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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;

}