contribution from RCRuiz:

drawing of rigidbody constraint pivots, and allow passing of full constraint frame.

18 files changed, 293 insertions, 233 deletions

diff --git a/source/blender/blenkernel/bad_level_call_stubs/stubs.c b/source/blender/blenkernel/bad_level_call_stubs/stubs.c
index d112b60ad27..cf9fc19efbf 100644
--- a/source/blender/blenkernel/bad_level_call_stubs/stubs.c
+++ b/source/blender/blenkernel/bad_level_call_stubs/stubs.c
@@ -296,3 +296,7 @@ void antialias_tagbuf(int xsize, int ysize, char *rectmove) {}
 
 /* imagetexture.c stub */
 void ibuf_sample(struct ImBuf *ibuf, float fx, float fy, float dx, float dy, float *result) {}
+
+void update_for_newframe()
+{
+}
diff --git a/source/blender/makesdna/DNA_constraint_types.h b/source/blender/makesdna/DNA_constraint_types.h
index 3570a0f7375..2eb1139dd07 100644
--- a/source/blender/makesdna/DNA_constraint_types.h
+++ b/source/blender/makesdna/DNA_constraint_types.h
@@ -324,6 +324,8 @@ typedef struct bRigidBodyJointConstraint{
 
 #define LIMIT_NOPARENT 0x01
 
+#define CONSTRAINT_DRAW_PIVOT 0x40
+
 /* important: these defines need to match up with PHY_DynamicTypes headerfile */
 #define CONSTRAINT_RB_BALL		1
 #define CONSTRAINT_RB_HINGE		2
diff --git a/source/blender/src/buttons_object.c b/source/blender/src/buttons_object.c
index 44ae6421a70..a5eb7f02793 100644
--- a/source/blender/src/buttons_object.c
+++ b/source/blender/src/buttons_object.c
@@ -1159,14 +1159,16 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
 				{
 				    //uiDefBut(block, ROUNDBOX, B_DIFF, "", *xco-10, *yco-height, width+40,height-1, NULL, 5.0, 0.0, 12, rb_col, "");
                     uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "toObject:", *xco, *yco-50, 130, 18, &data->tar, "Child Object");
+                    uiDefButBitS(block, TOG, CONSTRAINT_DRAW_PIVOT, B_CONSTRAINT_TEST, "ShowPivot", *xco+135, *yco-50, 130, 18, &data->flag, 0, 24, 0, 0, "Show pivot position and rotation"); 				
                     //if (data->tar)
                     //    uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "Child:", *xco+135, *yco-50, 130, 18, &data->child, "Child2 Object (if this exist then this object will be the pivot Only)");
-                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot X:", *xco, *yco-75, 130, 18, &data->pivX, -10000, 10000, 100.0, 0.0, "Offset Joint");
-                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot Y:", *xco, *yco-100, 130, 18, &data->pivY, -10000, 10000, 100.0, 0.0, "Offset Joint");
-                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot Z:", *xco, *yco-125, 130, 18, &data->pivZ, -10000, 10000, 100.0, 0.0, "Offset Joint");
-                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax X:", *xco+135, *yco-75, 130, 18, &data->axX, -10000, 10000, 100.0, 0.0, "Offset Joint");
-                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax Y:", *xco+135, *yco-100, 130, 18, &data->axY, -10000, 10000, 100.0, 0.0, "Offset Joint");
-                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax Z:", *xco+135, *yco-125, 130, 18, &data->axZ, -10000, 10000, 100.0, 0.0, "Offset Joint");
+                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot X:", *xco, *yco-75, 130, 18, &data->pivX, -1000, 1000, 0.1, 0.0, "Offset pivot on X");
+                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot Y:", *xco, *yco-100, 130, 18, &data->pivY, -1000, 1000, 0.1, 0.0, "Offset pivot on Y");
+                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot Z:", *xco, *yco-125, 130, 18, &data->pivZ, -1000, 1000, 0.1, 0.0, "Offset pivot on z");
+					
+                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "AxEX:", *xco+135, *yco-75, 130, 18, &data->axX, -3.141592, 3.141592, 0.1, 0.0, "Rotate pivot on X Axis");
+                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "AxEY:", *xco+135, *yco-100, 130, 18, &data->axY, -3.141592, 3.141592, 0.1, 0.0, "Rotate pivot on Y Axis");
+                    uiDefButF(block, NUM, B_CONSTRAINT_TEST, "AxEZ:", *xco+135, *yco-125, 130, 18, &data->axZ, -3.141592, 3.141592, 0.1, 0.0, "Rotate pivot on Z Axis");
 					
 					if (data->type==CONSTRAINT_RB_GENERIC6DOF){
 						/* Draw Pairs of LimitToggle+LimitValue */
diff --git a/source/blender/src/drawobject.c b/source/blender/src/drawobject.c
index ec9962ce697..5b7a1b7134e 100644
--- a/source/blender/src/drawobject.c
+++ b/source/blender/src/drawobject.c
@@ -3636,6 +3636,51 @@ static void draw_hooks(Object *ob)
 	}
 }
 
