Initial code for boids v2

Too many new features to list! But here are the biggies:
- Boids can move on air and/or land, or climb a goal object.
- Proper interaction with collision objects.
	* Closest collision object in negative z direction is considered as ground.
	* Other collision objects are obstacles and boids collide with them.
- Boid behavior rules are now added to a dynamic list.
	* Many new rules and many still not implemented.
	* Different rule evaluation modes (fuzzy, random, average).
- Only particle systems defined by per system "boid relations" are considered for simulation of that system.
	* This is in addition to the boids own system of course.
	* Relations define other systems as "neutral", "friend" or "enemy".
- All effectors now effect boid physics, not boid brains.
	* This allows forcing boids somewhere.
	* Exception to this is new "boid" effector, which defines boid predators (positive strength) and goals (negative strength).
	
Known issue:
- Boid health isn't yet stored in pointcache so simulations with "fight" rule are not be read from cache properly.
- Object/Group visualization object's animation is not played in "particle time". This is definately the wanted behavior, but isn't possible with the current state of dupliobject code.

Other new features:
- Particle systems can now be named separately from particle settings.
	* Default name for particle settings is now "ParticleSettings" instead of "PSys"
- Per particle system list of particle effector weights.
	* Enables different effection strengths for particles from different particle systems with without messing around with effector group setting.

Other code changes:
- KDTree now supports range search as it's needed for new boids.
- "Keyed particle targets" renamed as general "particle targets", as they're needed for boids too. (this might break some files saved with new keyed particles)

Bug fixes:
- Object & group visualizations didn't work.
- Interpolating pointcache didn't do rotation.

9 files changed, 2212 insertions, 867 deletions

diff --git a/source/blender/blenkernel/BKE_boids.h b/source/blender/blenkernel/BKE_boids.h
new file mode 100644
index 00000000000..acceff863b9
--- /dev/null
+++ b/source/blender/blenkernel/BKE_boids.h
@@ -0,0 +1,62 @@
+/* BKE_particle.h
+ *
+ *
+ * $Id$
+ *
+ * ***** 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., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2009 by Janne Karhu.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#ifndef BKE_BOIDS_H
+#define BKE_BOIDS_H
+
+#include "DNA_boid_types.h"
+
+typedef struct BoidBrainData {
+	Scene *scene;
+	struct Object *ob;
+	struct ParticleSystem *psys;
+	struct ParticleSettings *part;
+	float timestep, cfra, dfra;
+	float wanted_co[3], wanted_speed;
+
+	/* Goal stuff */
+	struct Object *goal_ob;
+	float goal_co[3];
+	float goal_nor[3];
+	float goal_priority;
+} BoidBrainData;
+
+void boids_precalc_rules(struct ParticleSettings *part, float cfra);
+void boid_brain(BoidBrainData *bbd, int p, struct ParticleData *pa);
+void boid_body(BoidBrainData *bbd, struct ParticleData *pa);
+void boid_default_settings(BoidSettings *boids);
+BoidRule *boid_new_rule(int type);
+BoidState *boid_new_state(BoidSettings *boids);
+BoidState *boid_duplicate_state(BoidSettings *boids, BoidState *state);
+void boid_free_settings(BoidSettings *boids);
+BoidSettings *boid_copy_settings(BoidSettings *boids);
+BoidState *boid_get_current_state(BoidSettings *boids);
+#endif
diff --git a/source/blender/blenkernel/BKE_particle.h b/source/blender/blenkernel/BKE_particle.h
index bb0b905b8e3..9f44d3c47cb 100644
--- a/source/blender/blenkernel/BKE_particle.h
+++ b/source/blender/blenkernel/BKE_particle.h
@@ -95,16 +95,6 @@ typedef struct ParticleTexture{
 	float rough1, rough2, roughe;		/* used in path caching */
 } ParticleTexture;
 
-typedef struct BoidVecFunc{
-	void (*Addf)(float *v, float *v1, float *v2);
-	void (*Subf)(float *v, float *v1, float *v2);
-	void (*Mulf)(float *v, float f);
-	float (*Length)(float *v);
-	float (*Normalize)(float *v);
-	float (*Inpf)(float *v1, float *v2);
-	void (*Copyf)(float *v1, float *v2);
-} BoidVecFunc;
-
 typedef struct ParticleSeam{
 	float v0[3], v1[3];
 	float nor[3], dir[3], tan[3];
@@ -209,6 +199,19 @@ typedef struct ParticleBillboardData
 }
 ParticleBillboardData;
 
+/* container for moving data between deflet_particle and particle_intersect_face */
+typedef struct ParticleCollision
+{
+	struct Object *ob, *ob_t; // collided and current objects
+	struct CollisionModifierData *md; // collision modifier for ob_t;
+	float nor[3]; // normal at collision point
+	float vel[3]; // velocity of collision point
+	float co1[3], co2[3]; // ray start and end points
+	float ray_len; // original length of co2-co1, needed for collision time evaluation
+	float t;	// time of previous collision, needed for substracting face velocity
+}
+ParticleCollision;
+
 /* ----------- functions needed outside particlesystem ---------------- */
 /* particle.c */
 int count_particles(struct ParticleSystem *psys);
@@ -231,6 +234,7 @@ int psys_ob_has_hair(struct Object *ob);
 int psys_in_edit_mode(struct Scene *scene, struct ParticleSystem *psys);
 int psys_check_enabled(struct Object *ob, struct ParticleSystem *psys);
 
+void psys_free_boid_rules(struct ListBase *list);
 void psys_free_settings(struct ParticleSettings *part);
 void free_child_path_cache(struct ParticleSystem *psys);
 void psys_free_path_cache(struct ParticleSystem *psys);
@@ -288,6 +292,7 @@ void psys_thread_create_path(ParticleThread *thread, struct ChildParticle *cpa,
 void psys_make_billboard(ParticleBillboardData *bb, float xvec[3], float yvec[3], float zvec[3], float center[3]);
 
 /* particle_system.c */
+struct ParticleSystem *psys_get_target_system(struct Object *ob, struct ParticleTarget *pt);
 void psys_count_keyed_targets(struct Object *ob, struct ParticleSystem *psys);
 void psys_get_reactor_target(struct Object *ob, struct ParticleSystem *psys, struct Object **target_ob, struct ParticleSystem **target_psys);
 
@@ -298,6 +303,8 @@ void psys_make_temp_pointcache(struct Object *ob, struct ParticleSystem *psys);
 void psys_end_temp_pointcache(struct ParticleSystem *psys);
 void psys_get_pointcache_start_end(struct Scene *scene, struct ParticleSystem *psys, int *sfra, int *efra);
 
+void psys_check_boid_data(struct ParticleSystem *psys);
+
 void particle_system_update(struct Scene *scene, struct Object *ob, struct ParticleSystem *psys);
 
 /* ----------- functions needed only inside particlesystem ------------ */
@@ -321,11 +328,13 @@ float psys_interpolate_value_from_verts(struct DerivedMesh *dm, short from, int
 void psys_get_from_key(struct ParticleKey *key, float *loc, float *vel, float *rot, float *time);
 
 int psys_intersect_dm(struct Scene *scene, struct Object *ob, struct DerivedMesh *dm, float *vert_cos, float *co1, float* co2, float *min_d, int *min_face, float *min_uv, float *face_minmax, float *pa_minmax, float radius, float *ipoint);
+void particle_intersect_face(void *userdata, int index, const struct BVHTreeRay *ray, struct BVHTreeRayHit *hit);
 void psys_particle_on_dm(struct DerivedMesh *dm, int from, int index, int index_dmcache, float *fw, float foffset, float *vec, float *nor, float *utan, float *vtan, float *orco, float *ornor);
 
 /* particle_system.c */
 void initialize_particle(struct ParticleData *pa, int p, struct Object *ob, struct ParticleSystem *psys, struct ParticleSystemModifierData *psmd);
 
+int effector_find_co(struct Scene *scene, float *pco, struct SurfaceModifierData *sur, struct Object *ob, struct PartDeflect *pd, float *co, float *nor, float *vel, int *index);
 void do_effectors(int pa_no, struct ParticleData *pa, struct ParticleKey *state, struct Scene *scene, struct Object *ob, struct ParticleSystem *psys, float *texco, float *force_field, float *vel,float framestep, float cfra);
 
