rigidbody: Add rigidbody module

It's mostly a C API for bullet that interfaces nicely with blender.
It could act as a generic interface for rigid body simulations but right
now it's very specific to bullet.

TODO: Fix building without bullet.

Part of GSoC 2010 and 2012.
Authors: Joshua Leung (aligorith), Sergej Reich (sergof)

7 files changed, 1334 insertions, 0 deletions

diff --git a/source/blender/CMakeLists.txt b/source/blender/CMakeLists.txt
index ae3f3dce396..9c6dd0235c5 100644
--- a/source/blender/CMakeLists.txt
+++ b/source/blender/CMakeLists.txt
@@ -105,6 +105,7 @@ add_subdirectory(nodes)
 add_subdirectory(modifiers)
 add_subdirectory(makesdna)
 add_subdirectory(makesrna)
+add_subdirectory(rigidbody)
 
 if(WITH_COMPOSITOR)
 	add_subdirectory(opencl)  # later on this may be used more generally
diff --git a/source/blender/rigidbody/CMakeLists.txt b/source/blender/rigidbody/CMakeLists.txt
new file mode 100644
index 00000000000..cf91cd6638c
--- /dev/null
+++ b/source/blender/rigidbody/CMakeLists.txt
@@ -0,0 +1,36 @@
+# ***** BEGIN GPL LICENSE BLOCK *****
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+#
+# The Original Code is Copyright (C) 2006, Blender Foundation
+# All rights reserved.
+#
+# The Original Code is: all of this file.
+#
+# ***** END GPL LICENSE BLOCK *****
+
+SET(INC
+	.
+	../blenlib
+	../../../extern/bullet2/src
+)
+
+set(SRC
+	rb_bullet_api.cpp
+	
+	RBI_api.h
+)
+
+blender_add_lib(bf_rigidbody "${SRC}" "${INC}" "${INC_SYS}")
diff --git a/source/blender/rigidbody/RBI_api.h b/source/blender/rigidbody/RBI_api.h
new file mode 100644
index 00000000000..ee5006f2838
--- /dev/null
+++ b/source/blender/rigidbody/RBI_api.h
@@ -0,0 +1,309 @@
+/*
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2013 Blender Foundation,
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): Joshua Leung, Sergej Reich
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+/** \file RBI_api.h
+ *  \ingroup RigidBody
+ *  \brief Rigid Body API for interfacing with external Physics Engines
+ */
+
+#ifndef __RB_API_H__
+#define __RB_API_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* API Notes:
+ * Currently, this API is optimised for Bullet RigidBodies, and doesn't
+ * take into account other Physics Engines. Some tweaking may be necessary
+ * to allow other systems to be used, in particular there may be references
+ * to datatypes that aren't used here...
+ *
+ * -- Joshua Leung (22 June 2010)
+ */
+
+/* ********************************** */
+/* Partial Type Defines - Aliases for the type of data we store */
+
+// ----------
+
+/* Dynamics World */
+typedef struct rbDynamicsWorld rbDynamicsWorld;
+
+/* Rigid Body */
+typedef struct rbRigidBody rbRigidBody;
+
+/* Collision Shape */
+typedef struct rbCollisionShape rbCollisionShape;
+
+/* Mesh Data (for Collision Shapes of Meshes) */
+typedef struct rbMeshData rbMeshData;
+
+/* Constraint */
+typedef struct rbConstraint rbConstraint;
+
+/* ********************************** */
+/* Dynamics World Methods */
+
+/* Setup ---------------------------- */
+
+/* Create a new dynamics world instance */
+// TODO: add args to set the type of constraint solvers, etc.
+extern rbDynamicsWorld *RB_dworld_new(const float gravity[3]);
+
+/* Delete the given dynamics world, and free any extra data it may require */
+extern void RB_dworld_delete(rbDynamicsWorld *world);
+
+/* Settings ------------------------- */
+
+/* Gravity */
+extern void RB_dworld_get_gravity(rbDynamicsWorld *world, float g_out[3]);
+extern void RB_dworld_set_gravity(rbDynamicsWorld *world, const float g_in[3]);
+
+/* Constraint Solver */
+extern void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iterations);
+/* Split Impulse */
+extern void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse);
+
+/* Simulation ----------------------- */
+
+/* Step the simulation by the desired amount (in seconds) with extra controls on substep sizes and maximum substeps */
+extern void RB_dworld_step_simulation(rbDynamicsWorld *world, float timeStep, int maxSubSteps, float timeSubStep);
+
+/* Export -------------------------- */
+
+/* Exports the dynamics world to physics simulator's serialisation format */
+void RB_dworld_export(rbDynamicsWorld *world, const char *filename);
+
+/* ********************************** */
+/* Rigid Body Methods */
+
+/* Setup ---------------------------- */
+
+/* Add RigidBody to dynamics world */
+extern void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *body, int col_groups);
+
+/* Remove RigidBody from dynamics world */
+extern void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *body);
+
+/* ............ */
+
+/* Create new RigidBody instance */
+extern rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4]);
+
+/* Delete the given RigidBody instance */
