BGE: Cleaning up the BGE's physics code and removing KX_IPhysicsController and KX_BulletPhysicsController. Instead, we just use PHY_IPhysicsController, which removes a lot of duplicate code.

This is a squashed commit of the following:
    BGE Physics Cleanup: Fix crashes with LibLoading and replication. Also fixing some memory leaks.
    BGE Physics Cleanup: Removing KX_IPhysicsController and KX_BulletPhysicsController.
    BGE Physics Cleanup: Moving the replication code outside of KX_BlenderBulletController and switching KX_ConvertPhysicsObjects to create a CcdPhysicsController instead of a KX_BlenderBulletController.
    BGE Physics Cleanup: Getting rid of an unsued KX_BulletPhysicsController.h include in KX_Scene.cpp.
    BGE Physics Cleanup: Removing unused KX_IPhysicsController and KX_BulletPhysicsController includes.
    BGE Physics Cleanup: Removing m_pPhysicsController1 and GetPhysicsController1() from KX_GameObject.
    BGE Physics Cleanup: Remove SetRigidBody() from KX_IPhysicsController and remove GetName() from CcdPhysicsController.
    BGE Physics Cleanup: Moving Add/RemoveCompoundChild() from KX_IPhysicsController to PHY_IPhysicsController.
    BGE Physics Cleanup: Removing GetLocalInertia() from KX_IPhysicsController.
    BGE Physics Cleanup: Making BlenderBulletCharacterController derive from PHY_ICharacter and removing CharacterWrapper from CcdPhysicsEnvironment.cpp. Also removing the character functions from KX_IPhysicsController.
    BGE Physics Cleanup: Removing GetOrientation(), SetOrientation(), SetPosition(), SetScaling(), and GetRadius() from KX_IPhysicsController.
    BGE Physics Cleanup: Removing GetReactionForce() since all implementations returned (0, 0, 0). The Python interface for KX_GameObject still has reaction force code, but it still also returns (0, 0, 0). This can probably be removed as well, but removing it can break scripts, so I'll leave it for now.
    BGE Physics Cleanup: Removing Get/SetLinVelocityMin() and Get/SetLinVelocityMax() from KX_IPhysicsController.
    BGE Physics Cleanup: Removing SetMargin(), RelativeTranslate(), and RelativeRotate() from KX_IPhysicsController.
    BGE Physics Cleanup: Using constant references for function arguments in PHY_IPhysicsController where appropriate.
    BGE Physics Cleanup: Removing ApplyImpulse() from KX_IPhysicsController.
    BGE Physics Cleanup: Removing ResolveCombinedVelocities() from KX_IPhysicsController.
    BGE Physics Cleanup: Accidently removed a return when cleaning up KX_GameObject::PyGetVelocity().
    BGE Physics Cleanup: Remove GetLinearVelocity(), GetAngularVelocity() and GetVelocity() from KX_IPhysicsController. The corresponding PHY_IPhysicsController functions now also take Moto types instead of scalars to match the KX_IPhysicsController interface.
    BGE Physics Cleanup: Moving SuspendDynamics, RestoreDynamics, SetMass, GetMass, and SetTransform from KX_IPhysicsController to PHY_IPhysicsController.
    BGE Physics Cleanup: PHY_IPhysicsEnvironment and derived classes now use the same naming scheme as PHY_IController.
    BGE Physics Cleanup: PHY_IMotionState and derived classes now use the same naming convention as PHY_IController.
    BGE Phsyics Cleanup: Making PHY_IController and its derived classes follow a consistent naming scheme for member functions. They now all start with capital letters (e.g., setWorldOrientation becomes SetWorldOrientation).
    BGE Physics Cleanup: Getting rid of KX_GameObject::SuspendDynamics() and KX_GameObject::RestoreDynamics(). Instead, use the functions from the physics controller.
    BGE: Some first steps in trying to cleanup the KX_IPhysicsController mess. KX_GameObject now has a GetPhysicsController() and a GetPhysicsController1(). The former returns a PHY_IPhysicsController* while the latter returns a KX_IPhysicsController. The goal is to get everything using GetPhysicsController() instead of GetPhysicsController1().

48 files changed, 973 insertions, 1724 deletions

diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index b753f667e70..1b27fde4fa4 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -1419,12 +1419,12 @@ static void BL_CreateGraphicObjectNew(KX_GameObject* gameobj,
 				PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
 				CcdGraphicController* ctrl = new CcdGraphicController(env, motionstate);
 				gameobj->SetGraphicController(ctrl);
-				ctrl->setNewClientInfo(gameobj->getClientInfo());
-				ctrl->setLocalAabb(localAabbMin, localAabbMax);
+				ctrl->SetNewClientInfo(gameobj->getClientInfo());
+				ctrl->SetLocalAabb(localAabbMin, localAabbMax);
 				if (isActive) {
 					// add first, this will create the proxy handle, only if the object is visible
 					if (gameobj->GetVisible())
-						env->addCcdGraphicController(ctrl);
+						env->AddCcdGraphicController(ctrl);
 					// update the mesh if there is a deformer, this will also update the bounding box for modifiers
 					RAS_Deformer* deformer = gameobj->GetDeformer();
 					if (deformer)
@@ -2027,22 +2027,8 @@ static void UNUSED_FUNCTION(RBJconstraints)(Object *ob)//not used
 }
 
 #include "PHY_IPhysicsEnvironment.h"
-#include "KX_IPhysicsController.h"
 #include "PHY_DynamicTypes.h"
 
-#if 0  /* UNUSED */
-static KX_IPhysicsController* getPhId(CListValue* sumolist,STR_String busc) {//not used
-
-	for (int j=0;j<sumolist->GetCount();j++)
-	{
-		KX_GameObject* gameobje = (KX_GameObject*) sumolist->GetValue(j);
-		if (gameobje->GetName()==busc)
-			return gameobje->GetPhysicsController();
-	}
-
-	return 0;
-}
-#endif
 
 static KX_GameObject* getGameOb(STR_String busc,CListValue* sumolist)
 {
@@ -2585,7 +2571,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 			kxscene->SetDbvtOcclusionRes(blenderscene->gm.occlusionRes);
 	}
 	if (blenderscene->world)
-		kxscene->GetPhysicsEnvironment()->setNumTimeSubSteps(blenderscene->gm.physubstep);
+		kxscene->GetPhysicsEnvironment()->SetNumTimeSubSteps(blenderscene->gm.physubstep);
 
 	// now that the scenegraph is complete, let's instantiate the deformers.
 	// We need that to create reusable derived mesh and physic shapes
@@ -2676,12 +2662,12 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 						{
 							KX_GameObject *gotar=getGameOb(dat->tar->id.name+2,sumolist);
 							if (gotar && ((gotar->GetLayer()&activeLayerBitInfo)!=0) && gotar->GetPhysicsController())
-								physctr2 = (PHY_IPhysicsController*) gotar->GetPhysicsController()->GetUserData();
+								physctr2 = gotar->GetPhysicsController();
 						}
 
 						if (gameobj->GetPhysicsController())
 						{
-							PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) gameobj->GetPhysicsController()->GetUserData();
+							PHY_IPhysicsController* physctrl = gameobj->GetPhysicsController();
 							//we need to pass a full constraint frame, not just axis
 
 							//localConstraintFrameBasis
@@ -2690,7 +2676,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 							MT_Vector3 axis1 = localCFrame.getColumn(1);
 							MT_Vector3 axis2 = localCFrame.getColumn(2);
 								
-							int constraintId = kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,
+							int constraintId = kxscene->GetPhysicsEnvironment()->CreateConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,
 								(float)dat->pivY,(float)dat->pivZ,
 								(float)axis0.x(),(float)axis0.y(),(float)axis0.z(),
 								(float)axis1.x(),(float)axis1.y(),(float)axis1.z(),
@@ -2706,11 +2692,11 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 									{
 										if (dat->flag & dofbit)
 										{
-											kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]);
+											kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]);
 										} else
 										{
 											//minLimit > maxLimit means free(disabled limit) for this degree of freedom
-											kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1);
+											kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,1,-1);
 										}
 										dofbit<<=1;
 									}
@@ -2724,12 +2710,12 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 									{
 										if (dat->flag & dofbit)
 										{
-											kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]);
+											kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]);
 										}
 										else
 										{
 											//maxLimit < 0 means free(disabled limit) for this degree of freedom
-											kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1);
+											kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,1,-1);
 										}
 										dofbit<<=1;
 									}
@@ -2741,12 +2727,12 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 									
 									if (dat->flag & dofbit)
 									{
-										kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,
+										kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,
 												dat->minLimit[dof],dat->maxLimit[dof]);
 									} else
 									{
 										//minLimit > maxLimit means free(disabled limit) for this degree of freedom
-										kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1);
+										kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,1,-1);
 									}
 								}
 							}
diff --git a/source/gameengine/Converter/BL_ModifierDeformer.cpp b/source/gameengine/Converter/BL_ModifierDeformer.cpp
index ec52eaac637..82f49ad5227 100644
--- a/source/gameengine/Converter/BL_ModifierDeformer.cpp
+++ b/source/gameengine/Converter/BL_ModifierDeformer.cpp
@@ -192,7 +192,7 @@ bool BL_ModifierDeformer::Update(void)
 				float min_r[3], max_r[3];
 				INIT_MINMAX(min_r, max_r);
 				m_dm->getMinMax(m_dm, min_r, max_r);
-				ctrl->setLocalAabb(min_r, max_r);
+				ctrl->SetLocalAabb(min_r, max_r);
 			}
 		}
 		m_lastModifierUpdate=m_gameobj->GetLastFrame();
diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
index f642fd43aef..e682f335608 100644
--- a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
+++ b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
@@ -42,7 +42,6 @@
 #include "PHY_IPhysicsEnvironment.h"
 #include "KX_KetsjiEngine.h"
 #include "KX_PythonInit.h" // So we can handle adding new text datablocks for Python to import
-#include "KX_IPhysicsController.h"
 #include "BL_Material.h"
 #include "BL_ActionActuator.h"
 #include "KX_BlenderMaterial.h"
@@ -355,15 +354,15 @@ void KX_BlenderSceneConverter::ConvertScene(class KX_Scene* destinationscene,
 		case UseBullet:
 			{
 				CcdPhysicsEnvironment* ccdPhysEnv = new CcdPhysicsEnvironment(useDbvtCulling);
-				ccdPhysEnv->setDebugDrawer(new BlenderDebugDraw());
-				ccdPhysEnv->setDeactivationLinearTreshold(blenderscene->gm.lineardeactthreshold);
-				ccdPhysEnv->setDeactivationAngularTreshold(blenderscene->gm.angulardeactthreshold);
-				ccdPhysEnv->setDeactivationTime(blenderscene->gm.deactivationtime);
+				ccdPhysEnv->SetDebugDrawer(new BlenderDebugDraw());
+				ccdPhysEnv->SetDeactivationLinearTreshold(blenderscene->gm.lineardeactthreshold);
+				ccdPhysEnv->SetDeactivationAngularTreshold(blenderscene->gm.angulardeactthreshold);
+				ccdPhysEnv->SetDeactivationTime(blenderscene->gm.deactivationtime);
 
 				SYS_SystemHandle syshandle = SYS_GetSystem(); /*unused*/
 				int visualizePhysics = SYS_GetCommandLineInt(syshandle,"show_physics",0);
 				if (visualizePhysics)
-					ccdPhysEnv->setDebugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb|btIDebugDraw::DBG_DrawContactPoints|btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_DrawConstraintLimits|btIDebugDraw::DBG_DrawConstraints);
+					ccdPhysEnv->SetDebugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb|btIDebugDraw::DBG_DrawContactPoints|btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_DrawConstraintLimits|btIDebugDraw::DBG_DrawConstraints);
 		
 				//todo: get a button in blender ?
 				//disable / enable debug drawing (contact points, aabb's etc)
@@ -709,7 +708,6 @@ void	KX_BlenderSceneConverter::ResetPhysicsObjectsAnimationIpo(bool clearIpo)
 			KX_GameObject* gameObj = (KX_GameObject*)parentList->GetValue(g);
 			if (gameObj->IsDynamic())
 			{
-				//KX_IPhysicsController* physCtrl = gameObj->GetPhysicsController();
 				
 				Object* blenderObject = gameObj->GetBlenderObject();
 				if (blenderObject)
@@ -825,7 +823,6 @@ void	KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber)
 			Object* blenderObject = gameObj->GetBlenderObject();
 			if (blenderObject && blenderObject->parent==NULL && gameObj->IsDynamic())
 			{
-				//KX_IPhysicsController* physCtrl = gameObj->GetPhysicsController();
 
 				if (blenderObject->adt==NULL)
 					BKE_id_add_animdata(&blenderObject->id);
@@ -944,7 +941,6 @@ void	KX_BlenderSceneConverter::TestHandlesPhysicsObjectToAnimationIpo()
 			KX_GameObject* gameObj = (KX_GameObject*)parentList->GetValue(g);
 			if (gameObj->IsDynamic())
 			{
-				//KX_IPhysicsController* physCtrl = gameObj->GetPhysicsController();
 				
 #if 0
 				Object* blenderObject = gameObj->GetBlenderObject();
diff --git a/source/gameengine/Converter/KX_SoftBodyDeformer.cpp b/source/gameengine/Converter/KX_SoftBodyDeformer.cpp
index d860b2ee694..fcdaaaa761a 100644
--- a/source/gameengine/Converter/KX_SoftBodyDeformer.cpp
+++ b/source/gameengine/Converter/KX_SoftBodyDeformer.cpp
@@ -48,7 +48,6 @@
 #include "CcdPhysicsController.h"
 #include "BulletSoftBody/btSoftBody.h"
 
-#include "KX_BulletPhysicsController.h"
 #include "btBulletDynamicsCommon.h"
 
 void KX_SoftBodyDeformer::Relink(CTR_Map<class CTR_HashedPtr, void*>*map)
@@ -66,7 +65,7 @@ void KX_SoftBodyDeformer::Relink(CTR_Map<class CTR_HashedPtr, void*>*map)
 
 bool KX_SoftBodyDeformer::Apply(class RAS_IPolyMaterial *polymat)
 {
-	KX_BulletPhysicsController* ctrl = (KX_BulletPhysicsController*) m_gameobj->GetPhysicsController();
+	CcdPhysicsController* ctrl = (CcdPhysicsController*) m_gameobj->GetPhysicsController();
 	if (!ctrl)
 		return false;
 
diff --git a/source/gameengine/Ketsji/BL_Action.cpp b/source/gameengine/Ketsji/BL_Action.cpp
index 6d9b22eed91..a974ffbf672 100644
--- a/source/gameengine/Ketsji/BL_Action.cpp
+++ b/source/gameengine/Ketsji/BL_Action.cpp
@@ -34,6 +34,8 @@
 #include "KX_IpoConvert.h"
 #include "KX_GameObject.h"
 
