more Bullet physics improvements, mainly stability and performance related.

AddObjectActuator has new python method to immediately create objects (this allows to create multiple objects in 1 frame in different positions)

27 files changed, 231 insertions, 150 deletions

diff --git a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseInterface.h b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseInterface.h
index d4ac5d0b624..b81815b9764 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseInterface.h
+++ b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseInterface.h
@@ -18,7 +18,7 @@ subject to the following restrictions:
 
 
 
-struct	DispatcherInfo;
+struct DispatcherInfo;
 class Dispatcher;
 struct BroadphaseProxy;
 #include "SimdVector3.h"
diff --git a/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.h b/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.h
index f4ef0717b4a..9368a16f227 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.h
+++ b/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.h
@@ -57,9 +57,9 @@ public:
 
 	virtual ~CollisionAlgorithm() {};
 
-	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous) = 0;
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const struct DispatcherInfo& dispatchInfo) = 0;
 
-	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount) = 0;
+	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const struct DispatcherInfo& dispatchInfo) = 0;
 
 };
 
diff --git a/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.h b/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.h
index 6e02556d562..ed556c2e60a 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.h
+++ b/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.h
@@ -40,7 +40,8 @@ struct DispatcherInfo
 	DispatcherInfo()
 		:m_dispatchFunc(DISPATCH_DISCRETE),
 		m_timeOfImpact(1.f),
-		m_useContinuous(false)
+		m_useContinuous(false),
+		m_debugDraw(0)
 	{
 
 	}
@@ -49,6 +50,7 @@ struct DispatcherInfo
 	int		m_dispatchFunc;
 	float	m_timeOfImpact;
 	bool	m_useContinuous;
+	class IDebugDraw*	m_debugDraw;
 	
 };
 
diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
index 4b3d0c0745a..c415b7b997d 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
+++ b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
@@ -292,10 +292,10 @@ void	SimpleBroadphase::DispatchAllCollisionPairs(Dispatcher&	dispatcher,Dispatch
 			{
 				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
 				{
-					pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo.m_timeStep,dispatchInfo.m_stepCount,dispatchInfo.m_useContinuous);
+					pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
 				} else
 				{
-					float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo.m_timeStep,dispatchInfo.m_stepCount);
+					float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
 					if (dispatchInfo.m_timeOfImpact > toi)
 						dispatchInfo.m_timeOfImpact = toi;
 
@@ -312,10 +312,10 @@ void	SimpleBroadphase::DispatchAllCollisionPairs(Dispatcher&	dispatcher,Dispatch
 				{
 					if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
 					{
-						algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo.m_timeStep,dispatchInfo.m_stepCount,dispatchInfo.m_useContinuous);
+						algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
 					} else
 					{
-						float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo.m_timeStep,dispatchInfo.m_stepCount);
+						float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
 						if (dispatchInfo.m_timeOfImpact > toi)
 							dispatchInfo.m_timeOfImpact = toi;
 					}
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
index bb0bf7abbbd..d600c061638 100644
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
@@ -29,6 +29,7 @@ subject to the following restrictions:
 ConvexConcaveCollisionAlgorithm::ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
 : CollisionAlgorithm(ci),m_convex(*proxy0),m_concave(*proxy1),
 m_boxTriangleCallback(ci.m_dispatcher,proxy0,proxy1)
+
 {
 }
 
@@ -40,9 +41,7 @@ ConvexConcaveCollisionAlgorithm::~ConvexConcaveCollisionAlgorithm()
 
 BoxTriangleCallback::BoxTriangleCallback(Dispatcher*  dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1):
   m_boxProxy(proxy0),m_triangleProxy(*proxy1),m_dispatcher(dispatcher),
-	  m_timeStep(0.f),
-	  m_stepCount(-1),
-	  m_triangleCount(0)
+	m_dispatchInfoPtr(0)
 {
 
 	  //
@@ -96,7 +95,7 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle)
 		ob->m_collisionShape = &tm;
 		
 		ConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_boxProxy,&m_triangleProxy);
-		cvxcvxalgo.ProcessCollision(m_boxProxy,&m_triangleProxy,m_timeStep,m_stepCount,m_useContinuous);
+		cvxcvxalgo.ProcessCollision(m_boxProxy,&m_triangleProxy,*m_dispatchInfoPtr);
 		ob->m_collisionShape = tmpShape;
 