+//<rcruiz>
+void drawRBpivot(bRigidBodyJointConstraint *data){
+	float size=1.0f;
+	int axis;
+	float v1[3]= {data->pivX, data->pivY, data->pivZ};
+	float eu[3]= {data->axX, data->axY, data->axZ};
+	float mat[4][4];
+	EulToMat4(eu,mat);
+	glLineWidth (4.0f);
+	setlinestyle(2);
+	for (axis=0; axis<3; axis++) {
+			float dir[3] = {0,0,0};
+			float v[3]= {data->pivX, data->pivY, data->pivZ};
+			int arrow_axis= (axis==0)?1:0;
+			dir[axis] = 1.f;
+			glBegin(GL_LINES);
+			Mat4MulVecfl(mat,dir);
+			v[0] += dir[0];
+			v[1] += dir[1];
+			v[2] += dir[2];
+			glVertex3fv(v1);
+			glVertex3fv(v);			
+/*			v1[axis]= size*0.8;
+			v1[arrow_axis]= -size*0.125;
+			glVertex3fv(v1);
+			glVertex3fv(v2);
+				
+			v1[arrow_axis]= size*0.125;
+			glVertex3fv(v1);
+			glVertex3fv(v2);
+*/
+			glEnd();
+			glRasterPos3fv(v);
+			if (axis==0)
+				BMF_DrawString(G.font, "px");
+			else if (axis==1)
+				BMF_DrawString(G.font, "py");
+			else
+				BMF_DrawString(G.font, "pz");			
+					
+	}
+	glLineWidth (1.0f);
+	setlinestyle(0);
+}
+
 /* flag can be DRAW_PICKING	and/or DRAW_CONSTCOLOR */
 void draw_object(Base *base, int flag)
 {
@@ -4001,6 +4046,18 @@ void draw_object(Base *base, int flag)
 	}
 	if(ob->pd && ob->pd->forcefield) draw_forcefield(ob);
 
+	{
+		bConstraint *con;
+		for(con=ob->constraints.first; con; con= con->next) 
+		{
+			if(con->type==CONSTRAINT_TYPE_RIGIDBODYJOINT) 
+			{
+				bRigidBodyJointConstraint *data = (bRigidBodyJointConstraint*)con->data;
+				if(data->flag&CONSTRAINT_DRAW_PIVOT)
+					drawRBpivot(data);
+			}
+		}
+	}
 
 	/* draw extra: after normal draw because of makeDispList */
 	if(dtx) {
diff --git a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
index f37928fe2d5..91394c8c212 100644
--- a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
+++ b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
@@ -83,6 +83,15 @@
 #include "DNA_scene_types.h"
 	/***/
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "BSE_headerbuttons.h"
+void update_for_newframe();
+#ifdef __cplusplus
+}
+#endif
+
 static BlendFileData *load_game_data(char *filename) {
 	BlendReadError error;
 	//this doesn't work anymore for relative paths, so use BLO_read_from_memory instead
@@ -310,7 +319,7 @@ extern "C" void StartKetsjiShell(struct ScrArea *area,
 			// create a scene converter, create and convert the startingscene
 			KX_ISceneConverter* sceneconverter = new KX_BlenderSceneConverter(blenderdata,sipo, ketsjiengine);
 			ketsjiengine->SetSceneConverter(sceneconverter);
-			
+			sceneconverter->addInitFromFrame=false;
 			if (always_use_expand_framing)
 				sceneconverter->SetAlwaysUseExpandFraming(true);
 			
@@ -452,14 +461,6 @@ extern "C" void StartKetsjiShell(struct ScrArea *area,
 
 	if (bfd) BLO_blendfiledata_free(bfd);
 }
-#ifdef __cplusplus
-extern "C" {
-#endif
-#include "BSE_headerbuttons.h"
-void update_for_newframe();
-#ifdef __cplusplus
-}
-#endif
 
 extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
 								 char* scenename,
@@ -481,7 +482,6 @@ extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
 
 	do
 	{
-//		View3D *v3d= (View3D*) area->spacedata.first;
 
 		// get some preferences
 		SYS_SystemHandle syshandle = SYS_GetSystem();
@@ -493,19 +493,6 @@ extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
 		bool displaylists = (SYS_GetCommandLineInt(syshandle, "displaylists", 0) != 0);
 		bool usemat = false;
 
