BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility.

A new type of "Sensor" physics object is available in the GE for advanced
collision management. It's called Sensor for its similarities with the
physics objects that underlie the Near and Radar sensors.
Like the Near and Radar object it is:
- static and ghost
- invisible by default
- always active to ensure correct collision detection
- capable of detecting both static and dynamic objects
- ignoring collision with their parent
- capable of broadphase filtering based on:
  * Actor option: the collisioning object must have the Actor flag set to be detected
  * property/material: as specified in the collision sensors attached to it
  Broadphase filtering is important for performance reason: the collision points
  will be computed only for the objects that pass the broahphase filter.
- automatically removed from the simulation when no collision sensor is active on it

Unlike the Near and Radar object it can:
- take any shape, including triangle mesh
- be made visible for debugging (just use the Visible actuator)
- have multiple collision sensors using it

Other than that, the sensor objects are ordinary objects. You can move them
freely or parent them. When parented to a dynamic object, they can provide
advanced collision control to this object.

The type of collision capability depends on the shape:
- box, sphere, cylinder, cone, convex hull provide volume detection.
- triangle mesh provides surface detection but you can give some volume
  to the suface by increasing the margin in the Advanced Settings panel.
  The margin applies on both sides of the surface.

Performance tip:
- Sensor objects perform better than Near and Radar: they do less synchronizations
  because of the Scenegraph optimizations and they can have multiple collision sensors
  on them (with different property filtering for example).
- Always prefer simple shape (box, sphere) to complex shape whenever possible.
- Always use broadphase filtering (avoid collision sensor with empty propery/material)
- Use collision sensor only when you need them. When no collision sensor is active
  on the sensor object, it is removed from the simulation and consume no CPU.

Known limitations:
- When running Blender in debug mode, you will see one warning line of the console:
  "warning btCollisionDispatcher::needsCollision: static-static collision!"
  In release mode this message is not printed.
- Collision margin has no effect on sphere, cone and cylinder shape.

Other performance improvements:
- Remove unnecessary interpolation for Near and Radar objects and by extension
  sensor objects.
- Use direct matrix copy instead of quaternion to synchronize orientation.

Other bug fix:
- Fix Near/Radar position error on newly activated objects. This was causing
  several detection problems in YoFrankie
- Fix margin not passed correctly to gImpact shape.
- Disable force/velocity actions on static objects 

21 files changed, 216 insertions, 92 deletions

diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index 300a7906e81..e22edfd1306 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -17,8 +17,8 @@
 #include "BulletSoftBody/btSoftBody.h"
 
 
-KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool compound)
-: KX_IPhysicsController(dyna,compound,(PHY_IPhysicsController*)this),
+KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound)
+: KX_IPhysicsController(dyna,sensor,compound,(PHY_IPhysicsController*)this),
 CcdPhysicsController(ci),
 m_savedCollisionFlags(0),
 m_savedCollisionFilterGroup(0),
@@ -174,6 +174,20 @@ void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
 {
 	CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z());
 }
+void KX_BulletPhysicsController::SetTransform()
+{
+	btVector3 pos;
+	btVector3 scale;
+	float ori[12];
+	m_MotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]);
+	m_MotionState->getWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]);
+	m_MotionState->getWorldOrientation(ori);
+	btMatrix3x3 rot(ori[0], ori[4], ori[8],
+					ori[1], ori[5], ori[9],
+					ori[2], ori[6], ori[10]);
+	CcdPhysicsController::forceWorldTransform(rot, pos);
+}
+
 MT_Scalar	KX_BulletPhysicsController::GetMass()
 {
 	if (GetSoftBody())
@@ -262,7 +276,7 @@ void    KX_BulletPhysicsController::AddCompoundChild(KX_IPhysicsController* chil
 	// add to parent compound shapeinfo
 	GetShapeInfo()->AddShape(proxyShapeInfo);
 	// create new bullet collision shape from the object shapeinfo and set scaling
-	btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape();
+	btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin());
 	newChildShape->setLocalScaling(relativeScale);
 	// add bullet collision shape to parent compound collision shape
 	compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape);
@@ -359,7 +373,7 @@ void KX_BulletPhysicsController::SetMass(MT_Scalar newmass)
 void	KX_BulletPhysicsController::SuspendDynamics(bool ghost)
 {
 	btRigidBody *body = GetRigidBody();
-	if (body && !m_suspended)
+	if (body && !m_suspended && !IsSensor())
 	{
 		btBroadphaseProxy* handle = body->getBroadphaseHandle();
 		m_savedCollisionFlags = body->getCollisionFlags();
@@ -445,7 +459,7 @@ SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
 void	KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
 {
 
