moved some hardcoded constants into tweaking tresholds

exposed those tresholds to python (more 'expert' settings)

16 files changed, 349 insertions, 51 deletions

diff --git a/extern/bullet/Bullet/Bullet3_vc8.vcproj b/extern/bullet/Bullet/Bullet3_vc8.vcproj
index b9046f451e5..c2f3e70180f 100644
--- a/extern/bullet/Bullet/Bullet3_vc8.vcproj
+++ b/extern/bullet/Bullet/Bullet3_vc8.vcproj
@@ -4,6 +4,7 @@
 	Version="8.00"
 	Name="Bullet3ContinuousCollision"
 	ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
+	SignManifests="true"
 	>
 	<Platforms>
 		<Platform
@@ -277,6 +278,14 @@
 				>
 			</File>
 			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.h"
+				>
+			</File>
+			<File
 				RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp"
 				>
 			</File>
@@ -429,14 +438,6 @@
 				>
 			</File>
 			<File
-				RelativePath=".\CollisionShapes\TriangleMesh.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\TriangleMesh.h"
-				>
-			</File>
-			<File
 				RelativePath=".\CollisionShapes\TriangleMeshShape.cpp"
 				>
 			</File>
@@ -509,10 +510,6 @@
 				>
 			</File>
 			<File
-				RelativePath="..\LinearMath\IDebugDraw.h"
-				>
-			</File>
-			<File
 				RelativePath="..\LinearMath\SimdMatrix3x3.h"
 				>
 			</File>
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
index 29b13f67b8f..16cd219903d 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
@@ -14,6 +14,7 @@
 #include "SimdTransform.h"
 #include <assert.h>
 
+float gContactBreakingTreshold = 0.02f;
 
 PersistentManifold::PersistentManifold()
 :m_body0(0),
@@ -113,7 +114,7 @@ void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint)
 
 float	PersistentManifold::GetManifoldMargin() const
 {
-	return 0.02f;
+	return gContactBreakingTreshold;
 }
 
 void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const SimdTransform& trB)
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
index 96f91d5900e..ca02aa9c9a4 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
@@ -19,6 +19,9 @@
 
 struct CollisionResult;
 
+///contact breaking and merging treshold
+extern float gContactBreakingTreshold;
+
 #define MANIFOLD_CACHE_SIZE 4
 
 ///PersistentManifold maintains contact points, and reduces them to 4
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
index a67da9bc889..da72d3e0cad 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
@@ -38,7 +38,10 @@ ToiContactDispatcher::ToiContactDispatcher (ConstraintSolver* solver):
 	m_useIslands(true),
 		m_unionFind(MAX_RIGIDBODIES),
 		m_solver(solver),
-		m_count(0)
+		m_count(0),
+		m_sor(1.3f),
+		m_tau(0.4f),
+		m_damping(0.9f)
 		
 {
 	int i;
@@ -158,13 +161,15 @@ void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,in
 
 			///This island solving can all be scheduled in parallel
 			ContactSolverInfo info;
-			info.m_damping = 0.9f;
 			info.m_friction = 0.9f;
 			info.m_numIterations = numIterations;
 			info.m_timeStep = timeStep;
-			info.m_tau = 0.4f;
+			
 			info.m_restitution = 0.0f;//m_restitution;
-
+			
+			info.m_sor = m_sor;
+			info.m_tau = m_tau;
+			info.m_damping = m_damping;
 
 			m_solver->SolveGroup( &islandmanifold[0], islandmanifold.size(),info,debugDrawer );
 
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h
index 97897a69dc4..b1793f70979 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h
@@ -44,6 +44,10 @@ class ToiContactDispatcher : public Dispatcher
 	UnionFind m_unionFind;
 	ConstraintSolver*	m_solver;
 	
+	float	m_sor;
+	float	m_tau;
+	float	m_damping;
+	
 	CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
 	
 public:
@@ -97,6 +101,22 @@ public:
 	
 	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
 	
+	void	SetSor(float sor)
+	{
+		m_sor = sor;
+	}
+
+	void	SetTau(float tau)
+	{
+		m_tau = tau;
+	}
+	
+	void	SetDamping( float damping)
+	{
+		m_damping = damping;
+	}
+	
+
 };
 
