Code:

void    BasicDemo::exitPhysics(){        //cleanup in the reverse order of creation/initialization        //remove the rigidbodies from the dynamics world and delete them        int i;        for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)        {                btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];                m_dynamicsWorld->removeCollisionObject( obj );                delete obj;        }        //delete collision shapes        for (unsigned int j=0;j<m_collisionShapes.size();j++)        {                btCollisionShape* shape = m_collisionShapes[j];                delete shape;        }        //delete dynamics world        delete m_dynamicsWorld;        //delete collision algorithms creation functions        delete m_sphereSphereCF;        delete m_sphereBoxCF;        delete m_boxSphereCF;        //delete solver        delete m_solver;        //delete broadphase        delete m_overlappingPairCache;        //delete dispatcher        delete m_dispatcher;}