 	}
@@ -107,12 +106,9 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle)
 
 
 
-void	BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,float collisionMarginTriangle,bool useContinuous)
+void	BoxTriangleCallback::SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo)
 {
-	m_triangleCount = 0;
-	m_timeStep = timeStep;
-	m_stepCount = stepCount;
-	m_useContinuous = useContinuous;
+	m_dispatchInfoPtr = &dispatchInfo;
 	m_collisionMarginTriangle = collisionMarginTriangle;
 
 	//recalc aabbs
@@ -142,7 +138,7 @@ void ConvexConcaveCollisionAlgorithm::ClearCache()
 
 }
 
-void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount,bool useContinuous)
+void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
 {
 
 	CollisionObject* boxBody = static_cast<CollisionObject* >(m_convex.m_clientObject);
@@ -163,7 +159,7 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
 		{
 			float collisionMarginTriangle = triangleMesh->GetMargin();
 					
-			m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, collisionMarginTriangle,useContinuous);
+			m_boxTriangleCallback.SetTimeStepAndCounters(collisionMarginTriangle,dispatchInfo);
 #ifdef USE_BOX_TRIANGLE
 			m_boxTriangleCallback.m_manifoldPtr->ClearManifold();
 #endif
@@ -179,7 +175,7 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
 }
 
 
-float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount)
+float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
 {
 
 	//quick approximation using raycast, todo: use proper continuou collision detection
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h b/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h
index 00a03f64f8d..7569f4ed32e 100644
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h
+++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h
@@ -35,9 +35,7 @@ class BoxTriangleCallback : public TriangleCallback
 	SimdVector3	m_aabbMax ;
 
 	Dispatcher*	m_dispatcher;
-	float	m_timeStep;
-	int	m_stepCount;
-	bool m_useContinuous;
+	const DispatcherInfo* m_dispatchInfoPtr;
 	float m_collisionMarginTriangle;
 	
 public:
@@ -47,7 +45,7 @@ int	m_triangleCount;
 
 	BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
 
-	void	SetTimeStepAndCounters(float timeStep,int stepCount, float collisionMarginTriangle,bool useContinuous);
+	void	SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo);
 
 	virtual ~BoxTriangleCallback();
 
@@ -86,9 +84,9 @@ public:
 
 	virtual ~ConvexConcaveCollisionAlgorithm();
 
-	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous);
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
 
-	float	CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
+	float	CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
 
 	void	ClearCache();
 
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
index e9c56189bfc..8ec124e3dc6 100644
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
@@ -167,8 +167,9 @@ void	ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
 //
 // box-box collision algorithm, for simplicity also applies resolution-impulse
 //
-void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount, bool useContinuous)
+void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
 {
+
 	if (!m_manifoldPtr)
 		return;
 
@@ -194,7 +195,7 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
 	MinkowskiSumShape	expanded0(min0,&sphere);
 	MinkowskiSumShape	expanded1(min1,&sphere);
 
-	if (useContinuous)
+	if (dispatchInfo.m_useContinuous)
 	{
 		m_gjkPairDetector.SetMinkowskiA(&expanded0);
 		m_gjkPairDetector.SetMinkowskiB(&expanded1);
@@ -214,12 +215,12 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
 	input.m_transformA = col0->m_worldTransform;
 	input.m_transformB = col1->m_worldTransform;
     
-	m_gjkPairDetector.GetClosestPoints(input,*resultOut);
+	m_gjkPairDetector.GetClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 
 	m_dispatcher->ReleaseManifoldResult(resultOut);
 }
 bool disableCcd = false;
-float	ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount)
+float	ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
 {
 
 	CheckPenetrationDepthSolver();
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h
index 15e0f3a2141..6d8143df552 100644
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h
+++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h
@@ -49,9 +49,9 @@ public:
 
 	virtual ~ConvexConvexAlgorithm();
 
-	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous);
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
 
-	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
+	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
 
 	void	SetLowLevelOfDetail(bool useLowLevel);
 
diff --git a/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.cpp
index ff4824dadca..6ef31ad6fb4 100644
--- a/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.cpp
@@ -22,12 +22,12 @@ EmptyAlgorithm::EmptyAlgorithm(const CollisionAlgorithmConstructionInfo& ci)
 {
 }
 
