Big patches:

Erwin Coumans: Abstract the physics engine
Charlie C: Joystick fixes
Me: Moved the ray cast (shadows, mouse sensor & ray sensor)

36 files changed, 692 insertions, 509 deletions

diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 9c60bc0f32f..c877b699860 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -33,6 +33,8 @@
 #pragma warning (disable : 4786)
 #endif
 
+#include "MT_assert.h"
+
 // defines USE_ODE to choose physics engine
 #include "KX_ConvertPhysicsObject.h"
 #include "KX_GameObject.h"
@@ -258,7 +260,7 @@ void	KX_ConvertSumoObject(	KX_GameObject* gameobj,
 							dynamicParent = sumoctrl->GetSumoObject();
 						}
 
-						assert(dynamicParent);
+						MT_assert(dynamicParent);
 					}
 				
 					
@@ -303,11 +305,12 @@ static void	BL_RegisterSumoObject(
 		// need easy access, not via 'node' etc.
 		KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,sumoObj,motionstate,isDynamic);
 		gameobj->SetPhysicsController(physicscontroller);
-		physicscontroller->setClientInfo(gameobj);
+
 		
 		if (!gameobj->getClientInfo())
 			std::cout << "BL_RegisterSumoObject: WARNING: Object " << gameobj->GetName() << " has no client info" << std::endl;
-		sumoObj->setClientObject(gameobj->getClientInfo());
+		physicscontroller->setNewClientInfo(gameobj->getClientInfo());
+		
 
 		gameobj->GetSGNode()->AddSGController(physicscontroller);
 
@@ -586,6 +589,7 @@ void	KX_ConvertODEEngineObject(KX_GameObject* gameobj,
 							struct	PHY_MaterialProps*	smmaterial,
 							struct	KX_ObjectProperties*	objprop)
 {
+	
 	// not yet, future extension :)
 	bool dyna=objprop->m_dyna;
 	bool fullRigidBody= ( objprop->m_dyna && objprop->m_angular_rigidbody) != 0;
@@ -598,48 +602,51 @@ void	KX_ConvertODEEngineObject(KX_GameObject* gameobj,
 	dxSpace* space = odeEnv->GetOdeSpace();
 	dxWorld* world = odeEnv->GetOdeWorld();
 
-	if (!objprop->m_implicitsphere &&
-		MT_fuzzyZero(objprop->m_boundingbox.m_extends[0]) ||
-		MT_fuzzyZero(objprop->m_boundingbox.m_extends[1]) ||
-		MT_fuzzyZero(objprop->m_boundingbox.m_extends[2])
-		)
-	{
+	bool isSphere = false;
 
-	} else
+	switch (objprop->m_boundclass)
 	{
+	case KX_BOUNDBOX:
+		{
 
-		KX_OdePhysicsController* physicscontroller = 
-			new KX_OdePhysicsController(
-			dyna,
-			fullRigidBody,
-			phantom,
-			motionstate,
-			space,
-			world,
-			shapeprops->m_mass,
-			smmaterial->m_friction,
-			smmaterial->m_restitution,
-			objprop->m_implicitsphere,
-			objprop->m_boundingbox.m_center,
-			objprop->m_boundingbox.m_extends,
-			objprop->m_radius
-			);
-
-		gameobj->SetPhysicsController(physicscontroller);
-		physicscontroller->setClientInfo(gameobj);						
-		gameobj->GetSGNode()->AddSGController(physicscontroller);
-
-		bool isActor = objprop->m_isactor;
-		STR_String materialname;
-		if (meshobj)
-			materialname = meshobj->GetMaterialName(0);
-
-		const char* matname = materialname.ReadPtr();
+				KX_OdePhysicsController* physicscontroller = 
+					new KX_OdePhysicsController(
+					dyna,
+					fullRigidBody,
+					phantom,
+					motionstate,
+					space,
+					world,
+					shapeprops->m_mass,
+					smmaterial->m_friction,
+					smmaterial->m_restitution,
+					isSphere,
+					objprop->m_boundobject.box.m_center,
+					objprop->m_boundobject.box.m_extends,
+					objprop->m_boundobject.c.m_radius
+					);
+
+				gameobj->SetPhysicsController(physicscontroller);
+				physicscontroller->setNewClientInfo(gameobj->getClientInfo());						
+				gameobj->GetSGNode()->AddSGController(physicscontroller);
+
+				bool isActor = objprop->m_isactor;
+				STR_String materialname;
+				if (meshobj)
+					materialname = meshobj->GetMaterialName(0);
+
+				const char* matname = materialname.ReadPtr();
+
+
+				physicscontroller->SetObject(gameobj->GetSGNode());
 
+				break;
+			}
+	default:
+		{
+		}
+	};
 
-		physicscontroller->SetObject(gameobj->GetSGNode());
-				
-	}
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index d255fd1d18f..c89bf33b21c 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -360,31 +360,6 @@ void KX_GameObject::UpdateIPO(float curframetime,
 	UpdateTransform();
 }
 
-
-/*
-void KX_GameObject::RegisterSumoObject(class SM_Scene* sumoScene,
-									   DT_SceneHandle solidscene,
-									   class SM_Object* sumoObj,
-									   const char* matname,
-									   bool isDynamic,
-									   bool isActor)
-{
-	m_bDyna = isDynamic;
-
-	// need easy access, not via 'node' etc.
-	m_pPhysicsController = new KX_PhysicsController(sumoScene,solidscene,sumoObj,isDynamic);
-				
-	GetSGNode()->AddSGController(m_pPhysicsController);
-	
-	m_pClient_info->m_type = (isActor ? 1 : 0);
-	m_pClient_info->m_clientobject = this;
-
-	// store materialname in auxinfo, needed for touchsensors
-	m_pClient_info->m_auxilary_info = (matname? (void*)(matname+2) : NULL);
-	m_pPhysicsController->SetObject(this->GetSGNode());
-}
-*/
-
 bool
 KX_GameObject::GetVisible(
 	void
@@ -468,10 +443,11 @@ void KX_GameObject::ResolveCombinedVelocities(
 ){
 	if (m_pPhysicsController1)
 	{
+
+		MT_Vector3 lv = lin_vel_local ? NodeGetWorldOrientation() * lin_vel : lin_vel;
+		MT_Vector3 av = ang_vel_local ? NodeGetWorldOrientation() * ang_vel : ang_vel;
 		m_pPhysicsController1->resolveCombinedVelocities(
-			lin_vel_local ? NodeGetWorldOrientation() * lin_vel : lin_vel,
-			ang_vel_local ? NodeGetWorldOrientation() * ang_vel : ang_vel			
-		);		
+			lv.x(),lv.y(),lv.z(),av.x(),av.y(),av.z());
 	}
 }
 
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index 27451f637db..c84d905da8b 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -57,7 +57,7 @@
 struct KX_ClientObjectInfo;
 class RAS_MeshObject;
 class KX_IPhysicsController;
-class SM_Object;
+
 
 /**
  * KX_GameObject is the main class for dynamic objects.
diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.cpp b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
index 2152fa35cd1..e54fb11dc14 100644
--- a/source/gameengine/Ketsji/KX_IPO_SGController.cpp
+++ b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
@@ -57,7 +57,6 @@ KX_IpoSGController::KX_IpoSGController()
   m_modified(true),
   m_ipotime(1.0)
 {
-	m_sumo_object = NULL;
 	m_game_object = NULL;
 
 }
@@ -86,7 +85,7 @@ KX_IpoSGController::UpdateSumoReference(
 	)
 {
 	if (m_game_object) {
-		m_sumo_object = 0;//m_game_object->GetSumoObject();
+
 	}
 }
 
@@ -113,15 +112,7 @@ bool KX_IpoSGController::Update(double currentTime)
 		
 		if (m_modify_position) {
 			if (m_ipo_as_force) {
-				/*
-				UpdateSumoReference();
-				if (m_sumo_object && ob) {
-					m_sumo_object->applyCenterForce(m_force_ipo_acts_local ?
-						ob->GetWorldOrientation() * m_ipo_xform.GetPosition() :
-						m_ipo_xform.GetPosition());
-					m_sumo_object->calcXform();
-				}
-				*/
+				
 				if (m_game_object && ob) {
 					m_game_object->GetPhysicsController()->ApplyForce(m_force_ipo_acts_local ?
 						ob->GetWorldOrientation() * m_ipo_xform.GetPosition() :
@@ -134,15 +125,7 @@ bool KX_IpoSGController::Update(double currentTime)
 		}
 		if (m_modify_orientation) {
 			if (m_ipo_as_force) {
-				/*
-				UpdateSumoReference();
-				if (m_sumo_object && ob) {
-					m_sumo_object->applyTorque(m_force_ipo_acts_local ?
-						ob->GetWorldOrientation() * m_ipo_xform.GetEulerAngles() :
-						m_ipo_xform.GetEulerAngles());
-					m_sumo_object->calcXform();
-				}
-				*/
+				
 				if (m_game_object && ob) {
 					m_game_object->ApplyTorque(m_force_ipo_acts_local ?
 						ob->GetWorldOrientation() * m_ipo_xform.GetEulerAngles() :
diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.h b/source/gameengine/Ketsji/KX_IPO_SGController.h
index 107d5026370..3b20f47f5fc 100644
--- a/source/gameengine/Ketsji/KX_IPO_SGController.h
+++ b/source/gameengine/Ketsji/KX_IPO_SGController.h
@@ -59,12 +59,6 @@ class KX_IpoSGController : public SG_Controller
 	/** Local time of this ipo.*/
 	double		        m_ipotime;
 
-	/** A reference to the sm scene an eventually associated physics object is in. */
-//	class SM_Scene*     m_sumo_scene;
-
-	/** A reference an eventually associated physics object is in. */
-	class SM_Object*     m_sumo_object;
-
 	/** A reference to the original game object. */
 	class KX_GameObject* m_game_object;
 
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.cpp b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
index 9cc7764227b..c2328e45435 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
@@ -36,14 +36,18 @@
 #include <config.h>
 #endif
 
+#include "PHY_DynamicTypes.h"
+
 KX_IPhysicsController::KX_IPhysicsController(bool dyna,void* userdata)
 
 :	m_bDyna(dyna),
 	m_suspendDynamics(false),
 	m_userdata(userdata)
 {
-};
+}
 
 KX_IPhysicsController::~KX_IPhysicsController()
 {
 }
+
+
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h
index d2f1f59bac8..ca64888fd55 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.h
@@ -37,6 +37,8 @@
 #include "MT_Point3.h"
 #include "MT_Matrix3x3.h"
 