-/*		#ifdef GL_ARB_multitexture
-		if(bgl::RAS_EXT_support._ARB_multitexture && bgl::QueryVersion(1, 1)) {
-			usemat = (SYS_GetCommandLineInt(syshandle, "blender_material", 0) != 0);
-			int unitmax=0;
-			glGetIntegerv(GL_MAX_TEXTURE_UNITS_ARB, (GLint*)&unitmax);
-			bgl::max_texture_units = MAXTEX>unitmax?unitmax:MAXTEX;
-			//std::cout << "using(" << bgl::max_texture_units << ") of(" << unitmax << ") texture units." << std::endl;
-		} else {
-			bgl::max_texture_units = 0;
-		}
-		#endif
-
-*/
 		// create the canvas, rasterizer and rendertools
 		RAS_ICanvas* canvas = new KX_BlenderCanvas(area);
 		//canvas->SetMouseState(RAS_ICanvas::MOUSE_INVISIBLE);
@@ -544,83 +531,8 @@ extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
 		// create the ketsjiengine
 		KX_KetsjiEngine* ketsjiengine = new KX_KetsjiEngine(kxsystem);
 
-/*		// set the devices
-		ketsjiengine->SetKeyboardDevice(keyboarddevice);
-		ketsjiengine->SetMouseDevice(mousedevice);
-		ketsjiengine->SetNetworkDevice(networkdevice);
-		ketsjiengine->SetCanvas(canvas);
-		ketsjiengine->SetRenderTools(rendertools);
-		ketsjiengine->SetRasterizer(rasterizer);
-		ketsjiengine->SetNetworkDevice(networkdevice);
-		ketsjiengine->SetAudioDevice(audiodevice);
-		ketsjiengine->SetUseFixedTime(usefixed);
-		ketsjiengine->SetTimingDisplay(frameRate, profile, properties);
-
-*/
-
-		// some blender stuff
-		MT_CmMatrix4x4 projmat;
-		MT_CmMatrix4x4 viewmat;
 		int i;
 
-/*		for (i = 0; i < 16; i++)
-		{
-			float *viewmat_linear= (float*) v3d->viewmat;
-			viewmat.setElem(i, viewmat_linear[i]);
-		}
-		for (i = 0; i < 16; i++)
-		{
-			float *projmat_linear = (float*) area->winmat;
-			projmat.setElem(i, projmat_linear[i]);
-		}
-*/
-/*		float camzoom = (1.41421 + (v3d->camzoom / 50.0));
-		camzoom *= camzoom;
-		camzoom = 4.0 / camzoom;
-*/
-//		ketsjiengine->SetDrawType(v3d->drawtype);
-//		ketsjiengine->SetCameraZoom(camzoom);
-/*
-		// if we got an exitcode 3 (KX_EXIT_REQUEST_START_OTHER_GAME) load a different file
-		if (exitrequested == KX_EXIT_REQUEST_START_OTHER_GAME || exitrequested == KX_EXIT_REQUEST_RESTART_GAME)
-		{
-			exitrequested = KX_EXIT_REQUEST_NO_REQUEST;
-			if (bfd) BLO_blendfiledata_free(bfd);
-
-			char basedpath[160];
-			// base the actuator filename with respect
-			// to the original file working directory
-			if (exitstring != "")
-				strcpy(basedpath, exitstring.Ptr());
-
-			BLI_convertstringcode(basedpath, pathname, 0);
-			bfd = load_game_data(basedpath);
-
-			// if it wasn't loaded, try it forced relative
-			if (!bfd)
-			{
-				// just add "//" in front of it
-				char temppath[162];
-				strcpy(temppath, "//");
-				strcat(temppath, basedpath);
-
-				BLI_convertstringcode(temppath, pathname, 0);
-				bfd = load_game_data(temppath);
-			}
-
-			// if we got a loaded blendfile, proceed
-			if (bfd)
-			{
-				blenderdata = bfd->main;
-				startscenename = bfd->curscene->id.name + 2;
-			}
-			// else forget it, we can't find it
-			else
-			{
-				exitrequested = KX_EXIT_REQUEST_QUIT_GAME;
-			}
-		}
-*/
 		Scene *blscene = NULL;
 		if (!bfd)
 		{
@@ -652,18 +564,11 @@ extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
 
 		if (exitrequested != KX_EXIT_REQUEST_QUIT_GAME)
 		{
-			/*if (v3d->persp != 2)
-			{
-				ketsjiengine->EnableCameraOverride(startscenename);
-				ketsjiengine->SetCameraOverrideUseOrtho((v3d->persp == 0));
-				ketsjiengine->SetCameraOverrideProjectionMatrix(projmat);
-				ketsjiengine->SetCameraOverrideViewMatrix(viewmat);
-			}*/
-
 			// create a scene converter, create and convert the startingscene
 			KX_ISceneConverter* sceneconverter = new KX_BlenderSceneConverter(maggie,sipo, ketsjiengine);
 			ketsjiengine->SetSceneConverter(sceneconverter);
-
+			sceneconverter->addInitFromFrame=true;
+			
 			if (always_use_expand_framing)
 				sceneconverter->SetAlwaysUseExpandFraming(true);
 
