Big patches:

Erwin Coumans: Abstract the physics engine
Charlie C: Joystick fixes
Me: Moved the ray cast (shadows, mouse sensor & ray sensor)

78 files changed, 1412 insertions, 727 deletions

diff --git a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
index f0eb36107e8..ca908f86344 100644
--- a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
+++ b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
@@ -346,7 +346,6 @@ extern "C" void StartKetsjiShell(struct ScrArea *area,
 		
 		// clean up some stuff
 		audiodevice->StopCD();
-		SND_DeviceManager::Unsubscribe();
 		
 		if (ketsjiengine)
 		{
@@ -388,6 +387,9 @@ extern "C" void StartKetsjiShell(struct ScrArea *area,
 			delete canvas;
 			canvas = NULL;
 		}
+		
+		SND_DeviceManager::Unsubscribe();
+	
 	} while (exitrequested == KX_EXIT_REQUEST_RESTART_GAME || exitrequested == KX_EXIT_REQUEST_START_OTHER_GAME);
 
 	if (bfd) BLO_blendfiledata_free(bfd);
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp
index d8a89461031..e35ec6f41ef 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp
+++ b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp
@@ -47,7 +47,6 @@
 #include "RAS_ICanvas.h"
 #include "RAS_GLExtensionManager.h"
 
-
 // next two includes/dependencies come from the shadow feature
 // it needs the gameobject and the sumo physics scene for a raycast
 #include "KX_GameObject.h"
@@ -60,9 +59,9 @@
 #include "STR_String.h"
 #include "RAS_BucketManager.h" // for polymaterial (needed for textprinting)
 
-#include "SM_Scene.h"
-#include "SumoPhysicsEnvironment.h"
-#include "KX_SumoPhysicsController.h"
+#include "KX_RayCast.h"
+#include "KX_IPhysicsController.h"
+#include "PHY_IPhysicsEnvironment.h"
 #include "KX_Scene.h"
 
 KX_BlenderRenderTools::KX_BlenderRenderTools()
@@ -125,7 +124,27 @@ void KX_BlenderRenderTools::BeginFrame(RAS_IRasterizer* rasty)
 
 
 }
+
+bool KX_BlenderRenderTools::RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data)
+{
+	double* const oglmatrix = (double* const) data;
+	MT_Point3 resultpoint(hit_point);
+	MT_Vector3 resultnormal(hit_normal);
+	MT_Vector3 left(oglmatrix[0],oglmatrix[1],oglmatrix[2]);
+	MT_Vector3 dir = -(left.cross(resultnormal)).safe_normalized();
+	left = (dir.cross(resultnormal)).safe_normalized();
+	// for the up vector, we take the 'resultnormal' returned by the physics
 	
+	double maat[16]={
+			left[0],        left[1],        left[2], 0,
+				dir[0],         dir[1],         dir[2], 0,
+		resultnormal[0],resultnormal[1],resultnormal[2], 0,
+				0,              0,              0, 1};
+	glTranslated(resultpoint[0],resultpoint[1],resultpoint[2]);
+	//glMultMatrixd(oglmatrix);
+	glMultMatrixd(maat);
+	return true;
+}
 
 void KX_BlenderRenderTools::applyTransform(RAS_IRasterizer* rasty,double* oglmatrix,int objectdrawmode )
 {
@@ -196,44 +215,26 @@ void KX_BlenderRenderTools::applyTransform(RAS_IRasterizer* rasty,double* oglmat
 			KX_GameObject *gameobj = (KX_GameObject*) this->m_clientobject;
 			MT_Vector3 direction = MT_Vector3(0,0,-1);
 
-			
 			direction.normalize();
 			direction *= 100000;
 
 			MT_Point3 topoint = frompoint + direction;
-			MT_Point3 resultpoint;
-			MT_Vector3 resultnormal;
 
-			//todo:
-			//use physics abstraction
 			KX_Scene* kxscene = (KX_Scene*) m_auxilaryClientInfo;
-			SumoPhysicsEnvironment *spe = dynamic_cast<SumoPhysicsEnvironment *>( kxscene->GetPhysicsEnvironment());
-			SM_Scene *scene = spe->GetSumoScene();
-			KX_SumoPhysicsController *spc = dynamic_cast<KX_SumoPhysicsController *>( gameobj->GetPhysicsController());
+			PHY_IPhysicsEnvironment* physics_environment = kxscene->GetPhysicsEnvironment();
+			KX_IPhysicsController* physics_controller = gameobj->GetPhysicsController();
+			
 			KX_GameObject *parent = gameobj->GetParent();
-			if (!spc && parent)
-				spc = dynamic_cast<KX_SumoPhysicsController *>(parent->GetPhysicsController());
+			if (!physics_controller && parent)
+				physics_controller = parent->GetPhysicsController();
 			if (parent)
 				parent->Release();
-			SM_Object *thisObj = spc?spc->GetSumoObject():NULL;
-			
-			if (scene->rayTest(thisObj, frompoint, topoint, resultpoint, resultnormal))
-			{
-				MT_Vector3 left(oglmatrix[0],oglmatrix[1],oglmatrix[2]);
-				MT_Vector3 dir = -(left.cross(resultnormal)).safe_normalized();
-				left = (dir.cross(resultnormal)).safe_normalized();
-				// for the up vector, we take the 'resultnormal' returned by the physics
 				
-				double maat[16]={
-					        left[0],        left[1],        left[2], 0,
-					         dir[0],         dir[1],         dir[2], 0,
-					resultnormal[0],resultnormal[1],resultnormal[2], 0,
-					              0,              0,              0, 1};
-				glTranslated(resultpoint[0],resultpoint[1],resultpoint[2]);
-				//glMultMatrixd(oglmatrix);
-				glMultMatrixd(maat);
-			} else
+			MT_Point3 resultpoint;
+			MT_Vector3 resultnormal;
+			if (!KX_RayCast::RayTest(physics_controller, physics_environment, frompoint, topoint, resultpoint, resultnormal, KX_RayCast::Callback<KX_BlenderRenderTools>(this, oglmatrix)))
 			{
+				// couldn't find something to cast the shadow on...
 				glMultMatrixd(oglmatrix);
 			}
 		} else
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h
index 48b1ca42357..dc638d1a43a 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h
+++ b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h
@@ -39,6 +39,8 @@
 
 #include "RAS_IRenderTools.h"
 
+struct KX_ClientObjectInfo;
+
 /**
 BlenderRenderTools are a set of tools to apply 2D/3D graphics effects, which are not
 part of the (polygon) Rasterizer. 
@@ -96,6 +98,8 @@ public:
 									bool bIsTriangle,
 									void* clientobject,
 									void* tface);
+	
+	bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data);
 };
 
 #endif //__KX_BLENDERRENDERTOOLS
diff --git a/source/gameengine/Converter/BL_ActionActuator.h b/source/gameengine/Converter/BL_ActionActuator.h
index 5587cbd9c5e..f96855408b7 100644
--- a/source/gameengine/Converter/BL_ActionActuator.h
+++ b/source/gameengine/Converter/BL_ActionActuator.h
@@ -58,9 +58,11 @@ public:
 		m_flag(0),
 		m_startframe (starttime),
 		m_endframe(endtime) ,
+		m_starttime(0),
 		m_localtime(starttime),
 		m_lastUpdate(-1),
 		m_blendin(blendin),
+		m_blendstart(0),
 		m_stridelength(stride),
 		m_playtype(playtype),
 		m_priority(priority),
@@ -73,8 +75,8 @@ public:
 	};
 	virtual ~BL_ActionActuator();
 	virtual	bool Update(double curtime, bool frame);
-	CValue* GetReplica();
-	void ProcessReplica();
+	virtual CValue* GetReplica();
+	virtual void ProcessReplica();
 	
 	void SetBlendTime (float newtime);
 
diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
index 6b3cbbea2e5..53b775b8920 100644
--- a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
+++ b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
@@ -152,7 +152,6 @@ bool KX_BlenderSceneConverter::TryAndLoadNewFile()
 	 * Find the specified scene by name, or the first
 	 * scene if nothing matches (shouldn't happen).
 	 */
-#if 0
 static struct Scene *GetSceneForName2(struct Main *maggie, const STR_String& scenename) {
 	Scene *sce;
 
@@ -162,7 +161,7 @@ static struct Scene *GetSceneForName2(struct Main *maggie, const STR_String& sce
 
 	return (Scene*) maggie->scene.first;
 }
-#endif
+
 
 void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
 											class KX_Scene* destinationscene,
@@ -172,12 +171,10 @@ void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
 											class RAS_ICanvas* canvas)
 {
 	//find out which physics engine
-	// Scene *blenderscene = GetSceneForName2(m_maggie, scenename); /*unused*/
+	Scene *blenderscene = GetSceneForName2(m_maggie, scenename);
 
 	e_PhysicsEngine physics_engine = UseSumo;
 
-	/* FIXME: Force physics engine = sumo.
-	This isn't really a problem - no other physics engines are available. 
 	if (blenderscene)
 	{
 		int i=0;
@@ -210,7 +207,7 @@ void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
 		  
 		}
 	}
-	*/
+
 	switch (physics_engine)
 	{
 	
@@ -220,6 +217,7 @@ void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
 			break;
 #endif
 #ifdef USE_ODE
+
 		case UseODE:
 			destinationscene ->SetPhysicsEnvironment(new ODEPhysicsEnvironment());
 			break;
diff --git a/source/gameengine/Converter/KX_ConvertSensors.cpp b/source/gameengine/Converter/KX_ConvertSensors.cpp
index 396d633043c..450f4c0b523 100644
--- a/source/gameengine/Converter/KX_ConvertSensors.cpp
+++ b/source/gameengine/Converter/KX_ConvertSensors.cpp
@@ -79,6 +79,7 @@ probably misplaced */
 #include "KX_BlenderKeyboardDevice.h"
 #include "KX_BlenderGL.h"
 #include "RAS_ICanvas.h"
+#include "PHY_IPhysicsEnvironment.h"
 
 #include "KX_KetsjiEngine.h"
 #include "KX_BlenderSceneConverter.h"
@@ -374,11 +375,23 @@ void BL_ConvertSensors(struct Object* blenderobject,
 					
 					// this sumoObject is not deleted by a gameobj, so delete it ourself
 					// later (memleaks)!
-					//SM_Object* sumoObj 		=	new SM_Object(shape,NULL,NULL,NULL);
-					//sumoObj->setMargin(blendernearsensor->dist);
-					//sumoObj->setPosition(gameobj->NodeGetWorldPosition());
+					float radius = blendernearsensor->dist;
+					PHY__Vector3 pos;
+					const MT_Vector3& wpos = gameobj->NodeGetWorldPosition();
+					pos[0] = wpos[0];
+					pos[1] = wpos[1];
+					pos[2] = wpos[2];
+					pos[3] = 0.f;
 					bool bFindMaterial = false;
-					gamesensor = new KX_NearSensor(eventmgr,gameobj,blendernearsensor->dist,blendernearsensor->resetdist,bFindMaterial,nearpropertyname,kxscene);
+					PHY_IPhysicsController* physCtrl = kxscene->GetPhysicsEnvironment()->CreateSphereController(radius,pos);
+
+					gamesensor = new KX_NearSensor(eventmgr,gameobj,
+						blendernearsensor->dist,
+						blendernearsensor->resetdist,
+						bFindMaterial,
+						nearpropertyname,kxscene,
+						physCtrl
+						);
 					
 				}
 				break;
@@ -551,9 +564,12 @@ void BL_ConvertSensors(struct Object* blenderobject,
 					MT_Scalar largemargin = 0.0;
 					
 					bool bFindMaterial = false;
+					PHY_IPhysicsController* ctrl = kxscene->GetPhysicsEnvironment()->CreateConeController(coneradius,coneheight);
+
 					gamesensor = new KX_RadarSensor(
 						eventmgr,
 						gameobj,
+						ctrl,
 						coneradius,
 						coneheight,
 						radaraxis,
diff --git a/source/gameengine/Expressions/InputParser.cpp b/source/gameengine/Expressions/InputParser.cpp
index 090c95e3c07..24033dd21a2 100644
--- a/source/gameengine/Expressions/InputParser.cpp
+++ b/source/gameengine/Expressions/InputParser.cpp
@@ -14,6 +14,8 @@
 
 #include <stdlib.h>
 
+#include "MT_assert.h"
+
 #include "Value.h"
 #include "InputParser.h"
 #include "ErrorValue.h"
@@ -371,7 +373,7 @@ int CParser::Priority(int optorkind) {
     case OPtimes:
     case OPdivide: return 5;
 	}
-	assert(false);
+	MT_assert(false);
 	return 0;      // should not happen
 }
 
@@ -400,7 +402,7 @@ CExpression *CParser::Ex(int i) {
 			case OPless: e1 = new COperator2Expr(VALUE_LES_OPERATOR,e1, e2); break;
 			case OPgreaterequal: e1 = new COperator2Expr(VALUE_GEQ_OPERATOR,e1, e2); break;
 			case OPlessequal: e1 = new COperator2Expr(VALUE_LEQ_OPERATOR,e1, e2); break;
-			default: assert(false);	break; // should not happen
+			default: MT_assert(false);	break; // should not happen
 			}
 		}
 	} else if (i == NUM_PRIORITY) {
@@ -445,7 +447,7 @@ CExpression *CParser::Ex(int i) {
 					e1 = new CConstExpr(new CStringValue(const_as_string,""));
 					break;
 				default :
-					assert(false);
+					MT_assert(false);
 					break;
 				}
 				NextSym();
@@ -483,7 +485,7 @@ CExpression *CParser::Ex(int i) {
 				}
 			case errorsym:
 				{
-					assert(!e1);
+					MT_assert(!e1);
 					STR_String errtext="[no info]";
 					if (errmsg)
 					{
@@ -498,7 +500,7 @@ CExpression *CParser::Ex(int i) {
 							errmsg=NULL;
 						} else {
 							// does this happen ?
-							assert ("does this happen");
+							MT_assert ("does this happen");
 						}
 					}
 					e1 = Error(errtext);
@@ -508,7 +510,7 @@ CExpression *CParser::Ex(int i) {
 			default:
 				NextSym();
 				//return Error("Expression expected");
-				assert(!e1);
+				MT_assert(!e1);
 				e1 = Error("Expression expected");
 			}
 		}
diff --git a/source/gameengine/Expressions/Makefile b/source/gameengine/Expressions/Makefile
index 88746c18eae..18dca9a1c68 100644
--- a/source/gameengine/Expressions/Makefile
+++ b/source/gameengine/Expressions/Makefile
@@ -40,6 +40,7 @@ CCFLAGS += $(LEVEL_1_CPP_WARNINGS)
 
 CPPFLAGS += -I$(NAN_PYTHON)/include/python$(NAN_PYTHON_VERSION)
 
-CPPFLAGS += -I$(NAN_STRING)/include    
+CPPFLAGS += -I$(NAN_STRING)/include
+CPPFLAGS += -I$(NAN_MOTO)/include
 CPPFLAGS += -I../../kernel/gen_system
 
diff --git a/source/gameengine/Expressions/PyObjectPlus.cpp b/source/gameengine/Expressions/PyObjectPlus.cpp
index 2b331d7f728..b75da2c12a2 100644
--- a/source/gameengine/Expressions/PyObjectPlus.cpp
+++ b/source/gameengine/Expressions/PyObjectPlus.cpp
@@ -49,7 +49,7 @@
  * http://www.python.org/doc/PyCPP.html
  *
 ------------------------------*/
-#include <assert.h>
+#include <MT_assert.h>
 #include "stdlib.h"
 #include "PyObjectPlus.h"
 #include "STR_String.h"
@@ -79,7 +79,7 @@ PyTypeObject PyObjectPlus::Type = {
 
 PyObjectPlus::PyObjectPlus(PyTypeObject *T) 				// constructor
 {
-	assert(T != NULL);
+	MT_assert(T != NULL);
 	this->ob_type = T; 
 	_Py_NewReference(this);
 };
diff --git a/source/gameengine/Expressions/PyObjectPlus.h b/source/gameengine/Expressions/PyObjectPlus.h
index 7e6b3f29bab..8784d28d502 100644
--- a/source/gameengine/Expressions/PyObjectPlus.h
+++ b/source/gameengine/Expressions/PyObjectPlus.h
@@ -48,7 +48,7 @@
 
 								// some basic python macros
 #define Py_NEWARGS 1			
-#define Py_Return Py_INCREF(Py_None); return Py_None;	
+#define Py_Return { Py_INCREF(Py_None); return Py_None;}
 
 #define Py_Error(E, M)   {PyErr_SetString(E, M); return NULL;}
 #define Py_Try(F) {if (!(F)) return NULL;}
diff --git a/source/gameengine/Expressions/SConscript b/source/gameengine/Expressions/SConscript
index 93a197e085b..212381cc034 100755
--- a/source/gameengine/Expressions/SConscript
+++ b/source/gameengine/Expressions/SConscript
@@ -26,7 +26,8 @@ source_files = ['BoolValue.cpp',
 
 expressions_env.Append (CPPPATH = ['.',
                                    '#source/kernel/gen_system',
-                                   '#intern/string'])
+                                   '#intern/string',
+				   '#intern/moto/include'])
 
 expressions_env.Append (CPPPATH = user_options_dict['PYTHON_INCLUDE'])
 
diff --git a/source/gameengine/Expressions/Value.cpp b/source/gameengine/Expressions/Value.cpp
index fbb1e9a8c99..1a09123c107 100644
--- a/source/gameengine/Expressions/Value.cpp
+++ b/source/gameengine/Expressions/Value.cpp
@@ -532,7 +532,7 @@ int	CValue::Release()
 	else
 	{
 		// Reference count reached 0, delete ourselves and return 0
-//		assert(m_refcount==0, "Reference count reached sub-zero, object released too much");
+//		MT_assert(m_refcount==0, "Reference count reached sub-zero, object released too much");
 		delete this;
 		return 0;
 	}
diff --git a/source/gameengine/GameLogic/Joystick/SCA_Joystick.cpp b/source/gameengine/GameLogic/Joystick/SCA_Joystick.cpp
index 7d1d4b28730..02775c58168 100644
--- a/source/gameengine/GameLogic/Joystick/SCA_Joystick.cpp
+++ b/source/gameengine/GameLogic/Joystick/SCA_Joystick.cpp
@@ -28,7 +28,7 @@
  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  */
 #include <SDL.h>
- 
+
 #include "SCA_Joystick.h"
 #include "SCA_JoystickPrivate.h"
 
@@ -47,11 +47,14 @@ SCA_Joystick::SCA_Joystick()
 	m_private = new PrivateData();
 }
 
+
 SCA_Joystick::~SCA_Joystick()
+
 {
 	delete m_private;
 }
 
+
 bool SCA_Joystick::CreateJoystickDevice()
 {
 	bool init = false;
@@ -66,6 +69,7 @@ void SCA_Joystick::DestroyJoystickDevice()
 		pDestroyJoystickDevice();
 }
 
+
 void SCA_Joystick::HandleEvents()
 {
 	if(m_isinit)
@@ -91,6 +95,7 @@ void SCA_Joystick::cSetPrecision(int val)
 	m_prec = val;
 }
 
+
 bool SCA_Joystick::aRightAxisIsPositive(int axis)
 {
 	bool result;
@@ -164,7 +169,6 @@ int SCA_Joystick::pGetButtonPress(int button)
 	if(button == m_buttonnum)
 		return m_buttonnum;
 	return -2;
-
 }
 
 
@@ -279,6 +283,7 @@ int SCA_Joystick::GetNumberOfButtons()
 	return -1;
 }
 
+
 int SCA_Joystick::GetNumberOfHats()
 {
 	int number;
@@ -291,7 +296,6 @@ int SCA_Joystick::GetNumberOfHats()
 	return -1;
 }
 
-
 bool SCA_Joystick::pCreateJoystickDevice()
 {
 	if(m_isinit == false){
@@ -328,6 +332,7 @@ void SCA_Joystick::pDestroyJoystickDevice()
 	SDL_QuitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_VIDEO );
 }
 
+
 void SCA_Joystick::pFillAxes()
 {
 	if(GetNumberOfAxes() == 1){
@@ -344,6 +349,7 @@ void SCA_Joystick::pFillAxes()
 	}
 }
 