-void EmptyAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep, int stepCount,bool useContinuous)
+void EmptyAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
 {
 
 }
 
-float EmptyAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount)
+float EmptyAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
 {
 	return 1.f;
 }
diff --git a/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.h b/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.h
index 598fb27b883..c85efac9959 100644
--- a/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.h
+++ b/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.h
@@ -28,9 +28,9 @@ public:
 	
 	EmptyAlgorithm(const CollisionAlgorithmConstructionInfo& ci);
 
-	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep, int stepCount, bool useContinuous);
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
 
-	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
+	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
 
 
 
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp
index 35cad78fbb9..71a74f65bc2 100644
--- a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp
@@ -74,7 +74,7 @@ void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle)
 	input.m_maximumDistanceSquared = 1e30f;//?
 	
 		
-	gjkDetector.GetClosestPoints(input,output);
+	gjkDetector.GetClosestPoints(input,output,0);
 
 
 }
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp
index d760b368fe3..f5762ee248c 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp
@@ -93,7 +93,7 @@ bool	ContinuousConvexCollision::calcTimeOfImpact(
 		GjkPairDetector::ClosestPointInput input;
 		input.m_transformA = fromA;
 		input.m_transformB = fromB;
-		gjk.GetClosestPoints(input,pointCollector1);
+		gjk.GetClosestPoints(input,pointCollector1,0);
 
 		hasResult = pointCollector1.m_hasResult;
 		c = pointCollector1.m_pointInWorld;
@@ -152,7 +152,7 @@ bool	ContinuousConvexCollision::calcTimeOfImpact(
 			GjkPairDetector::ClosestPointInput input;
 			input.m_transformA = interpolatedTransA;
 			input.m_transformB = interpolatedTransB;
-			gjk.GetClosestPoints(input,pointCollector);
+			gjk.GetClosestPoints(input,pointCollector,0);
 			if (pointCollector.m_hasResult)
 			{
 				if (pointCollector.m_distance < 0.f)
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h
index 8001c7883b6..7b1d8426bc0 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h
@@ -31,7 +31,9 @@ public:
 	virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,
 		ConvexShape* convexA,ConvexShape* convexB,
 					const SimdTransform& transA,const SimdTransform& transB,
-				SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb) = 0;
+				SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb,
+				class IDebugDraw* debugDraw
+				) = 0;
 
 
 };
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h b/extern/bullet/Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h
index 08007d75496..400ac805bc3 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h
@@ -54,7 +54,7 @@ struct DiscreteCollisionDetectorInterface
 	// give either closest points (distance > 0) or penetration (distance)
 	// the normal always points from B towards A
 	//
-	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output) = 0;
+	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw) = 0;
 
 	SimdScalar	getCollisionMargin() { return 0.2f;}
 };
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp
index 0f20061c6e6..344a4555bcf 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp
@@ -96,7 +96,7 @@ bool	GjkConvexCast::calcTimeOfImpact(
 		GjkPairDetector::ClosestPointInput input;
 		input.m_transformA = sphereTr;
 		input.m_transformB = identityTrans;
-		gjk.GetClosestPoints(input,pointCollector1);
+		gjk.GetClosestPoints(input,pointCollector1,0);
 
 		hasResult = pointCollector1.m_hasResult;
 		c = pointCollector1.m_pointInWorld;
@@ -133,7 +133,7 @@ bool	GjkConvexCast::calcTimeOfImpact(
 			GjkPairDetector::ClosestPointInput input;
 			input.m_transformA = sphereTr;
 			input.m_transformB = identityTrans;
-			gjk.GetClosestPoints(input,pointCollector);
+			gjk.GetClosestPoints(input,pointCollector,0);
 			if (pointCollector.m_hasResult)
 			{
 				if (pointCollector.m_distance < 0.f)
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
index c453264662f..8ccffc0d86d 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
@@ -33,7 +33,7 @@ m_minkowskiB(objectB)
 {
 }
 