+#include "SG_Controller.h"
+
 // These three are for getting the action from the logic manager
 #include "KX_Scene.h"
 #include "SCA_LogicManager.h"
diff --git a/source/gameengine/Ketsji/CMakeLists.txt b/source/gameengine/Ketsji/CMakeLists.txt
index c3c733c66ba..141dd5e25f3 100644
--- a/source/gameengine/Ketsji/CMakeLists.txt
+++ b/source/gameengine/Ketsji/CMakeLists.txt
@@ -71,7 +71,6 @@ set(SRC
 	BL_Texture.cpp
 	KX_ArmatureSensor.cpp
 	KX_BlenderMaterial.cpp
-	KX_BulletPhysicsController.cpp
 	KX_Camera.cpp
 	KX_CameraActuator.cpp
 	KX_CameraIpoSGController.cpp
@@ -86,7 +85,6 @@ set(SRC
 	KX_GameObject.cpp
 	KX_IpoConvert.cpp
 	KX_IPO_SGController.cpp
-	KX_IPhysicsController.cpp
 	KX_IpoActuator.cpp
 	KX_KetsjiEngine.cpp
 	KX_Light.cpp
@@ -146,7 +144,6 @@ set(SRC
 	BL_Texture.h
 	KX_ArmatureSensor.h
 	KX_BlenderMaterial.h
-	KX_BulletPhysicsController.h
 	KX_Camera.h
 	KX_CameraActuator.h
 	KX_CameraIpoSGController.h
@@ -164,7 +161,6 @@ set(SRC
 	KX_IpoConvert.h
 	KX_IPOTransform.h
 	KX_IPO_SGController.h
-	KX_IPhysicsController.h
 	KX_IScalarInterpolator.h
 	KX_ISceneConverter.h
 	KX_ISystem.h
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
deleted file mode 100644
index e990974a646..00000000000
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ /dev/null
@@ -1,577 +0,0 @@
-/*
- * ***** 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.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-/** \file gameengine/Ketsji/KX_BulletPhysicsController.cpp
- *  \ingroup ketsji
- */
-
-//under visual studio the #define in KX_ConvertPhysicsObject.h is quicker for recompilation
-#include "KX_ConvertPhysicsObject.h"
-
-#ifdef WITH_BULLET
-
-#include "KX_BulletPhysicsController.h"
-
-#include "btBulletDynamicsCommon.h"
-#include "SG_Spatial.h"
-
-#include "KX_GameObject.h"
-#include "KX_MotionState.h"
-#include "KX_ClientObjectInfo.h"
-
-#include "PHY_IPhysicsEnvironment.h"
-#include "CcdPhysicsEnvironment.h"
-#include "BulletSoftBody/btSoftBody.h"
-
-
-KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool character, bool compound)
-: KX_IPhysicsController(dyna,sensor,character,compound,(PHY_IPhysicsController*)this),
-CcdPhysicsController(ci),
-m_savedCollisionFlags(0),
-m_savedCollisionFilterGroup(0),
-m_savedCollisionFilterMask(0),
-m_savedMass(0.0),
-m_savedDyna(false),
-m_suspended(false),
-m_bulletChildShape(NULL)
-{
-}
-	
-KX_BulletPhysicsController::~KX_BulletPhysicsController ()
-{
-	// The game object has a direct link to 
-	if (m_pObject)
-	{
-		// If we cheat in SetObject, we must also cheat here otherwise the 
-		// object will still things it has a physical controller
-		// Note that it requires that m_pObject is reset in case the object is deleted
-		// before the controller (usual case, see KX_Scene::RemoveNodeDestructObjec)
-		// The non usual case is when the object is not deleted because its reference is hanging
-		// in a AddObject actuator but the node is deleted. This case is covered here.
-		KX_GameObject* gameobj = (KX_GameObject*)	m_pObject->GetSGClientObject();
-		gameobj->SetPhysicsController(NULL,false);
-	}
-}
-
-void	KX_BulletPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
-{
-	CcdPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);
-
-}
-
-
-	///////////////////////////////////
-	//	KX_IPhysicsController interface
-	////////////////////////////////////
-
-void	KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
-{
-		CcdPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
-
-}
-
-float KX_BulletPhysicsController::GetLinVelocityMin()
-{
-	return (float)CcdPhysicsController::GetLinVelocityMin();
-}
-void  KX_BulletPhysicsController::SetLinVelocityMin(float val)
-{
-	CcdPhysicsController::SetLinVelocityMin(val);
-}
-
-void KX_BulletPhysicsController::Jump()
-{
-	CcdPhysicsController::Jump();
-}
-
-float KX_BulletPhysicsController::GetLinVelocityMax()
-{
-	return (float)CcdPhysicsController::GetLinVelocityMax();
-}
-void  KX_BulletPhysicsController::SetLinVelocityMax(float val)
-{
-	CcdPhysicsController::SetLinVelocityMax(val);
-}
-
-void	KX_BulletPhysicsController::SetObject (SG_IObject* object)
-{
-	SG_Controller::SetObject(object);
-
-	// cheating here...
-	//should not be necessary, is it for duplicates ?
-
-	KX_GameObject* gameobj = (KX_GameObject*)	object->GetSGClientObject();
-	gameobj->SetPhysicsController(this,gameobj->IsDynamic());
-	CcdPhysicsController::setNewClientInfo(gameobj->getClientInfo());
-
-	if (m_bSensor)
-	{
-		// use a different callback function for sensor object, 
-		// bullet will not synchronize, we must do it explicitly
-		SG_Callbacks& callbacks = gameobj->GetSGNode()->GetCallBackFunctions();
-		callbacks.m_updatefunc = KX_GameObject::SynchronizeTransformFunc;
-	} 
-}
-
-MT_Scalar KX_BulletPhysicsController::GetRadius()
-{
-	return MT_Scalar(CcdPhysicsController::GetRadius());
-}
-
-void	KX_BulletPhysicsController::setMargin (float collisionMargin)
-{
-	CcdPhysicsController::SetMargin(collisionMargin);
-}
-void	KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
-{
-	CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
-
-}
-
-void	KX_BulletPhysicsController::SetWalkDirection(const MT_Vector3& dloc,bool local)
-{
-	CcdPhysicsController::SetWalkDirection(dloc[0],dloc[1],dloc[2],local);
-}
-
-void	KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
-{
-	float	rotval[9];
-	drot.getValue3x3(rotval);
-	CcdPhysicsController::RelativeRotate(rotval,local);
-}
-
-void	KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
-{
-		CcdPhysicsController::ApplyTorque(torque.x(),torque.y(),torque.z(),local);
-}
-void	KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
-{
-	CcdPhysicsController::ApplyForce(force.x(),force.y(),force.z(),local);
-}
-MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
-{
-	float angVel[3];
-	//CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
-	CcdPhysicsController::GetLinearVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
-	return MT_Vector3(angVel[0],angVel[1],angVel[2]);
-}
-MT_Vector3 KX_BulletPhysicsController::GetAngularVelocity()
-{
-	float angVel[3];
-	//CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
-	CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
-	return MT_Vector3(angVel[0],angVel[1],angVel[2]);
-}
-MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
-{
-	float linVel[3];
-	CcdPhysicsController::GetVelocity(pos[0], pos[1], pos[2], linVel[0],linVel[1],linVel[2]);
-	return MT_Vector3(linVel[0],linVel[1],linVel[2]);
-}
-
-MT_Vector3 KX_BulletPhysicsController::GetWalkDirection()
-{
-	float dir[3];
-	CcdPhysicsController::GetWalkDirection(dir[0], dir[1], dir[2]);
-	return MT_Vector3(dir[0], dir[1], dir[2]);
-}
-
-void	KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
-{
-	CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);
-
-}
-void	KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
-{
-	CcdPhysicsController::SetLinearVelocity(lin_vel.x(),lin_vel.y(),lin_vel.z(),local);
-}
-void	KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
-{
-	float myorn[4];
-	CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
-	orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
-}
-void KX_BulletPhysicsController::setOrientation(const MT_Matrix3x3& orn)
-{
-	btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[0][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]);
-	CcdPhysicsController::setWorldOrientation(btmat);
-}
-void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
-{
-	CcdPhysicsController::setPosition(pos.x(),pos.y(),pos.z());
-}
-void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
-{
-	CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z());
-}
-void KX_BulletPhysicsController::SetTransform()
-{
-	btVector3 pos;
-	btVector3 scale;
-	float ori[12];
-	m_MotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]);
-	m_MotionState->getWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]);
-	m_MotionState->getWorldOrientation(ori);
-	btMatrix3x3 rot(ori[0], ori[4], ori[8],
-					ori[1], ori[5], ori[9],
-					ori[2], ori[6], ori[10]);
-	CcdPhysicsController::forceWorldTransform(rot, pos);
-}
-
-MT_Scalar	KX_BulletPhysicsController::GetMass()
-{
-	if (GetSoftBody())
-		return GetSoftBody()->getTotalMass();
-	
-	MT_Scalar invmass = 0.f;
-	if (GetRigidBody())
-		invmass = GetRigidBody()->getInvMass();
-	if (invmass)
-		return 1.f/invmass;
-	return 0.f;
-
-}
-
-MT_Vector3 KX_BulletPhysicsController::GetLocalInertia()
-{
-	MT_Vector3 inertia(0.f, 0.f, 0.f);
-	btVector3 inv_inertia;
-	if (GetRigidBody()) {
-		inv_inertia = GetRigidBody()->getInvInertiaDiagLocal();
-		if (!btFuzzyZero(inv_inertia.getX()) &&
-		        !btFuzzyZero(inv_inertia.getY()) &&
-		        !btFuzzyZero(inv_inertia.getZ()))
-			inertia = MT_Vector3(1.f/inv_inertia.getX(), 1.f/inv_inertia.getY(), 1.f/inv_inertia.getZ());
-	}
-	return inertia;
-}
-
-MT_Vector3	KX_BulletPhysicsController::getReactionForce()
-{
-	assert(0);
-	return MT_Vector3(0.f,0.f,0.f);
-}
-void	KX_BulletPhysicsController::setRigidBody(bool rigid)
-{
-	CcdPhysicsController::setRigidBody(rigid);
-}
-
-/* This function dynamically adds the collision shape of another controller to
- * the current controller shape provided it is a compound shape.
- * The idea is that dynamic parenting on a compound object will dynamically extend the shape
- */
-void    KX_BulletPhysicsController::AddCompoundChild(KX_IPhysicsController* child)
-{ 
-	if (child == NULL || !IsCompound())
-		return;
-	// other controller must be a bullet controller too
-	// verify that body and shape exist and match
-	KX_BulletPhysicsController* childCtrl = dynamic_cast<KX_BulletPhysicsController*>(child);
-	btRigidBody* rootBody = GetRigidBody();
-	btRigidBody* childBody = childCtrl->GetRigidBody();
-	if (!rootBody || !childBody)
-		return;
-	const btCollisionShape* rootShape = rootBody->getCollisionShape();
-	const btCollisionShape* childShape = childBody->getCollisionShape();
-	if (!rootShape || 
-		!childShape || 
-		rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE ||
-		childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
-		return;
-	btCompoundShape* compoundShape = (btCompoundShape*)rootShape;
-	// compute relative transformation between parent and child
-	btTransform rootTrans;
-	btTransform childTrans;
-	rootBody->getMotionState()->getWorldTransform(rootTrans);
-	childBody->getMotionState()->getWorldTransform(childTrans);
-	btVector3 rootScale = rootShape->getLocalScaling();
-	rootScale[0] = 1.0/rootScale[0];
-	rootScale[1] = 1.0/rootScale[1];
-	rootScale[2] = 1.0/rootScale[2];
-	// relative scale = child_scale/parent_scale
-	btVector3 relativeScale = childShape->getLocalScaling()*rootScale;
-	btMatrix3x3 rootRotInverse = rootTrans.getBasis().transpose();
-	// relative pos = parent_rot^-1 * ((parent_pos-child_pos)/parent_scale)
-	btVector3 relativePos = rootRotInverse*((childTrans.getOrigin()-rootTrans.getOrigin())*rootScale);
-	// relative rot = parent_rot^-1 * child_rot
-	btMatrix3x3 relativeRot = rootRotInverse*childTrans.getBasis();
-	// create a proxy shape info to store the transformation
-	CcdShapeConstructionInfo* proxyShapeInfo = new CcdShapeConstructionInfo();
-	// store the transformation to this object shapeinfo
-	proxyShapeInfo->m_childTrans.setOrigin(relativePos);
-	proxyShapeInfo->m_childTrans.setBasis(relativeRot);
-	proxyShapeInfo->m_childScale.setValue(relativeScale[0], relativeScale[1], relativeScale[2]);
-	// we will need this to make sure that we remove the right proxy later when unparenting
-	proxyShapeInfo->m_userData = childCtrl;
-	proxyShapeInfo->SetProxy(childCtrl->GetShapeInfo()->AddRef());
-	// add to parent compound shapeinfo (increments ref count)
-	GetShapeInfo()->AddShape(proxyShapeInfo);
-	// create new bullet collision shape from the object shapeinfo and set scaling
-	btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin(), childCtrl->getConstructionInfo().m_bGimpact, true);
-	newChildShape->setLocalScaling(relativeScale);
-	// add bullet collision shape to parent compound collision shape
-	compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape);
-	// proxyShapeInfo is not needed anymore, release it
-	proxyShapeInfo->Release();
-	// remember we created this shape
-	childCtrl->m_bulletChildShape = newChildShape;
-	// recompute inertia of parent
-	if (!rootBody->isStaticOrKinematicObject())
-	{
-		btVector3 localInertia;
-		float mass = 1.f/rootBody->getInvMass();
-		compoundShape->calculateLocalInertia(mass,localInertia);
-		rootBody->setMassProps(mass,localInertia);
-	}
-	// must update the broadphase cache,
-	GetPhysicsEnvironment()->refreshCcdPhysicsController(this);
-	// remove the children
-	GetPhysicsEnvironment()->disableCcdPhysicsController(childCtrl);
-}
-
-/* Reverse function of the above, it will remove a shape from a compound shape
- * provided that the former was added to the later using  AddCompoundChild()
- */
-void    KX_BulletPhysicsController::RemoveCompoundChild(KX_IPhysicsController* child)
-{ 
-	if (child == NULL || !IsCompound())
-		return;
-	// other controller must be a bullet controller too
-	// verify that body and shape exist and match
-	KX_BulletPhysicsController* childCtrl = dynamic_cast<KX_BulletPhysicsController*>(child);
-	btRigidBody* rootBody = GetRigidBody();
-	btRigidBody* childBody = childCtrl->GetRigidBody();
-	if (!rootBody || !childBody)
-		return;
-	const btCollisionShape* rootShape = rootBody->getCollisionShape();
-	if (!rootShape || 
-		rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE)
-		return;
-	btCompoundShape* compoundShape = (btCompoundShape*)rootShape;
-	// retrieve the shapeInfo
-	CcdShapeConstructionInfo* childShapeInfo = childCtrl->GetShapeInfo();
-	CcdShapeConstructionInfo* rootShapeInfo = GetShapeInfo();
-	// and verify that the child is part of the parent
-	int i = rootShapeInfo->FindChildShape(childShapeInfo, childCtrl);
-	if (i < 0)
-		return;
-	rootShapeInfo->RemoveChildShape(i);
-	if (childCtrl->m_bulletChildShape)
-	{
-		int numChildren = compoundShape->getNumChildShapes();
-		for (i=0; i<numChildren; i++)
-		{
-			if (compoundShape->getChildShape(i) == childCtrl->m_bulletChildShape)
-			{
-				compoundShape->removeChildShapeByIndex(i);
-				compoundShape->recalculateLocalAabb();
-				break;
-			}
-		}
-		delete childCtrl->m_bulletChildShape;
-		childCtrl->m_bulletChildShape = NULL;
-	}
-	// recompute inertia of parent
-	if (!rootBody->isStaticOrKinematicObject())
-	{
-		btVector3 localInertia;
-		float mass = 1.f/rootBody->getInvMass();
-		compoundShape->calculateLocalInertia(mass,localInertia);
-		rootBody->setMassProps(mass,localInertia);
-	}
-	// must update the broadphase cache,
-	GetPhysicsEnvironment()->refreshCcdPhysicsController(this);
-	// reactivate the children
-	GetPhysicsEnvironment()->enableCcdPhysicsController(childCtrl);
-}
-
-void KX_BulletPhysicsController::SetMass(MT_Scalar newmass)
-{
-	btRigidBody *body = GetRigidBody();
-	if (body && !m_suspended && newmass>MT_EPSILON && GetMass()>MT_EPSILON)
-	{
-		btVector3 grav = body->getGravity();
-		btVector3 accel = grav / GetMass();
-		
-		btBroadphaseProxy* handle = body->getBroadphaseHandle();
-		GetPhysicsEnvironment()->updateCcdPhysicsController(this, 
-			newmass,
-			body->getCollisionFlags(),
-			handle->m_collisionFilterGroup, 
-			handle->m_collisionFilterMask);
-		body->setGravity(accel);
-	}
-}
-
-void	KX_BulletPhysicsController::SuspendDynamics(bool ghost)
-{
-	btRigidBody *body = GetRigidBody();
-	if (body && !m_suspended && !IsSensor())
-	{
-		btBroadphaseProxy* handle = body->getBroadphaseHandle();
-		m_savedCollisionFlags = body->getCollisionFlags();
-		m_savedMass = GetMass();
-		m_savedDyna = m_bDyna;
-		m_savedCollisionFilterGroup = handle->m_collisionFilterGroup;
-		m_savedCollisionFilterMask = handle->m_collisionFilterMask;
-		m_suspended = true;
-		GetPhysicsEnvironment()->updateCcdPhysicsController(this, 
-			0.0,
-			btCollisionObject::CF_STATIC_OBJECT|((ghost)?btCollisionObject::CF_NO_CONTACT_RESPONSE:(m_savedCollisionFlags&btCollisionObject::CF_NO_CONTACT_RESPONSE)),
-			btBroadphaseProxy::StaticFilter, 
-			btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
-		m_bDyna = false;
-	}
-}
-
-void	KX_BulletPhysicsController::RestoreDynamics()
-{
-	btRigidBody *body = GetRigidBody();
-	if (body && m_suspended)
-	{
-		// before make sure any position change that was done in this logic frame are accounted for
-		SetTransform();
-		GetPhysicsEnvironment()->updateCcdPhysicsController(this, 
-			m_savedMass,
-			m_savedCollisionFlags,
-			m_savedCollisionFilterGroup,
-			m_savedCollisionFilterMask);
-		body->activate();
-		m_bDyna = m_savedDyna;
-		m_suspended = false;
-	}
-}
-
-SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
-{
-	PHY_IMotionState* motionstate = new KX_MotionState(destnode);
-
-	KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this);
-
-	//parentcontroller is here be able to avoid collisions between parent/child
-
-	PHY_IPhysicsController* parentctrl = NULL;
-	KX_BulletPhysicsController* parentKxCtrl = NULL;
-	CcdPhysicsController* ccdParent = NULL;
-
-	
-	if (destnode != destnode->GetRootSGParent())
-	{
-		KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
-		if (clientgameobj)
-		{
-			parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
-		} else
-		{
-			// it could be a false node, try the children
-			NodeList::const_iterator childit;
-			for (
-				childit = destnode->GetSGChildren().begin();
-			childit!= destnode->GetSGChildren().end();
-			++childit
-				) {
-				KX_GameObject *clientgameobj_child = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
-				if (clientgameobj_child)
-				{
-					parentKxCtrl = (KX_BulletPhysicsController*)clientgameobj_child->GetPhysicsController();
-					parentctrl = parentKxCtrl;
-					ccdParent = parentKxCtrl;
-				}
-			}
-		}
-	}
-
-	physicsreplica->setParentCtrl(ccdParent);
-	physicsreplica->PostProcessReplica(motionstate,parentctrl);
-	physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica;
-	physicsreplica->m_bulletChildShape = NULL;
-	return physicsreplica;
-	
-}
-
-
-
-void	KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
-{
-
-	if (!m_bDyna && !m_bSensor && !m_bCharacter)
-	{
-		btCollisionObject* object = GetRigidBody();
-		object->setActivationState(ACTIVE_TAG);
-		object->setCollisionFlags(object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-	} else
-	{
-		if (!nondynaonly)
-		{
-			/*
-			btTransform worldTrans;
-			if (GetRigidBody())
-			{
-				GetRigidBody()->getMotionState()->getWorldTransform(worldTrans);
-				GetRigidBody()->setCenterOfMassTransform(worldTrans);
-			}
-			*/
-			/*
-			scaling?
-			if (m_bDyna)
-			{
-				m_sumoObj->setScaling(MT_Vector3(1,1,1));
-			} else
-			{
-				MT_Vector3 scale;
-				GetWorldScaling(scale);
-				m_sumoObj->setScaling(scale);
-			}
-			*/
-
-		}
-	}
-}
-
-// todo: remove next line !
-void	KX_BulletPhysicsController::SetSimulatedTime(double time)
-{
-}
-	
-// call from scene graph to update
-bool KX_BulletPhysicsController::Update(double time)
-{
-	return false;
-
-	// todo: check this code
-	//if (GetMass())
-	//{
-	//	return false;//true;
-//	}
-//	return false;
-}
-
-
-const char* KX_BulletPhysicsController::getName()
-{
-	if (m_pObject)
-	{
-		KX_GameObject* gameobj = (KX_GameObject*)	m_pObject->GetSGClientObject();
-		return gameobj->GetName();
-	}
-	return 0;
-}
-
-#endif // WITH_BULLET
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h
deleted file mode 100644
index 3d13744567b..00000000000
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h
+++ /dev/null
@@ -1,102 +0,0 @@
-
-/** \file KX_BulletPhysicsController.h
- *  \ingroup ketsji
- */
-
-#ifndef __KX_BULLETPHYSICSCONTROLLER_H__
-#define __KX_BULLETPHYSICSCONTROLLER_H__
-
-
-#include "KX_IPhysicsController.h"
-#ifdef WITH_BULLET
-#include "CcdPhysicsController.h"
-#endif
-
-class KX_BulletPhysicsController : public KX_IPhysicsController, public CcdPhysicsController
-{
-private:
-	int m_savedCollisionFlags;
-	int m_savedActivationState;
-	short int m_savedCollisionFilterGroup;
-	short int m_savedCollisionFilterMask;
-	MT_Scalar m_savedMass;
-	bool m_savedDyna;
-	bool m_suspended;
-	btCollisionShape* m_bulletChildShape;
-
-public:
-#ifdef WITH_BULLET
-	KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool character, bool compound);
-	virtual ~KX_BulletPhysicsController ();
-#endif
-	///////////////////////////////////
-	//	KX_IPhysicsController interface
-	////////////////////////////////////
-
-	virtual void	applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
-	virtual void	SetObject (SG_IObject* object);
-	virtual void	setMargin (float collisionMargin);
-	virtual void	RelativeTranslate(const MT_Vector3& dloc,bool local);
-	virtual void	RelativeRotate(const MT_Matrix3x3& drot,bool local);
-	virtual void	ApplyTorque(const MT_Vector3& torque,bool local);
-	virtual void	ApplyForce(const MT_Vector3& force,bool local);
-	virtual void	SetWalkDirection(const MT_Vector3& dir,bool local);
-	virtual MT_Vector3 GetLinearVelocity();
-	virtual MT_Vector3 GetAngularVelocity();
-	virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
-	virtual MT_Vector3 GetWalkDirection();
-	virtual void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
-	virtual void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
-	virtual void	Jump();
-	virtual	void	getOrientation(MT_Quaternion& orn);
-	virtual	void setOrientation(const MT_Matrix3x3& orn);
-	virtual	void setPosition(const MT_Point3& pos);
-	virtual	void setScaling(const MT_Vector3& scaling);
-	virtual void SetTransform();
-	virtual	MT_Scalar	GetMass();
-	virtual	void	SetMass(MT_Scalar newmass);
-	virtual	MT_Vector3	GetLocalInertia();
-	virtual	MT_Vector3	getReactionForce();
-	virtual void	setRigidBody(bool rigid);
-	virtual void    AddCompoundChild(KX_IPhysicsController* child);
-	virtual void    RemoveCompoundChild(KX_IPhysicsController* child);
-
-	virtual void	resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
-
-	virtual void	SuspendDynamics(bool ghost);
-	virtual void	RestoreDynamics();
-
-	virtual	SG_Controller*	GetReplica(class SG_Node* destnode);
-
-	virtual MT_Scalar GetRadius();
-	
-	virtual float GetLinVelocityMin();
-	virtual void  SetLinVelocityMin(float val);
-	virtual float GetLinVelocityMax();
-	virtual void  SetLinVelocityMax(float val);
-
-	virtual void	SetSumoTransform(bool nondynaonly);
-	// todo: remove next line !
-	virtual void	SetSimulatedTime(double time);
-	
-	// call from scene graph to update
-	virtual bool Update(double time);
-	void*	GetUserData() { return m_userdata;}
-	
-	virtual const char* getName();
-
-	void
-	SetOption(
-		int option,
-		int value
-	) {
-		// intentionally empty
-	};
-
-	
-#ifdef WITH_CXX_GUARDEDALLOC
-	MEM_CXX_CLASS_ALLOC_FUNCS("GE:KX_BulletPhysicsController")
-#endif
-};
-
-#endif  /* __KX_BULLETPHYSICSCONTROLLER_H__ */
diff --git a/source/gameengine/Ketsji/KX_CharacterWrapper.cpp b/source/gameengine/Ketsji/KX_CharacterWrapper.cpp
index 899a153d80f..fdf4fa01b03 100644
--- a/source/gameengine/Ketsji/KX_CharacterWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_CharacterWrapper.cpp
@@ -34,8 +34,6 @@ KX_CharacterWrapper::KX_CharacterWrapper(PHY_ICharacter* character) :
 
 KX_CharacterWrapper::~KX_CharacterWrapper()
 {
-	if (m_character)
-		delete m_character; // We're responsible for the character object!
 }
 
 #ifdef WITH_PYTHON
diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
index a3059317d36..0c5e21322df 100644
--- a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
@@ -331,7 +331,7 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame)
 			{
 				MT_Point3 topoint = position + (m_maximumBound) * direction;
 				PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
-				KX_IPhysicsController *spc = obj->GetPhysicsController();
+				PHY_IPhysicsController *spc = obj->GetPhysicsController();
 
 				if (!pe) {
 					std::cout << "WARNING: Constraint actuator " << GetName() << ":  There is no physics environment!" << std::endl;
@@ -345,7 +345,7 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame)
 						parent->Release();
 					}
 				}
-				KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc);
+				KX_RayCast::Callback<KX_ConstraintActuator> callback(this,dynamic_cast<PHY_IPhysicsController*>(spc));
 				result = KX_RayCast::RayTest(pe, position, topoint, callback);
 				if (result)	{
 					MT_Vector3 newnormal = callback.m_hitNormal;
@@ -379,7 +379,7 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame)
 						// logically we should cancel the speed along the ray direction as we set the
 						// position along that axis
 						spc = obj->GetPhysicsController();
-						if (spc && spc->IsDyna()) {
+						if (spc && spc->IsDynamic()) {
 							MT_Vector3 linV = spc->GetLinearVelocity();
 							// cancel the projection along the ray direction
 							MT_Scalar fallspeed = linV.dot(direction);
@@ -444,20 +444,20 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame)
 			normal.normalize();
 			{
 				PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
-				KX_IPhysicsController *spc = obj->GetPhysicsController();
+				PHY_IPhysicsController *spc = obj->GetPhysicsController();
 
 				if (!pe) {
 					std::cout << "WARNING: Constraint actuator " << GetName() << ":  There is no physics environment!" << std::endl;
 					goto CHECK_TIME;
 				}	 
-				if (!spc || !spc->IsDyna()) {
+				if (!spc || !spc->IsDynamic()) {
 					// the object is not dynamic, it won't support setting speed
 					goto CHECK_TIME;
 				}
 				m_hitObject = NULL;
 				// distance of Fh area is stored in m_minimum
 				MT_Point3 topoint = position + (m_minimumBound+spc->GetRadius()) * direction;
-				KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc);
+				KX_RayCast::Callback<KX_ConstraintActuator> callback(this, spc);
 				result = KX_RayCast::RayTest(pe, position, topoint, callback);
 				// we expect a hit object
 				if (!m_hitObject)
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
index e09449c4f1d..793324fab75 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
@@ -64,7 +64,7 @@ PyObject *KX_ConstraintWrapper::PyGetParam(PyObject *args, PyObject *kwds)
 	if (!PyArg_ParseTuple(args,"i:getParam",&dof))
 		return NULL;
 	
-	value = m_physenv->getConstraintParam(m_constraintId,dof);
+	value = m_physenv->GetConstraintParam(m_constraintId,dof);
 	return PyFloat_FromDouble(value);
 	
 }
@@ -77,7 +77,7 @@ PyObject *KX_ConstraintWrapper::PySetParam(PyObject *args, PyObject *kwds)
 	if (!PyArg_ParseTuple(args,"iff:setParam",&dof,&minLimit,&maxLimit))
 		return NULL;
 	
-	m_physenv->setConstraintParam(m_constraintId,dof,minLimit,maxLimit);
+	m_physenv->SetConstraintParam(m_constraintId,dof,minLimit,maxLimit);
 	Py_RETURN_NONE;
 }
 
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index ece6abc9447..bde50588fd3 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -65,7 +65,6 @@ extern "C"{
 #include "CcdPhysicsController.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 
-#include "KX_BulletPhysicsController.h"
 #include "btBulletDynamicsCommon.h"
 
 #ifdef WIN32
@@ -255,7 +254,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 		{
 			//find parent, compound shape and add to it
 			//take relative transform into account!
-			KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
+			CcdPhysicsController* parentCtrl = (CcdPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
 			assert(parentCtrl);
 			CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
 			btRigidBody* rigidbody = parentCtrl->GetRigidBody();
@@ -424,12 +423,13 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	
 	ci.m_contactProcessingThreshold = objprop->m_contactProcessingThreshold;//todo: expose this in advanced settings, just like margin, default to 10000 or so
 	ci.m_bSoft = objprop->m_softbody;
+	ci.m_bDyna = isbulletdyna;
 	ci.m_bSensor = isbulletsensor;
 	ci.m_bCharacter = isbulletchar;
 	ci.m_bGimpact = useGimpact;
 	MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
 	ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
-	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,isbulletsensor,isbulletchar,objprop->m_hasCompoundChildren);
+	CcdPhysicsController* physicscontroller = new CcdPhysicsController(ci);
 	// shapeInfo is reference counted, decrement now as we don't use it anymore
 	if (shapeInfo)
 		shapeInfo->Release();
@@ -438,9 +438,9 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	// don't add automatically sensor object, they are added when a collision sensor is registered
 	if (!isbulletsensor && objprop->m_in_active_layer)
 	{
-		env->addCcdPhysicsController( physicscontroller);
+		env->AddCcdPhysicsController( physicscontroller);
 	}
-	physicscontroller->setNewClientInfo(gameobj->getClientInfo());
+	physicscontroller->SetNewClientInfo(gameobj->getClientInfo());
 	{
 		btRigidBody* rbody = physicscontroller->GetRigidBody();
 
@@ -459,8 +459,8 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 		}
 	}
 
-	CcdPhysicsController* parentCtrl = objprop->m_dynamic_parent ? (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController() : 0;
-	physicscontroller->setParentCtrl(parentCtrl);
+	CcdPhysicsController* parentCtrl = objprop->m_dynamic_parent ? (CcdPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController() : 0;
+	physicscontroller->SetParentCtrl(parentCtrl);
 
 	
 	//Now done directly in ci.m_collisionFlags so that it propagates to replica
@@ -504,13 +504,11 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	}
 
 
-	gameobj->GetSGNode()->AddSGController(physicscontroller);
 
 	STR_String materialname;
 	if (meshobj)
 		materialname = meshobj->GetMaterialName(0);
 
-	physicscontroller->SetObject(gameobj->GetSGNode());
 
 #if 0
 	///test for soft bodies
@@ -546,7 +544,7 @@ void	KX_ClearBulletSharedShapes()
  */
 bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj)
 {
-	KX_BulletPhysicsController	*spc= static_cast<KX_BulletPhysicsController*>((gameobj->GetPhysicsController()));
+	CcdPhysicsController	*spc= static_cast<CcdPhysicsController*>(gameobj->GetPhysicsController());
 	CcdShapeConstructionInfo	*shapeInfo;
 
 	/* if this is the child of a compound shape this can happen
@@ -568,7 +566,7 @@ bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *fro
 	shapeInfo->UpdateMesh(from_gameobj, from_meshobj);
 
 	/* create the new bullet mesh */
-	CcdConstructionInfo& cci = spc->getConstructionInfo();
+	CcdConstructionInfo& cci = spc->GetConstructionInfo();
 	btCollisionShape* bm= shapeInfo->CreateBulletShape(cci.m_margin, cci.m_bGimpact, !cci.m_bSoft);
 
 	spc->ReplaceControllerShape(bm);
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index e06f7ab6633..96f76ff21b1 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -55,7 +55,6 @@ typedef unsigned long uint_ptr;
 #include "KX_PolyProxy.h"
 #include <stdio.h> // printf
 #include "SG_Controller.h"
-#include "KX_IPhysicsController.h"
 #include "PHY_IGraphicController.h"
 #include "SG_Node.h"
 #include "SG_Controller.h"
@@ -105,7 +104,7 @@ KX_GameObject::KX_GameObject(
       m_bVisible(true),
       m_bCulled(true),
       m_bOccluder(false),
-      m_pPhysicsController1(NULL),
+      m_pPhysicsController(NULL),
       m_pGraphicController(NULL),
       m_xray(false),
       m_pHitObject(NULL),
@@ -177,6 +176,11 @@ KX_GameObject::~KX_GameObject()
 		delete m_pGraphicController;
 	}
 
+	if (m_pPhysicsController)
+	{
+		delete m_pPhysicsController;
+	}
+
 	if (m_pObstacleSimulation)
 	{
 		m_pObstacleSimulation->DestroyObstacleForObj(this);
@@ -245,9 +249,9 @@ void KX_GameObject::SetName(const char *name)
 	m_name = name;
 }
 
-KX_IPhysicsController* KX_GameObject::GetPhysicsController()
+PHY_IPhysicsController* KX_GameObject::GetPhysicsController()
 {
-	return m_pPhysicsController1;
+	return m_pPhysicsController;
 }
 
 KX_GameObject* KX_GameObject::GetDupliGroupObject()
@@ -333,9 +337,9 @@ void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj, bool addToCom
 		RemoveParent(scene);
 		obj->GetSGNode()->AddChild(GetSGNode());
 
-		if (m_pPhysicsController1) 
+		if (m_pPhysicsController)
 		{
-			m_pPhysicsController1->SuspendDynamics(ghost);
+			m_pPhysicsController->SuspendDynamics(ghost);
 		}
 		// Set us to our new scale, position, and orientation
 		scale2[0] = 1.0/scale2[0];
@@ -356,16 +360,16 @@ void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj, bool addToCom
 			Release();
 		// if the new parent is a compound object, add this object shape to the compound shape.
 		// step 0: verify this object has physical controller
-		if (m_pPhysicsController1 && addToCompound)
+		if (m_pPhysicsController && addToCompound)
 		{
 			// step 1: find the top parent (not necessarily obj)
 			KX_GameObject* rootobj = (KX_GameObject*)obj->GetSGNode()->GetRootSGParent()->GetSGClientObject();
 			// step 2: verify it has a physical controller and compound shape
 			if (rootobj != NULL && 
-				rootobj->m_pPhysicsController1 != NULL &&
-				rootobj->m_pPhysicsController1->IsCompound())
+				rootobj->m_pPhysicsController != NULL &&
+				rootobj->m_pPhysicsController->IsCompound())
 			{
-				rootobj->m_pPhysicsController1->AddCompoundChild(m_pPhysicsController1);
+				rootobj->m_pPhysicsController->AddCompoundChild(m_pPhysicsController);
 			}
 		}
 		// graphically, the object hasn't change place, no need to update m_pGraphicController
@@ -392,27 +396,27 @@ void KX_GameObject::RemoveParent(KX_Scene *scene)
 		if (!rootlist->SearchValue(this))
 			// object was not in root list, add it now and increment ref count
 			rootlist->Add(AddRef());
-		if (m_pPhysicsController1) 
+		if (m_pPhysicsController)
 		{
 			// in case this controller was added as a child shape to the parent
 			if (rootobj != NULL && 
-				rootobj->m_pPhysicsController1 != NULL &&
-				rootobj->m_pPhysicsController1->IsCompound())
+				rootobj->m_pPhysicsController != NULL &&
+				rootobj->m_pPhysicsController->IsCompound())
 			{
-				rootobj->m_pPhysicsController1->RemoveCompoundChild(m_pPhysicsController1);
+				rootobj->m_pPhysicsController->RemoveCompoundChild(m_pPhysicsController);
 			}
-			m_pPhysicsController1->RestoreDynamics();
-			if (m_pPhysicsController1->IsDyna() && (rootobj != NULL && rootobj->m_pPhysicsController1))
+			m_pPhysicsController->RestoreDynamics();
+			if (m_pPhysicsController->IsDynamic() && (rootobj != NULL && rootobj->m_pPhysicsController))
 			{
 				// dynamic object should remember the velocity they had while being parented
 				MT_Point3 childPoint = GetSGNode()->GetWorldPosition();
 				MT_Point3 rootPoint = rootobj->GetSGNode()->GetWorldPosition();
 				MT_Point3 relPoint;
 				relPoint = (childPoint-rootPoint);
-				MT_Vector3 linVel = rootobj->m_pPhysicsController1->GetVelocity(relPoint);
-				MT_Vector3 angVel = rootobj->m_pPhysicsController1->GetAngularVelocity();
-				m_pPhysicsController1->SetLinearVelocity(linVel, false);
-				m_pPhysicsController1->SetAngularVelocity(angVel, false);
+				MT_Vector3 linVel = rootobj->m_pPhysicsController->GetVelocity(relPoint);
+				MT_Vector3 angVel = rootobj->m_pPhysicsController->GetAngularVelocity();
+				m_pPhysicsController->SetLinearVelocity(linVel, false);
+				m_pPhysicsController->SetAngularVelocity(angVel, false);
 			}
 		}
 		// graphically, the object hasn't change place, no need to update m_pGraphicController
@@ -488,9 +492,9 @@ void KX_GameObject::SetTimes(short layer, float start, float end)
 void KX_GameObject::ProcessReplica()
 {
 	SCA_IObject::ProcessReplica();
-	
-	m_pPhysicsController1 = NULL;
+
 	m_pGraphicController = NULL;
+	m_pPhysicsController = NULL;
 	m_pSGNode = NULL;
 	m_pClient_info = new KX_ClientObjectInfo(*m_pClient_info);
 	m_pClient_info->m_gameobject = this;
@@ -570,16 +574,16 @@ CValue* KX_GameObject::GetReplica()
 
 void KX_GameObject::ApplyForce(const MT_Vector3& force,bool local)
 {
-	if (m_pPhysicsController1)
-		m_pPhysicsController1->ApplyForce(force,local);
+	if (m_pPhysicsController)
+		m_pPhysicsController->ApplyForce(force,local);
 }
 