@@ -675,7 +580,6 @@ extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
 				networkdevice,
 				audiodevice,
 				startscenename);
-
 			// some python things
 			PyObject* dictionaryobject = initGamePythonScripting("Ketsji", psl_Lowest);
 			ketsjiengine->SetPythonDictionary(dictionaryobject);
@@ -696,9 +600,6 @@ extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
 					canvas);
 				ketsjiengine->AddScene(startscene);
 
-				// init the rasterizer
-				//rasterizer->Init();
-
 				// start the engine
 				ketsjiengine->StartEngine(false);
 
@@ -708,38 +609,22 @@ extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
                     printf("frame %i\n",blscene->r.cfra);
                     // first check if we want to exit
 					exitrequested = ketsjiengine->GetExitCode();
-
+					/*for (int ix=0;i<geobjs->GetCount();ix++){
+						KX_GameObject* gameobj = (KX_GameObject*) geobjs->GetValue(ix);
+						if (!gameobj->IsDynamic()){
+							//gameobj->UpdateNonDynas();//UpdateIPO((float)blscene->r.cfra,true, true, true);
+							struct Object* blenderobject = sceneconverter->FindBlenderObject(gameobj);
+						}
+					}*/
+	
+	
 					// kick the engine
 					ketsjiengine->NextFrame();
 				    blscene->r.cfra=blscene->r.cfra+1;
 				    update_for_newframe();
-					// render the frame
-					//ketsjiengine->Render();
-
-					// test for the ESC key
-					/*while (qtest())
-					{
-						short val;
-						unsigned short event = extern_qread(&val);
-
-						if (keyboarddevice->ConvertBlenderEvent(event,val))
-							exitrequested = KX_EXIT_REQUEST_BLENDER_ESC;
-
-						if (event==MOUSEX) {
-							val = val - scrarea_get_win_x(area);
-						} else if (event==MOUSEY) {
-							val = scrarea_get_win_height(area) - (val - scrarea_get_win_y(area)) - 1;
-						}
-
-						mousedevice->ConvertBlenderEvent(event,val);
-					}*/
+					
 				}
 				exitstring = ketsjiengine->GetExitString();
-				// when exiting the mainloop
-				//dictionaryClearByHand(gameLogic);
-				//ketsjiengine->StopEngine();
-				//exitGamePythonScripting();
-				//networkdevice->Disconnect();
 			}
 			if (sceneconverter)
 			{
@@ -778,21 +663,6 @@ extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
 			delete mousedevice;
 			mousedevice = NULL;
 		}
-		/*if (rasterizer)
-		{
-			delete rasterizer;
-			rasterizer = NULL;
-		}
-		if (rendertools)
-		{
-			delete rendertools;
-			rendertools = NULL;
-		}
-		if (canvas)
-		{
-			delete canvas;
-			canvas = NULL;
-		}*/
 		SND_DeviceManager::Unsubscribe();
 
 	} while (exitrequested == KX_EXIT_REQUEST_RESTART_GAME || exitrequested == KX_EXIT_REQUEST_START_OTHER_GAME);
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index a496c60639f..8f4f692eab4 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -167,6 +167,18 @@
 #include "BL_ArmatureObject.h"
 #include "BL_DeformableGameObject.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "BSE_headerbuttons.h"
+void update_for_newframe();
+//void scene_update_for_newframe(struct Scene *sce, unsigned int lay);
+//#include "BKE_ipo.h"
+//void do_all_data_ipos(void);
+#ifdef __cplusplus
+}
+#endif
+
 static int default_face_mode = TF_DYNAMIC;
 
 static unsigned int KX_rgbaint2uint_new(unsigned int icol)
@@ -1618,7 +1630,7 @@ KX_GameObject* getGameOb(STR_String busc,CListValue* sumolist){
 	return 0;
 
 }
-
+#include "BLI_arithb.h"
 // convert blender objects into ketsji gameobjects
 void BL_ConvertBlenderObjects(struct Main* maggie,
 							  const STR_String& scenename,
@@ -1642,6 +1654,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 	RAS_FrameSettings::RAS_FrameType frame_type;
 	int aspect_width;
 	int aspect_height;
+	vector<MT_Vector3> inivel,iniang;
 	
