[GameEngine] Commit all Kester's changes made to the gameengine to restore 2.25 like physics.

[SCons] Build with Solid as default when enabling the gameengine in the build process
[SCons] Build solid and qhull from the extern directory and link statically against them

That was about it.

There are a few things that needs double checking:

* Makefiles
* Projectfiles
* All the other systems than Linux and Windows on which the build (with scons) has been successfully tested.

42 files changed, 708 insertions, 449 deletions

diff --git a/source/gameengine/Ketsji/KX_Camera.cpp b/source/gameengine/Ketsji/KX_Camera.cpp
index 6b669bcd936..69bf4dd69ce 100644
--- a/source/gameengine/Ketsji/KX_Camera.cpp
+++ b/source/gameengine/Ketsji/KX_Camera.cpp
@@ -64,7 +64,7 @@ MT_Transform KX_Camera::GetWorldToCamera() const
 	
 	trans.setBasis(NodeGetWorldOrientation());
 	trans.setOrigin(NodeGetWorldPosition());
-
+	
 	camtrans.invert(trans);
 	
 	return camtrans;
@@ -95,8 +95,8 @@ const MT_Point3 KX_Camera::GetCameraLocation()
 	//return m_trans1.getOrigin();
 	//return MT_Point3(0,0,0);   <-----
 	/* .... I want it in world coords */
-	MT_Transform trans;
-	trans.setBasis(NodeGetWorldOrientation());
+	//MT_Transform trans;
+	//trans.setBasis(NodeGetWorldOrientation());
 	
 	return NodeGetWorldPosition();		
 }
diff --git a/source/gameengine/Ketsji/KX_CameraActuator.cpp b/source/gameengine/Ketsji/KX_CameraActuator.cpp
index df61aaf5243..f1286de1bd4 100644
--- a/source/gameengine/Ketsji/KX_CameraActuator.cpp
+++ b/source/gameengine/Ketsji/KX_CameraActuator.cpp
@@ -183,8 +183,6 @@ bool KX_CameraActuator::Update(double curtime,double deltatime)
 	MT_Point3 lookat = ((KX_GameObject*)m_ob)->NodeGetWorldPosition();
 	MT_Matrix3x3 actormat = ((KX_GameObject*)m_ob)->NodeGetWorldOrientation();
 
-
-
 	float fp1[3], fp2[3], rc[3];
 	float inp, fac; //, factor = 0.0; /* some factor...                                    */
 	float mindistsq, maxdistsq, distsq;
diff --git a/source/gameengine/Ketsji/KX_CameraIpoSGController.h b/source/gameengine/Ketsji/KX_CameraIpoSGController.h
index 029aa6d7156..d80847fa5fb 100644
--- a/source/gameengine/Ketsji/KX_CameraIpoSGController.h
+++ b/source/gameengine/Ketsji/KX_CameraIpoSGController.h
@@ -55,11 +55,12 @@ private:
 
 	double		        m_ipotime;
 public:
-	KX_CameraIpoSGController() : m_ipotime(0.0),
-								m_modify_lens(false),
-								m_modify_clipstart(false),
-								m_modify_clipend(false),
-								m_modified(true)
+	KX_CameraIpoSGController() : 
+				m_modify_lens(false),
+				m_modify_clipstart(false),
+				m_modify_clipend(false),
+				m_modified(true),
+				m_ipotime(0.0)
 		{}
 
 	~KX_CameraIpoSGController();
diff --git a/source/gameengine/Ketsji/KX_ClientObjectInfo.h b/source/gameengine/Ketsji/KX_ClientObjectInfo.h
index 0981463ed44..51cb19e8935 100644
--- a/source/gameengine/Ketsji/KX_ClientObjectInfo.h
+++ b/source/gameengine/Ketsji/KX_ClientObjectInfo.h
@@ -35,12 +35,21 @@
 /**
  * Client Type and Additional Info. This structure can be use instead of a bare void* pointer, for safeness, and additional info for callbacks
  */
-
 struct KX_ClientObjectInfo
 {
-	int			m_type;
+	enum {
+		STATIC,
+		ACTOR,
+		RESERVED1,
+		RADAR,
+		NEAR
+	}		m_type;
 	void*		m_clientobject;
 	void*		m_auxilary_info;
+public:
+	KX_ClientObjectInfo(void *clientobject) :
+		m_clientobject(clientobject) 
+	{}
 };
 
 #endif //__KX_CLIENTOBJECT_INFO_H
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
index 04bec5cb37c..e42ae59e2bb 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
@@ -40,8 +40,11 @@
 KX_ConstraintWrapper::KX_ConstraintWrapper(
 						PHY_ConstraintType ctype,
 						int constraintId,
-						PHY_IPhysicsEnvironment* physenv,PyTypeObject *T)
-: m_constraintType(ctype),m_constraintId(constraintId),m_physenv(physenv),PyObjectPlus(T)
+						PHY_IPhysicsEnvironment* physenv,PyTypeObject *T) :
+		PyObjectPlus(T),
+		m_constraintId(constraintId),
+		m_constraintType(ctype),
+		m_physenv(physenv)
 {
 }
 KX_ConstraintWrapper::~KX_ConstraintWrapper()
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
index bf40baf5594..3ed3e2bfa8f 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
@@ -32,22 +32,35 @@
 #ifndef KX_CONVERTPHYSICSOBJECTS
 #define KX_CONVERTPHYSICSOBJECTS
 
-
+/* These are defined by the build system... */
 //#define USE_SUMO_SOLID
-//solid is not available yet
-
-#define USE_ODE
+//#define USE_ODE
 
 class RAS_MeshObject;
 class KX_Scene;
 
+typedef enum {
+	KX_BOUNDBOX,
+	KX_BOUNDSPHERE,
+	KX_BOUNDCYLINDER,
+	KX_BOUNDCONE,
+	KX_BOUNDMESH
+} KX_BoundBoxClass;
 
-struct KX_Bounds
+struct KX_BoxBounds
 {
 	float m_center[3];
 	float m_extends[3];
 };
 
+/* Cone/Cylinder */
+struct KX_CBounds
+{
+	float m_radius;
+	float m_height;
+};
+
+
 struct KX_ObjectProperties
 {
 	bool	m_dyna;
@@ -59,9 +72,11 @@ struct KX_ObjectProperties
 	bool	m_isactor;
 	bool	m_concave;
 	bool	m_isdeformable;
-	bool	m_implicitsphere ;
-	bool	m_implicitbox;
-	KX_Bounds	m_boundingbox;
+	KX_BoundBoxClass	m_boundclass;
+	union {
+		KX_BoxBounds	box;
+		KX_CBounds	c;
+	} m_boundobject;
 };
 
 #ifdef USE_ODE
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index a6e7daadb2c..96716214edc 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -29,7 +29,9 @@
  *
  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  */
+#ifdef WIN32
 #pragma warning (disable : 4786)
+#endif
 
 // defines USE_ODE to choose physics engine
 #include "KX_ConvertPhysicsObject.h"
@@ -63,7 +65,6 @@
 // USE_SUMO_SOLID is defined in headerfile KX_ConvertPhysicsObject.h
 #ifdef USE_SUMO_SOLID
 
-
 #include "SumoPhysicsEnvironment.h"
 #include "KX_SumoPhysicsController.h"
 
@@ -83,16 +84,15 @@ void	BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,DT_S
 DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj);
 
 
-void	KX_ConvertSumoObject(	class	KX_GameObject* gameobj,
-							class	RAS_MeshObject* meshobj,
-							class	KX_Scene* kxscene,
-							PHY_ShapeProps* kxshapeprops,
-							PHY_MaterialProps*	kxmaterial,
-							struct	KX_ObjectProperties*	objprop)
+void	KX_ConvertSumoObject(	KX_GameObject* gameobj,
+				RAS_MeshObject* meshobj,
+				KX_Scene* kxscene,
+				PHY_ShapeProps* kxshapeprops,
+				PHY_MaterialProps*	kxmaterial,
+				struct	KX_ObjectProperties*	objprop)
 
 
 {
-
 	SM_ShapeProps* smprop = new SM_ShapeProps;
 
 	smprop->m_ang_drag = kxshapeprops->m_ang_drag;
@@ -105,6 +105,7 @@ void	KX_ConvertSumoObject(	class	KX_GameObject* gameobj,
 	smprop->m_inertia = kxshapeprops->m_inertia;
 	smprop->m_lin_drag = kxshapeprops->m_lin_drag;
 	smprop->m_mass = kxshapeprops->m_mass;
+	smprop->m_radius = objprop->m_radius;
 
 
 	SM_MaterialProps* smmaterial = new SM_MaterialProps;
@@ -116,55 +117,48 @@ void	KX_ConvertSumoObject(	class	KX_GameObject* gameobj,
 	smmaterial->m_friction = kxmaterial->m_friction;
 	smmaterial->m_restitution = kxmaterial->m_restitution;
 
-	class SumoPhysicsEnvironment* sumoEnv =
+	SumoPhysicsEnvironment* sumoEnv =
 		(SumoPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
 
 	SM_Scene*	sceneptr = sumoEnv->GetSumoScene();
 
-
-
 	SM_Object*	sumoObj=NULL;
 
 	if (objprop->m_dyna)
 	{
-		
-		DT_ShapeHandle shape	=	DT_Sphere(0.0);
-
-		if (objprop->m_ghost)
+		DT_ShapeHandle shape = NULL;
+		switch (objprop->m_boundclass)
 		{
-
-			sumoObj					=	new SM_Object(shape,NULL,smprop,NULL);
-		} else
-		{
-			sumoObj					=	new SM_Object(shape,smmaterial,smprop,NULL);
+			case KX_BOUNDBOX:
+				shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
+				break;
+			case KX_BOUNDCYLINDER:
+				shape = DT_NewCylinder(objprop->m_radius, objprop->m_boundobject.c.m_height);
+				break;
+			case KX_BOUNDCONE:
+				shape = DT_NewCone(objprop->m_radius, objprop->m_boundobject.c.m_height);
+				break;
+/* Enabling this allows you to use dynamic mesh objects.  It's disabled 'cause it's really slow. */
+			case KX_BOUNDMESH:
+				if (meshobj && meshobj->NumPolygons() > 0)
+				{
+					if ((shape = CreateShapeFromMesh(meshobj)))
+						break;
+				}
+				/* If CreateShapeFromMesh fails, fall through and use sphere */
+			default:
+			case KX_BOUNDSPHERE:
+				shape = DT_NewSphere(objprop->m_radius);
+				break;
+				
 		}
 		
-		double radius = 		objprop->m_radius;
+		sumoObj = new SM_Object(shape, !objprop->m_ghost?smmaterial:NULL,smprop,NULL);
 		
-		MT_Scalar margin = radius;//0.5;
-		sumoObj->setMargin(margin);
+		sumoObj->setRigidBody(objprop->m_angular_rigidbody?true:false);
 		