+extern void RB_body_delete(rbRigidBody *body);
+
+/* Settings ------------------------- */
+
+/* 'Type' */
+extern void RB_body_set_type(rbRigidBody *body, int type, float mass);
+
+/* ............ */
+
+/* Collision Shape */
+extern void RB_body_set_collision_shape(rbRigidBody *body, rbCollisionShape *shape);
+
+/* ............ */
+
+/* Mass */
+extern float RB_body_get_mass(rbRigidBody *body);
+extern void RB_body_set_mass(rbRigidBody *body, float value);
+
+/* Friction */
+extern float RB_body_get_friction(rbRigidBody *body);
+extern void RB_body_set_friction(rbRigidBody *body, float value);
+
+/* Restitution */
+extern float RB_body_get_restitution(rbRigidBody *body);
+extern void RB_body_set_restitution(rbRigidBody *body, float value);
+
+/* Damping */
+extern float RB_body_get_linear_damping(rbRigidBody *body);
+extern void RB_body_set_linear_damping(rbRigidBody *body, float value);
+
+extern float RB_body_get_angular_damping(rbRigidBody *body);
+extern void RB_body_set_angular_damping(rbRigidBody *body, float value);
+
+extern void RB_body_set_damping(rbRigidBody *object, float linear, float angular);
+
+/* Sleeping Thresholds */
+extern float RB_body_get_linear_sleep_thresh(rbRigidBody *body);
+extern void RB_body_set_linear_sleep_thresh(rbRigidBody *body, float value);
+
+extern float RB_body_get_angular_sleep_thresh(rbRigidBody *body);
+extern void RB_body_set_angular_sleep_thresh(rbRigidBody *body, float value);
+
+extern void RB_body_set_sleep_thresh(rbRigidBody *body, float linear, float angular);
+
+/* Linear Velocity */
+extern void RB_body_get_linear_velocity(rbRigidBody *body, float v_out[3]);
+extern void RB_body_set_linear_velocity(rbRigidBody *body, const float v_in[3]);
+
+/* Angular Velocity */
+extern void RB_body_get_angular_velocity(rbRigidBody *body, float v_out[3]);
+extern void RB_body_set_angular_velocity(rbRigidBody *body, const float v_in[3]);
+
+/* Linear/Angular Factor, used to lock translation/roation axes */
+extern void RB_body_set_linear_factor(rbRigidBody *object, float x, float y, float z);
+extern void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z);
+
+/* Kinematic State */
+extern void RB_body_set_kinematic_state(rbRigidBody *body, int kinematic);
+
+/* RigidBody Interface - Rigid Body Activation States */
+extern int RB_body_get_activation_state(rbRigidBody *body);
+extern void RB_body_set_activation_state(rbRigidBody *body, int use_deactivation);
+extern void RB_body_activate(rbRigidBody *body);
+extern void RB_body_deactivate(rbRigidBody *body);
+
+
+/* Simulation ----------------------- */
+
+/* Get current transform matrix of RigidBody to use in Blender (OpenGL format) */
+extern void RB_body_get_transform_matrix(rbRigidBody *body, float m_out[4][4]);
+
+/* Set RigidBody's location and rotation */
+extern void RB_body_set_loc_rot(rbRigidBody *body, const float loc[3], const float rot[4]);
+/* Set RigidBody's local scaling */
+extern void RB_body_set_scale(rbRigidBody *body, const float scale[3]);
+
+/* ............ */
+
+/* Get RigidBody's position as vector */
+void RB_body_get_position(rbRigidBody *body, float v_out[3]);
+/* Get RigidBody's orientation as quaternion */
+void RB_body_get_orientation(rbRigidBody *body, float v_out[4]);
+
+/* ............ */
+
+extern void RB_body_apply_central_force(rbRigidBody *body, const float v_in[3]);
+
+/* ********************************** */
+/* Collision Shape Methods */
+
+/* Setup (Standard Shapes) ----------- */
+
+extern rbCollisionShape *RB_shape_new_box(float x, float y, float z);
+extern rbCollisionShape *RB_shape_new_sphere(float radius);
+extern rbCollisionShape *RB_shape_new_capsule(float radius, float height);
+extern rbCollisionShape *RB_shape_new_cone(float radius, float height);
+extern rbCollisionShape *RB_shape_new_cylinder(float radius, float height);
+
+/* Setup (Convex Hull) ------------ */
+
+extern rbCollisionShape *RB_shape_new_convex_hull(float *verts, int stride, int count, float margin, bool *can_embed);
+
+/* Setup (Triangle Mesh) ---------- */
+
+/* 1 */
+extern rbMeshData *RB_trimesh_data_new(void);
+extern void RB_trimesh_add_triangle(rbMeshData *mesh, const float v1[3], const float v2[3], const float v3[3]);
+/* 2a - Triangle Meshes */
+extern rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh);
+/* 2b - GImpact Meshes */
+extern rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh);
+
+
+/* Cleanup --------------------------- */
+
+extern void RB_shape_delete(rbCollisionShape *shape);
+
+/* Settings --------------------------- */
+
+/* Collision Margin */
+extern float RB_shape_get_margin(rbCollisionShape *shape);
+extern void RB_shape_set_margin(rbCollisionShape *shape, float value);
+
+/* ********************************** */
+/* Constraints */
+
+/* Setup ----------------------------- */
