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 

4 files changed, 136 insertions, 168 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 01e8aa2560f..7302c47f4bf 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -92,16 +92,19 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 
 }
 
-btTransform	CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
+btTransform&	CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
 {
-	btTransform trans;
-	float tmp[3];
-	motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
-	trans.setOrigin(btVector3(tmp[0],tmp[1],tmp[2]));
-
-	btQuaternion orn;
-	motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
-	trans.setRotation(orn);
+	static btTransform trans;
+	btVector3 tmp;
+	motionState->getWorldPosition(tmp.m_floats[0], tmp.m_floats[1], tmp.m_floats[2]);
+	trans.setOrigin(tmp);
+
+	float ori[12];
+	motionState->getWorldOrientation(ori);
+	trans.getBasis().setFromOpenGLSubMatrix(ori);
+	//btQuaternion orn;
+	//motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
+	//trans.setRotation(orn);
 	return trans;
 
 }
@@ -118,18 +121,18 @@ public:
 
 	}
 
-	virtual void	getWorldTransform(btTransform& worldTrans ) const
+	void	getWorldTransform(btTransform& worldTrans ) const
 	{
-		float pos[3];
-		float quatOrn[4];
+		btVector3 pos;
+		float ori[12];
 
-		m_blenderMotionState->getWorldPosition(pos[0],pos[1],pos[2]);
-		m_blenderMotionState->getWorldOrientation(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3]);
-		worldTrans.setOrigin(btVector3(pos[0],pos[1],pos[2]));
-		worldTrans.setBasis(btMatrix3x3(btQuaternion(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3])));
+		m_blenderMotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]);
+		m_blenderMotionState->getWorldOrientation(ori);
+		worldTrans.setOrigin(pos);
+		worldTrans.getBasis().setFromOpenGLSubMatrix(ori);
 	}
 
-	virtual void	setWorldTransform(const btTransform& worldTrans)
+	void	setWorldTransform(const btTransform& worldTrans)
 	{
 		m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ());
 		btQuaternion rotQuat = worldTrans.getRotation();
@@ -493,10 +496,12 @@ void CcdPhysicsController::CreateRigidbody()
 	//convert collision flags!
 	//special case: a near/radar sensor controller should not be defined static or it will
 	//generate loads of static-static collision messages on the console
-	if ((m_cci.m_collisionFilterGroup & CcdConstructionInfo::SensorFilter) != 0)
+	if (m_cci.m_bSensor)
 	{
 		// reset the flags that have been set so far
 		GetCollisionObject()->setCollisionFlags(0);
+		// sensor must never go to sleep: they need to detect continously
+		GetCollisionObject()->setActivationState(DISABLE_DEACTIVATION);
 	}
 	GetCollisionObject()->setCollisionFlags(m_object->getCollisionFlags() | m_cci.m_collisionFlags);
 	btRigidBody* body = GetRigidBody();
@@ -613,12 +618,13 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 				body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len));
 		}
 		
-		const btVector3& worldPos = body->getCenterOfMassPosition();
+		const btTransform& xform = body->getCenterOfMassTransform();
+		const btMatrix3x3& worldOri = xform.getBasis();
+		const btVector3& worldPos = xform.getOrigin();
+		float ori[12];
+		worldOri.getOpenGLSubMatrix(ori);
+		m_MotionState->setWorldOrientation(ori);
 		m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
-		
-		const btQuaternion& worldquat = body->getOrientation();
-		m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
-
 		m_MotionState->calculateWorldTransformations();
 
 		float scale[3];
@@ -655,8 +661,10 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 		
 void		CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
 {
-
+	btTransform& xform = CcdPhysicsController::GetTransformFromMotionState(m_MotionState);
+	SetCenterOfMassTransform(xform);
 }
+
 void		CcdPhysicsController::WriteDynamicsToMotionState()
 {
 }
@@ -673,12 +681,12 @@ void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
 	if (m_shapeInfo)
 	{
 		m_shapeInfo->AddRef();
-		m_collisionShape = m_shapeInfo->CreateBulletShape();
+		m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin);
 
 		if (m_collisionShape)
 		{
 			// new shape has no scaling, apply initial scaling
-			m_collisionShape->setMargin(m_cci.m_margin);
+			//m_collisionShape->setMargin(m_cci.m_margin);
 			m_collisionShape->setLocalScaling(m_cci.m_scaling);
 			
 			if (m_cci.m_mass)
@@ -697,8 +705,10 @@ void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
 		{
 			body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
 		}
-	}			
-	m_cci.m_physicsEnv->addCcdPhysicsController(this);
+	}	
+	// sensor object are added when needed
+	if (!m_cci.m_bSensor)
+		m_cci.m_physicsEnv->addCcdPhysicsController(this);
 
