bleh

9 files changed, 0 insertions, 6162 deletions

diff --git a/source/gameengine/Physics/Bullet/CMakeLists.txt b/source/gameengine/Physics/Bullet/CMakeLists.txt
deleted file mode 100644
index 95888967b78..00000000000
--- a/source/gameengine/Physics/Bullet/CMakeLists.txt
+++ /dev/null
@@ -1,49 +0,0 @@
-# $Id$
-# ***** BEGIN GPL LICENSE BLOCK *****
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software Foundation,
-# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-#
-# The Original Code is Copyright (C) 2006, Blender Foundation
-# All rights reserved.
-#
-# The Original Code is: all of this file.
-#
-# Contributor(s): Jacques Beaurain.
-#
-# ***** END GPL LICENSE BLOCK *****
-
-SET(SRC CcdPhysicsEnvironment.cpp CcdPhysicsController.cpp CcdGraphicController.cpp)
-
-SET(INC
-	.
-	../common
-	../../../../extern/bullet2/src
-	../../../../extern/glew/include
-	../../../../intern/moto/include
-	../../../../intern/guardedalloc
-	../../../kernel/gen_system
-	../../../../intern/string
-	../../Rasterizer
-	../../Ketsji
-	../../Expressions
-	../../GameLogic
-	../../SceneGraph
-	../../../../source/blender/makesdna
-	../../../../source/blender/blenlib
-	../../../../source/blender/blenkernel
-	${PYTHON_INC}
-)
-
-BLENDERLIB(bf_bullet "${SRC}" "${INC}")
diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
deleted file mode 100644
index 73ac789edf7..00000000000
--- a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
+++ /dev/null
@@ -1,149 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "CcdPhysicsEnvironment.h"
-#include "CcdGraphicController.h"
-#include "btBulletDynamicsCommon.h"
-#include "MT_Point3.h"
-
-
-CcdGraphicController::CcdGraphicController (CcdPhysicsEnvironment* phyEnv, PHY_IMotionState* motionState) :
-	m_localAabbMin(0.f, 0.f, 0.f),
-	m_localAabbMax(0.f, 0.f, 0.f),
-	m_motionState(motionState),
-	m_phyEnv(phyEnv),
-	m_handle(NULL),
-	m_newClientInfo(NULL)
-{
-}
-
-CcdGraphicController::~CcdGraphicController()
-{
-	if (m_phyEnv)
-		m_phyEnv->removeCcdGraphicController(this);
-
-	if (m_motionState)
-		delete m_motionState;
-}
-
-void CcdGraphicController::setLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax)
-{
-	m_localAabbMin = aabbMin;
-	m_localAabbMax = aabbMax;
-	SetGraphicTransform();
-}
-
-void CcdGraphicController::setLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax)
-{
-	m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]);
-	m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]);
-	SetGraphicTransform();
-}
-
-void CcdGraphicController::setLocalAabb(const PHY__Vector3& aabbMin,const PHY__Vector3& aabbMax)
-{
-	m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]);
-	m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]);
-	SetGraphicTransform();
-}
-
-void CcdGraphicController::setLocalAabb(const float* aabbMin,const float* aabbMax)
-{
-	m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]);
-	m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]);
-	SetGraphicTransform();
-}
-
-void CcdGraphicController::getAabb(btVector3& aabbMin, btVector3& aabbMax)
-{
-	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]);
-
-	btVector3 localAabbMin = m_localAabbMin;
-	btVector3 localAabbMax = m_localAabbMax;
-	btVector3 tmpAabbMin = m_localAabbMin * scale;
-	btVector3 tmpAabbMax = m_localAabbMax * scale;
-
-	localAabbMin[0] = (scale.getX() >= 0.) ? tmpAabbMin[0] : tmpAabbMax[0];
-	localAabbMin[1] = (scale.getY() >= 0.) ? tmpAabbMin[1] : tmpAabbMax[1];
-	localAabbMin[2] = (scale.getZ() >= 0.) ? tmpAabbMin[2] : tmpAabbMax[2];
-	localAabbMax[0] = (scale.getX() <= 0.) ? tmpAabbMin[0] : tmpAabbMax[0];
-	localAabbMax[1] = (scale.getY() <= 0.) ? tmpAabbMin[1] : tmpAabbMax[1];
-	localAabbMax[2] = (scale.getZ() <= 0.) ? tmpAabbMin[2] : tmpAabbMax[2];
-
-	btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
-	btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
-	
-	btMatrix3x3 abs_b = rot.absolute();  
-	btVector3 center = rot*localCenter + pos;
-	btVector3 extent = abs_b*localHalfExtents;
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-bool CcdGraphicController::SetGraphicTransform()
-{
-	if (!m_handle) 
-		return false;
-	btVector3 aabbMin;
-	btVector3 aabbMax;
-	getAabb(aabbMin, aabbMax);
-	// update Aabb in broadphase
-	m_phyEnv->getCullingTree()->setAabb(m_handle,aabbMin,aabbMax,NULL);
-	return true;
-}
-
-PHY_IGraphicController* CcdGraphicController::GetReplica(class PHY_IMotionState* motionState)
-{
-	CcdGraphicController* replica = new CcdGraphicController(*this);
-	replica->m_motionState = motionState;
-	replica->m_newClientInfo = NULL;
-	replica->m_handle = NULL;
-	// don't add the graphic controller now: work around a bug in Bullet with rescaling, 
-	// (the scale of the controller is not yet defined).
-	//m_phyEnv->addCcdGraphicController(replica);
-	return replica;
-}
-
-void CcdGraphicController::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment* env)
-{
-	CcdPhysicsEnvironment* phyEnv = static_cast<CcdPhysicsEnvironment*>(env);
-	/* Updates the m_phyEnv's m_cullingTree & m_cullingCache */
-	if(getBroadphaseHandle()) {
-		/* insert into the new physics scene */
-		Activate(false);
-		m_phyEnv= phyEnv;
-		Activate(true);
-	}
-	else {
-		m_phyEnv= phyEnv;
-	}
-}
-
-void CcdGraphicController::Activate(bool active)
-{
-	if (active)
-		m_phyEnv->addCcdGraphicController(this);
-	else
-		m_phyEnv->removeCcdGraphicController(this);
-
-}
diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.h b/source/gameengine/Physics/Bullet/CcdGraphicController.h
deleted file mode 100644
index 97893420d79..00000000000
--- a/source/gameengine/Physics/Bullet/CcdGraphicController.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BULLET2_GRAPHICCONTROLLER_H
-#define BULLET2_GRAPHICCONTROLLER_H
-
-#include "PHY_IGraphicController.h"
-
-#include "btBulletDynamicsCommon.h"
-#include "LinearMath/btTransform.h"
-
-#include "PHY_IMotionState.h"
-#include "MT_Point3.h"
-
-class CcdPhysicsEnvironment;
-class btCollisionObject;
-
-///CcdGraphicController is a graphic object that supports view frustrum culling and occlusion
-class CcdGraphicController : public PHY_IGraphicController	
-{
-public:
-	CcdGraphicController(CcdPhysicsEnvironment* phyEnv, PHY_IMotionState* motionState);
-
-	virtual ~CcdGraphicController();
-
-	void setLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax);
-	void setLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax);
-	virtual void setLocalAabb(const PHY__Vector3& aabbMin,const PHY__Vector3& aabbMax);
-	virtual void setLocalAabb(const float aabbMin[3],const float aabbMax[3]);
-
-	PHY_IMotionState* GetMotionState() { return m_motionState; }
-	void getAabb(btVector3& aabbMin, btVector3& aabbMax);
-
-	virtual void setBroadphaseHandle(btBroadphaseProxy* handle) { m_handle = handle; }
-	virtual btBroadphaseProxy* getBroadphaseHandle() { return m_handle; }
-
-	virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment* env);
-
-	////////////////////////////////////
-	// PHY_IGraphicController interface
-	////////////////////////////////////
-
-	/**
-	 * Updates the Aabb based on the motion state
-	 */
-	virtual bool SetGraphicTransform();
-	/**
-	 * Add/remove to environment
-	 */
-	virtual void Activate(bool active);
-
-	// client info for culling
-	virtual	void* getNewClientInfo() { return m_newClientInfo; }
-	virtual	void setNewClientInfo(void* clientinfo) { m_newClientInfo = clientinfo; }
-	virtual PHY_IGraphicController*	GetReplica(class PHY_IMotionState* motionstate);
-		
-private:
-	// unscaled aabb corner
-	btVector3 m_localAabbMin;
-	btVector3 m_localAabbMax;
-
-	PHY_IMotionState* m_motionState;
-	CcdPhysicsEnvironment* m_phyEnv;
-	btBroadphaseProxy* m_handle;
-	void* m_newClientInfo;
-
-
-#ifdef WITH_CXX_GUARDEDALLOC
-public:
-	void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:CcdGraphicController"); }
-	void operator delete( void *mem ) { MEM_freeN(mem); }
-#endif
-};
-
-#endif //BULLET2_PHYSICSCONTROLLER_H
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
deleted file mode 100644
index dc8d31936ec..00000000000
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ /dev/null
@@ -1,2165 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "CcdPhysicsController.h"
-#include "btBulletDynamicsCommon.h"
-#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
-
-#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
-
-#include "PHY_IMotionState.h"
-#include "CcdPhysicsEnvironment.h"
-#include "RAS_MeshObject.h"
-#include "KX_GameObject.h"
-
-#include "BulletSoftBody/btSoftBody.h"
-#include "BulletSoftBody//btSoftBodyInternals.h"
-#include "BulletSoftBody/btSoftBodyHelpers.h"
-#include "LinearMath/btConvexHull.h"
-#include "BulletCollision/Gimpact/btGImpactShape.h"
-#include "BulletCollision/Gimpact/btGImpactShape.h"
-
-
-#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
-
-#include "DNA_mesh_types.h"
-#include "DNA_meshdata_types.h"
-
-extern "C"{
-#include "BKE_cdderivedmesh.h"
-}
-
-class BP_Proxy;
-
-///todo: fill all the empty CcdPhysicsController methods, hook them up to the btRigidBody class
-
-//'temporarily' global variables
-//float	gDeactivationTime = 2.f;
-//bool	gDisableDeactivation = false;
-extern float gDeactivationTime;
-extern bool gDisableDeactivation;
-
-
-float gLinearSleepingTreshold = 0.8f;
-float gAngularSleepingTreshold = 1.0f;
-
-
-btVector3 startVel(0,0,0);//-10000);
-
-CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
-:m_cci(ci)
-{
-	m_prototypeTransformInitialized = false;
-	m_softbodyMappingDone = false;
-	m_collisionDelay = 0;
-	m_newClientInfo = 0;
-	m_registerCount = 0;
-	m_softBodyTransformInitialized = false;
-	m_parentCtrl = 0;
-	// copy pointers locally to allow smart release
-	m_MotionState = ci.m_MotionState;
-	m_collisionShape = ci.m_collisionShape;
-	// apply scaling before creating rigid body
-	m_collisionShape->setLocalScaling(m_cci.m_scaling);
-	if (m_cci.m_mass)
-		m_collisionShape->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor);
-	// shape info is shared, increment ref count
-	m_shapeInfo = ci.m_shapeInfo;
-	if (m_shapeInfo)
-		m_shapeInfo->AddRef();
-	
-	m_bulletMotionState = 0;
-	
-	
-	CreateRigidbody();
-	
-
-///???
-/*#ifdef WIN32
-	if (GetRigidBody() && !GetRigidBody()->isStaticObject())
-		GetRigidBody()->setLinearVelocity(startVel);
-#endif*/
-
-}
-
-btTransform&	CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
-{
-	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;
-
-}
-
-class	BlenderBulletMotionState : public btMotionState
-{
-	PHY_IMotionState*	m_blenderMotionState;
-
-public:
-
-	BlenderBulletMotionState(PHY_IMotionState* bms)
-		:m_blenderMotionState(bms)
-	{
-
-	}
-
-	void	getWorldTransform(btTransform& worldTrans ) const
-	{
-		btVector3 pos;
-		float ori[12];
-
-		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);
-	}
-
-	void	setWorldTransform(const btTransform& worldTrans)
-	{
-		m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ());
-		btQuaternion rotQuat = worldTrans.getRotation();
-		m_blenderMotionState->setWorldOrientation(rotQuat[0],rotQuat[1],rotQuat[2],rotQuat[3]);
-		m_blenderMotionState->calculateWorldTransformations();
-	}
-
-};
-
-
-btRigidBody* CcdPhysicsController::GetRigidBody()
-{
-	return btRigidBody::upcast(m_object);
-}
-btCollisionObject*	CcdPhysicsController::GetCollisionObject()
-{
-	return m_object;
-}
-btSoftBody* CcdPhysicsController::GetSoftBody()
-{
-	return btSoftBody::upcast(m_object);
-}
-
-#include "BulletSoftBody/btSoftBodyHelpers.h"
-
-
-bool CcdPhysicsController::CreateSoftbody()
-{
-	int shapeType = m_cci.m_collisionShape ? m_cci.m_collisionShape->getShapeType() : 0;
-
-	//disable soft body until first sneak preview is ready
-	if (!m_cci.m_bSoft || !m_cci.m_collisionShape ||
-		((shapeType != CONVEX_HULL_SHAPE_PROXYTYPE)&&
-		(shapeType != TRIANGLE_MESH_SHAPE_PROXYTYPE) &&
-		(shapeType != SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)))
-	{
-		return false;
-	}
-
-	btRigidBody::btRigidBodyConstructionInfo rbci(m_cci.m_mass,m_bulletMotionState,m_collisionShape,m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
-	rbci.m_linearDamping = m_cci.m_linearDamping;
-	rbci.m_angularDamping = m_cci.m_angularDamping;
-	rbci.m_friction = m_cci.m_friction;
-	rbci.m_restitution = m_cci.m_restitution;
-	
-	btVector3 p(0,0,0);// = getOrigin();
-	//btSoftBody*	psb=btSoftBodyHelpers::CreateRope(worldInfo,	btVector3(-10,0,i*0.25),btVector3(10,0,i*0.25),	16,1+2);
-	btSoftBody* psb  = 0;
-	btSoftBodyWorldInfo& worldInfo = m_cci.m_physicsEnv->getDynamicsWorld()->getWorldInfo();
-
-	if (m_cci.m_collisionShape->getShapeType() == CONVEX_HULL_SHAPE_PROXYTYPE)
-	{
-		btConvexHullShape* convexHull = (btConvexHullShape* )m_cci.m_collisionShape;
-		{
-			int nvertices = convexHull->getNumPoints();
-			const btVector3* vertices = convexHull->getPoints();
-
-			HullDesc		hdsc(QF_TRIANGLES,nvertices,vertices);
-			HullResult		hres;
-			HullLibrary		hlib;/*??*/ 
-			hdsc.mMaxVertices=nvertices;
-			hlib.CreateConvexHull(hdsc,hres);
-			
-			psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices,
-				&hres.m_OutputVertices[0],0);
-			for(int i=0;i<(int)hres.mNumFaces;++i)
-			{
-				const int idx[]={	hres.m_Indices[i*3+0],
-					hres.m_Indices[i*3+1],
-					hres.m_Indices[i*3+2]};
-				if(idx[0]<idx[1]) psb->appendLink(	idx[0],idx[1]);
-				if(idx[1]<idx[2]) psb->appendLink(	idx[1],idx[2]);
-				if(idx[2]<idx[0]) psb->appendLink(	idx[2],idx[0]);
-				psb->appendFace(idx[0],idx[1],idx[2]);
-			}
-			hlib.ReleaseResult(hres);
-		}
-	} else
-	{
-		int numtris = 0;
-		if (m_cci.m_collisionShape->getShapeType() ==SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
-		{
-			btScaledBvhTriangleMeshShape* scaledtrimeshshape = (btScaledBvhTriangleMeshShape*) m_cci.m_collisionShape;
-			btBvhTriangleMeshShape* trimeshshape = scaledtrimeshshape->getChildShape();
-
-			///only deal with meshes that have 1 sub part/component, for now
-			if (trimeshshape->getMeshInterface()->getNumSubParts()==1)
-			{
-				unsigned char* vertexBase;
-				PHY_ScalarType vertexType;
-				int numverts;
-				int vertexstride;
-				unsigned char* indexbase;
-				int indexstride;
-				PHY_ScalarType indexType;
-				trimeshshape->getMeshInterface()->getLockedVertexIndexBase(&vertexBase,numverts,vertexType,vertexstride,&indexbase,indexstride,numtris,indexType);
-				
-				psb = btSoftBodyHelpers::CreateFromTriMesh(worldInfo,(const btScalar*)vertexBase,(const int*)indexbase,numtris,false);
-			}
-		} else
-		{
-			btTriangleMeshShape* trimeshshape = (btTriangleMeshShape*) m_cci.m_collisionShape;
-			///only deal with meshes that have 1 sub part/component, for now
-			if (trimeshshape->getMeshInterface()->getNumSubParts()==1)
-			{
-				unsigned char* vertexBase;
-				PHY_ScalarType vertexType;
-				int numverts;
-				int vertexstride;
-				unsigned char* indexbase;
-				int indexstride;
-				PHY_ScalarType indexType;
-				trimeshshape->getMeshInterface()->getLockedVertexIndexBase(&vertexBase,numverts,vertexType,vertexstride,&indexbase,indexstride,numtris,indexType);
-				
-				psb = btSoftBodyHelpers::CreateFromTriMesh(worldInfo,(const btScalar*)vertexBase,(const int*)indexbase,numtris,false);
-			}
-		}
-		// store face tag so that we can find our original face when doing ray casting
-		btSoftBody::Face* ft;
-		int i;
-		for (i=0, ft=&psb->m_faces[0]; i<numtris; ++i, ++ft)
-		{
-			// Hack!! use m_tag to store the face number, normally it is a pointer
-			// add 1 to make sure it is never 0
-			ft->m_tag = (void*)((uintptr_t)(i+1));
-		}
-	}
-	if (m_cci.m_margin > 0.f)
-	{
-		psb->getCollisionShape()->setMargin(m_cci.m_margin);
-		psb->updateBounds();
-	}
-	m_object = psb;
-	
-	//btSoftBody::Material*	pm=psb->appendMaterial();
-	btSoftBody::Material*	pm=psb->m_materials[0];
-	pm->m_kLST				=	m_cci.m_soft_linStiff;
-	pm->m_kAST				=	m_cci.m_soft_angStiff;
-	pm->m_kVST				=	m_cci.m_soft_volume;
-	psb->m_cfg.collisions = 0;
-
-	if (m_cci.m_soft_collisionflags & CCD_BSB_COL_CL_RS)
-	{
-		psb->m_cfg.collisions	+=	btSoftBody::fCollision::CL_RS;
-	} else
-	{
-		psb->m_cfg.collisions	+=	btSoftBody::fCollision::SDF_RS;
-	}
-	if (m_cci.m_soft_collisionflags & CCD_BSB_COL_CL_SS)
-	{
-		psb->m_cfg.collisions += btSoftBody::fCollision::CL_SS;
-	} else
-	{
-		psb->m_cfg.collisions += btSoftBody::fCollision::VF_SS;
-	}
-
-
-	psb->m_cfg.kSRHR_CL = m_cci.m_soft_kSRHR_CL;		/* Soft vs rigid hardness [0,1] (cluster only) */
-	psb->m_cfg.kSKHR_CL = m_cci.m_soft_kSKHR_CL;		/* Soft vs kinetic hardness [0,1] (cluster only) */
-	psb->m_cfg.kSSHR_CL = m_cci.m_soft_kSSHR_CL;		/* Soft vs soft hardness [0,1] (cluster only) */
-	psb->m_cfg.kSR_SPLT_CL = m_cci.m_soft_kSR_SPLT_CL;	/* Soft vs rigid impulse split [0,1] (cluster only) */
-
-	psb->m_cfg.kSK_SPLT_CL = m_cci.m_soft_kSK_SPLT_CL;	/* Soft vs rigid impulse split [0,1] (cluster only) */
-	psb->m_cfg.kSS_SPLT_CL = m_cci.m_soft_kSS_SPLT_CL;	/* Soft vs rigid impulse split [0,1] (cluster only) */
-	psb->m_cfg.kVCF = m_cci.m_soft_kVCF;			/* Velocities correction factor (Baumgarte) */
-	psb->m_cfg.kDP = m_cci.m_soft_kDP;			/* Damping coefficient [0,1] */
-
-	psb->m_cfg.kDG = m_cci.m_soft_kDG;			/* Drag coefficient [0,+inf] */
-	psb->m_cfg.kLF = m_cci.m_soft_kLF;			/* Lift coefficient [0,+inf] */
-	psb->m_cfg.kPR = m_cci.m_soft_kPR;			/* Pressure coefficient [-inf,+inf] */
-	psb->m_cfg.kVC = m_cci.m_soft_kVC;			/* Volume conversation coefficient [0,+inf] */
-
-	psb->m_cfg.kDF = m_cci.m_soft_kDF;			/* Dynamic friction coefficient [0,1] */
-	psb->m_cfg.kMT = m_cci.m_soft_kMT;			/* Pose matching coefficient [0,1] */
-	psb->m_cfg.kCHR = m_cci.m_soft_kCHR;			/* Rigid contacts hardness [0,1] */
-	psb->m_cfg.kKHR = m_cci.m_soft_kKHR;			/* Kinetic contacts hardness [0,1] */
-
-	psb->m_cfg.kSHR = m_cci.m_soft_kSHR;			/* Soft contacts hardness [0,1] */
-	psb->m_cfg.kAHR = m_cci.m_soft_kAHR;			/* Anchors hardness [0,1] */
-
-	if (m_cci.m_gamesoftFlag & CCD_BSB_BENDING_CONSTRAINTS)//OB_SB_GOAL)
-	{
-		psb->generateBendingConstraints(2,pm);
-	}
-
-	psb->m_cfg.piterations = m_cci.m_soft_piterations;
-	psb->m_cfg.viterations = m_cci.m_soft_viterations;
-	psb->m_cfg.diterations = m_cci.m_soft_diterations;
-	psb->m_cfg.citerations = m_cci.m_soft_citerations;
-
-	if (m_cci.m_gamesoftFlag & CCD_BSB_SHAPE_MATCHING)//OB_SB_GOAL)
-	{
-		psb->setPose(false,true);//
-	} else
-	{
-		psb->setPose(true,false);
-	}
-	
-	psb->randomizeConstraints();
-
-	if (m_cci.m_soft_collisionflags & (CCD_BSB_COL_CL_RS+CCD_BSB_COL_CL_SS))
-	{
-		psb->generateClusters(m_cci.m_soft_numclusteriterations);
-	}
-
-	psb->setTotalMass(m_cci.m_mass);
-	
-	psb->setCollisionFlags(0);
-
-	///create a mapping between graphics mesh vertices and soft body vertices
-	{
-		RAS_MeshObject* rasMesh= GetShapeInfo()->GetMesh();
-
-		if (rasMesh && !m_softbodyMappingDone)
-		{
-			//printf("apply\n");
-			RAS_MeshSlot::iterator it;
-			RAS_MeshMaterial *mmat;
-			RAS_MeshSlot *slot;
-			size_t i;
-
-			//for each material
-			for (int m=0;m<rasMesh->NumMaterials();m++)
-			{
-				mmat = rasMesh->GetMeshMaterial(m);
-
-				slot = mmat->m_baseslot;
-				for(slot->begin(it); !slot->end(it); slot->next(it))
-				{
-					int index = 0;
-					for(i=it.startvertex; i<it.endvertex; i++,index++) 
-					{
-						RAS_TexVert* vertex = &it.vertex[i];
-						//search closest index, and store it in vertex
-						vertex->setSoftBodyIndex(0);
-						btScalar maxDistSqr = 1e30;
-						btSoftBody::tNodeArray&   nodes(psb->m_nodes);
-						btVector3 xyz = btVector3(vertex->getXYZ()[0],vertex->getXYZ()[1],vertex->getXYZ()[2]);
-						for (int n=0;n<nodes.size();n++)
-						{
-							btScalar distSqr = (nodes[n].m_x - xyz).length2();
-							if (distSqr<maxDistSqr)
-							{
-								maxDistSqr = distSqr;
-								
-								vertex->setSoftBodyIndex(n);
-							}
-						}
-					}
-				}
-			}
-		}
-	}
-	m_softbodyMappingDone = true;
-
-	btTransform startTrans;
-	rbci.m_motionState->getWorldTransform(startTrans);
-
-	m_MotionState->setWorldPosition(startTrans.getOrigin().getX(),startTrans.getOrigin().getY(),startTrans.getOrigin().getZ());
-	m_MotionState->setWorldOrientation(0,0,0,1);
-
-	if (!m_prototypeTransformInitialized)
-	{
-		m_prototypeTransformInitialized = true;
-		m_softBodyTransformInitialized = true;
-		psb->transform(startTrans);
-	}
-	m_object->setCollisionFlags(m_object->getCollisionFlags() | m_cci.m_collisionFlags);
-	if (m_cci.m_do_anisotropic)
-		m_object->setAnisotropicFriction(m_cci.m_anisotropicFriction);
-	return true;
-}
-
-
-void CcdPhysicsController::CreateRigidbody()
-{
-
-	//btTransform trans = GetTransformFromMotionState(m_MotionState);
-	m_bulletMotionState = new BlenderBulletMotionState(m_MotionState);
-
-	///either create a btCollisionObject, btRigidBody or btSoftBody
-	if (CreateSoftbody())
-		// soft body created, done
-		return;
-
-	//create a rgid collision object
-	btRigidBody::btRigidBodyConstructionInfo rbci(m_cci.m_mass,m_bulletMotionState,m_collisionShape,m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
-	rbci.m_linearDamping = m_cci.m_linearDamping;
-	rbci.m_angularDamping = m_cci.m_angularDamping;
-	rbci.m_friction = m_cci.m_friction;
-	rbci.m_restitution = m_cci.m_restitution;
-	m_object = new btRigidBody(rbci);
-	
-	//
-	// init the rigidbody properly
-	//
-	
-	//setMassProps this also sets collisionFlags
-	//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_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();
-
-	if (body)
-	{
-		body->setGravity( m_cci.m_gravity);
-		body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
-
-		if (!m_cci.m_bRigid)
-		{
-			body->setAngularFactor(0.f);
-		}
-		body->setContactProcessingThreshold(m_cci.m_contactProcessingThreshold);
-
-	}
-	if (m_object && m_cci.m_do_anisotropic)
-	{
-		m_object->setAnisotropicFriction(m_cci.m_anisotropicFriction);
-	}
-		
-}
-
-static void DeleteBulletShape(btCollisionShape* shape, bool free)
-{
-	if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-	{
-		// shapes based on meshes use an interface that contains the vertices.