+
+/* Add Rigid Body Constraint to simulation world */
+extern void RB_dworld_add_constraint(rbDynamicsWorld *world, rbConstraint *con, int disable_collisions);
+
+/* Remove Rigid Body Constraint from simulation world */
+extern void RB_dworld_remove_constraint(rbDynamicsWorld *world, rbConstraint *con);
+
+extern rbConstraint *RB_constraint_new_point(float pivot[3], rbRigidBody *rb1, rbRigidBody *rb2);
+extern rbConstraint *RB_constraint_new_fixed(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
+extern rbConstraint *RB_constraint_new_hinge(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
+extern rbConstraint *RB_constraint_new_slider(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
+extern rbConstraint *RB_constraint_new_piston(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
+extern rbConstraint *RB_constraint_new_6dof(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
+extern rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
+
+/* ............ */
+
+/* Cleanup --------------------------- */
+
+extern void RB_constraint_delete(rbConstraint *con);
+
+/* Settings --------------------------- */
+
+/* Enable or disable constraint */
+extern void RB_constraint_set_enabled(rbConstraint *con, int enabled);
+
+/* Limits */
+#define RB_LIMIT_LIN_X 0
+#define RB_LIMIT_LIN_Y 1
+#define RB_LIMIT_LIN_Z 2
+#define RB_LIMIT_ANG_X 3
+#define RB_LIMIT_ANG_Y 4
+#define RB_LIMIT_ANG_Z 5
+/* Bullet uses the following convention:
+ * - lower limit == upper limit -> axis is locked
+ * - lower limit > upper limit -> axis is free
+ * - lower limit < upper limit -> axis is limited in given range
+ */
+extern void RB_constraint_set_limits_hinge(rbConstraint *con, float lower, float upper);
+extern void RB_constraint_set_limits_slider(rbConstraint *con, float lower, float upper);
+extern void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper);
+extern void RB_constraint_set_limits_6dof(rbConstraint *con, float axis, float lower, float upper);
+
+/* 6dof spring specific */
+extern void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, float axis, float stiffness);
+extern void RB_constraint_set_damping_6dof_spring(rbConstraint *con, float axis, float damping);
+extern void RB_constraint_set_spring_6dof_spring(rbConstraint *con, float axis, int enable);
+extern void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con);
+
+/* Set number of constraint solver iterations made per step, this overrided world setting
+ * To use default set it to -1 */
+extern void RB_constraint_set_solver_iterations(rbConstraint *con, int num_solver_iterations);
+
+/* Set breaking impulse threshold, if constraint shouldn't break it can be set to FLT_MAX */
+extern void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold);
+
+/* ********************************** */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __RB_API_H__ */
+ 
diff --git a/source/blender/rigidbody/SConscript b/source/blender/rigidbody/SConscript
new file mode 100644
index 00000000000..26a3688f4f9
--- /dev/null
+++ b/source/blender/rigidbody/SConscript
@@ -0,0 +1,38 @@
+#!/usr/bin/python
+# $Id: SConscript $
+# ***** BEGIN GPL LICENSE BLOCK *****
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+#
+# The Original Code is Copyright (C) 2010, Blender Foundation
+# All rights reserved.
+#
+# The Original Code is: all of this file.
+#
+# Contributor(s): Joshua Leung
+#
+# ***** END GPL LICENSE BLOCK *****
+
+Import ('env')
+
+# XXX: we need a contingency plan for when not compiling with Bullet,
+# since this module will always get included... 
+# This problem will also apply to other engines at a later date too...
+sources = env.Glob('*.cpp')
+
+incs = '../blenlib ../../../intern/guardedalloc ../../../extern/bullet2/src'
+
+env.BlenderLib ('bf_rigidbody', sources, Split(incs), [], libtype='core', priority=180 )
+
diff --git a/source/blender/rigidbody/rb_bullet_api.cpp b/source/blender/rigidbody/rb_bullet_api.cpp
new file mode 100644
index 00000000000..c0d75a73b6a
--- /dev/null
+++ b/source/blender/rigidbody/rb_bullet_api.cpp
@@ -0,0 +1,948 @@
+/*
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2013 Blender Foundation
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): Joshua Leung, Sergej Reich
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+/** \file rb_bullet_api.cpp
+ *  \ingroup RigidBody
+ *  \brief Rigid Body API implementation for Bullet
+ */
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+ 
+/* This file defines the "RigidBody interface" for the 
+ * Bullet Physics Engine. This API is designed to be used
+ * from C-code in Blender as part of the Rigid Body simulation
+ * system.
+ *
+ * It is based on the Bullet C-API, but is heavily modified to 
+ * give access to more data types and to offer a nicer interface.