+
 int SCA_Joystick::pGetAxis(int axisnum, int udlr)
 {
 	if(axisnum == 1 && udlr == 1)return m_axis10; //u/d
diff --git a/source/gameengine/GameLogic/Joystick/SCA_JoystickEvents.cpp b/source/gameengine/GameLogic/Joystick/SCA_JoystickEvents.cpp
index 90bb728936b..5fd8510d566 100644
--- a/source/gameengine/GameLogic/Joystick/SCA_JoystickEvents.cpp
+++ b/source/gameengine/GameLogic/Joystick/SCA_JoystickEvents.cpp
@@ -28,10 +28,11 @@
  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  */
 #include <SDL.h>
- 
 #include "SCA_Joystick.h"
 #include "SCA_JoystickPrivate.h"
 
+
+
 void SCA_Joystick::OnAxisMotion(void)
 {
 	pFillAxes();
@@ -70,4 +71,3 @@ void SCA_Joystick::OnNothing(void)
 {
 	m_istrig = 0;
 }
-
diff --git a/source/gameengine/GameLogic/Makefile b/source/gameengine/GameLogic/Makefile
index dcf2163a68b..9e6f4515bad 100644
--- a/source/gameengine/GameLogic/Makefile
+++ b/source/gameengine/GameLogic/Makefile
@@ -35,8 +35,8 @@ LIBNAME = logic
 DIR = $(OCGDIR)/gameengine/$(LIBNAME)
 DIRS = Joystick
 
-include nan_compile.mk
 include nan_subdirs.mk
+include nan_compile.mk
 
 CCFLAGS += $(LEVEL_1_CPP_WARNINGS)
 
diff --git a/source/gameengine/GameLogic/SCA_JoystickManager.cpp b/source/gameengine/GameLogic/SCA_JoystickManager.cpp
index 3637883047d..cf182a0503e 100644
--- a/source/gameengine/GameLogic/SCA_JoystickManager.cpp
+++ b/source/gameengine/GameLogic/SCA_JoystickManager.cpp
@@ -27,28 +27,31 @@
  *
  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  */
-
 #include "SCA_JoystickSensor.h"
 #include "SCA_JoystickManager.h"
 #include "SCA_LogicManager.h"
-#include <vector>
+//#include <vector>
 #include "SCA_ISensor.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
+//using namespace std;
 
-using namespace std;
 
 SCA_JoystickManager::SCA_JoystickManager(class SCA_LogicManager* logicmgr)
 	: SCA_EventManager(JOY_EVENTMGR),
 	m_logicmgr(logicmgr)
 {
-	Joystick.CreateJoystickDevice();
+	m_joystick = new SCA_Joystick();
+	m_joystick->CreateJoystickDevice();
 }
+
+
 SCA_JoystickManager::~SCA_JoystickManager()
 {
-	Joystick.DestroyJoystickDevice();
+	m_joystick->DestroyJoystickDevice();
+	delete m_joystick;
 }
 
 
@@ -59,23 +62,23 @@ void SCA_JoystickManager::NextFrame(double curtime,double deltatime)
 		SCA_JoystickSensor* joysensor = (SCA_JoystickSensor*) m_sensors[i];
 		if(!joysensor->IsSuspended())
 		{
-			Joystick.HandleEvents();
+			m_joystick->HandleEvents();
 			joysensor->Activate(m_logicmgr, NULL);
 		}
 	}
 }
 
 
-
 void SCA_JoystickManager::RegisterSensor(SCA_ISensor* sensor)
 {
 	m_sensors.push_back(sensor);
 }
 
-SCA_Joystick SCA_JoystickManager::GetJoystickDevice()
+
+SCA_Joystick *SCA_JoystickManager::GetJoystickDevice()
 {
 	/* 
 	 *Return the instance of SCA_Joystick for use 
  	 */
-	return Joystick;
+	return m_joystick;
 }
diff --git a/source/gameengine/GameLogic/SCA_JoystickManager.h b/source/gameengine/GameLogic/SCA_JoystickManager.h
index c6ca0a4990c..5c892d71f6c 100644
--- a/source/gameengine/GameLogic/SCA_JoystickManager.h
+++ b/source/gameengine/GameLogic/SCA_JoystickManager.h
@@ -43,14 +43,15 @@ class SCA_JoystickManager : public SCA_EventManager
 	/**
 	 * SDL Joystick Class Instance
 	 */
-	SCA_Joystick Joystick;
+	SCA_Joystick *m_joystick;
 public:
 	SCA_JoystickManager(class SCA_LogicManager* logicmgr);
 	virtual ~SCA_JoystickManager();
 	virtual void NextFrame(double curtime,double deltatime);
 	virtual void	RegisterSensor(SCA_ISensor* sensor);
-	SCA_Joystick GetJoystickDevice(void);
+	SCA_Joystick* GetJoystickDevice(void);
 
 };
 
 #endif
+
diff --git a/source/gameengine/GameLogic/SCA_JoystickSensor.cpp b/source/gameengine/GameLogic/SCA_JoystickSensor.cpp
index d1a35469c3a..40942dd296f 100644
--- a/source/gameengine/GameLogic/SCA_JoystickSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_JoystickSensor.cpp
@@ -1,4 +1,4 @@
-/**
+/*
  * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
  *
  * This program is free software; you can redistribute it and/or
@@ -39,6 +39,7 @@
 #include <config.h>
 #endif
 
+
 SCA_JoystickSensor::SCA_JoystickSensor(class SCA_JoystickManager* eventmgr,
 									   SCA_IObject* gameobj,
 									   short int joymode,
@@ -70,13 +71,11 @@ std::cout << " hat flag "	<< m_hatf		<< std::endl;
 }
 
 
-
 SCA_JoystickSensor::~SCA_JoystickSensor()
 {
 }
 
 
-
 CValue* SCA_JoystickSensor::GetReplica()
 {
 	CValue* replica = new SCA_JoystickSensor(*this);
@@ -86,7 +85,6 @@ CValue* SCA_JoystickSensor::GetReplica()
 }
 
 
-
 bool SCA_JoystickSensor::IsPositiveTrigger()
 { 
 	bool result =	m_istrig;
@@ -94,10 +92,11 @@ bool SCA_JoystickSensor::IsPositiveTrigger()
 		result = !result;
 	return result;
 }
+
+
 bool SCA_JoystickSensor::Evaluate(CValue* event)
 {
-	SCA_Joystick js = m_pJoystickMgr->GetJoystickDevice();
-
+	SCA_Joystick *js = m_pJoystickMgr->GetJoystickDevice();
 	bool result = false;
 	
 	switch(m_joymode)
@@ -111,9 +110,9 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 			m_axisf == 3 == down
 			numberof== m_axis  -- max 2
 			*/
-			js.cSetPrecision(m_precision);
+			js->cSetPrecision(m_precision);
 			if(m_axisf == 1){
-				if(js.aUpAxisIsPositive(m_axis)){
+				if(js->aUpAxisIsPositive(m_axis)){
 					m_istrig =1;
 					result = true;
 				}else{
@@ -124,7 +123,7 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 				}
 			}
 			if(m_axisf == 3){
-				if(js.aDownAxisIsPositive(m_axis)){
+				if(js->aDownAxisIsPositive(m_axis)){
 					m_istrig = 1;
 					result = true;
 				}else{
@@ -135,7 +134,7 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 				}
 			}
 			if(m_axisf == 2){
-				if(js.aLeftAxisIsPositive(m_axis)){
+				if(js->aLeftAxisIsPositive(m_axis)){
 					m_istrig = 1;
 					result = true;
 				}else{
@@ -146,7 +145,7 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 				}
 			}
 			if(m_axisf == 0){
-				if(js.aRightAxisIsPositive(m_axis)){
+				if(js->aRightAxisIsPositive(m_axis)){
 					m_istrig = 1;
 					result = true;
 				}else{
@@ -166,7 +165,7 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 			m_button = the actual button in question
 			*/
 			if(m_buttonf == 0){
-				if(js.aButtonPressIsPositive(m_button)){
+				if(js->aButtonPressIsPositive(m_button)){
 					m_istrig = 1;
 					result = true;
 				}else {
@@ -177,7 +176,7 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 				}
 			}
 			if(m_buttonf == 1){
-				if(js.aButtonReleaseIsPositive(m_button)){
+				if(js->aButtonReleaseIsPositive(m_button)){
 					m_istrig = 1;
 					result = true;
 				}else {
@@ -196,7 +195,7 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 			direction= m_hatf -- max 12
 			*/
 			if(m_hat == 1){
-				if(js.aHatIsPositive(m_hatf)){
+				if(js->aHatIsPositive(m_hatf)){
 					m_istrig = 1;
 					result = true;
 				}else{
@@ -204,10 +203,10 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 						m_istrig = 0;
 						result = true;
 					}
-				}			
+				}
 			}
 			if(m_hat == 2){
-				if(js.aHatIsPositive(m_hatf)){
+				if(js->aHatIsPositive(m_hatf)){
 					m_istrig = 1;
 					result = true;
 				}else{
@@ -219,7 +218,7 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 			}
 			/*
 			if(m_hat == 3){
-				if(js.aHatIsPositive(m_hatf)){
+				if(js->aHatIsPositive(m_hatf)){
 					m_istrig = 1;
 					result = true;
 				}else{
@@ -237,7 +236,7 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 		printf("Error invalid switch statement\n");
 		break;
 	}
-	if(!js.IsTrig()){
+	if(!js->IsTrig()){
 		m_istrig = 0;
 	}
 	return result;
@@ -247,12 +246,11 @@ bool SCA_JoystickSensor::Evaluate(CValue* event)
 bool SCA_JoystickSensor::isValid(SCA_JoystickSensor::KX_JOYSENSORMODE m)
 {
 	bool res = false;
-	
 	res = ((m > KX_JOYSENSORMODE_NODEF) && (m < KX_JOYSENSORMODE_MAX));
-	
 	return res;
 }
 
+
 /* ------------------------------------------------------------------------- */
 /* Python functions 														 */
 /* ------------------------------------------------------------------------- */
@@ -277,6 +275,7 @@ PyTypeObject SCA_JoystickSensor::Type = {
 		0
 };
 
+
 PyParentObject SCA_JoystickSensor::Parents[] = {
 		&SCA_JoystickSensor::Type,
 		&SCA_ISensor::Type,
@@ -285,6 +284,7 @@ PyParentObject SCA_JoystickSensor::Parents[] = {
 		NULL
 };
 
+
 PyMethodDef SCA_JoystickSensor::Methods[] = {
 	{"getAxis", 	 (PyCFunction) SCA_JoystickSensor::sPyGetAxis,		METH_NOARGS,	GetAxis_doc},
 	{"setAxis", 	 (PyCFunction) SCA_JoystickSensor::sPySetAxis,		METH_VARARGS,	SetAxis_doc},
@@ -301,10 +301,12 @@ PyMethodDef SCA_JoystickSensor::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
+
 PyObject* SCA_JoystickSensor::_getattr(const STR_String& attr) {
 	_getattr_up(SCA_ISensor);
 }
 
+
 /* get axis  ---------------------------------------------------------- */
 char SCA_JoystickSensor::GetAxis_doc[] = 
 "getAxis\n"
@@ -314,6 +316,8 @@ PyObject* SCA_JoystickSensor::PyGetAxis( PyObject* self,
 										PyObject* kwds) {
 	return Py_BuildValue("[ii]",m_axis, m_axisf);
 }
+
+
 /* set axis  ---------------------------------------------------------- */
 char SCA_JoystickSensor::SetAxis_doc[] = 
 "setAxis\n"
@@ -330,6 +334,8 @@ PyObject* SCA_JoystickSensor::PySetAxis( PyObject* self,
 	m_axisf = axisflag;
 	Py_Return;
 }
+
+
 /* get axis value ----------------------------------------------------- */
 char SCA_JoystickSensor::GetRealAxis_doc[] = 
 "getAxisValue\n"
@@ -338,13 +344,15 @@ PyObject* SCA_JoystickSensor::PyGetRealAxis( PyObject* self,
 											PyObject* args, 
 											PyObject* kwds) {
 	int a,b,c,d;
-	SCA_Joystick joy = m_pJoystickMgr->GetJoystickDevice();
-	a = joy.GetAxis10();
-	b = joy.GetAxis11();
-	c = joy.GetAxis20();
-	d = joy.GetAxis21();
+	SCA_Joystick *joy = m_pJoystickMgr->GetJoystickDevice();
+	a = joy->GetAxis10();
+	b = joy->GetAxis11();
+	c = joy->GetAxis20();
+	d = joy->GetAxis21();
 	return Py_BuildValue("[iiii]",a,b,c,d);
 }
+
+
 /* get threshold  ----------------------------------------------------- */
 char SCA_JoystickSensor::GetThreshold_doc[] = 
 "getThreshold\n"
@@ -354,6 +362,8 @@ PyObject* SCA_JoystickSensor::PyGetThreshold( PyObject* self,
 											 PyObject* kwds) {
 	return Py_BuildValue("i", m_precision);
 }
+
+
 /* set threshold  ----------------------------------------------------- */
 char SCA_JoystickSensor::SetThreshold_doc[] = 
 "setThreshold\n"
@@ -368,6 +378,8 @@ PyObject* SCA_JoystickSensor::PySetThreshold( PyObject* self,
 	m_precision = thresh;
 	Py_Return;
 }
+
+
 /* get button  -------------------------------------------------------- */
 char SCA_JoystickSensor::GetButton_doc[] = 
 "getButton\n"
@@ -377,6 +389,8 @@ PyObject* SCA_JoystickSensor::PyGetButton( PyObject* self,
 										  PyObject* kwds) {
 	return Py_BuildValue("[ii]",m_button, m_buttonf);
 }
+
+
 /* set button  -------------------------------------------------------- */
 char SCA_JoystickSensor::SetButton_doc[] = 
 "setButton\n"
@@ -392,6 +406,8 @@ PyObject* SCA_JoystickSensor::PySetButton( PyObject* self,
 	m_buttonf = buttonflag;
 	Py_Return;	
 }
+
+
 /* get hat	----------------------------------------------------------- */
 char SCA_JoystickSensor::GetHat_doc[] = 
 "getHat\n"
@@ -401,6 +417,8 @@ PyObject* SCA_JoystickSensor::PyGetHat( PyObject* self,
 									   PyObject* kwds) {
 	return Py_BuildValue("[ii]",m_hat, m_hatf);
 }
+
+
 /* set hat	----------------------------------------------------------- */
 char SCA_JoystickSensor::SetHat_doc[] = 
 "setHat\n"
@@ -416,6 +434,8 @@ PyObject* SCA_JoystickSensor::PySetHat( PyObject* self,
 	m_hatf = hatflag;
 	Py_Return;
 }
+
+
 /* get # of ----------------------------------------------------- */
 char SCA_JoystickSensor::NumberOfAxes_doc[] = 
 "getNumAxes\n"
@@ -424,10 +444,12 @@ PyObject* SCA_JoystickSensor::PyNumberOfAxes( PyObject* self,
 											PyObject* args, 
 											PyObject* kwds) {
 	int num;
-	SCA_Joystick joy = m_pJoystickMgr->GetJoystickDevice();
-	num = joy.GetNumberOfAxes();
+	SCA_Joystick *joy = m_pJoystickMgr->GetJoystickDevice();
+	num = joy->GetNumberOfAxes();
 	return Py_BuildValue("i",num);
 }
+
+
 char SCA_JoystickSensor::NumberOfButtons_doc[] = 
 "getNumButtons\n"
 "\tReturns the number of buttons .\n";
@@ -435,10 +457,12 @@ PyObject* SCA_JoystickSensor::PyNumberOfButtons( PyObject* self,
 											PyObject* args, 
 											PyObject* kwds) {
 	int num;
-	SCA_Joystick joy = m_pJoystickMgr->GetJoystickDevice();
-	num = joy.GetNumberOfButtons();
+	SCA_Joystick *joy = m_pJoystickMgr->GetJoystickDevice();
+	num = joy->GetNumberOfButtons();
 	return Py_BuildValue("i",num);
 }
+
+
 char SCA_JoystickSensor::NumberOfHats_doc[] = 
 "getNumHats\n"
 "\tReturns the number of hats .\n";
@@ -446,7 +470,7 @@ PyObject* SCA_JoystickSensor::PyNumberOfHats( PyObject* self,
 											PyObject* args, 
 											PyObject* kwds) {
 	int num;
-	SCA_Joystick joy = m_pJoystickMgr->GetJoystickDevice();
-	num = joy.GetNumberOfHats();
+	SCA_Joystick *joy = m_pJoystickMgr->GetJoystickDevice();
+	num = joy->GetNumberOfHats();
 	return Py_BuildValue("i",num);
 }
diff --git a/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp b/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp
index 96c3c21ee90..8c3a17f58f3 100644
--- a/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp
@@ -94,10 +94,10 @@
 #include "IMB_imbuf_types.h"
 // End of Blender includes
 
-#include "SM_Scene.h"
-#include "SumoPhysicsEnvironment.h"
-#include "KX_SumoPhysicsController.h"
 #include "KX_Scene.h"
+#include "KX_RayCast.h"
+#include "KX_IPhysicsController.h"
+#include "PHY_IPhysicsEnvironment.h"
 
 
 GPC_RenderTools::GPC_RenderTools()
@@ -436,6 +436,26 @@ int GPC_RenderTools::applyLights(int objectlayer)
 
 }
 
+bool GPC_RenderTools::RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data)
+{
+	double* const oglmatrix = (double* const) data;
+	MT_Point3 resultpoint(hit_point);
+	MT_Vector3 resultnormal(hit_normal);
+	MT_Vector3 left(oglmatrix[0],oglmatrix[1],oglmatrix[2]);
+	MT_Vector3 dir = -(left.cross(resultnormal)).safe_normalized();
+	left = (dir.cross(resultnormal)).safe_normalized();
+	// for the up vector, we take the 'resultnormal' returned by the physics
+	
+	double maat[16]={
+			left[0],        left[1],        left[2], 0,
+				dir[0],         dir[1],         dir[2], 0,
+		resultnormal[0],resultnormal[1],resultnormal[2], 0,
+				0,              0,              0, 1};
+	glTranslated(resultpoint[0],resultpoint[1],resultpoint[2]);
+	//glMultMatrixd(oglmatrix);
+	glMultMatrixd(maat);
+	return true;
+}
 
 void GPC_RenderTools::applyTransform(RAS_IRasterizer* rasty,double* oglmatrix,int objectdrawmode )
 {
@@ -494,44 +514,26 @@ void GPC_RenderTools::applyTransform(RAS_IRasterizer* rasty,double* oglmatrix,in
 			KX_GameObject *gameobj = (KX_GameObject*) this->m_clientobject;
 			MT_Vector3 direction = MT_Vector3(0,0,-1);
 
-			
 			direction.normalize();
 			direction *= 100000;
 
 			MT_Point3 topoint = frompoint + direction;
-			MT_Point3 resultpoint;
-			MT_Vector3 resultnormal;
 
-			//todo:
-			//use physics abstraction
 			KX_Scene* kxscene = (KX_Scene*) m_auxilaryClientInfo;
-			SumoPhysicsEnvironment *spe = dynamic_cast<SumoPhysicsEnvironment *>( kxscene->GetPhysicsEnvironment());
-			SM_Scene *scene = spe->GetSumoScene();
-			KX_SumoPhysicsController *spc = dynamic_cast<KX_SumoPhysicsController *>( gameobj->GetPhysicsController());
+			PHY_IPhysicsEnvironment* physics_environment = kxscene->GetPhysicsEnvironment();
+			KX_IPhysicsController* physics_controller = gameobj->GetPhysicsController();
+			
 			KX_GameObject *parent = gameobj->GetParent();
-			if (!spc && parent)
-				spc = dynamic_cast<KX_SumoPhysicsController *>(parent->GetPhysicsController());
+			if (!physics_controller && parent)
+				physics_controller = parent->GetPhysicsController();
 			if (parent)
 				parent->Release();
-			SM_Object *thisObj = spc?spc->GetSumoObject():NULL;
-			
-			if (scene->rayTest(thisObj, frompoint, topoint, resultpoint, resultnormal))
-			{
-				MT_Vector3 left(oglmatrix[0],oglmatrix[1],oglmatrix[2]);
-				MT_Vector3 dir = -(left.cross(resultnormal)).normalized();
-				left = (dir.cross(resultnormal)).normalized();
-				// for the up vector, we take the 'resultnormal' returned by the physics
 				