 void psys_calc_dmcache(struct Object *ob, struct DerivedMesh *dm, struct ParticleSystem *psys);
diff --git a/source/blender/blenkernel/intern/boids.c b/source/blender/blenkernel/intern/boids.c
new file mode 100644
index 00000000000..931ad0b3043
--- /dev/null
+++ b/source/blender/blenkernel/intern/boids.c
@@ -0,0 +1,1526 @@
+/* boids.c
+ *
+ *
+ * $Id$
+ *
+ * ***** 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., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2009 by Janne Karhu.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#include <string.h>
+#include <math.h>
+
+#include "MEM_guardedalloc.h"
+
+#include "DNA_particle_types.h"
+#include "DNA_modifier_types.h"
+#include "DNA_object_force.h"
+#include "DNA_object_types.h"
+#include "DNA_scene_types.h"
+#include "DNA_boid_types.h"
+#include "DNA_listBase.h"
+
+#include "BLI_rand.h"
+#include "BLI_arithb.h"
+#include "BLI_blenlib.h"
+#include "BLI_kdtree.h"
+#include "BLI_kdopbvh.h"
+#include "BKE_effect.h"
+#include "BKE_boids.h"
+#include "BKE_particle.h"
+#include "BKE_utildefines.h"
+#include "BKE_modifier.h"
+
+#include "RNA_enum_types.h"
+
+typedef struct BoidValues {
+	float max_speed, max_acc;
+	float max_ave, min_speed;
+	float personal_space, jump_speed;
+} BoidValues;
+
+static int apply_boid_rule(BoidBrainData *bbd, BoidRule *rule, BoidValues *val, ParticleData *pa, float fuzziness);
+
+static int rule_none(BoidRule *rule, BoidBrainData *data, BoidValues *val, ParticleData *pa)
+{
+	return 0;
+}
+
+static int rule_goal_avoid(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
+{
+	BoidRuleGoalAvoid *gabr = (BoidRuleGoalAvoid*) rule;
+	BoidSettings *boids = bbd->part->boids;
+	ParticleEffectorCache *ec;
+	Object *priority_ob = NULL;
+	float vec[3] = {0.0f, 0.0f, 0.0f}, loc[3] = {0.0f, 0.0f, 0.0f};
+	float mul = (rule->type == eBoidRuleType_Avoid ? 1.0 : -1.0);
+	float priority = 0.0f, len;
+	int ret = 0;
+
+	/* first find out goal/predator with highest priority */
+	/* if rule->ob specified use it */
+	if(gabr->ob && (rule->type != eBoidRuleType_Goal || gabr->ob != pa->stick_ob)) {
+		PartDeflect *pd = gabr->ob->pd;
+		float vec_to_part[3];
+
+		if(pd && pd->forcefield == PFIELD_BOID) {
+			effector_find_co(bbd->scene, pa->prev_state.co, NULL, gabr->ob, pd, loc, vec, NULL, NULL);
+			
+			VecSubf(vec_to_part, pa->prev_state.co, loc);
+
+			priority = mul * pd->f_strength * effector_falloff(pd, vec, vec_to_part);
+		}
+		else
+			priority = 1.0;
+
+		priority = 1.0;
+		priority_ob = gabr->ob;
+	}
+	else for(ec=bbd->psys->effectors.first; ec; ec=ec->next) {
+		if(ec->type & PSYS_EC_EFFECTOR) {
+			Object *eob = ec->ob;
+			PartDeflect *pd = eob->pd;
+
+			/* skip current object */
+			if(rule->type == eBoidRuleType_Goal && eob == pa->stick_ob)
+				continue;
+
+			if(pd->forcefield == PFIELD_BOID && mul * pd->f_strength > 0.0f) {
+				float vec_to_part[3], temp;
+
+				effector_find_co(bbd->scene, pa->prev_state.co, NULL, eob, pd, loc, vec, NULL, NULL);
+				
+				VecSubf(vec_to_part, pa->prev_state.co, loc);
+
+				temp = mul * pd->f_strength * effector_falloff(pd, vec, vec_to_part);
+
+				if(temp == 0.0f)
+					; /* do nothing */
+				else if(temp > priority) {
+					priority = temp;
+					priority_ob = eob;
+					len = VecLength(vec_to_part);
+				}
+				/* choose closest object with same priority */
+				else if(temp == priority) {
+					float len2 = VecLength(vec_to_part);
+
+					if(len2 < len) {
+						priority_ob = eob;
+						len = len2;
+					}
+				}
+			}
+		}
+	}
+
+	/* then use that effector */
+	if(priority > (rule->type==eBoidRuleType_Avoid ? gabr->fear_factor : 0.0f)) { /* with avoid, factor is "fear factor" */
+		Object *eob = priority_ob;
+		PartDeflect *pd = eob->pd;
+		float vec_to_part[3];
+		float surface = 0.0f;
+		float nor[3];
+
+		if(gabr->options & BRULE_GOAL_AVOID_PREDICT) {
+			/* estimate future location of target */
+			surface = (float)effector_find_co(bbd->scene, pa->prev_state.co, NULL, eob, pd, loc, nor, vec, NULL); 
+
+			VecSubf(vec_to_part, pa->prev_state.co, loc);
+			len = Normalize(vec_to_part);
+
+			VecMulf(vec, len / (val->max_speed * bbd->timestep));
+			VecAddf(loc, loc, vec);
+			VecSubf(vec_to_part, pa->prev_state.co, loc);
+		}
+		else {
+			surface = (float)effector_find_co(bbd->scene, pa->prev_state.co, NULL, eob, pd, loc, nor, NULL, NULL);
+
+			VecSubf(vec_to_part, pa->prev_state.co, loc);
+			len = VecLength(vec_to_part);
+		}
+
+		if(rule->type == eBoidRuleType_Goal && boids->options & BOID_ALLOW_CLIMB && surface!=0.0f) {
+			if(!bbd->goal_ob || bbd->goal_priority < priority) {
+				bbd->goal_ob = eob;
+				VECCOPY(bbd->goal_co, loc);
+				VECCOPY(bbd->goal_nor, nor);
+			}
+		}
+		else if(rule->type == eBoidRuleType_Avoid && pa->boid->mode == eBoidMode_Climbing &&
+			priority > 2.0f * gabr->fear_factor) {
+			/* detach from surface and try to fly away from danger */
+			VECCOPY(vec_to_part, pa->r_ve);
+			VecMulf(vec_to_part, -1.0f);
+		}
+
+		VECCOPY(bbd->wanted_co, vec_to_part);
+		VecMulf(bbd->wanted_co, mul);
+
+		bbd->wanted_speed = val->max_speed * priority;
+
+		/* with goals factor is approach velocity factor */
+		if(rule->type == eBoidRuleType_Goal && boids->landing_smoothness > 0.0f) {
+			float len2 = 2.0f*VecLength(pa->prev_state.vel);
+
+			surface *= pa->size * boids->height;
+
+			if(len2 > 0.0f && len - surface < len2) {
+				len2 = (len - surface)/len2;
+				bbd->wanted_speed *= pow(len2, boids->landing_smoothness);
+			}
+		}
+
+		ret = 1;
+	}
+
+	return ret;
+}
+
+static int rule_avoid_collision(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
+{
+	BoidRuleAvoidCollision *acbr = (BoidRuleAvoidCollision*) rule;
+	KDTreeNearest *ptn = NULL;
+	ParticleEffectorCache *ec;
+	ParticleTarget *pt;
+	float vec[3] = {0.0f, 0.0f, 0.0f}, loc[3] = {0.0f, 0.0f, 0.0f};
+	float co1[3], vel1[3], co2[3], vel2[3];
+	float  len, t, inp, t_min = 2.0f;
+	int n, neighbors = 0, nearest = 0;
+	int ret = 0;
+
+	//check deflector objects first
+	if(acbr->options & BRULE_ACOLL_WITH_DEFLECTORS) {
+		ParticleCollision col;
+		BVHTreeRayHit hit;
+		float radius = val->personal_space * pa->size, ray_dir[3];
+
+		VECCOPY(col.co1, pa->prev_state.co);
+		VecAddf(col.co2, pa->prev_state.co, pa->prev_state.vel);
+		VecSubf(ray_dir, col.co2, col.co1);
+		VecMulf(ray_dir, acbr->look_ahead);
+		col.t = 0.0f;
+		hit.index = -1;
+		hit.dist = col.ray_len = VecLength(ray_dir);
+
+		/* find out closest deflector object */
+		for(ec=bbd->psys->effectors.first; ec; ec=ec->next) {
+			if(ec->type & PSYS_EC_DEFLECT) {
+				Object *eob = ec->ob;
+
+				/* don't check with current ground object */
+				if(eob == pa->stick_ob)
+					continue;
+
+				col.md = ( CollisionModifierData * ) ( modifiers_findByType ( eob, eModifierType_Collision ) );
+				col.ob_t = eob;
+
+				if(col.md && col.md->bvhtree)
+					BLI_bvhtree_ray_cast(col.md->bvhtree, col.co1, ray_dir, radius, &hit, particle_intersect_face, &col);
+			}
+		}
+		/* then avoid that object */
+		if(hit.index>=0) {
+			/* TODO: not totally happy with this part */
+			t = hit.dist/col.ray_len;
+
+			VECCOPY(bbd->wanted_co, col.nor);
+
+			VecMulf(bbd->wanted_co, (1.0f - t) * val->personal_space * pa->size);
+
+			bbd->wanted_speed = sqrt(t) * VecLength(pa->prev_state.vel);
+
+			return 1;
+		}
+	}
+
+	//check boids in own system
+	if(acbr->options & BRULE_ACOLL_WITH_BOIDS)
+	{
+		neighbors = BLI_kdtree_range_search(bbd->psys->tree, acbr->look_ahead * VecLength(pa->prev_state.vel), pa->prev_state.co, pa->prev_state.ave, &ptn);
+		if(neighbors > 1) for(n=1; n<neighbors; n++) {
+			VECCOPY(co1, pa->prev_state.co);
+			VECCOPY(vel1, pa->prev_state.vel);
+			VECCOPY(co2, (bbd->psys->particles + ptn[n].index)->prev_state.co);
+			VECCOPY(vel2, (bbd->psys->particles + ptn[n].index)->prev_state.vel);
+
+			VecSubf(loc, co1, co2);
+
+			VecSubf(vec, vel1, vel2);
+			
+			inp = Inpf(vec,vec);
+
+			/* velocities not parallel */
+			if(inp != 0.0f) {
+				t = -Inpf(loc, vec)/inp;
+				/* cpa is not too far in the future so investigate further */
+				if(t > 0.0f && t < t_min) {
+					VECADDFAC(co1, co1, vel1, t);
+					VECADDFAC(co2, co2, vel2, t);
+					
+					VecSubf(vec, co2, co1);
+
+					len = Normalize(vec);
+
+					/* distance of cpa is close enough */
+					if(len < 2.0f * val->personal_space * pa->size) {
+						t_min = t;
+
+						VecMulf(vec, VecLength(vel1));
+						VecMulf(vec, (2.0f - t)/2.0f);
+						VecSubf(bbd->wanted_co, vel1, vec);
+						bbd->wanted_speed = VecLength(bbd->wanted_co);
+						ret = 1;
+					}
+				}
+			}
+		}
+	}
+	if(ptn){ MEM_freeN(ptn); ptn=NULL; }
+
+	/* check boids in other systems */
+	for(pt=bbd->psys->targets.first; pt; pt=pt->next) {
+		ParticleSystem *epsys = psys_get_target_system(bbd->ob, pt);
+
+		if(epsys) {
+			neighbors = BLI_kdtree_range_search(epsys->tree, acbr->look_ahead * VecLength(pa->prev_state.vel), pa->prev_state.co, pa->prev_state.ave, &ptn);
+			if(neighbors > 0) for(n=0; n<neighbors; n++) {
+				VECCOPY(co1, pa->prev_state.co);
+				VECCOPY(vel1, pa->prev_state.vel);
+				VECCOPY(co2, (epsys->particles + ptn[n].index)->prev_state.co);
+				VECCOPY(vel2, (epsys->particles + ptn[n].index)->prev_state.vel);
+
+				VecSubf(loc, co1, co2);
+
+				VecSubf(vec, vel1, vel2);
+				
+				inp = Inpf(vec,vec);
+
+				/* velocities not parallel */
+				if(inp != 0.0f) {
+					t = -Inpf(loc, vec)/inp;
+					/* cpa is not too far in the future so investigate further */
+					if(t > 0.0f && t < t_min) {
+						VECADDFAC(co1, co1, vel1, t);
+						VECADDFAC(co2, co2, vel2, t);
+						
+						VecSubf(vec, co2, co1);
+
+						len = Normalize(vec);
+
+						/* distance of cpa is close enough */
+						if(len < 2.0f * val->personal_space * pa->size) {
+							t_min = t;
+
+							VecMulf(vec, VecLength(vel1));
+							VecMulf(vec, (2.0f - t)/2.0f);
+							VecSubf(bbd->wanted_co, vel1, vec);
+							bbd->wanted_speed = VecLength(bbd->wanted_co);
+							ret = 1;
+						}
+					}
+				}
+			}
+
+			if(ptn){ MEM_freeN(ptn); ptn=NULL; }
+		}
+	}
+
+
+	if(ptn && nearest==0)
+		MEM_freeN(ptn);
+
+	return ret;
+}
+static int rule_separate(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
+{
+	KDTreeNearest *ptn = NULL;
+	ParticleTarget *pt;
+	float len = 2.0f * val->personal_space * pa->size + 1.0f;
+	float vec[3] = {0.0f, 0.0f, 0.0f};
+	int neighbors = BLI_kdtree_range_search(bbd->psys->tree, 2.0f * val->personal_space * pa->size, pa->prev_state.co, NULL, &ptn);
+	int ret = 0;
+
+	if(neighbors > 1 && ptn[1].dist!=0.0f) {
+		VecSubf(vec, pa->prev_state.co, bbd->psys->particles[ptn[1].index].state.co);
+		VecMulf(vec, (2.0f * val->personal_space * pa->size - ptn[1].dist) / ptn[1].dist);
+		VecAddf(bbd->wanted_co, bbd->wanted_co, vec);
+		bbd->wanted_speed = val->max_speed;
+		len = ptn[1].dist;
+		ret = 1;
+	}
+	if(ptn){ MEM_freeN(ptn); ptn=NULL; }
+
+	/* check other boid systems */
+	for(pt=bbd->psys->targets.first; pt; pt=pt->next) {
+		ParticleSystem *epsys = psys_get_target_system(bbd->ob, pt);
+
+		if(epsys) {
+			neighbors = BLI_kdtree_range_search(epsys->tree, 2.0f * val->personal_space * pa->size, pa->prev_state.co, NULL, &ptn);
+			
+			if(neighbors > 0 && ptn[0].dist < len) {
+				VecSubf(vec, pa->prev_state.co, ptn[0].co);
+				VecMulf(vec, (2.0f * val->personal_space * pa->size - ptn[0].dist) / ptn[1].dist);
+				VecAddf(bbd->wanted_co, bbd->wanted_co, vec);
+				bbd->wanted_speed = val->max_speed;
+				len = ptn[0].dist;
+				ret = 1;
+			}
+
+			if(ptn){ MEM_freeN(ptn); ptn=NULL; }
+		}
+	}
+	return ret;
+}
+static int rule_flock(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
+{
+	KDTreeNearest ptn[11];
+	float vec[3] = {0.0f, 0.0f, 0.0f}, loc[3] = {0.0f, 0.0f, 0.0f};
+	int neighbors = BLI_kdtree_find_n_nearest(bbd->psys->tree, 11, pa->state.co, pa->prev_state.ave, ptn);
+	int n, nearest = 1;
+	int ret = 0;
+
+	if(neighbors > 1) {
+		for(n=1; n<neighbors; n++) {
+			VecAddf(loc, loc, bbd->psys->particles[ptn[n].index].prev_state.co);
+			VecAddf(vec, vec, bbd->psys->particles[ptn[n].index].prev_state.vel);
+		}
+
+		VecMulf(loc, 1.0f/((float)neighbors - 1.0f));
+		VecMulf(vec, 1.0f/((float)neighbors - 1.0f));
+
+		VecSubf(loc, loc, pa->prev_state.co);
+		VecSubf(vec, vec, pa->prev_state.vel);
+
+		VecAddf(bbd->wanted_co, bbd->wanted_co, vec);
+		VecAddf(bbd->wanted_co, bbd->wanted_co, loc);
+		bbd->wanted_speed = VecLength(bbd->wanted_co);
+
+		ret = 1;
+	}
+	return ret;
+}
+static int rule_follow_leader(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
+{
+	BoidRuleFollowLeader *flbr = (BoidRuleFollowLeader*) rule;
+	float vec[3] = {0.0f, 0.0f, 0.0f}, loc[3] = {0.0f, 0.0f, 0.0f};
+	float mul, len;
+	int n = (flbr->queue_size <= 1) ? bbd->psys->totpart : flbr->queue_size;
+	int i, ret = 0, p = pa - bbd->psys->particles;
+
+	if(flbr->ob) {
+		float vec2[3], t;
+
+		/* first check we're not blocking the leader*/
+		VecSubf(vec, flbr->loc, flbr->oloc);
+		VecMulf(vec, 1.0f/bbd->timestep);
+
+		VecSubf(loc, pa->prev_state.co, flbr->oloc);
+
+		mul = Inpf(vec, vec);
+
+		/* leader is not moving */
+		if(mul < 0.01) {
+			len = VecLength(loc);
+			/* too close to leader */
+			if(len < 2.0f * val->personal_space * pa->size) {
+				VECCOPY(bbd->wanted_co, loc);
+				bbd->wanted_speed = val->max_speed;
+				return 1;
+			}
+		}
+		else {
+			t = Inpf(loc, vec)/mul;
+
+			/* possible blocking of leader in near future */
+			if(t > 0.0f && t < 3.0f) {
+				VECCOPY(vec2, vec);
+				VecMulf(vec2, t);
+
+				VecSubf(vec2, loc, vec2);
+
+				len = VecLength(vec2);
+
+				if(len < 2.0f * val->personal_space * pa->size) {
+					VECCOPY(bbd->wanted_co, vec2);
+					bbd->wanted_speed = val->max_speed * (3.0f - t)/3.0f;
+					return 1;
+				}
+			}
+		}
+
+		/* not blocking so try to follow leader */
+		if(p && flbr->options & BRULE_LEADER_IN_LINE) {
+			VECCOPY(vec, bbd->psys->particles[p-1].prev_state.vel);
+			VECCOPY(loc, bbd->psys->particles[p-1].prev_state.co);
+		}
+		else {
+			VECCOPY(loc, flbr->oloc);
+			VecSubf(vec, flbr->loc, flbr->oloc);
+			VecMulf(vec, 1.0/bbd->timestep);
+		}
+		
+		/* fac is seconds behind leader */
+		VECADDFAC(loc, loc, vec, -flbr->distance);
+
+		VecSubf(bbd->wanted_co, loc, pa->prev_state.co);
+		bbd->wanted_speed = VecLength(bbd->wanted_co);
+			
+		ret = 1;
+	}
+	else if(p % n) {
+		float vec2[3], t, t_min = 3.0f;
+
+		/* first check we're not blocking any leaders */
+		for(i = 0; i< bbd->psys->totpart; i+=n){
+			VECCOPY(vec, bbd->psys->particles[i].prev_state.vel);
+
+			VecSubf(loc, pa->prev_state.co, bbd->psys->particles[i].prev_state.co);
+
+			mul = Inpf(vec, vec);
+
+			/* leader is not moving */
+			if(mul < 0.01) {
+				len = VecLength(loc);
+				/* too close to leader */
+				if(len < 2.0f * val->personal_space * pa->size) {
+					VECCOPY(bbd->wanted_co, loc);
+					bbd->wanted_speed = val->max_speed;
+					return 1;
+				}
+			}
+			else {
+				t = Inpf(loc, vec)/mul;
+
+				/* possible blocking of leader in near future */
+				if(t > 0.0f && t < t_min) {
+					VECCOPY(vec2, vec);
+					VecMulf(vec2, t);
+
+					VecSubf(vec2, loc, vec2);
+
+					len = VecLength(vec2);
+
+					if(len < 2.0f * val->personal_space * pa->size) {
+						t_min = t;
+						VECCOPY(bbd->wanted_co, loc);
+						bbd->wanted_speed = val->max_speed * (3.0f - t)/3.0f;
+						ret = 1;
+					}
+				}
+			}
+		}
+
+		if(ret) return 1;
+
+		/* not blocking so try to follow leader */
+		if(flbr->options & BRULE_LEADER_IN_LINE) {
+			VECCOPY(vec, bbd->psys->particles[p-1].prev_state.vel);
+			VECCOPY(loc, bbd->psys->particles[p-1].prev_state.co);
+		}
+		else {
+			VECCOPY(vec, bbd->psys->particles[p - p%n].prev_state.vel);
+			VECCOPY(loc, bbd->psys->particles[p - p%n].prev_state.co);
+		}
+		
+		/* fac is seconds behind leader */
+		VECADDFAC(loc, loc, vec, -flbr->distance);
+
+		VecSubf(bbd->wanted_co, loc, pa->prev_state.co);
+		bbd->wanted_speed = VecLength(bbd->wanted_co);
+		
+		ret = 1;
+	}
+
+	return ret;
+}
+static int rule_average_speed(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
+{
+	BoidRuleAverageSpeed *asbr = (BoidRuleAverageSpeed*)rule;
+	float vec[3] = {0.0f, 0.0f, 0.0f};
+
+	if(asbr->wander > 0.0f) {
+		/* abuse pa->r_ave for wandering */
+		pa->r_ave[0] += asbr->wander * (-1.0f + 2.0f * BLI_frand());
+		pa->r_ave[1] += asbr->wander * (-1.0f + 2.0f * BLI_frand());
+		pa->r_ave[2] += asbr->wander * (-1.0f + 2.0f * BLI_frand());
+
+		Normalize(pa->r_ave);
+
+		VECCOPY(vec, pa->r_ave);
+
+		QuatMulVecf(pa->prev_state.rot, vec);
+
+		VECCOPY(bbd->wanted_co, pa->prev_state.ave);
+
+		VecMulf(bbd->wanted_co, 1.1f);
+
+		VecAddf(bbd->wanted_co, bbd->wanted_co, vec);
+
+		/* leveling */
+		if(asbr->level > 0.0f) {
+			Projf(vec, bbd->wanted_co, bbd->psys->part->acc);
+			VecMulf(vec, asbr->level);
+			VecSubf(bbd->wanted_co, bbd->wanted_co, vec);
+		}
+	}
+	else {
+		VECCOPY(bbd->wanted_co, pa->prev_state.ave);
+
+		/* may happen at birth */
+		if(Inp2f(bbd->wanted_co,bbd->wanted_co)==0.0f) {
+			bbd->wanted_co[0] = 2.0f*(0.5f - BLI_frand());
+			bbd->wanted_co[1] = 2.0f*(0.5f - BLI_frand());
+			bbd->wanted_co[2] = 2.0f*(0.5f - BLI_frand());
+		}
+		
+		/* leveling */
+		if(asbr->level > 0.0f) {
+			Projf(vec, bbd->wanted_co, bbd->psys->part->acc);
+			VecMulf(vec, asbr->level);
+			VecSubf(bbd->wanted_co, bbd->wanted_co, vec);
+		}
+
+	}
+	bbd->wanted_speed = asbr->speed * val->max_speed;
+	
+	return 1;
+}
+static int rule_fight(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
+{
+	BoidRuleFight *fbr = (BoidRuleFight*)rule;
+	KDTreeNearest *ptn = NULL;
+	ParticleTarget *pt;
+	ParticleData *epars;
+	ParticleData *enemy_pa;
+	/* friends & enemies */
+	float closest_enemy[3] = {0.0f,0.0f,0.0f};
+	float closest_dist = fbr->distance + 1.0f;
+	float f_strength = 0.0f, e_strength = 0.0f;
+	float health = 0.0f;
+	int n, ret = 0;
+
+	/* calculate own group strength */
+	int neighbors = BLI_kdtree_range_search(bbd->psys->tree, fbr->distance, pa->prev_state.co, NULL, &ptn);
+	for(n=0; n<neighbors; n++)
+		health += bbd->psys->particles[ptn[n].index].boid->health;
+
+	f_strength += bbd->part->boids->strength * health;
+
+	if(ptn){ MEM_freeN(ptn); ptn=NULL; }
+
+	/* add other friendlies and calculate enemy strength and find closest enemy */
+	for(pt=bbd->psys->targets.first; pt; pt=pt->next) {
+		ParticleSystem *epsys = psys_get_target_system(bbd->ob, pt);
+		if(epsys) {
+			epars = epsys->particles;
+
+			neighbors = BLI_kdtree_range_search(epsys->tree, fbr->distance, pa->prev_state.co, NULL, &ptn);
+			
+			health = 0.0f;
+
+			for(n=0; n<neighbors; n++) {
+				health += epars[ptn[n].index].boid->health;
+
+				if(n==0 && pt->mode==PTARGET_MODE_ENEMY && ptn[n].dist < closest_dist) {
+					VECCOPY(closest_enemy, ptn[n].co);
+					closest_dist = ptn[n].dist;
+					enemy_pa = epars + ptn[n].index;
+				}
+			}
+			if(pt->mode==PTARGET_MODE_ENEMY)
+				e_strength += epsys->part->boids->strength * health;
+			else if(pt->mode==PTARGET_MODE_FRIEND)
+				f_strength += epsys->part->boids->strength * health;
+
+			if(ptn){ MEM_freeN(ptn); ptn=NULL; }
+		}
+	}
+	/* decide action if enemy presence found */
+	if(e_strength > 0.0f) {
+		VecSubf(bbd->wanted_co, closest_enemy, pa->prev_state.co);
+
+		/* attack if in range */
+		if(closest_dist <= bbd->part->boids->range + pa->size + enemy_pa->size) {
+			float damage = BLI_frand();
+			float enemy_dir[3] = {bbd->wanted_co[0],bbd->wanted_co[1],bbd->wanted_co[2]};
+
+			Normalize(enemy_dir);
+
+			/* fight mode */
+			bbd->wanted_speed = 0.0f;
+
+			/* must face enemy to fight */
+			if(Inpf(pa->prev_state.ave, enemy_dir)>0.5f) {
+				enemy_pa->boid->health -= bbd->part->boids->strength * bbd->timestep * ((1.0f-bbd->part->boids->accuracy)*damage + bbd->part->boids->accuracy);
+			}
+		}
+		else {
+			/* approach mode */
+			bbd->wanted_speed = val->max_speed;
+		}
+
+		/* check if boid doesn't want to fight */
+		if(pa->boid->health/bbd->part->boids->health * bbd->part->boids->aggression < e_strength / f_strength) {
+			/* decide to flee */
+			if(closest_dist < fbr->flee_distance * fbr->distance) {
+				VecMulf(bbd->wanted_co, -1.0f);
+				bbd->wanted_speed = val->max_speed;
+			}
+			else { /* wait for better odds */
+				bbd->wanted_speed = 0.0f;
+			}
+		}
+
+		ret = 1;
+	}
+
+	return ret;
+}
+
+typedef int (*boid_rule_cb)(BoidRule *rule, BoidBrainData *data, BoidValues *val, ParticleData *pa);
+
+static boid_rule_cb boid_rules[] = {
+	rule_none,
+	rule_goal_avoid,
+	rule_goal_avoid,
+	rule_avoid_collision,
+	rule_separate,
+	rule_flock,
+	rule_follow_leader,
+	rule_average_speed,
+	rule_fight,
+	//rule_help,
+	//rule_protect,
+	//rule_hide,
+	//rule_follow_path,
+	//rule_follow_wall
+};
+
+static void set_boid_values(BoidValues *val, BoidSettings *boids, ParticleData *pa)
+{
+	if(ELEM(pa->boid->mode, eBoidMode_OnLand, eBoidMode_Climbing)) {
+		val->max_speed = boids->land_max_speed * pa->boid->health/boids->health;
+		val->max_acc = boids->land_max_acc * val->max_speed;
+		val->max_ave = boids->land_max_ave * M_PI * pa->boid->health/boids->health;
+		val->min_speed = 0.0f; /* no minimum speed on land */
+		val->personal_space = boids->land_personal_space;
+		val->jump_speed = boids->land_jump_speed * pa->boid->health/boids->health;
+	}
+	else {
+		val->max_speed = boids->air_max_speed * pa->boid->health/boids->health;
+		val->max_acc = boids->air_max_acc * val->max_speed;
+		val->max_ave = boids->air_max_ave * M_PI * pa->boid->health/boids->health;
+		val->min_speed = boids->air_min_speed * boids->air_max_speed;
+		val->personal_space = boids->air_personal_space;
+		val->jump_speed = 0.0f; /* no jumping in air */
+	}
+}
+static Object *boid_find_ground(BoidBrainData *bbd, ParticleData *pa, float *ground_co, float *ground_nor)
+{
+	if(pa->boid->mode == eBoidMode_Climbing) {
+		SurfaceModifierData *surmd = NULL;
+		float x[3], v[3];
+
+		surmd = (SurfaceModifierData *)modifiers_findByType ( pa->stick_ob, eModifierType_Surface );
+
+		/* take surface velocity into account */
+		effector_find_co(bbd->scene, pa->state.co, surmd, NULL, NULL, x, NULL, v, NULL);
+		VecAddf(x, x, v);
+
+		/* get actual position on surface */
+		effector_find_co(bbd->scene, x, surmd, NULL, NULL, ground_co, ground_nor, NULL, NULL);
+
+		return pa->stick_ob;
+	}
+	else {
+		float zvec[3] = {0.0f, 0.0f, 2000.0f};
+		ParticleCollision col;
+		BVHTreeRayHit hit;
+		ParticleEffectorCache *ec;
+		float radius = 0.0f, t, ray_dir[3];
+
+		VECCOPY(col.co1, pa->state.co);
+		VECCOPY(col.co2, pa->state.co);
+		VecAddf(col.co1, col.co1, zvec);
+		VecSubf(col.co2, col.co2, zvec);
+		VecSubf(ray_dir, col.co2, col.co1);
+		col.t = 0.0f;
+		hit.index = -1;
+		hit.dist = col.ray_len = VecLength(ray_dir);
+
+		/* find out upmost deflector object */
+		for(ec=bbd->psys->effectors.first; ec; ec=ec->next) {
+			if(ec->type & PSYS_EC_DEFLECT) {
+				Object *eob = ec->ob;
+
+				col.md = ( CollisionModifierData * ) ( modifiers_findByType ( eob, eModifierType_Collision ) );