+struct KX_ClientObjectInfo;
+
 /**
 	Physics Controller, a special kind of Scene Graph Transformation Controller.
 	It get's callbacks from Physics in case a transformation change took place.
@@ -47,7 +49,6 @@
 class KX_IPhysicsController : public SG_Controller
 							 
 {
-
 protected:
 	bool		m_bDyna;
 	bool		m_suspendDynamics;
@@ -68,7 +69,7 @@ public:
 	virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
 	virtual void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
 	virtual void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
-	virtual void	resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel) = 0;
+	virtual void	resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
 
 	virtual	void	getOrientation(MT_Quaternion& orn)=0;
 	virtual	void setOrientation(const MT_Quaternion& orn)=0;
@@ -95,8 +96,6 @@ public:
 	// call from scene graph to update
 	virtual bool Update(double time)=0;
 	void*	GetUserData() { return m_userdata;}
-	
-
 };
 
 #endif //__KX_IPHYSICSCONTROLLER_H
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
index af75e3493c1..2e76103ac13 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
@@ -177,7 +177,7 @@ KX_KetsjiEngine::~KX_KetsjiEngine()
 
 void KX_KetsjiEngine::SetKeyboardDevice(SCA_IInputDevice* keyboarddevice)
 {
-	assert(keyboarddevice);
+	MT_assert(keyboarddevice);
 	m_keyboarddevice = keyboarddevice;
 }
 
@@ -185,7 +185,7 @@ void KX_KetsjiEngine::SetKeyboardDevice(SCA_IInputDevice* keyboarddevice)
 
 void KX_KetsjiEngine::SetMouseDevice(SCA_IInputDevice* mousedevice)
 {
-	assert(mousedevice);
+	MT_assert(mousedevice);
 	m_mousedevice = mousedevice;
 }
 
@@ -193,7 +193,7 @@ void KX_KetsjiEngine::SetMouseDevice(SCA_IInputDevice* mousedevice)
 
 void KX_KetsjiEngine::SetNetworkDevice(NG_NetworkDeviceInterface* networkdevice)
 {
-	assert(networkdevice);
+	MT_assert(networkdevice);
 	m_networkdevice = networkdevice;
 }
 
@@ -201,7 +201,7 @@ void KX_KetsjiEngine::SetNetworkDevice(NG_NetworkDeviceInterface* networkdevice)
 
 void KX_KetsjiEngine::SetAudioDevice(SND_IAudioDevice* audiodevice)
 {
-	assert(audiodevice);
+	MT_assert(audiodevice);
 	m_audiodevice = audiodevice;
 }
 
@@ -209,7 +209,7 @@ void KX_KetsjiEngine::SetAudioDevice(SND_IAudioDevice* audiodevice)
 
 void KX_KetsjiEngine::SetCanvas(RAS_ICanvas* canvas)
 {
-	assert(canvas);
+	MT_assert(canvas);
 	m_canvas = canvas;
 }
 
@@ -217,7 +217,7 @@ void KX_KetsjiEngine::SetCanvas(RAS_ICanvas* canvas)
 
 void KX_KetsjiEngine::SetRenderTools(RAS_IRenderTools* rendertools)
 {
-	assert(rendertools);
+	MT_assert(rendertools);
 	m_rendertools = rendertools;
 }
 
@@ -225,7 +225,7 @@ void KX_KetsjiEngine::SetRenderTools(RAS_IRenderTools* rendertools)
 
 void KX_KetsjiEngine::SetRasterizer(RAS_IRasterizer* rasterizer)
 {
-	assert(rasterizer);
+	MT_assert(rasterizer);
 	m_rasterizer = rasterizer;
 }
 
@@ -233,7 +233,7 @@ void KX_KetsjiEngine::SetRasterizer(RAS_IRasterizer* rasterizer)
 
 void KX_KetsjiEngine::SetPythonDictionary(PyObject* pythondictionary)
 {
-	assert(pythondictionary);
+	MT_assert(pythondictionary);
 	m_pythondictionary = pythondictionary;
 }
 
@@ -241,7 +241,7 @@ void KX_KetsjiEngine::SetPythonDictionary(PyObject* pythondictionary)
 
 void KX_KetsjiEngine::SetSceneConverter(KX_ISceneConverter* sceneconverter)
 {
-	assert(sceneconverter);
+	MT_assert(sceneconverter);
 	m_sceneconverter = sceneconverter;
 }
 
@@ -258,7 +258,6 @@ void KX_KetsjiEngine::StartEngine()
 	m_firstframe = true;
 	m_bInitialized = true;
 	m_ticrate = DEFAULT_LOGIC_TIC_RATE;
-	SumoPhysicsEnvironment::setTicRate(DEFAULT_PHYSICS_TIC_RATE);
 }
 
 bool KX_KetsjiEngine::BeginFrame()
@@ -320,6 +319,8 @@ void KX_KetsjiEngine::NextFrame()
 	else
 		curtime = m_kxsystem->GetTimeInSeconds();
 	m_deltatime += curtime - m_previoustime;
+	float	realDeltaTime = curtime - m_previoustime;
+
 	m_previoustime = curtime;
 	double localtime = curtime - m_deltatime;
 
@@ -386,7 +387,7 @@ void KX_KetsjiEngine::NextFrame()
 				// Perform physics calculations on the scene. This can involve 
 				// many iterations of the physics solver.
 				m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);
-				scene->GetPhysicsEnvironment()->proceed(localtime);
+				scene->GetPhysicsEnvironment()->proceedDeltaTime(localtime,realDeltaTime);
 			} // suspended
 	
 			DoSound(scene);
@@ -430,7 +431,7 @@ void KX_KetsjiEngine::NextFrame()
 			// Perform physics calculations on the scene. This can involve 
 			// many iterations of the physics solver.
 			m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);
-			scene->GetPhysicsEnvironment()->proceed(curtime);
+			scene->GetPhysicsEnvironment()->proceedDeltaTime(curtime,0.f);
 			// Update scenegraph after physics step. This maps physics calculations
 			// into node positions.		
 			m_logger->StartLog(tc_scenegraph, m_kxsystem->GetTimeInSeconds(), true);
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.h b/source/gameengine/Ketsji/KX_KetsjiEngine.h
index 9a6f18a5c5f..8ea611298e7 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.h
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.h
@@ -296,7 +296,7 @@ public:
 	 * @param b Blue component of the override color.
 	 */
 	void GetOverrideFrameColor(float& r, float& g, float& b) const;
-
+	
 protected:
 	/**
 	 * Processes all scheduled scene activity.
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
index 1ffde7e31f8..7c61edd45e7 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
@@ -50,10 +50,12 @@
 #include "KX_Camera.h"
 #include "KX_MouseFocusSensor.h"
 
-#include "SM_Object.h"
-#include "SM_Scene.h"
-#include "SumoPhysicsEnvironment.h"
-#include "KX_SumoPhysicsController.h"
+#include "KX_RayCast.h"
+#include "KX_IPhysicsController.h"
+#include "PHY_IPhysicsController.h"
+#include "PHY_IPhysicsEnvironment.h"
+
+
 #include "KX_ClientObjectInfo.h"
 
 /* ------------------------------------------------------------------------- */
@@ -117,10 +119,40 @@ bool KX_MouseFocusSensor::Evaluate(CValue* event)
 	return result;
 }
 
+bool KX_MouseFocusSensor::RayHit(KX_ClientObjectInfo* client_info, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data)
+{
+	KX_GameObject* hitKXObj = client_info->m_gameobject;
+	
+	if (client_info->m_type > KX_ClientObjectInfo::ACTOR)
+	{
+		// false hit
+		return false;
+	}
+	
+	/* Is this me? In the ray test, there are a lot of extra checks
+	* for aliasing artefacts from self-hits. That doesn't happen
+	* here, so a simple test suffices. Or does the camera also get
+	* self-hits? (No, and the raysensor shouldn't do it either, since
+	* self-hits are excluded by setting the correct ignore-object.)
+	* Hitspots now become valid. */
+	KX_GameObject* thisObj = (KX_GameObject*) GetParent();
+	if (hitKXObj == thisObj)
+	{
+		m_hitPosition = hit_point;
+		m_hitNormal = hit_normal;
+		return true;
+	}
+	
+	return true;     // object must be visible to trigger
+	//return false;  // occluded objects can trigger
+}
+
+
+
 bool KX_MouseFocusSensor::ParentObjectHasFocus(void)
 {
 	
-  	// bool res = false; /*unused*/
+  	bool res = false;
 	m_hitPosition = MT_Vector3(0,0,0);
 	m_hitNormal =	MT_Vector3(1,0,0);
 	MT_Point3 resultpoint;
@@ -236,88 +268,99 @@ bool KX_MouseFocusSensor::ParentObjectHasFocus(void)
 	m_prevTargetPoint = topoint3;
 	m_prevSourcePoint = frompoint3;
 	
-	/* 2. Get the object from SuMO*/
+	/* 2. Get the object from PhysicsEnvironment */
 	/* Shoot! Beware that the first argument here is an
 	 * ignore-object. We don't ignore anything... */
-	KX_GameObject* thisObj = (KX_GameObject*) GetParent();
 	
-	SumoPhysicsEnvironment *spe = dynamic_cast<SumoPhysicsEnvironment* > (m_kxscene->GetPhysicsEnvironment());
-	SM_Scene *sumoScene = spe->GetSumoScene();
-	KX_SumoPhysicsController *spc = dynamic_cast<KX_SumoPhysicsController*> (cam->GetPhysicsController());
-	SM_Object *sumoCam = spc?spc->GetSumoObject():NULL;
-	MT_Vector3 todir = topoint3 - frompoint3;
-	if (todir.dot(todir) < MT_EPSILON)
-		return false;
-	todir.normalize();
-
-	while (true)
-	{	
-		SM_Object* hitSMObj = sumoScene->rayTest(sumoCam, 
-							frompoint3,
-							topoint3,
-							resultpoint, 
-							resultnormal);
-		
-		if (!hitSMObj)
-			return false;
-			
-		/* all this casting makes me nervous... */
-		KX_ClientObjectInfo* client_info 
-			= ( hitSMObj ?
-				static_cast<KX_ClientObjectInfo*>( hitSMObj->getClientObject() ):
-				NULL);
-		
-		if (!client_info)
-		{
-			std::cout<< "WARNING:  MouseOver sensor " << GetName() << " cannot sense SM_Object " << hitSMObj << " - no client info.\n" << std::endl;
-			return false;
-		} 
+	KX_IPhysicsController* physics_controller = (cam->GetPhysicsController());
+	PHY_IPhysicsEnvironment* physics_environment = m_kxscene->GetPhysicsEnvironment();
+
+// 	MT_Vector3 todir = topoint3 - frompoint3;
+// 	if (todir.dot(todir) < MT_EPSILON)
+// 		return false;
+// 	todir.normalize();
 	