-		btTriangleMeshShape* meshShape = static_cast<btTriangleMeshShape*>(shape);
-		btStridingMeshInterface* meshInterface = meshShape->getMeshInterface();
-		if (meshInterface)
-			delete meshInterface;
-	}
-	if(free) {
-		delete shape;
-	}
-}
-
-bool CcdPhysicsController::DeleteControllerShape( )
-{
-	if (m_collisionShape)
-	{
-		// collision shape is always unique to the controller, can delete it here
-		if (m_collisionShape->isCompound())
-		{
-			// bullet does not delete the child shape, must do it here
-			btCompoundShape* compoundShape = (btCompoundShape*)m_collisionShape;
-			int numChild = compoundShape->getNumChildShapes();
-			for (int i=numChild-1 ; i >= 0; i--)
-			{
-				btCollisionShape* childShape = compoundShape->getChildShape(i);
-				DeleteBulletShape(childShape, true);
-			}
-		}
-		DeleteBulletShape(m_collisionShape, true);
-
-		return true;
-	}
-
-	return false;
-}
-
-bool CcdPhysicsController::ReplaceControllerShape(btCollisionShape *newShape)
-{
-	
-	/* Note, deleting the previous collision shape must be done already */
-	/* if (m_collisionShape) DeleteControllerShape(); */
-
-	m_object->setCollisionShape(newShape);
-	m_collisionShape= newShape;
-	m_cci.m_collisionShape= newShape;
-	
-	if (GetSoftBody()) {
-		// soft body must be recreated
-		m_cci.m_physicsEnv->removeCcdPhysicsController(this);
-		delete m_object;
-		m_object = NULL;
-		// force complete reinitialization
-		m_softbodyMappingDone = false;
-		m_prototypeTransformInitialized = false;
-		m_softBodyTransformInitialized = false;
-		CreateSoftbody();
-		assert(m_object);
-		// reinsert the new body
-		m_cci.m_physicsEnv->addCcdPhysicsController(this);
-	}
-	
-	/* Copied from CcdPhysicsEnvironment::addCcdPhysicsController() */
-	
-	/* without this, an object can rest on the old physics mesh
-	 * and not move to account for the physics mesh, even with 'nosleep' */ 
-	btSoftRigidDynamicsWorld* dw= GetPhysicsEnvironment()->getDynamicsWorld();
-	btCollisionObjectArray &obarr= dw->getCollisionObjectArray();
-	btCollisionObject *ob;
-	btBroadphaseProxy* proxy;
-
-	for(int i= 0; i < obarr.size(); i++) {
-		ob= obarr[i];
-		if (ob->getCollisionShape() == newShape) {
-			proxy = ob->getBroadphaseHandle();
-			
-			if(proxy)
-				dw->getPairCache()->cleanProxyFromPairs(proxy,dw->getDispatcher());
-		}
-	}
-	
-	return true;
-}
-
-CcdPhysicsController::~CcdPhysicsController()
-{
-	//will be reference counted, due to sharing
-	if (m_cci.m_physicsEnv)
-		m_cci.m_physicsEnv->removeCcdPhysicsController(this);
-
-	if (m_MotionState)
-		delete m_MotionState;
-	if (m_bulletMotionState)
-		delete m_bulletMotionState;
-	delete m_object;
-
-	DeleteControllerShape();
-
-	if (m_shapeInfo)
-	{
-		m_shapeInfo->Release();
-	}
-}
-
-
-		/**
-			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-bool		CcdPhysicsController::SynchronizeMotionStates(float time)
-{
-	//sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.)
-
-	btSoftBody* sb = GetSoftBody();
-	if (sb)
-	{
-		if (sb->m_pose.m_bframe) 
-		{
-			btVector3 worldPos = sb->m_pose.m_com;
-			btQuaternion worldquat;
-			btMatrix3x3	trs = sb->m_pose.m_rot*sb->m_pose.m_scl;
-			trs.getRotation(worldquat);
-			m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
-			m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
-		}
-		else 
-		{
-			btVector3 aabbMin,aabbMax;
-			sb->getAabb(aabbMin,aabbMax);
-			btVector3 worldPos  = (aabbMax+aabbMin)*0.5f;
-			m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
-		}
-		m_MotionState->calculateWorldTransformations();
-		return true;
-	}
-
-	btRigidBody* body = GetRigidBody();
-
-	if (body && !body->isStaticObject())
-	{
-		
-		if ((m_cci.m_clamp_vel_max>0.0) || (m_cci.m_clamp_vel_min>0.0))
-		{
-			const btVector3& linvel = body->getLinearVelocity();
-			float len= linvel.length();
-			
-			if((m_cci.m_clamp_vel_max>0.0) && (len > m_cci.m_clamp_vel_max))
-					body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_max / len));
-			
-			else if ((m_cci.m_clamp_vel_min>0.0) && btFuzzyZero(len)==0 && (len < m_cci.m_clamp_vel_min))
-				body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len));
-		}
-		
-		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]);
-		m_MotionState->calculateWorldTransformations();
-
-		float scale[3];
-		m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
-		btVector3 scaling(scale[0],scale[1],scale[2]);
-		GetCollisionShape()->setLocalScaling(scaling);
-	} else
-	{
-		btVector3 worldPos;
-		btQuaternion worldquat;
-
-/*		m_MotionState->getWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
-		m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
-		btTransform oldTrans = m_body->getCenterOfMassTransform();
-		btTransform newTrans(worldquat,worldPos);
-				
-		SetCenterOfMassTransform(newTrans);
-		//need to keep track of previous position for friction effects...
-		
-		m_MotionState->calculateWorldTransformations();
-*/
-		float scale[3];
-		m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
-		btVector3 scaling(scale[0],scale[1],scale[2]);
-		GetCollisionShape()->setLocalScaling(scaling);
-	}
-	return true;
-
-}
-
-		/**
-			WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-		
-void		CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
-{
-	btTransform& xform = CcdPhysicsController::GetTransformFromMotionState(m_MotionState);
-	SetCenterOfMassTransform(xform);
-}
-
-void		CcdPhysicsController::WriteDynamicsToMotionState()
-{
-}
-		// controller replication
-void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
-{
-	
-	m_softBodyTransformInitialized=false;
-	m_MotionState = motionstate;
-	m_registerCount = 0;
-	m_collisionShape = NULL;
-
-	// always create a new shape to avoid scaling bug
-	if (m_shapeInfo)
-	{
-		m_shapeInfo->AddRef();
-		m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin, m_cci.m_bGimpact, !m_cci.m_bSoft);
-
-		if (m_collisionShape)
-		{
-			// new shape has no scaling, apply initial scaling
-			//m_collisionShape->setMargin(m_cci.m_margin);
-			m_collisionShape->setLocalScaling(m_cci.m_scaling);
-			
-			if (m_cci.m_mass)
-				m_collisionShape->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor);
-		}
-	}
-
-	// load some characterists that are not 
-	btRigidBody* oldbody = GetRigidBody();
-	m_object = 0;
-	CreateRigidbody();
-	btRigidBody* body = GetRigidBody();
-	if (body)
-	{
-		if (m_cci.m_mass)
-		{
-			body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
-		}
-
-		if (oldbody)
-		{
-			body->setLinearFactor(oldbody->getLinearFactor());
-			body->setAngularFactor(oldbody->getAngularFactor());
-			if (oldbody->getActivationState() == DISABLE_DEACTIVATION)
-				body->setActivationState(DISABLE_DEACTIVATION);
-		}
-	}	
-	// sensor object are added when needed
-	if (!m_cci.m_bSensor)
-		m_cci.m_physicsEnv->addCcdPhysicsController(this);
-
-
-/*	SM_Object* dynaparent=0;
-	SumoPhysicsController* sumoparentctrl = (SumoPhysicsController* )parentctrl;
-	
-	if (sumoparentctrl)
-	{
-		dynaparent = sumoparentctrl->GetSumoObject();
-	}
-	
-	SM_Object* orgsumoobject = m_sumoObj;
-	
-	
-	m_sumoObj	=	new SM_Object(
-		orgsumoobject->getShapeHandle(), 
-		orgsumoobject->getMaterialProps(),			
-		orgsumoobject->getShapeProps(),
-		dynaparent);
-	
-	m_sumoObj->setRigidBody(orgsumoobject->isRigidBody());
-	
-	m_sumoObj->setMargin(orgsumoobject->getMargin());
-	m_sumoObj->setPosition(orgsumoobject->getPosition());
-	m_sumoObj->setOrientation(orgsumoobject->getOrientation());
-	//if it is a dyna, register for a callback
-	m_sumoObj->registerCallback(*this);
-	
-	m_sumoScene->add(* (m_sumoObj));
-	*/
-
-
-
-}
-
-void	CcdPhysicsController::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env)
-{
-	// can safely assume CCD environment
-	CcdPhysicsEnvironment *physicsEnv = static_cast<CcdPhysicsEnvironment*>(env);
-
-	if (m_cci.m_physicsEnv != physicsEnv) 
-	{
-		// since the environment is changing, we must also move the controler to the
-		// new environement. Note that we don't handle sensor explicitely: this
-		// function can be called on sensor but only when they are not registered
-		if (m_cci.m_physicsEnv->removeCcdPhysicsController(this))
-		{
-			physicsEnv->addCcdPhysicsController(this);
-		}
-		m_cci.m_physicsEnv = physicsEnv;
-	}
-}
-
-void	CcdPhysicsController::SetCenterOfMassTransform(btTransform& xform)
-{
-	btRigidBody* body = GetRigidBody();
-	if (body)
-	{
-		body->setCenterOfMassTransform(xform);
-	} else
-	{
-		//either collision object or soft body?
-		if (GetSoftBody())
-		{
-
-		} else
-		{
-
-			if (m_object->isStaticOrKinematicObject())
-			{
-				m_object->setInterpolationWorldTransform(m_object->getWorldTransform());
-			} else
-			{
-				m_object->setInterpolationWorldTransform(xform);
-			}
-			if (body)
-			{
-				body->setInterpolationLinearVelocity(body->getLinearVelocity());
-				body->setInterpolationAngularVelocity(body->getAngularVelocity());
-				body->updateInertiaTensor();
-			}
-			m_object->setWorldTransform(xform);
-		}
-	}
-}
-
-		// kinematic methods
-void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
-{
-	if (m_object)
-	{
-		m_object->activate(true);
-		if (m_object->isStaticObject())
-		{
-			if (!m_cci.m_bSensor)
-				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			// kinematic object should not set the transform, it disturbs the velocity interpolation
-			return;
-		}
-
-		// btRigidBody* body = GetRigidBody(); // not used anymore
-
-		btVector3 dloc(dlocX,dlocY,dlocZ);
-		btTransform xform = m_object->getWorldTransform();
-	
-		if (local)
-		{
-			dloc = xform.getBasis()*dloc;
-		}
-
-		xform.setOrigin(xform.getOrigin() + dloc);
-		SetCenterOfMassTransform(xform);
-	}
-
-}
-
-void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
-{
-	if (m_object)
-	{
-		m_object->activate(true);
-		if (m_object->isStaticObject())
-		{
-			if (!m_cci.m_bSensor)
-				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			// kinematic object should not set the transform, it disturbs the velocity interpolation
-			return;
-		}
-
-		btMatrix3x3 drotmat(	rotval[0],rotval[4],rotval[8],
-								rotval[1],rotval[5],rotval[9],
-								rotval[2],rotval[6],rotval[10]);
-
-
-		btMatrix3x3 currentOrn;
-		GetWorldOrientation(currentOrn);
-
-		btTransform xform = m_object->getWorldTransform();
-		
-		xform.setBasis(xform.getBasis()*(local ? 
-		drotmat : (currentOrn.inverse() * drotmat * currentOrn)));
-
-		SetCenterOfMassTransform(xform);
-	}
-}
-
-
-void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat)
-{
-	float ori[12];
-	m_MotionState->getWorldOrientation(ori);
-	mat.setFromOpenGLSubMatrix(ori);
-}
-
-void		CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
-{
-	btQuaternion q = m_object->getWorldTransform().getRotation();
-	quatImag0 = q[0];
-	quatImag1 = q[1];
-	quatImag2 = q[2];
-	quatReal = q[3];
-}
-void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
-{
-	if (m_object)
-	{
-		m_object->activate(true);
-		if (m_object->isStaticObject())
-		{
-			if (!m_cci.m_bSensor)
-				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			// kinematic object should not set the transform, it disturbs the velocity interpolation
-			return;
-		}
-		// not required
-		//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
-		btTransform xform  = m_object->getWorldTransform();
-		xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
-		SetCenterOfMassTransform(xform);
-		// not required
-		//m_bulletMotionState->setWorldTransform(xform);
-		
-		
-
-	}
-
-}
-
-void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
-{
-	if (m_object)
-	{
-		m_object->activate(true);
-		if (m_object->isStaticObject() && !m_cci.m_bSensor)
-		{
-			m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-		}
-		// not required
-		//m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal);
-		btTransform xform  = m_object->getWorldTransform();
-		xform.setBasis(orn);
-		SetCenterOfMassTransform(xform);
-		// not required
-		//m_bulletMotionState->setWorldTransform(xform);
-		//only once!
-		if (!m_softBodyTransformInitialized && GetSoftBody())
-		{
-			m_softbodyStartTrans.setBasis(orn);
-			xform.setOrigin(m_softbodyStartTrans.getOrigin());
-			GetSoftBody()->transform(xform);
-			m_softBodyTransformInitialized = true;
-		}
-
-	}
-
-}
-
-void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
-{
-	if (m_object)
-	{
-		m_object->activate(true);
-		if (m_object->isStaticObject())
-		{
-			if (!m_cci.m_bSensor)
-				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			// kinematic object should not set the transform, it disturbs the velocity interpolation
-			return;
-		}
-		// not required, this function is only used to update the physic controller
-		//m_MotionState->setWorldPosition(posX,posY,posZ);
-		btTransform xform  = m_object->getWorldTransform();
-		xform.setOrigin(btVector3(posX,posY,posZ));
-		SetCenterOfMassTransform(xform);
-		if (!m_softBodyTransformInitialized)
-			m_softbodyStartTrans.setOrigin(xform.getOrigin());
-		// 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)
-{
-}
-
-void 		CcdPhysicsController::getPosition(PHY__Vector3&	pos) const
-{
-	const btTransform& xform = m_object->getWorldTransform();
-	pos[0] = xform.getOrigin().x();
-	pos[1] = xform.getOrigin().y();
-	pos[2] = xform.getOrigin().z();
-}
-
-void		CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
-{
-	if (!btFuzzyZero(m_cci.m_scaling.x()-scaleX) ||
-		!btFuzzyZero(m_cci.m_scaling.y()-scaleY) ||
-		!btFuzzyZero(m_cci.m_scaling.z()-scaleZ))
-	{
-		m_cci.m_scaling = btVector3(scaleX,scaleY,scaleZ);
-
-		if (m_object && m_object->getCollisionShape())
-		{
-			m_object->activate(true); // without this, sleeping objects scale wont be applied in bullet if python changes the scale - Campbell.
-			m_object->getCollisionShape()->setLocalScaling(m_cci.m_scaling);
-			
-			//printf("no inertia recalc for fixed objects with mass=0\n");
-			btRigidBody* body = GetRigidBody();
-			if (body && m_cci.m_mass)
-			{
-				body->getCollisionShape()->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor);
-				body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
-			} 
-			
-		}
-	}
-}
-		
-		// physics methods
-void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
-{
-	btVector3 torque(torqueX,torqueY,torqueZ);
-	btTransform xform = m_object->getWorldTransform();
-	
-
-	if (m_object && torque.length2() > (SIMD_EPSILON*SIMD_EPSILON))
-	{
-		btRigidBody* body = GetRigidBody();
-		m_object->activate();
-		if (m_object->isStaticObject())
-		{
-			if (!m_cci.m_bSensor)
-				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			return;
-		}
-		if (local)
-		{
-			torque	= xform.getBasis()*torque;
-		}
-		if (body)
-		{
-			if 	(m_cci.m_bRigid)
-			{
-				body->applyTorque(torque);
-			}
-			else
-			{
-				//workaround for incompatibility between 'DYNAMIC' game object, and angular factor
-				//a DYNAMIC object has some inconsistency: it has no angular effect due to collisions, but still has torque
-				const btVector3& angFac = body->getAngularFactor();
-				btVector3 tmpFac(1,1,1);
-				body->setAngularFactor(tmpFac);
-				body->applyTorque(torque);
-				body->setAngularFactor(angFac);
-			} 
-		} 
-	}
-}
-
-void		CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
-{
-	btVector3 force(forceX,forceY,forceZ);
-	
-
-	if (m_object && force.length2() > (SIMD_EPSILON*SIMD_EPSILON))
-	{
-		m_object->activate();
-		if (m_object->isStaticObject())
-		{
-			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)
-		{
-			// 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);
-		}
-	}
-}
-void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
-{
-	btVector3 angvel(ang_velX,ang_velY,ang_velZ);
-	if (m_object && angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
-	{
-		m_object->activate(true);
-		if (m_object->isStaticObject())
-		{
-			if (!m_cci.m_bSensor)
-				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			return;
-		}
-		btTransform xform = m_object->getWorldTransform();
-		if (local)
-		{
-			angvel	= xform.getBasis()*angvel;
-		}
-		btRigidBody* body = GetRigidBody();
-		if (body)
-			body->setAngularVelocity(angvel);
-	}
-
-}
-void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
-{
-
-	btVector3 linVel(lin_velX,lin_velY,lin_velZ);
-	if (m_object/* && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)*/)
-	{
-		m_object->activate(true);
-		if (m_object->isStaticObject())
-		{
-			if (!m_cci.m_bSensor)
-				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			return;
-		}
-		
-		btSoftBody* soft = GetSoftBody();
-		if (soft)
-		{
-			if (local)
-			{
-				linVel	= m_softbodyStartTrans.getBasis()*linVel;
-			}
-			soft->setVelocity(linVel);
-		} else
-		{
-			btTransform xform = m_object->getWorldTransform();
-			if (local)
-			{
-				linVel	= xform.getBasis()*linVel;
-			}
-			btRigidBody* body = GetRigidBody();
-			if (body)
-				body->setLinearVelocity(linVel);
-		}
-	}
-}
-void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
-{
-	btVector3 impulse(impulseX,impulseY,impulseZ);
-
-	if (m_object && impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
-	{
-		m_object->activate();
-		if (m_object->isStaticObject())
-		{
-			if (!m_cci.m_bSensor)
-				m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			return;
-		}
-		
-		btVector3 pos(attachX,attachY,attachZ);
-		btRigidBody* body = GetRigidBody();
-		if (body)
-			body->applyImpulse(impulse,pos);
-			
-	}
-
-}
-void		CcdPhysicsController::SetActive(bool active)
-{
-}
-		// reading out information from physics
-void		CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
-{
-	btRigidBody* body = GetRigidBody();
-	if (body)
-	{
-		const btVector3& linvel = body->getLinearVelocity();
-		linvX = linvel.x();
-		linvY = linvel.y();
-		linvZ = linvel.z();
-	} else
-	{
-		linvX = 0.f;
-		linvY = 0.f;
-		linvZ = 0.f;
-	}
-
-}
-
-void		CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ)
-{
-	btRigidBody* body = GetRigidBody();
-	if (body)
-	{
-		const btVector3& angvel= body->getAngularVelocity();
-		angVelX = angvel.x();
-		angVelY = angvel.y();
-		angVelZ = angvel.z();
-	} else
-	{
-		angVelX = 0.f;
-		angVelY = 0.f;
-		angVelZ = 0.f;
-	}
-}
-
-void		CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
-{
-	btVector3 pos(posX,posY,posZ);
-	btRigidBody* body = GetRigidBody();
-	if (body)
-	{
-		btVector3 linvel = body->getVelocityInLocalPoint(pos);
-		linvX = linvel.x();
-		linvY = linvel.y();
-		linvZ = linvel.z();
-	} else
-	{
-		linvX = 0.f;
-		linvY = 0.f;
-		linvZ = 0.f;
-	}
-}
-void		CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
-{
-}
-
-		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
-void		CcdPhysicsController::setRigidBody(bool rigid)
-{
-	if (!rigid)
-	{
-		btRigidBody* body = GetRigidBody();
-		if (body)
-		{
-			//fake it for now
-			btVector3 inertia = body->getInvInertiaDiagLocal();
-			inertia[1] = 0.f;
-			body->setInvInertiaDiagLocal(inertia);
-			body->updateInertiaTensor();
-		}
-	}
-}
-
-		// clientinfo for raycasts for example
-void*		CcdPhysicsController::getNewClientInfo()
-{
-	return m_newClientInfo;
-}
-void		CcdPhysicsController::setNewClientInfo(void* clientinfo)
-{
-	m_newClientInfo = clientinfo;
-}
-
-
-void	CcdPhysicsController::UpdateDeactivation(float timeStep)
-{
-	btRigidBody* body = GetRigidBody();
-	if (body)
-	{
-		body->updateDeactivation( timeStep);
-	}
-}
-
-bool CcdPhysicsController::wantsSleeping()
-{
-	btRigidBody* body = GetRigidBody();
-	if (body)
-	{
-		return body->wantsSleeping();
-	}
-	//check it out
-	return true;
-}
-
-PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
-{
-	// This is used only to replicate Near and Radar sensor controllers
-	// The replication of object physics controller is done in KX_BulletPhysicsController::GetReplica()
-	CcdConstructionInfo cinfo = m_cci;
-	if (m_shapeInfo)
-	{
-		// This situation does not normally happen
-		cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin, m_cci.m_bGimpact, !m_cci.m_bSoft);
-	} 
-	else if (m_collisionShape)
-	{
-		switch (m_collisionShape->getShapeType())
-		{
-		case SPHERE_SHAPE_PROXYTYPE:
-			{
-				btSphereShape* orgShape = (btSphereShape*)m_collisionShape;
-				cinfo.m_collisionShape = new btSphereShape(*orgShape);
-				break;
-			}
-
-		case CONE_SHAPE_PROXYTYPE:
-			{
-				btConeShape* orgShape = (btConeShape*)m_collisionShape;
-				cinfo.m_collisionShape = new btConeShape(*orgShape);
-				break;
-			}
-
-		default:
-			{
-				return 0;
-			}
-		}
-	}
-
-	cinfo.m_MotionState = new DefaultMotionState();
