937 files changed, 48582 insertions, 43491 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2d70716a468..45caf48091b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,6 +63,7 @@ OPTION(WITH_OPENEXR		"Enable OpenEXR Support (http://www.openexr.com)"	ON)
 OPTION(WITH_DDS			"Enable DDS Support"                                   	ON)
 OPTION(WITH_FFMPEG		"Enable FFMPeg Support (http://ffmpeg.mplayerhq.hu/)"	OFF)
 OPTION(WITH_PYTHON		"Enable Embedded Python API"				ON)
+OPTION(WITH_OPENJPEG		"Enable OpenJpeg Support (http://www.openjpeg.org/)"	OFF)
 OPTION(WITH_OPENAL		"Enable OpenAL Support (http://www.openal.org)"		ON)
 OPTION(WITH_OPENMP		"Enable OpenMP (has to be supported by the compiler)"	OFF)
 OPTION(WITH_WEBPLUGIN		"Enable Web Plugin (Unix only)"				OFF)
@@ -439,6 +440,9 @@ SET(FTGL ${CMAKE_SOURCE_DIR}/extern/bFTGL)
 SET(FTGL_INC ${FTGL}/include)
 SET(FTGL_LIB extern_ftgl)
 
+set(OPENJPEG ${CMAKE_SOURCE_DIR}/extern/libopenjpeg)
+set(OPENJPEG_INC ${OPENJPEG})
+set(OPENJPEG_LIb extern_libopenjpeg)
 
 #-----------------------------------------------------------------------------
 # Blender WebPlugin
diff --git a/Makefile b/Makefile
index b983779fb31..7c883c41741 100644
--- a/Makefile
+++ b/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 # $Id$
 #
 # ***** BEGIN GPL LICENSE BLOCK *****
@@ -21,7 +23,7 @@
 #
 # The Original Code is: revision 1.1
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
@@ -31,12 +33,11 @@
 # If the user wants to override some of the build
 # vars they can put it in the file user-def.mk which
 # will get included if it exists (please do not commit
-# user-def.mk to cvs).
-
+# user-def.mk to the revision control server).
 sinclude user-def.mk
 
-# To build without openAL, uncomment the following line, or set it as
-# an environment variable, or put it uncommented in user-def.mk:
+# To build without openAL, set it as an environment variable,
+# or put it uncommented in user-def.mk:
 # export NAN_NO_OPENAL=true
 
 export NANBLENDERHOME=$(shell pwd)
@@ -44,13 +45,9 @@ MAKEFLAGS=-I$(NANBLENDERHOME)/source --no-print-directory
 
 SOURCEDIR = 
 ifeq ($(FREE_WINDOWS),true)
-    DIRS ?= dlltool extern intern source
-endif
-
-DIRS ?= extern intern source
-
-ifneq ($(INTERNATIONAL),false)
-    DIRS += po
+    DIRS ?= dlltool extern intern source po
+else
+    DIRS ?= extern intern source po
 endif
 
 include source/nan_subdirs.mk
diff --git a/SConstruct b/SConstruct
index 72acbf845d7..c91b44e3659 100644
--- a/SConstruct
+++ b/SConstruct
@@ -288,6 +288,7 @@ if 'blenderlite' in B.targets:
 	env['WITH_BF_PNG'] = False
 	env['WITH_BF_ODE'] = False
 	env['WITH_BF_BULLET'] = False
+	env['WITH_BF_SOLID'] = False
 	env['WITH_BF_BINRELOC'] = False
 	env['BF_BUILDINFO'] = False
 	env['BF_NO_ELBEEM'] = True
diff --git a/blenderplayer/CMakeLists.txt b/blenderplayer/CMakeLists.txt
index f02650f7ea0..b9ac3c7a8c6 100644
--- a/blenderplayer/CMakeLists.txt
+++ b/blenderplayer/CMakeLists.txt
@@ -104,6 +104,7 @@ IF(UNIX)
     bf_blenlib 
     bf_cineon 
     bf_openexr 
+    extern_libopenjpeg 
     bf_dds
     bf_ftfont 
     extern_ftgl 
diff --git a/config/linux2-config.py b/config/linux2-config.py
index b2ca4c1822b..45363f16cb0 100644
--- a/config/linux2-config.py
+++ b/config/linux2-config.py
@@ -2,6 +2,7 @@ LCGDIR = '../lib/linux2'
 LIBDIR = "${LCGDIR}"
 
 BF_PYTHON = '/usr'
+BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib'
 BF_PYTHON_VERSION = '2.5'
 WITH_BF_STATICPYTHON = False
 BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
diff --git a/extern/CMakeLists.txt b/extern/CMakeLists.txt
index ee5cab31e09..b81efb52de9 100644
--- a/extern/CMakeLists.txt
+++ b/extern/CMakeLists.txt
@@ -29,7 +29,7 @@ IF(WITH_GAMEENGINE)
 ENDIF(WITH_GAMEENGINE)
 
 IF(WITH_BULLET)
-    SUBDIRS(bullet2)
+  SUBDIRS(bullet2)
 ENDIF(WITH_BULLET)
 
 IF(WITH_INTERNATIONAL)
@@ -46,3 +46,6 @@ ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
 
 SUBDIRS(glew)
 
+IF(WITH_OPENJPEG)
+  SUBDIRS(libopenjpeg)
+ENDIF(WITH_OPENJPEG)
diff --git a/extern/Makefile b/extern/Makefile
index 51213698ebb..38bec4b73dd 100644
--- a/extern/Makefile
+++ b/extern/Makefile
@@ -57,6 +57,10 @@ ifeq ($(WITH_BINRELOC), true)
     DIRS += binreloc
 endif
 
+ifeq ($(WITH_OPENJPEG), true)
+    DIRS += libopenjpeg
+endif
+
 TARGET = solid
 
 all::
diff --git a/extern/SConscript b/extern/SConscript
index 972d2a8e703..716aee8991f 100644
--- a/extern/SConscript
+++ b/extern/SConscript
@@ -5,8 +5,8 @@ Import('env')
 SConscript(['glew/SConscript'])
 
 if env['WITH_BF_GAMEENGINE']:
-    SConscript(['qhull/SConscript',
-            'solid/SConscript'])
+	if env['WITH_BF_SOLID']:
+		SConscript(['qhull/SConscript', 'solid/SConscript'])
 
 if env['WITH_BF_BULLET']:
     SConscript(['bullet2/src/SConscript'])
diff --git a/extern/bFTGL/src/Makefile b/extern/bFTGL/src/Makefile
index 17c6016ad03..d91bcb2559d 100644
--- a/extern/bFTGL/src/Makefile
+++ b/extern/bFTGL/src/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
@@ -46,15 +48,13 @@ CPPFLAGS += -I../include
 CPPFLAGS += -I$(NAN_FREETYPE)/include -I$(NAN_FREETYPE)/include/freetype2
 CPPFLAGS += -I$(OPENGL_HEADERS) 
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_FTGL) ] || mkdir -p $(NAN_FTGL)
 	@[ -d $(NAN_FTGL)/include ] || mkdir -p $(NAN_FTGL)/include
-	@[ -d $(NAN_FTGL)/lib ] || mkdir -p $(NAN_FTGL)/lib
-	@[ -d $(NAN_FTGL)/lib/debug ] || mkdir -p $(NAN_FTGL)/lib/debug
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/lib$(LIBNAME).a $(NAN_FTGL)/lib/
-#	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/debug/lib$(LIBNAME).a $(NAN_FTGL)/lib/debug/
+	@[ -d $(NAN_FTGL)/lib/$(DEBUG_DIR) ] || mkdir -p $(NAN_FTGL)/lib/$(DEBUG_DIR)
+	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)lib$(LIBNAME).a $(NAN_FTGL)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_FTGL)/lib/lib$(LIBNAME).a
+	ranlib $(NAN_FTGL)/lib/$(DEBUG_DIR)lib$(LIBNAME).a
 endif
 	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh ../include/*.h $(NAN_FTGL)/include/
 
diff --git a/extern/binreloc/Makefile b/extern/binreloc/Makefile
index dbd093500a1..d303ab3afcc 100644
--- a/extern/binreloc/Makefile
+++ b/extern/binreloc/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
@@ -30,8 +32,7 @@ CPPFLAGS += -I./include
 
 include nan_compile.mk
 
-
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(DIR) ] || mkdir $(DIR)
 	@[ -d $(DIR)/include ] || mkdir $(DIR)/include
 	@../../intern/tools/cpifdiff.sh include/*.h $(DIR)/include/
diff --git a/extern/bullet2/Makefile b/extern/bullet2/Makefile
index f3abb86e404..d974569e63d 100644
--- a/extern/bullet2/Makefile
+++ b/extern/bullet2/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -48,7 +50,7 @@ include nan_subdirs.mk
 
 CP = $(NANBLENDERHOME)/intern/tools/cpifdiff.sh
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_BULLET2) ] || mkdir -p $(NAN_BULLET2)
 	@[ -d $(NAN_BULLET2)/include ] || mkdir -p $(NAN_BULLET2)/include
 	@for i in $(BULLETDIRS); do \
diff --git a/extern/bullet2/make/msvc_9_0/Bullet.vcproj b/extern/bullet2/make/msvc_9_0/Bullet.vcproj
index d22b98efade..6ec064913a5 100644
--- a/extern/bullet2/make/msvc_9_0/Bullet.vcproj
+++ b/extern/bullet2/make/msvc_9_0/Bullet.vcproj
@@ -729,6 +729,14 @@
 					Name="CollisionDispatch"

 					>

 					<File

+						RelativePath="..\..\src\BulletCollision\CollisionDispatch\btActivatingCollisionAlgorithm.cpp"

+						>

+					</File>

+					<File

+						RelativePath="..\..\src\BulletCollision\CollisionDispatch\btActivatingCollisionAlgorithm.h"

+						>

+					</File>

+					<File

 						RelativePath="..\..\src\BulletCollision\CollisionDispatch\btBoxBoxCollisionAlgorithm.cpp"

 						>

 					</File>

@@ -825,6 +833,14 @@
 						>

 					</File>

 					<File

+						RelativePath="..\..\src\BulletCollision\CollisionDispatch\btGhostObject.cpp"

+						>

+					</File>

+					<File

+						RelativePath="..\..\src\BulletCollision\CollisionDispatch\btGhostObject.h"

+						>

+					</File>

+					<File

 						RelativePath="..\..\src\BulletCollision\CollisionDispatch\btManifoldResult.cpp"

 						>

 					</File>

@@ -961,6 +977,14 @@
 						>

 					</File>

 					<File

+						RelativePath="..\..\src\BulletCollision\CollisionShapes\btConvexPointCloudShape.cpp"

+						>

+					</File>

+					<File

+						RelativePath="..\..\src\BulletCollision\CollisionShapes\btConvexPointCloudShape.h"

+						>

+					</File>

+					<File

 						RelativePath="..\..\src\BulletCollision\CollisionShapes\btConvexShape.cpp"

 						>

 					</File>

diff --git a/extern/bullet2/src/Bullet-C-Api.h b/extern/bullet2/src/Bullet-C-Api.h
index 8074aed3038..a4a8a70524e 100644
--- a/extern/bullet2/src/Bullet-C-Api.h
+++ b/extern/bullet2/src/Bullet-C-Api.h
@@ -38,37 +38,37 @@ typedef plReal	plQuaternion[4];
 extern "C" { 
 #endif
 
-/*	Particular physics SDK */
+/**	Particular physics SDK (C-API) */
 	PL_DECLARE_HANDLE(plPhysicsSdkHandle);
 
-/* 	Dynamics world, belonging to some physics SDK */
+/** 	Dynamics world, belonging to some physics SDK (C-API)*/
 	PL_DECLARE_HANDLE(plDynamicsWorldHandle);
 
-/* Rigid Body that can be part of a Dynamics World */	
+/** Rigid Body that can be part of a Dynamics World (C-API)*/	
 	PL_DECLARE_HANDLE(plRigidBodyHandle);
 
-/* 	Collision Shape/Geometry, property of a Rigid Body */
+/** 	Collision Shape/Geometry, property of a Rigid Body (C-API)*/
 	PL_DECLARE_HANDLE(plCollisionShapeHandle);
 
-/* Constraint for Rigid Bodies */
+/** Constraint for Rigid Bodies (C-API)*/
 	PL_DECLARE_HANDLE(plConstraintHandle);
 
-/* Triangle Mesh interface */
+/** Triangle Mesh interface (C-API)*/
 	PL_DECLARE_HANDLE(plMeshInterfaceHandle);
 
-/* Broadphase Scene/Proxy Handles */
+/** Broadphase Scene/Proxy Handles (C-API)*/
 	PL_DECLARE_HANDLE(plCollisionBroadphaseHandle);
 	PL_DECLARE_HANDLE(plBroadphaseProxyHandle);
 	PL_DECLARE_HANDLE(plCollisionWorldHandle);
 
-/*
+/**
 	Create and Delete a Physics SDK	
 */
 
 	extern	plPhysicsSdkHandle	plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc.
 	extern	void		plDeletePhysicsSdk(plPhysicsSdkHandle	physicsSdk);
 
-/* Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
+/** Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
 
 	typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2);
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
index d7eea33ea41..77763305b1b 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
@@ -19,10 +19,9 @@
 // 3. This notice may not be removed or altered from any source distribution.
 #include "btAxisSweep3.h"
 
-#include <assert.h>
 
-btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache)
-:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache)
+btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
+:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache,disableRaycastAccelerator)
 {
 	// 1 handle is reserved as sentinel
 	btAssert(maxHandles > 1 && maxHandles < 32767);
@@ -30,8 +29,8 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab
 }
 
 
-bt32BitAxisSweep3::bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache )
-:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache)
+bt32BitAxisSweep3::bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
+:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache,disableRaycastAccelerator)
 {
 	// 1 handle is reserved as sentinel
 	btAssert(maxHandles > 1 && maxHandles < 2147483647);
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
index d0ad09a385a..cad21b4cad2 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -19,12 +19,12 @@
 #ifndef AXIS_SWEEP_3_H
 #define AXIS_SWEEP_3_H
 
-#include "LinearMath/btPoint3.h"
 #include "LinearMath/btVector3.h"
 #include "btOverlappingPairCache.h"
 #include "btBroadphaseInterface.h"
 #include "btBroadphaseProxy.h"
 #include "btOverlappingPairCallback.h"
+#include "btDbvtBroadphase.h"
 
 //#define DEBUG_BROADPHASE 1
 #define USE_OVERLAP_TEST_ON_REMOVES 1
@@ -42,6 +42,7 @@ protected:
 
 public:
 	
+ BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	class Edge
 	{
@@ -61,8 +62,7 @@ public:
 		// indexes into the edge arrays
 		BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
 //		BP_FP_INT_TYPE m_uniqueId;
-		BP_FP_INT_TYPE m_pad;
-		
+		btBroadphaseProxy*	m_dbvtProxy;//for faster raycast
 		//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
 	
 		SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
@@ -71,8 +71,8 @@ public:
 
 	
 protected:
-	btPoint3 m_worldAabbMin;						// overall system bounds
-	btPoint3 m_worldAabbMax;						// overall system bounds
+	btVector3 m_worldAabbMin;						// overall system bounds
+	btVector3 m_worldAabbMax;						// overall system bounds
 
 	btVector3 m_quantize;						// scaling factor for quantization
 
@@ -94,6 +94,12 @@ protected:
 
 	int	m_invalidPair;
 
+	///additional dynamic aabb structure, used to accelerate ray cast queries.
+	///can be disabled using a optional argument in the constructor
+	btDbvtBroadphase*	m_raycastAccelerator;
+	btOverlappingPairCache*	m_nullPairCache;
+
+
 	// allocation/deallocation
 	BP_FP_INT_TYPE allocHandle();
 	void freeHandle(BP_FP_INT_TYPE handle);
@@ -108,7 +114,7 @@ protected:
 	//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
 	//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
 
-	void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
+	
 
 	void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
 	void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
@@ -117,7 +123,7 @@ protected:
 
 public:
 
-	btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0);
+	btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
 
 	virtual	~btAxisSweep3Internal();
 
@@ -128,17 +134,26 @@ public:
 
 	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
 	
-	BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+	BP_FP_INT_TYPE addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
 	void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
-	void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher);
+	void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
 	SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
 
+	virtual void resetPool(btDispatcher* dispatcher);
+
 	void	processAllOverlappingPairs(btOverlapCallback* callback);
 
 	//Broadphase Interface
 	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
 	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
+	virtual void  getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
+	
+	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
+	
+	void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
+	///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
+	void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
 	
 	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
@@ -206,7 +221,7 @@ void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinalit
 	}
 
 	if (checkCardinality)
-		assert(numEdges == m_numHandles*2+1);
+		btAssert(numEdges == m_numHandles*2+1);
 }
 #endif //DEBUG_BROADPHASE
 
@@ -217,7 +232,12 @@ btBroadphaseProxy*	btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy(  const btV
 		BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,multiSapProxy);
 		
 		Handle* handle = getHandle(handleId);
-				
+		
+		if (m_raycastAccelerator)
+		{
+			btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,0);
+			handle->m_dbvtProxy = rayProxy;
+		}
 		return handle;
 }
 
@@ -227,6 +247,8 @@ template <typename BP_FP_INT_TYPE>
 void	btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
 {
 	Handle* handle = static_cast<Handle*>(proxy);
+	if (m_raycastAccelerator)
+		m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy,dispatcher);
 	removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher);
 }
 
@@ -234,22 +256,80 @@ template <typename BP_FP_INT_TYPE>
 void	btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
 {
 	Handle* handle = static_cast<Handle*>(proxy);
+	handle->m_aabbMin = aabbMin;
+	handle->m_aabbMax = aabbMax;
 	updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax,dispatcher);
+	if (m_raycastAccelerator)
+		m_raycastAccelerator->setAabb(handle->m_dbvtProxy,aabbMin,aabbMax,dispatcher);
+
+}
+
+template <typename BP_FP_INT_TYPE>
+void	btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	if (m_raycastAccelerator)
+	{
+		m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback,aabbMin,aabbMax);
+	} else
+	{
+		//choose axis?
+		BP_FP_INT_TYPE axis = 0;
+		//for each proxy
+		for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
+		{
+			if (m_pEdges[axis][i].IsMax())
+			{
+				rayCallback.process(getHandle(m_pEdges[axis][i].m_handle));
+			}
+		}
+	}
+}
+
 
+
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
+{
+	Handle* pHandle = static_cast<Handle*>(proxy);
+	aabbMin = pHandle->m_aabbMin;
+	aabbMax = pHandle->m_aabbMax;
 }
 
 
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
+{
+	Handle* pHandle = static_cast<Handle*>(proxy);
+
+	unsigned short vecInMin[3];
+	unsigned short vecInMax[3];
+
+	vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos ;
+	vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos +1 ;
+	vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos ;
+	vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos +1 ;
+	vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos ;
+	vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos +1 ;
+	
+	aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()),(btScalar)(vecInMin[1]) / (m_quantize.getY()),(btScalar)(vecInMin[2]) / (m_quantize.getZ()));
+	aabbMin += m_worldAabbMin;
+	
+	aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()),(btScalar)(vecInMax[1]) / (m_quantize.getY()),(btScalar)(vecInMax[2]) / (m_quantize.getZ()));
+	aabbMax += m_worldAabbMin;
+}
+
 
 
 
 template <typename BP_FP_INT_TYPE>
-btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache )
+btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
 :m_bpHandleMask(handleMask),
 m_handleSentinel(handleSentinel),
 m_pairCache(pairCache),
 m_userPairCallback(0),
 m_ownsPairCache(false),
-m_invalidPair(0)
+m_invalidPair(0),
+m_raycastAccelerator(0)
 {
 	BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles+1);//need to add one sentinel handle
 
@@ -260,7 +340,14 @@ m_invalidPair(0)
 		m_ownsPairCache = true;
 	}
 
-	//assert(bounds.HasVolume());
+	if (!disableRaycastAccelerator)
+	{
+		m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache),16)) btNullPairCache();
+		m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase),16)) btDbvtBroadphase(m_nullPairCache);//m_pairCache);
+		m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs
+	}
+
+	//btAssert(bounds.HasVolume());
 
 	// init bounds
 	m_worldAabbMin = worldAabbMin;
@@ -320,7 +407,14 @@ m_invalidPair(0)
 template <typename BP_FP_INT_TYPE>
 btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
 {
-	
+	if (m_raycastAccelerator)
+	{
+		m_nullPairCache->~btOverlappingPairCache();
+		btAlignedFree(m_nullPairCache);
+		m_raycastAccelerator->~btDbvtBroadphase();
+		btAlignedFree (m_raycastAccelerator);
+	}
+
 	for (int i = 2; i >= 0; i--)
 	{
 		btAlignedFree(m_pEdgesRawPtr[i]);
@@ -335,27 +429,31 @@ btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
 }
 
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const
 {
-	btPoint3 clampedPoint(point);
-	
-
-
+#ifdef OLD_CLAMPING_METHOD
+	///problem with this clamping method is that the floating point during quantization might still go outside the range [(0|isMax) .. (m_handleSentinel&m_bpHandleMask]|isMax]
+	///see http://code.google.com/p/bullet/issues/detail?id=87
+	btVector3 clampedPoint(point);
 	clampedPoint.setMax(m_worldAabbMin);
 	clampedPoint.setMin(m_worldAabbMax);
-
 	btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
 	out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax);
 	out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax);
 	out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax);
-	
+#else
+	btVector3 v = (point - m_worldAabbMin) * m_quantize;
+	out[0]=(v[0]<=0)?(BP_FP_INT_TYPE)isMax:(v[0]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0]&m_bpHandleMask)|isMax);
+	out[1]=(v[1]<=0)?(BP_FP_INT_TYPE)isMax:(v[1]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1]&m_bpHandleMask)|isMax);
+	out[2]=(v[2]<=0)?(BP_FP_INT_TYPE)isMax:(v[2]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2]&m_bpHandleMask)|isMax);
+#endif //OLD_CLAMPING_METHOD
 }
 
 
 template <typename BP_FP_INT_TYPE>
 BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
 {
-	assert(m_firstFreeHandle);
+	btAssert(m_firstFreeHandle);
 
 	BP_FP_INT_TYPE handle = m_firstFreeHandle;
 	m_firstFreeHandle = getHandle(handle)->GetNextFree();
@@ -367,7 +465,7 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
 template <typename BP_FP_INT_TYPE>
 void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
 {
-	assert(handle > 0 && handle < m_maxHandles);
+	btAssert(handle > 0 && handle < m_maxHandles);
 
 	getHandle(handle)->SetNextFree(m_firstFreeHandle);
 	m_firstFreeHandle = handle;
@@ -377,7 +475,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
 
 
 template <typename BP_FP_INT_TYPE>
-BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
+BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
 {
 	// quantize the bounds
 	BP_FP_INT_TYPE min[3], max[3];
@@ -440,7 +538,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
 
 	//explicitly remove the pairs containing the proxy
 	//we could do it also in the sortMinUp (passing true)
-	//todo: compare performance
+	///@todo: compare performance
 	if (!m_pairCache->hasDeferredRemoval())
 	{
 		m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher);
@@ -489,6 +587,21 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
 	
 }
 
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* dispatcher)
+{
+	if (m_numHandles == 0)
+	{
+		m_firstFreeHandle = 1;
+		{
+			for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < m_maxHandles; i++)
+				m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
+			m_pHandles[m_maxHandles - 1].SetNextFree(0);
+		}
+	}
+}       
+
+
 extern int gOverlappingPairs;
 //#include <stdio.h>
 
@@ -529,6 +642,7 @@ void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
 
 			if (!isDuplicate)
 			{
+				///important to use an AABB test that is consistent with the broadphase
 				bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
 
 				if (hasOverlap)
@@ -574,10 +688,6 @@ void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
 		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
 	}
 
-
-
-	
-
 }
 
 
@@ -616,10 +726,10 @@ bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA,
 }
 
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
 {
-//	assert(bounds.IsFinite());
-	//assert(bounds.HasVolume());
+//	btAssert(bounds.IsFinite());
+	//btAssert(bounds.HasVolume());
 
 	Handle* pHandle = getHandle(handle);
 
@@ -895,7 +1005,7 @@ class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
 {
 public:
 
-	btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0);
+	btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
 
 };
 
@@ -906,7 +1016,7 @@ class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
 {
 public:
 
-	bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0);
+	bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
index 200ac365329..b7bbaf512ae 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
@@ -21,8 +21,22 @@ subject to the following restrictions:
 struct btDispatcherInfo;
 class btDispatcher;
 #include "btBroadphaseProxy.h"
+
 class btOverlappingPairCache;
 
+
+
+struct	btBroadphaseRayCallback
+{
+	///added some cached data to accelerate ray-AABB tests
+	btVector3		m_rayDirectionInverse;
+	unsigned int	m_signs[3];
+	btScalar		m_lambda_max;
+
+	virtual ~btBroadphaseRayCallback() {}
+	virtual bool	process(const btBroadphaseProxy* proxy) = 0;
+};
+
 #include "LinearMath/btVector3.h"
 
 ///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
@@ -36,7 +50,10 @@ public:
 	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
 	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
-	
+	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
+
+	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
+
 	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
 	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher)=0;
 
@@ -47,6 +64,9 @@ public:
 	///will add some transform later
 	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
 
+	///reset broadphase internal structures, to ensure determinism/reproducability
+	virtual void resetPool(btDispatcher* dispatcher) {};
+
 	virtual void	printStats() = 0;
 
 };
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index a074a0b150b..be261ec4080 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -17,20 +17,24 @@ subject to the following restrictions:
 #define BROADPHASE_PROXY_H
 
 #include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
+#include "LinearMath/btVector3.h"
 #include "LinearMath/btAlignedAllocator.h"
 
 
 /// btDispatcher uses these types
 /// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
 /// to facilitate type checking
+/// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code
 enum BroadphaseNativeTypes
 {
-// polyhedral convex shapes
+	// polyhedral convex shapes
 	BOX_SHAPE_PROXYTYPE,
 	TRIANGLE_SHAPE_PROXYTYPE,
 	TETRAHEDRAL_SHAPE_PROXYTYPE,
 	CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
 	CONVEX_HULL_SHAPE_PROXYTYPE,
+	CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
+	CUSTOM_POLYHEDRAL_SHAPE_TYPE,
 //implicit convex shapes
 IMPLICIT_CONVEX_SHAPES_START_HERE,
 	SPHERE_SHAPE_PROXYTYPE,
@@ -42,6 +46,7 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
 	UNIFORM_SCALING_SHAPE_PROXYTYPE,
 	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
 	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
+	CUSTOM_CONVEX_SHAPE_TYPE,
 //concave shapes
 CONCAVE_SHAPES_START_HERE,
 	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
@@ -58,13 +63,18 @@ CONCAVE_SHAPES_START_HERE,
 	
 	EMPTY_SHAPE_PROXYTYPE,
 	STATIC_PLANE_PROXYTYPE,
+	CUSTOM_CONCAVE_SHAPE_TYPE,
 CONCAVE_SHAPES_END_HERE,
 
 	COMPOUND_SHAPE_PROXYTYPE,
 
 	SOFTBODY_SHAPE_PROXYTYPE,
+	HFFLUID_SHAPE_PROXYTYPE,
+	HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
+	INVALID_SHAPE_PROXYTYPE,
 
 	MAX_BROADPHASE_COLLISION_TYPES
+	
 };
 
 
@@ -83,20 +93,20 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	        KinematicFilter = 4,
 	        DebrisFilter = 8,
 			SensorTrigger = 16,
+			CharacterFilter = 32,
 	        AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
 	};
 
 	//Usually the client btCollisionObject or Rigidbody class
 	void*	m_clientObject;
-
 	short int m_collisionFilterGroup;
 	short int m_collisionFilterMask;
-
 	void*	m_multiSapParentProxy;		
-
-
 	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 
+	btVector3	m_aabbMin;
+	btVector3	m_aabbMax;
+
 	SIMD_FORCE_INLINE int getUid() const
 	{
 		return m_uniqueId;
@@ -107,10 +117,12 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	{
 	}
 
-	btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
+	btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
 		:m_clientObject(userPtr),
 		m_collisionFilterGroup(collisionFilterGroup),
-		m_collisionFilterMask(collisionFilterMask)
+		m_collisionFilterMask(collisionFilterMask),
+		m_aabbMin(aabbMin),
+		m_aabbMax(aabbMax)
 	{
 		m_multiSapParentProxy = multiSapParentProxy;
 	}
@@ -159,7 +171,7 @@ ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
 	m_pProxy0(0),
 		m_pProxy1(0),
 		m_algorithm(0),
-		m_userInfo(0)
+		m_internalInfo1(0)
 	{
 	}
 
@@ -169,14 +181,14 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 		:		m_pProxy0(other.m_pProxy0),
 				m_pProxy1(other.m_pProxy1),
 				m_algorithm(other.m_algorithm),
-				m_userInfo(other.m_userInfo)
+				m_internalInfo1(other.m_internalInfo1)
 	{
 	}
 	btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
 	{
 
 		//keep them sorted, so the std::set operations work
-		if (&proxy0 < &proxy1)
+		if (proxy0.m_uniqueId < proxy1.m_uniqueId)
         { 
             m_pProxy0 = &proxy0; 
             m_pProxy1 = &proxy1; 
@@ -188,7 +200,7 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
         }
 
 		m_algorithm = 0;
-		m_userInfo = 0;
+		m_internalInfo1 = 0;
 
 	}
 	
@@ -196,7 +208,7 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	btBroadphaseProxy* m_pProxy1;
 	
 	mutable btCollisionAlgorithm* m_algorithm;
-	mutable void* m_userInfo;
+	union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
 
 };
 
@@ -217,8 +229,13 @@ class btBroadphasePairSortPredicate
 
 		bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
 		{
-			 return a.m_pProxy0 > b.m_pProxy0 || 
-				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) ||
+			const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
+			const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
+			const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
+			const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
+
+			 return uidA0 > uidB0 || 
+				(a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
 				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
 		}
 };
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
index 7c41c8d8f71..a6e36b47049 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
@@ -23,188 +23,188 @@ typedef btAlignedObjectArray<const btDbvtNode*>	tConstNodeArray;
 //
 struct btDbvtNodeEnumerator : btDbvt::ICollide
 {
-tConstNodeArray	nodes;
-void Process(const btDbvtNode* n) { nodes.push_back(n); }
+	tConstNodeArray	nodes;
+	void Process(const btDbvtNode* n) { nodes.push_back(n); }
 };
 
 //
 static DBVT_INLINE int			indexof(const btDbvtNode* node)
 {
-return(node->parent->childs[1]==node);
+	return(node->parent->childs[1]==node);
 }
 
 //
 static DBVT_INLINE btDbvtVolume	merge(	const btDbvtVolume& a,
-										const btDbvtVolume& b)
+									  const btDbvtVolume& b)
 {
-#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
-DBVT_ALIGN char locals[sizeof(btDbvtAabbMm)];
-btDbvtVolume&	res=*(btDbvtVolume*)locals;
+#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
+	ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
+	btDbvtVolume&	res=*(btDbvtVolume*)locals;
 #else
-btDbvtVolume	res;
+		btDbvtVolume	res;
 #endif
-Merge(a,b,res);
-return(res);
+	Merge(a,b,res);
+	return(res);
 }
 
 // volume+edge lengths
 static DBVT_INLINE btScalar		size(const btDbvtVolume& a)
 {
-const btVector3	edges=a.Lengths();
-return(	edges.x()*edges.y()*edges.z()+
+	const btVector3	edges=a.Lengths();
+	return(	edges.x()*edges.y()*edges.z()+
 		edges.x()+edges.y()+edges.z());
 }
 
 //
 static void						getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
 {
-if(node->isinternal())
+	if(node->isinternal())
 	{
-	getmaxdepth(node->childs[0],depth+1,maxdepth);
-	getmaxdepth(node->childs[0],depth+1,maxdepth);
+		getmaxdepth(node->childs[0],depth+1,maxdepth);
+		getmaxdepth(node->childs[0],depth+1,maxdepth);
 	} else maxdepth=btMax(maxdepth,depth);
 }
 
 //
 static DBVT_INLINE void			deletenode(	btDbvt* pdbvt,
-											btDbvtNode* node)
+										   btDbvtNode* node)
 {
-btAlignedFree(pdbvt->m_free);
-pdbvt->m_free=node;
+	btAlignedFree(pdbvt->m_free);
+	pdbvt->m_free=node;
 }
-	
+
 //
 static void						recursedeletenode(	btDbvt* pdbvt,
-													btDbvtNode* node)
+												  btDbvtNode* node)
 {
-if(!node->isleaf())
+	if(!node->isleaf())
 	{
-	recursedeletenode(pdbvt,node->childs[0]);
-	recursedeletenode(pdbvt,node->childs[1]);
+		recursedeletenode(pdbvt,node->childs[0]);
+		recursedeletenode(pdbvt,node->childs[1]);
 	}
-if(node==pdbvt->m_root) pdbvt->m_root=0;
-deletenode(pdbvt,node);
+	if(node==pdbvt->m_root) pdbvt->m_root=0;
+	deletenode(pdbvt,node);
 }
 
 //
 static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
-											btDbvtNode* parent,
-											void* data)
+										   btDbvtNode* parent,
+										   void* data)
 {
-btDbvtNode*	node;
-if(pdbvt->m_free)
+	btDbvtNode*	node;
+	if(pdbvt->m_free)
 	{ node=pdbvt->m_free;pdbvt->m_free=0; }
 	else
 	{ node=new(btAlignedAlloc(sizeof(btDbvtNode),16)) btDbvtNode(); }
-node->parent	=	parent;
-node->data		=	data;
-node->childs[1]	=	0;
-return(node);
+	node->parent	=	parent;
+	node->data		=	data;
+	node->childs[1]	=	0;
+	return(node);
 }
 
 //
 static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
-											btDbvtNode* parent,
-											const btDbvtVolume& volume,
-											void* data)
+										   btDbvtNode* parent,
+										   const btDbvtVolume& volume,
+										   void* data)
 {
-btDbvtNode*	node=createnode(pdbvt,parent,data);
-node->volume=volume;
-return(node);
+	btDbvtNode*	node=createnode(pdbvt,parent,data);
+	node->volume=volume;
+	return(node);
 }
 
 //
 static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
-											btDbvtNode* parent,
-											const btDbvtVolume& volume0,
-											const btDbvtVolume& volume1,
-											void* data)
+										   btDbvtNode* parent,
+										   const btDbvtVolume& volume0,
+										   const btDbvtVolume& volume1,
+										   void* data)
 {
-btDbvtNode*	node=createnode(pdbvt,parent,data);
-Merge(volume0,volume1,node->volume);
-return(node);
+	btDbvtNode*	node=createnode(pdbvt,parent,data);
+	Merge(volume0,volume1,node->volume);
+	return(node);
 }
 
 //
 static void						insertleaf(	btDbvt* pdbvt,
-											btDbvtNode* root,
-											btDbvtNode* leaf)
+										   btDbvtNode* root,
+										   btDbvtNode* leaf)
 {
-if(!pdbvt->m_root)
+	if(!pdbvt->m_root)
 	{
-	pdbvt->m_root	=	leaf;
-	leaf->parent	=	0;
+		pdbvt->m_root	=	leaf;
+		leaf->parent	=	0;
 	}
 	else
 	{
-	if(!root->isleaf())
+		if(!root->isleaf())
 		{
-		do	{
-			root=root->childs[Select(	leaf->volume,
-										root->childs[0]->volume,
-										root->childs[1]->volume)];
+			do	{
+				root=root->childs[Select(	leaf->volume,
+					root->childs[0]->volume,
+					root->childs[1]->volume)];
 			} while(!root->isleaf());
 		}
-	btDbvtNode*	prev=root->parent;
-	btDbvtNode*	node=createnode(pdbvt,prev,leaf->volume,root->volume,0);
-	if(prev)
+		btDbvtNode*	prev=root->parent;
+		btDbvtNode*	node=createnode(pdbvt,prev,leaf->volume,root->volume,0);
+		if(prev)
 		{
-		prev->childs[indexof(root)]	=	node;
-		node->childs[0]				=	root;root->parent=node;
-		node->childs[1]				=	leaf;leaf->parent=node;
-		do	{
-			if(!prev->volume.Contain(node->volume))
-				Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
+			prev->childs[indexof(root)]	=	node;
+			node->childs[0]				=	root;root->parent=node;
+			node->childs[1]				=	leaf;leaf->parent=node;
+			do	{
+				if(!prev->volume.Contain(node->volume))
+					Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
 				else
-				break;
-			node=prev;
+					break;
+				node=prev;
 			} while(0!=(prev=node->parent));
 		}
 		else
 		{
-		node->childs[0]	=	root;root->parent=node;
-		node->childs[1]	=	leaf;leaf->parent=node;
-		pdbvt->m_root	=	node;
+			node->childs[0]	=	root;root->parent=node;
+			node->childs[1]	=	leaf;leaf->parent=node;
+			pdbvt->m_root	=	node;
 		}
 	}
 }
-	
+
 //
 static btDbvtNode*				removeleaf(	btDbvt* pdbvt,
-											btDbvtNode* leaf)
+										   btDbvtNode* leaf)
 {
-if(leaf==pdbvt->m_root)
+	if(leaf==pdbvt->m_root)
 	{
-	pdbvt->m_root=0;
-	return(0);
+		pdbvt->m_root=0;
+		return(0);
 	}
 	else
 	{
-	btDbvtNode*	parent=leaf->parent;
-	btDbvtNode*	prev=parent->parent;
-	btDbvtNode*	sibling=parent->childs[1-indexof(leaf)];			
-	if(prev)
+		btDbvtNode*	parent=leaf->parent;
+		btDbvtNode*	prev=parent->parent;
+		btDbvtNode*	sibling=parent->childs[1-indexof(leaf)];			
+		if(prev)
 		{
-		prev->childs[indexof(parent)]=sibling;
-		sibling->parent=prev;
-		deletenode(pdbvt,parent);
-		while(prev)
+			prev->childs[indexof(parent)]=sibling;
+			sibling->parent=prev;
+			deletenode(pdbvt,parent);
+			while(prev)
 			{
-			const btDbvtVolume	pb=prev->volume;
-			Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
-			if(NotEqual(pb,prev->volume))
+				const btDbvtVolume	pb=prev->volume;
+				Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
+				if(NotEqual(pb,prev->volume))
 				{
-				prev=prev->parent;
+					prev=prev->parent;
 				} else break;
 			}
-		return(prev?prev:pdbvt->m_root);
+			return(prev?prev:pdbvt->m_root);
 		}
 		else
 		{								
-		pdbvt->m_root=sibling;
-		sibling->parent=0;
-		deletenode(pdbvt,parent);
-		return(pdbvt->m_root);
+			pdbvt->m_root=sibling;
+			sibling->parent=0;
+			deletenode(pdbvt,parent);
+			return(pdbvt->m_root);
 		}			
 	}
 }
@@ -215,33 +215,33 @@ static void						fetchleaves(btDbvt* pdbvt,
 											tNodeArray& leaves,
 											int depth=-1)
 {
-if(root->isinternal()&&depth)
+	if(root->isinternal()&&depth)
 	{
-	fetchleaves(pdbvt,root->childs[0],leaves,depth-1);
-	fetchleaves(pdbvt,root->childs[1],leaves,depth-1);
-	deletenode(pdbvt,root);
+		fetchleaves(pdbvt,root->childs[0],leaves,depth-1);
+		fetchleaves(pdbvt,root->childs[1],leaves,depth-1);
+		deletenode(pdbvt,root);
 	}
 	else
 	{
-	leaves.push_back(root);
+		leaves.push_back(root);
 	}
 }
 
 //
 static void						split(	const tNodeArray& leaves,
-										tNodeArray& left,
-										tNodeArray& right,
-										const btVector3& org,
-										const btVector3& axis)
+									  tNodeArray& left,
+									  tNodeArray& right,
+									  const btVector3& org,
+									  const btVector3& axis)
 {
-left.resize(0);
-right.resize(0);
-for(int i=0,ni=leaves.size();i<ni;++i)
+	left.resize(0);
+	right.resize(0);
+	for(int i=0,ni=leaves.size();i<ni;++i)
 	{
-	if(dot(axis,leaves[i]->volume.Center()-org)<0)
-		left.push_back(leaves[i]);
+		if(dot(axis,leaves[i]->volume.Center()-org)<0)
+			left.push_back(leaves[i]);
 		else
-		right.push_back(leaves[i]);
+			right.push_back(leaves[i]);
 	}
 }
 
@@ -249,49 +249,49 @@ for(int i=0,ni=leaves.size();i<ni;++i)
 static btDbvtVolume				bounds(	const tNodeArray& leaves)
 {
 #if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
-DBVT_ALIGN char	locals[sizeof(btDbvtVolume)];
-btDbvtVolume&	volume=*(btDbvtVolume*)locals;
-volume=leaves[0]->volume;
+	ATTRIBUTE_ALIGNED16(char	locals[sizeof(btDbvtVolume)]);
+	btDbvtVolume&	volume=*(btDbvtVolume*)locals;
+	volume=leaves[0]->volume;
 #else
-btDbvtVolume volume=leaves[0]->volume;
+	btDbvtVolume volume=leaves[0]->volume;
 #endif
-for(int i=1,ni=leaves.size();i<ni;++i)
+	for(int i=1,ni=leaves.size();i<ni;++i)
 	{
-	Merge(volume,leaves[i]->volume,volume);
+		Merge(volume,leaves[i]->volume,volume);
 	}
-return(volume);
+	return(volume);
 }
 
 //
 static void						bottomup(	btDbvt* pdbvt,
-											tNodeArray& leaves)
+										 tNodeArray& leaves)
 {
-while(leaves.size()>1)
+	while(leaves.size()>1)
 	{
-	btScalar	minsize=SIMD_INFINITY;
-	int			minidx[2]={-1,-1};
-	for(int i=0;i<leaves.size();++i)
+		btScalar	minsize=SIMD_INFINITY;
+		int			minidx[2]={-1,-1};
+		for(int i=0;i<leaves.size();++i)
 		{
-		for(int j=i+1;j<leaves.size();++j)
+			for(int j=i+1;j<leaves.size();++j)
 			{
-			const btScalar	sz=size(merge(leaves[i]->volume,leaves[j]->volume));
-			if(sz<minsize)
+				const btScalar	sz=size(merge(leaves[i]->volume,leaves[j]->volume));
+				if(sz<minsize)
 				{
-				minsize		=	sz;
-				minidx[0]	=	i;
-				minidx[1]	=	j;
+					minsize		=	sz;
+					minidx[0]	=	i;
+					minidx[1]	=	j;
 				}
 			}
 		}
-	btDbvtNode*	n[]	=	{leaves[minidx[0]],leaves[minidx[1]]};
-	btDbvtNode*	p	=	createnode(pdbvt,0,n[0]->volume,n[1]->volume,0);
-	p->childs[0]		=	n[0];
-	p->childs[1]		=	n[1];
-	n[0]->parent		=	p;
-	n[1]->parent		=	p;
-	leaves[minidx[0]]	=	p;
-	leaves.swap(minidx[1],leaves.size()-1);
-	leaves.pop_back();
+		btDbvtNode*	n[]	=	{leaves[minidx[0]],leaves[minidx[1]]};
+		btDbvtNode*	p	=	createnode(pdbvt,0,n[0]->volume,n[1]->volume,0);
+		p->childs[0]		=	n[0];
+		p->childs[1]		=	n[1];
+		n[0]->parent		=	p;
+		n[1]->parent		=	p;
+		leaves[minidx[0]]	=	p;
+		leaves.swap(minidx[1],leaves.size()-1);
+		leaves.pop_back();
 	}
 }
 
@@ -300,175 +300,181 @@ static btDbvtNode*			topdown(btDbvt* pdbvt,
 									tNodeArray& leaves,
 									int bu_treshold)
 {
-static const btVector3	axis[]={btVector3(1,0,0),
-								btVector3(0,1,0),
-								btVector3(0,0,1)};
-if(leaves.size()>1)
+	static const btVector3	axis[]={btVector3(1,0,0),
+		btVector3(0,1,0),
+		btVector3(0,0,1)};
+	if(leaves.size()>1)
 	{
-	if(leaves.size()>bu_treshold)
+		if(leaves.size()>bu_treshold)
 		{
-		const btDbvtVolume	vol=bounds(leaves);
-		const btVector3			org=vol.Center();
-		tNodeArray				sets[2];
-		int						bestaxis=-1;
-		int						bestmidp=leaves.size();
-		int						splitcount[3][2]={{0,0},{0,0},{0,0}};
-		int i;
-		for( i=0;i<leaves.size();++i)
+			const btDbvtVolume	vol=bounds(leaves);
+			const btVector3			org=vol.Center();
+			tNodeArray				sets[2];
+			int						bestaxis=-1;
+			int						bestmidp=leaves.size();
+			int						splitcount[3][2]={{0,0},{0,0},{0,0}};
+			int i;
+			for( i=0;i<leaves.size();++i)
 			{
-			const btVector3	x=leaves[i]->volume.Center()-org;
-			for(int j=0;j<3;++j)
+				const btVector3	x=leaves[i]->volume.Center()-org;
+				for(int j=0;j<3;++j)
 				{
-				++splitcount[j][dot(x,axis[j])>0?1:0];
+					++splitcount[j][dot(x,axis[j])>0?1:0];
 				}
 			}
-		for( i=0;i<3;++i)
+			for( i=0;i<3;++i)
 			{
-			if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
+				if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
 				{
-				const int	midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1]));
-				if(midp<bestmidp)
+					const int	midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1]));
+					if(midp<bestmidp)
 					{
-					bestaxis=i;
-					bestmidp=midp;
+						bestaxis=i;
+						bestmidp=midp;
 					}
 				}
 			}
-		if(bestaxis>=0)
+			if(bestaxis>=0)
 			{
-			sets[0].reserve(splitcount[bestaxis][0]);
-			sets[1].reserve(splitcount[bestaxis][1]);
-			split(leaves,sets[0],sets[1],org,axis[bestaxis]);
+				sets[0].reserve(splitcount[bestaxis][0]);
+				sets[1].reserve(splitcount[bestaxis][1]);
+				split(leaves,sets[0],sets[1],org,axis[bestaxis]);
 			}
 			else
 			{
-			sets[0].reserve(leaves.size()/2+1);
-			sets[1].reserve(leaves.size()/2);
-			for(int i=0,ni=leaves.size();i<ni;++i)
+				sets[0].reserve(leaves.size()/2+1);
+				sets[1].reserve(leaves.size()/2);
+				for(int i=0,ni=leaves.size();i<ni;++i)
 				{
-				sets[i&1].push_back(leaves[i]);
+					sets[i&1].push_back(leaves[i]);
 				}
 			}
-		btDbvtNode*	node=createnode(pdbvt,0,vol,0);
-		node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
-		node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
-		node->childs[0]->parent=node;
-		node->childs[1]->parent=node;
-		return(node);
+			btDbvtNode*	node=createnode(pdbvt,0,vol,0);
+			node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
+			node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
+			node->childs[0]->parent=node;
+			node->childs[1]->parent=node;
+			return(node);
 		}
 		else
 		{
-		bottomup(pdbvt,leaves);
-		return(leaves[0]);
+			bottomup(pdbvt,leaves);
+			return(leaves[0]);
 		}
 	}
-return(leaves[0]);
+	return(leaves[0]);
 }
 
 //
 static DBVT_INLINE btDbvtNode*	sort(btDbvtNode* n,btDbvtNode*& r)
 {
-btDbvtNode*	p=n->parent;
-btAssert(n->isinternal());
-if(p>n)
+	btDbvtNode*	p=n->parent;
+	btAssert(n->isinternal());
+	if(p>n)
 	{
-	const int		i=indexof(n);
-	const int		j=1-i;
-	btDbvtNode*	s=p->childs[j];
-	btDbvtNode*	q=p->parent;
-	btAssert(n==p->childs[i]);
-	if(q) q->childs[indexof(p)]=n; else r=n;
-	s->parent=n;
-	p->parent=n;
-	n->parent=q;
-	p->childs[0]=n->childs[0];
-	p->childs[1]=n->childs[1];
-	n->childs[0]->parent=p;
-	n->childs[1]->parent=p;
-	n->childs[i]=p;
-	n->childs[j]=s;
-	btSwap(p->volume,n->volume);
-	return(p);
+		const int		i=indexof(n);
+		const int		j=1-i;
+		btDbvtNode*	s=p->childs[j];
+		btDbvtNode*	q=p->parent;
+		btAssert(n==p->childs[i]);
+		if(q) q->childs[indexof(p)]=n; else r=n;
+		s->parent=n;
+		p->parent=n;
+		n->parent=q;
+		p->childs[0]=n->childs[0];
+		p->childs[1]=n->childs[1];
+		n->childs[0]->parent=p;
+		n->childs[1]->parent=p;
+		n->childs[i]=p;
+		n->childs[j]=s;
+		btSwap(p->volume,n->volume);
+		return(p);
 	}
-return(n);
+	return(n);
 }
 
-//
+#if 0
 static DBVT_INLINE btDbvtNode*	walkup(btDbvtNode* n,int count)
 {
-while(n&&(count--)) n=n->parent;
-return(n);
+	while(n&&(count--)) n=n->parent;
+	return(n);
 }
+#endif
 
 //
 // Api
 //
 
 //
-				btDbvt::btDbvt()
+btDbvt::btDbvt()
 {
-m_root		=	0;
-m_free		=	0;
-m_lkhd		=	-1;
-m_leaves	=	0;
-m_opath		=	0;
+	m_root		=	0;
+	m_free		=	0;
+	m_lkhd		=	-1;
+	m_leaves	=	0;
+	m_opath		=	0;
 }
 
 //
-				btDbvt::~btDbvt()
+btDbvt::~btDbvt()
 {
-clear();
+	clear();
 }
 
 //
 void			btDbvt::clear()
 {
-if(m_root)	recursedeletenode(this,m_root);
-btAlignedFree(m_free);
-m_free=0;
+	if(m_root)	
+		recursedeletenode(this,m_root);
+	btAlignedFree(m_free);
+	m_free=0;
+	m_lkhd		=	-1;
+	m_stkStack.clear();
+	m_opath		=	0;
+	
 }
 
 //
 void			btDbvt::optimizeBottomUp()
 {
-if(m_root)
+	if(m_root)
 	{
-	tNodeArray leaves;
-	leaves.reserve(m_leaves);
-	fetchleaves(this,m_root,leaves);
-	bottomup(this,leaves);
-	m_root=leaves[0];
+		tNodeArray leaves;
+		leaves.reserve(m_leaves);
+		fetchleaves(this,m_root,leaves);
+		bottomup(this,leaves);
+		m_root=leaves[0];
 	}
 }
 
 //
 void			btDbvt::optimizeTopDown(int bu_treshold)
 {
-if(m_root)
+	if(m_root)
 	{
-	tNodeArray	leaves;
-	leaves.reserve(m_leaves);
-	fetchleaves(this,m_root,leaves);
-	m_root=topdown(this,leaves,bu_treshold);
+		tNodeArray	leaves;
+		leaves.reserve(m_leaves);
+		fetchleaves(this,m_root,leaves);
+		m_root=topdown(this,leaves,bu_treshold);
 	}
 }
 
 //
 void			btDbvt::optimizeIncremental(int passes)
 {
-if(passes<0) passes=m_leaves;
-if(m_root&&(passes>0))
+	if(passes<0) passes=m_leaves;
+	if(m_root&&(passes>0))
 	{
-	do	{
-		btDbvtNode*		node=m_root;
-		unsigned	bit=0;
-		while(node->isinternal())
+		do	{
+			btDbvtNode*		node=m_root;
+			unsigned	bit=0;
+			while(node->isinternal())
 			{
-			node=sort(node,m_root)->childs[(m_opath>>bit)&1];
-			bit=(bit+1)&(sizeof(unsigned)*8-1);
+				node=sort(node,m_root)->childs[(m_opath>>bit)&1];
+				bit=(bit+1)&(sizeof(unsigned)*8-1);
 			}
-		update(node);
-		++m_opath;
+			update(node);
+			++m_opath;
 		} while(--passes);
 	}
 }
@@ -476,104 +482,104 @@ if(m_root&&(passes>0))
 //
 btDbvtNode*	btDbvt::insert(const btDbvtVolume& volume,void* data)
 {
-btDbvtNode*	leaf=createnode(this,0,volume,data);
-insertleaf(this,m_root,leaf);
-++m_leaves;
-return(leaf);
+	btDbvtNode*	leaf=createnode(this,0,volume,data);
+	insertleaf(this,m_root,leaf);
+	++m_leaves;
+	return(leaf);
 }
 
 //
 void			btDbvt::update(btDbvtNode* leaf,int lookahead)
 {
-btDbvtNode*	root=removeleaf(this,leaf);
-if(root)
+	btDbvtNode*	root=removeleaf(this,leaf);
+	if(root)
 	{
-	if(lookahead>=0)
+		if(lookahead>=0)
 		{
-		for(int i=0;(i<lookahead)&&root->parent;++i)
+			for(int i=0;(i<lookahead)&&root->parent;++i)
 			{
-			root=root->parent;
+				root=root->parent;
 			}
 		} else root=m_root;
 	}
-insertleaf(this,root,leaf);
+	insertleaf(this,root,leaf);
 }
 
 //
-void			btDbvt::update(btDbvtNode* leaf,const btDbvtVolume& volume)
+void			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume)
 {
-btDbvtNode*	root=removeleaf(this,leaf);
-if(root)
+	btDbvtNode*	root=removeleaf(this,leaf);
+	if(root)
 	{
-	if(m_lkhd>=0)
+		if(m_lkhd>=0)
 		{
-		for(int i=0;(i<m_lkhd)&&root->parent;++i)
+			for(int i=0;(i<m_lkhd)&&root->parent;++i)
 			{
-			root=root->parent;
+				root=root->parent;
 			}
 		} else root=m_root;
 	}
-leaf->volume=volume;
-insertleaf(this,root,leaf);
+	leaf->volume=volume;
+	insertleaf(this,root,leaf);
 }
 
 //
-bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity,btScalar margin)
+bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin)
 {
-if(leaf->volume.Contain(volume)) return(false);
-volume.Expand(btVector3(margin,margin,margin));
-volume.SignedExpand(velocity);
-update(leaf,volume);
-return(true);
+	if(leaf->volume.Contain(volume)) return(false);
+	volume.Expand(btVector3(margin,margin,margin));
+	volume.SignedExpand(velocity);
+	update(leaf,volume);
+	return(true);
 }
 
 //
-bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity)
+bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity)
 {
-if(leaf->volume.Contain(volume)) return(false);
-volume.SignedExpand(velocity);
-update(leaf,volume);
-return(true);
+	if(leaf->volume.Contain(volume)) return(false);
+	volume.SignedExpand(velocity);
+	update(leaf,volume);
+	return(true);
 }
 
 //
-bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,btScalar margin)
+bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin)
 {
-if(leaf->volume.Contain(volume)) return(false);
-volume.Expand(btVector3(margin,margin,margin));
-update(leaf,volume);
-return(true);
+	if(leaf->volume.Contain(volume)) return(false);
+	volume.Expand(btVector3(margin,margin,margin));
+	update(leaf,volume);
+	return(true);
 }
 
 //
 void			btDbvt::remove(btDbvtNode* leaf)
 {
-removeleaf(this,leaf);
-deletenode(this,leaf);
---m_leaves;
+	removeleaf(this,leaf);
+	deletenode(this,leaf);
+	--m_leaves;
 }
 
 //
 void			btDbvt::write(IWriter* iwriter) const
 {
-btDbvtNodeEnumerator	nodes;
-nodes.nodes.reserve(m_leaves*2);
-enumNodes(m_root,nodes);
-iwriter->Prepare(m_root,nodes.nodes.size());
-for(int i=0;i<nodes.nodes.size();++i)
+	btDbvtNodeEnumerator	nodes;
+	nodes.nodes.reserve(m_leaves*2);
+	enumNodes(m_root,nodes);
+	iwriter->Prepare(m_root,nodes.nodes.size());
+	for(int i=0;i<nodes.nodes.size();++i)
 	{
-	const btDbvtNode* n=nodes.nodes[i];
-	int			p=-1;
-	if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
-	if(n->isinternal())
+		const btDbvtNode* n=nodes.nodes[i];
+		int			p=-1;
+		if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
+		if(n->isinternal())
 		{
-		const int	c0=nodes.nodes.findLinearSearch(n->childs[0]);
-		const int	c1=nodes.nodes.findLinearSearch(n->childs[1]);
-		iwriter->WriteNode(n,i,p,c0,c1);
+			const int	c0=nodes.nodes.findLinearSearch(n->childs[0]);
+			const int	c1=nodes.nodes.findLinearSearch(n->childs[1]);
+			iwriter->WriteNode(n,i,p,c0,c1);
 		}
 		else
 		{
-		iwriter->WriteLeaf(n,i,p);
+			iwriter->WriteLeaf(n,i,p);
 		}	
 	}
 }
@@ -581,29 +587,29 @@ for(int i=0;i<nodes.nodes.size();++i)
 //
 void			btDbvt::clone(btDbvt& dest,IClone* iclone) const
 {
-dest.clear();
-if(m_root!=0)
+	dest.clear();
+	if(m_root!=0)
 	{	
-	btAlignedObjectArray<sStkCLN>	stack;
-	stack.reserve(m_leaves);
-	stack.push_back(sStkCLN(m_root,0));
-	do	{
-		const int		i=stack.size()-1;
-		const sStkCLN	e=stack[i];
-		btDbvtNode*			n=createnode(&dest,e.parent,e.node->volume,e.node->data);
-		stack.pop_back();
-		if(e.parent!=0)
-			e.parent->childs[i&1]=n;
+		btAlignedObjectArray<sStkCLN>	stack;
+		stack.reserve(m_leaves);
+		stack.push_back(sStkCLN(m_root,0));
+		do	{
+			const int		i=stack.size()-1;
+			const sStkCLN	e=stack[i];
+			btDbvtNode*			n=createnode(&dest,e.parent,e.node->volume,e.node->data);
+			stack.pop_back();
+			if(e.parent!=0)
+				e.parent->childs[i&1]=n;
 			else
-			dest.m_root=n;
-		if(e.node->isinternal())
+				dest.m_root=n;
+			if(e.node->isinternal())
 			{
-			stack.push_back(sStkCLN(e.node->childs[0],n));
-			stack.push_back(sStkCLN(e.node->childs[1],n));
+				stack.push_back(sStkCLN(e.node->childs[0],n));
+				stack.push_back(sStkCLN(e.node->childs[1],n));
 			}
 			else
 			{
-			iclone->CloneLeaf(n);
+				iclone->CloneLeaf(n);
 			}
 		} while(stack.size()>0);
 	}
@@ -612,31 +618,31 @@ if(m_root!=0)
 //
 int				btDbvt::maxdepth(const btDbvtNode* node)
 {
-int	depth=0;
-if(node) getmaxdepth(node,1,depth);
-return(depth);
+	int	depth=0;
+	if(node) getmaxdepth(node,1,depth);
+	return(depth);
 }
 
 //
 int				btDbvt::countLeaves(const btDbvtNode* node)
 {
-if(node->isinternal())
-	return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
+	if(node->isinternal())
+		return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
 	else
-	return(1);
+		return(1);
 }
 
 //
 void			btDbvt::extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves)
 {
-if(node->isinternal())
+	if(node->isinternal())
 	{
-	extractLeaves(node->childs[0],leaves);
-	extractLeaves(node->childs[1],leaves);
+		extractLeaves(node->childs[0],leaves);
+		extractLeaves(node->childs[1],leaves);
 	}
 	else
 	{
-	leaves.push_back(node);
+		leaves.push_back(node);
 	}	
 }
 
@@ -657,19 +663,19 @@ q6600,2.4ghz
 /W3 /nologo /c /Wp64 /Zi /errorReport:prompt
 
 Benchmarking dbvt...
-        World scale: 100.000000
-        Extents base: 1.000000
-        Extents range: 4.000000
-        Leaves: 8192
-        sizeof(btDbvtVolume): 32 bytes
-        sizeof(btDbvtNode):   44 bytes
+World scale: 100.000000
+Extents base: 1.000000
+Extents range: 4.000000
+Leaves: 8192
+sizeof(btDbvtVolume): 32 bytes
+sizeof(btDbvtNode):   44 bytes
 [1] btDbvtVolume intersections: 3499 ms (-1%)
 [2] btDbvtVolume merges: 1934 ms (0%)
 [3] btDbvt::collideTT: 5485 ms (-21%)
 [4] btDbvt::collideTT self: 2814 ms (-20%)
 [5] btDbvt::collideTT xform: 7379 ms (-1%)
 [6] btDbvt::collideTT xform,self: 7270 ms (-2%)
-[7] btDbvt::collideRAY: 6314 ms (0%),(332143 r/s)
+[7] btDbvt::rayTest: 6314 ms (0%),(332143 r/s)
 [8] insert/remove: 2093 ms (0%),(1001983 ir/s)
 [9] updates (teleport): 1879 ms (-3%),(1116100 u/s)
 [10] updates (jitter): 1244 ms (-4%),(1685813 u/s)
@@ -684,606 +690,606 @@ Benchmarking dbvt...
 