 	if (alwaysUseExpandFraming) {
 		frame_type = RAS_FrameSettings::e_frame_extend;
@@ -1720,6 +1733,10 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 											
 		if (gameobj)
 		{
+			MT_Point3 posPrev;			
+			MT_Matrix3x3 angor;			
+			if (converter->addInitFromFrame) blenderscene->r.cfra=blenderscene->r.sfra;
+			
 			MT_Point3 pos = MT_Point3(
 				blenderobject->loc[0]+blenderobject->dloc[0],
 				blenderobject->loc[1]+blenderobject->dloc[1],
@@ -1735,7 +1752,26 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 				blenderobject->size[1],
 				blenderobject->size[2]
 			);
-			
+			if (converter->addInitFromFrame){//rcruiz
+				float eulxyzPrev[3];
+				blenderscene->r.cfra=blenderscene->r.sfra-1;
+				update_for_newframe();
+				MT_Vector3 tmp=pos-MT_Point3(blenderobject->loc[0]+blenderobject->dloc[0],
+											blenderobject->loc[1]+blenderobject->dloc[1],
+											blenderobject->loc[2]+blenderobject->dloc[2]
+									);
+				eulxyzPrev[0]=blenderobject->rot[0];
+				eulxyzPrev[1]=blenderobject->rot[1];
+				eulxyzPrev[2]=blenderobject->rot[2];
+				tmp.scale((float)blenderscene->r.frs_sec,(float)blenderscene->r.frs_sec,(float)blenderscene->r.frs_sec);
+				inivel.push_back(tmp);
+				tmp=eulxyz-eulxyzPrev;
+				tmp.scale((float)blenderscene->r.frs_sec,(float)blenderscene->r.frs_sec,(float)blenderscene->r.frs_sec);
+				iniang.push_back(tmp);
+				blenderscene->r.cfra=blenderscene->r.sfra;
+				update_for_newframe();
+			}		
+						
 			gameobj->NodeSetLocalPosition(pos);
 			gameobj->NodeSetLocalOrientation(MT_Matrix3x3(eulxyz));
 			gameobj->NodeSetLocalScale(scale);
@@ -1759,7 +1795,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 			templist->Add(gameobj->AddRef());
 			
 			// update children/parent hierarchy
-			if (blenderobject->parent != 0)
+			if ((blenderobject->parent != 0)&&(!converter->addInitFromFrame))
 			{
 				// blender has an additional 'parentinverse' offset in each object
 				SG_Node* parentinversenode = new SG_Node(NULL,NULL,SG_Callbacks());
@@ -1790,12 +1826,15 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 				logicmgr->RegisterGameMeshName(gameobj->GetMesh(i)->GetName(), blenderobject);
 	
 			converter->RegisterGameObject(gameobj, blenderobject);	
-			
 			// this was put in rapidly, needs to be looked at more closely
 			// only draw/use objects in active 'blender' layers
 	
 			logicbrick_conversionlist->Add(gameobj->AddRef());
 			
+			if (converter->addInitFromFrame){
+				posPrev=gameobj->NodeGetWorldPosition();
+				angor=gameobj->NodeGetWorldOrientation();
+			}
 			if (isInActiveLayer)
 			{
 				objectlist->Add(gameobj->AddRef());
@@ -1805,7 +1844,11 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 				gameobj->Bucketize();
 				
 			}
-			
+			if (converter->addInitFromFrame){
+				gameobj->NodeSetLocalPosition(posPrev);
+				gameobj->NodeSetLocalOrientation(angor);
+			}
+						
 		}
 			
 		base = base->next;
@@ -1928,6 +1971,20 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 		}
 		BL_CreatePhysicsObjectNew(gameobj,blenderobject,meshobj,kxscene,activeLayerBitInfo,physics_engine,converter,processCompoundChildren);
 	}
+	
+	
+	//set ini linearVel and int angularVel //rcruiz
+	if (converter->addInitFromFrame)
+		for (i=0;i<sumolist->GetCount();i++)
+		{
+			KX_GameObject* gameobj = (KX_GameObject*) sumolist->GetValue(i);
+			if (gameobj->IsDynamic()){
+				gameobj->setLinearVelocity(inivel[i],false);
+				gameobj->setAngularVelocity(iniang[i],false);
+			}
+		
+		
+		}	
 
 		// create physics joints
 	for (i=0;i<sumolist->GetCount();i++)
@@ -1956,8 +2013,19 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 							if (gameobj->GetPhysicsController())
 							{
 								PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) gameobj->GetPhysicsController()->GetUserData();
+								//we need to pass a full constraint frame, not just axis
 	                            
-								int constraintId = kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,(float)dat->pivY,(float)dat->pivZ,(float)dat->axX,(float)dat->axY,(float)dat->axZ);
+								//localConstraintFrameBasis
+								MT_Matrix3x3 localCFrame(MT_Vector3(dat->axX,dat->axY,dat->axZ));
+								MT_Vector3 axis0 = localCFrame.getColumn(0);
+								MT_Vector3 axis1 = localCFrame.getColumn(1);
+								MT_Vector3 axis2 = localCFrame.getColumn(2);
+								
+								int constraintId = kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,(float)dat->pivY,(float)dat->pivZ,
+								(float)axis0.x(),(float)axis0.y(),(float)axis0.z(),
+								(float)axis1.x(),(float)axis1.y(),(float)axis1.z(),
+								(float)axis2.x(),(float)axis2.y(),(float)axis2.z()
+											);
 								//if it is a generic 6DOF constraint, set all the limits accordingly
 								if (dat->type == PHY_GENERIC_6DOF_CONSTRAINT)
 								{
@@ -1984,40 +2052,9 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 
 	}
 