-	cinfo.m_shapeInfo = m_shapeInfo;
-
-	CcdPhysicsController* replica = new CcdPhysicsController(cinfo);
-	return replica;
-}
-
-///////////////////////////////////////////////////////////
-///A small utility class, DefaultMotionState
-///
-///////////////////////////////////////////////////////////
-
-DefaultMotionState::DefaultMotionState()
-{
-	m_worldTransform.setIdentity();
-	m_localScaling.setValue(1.f,1.f,1.f);
-}
-
-
-DefaultMotionState::~DefaultMotionState()
-{
-
-}
-
-void	DefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
-{
-	posX = m_worldTransform.getOrigin().x();
-	posY = m_worldTransform.getOrigin().y();
-	posZ = m_worldTransform.getOrigin().z();
-}
-
-void	DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
-{
-	scaleX = m_localScaling.getX();
-	scaleY = m_localScaling.getY();
-	scaleZ = m_localScaling.getZ();
-}
-
-void	DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
-{
-	btQuaternion quat = m_worldTransform.getRotation();
-	quatIma0 = quat.x();
-	quatIma1 = quat.y();
-	quatIma2 = quat.z();
-	quatReal = quat[3];
-}
-		
-void	DefaultMotionState::getWorldOrientation(float* ori)
-{
-	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);
-	m_worldTransform.setOrigin( pos );
-}
-
-void	DefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
-{
-	btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
-	m_worldTransform.setRotation( orn );
-}
-		
-void	DefaultMotionState::calculateWorldTransformations()
-{
-
-}
-
-// Shape constructor
-std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> CcdShapeConstructionInfo::m_meshShapeMap;
-
-CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope)
-{
-	if (polytope || dm)
-		// not yet supported
-		return NULL;
-
-	std::map<RAS_MeshObject*,CcdShapeConstructionInfo*>::const_iterator mit = m_meshShapeMap.find(mesh);
-	if (mit != m_meshShapeMap.end())
-		return mit->second;
-	return NULL;
-}
-
-bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm, bool polytope)
-{
-	int numpolys, numverts;
-
-	// assume no shape information
-	// no support for dynamic change of shape yet
-	assert(IsUnused());
-	m_shapeType = PHY_SHAPE_NONE;
-	m_meshObject = NULL;
-	bool free_dm = false;
-
-	// No mesh object or mesh has no polys
-	if (!meshobj || meshobj->HasColliderPolygon()==false) {
-		m_vertexArray.clear();
-		m_polygonIndexArray.clear();
-		m_triFaceArray.clear();
-		m_triFaceUVcoArray.clear();
-		return false;
-	}
-
-	if (!dm) {
-		free_dm = true;
-		dm = CDDM_from_mesh(meshobj->GetMesh(), NULL);
-	}
-
-	MVert *mvert = dm->getVertArray(dm);
-	MFace *mface = dm->getTessFaceArray(dm);
-	numpolys = dm->getNumTessFaces(dm);
-	numverts = dm->getNumVerts(dm);
-	int* index = (int*)dm->getTessFaceDataArray(dm, CD_ORIGINDEX);
-	MTFace *tface = (MTFace *)dm->getTessFaceDataArray(dm, CD_MTFACE);
-
-	m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH;
-
-	/* Convert blender geometry into bullet mesh, need these vars for mapping */
-	vector<bool> vert_tag_array(numverts, false);
-	unsigned int tot_bt_verts= 0;
-
-	if (polytope)
-	{
-		// Tag verts we're using
-		for (int p2=0; p2<numpolys; p2++)
-		{
-			MFace* mf = &mface[p2];
-			RAS_Polygon* poly = meshobj->GetPolygon((index)? index[p2]: p2);
-
-			// only add polygons that have the collision flag set
-			if (poly->IsCollider())
-			{
-				if (vert_tag_array[mf->v1]==false) {vert_tag_array[mf->v1]= true;tot_bt_verts++;}
-				if (vert_tag_array[mf->v2]==false) {vert_tag_array[mf->v2]= true;tot_bt_verts++;}
-				if (vert_tag_array[mf->v3]==false) {vert_tag_array[mf->v3]= true;tot_bt_verts++;}
-				if (mf->v4 && vert_tag_array[mf->v4]==false) {vert_tag_array[mf->v4]= true;tot_bt_verts++;}
-			}
-		}
-
-		m_vertexArray.resize(tot_bt_verts*3);
-
-		btScalar *bt= &m_vertexArray[0];
-
-		for (int p2=0; p2<numpolys; p2++)
-		{
-			MFace* mf = &mface[p2];
-			RAS_Polygon* poly= meshobj->GetPolygon((index)? index[p2]: p2);
-
-			// only add polygons that have the collisionflag set
-			if (poly->IsCollider())
-			{
-				if (vert_tag_array[mf->v1]==true)
-				{
-					const float* vtx = mvert[mf->v1].co;
-					vert_tag_array[mf->v1]= false;
-					*bt++ = vtx[0];
-					*bt++ = vtx[1];
-					*bt++ = vtx[2];
-				}
-				if (vert_tag_array[mf->v2]==true)
-				{
-					const float* vtx = mvert[mf->v2].co;
-					vert_tag_array[mf->v2]= false;
-					*bt++ = vtx[0];
-					*bt++ = vtx[1];
-					*bt++ = vtx[2];
-				}
-				if (vert_tag_array[mf->v3]==true)
-				{
-					const float* vtx = mvert[mf->v3].co;
-					vert_tag_array[mf->v3]= false;
-					*bt++ = vtx[0];
-					*bt++ = vtx[1];
-					*bt++ = vtx[2];
-				}
-				if (mf->v4 && vert_tag_array[mf->v4]==true)
-				{
-					const float* vtx = mvert[mf->v4].co;
-					vert_tag_array[mf->v4]= false;
-					*bt++ = vtx[0];
-					*bt++ = vtx[1];
-					*bt++ = vtx[2];
-				}
-			}
-		}
-	}
-	else {
-		unsigned int tot_bt_tris= 0;
-		vector<int> vert_remap_array(numverts, 0);
-		
-		// Tag verts we're using
-		for (int p2=0; p2<numpolys; p2++)
-		{
-			MFace* mf = &mface[p2];
-			RAS_Polygon* poly= meshobj->GetPolygon((index)? index[p2]: p2);
-
-			// only add polygons that have the collision flag set
-			if (poly->IsCollider())
-			{
-				if (vert_tag_array[mf->v1]==false)
-					{vert_tag_array[mf->v1]= true;vert_remap_array[mf->v1]= tot_bt_verts;tot_bt_verts++;}
-				if (vert_tag_array[mf->v2]==false)
-					{vert_tag_array[mf->v2]= true;vert_remap_array[mf->v2]= tot_bt_verts;tot_bt_verts++;}
-				if (vert_tag_array[mf->v3]==false)
-					{vert_tag_array[mf->v3]= true;vert_remap_array[mf->v3]= tot_bt_verts;tot_bt_verts++;}
-				if (mf->v4 && vert_tag_array[mf->v4]==false)
-					{vert_tag_array[mf->v4]= true;vert_remap_array[mf->v4]= tot_bt_verts;tot_bt_verts++;}
-				tot_bt_tris += (mf->v4 ? 2:1); /* a quad or a tri */
-			}
-		}
-
-		m_vertexArray.resize(tot_bt_verts*3);
-		m_polygonIndexArray.resize(tot_bt_tris);
-		m_triFaceArray.resize(tot_bt_tris*3);
-		btScalar *bt= &m_vertexArray[0];
-		int *poly_index_pt= &m_polygonIndexArray[0];
-		int *tri_pt= &m_triFaceArray[0];
-
-		UVco *uv_pt = NULL;
-		if (tface)
-		{
-			m_triFaceUVcoArray.resize(tot_bt_tris*3);
-			uv_pt = &m_triFaceUVcoArray[0];
-		} 
-		else 
-			m_triFaceUVcoArray.clear();
-
-		for (int p2=0; p2<numpolys; p2++)
-		{
-			MFace* mf = &mface[p2];
-			MTFace* tf = (tface) ? &tface[p2] : NULL;
-			RAS_Polygon* poly= meshobj->GetPolygon((index)? index[p2]: p2);
-
-			// only add polygons that have the collisionflag set
-			if (poly->IsCollider())
-			{
-				MVert *v1= &mvert[mf->v1];
-				MVert *v2= &mvert[mf->v2];
-				MVert *v3= &mvert[mf->v3];
-
-				// the face indicies
-				tri_pt[0]= vert_remap_array[mf->v1];
-				tri_pt[1]= vert_remap_array[mf->v2];
-				tri_pt[2]= vert_remap_array[mf->v3];
-				tri_pt= tri_pt+3;
-				if (tf)
-				{
-					uv_pt[0].uv[0] = tf->uv[0][0];
-					uv_pt[0].uv[1] = tf->uv[0][1];
-					uv_pt[1].uv[0] = tf->uv[1][0];
-					uv_pt[1].uv[1] = tf->uv[1][1];
-					uv_pt[2].uv[0] = tf->uv[2][0];
-					uv_pt[2].uv[1] = tf->uv[2][1];
-					uv_pt += 3;
-				}
-
-				// m_polygonIndexArray
-				*poly_index_pt= (index)? index[p2]: p2;
-				poly_index_pt++;
-
-				// the vertex location
-				if (vert_tag_array[mf->v1]==true) { /* *** v1 *** */
-					vert_tag_array[mf->v1]= false;
-					*bt++ = v1->co[0];
-					*bt++ = v1->co[1];
-					*bt++ = v1->co[2];
-				}
-				if (vert_tag_array[mf->v2]==true) { /* *** v2 *** */
-					vert_tag_array[mf->v2]= false;
-					*bt++ = v2->co[0];
-					*bt++ = v2->co[1];
-					*bt++ = v2->co[2];
-				}
-				if (vert_tag_array[mf->v3]==true) { /* *** v3 *** */
-					vert_tag_array[mf->v3]= false;
-					*bt++ = v3->co[0];	
-					*bt++ = v3->co[1];
-					*bt++ = v3->co[2];
-				}
-
-				if (mf->v4)
-				{
-					MVert *v4= &mvert[mf->v4];
-
-					tri_pt[0]= vert_remap_array[mf->v1];
-					tri_pt[1]= vert_remap_array[mf->v3];
-					tri_pt[2]= vert_remap_array[mf->v4];
-					tri_pt= tri_pt+3;
-					if (tf)
-					{
-						uv_pt[0].uv[0] = tf->uv[0][0];
-						uv_pt[0].uv[1] = tf->uv[0][1];
-						uv_pt[1].uv[0] = tf->uv[2][0];
-						uv_pt[1].uv[1] = tf->uv[2][1];
-						uv_pt[2].uv[0] = tf->uv[3][0];
-						uv_pt[2].uv[1] = tf->uv[3][1];
-						uv_pt += 3;
-					}
-
-					// m_polygonIndexArray
-					*poly_index_pt= (index)? index[p2]: p2;
-					poly_index_pt++;
-
-					// the vertex location
-					if (vert_tag_array[mf->v4]==true) { /* *** v4 *** */
-						vert_tag_array[mf->v4]= false;
-						*bt++ = v4->co[0];
-						*bt++ = v4->co[1];	
-						*bt++ = v4->co[2];
-					}
-				}
-			}
-		}
-
-
-		/* If this ever gets confusing, print out an OBJ file for debugging */
-#if 0
-		printf("# vert count %d\n", m_vertexArray.size());
-		for(i=0; i<m_vertexArray.size(); i+=1) {
-			printf("v %.6f %.6f %.6f\n", m_vertexArray[i].x(), m_vertexArray[i].y(), m_vertexArray[i].z());
-		}
-
-		printf("# face count %d\n", m_triFaceArray.size());
-		for(i=0; i<m_triFaceArray.size(); i+=3) {
-			printf("f %d %d %d\n", m_triFaceArray[i]+1, m_triFaceArray[i+1]+1, m_triFaceArray[i+2]+1);
-		}
-#endif
-
-	}
-
-#if 0
-	if (validpolys==false)
-	{
-		// should not happen
-		m_shapeType = PHY_SHAPE_NONE;
-		return false;
-	}
-#endif
-	
-	m_meshObject = meshobj;
-	if (free_dm) {
-		dm->release(dm);
-		dm = NULL;
-	}
-
-	// sharing only on static mesh at present, if you change that, you must also change in FindMesh
-	if (!polytope && !dm)
-	{
-		// triangle shape can be shared, store the mesh object in the map
-		m_meshShapeMap.insert(std::pair<RAS_MeshObject*,CcdShapeConstructionInfo*>(meshobj,this));
-	}
-	return true;
-}
-
-#include <cstdio>
-
-/* Updates the arrays used by CreateBulletShape(),
- * take care that recalcLocalAabb() runs after CreateBulletShape is called.
- * */
-bool CcdShapeConstructionInfo::UpdateMesh(class KX_GameObject* gameobj, class RAS_MeshObject* meshobj)
-{
-	int numpolys;
-	int numverts;
-
-	unsigned int tot_bt_tris= 0;
-	unsigned int tot_bt_verts= 0;
-
-	int i, j;
-	int v_orig;
-
-	/* Use for looping over verts in a face as a try or 2 tris */
-	const int quad_verts[7]=	{0,1,2,		 0,2,3,		-1};
-	const int tri_verts[4]=	{0,1,2,		-1};
-	const int *fv_pt;
-
-	if(gameobj==NULL && meshobj==NULL)
-		return false;
-	
-	if(m_shapeType != PHY_SHAPE_MESH)
-		return false;
-
-	RAS_Deformer *deformer= gameobj ? gameobj->GetDeformer():NULL;
-	
-	/* get the mesh from the object if not defined */
-	if(meshobj==NULL) {
-		
-		/* modifier mesh */
-		if(deformer && deformer->GetFinalMesh())
-			meshobj= deformer->GetRasMesh();
-		
-		/* game object first mesh */
-		if(meshobj==NULL) {
-			if(gameobj->GetMeshCount() > 0) {
-				meshobj= gameobj->GetMesh(0);
-			}
-		}
-	}
-	
-	if(deformer && deformer->GetFinalMesh() && deformer->GetRasMesh() == meshobj)
-	{	/*
-		 * Derived Mesh Update
-		 *
-		 * */
-
-		DerivedMesh* dm= gameobj->GetDeformer()->GetFinalMesh();
-
-		MVert *mvert = dm->getVertArray(dm);
-		MFace *mface = dm->getTessFaceArray(dm);
-		numpolys = dm->getNumTessFaces(dm);
-		numverts = dm->getNumVerts(dm);
-		int* index = (int*)dm->getTessFaceDataArray(dm, CD_ORIGINDEX);
-
-		MFace *mf;
-		MVert *mv;
-
-		int flen;
-
-		if(CustomData_has_layer(&dm->faceData, CD_MTFACE))
-		{
-			MTFace *tface = (MTFace *)dm->getTessFaceDataArray(dm, CD_MTFACE);
-			MTFace *tf;
-
-			vector<bool> vert_tag_array(numverts, false);
-			vector<int> vert_remap_array(numverts, 0);
-
-			for(mf= mface, tf= tface, i=0; i < numpolys; mf++, tf++, i++) {
-				if(tf->mode & TF_DYNAMIC)
-				{
-					if(mf->v4) {
-						tot_bt_tris+= 2;
-						flen= 4;
-					} else {
-						tot_bt_tris++;
-						flen= 3;
-					}
-
-					for(j=0; j<flen; j++)
-					{
-						v_orig = (*(&mf->v1 + j));
-
-						if(vert_tag_array[v_orig]==false)
-						{
-							vert_tag_array[v_orig]= true;
-							vert_remap_array[v_orig]= tot_bt_verts;
-							tot_bt_verts++;
-						}
-					}
-				}
-			}
-
-			m_vertexArray.resize(tot_bt_verts*3);
-			btScalar *bt= &m_vertexArray[0];
-
-			m_triFaceArray.resize(tot_bt_tris*3);
-			int *tri_pt= &m_triFaceArray[0];
-
-			m_triFaceUVcoArray.resize(tot_bt_tris*3);
-			UVco *uv_pt= &m_triFaceUVcoArray[0];
-
-			m_polygonIndexArray.resize(tot_bt_tris);
-			int *poly_index_pt= &m_polygonIndexArray[0];
-
-			for(mf= mface, tf= tface, i=0; i < numpolys; mf++, tf++, i++)
-			{
-				if(tf->mode & TF_DYNAMIC)
-				{
-					int origi = (index)? index[i]: i;
-
-					if(mf->v4) {
-						fv_pt= quad_verts;
-						*poly_index_pt++ = origi;
-						*poly_index_pt++ = origi;
-						flen= 4;
-					} else {
-						fv_pt= tri_verts;
-						*poly_index_pt++ = origi;
-						flen= 3;
-					}
-
-					for(; *fv_pt > -1; fv_pt++)
-					{
-						v_orig = (*(&mf->v1 + (*fv_pt)));
-
-						if(vert_tag_array[v_orig])
-						{
-							mv= mvert + v_orig;
-							*bt++ = mv->co[0];
-							*bt++ = mv->co[1];
-							*bt++ = mv->co[2];
-
-							vert_tag_array[v_orig]= false;
-						}
-						*tri_pt++ = vert_remap_array[v_orig];
-						uv_pt->uv[0] = tf->uv[*fv_pt][0];
-						uv_pt->uv[1] = tf->uv[*fv_pt][1];
-						uv_pt++;
-					}
-				}
-			}
-		}
-		else {
-			/* no need for a vertex mapping. simple/fast */
-
-			tot_bt_verts= numverts;
-
-			for(mf= mface, i=0; i < numpolys; mf++, i++) {
-				tot_bt_tris += (mf->v4 ? 2:1);
-			}
-
-			m_vertexArray.resize(tot_bt_verts*3);
-			btScalar *bt= &m_vertexArray[0];
-
-			m_triFaceArray.resize(tot_bt_tris*3);
-			int *tri_pt= &m_triFaceArray[0];
-
-			m_polygonIndexArray.resize(tot_bt_tris);
-			int *poly_index_pt= &m_polygonIndexArray[0];
-
-			m_triFaceUVcoArray.clear();
-
-			for(mv= mvert, i=0; i < numverts; mv++, i++) {
-				*bt++ = mv->co[0]; *bt++ = mv->co[1]; *bt++ = mv->co[2];
-			}
-
-			for(mf= mface, i=0; i < numpolys; mf++, i++) {
-				int origi = (index)? index[i]: i;
-
-				if(mf->v4) {
-					fv_pt= quad_verts;
-					*poly_index_pt++ = origi;
-					*poly_index_pt++ = origi;
-				}
-				else {
-					fv_pt= tri_verts;
-					*poly_index_pt++ = origi;
-				}
-
-				for(; *fv_pt > -1; fv_pt++)
-					*tri_pt++ = (*(&mf->v1 + (*fv_pt)));
-			}
-		}
-	}
-	else {	/*
-			 * RAS Mesh Update
-			 *
-			 * */
-		
-		/* Note!, gameobj can be NULL here */
-
-		/* transverts are only used for deformed RAS_Meshes, the RAS_TexVert data
-		 * is too hard to get at, see below for details */
-		float (*transverts)[3]= NULL;
-		int transverts_tot= 0; /* with deformed meshes - should always be greater then the max orginal index, or we get crashes */
-
-		if(deformer) {
-			/* map locations from the deformed array
-			 *
-			 * Could call deformer->Update(); but rely on redraw updating.
-			 * */
-			transverts= deformer->GetTransVerts(&transverts_tot);
-		}
-
-		// Tag verts we're using
-		numpolys= meshobj->NumPolygons();
-		numverts= meshobj->m_sharedvertex_map.size();
-		const float *xyz;
-
-
-		vector<bool> vert_tag_array(numverts, false);
-		vector<int> vert_remap_array(numverts, 0);
-
-		for(int p=0; p<numpolys; p++)
-		{
-			RAS_Polygon* poly= meshobj->GetPolygon(p);
-			if (poly->IsCollider())
-			{
-				for(i=0; i < poly->VertexCount(); i++)
-				{
-					v_orig= poly->GetVertex(i)->getOrigIndex();
-					if(vert_tag_array[v_orig]==false)
-					{
-						vert_tag_array[v_orig]= true;
-						vert_remap_array[v_orig]= tot_bt_verts;
-						tot_bt_verts++;
-					}
-				}
-				tot_bt_tris += (poly->VertexCount()==4 ? 2:1);
-			}
-		}
-
-		m_vertexArray.resize(tot_bt_verts*3);
-		btScalar *bt= &m_vertexArray[0];
-
-		m_triFaceArray.resize(tot_bt_tris*3);
-		int *tri_pt= &m_triFaceArray[0];
-
-		/* cant be used for anything useful in this case, since we dont rely on the original mesh
-		 * will just be an array like pythons range(tot_bt_tris) */
-		m_polygonIndexArray.resize(tot_bt_tris);
-
-
-		for(int p=0; p<numpolys; p++)
-		{
-			RAS_Polygon* poly= meshobj->GetPolygon(p);
-
-			if (poly->IsCollider())
-			{
-				/* quad or tri loop */
-				fv_pt= (poly->VertexCount()==3 ? tri_verts:quad_verts);
-
-				for(; *fv_pt > -1; fv_pt++)
-				{
-					v_orig= poly->GetVertex(*fv_pt)->getOrigIndex();
-
-					if(vert_tag_array[v_orig])
-					{
-						if(transverts) {
-							/* deformed mesh, using RAS_TexVert locations would be too troublesome
-							 * because they are use the gameob as a hash in the material slot */
-							*bt++ = transverts[v_orig][0];
-							*bt++ = transverts[v_orig][1];
-							*bt++ = transverts[v_orig][2];
-						}
-						else {
-							/* static mesh python may have modified */
-							xyz= meshobj->GetVertexLocation( v_orig );
-							*bt++ = xyz[0];
-							*bt++ = xyz[1];
-							*bt++ = xyz[2];
-						}
-
-						vert_tag_array[v_orig]= false;
-					}
-
-					*tri_pt++ = vert_remap_array[v_orig];
-				}
-			}
-
-			m_polygonIndexArray[p]= p; /* dumb counting */
-		}
-	}
-	
-#if 0
-	/* needs #include <cstdio> */
-	printf("# vert count %d\n", m_vertexArray.size());
-	for(int i=0; i<m_vertexArray.size(); i+=3) {
-		printf("v %.6f %.6f %.6f\n", m_vertexArray[i], m_vertexArray[i+1], m_vertexArray[i+2]);
-	}
-
-	printf("# face count %d\n", m_triFaceArray.size());
-	for(int i=0; i<m_triFaceArray.size(); i+=3) {
-		printf("f %d %d %d\n", m_triFaceArray[i]+1, m_triFaceArray[i+1]+1, m_triFaceArray[i+2]+1);
-	}
-#endif
-
-	/* force recreation of the m_unscaledShape.
-	 * If this has multiple users we cant delete */
-	if(m_unscaledShape) {
-		// dont free now so it can re-allocate under the same location and not break pointers.
-		// DeleteBulletShape(m_unscaledShape); 
-		m_forceReInstance= true;
-	}
-
-	m_meshObject= meshobj;
-	
-	return true;
-}
-
-
-
-bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo)
-{
-	if (shapeInfo == NULL)
-		return false;
-	// no support for dynamic change
-	assert(IsUnused());
-	m_shapeType = PHY_SHAPE_PROXY;
-	m_shapeProxy = shapeInfo;
-	return true;
-}
-
-btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin, bool useGimpact, bool useBvh)
-{
-	btCollisionShape* collisionShape = 0;
-	btCompoundShape* compoundShape = 0;	
-
-	if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL)
-		return m_shapeProxy->CreateBulletShape(margin, useGimpact, useBvh);
-
-	switch (m_shapeType) 
-	{
-	default:
-		break;
-
-	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:
-		// Let's use the latest btScaledBvhTriangleMeshShape: it allows true sharing of 
-		// triangle mesh information between duplicates => drastic performance increase when 
-		// duplicating complex mesh objects. 
-		// BUT it causes a small performance decrease when sharing is not required: 
-		// 9 multiplications/additions and one function call for each triangle that passes the mid phase filtering
-		// One possible optimization is to use directly the btBvhTriangleMeshShape when the scale is 1,1,1
-		// and btScaledBvhTriangleMeshShape otherwise.
-		if (useGimpact)
-		{				
-				btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(
-						m_polygonIndexArray.size(),
-						&m_triFaceArray[0],
-						3*sizeof(int),
-						m_vertexArray.size()/3,
-						&m_vertexArray[0],
-						3*sizeof(btScalar)
-				);
-				
-				btGImpactMeshShape* gimpactShape =  new btGImpactMeshShape(indexVertexArrays);
-				gimpactShape->setMargin(margin);
-				collisionShape = gimpactShape;
-				gimpactShape->updateBound();
-
-		} else
-		{
-			if (!m_unscaledShape || m_forceReInstance)
-			{
-			
-				btTriangleIndexVertexArray* indexVertexArrays = 0;
-
-				///enable welding, only for the objects that need it (such as soft bodies)
-				if (0.f != m_weldingThreshold1)
-				{
-					btTriangleMesh* collisionMeshData = new btTriangleMesh(true,false);
-					collisionMeshData->m_weldingThreshold = m_weldingThreshold1;
-					bool removeDuplicateVertices=true;
-					// m_vertexArray not in multiple of 3 anymore, use m_triFaceArray
-					for(unsigned int i=0; i<m_triFaceArray.size(); i+=3) {
-						btScalar *bt = &m_vertexArray[3*m_triFaceArray[i]];
-						btVector3 v1(bt[0], bt[1], bt[2]);
-						bt = &m_vertexArray[3*m_triFaceArray[i+1]];
-						btVector3 v2(bt[0], bt[1], bt[2]);
-						bt = &m_vertexArray[3*m_triFaceArray[i+2]];
-						btVector3 v3(bt[0], bt[1], bt[2]);
-						collisionMeshData->addTriangle(v1, v2, v3, removeDuplicateVertices);
-					}
-					indexVertexArrays = collisionMeshData;
-
-				} else
-				{
-					indexVertexArrays = new btTriangleIndexVertexArray(
-							m_polygonIndexArray.size(),
-							&m_triFaceArray[0],
-							3*sizeof(int),
-							m_vertexArray.size()/3,
-							&m_vertexArray[0],
-							3*sizeof(btScalar));
-				}
-				
-				// this shape will be shared and not deleted until shapeInfo is deleted
-				
-				// for UpdateMesh, reuse the last memory location so instancing wont crash.