-	if (!m_bDyna)
+	if (!m_bDyna && !m_bSensor)
 	{
 		btCollisionObject* object = GetRigidBody();
 		object->setActivationState(ACTIVE_TAG);
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
index 9d2afad1a5c..755b1cbd780 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
@@ -19,7 +19,7 @@ private:
 
 public:
 
-	KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool compound);
+	KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound);
 	virtual ~KX_BulletPhysicsController ();
 
 	///////////////////////////////////
@@ -42,6 +42,7 @@ public:
 	virtual	void setOrientation(const MT_Matrix3x3& orn);
 	virtual	void setPosition(const MT_Point3& pos);
 	virtual	void setScaling(const MT_Vector3& scaling);
+	virtual void SetTransform();
 	virtual	MT_Scalar	GetMass();
 	virtual	void	SetMass(MT_Scalar newmass);
 	virtual	MT_Vector3	GetLocalInertia();
diff --git a/source/gameengine/Ketsji/KX_ClientObjectInfo.h b/source/gameengine/Ketsji/KX_ClientObjectInfo.h
index 7345edb054b..74d463fbf20 100644
--- a/source/gameengine/Ketsji/KX_ClientObjectInfo.h
+++ b/source/gameengine/Ketsji/KX_ClientObjectInfo.h
@@ -50,8 +50,8 @@ struct KX_ClientObjectInfo
 		STATIC,
 		ACTOR,
 		RESERVED1,
-		RADAR,
-		NEAR
+		SENSOR,
+		OBSENSOR
 	}		m_type;
 	KX_GameObject*	m_gameobject;
 	void*		m_auxilary_info;
@@ -84,6 +84,7 @@ public:
 	}
 	
 	bool isActor() { return m_type <= ACTOR; }
+	bool isSensor() { return m_type >= SENSOR && m_type <= OBSENSOR; }
 };
 
 #endif //__KX_CLIENTOBJECT_INFO_H
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
index 5b912a123fe..e48fddb30bd 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
@@ -83,6 +83,7 @@ struct KX_ObjectProperties
 	bool	m_ghost;
 	class KX_GameObject*	m_dynamic_parent;
 	bool	m_isactor;
+	bool	m_sensor;
 	bool	m_concave;
 	bool	m_isdeformable;
 	bool	m_disableSleeping;
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index f18ffb56ccb..73693e68642 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -808,12 +808,12 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	
 
 	bool isbulletdyna = false;
+	bool isbulletsensor = false;
 	CcdConstructionInfo ci;
 	class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
 	class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();
 
 	
-
 	if (!objprop->m_dyna)
 	{
 		ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
@@ -832,6 +832,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_margin = objprop->m_margin;
 	shapeInfo->m_radius = objprop->m_radius;
 	isbulletdyna = objprop->m_dyna;
+	isbulletsensor = objprop->m_sensor;
 	
 	ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
 	
@@ -851,7 +852,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 			//bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1);
 			shapeInfo->m_shapeType = PHY_SHAPE_SPHERE;
-			bm = shapeInfo->CreateBulletShape();
+			bm = shapeInfo->CreateBulletShape(ci.m_margin);
 			break;
 		};
 	case KX_BOUNDBOX:
@@ -864,7 +865,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 			shapeInfo->m_halfExtend /= 2.0;
 			shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute();
 			shapeInfo->m_shapeType = PHY_SHAPE_BOX;
-			bm = shapeInfo->CreateBulletShape();
+			bm = shapeInfo->CreateBulletShape(ci.m_margin);
 			break;
 		};
 	case KX_BOUNDCYLINDER:
@@ -875,7 +876,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 				objprop->m_boundobject.c.m_height * 0.5f
 			);
 			shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER;
-			bm = shapeInfo->CreateBulletShape();
+			bm = shapeInfo->CreateBulletShape(ci.m_margin);
 			break;
 		}
 
