integrated adaptive sampling algorithm for obstacle avoidance

6 files changed, 359 insertions, 631 deletions

diff --git a/extern/recastnavigation/BlenderNavMesh/NavMeshConversion.cpp b/extern/recastnavigation/BlenderNavMesh/NavMeshConversion.cpp
deleted file mode 100644
index ca11ed68c54..00000000000
--- a/extern/recastnavigation/BlenderNavMesh/NavMeshConversion.cpp
+++ /dev/null
@@ -1,413 +0,0 @@
-/**
-* $Id$ 
-*
-* ***** 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) 2001-2002 by NaN Holding BV.
-* All rights reserved.
-*
-* The Original Code is: all of this file.
-*
-* Contributor(s): none yet.
-*
-* ***** END GPL LICENSE BLOCK *****
-*/
-
-#include "NavMeshConversion.h"
-extern "C"{
-#include "BLI_math.h"
-}
-
-int polyNumVerts(const unsigned short* p, const int vertsPerPoly)
-{
-	int nv = 0;
-	for (int i=0; i<vertsPerPoly; i++)
-	{
-		if (p[i]==0xffff)
-			break;
-		nv++;
-	}
-	return nv;
-}
-
-bool polyIsConvex(const unsigned short* p, const int vertsPerPoly, const float* verts)
-{
-	int nv = polyNumVerts(p, vertsPerPoly);
-	if (nv<3)
-		return false;
-	for (int j=0; j<nv; j++)
-	{
-		const float* v = &verts[3*p[j]];
-		const float* v_next = &verts[3*p[(j+1)%nv]];
-		const float* v_prev = &verts[3*p[(nv+j-1)%nv]];
-		if (!left(v_prev, v, v_next))
-			return false;
-
-	}
-	return true;
-}
-
-float distPointToSegmentSq(const float* point, const float* a, const float* b)
-{
-	float abx[3], dx[3];
-	vsub(abx, b,a);
-	vsub(dx, point,a);
-	float d = abx[0]*abx[0]+abx[2]*abx[2];
-	float t = abx[0]*dx[0]+abx[2]*dx[2];
-	if (d > 0)
-		t /= d;
-	if (t < 0)
-		t = 0;
-	else if (t > 1)
-		t = 1;
-	dx[0] = a[0] + t*abx[0] - point[0];
-	dx[2] = a[2] + t*abx[2] - point[2];
-	return dx[0]*dx[0] + dx[2]*dx[2];
-}
-
-bool buildRawVertIndicesData(DerivedMesh* dm, int &nverts, float *&verts, 
-									int &ntris, unsigned short *&tris, int *&trisToFacesMap,
-									int *&recastData)
-{
-	nverts = dm->getNumVerts(dm);
-	verts = new float[3*nverts];
-	dm->getVertCos(dm, (float(*)[3])verts);
-
-	//flip coordinates
-	for (int vi=0; vi<nverts; vi++)
-	{
-		SWAP(float, verts[3*vi+1], verts[3*vi+2]);
-	}
-
-	//calculate number of tris
-	int nfaces = dm->getNumFaces(dm);
-	MFace *faces = dm->getFaceArray(dm);
-	ntris = nfaces;
-	for (int fi=0; fi<nfaces; fi++)
-	{
-		MFace* face = &faces[fi];
-		if (face->v4)
-			ntris++;
-	}
-
-	//copy and transform to triangles (reorder on the run)
-	trisToFacesMap = new int[ntris];
-	tris = new unsigned short[3*ntris];
-	unsigned short* tri = tris;
-	int triIdx = 0;
-	for (int fi=0; fi<nfaces; fi++)
-	{
-		MFace* face = &faces[fi];
-		tri[3*triIdx+0] = face->v1;
-		tri[3*triIdx+1] = face->v3;
-		tri[3*triIdx+2] = face->v2;
-		trisToFacesMap[triIdx++]=fi;
-		if (face->v4)
-		{
-			tri[3*triIdx+0] = face->v1;
-			tri[3*triIdx+1] = face->v4;
-			tri[3*triIdx+2] = face->v3;
-			trisToFacesMap[triIdx++]=fi;
-		}
-	}
-
-	//carefully, recast data is just reference to data in derived mesh
-	recastData = (int*)CustomData_get_layer(&dm->faceData, CD_PROP_INT);
-	return true;
-}
-
-bool buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys, 
-										  unsigned short* polys, const unsigned short* dmeshes, 
-										  const float* verts, const unsigned short* dtris, 
-										  const int* dtrisToPolysMap)
-{
-	bool res = false;
-	int capacity = vertsPerPoly;
-	unsigned short* newPoly =  new unsigned short[capacity];
-	memset(newPoly, 0xff, sizeof(unsigned short)*capacity);
-	for (int polyidx=0; polyidx<npolys; polyidx++)
-	{
-		int nv = 0;
-		//search border 
-		int btri = -1;
-		int bedge = -1;
-		for (int j=0; j<dmeshes[polyidx*4+3] && btri==-1;j++)
-		{
-			int curpolytri = dmeshes[polyidx*4+2]+j;
-			for (int k=0; k<3; k++)
-			{
-				unsigned short neighbortri = dtris[curpolytri*3*2+3+k];
-				if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
-				{
-					btri = curpolytri;
-					bedge = k;
-					break;
-				}
-			}							
-		}
-		if (btri==-1 || bedge==-1)
-		{
-			//can't find triangle with border edge
-			return false;
-		}
-
-		newPoly[nv++] = dtris[btri*3*2+bedge];
-
-		int tri = btri;
-		int edge = (bedge+1)%3;
-		while (tri!=btri || edge!=bedge)
-		{
-			int neighbortri = dtris[tri*3*2+3+edge];
-			if (neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
-			{
-				if (nv==capacity)
-				{
-					capacity += vertsPerPoly;
-					unsigned short* newPolyBig =  new unsigned short[capacity];
-					memset(newPolyBig, 0xff, sizeof(unsigned short)*capacity);
-					memcpy(newPolyBig, newPoly, sizeof(unsigned short)*nv);
-					delete newPoly;
-					newPoly = newPolyBig;			
-				}