-				if(m_unscaledShape) {
-					DeleteBulletShape(m_unscaledShape, false);
-					m_unscaledShape->~btBvhTriangleMeshShape();
-					m_unscaledShape = new(m_unscaledShape) btBvhTriangleMeshShape( indexVertexArrays, true, useBvh );
-				} else {
-					m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true, useBvh );
-				}
-				m_forceReInstance= false;
-			} else if (useBvh && m_unscaledShape->getOptimizedBvh() == NULL) {
-				// the existing unscaledShape was not build with Bvh, do it now
-				m_unscaledShape->buildOptimizedBvh();
-			}
-			collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));
-			collisionShape->setMargin(margin);
-		}
-		break;
-
-	case PHY_SHAPE_COMPOUND:
-		if (m_shapeArray.size() > 0)
-		{
-			compoundShape = new btCompoundShape();
-			for (std::vector<CcdShapeConstructionInfo*>::iterator sit = m_shapeArray.begin();
-				 sit != m_shapeArray.end();
-				 sit++)
-			{
-				collisionShape = (*sit)->CreateBulletShape(margin, useGimpact, useBvh);
-				if (collisionShape)
-				{
-					collisionShape->setLocalScaling((*sit)->m_childScale);
-					compoundShape->addChildShape((*sit)->m_childTrans, collisionShape);
-				}
-			}
-			collisionShape = compoundShape;
-		}
-	}
-	return collisionShape;
-}
-
-void CcdShapeConstructionInfo::AddShape(CcdShapeConstructionInfo* shapeInfo)
-{
-	m_shapeArray.push_back(shapeInfo);
-	shapeInfo->AddRef();
-}
-
-CcdShapeConstructionInfo::~CcdShapeConstructionInfo()
-{
-	for (std::vector<CcdShapeConstructionInfo*>::iterator sit = m_shapeArray.begin();
-		 sit != m_shapeArray.end();
-		 sit++)
-	{
-		(*sit)->Release();
-	}
-	m_shapeArray.clear();
-	if (m_unscaledShape)
-	{
-		DeleteBulletShape(m_unscaledShape, true);
-	}
-	m_vertexArray.clear();
-	if (m_shapeType == PHY_SHAPE_MESH && m_meshObject != NULL) 
-	{
-		std::map<RAS_MeshObject*,CcdShapeConstructionInfo*>::iterator mit = m_meshShapeMap.find(m_meshObject);
-		if (mit != m_meshShapeMap.end() && mit->second == this)
-		{
-			m_meshShapeMap.erase(mit);
-		}
-	}
-	if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL)
-	{
-		m_shapeProxy->Release();
-	}
-}
-
-
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
deleted file mode 100644
index 3bbe17459c9..00000000000
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ /dev/null
@@ -1,619 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BULLET2_PHYSICSCONTROLLER_H
-#define BULLET2_PHYSICSCONTROLLER_H
-
-#include <vector>
-#include <map>
-
-#include "PHY_IPhysicsController.h"
-
-///	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
-///	It contains the IMotionState and IDeformableMesh Interfaces.
-#include "btBulletDynamicsCommon.h"
-#include "LinearMath/btTransform.h"
-
-#include "PHY_IMotionState.h"
-
-extern float gDeactivationTime;
-extern float gLinearSleepingTreshold;
-extern float gAngularSleepingTreshold;
-extern bool gDisableDeactivation;
-class CcdPhysicsEnvironment;
-class btMotionState;
-class RAS_MeshObject;
-struct DerivedMesh;
-class btCollisionShape;
-
-
-#define CCD_BSB_SHAPE_MATCHING	2
-#define CCD_BSB_BENDING_CONSTRAINTS 8
-#define CCD_BSB_AERO_VPOINT 16 /* aero model, Vertex normals are oriented toward velocity*/
-#define CCD_BSB_AERO_VTWOSIDE 32 /* aero model, Vertex normals are flipped to match velocity */
-
-/* BulletSoftBody.collisionflags */
-#define CCD_BSB_COL_SDF_RS	2 /* SDF based rigid vs soft */
-#define CCD_BSB_COL_CL_RS	4 /* Cluster based rigid vs soft */
-#define CCD_BSB_COL_CL_SS	8 /* Cluster based soft vs soft */
-#define CCD_BSB_COL_VF_SS	16 /* Vertex/Face based soft vs soft */
-
-
-// Shape contructor
-// It contains all the information needed to create a simple bullet shape at runtime
-class CcdShapeConstructionInfo
-{
-public:
-	struct UVco 
-	{
-		float uv[2];
-	};
-	
-	static CcdShapeConstructionInfo* FindMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope);
-
-	CcdShapeConstructionInfo() :
-		m_shapeType(PHY_SHAPE_NONE),
-		m_radius(1.0),
-		m_height(1.0),
-		m_halfExtend(0.f,0.f,0.f),
-		m_childScale(1.0f,1.0f,1.0f),
-		m_userData(NULL),
-		m_refCount(1),
-		m_meshObject(NULL),
-		m_unscaledShape(NULL),
-		m_forceReInstance(false),
-		m_weldingThreshold1(0.f),
-		m_shapeProxy(NULL)
-	{
-		m_childTrans.setIdentity();
-	}
-
-	~CcdShapeConstructionInfo();
-
-	CcdShapeConstructionInfo* AddRef()
-	{ 
-		m_refCount++;
-		return this;
-	}
-
-	int Release()
-	{
-		if (--m_refCount > 0)
-			return m_refCount;
-		delete this;
-		return 0;
-	}
-
-	bool IsUnused(void)
-	{
-		return (m_meshObject==NULL && m_shapeArray.size() == 0 && m_shapeProxy == NULL);
-	}
-
-	void AddShape(CcdShapeConstructionInfo* shapeInfo);
-
-	btTriangleMeshShape* GetMeshShape(void)
-	{
-		return (m_unscaledShape);
-	}
-	CcdShapeConstructionInfo* GetChildShape(int i)
-	{
-		if (i < 0 || i >= (int)m_shapeArray.size())
-			return NULL;
-
-		return m_shapeArray.at(i);
-	}
-	int FindChildShape(CcdShapeConstructionInfo* shapeInfo, void* userData)
-	{
-		if (shapeInfo == NULL)
-			return -1;
-		for (int i=0; i<(int)m_shapeArray.size(); i++)
-		{
-			CcdShapeConstructionInfo* childInfo = m_shapeArray.at(i);
-			if ((userData == NULL || userData == childInfo->m_userData) &&
-				(childInfo == shapeInfo ||
-				 (childInfo->m_shapeType == PHY_SHAPE_PROXY && 
-				  childInfo->m_shapeProxy == shapeInfo)))
-				return i;
-		}
-		return -1;
-	}
-
-	bool RemoveChildShape(int i)
-	{
-		if (i < 0 || i >= (int)m_shapeArray.size())
-			return false;
-		m_shapeArray.at(i)->Release();
-		if (i < (int)m_shapeArray.size()-1)
-			m_shapeArray[i] = m_shapeArray.back();
-		m_shapeArray.pop_back();
-		return true;
-	}
-
-	bool SetMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope);
-	RAS_MeshObject* GetMesh(void)
-	{
-		return m_meshObject;
-	}
-
-	bool UpdateMesh(class KX_GameObject* gameobj, class RAS_MeshObject* mesh);
-
-
-	bool SetProxy(CcdShapeConstructionInfo* shapeInfo);
-	CcdShapeConstructionInfo* GetProxy(void)
-	{
-		return m_shapeProxy;
-	}
-
-	btCollisionShape* CreateBulletShape(btScalar margin, bool useGimpact=false, bool useBvh=true);
-
-	// member variables
-	PHY_ShapeType			m_shapeType;
-	btScalar				m_radius;
-	btScalar				m_height;
-	btVector3				m_halfExtend;
-	btTransform				m_childTrans;
-	btVector3				m_childScale;
-	void*					m_userData;	
-	btAlignedObjectArray<btScalar>	m_vertexArray;	// Contains both vertex array for polytope shape and
-											// triangle array for concave mesh shape. Each vertex is 3 consecutive values
-											// In this case a triangle is made of 3 consecutive points
-	std::vector<int>		m_polygonIndexArray;	// Contains the array of polygon index in the 
-													// original mesh that correspond to shape triangles.
-													// only set for concave mesh shape.
-	
-	std::vector<int>		m_triFaceArray;	// Contains an array of triplets of face indicies
-											// quads turn into 2 tris
-
-	std::vector<UVco>		m_triFaceUVcoArray;	// Contains an array of pair of UV coordinate for each vertex of faces
-												// quads turn into 2 tris
-
-	void	setVertexWeldingThreshold1(float threshold)
-	{
-		m_weldingThreshold1  = threshold*threshold;
-	}
-protected:
-	static std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> m_meshShapeMap;
-	int						m_refCount;		// this class is shared between replicas
-											// keep track of users so that we can release it 
-	RAS_MeshObject*	m_meshObject;			// Keep a pointer to the original mesh 
-	btBvhTriangleMeshShape* m_unscaledShape;// holds the shared unscale BVH mesh shape, 
-											// the actual shape is of type btScaledBvhTriangleMeshShape
-	std::vector<CcdShapeConstructionInfo*> m_shapeArray;	// for compound shapes
-	bool	m_forceReInstance; //use gimpact for concave dynamic/moving collision detection
-	float	m_weldingThreshold1;	//welding closeby vertices together can improve softbody stability etc.
-	CcdShapeConstructionInfo* m_shapeProxy;	// only used for PHY_SHAPE_PROXY, pointer to actual shape info
-
-
-#ifdef WITH_CXX_GUARDEDALLOC
-public:
-	void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:CcdShapeConstructionInfo"); }
-	void operator delete( void *mem ) { MEM_freeN(mem); }
-#endif
-};
-
-struct CcdConstructionInfo
-{
-
-	///CollisionFilterGroups provides some optional usage of basic collision filtering
-	///this is done during broadphase, so very early in the pipeline
-	///more advanced collision filtering should be done in btCollisionDispatcher::NeedsCollision
-	enum CollisionFilterGroups
-	{
-	        DefaultFilter = 1,
-	        StaticFilter = 2,
-	        KinematicFilter = 4,
-	        DebrisFilter = 8,
-			SensorFilter = 16,
-	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorFilter,
-	};
-
-
-	CcdConstructionInfo()
-		: m_localInertiaTensor(1.f, 1.f, 1.f),
-		m_gravity(0,0,0),
-		m_scaling(1.f,1.f,1.f),
-		m_mass(0.f),
-		m_clamp_vel_min(-1.f), 
-		m_clamp_vel_max(-1.f), 
-		m_restitution(0.1f),
-		m_friction(0.5f),
-		m_linearDamping(0.1f),
-		m_angularDamping(0.1f),
-		m_margin(0.06f),
-		m_gamesoftFlag(0),
-		m_collisionFlags(0),
-		m_bRigid(false),
-		m_bSoft(false),
-		m_bSensor(false),
-		m_bGimpact(false),
-		m_collisionFilterGroup(DefaultFilter),
-		m_collisionFilterMask(AllFilter),
-		m_collisionShape(0),
-		m_MotionState(0),
-		m_shapeInfo(0),
-		m_physicsEnv(0),
-		m_inertiaFactor(1.f),
-		m_do_anisotropic(false),
-		m_anisotropicFriction(1.f,1.f,1.f),
-		m_contactProcessingThreshold(1e10)
-	{
-	}
-
-	btVector3	m_localInertiaTensor;
-	btVector3	m_gravity;
-	btVector3	m_scaling;
-	btScalar	m_mass;
-	btScalar	m_clamp_vel_min;  
-	btScalar	m_clamp_vel_max;  
-	btScalar	m_restitution;
-	btScalar	m_friction;
-	btScalar	m_linearDamping;
-	btScalar	m_angularDamping;
-	btScalar	m_margin;
-
-	////////////////////
-	int		m_gamesoftFlag;
-	float	m_soft_linStiff;			/* linear stiffness 0..1 */
-	float	m_soft_angStiff;		/* angular stiffness 0..1 */
-	float	m_soft_volume;			/* volume preservation 0..1 */
-
-	int		m_soft_viterations;		/* Velocities solver iterations */
-	int		m_soft_piterations;		/* Positions solver iterations */
-	int		m_soft_diterations;		/* Drift solver iterations */
-	int		m_soft_citerations;		/* Cluster solver iterations */
-
-	float	m_soft_kSRHR_CL;		/* Soft vs rigid hardness [0,1] (cluster only) */
-	float	m_soft_kSKHR_CL;		/* Soft vs kinetic hardness [0,1] (cluster only) */
-	float	m_soft_kSSHR_CL;		/* Soft vs soft hardness [0,1] (cluster only) */
-	float	m_soft_kSR_SPLT_CL;	/* Soft vs rigid impulse split [0,1] (cluster only) */
-
-	float	m_soft_kSK_SPLT_CL;	/* Soft vs rigid impulse split [0,1] (cluster only) */
-	float	m_soft_kSS_SPLT_CL;	/* Soft vs rigid impulse split [0,1] (cluster only) */
-	float	m_soft_kVCF;			/* Velocities correction factor (Baumgarte) */
-	float	m_soft_kDP;			/* Damping coefficient [0,1] */
-
-	float	m_soft_kDG;			/* Drag coefficient [0,+inf] */
-	float	m_soft_kLF;			/* Lift coefficient [0,+inf] */
-	float	m_soft_kPR;			/* Pressure coefficient [-inf,+inf] */
-	float	m_soft_kVC;			/* Volume conversation coefficient [0,+inf] */
-
-	float	m_soft_kDF;			/* Dynamic friction coefficient [0,1] */
-	float	m_soft_kMT;			/* Pose matching coefficient [0,1] */
-	float	m_soft_kCHR;			/* Rigid contacts hardness [0,1] */
-	float	m_soft_kKHR;			/* Kinetic contacts hardness [0,1] */
-
-	float	m_soft_kSHR;			/* Soft contacts hardness [0,1] */
-	float	m_soft_kAHR;			/* Anchors hardness [0,1] */
-	int		m_soft_collisionflags;	/* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */
-	int		m_soft_numclusteriterations;	/* number of iterations to refine collision clusters*/
-///////////////////
-
-
-
-	int			m_collisionFlags;
-	bool		m_bRigid;
-	bool		m_bSoft;
-	bool		m_bSensor;
-	bool		m_bGimpact;			// use Gimpact for mesh body
-
-	///optional use of collision group/mask:
-	///only collision with object goups that match the collision mask.
-	///this is very basic early out. advanced collision filtering should be
-	///done in the btCollisionDispatcher::NeedsCollision and NeedsResponse
-	///both values default to 1
-	short int	m_collisionFilterGroup;
-	short int	m_collisionFilterMask;
-
-	///these pointers are used as argument passing for the CcdPhysicsController constructor
-	///and not anymore after that
-	class btCollisionShape*	m_collisionShape;
-	class PHY_IMotionState*	m_MotionState;
-	class CcdShapeConstructionInfo* m_shapeInfo;
-	
-	CcdPhysicsEnvironment*	m_physicsEnv; //needed for self-replication
-	float	m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
-	bool	m_do_anisotropic;
-	btVector3 m_anisotropicFriction;
-
-	bool		m_do_fh;                 ///< Should the object have a linear Fh spring?
-	bool		m_do_rot_fh;             ///< Should the object have an angular Fh spring?
-	btScalar	m_fh_spring;             ///< Spring constant (both linear and angular)
-	btScalar	m_fh_damping;            ///< Damping factor (linear and angular) in range [0, 1]
-	btScalar	m_fh_distance;           ///< The range above the surface where Fh is active.    
-	bool		m_fh_normal;             ///< Should the object slide off slopes?
-	float		m_radius;//for fh backwards compatibility
-	
-	///m_contactProcessingThreshold allows to process contact points with positive distance
-	///normally only contacts with negative distance (penetration) are solved
-	///however, rigid body stacking is more stable when positive contacts are still passed into the constraint solver
-	///this might sometimes lead to collisions with 'internal edges' such as a sliding character controller
-	///so disable/set m_contactProcessingThreshold to zero for sliding characters etc.
-	float		m_contactProcessingThreshold;///< Process contacts with positive distance in range [0..INF]
-
-};
-
-
-class btRigidBody;
-class btCollisionObject;
-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;
-	
-
-	class PHY_IMotionState*		m_MotionState;
-	btMotionState* 	m_bulletMotionState;
-	class btCollisionShape*	m_collisionShape;
-	class CcdShapeConstructionInfo* m_shapeInfo;
-
-	friend class CcdPhysicsEnvironment;	// needed when updating the controller
-
-	//some book keeping for replication
-	bool	m_softbodyMappingDone;
-	bool	m_softBodyTransformInitialized;
-	bool	m_prototypeTransformInitialized;
-	btTransform	m_softbodyStartTrans;
-
-
-	void*		m_newClientInfo;
-	int			m_registerCount;	// needed when multiple sensors use the same controller
-	CcdConstructionInfo	m_cci;//needed for replication
-
-	CcdPhysicsController* m_parentCtrl;
-
-	void GetWorldOrientation(btMatrix3x3& mat);
-
-	void CreateRigidbody();
-	bool CreateSoftbody();
-
-	bool Register()	{ 
-		return (m_registerCount++ == 0) ? true : false;
-	}
-	bool Unregister() {
-		return (--m_registerCount == 0) ? true : false;
-	}
-
-	void setWorldOrientation(const btMatrix3x3& mat);
-	void forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos);
-
-	public:
-	
-		int				m_collisionDelay;
-	
-
-		CcdPhysicsController (const CcdConstructionInfo& ci);
-
-		bool DeleteControllerShape();
-		bool ReplaceControllerShape(btCollisionShape *newShape);
-
-		virtual ~CcdPhysicsController();
-
-		CcdConstructionInfo& getConstructionInfo()
-		{
-			return m_cci;
-		}
-		const CcdConstructionInfo& getConstructionInfo() const
-		{
-			return m_cci;
-		}
-
-
-		btRigidBody* GetRigidBody();
-		btCollisionObject*	GetCollisionObject();
-		btSoftBody* GetSoftBody();
-
-		CcdShapeConstructionInfo* GetShapeInfo() { return m_shapeInfo; }
-
-		btCollisionShape*	GetCollisionShape() { 
-			return m_object->getCollisionShape();
-		}
-		////////////////////////////////////
-		// PHY_IPhysicsController interface
-		////////////////////////////////////
-
-
-		/**
-			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-		virtual bool		SynchronizeMotionStates(float time);
-		/**
-			WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-		
-		virtual void		WriteMotionStateToDynamics(bool nondynaonly);
-		virtual	void		WriteDynamicsToMotionState();
-
-		// controller replication
-		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
-		virtual void		SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env);
-
-		// kinematic methods
-		virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
-		virtual void		RelativeRotate(const float drot[9],bool local);
-		virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
-		virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
-		virtual	void		setPosition(float posX,float posY,float posZ);
-		virtual	void 		getPosition(PHY__Vector3&	pos) const;
-
-		virtual	void		setScaling(float scaleX,float scaleY,float scaleZ);
-		
-		// physics methods
-		virtual void		ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
-		virtual void		ApplyForce(float forceX,float forceY,float forceZ,bool local);
-		virtual void		SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
-		virtual void		SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
-		virtual void		applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
-		virtual void		SetActive(bool active);
-
-		// reading out information from physics
-		virtual void		GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
-		virtual void		GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ);
-		virtual void		GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ); 
-		virtual	void		getReactionForce(float& forceX,float& forceY,float& forceZ);
-
-		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
-		virtual	void		setRigidBody(bool rigid);
-
-		
-		virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
-
-		// clientinfo for raycasts for example
-		virtual	void*				getNewClientInfo();
-		virtual	void				setNewClientInfo(void* clientinfo);
-		virtual PHY_IPhysicsController*	GetReplica();
-		
-		///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
-		short int	GetCollisionFilterGroup() const
-		{
-			return m_cci.m_collisionFilterGroup;
-		}
-		///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
-		short int	GetCollisionFilterMask() const
-		{
-			return m_cci.m_collisionFilterMask;
-		}
-
-		virtual void	calcXform() {} ;
-		virtual void SetMargin(float margin) 
-		{
-			if (m_collisionShape)
-				m_collisionShape->setMargin(btScalar(margin));
-		}
-		virtual float GetMargin() const 
-		{
-			return (m_collisionShape) ? m_collisionShape->getMargin() : 0.f;
-		}
-		virtual float GetRadius() const 
-		{ 
-			// this is not the actual shape radius, it's only used for Fh support
-			return m_cci.m_radius;
-		}
-		virtual void  SetRadius(float margin) 
-		{
-			if (m_collisionShape && m_collisionShape->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
-			{
-				btSphereShape* sphereShape = static_cast<btSphereShape*>(m_collisionShape);
-				sphereShape->setUnscaledRadius(margin);
-			}
-			m_cci.m_radius = margin;
-		}
-		
-		// velocity clamping
-		virtual void SetLinVelocityMin(float val) 
-		{
-			m_cci.m_clamp_vel_min= val;
-		}
-		virtual float GetLinVelocityMin() const 
-		{
-			return m_cci.m_clamp_vel_min;
-		}
-		virtual void SetLinVelocityMax(float val) 
-		{
-			m_cci.m_clamp_vel_max= val;
-		}
-		virtual float GetLinVelocityMax() const 
-		{
-			return m_cci.m_clamp_vel_max;
-		}
-
-		bool	wantsSleeping();
-
-		void	UpdateDeactivation(float timeStep);
-
-		void	SetCenterOfMassTransform(btTransform& xform);
-
-		static btTransform&	GetTransformFromMotionState(PHY_IMotionState* motionState);
-
-		void	setAabb(const btVector3& aabbMin,const btVector3& aabbMax);
-
-
-		class	PHY_IMotionState*			GetMotionState()
-		{
-			return m_MotionState;
-		}
-
-		const class	PHY_IMotionState*			GetMotionState() const
-		{
-			return m_MotionState;
-		}
-
-		class CcdPhysicsEnvironment* GetPhysicsEnvironment()
-		{
-			return m_cci.m_physicsEnv;
-		}
-
-		void	setParentCtrl(CcdPhysicsController* parentCtrl)
-		{
-			m_parentCtrl = parentCtrl;
-		}
-
-		CcdPhysicsController*	getParentCtrl()
-		{
-			return m_parentCtrl;
-		}
-
-		const CcdPhysicsController*	getParentCtrl() const
-		{
-			return m_parentCtrl;
-		}
-
-
-#ifdef WITH_CXX_GUARDEDALLOC
-public:
-	void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:CcdPhysicsController"); }
-	void operator delete( void *mem ) { MEM_freeN(mem); }
-#endif
-};
-
-
-
-
-///DefaultMotionState implements standard motionstate, using btTransform
-class	DefaultMotionState : public PHY_IMotionState
-
-{
-	public:
-		DefaultMotionState();
-
-		virtual ~DefaultMotionState();
-
-		virtual void	getWorldPosition(float& posX,float& posY,float& posZ);
-		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
-		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
-		
-		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();
-		
-		btTransform	m_worldTransform;
-		btVector3		m_localScaling;
-	
-	
-#ifdef WITH_CXX_GUARDEDALLOC
-public:
-	void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:DefaultMotionState"); }
-	void operator delete( void *mem ) { MEM_freeN(mem); }
-#endif
-};
-
-
-#endif //BULLET2_PHYSICSCONTROLLER_H
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
deleted file mode 100644
index 477a2c35d4f..00000000000
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ /dev/null
@@ -1,2721 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-#include "CcdPhysicsEnvironment.h"
-#include "CcdPhysicsController.h"
-#include "CcdGraphicController.h"
-
-#include <algorithm>
-#include "btBulletDynamicsCommon.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
-#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
-#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
-
-//profiling/timings
-#include "LinearMath/btQuickprof.h"
-
-
-#include "PHY_IMotionState.h"
-#include "KX_GameObject.h"
-#include "RAS_MeshObject.h"
-#include "RAS_Polygon.h"
-#include "RAS_TexVert.h"
-
-#define CCD_CONSTRAINT_DISABLE_LINKED_COLLISION 0x80
-
-bool useIslands = true;
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
-#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
-#include "BulletDynamics/Vehicle/btWheelInfo.h"
-#include "PHY_IVehicle.h"
-btRaycastVehicle::btVehicleTuning	gTuning;
-
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-#include "LinearMath/btAabbUtil2.h"
-#include "MT_Matrix4x4.h"
-#include "MT_Vector3.h"
-#include "GL/glew.h"
-
-#ifdef WIN32
-void DrawRasterizerLine(const float* from,const float* to,int color);
-#endif
-
-
-#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
-
-
-#include <stdio.h>
-#include <string.h>		// for memset
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-class WrapperVehicle : public PHY_IVehicle
-{
-
-	btRaycastVehicle*	m_vehicle;
-	PHY_IPhysicsController*	m_chassis;
-
-public:
-
-	WrapperVehicle(btRaycastVehicle* vehicle,PHY_IPhysicsController* chassis)
-		:m_vehicle(vehicle),
-		m_chassis(chassis)
-	{
-	}
-
-	btRaycastVehicle*	GetVehicle()
-	{
-		return m_vehicle;
-	}
-
-	PHY_IPhysicsController*	GetChassis()
-	{
-		return m_chassis;
-	}
-
-	virtual void	AddWheel(
-		PHY_IMotionState*	motionState,
-		PHY__Vector3	connectionPoint,
-		PHY__Vector3	downDirection,
-		PHY__Vector3	axleDirection,
-		float	suspensionRestLength,
-		float wheelRadius,
