BGE Physics

Add support back for reinstancePhysics mesh, a frequently requested feature in the BGE forums.
from what I can tell Sumo supported this but bullet never did.
Currently only accessible via python at the moment.

- rigid body, dynamic, static types work.
- instanced physics meshes are modified too.
- compound shapes are not supported.

Physics mesh can be re-instanced from...
* shape keys & armature deformations
* subsurf (any other modifiers too)
* RAS_TexVert's (can be modified from python)

Moved the reinstancePhysicsMesh functions from RAS_MeshObject into KX_GameObject since the physics data is stored here.

video and blend file demo.
http://www.graphicall.org/ftp/ideasman42/reinstance.ogv
http://www.graphicall.org/ftp/ideasman42/reinstance_demo.blend

14 files changed, 503 insertions, 47 deletions

diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 385301b1105..caa76263b25 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -1040,7 +1040,10 @@ RAS_MeshObject* BL_ConvertMesh(Mesh* mesh, Object* blenderobj, RAS_IRenderTools*
 			layer.face++;
 		}
 	}
-	meshobj->m_sharedvertex_map.clear();
+	// keep meshobj->m_sharedvertex_map for reinstance phys mesh.
+	// 2.49a and before it did: meshobj->m_sharedvertex_map.clear();
+	// but this didnt save much ram. - Campbell
+	meshobj->EndConversion();
 
 	// pre calculate texture generation
 	for(list<RAS_MeshMaterial>::iterator mit = meshobj->GetFirstMaterial();
diff --git a/source/gameengine/Converter/BL_MeshDeformer.h b/source/gameengine/Converter/BL_MeshDeformer.h
index 99ae5f9dea0..289826e45e7 100644
--- a/source/gameengine/Converter/BL_MeshDeformer.h
+++ b/source/gameengine/Converter/BL_MeshDeformer.h
@@ -68,6 +68,8 @@ public:
 	virtual	RAS_Deformer*	GetReplica(){return NULL;};
 	virtual void ProcessReplica();
 	struct Mesh* GetMesh() { return m_bmesh; };
+	virtual class RAS_MeshObject* GetRasMesh() { return (RAS_MeshObject*)m_pMeshObject; };
+	virtual float (* GetTransVerts(int *tot))[3]	{	*tot= m_tvtot; return m_transverts; }
 	//	virtual void InitDeform(double time){};
 
 protected:
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
index 74042366bae..cf50e0ccd06 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
@@ -194,7 +194,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	struct	KX_ObjectProperties*	objprop);
 	
 void	KX_ClearBulletSharedShapes();
-//bool KX_ReInstanceShapeFromMesh(RAS_MeshObject* meshobj);
+bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj);
 
 #endif
 #endif //KX_CONVERTPHYSICSOBJECTS
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 51c41c0686d..cc8a00e8454 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -1220,5 +1220,44 @@ void	KX_ClearBulletSharedShapes()
 {
 }
 
-#endif
+/* Refresh the physics object from either an object or a mesh.
+ * gameobj must be valid
+ * from_gameobj and from_meshobj can be NULL
+ * 
+ * when setting the mesh, the following vars get priority
+ * 1) from_meshobj - creates the phys mesh from RAS_MeshObject
+ * 2) from_gameobj - creates the phys mesh from the DerivedMesh where possible, else the RAS_MeshObject
+ * 3) gameobj - update the phys mesh from DerivedMesh or RAS_MeshObject
+ * 
+ * Most of the logic behind this is in shapeInfo->UpdateMesh(...)
+ */
+bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj)
+{
+	KX_BulletPhysicsController	*spc= static_cast<KX_BulletPhysicsController*>((gameobj->GetPhysicsController()));
+	CcdShapeConstructionInfo	*shapeInfo;
+
+	/* if this is the child of a compound shape this can happen
+	 * dont support compound shapes for now */
+	if(spc==NULL)
+		return false;
+	
+	shapeInfo = spc->GetShapeInfo();
+	
+	if(shapeInfo->m_shapeType != PHY_SHAPE_MESH || spc->GetSoftBody())
+		return false;
+	
+	spc->DeleteControllerShape();
+	
+	if(from_gameobj==NULL && from_meshobj==NULL)
+		from_gameobj= gameobj;
+	
+	/* updates the arrays used for making the new bullet mesh */
+	shapeInfo->UpdateMesh(from_gameobj, from_meshobj);
 