-				double maat[16]={
-					        left[0],        left[1],        left[2], 0,
-					         dir[0],         dir[1],         dir[2], 0,
-					resultnormal[0],resultnormal[1],resultnormal[2], 0,
-					              0,              0,              0, 1};
-				glTranslated(resultpoint[0],resultpoint[1],resultpoint[2]);
-				//glMultMatrixd(oglmatrix);
-				glMultMatrixd(maat);
-			} else
+			MT_Point3 resultpoint;
+			MT_Vector3 resultnormal;
+			if (!KX_RayCast::RayTest(physics_controller, physics_environment, frompoint, topoint, resultpoint, resultnormal, KX_RayCast::Callback<GPC_RenderTools>(this, oglmatrix)))
 			{
+				// couldn't find something to cast the shadow on...
 				glMultMatrixd(oglmatrix);
 			}
 		} else
diff --git a/source/gameengine/GamePlayer/common/GPC_RenderTools.h b/source/gameengine/GamePlayer/common/GPC_RenderTools.h
index 62b69c07c5c..3ff9479f9da 100644
--- a/source/gameengine/GamePlayer/common/GPC_RenderTools.h
+++ b/source/gameengine/GamePlayer/common/GPC_RenderTools.h
@@ -50,6 +50,8 @@
 
 #include "BMF_Api.h"
 
+struct KX_ClientObjectInfo;
+
 
 class GPC_RenderTools : public RAS_IRenderTools
 {
@@ -146,6 +148,7 @@ public:
 
 	int applyLights(int objectlayer);
 
+	bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data);
 protected:
 	/** 
 	 * Copied from KX_BlenderGL.cpp in KX_blenderhook
diff --git a/source/gameengine/GamePlayer/ghost/GPG_Application.cpp b/source/gameengine/GamePlayer/ghost/GPG_Application.cpp
index a956ede0d57..52bee8e81dd 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_Application.cpp
+++ b/source/gameengine/GamePlayer/ghost/GPG_Application.cpp
@@ -51,7 +51,7 @@
 #include "GPG_Application.h"
 
 #include <iostream>
-#include <assert.h>
+#include <MT_assert.h>
 
 /**********************************
  * Begin Blender include block
@@ -725,7 +725,7 @@ void GPG_Application::exitEngine()
 bool GPG_Application::handleWheel(GHOST_IEvent* event)
 {
 	bool handled = false;
-	assert(event);
+	MT_assert(event);
 	if (m_mouse) 
 	{
 		GHOST_TEventDataPtr eventData = ((GHOST_IEvent*)event)->getData();
@@ -744,7 +744,7 @@ bool GPG_Application::handleWheel(GHOST_IEvent* event)
 bool GPG_Application::handleButton(GHOST_IEvent* event, bool isDown)
 {
 	bool handled = false;
-	assert(event);
+	MT_assert(event);
 	if (m_mouse) 
 	{
 		GHOST_TEventDataPtr eventData = ((GHOST_IEvent*)event)->getData();
@@ -773,7 +773,7 @@ bool GPG_Application::handleButton(GHOST_IEvent* event, bool isDown)
 bool GPG_Application::handleCursorMove(GHOST_IEvent* event)
 {
 	bool handled = false;
-	assert(event);
+	MT_assert(event);
 	if (m_mouse && m_mainWindow)
 	{
 		GHOST_TEventDataPtr eventData = ((GHOST_IEvent*)event)->getData();
@@ -790,7 +790,7 @@ bool GPG_Application::handleCursorMove(GHOST_IEvent* event)
 bool GPG_Application::handleKey(GHOST_IEvent* event, bool isDown)
 {
 	bool handled = false;
-	assert(event);
+	MT_assert(event);
 	if (m_keyboard)
 	{
 		GHOST_TEventDataPtr eventData = ((GHOST_IEvent*)event)->getData();
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 9c60bc0f32f..c877b699860 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -33,6 +33,8 @@
 #pragma warning (disable : 4786)
 #endif
 
+#include "MT_assert.h"
+
 // defines USE_ODE to choose physics engine
 #include "KX_ConvertPhysicsObject.h"
 #include "KX_GameObject.h"
@@ -258,7 +260,7 @@ void	KX_ConvertSumoObject(	KX_GameObject* gameobj,
 							dynamicParent = sumoctrl->GetSumoObject();
 						}
 
-						assert(dynamicParent);
+						MT_assert(dynamicParent);
 					}
 				
 					
@@ -303,11 +305,12 @@ static void	BL_RegisterSumoObject(
 		// need easy access, not via 'node' etc.
 		KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,sumoObj,motionstate,isDynamic);
 		gameobj->SetPhysicsController(physicscontroller);
-		physicscontroller->setClientInfo(gameobj);
+
 		
 		if (!gameobj->getClientInfo())
 			std::cout << "BL_RegisterSumoObject: WARNING: Object " << gameobj->GetName() << " has no client info" << std::endl;
-		sumoObj->setClientObject(gameobj->getClientInfo());
+		physicscontroller->setNewClientInfo(gameobj->getClientInfo());
+		
 
 		gameobj->GetSGNode()->AddSGController(physicscontroller);
 
@@ -586,6 +589,7 @@ void	KX_ConvertODEEngineObject(KX_GameObject* gameobj,
 							struct	PHY_MaterialProps*	smmaterial,
 							struct	KX_ObjectProperties*	objprop)
 {
+	
 	// not yet, future extension :)
 	bool dyna=objprop->m_dyna;
 	bool fullRigidBody= ( objprop->m_dyna && objprop->m_angular_rigidbody) != 0;
@@ -598,48 +602,51 @@ void	KX_ConvertODEEngineObject(KX_GameObject* gameobj,
 	dxSpace* space = odeEnv->GetOdeSpace();
 	dxWorld* world = odeEnv->GetOdeWorld();
 
-	if (!objprop->m_implicitsphere &&
-		MT_fuzzyZero(objprop->m_boundingbox.m_extends[0]) ||
-		MT_fuzzyZero(objprop->m_boundingbox.m_extends[1]) ||
-		MT_fuzzyZero(objprop->m_boundingbox.m_extends[2])
-		)
-	{
+	bool isSphere = false;
 
-	} else
+	switch (objprop->m_boundclass)
 	{
+	case KX_BOUNDBOX:
+		{
 
-		KX_OdePhysicsController* physicscontroller = 
-			new KX_OdePhysicsController(
-			dyna,
-			fullRigidBody,
-			phantom,
-			motionstate,
-			space,
-			world,
-			shapeprops->m_mass,
-			smmaterial->m_friction,
-			smmaterial->m_restitution,
-			objprop->m_implicitsphere,
-			objprop->m_boundingbox.m_center,
-			objprop->m_boundingbox.m_extends,
-			objprop->m_radius
-			);
-
-		gameobj->SetPhysicsController(physicscontroller);
-		physicscontroller->setClientInfo(gameobj);						
-		gameobj->GetSGNode()->AddSGController(physicscontroller);
-
-		bool isActor = objprop->m_isactor;
-		STR_String materialname;
-		if (meshobj)
-			materialname = meshobj->GetMaterialName(0);
-
-		const char* matname = materialname.ReadPtr();
+				KX_OdePhysicsController* physicscontroller = 
+					new KX_OdePhysicsController(
+					dyna,
+					fullRigidBody,
+					phantom,
+					motionstate,
+					space,
+					world,
+					shapeprops->m_mass,
+					smmaterial->m_friction,
+					smmaterial->m_restitution,
+					isSphere,
+					objprop->m_boundobject.box.m_center,
+					objprop->m_boundobject.box.m_extends,
+					objprop->m_boundobject.c.m_radius
+					);
+
+				gameobj->SetPhysicsController(physicscontroller);
+				physicscontroller->setNewClientInfo(gameobj->getClientInfo());						
+				gameobj->GetSGNode()->AddSGController(physicscontroller);
+
+				bool isActor = objprop->m_isactor;
+				STR_String materialname;
+				if (meshobj)
+					materialname = meshobj->GetMaterialName(0);
+
+				const char* matname = materialname.ReadPtr();
+
+
+				physicscontroller->SetObject(gameobj->GetSGNode());
 
+				break;
+			}
+	default:
+		{
+		}
+	};
 
-		physicscontroller->SetObject(gameobj->GetSGNode());
-				
-	}
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index d255fd1d18f..c89bf33b21c 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -360,31 +360,6 @@ void KX_GameObject::UpdateIPO(float curframetime,
 	UpdateTransform();
 }
 
-
-/*
-void KX_GameObject::RegisterSumoObject(class SM_Scene* sumoScene,
-									   DT_SceneHandle solidscene,
-									   class SM_Object* sumoObj,
-									   const char* matname,
-									   bool isDynamic,
-									   bool isActor)
-{
-	m_bDyna = isDynamic;
-
-	// need easy access, not via 'node' etc.
-	m_pPhysicsController = new KX_PhysicsController(sumoScene,solidscene,sumoObj,isDynamic);
-				
-	GetSGNode()->AddSGController(m_pPhysicsController);
-	
-	m_pClient_info->m_type = (isActor ? 1 : 0);
-	m_pClient_info->m_clientobject = this;
-
-	// store materialname in auxinfo, needed for touchsensors
-	m_pClient_info->m_auxilary_info = (matname? (void*)(matname+2) : NULL);
-	m_pPhysicsController->SetObject(this->GetSGNode());
-}
-*/
-
 bool
 KX_GameObject::GetVisible(
 	void
@@ -468,10 +443,11 @@ void KX_GameObject::ResolveCombinedVelocities(
 ){
 	if (m_pPhysicsController1)
 	{
+
+		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(
-			lin_vel_local ? NodeGetWorldOrientation() * lin_vel : lin_vel,
-			ang_vel_local ? NodeGetWorldOrientation() * ang_vel : ang_vel			
-		);		
+			lv.x(),lv.y(),lv.z(),av.x(),av.y(),av.z());
 	}
 }
 
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index 27451f637db..c84d905da8b 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -57,7 +57,7 @@
 struct KX_ClientObjectInfo;
 class RAS_MeshObject;
 class KX_IPhysicsController;
-class SM_Object;
+
 
 /**
  * KX_GameObject is the main class for dynamic objects.
diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.cpp b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
index 2152fa35cd1..e54fb11dc14 100644
--- a/source/gameengine/Ketsji/KX_IPO_SGController.cpp
+++ b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
@@ -57,7 +57,6 @@ KX_IpoSGController::KX_IpoSGController()
   m_modified(true),
   m_ipotime(1.0)
 {
-	m_sumo_object = NULL;
 	m_game_object = NULL;
 
 }
@@ -86,7 +85,7 @@ KX_IpoSGController::UpdateSumoReference(
 	)
 {
 	if (m_game_object) {
-		m_sumo_object = 0;//m_game_object->GetSumoObject();
+
 	}
 }
 
@@ -113,15 +112,7 @@ bool KX_IpoSGController::Update(double currentTime)
 		
 		if (m_modify_position) {
 			if (m_ipo_as_force) {
-				/*
-				UpdateSumoReference();
-				if (m_sumo_object && ob) {
-					m_sumo_object->applyCenterForce(m_force_ipo_acts_local ?
-						ob->GetWorldOrientation() * m_ipo_xform.GetPosition() :
-						m_ipo_xform.GetPosition());
-					m_sumo_object->calcXform();
-				}
-				*/
+				
 				if (m_game_object && ob) {
 					m_game_object->GetPhysicsController()->ApplyForce(m_force_ipo_acts_local ?
 						ob->GetWorldOrientation() * m_ipo_xform.GetPosition() :
@@ -134,15 +125,7 @@ bool KX_IpoSGController::Update(double currentTime)
 		}
 		if (m_modify_orientation) {
 			if (m_ipo_as_force) {
-				/*
-				UpdateSumoReference();
-				if (m_sumo_object && ob) {
-					m_sumo_object->applyTorque(m_force_ipo_acts_local ?
-						ob->GetWorldOrientation() * m_ipo_xform.GetEulerAngles() :
-						m_ipo_xform.GetEulerAngles());
-					m_sumo_object->calcXform();
-				}
-				*/
+				
 				if (m_game_object && ob) {
 					m_game_object->ApplyTorque(m_force_ipo_acts_local ?
 						ob->GetWorldOrientation() * m_ipo_xform.GetEulerAngles() :
diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.h b/source/gameengine/Ketsji/KX_IPO_SGController.h
index 107d5026370..3b20f47f5fc 100644
--- a/source/gameengine/Ketsji/KX_IPO_SGController.h
+++ b/source/gameengine/Ketsji/KX_IPO_SGController.h
@@ -59,12 +59,6 @@ class KX_IpoSGController : public SG_Controller
 	/** Local time of this ipo.*/
 	double		        m_ipotime;
 
-	/** A reference to the sm scene an eventually associated physics object is in. */
-//	class SM_Scene*     m_sumo_scene;
-
-	/** A reference an eventually associated physics object is in. */
-	class SM_Object*     m_sumo_object;
-
 	/** A reference to the original game object. */
 	class KX_GameObject* m_game_object;
 
diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.cpp b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
index 9cc7764227b..c2328e45435 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.cpp
@@ -36,14 +36,18 @@
 #include <config.h>
 #endif
 
+#include "PHY_DynamicTypes.h"
+
 KX_IPhysicsController::KX_IPhysicsController(bool dyna,void* userdata)
 
 :	m_bDyna(dyna),
 	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
index d2f1f59bac8..ca64888fd55 100644
--- a/source/gameengine/Ketsji/KX_IPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_IPhysicsController.h
@@ -37,6 +37,8 @@
 #include "MT_Point3.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.
@@ -47,7 +49,6 @@
 class KX_IPhysicsController : public SG_Controller
 							 
 {
-
 protected:
 	bool		m_bDyna;
 	bool		m_suspendDynamics;
@@ -68,7 +69,7 @@ public:
 	virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=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(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel) = 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_Quaternion& orn)=0;
@@ -95,8 +96,6 @@ public:
 	// call from scene graph to update
 	virtual bool Update(double time)=0;
 	void*	GetUserData() { return m_userdata;}
-	
-
 };
 
 #endif //__KX_IPHYSICSCONTROLLER_H
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
index af75e3493c1..2e76103ac13 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
@@ -177,7 +177,7 @@ KX_KetsjiEngine::~KX_KetsjiEngine()
 
 void KX_KetsjiEngine::SetKeyboardDevice(SCA_IInputDevice* keyboarddevice)
 {
-	assert(keyboarddevice);
+	MT_assert(keyboarddevice);
 	m_keyboarddevice = keyboarddevice;
 }
 
@@ -185,7 +185,7 @@ void KX_KetsjiEngine::SetKeyboardDevice(SCA_IInputDevice* keyboarddevice)
 
 void KX_KetsjiEngine::SetMouseDevice(SCA_IInputDevice* mousedevice)
 {
-	assert(mousedevice);
+	MT_assert(mousedevice);
 	m_mousedevice = mousedevice;
 }
 
@@ -193,7 +193,7 @@ void KX_KetsjiEngine::SetMouseDevice(SCA_IInputDevice* mousedevice)
 
 void KX_KetsjiEngine::SetNetworkDevice(NG_NetworkDeviceInterface* networkdevice)
 {
-	assert(networkdevice);
+	MT_assert(networkdevice);
 	m_networkdevice = networkdevice;
 }
 
@@ -201,7 +201,7 @@ void KX_KetsjiEngine::SetNetworkDevice(NG_NetworkDeviceInterface* networkdevice)
 
 void KX_KetsjiEngine::SetAudioDevice(SND_IAudioDevice* audiodevice)
 {
-	assert(audiodevice);
+	MT_assert(audiodevice);
 	m_audiodevice = audiodevice;
 }
 
@@ -209,7 +209,7 @@ void KX_KetsjiEngine::SetAudioDevice(SND_IAudioDevice* audiodevice)
 
 void KX_KetsjiEngine::SetCanvas(RAS_ICanvas* canvas)
 {
-	assert(canvas);
+	MT_assert(canvas);
 	m_canvas = canvas;
 }
 
@@ -217,7 +217,7 @@ void KX_KetsjiEngine::SetCanvas(RAS_ICanvas* canvas)
 
 void KX_KetsjiEngine::SetRenderTools(RAS_IRenderTools* rendertools)
 {
-	assert(rendertools);
+	MT_assert(rendertools);
 	m_rendertools = rendertools;
 }
 
@@ -225,7 +225,7 @@ void KX_KetsjiEngine::SetRenderTools(RAS_IRenderTools* rendertools)
 
 void KX_KetsjiEngine::SetRasterizer(RAS_IRasterizer* rasterizer)
 {
-	assert(rasterizer);
+	MT_assert(rasterizer);
 	m_rasterizer = rasterizer;
 }
 
@@ -233,7 +233,7 @@ void KX_KetsjiEngine::SetRasterizer(RAS_IRasterizer* rasterizer)
 
 void KX_KetsjiEngine::SetPythonDictionary(PyObject* pythondictionary)
 {
-	assert(pythondictionary);
+	MT_assert(pythondictionary);
 	m_pythondictionary = pythondictionary;
 }
 
@@ -241,7 +241,7 @@ void KX_KetsjiEngine::SetPythonDictionary(PyObject* pythondictionary)
 
 void KX_KetsjiEngine::SetSceneConverter(KX_ISceneConverter* sceneconverter)
 {
-	assert(sceneconverter);
+	MT_assert(sceneconverter);
 	m_sceneconverter = sceneconverter;
 }
 
@@ -258,7 +258,6 @@ void KX_KetsjiEngine::StartEngine()
 	m_firstframe = true;
 	m_bInitialized = true;
 	m_ticrate = DEFAULT_LOGIC_TIC_RATE;
-	SumoPhysicsEnvironment::setTicRate(DEFAULT_PHYSICS_TIC_RATE);
 }
 
 bool KX_KetsjiEngine::BeginFrame()
@@ -320,6 +319,8 @@ void KX_KetsjiEngine::NextFrame()
 	else
 		curtime = m_kxsystem->GetTimeInSeconds();
 	m_deltatime += curtime - m_previoustime;
+	float	realDeltaTime = curtime - m_previoustime;
+
 	m_previoustime = curtime;
 	double localtime = curtime - m_deltatime;
 
@@ -386,7 +387,7 @@ void 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()->proceed(localtime);
+				scene->GetPhysicsEnvironment()->proceedDeltaTime(localtime,realDeltaTime);
 			} // suspended
 	
 			DoSound(scene);
@@ -430,7 +431,7 @@ void 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()->proceed(curtime);
+			scene->GetPhysicsEnvironment()->proceedDeltaTime(curtime,0.f);
 			// Update scenegraph after physics step. This maps physics calculations
 			// into node positions.		
 			m_logger->StartLog(tc_scenegraph, m_kxsystem->GetTimeInSeconds(), true);
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.h b/source/gameengine/Ketsji/KX_KetsjiEngine.h
index 9a6f18a5c5f..8ea611298e7 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.h
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.h
@@ -296,7 +296,7 @@ public:
 	 * @param b Blue component of the override color.
 	 */
 	void GetOverrideFrameColor(float& r, float& g, float& b) const;
-
+	
 protected:
 	/**
 	 * Processes all scheduled scene activity.
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
index 1ffde7e31f8..7c61edd45e7 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
@@ -50,10 +50,12 @@
 #include "KX_Camera.h"
 #include "KX_MouseFocusSensor.h"
 
-#include "SM_Object.h"
-#include "SM_Scene.h"
-#include "SumoPhysicsEnvironment.h"
-#include "KX_SumoPhysicsController.h"
+#include "KX_RayCast.h"
+#include "KX_IPhysicsController.h"
+#include "PHY_IPhysicsController.h"
+#include "PHY_IPhysicsEnvironment.h"
+
+
 #include "KX_ClientObjectInfo.h"
 
 /* ------------------------------------------------------------------------- */
@@ -117,10 +119,40 @@ bool KX_MouseFocusSensor::Evaluate(CValue* event)
 	return result;
 }
 
+bool KX_MouseFocusSensor::RayHit(KX_ClientObjectInfo* client_info, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data)
+{
+	KX_GameObject* hitKXObj = client_info->m_gameobject;
+	
+	if (client_info->m_type > KX_ClientObjectInfo::ACTOR)
+	{
+		// false hit
+		return false;
+	}
+	
+	/* Is this me? In the ray test, there are a lot of extra checks
+	* for aliasing artefacts from self-hits. That doesn't happen
+	* here, so a simple test suffices. Or does the camera also get
+	* self-hits? (No, and the raysensor shouldn't do it either, since
+	* self-hits are excluded by setting the correct ignore-object.)
+	* Hitspots now become valid. */
+	KX_GameObject* thisObj = (KX_GameObject*) GetParent();
+	if (hitKXObj == thisObj)
+	{
+		m_hitPosition = hit_point;
+		m_hitNormal = hit_normal;
+		return true;
+	}
+	
+	return true;     // object must be visible to trigger
+	//return false;  // occluded objects can trigger
+}
+
+
+
 bool KX_MouseFocusSensor::ParentObjectHasFocus(void)
 {
 	