-		//if (bRigidBody) 
-		//{
-			if (objprop->m_in_active_layer)
-			{
-				DT_AddObject(sumoEnv->GetSolidScene(),
-					sumoObj->getObjectHandle());
-			}
-		//}
-		
-		if (objprop->m_angular_rigidbody)
-		{
-			sumoObj->setRigidBody(true);
-		} else
-		{
-			sumoObj->setRigidBody(false);
-		}
-
-		bool isDynamic = true;
-		bool isActor = true;
-
-		BL_RegisterSumoObject(gameobj,sceneptr,sumoEnv->GetSolidScene(),sumoObj,NULL,isDynamic,isActor);
+		objprop->m_isactor = objprop->m_dyna = true;
+		BL_RegisterSumoObject(gameobj,sceneptr,sumoEnv->GetSolidScene(),sumoObj,NULL,true, true);
 		
 	} 
 	else {
@@ -172,20 +166,40 @@ void	KX_ConvertSumoObject(	class	KX_GameObject* gameobj,
 		if (meshobj)
 		{
 			int numpolys = meshobj->NumPolygons();
-
 			{
 
 				DT_ShapeHandle complexshape=0;
 
-				if (objprop->m_implicitbox)
-				{
-					complexshape = DT_Box(objprop->m_boundingbox.m_extends[0],objprop->m_boundingbox.m_extends[1],objprop->m_boundingbox.m_extends[2]);
-				} else
+				switch (objprop->m_boundclass)
 				{
-					if (numpolys>0)
-					{
-						complexshape	= 	CreateShapeFromMesh(meshobj);
-					}
+					case KX_BOUNDBOX:
+						complexshape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
+						break;
+					case KX_BOUNDSPHERE:
+						complexshape = DT_NewSphere(objprop->m_boundobject.c.m_radius);
+						break;
+					case KX_BOUNDCYLINDER:
+						complexshape = DT_NewCylinder(objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height);
+						break;
+					case KX_BOUNDCONE:
+						complexshape = DT_NewCone(objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height);
+						break;
+					default:
+					case KX_BOUNDMESH:
+						if (numpolys>0)
+						{
+							complexshape = CreateShapeFromMesh(meshobj);
+							//std::cout << "Convert Physics Mesh: " << meshobj->GetName() << std::endl;
+/*							if (!complexshape) 
+							{
+								// Something has to be done here - if the object has no polygons, it will not be able to have
+								//   sensors attached to it. 
+								DT_Vector3 pt = {0., 0., 0.};
+								complexshape = DT_NewSphere(1.0);
+								objprop->m_ghost = evilObject = true;
+							} */
+						}
+						break;
 				}
 				
 				if (complexshape)
@@ -209,21 +223,7 @@ void	KX_ConvertSumoObject(	class	KX_GameObject* gameobj,
 					}
 				
 					
-					if (objprop->m_ghost)
-					{
-						sumoObj	= new SM_Object(complexshape,NULL,NULL, dynamicParent);	
-					} else
-					{
-						sumoObj	= new SM_Object(complexshape,smmaterial,NULL, dynamicParent);	
-					}
-					
-					if (objprop->m_in_active_layer)
-					{
-						DT_AddObject(sumoEnv->GetSolidScene(),
-							sumoObj->getObjectHandle());
-					}
-					
-					
+					sumoObj	= new SM_Object(complexshape,!objprop->m_ghost?smmaterial:NULL,NULL, dynamicParent);	
 					const STR_String& matname=meshobj->GetMaterialName(0);
 
 					
@@ -232,7 +232,6 @@ void	KX_ConvertSumoObject(	class	KX_GameObject* gameobj,
 						matname.ReadPtr(),
 						objprop->m_dyna,
 						objprop->m_isactor);
-
 				}
 			}
 		}
@@ -264,35 +263,34 @@ void	BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,DT_S
 		KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,solidscene,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());
 
 		gameobj->GetSGNode()->AddSGController(physicscontroller);
 
-		//gameobj->GetClientInfo()->m_type = (isActor ? 1 : 0);
+		gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC);
 		//gameobj->GetClientInfo()->m_clientobject = gameobj;
 
 		// store materialname in auxinfo, needed for touchsensors
-		//gameobj->GetClientInfo()->m_auxilary_info = (matname? (void*)(matname+2) : NULL);
+		gameobj->getClientInfo()->m_auxilary_info = (matname? (void*)(matname+2) : NULL);
 
 		physicscontroller->SetObject(gameobj->GetSGNode());
-				
+		
 		//gameobj->SetDynamicsScaling(MT_Vector3(1.0, 1.0, 1.0));
 
 };
 
-
-
 DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj)
 {
 
-	DT_ShapeHandle* shapeptr = map_gamemesh_to_sumoshape[GEN_HashedPtr(meshobj)];
+	DT_ShapeHandle *shapeptr = map_gamemesh_to_sumoshape[GEN_HashedPtr(meshobj)];
 	if (shapeptr)
 	{
 		return *shapeptr;
 	}
 	
-	// todo: shared meshes
-	DT_ShapeHandle shape = DT_NewComplexShape();
-	int p=0;
 	int numpolys = meshobj->NumPolygons();
 	if (!numpolys)
 	{
@@ -300,38 +298,80 @@ DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj)
 	}
 	int numvalidpolys = 0;
 
-
-
-	for (p=0;p<meshobj->m_triangle_indices.size();p++)
+	for (int p=0; p<numpolys; p++)
 	{
-		RAS_TriangleIndex& idx = meshobj->m_triangle_indices[p];
-		
+		RAS_Polygon* poly = meshobj->GetPolygon(p);
+	
 		// only add polygons that have the collisionflag set
-		if (idx.m_collider)
+		if (poly->IsCollider())
 		{
-			DT_Begin();
-			for (int v=0;v<3;v++)
-			{
-				int num = meshobj->m_xyz_index_to_vertex_index_mapping[idx.m_index[v]].size();
-				if (num != 1)
-				{
-					int i=0;
-				}
-				RAS_MatArrayIndex& vertindex = meshobj->m_xyz_index_to_vertex_index_mapping[idx.m_index[v]][0];
+			numvalidpolys++;
+			break;
+		}
+	}
+	
+	if (numvalidpolys < 1)
+		return NULL;
+	
+	DT_ShapeHandle shape = DT_NewComplexShape(NULL);
+	
+	
+	numvalidpolys = 0;
 
-				numvalidpolys++;
+	for (int p2=0; p2<numpolys; p2++)
+	{
+		RAS_Polygon* poly = meshobj->GetPolygon(p2);
 	
-				{
-					const MT_Point3& pt = meshobj->GetVertex(vertindex.m_array, 
-													  vertindex.m_index,
-													  (RAS_IPolyMaterial*)vertindex.m_matid)->xyz();
-					DT_Vertex(pt[0],pt[1],pt[2]);
-				}
+		// only add polygons that have the collisionflag set
+		if (poly->IsCollider())
+		{   /* We have to tesselate here because SOLID can only raycast triangles */
+		    DT_Begin();
+			DT_Vector3 pt;
+			/* V1 */
+			meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
+				poly->GetVertexIndexBase().m_indexarray[0],
+				poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+			DT_Vertex(pt);
+			/* V2 */
+			meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
+				poly->GetVertexIndexBase().m_indexarray[1],
+				poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+			DT_Vertex(pt);
+			/* V3 */
+			meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
+				poly->GetVertexIndexBase().m_indexarray[2],
+				poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+			DT_Vertex(pt);
+			
+			numvalidpolys++;
+		    DT_End();
+			
+			if (poly->VertexCount() == 4)
+			{
+			    DT_Begin();
+				/* V1 */
+				meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
+					poly->GetVertexIndexBase().m_indexarray[0],
+					poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+				DT_Vertex(pt);
+				/* V3 */
+				meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
+					poly->GetVertexIndexBase().m_indexarray[2],
+					poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+				DT_Vertex(pt);
+				/* V4 */
+				meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
+					poly->GetVertexIndexBase().m_indexarray[3],
+					poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+				DT_Vertex(pt);
+			
+				numvalidpolys++;
+			    DT_End();
 			}
-			DT_End();
+	
 		}
 	}
-
+	
 	DT_EndComplexShape();
 
 	if (numvalidpolys > 0)
@@ -340,7 +380,7 @@ DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj)
 		return shape;
 	}
 
-	// memleak... todo: delete shape
+	delete shape;
 	return NULL;
 }
 
diff --git a/source/gameengine/Ketsji/KX_GameActuator.cpp b/source/gameengine/Ketsji/KX_GameActuator.cpp
index b3e50359224..dcdb9b00087 100644
--- a/source/gameengine/Ketsji/KX_GameActuator.cpp
+++ b/source/gameengine/Ketsji/KX_GameActuator.cpp
@@ -113,6 +113,7 @@ bool KX_GameActuator::Update(double curtime, double deltatime)
 			{
 				STR_String exitstring = "restarting game";
 				m_ketsjiengine->RequestExit(KX_EXIT_REQUEST_RESTART_GAME);
+				m_ketsjiengine->SetNameNextGame(m_filename);
 				m_scene->AddDebugProperty((this)->GetParent(), exitstring);
 			}
 			break;
@@ -146,7 +147,7 @@ bool KX_GameActuator::Update(double curtime, double deltatime)
 PyTypeObject KX_GameActuator::Type = {
 	PyObject_HEAD_INIT(&PyType_Type)
 		0,
-		"KX_SceneActuator",
+		"KX_GameActuator",
 		sizeof(KX_GameActuator),
 		0,
 		PyDestructor,
@@ -177,9 +178,39 @@ PyParentObject KX_GameActuator::Parents[] =
 
 PyMethodDef KX_GameActuator::Methods[] =
 {
+	{"getFile",	(PyCFunction) KX_GameActuator::sPyGetFile, METH_VARARGS, GetFile_doc},
+	{"setFile", (PyCFunction) KX_GameActuator::sPySetFile, METH_VARARGS, SetFile_doc},
 	{NULL,NULL} //Sentinel
 };
 
+/* getFile */
+char KX_GameActuator::GetFile_doc[] = 
+"getFile()\n"
+"get the name of the file to start.\n";
+PyObject* KX_GameActuator::PyGetFile(PyObject* self, PyObject* args, PyObject* kwds)
+{	
+	return PyString_FromString(m_filename);
+}
+
+/* setFile */
+char KX_GameActuator::SetFile_doc[] =
+"setFile(name)\n"
+"set the name of the file to start.\n";
+PyObject* KX_GameActuator::PySetFile(PyObject* self, PyObject* args, PyObject* kwds)
+{
+	char* new_file;
+	
+	if (!PyArg_ParseTuple(args, "s", &new_file))
+	{
+		return NULL;
+	}
+	
+	m_filename = STR_String(new_file);
+
+	Py_Return;
+
+}
+	
 