-				newPoly[nv++] = dtris[tri*3*2+edge];
-				//move to next edge					
-				edge = (edge+1)%3;
-			}
-			else
-			{
-				//move to next tri
-				int twinedge = -1;
-				for (int k=0; k<3; k++)
-				{
-					if (dtris[neighbortri*3*2+3+k] == tri)
-					{
-						twinedge = k;
-						break;
-					}
-				}
-				if (twinedge==-1)
-				{
-					printf("Converting navmesh: Error! Can't find neighbor edge - invalid adjacency info\n");
-					goto returnLabel;					
-				}
-				tri = neighbortri;
-				edge = (twinedge+1)%3;
-			}
-		}
-
-		unsigned short* adjustedPoly = new unsigned short[nv];
-		int adjustedNv = 0;
-		for (size_t i=0; i<(size_t)nv; i++)
-		{
-			unsigned short prev = newPoly[(nv+i-1)%nv];
-			unsigned short cur = newPoly[i];
-			unsigned short next = newPoly[(i+1)%nv];
-			float distSq = distPointToSegmentSq(&verts[3*cur], &verts[3*prev], &verts[3*next]);
-			static const float tolerance = 0.001f;
-			if (distSq>tolerance)
-				adjustedPoly[adjustedNv++] = cur;
-		}
-		memcpy(newPoly, adjustedPoly, adjustedNv*sizeof(unsigned short));
-		delete adjustedPoly;
-		nv = adjustedNv;
-
-		if (nv<=vertsPerPoly)
-		{
-			for (int i=0; i<nv; i++)
-			{
-				polys[polyidx*vertsPerPoly*2+i] = newPoly[i];
-			}
-		}
-		else
-		{
-			int a=0;
-		}
-	}
-	res = true;
-
-returnLabel:
-	delete newPoly;
-	return true;
-}
-
-struct SortContext
-{
-	const int* recastData;
-	const int* trisToFacesMap;
-};
-static int compareByData(void* data, const void * a, const void * b){
-	SortContext* context = (SortContext*)data;
-	return ( context->recastData[context->trisToFacesMap[*(int*)a]] - 
-		context->recastData[context->trisToFacesMap[*(int*)b]] );
-}
-
-bool buildNavMeshData(const int nverts, const float* verts, 
-							 const int ntris, const unsigned short *tris, 
-							 const int* recastData, const int* trisToFacesMap,
-							 int &ndtris, unsigned short *&dtris,
-							 int &npolys, unsigned short *&dmeshes, unsigned short *&polys,
-							 int &vertsPerPoly, int *&dtrisToPolysMap, int *&dtrisToTrisMap)
-
-{
-	if (!recastData)
-	{
-		printf("Converting navmesh: Error! Can't find recast custom data\n");
-		return false;
-	}
-
-	//sort the triangles by polygon idx
-	int* trisMapping = new int[ntris];
-	for (int i=0; i<ntris; i++)
-		trisMapping[i]=i;
-	SortContext context;
-	context.recastData = recastData;
-	context.trisToFacesMap = trisToFacesMap;
-	qsort_s(trisMapping, ntris, sizeof(int), compareByData, &context);
-
-	//search first valid triangle - triangle of convex polygon
-	int validTriStart = -1;
-	for (int i=0; i< ntris; i++)
-	{
-		if (recastData[trisToFacesMap[trisMapping[i]]]>0)
-		{
-			validTriStart = i;
-			break;
-		}
-	}
-
-	if (validTriStart<0)
-	{
-		printf("Converting navmesh: Error! No valid polygons in mesh\n");
-		delete trisMapping;
-		return false;
-	}
-
-	ndtris = ntris-validTriStart;
-	//fill dtris to faces mapping
-	dtrisToTrisMap = new int[ndtris];
-	memcpy(dtrisToTrisMap, &trisMapping[validTriStart], ndtris*sizeof(int));
-	delete trisMapping; trisMapping=NULL;
-
-	//create detailed mesh triangles  - copy only valid triangles
-	//and reserve memory for adjacency info
-	dtris = new unsigned short[3*2*ndtris];
-	memset(dtris, 0xffff, sizeof(unsigned short)*3*2*ndtris);
-	for (int i=0; i<ndtris; i++)
-	{
-		memcpy(dtris+3*2*i, tris+3*dtrisToTrisMap[i], sizeof(unsigned short)*3);
-	}
-	//create new recast data corresponded to dtris and renumber for continious indices
-	int prevPolyIdx=-1, curPolyIdx, newPolyIdx=0;
-	dtrisToPolysMap = new int[ndtris];
-	for (int i=0; i<ndtris; i++)
-	{
-		curPolyIdx = recastData[trisToFacesMap[dtrisToTrisMap[i]]];
-		if (curPolyIdx!=prevPolyIdx)
-		{
-			newPolyIdx++;
-			prevPolyIdx=curPolyIdx;
-		}
-		dtrisToPolysMap[i] = newPolyIdx;
-	}
-
-
-	//build adjacency info for detailed mesh triangles
-	buildMeshAdjacency(dtris, ntris, nverts, 3);
-
-	//create detailed mesh description for each navigation polygon
-	npolys = dtrisToPolysMap[ndtris-1];
-	dmeshes = new unsigned short[npolys*4];
-	memset(dmeshes, 0, npolys*4*sizeof(unsigned short));
-	unsigned short *dmesh = NULL;
-	int prevpolyidx = 0;
-	for (int i=0; i<ndtris; i++)
-	{
-		int curpolyidx = dtrisToPolysMap[i];
-		if (curpolyidx!=prevpolyidx)
-		{
-			if (curpolyidx!=prevpolyidx+1)
-			{
-				printf("Converting navmesh: Error! Wrong order of detailed mesh faces\n");
-				return false;
-			}
-			dmesh = dmesh==NULL ? dmeshes : dmesh+4;
-			dmesh[2] = i;	//tbase
-			dmesh[3] = 0;	//tnum
-			prevpolyidx = curpolyidx;
-		}
-		dmesh[3]++;
-	}
-
-	//create navigation polygons
-	vertsPerPoly = 6;
-	polys = new unsigned short[npolys*vertsPerPoly*2];
