void btGenericMemoryPool::end_pool()
{
	btAlignedFree(m_pool);
	btAlignedFree(m_free_nodes);
	btAlignedFree(m_allocated_sizes);
	m_allocated_count = 0;
	m_free_nodes_count = 0;
}

btSimpleBroadphase::~btSimpleBroadphase()
{
	btAlignedFree(m_pHandlesRawPtr);

	if (m_ownsPairCache)
	{
		m_pairCache->~btOverlappingPairCache();
		btAlignedFree(m_pairCache);
	}
}

btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
{
	if (m_solverIslandCallbackMt)
	{
		m_solverIslandCallbackMt->~InplaceSolverIslandCallbackMt();
		btAlignedFree(m_solverIslandCallbackMt);
	}
	if (m_ownsConstraintSolver)
	{
		m_constraintSolver->~btConstraintSolver();
		btAlignedFree(m_constraintSolver);
	}
}

btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
{
	//only delete it when we created it
	if (m_ownsIslandManager)
	{
		m_islandManager->~btSimulationIslandManager();
		btAlignedFree( m_islandManager);
	}
	if (m_ownsConstraintSolver)
	{

		m_constraintSolver->~btConstraintSolver();
		btAlignedFree(m_constraintSolver);
	}
}

btPolyhedralConvexShape::~btPolyhedralConvexShape()
{
	if (m_polyhedron)
	{
		btAlignedFree(m_polyhedron);
	}
}

void
pl_DeleteDynamicsWorld(pl_DynamicsWorldHandle world)
{
    btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
	btAssert(dynamicsWorld);

    btAlignedFree(dynamicsWorld->getConstraintSolver());
    btAlignedFree(dynamicsWorld->getBroadphase());
    btAlignedFree(dynamicsWorld->getDispatcher());

    // DynamicsWorld does not safe collisionConfiguration object, only
    // stackAllocator. Not clear how to delete collisionConfiguration from
    // inside of this destructor.

    btAlignedFree(dynamicsWorld);
}

akPose::~akPose()
{
	btAlignedFree(m_transform);
	if(m_skelpose)
		delete m_skelpose;
	m_floats.clear();
}

void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
{
    if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
        m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
    else
        btAlignedFree(ptr);
}

btMultiSapBroadphase::~btMultiSapBroadphase()
{
	if (m_ownsPairCache)
	{
		m_overlappingPairs->~btOverlappingPairCache();
		btAlignedFree(m_overlappingPairs);
	}
}

btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
{
	if (m_ownsSolver)
	{
		m_softBodySolver->~btSoftBodySolver();
		btAlignedFree(m_softBodySolver);
	}
}

btDbvtBroadphase::~btDbvtBroadphase()
{
	if (m_releasepaircache)
	{
		m_paircache->~btOverlappingPairCache();
		btAlignedFree(m_paircache);
	}
}

btCompoundShape::~btCompoundShape()
{
	if (m_dynamicAabbTree)
	{
		m_dynamicAabbTree->~btDbvt();
		btAlignedFree(m_dynamicAabbTree);
	}
}

btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
{
	if (m_ownsBvh)
	{
		m_bvh->~btOptimizedBvh();
		btAlignedFree(m_bvh);
	}
}

btPolyhedralConvexShape::~btPolyhedralConvexShape()
{
	if (m_polyhedron)
	{
		m_polyhedron->~btConvexPolyhedron();
		btAlignedFree(m_polyhedron);
	}
}

void	btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
{
	if (m_ownsConstraintSolver)
	{
		btAlignedFree(m_constraintSolver);
	}
	m_ownsConstraintSolver = false;
	m_constraintSolver = solver;
}

btCompoundShape::~btCompoundShape()
{
	freeChildrenShapes();
	if (m_dynamicAabbTree)
	{
		m_dynamicAabbTree->~btDbvt();
		btAlignedFree(m_dynamicAabbTree);
	}
}

void	btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
{
	if (m_ownsConstraintSolver)
	{
		btAlignedFree( m_constraintSolver);
	}
	m_ownsConstraintSolver = false;
	m_constraintSolver = solver;
	m_solverIslandCallback->m_solver = solver;
}

btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
{
	m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(	m_softSoftCreateFunc);

	m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(	m_softRigidConvexCreateFunc);

	m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(	m_swappedSoftRigidConvexCreateFunc);

#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
	m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(	m_softRigidConcaveCreateFunc);

	m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(	m_swappedSoftRigidConcaveCreateFunc);
#endif
}

void			btDbvt::clear()
{
	if(m_root)	
		recursedeletenode(this,m_root);
	btAlignedFree(m_free);
	m_free=0;
	m_lkhd		=	-1;
	m_stkStack.clear();
	m_opath		=	0;
	
}

void btDbvtBroadphase::destroyProxy(	btBroadphaseProxy* absproxy,btDispatcher* dispatcher)
{
	btDbvtProxy*	proxy=(btDbvtProxy*)absproxy;
	if(proxy->stage==STAGECOUNT)
		m_sets[1].remove(proxy->leaf);
	else
		m_sets[0].remove(proxy->leaf);
	listremove(proxy,m_stageRoots[proxy->stage]);
	m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
	btAlignedFree(proxy);
	m_needcleanup=true;
}