 
 PyObject* KX_GameActuator::_getattr(char* attr)
diff --git a/source/gameengine/Ketsji/KX_GameActuator.h b/source/gameengine/Ketsji/KX_GameActuator.h
index 7f2af86db42..4f197cf5841 100644
--- a/source/gameengine/Ketsji/KX_GameActuator.h
+++ b/source/gameengine/Ketsji/KX_GameActuator.h
@@ -78,7 +78,8 @@ class KX_GameActuator : public SCA_IActuator
 	/* --------------------------------------------------------------------- */
 
 	virtual PyObject*  _getattr(char *attr);
-
+	KX_PYMETHOD_DOC(KX_GameActuator,GetFile);
+	KX_PYMETHOD_DOC(KX_GameActuator,SetFile);
 	
 }; /* end of class KX_GameActuator */
 
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index 24f0a36b152..2f30ac645a0 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -66,14 +66,15 @@ KX_GameObject::KX_GameObject(
 	PyTypeObject* T
 ) : 
 	SCA_IObject(T),
-	m_bUseObjectColor(false),
 	m_bDyna(false),
 	m_bSuspendDynamics(false),
-	m_pPhysicsController1(NULL),
-	m_bVisible(true)
+	m_bUseObjectColor(false),
+	m_bVisible(true),
+	m_pPhysicsController1(NULL)
 {
 	m_ignore_activity_culling = false;
-	m_pClient_info = new KX_ClientObjectInfo();
+	m_pClient_info = new KX_ClientObjectInfo(this);
+	m_pClient_info->m_type = KX_ClientObjectInfo::ACTOR;
 	m_pSGNode = new SG_Node(this,sgReplicationInfo,callbacks);
 	
 	// define the relationship between this node and it's parent.
@@ -198,7 +199,7 @@ CValue* KX_GameObject::GetReplica()
 	// this will copy properties and so on...
 	CValue::AddDataToReplica(replica);
 	ProcessReplica(replica);
-
+	
 	return replica;
 }
 
@@ -222,14 +223,11 @@ void KX_GameObject::ApplyTorque(const MT_Vector3& torque,bool local)
 
 void KX_GameObject::ApplyMovement(const MT_Vector3& dloc,bool local)
 {
-	if (this->IsDynamic()) 
+	if (m_pPhysicsController1) // (IsDynamic())
 	{
 		m_pPhysicsController1->RelativeTranslate(dloc,local);
 	}
-	else
-	{
-		GetSGNode()->RelativeTranslate(dloc,GetSGNode()->GetSGParent(),local);
-	}
+	GetSGNode()->RelativeTranslate(dloc,GetSGNode()->GetSGParent(),local);
 }
 
 
@@ -237,12 +235,14 @@ void KX_GameObject::ApplyMovement(const MT_Vector3& dloc,bool local)
 void KX_GameObject::ApplyRotation(const MT_Vector3& drot,bool local)
 {
 	MT_Matrix3x3 rotmat(drot);
+	rotmat.transpose();
 	
-	if (this->IsDynamic()) //m_pPhysicsController)
-		m_pPhysicsController1->RelativeRotate(rotmat.transposed(),local);
-	else
-		// in worldspace
-		GetSGNode()->RelativeRotate(rotmat.transposed(),local);
+	//if (m_pPhysicsController1) // (IsDynamic())
+	//	m_pPhysicsController1->RelativeRotate(rotmat_,local); 
+	// in worldspace
+	GetSGNode()->RelativeRotate(rotmat,local);
+	if (m_pPhysicsController1)
+		m_pPhysicsController1->setOrientation(NodeGetWorldOrientation().getRotation());
 }
 
 
@@ -273,7 +273,7 @@ void KX_GameObject::Bucketize()
 {
 	double* fl = GetOpenGLMatrix();
 
-	for (int i=0;i<m_meshes.size();i++)
+	for (size_t i=0;i<m_meshes.size();i++)
 		m_meshes[i]->Bucketize(fl, this, m_bUseObjectColor, m_objectColor);
 }
 
@@ -283,7 +283,7 @@ void KX_GameObject::RemoveMeshes()
 {
 	double* fl = GetOpenGLMatrix();
 
-	for (int i=0;i<m_meshes.size();i++)
+	for (size_t i=0;i<m_meshes.size();i++)
 		m_meshes[i]->RemoveFromBuckets(fl, this);
 
 	//note: meshes can be shared, and are deleted by KX_BlenderSceneConverter
@@ -315,7 +315,7 @@ void KX_GameObject::UpdateTransform()
 
 void KX_GameObject::SetDebugColor(unsigned int bgra)
 {
-	for (int i=0;i<m_meshes.size();i++)
+	for (size_t i=0;i<m_meshes.size();i++)
 		m_meshes[i]->DebugColor(bgra);	
 }
 
@@ -411,9 +411,9 @@ KX_GameObject::MarkVisible(
 	 * determined on this level. Maybe change this to mesh level
 	 * later on? */
 	
-	for (int i=0;i<m_meshes.size();i++)
+	double* fl = GetOpenGLMatrix();
+	for (size_t i=0;i<m_meshes.size();i++)
 	{
-		double* fl = GetOpenGLMatrix();
 		m_meshes[i]->MarkVisible(fl,this,visible,m_bUseObjectColor,m_objectColor);
 	}
 }
@@ -425,9 +425,9 @@ KX_GameObject::MarkVisible(
 	void
 	)
 {
-	for (int i=0;i<m_meshes.size();i++)
+	double* fl = GetOpenGLMatrix();
+	for (size_t i=0;i<m_meshes.size();i++)
 	{
-		double* fl = GetOpenGLMatrix();
 		m_meshes[i]->MarkVisible(fl,
 					 this,
 					 m_bVisible,
@@ -439,8 +439,8 @@ KX_GameObject::MarkVisible(
 
 void KX_GameObject::addLinearVelocity(const MT_Vector3& lin_vel,bool local)
 {
-//	if (m_pPhysicsController1)
-//		m_pPhysicsController1->AddLinearVelocity(lin_vel,local);
+	if (m_pPhysicsController1)
+		m_pPhysicsController1->SetLinearVelocity(lin_vel + m_pPhysicsController1->GetLinearVelocity(),local);
 }
 
 
@@ -972,7 +972,6 @@ PyObject* KX_GameObject::PyGetOrientation(PyObject* self,
 	int row,col;
 	const MT_Matrix3x3& orient = NodeGetWorldOrientation();
 	
-	int index = 0;
 	for (row=0;row<3;row++)
 	{
 		PyObject* veclist = PyList_New(3);
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index e23a9a53957..6b3101be34d 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -217,7 +217,7 @@ public:
 	 * instance allocated on the heap. Ownership of the new 
 	 * object belongs with the caller.
 	 */
-		CValue*				
+	virtual	CValue*				
 	GetReplica(
 	);
 	
@@ -225,7 +225,7 @@ public:
 	 * Inherited from CValue -- Makes sure any internal 
 	 * data owned by this class is deep copied. Called internally
 	 */
-		void				
+	virtual	void				
 	ProcessReplica(
 		KX_GameObject* replica
 	);
@@ -340,6 +340,9 @@ public:
 		m_pSGNode = node; 
 	}
 	
+	/**
+	 * Deprecated & broken
+	 */
 		bool						
 	IsDynamic(
 	) const { 
@@ -549,6 +552,7 @@ public:
 	 */
 	void Resume(void);
 	
+	KX_ClientObjectInfo* getClientInfo() { return m_pClient_info; }
 	/**
 	 * @section Python interface functions.
 	 */
diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.cpp b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
index 8dfced41c1e..2152fa35cd1 100644
--- a/source/gameengine/Ketsji/KX_IPO_SGController.cpp
+++ b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
@@ -44,17 +44,18 @@
 #include "KX_IPO_SGController.h"
 #include "KX_ScalarInterpolator.h"
 #include "KX_GameObject.h"
+#include "KX_IPhysicsController.h"
 
 // All objects should start on frame 1! Will we ever need an object to 
 // start on another frame, the 1.0 should change.
 KX_IpoSGController::KX_IpoSGController() 
-: m_ipotime(1.0),
-  m_modify_position(false),
+: m_modify_position(false),
   m_modify_orientation(false),
   m_modify_scaling(false),
-  m_modified(true),
   m_ipo_as_force(false),
-  m_force_ipo_acts_local(false)
+  m_force_ipo_acts_local(false),
+  m_modified(true),
+  m_ipotime(1.0)
 {
 	m_sumo_object = NULL;
 	m_game_object = NULL;
@@ -121,6 +122,11 @@ bool KX_IpoSGController::Update(double currentTime)
 					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() :
+						m_ipo_xform.GetPosition(), false);
+				}
 
 			} else {
 				ob->SetLocalPosition(m_ipo_xform.GetPosition());
@@ -137,6 +143,11 @@ bool KX_IpoSGController::Update(double currentTime)
 					m_sumo_object->calcXform();
 				}
 				*/
+				if (m_game_object && ob) {
+					m_game_object->ApplyTorque(m_force_ipo_acts_local ?
+						ob->GetWorldOrientation() * m_ipo_xform.GetEulerAngles() :
+						m_ipo_xform.GetEulerAngles(), false);
+				}
 
 			} else {
 				ob->SetLocalOrientation(MT_Matrix3x3(m_ipo_xform.GetEulerAngles()));
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.cpp b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
index fe43261c0be..475ae0dfba8 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
@@ -38,8 +38,8 @@
 KX_IPhysicsController::KX_IPhysicsController(bool dyna,void* userdata)
 
 :	m_bDyna(dyna),
-	m_userdata(userdata),
-	m_suspendDynamics(false) 
+	m_suspendDynamics(false),
+	m_userdata(userdata)
 {
 };
 
diff --git a/source/gameengine/Ketsji/KX_IpoActuator.cpp b/source/gameengine/Ketsji/KX_IpoActuator.cpp
index de2b31684e0..92333329f9e 100644
--- a/source/gameengine/Ketsji/KX_IpoActuator.cpp
+++ b/source/gameengine/Ketsji/KX_IpoActuator.cpp
@@ -89,7 +89,6 @@ public:
 
 };
 