+ *
+ * -- Joshua Leung, June 2010
+ */
+
+#include <stdio.h>
+ 
+#include "RBI_api.h"
+
+#include "BLI_math.h"
+
+#include "btBulletDynamicsCommon.h"
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btScalar.h"	
+#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btConvexHullComputer.h"
+
+#include "BulletCollision/Gimpact/btGImpactShape.h"
+#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
+#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
+
+struct rbDynamicsWorld {
+	btDiscreteDynamicsWorld *dynamicsWorld;
+	btDefaultCollisionConfiguration *collisionConfiguration;
+	btDispatcher *dispatcher;
+	btBroadphaseInterface *pairCache;
+	btConstraintSolver *constraintSolver;
+	btOverlapFilterCallback *filterCallback;
+};
+struct rbRigidBody {
+	btRigidBody *body;
+	int col_groups;
+};
+
+struct rbCollisionShape {
+	btCollisionShape *cshape;
+	btTriangleMesh *mesh;
+};
+
+struct rbFilterCallback : public btOverlapFilterCallback
+{
+	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
+	{
+		rbRigidBody *rb0 = (rbRigidBody*)((btRigidBody*)proxy0->m_clientObject)->getUserPointer();
+		rbRigidBody *rb1 = (rbRigidBody*)((btRigidBody*)proxy1->m_clientObject)->getUserPointer();
+		
+		bool collides;
+		collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+		collides = collides && (rb0->col_groups & rb1->col_groups);
+		
+		return collides;
+	}
+};
+
+static inline void copy_v3_btvec3(float vec[3], const btVector3 &btvec)
+{
+	vec[0] = (float)btvec[0];
+	vec[1] = (float)btvec[1];
+	vec[2] = (float)btvec[2];
+}
+static inline void copy_quat_btquat(float quat[3], const btQuaternion &btquat)
+{
+	quat[0] = btquat.getW();
+	quat[1] = btquat.getX();
+	quat[2] = btquat.getY();
+	quat[3] = btquat.getZ();
+}
+
+/* ********************************** */
+/* Dynamics World Methods */
+
+/* Setup ---------------------------- */
+
+rbDynamicsWorld *RB_dworld_new(const float gravity[3])
+{
+	rbDynamicsWorld *world = new rbDynamicsWorld;
+	
+	/* collision detection/handling */
+	world->collisionConfiguration = new btDefaultCollisionConfiguration();
+	
+	world->dispatcher = new btCollisionDispatcher(world->collisionConfiguration);
+	btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)world->dispatcher); // XXX: experimental
+	
+	world->pairCache = new btDbvtBroadphase();
+	
+	world->filterCallback = new rbFilterCallback();
+	world->pairCache->getOverlappingPairCache()->setOverlapFilterCallback(world->filterCallback);
+	
+	/* constraint solving */
+	world->constraintSolver = new btSequentialImpulseConstraintSolver();
+	
+	/* world */
+	world->dynamicsWorld = new btDiscreteDynamicsWorld(world->dispatcher,world->pairCache,world->constraintSolver,world->collisionConfiguration);
+	
+	RB_dworld_set_gravity(world, gravity);
+	
+	return world;
+}
+
+void RB_dworld_delete(rbDynamicsWorld *world)
+{
+	/* bullet doesn't like if we free these in a different order */
+	delete world->dynamicsWorld;
+	delete world->constraintSolver;
+	delete world->pairCache;
+	delete world->dispatcher;
+	delete world->collisionConfiguration;
+	delete world->filterCallback;
+	delete world;
+}
+
+/* Settings ------------------------- */
+
+/* Gravity */
+void RB_dworld_get_gravity(rbDynamicsWorld *world, float g_out[3])
+{
+	copy_v3_btvec3(g_out, world->dynamicsWorld->getGravity());
+}
+
+void RB_dworld_set_gravity(rbDynamicsWorld *world, const float g_in[3])
+{
+	world->dynamicsWorld->setGravity(btVector3(g_in[0], g_in[1], g_in[2]));
+}
+
+/* Constraint Solver */
+void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iterations)
+{
+	btContactSolverInfo& info = world->dynamicsWorld->getSolverInfo();
+	
+	info.m_numIterations = num_solver_iterations;
+}
+
+/* Split Impulse */
+void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse)
+{
+	btContactSolverInfo& info = world->dynamicsWorld->getSolverInfo();
+	
+	info.m_splitImpulse = split_impulse;
+}
+
+/* Simulation ----------------------- */
+
+void RB_dworld_step_simulation(rbDynamicsWorld *world, float timeStep, int maxSubSteps, float timeSubStep)
+{
+	world->dynamicsWorld->stepSimulation(timeStep, maxSubSteps, timeSubStep);
+}
+
+/* Export -------------------------- */
+
+/* Exports entire dynamics world to Bullet's "*.bullet" binary format
+ * which is similar to Blender's SDNA system...
+ * < rbDynamicsWorld: dynamics world to write to file
+ * < filename: assumed to be a valid filename, with .bullet extension 
+ */
+void RB_dworld_export(rbDynamicsWorld *world, const char *filename)
+{
+	//create a large enough buffer. There is no method to pre-calculate the buffer size yet.
+	int maxSerializeBufferSize = 1024*1024*5;
+	
+	btDefaultSerializer *serializer = new btDefaultSerializer(maxSerializeBufferSize);
+	world->dynamicsWorld->serialize(serializer);
+	
+	FILE *file = fopen(filename, "wb");
+	fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
+	fclose(file);
+}
+
+/* ********************************** */
+/* Rigid Body Methods */
+
+/* Setup ---------------------------- */
+
+void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *object, int col_groups)
+{
+	btRigidBody *body = object->body;
+	object->col_groups = col_groups;
+	
+	world->dynamicsWorld->addRigidBody(body);
+}
+
+void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	
+	world->dynamicsWorld->removeRigidBody(body);
+}
+
+/* ............ */
+
+rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4])
+{
+	rbRigidBody *object = new rbRigidBody;
+	/* current transform */
+	btTransform trans;
+	trans.setOrigin(btVector3(loc[0], loc[1], loc[2]));
+	trans.setRotation(btQuaternion(rot[1], rot[2], rot[3], rot[0]));
+	
+	/* create motionstate, which is necessary for interpolation (includes reverse playback) */
+	btDefaultMotionState *motionState = new btDefaultMotionState(trans);
+	
+	/* make rigidbody */
+	btRigidBody::btRigidBodyConstructionInfo rbInfo(1.0f, motionState, shape->cshape);
+	
+	object->body = new btRigidBody(rbInfo);
+	