-	memset(polys, 0xff, sizeof(unsigned short)*vertsPerPoly*2*npolys);
-
-	buildPolygonsByDetailedMeshes(vertsPerPoly, npolys, polys, dmeshes, verts, dtris, dtrisToPolysMap);
-
-	return true;
-}
-
-
-bool buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int& vertsPerPoly, 
-										  int &nverts, float *&verts,
-										  int &ndtris, unsigned short *&dtris,
-										  int& npolys, unsigned short *&dmeshes,
-										  unsigned short*& polys, int *&dtrisToPolysMap,
-										  int *&dtrisToTrisMap, int *&trisToFacesMap)
-{
-	bool res = true;
-	int ntris =0, *recastData=NULL;
-	unsigned short *tris=NULL;
-	res = buildRawVertIndicesData(dm, nverts, verts, ntris, tris, trisToFacesMap, recastData);
-	if (!res)
-	{
-		printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n");
-		goto exit;
-	}
-
-	res = buildNavMeshData(nverts, verts, ntris, tris, recastData, trisToFacesMap,
-		ndtris, dtris, npolys, dmeshes,polys, vertsPerPoly, 
-		dtrisToPolysMap, dtrisToTrisMap);
-	if (!res)
-	{
-		printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n");
-		goto exit;
-	}
-
-exit:
-	if (tris)
-		delete tris;
-
-	return res;
-}
-
-int polyFindVertex(const unsigned short* p, const int vertsPerPoly, unsigned short vertexIdx)
-{
-	int res = -1;
-	for(int i=0; i<vertsPerPoly; i++)
-	{
-		if (p[i]==0xffff)
-			break;
-		if (p[i]==vertexIdx)
-		{
-			res = i;
-			break;
-		}
-	}
-	return res;
-}
\ No newline at end of file
diff --git a/extern/recastnavigation/BlenderNavMesh/NavMeshConversion.h b/extern/recastnavigation/BlenderNavMesh/NavMeshConversion.h
deleted file mode 100644
index 5a30d927c7f..00000000000
--- a/extern/recastnavigation/BlenderNavMesh/NavMeshConversion.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/**
-* $Id$ 
-*
-* ***** 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) 2001-2002 by NaN Holding BV.
-* All rights reserved.
-*
-* The Original Code is: all of this file.
-*
-* Contributor(s): none yet.
-*
-* ***** END GPL LICENSE BLOCK *****
-*/
-
-#ifndef NAVMESH_CONVERSION_H
-#define NAVMESH_CONVERSION_H
-
-#include <math.h>
-#include "Recast.h"
-extern "C"{
-#include "DNA_meshdata_types.h"
-#include "BKE_cdderivedmesh.h"
-}
-
-bool buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int& vertsPerPoly, 
-								   int &nverts, float *&verts,
-								   int &ndtris, unsigned short *&dtris,
-								   int& npolys, unsigned short *&dmeshes,
-								   unsigned short*& polys, int *&dtrisToPolysMap,
-								   int *&dtrisToTrisMap, int *&trisToFacesMap);
-
-bool buildRawVertIndicesData(DerivedMesh* dm, int &nverts, float *&verts, 
-				int &ntris, unsigned short *&tris, int *&trisToFacesMap,
-				int *&recastData);
-
-bool buildNavMeshData(const int nverts, const float* verts, 
-					  const int ntris, const unsigned short *tris, 
-					  const int* recastData, const int* trisToFacesMap,
-					  int &ndtris, unsigned short *&dtris,
-					  int &npolys, unsigned short *&dmeshes, unsigned short *&polys,
-					  int &vertsPerPoly, int *&dtrisToPolysMap, int *&dtrisToTrisMap);
-
-bool buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys, 
-				unsigned short* polys, const unsigned short* dmeshes, 
-				const float* verts, const unsigned short* dtris, 
-				const int* dtrisToPolysMap);
-
-int polyNumVerts(const unsigned short* p, const int vertsPerPoly);
-bool polyIsConvex(const unsigned short* p, const int vertsPerPoly, const float* verts);
-int polyFindVertex(const unsigned short* p, const int vertsPerPoly, unsigned short vertexIdx);
-float distPointToSegmentSq(const float* point, const float* a, const float* b);
-
-
-inline int abs2(int a)
-{
-	return a>=0 ? a: -a;
-}
-
-inline int bit(int a, int b)
-{
-	return (a & (1 << b)) >> b;
-}
-
-inline void intToCol(int i, float* col)
-{
-	int	r = bit(i, 0) + bit(i, 3) * 2 + 1;
-	int	g = bit(i, 1) + bit(i, 4) * 2 + 1;
-	int	b = bit(i, 2) + bit(i, 5) * 2 + 1;
-	col[0] = 1 - r*63.0f/255.0f;
-	col[1] = 1 - g*63.0f/255.0f;
-	col[2] = 1 - b*63.0f/255.0f;
-}
-
-inline float area2(const float* a, const float* b, const float* c)
-{
-	return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]);
-}
-inline bool left(const float* a, const float* b, const float* c)
-{
-	return area2(a, b, c) < 0;
-}
-
-#endif //NAVMESH_CONVERSION_H
\ No newline at end of file
diff --git a/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj b/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
index 37401df6323..ab013aebc21 100644
--- a/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
+++ b/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
@@ -271,7 +271,7 @@
 				Name="VCCLCompilerTool"