 struct btDbvtBenchmark
 {
-struct NilPolicy : btDbvt::ICollide
+	struct NilPolicy : btDbvt::ICollide
 	{
-	NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true)		{}
-	void	Process(const btDbvtNode*,const btDbvtNode*)				{ ++m_pcount; }
-	void	Process(const btDbvtNode*)									{ ++m_pcount; }
-	void	Process(const btDbvtNode*,btScalar depth)
+		NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true)		{}
+		void	Process(const btDbvtNode*,const btDbvtNode*)				{ ++m_pcount; }
+		void	Process(const btDbvtNode*)									{ ++m_pcount; }
+		void	Process(const btDbvtNode*,btScalar depth)
 		{
-		++m_pcount;
-		if(m_checksort)
+			++m_pcount;
+			if(m_checksort)
 			{ if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f (should be >= %f)\r\n",depth,m_depth); }
 		}
-	int			m_pcount;
-	btScalar	m_depth;
-	bool		m_checksort;
+		int			m_pcount;
+		btScalar	m_depth;
+		bool		m_checksort;
 	};
-struct P14 : btDbvt::ICollide
+	struct P14 : btDbvt::ICollide
 	{
-	struct Node
+		struct Node
 		{
-		const btDbvtNode*	leaf;
-		btScalar			depth;
+			const btDbvtNode*	leaf;
+			btScalar			depth;
 		};
-	void Process(const btDbvtNode* leaf,btScalar depth)
+		void Process(const btDbvtNode* leaf,btScalar depth)
 		{
-		Node	n;
-		n.leaf	=	leaf;
-		n.depth	=	depth;
+			Node	n;
+			n.leaf	=	leaf;
+			n.depth	=	depth;
 		}
-	static int sortfnc(const Node& a,const Node& b)
+		static int sortfnc(const Node& a,const Node& b)
 		{
-		if(a.depth<b.depth) return(+1);
-		if(a.depth>b.depth) return(-1);
-		return(0);
+			if(a.depth<b.depth) return(+1);
+			if(a.depth>b.depth) return(-1);
+			return(0);
 		}
-	btAlignedObjectArray<Node>		m_nodes;
+		btAlignedObjectArray<Node>		m_nodes;
 	};
-struct P15 : btDbvt::ICollide
+	struct P15 : btDbvt::ICollide
 	{
-	struct Node
+		struct Node
 		{
-		const btDbvtNode*	leaf;
-		btScalar			depth;
+			const btDbvtNode*	leaf;
+			btScalar			depth;
 		};
-	void Process(const btDbvtNode* leaf)
+		void Process(const btDbvtNode* leaf)
 		{
-		Node	n;
-		n.leaf	=	leaf;
-		n.depth	=	dot(leaf->volume.Center(),m_axis);
+			Node	n;
+			n.leaf	=	leaf;
+			n.depth	=	dot(leaf->volume.Center(),m_axis);
 		}
-	static int sortfnc(const Node& a,const Node& b)
+		static int sortfnc(const Node& a,const Node& b)
 		{
-		if(a.depth<b.depth) return(+1);
-		if(a.depth>b.depth) return(-1);
-		return(0);
+			if(a.depth<b.depth) return(+1);
+			if(a.depth>b.depth) return(-1);
+			return(0);
 		}
-	btAlignedObjectArray<Node>		m_nodes;
-	btVector3						m_axis;
+		btAlignedObjectArray<Node>		m_nodes;
+		btVector3						m_axis;
 	};
-static btScalar			RandUnit()
+	static btScalar			RandUnit()
 	{
-	return(rand()/(btScalar)RAND_MAX);
+		return(rand()/(btScalar)RAND_MAX);
 	}
-static btVector3		RandVector3()
+	static btVector3		RandVector3()
 	{
-	return(btVector3(RandUnit(),RandUnit(),RandUnit()));
+		return(btVector3(RandUnit(),RandUnit(),RandUnit()));
 	}
-static btVector3		RandVector3(btScalar cs)
+	static btVector3		RandVector3(btScalar cs)
 	{
-	return(RandVector3()*cs-btVector3(cs,cs,cs)/2);
+		return(RandVector3()*cs-btVector3(cs,cs,cs)/2);
 	}
-static btDbvtVolume	RandVolume(btScalar cs,btScalar eb,btScalar es)
+	static btDbvtVolume	RandVolume(btScalar cs,btScalar eb,btScalar es)
 	{
-	return(btDbvtVolume::FromCE(RandVector3(cs),btVector3(eb,eb,eb)+RandVector3()*es));
+		return(btDbvtVolume::FromCE(RandVector3(cs),btVector3(eb,eb,eb)+RandVector3()*es));
 	}
-static btTransform		RandTransform(btScalar cs)
+	static btTransform		RandTransform(btScalar cs)
 	{
-	btTransform	t;
-	t.setOrigin(RandVector3(cs));
-	t.setRotation(btQuaternion(RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2).normalized());
-	return(t);
+		btTransform	t;
+		t.setOrigin(RandVector3(cs));
+		t.setRotation(btQuaternion(RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2).normalized());
+		return(t);
 	}
-static void				RandTree(btScalar cs,btScalar eb,btScalar es,int leaves,btDbvt& dbvt)
+	static void				RandTree(btScalar cs,btScalar eb,btScalar es,int leaves,btDbvt& dbvt)
 	{
-	dbvt.clear();
-	for(int i=0;i<leaves;++i)
+		dbvt.clear();
+		for(int i=0;i<leaves;++i)
 		{
-		dbvt.insert(RandVolume(cs,eb,es),0);
+			dbvt.insert(RandVolume(cs,eb,es),0);
 		}
 	}
 };
 
 void			btDbvt::benchmark()
 {
-static const btScalar	cfgVolumeCenterScale		=	100;
-static const btScalar	cfgVolumeExentsBase			=	1;
-static const btScalar	cfgVolumeExentsScale		=	4;
-static const int		cfgLeaves					=	8192;
-static const bool		cfgEnable					=	true;
+	static const btScalar	cfgVolumeCenterScale		=	100;
+	static const btScalar	cfgVolumeExentsBase			=	1;
+	static const btScalar	cfgVolumeExentsScale		=	4;
+	static const int		cfgLeaves					=	8192;
+	static const bool		cfgEnable					=	true;
 
-//[1] btDbvtVolume intersections
-bool					cfgBenchmark1_Enable		=	cfgEnable;
-static const int		cfgBenchmark1_Iterations	=	8;
-static const int		cfgBenchmark1_Reference		=	3499;
-//[2] btDbvtVolume merges
-bool					cfgBenchmark2_Enable		=	cfgEnable;
-static const int		cfgBenchmark2_Iterations	=	4;
-static const int		cfgBenchmark2_Reference		=	1945;
-//[3] btDbvt::collideTT
-bool					cfgBenchmark3_Enable		=	cfgEnable;
-static const int		cfgBenchmark3_Iterations	=	512;
-static const int		cfgBenchmark3_Reference		=	5485;
-//[4] btDbvt::collideTT self
-bool					cfgBenchmark4_Enable		=	cfgEnable;
-static const int		cfgBenchmark4_Iterations	=	512;
-static const int		cfgBenchmark4_Reference		=	2814;
-//[5] btDbvt::collideTT xform
-bool					cfgBenchmark5_Enable		=	cfgEnable;
-static const int		cfgBenchmark5_Iterations	=	512;
-static const btScalar	cfgBenchmark5_OffsetScale	=	2;
-static const int		cfgBenchmark5_Reference		=	7379;
-//[6] btDbvt::collideTT xform,self
-bool					cfgBenchmark6_Enable		=	cfgEnable;
-static const int		cfgBenchmark6_Iterations	=	512;
-static const btScalar	cfgBenchmark6_OffsetScale	=	2;
-static const int		cfgBenchmark6_Reference		=	7270;
-//[7] btDbvt::collideRAY
-bool					cfgBenchmark7_Enable		=	cfgEnable;
-static const int		cfgBenchmark7_Passes		=	32;
-static const int		cfgBenchmark7_Iterations	=	65536;
-static const int		cfgBenchmark7_Reference		=	6307;
-//[8] insert/remove
-bool					cfgBenchmark8_Enable		=	cfgEnable;
-static const int		cfgBenchmark8_Passes		=	32;
-static const int		cfgBenchmark8_Iterations	=	65536;
-static const int		cfgBenchmark8_Reference		=	2105;
-//[9] updates (teleport)
-bool					cfgBenchmark9_Enable		=	cfgEnable;
-static const int		cfgBenchmark9_Passes		=	32;
-static const int		cfgBenchmark9_Iterations	=	65536;
-static const int		cfgBenchmark9_Reference		=	1879;
-//[10] updates (jitter)
-bool					cfgBenchmark10_Enable		=	cfgEnable;
-static const btScalar	cfgBenchmark10_Scale		=	cfgVolumeCenterScale/10000;
-static const int		cfgBenchmark10_Passes		=	32;
-static const int		cfgBenchmark10_Iterations	=	65536;
-static const int		cfgBenchmark10_Reference	=	1244;
-//[11] optimize (incremental)
-bool					cfgBenchmark11_Enable		=	cfgEnable;
-static const int		cfgBenchmark11_Passes		=	64;
-static const int		cfgBenchmark11_Iterations	=	65536;
-static const int		cfgBenchmark11_Reference	=	2510;
-//[12] btDbvtVolume notequal
-bool					cfgBenchmark12_Enable		=	cfgEnable;
-static const int		cfgBenchmark12_Iterations	=	32;
-static const int		cfgBenchmark12_Reference	=	3677;
-//[13] culling(OCL+fullsort)
-bool					cfgBenchmark13_Enable		=	cfgEnable;
-static const int		cfgBenchmark13_Iterations	=	1024;
-static const int		cfgBenchmark13_Reference	=	2231;
-//[14] culling(OCL+qsort)
-bool					cfgBenchmark14_Enable		=	cfgEnable;
-static const int		cfgBenchmark14_Iterations	=	8192;
-static const int		cfgBenchmark14_Reference	=	3500;
-//[15] culling(KDOP+qsort)
-bool					cfgBenchmark15_Enable		=	cfgEnable;
-static const int		cfgBenchmark15_Iterations	=	8192;
-static const int		cfgBenchmark15_Reference	=	1151;
-//[16] insert/remove batch
-bool					cfgBenchmark16_Enable		=	cfgEnable;
-static const int		cfgBenchmark16_BatchCount	=	256;
-static const int		cfgBenchmark16_Passes		=	16384;
-static const int		cfgBenchmark16_Reference	=	5138;
-//[17] select
-bool					cfgBenchmark17_Enable		=	cfgEnable;
-static const int		cfgBenchmark17_Iterations	=	4;
-static const int		cfgBenchmark17_Reference	=	3390;
+	//[1] btDbvtVolume intersections
+	bool					cfgBenchmark1_Enable		=	cfgEnable;
+	static const int		cfgBenchmark1_Iterations	=	8;
+	static const int		cfgBenchmark1_Reference		=	3499;
+	//[2] btDbvtVolume merges
+	bool					cfgBenchmark2_Enable		=	cfgEnable;
+	static const int		cfgBenchmark2_Iterations	=	4;
+	static const int		cfgBenchmark2_Reference		=	1945;
+	//[3] btDbvt::collideTT
+	bool					cfgBenchmark3_Enable		=	cfgEnable;
+	static const int		cfgBenchmark3_Iterations	=	512;
+	static const int		cfgBenchmark3_Reference		=	5485;
+	//[4] btDbvt::collideTT self
+	bool					cfgBenchmark4_Enable		=	cfgEnable;
+	static const int		cfgBenchmark4_Iterations	=	512;
+	static const int		cfgBenchmark4_Reference		=	2814;
+	//[5] btDbvt::collideTT xform
+	bool					cfgBenchmark5_Enable		=	cfgEnable;
+	static const int		cfgBenchmark5_Iterations	=	512;
+	static const btScalar	cfgBenchmark5_OffsetScale	=	2;
+	static const int		cfgBenchmark5_Reference		=	7379;
+	//[6] btDbvt::collideTT xform,self
+	bool					cfgBenchmark6_Enable		=	cfgEnable;
+	static const int		cfgBenchmark6_Iterations	=	512;
+	static const btScalar	cfgBenchmark6_OffsetScale	=	2;
+	static const int		cfgBenchmark6_Reference		=	7270;
+	//[7] btDbvt::rayTest
+	bool					cfgBenchmark7_Enable		=	cfgEnable;
+	static const int		cfgBenchmark7_Passes		=	32;
+	static const int		cfgBenchmark7_Iterations	=	65536;
+	static const int		cfgBenchmark7_Reference		=	6307;
+	//[8] insert/remove
+	bool					cfgBenchmark8_Enable		=	cfgEnable;
+	static const int		cfgBenchmark8_Passes		=	32;
+	static const int		cfgBenchmark8_Iterations	=	65536;
+	static const int		cfgBenchmark8_Reference		=	2105;
+	//[9] updates (teleport)
+	bool					cfgBenchmark9_Enable		=	cfgEnable;
+	static const int		cfgBenchmark9_Passes		=	32;
+	static const int		cfgBenchmark9_Iterations	=	65536;
+	static const int		cfgBenchmark9_Reference		=	1879;
+	//[10] updates (jitter)
+	bool					cfgBenchmark10_Enable		=	cfgEnable;
+	static const btScalar	cfgBenchmark10_Scale		=	cfgVolumeCenterScale/10000;
+	static const int		cfgBenchmark10_Passes		=	32;
+	static const int		cfgBenchmark10_Iterations	=	65536;
+	static const int		cfgBenchmark10_Reference	=	1244;
+	//[11] optimize (incremental)
+	bool					cfgBenchmark11_Enable		=	cfgEnable;
+	static const int		cfgBenchmark11_Passes		=	64;
+	static const int		cfgBenchmark11_Iterations	=	65536;
+	static const int		cfgBenchmark11_Reference	=	2510;
+	//[12] btDbvtVolume notequal
+	bool					cfgBenchmark12_Enable		=	cfgEnable;
+	static const int		cfgBenchmark12_Iterations	=	32;
+	static const int		cfgBenchmark12_Reference	=	3677;
+	//[13] culling(OCL+fullsort)
+	bool					cfgBenchmark13_Enable		=	cfgEnable;
+	static const int		cfgBenchmark13_Iterations	=	1024;
+	static const int		cfgBenchmark13_Reference	=	2231;
+	//[14] culling(OCL+qsort)
+	bool					cfgBenchmark14_Enable		=	cfgEnable;
+	static const int		cfgBenchmark14_Iterations	=	8192;
+	static const int		cfgBenchmark14_Reference	=	3500;
+	//[15] culling(KDOP+qsort)
+	bool					cfgBenchmark15_Enable		=	cfgEnable;
+	static const int		cfgBenchmark15_Iterations	=	8192;
+	static const int		cfgBenchmark15_Reference	=	1151;
+	//[16] insert/remove batch
+	bool					cfgBenchmark16_Enable		=	cfgEnable;
+	static const int		cfgBenchmark16_BatchCount	=	256;
+	static const int		cfgBenchmark16_Passes		=	16384;
+	static const int		cfgBenchmark16_Reference	=	5138;
+	//[17] select
+	bool					cfgBenchmark17_Enable		=	cfgEnable;
+	static const int		cfgBenchmark17_Iterations	=	4;
+	static const int		cfgBenchmark17_Reference	=	3390;
 
-btClock					wallclock;
-printf("Benchmarking dbvt...\r\n");
-printf("\tWorld scale: %f\r\n",cfgVolumeCenterScale);
-printf("\tExtents base: %f\r\n",cfgVolumeExentsBase);
-printf("\tExtents range: %f\r\n",cfgVolumeExentsScale);
-printf("\tLeaves: %u\r\n",cfgLeaves);
-printf("\tsizeof(btDbvtVolume): %u bytes\r\n",sizeof(btDbvtVolume));
-printf("\tsizeof(btDbvtNode):   %u bytes\r\n",sizeof(btDbvtNode));
-if(cfgBenchmark1_Enable)
+	btClock					wallclock;
+	printf("Benchmarking dbvt...\r\n");
+	printf("\tWorld scale: %f\r\n",cfgVolumeCenterScale);
+	printf("\tExtents base: %f\r\n",cfgVolumeExentsBase);
+	printf("\tExtents range: %f\r\n",cfgVolumeExentsScale);
+	printf("\tLeaves: %u\r\n",cfgLeaves);
+	printf("\tsizeof(btDbvtVolume): %u bytes\r\n",sizeof(btDbvtVolume));
+	printf("\tsizeof(btDbvtNode):   %u bytes\r\n",sizeof(btDbvtNode));
+	if(cfgBenchmark1_Enable)
 	{// Benchmark 1	
-	srand(380843);
-	btAlignedObjectArray<btDbvtVolume>	volumes;
-	btAlignedObjectArray<bool>			results;
-	volumes.resize(cfgLeaves);
-	results.resize(cfgLeaves);
-	for(int i=0;i<cfgLeaves;++i)
+		srand(380843);
+		btAlignedObjectArray<btDbvtVolume>	volumes;
+		btAlignedObjectArray<bool>			results;
+		volumes.resize(cfgLeaves);
+		results.resize(cfgLeaves);
+		for(int i=0;i<cfgLeaves;++i)
 		{
-		volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
 		}
-	printf("[1] btDbvtVolume intersections: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark1_Iterations;++i)
+		printf("[1] btDbvtVolume intersections: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark1_Iterations;++i)
 		{
-		for(int j=0;j<cfgLeaves;++j)
+			for(int j=0;j<cfgLeaves;++j)
 			{
-			for(int k=0;k<cfgLeaves;++k)
+				for(int k=0;k<cfgLeaves;++k)
 				{
-				results[k]=Intersect(volumes[j],volumes[k]);
+					results[k]=Intersect(volumes[j],volumes[k]);
 				}
 			}
 		}
-	const int time=(int)wallclock.getTimeMilliseconds();
-	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark1_Reference)*100/time);
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark1_Reference)*100/time);
 	}
-if(cfgBenchmark2_Enable)
+	if(cfgBenchmark2_Enable)
 	{// Benchmark 2	
-	srand(380843);
-	btAlignedObjectArray<btDbvtVolume>	volumes;
-	btAlignedObjectArray<btDbvtVolume>	results;
-	volumes.resize(cfgLeaves);
-	results.resize(cfgLeaves);
-	for(int i=0;i<cfgLeaves;++i)
+		srand(380843);
+		btAlignedObjectArray<btDbvtVolume>	volumes;
+		btAlignedObjectArray<btDbvtVolume>	results;
+		volumes.resize(cfgLeaves);
+		results.resize(cfgLeaves);
+		for(int i=0;i<cfgLeaves;++i)
 		{
-		volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
 		}
-	printf("[2] btDbvtVolume merges: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark2_Iterations;++i)
+		printf("[2] btDbvtVolume merges: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark2_Iterations;++i)
 		{
-		for(int j=0;j<cfgLeaves;++j)
+			for(int j=0;j<cfgLeaves;++j)
 			{
-			for(int k=0;k<cfgLeaves;++k)
+				for(int k=0;k<cfgLeaves;++k)
 				{
-				Merge(volumes[j],volumes[k],results[k]);
+					Merge(volumes[j],volumes[k],results[k]);
 				}
 			}
 		}
-	const int time=(int)wallclock.getTimeMilliseconds();
-	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark2_Reference)*100/time);
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark2_Reference)*100/time);
 	}
-if(cfgBenchmark3_Enable)
+	if(cfgBenchmark3_Enable)
 	{// Benchmark 3	
-	srand(380843);
-	btDbvt						dbvt[2];
-	btDbvtBenchmark::NilPolicy	policy;
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
-	dbvt[0].optimizeTopDown();
-	dbvt[1].optimizeTopDown();
-	printf("[3] btDbvt::collideTT: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark3_Iterations;++i)
+		srand(380843);
+		btDbvt						dbvt[2];
+		btDbvtBenchmark::NilPolicy	policy;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+		dbvt[0].optimizeTopDown();
+		dbvt[1].optimizeTopDown();
+		printf("[3] btDbvt::collideTT: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark3_Iterations;++i)
 		{
-		btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,policy);
+			btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,policy);
 		}
-	const int time=(int)wallclock.getTimeMilliseconds();
-	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark3_Reference)*100/time);
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark3_Reference)*100/time);
 	}
-if(cfgBenchmark4_Enable)
+	if(cfgBenchmark4_Enable)
 	{// Benchmark 4
-	srand(380843);
-	btDbvt						dbvt;
-	btDbvtBenchmark::NilPolicy	policy;
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	printf("[4] btDbvt::collideTT self: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark4_Iterations;++i)
+		srand(380843);
+		btDbvt						dbvt;
+		btDbvtBenchmark::NilPolicy	policy;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[4] btDbvt::collideTT self: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark4_Iterations;++i)
 		{
-		btDbvt::collideTT(dbvt.m_root,dbvt.m_root,policy);
+			btDbvt::collideTT(dbvt.m_root,dbvt.m_root,policy);
 		}
-	const int time=(int)wallclock.getTimeMilliseconds();
-	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark4_Reference)*100/time);
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark4_Reference)*100/time);
 	}
-if(cfgBenchmark5_Enable)
+	if(cfgBenchmark5_Enable)
 	{// Benchmark 5	
-	srand(380843);
-	btDbvt								dbvt[2];
-	btAlignedObjectArray<btTransform>	transforms;
-	btDbvtBenchmark::NilPolicy			policy;
-	transforms.resize(cfgBenchmark5_Iterations);
-	for(int i=0;i<transforms.size();++i)
+		srand(380843);
+		btDbvt								dbvt[2];
+		btAlignedObjectArray<btTransform>	transforms;
+		btDbvtBenchmark::NilPolicy			policy;
+		transforms.resize(cfgBenchmark5_Iterations);
+		for(int i=0;i<transforms.size();++i)
 		{
-		transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark5_OffsetScale);
+			transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark5_OffsetScale);
 		}
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
-	dbvt[0].optimizeTopDown();
-	dbvt[1].optimizeTopDown();
-	printf("[5] btDbvt::collideTT xform: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark5_Iterations;++i)
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+		dbvt[0].optimizeTopDown();
+		dbvt[1].optimizeTopDown();
+		printf("[5] btDbvt::collideTT xform: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark5_Iterations;++i)
 		{
-		btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,transforms[i],policy);
+			btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,transforms[i],policy);
 		}
-	const int time=(int)wallclock.getTimeMilliseconds();
-	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark5_Reference)*100/time);
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark5_Reference)*100/time);
 	}
-if(cfgBenchmark6_Enable)
+	if(cfgBenchmark6_Enable)
 	{// Benchmark 6	
-	srand(380843);
-	btDbvt								dbvt;
-	btAlignedObjectArray<btTransform>	transforms;
-	btDbvtBenchmark::NilPolicy			policy;
-	transforms.resize(cfgBenchmark6_Iterations);
-	for(int i=0;i<transforms.size();++i)
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btTransform>	transforms;
+		btDbvtBenchmark::NilPolicy			policy;
+		transforms.resize(cfgBenchmark6_Iterations);
+		for(int i=0;i<transforms.size();++i)
 		{
-		transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark6_OffsetScale);
+			transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark6_OffsetScale);
 		}
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	printf("[6] btDbvt::collideTT xform,self: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark6_Iterations;++i)
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[6] btDbvt::collideTT xform,self: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark6_Iterations;++i)
 		{
-		btDbvt::collideTT(dbvt.m_root,dbvt.m_root,transforms[i],policy);		
+			btDbvt::collideTT(dbvt.m_root,dbvt.m_root,transforms[i],policy);		
 		}
-	const int time=(int)wallclock.getTimeMilliseconds();
-	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark6_Reference)*100/time);
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark6_Reference)*100/time);
 	}
-if(cfgBenchmark7_Enable)
+	if(cfgBenchmark7_Enable)
 	{// Benchmark 7	
-	srand(380843);
-	btDbvt								dbvt;
-	btAlignedObjectArray<btVector3>		rayorg;
-	btAlignedObjectArray<btVector3>		raydir;
-	btDbvtBenchmark::NilPolicy			policy;
-	rayorg.resize(cfgBenchmark7_Iterations);
-	raydir.resize(cfgBenchmark7_Iterations);
-	for(int i=0;i<rayorg.size();++i)
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btVector3>		rayorg;
+		btAlignedObjectArray<btVector3>		raydir;
+		btDbvtBenchmark::NilPolicy			policy;
+		rayorg.resize(cfgBenchmark7_Iterations);
+		raydir.resize(cfgBenchmark7_Iterations);
+		for(int i=0;i<rayorg.size();++i)
 		{
-		rayorg[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
-		raydir[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
+			rayorg[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
+			raydir[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
 		}
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	printf("[7] btDbvt::collideRAY: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark7_Passes;++i)
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[7] btDbvt::rayTest: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark7_Passes;++i)
 		{
-		for(int j=0;j<cfgBenchmark7_Iterations;++j)
+			for(int j=0;j<cfgBenchmark7_Iterations;++j)
 			{
-			btDbvt::collideRAY(dbvt.m_root,rayorg[j],raydir[j],policy);
+				btDbvt::rayTest(dbvt.m_root,rayorg[j],rayorg[j]+raydir[j],policy);
 			}
 		}
-	const int	time=(int)wallclock.getTimeMilliseconds();
-	unsigned	rays=cfgBenchmark7_Passes*cfgBenchmark7_Iterations;
-	printf("%u ms (%i%%),(%u r/s)\r\n",time,(time-cfgBenchmark7_Reference)*100/time,(rays*1000)/time);
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		unsigned	rays=cfgBenchmark7_Passes*cfgBenchmark7_Iterations;
+		printf("%u ms (%i%%),(%u r/s)\r\n",time,(time-cfgBenchmark7_Reference)*100/time,(rays*1000)/time);
 	}
-if(cfgBenchmark8_Enable)
+	if(cfgBenchmark8_Enable)
 	{// Benchmark 8	
-	srand(380843);
-	btDbvt								dbvt;
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	printf("[8] insert/remove: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark8_Passes;++i)
+		srand(380843);
+		btDbvt								dbvt;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[8] insert/remove: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark8_Passes;++i)
 		{
-		for(int j=0;j<cfgBenchmark8_Iterations;++j)
+			for(int j=0;j<cfgBenchmark8_Iterations;++j)
 			{
-			dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+				dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
 			}
 		}
-	const int	time=(int)wallclock.getTimeMilliseconds();
-	const int	ir=cfgBenchmark8_Passes*cfgBenchmark8_Iterations;
-	printf("%u ms (%i%%),(%u ir/s)\r\n",time,(time-cfgBenchmark8_Reference)*100/time,ir*1000/time);
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	ir=cfgBenchmark8_Passes*cfgBenchmark8_Iterations;
+		printf("%u ms (%i%%),(%u ir/s)\r\n",time,(time-cfgBenchmark8_Reference)*100/time,ir*1000/time);
 	}
-if(cfgBenchmark9_Enable)
+	if(cfgBenchmark9_Enable)
 	{// Benchmark 9	
-	srand(380843);
-	btDbvt										dbvt;
-	btAlignedObjectArray<const btDbvtNode*>	leaves;
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	dbvt.extractLeaves(dbvt.m_root,leaves);
-	printf("[9] updates (teleport): ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark9_Passes;++i)
+		srand(380843);
+		btDbvt										dbvt;
+		btAlignedObjectArray<const btDbvtNode*>	leaves;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		dbvt.extractLeaves(dbvt.m_root,leaves);
+		printf("[9] updates (teleport): ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark9_Passes;++i)
 		{
-		for(int j=0;j<cfgBenchmark9_Iterations;++j)
+			for(int j=0;j<cfgBenchmark9_Iterations;++j)
 			{
-			dbvt.update(const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]),
-						btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale));
+				dbvt.update(const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]),
+					btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale));
 			}
 		}
-	const int	time=(int)wallclock.getTimeMilliseconds();
-	const int	up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations;
-	printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)*100/time,up*1000/time);
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations;
+		printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)*100/time,up*1000/time);
 	}
-if(cfgBenchmark10_Enable)
+	if(cfgBenchmark10_Enable)
 	{// Benchmark 10	
-	srand(380843);
-	btDbvt										dbvt;
-	btAlignedObjectArray<const btDbvtNode*>	leaves;
-	btAlignedObjectArray<btVector3>				vectors;
-	vectors.resize(cfgBenchmark10_Iterations);
-	for(int i=0;i<vectors.size();++i)
+		srand(380843);
+		btDbvt										dbvt;
+		btAlignedObjectArray<const btDbvtNode*>	leaves;
+		btAlignedObjectArray<btVector3>				vectors;
+		vectors.resize(cfgBenchmark10_Iterations);
+		for(int i=0;i<vectors.size();++i)
 		{
-		vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1))*cfgBenchmark10_Scale;
+			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1))*cfgBenchmark10_Scale;
 		}
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	dbvt.extractLeaves(dbvt.m_root,leaves);
-	printf("[10] updates (jitter): ");
-	wallclock.reset();
-	
-	for(int i=0;i<cfgBenchmark10_Passes;++i)
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		dbvt.extractLeaves(dbvt.m_root,leaves);
+		printf("[10] updates (jitter): ");
+		wallclock.reset();
+
+		for(int i=0;i<cfgBenchmark10_Passes;++i)
 		{
-		for(int j=0;j<cfgBenchmark10_Iterations;++j)
+			for(int j=0;j<cfgBenchmark10_Iterations;++j)
 			{			
-			const btVector3&	d=vectors[j];
-			btDbvtNode*		l=const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]);
-			btDbvtVolume		v=btDbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d);
-			dbvt.update(l,v);
+				const btVector3&	d=vectors[j];
+				btDbvtNode*		l=const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]);
+				btDbvtVolume		v=btDbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d);
+				dbvt.update(l,v);
 			}
 		}
-	const int	time=(int)wallclock.getTimeMilliseconds();
-	const int	up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations;
-	printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)*100/time,up*1000/time);
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations;
+		printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)*100/time,up*1000/time);
 	}
-if(cfgBenchmark11_Enable)
+	if(cfgBenchmark11_Enable)
 	{// Benchmark 11	
-	srand(380843);
-	btDbvt										dbvt;
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	printf("[11] optimize (incremental): ");
-	wallclock.reset();	
-	for(int i=0;i<cfgBenchmark11_Passes;++i)
+		srand(380843);
+		btDbvt										dbvt;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[11] optimize (incremental): ");
+		wallclock.reset();	
+		for(int i=0;i<cfgBenchmark11_Passes;++i)
 		{
-		dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
+			dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
 		}
-	const int	time=(int)wallclock.getTimeMilliseconds();
-	const int	op=cfgBenchmark11_Passes*cfgBenchmark11_Iterations;
-	printf("%u ms (%i%%),(%u o/s)\r\n",time,(time-cfgBenchmark11_Reference)*100/time,op/time*1000);
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	op=cfgBenchmark11_Passes*cfgBenchmark11_Iterations;
+		printf("%u ms (%i%%),(%u o/s)\r\n",time,(time-cfgBenchmark11_Reference)*100/time,op/time*1000);
 	}
-if(cfgBenchmark12_Enable)
+	if(cfgBenchmark12_Enable)
 	{// Benchmark 12	
-	srand(380843);
-	btAlignedObjectArray<btDbvtVolume>	volumes;
-	btAlignedObjectArray<bool>				results;
-	volumes.resize(cfgLeaves);
-	results.resize(cfgLeaves);
-	for(int i=0;i<cfgLeaves;++i)
+		srand(380843);
+		btAlignedObjectArray<btDbvtVolume>	volumes;
+		btAlignedObjectArray<bool>				results;
+		volumes.resize(cfgLeaves);
+		results.resize(cfgLeaves);
+		for(int i=0;i<cfgLeaves;++i)
 		{
-		volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
 		}
-	printf("[12] btDbvtVolume notequal: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark12_Iterations;++i)
+		printf("[12] btDbvtVolume notequal: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark12_Iterations;++i)
 		{
-		for(int j=0;j<cfgLeaves;++j)
+			for(int j=0;j<cfgLeaves;++j)
 			{
-			for(int k=0;k<cfgLeaves;++k)
+				for(int k=0;k<cfgLeaves;++k)
 				{
-				results[k]=NotEqual(volumes[j],volumes[k]);
+					results[k]=NotEqual(volumes[j],volumes[k]);
 				}
 			}
 		}
-	const int time=(int)wallclock.getTimeMilliseconds();
-	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark12_Reference)*100/time);
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark12_Reference)*100/time);
 	}
-if(cfgBenchmark13_Enable)
+	if(cfgBenchmark13_Enable)
 	{// Benchmark 13	
-	srand(380843);
-	btDbvt								dbvt;
-	btAlignedObjectArray<btVector3>		vectors;
-	btDbvtBenchmark::NilPolicy			policy;
-	vectors.resize(cfgBenchmark13_Iterations);
-	for(int i=0;i<vectors.size();++i)
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btVector3>		vectors;
+		btDbvtBenchmark::NilPolicy			policy;
+		vectors.resize(cfgBenchmark13_Iterations);
+		for(int i=0;i<vectors.size();++i)
 		{
-		vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
 		}
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	printf("[13] culling(OCL+fullsort): ");
-	wallclock.reset();	
-	for(int i=0;i<cfgBenchmark13_Iterations;++i)
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		printf("[13] culling(OCL+fullsort): ");
+		wallclock.reset();	
+		for(int i=0;i<cfgBenchmark13_Iterations;++i)
 		{
-		static const btScalar	offset=0;
-		policy.m_depth=-SIMD_INFINITY;
-		dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy);
+			static const btScalar	offset=0;
+			policy.m_depth=-SIMD_INFINITY;
+			dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy);
 		}
-	const int	time=(int)wallclock.getTimeMilliseconds();
-	const int	t=cfgBenchmark13_Iterations;
-	printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark13_Reference)*100/time,(t*1000)/time);
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	t=cfgBenchmark13_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark13_Reference)*100/time,(t*1000)/time);
 	}
-if(cfgBenchmark14_Enable)
+	if(cfgBenchmark14_Enable)
 	{// Benchmark 14	
-	srand(380843);
-	btDbvt								dbvt;
-	btAlignedObjectArray<btVector3>		vectors;
-	btDbvtBenchmark::P14				policy;
-	vectors.resize(cfgBenchmark14_Iterations);
-	for(int i=0;i<vectors.size();++i)
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btVector3>		vectors;
+		btDbvtBenchmark::P14				policy;
+		vectors.resize(cfgBenchmark14_Iterations);
+		for(int i=0;i<vectors.size();++i)
 		{
-		vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
 		}
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	policy.m_nodes.reserve(cfgLeaves);
-	printf("[14] culling(OCL+qsort): ");
-	wallclock.reset();	
-	for(int i=0;i<cfgBenchmark14_Iterations;++i)
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		policy.m_nodes.reserve(cfgLeaves);
+		printf("[14] culling(OCL+qsort): ");
+		wallclock.reset();	
+		for(int i=0;i<cfgBenchmark14_Iterations;++i)
 		{
-		static const btScalar	offset=0;
-		policy.m_nodes.resize(0);
-		dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy,false);
-		policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc);
+			static const btScalar	offset=0;
+			policy.m_nodes.resize(0);
+			dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy,false);
+			policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc);
 		}
-	const int	time=(int)wallclock.getTimeMilliseconds();
-	const int	t=cfgBenchmark14_Iterations;
-	printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark14_Reference)*100/time,(t*1000)/time);
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	t=cfgBenchmark14_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark14_Reference)*100/time,(t*1000)/time);
 	}
-if(cfgBenchmark15_Enable)
+	if(cfgBenchmark15_Enable)
 	{// Benchmark 15	
-	srand(380843);
-	btDbvt								dbvt;
-	btAlignedObjectArray<btVector3>		vectors;
-	btDbvtBenchmark::P15				policy;
-	vectors.resize(cfgBenchmark15_Iterations);
-	for(int i=0;i<vectors.size();++i)
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btVector3>		vectors;
+		btDbvtBenchmark::P15				policy;
+		vectors.resize(cfgBenchmark15_Iterations);
+		for(int i=0;i<vectors.size();++i)
 		{
-		vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+			vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
 		}
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	policy.m_nodes.reserve(cfgLeaves);
-	printf("[15] culling(KDOP+qsort): ");
-	wallclock.reset();	
-	for(int i=0;i<cfgBenchmark15_Iterations;++i)
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		policy.m_nodes.reserve(cfgLeaves);
+		printf("[15] culling(KDOP+qsort): ");
+		wallclock.reset();	
+		for(int i=0;i<cfgBenchmark15_Iterations;++i)
 		{
-		static const btScalar	offset=0;
-		policy.m_nodes.resize(0);
-		policy.m_axis=vectors[i];
-		dbvt.collideKDOP(dbvt.m_root,&vectors[i],&offset,1,policy);
-		policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc);
+			static const btScalar	offset=0;
+			policy.m_nodes.resize(0);
+			policy.m_axis=vectors[i];
+			dbvt.collideKDOP(dbvt.m_root,&vectors[i],&offset,1,policy);
+			policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc);
 		}
-	const int	time=(int)wallclock.getTimeMilliseconds();
-	const int	t=cfgBenchmark15_Iterations;
-	printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark15_Reference)*100/time,(t*1000)/time);
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	t=cfgBenchmark15_Iterations;
+		printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark15_Reference)*100/time,(t*1000)/time);
 	}
-if(cfgBenchmark16_Enable)
+	if(cfgBenchmark16_Enable)
 	{// Benchmark 16	
-	srand(380843);
-	btDbvt								dbvt;
-	btAlignedObjectArray<btDbvtNode*>	batch;
-	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
-	dbvt.optimizeTopDown();
-	batch.reserve(cfgBenchmark16_BatchCount);
-	printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount);
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark16_Passes;++i)
+		srand(380843);
+		btDbvt								dbvt;
+		btAlignedObjectArray<btDbvtNode*>	batch;
+		btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+		dbvt.optimizeTopDown();
+		batch.reserve(cfgBenchmark16_BatchCount);
+		printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount);
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark16_Passes;++i)
 		{
-		for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			for(int j=0;j<cfgBenchmark16_BatchCount;++j)
 			{
-			batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+				batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
 			}
-		for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			for(int j=0;j<cfgBenchmark16_BatchCount;++j)
 			{
-			dbvt.remove(batch[j]);
+				dbvt.remove(batch[j]);
 			}
-		batch.resize(0);
+			batch.resize(0);
 		}
-	const int	time=(int)wallclock.getTimeMilliseconds();
-	const int	ir=cfgBenchmark16_Passes*cfgBenchmark16_BatchCount;
-	printf("%u ms (%i%%),(%u bir/s)\r\n",time,(time-cfgBenchmark16_Reference)*100/time,int(ir*1000.0/time));
+		const int	time=(int)wallclock.getTimeMilliseconds();
+		const int	ir=cfgBenchmark16_Passes*cfgBenchmark16_BatchCount;
+		printf("%u ms (%i%%),(%u bir/s)\r\n",time,(time-cfgBenchmark16_Reference)*100/time,int(ir*1000.0/time));
 	}
-if(cfgBenchmark17_Enable)
+	if(cfgBenchmark17_Enable)
 	{// Benchmark 17
-	srand(380843);
-	btAlignedObjectArray<btDbvtVolume>	volumes;
-	btAlignedObjectArray<int>			results;
-	btAlignedObjectArray<int>			indices;
-	volumes.resize(cfgLeaves);
-	results.resize(cfgLeaves);
-	indices.resize(cfgLeaves);
-	for(int i=0;i<cfgLeaves;++i)
+		srand(380843);
+		btAlignedObjectArray<btDbvtVolume>	volumes;
+		btAlignedObjectArray<int>			results;
+		btAlignedObjectArray<int>			indices;
+		volumes.resize(cfgLeaves);
+		results.resize(cfgLeaves);
+		indices.resize(cfgLeaves);
+		for(int i=0;i<cfgLeaves;++i)
 		{
-		indices[i]=i;
-		volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+			indices[i]=i;
+			volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
 		}
-	for(int i=0;i<cfgLeaves;++i)
+		for(int i=0;i<cfgLeaves;++i)
 		{
-		btSwap(indices[i],indices[rand()%cfgLeaves]);
+			btSwap(indices[i],indices[rand()%cfgLeaves]);
 		}
-	printf("[17] btDbvtVolume select: ");
-	wallclock.reset();
-	for(int i=0;i<cfgBenchmark17_Iterations;++i)
+		printf("[17] btDbvtVolume select: ");
+		wallclock.reset();
+		for(int i=0;i<cfgBenchmark17_Iterations;++i)
 		{
-		for(int j=0;j<cfgLeaves;++j)
+			for(int j=0;j<cfgLeaves;++j)
 			{
-			for(int k=0;k<cfgLeaves;++k)
+				for(int k=0;k<cfgLeaves;++k)
 				{
-				const int idx=indices[k];
-				results[idx]=Select(volumes[idx],volumes[j],volumes[k]);
+					const int idx=indices[k];
+					results[idx]=Select(volumes[idx],volumes[j],volumes[k]);
 				}
 			}
 		}
-	const int time=(int)wallclock.getTimeMilliseconds();
-	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark17_Reference)*100/time);
+		const int time=(int)wallclock.getTimeMilliseconds();
+		printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark17_Reference)*100/time);
 	}
-printf("\r\n\r\n");
+	printf("\r\n\r\n");
 }
 #endif
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
index 21d69acf151..d3cf1e75039 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -20,6 +20,7 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
+#include "LinearMath/btAabbUtil2.h"
 
 //
 // Compile time configuration
@@ -31,11 +32,11 @@ subject to the following restrictions:
 #define DBVT_IMPL_SSE			1	// SSE
 
 // Template implementation of ICollide
-#ifdef WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER //there is always some weird compiler that breaks SSE builds
-	#if (defined (_MSC_VER) && _MSC_VER >= 1400)
-	#define	DBVT_USE_TEMPLATE		1
-	#else
-	#define	DBVT_USE_TEMPLATE		0
+#ifdef WIN32
+#if (defined (_MSC_VER) && _MSC_VER >= 1400)
+#define	DBVT_USE_TEMPLATE		1
+#else
+#define	DBVT_USE_TEMPLATE		0
 #endif
 #else
 #define	DBVT_USE_TEMPLATE		0
@@ -52,16 +53,11 @@ subject to the following restrictions:
 
 // Inlining
 #define DBVT_INLINE				SIMD_FORCE_INLINE
-// Align
-#ifdef WIN32
-#define DBVT_ALIGN				__declspec(align(16))
-#else
-#define DBVT_ALIGN
-#endif
 
 // Specific methods implementation
 
-#ifdef WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER //there is always some weird compiler that breaks SSE builds
+//SSE gives errors on a MSVC 7.1
+#ifdef BT_USE_SSE
 #define DBVT_SELECT_IMPL		DBVT_IMPL_SSE
 #define DBVT_MERGE_IMPL			DBVT_IMPL_SSE
 #define DBVT_INT0_IMPL			DBVT_IMPL_SSE
@@ -86,7 +82,7 @@ subject to the following restrictions:
 #define DBVT_VIRTUAL_DTOR(a)
 #define DBVT_PREFIX					template <typename T>
 #define DBVT_IPOLICY				T& policy
-#define DBVT_CHECKTYPE				static const ICollide&	typechecker=*(T*)0;
+#define DBVT_CHECKTYPE				static const ICollide&	typechecker=*(T*)1;(void)typechecker;
 #else
 #define	DBVT_VIRTUAL_DTOR(a)		virtual ~a() {}
 #define DBVT_VIRTUAL				virtual
@@ -133,46 +129,41 @@ subject to the following restrictions:
 /* btDbvtAabbMm			*/ 
 struct	btDbvtAabbMm
 {
-DBVT_INLINE btVector3			Center() const	{ return((mi+mx)/2); }
-DBVT_INLINE btVector3			Lengths() const	{ return(mx-mi); }
-DBVT_INLINE btVector3			Extents() const	{ return((mx-mi)/2); }
-DBVT_INLINE const btVector3&	Mins() const	{ return(mi); }
-DBVT_INLINE const btVector3&	Maxs() const	{ return(mx); }
-static inline btDbvtAabbMm		FromCE(const btVector3& c,const btVector3& e);
-static inline btDbvtAabbMm		FromCR(const btVector3& c,btScalar r);
-static inline btDbvtAabbMm		FromMM(const btVector3& mi,const btVector3& mx);
-static inline btDbvtAabbMm		FromPoints(const btVector3* pts,int n);
-static inline btDbvtAabbMm		FromPoints(const btVector3** ppts,int n);
-DBVT_INLINE void				Expand(const btVector3& e);
-DBVT_INLINE void				SignedExpand(const btVector3& e);
-DBVT_INLINE bool				Contain(const btDbvtAabbMm& a) const;
-DBVT_INLINE int					Classify(const btVector3& n,btScalar o,int s) const;
-DBVT_INLINE btScalar			ProjectMinimum(const btVector3& v,unsigned signs) const;
-DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
-											const btDbvtAabbMm& b);
-DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
-											const btDbvtAabbMm& b,
-											const btTransform& xform);
-DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
-											const btVector3& b);
-DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
-											const btVector3& org,
-											const btVector3& invdir,
-											const unsigned* signs);
-DBVT_INLINE friend btScalar		Proximity(	const btDbvtAabbMm& a,
-											const btDbvtAabbMm& b);
-DBVT_INLINE friend int			Select(		const btDbvtAabbMm& o,
-											const btDbvtAabbMm& a,
-											const btDbvtAabbMm& b);
-DBVT_INLINE friend void			Merge(		const btDbvtAabbMm& a,
-											const btDbvtAabbMm& b,
-											btDbvtAabbMm& r);
-DBVT_INLINE friend bool			NotEqual(	const btDbvtAabbMm& a,
-											const btDbvtAabbMm& b);
+	DBVT_INLINE btVector3			Center() const	{ return((mi+mx)/2); }
+	DBVT_INLINE btVector3			Lengths() const	{ return(mx-mi); }
+	DBVT_INLINE btVector3			Extents() const	{ return((mx-mi)/2); }
+	DBVT_INLINE const btVector3&	Mins() const	{ return(mi); }
+	DBVT_INLINE const btVector3&	Maxs() const	{ return(mx); }
+	static inline btDbvtAabbMm		FromCE(const btVector3& c,const btVector3& e);
+	static inline btDbvtAabbMm		FromCR(const btVector3& c,btScalar r);
+	static inline btDbvtAabbMm		FromMM(const btVector3& mi,const btVector3& mx);
+	static inline btDbvtAabbMm		FromPoints(const btVector3* pts,int n);
+	static inline btDbvtAabbMm		FromPoints(const btVector3** ppts,int n);
+	DBVT_INLINE void				Expand(const btVector3& e);
+	DBVT_INLINE void				SignedExpand(const btVector3& e);
+	DBVT_INLINE bool				Contain(const btDbvtAabbMm& a) const;
+	DBVT_INLINE int					Classify(const btVector3& n,btScalar o,int s) const;
+	DBVT_INLINE btScalar			ProjectMinimum(const btVector3& v,unsigned signs) const;
+	DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
+		const btDbvtAabbMm& b);
+	
+	DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
+		const btVector3& b);
+
+	DBVT_INLINE friend btScalar		Proximity(	const btDbvtAabbMm& a,
+		const btDbvtAabbMm& b);
+	DBVT_INLINE friend int			Select(		const btDbvtAabbMm& o,
+		const btDbvtAabbMm& a,
+		const btDbvtAabbMm& b);
+	DBVT_INLINE friend void			Merge(		const btDbvtAabbMm& a,
+		const btDbvtAabbMm& b,
+		btDbvtAabbMm& r);
+	DBVT_INLINE friend bool			NotEqual(	const btDbvtAabbMm& a,
+		const btDbvtAabbMm& b);
 private:
-DBVT_INLINE void				AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
+	DBVT_INLINE void				AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
 private:
-btVector3	mi,mx;
+	btVector3	mi,mx;
 };
 
 // Types	
@@ -185,88 +176,94 @@ struct	btDbvtNode
 	btDbvtNode*		parent;
 	DBVT_INLINE bool	isleaf() const		{ return(childs[1]==0); }
 	DBVT_INLINE bool	isinternal() const	{ return(!isleaf()); }
-	union	{
-			btDbvtNode*	childs[2];
-			void*	data;
-			int		dataAsInt;
-			};
+	union
+	{
+		btDbvtNode*	childs[2];
+		void*	data;
+		int		dataAsInt;
+	};
 };
 
 ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
 ///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes.
 ///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
 struct	btDbvt
-	{
+{
 	/* Stack element	*/ 
 	struct	sStkNN
-		{
+	{
 		const btDbvtNode*	a;
 		const btDbvtNode*	b;
 		sStkNN() {}
 		sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {}
-		};
+	};
 	struct	sStkNP
-		{
+	{
 		const btDbvtNode*	node;
 		int			mask;
 		sStkNP(const btDbvtNode* n,unsigned m) : node(n),mask(m) {}
-		};
+	};
 	struct	sStkNPS
-		{
+	{
 		const btDbvtNode*	node;
 		int			mask;
 		btScalar	value;
 		sStkNPS() {}
 		sStkNPS(const btDbvtNode* n,unsigned m,btScalar v) : node(n),mask(m),value(v) {}
-		};
+	};
 	struct	sStkCLN
-		{
+	{
 		const btDbvtNode*	node;
 		btDbvtNode*		parent;
 		sStkCLN(const btDbvtNode* n,btDbvtNode* p) : node(n),parent(p) {}
-		};
+	};
 	// Policies/Interfaces
-			
+
 	/* ICollide	*/ 
 	struct	ICollide
-		{		
+	{		
 		DBVT_VIRTUAL_DTOR(ICollide)
-		DBVT_VIRTUAL void	Process(const btDbvtNode*,const btDbvtNode*)		{}
+			DBVT_VIRTUAL void	Process(const btDbvtNode*,const btDbvtNode*)		{}
 		DBVT_VIRTUAL void	Process(const btDbvtNode*)					{}
 		DBVT_VIRTUAL void	Process(const btDbvtNode* n,btScalar)			{ Process(n); }
 		DBVT_VIRTUAL bool	Descent(const btDbvtNode*)					{ return(true); }
 		DBVT_VIRTUAL bool	AllLeaves(const btDbvtNode*)					{ return(true); }
-		};
+	};
 	/* IWriter	*/ 
 	struct	IWriter
-		{
+	{
 		virtual ~IWriter() {}
 		virtual void		Prepare(const btDbvtNode* root,int numnodes)=0;
 		virtual void		WriteNode(const btDbvtNode*,int index,int parent,int child0,int child1)=0;
 		virtual void		WriteLeaf(const btDbvtNode*,int index,int parent)=0;
-		};
+	};
 	/* IClone	*/ 
 	struct	IClone
-		{
+	{
 		virtual ~IClone()	{}
 		virtual void		CloneLeaf(btDbvtNode*) {}
-		};
-		
+	};
+
 	// Constants
 	enum	{
-			SIMPLE_STACKSIZE	=	64,
-			DOUBLE_STACKSIZE	=	SIMPLE_STACKSIZE*2
-			};
-		
+		SIMPLE_STACKSIZE	=	64,
+		DOUBLE_STACKSIZE	=	SIMPLE_STACKSIZE*2
+	};
+
 	// Fields
 	btDbvtNode*		m_root;
 	btDbvtNode*		m_free;
 	int				m_lkhd;
 	int				m_leaves;
 	unsigned		m_opath;
+
+	
+	btAlignedObjectArray<sStkNN>	m_stkStack;
+
+
 	// Methods
-					btDbvt();
-					~btDbvt();
+	btDbvt();
+	~btDbvt();
 	void			clear();
 	bool			empty() const { return(0==m_root); }
 	void			optimizeBottomUp();
@@ -274,95 +271,118 @@ struct	btDbvt
 	void			optimizeIncremental(int passes);
 	btDbvtNode*		insert(const btDbvtVolume& box,void* data);
 	void			update(btDbvtNode* leaf,int lookahead=-1);
-	void			update(btDbvtNode* leaf,const btDbvtVolume& volume);
-	bool			update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity,btScalar margin);
-	bool			update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity);
-	bool			update(btDbvtNode* leaf,btDbvtVolume volume,btScalar margin);	
+	void			update(btDbvtNode* leaf,btDbvtVolume& volume);
+	bool			update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin);
+	bool			update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity);
+	bool			update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin);	
 	void			remove(btDbvtNode* leaf);
 	void			write(IWriter* iwriter) const;
 	void			clone(btDbvt& dest,IClone* iclone=0) const;
 	static int		maxdepth(const btDbvtNode* node);
 	static int		countLeaves(const btDbvtNode* node);
 	static void		extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves);
-	#if DBVT_ENABLE_BENCHMARK
+#if DBVT_ENABLE_BENCHMARK
 	static void		benchmark();
-	#else
+#else
 	static void		benchmark(){}
-	#endif
+#endif
 	// DBVT_IPOLICY must support ICollide policy/interface
 	DBVT_PREFIX
-	static void		enumNodes(	const btDbvtNode* root,
-								DBVT_IPOLICY);
+		static void		enumNodes(	const btDbvtNode* root,
+		DBVT_IPOLICY);
+	DBVT_PREFIX
+		static void		enumLeaves(	const btDbvtNode* root,
+		DBVT_IPOLICY);
 	DBVT_PREFIX
-	static void		enumLeaves(	const btDbvtNode* root,
-								DBVT_IPOLICY);
+		void		collideTT(	const btDbvtNode* root0,
+		const btDbvtNode* root1,
+		DBVT_IPOLICY);
+
 	DBVT_PREFIX
-	static void		collideTT(	const btDbvtNode* root0,
-								const btDbvtNode* root1,
-								DBVT_IPOLICY);
+		void		collideTTpersistentStack(	const btDbvtNode* root0,
+		  const btDbvtNode* root1,
+		  DBVT_IPOLICY);
+#if 0
 	DBVT_PREFIX
-	static void		collideTT(	const btDbvtNode* root0,
-								const btDbvtNode* root1,
-								const btTransform& xform,
-								DBVT_IPOLICY);
+		void		collideTT(	const btDbvtNode* root0,
+		const btDbvtNode* root1,
+		const btTransform& xform,
+		DBVT_IPOLICY);
 	DBVT_PREFIX
-	static void		collideTT(	const btDbvtNode* root0,
-								const btTransform& xform0,
-								const btDbvtNode* root1,
-								const btTransform& xform1,
-								DBVT_IPOLICY);
+		void		collideTT(	const btDbvtNode* root0,
+		const btTransform& xform0,
+		const btDbvtNode* root1,
+		const btTransform& xform1,
+		DBVT_IPOLICY);
+#endif
+
 	DBVT_PREFIX
-	static void		collideTV(	const btDbvtNode* root,
-								const btDbvtVolume& volume,
-								DBVT_IPOLICY);
+		void		collideTV(	const btDbvtNode* root,
+		const btDbvtVolume& volume,
+		DBVT_IPOLICY);
+	///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
+	///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
 	DBVT_PREFIX
-	static void		collideRAY(	const btDbvtNode* root,
-								const btVector3& origin,
-								const btVector3& direction,
-								DBVT_IPOLICY);
+		static void		rayTest(	const btDbvtNode* root,
+		const btVector3& rayFrom,
+		const btVector3& rayTo,
+		DBVT_IPOLICY);
+	///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections
+	///rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts
 	DBVT_PREFIX
-	static void		collideKDOP(const btDbvtNode* root,
-								const btVector3* normals,
-								const btScalar* offsets,
-								int count,
-								DBVT_IPOLICY);
+		void		rayTestInternal(	const btDbvtNode* root,
+								const btVector3& rayFrom,
+								const btVector3& rayTo,
+								const btVector3& rayDirectionInverse,
+								unsigned int signs[3],
+								btScalar lambda_max,
+								const btVector3& aabbMin,
+								const btVector3& aabbMax,
+								DBVT_IPOLICY) const;
+
 	DBVT_PREFIX
-	static void		collideOCL(	const btDbvtNode* root,
-								const btVector3* normals,
-								const btScalar* offsets,
-								const btVector3& sortaxis,
-								int count,								
-								DBVT_IPOLICY,
-								bool fullsort=true);
+		static void		collideKDOP(const btDbvtNode* root,
+		const btVector3* normals,
+		const btScalar* offsets,
+		int count,
+		DBVT_IPOLICY);
 	DBVT_PREFIX
-	static void		collideTU(	const btDbvtNode* root,
-								DBVT_IPOLICY);
+		static void		collideOCL(	const btDbvtNode* root,
+		const btVector3* normals,
+		const btScalar* offsets,
+		const btVector3& sortaxis,
+		int count,								
+		DBVT_IPOLICY,
+		bool fullsort=true);
+	DBVT_PREFIX
+		static void		collideTU(	const btDbvtNode* root,
+		DBVT_IPOLICY);
 	// Helpers	
 	static DBVT_INLINE int	nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h)
-		{
+	{
 		int	m=0;
 		while(l<h)
-			{
+		{
 			m=(l+h)>>1;
 			if(a[i[m]].value>=v) l=m+1; else h=m;
-			}
-		return(h);
 		}
+		return(h);
+	}
 	static DBVT_INLINE int	allocate(	btAlignedObjectArray<int>& ifree,
-										btAlignedObjectArray<sStkNPS>& stock,
-										const sStkNPS& value)
-		{
+		btAlignedObjectArray<sStkNPS>& stock,
+		const sStkNPS& value)
+	{
 		int	i;
 		if(ifree.size()>0)
-			{ i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; }
-			else
-			{ i=stock.size();stock.push_back(value); }
+		{ i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; }
+		else
+		{ i=stock.size();stock.push_back(value); }
 		return(i); 
-		}
+	}
 	//
-	private:
-					btDbvt(const btDbvt&)	{}	
-	};
+private:
+	btDbvt(const btDbvt&)	{}	
+};
 
 //
 // Inline's
@@ -371,69 +391,69 @@ struct	btDbvt
 //
 inline btDbvtAabbMm			btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e)
 {
-btDbvtAabbMm box;
-box.mi=c-e;box.mx=c+e;
-return(box);
+	btDbvtAabbMm box;
+	box.mi=c-e;box.mx=c+e;
+	return(box);
 }
-	
+
 //
 inline btDbvtAabbMm			btDbvtAabbMm::FromCR(const btVector3& c,btScalar r)
 {
-return(FromCE(c,btVector3(r,r,r)));
+	return(FromCE(c,btVector3(r,r,r)));
 }
-	
+
 //
 inline btDbvtAabbMm			btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx)
 {
-btDbvtAabbMm box;
-box.mi=mi;box.mx=mx;
-return(box);
+	btDbvtAabbMm box;
+	box.mi=mi;box.mx=mx;
+	return(box);
 }
-	
+
 //
 inline btDbvtAabbMm			btDbvtAabbMm::FromPoints(const btVector3* pts,int n)
 {
-btDbvtAabbMm box;
-box.mi=box.mx=pts[0];
-for(int i=1;i<n;++i)
+	btDbvtAabbMm box;
+	box.mi=box.mx=pts[0];
+	for(int i=1;i<n;++i)
 	{
-	box.mi.setMin(pts[i]);
-	box.mx.setMax(pts[i]);
+		box.mi.setMin(pts[i]);
+		box.mx.setMax(pts[i]);
 	}
-return(box);
+	return(box);
 }
 
 //
 inline btDbvtAabbMm			btDbvtAabbMm::FromPoints(const btVector3** ppts,int n)
 {
-btDbvtAabbMm box;
-box.mi=box.mx=*ppts[0];
-for(int i=1;i<n;++i)
+	btDbvtAabbMm box;
+	box.mi=box.mx=*ppts[0];
+	for(int i=1;i<n;++i)
 	{
-	box.mi.setMin(*ppts[i]);
-	box.mx.setMax(*ppts[i]);
+		box.mi.setMin(*ppts[i]);
+		box.mx.setMax(*ppts[i]);
 	}
-return(box);
+	return(box);
 }
 
 //
 DBVT_INLINE void		btDbvtAabbMm::Expand(const btVector3& e)
 {
-mi-=e;mx+=e;
+	mi-=e;mx+=e;
 }
-	
+
 //
 DBVT_INLINE void		btDbvtAabbMm::SignedExpand(const btVector3& e)
 {
-if(e.x()>0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]);
-if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]);
-if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]);
+	if(e.x()>0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]);
+	if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]);
+	if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]);
 }
-	
+
 //
 DBVT_INLINE bool		btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
 {
-return(	(mi.x()<=a.mi.x())&&
+	return(	(mi.x()<=a.mi.x())&&
 		(mi.y()<=a.mi.y())&&
 		(mi.z()<=a.mi.z())&&
 		(mx.x()>=a.mx.x())&&
@@ -444,64 +464,64 @@ return(	(mi.x()<=a.mi.x())&&
 //
 DBVT_INLINE int		btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const
 {
-btVector3			pi,px;
-switch(s)
+	btVector3			pi,px;
+	switch(s)
 	{
 	case	(0+0+0):	px=btVector3(mi.x(),mi.y(),mi.z());
-						pi=btVector3(mx.x(),mx.y(),mx.z());break;
+		pi=btVector3(mx.x(),mx.y(),mx.z());break;
 	case	(1+0+0):	px=btVector3(mx.x(),mi.y(),mi.z());
-						pi=btVector3(mi.x(),mx.y(),mx.z());break;
+		pi=btVector3(mi.x(),mx.y(),mx.z());break;
 	case	(0+2+0):	px=btVector3(mi.x(),mx.y(),mi.z());
-						pi=btVector3(mx.x(),mi.y(),mx.z());break;
+		pi=btVector3(mx.x(),mi.y(),mx.z());break;
 	case	(1+2+0):	px=btVector3(mx.x(),mx.y(),mi.z());
-						pi=btVector3(mi.x(),mi.y(),mx.z());break;
+		pi=btVector3(mi.x(),mi.y(),mx.z());break;
 	case	(0+0+4):	px=btVector3(mi.x(),mi.y(),mx.z());
-						pi=btVector3(mx.x(),mx.y(),mi.z());break;
+		pi=btVector3(mx.x(),mx.y(),mi.z());break;
 	case	(1+0+4):	px=btVector3(mx.x(),mi.y(),mx.z());
-						pi=btVector3(mi.x(),mx.y(),mi.z());break;
+		pi=btVector3(mi.x(),mx.y(),mi.z());break;
 	case	(0+2+4):	px=btVector3(mi.x(),mx.y(),mx.z());
-						pi=btVector3(mx.x(),mi.y(),mi.z());break;
+		pi=btVector3(mx.x(),mi.y(),mi.z());break;
 	case	(1+2+4):	px=btVector3(mx.x(),mx.y(),mx.z());
-						pi=btVector3(mi.x(),mi.y(),mi.z());break;
+		pi=btVector3(mi.x(),mi.y(),mi.z());break;
 	}
-if((dot(n,px)+o)<0)		return(-1);
-if((dot(n,pi)+o)>=0)	return(+1);
-return(0);
+	if((dot(n,px)+o)<0)		return(-1);
+	if((dot(n,pi)+o)>=0)	return(+1);
+	return(0);
 }
 
 //
 DBVT_INLINE btScalar	btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const
 {
-const btVector3*	b[]={&mx,&mi};
-const btVector3		p(	b[(signs>>0)&1]->x(),
-						b[(signs>>1)&1]->y(),
-						b[(signs>>2)&1]->z());
-return(dot(p,v));
+	const btVector3*	b[]={&mx,&mi};
+	const btVector3		p(	b[(signs>>0)&1]->x(),
+		b[(signs>>1)&1]->y(),
+		b[(signs>>2)&1]->z());
+	return(dot(p,v));
 }
 
 //
 DBVT_INLINE void		btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const
 {
-for(int i=0;i<3;++i)
+	for(int i=0;i<3;++i)
 	{
-	if(d[i]<0)
+		if(d[i]<0)
 		{ smi+=mx[i]*d[i];smx+=mi[i]*d[i]; }
 		else
 		{ smi+=mi[i]*d[i];smx+=mx[i]*d[i]; }
 	}
 }
-	
+
 //
 DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
-									const btDbvtAabbMm& b)
+								  const btDbvtAabbMm& b)
 {
 #if	DBVT_INT0_IMPL == DBVT_IMPL_SSE
-const __m128	rt(_mm_or_ps(	_mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
-								_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
-const __int32*	pu((const __int32*)&rt);
-return((pu[0]|pu[1]|pu[2])==0);
+	const __m128	rt(_mm_or_ps(	_mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
+		_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
+	const __int32*	pu((const __int32*)&rt);
+	return((pu[0]|pu[1]|pu[2])==0);
 #else
-return(	(a.mi.x()<=b.mx.x())&&
+	return(	(a.mi.x()<=b.mx.x())&&
 		(a.mx.x()>=b.mi.x())&&
 		(a.mi.y()<=b.mx.y())&&
 		(a.mx.y()>=b.mi.y())&&
@@ -510,27 +530,13 @@ return(	(a.mi.x()<=b.mx.x())&&
 #endif
 }
 
-//
-DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
-									const btDbvtAabbMm& b,
-									const btTransform& xform)
-{
-const btVector3		d0=xform*b.Center()-a.Center();
-const btVector3		d1=d0*xform.getBasis();
-btScalar			s0[2]={0,0};
-btScalar			s1[2]={dot(xform.getOrigin(),d0),s1[0]};
-a.AddSpan(d0,s0[0],s0[1]);
-b.AddSpan(d1,s1[0],s1[1]);
-if(s0[0]>(s1[1])) return(false);
-if(s0[1]<(s1[0])) return(false);
-return(true);
-}
+
 
 //
 DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
-									const btVector3& b)
+								  const btVector3& b)
 {
-return(	(b.x()>=a.mi.x())&&
+	return(	(b.x()>=a.mi.x())&&
 		(b.y()>=a.mi.y())&&
 		(b.z()>=a.mi.z())&&
 		(b.x()<=a.mx.x())&&
@@ -538,55 +544,40 @@ return(	(b.x()>=a.mi.x())&&
 		(b.z()<=a.mx.z()));
 }
 