-		bool hasSteering
-		)
-	{
-		btVector3 connectionPointCS0(connectionPoint[0],connectionPoint[1],connectionPoint[2]);
-		btVector3 wheelDirectionCS0(downDirection[0],downDirection[1],downDirection[2]);
-		btVector3 wheelAxle(axleDirection[0],axleDirection[1],axleDirection[2]);
-
-
-		btWheelInfo& info = m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxle,
-			suspensionRestLength,wheelRadius,gTuning,hasSteering);
-		info.m_clientInfo = motionState;
-
-	}
-
-	void	SyncWheels()
-	{
-		int numWheels = GetNumWheels();
-		int i;
-		for (i=0;i<numWheels;i++)
-		{
-			btWheelInfo& info = m_vehicle->getWheelInfo(i);
-			PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
-	//		m_vehicle->updateWheelTransformsWS(info,false);
-			m_vehicle->updateWheelTransform(i,false);
-			btTransform trans = m_vehicle->getWheelInfo(i).m_worldTransform;
-			btQuaternion orn = trans.getRotation();
-			const btVector3& pos = trans.getOrigin();
-			motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
-			motionState->setWorldPosition(pos.x(),pos.y(),pos.z());
-
-		}
-	}
-
-	virtual	int		GetNumWheels() const
-	{
-		return m_vehicle->getNumWheels();
-	}
-
-	virtual void	GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const
-	{
-		btTransform	trans = m_vehicle->getWheelTransformWS(wheelIndex);
-		posX = trans.getOrigin().x();
-		posY = trans.getOrigin().y();
-		posZ = trans.getOrigin().z();
-	}
-	virtual void	GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const
-	{
-		btTransform	trans = m_vehicle->getWheelTransformWS(wheelIndex);
-		btQuaternion quat = trans.getRotation();
-		btMatrix3x3 orn2(quat);
-
-		quatX = trans.getRotation().x();
-		quatY = trans.getRotation().y();
-		quatZ = trans.getRotation().z();
-		quatW = trans.getRotation()[3];
-
-
-		//printf("test");
-
-
-	}
-
-	virtual float	GetWheelRotation(int wheelIndex) const
-	{
-		float rotation = 0.f;
-
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
-		{
-			btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
-			rotation = info.m_rotation;
-		}
-		return rotation;
-
-	}
-
-
-
-	virtual int	GetUserConstraintId() const
-	{
-		return m_vehicle->getUserConstraintId();
-	}
-
-	virtual int	GetUserConstraintType() const
-	{
-		return m_vehicle->getUserConstraintType();
-	}
-
-	virtual	void	SetSteeringValue(float steering,int wheelIndex)
-	{
-		m_vehicle->setSteeringValue(steering,wheelIndex);
-	}
-
-	virtual	void	ApplyEngineForce(float force,int wheelIndex)
-	{
-		m_vehicle->applyEngineForce(force,wheelIndex);
-	}
-
-	virtual	void	ApplyBraking(float braking,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
-		{
-			btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
-			info.m_brake = braking;
-		}
-	}
-
-	virtual	void	SetWheelFriction(float friction,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
-		{
-			btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
-			info.m_frictionSlip = friction;
-		}
-
-	}
-
-	virtual	void	SetSuspensionStiffness(float suspensionStiffness,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
-		{
-			btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
-			info.m_suspensionStiffness = suspensionStiffness;
-
-		}
-	}
-
-	virtual	void	SetSuspensionDamping(float suspensionDamping,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
-		{
-			btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
-			info.m_wheelsDampingRelaxation = suspensionDamping;
-		}
-	}
-
-	virtual	void	SetSuspensionCompression(float suspensionCompression,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
-		{
-			btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
-			info.m_wheelsDampingCompression = suspensionCompression;
-		}
-	}
-
-
-
-	virtual	void	SetRollInfluence(float rollInfluence,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
-		{
-			btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
-			info.m_rollInfluence = rollInfluence;
-		}
-	}
-
-	virtual void	SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
-	{
-		m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
-	}
-
-
-
-};
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-class CcdOverlapFilterCallBack : public btOverlapFilterCallback
-{
-private:
-	class CcdPhysicsEnvironment* m_physEnv;
-public:
-	CcdOverlapFilterCallBack(CcdPhysicsEnvironment* env) : 
-		m_physEnv(env)
-	{
-	}
-	virtual ~CcdOverlapFilterCallBack()
-	{
-	}
-	// return true when pairs need collision
-	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const;
-};
-
-
-void CcdPhysicsEnvironment::setDebugDrawer(btIDebugDraw* debugDrawer)
-{
-	if (debugDrawer && m_dynamicsWorld)
-		m_dynamicsWorld->setDebugDrawer(debugDrawer);
-	m_debugDrawer = debugDrawer;
-}
-
-static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
-{
-	btVector3 halfExtents = (to-from)* 0.5f;
-	btVector3 center = (to+from) *0.5f;
-	int i,j;
-
-	btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
-	for (i=0;i<4;i++)
-	{
-		for (j=0;j<3;j++)
-		{
-			pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],		
-				edgecoord[2]*halfExtents[2]);
-			pa+=center;
-
-			int othercoord = j%3;
-			edgecoord[othercoord]*=-1.f;
-			pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],	
-				edgecoord[2]*halfExtents[2]);
-			pb+=center;
-
-			debugDrawer->drawLine(pa,pb,color);
-		}
-		edgecoord = btVector3(-1.f,-1.f,-1.f);
-		if (i<3)
-			edgecoord[i]*=-1.f;
-	}
-
-
-}
-
-
-
-
-
-
-CcdPhysicsEnvironment::CcdPhysicsEnvironment(bool useDbvtCulling,btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
-:m_cullingCache(NULL),
-m_cullingTree(NULL),
-m_numIterations(10),
-m_numTimeSubSteps(1),
-m_ccdMode(0),
-m_solverType(-1),
-m_profileTimings(0),
-m_enableSatCollisionDetection(false),
-m_solver(NULL),
-m_ownPairCache(NULL),
-m_filterCallback(NULL),
-m_ownDispatcher(NULL),
-m_scalingPropagated(false)
-{
-
-	for (int i=0;i<PHY_NUM_RESPONSE;i++)
-	{
-		m_triggerCallbacks[i] = 0;
-	}
-
-//	m_collisionConfiguration = new btDefaultCollisionConfiguration();
-	m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
-	//m_collisionConfiguration->setConvexConvexMultipointIterations();
-
-	if (!dispatcher)
-	{
-		btCollisionDispatcher* disp = new btCollisionDispatcher(m_collisionConfiguration);
-		dispatcher = disp;
-		btGImpactCollisionAlgorithm::registerAlgorithm(disp);
-		m_ownDispatcher = dispatcher;
-	}
-
-	//m_broadphase = new btAxisSweep3(btVector3(-1000,-1000,-1000),btVector3(1000,1000,1000));
-	//m_broadphase = new btSimpleBroadphase();
-	m_broadphase = new btDbvtBroadphase();
-	// avoid any collision in the culling tree
-	if (useDbvtCulling) {
-		m_cullingCache = new btNullPairCache();
-		m_cullingTree = new btDbvtBroadphase(m_cullingCache);
-	}
-
-	m_filterCallback = new CcdOverlapFilterCallBack(this);
-	m_broadphase->getOverlappingPairCache()->setOverlapFilterCallback(m_filterCallback);
-
-	setSolverType(1);//issues with quickstep and memory allocations
-//	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
-	m_dynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
-	//m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.01f;
-	//m_dynamicsWorld->getSolverInfo().m_solverMode=	SOLVER_USE_WARMSTARTING +	SOLVER_USE_2_FRICTION_DIRECTIONS +	SOLVER_RANDMIZE_ORDER +	SOLVER_USE_FRICTION_WARMSTARTING;
-
-	m_debugDrawer = 0;
-	setGravity(0.f,0.f,-9.81f);
-}
-
-void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
-{
-	btRigidBody* body = ctrl->GetRigidBody();
-	btCollisionObject* obj = ctrl->GetCollisionObject();
-
-	//this m_userPointer is just used for triggers, see CallbackTriggers
-	obj->setUserPointer(ctrl);
-	if (body)
-		body->setGravity( m_gravity );
-
-	m_controllers.insert(ctrl);
-
-	if (body)
-	{
-		//use explicit group/filter for finer control over collision in bullet => near/radar sensor
-		m_dynamicsWorld->addRigidBody(body, ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
-	} else
-	{
-		if (ctrl->GetSoftBody())
-		{
-			btSoftBody* softBody = ctrl->GetSoftBody();
-			m_dynamicsWorld->addSoftBody(softBody);
-		} else
-		{
-			if (obj->getCollisionShape())
-			{
-				m_dynamicsWorld->addCollisionObject(obj,ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
-			}
-		}
-	}
-	if (obj->isStaticOrKinematicObject())
-	{
-		obj->setActivationState(ISLAND_SLEEPING);
-	}
-
-	assert(obj->getBroadphaseHandle());
-}
-
-		
-
-bool	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl)
-{
-	//also remove constraint
-	btRigidBody* body = ctrl->GetRigidBody();
-	if (body)
-	{
-		for (int i=body->getNumConstraintRefs()-1;i>=0;i--)
-		{
-			btTypedConstraint* con = body->getConstraintRef(i);
-			m_dynamicsWorld->removeConstraint(con);
-			body->removeConstraintRef(con);
-			//delete con; //might be kept by python KX_ConstraintWrapper
-		}
-		m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody());
-	} else
-	{
-		//if a softbody
-		if (ctrl->GetSoftBody())
-		{
-			m_dynamicsWorld->removeSoftBody(ctrl->GetSoftBody());
-		} else
-		{
-			m_dynamicsWorld->removeCollisionObject(ctrl->GetCollisionObject());
-		}
-	}
-	if (ctrl->m_registerCount != 0)
-		printf("Warning: removing controller with non-zero m_registerCount: %d\n", ctrl->m_registerCount);
-
-	//remove it from the triggers
-	m_triggerControllers.erase(ctrl);
-
-	return (m_controllers.erase(ctrl) != 0);
-}
-
-void	CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask)
-{
-	// this function is used when the collisionning group of a controller is changed
-	// remove and add the collistioning object
-	btRigidBody* body = ctrl->GetRigidBody();
-	btCollisionObject* obj = ctrl->GetCollisionObject();
-	if (obj)
-	{
-		btVector3 inertia(0.0,0.0,0.0);
-		m_dynamicsWorld->removeCollisionObject(obj);
-		obj->setCollisionFlags(newCollisionFlags);
-		if (body)
-		{
-			if (newMass)
-				body->getCollisionShape()->calculateLocalInertia(newMass, inertia);
-			body->setMassProps(newMass, inertia);
-		}
-		m_dynamicsWorld->addCollisionObject(obj, newCollisionGroup, newCollisionMask);
-	}
-	// to avoid nasty interaction, we must update the property of the controller as well
-	ctrl->m_cci.m_mass = newMass;
-	ctrl->m_cci.m_collisionFilterGroup = newCollisionGroup;
-	ctrl->m_cci.m_collisionFilterMask = newCollisionMask;
-	ctrl->m_cci.m_collisionFlags = newCollisionFlags;
-}
-
-void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctrl)
-{
-	if (m_controllers.insert(ctrl).second)
-	{
-		btCollisionObject* obj = ctrl->GetCollisionObject();
-		obj->setUserPointer(ctrl);
-		// update the position of the object from the user
-		if (ctrl->GetMotionState()) 
-		{
-			btTransform xform = CcdPhysicsController::GetTransformFromMotionState(ctrl->GetMotionState());
-			ctrl->SetCenterOfMassTransform(xform);
-		}
-		m_dynamicsWorld->addCollisionObject(obj, 
-			ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
-	}
-}
-
-void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ctrl)
-{
-	if (m_controllers.erase(ctrl))
-	{
-		btRigidBody* body = ctrl->GetRigidBody();
-		if (body)
-		{
-			m_dynamicsWorld->removeRigidBody(body);
-		} else
-		{
-			if (ctrl->GetSoftBody())
-			{
-			} else
-			{
-				m_dynamicsWorld->removeCollisionObject(ctrl->GetCollisionObject());
-			}
-		}
-	}
-}
-
-void CcdPhysicsEnvironment::refreshCcdPhysicsController(CcdPhysicsController* ctrl)
-{
-	btCollisionObject* obj = ctrl->GetCollisionObject();
-	if (obj)
-	{
-		btBroadphaseProxy* proxy = obj->getBroadphaseHandle();
-		if (proxy)
-		{
-			m_dynamicsWorld->getPairCache()->cleanProxyFromPairs(proxy,m_dynamicsWorld->getDispatcher());
-		}
-	}
-}
-
-void CcdPhysicsEnvironment::addCcdGraphicController(CcdGraphicController* ctrl)
-{
-	if (m_cullingTree && !ctrl->getBroadphaseHandle())
-	{
-		btVector3	minAabb;
-		btVector3	maxAabb;
-		ctrl->getAabb(minAabb, maxAabb);
-
-		ctrl->setBroadphaseHandle(m_cullingTree->createProxy(
-				minAabb,
-				maxAabb,
-				INVALID_SHAPE_PROXYTYPE,	// this parameter is not used
-				ctrl,
-				0,							// this object does not collision with anything
-				0,
-				NULL,						// dispatcher => this parameter is not used
-				0));
-
-		assert(ctrl->getBroadphaseHandle());
-	}
-}
-
-void CcdPhysicsEnvironment::removeCcdGraphicController(CcdGraphicController* ctrl)
-{
-	if (m_cullingTree)
-	{
-		btBroadphaseProxy* bp = ctrl->getBroadphaseHandle();
-		if (bp)
-		{
-			m_cullingTree->destroyProxy(bp,NULL);
-			ctrl->setBroadphaseHandle(0);
-		}
-	}
-}
-
-void	CcdPhysicsEnvironment::beginFrame()
-{
-
-}
-
-void CcdPhysicsEnvironment::debugDrawWorld()
-{
-	if (m_dynamicsWorld->getDebugDrawer() &&  m_dynamicsWorld->getDebugDrawer()->getDebugMode() >0)
-			m_dynamicsWorld->debugDrawWorld();
-}
-
-bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float interval)
-{
-	std::set<CcdPhysicsController*>::iterator it;
-	int i;
-
-	for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
-	{
-		(*it)->SynchronizeMotionStates(timeStep);
-	}
-
-	float subStep = timeStep / float(m_numTimeSubSteps);
-	i = m_dynamicsWorld->stepSimulation(interval,25,subStep);//perform always a full simulation step
-	processFhSprings(curTime,i*subStep);
-
-	for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
-	{
-		(*it)->SynchronizeMotionStates(timeStep);
-	}
-
-	//for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
-	//{
-	//	(*it)->SynchronizeMotionStates(timeStep);
-	//}
-
-	for (i=0;i<m_wrapperVehicles.size();i++)
-	{
-		WrapperVehicle* veh = m_wrapperVehicles[i];
-		veh->SyncWheels();
-	}
-
-
-	CallbackTriggers();
-
-	return true;
-}
-
-class ClosestRayResultCallbackNotMe : public btCollisionWorld::ClosestRayResultCallback
-{
-	btCollisionObject* m_owner;
-	btCollisionObject* m_parent;
-
-public:
-	ClosestRayResultCallbackNotMe(const btVector3& rayFromWorld,const btVector3& rayToWorld,btCollisionObject* owner,btCollisionObject* parent)
-		:btCollisionWorld::ClosestRayResultCallback(rayFromWorld,rayToWorld),
-		m_owner(owner),
-		m_parent(parent)
-	{
-		
-	}
-
-	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
-	{
-		//don't collide with self
-		if (proxy0->m_clientObject == m_owner)
-			return false;
-
-		if (proxy0->m_clientObject == m_parent)
-			return false;
-
-		return btCollisionWorld::ClosestRayResultCallback::needsCollision(proxy0);
-	}
-
-};
-
-void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
-{
-	std::set<CcdPhysicsController*>::iterator it;
-	// dynamic of Fh spring is based on a timestep of 1/60
-	int numIter = (int)(interval*60.0001f);
-	
-	for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
-	{
-		CcdPhysicsController* ctrl = (*it);
-		btRigidBody* body = ctrl->GetRigidBody();
-
-		if (body && (ctrl->getConstructionInfo().m_do_fh || ctrl->getConstructionInfo().m_do_rot_fh))
-		{
-			//printf("has Fh or RotFh\n");
-			//re-implement SM_FhObject.cpp using btCollisionWorld::rayTest and info from ctrl->getConstructionInfo()
-			//send a ray from {0.0, 0.0, 0.0} towards {0.0, 0.0, -10.0}, in local coordinates
-			CcdPhysicsController* parentCtrl = ctrl->getParentCtrl();
-			btRigidBody* parentBody = parentCtrl?parentCtrl->GetRigidBody() : 0;
-			btRigidBody* cl_object = parentBody ? parentBody : body;
-
-			if (body->isStaticOrKinematicObject())
-				continue;
-
-			btVector3 rayDirLocal(0,0,-10);
-
-			//m_dynamicsWorld
-			//ctrl->GetRigidBody();
-			btVector3 rayFromWorld = body->getCenterOfMassPosition();
-			//btVector3	rayToWorld = rayFromWorld + body->getCenterOfMassTransform().getBasis() * rayDirLocal;
-			//ray always points down the z axis in world space...
-			btVector3	rayToWorld = rayFromWorld + rayDirLocal;
-			
-			ClosestRayResultCallbackNotMe	resultCallback(rayFromWorld,rayToWorld,body,parentBody);
-
-			m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,resultCallback);
-			if (resultCallback.hasHit())
-			{
-				//we hit this one: resultCallback.m_collisionObject;
-				CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(resultCallback.m_collisionObject->getUserPointer());
-
-				if (controller)
-				{
-					if (controller->getConstructionInfo().m_fh_distance < SIMD_EPSILON)
-						continue;
-
-					btRigidBody* hit_object = controller->GetRigidBody();
-					if (!hit_object)
-						continue;
-
-					CcdConstructionInfo& hitObjShapeProps = controller->getConstructionInfo();
-
-					float distance = resultCallback.m_closestHitFraction*rayDirLocal.length()-ctrl->getConstructionInfo().m_radius;
-					if (distance >= hitObjShapeProps.m_fh_distance)
-						continue;
-					
-					
-
-					//btVector3 ray_dir = cl_object->getCenterOfMassTransform().getBasis()* rayDirLocal.normalized();
-					btVector3 ray_dir = rayDirLocal.normalized();
-					btVector3 normal = resultCallback.m_hitNormalWorld;
-					normal.normalize();
-
-					for (int i=0; i<numIter; i++)
-					{
-						if (ctrl->getConstructionInfo().m_do_fh) 
-						{
-							btVector3 lspot = cl_object->getCenterOfMassPosition()
-								+ rayDirLocal * resultCallback.m_closestHitFraction;
-
-
-								
-
-							lspot -= hit_object->getCenterOfMassPosition();
-							btVector3 rel_vel = cl_object->getLinearVelocity() - hit_object->getVelocityInLocalPoint(lspot);
-							btScalar rel_vel_ray = ray_dir.dot(rel_vel);
-							btScalar spring_extent = 1.0 - distance / hitObjShapeProps.m_fh_distance; 
-							
-							btScalar i_spring = spring_extent * hitObjShapeProps.m_fh_spring;
-							btScalar i_damp =   rel_vel_ray * hitObjShapeProps.m_fh_damping;
-							
-							cl_object->setLinearVelocity(cl_object->getLinearVelocity() + (-(i_spring + i_damp) * ray_dir)); 
-							if (hitObjShapeProps.m_fh_normal) 
-							{
-								cl_object->setLinearVelocity(cl_object->getLinearVelocity()+(i_spring + i_damp) *(normal - normal.dot(ray_dir) * ray_dir));
-							}
-							
-							btVector3 lateral = rel_vel - rel_vel_ray * ray_dir;
-							
-							
-							if (ctrl->getConstructionInfo().m_do_anisotropic) {
-								//Bullet basis contains no scaling/shear etc.
-								const btMatrix3x3& lcs = cl_object->getCenterOfMassTransform().getBasis();
-								btVector3 loc_lateral = lateral * lcs;
-								const btVector3& friction_scaling = cl_object->getAnisotropicFriction();
-								loc_lateral *= friction_scaling;
-								lateral = lcs * loc_lateral;
-							}
-
-							btScalar rel_vel_lateral = lateral.length();
-							
-							if (rel_vel_lateral > SIMD_EPSILON) {
-								btScalar friction_factor = hit_object->getFriction();//cl_object->getFriction();
-
-								btScalar max_friction = friction_factor * btMax(btScalar(0.0), i_spring);
-								
-								btScalar rel_mom_lateral = rel_vel_lateral / cl_object->getInvMass();
-								
-								btVector3 friction = (rel_mom_lateral > max_friction) ?
-									-lateral * (max_friction / rel_vel_lateral) :
-									-lateral;
-								
-									cl_object->applyCentralImpulse(friction);
-							}
-						}
-
-						
-						if (ctrl->getConstructionInfo().m_do_rot_fh) {
-							btVector3 up2 = cl_object->getWorldTransform().getBasis().getColumn(2);
-
-							btVector3 t_spring = up2.cross(normal) * hitObjShapeProps.m_fh_spring;
-							btVector3 ang_vel = cl_object->getAngularVelocity();
-							
-							// only rotations that tilt relative to the normal are damped
-							ang_vel -= ang_vel.dot(normal) * normal;
-							
-							btVector3 t_damp = ang_vel * hitObjShapeProps.m_fh_damping;  
-							
-							cl_object->setAngularVelocity(cl_object->getAngularVelocity() + (t_spring - t_damp));
-						}
-					}
-				}
-			}
-		}
-	}
-}
-
-void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
-{
-	if (m_debugDrawer){
-		m_debugDrawer->setDebugMode(debugMode);
-	}
-}
-
-void		CcdPhysicsEnvironment::setNumIterations(int numIter)
-{
-	m_numIterations = numIter;
-}
-void		CcdPhysicsEnvironment::setDeactivationTime(float dTime)
-{
-	gDeactivationTime = dTime;
-}
-void		CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
-{
-	gLinearSleepingTreshold = linTresh;
-}
-void		CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) 
-{
-	gAngularSleepingTreshold = angTresh;
-}
-
-void		CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
-{
-	gContactBreakingThreshold = contactBreakingTreshold;
-
-}
-
-
-void		CcdPhysicsEnvironment::setCcdMode(int ccdMode)
-{
-	m_ccdMode = ccdMode;
-}
-
-
-void		CcdPhysicsEnvironment::setSolverSorConstant(float sor)
-{
-	m_solverInfo.m_sor = sor;
-}
-
-void		CcdPhysicsEnvironment::setSolverTau(float tau)
-{
-	m_solverInfo.m_tau = tau;
-}
-void		CcdPhysicsEnvironment::setSolverDamping(float damping)
-{
-	m_solverInfo.m_damping = damping;
-}
-
-
-void		CcdPhysicsEnvironment::setLinearAirDamping(float damping)
-{
-	//gLinearAirDamping = damping;
-}
-
-void		CcdPhysicsEnvironment::setUseEpa(bool epa)
-{
-	//gUseEpa = epa;
-}
-
-void		CcdPhysicsEnvironment::setSolverType(int solverType)
-{
-
-	switch (solverType)
-	{
-	case 1:
-		{
-			if (m_solverType != solverType)
-			{
-
-				m_solver = new btSequentialImpulseConstraintSolver();
-				
-				
-				break;
-			}
-		}
-
-	case 0:
-	default:
-		if (m_solverType != solverType)
-		{
-//			m_solver = new OdeConstraintSolver();
-
-			break;
-		}
-
-	};
-
-	m_solverType = solverType ;
-}
-
-
-
-void		CcdPhysicsEnvironment::getGravity(PHY__Vector3& grav)
-{
-		const btVector3& gravity = m_dynamicsWorld->getGravity();
-		grav[0] = gravity.getX();
-		grav[1] = gravity.getY();
-		grav[2] = gravity.getZ();
-}
-
-
-void		CcdPhysicsEnvironment::setGravity(float x,float y,float z)
-{
-	m_gravity = btVector3(x,y,z);
-	m_dynamicsWorld->setGravity(m_gravity);
-	m_dynamicsWorld->getWorldInfo().m_gravity.setValue(x,y,z);
-}
-
-
-
-
-static int gConstraintUid = 1;
-
-//Following the COLLADA physics specification for constraints
-int			CcdPhysicsEnvironment::createUniversalD6Constraint(
-						class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
-						btTransform& frameInA,
-						btTransform& frameInB,
-						const btVector3& linearMinLimits,
-						const btVector3& linearMaxLimits,
-						const btVector3& angularMinLimits,
-						const btVector3& angularMaxLimits,int flags
-)
-{
-
-	bool disableCollisionBetweenLinkedBodies = (0!=(flags & CCD_CONSTRAINT_DISABLE_LINKED_COLLISION));
-
-	//we could either add some logic to recognize ball-socket and hinge, or let that up to the user
-	//perhaps some warning or hint that hinge/ball-socket is more efficient?
-	
-	
-	btGeneric6DofConstraint* genericConstraint = 0;
-	CcdPhysicsController* ctrl0 = (CcdPhysicsController*) ctrlRef;
-	CcdPhysicsController* ctrl1 = (CcdPhysicsController*) ctrlOther;
-	
-	btRigidBody* rb0 = ctrl0->GetRigidBody();
-	btRigidBody* rb1 = ctrl1->GetRigidBody();
-
-	if (rb1)
-	{
-		
-
-		bool useReferenceFrameA = true;
-		genericConstraint = new btGeneric6DofSpringConstraint(
-			*rb0,*rb1,
-			frameInA,frameInB,useReferenceFrameA);
-		genericConstraint->setLinearLowerLimit(linearMinLimits);
-		genericConstraint->setLinearUpperLimit(linearMaxLimits);
-		genericConstraint->setAngularLowerLimit(angularMinLimits);
-		genericConstraint->setAngularUpperLimit(angularMaxLimits);
-	} else
-	{
-		// TODO: Implement single body case...