 				Optimization="2"

 				InlineFunctionExpansion="1"

-				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"

+				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\blender\editors\include;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"

 				PreprocessorDefinitions="NDEBUG;WIN32;_LIB;USE_SUMO_SOLID;WITH_GLEXT;GLEW_STATIC;WITH_FFMPEG"

 				StringPooling="true"

 				RuntimeLibrary="0"

diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp b/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
index dcaadd23e3f..4a1ea59e12c 100644
--- a/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
+++ b/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
@@ -38,8 +38,65 @@
 #include "DNA_object_types.h"
 #include "BLI_math.h"
 
-inline float perp(const MT_Vector2& a, const MT_Vector2& b) { return a.x()*b.y() - a.y()*b.x(); }
-inline float lerp(float a, float b, float t) { return a + (b-a)*t; }
+namespace
+{
+	inline float perp(const MT_Vector2& a, const MT_Vector2& b) { return a.x()*b.y() - a.y()*b.x(); }
+
+	inline float sqr(float x) { return x*x; }
+	inline float lerp(float a, float b, float t) { return a + (b-a)*t; }
+	inline float clamp(float a, float mn, float mx) { return a < mn ? mn : (a > mx ? mx : a); }
+
+	inline float vdistsqr(const float* a, const float* b) { return sqr(b[0]-a[0]) + sqr(b[1]-a[1]); }
+	inline float vdist(const float* a, const float* b) { return sqrtf(vdistsqr(a,b)); }
+	inline void vcpy(float* a, const float* b) { a[0]=b[0]; a[1]=b[1]; }
+	inline float vdot(const float* a, const float* b) { return a[0]*b[0] + a[1]*b[1]; }
+	inline float vperp(const float* a, const float* b) { return a[0]*b[1] - a[1]*b[0]; }
+	inline void vsub(float* v, const float* a, const float* b) { v[0] = a[0]-b[0]; v[1] = a[1]-b[1]; }
+	inline void vadd(float* v, const float* a, const float* b) { v[0] = a[0]+b[0]; v[1] = a[1]+b[1]; }
+	inline void vscale(float* v, const float* a, const float s) { v[0] = a[0]*s; v[1] = a[1]*s; }
+	inline void vset(float* v, float x, float y) { v[0]=x; v[1]=y; }
+	inline float vlensqr(const float* v) { return vdot(v,v); }
+	inline float vlen(const float* v) { return sqrtf(vlensqr(v)); }
+	inline void vlerp(float* v, const float* a, const float* b, float t) { v[0] = lerp(a[0], b[0], t); v[1] = lerp(a[1], b[1], t); }
+	inline void vmad(float* v, const float* a, const float* b, float s) { v[0] = a[0] + b[0]*s; v[1] = a[1] + b[1]*s; }
+	inline void vnorm(float* v)
+	{
+		float d = vlen(v);
+		if (d > 0.0001f)
+		{
+			d = 1.0f/d;
+			v[0] *= d;
+			v[1] *= d;
+		}
+	}
+}
+inline float triarea(const float* a, const float* b, const float* c)
+{
+	return (b[0]*a[1] - a[0]*b[1]) + (c[0]*b[1] - b[0]*c[1]) + (a[0]*c[1] - c[0]*a[1]);
+}
+
+static void closestPtPtSeg(const float* pt,
+					const float* sp, const float* sq,
+					float& t)
+{
+	float dir[2],diff[3];
+	vsub(dir,sq,sp);
+	vsub(diff,pt,sp);
+	t = vdot(diff,dir);
+	if (t <= 0.0f) { t = 0; return; }
+	float d = vdot(dir,dir);
+	if (t >= d) { t = 1; return; }
+	t /= d;
+}
+
+static float distPtSegSqr(const float* pt, const float* sp, const float* sq)
+{
+	float t;
+	closestPtPtSeg(pt, sp,sq, t);
+	float np[2];
+	vlerp(np, sp,sq, t);
+	return vdistsqr(pt,np);
+}
 
 static int sweepCircleCircle(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vector2& v,
 					  const MT_Vector3& pos1, const MT_Scalar r1,
@@ -152,20 +209,6 @@ static bool inBetweenAngle(float a, float amin, float amax, float& t)
 	return false;
 }
 