 
 /*	SM_Object* dynaparent=0;
@@ -773,7 +783,7 @@ void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -799,7 +809,7 @@ void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -843,7 +853,7 @@ void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -866,7 +876,7 @@ void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -895,7 +905,7 @@ void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 	if (m_object)
 	{
 		m_object->activate(true);
-		if (m_object->isStaticObject())
+		if (m_object->isStaticObject() && !m_cci.m_bSensor)
 		{
 			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 		}
@@ -909,9 +919,19 @@ void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 		// not required
 		//m_bulletMotionState->setWorldTransform(xform);
 	}
+}
 
-
+void CcdPhysicsController::forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos)
+{
+	if (m_object)
+	{
+		btTransform& xform = m_object->getWorldTransform();
+		xform.setBasis(mat);
+		xform.setOrigin(pos);
+	}
 }
+
+
 void		CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
 }
@@ -961,7 +981,9 @@ void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
 		m_object->activate();
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			return;
 		}
 		if (local)
 		{
@@ -989,27 +1011,26 @@ void		CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo
 		m_object->activate();
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			return;
 		}
-
+		btTransform xform = m_object->getWorldTransform();
+		
+		if (local)
+		{	
+			force	= xform.getBasis()*force;
+		}
+		btRigidBody* body = GetRigidBody();
+		if (body)
+			body->applyCentralForce(force);
+		btSoftBody* soft = GetSoftBody();
+		if (soft)
 		{
-			btTransform xform = m_object->getWorldTransform();
-			
-			if (local)
-			{	
-				force	= xform.getBasis()*force;
-			}
-			btRigidBody* body = GetRigidBody();
-			if (body)
-				body->applyCentralForce(force);
-			btSoftBody* soft = GetSoftBody();
-			if (soft)
-			{
-				// the force is applied on each node, must reduce it in the same extend
-				if (soft->m_nodes.size() > 0)
-					force /= soft->m_nodes.size();
-				soft->addForce(force);
-			}
+			// the force is applied on each node, must reduce it in the same extend
+			if (soft->m_nodes.size() > 0)
+				force /= soft->m_nodes.size();
+			soft->addForce(force);
 		}
 	}
 }
@@ -1021,19 +1042,18 @@ void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo
 		m_object->activate(true);
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-		} else
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			return;
+		}
+		btTransform xform = m_object->getWorldTransform();
+		if (local)
 		{
-			btTransform xform = m_object->getWorldTransform();
-			if (local)
-			{
-				angvel	= xform.getBasis()*angvel;
-			}
-			btRigidBody* body = GetRigidBody();
-			if (body)
-				body->setAngularVelocity(angvel);
-
+			angvel	= xform.getBasis()*angvel;
 		}
+		btRigidBody* body = GetRigidBody();
+		if (body)
+			body->setAngularVelocity(angvel);
 	}
 
 }
@@ -1046,7 +1066,8 @@ void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
 		m_object->activate(true);
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
 			return;
 		}
 		
@@ -1080,7 +1101,9 @@ void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac
 		m_object->activate();
 		if (m_object->isStaticObject())
 		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			if (!m_cci.m_bSensor)
+				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			return;
 		}
 		
 		btVector3 pos(attachX,attachY,attachZ);
@@ -1207,7 +1230,7 @@ PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
 	if (m_shapeInfo)
 	{
 		// This situation does not normally happen
-		cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape();
+		cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(0.01);
 	} 
 	else if (m_collisionShape)
 	{
@@ -1274,28 +1297,22 @@ void	DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scal
 
 void	DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
 {
-	quatIma0 = m_worldTransform.getRotation().x();
-	quatIma1 = m_worldTransform.getRotation().y();
-	quatIma2 = m_worldTransform.getRotation().z();
-	quatReal = m_worldTransform.getRotation()[3];
+	btQuaternion quat = m_worldTransform.getRotation();
+	quatIma0 = quat.x();
+	quatIma1 = quat.y();
+	quatIma2 = quat.z();
+	quatReal = quat[3];
 }
 		
 void	DefaultMotionState::getWorldOrientation(float* ori)
 {
-	*ori++ = m_worldTransform.getBasis()[0].x();
-	*ori++ = m_worldTransform.getBasis()[1].x();
-	*ori++ = m_worldTransform.getBasis()[1].x();
-	*ori++ = 0.f;
-	*ori++ = m_worldTransform.getBasis()[0].y();
-	*ori++ = m_worldTransform.getBasis()[1].y();
-	*ori++ = m_worldTransform.getBasis()[1].y();
-	*ori++ = 0.f;
-	*ori++ = m_worldTransform.getBasis()[0].z();
-	*ori++ = m_worldTransform.getBasis()[1].z();
-	*ori++ = m_worldTransform.getBasis()[1].z();
-	*ori++ = 0.f;
+	m_worldTransform.getBasis().getOpenGLSubMatrix(ori);
 }
 