 
 
 void KX_GameObject::ApplyTorque(const MT_Vector3& torque,bool local)
 {
-	if (m_pPhysicsController1)
-		m_pPhysicsController1->ApplyTorque(torque,local);
+	if (m_pPhysicsController)
+		m_pPhysicsController->ApplyTorque(torque,local);
 }
 
 
@@ -588,9 +592,9 @@ void KX_GameObject::ApplyMovement(const MT_Vector3& dloc,bool local)
 {
 	if (GetSGNode()) 
 	{
-		if (m_pPhysicsController1) // (IsDynamic())
+		if (m_pPhysicsController) // (IsDynamic())
 		{
-			m_pPhysicsController1->RelativeTranslate(dloc,local);
+			m_pPhysicsController->RelativeTranslate(dloc,local);
 		}
 		GetSGNode()->RelativeTranslate(dloc,GetSGNode()->GetSGParent(),local);
 	}
@@ -605,8 +609,8 @@ void KX_GameObject::ApplyRotation(const MT_Vector3& drot,bool local)
 	if (GetSGNode()) {
 		GetSGNode()->RelativeRotate(rotmat,local);
 
-		if (m_pPhysicsController1) { // (IsDynamic())
-			m_pPhysicsController1->RelativeRotate(rotmat,local); 
+		if (m_pPhysicsController) { // (IsDynamic())
+			m_pPhysicsController->RelativeRotate(rotmat,local);
 		}
 	}
 }
@@ -730,11 +734,8 @@ void KX_GameObject::RemoveMeshes()
 void KX_GameObject::UpdateTransform()
 {
 	// HACK: saves function call for dynamic object, they are handled differently
-	if (m_pPhysicsController1 && !m_pPhysicsController1->IsDyna())
-		// Note that for Bullet, this does not even update the transform of static object
-		// but merely sets there collision flag to "kinematic" because the synchronization is 
-		// done during physics simulation
-		m_pPhysicsController1->SetSumoTransform(true);
+	if (m_pPhysicsController && !m_pPhysicsController->IsDynamic())
+		m_pPhysicsController->SetTransform();
 	if (m_pGraphicController)
 		// update the culling tree
 		m_pGraphicController->SetGraphicTransform();
@@ -749,8 +750,8 @@ void KX_GameObject::UpdateTransformFunc(SG_IObject* node, void* gameobj, void* s
 void KX_GameObject::SynchronizeTransform()
 {
 	// only used for sensor object, do full synchronization as bullet doesn't do it
-	if (m_pPhysicsController1)
-		m_pPhysicsController1->SetTransform();
+	if (m_pPhysicsController)
+		m_pPhysicsController->SetTransform();
 	if (m_pGraphicController)
 		m_pGraphicController->SetGraphicTransform();
 }
@@ -935,10 +936,10 @@ KX_GameObject::GetLayer(
 
 void KX_GameObject::addLinearVelocity(const MT_Vector3& lin_vel,bool local)
 {
-	if (m_pPhysicsController1) 
+	if (m_pPhysicsController)
 	{
 		MT_Vector3 lv = local ? NodeGetWorldOrientation() * lin_vel : lin_vel;
-		m_pPhysicsController1->SetLinearVelocity(lv + m_pPhysicsController1->GetLinearVelocity(), 0);
+		m_pPhysicsController->SetLinearVelocity(lv + m_pPhysicsController->GetLinearVelocity(), 0);
 	}
 }
 
@@ -946,16 +947,16 @@ void KX_GameObject::addLinearVelocity(const MT_Vector3& lin_vel,bool local)
 
 void KX_GameObject::setLinearVelocity(const MT_Vector3& lin_vel,bool local)
 {
-	if (m_pPhysicsController1)
-		m_pPhysicsController1->SetLinearVelocity(lin_vel,local);
+	if (m_pPhysicsController)
+		m_pPhysicsController->SetLinearVelocity(lin_vel,local);
 }
 
 
 
 void KX_GameObject::setAngularVelocity(const MT_Vector3& ang_vel,bool local)
 {
-	if (m_pPhysicsController1)
-		m_pPhysicsController1->SetAngularVelocity(ang_vel,local);
+	if (m_pPhysicsController)
+		m_pPhysicsController->SetAngularVelocity(ang_vel,local);
 }
 
 
@@ -965,12 +966,12 @@ void KX_GameObject::ResolveCombinedVelocities(
 	bool lin_vel_local,
 	bool ang_vel_local
 ) {
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController)
 	{
 
 		MT_Vector3 lv = lin_vel_local ? NodeGetWorldOrientation() * lin_vel : lin_vel;
 		MT_Vector3 av = ang_vel_local ? NodeGetWorldOrientation() * ang_vel : ang_vel;
-		m_pPhysicsController1->resolveCombinedVelocities(
+		m_pPhysicsController->ResolveCombinedVelocities(
 			lv.x(),lv.y(),lv.z(),av.x(),av.y(),av.z());
 	}
 }
@@ -1082,9 +1083,9 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac)
 
 MT_Scalar KX_GameObject::GetMass()
 {
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController)
 	{
-		return m_pPhysicsController1->GetMass();
+		return m_pPhysicsController->GetMass();
 	}
 	return 0.0;
 }
@@ -1092,9 +1093,9 @@ MT_Scalar KX_GameObject::GetMass()
 MT_Vector3 KX_GameObject::GetLocalInertia()
 {
 	MT_Vector3 local_inertia(0.0,0.0,0.0);
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController)
 	{
-		local_inertia = m_pPhysicsController1->GetLocalInertia();
+		local_inertia = m_pPhysicsController->GetLocalInertia();
 	}
 	return local_inertia;
 }
@@ -1103,9 +1104,9 @@ MT_Vector3 KX_GameObject::GetLinearVelocity(bool local)
 {
 	MT_Vector3 velocity(0.0,0.0,0.0), locvel;
 	MT_Matrix3x3 ori;
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController)
 	{
-		velocity = m_pPhysicsController1->GetLinearVelocity();
+		velocity = m_pPhysicsController->GetLinearVelocity();
 		
 		if (local)
 		{
@@ -1122,9 +1123,9 @@ MT_Vector3 KX_GameObject::GetAngularVelocity(bool local)
 {
 	MT_Vector3 velocity(0.0,0.0,0.0), locvel;
 	MT_Matrix3x3 ori;
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController)
 	{
-		velocity = m_pPhysicsController1->GetAngularVelocity();
+		velocity = m_pPhysicsController->GetAngularVelocity();
 		
 		if (local)
 		{
@@ -1139,9 +1140,9 @@ MT_Vector3 KX_GameObject::GetAngularVelocity(bool local)
 
 MT_Vector3 KX_GameObject::GetVelocity(const MT_Point3& point)
 {
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController)
 	{
-		return m_pPhysicsController1->GetVelocity(point);
+		return m_pPhysicsController->GetVelocity(point);
 	}
 	return MT_Vector3(0.0,0.0,0.0);
 }
@@ -1154,13 +1155,13 @@ void KX_GameObject::NodeSetLocalPosition(const MT_Point3& trans)
 	if (!GetSGNode())
 		return;
 
-	if (m_pPhysicsController1 && !GetSGNode()->GetSGParent())
+	if (m_pPhysicsController && !GetSGNode()->GetSGParent())
 	{
 		// don't update physic controller if the object is a child:
 		// 1) the transformation will not be right
 		// 2) in this case, the physic controller is necessarily a static object
 		//    that is updated from the normal kinematic synchronization
-		m_pPhysicsController1->setPosition(trans);
+		m_pPhysicsController->SetPosition(trans);
 	}
 
 	GetSGNode()->SetLocalPosition(trans);
@@ -1175,10 +1176,10 @@ void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot)
 	if (!GetSGNode())
 		return;
 
-	if (m_pPhysicsController1 && !GetSGNode()->GetSGParent())
+	if (m_pPhysicsController && !GetSGNode()->GetSGParent())
 	{
 		// see note above
-		m_pPhysicsController1->setOrientation(rot);
+		m_pPhysicsController->SetOrientation(rot);
 	}
 	GetSGNode()->SetLocalOrientation(rot);
 }
@@ -1201,10 +1202,10 @@ void KX_GameObject::NodeSetLocalScale(const MT_Vector3& scale)
 	if (!GetSGNode())
 		return;
 
-	if (m_pPhysicsController1 && !GetSGNode()->GetSGParent())
+	if (m_pPhysicsController && !GetSGNode()->GetSGParent())
 	{
 		// see note above
-		m_pPhysicsController1->setScaling(scale);
+		m_pPhysicsController->SetScaling(scale);
 	}
 	GetSGNode()->SetLocalScale(scale);
 }
@@ -1216,13 +1217,13 @@ void KX_GameObject::NodeSetRelativeScale(const MT_Vector3& scale)
 	if (GetSGNode())
 	{
 		GetSGNode()->RelativeScale(scale);
-		if (m_pPhysicsController1 && (!GetSGNode()->GetSGParent()))
+		if (m_pPhysicsController && (!GetSGNode()->GetSGParent()))
 		{
 			// see note above
 			// we can use the local scale: it's the same thing for a root object 
 			// and the world scale is not yet updated
 			MT_Vector3 newscale = GetSGNode()->GetLocalScale();
-			m_pPhysicsController1->setScaling(newscale);
+			m_pPhysicsController->SetScaling(newscale);
 		}
 	}
 }
@@ -1355,13 +1356,13 @@ void KX_GameObject::UnregisterCollisionCallbacks()
 	// Unregister from callbacks
 	KX_Scene* scene = GetScene();
 	PHY_IPhysicsEnvironment* pe = scene->GetPhysicsEnvironment();
-	PHY_IPhysicsController* spc = static_cast<PHY_IPhysicsController*> (GetPhysicsController()->GetUserData());
+	PHY_IPhysicsController* spc = GetPhysicsController();
 	// If we are the last to unregister on this physics controller
-	if (pe->removeCollisionCallback(spc)){
+	if (pe->RemoveCollisionCallback(spc)){
 		// If we are a sensor object
 		if (m_pClient_info->isSensor())
 			// Remove sensor body from physics world
-			pe->removeSensor(spc);
+			pe->RemoveSensor(spc);
 	}
 }
 
@@ -1375,13 +1376,13 @@ void KX_GameObject::RegisterCollisionCallbacks()
 	// Register from callbacks
 	KX_Scene* scene = GetScene();
 	PHY_IPhysicsEnvironment* pe = scene->GetPhysicsEnvironment();
-	PHY_IPhysicsController* spc = static_cast<PHY_IPhysicsController*> (GetPhysicsController()->GetUserData());
+	PHY_IPhysicsController* spc = GetPhysicsController();
 	// If we are the first to register on this physics controller
-	if (pe->requestCollisionCallback(spc)){
+	if (pe->RequestCollisionCallback(spc)){
 		// If we are a sensor object
 		if (m_pClient_info->isSensor())
 			// Add sensor body to physics world
-			pe->addSensor(spc);
+			pe->AddSensor(spc);
 	}
 }
 void KX_GameObject::RunCollisionCallbacks(KX_GameObject *collider)
@@ -2170,14 +2171,14 @@ PyObject *KX_GameObject::pyattr_get_life(void *self_v, const KX_PYATTRIBUTE_DEF
 PyObject *KX_GameObject::pyattr_get_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
 {
 	KX_GameObject* self = static_cast<KX_GameObject*>(self_v);
-	KX_IPhysicsController *spc = self->GetPhysicsController();
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
 	return PyFloat_FromDouble(spc ? spc->GetMass() : 0.0);
 }
 
 int KX_GameObject::pyattr_set_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
 {
 	KX_GameObject* self = static_cast<KX_GameObject*>(self_v);
-	KX_IPhysicsController *spc = self->GetPhysicsController();
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
 	MT_Scalar val = PyFloat_AsDouble(value);
 	if (val < 0.0) { /* also accounts for non float */
 		PyErr_SetString(PyExc_AttributeError, "gameOb.mass = float: KX_GameObject, expected a float zero or above");
@@ -2193,14 +2194,14 @@ int KX_GameObject::pyattr_set_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrd
 PyObject *KX_GameObject::pyattr_get_lin_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
 {
 	KX_GameObject* self = static_cast<KX_GameObject*>(self_v);
-	KX_IPhysicsController *spc = self->GetPhysicsController();
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
 	return PyFloat_FromDouble(spc ? spc->GetLinVelocityMin() : 0.0f);
 }
 
 int KX_GameObject::pyattr_set_lin_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
 {
 	KX_GameObject* self = static_cast<KX_GameObject*>(self_v);
-	KX_IPhysicsController *spc = self->GetPhysicsController();
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
 	MT_Scalar val = PyFloat_AsDouble(value);
 	if (val < 0.0) { /* also accounts for non float */
 		PyErr_SetString(PyExc_AttributeError, "gameOb.linVelocityMin = float: KX_GameObject, expected a float zero or above");
@@ -2216,14 +2217,14 @@ int KX_GameObject::pyattr_set_lin_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF
 PyObject *KX_GameObject::pyattr_get_lin_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
 {
 	KX_GameObject* self = static_cast<KX_GameObject*>(self_v);
-	KX_IPhysicsController *spc = self->GetPhysicsController();
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
 	return PyFloat_FromDouble(spc ? spc->GetLinVelocityMax() : 0.0f);
 }
 
 int KX_GameObject::pyattr_set_lin_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
 {
 	KX_GameObject* self = static_cast<KX_GameObject*>(self_v);
-	KX_IPhysicsController *spc = self->GetPhysicsController();
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
 	MT_Scalar val = PyFloat_AsDouble(value);
 	if (val < 0.0) { /* also accounts for non float */
 		PyErr_SetString(PyExc_AttributeError, "gameOb.linVelocityMax = float: KX_GameObject, expected a float zero or above");
@@ -2307,8 +2308,8 @@ PyObject *KX_GameObject::pyattr_get_localInertia(void *self_v, const KX_PYATTRIB
 	return Vector_CreatePyObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_INERTIA_LOCAL);
 #else
 	KX_GameObject* self = static_cast<KX_GameObject*>(self_v);
-	if (self->GetPhysicsController())
-		return PyObjectFrom(self->GetPhysicsController()->GetLocalInertia());
+	if (self->GetPhysicsController1())
+		return PyObjectFrom(self->GetPhysicsController1()->GetLocalInertia());
 	return Py_BuildValue("fff", 0.0f, 0.0f, 0.0f);
 #endif
 }
@@ -2854,14 +2855,8 @@ PyObject *KX_GameObject::PyGetVelocity(PyObject *args)
 	
 	if (!PyArg_ParseTuple(args, "|O:getVelocity", &pypos) || (pypos && !PyVecTo(pypos, point)))
 		return NULL;
-	
-	if (m_pPhysicsController1)
-	{
-		return PyObjectFrom(m_pPhysicsController1->GetVelocity(point));
-	}
-	else {
-		return PyObjectFrom(MT_Vector3(0.0,0.0,0.0));
-	}
+
+	return PyObjectFrom(GetVelocity(point));
 }
 
 PyObject *KX_GameObject::PyGetReactionForce()
@@ -2870,8 +2865,8 @@ PyObject *KX_GameObject::PyGetReactionForce()
 	
 	// XXX - Currently not working with bullet intergration, see KX_BulletPhysicsController.cpp's getReactionForce
 #if 0
-	if (GetPhysicsController())
-		return PyObjectFrom(GetPhysicsController()->getReactionForce());
+	if (GetPhysicsController1())
+		return PyObjectFrom(GetPhysicsController1()->getReactionForce());
 	return PyObjectFrom(dummy_point);
 #endif
 	
@@ -2884,7 +2879,7 @@ PyObject *KX_GameObject::PyGetReactionForce()
 PyObject *KX_GameObject::PyEnableRigidBody()
 {
 	if (GetPhysicsController())
-		GetPhysicsController()->setRigidBody(true);
+		GetPhysicsController()->SetRigidBody(true);
 
 	Py_RETURN_NONE;
 }
@@ -2894,7 +2889,7 @@ PyObject *KX_GameObject::PyEnableRigidBody()
 PyObject *KX_GameObject::PyDisableRigidBody()
 {
 	if (GetPhysicsController())
-		GetPhysicsController()->setRigidBody(false);
+		GetPhysicsController()->SetRigidBody(false);
 
 	Py_RETURN_NONE;
 }
@@ -2935,9 +2930,9 @@ PyObject *KX_GameObject::PySetCollisionMargin(PyObject *value)
 		return NULL;
 	}
 	
-	if (m_pPhysicsController1)
+	if (m_pPhysicsController)
 	{
-		m_pPhysicsController1->setMargin(collisionMargin);
+		m_pPhysicsController->SetMargin(collisionMargin);
 		Py_RETURN_NONE;
 	}
 	PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller");
@@ -2951,7 +2946,7 @@ PyObject *KX_GameObject::PyApplyImpulse(PyObject *args)
 	PyObject *pyattach;
 	PyObject *pyimpulse;
 	
-	if (!m_pPhysicsController1)	{
+	if (!m_pPhysicsController)	{
 		PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller");
 		return NULL;
 	}
@@ -2962,7 +2957,7 @@ PyObject *KX_GameObject::PyApplyImpulse(PyObject *args)
 		MT_Vector3 impulse;
 		if (PyVecTo(pyattach, attach) && PyVecTo(pyimpulse, impulse))
 		{
-			m_pPhysicsController1->applyImpulse(attach, impulse);
+			m_pPhysicsController->ApplyImpulse(attach, impulse);
 			Py_RETURN_NONE;
 		}
 
@@ -2975,7 +2970,7 @@ PyObject *KX_GameObject::PyApplyImpulse(PyObject *args)
 
 PyObject *KX_GameObject::PySuspendDynamics()
 {
-	SuspendDynamics();
+	GetPhysicsController()->SuspendDynamics();
 	Py_RETURN_NONE;
 }
 
@@ -2983,7 +2978,7 @@ PyObject *KX_GameObject::PySuspendDynamics()
 
 PyObject *KX_GameObject::PyRestoreDynamics()
 {
-	RestoreDynamics();
+	GetPhysicsController()->RestoreDynamics();
 	Py_RETURN_NONE;
 }
 
@@ -3023,11 +3018,11 @@ PyObject *KX_GameObject::PyGetAxisVect(PyObject *value)
 
 PyObject *KX_GameObject::PyGetPhysicsId()
 {
-	KX_IPhysicsController* ctrl = GetPhysicsController();
+	PHY_IPhysicsController* ctrl = GetPhysicsController();
 	uint_ptr physid=0;
 	if (ctrl)
 	{
-		physid= (uint_ptr)ctrl->GetUserData();
+		physid= (uint_ptr)ctrl;
 	}
 	return PyLong_FromLong((long)physid);
 }
@@ -3190,7 +3185,7 @@ KX_PYMETHODDEF_DOC(KX_GameObject, rayCastTo,
 		toPoint = fromPoint + dist * (toPoint-fromPoint).safe_normalized();
 	
 	PHY_IPhysicsEnvironment* pe = GetScene()->GetPhysicsEnvironment();
-	KX_IPhysicsController *spc = GetPhysicsController();
+	PHY_IPhysicsController *spc = GetPhysicsController();
 	KX_GameObject *parent = GetParent();
 	if (!spc && parent)
 		spc = parent->GetPhysicsController();
@@ -3336,7 +3331,7 @@ KX_PYMETHODDEF_DOC(KX_GameObject, rayCast,
 	}
 	
 	PHY_IPhysicsEnvironment* pe = GetScene()->GetPhysicsEnvironment();
-	KX_IPhysicsController *spc = GetPhysicsController();
+	PHY_IPhysicsController *spc = GetPhysicsController();
 	KX_GameObject *parent = GetParent();
 	if (!spc && parent)
 		spc = parent->GetPhysicsController();
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index dde3ff53299..55e2b31c5bf 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -49,7 +49,6 @@
 #include "CTR_HashedPtr.h"
 #include "KX_Scene.h"
 #include "KX_KetsjiEngine.h" /* for m_anim_framerate */
-#include "KX_IPhysicsController.h" /* for suspend/resume */
 #include "DNA_object_types.h"
 #include "SCA_LogicManager.h" /* for ConvertPythonToGameObject to search object names */
 
@@ -57,9 +56,9 @@
 struct KX_ClientObjectInfo;
 class KX_RayCast;
 class RAS_MeshObject;
-class KX_IPhysicsController;
 class PHY_IGraphicController;
 class PHY_IPhysicsEnvironment;
+class PHY_IPhysicsController;
 class BL_ActionManager;
 struct Object;
 class KX_ObstacleSimulation;
@@ -107,7 +106,7 @@ protected:
 	bool       							m_bCulled; 
 	bool								m_bOccluder;
 
-	KX_IPhysicsController*				m_pPhysicsController1;
+	PHY_IPhysicsController*				m_pPhysicsController;
 	PHY_IGraphicController*				m_pGraphicController;
 	STR_String							m_testPropName;
 	bool								m_xray;
@@ -465,12 +464,12 @@ public:
 	 * \return a pointer to the physics controller owned by this class.
 	 */
 
-	KX_IPhysicsController* GetPhysicsController();
+	PHY_IPhysicsController* GetPhysicsController();
 
-	void	SetPhysicsController(KX_IPhysicsController*	physicscontroller,bool isDynamic) 
+	void	SetPhysicsController(PHY_IPhysicsController*	physicscontroller,bool isDynamic)
 	{ 
 		m_bDyna = isDynamic;
-		m_pPhysicsController1 = physicscontroller;
+		m_pPhysicsController = physicscontroller;
 	}
 
 	virtual class RAS_Deformer* GetDeformer()
@@ -885,32 +884,6 @@ public:
 	 * Resume making progress
 	 */
 	void Resume(void);
-	
-	void SuspendDynamics(void) {
-		if (m_bSuspendDynamics)
-		{
-			return;
-		}
-	
-		if (m_pPhysicsController1)
-		{
-			m_pPhysicsController1->SuspendDynamics();
-		}
-		m_bSuspendDynamics = true;
-	}
-	
-	void RestoreDynamics(void) {
-		if (!m_bSuspendDynamics)
-		{
-			return;
-		}
-	
-		if (m_pPhysicsController1)
-		{
-			m_pPhysicsController1->RestoreDynamics();
-		}
-		m_bSuspendDynamics = false;
-	}
 
 	void RegisterObstacle(KX_ObstacleSimulation* obstacleSimulation)
 	{
diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.cpp b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
index f221b7c6cd4..f75633659ff 100644
--- a/source/gameengine/Ketsji/KX_IPO_SGController.cpp
+++ b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
@@ -48,7 +48,7 @@ typedef unsigned long uint_ptr;
 #include "KX_IPO_SGController.h"
 #include "KX_ScalarInterpolator.h"
 #include "KX_GameObject.h"
-#include "KX_IPhysicsController.h"
+#include "PHY_IPhysicsController.h"
 #include "DNA_ipo_types.h"
 #include "BLI_math.h"
 