-static float interpolateToi(float a, const float* dir, const float* toi, const int ntoi)
-{
-	for (int i = 0; i < ntoi; ++i)
-	{
-		int next = (i+1) % ntoi;
-		float t;
-		if (inBetweenAngle(a, dir[i], dir[next], t))
-		{
-			return lerp(toi[i], toi[next], t);
-		}
-	}
-	return 0;
-}
-
 KX_ObstacleSimulation::KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization)
 :	m_levelHeight(levelHeight)
 ,	m_enableVisualization(enableVisualization)
@@ -186,6 +229,15 @@ KX_Obstacle* KX_ObstacleSimulation::CreateObstacle(KX_GameObject* gameobj)
 {
 	KX_Obstacle* obstacle = new KX_Obstacle();
 	obstacle->m_gameObj = gameobj;
+
+	vset(obstacle->vel, 0,0);
+	vset(obstacle->pvel, 0,0);
+	vset(obstacle->dvel, 0,0);
+	vset(obstacle->nvel, 0,0);
+	for (int i = 0; i < VEL_HIST_SIZE; ++i)
+		vset(&obstacle->hvel[i*2], 0,0);
+	obstacle->hhead = 0;
+
 	gameobj->RegisterObstacle(this);
 	m_obstacles.push_back(obstacle);
 	return obstacle;
@@ -222,7 +274,6 @@ void KX_ObstacleSimulation::AddObstaclesForNavMesh(KX_NavMeshObject* navmeshobj)
 				obstacle->m_pos = MT_Point3(vj[0], vj[2], vj[1]);
 				obstacle->m_pos2 = MT_Point3(vi[0], vi[2], vi[1]);
 				obstacle->m_rad = 0;
-				obstacle->m_vel = MT_Vector2(0,0);
 			}
 		}
 	}
@@ -254,8 +305,16 @@ void KX_ObstacleSimulation::UpdateObstacles()
 
 		KX_Obstacle* obs = m_obstacles[i];
 		obs->m_pos = obs->m_gameObj->NodeGetWorldPosition();
-		obs->m_vel.x() = obs->m_gameObj->GetLinearVelocity().x();
-		obs->m_vel.y() = obs->m_gameObj->GetLinearVelocity().y();
+		obs->vel[0] = obs->m_gameObj->GetLinearVelocity().x();
+		obs->vel[1] = obs->m_gameObj->GetLinearVelocity().y();
+
+		// Update velocity history and calculate perceived (average) velocity.
+		vcpy(&obs->hvel[obs->hhead*2], obs->vel);
+		obs->hhead = (obs->hhead+1) % VEL_HIST_SIZE;
+		vset(obs->pvel,0,0);
+		for (int j = 0; j < VEL_HIST_SIZE; ++j)
+			vadd(obs->pvel, obs->pvel, &obs->hvel[j*2]);
+		vscale(obs->pvel, obs->pvel, 1.0f/VEL_HIST_SIZE);
 	}
 }
 
@@ -329,7 +388,8 @@ static MT_Point3 nearestPointToObstacle(MT_Point3& pos ,KX_Obstacle* obstacle)
 	}
 }
 
-bool KX_ObstacleSimulation::FilterObstacle(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, KX_Obstacle* otherObst)
+static bool filterObstacle(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, KX_Obstacle* otherObst,
+							float levelHeight)
 {
 	//filter obstacles by type
 	if ( (otherObst == activeObst) ||
@@ -338,7 +398,7 @@ bool KX_ObstacleSimulation::FilterObstacle(KX_Obstacle* activeObst, KX_NavMeshOb
 
 	//filter obstacles by position
 	MT_Point3 p = nearestPointToObstacle(activeObst->m_pos, otherObst);
-	if ( fabs(activeObst->m_pos.z() - p.z()) > m_levelHeight)
+	if ( fabs(activeObst->m_pos.z() - p.z()) > levelHeight)
 		return false;
 
 	return true;
@@ -373,71 +433,100 @@ KX_Obstacle* KX_ObstacleSimulationTOI::CreateObstacle(KX_GameObject* gameobj)
 	return obstacle;
 }
 
-void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
-										MT_Vector3& velocity, MT_Scalar maxDeltaSpeed, MT_Scalar maxDeltaAngle)
-{
-	int nobs = m_obstacles.size();
-	int obstidx = std::find(m_obstacles.begin(), m_obstacles.end(), activeObst) - m_obstacles.begin();
-	if (obstidx == nobs)
-		return; 
-	TOICircle* tc = m_toiCircles[obstidx];
+static const float VEL_WEIGHT = 2.0f;
+static const float CUR_VEL_WEIGHT = 0.75f;
+static const float SIDE_WEIGHT = 0.75f;
+static const float TOI_WEIGHT = 2.5f;
 
-	MT_Vector2 vel(velocity.x(), velocity.y());
-	float vmax = (float) velocity.length();
-	float odir = (float) atan2(velocity.y(), velocity.x());
+static void processSamples(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
+						   KX_Obstacles& obstacles,  float levelHeight, const float vmax,
+						   const float* spos, const float cs, const int nspos,
+						   float* res)
+{
+	vset(res, 0,0);
 
-	MT_Vector2 ddir = vel;
-	ddir.normalize();
+	const float ivmax = 1.0f / vmax;
 
-	float bestScore = FLT_MAX;
-	float bestDir = odir;
-	float bestToi = 0;
+	// Max time of collision to be considered.
+	const float maxToi = 1.5f;
 
-	tc->n = m_avoidSteps;
-	tc->minToi = m_minToi;
-	tc->maxToi = m_maxToi;
+	float adir[2], adist;
+	vcpy(adir, activeObst->pvel);
+	if (vlen(adir) > 0.01f)
+		vnorm(adir);
+	else
+		vset(adir,0,0);
+	float activeObstPos[2];
+	vset(activeObstPos, activeObst->m_pos.x(), activeObst->m_pos.y()); 
+	adist = vdot(adir, activeObstPos);
 
-	const int iforw = m_avoidSteps/2;
-	const float aoff = (float)iforw / (float)m_avoidSteps;
+	float minPenalty = FLT_MAX;
 