-
 KX_IpoActuator::KX_IpoActuator(SCA_IObject* gameobj,
 							   const STR_String& propname,
 							   float starttime,
@@ -100,16 +99,16 @@ KX_IpoActuator::KX_IpoActuator(SCA_IObject* gameobj,
 							   bool force_ipo_local,
 							   PyTypeObject* T) 
 	: SCA_IActuator(gameobj,T),
+	m_bNegativeEvent(false),
 	m_starttime (starttime),
-	m_endtime(endtime) ,
-	m_localtime(starttime),
+	m_endtime(endtime),
 	m_recurse(recurse),
-	m_type((IpoActType)acttype) ,
+	m_localtime(starttime),
 	m_direction(1),
-	m_bNegativeEvent(false),
 	m_propname(propname),
 	m_ipo_as_force(ipo_as_force),
-	m_force_ipo_local(force_ipo_local)
+	m_force_ipo_local(force_ipo_local),
+	m_type((IpoActType)acttype)
 {
 	// intentionally empty
 }
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
index 80a4d13c916..37f5a16de83 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
@@ -102,9 +102,10 @@ const char KX_KetsjiEngine::m_profileLabels[tc_numCategories][15] = {
  *	Constructor of the Ketsji Engine
  */
 KX_KetsjiEngine::KX_KetsjiEngine(KX_ISystem* system)
-:	m_bInitialized(false),
-	m_activecam(0),
-	m_rasterizer(NULL)
+:
+	m_rasterizer(NULL),
+	m_bInitialized(false),
+	m_activecam(0)
 {
 	m_kxsystem = system;
 	m_bFixedTime = false;
@@ -587,6 +588,8 @@ void KX_KetsjiEngine::DoSound(KX_Scene* scene)
 	m_logger->StartLog(tc_sound, m_kxsystem->GetTimeInSeconds(), true);
 
 	KX_Camera* cam = scene->GetActiveCamera();
+	if (!cam)
+		return;
 	MT_Point3 listenerposition = cam->NodeGetWorldPosition();
 	MT_Vector3 listenervelocity = cam->GetLinearVelocity();
 	MT_Matrix3x3 listenerorientation = cam->NodeGetWorldOrientation();
@@ -734,6 +737,9 @@ void KX_KetsjiEngine::RenderFrame(KX_Scene* scene)
 {
 	float left, right, bottom, top, nearfrust, farfrust;
 	KX_Camera* cam = scene->GetActiveCamera();
+	
+	if (!cam)
+		return;
 
 	m_rasterizer->DisplayFog();
 
@@ -998,8 +1004,8 @@ void KX_KetsjiEngine::RemoveScene(const STR_String& scenename)
 	}
 	else
 	{
-		STR_String tmpname = scenename;
-		printf("warning: scene %s does not exist, not removed!\n",tmpname.Ptr());
+//		STR_String tmpname = scenename;
+		std::cout << "warning: scene " << scenename << " does not exist, not removed!" << std::endl;
 	}
 }
 
diff --git a/source/gameengine/Ketsji/KX_LightIpoSGController.h b/source/gameengine/Ketsji/KX_LightIpoSGController.h
index 459d091ce80..deba37540d5 100644
--- a/source/gameengine/Ketsji/KX_LightIpoSGController.h
+++ b/source/gameengine/Ketsji/KX_LightIpoSGController.h
@@ -55,11 +55,12 @@ private:
 
 	double		        m_ipotime;
 public:
-	KX_LightIpoSGController() : m_ipotime(0.0),
-								m_modify_energy(false),
-								m_modify_color(false),
-								m_modify_dist(false),
-								m_modified(true)
+	KX_LightIpoSGController() : 
+				m_modify_energy(false),
+				m_modify_color(false),
+				m_modify_dist(false),
+				m_modified(true),
+				m_ipotime(0.0)
 		{}
 
 	virtual ~KX_LightIpoSGController();
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
index c6f41265690..4e2a731c421 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
@@ -51,6 +51,11 @@
 #include "KX_Camera.h"
 #include "KX_MouseFocusSensor.h"
 
+#include "KX_ClientObjectInfo.h"
+#include "SM_Object.h"
+#include "SM_Scene.h"
+#include "SumoPhysicsEnvironment.h"
+
 /* ------------------------------------------------------------------------- */
 /* Native functions                                                          */
 /* ------------------------------------------------------------------------- */
@@ -233,23 +238,23 @@ bool KX_MouseFocusSensor::ParentObjectHasFocus(void)
 	 * ignore-object. We don't ignore anything... */
 	KX_GameObject* thisObj = (KX_GameObject*) GetParent();
 	
-
-	//SM_Object* hitSMObj = m_sumoScene->rayTest(NULL, 
-	//										   frompoint3,
-	//										   topoint3,
-	//										   resultpoint, 
-	//										   resultnormal);
-	
-	KX_GameObject* hitKXObj = 0;
+	SumoPhysicsEnvironment *spe = dynamic_cast<SumoPhysicsEnvironment* > (m_kxscene->GetPhysicsEnvironment());
+	SM_Scene *sumoScene = spe->GetSumoScene();
+
+	SM_Object* hitSMObj = sumoScene->rayTest(NULL, 
+						frompoint3,
+						topoint3,
+						resultpoint, 
+						resultnormal);
 	
 	/* all this casting makes me nervous... */
-	//SM_ClientObjectInfo* client_info 
-	//	= ( hitSMObj ?
-	//		(SM_ClientObjectInfo*) ((SM_Object*)hitSMObj)->getClientObject() :
-	//		NULL);
-	//KX_GameObject* hitKXObj = ( client_info ? 
-	//							(KX_GameObject*)client_info->m_clientobject : 
-	//							NULL);
+	KX_ClientObjectInfo* client_info 
+		= ( hitSMObj ?
+			(KX_ClientObjectInfo*) ((SM_Object*)hitSMObj)->getClientObject() :
+			NULL);
+	KX_GameObject* hitKXObj = ( client_info ? 
+								(KX_GameObject*)client_info->m_clientobject : 
+								NULL);
 		
 	
 	/* Is this me? In the ray test, there are a lot of extra checks
diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp
index 8008e85843f..0b32c748646 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.cpp
+++ b/source/gameengine/Ketsji/KX_NearSensor.cpp
@@ -38,11 +38,40 @@
 #include "KX_TouchEventManager.h"
 #include "KX_Scene.h" // needed to create a replica
 
+#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,
+							 PyTypeObject* T)
+			 :KX_TouchSensor(eventmgr,
+							 gameobj,
+							 bFindMaterial,
+							 touchedpropname,
+							 /* scene, */
+							 T),
+			 m_Margin(margin),
+			 m_ResetMargin(resetmargin)
 
-#ifdef PHYSICS_NOT_YET
+{
+	m_client_info = new KX_ClientObjectInfo(gameobj);
+	m_client_info->m_type = KX_ClientObjectInfo::NEAR;
+	
+	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,
@@ -56,20 +85,27 @@ KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 							 gameobj,
 							 bFindMaterial,
 							 touchedpropname,
-							 scene,
+							 /* scene, */
 							 T),
 			 m_Margin(margin),
-			 m_ResetMargin(resetmargin),
-			 m_sumoScene(sumoscene)
+			 m_ResetMargin(resetmargin)
 
 {
-	m_client_info.m_type = 4;
-	m_client_info.m_clientobject = gameobj;
-	m_client_info.m_auxilary_info = NULL;
-	sumoObj->setClientObject(&m_client_info);
+	m_client_info = new KX_ClientObjectInfo(gameobj);
+	m_client_info->m_type = KX_ClientObjectInfo::NEAR;
+	m_client_info->m_auxilary_info = NULL;
+	
+	m_sumoObj = new SM_Object(DT_NewSphere(0.0),NULL,NULL,NULL);
+	m_sumoObj->setMargin(m_Margin);
+	m_sumoObj->setClientObject(m_client_info);
+	
+	SynchronizeTransform();
 }
 
-
+void KX_NearSensor::RegisterSumo(KX_TouchEventManager *touchman)
+{
+	touchman->GetSumoScene()->addSensor(*m_sumoObj);
+}
 
 CValue* KX_NearSensor::GetReplica()
 {
@@ -82,6 +118,16 @@ CValue* KX_NearSensor::GetReplica()
 	// this will copy properties and so on...
 	CValue::AddDataToReplica(replica);
 	
+	replica->m_client_info = new KX_ClientObjectInfo(m_client_info->m_clientobject);
+	replica->m_client_info->m_type = KX_ClientObjectInfo::NEAR;
+	replica->m_client_info->m_auxilary_info = NULL;
+	
+	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->SynchronizeTransform();
+	
 	return replica;
 }
 
@@ -89,42 +135,11 @@ CValue* KX_NearSensor::GetReplica()
 
 void KX_NearSensor::ReParent(SCA_IObject* parent)
 {
-	DT_ShapeHandle shape = DT_Sphere(0.0);
-				
-	// this sumoObject is not deleted by a gameobj, so delete it ourself
-	// later (memleaks)!
-
-	SM_Object* sumoObj = new SM_Object(shape,NULL,NULL,NULL);
-	sumoObj->setMargin(m_Margin);
-
-	//sumoObj->setPosition(gameobj->NodeGetWorldPosition());
-	//sumoobj->setPosition(m_sumoObj->getPosition());
-	//sumoobj->setOrientation(m_sumoObj->getOrientation());
-	//newobj->setRigidBody(this->m_sumoObj->isRigidBody());
-
-	m_sumoObj = sumoObj;
-	m_solidHandle = m_sumoObj->getObjectHandle();
-
-	double radius = m_sumoObj->getMargin();
-	sumoObj->setMargin(m_sumoObj->getMargin());
+	SCA_ISensor::ReParent(parent);
 	
-	m_client_info.m_type = 4;
-	m_client_info.m_clientobject = parent;
-	m_client_info.m_auxilary_info = NULL;
-	sumoObj->setClientObject(&m_client_info);
-
-	//m_sumoScene->add(*newobj);
+	m_client_info->m_clientobject = static_cast<KX_GameObject*>(parent); 
 	
-	if (m_sumoObj)
-	{
-		DT_SetObjectResponse(m_resptable,
-			m_sumoObj->getObjectHandle(),
-			collisionResponse,
-			DT_SIMPLE_RESPONSE,
-			this);
-	}
-
-	SCA_ISensor::ReParent(parent);
+	SynchronizeTransform();
 }
 
 
@@ -133,19 +148,20 @@ KX_NearSensor::~KX_NearSensor()
 {
 	// for nearsensor, the sensor is the 'owner' of sumoobj
 	// for touchsensor, it's the parent
-
-	m_sumoScene->remove(*m_sumoObj);
+	static_cast<KX_TouchEventManager*>(m_eventmgr)->GetSumoScene()->remove(*m_sumoObj);
 
 	if (m_sumoObj)
 		delete m_sumoObj;
+		
+	if (m_client_info)
+		delete m_client_info;
 }
 
 
-
 bool KX_NearSensor::Evaluate(CValue* event)
 {
 	bool result = false;
-	KX_GameObject* parent = (KX_GameObject*)GetParent();
+	KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
 
 	if (m_bTriggered != m_bLastTriggered)
 	{
@@ -172,28 +188,27 @@ bool KX_NearSensor::Evaluate(CValue* event)
 
 
 