-		KX_GameObject* hitKXObj = client_info->m_gameobject;
-		
-		if (client_info->m_type > KX_ClientObjectInfo::ACTOR)
-		{
-			// false hit
-			KX_SumoPhysicsController *hitspc = dynamic_cast<KX_SumoPhysicsController *> (static_cast<KX_GameObject*> (hitKXObj) ->GetPhysicsController());
-			if (hitspc)
-			{
-				/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
-				MT_Scalar marg = 0.01 + hitspc->GetSumoObject()->getMargin();
-				if (hitspc->GetSumoObject()->getShapeProps())
-				{
-					marg += 2*hitspc->GetSumoObject()->getShapeProps()->m_radius;
-				}
-				
-				/* Calculate the other side of this object */
-				MT_Point3 hitObjPos;
-				hitspc->GetWorldPosition(hitObjPos);
-				MT_Vector3 hitvector = hitObjPos - resultpoint;
-				if (hitvector.dot(hitvector) > MT_EPSILON)
-				{
-					hitvector.normalize();
-					marg *= 2.*todir.dot(hitvector);
-				}
-				frompoint3 = resultpoint + marg * todir;
-			} else {
-				return false;
-			}
-			continue;
-		}
-		/* Is this me? In the ray test, there are a lot of extra checks
-		* for aliasing artefacts from self-hits. That doesn't happen
-		* here, so a simple test suffices. Or does the camera also get
-		* self-hits? (No, and the raysensor shouldn't do it either, since
-		* self-hits are excluded by setting the correct ignore-object.)
-		* Hitspots now become valid. */
-		if (hitKXObj == thisObj)
-		{
-			m_hitPosition = resultpoint;
-			m_hitNormal = resultnormal;
-			return true;
-		}
-		
-		return false;
-	}
+	KX_RayCast::RayTest(physics_controller, physics_environment, frompoint3, topoint3, resultpoint, resultnormal, KX_RayCast::Callback<KX_MouseFocusSensor>(this));
+	
+
+// 	while (true)
+// 	{	
+// 		PHY__Vector3 resultpt;
+// 		PHY__Vector3 resultnr;
+// 
+// 		PHY_IPhysicsController* hitCtrl= physEnv->rayTest(camCtrl, 
+// 							frompoint3.x(),frompoint3.y(),frompoint3.z(),
+// 							topoint3.x(),topoint3.y(),topoint3.z(),
+// 							resultpt[0], resultpt[1],resultpt[2],
+// 							resultnr[0],resultnr[1],resultnr[2]);
+// 		
+// 		if (!hitCtrl)
+// 			return false;
+// 			
+// 		resultpoint = MT_Vector3(resultpt);
+// 		resultnormal = MT_Vector3(resultnr);
+// 
+// 		/* all this casting makes me nervous... */
+// 		KX_ClientObjectInfo* client_info 
+// 			= 	static_cast<KX_ClientObjectInfo*>( hitCtrl->getNewClientInfo());
+// 		
+// 		if (!client_info)
+// 		{
+// 			std::cout<< "WARNING:  MouseOver sensor " << GetName() << " cannot sense - no client info.\n" << std::endl;
+// 
+// 			return false;
+// 		} 
+// 	
+// 		KX_GameObject* hitKXObj = client_info->m_gameobject;
+// 		
+// 		if (client_info->m_type > KX_ClientObjectInfo::ACTOR)
+// 		{
+// 			// false hit
+// 			// FIXME: add raytest interface to KX_IPhysicsController, remove casting
+// 			PHY_IPhysicsController* hitspc = (PHY_IPhysicsController*) (static_cast<KX_GameObject*> (hitKXObj)->GetPhysicsController());
+// 			if (hitspc)
+// 			{
+// 				/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
+// 				MT_Scalar marg = 0.01 + hitspc->GetMargin();
+// 				marg += hitspc->GetRadius(); //this is changed, check !
+// 
+// 				//if (hitspc->GetSumoObject()->getShapeProps())
+// 				//{
+// 				//	marg += 2*hitspc->GetSumoObject()->getShapeProps()->m_radius;
+// 				//}
+// 				
+// 				/* Calculate the other side of this object */
+// 				MT_Point3 hitObjPos;
+// 				PHY__Vector3 hitpos;
+// 				hitspc->getPosition(hitpos);
+// 				hitObjPos = MT_Vector3(hitpos);
+// 				MT_Vector3 hitvector = hitObjPos - resultpoint;
+// 				if (hitvector.dot(hitvector) > MT_EPSILON)
+// 				{
+// 					hitvector.normalize();
+// 					marg *= 2.*todir.dot(hitvector);
+// 				}
+// 				frompoint3 = resultpoint + marg * todir;
+// 			} else {
+// 				return false;
+// 			}
+// 			continue;
+// 		}
+// 		/* Is this me? In the ray test, there are a lot of extra checks
+// 		* for aliasing artefacts from self-hits. That doesn't happen
+// 		* here, so a simple test suffices. Or does the camera also get
+// 		* self-hits? (No, and the raysensor shouldn't do it either, since
+// 		* self-hits are excluded by setting the correct ignore-object.)
+// 		* Hitspots now become valid. */
+// 		if (hitKXObj == thisObj)
+// 		{
+// 			m_hitPosition = resultpoint;
+// 			m_hitNormal = resultnormal;
+// 			return true;
+// 		}
+// 		
+// 		return false;
+// 	}
 
 	return false;
 }
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.h b/source/gameengine/Ketsji/KX_MouseFocusSensor.h
index 61571e190ec..d92cebfb4e1 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.h
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.h
@@ -78,6 +78,8 @@ class KX_MouseFocusSensor : public SCA_MouseSensor
 		return result;
 	};
 
+	bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data);
+
 	
 	/* --------------------------------------------------------------------- */
 	/* Python interface ---------------------------------------------------- */
diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp
index 4766d837069..9f9188ab9a1 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.cpp
+++ b/source/gameengine/Ketsji/KX_NearSensor.cpp
@@ -37,20 +37,21 @@
 #include "KX_GameObject.h"
 #include "KX_TouchEventManager.h"
 #include "KX_Scene.h" // needed to create a replica
+#include "PHY_IPhysicsEnvironment.h"
+#include "PHY_IPhysicsController.h"
 
-#include "SM_Object.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
 KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 							 KX_GameObject* gameobj,
-							 void *vshape,
 							 double margin,
 							 double resetmargin,
 							 bool bFindMaterial,
 							 const STR_String& touchedpropname,
 							 class KX_Scene* scene,
+ 							 PHY_IPhysicsController*	ctrl,
 							 PyTypeObject* T)
 			 :KX_TouchSensor(eventmgr,
 							 gameobj,
@@ -66,46 +67,17 @@ KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 	m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::NEAR);
 	m_client_info->m_sensors.push_back(this);
 	
-	DT_ShapeHandle shape = (DT_ShapeHandle) vshape;
-	m_sumoObj = new SM_Object(shape,NULL,NULL,NULL);
-	m_sumoObj->setMargin(m_Margin);
-	m_sumoObj->setClientObject(m_client_info);
-	
-	SynchronizeTransform();
-}
-
-KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
-							 KX_GameObject* gameobj,
-							 double margin,
-							 double resetmargin,
-							 bool bFindMaterial,
-							 const STR_String& touchedpropname,
-							 class KX_Scene* scene,
-							 PyTypeObject* T)
-			 :KX_TouchSensor(eventmgr,
-							 gameobj,
-							 bFindMaterial,
-							 touchedpropname,
-							 /* scene, */
-							 T),
-			 m_Margin(margin),
-			 m_ResetMargin(resetmargin)
-
-{
-	gameobj->getClientInfo()->m_sensors.remove(this);
-	m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::NEAR);
-	m_client_info->m_sensors.push_back(this);
-	
-	m_sumoObj = new SM_Object(DT_NewSphere(0.0),NULL,NULL,NULL);
-	m_sumoObj->setMargin(m_Margin);
-	m_sumoObj->setClientObject(m_client_info);
+	//DT_ShapeHandle shape = (DT_ShapeHandle) vshape;
+	m_physCtrl = ctrl;
+	m_physCtrl->SetMargin(m_Margin);
+	m_physCtrl->setNewClientInfo(m_client_info);
 	
 	SynchronizeTransform();
 }
 
 void KX_NearSensor::RegisterSumo(KX_TouchEventManager *touchman)
 {
-	touchman->GetSumoScene()->addSensor(*m_sumoObj);
+	touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl);
 }
 
 CValue* KX_NearSensor::GetReplica()
@@ -121,9 +93,11 @@ CValue* KX_NearSensor::GetReplica()
 	
 	replica->m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::NEAR);
 	
-	replica->m_sumoObj = new SM_Object(DT_NewSphere(0.0),NULL,NULL,NULL);
-	replica->m_sumoObj->setMargin(m_Margin);
-	replica->m_sumoObj->setClientObject(replica->m_client_info);
+	replica->m_physCtrl = replica->m_physCtrl->GetReplica();
+	//todo: make sure replication works fine
+	//>m_sumoObj = new SM_Object(DT_NewSphere(0.0),NULL,NULL,NULL);
+	//replica->m_sumoObj->setMargin(m_Margin);
+	//replica->m_sumoObj->setClientObject(replica->m_client_info);
 	
 	replica->SynchronizeTransform();
 	
@@ -148,11 +122,11 @@ KX_NearSensor::~KX_NearSensor()
 {
 	// for nearsensor, the sensor is the 'owner' of sumoobj
 	// for touchsensor, it's the parent
-	if (m_sumoObj)
+	if (m_physCtrl)
 	{
-		static_cast<KX_TouchEventManager*>(m_eventmgr)->GetSumoScene()->remove(*m_sumoObj);
-		delete m_sumoObj;
-		m_sumoObj = NULL;
+		static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->removeSensor(m_physCtrl);
+		delete m_physCtrl;
+		m_physCtrl = NULL;
 	}
 		
 	if (m_client_info)
@@ -163,22 +137,22 @@ KX_NearSensor::~KX_NearSensor()
 bool KX_NearSensor::Evaluate(CValue* event)
 {
 	bool result = false;
-	// KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent()); /*unused*/
+	KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
 
 	if (m_bTriggered != m_bLastTriggered)
 	{
 		m_bLastTriggered = m_bTriggered;
 		if (m_bTriggered)
 		{
-			if (m_sumoObj)
+			if (m_physCtrl)
 			{
-				m_sumoObj->setMargin(m_ResetMargin);
+				m_physCtrl->SetMargin(m_ResetMargin);
 			}
 		} else
 		{
-			if (m_sumoObj)
+			if (m_physCtrl)
 			{
-				m_sumoObj->setMargin(m_Margin);
+				m_physCtrl->SetMargin(m_Margin);
 			}
 