-    //Intento de actualizar posicion
-	/*for (i=0;i<sumolist->GetCount();i++)
-	{
-		KX_GameObject* gameobj = (KX_GameObject*) sumolist->GetValue(i);
-		struct Object* blenderobject = converter->FindBlenderObject(gameobj);
-
-		MT_Point3 pos = MT_Point3(
-				blenderobject->loc[0]+blenderobject->dloc[0],
-				blenderobject->loc[1]+blenderobject->dloc[1],
-				blenderobject->loc[2]+blenderobject->dloc[2]
-			);
-		MT_Vector3 eulxyz = MT_Vector3(
-				blenderobject->rot[0],
-				blenderobject->rot[1],
-				blenderobject->rot[2]
-			);
-		MT_Vector3 scale = MT_Vector3(
-				blenderobject->size[0],
-				blenderobject->size[1],
-				blenderobject->size[2]
-			);
-
-		gameobj->NodeSetLocalPosition(pos);
-		gameobj->NodeSetLocalOrientation(MT_Matrix3x3(eulxyz));
-		gameobj->NodeSetLocalScale(scale);
-		gameobj->NodeUpdateGS(0,true);
-	}*/
-    //rcruiz>
-
-	
 	templist->Release();
 	sumolist->Release();	
 
-
 	int executePriority=0; /* incremented by converter routines */
 	
 	// convert global sound stuff
diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
index 10f3ea39616..75c0e54eb68 100644
--- a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
+++ b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
@@ -77,6 +77,8 @@
 #include "DNA_world_types.h"
 #include "BKE_main.h"
 
+#include "BLI_arithb.h"
+
 extern "C"
 {
 #include "DNA_object_types.h"
@@ -560,7 +562,8 @@ IpoCurve* findIpoCurve(IpoCurve* first,char* searchName)
 	return 0;
 }
 
-Ipo* KX_BlenderSceneConverter::findIpoForName(char* objName)
+// this is not longer necesary //rcruiz
+/*Ipo* KX_BlenderSceneConverter::findIpoForName(char* objName)
 {
 	Ipo* ipo_iter = (Ipo*)m_maggie->ipo.first;
 
@@ -574,7 +577,7 @@ Ipo* KX_BlenderSceneConverter::findIpoForName(char* objName)
 	}
 	return 0;
 }
-
+*/
 
 void	KX_BlenderSceneConverter::ResetPhysicsObjectsAnimationIpo(bool clearIpo)
 {
@@ -600,29 +603,35 @@ void	KX_BlenderSceneConverter::ResetPhysicsObjectsAnimationIpo(bool clearIpo)
 				if (blenderObject)
 				{
 					//erase existing ipo's
-					Ipo* ipo = findIpoForName(blenderObject->id.name+2);
+					Ipo* ipo = blenderObject->ipo;//findIpoForName(blenderObject->id.name+2);
 					if (ipo)
-					{
-						//clear the curve data
-						if (clearIpo){
-						IpoCurve *icu1;
-						int numCurves = 0;
-						for( icu1 = (IpoCurve*)ipo->curve.first; icu1;  ) {
+					{ 	//clear the curve data
+						if (clearIpo){//rcruiz
+							IpoCurve *icu1;
+														
+							int numCurves = 0;
+							for( icu1 = (IpoCurve*)ipo->curve.first; icu1;  ) {
 							
-							IpoCurve* tmpicu = icu1;
-							icu1 = icu1->next;
-							numCurves++;
+								IpoCurve* tmpicu = icu1;
+								
+								/*int i;
+								BezTriple *bezt;
+								for( bezt = tmpicu->bezt, i = 0;	i < tmpicu->totvert; i++, bezt++){
+									printf("(%f,%f,%f),(%f,%f,%f),(%f,%f,%f)\n",bezt->vec[0][0],bezt->vec[0][1],bezt->vec[0][2],bezt->vec[1][0],bezt->vec[1][1],bezt->vec[1][2],bezt->vec[2][0],bezt->vec[2][1],bezt->vec[2][2]);
+								}*/
+								
+								icu1 = icu1->next;
+								numCurves++;
 			
-							BLI_remlink( &( blenderObject->ipo->curve ), tmpicu );
-							if( tmpicu->bezt )
-								MEM_freeN( tmpicu->bezt );
-							MEM_freeN( tmpicu );
-							localDel_ipoCurve( tmpicu ,m_sipo);
-						}
-					  }
+								BLI_remlink( &( blenderObject->ipo->curve ), tmpicu );
+								if( tmpicu->bezt )
+									MEM_freeN( tmpicu->bezt );
+								MEM_freeN( tmpicu );
+								localDel_ipoCurve( tmpicu ,m_sipo);
+							}
+					  	}
 					} else
-					{
-						ipo = add_ipo(blenderObject->id.name+2, ID_OB);
+					{	ipo = add_ipo(blenderObject->id.name+2, ID_OB);
 						blenderObject->ipo = ipo;
 