@@ -154,9 +154,10 @@ bool KX_IpoSGController::Update(double currentTime)
 			{
 				if (m_game_object && ob && m_game_object->GetPhysicsController()) 
 				{
-					m_game_object->GetPhysicsController()->ApplyForce(m_ipo_local ?
-						ob->GetWorldOrientation() * m_ipo_xform.GetPosition() :
-						m_ipo_xform.GetPosition(), false);
+					MT_Vector3 vec = m_ipo_local ?
+					                     ob->GetWorldOrientation() * m_ipo_xform.GetPosition() :
+										 m_ipo_xform.GetPosition();
+					m_game_object->GetPhysicsController()->ApplyForce(vec, false);
 				}
 			} 
 			else
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.cpp b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
deleted file mode 100644
index f0e57ceac02..00000000000
--- a/source/gameengine/Ketsji/KX_IPhysicsController.cpp
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- * ***** 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 *****
- */
-
-/** \file gameengine/Ketsji/KX_IPhysicsController.cpp
- *  \ingroup ketsji
- */
-
-#include "KX_IPhysicsController.h"
-
-#include "PHY_DynamicTypes.h"
-
-KX_IPhysicsController::KX_IPhysicsController(bool dyna, bool sensor, bool character, bool compound, void* userdata)
-
-:	m_bDyna(dyna),
-	m_bSensor(sensor),
-	m_bCharacter(character),
-	m_bCompound(compound),
-	m_suspendDynamics(false),
-	m_userdata(userdata)
-{
-}
-
-KX_IPhysicsController::~KX_IPhysicsController()
-{
-}
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h
deleted file mode 100644
index 2019be57679..00000000000
--- a/source/gameengine/Ketsji/KX_IPhysicsController.h
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
- * ***** 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 *****
- */
-
-/** \file KX_IPhysicsController.h
- *  \ingroup ketsji
- */
-
-#ifndef __KX_IPHYSICSCONTROLLER_H__
-#define __KX_IPHYSICSCONTROLLER_H__
-
-#include "SG_Controller.h"
-#include "MT_Vector3.h"
-#include "MT_Point3.h"
-#include "MT_Transform.h"
-#include "MT_Matrix3x3.h"
-
-struct KX_ClientObjectInfo;
-
-/**
- * Physics Controller, a special kind of Scene Graph Transformation Controller.
- * It get's callbacks from Physics in case a transformation change took place.
- * Each time the scene graph get's updated, the controller get's a chance
- * in the 'Update' method to reflect changed.
- */
-
-class KX_IPhysicsController : public SG_Controller
-							 
-{
-protected:
-	bool		m_bDyna;
-	bool		m_bSensor;
-	bool		m_bCharacter;
-	bool		m_bCompound;
-	bool		m_suspendDynamics;
-	void*		m_userdata;
-public:
-	KX_IPhysicsController(bool dyna,bool sensor,bool character,bool compound, void* userdata);
-	virtual ~KX_IPhysicsController();
-
-
-	virtual void	applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0;
-	virtual void	SetObject (SG_IObject* object)=0;
-	virtual void	setMargin (float collisionMargin)=0;
-
-	virtual void	RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
-	virtual void	RelativeRotate(const MT_Matrix3x3& drot,bool local)=0;
-	virtual void	ApplyTorque(const MT_Vector3& torque,bool local)=0;
-	virtual void	ApplyForce(const MT_Vector3& force,bool local)=0;
-	virtual void	SetWalkDirection(const MT_Vector3& dir,bool local)=0;
-	virtual MT_Vector3 GetLinearVelocity()=0;
-	virtual MT_Vector3 GetAngularVelocity()=0;
-	virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
-	virtual MT_Vector3 GetWalkDirection()=0;
-	virtual void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
-	virtual void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
-	virtual void	Jump()=0;
-	virtual void	resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
-
-	virtual	void	getOrientation(MT_Quaternion& orn)=0;
-	virtual	void setOrientation(const MT_Matrix3x3& orn)=0;
-	virtual void SetTransform()=0;
-	//virtual	void setOrientation(const MT_Quaternion& orn)=0;
-	virtual	void setPosition(const MT_Point3& pos)=0;
-	virtual	void setScaling(const MT_Vector3& scaling)=0;
-	virtual	MT_Scalar	GetMass()=0;
-	virtual void	SetMass(MT_Scalar newmass)=0;
-	
-	virtual	float GetLinVelocityMin()=0;
-	virtual void	SetLinVelocityMin(float newmass)=0;
-	virtual	float GetLinVelocityMax()=0;
-	virtual void	SetLinVelocityMax(float newmass)=0;
-	
-	virtual	MT_Vector3	GetLocalInertia()=0;
-	virtual	MT_Vector3	getReactionForce()=0;
-	virtual void	setRigidBody(bool rigid)=0;
-	virtual void    AddCompoundChild(KX_IPhysicsController* child) = 0;
-	virtual void    RemoveCompoundChild(KX_IPhysicsController* child) = 0;
-
-	virtual void	SuspendDynamics(bool ghost=false)=0;
-	virtual void	RestoreDynamics()=0;
-
-	virtual	SG_Controller*	GetReplica(class SG_Node* destnode)=0;
-
-	void	SetDyna(bool isDynamic) {
-		m_bDyna = isDynamic;
-	}
-
-	void	SetSensor(bool isSensor) {
-		m_bSensor = isSensor;
-	}
-
-	void	SetCharacter(bool isCharacter) {
-		m_bCharacter = isCharacter;
-	}
-
-	bool	IsDyna(void) {
-		return m_bDyna;
-	}
-
-	bool	IsSensor(void) {
-		return m_bSensor;
-	}
-
-	bool	IsCharacter(void) {
-		return m_bCharacter;
-	}
-
-	bool	IsCompound(void) {
-		return m_bCompound;
-	}
-
-	virtual MT_Scalar GetRadius()=0;
-	virtual void	SetSumoTransform(bool nondynaonly)=0;
-	// todo: remove next line !
-	virtual void	SetSimulatedTime(double time)=0;
-	
-	// call from scene graph to update
-	virtual bool Update(double time)=0;
-	void*	GetUserData() { return m_userdata;}
-	
-	
-#ifdef WITH_CXX_GUARDEDALLOC
-	MEM_CXX_CLASS_ALLOC_FUNCS("GE:KX_IPhysicsController")
-#endif
-};
-
-#endif  /* __KX_IPHYSICSCONTROLLER_H__ */
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
index 48ef8cdd50d..0e9e2cd8328 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
@@ -646,7 +646,7 @@ bool KX_KetsjiEngine::NextFrame()
 #endif
 				KX_SetActiveScene(scene);
 	
-				scene->GetPhysicsEnvironment()->endFrame();
+				scene->GetPhysicsEnvironment()->EndFrame();
 				
 				// Update scenegraph after physics step. This maps physics calculations
 				// into node positions.
@@ -688,11 +688,11 @@ bool KX_KetsjiEngine::NextFrame()
 
 				m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);
 				SG_SetActiveStage(SG_STAGE_PHYSICS2);
-				scene->GetPhysicsEnvironment()->beginFrame();
+				scene->GetPhysicsEnvironment()->BeginFrame();
 		
 				// Perform physics calculations on the scene. This can involve 
 				// many iterations of the physics solver.
-				scene->GetPhysicsEnvironment()->proceedDeltaTime(m_frameTime,timestep,framestep);//m_deltatimerealDeltaTime);
+				scene->GetPhysicsEnvironment()->ProceedDeltaTime(m_frameTime,timestep,framestep);//m_deltatimerealDeltaTime);
 
 				m_logger->StartLog(tc_scenegraph, m_kxsystem->GetTimeInSeconds(), true);
 				SG_SetActiveStage(SG_STAGE_PHYSICS2_UPDATE);
@@ -762,7 +762,7 @@ bool KX_KetsjiEngine::NextFrame()
 				// Perform physics calculations on the scene. This can involve 
 				// many iterations of the physics solver.
 				m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);
-				scene->GetPhysicsEnvironment()->proceedDeltaTime(m_clockTime,timestep,timestep);
+				scene->GetPhysicsEnvironment()->ProceedDeltaTime(m_clockTime,timestep,timestep);
 				// Update scenegraph after physics step. This maps physics calculations
 				// into node positions.
 				m_logger->StartLog(tc_scenegraph, m_kxsystem->GetTimeInSeconds(), true);
@@ -1329,7 +1329,7 @@ void KX_KetsjiEngine::RenderFrame(KX_Scene* scene, KX_Camera* cam)
 	scene->RenderFonts();
 	
 	if (scene->GetPhysicsEnvironment())
-		scene->GetPhysicsEnvironment()->debugDrawWorld();
+		scene->GetPhysicsEnvironment()->DebugDrawWorld();
 }
 
 /*
diff --git a/source/gameengine/Ketsji/KX_MotionState.cpp b/source/gameengine/Ketsji/KX_MotionState.cpp
index 3ca01e7af74..4728f71a6ea 100644
--- a/source/gameengine/Ketsji/KX_MotionState.cpp
+++ b/source/gameengine/Ketsji/KX_MotionState.cpp
@@ -41,7 +41,7 @@ KX_MotionState::~KX_MotionState()
 {
 }
 
-void	KX_MotionState::getWorldPosition(float& posX,float& posY,float& posZ)
+void	KX_MotionState::GetWorldPosition(float& posX,float& posY,float& posZ)
 {
 	const MT_Point3& pos = m_node->GetWorldPosition();
 	posX = pos[0];
@@ -49,7 +49,7 @@ void	KX_MotionState::getWorldPosition(float& posX,float& posY,float& posZ)
 	posZ = pos[2];
 }
 
-void	KX_MotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
+void	KX_MotionState::GetWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
 {
 	const MT_Vector3& scale = m_node->GetWorldScaling();
 	scaleX = scale[0];
@@ -57,7 +57,7 @@ void	KX_MotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
 	scaleZ = scale[2];
 }
 
-void	KX_MotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
+void	KX_MotionState::GetWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
 {
 	MT_Quaternion orn = m_node->GetWorldOrientation().getRotation();
 	quatIma0 = orn[0];
@@ -66,24 +66,24 @@ void	KX_MotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float&
 	quatReal = orn[3];
 }
 	
-void	KX_MotionState::getWorldOrientation(float* ori)
+void	KX_MotionState::GetWorldOrientation(float* ori)
 {
 	const MT_Matrix3x3& mat = m_node->GetWorldOrientation();
 	mat.getValue(ori);
 }
 	
-void	KX_MotionState::setWorldOrientation(const float* ori)
+void	KX_MotionState::SetWorldOrientation(const float* ori)
 {
 	m_node->SetLocalOrientation(ori);
 }
 	
-void	KX_MotionState::setWorldPosition(float posX,float posY,float posZ)
+void	KX_MotionState::SetWorldPosition(float posX,float posY,float posZ)
 {
 	m_node->SetLocalPosition(MT_Point3(posX,posY,posZ));
 	//m_node->SetWorldPosition(MT_Point3(posX,posY,posZ));
 }
 
-void	KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
+void	KX_MotionState::SetWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
 {
 	MT_Quaternion orn;
 	orn[0] = quatIma0;
@@ -96,7 +96,7 @@ void	KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float qua
 
 }
 
-void	KX_MotionState::calculateWorldTransformations()
+void	KX_MotionState::CalculateWorldTransformations()
 {
 	//Not needed, will be done in KX_Scene::UpdateParents() after the physics simulation
 	//bool parentUpdated = false;
diff --git a/source/gameengine/Ketsji/KX_MotionState.h b/source/gameengine/Ketsji/KX_MotionState.h
index 116e62f408f..38046fe4ff9 100644
--- a/source/gameengine/Ketsji/KX_MotionState.h
+++ b/source/gameengine/Ketsji/KX_MotionState.h
@@ -46,15 +46,15 @@ public:
 	KX_MotionState(class SG_Spatial* spatial);
 	virtual ~KX_MotionState();
 
-	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	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();
+	virtual	void	CalculateWorldTransformations();
 
 
 #ifdef WITH_CXX_GUARDEDALLOC
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
index 82ae8c13633..2dbafdad3d9 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
@@ -47,7 +47,6 @@
 #include "KX_PyMath.h"
 
 #include "KX_RayCast.h"
-#include "KX_IPhysicsController.h"
 #include "PHY_IPhysicsController.h"
 #include "PHY_IPhysicsEnvironment.h"
 
@@ -280,7 +279,7 @@ bool KX_MouseFocusSensor::ParentObjectHasFocusCamera(KX_Camera *cam)
 	/* 2. Get the object from PhysicsEnvironment */
 	/* Shoot! Beware that the first argument here is an
 	 * ignore-object. We don't ignore anything... */
-	KX_IPhysicsController* physics_controller = cam->GetPhysicsController();
+	PHY_IPhysicsController* physics_controller = cam->GetPhysicsController();
 	PHY_IPhysicsEnvironment* physics_environment = m_kxscene->GetPhysicsEnvironment();
 
 	// get UV mapping
diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp
index cbb4e77d165..6459f35192d 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.cpp
+++ b/source/gameengine/Ketsji/KX_NearSensor.cpp
@@ -68,7 +68,7 @@ KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 	if (m_physCtrl)
 	{
 		m_physCtrl->SetMargin(m_Margin);
-		m_physCtrl->setNewClientInfo(m_client_info);
+		m_physCtrl->SetNewClientInfo(m_client_info);
 	}
 	SynchronizeTransform();
 }
@@ -84,8 +84,8 @@ void KX_NearSensor::SynchronizeTransform()
 		const MT_Point3& pos = parent->NodeGetWorldPosition();
 		float ori[12];
 		parent->NodeGetWorldOrientation().getValue(ori);
-		motionState->setWorldPosition(pos[0], pos[1], pos[2]);
-		motionState->setWorldOrientation(ori);
+		motionState->SetWorldPosition(pos[0], pos[1], pos[2]);
+		motionState->SetWorldOrientation(ori);
 		m_physCtrl->WriteMotionStateToDynamics(true);
 	}
 }
@@ -105,12 +105,12 @@ void KX_NearSensor::ProcessReplica()
 	
 	if (m_physCtrl)
 	{
-		m_physCtrl = m_physCtrl->GetReplica();
+		m_physCtrl = m_physCtrl->GetReplicaForSensors();
 		if (m_physCtrl)
 		{
 			//static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->addSensor(replica->m_physCtrl);
 			m_physCtrl->SetMargin(m_Margin);
-			m_physCtrl->setNewClientInfo(m_client_info);
+			m_physCtrl->SetNewClientInfo(m_client_info);
 		}
 		
 	}
@@ -186,7 +186,7 @@ bool	KX_NearSensor::BroadPhaseFilterCollision(void*obj1,void*obj2)
 	
 	// need the mapping from PHY_IPhysicsController to gameobjects now
 	assert(obj1==m_physCtrl && obj2);
-	KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>((static_cast<PHY_IPhysicsController*>(obj2))->getNewClientInfo());
+	KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>((static_cast<PHY_IPhysicsController*>(obj2))->GetNewClientInfo());
 
 	KX_GameObject* gameobj = ( client_info ? 
 			client_info->m_gameobject :
@@ -216,8 +216,8 @@ bool	KX_NearSensor::NewHandleCollision(void *obj1, void *obj2, const PHY_CollDat
 	// need the mapping from PHY_IPhysicsController to gameobjects now
 	
 	KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*> (obj1 == m_physCtrl?
-					((PHY_IPhysicsController*)obj2)->getNewClientInfo() : 
-					((PHY_IPhysicsController*)obj1)->getNewClientInfo());
+					((PHY_IPhysicsController*)obj2)->GetNewClientInfo() :
+					((PHY_IPhysicsController*)obj1)->GetNewClientInfo());
 
 	KX_GameObject* gameobj = ( client_info ? 
 			client_info->m_gameobject :
diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.cpp b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
index 2965faba8f4..2f85453dd23 100644
--- a/source/gameengine/Ketsji/KX_ObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
@@ -36,7 +36,9 @@
 #include "KX_ObjectActuator.h"
 #include "KX_GameObject.h"
 #include "KX_PyMath.h" // For PyVecTo - should this include be put in PyObjectPlus?
-#include "KX_IPhysicsController.h"
+#include "PHY_IPhysicsController.h"
+#include "PHY_ICharacter.h"
+#include "PHY_IPhysicsEnvironment.h"
 
 /* ------------------------------------------------------------------------- */
 /* Native functions                                                          */
@@ -84,8 +86,9 @@ KX_ObjectActuator(
 	if (m_bitLocalFlag.CharacterMotion)
 	{
 		KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent());
+		PHY_ICharacter *character = parent->GetScene()->GetPhysicsEnvironment()->GetCharacterController(parent);
 
-		if (!parent->GetPhysicsController() || !parent->GetPhysicsController()->IsCharacter())
+		if (!character)
 		{
 			printf("Character motion enabled on non-character object (%s), falling back to simple motion.\n", parent->GetName().Ptr());
 			m_bitLocalFlag.CharacterMotion = false;
@@ -109,6 +112,7 @@ bool KX_ObjectActuator::Update()
 	RemoveAllEvents();
 		
 	KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent()); 
+	PHY_ICharacter *character = parent->GetScene()->GetPhysicsEnvironment()->GetCharacterController(parent);
 
 	if (bNegativeEvent) {
 		// If we previously set the linear velocity we now have to inform
@@ -128,8 +132,7 @@ bool KX_ObjectActuator::Update()
 
 		// Explicitly stop the movement if we're using character motion
 		if (m_bitLocalFlag.CharacterMotion) {
-			MT_Vector3 vec(0.0, 0.0, 0.0);
-			parent->GetPhysicsController()->SetWalkDirection(vec, true);
+			character->SetWalkDirection(MT_Vector3 (0.0, 0.0, 0.0));
 		}
 
 		m_linear_damping_active = false;
@@ -220,7 +223,7 @@ bool KX_ObjectActuator::Update()
 			MT_Vector3 dir = m_dloc;
 
 			if (m_bitLocalFlag.AddOrSetCharLoc) {
-				MT_Vector3 old_dir = parent->GetPhysicsController()->GetWalkDirection();
+				MT_Vector3 old_dir = character->GetWalkDirection();
 
 				if (!old_dir.fuzzyZero()) {
 					MT_Scalar mag = old_dir.length();
@@ -232,7 +235,12 @@ bool KX_ObjectActuator::Update()
 			}
 
 			// We always want to set the walk direction since a walk direction of (0, 0, 0) should stop the character
-			parent->GetPhysicsController()->SetWalkDirection(dir, (m_bitLocalFlag.DLoc) != 0);
+			if (m_bitLocalFlag.DLoc)
+			{
+				MT_Matrix3x3 basis = parent->GetPhysicsController()->GetOrientation();
+				dir = basis*dir;
+			}
+			character->SetWalkDirection(dir/parent->GetScene()->GetPhysicsEnvironment()->GetNumTimeSubSteps());
 
 			if (!m_bitLocalFlag.ZeroDRot)
 			{
@@ -240,7 +248,8 @@ bool KX_ObjectActuator::Update()
 			}
 			if (m_bitLocalFlag.CharacterJump)
 			{
-				parent->GetPhysicsController()->Jump();
+
+				character->Jump();
 			}
 		}
 		else {
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
index 2e9b988dff1..e9843b0af5b 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
@@ -100,7 +100,7 @@ static PyObject *gPySetGravity(PyObject *self,
 	if (PyArg_ParseTuple(args,"fff",&x,&y,&z))
 	{
 		if (PHY_GetActiveEnvironment())
-			PHY_GetActiveEnvironment()->setGravity(x,y,z);
+			PHY_GetActiveEnvironment()->SetGravity(x,y,z);
 	}
 	else {
 		return NULL;
@@ -118,7 +118,7 @@ static PyObject *gPySetDebugMode(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setDebugMode(mode);
+			PHY_GetActiveEnvironment()->SetDebugMode(mode);
 			
 		}
 		
@@ -141,7 +141,7 @@ static PyObject *gPySetNumTimeSubSteps(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setNumTimeSubSteps(substep);
+			PHY_GetActiveEnvironment()->SetNumTimeSubSteps(substep);
 		}
 	}
 	else {
@@ -160,7 +160,7 @@ static PyObject *gPySetNumIterations(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setNumIterations(iter);
+			PHY_GetActiveEnvironment()->SetNumIterations(iter);
 		}
 	}
 	else {
@@ -179,7 +179,7 @@ static PyObject *gPySetDeactivationTime(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setDeactivationTime(deactive_time);
+			PHY_GetActiveEnvironment()->SetDeactivationTime(deactive_time);
 		}
 	}
 	else {
@@ -198,7 +198,7 @@ static PyObject *gPySetDeactivationLinearTreshold(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setDeactivationLinearTreshold( linearDeactivationTreshold);
+			PHY_GetActiveEnvironment()->SetDeactivationLinearTreshold( linearDeactivationTreshold);
 		}
 	}
 	else {
@@ -217,7 +217,7 @@ static PyObject *gPySetDeactivationAngularTreshold(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setDeactivationAngularTreshold( angularDeactivationTreshold);
+			PHY_GetActiveEnvironment()->SetDeactivationAngularTreshold( angularDeactivationTreshold);
 		}
 	}
 	else {
@@ -235,7 +235,7 @@ static PyObject *gPySetContactBreakingTreshold(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setContactBreakingTreshold( contactBreakingTreshold);
+			PHY_GetActiveEnvironment()->SetContactBreakingTreshold( contactBreakingTreshold);
 		}
 	}
 	else {
@@ -254,7 +254,7 @@ static PyObject *gPySetCcdMode(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setCcdMode( ccdMode);
+			PHY_GetActiveEnvironment()->SetCcdMode( ccdMode);
 		}
 	}
 	else {
@@ -272,7 +272,7 @@ static PyObject *gPySetSorConstant(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setSolverSorConstant( sor);
+			PHY_GetActiveEnvironment()->SetSolverSorConstant( sor);
 		}
 	}
 	else {
@@ -290,7 +290,7 @@ static PyObject *gPySetSolverTau(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setSolverTau( tau);
+			PHY_GetActiveEnvironment()->SetSolverTau( tau);
 		}
 	}
 	else {
@@ -309,7 +309,7 @@ static PyObject *gPySetSolverDamping(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setSolverDamping( damping);
+			PHY_GetActiveEnvironment()->SetSolverDamping( damping);
 		}
 	}
 	else {
@@ -327,7 +327,7 @@ static PyObject *gPySetLinearAirDamping(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setLinearAirDamping( damping);
+			PHY_GetActiveEnvironment()->SetLinearAirDamping( damping);
 		}
 	}
 	else {
@@ -346,7 +346,7 @@ static PyObject *gPySetUseEpa(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setUseEpa(epa);
+			PHY_GetActiveEnvironment()->SetUseEpa(epa);
 		}
 	}
 	else {
@@ -363,7 +363,7 @@ static PyObject *gPySetSolverType(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->setSolverType(solverType);
+			PHY_GetActiveEnvironment()->SetSolverType(solverType);
 		}
 	}
 	else {
@@ -389,7 +389,7 @@ static PyObject *gPyGetVehicleConstraint(PyObject *self,
 		if (PHY_GetActiveEnvironment())
 		{
 			
-			PHY_IVehicle* vehicle = PHY_GetActiveEnvironment()->getVehicleConstraint(constraintid);
+			PHY_IVehicle* vehicle = PHY_GetActiveEnvironment()->GetVehicleConstraint(constraintid);
 			if (vehicle)
 			{
 				KX_VehicleWrapper* pyWrapper = new KX_VehicleWrapper(vehicle,PHY_GetActiveEnvironment());
@@ -421,7 +421,7 @@ static PyObject* gPyGetCharacter(PyObject* self,
 	if (PHY_GetActiveEnvironment())
 	{
 			
-		PHY_ICharacter* character= PHY_GetActiveEnvironment()->getCharacterController(ob);
+		PHY_ICharacter* character= PHY_GetActiveEnvironment()->GetCharacterController(ob);
 		if (character)
 		{
 			KX_CharacterWrapper* pyWrapper = new KX_CharacterWrapper(character);
@@ -523,14 +523,14 @@ static PyObject *gPyCreateConstraint(PyObject *self,
 					MT_Vector3 axis1 = localCFrame.getColumn(1);
 					MT_Vector3 axis2 = localCFrame.getColumn(2);
 
-					constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,
+					constraintid = PHY_GetActiveEnvironment()->CreateConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,
 					                                                            pivotX,pivotY,pivotZ,
 					                                                            (float)axis0.x(),(float)axis0.y(),(float)axis0.z(),
 					                                                            (float)axis1.x(),(float)axis1.y(),(float)axis1.z(),
 					                                                            (float)axis2.x(),(float)axis2.y(),(float)axis2.z(),flag);
 				}
 				else {
-					constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
+					constraintid = PHY_GetActiveEnvironment()->CreateConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
 				}
 				
 				KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
@@ -567,7 +567,7 @@ static PyObject *gPyGetAppliedImpulse(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			appliedImpulse = PHY_GetActiveEnvironment()->getAppliedImpulse(constraintid);
+			appliedImpulse = PHY_GetActiveEnvironment()->GetAppliedImpulse(constraintid);
 		}
 	}
 	else {
@@ -592,7 +592,7 @@ static PyObject *gPyRemoveConstraint(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->removeConstraint(constraintid);
+			PHY_GetActiveEnvironment()->RemoveConstraint(constraintid);
 		}
 	}
 	else {
@@ -610,7 +610,7 @@ static PyObject *gPyExportBulletFile(PyObject *, PyObject *args)
 
 	if (PHY_GetActiveEnvironment())
 	{
-		PHY_GetActiveEnvironment()->exportFile(filename);
+		PHY_GetActiveEnvironment()->ExportFile(filename);
 	}
 	Py_RETURN_NONE;
 }
diff --git a/source/gameengine/Ketsji/KX_PythonInit.cpp b/source/gameengine/Ketsji/KX_PythonInit.cpp
index 311653e72e7..08e240903d1 100644
--- a/source/gameengine/Ketsji/KX_PythonInit.cpp
+++ b/source/gameengine/Ketsji/KX_PythonInit.cpp
@@ -480,7 +480,7 @@ static PyObject *gPySetPhysicsTicRate(PyObject *, PyObject *args)
 	if (!PyArg_ParseTuple(args, "f:setPhysicsTicRate", &ticrate))
 		return NULL;
 	
-	PHY_GetActiveEnvironment()->setFixedTimeStep(true,ticrate);
+	PHY_GetActiveEnvironment()->SetFixedTimeStep(true,ticrate);
 	Py_RETURN_NONE;
 }
 #if 0 // unused
@@ -498,7 +498,7 @@ static PyObject *gPySetPhysicsDebug(PyObject *, PyObject *args)
 
 static PyObject *gPyGetPhysicsTicRate(PyObject *)
 {
-	return PyFloat_FromDouble(PHY_GetActiveEnvironment()->getFixedTimeStep());
+	return PyFloat_FromDouble(PHY_GetActiveEnvironment()->GetFixedTimeStep());
 }
 
 static PyObject *gPyGetAverageFrameRate(PyObject *)
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index 04d67fc73e1..732bcdc3773 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -166,8 +166,8 @@ void KX_RadarSensor::SynchronizeTransform()
 		const MT_Point3& pos = trans.getOrigin();
 		float ori[12];
 		trans.getBasis().getValue(ori);
-		motionState->setWorldPosition(pos[0], pos[1], pos[2]);
-		motionState->setWorldOrientation(ori);
+		motionState->SetWorldPosition(pos[0], pos[1], pos[2]);
+		motionState->SetWorldOrientation(ori);
 		m_physCtrl->WriteMotionStateToDynamics(true);
 	}
 
diff --git a/source/gameengine/Ketsji/KX_RayCast.cpp b/source/gameengine/Ketsji/KX_RayCast.cpp
index f1bfb10220a..333e7b57d67 100644
--- a/source/gameengine/Ketsji/KX_RayCast.cpp
+++ b/source/gameengine/Ketsji/KX_RayCast.cpp
@@ -39,12 +39,11 @@
 #include "MT_Point3.h"
 #include "MT_Vector3.h"
 
-#include "KX_IPhysicsController.h"
 #include "PHY_IPhysicsEnvironment.h"
 #include "PHY_IPhysicsController.h"
 
-KX_RayCast::KX_RayCast(KX_IPhysicsController* ignoreController, bool faceNormal, bool faceUV)
-	:PHY_IRayCastFilterCallback(dynamic_cast<PHY_IPhysicsController*>(ignoreController), faceNormal, faceUV) 
+KX_RayCast::KX_RayCast(PHY_IPhysicsController* ignoreController, bool faceNormal, bool faceUV)
+	:PHY_IRayCastFilterCallback(ignoreController, faceNormal, faceUV)
 {
 }
 
@@ -76,11 +75,11 @@ bool KX_RayCast::RayTest(PHY_IPhysicsEnvironment* physics_environment, const MT_
 	
 	PHY_IPhysicsController* hit_controller;
 