-void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& output)
+void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw)
 {
 	SimdScalar distance;
 	SimdVector3	normalInB(0.f,0.f,0.f);
@@ -155,7 +155,9 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou
 					*m_simplexSolver, 
 					m_minkowskiA,m_minkowskiB,
 					input.m_transformA,input.m_transformB,
-					m_cachedSeparatingAxis, pointOnA, pointOnB);
+					m_cachedSeparatingAxis, pointOnA, pointOnB,
+					debugDraw
+					);
 
 				if (isValid)
 				{
@@ -180,6 +182,7 @@ void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& ou
 			normalInB,
 			pointOnB,
 			distance);
+		//printf("gjk add:%f",distance);
 	} 
 
 
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
index 337f8128071..e18fd20697c 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
@@ -44,7 +44,7 @@ public:
 	GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver*	penetrationDepthSolver);
 	virtual ~GjkPairDetector() {};
 
-	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output);
+	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw);
 
 	void SetMinkowskiA(ConvexShape* minkA)
 	{
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
index d4fbf022d6c..d482be27659 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
@@ -41,113 +41,147 @@ struct MyResult : public DiscreteCollisionDetectorInterface::Result
 	}
 };
 
+#define NUM_UNITSPHERE_POINTS 42
+static SimdVector3	sPenetrationDirections[NUM_UNITSPHERE_POINTS] = 
+{
+SimdVector3(0.000000f , -0.000000f,-1.000000f),
+SimdVector3(0.723608f , -0.525725f,-0.447219f),
+SimdVector3(-0.276388f , -0.850649f,-0.447219f),
+SimdVector3(-0.894426f , -0.000000f,-0.447216f),
+SimdVector3(-0.276388f , 0.850649f,-0.447220f),
+SimdVector3(0.723608f , 0.525725f,-0.447219f),
+SimdVector3(0.276388f , -0.850649f,0.447220f),
+SimdVector3(-0.723608f , -0.525725f,0.447219f),
+SimdVector3(-0.723608f , 0.525725f,0.447219f),
+SimdVector3(0.276388f , 0.850649f,0.447219f),
+SimdVector3(0.894426f , 0.000000f,0.447216f),
+SimdVector3(-0.000000f , 0.000000f,1.000000f),
+SimdVector3(0.425323f , -0.309011f,-0.850654f),
+SimdVector3(-0.162456f , -0.499995f,-0.850654f),
+SimdVector3(0.262869f , -0.809012f,-0.525738f),
+SimdVector3(0.425323f , 0.309011f,-0.850654f),
+SimdVector3(0.850648f , -0.000000f,-0.525736f),
+SimdVector3(-0.525730f , -0.000000f,-0.850652f),
+SimdVector3(-0.688190f , -0.499997f,-0.525736f),
+SimdVector3(-0.162456f , 0.499995f,-0.850654f),
+SimdVector3(-0.688190f , 0.499997f,-0.525736f),
+SimdVector3(0.262869f , 0.809012f,-0.525738f),
+SimdVector3(0.951058f , 0.309013f,0.000000f),
+SimdVector3(0.951058f , -0.309013f,0.000000f),
+SimdVector3(0.587786f , -0.809017f,0.000000f),
+SimdVector3(0.000000f , -1.000000f,0.000000f),
+SimdVector3(-0.587786f , -0.809017f,0.000000f),
+SimdVector3(-0.951058f , -0.309013f,-0.000000f),
+SimdVector3(-0.951058f , 0.309013f,-0.000000f),
+SimdVector3(-0.587786f , 0.809017f,-0.000000f),
+SimdVector3(-0.000000f , 1.000000f,-0.000000f),
+SimdVector3(0.587786f , 0.809017f,-0.000000f),
+SimdVector3(0.688190f , -0.499997f,0.525736f),
+SimdVector3(-0.262869f , -0.809012f,0.525738f),
+SimdVector3(-0.850648f , 0.000000f,0.525736f),
+SimdVector3(-0.262869f , 0.809012f,0.525738f),
+SimdVector3(0.688190f , 0.499997f,0.525736f),
+SimdVector3(0.525730f , 0.000000f,0.850652f),
+SimdVector3(0.162456f , -0.499995f,0.850654f),
+SimdVector3(-0.425323f , -0.309011f,0.850654f),
+SimdVector3(-0.425323f , 0.309011f,0.850654f),
+SimdVector3(0.162456f , 0.499995f,0.850654f)
+};
 
 
 bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simplexSolver,
 												   ConvexShape* convexA,ConvexShape* convexB,
 												   const SimdTransform& transA,const SimdTransform& transB,
-												   SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb)
+												   SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb,
+												   class IDebugDraw* debugDraw
+												   )
 {
 