+	object->body->setUserPointer(object);
+	
+	return object;
+}
+
+void RB_body_delete(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	
+	/* motion state */
+	btMotionState *ms = body->getMotionState();
+	if (ms)
+		delete ms;
+	
+	/* collision shape is done elsewhere... */
+	
+	/* body itself */
+	
+	/* manually remove constraint refs of the rigid body, normally this happens when removing constraints from the world
+	 * but since we delete everything when the world is rebult, we need to do it manually here */
+	for (int i = body->getNumConstraintRefs() - 1; i >= 0; i--) {
+		btTypedConstraint* con = body->getConstraintRef(i);
+		body->removeConstraintRef(con);
+	}
+	
+	delete body;
+	delete object;
+}
+
+/* Settings ------------------------- */
+
+void RB_body_set_collision_shape(rbRigidBody *object, rbCollisionShape *shape)
+{
+	btRigidBody *body = object->body;
+	
+	/* set new collision shape */
+	body->setCollisionShape(shape->cshape);
+	
+	/* recalculate inertia, since that depends on the collision shape... */
+	RB_body_set_mass(object, RB_body_get_mass(object));
+}
+
+/* ............ */
+
+float RB_body_get_mass(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	
+	/* there isn't really a mass setting, but rather 'inverse mass'  
+	 * which we convert back to mass by taking the reciprocal again 
+	 */
+	float value = (float)body->getInvMass();
+	
+	if (value)
+		value = 1.0 / value;
+		
+	return value;
+}
+
+void RB_body_set_mass(rbRigidBody *object, float value)
+{
+	btRigidBody *body = object->body;
+	btVector3 localInertia(0,0,0);
+	
+	/* calculate new inertia if non-zero mass */
+	if (value) {
+		btCollisionShape *shape = body->getCollisionShape();
+		shape->calculateLocalInertia(value, localInertia);
+	}
+	
+	body->setMassProps(value, localInertia);
+	body->updateInertiaTensor();
+}
+
+
+float RB_body_get_friction(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	return body->getFriction();
+}
+
+void RB_body_set_friction(rbRigidBody *object, float value)
+{
+	btRigidBody *body = object->body;
+	body->setFriction(value);
+}
+
+
+float RB_body_get_restitution(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	return body->getRestitution();
+}
+
+void RB_body_set_restitution(rbRigidBody *object, float value)
+{
+	btRigidBody *body = object->body;
+	body->setRestitution(value);
+}
+
+
+float RB_body_get_linear_damping(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	return body->getLinearDamping();
+}
+
+void RB_body_set_linear_damping(rbRigidBody *object, float value)
+{
+	RB_body_set_damping(object, value, RB_body_get_linear_damping(object));
+}
+
+float RB_body_get_angular_damping(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	return body->getAngularDamping();
+}
+
+void RB_body_set_angular_damping(rbRigidBody *object, float value)
+{
+	RB_body_set_damping(object, RB_body_get_linear_damping(object), value);
+}
+
+void RB_body_set_damping(rbRigidBody *object, float linear, float angular)
+{
+	btRigidBody *body = object->body;
+	body->setDamping(linear, angular);
+}
+
+
+float RB_body_get_linear_sleep_thresh(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	return body->getLinearSleepingThreshold();
+}
+
+void RB_body_set_linear_sleep_thresh(rbRigidBody *object, float value)
+{
+	RB_body_set_sleep_thresh(object, value, RB_body_get_angular_sleep_thresh(object));
+}
+
+float RB_body_get_angular_sleep_thresh(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	return body->getAngularSleepingThreshold();
+}
+
+void RB_body_set_angular_sleep_thresh(rbRigidBody *object, float value)
+{
+	RB_body_set_sleep_thresh(object, RB_body_get_linear_sleep_thresh(object), value);
+}
+
+void RB_body_set_sleep_thresh(rbRigidBody *object, float linear, float angular)
+{
+	btRigidBody *body = object->body;
+	body->setSleepingThresholds(linear, angular);
+}
+
+/* ............ */
+
+void RB_body_get_linear_velocity(rbRigidBody *object, float v_out[3])
+{
+	btRigidBody *body = object->body;
+	
+	copy_v3_btvec3(v_out, body->getLinearVelocity());
+}
+
+void RB_body_set_linear_velocity(rbRigidBody *object, const float v_in[3])
+{
+	btRigidBody *body = object->body;
+	
+	body->setLinearVelocity(btVector3(v_in[0], v_in[1], v_in[2]));
+}
+
+
+void RB_body_get_angular_velocity(rbRigidBody *object, float v_out[3])
+{
+	btRigidBody *body = object->body;
+	
+	copy_v3_btvec3(v_out, body->getAngularVelocity());
+}
+
+void RB_body_set_angular_velocity(rbRigidBody *object, const float v_in[3])
+{
+	btRigidBody *body = object->body;
+	
+	body->setAngularVelocity(btVector3(v_in[0], v_in[1], v_in[2]));
+}
+
+void RB_body_set_linear_factor(rbRigidBody *object, float x, float y, float z)
+{
+	btRigidBody *body = object->body;
+	body->setLinearFactor(btVector3(x, y, z));
+}
+
+void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z)
+{
+	btRigidBody *body = object->body;
+	body->setAngularFactor(btVector3(x, y, z));
+}
+
+/* ............ */
+
+void RB_body_set_kinematic_state(rbRigidBody *object, int kinematic)
+{
+	btRigidBody *body = object->body;
+	if (kinematic)
+		body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+	else
+		body->setCollisionFlags(body->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
+}
+
+/* ............ */
+
+void RB_body_set_activation_state(rbRigidBody *object, int use_deactivation)
+{
+	btRigidBody *body = object->body;
+	if (use_deactivation)
+		body->forceActivationState(ACTIVE_TAG);
+	else
+		body->setActivationState(DISABLE_DEACTIVATION);
+}
+void RB_body_activate(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	body->setActivationState(ACTIVE_TAG);
+}
+void RB_body_deactivate(rbRigidBody *object)
+{
+	btRigidBody *body = object->body;
+	body->setActivationState(ISLAND_SLEEPING);
+}
+
+/* ............ */
+
+
+
+/* Simulation ----------------------- */
+
+/* The transform matrices Blender uses are OpenGL-style matrices, 
+ * while Bullet uses the Right-Handed coordinate system style instead.