-		//No, we can use a fixed rigidbody in above code, rather then unnecessary duplation of code
-
-	}
-	
-	if (genericConstraint)
-	{
-	//	m_constraints.push_back(genericConstraint);
-		m_dynamicsWorld->addConstraint(genericConstraint,disableCollisionBetweenLinkedBodies);
-
-		genericConstraint->setUserConstraintId(gConstraintUid++);
-		genericConstraint->setUserConstraintType(PHY_GENERIC_6DOF_CONSTRAINT);
-		//64 bit systems can't cast pointer to int. could use size_t instead.
-		return genericConstraint->getUserConstraintId();
-	}
-	return 0;
-}
-
-
-
-void		CcdPhysicsEnvironment::removeConstraint(int	constraintId)
-{
-	
-	int i;
-	int numConstraints = m_dynamicsWorld->getNumConstraints();
-	for (i=0;i<numConstraints;i++)
-	{
-		btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
-		if (constraint->getUserConstraintId() == constraintId)
-		{
-			constraint->getRigidBodyA().activate();
-			constraint->getRigidBodyB().activate();
-			m_dynamicsWorld->removeConstraint(constraint);
-			break;
-		}
-	}
-}
-
-
-struct	FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
-{
-	PHY_IRayCastFilterCallback&	m_phyRayFilter;
-	const btCollisionShape*		m_hitTriangleShape;
-	int							m_hitTriangleIndex;
-
-
-	FilterClosestRayResultCallback (PHY_IRayCastFilterCallback& phyRayFilter,const btVector3& rayFrom,const btVector3& rayTo)
-		: btCollisionWorld::ClosestRayResultCallback(rayFrom,rayTo),
-		m_phyRayFilter(phyRayFilter),
-		m_hitTriangleShape(NULL),
-		m_hitTriangleIndex(0)
-	{
-	}
-
-	virtual ~FilterClosestRayResultCallback()
-	{
-	}
-
-	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
-	{
-		if (!(proxy0->m_collisionFilterGroup & m_collisionFilterMask))
-			return false;
-		if (!(m_collisionFilterGroup & proxy0->m_collisionFilterMask))
-			return false;
-		btCollisionObject* object = (btCollisionObject*)proxy0->m_clientObject;
-		CcdPhysicsController* phyCtrl = static_cast<CcdPhysicsController*>(object->getUserPointer());
-		if (phyCtrl == m_phyRayFilter.m_ignoreController)
-			return false;
-		return m_phyRayFilter.needBroadphaseRayCast(phyCtrl);
-	}
-
-	virtual	btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
-	{
-		//CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->getUserPointer());
-		// save shape information as ClosestRayResultCallback::AddSingleResult() does not do it
-		if (rayResult.m_localShapeInfo)
-		{
-			m_hitTriangleShape = rayResult.m_collisionObject->getCollisionShape();
-			m_hitTriangleIndex = rayResult.m_localShapeInfo->m_triangleIndex;
-		} else 
-		{
-			m_hitTriangleShape = NULL;
-			m_hitTriangleIndex = 0;
-		}
-		return ClosestRayResultCallback::addSingleResult(rayResult,normalInWorldSpace);
-	}
-
-};
-
-static bool GetHitTriangle(btCollisionShape* shape, CcdShapeConstructionInfo* shapeInfo, int hitTriangleIndex, btVector3 triangle[])
-{
-	// this code is copied from Bullet 
-	const unsigned char *vertexbase;
-	int numverts;
-	PHY_ScalarType type;
-	int stride;
-	const unsigned char *indexbase;
-	int indexstride;
-	int numfaces;
-	PHY_ScalarType indicestype;
-	btStridingMeshInterface* meshInterface = NULL;
-	btTriangleMeshShape* triangleShape = shapeInfo->GetMeshShape();
-
-	if (triangleShape)
-		meshInterface = triangleShape->getMeshInterface();
-	else
-	{
-		// other possibility is gImpact
-		if (shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
-			meshInterface = (static_cast<btGImpactMeshShape*>(shape))->getMeshInterface();
-	}
-	if (!meshInterface)
-		return false;
-
-	meshInterface->getLockedReadOnlyVertexIndexBase(
-		&vertexbase,
-		numverts,
-		type,
-		stride,
-		&indexbase,
-		indexstride,
-		numfaces,
-		indicestype,
-		0);
-
-	unsigned int* gfxbase = (unsigned int*)(indexbase+hitTriangleIndex*indexstride);
-	const btVector3& meshScaling = shape->getLocalScaling();
-	for (int j=2;j>=0;j--)
-	{
-		int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
-
-		btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
-
-		triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
-	}
-	meshInterface->unLockReadOnlyVertexBase(0);
-	return true;
-}
-
-PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)
-{
-	btVector3 rayFrom(fromX,fromY,fromZ);
-	btVector3 rayTo(toX,toY,toZ);
-
-	btVector3	hitPointWorld,normalWorld;
-
-	//Either Ray Cast with or without filtering
-
-	//btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
-	FilterClosestRayResultCallback	 rayCallback(filterCallback,rayFrom,rayTo);
-
-
-	PHY_RayCastResult result;
-	memset(&result, 0, sizeof(result));
-
-	// don't collision with sensor object
-	rayCallback.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter;
-	//, ,filterCallback.m_faceNormal);
-
-	m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
-	if (rayCallback.hasHit())
-	{
-		CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->getUserPointer());
-		result.m_controller = controller;
-		result.m_hitPoint[0] = rayCallback.m_hitPointWorld.getX();
-		result.m_hitPoint[1] = rayCallback.m_hitPointWorld.getY();
-		result.m_hitPoint[2] = rayCallback.m_hitPointWorld.getZ();
-
-		if (rayCallback.m_hitTriangleShape != NULL)
-		{
-			// identify the mesh polygon
-			CcdShapeConstructionInfo* shapeInfo = controller->m_shapeInfo;
-			if (shapeInfo)
-			{
-				btCollisionShape* shape = controller->GetCollisionObject()->getCollisionShape();
-				if (shape->isCompound())
-				{
-					btCompoundShape* compoundShape = (btCompoundShape*)shape;
-					CcdShapeConstructionInfo* compoundShapeInfo = shapeInfo;
-					// need to search which sub-shape has been hit
-					for (int i=0; i<compoundShape->getNumChildShapes(); i++)
-					{
-						shapeInfo = compoundShapeInfo->GetChildShape(i);
-						shape=compoundShape->getChildShape(i);
-						if (shape == rayCallback.m_hitTriangleShape)
-							break;
-					}
-				}
-				if (shape == rayCallback.m_hitTriangleShape && 
-					rayCallback.m_hitTriangleIndex < shapeInfo->m_polygonIndexArray.size())
-				{
-					// save original collision shape triangle for soft body
-					int hitTriangleIndex = rayCallback.m_hitTriangleIndex;
-
-					result.m_meshObject = shapeInfo->GetMesh();
-					if (shape->isSoftBody())
-					{
-						// soft body using different face numbering because of randomization
-						// hopefully we have stored the original face number in m_tag
-						btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject);
-						if (softBody->m_faces[hitTriangleIndex].m_tag != 0)
-						{
-							rayCallback.m_hitTriangleIndex = (int)((uintptr_t)(softBody->m_faces[hitTriangleIndex].m_tag)-1);
-						}
-					}
-					// retrieve the original mesh polygon (in case of quad->tri conversion)
-					result.m_polygon = shapeInfo->m_polygonIndexArray.at(rayCallback.m_hitTriangleIndex);
-					// hit triangle in world coordinate, for face normal and UV coordinate
-					btVector3 triangle[3];
-					bool triangleOK = false;
-					if (filterCallback.m_faceUV && (3*rayCallback.m_hitTriangleIndex) < shapeInfo->m_triFaceUVcoArray.size())
-					{
-						// interpolate the UV coordinate of the hit point
-						CcdShapeConstructionInfo::UVco* uvCo = &shapeInfo->m_triFaceUVcoArray[3*rayCallback.m_hitTriangleIndex];
-						// 1. get the 3 coordinate of the triangle in world space
-						btVector3 v1, v2, v3;
-						if (shape->isSoftBody())
-						{
-							// soft body give points directly in world coordinate
-							btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject);
-							v1 = softBody->m_faces[hitTriangleIndex].m_n[0]->m_x;
-							v2 = softBody->m_faces[hitTriangleIndex].m_n[1]->m_x;
-							v3 = softBody->m_faces[hitTriangleIndex].m_n[2]->m_x;
-						} else 
-						{
-							// for rigid body we must apply the world transform
-							triangleOK = GetHitTriangle(shape, shapeInfo, hitTriangleIndex, triangle);
-							if (!triangleOK)
-								// if we cannot get the triangle, no use to continue
-								goto SKIP_UV_NORMAL;
-							v1 = rayCallback.m_collisionObject->getWorldTransform()(triangle[0]);
-							v2 = rayCallback.m_collisionObject->getWorldTransform()(triangle[1]);
-							v3 = rayCallback.m_collisionObject->getWorldTransform()(triangle[2]);
-						}
-						// 2. compute barycentric coordinate of the hit point
-						btVector3 v = v2-v1;
-						btVector3 w = v3-v1;
-						btVector3 u = v.cross(w);
-						btScalar A = u.length();
-
-						v = v2-rayCallback.m_hitPointWorld;
-						w = v3-rayCallback.m_hitPointWorld;
-						u = v.cross(w);
-						btScalar A1 = u.length();
-
-						v = rayCallback.m_hitPointWorld-v1;
-						w = v3-v1;
-						u = v.cross(w);
-						btScalar A2 = u.length();
-
-						btVector3 baryCo;
-						baryCo.setX(A1/A);
-						baryCo.setY(A2/A);
-						baryCo.setZ(1.0f-baryCo.getX()-baryCo.getY());
-						// 3. compute UV coordinate
-						result.m_hitUV[0] = baryCo.getX()*uvCo[0].uv[0] + baryCo.getY()*uvCo[1].uv[0] + baryCo.getZ()*uvCo[2].uv[0];
-						result.m_hitUV[1] = baryCo.getX()*uvCo[0].uv[1] + baryCo.getY()*uvCo[1].uv[1] + baryCo.getZ()*uvCo[2].uv[1];
-						result.m_hitUVOK = 1;
-					}
-						
-					// Bullet returns the normal from "outside".
-					// If the user requests the real normal, compute it now
-                    if (filterCallback.m_faceNormal)
-					{
-						if (shape->isSoftBody()) 
-						{
-							// we can get the real normal directly from the body
-							btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject);
-							rayCallback.m_hitNormalWorld = softBody->m_faces[hitTriangleIndex].m_normal;
-						} else
-						{
-							if (!triangleOK)
-								triangleOK = GetHitTriangle(shape, shapeInfo, hitTriangleIndex, triangle);
-							if (triangleOK)
-							{
-								btVector3 triangleNormal; 
-								triangleNormal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
-								rayCallback.m_hitNormalWorld = rayCallback.m_collisionObject->getWorldTransform().getBasis()*triangleNormal;
-							}
-						}
-					}
-				SKIP_UV_NORMAL:
-					;
-				}
-			}
-		}
-		if (rayCallback.m_hitNormalWorld.length2() > (SIMD_EPSILON*SIMD_EPSILON))
-		{
-			rayCallback.m_hitNormalWorld.normalize();
-		} else
-		{
-			rayCallback.m_hitNormalWorld.setValue(1,0,0);
-		}
-		result.m_hitNormal[0] = rayCallback.m_hitNormalWorld.getX();
-		result.m_hitNormal[1] = rayCallback.m_hitNormalWorld.getY();
-		result.m_hitNormal[2] = rayCallback.m_hitNormalWorld.getZ();
-		filterCallback.reportHit(&result);
-	}	
-
-
-	return result.m_controller;
-}
-
-// Handles occlusion culling. 
-// The implementation is based on the CDTestFramework
-struct OcclusionBuffer
-{
-	struct WriteOCL
-	{
-		static inline bool Process(btScalar& q,btScalar v) { if(q<v) q=v;return(false); }
-		static inline void Occlusion(bool& flag) { flag = true; }
-	};
-	struct QueryOCL
-	{
-		static inline bool Process(btScalar& q,btScalar v) { return(q<=v); }
-		static inline void Occlusion(bool& flag) { }
-	};
-	btScalar*						m_buffer;
-	size_t							m_bufferSize;
-	bool							m_initialized;
-	bool							m_occlusion;
-	int								m_sizes[2];
-	btScalar						m_scales[2];
-	btScalar						m_offsets[2];
-	btScalar						m_wtc[16];		// world to clip transform
-	btScalar						m_mtc[16];		// model to clip transform
-	// constructor: size=largest dimension of the buffer. 
-	// Buffer size depends on aspect ratio
-	OcclusionBuffer()
-	{
-		m_initialized=false;
-		m_occlusion = false;
-		m_buffer = NULL;
-		m_bufferSize = 0;
-	}
-	// multiplication of column major matrices: m=m1*m2
-	template<typename T1, typename T2>
-	void		CMmat4mul(btScalar* m, const T1* m1, const T2* m2)
-	{
-		m[ 0] = btScalar(m1[ 0]*m2[ 0]+m1[ 4]*m2[ 1]+m1[ 8]*m2[ 2]+m1[12]*m2[ 3]);
-		m[ 1] = btScalar(m1[ 1]*m2[ 0]+m1[ 5]*m2[ 1]+m1[ 9]*m2[ 2]+m1[13]*m2[ 3]);
-		m[ 2] = btScalar(m1[ 2]*m2[ 0]+m1[ 6]*m2[ 1]+m1[10]*m2[ 2]+m1[14]*m2[ 3]);
-		m[ 3] = btScalar(m1[ 3]*m2[ 0]+m1[ 7]*m2[ 1]+m1[11]*m2[ 2]+m1[15]*m2[ 3]);
-
-		m[ 4] = btScalar(m1[ 0]*m2[ 4]+m1[ 4]*m2[ 5]+m1[ 8]*m2[ 6]+m1[12]*m2[ 7]);
-		m[ 5] = btScalar(m1[ 1]*m2[ 4]+m1[ 5]*m2[ 5]+m1[ 9]*m2[ 6]+m1[13]*m2[ 7]);
-		m[ 6] = btScalar(m1[ 2]*m2[ 4]+m1[ 6]*m2[ 5]+m1[10]*m2[ 6]+m1[14]*m2[ 7]);
-		m[ 7] = btScalar(m1[ 3]*m2[ 4]+m1[ 7]*m2[ 5]+m1[11]*m2[ 6]+m1[15]*m2[ 7]);
-
-		m[ 8] = btScalar(m1[ 0]*m2[ 8]+m1[ 4]*m2[ 9]+m1[ 8]*m2[10]+m1[12]*m2[11]);
-		m[ 9] = btScalar(m1[ 1]*m2[ 8]+m1[ 5]*m2[ 9]+m1[ 9]*m2[10]+m1[13]*m2[11]);
-		m[10] = btScalar(m1[ 2]*m2[ 8]+m1[ 6]*m2[ 9]+m1[10]*m2[10]+m1[14]*m2[11]);
-		m[11] = btScalar(m1[ 3]*m2[ 8]+m1[ 7]*m2[ 9]+m1[11]*m2[10]+m1[15]*m2[11]);
-
-		m[12] = btScalar(m1[ 0]*m2[12]+m1[ 4]*m2[13]+m1[ 8]*m2[14]+m1[12]*m2[15]);
-		m[13] = btScalar(m1[ 1]*m2[12]+m1[ 5]*m2[13]+m1[ 9]*m2[14]+m1[13]*m2[15]);
-		m[14] = btScalar(m1[ 2]*m2[12]+m1[ 6]*m2[13]+m1[10]*m2[14]+m1[14]*m2[15]);
-		m[15] = btScalar(m1[ 3]*m2[12]+m1[ 7]*m2[13]+m1[11]*m2[14]+m1[15]*m2[15]);
-	}
-	void		setup(int size)
-	{
-		m_initialized=false;
-		m_occlusion=false;
-		// compute the size of the buffer
-		GLint		v[4];
-		GLdouble	m[16],p[16];
-		int			maxsize;
-		double		ratio;
-		glGetIntegerv(GL_VIEWPORT,v);
-		maxsize = (v[2] > v[3]) ? v[2] : v[3];
-		assert(maxsize > 0);
-		ratio = 1.0/(2*maxsize);
-		// ensure even number
-		m_sizes[0] = 2*((int)(size*v[2]*ratio+0.5));
-		m_sizes[1] = 2*((int)(size*v[3]*ratio+0.5));
-		m_scales[0]=btScalar(m_sizes[0]/2);
-		m_scales[1]=btScalar(m_sizes[1]/2);
-		m_offsets[0]=m_scales[0]+0.5f;
-		m_offsets[1]=m_scales[1]+0.5f;
-		// prepare matrix
-		// at this time of the rendering, the modelview matrix is the 
-		// world to camera transformation and the projection matrix is
-		// camera to clip transformation. combine both so that 
-		glGetDoublev(GL_MODELVIEW_MATRIX,m);
-		glGetDoublev(GL_PROJECTION_MATRIX,p);
-		CMmat4mul(m_wtc,p,m);
-	}
-	void		initialize()
-	{
-		size_t newsize = (m_sizes[0]*m_sizes[1])*sizeof(btScalar);
-		if (m_buffer)
-		{
-			// see if we can reuse
-			if (newsize > m_bufferSize)
-			{
-				free(m_buffer);
-				m_buffer = NULL;
-				m_bufferSize = 0;
-			}
-		}
-		if (!m_buffer)
-		{
-			m_buffer = (btScalar*)calloc(1, newsize);
-			m_bufferSize = newsize;
-		} else
-		{
-			// buffer exists already, just clears it
-			memset(m_buffer, 0, newsize);
-		}
-		// memory allocate must succeed
-		assert(m_buffer != NULL);
-		m_initialized = true;
-		m_occlusion = false;
-	}
-	void		SetModelMatrix(double *fl)
-	{
-		CMmat4mul(m_mtc,m_wtc,fl);
-		if (!m_initialized)
-			initialize();
-	}
-
-	// transform a segment in world coordinate to clip coordinate
-	void		transformW(const btVector3& x, btVector4& t)
-	{
-		t[0]	=	x[0]*m_wtc[0]+x[1]*m_wtc[4]+x[2]*m_wtc[8]+m_wtc[12];
-		t[1]	=	x[0]*m_wtc[1]+x[1]*m_wtc[5]+x[2]*m_wtc[9]+m_wtc[13];
-		t[2]	=	x[0]*m_wtc[2]+x[1]*m_wtc[6]+x[2]*m_wtc[10]+m_wtc[14];
-		t[3]	=	x[0]*m_wtc[3]+x[1]*m_wtc[7]+x[2]*m_wtc[11]+m_wtc[15];
-	}
-	void		transformM(const float* x, btVector4& t)
-	{
-		t[0]	=	x[0]*m_mtc[0]+x[1]*m_mtc[4]+x[2]*m_mtc[8]+m_mtc[12];
-		t[1]	=	x[0]*m_mtc[1]+x[1]*m_mtc[5]+x[2]*m_mtc[9]+m_mtc[13];
-		t[2]	=	x[0]*m_mtc[2]+x[1]*m_mtc[6]+x[2]*m_mtc[10]+m_mtc[14];
-		t[3]	=	x[0]*m_mtc[3]+x[1]*m_mtc[7]+x[2]*m_mtc[11]+m_mtc[15];
-	}
-	// convert polygon to device coordinates
-	static bool	project(btVector4* p,int n)
-	{
-		for(int i=0;i<n;++i)
-		{			
-			p[i][2]=1/p[i][3];
-			p[i][0]*=p[i][2];
-			p[i][1]*=p[i][2];
-		}
-		return(true);
-	}
-	// pi: closed polygon in clip coordinate, NP = number of segments
-	// po: same polygon with clipped segments removed
-	template <const int NP>
-	static int	clip(const btVector4* pi,btVector4* po)
-	{
-		btScalar	s[2*NP];
-		btVector4	pn[2*NP];
-		int			i, j, m, n, ni;
-		// deal with near clipping
-		for(i=0, m=0;i<NP;++i)
-		{
-			s[i]=pi[i][2]+pi[i][3];
-			if(s[i]<0) m+=1<<i;
-		}
-		if(m==((1<<NP)-1)) 
-			return(0);
-		if(m!=0)
-		{
-			for(i=NP-1,j=0,n=0;j<NP;i=j++)
-			{
-				const btVector4&	a=pi[i];
-				const btVector4&	b=pi[j];
-				const btScalar		t=s[i]/(a[3]+a[2]-b[3]-b[2]);
-				if((t>0)&&(t<1))
-				{
-					pn[n][0]	=	a[0]+(b[0]-a[0])*t;
-					pn[n][1]	=	a[1]+(b[1]-a[1])*t;
-					pn[n][2]	=	a[2]+(b[2]-a[2])*t;
-					pn[n][3]	=	a[3]+(b[3]-a[3])*t;
-					++n;
-				}
-				if(s[j]>0) pn[n++]=b;
-			}
-			// ready to test far clipping, start from the modified polygon
-			pi = pn;
-			ni = n;
-		} else
-		{
-			// no clipping on the near plane, keep same vector
-			ni = NP;
-		}
-		// now deal with far clipping
-		for(i=0, m=0;i<ni;++i)
-		{
-			s[i]=pi[i][2]-pi[i][3];
-			if(s[i]>0) m+=1<<i;
-		}
-		if(m==((1<<ni)-1)) 
-			return(0);
-		if(m!=0)
-		{
-			for(i=ni-1,j=0,n=0;j<ni;i=j++)
-			{
-				const btVector4&	a=pi[i];
-				const btVector4&	b=pi[j];
-				const btScalar		t=s[i]/(a[2]-a[3]-b[2]+b[3]);
-				if((t>0)&&(t<1))
-				{
-					po[n][0]	=	a[0]+(b[0]-a[0])*t;
-					po[n][1]	=	a[1]+(b[1]-a[1])*t;
-					po[n][2]	=	a[2]+(b[2]-a[2])*t;
-					po[n][3]	=	a[3]+(b[3]-a[3])*t;
-					++n;
-				}
-				if(s[j]<0) po[n++]=b;
-			}
-			return(n);
-		}
-		for(int i=0;i<ni;++i) po[i]=pi[i];
-		return(ni);
-	}
-	// write or check a triangle to buffer. a,b,c in device coordinates (-1,+1)
-	template <typename POLICY>
-	inline bool	draw(	const btVector4& a,
-						const btVector4& b,
-						const btVector4& c,
-						const float face,
-						const btScalar minarea)
-	{
-		const btScalar		a2=cross(b-a,c-a)[2];
-		if((face*a2)<0.f || btFabs(a2)<minarea)
-			return false;
-		// further down we are normally going to write to the Zbuffer, mark it so
-		POLICY::Occlusion(m_occlusion);
-
-		int x[3], y[3], ib=1, ic=2;
-		btScalar z[3];
-		x[0]=(int)(a.x()*m_scales[0]+m_offsets[0]);
-		y[0]=(int)(a.y()*m_scales[1]+m_offsets[1]);
-		z[0]=a.z();
-		if (a2 < 0.f)
-		{
-			// negative aire is possible with double face => must
-			// change the order of b and c otherwise the algorithm doesn't work
-			ib=2;
-			ic=1;
-		}
-		x[ib]=(int)(b.x()*m_scales[0]+m_offsets[0]);
-		x[ic]=(int)(c.x()*m_scales[0]+m_offsets[0]);
-		y[ib]=(int)(b.y()*m_scales[1]+m_offsets[1]);
-		y[ic]=(int)(c.y()*m_scales[1]+m_offsets[1]);
-		z[ib]=b.z();
-		z[ic]=c.z();
-		const int		mix=btMax(0,btMin(x[0],btMin(x[1],x[2])));
-		const int		mxx=btMin(m_sizes[0],1+btMax(x[0],btMax(x[1],x[2])));
-		const int		miy=btMax(0,btMin(y[0],btMin(y[1],y[2])));
-		const int		mxy=btMin(m_sizes[1],1+btMax(y[0],btMax(y[1],y[2])));
-		const int		width=mxx-mix;
-		const int		height=mxy-miy;
-		if ((width*height) <= 1)
-		{
-			// degenerated in at most one single pixel
-			btScalar* scan=&m_buffer[miy*m_sizes[0]+mix];
-			// use for loop to detect the case where width or height == 0
-			for(int iy=miy;iy<mxy;++iy)
-			{
-				for(int ix=mix;ix<mxx;++ix)
-				{
-					if(POLICY::Process(*scan,z[0])) 
-						return(true);
-					if(POLICY::Process(*scan,z[1])) 
-						return(true);
-					if(POLICY::Process(*scan,z[2])) 
-						return(true);
-				}
-			}
-		} else if (width == 1) 
-		{
-			// Degenerated in at least 2 vertical lines
-			// The algorithm below doesn't work when face has a single pixel width
-			// We cannot use general formulas because the plane is degenerated. 
-			// We have to interpolate along the 3 edges that overlaps and process each pixel.