 #endif //TOI_CONTACT_DISPATCHER_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h b/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
index 83460771279..e262b1a599b 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
@@ -23,6 +23,7 @@ struct ContactSolverInfo
 		m_restitution = 0.f;
 		m_maxErrorReduction = 20.f;
 		m_numIterations = 10;
+		m_sor = 1.3f;
 	}
 
 	float	m_tau;
@@ -32,7 +33,7 @@ struct ContactSolverInfo
 	float	m_restitution;
 	int		m_numIterations;
 	float	m_maxErrorReduction;
-
+	float	m_sor;
 
 };
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
index 37b3668bbf7..4050e75f90f 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
@@ -43,11 +43,13 @@ class BU_Joint;
 
 //see below
 
+OdeConstraintSolver::OdeConstraintSolver():
+m_cfm(1e-5f),
+m_erp(0.2f)
+{
+}
 
 
-int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
-void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
-					   RigidBody** bodies,int bodyId0,int bodyId1);
 
 
 
@@ -59,8 +61,6 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
 	m_CurBody = 0;
 	m_CurJoint = 0;
 
-	float cfm = 1e-5f;
-	float erp = 0.2f;
 
 	RigidBody* bodies [128];
 
@@ -82,7 +82,7 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
 		}
 	}
 
-	SolveInternal1(cfm,erp,bodies,numBodies,joints,numJoints,infoGlobal);
+	SolveInternal1(m_cfm,m_erp,bodies,numBodies,joints,numJoints,infoGlobal);
 
 	return 0.f;
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h
index 354a444caa8..101f24867c5 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h
@@ -25,6 +25,9 @@ private:
 	int m_CurBody;
 	int m_CurJoint;
 
+	float	m_cfm;
+	float	m_erp;
+	
 
 	int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
 	void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
@@ -32,10 +35,24 @@ private:
 
 public:
 
+	OdeConstraintSolver();
+
 	virtual ~OdeConstraintSolver() {}
 	
 	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info,IDebugDraw* debugDrawer = 0);
 
+	///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
+	///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
+	void	setConstraintForceMixing(float cfm) { 
+		m_cfm  = cfm;
+	}
+
+	///setErrorReductionParamter sets the maximum amount of error reduction
+	///which limits energy addition during penetration depth recovery
+	void	setErrorReductionParamter(float erp)
+	{
+		m_erp = erp;
+	}
 };
 
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
index 700419f48b5..678536cd905 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
@@ -590,8 +590,8 @@ void SolveInternal1 (float global_cfm,
 					const ContactSolverInfo& solverInfo)
 {
 
-	int numIter = 30;
-	float sOr = 1.3f;
+	int numIter = solverInfo.m_numIterations;
+	float sOr = solverInfo.m_sor;
 
 	int i,j;
 	
@@ -756,7 +756,7 @@ void SolveInternal1 (float global_cfm,
 
 		// scale CFM
 		for (i=0; i<m; i++) 
-			cfm[i] =0;//*= stepsize1;
+			cfm[i] *= stepsize1;
 
 		// load lambda from the value saved on the previous iteration
 		dRealAllocaArray (lambda,m);
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
index 1f732098718..98722c3fa0c 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
@@ -49,10 +49,26 @@ static char PhysicsConstraints_module_documentation[] =
 
 static char gPySetGravity__doc__[] = "setGravity(float x,float y,float z)";
 static char gPySetDebugMode__doc__[] = "setDebugMode(int mode)";
+
+static char gPySetNumIterations__doc__[] = "setNumIterations(int numiter) This sets the number of iterations for an iterative constraint solver";
+static char gPySetDeactivationTime__doc__[] = "setDeactivationTime(float time) This sets the time after which a resting rigidbody gets deactived";
+static char gPySetDeactivationLinearTreshold__doc__[] = "setDeactivationLinearTreshold(float linearTreshold)";
+static char gPySetDeactivationAngularTreshold__doc__[] = "setDeactivationAngularTreshold(float angularTreshold)";
+static char gPySetContactBreakingTreshold__doc__[] = "setContactBreakingTreshold(float breakingTreshold) Reasonable default is 0.02 (if units are meters)";
+static char gPySetCcdMode__doc__[] = "setCcdMode(int ccdMode) Very experimental, not recommended";
+
+static char gPySetSorConstant__doc__[] = "setSorConstant(float sor) Very experimental, not recommended";
+static char gPySetTau__doc__[] = "setTau(float tau) Very experimental, not recommended";
+static char gPySetDamping__doc__[] = "setDamping(float damping) Very experimental, not recommended";
+
+
 static char gPyCreateConstraint__doc__[] = "createConstraint(ob1,ob2,float restLength,float restitution,float damping)";
 static char gPyRemoveConstraint__doc__[] = "removeConstraint(constraint id)";
 