-void KX_NearSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData * coll_data)
+DT_Bool KX_NearSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData * coll_data)
 {
-	KX_TouchEventManager* toucheventmgr = (KX_TouchEventManager*)m_eventmgr;
-	KX_GameObject* parent = (KX_GameObject*)GetParent();
-
+	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
 	
-	SM_ClientObjectInfo* client_info =(SM_ClientObjectInfo*) (obj1 == m_sumoObj? 
+	KX_ClientObjectInfo* client_info =static_cast<KX_ClientObjectInfo*> (obj1 == m_sumoObj? 
 					((SM_Object*)obj2)->getClientObject() : 
 					((SM_Object*)obj1)->getClientObject());
 
 	KX_GameObject* gameobj = ( client_info ? 
-			(KX_GameObject*)client_info->m_clientobject : 
+			static_cast<KX_GameObject*>(client_info->m_clientobject) : 
 			NULL);
-
+	
 	if (gameobj && (gameobj != parent))
 	{
 		if (!m_colliders->SearchValue(gameobj))
 			m_colliders->Add(gameobj->AddRef());
-		
 		// only take valid colliders
-		if (client_info->m_type == 1)
+		if (client_info->m_type == KX_ClientObjectInfo::ACTOR)
 		{
 			if ((m_touchedpropname.Length() == 0) || 
 				(gameobj->GetProperty(m_touchedpropname)))
@@ -202,10 +217,9 @@ void KX_NearSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData * co
 				m_hitObject = gameobj;
 			}
 		}
-	} else
-	{
-		
 	}
+	
+	return DT_CONTINUE;
 }
 
 
@@ -262,4 +276,3 @@ KX_NearSensor::_getattr(char* attr)
   _getattr_up(KX_TouchSensor);
 }
 
-#endif //PHYSICS_NOT_YET
diff --git a/source/gameengine/Ketsji/KX_NearSensor.h b/source/gameengine/Ketsji/KX_NearSensor.h
index 2240cb0d589..335edbb97ca 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.h
+++ b/source/gameengine/Ketsji/KX_NearSensor.h
@@ -36,8 +36,10 @@
 #define KX_NEARSENSOR_H
 
 #include "KX_TouchSensor.h"
+#include "KX_ClientObjectInfo.h"
 
 class KX_Scene;
+class KX_ClientObjectInfo;
 
 class KX_NearSensor : public KX_TouchSensor
 {
@@ -45,17 +47,36 @@ class KX_NearSensor : public KX_TouchSensor
 	double	m_Margin;
 	double  m_ResetMargin;
 	KX_Scene*	m_scene;
+	KX_ClientObjectInfo*	m_client_info;
+protected:
+	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,
+			PyTypeObject* T=&Type);
 
 public:
-	KX_NearSensor(class SCA_EventManager* eventmgr,class KX_GameObject* gameobj,double margin,double resetmargin,bool bFindMaterial,const STR_String& touchedpropname,class KM_Scene* scene,PyTypeObject* T=&Type);
+	KX_NearSensor(class SCA_EventManager* eventmgr,
+			class KX_GameObject* gameobj,
+			double margin,
+			double resetmargin,
+			bool bFindMaterial,
+			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 void HandleCollision(void* obj1,void* obj2,
-	//					 const DT_CollData * coll_data); 
-
+	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
+						 const DT_CollData * coll_data); 
+	virtual void RegisterSumo(KX_TouchEventManager *touchman);
+	
 	virtual PyObject*  _getattr(char *attr);
 
 };
diff --git a/source/gameengine/Ketsji/KX_ObColorIpoSGController.h b/source/gameengine/Ketsji/KX_ObColorIpoSGController.h
index 2fa37a6369c..02a58ffd95a 100644
--- a/source/gameengine/Ketsji/KX_ObColorIpoSGController.h
+++ b/source/gameengine/Ketsji/KX_ObColorIpoSGController.h
@@ -48,9 +48,9 @@ private:
 
 	double		        m_ipotime;
 public:
-	KX_ObColorIpoSGController() : m_ipotime(0.0),
-
-								m_modified(true)
+	KX_ObColorIpoSGController() : 
+				m_modified(true),
+				m_ipotime(0.0)
 		{}
 	virtual ~KX_ObColorIpoSGController();
 	virtual	SG_Controller*	GetReplica(class SG_Node* destnode);
diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.cpp b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
index bcbabc384e9..1d913fe6e44 100644
--- a/source/gameengine/Ketsji/KX_ObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
@@ -44,7 +44,6 @@
 /* Native functions                                                          */
 /* ------------------------------------------------------------------------- */
 
-
 KX_ObjectActuator::
 KX_ObjectActuator(
 	SCA_IObject* gameobj,
@@ -64,8 +63,8 @@ KX_ObjectActuator(
 	m_drot(drot),
 	m_linear_velocity(linV),
 	m_angular_velocity(angV),
-	m_active_combined_velocity (false),
-	m_bitLocalFlag (flag)
+	m_bitLocalFlag (flag),
+	m_active_combined_velocity (false)
 {
 }
 
@@ -83,6 +82,11 @@ bool KX_ObjectActuator::Update(double curtime,double deltatime)
 		// it should reconcile the externally set velocity with it's 
 		// own velocity.
 		if (m_active_combined_velocity) {
+			static bool update_resolve_warning = 0;
+			if (!update_resolve_warning) {
+				update_resolve_warning = 1;
+				std::cout << "FIXME: KX_ObjectActuator::Update ResolveCombinedVelocities undefined!" << std::endl;
+			}
 			//if (parent->GetSumoObject()) {
 				//parent->GetPhysicsController()->ResolveCombinedVelocities(
 				//	m_linear_velocity,
diff --git a/source/gameengine/Ketsji/KX_PhysicsEngineEnums.h b/source/gameengine/Ketsji/KX_PhysicsEngineEnums.h
index 9f6bd6d8f0b..9c1267ff34c 100644
--- a/source/gameengine/Ketsji/KX_PhysicsEngineEnums.h
+++ b/source/gameengine/Ketsji/KX_PhysicsEngineEnums.h
@@ -34,11 +34,12 @@
 
 enum	e_PhysicsEngine
 {
-		UseNone=1,
-		UseSumo,
-		UseODE,
-		UseDynamo,
-		NoSelection
+		NoSelection = -1,
+		UseNone     =  0,
+		UseEnji     =  1,
+		UseSumo     =  2,
+		UseDynamo   =  3,
+		UseODE      =  4
 };
 
 #endif //__KX_PHYSICSENGINEENUMS
diff --git a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp
index 2bba77a966a..d692af82b7a 100644
--- a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp
@@ -40,8 +40,10 @@
 
 KX_PhysicsObjectWrapper::KX_PhysicsObjectWrapper(
 						PHY_IPhysicsController* ctrl,
-						PHY_IPhysicsEnvironment* physenv,PyTypeObject *T)
-: m_ctrl(ctrl),m_physenv(physenv),PyObjectPlus(T)
+						PHY_IPhysicsEnvironment* physenv,PyTypeObject *T) :
+					PyObjectPlus(T),
+					m_ctrl(ctrl),
+					m_physenv(physenv)
 {
 }
 
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index 19e26b6f484..923a38cb7cc 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -39,11 +39,8 @@
 /**
  * 	RadarSensor constructor. Creates a near-sensor derived class, with a cone collision shape.
  */
-
-#ifdef PHYSICS_NOT_YET
-
-KX_RadarSensor::KX_RadarSensor(class SCA_EventManager* eventmgr,
-		class KX_GameObject* gameobj,
+KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
+		KX_GameObject* gameobj,
 			double coneradius,
 			double coneheight,
 			int	axis,
@@ -57,20 +54,21 @@ KX_RadarSensor::KX_RadarSensor(class SCA_EventManager* eventmgr,
 			: KX_NearSensor(
 				eventmgr,
 				gameobj,
+				DT_NewCone(coneradius,coneheight),
 				margin,
 				resetmargin,
 				bFindMaterial,
 				touchedpropname,
 				kxscene,
 				T),
-				m_coneheight(coneheight),
 				m_coneradius(coneradius),
+				m_coneheight(coneheight),
 				m_axis(axis)
 {
-	m_client_info.m_type = 3;
-	m_client_info.m_clientobject = gameobj;
-	m_client_info.m_auxilary_info = NULL;
-	sumoObj->setClientObject(&m_client_info);
+	m_client_info->m_type = KX_ClientObjectInfo::RADAR;
+	//m_client_info->m_clientobject = gameobj;
+	//m_client_info->m_auxilary_info = NULL;
+	//sumoObj->setClientObject(&m_client_info);
 }
 			
 
@@ -221,4 +219,3 @@ PyObject* KX_RadarSensor::PyGetConeHeight(PyObject* self,
 }
 
 
-#endif //PHYSICS_NOT_YET
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.h b/source/gameengine/Ketsji/KX_RadarSensor.h
index 77e085d29a3..03364ae9c29 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.h
+++ b/source/gameengine/Ketsji/KX_RadarSensor.h
@@ -62,18 +62,18 @@ class KX_RadarSensor : public KX_NearSensor
 	MT_Point3       m_cone_target;
 	
 public:
-	KX_RadarSensor(class SCA_EventManager* eventmgr,
-		class KX_GameObject* gameobj,
+
+	KX_RadarSensor(SCA_EventManager* eventmgr,
+		KX_GameObject* gameobj,
 			double coneradius,
 			double coneheight,
 			int	axis,
 			double margin,
 			double resetmargin,
-			class SM_Object* sumoObj,
 			bool bFindMaterial,
 			const STR_String& touchedpropname,
-			class SM_Scene* sumoscene,
-			PyTypeObject* T=&Type);
+			class KX_Scene* kxscene,
+			PyTypeObject* T = &Type);
 	KX_RadarSensor();
 	virtual ~KX_RadarSensor();
 	virtual void SynchronizeTransform();
diff --git a/source/gameengine/Ketsji/KX_RayEventManager.h b/source/gameengine/Ketsji/KX_RayEventManager.h
index f5280f1fec6..7acc0b04ded 100644
--- a/source/gameengine/Ketsji/KX_RayEventManager.h
+++ b/source/gameengine/Ketsji/KX_RayEventManager.h
@@ -44,8 +44,8 @@ class KX_RayEventManager : public SCA_EventManager
 	class SCA_LogicManager* m_logicmgr;
 public:
 	KX_RayEventManager(class SCA_LogicManager* logicmgr)
-		: m_logicmgr(logicmgr),
-		SCA_EventManager(RAY_EVENTMGR)
+		: SCA_EventManager(RAY_EVENTMGR),
+		  m_logicmgr(logicmgr)
 	{}
 	virtual void NextFrame(double curtime,double deltatime);
 	virtual void	RegisterSensor(SCA_ISensor* sensor);
diff --git a/source/gameengine/Ketsji/KX_RaySensor.cpp b/source/gameengine/Ketsji/KX_RaySensor.cpp
index 5cca436327a..c53651712a8 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.cpp
+++ b/source/gameengine/Ketsji/KX_RaySensor.cpp
@@ -41,6 +41,9 @@
 #include "KX_GameObject.h"
 #include "KX_Scene.h"
 