 					}
@@ -643,6 +652,48 @@ void	KX_BlenderSceneConverter::ResetPhysicsObjectsAnimationIpo(bool clearIpo)
 
 }
 
+void	KX_BlenderSceneConverter::resetNoneDynamicObjectToIpo(){
+	
+	if (addInitFromFrame){		
+		KX_SceneList* scenes = m_ketsjiEngine->CurrentScenes();
+		int numScenes = scenes->size();
+		if (numScenes>=0){
+			KX_Scene* scene = scenes->at(0);
+			CListValue* parentList = scene->GetRootParentList();
+			for (int ix=0;ix<parentList->GetCount();ix++){
+				KX_GameObject* gameobj = (KX_GameObject*)parentList->GetValue(ix);
+				if (!gameobj->IsDynamic()){
+					Object* blenderobject = FindBlenderObject(gameobj);
+					if (!blenderobject)
+						continue;
+					if (blenderobject->type==OB_ARMATURE)
+						continue;
+					float eu[3];
+					Mat4ToEul(blenderobject->obmat,eu);					
+					MT_Point3 pos = MT_Point3(
+						blenderobject->obmat[3][0],
+						blenderobject->obmat[3][1],
+						blenderobject->obmat[3][2]
+					);
+					MT_Vector3 eulxyz = MT_Vector3(
+						eu[0],
+						eu[1],
+						eu[2]
+					);
+					MT_Vector3 scale = MT_Vector3(
+						blenderobject->size[0],
+						blenderobject->size[1],
+						blenderobject->size[2]
+					);
+					gameobj->NodeSetLocalPosition(pos);
+					gameobj->NodeSetLocalOrientation(MT_Matrix3x3(eulxyz));
+					gameobj->NodeSetLocalScale(scale);
+					gameobj->NodeUpdateGS(0,true);
+				}
+			}
+		}
+	}
+}
 
 #define TEST_HANDLES_GAME2IPO 0
 
@@ -797,9 +848,8 @@ void	KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber)
 		}
 		
 	
-	}
-
-
+	}	
+	
 
 }
 
diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.h b/source/gameengine/Converter/KX_BlenderSceneConverter.h
index c4447c53930..a897922d51b 100644
--- a/source/gameengine/Converter/KX_BlenderSceneConverter.h
+++ b/source/gameengine/Converter/KX_BlenderSceneConverter.h
@@ -76,7 +76,7 @@ class KX_BlenderSceneConverter : public KX_ISceneConverter
 	bool					m_usemat;
 
 	void localDel_ipoCurve ( IpoCurve * icu ,struct SpaceIpo*	sipo);
-	struct Ipo* findIpoForName(char* objName);
+//	struct Ipo* findIpoForName(char* objName);
 
 public:
 	KX_BlenderSceneConverter(
@@ -132,6 +132,9 @@ public:
 
 	virtual void	ResetPhysicsObjectsAnimationIpo(bool clearIpo);
 
+	///this is for reseting the position,rotation and scale of the gameobjet that is not dynamic
+	virtual	void	resetNoneDynamicObjectToIpo();
+	
 	///this generates ipo curves for position, rotation, allowing to use game physics in animation
 	virtual void	WritePhysicsObjectToAnimationIpo(int frameNumber);
 	virtual void	TestHandlesPhysicsObjectToAnimationIpo();
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index 6785cb957bc..aa5d1f1cec1 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -86,7 +86,8 @@ void	KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
 MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
 {
 	float angVel[3];
-	CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
+	//CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
+	CcdPhysicsController::GetLinearVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
 	return MT_Vector3(angVel[0],angVel[1],angVel[2]);
 }
 MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
diff --git a/source/gameengine/Ketsji/KX_ISceneConverter.h b/source/gameengine/Ketsji/KX_ISceneConverter.h
index 8693eb34d6b..2727ce7746e 100644
--- a/source/gameengine/Ketsji/KX_ISceneConverter.h
+++ b/source/gameengine/Ketsji/KX_ISceneConverter.h
@@ -59,14 +59,18 @@ public:
 
 	virtual void	SetNewFileName(const STR_String& filename) = 0;
 	virtual bool	TryAndLoadNewFile() = 0;
-
+	bool	addInitFromFrame;//rcruiz
 
 	virtual void	ResetPhysicsObjectsAnimationIpo(bool clearIpo) = 0;
 