 
+
+
+
 static PyObject* gPySetGravity(PyObject* self,
 										 PyObject* args, 
 										 PyObject* kwds)
@@ -81,13 +97,149 @@ static PyObject* gPySetDebugMode(PyObject* self,
 		}
 		
 	}
-	printf("hi\n");
+	Py_INCREF(Py_None); return Py_None;
+}
+
+static PyObject* gPySetNumIterations(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	int iter;
+	if (PyArg_ParseTuple(args,"i",&iter))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setNumIterations(iter);
+		}
+	}
+	Py_INCREF(Py_None); return Py_None;
+}
+
+
+
+static PyObject* gPySetDeactivationTime(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	float deactive_time;
+	if (PyArg_ParseTuple(args,"f",&deactive_time))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setDeactivationTime(deactive_time);
+		}
+	}
+	Py_INCREF(Py_None); return Py_None;
+}
+
+
+static PyObject* gPySetDeactivationLinearTreshold(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	float linearDeactivationTreshold;
+	if (PyArg_ParseTuple(args,"f",&linearDeactivationTreshold))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setDeactivationLinearTreshold( linearDeactivationTreshold);
+		}
+	}
+	Py_INCREF(Py_None); return Py_None;
+}
+
+
+static PyObject* gPySetDeactivationAngularTreshold(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	float angularDeactivationTreshold;
+	if (PyArg_ParseTuple(args,"f",&angularDeactivationTreshold))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setDeactivationAngularTreshold( angularDeactivationTreshold);
+		}
+	}
+	Py_INCREF(Py_None); return Py_None;
+}
 
+static PyObject* gPySetContactBreakingTreshold(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	float contactBreakingTreshold;
+	if (PyArg_ParseTuple(args,"f",&contactBreakingTreshold))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setContactBreakingTreshold( contactBreakingTreshold);
+		}
+	}
 	Py_INCREF(Py_None); return Py_None;
 }
 
 
+static PyObject* gPySetCcdMode(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	float ccdMode;
+	if (PyArg_ParseTuple(args,"f",&ccdMode))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setCcdMode( ccdMode);
+		}
+	}
+	Py_INCREF(Py_None); return Py_None;
+}
 
+static PyObject* gPySetSorConstant(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	float sor;
+	if (PyArg_ParseTuple(args,"f",&sor))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setSolverSorConstant( sor);
+		}
+	}
+	Py_INCREF(Py_None); return Py_None;
+}
+
+static PyObject* gPySetTau(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	float tau;
+	if (PyArg_ParseTuple(args,"f",&tau))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setTau( tau);
+		}
+	}
+	Py_INCREF(Py_None); return Py_None;
+}
+
+
+static PyObject* gPySetDamping(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	float damping;
+	if (PyArg_ParseTuple(args,"f",&damping))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setDamping( damping);
+		}
+	}
+	Py_INCREF(Py_None); return Py_None;
+}
 
 
 static PyObject* gPyCreateConstraint(PyObject* self,
@@ -167,6 +319,30 @@ static struct PyMethodDef physicsconstraints_methods[] = {
   {"setDebugMode",(PyCFunction) gPySetDebugMode,
    METH_VARARGS, gPySetDebugMode__doc__},
 
+   /// settings that influence quality of the rigidbody dynamics
+  {"setNumIterations",(PyCFunction) gPySetNumIterations,
+   METH_VARARGS, gPySetNumIterations__doc__},
+
+  {"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
+   METH_VARARGS, gPySetDeactivationTime__doc__},
+
+  {"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
+   METH_VARARGS, gPySetDeactivationLinearTreshold__doc__},
+  {"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
+   METH_VARARGS, gPySetDeactivationAngularTreshold__doc__},
+
+   {"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
+   METH_VARARGS, gPySetContactBreakingTreshold__doc__},
+     {"setCcdMode",(PyCFunction) gPySetCcdMode,
+   METH_VARARGS, gPySetCcdMode__doc__},
+     {"setSorConstant",(PyCFunction) gPySetSorConstant,
+   METH_VARARGS, gPySetSorConstant__doc__},
+       {"setTau",(PyCFunction) gPySetTau,
+   METH_VARARGS, gPySetTau__doc__},
+        {"setDamping",(PyCFunction) gPySetDamping,
+   METH_VARARGS, gPySetDamping__doc__},
+
+
 