 		}
@@ -190,16 +164,16 @@ bool KX_NearSensor::Evaluate(CValue* event)
 
 
 
-DT_Bool KX_NearSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData * coll_data)
+bool	KX_NearSensor::NewHandleCollision(void* obj1,void* obj2,const PHY_CollData * coll_data)
 {
-	// KX_TouchEventManager* toucheventmgr = static_cast<KX_TouchEventManager*>(m_eventmgr); /*unused*/
+	KX_TouchEventManager* toucheventmgr = static_cast<KX_TouchEventManager*>(m_eventmgr);
 	KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
 	
-	// need the mapping from SM_Objects to gameobjects now
+	// need the mapping from PHY_IPhysicsController to gameobjects now
 	
-	KX_ClientObjectInfo* client_info =static_cast<KX_ClientObjectInfo*> (obj1 == m_sumoObj? 
-					((SM_Object*)obj2)->getClientObject() : 
-					((SM_Object*)obj1)->getClientObject());
+	KX_ClientObjectInfo* client_info =static_cast<KX_ClientObjectInfo*> (obj1 == m_physCtrl? 
+					((PHY_IPhysicsController*)obj2)->getNewClientInfo() : 
+					((PHY_IPhysicsController*)obj1)->getNewClientInfo());
 
 	KX_GameObject* gameobj = ( client_info ? 
 			client_info->m_gameobject :
diff --git a/source/gameengine/Ketsji/KX_NearSensor.h b/source/gameengine/Ketsji/KX_NearSensor.h
index 080df58639e..d1b8984b91b 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.h
+++ b/source/gameengine/Ketsji/KX_NearSensor.h
@@ -39,25 +39,27 @@
 #include "KX_ClientObjectInfo.h"
 
 class KX_Scene;
+struct PHY_CollData;
 
 class KX_NearSensor : public KX_TouchSensor
 {
 	Py_Header;
+protected:
 	double	m_Margin;
 	double  m_ResetMargin;
 	KX_Scene*	m_scene;
 	KX_ClientObjectInfo*	m_client_info;
-protected:
+public:
 	KX_NearSensor(class SCA_EventManager* eventmgr,
 			class KX_GameObject* gameobj,
-			void *shape,
 			double margin,
 			double resetmargin,
 			bool bFindMaterial,
 			const STR_String& touchedpropname,
 			class KX_Scene* scene,
+			 PHY_IPhysicsController*	ctrl,
 			PyTypeObject* T=&Type);
-
+/*
 public:
 	KX_NearSensor(class SCA_EventManager* eventmgr,
 			class KX_GameObject* gameobj,
@@ -67,13 +69,14 @@ public:
 			const STR_String& touchedpropname,
 			class KX_Scene* scene,
 			PyTypeObject* T=&Type);
+*/
 	virtual ~KX_NearSensor(); 
 	virtual CValue* GetReplica();
 	virtual bool Evaluate(CValue* event);
 
 	virtual void ReParent(SCA_IObject* parent);
-	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
-						 const DT_CollData * coll_data); 
+	virtual bool	NewHandleCollision(void* obj1,void* obj2,
+						 const PHY_CollData * coll_data); 
 	virtual void RegisterSumo(KX_TouchEventManager *touchman);
 	
 	virtual PyObject* _getattr(const STR_String& attr);
diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
index 14461145cb7..cce2ceb70c2 100644
--- a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
@@ -23,6 +23,10 @@
 #include "KX_GameObject.h"
 #include "KX_MotionState.h"
 
+#include "MT_assert.h"
+
+#include "PHY_IPhysicsEnvironment.h"
+
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
@@ -225,7 +229,7 @@ SG_Controller*	KX_OdePhysicsController::GetReplica(class SG_Node* destnode)
 	
 }
 
-void	KX_OdePhysicsController::resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel )
+void		KX_OdePhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
 }
 
diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.h b/source/gameengine/Ketsji/KX_OdePhysicsController.h
index 69c06a2b620..f5bc7dee165 100644
--- a/source/gameengine/Ketsji/KX_OdePhysicsController.h
+++ b/source/gameengine/Ketsji/KX_OdePhysicsController.h
@@ -65,7 +65,7 @@ public:
 	virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
 	virtual void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
 	virtual void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
-	virtual void	resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel );
+	virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
 	virtual	void		getOrientation(MT_Quaternion& orn);
 	virtual	void setOrientation(const MT_Quaternion& orn);
 	virtual	void setPosition(const MT_Point3& pos);
@@ -95,7 +95,7 @@ public:
 	){
 		// intentionally empty
 	};
-
+	
 };
 
 #endif //__KX_ODEPHYSICSCONTROLLER_H
diff --git a/source/gameengine/Ketsji/KX_PolygonMaterial.cpp b/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
index 0c7be571c8d..89c84d63913 100644
--- a/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
+++ b/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
@@ -71,7 +71,7 @@ KX_PolygonMaterial::KX_PolygonMaterial(const STR_String &texname,
 											   PyTypeObject *T)
 		: PyObjectPlus(T),
 		  RAS_IPolyMaterial(texname,
-							material?STR_String(material->id.name):STR_String(""),
+							STR_String(material?material->id.name:""),
 							tile,
 							tilexrep,
 							tileyrep,
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
index 1f810e655ac..0111fd36cb2 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
@@ -41,7 +41,7 @@
 
 // nasty glob variable to connect scripting language
 // if there is a better way (without global), please do so!
-static PHY_IPhysicsEnvironment* g_physics_env = NULL;
+static PHY_IPhysicsEnvironment* g_CurrentActivePhysicsEnvironment = NULL;
 
 static char PhysicsConstraints_module_documentation[] =
 "This is the Python API for the Physics Constraints";
@@ -59,8 +59,8 @@ static PyObject* gPySetGravity(PyObject* self,
 	int len = PyTuple_Size(args);
 	if ((len == 3) && PyArg_ParseTuple(args,"fff",&x,&y,&z))
 	{
-		if (g_physics_env)
-			g_physics_env->setGravity(x,y,z);
+		if (PHY_GetActiveEnvironment())
+			PHY_GetActiveEnvironment()->setGravity(x,y,z);
 	}
 	Py_INCREF(Py_None); return Py_None;
 }
@@ -99,16 +99,16 @@ static PyObject* gPyCreateConstraint(PyObject* self,
 	
 	if (success)
 	{
-		if (g_physics_env)
+		if (PHY_GetActiveEnvironment())
 		{
 			
 			PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) physicsid;
 			PHY_IPhysicsController* physctrl2 = (PHY_IPhysicsController*) physicsid2;
 			if (physctrl) //TODO:check for existance of this pointer!
 			{
-				int constraintid = g_physics_env->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ);
+				int constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ);
 				
-				KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,g_physics_env);
+				KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
 				
 
 				return wrap;
@@ -130,9 +130,9 @@ static PyObject* gPyRemoveConstraint(PyObject* self,
 	
 	if (PyArg_ParseTuple(args,"i",&constraintid))
 	{
-		if (g_physics_env)
+		if (PHY_GetActiveEnvironment())
 		{
-			g_physics_env->removeConstraint(constraintid);
+			PHY_GetActiveEnvironment()->removeConstraint(constraintid);
 		}
 	}
 	Py_INCREF(Py_None); return Py_None;
@@ -188,5 +188,11 @@ void	KX_RemovePythonConstraintBinding()
 
 void	PHY_SetActiveEnvironment(class	PHY_IPhysicsEnvironment* env)
 {
-	g_physics_env = env;
+	g_CurrentActivePhysicsEnvironment = env;
 }
+
+PHY_IPhysicsEnvironment*	PHY_GetActiveEnvironment()
+{
+	return g_CurrentActivePhysicsEnvironment;
+}
+
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.h b/source/gameengine/Ketsji/KX_PyConstraintBinding.h
index f1ba459a19f..a8651a175c2 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.h
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.h
@@ -37,6 +37,8 @@
 PyObject*				initPythonConstraintBinding();
 void	PHY_RemovePythonConstraintBinding();
 void	PHY_SetActiveEnvironment(class	PHY_IPhysicsEnvironment* env);
+PHY_IPhysicsEnvironment*	PHY_GetActiveEnvironment();
+
 
 #endif //PHY_PYTHON_CONSTRAINTBINDING
 
diff --git a/source/gameengine/Ketsji/KX_PythonInit.cpp b/source/gameengine/Ketsji/KX_PythonInit.cpp
index 42b26185b4c..6f2fced3bd1 100644
--- a/source/gameengine/Ketsji/KX_PythonInit.cpp
+++ b/source/gameengine/Ketsji/KX_PythonInit.cpp
@@ -40,6 +40,8 @@
 #endif //WIN32
 
 #include "KX_PythonInit.h"
+//python physics binding
+#include "KX_PyConstraintBinding.h"
 
 #include "KX_KetsjiEngine.h"
 
@@ -211,7 +213,8 @@ static PyObject* gPySetPhysicsTicRate(PyObject*,
 	float ticrate;
 	if (PyArg_ParseTuple(args, "f", &ticrate))
 	{
-		SumoPhysicsEnvironment::setTicRate(ticrate);
+
+		PHY_GetActiveEnvironment()->setFixedTimeStep(true,ticrate);
 		Py_Return;
 	}
 	
@@ -220,7 +223,7 @@ static PyObject* gPySetPhysicsTicRate(PyObject*,
 
 static PyObject* gPyGetPhysicsTicRate(PyObject*, PyObject*, PyObject*)
 {
-	return PyFloat_FromDouble(SumoPhysicsEnvironment::getTicRate());
+	return PyFloat_FromDouble(PHY_GetActiveEnvironment()->getFixedTimeStep());
 }
 
 static STR_String gPyGetCurrentScene_doc =  
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index 1ad37504224..ea656877e92 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -31,6 +31,7 @@
 