-//
-DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
-									const btVector3& org,
-									const btVector3& invdir,
-									const unsigned* signs)
-{
-#if 0
-const btVector3		b0((a.mi-org)*invdir);
-const btVector3		b1((a.mx-org)*invdir);
-const btVector3		tmin(btMin(b0[0],b1[0]),btMin(b0[1],b1[1]),btMin(b0[2],b1[2]));
-const btVector3		tmax(btMax(b0[0],b1[0]),btMax(b0[1],b1[1]),btMax(b0[2],b1[2]));
-const btScalar		tin=btMax(tmin[0],btMax(tmin[1],tmin[2]));
-const btScalar		tout=btMin(tmax[0],btMin(tmax[1],tmax[2]));
-return(tin<tout);
-#else
-const btVector3*	bounds[2]={&a.mi,&a.mx};
-btScalar			txmin=(bounds[  signs[0]]->x()-org[0])*invdir[0];
-btScalar			txmax=(bounds[1-signs[0]]->x()-org[0])*invdir[0];
-const btScalar		tymin=(bounds[  signs[1]]->y()-org[1])*invdir[1];
-const btScalar		tymax=(bounds[1-signs[1]]->y()-org[1])*invdir[1];
-if((txmin>tymax)||(tymin>txmax)) return(false);
-if(tymin>txmin) txmin=tymin;
-if(tymax<txmax) txmax=tymax;
-const btScalar		tzmin=(bounds[  signs[2]]->z()-org[2])*invdir[2];
-const btScalar		tzmax=(bounds[1-signs[2]]->z()-org[2])*invdir[2];
-if((txmin>tzmax)||(tzmin>txmax)) return(false);
-if(tzmin>txmin) txmin=tzmin;
-if(tzmax<txmax) txmax=tzmax;
-return(txmax>0);
-#endif
-}
-	
+
+
+
+
+//////////////////////////////////////
+
+
 //
 DBVT_INLINE btScalar	Proximity(	const btDbvtAabbMm& a,
-									const btDbvtAabbMm& b)
+								  const btDbvtAabbMm& b)
 {
-const btVector3	d=(a.mi+a.mx)-(b.mi+b.mx);
-return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z()));
+	const btVector3	d=(a.mi+a.mx)-(b.mi+b.mx);
+	return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z()));
 }
 
+
+
 //
 DBVT_INLINE int			Select(	const btDbvtAabbMm& o,
-								const btDbvtAabbMm& a,
-								const btDbvtAabbMm& b)
+							   const btDbvtAabbMm& a,
+							   const btDbvtAabbMm& b)
 {
 #if	DBVT_SELECT_IMPL == DBVT_IMPL_SSE
-static DBVT_ALIGN const unsigned __int32	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
-	// TODO: the intrinsic version is 11% slower
-	#if DBVT_USE_INTRINSIC_SSE
+	static ATTRIBUTE_ALIGNED16(const unsigned __int32)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
+	///@todo: the intrinsic version is 11% slower
+#if DBVT_USE_INTRINSIC_SSE
+
+	union btSSEUnion ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory
+	{
+	   __m128		ssereg;
+	   float		floats[4];
+	   int			ints[4];
+	};
+
 	__m128	omi(_mm_load_ps(o.mi));
 	omi=_mm_add_ps(omi,_mm_load_ps(o.mx));
 	__m128	ami(_mm_load_ps(a.mi));
@@ -600,74 +591,78 @@ static DBVT_ALIGN const unsigned __int32	mask[]={0x7fffffff,0x7fffffff,0x7ffffff
 	__m128	t0(_mm_movehl_ps(ami,ami));
 	ami=_mm_add_ps(ami,t0);
 	ami=_mm_add_ss(ami,_mm_shuffle_ps(ami,ami,1));
-	__m128	t1(_mm_movehl_ps(bmi,bmi));
+	__m128 t1(_mm_movehl_ps(bmi,bmi));
 	bmi=_mm_add_ps(bmi,t1);
 	bmi=_mm_add_ss(bmi,_mm_shuffle_ps(bmi,bmi,1));
-	return(_mm_cmple_ss(bmi,ami).m128_u32[0]&1);
-	#else
-	DBVT_ALIGN __int32	r[1];
+	
+	btSSEUnion tmp;
+	tmp.ssereg = _mm_cmple_ss(bmi,ami);
+	return tmp.ints[0]&1;
+
+#else
+	ATTRIBUTE_ALIGNED16(__int32	r[1]);
 	__asm
-		{
+	{
 		mov		eax,o
-		mov		ecx,a
-		mov		edx,b
-		movaps	xmm0,[eax]
+			mov		ecx,a
+			mov		edx,b
+			movaps	xmm0,[eax]
 		movaps	xmm5,mask
-		addps	xmm0,[eax+16]	
+			addps	xmm0,[eax+16]	
 		movaps	xmm1,[ecx]
 		movaps	xmm2,[edx]
 		addps	xmm1,[ecx+16]
 		addps	xmm2,[edx+16]
 		subps	xmm1,xmm0
-		subps	xmm2,xmm0
-		andps	xmm1,xmm5
-		andps	xmm2,xmm5
-		movhlps	xmm3,xmm1
-		movhlps	xmm4,xmm2
-		addps	xmm1,xmm3
-		addps	xmm2,xmm4
-		pshufd	xmm3,xmm1,1
-		pshufd	xmm4,xmm2,1
-		addss	xmm1,xmm3
-		addss	xmm2,xmm4
-		cmpless	xmm2,xmm1
-		movss	r,xmm2
-		}
+			subps	xmm2,xmm0
+			andps	xmm1,xmm5
+			andps	xmm2,xmm5
+			movhlps	xmm3,xmm1
+			movhlps	xmm4,xmm2
+			addps	xmm1,xmm3
+			addps	xmm2,xmm4
+			pshufd	xmm3,xmm1,1
+			pshufd	xmm4,xmm2,1
+			addss	xmm1,xmm3
+			addss	xmm2,xmm4
+			cmpless	xmm2,xmm1
+			movss	r,xmm2
+	}
 	return(r[0]&1);
-	#endif
+#endif
 #else
-return(Proximity(o,a)<Proximity(o,b)?0:1);
+	return(Proximity(o,a)<Proximity(o,b)?0:1);
 #endif
 }
 
 //
 DBVT_INLINE void		Merge(	const btDbvtAabbMm& a,
-								const btDbvtAabbMm& b,
-								btDbvtAabbMm& r)
+							  const btDbvtAabbMm& b,
+							  btDbvtAabbMm& r)
 {
 #if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
-__m128	ami(_mm_load_ps(a.mi));
-__m128	amx(_mm_load_ps(a.mx));
-__m128	bmi(_mm_load_ps(b.mi));
-__m128	bmx(_mm_load_ps(b.mx));
-ami=_mm_min_ps(ami,bmi);
-amx=_mm_max_ps(amx,bmx);
-_mm_store_ps(r.mi,ami);
-_mm_store_ps(r.mx,amx);
+	__m128	ami(_mm_load_ps(a.mi));
+	__m128	amx(_mm_load_ps(a.mx));
+	__m128	bmi(_mm_load_ps(b.mi));
+	__m128	bmx(_mm_load_ps(b.mx));
+	ami=_mm_min_ps(ami,bmi);
+	amx=_mm_max_ps(amx,bmx);
+	_mm_store_ps(r.mi,ami);
+	_mm_store_ps(r.mx,amx);
 #else
-for(int i=0;i<3;++i)
+	for(int i=0;i<3;++i)
 	{
-	if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i];
-	if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i];
+		if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i];
+		if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i];
 	}
 #endif
 }
 
 //
 DBVT_INLINE bool		NotEqual(	const btDbvtAabbMm& a,
-									const btDbvtAabbMm& b)
+								 const btDbvtAabbMm& b)
 {
-return(	(a.mi.x()!=b.mi.x())||
+	return(	(a.mi.x()!=b.mi.x())||
 		(a.mi.y()!=b.mi.y())||
 		(a.mi.z()!=b.mi.z())||
 		(a.mx.x()!=b.mx.x())||
@@ -682,235 +677,383 @@ return(	(a.mi.x()!=b.mi.x())||
 //
 DBVT_PREFIX
 inline void		btDbvt::enumNodes(	const btDbvtNode* root,
-									DBVT_IPOLICY)
+								  DBVT_IPOLICY)
 {
-DBVT_CHECKTYPE
-policy.Process(root);
-if(root->isinternal())
+	DBVT_CHECKTYPE
+		policy.Process(root);
+	if(root->isinternal())
 	{
-	enumNodes(root->childs[0],policy);
-	enumNodes(root->childs[1],policy);
+		enumNodes(root->childs[0],policy);
+		enumNodes(root->childs[1],policy);
 	}
 }
 
 //
 DBVT_PREFIX
 inline void		btDbvt::enumLeaves(	const btDbvtNode* root,
-									DBVT_IPOLICY)
+								   DBVT_IPOLICY)
 {
-DBVT_CHECKTYPE
-if(root->isinternal())
-	{
-	enumLeaves(root->childs[0],policy);
-	enumLeaves(root->childs[1],policy);
-	}
-	else
-	{
-	policy.Process(root);
-	}
+	DBVT_CHECKTYPE
+		if(root->isinternal())
+		{
+			enumLeaves(root->childs[0],policy);
+			enumLeaves(root->childs[1],policy);
+		}
+		else
+		{
+			policy.Process(root);
+		}
 }
 
 //
 DBVT_PREFIX
 inline void		btDbvt::collideTT(	const btDbvtNode* root0,
-									const btDbvtNode* root1,
-									DBVT_IPOLICY)
+								  const btDbvtNode* root1,
+								  DBVT_IPOLICY)
 {
-DBVT_CHECKTYPE
-if(root0&&root1)
-	{
-	btAlignedObjectArray<sStkNN>	stack;
-	int								depth=1;
-	int								treshold=DOUBLE_STACKSIZE-4;
-	stack.resize(DOUBLE_STACKSIZE);
-	stack[0]=sStkNN(root0,root1);
-	do	{		
-		sStkNN	p=stack[--depth];
-		if(depth>treshold)
-			{
-			stack.resize(stack.size()*2);
-			treshold=stack.size()-4;
-			}
-		if(p.a==p.b)
-			{
-			if(p.a->isinternal())
+	DBVT_CHECKTYPE
+		if(root0&&root1)
+		{
+			int								depth=1;
+			int								treshold=DOUBLE_STACKSIZE-4;
+			btAlignedObjectArray<sStkNN>	stkStack;
+			stkStack.resize(DOUBLE_STACKSIZE);
+			stkStack[0]=sStkNN(root0,root1);
+			do	{		
+				sStkNN	p=stkStack[--depth];
+				if(depth>treshold)
 				{
-				stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
-				stack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
-				stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
+					stkStack.resize(stkStack.size()*2);
+					treshold=stkStack.size()-4;
 				}
-			}
-		else if(Intersect(p.a->volume,p.b->volume))
-			{
-			if(p.a->isinternal())
+				if(p.a==p.b)
 				{
-				if(p.b->isinternal())
+					if(p.a->isinternal())
 					{
-					stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
-					stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
-					stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
-					stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
-					}
-					else
-					{
-					stack[depth++]=sStkNN(p.a->childs[0],p.b);
-					stack[depth++]=sStkNN(p.a->childs[1],p.b);
+						stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
+						stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
+						stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
 					}
 				}
-				else
+				else if(Intersect(p.a->volume,p.b->volume))
 				{
-				if(p.b->isinternal())
+					if(p.a->isinternal())
 					{
-					stack[depth++]=sStkNN(p.a,p.b->childs[0]);
-					stack[depth++]=sStkNN(p.a,p.b->childs[1]);
+						if(p.b->isinternal())
+						{
+							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
+							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
+							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
+							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
+						}
+						else
+						{
+							stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
+							stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
+						}
 					}
 					else
 					{
-					policy.Process(p.a,p.b);
+						if(p.b->isinternal())
+						{
+							stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
+							stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
+						}
+						else
+						{
+							policy.Process(p.a,p.b);
+						}
 					}
 				}
-			}
-		} while(depth);
-	}
+			} while(depth);
+		}
 }
 
-//
+
+
 DBVT_PREFIX
-inline void		btDbvt::collideTT(	const btDbvtNode* root0,
-									const btDbvtNode* root1,
-									const btTransform& xform,
-									DBVT_IPOLICY)
+inline void		btDbvt::collideTTpersistentStack(	const btDbvtNode* root0,
+								  const btDbvtNode* root1,
+								  DBVT_IPOLICY)
 {
-DBVT_CHECKTYPE
-if(root0&&root1)
-	{
-	btAlignedObjectArray<sStkNN>	stack;
-	int								depth=1;
-	int								treshold=DOUBLE_STACKSIZE-4;
-	stack.resize(DOUBLE_STACKSIZE);
-	stack[0]=sStkNN(root0,root1);
-	do	{
-		sStkNN	p=stack[--depth];
-		if(Intersect(p.a->volume,p.b->volume,xform))
-			{
-			if(depth>treshold)
+	DBVT_CHECKTYPE
+		if(root0&&root1)
+		{
+			int								depth=1;
+			int								treshold=DOUBLE_STACKSIZE-4;
+			
+			m_stkStack.resize(DOUBLE_STACKSIZE);
+			m_stkStack[0]=sStkNN(root0,root1);
+			do	{		
+				sStkNN	p=m_stkStack[--depth];
+				if(depth>treshold)
 				{
-				stack.resize(stack.size()*2);
-				treshold=stack.size()-4;
+					m_stkStack.resize(m_stkStack.size()*2);
+					treshold=m_stkStack.size()-4;
 				}
-			if(p.a->isinternal())
+				if(p.a==p.b)
 				{
-				if(p.b->isinternal())
-					{					
-					stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
-					stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
-					stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
-					stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
+					if(p.a->isinternal())
+					{
+						m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
+						m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
+						m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
+					}
+				}
+				else if(Intersect(p.a->volume,p.b->volume))
+				{
+					if(p.a->isinternal())
+					{
+						if(p.b->isinternal())
+						{
+							m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
+							m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
+							m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
+							m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
+						}
+						else
+						{
+							m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
+							m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
+						}
 					}
 					else
 					{
-					stack[depth++]=sStkNN(p.a->childs[0],p.b);
-					stack[depth++]=sStkNN(p.a->childs[1],p.b);
+						if(p.b->isinternal())
+						{
+							m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
+							m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
+						}
+						else
+						{
+							policy.Process(p.a,p.b);
+						}
 					}
 				}
-				else
+			} while(depth);
+		}
+}
+
+#if 0
+//
+DBVT_PREFIX
+inline void		btDbvt::collideTT(	const btDbvtNode* root0,
+								  const btDbvtNode* root1,
+								  const btTransform& xform,
+								  DBVT_IPOLICY)
+{
+	DBVT_CHECKTYPE
+		if(root0&&root1)
+		{
+			int								depth=1;
+			int								treshold=DOUBLE_STACKSIZE-4;
+			btAlignedObjectArray<sStkNN>	stkStack;
+			stkStack.resize(DOUBLE_STACKSIZE);
+			stkStack[0]=sStkNN(root0,root1);
+			do	{
+				sStkNN	p=stkStack[--depth];
+				if(Intersect(p.a->volume,p.b->volume,xform))
 				{
-				if(p.b->isinternal())
+					if(depth>treshold)
 					{
-					stack[depth++]=sStkNN(p.a,p.b->childs[0]);
-					stack[depth++]=sStkNN(p.a,p.b->childs[1]);
+						stkStack.resize(stkStack.size()*2);
+						treshold=stkStack.size()-4;
+					}
+					if(p.a->isinternal())
+					{
+						if(p.b->isinternal())
+						{					
+							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
+							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
+							stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
+							stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
+						}
+						else
+						{
+							stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
+							stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
+						}
 					}
 					else
 					{
-					policy.Process(p.a,p.b);
+						if(p.b->isinternal())
+						{
+							stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
+							stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
+						}
+						else
+						{
+							policy.Process(p.a,p.b);
+						}
 					}
 				}
-			}
-		} while(depth);
-	}
+			} while(depth);
+		}
 }
-
 //
 DBVT_PREFIX
 inline void		btDbvt::collideTT(	const btDbvtNode* root0,
-									const btTransform& xform0,
-									const btDbvtNode* root1,
-									const btTransform& xform1,
-									DBVT_IPOLICY)
+								  const btTransform& xform0,
+								  const btDbvtNode* root1,
+								  const btTransform& xform1,
+								  DBVT_IPOLICY)
 {
-const btTransform	xform=xform0.inverse()*xform1;
-collideTT(root0,root1,xform,policy);
+	const btTransform	xform=xform0.inverse()*xform1;
+	collideTT(root0,root1,xform,policy);
 }
+#endif 
 
 //
 DBVT_PREFIX
 inline void		btDbvt::collideTV(	const btDbvtNode* root,
-									const btDbvtVolume& vol,
-									DBVT_IPOLICY)
+								  const btDbvtVolume& vol,
+								  DBVT_IPOLICY)
+{
+	DBVT_CHECKTYPE
+		if(root)
+		{
+			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume(vol);
+			btAlignedObjectArray<const btDbvtNode*>	stack;
+			stack.resize(0);
+			stack.reserve(SIMPLE_STACKSIZE);
+			stack.push_back(root);
+			do	{
+				const btDbvtNode*	n=stack[stack.size()-1];
+				stack.pop_back();
+				if(Intersect(n->volume,volume))
+				{
+					if(n->isinternal())
+					{
+						stack.push_back(n->childs[0]);
+						stack.push_back(n->childs[1]);
+					}
+					else
+					{
+						policy.Process(n);
+					}
+				}
+			} while(stack.size()>0);
+		}
+}
+
+DBVT_PREFIX
+inline void		btDbvt::rayTestInternal(	const btDbvtNode* root,
+								const btVector3& rayFrom,
+								const btVector3& rayTo,
+								const btVector3& rayDirectionInverse,
+								unsigned int signs[3],
+								btScalar lambda_max,
+								const btVector3& aabbMin,
+								const btVector3& aabbMax,
+								DBVT_IPOLICY) const
 {
-DBVT_CHECKTYPE
-if(root)
+	DBVT_CHECKTYPE
+	if(root)
 	{
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume(vol);
-	btAlignedObjectArray<const btDbvtNode*>	stack;
-	stack.reserve(SIMPLE_STACKSIZE);
-	stack.push_back(root);
-	do	{
-		const btDbvtNode*	n=stack[stack.size()-1];
-		stack.pop_back();
-		if(Intersect(n->volume,volume))
+		btVector3 resultNormal;
+
+		int								depth=1;
+		int								treshold=DOUBLE_STACKSIZE-2;
+		btAlignedObjectArray<const btDbvtNode*>	stack;
+		stack.resize(DOUBLE_STACKSIZE);
+		stack[0]=root;
+		btVector3 bounds[2];
+		do	
+		{
+			const btDbvtNode*	node=stack[--depth];
+			bounds[0] = node->volume.Mins()+aabbMin;
+			bounds[1] = node->volume.Maxs()+aabbMax;
+			btScalar tmin=1.f,lambda_min=0.f;
+			unsigned int result1=false;
+			result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
+			if(result1)
 			{
-			if(n->isinternal())
+				if(node->isinternal())
 				{
-				stack.push_back(n->childs[0]);
-				stack.push_back(n->childs[1]);
+					if(depth>treshold)
+					{
+						stack.resize(stack.size()*2);
+						treshold=stack.size()-2;
+					}
+					stack[depth++]=node->childs[0];
+					stack[depth++]=node->childs[1];
 				}
 				else
 				{
-				policy.Process(n);
+					policy.Process(node);
 				}
 			}
-		} while(stack.size()>0);
+		} while(depth);
 	}
 }
 
 //
 DBVT_PREFIX
-inline void		btDbvt::collideRAY(	const btDbvtNode* root,
-									const btVector3& origin,
-									const btVector3& direction,
-									DBVT_IPOLICY)
+inline void		btDbvt::rayTest(	const btDbvtNode* root,
+								const btVector3& rayFrom,
+								const btVector3& rayTo,
+								DBVT_IPOLICY)
 {
-DBVT_CHECKTYPE
-if(root)
-	{
-	const btVector3	normal=direction.normalized();
-	const btVector3	invdir(	1/normal.x(),
-							1/normal.y(),
-							1/normal.z());
-	const unsigned	signs[]={	direction.x()<0,
-								direction.y()<0,
-								direction.z()<0};
-	btAlignedObjectArray<const btDbvtNode*>	stack;
-	stack.reserve(SIMPLE_STACKSIZE);
-	stack.push_back(root);
-	do	{
-		const btDbvtNode*	node=stack[stack.size()-1];
-		stack.pop_back();
-		if(Intersect(node->volume,origin,invdir,signs))
-			{
-			if(node->isinternal())
-				{
-				stack.push_back(node->childs[0]);
-				stack.push_back(node->childs[1]);
-				}
-				else
+	DBVT_CHECKTYPE
+		if(root)
+		{
+			btVector3 rayDir = (rayTo-rayFrom);
+			rayDir.normalize ();
+
+			///what about division by zero? --> just set rayDirection[i] to INF/1e30
+			btVector3 rayDirectionInverse;
+			rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
+			rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
+			rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
+			unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
+
+			btScalar lambda_max = rayDir.dot(rayTo-rayFrom);
+
+			btVector3 resultNormal;
+
+			btAlignedObjectArray<const btDbvtNode*>	stack;
+
+			int								depth=1;
+			int								treshold=DOUBLE_STACKSIZE-2;
+
+			stack.resize(DOUBLE_STACKSIZE);
+			stack[0]=root;
+			btVector3 bounds[2];
+			do	{
+				const btDbvtNode*	node=stack[--depth];
+
+				bounds[0] = node->volume.Mins();
+				bounds[1] = node->volume.Maxs();
+				
+				btScalar tmin=1.f,lambda_min=0.f;
+				unsigned int result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
+
+#ifdef COMPARE_BTRAY_AABB2
+				btScalar param=1.f;
+				bool result2 = btRayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal);
+				btAssert(result1 == result2);
+#endif //TEST_BTRAY_AABB2
+
+				if(result1)
 				{
-				policy.Process(node);
+					if(node->isinternal())
+					{
+						if(depth>treshold)
+						{
+							stack.resize(stack.size()*2);
+							treshold=stack.size()-2;
+						}
+						stack[depth++]=node->childs[0];
+						stack[depth++]=node->childs[1];
+					}
+					else
+					{
+						policy.Process(node);
+					}
 				}
-			}
-		} while(stack.size());
-	}
+			} while(depth);
+
+		}
 }
 
 //
@@ -921,174 +1064,174 @@ inline void		btDbvt::collideKDOP(const btDbvtNode* root,
 									int count,
 									DBVT_IPOLICY)
 {
-DBVT_CHECKTYPE
-if(root)
-	{
-	const int						inside=(1<<count)-1;
-	btAlignedObjectArray<sStkNP>	stack;
-	int								signs[sizeof(unsigned)*8];
-	btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
-	for(int i=0;i<count;++i)
+	DBVT_CHECKTYPE
+		if(root)
 		{
-		signs[i]=	((normals[i].x()>=0)?1:0)+
+			const int						inside=(1<<count)-1;
+			btAlignedObjectArray<sStkNP>	stack;
+			int								signs[sizeof(unsigned)*8];
+			btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
+			for(int i=0;i<count;++i)
+			{
+				signs[i]=	((normals[i].x()>=0)?1:0)+
 					((normals[i].y()>=0)?2:0)+
 					((normals[i].z()>=0)?4:0);
-		}
-	stack.reserve(SIMPLE_STACKSIZE);
-	stack.push_back(sStkNP(root,0));
-	do	{
-		sStkNP	se=stack[stack.size()-1];
-		bool	out=false;
-		stack.pop_back();
-		for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
-			{
-			if(0==(se.mask&j))
+			}
+			stack.reserve(SIMPLE_STACKSIZE);
+			stack.push_back(sStkNP(root,0));
+			do	{
+				sStkNP	se=stack[stack.size()-1];
+				bool	out=false;
+				stack.pop_back();
+				for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
 				{
-				const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
-				switch(side)
+					if(0==(se.mask&j))
 					{
-					case	-1:	out=true;break;
-					case	+1:	se.mask|=j;break;
+						const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
+						switch(side)
+						{
+						case	-1:	out=true;break;
+						case	+1:	se.mask|=j;break;
+						}
 					}
 				}
-			}
-		if(!out)
-			{
-			if((se.mask!=inside)&&(se.node->isinternal()))
-				{
-				stack.push_back(sStkNP(se.node->childs[0],se.mask));
-				stack.push_back(sStkNP(se.node->childs[1],se.mask));
-				}
-				else
+				if(!out)
 				{
-				if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy);
+					if((se.mask!=inside)&&(se.node->isinternal()))
+					{
+						stack.push_back(sStkNP(se.node->childs[0],se.mask));
+						stack.push_back(sStkNP(se.node->childs[1],se.mask));
+					}
+					else
+					{
+						if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy);
+					}
 				}
-			}
-		} while(stack.size());
-	}
+			} while(stack.size());
+		}
 }
 
 //
 DBVT_PREFIX
 inline void		btDbvt::collideOCL(	const btDbvtNode* root,
-									const btVector3* normals,
-									const btScalar* offsets,
-									const btVector3& sortaxis,
-									int count,
-									DBVT_IPOLICY,
-									bool fsort)
+								   const btVector3* normals,
+								   const btScalar* offsets,
+								   const btVector3& sortaxis,
+								   int count,
+								   DBVT_IPOLICY,
+								   bool fsort)
 {
-DBVT_CHECKTYPE
-if(root)
-	{
-	const unsigned					srtsgns=(sortaxis[0]>=0?1:0)+
-											(sortaxis[1]>=0?2:0)+
-											(sortaxis[2]>=0?4:0);
-	const int						inside=(1<<count)-1;
-	btAlignedObjectArray<sStkNPS>	stock;
-	btAlignedObjectArray<int>		ifree;
-	btAlignedObjectArray<int>		stack;
-	int								signs[sizeof(unsigned)*8];
-	btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
-	for(int i=0;i<count;++i)
+	DBVT_CHECKTYPE
+		if(root)
 		{
-		signs[i]=	((normals[i].x()>=0)?1:0)+
+			const unsigned					srtsgns=(sortaxis[0]>=0?1:0)+
+				(sortaxis[1]>=0?2:0)+
+				(sortaxis[2]>=0?4:0);
+			const int						inside=(1<<count)-1;
+			btAlignedObjectArray<sStkNPS>	stock;
+			btAlignedObjectArray<int>		ifree;
+			btAlignedObjectArray<int>		stack;
+			int								signs[sizeof(unsigned)*8];
+			btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
+			for(int i=0;i<count;++i)
+			{
+				signs[i]=	((normals[i].x()>=0)?1:0)+
 					((normals[i].y()>=0)?2:0)+
 					((normals[i].z()>=0)?4:0);
-		}
-	stock.reserve(SIMPLE_STACKSIZE);
-	stack.reserve(SIMPLE_STACKSIZE);
-	ifree.reserve(SIMPLE_STACKSIZE);
-	stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns))));
-	do	{
-		const int	id=stack[stack.size()-1];
-		sStkNPS		se=stock[id];
-		stack.pop_back();ifree.push_back(id);
-		if(se.mask!=inside)
-			{
-			bool	out=false;
-			for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
+			}
+			stock.reserve(SIMPLE_STACKSIZE);
+			stack.reserve(SIMPLE_STACKSIZE);
+			ifree.reserve(SIMPLE_STACKSIZE);
+			stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns))));
+			do	{
+				const int	id=stack[stack.size()-1];
+				sStkNPS		se=stock[id];
+				stack.pop_back();ifree.push_back(id);
+				if(se.mask!=inside)
 				{
-				if(0==(se.mask&j))
+					bool	out=false;
+					for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
 					{
-					const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
-					switch(side)
+						if(0==(se.mask&j))
 						{
-						case	-1:	out=true;break;
-						case	+1:	se.mask|=j;break;
+							const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
+							switch(side)
+							{
+							case	-1:	out=true;break;
+							case	+1:	se.mask|=j;break;
+							}
 						}
 					}
+					if(out) continue;
 				}
-			if(out) continue;
-			}
-		if(policy.Descent(se.node))
-			{
-			if(se.node->isinternal())
+				if(policy.Descent(se.node))
 				{
-				const btDbvtNode* pns[]={	se.node->childs[0],se.node->childs[1]};
-				sStkNPS		nes[]={	sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)),
-									sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))};
-				const int	q=nes[0].value<nes[1].value?1:0;				
-				int			j=stack.size();
-				if(fsort&&(j>0))
+					if(se.node->isinternal())
 					{
-					/* Insert 0	*/ 
-					j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size());
-					stack.push_back(0);
-					#if DBVT_USE_MEMMOVE
-					memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
-					#else
-					for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
-					#endif
-					stack[j]=allocate(ifree,stock,nes[q]);
-					/* Insert 1	*/ 
-					j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
-					stack.push_back(0);
-					#if DBVT_USE_MEMMOVE
-					memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
-					#else
-					for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
-					#endif
-					stack[j]=allocate(ifree,stock,nes[1-q]);
+						const btDbvtNode* pns[]={	se.node->childs[0],se.node->childs[1]};
+						sStkNPS		nes[]={	sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)),
+							sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))};
+						const int	q=nes[0].value<nes[1].value?1:0;				
+						int			j=stack.size();
+						if(fsort&&(j>0))
+						{
+							/* Insert 0	*/ 
+							j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size());
+							stack.push_back(0);
+#if DBVT_USE_MEMMOVE
+							memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
+#else
+							for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
+#endif
+							stack[j]=allocate(ifree,stock,nes[q]);
+							/* Insert 1	*/ 
+							j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
+							stack.push_back(0);
+#if DBVT_USE_MEMMOVE
+							memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
+#else
+							for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
+#endif
+							stack[j]=allocate(ifree,stock,nes[1-q]);
+						}
+						else
+						{
+							stack.push_back(allocate(ifree,stock,nes[q]));
+							stack.push_back(allocate(ifree,stock,nes[1-q]));
+						}
 					}
 					else
 					{
-					stack.push_back(allocate(ifree,stock,nes[q]));
-					stack.push_back(allocate(ifree,stock,nes[1-q]));
+						policy.Process(se.node,se.value);
 					}
 				}
-				else
-				{
-				policy.Process(se.node,se.value);
-				}
-			}
-		} while(stack.size());
-	}
+			} while(stack.size());
+		}
 }
 
 //
 DBVT_PREFIX
 inline void		btDbvt::collideTU(	const btDbvtNode* root,
-									DBVT_IPOLICY)
+								  DBVT_IPOLICY)
 {
-DBVT_CHECKTYPE
-if(root)
-	{
-	btAlignedObjectArray<const btDbvtNode*>	stack;
-	stack.reserve(SIMPLE_STACKSIZE);
-	stack.push_back(root);
-	do	{
-		const btDbvtNode*	n=stack[stack.size()-1];
-		stack.pop_back();
-		if(policy.Descent(n))
-			{
-			if(n->isinternal())
-				{ stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); }
-				else
-				{ policy.Process(n); }
-			}
-		} while(stack.size()>0);
-	}
+	DBVT_CHECKTYPE
+		if(root)
+		{
+			btAlignedObjectArray<const btDbvtNode*>	stack;
+			stack.reserve(SIMPLE_STACKSIZE);
+			stack.push_back(root);
+			do	{
+				const btDbvtNode*	n=stack[stack.size()-1];
+				stack.pop_back();
+				if(policy.Descent(n))
+				{
+					if(n->isinternal())
+					{ stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); }
+					else
+					{ policy.Process(n); }
+				}
+			} while(stack.size()>0);
+		}
 }
 
 //
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
index e00fc6aa5e3..f231717af17 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
@@ -26,19 +26,19 @@ subject to the following restrictions:
 
 #if DBVT_BP_PROFILE
 struct	ProfileScope
-	{
+{
 	__forceinline ProfileScope(btClock& clock,unsigned long& value) :
-		m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
-		{
-		}
+	m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
+	{
+	}
 	__forceinline ~ProfileScope()
-		{
+	{
 		(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
-		}
+	}
 	btClock*		m_clock;
 	unsigned long*	m_value;
 	unsigned long	m_base;
-	};
+};
 #define	SPC(_value_)	ProfileScope	spc_scope(m_clock,_value_)
 #else
 #define	SPC(_value_)
@@ -52,35 +52,35 @@ struct	ProfileScope
 template <typename T>
 static inline void	listappend(T* item,T*& list)
 {
-item->links[0]=0;
-item->links[1]=list;
-if(list) list->links[0]=item;
-list=item;
+	item->links[0]=0;
+	item->links[1]=list;
+	if(list) list->links[0]=item;
+	list=item;
 }
 
 //
 template <typename T>
 static inline void	listremove(T* item,T*& list)
 {
-if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
-if(item->links[1]) item->links[1]->links[0]=item->links[0];
+	if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
+	if(item->links[1]) item->links[1]->links[0]=item->links[0];
 }
 
 //
 template <typename T>
 static inline int	listcount(T* root)
 {
-int	n=0;
-while(root) { ++n;root=root->links[1]; }
-return(n);
+	int	n=0;
+	while(root) { ++n;root=root->links[1]; }
+	return(n);
 }
 
 //
 template <typename T>
 static inline void	clear(T& value)
 {
-static const struct ZeroDummy : T {} zerodummy;
-value=zerodummy;
+	static const struct ZeroDummy : T {} zerodummy;
+	value=zerodummy;
 }
 
 //
@@ -90,25 +90,26 @@ value=zerodummy;
 /* Tree collider	*/ 
 struct	btDbvtTreeCollider : btDbvt::ICollide
 {
-btDbvtBroadphase*	pbp;
-btDbvtProxy*		proxy;
-		btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
-void	Process(const btDbvtNode* na,const btDbvtNode* nb)
+	btDbvtBroadphase*	pbp;
+	btDbvtProxy*		proxy;
+	btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
+	void	Process(const btDbvtNode* na,const btDbvtNode* nb)
 	{
-	if(na!=nb)
+		if(na!=nb)
 		{
-		btDbvtProxy*	pa=(btDbvtProxy*)na->data;
-		btDbvtProxy*	pb=(btDbvtProxy*)nb->data;
-		#if DBVT_BP_SORTPAIRS
-		if(pa>pb) btSwap(pa,pb);
-		#endif
-		pbp->m_paircache->addOverlappingPair(pa,pb);
-		++pbp->m_newpairs;
+			btDbvtProxy*	pa=(btDbvtProxy*)na->data;
+			btDbvtProxy*	pb=(btDbvtProxy*)nb->data;
+#if DBVT_BP_SORTPAIRS
+			if(pa->m_uniqueId>pb->m_uniqueId) 
+				btSwap(pa,pb);
+#endif
+			pbp->m_paircache->addOverlappingPair(pa,pb);
+			++pbp->m_newpairs;
 		}
 	}
-void	Process(const btDbvtNode* n)
+	void	Process(const btDbvtNode* n)
 	{
-	Process(n,proxy->leaf);
+		Process(n,proxy->leaf);
 	}
 };
 
@@ -119,147 +120,197 @@ void	Process(const btDbvtNode* n)
 //
 btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
 {
-m_deferedcollide	=	false;
-m_needcleanup		=	true;
-m_releasepaircache	=	(paircache!=0)?false:true;
-m_prediction		=	1/(btScalar)2;
-m_stageCurrent		=	0;
-m_fixedleft			=	0;
-m_fupdates			=	1;
-m_dupdates			=	0;
-m_cupdates			=	10;
-m_newpairs			=	1;
-m_updates_call		=	0;
-m_updates_done		=	0;
-m_updates_ratio		=	0;
-m_paircache			=	paircache?
-						paircache	:
-						new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
-m_gid				=	0;
-m_pid				=	0;
-m_cid				=	0;
-for(int i=0;i<=STAGECOUNT;++i)
+	m_deferedcollide	=	false;
+	m_needcleanup		=	true;
+	m_releasepaircache	=	(paircache!=0)?false:true;
+	m_prediction		=	1/(btScalar)2;
+	m_stageCurrent		=	0;
+	m_fixedleft			=	0;
+	m_fupdates			=	1;
+	m_dupdates			=	0;
+	m_cupdates			=	10;
+	m_newpairs			=	1;
+	m_updates_call		=	0;
+	m_updates_done		=	0;
+	m_updates_ratio		=	0;
+	m_paircache			=	paircache? paircache	: new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
+	m_gid				=	0;
+	m_pid				=	0;
+	m_cid				=	0;
+	for(int i=0;i<=STAGECOUNT;++i)
 	{
-	m_stageRoots[i]=0;
+		m_stageRoots[i]=0;
 	}
 #if DBVT_BP_PROFILE
-clear(m_profiling);
+	clear(m_profiling);
 #endif
 }
 
 //
 btDbvtBroadphase::~btDbvtBroadphase()
 {
-if(m_releasepaircache) 
-{
-	m_paircache->~btOverlappingPairCache();
-	btAlignedFree(m_paircache);
-}
+	if(m_releasepaircache) 
+	{
+		m_paircache->~btOverlappingPairCache();
+		btAlignedFree(m_paircache);
+	}
 }
 
 //
 btBroadphaseProxy*				btDbvtBroadphase::createProxy(	const btVector3& aabbMin,
-																const btVector3& aabbMax,
-																int /*shapeType*/,
-																void* userPtr,
-																short int collisionFilterGroup,
-																short int collisionFilterMask,
-																btDispatcher* /*dispatcher*/,
-																void* /*multiSapProxy*/)
+															  const btVector3& aabbMax,
+															  int /*shapeType*/,
+															  void* userPtr,
+															  short int collisionFilterGroup,
+															  short int collisionFilterMask,
+															  btDispatcher* /*dispatcher*/,
+															  void* /*multiSapProxy*/)
 {
-btDbvtProxy*		proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy(	userPtr,
-																					collisionFilterGroup,
-																					collisionFilterMask);
-proxy->aabb			=	btDbvtVolume::FromMM(aabbMin,aabbMax);
-proxy->stage		=	m_stageCurrent;
-proxy->m_uniqueId	=	++m_gid;
-proxy->leaf			=	m_sets[0].insert(proxy->aabb,proxy);
-listappend(proxy,m_stageRoots[m_stageCurrent]);
-if(!m_deferedcollide)
+	btDbvtProxy*		proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy(	aabbMin,aabbMax,userPtr,
+		collisionFilterGroup,
+		collisionFilterMask);
+
+	btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
+
+	//bproxy->aabb			=	btDbvtVolume::FromMM(aabbMin,aabbMax);
+	proxy->stage		=	m_stageCurrent;
+	proxy->m_uniqueId	=	++m_gid;
+	proxy->leaf			=	m_sets[0].insert(aabb,proxy);
+	listappend(proxy,m_stageRoots[m_stageCurrent]);
+	if(!m_deferedcollide)
 	{
-	btDbvtTreeCollider	collider(this);
-	collider.proxy=proxy;
-	btDbvt::collideTV(m_sets[0].m_root,proxy->aabb,collider);
-	btDbvt::collideTV(m_sets[1].m_root,proxy->aabb,collider);
+		btDbvtTreeCollider	collider(this);
+		collider.proxy=proxy;
+		m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
+		m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
 	}
-return(proxy);
+	return(proxy);
 }
 
 //
 void							btDbvtBroadphase::destroyProxy(	btBroadphaseProxy* absproxy,
-																btDispatcher* dispatcher)
+															   btDispatcher* dispatcher)
 {
-btDbvtProxy*	proxy=(btDbvtProxy*)absproxy;
-if(proxy->stage==STAGECOUNT)
-	m_sets[1].remove(proxy->leaf);
+	btDbvtProxy*	proxy=(btDbvtProxy*)absproxy;
+	if(proxy->stage==STAGECOUNT)
+		m_sets[1].remove(proxy->leaf);
 	else
-	m_sets[0].remove(proxy->leaf);
-listremove(proxy,m_stageRoots[proxy->stage]);
-m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
-btAlignedFree(proxy);
-m_needcleanup=true;
+		m_sets[0].remove(proxy->leaf);
+	listremove(proxy,m_stageRoots[proxy->stage]);
+	m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
+	btAlignedFree(proxy);
+	m_needcleanup=true;
+}
+
+void	btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
+{
+	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
+	aabbMin = proxy->m_aabbMin;
+	aabbMax = proxy->m_aabbMax;
+}
+
+struct	BroadphaseRayTester : btDbvt::ICollide
+{
+	btBroadphaseRayCallback& m_rayCallback;
+	BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
+		:m_rayCallback(orgCallback)
+	{
+	}
+	void					Process(const btDbvtNode* leaf)
+	{
+		btDbvtProxy*	proxy=(btDbvtProxy*)leaf->data;
+		m_rayCallback.process(proxy);
+	}
+};	
+
+void	btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	BroadphaseRayTester callback(rayCallback);
+
+	m_sets[0].rayTestInternal(	m_sets[0].m_root,
+		rayFrom,
+		rayTo,
+		rayCallback.m_rayDirectionInverse,
+		rayCallback.m_signs,
+		rayCallback.m_lambda_max,
+		aabbMin,
+		aabbMax,
+		callback);
+
+	m_sets[1].rayTestInternal(	m_sets[1].m_root,
+		rayFrom,
+		rayTo,
+		rayCallback.m_rayDirectionInverse,
+		rayCallback.m_signs,
+		rayCallback.m_lambda_max,
+		aabbMin,
+		aabbMax,
+		callback);
+
 }
 
 //
 void							btDbvtBroadphase::setAabb(		btBroadphaseProxy* absproxy,
-																const btVector3& aabbMin,
-																const btVector3& aabbMax,
-																btDispatcher* /*dispatcher*/)
+														  const btVector3& aabbMin,
+														  const btVector3& aabbMax,
+														  btDispatcher* /*dispatcher*/)
 {
-btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
-ATTRIBUTE_ALIGNED16(btDbvtVolume)	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
+	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
 #if DBVT_BP_PREVENTFALSEUPDATE
-if(NotEqual(aabb,proxy->leaf->volume))
+	if(NotEqual(aabb,proxy->leaf->volume))
 #endif
 	{
-	bool	docollide=false;
-	if(proxy->stage==STAGECOUNT)
+		bool	docollide=false;
+		if(proxy->stage==STAGECOUNT)
 		{/* fixed -> dynamic set	*/ 
-		m_sets[1].remove(proxy->leaf);
-		proxy->leaf=m_sets[0].insert(aabb,proxy);
-		docollide=true;
+			m_sets[1].remove(proxy->leaf);
+			proxy->leaf=m_sets[0].insert(aabb,proxy);
+			docollide=true;
 		}
 		else
 		{/* dynamic set				*/ 
-		++m_updates_call;
-		if(Intersect(proxy->leaf->volume,aabb))
+			++m_updates_call;
+			if(Intersect(proxy->leaf->volume,aabb))
 			{/* Moving				*/ 
-			const btVector3	delta=aabbMin-proxy->aabb.Mins();
-			btVector3		velocity(aabb.Extents()*m_prediction);
-			if(delta[0]<0) velocity[0]=-velocity[0];
-			if(delta[1]<0) velocity[1]=-velocity[1];
-			if(delta[2]<0) velocity[2]=-velocity[2];
-			if	(
-				#ifdef DBVT_BP_MARGIN				
-				m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
-				#else
-				m_sets[0].update(proxy->leaf,aabb,velocity)
-				#endif
-				)
+
+				const btVector3	delta=aabbMin-proxy->m_aabbMin;
+				btVector3		velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
+				if(delta[0]<0) velocity[0]=-velocity[0];
+				if(delta[1]<0) velocity[1]=-velocity[1];
+				if(delta[2]<0) velocity[2]=-velocity[2];
+				if	(
+#ifdef DBVT_BP_MARGIN				
+					m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
+#else
+					m_sets[0].update(proxy->leaf,aabb,velocity)
+#endif
+					)
 				{
-				++m_updates_done;
-				docollide=true;
+					++m_updates_done;
+					docollide=true;
 				}
 			}
 			else
 			{/* Teleporting			*/ 
-			m_sets[0].update(proxy->leaf,aabb);
-			++m_updates_done;
-			docollide=true;
+				m_sets[0].update(proxy->leaf,aabb);
+				++m_updates_done;
+				docollide=true;
 			}	
 		}
-	listremove(proxy,m_stageRoots[proxy->stage]);
-	proxy->aabb		=	aabb;
-	proxy->stage	=	m_stageCurrent;
-	listappend(proxy,m_stageRoots[m_stageCurrent]);
-	if(docollide)
+		listremove(proxy,m_stageRoots[proxy->stage]);
+		proxy->m_aabbMin = aabbMin;
+		proxy->m_aabbMax = aabbMax;
+		proxy->stage	=	m_stageCurrent;
+		listappend(proxy,m_stageRoots[m_stageCurrent]);
+		if(docollide)
 		{
-		m_needcleanup=true;
-		if(!m_deferedcollide)
+			m_needcleanup=true;
+			if(!m_deferedcollide)
 			{
-			btDbvtTreeCollider	collider(this);
-			btDbvt::collideTT(m_sets[1].m_root,proxy->leaf,collider);
-			btDbvt::collideTT(m_sets[0].m_root,proxy->leaf,collider);
+				btDbvtTreeCollider	collider(this);
+				m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
+				m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
 			}
 		}	
 	}
@@ -268,132 +319,226 @@ if(NotEqual(aabb,proxy->leaf->volume))
 //
 void							btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 {
-collide(dispatcher);
+	collide(dispatcher);
 #if DBVT_BP_PROFILE
-if(0==(m_pid%DBVT_BP_PROFILING_RATE))
+	if(0==(m_pid%DBVT_BP_PROFILING_RATE))
 	{	
-	printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
-	unsigned int	total=m_profiling.m_total;
-	if(total<=0) total=1;
-	printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
-	printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
-	printf("cleanup:   %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
-	printf("total:     %uus\r\n",total/DBVT_BP_PROFILING_RATE);
-	const unsigned long	sum=m_profiling.m_ddcollide+
-							m_profiling.m_fdcollide+
-							m_profiling.m_cleanup;
-	printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
-	printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
-	clear(m_profiling);
-	m_clock.reset();
+		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
+		unsigned int	total=m_profiling.m_total;
+		if(total<=0) total=1;
+		printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
+		printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
+		printf("cleanup:   %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
+		printf("total:     %uus\r\n",total/DBVT_BP_PROFILING_RATE);
+		const unsigned long	sum=m_profiling.m_ddcollide+
+			m_profiling.m_fdcollide+
+			m_profiling.m_cleanup;
+		printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
+		printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
+		clear(m_profiling);
+		m_clock.reset();
 	}
 #endif
+
+	performDeferredRemoval(dispatcher);
+
+}
+
+void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
+{
+
+	if (m_paircache->hasDeferredRemoval())
+	{
+
+		btBroadphasePairArray&	overlappingPairArray = m_paircache->getOverlappingPairArray();
+
+		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
+		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+
+		int invalidPair = 0;
+
+		
+		int i;
+
+		btBroadphasePair previousPair;
+		previousPair.m_pProxy0 = 0;
+		previousPair.m_pProxy1 = 0;
+		previousPair.m_algorithm = 0;
+		
+		
+		for (i=0;i<overlappingPairArray.size();i++)
+		{
+		
+			btBroadphasePair& pair = overlappingPairArray[i];
+
+			bool isDuplicate = (pair == previousPair);
+
+			previousPair = pair;
+
+			bool needsRemoval = false;
+
+			if (!isDuplicate)
+			{
+				//important to perform AABB check that is consistent with the broadphase
+				btDbvtProxy*		pa=(btDbvtProxy*)pair.m_pProxy0;
+				btDbvtProxy*		pb=(btDbvtProxy*)pair.m_pProxy1;
+				bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
+
+				if (hasOverlap)
+				{
+					needsRemoval = false;
+				} else
+				{
+					needsRemoval = true;
+				}
+			} else
+			{
+				//remove duplicate
+				needsRemoval = true;
+				//should have no algorithm
+				btAssert(!pair.m_algorithm);
+			}
+			
+			if (needsRemoval)
+			{
+				m_paircache->cleanOverlappingPair(pair,dispatcher);
+
+				pair.m_pProxy0 = 0;
+				pair.m_pProxy1 = 0;
+				invalidPair++;
+			} 
+			
+		}
+
+		//perform a sort, to sort 'invalid' pairs to the end
+		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+		overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
+	}
 }
 
 //
 void							btDbvtBroadphase::collide(btDispatcher* dispatcher)
 {
-SPC(m_profiling.m_total);
-/* optimize				*/ 
-m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
-if(m_fixedleft)
+	/*printf("---------------------------------------------------------\n");
+	printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
+	printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
+	printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
 	{
-	const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
-	m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
-	m_fixedleft=btMax<int>(0,m_fixedleft-count);
+		int i;
+		for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
+		{
+			printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
+				getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
+		}
+		printf("\n");
 	}
-/* dynamic -> fixed set	*/ 
-m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
-btDbvtProxy*	current=m_stageRoots[m_stageCurrent];
-if(current)
+*/
+
+
+
+	SPC(m_profiling.m_total);
+	/* optimize				*/ 
+	m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
+	if(m_fixedleft)
+	{
+		const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
+		m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
+		m_fixedleft=btMax<int>(0,m_fixedleft-count);
+	}
+	/* dynamic -> fixed set	*/ 
+	m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
+	btDbvtProxy*	current=m_stageRoots[m_stageCurrent];
+	if(current)
 	{
-	btDbvtTreeCollider	collider(this);
-	do	{
-		btDbvtProxy*	next=current->links[1];
-		listremove(current,m_stageRoots[current->stage]);
-		listappend(current,m_stageRoots[STAGECOUNT]);
-		#if DBVT_BP_ACCURATESLEEPING
-		m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
-		collider.proxy=current;
-		btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
-		btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
-		#endif
-		m_sets[0].remove(current->leaf);
-		current->leaf	=	m_sets[1].insert(current->aabb,current);
-		current->stage	=	STAGECOUNT;	
-		current			=	next;
+		btDbvtTreeCollider	collider(this);
+		do	{
+			btDbvtProxy*	next=current->links[1];
+			listremove(current,m_stageRoots[current->stage]);
+			listappend(current,m_stageRoots[STAGECOUNT]);
+#if DBVT_BP_ACCURATESLEEPING
+			m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
+			collider.proxy=current;
+			btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
+			btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
+#endif
+			m_sets[0].remove(current->leaf);
+			ATTRIBUTE_ALIGNED16(btDbvtVolume)	curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
+			current->leaf	=	m_sets[1].insert(curAabb,current);
+			current->stage	=	STAGECOUNT;	
+			current			=	next;
 		} while(current);
-	m_fixedleft=m_sets[1].m_leaves;
-	m_needcleanup=true;
+		m_fixedleft=m_sets[1].m_leaves;
+		m_needcleanup=true;
 	}
-/* collide dynamics		*/ 
+	/* collide dynamics		*/ 
 	{
-	btDbvtTreeCollider	collider(this);
-	if(m_deferedcollide)
+		btDbvtTreeCollider	collider(this);
+		if(m_deferedcollide)
 		{
-		SPC(m_profiling.m_fdcollide);
-		btDbvt::collideTT(m_sets[0].m_root,m_sets[1].m_root,collider);
+			SPC(m_profiling.m_fdcollide);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
 		}
-	if(m_deferedcollide)
+		if(m_deferedcollide)
 		{
-		SPC(m_profiling.m_ddcollide);
-		btDbvt::collideTT(m_sets[0].m_root,m_sets[0].m_root,collider);
+			SPC(m_profiling.m_ddcollide);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
 		}
 	}
-/* clean up				*/ 
-if(m_needcleanup)
+	/* clean up				*/ 
+	if(m_needcleanup)
 	{
-	SPC(m_profiling.m_cleanup);
-	btBroadphasePairArray&	pairs=m_paircache->getOverlappingPairArray();
-	if(pairs.size()>0)
+		SPC(m_profiling.m_cleanup);
+		btBroadphasePairArray&	pairs=m_paircache->getOverlappingPairArray();
+		if(pairs.size()>0)
 		{
-		const int	ci=pairs.size();
-		int			ni=btMin(ci,btMax<int>(m_newpairs,(ci*m_cupdates)/100));
-		for(int i=0;i<ni;++i)
+
+			int			ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
+			for(int i=0;i<ni;++i)
 			{
-			btBroadphasePair&	p=pairs[(m_cid+i)%ci];
-			btDbvtProxy*		pa=(btDbvtProxy*)p.m_pProxy0;
-			btDbvtProxy*		pb=(btDbvtProxy*)p.m_pProxy1;
-			if(!Intersect(pa->leaf->volume,pb->leaf->volume))
+				btBroadphasePair&	p=pairs[(m_cid+i)%pairs.size()];
+				btDbvtProxy*		pa=(btDbvtProxy*)p.m_pProxy0;
+				btDbvtProxy*		pb=(btDbvtProxy*)p.m_pProxy1;
+				if(!Intersect(pa->leaf->volume,pb->leaf->volume))
 				{
-				#if DBVT_BP_SORTPAIRS
-				if(pa>pb) btSwap(pa,pb);
-				#endif
-				m_paircache->removeOverlappingPair(pa,pb,dispatcher);
-				--ni;--i;
+#if DBVT_BP_SORTPAIRS
+					if(pa->m_uniqueId>pb->m_uniqueId) 
+						btSwap(pa,pb);
+#endif
+					m_paircache->removeOverlappingPair(pa,pb,dispatcher);
+					--ni;--i;
 				}
 			}
-		if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
+			if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
 		}
 	}
-++m_pid;
-m_newpairs=1;
-m_needcleanup=false;
-if(m_updates_call>0)
+	++m_pid;
+	m_newpairs=1;
+	m_needcleanup=false;
+	if(m_updates_call>0)
 	{ m_updates_ratio=m_updates_done/(btScalar)m_updates_call; }
 	else
 	{ m_updates_ratio=0; }
-m_updates_done/=2;
-m_updates_call/=2;
+	m_updates_done/=2;
+	m_updates_call/=2;
 }
 
 //
 void							btDbvtBroadphase::optimize()
 {
-m_sets[0].optimizeTopDown();
-m_sets[1].optimizeTopDown();
+	m_sets[0].optimizeTopDown();
+	m_sets[1].optimizeTopDown();
 }
 
 //
 btOverlappingPairCache*			btDbvtBroadphase::getOverlappingPairCache()
 {
-return(m_paircache);
+	return(m_paircache);
 }
 
 //
 const btOverlappingPairCache*	btDbvtBroadphase::getOverlappingPairCache() const
 {
-return(m_paircache);
+	return(m_paircache);
 }
 
 //
@@ -402,16 +547,49 @@ void							btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aab
 
 	ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds;
 
-if(!m_sets[0].empty())
-	if(!m_sets[1].empty())	Merge(	m_sets[0].m_root->volume,
-									m_sets[1].m_root->volume,bounds);
-							else
-							bounds=m_sets[0].m_root->volume;
-else if(!m_sets[1].empty())	bounds=m_sets[1].m_root->volume;
-							else
-							bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
-aabbMin=bounds.Mins();
-aabbMax=bounds.Maxs();
+	if(!m_sets[0].empty())
+		if(!m_sets[1].empty())	Merge(	m_sets[0].m_root->volume,
+			m_sets[1].m_root->volume,bounds);
+		else
+			bounds=m_sets[0].m_root->volume;
+	else if(!m_sets[1].empty())	bounds=m_sets[1].m_root->volume;
+	else
+		bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
+	aabbMin=bounds.Mins();
+	aabbMax=bounds.Maxs();
+}
+
+void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
+{
+	
+	int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
+	if (!totalObjects)
+	{
+		//reset internal dynamic tree data structures
+		m_sets[0].clear();
+		m_sets[1].clear();
+		
+		m_deferedcollide	=	false;
+		m_needcleanup		=	true;
+		m_prediction		=	1/(btScalar)2;
+		m_stageCurrent		=	0;
+		m_fixedleft			=	0;
+		m_fupdates			=	1;
+		m_dupdates			=	0;
+		m_cupdates			=	10;
+		m_newpairs			=	1;
+		m_updates_call		=	0;
+		m_updates_done		=	0;
+		m_updates_ratio		=	0;
+		
+		m_gid				=	0;
+		m_pid				=	0;
+		m_cid				=	0;
+		for(int i=0;i<=STAGECOUNT;++i)
+		{
+			m_stageRoots[i]=0;
+		}
+	}
 }
 
 //
@@ -422,9 +600,9 @@ void							btDbvtBroadphase::printStats()
 #if DBVT_BP_ENABLE_BENCHMARK
 
 struct	btBroadphaseBenchmark
-	{
+{
 	struct	Experiment
-		{
+	{
 		const char*			name;
 		int					object_count;
 		int					update_count;
@@ -432,109 +610,109 @@ struct	btBroadphaseBenchmark
 		int					iterations;
 		btScalar			speed;
 		btScalar			amplitude;
-		};
+	};
 	struct	Object
-		{
+	{
 		btVector3			center;
 		btVector3			extents;
 		btBroadphaseProxy*	proxy;
 		btScalar			time;
 		void				update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi)
-			{
+		{
 			time		+=	speed;
 			center[0]	=	btCos(time*(btScalar)2.17)*amplitude+
-							btSin(time)*amplitude/2;
+				btSin(time)*amplitude/2;
 			center[1]	=	btCos(time*(btScalar)1.38)*amplitude+
-							btSin(time)*amplitude;
+				btSin(time)*amplitude;
 			center[2]	=	btSin(time*(btScalar)0.777)*amplitude;
 			pbi->setAabb(proxy,center-extents,center+extents,0);
-			}
-		};
+		}
+	};
 	static int		UnsignedRand(int range=RAND_MAX-1)	{ return(rand()%(range+1)); }
 	static btScalar	UnitRand()							{ return(UnsignedRand(16384)/(btScalar)16384); }
 	static void		OutputTime(const char* name,btClock& c,unsigned count=0)
-		{
+	{
 		const unsigned long	us=c.getTimeMicroseconds();
 		const unsigned long	ms=(us+500)/1000;
 		const btScalar		sec=us/(btScalar)(1000*1000);
 		if(count>0)
 			printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
-			else
+		else
 			printf("%s : %u us (%u ms)\r\n",name,us,ms);
-		}
-	};
+	}
+};
 
 void							btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
 {
-static const btBroadphaseBenchmark::Experiment		experiments[]=
+	static const btBroadphaseBenchmark::Experiment		experiments[]=
 	{
-	{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
-	/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
-	{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
+		{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
+		/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
+		{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
 	};
-static const int										nexperiments=sizeof(experiments)/sizeof(experiments[0]);
-btAlignedObjectArray<btBroadphaseBenchmark::Object*>	objects;
-btClock													wallclock;
-/* Begin			*/ 
-for(int iexp=0;iexp<nexperiments;++iexp)
+	static const int										nexperiments=sizeof(experiments)/sizeof(experiments[0]);
+	btAlignedObjectArray<btBroadphaseBenchmark::Object*>	objects;
+	btClock													wallclock;
+	/* Begin			*/ 
+	for(int iexp=0;iexp<nexperiments;++iexp)
 	{
-	const btBroadphaseBenchmark::Experiment&	experiment=experiments[iexp];
-	const int									object_count=experiment.object_count;
-	const int									update_count=(object_count*experiment.update_count)/100;
-	const int									spawn_count=(object_count*experiment.spawn_count)/100;
-	const btScalar								speed=experiment.speed;	
-	const btScalar								amplitude=experiment.amplitude;
-	printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
-	printf("\tObjects: %u\r\n",object_count);
-	printf("\tUpdate: %u\r\n",update_count);
-	printf("\tSpawn: %u\r\n",spawn_count);
-	printf("\tSpeed: %f\r\n",speed);
-	printf("\tAmplitude: %f\r\n",amplitude);
-	srand(180673);
-	/* Create objects	*/ 
-	wallclock.reset();
-	objects.reserve(object_count);
-	for(int i=0;i<object_count;++i)
+		const btBroadphaseBenchmark::Experiment&	experiment=experiments[iexp];
+		const int									object_count=experiment.object_count;
+		const int									update_count=(object_count*experiment.update_count)/100;
+		const int									spawn_count=(object_count*experiment.spawn_count)/100;
+		const btScalar								speed=experiment.speed;	
+		const btScalar								amplitude=experiment.amplitude;
+		printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
+		printf("\tObjects: %u\r\n",object_count);
+		printf("\tUpdate: %u\r\n",update_count);
+		printf("\tSpawn: %u\r\n",spawn_count);
+		printf("\tSpeed: %f\r\n",speed);
+		printf("\tAmplitude: %f\r\n",amplitude);
+		srand(180673);
+		/* Create objects	*/ 
+		wallclock.reset();
+		objects.reserve(object_count);
+		for(int i=0;i<object_count;++i)
 		{
-		btBroadphaseBenchmark::Object*	po=new btBroadphaseBenchmark::Object();
-		po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
-		po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
-		po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
-		po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
-		po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
-		po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
-		po->time=btBroadphaseBenchmark::UnitRand()*2000;
-		po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
-		objects.push_back(po);
+			btBroadphaseBenchmark::Object*	po=new btBroadphaseBenchmark::Object();
+			po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
+			po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
+			po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
+			po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
+			po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
+			po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
+			po->time=btBroadphaseBenchmark::UnitRand()*2000;
+			po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
+			objects.push_back(po);
 		}
-	btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
-	/* First update		*/ 
-	wallclock.reset();
-	for(int i=0;i<objects.size();++i)
+		btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
+		/* First update		*/ 
+		wallclock.reset();
+		for(int i=0;i<objects.size();++i)
 		{
-		objects[i]->update(speed,amplitude,pbi);
+			objects[i]->update(speed,amplitude,pbi);
 		}
-	btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
-	/* Updates			*/ 
-	wallclock.reset();
-	for(int i=0;i<experiment.iterations;++i)
+		btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
+		/* Updates			*/ 
+		wallclock.reset();
+		for(int i=0;i<experiment.iterations;++i)
 		{
-		for(int j=0;j<update_count;++j)
+			for(int j=0;j<update_count;++j)
 			{				
-			objects[j]->update(speed,amplitude,pbi);
+				objects[j]->update(speed,amplitude,pbi);
 			}
-		pbi->calculateOverlappingPairs(0);
+			pbi->calculateOverlappingPairs(0);
 		}
-	btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
-	/* Clean up			*/ 
-	wallclock.reset();
-	for(int i=0;i<objects.size();++i)
+		btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
+		/* Clean up			*/ 
+		wallclock.reset();
+		for(int i=0;i<objects.size();++i)
 		{
-		pbi->destroyProxy(objects[i]->proxy,0);
-		delete objects[i];
+			pbi->destroyProxy(objects[i]->proxy,0);
+			delete objects[i];
 		}
-	objects.resize(0);
-	btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
+		objects.resize(0);
+		btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
 	}
 
 }
@@ -546,3 +724,4 @@ void							btDbvtBroadphase::benchmark(btBroadphaseInterface*)
 #if DBVT_BP_PROFILE
 #undef	SPC
 #endif
+
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
index 1f16043a7a8..fe70bc39c43 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
@@ -24,15 +24,15 @@ subject to the following restrictions:
 //
 
 #define	DBVT_BP_PROFILE					0
-#define DBVT_BP_SORTPAIRS				1
+//#define DBVT_BP_SORTPAIRS				1
 #define DBVT_BP_PREVENTFALSEUPDATE		0
 #define DBVT_BP_ACCURATESLEEPING		0
 #define DBVT_BP_ENABLE_BENCHMARK		0
 #define DBVT_BP_MARGIN					(btScalar)0.05
 
 #if DBVT_BP_PROFILE
-	#define	DBVT_BP_PROFILING_RATE	256
-	#include "LinearMath/btQuickprof.h"
+#define	DBVT_BP_PROFILING_RATE	256
+#include "LinearMath/btQuickprof.h"
 #endif
 
 //
@@ -40,16 +40,16 @@ subject to the following restrictions:
 //
 struct btDbvtProxy : btBroadphaseProxy
 {
-/* Fields		*/ 
-btDbvtAabbMm	aabb;
-btDbvtNode*		leaf;
-btDbvtProxy*	links[2];
-int				stage;
-/* ctor			*/ 
-btDbvtProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
-	btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask)
+	/* Fields		*/ 
+	//btDbvtAabbMm	aabb;
+	btDbvtNode*		leaf;
+	btDbvtProxy*	links[2];
+	int				stage;
+	/* ctor			*/ 
+	btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
+	btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
 	{
-	links[0]=links[1]=0;
+		links[0]=links[1]=0;
 	}
 };
 