@@ -884,18 +885,18 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 			shapeInfo->m_radius = objprop->m_boundobject.c.m_radius;
 			shapeInfo->m_height = objprop->m_boundobject.c.m_height;
 			shapeInfo->m_shapeType = PHY_SHAPE_CONE;
-			bm = shapeInfo->CreateBulletShape();
+			bm = shapeInfo->CreateBulletShape(ci.m_margin);
 			break;
 		}
 	case KX_BOUNDPOLYTOPE:
 		{
 			shapeInfo->SetMesh(meshobj, dm,true,false);
-			bm = shapeInfo->CreateBulletShape();
+			bm = shapeInfo->CreateBulletShape(ci.m_margin);
 			break;
 		}
 	case KX_BOUNDMESH:
 		{
-			bool useGimpact = (ci.m_mass && !objprop->m_softbody);
+			bool useGimpact = ((ci.m_mass || isbulletsensor) && !objprop->m_softbody);
 
 			// mesh shapes can be shared, check first if we already have a shape on that mesh
 			class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false,useGimpact);
@@ -915,7 +916,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 				shapeInfo->setVertexWeldingThreshold1(objprop->m_soft_welding); //todo: expose this to the UI
 			}
 
-			bm = shapeInfo->CreateBulletShape();
+			bm = shapeInfo->CreateBulletShape(ci.m_margin);
 			//should we compute inertia for dynamic shape?
 			//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
 
@@ -933,7 +934,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 		return;
 	}
 
-	bm->setMargin(ci.m_margin);
+	//bm->setMargin(ci.m_margin);
 
 
 		if (objprop->m_isCompoundChild)
@@ -1103,26 +1104,39 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_soft_numclusteriterations= objprop->m_soft_numclusteriterations;	/* number of iterations to refine collision clusters*/
 
 	////////////////////
-
-	ci.m_collisionFilterGroup = (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : short(CcdConstructionInfo::StaticFilter);
-	ci.m_collisionFilterMask = (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
+	ci.m_collisionFilterGroup = 
+		(isbulletsensor) ? short(CcdConstructionInfo::SensorFilter) :
+		(isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : 
+		short(CcdConstructionInfo::StaticFilter);
+	ci.m_collisionFilterMask = 
+		(isbulletsensor) ? short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter) :
+		(isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : 
+		short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
 	ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody;
 	ci.m_bSoft = objprop->m_softbody;
+	ci.m_bSensor = isbulletsensor;
 	MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
 	ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
-	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,objprop->m_hasCompoundChildren);
+	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,isbulletsensor,objprop->m_hasCompoundChildren);
 	// shapeInfo is reference counted, decrement now as we don't use it anymore
 	if (shapeInfo)
 		shapeInfo->Release();
 
-	if (objprop->m_in_active_layer)
+	gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
+	if (isbulletsensor)
+	{
+		// use a different callback function for sensor object, 
+		// bullet will not synchronize, we must do it explicitely
+		SG_Callbacks& callbacks = gameobj->GetSGNode()->GetCallBackFunctions();
+		callbacks.m_updatefunc = KX_GameObject::SynchronizeTransformFunc;
+		// make sensor object invisible by default
+		gameobj->SetVisible(false, false);
+	} 
+	// don't add automatically sensor object, they are added when a collision sensor is registered
+	else if (objprop->m_in_active_layer)
 	{
 		env->addCcdPhysicsController( physicscontroller);
 	}
-
-	
-
-	gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
 	physicscontroller->setNewClientInfo(gameobj->getClientInfo());		
 	{
 		btRigidBody* rbody = physicscontroller->GetRigidBody();
@@ -1181,7 +1195,9 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	}
 
 	bool isActor = objprop->m_isactor;
-	gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC);
+	gameobj->getClientInfo()->m_type = 
+		(isbulletsensor) ? KX_ClientObjectInfo::OBSENSOR : 
+		(isActor) ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC;
 	// store materialname in auxinfo, needed for touchsensors
 	if (meshobj)
 	{
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index 79519bfb491..1d7bf56f6d3 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -332,7 +332,7 @@ void KX_GameObject::ProcessReplica()
 		