-  	// bool res = false; /*unused*/
+  	bool res = false;
 	m_hitPosition = MT_Vector3(0,0,0);
 	m_hitNormal =	MT_Vector3(1,0,0);
 	MT_Point3 resultpoint;
@@ -236,88 +268,99 @@ bool KX_MouseFocusSensor::ParentObjectHasFocus(void)
 	m_prevTargetPoint = topoint3;
 	m_prevSourcePoint = frompoint3;
 	
-	/* 2. Get the object from SuMO*/
+	/* 2. Get the object from PhysicsEnvironment */
 	/* Shoot! Beware that the first argument here is an
 	 * ignore-object. We don't ignore anything... */
-	KX_GameObject* thisObj = (KX_GameObject*) GetParent();
 	
-	SumoPhysicsEnvironment *spe = dynamic_cast<SumoPhysicsEnvironment* > (m_kxscene->GetPhysicsEnvironment());
-	SM_Scene *sumoScene = spe->GetSumoScene();
-	KX_SumoPhysicsController *spc = dynamic_cast<KX_SumoPhysicsController*> (cam->GetPhysicsController());
-	SM_Object *sumoCam = spc?spc->GetSumoObject():NULL;
-	MT_Vector3 todir = topoint3 - frompoint3;
-	if (todir.dot(todir) < MT_EPSILON)
-		return false;
-	todir.normalize();
-
-	while (true)
-	{	
-		SM_Object* hitSMObj = sumoScene->rayTest(sumoCam, 
-							frompoint3,
-							topoint3,
-							resultpoint, 
-							resultnormal);
-		
-		if (!hitSMObj)
-			return false;
-			
-		/* all this casting makes me nervous... */
-		KX_ClientObjectInfo* client_info 
-			= ( hitSMObj ?
-				static_cast<KX_ClientObjectInfo*>( hitSMObj->getClientObject() ):
-				NULL);
-		
-		if (!client_info)
-		{
-			std::cout<< "WARNING:  MouseOver sensor " << GetName() << " cannot sense SM_Object " << hitSMObj << " - no client info.\n" << std::endl;
-			return false;
-		} 
+	KX_IPhysicsController* physics_controller = (cam->GetPhysicsController());
+	PHY_IPhysicsEnvironment* physics_environment = m_kxscene->GetPhysicsEnvironment();
+
+// 	MT_Vector3 todir = topoint3 - frompoint3;
+// 	if (todir.dot(todir) < MT_EPSILON)
+// 		return false;
+// 	todir.normalize();
 	
-		KX_GameObject* hitKXObj = client_info->m_gameobject;
-		
-		if (client_info->m_type > KX_ClientObjectInfo::ACTOR)
-		{
-			// false hit
-			KX_SumoPhysicsController *hitspc = dynamic_cast<KX_SumoPhysicsController *> (static_cast<KX_GameObject*> (hitKXObj) ->GetPhysicsController());
-			if (hitspc)
-			{
-				/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
-				MT_Scalar marg = 0.01 + hitspc->GetSumoObject()->getMargin();
-				if (hitspc->GetSumoObject()->getShapeProps())
-				{
-					marg += 2*hitspc->GetSumoObject()->getShapeProps()->m_radius;
-				}
-				
-				/* Calculate the other side of this object */
-				MT_Point3 hitObjPos;
-				hitspc->GetWorldPosition(hitObjPos);
-				MT_Vector3 hitvector = hitObjPos - resultpoint;
-				if (hitvector.dot(hitvector) > MT_EPSILON)
-				{
-					hitvector.normalize();
-					marg *= 2.*todir.dot(hitvector);
-				}
-				frompoint3 = resultpoint + marg * todir;
-			} else {
-				return false;
-			}
-			continue;
-		}
-		/* Is this me? In the ray test, there are a lot of extra checks
-		* for aliasing artefacts from self-hits. That doesn't happen
-		* here, so a simple test suffices. Or does the camera also get
-		* self-hits? (No, and the raysensor shouldn't do it either, since
-		* self-hits are excluded by setting the correct ignore-object.)
-		* Hitspots now become valid. */
-		if (hitKXObj == thisObj)
-		{
-			m_hitPosition = resultpoint;
-			m_hitNormal = resultnormal;
-			return true;
-		}
-		
-		return false;
-	}
+	KX_RayCast::RayTest(physics_controller, physics_environment, frompoint3, topoint3, resultpoint, resultnormal, KX_RayCast::Callback<KX_MouseFocusSensor>(this));
+	
+
+// 	while (true)
+// 	{	
+// 		PHY__Vector3 resultpt;
+// 		PHY__Vector3 resultnr;
+// 
+// 		PHY_IPhysicsController* hitCtrl= physEnv->rayTest(camCtrl, 
+// 							frompoint3.x(),frompoint3.y(),frompoint3.z(),
+// 							topoint3.x(),topoint3.y(),topoint3.z(),
+// 							resultpt[0], resultpt[1],resultpt[2],
+// 							resultnr[0],resultnr[1],resultnr[2]);
+// 		
+// 		if (!hitCtrl)
+// 			return false;
+// 			
+// 		resultpoint = MT_Vector3(resultpt);
+// 		resultnormal = MT_Vector3(resultnr);
+// 
+// 		/* all this casting makes me nervous... */
+// 		KX_ClientObjectInfo* client_info 
+// 			= 	static_cast<KX_ClientObjectInfo*>( hitCtrl->getNewClientInfo());
+// 		
+// 		if (!client_info)
+// 		{
+// 			std::cout<< "WARNING:  MouseOver sensor " << GetName() << " cannot sense - no client info.\n" << std::endl;
+// 
+// 			return false;
+// 		} 
+// 	
+// 		KX_GameObject* hitKXObj = client_info->m_gameobject;
+// 		
+// 		if (client_info->m_type > KX_ClientObjectInfo::ACTOR)
+// 		{
+// 			// false hit
+// 			// FIXME: add raytest interface to KX_IPhysicsController, remove casting
+// 			PHY_IPhysicsController* hitspc = (PHY_IPhysicsController*) (static_cast<KX_GameObject*> (hitKXObj)->GetPhysicsController());
+// 			if (hitspc)
+// 			{
+// 				/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
+// 				MT_Scalar marg = 0.01 + hitspc->GetMargin();
+// 				marg += hitspc->GetRadius(); //this is changed, check !
+// 
+// 				//if (hitspc->GetSumoObject()->getShapeProps())
+// 				//{
+// 				//	marg += 2*hitspc->GetSumoObject()->getShapeProps()->m_radius;
+// 				//}
+// 				
+// 				/* Calculate the other side of this object */
+// 				MT_Point3 hitObjPos;
+// 				PHY__Vector3 hitpos;
+// 				hitspc->getPosition(hitpos);
+// 				hitObjPos = MT_Vector3(hitpos);
+// 				MT_Vector3 hitvector = hitObjPos - resultpoint;
+// 				if (hitvector.dot(hitvector) > MT_EPSILON)
+// 				{
+// 					hitvector.normalize();
+// 					marg *= 2.*todir.dot(hitvector);
+// 				}
+// 				frompoint3 = resultpoint + marg * todir;
+// 			} else {
+// 				return false;
+// 			}
+// 			continue;
+// 		}
+// 		/* Is this me? In the ray test, there are a lot of extra checks
+// 		* for aliasing artefacts from self-hits. That doesn't happen
+// 		* here, so a simple test suffices. Or does the camera also get
+// 		* self-hits? (No, and the raysensor shouldn't do it either, since
+// 		* self-hits are excluded by setting the correct ignore-object.)
+// 		* Hitspots now become valid. */
+// 		if (hitKXObj == thisObj)
+// 		{
+// 			m_hitPosition = resultpoint;
+// 			m_hitNormal = resultnormal;
+// 			return true;
+// 		}
+// 		
+// 		return false;
+// 	}
 
 	return false;
 }
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.h b/source/gameengine/Ketsji/KX_MouseFocusSensor.h
index 61571e190ec..d92cebfb4e1 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.h
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.h
@@ -78,6 +78,8 @@ class KX_MouseFocusSensor : public SCA_MouseSensor
 		return result;
 	};
 
+	bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data);
+
 	
 	/* --------------------------------------------------------------------- */
 	/* Python interface ---------------------------------------------------- */
diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp
index 4766d837069..9f9188ab9a1 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.cpp
+++ b/source/gameengine/Ketsji/KX_NearSensor.cpp
@@ -37,20 +37,21 @@
 #include "KX_GameObject.h"
 #include "KX_TouchEventManager.h"
 #include "KX_Scene.h" // needed to create a replica
+#include "PHY_IPhysicsEnvironment.h"
+#include "PHY_IPhysicsController.h"
 
-#include "SM_Object.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
 KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 							 KX_GameObject* gameobj,
-							 void *vshape,
 							 double margin,
 							 double resetmargin,
 							 bool bFindMaterial,
 							 const STR_String& touchedpropname,
 							 class KX_Scene* scene,
+ 							 PHY_IPhysicsController*	ctrl,
 							 PyTypeObject* T)
 			 :KX_TouchSensor(eventmgr,
 							 gameobj,
@@ -66,46 +67,17 @@ KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 	m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::NEAR);
 	m_client_info->m_sensors.push_back(this);
 	
-	DT_ShapeHandle shape = (DT_ShapeHandle) vshape;
-	m_sumoObj = new SM_Object(shape,NULL,NULL,NULL);
-	m_sumoObj->setMargin(m_Margin);
-	m_sumoObj->setClientObject(m_client_info);
-	
-	SynchronizeTransform();
-}
-
-KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
-							 KX_GameObject* gameobj,
-							 double margin,
-							 double resetmargin,
-							 bool bFindMaterial,
-							 const STR_String& touchedpropname,
-							 class KX_Scene* scene,
-							 PyTypeObject* T)
-			 :KX_TouchSensor(eventmgr,
-							 gameobj,
-							 bFindMaterial,
-							 touchedpropname,
-							 /* scene, */
-							 T),
-			 m_Margin(margin),
-			 m_ResetMargin(resetmargin)
-
-{
-	gameobj->getClientInfo()->m_sensors.remove(this);
-	m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::NEAR);
-	m_client_info->m_sensors.push_back(this);
-	
-	m_sumoObj = new SM_Object(DT_NewSphere(0.0),NULL,NULL,NULL);
-	m_sumoObj->setMargin(m_Margin);
-	m_sumoObj->setClientObject(m_client_info);
+	//DT_ShapeHandle shape = (DT_ShapeHandle) vshape;
+	m_physCtrl = ctrl;
+	m_physCtrl->SetMargin(m_Margin);
+	m_physCtrl->setNewClientInfo(m_client_info);
 	
 	SynchronizeTransform();
 }
 
 void KX_NearSensor::RegisterSumo(KX_TouchEventManager *touchman)
 {
-	touchman->GetSumoScene()->addSensor(*m_sumoObj);
+	touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl);
 }
 
 CValue* KX_NearSensor::GetReplica()
@@ -121,9 +93,11 @@ CValue* KX_NearSensor::GetReplica()
 	
 	replica->m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::NEAR);
 	
-	replica->m_sumoObj = new SM_Object(DT_NewSphere(0.0),NULL,NULL,NULL);
-	replica->m_sumoObj->setMargin(m_Margin);
-	replica->m_sumoObj->setClientObject(replica->m_client_info);
+	replica->m_physCtrl = replica->m_physCtrl->GetReplica();
+	//todo: make sure replication works fine
+	//>m_sumoObj = new SM_Object(DT_NewSphere(0.0),NULL,NULL,NULL);
+	//replica->m_sumoObj->setMargin(m_Margin);
+	//replica->m_sumoObj->setClientObject(replica->m_client_info);
 	
 	replica->SynchronizeTransform();
 	
@@ -148,11 +122,11 @@ KX_NearSensor::~KX_NearSensor()
 {
 	// for nearsensor, the sensor is the 'owner' of sumoobj
 	// for touchsensor, it's the parent
-	if (m_sumoObj)
+	if (m_physCtrl)
 	{
-		static_cast<KX_TouchEventManager*>(m_eventmgr)->GetSumoScene()->remove(*m_sumoObj);
-		delete m_sumoObj;
-		m_sumoObj = NULL;
+		static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->removeSensor(m_physCtrl);
+		delete m_physCtrl;
+		m_physCtrl = NULL;
 	}
 		
 	if (m_client_info)
@@ -163,22 +137,22 @@ KX_NearSensor::~KX_NearSensor()
 bool KX_NearSensor::Evaluate(CValue* event)
 {
 	bool result = false;
-	// KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent()); /*unused*/
+	KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
 
 	if (m_bTriggered != m_bLastTriggered)
 	{
 		m_bLastTriggered = m_bTriggered;
 		if (m_bTriggered)
 		{
-			if (m_sumoObj)
+			if (m_physCtrl)
 			{
-				m_sumoObj->setMargin(m_ResetMargin);
+				m_physCtrl->SetMargin(m_ResetMargin);
 			}
 		} else
 		{
-			if (m_sumoObj)
+			if (m_physCtrl)
 			{
-				m_sumoObj->setMargin(m_Margin);
+				m_physCtrl->SetMargin(m_Margin);
 			}
 
 		}
@@ -190,16 +164,16 @@ bool KX_NearSensor::Evaluate(CValue* event)
 
 
 
-DT_Bool KX_NearSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData * coll_data)
+bool	KX_NearSensor::NewHandleCollision(void* obj1,void* obj2,const PHY_CollData * coll_data)
 {
-	// KX_TouchEventManager* toucheventmgr = static_cast<KX_TouchEventManager*>(m_eventmgr); /*unused*/
+	KX_TouchEventManager* toucheventmgr = static_cast<KX_TouchEventManager*>(m_eventmgr);
 	KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
 	
-	// need the mapping from SM_Objects to gameobjects now
+	// need the mapping from PHY_IPhysicsController to gameobjects now
 	
-	KX_ClientObjectInfo* client_info =static_cast<KX_ClientObjectInfo*> (obj1 == m_sumoObj? 
-					((SM_Object*)obj2)->getClientObject() : 
-					((SM_Object*)obj1)->getClientObject());
+	KX_ClientObjectInfo* client_info =static_cast<KX_ClientObjectInfo*> (obj1 == m_physCtrl? 
+					((PHY_IPhysicsController*)obj2)->getNewClientInfo() : 
+					((PHY_IPhysicsController*)obj1)->getNewClientInfo());
 
 	KX_GameObject* gameobj = ( client_info ? 
 			client_info->m_gameobject :
diff --git a/source/gameengine/Ketsji/KX_NearSensor.h b/source/gameengine/Ketsji/KX_NearSensor.h
index 080df58639e..d1b8984b91b 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.h
+++ b/source/gameengine/Ketsji/KX_NearSensor.h
@@ -39,25 +39,27 @@
 #include "KX_ClientObjectInfo.h"
 
 class KX_Scene;
+struct PHY_CollData;
 
 class KX_NearSensor : public KX_TouchSensor
 {
 	Py_Header;
+protected:
 	double	m_Margin;
 	double  m_ResetMargin;
 	KX_Scene*	m_scene;
 	KX_ClientObjectInfo*	m_client_info;
-protected:
+public:
 	KX_NearSensor(class SCA_EventManager* eventmgr,
 			class KX_GameObject* gameobj,
-			void *shape,
 			double margin,
 			double resetmargin,
 			bool bFindMaterial,
 			const STR_String& touchedpropname,
 			class KX_Scene* scene,
+			 PHY_IPhysicsController*	ctrl,
 			PyTypeObject* T=&Type);
-
+/*
 public:
 	KX_NearSensor(class SCA_EventManager* eventmgr,
 			class KX_GameObject* gameobj,
@@ -67,13 +69,14 @@ public:
 			const STR_String& touchedpropname,
 			class KX_Scene* scene,
 			PyTypeObject* T=&Type);
+*/
 	virtual ~KX_NearSensor(); 
 	virtual CValue* GetReplica();
 	virtual bool Evaluate(CValue* event);
 
 	virtual void ReParent(SCA_IObject* parent);
-	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
-						 const DT_CollData * coll_data); 
+	virtual bool	NewHandleCollision(void* obj1,void* obj2,
+						 const PHY_CollData * coll_data); 
 	virtual void RegisterSumo(KX_TouchEventManager *touchman);
 	
 	virtual PyObject* _getattr(const STR_String& attr);
diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
index 14461145cb7..cce2ceb70c2 100644
--- a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp
@@ -23,6 +23,10 @@
 #include "KX_GameObject.h"
 #include "KX_MotionState.h"
 
+#include "MT_assert.h"
+
+#include "PHY_IPhysicsEnvironment.h"
+
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
@@ -225,7 +229,7 @@ SG_Controller*	KX_OdePhysicsController::GetReplica(class SG_Node* destnode)
 	
 }
 
-void	KX_OdePhysicsController::resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel )
+void		KX_OdePhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
 }
 
diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.h b/source/gameengine/Ketsji/KX_OdePhysicsController.h
index 69c06a2b620..f5bc7dee165 100644
--- a/source/gameengine/Ketsji/KX_OdePhysicsController.h
+++ b/source/gameengine/Ketsji/KX_OdePhysicsController.h
@@ -65,7 +65,7 @@ public:
 	virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
 	virtual void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
 	virtual void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
-	virtual void	resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel );
+	virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
 	virtual	void		getOrientation(MT_Quaternion& orn);
 	virtual	void setOrientation(const MT_Quaternion& orn);
 	virtual	void setPosition(const MT_Point3& pos);
@@ -95,7 +95,7 @@ public:
 	){
 		// intentionally empty
 	};
-
+	
 };
 
 #endif //__KX_ODEPHYSICSCONTROLLER_H
diff --git a/source/gameengine/Ketsji/KX_PolygonMaterial.cpp b/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
index 0c7be571c8d..89c84d63913 100644
--- a/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
+++ b/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
@@ -71,7 +71,7 @@ KX_PolygonMaterial::KX_PolygonMaterial(const STR_String &texname,
 											   PyTypeObject *T)
 		: PyObjectPlus(T),
 		  RAS_IPolyMaterial(texname,
-							material?STR_String(material->id.name):STR_String(""),
+							STR_String(material?material->id.name:""),
 							tile,
 							tilexrep,
 							tileyrep,
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
index 1f810e655ac..0111fd36cb2 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
@@ -41,7 +41,7 @@
 
 // nasty glob variable to connect scripting language
 // if there is a better way (without global), please do so!
-static PHY_IPhysicsEnvironment* g_physics_env = NULL;
+static PHY_IPhysicsEnvironment* g_CurrentActivePhysicsEnvironment = NULL;
 
 static char PhysicsConstraints_module_documentation[] =
 "This is the Python API for the Physics Constraints";
@@ -59,8 +59,8 @@ static PyObject* gPySetGravity(PyObject* self,
 	int len = PyTuple_Size(args);
 	if ((len == 3) && PyArg_ParseTuple(args,"fff",&x,&y,&z))
 	{
-		if (g_physics_env)
-			g_physics_env->setGravity(x,y,z);
+		if (PHY_GetActiveEnvironment())
+			PHY_GetActiveEnvironment()->setGravity(x,y,z);
 	}
 	Py_INCREF(Py_None); return Py_None;
 }
@@ -99,16 +99,16 @@ static PyObject* gPyCreateConstraint(PyObject* self,
 	
 	if (success)
 	{
-		if (g_physics_env)
+		if (PHY_GetActiveEnvironment())
 		{
 			
 			PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) physicsid;
 			PHY_IPhysicsController* physctrl2 = (PHY_IPhysicsController*) physicsid2;
 			if (physctrl) //TODO:check for existance of this pointer!
 			{
-				int constraintid = g_physics_env->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ);
+				int constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ);
 				
-				KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,g_physics_env);
+				KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
 				
 
 				return wrap;
@@ -130,9 +130,9 @@ static PyObject* gPyRemoveConstraint(PyObject* self,
 	
 	if (PyArg_ParseTuple(args,"i",&constraintid))
 	{
-		if (g_physics_env)
+		if (PHY_GetActiveEnvironment())
 		{
-			g_physics_env->removeConstraint(constraintid);
+			PHY_GetActiveEnvironment()->removeConstraint(constraintid);
 		}
 	}
 	Py_INCREF(Py_None); return Py_None;
@@ -188,5 +188,11 @@ void	KX_RemovePythonConstraintBinding()
 
 void	PHY_SetActiveEnvironment(class	PHY_IPhysicsEnvironment* env)
 {
-	g_physics_env = env;
+	g_CurrentActivePhysicsEnvironment = env;
 }
+
+PHY_IPhysicsEnvironment*	PHY_GetActiveEnvironment()
+{
+	return g_CurrentActivePhysicsEnvironment;
+}
+
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.h b/source/gameengine/Ketsji/KX_PyConstraintBinding.h
index f1ba459a19f..a8651a175c2 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.h
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.h
@@ -37,6 +37,8 @@
 PyObject*				initPythonConstraintBinding();
 void	PHY_RemovePythonConstraintBinding();
 void	PHY_SetActiveEnvironment(class	PHY_IPhysicsEnvironment* env);
+PHY_IPhysicsEnvironment*	PHY_GetActiveEnvironment();
+
 