+	/* create the new bullet mesh */
+	btCollisionShape* bm= shapeInfo->CreateBulletShape(spc->getConstructionInfo().m_margin);
+
+	spc->ReplaceControllerShape(bm);
+	return true;
+}
+#endif
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index b266095c715..36a9efe5b91 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -66,6 +66,7 @@ typedef unsigned long uint_ptr;
 #include "KX_PythonInit.h"
 #include "KX_PyMath.h"
 #include "KX_PythonSeq.h"
+#include "KX_ConvertPhysicsObject.h"
 #include "SCA_IActuator.h"
 #include "SCA_ISensor.h"
 #include "SCA_IController.h"
@@ -1183,6 +1184,7 @@ PyMethodDef KX_GameObject::Methods[] = {
 	{"getPropertyNames", (PyCFunction)KX_GameObject::sPyGetPropertyNames,METH_NOARGS},
 	{"replaceMesh",(PyCFunction) KX_GameObject::sPyReplaceMesh, METH_O},
 	{"endObject",(PyCFunction) KX_GameObject::sPyEndObject, METH_NOARGS},
+	{"reinstancePhysicsMesh", (PyCFunction)KX_GameObject::sPyReinstancePhysicsMesh,METH_VARARGS},
 	
 	KX_PYMETHODTABLE(KX_GameObject, rayCastTo),
 	KX_PYMETHODTABLE(KX_GameObject, rayCast),
@@ -1280,6 +1282,28 @@ PyObject* KX_GameObject::PyEndObject()
 
 }
 
+PyObject* KX_GameObject::PyReinstancePhysicsMesh(PyObject* args)
+{
+	KX_GameObject *gameobj= NULL;
+	RAS_MeshObject *mesh= NULL;
+	
+	PyObject *gameobj_py= NULL;
+	PyObject *mesh_py= NULL;
+
+	if (	!PyArg_ParseTuple(args,"|OO:reinstancePhysicsMesh",&gameobj_py, &mesh_py) ||
+			(gameobj_py && !ConvertPythonToGameObject(gameobj_py, &gameobj, true, "gameOb.reinstancePhysicsMesh(obj, mesh): KX_GameObject")) || 
+			(mesh_py && !ConvertPythonToMesh(mesh_py, &mesh, true, "gameOb.reinstancePhysicsMesh(obj, mesh): KX_GameObject"))
+		) {
+		return NULL;
+	}
+	
+	/* gameobj and mesh can be NULL */
+	if(KX_ReInstanceBulletShapeFromMesh(this, gameobj, mesh))
+		Py_RETURN_TRUE;
+
+	Py_RETURN_FALSE;
+}
+
 
 PyObject* KX_GameObject::PyGetPosition()
 {
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index ff5c8a01e6e..d2450d342c1 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -872,6 +872,7 @@ public:
 	KX_PYMETHOD_DOC_O(KX_GameObject,getDistanceTo);
 	KX_PYMETHOD_DOC_O(KX_GameObject,getVectTo);
 	KX_PYMETHOD_DOC_VARARGS(KX_GameObject, sendMessage);
+	KX_PYMETHOD_VARARGS(KX_GameObject, ReinstancePhysicsMesh);
 	
 	/* Dict access */
 	KX_PYMETHOD_VARARGS(KX_GameObject,get);
diff --git a/source/gameengine/Ketsji/KX_MeshProxy.cpp b/source/gameengine/Ketsji/KX_MeshProxy.cpp
index ee5813ad854..c6989a81c6d 100644
--- a/source/gameengine/Ketsji/KX_MeshProxy.cpp
+++ b/source/gameengine/Ketsji/KX_MeshProxy.cpp
@@ -87,7 +87,6 @@ PyMethodDef KX_MeshProxy::Methods[] = {
 {"getVertexArrayLength", (PyCFunction)KX_MeshProxy::sPyGetVertexArrayLength,METH_VARARGS},
 {"getVertex", (PyCFunction)KX_MeshProxy::sPyGetVertex,METH_VARARGS},
 {"getPolygon", (PyCFunction)KX_MeshProxy::sPyGetPolygon,METH_VARARGS},
-KX_PYMETHODTABLE(KX_MeshProxy, reinstancePhysicsMesh),
 //{"getIndexArrayLength", (PyCFunction)KX_MeshProxy::sPyGetIndexArrayLength,METH_VARARGS},
 