 }
 
-static void setGraphicController_recursive(SG_Node* node, bool v)
+static void setGraphicController_recursive(SG_Node* node)
 {
 	NodeList& children = node->GetSGChildren();
 
@@ -341,24 +341,24 @@ static void setGraphicController_recursive(SG_Node* node, bool v)
 		SG_Node* childnode = (*childit);
 		KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
 		if (clientgameobj != NULL) // This is a GameObject
-			clientgameobj->ActivateGraphicController(v, false);
+			clientgameobj->ActivateGraphicController(false);
 		
 		// if the childobj is NULL then this may be an inverse parent link
 		// so a non recursive search should still look down this node.
-		setGraphicController_recursive(childnode, v);
+		setGraphicController_recursive(childnode);
 	}
 }
 
 
-void KX_GameObject::ActivateGraphicController(bool active, bool recurse)
+void KX_GameObject::ActivateGraphicController(bool recurse)
 {
 	if (m_pGraphicController)
 	{
-		m_pGraphicController->Activate(active);
+		m_pGraphicController->Activate(m_bVisible);
 	}
 	if (recurse)
 	{
-		setGraphicController_recursive(GetSGNode(), active);
+		setGraphicController_recursive(GetSGNode());
 	}
 }
 
@@ -538,6 +538,20 @@ void KX_GameObject::UpdateTransformFunc(SG_IObject* node, void* gameobj, void* s
 	((KX_GameObject*)gameobj)->UpdateTransform();
 }
 
+void KX_GameObject::SynchronizeTransform()
+{
+	// only used for sensor object, do full synchronization as bullet doesn't do it
+	if (m_pPhysicsController1)
+		m_pPhysicsController1->SetTransform();
+	if (m_pGraphicController)
+		m_pGraphicController->SetGraphicTransform();
+}
+
+void KX_GameObject::SynchronizeTransformFunc(SG_IObject* node, void* gameobj, void* scene)
+{
+	((KX_GameObject*)gameobj)->SynchronizeTransform();
+}
+
 
 void KX_GameObject::SetDebugColor(unsigned int bgra)
 {
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index e5b26539d4d..e0e78918dde 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -384,7 +384,7 @@ public:
 	/*
 	 * @add/remove the graphic controller to the physic system
 	 */
-	void ActivateGraphicController(bool active, bool recurse);
+	void ActivateGraphicController(bool recurse);
 
 	/**
 	 * @section Coordinate system manipulation functions
@@ -560,6 +560,13 @@ public:
 	static void UpdateTransformFunc(SG_IObject* node, void* gameobj, void* scene);
 
 	/**
+	 * only used for sensor objects
+	 */
+	void SynchronizeTransform();
+
+	static void SynchronizeTransformFunc(SG_IObject* node, void* gameobj, void* scene);
+
+	/**
 	 * Function to set IPO option at start of IPO
 	 */ 
 		void	
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.cpp b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
index a38222c5f7e..673acabd774 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
@@ -35,9 +35,10 @@
 
 #include "PHY_DynamicTypes.h"
 
-KX_IPhysicsController::KX_IPhysicsController(bool dyna, bool compound, void* userdata)
+KX_IPhysicsController::KX_IPhysicsController(bool dyna, bool sensor, bool compound, void* userdata)
 
 :	m_bDyna(dyna),
+	m_bSensor(sensor),
 	m_bCompound(compound),
 	m_suspendDynamics(false),
 	m_userdata(userdata)
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h
index 10b66da7b76..81c01045071 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.h
@@ -49,11 +49,12 @@ class KX_IPhysicsController : public SG_Controller
 {
 protected:
 	bool		m_bDyna;
+	bool		m_bSensor;
 	bool		m_bCompound;
 	bool		m_suspendDynamics;
 	void*		m_userdata;
 public:
-	KX_IPhysicsController(bool dyna,bool compound, void* userdata);
+	KX_IPhysicsController(bool dyna,bool sensor,bool compound, void* userdata);
 	virtual ~KX_IPhysicsController();
 