 #endif //PHY_PYTHON_CONSTRAINTBINDING
 
diff --git a/source/gameengine/Ketsji/KX_PythonInit.cpp b/source/gameengine/Ketsji/KX_PythonInit.cpp
index 42b26185b4c..6f2fced3bd1 100644
--- a/source/gameengine/Ketsji/KX_PythonInit.cpp
+++ b/source/gameengine/Ketsji/KX_PythonInit.cpp
@@ -40,6 +40,8 @@
 #endif //WIN32
 
 #include "KX_PythonInit.h"
+//python physics binding
+#include "KX_PyConstraintBinding.h"
 
 #include "KX_KetsjiEngine.h"
 
@@ -211,7 +213,8 @@ static PyObject* gPySetPhysicsTicRate(PyObject*,
 	float ticrate;
 	if (PyArg_ParseTuple(args, "f", &ticrate))
 	{
-		SumoPhysicsEnvironment::setTicRate(ticrate);
+
+		PHY_GetActiveEnvironment()->setFixedTimeStep(true,ticrate);
 		Py_Return;
 	}
 	
@@ -220,7 +223,7 @@ static PyObject* gPySetPhysicsTicRate(PyObject*,
 
 static PyObject* gPyGetPhysicsTicRate(PyObject*, PyObject*, PyObject*)
 {
-	return PyFloat_FromDouble(SumoPhysicsEnvironment::getTicRate());
+	return PyFloat_FromDouble(PHY_GetActiveEnvironment()->getFixedTimeStep());
 }
 
 static STR_String gPyGetCurrentScene_doc =  
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index 1ad37504224..ea656877e92 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -31,6 +31,7 @@
 
 #include "KX_RadarSensor.h"
 #include "KX_GameObject.h"
+#include "PHY_IPhysicsController.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -41,6 +42,7 @@
  */
 KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
 		KX_GameObject* gameobj,
+		PHY_IPhysicsController* physCtrl,
 			double coneradius,
 			double coneheight,
 			int	axis,
@@ -54,12 +56,13 @@ KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr,
 			: KX_NearSensor(
 				eventmgr,
 				gameobj,
-				DT_NewCone(coneradius,coneheight),
+				//DT_NewCone(coneradius,coneheight),
 				margin,
 				resetmargin,
 				bFindMaterial,
 				touchedpropname,
 				kxscene,
+				physCtrl,
 				T),
 				m_coneradius(coneradius),
 				m_coneheight(coneheight),
@@ -90,9 +93,11 @@ CValue* KX_RadarSensor::GetReplica()
 	
 	replica->m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::RADAR);
 	
-	replica->m_sumoObj = new SM_Object(DT_NewCone(m_coneradius, m_coneheight),NULL,NULL,NULL);
-	replica->m_sumoObj->setMargin(m_Margin);
-	replica->m_sumoObj->setClientObject(replica->m_client_info);
+	replica->m_physCtrl = replica->m_physCtrl->GetReplica();
+	//todo: make sure replication works fine!
+	//>m_sumoObj = new SM_Object(DT_NewCone(m_coneradius, m_coneheight),NULL,NULL,NULL);
+	//replica->m_sumoObj->setMargin(m_Margin);
+	//replica->m_sumoObj->setClientObject(replica->m_client_info);
 	
 	replica->SynchronizeTransform();
 	
@@ -145,9 +150,11 @@ void KX_RadarSensor::SynchronizeTransform()
 	m_cone_origin = trans.getOrigin();
 	m_cone_target = trans(MT_Point3(0, -m_coneheight/2.0 ,0));
 
-	m_sumoObj->setPosition(trans.getOrigin());
-	m_sumoObj->setOrientation(trans.getRotation());
-	m_sumoObj->calcXform();
+
+	m_physCtrl->setPosition(trans.getOrigin().x(),trans.getOrigin().y(),trans.getOrigin().z());
+	m_physCtrl->setOrientation(trans.getRotation().x(),trans.getRotation().y(),trans.getRotation().z(),trans.getRotation().w());
+	m_physCtrl->calcXform();
+
 }
 
 /* ------------------------------------------------------------------------- */
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.h b/source/gameengine/Ketsji/KX_RadarSensor.h
index 0e055357f18..4f5ff994b40 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.h
+++ b/source/gameengine/Ketsji/KX_RadarSensor.h
@@ -65,6 +65,7 @@ public:
 
 	KX_RadarSensor(SCA_EventManager* eventmgr,
 		KX_GameObject* gameobj,
+			PHY_IPhysicsController* physCtrl,
 			double coneradius,
 			double coneheight,
 			int	axis,
diff --git a/source/gameengine/Ketsji/KX_RayCast.cpp b/source/gameengine/Ketsji/KX_RayCast.cpp
new file mode 100644
index 00000000000..98ebde9ca5a
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_RayCast.cpp
@@ -0,0 +1,97 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL 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. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * 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., 59 Temple Place - Suite 330, Boston, MA  02111-1307, 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/BL DUAL LICENSE BLOCK *****
+ * KX_MouseFocusSensor determines mouse in/out/over events.
+ */
+
+#include "KX_RayCast.h"
+
+#include "MT_Point3.h"
+#include "MT_Vector3.h"
+
+#include "KX_IPhysicsController.h"
+#include "PHY_IPhysicsEnvironment.h"
+#include "PHY_IPhysicsController.h"
+
+bool KX_RayCast::RayTest(KX_IPhysicsController* ignore_controller, PHY_IPhysicsEnvironment* physics_environment, const MT_Point3& _frompoint, const MT_Point3& topoint, MT_Point3& result_point, MT_Vector3& result_normal, const KX_RayCast& callback)
+{
+	// Loops over all physics objects between frompoint and topoint,
+	// calling callback.RayHit for each one.
+	//
+	// callback.RayHit should return true to stop looking, or false to continue.
+	//
+	// returns true if an object was found, false if not.
+	MT_Point3 frompoint(_frompoint);
+	const MT_Vector3 todir( (topoint - frompoint).normalized() );
+	
+	PHY_IPhysicsController* hit_controller;
+	PHY__Vector3 phy_pos;
+	PHY__Vector3 phy_normal;
+
+	while((hit_controller = physics_environment->rayTest(dynamic_cast<PHY_IPhysicsController*>(ignore_controller),
+			frompoint.x(),frompoint.y(),frompoint.z(),
+			topoint.x(),topoint.y(),topoint.z(),
+			phy_pos[0],phy_pos[1],phy_pos[2],
+			phy_normal[0],phy_normal[1],phy_normal[2]))) 
+	{
+		result_point = MT_Point3(phy_pos);
+		result_normal = MT_Vector3(phy_normal);
+		KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(hit_controller->getNewClientInfo());
+		
+		if (!info)
+		{
+			MT_assert(info && "Physics controller with no client object info");
+			return false;
+		}
+		
+		if (callback.RayHit(info, result_point, result_normal))
+			return true;
+		
+		// skip past the object and keep tracing
+		/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
+		MT_Scalar marg = 0.01 + hit_controller->GetMargin();
+		marg += 2.f * hit_controller->GetMargin();
+		/* Calculate the other side of this object */
+		PHY__Vector3 hitpos;
+		hit_controller->getPosition(hitpos);
+		MT_Point3 hitObjPos(hitpos);
+		
+		MT_Vector3 hitvector = hitObjPos - result_point;
+		if (hitvector.dot(hitvector) > MT_EPSILON)
+		{
+			hitvector.normalize();
+			marg *= 2.*todir.dot(hitvector);
+		}
+		frompoint = result_point + marg * todir;
+	}
+	
+	return hit_controller;
+}
+
diff --git a/source/gameengine/Ketsji/KX_RayCast.h b/source/gameengine/Ketsji/KX_RayCast.h
new file mode 100644
index 00000000000..8bb21e28aca
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_RayCast.h
@@ -0,0 +1,107 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL 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. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * 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., 59 Temple Place - Suite 330, Boston, MA  02111-1307, 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/BL DUAL LICENSE BLOCK *****
+ */
+
+#ifndef __KX_RAYCAST_H__
+#define __KX_RAYCAST_H__
+
+class MT_Point3;
+class MT_Vector3;
+class KX_IPhysicsController;
+class PHY_IPhysicsEnvironment;
+
+struct KX_ClientObjectInfo;
+
+/**
+ *  Defines a function for doing a ray cast.
+ *
+ *  eg KX_RayCast::RayTest(ignore_physics_controller, physics_environment, frompoint, topoint, result_point, result_normal, KX_RayCast::Callback<KX_MyClass>(this, data)
+ *
+ *  Calls myclass->RayHit(client, hit_point, hit_normal, data) for all client
+ *  between frompoint and topoint
+ *
+ *  myclass->RayHit should return true to end the raycast, false to ignore the current client.
+ *
+ *  Returns true if a client was accepted, false if nothing found.
+ */
+class KX_RayCast
+{
+protected:
+	KX_RayCast() {};
+public:
+	virtual ~KX_RayCast() {}
+
+	/** ray test callback.
+	 *  either override this in your class, or use a callback wrapper.
+	 */
+	virtual bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal) const = 0;
+
+	/** 
+	 *  Callback wrapper.
+	 *
+	 *  Construct with KX_RayCast::Callback<MyClass>(this, data)
+	 *  and pass to KX_RayCast::RayTest
+	 */
+	template<class T> class Callback;
+	
+	/// Public interface.
+	/// Implement bool RayHit in your class to receive ray callbacks.
+	static bool RayTest(KX_IPhysicsController* physics_controller, 
+		PHY_IPhysicsEnvironment* physics_environment, 
+		const MT_Point3& _frompoint, 
+		const MT_Point3& topoint, 
+		MT_Point3& result_point, 
+		MT_Vector3& result_normal, 
+		const KX_RayCast& callback);
+	
+};
+
+template<class T> class KX_RayCast::Callback : public KX_RayCast
+{
+	T *self;
+	void *data;
+public:
+	Callback(T *_self, void *_data = NULL)
+		: self(_self),
+		data(_data)
+	{
+	}
+	
+	~Callback() {}
+	
+	virtual bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal) const
+	{
+		return self->RayHit(client, hit_point, hit_normal, data);
+	}
+};
+	
+
+#endif
diff --git a/source/gameengine/Ketsji/KX_RaySensor.cpp b/source/gameengine/Ketsji/KX_RaySensor.cpp
index c60b2171cab..fa5f5215aa4 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.cpp
+++ b/source/gameengine/Ketsji/KX_RaySensor.cpp
@@ -41,8 +41,11 @@
 #include "KX_GameObject.h"
 #include "KX_Scene.h"
 
-#include "SumoPhysicsEnvironment.h"
-#include "KX_SumoPhysicsController.h"
+#include "KX_RayCast.h"
+#include "PHY_IPhysicsEnvironment.h"
+#include "PHY_IPhysicsController.h"
+#include "KX_IPhysicsController.h"
+
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -101,7 +104,47 @@ bool KX_RaySensor::IsPositiveTrigger()
 	return result;
 }
 
+bool KX_RaySensor::RayHit(KX_ClientObjectInfo* info, MT_Point3& hit_point, MT_Vector3& hit_normal, void* const data)
+{
+	KX_GameObject* obj = (KX_GameObject*)GetParent();
+	SCA_IObject *hitgameobj = info->m_gameobject;
+	if (hitgameobj == obj || info->m_type > KX_ClientObjectInfo::ACTOR)
+	{
+		// false hit
+		return false;
+	}
+	
+	bool bFound = false;
+	if (m_propertyname.Length() == 0)
+	{
+		bFound = true;
+	}
+	else
+	{
+		if (m_bFindMaterial)
+		{
+			if (info->m_auxilary_info)
+			{
+				bFound = (m_propertyname== ((char*)info->m_auxilary_info));
+			}
+		}
+		else
+		{
+			bFound = hitgameobj->GetProperty(m_propertyname) != NULL;
+		}
+	}
 
+	if (bFound)
+	{
+		m_rayHit = true;
+		m_hitObject = hitgameobj;
+		m_hitPosition = hit_point;
+		m_hitNormal = hit_normal;
+			
+	}
+	
+	return true;
+}
 
 bool KX_RaySensor::Evaluate(CValue* event)
 {
@@ -168,115 +211,64 @@ bool KX_RaySensor::Evaluate(CValue* event)
 	MT_Point3 topoint = frompoint + (m_distance) * todir;
 	MT_Point3 resultpoint;
 	MT_Vector3 resultnormal;
-	bool ready = false;
-	SumoPhysicsEnvironment *spe = dynamic_cast<SumoPhysicsEnvironment *>(m_scene->GetPhysicsEnvironment());
-	if (!spe)
+	PHY_IPhysicsEnvironment* physics_environment = m_scene->GetPhysicsEnvironment();
+	if (!physics_environment)
 	{
 		std::cout << "WARNING: Ray sensor " << GetName() << ":  There is no physics environment!" << std::endl;
 		std::cout << "         Check universe for malfunction." << std::endl;
 		return false;
 	} 
-	SM_Scene *scene = spe->GetSumoScene();
-	KX_SumoPhysicsController *spc = dynamic_cast<KX_SumoPhysicsController *>(obj->GetPhysicsController());
+	KX_IPhysicsController* physics_controller = obj->GetPhysicsController();
+
+	// Use the parent's physics controller if obj has no physics controller.
 	KX_GameObject *parent = obj->GetParent();
-	if (!spc && parent)
-		spc = dynamic_cast<KX_SumoPhysicsController *>(parent->GetPhysicsController());
+	if (!physics_controller && parent)
+		physics_controller = parent->GetPhysicsController();
+
 	if (parent)
 		parent->Release();
-	SM_Object *thisObj = spc?spc->GetSumoObject():NULL;
-	
-	do {
-		SM_Object* hitObj = scene->rayTest(thisObj,
-			frompoint,
-			topoint,
-			resultpoint,
-			resultnormal);
-			
-		if (hitObj)
-		{
-	
-			KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(hitObj->getClientObject());
-			bool bFound = false;
-			
-			if (!info)
-			{
-				std::cout<< "WARNING:  Ray sensor " << GetName() << " cannot sense SM_Object " << hitObj << " - no client info.\n" << std::endl;
-				ready = true;
-				break;
-			} 
-			
-			SCA_IObject *hitgameobj = info->m_gameobject;
-			
-			if (hitgameobj == obj || info->m_type > KX_ClientObjectInfo::ACTOR)
-			{
-				// false hit
-				KX_SumoPhysicsController *hitspc = dynamic_cast<KX_SumoPhysicsController *> (static_cast<KX_GameObject*> (hitgameobj) ->GetPhysicsController());
-				if (hitspc)
-				{
-					/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
-					MT_Scalar marg = 0.01 + hitspc->GetSumoObject()->getMargin();
-					if (hitspc->GetSumoObject()->getShapeProps())
-					{
-						marg += 2*hitspc->GetSumoObject()->getShapeProps()->m_radius;
-					}
-					
-					/* Calculate the other side of this object */
-					MT_Point3 hitObjPos;
-					hitspc->GetWorldPosition(hitObjPos);
-					MT_Vector3 hitvector = hitObjPos - resultpoint;
-					if (hitvector.dot(hitvector) > MT_EPSILON)
-					{
-						hitvector.normalize();
-						marg *= 2.*todir.dot(hitvector);
-					}
-					frompoint = resultpoint + marg * todir;
-				} else {
-					ready = true;
-				}
-			}
-			else
-			{
-				ready = true;
-				if (m_propertyname.Length() == 0)
-				{
-					bFound = true;
-				}
-				else
-				{
-					if (m_bFindMaterial)
-					{
-						if (info->m_auxilary_info)
-						{
-							bFound = (m_propertyname== ((char*)info->m_auxilary_info));
-						}
-					}
-					else
-					{
-						bFound = hitgameobj->GetProperty(m_propertyname) != NULL;
-					}
-				}
-
-				if (bFound)
-				{
-					m_rayHit = true;
-					m_hitObject = hitgameobj;
-					m_hitPosition = resultpoint;
-					m_hitNormal = resultnormal;
-						
-				}
-			}
-		}
-		else
-		{
-			ready = true;
-		}
-	}
-	while (!ready);
-	
+		
+	KX_RayCast::RayTest(physics_controller, physics_environment, frompoint, topoint, resultpoint, resultnormal, KX_RayCast::Callback<KX_RaySensor>(this));
+
+// 	do {
+// 		PHY__Vector3 respos;
+// 		PHY__Vector3 resnormal;
+// 
+// 		PHY_IPhysicsController* hitCtrl = spe->rayTest(physCtrl,
+// 			frompoint.x(),frompoint.y(),frompoint.z(),
+// 			topoint.x(),topoint.y(),topoint.z(),
+// 			respos[0],respos[1],respos[2],
+// 			resnormal[0],resnormal[1],resnormal[2]);
+// 			
+// 		if (hitCtrl)
+// 		{
+// 
+// 			resultpoint = MT_Vector3(respos);
+// 			resultnormal = MT_Vector3(resnormal);
+// 			KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(hitCtrl->getNewClientInfo());
+// 			bool bFound = false;
+// 			
+// 			if (!info)
+// 			{
+// 				std::cout<< "WARNING:  Ray sensor " << GetName() << " cannot sense PHY_IPhysicsController  - no client info.\n" << std::endl;
+// 				ready = true;
+// 				break;
+// 			} 
+// 			
+// 			
+// 
+// 		}
+// 		else
+// 		{
+// 			ready = true;
+// 		}
+// 	}
+// 	while (!ready);
+// 	
 	
 	
 	/* now pass this result to some controller */
-    if (m_rayHit) 
+	if (m_rayHit) 
 	{
 		if (!m_bTriggered)
 		{
@@ -284,10 +276,6 @@ bool KX_RaySensor::Evaluate(CValue* event)
 			result = true;
 			m_bTriggered = true;
 		}
-		else
-		{
-			
-		}
 	}
 	else
 	{
diff --git a/source/gameengine/Ketsji/KX_RaySensor.h b/source/gameengine/Ketsji/KX_RaySensor.h
index 8d361f53d3e..0e05c6021c0 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.h
+++ b/source/gameengine/Ketsji/KX_RaySensor.h
@@ -38,6 +38,8 @@
 #include "SCA_ISensor.h"
 #include "MT_Point3.h"
 
+struct KX_ClientObjectInfo;
+
 class KX_RaySensor : public SCA_ISensor
 {
 	Py_Header;
@@ -68,6 +70,8 @@ public:
 	virtual bool Evaluate(CValue* event);
 	virtual bool IsPositiveTrigger();
 
+	bool RayHit(KX_ClientObjectInfo* client, MT_Point3& hit_point, MT_Vector3& hit_normal, void * const data);
+	
 	KX_PYMETHOD_DOC(KX_RaySensor,GetHitObject);
 	KX_PYMETHOD_DOC(KX_RaySensor,GetHitPosition);
 	KX_PYMETHOD_DOC(KX_RaySensor,GetHitNormal);
diff --git a/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp b/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
index 8af01c561f2..540e14d06ea 100644
--- a/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
+++ b/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
@@ -56,7 +56,7 @@ UpdateChildCoordinates(
 	SG_Spatial * child,
 	const SG_Spatial * parent
 ){
-	assert(child != NULL);
+	MT_assert(child != NULL);
 
 	// This way of accessing child coordinates is a bit cumbersome
 	// be nice to have non constant reference access to these values.
@@ -140,7 +140,7 @@ UpdateChildCoordinates(
 	const SG_Spatial * parent
 ){
 
-	assert(child != NULL);
+	MT_assert(child != NULL);
 
 	const MT_Vector3 & child_scale = child->GetLocalScale();
 	const MT_Point3 & child_pos = child->GetLocalPosition();
@@ -225,7 +225,7 @@ UpdateChildCoordinates(
 	SG_Spatial * child,
 	const SG_Spatial * parent
 ){
-	assert(child != NULL);
+	MT_assert(child != NULL);
 
 	const MT_Vector3 & child_scale = child->GetLocalScale();
 	const MT_Point3 & child_pos = child->GetLocalPosition();
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index 2046c52355c..eb3f8821b62 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -73,8 +73,6 @@
 #include "PHY_IPhysicsEnvironment.h"
 #include "KX_IPhysicsController.h"
 
-#include "SM_Scene.h"
-#include "SumoPhysicsEnvironment.h"
 
 void* KX_SceneReplicationFunc(SG_IObject* node,void* gameobj,void* scene)
 {
@@ -398,7 +396,7 @@ KX_GameObject* KX_Scene::AddNodeReplicaObject(class SG_IObject* node, class CVal
 	}
 	
 	SG_IObject* replicanode = newobj->GetSGNode();
-	// SG_Node* rootnode = (replicanode == m_rootnode ? NULL : m_rootnode); /*unused*/
+	SG_Node* rootnode = (replicanode == m_rootnode ? NULL : m_rootnode);
 
 	replicanode->SetSGClientObject(newobj);
 
@@ -660,11 +658,10 @@ void KX_Scene::DelayedRemoveObject(class CValue* gameobj)
 void KX_Scene::NewRemoveObject(class CValue* gameobj)
 {
 	KX_GameObject* newobj = (KX_GameObject*) gameobj;
-	//SM_Object* sumoObj = newobj->GetSumoObject();
-	//if (sumoObj)
-	//{
-	//	this->GetSumoScene()->remove(*sumoObj);
-	//}
+
+	//todo: look at this
+	//GetPhysicsEnvironment()->RemovePhysicsController(gameobj->getPhysicsController());
+
 	// remove all sensors/controllers/actuators from logicsystem...
 	
