Fixed several bugs: python refcounting related and Bullet related (basic add/remove object support, bounding volume hierarchy). Added a few files, updated the Bullet scons. Vc6/7 Bullet projectfiles need to add a couple of files: 'Bullet/CollisionShapes/BvhTriangleMeshShape.cpp',

'Bullet/CollisionShapes/ConvexTriangleCallback.cpp',
'Bullet/CollisionShapes/EmptyShape.cpp',
'Bullet/CollisionShapes/OptimizedBvh.cpp',
'Bullet/CollisionShapes/TriangleCallback.cpp',
'Bullet/CollisionShapes/TriangleIndexVertexArray.cpp',
'Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp'.
Sorry, no armatures fix yet.

13 files changed, 211 insertions, 45 deletions

diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index f6136d52684..fe0cf281a1a 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -961,11 +961,11 @@ static KX_GameObject *gameobject_from_blenderobject(
 	
 		//	If this is a skin object, make Skin Controller
 		if (ob->parent && ob->parent->type == OB_ARMATURE && ob->partype==PARSKEL && ((Mesh*)ob->data)->dvert){
-			BL_SkinDeformer *dcont = new BL_SkinDeformer(ob, (BL_SkinMeshObject*)meshobj);				
+			BL_SkinDeformer *dcont = new BL_SkinDeformer(ob, (BL_SkinMeshObject*)meshobj,ob->parent);				
 			((BL_DeformableGameObject*)gameobj)->m_pDeformer = dcont;
 		}
 		else if (((Mesh*)ob->data)->dvert){
-			BL_MeshDeformer *dcont = new BL_MeshDeformer(ob, (BL_SkinMeshObject*)meshobj);
+			BL_MeshDeformer *dcont = new BL_MeshDeformer(ob, (BL_SkinMeshObject*)meshobj,ob->parent);
 			((BL_DeformableGameObject*)gameobj)->m_pDeformer = dcont;
 		}
 		
diff --git a/source/gameengine/Converter/BL_MeshDeformer.h b/source/gameengine/Converter/BL_MeshDeformer.h
index 04e0f3b0628..c9030ceca36 100644
--- a/source/gameengine/Converter/BL_MeshDeformer.h
+++ b/source/gameengine/Converter/BL_MeshDeformer.h
@@ -48,12 +48,14 @@ public:
 	void VerifyStorage();
 	void RecalcNormals();
 	virtual void Relink(GEN_Map<class GEN_HashedPtr, void*>*map){};
-	BL_MeshDeformer(struct Object* obj, class BL_SkinMeshObject *meshobj):
+	BL_MeshDeformer(struct Object* obj, class BL_SkinMeshObject *meshobj,struct Object* armatureObj):
 		m_pMeshObject(meshobj),
 		m_bmesh((struct Mesh*)(obj->data)),
 		m_transnors(NULL),
 		m_transverts(NULL),
-		m_tvtot(0)
+		m_tvtot(0),
+		m_blenderMeshObject(obj),
+		m_blenderArmatureObj(armatureObj)
 	{};
 	virtual ~BL_MeshDeformer();
 	virtual void SetSimulatedTime(double time){};
@@ -67,6 +69,8 @@ protected:
 	MT_Point3 *m_transnors;
 	MT_Point3				*m_transverts;
 	int						m_tvtot;
+	Object*	m_blenderMeshObject;
+	Object*	m_blenderArmatureObj;
 
 };
 
diff --git a/source/gameengine/Converter/BL_SkinDeformer.cpp b/source/gameengine/Converter/BL_SkinDeformer.cpp
index ee298d70baf..84a3b8dcc5c 100644
--- a/source/gameengine/Converter/BL_SkinDeformer.cpp
+++ b/source/gameengine/Converter/BL_SkinDeformer.cpp
@@ -145,6 +145,10 @@ void BL_SkinDeformer::ProcessReplica()
 {
 }
 
+//void where_is_pose (Object *ob);
+//void armature_deform_verts(Object *armOb, Object *target, float (*vertexCos)[3], int numVerts, int deformflag); 
+extern "C" void armature_deform_verts(struct Object *armOb, struct Object *target, float (*vertexCos)[3], int numVerts, int deformflag);
+
 void BL_SkinDeformer::Update(void)
 {
 