+ */
+
+void RB_body_get_transform_matrix(rbRigidBody *object, float m_out[4][4])
+{
+	btRigidBody *body = object->body;
+	btMotionState *ms = body->getMotionState();
+	
+	btTransform trans;
+	ms->getWorldTransform(trans);
+	
+	trans.getOpenGLMatrix((btScalar*)m_out);
+}
+
+void RB_body_set_loc_rot(rbRigidBody *object, const float loc[3], const float rot[4])
+{
+	btRigidBody *body = object->body;
+	btMotionState *ms = body->getMotionState();
+	
+	/* set transform matrix */
+	btTransform trans;
+	trans.setOrigin(btVector3(loc[0], loc[1], loc[2]));
+	trans.setRotation(btQuaternion(rot[1], rot[2], rot[3], rot[0]));
+	
+	ms->setWorldTransform(trans);
+}
+
+void RB_body_set_scale(rbRigidBody *object, const float scale[3])
+{
+	btRigidBody *body = object->body;
+	
+	/* apply scaling factor from matrix above to the collision shape */
+	btCollisionShape *cshape = body->getCollisionShape();
+	if (cshape) {
+		cshape->setLocalScaling(btVector3(scale[0], scale[1], scale[2]));
+		
+		/* GIimpact shapes have to be updated to take scaling into account */
+		if (cshape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+			((btGImpactMeshShape *)cshape)->updateBound();
+	}
+}
+
+/* ............ */
+/* Read-only state info about status of simulation */
+
+void RB_body_get_position(rbRigidBody *object, float v_out[3])
+{
+	btRigidBody *body = object->body;
+	
+	copy_v3_btvec3(v_out, body->getWorldTransform().getOrigin());
+}
+
+void RB_body_get_orientation(rbRigidBody *object, float v_out[4])
+{
+	btRigidBody *body = object->body;
+	
+	copy_quat_btquat(v_out, body->getWorldTransform().getRotation());
+}
+
+/* ............ */
+/* Overrides for simulation */
+
+void RB_body_apply_central_force(rbRigidBody *object, const float v_in[3])
+{
+	btRigidBody *body = object->body;
+	
+	body->applyCentralForce(btVector3(v_in[0], v_in[1], v_in[2]));
+}
+
+/* ********************************** */
+/* Collision Shape Methods */
+
+/* Setup (Standard Shapes) ----------- */
+
+rbCollisionShape *RB_shape_new_box(float x, float y, float z)
+{
+	rbCollisionShape *shape = new rbCollisionShape;
+	shape->cshape = new btBoxShape(btVector3(x, y, z));
+	shape->mesh = NULL;
+	return shape;
+}
+
+rbCollisionShape *RB_shape_new_sphere(float radius)
+{
+	rbCollisionShape *shape = new rbCollisionShape;
+	shape->cshape = new btSphereShape(radius);
+	shape->mesh = NULL;
+	return shape;
+}
+
+rbCollisionShape *RB_shape_new_capsule(float radius, float height)
+{
+	rbCollisionShape *shape = new rbCollisionShape;
+	shape->cshape = new btCapsuleShapeZ(radius, height);
+	shape->mesh = NULL;
+	return shape;
+}
+
+rbCollisionShape *RB_shape_new_cone(float radius, float height)
+{
+	rbCollisionShape *shape = new rbCollisionShape;
+	shape->cshape = new btConeShapeZ(radius, height);
+	shape->mesh = NULL;
+	return shape;
+}
+
+rbCollisionShape *RB_shape_new_cylinder(float radius, float height)
+{
+	rbCollisionShape *shape = new rbCollisionShape;
+	shape->cshape = new btCylinderShapeZ(btVector3(radius, radius, height));
+	shape->mesh = NULL;
+	return shape;
+}
+
+/* Setup (Convex Hull) ------------ */
+
+rbCollisionShape *RB_shape_new_convex_hull(float *verts, int stride, int count, float margin, bool *can_embed)
+{
+	btConvexHullComputer hull_computer = btConvexHullComputer();
+	
+	// try to embed the margin, if that fails don't shrink the hull
+	if (hull_computer.compute(verts, stride, count, margin, 0.0f) < 0.0f) {
+		hull_computer.compute(verts, stride, count, 0.0f, 0.0f);
+		*can_embed = false;
+	}
+	
+	rbCollisionShape *shape = new rbCollisionShape;
+	btConvexHullShape *hull_shape = new btConvexHullShape(&(hull_computer.vertices[0].getX()), hull_computer.vertices.size());
+	
+	shape->cshape = hull_shape;
+	shape->mesh = NULL;
+	return shape;
+}
+
+/* Setup (Triangle Mesh) ---------- */
+
+/* Need to call rbTriMeshNewData() followed by rbTriMeshAddTriangle() several times 
+ * to set up the mesh buffer BEFORE calling rbShapeNewTriMesh(). Otherwise,
+ * we get nasty crashes...
+ */
+
+rbMeshData *RB_trimesh_data_new()
+{
+	// XXX: welding threshold?