   {"createConstraint",(PyCFunction) gPyCreateConstraint,
    METH_VARARGS, gPyCreateConstraint__doc__},
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 19c4632820c..8f532aafa9e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -7,7 +7,11 @@
 
 class BP_Proxy;
 
-bool gEnableSleeping = false;//false;//true;
+//'temporarily' global variables
+float	gDeactivationTime = 0.f;
+float gLinearSleepingTreshold = 0.8f;
+float gAngularSleepingTreshold = 1.0f;
+
 #include "Dynamics/MassProps.h"
 
 SimdVector3 startVel(0,0,0);//-10000);
@@ -190,27 +194,19 @@ void		CcdPhysicsController::setNewClientInfo(void* clientinfo)
 
 }
 
-#ifdef WIN32
-float gSleepingTreshold = 0.8f;
-float gAngularSleepingTreshold = 1.f;
-
-#else
-
-float gSleepingTreshold = 0.8f;
-float gAngularSleepingTreshold = 1.0f;
-#endif
 
 
 bool CcdPhysicsController::wantsSleeping()
 {
 
-	if (!gEnableSleeping)
+	//disable deactivation
+	if (gDeactivationTime == 0.f)
 		return false;
 
 	if ( (m_body->GetActivationState() == 3) || (m_body->GetActivationState() == 2))
 		return true;
 
-	if ((m_body->getLinearVelocity().length2() < gSleepingTreshold*gSleepingTreshold) &&
+	if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) &&
 		(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
 	{
 		m_sleepingCounter++;
@@ -219,7 +215,7 @@ bool CcdPhysicsController::wantsSleeping()
 		m_sleepingCounter=0;
 	}
 
-	if (m_sleepingCounter> 150)
+	if (m_sleepingCounter> gDeactivationTime)
 	{
 		return true;
 	}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 235931ebab4..53991e202e9 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -10,6 +10,11 @@
 #include "SimdScalar.h"	
 class CollisionShape;
 
+extern float gDeactivationTime;
+extern float gLinearSleepingTreshold;
+extern float gAngularSleepingTreshold;
+
+
 struct CcdConstructionInfo
 {
 	CcdConstructionInfo()
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 94ecfe27de2..0b1878fdf67 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -33,8 +33,6 @@ bool useIslands = true;
 //#include "BroadphaseCollision/QueryBox.h"
 //todo: change this to allow dynamic registration of types!
 
-unsigned long gNumIterations = 10;
-
 #ifdef WIN32
 void DrawRasterizerLine(const float* from,const float* to,int color);
 #endif
@@ -88,13 +86,16 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
 CcdPhysicsEnvironment::CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher,BroadphaseInterface* bp)
 :m_dispatcher(dispatcher),
 m_broadphase(bp),
-m_scalingPropagated(false)
+m_scalingPropagated(false),
+m_numIterations(30),
+m_ccdMode(0)
 {
 	if (!m_dispatcher)
 	{
 		OdeConstraintSolver* solver = new OdeConstraintSolver();
 		//SimpleConstraintSolver* solver= new SimpleConstraintSolver();
 		m_dispatcher = new ToiContactDispatcher(solver);
+
 	}
 	if (!m_broadphase)
 	{
@@ -290,7 +291,6 @@ void	CcdPhysicsEnvironment::UpdateActivationState()
 	
 }
 
-bool gPredictCollision = false;//true;//false;
 
 
 /// Perform an integration step of duration 'timeStep'.
@@ -346,7 +346,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	
 	
 	
-	int numsubstep = gNumIterations;
+	int numsubstep = m_numIterations;
 	
 	
 	DispatcherInfo dispatchInfo;
@@ -367,7 +367,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	//contacts
 
 	
-	m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
+	m_dispatcher->SolveConstraints(timeStep, m_numIterations ,numRigidBodies,m_debugDrawer);
 
 	for (int g=0;g<numsubstep;g++)
 	{
@@ -454,7 +454,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 
 
 			
-			if (gPredictCollision)
+			if (m_ccdMode == 3)
 			{
 				DispatcherInfo dispatchInfo;
 				dispatchInfo.m_timeStep = timeStep;
@@ -548,7 +548,7 @@ void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
 		if (m_dispatcher)
 			delete m_dispatcher;
 