 	SCA_SensorList& sensors = newobj->GetSensors();
@@ -1104,14 +1101,11 @@ void KX_Scene::SetNodeTree(SG_Tree* root)
 
 void KX_Scene::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment* physEnv)
 {
-	SumoPhysicsEnvironment *sme = dynamic_cast<SumoPhysicsEnvironment *>(physEnv);
 	m_physicsEnvironment = physEnv;
-	if (sme)
-	{
-		KX_TouchEventManager* touchmgr = new KX_TouchEventManager(m_logicmgr, sme->GetSumoScene());
-		m_logicmgr->RegisterEventManager(touchmgr);
-		return;
-	}
+
+	KX_TouchEventManager* touchmgr = new KX_TouchEventManager(m_logicmgr, physEnv);
+	m_logicmgr->RegisterEventManager(touchmgr);
+	return;
 }
 
 //----------------------------------------------------------------------------
diff --git a/source/gameengine/Ketsji/KX_Scene.h b/source/gameengine/Ketsji/KX_Scene.h
index 27f234f52a6..0c0ee4e287a 100644
--- a/source/gameengine/Ketsji/KX_Scene.h
+++ b/source/gameengine/Ketsji/KX_Scene.h
@@ -128,7 +128,7 @@ protected:
 	* physics engine abstraction
 	*/
 
-	e_PhysicsEngine m_physicsEngine;
+	//e_PhysicsEngine m_physicsEngine; //who needs this ?
 	class PHY_IPhysicsEnvironment*		m_physicsEnvironment;
 
 	/**
diff --git a/source/gameengine/Ketsji/KX_SoundActuator.cpp b/source/gameengine/Ketsji/KX_SoundActuator.cpp
index 793c3b84206..f7a2001fcdf 100644
--- a/source/gameengine/Ketsji/KX_SoundActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SoundActuator.cpp
@@ -64,6 +64,8 @@ KX_SoundActuator::KX_SoundActuator(SCA_IObject* gameobj,
 	m_startFrame = start;
 	m_endFrame = end;
 	m_pino = false;
+	
+
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
index 8f284809a17..609f0fc0e0b 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
@@ -10,6 +10,8 @@
 #include "KX_MotionState.h"
 #include "KX_ClientObjectInfo.h"
 
+#include "PHY_IPhysicsEnvironment.h"
+
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
@@ -64,12 +66,9 @@ MT_Vector3 KX_SumoPhysicsController::GetLinearVelocity()
 	
 }
 
-void KX_SumoPhysicsController::resolveCombinedVelocities(
-		const MT_Vector3 & lin_vel,
-		const MT_Vector3 & ang_vel
-	)
+void		KX_SumoPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
-	SumoPhysicsController::resolveCombinedVelocities(lin_vel, ang_vel);
+	SumoPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);
 }
 
 void	KX_SumoPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
@@ -215,3 +214,5 @@ KX_SumoPhysicsController::~KX_SumoPhysicsController()
 
 	
 }
+
+
diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
index b160315ce53..b4b0f8a4cd0 100644
--- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h
+++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h
@@ -33,7 +33,6 @@
 #define __KX_SUMOPHYSICSCONTROLLER_H
 
 #include "PHY_IPhysicsController.h"
-#include "SM_Object.h" // for SM_Callback
 
 /**
 	Physics Controller, a special kind of Scene Graph Transformation Controller.
@@ -54,7 +53,6 @@ class KX_SumoPhysicsController : public KX_IPhysicsController,
 public:
 	KX_SumoPhysicsController(
 		class SM_Scene* sumoScene,
-/*		DT_SceneHandle solidscene, */
 		class SM_Object* sumoObj,	
 		class PHY_IMotionState* motionstate
 		,bool dyna) 
@@ -76,7 +74,7 @@ public:
 	MT_Vector3 GetVelocity(const MT_Point3& pos);
 	void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
 	void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
-	void	resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel);
+	void	resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
 
 
 	void	SuspendDynamics();
@@ -108,8 +106,6 @@ public:
 	){
 		// intentionally empty
 	};
-
-
 };
 
 #endif //__KX_SUMOPHYSICSCONTROLLER_H
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.cpp b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
index a95e6a13548..575ade6dc3b 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.cpp
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.cpp
@@ -33,70 +33,50 @@
 #include "SCA_ISensor.h"
 #include "KX_TouchSensor.h"
 #include "KX_GameObject.h"
+#include "PHY_IPhysicsEnvironment.h"
+#include "PHY_IPhysicsController.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
 
-#include "SM_Object.h"
 
 KX_TouchEventManager::KX_TouchEventManager(class SCA_LogicManager* logicmgr,
-	SM_Scene *scene)
+	PHY_IPhysicsEnvironment* physEnv)
 	: SCA_EventManager(TOUCH_EVENTMGR),
 	  m_logicmgr(logicmgr),
-	  m_scene(scene)
+	  m_physEnv(physEnv)
 {
-	//m_scene->addTouchCallback(STATIC_RESPONSE, KX_TouchEventManager::collisionResponse, this);
-	m_scene->addTouchCallback(OBJECT_RESPONSE, KX_TouchEventManager::collisionResponse, this);
-	m_scene->addTouchCallback(SENSOR_RESPONSE, KX_TouchEventManager::collisionResponse, this);
-}
+	//notm_scene->addTouchCallback(STATIC_RESPONSE, KX_TouchEventManager::collisionResponse, this);
+
+	//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);
 
-DT_Bool KX_TouchEventManager::HandleCollision(void* object1, void* object2, const DT_CollData *coll_data)
-{
-	SM_Object * obj1 = static_cast<SM_Object*>(object1);
-	SM_Object * obj2 = static_cast<SM_Object*>(object2);
-	
-	m_collisions.insert(std::pair<SM_Object*, SM_Object*>(obj1, obj2));
-		
-	return DT_CONTINUE;
 }
 
-/*
-DT_Bool KX_TouchEventManager::HandleCollision(void* object1,void* object2,
-						 const DT_CollData * coll_data)
+bool	KX_TouchEventManager::NewHandleCollision(void* object1, void* object2, const PHY_CollData *coll_data)
 {
-	SM_Object * obj1 = (SM_Object *) object1;
-	SM_Object * obj2 = (SM_Object *) object2;
 
-	for ( vector<SCA_ISensor*>::iterator it = m_sensors.begin(); !(it==m_sensors.end()); it++)
-	{
-		KX_GameObject* gameobj = ((KX_GameObject*)((KX_TouchSensor*)*it)->GetParent());
-		KX_ClientObjectInfo *client_info = (KX_ClientObjectInfo *) obj1->getClientObject();
-// Enable these printfs to create excesive debug info
-//		printf("KX_TEM::HC: Sensor %s\tGO: %p o1: %s (%p)", (const char *) (*it)->GetName(), gameobj, (const char *) ((KX_GameObject *) client_info->m_clientobject)->GetName(), client_info->m_clientobject);
-		if (client_info && client_info->m_clientobject == gameobj)
-			((KX_TouchSensor*)*it)->HandleCollision(object1,object2,coll_data);
-
-		client_info = (KX_ClientObjectInfo *) obj2->getClientObject();
-//		printf(" o2: %s (%p)\n", (const char *) ((KX_GameObject *) client_info->m_clientobject)->GetName(), client_info->m_clientobject);
-		if (client_info && client_info->m_clientobject == gameobj)
-			 ((KX_TouchSensor*)*it)->HandleCollision(object1,object2,coll_data);
-
-	}
+	PHY_IPhysicsController* obj1 = static_cast<PHY_IPhysicsController*>(object1);
+	PHY_IPhysicsController* obj2 = static_cast<PHY_IPhysicsController*>(object2);
 	
-	return DT_CONTINUE;
+	m_newCollisions.insert(std::pair<PHY_IPhysicsController*, PHY_IPhysicsController*>(obj1, obj2));
+		
+	return false;
 }
 
-*/
 
-DT_Bool KX_TouchEventManager::collisionResponse(void *client_data, 
+bool	 KX_TouchEventManager::newCollisionResponse(void *client_data, 
 							void *object1,
 							void *object2,
-							const DT_CollData *coll_data)
+							const PHY_CollData *coll_data)
 {
 	KX_TouchEventManager *touchmgr = (KX_TouchEventManager *) client_data;
-	touchmgr->HandleCollision(object1, object2, coll_data);
-	return DT_CONTINUE;
+	touchmgr->NewHandleCollision(object1, object2, coll_data);
+	return false;
 }
 
 void KX_TouchEventManager::RegisterSensor(SCA_ISensor* sensor)
@@ -131,20 +111,25 @@ void KX_TouchEventManager::NextFrame()
 		for (it = m_sensors.begin();!(it==m_sensors.end());++it)
 			static_cast<KX_TouchSensor*>(*it)->SynchronizeTransform();
 		
-		for (std::set<Collision>::iterator cit = m_collisions.begin(); cit != m_collisions.end(); ++cit)
+		for (std::set<NewCollision>::iterator cit = m_newCollisions.begin(); cit != m_newCollisions.end(); ++cit)
 		{
-			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo *>((*cit).first->getClientObject());
+			PHY_IPhysicsController* ctrl1 = (*cit).first;
+			PHY_IPhysicsController* ctrl2 = (*cit).second;
+//			KX_GameObject* gameOb1 = ctrl1->getClientInfo();
+//			KX_GameObject* gameOb1 = ctrl1->getClientInfo();
+
+			KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo *>(ctrl1->getNewClientInfo());
 	
 			list<SCA_ISensor*>::iterator sit;
 			for ( sit = client_info->m_sensors.begin(); sit != client_info->m_sensors.end(); ++sit)
-				static_cast<KX_TouchSensor*>(*sit)->HandleCollision((*cit).first, (*cit).second, NULL);
+				static_cast<KX_TouchSensor*>(*sit)->NewHandleCollision((*cit).first, (*cit).second, NULL);
 		
-			client_info = static_cast<KX_ClientObjectInfo *>((*cit).second->getClientObject());
+			client_info = static_cast<KX_ClientObjectInfo *>((*cit).second->getNewClientInfo());
 			for ( sit = client_info->m_sensors.begin(); sit != client_info->m_sensors.end(); ++sit)
-				static_cast<KX_TouchSensor*>(*sit)->HandleCollision((*cit).second, (*cit).first, NULL);
+				static_cast<KX_TouchSensor*>(*sit)->NewHandleCollision((*cit).second, (*cit).first, NULL);
 		}
 			
-		m_collisions.clear();
+		m_newCollisions.clear();
 			
 		for (it = m_sensors.begin();!(it==m_sensors.end());++it)
 			(*it)->Activate(m_logicmgr,NULL);
diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.h b/source/gameengine/Ketsji/KX_TouchEventManager.h
index 128758f0be6..21faceef799 100644
--- a/source/gameengine/Ketsji/KX_TouchEventManager.h
+++ b/source/gameengine/Ketsji/KX_TouchEventManager.h
@@ -32,6 +32,7 @@
 #ifndef __KX_TOUCHEVENTMANAGER
 #define __KX_TOUCHEVENTMANAGER
 
+
 #include "SCA_EventManager.h"
 #include "KX_TouchSensor.h"
 #include "KX_GameObject.h"
@@ -40,35 +41,39 @@
 #include <set>
 
 class SCA_ISensor;
-class SM_Object;
+class PHY_IPhysicsEnvironment;
 
 class KX_TouchEventManager : public SCA_EventManager
 {
-	typedef std::pair<SM_Object*, SM_Object*> Collision;
+	typedef std::pair<PHY_IPhysicsController*, PHY_IPhysicsController*> NewCollision;
 	class SCA_LogicManager* m_logicmgr;
-	SM_Scene *m_scene;
+	PHY_IPhysicsEnvironment*	m_physEnv;
 	
-	std::set<Collision> m_collisions;
+	std::set<NewCollision> m_newCollisions;
 	
-
-	static DT_Bool collisionResponse(void *client_data, 
-							void *object1,
-							void *object2,
-							const DT_CollData *coll_data);
 	
-	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
-						 const DT_CollData * coll_data); 
+	static bool newCollisionResponse(void *client_data, 
+						void *object1,
+						void *object2,
+						const PHY_CollData *coll_data);
 	
+	virtual bool	NewHandleCollision(void* obj1,void* obj2,
+						const PHY_CollData * coll_data); 
+
+
+
+
 
 public:
 	KX_TouchEventManager(class SCA_LogicManager* logicmgr,  
-		SM_Scene *scene);
+		PHY_IPhysicsEnvironment* physEnv);
 	virtual void NextFrame();
 	virtual void	EndFrame();
 	virtual void	RemoveSensor(class SCA_ISensor* sensor);
 	virtual void RegisterSensor(SCA_ISensor* sensor);
 	SCA_LogicManager* GetLogicManager() { return m_logicmgr;}
-	SM_Scene *GetSumoScene() { return m_scene; }
+	PHY_IPhysicsEnvironment *GetPhysicsEnvironment() { return m_physEnv; }
+
 };
 
 #endif //__KX_TOUCHEVENTMANAGER
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp
index 64dc175f451..e89b1e41434 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.cpp
+++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp
@@ -37,9 +37,9 @@
 #include "SCA_LogicManager.h"
 #include "KX_GameObject.h"
 #include "KX_TouchEventManager.h"
-#include "SM_Object.h"
 #include "KX_SumoPhysicsController.h"
 #include <iostream>
+#include "PHY_IPhysicsEnvironment.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -52,13 +52,13 @@
 void KX_TouchSensor::SynchronizeTransform()
 {
 
-	if (m_sumoObj)
+	if (m_physCtrl)
 	{
-		m_sumoObj->setPosition(((KX_GameObject*)GetParent())->NodeGetWorldPosition());
-		m_sumoObj->setOrientation(
-			((KX_GameObject*)GetParent())->NodeGetWorldOrientation().getRotation()
-			);
-		m_sumoObj->calcXform();
+		MT_Vector3 pos = ((KX_GameObject*)GetParent())->NodeGetWorldPosition();
+		MT_Quaternion orn = ((KX_GameObject*)GetParent())->NodeGetWorldOrientation().getRotation();
+		m_physCtrl->setPosition(pos.x(),pos.y(),pos.z());
+		m_physCtrl->setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
+		m_physCtrl->calcXform();
 	}
 	
 }
@@ -84,7 +84,7 @@ bool KX_TouchSensor::Evaluate(CValue* event)
 	return result;
 }
 
-KX_TouchSensor::KX_TouchSensor(SCA_EventManager* eventmgr,KX_GameObject* gameobj,/*SM_Object* sumoObj,*/bool bFindMaterial,const STR_String& touchedpropname,PyTypeObject* T)
+KX_TouchSensor::KX_TouchSensor(SCA_EventManager* eventmgr,KX_GameObject* gameobj,bool bFindMaterial,const STR_String& touchedpropname,PyTypeObject* T)
 :SCA_ISensor(gameobj,eventmgr,T),
 m_touchedpropname(touchedpropname),
 m_bFindMaterial(bFindMaterial),
@@ -94,7 +94,7 @@ m_bCollision(false),
 m_bTriggered(false),
 m_bLastTriggered(false)
 {
-	// KX_TouchEventManager* touchmgr = (KX_TouchEventManager*) eventmgr; /*unused*/
+	KX_TouchEventManager* touchmgr = (KX_TouchEventManager*) eventmgr;
 //	m_resptable = touchmgr->GetResponseTable();
 	
 //	m_solidHandle = m_sumoObj->getObjectHandle();
@@ -107,10 +107,8 @@ m_bLastTriggered(false)
 	client_info->m_auxilary_info = NULL;
 	client_info->m_sensors.push_back(this);
 	
-	KX_SumoPhysicsController *sphy = dynamic_cast<KX_SumoPhysicsController *>(gameobj->GetPhysicsController());
-	if (sphy)
-		m_sumoObj = sphy->GetSumoObject();
-
+	m_physCtrl = dynamic_cast<PHY_IPhysicsController*>(gameobj->GetPhysicsController());
+	MT_assert( !gameobj->GetPhysicsController() || m_physCtrl );
 }
 
 
@@ -136,10 +134,10 @@ CValue* KX_TouchSensor::GetReplica()
 void	KX_TouchSensor::ReParent(SCA_IObject* parent)
 {
 	KX_GameObject *gameobj = static_cast<KX_GameObject *>(parent);
-	KX_SumoPhysicsController *sphy = dynamic_cast<KX_SumoPhysicsController *>(((KX_GameObject*)parent)->GetPhysicsController());
+	PHY_IPhysicsController *sphy = dynamic_cast<PHY_IPhysicsController*>(((KX_GameObject*)parent)->GetPhysicsController());
 	if (sphy)
-		m_sumoObj = sphy->GetSumoObject();
-
+		m_physCtrl = sphy;
+	
 //	m_solidHandle = m_sumoObj->getObjectHandle();
 	KX_ClientObjectInfo *client_info = gameobj->getClientInfo();
 	client_info->m_gameobject = gameobj;
@@ -150,25 +148,25 @@ void	KX_TouchSensor::ReParent(SCA_IObject* parent)
 
 void KX_TouchSensor::RegisterSumo(KX_TouchEventManager *touchman)
 {
-	if (m_sumoObj)
+	if (m_physCtrl)
 	{
-		touchman->GetSumoScene()->requestCollisionCallback(*m_sumoObj);
+		touchman->GetPhysicsEnvironment()->requestCollisionCallback(m_physCtrl);
 		// collision
 		// Deprecated	
 
 	}
 }
 
-DT_Bool    KX_TouchSensor::HandleCollision(void* obj1,void* obj2,const DT_CollData * coll_data)
+bool	KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_CollData* colldata)
 {
-	// KX_TouchEventManager* toucheventmgr = (KX_TouchEventManager*)m_eventmgr; /*unused*/
+	KX_TouchEventManager* toucheventmgr = (KX_TouchEventManager*)m_eventmgr;
 	KX_GameObject* parent = (KX_GameObject*)GetParent();
 
-	// need the mapping from SM_Objects to gameobjects now
+	// need the mapping from PHY_IPhysicsController to gameobjects now
 	
-	KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*> (obj1 == m_sumoObj? 
-					((SM_Object*)obj2)->getClientObject() : 
-					((SM_Object*)obj1)->getClientObject());
+	KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*> (object1 == m_physCtrl? 
+					((PHY_IPhysicsController*)object2)->getNewClientInfo(): 
+					((PHY_IPhysicsController*)object1)->getNewClientInfo());
 
 	KX_GameObject* gameobj = ( client_info ? 
 			client_info->m_gameobject : 
@@ -336,11 +334,10 @@ PyObject* KX_TouchSensor::PyGetHitObjectList(PyObject* self,
 				 * - this also doesn't work (obviously) for multi-materials... 
 				 */
 				KX_GameObject* gameob = (KX_GameObject*) m_colliders->GetValue(i);
-				KX_SumoPhysicsController* spc = dynamic_cast<KX_SumoPhysicsController*>(gameob->GetPhysicsController());
-				SM_Object* smob = spc?spc->GetSumoObject():NULL;
+				PHY_IPhysicsController* spc = dynamic_cast<PHY_IPhysicsController*>(gameob->GetPhysicsController());
 				