-			// sort the y coord to make formula simpler
-			int ytmp;
-			btScalar ztmp;
-			if (y[0] > y[1]) { ytmp=y[1];y[1]=y[0];y[0]=ytmp;ztmp=z[1];z[1]=z[0];z[0]=ztmp; }
-			if (y[0] > y[2]) { ytmp=y[2];y[2]=y[0];y[0]=ytmp;ztmp=z[2];z[2]=z[0];z[0]=ztmp; }
-			if (y[1] > y[2]) { ytmp=y[2];y[2]=y[1];y[1]=ytmp;ztmp=z[2];z[2]=z[1];z[1]=ztmp; }
-			int	dy[]={	y[0]-y[1],
-						y[1]-y[2],
-						y[2]-y[0]};
-			btScalar dzy[3];
-			dzy[0] = (dy[0]) ? (z[0]-z[1])/dy[0] : btScalar(0.f);
-			dzy[1] = (dy[1]) ? (z[1]-z[2])/dy[1] : btScalar(0.f);
-			dzy[2] = (dy[2]) ? (z[2]-z[0])/dy[2] : btScalar(0.f);
-			btScalar v[3] = {	dzy[0]*(miy-y[0])+z[0],
-								dzy[1]*(miy-y[1])+z[1],
-								dzy[2]*(miy-y[2])+z[2] };
-			dy[0] = y[1]-y[0];
-			dy[1] = y[0]-y[1];
-			dy[2] = y[2]-y[0];
-			btScalar* scan=&m_buffer[miy*m_sizes[0]+mix];
-			for(int iy=miy;iy<mxy;++iy)
-			{
-				if(dy[0] >= 0 && POLICY::Process(*scan,v[0])) 
-					return(true);
-				if(dy[1] >= 0 && POLICY::Process(*scan,v[1])) 
-					return(true);
-				if(dy[2] >= 0 && POLICY::Process(*scan,v[2])) 
-					return(true);
-				scan+=m_sizes[0];
-				v[0] += dzy[0]; v[1] += dzy[1]; v[2] += dzy[2];
-				dy[0]--; dy[1]++, dy[2]--;
-			}
-		} else if (height == 1)
-		{
-			// Degenerated in at least 2 horizontal lines
-			// The algorithm below doesn't work when face has a single pixel width
-			// We cannot use general formulas because the plane is degenerated. 
-			// We have to interpolate along the 3 edges that overlaps and process each pixel.
-			int xtmp;
-			btScalar ztmp;
-			if (x[0] > x[1]) { xtmp=x[1];x[1]=x[0];x[0]=xtmp;ztmp=z[1];z[1]=z[0];z[0]=ztmp; }
-			if (x[0] > x[2]) { xtmp=x[2];x[2]=x[0];x[0]=xtmp;ztmp=z[2];z[2]=z[0];z[0]=ztmp; }
-			if (x[1] > x[2]) { xtmp=x[2];x[2]=x[1];x[1]=xtmp;ztmp=z[2];z[2]=z[1];z[1]=ztmp; }
-			int	dx[]={	x[0]-x[1],
-						x[1]-x[2],
-						x[2]-x[0]};
-			btScalar dzx[3];
-			dzx[0] = (dx[0]) ? (z[0]-z[1])/dx[0] : btScalar(0.f);
-			dzx[1] = (dx[1]) ? (z[1]-z[2])/dx[1] : btScalar(0.f);
-			dzx[2] = (dx[2]) ? (z[2]-z[0])/dx[2] : btScalar(0.f);
-			btScalar v[3] = { dzx[0]*(mix-x[0])+z[0],
-							  dzx[1]*(mix-x[1])+z[1],
-							  dzx[2]*(mix-x[2])+z[2] };
-			dx[0] = x[1]-x[0];
-			dx[1] = x[0]-x[1];
-			dx[2] = x[2]-x[0];
-			btScalar* scan=&m_buffer[miy*m_sizes[0]+mix];
-			for(int ix=mix;ix<mxx;++ix)
-			{
-				if(dx[0] >= 0 && POLICY::Process(*scan,v[0])) 
-					return(true);
-				if(dx[1] >= 0 && POLICY::Process(*scan,v[1])) 
-					return(true);
-				if(dx[2] >= 0 && POLICY::Process(*scan,v[2])) 
-					return(true);
-				scan++;
-				v[0] += dzx[0]; v[1] += dzx[1]; v[2] += dzx[2];
-				dx[0]--; dx[1]++, dx[2]--;
-			}
-		} else
-		{
-			// general case
-			const int		dx[]={	y[0]-y[1],
-									y[1]-y[2],
-									y[2]-y[0]};
-			const int		dy[]={	x[1]-x[0]-dx[0]*width,
-									x[2]-x[1]-dx[1]*width,
-									x[0]-x[2]-dx[2]*width};
-			const int		a=x[2]*y[0]+x[0]*y[1]-x[2]*y[1]-x[0]*y[2]+x[1]*y[2]-x[1]*y[0];
-			const btScalar	ia=1/(btScalar)a;
-			const btScalar	dzx=ia*(y[2]*(z[1]-z[0])+y[1]*(z[0]-z[2])+y[0]*(z[2]-z[1]));
-			const btScalar	dzy=ia*(x[2]*(z[0]-z[1])+x[0]*(z[1]-z[2])+x[1]*(z[2]-z[0]))-(dzx*width);		
-			int				c[]={	miy*x[1]+mix*y[0]-x[1]*y[0]-mix*y[1]+x[0]*y[1]-miy*x[0],
-									miy*x[2]+mix*y[1]-x[2]*y[1]-mix*y[2]+x[1]*y[2]-miy*x[1],
-									miy*x[0]+mix*y[2]-x[0]*y[2]-mix*y[0]+x[2]*y[0]-miy*x[2]};
-			btScalar		v=ia*((z[2]*c[0])+(z[0]*c[1])+(z[1]*c[2]));
-			btScalar*		scan=&m_buffer[miy*m_sizes[0]];
-			for(int iy=miy;iy<mxy;++iy)
-			{
-				for(int ix=mix;ix<mxx;++ix)
-				{
-					if((c[0]>=0)&&(c[1]>=0)&&(c[2]>=0))
-					{
-						if(POLICY::Process(scan[ix],v)) 
-							return(true);
-					}
-					c[0]+=dx[0];c[1]+=dx[1];c[2]+=dx[2];v+=dzx;
-				}
-				c[0]+=dy[0];c[1]+=dy[1];c[2]+=dy[2];v+=dzy;
-				scan+=m_sizes[0];
-			}
-		}
-		return(false);
-	}
-	// clip than write or check a polygon 
-	template <const int NP,typename POLICY>
-	inline bool	clipDraw(	const btVector4* p,
-							const float face,
-							btScalar minarea)
-	{
-		btVector4	o[NP*2];
-		int			n=clip<NP>(p,o);
-		bool		earlyexit=false;
-		if (n)
-		{
-			project(o,n);
-			for(int i=2;i<n && !earlyexit;++i)
-			{
-				earlyexit|=draw<POLICY>(o[0],o[i-1],o[i],face,minarea);
-			}
-		}
-		return(earlyexit);
-	}
-	// add a triangle (in model coordinate)
-	// face =  0.f if face is double side, 
-	//      =  1.f if face is single sided and scale is positive
-	//      = -1.f if face is single sided and scale is negative
-	void		appendOccluderM(const float* a,
-								const float* b,
-								const float* c,
-								const float face)
-	{
-		btVector4	p[3];
-		transformM(a,p[0]);
-		transformM(b,p[1]);
-		transformM(c,p[2]);
-		clipDraw<3,WriteOCL>(p,face,btScalar(0.f));
-	}
-	// add a quad (in model coordinate)
-	void		appendOccluderM(const float* a,
-								const float* b,
-								const float* c,
-								const float* d,
-								const float face)
-	{	
-		btVector4	p[4];
-		transformM(a,p[0]);
-		transformM(b,p[1]);
-		transformM(c,p[2]);
-		transformM(d,p[3]);
-		clipDraw<4,WriteOCL>(p,face,btScalar(0.f));
-	}
-	// query occluder for a box (c=center, e=extend) in world coordinate
-	inline bool	queryOccluderW(	const btVector3& c,
-								const btVector3& e)
-	{
-		if (!m_occlusion)
-			// no occlusion yet, no need to check
-			return true;
-		btVector4	x[8];
-		transformW(btVector3(c[0]-e[0],c[1]-e[1],c[2]-e[2]),x[0]);
-		transformW(btVector3(c[0]+e[0],c[1]-e[1],c[2]-e[2]),x[1]);
-		transformW(btVector3(c[0]+e[0],c[1]+e[1],c[2]-e[2]),x[2]);
-		transformW(btVector3(c[0]-e[0],c[1]+e[1],c[2]-e[2]),x[3]);
-		transformW(btVector3(c[0]-e[0],c[1]-e[1],c[2]+e[2]),x[4]);
-		transformW(btVector3(c[0]+e[0],c[1]-e[1],c[2]+e[2]),x[5]);
-		transformW(btVector3(c[0]+e[0],c[1]+e[1],c[2]+e[2]),x[6]);
-		transformW(btVector3(c[0]-e[0],c[1]+e[1],c[2]+e[2]),x[7]);
-		for(int i=0;i<8;++i)
-		{
-			// the box is clipped, it's probably a large box, don't waste our time to check
-			if((x[i][2]+x[i][3])<=0) return(true);
-		}
-		static const int	d[]={	1,0,3,2,
-									4,5,6,7,
-									4,7,3,0,
-									6,5,1,2,
-									7,6,2,3,
-									5,4,0,1};
-		for(unsigned int i=0;i<(sizeof(d)/sizeof(d[0]));)
-		{
-			const btVector4	p[]={	x[d[i++]],
-									x[d[i++]],
-									x[d[i++]],
-									x[d[i++]]};
-			if(clipDraw<4,QueryOCL>(p,1.f,0.f)) 
-				return(true);
-		}
-		return(false);
-	}
-};
-
-
-struct	DbvtCullingCallback : btDbvt::ICollide
-{
-	PHY_CullingCallback m_clientCallback;
-	void* m_userData;
-	OcclusionBuffer *m_ocb;
-
-	DbvtCullingCallback(PHY_CullingCallback clientCallback, void* userData)
-	{
-		m_clientCallback = clientCallback;
-		m_userData = userData;
-		m_ocb = NULL;
-	}
-	bool Descent(const btDbvtNode* node)
-	{
-		return(m_ocb->queryOccluderW(node->volume.Center(),node->volume.Extents()));
-	}
-	void Process(const btDbvtNode* node,btScalar depth)
-	{
-		Process(node);
-	}
-	void Process(const btDbvtNode* leaf)
-	{	
-		btBroadphaseProxy*	proxy=(btBroadphaseProxy*)leaf->data;
-		// the client object is a graphic controller
-		CcdGraphicController* ctrl = static_cast<CcdGraphicController*>(proxy->m_clientObject);
-		KX_ClientObjectInfo* info = (KX_ClientObjectInfo*)ctrl->getNewClientInfo();
-		if (m_ocb)
-		{
-			// means we are doing occlusion culling. Check if this object is an occluders
-			KX_GameObject* gameobj = KX_GameObject::GetClientObject(info);
-			if (gameobj && gameobj->GetOccluder())
-			{
-				double* fl = gameobj->GetOpenGLMatrixPtr()->getPointer();
-				// this will create the occlusion buffer if not already done
-				// and compute the transformation from model local space to clip space
-				m_ocb->SetModelMatrix(fl);
-				float face = (gameobj->IsNegativeScaling()) ? -1.0f : 1.0f;
-				// walk through the meshes and for each add to buffer
-				for (int i=0; i<gameobj->GetMeshCount(); i++)
-				{
-					RAS_MeshObject* meshobj = gameobj->GetMesh(i);
-					const float *v1, *v2, *v3, *v4;
-
-					int polycount = meshobj->NumPolygons();
-					for (int j=0; j<polycount; j++)
-					{
-						RAS_Polygon* poly = meshobj->GetPolygon(j);
-						switch (poly->VertexCount())
-						{
-						case 3:
-							v1 = poly->GetVertex(0)->getXYZ();
-							v2 = poly->GetVertex(1)->getXYZ();
-							v3 = poly->GetVertex(2)->getXYZ();
-							m_ocb->appendOccluderM(v1,v2,v3,((poly->IsTwoside())?0.f:face));
-							break;
-						case 4:
-							v1 = poly->GetVertex(0)->getXYZ();
-							v2 = poly->GetVertex(1)->getXYZ();
-							v3 = poly->GetVertex(2)->getXYZ();
-							v4 = poly->GetVertex(3)->getXYZ();
-							m_ocb->appendOccluderM(v1,v2,v3,v4,((poly->IsTwoside())?0.f:face));
-							break;
-						}
-					}
-				}
-			}
-		}
-		if (info)
-			(*m_clientCallback)(info, m_userData);
-	}
-};
-
-static OcclusionBuffer gOcb;
-bool CcdPhysicsEnvironment::cullingTest(PHY_CullingCallback callback, void* userData, PHY__Vector4 *planes, int nplanes, int occlusionRes)
-{
-	if (!m_cullingTree)
-		return false;
-	DbvtCullingCallback dispatcher(callback, userData);
-	btVector3 planes_n[6];
-	btScalar planes_o[6];
-	if (nplanes > 6)
-		nplanes = 6;
-	for (int i=0; i<nplanes; i++)
-	{
-		planes_n[i].setValue(planes[i][0], planes[i][1], planes[i][2]);
-		planes_o[i] = planes[i][3];
-	}
-	// if occlusionRes != 0 => occlusion culling
-	if (occlusionRes)
-	{
-		gOcb.setup(occlusionRes);
-		dispatcher.m_ocb = &gOcb;
-		// occlusion culling, the direction of the view is taken from the first plan which MUST be the near plane
-		btDbvt::collideOCL(m_cullingTree->m_sets[1].m_root,planes_n,planes_o,planes_n[0],nplanes,dispatcher);
-		btDbvt::collideOCL(m_cullingTree->m_sets[0].m_root,planes_n,planes_o,planes_n[0],nplanes,dispatcher);		
-	}else 
-	{
-		btDbvt::collideKDOP(m_cullingTree->m_sets[1].m_root,planes_n,planes_o,nplanes,dispatcher);
-		btDbvt::collideKDOP(m_cullingTree->m_sets[0].m_root,planes_n,planes_o,nplanes,dispatcher);		
-	}
-	return true;
-}
-
-int	CcdPhysicsEnvironment::getNumContactPoints()
-{
-	return 0;
-}
-
-void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
-{
-
-}
-
-
-
-
-btBroadphaseInterface*	CcdPhysicsEnvironment::getBroadphase()
-{ 
-	return m_dynamicsWorld->getBroadphase(); 
-}
-
-btDispatcher*	CcdPhysicsEnvironment::getDispatcher()
-{ 
-	return m_dynamicsWorld->getDispatcher();
-}
-
-void CcdPhysicsEnvironment::MergeEnvironment(CcdPhysicsEnvironment *other)
-{
-	std::set<CcdPhysicsController*>::iterator it;
-
-	while (other->m_controllers.begin() != other->m_controllers.end())
-	{
-		it= other->m_controllers.begin();
-		CcdPhysicsController* ctrl= (*it);
-
-		other->removeCcdPhysicsController(ctrl);
-		this->addCcdPhysicsController(ctrl);
-	}
-}
-
-CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
-{
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-	m_wrapperVehicles.clear();
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-	//m_broadphase->DestroyScene();
-	//delete broadphase ? release reference on broadphase ?
-
-	//first delete scene, then dispatcher, because pairs have to release manifolds on the dispatcher
-	//delete m_dispatcher;
-	delete m_dynamicsWorld;
-	
-
-	if (NULL != m_ownPairCache)
-		delete m_ownPairCache;
-
-	if (NULL != m_ownDispatcher)
-		delete m_ownDispatcher;
-
-	if (NULL != m_solver)
-		delete m_solver;
-
-	if (NULL != m_debugDrawer)
-		delete m_debugDrawer;
-
-	if (NULL != m_filterCallback)
-		delete m_filterCallback;
-
-	if (NULL != m_collisionConfiguration)
-		delete m_collisionConfiguration;
-
-	if (NULL != m_broadphase)
-		delete m_broadphase;
-
-	if (NULL != m_cullingTree)
-		delete m_cullingTree;
-
-	if (NULL != m_cullingCache)
-		delete m_cullingCache;
-
-}
-
-
-float	CcdPhysicsEnvironment::getConstraintParam(int constraintId,int param)
-{
-	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
-	switch (typedConstraint->getUserConstraintType())
-	{
-	case PHY_GENERIC_6DOF_CONSTRAINT:
-		{
-			
-			switch (param)
-			{
-			case 0:	case 1: case 2: 
-				{
-					//param = 0..2 are linear constraint values
-					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
-					genCons->calculateTransforms();
-					return genCons->getRelativePivotPosition(param);
-					break;
-				}
-				case 3: case 4: case 5:
-				{
-					//param = 3..5 are relative constraint (Euler) angles
-					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
-					genCons->calculateTransforms();
-					return genCons->getAngle(param-3);
-					break;
-				}
-			default:
-				{
-				}
-			}
-			break;
-		};
-	default:
-		{
-		};
-	};
-	return 0.f;
-}
-
-void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1)
-{
-	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
-	switch (typedConstraint->getUserConstraintType())
-	{
-	case PHY_GENERIC_6DOF_CONSTRAINT:
-		{
-			
-			switch (param)
-			{
-			case 0:	case 1: case 2: case 3: case 4: case 5:
-				{
-					//param = 0..5 are constraint limits, with low/high limit value
-					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
-					genCons->setLimit(param,value0,value1);
-					break;
-				}
-			case 6: case 7: case 8:
-				{
-					//param = 6,7,8 are translational motors, with value0=target velocity, value1 = max motor force
-					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
-					int transMotorIndex = param-6;
-					btTranslationalLimitMotor* transMotor = genCons->getTranslationalLimitMotor();
-					transMotor->m_targetVelocity[transMotorIndex]= value0;
-					transMotor->m_maxMotorForce[transMotorIndex]=value1;
-					transMotor->m_enableMotor[transMotorIndex] = (value1>0.f);
-					break;
-				}
-			case 9: case 10: case 11:
-				{
-					//param = 9,10,11 are rotational motors, with value0=target velocity, value1 = max motor force
-					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
-					int angMotorIndex = param-9;
-					btRotationalLimitMotor* rotMotor = genCons->getRotationalLimitMotor(angMotorIndex);
-					rotMotor->m_enableMotor = (value1 > 0.f);
-					rotMotor->m_targetVelocity = value0;
-					rotMotor->m_maxMotorForce = value1;
-					break;
-				}
-
-			case 12: case 13: case 14: case 15: case 16: case 17:
-			{
-				//param 13-17 are for motorized springs on each of the degrees of freedom
-					btGeneric6DofSpringConstraint* genCons = (btGeneric6DofSpringConstraint*)typedConstraint;
-					int springIndex = param-12;
-					if (value0!=0.f)
-					{
-						bool springEnabled = true;
-						genCons->setStiffness(springIndex,value0);
-						genCons->setDamping(springIndex,value1);
-						genCons->enableSpring(springIndex,springEnabled);
-						genCons->setEquilibriumPoint(springIndex);
-					} else
-					{
-						bool springEnabled = false;
-						genCons->enableSpring(springIndex,springEnabled);
-					}
-					break;
-			}
-
-			default:
-				{
-				}
-			}
-			break;
-		};
-	default:
-		{
-		};
-	};
-}
-
-btTypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
-{
-
-	int numConstraints = m_dynamicsWorld->getNumConstraints();
-	int i;
-	for (i=0;i<numConstraints;i++)
-	{
-		btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
-		if (constraint->getUserConstraintId()==constraintId)
-		{
-			return constraint;
-		}
-	}
-	return 0;
-}
-
-
-void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
-{
-
-	CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl;
-	// addSensor() is a "light" function for bullet because it is used
-	// dynamically when the sensor is activated. Use enableCcdPhysicsController() instead 
-	//if (m_controllers.insert(ctrl1).second)
-	//{
-	//	addCcdPhysicsController(ctrl1);
-	//}
-	enableCcdPhysicsController(ctrl1);
-}
-
-bool CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
-{
-	CcdPhysicsController* ccdCtrl = (CcdPhysicsController*)ctrl;
-	if (!ccdCtrl->Unregister())
-		return false;
-	m_triggerControllers.erase(ccdCtrl);
-	return true;
-}
-
-
-void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
-{
-	disableCcdPhysicsController((CcdPhysicsController*)ctrl);
-}
-
-void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
-{
-	/*	printf("addTouchCallback\n(response class = %i)\n",response_class);
-
-	//map PHY_ convention into SM_ convention
-	switch (response_class)
-	{
-	case	PHY_FH_RESPONSE:
-	printf("PHY_FH_RESPONSE\n");
-	break;
-	case PHY_SENSOR_RESPONSE:
-	printf("PHY_SENSOR_RESPONSE\n");
-	break;
-	case PHY_CAMERA_RESPONSE:
-	printf("PHY_CAMERA_RESPONSE\n");
-	break;
-	case PHY_OBJECT_RESPONSE:
-	printf("PHY_OBJECT_RESPONSE\n");
-	break;
-	case PHY_STATIC_RESPONSE:
-	printf("PHY_STATIC_RESPONSE\n");
-	break;
-	default:
-	assert(0);
-	return;
-	}
-	*/
-
-	m_triggerCallbacks[response_class] = callback;
-	m_triggerCallbacksUserPtrs[response_class] = user;
-
-}
-bool CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
-{
-	CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
-
-	if (!ccdCtrl->Register())
-		return false;
-	m_triggerControllers.insert(ccdCtrl);
-	return true;
-}
-
-void	CcdPhysicsEnvironment::CallbackTriggers()
-{
-	if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)))
-	{
-		//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
-		btDispatcher* dispatcher = m_dynamicsWorld->getDispatcher();
-		int numManifolds = dispatcher->getNumManifolds();
-		for (int i=0;i<numManifolds;i++)
-		{
-			btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
-			int numContacts = manifold->getNumContacts();
-			if (numContacts)
-			{
-				btRigidBody* rb0 = static_cast<btRigidBody*>(manifold->getBody0());
-				btRigidBody* rb1 = static_cast<btRigidBody*>(manifold->getBody1());
-				if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))
-				{
-					for (int j=0;j<numContacts;j++)
-					{
-						btVector3 color(1,0,0);
-						const btManifoldPoint& cp = manifold->getContactPoint(j);
-						if (m_debugDrawer)
-							m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
-					}
-				}
-				btRigidBody* obj0 = rb0;
-				btRigidBody* obj1 = rb1;
-
-				//m_internalOwner is set in 'addPhysicsController'
-				CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->getUserPointer());
-				CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->getUserPointer());
-
-				std::set<CcdPhysicsController*>::const_iterator i = m_triggerControllers.find(ctrl0);
-				if (i == m_triggerControllers.end())
-				{
-					i = m_triggerControllers.find(ctrl1);
-				}
-
-				if (!(i == m_triggerControllers.end()))
-				{
-					m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
-						ctrl0,ctrl1,0);
-				}
-				// Bullet does not refresh the manifold contact point for object without contact response
-				// may need to remove this when a newer Bullet version is integrated
-				if (!dispatcher->needsResponse(rb0, rb1))
-				{
-					// Refresh algorithm fails sometimes when there is penetration 
-					// (usuall the case with ghost and sensor objects)
-					// Let's just clear the manifold, in any case, it is recomputed on each frame.
-					manifold->clearManifold(); //refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
-				}
-			}
-		}
-
-
-
-	}
-
-
-}
-
-// This call back is called before a pair is added in the cache
-// Handy to remove objects that must be ignored by sensors
-bool CcdOverlapFilterCallBack::needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
-{
-	btCollisionObject *colObj0, *colObj1;
-	CcdPhysicsController *sensorCtrl, *objCtrl;
-	bool collides;
-	// first check the filters
-	collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-	collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-	if (!collides)
-		return false;
-
-	// additional check for sensor object
-	if (proxy0->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger)
-	{
-		// this is a sensor object, the other one can't be a sensor object because 
-		// they exclude each other in the above test
-		assert(!(proxy1->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger));
-		colObj0 = (btCollisionObject*)proxy0->m_clientObject;
-		colObj1 = (btCollisionObject*)proxy1->m_clientObject;
-	}
-	else if (proxy1->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger)
-	{
-		colObj0 = (btCollisionObject*)proxy1->m_clientObject;
-		colObj1 = (btCollisionObject*)proxy0->m_clientObject;
-	}
-	else
-	{
-		return true;
-	}
-	if (!colObj0 || !colObj1)
-		return false;
-	sensorCtrl = static_cast<CcdPhysicsController*>(colObj0->getUserPointer());
-	objCtrl = static_cast<CcdPhysicsController*>(colObj1->getUserPointer());
-	if (m_physEnv->m_triggerCallbacks[PHY_BROADPH_RESPONSE])
-	{
-		return m_physEnv->m_triggerCallbacks[PHY_BROADPH_RESPONSE](m_physEnv->m_triggerCallbacksUserPtrs[PHY_BROADPH_RESPONSE], sensorCtrl, objCtrl, 0);
-	}
-	return true;
-}
-
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-
-//complex constraint for vehicles
-PHY_IVehicle*	CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
-{
-	int i;
-
-	int numVehicles = m_wrapperVehicles.size();
-	for (i=0;i<numVehicles;i++)
-	{
-		WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
-		if (wrapperVehicle->GetVehicle()->getUserConstraintId() == constraintId)
-			return wrapperVehicle;
-	}
-
-	return 0;
-}
-
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-
-int currentController = 0;
-int numController = 0;
-
-
-
-
-PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
-{
-	
-	CcdConstructionInfo	cinfo;
-	memset(&cinfo, 0, sizeof(cinfo)); /* avoid uninitialized values */
-	cinfo.m_collisionShape = new btSphereShape(radius); // memory leak! The shape is not deleted by Bullet and we cannot add it to the KX_Scene.m_shapes list
-	cinfo.m_MotionState = 0;
-	cinfo.m_physicsEnv = this;
-	// 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_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]));
-
-	CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
-	
-	return sphereController;
-}
-
-int findClosestNode(btSoftBody* sb,const btVector3& worldPoint);
-int findClosestNode(btSoftBody* sb,const btVector3& worldPoint)
-{
-	int node = -1;
-
-	btSoftBody::tNodeArray&   nodes(sb->m_nodes);
-	float maxDistSqr = 1e30f;
-
-	for (int n=0;n<nodes.size();n++)
-	{
-		btScalar distSqr = (nodes[n].m_x - worldPoint).length2();
-		if (distSqr<maxDistSqr)
-		{
-			maxDistSqr = distSqr;
-			node = n;
-		}
-	}
-	return node;
-}
-
-int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
-													float pivotX,float pivotY,float pivotZ,
-													float axisX,float axisY,float axisZ,
-													float axis1X,float axis1Y,float axis1Z,
-													float axis2X,float axis2Y,float axis2Z,int flags
-													)
-{
-
-	bool disableCollisionBetweenLinkedBodies = (0!=(flags & CCD_CONSTRAINT_DISABLE_LINKED_COLLISION));
-
-
-
-	CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0;
-	CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1;
-
-	btRigidBody* rb0 = c0 ? c0->GetRigidBody() : 0;
-	btRigidBody* rb1 = c1 ? c1->GetRigidBody() : 0;
-
-	
-
-
-	bool rb0static = rb0 ? rb0->isStaticOrKinematicObject() : true;
-	bool rb1static = rb1 ? rb1->isStaticOrKinematicObject() : true;
-
-	btCollisionObject* colObj0 = c0->GetCollisionObject();
-	if (!colObj0)
-	{
-		return 0;
-	}
-
-	btVector3 pivotInA(pivotX,pivotY,pivotZ);
-
-	
-
-	//it might be a soft body, let's try
-	btSoftBody* sb0 = c0 ? c0->GetSoftBody() : 0;
-	btSoftBody* sb1 = c1 ? c1->GetSoftBody() : 0;
-	if (sb0 && sb1)
-	{
-		//not between two soft bodies?