 
 	//just take fixed number of orientation, and sample the penetration depth in that direction
-
-	int N = 3;
 	float minProj = 1e30f;
 	SimdVector3 minNorm;
 	SimdVector3 minVertex;
 	SimdVector3 minA,minB;
-
-	//not so good, lots of directions overlap, better to use gauss map
-	for (int i=-N;i<N;i++)
+	for (int i=0;i<NUM_UNITSPHERE_POINTS;i++)
 	{
-		for (int j = -N;j<N;j++)
+		const SimdVector3& norm = sPenetrationDirections[i];
+	
+		SimdVector3 seperatingAxisInA = (-norm)* transA.getBasis();
+		SimdVector3 seperatingAxisInB = norm* transB.getBasis();
+
+		SimdVector3 pInA = convexA->LocalGetSupportingVertex(seperatingAxisInA);
+		SimdVector3 qInB = convexB->LocalGetSupportingVertex(seperatingAxisInB);
+		SimdPoint3  pWorld = transA(pInA);	
+		SimdPoint3  qWorld = transB(qInB);
+
+		SimdVector3 w	= qWorld - pWorld;
+		float delta = norm.dot(w);
+		//find smallest delta
+
+		if (delta < minProj)
 		{
-			for (int k=-N;k<N;k++)
-			{
-				if (i | j | k)
-				{
-					SimdVector3 norm(i,j,k);
-					norm.normalize();
-
-					{
-						SimdVector3 seperatingAxisInA = (-norm)* transA.getBasis();
-						SimdVector3 seperatingAxisInB = norm* transB.getBasis();
-
-						SimdVector3 pInA = convexA->LocalGetSupportingVertex(seperatingAxisInA);
-						SimdVector3 qInB = convexB->LocalGetSupportingVertex(seperatingAxisInB);
-						SimdPoint3  pWorld = transA(pInA);	
-						SimdPoint3  qWorld = transB(qInB);
-
-						SimdVector3 w	= qWorld - pWorld;
-						float delta = norm.dot(w);
-						//find smallest delta
-
-						if (delta < minProj)
-						{
-							minProj = delta;
-							minNorm = norm;
-							minA = pWorld;
-							minB = qWorld;
-						}
-					}
-
-					{
-						SimdVector3 seperatingAxisInA = (norm)* transA.getBasis();
-						SimdVector3 seperatingAxisInB = -norm* transB.getBasis();
-
-						SimdVector3 pInA = convexA->LocalGetSupportingVertex(seperatingAxisInA);
-						SimdVector3 qInB = convexB->LocalGetSupportingVertex(seperatingAxisInB);
-						SimdPoint3  pWorld = transA(pInA);	
-						SimdPoint3  qWorld = transB(qInB);
-
-						SimdVector3 w	= qWorld - pWorld;
-						float delta = (-norm).dot(w);
-						//find smallest delta
-
-						if (delta < minProj)
-						{
-							minProj = delta ;
-							minNorm = -norm;
-							minA = pWorld;
-							minB = qWorld;
-						}
-					}
-
-
-
-				}
-			}
+			minProj = delta;
+			minNorm = norm;
+			minA = pWorld;
+			minB = qWorld;
+			
 		}
 	}
 
-	SimdTransform ident;
-	ident.setIdentity();
+#ifdef DEBUG_DRAW
+	if (debugDraw)
+	{
+		SimdVector3 color(0,1,0);
+		debugDraw->DrawLine(minA,minB,color);
+		color = SimdVector3 (1,1,1);
+		SimdVector3 vec = minB-minA;
+		float prj2 = minNorm.dot(vec);
+		debugDraw->DrawLine(minA,minA+(minNorm*minProj),color);
 
-	GjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
+	}
+#endif //DEBUG_DRAW
 
+	
 
-	v = minNorm * minProj;
+	GjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
+
+	SimdScalar offsetDist = (minProj+0.1f);
+	SimdVector3 offset = minNorm * offsetDist;
+	
 
 
 	GjkPairDetector::ClosestPointInput input;
 		
-	SimdVector3 newOrg = transA.getOrigin() + v + v;
+	SimdVector3 newOrg = transA.getOrigin() + offset;
 