 
@@ -74,6 +75,7 @@ public:
 
 	virtual	void	getOrientation(MT_Quaternion& orn)=0;
 	virtual	void setOrientation(const MT_Matrix3x3& orn)=0;
+	virtual void SetTransform()=0;
 	//virtual	void setOrientation(const MT_Quaternion& orn)=0;
 	virtual	void setPosition(const MT_Point3& pos)=0;
 	virtual	void setScaling(const MT_Vector3& scaling)=0;
@@ -100,10 +102,18 @@ public:
 		m_bDyna = isDynamic;
 	}
 
+	void	SetSensor(bool isSensor) {
+		m_bSensor = isSensor;
+	}
+
 	bool	IsDyna(void) {
 		return m_bDyna;
 	}
 
+	bool	IsSensor(void) {
+		return m_bSensor;
+	}
+
 	bool	IsCompound(void) {
 		return m_bCompound;
 	}
diff --git a/source/gameengine/Ketsji/KX_MotionState.cpp b/source/gameengine/Ketsji/KX_MotionState.cpp
index b4d58dccfdf..60455d33312 100644
--- a/source/gameengine/Ketsji/KX_MotionState.cpp
+++ b/source/gameengine/Ketsji/KX_MotionState.cpp
@@ -73,6 +73,11 @@ void	KX_MotionState::getWorldOrientation(float* ori)
 	mat.getValue(ori);
 }
 	
+void	KX_MotionState::setWorldOrientation(const float* ori)
+{
+	m_node->SetLocalOrientation(ori);
+}
+	
 void	KX_MotionState::setWorldPosition(float posX,float posY,float posZ)
 {
 	m_node->SetLocalPosition(MT_Point3(posX,posY,posZ));
diff --git a/source/gameengine/Ketsji/KX_MotionState.h b/source/gameengine/Ketsji/KX_MotionState.h
index 7ba3ca2f85c..0e43e88fbeb 100644
--- a/source/gameengine/Ketsji/KX_MotionState.h
+++ b/source/gameengine/Ketsji/KX_MotionState.h
@@ -45,6 +45,7 @@ public:
 	virtual void	setWorldPosition(float posX,float posY,float posZ);
 	virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
 	virtual void	getWorldOrientation(float* ori);
+	virtual void	setWorldOrientation(const float* ori);
 
 	virtual	void	calculateWorldTransformations();
 };
diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp
index a3c4e95ae24..44842b7f5b3 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.cpp
+++ b/source/gameengine/Ketsji/KX_NearSensor.cpp
@@ -36,6 +36,7 @@
 #include "KX_Scene.h" // needed to create a replica
 #include "PHY_IPhysicsEnvironment.h"
 #include "PHY_IPhysicsController.h"
+#include "PHY_IMotionState.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -62,7 +63,7 @@ KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 {
 
 	gameobj->getClientInfo()->m_sensors.remove(this);
-	m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::NEAR);
+	m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::SENSOR);
 	m_client_info->m_sensors.push_back(this);
 	
 	//DT_ShapeHandle shape = (DT_ShapeHandle) vshape;
@@ -81,28 +82,14 @@ void KX_NearSensor::SynchronizeTransform()
 	// not linked to the parent object, must synchronize it.
 	if (m_physCtrl)
 	{
+		PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
 		KX_GameObject* parent = ((KX_GameObject*)GetParent());
-		MT_Vector3 pos = parent->NodeGetWorldPosition();
-		MT_Quaternion orn = parent->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();
-	}
-}
-
-void KX_NearSensor::RegisterSumo(KX_TouchEventManager *touchman)
-{
-	if (m_physCtrl)
-	{
-		touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl);
-	}
-}
-
-void KX_NearSensor::UnregisterSumo(KX_TouchEventManager* touchman)
-{
-	if (m_physCtrl)
-	{
-		touchman->GetPhysicsEnvironment()->removeSensor(m_physCtrl);
+		const MT_Point3& pos = parent->NodeGetWorldPosition();
+		float ori[12];
+		parent->NodeGetWorldOrientation().getValue(ori);
+		motionState->setWorldPosition(pos[0], pos[1], pos[2]);
+		motionState->setWorldOrientation(ori);
+		m_physCtrl->WriteMotionStateToDynamics(true);
 	}
 }
 
@@ -117,7 +104,7 @@ void KX_NearSensor::ProcessReplica()
 {
 	KX_TouchSensor::ProcessReplica();
 	