-	while ((hit_controller = physics_environment->rayTest(callback,
+	while ((hit_controller = physics_environment->RayTest(callback,
 	                                                      frompoint.x(),frompoint.y(),frompoint.z(),
 	                                                      topoint.x(),topoint.y(),topoint.z())) != NULL)
 	{
-		KX_ClientObjectInfo *info = static_cast<KX_ClientObjectInfo*>(hit_controller->getNewClientInfo());
+		KX_ClientObjectInfo *info = static_cast<KX_ClientObjectInfo*>(hit_controller->GetNewClientInfo());
 		
 		if (!info)
 		{
diff --git a/source/gameengine/Ketsji/KX_RayCast.h b/source/gameengine/Ketsji/KX_RayCast.h
index 544080f31d0..e47ac676eb1 100644
--- a/source/gameengine/Ketsji/KX_RayCast.h
+++ b/source/gameengine/Ketsji/KX_RayCast.h
@@ -40,7 +40,6 @@
 
 class RAS_MeshObject; 
 struct KX_ClientObjectInfo;
-class KX_IPhysicsController;
 
 /**
  *  Defines a function for doing a ray cast.
@@ -65,7 +64,7 @@ public:
 	int                     m_hitUVOK;		// !=0 if UV coordinate in m_hitUV is valid
 	MT_Vector2				m_hitUV;
 
-	KX_RayCast(KX_IPhysicsController* ignoreController, bool faceNormal, bool faceUV);
+	KX_RayCast(PHY_IPhysicsController* ignoreController, bool faceNormal, bool faceUV);
 	virtual ~KX_RayCast() {}
 
 	/**
@@ -105,7 +104,7 @@ template<class T> class KX_RayCast::Callback : public KX_RayCast
 	T *self;
 	void *data;
 public:
-	Callback(T *_self, KX_IPhysicsController* controller=NULL, void *_data = NULL, bool faceNormal=false, bool faceUV=false)
+	Callback(T *_self, PHY_IPhysicsController* controller=NULL, void *_data = NULL, bool faceNormal=false, bool faceUV=false)
 		: KX_RayCast(controller, faceNormal, faceUV),
 		self(_self),
 		data(_data)
@@ -121,7 +120,7 @@ public:
 
 	virtual	bool needBroadphaseRayCast(PHY_IPhysicsController* controller)
 	{
-		KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(controller->getNewClientInfo());
+		KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(controller->GetNewClientInfo());
 		
 		if (!info)
 		{
diff --git a/source/gameengine/Ketsji/KX_RaySensor.cpp b/source/gameengine/Ketsji/KX_RaySensor.cpp
index 3fbce690a9f..afd39557130 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.cpp
+++ b/source/gameengine/Ketsji/KX_RaySensor.cpp
@@ -44,7 +44,6 @@
 #include "KX_RayCast.h"
 #include "KX_PyMath.h"
 #include "PHY_IPhysicsEnvironment.h"
-#include "KX_IPhysicsController.h"
 #include "PHY_IPhysicsController.h"
 #include "DNA_sensor_types.h"
 
@@ -261,7 +260,7 @@ bool KX_RaySensor::Evaluate()
 		return false;
 	} 
 
-	KX_IPhysicsController *spc = obj->GetPhysicsController();
+	PHY_IPhysicsController *spc = obj->GetPhysicsController();
 	KX_GameObject *parent = obj->GetParent();
 	if (!spc && parent)
 		spc = parent->GetPhysicsController();
diff --git a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
index 56dccc1d045..f8f79269eaa 100644
--- a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
@@ -38,7 +38,6 @@
 #include "KX_SCA_AddObjectActuator.h"
 #include "SCA_IScene.h"
 #include "KX_GameObject.h"
-#include "KX_IPhysicsController.h"
 #include "PyObjectPlus.h" 
 
 /* ------------------------------------------------------------------------- */
diff --git a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp
index 5dc67a4cff3..e02eca3db63 100644
--- a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp
@@ -35,6 +35,7 @@
  * Please look here for revision history. */
 
 #include "KX_SCA_DynamicActuator.h"
+#include "PHY_IPhysicsController.h"
 
 #ifdef WITH_PYTHON
 
@@ -105,7 +106,7 @@ bool KX_SCA_DynamicActuator::Update()
 	// bool result = false;	/*unused*/
 	KX_GameObject *obj = (KX_GameObject*) GetParent();
 	bool bNegativeEvent = IsNegativeEvent();
-	KX_IPhysicsController* controller;
+	PHY_IPhysicsController* controller;
 	RemoveAllEvents();
 
 	if (bNegativeEvent)
@@ -120,16 +121,16 @@ bool KX_SCA_DynamicActuator::Update()
 	switch (m_dyn_operation)
 	{
 		case 0:
-			obj->RestoreDynamics();
+			controller->RestoreDynamics();
 			break;
 		case 1:
-			obj->SuspendDynamics();
+			controller->SuspendDynamics();
 			break;
 		case 2:
-			controller->setRigidBody(true);
+			controller->SetRigidBody(true);
 			break;
 		case 3:
-			controller->setRigidBody(false);
+			controller->SetRigidBody(false);
 			break;
 		case 4:
 			controller->SetMass(m_setmass);
diff --git a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h
index 01a91624c41..4eb337c54f5 100644
--- a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h
@@ -38,7 +38,6 @@
 #include "SCA_LogicManager.h"
 
 #include "KX_GameObject.h"
-#include "KX_IPhysicsController.h"
 
 class KX_SCA_DynamicActuator : public SCA_IActuator
 {
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index a34764d7d17..1d95beed6e9 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -82,7 +82,6 @@
 #include "KX_NetworkEventManager.h"
 #include "NG_NetworkScene.h"
 #include "PHY_IPhysicsEnvironment.h"
-#include "KX_IPhysicsController.h"
 #include "PHY_IGraphicController.h"
 #include "KX_BlenderSceneConverter.h"
 #include "KX_MotionState.h"
@@ -545,7 +544,7 @@ KX_GameObject* KX_Scene::AddNodeReplicaObject(class SG_IObject* node, class CVal
 	for (cit = scenegraphcontrollers.begin();!(cit==scenegraphcontrollers.end());++cit)
 	{
 		// controller replication is quite complicated
-		// only replicate ipo and physics controller for now
+		// only replicate ipo controller for now
 
 		SG_Controller* replicacontroller = (*cit)->GetReplica((SG_Node*) replicanode);
 		if (replicacontroller)
@@ -559,9 +558,21 @@ KX_GameObject* KX_Scene::AddNodeReplicaObject(class SG_IObject* node, class CVal
 	{
 		PHY_IMotionState* motionstate = new KX_MotionState(newobj->GetSGNode());
 		PHY_IGraphicController* newctrl = orgobj->GetGraphicController()->GetReplica(motionstate);
-		newctrl->setNewClientInfo(newobj->getClientInfo());
+		newctrl->SetNewClientInfo(newobj->getClientInfo());
 		newobj->SetGraphicController(newctrl);
 	}
+
+	// replicate physics controller
+	if (orgobj->GetPhysicsController())
+	{
+		PHY_IMotionState* motionstate = new KX_MotionState(newobj->GetSGNode());
+		PHY_IPhysicsController* newctrl = orgobj->GetPhysicsController()->GetReplica();
+		PHY_IPhysicsController* parentctrl = (newobj->GetParent()) ? newobj->GetParent()->GetPhysicsController() : NULL;
+
+		newctrl->SetNewClientInfo(newobj->getClientInfo());
+		newobj->SetPhysicsController(newctrl, newobj->IsDynamic());
+		newctrl->PostProcessReplica(motionstate, parentctrl);
+	}
 	return newobj;
 }
 
@@ -1525,7 +1536,7 @@ void KX_Scene::CalculateVisibleMeshes(RAS_IRasterizer* rasty,KX_Camera* cam, int
 		double pmat[16] = {0};
 		cam->GetProjectionMatrix().getValue(pmat);
 
-		dbvt_culling = m_physicsEnvironment->cullingTest(PhysicsCullingCallback,&info,planes,5,m_dbvt_occlusion_res,
+		dbvt_culling = m_physicsEnvironment->CullingTest(PhysicsCullingCallback,&info,planes,5,m_dbvt_occlusion_res,
 		                                                 KX_GetActiveEngine()->GetCanvas()->GetViewPort(),
 		                                                 mvmat, pmat);
 	}
@@ -1755,14 +1766,14 @@ void KX_Scene::SetNetworkScene(NG_NetworkScene *newScene)
 
 void	KX_Scene::SetGravity(const MT_Vector3& gravity)
 {
-	GetPhysicsEnvironment()->setGravity(gravity[0],gravity[1],gravity[2]);
+	GetPhysicsEnvironment()->SetGravity(gravity[0],gravity[1],gravity[2]);
 }
 
 MT_Vector3 KX_Scene::GetGravity()
 {
 	MT_Vector3 gravity;
 
-	GetPhysicsEnvironment()->getGravity(gravity);
+	GetPhysicsEnvironment()->GetGravity(gravity);
 
 	return gravity;
 }
@@ -1803,10 +1814,6 @@ short KX_Scene::GetAnimationFPS()
 	return m_blenderScene->r.frs_sec;
 }
 
-#ifdef WITH_BULLET
-#include "KX_BulletPhysicsController.h"
-#endif
-
 static void MergeScene_LogicBrick(SCA_ILogicBrick* brick, KX_Scene *to)
 {
 	SCA_LogicManager *logicmgr= to->GetLogicManager();
@@ -1839,7 +1846,6 @@ static void MergeScene_LogicBrick(SCA_ILogicBrick* brick, KX_Scene *to)
 #ifdef WITH_BULLET
 #include "CcdGraphicController.h" // XXX  ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment());
 #include "CcdPhysicsEnvironment.h" // XXX  ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment());
-#include "KX_BulletPhysicsController.h"
 #endif
 
 static void MergeScene_GameObject(KX_GameObject* gameobj, KX_Scene *to, KX_Scene *from)
@@ -1888,12 +1894,17 @@ static void MergeScene_GameObject(KX_GameObject* gameobj, KX_Scene *to, KX_Scene
 	}
 
 	/* graphics controller */
-	PHY_IGraphicController *ctrl = gameobj->GetGraphicController();
+	PHY_IController *ctrl = gameobj->GetGraphicController();
 	if (ctrl) {
 		/* SHOULD update the m_cullingTree */
 		ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment());
 	}
 
+	ctrl = gameobj->GetPhysicsController();
+	if (ctrl) {
+		ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment());
+	}
+
 	/* SG_Node can hold a scene reference */
 	SG_Node *sg= gameobj->GetSGNode();
 	if (sg) {
@@ -1905,16 +1916,6 @@ static void MergeScene_GameObject(KX_GameObject* gameobj, KX_Scene *to, KX_Scene
 			for (int i=0; i<children.size(); i++)
 					children[i]->SetSGClientInfo(to);
 		}
-#ifdef WITH_BULLET
-		SGControllerList::iterator contit;
-		SGControllerList& controllers = sg->GetSGControllerList();
-		for (contit = controllers.begin();contit!=controllers.end();++contit)
-		{
-			KX_BulletPhysicsController *phys_ctrl= dynamic_cast<KX_BulletPhysicsController *>(*contit);
-			if (phys_ctrl)
-				phys_ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment());
-		}
-#endif // WITH_BULLET
 	}
 	/* If the object is a light, update it's scene */
 	if (gameobj->GetGameObjectType() == SCA_IObject::OBJ_LIGHT)
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.cpp b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
index 1a9e1442cc8..d010d3d50a0 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.cpp
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
@@ -48,9 +48,9 @@ KX_TouchEventManager::KX_TouchEventManager(class SCA_LogicManager* logicmgr,
 	//m_scene->addTouchCallback(OBJECT_RESPONSE, KX_TouchEventManager::collisionResponse, this);
 	//m_scene->addTouchCallback(SENSOR_RESPONSE, KX_TouchEventManager::collisionResponse, this);
 
-	m_physEnv->addTouchCallback(PHY_OBJECT_RESPONSE, KX_TouchEventManager::newCollisionResponse, this);
-	m_physEnv->addTouchCallback(PHY_SENSOR_RESPONSE, KX_TouchEventManager::newCollisionResponse, this);
-	m_physEnv->addTouchCallback(PHY_BROADPH_RESPONSE, KX_TouchEventManager::newBroadphaseResponse, this);
+	m_physEnv->AddTouchCallback(PHY_OBJECT_RESPONSE, KX_TouchEventManager::newCollisionResponse, this);
+	m_physEnv->AddTouchCallback(PHY_SENSOR_RESPONSE, KX_TouchEventManager::newCollisionResponse, this);
+	m_physEnv->AddTouchCallback(PHY_BROADPH_RESPONSE, KX_TouchEventManager::newBroadphaseResponse, this);
 
 }
 
@@ -84,8 +84,8 @@ bool	 KX_TouchEventManager::newBroadphaseResponse(void *client_data,
 	PHY_IPhysicsController* ctrl1 = static_cast<PHY_IPhysicsController*>(object1);
 	PHY_IPhysicsController* ctrl2 = static_cast<PHY_IPhysicsController*>(object2);
 
-	KX_ClientObjectInfo *info1 = (ctrl1) ? static_cast<KX_ClientObjectInfo*>(ctrl1->getNewClientInfo()) : NULL;
-	KX_ClientObjectInfo *info2 = (ctrl1) ? static_cast<KX_ClientObjectInfo*>(ctrl2->getNewClientInfo()) : NULL;
+	KX_ClientObjectInfo *info1 = (ctrl1) ? static_cast<KX_ClientObjectInfo*>(ctrl1->GetNewClientInfo()) : NULL;
+	KX_ClientObjectInfo *info2 = (ctrl1) ? static_cast<KX_ClientObjectInfo*>(ctrl2->GetNewClientInfo()) : NULL;
 
 	// This call back should only be called for controllers of Near and Radar sensor
 	if (!info1)
@@ -184,7 +184,7 @@ void KX_TouchEventManager::NextFrame()
 			list<SCA_ISensor*>::iterator sit;
 
 			// First client info
-			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(ctrl1->getNewClientInfo());
+			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(ctrl1->GetNewClientInfo());
 			// First gameobject
 			KX_GameObject *kxObj1 = KX_GameObject::GetClientObject(client_info);
 			// Invoke sensor response for each object
@@ -195,7 +195,7 @@ void KX_TouchEventManager::NextFrame()
 			}
 
 			// Second client info
-			client_info = static_cast<KX_ClientObjectInfo *>(ctrl2->getNewClientInfo());
+			client_info = static_cast<KX_ClientObjectInfo *>(ctrl2->GetNewClientInfo());
 			// Second gameobject
 			KX_GameObject *kxObj2 = KX_GameObject::GetClientObject(client_info);
 			if (client_info) {
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp
index 9d87da48fae..b231a2191ed 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.cpp
+++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp
@@ -117,7 +117,7 @@ m_bTouchPulse(bTouchPulse)
 	//client_info->m_auxilary_info = NULL;
 	client_info->m_sensors.push_back(this);
 	
-	m_physCtrl = dynamic_cast<PHY_IPhysicsController*>(gameobj->GetPhysicsController());
+	m_physCtrl = gameobj->GetPhysicsController();
 	MT_assert( !gameobj->GetPhysicsController() || m_physCtrl );
 	Init();
 }
@@ -156,7 +156,7 @@ void KX_TouchSensor::ProcessReplica()
 void	KX_TouchSensor::ReParent(SCA_IObject* parent)
 {
 	KX_GameObject *gameobj = static_cast<KX_GameObject *>(parent);
-	PHY_IPhysicsController *sphy = dynamic_cast<PHY_IPhysicsController*>(((KX_GameObject*)parent)->GetPhysicsController());
+	PHY_IPhysicsController *sphy = ((KX_GameObject*)parent)->GetPhysicsController();
 	if (sphy)
 		m_physCtrl = sphy;
 	
@@ -173,11 +173,11 @@ void KX_TouchSensor::RegisterSumo(KX_TouchEventManager *touchman)
 {
 	if (m_physCtrl)
 	{
-		if (touchman->GetPhysicsEnvironment()->requestCollisionCallback(m_physCtrl))
+		if (touchman->GetPhysicsEnvironment()->RequestCollisionCallback(m_physCtrl))
 		{
-			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->getNewClientInfo());
+			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->GetNewClientInfo());
 			if (client_info->isSensor())
-				touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl);
+				touchman->GetPhysicsEnvironment()->AddSensor(m_physCtrl);
 		}
 	}
 }
@@ -185,12 +185,12 @@ void KX_TouchSensor::UnregisterSumo(KX_TouchEventManager* touchman)
 {
 	if (m_physCtrl)
 	{
-		if (touchman->GetPhysicsEnvironment()->removeCollisionCallback(m_physCtrl))
+		if (touchman->GetPhysicsEnvironment()->RemoveCollisionCallback(m_physCtrl))
 		{
 			// no more sensor on the controller, can remove it if it is a sensor object
-			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->getNewClientInfo());
+			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->GetNewClientInfo());
 			if (client_info->isSensor())
-				touchman->GetPhysicsEnvironment()->removeSensor(m_physCtrl);
+				touchman->GetPhysicsEnvironment()->RemoveSensor(m_physCtrl);
 		}
 	}
 }
@@ -203,8 +203,8 @@ bool	KX_TouchSensor::BroadPhaseSensorFilterCollision(void*obj1,void*obj2)
 
 	KX_GameObject* myobj = (KX_GameObject*)GetParent();
 	KX_GameObject* myparent = myobj->GetParent();
-	KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(((PHY_IPhysicsController*)obj2)->getNewClientInfo());
-	KX_ClientObjectInfo *my_client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->getNewClientInfo());
+	KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(((PHY_IPhysicsController*)obj2)->GetNewClientInfo());
+	KX_ClientObjectInfo *my_client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->GetNewClientInfo());
 	KX_GameObject* otherobj = ( client_info ? client_info->m_gameobject : NULL);
 
 	// first, decrement refcount as GetParent() increases it
@@ -244,8 +244,8 @@ bool	KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_Coll
 	// need the mapping from PHY_IPhysicsController to gameobjects now
 	
 	KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*> (object1 == m_physCtrl? 
-					((PHY_IPhysicsController*)object2)->getNewClientInfo(): 
-					((PHY_IPhysicsController*)object1)->getNewClientInfo());
+					((PHY_IPhysicsController*)object2)->GetNewClientInfo():
+					((PHY_IPhysicsController*)object1)->GetNewClientInfo());
 
 	KX_GameObject* gameobj = ( client_info ? 
 			client_info->m_gameobject : 
diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
index 3cb80e53e12..fdafc4e507d 100644
--- a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp
@@ -35,48 +35,48 @@ CcdGraphicController::CcdGraphicController (CcdPhysicsEnvironment* phyEnv, PHY_I
 CcdGraphicController::~CcdGraphicController()
 {
 	if (m_phyEnv)
-		m_phyEnv->removeCcdGraphicController(this);
+		m_phyEnv->RemoveCcdGraphicController(this);
 
 	if (m_motionState)
 		delete m_motionState;
 }
 
-void CcdGraphicController::setLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax)
+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)
+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 MT_Vector3& aabbMin,const MT_Vector3& aabbMax)
+void CcdGraphicController::SetLocalAabb(const MT_Vector3& aabbMin,const MT_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)
+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)
+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);
+	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]);
@@ -109,9 +109,9 @@ bool CcdGraphicController::SetGraphicTransform()
 		return false;
 	btVector3 aabbMin;
 	btVector3 aabbMax;
-	getAabb(aabbMin, aabbMax);
+	GetAabb(aabbMin, aabbMax);
 	// update Aabb in broadphase
-	m_phyEnv->getCullingTree()->setAabb(m_handle,aabbMin,aabbMax,NULL);
+	m_phyEnv->GetCullingTree()->setAabb(m_handle,aabbMin,aabbMax,NULL);
 	return true;
 }
 
@@ -131,7 +131,7 @@ void CcdGraphicController::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment*
 {
 	CcdPhysicsEnvironment* phyEnv = static_cast<CcdPhysicsEnvironment*>(env);
 	/* Updates the m_phyEnv's m_cullingTree & m_cullingCache */
-	if (getBroadphaseHandle()) {
+	if (GetBroadphaseHandle()) {
 		/* insert into the new physics scene */
 		Activate(false);
 		m_phyEnv= phyEnv;
@@ -145,8 +145,8 @@ void CcdGraphicController::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment*
 void CcdGraphicController::Activate(bool active)
 {
 	if (active)
-		m_phyEnv->addCcdGraphicController(this);
+		m_phyEnv->AddCcdGraphicController(this);
 	else
-		m_phyEnv->removeCcdGraphicController(this);
+		m_phyEnv->RemoveCcdGraphicController(this);
 
 }
diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.h b/source/gameengine/Physics/Bullet/CcdGraphicController.h
index 064f86040f6..e76ad86301e 100644
--- a/source/gameengine/Physics/Bullet/CcdGraphicController.h
+++ b/source/gameengine/Physics/Bullet/CcdGraphicController.h
@@ -40,16 +40,16 @@ public:
 
 	virtual ~CcdGraphicController();
 
-	void setLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax);
-	void setLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax);
-	virtual void setLocalAabb(const MT_Vector3& aabbMin,const MT_Vector3& aabbMax);
-	virtual void setLocalAabb(const float aabbMin[3],const float aabbMax[3]);
+	void SetLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax);
+	void SetLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax);
+	virtual void SetLocalAabb(const MT_Vector3& aabbMin,const MT_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);
+	void GetAabb(btVector3& aabbMin, btVector3& aabbMax);
 
-	virtual void setBroadphaseHandle(btBroadphaseProxy* handle) { m_handle = handle; }
-	virtual btBroadphaseProxy* getBroadphaseHandle() { return m_handle; }
+	virtual void SetBroadphaseHandle(btBroadphaseProxy* handle) { m_handle = handle; }
+	virtual btBroadphaseProxy* GetBroadphaseHandle() { return m_handle; }
 
 	virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment* env);
 
@@ -67,8 +67,8 @@ public:
 	virtual void Activate(bool active);
 
 	// client info for culling
-	virtual	void* getNewClientInfo() { return m_newClientInfo; }
-	virtual	void setNewClientInfo(void* clientinfo) { m_newClientInfo = clientinfo; }
+	virtual	void* GetNewClientInfo() { return m_newClientInfo; }
+	virtual	void SetNewClientInfo(void* clientinfo) { m_newClientInfo = clientinfo; }
 	virtual PHY_IGraphicController*	GetReplica(class PHY_IMotionState* motionstate);
 		
 private:
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 8a3ad82d179..a3838a148e1 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -139,9 +139,14 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 	m_shapeInfo = ci.m_shapeInfo;
 	if (m_shapeInfo)
 		m_shapeInfo->AddRef();
+
+	m_bulletChildShape = NULL;
 	
 	m_bulletMotionState = 0;
 	m_characterController = 0;
+	m_savedCollisionFlags = 0;
+	m_savedMass = 0.0;
+	m_suspended = false;
 	
 	CreateRigidbody();
 }
@@ -150,11 +155,11 @@ btTransform&	CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState*
 {
 	static btTransform trans;
 	btVector3 tmp;
-	motionState->getWorldPosition(tmp.m_floats[0], tmp.m_floats[1], tmp.m_floats[2]);
+	motionState->GetWorldPosition(tmp.m_floats[0], tmp.m_floats[1], tmp.m_floats[2]);
 	trans.setOrigin(tmp);
 
 	float ori[12];
-	motionState->getWorldOrientation(ori);
+	motionState->GetWorldOrientation(ori);
 	trans.getBasis().setFromOpenGLSubMatrix(ori);
 	//btQuaternion orn;
 	//motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
@@ -180,18 +185,18 @@ public:
 		btVector3 pos;
 		float ori[12];
 
-		m_blenderMotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]);
-		m_blenderMotionState->getWorldOrientation(ori);
+		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());
+		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();
+		m_blenderMotionState->SetWorldOrientation(rotQuat[0],rotQuat[1],rotQuat[2],rotQuat[3]);
+		m_blenderMotionState->CalculateWorldTransformations();
 	}
 
 };
@@ -238,7 +243,7 @@ bool CcdPhysicsController::CreateSoftbody()
 	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();
+	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;
@@ -456,8 +461,8 @@ bool CcdPhysicsController::CreateSoftbody()
 	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);
+	m_MotionState->SetWorldPosition(startTrans.getOrigin().getX(),startTrans.getOrigin().getY(),startTrans.getOrigin().getZ());
+	m_MotionState->SetWorldOrientation(0,0,0,1);
 
 	if (!m_prototypeTransformInitialized)
 	{
@@ -609,7 +614,7 @@ bool CcdPhysicsController::ReplaceControllerShape(btCollisionShape *newShape)
 	
 	if (GetSoftBody()) {
 		// soft body must be recreated
-		m_cci.m_physicsEnv->removeCcdPhysicsController(this);
+		m_cci.m_physicsEnv->RemoveCcdPhysicsController(this);
 		delete m_object;
 		m_object = NULL;
 		// force complete reinitialization
@@ -619,14 +624,14 @@ bool CcdPhysicsController::ReplaceControllerShape(btCollisionShape *newShape)
 		CreateSoftbody();
 		assert(m_object);
 		// reinsert the new body
-		m_cci.m_physicsEnv->addCcdPhysicsController(this);
+		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();
+	btSoftRigidDynamicsWorld* dw= GetPhysicsEnvironment()->GetDynamicsWorld();
 	btCollisionObjectArray &obarr= dw->getCollisionObjectArray();
 	btCollisionObject *ob;
 	btBroadphaseProxy* proxy;
@@ -648,7 +653,7 @@ CcdPhysicsController::~CcdPhysicsController()
 {
 	//will be reference counted, due to sharing
 	if (m_cci.m_physicsEnv)
-		m_cci.m_physicsEnv->removeCcdPhysicsController(this);
+		m_cci.m_physicsEnv->RemoveCcdPhysicsController(this);
 
 	if (m_MotionState)
 		delete m_MotionState;
@@ -683,17 +688,17 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 			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]);
+			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->SetWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
 		}
-		m_MotionState->calculateWorldTransformations();
+		m_MotionState->CalculateWorldTransformations();
 		return true;
 	}
 
@@ -719,12 +724,12 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 		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();
+		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]);
+		m_MotionState->GetWorldScaling(scale[0],scale[1],scale[2]);
 		btVector3 scaling(scale[0],scale[1],scale[2]);
 		GetCollisionShape()->setLocalScaling(scaling);
 	} else
@@ -743,7 +748,7 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 		m_MotionState->calculateWorldTransformations();
 */
 		float scale[3];
-		m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
+		m_MotionState->GetWorldScaling(scale[0],scale[1],scale[2]);
 		btVector3 scaling(scale[0],scale[1],scale[2]);
 		GetCollisionShape()->setLocalScaling(scaling);
 	}
@@ -767,7 +772,7 @@ void		CcdPhysicsController::WriteDynamicsToMotionState()
 		// controller replication
 void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
 {
-	
+	SetParentCtrl((CcdPhysicsController*)parentctrl);
 	m_softBodyTransformInitialized=false;
 	m_MotionState = motionstate;
 	m_registerCount = 0;
@@ -812,7 +817,7 @@ void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
 	}
 	// sensor object are added when needed
 	if (!m_cci.m_bSensor)
-		m_cci.m_physicsEnv->addCcdPhysicsController(this);
+		m_cci.m_physicsEnv->AddCcdPhysicsController(this);
 