   {NULL,NULL} //Sentinel
@@ -262,17 +261,6 @@ PyObject* KX_MeshProxy::PyGetPolygon(PyObject* args, PyObject* kwds)
 	return polyob;
 }
 
-KX_PYMETHODDEF_DOC(KX_MeshProxy, reinstancePhysicsMesh,
-"Reinstance the physics mesh.")
-{
-#if 0
-	//this needs to be reviewed, it is dependend on Sumo/Solid. Who is using this ?
-	if(KX_ReInstanceShapeFromMesh(m_meshobj))
-		Py_RETURN_TRUE;
-#endif
-	Py_RETURN_FALSE;
-}
-
 PyObject* KX_MeshProxy::pyattr_get_materials(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
 {
 	KX_MeshProxy* self= static_cast<KX_MeshProxy*>(self_v);
diff --git a/source/gameengine/Ketsji/KX_MeshProxy.h b/source/gameengine/Ketsji/KX_MeshProxy.h
index bfdd4be4118..cbdce3c2745 100644
--- a/source/gameengine/Ketsji/KX_MeshProxy.h
+++ b/source/gameengine/Ketsji/KX_MeshProxy.h
@@ -69,7 +69,6 @@ public:
 	KX_PYMETHOD(KX_MeshProxy,GetVertexArrayLength);
 	KX_PYMETHOD(KX_MeshProxy,GetVertex);
 	KX_PYMETHOD(KX_MeshProxy,GetPolygon);
-	KX_PYMETHOD_DOC(KX_MeshProxy, reinstancePhysicsMesh);
 	
 	static PyObject*	pyattr_get_materials(void* self_v, const KX_PYATTRIBUTE_DEF *attrdef);
 	static PyObject * pyattr_get_numMaterials(void * self, const KX_PYATTRIBUTE_DEF * attrdef);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 3c41a856660..20e830c9dc3 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -22,6 +22,8 @@ subject to the following restrictions:
 #include "PHY_IMotionState.h"
 #include "CcdPhysicsEnvironment.h"
 #include "RAS_MeshObject.h"
+#include "KX_GameObject.h"
+
 #include "BulletSoftBody/btSoftBody.h"
 #include "BulletSoftBody//btSoftBodyInternals.h"
 #include "BulletSoftBody/btSoftBodyHelpers.h"
@@ -529,7 +531,7 @@ void CcdPhysicsController::CreateRigidbody()
 		
 }
 
-static void DeleteBulletShape(btCollisionShape* shape)
+static void DeleteBulletShape(btCollisionShape* shape, bool free)
 {
 	if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
 	{
@@ -539,21 +541,13 @@ static void DeleteBulletShape(btCollisionShape* shape)
 		if (meshInterface)
 			delete meshInterface;
 	}
-	delete shape;
+	if(free) {
+		delete shape;
+	}
 }
 