+				col.ob_t = eob;
+
+				if(col.md && col.md->bvhtree)
+					BLI_bvhtree_ray_cast(col.md->bvhtree, col.co1, ray_dir, radius, &hit, particle_intersect_face, &col);
+			}
+		}
+		/* then use that object */
+		if(hit.index>=0) {
+			t = hit.dist/col.ray_len;
+			VecLerpf(ground_co, col.co1, col.co2, t);
+			VECCOPY(ground_nor, col.nor);
+			Normalize(ground_nor);
+			return col.ob;
+		}
+		else {
+			/* default to z=0 */
+			VECCOPY(ground_co, pa->state.co);
+			ground_co[2] = 0;
+			ground_nor[0] = ground_nor[1] = 0.0f;
+			ground_nor[2] = 1.0f;
+			return NULL;
+		}
+	}
+}
+static int boid_rule_applies(ParticleData *pa, BoidSettings *boids, BoidRule *rule)
+{
+	if(rule==NULL)
+		return 0;
+	
+	if(ELEM(pa->boid->mode, eBoidMode_OnLand, eBoidMode_Climbing) && rule->flag & BOIDRULE_ON_LAND)
+		return 1;
+	
+	if(pa->boid->mode==eBoidMode_InAir && rule->flag & BOIDRULE_IN_AIR)
+		return 1;
+
+	return 0;
+}
+void boids_precalc_rules(ParticleSettings *part, float cfra)
+{
+	BoidState *state = part->boids->states.first;
+	BoidRule *rule;
+	for(; state; state=state->next) {
+		for(rule = state->rules.first; rule; rule=rule->next) {
+			if(rule->type==eBoidRuleType_FollowLeader) {
+				BoidRuleFollowLeader *flbr = (BoidRuleFollowLeader*) rule;
+
+				if(flbr->ob && flbr->cfra != cfra) {
+					/* save object locations for velocity calculations */
+					VECCOPY(flbr->oloc, flbr->loc);
+					VECCOPY(flbr->loc, flbr->ob->obmat[3]);
+					flbr->cfra = cfra;
+				}
+			}
+		}
+	}
+}
+static void boid_climb(BoidSettings *boids, ParticleData *pa, float *surface_co, float *surface_nor)
+{
+	float nor[3], vel[3];
+	VECCOPY(nor, surface_nor);
+
+	/* gather apparent gravity to r_ve */
+	VECADDFAC(pa->r_ve, pa->r_ve, surface_nor, -1.0);
+	Normalize(pa->r_ve);
+
+	/* raise boid it's size from surface */
+	VecMulf(nor, pa->size * boids->height);
+	VecAddf(pa->state.co, surface_co, nor);
+
+	/* remove normal component from velocity */
+	Projf(vel, pa->state.vel, surface_nor);
+	VecSubf(pa->state.vel, pa->state.vel, vel);
+}
+static float boid_goal_signed_dist(float *boid_co, float *goal_co, float *goal_nor)
+{
+	float vec[3];
+
+	VecSubf(vec, boid_co, goal_co);
+
+	return Inpf(vec, goal_nor);
+}
+/* wanted_co is relative to boid location */
+static int apply_boid_rule(BoidBrainData *bbd, BoidRule *rule, BoidValues *val, ParticleData *pa, float fuzziness)
+{
+	if(rule==NULL)
+		return 0;
+
+	if(boid_rule_applies(pa, bbd->part->boids, rule)==0)
+		return 0;
+
+	if(boid_rules[rule->type](rule, bbd, val, pa)==0)
+		return 0;
+
+	if(fuzziness < 0.0f || VecLenCompare(bbd->wanted_co, pa->prev_state.vel, fuzziness * VecLength(pa->prev_state.vel))==0)
+		return 1;
+	else
+		return 0;
+}
+static BoidState *get_boid_state(BoidSettings *boids, ParticleData *pa) {
+	BoidState *state = boids->states.first;
+
+	for(; state; state=state->next) {
+		if(state->id==pa->boid->state_id)
+			return state;
+	}
+
+	/* for some reason particle isn't at a valid state */
+	state = boids->states.first;
+	if(state)
+		pa->boid->state_id = state->id;
+
+	return state;
+}
+//static int boid_condition_is_true(BoidCondition *cond) {
+//	/* TODO */
+//	return 0;
+//}
+
+/* determines the velocity the boid wants to have */
+void boid_brain(BoidBrainData *bbd, int p, ParticleData *pa)
+{
+	ParticleData *pars=bbd->psys->particles;
+	ParticleEffectorCache *ec=0;
+	BoidRule *rule;
+	BoidSettings *boids = bbd->part->boids;
+	BoidValues val;
+	BoidState *state = get_boid_state(boids, pa);
+	//BoidCondition *cond;
+
+	if(pa->boid->health <= 0.0f) {
+		pa->alive = PARS_DYING;
+		return;
+	}
+
+	//planned for near future
+	//cond = state->conditions.first;
+	//for(; cond; cond=cond->next) {
+	//	if(boid_condition_is_true(cond)) {
+	//		pa->boid->state_id = cond->state_id;
+	//		state = get_boid_state(boids, pa);
+	//		break; /* only first true condition is used */
+	//	}
+	//}
+
+	bbd->wanted_co[0]=bbd->wanted_co[1]=bbd->wanted_co[2]=bbd->wanted_speed=0.0f;
+
+	/* create random seed for every particle & frame */
+	BLI_srandom(bbd->psys->seed + p + (int)bbd->cfra + (int)(1000*pa->r_rot[0]));
+
+	set_boid_values(&val, bbd->part->boids, pa);
+
+	/* go through rules */
+	switch(state->ruleset_type) {
+		case eBoidRulesetType_Fuzzy:
+		{
+			for(rule = state->rules.first; rule; rule = rule->next) {
+				if(apply_boid_rule(bbd, rule, &val, pa, state->rule_fuzziness))
+					break; /* only first nonzero rule that comes through fuzzy rule is applied */
+			}
+			break;
+		}
+		case eBoidRulesetType_Random:
+		{
+			/* use random rule for each particle (allways same for same particle though) */
+			rule = BLI_findlink(&state->rules, (int)(1000.0f * pa->r_rot[1]) % BLI_countlist(&state->rules));
+
+			apply_boid_rule(bbd, rule, &val, pa, -1.0);
+		}
+		case eBoidRulesetType_Average:
+		{
+			float wanted_co[3] = {0.0f, 0.0f, 0.0f}, wanted_speed = 0.0f;
+			int n = 0;
+			for(rule = state->rules.first; rule; rule=rule->next) {
+				if(apply_boid_rule(bbd, rule, &val, pa, -1.0f)) {
+					VecAddf(wanted_co, wanted_co, bbd->wanted_co);
+					wanted_speed += bbd->wanted_speed;
+					n++;
+					bbd->wanted_co[0]=bbd->wanted_co[1]=bbd->wanted_co[2]=bbd->wanted_speed=0.0f;
+				}
+			}
+
+			if(n > 1) {
+				VecMulf(wanted_co, 1.0f/(float)n);
+				wanted_speed /= (float)n;
+			}
+
+			VECCOPY(bbd->wanted_co, wanted_co);
+			bbd->wanted_speed = wanted_speed;
+			break;
+		}
+
+	}
+
+	/* decide on jumping & liftoff */
+	if(pa->boid->mode == eBoidMode_OnLand) {
+		/* fuzziness makes boids capable of misjudgement */
+		float mul = 1.0 + state->rule_fuzziness;
+		
+		if(boids->options & BOID_ALLOW_FLIGHT && bbd->wanted_co[2] > 0.0f) {
+			float cvel[3], dir[3];
+
+			VECCOPY(dir, pa->prev_state.ave);
+			Normalize2(dir);
+
+			VECCOPY(cvel, bbd->wanted_co);
+			Normalize2(cvel);
+
+			if(Inp2f(cvel, dir) > 0.95 / mul)
+				pa->boid->mode = eBoidMode_Liftoff;
+		}
+		else if(val.jump_speed > 0.0f) {
+			float jump_v[3];
+			int jump = 0;
+
+			/* jump to get to a location */
+			if(bbd->wanted_co[2] > 0.0f) {
+				float cvel[3], dir[3];
+				float z_v, ground_v, cur_v;
+				float len;
+
+				VECCOPY(dir, pa->prev_state.ave);
+				Normalize2(dir);
+
+				VECCOPY(cvel, bbd->wanted_co);
+				Normalize2(cvel);
+
+				len = Vec2Length(pa->prev_state.vel);
+
+				/* first of all, are we going in a suitable direction? */
+				/* or at a suitably slow speed */
+				if(Inp2f(cvel, dir) > 0.95f / mul || len <= state->rule_fuzziness) {
+					/* try to reach goal at highest point of the parabolic path */
+					cur_v = Vec2Length(pa->prev_state.vel);
+					z_v = sasqrt(-2.0f * bbd->part->acc[2] * bbd->wanted_co[2]);
+					ground_v = Vec2Length(bbd->wanted_co)*sasqrt(-0.5f * bbd->part->acc[2] / bbd->wanted_co[2]);
+
+					len = sasqrt((ground_v-cur_v)*(ground_v-cur_v) + z_v*z_v);
+
+					if(len < val.jump_speed * mul || bbd->part->boids->options & BOID_ALLOW_FLIGHT) {
+						jump = 1;
+
+						len = MIN2(len, val.jump_speed);
+
+						VECCOPY(jump_v, dir);
+						jump_v[2] = z_v;
+						VecMulf(jump_v, ground_v);
+
+						Normalize(jump_v);
+						VecMulf(jump_v, len);
+						Vec2Addf(jump_v, jump_v, pa->prev_state.vel);
+					}
+				}
+			}
+
+			/* jump to go faster */
+			if(jump == 0 && val.jump_speed > val.max_speed && bbd->wanted_speed > val.max_speed) {
+				
+			}
+
+			if(jump) {
+				VECCOPY(pa->prev_state.vel, jump_v);
+				pa->boid->mode = eBoidMode_Falling;
+			}
+		}
+	}
+}
+/* tries to realize the wanted velocity taking all constraints into account */
+void boid_body(BoidBrainData *bbd, ParticleData *pa)
+{
+	BoidSettings *boids = bbd->part->boids;
+	BoidValues val;
+	float acc[3] = {0.0f, 0.0f, 0.0f}, tan_acc[3], nor_acc[3];
+	float dvec[3], bvec[3];
+	float new_dir[3], new_speed;
+	float old_dir[3], old_speed;
+	float wanted_dir[3];
+	float q[4], mat[3][3]; /* rotation */
+	float ground_co[3] = {0.0f, 0.0f, 0.0f}, ground_nor[3] = {0.0f, 0.0f, 1.0f};
+	float force[3] = {0.0f, 0.0f, 0.0f}, tvel[3] = {0.0f, 0.0f, 1.0f};
+	float pa_mass=bbd->part->mass, dtime=bbd->dfra*bbd->timestep;
+	int p = pa - bbd->psys->particles;
+
+	set_boid_values(&val, boids, pa);
+
+	/* make sure there's something in new velocity, location & rotation */
+	copy_particle_key(&pa->state,&pa->prev_state,0);
+
+	if(bbd->part->flag & PART_SIZEMASS)
+		pa_mass*=pa->size;
+
+	/* if boids can't fly they fall to the ground */
+	if((boids->options & BOID_ALLOW_FLIGHT)==0 && ELEM(pa->boid->mode, eBoidMode_OnLand, eBoidMode_Climbing)==0 && bbd->part->acc[2] != 0.0f)
+		pa->boid->mode = eBoidMode_Falling;
+
+	if(pa->boid->mode == eBoidMode_Falling) {
+		/* Falling boids are only effected by gravity. */
+		acc[2] = bbd->part->acc[2];
+	}
+	else {
+		/* figure out acceleration */
+		float landing_level = 2.0f;
+		float level = landing_level + 1.0f;
+		float new_vel[3];
+
+		if(pa->boid->mode == eBoidMode_Liftoff) {
+			pa->boid->mode = eBoidMode_InAir;
+			pa->stick_ob = boid_find_ground(bbd, pa, ground_co, ground_nor);
+		}
+		else if(pa->boid->mode == eBoidMode_InAir && boids->options & BOID_ALLOW_LAND) {
+			/* auto-leveling & landing if close to ground */
+
+			pa->stick_ob = boid_find_ground(bbd, pa, ground_co, ground_nor);
+			
+			/* level = how many particle sizes above ground */
+			level = (pa->prev_state.co[2] - ground_co[2])/(2.0f * pa->size) - 0.5;
+
+			landing_level = - boids->landing_smoothness * pa->prev_state.vel[2] * pa_mass;
+
+			if(pa->prev_state.vel[2] < 0.0f) {
+				if(level < 1.0f) {
+					bbd->wanted_co[0] = bbd->wanted_co[1] = bbd->wanted_co[2] = 0.0f;
+					bbd->wanted_speed = 0.0f;
+					pa->boid->mode = eBoidMode_Falling;
+				}
+				else if(level < landing_level) {
+					bbd->wanted_speed *= (level - 1.0f)/landing_level;
+					bbd->wanted_co[2] *= (level - 1.0f)/landing_level;
+				}
+			}
+		}
+
+		VECCOPY(old_dir, pa->prev_state.ave);
+		VECCOPY(wanted_dir, bbd->wanted_co);
+		new_speed = Normalize(wanted_dir);
+
+		/* first check if we have valid direction we want to go towards */
+		if(new_speed == 0.0f) {
+			VECCOPY(new_dir, old_dir);
+		}
+		else {
+			float old_dir2[2], wanted_dir2[2], nor[3], angle;
+			Vec2Copyf(old_dir2, old_dir);
+			Normalize2(old_dir2);
+			Vec2Copyf(wanted_dir2, wanted_dir);
+			Normalize2(wanted_dir2);
+
+			/* choose random direction to turn if wanted velocity */
+			/* is directly behind regardless of z-coordinate */
+			if(Inp2f(old_dir2, wanted_dir2) < -0.99f) {
+				wanted_dir[0] = 2.0f*(0.5f - BLI_frand());
+				wanted_dir[1] = 2.0f*(0.5f - BLI_frand());
+				wanted_dir[2] = 2.0f*(0.5f - BLI_frand());
+				Normalize(wanted_dir);
+			}
+
+			/* constrain direction with maximum angular velocity */
+			angle = saacos(Inpf(old_dir, wanted_dir));
+			angle = MIN2(angle, val.max_ave);
+
+			Crossf(nor, old_dir, wanted_dir);
+			VecRotToQuat(nor, angle, q);
+			VECCOPY(new_dir, old_dir);
+			QuatMulVecf(q, new_dir);
+			Normalize(new_dir);
+
+			/* save direction in case resulting velocity too small */
+			VecRotToQuat(nor, angle*dtime, q);
+			VECCOPY(pa->state.ave, old_dir);
+			QuatMulVecf(q, pa->state.ave);
+			Normalize(pa->state.ave);
+		}
+
+		/* constrain speed with maximum acceleration */
+		old_speed = VecLength(pa->prev_state.vel);
+		
+		if(bbd->wanted_speed < old_speed)
+			new_speed = MAX2(bbd->wanted_speed, old_speed - val.max_acc);
+		else
+			new_speed = MIN2(bbd->wanted_speed, old_speed + val.max_acc);
+
+		/* combine direction and speed */
+		VECCOPY(new_vel, new_dir);
+		VecMulf(new_vel, new_speed);
+
+		/* maintain minimum flying velocity if not landing */
+		if(level >= landing_level) {
+			float len2 = Inp2f(new_vel,new_vel);
+			float root;
+
+			len2 = MAX2(len2, val.min_speed*val.min_speed);
+			root = sasqrt(new_speed*new_speed - len2);
+
+			new_vel[2] = new_vel[2] < 0.0f ? -root : root;
+
+			Normalize2(new_vel);
+			Vec2Mulf(new_vel, sasqrt(len2));
+		}
+
+		/* finally constrain speed to max speed */
+		new_speed = Normalize(new_vel);
+		VecMulf(new_vel, MIN2(new_speed, val.max_speed));
+
+		/* get acceleration from difference of velocities */
+		VecSubf(acc, new_vel, pa->prev_state.vel);
+
+		/* break acceleration to components */
+		Projf(tan_acc, acc, pa->prev_state.ave);
+		VecSubf(nor_acc, acc, tan_acc);
+	}
+
+	/* account for effectors */
+	do_effectors(p, pa, &pa->state, bbd->scene, bbd->ob, bbd->psys, pa->state.co, force, tvel, bbd->dfra, bbd->cfra);
+
+	if(ELEM(pa->boid->mode, eBoidMode_OnLand, eBoidMode_Climbing)) {
+		float length = Normalize(force);
+
+		length = MAX2(0.0f, length - boids->land_stick_force);
+
+		VecMulf(force, length);
+	}
+	
+	VecAddf(acc, acc, force);
+
+	/* store smoothed acceleration for nice banking etc. */
+	VECADDFAC(pa->boid->acc, pa->boid->acc, acc, dtime);
+	VecMulf(pa->boid->acc, 1.0f / (1.0f + dtime));
+
+	/* integrate new location & velocity */
+
+	/* by regarding the acceleration as a force at this stage we*/
+	/* can get better control allthough it's a bit unphysical	*/
+	VecMulf(acc, 1.0f/pa_mass);
+
+	VECCOPY(dvec, acc);
+	VecMulf(dvec, dtime*dtime*0.5f);
+	
+	VECCOPY(bvec, pa->prev_state.vel);
+	VecMulf(bvec, dtime);
+	VecAddf(dvec, dvec, bvec);
+	VecAddf(pa->state.co, pa->state.co, dvec);
+
+	VECADDFAC(pa->state.vel, pa->state.vel, acc, dtime);
+
+	if(pa->boid->mode != eBoidMode_InAir)
+		pa->stick_ob = boid_find_ground(bbd, pa, ground_co, ground_nor);
+
+	/* change modes, constrain movement & keep track of down vector */
+	switch(pa->boid->mode) {
+		case eBoidMode_InAir:
+		{
+			float grav[3] = {0.0f, 0.0f, bbd->part->acc[2] < 0.0f ? -1.0f : 0.0f};
+
+			/* don't take forward acceleration into account (better banking) */
+			if(Inpf(pa->boid->acc, pa->state.vel) > 0.0f) {
+				Projf(dvec, pa->boid->acc, pa->state.vel);
+				VecSubf(dvec, pa->boid->acc, dvec);
+			}
+			else {
+				VECCOPY(dvec, pa->boid->acc);
+			}
+
+			/* gather apparent gravity to r_ve */
+			VECADDFAC(pa->r_ve, grav, dvec, -boids->banking);
+			Normalize(pa->r_ve);
+
+			/* stick boid on goal when close enough */
+			if(bbd->goal_ob && boid_goal_signed_dist(pa->state.co, bbd->goal_co, bbd->goal_nor) <= pa->size * boids->height) {
+				pa->boid->mode = eBoidMode_Climbing;
+				pa->stick_ob = bbd->goal_ob;
+				boid_find_ground(bbd, pa, ground_co, ground_nor);
+				boid_climb(boids, pa, ground_co, ground_nor);
+			}
+			/* land boid when belowg ground */
+			else if(boids->options & BOID_ALLOW_LAND && pa->state.co[2] <= ground_co[2] + pa->size * boids->height) {
+				pa->state.co[2] = ground_co[2] + pa->size * boids->height;
+				pa->state.vel[2] = 0.0f;
+				pa->boid->mode = eBoidMode_OnLand;
+			}
+			break;
+		}
+		case eBoidMode_Falling:
+		{
+			float zvec[3] = {0.0f,0.0f,1.0f};
+			float grav[3] = {0.0f, 0.0f, bbd->part->acc[2] < 0.0f ? -1.0f : 0.0f};
+
+			/* gather apparent gravity to r_ve */
+			VECADDFAC(pa->r_ve, pa->r_ve, grav, dtime);
+			Normalize(pa->r_ve);
+
+			if(boids->options & BOID_ALLOW_LAND) {
+				/* stick boid on goal when close enough */
+				if(bbd->goal_ob && boid_goal_signed_dist(pa->state.co, bbd->goal_co, bbd->goal_nor) <= pa->size * boids->height) {
+					pa->boid->mode = eBoidMode_Climbing;
+					pa->stick_ob = bbd->goal_ob;
+					boid_find_ground(bbd, pa, ground_co, ground_nor);
+					boid_climb(boids, pa, ground_co, ground_nor);
+				}
+				/* land boid when really near ground */
+				else if(pa->state.co[2] <= ground_co[2] + 1.01 * pa->size * boids->height){
+					pa->state.co[2] = ground_co[2] + pa->size * boids->height;
+					pa->state.vel[2] = 0.0f;
+					pa->boid->mode = eBoidMode_OnLand;
+				}
+				/* if we're falling, can fly and want to go upwards lets fly */
+				else if(boids->options & BOID_ALLOW_FLIGHT && bbd->wanted_co[2] > 0.0f)
+					pa->boid->mode = eBoidMode_InAir;
+			}
+			else
+				pa->boid->mode = eBoidMode_InAir;
+			break;
+		}
+		case eBoidMode_Climbing:
+		{
+			boid_climb(boids, pa, ground_co, ground_nor);
+			//float nor[3];
+			//VECCOPY(nor, ground_nor);
+
+			///* gather apparent gravity to r_ve */
+			//VECADDFAC(pa->r_ve, pa->r_ve, ground_nor, -1.0);
+			//Normalize(pa->r_ve);
+
+			///* raise boid it's size from surface */
+			//VecMulf(nor, pa->size * boids->height);
+			//VecAddf(pa->state.co, ground_co, nor);
+
+			///* remove normal component from velocity */
+			//Projf(v, pa->state.vel, ground_nor);
+			//VecSubf(pa->state.vel, pa->state.vel, v);
+			break;
+		}
+		case eBoidMode_OnLand:
+		{
+			/* stick boid on goal when close enough */
+			if(bbd->goal_ob && boid_goal_signed_dist(pa->state.co, bbd->goal_co, bbd->goal_nor) <= pa->size * boids->height) {
+				pa->boid->mode = eBoidMode_Climbing;
+				pa->stick_ob = bbd->goal_ob;
+				boid_find_ground(bbd, pa, ground_co, ground_nor);
+				boid_climb(boids, pa, ground_co, ground_nor);
+			}
+			/* ground is too far away so boid falls */
+			else if(pa->state.co[2]-ground_co[2] > 1.1 * pa->size * boids->height)
+				pa->boid->mode = eBoidMode_Falling;
+			else {
+				/* constrain to surface */
+				pa->state.co[2] = ground_co[2] + pa->size * boids->height;
+				pa->state.vel[2] = 0.0f;
+			}
+
+			if(boids->banking > 0.0f) {
+				float grav[3];
+				/* Don't take gravity's strength in to account, */
+				/* otherwise amount of banking is hard to control. */
+				VECCOPY(grav, ground_nor);
+				VecMulf(grav, -1.0f);
+				
+				Projf(dvec, pa->boid->acc, pa->state.vel);
+				VecSubf(dvec, pa->boid->acc, dvec);
+
+				/* gather apparent gravity to r_ve */
+				VECADDFAC(pa->r_ve, grav, dvec, -boids->banking);
+				Normalize(pa->r_ve);
+			}
+			else {
+				/* gather negative surface normal to r_ve */
+				VECADDFAC(pa->r_ve, pa->r_ve, ground_nor, -1.0f);
+				Normalize(pa->r_ve);
+			}
+			break;
+		}
+	}
+
+	/* save direction to state.ave unless the boid is falling */
+	/* (boids can't effect their direction when falling) */
+	if(pa->boid->mode!=eBoidMode_Falling && VecLength(pa->state.vel) > 0.1*pa->size) {
+		VECCOPY(pa->state.ave, pa->state.vel);
+		Normalize(pa->state.ave);
+	}
+
+	/* apply damping */
+	if(ELEM(pa->boid->mode, eBoidMode_OnLand, eBoidMode_Climbing))
+		VecMulf(pa->state.vel, 1.0f - 0.2f*bbd->part->dampfac);
+
+	/* calculate rotation matrix based on forward & down vectors */
+	if(pa->boid->mode == eBoidMode_InAir) {
+		VECCOPY(mat[0], pa->state.ave);
+
+		Projf(dvec, pa->r_ve, pa->state.ave);
+		VecSubf(mat[2], pa->r_ve, dvec);
+		Normalize(mat[2]);
+	}
+	else {
+		Projf(dvec, pa->state.ave, pa->r_ve);
+		VecSubf(mat[0], pa->state.ave, dvec);
+		Normalize(mat[0]);
+
+		VECCOPY(mat[2], pa->r_ve);
+	}
+	VecMulf(mat[2], -1.0f);
+	Crossf(mat[1], mat[2], mat[0]);
+	
+	/* apply rotation */
+	Mat3ToQuat_is_ok(mat, q);
+	QuatCopy(pa->state.rot, q);
+}
+
+BoidRule *boid_new_rule(int type)
+{
+	BoidRule *rule = NULL;
+	if(type <= 0)
+		return NULL;
+
+	switch(type) {
+		case eBoidRuleType_Goal:
+		case eBoidRuleType_Avoid:
+			rule = MEM_callocN(sizeof(BoidRuleGoalAvoid), "BoidRuleGoalAvoid");
+			break;
+		case eBoidRuleType_AvoidCollision:
+			rule = MEM_callocN(sizeof(BoidRuleAvoidCollision), "BoidRuleAvoidCollision");
+			((BoidRuleAvoidCollision*)rule)->look_ahead = 2.0f;
+			break;
+		case eBoidRuleType_FollowLeader:
+			rule = MEM_callocN(sizeof(BoidRuleFollowLeader), "BoidRuleFollowLeader");
+			((BoidRuleFollowLeader*)rule)->distance = 1.0f;
+			break;
+		case eBoidRuleType_AverageSpeed:
+			rule = MEM_callocN(sizeof(BoidRuleAverageSpeed), "BoidRuleAverageSpeed");
+			((BoidRuleAverageSpeed*)rule)->speed = 0.5f;
+			break;
+		case eBoidRuleType_Fight:
+			rule = MEM_callocN(sizeof(BoidRuleFight), "BoidRuleFight");
+			((BoidRuleFight*)rule)->distance = 100.0f;
+			((BoidRuleFight*)rule)->flee_distance = 100.0f;
+			break;
+		default:
+			rule = MEM_callocN(sizeof(BoidRule), "BoidRule");
+			break;
+	}
+
+	rule->type = type;
+	rule->flag |= BOIDRULE_IN_AIR|BOIDRULE_ON_LAND;
+	strcpy(rule->name, boidrule_type_items[type-1].name);
+
+	return rule;
+}
+void boid_default_settings(BoidSettings *boids)
+{
+	boids->air_max_speed = 10.0f;
+	boids->air_max_acc = 0.5f;
+	boids->air_max_ave = 0.5f;
+	boids->air_personal_space = 1.0f;
+
+	boids->land_max_speed = 5.0f;
+	boids->land_max_acc = 0.5f;
+	boids->land_max_ave = 0.5f;
+	boids->land_personal_space = 1.0f;
+
+	boids->options = BOID_ALLOW_FLIGHT;
+
+	boids->landing_smoothness = 3.0f;
+	boids->banking = 1.0f;
+	boids->height = 1.0f;
+
+	boids->health = 1.0f;
+	boids->accuracy = 1.0f;
+	boids->aggression = 2.0f;
+	boids->range = 1.0f;
+	boids->strength = 0.1f;
+}
+
+BoidState *boid_new_state(BoidSettings *boids)
+{
+	BoidState *state = MEM_callocN(sizeof(BoidState), "BoidState");
+
+	state->id = boids->last_state_id++;
+	if(state->id)
+		sprintf(state->name, "State %i", state->id);
+	else
+		strcpy(state->name, "State");
+
+	state->rule_fuzziness = 0.5;
+	state->volume = 1.0f;
+	state->channels |= ~0;
+
+	return state;
+}
+
+BoidState *boid_duplicate_state(BoidSettings *boids, BoidState *state) {
+	BoidState *staten = MEM_dupallocN(state);
+
+	BLI_duplicatelist(&staten->rules, &state->rules);
+	BLI_duplicatelist(&staten->conditions, &state->conditions);
+	BLI_duplicatelist(&staten->actions, &state->actions);
+
+	staten->id = boids->last_state_id++;
+
+	return staten;
+}
+void boid_free_settings(BoidSettings *boids)
+{
+	if(boids) {
+		BoidState *state = boids->states.first;
+
+		for(; state; state=state->next) {
+			BLI_freelistN(&state->rules);
+			BLI_freelistN(&state->conditions);
+			BLI_freelistN(&state->actions);
+		}
+
+		BLI_freelistN(&boids->states);
+
+		MEM_freeN(boids);
+	}
+}
+BoidSettings *boid_copy_settings(BoidSettings *boids)
+{
+	BoidSettings *nboids = NULL;
+
+	if(boids) {
+		BoidState *state;
+		BoidState *nstate;
+
+		nboids = MEM_dupallocN(boids);
+
+		BLI_duplicatelist(&nboids->states, &boids->states);
+
+		state = boids->states.first;
+		nstate = nboids->states.first;
+		for(; state; state=state->next, nstate=nstate->next) {
+			BLI_duplicatelist(&nstate->rules, &state->rules);
+			BLI_duplicatelist(&nstate->conditions, &state->conditions);
+			BLI_duplicatelist(&nstate->actions, &state->actions);
+		}
+	}
+
+	return nboids;
+}
+BoidState *boid_get_current_state(BoidSettings *boids)
+{
+	BoidState *state = boids->states.first;
+
+	for(; state; state=state->next) {
+		if(state->flag & BOIDSTATE_CURRENT)
+			break;
+	}
+
+	return state;
+}
\ No newline at end of file
diff --git a/source/blender/blenkernel/intern/depsgraph.c b/source/blender/blenkernel/intern/depsgraph.c
index f52eec34cc7..7e6a652da6b 100644
--- a/source/blender/blenkernel/intern/depsgraph.c
+++ b/source/blender/blenkernel/intern/depsgraph.c
@@ -39,6 +39,7 @@
 #include "DNA_anim_types.h"
 #include "DNA_action_types.h"
 #include "DNA_armature_types.h"
+#include "DNA_boid_types.h"
 #include "DNA_curve_types.h"
 #include "DNA_camera_types.h"
 #include "DNA_ID.h"
@@ -555,6 +556,8 @@ static void build_dag_object(DagForest *dag, DagNode *scenenode, Scene *scene, O
 		GroupObject *go;
 