-	for (int iter = 0; iter < m_avoidSteps; ++iter)
+	for (int n = 0; n < nspos; ++n)
 	{
-		// Calculate sample velocity
-		const float ndir = ((float)iter/(float)m_avoidSteps) - aoff;
-		const float dir = odir+ndir*M_PI*2;
-		MT_Vector2 svel;
-		svel.x() = cosf(dir) * vmax;
-		svel.y() = sinf(dir) * vmax;
+		float vcand[2];
+		vcpy(vcand, &spos[n*2]);		
 
 		// Find min time of impact and exit amongst all obstacles.
-		float tmin = m_maxToi;
-		float tmine = 0;
-		for (int i = 0; i < nobs; ++i)
+		float tmin = maxToi;
+		float side = 0;
+		int nside = 0;
+
+		for (int i = 0; i < obstacles.size(); ++i)
 		{
-			KX_Obstacle* ob = m_obstacles[i];
-			bool res = FilterObstacle(activeObst, activeNavMeshObj, ob);
+			KX_Obstacle* ob = obstacles[i];
+			bool res = filterObstacle(activeObst, activeNavMeshObj, ob, levelHeight);
 			if (!res)
 				continue;
-			
-			float htmin,htmax;
+			float htmin, htmax;
 
-			if (ob->m_shape == KX_OBSTACLE_CIRCLE)
+			if (ob->m_shape==KX_OBSTACLE_CIRCLE)
 			{
-				MT_Vector2 vab;
-				if (ob->m_vel.length2() < 0.01f*0.01f)
+				float vab[2];
+
+				// Moving, use RVO
+				vscale(vab, vcand, 2);
+				vsub(vab, vab, activeObst->vel);
+				vsub(vab, vab, ob->vel);
+
+				// Side
+				// NOTE: dp, and dv are constant over the whole calculation,
+				// they can be precomputed per object. 
+				const float* pa = activeObstPos;
+				float pb[2];
+				vset(pb, ob->m_pos.x(), ob->m_pos.y());
+
+				const float orig[2] = {0,0};
+				float dp[2],dv[2],np[2];
+				vsub(dp,pb,pa);
+				vnorm(dp);
+				vsub(dv,ob->dvel, activeObst->dvel);
+
+				const float a = triarea(orig, dp,dv);
+				if (a < 0.01f)
 				{
-					// Stationary, use VO
-					vab = svel;
+					np[0] = -dp[1];
+					np[1] = dp[0];
 				}
 				else
 				{
-					// Moving, use RVO
-					vab = 2*svel - vel - ob->m_vel;
+					np[0] = dp[1];
+					np[1] = -dp[0];
 				}
 
-				if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad, 
-										vab, ob->m_pos, ob->m_rad, htmin, htmax))
+				side += clamp(min(vdot(dp,vab)*2,vdot(np,vab)*2), 0.0f, 1.0f);
+				nside++;
+
+				if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad, vab, ob->m_pos, ob->m_rad, 
+					htmin, htmax))
 					continue;
+
+				// Handle overlapping obstacles.
+				if (htmin < 0.0f && htmax > 0.0f)
+				{
+					// Avoid more when overlapped.
+					htmin = -htmin * 0.5f;
+				}
 			}
 			else if (ob->m_shape == KX_OBSTACLE_SEGMENT)
 			{
@@ -450,77 +539,193 @@ void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst, K
 					p1 = navmeshobj->TransformToWorldCoords(p1);
 					p2 = navmeshobj->TransformToWorldCoords(p2);
 				}
-				if (!sweepCircleSegment(activeObst->m_pos, activeObst->m_rad, svel, 
-										p1, p2, ob->m_rad, htmin, htmax))
-					continue;
+				float p[2], q[2];
+				vset(p, p1.x(), p1.y());
+				vset(q, p2.x(), p2.y());
+
+				// NOTE: the segments are assumed to come from a navmesh which is shrunken by
+				// the agent radius, hence the use of really small radius.
+				// This can be handle more efficiently by using seg-seg test instead.
+				// If the whole segment is to be treated as obstacle, use agent->rad instead of 0.01f!
+				const float r = 0.01f; // agent->rad
+				if (distPtSegSqr(activeObstPos, p, q) < sqr(r+ob->m_rad))
+				{
+					float sdir[2], snorm[2];
+					vsub(sdir, q, p);
+					snorm[0] = sdir[1];
+					snorm[1] = -sdir[0];
+					// If the velocity is pointing towards the segment, no collision.
+					if (vdot(snorm, vcand) < 0.0f)
+						continue;
+					// Else immediate collision.
+					htmin = 0.0f;
+					htmax = 10.0f;
+				}
+				else
+				{
+					if (!sweepCircleSegment(activeObstPos, r, vcand, p, q, ob->m_rad, htmin, htmax))
+						continue;
+				}
+
+				// Avoid less when facing walls.
+				htmin *= 2.0f;
 			}
 
-			if (htmin > 0.0f)
+			if (htmin >= 0.0f)
 			{
 				// The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
 				if (htmin < tmin)
 					tmin = htmin;
 			}
-			else if	(htmax > 0.0f)
-			{
-				// The agent overlaps the obstacle, keep track of first safe exit.
-				if (htmax > tmine)
-					tmine = htmax;
-			}
 		}
 
-		// Calculate sample penalties and final score.
-		const float apen = m_angleWeight * fabsf(ndir);
-		const float tpen = m_toiWeight * (1.0f/(0.0001f+tmin/m_maxToi));
-		const float cpen = m_collisionWeight * (tmine/m_minToi)*(tmine/m_minToi);
-		const float score = apen + tpen + cpen;
+		// Normalize side bias, to prevent it dominating too much.
+		if (nside)
+			side /= nside;
+
+		const float vpen = VEL_WEIGHT * (vdist(vcand, activeObst->dvel) * ivmax);
+		const float vcpen = CUR_VEL_WEIGHT * (vdist(vcand, activeObst->vel) * ivmax);
+		const float spen = SIDE_WEIGHT * side;
+		const float tpen = TOI_WEIGHT * (1.0f/(0.1f+tmin/maxToi));
 