@@ -60,57 +60,67 @@ typedef btAlignedObjectArray<btDbvtProxy*>	btDbvtProxyArray;
 ///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
 struct	btDbvtBroadphase : btBroadphaseInterface
 {
-/* Config		*/ 
-enum	{
+	/* Config		*/ 
+	enum	{
 		DYNAMIC_SET			=	0,	/* Dynamic set index	*/ 
 		FIXED_SET			=	1,	/* Fixed set index		*/ 
 		STAGECOUNT			=	2	/* Number of stages		*/ 
-		};
-/* Fields		*/ 
-btDbvt					m_sets[2];					// Dbvt sets
-btDbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list
-btOverlappingPairCache*	m_paircache;				// Pair cache
-btScalar				m_prediction;				// Velocity prediction
-int						m_stageCurrent;				// Current stage
-int						m_fupdates;					// % of fixed updates per frame
-int						m_dupdates;					// % of dynamic updates per frame
-int						m_cupdates;					// % of cleanup updates per frame
-int						m_newpairs;					// Number of pairs created
-int						m_fixedleft;				// Fixed optimization left
-unsigned				m_updates_call;				// Number of updates call
-unsigned				m_updates_done;				// Number of updates done
-btScalar				m_updates_ratio;			// m_updates_done/m_updates_call
-int						m_pid;						// Parse id
-int						m_cid;						// Cleanup index
-int						m_gid;						// Gen id
-bool					m_releasepaircache;			// Release pair cache on delete
-bool					m_deferedcollide;			// Defere dynamic/static collision to collide call
-bool					m_needcleanup;				// Need to run cleanup?
+	};
+	/* Fields		*/ 
+	btDbvt					m_sets[2];					// Dbvt sets
+	btDbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list
+	btOverlappingPairCache*	m_paircache;				// Pair cache
+	btScalar				m_prediction;				// Velocity prediction
+	int						m_stageCurrent;				// Current stage
+	int						m_fupdates;					// % of fixed updates per frame
+	int						m_dupdates;					// % of dynamic updates per frame
+	int						m_cupdates;					// % of cleanup updates per frame
+	int						m_newpairs;					// Number of pairs created
+	int						m_fixedleft;				// Fixed optimization left
+	unsigned				m_updates_call;				// Number of updates call
+	unsigned				m_updates_done;				// Number of updates done
+	btScalar				m_updates_ratio;			// m_updates_done/m_updates_call
+	int						m_pid;						// Parse id
+	int						m_cid;						// Cleanup index
+	int						m_gid;						// Gen id
+	bool					m_releasepaircache;			// Release pair cache on delete
+	bool					m_deferedcollide;			// Defere dynamic/static collision to collide call
+	bool					m_needcleanup;				// Need to run cleanup?
 #if DBVT_BP_PROFILE
-btClock					m_clock;
-struct	{
+	btClock					m_clock;
+	struct	{
 		unsigned long		m_total;
 		unsigned long		m_ddcollide;
 		unsigned long		m_fdcollide;
 		unsigned long		m_cleanup;
 		unsigned long		m_jobcount;
-		}				m_profiling;
+	}				m_profiling;
 #endif
-/* Methods		*/ 
-btDbvtBroadphase(btOverlappingPairCache* paircache=0);
-~btDbvtBroadphase();
-void							collide(btDispatcher* dispatcher);
-void							optimize();
-/* btBroadphaseInterface Implementation	*/ 
-btBroadphaseProxy*				createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
-void							destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-void							setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
-void							calculateOverlappingPairs(btDispatcher* dispatcher);
-btOverlappingPairCache*			getOverlappingPairCache();
-const btOverlappingPairCache*	getOverlappingPairCache() const;
-void							getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
-void							printStats();
-static void						benchmark(btBroadphaseInterface*);
+	/* Methods		*/ 
+	btDbvtBroadphase(btOverlappingPairCache* paircache=0);
+	~btDbvtBroadphase();
+	void							collide(btDispatcher* dispatcher);
+	void							optimize();
+	/* btBroadphaseInterface Implementation	*/ 
+	btBroadphaseProxy*				createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+	void							destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	void							setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
+	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
+
+	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
+	void							calculateOverlappingPairs(btDispatcher* dispatcher);
+	btOverlappingPairCache*			getOverlappingPairCache();
+	const btOverlappingPairCache*	getOverlappingPairCache() const;
+	void							getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
+	void							printStats();
+	static void						benchmark(btBroadphaseInterface*);
+
+
+	void	performDeferredRemoval(btDispatcher* dispatcher);
+
+	///reset broadphase internal structures, to ensure determinism/reproducability
+	virtual void resetPool(btDispatcher* dispatcher);
+
 };
 
 #endif
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
index 6db71a0170e..ee57aa96151 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -46,22 +46,25 @@ struct btDispatcherInfo
 		m_enableSPU(true),
 		m_useEpa(true),
 		m_allowedCcdPenetration(btScalar(0.04)),
+		m_useConvexConservativeDistanceUtil(true),
+		m_convexConservativeDistanceThreshold(0.0f),
 		m_stackAllocator(0)
 	{
 
 	}
 	btScalar	m_timeStep;
-	int		m_stepCount;
-	int		m_dispatchFunc;
+	int			m_stepCount;
+	int			m_dispatchFunc;
 	mutable btScalar	m_timeOfImpact;
-	bool	m_useContinuous;
+	bool		m_useContinuous;
 	class btIDebugDraw*	m_debugDraw;
-	bool	m_enableSatConvex;
-	bool	m_enableSPU;
-	bool	m_useEpa;
+	bool		m_enableSatConvex;
+	bool		m_enableSPU;
+	bool		m_useEpa;
 	btScalar	m_allowedCcdPenetration;
+	bool		m_useConvexConservativeDistanceUtil;
+	btScalar	m_convexConservativeDistanceThreshold;
 	btStackAlloc*	m_stackAllocator;
-	
 };
 
 ///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
index 3f866ab7c5f..6712f528e97 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
@@ -149,6 +149,22 @@ amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
 
 
 
+void	btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
+{
+	btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
+	aabbMin = multiProxy->m_aabbMin;
+	aabbMax = multiProxy->m_aabbMax;
+}
+
+void	btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	for (int i=0;i<m_multiSapProxies.size();i++)
+	{
+		rayCallback.process(m_multiSapProxies[i]);
+	}
+}
+
+
 //#include <stdio.h>
 
 void	btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
@@ -208,7 +224,9 @@ void	btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
 
 
 	
-	m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
+	if (m_optimizedAabbTree)
+		m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
+
 	int i;
 
 	for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
@@ -464,3 +482,8 @@ void	btMultiSapBroadphase::printStats()
 		*/
 
 }
+
+void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher)
+{
+	// not yet
+}
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
index a0c002de856..91c504eee22 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
@@ -26,6 +26,7 @@ class btSimpleBroadphase;
 
 typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
 
+///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead.
 ///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
 ///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
 ///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
@@ -72,7 +73,7 @@ public:
 		short int	m_collisionFilterMask;
 */
 		btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
-			:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
+			:btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
 			m_aabbMin(aabbMin),
 			m_aabbMax(aabbMax),
 			m_shapeType(shapeType)
@@ -108,6 +109,9 @@ public:
 	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
 	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
+	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
+
+	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
 
 	void	addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*	childBroadphase);
 
@@ -139,6 +143,9 @@ public:
 
 	void quicksort (btBroadphasePairArray& a, int lo, int hi);
 
+	///reset broadphase internal structures, to ensure determinism/reproducability
+	virtual void resetPool(btDispatcher* dispatcher);
+
 };
 
 #endif //BT_MULTI_SAP_BROADPHASE
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
index ff65cdde79f..b209bcb9a20 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
@@ -19,6 +19,7 @@ subject to the following restrictions:
 
 #include "btDispatcher.h"
 #include "btCollisionAlgorithm.h"
+#include "LinearMath/btAabbUtil2.h"
 
 #include <stdio.h>
 
@@ -33,7 +34,8 @@ int gFindPairs =0;
 
 btHashedOverlappingPairCache::btHashedOverlappingPairCache():
 	m_overlapFilterCallback(0),
-	m_blockedForChanges(false)
+	m_blockedForChanges(false),
+	m_ghostPairCallback(0)
 {
 	int initialAllocatedSize= 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
@@ -45,7 +47,6 @@ btHashedOverlappingPairCache::btHashedOverlappingPairCache():
 
 btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
 {
-	//todo/test: show we erase/delete data, or is it automatic
 }
 
 
@@ -135,7 +136,8 @@ void	btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroad
 btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
 	gFindPairs++;
-	if(proxy0>proxy1) btSwap(proxy0,proxy1);
+	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
+		btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
@@ -211,7 +213,8 @@ void	btHashedOverlappingPairCache::growTables()
 
 btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
-	if(proxy0>proxy1) btSwap(proxy0,proxy1);
+	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
+		btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
@@ -238,6 +241,11 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 	int count = m_overlappingPairArray.size();
 	int oldCapacity = m_overlappingPairArray.capacity();
 	void* mem = &m_overlappingPairArray.expand();
+
+	//this is where we add an actual pair, so also call the 'ghost'
+	if (m_ghostPairCallback)
+		m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
+
 	int newCapacity = m_overlappingPairArray.capacity();
 
 	if (oldCapacity < newCapacity)
@@ -251,7 +259,7 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 //	pair->m_pProxy0 = proxy0;
 //	pair->m_pProxy1 = proxy1;
 	pair->m_algorithm = 0;
-	pair->m_userInfo = 0;
+	pair->m_internalTmpValue = 0;
 	
 
 	m_next[count] = m_hashTable[hash];
@@ -265,7 +273,8 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
 {
 	gRemovePairs++;
-	if(proxy0>proxy1) btSwap(proxy0,proxy1);
+	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
+		btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
@@ -282,7 +291,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 
 	cleanOverlappingPair(*pair,dispatcher);
 
-	void* userData = pair->m_userInfo;
+	void* userData = pair->m_internalInfo1;
 
 	btAssert(pair->m_pProxy0->getUid() == proxyId1);
 	btAssert(pair->m_pProxy1->getUid() == proxyId2);
@@ -317,6 +326,9 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 
 	int lastPairIndex = m_overlappingPairArray.size() - 1;
 
+	if (m_ghostPairCallback)
+		m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
+
 	// If the removed pair is the last pair, we are done.
 	if (lastPairIndex == pairIndex)
 	{
@@ -384,6 +396,35 @@ void	btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
 	}
 }
 
+void	btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
+{
+	///need to keep hashmap in sync with pair address, so rebuild all
+	btBroadphasePairArray tmpPairs;
+	int i;
+	for (i=0;i<m_overlappingPairArray.size();i++)
+	{
+		tmpPairs.push_back(m_overlappingPairArray[i]);
+	}
+
+	for (i=0;i<tmpPairs.size();i++)
+	{
+		removeOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1,dispatcher);
+	}
+	
+	for (i = 0; i < m_next.size(); i++)
+	{
+		m_next[i] = BT_NULL_PAIR;
+	}
+
+	tmpPairs.quickSort(btBroadphasePairSortPredicate());
+
+	for (i=0;i<tmpPairs.size();i++)
+	{
+		addOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1);
+	}
+
+	
+}
 
 
 void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1, btDispatcher* dispatcher )
@@ -397,8 +438,10 @@ void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 		{
 			gOverlappingPairs--;
 			btBroadphasePair& pair = m_overlappingPairArray[findIndex];
-			void* userData = pair.m_userInfo;
+			void* userData = pair.m_internalInfo1;
 			cleanOverlappingPair(pair,dispatcher);
+			if (m_ghostPairCallback)
+				m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
 			
 			m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
 			m_overlappingPairArray.pop_back();
@@ -419,15 +462,19 @@ void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 btBroadphasePair*	btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 {
 	//don't add overlap with own
-	assert(proxy0 != proxy1);
+	btAssert(proxy0 != proxy1);
 
 	if (!needsBroadphaseCollision(proxy0,proxy1))
 		return 0;
 	
 	void* mem = &m_overlappingPairArray.expand();
 	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
+	
 	gOverlappingPairs++;
 	gAddedPairs++;
+	
+	if (m_ghostPairCallback)
+		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
 	return pair;
 	
 }
@@ -446,7 +493,7 @@ btBroadphasePair*	btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
 
 	if (findIndex < m_overlappingPairArray.size())
 	{
-		//assert(it != m_overlappingPairSet.end());
+		//btAssert(it != m_overlappingPairSet.end());
 		 btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
 		return pair;
 	}
@@ -476,8 +523,9 @@ void	btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
 		if (callback->processOverlap(*pair))
 		{
 			cleanOverlappingPair(*pair,dispatcher);
-
-			m_overlappingPairArray.swap(i,m_overlappingPairArray.capacity()-1);
+			pair->m_pProxy0 = 0;
+			pair->m_pProxy1 = 0;
+			m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
 			m_overlappingPairArray.pop_back();
 			gOverlappingPairs--;
 		} else
@@ -493,7 +541,8 @@ void	btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
 btSortedOverlappingPairCache::btSortedOverlappingPairCache():
 	m_blockedForChanges(false),
 	m_hasDeferredRemoval(true),
-	m_overlapFilterCallback(0)
+	m_overlapFilterCallback(0),
+	m_ghostPairCallback(0)
 {
 	int initialAllocatedSize= 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
@@ -501,7 +550,6 @@ btSortedOverlappingPairCache::btSortedOverlappingPairCache():
 
 btSortedOverlappingPairCache::~btSortedOverlappingPairCache()
 {
-	//todo/test: show we erase/delete data, or is it automatic
 }
 
 void	btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
@@ -577,3 +625,9 @@ void	btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroad
 
 	processAllOverlappingPairs(&removeCallback,dispatcher);
 }
+
+void	btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
+{
+	//should already be sorted
+}
+
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index 66679bd218a..eda45c47b5b 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -21,7 +21,6 @@ subject to the following restrictions:
 #include "btBroadphaseProxy.h"
 #include "btOverlappingPairCallback.h"
 
-#include "LinearMath/btPoint3.h"
 #include "LinearMath/btAlignedObjectArray.h"
 class btDispatcher;
 
@@ -83,6 +82,11 @@ public:
 
 	virtual bool	hasDeferredRemoval() = 0;
 
+	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
+
+	virtual void	sortOverlappingPairs(btDispatcher* dispatcher) = 0;
+
+
 };
 
 /// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
@@ -253,10 +257,19 @@ private:
 		return false;
 	}
 
-public:
+	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
+	{
+		m_ghostPairCallback = ghostPairCallback;
+	}
+
+	virtual void	sortOverlappingPairs(btDispatcher* dispatcher);
+	
+
+protected:
 	
 	btAlignedObjectArray<int>	m_hashTable;
 	btAlignedObjectArray<int>	m_next;
+	btOverlappingPairCallback*	m_ghostPairCallback;
 	
 };
 
@@ -280,6 +293,8 @@ class	btSortedOverlappingPairCache : public btOverlappingPairCache
 		//if set, use the callback instead of the built in filter in needBroadphaseCollision
 		btOverlapFilterCallback* m_overlapFilterCallback;
 
+		btOverlappingPairCallback*	m_ghostPairCallback;
+
 	public:
 			
 		btSortedOverlappingPairCache();	
@@ -355,12 +370,19 @@ class	btSortedOverlappingPairCache : public btOverlappingPairCache
 			return m_hasDeferredRemoval;
 		}
 
+		virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
+		{
+			m_ghostPairCallback = ghostPairCallback;
+		}
+
+		virtual void	sortOverlappingPairs(btDispatcher* dispatcher);
+		
 
 };
 
 
 
-///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and testing.
+///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
 class btNullPairCache : public btOverlappingPairCache
 {
 
@@ -414,6 +436,11 @@ public:
 		return true;
 	}
 
+	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
+	{
+
+	}
+
 	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
 	{
 		return 0;
@@ -427,6 +454,10 @@ public:
 	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
 	{
 	}
+	
+	virtual void	sortOverlappingPairs(btDispatcher* dispatcher)
+	{
+	}
 
 
 };
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index a30bd1fd9e1..8bef8f0d43e 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -18,14 +18,18 @@ subject to the following restrictions:
 #include "LinearMath/btAabbUtil2.h"
 #include "LinearMath/btIDebugDraw.h"
 
+#define RAYAABB2
 
-btQuantizedBvh::btQuantizedBvh() : m_useQuantization(false), 
+btQuantizedBvh::btQuantizedBvh() : 
+					m_bulletVersion(BT_BULLET_VERSION),
+					m_useQuantization(false), 
 					//m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
 					m_traversalMode(TRAVERSAL_STACKLESS)
 					//m_traversalMode(TRAVERSAL_RECURSIVE)
 					,m_subtreeHeaderCount(0) //PCK: add this line
-{ 
-
+{
+	m_bvhAabbMin.setValue(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY);
+	m_bvhAabbMax.setValue(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
 }
 
 
@@ -119,7 +123,7 @@ void	btQuantizedBvh::buildTree	(int startIndex,int endIndex)
 	int numIndices =endIndex-startIndex;
 	int curIndex = m_curNodeIndex;
 
-	assert(numIndices>0);
+	btAssert(numIndices>0);
 
 	if (numIndices==1)
 	{
@@ -140,8 +144,11 @@ void	btQuantizedBvh::buildTree	(int startIndex,int endIndex)
 
 	int internalNodeIndex = m_curNodeIndex;
 	
-	setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);
-	setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);
+	//set the min aabb to 'inf' or a max value, and set the max aabb to a -inf/minimum value.
+	//the aabb will be expanded during buildTree/mergeInternalNodeAabb with actual node values
+	setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);//can't use btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization
+	setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);//can't use btVector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization
+	
 	
 	for (i=startIndex;i<endIndex;i++)
 	{
@@ -177,6 +184,9 @@ void	btQuantizedBvh::buildTree	(int startIndex,int endIndex)
 		{
 			updateSubtreeHeaders(leftChildNodexIndex,rightChildNodexIndex);
 		}
+	} else
+	{
+
 	}
 
 	setInternalNodeEscapeIndex(internalNodeIndex,escapeIndex);
@@ -338,6 +348,7 @@ void	btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
 
 int maxIterations = 0;
 
+
 void	btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
 {
 	btAssert(!m_useQuantization);
@@ -352,7 +363,7 @@ void	btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const
 	while (curIndex < m_curNodeIndex)
 	{
 		//catch bugs in tree data
-		assert (walkIterations < m_curNodeIndex);
+		btAssert (walkIterations < m_curNodeIndex);
 
 		walkIterations++;
 		aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
@@ -434,6 +445,96 @@ void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantize
 
 
 
+void	btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
+{
+	btAssert(!m_useQuantization);
+
+	const btOptimizedBvhNode* rootNode = &m_contiguousNodes[0];
+	int escapeIndex, curIndex = 0;
+	int walkIterations = 0;
+	bool isLeafNode;
+	//PCK: unsigned instead of bool
+	unsigned aabbOverlap=0;
+	unsigned rayBoxOverlap=0;
+	btScalar lambda_max = 1.0;
+	
+		/* Quick pruning by quantized box */
+	btVector3 rayAabbMin = raySource;
+	btVector3 rayAabbMax = raySource;
+	rayAabbMin.setMin(rayTarget);
+	rayAabbMax.setMax(rayTarget);
+
+	/* Add box cast extents to bounding box */
+	rayAabbMin += aabbMin;
+	rayAabbMax += aabbMax;
+
+#ifdef RAYAABB2
+	btVector3 rayDir = (rayTarget-raySource);
+	rayDir.normalize ();
+	lambda_max = rayDir.dot(rayTarget-raySource);
+	///what about division by zero? --> just set rayDirection[i] to 1.0
+	btVector3 rayDirectionInverse;
+	rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
+	rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
+	rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
+	unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
+#endif
+
+	btVector3 bounds[2];
+
+	while (curIndex < m_curNodeIndex)
+	{
+		btScalar param = 1.0;
+		//catch bugs in tree data
+		btAssert (walkIterations < m_curNodeIndex);
+
+		walkIterations++;
+
+		bounds[0] = rootNode->m_aabbMinOrg;
+		bounds[1] = rootNode->m_aabbMaxOrg;
+		/* Add box cast extents */
+		bounds[0] += aabbMin;
+		bounds[1] += aabbMax;
+
+		aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
+		//perhaps profile if it is worth doing the aabbOverlap test first
+
+#ifdef RAYAABB2
+			///careful with this check: need to check division by zero (above) and fix the unQuantize method
+			///thanks Joerg/hiker for the reproduction case!
+			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
+		rayBoxOverlap = aabbOverlap ? btRayAabb2 (raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
+
+#else
+		btVector3 normal;
+		rayBoxOverlap = btRayAabb(raySource, rayTarget,bounds[0],bounds[1],param, normal);
+#endif
+
+		isLeafNode = rootNode->m_escapeIndex == -1;
+		
+		//PCK: unsigned instead of bool
+		if (isLeafNode && (rayBoxOverlap != 0))
+		{
+			nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex);
+		} 
+		
+		//PCK: unsigned instead of bool
+		if ((rayBoxOverlap != 0) || isLeafNode)
+		{
+			rootNode++;
+			curIndex++;
+		} else
+		{
+			escapeIndex = rootNode->m_escapeIndex;
+			rootNode += escapeIndex;
+			curIndex += escapeIndex;
+		}
+	}
+	if (maxIterations < walkIterations)
+		maxIterations = walkIterations;
+
+}
+
 
 
 void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
@@ -454,9 +555,8 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 	unsigned rayBoxOverlap = 0;
 
 	btScalar lambda_max = 1.0;
-#define RAYAABB2
+
 #ifdef RAYAABB2
-	btVector3 rayFrom = raySource;
 	btVector3 rayDirection = (rayTarget-raySource);
 	rayDirection.normalize ();
 	lambda_max = rayDirection.dot(rayTarget-raySource);
@@ -502,7 +602,7 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 #endif//VISUALLY_ANALYZE_BVH
 
 		//catch bugs in tree data
-		assert (walkIterations < subTreeSize);
+		btAssert (walkIterations < subTreeSize);
 
 		walkIterations++;
 		//PCK: unsigned instead of bool
@@ -533,7 +633,9 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 			///thanks Joerg/hiker for the reproduction case!
 			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
 
+			//BT_PROFILE("btRayAabb2");
 			rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
+			
 #else
 			rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
 #endif
@@ -597,7 +699,7 @@ void	btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
 #endif//VISUALLY_ANALYZE_BVH
 
 		//catch bugs in tree data
-		assert (walkIterations < subTreeSize);
+		btAssert (walkIterations < subTreeSize);
 
 		walkIterations++;
 		//PCK: unsigned instead of bool
@@ -652,30 +754,25 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallba
 
 void	btQuantizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
 {
-	bool fast_path = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
-	if (fast_path)
-	{
-		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, btVector3(0, 0, 0), btVector3(0, 0, 0), 0, m_curNodeIndex);
-	} else {
-		/* Otherwise fallback to AABB overlap test */
-		btVector3 aabbMin = raySource;
-		btVector3 aabbMax = raySource;
-		aabbMin.setMin(rayTarget);
-		aabbMax.setMax(rayTarget);
-		reportAabbOverlappingNodex(nodeCallback,aabbMin,aabbMax);
-	}
+	reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,btVector3(0,0,0),btVector3(0,0,0));
 }
 
 
 void	btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const
 {
-	bool fast_path = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
-	if (fast_path)
+	//always use stackless
+
+	if (m_useQuantization)
 	{
 		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
-	} else {
-		/* Slow path:
-		   Construct the bounding box for the entire box cast and send that down the tree */
+	}
+	else
+	{
+		walkStacklessTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
+	}
+	/*
+	{
+		//recursive traversal
 		btVector3 qaabbMin = raySource;
 		btVector3 qaabbMax = raySource;
 		qaabbMin.setMin(rayTarget);
@@ -684,6 +781,8 @@ void	btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCa
 		qaabbMax += aabbMax;
 		reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax);
 	}
+	*/
+
 }
 
 
@@ -716,17 +815,19 @@ void	btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode,int leafNod
 //PCK: include
 #include <new>
 
+#if 0
 //PCK: consts
 static const unsigned BVH_ALIGNMENT = 16;
 static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1;
 
 static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
-
+#endif
 
 
 unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
 {
-	return BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
+	// I changed this to 0 since the extra padding is not needed or used.
+	return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
 }
 
 unsigned btQuantizedBvh::calculateSerializeBufferSize()
@@ -742,7 +843,7 @@ unsigned btQuantizedBvh::calculateSerializeBufferSize()
 
 bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian)
 {
-	assert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
+	btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
 	m_subtreeHeaderCount = m_SubtreeHeaders.size();
 
 /*	if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
@@ -829,6 +930,11 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 			}
 		}
 		nodeData += sizeof(btQuantizedBvhNode) * nodeCount;
+
+		// this clears the pointer in the member variable it doesn't really do anything to the data
+		// it does call the destructor on the contained objects, but they are all classes with no destructor defined
+		// so the memory (which is not freed) is left alone
+		targetBvh->m_quantizedContiguousNodes.initializeFromBuffer(NULL, 0, 0);
 	}
 	else
 	{
@@ -859,6 +965,11 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 			}
 		}
 		nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
+
+		// this clears the pointer in the member variable it doesn't really do anything to the data
+		// it does call the destructor on the contained objects, but they are all classes with no destructor defined
+		// so the memory (which is not freed) is left alone
+		targetBvh->m_contiguousNodes.initializeFromBuffer(NULL, 0, 0);
 	}
 
 	sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
@@ -896,12 +1007,23 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 
 			targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = (m_SubtreeHeaders[i].m_rootNodeIndex);
 			targetBvh->m_SubtreeHeaders[i].m_subtreeSize = (m_SubtreeHeaders[i].m_subtreeSize);
-			targetBvh->m_SubtreeHeaders[i] = m_SubtreeHeaders[i];
+
+			// need to clear padding in destination buffer
+			targetBvh->m_SubtreeHeaders[i].m_padding[0] = 0;
+			targetBvh->m_SubtreeHeaders[i].m_padding[1] = 0;
+			targetBvh->m_SubtreeHeaders[i].m_padding[2] = 0;
 		}
 	}
-
 	nodeData += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
 
+	// this clears the pointer in the member variable it doesn't really do anything to the data
+	// it does call the destructor on the contained objects, but they are all classes with no destructor defined
+	// so the memory (which is not freed) is left alone
+	targetBvh->m_SubtreeHeaders.initializeFromBuffer(NULL, 0, 0);
+
+	// this wipes the virtual function table pointer at the start of the buffer for the class
+	*((void**)o_alignedDataBuffer) = NULL;
+
 	return true;
 }
 
@@ -1015,11 +1137,12 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 btQuantizedBvh::btQuantizedBvh(btQuantizedBvh &self, bool /* ownsMemory */) :
 m_bvhAabbMin(self.m_bvhAabbMin),
 m_bvhAabbMax(self.m_bvhAabbMax),
-m_bvhQuantization(self.m_bvhQuantization)
+m_bvhQuantization(self.m_bvhQuantization),
+m_bulletVersion(BT_BULLET_VERSION)
 {
 
-
 }
 
 
 
+
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
index 8a149b533fa..ced457b6036 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
@@ -158,41 +158,43 @@ typedef btAlignedObjectArray<btBvhSubtreeInfo>		BvhSubtreeInfoArray;
 ///It is recommended to use quantization for better performance and lower memory requirements.
 ATTRIBUTE_ALIGNED16(class) btQuantizedBvh
 {
-protected:
-
-	NodeArray			m_leafNodes;
-	NodeArray			m_contiguousNodes;
-
-	QuantizedNodeArray	m_quantizedLeafNodes;
-	
-	QuantizedNodeArray	m_quantizedContiguousNodes;
-	
-	int					m_curNodeIndex;
-
-
-	//quantization data
-	bool				m_useQuantization;
-	btVector3			m_bvhAabbMin;
-	btVector3			m_bvhAabbMax;
-	btVector3			m_bvhQuantization;
 public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
 	enum btTraversalMode
 	{
 		TRAVERSAL_STACKLESS = 0,
 		TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
 		TRAVERSAL_RECURSIVE
 	};
+
 protected:
 
-	btTraversalMode	m_traversalMode;
+
+	btVector3			m_bvhAabbMin;
+	btVector3			m_bvhAabbMax;
+	btVector3			m_bvhQuantization;
+
+	int					m_bulletVersion;	//for serialization versioning. It could also be used to detect endianess.
+
+	int					m_curNodeIndex;
+	//quantization data
+	bool				m_useQuantization;
+
+
+
+	NodeArray			m_leafNodes;
+	NodeArray			m_contiguousNodes;
+	QuantizedNodeArray	m_quantizedLeafNodes;
+	QuantizedNodeArray	m_quantizedContiguousNodes;
 	
+	btTraversalMode	m_traversalMode;
 	BvhSubtreeInfoArray		m_SubtreeHeaders;
 
 	//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
 	int m_subtreeHeaderCount;
 
+	
+
+
 
 	///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
 	///this might be refactored into a virtual, it is usually not calculated at run-time
@@ -296,6 +298,7 @@ protected:
 
 	void	walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
 	void	walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
+	void	walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
 
 	///tree traversal designed for small-memory processors like PS3 SPU
 	void	walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
@@ -307,30 +310,14 @@ protected:
 	void	walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const;
 	
 
-#define USE_BANCHLESS 1
-#ifdef USE_BANCHLESS
-	//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
-	SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
-	{		
-		return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
-			& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
-			& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
-			1, 0));
-	}
-#else
-	SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
-	{
-		bool overlap = true;
-		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-		return overlap;
-	}
-#endif //USE_BANCHLESS
+
 
 	void	updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
 
 public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btQuantizedBvh();
 
 	virtual ~btQuantizedBvh();
@@ -363,7 +350,7 @@ public:
 		btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
 		///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
 		///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
-		///todo: double-check this
+		///@todo: double-check this
 		if (isMax)
 		{
 			out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
index a57952ffa06..caed63db005 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -55,6 +55,7 @@ btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* o
 	m_maxHandles = maxProxies;
 	m_numHandles = 0;
 	m_firstFreeHandle = 0;
+	m_LastHandleIndex = -1;
 	
 
 	{
@@ -88,7 +89,7 @@ btBroadphaseProxy*	btSimpleBroadphase::createProxy(  const btVector3& aabbMin,
 		btAssert(0);
 		return 0; //should never happen, but don't let the game crash ;-)
 	}
-	assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
+	btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
 
 	int newHandleIndex = allocHandle();
 	btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
@@ -137,14 +138,32 @@ void	btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher*
 		
 }
 
+void	btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
+{
+	const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
+	aabbMin = sbp->m_aabbMin;
+	aabbMax = sbp->m_aabbMax;
+}
+
 void	btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
 {
 	btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
-	sbp->m_min = aabbMin;
-	sbp->m_max = aabbMax;
+	sbp->m_aabbMin = aabbMin;
+	sbp->m_aabbMax = aabbMax;
 }
 
-
+void	btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	for (int i=0; i <= m_LastHandleIndex; i++)
+	{
+		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
+		if(!proxy->m_clientObject)
+		{
+			continue;
+		}
+		rayCallback.process(proxy);
+	}
+}
 
 
 
@@ -154,9 +173,9 @@ void	btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbM
 
 bool	btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
 {
-	return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] && 
-		   proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
-		   proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
+	return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] && 
+		   proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
+		   proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
 
 }
 
@@ -176,18 +195,25 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 {
 	//first check for new overlapping pairs
 	int i,j;
-
 	if (m_numHandles >= 0)
 	{
-
-		for (i=0;i<m_numHandles;i++)
+		int new_largest_index = -1;
+		for (i=0; i <= m_LastHandleIndex; i++)
 		{
 			btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
-
-			for (j=i+1;j<m_numHandles;j++)
+			if(!proxy0->m_clientObject)
+			{
+				continue;
+			}
+			new_largest_index = i;
+			for (j=i+1; j <= m_LastHandleIndex; j++)
 			{
 				btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
 				btAssert(proxy0 != proxy1);
+				if(!proxy1->m_clientObject)
+				{
+					continue;
+				}
 
 				btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
 				btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
@@ -211,6 +237,8 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 			}
 		}
 
+		m_LastHandleIndex = new_largest_index;
+
 		if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
 		{
 
@@ -296,5 +324,7 @@ bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseP
 	return aabbOverlap(p0,p1);
 }
 
-
-
+void	btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
+{
+	//not yet
+}
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
index e2ebb825725..cc7613bf6a0 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
@@ -22,8 +22,6 @@ subject to the following restrictions:
 
 struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 {
-	btVector3	m_min;
-	btVector3	m_max;
 	int			m_nextFree;
 	
 //	int			m_handleId;
@@ -31,9 +29,8 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 	
 	btSimpleBroadphaseProxy() {};
 
-	btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
-	:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy),
-	m_min(minpt),m_max(maxpt)		
+	btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
+	:btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy)
 	{
 		(void)shapeType;
 	}
@@ -56,6 +53,7 @@ protected:
 
 	int		m_numHandles;						// number of active handles
 	int		m_maxHandles;						// max number of handles
+	int		m_LastHandleIndex;							
 	
 	btSimpleBroadphaseProxy* m_pHandles;						// handles pool
 
@@ -68,6 +66,10 @@ protected:
 		int freeHandle = m_firstFreeHandle;
 		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
 		m_numHandles++;
+		if(freeHandle > m_LastHandleIndex)
+		{
+			m_LastHandleIndex = freeHandle;
+		}
 		return freeHandle;
 	}
 
@@ -75,10 +77,15 @@ protected:
 	{
 		int handle = int(proxy-m_pHandles);
 		btAssert(handle >= 0 && handle < m_maxHandles);
-
+		if(handle == m_LastHandleIndex)
+		{
+			m_LastHandleIndex--;
+		}
 		proxy->SetNextFree(m_firstFreeHandle);
 		m_firstFreeHandle = handle;
 
+		proxy->m_clientObject = 0;
+
 		m_numHandles--;
 	}
 
@@ -95,6 +102,15 @@ protected:
 		return proxy0;
 	}
 
+	inline const btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
+	{
+		const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
+		return proxy0;
+	}
+
+	///reset broadphase internal structures, to ensure determinism/reproducability
+	virtual void resetPool(btDispatcher* dispatcher);
+
 
 	void	validate();
 
@@ -117,6 +133,9 @@ public:
 
 	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
+	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
+
+	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
 		
 	btOverlappingPairCache*	getOverlappingPairCache()
 	{
diff --git a/extern/bullet2/src/BulletCollision/CMakeLists.txt b/extern/bullet2/src/BulletCollision/CMakeLists.txt
index d77ca6444c7..4b4304f43b0 100644
--- a/extern/bullet2/src/BulletCollision/CMakeLists.txt
+++ b/extern/bullet2/src/BulletCollision/CMakeLists.txt
@@ -1,153 +1,234 @@
-			
-INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/src }
+INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src } )
+
+SET(BulletCollision_SRCS
+	BroadphaseCollision/btAxisSweep3.cpp
+	BroadphaseCollision/btBroadphaseProxy.cpp
+	BroadphaseCollision/btCollisionAlgorithm.cpp
+	BroadphaseCollision/btDispatcher.cpp
+	BroadphaseCollision/btDbvtBroadphase.cpp
+	BroadphaseCollision/btDbvt.cpp
+	BroadphaseCollision/btMultiSapBroadphase.cpp
+	BroadphaseCollision/btOverlappingPairCache.cpp
+	BroadphaseCollision/btQuantizedBvh.cpp
+	BroadphaseCollision/btSimpleBroadphase.cpp
+	CollisionDispatch/btActivatingCollisionAlgorithm.cpp
+	CollisionDispatch/btCollisionDispatcher.cpp
+	CollisionDispatch/btCollisionObject.cpp
+	CollisionDispatch/btCollisionWorld.cpp
+	CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+	CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+	CollisionDispatch/btDefaultCollisionConfiguration.cpp
+	CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+	CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+	CollisionDispatch/btBoxBoxDetector.cpp
+	CollisionDispatch/btGhostObject.cpp
+	CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+	CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+	CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+	CollisionDispatch/btConvexConvexAlgorithm.cpp
+	CollisionDispatch/btEmptyCollisionAlgorithm.cpp
+	CollisionDispatch/btManifoldResult.cpp
+	CollisionDispatch/btSimulationIslandManager.cpp
+	CollisionDispatch/btUnionFind.cpp
+	CollisionDispatch/SphereTriangleDetector.cpp
+	CollisionShapes/btBoxShape.cpp
+	CollisionShapes/btBvhTriangleMeshShape.cpp
+	CollisionShapes/btCapsuleShape.cpp
+	CollisionShapes/btCollisionShape.cpp
+	CollisionShapes/btCompoundShape.cpp
+	CollisionShapes/btConcaveShape.cpp
+	CollisionShapes/btConeShape.cpp
+	CollisionShapes/btConvexHullShape.cpp
+	CollisionShapes/btConvexPointCloudShape.cpp
+	CollisionShapes/btConvexShape.cpp
+	CollisionShapes/btConvexInternalShape.cpp
+	CollisionShapes/btConvexTriangleMeshShape.cpp
+	CollisionShapes/btCylinderShape.cpp
+	CollisionShapes/btEmptyShape.cpp
+	CollisionShapes/btHeightfieldTerrainShape.cpp
+	CollisionShapes/btMinkowskiSumShape.cpp
+	CollisionShapes/btMultimaterialTriangleMeshShape.cpp
+	CollisionShapes/btMultiSphereShape.cpp
+	CollisionShapes/btOptimizedBvh.cpp
+	CollisionShapes/btPolyhedralConvexShape.cpp
+	CollisionShapes/btScaledBvhTriangleMeshShape.cpp
+	CollisionShapes/btTetrahedronShape.cpp
+	CollisionShapes/btSphereShape.cpp
+	CollisionShapes/btShapeHull.cpp
+	CollisionShapes/btStaticPlaneShape.cpp
+	CollisionShapes/btStridingMeshInterface.cpp
+	CollisionShapes/btTriangleCallback.cpp
+	CollisionShapes/btTriangleBuffer.cpp
+	CollisionShapes/btTriangleIndexVertexArray.cpp
+	CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
+	CollisionShapes/btTriangleMesh.cpp
+	CollisionShapes/btTriangleMeshShape.cpp
+	CollisionShapes/btUniformScalingShape.cpp
+	Gimpact/btContactProcessing.cpp
+	Gimpact/btGImpactShape.cpp
+	Gimpact/gim_contact.cpp
+	Gimpact/btGImpactBvh.cpp
+	Gimpact/btGenericPoolAllocator.cpp
+	Gimpact/gim_memory.cpp
+	Gimpact/btGImpactCollisionAlgorithm.cpp
+	Gimpact/btTriangleShapeEx.cpp
+	Gimpact/gim_tri_collision.cpp
+	Gimpact/btGImpactQuantizedBvh.cpp
+	Gimpact/gim_box_set.cpp
+	NarrowPhaseCollision/btContinuousConvexCollision.cpp
+	NarrowPhaseCollision/btGjkEpa2.cpp
+	NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+	NarrowPhaseCollision/btConvexCast.cpp
+	NarrowPhaseCollision/btGjkConvexCast.cpp
+	NarrowPhaseCollision/btGjkPairDetector.cpp
+	NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+	NarrowPhaseCollision/btPersistentManifold.cpp
+	NarrowPhaseCollision/btRaycastCallback.cpp
+	NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+	NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
 )
-	
-ADD_LIBRARY(LibBulletCollision
-				BroadphaseCollision/btAxisSweep3.cpp
-				BroadphaseCollision/btAxisSweep3.h
-				BroadphaseCollision/btBroadphaseProxy.cpp
-				BroadphaseCollision/btBroadphaseProxy.h
-				BroadphaseCollision/btCollisionAlgorithm.cpp
-				BroadphaseCollision/btCollisionAlgorithm.h
-				BroadphaseCollision/btDispatcher.cpp
-				BroadphaseCollision/btDispatcher.h
-				BroadphaseCollision/btDbvtBroadphase.cpp
-				BroadphaseCollision/btDbvtBroadphase.h
-				BroadphaseCollision/btDbvt.cpp
-				BroadphaseCollision/btDbvt.h
-				BroadphaseCollision/btMultiSapBroadphase.cpp
-				BroadphaseCollision/btMultiSapBroadphase.h
-				BroadphaseCollision/btOverlappingPairCache.cpp
-				BroadphaseCollision/btOverlappingPairCache.h
-				BroadphaseCollision/btOverlappingPairCallback.h
-				BroadphaseCollision/btQuantizedBvh.cpp
-				BroadphaseCollision/btQuantizedBvh.h
-				BroadphaseCollision/btSimpleBroadphase.cpp
-				BroadphaseCollision/btSimpleBroadphase.h
-				CollisionDispatch/btCollisionDispatcher.cpp
-				CollisionDispatch/btCollisionDispatcher.h
-				CollisionDispatch/btCollisionObject.cpp
-				CollisionDispatch/btCollisionObject.h
-				CollisionDispatch/btCollisionWorld.cpp
-				CollisionDispatch/btCollisionWorld.h
-				CollisionDispatch/btCompoundCollisionAlgorithm.cpp
-				CollisionDispatch/btCompoundCollisionAlgorithm.h
-				CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
-				CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
-				CollisionDispatch/btDefaultCollisionConfiguration.cpp
-				CollisionDispatch/btDefaultCollisionConfiguration.h
-				CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
-				CollisionDispatch/btSphereSphereCollisionAlgorithm.h
-				CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
-				CollisionDispatch/btBoxBoxCollisionAlgorithm.h
-				CollisionDispatch/btBoxBoxDetector.cpp
-				CollisionDispatch/btBoxBoxDetector.h
-				CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
-				CollisionDispatch/btSphereBoxCollisionAlgorithm.h
-				CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
-				CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
-				CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
-				CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
-				CollisionDispatch/btConvexConvexAlgorithm.cpp
-				CollisionDispatch/btConvexConvexAlgorithm.h
-				CollisionDispatch/btEmptyCollisionAlgorithm.cpp
-				CollisionDispatch/btEmptyCollisionAlgorithm.h
-				CollisionDispatch/btManifoldResult.cpp
-				CollisionDispatch/btManifoldResult.h
-				CollisionDispatch/btSimulationIslandManager.cpp
-				CollisionDispatch/btSimulationIslandManager.h
-				CollisionDispatch/btUnionFind.cpp
-				CollisionDispatch/btUnionFind.h
-				CollisionDispatch/SphereTriangleDetector.cpp
-				CollisionDispatch/SphereTriangleDetector.h
-				CollisionShapes/btBoxShape.cpp
-				CollisionShapes/btBoxShape.h
-				CollisionShapes/btBvhTriangleMeshShape.cpp
-				CollisionShapes/btBvhTriangleMeshShape.h
-				CollisionShapes/btCapsuleShape.cpp
-				CollisionShapes/btCapsuleShape.h
-				CollisionShapes/btCollisionShape.cpp
-				CollisionShapes/btCollisionShape.h
-				CollisionShapes/btCompoundShape.cpp
-				CollisionShapes/btCompoundShape.h
-				CollisionShapes/btConcaveShape.cpp
-				CollisionShapes/btConcaveShape.h
-				CollisionShapes/btConeShape.cpp
-				CollisionShapes/btConeShape.h
-				CollisionShapes/btConvexHullShape.cpp
-				CollisionShapes/btConvexHullShape.h
-				CollisionShapes/btConvexShape.cpp
-				CollisionShapes/btConvexShape.h
-				CollisionShapes/btConvexInternalShape.cpp
-				CollisionShapes/btConvexInternalShape.h
-				CollisionShapes/btConvexTriangleMeshShape.cpp
-				CollisionShapes/btConvexTriangleMeshShape.h
-				CollisionShapes/btCylinderShape.cpp
-				CollisionShapes/btCylinderShape.h
-				CollisionShapes/btEmptyShape.cpp
-				CollisionShapes/btEmptyShape.h
-				CollisionShapes/btHeightfieldTerrainShape.cpp
-				CollisionShapes/btHeightfieldTerrainShape.h
-				CollisionShapes/btMinkowskiSumShape.cpp
-				CollisionShapes/btMinkowskiSumShape.h
-				CollisionShapes/btMaterial.h
-				CollisionShapes/btMultimaterialTriangleMeshShape.cpp
-				CollisionShapes/btMultimaterialTriangleMeshShape.h
-				CollisionShapes/btMultiSphereShape.cpp
-				CollisionShapes/btMultiSphereShape.h
-				CollisionShapes/btOptimizedBvh.cpp
-				CollisionShapes/btOptimizedBvh.h
-				CollisionShapes/btPolyhedralConvexShape.cpp
-				CollisionShapes/btPolyhedralConvexShape.h
-				CollisionShapes/btScaledBvhTriangleMeshShape.cpp
-				CollisionShapes/btScaledBvhTriangleMeshShape.h
-				CollisionShapes/btTetrahedronShape.cpp
-				CollisionShapes/btTetrahedronShape.h
-				CollisionShapes/btSphereShape.cpp
-				CollisionShapes/btSphereShape.h
-				CollisionShapes/btShapeHull.h
-				CollisionShapes/btShapeHull.cpp
-				CollisionShapes/btStaticPlaneShape.cpp
-				CollisionShapes/btStaticPlaneShape.h
-				CollisionShapes/btStridingMeshInterface.cpp
-				CollisionShapes/btStridingMeshInterface.h
-				CollisionShapes/btTriangleCallback.cpp
-				CollisionShapes/btTriangleCallback.h
-				CollisionShapes/btTriangleBuffer.cpp
-				CollisionShapes/btTriangleBuffer.h
-				CollisionShapes/btTriangleIndexVertexArray.cpp
-				CollisionShapes/btTriangleIndexVertexArray.h
-				CollisionShapes/btTriangleIndexVertexMaterialArray.h
-				CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
-				CollisionShapes/btTriangleMesh.cpp
-				CollisionShapes/btTriangleMesh.h
-				CollisionShapes/btTriangleMeshShape.cpp
-				CollisionShapes/btTriangleMeshShape.h
-				CollisionShapes/btUniformScalingShape.cpp
-				CollisionShapes/btUniformScalingShape.h
-				NarrowPhaseCollision/btContinuousConvexCollision.cpp
-				NarrowPhaseCollision/btContinuousConvexCollision.h
-				NarrowPhaseCollision/btGjkEpa.cpp
-				NarrowPhaseCollision/btGjkEpa.h
-				NarrowPhaseCollision/btGjkEpa2.cpp
-				NarrowPhaseCollision/btGjkEpa2.h
-				NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
-				NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
-				NarrowPhaseCollision/btConvexCast.cpp
-				NarrowPhaseCollision/btConvexCast.h
-				NarrowPhaseCollision/btGjkConvexCast.cpp
-				NarrowPhaseCollision/btGjkConvexCast.h
-				NarrowPhaseCollision/btGjkPairDetector.cpp
-				NarrowPhaseCollision/btGjkPairDetector.h
-				NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
-				NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
-				NarrowPhaseCollision/btPersistentManifold.cpp
-				NarrowPhaseCollision/btPersistentManifold.h
-				NarrowPhaseCollision/btRaycastCallback.cpp
-				NarrowPhaseCollision/btRaycastCallback.h
-				NarrowPhaseCollision/btSubSimplexConvexCast.cpp
-				NarrowPhaseCollision/btSubSimplexConvexCast.h
-				NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
-				NarrowPhaseCollision/btVoronoiSimplexSolver.h
+
+SET(Root_HDRS
+	../btBulletCollisionCommon.h
 )
+SET(BroadphaseCollision_HDRS
+	BroadphaseCollision/btAxisSweep3.h
+	BroadphaseCollision/btBroadphaseInterface.h
+	BroadphaseCollision/btBroadphaseProxy.h
+	BroadphaseCollision/btCollisionAlgorithm.h
+	BroadphaseCollision/btDispatcher.h
+	BroadphaseCollision/btDbvtBroadphase.h
+	BroadphaseCollision/btDbvt.h
+	BroadphaseCollision/btMultiSapBroadphase.h
+	BroadphaseCollision/btOverlappingPairCache.h
+	BroadphaseCollision/btOverlappingPairCallback.h
+	BroadphaseCollision/btQuantizedBvh.h
+	BroadphaseCollision/btSimpleBroadphase.h
+)
+SET(CollisionDispatch_HDRS
+	CollisionDispatch/btActivatingCollisionAlgorithm.h
+	CollisionDispatch/btCollisionConfiguration.h
+	CollisionDispatch/btCollisionCreateFunc.h
+	CollisionDispatch/btCollisionDispatcher.h
+	CollisionDispatch/btCollisionObject.h
+	CollisionDispatch/btCollisionWorld.h
+	CollisionDispatch/btCompoundCollisionAlgorithm.h
+	CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+	CollisionDispatch/btDefaultCollisionConfiguration.h
+	CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+	CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+	CollisionDispatch/btBoxBoxDetector.h
+	CollisionDispatch/btGhostObject.h
+	CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+	CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+	CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+	CollisionDispatch/btConvexConvexAlgorithm.h
+	CollisionDispatch/btEmptyCollisionAlgorithm.h
+	CollisionDispatch/btManifoldResult.h
+	CollisionDispatch/btSimulationIslandManager.h
+	CollisionDispatch/btUnionFind.h
+	CollisionDispatch/SphereTriangleDetector.h
+)
+SET(CollisionShapes_HDRS
+	CollisionShapes/btBoxShape.h
+	CollisionShapes/btBvhTriangleMeshShape.h
+	CollisionShapes/btCapsuleShape.h
+	CollisionShapes/btCollisionMargin
+	CollisionShapes/btCollisionShape.h
+	CollisionShapes/btCompoundShape.h
+	CollisionShapes/btConcaveShape.h
+	CollisionShapes/btConeShape.h
+	CollisionShapes/btConvexHullShape.h
+	CollisionShapes/btConvexPointCloudShape.h
+	CollisionShapes/btConvexShape.h
+	CollisionShapes/btConvexInternalShape.h
+	CollisionShapes/btConvexTriangleMeshShape.h
+	CollisionShapes/btCylinderShape.h
+	CollisionShapes/btEmptyShape.h
+	CollisionShapes/btHeightfieldTerrainShape.h
+	CollisionShapes/btMinkowskiSumShape.h
+	CollisionShapes/btMaterial.h
+	CollisionShapes/btMultimaterialTriangleMeshShape.h
+	CollisionShapes/btMultiSphereShape.h
+	CollisionShapes/btOptimizedBvh.h
+	CollisionShapes/btPolyhedralConvexShape.h
+	CollisionShapes/btScaledBvhTriangleMeshShape.h
+	CollisionShapes/btTetrahedronShape.h
+	CollisionShapes/btSphereShape.h
+	CollisionShapes/btShapeHull.h
+	CollisionShapes/btStaticPlaneShape.h
+	CollisionShapes/btStridingMeshInterface.h
+	CollisionShapes/btTriangleCallback.h
+	CollisionShapes/btTriangleBuffer.h
+	CollisionShapes/btTriangleIndexVertexArray.h
+	CollisionShapes/btTriangleIndexVertexMaterialArray.h
+	CollisionShapes/btTriangleMesh.h
+	CollisionShapes/btTriangleMeshShape.h
+	CollisionShapes/btUniformScalingShape.h
+)
+SET(Gimpact_HDRS
+	Gimpact/btGImpactShape.h
+	Gimpact/gim_contact.h
+	Gimpact/btGImpactBvh.h
+	Gimpact/btGenericPoolAllocator.h
+	Gimpact/gim_memory.h
+	Gimpact/btGImpactCollisionAlgorithm.h
+	Gimpact/btTriangleShapeEx.h
+	Gimpact/gim_tri_collision.h
+	Gimpact/btGImpactQuantizedBvh.h
+	Gimpact/gim_box_set.h
+)
+SET(NarrowPhaseCollision_HDRS
+	NarrowPhaseCollision/btContinuousConvexCollision.h
+	NarrowPhaseCollision/btConvexCast.h
+	NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+	NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
+	NarrowPhaseCollision/btGjkConvexCast.h
+	NarrowPhaseCollision/btGjkEpa2.h
+	NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+	NarrowPhaseCollision/btGjkPairDetector.h
+	NarrowPhaseCollision/btManifoldPoint.h
+	NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+	NarrowPhaseCollision/btPersistentManifold.h
+	NarrowPhaseCollision/btPointCollector.h
+	NarrowPhaseCollision/btRaycastCallback.h
+	NarrowPhaseCollision/btSimplexSolverInterface.h
+	NarrowPhaseCollision/btSubSimplexConvexCast.h
+	NarrowPhaseCollision/btVoronoiSimplexSolver.h
+)
+
+SET(BulletCollision_HDRS
+	${Root_HDRS}
+	${BroadphaseCollision_HDRS}
+	${CollisionDispatch_HDRS}
+	${CollisionShapes_HDRS}
+	${Gimpact_HDRS}
+	${NarrowPhaseCollision_HDRS}
+)
+
+
+ADD_LIBRARY(BulletCollision ${BulletCollision_SRCS} ${BulletCollision_HDRS})
+SET_TARGET_PROPERTIES(BulletCollision PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletCollision PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+  TARGET_LINK_LIBRARIES(BulletCollision LinearMath)
+ENDIF (BUILD_SHARED_LIBS)
+
+#INSTALL of other files requires CMake 2.6
+IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+	INSTALL(TARGETS BulletCollision DESTINATION lib)
+        INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
+ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	SET_TARGET_PROPERTIES(BulletCollision PROPERTIES FRAMEWORK true)
+
+	SET_TARGET_PROPERTIES(BulletCollision PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
+	# Have to list out sub-directories manually:
+	SET_PROPERTY(SOURCE ${BroadphaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadphaseCollision)
+	SET_PROPERTY(SOURCE ${CollisionDispatch_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionDispatch)
+	SET_PROPERTY(SOURCE ${CollisionShapes_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionShapes)
+	SET_PROPERTY(SOURCE ${Gimpact_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Gimpact)
+	SET_PROPERTY(SOURCE ${NarrowPhaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/NarrowPhaseCollision)
+
+ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
index f6c1e32ac7c..9a749a03793 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -19,9 +19,10 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 
 
-SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle)
+SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold)
 :m_sphere(sphere),
-m_triangle(triangle)
+m_triangle(triangle),
+m_contactBreakingThreshold(contactBreakingThreshold)
 {
 
 }
@@ -40,7 +41,7 @@ void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
 	//move sphere into triangle space
 	btTransform	sphereInTr = transformB.inverseTimes(transformA);
 
-	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
+	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold))
 	{
 		if (swapResults)
 		{
@@ -93,7 +94,7 @@ bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* ve
 }
 
 ///combined discrete/continuous sphere-triangle
-bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact)
+bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
 {
 
 	const btVector3* vertices = &m_triangle->getVertexPtr(0);
@@ -115,10 +116,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 		normal *= btScalar(-1.);
 	}
 
-	///todo: move this gContactBreakingThreshold into a proper structure
-	extern btScalar gContactBreakingThreshold;
-
-	btScalar contactMargin = gContactBreakingThreshold;
+	btScalar contactMargin = contactBreakingThreshold;
 	bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
 	bool isInsideShellPlane = distanceFromPlane < r;
 	
@@ -140,8 +138,8 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 			btVector3 nearestOnEdge;
 			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
 				
-				btPoint3 pa;
-				btPoint3 pb;
+				btVector3 pa;
+				btVector3 pb;
 				
 				m_triangle->getEdge(i,pa,pb);
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
index 26dabaa480e..981bd54e76c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
@@ -17,7 +17,7 @@ subject to the following restrictions:
 #define SPHERE_TRIANGLE_DETECTOR_H
 
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-#include "LinearMath/btPoint3.h"
+
 
 
 class btSphereShape;
@@ -30,19 +30,19 @@ struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
 {
 	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
 
-	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
+	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold);
 
 	virtual ~SphereTriangleDetector() {};
 
 private:
 
-	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact);
+	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar	contactBreakingThreshold);
 	bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
 	bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
 
 	btSphereShape* m_sphere;
 	btTriangleShape* m_triangle;
-
+	btScalar	m_contactBreakingThreshold;
 	
 };
 #endif //SPHERE_TRIANGLE_DETECTOR_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
new file mode 100644
index 00000000000..7e5da6c5872
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
@@ -0,0 +1,47 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btActivatingCollisionAlgorithm.h"
+#include "btCollisionDispatcher.h"
+#include "btCollisionObject.h"
+
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci)
+:btCollisionAlgorithm(ci)
+//,
+//m_colObj0(0),
+//m_colObj1(0)
+{
+}
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1)
+:btCollisionAlgorithm(ci)
+//,
+//m_colObj0(0),
+//m_colObj1(0)
+{
+//	if (ci.m_dispatcher1->needsCollision(colObj0,colObj1))
+//	{
+//		m_colObj0 = colObj0;
+//		m_colObj1 = colObj1;
+//		
+//		m_colObj0->activate();
+//		m_colObj1->activate();
+//	}
+}
+
+btActivatingCollisionAlgorithm::~btActivatingCollisionAlgorithm()
+{
+//		m_colObj0->activate();
+//		m_colObj1->activate();
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
new file mode 100644
index 00000000000..25fe088942d
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
@@ -0,0 +1,36 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef __BT_ACTIVATING_COLLISION_ALGORITHM_H
+#define __BT_ACTIVATING_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
+///This class is not enabled yet (work-in-progress) to more aggressively activate objects.
+class btActivatingCollisionAlgorithm : public btCollisionAlgorithm
+{
+//	btCollisionObject* m_colObj0;
+//	btCollisionObject* m_colObj1;
+
+public:
+
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
+
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1);
+
+	virtual ~btActivatingCollisionAlgorithm();
+
+};
+#endif //__BT_ACTIVATING_COLLISION_ALGORITHM_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
index cd0c028012c..d3342c547b5 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
@@ -22,7 +22,7 @@ subject to the following restrictions:
 #define USE_PERSISTENT_CONTACTS 1
 
 btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
-: btCollisionAlgorithm(ci),
+: btActivatingCollisionAlgorithm(ci,obj0,obj1),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
index 35afaf175a1..e7d2cc25c22 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef BOX_BOX__COLLISION_ALGORITHM_H
 #define BOX_BOX__COLLISION_ALGORITHM_H
 
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "btActivatingCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
@@ -24,14 +24,14 @@ subject to the following restrictions:
 class btPersistentManifold;
 
 ///box-box collision detection
-class btBoxBoxCollisionAlgorithm : public btCollisionAlgorithm
+class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
 	
 public:
 	btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btCollisionAlgorithm(ci) {}
+		: btActivatingCollisionAlgorithm(ci) {}
 
 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
index 45ebff5dc45..31353f1b2c4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
@@ -207,7 +207,13 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
       cy += q*(p[i*2+1]+p[i*2+3]);
     }
     q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
-    a = 1.f/(btScalar(3.0)*(a+q));
+	if (btFabs(a+q) > SIMD_EPSILON)
+	{
+		a = 1.f/(btScalar(3.0)*(a+q));
+	} else
+	{
+		a=1e30f;
+	}
     cx = a*(cx + q*(p[n*2-2]+p[0]));
     cy = a*(cy + q*(p[n*2-1]+p[1]));
   }
@@ -226,9 +232,9 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
     a = btScalar(j)*(2*M__PI/m) + A[i0];
     if (a > M__PI) a -= 2*M__PI;
     btScalar maxdiff=1e9,diff;
-#if defined(DEBUG) || defined (_DEBUG)
-    *iret = i0;			// iret is not allowed to keep this value
-#endif
+
+    *iret = i0;			// iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0
+
     for (i=0; i<n; i++) {
       if (avail[i]) {
 	diff = btFabs (A[i]-a);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
index fad770ac26d..1db51a36d03 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
@@ -22,7 +22,7 @@ class btPoolAllocator;
 
 ///btCollisionConfiguration allows to configure Bullet collision detection
 ///stack allocator size, default collision algorithms and persistent manifold pool size
-///todo: describe the meaning
+///@todo: describe the meaning
 class	btCollisionConfiguration
 {
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
index c6728918d16..a6da5f61a3c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
@@ -17,7 +17,6 @@ subject to the following restrictions:
 #define COLLISION_CREATE_FUNC
 
 #include "LinearMath/btAlignedObjectArray.h"
-typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
 class btCollisionAlgorithm;
 class btCollisionObject;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index a031a9f9784..e6ff2130aad 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -52,12 +52,12 @@ btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisio
 		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
 		{
 			m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
-			assert(m_doubleDispatch[i][j]);
+			btAssert(m_doubleDispatch[i][j]);
 		}
 	}
 	
 	
-};
+}
 
 
 void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
@@ -78,7 +78,13 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 
 	btCollisionObject* body0 = (btCollisionObject*)b0;
 	btCollisionObject* body1 = (btCollisionObject*)b1;
-	
+
+	//test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
+	//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
+	btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
+
+	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
+		
 	void* mem = 0;
 	
 	if (m_persistentManifoldPoolAllocator->getFreeCount())
@@ -89,7 +95,7 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 		mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
 
 	}
-	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0);
+	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
 	manifold->m_index1a = m_manifoldsPtr.size();
 	m_manifoldsPtr.push_back(manifold);
 
@@ -144,7 +150,6 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo
 
 
 
-
 bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
 {
 	//here you can do filtering
@@ -158,8 +163,8 @@ bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionOb
 
 bool	btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
 {
-	assert(body0);
-	assert(body1);
+	btAssert(body0);
+	btAssert(body1);
 
 	bool needsCollision = true;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index 846c9b9b989..285b8f174e4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -19,6 +19,7 @@ subject to the following restrictions:
 btCollisionObject::btCollisionObject()
 	:	m_anisotropicFriction(1.f,1.f,1.f),
 	m_hasAnisotropicFriction(false),
+	m_contactProcessingThreshold(0.f),
 		m_broadphaseHandle(0),
 		m_collisionShape(0),
 		m_rootCollisionShape(0),
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
index 8442868cf89..0d5b7886443 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -29,8 +29,11 @@ struct	btBroadphaseProxy;
 class	btCollisionShape;
 #include "LinearMath/btMotionState.h"
 #include "LinearMath/btAlignedAllocator.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
 
+typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
+
 
 /// btCollisionObject can be used to manage collision detection objects. 
 /// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
@@ -49,8 +52,10 @@ protected:
 	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
 	btVector3	m_interpolationLinearVelocity;
 	btVector3	m_interpolationAngularVelocity;
+	
 	btVector3		m_anisotropicFriction;
-	bool	m_hasAnisotropicFriction;
+	bool				m_hasAnisotropicFriction;
+	btScalar		m_contactProcessingThreshold;	
 
 	btBroadphaseProxy*		m_broadphaseHandle;
 	btCollisionShape*		m_collisionShape;
@@ -74,7 +79,7 @@ protected:
 	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
 	void*			m_userObjectPointer;
 
-	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody etc.
+	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
 	///do not assign your own m_internalType unless you write a new dynamics object class.
 	int				m_internalType;
 
@@ -106,14 +111,19 @@ public:
 		CF_STATIC_OBJECT= 1,
 		CF_KINEMATIC_OBJECT= 2,
 		CF_NO_CONTACT_RESPONSE = 4,
-		CF_CUSTOM_MATERIAL_CALLBACK = 8//this allows per-triangle material (friction/restitution)
+		CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
+		CF_CHARACTER_OBJECT = 16
 	};
 
 	enum	CollisionObjectTypes
 	{
 		CO_COLLISION_OBJECT =1,
 		CO_RIGID_BODY,
-		CO_SOFT_BODY
+		///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
+		///It is useful for collision sensors, explosion objects, character controller etc.
+		CO_GHOST_OBJECT,
+		CO_SOFT_BODY,
+		CO_HF_FLUID
 	};
 
 	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
@@ -136,6 +146,16 @@ public:
 		return m_hasAnisotropicFriction;
 	}
 
+	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
+	///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
+	void	setContactProcessingThreshold( btScalar contactProcessingThreshold)
+	{
+		m_contactProcessingThreshold = contactProcessingThreshold;
+	}
+	btScalar	getContactProcessingThreshold() const
+	{
+		return m_contactProcessingThreshold;
+	}
 
 	SIMD_FORCE_INLINE bool		isStaticObject() const {
 		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
@@ -193,7 +213,7 @@ public:
 		m_collisionShape = collisionShape;
 	}
 
-	int	getActivationState() const { return m_activationState1;}
+	SIMD_FORCE_INLINE	int	getActivationState() const { return m_activationState1;}
 	
 	void setActivationState(int newState);
 
@@ -210,7 +230,7 @@ public:
 
 	void	activate(bool forceActivation = false);
 
-	inline bool isActive() const
+	SIMD_FORCE_INLINE bool isActive() const
 	{
 		return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
 	}
@@ -254,12 +274,12 @@ public:
 	}
 