@@ -156,7 +160,8 @@ void BL_SkinDeformer::Update(void)
 		
 		/* XXX note: where_is_pose() (from BKE_armature.h) calculates all matrices needed to start deforming */
 		/* but it requires the blender object pointer... */
-//		void where_is_pose (Object *ob);
+		//void where_is_pose (Object *ob);
+		where_is_pose (m_blenderArmatureObj);
 		
 		/* store verts locally */
 		for (int v =0; v<m_bmesh->totvert; v++){
@@ -165,6 +170,11 @@ void BL_SkinDeformer::Update(void)
 			m_transverts[v]=MT_Point3(m_bmesh->mvert[v].co);
 		}
 		
+		float	test[1000][3];
+
+		armature_deform_verts(m_blenderArmatureObj,m_blenderMeshObject,test,m_bmesh->totvert,ARM_DEF_VGROUP);
+
+
 		/* XXX note: now use this call instead */
 //		void armature_deform_verts(Object *armOb, Object *target, float (*vertexCos)[3], int numVerts, int deformflag) 
 		//		- armOb = armature object
diff --git a/source/gameengine/Converter/BL_SkinDeformer.h b/source/gameengine/Converter/BL_SkinDeformer.h
index a61ebf59b22..49c69298336 100644
--- a/source/gameengine/Converter/BL_SkinDeformer.h
+++ b/source/gameengine/Converter/BL_SkinDeformer.h
@@ -63,9 +63,10 @@ public:
 			m_armobj=NULL;
 	}
 	void SetArmature (class BL_ArmatureObject *armobj);
-	BL_SkinDeformer(	struct Object *bmeshobj,
-						class BL_SkinMeshObject *mesh)
-						:BL_MeshDeformer(bmeshobj, mesh),
+
+	BL_SkinDeformer(	struct Object *bmeshobj, 
+						class BL_SkinMeshObject *mesh,struct Object* blenderArmatureObj)
+						:BL_MeshDeformer(bmeshobj, mesh,blenderArmatureObj),
 						m_armobj(NULL),
 						m_lastUpdate(-1),
 						m_defbase(&bmeshobj->defbase)
@@ -85,8 +86,8 @@ public:
 
 	BL_SkinDeformer(	struct Object *bmeshobj_old,
 						struct Object *bmeshobj_new,
-						class BL_SkinMeshObject *mesh)
-						:BL_MeshDeformer(bmeshobj_old, mesh),
+						class BL_SkinMeshObject *mesh,struct Object *bArmatureObj)
+						:BL_MeshDeformer(bmeshobj_old, mesh,bArmatureObj),
 						m_armobj(NULL),
 						m_lastUpdate(-1),
 						m_defbase(&bmeshobj_old->defbase)
diff --git a/source/gameengine/Expressions/Value.cpp b/source/gameengine/Expressions/Value.cpp
index 1a09123c107..bb9ad81f245 100644
--- a/source/gameengine/Expressions/Value.cpp
+++ b/source/gameengine/Expressions/Value.cpp
@@ -558,6 +558,10 @@ void CValue::DisableRefCount()
 void CValue::AddDataToReplica(CValue *replica)
 {
 	replica->m_refcount = 1;
+
+	//register with Python
+	_Py_NewReference(replica);
+
 #ifdef _DEBUG
 	//gRefCountValue++;
 #endif
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index 5857c614e2d..7806b77257a 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -7,6 +7,14 @@
 
 #include "Dynamics/RigidBody.h"
 
+#include "SG_Spatial.h"
+
+#include "KX_GameObject.h"
+#include "KX_MotionState.h"
+#include "KX_ClientObjectInfo.h"
+
+#include "PHY_IPhysicsEnvironment.h"
+
 KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
 : KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
 CcdPhysicsController(ci)
@@ -38,6 +46,16 @@ void	KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_
 
 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());
+	//GetSumoObject()->setClientObject(gameobj->getClientInfo());
+
+
 }
 
 void	KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
@@ -55,22 +73,25 @@ void	KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool lo
 