+void	DefaultMotionState::setWorldOrientation(const float* ori)
+{
+	m_worldTransform.getBasis().setFromOpenGLSubMatrix(ori);
+}
 void	DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
 {
 	btVector3 pos(posX,posY,posZ);
@@ -1583,7 +1600,7 @@ bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo)
 	return true;
 }
 
-btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
+btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 {
 	btCollisionShape* collisionShape = 0;
 	btTriangleMeshShape* concaveShape = 0;
@@ -1591,7 +1608,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 	CcdShapeConstructionInfo* nextShapeInfo;
 
 	if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL)
-		return m_shapeProxy->CreateBulletShape();
+		return m_shapeProxy->CreateBulletShape(margin);
 
 	switch (m_shapeType) 
 	{
@@ -1600,22 +1617,27 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 
 	case PHY_SHAPE_BOX:
 		collisionShape = new btBoxShape(m_halfExtend);
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_SPHERE:
 		collisionShape = new btSphereShape(m_radius);
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_CYLINDER:
 		collisionShape = new btCylinderShapeZ(m_halfExtend);
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_CONE:
 		collisionShape = new btConeShapeZ(m_radius, m_height);
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_POLYTOPE:
 		collisionShape = new btConvexHullShape(&m_vertexArray[0], m_vertexArray.size()/3, 3*sizeof(btScalar));
+		collisionShape->setMargin(margin);
 		break;
 
 	case PHY_SHAPE_MESH:
@@ -1638,7 +1660,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 				);
 				
 				btGImpactMeshShape* gimpactShape =  new btGImpactMeshShape(indexVertexArrays);
-
+				gimpactShape->setMargin(margin);
 				collisionShape = gimpactShape;
 				gimpactShape->updateBound();
 
@@ -1683,6 +1705,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 				m_unscaledShape->recalcLocalAabb();
 			}
 			collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));
+			collisionShape->setMargin(margin);
 		}
 		break;
 
@@ -1694,7 +1717,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 				 sit != m_shapeArray.end();
 				 sit++)
 			{
-				collisionShape = (*sit)->CreateBulletShape();
+				collisionShape = (*sit)->CreateBulletShape(margin);
 				if (collisionShape)
 				{
 					collisionShape->setLocalScaling((*sit)->m_childScale);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 315e2bdf429..fc8de0e2ded 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -152,7 +152,7 @@ public:
 		return m_shapeProxy;
 	}
 
-	btCollisionShape* CreateBulletShape();
+	btCollisionShape* CreateBulletShape(btScalar margin);
 
 	// member variables
 	PHY_ShapeType			m_shapeType;
@@ -222,6 +222,7 @@ struct CcdConstructionInfo
 		m_collisionFlags(0),
 		m_bRigid(false),
 		m_bSoft(false),
+		m_bSensor(false),
 		m_collisionFilterGroup(DefaultFilter),
 		m_collisionFilterMask(AllFilter),
 		m_collisionShape(0),
@@ -288,6 +289,7 @@ struct CcdConstructionInfo
 	int			m_collisionFlags;
 	bool		m_bRigid;
 	bool		m_bSoft;
+	bool		m_bSensor;
 
 	///optional use of collision group/mask:
 	///only collision with object goups that match the collision mask.
@@ -326,7 +328,7 @@ class btSoftBody;
 ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
 class CcdPhysicsController : public PHY_IPhysicsController	
 {
-
+protected:
 	btCollisionObject* m_object;
 	
 
@@ -361,8 +363,8 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		return (--m_registerCount == 0) ? true : false;
 	}
 
-	protected:
-		void setWorldOrientation(const btMatrix3x3& mat);
+	void setWorldOrientation(const btMatrix3x3& mat);
+	void forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos);
 
 	public:
 	
@@ -407,6 +409,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		
 		virtual void		WriteMotionStateToDynamics(bool nondynaonly);
 		virtual	void		WriteDynamicsToMotionState();
+
 		// controller replication
 		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
 
@@ -505,7 +508,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		void	SetCenterOfMassTransform(btTransform& xform);
 
-		static btTransform	GetTransformFromMotionState(PHY_IMotionState* motionState);
+		static btTransform&	GetTransformFromMotionState(PHY_IMotionState* motionState);
 
 		void	setAabb(const btVector3& aabbMin,const btVector3& aabbMax);
 
@@ -563,6 +566,7 @@ class	DefaultMotionState : public PHY_IMotionState
 		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/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 03c9d13a7dd..ed517e637dc 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -415,61 +415,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 		obj->setActivationState(ISLAND_SLEEPING);
 	}
 