+#include "SumoPhysicsEnvironment.h"
+#include "KX_SumoPhysicsController.h"
+
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
@@ -57,10 +60,10 @@ KX_RaySensor::KX_RaySensor(class SCA_EventManager* eventmgr,
 					m_propertyname(propname),
 					m_bFindMaterial(bFindMaterial),
 					m_distance(distance),
+					m_scene(ketsjiScene),
+					m_bTriggered(false),
 					m_axis(axis),
-					m_ketsjiScene(ketsjiScene),
 					m_rayHit(false),
-					m_bTriggered(false),
 					m_hitObject(NULL)
 
 				
@@ -139,56 +142,78 @@ bool KX_RaySensor::Evaluate(CValue* event)
 		}
 	case 3: // -X
 		{
-			todir[0] = invmat[0][0] * -1;
-			todir[1] = invmat[0][1] * -1;
-			todir[2] = invmat[0][2] * -1;
+			todir[0] = -invmat[0][0];
+			todir[1] = -invmat[0][1];
+			todir[2] = -invmat[0][2];
 			break;
 		}
 	case 4: // -Y
 		{
-			todir[0] = invmat[1][0] * -1;
-			todir[1] = invmat[1][1] * -1;
-			todir[2] = invmat[1][2] * -1;
+			todir[0] = -invmat[1][0];
+			todir[1] = -invmat[1][1];
+			todir[2] = -invmat[1][2];
 			break;
 		}
 	case 5: // -Z
 		{
-			todir[0] = invmat[2][0] * -1;
-			todir[1] = invmat[2][1] * -1;
-			todir[2] = invmat[2][2] * -1;
+			todir[0] = -invmat[2][0];
+			todir[1] = -invmat[2][1];
+			todir[2] = -invmat[2][2];
 			break;
 		}
 	}
 	todir.normalize();
 	m_rayDirection = todir;
-	
-
 
 	MT_Point3 topoint = frompoint + (m_distance) * todir;
 	MT_Point3 resultpoint;
 	MT_Vector3 resultnormal;
 	bool ready = false;
-	/*
-	do {
+	SumoPhysicsEnvironment *spe = dynamic_cast<SumoPhysicsEnvironment *>(m_scene->GetPhysicsEnvironment());
+	SM_Scene *scene = spe->GetSumoScene();
+	KX_SumoPhysicsController *spc = dynamic_cast<KX_SumoPhysicsController *>(obj->GetPhysicsController());
+	KX_GameObject *parent = obj->GetParent();
+	if (!spc && parent)
+		spc = dynamic_cast<KX_SumoPhysicsController *>(parent->GetPhysicsController());
+	if (parent)
+		parent->Release();
+	SM_Object *thisObj = spc?spc->GetSumoObject():NULL;
 	
-		
-		
-		SM_Object* hitObj = m_sumoScene->rayTest(obj->GetSumoObject(),
-												 frompoint,
-												 topoint,
-												 resultpoint,
-												 resultnormal);
+	do {
+		SM_Object* hitObj = scene->rayTest(thisObj,
+			frompoint,
+			topoint,
+			resultpoint,
+			resultnormal);
+			
 		if (hitObj)
 		{
-			KX_ClientObjectInfo* info = (SM_ClientObjectInfo*)hitObj->getClientObject();
-			SCA_IObject* hitgameobj = (SCA_IObject*)info->m_clientobject;
+	
+			KX_ClientObjectInfo* info = (KX_ClientObjectInfo*)hitObj->getClientObject();
 			bool bFound = false;
-
-			if (hitgameobj == obj)
+			
+			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 = (SCA_IObject*)info->m_clientobject;
+			
+			if (hitgameobj == obj || info->m_type > KX_ClientObjectInfo::ACTOR)
 			{
 				// false hit
-				MT_Scalar marg = obj->GetSumoObject()->getMargin() ;
-				frompoint = resultpoint + marg * todir;
+				KX_SumoPhysicsController *hitspc = dynamic_cast<KX_SumoPhysicsController *> (static_cast<KX_GameObject*> (hitgameobj) ->GetPhysicsController());
+				if (hitspc)
+				{
+					MT_Scalar marg = hitspc->GetSumoObject()->getMargin();
+					if (hitspc->GetSumoObject()->getShapeProps())
+						marg += hitspc->GetSumoObject()->getShapeProps()->m_radius;
+					frompoint = resultpoint + marg * todir;
+				} else {
+					ready = true;
+				}
 			}
 			else
 			{
@@ -208,10 +233,7 @@ bool KX_RaySensor::Evaluate(CValue* event)
 					}
 					else
 					{
-						if (hitgameobj->GetProperty(m_propertyname) != NULL)
-						{
-							bFound = true;
-						}
+						bFound = hitgameobj->GetProperty(m_propertyname) != NULL;
 					}
 				}
 
@@ -231,7 +253,7 @@ bool KX_RaySensor::Evaluate(CValue* event)
 		}
 	}
 	while (!ready);
-	*/
+	
 	
 	
 	/* now pass this result to some controller */
diff --git a/source/gameengine/Ketsji/KX_RaySensor.h b/source/gameengine/Ketsji/KX_RaySensor.h
index 4a783b398b4..528f52f27a7 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.h
+++ b/source/gameengine/Ketsji/KX_RaySensor.h
@@ -44,7 +44,7 @@ class KX_RaySensor : public SCA_ISensor
 	STR_String		m_propertyname;
 	bool			m_bFindMaterial;
 	double			m_distance;
-	class KX_Scene* m_ketsjiScene;
+	class KX_Scene* m_scene;
 	bool			m_bTriggered;
 	int				m_axis;
 	bool			m_rayHit;
diff --git a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp
index 784a3e015df..060afe060ee 100644
--- a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp
@@ -135,8 +135,8 @@ KX_SCA_ReplaceMeshActuator::KX_SCA_ReplaceMeshActuator(SCA_IObject *gameobj,
 													   PyTypeObject* T) : 
 
 	SCA_IActuator(gameobj, T),
-	m_scene(scene),
-	m_mesh(mesh)
+	m_mesh(mesh),
+	m_scene(scene)
 {
 } /* End of constructor */
 
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index c2cb001cce8..8a964e07eb5 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -73,6 +73,8 @@
 #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)
 {
@@ -95,23 +97,20 @@ SG_Callbacks KX_Scene::m_callbacks = SG_Callbacks(KX_SceneReplicationFunc,KX_Sce
 // (defined in KX_PythonInit.cpp)
 extern bool gUseVisibilityTemp;
 
-
-
-
 KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
 				   class SCA_IInputDevice* mousedevice,
 				   class NG_NetworkDeviceInterface *ndi,
 				   class SND_IAudioDevice* adi,
 				   const STR_String& sceneName): 
 
-	m_mousemgr(NULL),
 	m_keyboardmgr(NULL),
-	m_active_camera(NULL),
-	m_ueberExecutionPriority(0),
-	m_adi(adi),
+	m_mousemgr(NULL),
+	m_physicsEnvironment(0),
 	m_sceneName(sceneName),
+	m_adi(adi),
 	m_networkDeviceInterface(ndi),
-	m_physicsEnvironment(0)
+	m_active_camera(NULL),
+	m_ueberExecutionPriority(0)
 {
 		
 
@@ -130,11 +129,7 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
 	m_keyboardmgr = new SCA_KeyboardManager(m_logicmgr,keyboarddevice);
 	m_mousemgr = new SCA_MouseManager(m_logicmgr,mousedevice);
 	
-//	m_solidScene = DT_CreateScene();
-//	m_respTable = DT_CreateRespTable();
-
 	SCA_AlwaysEventManager* alwaysmgr = new SCA_AlwaysEventManager(m_logicmgr);
-	//KX_TouchEventManager* touchmgr = new KX_TouchEventManager(m_logicmgr, m_respTable, m_solidScene);
 	SCA_PropertyEventManager* propmgr = new SCA_PropertyEventManager(m_logicmgr);
 	SCA_RandomEventManager* rndmgr = new SCA_RandomEventManager(m_logicmgr);
 	KX_RayEventManager* raymgr = new KX_RayEventManager(m_logicmgr);
@@ -145,14 +140,11 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
 	m_logicmgr->RegisterEventManager(propmgr);
 	m_logicmgr->RegisterEventManager(m_keyboardmgr);
 	m_logicmgr->RegisterEventManager(m_mousemgr);
-	//m_logicmgr->RegisterEventManager(touchmgr);
 	m_logicmgr->RegisterEventManager(m_timemgr);
 	m_logicmgr->RegisterEventManager(rndmgr);
 	m_logicmgr->RegisterEventManager(raymgr);
 	m_logicmgr->RegisterEventManager(netmgr);
 
-	//m_sumoScene = new SM_Scene();
-	//m_sumoScene->setSecondaryRespTable(m_respTable);
 	m_soundScene = new SND_Scene(adi);
 	assert (m_networkDeviceInterface != NULL);
 	m_networkScene = new NG_NetworkScene(m_networkDeviceInterface);
@@ -169,6 +161,7 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
 
 KX_Scene::~KX_Scene()
 {
+	
 //	int numobj = m_objectlist->GetCount();
 
 	//int numrootobjects = GetRootParentList()->GetCount();
@@ -708,6 +701,11 @@ void KX_Scene::NewRemoveObject(class CValue* gameobj)
 		newobj->Release();
 	if (m_euthanasyobjects->RemoveValue(newobj))
 		newobj->Release();
+		
+	if (newobj == m_active_camera)
+	{
+		m_active_camera = NULL;
+	}
 }
 
 
@@ -979,3 +977,15 @@ void	KX_Scene::SetGravity(const MT_Vector3& gravity)
 {
 	GetPhysicsEnvironment()->setGravity(gravity[0],gravity[1],gravity[2]);
 }
+
+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;
+	}
+}
diff --git a/source/gameengine/Ketsji/KX_Scene.h b/source/gameengine/Ketsji/KX_Scene.h
index 818368561e6..35f2f9dbb71 100644
--- a/source/gameengine/Ketsji/KX_Scene.h
+++ b/source/gameengine/Ketsji/KX_Scene.h
@@ -466,10 +466,7 @@ public:
 		return m_physicsEnvironment;
 	}
 