 
-	btBroadphaseProxy*	getBroadphaseHandle()
+	SIMD_FORCE_INLINE btBroadphaseProxy*	getBroadphaseHandle()
 	{
 		return m_broadphaseHandle;
 	}
 
-	const btBroadphaseProxy*	getBroadphaseHandle() const
+	SIMD_FORCE_INLINE const btBroadphaseProxy*	getBroadphaseHandle() const
 	{
 		return m_broadphaseHandle;
 	}
@@ -305,7 +325,7 @@ public:
 		return m_interpolationAngularVelocity;
 	}
 
-	const int getIslandTag() const
+	SIMD_FORCE_INLINE int getIslandTag() const
 	{
 		return	m_islandTag1;
 	}
@@ -315,7 +335,7 @@ public:
 		m_islandTag1 = tag;
 	}
 
-	const int getCompanionId() const
+	SIMD_FORCE_INLINE int getCompanionId() const
 	{
 		return	m_companionId;
 	}
@@ -325,7 +345,7 @@ public:
 		m_companionId = id;
 	}
 
-	const btScalar			getHitFraction() const
+	SIMD_FORCE_INLINE btScalar			getHitFraction() const
 	{
 		return m_hitFraction; 
 	}
@@ -336,7 +356,7 @@ public:
 	}
 
 	
-	const int	getCollisionFlags() const
+	SIMD_FORCE_INLINE int	getCollisionFlags() const
 	{
 		return m_collisionFlags;
 	}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index d8674a320a7..10e880e2523 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -32,6 +32,9 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btStackAlloc.h"
 
+//#define USE_BRUTEFORCE_RAYBROADPHASE 1
+//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation'  or 'updateAabbs' before using a rayTest
+//#define RECALCULATE_AABB_RAYCAST 1
 
 //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -66,6 +69,7 @@ btCollisionWorld::~btCollisionWorld()
 			//
 			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
 			getBroadphase()->destroyProxy(bp,m_dispatcher1);
+			collisionObject->setBroadphaseHandle(0);
 		}
 	}
 
@@ -113,6 +117,41 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 
 }
 
+
+
+void	btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
+{
+	btVector3 minAabb,maxAabb;
+	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+	//need to increase the aabb for contact thresholds
+	btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
+	minAabb -= contactThreshold;
+	maxAabb += contactThreshold;
+
+	btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
+
+	//moving objects should be moderately sized, probably something wrong if not
+	if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
+	{
+		bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
+	} else
+	{
+		//something went wrong, investigate
+		//this assert is unwanted in 3D modelers (danger of loosing work)
+		colObj->setActivationState(DISABLE_SIMULATION);
+
+		static bool reportMe = true;
+		if (reportMe && m_debugDrawer)
+		{
+			reportMe = false;
+			m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
+			m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
+			m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
+			m_debugDrawer->reportErrorWarning("Thanks.\n");
+		}
+	}
+}
+
 void	btCollisionWorld::updateAabbs()
 {
 	BT_PROFILE("updateAabbs");
@@ -125,38 +164,9 @@ void	btCollisionWorld::updateAabbs()
 		//only update aabb of active objects
 		if (colObj->isActive())
 		{
-			btPoint3 minAabb,maxAabb;
-			colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
-			//need to increase the aabb for contact thresholds
-			btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
-			minAabb -= contactThreshold;
-			maxAabb += contactThreshold;
-
-			btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
-
-			//moving objects should be moderately sized, probably something wrong if not
-			if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
-			{
-				bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
-			} else
-			{
-				//something went wrong, investigate
-				//this assert is unwanted in 3D modelers (danger of loosing work)
-				colObj->setActivationState(DISABLE_SIMULATION);
-
-				static bool reportMe = true;
-				if (reportMe && m_debugDrawer)
-				{
-					reportMe = false;
-					m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
-					m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
-					m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
-					m_debugDrawer->reportErrorWarning("Thanks.\n");
-				}
-			}
+			updateSingleAabb(colObj);
 		}
 	}
-
 }
 
 
@@ -226,6 +236,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 
 	if (collisionShape->isConvex())
 	{
+//		BT_PROFILE("rayTestConvex");
 		btConvexCast::CastResult castResult;
 		castResult.m_fraction = resultCallback.m_closestHitFraction;
 
@@ -269,6 +280,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 	} else {
 		if (collisionShape->isConcave())
 		{
+//			BT_PROFILE("rayTestConcave");
 			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
 			{
 				///optimized version for btBvhTriangleMeshShape
@@ -286,7 +298,8 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 
 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
 						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh):
-						btTriangleRaycastCallback(from,to),
+                  //@BP Mod
+						btTriangleRaycastCallback(from,to, resultCallback->m_flags),
 							m_resultCallback(resultCallback),
 							m_collisionObject(collisionObject),
 							m_triangleMesh(triangleMesh)
@@ -317,7 +330,8 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
 			} else
 			{
-				btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape;
+				//generic (slower) case
+				btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
 
 				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
 
@@ -330,11 +344,12 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				{
 					btCollisionWorld::RayResultCallback* m_resultCallback;
 					btCollisionObject*	m_collisionObject;
-					btTriangleMeshShape*	m_triangleMesh;
+					btConcaveShape*	m_triangleMesh;
 
 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh):
-						btTriangleRaycastCallback(from,to),
+						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh):
+                  //@BP Mod
+                  btTriangleRaycastCallback(from,to, resultCallback->m_flags),
 							m_resultCallback(resultCallback),
 							m_collisionObject(collisionObject),
 							m_triangleMesh(triangleMesh)
@@ -363,7 +378,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				};
 
 
-				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
+				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
 
 				btVector3 rayAabbMinLocal = rayFromLocal;
@@ -371,10 +386,11 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				btVector3 rayAabbMaxLocal = rayFromLocal;
 				rayAabbMaxLocal.setMax(rayToLocal);
 
-				triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
+				concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
 			}
 		} else {
-			//todo: use AABB tree or other BVH acceleration structure!
+//			BT_PROFILE("rayTestCompound");
+			///@todo: use AABB tree or other BVH acceleration structure, see btDbvt
 			if (collisionShape->isCompound())
 			{
 				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
@@ -408,9 +424,10 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 {
 	if (collisionShape->isConvex())
 	{
+		//BT_PROFILE("convexSweepConvex");
 		btConvexCast::CastResult castResult;
 		castResult.m_allowedPenetration = allowedPenetration;
-		castResult.m_fraction = btScalar(1.);//??
+		castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//??
 
 		btConvexShape* convexShape = (btConvexShape*) collisionShape;
 		btVoronoiSimplexSolver	simplexSolver;
@@ -452,6 +469,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 		{
 			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
 			{
+				//BT_PROFILE("convexSweepbtBvhTriangleMesh");
 				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
 				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
 				btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
@@ -508,7 +526,8 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
 			} else
 			{
-				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
+				//BT_PROFILE("convexSweepConcave");
+				btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
 				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
 				btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
 				btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
@@ -520,10 +539,10 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				{
 					btCollisionWorld::ConvexResultCallback* m_resultCallback;
 					btCollisionObject*	m_collisionObject;
-					btTriangleMeshShape*	m_triangleMesh;
+					btConcaveShape*	m_triangleMesh;
 
 					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
-						btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
+						btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& triangleToWorld):
 						btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
 							m_resultCallback(resultCallback),
 							m_collisionObject(collisionObject),
@@ -556,7 +575,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 
 				};
 
-				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
+				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
 				tccb.m_hitFraction = resultCallback.m_closestHitFraction;
 				btVector3 boxMinLocal, boxMaxLocal;
 				castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
@@ -567,12 +586,13 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				rayAabbMaxLocal.setMax(convexToLocal);
 				rayAabbMinLocal += boxMinLocal;
 				rayAabbMaxLocal += boxMaxLocal;
-				triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
+				concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
 			}
 		} else {
-			//todo: use AABB tree or other BVH acceleration structure!
+			///@todo : use AABB tree or other BVH acceleration structure!
 			if (collisionShape->isCompound())
 			{
+				BT_PROFILE("convexSweepCompound");
 				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
 				int i=0;
 				for (i=0;i<compoundShape->getNumChildShapes();i++)
@@ -596,51 +616,173 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 	}
 }
 
-void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
+
+struct btSingleRayCallback : public btBroadphaseRayCallback
 {
 
+	btVector3	m_rayFromWorld;
+	btVector3	m_rayToWorld;
+	btTransform	m_rayFromTrans;
+	btTransform	m_rayToTrans;
+	btVector3	m_hitNormal;
 
-	btTransform	rayFromTrans,rayToTrans;
-	rayFromTrans.setIdentity();
-	rayFromTrans.setOrigin(rayFromWorld);
-	rayToTrans.setIdentity();
+	const btCollisionWorld*	m_world;
+	btCollisionWorld::RayResultCallback&	m_resultCallback;
 
-	rayToTrans.setOrigin(rayToWorld);
+	btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
+	:m_rayFromWorld(rayFromWorld),
+	m_rayToWorld(rayToWorld),
+	m_world(world),
+	m_resultCallback(resultCallback)
+	{
+		m_rayFromTrans.setIdentity();
+		m_rayFromTrans.setOrigin(m_rayFromWorld);
+		m_rayToTrans.setIdentity();
+		m_rayToTrans.setOrigin(m_rayToWorld);
 
-	/// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD)
+		btVector3 rayDir = (rayToWorld-rayFromWorld);
 
-	int i;
-	for (i=0;i<m_collisionObjects.size();i++)
+		rayDir.normalize ();
+		///what about division by zero? --> just set rayDirection[i] to INF/1e30
+		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
+		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
+		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
+		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
+		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
+		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
+
+		m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);
+
+	}
+
+	
+
+	virtual bool	process(const btBroadphaseProxy* proxy)
 	{
 		///terminate further ray tests, once the closestHitFraction reached zero
-		if (resultCallback.m_closestHitFraction == btScalar(0.f))
-			break;
+		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
+			return false;
+
+		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
 
-		btCollisionObject*	collisionObject= m_collisionObjects[i];
 		//only perform raycast if filterMask matches
-		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
+		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
+		{
 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
+			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
+#if 0
+#ifdef RECALCULATE_AABB
 			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
 			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-
-			btScalar hitLambda = resultCallback.m_closestHitFraction;
-			btVector3 hitNormal;
-			if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
+#else
+			//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
+			const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
+			const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
+#endif
+#endif
+			//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
+			//culling already done by broadphase
+			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
 			{
-				rayTestSingle(rayFromTrans,rayToTrans,
+				m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
 					collisionObject,
 						collisionObject->getCollisionShape(),
 						collisionObject->getWorldTransform(),
-						resultCallback);
+						m_resultCallback);
 			}
 		}
-
+		return true;
 	}
+};
+
+void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
+{
+	BT_PROFILE("rayTest");
+	/// use the broadphase to accelerate the search for objects, based on their aabb
+	/// and for each object with ray-aabb overlap, perform an exact ray test
+	btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
+
+#ifndef USE_BRUTEFORCE_RAYBROADPHASE
+	m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
+#else
+	for (int i=0;i<this->getNumCollisionObjects();i++)
+	{
+		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
+	}	
+#endif //USE_BRUTEFORCE_RAYBROADPHASE
 
 }
 
-void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback) const
+
+struct btSingleSweepCallback : public btBroadphaseRayCallback
 {
+
+	btTransform	m_convexFromTrans;
+	btTransform	m_convexToTrans;
+	btVector3	m_hitNormal;
+	const btCollisionWorld*	m_world;
+	btCollisionWorld::ConvexResultCallback&	m_resultCallback;
+	btScalar	m_allowedCcdPenetration;
+	const btConvexShape* m_castShape;
+
+
+	btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans,const btTransform& convexToTrans,const btCollisionWorld* world,btCollisionWorld::ConvexResultCallback& resultCallback,btScalar allowedPenetration)
+		:m_convexFromTrans(convexFromTrans),
+		m_convexToTrans(convexToTrans),
+		m_world(world),
+		m_resultCallback(resultCallback),
+		m_allowedCcdPenetration(allowedPenetration),
+		m_castShape(castShape)
+	{
+		btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin());
+		btVector3 rayDir = unnormalizedRayDir.normalized();
+		///what about division by zero? --> just set rayDirection[i] to INF/1e30
+		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
+		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
+		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
+		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
+		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
+		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
+
+		m_lambda_max = rayDir.dot(unnormalizedRayDir);
+
+	}
+
+	virtual bool	process(const btBroadphaseProxy* proxy)
+	{
+		///terminate further convex sweep tests, once the closestHitFraction reached zero
+		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
+			return false;
+
+		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
+
+		//only perform raycast if filterMask matches
+		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
+			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
+			m_world->objectQuerySingle(m_castShape, m_convexFromTrans,m_convexToTrans,
+					collisionObject,
+						collisionObject->getCollisionShape(),
+						collisionObject->getWorldTransform(),
+						m_resultCallback,
+						m_allowedCcdPenetration);
+		}
+		
+		return true;
+	}
+};
+
+
+
+void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
+{
+
+	BT_PROFILE("convexSweepTest");
+	/// use the broadphase to accelerate the search for objects, based on their aabb
+	/// and for each object with ray-aabb overlap, perform an exact ray test
+	/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical
+
+	
+
 	btTransform	convexFromTrans,convexToTrans;
 	convexFromTrans = convexFromWorld;
 	convexToTrans = convexToWorld;
@@ -649,12 +791,21 @@ void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
 	{
 		btVector3 linVel, angVel;
 		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
+		btVector3 zeroLinVel;
+		zeroLinVel.setValue(0,0,0);
 		btTransform R;
 		R.setIdentity ();
 		R.setRotation (convexFromTrans.getRotation());
-		castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
+		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
 	}
 
+#ifndef USE_BRUTEFORCE_RAYBROADPHASE
+
+	btSingleSweepCallback	convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration);
+
+	m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax);
+
+#else
 	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
 	// do a ray-shape query using convexCaster (CCD)
 	int i;
@@ -676,9 +827,9 @@ void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
 						collisionObject->getCollisionShape(),
 						collisionObject->getWorldTransform(),
 						resultCallback,
-						getDispatchInfo().m_allowedCcdPenetration);
+						allowedCcdPenetration);
 			}
 		}
 	}
-
+#endif //USE_BRUTEFORCE_RAYBROADPHASE
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index 7557691a9a9..87f7137a55b 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  http://bulletphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -22,39 +22,39 @@ subject to the following restrictions:
  *
  * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
  *
- * There is the Physics Forum for Feedback and bteral Collision Detection and Physics discussions.
- * Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
+ * There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
+ * Please visit http://www.bulletphysics.com
  *
  * @section install_sec Installation
  *
  * @subsection step1 Step 1: Download
- * You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
+ * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
  * @subsection step2 Step 2: Building
  * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
  * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
  * 
- * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using cmake, http://www.cmake.org, or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
+ * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
+ * So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
  * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
- * So if you are not using MSVC, you can run configure and jam .
- * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
+ * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
  * 
  * @subsection step3 Step 3: Testing demos
- * Try to run and experiment with CcdPhysicsDemo executable as a starting point.
+ * Try to run and experiment with BasicDemo executable as a starting point.
  * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
  * The Dependencies can be seen in this documentation under Directories
  * 
- * @subsection step4 Step 4: Integrating in your application, Full Rigid Body Simulation
- * Check out CcdPhysicsDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
- * PLEASE NOTE THE CcdPhysicsEnvironment and CcdPhysicsController is obsolete and will be removed. It has been replaced by classes derived frmo btDynamicsWorld and btRididBody
+ * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation
+ * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
+ * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld.
  * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
  * Bullet Collision Detection can also be used without the Dynamics/Extras.
- * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. Also in Extras/test_BulletOde.cpp there is a sample Collision Detection integration with Open Dynamics Engine, ODE, http://www.ode.org
+ * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo.
  * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
  * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
  *
  * @section copyright Copyright
- * Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
- * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
+ * Copyright (C) 2005-2008 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
+ * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, John McCutchan, Nathanael Presson, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
  * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
  * 
  */
@@ -71,7 +71,7 @@ class btBroadphaseInterface;
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "btCollisionObject.h"
-#include "btCollisionDispatcher.h" //for definition of btCollisionObjectArray
+#include "btCollisionDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
@@ -107,6 +107,11 @@ public:
 		m_broadphasePairCache = pairCache;
 	}
 
+	const btBroadphaseInterface*	getBroadphase() const
+	{
+		return m_broadphasePairCache;
+	}
+
 	btBroadphaseInterface*	getBroadphase()
 	{
 		return m_broadphasePairCache;
@@ -128,8 +133,10 @@ public:
 		return m_dispatcher1;
 	}
 
-	virtual void	updateAabbs();
+	void	updateSingleAabb(btCollisionObject* colObj);
 
+	virtual void	updateAabbs();
+	
 	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
 	{
 			m_debugDrawer = debugDrawer;
@@ -179,6 +186,8 @@ public:
 		btCollisionObject*		m_collisionObject;
 		short int	m_collisionFilterGroup;
 		short int	m_collisionFilterMask;
+      //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
+      unsigned int m_flags;
 
 		virtual ~RayResultCallback()
 		{
@@ -192,7 +201,9 @@ public:
 			:m_closestHitFraction(btScalar(1.)),
 			m_collisionObject(0),
 			m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-			m_collisionFilterMask(btBroadphaseProxy::AllFilter)
+			m_collisionFilterMask(btBroadphaseProxy::AllFilter),
+         //@BP Mod
+         m_flags(0)
 		{
 		}
 
@@ -347,7 +358,7 @@ public:
 
 	// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
 	// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
-	void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback) const;
+	void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback,  btScalar allowedCcdPenetration = btScalar(0.)) const;
 
 
 	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index 535b61992b0..1dea91a0b0b 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -19,19 +19,32 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btAabbUtil2.h"
+#include "btManifoldResult.h"
 
 btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-:btCollisionAlgorithm(ci),
+:btActivatingCollisionAlgorithm(ci,body0,body1),
 m_isSwapped(isSwapped),
 m_sharedManifold(ci.m_manifold)
 {
 	m_ownsManifold = false;
 
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
+	btAssert (colObj->getCollisionShape()->isCompound());
+	
+	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+	m_compoundShapeRevision = compoundShape->getUpdateRevision();
+	
+	preallocateChildAlgorithms(body0,body1);
+}
+
+void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1)
+{
+	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-	assert (colObj->getCollisionShape()->isCompound());
+	btAssert (colObj->getCollisionShape()->isCompound());
 	
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+
 	int numChildren = compoundShape->getNumChildShapes();
 	int i;
 	
@@ -46,14 +59,13 @@ m_sharedManifold(ci.m_manifold)
 			btCollisionShape* tmpShape = colObj->getCollisionShape();
 			btCollisionShape* childShape = compoundShape->getChildShape(i);
 			colObj->internalSetTemporaryCollisionShape( childShape );
-			m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj,m_sharedManifold);
+			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold);
 			colObj->internalSetTemporaryCollisionShape( tmpShape );
 		}
 	}
 }
 
-
-btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
+void	btCompoundCollisionAlgorithm::removeChildAlgorithms()
 {
 	int numChildren = m_childCollisionAlgorithms.size();
 	int i;
@@ -67,6 +79,11 @@ btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
 	}
 }
 
+btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
+{
+	removeChildAlgorithms();
+}
+
 
 
 
@@ -167,13 +184,50 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-	assert (colObj->getCollisionShape()->isCompound());
+	
+
+	btAssert (colObj->getCollisionShape()->isCompound());
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 
+	///btCompoundShape might have changed:
+	////make sure the internal child collision algorithm caches are still valid
+	if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
+	{
+		///clear and update all
+		removeChildAlgorithms();
+		
+		preallocateChildAlgorithms(body0,body1);
+	}
+
+
 	btDbvt* tree = compoundShape->getDynamicAabbTree();
 	//use a dynamic aabb tree to cull potential child-overlaps
 	btCompoundLeafCallback  callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
 
+	///we need to refresh all contact manifolds
+	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
+	///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
+	{
+		int i;
+		btManifoldArray manifoldArray;
+		for (i=0;i<m_childCollisionAlgorithms.size();i++)
+		{
+			if (m_childCollisionAlgorithms[i])
+			{
+				m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
+				for (int m=0;m<manifoldArray.size();m++)
+				{
+					if (manifoldArray[m]->getNumContacts())
+					{
+						resultOut->setPersistentManifold(manifoldArray[m]);
+						resultOut->refreshContactPoints();
+						resultOut->setPersistentManifold(0);//??necessary?
+					}
+				}
+				manifoldArray.clear();
+			}
+		}
+	}
 
 	if (tree)
 	{
@@ -242,7 +296,7 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-	assert (colObj->getCollisionShape()->isCompound());
+	btAssert (colObj->getCollisionShape()->isCompound());
 	
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 
@@ -285,3 +339,4 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 }
 
 
+
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
index 624a3cf10f5..255e0af668c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef COMPOUND_COLLISION_ALGORITHM_H
 #define COMPOUND_COLLISION_ALGORITHM_H
 
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "btActivatingCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 
@@ -26,16 +26,23 @@ class btDispatcher;
 #include "btCollisionCreateFunc.h"
 #include "LinearMath/btAlignedObjectArray.h"
 class btDispatcher;
+class btCollisionObject;
 
 /// btCompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
-class btCompoundCollisionAlgorithm  : public btCollisionAlgorithm
+class btCompoundCollisionAlgorithm  : public btActivatingCollisionAlgorithm
 {
 	btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
 	bool m_isSwapped;
 
 	class btPersistentManifold*	m_sharedManifold;
 	bool					m_ownsManifold;
+
+	int	m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
+	
+	void	removeChildAlgorithms();
 	
+	void	preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1);
+
 public:
 
 	btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index 6d28904cb03..cbc5530732b 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -27,7 +27,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 
 btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-: btCollisionAlgorithm(ci),
+: btActivatingCollisionAlgorithm(ci,body0,body1),
 m_isSwapped(isSwapped),
 m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
 {
@@ -72,7 +72,7 @@ btConvexTriangleCallback::~btConvexTriangleCallback()
 void	btConvexTriangleCallback::clearCache()
 {
 	m_dispatcher->clearManifold(m_manifoldPtr);
-};
+}
 
 
 
@@ -93,7 +93,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 
 	
 	///debug drawing of the overlapping triangles
-	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
+	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
 	{
 		btVector3 color(255,255,0);
 		btTransform& tr = ob->getWorldTransform();
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
index 34b9a107be9..984a4c39e8e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
 #define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
 
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "btActivatingCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
@@ -34,8 +34,8 @@ class btConvexTriangleCallback : public btTriangleCallback
 	btVector3	m_aabbMin;
 	btVector3	m_aabbMax ;
 
-	btManifoldResult* m_resultOut;
 
+	btManifoldResult* m_resultOut;
 	btDispatcher*	m_dispatcher;
 	const btDispatcherInfo* m_dispatchInfoPtr;
 	btScalar m_collisionMarginTriangle;
@@ -70,7 +70,7 @@ int	m_triangleCount;
 
 
 /// btConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
-class btConvexConcaveCollisionAlgorithm  : public btCollisionAlgorithm
+class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
 {
 
 	bool	m_isSwapped;
@@ -78,6 +78,7 @@ class btConvexConcaveCollisionAlgorithm  : public btCollisionAlgorithm
 	btConvexTriangleCallback m_btConvexTriangleCallback;
 
 
+
 public:
 
 	btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index cb830f889be..274c5f5bdc6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -38,7 +38,7 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
 
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 
 
@@ -51,6 +51,8 @@ subject to the following restrictions:
 
 btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 {
+	m_numPerturbationIterations = 0;
+	m_minimumPointsPerturbationThreshold = 3;
 	m_simplexSolver = simplexSolver;
 	m_pdSolver = pdSolver;
 }
@@ -59,17 +61,22 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
 { 
 }
 
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
-: btCollisionAlgorithm(ci),
-m_gjkPairDetector(0,0,simplexSolver,pdSolver),
+btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+: btActivatingCollisionAlgorithm(ci,body0,body1),
+m_simplexSolver(simplexSolver),
+m_pdSolver(pdSolver),
 m_ownManifold (false),
 m_manifoldPtr(mf),
-m_lowLevelOfDetail(false)
+m_lowLevelOfDetail(false),
+#ifdef USE_SEPDISTANCE_UTIL2
+,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
+			  (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
+#endif
+m_numPerturbationIterations(numPerturbationIterations),
+m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
 	(void)body0;
 	(void)body1;
-
-
 }
 
 
@@ -90,8 +97,63 @@ void	btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
 }
 
 
+struct btPerturbedContactResult : public btManifoldResult
+{
+	btManifoldResult* m_originalManifoldResult;
+	btTransform m_transformA;
+	btTransform m_transformB;
+	btTransform	m_unPerturbedTransform;
+	bool	m_perturbA;
+	btIDebugDraw*	m_debugDrawer;
+
+
+	btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer)
+		:m_originalManifoldResult(originalResult),
+		m_transformA(transformA),
+		m_transformB(transformB),
+		m_perturbA(perturbA),
+		m_unPerturbedTransform(unPerturbedTransform),
+		m_debugDrawer(debugDrawer)
+	{
+	}
+	virtual ~ btPerturbedContactResult()
+	{
+	}
+
+	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth)
+	{
+		btVector3 endPt,startPt;
+		btScalar newDepth;
+		btVector3 newNormal;
+
+		if (m_perturbA)
+		{
+			btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
+			endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
+			newDepth = (endPt -  pointInWorld).dot(normalOnBInWorld);
+			startPt = endPt+normalOnBInWorld*newDepth;
+		} else
+		{
+			endPt = pointInWorld + normalOnBInWorld*orgDepth;
+			startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld);
+			newDepth = (endPt -  startPt).dot(normalOnBInWorld);
+			
+		}
+
+//#define DEBUG_CONTACTS 1
+#ifdef DEBUG_CONTACTS
+		m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0));
+		m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0));
+		m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1));
+#endif //DEBUG_CONTACTS
+
+		
+		m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth);
+	}
 
+};
 
+extern btScalar gContactBreakingThreshold;
 
 //
 // Convex-Convex collision algorithm
@@ -107,39 +169,125 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	}
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-#ifdef USE_BT_GJKEPA
-	btConvexShape*				shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
-	btConvexShape*				shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
-	const btScalar				radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/);
-	btGjkEpaSolver::sResults	results;
-	if(btGjkEpaSolver::Collide(	shape0,body0->getWorldTransform(),
-								shape1,body1->getWorldTransform(),
-								radialmargin,results))
-		{
-		dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
-		resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
-		}
-#else
+	//comment-out next line to test multi-contact generation
+	//resultOut->getPersistentManifold()->clearManifold();
+	
 
 	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
 	btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
+
+#ifdef USE_SEPDISTANCE_UTIL2
+	m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
+	if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
+#endif //USE_SEPDISTANCE_UTIL2
+
+	{
+
 	
 	btGjkPairDetector::ClosestPointInput input;
 
+	btGjkPairDetector	gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
 	//TODO: if (dispatchInfo.m_useContinuous)
-	m_gjkPairDetector.setMinkowskiA(min0);
-	m_gjkPairDetector.setMinkowskiB(min1);
-	input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
-	input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
-	input.m_stackAlloc = dispatchInfo.m_stackAllocator;
+	gjkPairDetector.setMinkowskiA(min0);
+	gjkPairDetector.setMinkowskiB(min1);
 
-//	input.m_maximumDistanceSquared = btScalar(1e30);
-	
+#ifdef USE_SEPDISTANCE_UTIL2
+	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+	{
+		input.m_maximumDistanceSquared = 1e30f;
+	} else
+#endif //USE_SEPDISTANCE_UTIL2
+	{
+		input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+		input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
+	}
+
+	input.m_stackAlloc = dispatchInfo.m_stackAllocator;
 	input.m_transformA = body0->getWorldTransform();
 	input.m_transformB = body1->getWorldTransform();
+
+	gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+	btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
+
+	//now perturbe directions to get multiple contact points
+	btVector3 v0,v1;
+	btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
+	btPlaneSpace1(sepNormalWorldSpace,v0,v1);
+	//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
 	
-	m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+	//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
+	if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
+	{
+		
+		int i;
+
+		bool perturbeA = true;
+		const btScalar angleLimit = 0.125f * SIMD_PI;
+		btScalar perturbeAngle;
+		btScalar radiusA = min0->getAngularMotionDisc();
+		btScalar radiusB = min1->getAngularMotionDisc();
+		if (radiusA < radiusB)
+		{
+			perturbeAngle = gContactBreakingThreshold /radiusA;
+			perturbeA = true;
+		} else
+		{
+			perturbeAngle = gContactBreakingThreshold / radiusB;
+			perturbeA = false;
+		}
+		if ( perturbeAngle > angleLimit ) 
+				perturbeAngle = angleLimit;
+
+		btTransform unPerturbedTransform;
+		if (perturbeA)
+		{
+			unPerturbedTransform = input.m_transformA;
+		} else
+		{
+			unPerturbedTransform = input.m_transformB;
+		}
+		
+		for ( i=0;i<m_numPerturbationIterations;i++)
+		{
+			btQuaternion perturbeRot(v0,perturbeAngle);
+			btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
+			btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
+			
+			
+			if (perturbeA)
+			{
+				input.m_transformA.setBasis(  btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
+				input.m_transformB = body1->getWorldTransform();
+#ifdef DEBUG_CONTACTS
+				dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
+#endif //DEBUG_CONTACTS
+			} else
+			{
+				input.m_transformA = body0->getWorldTransform();
+				input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
+#ifdef DEBUG_CONTACTS
+				dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
 #endif
+			}
+			
+			btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
+			gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
+			
+			
+		}
+	}
+
+	
+
+#ifdef USE_SEPDISTANCE_UTIL2
+	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+	{
+		m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
+	}
+#endif //USE_SEPDISTANCE_UTIL2
+
+
+	}
 
 	if (m_ownManifold)
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index a0030e6793d..62dd33eb98d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -16,30 +16,50 @@ subject to the following restrictions:
 #ifndef CONVEX_CONVEX_ALGORITHM_H
 #define CONVEX_CONVEX_ALGORITHM_H
 
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "btActivatingCollisionAlgorithm.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "btCollisionCreateFunc.h"
 #include "btCollisionDispatcher.h"
+#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
 
 class btConvexPenetrationDepthSolver;
 
-///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
-class btConvexConvexAlgorithm : public btCollisionAlgorithm
+///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise
+///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
+///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
+///for certain pairs that have a small size ratio
+///#define USE_SEPDISTANCE_UTIL2 1
+
+///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
+///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
+///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
+class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
 {
-	btGjkPairDetector m_gjkPairDetector;
-public:
+#ifdef USE_SEPDISTANCE_UTIL2
+	btConvexSeparatingDistanceUtil	m_sepDistance;
+#endif
+	btSimplexSolverInterface*		m_simplexSolver;
+	btConvexPenetrationDepthSolver* m_pdSolver;
 
+	
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
 	bool			m_lowLevelOfDetail;
 	
+	int m_numPerturbationIterations;
+	int m_minimumPointsPerturbationThreshold;
+
+
+	///cache separating vector to speedup collision detection
+	
 
 public:
 
-	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
+	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
+
 
 	virtual ~btConvexConvexAlgorithm();
 
@@ -65,9 +85,12 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
+
 		btConvexPenetrationDepthSolver*		m_pdSolver;
 		btSimplexSolverInterface*			m_simplexSolver;
-		
+		int m_numPerturbationIterations;
+		int m_minimumPointsPerturbationThreshold;
+
 		CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
 		
 		virtual ~CreateFunc();
@@ -75,7 +98,7 @@ public:
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
+			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
index 391cf6c7bc4..a7b3b163d66 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -22,15 +22,17 @@ subject to the following restrictions:
 
 //#include <stdio.h>
 
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
 : btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
-m_isSwapped(isSwapped)
+m_isSwapped(isSwapped),
+m_numPerturbationIterations(numPerturbationIterations),
+m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
 	btCollisionObject* convexObj = m_isSwapped? col1 : col0;
 	btCollisionObject* planeObj = m_isSwapped? col0 : col1;
-	
+
 	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
 	{
 		m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
@@ -48,30 +50,28 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
 	}
 }
 
-
-
-void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-	(void)dispatchInfo;
-	(void)resultOut;
-	if (!m_manifoldPtr)
-		return;
-
-	btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
 	btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
 	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
 	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
-	bool hasCollision = false;
+    bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
 	const btScalar& planeConstant = planeShape->getPlaneConstant();
-	btTransform planeInConvex;
-	planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+	
+	btTransform convexWorldTransform = convexObj->getWorldTransform();
 	btTransform convexInPlaneTrans;
-	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
-
+	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
+	//now perturbe the convex-world transform
+	convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
+	btTransform planeInConvex;
+	planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
+	
 	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+
 	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
 	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
@@ -87,6 +87,53 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
 		btVector3 pOnB = vtxInPlaneWorld;
 		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
+}
+
+
+void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	(void)dispatchInfo;
+	if (!m_manifoldPtr)
+		return;
+
+    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+	btCollisionObject* planeObj = m_isSwapped? body0: body1;
+
+	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
+
+    bool hasCollision = false;
+	const btVector3& planeNormal = planeShape->getPlaneNormal();
+	const btScalar& planeConstant = planeShape->getPlaneConstant();
+
+	//first perform a collision query with the non-perturbated collision objects
+	{
+		btQuaternion rotq(0,0,0,1);
+		collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
+	}
+
+	if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
+	{
+		btVector3 v0,v1;
+		btPlaneSpace1(planeNormal,v0,v1);
+		//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
+
+		const btScalar angleLimit = 0.125f * SIMD_PI;
+		btScalar perturbeAngle;
+		btScalar radius = convexShape->getAngularMotionDisc();
+		perturbeAngle = gContactBreakingThreshold / radius;
+		if ( perturbeAngle > angleLimit ) 
+				perturbeAngle = angleLimit;
+
+		btQuaternion perturbeRot(v0,perturbeAngle);
+		for (int i=0;i<m_numPerturbationIterations;i++)
+		{
+			btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
+			btQuaternion rotq(planeNormal,iterationAngle);
+			collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
+		}
+	}
+
 	if (m_ownManifold)
 	{
 		if (m_manifoldPtr->getNumContacts())
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
index 7b258554171..368ca71dda0 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -28,18 +28,22 @@ class btPersistentManifold;
 /// Other features are frame-coherency (persistent data) and collision response.
 class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
 {
-	bool	m_ownManifold;
+	bool		m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
-	bool	m_isSwapped;
-	
+	bool		m_isSwapped;
+	int			m_numPerturbationIterations;
+	int			m_minimumPointsPerturbationThreshold;
+
 public:
 
-	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
+	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
 
 	virtual ~btConvexPlaneCollisionAlgorithm();
 
 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
@@ -52,15 +56,24 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
+		int	m_numPerturbationIterations;
+		int m_minimumPointsPerturbationThreshold;
+			
+		CreateFunc() 
+			: m_numPerturbationIterations(3),
+			m_minimumPointsPerturbationThreshold(3)
+		{
+		}
+		
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false);
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 			} else
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true);
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 			}
 		}
 	};
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
index 1c317080544..3ae25f109c2 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
@@ -100,11 +100,10 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 	int maxSize = sizeof(btConvexConvexAlgorithm);
 	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
 	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
-	int maxSize4 = sizeof(btEmptyAlgorithm);
-	
+	int sl = sizeof(btConvexSeparatingDistanceUtil);
+	sl = sizeof(btGjkPairDetector);
 	int	collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
-	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
 
 	if (constructionInfo.m_stackAlloc)
 	{
@@ -289,3 +288,10 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 	//failed to find an algorithm
 	return m_emptyCreateFunc;
 }
+
+void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+{
+	btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*) m_convexConvexCreateFunc;
+	convexConvex->m_numPerturbationIterations = numPerturbationIterations;
+	convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
index df48ee95a18..6d8cab726bd 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
@@ -33,9 +33,9 @@ struct	btDefaultCollisionConstructionInfo
 		:m_stackAlloc(0),
 		m_persistentManifoldPool(0),
 		m_collisionAlgorithmPool(0),
-		m_defaultMaxPersistentManifoldPoolSize(65535),
-		m_defaultMaxCollisionAlgorithmPoolSize(65535),
-		m_defaultStackAllocatorSize(5*1024*1024)
+		m_defaultMaxPersistentManifoldPoolSize(4096),
+		m_defaultMaxCollisionAlgorithmPoolSize(4096),
+		m_defaultStackAllocatorSize(0)
 	{
 	}
 };
@@ -44,7 +44,7 @@ struct	btDefaultCollisionConstructionInfo
 
 ///btCollisionConfiguration allows to configure Bullet collision detection
 ///stack allocator, pool memory allocators
-///todo: describe the meaning
+///@todo: describe the meaning
 class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 {
 
@@ -111,6 +111,14 @@ public:
 
 	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
 
+	///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm.
+	///By default, this feature is disabled for best performance.
+	///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature.
+	///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled
+	///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first.
+	///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.
+	///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
+	void	setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.cpp
new file mode 100644
index 00000000000..86141fa6899
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.cpp
@@ -0,0 +1,171 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btGhostObject.h"
+#include "btCollisionWorld.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "LinearMath/btAabbUtil2.h"
+
+btGhostObject::btGhostObject()
+{
+	m_internalType = CO_GHOST_OBJECT;
+}
+
+btGhostObject::~btGhostObject()
+{
+	///btGhostObject should have been removed from the world, so no overlapping objects
+	btAssert(!m_overlappingObjects.size());
+}
+
+
+void btGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy)
+{
+	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
+	btAssert(otherObject);
+	///if this linearSearch becomes too slow (too many overlapping objects) we should add a more appropriate data structure
+	int index = m_overlappingObjects.findLinearSearch(otherObject);
+	if (index==m_overlappingObjects.size())
+	{
+		//not found
+		m_overlappingObjects.push_back(otherObject);
+	}
+}
+
+void btGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy)
+{
+	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
+	btAssert(otherObject);
+	int index = m_overlappingObjects.findLinearSearch(otherObject);
+	if (index<m_overlappingObjects.size())
+	{
+		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
+		m_overlappingObjects.pop_back();
+	}
+}
+
+
+btPairCachingGhostObject::btPairCachingGhostObject()
+{
+	m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
+}
+
+btPairCachingGhostObject::~btPairCachingGhostObject()
+{
+	m_hashPairCache->~btHashedOverlappingPairCache();
+	btAlignedFree( m_hashPairCache );
+}
+
+void btPairCachingGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy)
+{
+	btBroadphaseProxy*actualThisProxy = thisProxy ? thisProxy : getBroadphaseHandle();
+	btAssert(actualThisProxy);
+
+	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
+	btAssert(otherObject);
+	int index = m_overlappingObjects.findLinearSearch(otherObject);
+	if (index==m_overlappingObjects.size())
+	{
+		m_overlappingObjects.push_back(otherObject);
+		m_hashPairCache->addOverlappingPair(actualThisProxy,otherProxy);
+	}
+}
+
+void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy1)
+{
+	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
+	btBroadphaseProxy* actualThisProxy = thisProxy1 ? thisProxy1 : getBroadphaseHandle();
+	btAssert(actualThisProxy);
+
+	btAssert(otherObject);
+	int index = m_overlappingObjects.findLinearSearch(otherObject);
+	if (index<m_overlappingObjects.size())
+	{
+		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
+		m_overlappingObjects.pop_back();
+		m_hashPairCache->removeOverlappingPair(actualThisProxy,otherProxy,dispatcher);
+	}
+}
+
+
+void	btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
+{
+	btTransform	convexFromTrans,convexToTrans;
+	convexFromTrans = convexFromWorld;
+	convexToTrans = convexToWorld;
+	btVector3 castShapeAabbMin, castShapeAabbMax;
+	/* Compute AABB that encompasses angular movement */
+	{
+		btVector3 linVel, angVel;
+		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
+		btTransform R;
+		R.setIdentity ();
+		R.setRotation (convexFromTrans.getRotation());
+		castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
+	}
+
+	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
+	// do a ray-shape query using convexCaster (CCD)
+	int i;
+	for (i=0;i<m_overlappingObjects.size();i++)
+	{
+		btCollisionObject*	collisionObject= m_overlappingObjects[i];
+		//only perform raycast if filterMask matches
+		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
+			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
+			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
+			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
+			AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
+			btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
+			btVector3 hitNormal;
+			if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
+			{
+				btCollisionWorld::objectQuerySingle(castShape, convexFromTrans,convexToTrans,
+					collisionObject,
+						collisionObject->getCollisionShape(),
+						collisionObject->getWorldTransform(),
+						resultCallback,
+						allowedCcdPenetration);
+			}
+		}
+	}
+
+}
+
+void	btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const
+{
+	btTransform rayFromTrans;
+	rayFromTrans.setIdentity();
+	rayFromTrans.setOrigin(rayFromWorld);
+	btTransform  rayToTrans;
+	rayToTrans.setIdentity();
+	rayToTrans.setOrigin(rayToWorld);
+
+
+	int i;
+	for (i=0;i<m_overlappingObjects.size();i++)
+	{
+		btCollisionObject*	collisionObject= m_overlappingObjects[i];
+		//only perform raycast if filterMask matches
+		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
+		{
+			btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,
+							collisionObject,
+								collisionObject->getCollisionShape(),
+								collisionObject->getWorldTransform(),
+								resultCallback);
+		}
+	}
+}
+
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.h
new file mode 100644
index 00000000000..95b5750240c
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.h
@@ -0,0 +1,174 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_GHOST_OBJECT_H
+#define BT_GHOST_OBJECT_H
+
+
+#include "btCollisionObject.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
+#include "LinearMath/btAlignedAllocator.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+#include "btCollisionWorld.h"
+
+class btConvexShape;
+
+class btDispatcher;
+
+///The btGhostObject can keep track of all objects that are overlapping
+///By default, this overlap is based on the AABB
+///This is useful for creating a character controller, collision sensors/triggers, explosions etc.
+///We plan on adding rayTest and other queries for the btGhostObject
+ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject
+{
+protected:
+
+	btAlignedObjectArray<btCollisionObject*> m_overlappingObjects;
+
+public:
+
+	btGhostObject();
+
+	virtual ~btGhostObject();
+
+	void	convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const;
+
+	void	rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const; 
+
+	///this method is mainly for expert/internal use only.
+	virtual void	addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
+	///this method is mainly for expert/internal use only.
+	virtual void	removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
+
+	int	getNumOverlappingObjects() const
+	{
+		return m_overlappingObjects.size();
+	}
+
+	btCollisionObject*	getOverlappingObject(int index)
+	{
+		return m_overlappingObjects[index];
+	}
+
+	const btCollisionObject*	getOverlappingObject(int index) const
+	{
+		return m_overlappingObjects[index];
+	}
+
+	btAlignedObjectArray<btCollisionObject*>&	getOverlappingPairs()
+	{
+		return m_overlappingObjects;
+	}
+
+	const btAlignedObjectArray<btCollisionObject*>	getOverlappingPairs() const
+	{
+		return m_overlappingObjects;
+	}
+
+	//
+	// internal cast
+	//
+
+	static const btGhostObject*	upcast(const btCollisionObject* colObj)
+	{
+		if (colObj->getInternalType()==CO_GHOST_OBJECT)
+			return (const btGhostObject*)colObj;
+		return 0;
+	}
+	static btGhostObject*			upcast(btCollisionObject* colObj)
+	{
+		if (colObj->getInternalType()==CO_GHOST_OBJECT)
+			return (btGhostObject*)colObj;
+		return 0;
+	}
+
+};
+
+class	btPairCachingGhostObject : public btGhostObject
+{
+	btHashedOverlappingPairCache*	m_hashPairCache;
+
+public:
+
+	btPairCachingGhostObject();
+
+	virtual ~btPairCachingGhostObject();
+
+	///this method is mainly for expert/internal use only.
+	virtual void	addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
+
+	virtual void	removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
+
+	btHashedOverlappingPairCache*	getOverlappingPairCache()
+	{
+		return m_hashPairCache;
+	}
+
+};
+
+
+
+///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject.
+class btGhostPairCallback : public btOverlappingPairCallback
+{
+	
+public:
+	btGhostPairCallback()
+	{
+	}
+
+	virtual ~btGhostPairCallback()
+	{
+		
+	}
+
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+	{
+		btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
+		btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
+		btGhostObject* ghost0 = 		btGhostObject::upcast(colObj0);
+		btGhostObject* ghost1 = 		btGhostObject::upcast(colObj1);
+		if (ghost0)
+			ghost0->addOverlappingObjectInternal(proxy1, proxy0);
+		if (ghost1)
+			ghost1->addOverlappingObjectInternal(proxy0, proxy1);
+		return 0;
+	}
+
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
+	{
+		btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
+		btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
+		btGhostObject* ghost0 = 		btGhostObject::upcast(colObj0);
+		btGhostObject* ghost1 = 		btGhostObject::upcast(colObj1);
+		if (ghost0)
+			ghost0->removeOverlappingObjectInternal(proxy1,dispatcher,proxy0);
+		if (ghost1)
+			ghost1->removeOverlappingObjectInternal(proxy0,dispatcher,proxy1);
+		return 0;
+	}
+
+	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
+	{
+		btAssert(0);
+		//need to keep track of all ghost objects and call them here
+		//m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
+	}
+
+	
+
+};
+
+#endif
\ No newline at end of file
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
index d5b12598be2..f8dfa5b101f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
@@ -55,7 +55,7 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
 
 void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
 {
-	assert(m_manifoldPtr);
+	btAssert(m_manifoldPtr);
 	//order in manifold needs to match
 	
 	if (depth > m_manifoldPtr->getContactBreakingThreshold())
@@ -92,8 +92,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
    newPt.m_partId1 = m_partId1;
    newPt.m_index0  = m_index0;
    newPt.m_index1  = m_index1;
-	
-	///todo, check this for any side effects
+	//printf("depth=%f\n",depth);
+	///@todo, check this for any side effects
 	if (insertIndex >= 0)
 	{
 		//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
index 5aac9a46f6a..964b6a04483 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
@@ -45,6 +45,8 @@ class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
 	int m_partId1;
 	int m_index0;
 	int m_index1;
+	
+
 public:
 
 	btManifoldResult()
@@ -77,6 +79,7 @@ public:
 			m_index1=index1;		
 	}
 
+
 	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
 
 	SIMD_FORCE_INLINE	void refreshContactPoints()
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 9f8e27a4407..0328d0f738f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -24,7 +24,8 @@ subject to the following restrictions:
 //#include <stdio.h>
 #include "LinearMath/btQuickprof.h"
 
-btSimulationIslandManager::btSimulationIslandManager()
+btSimulationIslandManager::btSimulationIslandManager():
+m_splitIslands(true)
 {
 }
 
@@ -43,10 +44,10 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
 {
 	
 	{
-		btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
-
+		
 		for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
 		{
+			btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
 			const btBroadphasePair& collisionPair = pairPtr[i];
 			btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
 			btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
@@ -143,11 +144,13 @@ class btPersistentManifoldSortPredicate
 };
 
 
-void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects)
+void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld)
 {
 
 	BT_PROFILE("islandUnionFindAndQuickSort");
 	
+	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
+
 	m_islandmanifold.resize(0);
 
 	//we are going to sort the unionfind array, and store the element id in the size
@@ -183,7 +186,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 //				printf("error in island management\n");
 			}
 
-			assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+			btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 			if (colObj0->getIslandTag() == islandId)
 			{
 				if (colObj0->getActivationState()== ACTIVE_TAG)
@@ -210,7 +213,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 //					printf("error in island management\n");
 				}
 
-				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
@@ -231,13 +234,14 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 //					printf("error in island management\n");
 				}
 
-				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
 					if ( colObj0->getActivationState() == ISLAND_SLEEPING)
 					{
 						colObj0->setActivationState( WANTS_DEACTIVATION);
+						colObj0->setDeactivationTime(0.f);
 					}
 				}
 			}
@@ -248,11 +252,11 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 	int i;
 	int maxNumManifolds = dispatcher->getNumManifolds();
 
-#define SPLIT_ISLANDS 1
-#ifdef SPLIT_ISLANDS
+//#define SPLIT_ISLANDS 1
+//#ifdef SPLIT_ISLANDS
 
 	
-#endif //SPLIT_ISLANDS
+//#endif //SPLIT_ISLANDS
 
 	
 	for (i=0;i<maxNumManifolds ;i++)
@@ -262,7 +266,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 		 btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
 		 btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
 		
-		 //todo: check sleeping conditions!
+		 ///@todo: check sleeping conditions!
 		 if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
 			((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
 		{
@@ -276,24 +280,24 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 			{
 				colObj0->activate();
 			}
-#ifdef SPLIT_ISLANDS
-	//		//filtering for response
-			if (dispatcher->needsResponse(colObj0,colObj1))
-				m_islandmanifold.push_back(manifold);
-#endif //SPLIT_ISLANDS
+			if(m_splitIslands)
+			{ 
+				//filtering for response
+				if (dispatcher->needsResponse(colObj0,colObj1))
+					m_islandmanifold.push_back(manifold);
+			}
 		}
 	}
 }
 
 
 
-//
-// todo: this is random access, it can be walked 'cache friendly'!
-//
-void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
+///@todo: this is random access, it can be walked 'cache friendly'!
+void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback)
 {
+	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
 
-	buildIslands(dispatcher,collisionObjects);
+	buildIslands(dispatcher,collisionWorld);
 
 	int endIslandIndex=1;
 	int startIslandIndex;
@@ -301,84 +305,86 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 
 	BT_PROFILE("processIslands");
 
-#ifndef SPLIT_ISLANDS
-	btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
-	
-	callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
-#else
-	// Sort manifolds, based on islands
-	// Sort the vector using predicate and std::sort
-	//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
+	if(!m_splitIslands)
+	{
+		btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
+		int maxNumManifolds = dispatcher->getNumManifolds();
+		callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
+	}
+	else
+	{
+		// Sort manifolds, based on islands
+		// Sort the vector using predicate and std::sort
+		//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
 
-	int numManifolds = int (m_islandmanifold.size());
+		int numManifolds = int (m_islandmanifold.size());
 
-	//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
-	m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
+		//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
+		m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
 
-	//now process all active islands (sets of manifolds for now)
+		//now process all active islands (sets of manifolds for now)
 
-	int startManifoldIndex = 0;
-	int endManifoldIndex = 1;
+		int startManifoldIndex = 0;
+		int endManifoldIndex = 1;
 
-	//int islandId;
+		//int islandId;
 
-	
+		
 
-//	printf("Start Islands\n");
+	//	printf("Start Islands\n");
 
-	//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
-	for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
-	{
-		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
+		//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
+		for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
+		{
+			int islandId = getUnionFind().getElement(startIslandIndex).m_id;
 
 
-	       bool islandSleeping = false;
-                
-                for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
-                {
-                        int i = getUnionFind().getElement(endIslandIndex).m_sz;
-                        btCollisionObject* colObj0 = collisionObjects[i];
-						m_islandBodies.push_back(colObj0);
-                        if (!colObj0->isActive())
-                                islandSleeping = true;
-                }
-                
+			   bool islandSleeping = false;
+	                
+					for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
+					{
+							int i = getUnionFind().getElement(endIslandIndex).m_sz;
+							btCollisionObject* colObj0 = collisionObjects[i];
+							m_islandBodies.push_back(colObj0);
+							if (!colObj0->isActive())
+									islandSleeping = true;
+					}
+	                
 
-		//find the accompanying contact manifold for this islandId
-		int numIslandManifolds = 0;
-		btPersistentManifold** startManifold = 0;
+			//find the accompanying contact manifold for this islandId
+			int numIslandManifolds = 0;
+			btPersistentManifold** startManifold = 0;
 
-		if (startManifoldIndex<numManifolds)
-		{
-			int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
-			if (curIslandId == islandId)
+			if (startManifoldIndex<numManifolds)
 			{
-				startManifold = &m_islandmanifold[startManifoldIndex];
-			
-				for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
+				int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
+				if (curIslandId == islandId)
 				{
+					startManifold = &m_islandmanifold[startManifoldIndex];
+				
+					for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
+					{
 
+					}
+					/// Process the actual simulation, only if not sleeping/deactivated
+					numIslandManifolds = endManifoldIndex-startManifoldIndex;
 				}
-				/// Process the actual simulation, only if not sleeping/deactivated
-				numIslandManifolds = endManifoldIndex-startManifoldIndex;
+
 			}
 
-		}
+			if (!islandSleeping)
+			{
+				callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
+	//			printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
+			}
+			
+			if (numIslandManifolds)
+			{
+				startManifoldIndex = endManifoldIndex;
+			}
 
-		if (!islandSleeping)
-		{
-			callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
-//			printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
-		}
-		
-		if (numIslandManifolds)
-		{
-			startManifoldIndex = endManifoldIndex;
+			m_islandBodies.resize(0);
 		}
-
-		m_islandBodies.resize(0);
-	}
-#endif //SPLIT_ISLANDS
-
+	} // else if(!splitIslands) 
 
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
index 5f4d54cd803..d059f5d6b0d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btUnionFind.h"
 #include "btCollisionCreateFunc.h"
 #include "LinearMath/btAlignedObjectArray.h"
-
+#include "btCollisionObject.h"
 
 class btCollisionObject;
 class btCollisionWorld;
@@ -35,6 +35,7 @@ class btSimulationIslandManager
 	btAlignedObjectArray<btPersistentManifold*>  m_islandmanifold;
 	btAlignedObjectArray<btCollisionObject* >  m_islandBodies;
 	
+	bool m_splitIslands;
 	
 public:
 	btSimulationIslandManager();
@@ -61,9 +62,18 @@ public:
 		virtual	void	ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold**	manifolds,int numManifolds, int islandId) = 0;
 	};
 
-	void	buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);
+	void	buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback);
+
+	void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
 
-	void buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects);
+	bool getSplitIslands()
+	{
+		return m_splitIslands;
+	}
+	void setSplitIslands(bool doSplitIslands)
+	{
+		m_splitIslands = doSplitIslands;
+	}
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
index 1e4bbce451d..8df876928c1 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
@@ -21,7 +21,7 @@ subject to the following restrictions:
 //#include <stdio.h>
 
 btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
-: btCollisionAlgorithm(ci),
+: btActivatingCollisionAlgorithm(ci,col0,col1),
 m_ownManifold(false),
 m_manifoldPtr(mf),
 m_isSwapped(isSwapped)
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
index 158f0ffcc74..47111d1c4af 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef SPHERE_BOX_COLLISION_ALGORITHM_H
 #define SPHERE_BOX_COLLISION_ALGORITHM_H
 
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "btActivatingCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 class btPersistentManifold;
@@ -26,7 +26,7 @@ class btPersistentManifold;
 
 /// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
 /// Other features are frame-coherency (persistent data) and collision response.
-class btSphereBoxCollisionAlgorithm : public btCollisionAlgorithm
+class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
index c2b13f5903f..5c4e78fe518 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
 btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
-: btCollisionAlgorithm(ci),
+: btActivatingCollisionAlgorithm(ci,col0,col1),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {
@@ -78,7 +78,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 	}
 
 	///point on A (worldspace)
-	btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
+	///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
 	///point on B (worldspace)
 	btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
index afdc2ee7fa0..7d07512ca66 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H
 #define SPHERE_SPHERE_COLLISION_ALGORITHM_H
 
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "btActivatingCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 #include "btCollisionDispatcher.h"
@@ -26,7 +26,7 @@ class btPersistentManifold;
 /// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
 /// Other features are frame-coherency (persistent data) and collision response.
 /// Also provides the most basic sample for custom/user btCollisionAlgorithm
-class btSphereSphereCollisionAlgorithm : public btCollisionAlgorithm
+class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
@@ -35,7 +35,7 @@ public:
 	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
 
 	btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btCollisionAlgorithm(ci) {}
+		: btActivatingCollisionAlgorithm(ci) {}
 
 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
index fdbd4abef27..2d5efcf56ba 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
@@ -22,7 +22,7 @@ subject to the following restrictions:
 
 
 btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
-: btCollisionAlgorithm(ci),
+: btActivatingCollisionAlgorithm(ci,col0,col1),
 m_ownManifold(false),
 m_manifoldPtr(mf),
 m_swapped(swapped)
@@ -56,10 +56,10 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
 	
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
-	SphereTriangleDetector detector(sphere,triangle);
+	SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
 	
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
-	input.m_maximumDistanceSquared = btScalar(1e30);//todo: tighter bounds
+	input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds
 	input.m_transformA = sphereObj->getWorldTransform();
 	input.m_transformB = triObj->getWorldTransform();
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
index bbaf228c44c..606c3635ae9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
 #define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
 
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "btActivatingCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 class btPersistentManifold;
@@ -25,7 +25,7 @@ class btPersistentManifold;
 /// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
 /// Other features are frame-coherency (persistent data) and collision response.
 /// Also provides the most basic sample for custom/user btCollisionAlgorithm
-class btSphereTriangleCollisionAlgorithm : public btCollisionAlgorithm
+class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
@@ -35,7 +35,7 @@ public:
 	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
 
 	btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btCollisionAlgorithm(ci) {}
+		: btActivatingCollisionAlgorithm(ci) {}
 
 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp
index bb01b60fa85..c561df06109 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp
@@ -14,8 +14,6 @@ subject to the following restrictions:
 */
 
 #include "btUnionFind.h"
-#include <assert.h>
-
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h
index 820c8bc858e..e105ecbff18 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h
@@ -98,8 +98,8 @@ class btUnionFind
 
 		int find(int x)
 		{ 
-			//assert(x < m_N);
-			//assert(x >= 0);
+			//btAssert(x < m_N);
+			//btAssert(x >= 0);
 
 			while (x != m_elements[x].m_id) 
 			{
@@ -110,8 +110,8 @@ class btUnionFind
 				m_elements[x].m_id = m_elements[m_elements[x].m_id].m_id;
 		#endif //
 				x = m_elements[x].m_id;
-				//assert(x < m_N);
-				//assert(x >= 0);
+				//btAssert(x < m_N);
+				//btAssert(x >= 0);
 
 			}
 			return x; 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
index 4d4fbefea37..14502d485dc 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "btPolyhedralConvexShape.h"
 #include "btCollisionMargin.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btPoint3.h"
+#include "LinearMath/btVector3.h"
 #include "LinearMath/btMinMax.h"
 
 ///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
@@ -45,8 +45,6 @@ public:
 	}
 	
 
-	virtual int	getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
-
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
@@ -82,8 +80,10 @@ public:
 	}
 
 
-	btBoxShape( const btVector3& boxHalfExtents)
+	btBoxShape( const btVector3& boxHalfExtents) 
+		: btPolyhedralConvexShape()
 	{
+		m_shapeType = BOX_SHAPE_PROXYTYPE;
 		btVector3 margin(getMargin(),getMargin(),getMargin());
 		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
 	};
@@ -117,7 +117,7 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
-	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
 	{
 		//this plane might not be aligned...
 		btVector4 plane ;
@@ -161,36 +161,30 @@ public:
 		switch (i)
 		{
 		case 0:
-			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
-			plane[3] = -halfExtents.x();
+			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
 			break;
 		case 1:
-			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
-			plane[3] = -halfExtents.x();
+			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
 			break;
 		case 2:
-			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
-			plane[3] = -halfExtents.y();
+			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
 			break;
 		case 3:
-			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
-			plane[3] = -halfExtents.y();
+			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
 			break;
 		case 4:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
-			plane[3] = -halfExtents.z();
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
 			break;
 		case 5:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
-			plane[3] = -halfExtents.z();
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
 			break;
 		default:
-			assert(0);
+			btAssert(0);
 		}
 	}
 
 	
-	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
 	//virtual void getEdge(int i,Edge& edge) const
 	{
 		int edgeVert0 = 0;
@@ -261,7 +255,7 @@ public:
 
 
 	
-	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
@@ -312,7 +306,7 @@ public:
 			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
 			break;
 		default:
-			assert(0);
+			btAssert(0);
 		}
 	}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
index 819f6f7f97d..68ff5e2d7bb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -26,6 +26,7 @@ m_bvh(0),
 m_useQuantizedAabbCompression(useQuantizedAabbCompression),
 m_ownsBvh(false)
 {
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	//construct bvh from meshInterface
 #ifndef DISABLE_BVH
 
@@ -57,6 +58,7 @@ m_bvh(0),
 m_useQuantizedAabbCompression(useQuantizedAabbCompression),
 m_ownsBvh(false)
 {
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	//construct bvh from meshInterface
 #ifndef DISABLE_BVH
 
@@ -141,10 +143,19 @@ void	btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const
 			for (int j=2;j>=0;j--)
 			{
 				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
-
-				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
-
-				m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+				
+				if (type == PHY_FLOAT)
+				{
+					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+				}
+				else
+				{
+					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
+				}
 			}
 
 			/* Perform ray vs. triangle collision here */
@@ -202,9 +213,18 @@ void	btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, co
 			{
 				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
 
-				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
-
-				m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+				if (type == PHY_FLOAT)
+				{
+					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+
+					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+				}
+				else
+				{
+					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
+				}
 			}
 
 			/* Perform ray vs. triangle collision here */
@@ -279,12 +299,24 @@ void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
 #ifdef DEBUG_TRIANGLE_MESH
 				printf("%d ,",graphicsindex);
 #endif //DEBUG_TRIANGLE_MESH
-				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
-
-				m_triangle[j] = btVector3(
-					graphicsbase[0]*meshScaling.getX(),
-					graphicsbase[1]*meshScaling.getY(),
-					graphicsbase[2]*meshScaling.getZ());
+				if (type == PHY_FLOAT)
+				{
+					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(
+																		graphicsbase[0]*meshScaling.getX(),
+																		graphicsbase[1]*meshScaling.getY(),
+																		graphicsbase[2]*meshScaling.getZ());
+				}
+				else
+				{
+					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+
+					m_triangle[j] = btVector3(
+						btScalar(graphicsbase[0])*meshScaling.getX(),
+						btScalar(graphicsbase[1])*meshScaling.getY(),
+						btScalar(graphicsbase[2])*meshScaling.getZ());
+				}
 #ifdef DEBUG_TRIANGLE_MESH
 				printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
 #endif //DEBUG_TRIANGLE_MESH
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
index 6e587340dc1..cb2c326574e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
@@ -37,7 +37,7 @@ public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {};
+	btBvhTriangleMeshShape() : btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;};
 	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
 
 	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
@@ -50,10 +50,7 @@ public:
 		return m_ownsBvh;
 	}
 
-	virtual int	getShapeType() const
-	{
-		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	}
+
 	
 	void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
 	void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
index 26ba276b900..60a96a542f9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
@@ -19,8 +19,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 #include "LinearMath/btQuaternion.h"
 
-btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
+btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
 {
+	m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
 	m_upAxis = 1;
 	m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
index d4b046d40c9..828c1b3a565 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -30,7 +30,7 @@ protected:
 
 protected:
 	///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
-	btCapsuleShape() {};
+	btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
 
 public:
 	btCapsuleShape(btScalar radius,btScalar height);
@@ -43,15 +43,13 @@ public:
 
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
-	virtual int	getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
-
 	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
 			btVector3 halfExtents(getRadius(),getRadius(),getRadius());
 			halfExtents[m_upAxis] = getRadius() + getHalfHeight();
 			halfExtents += btVector3(getMargin(),getMargin(),getMargin());
 			btMatrix3x3 abs_b = t.getBasis().absolute();  
-			btPoint3 center = t.getOrigin();
+			btVector3 center = t.getOrigin();
 			btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  
 			
 			aabbMin = center - extent;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp
index 39e621aa946..d242cba1b72 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp
@@ -16,6 +16,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 
 
+btScalar gContactThresholdFactor=btScalar(0.02);
+
+
 /*
   Make sure this dummy function never changes so that it
   can be used by probes that are checking whether the
@@ -42,8 +45,13 @@ void	btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con
 	center = (aabbMin+aabbMax)*btScalar(0.5);
 }
 