-CcdPhysicsController::~CcdPhysicsController()
+bool CcdPhysicsController::DeleteControllerShape( )
 {
-	//will be reference counted, due to sharing
-	if (m_cci.m_physicsEnv)
-		m_cci.m_physicsEnv->removeCcdPhysicsController(this);
-
-	if (m_MotionState)
-		delete m_MotionState;
-	if (m_bulletMotionState)
-		delete m_bulletMotionState;
-	delete m_object;
-
 	if (m_collisionShape)
 	{
 		// collision shape is always unique to the controller, can delete it here
@@ -565,11 +559,64 @@ CcdPhysicsController::~CcdPhysicsController()
 			for (int i=numChild-1 ; i >= 0; i--)
 			{
 				btCollisionShape* childShape = compoundShape->getChildShape(i);
-				DeleteBulletShape(childShape);
+				DeleteBulletShape(childShape, true);
 			}
 		}
-		DeleteBulletShape(m_collisionShape);
+		DeleteBulletShape(m_collisionShape, true);
+
+		return true;
 	}
+
+	return false;
+}
+
+bool CcdPhysicsController::ReplaceControllerShape(btCollisionShape *newShape)
+{
+	
+	/* Note, deleting the previous collision shape must be done alredy */
+	/* if (m_collisionShape) DeleteControllerShape(); */
+
+	m_object->setCollisionShape(newShape);
+	m_collisionShape= newShape;
+	m_cci.m_collisionShape= newShape;
+	
+	
+	/* Copied from CcdPhysicsEnvironment::addCcdPhysicsController() */
+	
+	/* without this, an object can rest on the old physics mesh
+	 * and not move to account for the physics mesh, even with 'nosleep' */ 
+	btSoftRigidDynamicsWorld* dw= GetPhysicsEnvironment()->getDynamicsWorld();
+	btCollisionObjectArray &obarr= dw->getCollisionObjectArray();
+	btCollisionObject *ob;
+	btBroadphaseProxy* proxy;
+
+	for(int i= 0; i < obarr.size(); i++) {
+		ob= obarr[i];
+		if (ob->getCollisionShape() == newShape); {
+			proxy = obarr[i]->getBroadphaseHandle();
+			
+			if(proxy)
+				dw->getPairCache()->cleanProxyFromPairs(proxy,dw->getDispatcher());
+		}
+	}
+	
+	return true;
+}
+
+CcdPhysicsController::~CcdPhysicsController()
+{
+	//will be reference counted, due to sharing
+	if (m_cci.m_physicsEnv)
+		m_cci.m_physicsEnv->removeCcdPhysicsController(this);
+
+	if (m_MotionState)
+		delete m_MotionState;
+	if (m_bulletMotionState)
+		delete m_bulletMotionState;
+	delete m_object;
+
+	DeleteControllerShape();
+
 	if (m_shapeInfo)
 	{
 		m_shapeInfo->Release();
@@ -1264,7 +1311,7 @@ PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
 	if (m_shapeInfo)
 	{
 		// This situation does not normally happen
-		cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(0.01);
+		cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin);
 	} 
 	else if (m_collisionShape)
 	{
@@ -1621,6 +1668,311 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm,
 	return true;
 }
 