-		return 0;
-	}
-
-	if (sb0)
-	{
-		//either cluster or node attach, let's find closest node first
-		//the soft body doesn't have a 'real' world transform, so get its initial world transform for now
-		btVector3 pivotPointSoftWorld = sb0->m_initialWorldTransform(pivotInA);
-		int node=findClosestNode(sb0,pivotPointSoftWorld);
-		if (node >=0)
-		{
-			bool clusterconstaint = false;
-/*
-			switch (type)
-			{
-			case PHY_LINEHINGE_CONSTRAINT:
-				{
-					if (sb0->clusterCount() && rb1)
-					{
-						btSoftBody::LJoint::Specs	ls;
-						ls.erp=0.5f;
-						ls.position=sb0->clusterCom(0);
-						sb0->appendLinearJoint(ls,rb1);
-						clusterconstaint = true;
-						break;
-					}
-				}
-			case PHY_GENERIC_6DOF_CONSTRAINT:
-				{
-					if (sb0->clusterCount() && rb1)
-					{
-						btSoftBody::AJoint::Specs as;
-						as.erp = 1;
-						as.cfm = 1;
-						as.axis.setValue(axisX,axisY,axisZ);
-						sb0->appendAngularJoint(as,rb1);
-						clusterconstaint = true;
-						break;
-					}
-
-					break;
-				}
-			default:
-				{
-				
-				}
-			};
-			*/
-
-			if (!clusterconstaint)
-			{
-				if (rb1)
-				{
-					sb0->appendAnchor(node,rb1,disableCollisionBetweenLinkedBodies);
-				} else
-				{
-					sb0->setMass(node,0.f);
-				}
-			}
-
-			
-		}
-		return 0;//can't remove soft body anchors yet
-	}
-
-	if (sb1)
-	{
-		btVector3 pivotPointAWorld = colObj0->getWorldTransform()(pivotInA);
-		int node=findClosestNode(sb1,pivotPointAWorld);
-		if (node >=0)
-		{
-			bool clusterconstaint = false;
-
-			/*
-			switch (type)
-			{
-			case PHY_LINEHINGE_CONSTRAINT:
-				{
-					if (sb1->clusterCount() && rb0)
-					{
-						btSoftBody::LJoint::Specs	ls;
-						ls.erp=0.5f;
-						ls.position=sb1->clusterCom(0);
-						sb1->appendLinearJoint(ls,rb0);
-						clusterconstaint = true;
-						break;
-					}
-				}
-			case PHY_GENERIC_6DOF_CONSTRAINT:
-				{
-					if (sb1->clusterCount() && rb0)
-					{
-						btSoftBody::AJoint::Specs as;
-						as.erp = 1;
-						as.cfm = 1;
-						as.axis.setValue(axisX,axisY,axisZ);
-						sb1->appendAngularJoint(as,rb0);
-						clusterconstaint = true;
-						break;
-					}
-
-					break;
-				}
-			default:
-				{
-					
-
-				}
-			};*/
-
-
-			if (!clusterconstaint)
-			{
-				if (rb0)
-				{
-					sb1->appendAnchor(node,rb0,disableCollisionBetweenLinkedBodies);
-				} else
-				{
-					sb1->setMass(node,0.f);
-				}
-			}
-			
-
-		}
-		return 0;//can't remove soft body anchors yet
-	}
-
-	if (rb0static && rb1static)
-	{
-		
-		return 0;
-	}
-	
-
-	if (!rb0)
-		return 0;
-
-	
-	btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : 
-		rb0->getCenterOfMassTransform() * pivotInA;
-	btVector3 axisInA(axisX,axisY,axisZ);
-
-
-	bool angularOnly = false;
-
-	switch (type)
-	{
-	case PHY_POINT2POINT_CONSTRAINT:
-		{
-
-			btPoint2PointConstraint* p2p = 0;
-
-			if (rb1)
-			{
-				p2p = new btPoint2PointConstraint(*rb0,
-					*rb1,pivotInA,pivotInB);
-			} else
-			{
-				p2p = new btPoint2PointConstraint(*rb0,
-					pivotInA);
-			}
-
-			m_dynamicsWorld->addConstraint(p2p,disableCollisionBetweenLinkedBodies);
-//			m_constraints.push_back(p2p);
-
-			p2p->setUserConstraintId(gConstraintUid++);
-			p2p->setUserConstraintType(type);
-			//64 bit systems can't cast pointer to int. could use size_t instead.
-			return p2p->getUserConstraintId();
-
-			break;
-		}
-
-	case PHY_GENERIC_6DOF_CONSTRAINT:
-		{
-			btGeneric6DofConstraint* genericConstraint = 0;
-
-			if (rb1)
-			{
-				btTransform frameInA;
-				btTransform frameInB;
-				
-				btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
-				if (axis1.length() == 0.0)
-				{
-					btPlaneSpace1( axisInA, axis1, axis2 );
-				}
-				
-				frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
-					                          axisInA.y(), axis1.y(), axis2.y(),
-											  axisInA.z(), axis1.z(), axis2.z() );
-				frameInA.setOrigin( pivotInA );
-
-				btTransform inv = rb1->getCenterOfMassTransform().inverse();
-
-				btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA;
-				
-				frameInB = inv  * globalFrameA;
-				bool useReferenceFrameA = true;
-
-				genericConstraint = new btGeneric6DofSpringConstraint(
-					*rb0,*rb1,
-					frameInA,frameInB,useReferenceFrameA);
-
-
-			} else
-			{
-				static btRigidBody s_fixedObject2( 0,0,0);
-				btTransform frameInA;
-				btTransform frameInB;
-				
-				btVector3 axis1, axis2;
-				btPlaneSpace1( axisInA, axis1, axis2 );
-
-				frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
-					                          axisInA.y(), axis1.y(), axis2.y(),
-											  axisInA.z(), axis1.z(), axis2.z() );
-
-				frameInA.setOrigin( pivotInA );
-
-				///frameInB in worldspace
-				frameInB = rb0->getCenterOfMassTransform() * frameInA;
-
-				bool useReferenceFrameA = true;
-				genericConstraint = new btGeneric6DofSpringConstraint(
-					*rb0,s_fixedObject2,
-					frameInA,frameInB,useReferenceFrameA);
-			}
-			
-			if (genericConstraint)
-			{
-				//m_constraints.push_back(genericConstraint);
-				m_dynamicsWorld->addConstraint(genericConstraint,disableCollisionBetweenLinkedBodies);
-				genericConstraint->setUserConstraintId(gConstraintUid++);
-				genericConstraint->setUserConstraintType(type);
-				//64 bit systems can't cast pointer to int. could use size_t instead.
-				return genericConstraint->getUserConstraintId();
-			} 
-
-			break;
-		}
-	case PHY_CONE_TWIST_CONSTRAINT:
-		{
-			btConeTwistConstraint* coneTwistContraint = 0;
-
-			
-			if (rb1)
-			{
-				btTransform frameInA;
-				btTransform frameInB;
-				
-				btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
-				if (axis1.length() == 0.0)
-				{
-					btPlaneSpace1( axisInA, axis1, axis2 );
-				}
-				
-				frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
-					                          axisInA.y(), axis1.y(), axis2.y(),
-											  axisInA.z(), axis1.z(), axis2.z() );
-				frameInA.setOrigin( pivotInA );
-
-				btTransform inv = rb1->getCenterOfMassTransform().inverse();
-
-				btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA;
-				
-				frameInB = inv  * globalFrameA;
-				
-				coneTwistContraint = new btConeTwistConstraint(	*rb0,*rb1,
-					frameInA,frameInB);
-
-
-			} else
-			{
-				static btRigidBody s_fixedObject2( 0,0,0);
-				btTransform frameInA;
-				btTransform frameInB;
-				
-				btVector3 axis1, axis2;
-				btPlaneSpace1( axisInA, axis1, axis2 );
-
-				frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
-					                          axisInA.y(), axis1.y(), axis2.y(),
-											  axisInA.z(), axis1.z(), axis2.z() );
-
-				frameInA.setOrigin( pivotInA );
-
-				///frameInB in worldspace
-				frameInB = rb0->getCenterOfMassTransform() * frameInA;
-
-				coneTwistContraint = new btConeTwistConstraint(
-					*rb0,s_fixedObject2,
-					frameInA,frameInB);
-			}
-			
-			if (coneTwistContraint)
-			{
-				//m_constraints.push_back(genericConstraint);
-				m_dynamicsWorld->addConstraint(coneTwistContraint,disableCollisionBetweenLinkedBodies);
-				coneTwistContraint->setUserConstraintId(gConstraintUid++);
-				coneTwistContraint->setUserConstraintType(type);
-				//64 bit systems can't cast pointer to int. could use size_t instead.
-				return coneTwistContraint->getUserConstraintId();
-			} 
-
-
-
-			break;
-		}
-	case PHY_ANGULAR_CONSTRAINT:
-		angularOnly = true;
-
-
-	case PHY_LINEHINGE_CONSTRAINT:
-		{
-			btHingeConstraint* hinge = 0;
-
-			if (rb1)
-			{
-				btVector3 axisInB = rb1 ? 
-				(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : 
-				rb0->getCenterOfMassTransform().getBasis() * axisInA;
-
-				hinge = new btHingeConstraint(
-					*rb0,
-					*rb1,pivotInA,pivotInB,axisInA,axisInB);
-
-
-			} else
-			{
-				hinge = new btHingeConstraint(*rb0,
-					pivotInA,axisInA);
-
-			}
-			hinge->setAngularOnly(angularOnly);
-
-			//m_constraints.push_back(hinge);
-			m_dynamicsWorld->addConstraint(hinge,disableCollisionBetweenLinkedBodies);
-			hinge->setUserConstraintId(gConstraintUid++);
-			hinge->setUserConstraintType(type);
-			//64 bit systems can't cast pointer to int. could use size_t instead.
-			return hinge->getUserConstraintId();
-			break;
-		}
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-
-	case PHY_VEHICLE_CONSTRAINT:
-		{
-			btRaycastVehicle::btVehicleTuning* tuning = new btRaycastVehicle::btVehicleTuning();
-			btRigidBody* chassis = rb0;
-			btDefaultVehicleRaycaster* raycaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
-			btRaycastVehicle* vehicle = new btRaycastVehicle(*tuning,chassis,raycaster);
-			WrapperVehicle* wrapperVehicle = new WrapperVehicle(vehicle,ctrl0);
-			m_wrapperVehicles.push_back(wrapperVehicle);
-			m_dynamicsWorld->addVehicle(vehicle);
-			vehicle->setUserConstraintId(gConstraintUid++);
-			vehicle->setUserConstraintType(type);
-			return vehicle->getUserConstraintId();
-
-			break;
-		};
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-	default:
-		{
-		}
-	};
-
-	//btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB
-
-	return 0;
-
-}
-
-
-
-PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
-{
-	CcdConstructionInfo	cinfo;
-	memset(&cinfo, 0, sizeof(cinfo)); /* avoid uninitialized values */
-	// we don't need a CcdShapeConstructionInfo for this shape:
-	// it is simple enough for the standard copy constructor (see CcdPhysicsController::GetReplica)
-	cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);
-	cinfo.m_MotionState = 0;
-	cinfo.m_physicsEnv = this;
-	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]));
-
-	CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
-
-
-	return sphereController;
-}
-	
-float		CcdPhysicsEnvironment::getAppliedImpulse(int	constraintid)
-{
-	int i;
-	int numConstraints = m_dynamicsWorld->getNumConstraints();
-	for (i=0;i<numConstraints;i++)
-	{
-		btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
-		if (constraint->getUserConstraintId() == constraintid)
-		{
-			return constraint->getAppliedImpulse();
-		}
-	}
-
-	return 0.f;
-}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
deleted file mode 100644
index c6e759743a9..00000000000
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ /dev/null
@@ -1,285 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CCDPHYSICSENVIRONMENT
-#define CCDPHYSICSENVIRONMENT
-
-#include "PHY_IPhysicsEnvironment.h"
-#include <vector>
-#include <set>
-class CcdPhysicsController;
-class CcdGraphicController;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-
-
-
-
-class btTypedConstraint;
-class btSimulationIslandManager;
-class btCollisionDispatcher;
-class btDispatcher;
-//#include "btBroadphaseInterface.h"
-
-//switch on/off new vehicle support
-#define NEW_BULLET_VEHICLE_SUPPORT 1
-
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-
-class WrapperVehicle;
-class btPersistentManifold;
-class btBroadphaseInterface;
-struct btDbvtBroadphase;
-class btOverlappingPairCache;
-class btIDebugDraw;
-class PHY_IVehicle;
-class CcdOverlapFilterCallBack;
-
-/// CcdPhysicsEnvironment is an experimental mainloop for physics simulation using optional continuous collision detection.
-/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
-/// It stores rigidbodies,constraints, materials etc.
-/// A derived class may be able to 'construct' entities by loading and/or converting
-class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
-{
-	friend class CcdOverlapFilterCallBack;
-	btVector3 m_gravity;
-
-protected:
-	btIDebugDraw*	m_debugDrawer;
-	
-	class btDefaultCollisionConfiguration* m_collisionConfiguration;
-    class btBroadphaseInterface*		m_broadphase;	// broadphase for dynamic world
-	// for culling only
-	btOverlappingPairCache*				m_cullingCache;
-	struct btDbvtBroadphase*			m_cullingTree;	// broadphase for culling
-
-	//solver iterations
-	int	m_numIterations;
-	
-	//timestep subdivisions
-	int	m_numTimeSubSteps;
-
-
-	int	m_ccdMode;
-	int	m_solverType;
-	int	m_profileTimings;
-	bool m_enableSatCollisionDetection;
-
-	btContactSolverInfo	m_solverInfo;
-	
-	void	processFhSprings(double curTime,float timeStep);
-
-	public:
-		CcdPhysicsEnvironment(bool useDbvtCulling, btDispatcher* dispatcher=0, btOverlappingPairCache* pairCache=0);
-
-		virtual		~CcdPhysicsEnvironment();
-
-		/////////////////////////////////////
-		//PHY_IPhysicsEnvironment interface
-		/////////////////////////////////////
-
-		/// Perform an integration step of duration 'timeStep'.
-
-		virtual void setDebugDrawer(btIDebugDraw* debugDrawer);
-
-		virtual void		setNumIterations(int numIter);
-		virtual void		setNumTimeSubSteps(int numTimeSubSteps)
-		{
-			m_numTimeSubSteps = numTimeSubSteps;
-		}
-		virtual void		setDeactivationTime(float dTime);
-		virtual	void		setDeactivationLinearTreshold(float linTresh) ;
-		virtual	void		setDeactivationAngularTreshold(float angTresh) ;
-		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) ;
-		virtual void		setCcdMode(int ccdMode);
-		virtual void		setSolverType(int solverType);
-		virtual void		setSolverSorConstant(float sor);
-		virtual void		setSolverTau(float tau);
-		virtual void		setSolverDamping(float damping);
-		virtual void		setLinearAirDamping(float damping);
-		virtual void		setUseEpa(bool epa) ;
-
-		virtual	void		beginFrame();
-		virtual void		endFrame() {};
-		/// Perform an integration step of duration 'timeStep'.
-		virtual	bool		proceedDeltaTime(double curTime,float timeStep,float interval);
-		
-		virtual void		debugDrawWorld();
-//		virtual bool		proceedDeltaTimeOneStep(float timeStep);
-
-		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
-		//returns 0.f if no fixed timestep is used
-
-		virtual	float		getFixedTimeStep(){ return 0.f;};
-
-		virtual void		setDebugMode(int debugMode);
-
-		virtual	void		setGravity(float x,float y,float z);
-		virtual	void		getGravity(PHY__Vector3& grav);
-
-
-		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
-			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ,
-			float axis1X=0,float axis1Y=0,float axis1Z=0,
-			float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0
-			);
-
-
-		//Following the COLLADA physics specification for constraints
-		virtual int			createUniversalD6Constraint(
-		class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
-			btTransform& localAttachmentFrameRef,
-			btTransform& localAttachmentOther,
-			const btVector3& linearMinLimits,
-			const btVector3& linearMaxLimits,
-			const btVector3& angularMinLimits,
-			const btVector3& angularMaxLimits,int flags
-			);
-
-		
-		virtual void	setConstraintParam(int constraintId,int param,float value,float value1);
-		
-		virtual float	getConstraintParam(int constraintId,int param);
-
-	    virtual void		removeConstraint(int	constraintid);
-
-		virtual float		getAppliedImpulse(int	constraintid);
-
-
-		virtual void	CallbackTriggers();
-
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-		//complex constraint for vehicles
-		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId);
-#else
-		virtual class PHY_IVehicle*	getVehicleConstraint(int constraintId)
-		{
-			return 0;
-		}
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-		btTypedConstraint*	getConstraintById(int constraintId);
-
-		virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ);
-		virtual bool cullingTest(PHY_CullingCallback callback, void* userData, PHY__Vector4* planes, int nplanes, int occlusionRes);
-
-
-		//Methods for gamelogic collision/physics callbacks
-		virtual void addSensor(PHY_IPhysicsController* ctrl);
-		virtual void removeSensor(PHY_IPhysicsController* ctrl);
-		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
-		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);
-	
-
-		virtual int	getNumContactPoints();
-
-		virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
-
-		//////////////////////
-		//CcdPhysicsEnvironment interface
-		////////////////////////
-	
-		void	addCcdPhysicsController(CcdPhysicsController* ctrl);
-
-		bool	removeCcdPhysicsController(CcdPhysicsController* ctrl);
-
-		void	updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask);
-
-		void	disableCcdPhysicsController(CcdPhysicsController* ctrl);
-
-		void	enableCcdPhysicsController(CcdPhysicsController* ctrl);
-
-		void	refreshCcdPhysicsController(CcdPhysicsController* ctrl);
-
-		void	addCcdGraphicController(CcdGraphicController* ctrl);
-
-		void	removeCcdGraphicController(CcdGraphicController* ctrl);
-
-		btBroadphaseInterface*	getBroadphase();
-		btDbvtBroadphase*	getCullingTree() { return m_cullingTree; }
-
-		btDispatcher*	getDispatcher();
-		
-
-		bool	IsSatCollisionDetectionEnabled() const
-		{
-			return m_enableSatCollisionDetection;
-		}
-
-		void	EnableSatCollisionDetection(bool enableSat)
-		{
-			m_enableSatCollisionDetection = enableSat;
-		}
-
-	
-		const btPersistentManifold*	GetManifold(int index) const;
-
-	
-		void	SyncMotionStates(float timeStep);
-
-		class	btSoftRigidDynamicsWorld*	getDynamicsWorld()
-		{
-			return m_dynamicsWorld;
-		}
-	
-		class btConstraintSolver*	GetConstraintSolver();
-
-		void MergeEnvironment(CcdPhysicsEnvironment *other);
-
-	protected:
-		
-		
-
-		std::set<CcdPhysicsController*> m_controllers;
-		std::set<CcdPhysicsController*> m_triggerControllers;
-
-		PHY_ResponseCallback	m_triggerCallbacks[PHY_NUM_RESPONSE];
-		void*			m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE];
-		
-		std::vector<WrapperVehicle*>	m_wrapperVehicles;
-
-		//use explicit btSoftRigidDynamicsWorld/btDiscreteDynamicsWorld* so that we have access to 
-		//btDiscreteDynamicsWorld::addRigidBody(body,filter,group) 
-		//so that we can set the body collision filter/group at the time of creation 
-		//and not afterwards (breaks the collision system for radar/near sensor)
-		//Ideally we would like to have access to this function from the btDynamicsWorld interface
-		//class	btDynamicsWorld*	m_dynamicsWorld;
-		class	btSoftRigidDynamicsWorld*	m_dynamicsWorld;
-		
-		class btConstraintSolver*	m_solver;
-
-		class btOverlappingPairCache* m_ownPairCache;
-
-		class CcdOverlapFilterCallBack* m_filterCallback;
-
-		class btDispatcher* m_ownDispatcher;
-
-		bool	m_scalingPropagated;
-
-		
-#ifdef WITH_CXX_GUARDEDALLOC
-public:
-	void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:CcdPhysicsEnvironment"); }
-	void operator delete( void *mem ) { MEM_freeN(mem); }
-#endif
-};
-
-#endif //CCDPHYSICSENVIRONMENT
diff --git a/source/gameengine/Physics/Bullet/Makefile b/source/gameengine/Physics/Bullet/Makefile
deleted file mode 100644
index 0514565534d..00000000000
--- a/source/gameengine/Physics/Bullet/Makefile
+++ /dev/null
@@ -1,55 +0,0 @@
-#
-# $Id$
-#
-# ***** BEGIN GPL LICENSE BLOCK *****
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software Foundation,
-# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 LICENSE BLOCK *****
-#
-#
-
-LIBNAME = blbullet
-DIR = $(OCGDIR)/gameengine/blphys/$(LIBNAME)
-
-include nan_compile.mk
-
-CCFLAGS += $(LEVEL_1_CPP_WARNINGS)
-
-CPPFLAGS += -I$(NAN_BULLET2)/include
-CPPFLAGS += -I$(NAN_GUARDEDALLOC)/include
-CPPFLAGS += -I$(NAN_STRING)/include
-CPPFLAGS += -I$(NAN_MOTO)/include
-CPPFLAGS += -I$(NAN_GLEW)/include
-CPPFLAGS += -I$(NAN_PYTHON)/include/python$(NAN_PYTHON_VERSION) 
-CPPFLAGS += -I../../../kernel/gen_system
-CPPFLAGS += -I../../Physics/common
-CPPFLAGS += -I../../Physics/Dummy
-CPPFLAGS += -I../../Rasterizer
-CPPFLAGS += -I../../Ketsji
-CPPFLAGS += -I../../Expressions
-CPPFLAGS += -I../../GameLogic
-CPPFLAGS += -I../../SceneGraph
-CPPFLAGS += -I../../../../source/blender/makesdna
-CPPFLAGS += -I../../../../source/blender/blenkernel
-CPPFLAGS += -I../../../../source/blender/blenlib
-
diff --git a/source/gameengine/Physics/Bullet/SConscript b/source/gameengine/Physics/Bullet/SConscript
deleted file mode 100644
index 2554ada2e8c..00000000000
--- a/source/gameengine/Physics/Bullet/SConscript
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/python
-Import ('env')
-
-sources = 'CcdPhysicsEnvironment.cpp CcdPhysicsController.cpp CcdGraphicController.cpp'
-
-incs = '. ../common'
-incs += ' #source/kernel/gen_system'
-incs += ' #intern/string'
-incs += ' #intern/moto/include'
-incs += ' #extern/glew/include'
-incs += ' #source/gameengine/Rasterizer'
-incs += ' #source/gameengine/Ketsji'
-incs += ' #source/gameengine/Expressions'
-incs += ' #source/gameengine/GameLogic'
-incs += ' #source/gameengine/SceneGraph'
-incs += ' #source/blender/makesdna'
-incs += ' #source/blender/bmesh'
-incs += ' #source/blender/blenkernel'
-incs += ' #source/blender/blenlib'
-incs += ' #intern/guardedalloc'
-
-incs += ' ' + env['BF_BULLET_INC']
-
-defs = []
-
-if env['WITH_BF_PYTHON']:
-	incs += ' ' + env['BF_PYTHON_INC']
-else:
-	defs.append('DISABLE_PYTHON')
-
-env.BlenderLib ( 'bf_bullet', Split(sources), Split(incs), defs, libtype=['core','player'], priority=[350,50], cxx_compileflags=env['BGE_CXXFLAGS'])