-
-	//CollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask());
-
 	assert(obj->getBroadphaseHandle());
-
-	btBroadphaseInterface* scene =  getBroadphase();
-
-
-	btCollisionShape* shapeinterface = ctrl->GetCollisionShape();
-
-	assert(shapeinterface);
-
-	const btTransform& t = ctrl->GetCollisionObject()->getWorldTransform();
-	
-
-	btVector3 minAabb,maxAabb;
-
-	shapeinterface->getAabb(t,minAabb,maxAabb);
-
-	float timeStep = 0.02f;
-
-
-	//extent it with the motion
-
-	if (body)
-	{
-		btVector3 linMotion = body->getLinearVelocity()*timeStep;
-
-		float maxAabbx = maxAabb.getX();
-		float maxAabby = maxAabb.getY();
-		float maxAabbz = maxAabb.getZ();
-		float minAabbx = minAabb.getX();
-		float minAabby = minAabb.getY();
-		float minAabbz = minAabb.getZ();
-
-		if (linMotion.x() > 0.f)
-			maxAabbx += linMotion.x(); 
-		else
-			minAabbx += linMotion.x();
-		if (linMotion.y() > 0.f)
-			maxAabby += linMotion.y(); 
-		else
-			minAabby += linMotion.y();
-		if (linMotion.z() > 0.f)
-			maxAabbz += linMotion.z(); 
-		else
-			minAabbz += linMotion.z();
-
-
-		minAabb = btVector3(minAabbx,minAabby,minAabbz);
-		maxAabb = btVector3(maxAabbx,maxAabby,maxAabbz);
-	}
-
-
-
 }
 
 		
@@ -1884,29 +1830,20 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 	//	addCcdPhysicsController(ctrl1);
 	//}
 	enableCcdPhysicsController(ctrl1);
-
-	//Collision filter/mask is now set at the time of the creation of the controller 
-	//force collision detection with everything, including static objects (might hurt performance!)
-	//ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::SensorTrigger;
-	//ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterGroup = btBroadphaseProxy::SensorTrigger;
-	//todo: make this 'sensor'!
-
-	requestCollisionCallback(ctrl);
-	//printf("addSensor\n");
 }
 
-void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
+bool CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
 {
 	CcdPhysicsController* ccdCtrl = (CcdPhysicsController*)ctrl;
-	if (ccdCtrl->Unregister())
-		m_triggerControllers.erase(ccdCtrl);
+	if (!ccdCtrl->Unregister())
+		return false;
+	m_triggerControllers.erase(ccdCtrl);
+	return true;
 }
 
 
 void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
 {
-	removeCollisionCallback(ctrl);
-
 	disableCcdPhysicsController((CcdPhysicsController*)ctrl);
 }
 
@@ -1942,12 +1879,14 @@ void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCal
 	m_triggerCallbacksUserPtrs[response_class] = user;
 
 }
-void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
+bool CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
 {
 	CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
 
-	if (ccdCtrl->Register())
-		m_triggerControllers.insert(ccdCtrl);
+	if (!ccdCtrl->Register())
+		return false;
+	m_triggerControllers.insert(ccdCtrl);
+	return true;
 }
 
 void	CcdPhysicsEnvironment::CallbackTriggers()
@@ -2096,12 +2035,13 @@ PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radi
 	// declare this object as Dyamic rather then static!!
 	// The reason as it is designed to detect all type of object, including static object
 	// It would cause static-static message to be printed on the console otherwise
-	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE/* | btCollisionObject::CF_KINEMATIC_OBJECT*/;
+	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_STATIC_OBJECT;
 	DefaultMotionState* motionState = new DefaultMotionState();
 	cinfo.m_MotionState = motionState;
 	// we will add later the possibility to select the filter from option
 	cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
 	cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter;
+	cinfo.m_bSensor = true;
 	motionState->m_worldTransform.setIdentity();
 	motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));
 
@@ -2555,13 +2495,14 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float conera
 	cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);
 	cinfo.m_MotionState = 0;
 	cinfo.m_physicsEnv = this;
-	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
+	cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_STATIC_OBJECT;
 	DefaultMotionState* motionState = new DefaultMotionState();
 	cinfo.m_MotionState = motionState;
 	
 	// we will add later the possibility to select the filter from option
 	cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
 	cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter;
+	cinfo.m_bSensor = true;
 	motionState->m_worldTransform.setIdentity();
 //	motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 5f9fb9511d6..4e39d531cd6 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -179,8 +179,8 @@ protected:
 		virtual void addSensor(PHY_IPhysicsController* ctrl);
 		virtual void removeSensor(PHY_IPhysicsController* ctrl);
 		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
-		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
-		virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl);
+		virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl);
+		virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl);
 		//These two methods are used *solely* to create controllers for Near/Radar sensor! Don't use for anything else
 		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);