 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()
 {
-	assert(0);
-	return MT_Vector3(0.f,0.f,0.f);
-
+	float angVel[3];
+	CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
+	return MT_Vector3(angVel[0],angVel[1],angVel[2]);
 }
 MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
 {
-		assert(0);
-	return MT_Vector3(0.f,0.f,0.f);
-
+	float linVel[3];
+	CcdPhysicsController::GetLinearVelocity(linVel[0],linVel[1],linVel[2]);
+	return MT_Vector3(linVel[0],linVel[1],linVel[2]);
 }
+
 void	KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
 {
 	CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);
@@ -82,16 +103,21 @@ void	KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,boo
 }
 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_Quaternion& orn)
 {
+	CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
 }
 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());
 }
 MT_Scalar	KX_BulletPhysicsController::GetMass()
 {
@@ -113,6 +139,7 @@ void	KX_BulletPhysicsController::setRigidBody(bool rigid)
 
 void	KX_BulletPhysicsController::SuspendDynamics()
 {
+
 }
 void	KX_BulletPhysicsController::RestoreDynamics()
 {
@@ -120,8 +147,42 @@ void	KX_BulletPhysicsController::RestoreDynamics()
 
 SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
 {
-	assert(0);
-	return 0;
+	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;
+	
+	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 = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
+				if (clientgameobj)
+				{
+					parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
+				}
+			}
+		}
+	}
+
+	physicsreplica->PostProcessReplica(motionstate,parentctrl);
+
+	return physicsreplica;
+	
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index e9a6c2442b0..646fc93dadb 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -673,6 +673,7 @@ void	KX_ConvertODEEngineObject(KX_GameObject* gameobj,
 #include "CollisionShapes/ConvexHullShape.h"
 #include "CollisionShapes/TriangleMesh.h"
 #include "CollisionShapes/TriangleMeshShape.h"
+#include "CollisionShapes/BvhTriangleMeshShape.h"
 
 
 static GEN_Map<GEN_HashedPtr,CollisionShape*>	map_gamemesh_to_bulletshape;
@@ -770,8 +771,8 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p
 	} else
 	{
 		collisionMeshData = new TriangleMesh();
-		concaveShape = new TriangleMeshShape(collisionMeshData);
-		collisionMeshShape = concaveShape;
+//		concaveShape = new TriangleMeshShape(collisionMeshData);
+		//collisionMeshShape = concaveShape;
 
 	}
 
@@ -843,7 +844,20 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p
 
 	if (numvalidpolys > 0)
 	{
+		
 		//map_gamemesh_to_bulletshape.insert(GEN_HashedPtr(meshobj),collisionMeshShape);
+		if (!polytope)
+		{
+			concaveShape = new BvhTriangleMeshShape( collisionMeshData );
+			//concaveShape = new TriangleMeshShape( collisionMeshData );
+
+			concaveShape->RecalcLocalAabb();
+			collisionMeshShape = concaveShape;
+
+		} 
+		
+		
+
 		return collisionMeshShape;
 	}
 
@@ -1002,7 +1016,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_broadphaseHandle = 0;
 	ci.m_friction = smmaterial->m_friction;
 	ci.m_restitution = smmaterial->m_restitution;
-
+	ci.m_physicsEnv = env;
 	// drag / damping is inverted
 	ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
 	ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
@@ -1010,7 +1024,11 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	
 
 	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna);
-	env->addCcdPhysicsController( physicscontroller);
+
+	if (objprop->m_in_active_layer)
+	{
+		env->addCcdPhysicsController( physicscontroller);
+	}
 
 	
 	gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
diff --git a/source/gameengine/Ketsji/KX_EmptyObject.cpp b/source/gameengine/Ketsji/KX_EmptyObject.cpp
index 8a72ba62f51..4636f2f0a3e 100644
--- a/source/gameengine/Ketsji/KX_EmptyObject.cpp
+++ b/source/gameengine/Ketsji/KX_EmptyObject.cpp
@@ -35,3 +35,7 @@
 #include <config.h>
 #endif
 
+KX_EmptyObject::~KX_EmptyObject()
+{
+
+}
diff --git a/source/gameengine/Ketsji/KX_EmptyObject.h b/source/gameengine/Ketsji/KX_EmptyObject.h
index b2038eb4816..46858b5c46d 100644
--- a/source/gameengine/Ketsji/KX_EmptyObject.h
+++ b/source/gameengine/Ketsji/KX_EmptyObject.h
@@ -39,7 +39,7 @@ public:
 	KX_EmptyObject(void* sgReplicationInfo,SG_Callbacks callbacks) :
 	KX_GameObject(sgReplicationInfo,callbacks) 
 	{};
-	virtual ~KX_EmptyObject() {};
+	virtual ~KX_EmptyObject();
 	