 #include "KX_RadarSensor.h"
 #include "KX_GameObject.h"
+#include "PHY_IPhysicsController.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -41,6 +42,7 @@
  */
 KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
 		KX_GameObject* gameobj,
+		PHY_IPhysicsController* physCtrl,
 			double coneradius,
 			double coneheight,
 			int	axis,
@@ -54,12 +56,13 @@ KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
 			: KX_NearSensor(
 				eventmgr,
 				gameobj,
-				DT_NewCone(coneradius,coneheight),
+				//DT_NewCone(coneradius,coneheight),
 				margin,
 				resetmargin,
 				bFindMaterial,
 				touchedpropname,
 				kxscene,
+				physCtrl,
 				T),
 				m_coneradius(coneradius),
 				m_coneheight(coneheight),
@@ -90,9 +93,11 @@ CValue* KX_RadarSensor::GetReplica()
 	
 	replica->m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::RADAR);
 	
-	replica->m_sumoObj = new SM_Object(DT_NewCone(m_coneradius, m_coneheight),NULL,NULL,NULL);
-	replica->m_sumoObj->setMargin(m_Margin);
-	replica->m_sumoObj->setClientObject(replica->m_client_info);
+	replica->m_physCtrl = replica->m_physCtrl->GetReplica();
+	//todo: make sure replication works fine!
+	//>m_sumoObj = new SM_Object(DT_NewCone(m_coneradius, m_coneheight),NULL,NULL,NULL);
+	//replica->m_sumoObj->setMargin(m_Margin);
+	//replica->m_sumoObj->setClientObject(replica->m_client_info);
 	
 	replica->SynchronizeTransform();
 	
@@ -145,9 +150,11 @@ void KX_RadarSensor::SynchronizeTransform()
 	m_cone_origin = trans.getOrigin();
 	m_cone_target = trans(MT_Point3(0, -m_coneheight/2.0 ,0));
 
-	m_sumoObj->setPosition(trans.getOrigin());
-	m_sumoObj->setOrientation(trans.getRotation());
-	m_sumoObj->calcXform();
+
+	m_physCtrl->setPosition(trans.getOrigin().x(),trans.getOrigin().y(),trans.getOrigin().z());
+	m_physCtrl->setOrientation(trans.getRotation().x(),trans.getRotation().y(),trans.getRotation().z(),trans.getRotation().w());
+	m_physCtrl->calcXform();
+
 }
 
 /* ------------------------------------------------------------------------- */
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.h b/source/gameengine/Ketsji/KX_RadarSensor.h
index 0e055357f18..4f5ff994b40 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.h
+++ b/source/gameengine/Ketsji/KX_RadarSensor.h
@@ -65,6 +65,7 @@ public:
 
 	KX_RadarSensor(SCA_EventManager* eventmgr,
 		KX_GameObject* gameobj,
+			PHY_IPhysicsController* physCtrl,
 			double coneradius,
 			double coneheight,
 			int	axis,
diff --git a/source/gameengine/Ketsji/KX_RayCast.cpp b/source/gameengine/Ketsji/KX_RayCast.cpp
new file mode 100644
index 00000000000..98ebde9ca5a
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_RayCast.cpp
@@ -0,0 +1,97 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL 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. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * 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) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ * KX_MouseFocusSensor determines mouse in/out/over events.
+ */
+
+#include "KX_RayCast.h"
+
+#include "MT_Point3.h"
+#include "MT_Vector3.h"
+
+#include "KX_IPhysicsController.h"
+#include "PHY_IPhysicsEnvironment.h"
+#include "PHY_IPhysicsController.h"
+
+bool KX_RayCast::RayTest(KX_IPhysicsController* ignore_controller, PHY_IPhysicsEnvironment* physics_environment, const MT_Point3& _frompoint, const MT_Point3& topoint, MT_Point3& result_point, MT_Vector3& result_normal, const KX_RayCast& callback)
+{
+	// Loops over all physics objects between frompoint and topoint,
+	// calling callback.RayHit for each one.
+	//
+	// callback.RayHit should return true to stop looking, or false to continue.
+	//
+	// returns true if an object was found, false if not.
+	MT_Point3 frompoint(_frompoint);
+	const MT_Vector3 todir( (topoint - frompoint).normalized() );
+	
+	PHY_IPhysicsController* hit_controller;
+	PHY__Vector3 phy_pos;
+	PHY__Vector3 phy_normal;
+
+	while((hit_controller = physics_environment->rayTest(dynamic_cast<PHY_IPhysicsController*>(ignore_controller),
+			frompoint.x(),frompoint.y(),frompoint.z(),
+			topoint.x(),topoint.y(),topoint.z(),
+			phy_pos[0],phy_pos[1],phy_pos[2],
+			phy_normal[0],phy_normal[1],phy_normal[2]))) 
+	{
+		result_point = MT_Point3(phy_pos);
+		result_normal = MT_Vector3(phy_normal);
+		KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(hit_controller->getNewClientInfo());
+		
+		if (!info)
+		{
+			MT_assert(info && "Physics controller with no client object info");
+			return false;
+		}
+		
+		if (callback.RayHit(info, result_point, result_normal))
+			return true;
+		
+		// skip past the object and keep tracing
+		/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
+		MT_Scalar marg = 0.01 + hit_controller->GetMargin();
+		marg += 2.f * hit_controller->GetMargin();
+		/* Calculate the other side of this object */
+		PHY__Vector3 hitpos;
+		hit_controller->getPosition(hitpos);
+		MT_Point3 hitObjPos(hitpos);
+		
+		MT_Vector3 hitvector = hitObjPos - result_point;
+		if (hitvector.dot(hitvector) > MT_EPSILON)
+		{
+			hitvector.normalize();
+			marg *= 2.*todir.dot(hitvector);
+		}
+		frompoint = result_point + marg * todir;
+	}
+	
+	return hit_controller;
+}
+
diff --git a/source/gameengine/Ketsji/KX_RayCast.h b/source/gameengine/Ketsji/KX_RayCast.h
new file mode 100644
index 00000000000..8bb21e28aca
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_RayCast.h
@@ -0,0 +1,107 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL 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. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * 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) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
+
+#ifndef __KX_RAYCAST_H__
+#define __KX_RAYCAST_H__
+
+class MT_Point3;
+class MT_Vector3;
+class KX_IPhysicsController;
+class PHY_IPhysicsEnvironment;
+
+struct KX_ClientObjectInfo;
+
+/**
+ *  Defines a function for doing a ray cast.
+ *
+ *  eg KX_RayCast::RayTest(ignore_physics_controller, physics_environment, frompoint, topoint, result_point, result_normal, KX_RayCast::Callback<KX_MyClass>(this, data)
+ *
+ *  Calls myclass->RayHit(client, hit_point, hit_normal, data) for all client
+ *  between frompoint and topoint
+ *
+ *  myclass->RayHit should return true to end the raycast, false to ignore the current client.
+ *
+ *  Returns true if a client was accepted, false if nothing found.
+ */
+class KX_RayCast
+{
+protected:
+	KX_RayCast() {};
+public:
+	virtual ~KX_RayCast() {}
+
+	/** ray test callback.
+	 *  either override this in your class, or use a callback wrapper.
+	 */
+	virtual bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal) const = 0;
+
+	/** 
+	 *  Callback wrapper.
+	 *
+	 *  Construct with KX_RayCast::Callback<MyClass>(this, data)
+	 *  and pass to KX_RayCast::RayTest
+	 */
+	template<class T> class Callback;
+	
+	/// Public interface.
+	/// Implement bool RayHit in your class to receive ray callbacks.
+	static bool RayTest(KX_IPhysicsController* physics_controller, 
+		PHY_IPhysicsEnvironment* physics_environment, 
+		const MT_Point3& _frompoint, 
+		const MT_Point3& topoint, 
+		MT_Point3& result_point, 
+		MT_Vector3& result_normal, 
+		const KX_RayCast& callback);
+	
+};
+
+template<class T> class KX_RayCast::Callback : public KX_RayCast
+{
+	T *self;
+	void *data;
+public:
+	Callback(T *_self, void *_data = NULL)
+		: self(_self),
+		data(_data)
+	{
+	}
+	
+	~Callback() {}
+	
+	virtual bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal) const
+	{
+		return self->RayHit(client, hit_point, hit_normal, data);
+	}
+};
+	
+
+#endif
diff --git a/source/gameengine/Ketsji/KX_RaySensor.cpp b/source/gameengine/Ketsji/KX_RaySensor.cpp
index c60b2171cab..fa5f5215aa4 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.cpp
+++ b/source/gameengine/Ketsji/KX_RaySensor.cpp
@@ -41,8 +41,11 @@
 #include "KX_GameObject.h"
 #include "KX_Scene.h"
 
-#include "SumoPhysicsEnvironment.h"
-#include "KX_SumoPhysicsController.h"
+#include "KX_RayCast.h"
+#include "PHY_IPhysicsEnvironment.h"
+#include "PHY_IPhysicsController.h"
+#include "KX_IPhysicsController.h"
+
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -101,7 +104,47 @@ bool KX_RaySensor::IsPositiveTrigger()
 	return result;
 }
 
+bool KX_RaySensor::RayHit(KX_ClientObjectInfo* info, MT_Point3& hit_point, MT_Vector3& hit_normal, void* const data)
+{
+	KX_GameObject* obj = (KX_GameObject*)GetParent();
+	SCA_IObject *hitgameobj = info->m_gameobject;
+	if (hitgameobj == obj || info->m_type > KX_ClientObjectInfo::ACTOR)
+	{
+		// false hit
+		return false;
+	}
+	
+	bool bFound = false;
+	if (m_propertyname.Length() == 0)
+	{
+		bFound = true;
+	}
+	else
+	{
+		if (m_bFindMaterial)
+		{
+			if (info->m_auxilary_info)
+			{
+				bFound = (m_propertyname== ((char*)info->m_auxilary_info));
+			}
+		}
+		else
+		{
+			bFound = hitgameobj->GetProperty(m_propertyname) != NULL;
+		}
+	}
 