 
 /*	SM_Object* dynaparent=0;
@@ -857,9 +862,9 @@ void	CcdPhysicsController::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *
 		// since the environment is changing, we must also move the controler to the
 		// new environment. Note that we don't handle sensor explicitly: this
 		// function can be called on sensor but only when they are not registered
-		if (m_cci.m_physicsEnv->removeCcdPhysicsController(this))
+		if (m_cci.m_physicsEnv->RemoveCcdPhysicsController(this))
 		{
-			physicsEnv->addCcdPhysicsController(this);
+			physicsEnv->AddCcdPhysicsController(this);
 
 			// Set the object to be active so it can at least by evaluated once.
 			// This fixes issues with static objects not having their physics meshes
@@ -904,7 +909,7 @@ void	CcdPhysicsController::SetCenterOfMassTransform(btTransform& xform)
 }
 
 		// kinematic methods
-void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
+void		CcdPhysicsController::RelativeTranslate(const MT_Vector3& dlocin,bool local)
 {
 	if (m_object)
 	{
@@ -917,7 +922,7 @@ void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
 			return;
 		}
 
-		btVector3 dloc(dlocX,dlocY,dlocZ);
+		btVector3 dloc(dlocin.x(), dlocin.y(), dlocin.z());
 		btTransform xform = m_object->getWorldTransform();
 	
 		if (local)
@@ -929,22 +934,7 @@ void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
 
 }
 
-void		CcdPhysicsController::SetWalkDirection(float dirX,float dirY,float dirZ,bool local)
-{
-
-	if (m_object && m_characterController)
-	{
-		btVector3 dir(dirX,dirY,dirZ);
-		btTransform xform = m_object->getWorldTransform();
-
-		if (local)
-			dir = xform.getBasis()*dir;
-
-		m_characterController->setWalkDirection(dir/GetPhysicsEnvironment()->getNumTimeSubSteps());
-	}
-}
-
-void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
+void		CcdPhysicsController::RelativeRotate(const MT_Matrix3x3& rotval,bool local)
 {
 	if (m_object)
 	{
@@ -957,9 +947,9 @@ void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
 			return;
 		}
 
-		btMatrix3x3 drotmat(rotval[0], rotval[3], rotval[6],
-		                    rotval[1], rotval[4], rotval[7],
-		                    rotval[2], rotval[5], rotval[8]);
+		btMatrix3x3 drotmat(rotval[0].x(), rotval[1].x(), rotval[2].x(),
+		        rotval[0].y(), rotval[1].y(), rotval[2].y(),
+		        rotval[0].z(), rotval[1].z(), rotval[2].z());
 
 
 		btMatrix3x3 currentOrn;
@@ -978,45 +968,23 @@ void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
 void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat)
 {
 	float ori[12];
-	m_MotionState->getWorldOrientation(ori);
+	m_MotionState->GetWorldOrientation(ori);
 	mat.setFromOpenGLSubMatrix(ori);
 }
 
-void		CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
+MT_Matrix3x3 CcdPhysicsController::GetOrientation()
 {
-	btQuaternion q = m_object->getWorldTransform().getRotation();
-	quatImag0 = q[0];
-	quatImag1 = q[1];
-	quatImag2 = q[2];
-	quatReal = q[3];
+	btMatrix3x3 orn = m_object->getWorldTransform().getBasis();
+	return MT_Matrix3x3(orn[0][0], orn[0][1], orn[0][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]);
 }
-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::SetOrientation(const MT_Matrix3x3& orn)
+{
+	btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[0][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]);
+	SetWorldOrientation(btmat);
 }
 
-void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
+void CcdPhysicsController::SetWorldOrientation(const btMatrix3x3& orn)
 {
 	if (m_object)
 	{
@@ -1045,7 +1013,7 @@ void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
 
 }
 
-void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
+void		CcdPhysicsController::SetPosition(const MT_Vector3& pos)
 {
 	if (m_object)
 	{
@@ -1060,7 +1028,7 @@ void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 		// 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));
+		xform.setOrigin(btVector3(pos.x(), pos.y(), pos.z()));
 		SetCenterOfMassTransform(xform);
 		if (!m_softBodyTransformInitialized)
 			m_softbodyStartTrans.setOrigin(xform.getOrigin());
@@ -1069,7 +1037,7 @@ void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 	}
 }
 
-void CcdPhysicsController::forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos)
+void CcdPhysicsController::ForceWorldTransform(const btMatrix3x3& mat, const btVector3& pos)
 {
 	if (m_object)
 	{
@@ -1080,11 +1048,44 @@ void CcdPhysicsController::forceWorldTransform(const btMatrix3x3& mat, const btV
 }
 
 
-void		CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
+void		CcdPhysicsController::ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
 }
 
-void 		CcdPhysicsController::getPosition(MT_Vector3&	pos) const
+void	CcdPhysicsController::SuspendDynamics(bool ghost)
+{
+	btRigidBody *body = GetRigidBody();
+	if (body && !m_suspended && !GetConstructionInfo().m_bSensor)
+	{
+		m_savedCollisionFlags = body->getCollisionFlags();
+		m_savedMass = GetMass();
+		m_suspended = true;
+		GetPhysicsEnvironment()->UpdateCcdPhysicsController(this,
+			0.0,
+			btCollisionObject::CF_STATIC_OBJECT|((ghost)?btCollisionObject::CF_NO_CONTACT_RESPONSE:(m_savedCollisionFlags&btCollisionObject::CF_NO_CONTACT_RESPONSE)),
+			btBroadphaseProxy::StaticFilter,
+			btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+	}
+}
+
+void	CcdPhysicsController::RestoreDynamics()
+{
+	btRigidBody *body = GetRigidBody();
+	if (body && m_suspended)
+	{
+		// before make sure any position change that was done in this logic frame are accounted for
+		SetTransform();
+		GetPhysicsEnvironment()->UpdateCcdPhysicsController(this,
+			m_savedMass,
+			m_savedCollisionFlags,
+			GetConstructionInfo().m_collisionFilterGroup,
+			GetConstructionInfo().m_collisionFilterMask);
+		body->activate();
+		m_suspended = false;
+	}
+}
+
+void 		CcdPhysicsController::GetPosition(MT_Vector3&	pos) const
 {
 	const btTransform& xform = m_object->getWorldTransform();
 	pos[0] = xform.getOrigin().x();
@@ -1092,13 +1093,13 @@ void 		CcdPhysicsController::getPosition(MT_Vector3&	pos) const
 	pos[2] = xform.getOrigin().z();
 }
 
-void		CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
+void		CcdPhysicsController::SetScaling(const MT_Vector3& scale)
 {
-	if (!btFuzzyZero(m_cci.m_scaling.x()-scaleX) ||
-		!btFuzzyZero(m_cci.m_scaling.y()-scaleY) ||
-		!btFuzzyZero(m_cci.m_scaling.z()-scaleZ))
+	if (!btFuzzyZero(m_cci.m_scaling.x()-scale.x()) ||
+	    !btFuzzyZero(m_cci.m_scaling.y()-scale.y()) ||
+	    !btFuzzyZero(m_cci.m_scaling.z()-scale.z()))
 	{
-		m_cci.m_scaling = btVector3(scaleX,scaleY,scaleZ);
+		m_cci.m_scaling = btVector3(scale.x(),scale.y(),scale.z());
 
 		if (m_object && m_object->getCollisionShape())
 		{
@@ -1116,11 +1117,64 @@ void		CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
 		}
 	}
 }
+
+void CcdPhysicsController::SetTransform()
+{
+	btVector3 pos;
+	btVector3 scale;
+	float ori[12];
+	m_MotionState->GetWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]);
+	m_MotionState->GetWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]);
+	m_MotionState->GetWorldOrientation(ori);
+	btMatrix3x3 rot(ori[0], ori[4], ori[8],
+					ori[1], ori[5], ori[9],
+					ori[2], ori[6], ori[10]);
+	ForceWorldTransform(rot, pos);
+
+	if (!IsDynamic() && !GetConstructionInfo().m_bSensor && !GetCharacterController())
+	{
+		btCollisionObject* object = GetRigidBody();
+		object->setActivationState(ACTIVE_TAG);
+		object->setCollisionFlags(object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+	}
+}
+
+MT_Scalar	CcdPhysicsController::GetMass()
+{
+	if (GetSoftBody())
+		return GetSoftBody()->getTotalMass();
+
+	MT_Scalar invmass = 0.f;
+	if (GetRigidBody())
+		invmass = GetRigidBody()->getInvMass();
+	if (invmass)
+		return 1.f/invmass;
+	return 0.f;
+
+}
+
+void CcdPhysicsController::SetMass(MT_Scalar newmass)
+{
+	btRigidBody *body = GetRigidBody();
+	if (body && !m_suspended && newmass>MT_EPSILON && GetMass()>MT_EPSILON)
+	{
+		btVector3 grav = body->getGravity();
+		btVector3 accel = grav / GetMass();
+
+		btBroadphaseProxy* handle = body->getBroadphaseHandle();
+		GetPhysicsEnvironment()->UpdateCcdPhysicsController(this,
+			newmass,
+			body->getCollisionFlags(),
+			handle->m_collisionFilterGroup,
+			handle->m_collisionFilterMask);
+		body->setGravity(accel);
+	}
+}
 		
 		// physics methods
-void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
+void		CcdPhysicsController::ApplyTorque(const MT_Vector3&  torquein,bool local)
 {
-	btVector3 torque(torqueX,torqueY,torqueZ);
+	btVector3 torque(torquein.x(),torquein.y(),torquein.z());
 	btTransform xform = m_object->getWorldTransform();
 	
 
@@ -1158,9 +1212,9 @@ void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
 	}
 }
 
-void		CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
+void		CcdPhysicsController::ApplyForce(const MT_Vector3& forcein,bool local)
 {
-	btVector3 force(forceX,forceY,forceZ);
+	btVector3 force(forcein.x(),forcein.y(),forcein.z());
 	
 
 	if (m_object && force.length2() > (SIMD_EPSILON*SIMD_EPSILON))
@@ -1191,9 +1245,9 @@ void		CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo
 		}
 	}
 }
-void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
+void		CcdPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
 {
-	btVector3 angvel(ang_velX,ang_velY,ang_velZ);
+	btVector3 angvel(ang_vel.x(),ang_vel.y(),ang_vel.z());
 	if (m_object && angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
 		m_object->activate(true);
@@ -1214,10 +1268,10 @@ void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo
 	}
 
 }
-void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
+void		CcdPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
 {
 
-	btVector3 linVel(lin_velX,lin_velY,lin_velZ);
+	btVector3 linVel(lin_vel.x(),lin_vel.y(),lin_vel.z());
 	if (m_object/* && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)*/)
 	{
 		m_object->activate(true);
@@ -1249,9 +1303,9 @@ void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
 		}
 	}
 }
-void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
+void		CcdPhysicsController::ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulsein)
 {
-	btVector3 impulse(impulseX,impulseY,impulseZ);
+	btVector3 impulse(impulsein.x(), impulsein.y(), impulsein.z());
 
 	if (m_object && impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
@@ -1263,7 +1317,7 @@ void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac
 			return;
 		}
 		
-		btVector3 pos(attachX,attachY,attachZ);
+		btVector3 pos(attach.x(), attach.y(), attach.z());
 		btRigidBody* body = GetRigidBody();
 		if (body)
 			body->applyImpulse(impulse,pos);
@@ -1282,82 +1336,59 @@ void		CcdPhysicsController::SetActive(bool active)
 {
 }
 		// reading out information from physics
-void		CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
+MT_Vector3		CcdPhysicsController::GetLinearVelocity()
 {
 	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;
+		return MT_Vector3(linvel.x(), linvel.y(), linvel.z());
 	}
 
+	return MT_Vector3(0.f, 0.f, 0.f);
 }
 
-void		CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ)
+MT_Vector3		CcdPhysicsController::GetAngularVelocity()
 {
 	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;
+		return MT_Vector3(angvel.x(), angvel.y(), angvel.z());
 	}
+
+	return MT_Vector3(0.f, 0.f, 0.f);
 }
 
-void		CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
+MT_Vector3		CcdPhysicsController::GetVelocity(const MT_Point3 &posin)
 {
-	btVector3 pos(posX,posY,posZ);
+	btVector3 pos(pos.x(), pos.y(), pos.z());
 	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;
+		return MT_Vector3(linvel.x(), linvel.y(), linvel.z());
 	}
-}
 
-void		CcdPhysicsController::GetWalkDirection(float& dirX,float& dirY,float& dirZ)
-{
-	if (m_object && m_characterController)
-	{
-		const btVector3 dir = m_characterController->getWalkDirection();
-		dirX = dir.x();
-		dirY = dir.y();
-		dirZ = dir.z();
-	}
-	else
-	{
-		dirX = 0.f;
-		dirY = 0.f;
-		dirZ = 0.f;
-	}
+	return MT_Vector3(0.f, 0.f, 0.f);
 }
 
-void		CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
+MT_Vector3 CcdPhysicsController::GetLocalInertia()
 {
+	MT_Vector3 inertia(0.f, 0.f, 0.f);
+	btVector3 inv_inertia;
+	if (GetRigidBody()) {
+		inv_inertia = GetRigidBody()->getInvInertiaDiagLocal();
+		if (!btFuzzyZero(inv_inertia.getX()) &&
+		        !btFuzzyZero(inv_inertia.getY()) &&
+		        !btFuzzyZero(inv_inertia.getZ()))
+			inertia = MT_Vector3(1.f/inv_inertia.getX(), 1.f/inv_inertia.getY(), 1.f/inv_inertia.getZ());
+	}
+	return inertia;
 }
 
 		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
-void		CcdPhysicsController::setRigidBody(bool rigid)
+void		CcdPhysicsController::SetRigidBody(bool rigid)
 {
 	btRigidBody* body = GetRigidBody();
 	if (body)
@@ -1373,13 +1404,21 @@ void		CcdPhysicsController::setRigidBody(bool rigid)
 }
 
 		// clientinfo for raycasts for example
-void*		CcdPhysicsController::getNewClientInfo()
+void*		CcdPhysicsController::GetNewClientInfo()
 {
 	return m_newClientInfo;
 }
-void		CcdPhysicsController::setNewClientInfo(void* clientinfo)
+void		CcdPhysicsController::SetNewClientInfo(void* clientinfo)
 {
 	m_newClientInfo = clientinfo;
+
+	if (m_cci.m_bSensor)
+	{
+		// use a different callback function for sensor object,
+		// bullet will not synchronize, we must do it explicitly
+		SG_Callbacks& callbacks = KX_GameObject::GetClientObject((KX_ClientObjectInfo*)clientinfo)->GetSGNode()->GetCallBackFunctions();
+		callbacks.m_updatefunc = KX_GameObject::SynchronizeTransformFunc;
+	}
 }
 
 
@@ -1392,7 +1431,7 @@ void	CcdPhysicsController::UpdateDeactivation(float timeStep)
 	}
 }
 
-bool CcdPhysicsController::wantsSleeping()
+bool CcdPhysicsController::WantsSleeping()
 {
 	btRigidBody* body = GetRigidBody();
 	if (body)
@@ -1402,8 +1441,143 @@ bool CcdPhysicsController::wantsSleeping()
 	//check it out
 	return true;
 }
+/* This function dynamically adds the collision shape of another controller to
+ * the current controller shape provided it is a compound shape.
+ * The idea is that dynamic parenting on a compound object will dynamically extend the shape
+ */
+void    CcdPhysicsController::AddCompoundChild(PHY_IPhysicsController* child)
+{
+	if (child == NULL || !IsCompound())
+		return;
+	// other controller must be a bullet controller too
+	// verify that body and shape exist and match
+	CcdPhysicsController* childCtrl = dynamic_cast<CcdPhysicsController*>(child);
+	btRigidBody* rootBody = GetRigidBody();
+	btRigidBody* childBody = childCtrl->GetRigidBody();
+	if (!rootBody || !childBody)
+		return;
+	const btCollisionShape* rootShape = rootBody->getCollisionShape();
+	const btCollisionShape* childShape = childBody->getCollisionShape();
+	if (!rootShape ||
+		!childShape ||
+		rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE ||
+		childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
+		return;
+	btCompoundShape* compoundShape = (btCompoundShape*)rootShape;
+	// compute relative transformation between parent and child
+	btTransform rootTrans;
+	btTransform childTrans;
+	rootBody->getMotionState()->getWorldTransform(rootTrans);
+	childBody->getMotionState()->getWorldTransform(childTrans);
+	btVector3 rootScale = rootShape->getLocalScaling();
+	rootScale[0] = 1.0/rootScale[0];
+	rootScale[1] = 1.0/rootScale[1];
+	rootScale[2] = 1.0/rootScale[2];
+	// relative scale = child_scale/parent_scale
+	btVector3 relativeScale = childShape->getLocalScaling()*rootScale;
+	btMatrix3x3 rootRotInverse = rootTrans.getBasis().transpose();
+	// relative pos = parent_rot^-1 * ((parent_pos-child_pos)/parent_scale)
+	btVector3 relativePos = rootRotInverse*((childTrans.getOrigin()-rootTrans.getOrigin())*rootScale);
+	// relative rot = parent_rot^-1 * child_rot
+	btMatrix3x3 relativeRot = rootRotInverse*childTrans.getBasis();
+	// create a proxy shape info to store the transformation
+	CcdShapeConstructionInfo* proxyShapeInfo = new CcdShapeConstructionInfo();
+	// store the transformation to this object shapeinfo
+	proxyShapeInfo->m_childTrans.setOrigin(relativePos);
+	proxyShapeInfo->m_childTrans.setBasis(relativeRot);
+	proxyShapeInfo->m_childScale.setValue(relativeScale[0], relativeScale[1], relativeScale[2]);
+	// we will need this to make sure that we remove the right proxy later when unparenting
+	proxyShapeInfo->m_userData = childCtrl;
+	proxyShapeInfo->SetProxy(childCtrl->GetShapeInfo()->AddRef());
+	// add to parent compound shapeinfo (increments ref count)
+	GetShapeInfo()->AddShape(proxyShapeInfo);
+	// create new bullet collision shape from the object shapeinfo and set scaling
+	btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin(), childCtrl->GetConstructionInfo().m_bGimpact, true);
+	newChildShape->setLocalScaling(relativeScale);
+	// add bullet collision shape to parent compound collision shape
+	compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape);
+	// proxyShapeInfo is not needed anymore, release it
+	proxyShapeInfo->Release();
+	// remember we created this shape
+	childCtrl->m_bulletChildShape = newChildShape;
+	// recompute inertia of parent
+	if (!rootBody->isStaticOrKinematicObject())
+	{
+		btVector3 localInertia;
+		float mass = 1.f/rootBody->getInvMass();
+		compoundShape->calculateLocalInertia(mass,localInertia);
+		rootBody->setMassProps(mass,localInertia);
+	}
+	// must update the broadphase cache,
+	GetPhysicsEnvironment()->RefreshCcdPhysicsController(this);
+	// remove the children
+	GetPhysicsEnvironment()->DisableCcdPhysicsController(childCtrl);
+}
+
+/* Reverse function of the above, it will remove a shape from a compound shape
+ * provided that the former was added to the later using  AddCompoundChild()
+ */
+void    CcdPhysicsController::RemoveCompoundChild(PHY_IPhysicsController* child)
+{
+	if (child == NULL || !IsCompound())
+		return;
+	// other controller must be a bullet controller too
+	// verify that body and shape exist and match
+	CcdPhysicsController* childCtrl = dynamic_cast<CcdPhysicsController*>(child);
+	btRigidBody* rootBody = GetRigidBody();
+	btRigidBody* childBody = childCtrl->GetRigidBody();
+	if (!rootBody || !childBody)
+		return;
+	const btCollisionShape* rootShape = rootBody->getCollisionShape();
+	if (!rootShape ||
+		rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE)
+		return;
+	btCompoundShape* compoundShape = (btCompoundShape*)rootShape;
+	// retrieve the shapeInfo
+	CcdShapeConstructionInfo* childShapeInfo = childCtrl->GetShapeInfo();
+	CcdShapeConstructionInfo* rootShapeInfo = GetShapeInfo();
+	// and verify that the child is part of the parent
+	int i = rootShapeInfo->FindChildShape(childShapeInfo, childCtrl);
+	if (i < 0)
+		return;
+	rootShapeInfo->RemoveChildShape(i);
+	if (childCtrl->m_bulletChildShape)
+	{
+		int numChildren = compoundShape->getNumChildShapes();
+		for (i=0; i<numChildren; i++)
+		{
+			if (compoundShape->getChildShape(i) == childCtrl->m_bulletChildShape)
+			{
+				compoundShape->removeChildShapeByIndex(i);
+				compoundShape->recalculateLocalAabb();
+				break;
+			}
+		}
+		delete childCtrl->m_bulletChildShape;
+		childCtrl->m_bulletChildShape = NULL;
+	}
+	// recompute inertia of parent
+	if (!rootBody->isStaticOrKinematicObject())
+	{
+		btVector3 localInertia;
+		float mass = 1.f/rootBody->getInvMass();
+		compoundShape->calculateLocalInertia(mass,localInertia);
+		rootBody->setMassProps(mass,localInertia);
+	}
+	// must update the broadphase cache,
+	GetPhysicsEnvironment()->RefreshCcdPhysicsController(this);
+	// reactivate the children
+	GetPhysicsEnvironment()->EnableCcdPhysicsController(childCtrl);
+}
+
+PHY_IPhysicsController* CcdPhysicsController::GetReplica()
+{
+	CcdPhysicsController* replica = new CcdPhysicsController(*this);
+	return replica;
+}
 
-PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
+// Keeping this separate for now, maybe we can combine it with GetReplica()...
+PHY_IPhysicsController*	CcdPhysicsController::GetReplicaForSensors()
 {
 	// This is used only to replicate Near and Radar sensor controllers
 	// The replication of object physics controller is done in KX_BulletPhysicsController::GetReplica()
@@ -1462,21 +1636,21 @@ DefaultMotionState::~DefaultMotionState()
 
 }
 
-void	DefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
+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)
+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)
+void	DefaultMotionState::GetWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
 {
 	btQuaternion quat = m_worldTransform.getRotation();
 	quatIma0 = quat.x();
@@ -1485,28 +1659,28 @@ void	DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,flo
 	quatReal = quat[3];
 }
 		
-void	DefaultMotionState::getWorldOrientation(float* ori)
+void	DefaultMotionState::GetWorldOrientation(float* ori)
 {
 	m_worldTransform.getBasis().getOpenGLSubMatrix(ori);
 }
 
-void	DefaultMotionState::setWorldOrientation(const float* ori)
+void	DefaultMotionState::SetWorldOrientation(const float* ori)
 {
 	m_worldTransform.getBasis().setFromOpenGLSubMatrix(ori);
 }
-void	DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
+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)
+void	DefaultMotionState::SetWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
 {
 	btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
 	m_worldTransform.setRotation( orn );
 }
 		
-void	DefaultMotionState::calculateWorldTransformations()
+void	DefaultMotionState::CalculateWorldTransformations()
 {
 
 }
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index f1f0ca31419..ecb894c1e8d 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -33,6 +33,7 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 
 #include "PHY_IMotionState.h"
+#include "PHY_ICharacter.h"
 
 extern float gDeactivationTime;
 extern float gLinearSleepingTreshold;
@@ -266,6 +267,7 @@ struct CcdConstructionInfo
 		m_soft_kSHR(1.0f),
 		m_soft_kAHR(0.7f),
 		m_collisionFlags(0),
+	    m_bDyna(false),
 		m_bRigid(false),
 		m_bSoft(false),
 		m_bSensor(false),
@@ -349,6 +351,7 @@ struct CcdConstructionInfo
 
 
 	int			m_collisionFlags;
+	bool		m_bDyna;
 	bool		m_bRigid;
 	bool		m_bSoft;
 	bool		m_bSensor;
@@ -396,7 +399,7 @@ class btCollisionObject;
 class btSoftBody;
 class btPairCachingGhostObject;
 
-class BlenderBulletCharacterController : public btKinematicCharacterController
+class BlenderBulletCharacterController : public btKinematicCharacterController, public PHY_ICharacter
 {
 private:
 	btMotionState* m_motionState;
@@ -419,6 +422,25 @@ public:
 	virtual void jump();
 
 	const btVector3& getWalkDirection();
+
+	// PHY_ICharacter interface
+	virtual void Jump()	{ jump(); }
+	virtual bool OnGround(){ return onGround(); }
+	virtual float GetGravity() { return getGravity(); }
+	virtual void SetGravity(float gravity) { setGravity(gravity); }
+	virtual int GetMaxJumps() { return getMaxJumps(); }
+	virtual void SetMaxJumps(int maxJumps) { setMaxJumps(maxJumps); }
+	virtual int GetJumpCount() { return getJumpCount(); }
+	virtual void SetWalkDirection(const MT_Vector3& dir)
+	{
+		btVector3 vec = btVector3(dir[0], dir[1], dir[2]);
+		setWalkDirection(vec);
+	}
+	virtual MT_Vector3 GetWalkDirection()
+	{
+		btVector3 vec = getWalkDirection();
+		return MT_Vector3(vec[0], vec[1], vec[2]);
+	}
 };
 
 ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
@@ -433,6 +455,7 @@ protected:
 	btMotionState* 	m_bulletMotionState;
 	class btCollisionShape*	m_collisionShape;
 	class CcdShapeConstructionInfo* m_shapeInfo;
+	btCollisionShape* m_bulletChildShape;
 
 	friend class CcdPhysicsEnvironment;	// needed when updating the controller
 
@@ -449,6 +472,10 @@ protected:
 
 	CcdPhysicsController* m_parentCtrl;
 
+	int m_savedCollisionFlags;
+	MT_Scalar m_savedMass;
+	bool m_suspended;
+
 	void GetWorldOrientation(btMatrix3x3& mat);
 
 	void CreateRigidbody();
@@ -462,8 +489,8 @@ protected:
 		return (--m_registerCount == 0) ? true : false;
 	}
 
-	void setWorldOrientation(const btMatrix3x3& mat);
-	void forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos);
+	void SetWorldOrientation(const btMatrix3x3& mat);
+	void ForceWorldTransform(const btMatrix3x3& mat, const btVector3& pos);
 
 	public:
 	