-		// Update best score.
-		if (score < bestScore)
+		const float penalty = vpen + vcpen + spen + tpen;
+
+		if (penalty < minPenalty)
 		{
-			bestDir = dir;
-			bestToi = tmin;
-			bestScore = score;
+			minPenalty = penalty;
+			vcpy(res, vcand);
 		}
-
-		tc->dir[iter] = dir;
-		tc->toi[iter] = tmin;
-		tc->toie[iter] = tmine;
 	}
+}
+
+static const int RVO_SAMPLE_RAD = 15;
+static const int MAX_RVO_SAMPLES = (RVO_SAMPLE_RAD*2+1)*(RVO_SAMPLE_RAD*2+1) + 100;
+
+static void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
+					  KX_Obstacles& obstacles, const float levelHeight,const float bias)
+{
+	float spos[2*MAX_RVO_SAMPLES];
+	int nspos = 0;
+
+	const float cvx = activeObst->dvel[0]*bias;
+	const float cvy = activeObst->dvel[1]*bias;
+	float vmax = vlen(activeObst->dvel);
+	const float vrange = vmax*(1-bias);
+	const float cs = 1.0f / (float)RVO_SAMPLE_RAD*vrange;
 
-	if (activeObst->m_vel.length() > 0.1)
+	for (int y = -RVO_SAMPLE_RAD; y <= RVO_SAMPLE_RAD; ++y)
 	{
-		// Constrain max turn rate.
-		float cura = atan2(activeObst->m_vel.y(),activeObst->m_vel.x());
-		float da = bestDir - cura;
-		if (da < -M_PI) da += (float)M_PI*2;
-		if (da > M_PI) da -= (float)M_PI*2;
-		if (da < -maxDeltaAngle)
+		for (int x = -RVO_SAMPLE_RAD; x <= RVO_SAMPLE_RAD; ++x)
 		{
-			bestDir = cura - maxDeltaAngle;
-			bestToi = min(bestToi, interpolateToi(bestDir, tc->dir, tc->toi, tc->n));
+			if (nspos < MAX_RVO_SAMPLES)
+			{
+				const float vx = cvx + (float)(x+0.5f)*cs;
+				const float vy = cvy + (float)(y+0.5f)*cs;
+				if (vx*vx+vy*vy > sqr(vmax+cs/2)) continue;
+				spos[nspos*2+0] = vx;
+				spos[nspos*2+1] = vy;
+				nspos++;
+			}
 		}
-		else if (da > maxDeltaAngle)
+	}
+	processSamples(activeObst, activeNavMeshObj, obstacles, levelHeight, vmax, spos, cs/2, 
+					nspos,  activeObst->nvel);
+}
+
+static void sampleRVOAdaptive(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
+					   KX_Obstacles& obstacles, const float levelHeight,const float bias)
+{
+	vset(activeObst->nvel, 0.f, 0.f);
+	float vmax = vlen(activeObst->dvel);
+
+	float spos[2*MAX_RVO_SAMPLES];
+	int nspos = 0;
+
+	int rad;
+	float res[2];
+	float cs;
+
+	// First sample location.
+	rad = 4;
+	res[0] = activeObst->dvel[0]*bias;
+	res[1] = activeObst->dvel[1]*bias;
+	cs = vmax*(2-bias*2) / (float)(rad-1);
+
+	for (int k = 0; k < 5; ++k)
+	{
+		const float half = (rad-1)*cs*0.5f;
+
+		nspos = 0;
+		for (int y = 0; y < rad; ++y)
 		{
-			bestDir = cura + maxDeltaAngle;
-			bestToi = min(bestToi, interpolateToi(bestDir, tc->dir, tc->toi, tc->n));
+			for (int x = 0; x < rad; ++x)
+			{
+				const float vx = res[0] + x*cs - half;
+				const float vy = res[1] + y*cs - half;
+				if (vx*vx+vy*vy > sqr(vmax+cs/2)) continue;
+				spos[nspos*2+0] = vx;
+				spos[nspos*2+1] = vy;
+				nspos++;
+			}
 		}
+
+		processSamples(activeObst, activeNavMeshObj, obstacles, levelHeight, vmax, spos, cs/2, 
+			nspos,  res);
+
+		cs *= 0.5f;
 	}
 
-	// Adjust speed when time of impact is less than min TOI.
-	if (bestToi < m_minToi)
-		vmax *= bestToi/m_minToi;
+	vcpy(activeObst->nvel, res);
+}
 
-	// Constrain velocity change.
-	const float curSpeed = (float) activeObst->m_vel.length();
-	float deltaSpeed =  vmax - curSpeed; 
-	CLAMP(deltaSpeed, -maxDeltaSpeed, maxDeltaSpeed);
-	vmax = curSpeed + deltaSpeed;
 