-	void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment*	physEnv)
-	{
-		m_physicsEnvironment = physEnv;
-	}
+	void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment*	physEnv);
 
 	void	SetGravity(const MT_Vector3& gravity);
 };
diff --git a/source/gameengine/Ketsji/KX_SceneActuator.cpp b/source/gameengine/Ketsji/KX_SceneActuator.cpp
index 4a1d8c74b77..e07719ea680 100644
--- a/source/gameengine/Ketsji/KX_SceneActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SceneActuator.cpp
@@ -295,12 +295,9 @@ PyObject* KX_SceneActuator::PySetScene(PyObject* self,
 		return NULL;
 	}
 
-	if (m_KetsjiEngine->FindScene(scene_name))
-	{
-		/* Scene switch is done by name. */
-		m_nextSceneName = scene_name;
-	}
-	
+	/* Scene switch is done by name. */
+	m_nextSceneName = scene_name;
+
 	Py_Return;
 }
 
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
index 12b8775b5cd..57986cd7b78 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
@@ -1,4 +1,7 @@
+
+#ifdef WIN32
 #pragma warning (disable : 4786)
+#endif
 
 #include "KX_SumoPhysicsController.h"
 #include "SG_Spatial.h"
@@ -107,7 +110,7 @@ SG_Controller*	KX_SumoPhysicsController::GetReplica(SG_Node* destnode)
 	//parentcontroller is here be able to avoid collisions between parent/child
 
 	PHY_IPhysicsController* parentctrl = NULL;
-
+	
 	if (destnode != destnode->GetRootSGParent())
 	{
 		KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
@@ -123,7 +126,7 @@ SG_Controller*	KX_SumoPhysicsController::GetReplica(SG_Node* destnode)
 			childit!= destnode->GetSGChildren().end();
 			++childit
 				) {
-				KX_GameObject* clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
+				KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
 				if (clientgameobj)
 				{
 					parentctrl = (KX_SumoPhysicsController*)clientgameobj->GetPhysicsController();
@@ -145,8 +148,7 @@ void	KX_SumoPhysicsController::SetObject (SG_IObject* object)
 	// cheating here...
 	KX_GameObject* gameobj = (KX_GameObject*)	object->GetSGClientObject();
 	gameobj->SetPhysicsController(this);
-
-
+	GetSumoObject()->setClientObject(gameobj->getClientInfo());
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
index 523e139fc69..465dd799c2a 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
@@ -1,3 +1,34 @@
+/**
+ * $Id$
+ *
+ * ***** 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_SUMOPHYSICSCONTROLLER_H
 #define __KX_SUMOPHYSICSCONTROLLER_H
 
@@ -27,8 +58,8 @@ public:
 		class SM_Object* sumoObj,	
 		class PHY_IMotionState* motionstate
 		,bool dyna) 
-		: SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,dyna),
-	KX_IPhysicsController(dyna,NULL) 
+		: KX_IPhysicsController(dyna,NULL) ,
+		  SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,dyna)
 	{
 	};
 	virtual ~KX_SumoPhysicsController();
diff --git a/source/gameengine/Ketsji/KX_TimeLogger.cpp b/source/gameengine/Ketsji/KX_TimeLogger.cpp
index 509f7e13234..766c541b4fc 100644
--- a/source/gameengine/Ketsji/KX_TimeLogger.cpp
+++ b/source/gameengine/Ketsji/KX_TimeLogger.cpp
@@ -36,8 +36,10 @@
 #include <config.h>
 #endif
 
-KX_TimeLogger::KX_TimeLogger(unsigned int maxNumMeasurements)
-: m_maxNumMeasurements(maxNumMeasurements), m_logging(false), m_logStart(0)
+KX_TimeLogger::KX_TimeLogger(unsigned int maxNumMeasurements) : 
+	m_maxNumMeasurements(maxNumMeasurements), 
+	m_logStart(0),
+	m_logging(false)
 {
 }
 
@@ -108,7 +110,7 @@ double KX_TimeLogger::GetAverage(void) const
 
 	unsigned int numMeasurements = m_measurements.size();
 	if (numMeasurements > 1) {
-		for (int i = 1; i < numMeasurements; i++) {
+		for (unsigned int i = 1; i < numMeasurements; i++) {
 			avg += m_measurements[i];
 		}
 		avg /= (float)numMeasurements - 1;
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.cpp b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
index 8c7f18983e5..2186c442f32 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.cpp
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
@@ -38,33 +38,60 @@
 #include <config.h>
 #endif
 
-#ifdef PHYSICS_NOT_YET
+#include "SM_Object.h"
 
 KX_TouchEventManager::KX_TouchEventManager(class SCA_LogicManager* logicmgr,
-										   DT_RespTableHandle resphandle,
-										   DT_SceneHandle scenehandle)
+	SM_Scene *scene)
 	: SCA_EventManager(TOUCH_EVENTMGR),
-	  m_resphandle(resphandle),
-	  m_scenehandle(scenehandle),
-	  m_logicmgr(logicmgr) {}
+	  m_logicmgr(logicmgr),
+	  m_scene(scene)
+{
+	//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);
+}
 
-void KX_TouchEventManager::RegisterSensor(SCA_ISensor* sensor)
+DT_Bool KX_TouchEventManager::HandleCollision(void* object1,void* object2,
+						 const DT_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);
 
+	}
+	
+	return DT_CONTINUE;
+}
 
+DT_Bool KX_TouchEventManager::collisionResponse(void *client_data, 
+							void *object1,
+							void *object2,
+							const DT_CollData *coll_data)
+{
+	KX_TouchEventManager *touchmgr = (KX_TouchEventManager *) client_data;
+	touchmgr->HandleCollision(object1, object2, coll_data);
+	return DT_CONTINUE;
+}
+
+void KX_TouchEventManager::RegisterSensor(SCA_ISensor* sensor)
+{
 	KX_TouchSensor* touchsensor = static_cast<KX_TouchSensor*>(sensor);
 	m_sensors.push_back(touchsensor);
 
-	touchsensor->RegisterSumo();//this,m_resphandle);
-
-	//KX_GameObject* gameobj = ((KX_GameObject*)sensor->GetParent());
-//	SM_Object* smobj = touchsensor->GetSumoObject();//gameobj->GetSumoObject();
-//	if (smobj)
-//	{
-//		smobj->calcXform();
-//		DT_AddObject(m_scenehandle,
-//				 smobj->getObjectHandle()); 
-//	}
+	touchsensor->RegisterSumo(this);
 }
 
 
@@ -89,10 +116,7 @@ void KX_TouchEventManager::NextFrame(double curtime,double deltatime)
 		vector<SCA_ISensor*>::iterator it;
 		
 		for (it = m_sensors.begin();!(it==m_sensors.end());it++)
-			((KX_TouchSensor*)*it)->SynchronizeTransform();
-		
-		if (DT_Test(m_scenehandle,m_resphandle))
-			int i = 0;
+			static_cast<KX_TouchSensor*>(*it)->SynchronizeTransform();
 		
 		for (it = m_sensors.begin();!(it==m_sensors.end());it++)
 			(*it)->Activate(m_logicmgr,NULL);
@@ -107,14 +131,10 @@ void KX_TouchEventManager::RemoveSensor(class SCA_ISensor* sensor)
 	std::find(m_sensors.begin(), m_sensors.end(), sensor);
 	if (!(i == m_sensors.end()))
 	{
-		//std::swap(*i, m_sensors.back());
-		//m_sensors.pop_back();
-		//SM_Object* smobj = ((KX_TouchSensor*)*i)->GetSumoObject();
-		//DT_RemoveObject(m_scenehandle,
-		//		 smobj->getObjectHandle()); 
+		std::swap(*i, m_sensors.back());
+		m_sensors.pop_back();
 	}
 	// remove the sensor forever :)
 	SCA_EventManager::RemoveSensor(sensor);
 }
 
-#endif
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.h b/source/gameengine/Ketsji/KX_TouchEventManager.h
index 711a3abb996..e53dc264494 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.h
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.h
@@ -37,19 +37,30 @@
 #include "KX_GameObject.h"
 
 #include <vector>
-using namespace std;
 
 class KX_TouchEventManager : public SCA_EventManager
 {
 	class SCA_LogicManager* m_logicmgr;
+	SM_Scene *m_scene;
+
+	static DT_Bool KX_TouchEventManager::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); 
+	
 
 public:
-	KX_TouchEventManager(class SCA_LogicManager* logicmgr);
+	KX_TouchEventManager(class SCA_LogicManager* logicmgr,  
+		SM_Scene *scene);
 	virtual void NextFrame(double curtime,double deltatime);
 	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; }
 };
 
 #endif //__KX_TOUCHEVENTMANAGER
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp
index ee2226d03ad..6ae670a842c 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.cpp
+++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp
@@ -37,14 +37,14 @@
 #include "SCA_LogicManager.h"
 #include "KX_GameObject.h"
 #include "KX_TouchEventManager.h"
+#include "SM_Object.h"
+#include "KX_SumoPhysicsController.h"
 #include <iostream>
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
 
-#ifdef PHYSICS_NOT_YET
-
 /* ------------------------------------------------------------------------- */
 /* Native functions                                                          */
 /* ------------------------------------------------------------------------- */
@@ -84,78 +84,81 @@ 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,/*SM_Object* sumoObj,*/bool bFindMaterial,const STR_String& touchedpropname,PyTypeObject* T)
 :SCA_ISensor(gameobj,eventmgr,T),
 m_touchedpropname(touchedpropname),
 m_bFindMaterial(bFindMaterial),
-m_sumoObj(sumoObj),
+m_eventmgr(eventmgr),
+/*m_sumoObj(sumoObj),*/
 m_bCollision(false),
 m_bTriggered(false),
 m_bLastTriggered(false)
 {
-	m_eventmgr = eventmgr;
 	KX_TouchEventManager* touchmgr = (KX_TouchEventManager*) eventmgr;
+//	m_resptable = touchmgr->GetResponseTable();
 	
-	m_resptable = touchmgr->GetResponseTable();
-	
-	m_solidHandle = m_sumoObj->getObjectHandle();
+//	m_solidHandle = m_sumoObj->getObjectHandle();
 
 	m_hitObject =  NULL;
 	m_colliders = new CListValue();
+	
+	KX_ClientObjectInfo *client_info = gameobj->getClientInfo();
+	client_info->m_clientobject = gameobj;
+	client_info->m_auxilary_info = NULL;
+	
+	KX_SumoPhysicsController *sphy = dynamic_cast<KX_SumoPhysicsController *>(gameobj->GetPhysicsController());
+	if (sphy)
+		m_sumoObj = sphy->GetSumoObject();
+
 }
 