-		if (debugMode == 11)
+		if (debugMode > 100)
 		{
 			SimpleConstraintSolver* solver= new SimpleConstraintSolver();
 			m_dispatcher = new ToiContactDispatcher(solver);
@@ -563,6 +563,51 @@ void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
 	}
 }
 
+void		CcdPhysicsEnvironment::setNumIterations(int numIter)
+{
+	m_numIterations = numIter;
+}
+void		CcdPhysicsEnvironment::setDeactivationTime(float dTime)
+{
+	gDeactivationTime = dTime;
+}
+void		CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
+{
+	gLinearSleepingTreshold = linTresh;
+}
+void		CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) 
+{
+	gAngularSleepingTreshold = angTresh;
+}
+void		CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
+{
+	gContactBreakingTreshold = contactBreakingTreshold;
+	
+}
+
+
+void		CcdPhysicsEnvironment::setCcdMode(int ccdMode)
+{
+	m_ccdMode = ccdMode;
+}
+
+
+void		CcdPhysicsEnvironment::setSolverSorConstant(float sor)
+{
+	m_dispatcher->SetSor(sor);
+}
+
+void		CcdPhysicsEnvironment::setTau(float tau)
+{
+	m_dispatcher->SetTau(tau);
+}
+void		CcdPhysicsEnvironment::setDamping(float damping)
+{
+	m_dispatcher->SetDamping(damping);
+}
+
+
+
 
 void	CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
 {
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index be6f6c648c7..5e98ffd2473 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -26,6 +26,8 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 	SimdVector3 m_gravity;
 	BroadphaseInterface*	m_broadphase;
 	IDebugDraw*	m_debugDrawer;
+	int	m_numIterations;
+	int	m_ccdMode;
 	
 	public:
 		CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
@@ -43,6 +45,16 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 			m_debugDrawer = debugDrawer;
 		}
 
+		virtual void		setNumIterations(int numIter);
+		virtual void		setDeactivationTime(float dTime);
+		virtual	void		setDeactivationLinearTreshold(float linTresh) ;
+		virtual	void		setDeactivationAngularTreshold(float angTresh) ;
+		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) ;
+		virtual void		setCcdMode(int ccdMode);
+		virtual void		setSolverSorConstant(float sor);
+		virtual void		setTau(float tau);
+		virtual void		setDamping(float damping);
+
 
 		virtual	void		beginFrame() {};
 		virtual void		endFrame() {};
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h
index cdf203ac17e..931dc0e988c 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsController.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h
@@ -34,12 +34,12 @@
 
 #include "PHY_DynamicTypes.h"
 
+
+
 /**
 	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
 	It contains the IMotionState and IDeformableMesh Interfaces.
 */
-
-
 class PHY_IPhysicsController	
 {
 
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index ca856598772..96b0eda326f 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -51,7 +51,27 @@ class PHY_IPhysicsEnvironment
 		//returns 0.f if no fixed timestep is used
 		virtual	float		getFixedTimeStep()=0;
 
+		///setDebugMode is used to support several ways of debug lines, contact point visualization
 		virtual void		setDebugMode(int debugMode) {}
+		///setNumIterations set the number of iterations for iterative solvers
+		virtual void		setNumIterations(int numIter) {}
+		///setDeactivationTime sets the minimum time that an objects has to stay within the velocity tresholds until it gets fully deactivated
+		virtual void		setDeactivationTime(float dTime) {}
+		///setDeactivationLinearTreshold sets the linear velocity treshold, see setDeactivationTime
+		virtual	void		setDeactivationLinearTreshold(float linTresh) {}
+		///setDeactivationAngularTreshold sets the angular velocity treshold, see setDeactivationTime
+		virtual	void		setDeactivationAngularTreshold(float angTresh) {}
+		///setContactBreakingTreshold sets tresholds to do with contact point management
+		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) {}
+		///continuous collision detection mode, very experimental for Bullet
+		virtual void		setCcdMode(int ccdMode) {}
+		///successive overrelaxation constant, in case PSOR is used, values in between 1 and 2 guarantee converging behaviour
+		virtual void		setSolverSorConstant(float sor) {}
+		///setTau sets the spring constant of a penalty based solver
+		virtual void		setTau(float tau) {}
+		///setDamping sets the damper constant of a penalty based solver
+		virtual void		setDamping(float damping) {}
+
 		virtual	void		setGravity(float x,float y,float z)=0;
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,