+#include <cstdio>
+
+/* Updates the arrays used by CreateBulletShape(),
+ * take care that recalcLocalAabb() runs after CreateBulletShape is called.
+ * */
+bool CcdShapeConstructionInfo::UpdateMesh(class KX_GameObject* gameobj, class RAS_MeshObject* meshobj)
+{
+	int numpolys;
+	int numverts;
+
+	unsigned int tot_bt_tris= 0;
+	unsigned int tot_bt_verts= 0;
+
+	int i, j;
+	int v_orig;
+
+	/* Use for looping over verts in a face as a try or 2 tris */
+	const int quad_verts[7]=	{0,1,2,		 0,2,3,		-1};
+	const int tri_verts[4]=	{0,1,2,		-1};
+	const int *fv_pt;
+
+	if(gameobj==NULL && meshobj==NULL)
+		return false;
+	
+	if(m_shapeType != PHY_SHAPE_MESH)
+		return false;
+
+	RAS_Deformer *deformer= gameobj ? gameobj->GetDeformer():NULL;
+	
+	/* get the mesh from the object if not defined */
+	if(meshobj==NULL) {
+		
+		/* modifier mesh */
+		if(deformer && deformer->GetFinalMesh())
+			meshobj= deformer->GetRasMesh();
+		
+		/* game object first mesh */
+		if(meshobj==NULL) {
+			if(gameobj->GetMeshCount() > 0) {
+				meshobj= gameobj->GetMesh(0);
+			}
+		}
+	}
+	
+	if(deformer && deformer->GetFinalMesh() && deformer->GetRasMesh() == meshobj)
+	{	/*
+		 * Derived Mesh Update
+		 *
+		 * */
+
+		DerivedMesh* dm= gameobj->GetDeformer()->GetFinalMesh();
+
+		MVert *mvert = dm->getVertArray(dm);
+		MFace *mface = dm->getFaceArray(dm);
+		numpolys = dm->getNumFaces(dm);
+		numverts = dm->getNumVerts(dm);
+		int* index = (int*)dm->getFaceDataArray(dm, CD_ORIGINDEX);
+
+		MFace *mf;
+		MVert *mv;
+
+		int flen;
+
+		if(CustomData_has_layer(&dm->faceData, CD_MTFACE))
+		{
+			MTFace *tface = (MTFace *)dm->getFaceDataArray(dm, CD_MTFACE);
+			MTFace *tf;
+
+			vector<bool> vert_tag_array(numverts, false);
+			vector<int> vert_remap_array(numverts, 0);
+
+			for(mf= mface, tf= tface, i=0; i < numpolys; mf++, tf++, i++) {
+				if(tf->mode & TF_DYNAMIC)
+				{
+					if(mf->v4) {
+						tot_bt_tris+= 2;
+						flen= 4;
+					} else {
+						tot_bt_tris++;
+						flen= 3;
+					}
+
+					for(j=0; j<flen; j++)
+					{
+						v_orig = (*(&mf->v1 + j));
+
+						if(vert_tag_array[v_orig]==false)
+						{
+							vert_tag_array[v_orig]= true;
+							vert_remap_array[v_orig]= tot_bt_verts;
+							tot_bt_verts++;
+						}
+					}
+				}
+			}
+
+			m_vertexArray.resize(tot_bt_verts*3);
+			btScalar *bt= &m_vertexArray[0];
+
+			m_triFaceArray.resize(tot_bt_tris*3);
+			int *tri_pt= &m_triFaceArray[0];
+
+			m_polygonIndexArray.resize(tot_bt_tris);
+			int *poly_index_pt= &m_polygonIndexArray[0];
+
+
+			for(mf= mface, tf= tface, i=0; i < numpolys; mf++, tf++, i++)
+			{
+				if(tf->mode & TF_DYNAMIC)
+				{
+					if(mf->v4) {
+						fv_pt= quad_verts;
+						*poly_index_pt++ = *poly_index_pt++ = index[i];
+						flen= 4;
+					} else {
+						fv_pt= tri_verts;
+						*poly_index_pt++ = index[i];
+						flen= 3;
+					}
+
+					for(; *fv_pt > -1; fv_pt++)
+					{
+						v_orig = (*(&mf->v1 + (*fv_pt)));
+
+						if(vert_tag_array[v_orig])
+						{
+							mv= mvert + v_orig;
+							*bt++ = mv->co[0];
+							*bt++ = mv->co[1];
+							*bt++ = mv->co[2];
+
+							vert_tag_array[v_orig]= false;
+						}
+						*tri_pt++ = vert_remap_array[v_orig];
+					}
+				}
+			}
+		}
+		else {
+			/* no need for a vertex mapping. simple/fast */
+
+			tot_bt_verts= numverts;
+
+			for(mf= mface, i=0; i < numpolys; mf++, i++) {
+				tot_bt_tris += (mf->v4 ? 2:1);
+			}
+
+			m_vertexArray.resize(tot_bt_verts*3);
+			btScalar *bt= &m_vertexArray[0];
+
+			m_triFaceArray.resize(tot_bt_tris*3);
+			int *tri_pt= &m_triFaceArray[0];
+
+			m_polygonIndexArray.resize(tot_bt_tris);
+			int *poly_index_pt= &m_polygonIndexArray[0];
+
+			for(mv= mvert, i=0; i < numverts; mv++, i++) {
+				*bt++ = mv->co[0]; *bt++ = mv->co[1]; *bt++ = mv->co[2];
+			}
+
+			for(mf= mface, i=0; i < numpolys; mf++, i++) {
+				unsigned int *fv = &mf->v1;
+
+				if(mf->v4) {
+					fv_pt= quad_verts;