 		for(; psys; psys=psys->next) {
+			BoidRule *rule = NULL;
+			BoidState *state = NULL;
 			ParticleSettings *part= psys->part;
 
 			dag_add_relation(dag, node, node, DAG_RL_OB_DATA, "Particle-Object Relation");
@@ -562,16 +565,14 @@ static void build_dag_object(DagForest *dag, DagNode *scenenode, Scene *scene, O
 			if(!psys_check_enabled(ob, psys))
 				continue;
 
-			if(part->phystype==PART_PHYS_KEYED) {
-				KeyedParticleTarget *kpt = psys->keyed_targets.first;
+			if(ELEM(part->phystype,PART_PHYS_KEYED,PART_PHYS_BOIDS)) {
+				ParticleTarget *pt = psys->targets.first;
 
-				for(; kpt; kpt=kpt->next) {
-					if(kpt->ob && BLI_findlink(&kpt->ob->particlesystem, kpt->psys-1)) {
-						node2 = dag_get_node(dag, kpt->ob);
-						dag_add_relation(dag, node2, node, DAG_RL_DATA_DATA|DAG_RL_OB_DATA, "Particle Keyed Physics");
+				for(; pt; pt=pt->next) {
+					if(pt->ob && BLI_findlink(&pt->ob->particlesystem, pt->psys-1)) {
+						node2 = dag_get_node(dag, pt->ob);
+						dag_add_relation(dag, node2, node, DAG_RL_DATA_DATA|DAG_RL_OB_DATA, "Particle Targets");
 					}
-					else
-						break;
 			   }
 			}
 
@@ -589,33 +590,47 @@ static void build_dag_object(DagForest *dag, DagNode *scenenode, Scene *scene, O
 				}
 			}
 
-			if(psys->effectors.first)
-				psys_end_effectors(psys);
+			psys_end_effectors(psys);
 			psys_init_effectors(scene, ob, psys->part->eff_group, psys);
 
-			if(psys->effectors.first) {
-				for(nec= psys->effectors.first; nec; nec= nec->next) {
-					Object *ob1= nec->ob;
+			for(nec= psys->effectors.first; nec; nec= nec->next) {
+				Object *ob1= nec->ob;
 
-					if(nec->type & PSYS_EC_EFFECTOR) {
-						node2 = dag_get_node(dag, ob1);
-						if(ob1->pd->forcefield==PFIELD_GUIDE)
-							dag_add_relation(dag, node2, node, DAG_RL_DATA_DATA|DAG_RL_OB_DATA, "Particle Field");
-						else
-							dag_add_relation(dag, node2, node, DAG_RL_OB_DATA, "Particle Field");
-					}
-					else if(nec->type & PSYS_EC_DEFLECT) {
-						node2 = dag_get_node(dag, ob1);
-						dag_add_relation(dag, node2, node, DAG_RL_DATA_DATA|DAG_RL_OB_DATA, "Particle Collision");
-					}
-					else if(nec->type & PSYS_EC_PARTICLE) {
-						node2 = dag_get_node(dag, ob1);
-						dag_add_relation(dag, node2, node, DAG_RL_DATA_DATA, "Particle Field");
-					}
-					
-					if(nec->type & PSYS_EC_REACTOR) {
-						node2 = dag_get_node(dag, ob1);
-						dag_add_relation(dag, node, node2, DAG_RL_DATA_DATA, "Particle Reactor");
+				if(nec->type & PSYS_EC_EFFECTOR) {
+					node2 = dag_get_node(dag, ob1);
+					if(ob1->pd->forcefield==PFIELD_GUIDE)
+						dag_add_relation(dag, node2, node, DAG_RL_DATA_DATA|DAG_RL_OB_DATA, "Particle Field");
+					else
+						dag_add_relation(dag, node2, node, DAG_RL_OB_DATA, "Particle Field");
+				}
+				else if(nec->type & PSYS_EC_DEFLECT) {
+					node2 = dag_get_node(dag, ob1);
+					dag_add_relation(dag, node2, node, DAG_RL_DATA_DATA|DAG_RL_OB_DATA, "Particle Collision");
+				}
+				else if(nec->type & PSYS_EC_PARTICLE) {
+					node2 = dag_get_node(dag, ob1);
+					dag_add_relation(dag, node2, node, DAG_RL_DATA_DATA, "Particle Field");
+				}
+				
+				if(nec->type & PSYS_EC_REACTOR) {
+					node2 = dag_get_node(dag, ob1);
+					dag_add_relation(dag, node, node2, DAG_RL_DATA_DATA, "Particle Reactor");
+				}
+			}
+
+			if(part->boids) {
+				for(state = part->boids->states.first; state; state=state->next) {
+					for(rule = state->rules.first; rule; rule=rule->next) {
+						Object *ruleob = NULL;
+						if(rule->type==eBoidRuleType_Avoid)
+							ruleob = ((BoidRuleGoalAvoid*)rule)->ob;
+						else if(rule->type==eBoidRuleType_FollowLeader)
+							ruleob = ((BoidRuleFollowLeader*)rule)->ob;
+
+						if(ruleob) {
+							node2 = dag_get_node(dag, ruleob);
+							dag_add_relation(dag, node2, node, DAG_RL_OB_DATA, "Boid Rule");
+						}
 					}
 				}
 			}
@@ -2070,7 +2085,6 @@ static void dag_object_time_update_flags(Object *ob)
 		}
 	}		
 }
-
 /* flag all objects that need recalc, for changes in time for example */
 void DAG_scene_update_flags(Scene *scene, unsigned int lay)
 {
diff --git a/source/blender/blenkernel/intern/effect.c b/source/blender/blenkernel/intern/effect.c
index 7951fcf1d3e..e3c4f12184e 100644
--- a/source/blender/blenkernel/intern/effect.c
+++ b/source/blender/blenkernel/intern/effect.c
@@ -505,6 +505,9 @@ void do_physical_effector(Scene *scene, Object *ob, float *opco, short type, flo
 			VecAddf(field,field,mag_vec);
 			break;
 		}
+		case PFIELD_BOID:
+			/* Boid field is handled completely in boids code. */
+			break;
 	}
 }
 
diff --git a/source/blender/blenkernel/intern/modifier.c b/source/blender/blenkernel/intern/modifier.c
index 948d02f2a80..c129e8ed99b 100644
--- a/source/blender/blenkernel/intern/modifier.c
+++ b/source/blender/blenkernel/intern/modifier.c
@@ -6113,9 +6113,14 @@ static void surfaceModifier_freeData(ModifierData *md)
 			MEM_freeN(surmd->bvhtree);
 		}
 