-				if (smob) {
-					KX_ClientObjectInfo* cl_inf = static_cast<KX_ClientObjectInfo*>(smob->getClientObject());
+				if (spc) {
+					KX_ClientObjectInfo* cl_inf = static_cast<KX_ClientObjectInfo*>(spc->getNewClientInfo());
 					
 					if (m_touchedpropname == ((char*)cl_inf->m_auxilary_info)) {
 						newList->Add(m_colliders->GetValue(i)->AddRef());
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.h b/source/gameengine/Ketsji/KX_TouchSensor.h
index 9dd17a5fe83..f1a2a26e822 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.h
+++ b/source/gameengine/Ketsji/KX_TouchSensor.h
@@ -38,8 +38,7 @@
 #include "SCA_ISensor.h"
 #include "ListValue.h"
 
-#include <SOLID/SOLID.h>
-#include "SM_Scene.h"
+struct PHY_CollData;
 
 #include "KX_ClientObjectInfo.h"
 
@@ -57,10 +56,9 @@ protected:
 	bool					m_bFindMaterial;
 	class SCA_EventManager*	m_eventmgr;
 	
-	class SM_Object*		m_sumoObj;
-	DT_ObjectHandle			m_solidHandle;
-	DT_RespTableHandle		m_resptable;
-
+	class PHY_IPhysicsController*	m_physCtrl;
+	class PHY_ResponseTable*		m_responstTable;
+	class PHY_PhysicsController*	m_responsObject;
 
 	bool					m_bCollision;
 	bool					m_bTriggered;
@@ -71,7 +69,6 @@ protected:
 public:
 	KX_TouchSensor(class SCA_EventManager* eventmgr,
 		class KX_GameObject* gameobj,
-		/*class SM_Object* sumoObj,*/
 		bool fFindMaterial,
 		const STR_String& touchedpropname,
 		PyTypeObject* T=&Type) ;
@@ -84,12 +81,12 @@ public:
 	
 	virtual void RegisterSumo(KX_TouchEventManager* touchman);
 
-	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
-						 const DT_CollData * coll_data); 
-
+//	virtual DT_Bool HandleCollision(void* obj1,void* obj2,
+//						 const DT_CollData * coll_data); 
 
-	SM_Object*	GetSumoObject() { return m_sumoObj; };
+	virtual bool	NewHandleCollision(void*obj1,void*obj2,const PHY_CollData* colldata);
 
+	PHY_PhysicsController*	GetPhysicsController() { return m_responsObject;}
   
 
 	virtual bool IsPositiveTrigger() {
diff --git a/source/gameengine/Ketsji/SConscript b/source/gameengine/Ketsji/SConscript
index 35cfa47700e..0407232a9ac 100644
--- a/source/gameengine/Ketsji/SConscript
+++ b/source/gameengine/Ketsji/SConscript
@@ -26,6 +26,7 @@ source_files = ['KX_WorldIpoController.cpp',
                 'KX_SCA_AddObjectActuator.cpp',
                 'KX_RaySensor.cpp',
                 'KX_RayEventManager.cpp',
+		'KX_RayCast.cpp',
                 'KX_RadarSensor.cpp',
                 'KX_PyMath.cpp',
                 'KX_PythonInit.cpp',
diff --git a/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.cpp b/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.cpp
index ec86e510c49..e36aa4750af 100644
--- a/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.cpp
+++ b/source/gameengine/Network/LoopBackNetwork/NG_LoopBackNetworkDeviceInterface.cpp
@@ -58,6 +58,9 @@ void NG_LoopBackNetworkDeviceInterface::NextFrame()
 {
 	// Release reference to the messages while emptying the queue
 	while (m_messages[m_currentQueue].size() > 0) {
+#ifdef NAN_NET_DEBUG
+	printf("NG_LBNDI::NextFrame %d '%s'\n", m_currentQueue, m_messages[m_currentQueue][0]->GetSubject().ReadPtr());
+#endif
 		// Should do assert(m_events[0]);
 		m_messages[m_currentQueue][0]->Release();
 		m_messages[m_currentQueue].pop_front();
@@ -75,7 +78,8 @@ STR_String NG_LoopBackNetworkDeviceInterface::GetNetworkVersion()
 void NG_LoopBackNetworkDeviceInterface::SendNetworkMessage(NG_NetworkMessage* nwmsg)
 {
 #ifdef NAN_NET_DEBUG
-	printf("NG_LBNDI::SendNetworkMessage '%s'->'%s' '%s' '%s'\n",
+	printf("NG_LBNDI::SendNetworkMessage %d, '%s'->'%s' '%s' '%s'\n",
+		   1-m_currentQueue,
 		   nwmsg->GetDestinationName().ReadPtr(),
 		   nwmsg->GetSenderName().ReadPtr(),
 		   nwmsg->GetSubject().ReadPtr(),
@@ -102,7 +106,8 @@ vector<NG_NetworkMessage*> NG_LoopBackNetworkDeviceInterface::RetrieveNetworkMes
 		messages.push_back(*mesit);
 
 #ifdef NAN_NET_DEBUG
-		printf("NG_LBNDI::RetrieveNetworkMessages '%s'->'%s' '%s' '%s'\n",
+		printf("NG_LBNDI::RetrieveNetworkMessages %d '%s'->'%s' '%s' '%s'\n",
+			m_currentQueue,
 			(*mesit)->GetDestinationName().ReadPtr(),
 			(*mesit)->GetSenderName().ReadPtr(),
 			(*mesit)->GetSubject().ReadPtr(),
diff --git a/source/gameengine/Network/Makefile b/source/gameengine/Network/Makefile
index 3c5ed35e539..dd4819f46e5 100644
--- a/source/gameengine/Network/Makefile
+++ b/source/gameengine/Network/Makefile
@@ -39,6 +39,7 @@ include nan_compile.mk
 CCFLAGS += $(LEVEL_1_CPP_WARNINGS)
 
 CPPFLAGS += -I$(NAN_STRING)/include    
+CPPFLAGS += -I$(NAN_MOTO)/include    
 CPPFLAGS += -I../GameLogic
 CPPFLAGS += -I../../kernel/gen_system
 
diff --git a/source/gameengine/Network/NG_NetworkScene.cpp b/source/gameengine/Network/NG_NetworkScene.cpp
index b867791e12d..c66eb3730ac 100644
--- a/source/gameengine/Network/NG_NetworkScene.cpp
+++ b/source/gameengine/Network/NG_NetworkScene.cpp
@@ -31,7 +31,7 @@
  * NetworkSceneManagement generic implementation
  */
 #include <stdio.h>
-#include <assert.h>
+#include <MT_assert.h>
 #include <algorithm>
 
 #include "NG_NetworkScene.h"
@@ -199,7 +199,7 @@ vector<NG_NetworkMessage*> NG_NetworkScene::FindMessages(
 		// possibly it's there, but maybe not (false hit)
 		if (to.IsEmpty()) {
 			// take all messages, and check other fields
-			assert("objectnames that are empty are not valid, so make it a hobby project :)\n");
+			MT_assert(!"objectnames that are empty are not valid, so make it a hobby project :)\n");
 		} else {
 			//todo: find intersection of messages (that are in other 2 maps)
 			vector<NG_NetworkMessage*>** tolistptr = m_messagesByDestinationName[to];
diff --git a/source/gameengine/Network/SConscript b/source/gameengine/Network/SConscript
index 40e3278e9e9..489bea7a970 100755
--- a/source/gameengine/Network/SConscript
+++ b/source/gameengine/Network/SConscript
@@ -10,7 +10,8 @@ source_files = ['NG_NetworkMessage.cpp',
 
 ng_network_env.Append (CPPPATH=['.',
                                 '#source/kernel/gen_system',
-                                '#intern/string'
+                                '#intern/string',
+				'#intern/moto/include'
                                ])
 
 ng_network_env.Library (target='#'+user_options_dict['BUILD_DIR']+'/lib/NG_network', source=source_files)
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsController.cpp b/source/gameengine/Physics/BlOde/OdePhysicsController.cpp
index 6d4adc961c8..d403d5100fc 100644
--- a/source/gameengine/Physics/BlOde/OdePhysicsController.cpp
+++ b/source/gameengine/Physics/BlOde/OdePhysicsController.cpp
@@ -421,6 +421,12 @@ void ODEPhysicsController::getOrientation(float &quatImag0,float &quatImag1,floa
   quatReal=q[3];
 }
 
+void 		ODEPhysicsController::getPosition(PHY__Vector3&	pos) const
+{
+	m_MotionState->getWorldPosition(pos[0],pos[1],pos[2]);
+
+}
+	
 void ODEPhysicsController::setPosition(float posX,float posY,float posZ)
 {
   if (!m_bPhantom)
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsController.h b/source/gameengine/Physics/BlOde/OdePhysicsController.h
index d7d3ba160f7..4f4acb5cd18 100644
--- a/source/gameengine/Physics/BlOde/OdePhysicsController.h
+++ b/source/gameengine/Physics/BlOde/OdePhysicsController.h
@@ -62,6 +62,8 @@ public:
 	virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
 	virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
 	virtual	void		setPosition(float posX,float posY,float posZ);
+	virtual	void 		getPosition(PHY__Vector3&	pos) const;
+	
 	virtual	void		setScaling(float scaleX,float scaleY,float scaleZ);
 	
 	// physics methods
@@ -73,6 +75,10 @@ public:
 	virtual void		SetActive(bool active){};
 	virtual void		SuspendDynamics();
 	virtual void		RestoreDynamics();
+	virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
+	{
+		//todo ?
+	}
 
 
 	/**  
@@ -102,9 +108,13 @@ public:
 	*/
 	virtual bool	SynchronizeMotionStates(float time);
 
+	virtual void	calcXform(){}
+	virtual void SetMargin(float margin) {}
+	virtual float GetMargin() const {return 0.f;}
+
 		// clientinfo for raycasts for example
-	virtual	void*				getClientInfo() { return m_clientInfo;}
-	virtual	void				setClientInfo(void* clientinfo) {m_clientInfo = clientinfo;};
+	virtual	void*				getNewClientInfo() { return m_clientInfo;}
+	virtual	void				setNewClientInfo(void* clientinfo) {m_clientInfo = clientinfo;};
 	void*						m_clientInfo;
 
 	struct	dxBody*				GetOdeBodyId() { return m_bodyId; }
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp
index 1316311b881..54d94351815 100644
--- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp
@@ -36,12 +36,13 @@
 ODEPhysicsEnvironment::ODEPhysicsEnvironment()
 {
 	m_OdeWorld = dWorldCreate();
-	m_OdeSpace = dHashSpaceCreate();
+	m_OdeSpace = dHashSpaceCreate(0);
 	m_OdeContactGroup = dJointGroupCreate (0);
 	dWorldSetCFM (m_OdeWorld,1e-5f);
 
 	m_JointGroup = dJointGroupCreate(0);
-	
+
+	setFixedTimeStep(true,1.f/60.f);
 }
 
 
@@ -55,19 +56,60 @@ ODEPhysicsEnvironment::~ODEPhysicsEnvironment()
 	dWorldDestroy (m_OdeWorld);
 }
 
-bool ODEPhysicsEnvironment::proceed(double timeStep)
+
+
+void		ODEPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
 {
-	// ode collision update
-	dSpaceCollide (m_OdeSpace,this,&ODEPhysicsEnvironment::OdeNearCallback);
+	m_useFixedTimeStep = useFixedTimeStep;
 
-	int m_odeContacts = GetNumOdeContacts();
-	
-	//physics integrator + resolver update
-	dWorldStep (m_OdeWorld,timeStep);
-	
-	//clear collision points
-	this->ClearOdeContactGroup();
-	
+	if (useFixedTimeStep)
+	{
+		m_fixedTimeStep = fixedTimeStep;
+	} else
+	{
+		m_fixedTimeStep = 0.f;
+	}
+	m_currentTime = 0.f;
+
+	//todo:implement fixed timestepping
+
+}
+float		ODEPhysicsEnvironment::getFixedTimeStep()
+{
+	return m_fixedTimeStep;
+}
+
+
+
+bool		ODEPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep1)
+{
+
+	float deltaTime = timeStep1;
+	int	numSteps = 1;
+
+	if (m_useFixedTimeStep)
+	{
+		m_currentTime += timeStep1;		
+		// equal to subSampling (might be a little smaller).
+		numSteps = (int)(m_currentTime / m_fixedTimeStep);
+		m_currentTime -= m_fixedTimeStep * (float)numSteps;
+		deltaTime = m_fixedTimeStep;
+		//todo: experiment by smoothing the remaining time over the substeps
+	}
+
+	for (int i=0;i<numSteps;i++)
+	{
+		// ode collision update
+		dSpaceCollide (m_OdeSpace,this,&ODEPhysicsEnvironment::OdeNearCallback);
+
+		int m_odeContacts = GetNumOdeContacts();
+		
+		//physics integrator + resolver update
+		dWorldStep (m_OdeWorld,deltaTime);
+		
+		//clear collision points
+		this->ClearOdeContactGroup();
+	}
 	return true;
 }
 
@@ -168,9 +210,11 @@ void		ODEPhysicsEnvironment::removeConstraint(int constraintid)
 	}
 }
 
-PHY_IPhysicsController* ODEPhysicsEnvironment::rayTest(void* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+PHY_IPhysicsController* ODEPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 									float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
 {
+
+	//m_OdeWorld
 	//collision detection / raytesting
 	return NULL;
 }
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h
index 828e3ff3269..2214d642d7b 100644
--- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h
+++ b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h
@@ -32,20 +32,44 @@
 class ODEPhysicsEnvironment : public PHY_IPhysicsEnvironment
 {
 
+	bool	m_useFixedTimeStep;
+	float	m_fixedTimeStep;
+	float	m_currentTime;
+
 public:
 	ODEPhysicsEnvironment();
 	virtual		~ODEPhysicsEnvironment();
+	virtual	void		beginFrame() {}
+	virtual void		endFrame() {}
+
+
 // Perform an integration step of duration 'timeStep'.
-	virtual	bool		proceed(double	timeStep);
+	virtual	bool		proceedDeltaTime(double  curTime,float timeStep);
+	virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep);
+	virtual	float		getFixedTimeStep();
+
 	virtual	void		setGravity(float x,float y,float z);
 	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);
 
 	virtual void		removeConstraint(int constraintid);
-	virtual PHY_IPhysicsController* rayTest(void* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+	virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 									float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
 
+
+	//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 requestCollisionCallback(PHY_IPhysicsController* ctrl) {}
+	virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;}
+	virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;}
+
+
+
 	struct dxWorld*	GetOdeWorld() { return m_OdeWorld;	};
 	struct	dxSpace* GetOdeSpace() { return m_OdeSpace;};
 
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
index d0abd6e3859..a640acd9b3d 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp
@@ -58,7 +58,9 @@ void DummyPhysicsEnvironment::endFrame()
 	// end of logic frame: clear forces
 }
 
-bool DummyPhysicsEnvironment::proceed(double timeStep)
+
+
+bool		DummyPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep)
 {
 	//step physics simulation, typically perform
 	
@@ -68,6 +70,17 @@ bool DummyPhysicsEnvironment::proceed(double timeStep)
 	// return true if an update was done.
 	return true;
 }
+void		DummyPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
+{
+}
+ 
+float		DummyPhysicsEnvironment::getFixedTimeStep()
+{
+	return 0.f;
+}
+
+
+
 
 void DummyPhysicsEnvironment::setGravity(float x,float y,float z)
 {
@@ -95,7 +108,7 @@ void		DummyPhysicsEnvironment::removeConstraint(int constraintid)
 	}
 }
 
-PHY_IPhysicsController* DummyPhysicsEnvironment::rayTest(void* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+PHY_IPhysicsController* DummyPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 									float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
 {
 	//collision detection / raytesting
diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
index 65f42141045..fde27e822d6 100644
--- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
@@ -51,7 +51,10 @@ public:
 	virtual void		beginFrame();
 	virtual void		endFrame();
 // Perform an integration step of duration 'timeStep'.
-	virtual	bool		proceed (double	timeStep);
+	virtual	bool		proceedDeltaTime(double  curTime,float timeStep);
+	virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep);
+	virtual	float		getFixedTimeStep();
+
 	virtual	void		setGravity(float x,float y,float z);
 
 	virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
@@ -59,10 +62,21 @@ public:
 			float axisX,float axisY,float axisZ);
 
 	virtual void		removeConstraint(int constraintid);
-	virtual PHY_IPhysicsController* rayTest(void* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+	virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 									float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
 
 
+	//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 requestCollisionCallback(PHY_IPhysicsController* ctrl) {}
+		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;}
+		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;}
+
+
 };
 
 #endif //_DUMMYPHYSICSENVIRONMENT
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
index 07eb5a7637f..1911e186a1c 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
@@ -264,7 +264,13 @@ public:
 	
 	SM_ClientObject *getClientObject() { return m_client_object; }
 	void setClientObject(SM_ClientObject *client_object) { m_client_object = client_object; }
-	
+	void	setPhysicsClientObject(void* physicsClientObject)
+	{
+		m_physicsClientObject = physicsClientObject;
+	}
+	void*	getPhysicsClientObject() {
+		return m_physicsClientObject;
+	}
 	void relax();
 	
 	SM_MotionState &getCurrentFrame();
@@ -325,6 +331,8 @@ private:
 	// on an SM_Object, there must be a way that the SM_Object client
 	// can identify it's clientdata after a collision
 	SM_ClientObject        *m_client_object;
+	
+	void*					m_physicsClientObject;
 
 	DT_ShapeHandle          m_shape;                 // Shape for collision detection
 
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
index ab1db7c7941..fe1ac9becd9 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
+++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
@@ -42,6 +42,8 @@
 #pragma warning( disable : 4786 )     
 #endif
 
+#include "MT_assert.h"
+
 #include "SM_Object.h"
 #include "SM_Scene.h"
 #include "SM_FhObject.h"
@@ -147,7 +149,7 @@ SM_Object::SM_Object(
 	
 	m_dynamicParent(dynamicParent),
 	m_client_object(0),
-	
+	m_physicsClientObject(0),
 	m_shape(shape),
 	m_materialProps(materialProps),
 	m_materialPropsBackup(0),
@@ -385,7 +387,7 @@ void SM_Object::dynamicCollision(const MT_Point3 &local2,
 
 			// I guess the GEN_max is not necessary, so let's check it
 
-			assert(impulse >= 0.0);
+			MT_assert(impulse >= 0.0);
 
 			/**
 			 * Here's the trick. We compute the impulse to make the
@@ -481,7 +483,7 @@ DT_Bool SM_Object::boing(
 	if (dist < MT_EPSILON)
 		return DT_CONTINUE;
 		
-	// Now we are definately intersecting.
+	// Now we are definitely intersecting.
 