 };
 
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index 6ad420375e6..f13df6bfa44 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -732,7 +732,7 @@ void KX_Scene::ReplaceMesh(class CValue* gameobj,void* meshobj)
 		Object* blendobj = (struct Object*)m_logicmgr->FindBlendObjByGameObj(newobj);
 		Object* oldblendobj = (struct Object*)m_logicmgr->FindBlendObjByGameMeshName(mesh->GetName());
 		if (blendobj->parent && blendobj->parent->type == OB_ARMATURE && blendobj->partype==PARSKEL && ((Mesh*)blendobj->data)->dvert) {
-			BL_SkinDeformer* skindeformer = new BL_SkinDeformer(oldblendobj, blendobj, (BL_SkinMeshObject*)mesh);
+			BL_SkinDeformer* skindeformer = new BL_SkinDeformer(oldblendobj, blendobj, (BL_SkinMeshObject*)mesh,blendobj->parent);
 			skindeformer->SetArmature((BL_ArmatureObject*) newobj->GetParent());
 			
 			// FIXME: should the old m_pDeformer be deleted?
@@ -741,7 +741,7 @@ void KX_Scene::ReplaceMesh(class CValue* gameobj,void* meshobj)
 			((BL_DeformableGameObject*)newobj)->m_pDeformer = skindeformer;
 		}
 		else if (((Mesh*)blendobj->data)->dvert) {
-			BL_MeshDeformer* meshdeformer = new BL_MeshDeformer(oldblendobj, (BL_SkinMeshObject*)mesh);
+			BL_MeshDeformer* meshdeformer = new BL_MeshDeformer(oldblendobj, (BL_SkinMeshObject*)mesh,oldblendobj->parent);
 			
 			// FIXME: should the old m_pDeformer be deleted?
 			// delete ((BL_DeformableGameObject*)newobj)->m_pDeformer
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index d9c5575f657..bb4f1465b2d 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -4,6 +4,8 @@
 #include "PHY_IMotionState.h"
 #include "BroadphaseCollision/BroadphaseProxy.h"
 #include "CollisionShapes/ConvexShape.h"
+#include "CcdPhysicsEnvironment.h"
+
 
 class BP_Proxy;
 
@@ -20,6 +22,7 @@ float gAngularSleepingTreshold = 1.0f;
 
 SimdVector3 startVel(0,0,0);//-10000);
 CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
+:m_cci(ci)
 {
 	m_collisionDelay = 0;
 	m_newClientInfo = 0;
@@ -27,6 +30,22 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 	m_MotionState = ci.m_MotionState;
 
 
+	m_broadphaseHandle = ci.m_broadphaseHandle;
+
+	m_collisionShape = ci.m_collisionShape;
+
+	CreateRigidbody();
+
+	
+	#ifdef WIN32
+	if (m_body->getInvMass())
+		m_body->setLinearVelocity(startVel);
+	#endif
+
+}
+
+void CcdPhysicsController::CreateRigidbody()
+{
 	SimdTransform trans;
 	float tmp[3];
 	m_MotionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
@@ -36,31 +55,19 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 	m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
 	trans.setRotation(orn);
 
-	MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
+	MassProps mp(m_cci.m_mass, m_cci.m_localInertiaTensor);
 
-	m_body = new RigidBody(mp,0,0,ci.m_friction,ci.m_restitution);
+	m_body = new RigidBody(mp,0,0,m_cci.m_friction,m_cci.m_restitution);
 	
-	m_broadphaseHandle = ci.m_broadphaseHandle;
-
-	m_collisionShape = ci.m_collisionShape;
-
 	//
 	// init the rigidbody properly
 	//
 	
-	m_body->setMassProps(ci.m_mass, ci.m_localInertiaTensor);
-	m_body->setGravity( ci.m_gravity);
-
-	
-	m_body->setDamping(ci.m_linearDamping, ci.m_angularDamping);
-
-
+	m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor);
+	m_body->setGravity( m_cci.m_gravity);
+	m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
 	m_body->setCenterOfMassTransform( trans );
 