-		if(surmd->dm)
-			surmd->dm->release(surmd->dm);
+		surmd->dm->release(surmd->dm);
+
+		if(surmd->x)
+			MEM_freeN(surmd->x);
 		
+		if(surmd->v)
+			MEM_freeN(surmd->v);
+
 		surmd->bvhtree = NULL;
 		surmd->dm = NULL;
 	}
@@ -6128,7 +6133,7 @@ static int surfaceModifier_dependsOnTime(ModifierData *md)
 
 static void surfaceModifier_deformVerts(
 					  ModifierData *md, Object *ob, DerivedMesh *derivedData,
-       float (*vertexCos)[3], int numVerts, int useRenderParams, int isFinalCalc)
+	    float (*vertexCos)[3], int numVerts, int useRenderParams, int isFinalCalc)
 {
 	SurfaceModifierData *surmd = (SurfaceModifierData*) md;
 	unsigned int numverts = 0, i = 0;
@@ -6148,14 +6153,47 @@ static void surfaceModifier_deformVerts(
 	
 	if(surmd->dm)
 	{
+		int init = 0;
+		float *vec;
+		MVert *x, *v;
+
 		CDDM_apply_vert_coords(surmd->dm, vertexCos);
 		CDDM_calc_normals(surmd->dm);
 		
 		numverts = surmd->dm->getNumVerts ( surmd->dm );
 
-		/* convert to global coordinates */
-		for(i = 0; i<numverts; i++)
-			Mat4MulVecfl(ob->obmat, CDDM_get_vert(surmd->dm, i)->co);
+		if(numverts != surmd->numverts || surmd->x == NULL || surmd->v == NULL || md->scene->r.cfra != surmd->cfra+1) {
+			if(surmd->x) {
+				MEM_freeN(surmd->x);
+				surmd->x = NULL;
+			}
+			if(surmd->v) {
+				MEM_freeN(surmd->v);
+				surmd->v = NULL;
+			}
+
+			surmd->x = MEM_callocN(numverts * sizeof(MVert), "MVert");
+			surmd->v = MEM_callocN(numverts * sizeof(MVert), "MVert");
+
+			surmd->numverts = numverts;
+
+			init = 1;
+		}
+
+		/* convert to global coordinates and calculate velocity */
+		for(i = 0, x = surmd->x, v = surmd->v; i<numverts; i++, x++, v++) {
+			vec = CDDM_get_vert(surmd->dm, i)->co;
+			Mat4MulVecfl(ob->obmat, vec);
+
+			if(init)
+				v->co[0] = v->co[1] = v->co[2] = 0.0f;
+			else
+				VecSubf(v->co, vec, x->co);
+			
+			VecCopyf(x->co, vec);
+		}
+
+		surmd->cfra = md->scene->r.cfra;
 
 		if(surmd->bvhtree)
 			free_bvhtree_from_mesh(surmd->bvhtree);
diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c
index 65043abe518..60b34bf0783 100644
--- a/source/blender/blenkernel/intern/object.c
+++ b/source/blender/blenkernel/intern/object.c
@@ -42,6 +42,7 @@
 #include "DNA_anim_types.h"
 #include "DNA_action_types.h"
 #include "DNA_armature_types.h"
+#include "DNA_boid_types.h"
 #include "DNA_camera_types.h"
 #include "DNA_constraint_types.h"
 #include "DNA_curve_types.h"
@@ -429,11 +430,13 @@ void unlink_object(Scene *scene, Object *ob)
 		if(obt->particlesystem.first) {
 			ParticleSystem *tpsys= obt->particlesystem.first;
 			for(; tpsys; tpsys=tpsys->next) {
-				KeyedParticleTarget *kpt = tpsys->keyed_targets.first;
-				for(; kpt; kpt=kpt->next) {
-					if(kpt->ob==ob) {
-						BLI_remlink(&tpsys->keyed_targets, kpt);
-						MEM_freeN(kpt);
+				BoidState *state = NULL;
+				BoidRule *rule = NULL;
+
+				ParticleTarget *pt = tpsys->targets.first;
+				for(; pt; pt=pt->next) {
+					if(pt->ob==ob) {
+						pt->ob = NULL;
 						obt->recalc |= OB_RECALC_DATA;
 						break;
 					}
@@ -458,6 +461,22 @@ void unlink_object(Scene *scene, Object *ob)
 						}
 					}
 				}
+				if(tpsys->part->boids) {
+					for(state = tpsys->part->boids->states.first; state; state=state->next) {
+						for(rule = state->rules.first; rule; rule=rule->next) {
+							if(rule->type==eBoidRuleType_Avoid) {
+								BoidRuleGoalAvoid *gabr = (BoidRuleGoalAvoid*)rule;
+								if(gabr->ob==ob)
+									gabr->ob= NULL;
+							}
+							else if(rule->type==eBoidRuleType_FollowLeader) {
+								BoidRuleFollowLeader *flbr = (BoidRuleFollowLeader*)rule;
+								if(flbr->ob==ob)
+									flbr->ob= NULL;
+							}
+						}
+					}
+				}
 			}
 			if(ob->pd)
 				obt->recalc |= OB_RECALC_DATA;
@@ -1063,8 +1082,14 @@ ParticleSystem *copy_particlesystem(ParticleSystem *psys)
 		psysn->soft->particles = psysn;
 	}
 
-	if(psys->keyed_targets.first)
-		BLI_duplicatelist(&psysn->keyed_targets, &psys->keyed_targets);
+	if(psys->particles->boid) {
+		psysn->particles->boid = MEM_dupallocN(psys->particles->boid);
+		for(a=1, pa=psysn->particles+1; a<psysn->totpart; a++, pa++)
+			pa->boid = (pa-1)->boid + 1;
+	}
+
+	if(psys->targets.first)
+		BLI_duplicatelist(&psysn->targets, &psys->targets);
 	
 	psysn->pathcache= NULL;
 	psysn->childcache= NULL;
@@ -2369,10 +2394,17 @@ void object_handle_update(Scene *scene, Object *ob)
 			if(ob->particlesystem.first) {
 				ParticleSystem *tpsys, *psys;
 				DerivedMesh *dm;
+				ob->transflag &= ~OB_DUPLIPARTS;
 				
 				psys= ob->particlesystem.first;
 				while(psys) {
 					if(psys_check_enabled(ob, psys)) {
+						/* check use of dupli objects here */
+						if(psys->part && psys->part->draw_as == PART_DRAW_REND &&
+							((psys->part->ren_as == PART_DRAW_OB && psys->part->dup_ob)
+							|| (psys->part->ren_as == PART_DRAW_GR && psys->part->dup_group)))
+							ob->transflag |= OB_DUPLIPARTS;
+
 						particle_system_update(scene, ob, psys);
 						psys= psys->next;
 					}
diff --git a/source/blender/blenkernel/intern/particle.c b/source/blender/blenkernel/intern/particle.c
index da14ac46550..6e8f9ee213c 100644
--- a/source/blender/blenkernel/intern/particle.c
+++ b/source/blender/blenkernel/intern/particle.c
@@ -36,6 +36,7 @@
 #include "MEM_guardedalloc.h"
 
 #include "DNA_scene_types.h"
+#include "DNA_boid_types.h"
 #include "DNA_particle_types.h"
 #include "DNA_mesh_types.h"
 #include "DNA_meshdata_types.h"
@@ -58,6 +59,7 @@
 
 #include "BKE_anim.h"
 
+#include "BKE_boids.h"
 #include "BKE_global.h"
 #include "BKE_main.h"
 #include "BKE_lattice.h"
@@ -355,10 +357,13 @@ void psys_free_settings(ParticleSettings *part)
 		MEM_freeN(part->pd);
 		part->pd = NULL;
 	}
+	
 	if(part->pd2) {
 		MEM_freeN(part->pd2);
 		part->pd2 = NULL;
 	}
+
+	boid_free_settings(part->boids);
 }
 
 void free_hair(ParticleSystem *psys, int softbody)
@@ -439,6 +444,9 @@ void psys_free(Object *ob, ParticleSystem * psys)
 			psys->free_edit(psys);
 
 		if(psys->particles){
+			if(psys->particles->boid)
+				MEM_freeN(psys->particles->boid);
+
 			MEM_freeN(psys->particles);
 			psys->particles = 0;
 			psys->totpart = 0;
@@ -479,8 +487,10 @@ void psys_free(Object *ob, ParticleSystem * psys)
 		if(psys->pointcache)
 			BKE_ptcache_free(psys->pointcache);
 		
-		if(psys->keyed_targets.first)
-			BLI_freelistN(&psys->keyed_targets);
+		if(psys->targets.first)
+			BLI_freelistN(&psys->targets);
+
+		BLI_kdtree_free(psys->tree);
 
 		MEM_freeN(psys);
 	}
@@ -1043,21 +1053,21 @@ static void do_particle_interpolation(ParticleSystem *psys, int p, ParticleData
 			real_t = pind->kkey[0]->time + t * (pind->kkey[0][pa->totkey-1].time - pind->kkey[0]->time);
 
 		if(psys->part->phystype==PART_PHYS_KEYED && psys->flag & PSYS_KEYED_TIMING) {
-			KeyedParticleTarget *kpt = psys->keyed_targets.first;
+			ParticleTarget *pt = psys->targets.first;
 
-			kpt=kpt->next;
+			pt=pt->next;
 
-			while(kpt && pa->time + kpt->time < real_t)
-				kpt= kpt->next;
+			while(pt && pa->time + pt->time < real_t)
+				pt= pt->next;
 
-			if(kpt) {
-				kpt=kpt->prev;
+			if(pt) {
+				pt=pt->prev;
 
-				if(pa->time + kpt->time + kpt->duration > real_t)
-					real_t = pa->time + kpt->time;
+				if(pa->time + pt->time + pt->duration > real_t)
+					real_t = pa->time + pt->time;
 			}
 			else
-				real_t = pa->time + ((KeyedParticleTarget*)psys->keyed_targets.last)->time;
+				real_t = pa->time + ((ParticleTarget*)psys->targets.last)->time;
 		}
 
 		CLAMP(real_t, pa->time, pa->dietime);
@@ -3028,7 +3038,12 @@ void object_add_particle_system(Scene *scene, Object *ob)
 	psys->pointcache = BKE_ptcache_add();
 	BLI_addtail(&ob->particlesystem, psys);
 
-	psys->part = psys_new_settings("PSys", NULL);
+	psys->part = psys_new_settings("ParticleSettings", NULL);
+
+	if(BLI_countlist(&ob->particlesystem)>1)
+		sprintf(psys->name, "ParticleSystem %i", BLI_countlist(&ob->particlesystem));
+	else
+		strcpy(psys->name, "ParticleSystem");
 
 	md= modifier_new(eModifierType_ParticleSystem);
 	sprintf(md->name, "ParticleSystem %i", BLI_countlist(&ob->particlesystem));
@@ -3099,14 +3114,8 @@ static void default_particle_settings(ParticleSettings *part)
 	part->reactevent= PART_EVENT_DEATH;
 	part->disp=100;
 	part->from= PART_FROM_FACE;
-	part->nbetween= 4;
-	part->boidneighbours= 5;
 
 	part->normfac= 1.0f;
-	part->max_vel = 10.0f;
-	part->average_vel = 0.3f;
-	part->max_tan_acc = 0.2f;
-	part->max_lat_acc = 1.0f;
 
 	part->reactshape=1.0f;
 
@@ -3136,13 +3145,9 @@ static void default_particle_settings(ParticleSettings *part)
 
 	part->keyed_loops = 1;
 
-	part->banking=1.0;
-	part->max_bank=1.0;
+	for(i=0; i<10; i++)
+		part->effector_weight[i]=1.0f;
 
-	for(i=0; i<BOID_TOT_RULES; i++){
-		part->boidrule[i]=(char)i;
-		part->boidfac[i]=0.5;
-	}
 
 #if 0 // XXX old animation system
 	part->ipo = NULL;
@@ -3176,6 +3181,8 @@ ParticleSettings *psys_copy_settings(ParticleSettings *part)
 	partn= copy_libblock(part);
 	if(partn->pd) partn->pd= MEM_dupallocN(part->pd);
 	if(partn->pd2) partn->pd2= MEM_dupallocN(part->pd2);
+
+	partn->boids = boid_copy_settings(part->boids);
 	
 	return partn;
 }
diff --git a/source/blender/blenkernel/intern/particle_system.c b/source/blender/blenkernel/intern/particle_system.c
index 56ca3e8e22b..b792564f50c 100644
--- a/source/blender/blenkernel/intern/particle_system.c
+++ b/source/blender/blenkernel/intern/particle_system.c
@@ -37,6 +37,7 @@
 
 #include "MEM_guardedalloc.h"
 
+#include "DNA_boid_types.h"
 #include "DNA_particle_types.h"
 #include "DNA_mesh_types.h"
 #include "DNA_meshdata_types.h"
@@ -49,6 +50,7 @@
 #include "DNA_scene_types.h"
 #include "DNA_texture_types.h"
 #include "DNA_ipo_types.h" // XXX old animation system stuff... to be removed!
+#include "DNA_listBase.h"
 
 #include "BLI_rand.h"
 #include "BLI_jitter.h"
@@ -60,6 +62,7 @@
 #include "BLI_threads.h"
 
 #include "BKE_anim.h"
+#include "BKE_boids.h"
 #include "BKE_cdderivedmesh.h"
 #include "BKE_collision.h"
 #include "BKE_displist.h"
@@ -172,6 +175,7 @@ void psys_reset(ParticleSystem *psys, int mode)
 static void realloc_particles(Object *ob, ParticleSystem *psys, int new_totpart)
 {
 	ParticleData *newpars = 0, *pa;
+	BoidData *newboids = 0;
 	int i, totpart, totsaved = 0;
 
 	if(new_totpart<0) {
@@ -185,22 +189,34 @@ static void realloc_particles(Object *ob, ParticleSystem *psys, int new_totpart)
 	else
 		totpart=new_totpart;
 
-	if(totpart)
+	if(totpart) {
 		newpars= MEM_callocN(totpart*sizeof(ParticleData), "particles");
+
+		if(psys->part->phystype == PART_PHYS_BOIDS)
+			newboids = MEM_callocN(totpart*sizeof(BoidData), "Boid Data");
+	}
 	if(psys->particles) {
 		totsaved=MIN2(psys->totpart,totpart);
 		/*save old pars*/
-		if(totsaved)
+		if(totsaved) {
 			memcpy(newpars,psys->particles,totsaved*sizeof(ParticleData));
 
+			if(newboids)
+				memcpy(newboids, psys->particles->boid, totsaved*sizeof(BoidData));
+		}
+
 		if(psys->particles->keys)
 			MEM_freeN(psys->particles->keys);
 
-		for(i=0, pa=newpars; i<totsaved; i++, pa++)
+		if(psys->particles->boid)
+			MEM_freeN(psys->particles->boid);
+
+		for(i=0, pa=newpars; i<totsaved; i++, pa++) {
 			if(pa->keys) {
 				pa->keys= NULL;
 				pa->totkey= 0;
 			}
+		}
 
 		for(i=totsaved, pa=psys->particles+totsaved; i<psys->totpart; i++, pa++)
 			if(pa->hair) MEM_freeN(pa->hair);
@@ -209,6 +225,13 @@ static void realloc_particles(Object *ob, ParticleSystem *psys, int new_totpart)
 	}
 	psys->particles=newpars;
 
+	if(newboids) {
+		pa = psys->particles;
+		pa->boid = newboids;
+		for(i=1, pa++; i<totpart; i++,pa++)
+			pa->boid = (pa-1)->boid + 1;
+	}
+
 	if(psys->child) {
 		MEM_freeN(psys->child);
 		psys->child=0;
@@ -1607,12 +1630,15 @@ void initialize_particle(ParticleData *pa, int p, Object *ob, ParticleSystem *ps
 	rand= BLI_frand();
 
 	/* while loops are to have a spherical distribution (avoid cubic distribution) */
-	length=2.0f;
-	while(length>1.0){
-		pa->r_ve[0]=2.0f*(BLI_frand()-0.5f);
-		pa->r_ve[1]=2.0f*(BLI_frand()-0.5f);
-		pa->r_ve[2]=2.0f*(BLI_frand()-0.5f);
-		length=VecLength(pa->r_ve);
+	if(part->phystype != PART_PHYS_BOIDS) {
+		/* boids store gravity in r_ve, so skip here */
+		length=2.0f;
+		while(length>1.0){
+			pa->r_ve[0]=2.0f*(BLI_frand()-0.5f);
+			pa->r_ve[1]=2.0f*(BLI_frand()-0.5f);
+			pa->r_ve[2]=2.0f*(BLI_frand()-0.5f);
+			length=VecLength(pa->r_ve);
+		}
 	}
 
 	length=2.0f;
@@ -1828,122 +1854,164 @@ void reset_particle(Scene *scene, ParticleData *pa, ParticleSystem *psys, Partic
 			QuatMul(r_rot,r_rot,rot);
 		}
 	}
-	/* conversion done so now we apply new:	*/
-	/* -velocity from:						*/
 
-	/*		*reactions						*/
-	if(dtime>0.0f){
-		VECSUB(vel,pa->state.vel,pa->prev_state.vel);
-	}
+	if(part->phystype==PART_PHYS_BOIDS) {
+		float dvec[3], q[4], mat[3][3];
+
+		VECCOPY(pa->state.co,loc);
+
+		/* boids don't get any initial velocity  */
+		pa->state.vel[0]=pa->state.vel[1]=pa->state.vel[2]=0.0f;
+
+		/* boids store direction in ave */
+		if(fabs(nor[2])==1.0f) {
+			VecSubf(pa->state.ave, loc, ob->obmat[3]);
+			Normalize(pa->state.ave);
+		}
+		else {
+			VECCOPY(pa->state.ave, nor);
+		}
+		/* and gravity in r_ve */
+		pa->r_ve[0] = pa->r_ve[1] = 0.0f;
+		pa->r_ve[2] = -1.0f;
+		if(part->acc[2]!=0.0f)
+			pa->r_ve[2] = part->acc[2];
+
+		/* calculate rotation matrix */
+		Projf(dvec, pa->r_ve, pa->state.ave);
+		VecSubf(mat[0], pa->state.ave, dvec);
+		Normalize(mat[0]);
+		VECCOPY(mat[2], pa->r_ve);
+		VecMulf(mat[2], -1.0f);
+		Normalize(mat[2]);
+		Crossf(mat[1], mat[2], mat[0]);
+		
+		/* apply rotation */
+		Mat3ToQuat_is_ok(mat, q);
+		QuatCopy(pa->state.rot, q);
 
