()*childTrans0 ;
 					childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
 				}
 				btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
 				aabbMin0 -= thresholdVec;
 				aabbMax0 += thresholdVec;
 				{
-					btTransform	orgInterpolationTrans1;
 					const btCollisionShape* childShape1 = 0;
-					btTransform	orgTrans1;
 					btTransform	newChildWorldTrans1;
 
 					childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
-					orgTrans1 = col1ObjWrap->getWorldTransform();
-					orgInterpolationTrans1 = col1ObjWrap->getWorldTransform();
 					const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
-					newChildWorldTrans1 = orgTrans1*childTrans1 ;
+					newChildWorldTrans1 = col1ObjWrap->getWorldTransform()*childTrans1 ;
 					childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
 				}