+	return (rbMeshData*) new btTriangleMesh(true, false);
+}
+ 
+void RB_trimesh_add_triangle(rbMeshData *mesh, const float v1[3], const float v2[3], const float v3[3])
+{
+	btTriangleMesh *meshData = reinterpret_cast<btTriangleMesh*>(mesh);
+	
+	/* cast vertices to usable forms for Bt-API */
+	btVector3 vtx1((btScalar)v1[0], (btScalar)v1[1], (btScalar)v1[2]);
+	btVector3 vtx2((btScalar)v2[0], (btScalar)v2[1], (btScalar)v2[2]);
+	btVector3 vtx3((btScalar)v3[0], (btScalar)v3[1], (btScalar)v3[2]);
+	
+	/* add to the mesh 
+	 *	- remove duplicated verts is enabled
+	 */
+	meshData->addTriangle(vtx1, vtx2, vtx3, false);
+}
+ 
+rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh)
+{
+	rbCollisionShape *shape = new rbCollisionShape;
+	btTriangleMesh *tmesh = reinterpret_cast<btTriangleMesh*>(mesh);
+	
+	/* triangle-mesh we create is a BVH wrapper for triangle mesh data (for faster lookups) */
+	// RB_TODO perhaps we need to allow saving out this for performance when rebuilding?
+	btBvhTriangleMeshShape *unscaledShape = new btBvhTriangleMeshShape(tmesh, true, true);
+	
+	shape->cshape = new btScaledBvhTriangleMeshShape(unscaledShape, btVector3(1.0f,1.0f,1.0f));
+	shape->mesh = tmesh;
+	return shape;
+}
+
+rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh)
+{
+	rbCollisionShape *shape = new rbCollisionShape;
+	/* interpret mesh buffer as btTriangleIndexVertexArray (i.e. an impl of btStridingMeshInterface) */
+	btTriangleMesh *tmesh = reinterpret_cast<btTriangleMesh*>(mesh);
+	
+	btGImpactMeshShape *gimpactShape = new btGImpactMeshShape(tmesh);
+	gimpactShape->updateBound(); // TODO: add this to the update collision margin call?
+	
+	shape->cshape = gimpactShape;
+	shape->mesh = tmesh;
+	return shape;
+}
+
+/* Cleanup --------------------------- */
+
+void RB_shape_delete(rbCollisionShape *shape)
+{
+	if (shape->cshape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) {
+		btBvhTriangleMeshShape *child_shape = ((btScaledBvhTriangleMeshShape*)shape->cshape)->getChildShape();
+		if (child_shape)
+			delete child_shape;
+	}
+	if (shape->mesh)
+		delete shape->mesh;
+	delete shape->cshape;
+	delete shape;
+}
+
+/* Settings --------------------------- */
+
+float RB_shape_get_margin(rbCollisionShape *shape)
+{
+	return shape->cshape->getMargin();
+}
+
+void RB_shape_set_margin(rbCollisionShape *shape, float value)
+{
+	shape->cshape->setMargin(value);
+}
+
+/* ********************************** */
+/* Constraints */
+
+/* Setup ----------------------------- */
+
+void RB_dworld_add_constraint(rbDynamicsWorld *world, rbConstraint *con, int disable_collisions)
+{
+	btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con);
+	
+	world->dynamicsWorld->addConstraint(constraint, disable_collisions);
+}
+
+void RB_dworld_remove_constraint(rbDynamicsWorld *world, rbConstraint *con)
+{
+	btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con);
+	
+	world->dynamicsWorld->removeConstraint(constraint);
+}
+
+/* ............ */
+
+static void make_constraint_transforms(btTransform &transform1, btTransform &transform2, btRigidBody *body1, btRigidBody *body2, float pivot[3], float orn[4])
+{
+	btTransform pivot_transform = btTransform();
+	pivot_transform.setOrigin(btVector3(pivot[0], pivot[1], pivot[2]));
+	pivot_transform.setRotation(btQuaternion(orn[1], orn[2], orn[3], orn[0]));
+	
+	transform1 = body1->getWorldTransform().inverse() * pivot_transform;
+	transform2 = body2->getWorldTransform().inverse() * pivot_transform;
+}
+
+rbConstraint *RB_constraint_new_point(float pivot[3], rbRigidBody *rb1, rbRigidBody *rb2)
+{
+	btRigidBody *body1 = rb1->body;
+	btRigidBody *body2 = rb2->body;
+	
+	btVector3 pivot1 = body1->getWorldTransform().inverse() * btVector3(pivot[0], pivot[1], pivot[2]);
+	btVector3 pivot2 = body2->getWorldTransform().inverse() * btVector3(pivot[0], pivot[1], pivot[2]);
+	
+	btTypedConstraint *con = new btPoint2PointConstraint(*body1, *body2, pivot1, pivot2);
+	
+	return (rbConstraint*)con;
+}
+
+rbConstraint *RB_constraint_new_fixed(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
+{
+	btRigidBody *body1 = rb1->body;
+	btRigidBody *body2 = rb2->body;
+	btTransform transform1;
+	btTransform transform2;
+	
+	make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn);
+	
+	btGeneric6DofConstraint *con = new btGeneric6DofConstraint(*body1, *body2, transform1, transform2, true);
+	
+	/* lock all axes */
+	for (int i = 0; i < 6; i++)
+		con->setLimit(i, 0, 0);
+	
+	return (rbConstraint*)con;
+}
+
+rbConstraint *RB_constraint_new_hinge(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
+{
+	btRigidBody *body1 = rb1->body;
+	btRigidBody *body2 = rb2->body;
+	btTransform transform1;
+	btTransform transform2;
+	
+	make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn);
+	
+	btHingeConstraint *con = new btHingeConstraint(*body1, *body2, transform1, transform2);
+	
+	return (rbConstraint*)con;
+}
+
+rbConstraint *RB_constraint_new_slider(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
+{
+	btRigidBody *body1 = rb1->body;