 
 KX_TouchSensor::~KX_TouchSensor()
 {
-	DT_ClearObjectResponse(m_resptable,m_solidHandle);
+	//DT_ClearObjectResponse(m_resptable,m_solidHandle);
 	m_colliders->Release();
 }
 
 void	KX_TouchSensor::ReParent(SCA_IObject* parent)
 {
-
-	m_sumoObj = ((KX_GameObject*)parent)->GetSumoObject();
-	m_solidHandle = m_sumoObj->getObjectHandle();
-
-	m_client_info.m_clientobject = NULL;//parent;
-	m_client_info.m_auxilary_info = NULL;
+	KX_GameObject *gameobj = static_cast<KX_GameObject *>(parent);
+	KX_SumoPhysicsController *sphy = dynamic_cast<KX_SumoPhysicsController *>(((KX_GameObject*)parent)->GetPhysicsController());
+	if (sphy)
+		m_sumoObj = sphy->GetSumoObject();
+
+//	m_solidHandle = m_sumoObj->getObjectHandle();
+	KX_ClientObjectInfo *client_info = gameobj->getClientInfo();
+	client_info->m_clientobject = parent;
+	client_info->m_auxilary_info = NULL;
 	SCA_ISensor::ReParent(parent);
 }
 
-
-void KX_TouchSensor::RegisterSumo()
+void KX_TouchSensor::RegisterSumo(KX_TouchEventManager *touchman)
 {
+	if (m_sumoObj)
+	{
+		touchman->GetSumoScene()->requestCollisionCallback(*m_sumoObj);
+		// collision
+		// Deprecated	
 
-		if (m_sumoObj)
-		{
-			// collision
-			DT_SetObjectResponse(
-				m_resptable,
-				m_solidHandle,
-				collisionResponse,
-				DT_SIMPLE_RESPONSE,
-				this);
-
-		}
-
+	}
 }
 
-void    KX_TouchSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData * coll_data)
+DT_Bool    KX_TouchSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData * coll_data)
 {
 	KX_TouchEventManager* toucheventmgr = (KX_TouchEventManager*)m_eventmgr;
 	KX_GameObject* parent = (KX_GameObject*)GetParent();
 
 	// need the mapping from SM_Objects to gameobjects now
 	
-	SM_ClientObjectInfo* client_info =(SM_ClientObjectInfo*) (obj1 == m_sumoObj? 
+	KX_ClientObjectInfo* client_info =(KX_ClientObjectInfo*) (obj1 == m_sumoObj? 
 					((SM_Object*)obj2)->getClientObject() : 
 					((SM_Object*)obj1)->getClientObject());
 
-
 	KX_GameObject* gameobj = ( client_info ? 
 			(KX_GameObject*)client_info->m_clientobject : 
 			NULL);
-
+	
 	if (gameobj && (gameobj != parent))
 	{
 		if (!m_colliders->SearchValue(gameobj))
@@ -185,12 +188,14 @@ void    KX_TouchSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData
 		{
 			m_bTriggered = true;
 			m_hitObject = gameobj;
+			//printf("KX_TouchSensor::HandleCollision\n");
 		}
 		
 	} 
-	
+	return DT_CONTINUE;
 }
 
+
 /* ------------------------------------------------------------------------- */
 /* Python functions                                                          */
 /* ------------------------------------------------------------------------- */
@@ -322,10 +327,11 @@ PyObject* KX_TouchSensor::PyGetHitObjectList(PyObject* self,
 				 * - this also doesn't work (obviously) for multi-materials... 
 				 */
 				KX_GameObject* gameob = (KX_GameObject*) m_colliders->GetValue(i);
-				SM_Object* smob = (SM_Object*) gameob->GetSumoObject();
+				KX_SumoPhysicsController* spc = dynamic_cast<KX_SumoPhysicsController*>(gameob->GetPhysicsController());
+				SM_Object* smob = spc?spc->GetSumoObject():NULL;
 				
 				if (smob) {
-					SM_ClientObjectInfo* cl_inf = (SM_ClientObjectInfo*) smob->getClientObject();
+					KX_ClientObjectInfo* cl_inf = (KX_ClientObjectInfo*) smob->getClientObject();
 					
 					if (m_touchedpropname == ((char*)cl_inf->m_auxilary_info)) {
 						newList->Add(m_colliders->GetValue(i)->AddRef());
@@ -392,6 +398,5 @@ PyObject* KX_TouchSensor::PySetTouchMaterial(PyObject* self, PyObject* args, PyO
 	Py_Return;
 }
 
-#endif //#ifdef PHYSICS_NOT_YET
 
 /* eof */
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.h b/source/gameengine/Ketsji/KX_TouchSensor.h
index 35b23ecc60a..50338827694 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.h
+++ b/source/gameengine/Ketsji/KX_TouchSensor.h
@@ -38,8 +38,13 @@
 #include "SCA_ISensor.h"
 #include "ListValue.h"
 
+#include <SOLID/SOLID.h>
+#include "SM_Scene.h"
+
 #include "KX_ClientObjectInfo.h"
 
+class KX_TouchEventManager;
+
 class KX_TouchSensor : public SCA_ISensor
 {
 protected:
@@ -52,10 +57,9 @@ protected:
 	bool					m_bFindMaterial;
 	class SCA_EventManager*	m_eventmgr;
 	
-	//class SM_Object*		m_sumoObj;
-	//DT_ObjectHandle			m_solidHandle;
-	//SM_ClientObjectInfo		m_client_info;
-	//DT_RespTableHandle		m_resptable;
+	class SM_Object*		m_sumoObj;
+	DT_ObjectHandle			m_solidHandle;
+	DT_RespTableHandle		m_resptable;
 
 
 	bool					m_bCollision;
@@ -67,7 +71,7 @@ protected:
 public:
 	KX_TouchSensor(class SCA_EventManager* eventmgr,
 		class KX_GameObject* gameobj,
-		class SM_Object* sumoObj,
+		/*class SM_Object* sumoObj,*/
 		bool fFindMaterial,
 		const STR_String& touchedpropname,
 		PyTypeObject* T=&Type) ;
@@ -88,25 +92,15 @@ public:
 	virtual bool Evaluate(CValue* event);
 	virtual void ReParent(SCA_IObject* parent);
 	
-/*	static void collisionResponse(void *client_data, 
-								  void *object1,
-								  void *object2,
-								  const DT_CollData *coll_data)	{
-		class KX_TouchSensor* sensor = (class KX_TouchSensor*) client_data;
-		sensor->HandleCollision(object1,object2,coll_data);
-	}
-	
-
-	
-	void RegisterSumo();
+	virtual void RegisterSumo(KX_TouchEventManager* touchman);
 
-  	virtual void HandleCollision(void* obj1,void* obj2,
+	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
 						 const DT_CollData * coll_data); 
 
 
-  //	SM_Object*	GetSumoObject() { return m_sumoObj; };
+	SM_Object*	GetSumoObject() { return m_sumoObj; };
 
-  */
+  
 
 	virtual bool IsPositiveTrigger() {
 		bool result = m_bTriggered;
@@ -115,7 +109,7 @@ public:
 	}
 
 	
-	void EndFrame();
+	virtual void EndFrame();
 
 	// todo: put some info for collision maybe
 
diff --git a/source/gameengine/Ketsji/KX_WorldIpoController.h b/source/gameengine/Ketsji/KX_WorldIpoController.h
index 5967db42235..562a2769807 100644
--- a/source/gameengine/Ketsji/KX_WorldIpoController.h
+++ b/source/gameengine/Ketsji/KX_WorldIpoController.h
@@ -53,11 +53,12 @@ private:
 	double		        m_ipotime;
 
 public:
-	KX_WorldIpoController() : m_ipotime(0.0),
-							  m_modify_mist_color(false),
-							  m_modify_mist_start(false),
-							  m_modify_mist_dist(false),
-							  m_modified(true)
+	KX_WorldIpoController() : 
+				m_modify_mist_color(false),
+				m_modify_mist_start(false),
+				m_modify_mist_dist(false),
+				m_modified(true),
+				m_ipotime(0.0)
 		{}
 
 	virtual ~KX_WorldIpoController();
diff --git a/source/gameengine/Ketsji/Makefile b/source/gameengine/Ketsji/Makefile
index 3884be14ded..f12e1c08ed4 100644
--- a/source/gameengine/Ketsji/Makefile
+++ b/source/gameengine/Ketsji/Makefile
@@ -42,7 +42,8 @@ CPPFLAGS += $(OGL_CPPFLAGS)
 CPPFLAGS += -I$(NAN_PYTHON)/include/python$(NAN_PYTHON_VERSION)
 CPPFLAGS += -I$(NAN_STRING)/include    
 CPPFLAGS += -I$(NAN_SOUNDSYSTEM)/include    
-CPPFLAGS += -I$(NAN_FUZZICS)/include -I$(NAN_SUMO)/include -I$(NAN_MOTO)/include
+CPPFLAGS += -I$(NAN_FUZZICS)/include -I$(NAN_SUMO) -I$(NAN_MOTO)/include
+CPPFLAGS += -I$(NAN_SOLID)/include
 CPPFLAGS += -I../Rasterizer -I../GameLogic -I../SceneGraph
 CPPFLAGS += -I../BlenderRoutines -I../Expressions
 CPPFLAGS += -I../../kernel/gen_system
diff --git a/source/gameengine/Ketsji/SConscript b/source/gameengine/Ketsji/SConscript
index fddf4762013..4789138d1c2 100644
--- a/source/gameengine/Ketsji/SConscript
+++ b/source/gameengine/Ketsji/SConscript
@@ -1,3 +1,5 @@
+import sys
+
 Import ('user_options_dict')
 Import ('library_env')
 
@@ -59,6 +61,7 @@ if user_options_dict['USE_PHYSICS'] == 'solid':
 
 if user_options_dict['USE_PHYSICS'] == 'ode':
     source_files += ['KX_OdePhysicsController.cpp']
+    ketsji_env.Append (CPPPATH = user_options_dict['SOLID_INCLUDE'])
 
 ketsji_env.Append (CPPPATH = ['.',
                               '#source/kernel/gen_system',
@@ -90,7 +93,7 @@ ketsji_env.Append (CPPPATH = ['.',
                               '#source/gameengine/Physics/common',
                               '#source/gameengine/Physics/BlOde',
                               '#source/gameengine/Physics/Dummy',
-                              '#source/gameengine/Physics/Sumo/',
+                              '#source/gameengine/Physics/Sumo',
                               '#source/gameengine/Physics/Sumo/include',
                               '#source/gameengine/Physics/Sumo/Fuzzics/include',
                               '#source/gameengine/Network/LoopBackNetwork',
@@ -98,6 +101,8 @@ ketsji_env.Append (CPPPATH = ['.',
                               '#source/blender/blenloader'
                              ])
 
+if sys.platform == 'win32':
+    ketsji_env.Append (CXXFLAGS = ['/GR'])
 ketsji_env.Append (CPPPATH = user_options_dict['PYTHON_INCLUDE'])
 
 ketsji_env.Library (target='#'+user_options_dict['BUILD_DIR']+'/lib/KX_ketsji', source=source_files)