@@ -477,11 +504,11 @@ protected:
 
 		virtual ~CcdPhysicsController();
 
-		CcdConstructionInfo& getConstructionInfo()
+		CcdConstructionInfo& GetConstructionInfo()
 		{
 			return m_cci;
 		}
-		const CcdConstructionInfo& getConstructionInfo() const
+		const CcdConstructionInfo& GetConstructionInfo() const
 		{
 			return m_cci;
 		}
@@ -518,42 +545,51 @@ protected:
 		virtual void		SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env);
 
 		// kinematic methods
-		virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
-		virtual void		SetWalkDirection(float dirX,float dirY,float dirZ,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(MT_Vector3&	pos) const;
-
-		virtual	void		setScaling(float scaleX,float scaleY,float scaleZ);
+		virtual void		RelativeTranslate(const MT_Vector3& dloc,bool local);
+		virtual void		RelativeRotate(const MT_Matrix3x3&rotval, bool local);
+		virtual	MT_Matrix3x3	GetOrientation();
+		virtual	void		SetOrientation(const MT_Matrix3x3& orn);
+		virtual	void		SetPosition(const MT_Vector3& pos);
+		virtual	void 		GetPosition(MT_Vector3&	pos) const;
+		virtual	void		SetScaling(const MT_Vector3& scale);
+		virtual void		SetTransform();
+
+		virtual	MT_Scalar	GetMass();
+		virtual void	SetMass(MT_Scalar newmass);
 		
 		// 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		ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulsein);
+		virtual void		ApplyTorque(const MT_Vector3& torque,bool local);
+		virtual void		ApplyForce(const MT_Vector3& force,bool local);
+		virtual void		SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
+		virtual void		SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
 		virtual void		Jump();
 		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);
-		virtual void		GetWalkDirection(float& dirX,float& dirY,float& dirZ);
+		virtual MT_Vector3	GetLinearVelocity();
+		virtual MT_Vector3	GetAngularVelocity();
+		virtual MT_Vector3	GetVelocity(const MT_Point3& posin);
+		virtual	MT_Vector3	GetLocalInertia();
 
 		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
-		virtual	void		setRigidBody(bool rigid);
+		virtual	void		SetRigidBody(bool rigid);
 
 		
-		virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
+		virtual void		ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
+
+		virtual void		SuspendDynamics(bool ghost);
+		virtual void		RestoreDynamics();
+
+		// Shape control
+		virtual void    AddCompoundChild(PHY_IPhysicsController* child);
+		virtual void    RemoveCompoundChild(PHY_IPhysicsController* child);
 
 		// clientinfo for raycasts for example
-		virtual	void*				getNewClientInfo();
-		virtual	void				setNewClientInfo(void* clientinfo);
+		virtual	void*				GetNewClientInfo();
+		virtual	void				SetNewClientInfo(void* clientinfo);
 		virtual PHY_IPhysicsController*	GetReplica();
+		virtual PHY_IPhysicsController* GetReplicaForSensors();
 		
 		///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
 		short int	GetCollisionFilterGroup() const
@@ -566,7 +602,7 @@ protected:
 			return m_cci.m_collisionFilterMask;
 		}
 
-		virtual void calcXform() {}
+		virtual void CalcXform() {}
 		virtual void SetMargin(float margin) 
 		{
 			if (m_collisionShape)
@@ -609,7 +645,7 @@ protected:
 			return m_cci.m_clamp_vel_max;
 		}
 
-		bool	wantsSleeping();
+		bool	WantsSleeping();
 
 		void	UpdateDeactivation(float timeStep);
 
@@ -635,24 +671,29 @@ protected:
 			return m_cci.m_physicsEnv;
 		}
 
-		void	setParentCtrl(CcdPhysicsController* parentCtrl)
+		void	SetParentCtrl(CcdPhysicsController* parentCtrl)
 		{
 			m_parentCtrl = parentCtrl;
 		}
 
-		CcdPhysicsController*	getParentCtrl()
+		CcdPhysicsController*	GetParentCtrl()
 		{
 			return m_parentCtrl;
 		}
 
-		const CcdPhysicsController*	getParentCtrl() const
+		const CcdPhysicsController*	GetParentCtrl() const
 		{
 			return m_parentCtrl;
 		}
 
-		virtual const char* getName()
+		virtual bool IsDynamic()
+		{
+			return GetConstructionInfo().m_bDyna;
+		}
+
+		virtual bool IsCompound()
 		{
-			return 0;
+			return GetConstructionInfo().m_shapeInfo->m_shapeType == PHY_SHAPE_COMPOUND;
 		}
 
 #ifdef WITH_CXX_GUARDEDALLOC
@@ -672,16 +713,16 @@ class	DefaultMotionState : public PHY_IMotionState
 
 		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	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	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();
+		virtual	void	CalculateWorldTransformations();
 		
 		btTransform	m_worldTransform;
 		btVector3		m_localScaling;
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index e01530f2b11..10be1876e41 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -127,8 +127,8 @@ public:
 			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());
+			motionState->SetWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
+			motionState->SetWorldPosition(pos.x(),pos.y(),pos.z());
 
 		}
 	}
@@ -265,63 +265,6 @@ public:
 };
 #endif //NEW_BULLET_VEHICLE_SUPPORT
 
-class CharacterWrapper : public PHY_ICharacter
-{
-private:
-	BlenderBulletCharacterController* m_controller;
-
-public:
-	CharacterWrapper(BlenderBulletCharacterController* cont)
-		: m_controller(cont)
-	{}
-
-	virtual void Jump()
-	{
-		m_controller->jump();
-	}
-
-	virtual bool OnGround()
-	{
-		return m_controller->onGround();
-	}
-
-	virtual float GetGravity()
-	{
-		return m_controller->getGravity();
-	}
-	virtual void SetGravity(float gravity)
-	{
-		m_controller->setGravity(gravity);
-	}
-
-	virtual int GetMaxJumps()
-	{
-		return m_controller->getMaxJumps();
-	}
-
-	virtual void SetMaxJumps(int maxJumps)
-	{
-		m_controller->setMaxJumps(maxJumps);
-	}
-
-	virtual int GetJumpCount()
-	{
-		return m_controller->getJumpCount();
-	}
-
-	virtual void SetWalkDirection(const MT_Vector3& dir)
-	{
-		btVector3 vec = btVector3(dir[0], dir[1], dir[2]);
-		m_controller->setWalkDirection(vec);
-	}
-
-	virtual MT_Vector3 GetWalkDirection()
-	{
-		btVector3 vec = m_controller->getWalkDirection();
-		return MT_Vector3(vec[0], vec[1], vec[2]);
-	}
-};
-
 class CcdOverlapFilterCallBack : public btOverlapFilterCallback
 {
 private:
@@ -339,7 +282,7 @@ public:
 };
 
 
-void CcdPhysicsEnvironment::setDebugDrawer(btIDebugDraw* debugDrawer)
+void CcdPhysicsEnvironment::SetDebugDrawer(btIDebugDraw* debugDrawer)
 {
 	if (debugDrawer && m_dynamicsWorld)
 		m_dynamicsWorld->setDebugDrawer(debugDrawer);
@@ -429,17 +372,17 @@ m_scalingPropagated(false)
 	m_broadphase->getOverlappingPairCache()->setOverlapFilterCallback(m_filterCallback);
 	m_broadphase->getOverlappingPairCache()->setInternalGhostPairCallback(m_ghostPairCallback);
 
-	setSolverType(1);//issues with quickstep and memory allocations
+	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);
+	SetGravity(0.f,0.f,-9.81f);
 }
 
-void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
+void	CcdPhysicsEnvironment::AddCcdPhysicsController(CcdPhysicsController* ctrl)
 {
 	btRigidBody* body = ctrl->GetRigidBody();
 	btCollisionObject* obj = ctrl->GetCollisionObject();
@@ -483,7 +426,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 
 		
 
-bool	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl)
+bool	CcdPhysicsEnvironment::RemoveCcdPhysicsController(CcdPhysicsController* ctrl)
 {
 	//also remove constraint
 	btRigidBody* body = ctrl->GetRigidBody();
@@ -522,7 +465,7 @@ bool	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 	return (m_controllers.erase(ctrl) != 0);
 }
 
-void	CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask)
+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
@@ -551,7 +494,7 @@ void	CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctr
 	ctrl->m_cci.m_collisionFlags = newCollisionFlags;
 }
 
-void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctrl)
+void CcdPhysicsEnvironment::EnableCcdPhysicsController(CcdPhysicsController* ctrl)
 {
 	if (m_controllers.insert(ctrl).second)
 	{
@@ -568,7 +511,7 @@ void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctr
 	}
 }
 
-void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ctrl)
+void CcdPhysicsEnvironment::DisableCcdPhysicsController(CcdPhysicsController* ctrl)
 {
 	if (m_controllers.erase(ctrl))
 	{
@@ -588,7 +531,7 @@ void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ct
 	}
 }
 
-void CcdPhysicsEnvironment::refreshCcdPhysicsController(CcdPhysicsController* ctrl)
+void CcdPhysicsEnvironment::RefreshCcdPhysicsController(CcdPhysicsController* ctrl)
 {
 	btCollisionObject* obj = ctrl->GetCollisionObject();
 	if (obj)
@@ -601,15 +544,15 @@ void CcdPhysicsEnvironment::refreshCcdPhysicsController(CcdPhysicsController* ct
 	}
 }
 
-void CcdPhysicsEnvironment::addCcdGraphicController(CcdGraphicController* ctrl)
+void CcdPhysicsEnvironment::AddCcdGraphicController(CcdGraphicController* ctrl)
 {
-	if (m_cullingTree && !ctrl->getBroadphaseHandle())
+	if (m_cullingTree && !ctrl->GetBroadphaseHandle())
 	{
 		btVector3	minAabb;
 		btVector3	maxAabb;
-		ctrl->getAabb(minAabb, maxAabb);
+		ctrl->GetAabb(minAabb, maxAabb);
 
-		ctrl->setBroadphaseHandle(m_cullingTree->createProxy(
+		ctrl->SetBroadphaseHandle(m_cullingTree->createProxy(
 				minAabb,
 				maxAabb,
 				INVALID_SHAPE_PROXYTYPE,	// this parameter is not used
@@ -619,35 +562,35 @@ void CcdPhysicsEnvironment::addCcdGraphicController(CcdGraphicController* ctrl)
 				NULL,						// dispatcher => this parameter is not used
 				0));
 
-		assert(ctrl->getBroadphaseHandle());
+		assert(ctrl->GetBroadphaseHandle());
 	}
 }
 
-void CcdPhysicsEnvironment::removeCcdGraphicController(CcdGraphicController* ctrl)
+void CcdPhysicsEnvironment::RemoveCcdGraphicController(CcdGraphicController* ctrl)
 {
 	if (m_cullingTree)
 	{
-		btBroadphaseProxy* bp = ctrl->getBroadphaseHandle();
+		btBroadphaseProxy* bp = ctrl->GetBroadphaseHandle();
 		if (bp)
 		{
 			m_cullingTree->destroyProxy(bp,NULL);
-			ctrl->setBroadphaseHandle(0);
+			ctrl->SetBroadphaseHandle(0);
 		}
 	}
 }
 
-void	CcdPhysicsEnvironment::beginFrame()
+void	CcdPhysicsEnvironment::BeginFrame()
 {
 
 }
 
-void CcdPhysicsEnvironment::debugDrawWorld()
+void CcdPhysicsEnvironment::DebugDrawWorld()
 {
 	if (m_dynamicsWorld->getDebugDrawer() &&  m_dynamicsWorld->getDebugDrawer()->getDebugMode() >0)
 			m_dynamicsWorld->debugDrawWorld();
 }
 
-bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float interval)
+bool	CcdPhysicsEnvironment::ProceedDeltaTime(double curTime,float timeStep,float interval)
 {
 	std::set<CcdPhysicsController*>::iterator it;
 	int i;
@@ -662,7 +605,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float
 //uncomment next line to see where Bullet spend its time (printf in console)
 //CProfileManager::dumpAll();
 
-	processFhSprings(curTime,i*subStep);
+	ProcessFhSprings(curTime,i*subStep);
 
 	for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
 	{
@@ -714,7 +657,7 @@ public:
 
 };
 
-void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
+void	CcdPhysicsEnvironment::ProcessFhSprings(double curTime,float interval)
 {
 	std::set<CcdPhysicsController*>::iterator it;
 	// dynamic of Fh spring is based on a timestep of 1/60
@@ -725,12 +668,12 @@ void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
 		CcdPhysicsController* ctrl = (*it);
 		btRigidBody* body = ctrl->GetRigidBody();
 
-		if (body && (ctrl->getConstructionInfo().m_do_fh || ctrl->getConstructionInfo().m_do_rot_fh))
+		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();
+			CcdPhysicsController* parentCtrl = ctrl->GetParentCtrl();
 			btRigidBody* parentBody = parentCtrl?parentCtrl->GetRigidBody() : 0;
 			btRigidBody* cl_object = parentBody ? parentBody : body;
 
@@ -756,16 +699,16 @@ void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
 
 				if (controller)
 				{
-					if (controller->getConstructionInfo().m_fh_distance < SIMD_EPSILON)
+					if (controller->GetConstructionInfo().m_fh_distance < SIMD_EPSILON)
 						continue;
 
 					btRigidBody* hit_object = controller->GetRigidBody();
 					if (!hit_object)
 						continue;
 
-					CcdConstructionInfo& hitObjShapeProps = controller->getConstructionInfo();
+					CcdConstructionInfo& hitObjShapeProps = controller->GetConstructionInfo();
 
-					float distance = resultCallback.m_closestHitFraction*rayDirLocal.length()-ctrl->getConstructionInfo().m_radius;
+					float distance = resultCallback.m_closestHitFraction*rayDirLocal.length()-ctrl->GetConstructionInfo().m_radius;
 					if (distance >= hitObjShapeProps.m_fh_distance)
 						continue;
 					
@@ -778,7 +721,7 @@ void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
 
 					for (int i=0; i<numIter; i++)
 					{
-						if (ctrl->getConstructionInfo().m_do_fh) 
+						if (ctrl->GetConstructionInfo().m_do_fh)
 						{
 							btVector3 lspot = cl_object->getCenterOfMassPosition() +
 							        rayDirLocal * resultCallback.m_closestHitFraction;
@@ -790,7 +733,7 @@ void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
 							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;
 							
@@ -803,7 +746,7 @@ void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
 							btVector3 lateral = rel_vel - rel_vel_ray * ray_dir;
 							
 							
-							if (ctrl->getConstructionInfo().m_do_anisotropic) {
+							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;
@@ -830,7 +773,7 @@ void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
 						}
 
 						
-						if (ctrl->getConstructionInfo().m_do_rot_fh) {
+						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;
@@ -850,69 +793,69 @@ void	CcdPhysicsEnvironment::processFhSprings(double curTime,float interval)
 	}
 }
 
-void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
+void		CcdPhysicsEnvironment::SetDebugMode(int debugMode)
 {
 	if (m_debugDrawer) {
 		m_debugDrawer->setDebugMode(debugMode);
 	}
 }
 
-void		CcdPhysicsEnvironment::setNumIterations(int numIter)
+void		CcdPhysicsEnvironment::SetNumIterations(int numIter)
 {
 	m_numIterations = numIter;
 }
-void		CcdPhysicsEnvironment::setDeactivationTime(float dTime)
+void		CcdPhysicsEnvironment::SetDeactivationTime(float dTime)
 {
 	gDeactivationTime = dTime;
 }
-void		CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
+void		CcdPhysicsEnvironment::SetDeactivationLinearTreshold(float linTresh)
 {
 	gLinearSleepingTreshold = linTresh;
 }
-void		CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) 
+void		CcdPhysicsEnvironment::SetDeactivationAngularTreshold(float angTresh)
 {
 	gAngularSleepingTreshold = angTresh;
 }
 
-void		CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
+void		CcdPhysicsEnvironment::SetContactBreakingTreshold(float contactBreakingTreshold)
 {
 	gContactBreakingThreshold = contactBreakingTreshold;
 
 }
 
 
-void		CcdPhysicsEnvironment::setCcdMode(int ccdMode)
+void		CcdPhysicsEnvironment::SetCcdMode(int ccdMode)
 {
 	m_ccdMode = ccdMode;
 }
 
 
-void		CcdPhysicsEnvironment::setSolverSorConstant(float sor)
+void		CcdPhysicsEnvironment::SetSolverSorConstant(float sor)
 {
 	m_dynamicsWorld->getSolverInfo().m_sor = sor;
 }
 
-void		CcdPhysicsEnvironment::setSolverTau(float tau)
+void		CcdPhysicsEnvironment::SetSolverTau(float tau)
 {
 	m_dynamicsWorld->getSolverInfo().m_tau = tau;
 }
-void		CcdPhysicsEnvironment::setSolverDamping(float damping)
+void		CcdPhysicsEnvironment::SetSolverDamping(float damping)
 {
 	m_dynamicsWorld->getSolverInfo().m_damping = damping;
 }
 
 
-void		CcdPhysicsEnvironment::setLinearAirDamping(float damping)
+void		CcdPhysicsEnvironment::SetLinearAirDamping(float damping)
 {
 	//gLinearAirDamping = damping;
 }
 
-void		CcdPhysicsEnvironment::setUseEpa(bool epa)
+void		CcdPhysicsEnvironment::SetUseEpa(bool epa)
 {
 	//gUseEpa = epa;
 }
 
-void		CcdPhysicsEnvironment::setSolverType(int solverType)
+void		CcdPhysicsEnvironment::SetSolverType(int solverType)
 {
 
 	switch (solverType)
@@ -945,7 +888,7 @@ void		CcdPhysicsEnvironment::setSolverType(int solverType)
 
 
 
-void		CcdPhysicsEnvironment::getGravity(MT_Vector3& grav)
+void		CcdPhysicsEnvironment::GetGravity(MT_Vector3& grav)
 {
 		const btVector3& gravity = m_dynamicsWorld->getGravity();
 		grav[0] = gravity.getX();
@@ -954,7 +897,7 @@ void		CcdPhysicsEnvironment::getGravity(MT_Vector3& grav)
 }
 
 
-void		CcdPhysicsEnvironment::setGravity(float x,float y,float z)
+void		CcdPhysicsEnvironment::SetGravity(float x,float y,float z)
 {
 	m_gravity = btVector3(x,y,z);
 	m_dynamicsWorld->setGravity(m_gravity);
@@ -967,7 +910,7 @@ void		CcdPhysicsEnvironment::setGravity(float x,float y,float z)
 static int gConstraintUid = 1;
 
 //Following the COLLADA physics specification for constraints
-int			CcdPhysicsEnvironment::createUniversalD6Constraint(
+int			CcdPhysicsEnvironment::CreateUniversalD6Constraint(
 						class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
 						btTransform& frameInA,
 						btTransform& frameInB,
@@ -1025,7 +968,7 @@ int			CcdPhysicsEnvironment::createUniversalD6Constraint(
 
 
 
-void		CcdPhysicsEnvironment::removeConstraint(int	constraintId)
+void		CcdPhysicsEnvironment::RemoveConstraint(int	constraintId)
 {
 	
 	int i;
@@ -1144,7 +1087,7 @@ static bool GetHitTriangle(btCollisionShape* shape, CcdShapeConstructionInfo* sh
 	return true;
 }
 
-PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)
+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);
@@ -1798,7 +1741,7 @@ struct	DbvtCullingCallback : btDbvt::ICollide
 		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();
+		KX_ClientObjectInfo *info = (KX_ClientObjectInfo*)ctrl->GetNewClientInfo();
 		if (m_ocb)
 		{
 			// means we are doing occlusion culling. Check if this object is an occluders
@@ -1846,7 +1789,7 @@ struct	DbvtCullingCallback : btDbvt::ICollide
 };
 
 static OcclusionBuffer gOcb;
-bool CcdPhysicsEnvironment::cullingTest(PHY_CullingCallback callback, void* userData, MT_Vector4 *planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16])
+bool CcdPhysicsEnvironment::CullingTest(PHY_CullingCallback callback, void* userData, MT_Vector4 *planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16])
 {
 	if (!m_cullingTree)
 		return false;
@@ -1876,12 +1819,12 @@ bool CcdPhysicsEnvironment::cullingTest(PHY_CullingCallback callback, void* user
 	return true;
 }
 
-int	CcdPhysicsEnvironment::getNumContactPoints()
+int	CcdPhysicsEnvironment::GetNumContactPoints()
 {
 	return 0;
 }
 
-void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
+void CcdPhysicsEnvironment::GetContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
 {
 
 }
@@ -1889,12 +1832,12 @@ void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float&
 
 
 
-btBroadphaseInterface*	CcdPhysicsEnvironment::getBroadphase()
+btBroadphaseInterface*	CcdPhysicsEnvironment::GetBroadphase()
 { 
 	return m_dynamicsWorld->getBroadphase(); 
 }
 
-btDispatcher*	CcdPhysicsEnvironment::getDispatcher()
+btDispatcher*	CcdPhysicsEnvironment::GetDispatcher()
 { 
 	return m_dynamicsWorld->getDispatcher();
 }
@@ -1908,8 +1851,8 @@ void CcdPhysicsEnvironment::MergeEnvironment(CcdPhysicsEnvironment *other)
 		it= other->m_controllers.begin();
 		CcdPhysicsController* ctrl= (*it);
 
-		other->removeCcdPhysicsController(ctrl);
-		this->addCcdPhysicsController(ctrl);
+		other->RemoveCcdPhysicsController(ctrl);
+		this->AddCcdPhysicsController(ctrl);
 	}
 }
 
@@ -1961,9 +1904,9 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
 }
 
 
-float	CcdPhysicsEnvironment::getConstraintParam(int constraintId,int param)
+float	CcdPhysicsEnvironment::GetConstraintParam(int constraintId,int param)
 {
-	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
+	btTypedConstraint* typedConstraint = GetConstraintById(constraintId);
 	switch (typedConstraint->getUserConstraintType())
 	{
 	case PHY_GENERIC_6DOF_CONSTRAINT:
@@ -2000,9 +1943,9 @@ float	CcdPhysicsEnvironment::getConstraintParam(int constraintId,int param)
 	return 0.f;
 }
 
-void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1)
+void	CcdPhysicsEnvironment::SetConstraintParam(int constraintId,int param,float value0,float value1)
 {
-	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
+	btTypedConstraint* typedConstraint = GetConstraintById(constraintId);
 	switch (typedConstraint->getUserConstraintType())
 	{
 	case PHY_GENERIC_6DOF_CONSTRAINT:
@@ -2110,7 +2053,7 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 	};
 }
 
-btTypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
+btTypedConstraint*	CcdPhysicsEnvironment::GetConstraintById(int constraintId)
 {
 
 	int numConstraints = m_dynamicsWorld->getNumConstraints();
@@ -2127,7 +2070,7 @@ btTypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
 }
 
 
-void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
+void CcdPhysicsEnvironment::AddSensor(PHY_IPhysicsController* ctrl)
 {
 
 	CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl;
@@ -2137,10 +2080,10 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 	//{
 	//	addCcdPhysicsController(ctrl1);
 	//}
-	enableCcdPhysicsController(ctrl1);
+	EnableCcdPhysicsController(ctrl1);
 }
 
-bool CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
+bool CcdPhysicsEnvironment::RemoveCollisionCallback(PHY_IPhysicsController* ctrl)
 {
 	CcdPhysicsController* ccdCtrl = (CcdPhysicsController*)ctrl;
 	if (!ccdCtrl->Unregister())
@@ -2150,12 +2093,12 @@ bool CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl
 }
 
 
-void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
+void CcdPhysicsEnvironment::RemoveSensor(PHY_IPhysicsController* ctrl)
 {
-	disableCcdPhysicsController((CcdPhysicsController*)ctrl);
+	DisableCcdPhysicsController((CcdPhysicsController*)ctrl);
 }
 
-void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
+void CcdPhysicsEnvironment::AddTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
 {
 	/*	printf("addTouchCallback\n(response class = %i)\n",response_class);
 
@@ -2187,7 +2130,7 @@ void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCal
 	m_triggerCallbacksUserPtrs[response_class] = user;
 
 }
-bool CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
+bool CcdPhysicsEnvironment::RequestCollisionCallback(PHY_IPhysicsController* ctrl)
 {
 	CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
 
@@ -2270,12 +2213,12 @@ bool CcdOverlapFilterCallBack::needBroadphaseCollision(btBroadphaseProxy* proxy0
 			(KX_ClientObjectInfo*)
 			((CcdPhysicsController*)
 					(((btCollisionObject*)proxy0->m_clientObject)->getUserPointer()))
-			->getNewClientInfo());
+			->GetNewClientInfo());
 	KX_GameObject *kxObj1 = KX_GameObject::GetClientObject(
 			(KX_ClientObjectInfo*)
 			((CcdPhysicsController*)
 					(((btCollisionObject*)proxy1->m_clientObject)->getUserPointer()))
-			->getNewClientInfo());
+			->GetNewClientInfo());
 
 	// First check the filters. Note that this is called during scene
 	// conversion, so we can't assume the KX_GameObject instances exist. This
@@ -2324,7 +2267,7 @@ bool CcdOverlapFilterCallBack::needBroadphaseCollision(btBroadphaseProxy* proxy0
 #ifdef NEW_BULLET_VEHICLE_SUPPORT
 
 //complex constraint for vehicles
-PHY_IVehicle*	CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
+PHY_IVehicle*	CcdPhysicsEnvironment::GetVehicleConstraint(int constraintId)
 {
 	int i;
 
@@ -2342,13 +2285,10 @@ PHY_IVehicle*	CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
 #endif //NEW_BULLET_VEHICLE_SUPPORT
 
 
-PHY_ICharacter* CcdPhysicsEnvironment::getCharacterController(KX_GameObject *ob)
+PHY_ICharacter* CcdPhysicsEnvironment::GetCharacterController(KX_GameObject *ob)
 {
-	CcdPhysicsController* controller = (CcdPhysicsController*)ob->GetPhysicsController()->GetUserData();
-	if (controller->GetCharacterController())
-		return new CharacterWrapper((BlenderBulletCharacterController*)controller->GetCharacterController());
-
-	return NULL;
+	CcdPhysicsController* controller = (CcdPhysicsController*)ob->GetPhysicsController();
+	return dynamic_cast<BlenderBulletCharacterController*>(controller->GetCharacterController());
 }
 
 
@@ -2398,7 +2338,7 @@ int findClosestNode(btSoftBody* sb,const btVector3& worldPoint)
 	return node;
 }
 
-int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
+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,
@@ -2891,7 +2831,7 @@ float		CcdPhysicsEnvironment::getAppliedImpulse(int	constraintid)
 	return 0.f;
 }
 
-void	CcdPhysicsEnvironment::exportFile(const char* filename)
+void	CcdPhysicsEnvironment::ExportFile(const char* filename)
 {
 	btDefaultSerializer*	serializer = new btDefaultSerializer();
 	
@@ -2904,7 +2844,7 @@ void	CcdPhysicsEnvironment::exportFile(const char* filename)
 		CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(colObj->getUserPointer());
 		if (controller)
 		{
-			const char* name = controller->getName();
+			const char* name = KX_GameObject::GetClientObject((KX_ClientObjectInfo*)controller->GetNewClientInfo())->GetName();
 			if (name)
 			{
 				serializer->registerNameForPointer(colObj,name);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 8cf88526969..0e8ac9417f0 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -24,6 +24,7 @@ subject to the following restrictions:
 #include "PHY_IPhysicsEnvironment.h"
 #include <vector>
 #include <set>
+#include <map>
 class CcdPhysicsController;
 class CcdGraphicController;
 #include "LinearMath/btVector3.h"
@@ -83,7 +84,7 @@ protected:
 	int	m_profileTimings;
 	bool m_enableSatCollisionDetection;
 
-	void	processFhSprings(double curTime,float timeStep);
+	void	ProcessFhSprings(double curTime,float timeStep);
 
 	public:
 		CcdPhysicsEnvironment(bool useDbvtCulling, btDispatcher* dispatcher=0, btOverlappingPairCache* pairCache=0);
@@ -96,54 +97,54 @@ protected:
 
 		/// Perform an integration step of duration 'timeStep'.
 