+btScalar	btCollisionShape::getContactBreakingThreshold() const
+{
+	return getAngularMotionDisc() * gContactThresholdFactor;
+}
 btScalar	btCollisionShape::getAngularMotionDisc() const
 {
+	///@todo cache this value, to improve performance
 	btVector3	center;
 	btScalar disc;
 	getBoundingSphere(center,disc);
@@ -65,7 +73,7 @@ void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const b
 
 	// add linear motion
 	btVector3 linMotion = linvel*timeStep;
-	//todo: simd would have a vector max/min operation, instead of per-element access
+	///@todo: simd would have a vector max/min operation, instead of per-element access
 	if (linMotion.x() > btScalar(0.))
 		temporalAabbMaxx += linMotion.x(); 
 	else
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
index 3a352b90777..1f4b9bec647 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -19,20 +19,21 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btPoint3.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
 
 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
 class btCollisionShape
 {
-
+protected:
+	int m_shapeType;
 	void* m_userPointer;
 
 public:
 
-	btCollisionShape() : m_userPointer(0)
+	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
 	{
 	}
+
 	virtual ~btCollisionShape()
 	{
 	}
@@ -45,6 +46,8 @@ public:
 	///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
 	virtual btScalar	getAngularMotionDisc() const;
 
+	virtual btScalar	getContactBreakingThreshold() const;
+
 
 	///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
 	///result is conservative
@@ -76,7 +79,7 @@ public:
 		return btBroadphaseProxy::isInfinite(getShapeType());
 	}
 
-	virtual int		getShapeType() const=0;
+	
 	virtual void	setLocalScaling(const btVector3& scaling) =0;
 	virtual const btVector3& getLocalScaling() const =0;
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
@@ -87,13 +90,13 @@ public:
 #endif //__SPU__
 
 	
-
+	int		getShapeType() const { return m_shapeType; }
 	virtual void	setMargin(btScalar margin) = 0;
 	virtual btScalar	getMargin() const = 0;
 
 	
 	///optional user data pointer
-	void	setUserPointer(void* userPtr)
+	void	setUserPointer(void*  userPtr)
 	{
 		m_userPointer = userPtr;
 	}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
index 997361a5069..9c2b04d18fa 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
@@ -17,16 +17,22 @@ subject to the following restrictions:
 #include "btCollisionShape.h"
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
 
-btCompoundShape::btCompoundShape()
-:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
+btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
+: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
 m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
 m_collisionMargin(btScalar(0.)),
 m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
-m_dynamicAabbTree(0)
+m_dynamicAabbTree(0),
+m_updateRevision(1)
 {
-	void* mem = btAlignedAlloc(sizeof(btDbvt),16);
-	m_dynamicAabbTree = new(mem) btDbvt();
-	btAssert(mem==m_dynamicAabbTree);
+	m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
+
+	if (enableDynamicAabbTree)
+	{
+		void* mem = btAlignedAlloc(sizeof(btDbvt),16);
+		m_dynamicAabbTree = new(mem) btDbvt();
+		btAssert(mem==m_dynamicAabbTree);
+	}
 }
 
 
@@ -41,6 +47,7 @@ btCompoundShape::~btCompoundShape()
 
 void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
 {
+	m_updateRevision++;
 	//m_childTransforms.push_back(localTransform);
 	//m_childShapes.push_back(shape);
 	btCompoundShapeChild child;
@@ -49,6 +56,7 @@ void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
 	child.m_childShapeType = shape->getShapeType();
 	child.m_childMargin = shape->getMargin();
 
+	
 	//extend the local aabbMin/aabbMax
 	btVector3 localAabbMin,localAabbMax;
 	shape->getAabb(localTransform,localAabbMin,localAabbMax);
@@ -72,10 +80,29 @@ void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
 	}
 
 	m_children.push_back(child);
+
+}
+
+void	btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform)
+{
+	m_children[childIndex].m_transform = newChildTransform;
+
+	if (m_dynamicAabbTree)
+	{
+		///update the dynamic aabb tree
+		btVector3 localAabbMin,localAabbMax;
+		m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax);
+		ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+		int index = m_children.size()-1;
+		m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
+	}
+
+	recalculateLocalAabb();
 }
 
 void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
 {
+	m_updateRevision++;
 	btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
 	if (m_dynamicAabbTree)
 	{
@@ -86,8 +113,11 @@ void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
 
 }
 
+
+
 void btCompoundShape::removeChildShape(btCollisionShape* shape)
 {
+	m_updateRevision++;
 	// Find the children containing the shape specified, and remove those children.
 	//note: there might be multiple children using the same shape!
 	for(int i = m_children.size()-1; i >= 0 ; i--)
@@ -97,6 +127,8 @@ void btCompoundShape::removeChildShape(btCollisionShape* shape)
 			m_children.swap(i,m_children.size()-1);
 			m_children.pop_back();
 			//remove it from the m_dynamicAabbTree too
+			//@todo: this leads to problems due to caching in the btCompoundCollisionAlgorithm
+			//so effectively, removeChildShape is broken at the moment
 			//m_dynamicAabbTree->remove(m_aabbProxies[i]);
 			//m_aabbProxies.swap(i,m_children.size()-1);
 			//m_aabbProxies.pop_back();
@@ -112,6 +144,7 @@ void btCompoundShape::recalculateLocalAabb()
 {
 	// Recalculate the local aabb
 	// Brute force, it iterates over all the shapes left.
+
 	m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
 	m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
 
@@ -134,19 +167,27 @@ void btCompoundShape::recalculateLocalAabb()
 void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
 {
 	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
-	localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
 	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
+	
+	//avoid an illegal AABB when there are no children
+	if (!m_children.size())
+	{
+		localHalfExtents.setValue(0,0,0);
+		localCenter.setValue(0,0,0);
+	}
+	localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
+		
 
 	btMatrix3x3 abs_b = trans.getBasis().absolute();  
 
-	btPoint3 center = trans(localCenter);
+	btVector3 center = trans(localCenter);
 
 	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 		abs_b[1].dot(localHalfExtents),
 		abs_b[2].dot(localHalfExtents));
 	aabbMin = center-extent;
 	aabbMax = center+extent;
-
+	
 }
 
 void	btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
@@ -178,7 +219,9 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
 
 	btScalar totalMass = 0;
 	btVector3 center(0, 0, 0);
-	for (int k = 0; k < n; k++)
+	int k;
+
+	for (k = 0; k < n; k++)
 	{
 		center += m_children[k].m_transform.getOrigin() * masses[k];
 		totalMass += masses[k];
@@ -187,7 +230,7 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
 	principal.setOrigin(center);
 
 	btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	for (int k = 0; k < n; k++)
+	for ( k = 0; k < n; k++)
 	{
 		btVector3 i;
 		m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h
index 3624749f768..434860c8633 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h
@@ -46,23 +46,26 @@ SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompou
 		c1.m_childMargin    == c2.m_childMargin );
 }
 
-/// btCompoundShape allows to store multiple other btCollisionShapes
+/// The btCompoundShape allows to store multiple other btCollisionShapes
 /// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
+/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. 
+/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
+/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
 ATTRIBUTE_ALIGNED16(class) btCompoundShape	: public btCollisionShape
 {
-	//btAlignedObjectArray<btTransform>		m_childTransforms;
-	//btAlignedObjectArray<btCollisionShape*>	m_childShapes;
 	btAlignedObjectArray<btCompoundShapeChild> m_children;
 	btVector3						m_localAabbMin;
 	btVector3						m_localAabbMax;
 
-	//btOptimizedBvh*					m_aabbTree;
 	btDbvt*							m_dynamicAabbTree;
 
+	///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
+	int								m_updateRevision;
+
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btCompoundShape();
+	btCompoundShape(bool enableDynamicAabbTree = true);
 
 	virtual ~btCompoundShape();
 
@@ -88,15 +91,18 @@ public:
 		return m_children[index].m_childShape;
 	}
 
-	btTransform	getChildTransform(int index)
+	btTransform&	getChildTransform(int index)
 	{
 		return m_children[index].m_transform;
 	}
-	const btTransform	getChildTransform(int index) const
+	const btTransform&	getChildTransform(int index) const
 	{
 		return m_children[index].m_transform;
 	}
 
+	///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
+	void	updateChildTransform(int childIndex, const btTransform& newChildTransform);
+
 
 	btCompoundShapeChild* getChildList()
 	{
@@ -121,8 +127,6 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
-	virtual int	getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
-
 	virtual void	setMargin(btScalar margin)
 	{
 		m_collisionMargin = margin;
@@ -151,6 +155,10 @@ public:
 	///of the collision object by the principal transform.
 	void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
 
+	int	getUpdateRevision() const
+	{
+		return m_updateRevision;
+	}
 
 private:
 	btScalar	m_collisionMargin;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
index f3f57206ab7..30065d55a12 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
@@ -20,6 +20,16 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 #include "btTriangleCallback.h"
 
+/// PHY_ScalarType enumerates possible scalar types.
+/// See the btStridingMeshInterface or btHeightfieldTerrainShape for its use
+typedef enum PHY_ScalarType {
+	PHY_FLOAT,
+	PHY_DOUBLE,
+	PHY_INTEGER,
+	PHY_SHORT,
+	PHY_FIXEDPOINT88,
+	PHY_UCHAR
+} PHY_ScalarType;
 
 ///The btConcaveShape class provides an interface for non-moving (static) concave shapes.
 ///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape.
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp
index 207b3024bc3..d887be61ada 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp
@@ -14,14 +14,14 @@ subject to the following restrictions:
 */
 
 #include "btConeShape.h"
-#include "LinearMath/btPoint3.h"
 
 
 
-btConeShape::btConeShape (btScalar radius,btScalar height):
+btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
 m_radius (radius),
 m_height(height)
 {
+	m_shapeType = CONE_SHAPE_PROXYTYPE;
 	setConeUpIndex(1);
 	btVector3 halfExtents;
 	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
@@ -60,7 +60,7 @@ void	btConeShape::setConeUpIndex(int upIndex)
 			m_coneIndices[2] = 1;
 		break;
 	default:
-		assert(0);
+		btAssert(0);
 	};
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
index 685369742e4..1869893f37a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
@@ -69,9 +69,6 @@ public:
 	}
 
 
-
-		virtual int	getShapeType() const { return CONE_SHAPE_PROXYTYPE; }
-
 		virtual const char*	getName()const 
 		{
 			return "Cone";
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index 2596858bc3a..2b067367767 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -19,16 +19,17 @@ subject to the following restrictions:
 
 
 
-btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride)
+btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
 {
-	m_points.resize(numPoints);
+	m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
+	m_unscaledPoints.resize(numPoints);
 
 	unsigned char* pointsBaseAddress = (unsigned char*)points;
 
 	for (int i=0;i<numPoints;i++)
 	{
-		btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride);
-		m_points[i] = point[0];
+		btVector3* point = (btVector3*)(pointsBaseAddress + i*stride);
+		m_unscaledPoints[i] = point[0];
 	}
 
 	recalcLocalAabb();
@@ -43,9 +44,9 @@ void btConvexHullShape::setLocalScaling(const btVector3& scaling)
 	recalcLocalAabb();
 }
 
-void btConvexHullShape::addPoint(const btPoint3& point)
+void btConvexHullShape::addPoint(const btVector3& point)
 {
-	m_points.push_back(point);
+	m_unscaledPoints.push_back(point);
 	recalcLocalAabb();
 
 }
@@ -67,9 +68,9 @@ btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVecto
 	}
 
 
-	for (int i=0;i<m_points.size();i++)
+	for (int i=0;i<m_unscaledPoints.size();i++)
 	{
-		btPoint3 vtx = m_points[i] * m_localScaling;
+		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
 
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
@@ -91,9 +92,9 @@ void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
 			supportVerticesOut[i][3] = btScalar(-1e30);
 		}
 	}
-	for (int i=0;i<m_points.size();i++)
+	for (int i=0;i<m_unscaledPoints.size();i++)
 	{
-		btPoint3 vtx = m_points[i] * m_localScaling;
+		btVector3 vtx = getScaledPoint(i);
 
 		for (int j=0;j<numVectors;j++)
 		{
@@ -144,26 +145,26 @@ btVector3	btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
 int	btConvexHullShape::getNumVertices() const
 {
-	return m_points.size();
+	return m_unscaledPoints.size();
 }
 
 int btConvexHullShape::getNumEdges() const
 {
-	return m_points.size();
+	return m_unscaledPoints.size();
 }
 
-void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
+void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
 {
 
-	int index0 = i%m_points.size();
-	int index1 = (i+1)%m_points.size();
-	pa = m_points[index0]*m_localScaling;
-	pb = m_points[index1]*m_localScaling;
+	int index0 = i%m_unscaledPoints.size();
+	int index1 = (i+1)%m_unscaledPoints.size();
+	pa = getScaledPoint(index0);
+	pb = getScaledPoint(index1);
 }
 
-void btConvexHullShape::getVertex(int i,btPoint3& vtx) const
+void btConvexHullShape::getVertex(int i,btVector3& vtx) const
 {
-	vtx = m_points[i]*m_localScaling;
+	vtx = getScaledPoint(i);
 }
 
 int	btConvexHullShape::getNumPlanes() const
@@ -171,16 +172,16 @@ int	btConvexHullShape::getNumPlanes() const
 	return 0;
 }
 
-void btConvexHullShape::getPlane(btVector3& ,btPoint3& ,int ) const
+void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
 {
 
 	btAssert(0);
 }
 
 //not yet
-bool btConvexHullShape::isInside(const btPoint3& ,btScalar ) const
+bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
 {
-	assert(0);
+	btAssert(0);
 	return false;
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
index 4773de2dc51..baf074be6c3 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -24,7 +24,7 @@ subject to the following restrictions:
 ///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
 ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
 {
-	btAlignedObjectArray<btPoint3>	m_points;
+	btAlignedObjectArray<btVector3>	m_unscaledPoints;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -33,23 +33,38 @@ public:
 	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
 	///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
 	///btConvexHullShape make an internal copy of the points.
-	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3));
+	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
 
-	void addPoint(const btPoint3& point);
+	void addPoint(const btVector3& point);
 
-	btPoint3* getPoints()
+	
+	btVector3* getUnscaledPoints()
+	{
+		return &m_unscaledPoints[0];
+	}
+
+	const btVector3* getUnscaledPoints() const
+	{
+		return &m_unscaledPoints[0];
+	}
+
+	///getPoints is obsolete, please use getUnscaledPoints
+	const btVector3* getPoints() const
 	{
-		return &m_points[0];
+		return getUnscaledPoints();
 	}
 
-	const btPoint3* getPoints() const
+	
+
+
+	SIMD_FORCE_INLINE	btVector3 getScaledPoint(int i) const
 	{
-		return &m_points[0];
+		return m_unscaledPoints[i] * m_localScaling;
 	}
 
-	int getNumPoints() const 
+	SIMD_FORCE_INLINE	int getNumPoints() const 
 	{
-		return m_points.size();
+		return m_unscaledPoints.size();
 	}
 
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
@@ -57,7 +72,6 @@ public:
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
 
-	virtual int	getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
 
 	//debugging
 	virtual const char*	getName()const {return "Convex";}
@@ -65,11 +79,11 @@ public:
 	
 	virtual int	getNumVertices() const;
 	virtual int getNumEdges() const;
-	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
-	virtual void getVertex(int i,btPoint3& vtx) const;
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
+	virtual void getVertex(int i,btVector3& vtx) const;
 	virtual int	getNumPlanes() const;
-	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
-	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const;
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
 
 	///in case we receive negative scaling
 	virtual void	setLocalScaling(const btVector3& scaling);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
index fb81c8a5bde..bfb741310e1 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
@@ -17,6 +17,7 @@ subject to the following restrictions:
 #include "btConvexInternalShape.h"
 
 
+
 btConvexInternalShape::btConvexInternalShape()
 : m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
@@ -48,7 +49,8 @@ void	btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAa
 		tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
 		minAabb[i] = tmp[i]-margin;
 	}
-};
+}
+
 
 
 btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
@@ -70,6 +72,7 @@ btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)c
 	return supVertex;
 
 #else
+	btAssert(0);
 	return btVector3(0,0,0);
 #endif //__SPU__
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
index 9388ccf31f2..bab720d7b6d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
@@ -19,23 +19,18 @@ class btConvexInternalShape : public btConvexShape
 
 	btScalar	m_padding;
 
+	btConvexInternalShape();
+
 public:
 
-	btConvexInternalShape();
+	
 
 	virtual ~btConvexInternalShape()
 	{
 
 	}
 
-
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
-#ifndef __SPU__
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
-	
-	//notice that the vectors should be unit length
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
-#endif //#ifndef __SPU__
 
 	const btVector3& getImplicitShapeDimensions() const
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
new file mode 100644
index 00000000000..4ab5d692945
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
@@ -0,0 +1,156 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#include "btConvexPointCloudShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+
+#include "LinearMath/btQuaternion.h"
+
+void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+	recalcLocalAabb();
+}
+
+#ifndef __SPU__
+btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+{
+	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btScalar newDot,maxDot = btScalar(-1e30);
+
+	btVector3 vec = vec0;
+	btScalar lenSqr = vec.length2();
+	if (lenSqr < btScalar(0.0001))
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+
+	for (int i=0;i<m_numPoints;i++)
+	{
+		btVector3 vtx = getScaledPoint(i);
+
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+	return supVec;
+}
+
+void	btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	btScalar newDot;
+	//use 'w' component of supportVerticesOut?
+	{
+		for (int i=0;i<numVectors;i++)
+		{
+			supportVerticesOut[i][3] = btScalar(-1e30);
+		}
+	}
+	for (int i=0;i<m_numPoints;i++)
+	{
+		btVector3 vtx = getScaledPoint(i);
+
+		for (int j=0;j<numVectors;j++)
+		{
+			const btVector3& vec = vectors[j];
+			
+			newDot = vec.dot(vtx);
+			if (newDot > supportVerticesOut[j][3])
+			{
+				//WARNING: don't swap next lines, the w component would get overwritten!
+				supportVerticesOut[j] = vtx;
+				supportVerticesOut[j][3] = newDot;
+			}
+		}
+	}
+
+
+
+}
+	
+
+
+btVector3	btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
+{
+	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
+
+	if ( getMargin()!=btScalar(0.) )
+	{
+		btVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+		} 
+		vecnorm.normalize();
+		supVertex+= getMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+#endif
+
+
+
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
+int	btConvexPointCloudShape::getNumVertices() const
+{
+	return m_numPoints;
+}
+
+int btConvexPointCloudShape::getNumEdges() const
+{
+	return 0;
+}
+
+void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
+{
+	btAssert (0);
+}
+
+void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
+{
+	vtx = m_unscaledPoints[i]*m_localScaling;
+}
+
+int	btConvexPointCloudShape::getNumPlanes() const
+{
+	return 0;
+}
+
+void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
+{
+
+	btAssert(0);
+}
+
+//not yet
+bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
+{
+	btAssert(0);
+	return false;
+}
+
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
new file mode 100644
index 00000000000..7e1c13b29c1
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
@@ -0,0 +1,96 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONVEX_POINT_CLOUD_SHAPE_H
+#define BT_CONVEX_POINT_CLOUD_SHAPE_H
+
+#include "btPolyhedralConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "LinearMath/btAlignedObjectArray.h"
+
+///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
+ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexShape
+{
+	btVector3* m_unscaledPoints;
+	int m_numPoints;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
+	{
+		m_localScaling = localScaling;
+		m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
+		m_unscaledPoints = points;
+		m_numPoints = numPoints;
+
+		if (computeAabb)
+			recalcLocalAabb();
+	}
+
+	void setPoints (btVector3* points, int numPoints, bool computeAabb = true)
+	{
+		m_unscaledPoints = points;
+		m_numPoints = numPoints;
+
+		if (computeAabb)
+			recalcLocalAabb();
+	}
+
+	SIMD_FORCE_INLINE	btVector3* getUnscaledPoints()
+	{
+		return m_unscaledPoints;
+	}
+
+	SIMD_FORCE_INLINE	const btVector3* getUnscaledPoints() const
+	{
+		return m_unscaledPoints;
+	}
+
+	SIMD_FORCE_INLINE	int getNumPoints() const 
+	{
+		return m_numPoints;
+	}
+
+	SIMD_FORCE_INLINE	btVector3	getScaledPoint( int index) const
+	{
+		return m_unscaledPoints[index] * m_localScaling;
+	}
+
+#ifndef __SPU__
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+#endif
+
+
+	//debugging
+	virtual const char*	getName()const {return "ConvexPointCloud";}
+
+	virtual int	getNumVertices() const;
+	virtual int getNumEdges() const;
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
+	virtual void getVertex(int i,btVector3& vtx) const;
+	virtual int	getNumPlanes() const;
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+
+	///in case we receive negative scaling
+	virtual void	setLocalScaling(const btVector3& scaling);
+};
+
+
+#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
+
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
index 7afcccf8b03..7e67696f4c7 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -14,5 +14,366 @@ subject to the following restrictions:
 */
 
 #include "btConvexShape.h"
+#include "btTriangleShape.h"
+#include "btSphereShape.h"
+#include "btCylinderShape.h"
+#include "btCapsuleShape.h"
+#include "btConvexHullShape.h"
+#include "btConvexPointCloudShape.h"
 
+btConvexShape::btConvexShape ()
+{
+}
 
+btConvexShape::~btConvexShape()
+{
+
+}
+
+
+
+static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling)
+{
+	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btScalar newDot,maxDot = btScalar(-1e30);
+
+	btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
+	btVector3 vec = vec0;
+	btScalar lenSqr = vec.length2();
+	if (lenSqr < btScalar(0.0001))
+	{
+		vec.setValue(1,0,0);
+	} else {
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+
+	for (int i=0;i<numPoints;i++)
+	{
+		btVector3 vtx = points[i] * localScaling;
+
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+	return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
+}
+
+btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
+{
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		return btVector3(0,0,0);
+    }
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btBoxShape* convexShape = (btBoxShape*)this;
+		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
+
+		return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
+			btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
+			btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
+	}
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
+		btVector3* vertices = &triangleShape->m_vertices1[0];
+		btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
+		btVector3 sup = vertices[dots.maxAxis()];
+		return btVector3(sup.getX(),sup.getY(),sup.getZ());
+	}
+	case CYLINDER_SHAPE_PROXYTYPE:
+	{
+		btCylinderShape* cylShape = (btCylinderShape*)this;
+		//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
+
+		btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
+		btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
+		int cylinderUpAxis = cylShape->getUpAxis();
+		int XX(1),YY(0),ZZ(2);
+
+		switch (cylinderUpAxis)
+		{
+		case 0:
+		{
+			XX = 1;
+			YY = 0;
+			ZZ = 2;
+		}
+		break;
+		case 1:
+		{
+			XX = 0;
+			YY = 1;
+			ZZ = 2;	
+		}
+		break;
+		case 2:
+		{
+			XX = 0;
+			YY = 2;
+			ZZ = 1;
+			
+		}
+		break;
+		default:
+			btAssert(0);
+		break;
+		};
+
+		btScalar radius = halfExtents[XX];
+		btScalar halfHeight = halfExtents[cylinderUpAxis];
+
+		btVector3 tmp;
+		btScalar d ;
+
+		btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+		if (s != btScalar(0.0))
+		{
+			d = radius / s;  
+			tmp[XX] = v[XX] * d;
+			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+			tmp[ZZ] = v[ZZ] * d;
+			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
+		} else {
+			tmp[XX] = radius;
+			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+			tmp[ZZ] = btScalar(0.0);
+			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
+		}
+	}
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
+
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		btScalar halfHeight = capsuleShape->getHalfHeight();
+		int capsuleUpAxis = capsuleShape->getUpAxis();
+
+		btScalar radius = capsuleShape->getRadius();
+		btVector3 supVec(0,0,0);
+
+		btScalar maxDot(btScalar(-1e30));
+
+		btVector3 vec = vec0;
+		btScalar lenSqr = vec.length2();
+		if (lenSqr < btScalar(0.0001))
+		{
+			vec.setValue(1,0,0);
+		} else
+		{
+			btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+			vec *= rlen;
+		}
+		btVector3 vtx;
+		btScalar newDot;
+		{
+			btVector3 pos(0,0,0);
+			pos[capsuleUpAxis] = halfHeight;
+
+			//vtx = pos +vec*(radius);
+			vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
+			newDot = vec.dot(vtx);
+			
+
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supVec = vtx;
+			}
+		}
+		{
+			btVector3 pos(0,0,0);
+			pos[capsuleUpAxis] = -halfHeight;
+
+			//vtx = pos +vec*(radius);
+			vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supVec = vtx;
+			}
+		}
+		return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());	
+	}
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	{
+		btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
+		btVector3* points = convexPointCloudShape->getUnscaledPoints ();
+		int numPoints = convexPointCloudShape->getNumPoints ();
+		return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV());
+	}
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
+		btVector3* points = convexHullShape->getUnscaledPoints();
+		int numPoints = convexHullShape->getNumPoints ();
+		return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV());
+	}
+    default:
+#ifndef __SPU__
+		return this->localGetSupportingVertexWithoutMargin (localDir);
+#else
+		btAssert (0);
+#endif
+	}
+
+	// should never reach here
+	btAssert (0);
+	return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
+}
+
+btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const
+{
+	btVector3 localDirNorm = localDir;
+	if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+	{
+		localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+	}
+	localDirNorm.normalize ();
+
+	return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm;
+}
+
+/* TODO: This should be bumped up to btCollisionShape () */
+btScalar btConvexShape::getMarginNonVirtual () const
+{
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		btSphereShape* sphereShape = (btSphereShape*)this;
+		return sphereShape->getRadius ();
+	}
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btBoxShape* convexShape = (btBoxShape*)this;
+		return convexShape->getMarginNV ();
+	}
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		return triangleShape->getMarginNV ();
+	}
+	case CYLINDER_SHAPE_PROXYTYPE:
+	{
+		btCylinderShape* cylShape = (btCylinderShape*)this;
+		return cylShape->getMarginNV();
+	}
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		return capsuleShape->getMarginNV();
+	}
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	/* fall through */
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
+		return convexHullShape->getMarginNV();
+	}
+    default:
+#ifndef __SPU__
+		return this->getMargin ();
+#else
+		btAssert (0);
+#endif
+	}
+
+	// should never reach here
+	btAssert (0);
+	return btScalar(0.0f);
+}
+
+void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+{
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		btSphereShape* sphereShape = (btSphereShape*)this;
+		btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
+		btScalar margin = radius + sphereShape->getMarginNonVirtual();
+		const btVector3& center = t.getOrigin();
+		btVector3 extent(margin,margin,margin);
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+    }
+	break;
+	case CYLINDER_SHAPE_PROXYTYPE:
+	/* fall through */
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btBoxShape* convexShape = (btBoxShape*)this;
+		btScalar margin=convexShape->getMarginNonVirtual();
+		btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
+		halfExtents += btVector3(margin,margin,margin);
+		btMatrix3x3 abs_b = t.getBasis().absolute();  
+		btVector3 center = t.getOrigin();
+		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
+		
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+		break;
+	}
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		btScalar margin = triangleShape->getMarginNonVirtual();
+		for (int i=0;i<3;i++)
+		{
+			btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+			vec[i] = btScalar(1.);
+
+			btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis());
+
+			btVector3 tmp = t(sv);
+			aabbMax[i] = tmp[i]+margin;
+			vec[i] = btScalar(-1.);
+			tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()));
+			aabbMin[i] = tmp[i]-margin;
+		}	
+	}
+	break;
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
+		int m_upAxis = capsuleShape->getUpAxis();
+		halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
+		halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
+		btMatrix3x3 abs_b = t.getBasis().absolute();  
+		btVector3 center = t.getOrigin();
+		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  	
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+	}
+	break;
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
+		btScalar margin = convexHullShape->getMarginNonVirtual();
+		convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
+	}
+	break;
+    default:
+#ifndef __SPU__
+		this->getAabb (t, aabbMin, aabbMax);
+#else
+		btAssert (0);
+#endif
+	break;
+	}
+
+	// should never reach here
+	btAssert (0);
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h
index e4eb7f6dbf6..0cc7b349521 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h
@@ -24,8 +24,6 @@ subject to the following restrictions:
 #include "btCollisionMargin.h"
 #include "LinearMath/btAlignedAllocator.h"
 
-//todo: get rid of this btConvexCastResult thing!
-struct btConvexCastResult;
 #define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
 
 /// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.
@@ -38,20 +36,25 @@ public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	virtual ~btConvexShape()
-	{
+	btConvexShape ();
 
-	}
+	virtual ~btConvexShape();
 
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const = 0;
+
+	////////
+	#ifndef __SPU__
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0;
+	#endif //#ifndef __SPU__
+
+	btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const;
+	btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const;
+	btScalar getMarginNonVirtual () const;
+	void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const =0;
-#ifndef __SPU__
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
 	
 	//notice that the vectors should be unit length
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
-#endif //#ifndef __SPU__
-
 
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
 	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
@@ -69,6 +72,9 @@ public:
 	
 	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
 
+
+	
+	
 };
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
index 02a293e82ba..4bd986bb7f7 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
@@ -20,8 +20,9 @@ subject to the following restrictions:
 
 
 btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
-:m_stridingMesh(meshInterface)
+: btPolyhedralConvexShape(), m_stridingMesh(meshInterface)
 {
+	m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
 	if ( calcAabb )
 		recalcLocalAabb();
 }
@@ -107,7 +108,7 @@ void	btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
 		}
 	}
 	
-	//todo: could do the batch inside the callback!
+	///@todo: could do the batch inside the callback!
 
 
 	for (int j=0;j<numVectors;j++)
@@ -162,12 +163,12 @@ int btConvexTriangleMeshShape::getNumEdges() const
 	return 0;
 }
 
-void btConvexTriangleMeshShape::getEdge(int ,btPoint3& ,btPoint3& ) const
+void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
 {
 	btAssert(0);	
 }
 
-void btConvexTriangleMeshShape::getVertex(int ,btPoint3& ) const
+void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
 {
 	btAssert(0);
 }
@@ -177,13 +178,13 @@ int	btConvexTriangleMeshShape::getNumPlanes() const
 	return 0;
 }
 
-void btConvexTriangleMeshShape::getPlane(btVector3& ,btPoint3& ,int  ) const
+void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int  ) const
 {
 	btAssert(0);
 }
 
 //not yet
-bool btConvexTriangleMeshShape::isInside(const btPoint3& ,btScalar ) const
+bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
 {
 	btAssert(0);
 	return false;
@@ -268,15 +269,12 @@ void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& pri
          btVector3 a = triangle[0] - center;
          btVector3 b = triangle[1] - center;
          btVector3 c = triangle[2] - center;
-         btVector3 abc = a + b + c;
          btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
          for (int j = 0; j < 3; j++)
          {
             for (int k = 0; k <= j; k++)
             {
-               i[j][k] = i[k][j] = volNeg * (center[j] * center[k]
-                 + btScalar(0.25) * (center[j] * abc[k] + center[k] * abc[j])
-                  + btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
+               i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
                   + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
             }
          }
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
index 6ff0bf5d43b..9d7e39fce69 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
@@ -29,18 +29,16 @@ public:
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
-	virtual int	getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
-
 	//debugging
 	virtual const char*	getName()const {return "ConvexTrimesh";}
 	
 	virtual int	getNumVertices() const;
 	virtual int getNumEdges() const;
-	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
-	virtual void getVertex(int i,btPoint3& vtx) const;
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
+	virtual void getVertex(int i,btVector3& vtx) const;
 	virtual int	getNumPlanes() const;
-	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
-	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const;
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
 
 	
 	virtual void	setLocalScaling(const btVector3& scaling);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp
index 3afef1c7550..c9fa907edf3 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp
@@ -13,12 +13,12 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 #include "btCylinderShape.h"
-#include "LinearMath/btPoint3.h"
 
 btCylinderShape::btCylinderShape (const btVector3& halfExtents)
 :btBoxShape(halfExtents),
 m_upAxis(1)
 {
+	m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
 	recalcLocalAabb();
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
index 30938acf7c7..bda74a8612d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
@@ -62,11 +62,7 @@ public:
 	//use box inertia
 	//	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
-	virtual int	getShapeType() const
-	{
-		return CYLINDER_SHAPE_PROXYTYPE;
-	}
-	
+
 	int	getUpAxis() const
 	{
 		return m_upAxis;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp
index 6954aad7917..8387b9584bb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp
@@ -19,8 +19,9 @@ subject to the following restrictions:
 #include "btCollisionShape.h"
 
 
-btEmptyShape::btEmptyShape()
+btEmptyShape::btEmptyShape() : btConcaveShape ()
 {
+	m_shapeType = EMPTY_SHAPE_PROXYTYPE;
 }
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
index d7d78407b61..8720d53ae63 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
@@ -51,14 +51,14 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 	
-	virtual int	getShapeType() const { return EMPTY_SHAPE_PROXYTYPE;}
-
-	
 	virtual const char*	getName()const
 	{
 		return "Empty";
 	}
 
+	virtual void processAllTriangles(btTriangleCallback* ,const btVector3& ,const btVector3& ) const
+	{
+	}
 
 protected:
 	btVector3	m_localScaling;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index a291d6b7ce7..7d4875d8037 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -18,71 +18,107 @@ subject to the following restrictions:
 #include "LinearMath/btTransformUtil.h"
 
 
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
-: m_heightStickWidth(heightStickWidth),
-m_heightStickLength(heightStickLength),
-m_maxHeight(maxHeight),
-m_width((btScalar)heightStickWidth-1),
-m_length((btScalar)heightStickLength-1),
-m_heightfieldDataUnknown(heightfieldData),
-m_useFloatData(useFloatData),
-m_flipQuadEdges(flipQuadEdges),
-m_useDiamondSubdivision(false),
-m_upAxis(upAxis),
-m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
+
+btHeightfieldTerrainShape::btHeightfieldTerrainShape
+(
+int heightStickWidth, int heightStickLength, void* heightfieldData,
+btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
+PHY_ScalarType hdt, bool flipQuadEdges
+)
 {
+	initialize(heightStickWidth, heightStickLength, heightfieldData,
+	           heightScale, minHeight, maxHeight, upAxis, hdt,
+	           flipQuadEdges);
+}
+
 
 
-	btScalar	quantizationMargin = 1.f;
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
+{
+	// legacy constructor: support only float or unsigned char,
+	// 	and min height is zero
+	PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
+	btScalar minHeight = 0.0;
+
+	// previously, height = uchar * maxHeight / 65535.
+	// So to preserve legacy behavior, heightScale = maxHeight / 65535
+	btScalar heightScale = maxHeight / 65535;
+
+	initialize(heightStickWidth, heightStickLength, heightfieldData,
+	           heightScale, minHeight, maxHeight, upAxis, hdt,
+	           flipQuadEdges);
+}
 
-	//enlarge the AABB to avoid division by zero when initializing the quantization values
-	btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
 
-	btVector3	halfExtents(0,0,0);
 
+void btHeightfieldTerrainShape::initialize
+(
+int heightStickWidth, int heightStickLength, void* heightfieldData,
+btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
+PHY_ScalarType hdt, bool flipQuadEdges
+)
+{
+	// validation
+	btAssert(heightStickWidth > 1 && "bad width");
+	btAssert(heightStickLength > 1 && "bad length");
+	btAssert(heightfieldData && "null heightfield data");
+	// btAssert(heightScale) -- do we care?  Trust caller here
+	btAssert(minHeight <= maxHeight && "bad min/max height");
+	btAssert(upAxis >= 0 && upAxis < 3 &&
+	    "bad upAxis--should be in range [0,2]");
+	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT &&
+	    "Bad height data type enum");
+
+	// initialize member variables
+	m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
+	m_heightStickWidth = heightStickWidth;
+	m_heightStickLength = heightStickLength;
+	m_minHeight = minHeight;
+	m_maxHeight = maxHeight;
+	m_width = (btScalar) (heightStickWidth - 1);
+	m_length = (btScalar) (heightStickLength - 1);
+	m_heightScale = heightScale;
+	m_heightfieldDataUnknown = heightfieldData;
+	m_heightDataType = hdt;
+	m_flipQuadEdges = flipQuadEdges;
+	m_useDiamondSubdivision = false;
+	m_upAxis = upAxis;
+	m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
+
+	// determine min/max axis-aligned bounding box (aabb) values
 	switch (m_upAxis)
 	{
 	case 0:
 		{
-			halfExtents.setValue(
-				btScalar(m_maxHeight),
-				btScalar(m_width), //?? don't know if this should change
-				btScalar(m_length));
+			m_localAabbMin.setValue(m_minHeight, 0, 0);
+			m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
 			break;
 		}
 	case 1:
 		{
-			halfExtents.setValue(
-				btScalar(m_width),
-				btScalar(m_maxHeight),
-				btScalar(m_length));
+			m_localAabbMin.setValue(0, m_minHeight, 0);
+			m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
 			break;
 		};
 	case 2:
 		{
-			halfExtents.setValue(
-				btScalar(m_width),
-				btScalar(m_length),
-				btScalar(m_maxHeight)
-			);
+			m_localAabbMin.setValue(0, 0, m_minHeight);
+			m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
 			break;
 		}
 	default:
 		{
 			//need to get valid m_upAxis
-			btAssert(0);
+			btAssert(0 && "Bad m_upAxis");
 		}
 	}
 
-	halfExtents*= btScalar(0.5);
-	
-	m_localAabbMin = -halfExtents - clampValue;
-	m_localAabbMax = halfExtents + clampValue;
-	btVector3 aabbSize = m_localAabbMax - m_localAabbMin;
-
+	// remember origin (defined as exact middle of aabb)
+	m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
 }
 
 
+
 btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
 {
 }
@@ -92,57 +128,80 @@ btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
 void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
 {
 	btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
-	halfExtents += btVector3(getMargin(),getMargin(),getMargin());
+
+	btVector3 localOrigin(0, 0, 0);
+	localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
+	localOrigin *= m_localScaling;
 
 	btMatrix3x3 abs_b = t.getBasis().absolute();  
-	btPoint3 center = t.getOrigin();
+	btVector3 center = t.getOrigin();
 	btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
 		   abs_b[1].dot(halfExtents),
 		  abs_b[2].dot(halfExtents));
-	
+	extent += btVector3(getMargin(),getMargin(),getMargin());
 
 	aabbMin = center - extent;
 	aabbMax = center + extent;
-
-
 }
 
-btScalar	btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
+
+/// This returns the "raw" (user's initial) height, not the actual height.
+/// The actual height needs to be adjusted to be relative to the center
+///   of the heightfield's AABB.
+btScalar
+btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
 {
 	btScalar val = 0.f;
-	if (m_useFloatData)
+	switch (m_heightDataType)
 	{
-		val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
-	} else
-	{
-		//assume unsigned short int
-		unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
-		val = heightFieldValue* (m_maxHeight/btScalar(65535));
+	case PHY_FLOAT:
+		{
+			val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
+			break;
+		}
+
+	case PHY_UCHAR:
+		{
+			unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
+			val = heightFieldValue * m_heightScale;
+			break;
+		}
+
+	case PHY_SHORT:
+		{
+			short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
+			val = hfValue * m_heightScale;
+			break;
+		}
+
+	default:
+		{
+			btAssert(!"Bad m_heightDataType");
+		}
 	}
+
 	return val;
 }
 
 
 
 
-
+/// this returns the vertex in bullet-local coordinates
 void	btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
 {
-
 	btAssert(x>=0);
 	btAssert(y>=0);
 	btAssert(x<m_heightStickWidth);
 	btAssert(y<m_heightStickLength);
 
-
-	btScalar	height = getHeightFieldValue(x,y);
+	btScalar	height = getRawHeightFieldValue(x,y);
 
 	switch (m_upAxis)
 	{
 	case 0:
 		{
 		vertex.setValue(
-			height,
+			height - m_localOrigin.getX(),
 			(-m_width/btScalar(2.0)) + x,
 			(-m_length/btScalar(2.0) ) + y
 			);
@@ -152,7 +211,7 @@ void	btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
 		{
 			vertex.setValue(
 			(-m_width/btScalar(2.0)) + x,
-			height,
+			height - m_localOrigin.getY(),
 			(-m_length/btScalar(2.0)) + y
 			);
 			break;
@@ -162,7 +221,7 @@ void	btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
 			vertex.setValue(
 			(-m_width/btScalar(2.0)) + x,
 			(-m_length/btScalar(2.0)) + y,
-			height
+			height - m_localOrigin.getZ()
 			);
 			break;
 		}
@@ -174,45 +233,76 @@ void	btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
 	}
 
 	vertex*=m_localScaling;
-	
 }
 
 
+
+static inline int
+getQuantized
+(
+btScalar x
+)
+{
+	if (x < 0.0) {
+		return (int) (x - 0.5);
+	}
+	return (int) (x + 0.5);
+}
+
+
+
+/// given input vector, return quantized version
+/**
+  This routine is basically determining the gridpoint indices for a given
+  input vector, answering the question: "which gridpoint is closest to the
+  provided point?".
+
+  "with clamp" means that we restrict the point to be in the heightfield's
+  axis-aligned bounding box.
+ */
 void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
 {
 	btVector3 clampedPoint(point);
 	clampedPoint.setMax(m_localAabbMin);
 	clampedPoint.setMin(m_localAabbMax);
 
-	btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
-
-	//TODO: optimization: check out how to removed this btFabs
+	out[0] = getQuantized(clampedPoint.getX());
+	out[1] = getQuantized(clampedPoint.getY());
+	out[2] = getQuantized(clampedPoint.getZ());
 		
-	out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
-	out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
-	out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
-	
 }
 
 
+
+/// process all triangles within the provided axis-aligned bounding box
+/**
+  basic algorithm:
+    - convert input aabb to local coordinates (scale down and shift for local origin)
+    - convert input aabb to a range of heightfield grid points (quantize)
+    - iterate over all triangles in that subset of the grid
+ */
 void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
 {
-	(void)callback;
-	(void)aabbMax;
-	(void)aabbMin;
+	// scale down the input aabb's so they are in local (non-scaled) coordinates
+	btVector3	localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
+	btVector3	localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
 
-	//quantize the aabbMin and aabbMax, and adjust the start/end ranges
+	// account for local origin
+	localAabbMin += m_localOrigin;
+	localAabbMax += m_localOrigin;
 
+	//quantize the aabbMin and aabbMax, and adjust the start/end ranges
 	int	quantizedAabbMin[3];
 	int	quantizedAabbMax[3];
-
-	btVector3	localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
-	btVector3	localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
-	
 	quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
 	quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
 	
-	
+	// expand the min/max quantized values
+	// this is to catch the case where the input aabb falls between grid points!
+	for (int i = 0; i < 3; ++i) {
+		quantizedAabbMin[i]--;
+		quantizedAabbMax[i]++;
+	}	
 
 	int startX=0;
 	int endX=m_heightStickWidth-1;
@@ -223,11 +313,6 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 	{
 	case 0:
 		{
-			quantizedAabbMin[1]+=m_heightStickWidth/2-1;
-			quantizedAabbMax[1]+=m_heightStickWidth/2+1;
-			quantizedAabbMin[2]+=m_heightStickLength/2-1;
-			quantizedAabbMax[2]+=m_heightStickLength/2+1;
-
 			if (quantizedAabbMin[1]>startX)
 				startX = quantizedAabbMin[1];
 			if (quantizedAabbMax[1]<endX)
@@ -240,11 +325,6 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 		}
 	case 1:
 		{
-			quantizedAabbMin[0]+=m_heightStickWidth/2-1;
-			quantizedAabbMax[0]+=m_heightStickWidth/2+1;
-			quantizedAabbMin[2]+=m_heightStickLength/2-1;
-			quantizedAabbMax[2]+=m_heightStickLength/2+1;
-
 			if (quantizedAabbMin[0]>startX)
 				startX = quantizedAabbMin[0];
 			if (quantizedAabbMax[0]<endX)
@@ -257,11 +337,6 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 		};
 	case 2:
 		{
-			quantizedAabbMin[0]+=m_heightStickWidth/2-1;
-			quantizedAabbMax[0]+=m_heightStickWidth/2+1;
-			quantizedAabbMin[1]+=m_heightStickLength/2-1;
-			quantizedAabbMax[1]+=m_heightStickLength/2+1;
-
 			if (quantizedAabbMin[0]>startX)
 				startX = quantizedAabbMin[0];
 			if (quantizedAabbMax[0]<endX)
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index d6890fe6b97..36489a0ebc3 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -18,28 +18,80 @@ subject to the following restrictions:
 
 #include "btConcaveShape.h"
 
-///The btHeightfieldTerrainShape simulates a 2D heightfield terrain collision shape. You can also use the more general btBvhTriangleMeshShape instead.
-///An example implementation of btHeightfieldTerrainShape is provided in Demos/VehicleDemo/VehicleDemo.cpp
+///btHeightfieldTerrainShape simulates a 2D heightfield terrain
+/**
+  The caller is responsible for maintaining the heightfield array; this
+  class does not make a copy.
+
+  The heightfield can be dynamic so long as the min/max height values
+  capture the extremes (heights must always be in that range).
+
+  The local origin of the heightfield is assumed to be the exact
+  center (as determined by width and length and height, with each
+  axis multiplied by the localScaling).
+
+  \b NOTE: be careful with coordinates.  If you have a heightfield with a local
+  min height of -100m, and a max height of +500m, you may be tempted to place it
+  at the origin (0,0) and expect the heights in world coordinates to be
+  -100 to +500 meters.
+  Actually, the heights will be -300 to +300m, because bullet will re-center
+  the heightfield based on its AABB (which is determined by the min/max
+  heights).  So keep in mind that once you create a btHeightfieldTerrainShape
+  object, the heights will be adjusted relative to the center of the AABB.  This
+  is different to the behavior of many rendering engines, but is useful for
+  physics engines.
+
+  Most (but not all) rendering and heightfield libraries assume upAxis = 1
+  (that is, the y-axis is "up").  This class allows any of the 3 coordinates
+  to be "up".  Make sure your choice of axis is consistent with your rendering
+  system.
+
+  The heightfield heights are determined from the data type used for the
+  heightfieldData array.  
+
+   - PHY_UCHAR: height at a point is the uchar value at the
+       grid point, multipled by heightScale.  uchar isn't recommended
+       because of its inability to deal with negative values, and
+       low resolution (8-bit).
+
+   - PHY_SHORT: height at a point is the short int value at that grid
+       point, multipled by heightScale.
+
+   - PHY_FLOAT: height at a point is the float value at that grid
+       point.  heightScale is ignored when using the float heightfield
+       data type.
+
+  Whatever the caller specifies as minHeight and maxHeight will be honored.
+  The class will not inspect the heightfield to discover the actual minimum
+  or maximum heights.  These values are used to determine the heightfield's
+  axis-aligned bounding box, multiplied by localScaling.
+
+  For usage and testing see the TerrainDemo.
+ */
 class btHeightfieldTerrainShape : public btConcaveShape
 {
 protected:
 	btVector3	m_localAabbMin;
 	btVector3	m_localAabbMax;
-	
+	btVector3	m_localOrigin;
+
 	///terrain data
 	int	m_heightStickWidth;
 	int m_heightStickLength;
+	btScalar	m_minHeight;
 	btScalar	m_maxHeight;
 	btScalar m_width;
 	btScalar m_length;
+	btScalar m_heightScale;
 	union
 	{
 		unsigned char*	m_heightfieldDataUnsignedChar;
+		short*		m_heightfieldDataShort;
 		btScalar*			m_heightfieldDataFloat;
 		void*			m_heightfieldDataUnknown;
 	};
-	
-	bool	m_useFloatData;
+
+	PHY_ScalarType	m_heightDataType;	
 	bool	m_flipQuadEdges;
   bool  m_useDiamondSubdivision;
 
@@ -47,31 +99,49 @@ protected:
 	
 	btVector3	m_localScaling;
 
-	virtual btScalar	getHeightFieldValue(int x,int y) const;
+	virtual btScalar	getRawHeightFieldValue(int x,int y) const;
 	void		quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
 	void		getVertex(int x,int y,btVector3& vertex) const;
 
-	inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const  int* aabbMin2,const  int* aabbMax2) const
-	{
-		bool overlap = true;
-		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-		return overlap;
-	}
+
+
+	/// protected initialization
+	/**
+	  Handles the work of constructors so that public constructors can be
+	  backwards-compatible without a lot of copy/paste.
+	 */
+	void initialize(int heightStickWidth, int heightStickLength,
+	                void* heightfieldData, btScalar heightScale,
+	                btScalar minHeight, btScalar maxHeight, int upAxis,
+	                PHY_ScalarType heightDataType, bool flipQuadEdges);
 
 public:
-	btHeightfieldTerrainShape(int heightStickWidth,int heightStickHeight,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
+	/// preferred constructor
+	/**
+	  This constructor supports a range of heightfield
+	  data types, and allows for a non-zero minimum height value.
+	  heightScale is needed for any integer-based heightfield data types.
+	 */
+	btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
+	                          void* heightfieldData, btScalar heightScale,
+	                          btScalar minHeight, btScalar maxHeight,
+	                          int upAxis, PHY_ScalarType heightDataType,
+	                          bool flipQuadEdges);
+
+	/// legacy constructor
+	/**
+	  The legacy constructor assumes the heightfield has a minimum height
+	  of zero.  Only unsigned char or floats are supported.  For legacy
+	  compatibility reasons, heightScale is calculated as maxHeight / 65535 
+	  (and is only used when useFloatData = false).
+ 	 */
+	btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
 
 	virtual ~btHeightfieldTerrainShape();
 
 
 	void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
 
-	virtual int	getShapeType() const
-	{
-		return TERRAIN_SHAPE_PROXYTYPE;
-	}
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
index 8f893ac98aa..b107b0bea6e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
@@ -17,23 +17,25 @@ subject to the following restrictions:
 
 
 btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
-:m_shapeA(shapeA),
+: btConvexInternalShape (),
+m_shapeA(shapeA),
 m_shapeB(shapeB)
 {
+	m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
 	m_transA.setIdentity();
 	m_transB.setIdentity();
 }
 
 btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
 {
-	btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis()));
-	btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
+	btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
+	btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
 	return  supVertexA - supVertexB;
 }
 
 void	btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
 {
-	//todo: could make recursive use of batching. probably this shape is not used frequently.
+	///@todo: could make recursive use of batching. probably this shape is not used frequently.
 	for (int i=0;i<numVectors;i++)
 	{
 		supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
index f9c8427c2f3..6f637fbf40b 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
@@ -46,8 +46,6 @@ public:
 	const btTransform& GetTransformB()const  { return m_transB;}
 
 
-	virtual int	getShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
-
 	virtual btScalar	getMargin() const;
 
 	const btConvexShape*	getShapeA() const { return m_shapeA;}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
index c709205efc2..9423505290d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
@@ -18,8 +18,9 @@ subject to the following restrictions:
 #include "LinearMath/btQuaternion.h"
 
 btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres)
-:m_inertiaHalfExtents(inertiaHalfExtents)
+:btConvexInternalShape (), m_inertiaHalfExtents(inertiaHalfExtents)
 {
+	m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE;
 	btScalar startMargin = btScalar(1e30);
 
 	m_numSpheres = numSpheres;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
index 45968f3947f..97309fbbed9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
@@ -62,7 +62,6 @@ public:
 		return m_radi[index];
 	}
 
-	virtual int	getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
 
 	virtual const char*	getName()const 
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
index 2f108020cdf..d025a5c4450 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
@@ -31,10 +31,12 @@ public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-    btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {}
+    btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;}
     btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true):
         btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
         {
+            m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
+
             btVector3 m_triangle[3];
             const unsigned char *vertexbase;
             int numverts;
@@ -67,6 +69,8 @@ public:
 	btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true):
         btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
         {
+            m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
+
             btVector3 m_triangle[3];
             const unsigned char *vertexbase;
             int numverts;
@@ -107,11 +111,6 @@ public:
         m_materialLookup = NULL;
 */
     }
-	virtual int	getShapeType() const
-	{
-		return MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
-	}
-	
 	//debugging
 	virtual const char*	getName()const {return "MULTIMATERIALTRIANGLEMESH";}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
index a248c55b571..3e73059394c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
@@ -319,19 +319,19 @@ void	btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
 				{
 					
 					int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
-					btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
-#ifdef DEBUG_PATCH_COLORS
-					btVector3 mycolor = color[index&3];
-					graphicsbase[8] = mycolor.getX();
-					graphicsbase[9] = mycolor.getY();
-					graphicsbase[10] = mycolor.getZ();
-#endif //DEBUG_PATCH_COLORS
-
-
-					triangleVerts[j] = btVector3(
-						graphicsbase[0]*meshScaling.getX(),
-						graphicsbase[1]*meshScaling.getY(),
-						graphicsbase[2]*meshScaling.getZ());
+					if (type == PHY_FLOAT)
+					{
+						float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+						triangleVerts[j] = btVector3(
+							graphicsbase[0]*meshScaling.getX(),
+							graphicsbase[1]*meshScaling.getY(),
+							graphicsbase[2]*meshScaling.getZ());
+					}
+					else
+					{
+						double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+						triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
+					}
 				}
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index 71c3af38a02..7a79ac25791 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -15,8 +15,8 @@ subject to the following restrictions:
 
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
 
-btPolyhedralConvexShape::btPolyhedralConvexShape()
-:m_localAabbMin(1,1,1),
+btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
+m_localAabbMin(1,1,1),
 m_localAabbMax(-1,-1,-1),
 m_isLocalAabbValid(false),
 m_optionalHull(0)
@@ -25,7 +25,6 @@ m_optionalHull(0)
 }
 
 
-
 btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 {
 	int i;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
index 4c4ce7feaa7..7567a42d3ba 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
@@ -16,7 +16,6 @@ subject to the following restrictions:
 #ifndef BU_SHAPE
 #define BU_SHAPE
 
-#include "LinearMath/btPoint3.h"
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btAabbUtil2.h"
 #include "btConvexInternalShape.h"
@@ -36,12 +35,28 @@ public:
 	btPolyhedralConvexShape();
 
 	//brute force implementations
+
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
 	
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
 
+	void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
+	{
+		m_isLocalAabbValid = true;
+		m_localAabbMin = aabbMin;
+		m_localAabbMax = aabbMax;
+	}
+
+	inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		btAssert(m_isLocalAabbValid);
+		aabbMin = m_localAabbMin;
+		aabbMax = m_localAabbMax;
+	}
+
 	inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
 	{
 
@@ -59,13 +74,13 @@ public:
 
 	virtual int	getNumVertices() const = 0 ;
 	virtual int getNumEdges() const = 0;
-	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const = 0;
-	virtual void getVertex(int i,btPoint3& vtx) const = 0;
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
+	virtual void getVertex(int i,btVector3& vtx) const = 0;
 	virtual int	getNumPlanes() const = 0;
-	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const = 0;
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
 //	virtual int getIndex(int i) const = 0 ; 
 
-	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const = 0;
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
 	
 	/// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
 	class	Hull*	m_optionalHull;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
index 2b81a02b557..1fac1538769 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
@@ -15,11 +15,10 @@ subject to the following restrictions:
 
 #include "btScaledBvhTriangleMeshShape.h"
 
-btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling)
-:m_bvhTriMeshShape(childShape),
-m_localScaling(localScaling)
+btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
+:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
 {
-
+	m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
 }
 
 btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
@@ -35,7 +34,7 @@ class btScaledTriangleCallback : public btTriangleCallback
 
 public:
 
-	btScaledTriangleCallback(btTriangleCallback* originalCallback,btVector3 localScaling)
+	btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
 		:m_originalCallback(originalCallback),
 		m_localScaling(localScaling)
 	{
@@ -94,7 +93,7 @@ void	btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a
 	
 	btMatrix3x3 abs_b = trans.getBasis().absolute();  
 
-	btPoint3 center = trans(localCenter);
+	btVector3 center = trans(localCenter);
 
 	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 		   abs_b[1].dot(localHalfExtents),
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
index 0a1ef8ce5cb..5da6fe8bc95 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
@@ -32,15 +32,10 @@ ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
 public:
 
 
-	btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling);
+	btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling);
 
 	virtual ~btScaledBvhTriangleMeshShape();
 
-	virtual int	getShapeType() const
-	{
-		//use un-used 'FAST_CONCAVE_MESH_PROXYTYPE' for now, later add SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE to btBroadphaseProxy.h
-		return SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	}
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 	virtual void	setLocalScaling(const btVector3& scaling);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp
index 15cfe432e27..cab7b277289 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp
@@ -18,12 +18,6 @@ subject to the following restrictions:
 
 #include "LinearMath/btQuaternion.h"
 
-
-btSphereShape ::btSphereShape (btScalar radius)
-{
-	m_implicitShapeDimensions.setX(radius);
-}
-
 btVector3	btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
 {
 	(void)vec;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h
index a6d01cdca9d..bf163d3b501 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h
@@ -27,8 +27,12 @@ ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btSphereShape (btScalar radius);
-	
+	btSphereShape (btScalar radius) : btConvexInternalShape ()
+	{
+		m_shapeType = SPHERE_SHAPE_PROXYTYPE;
+		m_implicitShapeDimensions.setX(radius);
+		m_collisionMargin = radius;
+	}
 	
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@@ -40,7 +44,6 @@ public:
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
-	virtual int	getShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
 
 	btScalar	getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
index 3c98ca08ddc..17b8776d459 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
@@ -19,10 +19,11 @@ subject to the following restrictions:
 
 
 btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
-:m_planeNormal(planeNormal.normalized()),
+: btConcaveShape (), m_planeNormal(planeNormal.normalized()),
 m_planeConstant(planeConstant),
 m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.))
 {
+	m_shapeType = STATIC_PLANE_PROXYTYPE;
 	//	btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
index ddebca73dea..a496013c077 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -36,11 +36,6 @@ public:
 	virtual ~btStaticPlaneShape();
 
 
-	virtual int	getShapeType() const
-	{
-		return STATIC_PLANE_PROXYTYPE;
-	}
-
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
index 85020dd3f58..e61b11499d4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
@@ -18,16 +18,9 @@ subject to the following restrictions:
 
 #include "LinearMath/btVector3.h"
 #include "btTriangleCallback.h"
+#include "btConcaveShape.h"
+
 
-/// PHY_ScalarType enumerates possible scalar types.
-/// See the btStridingMeshInterface for its use
-typedef enum PHY_ScalarType {
-	PHY_FLOAT,
-	PHY_DOUBLE,
-	PHY_INTEGER,
-	PHY_SHORT,
-	PHY_FIXEDPOINT88
-} PHY_ScalarType;
 
 ///	The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
 /// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
@@ -77,8 +70,16 @@ class  btStridingMeshInterface
 		virtual void	preallocateIndices(int numindices)=0;
 
 		virtual bool	hasPremadeAabb() const { return false; }
-		virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const {}
-		virtual void	getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const {}
+		virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
+                {
+                        (void) aabbMin;
+                        (void) aabbMax;
+                }
+		virtual void	getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const
+        {
+            (void) aabbMin;
+            (void) aabbMax;
+        }
 
 		const btVector3&	getScaling() const {
 			return m_scaling;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
index 3aa1eda9964..7fd8fb4691b 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
@@ -16,35 +16,40 @@ subject to the following restrictions:
 #include "btTetrahedronShape.h"
 #include "LinearMath/btMatrix3x3.h"
 
-btBU_Simplex1to4::btBU_Simplex1to4()
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0)
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1)
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 	addVertex(pt1);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2)
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 	addVertex(pt1);
 	addVertex(pt2);
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3)
-:m_numVertices(0)
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexShape (),
+m_numVertices(0)
 {
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
 	addVertex(pt0);
 	addVertex(pt1);
 	addVertex(pt2);
@@ -55,7 +60,7 @@ btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const
 
 
 
-void btBU_Simplex1to4::addVertex(const btPoint3& pt)
+void btBU_Simplex1to4::addVertex(const btVector3& pt)
 {
 	m_vertices[m_numVertices++] = pt;
 
@@ -87,7 +92,7 @@ int btBU_Simplex1to4::getNumEdges() const
 	return 0;
 }
 
-void btBU_Simplex1to4::getEdge(int i,btPoint3& pa,btPoint3& pb) const
+void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const
 {
 	
     switch (m_numVertices)
@@ -151,7 +156,7 @@ void btBU_Simplex1to4::getEdge(int i,btPoint3& pa,btPoint3& pb) const
 
 }
 
-void btBU_Simplex1to4::getVertex(int i,btPoint3& vtx) const
+void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const
 {
 	vtx = m_vertices[i];
 }
@@ -178,7 +183,7 @@ int	btBU_Simplex1to4::getNumPlanes() const
 }
 
 
-void btBU_Simplex1to4::getPlane(btVector3&, btPoint3& ,int ) const
+void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const
 {
 	
 }
@@ -188,7 +193,7 @@ int btBU_Simplex1to4::getIndex(int ) const
 	return 0;
 }
 
-bool btBU_Simplex1to4::isInside(const btPoint3& ,btScalar ) const
+bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const
 {
 	return false;
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
index 09272d61dc2..114ae288bb0 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
@@ -27,15 +27,15 @@ class btBU_Simplex1to4 : public btPolyhedralConvexShape
 protected:
 
 	int	m_numVertices;
-	btPoint3	m_vertices[4];
+	btVector3	m_vertices[4];
 
 public:
 	btBU_Simplex1to4();
 
-	btBU_Simplex1to4(const btPoint3& pt0);
-	btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1);
-	btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2);
-	btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3);
+	btBU_Simplex1to4(const btVector3& pt0);
+	btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1);
+	btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2);
+	btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3);
 
     
 	void	reset()
@@ -44,9 +44,8 @@ public:
 	}
 	
 
-	virtual int	getShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; }
 
-	void addVertex(const btPoint3& pt);
+	void addVertex(const btVector3& pt);
 
 	//PolyhedralConvexShape interface
 
@@ -54,17 +53,17 @@ public:
 
 	virtual int getNumEdges() const;
 
-	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
 	
-	virtual void getVertex(int i,btPoint3& vtx) const;
+	virtual void getVertex(int i,btVector3& vtx) const;
 
 	virtual int	getNumPlanes() const;
 
-	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const;
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const;
 
 	virtual int getIndex(int i) const;
 
-	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const;
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
 
 
 	///getName is for debugging
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h
index c739fc11e8f..adca38041b2 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h
@@ -28,7 +28,7 @@ struct	btTriangle
 	int	m_triangleIndex;
 };
 
-///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
+///The btTriangleBuffer callback can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
 ///Example usage of this class:
 ///			btTriangleBuffer	triBuf;
 ///			concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
index b962829041a..5f292532861 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
@@ -82,7 +82,8 @@ bool	btTriangleIndexVertexArray::hasPremadeAabb() const
 	return (m_hasAabb == 1);
 }
 
-void	btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax )
+
+void	btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
 {
 	m_aabbMin = aabbMin;
 	m_aabbMax = aabbMax;
@@ -95,3 +96,4 @@ void	btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* a
 	*aabbMax = m_aabbMax;
 }
 
+
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
index e546675f802..eb79ff5e47d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -52,9 +52,9 @@ ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshIn
 protected:
 	IndexedMeshArray	m_indexedMeshes;
 	int m_pad[2];
-	int m_hasAabb; // using int instead of bool to maintain alignment
-	btVector3 m_aabbMin;
-	btVector3 m_aabbMax;
+	mutable int m_hasAabb; // using int instead of bool to maintain alignment
+	mutable btVector3 m_aabbMin;
+	mutable btVector3 m_aabbMax;
 
 public:
 
@@ -106,7 +106,7 @@ public:
 	virtual void	preallocateIndices(int numindices){(void) numindices;}
 
 	virtual bool	hasPremadeAabb() const;
-	virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax );
+	virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const;
 	virtual void	getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const;
 