-	// New steering velocity.
-	vel.x() = cosf(bestDir) * vmax;
-	vel.y() = sinf(bestDir) * vmax;
+void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
+													MT_Vector3& velocity, MT_Scalar maxDeltaSpeed, MT_Scalar maxDeltaAngle)
+{
+	int nobs = m_obstacles.size();
+	int obstidx = std::find(m_obstacles.begin(), m_obstacles.end(), activeObst) - m_obstacles.begin();
+	if (obstidx == nobs)
+		return;
+	
+	vset(activeObst->dvel, velocity.x(), velocity.y());
+
+	//apply RVO
+	const float bias = 0.4f;
+	//sampleRVO(activeObst, activeNavMeshObj, m_obstacles, m_levelHeight, bias);
+	sampleRVOAdaptive(activeObst, activeNavMeshObj, m_obstacles, m_levelHeight, bias);
+
+	// Fake dynamic constraint.
+	float dv[2];
+	float vel[2];
+	vsub(dv, activeObst->nvel, activeObst->vel);
+	float ds = vlen(dv);
+	if (ds > maxDeltaSpeed || ds<-maxDeltaSpeed)
+		vscale(dv, dv, fabs(maxDeltaSpeed/ds));
+	vadd(vel, activeObst->vel, dv);
+	
+	velocity.x() = vel[0];
+	velocity.y() = vel[1];
+/*	printf("dvel: %f, nvel: %f, vel: %f\n", vlen(activeObst->dvel), vlen(activeObst->nvel),
+											vlen(vel));*/
 
-	velocity.x() = vel.x();
-	velocity.y() = vel.y();
-}
\ No newline at end of file
+}
+/*
+#include "GL/glew.h"
+void KX_ObstacleSimulation::DebugDraw()
+{
+	glDisable(GL_LIGHTING);
+	glDisable(GL_TEXTURE_2D);
+	glMatrixMode(GL_MODELVIEW);
+	glLoadIdentity();
+	glMatrixMode(GL_PROJECTION);
+	glLoadIdentity();
+	glOrtho(0.0, 100.0, 0.0, 100.0, -1.0, 1.0);
+	glBegin(GL_QUADS);
+	glColor4ub(255,0,0,255);
+	glVertex2f(0.f, 0.f);
+	glVertex2f(100.f, 25.f);
+	glVertex2f(100.f, 75.f);
+	glVertex2f(25.f, 75.f);
+	glEnd(); 
+
+}*/
\ No newline at end of file
diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.h b/source/gameengine/Ketsji/KX_ObstacleSimulation.h
index b084f54d3b8..559c4f8caf8 100644
--- a/source/gameengine/Ketsji/KX_ObstacleSimulation.h
+++ b/source/gameengine/Ketsji/KX_ObstacleSimulation.h
@@ -56,6 +56,7 @@ enum KX_OBSTACLE_SHAPE
 	KX_OBSTACLE_SEGMENT,
 };
 
+#define VEL_HIST_SIZE 6
 struct KX_Obstacle
 {
 	KX_OBSTACLE_TYPE m_type;
@@ -63,26 +64,50 @@ struct KX_Obstacle
 	MT_Point3 m_pos;
 	MT_Point3 m_pos2;
 	MT_Scalar m_rad;
-	MT_Vector2 m_vel;
+	
+	float vel[2];
+	float pvel[2];
+	float dvel[2];
+	float nvel[2];
+	float hvel[VEL_HIST_SIZE*2];
+	int hhead;
+
 	
 	KX_GameObject* m_gameObj;
 };
+typedef std::vector<KX_Obstacle*> KX_Obstacles;
+/*
+struct RVO
+{
+	inline RVO() : ns(0) {}
+	float spos[MAX_RVO_SAMPLES*2];
+	float scs[MAX_RVO_SAMPLES];
+	float spen[MAX_RVO_SAMPLES];
+
+	float svpen[MAX_RVO_SAMPLES];
+	float svcpen[MAX_RVO_SAMPLES];
+	float sspen[MAX_RVO_SAMPLES];
+	float stpen[MAX_RVO_SAMPLES];
+
+	int ns;
+};
+*/
 
 class KX_ObstacleSimulation
 {
 protected:
-	std::vector<KX_Obstacle*>	m_obstacles;
+	KX_Obstacles m_obstacles;
 
 	MT_Scalar m_levelHeight;
 	bool m_enableVisualization;
 
 	virtual KX_Obstacle* CreateObstacle(KX_GameObject* gameobj);
-	bool FilterObstacle(KX_Obstacle* activeObstacle, KX_NavMeshObject* activeNavMeshObj, KX_Obstacle* otherObstacle);
 public:
 	KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization);
 	virtual ~KX_ObstacleSimulation();
 
 	void DrawObstacles();
+	//void DebugDraw();
 
 	void AddObstacleForObj(KX_GameObject* gameobj);
 	void DestroyObstacleForObj(KX_GameObject* gameobj);
diff --git a/source/gameengine/Ketsji/KX_SteeringActuator.cpp b/source/gameengine/Ketsji/KX_SteeringActuator.cpp
index f70826d16f9..e093ddb4072 100644
--- a/source/gameengine/Ketsji/KX_SteeringActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SteeringActuator.cpp
@@ -254,7 +254,7 @@ bool KX_SteeringActuator::Update(double curtime, bool frame)
 			MT_Vector3 newvel = m_velocity*steervec;
 
 			//adjust velocity to avoid obstacles
-			if (m_simulation && m_obstacle && !newvel.fuzzyZero())
+			if (m_simulation && m_obstacle /*&& !newvel.fuzzyZero()*/)
 			{
 				if (m_enableVisualization)
 					KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(1.,0.,0.));
@@ -278,6 +278,15 @@ bool KX_SteeringActuator::Update(double curtime, bool frame)
 				obj->ApplyMovement(movement, false);
 			}
 		}
+		else
+		{
+			if (m_simulation && m_obstacle)
+			{
+				m_obstacle->dvel[0] = 0.f;
+				m_obstacle->dvel[1] = 0.f;
+			}
+			
+		}
 
 		if (terminate && m_isSelfTerminated)
 			return false;