+					*poly_index_pt++ = *poly_index_pt++ = index[i];
+				}
+				else {
+					fv_pt= tri_verts;
+					*poly_index_pt++ = index[i];
+				}
+
+				for(; *fv_pt > -1; fv_pt++)
+					*tri_pt++ = (*(&mf->v1 + (*fv_pt)));
+			}
+		}
+	}
+	else {	/*
+			 * RAS Mesh Update
+			 *
+			 * */
+		
+		/* Note!, gameobj can be NULL here */
+
+		/* transverts are only used for deformed RAS_Meshes, the RAS_TexVert data
+		 * is too hard to get at, see below for details */
+		float (*transverts)[3]= NULL;
+		int transverts_tot= 0; /* with deformed meshes - should always be greater then the max orginal index, or we get crashes */
+
+		if(deformer) {
+			/* map locations from the deformed array
+			 *
+			 * Could call deformer->Update(); but rely on redraw updating.
+			 * */
+			transverts= deformer->GetTransVerts(&transverts_tot);
+		}
+
+		// Tag verts we're using
+		numpolys= meshobj->NumPolygons();
+		numverts= meshobj->m_sharedvertex_map.size();
+		const float *xyz;
+
+
+		vector<bool> vert_tag_array(numverts, false);
+		vector<int> vert_remap_array(numverts, 0);
+
+		for(int p=0; p<numpolys; p++)
+		{
+			RAS_Polygon* poly= meshobj->GetPolygon(p);
+			if (poly->IsCollider())
+			{
+				for(i=0; i < poly->VertexCount(); i++)
+				{
+					v_orig= poly->GetVertex(i)->getOrigIndex();
+					if(vert_tag_array[v_orig]==false)
+					{
+						vert_tag_array[v_orig]= true;
+						vert_remap_array[v_orig]= tot_bt_verts;
+						tot_bt_verts++;
+					}
+				}
+				tot_bt_tris += (poly->VertexCount()==4 ? 2:1);
+			}
+		}
+
+		m_vertexArray.resize(tot_bt_verts*3);
+		btScalar *bt= &m_vertexArray[0];
+
+		m_triFaceArray.resize(tot_bt_tris*3);
+		int *tri_pt= &m_triFaceArray[0];
+
+		/* cant be used for anything useful in this case, since we dont rely on the original mesh
+		 * will just be an array like pythons range(tot_bt_tris) */
+		m_polygonIndexArray.resize(tot_bt_tris);
+
+
+		for(int p=0; p<numpolys; p++)
+		{
+			RAS_Polygon* poly= meshobj->GetPolygon(p);
+
+			if (poly->IsCollider())
+			{
+				/* quad or tri loop */
+				fv_pt= (poly->VertexCount()==3 ? tri_verts:quad_verts);
+
+				for(; *fv_pt > -1; fv_pt++)
+				{
+					v_orig= poly->GetVertex(*fv_pt)->getOrigIndex();
+
+					if(vert_tag_array[v_orig])
+					{
+						if(transverts) {
+							/* deformed mesh, using RAS_TexVert locations would be too troublesome
+							 * because they are use the gameob as a hash in the material slot */
+							*bt++ = transverts[v_orig][0];
+							*bt++ = transverts[v_orig][1];
+							*bt++ = transverts[v_orig][2];
+						}
+						else {
+							/* static mesh python may have modified */
+							xyz= meshobj->GetVertexLocation( v_orig );
+							*bt++ = xyz[0];
+							*bt++ = xyz[1];
+							*bt++ = xyz[2];
+						}
+
+						vert_tag_array[v_orig]= false;
+					}
+
+					*tri_pt++ = vert_remap_array[v_orig];
+				}
+			}
+
+			m_polygonIndexArray[p]= p; /* dumb counting */
+		}
+	}
+	
+#if 0
+	/* needs #include <cstdio> */
+	printf("# vert count %d\n", m_vertexArray.size());
+	for(int i=0; i<m_vertexArray.size(); i+=3) {
+		printf("v %.6f %.6f %.6f\n", m_vertexArray[i], m_vertexArray[i+1], m_vertexArray[i+2]);
+	}
+
+	printf("# face count %d\n", m_triFaceArray.size());
+	for(int i=0; i<m_triFaceArray.size(); i+=3) {
+		printf("f %d %d %d\n", m_triFaceArray[i]+1, m_triFaceArray[i+1]+1, m_triFaceArray[i+2]+1);
+	}
+#endif
+
+	/* force recreation of the m_unscaledShape.
+	 * If this has multiple users we cant delete */
+	if(m_unscaledShape) {
+		// dont free now so it can re-allocate under the same location and not break pointers.
+		// DeleteBulletShape(m_unscaledShape); 
+		m_forceReInstance= true;
+	}
+
+	m_meshObject= meshobj;
+	
+	return true;
+}
+
+
+
 bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo)
 {
 	if (shapeInfo == NULL)
@@ -1696,7 +2048,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 
 		} else
 		{
-			if (!m_unscaledShape)
+			if (!m_unscaledShape || m_forceReInstance)
 			{
 			