 	SimdTransform displacedTrans = transA;
 	displacedTrans.setOrigin(newOrg);
 
 	input.m_transformA = displacedTrans;
 	input.m_transformB = transB;
-	input.m_maximumDistanceSquared = 1e30f;
+	input.m_maximumDistanceSquared = 1e30f;//minProj;
 	
 	MyResult res;
-	gjkdet.GetClosestPoints(input,res);
+	gjkdet.GetClosestPoints(input,res,debugDraw);
+
+	
 
 	if (res.m_hasResult)
 	{
-		pa = res.m_pointInWorld - res.m_normalOnBInWorld*0.1f*res.m_depth;
+
+		pa = res.m_pointInWorld - minNorm * minProj;
 		pb = res.m_pointInWorld;
+		
+#ifdef DEBUG_DRAW
+		if (debugDraw)
+		{
+			SimdVector3 color(1,0,0);
+			debugDraw->DrawLine(pa,pb,color);
+		}
+#endif//DEBUG_DRAW
+
+
 	}
 	return res.m_hasResult;
 }
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h
index 65154c59b4e..b7a0da3a024 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h
@@ -27,7 +27,9 @@ public:
 	virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,
 	ConvexShape* convexA,ConvexShape* convexB,
 				const SimdTransform& transA,const SimdTransform& transB,
-			SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb);
+			SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb,
+			class IDebugDraw* debugDraw
+			);
 
 };
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
index d78a812edf2..38c82fdb07d 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
@@ -102,7 +102,7 @@ void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
 #endif
 }
 
-
+float allowedPenetration = 0.0f;
 
 
 //velocity + friction
@@ -115,9 +115,26 @@ float resolveSingleCollision(
 
 		)
 {
+
 	const SimdVector3& pos1 = contactPoint.GetPositionWorldOnA();
 	const SimdVector3& pos2 = contactPoint.GetPositionWorldOnB();
     SimdScalar distance = contactPoint.GetDistance();
+
+	
+//	printf("distance=%f\n",distance);
+
+	if (distance>0.f)
+	{
+		contactPoint.m_appliedImpulse = 0.f;
+		contactPoint.m_accumulatedTangentImpulse0 = 0.f;
+		contactPoint.m_accumulatedTangentImpulse1 = 0.f;
+		
+		return 0.f;
+	} 
+
+#define MAXPENETRATIONPERFRAME -0.05
+	distance = distance < MAXPENETRATIONPERFRAME? MAXPENETRATIONPERFRAME:distance;
+
 	const SimdVector3& normal = contactPoint.m_normalWorldOnB;
 
 	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
@@ -146,14 +163,14 @@ float resolveSingleCollision(
 
 	float Kcor = Kerp *Kfps;
 
-	float allowedPenetration = 0.001f;
+	//printf("dist=%f\n",distance);
 
 	float clipDist = distance + allowedPenetration;
 	float dist = (clipDist > 0.f) ? 0.f : clipDist;
-
-	SimdScalar positionalError = Kcor *-dist*damping;
+	//distance = 0.f;
+	SimdScalar positionalError = Kcor *-clipDist;
 	//jacDiagABInv;
-	SimdScalar velocityError = -(1.0f + restitution) * rel_vel;
+	SimdScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
 
 	SimdScalar penetrationImpulse = positionalError * contactPoint.m_jacDiagABInv;
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
index 658554a5d94..7fd42d04775 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
@@ -122,9 +122,10 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 			//re-calculate friction direction every frame, todo: check if this is really needed
 			SimdPlaneSpace1(cp.m_normalWorldOnB,cp.m_frictionWorldTangential0,cp.m_frictionWorldTangential1);
 
+#ifdef NO_FRICTION_WARMSTART
 			cp.m_accumulatedTangentImpulse0 = 0.f;
 			cp.m_accumulatedTangentImpulse1 = 0.f;
-
+#endif //NO_FRICTION_WARMSTART
 			float denom0 = body0->ComputeImpulseDenominator(pos1,cp.m_frictionWorldTangential0);
 			float denom1 = body1->ComputeImpulseDenominator(pos2,cp.m_frictionWorldTangential0);
 			float denom = relaxation/(denom0+denom1);
@@ -137,8 +138,10 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 			cp.m_jacDiagABInvTangent1 = denom;
 