 	// Set callbacks for game engine.
 	if ((obj1->getClientObject() && obj1->getClientObject()->hasCollisionCallback()) || 
@@ -595,7 +597,7 @@ void SM_Object::relax(void)
 SM_Object::SM_Object() :
 	m_dynamicParent(0),
 	m_client_object(0),
-	
+	m_physicsClientObject(0),
 	m_shape(0),
 	m_materialProps(0),
 	m_materialPropsBackup(0),
@@ -868,7 +870,7 @@ SM_Object::
 setOrientation(
 	const MT_Quaternion& orn
 ){
-	assert(!orn.fuzzyZero());
+	MT_assert(!orn.fuzzyZero());
 	m_kinematic = true;
 	getNextFrame().setOrientation(orn);
 	endFrame();
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp
index fdd8079b241..081a2fb9794 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp
+++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp
@@ -140,7 +140,8 @@ void SM_Scene::requestCollisionCallback(SM_Object &object)
 //	DT_SetResponseClass(m_fixRespTable, object.getObjectHandle(), m_fixResponseClass[OBJECT_RESPONSE]);
 }
 
-void SM_Scene::remove(SM_Object& object) { 	
+void SM_Scene::remove(SM_Object& object) {
+	//std::cout << "SM_Scene::remove this =" << this << "object = " << &object << std::endl;
 	T_ObjectList::iterator i =
 		std::find(m_objectList.begin(), m_objectList.end(), &object);
 	if (!(i == m_objectList.end()))
@@ -358,6 +359,7 @@ DT_Bool SM_Scene::boing(
 
 SM_Scene::~SM_Scene()
 { 
+	//std::cout << "SM_Scene::~ SM_Scene(): destroy " << this << std::endl;
 //	if (m_objectList.begin() != m_objectList.end()) 
 //		std::cout << "SM_Scene::~SM_Scene: There are still objects in the Sumo scene!" << std::endl;
 	for (T_ObjectList::iterator it = m_objectList.begin() ; it != m_objectList.end() ; it++)
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
index 46eeef264de..5ff47b475d1 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp
@@ -35,6 +35,7 @@
 #include "SM_Object.h"
 #include "MT_Quaternion.h"
 
+
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
@@ -54,7 +55,16 @@ SumoPhysicsController::SumoPhysicsController(
 {
 	if (m_sumoObj)
 	{
-		//m_sumoObj->setClientObject(this);
+
+		PHY__Vector3 pos1;
+		getPosition(pos1);
+		MT_Point3 pos(pos1);
+		
+		//temp debugging check
+		//assert(pos.length() < 100000.f);
+
+		//need this to do the upcast after the solid/sumo collision callback
+		m_sumoObj->setPhysicsClientObject(this);
 		//if it is a dyna, register for a callback
 		m_sumoObj->registerCallback(*this);
 	}
@@ -105,8 +115,25 @@ void SumoPhysicsController::GetWorldOrientation(MT_Matrix3x3& mat)
 
 }
 
+void SumoPhysicsController::getPosition(PHY__Vector3&	pos) const
+{
+	assert(m_sumoObj);
+
+	pos[0] = m_sumoObj->getPosition()[0];
+	pos[1] = m_sumoObj->getPosition()[0];
+	pos[2] = m_sumoObj->getPosition()[0];
+
+	//m_MotionState->getWorldPosition(pos[0],pos[1],pos[2]);
+}
+
 void SumoPhysicsController::GetWorldPosition(MT_Point3& pos)
 {
+//	assert(m_sumoObj);
+
+//	pos[0] = m_sumoObj->getPosition()[0];
+//	pos[1] = m_sumoObj->getPosition()[0];
+//	pos[2] = m_sumoObj->getPosition()[0];
+
 	float worldpos[3];
 	m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]);
 	pos[0]=worldpos[0];
@@ -237,16 +264,15 @@ void		SumoPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,flo
 	}
 }
 
-void SumoPhysicsController::resolveCombinedVelocities(
-		const MT_Vector3 & lin_vel,
-		const MT_Vector3 & ang_vel
-	)
+void		SumoPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
 	if (m_sumoObj)
-		m_sumoObj->resolveCombinedVelocities(lin_vel, ang_vel);
+		m_sumoObj->resolveCombinedVelocities(MT_Vector3(linvelX,linvelY,linvelZ),MT_Vector3(angVelX,angVelY,angVelZ));
 }
 
 
+
+
 void		SumoPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
 {
 	if (m_sumoObj)
@@ -385,9 +411,11 @@ void	SumoPhysicsController::WriteMotionStateToDynamics(bool)
 
 void SumoPhysicsController::do_me()
 {
+	MT_assert(m_sumoObj);
 	const MT_Point3& pos = m_sumoObj->getPosition();
 	const MT_Quaternion& orn = m_sumoObj->getOrientation();
 
+	MT_assert(m_MotionState);
 	m_MotionState->setWorldPosition(pos[0],pos[1],pos[2]);
 	m_MotionState->setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
 }
@@ -419,3 +447,51 @@ void	SumoPhysicsController::setSumoTransform(bool nondynaonly)
 		}
 	}
 }
+
+
+	// clientinfo for raycasts for example
+void*				SumoPhysicsController::getNewClientInfo()
+{
+	if (m_sumoObj)
+		return m_sumoObj->getClientObject();
+	return 0;
+
+}
+void				SumoPhysicsController::setNewClientInfo(void* clientinfo)
+{
+	if (m_sumoObj)
+	{
+		SM_ClientObject* clOb = static_cast<SM_ClientObject*> (clientinfo);
+		m_sumoObj->setClientObject(clOb);
+	}
+
+}
+
+void	SumoPhysicsController::calcXform()
+{
+	if (m_sumoObj)
+		m_sumoObj->calcXform();
+}
+
+void SumoPhysicsController::SetMargin(float margin) 
+{
+	if (m_sumoObj)
+		m_sumoObj->setMargin(margin);
+}
+
+float SumoPhysicsController::GetMargin() const
+{
+	if (m_sumoObj)
+		m_sumoObj->getMargin();
+	return 0.f;
+}
+
+float SumoPhysicsController::GetRadius() const 
+{
+	if (m_sumoObj && m_sumoObj->getShapeProps())
+	{
+		return m_sumoObj->getShapeProps()->m_radius;
+	}
+	return 0.f;
+
+}
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.h b/source/gameengine/Physics/Sumo/SumoPhysicsController.h
index 26ff52600f3..349c8cc24a6 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsController.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.h
@@ -72,6 +72,8 @@ public:
 	virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
 	virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
 	virtual	void		setPosition(float posX,float posY,float posZ);
+	virtual	void 		getPosition(PHY__Vector3&	pos) const;
+
 	virtual	void		setScaling(float scaleX,float scaleY,float scaleZ);
 	/*@}*/
 	
@@ -83,7 +85,7 @@ public:
 	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		resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel );
+	virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
 	virtual void		applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
 	virtual void		SetActive(bool active){};
 	virtual void		SuspendDynamics();
@@ -117,10 +119,16 @@ public:
 	 */
 	virtual bool	SynchronizeMotionStates(float time);
 
-	// clientinfo for raycasts for example
-	virtual	void*				getClientInfo() { return m_clientInfo;}
-	virtual	void				setClientInfo(void* clientinfo) {m_clientInfo = clientinfo;};
+	virtual void	calcXform();
+	virtual void SetMargin(float margin) ;
+	virtual float GetMargin() const;
+	virtual float GetRadius() const ;
+
 
+	// clientinfo for raycasts for example
+	virtual	void*				getNewClientInfo();
+	virtual	void				setNewClientInfo(void* clientinfo);
+	
 	float	getFriction() { return m_friction;}
 	float	getRestitution() { return m_restitution;}
 
@@ -173,8 +181,6 @@ private:
 
 	class	PHY_IMotionState*	m_MotionState;
 	
-	void*				m_clientInfo;
-
 	
 };
 
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
index f035bfb4cf2..2b29b2602a8 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
@@ -33,15 +33,20 @@
 #include "PHY_IMotionState.h"
 #include "SumoPhysicsController.h"
 #include "SM_Scene.h"
+#include "SumoPHYCallbackBridge.h"
+#include <SOLID/SOLID.h>
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
 
-MT_Scalar SumoPhysicsEnvironment::PhysicsTicRate = 60.0;
 
 SumoPhysicsEnvironment::SumoPhysicsEnvironment()
 {
+	m_fixedTimeStep = 1.f/60.f;
+	m_useFixedTimeStep = true;
+	m_currentTime = 0.f;
+
 	m_sumoScene = new SM_Scene();
 }
 
@@ -52,15 +57,7 @@ SumoPhysicsEnvironment::~SumoPhysicsEnvironment()
 	delete m_sumoScene;
 }
 
-void SumoPhysicsEnvironment::setTicRate(MT_Scalar ticrate)
-{
-	PhysicsTicRate = ticrate;
-}
 
-MT_Scalar SumoPhysicsEnvironment::getTicRate()
-{
-	return PhysicsTicRate;
-}
 
 void SumoPhysicsEnvironment::beginFrame()
 {
@@ -72,9 +69,42 @@ void SumoPhysicsEnvironment::endFrame()
 	m_sumoScene->endFrame();
 }
 
-bool SumoPhysicsEnvironment::proceed(double curtime)
+void		SumoPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
 {
-	return m_sumoScene->proceed(curtime, PhysicsTicRate);
+	m_useFixedTimeStep = useFixedTimeStep;
+	if (m_useFixedTimeStep)
+	{
+		m_fixedTimeStep = fixedTimeStep;
+	} else
+	{
+		m_fixedTimeStep  = 0.f;
+	}
+	//reset current time ?
+	m_currentTime = 0.f;
+}
+float		SumoPhysicsEnvironment::getFixedTimeStep()
+{
+	return m_fixedTimeStep;
+}
+
+
+bool		SumoPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep)
+{
+	
+	bool result = false;
+	if (m_useFixedTimeStep)
+	{
+		m_currentTime += timeStep;
+		float ticrate = 1.f/m_fixedTimeStep;
+
+		result = m_sumoScene->proceed(curTime, ticrate);
+	} else
+	{
+		m_currentTime += timeStep;
+		float ticrate = 1.f/timeStep;
+		result = m_sumoScene->proceed(m_currentTime, timeStep);
+	}
+	return result;
 }
 
 void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
@@ -100,17 +130,28 @@ void SumoPhysicsEnvironment::removeConstraint(int constraintid)
 	}
 }
 
-PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(void* ignoreClient, 
+PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClientCtrl, 
 	float fromX,float fromY,float fromZ, 
 	float toX,float toY,float toZ, 
 	float& hitX,float& hitY,float& hitZ,
 	float& normalX,float& normalY,float& normalZ)
 {
+	SumoPhysicsController* ignoreCtr = static_cast<SumoPhysicsController*> (ignoreClientCtrl);
+
 	//collision detection / raytesting
 	MT_Point3 hit, normal;
-	/* FIXME: Return type is not a PHY_IPhysicsController */
-	PHY_IPhysicsController *ret = (PHY_IPhysicsController *) m_sumoScene->rayTest(ignoreClient,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal);
-	
+	PHY_IPhysicsController *ret = 0;
+
+	SM_Object* sm_ignore = 0;
+	if (ignoreCtr)
+		sm_ignore = ignoreCtr->GetSumoObject();
+
+
+	SM_Object* smOb = m_sumoScene->rayTest(sm_ignore,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal);
+	if (smOb)
+	{
+		ret = (PHY_IPhysicsController *) smOb->getPhysicsClientObject();
+	}
 	hitX = hit[0];
 	hitY = hit[1];
 	hitZ = hit[2];
@@ -119,9 +160,101 @@ PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(void* ignoreClient,
 	normalY = normal[1];
 	normalZ = normal[2];
 	
-	assert(false);
-	
 	return ret;
 }
+//gamelogic callbacks
+void SumoPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
+{
+	SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
+	SM_Object* smObject = smctrl->GetSumoObject();
+	assert(smObject);
+	if (smObject)
+	{
+		m_sumoScene->addSensor(*smObject);
+	}
+}
+void SumoPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
+{
+	SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
+	SM_Object* smObject = smctrl->GetSumoObject();
+	assert(smObject);
+	if (smObject)
+	{
+		m_sumoScene->remove(*smObject);
+	}
+}
+
+
+void SumoPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
+{
+	
+	int sumoRespClass = 0;
+
+	//map PHY_ convention into SM_ convention
+	switch (response_class)
+	{
+	case	PHY_FH_RESPONSE:
+			sumoRespClass = FH_RESPONSE; 
+		break;
+	case PHY_SENSOR_RESPONSE:
+		sumoRespClass = SENSOR_RESPONSE;
+		break;
+	case PHY_CAMERA_RESPONSE:
+		sumoRespClass =CAMERA_RESPONSE;
+		break;
+	case PHY_OBJECT_RESPONSE:
+		sumoRespClass = OBJECT_RESPONSE;
+		break;
+	case PHY_STATIC_RESPONSE:
+		sumoRespClass = PHY_STATIC_RESPONSE;
+		break;
+	default:
+		assert(0);
+		return;
+	}
+
+	SumoPHYCallbackBridge* bridge = new SumoPHYCallbackBridge(user,callback);
+
+	m_sumoScene->addTouchCallback(sumoRespClass,SumoPHYCallbackBridge::StaticSolidToPHYCallback,bridge);
+}
+void SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
+{
+	SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl);
+	MT_assert(smctrl);
+	SM_Object* smObject = smctrl->GetSumoObject();
+	MT_assert(smObject);
+	if (smObject)
+	{
+		//assert(smObject->getPhysicsClientObject() == ctrl);
+		smObject->setPhysicsClientObject(ctrl);
+	
+		m_sumoScene->requestCollisionCallback(*smObject);
+	}
+}
+PHY_IPhysicsController*	SumoPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
+{
+	DT_ShapeHandle shape	=	DT_NewSphere(0.0);
+	SM_Object* ob = new SM_Object(shape,0,0,0);	
+	ob->setPosition(MT_Point3(position));
+	//testing
+	MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));		
+	ob->setOrientation(rotquatje);
+
+	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
+	ctrl->SetMargin(radius);
+	return ctrl;
+}
+PHY_IPhysicsController* SumoPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
+{
+	DT_ShapeHandle shape	=	DT_NewCone(coneradius,coneheight);
+	SM_Object* ob = new SM_Object(shape,0,0,0);	
+	ob->setPosition(MT_Point3(0.f,0.f,0.f));
+	MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));		
+	ob->setOrientation(rotquatje);
+
+	PHY_IPhysicsController* ctrl = new SumoPhysicsController(m_sumoScene,ob,0,false);
+
+	return ctrl;
+}
 
 
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
index aba341360f9..62672d8ba48 100644
--- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h
@@ -35,7 +35,8 @@
 #include "MT_Scalar.h"
 
 #include "PHY_IPhysicsEnvironment.h"
-
+class SumoPHYCallbackBridge;
+#include <vector>
 /**
 *	Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
 *	A derived class may be able to 'construct' entities by loading and/or converting
@@ -44,6 +45,11 @@ class SumoPhysicsEnvironment : public PHY_IPhysicsEnvironment
 {
 
 	class SM_Scene*	m_sumoScene;
+	float	m_currentTime;
+	float	m_fixedTimeStep;
+	bool	m_useFixedTimeStep;
+
+	std::vector<SumoPHYCallbackBridge*>	m_callbacks;
 
 public:
 	SumoPhysicsEnvironment();
@@ -51,19 +57,29 @@ public:
 	virtual	void		beginFrame();
 	virtual void		endFrame();
 // Perform an integration step of duration 'timeStep'.
-	virtual	bool		proceed(double curtime);
+	virtual	bool		proceedDeltaTime(double  curTime,float timeStep);
+	virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep);
+	virtual	float		getFixedTimeStep();
+
 	virtual	void		setGravity(float x,float y,float z);
 	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);
 
 	virtual void		removeConstraint(int constraintid);
-	virtual PHY_IPhysicsController* rayTest(void* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+	virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 									float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
 
-	static void setTicRate(MT_Scalar ticrate);
-	static MT_Scalar getTicRate();
-	// sumo specific
+	
+	//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 requestCollisionCallback(PHY_IPhysicsController* ctrl);
+	virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
+	virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
+
+
 	SM_Scene* GetSumoScene()
 	{
 		return m_sumoScene;
diff --git a/source/gameengine/Physics/common/PHY_DynamicTypes.h b/source/gameengine/Physics/common/PHY_DynamicTypes.h
index 336e29e827a..f800a5494cb 100644
--- a/source/gameengine/Physics/common/PHY_DynamicTypes.h
+++ b/source/gameengine/Physics/common/PHY_DynamicTypes.h
@@ -42,6 +42,54 @@ typedef enum PHY_ScalarType {
 	PHY_FIXEDPOINT88
 } PHY_ScalarType;
 
+class	PHY_ResponseTable;
+
+class PHY_Shape;
+
+struct	PHY__Vector3
+{
+	float	m_vec[4];
+	operator const float* () const 
+	{ 
+		return &m_vec[0];
+	}	
+	operator float* () 
+	{ 
+		return &m_vec[0];
+	}	
+};
+//typedef 	float	PHY__Vector3[4];
+
+typedef enum
+{
+	PHY_FH_RESPONSE,
+	PHY_SENSOR_RESPONSE,		/* Touch Sensors */
+	PHY_CAMERA_RESPONSE,	/* Visibility Culling */
+	PHY_OBJECT_RESPONSE,	/* Object Dynamic Geometry Response */
+	PHY_STATIC_RESPONSE,	/* Static Geometry Response */
+	
+	PHY_NUM_RESPONSE
+};
+
+	typedef struct PHY_CollData {
+		PHY__Vector3 m_point1;               /* Point in object1 in world coordinates */ 
+		PHY__Vector3 m_point2;               /* Point in object2 in world coordinates */
+		PHY__Vector3 m_normal;               /* point2 - point1 */ 
+	} PHY_CollData;
+
+/* A response callback is called by SOLID for each pair of collding objects. 'client-data'
+   is a pointer to an arbitrary structure in the client application. The client objects are
+   pointers to structures in the client application associated with the coliding objects.
+   'coll_data' is the collision data computed by SOLID.
+*/
+
+	typedef bool (*PHY_ResponseCallback)(void *client_data,
+										   void *client_object1,
+										   void *client_object2,
+										   const PHY_CollData *coll_data);
+		
+
+
 /// PHY_PhysicsType enumerates all possible Physics Entities.
 /// It is mainly used to create/add Physics Objects
 
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h
index f517abc54ff..cdf203ac17e 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsController.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h
@@ -32,7 +32,7 @@
 #ifndef PHY_IPHYSICSCONTROLLER_H
 #define PHY_IPHYSICSCONTROLLER_H
 
-#include "MT_Vector3.h"
+#include "PHY_DynamicTypes.h"
 
 /**
 	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
@@ -65,6 +65,7 @@ class PHY_IPhysicsController
 		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(PHY__Vector3&	pos) const=0;
 		virtual	void		setScaling(float scaleX,float scaleY,float scaleZ)=0;
 		
 		// physics methods
@@ -72,7 +73,8 @@ class PHY_IPhysicsController
 		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(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel ) = 0;
+		virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
+
 		virtual void		applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
 		virtual void		SetActive(bool active)=0;
 
@@ -85,8 +87,16 @@ class PHY_IPhysicsController
 		virtual	void		setRigidBody(bool rigid)=0;
 
 		// clientinfo for raycasts for example
-		virtual	void*				getClientInfo()=0;
-		virtual	void				setClientInfo(void* clientinfo)=0;
+		virtual	void*				getNewClientInfo()=0;
+		virtual	void				setNewClientInfo(void* clientinfo)=0;
+		virtual PHY_IPhysicsController*	GetReplica() {return 0;}
+
+		virtual void	calcXform() =0;
+		virtual void SetMargin(float margin) =0;
+		virtual float GetMargin() const=0;
+		virtual float GetRadius() const { return 0.f;}
+		PHY__Vector3	GetWorldPosition(PHY__Vector3& localpos);
+
 };
 
 #endif //PHY_IPHYSICSCONTROLLER_H
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 0fdac35f514..2ffcf80a62b 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -46,7 +46,12 @@ class PHY_IPhysicsEnvironment
 		virtual	void		beginFrame() = 0;
 		virtual void		endFrame() = 0;
 		/// Perform an integration step of duration 'timeStep'.
-		virtual	bool		proceed(double	timeStep)=0;
+		virtual	bool		proceedDeltaTime(double curTime,float timeStep)=0;
+		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0;
+		//returns 0.f if no fixed timestep is used
+		virtual	float		getFixedTimeStep()=0;
+
+
 		virtual	void		setGravity(float x,float y,float z)=0;
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
@@ -54,8 +59,19 @@ class PHY_IPhysicsEnvironment
 			float axisX,float axisY,float axisZ)=0;
 		virtual void		removeConstraint(int constraintid)=0;
 
-		virtual PHY_IPhysicsController* rayTest(void* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)=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 void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
+		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) =0;
+		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
+		
 };
 
 #endif //_IPHYSICSENVIRONMENT
diff --git a/source/gameengine/PyDoc/KX_PolygonMaterial.py b/source/gameengine/PyDoc/KX_PolygonMaterial.py
index c86817a40f1..cfc4257f95d 100644
--- a/source/gameengine/PyDoc/KX_PolygonMaterial.py
+++ b/source/gameengine/PyDoc/KX_PolygonMaterial.py
@@ -120,7 +120,7 @@ class KX_PolygonMaterial:
 					print "Shader failed to validate"
 					return
 				
-			def Activate(self, rasty, cachingInfo, mat):
+			def activate(self, rasty, cachingInfo, mat):
 				self.pass_no+=1
 				if (self.pass_no == 1):
 					glDisable(GL_COLOR_MATERIAL)
@@ -246,7 +246,7 @@ class KX_PolygonMaterial:
 		Example::
 			class PyMaterial:
 				def __init__(self):
-					self.pass_no = 0
+					self.pass_no = -1
 				
 				def activate(self, rasty, cachingInfo, material):
 					# Activate the material here.
@@ -262,13 +262,14 @@ class KX_PolygonMaterial:
 					#          was added to
 					
 					# default material properties:
+					self.pass_no += 1
 					if self.pass_no == 0:
 						material.activate(rasty, cachingInfo)
-						self.pass_no = 1
 						# Return True to do this pass
 						return True
 					
-					self.pass_no = 0
+					# clean up and return False to finish.
+					self.pass_no = -1
 					return False
 			
 			# Create a new Python Material and pass it to the renderer.