 				btTriangleIndexVertexArray* indexVertexArrays = 0;
@@ -1731,7 +2083,18 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 				}
 				
 				// this shape will be shared and not deleted until shapeInfo is deleted
-				m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true );
+				
+				// for UpdateMesh, reuse the last memory location so instancing wont crash.
+				if(m_unscaledShape) {
+					DeleteBulletShape(m_unscaledShape, false);
+					m_unscaledShape->~btBvhTriangleMeshShape();
+	
+					m_unscaledShape = new(m_unscaledShape) btBvhTriangleMeshShape( indexVertexArrays, true );
+				} else {
+					m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true );
+				}
+				
+				m_forceReInstance= false;
 				m_unscaledShape->recalcLocalAabb();
 			}
 			collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));
@@ -1776,7 +2139,7 @@ CcdShapeConstructionInfo::~CcdShapeConstructionInfo()
 	m_shapeArray.clear();
 	if (m_unscaledShape)
 	{
-		DeleteBulletShape(m_unscaledShape);
+		DeleteBulletShape(m_unscaledShape, true);
 	}
 	m_vertexArray.clear();
 	if (m_shapeType == PHY_SHAPE_MESH && m_meshObject != NULL) 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index d73759bac76..8eb2e616ecf 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -146,6 +146,9 @@ public:
 		return m_meshObject;
 	}
 
+	bool UpdateMesh(class KX_GameObject* gameobj, class RAS_MeshObject* mesh);
+
+
 	bool SetProxy(CcdShapeConstructionInfo* shapeInfo);
 	CcdShapeConstructionInfo* GetProxy(void)
 	{
@@ -185,6 +188,7 @@ protected:
 											// the actual shape is of type btScaledBvhTriangleMeshShape
 	std::vector<CcdShapeConstructionInfo*> m_shapeArray;	// for compound shapes
 	bool	m_useGimpact; //use gimpact for concave dynamic/moving collision detection
+	bool	m_forceReInstance; //use gimpact for concave dynamic/moving collision detection
 	float	m_weldingThreshold1;	//welding closeby vertices together can improve softbody stability etc.
 	CcdShapeConstructionInfo* m_shapeProxy;	// only used for PHY_SHAPE_PROXY, pointer to actual shape info
 };
@@ -381,6 +385,9 @@ protected:
 
 		CcdPhysicsController (const CcdConstructionInfo& ci);
 
+		bool DeleteControllerShape();
+		bool ReplaceControllerShape(btCollisionShape *newShape);
+
 		virtual ~CcdPhysicsController();
 
 		CcdConstructionInfo& getConstructionInfo()
diff --git a/source/gameengine/PyDoc/GameTypes.py b/source/gameengine/PyDoc/GameTypes.py
index 35d8cd63c44..6a554a7c42e 100644
--- a/source/gameengine/PyDoc/GameTypes.py
+++ b/source/gameengine/PyDoc/GameTypes.py
@@ -2078,6 +2078,26 @@ class KX_GameObject(SCA_IObject):
 		@param to: The name of the object to send the message to (optional)
 		@type to: string
 		"""
+	def reinstancePhysicsMesh(gameObject, meshObject):
+		"""
+		Updates the physics system with the changed mesh.
+		
+		If no arguments are given the physics mesh will be re-created from the first mesh assigned to the game object.
+
+		@param gameObject: optional argument, set the physics shape from this gameObjets mesh.
+		@type gameObject: string, L{KX_GameObject} or None
+		@param meshObject: optional argument, set the physics shape from this mesh.
+		@type meshObject: string, L{KX_MeshProxy} or None
+
+		@note: if this object has instances the other instances will be updated too.
+		@note: the gameObject argument has an advantage that it can convert from a mesh with modifiers applied (such as subsurf).
+		@warning: only triangle mesh type objects are supported currently (not convex hull)
+		@warning: if the object is a part of a combound object it will fail (parent or child)
+		@warning: rebuilding the physics mesh can be slow, running many times per second will give a performance hit.
+		@rtype: boolean
+		@return: True if reinstance succeeded, False if it failed.
+		"""
+		
 	def get(key, default=None):
 		"""
 		Return the value matching key, or the default value if its not found.
@@ -2387,18 +2407,6 @@ class KX_MeshProxy(SCA_IObject):
 		@rtype: L{KX_PolyProxy}
 		@return: a polygon object.
 		"""
-	def reinstancePhysicsMesh():
-		"""
-		Updates the physics system with the changed mesh.
-		
-		A mesh must have only one material with collision flags, 
-		and have all collision primitives in one vertex array (ie. < 65535 verts) and
-		be either a polytope or polyheder mesh.  If you don't get a warning in the
-		console when the collision type is polytope, the mesh is suitable for reinstance.
-		@bug: This currently does not work.
-		@rtype: boolean
-		@return: True if reinstance succeeded, False if it failed.
-		"""
 