 			SimdVector3 totalImpulse = 
-			//	cp.m_frictionWorldTangential0*cp.m_accumulatedTangentImpulse0+
-			//	cp.m_frictionWorldTangential1*cp.m_accumulatedTangentImpulse1+
+#ifndef NO_FRICTION_WARMSTART
+				cp.m_frictionWorldTangential0*cp.m_accumulatedTangentImpulse0+
+				cp.m_frictionWorldTangential1*cp.m_accumulatedTangentImpulse1+
+#endif //NO_FRICTION_WARMSTART
 				cp.m_normalWorldOnB*cp.m_appliedImpulse;
 
 			//apply previous frames impulse on both bodies
@@ -173,12 +176,8 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 			{
 
 
-				//float actualDist =  cp.GetDistance();
-				//#define MAXPENETRATIONPERFRAME -0.2f
-				//float dist = actualDist< MAXPENETRATIONPERFRAME? MAXPENETRATIONPERFRAME:actualDist;
-
-				float dist =  cp.GetDistance();
-
+				//float dist =  cp.GetDistance();
+				//printf("dist(%i)=%f\n",j,dist);
 				float impulse = resolveSingleCollision(
 					*body0,*body1,
 					cp,
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
index db90a833633..315a9d66c38 100644
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
+++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
@@ -97,7 +97,7 @@ void RigidBody::applyForces(SimdScalar step)
 	m_linearVelocity *= GEN_clamped((1.f - step * gLinearAirDamping * m_linearDamping), 0.0f, 1.0f);
 	m_angularVelocity *= GEN_clamped((1.f - step * m_angularDamping), 0.0f, 1.0f);
 
-//#define FORCE_VELOCITY_DAMPING 1
+#define FORCE_VELOCITY_DAMPING 1
 #ifdef FORCE_VELOCITY_DAMPING
 	float speed = m_linearVelocity.length();
 	if (speed < m_linearDamping)
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index 98387076892..3039bba8565 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -315,7 +315,8 @@ m_solverType(-1)
 		//broadphase = new SimpleBroadphase();
 	}
 		
-	setSolverType(0);
+
+	setSolverType(1);
 	
 	m_collisionWorld = new CollisionWorld(dispatcher,broadphase);
 	
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index 85fdc51826a..3b1e4f7ce59 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -1091,6 +1091,7 @@ PyObject* KX_GameObject::PySetPosition(PyObject* self,
 	if (PyVecArgTo(args, pos))
 	{
 		NodeSetLocalPosition(pos);
+		NodeUpdateGS(0.f,true);
 		Py_Return;
 	}
 	
diff --git a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
index d9517a3a65b..322f41e11a3 100644
--- a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
@@ -85,28 +85,16 @@ bool KX_SCA_AddObjectActuator::Update()
 	RemoveAllEvents();
 	
 	if (bNegativeEvent) return false; // do nothing on negative events
-	if (m_OriginalObject)
-	{
-		// Add an identical object, with properties inherited from the original object	
-		// Now it needs to be added to the current scene.
-		SCA_IObject* replica = m_scene->AddReplicaObject(m_OriginalObject,GetParent(),m_timeProp );
-		KX_GameObject * game_obj = static_cast<KX_GameObject *>(replica);
-		game_obj->setLinearVelocity(m_linear_velocity,m_localFlag);
-		game_obj->ResolveCombinedVelocities(m_linear_velocity, MT_Vector3(0., 0., 0.), m_localFlag, false);
 
-		// keep a copy of the last object, to allow python scripters to change it
-		if (m_lastCreatedObject)
-			m_lastCreatedObject->Release();
-		
-		m_lastCreatedObject = replica;
-		m_lastCreatedObject->AddRef();
-	}
+	InstantAddObject();
 
+	
 	return false;
 }
 
 
 
