Code:

void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold){clearManifold(manifold);//btAssert( !btThreadsAreRunning() );if (!m_batchUpdating){// batch updater will update manifold pointers array after finishing, so// only need to update array when not batch-updatingint findIndex = manifold->m_index1a;btAssert(findIndex < m_manifoldsPtr.size());m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);m_manifoldsPtr[findIndex]->m_index1a = findIndex;m_manifoldsPtr.pop_back();}manifold->~btPersistentManifold();if (m_persistentManifoldPoolAllocator->validPtr(manifold)){m_persistentManifoldPoolAllocator->freeMemory(manifold);}else{btAlignedFree(manifold);}