-	m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::NEAR);
+	m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::SENSOR);
 	
 	if (m_physCtrl)
 	{
@@ -134,11 +121,11 @@ void KX_NearSensor::ProcessReplica()
 
 void KX_NearSensor::ReParent(SCA_IObject* parent)
 {
+	SCA_ISensor::ReParent(parent);
 	m_client_info->m_gameobject = static_cast<KX_GameObject*>(parent); 
 	m_client_info->m_sensors.push_back(this);
 	//Synchronize here with the actual parent.
 	SynchronizeTransform();
-	SCA_ISensor::ReParent(parent);
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_NearSensor.h b/source/gameengine/Ketsji/KX_NearSensor.h
index 35136b79d13..d98b464a443 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.h
+++ b/source/gameengine/Ketsji/KX_NearSensor.h
@@ -77,8 +77,8 @@ public:
 	virtual bool	NewHandleCollision(void* obj1,void* obj2,
 						 const PHY_CollData * coll_data); 
 	virtual bool	BroadPhaseFilterCollision(void*obj1,void*obj2);
-	virtual void RegisterSumo(KX_TouchEventManager *touchman);
-	virtual void UnregisterSumo(KX_TouchEventManager* touchman);
+	virtual bool	BroadPhaseSensorFilterCollision(void*obj1,void*obj2) { return false; };
+	virtual sensortype GetSensorType() { return NEAR; }
 
 	/* --------------------------------------------------------------------- */
 	/* Python interface ---------------------------------------------------- */
diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.h b/source/gameengine/Ketsji/KX_OdePhysicsController.h
index 21b7e632d83..8c3974c38a3 100644
--- a/source/gameengine/Ketsji/KX_OdePhysicsController.h
+++ b/source/gameengine/Ketsji/KX_OdePhysicsController.h
@@ -70,6 +70,7 @@ public:
 	virtual	void setOrientation(const MT_Matrix3x3& orn);
 	virtual	void setPosition(const MT_Point3& pos);
 	virtual	void setScaling(const MT_Vector3& scaling);
+	virtual void SetTransform() {}
 	virtual	MT_Scalar	GetMass();
 	virtual	MT_Vector3	getReactionForce();
 	virtual void	setRigidBody(bool rigid);
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index 4532224a81e..064dc9126ac 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -30,6 +30,7 @@
 #include "KX_GameObject.h"
 #include "KX_PyMath.h"
 #include "PHY_IPhysicsController.h"
+#include "PHY_IMotionState.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -66,7 +67,7 @@ KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
 				m_coneheight(coneheight),
 				m_axis(axis)
 {
-	m_client_info->m_type = KX_ClientObjectInfo::RADAR;
+	m_client_info->m_type = KX_ClientObjectInfo::SENSOR;
 	//m_client_info->m_clientobject = gameobj;
 	//m_client_info->m_auxilary_info = NULL;
 	//sumoObj->setClientObject(&m_client_info);
@@ -84,12 +85,6 @@ CValue* KX_RadarSensor::GetReplica()
 	return replica;
 }
 
-void KX_RadarSensor::ProcessReplica()
-{
-	KX_NearSensor::ProcessReplica();
-	m_client_info->m_type = KX_ClientObjectInfo::RADAR;
-}
-
 /**
  *	Transforms the collision object. A cone is not correctly centered
  *	for usage.  */
@@ -169,11 +164,13 @@ void KX_RadarSensor::SynchronizeTransform()
 
 	if (m_physCtrl)
 	{
-		MT_Quaternion orn = trans.getRotation();
-		MT_Point3 pos = trans.getOrigin();
-		m_physCtrl->setPosition(pos[0],pos[1],pos[2]);
-		m_physCtrl->setOrientation(orn[0],orn[1],orn[2],orn[3]);
-		m_physCtrl->calcXform();
+		PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
+		const MT_Point3& pos = trans.getOrigin();
+		float ori[12];
+		trans.getBasis().getValue(ori);
+		motionState->setWorldPosition(pos[0], pos[1], pos[2]);
+		motionState->setWorldOrientation(ori);
+		m_physCtrl->WriteMotionStateToDynamics(true);
 	}
 