+
 SCA_IObject* KX_SCA_AddObjectActuator::GetLastCreatedObject() const 
 {
 	return m_lastCreatedObject;
@@ -169,6 +157,8 @@ PyMethodDef KX_SCA_AddObjectActuator::Methods[] = {
   {"getLinearVelocity", (PyCFunction) KX_SCA_AddObjectActuator::sPyGetLinearVelocity, METH_VARARGS, GetLinearVelocity_doc},
   {"setLinearVelocity", (PyCFunction) KX_SCA_AddObjectActuator::sPySetLinearVelocity, METH_VARARGS, SetLinearVelocity_doc},
   {"getLastCreatedObject", (PyCFunction) KX_SCA_AddObjectActuator::sPyGetLastCreatedObject, METH_VARARGS,"getLastCreatedObject() : get the object handle to the last created object\n"},
+  {"instantAddObject", (PyCFunction) KX_SCA_AddObjectActuator::sPyInstantAddObject, METH_VARARGS,"instantAddObject() : immediately add object without delay\n"},
+  
   {NULL,NULL} //Sentinel
 };
 
@@ -315,6 +305,35 @@ PyObject* KX_SCA_AddObjectActuator::PySetLinearVelocity(PyObject* self,
 	Py_Return;
 }
 
+void	KX_SCA_AddObjectActuator::InstantAddObject()
+{
+	if (m_OriginalObject)
+	{
+		// Add an identical object, with properties inherited from the original object	
+		// Now it needs to be added to the current scene.
+		SCA_IObject* replica = m_scene->AddReplicaObject(m_OriginalObject,GetParent(),m_timeProp );
+		KX_GameObject * game_obj = static_cast<KX_GameObject *>(replica);
+		game_obj->setLinearVelocity(m_linear_velocity,m_localFlag);
+		game_obj->ResolveCombinedVelocities(m_linear_velocity, MT_Vector3(0., 0., 0.), m_localFlag, false);
+
+		// keep a copy of the last object, to allow python scripters to change it
+		if (m_lastCreatedObject)
+			m_lastCreatedObject->Release();
+		
+		m_lastCreatedObject = replica;
+		m_lastCreatedObject->AddRef();
+	}
+}
+
+PyObject* KX_SCA_AddObjectActuator::PyInstantAddObject(PyObject* self,
+														   PyObject* args,
+														   PyObject* kwds)
+{
+	InstantAddObject();
+
+	Py_Return;
+}
+
 
 
 /* 7. GetLastCreatedObject                                                */
diff --git a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h
index 2a7c27669fa..60adcb27b12 100644
--- a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h
@@ -104,6 +104,8 @@ public:
 	GetLastCreatedObject(
 	) const ;
 
+	void	InstantAddObject();
+
 	/* 1. setObject */
 	KX_PYMETHOD_DOC(KX_SCA_AddObjectActuator,SetObject);
 	/* 2. setTime */
@@ -118,6 +120,8 @@ public:
 	KX_PYMETHOD_DOC(KX_SCA_AddObjectActuator,SetLinearVelocity);
 	/* 7. getLastCreatedObject */
 	KX_PYMETHOD_DOC(KX_SCA_AddObjectActuator,GetLastCreatedObject);
+	/* 8. instantAddObject*/
+	KX_PYMETHOD_DOC(KX_SCA_AddObjectActuator,InstantAddObject);
 
 	
 }; /* end of class KX_SCA_AddObjectActuator : public KX_EditObjectActuator */
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 98387076892..2c4f98c5624 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -315,7 +315,7 @@ m_solverType(-1)
 		//broadphase = new SimpleBroadphase();
 	}
 		
-	setSolverType(0);
+	setSolverType(1);
 	
 	m_collisionWorld = new CollisionWorld(dispatcher,broadphase);
 	
@@ -524,6 +524,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 	DispatcherInfo dispatchInfo;
 	dispatchInfo.m_timeStep = timeStep;
 	dispatchInfo.m_stepCount = 0;
+	dispatchInfo.m_debugDraw = m_debugDrawer;
 
 	scene->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);///numsubstep,g);
 
@@ -882,7 +883,7 @@ void		CcdPhysicsEnvironment::setSolverType(int solverType)
 			{
 				
 				m_solver = new SimpleConstraintSolver();
-				
+				//printf("Iterative Impulse ConstraintSolver\n");
 				break;
 			}
 		}
@@ -892,6 +893,7 @@ void		CcdPhysicsEnvironment::setSolverType(int solverType)
 			if (m_solverType != solverType)
 			{
 				m_solver = new OdeConstraintSolver();
+				//printf("Quickstep ConstraintSolver\n");
 		
 				break;
 			}