 class SCA_MouseSensor(SCA_ISensor):
 	"""
diff --git a/source/gameengine/Rasterizer/RAS_Deformer.h b/source/gameengine/Rasterizer/RAS_Deformer.h
index fe9b1540af8..75c0dcd1eeb 100644
--- a/source/gameengine/Rasterizer/RAS_Deformer.h
+++ b/source/gameengine/Rasterizer/RAS_Deformer.h
@@ -38,6 +38,7 @@
 #include "GEN_Map.h"
 
 struct DerivedMesh;
+class RAS_MeshObject;
 
 class RAS_Deformer
 {
@@ -71,6 +72,12 @@ public:
 	{
 		return NULL;
 	}
+	virtual class RAS_MeshObject* GetRasMesh()
+	{
+		/* m_pMesh does not seem to be being used?? */
+		return NULL;
+	}
+	virtual float (* GetTransVerts(int *tot))[3]	{	*tot= 0; return NULL; }
 
 protected:
 	class RAS_MeshObject	*m_pMesh;
diff --git a/source/gameengine/Rasterizer/RAS_MeshObject.cpp b/source/gameengine/Rasterizer/RAS_MeshObject.cpp
index 1dfcb0c512d..0ae6ad9d7ea 100644
--- a/source/gameengine/Rasterizer/RAS_MeshObject.cpp
+++ b/source/gameengine/Rasterizer/RAS_MeshObject.cpp
@@ -382,6 +382,13 @@ RAS_TexVert* RAS_MeshObject::GetVertex(unsigned int matid,
 	return NULL;
 }
 
+const float* RAS_MeshObject::GetVertexLocation(unsigned int orig_index)
+{
+	vector<SharedVertex>& sharedmap = m_sharedvertex_map[orig_index];
+	vector<SharedVertex>::iterator it= sharedmap.begin();
+	return it->m_darray->m_vertex[it->m_offset].getXYZ();
+}
+
 void RAS_MeshObject::AddMeshUser(void *clientobj, SG_QList *head, RAS_Deformer* deformer)
 {
 	list<RAS_MeshMaterial>::iterator it;
diff --git a/source/gameengine/Rasterizer/RAS_MeshObject.h b/source/gameengine/Rasterizer/RAS_MeshObject.h
index e763d6e7c7f..bf9c0f7b682 100644
--- a/source/gameengine/Rasterizer/RAS_MeshObject.h
+++ b/source/gameengine/Rasterizer/RAS_MeshObject.h
@@ -126,6 +126,7 @@ public:
 	/* vertex and polygon acces */
 	int					NumVertices(RAS_IPolyMaterial* mat);
 	RAS_TexVert*		GetVertex(unsigned int matid, unsigned int index);
+	const float*		GetVertexLocation(unsigned int orig_index);
 
 	int					NumPolygons();
 	RAS_Polygon*		GetPolygon(int num) const;
@@ -141,6 +142,13 @@ public:
 							bool culled);
 
 	void				RemoveFromBuckets(void *clientobj);
+	void				EndConversion() {
+#if 0
+		m_sharedvertex_map.clear(); // SharedVertex
+		vector<vector<SharedVertex> >	shared_null(0);
+		shared_null.swap( m_sharedvertex_map ); /* really free the memory */
+#endif
+	}
 
 	/* colors */
 	void				DebugColor(unsigned int abgr);