 }
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.h b/source/gameengine/Ketsji/KX_RadarSensor.h
index b4268797f85..6779a9edffe 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.h
+++ b/source/gameengine/Ketsji/KX_RadarSensor.h
@@ -76,7 +76,6 @@ public:
 	virtual ~KX_RadarSensor();
 	virtual void SynchronizeTransform();
 	virtual CValue* GetReplica();
-	virtual void ProcessReplica();
 
 	/* --------------------------------------------------------------------- */
 	/* Python interface ---------------------------------------------------- */
@@ -93,6 +92,7 @@ public:
 	virtual PyObject* py_getattro(PyObject *attr);
 	virtual PyObject* py_getattro_dict();
 	virtual int py_setattro(PyObject *attr, PyObject* value);
+	virtual sensortype GetSensorType() { return RADAR; }
 
 	//Deprecated ----->
 	KX_PYMETHOD_DOC_NOARGS(KX_RadarSensor,GetConeOrigin);
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index 9502599603c..bb5e0875402 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -737,7 +737,7 @@ void KX_Scene::DupliGroupRecurse(CValue* obj, int level)
 		replica->GetSGNode()->SetBBox(gameobj->GetSGNode()->BBox());
 		replica->GetSGNode()->SetRadius(gameobj->GetSGNode()->Radius());
 		// we can now add the graphic controller to the physic engine
-		replica->ActivateGraphicController(true,true);
+		replica->ActivateGraphicController(true);
 
 		// done with replica
 		replica->Release();
@@ -850,7 +850,7 @@ SCA_IObject* KX_Scene::AddReplicaObject(class CValue* originalobject,
 	replica->GetSGNode()->SetBBox(originalobj->GetSGNode()->BBox());
 	replica->GetSGNode()->SetRadius(originalobj->GetSGNode()->Radius());
 	// the size is correct, we can add the graphic controller to the physic engine
-	replica->ActivateGraphicController(true,true);
+	replica->ActivateGraphicController(true);
 
 	// now replicate logic
 	vector<KX_GameObject*>::iterator git;
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
index 083d89896f6..278994c6ae7 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
@@ -53,7 +53,7 @@ public:
 		class SM_Object* sumoObj,	
 		class PHY_IMotionState* motionstate
 		,bool dyna) 
-		: KX_IPhysicsController(dyna,false,NULL) ,
+		: KX_IPhysicsController(dyna,false,false,NULL) ,
 		  SumoPhysicsController(sumoScene,/*solidscene,*/sumoObj,motionstate,dyna)
 	{
 	};
@@ -83,6 +83,7 @@ public:
 
 	virtual	void	getOrientation(MT_Quaternion& orn);
 	virtual	void setOrientation(const MT_Matrix3x3& orn);
+	virtual void SetTransform() {}
 	