+	btRigidBody *body2 = rb2->body;
+	btTransform transform1;
+	btTransform transform2;
+	
+	make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn);
+	
+	btSliderConstraint *con = new btSliderConstraint(*body1, *body2, transform1, transform2, true);
+	
+	return (rbConstraint*)con;
+}
+
+rbConstraint *RB_constraint_new_piston(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
+{
+	btRigidBody *body1 = rb1->body;
+	btRigidBody *body2 = rb2->body;
+	btTransform transform1;
+	btTransform transform2;
+	
+	make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn);
+	
+	btSliderConstraint *con = new btSliderConstraint(*body1, *body2, transform1, transform2, true);
+	con->setUpperAngLimit(-1.0f); // unlock rotation axis
+	
+	return (rbConstraint*)con;
+}
+
+rbConstraint *RB_constraint_new_6dof(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
+{
+	btRigidBody *body1 = rb1->body;
+	btRigidBody *body2 = rb2->body;
+	btTransform transform1;
+	btTransform transform2;
+	
+	make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn);
+	
+	btTypedConstraint *con = new btGeneric6DofConstraint(*body1, *body2, transform1, transform2, true);
+	
+	return (rbConstraint*)con;
+}
+
+rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
+{
+	btRigidBody *body1 = rb1->body;
+	btRigidBody *body2 = rb2->body;
+	btTransform transform1;
+	btTransform transform2;
+	
+	make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn);
+	
+	btTypedConstraint *con = new btGeneric6DofSpringConstraint(*body1, *body2, transform1, transform2, true);
+	
+	return (rbConstraint*)con;
+}
+
+/* Cleanup ----------------------------- */
+
+void RB_constraint_delete(rbConstraint *con)
+{
+	btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con);
+	delete constraint;
+}
+
+/* Settings ------------------------- */
+
+void RB_constraint_set_enabled(rbConstraint *con, int enabled)
+{
+	btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con);
+	
+	constraint->setEnabled(enabled);
+}
+
+void RB_constraint_set_limits_hinge(rbConstraint *con, float lower, float upper)
+{
+	btHingeConstraint *constraint = reinterpret_cast<btHingeConstraint*>(con);
+	
+	// RB_TODO expose these
+	float softness = 0.9f;
+	float bias_factor = 0.3f;
+	float relaxation_factor = 1.0f;
+	
+	constraint->setLimit(lower, upper, softness, bias_factor, relaxation_factor);
+}
+
+void RB_constraint_set_limits_slider(rbConstraint *con, float lower, float upper)
+{
+	btSliderConstraint *constraint = reinterpret_cast<btSliderConstraint*>(con);
+	
+	constraint->setLowerLinLimit(lower);
+	constraint->setUpperLinLimit(upper);
+}
+
+void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper)
+{
+	btSliderConstraint *constraint = reinterpret_cast<btSliderConstraint*>(con);
+	
+	constraint->setLowerLinLimit(lin_lower);
+	constraint->setUpperLinLimit(lin_upper);
+	constraint->setLowerAngLimit(ang_lower);
+	constraint->setUpperAngLimit(ang_upper);
+}
+
+void RB_constraint_set_limits_6dof(rbConstraint *con, float axis, float lower, float upper)
+{
+	btGeneric6DofConstraint *constraint = reinterpret_cast<btGeneric6DofConstraint*>(con);
+	
+	constraint->setLimit(axis, lower, upper);
+}
+
+void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, float axis, float stiffness)
+{
+	btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
+	
+	constraint->setStiffness(axis, stiffness);
+}
+
+void RB_constraint_set_damping_6dof_spring(rbConstraint *con, float axis, float damping)
+{
+	btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
+	
+	constraint->setDamping(axis, damping);
+}
+
+void RB_constraint_set_spring_6dof_spring(rbConstraint *con, float axis, int enable)
+{
+	btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
+	
+	constraint->enableSpring(axis, enable);
+}
+
+void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con)
+{
+	btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
+	
+	constraint->setEquilibriumPoint();
+}
+
+void RB_constraint_set_solver_iterations(rbConstraint *con, int num_solver_iterations)
+{
+	btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con);
+	
+	constraint->setOverrideNumSolverIterations(num_solver_iterations);
+}
+
+void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold)
+{
+	btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con);
+	
+	constraint->setBreakingImpulseThreshold(threshold);
+}
+
+/* ********************************** */
diff --git a/source/blenderplayer/CMakeLists.txt b/source/blenderplayer/CMakeLists.txt
index d606605e8d5..b2a47115630 100644
--- a/source/blenderplayer/CMakeLists.txt
+++ b/source/blenderplayer/CMakeLists.txt
@@ -95,6 +95,7 @@ endif()
 		bf_rna
 		bf_bmesh
 		bf_blenkernel
+		bf_rigidbody
 		bf_blenloader
 		ge_blen_routines
 		bf_editor_datafiles
diff --git a/source/creator/CMakeLists.txt b/source/creator/CMakeLists.txt
index 72f11326af7..7362745f412 100644
--- a/source/creator/CMakeLists.txt
+++ b/source/creator/CMakeLists.txt
@@ -856,6 +856,7 @@ endif()
 		bf_modifiers
 		bf_bmesh
 		bf_blenkernel
+		bf_rigidbody
 		bf_nodes
 		bf_gpu
 		bf_blenloader