-		virtual void setDebugDrawer(btIDebugDraw* debugDrawer);
+		virtual void SetDebugDrawer(btIDebugDraw* debugDrawer);
 
-		virtual void		setNumIterations(int numIter);
-		virtual void		setNumTimeSubSteps(int numTimeSubSteps)
+		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);
-
-		int					getNumTimeSubSteps()
+		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 int			GetNumTimeSubSteps()
 		{
 			return m_numTimeSubSteps;
 		}
 
-		virtual	void		beginFrame();
-		virtual void		endFrame() {}
+		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		ProceedDeltaTime(double curTime,float timeStep,float interval);
+
+		virtual void		DebugDrawWorld();
 //		virtual bool		proceedDeltaTimeOneStep(float timeStep);
 
-		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
+		virtual	void		SetFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
 		{
 			//based on DEFAULT_PHYSICS_TIC_RATE of 60 hertz
-			setNumTimeSubSteps((int)(fixedTimeStep / 60.f));
+			SetNumTimeSubSteps((int)(fixedTimeStep / 60.f));
 		}
 		//returns 0.f if no fixed timestep is used
 
-		virtual	float		getFixedTimeStep() { return 0.f; }
+		virtual	float		GetFixedTimeStep() { return 0.f; }
 
-		virtual void		setDebugMode(int debugMode);
+		virtual void		SetDebugMode(int debugMode);
 
-		virtual	void		setGravity(float x,float y,float z);
-		virtual	void		getGravity(MT_Vector3& grav);
+		virtual	void		SetGravity(float x,float y,float z);
+		virtual	void		GetGravity(MT_Vector3& grav);
 
 
-		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
+		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,
@@ -152,7 +153,7 @@ protected:
 
 
 		//Following the COLLADA physics specification for constraints
-		virtual int			createUniversalD6Constraint(
+		virtual int			CreateUniversalD6Constraint(
 		class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
 			btTransform& localAttachmentFrameRef,
 			btTransform& localAttachmentOther,
@@ -163,11 +164,11 @@ protected:
 			);
 
 		
-		virtual void	setConstraintParam(int constraintId,int param,float value,float value1);
+		virtual void	SetConstraintParam(int constraintId,int param,float value,float value1);
 		
-		virtual float	getConstraintParam(int constraintId,int param);
+		virtual float	GetConstraintParam(int constraintId,int param);
 
-		virtual void		removeConstraint(int	constraintid);
+		virtual void		RemoveConstraint(int	constraintid);
 
 		virtual float		getAppliedImpulse(int	constraintid);
 
@@ -177,61 +178,61 @@ protected:
 
 #ifdef NEW_BULLET_VEHICLE_SUPPORT
 		//complex constraint for vehicles
-		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId);
+		virtual PHY_IVehicle*	GetVehicleConstraint(int constraintId);
 #else
-		virtual class PHY_IVehicle*	getVehicleConstraint(int constraintId)
+		virtual class PHY_IVehicle*	GetVehicleConstraint(int constraintId)
 		{
 			return 0;
 		}
 #endif  /* NEW_BULLET_VEHICLE_SUPPORT */
 		// Character physics wrapper
-		virtual PHY_ICharacter*	getCharacterController(class KX_GameObject* ob);
+		virtual PHY_ICharacter*	GetCharacterController(class KX_GameObject* ob);
 
-		btTypedConstraint*	getConstraintById(int constraintId);
+		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, MT_Vector4* planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]);
+		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, MT_Vector4* planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]);
 
 
 		//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);
+		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 MT_Vector3& position);
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
 	
 
-		virtual int	getNumContactPoints();
+		virtual int	GetNumContactPoints();
 
-		virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
+		virtual void GetContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
 
 		//////////////////////
 		//CcdPhysicsEnvironment interface
 		////////////////////////
 	
-		void	addCcdPhysicsController(CcdPhysicsController* ctrl);
+		void	AddCcdPhysicsController(CcdPhysicsController* ctrl);
 
-		bool	removeCcdPhysicsController(CcdPhysicsController* ctrl);
+		bool	RemoveCcdPhysicsController(CcdPhysicsController* ctrl);
 
-		void	updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask);
+		void	UpdateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask);
 
-		void	disableCcdPhysicsController(CcdPhysicsController* ctrl);
+		void	DisableCcdPhysicsController(CcdPhysicsController* ctrl);
 
-		void	enableCcdPhysicsController(CcdPhysicsController* ctrl);
+		void	EnableCcdPhysicsController(CcdPhysicsController* ctrl);
 
-		void	refreshCcdPhysicsController(CcdPhysicsController* ctrl);
+		void	RefreshCcdPhysicsController(CcdPhysicsController* ctrl);
 
-		void	addCcdGraphicController(CcdGraphicController* ctrl);
+		void	AddCcdGraphicController(CcdGraphicController* ctrl);
 
-		void	removeCcdGraphicController(CcdGraphicController* ctrl);
+		void	RemoveCcdGraphicController(CcdGraphicController* ctrl);
 
-		btBroadphaseInterface*	getBroadphase();
-		btDbvtBroadphase*	getCullingTree() { return m_cullingTree; }
+		btBroadphaseInterface*	GetBroadphase();
+		btDbvtBroadphase*	GetCullingTree() { return m_cullingTree; }
 
-		btDispatcher*	getDispatcher();
+		btDispatcher*	GetDispatcher();
 		
 
 		bool	IsSatCollisionDetectionEnabled() const
@@ -250,7 +251,7 @@ protected:
 	
 		void	SyncMotionStates(float timeStep);
 
-		class	btSoftRigidDynamicsWorld*	getDynamicsWorld()
+		class	btSoftRigidDynamicsWorld*	GetDynamicsWorld()
 		{
 			return m_dynamicsWorld;
 		}
@@ -291,7 +292,7 @@ protected:
 
 		bool	m_scalingPropagated;
 
-		virtual void	exportFile(const char* filename);
+		virtual void	ExportFile(const char* filename);
 
 		
 #ifdef WITH_CXX_GUARDEDALLOC
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
index 72450e4307c..1bb5431c749 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
@@ -47,19 +47,19 @@ DummyPhysicsEnvironment::~DummyPhysicsEnvironment()
 	//destroy physicsengine data
 }
 
-void DummyPhysicsEnvironment::beginFrame()
+void DummyPhysicsEnvironment::BeginFrame()
 {
 	// beginning of logic frame: apply forces
 }
 
-void DummyPhysicsEnvironment::endFrame()
+void DummyPhysicsEnvironment::EndFrame()
 {
 	// end of logic frame: clear forces
 }
 
 
 
-bool		DummyPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep,float interval)
+bool		DummyPhysicsEnvironment::ProceedDeltaTime(double  curTime,float timeStep,float interval)
 {
 	//step physics simulation, typically perform
 	
@@ -69,11 +69,11 @@ bool		DummyPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep,f
 	// return true if an update was done.
 	return true;
 }
-void		DummyPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
+void		DummyPhysicsEnvironment::SetFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
 {
 }
  
-float		DummyPhysicsEnvironment::getFixedTimeStep()
+float		DummyPhysicsEnvironment::GetFixedTimeStep()
 {
 	return 0.f;
 }
@@ -81,18 +81,18 @@ float		DummyPhysicsEnvironment::getFixedTimeStep()
 
 
 
-void DummyPhysicsEnvironment::setGravity(float x,float y,float z)
+void DummyPhysicsEnvironment::SetGravity(float x,float y,float z)
 {
 }
 
-void DummyPhysicsEnvironment::getGravity(class MT_Vector3& grav)
+void DummyPhysicsEnvironment::GetGravity(class MT_Vector3& grav)
 {
 }
 
 
 
 
-int			DummyPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
+int			DummyPhysicsEnvironment::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,float axis1Y,float axis1Z,
 			float axis2X,float axis2Y,float axis2Z,int flag
@@ -104,14 +104,14 @@ int			DummyPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ct
 
 }
 
-void		DummyPhysicsEnvironment::removeConstraint(int	constraintid)
+void		DummyPhysicsEnvironment::RemoveConstraint(int	constraintid)
 {
 	if (constraintid)
 	{
 	}
 }
 
-PHY_IPhysicsController* DummyPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ)
+PHY_IPhysicsController* DummyPhysicsEnvironment::RayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ)
 {
 	//collision detection / raytesting
 	return NULL;
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index 9f6bc85fced..41462f91840 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -48,57 +48,57 @@ class DummyPhysicsEnvironment  : public PHY_IPhysicsEnvironment
 public:
 	DummyPhysicsEnvironment ();
 	virtual		~DummyPhysicsEnvironment ();
-	virtual void		beginFrame();
-	virtual void		endFrame();
+	virtual void		BeginFrame();
+	virtual void		EndFrame();
 // Perform an integration step of duration 'timeStep'.
-	virtual	bool		proceedDeltaTime(double  curTime,float timeStep,float interval);
-	virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep);
-	virtual	float		getFixedTimeStep();
+	virtual	bool		ProceedDeltaTime(double  curTime,float timeStep,float interval);
+	virtual	void		SetFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep);
+	virtual	float		GetFixedTimeStep();
 
-	virtual	void		setGravity(float x,float y,float z);
-	virtual	void		getGravity(class MT_Vector3& grav);
+	virtual	void		SetGravity(float x,float y,float z);
+	virtual	void		GetGravity(class MT_Vector3& grav);
 
-	virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
+	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
 			);
 
-	virtual void		removeConstraint(int	constraintid);
+	virtual void		RemoveConstraint(int	constraintid);
 
 		//complex constraint for vehicles
-	virtual PHY_IVehicle*	getVehicleConstraint(int constraintId)
+	virtual PHY_IVehicle*	GetVehicleConstraint(int constraintId)
 	{
 		return 0;
 	}
 
 		// Character physics wrapper
-	virtual PHY_ICharacter*	getCharacterController(class KX_GameObject* ob)
+	virtual PHY_ICharacter*	GetCharacterController(class KX_GameObject* ob)
 	{
 		return 0;
 	}
 
-	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, class MT_Vector4* planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) { return false; }
+	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, class MT_Vector4* planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) { return false; }
 
 
 	//gamelogic 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 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) { return false; }
-		virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl) { return false;}
+		virtual bool RequestCollisionCallback(PHY_IPhysicsController* ctrl) { return false; }
+		virtual bool RemoveCollisionCallback(PHY_IPhysicsController* ctrl) { return false;}
 		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const class MT_Vector3& position) {return 0;}
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;}
 
-		virtual void	setConstraintParam(int constraintId,int param,float value,float value1)
+		virtual void	SetConstraintParam(int constraintId,int param,float value,float value1)
 		{
 		}
 
-		virtual float	getConstraintParam(int constraintId,int param)
+		virtual float	GetConstraintParam(int constraintId,int param)
 		{
 			return 0.f;
 		}
diff --git a/source/gameengine/Physics/common/PHY_IController.h b/source/gameengine/Physics/common/PHY_IController.h
index ae1b2d9ad53..284d77ca221 100644
--- a/source/gameengine/Physics/common/PHY_IController.h
+++ b/source/gameengine/Physics/common/PHY_IController.h
@@ -50,8 +50,8 @@ class PHY_IController
 	public:
 		virtual ~PHY_IController(){};
 		// clientinfo for raycasts for example
-		virtual	void*	getNewClientInfo()=0;
-		virtual	void	setNewClientInfo(void* clientinfo)=0;
+		virtual	void*	GetNewClientInfo()=0;
+		virtual	void	SetNewClientInfo(void* clientinfo)=0;
 		virtual void	SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env)=0;
 
 	
diff --git a/source/gameengine/Physics/common/PHY_IGraphicController.h b/source/gameengine/Physics/common/PHY_IGraphicController.h
index 5f64e7ccc80..b047edd93eb 100644
--- a/source/gameengine/Physics/common/PHY_IGraphicController.h
+++ b/source/gameengine/Physics/common/PHY_IGraphicController.h
@@ -47,8 +47,8 @@ class PHY_IGraphicController : public PHY_IController
 		 */
 		virtual bool SetGraphicTransform()=0;
 		virtual void Activate(bool active=true)=0;
-		virtual void setLocalAabb(const class MT_Vector3& aabbMin,const class MT_Vector3& aabbMax)=0;
-		virtual void setLocalAabb(const float* aabbMin,const float* aabbMax)=0;
+		virtual void SetLocalAabb(const class MT_Vector3& aabbMin,const class MT_Vector3& aabbMax)=0;
+		virtual void SetLocalAabb(const float* aabbMin,const float* aabbMax)=0;
 
 		virtual PHY_IGraphicController*	GetReplica(class PHY_IMotionState* motionstate) {return 0;}
 
diff --git a/source/gameengine/Physics/common/PHY_IMotionState.h b/source/gameengine/Physics/common/PHY_IMotionState.h
index be5b2b54907..d40b8da9451 100644
--- a/source/gameengine/Physics/common/PHY_IMotionState.h
+++ b/source/gameengine/Physics/common/PHY_IMotionState.h
@@ -46,18 +46,18 @@ class	PHY_IMotionState
 	public:
 		virtual ~PHY_IMotionState(){};
 
-		virtual void	getWorldPosition(float& posX,float& posY,float& posZ)=0;
-		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)=0;
-		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)=0;
+		virtual void	GetWorldPosition(float& posX,float& posY,float& posZ)=0;
+		virtual void	GetWorldScaling(float& scaleX,float& scaleY,float& scaleZ)=0;
+		virtual void	GetWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)=0;
 		// ori = array 12 floats, [0..3] = first column + 0, [4..7] = second column, [8..11] = third column
-		virtual void	getWorldOrientation(float* ori)=0;
-		virtual	void	setWorldOrientation(const float* ori)=0;
+		virtual void	GetWorldOrientation(float* ori)=0;
+		virtual	void	SetWorldOrientation(const float* ori)=0;
 		
-		virtual void	setWorldPosition(float posX,float posY,float posZ)=0;
-		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)=0;
+		virtual void	SetWorldPosition(float posX,float posY,float posZ)=0;
+		virtual	void	SetWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)=0;
 
 
-		virtual	void	calculateWorldTransformations()=0;
+		virtual	void	CalculateWorldTransformations()=0;
 	
 	
 #ifdef WITH_CXX_GUARDEDALLOC
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h
index 18af42adc15..a1d0972a950 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsController.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h
@@ -37,6 +37,10 @@
 class PHY_IMotionState;
 class PHY_IPhysicsEnvironment;
 
+class MT_Vector3;
+class MT_Point3;
+class MT_Matrix3x3;
+
 /**
  * PHY_IPhysicsController is the abstract simplified Interface to a physical object.
  * It contains the IMotionState and IDeformableMesh Interfaces.
@@ -59,37 +63,47 @@ class PHY_IPhysicsController : public PHY_IController
 		virtual class PHY_IMotionState* GetMotionState() = 0;
 		// controller replication
 		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
+		virtual void		SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env)=0;
 
 		// kinematic methods
-		virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
-		virtual void		RelativeRotate(const float drot[12],bool local)=0;
-		virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
-		virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
-		virtual	void		setPosition(float posX,float posY,float posZ)=0;
-		virtual	void 		getPosition(class MT_Vector3&	pos) const=0;
-		virtual	void		setScaling(float scaleX,float scaleY,float scaleZ)=0;
-		
+		virtual void		RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
+		virtual void		RelativeRotate(const MT_Matrix3x3&,bool local)=0;
+		virtual	MT_Matrix3x3	GetOrientation()=0;
+		virtual	void		SetOrientation(const MT_Matrix3x3& orn)=0;
+		virtual	void		SetPosition(const MT_Vector3& pos)=0;
+		virtual	void 		GetPosition(MT_Vector3&	pos) const=0;
+		virtual	void		SetScaling(const MT_Vector3& scale)=0;
+		virtual void		SetTransform()=0;
+
+		virtual	MT_Scalar	GetMass()=0;
+		virtual void		SetMass(MT_Scalar newmass)=0;
+
 		// physics methods
-		virtual void		ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
-		virtual void		ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
-		virtual void		SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
-		virtual void		SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
-		virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
+		virtual void		ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0;
+		virtual void		ApplyTorque(const MT_Vector3& torque,bool local)=0;
+		virtual void		ApplyForce(const MT_Vector3& force,bool local)=0;
+		virtual void		SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
+		virtual void		SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
+		virtual void		ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
+
+		virtual void		SuspendDynamics(bool ghost=false)=0;
+		virtual void		RestoreDynamics()=0;
 
-		virtual void		applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
 		virtual void		SetActive(bool active)=0;
 
 		// reading out information from physics
-		virtual void		GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
-		virtual void		GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0; 
-		virtual	void		getReactionForce(float& forceX,float& forceY,float& forceZ)=0;
+		virtual MT_Vector3	GetLinearVelocity()=0;
+		virtual MT_Vector3	GetAngularVelocity()=0;
+		virtual MT_Vector3	GetVelocity(const MT_Point3& pos)=0;
+		virtual	MT_Vector3	GetLocalInertia()=0;
 
 		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
-		virtual	void		setRigidBody(bool rigid)=0;
+		virtual	void		SetRigidBody(bool rigid)=0;
 
 		virtual PHY_IPhysicsController*	GetReplica() {return 0;}
+		virtual PHY_IPhysicsController* GetReplicaForSensors() {return 0;}
 
-		virtual void	calcXform() =0;
+		virtual void	CalcXform() =0;
 		virtual void SetMargin(float margin) =0;
 		virtual float GetMargin() const=0;
 		virtual float GetRadius() const=0;
@@ -100,7 +114,15 @@ class PHY_IPhysicsController : public PHY_IController
 		virtual float GetLinVelocityMax() const=0;
 		virtual void  SetLinVelocityMax(float val) = 0;
 		
-		class MT_Vector3	GetWorldPosition(class MT_Vector3& localpos);
+		MT_Vector3	GetWorldPosition(MT_Vector3& localpos);
+
+		// Shape control
+		virtual void    AddCompoundChild(PHY_IPhysicsController* child) = 0;
+		virtual void    RemoveCompoundChild(PHY_IPhysicsController* child) = 0;
+
+
+		virtual bool IsDynamic() = 0;
+		virtual bool IsCompound() = 0;
 
 
 #ifdef WITH_CXX_GUARDEDALLOC
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 14904a70553..b1a0480ab14 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -105,87 +105,88 @@ public:
 class PHY_IPhysicsEnvironment
 {
 	public:
-		virtual		~PHY_IPhysicsEnvironment(){};
-		virtual	void		beginFrame() = 0;
-		virtual void		endFrame() = 0;
+		virtual		~PHY_IPhysicsEnvironment(){}
+		virtual	void		BeginFrame() = 0;
+		virtual void		EndFrame() = 0;
 		/// Perform an integration step of duration 'timeStep'.
-		virtual	bool		proceedDeltaTime(double curTime,float timeStep,float interval)=0;
+		virtual	bool		ProceedDeltaTime(double curTime,float timeStep,float interval)=0;
 		///draw debug lines (make sure to call this during the render phase, otherwise lines are not drawn properly)
-		virtual void		debugDrawWorld() {}
-		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0;
+		virtual void		DebugDrawWorld() {}
+		virtual	void		SetFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0;
 		//returns 0.f if no fixed timestep is used
-		virtual	float		getFixedTimeStep()=0;
+		virtual	float		GetFixedTimeStep()=0;
 
 		///setDebugMode is used to support several ways of debug lines, contact point visualization
-		virtual void		setDebugMode(int debugMode) {}
+		virtual void		SetDebugMode(int debugMode) {}
 		///setNumIterations set the number of iterations for iterative solvers
-		virtual void		setNumIterations(int numIter) {}
+		virtual void		SetNumIterations(int numIter) {}
 		///setNumTimeSubSteps set the number of divisions of the timestep. Tradeoff quality versus performance.
-		virtual void		setNumTimeSubSteps(int numTimeSubSteps) {}
+		virtual void		SetNumTimeSubSteps(int numTimeSubSteps) {}
+		virtual int			GetNumTimeSubSteps() {return 0; }
 		///setDeactivationTime sets the minimum time that an objects has to stay within the velocity tresholds until it gets fully deactivated
-		virtual void		setDeactivationTime(float dTime) {}
+		virtual void		SetDeactivationTime(float dTime) {}
 		///setDeactivationLinearTreshold sets the linear velocity treshold, see setDeactivationTime
-		virtual	void		setDeactivationLinearTreshold(float linTresh) {}
+		virtual	void		SetDeactivationLinearTreshold(float linTresh) {}
 		///setDeactivationAngularTreshold sets the angular velocity treshold, see setDeactivationTime
-		virtual	void		setDeactivationAngularTreshold(float angTresh) {}
+		virtual	void		SetDeactivationAngularTreshold(float angTresh) {}
 		///setContactBreakingTreshold sets tresholds to do with contact point management
-		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) {}
+		virtual void		SetContactBreakingTreshold(float contactBreakingTreshold) {}
 		///continuous collision detection mode, very experimental for Bullet
-		virtual void		setCcdMode(int ccdMode) {}
+		virtual void		SetCcdMode(int ccdMode) {}
 		///successive overrelaxation constant, in case PSOR is used, values in between 1 and 2 guarantee converging behavior
-		virtual void		setSolverSorConstant(float sor) {}
+		virtual void		SetSolverSorConstant(float sor) {}
 		///setSolverType, internal setting, chooses solvertype, PSOR, Dantzig, impulse based, penalty based
-		virtual void		setSolverType(int solverType) {}
+		virtual void		SetSolverType(int solverType) {}
 		///setTau sets the spring constant of a penalty based solver
-		virtual void		setSolverTau(float tau) {}
+		virtual void		SetSolverTau(float tau) {}
 		///setDamping sets the damper constant of a penalty based solver
-		virtual void		setSolverDamping(float damping) {}
+		virtual void		SetSolverDamping(float damping) {}
 		///linear air damping for rigidbodies
-		virtual void		setLinearAirDamping(float damping) {}
+		virtual void		SetLinearAirDamping(float damping) {}
 		/// penetrationdepth setting
-		virtual void		setUseEpa(bool epa) {}
+		virtual void		SetUseEpa(bool epa) {}
 
-		virtual	void		setGravity(float x,float y,float z)=0;
-		virtual	void		getGravity(MT_Vector3& grav) = 0;
+		virtual	void		SetGravity(float x,float y,float z)=0;
+		virtual	void		GetGravity(MT_Vector3& grav) = 0;
 
-		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
+		virtual int			CreateConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
 			float pivotX,float pivotY,float pivotZ,
 			float axis0X,float axis0Y,float axis0Z,
 			float axis1X=0,float axis1Y=0,float axis1Z=0,
 			float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0
 		)=0;
-		virtual void		removeConstraint(int	constraintid)=0;
-		virtual float		getAppliedImpulse(int	constraintid) { return 0.0f; }
+		virtual void		RemoveConstraint(int	constraintid)=0;
+		virtual float		GetAppliedImpulse(int	constraintid) { return 0.0f; }
 
 
 		//complex constraint for vehicles
-		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId) =0;
+		virtual PHY_IVehicle*	GetVehicleConstraint(int constraintId) =0;
 
 		// Character physics wrapper
-		virtual PHY_ICharacter*	getCharacterController(class KX_GameObject* ob) =0;
+		virtual PHY_ICharacter*	GetCharacterController(class KX_GameObject* ob) =0;
 
-		virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)=0;
+		virtual PHY_IPhysicsController* RayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)=0;
 
 		//culling based on physical broad phase
 		// the plane number must be set as follow: near, far, left, right, top, botton
 		// the near plane must be the first one and must always be present, it is used to get the direction of the view
-		virtual bool cullingTest(PHY_CullingCallback callback, void *userData, MT_Vector4* planeNormals, int planeNumber, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) = 0;
+		virtual bool CullingTest(PHY_CullingCallback callback, void *userData, MT_Vector4* planeNormals, int planeNumber, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) = 0;
 
 		//Methods for gamelogic collision/physics callbacks
 		//todo:
-		virtual void addSensor(PHY_IPhysicsController* ctrl)=0;
-		virtual void removeSensor(PHY_IPhysicsController* ctrl)=0;
-		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0;
-		virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
-		virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl)=0;
+		virtual void AddSensor(PHY_IPhysicsController* ctrl)=0;
+		virtual void RemoveSensor(PHY_IPhysicsController* ctrl)=0;
+		virtual void AddTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0;
+		virtual bool RequestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
+		virtual bool RemoveCollisionCallback(PHY_IPhysicsController* ctrl)=0;
 		//These two methods are *solely* used to create controllers for sensor! Don't use for anything else
 		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const MT_Vector3& position) =0;
 		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
 		
-		virtual void	setConstraintParam(int constraintId,int param,float value,float value1) = 0;
-		virtual float	getConstraintParam(int constraintId,int param) = 0;
+		virtual void	SetConstraintParam(int constraintId,int param,float value,float value1) = 0;
+		virtual float	GetConstraintParam(int constraintId,int param) = 0;
 		
-		virtual void	exportFile(const char* filename) {};
+		virtual void	ExportFile(const char* filename) {};
 
 
 #ifdef WITH_CXX_GUARDEDALLOC