-	/*		*emitter velocity				*/
-	if(dtime!=0.0 && part->obfac!=0.0){
-		VECSUB(vel,loc,pa->state.co);
-		VecMulf(vel,part->obfac/dtime);
+		pa->boid->health = part->boids->health;
+		pa->boid->mode = eBoidMode_InAir;
+		pa->boid->state_id = ((BoidState*)part->boids->states.first)->id;
+		pa->boid->acc[0]=pa->boid->acc[1]=pa->boid->acc[2]=0.0f;
 	}
-	
-	/*		*emitter normal					*/
-	if(part->normfac!=0.0)
-		VECADDFAC(vel,vel,nor,part->normfac);
-	
-	/*		*emitter tangent				*/
-	if(part->tanfac!=0.0)
-		VECADDFAC(vel,vel,vtan,part->tanfac*(vg_tan?psys_particle_value_from_verts(psmd->dm,part->from,pa,vg_tan):1.0f));
+	else {
+		/* conversion done so now we apply new:	*/
+		/* -velocity from:						*/
 
-	/*		*texture						*/
-	/* TODO	*/
+		/*		*reactions						*/
+		if(dtime>0.0f){
+			VECSUB(vel,pa->state.vel,pa->prev_state.vel);
+		}
 
-	/*		*random							*/
-	if(part->randfac!=0.0)
-		VECADDFAC(vel,vel,r_vel,part->randfac);
+		/*		*emitter velocity				*/
+		if(dtime!=0.0 && part->obfac!=0.0){
+			VECSUB(vel,loc,pa->state.co);
+			VecMulf(vel,part->obfac/dtime);
+		}
+		
+		/*		*emitter normal					*/
+		if(part->normfac!=0.0)
+			VECADDFAC(vel,vel,nor,part->normfac);
+		
+		/*		*emitter tangent				*/
+		if(psmd && part->tanfac!=0.0)
+			VECADDFAC(vel,vel,vtan,part->tanfac*(vg_tan?psys_particle_value_from_verts(psmd->dm,part->from,pa,vg_tan):1.0f));
 
-	/*		*particle						*/
-	if(part->partfac!=0.0)
-		VECADDFAC(vel,vel,p_vel,part->partfac);
+		/*		*texture						*/
+		/* TODO	*/
 
-#if 0 // XXX old animation system
-	icu=find_ipocurve(psys->part->ipo,PART_EMIT_VEL);
-	if(icu){
-		calc_icu(icu,100*((pa->time-part->sta)/(part->end-part->sta)));
-		ptex.ivel*=icu->curval;
-	}
-#endif // XXX old animation system
+		/*		*random							*/
+		if(part->randfac!=0.0)
+			VECADDFAC(vel,vel,r_vel,part->randfac);
 
-	VecMulf(vel,ptex.ivel);
-	
-	VECCOPY(pa->state.vel,vel);
+		/*		*particle						*/
+		if(part->partfac!=0.0)
+			VECADDFAC(vel,vel,p_vel,part->partfac);
 
-	/* -location from emitter				*/
-	VECCOPY(pa->state.co,loc);
+		//icu=find_ipocurve(psys->part->ipo,PART_EMIT_VEL);
+		//if(icu){
+		//	calc_icu(icu,100*((pa->time-part->sta)/(part->end-part->sta)));
+		//	ptex.ivel*=icu->curval;
+		//}
 
-	/* -rotation							*/
-	pa->state.rot[0]=1.0;
-	pa->state.rot[1]=pa->state.rot[2]=pa->state.rot[3]=0.0;
+		VecMulf(vel,ptex.ivel);
 
-	if(part->rotmode){
-		/* create vector into which rotation is aligned */
-		switch(part->rotmode){
-			case PART_ROT_NOR:
-				VecCopyf(rot_vec, nor);
-				break;
-			case PART_ROT_VEL:
-				VecCopyf(rot_vec, vel);
-				break;
-			case PART_ROT_GLOB_X:
-			case PART_ROT_GLOB_Y:
-			case PART_ROT_GLOB_Z:
-				rot_vec[part->rotmode - PART_ROT_GLOB_X] = 1.0f;
-				break;
-			case PART_ROT_OB_X:
-			case PART_ROT_OB_Y:
-			case PART_ROT_OB_Z:
-				VecCopyf(rot_vec, ob->obmat[part->rotmode - PART_ROT_OB_X]);
-				break;
-		}
+		//if(ELEM(part->phystype, PART_PHYS_GRADU_EX, PART_PHYS_GRADU_SIM))
+		//	VecAddf(vel,vel,part->acc);
 		
-		/* create rotation quat */
-		VecNegf(rot_vec);
-		vectoquat(rot_vec, OB_POSX, OB_POSZ, q2);
+		VECCOPY(pa->state.vel,vel);
 
-		/* randomize rotation quat */
-		if(part->randrotfac!=0.0f)
-			QuatInterpol(rot, q2, r_rot, part->randrotfac);
-		else
-			QuatCopy(rot,q2);
-
-		/* rotation phase */
-		phasefac = part->phasefac;
-		if(part->randphasefac != 0.0f) /* abuse r_ave[0] as a random number */
-			phasefac += part->randphasefac * pa->r_ave[0];
-		VecRotToQuat(x_vec, phasefac*(float)M_PI, q_phase);
+		/* -location from emitter				*/
+		VECCOPY(pa->state.co,loc);
 
-		/* combine base rotation & phase */
-		QuatMul(pa->state.rot, rot, q_phase);
-	}
+		/* -rotation							*/
+		pa->state.rot[0]=1.0;
+		pa->state.rot[1]=pa->state.rot[2]=pa->state.rot[3]=0.0;
+
+		if(part->rotmode){
+			/* create vector into which rotation is aligned */
+			switch(part->rotmode){
+				case PART_ROT_NOR:
+					VecCopyf(rot_vec, nor);
+					break;
+				case PART_ROT_VEL:
+					VecCopyf(rot_vec, vel);
+					break;
+				case PART_ROT_GLOB_X:
+				case PART_ROT_GLOB_Y:
+				case PART_ROT_GLOB_Z:
+					rot_vec[part->rotmode - PART_ROT_GLOB_X] = 1.0f;
+					break;
+				case PART_ROT_OB_X:
+				case PART_ROT_OB_Y:
+				case PART_ROT_OB_Z:
+					VecCopyf(rot_vec, ob->obmat[part->rotmode - PART_ROT_OB_X]);
+					break;
+			}
+			
+			/* create rotation quat */
+			VecNegf(rot_vec);
+			vectoquat(rot_vec, OB_POSX, OB_POSZ, q2);
 
-	/* -angular velocity					*/
+			/* randomize rotation quat */
+			if(part->randrotfac!=0.0f)
+				QuatInterpol(rot, q2, r_rot, part->randrotfac);
+			else
+				QuatCopy(rot,q2);
 
-	pa->state.ave[0] = pa->state.ave[1] = pa->state.ave[2] = 0.0;
+			/* rotation phase */
+			phasefac = part->phasefac;
+			if(part->randphasefac != 0.0f) /* abuse r_ave[0] as a random number */
+				phasefac += part->randphasefac * pa->r_ave[0];
+			VecRotToQuat(x_vec, phasefac*(float)M_PI, q_phase);
 
-	if(part->avemode){
-		switch(part->avemode){
-			case PART_AVE_SPIN:
-				VECCOPY(pa->state.ave,vel);
-				break;
-			case PART_AVE_RAND:
-				VECCOPY(pa->state.ave,r_ave);
-				break;
+			/* combine base rotation & phase */
+			QuatMul(pa->state.rot, rot, q_phase);
 		}
-		Normalize(pa->state.ave);
-		VecMulf(pa->state.ave,part->avefac);
 
-#if 0 // XXX old animation system
-		icu=find_ipocurve(psys->part->ipo,PART_EMIT_AVE);
-		if(icu){
-			calc_icu(icu,100*((pa->time-part->sta)/(part->end-part->sta)));
-			VecMulf(pa->state.ave,icu->curval);
+		/* -angular velocity					*/
+
+		pa->state.ave[0] = pa->state.ave[1] = pa->state.ave[2] = 0.0;
+
+		if(part->avemode){
+			switch(part->avemode){
+				case PART_AVE_SPIN:
+					VECCOPY(pa->state.ave,vel);
+					break;
+				case PART_AVE_RAND:
+					VECCOPY(pa->state.ave,r_ave);
+					break;
+			}
+			Normalize(pa->state.ave);
+			VecMulf(pa->state.ave,part->avefac);
+
+			//icu=find_ipocurve(psys->part->ipo,PART_EMIT_AVE);
+			//if(icu){
+			//	calc_icu(icu,100*((pa->time-part->sta)/(part->end-part->sta)));
+			//	VecMulf(pa->state.ave,icu->curval);
+			//}
 		}
-#endif // XXX old animation system
 	}
 
 	pa->dietime = pa->time + pa->lifetime;
@@ -1971,48 +2039,46 @@ static void reset_all_particles(Scene *scene, Object *ob, ParticleSystem *psys,
 		MEM_freeN(vg_vel);
 }
 /************************************************/
+/*			Particle targets					*/
+/************************************************/
+ParticleSystem *psys_get_target_system(Object *ob, ParticleTarget *pt)
+{
+	ParticleSystem *psys = NULL;
+
+	if(pt->ob == NULL || pt->ob == ob)
+		psys = BLI_findlink(&ob->particlesystem, pt->psys-1);
+	else
+		psys = BLI_findlink(&pt->ob->particlesystem, pt->psys-1);
+
+	if(psys)
+		pt->flag |= PTARGET_VALID;
+	else
+		pt->flag &= ~PTARGET_VALID;
+
+	return psys;
+}
+/************************************************/
 /*			Keyed particles						*/
 /************************************************/
 /* Counts valid keyed targets */
 void psys_count_keyed_targets(Object *ob, ParticleSystem *psys)
 {
 	ParticleSystem *kpsys;
-	KeyedParticleTarget *kpt = psys->keyed_targets.first;
+	ParticleTarget *pt = psys->targets.first;
 	int psys_num = BLI_findindex(&ob->particlesystem, psys);
 	int keys_valid = 1;
 	psys->totkeyed = 0;
 
-	for(; kpt; kpt=kpt->next) {
-		kpsys = NULL;
-		if(kpt->ob==ob || kpt->ob==NULL) {
-			if(kpt->psys >= psys_num)
-				kpsys = BLI_findlink(&ob->particlesystem, kpt->psys-1);
-
-			if(kpsys && kpsys->totpart) {
-				kpt->flag |= KEYED_TARGET_VALID;
-				psys->totkeyed += keys_valid;
-				if(psys->flag & PSYS_KEYED_TIMING && kpt->duration != 0.0f)
-					psys->totkeyed += 1;
-			}
-			else {
-				kpt->flag &= ~KEYED_TARGET_VALID;
-				keys_valid = 0;
-			}
+	for(; pt; pt=pt->next) {
+		kpsys = psys_get_target_system(ob, pt);
+
+		if(kpsys && kpsys->totpart) {
+			psys->totkeyed += keys_valid;
+			if(psys->flag & PSYS_KEYED_TIMING && pt->duration != 0.0f)
+				psys->totkeyed += 1;
 		}
 		else {
-			if(kpt->ob)
-				kpsys = BLI_findlink(&kpt->ob->particlesystem, kpt->psys-1);
-
-			if(kpsys && kpsys->totpart) {
-				kpt->flag |= KEYED_TARGET_VALID;
-				psys->totkeyed += keys_valid;
-				if(psys->flag & PSYS_KEYED_TIMING && kpt->duration != 0.0f)
-					psys->totkeyed += 1;
-			}
-			else {
-				kpt->flag &= ~KEYED_TARGET_VALID;
-				keys_valid = 0;
-			}
+			keys_valid = 0;
 		}
 	}
 
@@ -2023,10 +2089,9 @@ static void set_keyed_keys(Scene *scene, Object *ob, ParticleSystem *psys)
 {
 	Object *kob = ob;
 	ParticleSystem *kpsys = psys;
-	KeyedParticleTarget *kpt;
+	ParticleTarget *pt;
 	ParticleData *pa;
 	int totpart = psys->totpart, i, k, totkeys = psys->totkeyed;
-	float prevtime, nexttime, keyedtime;
 
 	/* no proper targets so let's clear and bail out */
 	if(psys->totkeyed==0) {
@@ -2050,23 +2115,23 @@ static void set_keyed_keys(Scene *scene, Object *ob, ParticleSystem *psys)
 	psys->flag &= ~PSYS_KEYED;
 
 
-	kpt = psys->keyed_targets.first;
+	pt = psys->targets.first;
 	for(k=0; k<totkeys; k++) {
-		if(kpt->ob)
-			kpsys = BLI_findlink(&kpt->ob->particlesystem, kpt->psys - 1);
+		if(pt->ob)
+			kpsys = BLI_findlink(&pt->ob->particlesystem, pt->psys - 1);
 		else
-			kpsys = BLI_findlink(&ob->particlesystem, kpt->psys - 1);
+			kpsys = BLI_findlink(&ob->particlesystem, pt->psys - 1);
 
 		for(i=0,pa=psys->particles; i<totpart; i++, pa++) {
 			(pa->keys + k)->time = -1.0; /* use current time */
 
-			psys_get_particle_state(scene, kpt->ob, kpsys, i%kpsys->totpart, pa->keys + k, 1);
+			psys_get_particle_state(scene, pt->ob, kpsys, i%kpsys->totpart, pa->keys + k, 1);
 
 			if(psys->flag & PSYS_KEYED_TIMING){
-				(pa->keys+k)->time = pa->time + kpt->time;
-				if(kpt->duration != 0.0f && k+1 < totkeys) {
+				(pa->keys+k)->time = pa->time + pt->time;
+				if(pt->duration != 0.0f && k+1 < totkeys) {
 					copy_particle_key(pa->keys+k+1, pa->keys+k, 1);
-					(pa->keys+k+1)->time = pa->time + kpt->time + kpt->duration;
+					(pa->keys+k+1)->time = pa->time + pt->time + pt->duration;
 				}
 			}
 			else if(totkeys > 1)
@@ -2075,10 +2140,10 @@ static void set_keyed_keys(Scene *scene, Object *ob, ParticleSystem *psys)
 				pa->keys->time = pa->time;
 		}
 
-		if(psys->flag & PSYS_KEYED_TIMING && kpt->duration!=0.0f)
+		if(psys->flag & PSYS_KEYED_TIMING && pt->duration!=0.0f)
 			k++;
 
-		kpt = (kpt->next && kpt->next->flag & KEYED_TARGET_VALID) ? kpt = kpt->next : psys->keyed_targets.first;
+		pt = (pt->next && pt->next->flag & PTARGET_VALID) ? pt = pt->next : psys->targets.first;
 	}
 
 	psys->flag |= PSYS_KEYED;
@@ -2297,6 +2362,7 @@ static void particle_cache_interpolate(int index, void *psys_ptr, float frs_sec,
 	VecMulf(keys[2].vel, dfra / frs_sec);
 
 	psys_interpolate_particle(-1, keys, (cfra - cfra1) / dfra, &pa->state, 1);
+	QuatInterpol(pa->state.rot, keys[1].rot,keys[2].rot, (cfra - cfra1) / dfra);
 
 	VecMulf(pa->state.vel, frs_sec / dfra);
 
@@ -2340,6 +2406,30 @@ static int get_particles_from_cache(Scene *scene, Object *ob, ParticleSystem *ps
 /************************************************/
 /*			Effectors							*/
 /************************************************/
+static void update_particle_tree(ParticleSystem *psys)
+{
+	if(psys) {
+		ParticleData *pa = psys->particles;
+		int p, totpart = psys->totpart;
+
+		if(!psys->tree || psys->tree_frame != psys->cfra) {
+			
+			BLI_kdtree_free(psys->tree);
+
+			psys->tree = BLI_kdtree_new(totpart);
+			
+			for(p=0, pa=psys->particles; p<totpart; p++,pa++){
+				if(pa->flag & (PARS_NO_DISP+PARS_UNEXIST) || pa->alive != PARS_ALIVE)
+					continue;
+
+				BLI_kdtree_insert(psys->tree, p, pa->state.co, NULL);
+			}
+			BLI_kdtree_balance(psys->tree);
+
+			psys->tree_frame = psys->cfra;
+		}
+	}
+}
 static void do_texture_effector(Tex *tex, short mode, short is_2d, float nabla, short object, float *pa_co, float obmat[4][4], float force_val, float falloff, float *field)
 {
 	TexResult result[4];
@@ -2541,31 +2631,29 @@ void psys_end_effectors(ParticleSystem *psys)
 	/* NOTE:
 	ec->ob is not valid in here anymore! - dg
 	*/
-	ListBase *lb=&psys->effectors;
-	if(lb->first) {
-		ParticleEffectorCache *ec;
-		for(ec= lb->first; ec; ec= ec->next){
-			if(ec->distances)
-				MEM_freeN(ec->distances);
+	ParticleEffectorCache *ec = psys->effectors.first;
 
-			if(ec->locations)
-				MEM_freeN(ec->locations);
+	for(; ec; ec= ec->next){
+		if(ec->distances)
+			MEM_freeN(ec->distances);
 
-			if(ec->face_minmax)
-				MEM_freeN(ec->face_minmax);
+		if(ec->locations)
+			MEM_freeN(ec->locations);
 
-			if(ec->vert_cos)
-				MEM_freeN(ec->vert_cos);
+		if(ec->face_minmax)
+			MEM_freeN(ec->face_minmax);
 
-			if(ec->tree)
-				BLI_kdtree_free(ec->tree);
-			
-			if(ec->rng)
-				rng_free(ec->rng);
-		}
+		if(ec->vert_cos)
+			MEM_freeN(ec->vert_cos);
 
-		BLI_freelistN(lb);
+		if(ec->tree)
+			BLI_kdtree_free(ec->tree);
+		
+		if(ec->rng)
+			rng_free(ec->rng);
 	}
+
+	BLI_freelistN(&psys->effectors);
 }
 
 static void precalc_effectors(Scene *scene, Object *ob, ParticleSystem *psys, ParticleSystemModifierData *psmd, float cfra)
@@ -2648,7 +2736,84 @@ static void precalc_effectors(Scene *scene, Object *ob, ParticleSystem *psys, Pa
 	}
 }
 