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
index 492854ff646..abefa71250a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
@@ -1,3 +1,4 @@
+
 /*
 Bullet Continuous Collision Detection and Physics Library
 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
index 29d26316316..5dcfa51c280 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
@@ -35,13 +35,13 @@ m_weldingThreshold(0.0)
 	if (m_use32bitIndices)
 	{
 		m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3;
-		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
+		m_indexedMeshes[0].m_triangleIndexBase = 0;
 		m_indexedMeshes[0].m_indexType = PHY_INTEGER;
 		m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int);
 	} else
 	{
 		m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3;
-		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
+		m_indexedMeshes[0].m_triangleIndexBase = 0;
 		m_indexedMeshes[0].m_indexType = PHY_SHORT;
 		m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int);
 	}
@@ -49,12 +49,12 @@ m_weldingThreshold(0.0)
 	if (m_use4componentVertices)
 	{
 		m_indexedMeshes[0].m_numVertices = m_4componentVertices.size();
-		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
+		m_indexedMeshes[0].m_vertexBase = 0;
 		m_indexedMeshes[0].m_vertexStride = sizeof(btVector3);
 	} else
 	{
 		m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3;
-		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
+		m_indexedMeshes[0].m_vertexBase = 0;
 		m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar);
 	}
 
@@ -74,17 +74,21 @@ void	btTriangleMesh::addIndex(int index)
 	}
 }
 
-int	btTriangleMesh::findOrAddVertex(const btVector3& vertex)
+
+int	btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
 {
 	//return index of new/existing vertex
-	//todo: could use acceleration structure for this
+	///@todo: could use acceleration structure for this
 	if (m_use4componentVertices)
 	{
-		for (int i=0;i< m_4componentVertices.size();i++)
-		{
-			if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold)
+		if (removeDuplicateVertices)
+			{
+			for (int i=0;i< m_4componentVertices.size();i++)
 			{
-				return i;
+				if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold)
+				{
+					return i;
+				}
 			}
 		}
 		m_indexedMeshes[0].m_numVertices++;
@@ -96,17 +100,20 @@ int	btTriangleMesh::findOrAddVertex(const btVector3& vertex)
 	} else
 	{
 		
-		for (int i=0;i< m_3componentVertices.size();i+=3)
+		if (removeDuplicateVertices)
 		{
-			btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
-			if ((vtx-vertex).length2() <= m_weldingThreshold)
+			for (int i=0;i< m_3componentVertices.size();i+=3)
 			{
-				return i/3;
+				btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
+				if ((vtx-vertex).length2() <= m_weldingThreshold)
+				{
+					return i/3;
+				}
 			}
-		}
-		m_3componentVertices.push_back(vertex.getX());
-		m_3componentVertices.push_back(vertex.getY());
-		m_3componentVertices.push_back(vertex.getZ());
+	}
+		m_3componentVertices.push_back((float)vertex.getX());
+		m_3componentVertices.push_back((float)vertex.getY());
+		m_3componentVertices.push_back((float)vertex.getZ());
 		m_indexedMeshes[0].m_numVertices++;
 		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
 		return (m_3componentVertices.size()/3)-1;
@@ -114,13 +121,12 @@ int	btTriangleMesh::findOrAddVertex(const btVector3& vertex)
 
 }
 		
-void	btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2)
+void	btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices)
 {
 	m_indexedMeshes[0].m_numTriangles++;
-		
-	addIndex(findOrAddVertex(vertex0));
-	addIndex(findOrAddVertex(vertex1));
-	addIndex(findOrAddVertex(vertex2));
+	addIndex(findOrAddVertex(vertex0,removeDuplicateVertices));
+	addIndex(findOrAddVertex(vertex1,removeDuplicateVertices));
+	addIndex(findOrAddVertex(vertex2,removeDuplicateVertices));
 }
 
 int btTriangleMesh::getNumTriangles() const
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
index 1f51b2f2c87..f06fbb7c22d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
@@ -25,7 +25,6 @@ subject to the following restrictions:
 ///It allows either 32bit or 16bit indices, and 4 (x-y-z-w) or 3 (x-y-z) component vertices.
 ///If you want to share triangle/index data between graphics mesh and collision mesh (btBvhTriangleMeshShape), you can directly use btTriangleIndexVertexArray or derive your own class from btStridingMeshInterface.
 ///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a btBvhTriangleMeshShape is the same.
-///It has a brute-force option to weld together closeby vertices.
 class btTriangleMesh : public btTriangleIndexVertexArray
 {
 	btAlignedObjectArray<btVector3>	m_4componentVertices;
@@ -42,7 +41,7 @@ class btTriangleMesh : public btTriangleIndexVertexArray
 
 		btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true);
 
-		int		findOrAddVertex(const btVector3& vertex);
+		int		findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices);
 		void	addIndex(int index);
 
 		bool	getUse32bitIndices() const
@@ -54,8 +53,9 @@ class btTriangleMesh : public btTriangleIndexVertexArray
 		{
 			return m_use4componentVertices;
 		}
-		
-		void	addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2);
+		///By default addTriangle won't search for duplicate vertices, because the search is very slow for large triangle meshes.
+		///In general it is better to directly use btTriangleIndexVertexArray instead.
+		void	addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2, bool removeDuplicateVertices=false);
 		
 		int getNumTriangles() const;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
index 0a2c77096d1..1bd7e84a4e7 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
@@ -22,8 +22,9 @@ subject to the following restrictions:
 
 
 btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
-: m_meshInterface(meshInterface)
+: btConcaveShape (), m_meshInterface(meshInterface)
 {
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	if(meshInterface->hasPremadeAabb())
 	{
 		meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax);
@@ -52,7 +53,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
 	
 	btMatrix3x3 abs_b = trans.getBasis().absolute();  
 
-	btPoint3 center = trans(localCenter);
+	btVector3 center = trans(localCenter);
 
 	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 		   abs_b[1].dot(localHalfExtents),
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
index c9eabafe290..53d65799001 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
@@ -40,7 +40,7 @@ public:
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
 	{
-		assert(0);
+		btAssert(0);
 		return localGetSupportingVertex(vec);
 	}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
index ba7aa0c32a0..4bfb0b9e881 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
@@ -40,17 +40,13 @@ public:
 	{
 		vert = m_vertices1[index];
 	}
-	virtual int	getShapeType() const
-	{
-		return TRIANGLE_SHAPE_PROXYTYPE;
-	}
 
 	virtual int getNumEdges() const
 	{
 		return 3;
 	}
 	
-	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
 	{
 		getVertex(i,pa);
 		getVertex((i+1)%3,pb);
@@ -83,15 +79,16 @@ public:
 
 
 
-    btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2)
+	btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape ()
     {
+		m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
         m_vertices1[0] = p0;
         m_vertices1[1] = p1;
         m_vertices1[2] = p2;
     }
 
 
-	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const
 	{
 		getPlaneEquation(i,planeNormal,planeSupport);
 	}
@@ -107,7 +104,7 @@ public:
 		normal.normalize();
 	}
 
-	virtual void getPlaneEquation(int i, btVector3& planeNormal,btPoint3& planeSupport) const
+	virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const
 	{
 		(void)i;
 		calcNormal(planeNormal);
@@ -121,7 +118,7 @@ public:
 		inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
 	}
 
-		virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const
+		virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
 	{
 		btVector3 normal;
 		calcNormal(normal);
@@ -135,7 +132,7 @@ public:
 			int i;
 			for (i=0;i<3;i++)
 			{
-				btPoint3 pa,pb;
+				btVector3 pa,pb;
 				getEdge(i,pa,pb);
 				btVector3 edge = pb-pa;
 				btVector3 edgeNormal = edge.cross(normal);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
index ef340286cb0..4c1c716d519 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
@@ -16,9 +16,10 @@ subject to the following restrictions:
 #include "btUniformScalingShape.h"
 
 btUniformScalingShape::btUniformScalingShape(	btConvexShape* convexChildShape,btScalar uniformScalingFactor):
-m_childConvexShape(convexChildShape),
+btConvexShape (), m_childConvexShape(convexChildShape),
 m_uniformScalingFactor(uniformScalingFactor)
 {
+	m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
 }
 	
 btUniformScalingShape::~btUniformScalingShape()
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h
index 1e17fc8e198..945976ac036 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h
@@ -61,7 +61,6 @@ class btUniformScalingShape : public btConvexShape
 		return "UniformScalingShape";
 	}
 	
-	virtual int	getShapeType() const { return UNIFORM_SCALING_SHAPE_PROXYTYPE; }
 
 
 	///////////////////////////
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h b/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h
index cf43f487e24..827a3c89587 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h
@@ -26,9 +26,6 @@ subject to the following restrictions:
 
 #include "LinearMath/btTransform.h"
 
-/*! \defgroup BOUND_AABB_OPERATIONS
-*/
-//! @{
 
 ///Swap numbers
 #define BT_SWAP_NUMBERS(a,b){ \
@@ -41,7 +38,7 @@ subject to the following restrictions:
 #define BT_MAX(a,b) (a<b?b:a)
 #define BT_MIN(a,b) (a>b?b:a)
 
-#define BT_GREATER(x, y)	fabsf(x) > (y)
+#define BT_GREATER(x, y)	btFabs(x) > (y)
 
 #define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c))
 #define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c))
@@ -181,7 +178,7 @@ public:
         {
             for(j=0;j<3;j++ )
             {
-            	m_AR[i][j] = 1e-6f + fabsf(m_R1to0[i][j]);
+            	m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]);
             }
         }
 
@@ -646,6 +643,5 @@ SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btT
 }
 
 
-//! @}
 
 #endif // GIM_BOX_COLLISION_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btClipPolygon.h b/extern/bullet2/src/BulletCollision/Gimpact/btClipPolygon.h
index 28c03b7e039..5de391a7561 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btClipPolygon.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btClipPolygon.h
@@ -27,9 +27,6 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btGeometryUtil.h"
 
-/*! \addtogroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 & plane,const btVector3 &point)
 {
@@ -181,6 +178,5 @@ SIMD_FORCE_INLINE int bt_plane_clip_triangle(
 
 
 
-//! @}
 
 #endif // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp
index faba2d8a542..c3b697bdd1e 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp
@@ -103,12 +103,12 @@ void btContactArray::merge_contacts(
 
 	push_back(contacts[keycontacts[0].m_value]);
 
-	BT_CONTACT * pcontact = &(*this)[0];
+	GIM_CONTACT * pcontact = &(*this)[0];
 
 	for( i=1;i<keycontacts.size();i++)
 	{
 	    key = keycontacts[i].m_key;
-		const BT_CONTACT * scontact = &contacts[keycontacts[i].m_value];
+		const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
 
 		if(last_key ==  key)//same points
 		{
@@ -158,7 +158,7 @@ void btContactArray::merge_contacts_unique(const btContactArray & contacts)
 		return;
 	}
 
-	BT_CONTACT average_contact = contacts[0];
+	GIM_CONTACT average_contact = contacts[0];
 
 	for (int i=1;i<contacts.size() ;i++ )
 	{
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h
index 0cfd013b962..4b0b70293b4 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h
@@ -29,11 +29,6 @@ subject to the following restrictions:
 #include "btTriangleShapeEx.h"
 
 
-/*! \defgroup CONTACTS
-\brief
-Functions for managing and sorting contacts resulting from a collision query.
-*/
-//! @{
 
 /**
 Configuration var for applying interpolation of  contact normals
@@ -42,8 +37,9 @@ Configuration var for applying interpolation of  contact normals
 
 #define CONTACT_DIFF_EPSILON 0.00001f
 
-/// Structure for collision results
-class BT_CONTACT
+///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
+///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
+class GIM_CONTACT
 {
 public:
     btVector3 m_point;
@@ -53,11 +49,11 @@ public:
     int m_feature1;//Face number
     int m_feature2;//Face number
 public:
-    BT_CONTACT()
+    GIM_CONTACT()
     {
     }
 
-    BT_CONTACT(const BT_CONTACT & contact):
+    GIM_CONTACT(const GIM_CONTACT & contact):
 				m_point(contact.m_point),
 				m_normal(contact.m_normal),
 				m_depth(contact.m_depth),
@@ -66,7 +62,7 @@ public:
     {
     }
 
-    BT_CONTACT(const btVector3 &point,const btVector3 & normal,
+    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
     	 			btScalar depth, int feature1, int feature2):
 				m_point(point),
 				m_normal(normal),
@@ -112,7 +108,7 @@ public:
 };
 
 
-class btContactArray:public btAlignedObjectArray<BT_CONTACT>
+class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
 {
 public:
 	btContactArray()
@@ -124,11 +120,11 @@ public:
 		const btVector3 &point,const btVector3 & normal,
 		btScalar depth, int feature1, int feature2)
 	{
-		push_back( BT_CONTACT(point,normal,depth,feature1,feature2) );
+		push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) );
 	}
 
 	SIMD_FORCE_INLINE void push_triangle_contacts(
-		const BT_TRIANGLE_CONTACT & tricontact,
+		const GIM_TRIANGLE_CONTACT & tricontact,
 		int feature1,int feature2)
 	{
 		for(int i = 0;i<tricontact.m_point_count ;i++ )
@@ -145,5 +141,5 @@ public:
 	void merge_contacts_unique(const btContactArray & contacts);
 };
 
-//! @}
+
 #endif // GIM_CONTACT_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.cpp
index b07926c30dc..38fed6b4fd2 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.cpp
@@ -65,7 +65,7 @@ float btGImpactBvh::getAverageTreeCollisionTime()
 /////////////////////// btBvhTree /////////////////////////////////
 
 int btBvhTree::_calc_splitting_axis(
-	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
 {
 
 	int i;
@@ -97,7 +97,7 @@ int btBvhTree::_calc_splitting_axis(
 
 
 int btBvhTree::_sort_and_calc_splitting_index(
-	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
+	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
 	int endIndex, int splitAxis)
 {
 	int i;
@@ -150,15 +150,14 @@ int btBvhTree::_sort_and_calc_splitting_index(
 		splitIndex = startIndex+ (numIndices>>1);
 	}
 
-	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
-	btAssert(!unbal);
+	btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
 
 	return splitIndex;
 
 }
 
 
-void btBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+void btBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
 {
 	int curIndex = m_num_nodes;
 	m_num_nodes++;
@@ -211,7 +210,7 @@ void btBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIn
 
 //! stackless build tree
 void btBvhTree::build_tree(
-	BT_BVH_DATA_ARRAY & primitive_boxes)
+	GIM_BVH_DATA_ARRAY & primitive_boxes)
 {
 	// initialize node count to 0
 	m_num_nodes = 0;
@@ -236,7 +235,7 @@ void btGImpactBvh::refit()
 		}
 		else
 		{
-			//const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
+			//const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
 			//get left bound
 			btAABB bound;
 			bound.invalidate();
@@ -266,7 +265,7 @@ void btGImpactBvh::refit()
 void btGImpactBvh::buildSet()
 {
 	//obtain primitive boxes
-	BT_BVH_DATA_ARRAY primitive_boxes;
+	GIM_BVH_DATA_ARRAY primitive_boxes;
 	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
 
 	for (int i = 0;i<primitive_boxes.size() ;i++ )
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h
index 1907efc2463..b432b615f8a 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h
@@ -32,29 +32,23 @@ subject to the following restrictions:
 
 
 
-/*! \defgroup BOX_TREES
-
-
-
-*/
-//! @{
 
 
 //! Overlapping pair
-struct BT_PAIR
+struct GIM_PAIR
 {
     int m_index1;
     int m_index2;
-    BT_PAIR()
+    GIM_PAIR()
     {}
 
-    BT_PAIR(const BT_PAIR & p)
+    GIM_PAIR(const GIM_PAIR & p)
     {
     	m_index1 = p.m_index1;
     	m_index2 = p.m_index2;
 	}
 
-	BT_PAIR(int index1, int index2)
+	GIM_PAIR(int index1, int index2)
     {
     	m_index1 = index1;
     	m_index2 = index2;
@@ -62,7 +56,7 @@ struct BT_PAIR
 };
 
 //! A pairset array
-class btPairSet: public btAlignedObjectArray<BT_PAIR>
+class btPairSet: public btAlignedObjectArray<GIM_PAIR>
 {
 public:
 	btPairSet()
@@ -71,32 +65,32 @@ public:
 	}
 	inline void push_pair(int index1,int index2)
 	{
-		push_back(BT_PAIR(index1,index2));
+		push_back(GIM_PAIR(index1,index2));
 	}
 
 	inline void push_pair_inv(int index1,int index2)
 	{
-		push_back(BT_PAIR(index2,index1));
+		push_back(GIM_PAIR(index2,index1));
 	}
 };
 
 
-
-struct BT_BVH_DATA
+///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box
+struct GIM_BVH_DATA
 {
 	btAABB m_bound;
 	int m_data;
 };
 
 //! Node Structure for trees
-class BT_BVH_TREE_NODE
+class GIM_BVH_TREE_NODE
 {
 public:
 	btAABB m_bound;
 protected:
 	int	m_escapeIndexOrDataIndex;
 public:
-	BT_BVH_TREE_NODE()
+	GIM_BVH_TREE_NODE()
 	{
 		m_escapeIndexOrDataIndex = 0;
 	}
@@ -133,12 +127,12 @@ public:
 };
 
 
-class BT_BVH_DATA_ARRAY:public btAlignedObjectArray<BT_BVH_DATA>
+class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray<GIM_BVH_DATA>
 {
 };
 
 
-class BT_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<BT_BVH_TREE_NODE>
+class GIM_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<GIM_BVH_TREE_NODE>
 {
 };
 
@@ -150,15 +144,15 @@ class btBvhTree
 {
 protected:
 	int m_num_nodes;
-	BT_BVH_TREE_NODE_ARRAY m_node_array;
+	GIM_BVH_TREE_NODE_ARRAY m_node_array;
 protected:
 	int _sort_and_calc_splitting_index(
-		BT_BVH_DATA_ARRAY & primitive_boxes,
+		GIM_BVH_DATA_ARRAY & primitive_boxes,
 		 int startIndex,  int endIndex, int splitAxis);
 
-	int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 
-	void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 public:
 	btBvhTree()
 	{
@@ -167,7 +161,7 @@ public:
 
 	//! prototype functions for box tree management
 	//!@{
-	void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes);
+	void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
 
 	SIMD_FORCE_INLINE void clearNodes()
 	{
@@ -218,7 +212,7 @@ public:
 		return m_node_array[nodeindex].getEscapeIndex();
 	}
 
-	SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
 	{
 		return &m_node_array[index];
 	}
@@ -382,12 +376,11 @@ public:
 	}
 
 
-	SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
 	{
 		return m_box_tree.get_node_pointer(index);
 	}
 
-//! @}
 
 	static float getAverageTreeCollisionTime();
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
index 28ad18fbde2..4d6fa88f62d 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
@@ -192,7 +192,7 @@ float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
 
 
 btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-: btCollisionAlgorithm(ci)
+: btActivatingCollisionAlgorithm(ci,body0,body1)
 {
 	m_manifoldPtr = NULL;
 	m_convex_algorithm = NULL;
@@ -404,7 +404,7 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body
 
 	btPrimitiveTriangle ptri0;
 	btPrimitiveTriangle ptri1;
-	BT_TRIANGLE_CONTACT contact_data;
+	GIM_TRIANGLE_CONTACT contact_data;
 
 	shape0->lockChildShapes();
 	shape1->lockChildShapes();
@@ -540,7 +540,7 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 	int i = pairset.size();
 	while(i--)
 	{
-		BT_PAIR * pair = &pairset[i];
+		GIM_PAIR * pair = &pairset[i];
 		m_triface0 = pair->m_index1;
 		m_triface1 = pair->m_index2;
 		btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
@@ -584,14 +584,15 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
 	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
 	{
 		btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
-		m_part0 = meshshape0->getMeshPartCount();
+		int& part = swapped ? m_part1 : m_part0;
+		part = meshshape0->getMeshPartCount();
 
-		while(m_part0--)
+		while(part--)
 		{
 
 			gimpact_vs_shape(body0,
 				  body1,
-				  meshshape0->getMeshPart(m_part0),
+				  meshshape0->getMeshPart(part),
 				  shape1,swapped);
 
 		}
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
index c745b7ed5d8..453472aa034 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
@@ -24,7 +24,7 @@ subject to the following restrictions:
 #ifndef BVH_CONCAVE_COLLISION_ALGORITHM_H
 #define BVH_CONCAVE_COLLISION_ALGORITHM_H
 
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -51,7 +51,7 @@ btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dyna
 btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
  \endcode
 */
-class btGImpactCollisionAlgorithm : public btCollisionAlgorithm
+class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
 protected:
 	btCollisionAlgorithm * m_convex_algorithm;
@@ -67,7 +67,7 @@ protected:
 	//! Creates a new contact point
 	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);		
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
 		return m_manifoldPtr;
 	}
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
index 0b1ef6acd83..ea1647a8129 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
@@ -67,7 +67,7 @@ float btGImpactQuantizedBvh::getAverageTreeCollisionTime()
 /////////////////////// btQuantizedBvhTree /////////////////////////////////
 
 void btQuantizedBvhTree::calc_quantization(
-	BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin)
+	GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin)
 {
 	//calc globa box
 	btAABB global_bound;
@@ -86,7 +86,7 @@ void btQuantizedBvhTree::calc_quantization(
 
 
 int btQuantizedBvhTree::_calc_splitting_axis(
-	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
 {
 
 	int i;
@@ -118,7 +118,7 @@ int btQuantizedBvhTree::_calc_splitting_axis(
 
 
 int btQuantizedBvhTree::_sort_and_calc_splitting_index(
-	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
+	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
 	int endIndex, int splitAxis)
 {
 	int i;
@@ -171,15 +171,14 @@ int btQuantizedBvhTree::_sort_and_calc_splitting_index(
 		splitIndex = startIndex+ (numIndices>>1);
 	}
 
-	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
-	btAssert(!unbal);
+	btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
 
 	return splitIndex;
 
 }
 
 
-void btQuantizedBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+void btQuantizedBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
 {
 	int curIndex = m_num_nodes;
 	m_num_nodes++;
@@ -232,7 +231,7 @@ void btQuantizedBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, in
 
 //! stackless build tree
 void btQuantizedBvhTree::build_tree(
-	BT_BVH_DATA_ARRAY & primitive_boxes)
+	GIM_BVH_DATA_ARRAY & primitive_boxes)
 {
 	calc_quantization(primitive_boxes);
 	// initialize node count to 0
@@ -258,7 +257,7 @@ void btGImpactQuantizedBvh::refit()
 		}
 		else
 		{
-			//const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
+			//const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
 			//get left bound
 			btAABB bound;
 			bound.invalidate();
@@ -288,7 +287,7 @@ void btGImpactQuantizedBvh::refit()
 void btGImpactQuantizedBvh::buildSet()
 {
 	//obtain primitive boxes
-	BT_BVH_DATA_ARRAY primitive_boxes;
+	GIM_BVH_DATA_ARRAY primitive_boxes;
 	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
 
 	for (int i = 0;i<primitive_boxes.size() ;i++ )
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
index 3a4774b849d..e9cccac75f5 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
@@ -29,12 +29,6 @@ subject to the following restrictions:
 
 
 
-/*! \defgroup BOX_TREES
-
-
-
-*/
-//! @{
 
 
 ///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
@@ -100,7 +94,7 @@ ATTRIBUTE_ALIGNED16	(struct) BT_QUANTIZED_BVH_NODE
 
 
 
-class BT_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
+class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
 {
 };
 
@@ -112,19 +106,19 @@ class btQuantizedBvhTree
 {
 protected:
 	int m_num_nodes;
-	BT_QUANTIZED_BVH_NODE_ARRAY m_node_array;
+	GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array;
 	btAABB m_global_bound;
 	btVector3 m_bvhQuantization;
 protected:
-	void calc_quantization(BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
+	void calc_quantization(GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
 
 	int _sort_and_calc_splitting_index(
-		BT_BVH_DATA_ARRAY & primitive_boxes,
+		GIM_BVH_DATA_ARRAY & primitive_boxes,
 		 int startIndex,  int endIndex, int splitAxis);
 
-	int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 
-	void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 public:
 	btQuantizedBvhTree()
 	{
@@ -133,7 +127,7 @@ public:
 
 	//! prototype functions for box tree management
 	//!@{
-	void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes);
+	void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
 
 	SIMD_FORCE_INLINE void quantizePoint(
 		unsigned short * quantizedpoint, const btVector3 & point) const
@@ -365,7 +359,6 @@ public:
 		return m_box_tree.get_node_pointer(index);
 	}
 
-//! @}
 
 	static float getAverageTreeCollisionTime();
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.h
index 43f32bea5a1..05431cfce15 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.h
@@ -105,6 +105,7 @@ protected:
 public:
 	btGImpactShapeInterface()
 	{
+		m_shapeType=GIMPACT_SHAPE_PROXYTYPE;
 		m_localAABB.invalidate();
 		m_needs_update = true;
 		localScaling.setValue(1.f,1.f,1.f);
@@ -880,6 +881,8 @@ Set of btGImpactMeshShapePart parts
 */
 class btGImpactMeshShape : public btGImpactShapeInterface
 {
+	btStridingMeshInterface* m_meshInterface;
+
 protected:
 	btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts;
 	void buildMeshParts(btStridingMeshInterface * meshInterface)
@@ -906,6 +909,7 @@ protected:
 public:
 	btGImpactMeshShape(btStridingMeshInterface * meshInterface)
 	{
+		m_meshInterface = meshInterface;
 		buildMeshParts(meshInterface);
 	}
 
@@ -921,6 +925,15 @@ public:
 	}
 
 
+	btStridingMeshInterface* getMeshInterface()
+	{
+		return m_meshInterface;
+	}
+
+	const btStridingMeshInterface* getMeshInterface() const
+	{
+		return m_meshInterface;
+	}
 
 	int getMeshPartCount() const
 	{
@@ -1032,12 +1045,12 @@ public:
 	}
 
 	//! call when reading child shapes
-	virtual void lockChildShapes()
+	virtual void lockChildShapes() const
 	{
 		btAssert(0);
 	}
 
-	virtual void unlockChildShapes()
+	virtual void unlockChildShapes() const
 	{
 		btAssert(0);
 	}
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
index 4b4b5e20dd3..956fa0430e3 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
@@ -251,16 +251,16 @@ bool btGenericPoolAllocator::freeMemory(void * pointer)
 #define BT_DEFAULT_POOL_ELEMENT_SIZE 8
 
 // main allocator
-class BT_STANDARD_ALLOCATOR: public btGenericPoolAllocator
+class GIM_STANDARD_ALLOCATOR: public btGenericPoolAllocator
 {
 public:
-	BT_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE)
+	GIM_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE)
 	{
 	}
 };
 
 // global allocator
-BT_STANDARD_ALLOCATOR g_main_allocator;
+GIM_STANDARD_ALLOCATOR g_main_allocator;
 
 
 void * btPoolAlloc(size_t size)
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.h b/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.h
index 05b79a82516..e883bcd23d2 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.h
@@ -155,14 +155,9 @@ public:
 
 
 
-/*! \defgroup POOL_MEMORY_FUNCTIONS
-standar managed Memory functions. Memory pools are used.
-*/
-//! @{
 void * btPoolAlloc(size_t size);
 void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize);
 void btPoolFree(void *ptr);
-//! @}
 
 
 #endif
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGeometryOperations.h b/extern/bullet2/src/BulletCollision/Gimpact/btGeometryOperations.h
index f5800716a96..bc5a416ddb7 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGeometryOperations.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGeometryOperations.h
@@ -29,9 +29,6 @@ subject to the following restrictions:
 
 
 
-/*! \defgroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 
 #define PLANEDIREPSILON 0.0000001f
@@ -210,7 +207,6 @@ SIMD_FORCE_INLINE void bt_segment_collision(
 
 
 
-//! @}
 
 
 #endif // GIM_VECTOR_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btQuantization.h b/extern/bullet2/src/BulletCollision/Gimpact/btQuantization.h
index e9e6ad3d805..7faada61c95 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btQuantization.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btQuantization.h
@@ -29,9 +29,6 @@ subject to the following restrictions:
 
 
 
-/*! \defgroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 
 
@@ -86,7 +83,6 @@ SIMD_FORCE_INLINE btVector3 bt_unquantize(
 	return vecOut;
 }
 
-//! @}
 
 
 #endif // GIM_VECTOR_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp
index 0267f7e67c7..78696277c34 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp
@@ -25,7 +25,7 @@ subject to the following restrictions:
 
 
 
-void BT_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
+void GIM_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
                                        btScalar margin, const btVector3 * points, int point_count)
 {
     m_point_count = 0;
@@ -123,7 +123,7 @@ int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 *
     return clipped_count;
 }
 
-bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts)
+bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts)
 {
     btScalar margin = m_margin + other.m_margin;
 
@@ -132,7 +132,7 @@ bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangl
     //create planes
     // plane v vs U points
 
-    BT_TRIANGLE_CONTACT contacts1;
+    GIM_TRIANGLE_CONTACT contacts1;
 
     contacts1.m_separating_normal = m_plane;
 
@@ -152,7 +152,7 @@ bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangl
 
 
     //Clip tri1 by tri2 edges
-    BT_TRIANGLE_CONTACT contacts2;
+    GIM_TRIANGLE_CONTACT contacts2;
     contacts2.m_separating_normal = other.m_plane;
 
     clipped_count = other.clip_triangle(*this,clipped_points);
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h b/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h
index bdaa323d564..bbd6b630c02 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h
@@ -35,14 +35,14 @@ subject to the following restrictions:
 #define MAX_TRI_CLIPPING 16
 
 //! Structure for collision
-struct BT_TRIANGLE_CONTACT
+struct GIM_TRIANGLE_CONTACT
 {
     btScalar m_penetration_depth;
     int m_point_count;
     btVector4 m_separating_normal;
     btVector3 m_points[MAX_TRI_CLIPPING];
 
-	SIMD_FORCE_INLINE void copy_from(const BT_TRIANGLE_CONTACT& other)
+	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
 	{
 		m_penetration_depth = other.m_penetration_depth;
 		m_separating_normal = other.m_separating_normal;
@@ -54,11 +54,11 @@ struct BT_TRIANGLE_CONTACT
 		}
 	}
 
-	BT_TRIANGLE_CONTACT()
+	GIM_TRIANGLE_CONTACT()
 	{
 	}
 
-	BT_TRIANGLE_CONTACT(const BT_TRIANGLE_CONTACT& other)
+	GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)
 	{
 		copy_from(other);
 	}
@@ -123,7 +123,7 @@ public:
 	/*!
 	\pre this triangle and other must have their triangles calculated
 	*/
-    bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts);
+    bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts);
 };
 
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h
index 89fbb5ab0a5..c8161d252d5 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h
@@ -34,11 +34,6 @@ email: projectileman@yahoo.com
 
 #include "gim_memory.h"
 
-/*! \addtogroup CONTAINERS
-\brief
-Abstract class for template containers
-*/
-//! @{
 
 #define GIM_ARRAY_GROW_INCREMENT 2
 #define GIM_ARRAY_GROW_FACTOR 2
@@ -321,11 +316,10 @@ public:
 	{
 	    resizeData(m_size);
 	}
-//!@}
+
 };
 
 
-//! @}
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h
index d4cbce04b5e..666abf7917a 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h
@@ -40,9 +40,6 @@ email: projectileman@yahoo.com
 
 
 
-/*! \defgroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 
 #define PLANEDIREPSILON 0.0000001f
@@ -541,7 +538,6 @@ SIMD_FORCE_INLINE void SORT_3_INDICES(
 
 
 
-//! @}
 
 
 #endif // GIM_VECTOR_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_bitset.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_bitset.h
index 7784aeff140..322004a8d5b 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_bitset.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_bitset.h
@@ -34,11 +34,6 @@ email: projectileman@yahoo.com
 
 #include "gim_array.h"
 
-/*! \addtogroup CONTAINERS
-\brief
-Abstract class for template containers
-*/
-//! @{
 
 #define GUINT_BIT_COUNT 32
 #define GUINT_EXPONENT 5
@@ -122,7 +117,6 @@ public:
 };
 
 
-//! @}
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h
index c9bb83e3653..0add5e4b99f 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h
@@ -35,9 +35,6 @@ email: projectileman@yahoo.com
 #include "gim_basic_geometry_operations.h"
 #include "LinearMath/btTransform.h"
 
-/*! \defgroup BOUND_AABB_OPERATIONS
-*/
-//! @{
 
 
 //SIMD_FORCE_INLINE bool test_cross_edge_box(
@@ -589,6 +586,5 @@ SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btT
 }
 
 
-//! @}
 
 #endif // GIM_BOX_COLLISION_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp
index 1ffc2bbad78..0c3d7ba8db0 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp
@@ -110,8 +110,7 @@ GUINT GIM_BOX_TREE::_sort_and_calc_splitting_index(
 		splitIndex = startIndex+ (numIndices>>1);
 	}
 
-	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
-	btAssert(!unbal);
+	btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
 
 	return splitIndex;
 }
@@ -180,3 +179,4 @@ void GIM_BOX_TREE::build_tree(
 	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
 }
 
+
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.h
index ece5936de6b..1058a0872a5 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.h
@@ -40,12 +40,6 @@ email: projectileman@yahoo.com
 #include "gim_tri_collision.h"
 
 
-/*! \defgroup BOX_PRUNNING
-
-
-
-*/
-//! @{
 
 //! Overlapping pair
 struct GIM_PAIR
@@ -446,7 +440,6 @@ public:
 		m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle);
 	}
 
-//! @}
 };
 
 //! Class for Box Tree Sets
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_clip_polygon.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_clip_polygon.h
index 62151cb97b7..a91fd3aa422 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_clip_polygon.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_clip_polygon.h
@@ -33,9 +33,6 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-/*! \addtogroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 //! This function calcs the distance from a 3D plane
 class DISTANCE_PLANE_3D_FUNC
@@ -209,6 +206,5 @@ SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D(
 }
 
 
-//! @}
 
 #endif // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h
index 62df51b782f..ad3e12298fe 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h
@@ -36,17 +36,6 @@ email: projectileman@yahoo.com
 #include "gim_radixsort.h"
 #include "gim_array.h"
 
-/*! \defgroup CONTACTS
-\brief
-Functions for managing and sorting contacts resulting from a collision query.
-<ul>
-<li> Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
-<li> After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
-<li> Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
-</ul>
-
-*/
-//! @{
 
 /**
 Configuration var for applying interpolation of  contact normals
@@ -55,6 +44,10 @@ Configuration var for applying interpolation of  contact normals
 #define CONTACT_DIFF_EPSILON 0.00001f
 
 /// Structure for collision results
+///Functions for managing and sorting contacts resulting from a collision query.
+///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
+///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
+///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
 class GIM_CONTACT
 {
 public:
@@ -168,5 +161,4 @@ public:
 	void merge_contacts_unique(const gim_contact_array & contacts);
 };
 
-//! @}
 #endif // GIM_CONTACT_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_geom_types.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_geom_types.h
index cd3e53dcc0c..2fb1e3f9e45 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_geom_types.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_geom_types.h
@@ -36,11 +36,7 @@ email: projectileman@yahoo.com
 
 #include "gim_math.h"
 
-/*! \defgroup GEOMETRIC_TYPES
-\brief
-Basic types and constants for geometry
-*/
-//! @{
+
 
 //! Short Integer vector 2D
 typedef GSHORT vec2s[2];
@@ -95,7 +91,6 @@ typedef GREAL mat4f[4][4];
 typedef GREAL quatf[4];
 
 //typedef struct _aabb3f aabb3f;
-//! @}
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_hash_table.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_hash_table.h
index fd980dff5fa..93c66f81823 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_hash_table.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_hash_table.h
@@ -34,11 +34,6 @@ email: projectileman@yahoo.com
 
 #include "gim_radixsort.h"
 
-/*! \addtogroup CONTAINERS
-\brief
-Abstract class for collision objects
-*/
-//! @{
 
 #define GIM_INVALID_HASH 0xffffffff //!< A very very high value
 #define GIM_DEFAULT_HASH_TABLE_SIZE 380
@@ -204,12 +199,7 @@ protected:
     //SuperBufferedArray< _node_type > m_nodes;
     bool m_sorted;
 
-    /*! \defgroup HASH_TABLE_STRUCTURES
-    \brief
-    Hash table data management. The hash table has the indices to the corresponding m_nodes array
-    */
-    //! @{
-
+    ///Hash table data management. The hash table has the indices to the corresponding m_nodes array
     GUINT * m_hash_table;//!<
     GUINT m_table_size;//!<
     GUINT m_node_size;//!<
@@ -459,13 +449,8 @@ protected:
 
     }
 
-    //! @}
-
-    /*! \defgroup SORTED_ARRAY_STRUCTURES
-    \brief
-    Sorted array data management. The hash table has the indices to the corresponding m_nodes array
-    */
-    //! @{
+    
+    ///Sorted array data management. The hash table has the indices to the corresponding m_nodes array
     inline bool _erase_sorted(GUINT index)
     {
         if(index>=(GUINT)m_nodes.size()) return false;
@@ -575,8 +560,7 @@ protected:
         return GIM_INVALID_HASH;
     }
 
-    //! @}
-
+    
 
 public:
 
@@ -913,8 +897,6 @@ public:
 
 };
 
-//! @}
-
 
 
 #endif // GIM_CONTAINERS_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_linear_math.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_linear_math.h
index adf1c1c2ddf..0247d4e61cc 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_linear_math.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_linear_math.h
@@ -40,11 +40,6 @@ email: projectileman@yahoo.com
 
 
 
-/*! \defgroup VECTOR_OPERATIONS
-T
-Operations for vectors : vec2f,vec3f and vec4f
-*/
-//! @{
 
 //! Zero out a 2D vector
 #define VEC_ZERO_2(a)				\
@@ -446,13 +441,8 @@ Takes two vectors a, b, blends them together with s <=1 */
 
 
 
-//! @}
 
 
-/*! \defgroup MATRIX_OPERATIONS
-Operations for matrices : mat2f, mat3f and mat4f
-*/
-//! @{
 
 /// initialize matrix
 #define IDENTIFY_MATRIX_3X3(m)			\
@@ -1579,6 +1569,5 @@ and m is a mat4f<br>
 }\
 
 
-//! @}
 
 #endif // GIM_VECTOR_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_math.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_math.h
index 25ad1e21c7f..8b9e6806ef7 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_math.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_math.h
@@ -35,13 +35,6 @@ email: projectileman@yahoo.com
 #include "LinearMath/btScalar.h"
 
 
-/*! \defgroup BASIC_TYPES
-Basic types and constants
-Conventions:
-Types starting with G
-Constants starting with G_
-*/
-//! @{
 
 #define GREAL btScalar
 #define GREAL2 double
@@ -52,15 +45,7 @@ Constants starting with G_
 #define GINT64 long long
 #define GUINT64 unsigned long long
 
-//! @}
 
-/*! \defgroup BASIC_CONSTANTS
-Basic constants
-Conventions:
-Types starting with G
-Constants starting with G_
-*/
-//! @{
 
 #define G_PI 3.14159265358979f
 #define G_HALF_PI 1.5707963f
@@ -73,14 +58,9 @@ Constants starting with G_
 #define G_REAL_INFINITY FLT_MAX
 #define	G_SIGN_BITMASK			0x80000000
 #define G_EPSILON SIMD_EPSILON
-//! @}
 
 
-/*! \defgroup SCALAR_TYPES
-\brief
-Precision type constants
-*/
-//! @{
+
 enum GIM_SCALAR_TYPES
 {
 	G_STYPE_REAL =0,
@@ -92,12 +72,8 @@ enum GIM_SCALAR_TYPES
 	G_STYPE_INT64,
 	G_STYPE_UINT64
 };
-//! @}
 
-/*! \defgroup MATH_FUNCTIONS
-mathematical functions
-*/
-//! @{
+
 
 #define G_DEGTORAD(X) ((X)*3.1415926f/180.0f)
 #define G_RADTODEG(X) ((X)*180.0f/3.1415926f)
@@ -131,7 +107,7 @@ mathematical functions
 ///returns a clamped number
 #define GIM_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
 
-#define GIM_GREATER(x, y)	fabsf(x) > (y)
+#define GIM_GREATER(x, y)	btFabs(x) > (y)
 
 ///Swap numbers
 #define GIM_SWAP_NUMBERS(a,b){ \
@@ -176,6 +152,6 @@ inline GREAL gim_sqrt(GREAL f)
     return r;
 }
 
-//! @}
+
 
 #endif // GIM_MATH_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.h
index 469a8280f7d..fa99eebb60e 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.h
@@ -36,9 +36,6 @@ email: projectileman@yahoo.com
 #include "gim_math.h"
 #include <memory.h>
 
-//#define PREFETCH 1
-//! \defgroup PREFETCH
-//! @{
 #ifdef PREFETCH
 #include <xmmintrin.h>	// for prefetch
 #define pfval	64
@@ -53,13 +50,9 @@ email: projectileman@yahoo.com
 //! Prefetch 128
 #define pf2(_x,_i)
 #endif
-//! @}
 
-/*! \defgroup ARRAY_UTILITIES
-\brief
-Functions for manip packed arrays of numbers
-*/
-//! @{
+
+///Functions for manip packed arrays of numbers
 #define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\
 {\
     for (GUINT _i_=0;_i_<element_count ;++_i_)\
@@ -92,50 +85,36 @@ Functions for manip packed arrays of numbers
     	array[_i_] = constant;\
     }\
 }\
-//! @}
 
-/*! \defgroup MEMORY_FUNCTION_PROTOTYPES
-Function prototypes to allocate and free memory.
-*/
-//! @{
+
+///Function prototypes to allocate and free memory.
 typedef void * gim_alloc_function (size_t size);
 typedef void * gim_alloca_function (size_t size);//Allocs on the heap
 typedef void * gim_realloc_function (void *ptr, size_t oldsize, size_t newsize);
 typedef void gim_free_function (void *ptr);
-//! @}
-
-/*! \defgroup MEMORY_FUNCTION_HANDLERS
-\brief
-Memory Function Handlers
- set new memory management functions. if fn is 0, the default handlers are
-  used. */
-//! @{
+
+
+///Memory Function Handlers
+///set new memory management functions. if fn is 0, the default handlers are used.
 void gim_set_alloc_handler (gim_alloc_function *fn);
 void gim_set_alloca_handler (gim_alloca_function *fn);
 void gim_set_realloc_handler (gim_realloc_function *fn);
 void gim_set_free_handler (gim_free_function *fn);
-//! @}
 
-/*! \defgroup MEMORY_FUNCTION_GET_HANDLERS
-\brief
-get current memory management functions.
-*/
-//! @{
+
+///get current memory management functions.
 gim_alloc_function *gim_get_alloc_handler (void);
 gim_alloca_function *gim_get_alloca_handler(void);
 gim_realloc_function *gim_get_realloc_handler (void);
 gim_free_function  *gim_get_free_handler (void);
-//! @}
 
-/*! \defgroup MEMORY_FUNCTIONS
-Standar Memory functions
-*/
-//! @{
+
+///Standar Memory functions
 void * gim_alloc(size_t size);
 void * gim_alloca(size_t size);
 void * gim_realloc(void *ptr, size_t oldsize, size_t newsize);
 void gim_free(void *ptr);
-//! @}
+
 
 
 #if defined (WIN32) && !defined(__MINGW32__) && !defined(__CYGWIN__)
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_radixsort.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_radixsort.h
index 9ecf61bdc6d..f7dadbbca93 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_radixsort.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_radixsort.h
@@ -36,11 +36,7 @@ email: projectileman@yahoo.com
 
 #include "gim_memory.h"
 
-/*! \defgroup SORTING
-\brief
-Macros for sorting.
-*/
-
+///Macros for sorting.
 //! Prototype for comparators
 class less_comparator
 {
@@ -406,5 +402,5 @@ void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc)
 
 
 
-//! @}
+
 #endif // GIM_RADIXSORT_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.cpp b/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.cpp
index ef6feabdfee..74d734146a7 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.cpp
@@ -38,7 +38,7 @@ email: projectileman@yahoo.com
 #define MIN_EDGE_EDGE_DIS 0.00001f
 
 
-class _GIM_TRIANGLE_CALCULATION_CACHE
+class GIM_TRIANGLE_CALCULATION_CACHE
 {
 public:
 	GREAL margin;	
@@ -489,7 +489,7 @@ public:
 };
 
 
-/*class _GIM_TRIANGLE_CALCULATION_CACHE
+/*class GIM_TRIANGLE_CALCULATION_CACHE
 {
 public:
 	GREAL margin;
@@ -627,7 +627,7 @@ bool GIM_TRIANGLE::collide_triangle_hard_test(
 		const GIM_TRIANGLE & other,
 		GIM_TRIANGLE_CONTACT_DATA & contact_data) const
 {
-	_GIM_TRIANGLE_CALCULATION_CACHE calc_cache;	
+	GIM_TRIANGLE_CALCULATION_CACHE calc_cache;	
 	return calc_cache.triangle_collision(
 					m_vertices[0],m_vertices[1],m_vertices[2],m_margin,
 					other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin,
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.h
index 7cea8fc33a6..2d6e43a1a2e 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.h
@@ -36,9 +36,6 @@ email: projectileman@yahoo.com
 #include "gim_box_collision.h"
 #include "gim_clip_polygon.h"
 
-/*! \addtogroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 
 
@@ -278,7 +275,7 @@ if 0.0<= u+v <=1.0 then they are inside of triangle
 		}
 		else
 		{
-			float sumuv;
+			btScalar sumuv;
 			sumuv = u+v;
 			if(sumuv<-G_EPSILON)
 			{
@@ -378,6 +375,5 @@ if 0.0<= u+v <=1.0 then they are inside of triangle
 
 
 
-//! @}
 
 #endif // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
index 6551cfb92fe..2f41b3c2757 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
@@ -135,6 +135,9 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 			//btScalar clippedDist  = GEN_min(angularConservativeRadius,dist);
 			//btScalar clippedDist  = dist;
 			
+			//don't report time of impact for motion away from the contact normal (or causes minor penetration)
+			if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
+				return false;
 			
 			dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
 
@@ -196,11 +199,10 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 			}
 
 		}
-
-		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
+	
 		if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON)
 			return false;
-
+			
 		result.m_fraction = lambda;
 		result.m_normal = n;
 		result.m_hitPoint = c;
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
index 99690921317..412aace2114 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
@@ -21,7 +21,6 @@ class btStackAlloc;
 class btVector3;
 #include "btSimplexSolverInterface.h"
 class btConvexShape;
-#include "LinearMath/btPoint3.h"
 class btTransform;
 
 ///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
@@ -33,7 +32,7 @@ public:
 	virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
 		const btConvexShape* convexA,const btConvexShape* convexB,
 					const btTransform& transA,const btTransform& transB,
-				btVector3& v, btPoint3& pa, btPoint3& pb,
+				btVector3& v, btVector3& pa, btVector3& pb,
 				class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
 				) = 0;
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index ccfc22ee673..ada20d3ef7a 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -37,7 +37,7 @@ GJK-EPA collision solver by Nathanael Presson, 2008
 namespace gjkepa2_impl
 {
 
-// Config
+	// Config
 
 	/* GJK	*/ 
 #define GJK_MAX_ITERATIONS	128
@@ -58,711 +58,711 @@ namespace gjkepa2_impl
 #define EPA_INSIDE_EPS		((btScalar)0.01)
 
 
-// Shorthands
-typedef unsigned int	U;
-typedef unsigned char	U1;
+	// Shorthands
+	typedef unsigned int	U;
+	typedef unsigned char	U1;
 
-// MinkowskiDiff
-struct	MinkowskiDiff
+	// MinkowskiDiff
+	struct	MinkowskiDiff
 	{
-	const btConvexShape*	m_shapes[2];
-	btMatrix3x3				m_toshape1;
-	btTransform				m_toshape0;
-	btVector3				(btConvexShape::*Ls)(const btVector3&) const;
-	void					EnableMargin(bool enable)
+		const btConvexShape*	m_shapes[2];
+		btMatrix3x3				m_toshape1;
+		btTransform				m_toshape0;
+		btVector3				(btConvexShape::*Ls)(const btVector3&) const;
+		void					EnableMargin(bool enable)
 		{
-		if(enable)
-			Ls=&btConvexShape::localGetSupportingVertex;
+			if(enable)
+				Ls=&btConvexShape::localGetSupportVertexNonVirtual;
 			else
-			Ls=&btConvexShape::localGetSupportingVertexWithoutMargin;
+				Ls=&btConvexShape::localGetSupportVertexWithoutMarginNonVirtual;
 		}	
-	inline btVector3		Support0(const btVector3& d) const
+		inline btVector3		Support0(const btVector3& d) const
 		{
-		return(((m_shapes[0])->*(Ls))(d));
+			return(((m_shapes[0])->*(Ls))(d));
 		}
-	inline btVector3		Support1(const btVector3& d) const
+		inline btVector3		Support1(const btVector3& d) const
 		{
-		return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d));
+			return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d));
 		}
-	inline btVector3		Support(const btVector3& d) const
+		inline btVector3		Support(const btVector3& d) const
 		{
-		return(Support0(d)-Support1(-d));
+			return(Support0(d)-Support1(-d));
 		}
-	btVector3				Support(const btVector3& d,U index) const
+		btVector3				Support(const btVector3& d,U index) const
 		{
-		if(index)
-			return(Support1(d));
+			if(index)
+				return(Support1(d));
 			else
-			return(Support0(d));
+				return(Support0(d));
 		}
 	};
 
-typedef	MinkowskiDiff	tShape;
+	typedef	MinkowskiDiff	tShape;
 
 
-// GJK
-struct	GJK
-{
-/* Types		*/ 
-struct	sSV
-	{
-	btVector3	d,w;
-	};
-struct	sSimplex
-	{
-	sSV*		c[4];
-	btScalar	p[4];
-	U			rank;
-	};
-struct	eStatus	{ enum _ {
-	Valid,
-	Inside,
-	Failed		};};
-/* Fields		*/ 
-tShape			m_shape;
-btVector3		m_ray;
-btScalar		m_distance;
-sSimplex		m_simplices[2];
-sSV				m_store[4];
-sSV*			m_free[4];
-U				m_nfree;
-U				m_current;
-sSimplex*		m_simplex;
-eStatus::_		m_status;
-/* Methods		*/ 
-					GJK()
-	{
-	Initialize();
-	}
-void				Initialize()
+	// GJK
+	struct	GJK
 	{
-	m_ray		=	btVector3(0,0,0);
-	m_nfree		=	0;
-	m_status	=	eStatus::Failed;
-	m_current	=	0;
-	m_distance	=	0;
-	}
-eStatus::_			Evaluate(const tShape& shapearg,const btVector3& guess)
-	{
-	U			iterations=0;
-	btScalar	sqdist=0;
-	btScalar	alpha=0;
-	btVector3	lastw[4];
-	U			clastw=0;
-	/* Initialize solver		*/ 
-	m_free[0]			=	&m_store[0];
-	m_free[1]			=	&m_store[1];
-	m_free[2]			=	&m_store[2];
-	m_free[3]			=	&m_store[3];
-	m_nfree				=	4;
-	m_current			=	0;
-	m_status			=	eStatus::Valid;
-	m_shape				=	shapearg;
-	m_distance			=	0;
-	/* Initialize simplex		*/ 
-	m_simplices[0].rank	=	0;
-	m_ray				=	guess;
-	const btScalar	sqrl=	m_ray.length2();
-	appendvertice(m_simplices[0],sqrl>0?-m_ray:btVector3(1,0,0));
-	m_simplices[0].p[0]	=	1;
-	m_ray				=	m_simplices[0].c[0]->w;	
-	sqdist				=	sqrl;
-	lastw[0]			=
-	lastw[1]			=
-	lastw[2]			=
-	lastw[3]			=	m_ray;
-	/* Loop						*/ 
-	do	{
-		const U		next=1-m_current;
-		sSimplex&	cs=m_simplices[m_current];
-		sSimplex&	ns=m_simplices[next];
-		/* Check zero							*/ 
-		const btScalar	rl=m_ray.length();
-		if(rl<GJK_MIN_DISTANCE)
-			{/* Touching or inside				*/ 
-			m_status=eStatus::Inside;
-			break;
-			}
-		/* Append new vertice in -'v' direction	*/ 
-		appendvertice(cs,-m_ray);
-		const btVector3&	w=cs.c[cs.rank-1]->w;
-		bool				found=false;
-		for(U i=0;i<4;++i)
+		/* Types		*/ 
+		struct	sSV
+		{
+			btVector3	d,w;
+		};
+		struct	sSimplex
+		{
+			sSV*		c[4];
+			btScalar	p[4];
+			U			rank;
+		};
+		struct	eStatus	{ enum _ {
+			Valid,
+			Inside,
+			Failed		};};
+			/* Fields		*/ 
+			tShape			m_shape;
+			btVector3		m_ray;
+			btScalar		m_distance;
+			sSimplex		m_simplices[2];
+			sSV				m_store[4];
+			sSV*			m_free[4];
+			U				m_nfree;
+			U				m_current;
+			sSimplex*		m_simplex;
+			eStatus::_		m_status;
+			/* Methods		*/ 
+			GJK()
 			{
-			if((w-lastw[i]).length2()<GJK_DUPLICATED_EPS)
-				{ found=true;break; }
-			}
-		if(found)
-			{/* Return old simplex				*/ 
-			removevertice(m_simplices[m_current]);
-			break;
+				Initialize();
 			}
-			else
-			{/* Update lastw					*/ 
-			lastw[clastw=(clastw+1)&3]=w;
-			}
-		/* Check for termination				*/ 
-		const btScalar	omega=dot(m_ray,w)/rl;
-		alpha=btMax(omega,alpha);
-		if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
-			{/* Return old simplex				*/ 
-			removevertice(m_simplices[m_current]);
-			break;
-			}		
-		/* Reduce simplex						*/ 
-		btScalar	weights[4];
-		U			mask=0;
-		switch(cs.rank)
+			void				Initialize()
 			{
-			case	2:	sqdist=projectorigin(	cs.c[0]->w,
-												cs.c[1]->w,
-												weights,mask);break;
-			case	3:	sqdist=projectorigin(	cs.c[0]->w,
-												cs.c[1]->w,
-												cs.c[2]->w,
-												weights,mask);break;
-			case	4:	sqdist=projectorigin(	cs.c[0]->w,
-												cs.c[1]->w,
-												cs.c[2]->w,
-												cs.c[3]->w,
-												weights,mask);break;
+				m_ray		=	btVector3(0,0,0);
+				m_nfree		=	0;
+				m_status	=	eStatus::Failed;
+				m_current	=	0;
+				m_distance	=	0;
 			}
-		if(sqdist>=0)
-			{/* Valid	*/ 
-			ns.rank		=	0;
-			m_ray		=	btVector3(0,0,0);
-			m_current	=	next;
-			for(U i=0,ni=cs.rank;i<ni;++i)
-				{
-				if(mask&(1<<i))
+			eStatus::_			Evaluate(const tShape& shapearg,const btVector3& guess)
+			{
+				U			iterations=0;
+				btScalar	sqdist=0;
+				btScalar	alpha=0;
+				btVector3	lastw[4];
+				U			clastw=0;
+				/* Initialize solver		*/ 
+				m_free[0]			=	&m_store[0];
+				m_free[1]			=	&m_store[1];
+				m_free[2]			=	&m_store[2];
+				m_free[3]			=	&m_store[3];
+				m_nfree				=	4;
+				m_current			=	0;
+				m_status			=	eStatus::Valid;
+				m_shape				=	shapearg;
+				m_distance			=	0;
+				/* Initialize simplex		*/ 
+				m_simplices[0].rank	=	0;
+				m_ray				=	guess;
+				const btScalar	sqrl=	m_ray.length2();
+				appendvertice(m_simplices[0],sqrl>0?-m_ray:btVector3(1,0,0));
+				m_simplices[0].p[0]	=	1;
+				m_ray				=	m_simplices[0].c[0]->w;	
+				sqdist				=	sqrl;
+				lastw[0]			=
+					lastw[1]			=
+					lastw[2]			=
+					lastw[3]			=	m_ray;
+				/* Loop						*/ 
+				do	{
+					const U		next=1-m_current;
+					sSimplex&	cs=m_simplices[m_current];
+					sSimplex&	ns=m_simplices[next];
+					/* Check zero							*/ 
+					const btScalar	rl=m_ray.length();
+					if(rl<GJK_MIN_DISTANCE)
+					{/* Touching or inside				*/ 
+						m_status=eStatus::Inside;
+						break;
+					}
+					/* Append new vertice in -'v' direction	*/ 
+					appendvertice(cs,-m_ray);
+					const btVector3&	w=cs.c[cs.rank-1]->w;
+					bool				found=false;
+					for(U i=0;i<4;++i)
 					{
-					ns.c[ns.rank]		=	cs.c[i];
-					ns.p[ns.rank++]		=	weights[i];
-					m_ray				+=	cs.c[i]->w*weights[i];
+						if((w-lastw[i]).length2()<GJK_DUPLICATED_EPS)
+						{ found=true;break; }
+					}
+					if(found)
+					{/* Return old simplex				*/ 
+						removevertice(m_simplices[m_current]);
+						break;
 					}
 					else
+					{/* Update lastw					*/ 
+						lastw[clastw=(clastw+1)&3]=w;
+					}
+					/* Check for termination				*/ 
+					const btScalar	omega=dot(m_ray,w)/rl;
+					alpha=btMax(omega,alpha);
+					if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
+					{/* Return old simplex				*/ 
+						removevertice(m_simplices[m_current]);
+						break;
+					}		
+					/* Reduce simplex						*/ 
+					btScalar	weights[4];
+					U			mask=0;
+					switch(cs.rank)
 					{
-					m_free[m_nfree++]	=	cs.c[i];
+					case	2:	sqdist=projectorigin(	cs.c[0]->w,
+									cs.c[1]->w,
+									weights,mask);break;
+					case	3:	sqdist=projectorigin(	cs.c[0]->w,
+									cs.c[1]->w,
+									cs.c[2]->w,
+									weights,mask);break;
+					case	4:	sqdist=projectorigin(	cs.c[0]->w,
+									cs.c[1]->w,
+									cs.c[2]->w,
+									cs.c[3]->w,
+									weights,mask);break;
 					}
-				}
-			if(mask==15) m_status=eStatus::Inside;
-			}
-			else
-			{/* Return old simplex				*/ 
-			removevertice(m_simplices[m_current]);
-			break;
-			}
-		m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed;
-		} while(m_status==eStatus::Valid);
-	m_simplex=&m_simplices[m_current];
-	switch(m_status)
-		{
-		case	eStatus::Valid:		m_distance=m_ray.length();break;
-		case	eStatus::Inside:	m_distance=0;break;
-		}	
-	return(m_status);
-	}
-bool					EncloseOrigin()
-	{
-	switch(m_simplex->rank)
-		{
-		case	1:
-			{
-			for(U i=0;i<3;++i)
+					if(sqdist>=0)
+					{/* Valid	*/ 
+						ns.rank		=	0;
+						m_ray		=	btVector3(0,0,0);
+						m_current	=	next;
+						for(U i=0,ni=cs.rank;i<ni;++i)
+						{
+							if(mask&(1<<i))
+							{
+								ns.c[ns.rank]		=	cs.c[i];
+								ns.p[ns.rank++]		=	weights[i];
+								m_ray				+=	cs.c[i]->w*weights[i];
+							}
+							else
+							{
+								m_free[m_nfree++]	=	cs.c[i];
+							}
+						}
+						if(mask==15) m_status=eStatus::Inside;
+					}
+					else
+					{/* Return old simplex				*/ 
+						removevertice(m_simplices[m_current]);
+						break;
+					}
+					m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed;
+				} while(m_status==eStatus::Valid);
+				m_simplex=&m_simplices[m_current];
+				switch(m_status)
 				{
-				btVector3		axis=btVector3(0,0,0);
-				axis[i]=1;
-				appendvertice(*m_simplex, axis);
-				if(EncloseOrigin())	return(true);
-				removevertice(*m_simplex);
-				appendvertice(*m_simplex,-axis);
-				if(EncloseOrigin())	return(true);
-				removevertice(*m_simplex);
-				}
+				case	eStatus::Valid:		m_distance=m_ray.length();break;
+				case	eStatus::Inside:	m_distance=0;break;
+				}	
+				return(m_status);
 			}
-		break;
-		case	2:
+			bool					EncloseOrigin()
 			{
-			const btVector3	d=m_simplex->c[1]->w-m_simplex->c[0]->w;
-			for(U i=0;i<3;++i)
+				switch(m_simplex->rank)
 				{
-				btVector3		axis=btVector3(0,0,0);
-				axis[i]=1;
-				const btVector3	p=cross(d,axis);
-				if(p.length2()>0)
+				case	1:
+					{
+						for(U i=0;i<3;++i)
+						{
+							btVector3		axis=btVector3(0,0,0);
+							axis[i]=1;
+							appendvertice(*m_simplex, axis);
+							if(EncloseOrigin())	return(true);
+							removevertice(*m_simplex);
+							appendvertice(*m_simplex,-axis);
+							if(EncloseOrigin())	return(true);
+							removevertice(*m_simplex);
+						}
+					}
+					break;
+				case	2:
+					{
+						const btVector3	d=m_simplex->c[1]->w-m_simplex->c[0]->w;
+						for(U i=0;i<3;++i)
+						{
+							btVector3		axis=btVector3(0,0,0);
+							axis[i]=1;
+							const btVector3	p=cross(d,axis);
+							if(p.length2()>0)
+							{
+								appendvertice(*m_simplex, p);
+								if(EncloseOrigin())	return(true);
+								removevertice(*m_simplex);
+								appendvertice(*m_simplex,-p);
+								if(EncloseOrigin())	return(true);
+								removevertice(*m_simplex);
+							}
+						}
+					}
+					break;
+				case	3:
+					{
+						const btVector3	n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
+							m_simplex->c[2]->w-m_simplex->c[0]->w);
+						if(n.length2()>0)
+						{
+							appendvertice(*m_simplex,n);
+							if(EncloseOrigin())	return(true);
+							removevertice(*m_simplex);
+							appendvertice(*m_simplex,-n);
+							if(EncloseOrigin())	return(true);
+							removevertice(*m_simplex);
+						}
+					}
+					break;
+				case	4:
 					{
-					appendvertice(*m_simplex, p);
-					if(EncloseOrigin())	return(true);
-					removevertice(*m_simplex);
-					appendvertice(*m_simplex,-p);
-					if(EncloseOrigin())	return(true);
-					removevertice(*m_simplex);
+						if(btFabs(det(	m_simplex->c[0]->w-m_simplex->c[3]->w,
+							m_simplex->c[1]->w-m_simplex->c[3]->w,
+							m_simplex->c[2]->w-m_simplex->c[3]->w))>0)
+							return(true);
 					}
+					break;
 				}
+				return(false);
 			}
-		break;
-		case	3:
+			/* Internals	*/ 
+			void				getsupport(const btVector3& d,sSV& sv) const
 			{
-			const btVector3	n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
-									m_simplex->c[2]->w-m_simplex->c[0]->w);
-			if(n.length2()>0)
-				{
-				appendvertice(*m_simplex,n);
-				if(EncloseOrigin())	return(true);
-				removevertice(*m_simplex);
-				appendvertice(*m_simplex,-n);
-				if(EncloseOrigin())	return(true);
-				removevertice(*m_simplex);
-				}
+				sv.d	=	d/d.length();
+				sv.w	=	m_shape.Support(sv.d);
 			}
-		break;
-		case	4:
+			void				removevertice(sSimplex& simplex)
 			{
-			if(btFabs(det(	m_simplex->c[0]->w-m_simplex->c[3]->w,
-							m_simplex->c[1]->w-m_simplex->c[3]->w,
-							m_simplex->c[2]->w-m_simplex->c[3]->w))>0)
-				return(true);
+				m_free[m_nfree++]=simplex.c[--simplex.rank];
 			}
-		break;
-		}
-	return(false);
-	}
-/* Internals	*/ 
-void				getsupport(const btVector3& d,sSV& sv) const
-	{
-	sv.d	=	d/d.length();
-	sv.w	=	m_shape.Support(sv.d);
-	}
-void				removevertice(sSimplex& simplex)
-	{
-	m_free[m_nfree++]=simplex.c[--simplex.rank];
-	}
-void				appendvertice(sSimplex& simplex,const btVector3& v)
-	{
-	simplex.p[simplex.rank]=0;
-	simplex.c[simplex.rank]=m_free[--m_nfree];
-	getsupport(v,*simplex.c[simplex.rank++]);
-	}
-static btScalar		det(const btVector3& a,const btVector3& b,const btVector3& c)
-	{
-	return(	a.y()*b.z()*c.x()+a.z()*b.x()*c.y()-
-			a.x()*b.z()*c.y()-a.y()*b.x()*c.z()+
-			a.x()*b.y()*c.z()-a.z()*b.y()*c.x());
-	}
-static btScalar		projectorigin(	const btVector3& a,
-									const btVector3& b,
-									btScalar* w,U& m)
-	{
-	const btVector3	d=b-a;
-	const btScalar	l=d.length2();
-	if(l>GJK_SIMPLEX2_EPS)
-		{
-		const btScalar	t(l>0?-dot(a,d)/l:0);
-		if(t>=1)		{ w[0]=0;w[1]=1;m=2;return(b.length2()); }
-		else if(t<=0)	{ w[0]=1;w[1]=0;m=1;return(a.length2()); }
-		else			{ w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
-		}
-	return(-1);
-	}
-static btScalar		projectorigin(	const btVector3& a,
-									const btVector3& b,
-									const btVector3& c,
-									btScalar* w,U& m)
-	{
-	static const U		imd3[]={1,2,0};
-	const btVector3*	vt[]={&a,&b,&c};
-	const btVector3		dl[]={a-b,b-c,c-a};
-	const btVector3		n=cross(dl[0],dl[1]);
-	const btScalar		l=n.length2();
-	if(l>GJK_SIMPLEX3_EPS)
-		{
-		btScalar	mindist=-1;
-		btScalar	subw[2];
-		U			subm;
-		for(U i=0;i<3;++i)
+			void				appendvertice(sSimplex& simplex,const btVector3& v)
+			{
+				simplex.p[simplex.rank]=0;
+				simplex.c[simplex.rank]=m_free[--m_nfree];
+				getsupport(v,*simplex.c[simplex.rank++]);
+			}
+			static btScalar		det(const btVector3& a,const btVector3& b,const btVector3& c)
 			{
-			if(dot(*vt[i],cross(dl[i],n))>0)
+				return(	a.y()*b.z()*c.x()+a.z()*b.x()*c.y()-
+					a.x()*b.z()*c.y()-a.y()*b.x()*c.z()+
+					a.x()*b.y()*c.z()-a.z()*b.y()*c.x());
+			}
+			static btScalar		projectorigin(	const btVector3& a,
+				const btVector3& b,
+				btScalar* w,U& m)
+			{
+				const btVector3	d=b-a;
+				const btScalar	l=d.length2();
+				if(l>GJK_SIMPLEX2_EPS)
 				{
-				const U			j=imd3[i];
-				const btScalar	subd(projectorigin(*vt[i],*vt[j],subw,subm));
-				if((mindist<0)||(subd<mindist))
-					{
-					mindist		=	subd;
-					m			=	static_cast<U>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0));
-					w[i]		=	subw[0];
-					w[j]		=	subw[1];
-					w[imd3[j]]	=	0;				
-					}
+					const btScalar	t(l>0?-dot(a,d)/l:0);
+					if(t>=1)		{ w[0]=0;w[1]=1;m=2;return(b.length2()); }
+					else if(t<=0)	{ w[0]=1;w[1]=0;m=1;return(a.length2()); }
+					else			{ w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
 				}
+				return(-1);
 			}
-		if(mindist<0)
+			static btScalar		projectorigin(	const btVector3& a,
+				const btVector3& b,
+				const btVector3& c,
+				btScalar* w,U& m)
 			{
-			const btScalar	d=dot(a,n);	
-			const btScalar	s=btSqrt(l);
-			const btVector3	p=n*(d/l);
-			mindist	=	p.length2();
-			m		=	7;
-			w[0]	=	(cross(dl[1],b-p)).length()/s;
-			w[1]	=	(cross(dl[2],c-p)).length()/s;
-			w[2]	=	1-(w[0]+w[1]);
+				static const U		imd3[]={1,2,0};
+				const btVector3*	vt[]={&a,&b,&c};
+				const btVector3		dl[]={a-b,b-c,c-a};
+				const btVector3		n=cross(dl[0],dl[1]);
+				const btScalar		l=n.length2();
+				if(l>GJK_SIMPLEX3_EPS)
+				{
+					btScalar	mindist=-1;
+					btScalar	subw[2];
+					U			subm;
+					for(U i=0;i<3;++i)
+					{
+						if(dot(*vt[i],cross(dl[i],n))>0)
+						{
+							const U			j=imd3[i];
+							const btScalar	subd(projectorigin(*vt[i],*vt[j],subw,subm));
+							if((mindist<0)||(subd<mindist))
+							{
+								mindist		=	subd;
+								m			=	static_cast<U>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0));
+								w[i]		=	subw[0];
+								w[j]		=	subw[1];
+								w[imd3[j]]	=	0;				
+							}
+						}
+					}
+					if(mindist<0)
+					{
+						const btScalar	d=dot(a,n);	
+						const btScalar	s=btSqrt(l);
+						const btVector3	p=n*(d/l);
+						mindist	=	p.length2();
+						m		=	7;
+						w[0]	=	(cross(dl[1],b-p)).length()/s;
+						w[1]	=	(cross(dl[2],c-p)).length()/s;
+						w[2]	=	1-(w[0]+w[1]);
+					}
+					return(mindist);
+				}
+				return(-1);
 			}
-		return(mindist);
-		}
-	return(-1);
-	}
-static btScalar		projectorigin(	const btVector3& a,
-									const btVector3& b,
-									const btVector3& c,
-									const btVector3& d,
-									btScalar* w,U& m)
-	{
-	static const U		imd3[]={1,2,0};
-	const btVector3*	vt[]={&a,&b,&c,&d};
-	const btVector3		dl[]={a-d,b-d,c-d};
-	const btScalar		vl=det(dl[0],dl[1],dl[2]);
-	const bool			ng=(vl*dot(a,cross(b-c,a-b)))<=0;
-	if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
-		{
-		btScalar	mindist=-1;
-		btScalar	subw[3];
-		U			subm;
-		for(U i=0;i<3;++i)
+			static btScalar		projectorigin(	const btVector3& a,
+				const btVector3& b,
+				const btVector3& c,
+				const btVector3& d,
+				btScalar* w,U& m)
 			{
-			const U			j=imd3[i];
-			const btScalar	s=vl*dot(d,cross(dl[i],dl[j]));
-			if(s>0)
+				static const U		imd3[]={1,2,0};
+				const btVector3*	vt[]={&a,&b,&c,&d};
+				const btVector3		dl[]={a-d,b-d,c-d};
+				const btScalar		vl=det(dl[0],dl[1],dl[2]);
+				const bool			ng=(vl*dot(a,cross(b-c,a-b)))<=0;
+				if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
 				{
-				const btScalar	subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
-				if((mindist<0)||(subd<mindist))
+					btScalar	mindist=-1;
+					btScalar	subw[3];
+					U			subm;
+					for(U i=0;i<3;++i)
 					{
-					mindist		=	subd;
-					m			=	static_cast<U>((subm&1?1<<i:0)+
+						const U			j=imd3[i];
+						const btScalar	s=vl*dot(d,cross(dl[i],dl[j]));
+						if(s>0)
+						{
+							const btScalar	subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
+							if((mindist<0)||(subd<mindist))
+							{
+								mindist		=	subd;
+								m			=	static_cast<U>((subm&1?1<<i:0)+
 									(subm&2?1<<j:0)+
 									(subm&4?8:0));
-					w[i]		=	subw[0];
-					w[j]		=	subw[1];
-					w[imd3[j]]	=	0;
-					w[3]		=	subw[2];
+								w[i]		=	subw[0];
+								w[j]		=	subw[1];
+								w[imd3[j]]	=	0;
+								w[3]		=	subw[2];
+							}
+						}
+					}
+					if(mindist<0)
+					{
+						mindist	=	0;
+						m		=	15;
+						w[0]	=	det(c,b,d)/vl;
+						w[1]	=	det(a,c,d)/vl;
+						w[2]	=	det(b,a,d)/vl;
+						w[3]	=	1-(w[0]+w[1]+w[2]);
 					}
+					return(mindist);
 				}
+				return(-1);
 			}
-		if(mindist<0)
-			{
-			mindist	=	0;
-			m		=	15;
-			w[0]	=	det(c,b,d)/vl;
-			w[1]	=	det(a,c,d)/vl;
-			w[2]	=	det(b,a,d)/vl;
-			w[3]	=	1-(w[0]+w[1]+w[2]);
-			}
-		return(mindist);
-		}
-	return(-1);
-	}
-};
-
-// EPA
-struct	EPA
-{
-/* Types		*/ 
-typedef	GJK::sSV	sSV;
-struct	sFace
-	{
-	btVector3	n;
-	btScalar	d;
-	btScalar	p;
-	sSV*		c[3];
-	sFace*		f[3];
-	sFace*		l[2];
-	U1			e[3];
-	U1			pass;
 	};
-struct	sList
-	{
-	sFace*		root;
-	U			count;
-				sList() : root(0),count(0)	{}
-	};
-struct	sHorizon
-	{
-	sFace*		cf;
-	sFace*		ff;
-	U			nf;
-				sHorizon() : cf(0),ff(0),nf(0)	{}
-	};
-struct	eStatus { enum _ {
-	Valid,
-	Touching,
-	Degenerated,
-	NonConvex,
-	InvalidHull,		
-	OutOfFaces,
-	OutOfVertices,
-	AccuraryReached,
-	FallBack,
-	Failed		};};
-/* Fields		*/ 
-eStatus::_		m_status;
-GJK::sSimplex	m_result;
-btVector3		m_normal;
-btScalar		m_depth;
-sSV				m_sv_store[EPA_MAX_VERTICES];
-sFace			m_fc_store[EPA_MAX_FACES];
-U				m_nextsv;
-sList			m_hull;
-sList			m_stock;
-/* Methods		*/ 
-					EPA()
-	{
-	Initialize();	
-	}
 