 	virtual	void setPosition(const MT_Point3& pos);
 	virtual	void setScaling(const MT_Vector3& scaling);
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.cpp b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
index 8ae5fae8fa3..46927541099 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.cpp
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
@@ -85,14 +85,34 @@ bool	 KX_TouchEventManager::newBroadphaseResponse(void *client_data,
 	PHY_IPhysicsController* ctrl = static_cast<PHY_IPhysicsController*>(object1);
 	KX_ClientObjectInfo* info = (ctrl) ? static_cast<KX_ClientObjectInfo*>(ctrl->getNewClientInfo()) : NULL;
 	// This call back should only be called for controllers of Near and Radar sensor
-	if (info &&
-        info->m_sensors.size() == 1 &&
-		(info->m_type == KX_ClientObjectInfo::NEAR ||
-		 info->m_type == KX_ClientObjectInfo::RADAR))
+	if (!info)
+		return true;
+
+	switch (info->m_type)
 	{
-		// only one sensor for this type of object
-		KX_TouchSensor* touchsensor = static_cast<KX_TouchSensor*>(*info->m_sensors.begin());
-		return touchsensor->BroadPhaseFilterCollision(object1,object2);
+	case KX_ClientObjectInfo::SENSOR:
+		if (info->m_sensors.size() == 1)
+		{
+			// only one sensor for this type of object
+			KX_TouchSensor* touchsensor = static_cast<KX_TouchSensor*>(*info->m_sensors.begin());
+			return touchsensor->BroadPhaseFilterCollision(object1,object2);
+		}
+		break;
+	case KX_ClientObjectInfo::OBSENSOR:
+		// this object may have multiple collision sensors, 
+		// check is any of them is interested in this object
+		for(std::list<SCA_ISensor*>::iterator it = info->m_sensors.begin();
+			it != info->m_sensors.end();
+			++it)
+		{
+			if ((*it)->GetSensorType() == SCA_ISensor::TOUCH) 
+			{
+				KX_TouchSensor* touchsensor = static_cast<KX_TouchSensor*>(*it);
+				if (touchsensor->BroadPhaseSensorFilterCollision(object1, object2))
+					return true;
+			}
+		}
+		return false;
 	}
 	return true;
 }
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp
index 8c0d5596939..509fc60e9f5 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.cpp
+++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp
@@ -173,19 +173,65 @@ void KX_TouchSensor::RegisterSumo(KX_TouchEventManager *touchman)
 {
 	if (m_physCtrl)
 	{
-		touchman->GetPhysicsEnvironment()->requestCollisionCallback(m_physCtrl);
-		// collision
-		// Deprecated	
-
+		if (touchman->GetPhysicsEnvironment()->requestCollisionCallback(m_physCtrl))
+		{
+			KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->getNewClientInfo());
+			if (client_info->isSensor())
+				touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl);
+		}
 	}
 }
-
 void KX_TouchSensor::UnregisterSumo(KX_TouchEventManager* touchman)
 {
 	if (m_physCtrl)
 	{
-		touchman->GetPhysicsEnvironment()->removeCollisionCallback(m_physCtrl);
+		if (touchman->GetPhysicsEnvironment()->removeCollisionCallback(m_physCtrl))
+		{
+			// no more sensor on the controller, can remove it if it is a sensor object
+			KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->getNewClientInfo());
+			if (client_info->isSensor())
+				touchman->GetPhysicsEnvironment()->removeSensor(m_physCtrl);
+		}
+	}
+}
+
+// this function is called only for sensor objects
+// return true if the controller can collide with the object
+bool	KX_TouchSensor::BroadPhaseSensorFilterCollision(void*obj1,void*obj2)
+{
+	assert(obj1==m_physCtrl && obj2);
+
+	KX_GameObject* myobj = (KX_GameObject*)GetParent();
+	KX_GameObject* myparent = myobj->GetParent();
+	KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*>(((PHY_IPhysicsController*)obj2)->getNewClientInfo());
+	KX_GameObject* otherobj = ( client_info ? client_info->m_gameobject : NULL);
+
+	// first, decrement refcount as GetParent() increases it
+	if (myparent)
+		myparent->Release();
+
+	// we can only check on persistent characteristic: m_link and m_suspended are not
+	// good candidate because they are transient. That must be handled at another level
+	if (!otherobj ||
+		otherobj == myparent ||		// don't interact with our parent
+		client_info->m_type != KX_ClientObjectInfo::ACTOR)	// only with actor objects
+		return false;
+		
+	bool found = m_touchedpropname.IsEmpty();
+	if (!found)
+	{
+		if (m_bFindMaterial)
+		{
+			if (client_info->m_auxilary_info)
+			{
+				found = (!strcmp(m_touchedpropname.Ptr(), (char*)client_info->m_auxilary_info));
+			}
+		} else
+		{
+			found = (otherobj->GetProperty(m_touchedpropname) != NULL);
+		}
 	}
+	return found;
 }
 
 bool	KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_CollData* colldata)
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.h b/source/gameengine/Ketsji/KX_TouchSensor.h
index 9c9c6bf5816..b62ec6eaf4d 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.h
+++ b/source/gameengine/Ketsji/KX_TouchSensor.h
@@ -103,7 +103,8 @@ public:
 	// obj1 = sensor physical controller, obj2 = physical controller of second object
 	// return value = true if collision should be checked on pair of object
 	virtual bool	BroadPhaseFilterCollision(void*obj1,void*obj2) { return true; }
-
+	virtual bool	BroadPhaseSensorFilterCollision(void*obj1,void*obj2);
+	virtual sensortype GetSensorType() { return TOUCH; }
   
 
 	virtual bool IsPositiveTrigger() {