+	if (bFound)
+	{
+		m_rayHit = true;
+		m_hitObject = hitgameobj;
+		m_hitPosition = hit_point;
+		m_hitNormal = hit_normal;
+			
+	}
+	
+	return true;
+}
 
 bool KX_RaySensor::Evaluate(CValue* event)
 {
@@ -168,115 +211,64 @@ bool KX_RaySensor::Evaluate(CValue* event)
 	MT_Point3 topoint = frompoint + (m_distance) * todir;
 	MT_Point3 resultpoint;
 	MT_Vector3 resultnormal;
-	bool ready = false;
-	SumoPhysicsEnvironment *spe = dynamic_cast<SumoPhysicsEnvironment *>(m_scene->GetPhysicsEnvironment());
-	if (!spe)
+	PHY_IPhysicsEnvironment* physics_environment = m_scene->GetPhysicsEnvironment();
+	if (!physics_environment)
 	{
 		std::cout << "WARNING: Ray sensor " << GetName() << ":  There is no physics environment!" << std::endl;
 		std::cout << "         Check universe for malfunction." << std::endl;
 		return false;
 	} 
-	SM_Scene *scene = spe->GetSumoScene();
-	KX_SumoPhysicsController *spc = dynamic_cast<KX_SumoPhysicsController *>(obj->GetPhysicsController());
+	KX_IPhysicsController* physics_controller = obj->GetPhysicsController();
+
+	// Use the parent's physics controller if obj has no physics controller.
 	KX_GameObject *parent = obj->GetParent();
-	if (!spc && parent)
-		spc = dynamic_cast<KX_SumoPhysicsController *>(parent->GetPhysicsController());
+	if (!physics_controller && parent)
+		physics_controller = parent->GetPhysicsController();
+
 	if (parent)
 		parent->Release();
-	SM_Object *thisObj = spc?spc->GetSumoObject():NULL;
-	
-	do {
-		SM_Object* hitObj = scene->rayTest(thisObj,
-			frompoint,
-			topoint,
-			resultpoint,
-			resultnormal);
-			
-		if (hitObj)
-		{
-	
-			KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(hitObj->getClientObject());
-			bool bFound = false;
-			
-			if (!info)
-			{
-				std::cout<< "WARNING:  Ray sensor " << GetName() << " cannot sense SM_Object " << hitObj << " - no client info.\n" << std::endl;
-				ready = true;
-				break;
-			} 
-			
-			SCA_IObject *hitgameobj = info->m_gameobject;
-			
-			if (hitgameobj == obj || info->m_type > KX_ClientObjectInfo::ACTOR)
-			{
-				// false hit
-				KX_SumoPhysicsController *hitspc = dynamic_cast<KX_SumoPhysicsController *> (static_cast<KX_GameObject*> (hitgameobj) ->GetPhysicsController());
-				if (hitspc)
-				{
-					/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
-					MT_Scalar marg = 0.01 + hitspc->GetSumoObject()->getMargin();
-					if (hitspc->GetSumoObject()->getShapeProps())
-					{
-						marg += 2*hitspc->GetSumoObject()->getShapeProps()->m_radius;
-					}
-					
-					/* Calculate the other side of this object */
-					MT_Point3 hitObjPos;
-					hitspc->GetWorldPosition(hitObjPos);
-					MT_Vector3 hitvector = hitObjPos - resultpoint;
-					if (hitvector.dot(hitvector) > MT_EPSILON)
-					{
-						hitvector.normalize();
-						marg *= 2.*todir.dot(hitvector);
-					}
-					frompoint = resultpoint + marg * todir;
-				} else {
-					ready = true;
-				}
-			}
-			else
-			{
-				ready = true;
-				if (m_propertyname.Length() == 0)
-				{
-					bFound = true;
-				}
-				else
-				{
-					if (m_bFindMaterial)
-					{
-						if (info->m_auxilary_info)
-						{
-							bFound = (m_propertyname== ((char*)info->m_auxilary_info));
-						}
-					}
-					else
-					{
-						bFound = hitgameobj->GetProperty(m_propertyname) != NULL;
-					}
-				}
-
-				if (bFound)
-				{
-					m_rayHit = true;
-					m_hitObject = hitgameobj;
-					m_hitPosition = resultpoint;
-					m_hitNormal = resultnormal;
-						
-				}
-			}
-		}
-		else
-		{
-			ready = true;
-		}
-	}
-	while (!ready);
-	
+		
+	KX_RayCast::RayTest(physics_controller, physics_environment, frompoint, topoint, resultpoint, resultnormal, KX_RayCast::Callback<KX_RaySensor>(this));
+
+// 	do {
+// 		PHY__Vector3 respos;
+// 		PHY__Vector3 resnormal;
+// 
+// 		PHY_IPhysicsController* hitCtrl = spe->rayTest(physCtrl,
+// 			frompoint.x(),frompoint.y(),frompoint.z(),
+// 			topoint.x(),topoint.y(),topoint.z(),
+// 			respos[0],respos[1],respos[2],
+// 			resnormal[0],resnormal[1],resnormal[2]);
+// 			
+// 		if (hitCtrl)
+// 		{
+// 
+// 			resultpoint = MT_Vector3(respos);
+// 			resultnormal = MT_Vector3(resnormal);
+// 			KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(hitCtrl->getNewClientInfo());
+// 			bool bFound = false;
+// 			
+// 			if (!info)
+// 			{
+// 				std::cout<< "WARNING:  Ray sensor " << GetName() << " cannot sense PHY_IPhysicsController  - no client info.\n" << std::endl;
+// 				ready = true;
+// 				break;
+// 			} 
+// 			
+// 			
+// 
+// 		}
+// 		else
+// 		{
+// 			ready = true;
+// 		}
+// 	}
+// 	while (!ready);
+// 	
 	
 	
 	/* now pass this result to some controller */
-    if (m_rayHit) 
+	if (m_rayHit) 
 	{
 		if (!m_bTriggered)
 		{
@@ -284,10 +276,6 @@ bool KX_RaySensor::Evaluate(CValue* event)
 			result = true;
 			m_bTriggered = true;
 		}
-		else
-		{
-			
-		}
 	}
 	else
 	{
diff --git a/source/gameengine/Ketsji/KX_RaySensor.h b/source/gameengine/Ketsji/KX_RaySensor.h
index 8d361f53d3e..0e05c6021c0 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.h
+++ b/source/gameengine/Ketsji/KX_RaySensor.h
@@ -38,6 +38,8 @@
 #include "SCA_ISensor.h"
 #include "MT_Point3.h"
 
+struct KX_ClientObjectInfo;
+
 class KX_RaySensor : public SCA_ISensor
 {
 	Py_Header;
@@ -68,6 +70,8 @@ public:
 	virtual bool Evaluate(CValue* event);
 	virtual bool IsPositiveTrigger();
 
+	bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data);
+	
 	KX_PYMETHOD_DOC(KX_RaySensor,GetHitObject);
 	KX_PYMETHOD_DOC(KX_RaySensor,GetHitPosition);
 	KX_PYMETHOD_DOC(KX_RaySensor,GetHitNormal);
diff --git a/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp b/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
index 8af01c561f2..540e14d06ea 100644
--- a/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
+++ b/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
@@ -56,7 +56,7 @@ UpdateChildCoordinates(
 	SG_Spatial * child,
 	const SG_Spatial * parent
 ){
-	assert(child != NULL);
+	MT_assert(child != NULL);
 
 	// This way of accessing child coordinates is a bit cumbersome
 	// be nice to have non constant reference access to these values.
@@ -140,7 +140,7 @@ UpdateChildCoordinates(
 	const SG_Spatial * parent
 ){
 
-	assert(child != NULL);
+	MT_assert(child != NULL);
 
 	const MT_Vector3 & child_scale = child->GetLocalScale();
 	const MT_Point3 & child_pos = child->GetLocalPosition();
@@ -225,7 +225,7 @@ UpdateChildCoordinates(
 	SG_Spatial * child,
 	const SG_Spatial * parent
 ){
-	assert(child != NULL);
+	MT_assert(child != NULL);
 
 	const MT_Vector3 & child_scale = child->GetLocalScale();
 	const MT_Point3 & child_pos = child->GetLocalPosition();
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index 2046c52355c..eb3f8821b62 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -73,8 +73,6 @@
 #include "PHY_IPhysicsEnvironment.h"
 #include "KX_IPhysicsController.h"
 
-#include "SM_Scene.h"
-#include "SumoPhysicsEnvironment.h"
 
 void* KX_SceneReplicationFunc(SG_IObject* node,void* gameobj,void* scene)
 {
@@ -398,7 +396,7 @@ KX_GameObject* KX_Scene::AddNodeReplicaObject(class SG_IObject* node, class CVal
 	}
 	
 	SG_IObject* replicanode = newobj->GetSGNode();
-	// SG_Node* rootnode = (replicanode == m_rootnode ? NULL : m_rootnode); /*unused*/
+	SG_Node* rootnode = (replicanode == m_rootnode ? NULL : m_rootnode);
 
 	replicanode->SetSGClientObject(newobj);
 
@@ -660,11 +658,10 @@ void KX_Scene::DelayedRemoveObject(class CValue* gameobj)
 void KX_Scene::NewRemoveObject(class CValue* gameobj)
 {
 	KX_GameObject* newobj = (KX_GameObject*) gameobj;
-	//SM_Object* sumoObj = newobj->GetSumoObject();
-	//if (sumoObj)
-	//{
-	//	this->GetSumoScene()->remove(*sumoObj);
-	//}
+
+	//todo: look at this
+	//GetPhysicsEnvironment()->RemovePhysicsController(gameobj->getPhysicsController());
+
 	// remove all sensors/controllers/actuators from logicsystem...
 	
 	SCA_SensorList& sensors = newobj->GetSensors();
@@ -1104,14 +1101,11 @@ void KX_Scene::SetNodeTree(SG_Tree* root)
 
 void KX_Scene::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment* physEnv)
 {
-	SumoPhysicsEnvironment *sme = dynamic_cast<SumoPhysicsEnvironment *>(physEnv);
 	m_physicsEnvironment = physEnv;
-	if (sme)
-	{
-		KX_TouchEventManager* touchmgr = new KX_TouchEventManager(m_logicmgr, sme->GetSumoScene());
-		m_logicmgr->RegisterEventManager(touchmgr);
-		return;
-	}
+
+	KX_TouchEventManager* touchmgr = new KX_TouchEventManager(m_logicmgr, physEnv);
+	m_logicmgr->RegisterEventManager(touchmgr);
+	return;
 }
 
 //----------------------------------------------------------------------------
diff --git a/source/gameengine/Ketsji/KX_Scene.h b/source/gameengine/Ketsji/KX_Scene.h
index 27f234f52a6..0c0ee4e287a 100644
--- a/source/gameengine/Ketsji/KX_Scene.h
+++ b/source/gameengine/Ketsji/KX_Scene.h
@@ -128,7 +128,7 @@ protected:
 	* physics engine abstraction
 	*/
 
-	e_PhysicsEngine m_physicsEngine;
+	//e_PhysicsEngine m_physicsEngine; //who needs this ?
 	class PHY_IPhysicsEnvironment*		m_physicsEnvironment;
 