+int effector_find_co(Scene *scene, float *pco, SurfaceModifierData *sur, Object *ob, PartDeflect *pd, float *co, float *nor, float *vel, int *index)
+{
+	SurfaceModifierData *surmd = NULL;
+	int ret = 0;
+
+	if(sur)
+		surmd = sur;
+	else if(pd && pd->flag&PFIELD_SURFACE)
+	{
+		surmd = (SurfaceModifierData *)modifiers_findByType ( ob, eModifierType_Surface );
+	}
+
+	if(surmd) {
+		/* closest point in the object surface is an effector */
+		BVHTreeNearest nearest;
+
+		nearest.index = -1;
+		nearest.dist = FLT_MAX;
+
+		BLI_bvhtree_find_nearest(surmd->bvhtree->tree, pco, &nearest, surmd->bvhtree->nearest_callback, surmd->bvhtree);
+
+		if(nearest.index != -1) {
+			VECCOPY(co, nearest.co);
+
+			if(nor) {
+				VECCOPY(nor, nearest.no);
+			}
+
+			if(vel) {
+				MFace *mface = CDDM_get_face(surmd->dm, nearest.index);
+				
+				VECCOPY(vel, surmd->v[mface->v1].co);
+				VecAddf(vel, vel, surmd->v[mface->v2].co);
+				VecAddf(vel, vel, surmd->v[mface->v3].co);
+				if(mface->v4)
+					VecAddf(vel, vel, surmd->v[mface->v4].co);
+
+				VecMulf(vel, mface->v4 ? 0.25f : 0.333f);
+			}
+
+			if(index)
+				*index = nearest.index;
+
+			ret = 1;
+		}
+		else {
+			co[0] = co[1] = co[2] = 0.0f;
+
+			if(nor)
+				nor[0] = nor[1] = nor[2] = 0.0f;
+
+			if(vel)
+				vel[0] = vel[1] = vel[2] = 0.0f;
+		}
+	}
+	else {
+		/* use center of object for distance calculus */
+		VECCOPY(co, ob->obmat[3]);
+
+		if(nor) {
+			VECCOPY(nor, ob->obmat[2]);
+		}
+
+		if(vel) {
+			Object obcopy = *ob;
+			
+			VECCOPY(vel, ob->obmat[3]);
+
+			where_is_object_time(scene, ob, scene->r.cfra - 1.0);
+
+			VecSubf(vel, vel, ob->obmat[3]);
 
+			*ob = obcopy;
+		}
+	}
+
+	return ret;
+}
 /* calculate forces that all effectors apply to a particle*/
 void do_effectors(int pa_no, ParticleData *pa, ParticleKey *state, Scene *scene, Object *ob, ParticleSystem *psys, float *rootco, float *force_field, float *vel,float framestep, float cfra)
 {
@@ -2658,12 +2823,11 @@ void do_effectors(int pa_no, ParticleData *pa, ParticleKey *state, Scene *scene,
 	ParticleData *epa;
 	ParticleKey estate;
 	PartDeflect *pd;
-	SurfaceModifierData *surmd = NULL;
 	ListBase *lb=&psys->effectors;
 	ParticleEffectorCache *ec;
-	float distance, vec_to_part[3];
-	float falloff, charge = 0.0f;
-	int p;
+	float distance, vec_to_part[3], pco[3], co[3];
+	float falloff, charge = 0.0f, strength;
+	int p, face_index=-1;
 
 	/* check all effector objects for interaction */
 	if(lb->first){
@@ -2687,45 +2851,33 @@ void do_effectors(int pa_no, ParticleData *pa, ParticleKey *state, Scene *scene,
 					where_is_object_time(scene, eob,cfra);
 
 				if(pd && pd->flag&PFIELD_SURFACE) {
-					surmd = (SurfaceModifierData *)modifiers_findByType ( eob, eModifierType_Surface );
-				}
-				if(surmd) {
-					/* closest point in the object surface is an effector */
-					BVHTreeNearest nearest;
 					float velocity[3];
-
-					nearest.index = -1;
-					nearest.dist = FLT_MAX;
-
 					/* using velocity corrected location allows for easier sliding over effector surface */
 					VecCopyf(velocity, state->vel);
 					VecMulf(velocity, psys_get_timestep(psys->part));
-					VecAddf(vec_to_part, state->co, velocity);
-
-					BLI_bvhtree_find_nearest(surmd->bvhtree->tree, vec_to_part, &nearest, surmd->bvhtree->nearest_callback, surmd->bvhtree);
-
-					if(nearest.index != -1) {
-						VecSubf(vec_to_part, state->co, nearest.co);
-					}
-					else
-						vec_to_part[0] = vec_to_part[1] = vec_to_part[2] = 0.0f;
+					VecAddf(pco, state->co, velocity);
 				}
 				else 
-					/* use center of object for distance calculus */
-					VecSubf(vec_to_part, state->co, eob->obmat[3]);
+					VECCOPY(pco, state->co);
+
+				effector_find_co(scene, pco, NULL, eob, pd, co, NULL, NULL, &face_index);
+				
+				VecSubf(vec_to_part, state->co, co);
 
 				distance = VecLength(vec_to_part);
 
 				falloff=effector_falloff(pd,eob->obmat[2],vec_to_part);
 
+				strength = pd->f_strength * psys->part->effector_weight[0] * psys->part->effector_weight[pd->forcefield];
+
 				if(falloff<=0.0f)
 					;	/* don't do anything */
 				else if(pd->forcefield==PFIELD_TEXTURE) {
 					do_texture_effector(pd->tex, pd->tex_mode, pd->flag&PFIELD_TEX_2D, pd->tex_nabla,
 									pd->flag & PFIELD_TEX_OBJECT, (pd->flag & PFIELD_TEX_ROOTCO) ? rootco : state->co, eob->obmat,
-									pd->f_strength, falloff, force_field);
+									strength, falloff, force_field);
 				} else {
-					do_physical_effector(scene, eob, state->co, pd->forcefield,pd->f_strength,distance,
+					do_physical_effector(scene, eob, state->co, pd->forcefield,strength,distance,
 										falloff,0.0,pd->f_damp,eob->obmat[2],vec_to_part,
 										state->vel,force_field,pd->flag&PFIELD_PLANAR,ec->rng,pd->f_noise,charge,pa->size);
 				}
@@ -2766,10 +2918,12 @@ void do_effectors(int pa_no, ParticleData *pa, ParticleKey *state, Scene *scene,
 
 							falloff=effector_falloff(pd,estate.vel,vec_to_part);
 
+							strength = pd->f_strength * psys->part->effector_weight[0] * psys->part->effector_weight[pd->forcefield];
+
 							if(falloff<=0.0f)
 								;	/* don't do anything */
 							else
-								do_physical_effector(scene, eob, state->co, pd->forcefield,pd->f_strength,distance,
+								do_physical_effector(scene, eob, state->co, pd->forcefield,strength,distance,
 								falloff,epart->size,pd->f_damp,estate.vel,vec_to_part,
 								state->vel,force_field,0, ec->rng, pd->f_noise,charge,pa->size);
 						}
@@ -3121,20 +3275,7 @@ int psys_intersect_dm(Scene *scene, Object *ob, DerivedMesh *dm, float *vert_cos
 	return intersect;
 }
 
-/* container for moving data between deflet_particle and particle_intersect_face */
-typedef struct ParticleCollision
-{
-	struct Object *ob, *ob_t; // collided and current objects
-	struct CollisionModifierData *md; // collision modifier for ob_t;
-	float nor[3]; // normal at collision point
-	float vel[3]; // velocity of collision point
-	float co1[3], co2[3]; // ray start and end points
-	float ray_len; // original length of co2-co1, needed for collision time evaluation
-	float t;	// time of previous collision, needed for substracting face velocity
-}
-ParticleCollision;
-
-static void particle_intersect_face(void *userdata, int index, const BVHTreeRay *ray, BVHTreeRayHit *hit)
+void particle_intersect_face(void *userdata, int index, const BVHTreeRay *ray, BVHTreeRayHit *hit)
 {
 	ParticleCollision *col = (ParticleCollision *) userdata;
 	MFace *face = col->md->mfaces + index;
@@ -3209,20 +3350,27 @@ static void particle_intersect_face(void *userdata, int index, const BVHTreeRay
 /* 1. check for all possible deflectors for closest intersection on particle path */
 /* 2. if deflection was found kill the particle or calculate new coordinates */
 static void deflect_particle(Scene *scene, Object *pob, ParticleSystemModifierData *psmd, ParticleSystem *psys, ParticleSettings *part, ParticleData *pa, int p, float timestep, float dfra, float cfra){
-	Object *ob = NULL;
+	Object *ob = NULL, *skip_ob = NULL;
 	ListBase *lb=&psys->effectors;
 	ParticleEffectorCache *ec;
 	ParticleKey reaction_state;
 	ParticleCollision col;
 	BVHTreeRayHit hit;
 	float ray_dir[3], zerovec[3]={0.0,0.0,0.0};
-	float radius = ((part->flag & PART_SIZE_DEFL)?pa->size:0.0f);
+	float radius = ((part->flag & PART_SIZE_DEFL)?pa->size:0.0f), boid_z;
 	int deflections=0, max_deflections=10;
 
 	VECCOPY(col.co1, pa->prev_state.co);
 	VECCOPY(col.co2, pa->state.co);
 	col.t = 0.0f;
 
+	/* override for boids */
+	if(part->phystype == PART_PHYS_BOIDS) {
+		radius = pa->size;
+		boid_z = pa->state.co[2];
+		skip_ob = pa->stick_ob;
+	}
+
 	/* 10 iterations to catch multiple deflections */
 	if(lb->first) while(deflections < max_deflections){
 		/* 1. */
@@ -3240,13 +3388,17 @@ static void deflect_particle(Scene *scene, Object *pob, ParticleSystemModifierDa
 			if(ec->type & PSYS_EC_DEFLECT){
 				ob= ec->ob;
 
-				if(part->type!=PART_HAIR)
-					where_is_object_time(scene, ob,cfra);
+				/* for boids: don't check with current ground object */
+				if(ob==skip_ob)
+					continue;
 
 				/* particles should not collide with emitter at birth */
 				if(ob==pob && pa->time < cfra && pa->time >= psys->cfra)
 					continue;
 
+				if(part->type!=PART_HAIR)
+					where_is_object_time(scene,ob,cfra);
+
 				col.md = ( CollisionModifierData * ) ( modifiers_findByType ( ec->ob, eModifierType_Collision ) );
 				col.ob_t = ob;
 
@@ -3378,6 +3530,13 @@ static void deflect_particle(Scene *scene, Object *pob, ParticleSystemModifierDa
 				/* make sure we don't hit the current face again */
 				VECADDFAC(co, co, col.nor, (through ? -0.0001f : 0.0001f));
 