+	
 	///this generates ipo curves for position, rotation, allowing to use game physics in animation
 	virtual void	WritePhysicsObjectToAnimationIpo(int frameNumber) = 0;
 	virtual void	TestHandlesPhysicsObjectToAnimationIpo() = 0;
 
+	///this is for reseting the position,rotation and scale of the gameobjet that is not dynamic
+	virtual void	resetNoneDynamicObjectToIpo()=0;
+
 	// use blender materials
 	virtual void SetMaterials(bool val) =0;
 	virtual bool GetMaterials()=0;
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
index 2e0c5d713dc..e76e28bcb7b 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
@@ -394,6 +394,9 @@ else
 			* the settings for that preceed the logic and physics
 			* update. */
 			m_logger->StartLog(tc_logic, m_kxsystem->GetTimeInSeconds(), true);
+
+			m_sceneconverter->resetNoneDynamicObjectToIpo();//this is for none dynamic objects with ipo
+
 			scene->UpdateObjectActivity();
 	
 			if (!scene->IsSuspended())
@@ -456,7 +459,7 @@ else
 			
 			
 				if (m_game2ipo)
-				{
+				{					
 					m_sceneconverter->WritePhysicsObjectToAnimationIpo(++m_currentFrame);
 				}
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index edd4c2e2bb4..57fe533825e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -1002,7 +1002,10 @@ PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radi
 
 int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
 													float pivotX,float pivotY,float pivotZ,
-													float axisX,float axisY,float axisZ)
+													float axisX,float axisY,float axisZ,
+													float axis1X,float axis1Y,float axis1Z,
+													float axis2X,float axis2Y,float axis2Z
+													)
 {
 
 
@@ -1066,9 +1069,12 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 				btTransform frameInA;
 				btTransform frameInB;
 				
-				btVector3 axis1, axis2;
-				btPlaneSpace1( axisInA, axis1, axis2 );
-
+				btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
+				if (axis1.length() == 0.0)
+				{
+					btPlaneSpace1( axisInA, axis1, axis2 );
+				}
+				
 				frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
 					                          axisInA.y(), axis1.y(), axis2.y(),
 											  axisInA.z(), axis1.z(), axis2.z() );
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 9a8fc3f435d..66a6ed59c17 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -117,7 +117,10 @@ protected:
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
 			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ);
+			float axisX,float axisY,float axisZ,
+			float axis1X=0,float axis1Y=0,float axis1Z=0,
+			float axis2X=0,float axis2Y=0,float axis2Z=0
+			);
 
 
 		//Following the COLLADA physics specification for constraints
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
index 0532a9a8cf7..b40d1b430bb 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
@@ -93,7 +93,11 @@ void DummyPhysicsEnvironment::setGravity(float x,float y,float z)
 
 
 int			DummyPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
-		float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ)
+		float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ,
+			float axis1X,float axis1Y,float axis1Z,
+			float axis2X,float axis2Y,float axis2Z
+
+		)
 {
 	
 	int constraintid = 0;
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index bd4e00e9fa5..4fc970da699 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -59,7 +59,10 @@ public:
 
 	virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
 			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ);
+			float axisX,float axisY,float axisZ,
+			float axis1X=0,float axis1Y=0,float axis1Z=0,
+			float axis2X=0,float axis2Y=0,float axis2Z=0
+			);
 
 	virtual void		removeConstraint(int	constraintid);
 
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
index ead6dcc0106..6cdf1d41dc1 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
@@ -111,7 +111,11 @@ int SumoPhysicsEnvironment::createConstraint(
 	class PHY_IPhysicsController* ctrl2,
 	PHY_ConstraintType type,
 	float pivotX,float pivotY,float pivotZ,
-	float axisX,float axisY,float axisZ)
+	float axisX,float axisY,float axisZ,
+	float axis1X,float axis1Y,float axis1Z,
+	float axis2X,float axis2Y,float axis2Z
+
+	)
 {
 	int constraintid = 0;
 	return constraintid;
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
index 1afb9433500..4d17d0c21fd 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
@@ -64,7 +64,11 @@ public:
 	virtual	void		setGravity(float x,float y,float z);
 	virtual int		createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
 			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ);
+			float axisX,float axisY,float axisZ,
+			float axis1X=0,float axis1Y=0,float axis1Z=0,
+			float axis2X=0,float axis2Y=0,float axis2Z=0
+
+			);
 
 	virtual void		removeConstraint(int	constraintid);
 
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 2716baa0d6d..5e4fd681914 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -86,7 +86,10 @@ class PHY_IPhysicsEnvironment
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
 			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ)=0;
+			float axis0X,float axis0Y,float axis0Z,
+			float axis1X=0,float axis1Y=0,float axis1Z=0,
+			float axis2X=0,float axis2Y=0,float axis2Z=0
+		)=0;
 		virtual void		removeConstraint(int	constraintid)=0;
 		virtual float		getAppliedImpulse(int	constraintid){ return 0.f;}