 	/**
diff --git a/source/gameengine/Ketsji/KX_SoundActuator.cpp b/source/gameengine/Ketsji/KX_SoundActuator.cpp
index 793c3b84206..f7a2001fcdf 100644
--- a/source/gameengine/Ketsji/KX_SoundActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SoundActuator.cpp
@@ -64,6 +64,8 @@ KX_SoundActuator::KX_SoundActuator(SCA_IObject* gameobj,
 	m_startFrame = start;
 	m_endFrame = end;
 	m_pino = false;
+	
+
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
index 8f284809a17..609f0fc0e0b 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
@@ -10,6 +10,8 @@
 #include "KX_MotionState.h"
 #include "KX_ClientObjectInfo.h"
 
+#include "PHY_IPhysicsEnvironment.h"
+
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
@@ -64,12 +66,9 @@ MT_Vector3 KX_SumoPhysicsController::GetLinearVelocity()
 	
 }
 
-void KX_SumoPhysicsController::resolveCombinedVelocities(
-		const MT_Vector3 & lin_vel,
-		const MT_Vector3 & ang_vel
-	)
+void		KX_SumoPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
-	SumoPhysicsController::resolveCombinedVelocities(lin_vel, ang_vel);
+	SumoPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);
 }
 
 void	KX_SumoPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
@@ -215,3 +214,5 @@ KX_SumoPhysicsController::~KX_SumoPhysicsController()
 
 	
 }
+
+
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
index b160315ce53..b4b0f8a4cd0 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
@@ -33,7 +33,6 @@
 #define __KX_SUMOPHYSICSCONTROLLER_H
 
 #include "PHY_IPhysicsController.h"
-#include "SM_Object.h" // for SM_Callback
 
 /**
 	Physics Controller, a special kind of Scene Graph Transformation Controller.
@@ -54,7 +53,6 @@ class KX_SumoPhysicsController : public KX_IPhysicsController,
 public:
 	KX_SumoPhysicsController(
 		class SM_Scene* sumoScene,
-/*		DT_SceneHandle solidscene, */
 		class SM_Object* sumoObj,	
 		class PHY_IMotionState* motionstate
 		,bool dyna) 
@@ -76,7 +74,7 @@ public:
 	MT_Vector3 GetVelocity(const MT_Point3& pos);
 	void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
 	void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
-	void	resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel);
+	void	resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
 
 
 	void	SuspendDynamics();
@@ -108,8 +106,6 @@ public:
 	){
 		// intentionally empty
 	};
-
-
 };
 
 #endif //__KX_SUMOPHYSICSCONTROLLER_H
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.cpp b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
index a95e6a13548..575ade6dc3b 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.cpp
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
@@ -33,70 +33,50 @@
 #include "SCA_ISensor.h"
 #include "KX_TouchSensor.h"
 #include "KX_GameObject.h"
+#include "PHY_IPhysicsEnvironment.h"
+#include "PHY_IPhysicsController.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
 
-#include "SM_Object.h"
 
 KX_TouchEventManager::KX_TouchEventManager(class SCA_LogicManager* logicmgr,
-	SM_Scene *scene)
+	PHY_IPhysicsEnvironment* physEnv)
 	: SCA_EventManager(TOUCH_EVENTMGR),
 	  m_logicmgr(logicmgr),
-	  m_scene(scene)
+	  m_physEnv(physEnv)
 {
-	//m_scene->addTouchCallback(STATIC_RESPONSE, KX_TouchEventManager::collisionResponse, this);
-	m_scene->addTouchCallback(OBJECT_RESPONSE, KX_TouchEventManager::collisionResponse, this);
-	m_scene->addTouchCallback(SENSOR_RESPONSE, KX_TouchEventManager::collisionResponse, this);
-}
+	//notm_scene->addTouchCallback(STATIC_RESPONSE, KX_TouchEventManager::collisionResponse, this);
+
+	//m_scene->addTouchCallback(OBJECT_RESPONSE, KX_TouchEventManager::collisionResponse, this);
+	//m_scene->addTouchCallback(SENSOR_RESPONSE, KX_TouchEventManager::collisionResponse, this);
+
+	m_physEnv->addTouchCallback(PHY_OBJECT_RESPONSE, KX_TouchEventManager::newCollisionResponse, this);
+	m_physEnv->addTouchCallback(PHY_SENSOR_RESPONSE, KX_TouchEventManager::newCollisionResponse, this);
 
-DT_Bool KX_TouchEventManager::HandleCollision(void* object1, void* object2, const DT_CollData *coll_data)
-{
-	SM_Object * obj1 = static_cast<SM_Object*>(object1);
-	SM_Object * obj2 = static_cast<SM_Object*>(object2);
-	
-	m_collisions.insert(std::pair<SM_Object*, SM_Object*>(obj1, obj2));
-		
-	return DT_CONTINUE;
 }
 
-/*
-DT_Bool KX_TouchEventManager::HandleCollision(void* object1,void* object2,
-						 const DT_CollData * coll_data)
+bool	KX_TouchEventManager::NewHandleCollision(void* object1, void* object2, const PHY_CollData *coll_data)
 {
-	SM_Object * obj1 = (SM_Object *) object1;
-	SM_Object * obj2 = (SM_Object *) object2;
 
-	for ( vector<SCA_ISensor*>::iterator it = m_sensors.begin(); !(it==m_sensors.end()); it++)
-	{
-		KX_GameObject* gameobj = ((KX_GameObject*)((KX_TouchSensor*)*it)->GetParent());
-		KX_ClientObjectInfo *client_info = (KX_ClientObjectInfo *) obj1->getClientObject();
-// Enable these printfs to create excesive debug info
-//		printf("KX_TEM::HC: Sensor %s\tGO: %p o1: %s (%p)", (const char *) (*it)->GetName(), gameobj, (const char *) ((KX_GameObject *) client_info->m_clientobject)->GetName(), client_info->m_clientobject);
-		if (client_info && client_info->m_clientobject == gameobj)
-			((KX_TouchSensor*)*it)->HandleCollision(object1,object2,coll_data);
-
-		client_info = (KX_ClientObjectInfo *) obj2->getClientObject();
-//		printf(" o2: %s (%p)\n", (const char *) ((KX_GameObject *) client_info->m_clientobject)->GetName(), client_info->m_clientobject);
-		if (client_info && client_info->m_clientobject == gameobj)
-			 ((KX_TouchSensor*)*it)->HandleCollision(object1,object2,coll_data);
-
-	}
+	PHY_IPhysicsController* obj1 = static_cast<PHY_IPhysicsController*>(object1);
+	PHY_IPhysicsController* obj2 = static_cast<PHY_IPhysicsController*>(object2);
 	
-	return DT_CONTINUE;
+	m_newCollisions.insert(std::pair<PHY_IPhysicsController*, PHY_IPhysicsController*>(obj1, obj2));
+		
+	return false;
 }
 
-*/
 
-DT_Bool KX_TouchEventManager::collisionResponse(void *client_data, 
+bool	 KX_TouchEventManager::newCollisionResponse(void *client_data, 
 							void *object1,
 							void *object2,
-							const DT_CollData *coll_data)
+							const PHY_CollData *coll_data)
 {
 	KX_TouchEventManager *touchmgr = (KX_TouchEventManager *) client_data;
-	touchmgr->HandleCollision(object1, object2, coll_data);
-	return DT_CONTINUE;
+	touchmgr->NewHandleCollision(object1, object2, coll_data);
+	return false;
 }
 
 void KX_TouchEventManager::RegisterSensor(SCA_ISensor* sensor)
@@ -131,20 +111,25 @@ void KX_TouchEventManager::NextFrame()
 		for (it = m_sensors.begin();!(it==m_sensors.end());++it)
 			static_cast<KX_TouchSensor*>(*it)->SynchronizeTransform();
 		
-		for (std::set<Collision>::iterator cit = m_collisions.begin(); cit != m_collisions.end(); ++cit)
+		for (std::set<NewCollision>::iterator cit = m_newCollisions.begin(); cit != m_newCollisions.end(); ++cit)
 		{
-			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo *>((*cit).first->getClientObject());
+			PHY_IPhysicsController* ctrl1 = (*cit).first;
+			PHY_IPhysicsController* ctrl2 = (*cit).second;
+//			KX_GameObject* gameOb1 = ctrl1->getClientInfo();
+//			KX_GameObject* gameOb1 = ctrl1->getClientInfo();
+
+			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo *>(ctrl1->getNewClientInfo());
 	
 			list<SCA_ISensor*>::iterator sit;
 			for ( sit = client_info->m_sensors.begin(); sit != client_info->m_sensors.end(); ++sit)
-				static_cast<KX_TouchSensor*>(*sit)->HandleCollision((*cit).first, (*cit).second, NULL);
+				static_cast<KX_TouchSensor*>(*sit)->NewHandleCollision((*cit).first, (*cit).second, NULL);
 		
-			client_info = static_cast<KX_ClientObjectInfo *>((*cit).second->getClientObject());
+			client_info = static_cast<KX_ClientObjectInfo *>((*cit).second->getNewClientInfo());
 			for ( sit = client_info->m_sensors.begin(); sit != client_info->m_sensors.end(); ++sit)
-				static_cast<KX_TouchSensor*>(*sit)->HandleCollision((*cit).second, (*cit).first, NULL);
+				static_cast<KX_TouchSensor*>(*sit)->NewHandleCollision((*cit).second, (*cit).first, NULL);
 		}
 			
-		m_collisions.clear();
+		m_newCollisions.clear();
 			
 		for (it = m_sensors.begin();!(it==m_sensors.end());++it)
 			(*it)->Activate(m_logicmgr,NULL);
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.h b/source/gameengine/Ketsji/KX_TouchEventManager.h
index 128758f0be6..21faceef799 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.h
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.h
@@ -32,6 +32,7 @@
 #ifndef __KX_TOUCHEVENTMANAGER
 #define __KX_TOUCHEVENTMANAGER
 
+
 #include "SCA_EventManager.h"
 #include "KX_TouchSensor.h"
 #include "KX_GameObject.h"
@@ -40,35 +41,39 @@
 #include <set>
 
 class SCA_ISensor;
-class SM_Object;
+class PHY_IPhysicsEnvironment;
 
 class KX_TouchEventManager : public SCA_EventManager
 {
-	typedef std::pair<SM_Object*, SM_Object*> Collision;
+	typedef std::pair<PHY_IPhysicsController*, PHY_IPhysicsController*> NewCollision;
 	class SCA_LogicManager* m_logicmgr;
-	SM_Scene *m_scene;
+	PHY_IPhysicsEnvironment*	m_physEnv;
 	