+				if(part->phystype == PART_PHYS_BOIDS && part->boids->options & BOID_ALLOW_LAND) {
+					if(pa->boid->mode == eBoidMode_OnLand || co[2] <= boid_z) {
+						co[2] = boid_z;
+						vel[2] = 0.0f;
+					}
+				}
+
 				/* store state for reactors */
 				VECCOPY(reaction_state.co, co);
 				VecLerpf(reaction_state.vel, pa->prev_state.vel, pa->state.vel, dt);
@@ -3411,564 +3570,6 @@ static void deflect_particle(Scene *scene, Object *pob, ParticleSystemModifierDa
 	}
 }
 /************************************************/
-/*			Boid physics						*/
-/************************************************/
-static int boid_see_mesh(ListBase *lb, Scene *scene, Object *pob, ParticleSystem *psys, float *vec1, float *vec2, float *loc, float *nor, float cfra)
-{
-	Object *ob, *min_ob;
-	DerivedMesh *dm;
-	MFace *mface;
-	MVert *mvert;
-	ParticleEffectorCache *ec;
-	ParticleSystemModifierData *psmd=psys_get_modifier(pob,psys);
-	float imat[4][4];
-	float co1[3], co2[3], min_w[4], min_d;
-	int min_face=0, intersect=0;
-
-	if(lb->first){
-		intersect=0;
-		min_d=20000.0;
-		min_ob=NULL;
-		for(ec=lb->first; ec; ec=ec->next){
-			if(ec->type & PSYS_EC_DEFLECT){
-				ob= ec->ob;
-
-				if(psys->part->type!=PART_HAIR)
-					where_is_object_time(scene, ob,cfra);
-
-				if(ob==pob)
-					dm=psmd->dm;
-				else
-					dm=0;
-
-				VECCOPY(co1,vec1);
-				VECCOPY(co2,vec2);
-
-				if(ec->vert_cos==0){
-					/* convert particle coordinates to object coordinates */
-					Mat4Invert(imat,ob->obmat);
-
-					Mat4MulVecfl(imat,co1);
-					Mat4MulVecfl(imat,co2);
-				}
-
-				if(psys_intersect_dm(scene,ob,dm,ec->vert_cos,co1,co2,&min_d,&min_face,min_w,ec->face_minmax,0,0,0))
-					min_ob=ob;
-			}
-		}
-		if(min_ob){
-			ob=min_ob;
-
-			if(ob==pob){
-				dm=psmd->dm;
-			}
-			else{
-				psys_disable_all(ob);
-
-				dm=mesh_get_derived_final(scene, ob, 0);
-				if(dm==0)
-					dm=mesh_get_derived_deform(scene, ob, 0);
-
-				psys_enable_all(ob);
-			}
-
-			mface=dm->getFaceDataArray(dm,CD_MFACE);
-			mface+=min_face;
-			mvert=dm->getVertDataArray(dm,CD_MVERT);
-
-			/* get deflection point & normal */
-			psys_interpolate_face(mvert,mface,0,0,min_w,loc,nor,0,0,0,0);
-
-			VECADD(nor,nor,loc);
-			Mat4MulVecfl(ob->obmat,loc);
-			Mat4MulVecfl(ob->obmat,nor);
-			VECSUB(nor,nor,loc);
-			return 1;
-		}
-	}
-	return 0;
-}
-/* vector calculus functions in 2d vs. 3d */
-static void set_boid_vec_func(BoidVecFunc *bvf, int is_2d)
-{
-	if(is_2d){
-		bvf->Addf = Vec2Addf;
-		bvf->Subf = Vec2Subf;
-		bvf->Mulf = Vec2Mulf;
-		bvf->Length = Vec2Length;
-		bvf->Normalize = Normalize2;
-		bvf->Inpf = Inp2f;
-		bvf->Copyf = Vec2Copyf;
-	}
-	else{
-		bvf->Addf = VecAddf;
-		bvf->Subf = VecSubf;
-		bvf->Mulf = VecMulf;
-		bvf->Length = VecLength;
-		bvf->Normalize = Normalize;
-		bvf->Inpf = Inpf;
-		bvf->Copyf = VecCopyf;
-	}
-}
-/* boids have limited processing capability so once there's too much information (acceleration) no more is processed */
-static int add_boid_acc(BoidVecFunc *bvf, float lat_max, float tan_max, float *lat_accu, float *tan_accu, float *acc, float *dvec, float *vel)
-{
-	static float tangent[3];
-	static float tan_length;
-
-	if(vel){
-		bvf->Copyf(tangent,vel);
-		tan_length=bvf->Normalize(tangent);
-		return 1;
-	}
-	else{
-		float cur_tan, cur_lat;
-		float tan_acc[3], lat_acc[3];
-		int ret=0;
-
-		bvf->Copyf(tan_acc,tangent);
-
-		if(tan_length>0.0){
-			bvf->Mulf(tan_acc,Inpf(tangent,dvec));
-
-			bvf->Subf(lat_acc,dvec,tan_acc);
-		}
-		else{
-			bvf->Copyf(tan_acc,dvec);
-			lat_acc[0]=lat_acc[1]=lat_acc[2]=0.0f;
-			*lat_accu=lat_max;
-		}
-
-		cur_tan=bvf->Length(tan_acc);
-		cur_lat=bvf->Length(lat_acc);
-
-		/* add tangential acceleration */
-		if(*lat_accu+cur_lat<=lat_max){
-			bvf->Addf(acc,acc,lat_acc);
-			*lat_accu+=cur_lat;
-			ret=1;
-		}
-		else{
-			bvf->Mulf(lat_acc,(lat_max-*lat_accu)/cur_lat);
-			bvf->Addf(acc,acc,lat_acc);
-			*lat_accu=lat_max;
-		}
-
-		/* add lateral acceleration */
-		if(*tan_accu+cur_tan<=tan_max){
-			bvf->Addf(acc,acc,tan_acc);
-			*tan_accu+=cur_tan;
-			ret=1;
-		}
-		else{
-			bvf->Mulf(tan_acc,(tan_max-*tan_accu)/cur_tan);
-			bvf->Addf(acc,acc,tan_acc);
-			*tan_accu=tan_max;
-		}
-
-		return ret;
-	}
-}
-/* determines the acceleration that the boid tries to acchieve */
-static void boid_brain(BoidVecFunc *bvf, ParticleData *pa, Scene *scene, Object *ob, ParticleSystem *psys, ParticleSettings *part, KDTree *tree, float timestep, float cfra, float *acc)
-{
-	ParticleData *pars=psys->particles;
-	KDTreeNearest ptn[MAX_BOIDNEIGHBOURS+1];
-	ParticleEffectorCache *ec=0;
-	float dvec[3]={0.0,0.0,0.0}, ob_co[3], ob_nor[3];
-	float avoid[3]={0.0,0.0,0.0}, velocity[3]={0.0,0.0,0.0}, center[3]={0.0,0.0,0.0};
-	float cubedist[MAX_BOIDNEIGHBOURS+1];
-	int i, n, neighbours=0, near, not_finished=1;
-
-	float cur_vel;
-	float lat_accu=0.0f, max_lat_acc=part->max_vel*part->max_lat_acc;
-	float tan_accu=0.0f, max_tan_acc=part->max_vel*part->max_tan_acc;
-	float avg_vel=part->average_vel*part->max_vel;
-
-	acc[0]=acc[1]=acc[2]=0.0f;
-	/* the +1 neighbour is because boid itself is in the tree */
-	neighbours=BLI_kdtree_find_n_nearest(tree,part->boidneighbours+1,pa->state.co,NULL,ptn);
-
-	for(n=1; n<neighbours; n++){
-		cubedist[n]=(float)pow((double)(ptn[n].dist/pa->size),3.0);
-		cubedist[n]=1.0f/MAX2(cubedist[n],1.0f);
-	}
-
-	/* initialize tangent */
-	add_boid_acc(bvf,0.0,0.0,0,0,0,0,pa->state.vel);
-
-	for(i=0; i<BOID_TOT_RULES && not_finished; i++){
-		switch(part->boidrule[i]){
-			case BOID_COLLIDE:
-				/* collision avoidance */
-				bvf->Copyf(dvec,pa->prev_state.vel);
-				bvf->Mulf(dvec,5.0f);
-				bvf->Addf(dvec,dvec,pa->prev_state.co);
-				if(boid_see_mesh(&psys->effectors,scene, ob,psys,pa->prev_state.co,dvec,ob_co,ob_nor,cfra)){
-					float probelen = bvf->Length(dvec);
-					float proj;
-					float oblen;
-
-					Normalize(ob_nor);
-					proj = bvf->Inpf(ob_nor,pa->prev_state.vel);
-
-					bvf->Subf(dvec,pa->prev_state.co,ob_co);
-					oblen=bvf->Length(dvec);
-
-					bvf->Copyf(dvec,ob_nor);
-					bvf->Mulf(dvec,-proj);
-					bvf->Mulf(dvec,((probelen/oblen)-1.0f)*100.0f*part->boidfac[BOID_COLLIDE]);
-
-					not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-				}
-				break;
-			case BOID_AVOID:
-				/* predator avoidance */
-				if(psys->effectors.first){
-					for(ec=psys->effectors.first; ec; ec=ec->next){
-						if(ec->type & PSYS_EC_EFFECTOR){
-							Object *eob = ec->ob;
-							PartDeflect *pd = eob->pd;
-
-							if(pd->forcefield==PFIELD_FORCE && pd->f_strength<0.0){
-								float distance;
-								VECSUB(dvec,eob->obmat[3],pa->prev_state.co);
-								
-								distance=Normalize(dvec);
-
-								if(part->flag & PART_DIE_ON_COL && distance < pd->mindist){
-									pa->alive = PARS_DYING;
-									pa->dietime=cfra;
-									i=BOID_TOT_RULES;
-									break;
-								}
-
-								if(pd->flag&PFIELD_USEMAX && distance > pd->maxdist)
-									;
-								else{
-									bvf->Mulf(dvec,part->boidfac[BOID_AVOID]*pd->f_strength/(float)pow((double)distance,(double)pd->f_power));
-
-									not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-								}
-							}
-						}
-						else if(ec->type & PSYS_EC_PARTICLE){
-							Object *eob = ec->ob;
-							ParticleSystem *epsys;
-							ParticleSettings *epart;
-							ParticleKey state;
-							PartDeflect *pd;
-							KDTreeNearest ptn2[MAX_BOIDNEIGHBOURS];
-							int totepart, p, count;
-							float distance;
-							epsys= BLI_findlink(&eob->particlesystem,ec->psys_nbr);
-							epart= epsys->part;
-							pd= epart->pd;
-							totepart= epsys->totpart;
-
-							if(pd->forcefield==PFIELD_FORCE && pd->f_strength<0.0 && ec->tree){
-								count=BLI_kdtree_find_n_nearest(ec->tree,epart->boidneighbours,pa->prev_state.co,NULL,ptn2);
-								for(p=0; p<count; p++){
-									state.time=-1.0;
-									if(psys_get_particle_state(scene, eob,epsys,ptn2[p].index,&state,0)){
-										VECSUB(dvec, state.co, pa->prev_state.co);
-
-										distance = Normalize(dvec);
-
-										if(part->flag & PART_DIE_ON_COL && distance < (epsys->particles+ptn2[p].index)->size){
-											pa->alive = PARS_DYING;
-											pa->dietime=cfra;
-											i=BOID_TOT_RULES;
-											break;
-										}
-
-										if(pd->flag&PFIELD_USEMAX && distance > pd->maxdist)
-											;
-										else{
-											bvf->Mulf(dvec,part->boidfac[BOID_AVOID]*pd->f_strength/(float)pow((double)distance,(double)pd->f_power));
-
-											not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-										}
-									}
-								}
-							}
-						}
-					}
-				}
-				break;
-			case BOID_CROWD:
-				/* crowd avoidance */
-				near=0;
-				for(n=1; n<neighbours; n++){
-					if(ptn[n].dist<2.0f*pa->size){
-						if(ptn[n].dist!=0.0f) {
-							bvf->Subf(dvec,pa->prev_state.co,pars[ptn[n].index].state.co);
-							bvf->Mulf(dvec,(2.0f*pa->size-ptn[n].dist)/ptn[n].dist);
-							bvf->Addf(avoid,avoid,dvec);
-							near++;
-						}
-					}
-					/* ptn[] is distance ordered so no need to check others */
-					else break;
-				}
-				if(near){
-					bvf->Mulf(avoid,part->boidfac[BOID_CROWD]*2.0f/timestep);
-
-					not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,avoid,0);
-				}
-				break;
-			case BOID_CENTER:
-				/* flock centering */
-				if(neighbours>1){
-					for(n=1; n<neighbours; n++){
-						bvf->Addf(center,center,pars[ptn[n].index].state.co);
-					}
-					bvf->Mulf(center,1.0f/((float)neighbours-1.0f));
-
-					bvf->Subf(dvec,center,pa->prev_state.co);
-
-					bvf->Mulf(dvec,part->boidfac[BOID_CENTER]*2.0f);
-
-					not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-				}
-				break;
-			case BOID_AV_VEL:
-				/* average velocity */
-				cur_vel=bvf->Length(pa->prev_state.vel);
-				if(cur_vel>0.0){
-					bvf->Copyf(dvec,pa->prev_state.vel);
-					bvf->Mulf(dvec,part->boidfac[BOID_AV_VEL]*(avg_vel-cur_vel)/cur_vel);
-					not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-				}
-				break;
-			case BOID_VEL_MATCH:
-				/* velocity matching */
-				if(neighbours>1){
-					for(n=1; n<neighbours; n++){
-						bvf->Copyf(dvec,pars[ptn[n].index].state.vel);
-						bvf->Mulf(dvec,cubedist[n]);
-						bvf->Addf(velocity,velocity,dvec);
-					}
-					bvf->Mulf(velocity,1.0f/((float)neighbours-1.0f));
-
-					bvf->Subf(dvec,velocity,pa->prev_state.vel);
-
-					bvf->Mulf(dvec,part->boidfac[BOID_VEL_MATCH]);
-
-					not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-				}
-				break;
-			case BOID_GOAL:
-				/* goal seeking */
-				if(psys->effectors.first){
-					for(ec=psys->effectors.first; ec; ec=ec->next){
-						if(ec->type & PSYS_EC_EFFECTOR){
-							Object *eob = ec->ob;
-							PartDeflect *pd = eob->pd;
-							float temp[4];
-
-							if(pd->forcefield==PFIELD_FORCE && pd->f_strength>0.0){
-								float distance;
-								VECSUB(dvec,eob->obmat[3],pa->prev_state.co);
-								
-								distance=Normalize(dvec);
-
-								if(pd->flag&PFIELD_USEMAX && distance > pd->maxdist)
-									;
-								else{
-									VecMulf(dvec,pd->f_strength*part->boidfac[BOID_GOAL]/(float)pow((double)distance,(double)pd->f_power));
-
-									not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-								}
-							}
-							else if(pd->forcefield==PFIELD_GUIDE){
-								float distance;
-
-								where_on_path(eob, (cfra-pa->time)/pa->lifetime, temp, dvec);
-
-								VECSUB(dvec,temp,pa->prev_state.co);
-
-								distance=Normalize(dvec);
-
-								if(pd->flag&PFIELD_USEMAX && distance > pd->maxdist)
-									;
-								else{
-									VecMulf(dvec,pd->f_strength*part->boidfac[BOID_GOAL]/(float)pow((double)distance,(double)pd->f_power));
-
-									not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-								}
-							}
-						}
-						else if(ec->type & PSYS_EC_PARTICLE){
-							Object *eob = ec->ob;
-							ParticleSystem *epsys;
-							ParticleSettings *epart;
-							ParticleKey state;
-							PartDeflect *pd;
-							KDTreeNearest ptn2[MAX_BOIDNEIGHBOURS];
-							int totepart, p, count;
-							float distance;
-							epsys= BLI_findlink(&eob->particlesystem,ec->psys_nbr);
-							epart= epsys->part;
-							pd= epart->pd;
-							totepart= epsys->totpart;
-
-							if(pd->forcefield==PFIELD_FORCE && pd->f_strength>0.0 && ec->tree){
-								count=BLI_kdtree_find_n_nearest(ec->tree,epart->boidneighbours,pa->prev_state.co,NULL,ptn2);
-								for(p=0; p<count; p++){
-									state.time=-1.0;
-									if(psys_get_particle_state(scene, eob,epsys,ptn2[p].index,&state,0)){
-										VECSUB(dvec, state.co, pa->prev_state.co);
-
-										distance = Normalize(dvec);
-										
-										if(pd->flag&PFIELD_USEMAX && distance > pd->maxdist)
-											;
-										else{
-											bvf->Mulf(dvec,part->boidfac[BOID_AVOID]*pd->f_strength/(float)pow((double)distance,(double)pd->f_power));
-
-											not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-										}
-									}
-								}
-							}
-						}
-					}
-				}
-				break;
-			case BOID_LEVEL:
-				/* level flight */
-				if((part->flag & PART_BOIDS_2D)==0){
-					dvec[0]=dvec[1]=0.0;
-					dvec[2]=-pa->prev_state.vel[2];
-
-					VecMulf(dvec,part->boidfac[BOID_LEVEL]);
-					not_finished=add_boid_acc(bvf,max_lat_acc,max_tan_acc,&lat_accu,&tan_accu,acc,dvec,0);
-				}
-				break;
-		}
-	}
-}
-/* tries to realize the wanted acceleration */
-static void boid_body(Scene *scene, BoidVecFunc *bvf, ParticleData *pa, ParticleSystem *psys, ParticleSettings *part, float timestep, float *acc)
-{
-	float dvec[3], bvec[3], length, max_vel=part->max_vel;
-	float q2[4], q[4];
-	float g=9.81f, pa_mass=part->mass;
-	float yvec[3]={0.0,1.0,0.0}, zvec[3]={0.0,0.0,-1.0}, bank;
-
-	/* apply new velocity, location & rotation */
-	copy_particle_key(&pa->state,&pa->prev_state,0);
-
-	if(part->flag & PART_SIZEMASS)
-		pa_mass*=pa->size;
-
-	/* by regarding the acceleration as a force at this stage we*/
-	/* can get better controll allthough it's a bit unphysical	*/
-	bvf->Mulf(acc,1.0f/pa_mass);
-
-	bvf->Copyf(dvec,acc);
-	bvf->Mulf(dvec,timestep*timestep*0.5f);
-
-	bvf->Copyf(bvec,pa->state.vel);
-	bvf->Mulf(bvec,timestep);
-	bvf->Addf(dvec,dvec,bvec);
-	bvf->Addf(pa->state.co,pa->state.co,dvec);
-	
-	/* air speed from wind and vortex effectors */
-	if(psys->effectors.first) {
-		ParticleEffectorCache *ec;
-		for(ec=psys->effectors.first; ec; ec=ec->next) {
-			if(ec->type & PSYS_EC_EFFECTOR) {
-				Object *eob = ec->ob;
-				PartDeflect *pd = eob->pd;
-				float direction[3], vec_to_part[3];
-				float falloff;
-
-				if(pd->f_strength != 0.0f) {
-					VecCopyf(direction, eob->obmat[2]);
-					VecSubf(vec_to_part, pa->state.co, eob->obmat[3]);
-
-					falloff=effector_falloff(pd, direction, vec_to_part);
-
-					switch(pd->forcefield) {
-						case PFIELD_WIND:
-							if(falloff <= 0.0f)
-								;	/* don't do anything */
-							else {
-								Normalize(direction);
-								VecMulf(direction, pd->f_strength * falloff);
-								bvf->Addf(pa->state.co, pa->state.co, direction);
-							}
-							break;
-						case PFIELD_VORTEX:
-						{
-							float distance, mag_vec[3];
-							Crossf(mag_vec, direction, vec_to_part);
-							Normalize(mag_vec);
-
-							distance = VecLength(vec_to_part);
-
-							VecMulf(mag_vec, pd->f_strength * distance * falloff);
-							bvf->Addf(pa->state.co, pa->state.co, mag_vec);
-							break;
-						}
-					}
-				}
-			}
-		}
-	}
-
-
-	if((part->flag & PART_BOIDS_2D)==0 && pa->prev_state.vel[0]!=0.0 && pa->prev_state.vel[0]!=0.0 && pa->prev_state.vel[0]!=0.0){
-		Crossf(yvec,pa->state.vel,zvec);
-
-		Normalize(yvec);
-
-		bank=Inpf(yvec,acc);
-
-		bank=-(float)atan((double)(bank/g));
-
-		bank*=part->banking;
-
-		bank-=pa->bank;
-		if(bank>M_PI*part->max_bank){
-			bank=pa->bank+(float)M_PI*part->max_bank;
-		}
-		else if(bank<-M_PI*part->max_bank){
-			bank=pa->bank-(float)M_PI*part->max_bank;
-		}
-		else
-			bank+=pa->bank;
-
-		pa->bank=bank;
-	}
-	else{
-		bank=0.0;
-	}
-
-
-	VecRotToQuat(pa->state.vel,bank,q);
-
-	VECCOPY(dvec,pa->state.vel);
-	VecNegf(dvec);
-	vectoquat(dvec, OB_POSX, OB_POSZ, q2);
-
-	QuatMul(pa->state.rot,q,q2);
-
-	bvf->Mulf(acc,timestep);
-	bvf->Addf(pa->state.vel,pa->state.vel,acc);
-
-	if(part->flag & PART_BOIDS_2D){
-		pa->state.vel[2]=0.0;
-		pa->state.co[2]=part->groundz;
-	}
-
-	length=bvf->Length(pa->state.vel);
-	if(length > max_vel)
-		bvf->Mulf(pa->state.vel,max_vel/length);
-}
-/************************************************/
 /*			Hair								*/
 /************************************************/
 static void save_hair(Scene *scene, Object *ob, ParticleSystem *psys, ParticleSystemModifierData *psmd, float cfra){
@@ -4025,9 +3626,9 @@ static void dynamics_step(Scene *scene, Object *ob, ParticleSystem *psys, Partic
 	ParticleData *pa;
 	ParticleSettings *part=psys->part;
 	KDTree *tree=0;
-	BoidVecFunc bvf;
 	IpoCurve *icu_esize= NULL; //=find_ipocurve(part->ipo,PART_EMIT_SIZE); // XXX old animation system
 	Material *ma=give_current_material(ob,part->omat);
+	BoidBrainData bbd;
 	float timestep;
 	int p, totpart;
 	/* current time */
@@ -4107,16 +3708,23 @@ static void dynamics_step(Scene *scene, Object *ob, ParticleSystem *psys, Partic
 			precalc_effectors(scene, ob,psys,psmd,cfra);
 
 		if(part->phystype==PART_PHYS_BOIDS){
-			/* create particle tree for fast inter-particle comparisons */
-			tree=BLI_kdtree_new(totpart);
-			for(p=0, pa=psys->particles; p<totpart; p++,pa++){
-				if(pa->flag & (PARS_NO_DISP+PARS_UNEXIST) || pa->alive!=PARS_ALIVE)
-					continue;
-
-				BLI_kdtree_insert(tree, p, pa->state.co, NULL);
+			ParticleTarget *pt = psys->targets.first;
+			bbd.scene = scene;
+			bbd.ob = ob;
+			bbd.psys = psys;
+			bbd.part = part;
+			bbd.cfra = cfra;
+			bbd.dfra = dfra;
+			bbd.timestep = timestep;
+
+			update_particle_tree(psys);
+
+			boids_precalc_rules(part, cfra);
+
+			for(; pt; pt=pt->next) {
+				if(pt->ob)
+					update_particle_tree(BLI_findlink(&pt->ob->particlesystem, pt->psys-1));
 			}
-			BLI_kdtree_balance(tree);
-			set_boid_vec_func(&bvf,part->flag&PART_BOIDS_2D);
 		}
 
 		/* main loop: calculate physics for all particles */
@@ -4185,10 +3793,14 @@ static void dynamics_step(Scene *scene, Object *ob, ParticleSystem *psys, Partic
 						break;
 					case PART_PHYS_BOIDS:
 					{
-						float acc[3];
-						boid_brain(&bvf, pa, scene, ob, psys, part, tree, timestep,cfra,acc);
-						if(pa->alive != PARS_DYING)
-							boid_body(scene, &bvf,pa,psys,part,timestep,acc);
+						bbd.goal_ob = NULL;
+						boid_brain(&bbd, p, pa);
+						if(pa->alive != PARS_DYING) {
+							boid_body(&bbd, pa);
+
+							/* deflection */
+							deflect_particle(scene,ob,psmd,psys,part,pa,p,timestep,pa_dfra,cfra);
+						}
 						break;
 					}
 				}
@@ -4368,8 +3980,8 @@ static void cached_step(Scene *scene, Object *ob, ParticleSystemModifierData *ps
 		dietime = birthtime + (1 + pa->loop) * (pa->dietime - pa->time);
 
 		/* update alive status and push events */
-		if(pa->time > cfra) {
-			pa->alive = PARS_UNBORN;
+		if(pa->time >= cfra) {
+			pa->alive = pa->time==cfra ? PARS_ALIVE : PARS_UNBORN;
 			reset_particle(scene, pa, psys, psmd, ob, 0.0f, cfra, NULL, NULL, NULL);
 		}
 		else if(dietime <= cfra){
@@ -4454,9 +4066,33 @@ static void psys_changed_type(Object *ob, ParticleSystem *psys)
 
 	psys_reset(psys, PSYS_RESET_ALL);
 }
-void psys_changed_physics(Object *ob, ParticleSystem *psys)
+void psys_check_boid_data(ParticleSystem *psys)
+{
+		ParticleData *pa = psys->particles;
+		int p = 1;
+
+		if(!pa)
+			return;
+
+		if(psys->part && psys->part->phystype==PART_PHYS_BOIDS) {
+			if(!pa->boid) {
+				pa->boid = MEM_callocN(psys->totpart * sizeof(BoidData), "Boid Data");
+
+				for(pa++; p<psys->totpart; p++, pa++)
+					pa->boid = (pa-1)->boid + 1;
+			}
+		}
+		else if(pa->boid){
+			MEM_freeN(pa->boid);
+			for(; p<psys->totpart; p++, pa++)
+				pa->boid = NULL;
+		}
+}
+static void psys_changed_physics(Object *ob, ParticleSystem *psys)
 {
-	if(ELEM(psys->part->phystype, PART_PHYS_NO, PART_PHYS_KEYED)) {
+	ParticleSettings *part = psys->part;
+
+	if(ELEM(part->phystype, PART_PHYS_NO, PART_PHYS_KEYED)) {
 		PTCacheID pid;
 		BKE_ptcache_id_from_particles(&pid, ob, psys);
 		BKE_ptcache_id_clear(&pid, PTCACHE_CLEAR_ALL, 0);
@@ -4465,6 +4101,24 @@ void psys_changed_physics(Object *ob, ParticleSystem *psys)
 		free_keyed_keys(psys);
 		psys->flag &= ~PSYS_KEYED;
 	}
+
+	if(part->phystype == PART_PHYS_BOIDS && part->boids == NULL) {
+		BoidState *state;
+
+		psys_check_boid_data(psys);
+
+		part->boids = MEM_callocN(sizeof(BoidSettings), "Boid Settings");
+		boid_default_settings(part->boids);
+
+		state = boid_new_state(part->boids);
+		BLI_addtail(&state->rules, boid_new_rule(eBoidRuleType_Separate));
+		BLI_addtail(&state->rules, boid_new_rule(eBoidRuleType_Flock));
+
+		((BoidRule*)state->rules.first)->flag |= BOIDRULE_CURRENT;
+
+		state->flag |= BOIDSTATE_CURRENT;
+		BLI_addtail(&part->boids->states, state);
+	}
 }
 static void particles_fluid_step(Scene *scene, Object *ob, ParticleSystem *psys, int cfra)
 {