-	#ifdef WIN32
-	if (m_body->getInvMass())
-		m_body->setLinearVelocity(startVel);
-	#endif
 
 }
 
@@ -68,6 +75,7 @@ CcdPhysicsController::~CcdPhysicsController()
 {
 	//will be reference counted, due to sharing
 	//delete m_collisionShape;
+	m_cci.m_physicsEnv->removeCcdPhysicsController(this);
 	delete m_MotionState;
 	delete m_body;
 }
@@ -109,6 +117,45 @@ void		CcdPhysicsController::WriteDynamicsToMotionState()
 		// controller replication
 void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
 {
+
+	m_MotionState = motionstate;
+	m_broadphaseHandle = 0;
+	m_body = 0;
+	CreateRigidbody();
+			
+	m_cci.m_physicsEnv->addCcdPhysicsController(this);
+
+
+/*	SM_Object* dynaparent=0;
+	SumoPhysicsController* sumoparentctrl = (SumoPhysicsController* )parentctrl;
+	
+	if (sumoparentctrl)
+	{
+		dynaparent = sumoparentctrl->GetSumoObject();
+	}
+	
+	SM_Object* orgsumoobject = m_sumoObj;
+	
+	
+	m_sumoObj	=	new SM_Object(
+		orgsumoobject->getShapeHandle(), 
+		orgsumoobject->getMaterialProps(),			
+		orgsumoobject->getShapeProps(),
+		dynaparent);
+	
+	m_sumoObj->setRigidBody(orgsumoobject->isRigidBody());
+	
+	m_sumoObj->setMargin(orgsumoobject->getMargin());
+	m_sumoObj->setPosition(orgsumoobject->getPosition());
+	m_sumoObj->setOrientation(orgsumoobject->getOrientation());
+	//if it is a dyna, register for a callback
+	m_sumoObj->registerCallback(*this);
+	
+	m_sumoScene->add(* (m_sumoObj));
+	*/
+
+
+
 }
 
 		// kinematic methods
@@ -269,6 +316,15 @@ void		CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& l
 	linvZ = linvel.z();
 
 }
+
+void		CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ)
+{
+	const SimdVector3& angvel= m_body->getAngularVelocity();
+	angVelX = angvel.x();
+	angVelY = angvel.y();
+	angVelZ = angvel.z();
+}
+
 void		CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
 {
 	SimdVector3 pos(posX,posY,posZ);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 4f189b7f324..87290f65fb4 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -16,6 +16,7 @@ extern float gDeactivationTime;
 extern float gLinearSleepingTreshold;
 extern float gAngularSleepingTreshold;
 extern bool gDisableDeactivation;
+class CcdPhysicsEnvironment;
 
 
 struct CcdConstructionInfo
@@ -27,7 +28,8 @@ struct CcdConstructionInfo
 		m_linearDamping(0.1f),
 		m_angularDamping(0.1f),
 		m_MotionState(0),
-		m_collisionShape(0)
+		m_collisionShape(0),
+		m_physicsEnv(0)
 
 	{
 	}
@@ -42,7 +44,7 @@ struct CcdConstructionInfo
 	class	PHY_IMotionState*			m_MotionState;
 
 	CollisionShape*			m_collisionShape;
-	
+	CcdPhysicsEnvironment*	m_physicsEnv; //needed for self-replication
 };
 
 
@@ -56,8 +58,11 @@ class CcdPhysicsController : public PHY_IPhysicsController
 	CollisionShape*			m_collisionShape;
 	void*		m_newClientInfo;
 
+	CcdConstructionInfo	m_cci;//needed for replication
 	void GetWorldOrientation(SimdMatrix3x3& mat);
 
+	void CreateRigidbody();
+
 	public:
 	
 		int				m_collisionDelay;
@@ -110,6 +115,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		// 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);
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index c375abbdb16..3a500a833c8 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -226,11 +226,13 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 		
 		if (removeFromBroadphase)
 		{
+
 		}
 		//
 		// only clear the cached algorithms
 		//
 		scene->CleanProxyFromPairs(bp);
+		scene->DestroyProxy(bp);//??
 	}
 	{
 		std::vector<CcdPhysicsController*>::iterator i =