-	std::set<Collision> m_collisions;
+	std::set<NewCollision> m_newCollisions;
 	
-
-	static DT_Bool collisionResponse(void *client_data, 
-							void *object1,
-							void *object2,
-							const DT_CollData *coll_data);
 	
-	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
-						 const DT_CollData * coll_data); 
+	static bool newCollisionResponse(void *client_data, 
+						void *object1,
+						void *object2,
+						const PHY_CollData *coll_data);
 	
+	virtual bool	NewHandleCollision(void* obj1,void* obj2,
+						const PHY_CollData * coll_data); 
+
+
+
+
 
 public:
 	KX_TouchEventManager(class SCA_LogicManager* logicmgr,  
-		SM_Scene *scene);
+		PHY_IPhysicsEnvironment* physEnv);
 	virtual void NextFrame();
 	virtual void	EndFrame();
 	virtual void	RemoveSensor(class SCA_ISensor* sensor);
 	virtual void RegisterSensor(SCA_ISensor* sensor);
 	SCA_LogicManager* GetLogicManager() { return m_logicmgr;}
-	SM_Scene *GetSumoScene() { return m_scene; }
+	PHY_IPhysicsEnvironment *GetPhysicsEnvironment() { return m_physEnv; }
+
 };
 
 #endif //__KX_TOUCHEVENTMANAGER
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp
index 64dc175f451..e89b1e41434 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.cpp
+++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp
@@ -37,9 +37,9 @@
 #include "SCA_LogicManager.h"
 #include "KX_GameObject.h"
 #include "KX_TouchEventManager.h"
-#include "SM_Object.h"
 #include "KX_SumoPhysicsController.h"
 #include <iostream>
+#include "PHY_IPhysicsEnvironment.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -52,13 +52,13 @@
 void KX_TouchSensor::SynchronizeTransform()
 {
 
-	if (m_sumoObj)
+	if (m_physCtrl)
 	{
-		m_sumoObj->setPosition(((KX_GameObject*)GetParent())->NodeGetWorldPosition());
-		m_sumoObj->setOrientation(
-			((KX_GameObject*)GetParent())->NodeGetWorldOrientation().getRotation()
-			);
-		m_sumoObj->calcXform();
+		MT_Vector3 pos = ((KX_GameObject*)GetParent())->NodeGetWorldPosition();
+		MT_Quaternion orn = ((KX_GameObject*)GetParent())->NodeGetWorldOrientation().getRotation();
+		m_physCtrl->setPosition(pos.x(),pos.y(),pos.z());
+		m_physCtrl->setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
+		m_physCtrl->calcXform();
 	}
 	
 }
@@ -84,7 +84,7 @@ bool KX_TouchSensor::Evaluate(CValue* event)
 	return result;
 }
 
-KX_TouchSensor::KX_TouchSensor(SCA_EventManager* eventmgr,KX_GameObject* gameobj,/*SM_Object* sumoObj,*/bool bFindMaterial,const STR_String& touchedpropname,PyTypeObject* T)
+KX_TouchSensor::KX_TouchSensor(SCA_EventManager* eventmgr,KX_GameObject* gameobj,bool bFindMaterial,const STR_String& touchedpropname,PyTypeObject* T)
 :SCA_ISensor(gameobj,eventmgr,T),
 m_touchedpropname(touchedpropname),
 m_bFindMaterial(bFindMaterial),
@@ -94,7 +94,7 @@ m_bCollision(false),
 m_bTriggered(false),
 m_bLastTriggered(false)
 {
-	// KX_TouchEventManager* touchmgr = (KX_TouchEventManager*) eventmgr; /*unused*/
+	KX_TouchEventManager* touchmgr = (KX_TouchEventManager*) eventmgr;
 //	m_resptable = touchmgr->GetResponseTable();
 	
 //	m_solidHandle = m_sumoObj->getObjectHandle();
@@ -107,10 +107,8 @@ m_bLastTriggered(false)
 	client_info->m_auxilary_info = NULL;
 	client_info->m_sensors.push_back(this);
 	
-	KX_SumoPhysicsController *sphy = dynamic_cast<KX_SumoPhysicsController *>(gameobj->GetPhysicsController());
-	if (sphy)
-		m_sumoObj = sphy->GetSumoObject();
-
+	m_physCtrl = dynamic_cast<PHY_IPhysicsController*>(gameobj->GetPhysicsController());
+	MT_assert( !gameobj->GetPhysicsController() || m_physCtrl );
 }
 
 
@@ -136,10 +134,10 @@ CValue* KX_TouchSensor::GetReplica()
 void	KX_TouchSensor::ReParent(SCA_IObject* parent)
 {
 	KX_GameObject *gameobj = static_cast<KX_GameObject *>(parent);
-	KX_SumoPhysicsController *sphy = dynamic_cast<KX_SumoPhysicsController *>(((KX_GameObject*)parent)->GetPhysicsController());
+	PHY_IPhysicsController *sphy = dynamic_cast<PHY_IPhysicsController*>(((KX_GameObject*)parent)->GetPhysicsController());
 	if (sphy)
-		m_sumoObj = sphy->GetSumoObject();
-
+		m_physCtrl = sphy;
+	
 //	m_solidHandle = m_sumoObj->getObjectHandle();
 	KX_ClientObjectInfo *client_info = gameobj->getClientInfo();
 	client_info->m_gameobject = gameobj;
@@ -150,25 +148,25 @@ void	KX_TouchSensor::ReParent(SCA_IObject* parent)
 
 void KX_TouchSensor::RegisterSumo(KX_TouchEventManager *touchman)
 {
-	if (m_sumoObj)
+	if (m_physCtrl)
 	{
-		touchman->GetSumoScene()->requestCollisionCallback(*m_sumoObj);
+		touchman->GetPhysicsEnvironment()->requestCollisionCallback(m_physCtrl);
 		// collision
 		// Deprecated	
 
 	}
 }
 
-DT_Bool    KX_TouchSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData * coll_data)
+bool	KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_CollData* colldata)
 {
-	// KX_TouchEventManager* toucheventmgr = (KX_TouchEventManager*)m_eventmgr; /*unused*/
+	KX_TouchEventManager* toucheventmgr = (KX_TouchEventManager*)m_eventmgr;
 	KX_GameObject* parent = (KX_GameObject*)GetParent();
 
-	// need the mapping from SM_Objects to gameobjects now
+	// need the mapping from PHY_IPhysicsController to gameobjects now
 	
-	KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*> (obj1 == m_sumoObj? 
-					((SM_Object*)obj2)->getClientObject() : 
-					((SM_Object*)obj1)->getClientObject());
+	KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*> (object1 == m_physCtrl? 
+					((PHY_IPhysicsController*)object2)->getNewClientInfo(): 
+					((PHY_IPhysicsController*)object1)->getNewClientInfo());
 
 	KX_GameObject* gameobj = ( client_info ? 
 			client_info->m_gameobject : 
@@ -336,11 +334,10 @@ PyObject* KX_TouchSensor::PyGetHitObjectList(PyObject* self,
 				 * - this also doesn't work (obviously) for multi-materials... 
 				 */
 				KX_GameObject* gameob = (KX_GameObject*) m_colliders->GetValue(i);
-				KX_SumoPhysicsController* spc = dynamic_cast<KX_SumoPhysicsController*>(gameob->GetPhysicsController());
-				SM_Object* smob = spc?spc->GetSumoObject():NULL;
+				PHY_IPhysicsController* spc = dynamic_cast<PHY_IPhysicsController*>(gameob->GetPhysicsController());
 				
-				if (smob) {
-					KX_ClientObjectInfo* cl_inf = static_cast<KX_ClientObjectInfo*>(smob->getClientObject());
+				if (spc) {
+					KX_ClientObjectInfo* cl_inf = static_cast<KX_ClientObjectInfo*>(spc->getNewClientInfo());
 					
 					if (m_touchedpropname == ((char*)cl_inf->m_auxilary_info)) {
 						newList->Add(m_colliders->GetValue(i)->AddRef());
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.h b/source/gameengine/Ketsji/KX_TouchSensor.h
index 9dd17a5fe83..f1a2a26e822 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.h
+++ b/source/gameengine/Ketsji/KX_TouchSensor.h
@@ -38,8 +38,7 @@
 #include "SCA_ISensor.h"
 #include "ListValue.h"
 
-#include <SOLID/SOLID.h>
-#include "SM_Scene.h"
+struct PHY_CollData;
 
 #include "KX_ClientObjectInfo.h"
 
@@ -57,10 +56,9 @@ protected:
 	bool					m_bFindMaterial;
 	class SCA_EventManager*	m_eventmgr;
 	
-	class SM_Object*		m_sumoObj;
-	DT_ObjectHandle			m_solidHandle;
-	DT_RespTableHandle		m_resptable;
-
+	class PHY_IPhysicsController*	m_physCtrl;
+	class PHY_ResponseTable*		m_responstTable;
+	class PHY_PhysicsController*	m_responsObject;
 
 	bool					m_bCollision;
 	bool					m_bTriggered;
@@ -71,7 +69,6 @@ protected:
 public:
 	KX_TouchSensor(class SCA_EventManager* eventmgr,
 		class KX_GameObject* gameobj,
-		/*class SM_Object* sumoObj,*/
 		bool fFindMaterial,
 		const STR_String& touchedpropname,
 		PyTypeObject* T=&Type) ;
@@ -84,12 +81,12 @@ public:
 	
 	virtual void RegisterSumo(KX_TouchEventManager* touchman);
 
-	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
-						 const DT_CollData * coll_data); 
-
+//	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
+//						 const DT_CollData * coll_data); 
 
-	SM_Object*	GetSumoObject() { return m_sumoObj; };
+	virtual bool	NewHandleCollision(void*obj1,void*obj2,const PHY_CollData* colldata);
 
+	PHY_PhysicsController*	GetPhysicsController() { return m_responsObject;}
   
 
 	virtual bool IsPositiveTrigger() {
diff --git a/source/gameengine/Ketsji/SConscript b/source/gameengine/Ketsji/SConscript
index 35cfa47700e..0407232a9ac 100644
--- a/source/gameengine/Ketsji/SConscript
+++ b/source/gameengine/Ketsji/SConscript
@@ -26,6 +26,7 @@ source_files = ['KX_WorldIpoController.cpp',
                 'KX_SCA_AddObjectActuator.cpp',
                 'KX_RaySensor.cpp',
                 'KX_RayEventManager.cpp',
+		'KX_RayCast.cpp',
                 'KX_RadarSensor.cpp',
                 'KX_PyMath.cpp',
                 'KX_PythonInit.cpp',