-
-					static inline void		bind(sFace* fa,U ea,sFace* fb,U eb)
-	{
-	fa->e[ea]=(U1)eb;fa->f[ea]=fb;
-	fb->e[eb]=(U1)ea;fb->f[eb]=fa;
-	}
-static inline void		append(sList& list,sFace* face)
+	// EPA
+	struct	EPA
 	{
-	face->l[0]	=	0;
-	face->l[1]	=	list.root;
-	if(list.root) list.root->l[0]=face;
-	list.root	=	face;
-	++list.count;
-	}
-static inline void		remove(sList& list,sFace* face)
-	{
-	if(face->l[1]) face->l[1]->l[0]=face->l[0];
-	if(face->l[0]) face->l[0]->l[1]=face->l[1];
-	if(face==list.root) list.root=face->l[1];
-	--list.count;
-	}
-
-
-void				Initialize()
-	{
-	m_status	=	eStatus::Failed;
-	m_normal	=	btVector3(0,0,0);
-	m_depth		=	0;
-	m_nextsv	=	0;
-	for(U i=0;i<EPA_MAX_FACES;++i)
+		/* Types		*/ 
+		typedef	GJK::sSV	sSV;
+		struct	sFace
 		{
-		append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
-		}
-	}
-eStatus::_			Evaluate(GJK& gjk,const btVector3& guess)
-	{
-	GJK::sSimplex&	simplex=*gjk.m_simplex;
-	if((simplex.rank>1)&&gjk.EncloseOrigin())
+			btVector3	n;
+			btScalar	d;
+			btScalar	p;
+			sSV*		c[3];
+			sFace*		f[3];
+			sFace*		l[2];
+			U1			e[3];
+			U1			pass;
+		};
+		struct	sList
+		{
+			sFace*		root;
+			U			count;
+			sList() : root(0),count(0)	{}
+		};
+		struct	sHorizon
 		{
+			sFace*		cf;
+			sFace*		ff;
+			U			nf;
+			sHorizon() : cf(0),ff(0),nf(0)	{}
+		};
+		struct	eStatus { enum _ {
+			Valid,
+			Touching,
+			Degenerated,
+			NonConvex,
+			InvalidHull,		
+			OutOfFaces,
+			OutOfVertices,
+			AccuraryReached,
+			FallBack,
+			Failed		};};
+			/* Fields		*/ 
+			eStatus::_		m_status;
+			GJK::sSimplex	m_result;
+			btVector3		m_normal;
+			btScalar		m_depth;
+			sSV				m_sv_store[EPA_MAX_VERTICES];
+			sFace			m_fc_store[EPA_MAX_FACES];
+			U				m_nextsv;
+			sList			m_hull;
+			sList			m_stock;
+			/* Methods		*/ 
+			EPA()
+			{
+				Initialize();	
+			}
 
-		/* Clean up				*/ 
-		while(m_hull.root)
+
+			static inline void		bind(sFace* fa,U ea,sFace* fb,U eb)
 			{
-			sFace*	f = m_hull.root;
-			remove(m_hull,f);
-			append(m_stock,f);
+				fa->e[ea]=(U1)eb;fa->f[ea]=fb;
+				fb->e[eb]=(U1)ea;fb->f[eb]=fa;
 			}
-		m_status	=	eStatus::Valid;
-		m_nextsv	=	0;
-		/* Orient simplex		*/ 
-		if(gjk.det(	simplex.c[0]->w-simplex.c[3]->w,
-					simplex.c[1]->w-simplex.c[3]->w,
-					simplex.c[2]->w-simplex.c[3]->w)<0)
+			static inline void		append(sList& list,sFace* face)
 			{
-			btSwap(simplex.c[0],simplex.c[1]);
-			btSwap(simplex.p[0],simplex.p[1]);
+				face->l[0]	=	0;
+				face->l[1]	=	list.root;
+				if(list.root) list.root->l[0]=face;
+				list.root	=	face;
+				++list.count;
 			}
-		/* Build initial hull	*/ 
-		sFace*	tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true),
+			static inline void		remove(sList& list,sFace* face)
+			{
+				if(face->l[1]) face->l[1]->l[0]=face->l[0];
+				if(face->l[0]) face->l[0]->l[1]=face->l[1];
+				if(face==list.root) list.root=face->l[1];
+				--list.count;
+			}
+
+
+			void				Initialize()
+			{
+				m_status	=	eStatus::Failed;
+				m_normal	=	btVector3(0,0,0);
+				m_depth		=	0;
+				m_nextsv	=	0;
+				for(U i=0;i<EPA_MAX_FACES;++i)
+				{
+					append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
+				}
+			}
+			eStatus::_			Evaluate(GJK& gjk,const btVector3& guess)
+			{
+				GJK::sSimplex&	simplex=*gjk.m_simplex;
+				if((simplex.rank>1)&&gjk.EncloseOrigin())
+				{
+
+					/* Clean up				*/ 
+					while(m_hull.root)
+					{
+						sFace*	f = m_hull.root;
+						remove(m_hull,f);
+						append(m_stock,f);
+					}
+					m_status	=	eStatus::Valid;
+					m_nextsv	=	0;
+					/* Orient simplex		*/ 
+					if(gjk.det(	simplex.c[0]->w-simplex.c[3]->w,
+						simplex.c[1]->w-simplex.c[3]->w,
+						simplex.c[2]->w-simplex.c[3]->w)<0)
+					{
+						btSwap(simplex.c[0],simplex.c[1]);
+						btSwap(simplex.p[0],simplex.p[1]);
+					}
+					/* Build initial hull	*/ 
+					sFace*	tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true),
 						newface(simplex.c[1],simplex.c[0],simplex.c[3],true),
 						newface(simplex.c[2],simplex.c[1],simplex.c[3],true),
 						newface(simplex.c[0],simplex.c[2],simplex.c[3],true)};
-		if(m_hull.count==4)
-			{
-			sFace*		best=findbest();
-			sFace		outer=*best;
-			U			pass=0;
-			U			iterations=0;
-			bind(tetra[0],0,tetra[1],0);
-			bind(tetra[0],1,tetra[2],0);
-			bind(tetra[0],2,tetra[3],0);
-			bind(tetra[1],1,tetra[3],2);
-			bind(tetra[1],2,tetra[2],1);
-			bind(tetra[2],2,tetra[3],1);
-			m_status=eStatus::Valid;
-			for(;iterations<EPA_MAX_ITERATIONS;++iterations)
-				{
-				if(m_nextsv<EPA_MAX_VERTICES)
-					{	
-					sHorizon		horizon;
-					sSV*			w=&m_sv_store[m_nextsv++];
-					bool			valid=true;					
-					best->pass	=	(U1)(++pass);
-					gjk.getsupport(best->n,*w);
-					const btScalar	wdist=dot(best->n,w->w)-best->d;
-					if(wdist>EPA_ACCURACY)
+					if(m_hull.count==4)
+					{
+						sFace*		best=findbest();
+						sFace		outer=*best;
+						U			pass=0;
+						U			iterations=0;
+						bind(tetra[0],0,tetra[1],0);
+						bind(tetra[0],1,tetra[2],0);
+						bind(tetra[0],2,tetra[3],0);
+						bind(tetra[1],1,tetra[3],2);
+						bind(tetra[1],2,tetra[2],1);
+						bind(tetra[2],2,tetra[3],1);
+						m_status=eStatus::Valid;
+						for(;iterations<EPA_MAX_ITERATIONS;++iterations)
 						{
-						for(U j=0;(j<3)&&valid;++j)
-							{
-							valid&=expand(	pass,w,
+							if(m_nextsv<EPA_MAX_VERTICES)
+							{	
+								sHorizon		horizon;
+								sSV*			w=&m_sv_store[m_nextsv++];
+								bool			valid=true;					
+								best->pass	=	(U1)(++pass);
+								gjk.getsupport(best->n,*w);
+								const btScalar	wdist=dot(best->n,w->w)-best->d;
+								if(wdist>EPA_ACCURACY)
+								{
+									for(U j=0;(j<3)&&valid;++j)
+									{
+										valid&=expand(	pass,w,
 											best->f[j],best->e[j],
 											horizon);
-							}
-						if(valid&&(horizon.nf>=3))
-							{
-							bind(horizon.cf,1,horizon.ff,2);
-							remove(m_hull,best);
-							append(m_stock,best);
-							best=findbest();
-							if(best->p>=outer.p) outer=*best;
-							} else { m_status=eStatus::InvalidHull;break; }
-						} else { m_status=eStatus::AccuraryReached;break; }
-					} else { m_status=eStatus::OutOfVertices;break; }
+									}
+									if(valid&&(horizon.nf>=3))
+									{
+										bind(horizon.cf,1,horizon.ff,2);
+										remove(m_hull,best);
+										append(m_stock,best);
+										best=findbest();
+										if(best->p>=outer.p) outer=*best;
+									} else { m_status=eStatus::InvalidHull;break; }
+								} else { m_status=eStatus::AccuraryReached;break; }
+							} else { m_status=eStatus::OutOfVertices;break; }
+						}
+						const btVector3	projection=outer.n*outer.d;
+						m_normal	=	outer.n;
+						m_depth		=	outer.d;
+						m_result.rank	=	3;
+						m_result.c[0]	=	outer.c[0];
+						m_result.c[1]	=	outer.c[1];
+						m_result.c[2]	=	outer.c[2];
+						m_result.p[0]	=	cross(	outer.c[1]->w-projection,
+							outer.c[2]->w-projection).length();
+						m_result.p[1]	=	cross(	outer.c[2]->w-projection,
+							outer.c[0]->w-projection).length();
+						m_result.p[2]	=	cross(	outer.c[0]->w-projection,
+							outer.c[1]->w-projection).length();
+						const btScalar	sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
+						m_result.p[0]	/=	sum;
+						m_result.p[1]	/=	sum;
+						m_result.p[2]	/=	sum;
+						return(m_status);
+					}
 				}
-			const btVector3	projection=outer.n*outer.d;
-			m_normal	=	outer.n;
-			m_depth		=	outer.d;
-			m_result.rank	=	3;
-			m_result.c[0]	=	outer.c[0];
-			m_result.c[1]	=	outer.c[1];
-			m_result.c[2]	=	outer.c[2];
-			m_result.p[0]	=	cross(	outer.c[1]->w-projection,
-										outer.c[2]->w-projection).length();
-			m_result.p[1]	=	cross(	outer.c[2]->w-projection,
-										outer.c[0]->w-projection).length();
-			m_result.p[2]	=	cross(	outer.c[0]->w-projection,
-										outer.c[1]->w-projection).length();
-			const btScalar	sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
-			m_result.p[0]	/=	sum;
-			m_result.p[1]	/=	sum;
-			m_result.p[2]	/=	sum;
-			return(m_status);
+				/* Fallback		*/ 
+				m_status	=	eStatus::FallBack;
+				m_normal	=	-guess;
+				const btScalar	nl=m_normal.length();
+				if(nl>0)
+					m_normal	=	m_normal/nl;
+				else
+					m_normal	=	btVector3(1,0,0);
+				m_depth	=	0;
+				m_result.rank=1;
+				m_result.c[0]=simplex.c[0];
+				m_result.p[0]=1;	
+				return(m_status);
 			}
-		}
-	/* Fallback		*/ 
-	m_status	=	eStatus::FallBack;
-	m_normal	=	-guess;
-	const btScalar	nl=m_normal.length();
-	if(nl>0)
-		m_normal	=	m_normal/nl;
-		else
-		m_normal	=	btVector3(1,0,0);
-	m_depth	=	0;
-	m_result.rank=1;
-	m_result.c[0]=simplex.c[0];
-	m_result.p[0]=1;	
-	return(m_status);
-	}
-sFace*				newface(sSV* a,sSV* b,sSV* c,bool forced)
-	{
-	if(m_stock.root)
-		{
-		sFace*	face=m_stock.root;
-		remove(m_stock,face);
-		append(m_hull,face);
-		face->pass	=	0;
-		face->c[0]	=	a;
-		face->c[1]	=	b;
-		face->c[2]	=	c;
-		face->n		=	cross(b->w-a->w,c->w-a->w);
-		const btScalar	l=face->n.length();
-		const bool		v=l>EPA_ACCURACY;
-		face->p		=	btMin(btMin(
-							dot(a->w,cross(face->n,a->w-b->w)),
-							dot(b->w,cross(face->n,b->w-c->w))),
-							dot(c->w,cross(face->n,c->w-a->w)))	/
-							(v?l:1);
-		face->p		=	face->p>=-EPA_INSIDE_EPS?0:face->p;
-		if(v)
+			sFace*				newface(sSV* a,sSV* b,sSV* c,bool forced)
 			{
-			face->d		=	dot(a->w,face->n)/l;
-			face->n		/=	l;
-			if(forced||(face->d>=-EPA_PLANE_EPS))
+				if(m_stock.root)
 				{
-				return(face);
-				} else m_status=eStatus::NonConvex;
-			} else m_status=eStatus::Degenerated;
-		remove(m_hull,face);
-		append(m_stock,face);
-		return(0);
-		}
-	m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces;
-	return(0);
-	}
-sFace*				findbest()
-	{
-	sFace*		minf=m_hull.root;
-	btScalar	mind=minf->d*minf->d;
-	btScalar	maxp=minf->p;
-	for(sFace* f=minf->l[1];f;f=f->l[1])
-		{
-		const btScalar	sqd=f->d*f->d;
-		if((f->p>=maxp)&&(sqd<mind))
-			{
-			minf=f;
-			mind=sqd;
-			maxp=f->p;
+					sFace*	face=m_stock.root;
+					remove(m_stock,face);
+					append(m_hull,face);
+					face->pass	=	0;
+					face->c[0]	=	a;
+					face->c[1]	=	b;
+					face->c[2]	=	c;
+					face->n		=	cross(b->w-a->w,c->w-a->w);
+					const btScalar	l=face->n.length();
+					const bool		v=l>EPA_ACCURACY;
+					face->p		=	btMin(btMin(
+						dot(a->w,cross(face->n,a->w-b->w)),
+						dot(b->w,cross(face->n,b->w-c->w))),
+						dot(c->w,cross(face->n,c->w-a->w)))	/
+						(v?l:1);
+					face->p		=	face->p>=-EPA_INSIDE_EPS?0:face->p;
+					if(v)
+					{
+						face->d		=	dot(a->w,face->n)/l;
+						face->n		/=	l;
+						if(forced||(face->d>=-EPA_PLANE_EPS))
+						{
+							return(face);
+						} else m_status=eStatus::NonConvex;
+					} else m_status=eStatus::Degenerated;
+					remove(m_hull,face);
+					append(m_stock,face);
+					return(0);
+				}
+				m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces;
+				return(0);
 			}
-		}
-	return(minf);
-	}
-bool				expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon)
-	{
-	static const U	i1m3[]={1,2,0};
-	static const U	i2m3[]={2,0,1};
-	if(f->pass!=pass)
-		{
-		const U	e1=i1m3[e];
-		if((dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
+			sFace*				findbest()
 			{
-			sFace*	nf=newface(f->c[e1],f->c[e],w,false);
-			if(nf)
+				sFace*		minf=m_hull.root;
+				btScalar	mind=minf->d*minf->d;
+				btScalar	maxp=minf->p;
+				for(sFace* f=minf->l[1];f;f=f->l[1])
 				{
-				bind(nf,0,f,e);
-				if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf;
-				horizon.cf=nf;
-				++horizon.nf;
-				return(true);
+					const btScalar	sqd=f->d*f->d;
+					if((f->p>=maxp)&&(sqd<mind))
+					{
+						minf=f;
+						mind=sqd;
+						maxp=f->p;
+					}
 				}
+				return(minf);
 			}
-			else
+			bool				expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon)
 			{
-			const U	e2=i2m3[e];
-			f->pass		=	(U1)pass;
-			if(	expand(pass,w,f->f[e1],f->e[e1],horizon)&&
-				expand(pass,w,f->f[e2],f->e[e2],horizon))
+				static const U	i1m3[]={1,2,0};
+				static const U	i2m3[]={2,0,1};
+				if(f->pass!=pass)
 				{
-				remove(m_hull,f);
-				append(m_stock,f);
-				return(true);
+					const U	e1=i1m3[e];
+					if((dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
+					{
+						sFace*	nf=newface(f->c[e1],f->c[e],w,false);
+						if(nf)
+						{
+							bind(nf,0,f,e);
+							if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf;
+							horizon.cf=nf;
+							++horizon.nf;
+							return(true);
+						}
+					}
+					else
+					{
+						const U	e2=i2m3[e];
+						f->pass		=	(U1)pass;
+						if(	expand(pass,w,f->f[e1],f->e[e1],horizon)&&
+							expand(pass,w,f->f[e2],f->e[e2],horizon))
+						{
+							remove(m_hull,f);
+							append(m_stock,f);
+							return(true);
+						}
+					}
 				}
+				return(false);
 			}
-		}
-	return(false);
-	}
 
-};
+	};
 
-//
-static void	Initialize(	const btConvexShape* shape0,const btTransform& wtrs0,
-						const btConvexShape* shape1,const btTransform& wtrs1,
-						btGjkEpaSolver2::sResults& results,
-						tShape& shape,
-						bool withmargins)
-{
-/* Results		*/ 
-results.witnesses[0]	=
-results.witnesses[1]	=	btVector3(0,0,0);
-results.status			=	btGjkEpaSolver2::sResults::Separated;
-/* Shape		*/ 
-shape.m_shapes[0]		=	shape0;
-shape.m_shapes[1]		=	shape1;
-shape.m_toshape1		=	wtrs1.getBasis().transposeTimes(wtrs0.getBasis());
-shape.m_toshape0		=	wtrs0.inverseTimes(wtrs1);
-shape.EnableMargin(withmargins);
-}
+	//
+	static void	Initialize(	const btConvexShape* shape0,const btTransform& wtrs0,
+		const btConvexShape* shape1,const btTransform& wtrs1,
+		btGjkEpaSolver2::sResults& results,
+		tShape& shape,
+		bool withmargins)
+	{
+		/* Results		*/ 
+		results.witnesses[0]	=
+			results.witnesses[1]	=	btVector3(0,0,0);
+		results.status			=	btGjkEpaSolver2::sResults::Separated;
+		/* Shape		*/ 
+		shape.m_shapes[0]		=	shape0;
+		shape.m_shapes[1]		=	shape1;
+		shape.m_toshape1		=	wtrs1.getBasis().transposeTimes(wtrs0.getBasis());
+		shape.m_toshape0		=	wtrs0.inverseTimes(wtrs1);
+		shape.EnableMargin(withmargins);
+	}
 
 }
 
@@ -775,87 +775,87 @@ using namespace	gjkepa2_impl;
 //
 int			btGjkEpaSolver2::StackSizeRequirement()
 {
-return(sizeof(GJK)+sizeof(EPA));
+	return(sizeof(GJK)+sizeof(EPA));
 }
 
 //
 bool		btGjkEpaSolver2::Distance(	const btConvexShape*	shape0,
-										const btTransform&		wtrs0,
-										const btConvexShape*	shape1,
-										const btTransform&		wtrs1,
-										const btVector3&		guess,
-										sResults&				results)
+									  const btTransform&		wtrs0,
+									  const btConvexShape*	shape1,
+									  const btTransform&		wtrs1,
+									  const btVector3&		guess,
+									  sResults&				results)
 {
-tShape			shape;
-Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
-GJK				gjk;
-GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,guess);
-if(gjk_status==GJK::eStatus::Valid)
+	tShape			shape;
+	Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
+	GJK				gjk;
+	GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,guess);
+	if(gjk_status==GJK::eStatus::Valid)
 	{
-	btVector3	w0=btVector3(0,0,0);
-	btVector3	w1=btVector3(0,0,0);
-	for(U i=0;i<gjk.m_simplex->rank;++i)
+		btVector3	w0=btVector3(0,0,0);
+		btVector3	w1=btVector3(0,0,0);
+		for(U i=0;i<gjk.m_simplex->rank;++i)
 		{
-		const btScalar	p=gjk.m_simplex->p[i];
-		w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
-		w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
+			const btScalar	p=gjk.m_simplex->p[i];
+			w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
+			w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
 		}
-	results.witnesses[0]	=	wtrs0*w0;
-	results.witnesses[1]	=	wtrs0*w1;
-	results.normal			=	w0-w1;
-	results.distance		=	results.normal.length();
-	results.normal			/=	results.distance>GJK_MIN_DISTANCE?results.distance:1;
-	return(true);
+		results.witnesses[0]	=	wtrs0*w0;
+		results.witnesses[1]	=	wtrs0*w1;
+		results.normal			=	w0-w1;
+		results.distance		=	results.normal.length();
+		results.normal			/=	results.distance>GJK_MIN_DISTANCE?results.distance:1;
+		return(true);
 	}
 	else
 	{
-	results.status	=	gjk_status==GJK::eStatus::Inside?
-							sResults::Penetrating	:
-							sResults::GJK_Failed	;
-	return(false);
+		results.status	=	gjk_status==GJK::eStatus::Inside?
+			sResults::Penetrating	:
+		sResults::GJK_Failed	;
+		return(false);
 	}
 }
 
 //
 bool	btGjkEpaSolver2::Penetration(	const btConvexShape*	shape0,
-										const btTransform&		wtrs0,
-										const btConvexShape*	shape1,
-										const btTransform&		wtrs1,
-										const btVector3&		guess,
-										sResults&				results,
-										bool					usemargins)
+									 const btTransform&		wtrs0,
+									 const btConvexShape*	shape1,
+									 const btTransform&		wtrs1,
+									 const btVector3&		guess,
+									 sResults&				results,
+									 bool					usemargins)
 {
-tShape			shape;
-Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,usemargins);
-GJK				gjk;	
-GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,-guess);
-switch(gjk_status)
+	tShape			shape;
+	Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,usemargins);
+	GJK				gjk;	
+	GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,-guess);
+	switch(gjk_status)
 	{
 	case	GJK::eStatus::Inside:
 		{
-		EPA				epa;
-		EPA::eStatus::_	epa_status=epa.Evaluate(gjk,-guess);
-		if(epa_status!=EPA::eStatus::Failed)
+			EPA				epa;
+			EPA::eStatus::_	epa_status=epa.Evaluate(gjk,-guess);
+			if(epa_status!=EPA::eStatus::Failed)
 			{
-			btVector3	w0=btVector3(0,0,0);
-			for(U i=0;i<epa.m_result.rank;++i)
+				btVector3	w0=btVector3(0,0,0);
+				for(U i=0;i<epa.m_result.rank;++i)
 				{
-				w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
+					w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
 				}
-			results.status			=	sResults::Penetrating;
-			results.witnesses[0]	=	wtrs0*w0;
-			results.witnesses[1]	=	wtrs0*(w0-epa.m_normal*epa.m_depth);
-			results.normal			=	-epa.m_normal;
-			results.distance		=	-epa.m_depth;
-			return(true);
+				results.status			=	sResults::Penetrating;
+				results.witnesses[0]	=	wtrs0*w0;
+				results.witnesses[1]	=	wtrs0*(w0-epa.m_normal*epa.m_depth);
+				results.normal			=	-epa.m_normal;
+				results.distance		=	-epa.m_depth;
+				return(true);
 			} else results.status=sResults::EPA_Failed;
 		}
-	break;
+		break;
 	case	GJK::eStatus::Failed:
-	results.status=sResults::GJK_Failed;
-	break;
+		results.status=sResults::GJK_Failed;
+		break;
 	}
-return(false);
+	return(false);
 }
 
 //
@@ -865,49 +865,49 @@ btScalar	btGjkEpaSolver2::SignedDistance(const btVector3& position,
 											const btTransform& wtrs0,
 											sResults& results)
 {
-tShape			shape;
-btSphereShape	shape1(margin);
-btTransform		wtrs1(btQuaternion(0,0,0,1),position);
-Initialize(shape0,wtrs0,&shape1,wtrs1,results,shape,false);
-GJK				gjk;	
-GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,btVector3(1,1,1));
-if(gjk_status==GJK::eStatus::Valid)
+	tShape			shape;
+	btSphereShape	shape1(margin);
+	btTransform		wtrs1(btQuaternion(0,0,0,1),position);
+	Initialize(shape0,wtrs0,&shape1,wtrs1,results,shape,false);
+	GJK				gjk;	
+	GJK::eStatus::_	gjk_status=gjk.Evaluate(shape,btVector3(1,1,1));
+	if(gjk_status==GJK::eStatus::Valid)
 	{
-	btVector3	w0=btVector3(0,0,0);
-	btVector3	w1=btVector3(0,0,0);
-	for(U i=0;i<gjk.m_simplex->rank;++i)
+		btVector3	w0=btVector3(0,0,0);
+		btVector3	w1=btVector3(0,0,0);
+		for(U i=0;i<gjk.m_simplex->rank;++i)
 		{
-		const btScalar	p=gjk.m_simplex->p[i];
-		w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
-		w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
+			const btScalar	p=gjk.m_simplex->p[i];
+			w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
+			w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
 		}
-	results.witnesses[0]	=	wtrs0*w0;
-	results.witnesses[1]	=	wtrs0*w1;
-	const btVector3	delta=	results.witnesses[1]-
-							results.witnesses[0];
-	const btScalar	margin=	shape0->getMargin()+
-							shape1.getMargin();
-	const btScalar	length=	delta.length();	
-	results.normal			=	delta/length;
-	results.witnesses[0]	+=	results.normal*margin;
-	return(length-margin);
+		results.witnesses[0]	=	wtrs0*w0;
+		results.witnesses[1]	=	wtrs0*w1;
+		const btVector3	delta=	results.witnesses[1]-
+			results.witnesses[0];
+		const btScalar	margin=	shape0->getMarginNonVirtual()+
+			shape1.getMarginNonVirtual();
+		const btScalar	length=	delta.length();	
+		results.normal			=	delta/length;
+		results.witnesses[0]	+=	results.normal*margin;
+		return(length-margin);
 	}
 	else
 	{
-	if(gjk_status==GJK::eStatus::Inside)
+		if(gjk_status==GJK::eStatus::Inside)
 		{
-		if(Penetration(shape0,wtrs0,&shape1,wtrs1,gjk.m_ray,results))
+			if(Penetration(shape0,wtrs0,&shape1,wtrs1,gjk.m_ray,results))
 			{
-			const btVector3	delta=	results.witnesses[0]-
-									results.witnesses[1];
-			const btScalar	length=	delta.length();
-			if (length >= SIMD_EPSILON)
-				results.normal	=	delta/length;			
-			return(-length);
+				const btVector3	delta=	results.witnesses[0]-
+					results.witnesses[1];
+				const btScalar	length=	delta.length();
+				if (length >= SIMD_EPSILON)
+					results.normal	=	delta/length;			
+				return(-length);
 			}
 		}	
 	}
-return(SIMD_INFINITY);
+	return(SIMD_INFINITY);
 }
 
 //
@@ -918,10 +918,10 @@ bool	btGjkEpaSolver2::SignedDistance(const btConvexShape*	shape0,
 										const btVector3&		guess,
 										sResults&				results)
 {
-if(!Distance(shape0,wtrs0,shape1,wtrs1,guess,results))
-	return(Penetration(shape0,wtrs0,shape1,wtrs1,guess,results,false));
+	if(!Distance(shape0,wtrs0,shape1,wtrs1,guess,results))
+		return(Penetration(shape0,wtrs0,shape1,wtrs1,guess,results,false));
 	else
-	return(true);
+		return(true);
 }
 
 /* Symbols cleanup		*/ 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
index c4f84ed4d75..05573c7cfce 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -17,13 +17,14 @@ subject to the following restrictions:
 
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+
+
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 
 bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
 											  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
 											  const btTransform& transformA, const btTransform& transformB,
-											  btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
+											  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
 											  class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
 {
 
@@ -33,20 +34,12 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
 
 	const btScalar				radialmargin(btScalar(0.));
 	
-//#define USE_ORIGINAL_GJK 1
-#ifdef USE_ORIGINAL_GJK
-	btGjkEpaSolver::sResults	results;
-	if(btGjkEpaSolver::Collide(	pConvexA,transformA,
-								pConvexB,transformB,
-								radialmargin,stackAlloc,results))
-#else
 	btVector3	guessVector(transformA.getOrigin()-transformB.getOrigin());
 	btGjkEpaSolver2::sResults	results;
 	if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
 								pConvexB,transformB,
 								guessVector,results))
 	
-#endif
 		{
 	//	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
 		//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
index 2dc069ce5cf..68dbc566518 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
@@ -28,7 +28,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
 		bool			calcPenDepth( btSimplexSolverInterface& simplexSolver,
 									  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
 									  const btTransform& transformA, const btTransform& transformB,
-									  btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
+									  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
 									  class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
 
 	private :
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 01fb1a4b068..0856332d1ca 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -18,11 +18,15 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
 #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
 
+
+
 #if defined(DEBUG) || defined (_DEBUG)
+//#define TEST_NON_VIRTUAL 1
 #include <stdio.h> //for debug printf
 #ifdef __SPU__
 #include <spu_printf.h>
 #define printf spu_printf
+//#define DEBUG_SPU_COLLISION_DETECTION 1
 #endif //__SPU__
 #endif
 
@@ -49,6 +53,8 @@ m_catchDegeneracies(1)
 
 void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
 {
+	m_cachedSeparatingDistance = 0.f;
+
 	btScalar distance=btScalar(0.);
 	btVector3	normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
 	btVector3 pointOnA,pointOnB;
@@ -58,16 +64,35 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 	localTransA.getOrigin() -= positionOffset;
 	localTransB.getOrigin() -= positionOffset;
 
+#ifdef __SPU__
+	btScalar marginA = m_minkowskiA->getMarginNonVirtual();
+	btScalar marginB = m_minkowskiB->getMarginNonVirtual();
+#else
 	btScalar marginA = m_minkowskiA->getMargin();
 	btScalar marginB = m_minkowskiB->getMargin();
+#ifdef TEST_NON_VIRTUAL
+	btScalar marginAv = m_minkowskiA->getMarginNonVirtual();
+	btScalar marginBv = m_minkowskiB->getMarginNonVirtual();
+	btAssert(marginA == marginAv);
+	btAssert(marginB == marginBv);
+#endif //TEST_NON_VIRTUAL
+#endif
+	
+
 
 	gNumGjkChecks++;
 
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+	spu_printf("inside gjk\n");
+#endif
 	//for CCD we don't use margins
 	if (m_ignoreMargin)
 	{
 		marginA = btScalar(0.);
 		marginB = btScalar(0.);
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("ignoring margin\n");
+#endif
 	}
 
 	m_curIter = 0;
@@ -98,18 +123,35 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 			btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
 			btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
 
+#ifdef __SPU__
+			btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+			btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+#else
 			btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
 			btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
-			btPoint3  pWorld = localTransA(pInA);	
-			btPoint3  qWorld = localTransB(qInB);
-			
+#ifdef TEST_NON_VIRTUAL
+			btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
+			btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
+			btAssert((pInAv-pInA).length() < 0.0001);
+			btAssert((qInBv-qInB).length() < 0.0001);
+#endif //
+#endif //__SPU__
+
+			btVector3  pWorld = localTransA(pInA);	
+			btVector3  qWorld = localTransB(qInB);
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("got local supporting vertices\n");
+#endif
+
 			btVector3 w	= pWorld - qWorld;
 			delta = m_cachedSeparatingAxis.dot(w);
 
 			// potential exit, they don't overlap
 			if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) 
 			{
-				checkPenetration = false;
+				checkSimplex=true;
+				//checkPenetration = false;
 				break;
 			}
 
@@ -133,9 +175,15 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 				checkSimplex = true;
 				break;
 			}
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("addVertex 1\n");
+#endif
 			//add current vertex to simplex
 			m_simplexSolver->addVertex(w, pWorld, qWorld);
-
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("addVertex 2\n");
+#endif
 			//calculate the closest point to the origin (update vector v)
 			if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
 			{
@@ -167,7 +215,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 			  //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject   
               if (m_curIter++ > gGjkMaxIter)   
               {   
-                      #if defined(DEBUG) || defined (_DEBUG)   
+                      #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)
 
                               printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);   
                               printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",   
@@ -290,10 +338,20 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 #endif //__CELLOS_LV2__
 
 
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("output 1\n");
+#endif
+		m_cachedSeparatingAxis = normalInB;
+		m_cachedSeparatingDistance = distance;
+
 		output.addContactPoint(
 			normalInB,
 			pointOnB+positionOffset,
 			distance);
+
+#ifdef DEBUG_SPU_COLLISION_DETECTION
+		spu_printf("output 2\n");
+#endif
 		//printf("gjk add:%f",distance);
 	}
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
index 550fc4677e0..0ad4aab8a59 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -20,7 +20,6 @@ subject to the following restrictions:
 #define GJK_PAIR_DETECTOR_H
 
 #include "btDiscreteCollisionDetectorInterface.h"
-#include "LinearMath/btPoint3.h"
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 
 class btConvexShape;
@@ -38,6 +37,7 @@ class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
 	const btConvexShape* m_minkowskiA;
 	const btConvexShape* m_minkowskiB;
 	bool		m_ignoreMargin;
+	btScalar	m_cachedSeparatingDistance;
 	
 
 public:
@@ -68,6 +68,15 @@ public:
 		m_cachedSeparatingAxis = seperatingAxis;
 	}
 
+	const btVector3& getCachedSeparatingAxis() const
+	{
+		return m_cachedSeparatingAxis;
+	}
+	btScalar	getCachedSeparatingDistance() const
+	{
+		return m_cachedSeparatingDistance;
+	}
+
 	void	setPenetrationDepthSolver(btConvexPenetrationDepthSolver*	penetrationDepthSolver)
 	{
 		m_penetrationDepthSolver = penetrationDepthSolver;
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index e75fc1bee96..c7c9812985d 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
@@ -32,6 +32,8 @@ class btManifoldPoint
 				:m_userPersistentData(0),
 				m_appliedImpulse(0.f),
 				m_lateralFrictionInitialized(false),
+				m_appliedImpulseLateral1(0.f),
+				m_appliedImpulseLateral2(0.f),
 				m_lifeTime(0)
 			{
 			}
@@ -110,6 +112,12 @@ class btManifoldPoint
 				m_distance1 = dist;
 			}
 			
+			///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
+			btScalar	getAppliedImpulse() const
+			{
+				return m_appliedImpulse;
+			}
+
 			
 
 	};
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
index 0e6fa2e6dfe..581b4258f03 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
@@ -19,9 +19,6 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 
-
-
-
 #define NUM_UNITSPHERE_POINTS 42
 static btVector3	sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
 {
@@ -73,7 +70,7 @@ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
 bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
 												   const btConvexShape* convexA,const btConvexShape* convexB,
 												   const btTransform& transA,const btTransform& transB,
-												   btVector3& v, btPoint3& pa, btPoint3& pb,
+												   btVector3& v, btVector3& pa, btVector3& pb,
 												   class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
 												   )
 {
@@ -117,7 +114,9 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 	btVector3 seperatingAxisInA,seperatingAxisInB;
 	btVector3 pInA,qInB,pWorld,qWorld,w;
 
+#ifndef __SPU__
 #define USE_BATCHED_SUPPORT 1
+#endif
 #ifdef USE_BATCHED_SUPPORT
 
 	btVector3	supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
@@ -200,6 +199,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 
 	int numSampleDirections = NUM_UNITSPHERE_POINTS;
 
+#ifndef __SPU__
 	{
 		int numPDA = convexA->getNumPreferredPenetrationDirections();
 		if (numPDA)
@@ -229,14 +229,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 			}
 		}
 	}
+#endif // __SPU__
 
 	for (int i=0;i<numSampleDirections;i++)
 	{
 		const btVector3& norm = sPenetrationDirections[i];
 		seperatingAxisInA = (-norm)* transA.getBasis();
 		seperatingAxisInB = norm* transB.getBasis();
-		pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
-		qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
+		pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+		qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
 		pWorld = transA(pInA);	
 		qWorld = transB(qInB);
 		w	= qWorld - pWorld;
@@ -254,13 +255,13 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 
 	//add the margins
 
-	minA += minNorm*convexA->getMargin();
-	minB -= minNorm*convexB->getMargin();
+	minA += minNorm*convexA->getMarginNonVirtual();
+	minB -= minNorm*convexB->getMarginNonVirtual();
 	//no penetration
 	if (minProj < btScalar(0.))
 		return false;
 
-	minProj += (convexA->getMargin() + convexB->getMargin());
+	minProj += (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
index 27b42c2b47e..23cbd57ac7e 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
@@ -27,10 +27,9 @@ public:
 	virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
 	const btConvexShape* convexA,const btConvexShape* convexB,
 				const btTransform& transA,const btTransform& transB,
-			btVector3& v, btPoint3& pa, btPoint3& pb,
+			btVector3& v, btVector3& pa, btVector3& pb,
 			class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
 			);
-
 };
 
 #endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
index 386885d2ac8..d4e29882d37 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
@@ -16,7 +16,7 @@ subject to the following restrictions:
 
 #include "btPersistentManifold.h"
 #include "LinearMath/btTransform.h"
-#include <assert.h>
+
 
 btScalar					gContactBreakingThreshold = btScalar(0.02);
 ContactDestroyedCallback	gContactDestroyedCallback = 0;
@@ -66,7 +66,7 @@ void btPersistentManifold::clearUserCache(btManifoldPoint& pt)
 					printf("error in clearUserCache\n");
 			}
 		}
-		assert(occurance<=0);
+		btAssert(occurance<=0);
 #endif //DEBUG_PERSISTENCY
 
 		if (pt.m_userPersistentData && gContactDestroyedCallback)
@@ -164,7 +164,7 @@ int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
 
 int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint)
 {
-	assert(validContactDistance(newPoint));
+	btAssert(validContactDistance(newPoint));
 
 	int insertIndex = getNumContacts();
 	if (insertIndex == MANIFOLD_CACHE_SIZE)
@@ -183,6 +183,9 @@ int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint)
 
 		
 	}
+	if (insertIndex<0)
+		insertIndex=0;
+
 	btAssert(m_pointCache[insertIndex].m_userPersistentData==0);
 	m_pointCache[insertIndex] = newPoint;
 	return insertIndex;
@@ -190,7 +193,7 @@ int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint)
 
 btScalar	btPersistentManifold::getContactBreakingThreshold() const
 {
-	return gContactBreakingThreshold;
+	return m_contactBreakingThreshold;
 }
 
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index c122eb865e8..0b3c734d1d7 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -24,7 +24,7 @@ subject to the following restrictions:
 
 struct btCollisionResult;
 
-///contact breaking and merging threshold
+///maximum contact breaking and merging threshold
 extern btScalar gContactBreakingThreshold;
 
 typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
@@ -54,6 +54,9 @@ ATTRIBUTE_ALIGNED16( class) btPersistentManifold
 	void* m_body1;
 	int	m_cachedPoints;
 
+	btScalar	m_contactBreakingThreshold;
+	btScalar	m_contactProcessingThreshold;
+
 	
 	/// sort cached points so most isolated points come first
 	int	sortCachedPoints(const btManifoldPoint& pt);
@@ -68,10 +71,12 @@ public:
 
 	btPersistentManifold();
 
-	btPersistentManifold(void* body0,void* body1,int bla)
-		: m_body0(body0),m_body1(body1),m_cachedPoints(0)
+	btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
+		: m_body0(body0),m_body1(body1),m_cachedPoints(0),
+		m_contactBreakingThreshold(contactBreakingThreshold),
+		m_contactProcessingThreshold(contactProcessingThreshold)
 	{
-		(void)bla;
+		
 	}
 
 	SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
@@ -106,8 +111,13 @@ public:
 		return m_pointCache[index];
 	}
 
-	/// todo: get this margin from the current physics / collision environment
+	///@todo: get this margin from the current physics / collision environment
 	btScalar	getContactBreakingThreshold() const;
+
+	btScalar	getContactProcessingThreshold() const
+	{
+		return m_contactProcessingThreshold;
+	}
 	
 	int getCacheEntry(const btManifoldPoint& newPoint) const;
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
index a70a3ae56c4..cdb1d22444d 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
@@ -23,10 +23,12 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 #include "btRaycastCallback.h"
 
-btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
+btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags)
 	:
 	m_from(from),
 	m_to(to),
+   //@BP Mod
+   m_flags(flags),
 	m_hitFraction(btScalar(1.))
 {
 
@@ -55,6 +57,12 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 	{
 		return ; // same sign
 	}
+   //@BP Mod - Backface filtering
+   if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
+   {
+      // Backface, skip check
+      return;
+   }
 	
 	const btScalar proj_length=dist_a-dist_b;
 	const btScalar distance = (dist_a)/(proj_length);
@@ -89,14 +97,18 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 					
 					if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
 					{
+                  //@BP Mod
+                  // Triangle normal isn't normalized
+				      triangleNormal.normalize();
 
-						if ( dist_a > 0 )
+                  //@BP Mod - Allow for unflipped normal when raycasting against backfaces
+                  if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
 						{
-							m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
+							m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
 						}
 						else
 						{
-							m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
+                     m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
 						}
 					}
 				}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
index d2b4b80f8ba..3a1ab388c13 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
@@ -29,9 +29,20 @@ public:
 	btVector3 m_from;
 	btVector3 m_to;
 
+   //@BP Mod - allow backface filtering and unflipped normals
+   enum EFlags
+   {
+      kF_None                 = 0,
+      kF_FilterBackfaces      = 1 << 0,
+      kF_KeepUnflippedNormal  = 1 << 1,   // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
+
+      kF_Terminator        = 0xFFFFFFFF
+   };
+   unsigned int m_flags;
+
 	btScalar	m_hitFraction;
 
-	btTriangleRaycastCallback(const btVector3& from,const btVector3& to);
+	btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags=0);
 	
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
index cf65f46505b..823b4e7158b 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
@@ -19,7 +19,6 @@ subject to the following restrictions:
 #define SIMPLEX_SOLVER_INTERFACE_H
 
 #include "LinearMath/btVector3.h"
-#include "LinearMath/btPoint3.h"
 
 #define NO_VIRTUAL_INTERFACE 1
 #ifdef NO_VIRTUAL_INTERFACE
@@ -37,7 +36,7 @@ class btSimplexSolverInterface
 
 	virtual void reset() = 0;
 
-	virtual void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q) = 0;
+	virtual void addVertex(const btVector3& w, const btVector3& p, const btVector3& q) = 0;
 	
 	virtual bool closest(btVector3& v) = 0;
 
@@ -45,7 +44,7 @@ class btSimplexSolverInterface
 
 	virtual bool fullSimplex() const = 0;
 
-	virtual int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const = 0;
+	virtual int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const = 0;
 
 	virtual bool inSimplex(const btVector3& w) = 0;
 	
@@ -53,7 +52,7 @@ class btSimplexSolverInterface
 
 	virtual bool emptySimplex() const = 0;
 
-	virtual void compute_points(btPoint3& p1, btPoint3& p2) = 0;
+	virtual void compute_points(btVector3& p1, btVector3& p2) = 0;
 
 	virtual int numVertices() const =0;
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
index cf8a3ab5eb1..a7ffeda8c62 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
@@ -25,8 +25,6 @@ subject to the following restrictions:
 
 
 #include "btVoronoiSimplexSolver.h"
-#include <assert.h>
-//#include <stdio.h>
 
 #define VERTA  0
 #define VERTB  1
@@ -37,7 +35,7 @@ subject to the following restrictions:
 void	btVoronoiSimplexSolver::removeVertex(int index)
 {
 	
-	assert(m_numVertices>0);
+	btAssert(m_numVertices>0);
 	m_numVertices--;
 	m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
 	m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
@@ -77,7 +75,7 @@ void btVoronoiSimplexSolver::reset()
 
 
 	//add a vertex
-void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q)
+void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q)
 {
 	m_lastW = w;
 	m_needsUpdate = true;
@@ -267,7 +265,7 @@ btScalar btVoronoiSimplexSolver::maxVertex()
 
 
 	//return the current simplex
-int btVoronoiSimplexSolver::getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
+int btVoronoiSimplexSolver::getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const
 {
 	int i;
 	for (i=0;i<numVertices();i++)
@@ -314,7 +312,7 @@ bool btVoronoiSimplexSolver::emptySimplex() const
 
 }
 
-void btVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2) 
+void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2) 
 {
 	updateClosestVectorAndPoints();
 	p1 = m_cachedP1;
@@ -325,7 +323,7 @@ void btVoronoiSimplexSolver::compute_points(btPoint3& p1, btPoint3& p2)
 
 
 
-bool	btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,btSubSimplexClosestResult& result)
+bool	btVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result)
 {
 	result.m_usedVertices.reset();
 
@@ -425,7 +423,7 @@ bool	btVoronoiSimplexSolver::closestPtPointTriangle(const btPoint3& p, const btP
 
 
 /// Test if point p and d lie on opposite sides of plane through abc
-int btVoronoiSimplexSolver::pointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d)
+int btVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d)
 {
 	btVector3 normal = (b-a).cross(c-a);
 
@@ -452,7 +450,7 @@ if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
 }
 
 
-bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, btSubSimplexClosestResult& finalResult)
+bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult)
 {
 	btSubSimplexClosestResult tempResult;
 
@@ -486,7 +484,7 @@ bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
 	if (pointOutsideABC) 
 	{
         closestPtPointTriangle(p, a, b, c,tempResult);
-		btPoint3 q = tempResult.m_closestPointOnSimplex;
+		btVector3 q = tempResult.m_closestPointOnSimplex;
 		
         btScalar sqDist = (q - p).dot( q - p);
         // Update best closest point if (squared) distance is less than current best
@@ -513,7 +511,7 @@ bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
 	if (pointOutsideACD) 
 	{
         closestPtPointTriangle(p, a, c, d,tempResult);
-		btPoint3 q = tempResult.m_closestPointOnSimplex;
+		btVector3 q = tempResult.m_closestPointOnSimplex;
 		//convert result bitmask!
 
         btScalar sqDist = (q - p).dot( q - p);
@@ -541,7 +539,7 @@ bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
 	if (pointOutsideADB)
 	{
 		closestPtPointTriangle(p, a, d, b,tempResult);
-		btPoint3 q = tempResult.m_closestPointOnSimplex;
+		btVector3 q = tempResult.m_closestPointOnSimplex;
 		//convert result bitmask!
 
         btScalar sqDist = (q - p).dot( q - p);
@@ -569,7 +567,7 @@ bool	btVoronoiSimplexSolver::closestPtPointTetrahedron(const btPoint3& p, const
 	if (pointOutsideBDC)
 	{
         closestPtPointTriangle(p, b, d, c,tempResult);
-		btPoint3 q = tempResult.m_closestPointOnSimplex;
+		btVector3 q = tempResult.m_closestPointOnSimplex;
 		//convert result bitmask!
         btScalar sqDist = (q - p).dot( q - p);
         if (sqDist < bestSqDist) 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
index 356d335bc93..d3162d9fbeb 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
@@ -50,7 +50,7 @@ struct btUsageBitfield{
 
 struct	btSubSimplexClosestResult
 {
-	btPoint3	m_closestPointOnSimplex;
+	btVector3	m_closestPointOnSimplex;
 	//MASK for m_usedVertices
 	//stores the simplex vertex-usage, using the MASK, 
 	// if m_usedVertices & MASK then the related vertex is used
@@ -97,13 +97,13 @@ public:
 	int	m_numVertices;
 
 	btVector3	m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
-	btPoint3	m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
-	btPoint3	m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
+	btVector3	m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
+	btVector3	m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
 
 	
 
-	btPoint3	m_cachedP1;
-	btPoint3	m_cachedP2;
+	btVector3	m_cachedP1;
+	btVector3	m_cachedP2;
 	btVector3	m_cachedV;
 	btVector3	m_lastW;
 	bool		m_cachedValidClosest;
@@ -116,15 +116,15 @@ public:
 	void	reduceVertices (const btUsageBitfield& usedVerts);
 	bool	updateClosestVectorAndPoints();
 
-	bool	closestPtPointTetrahedron(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d, btSubSimplexClosestResult& finalResult);
-	int		pointOutsideOfPlane(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c, const btPoint3& d);
-	bool	closestPtPointTriangle(const btPoint3& p, const btPoint3& a, const btPoint3& b, const btPoint3& c,btSubSimplexClosestResult& result);
+	bool	closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult);
+	int		pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);
+	bool	closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result);
 
 public:
 
 	 void reset();
 
-	 void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q);
+	 void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
 
 
 	 bool closest(btVector3& v);
@@ -136,7 +136,7 @@ public:
 		 return (m_numVertices == 4);
 	 }
 
-	 int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const;
+	 int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const;
 
 	 bool inSimplex(const btVector3& w);
 	
@@ -144,7 +144,7 @@ public:
 
 	 bool emptySimplex() const ;
 
-	 void compute_points(btPoint3& p1, btPoint3& p2) ;
+	 void compute_points(btVector3& p1, btVector3& p2) ;
 
 	 int numVertices() const 
 	 {
diff --git a/extern/bullet2/src/BulletDynamics/CMakeLists.txt b/extern/bullet2/src/BulletDynamics/CMakeLists.txt
index 58b023e9775..ecfcbfef929 100644
--- a/extern/bullet2/src/BulletDynamics/CMakeLists.txt
+++ b/extern/bullet2/src/BulletDynamics/CMakeLists.txt
@@ -1,36 +1,93 @@
-INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/src }
-)
-	
-ADD_LIBRARY(LibBulletDynamics
+INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src } )
 
+SET(BulletDynamics_SRCS
 	ConstraintSolver/btContactConstraint.cpp
-	ConstraintSolver/btContactConstraint.h
 	ConstraintSolver/btConeTwistConstraint.cpp
-	ConstraintSolver/btConeTwistConstraint.h
 	ConstraintSolver/btGeneric6DofConstraint.cpp
-	ConstraintSolver/btGeneric6DofConstraint.h
 	ConstraintSolver/btHingeConstraint.cpp
-	ConstraintSolver/btHingeConstraint.h
 	ConstraintSolver/btPoint2PointConstraint.cpp
-	ConstraintSolver/btPoint2PointConstraint.h
 	ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
-	ConstraintSolver/btSequentialImpulseConstraintSolver.h
 	ConstraintSolver/btSliderConstraint.cpp
-	ConstraintSolver/btSliderConstraint.h
 	ConstraintSolver/btSolve2LinearConstraint.cpp
-	ConstraintSolver/btSolve2LinearConstraint.h
 	ConstraintSolver/btTypedConstraint.cpp
-	ConstraintSolver/btTypedConstraint.h
 	Dynamics/Bullet-C-API.cpp
 	Dynamics/btDiscreteDynamicsWorld.cpp
-	Dynamics/btDiscreteDynamicsWorld.h
 	Dynamics/btSimpleDynamicsWorld.cpp
-	Dynamics/btSimpleDynamicsWorld.h
 	Dynamics/btRigidBody.cpp
-	Dynamics/btRigidBody.h
 	Vehicle/btRaycastVehicle.cpp
-	Vehicle/btRaycastVehicle.h
 	Vehicle/btWheelInfo.cpp
+	Character/btKinematicCharacterController.cpp
+)
+
+SET(Root_HDRS
+	../btBulletDynamicsCommon.h
+	../btBulletCollisionCommon.h
+)
+SET(ConstraintSolver_HDRS
+	ConstraintSolver/btConstraintSolver.h
+	ConstraintSolver/btContactConstraint.h
+	ConstraintSolver/btContactSolverInfo.h
+	ConstraintSolver/btConeTwistConstraint.h
+	ConstraintSolver/btGeneric6DofConstraint.h
+	ConstraintSolver/btHingeConstraint.h
+	ConstraintSolver/btJacobianEntry.h
+	ConstraintSolver/btPoint2PointConstraint.h
+	ConstraintSolver/btSequentialImpulseConstraintSolver.h
+	ConstraintSolver/btSliderConstraint.h
+	ConstraintSolver/btSolve2LinearConstraint.h
+	ConstraintSolver/btSolverBody.h
+	ConstraintSolver/btSolverConstraint.h
+	ConstraintSolver/btTypedConstraint.h
+)
+SET(Dynamics_HDRS
+	Dynamics/btContinuousDynamicsWorld.h
+	Dynamics/btDiscreteDynamicsWorld.h
+	Dynamics/btDynamicsWorld.h
+	Dynamics/btSimpleDynamicsWorld.h
+	Dynamics/btRigidBody.h
+)
+SET(Vehicle_HDRS
+	Vehicle/btRaycastVehicle.h
+	Vehicle/btVehicleRaycaster.h
 	Vehicle/btWheelInfo.h
 )
+
+SET(Character_HDRS
+	Character/btCharacterControllerInterface.h
+	Character/btKinematicCharacterController.h
+)
+
+
+
+SET(BulletDynamics_HDRS
+	${Root_HDRS}
+	${ConstraintSolver_HDRS}
+	${Dynamics_HDRS}
+	${Vehicle_HDRS}
+	${Character_HDRS}
+)
+
+
+ADD_LIBRARY(BulletDynamics ${BulletDynamics_SRCS} ${BulletDynamics_HDRS})
+SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+	TARGET_LINK_LIBRARIES(BulletDynamics BulletCollision LinearMath)
+ENDIF (BUILD_SHARED_LIBS)
+
+IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+	INSTALL(TARGETS BulletDynamics DESTINATION lib)
+	INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
+ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES FRAMEWORK true)
+	
+	SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
+	# Have to list out sub-directories manually:
+	SET_PROPERTY(SOURCE ${ConstraintSolver_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/ConstraintSolver)
+	SET_PROPERTY(SOURCE ${Dynamics_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Dynamics)
+	SET_PROPERTY(SOURCE ${Vehicle_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Vehicle)
+	SET_PROPERTY(SOURCE ${Character_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Character)
+		
+ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index 61dad522a5b..29c8496c36f 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -22,8 +22,16 @@ Written by: Marcus Hennix
 #include "LinearMath/btMinMax.h"
 #include <new>
 
+//-----------------------------------------------------------------------------
+
+#define CONETWIST_USE_OBSOLETE_SOLVER false
+#define CONETWIST_DEF_FIX_THRESH btScalar(.05f)
+
+//-----------------------------------------------------------------------------
+
 btConeTwistConstraint::btConeTwistConstraint()
-:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE)
+:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE),
+m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
 {
 }
 
@@ -31,69 +39,228 @@ btConeTwistConstraint::btConeTwistConstraint()
 btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB, 
 											 const btTransform& rbAFrame,const btTransform& rbBFrame)
 											 :btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
-											 m_angularOnly(false)
+											 m_angularOnly(false),
+											 m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
 {
-	m_swingSpan1 = btScalar(1e30);
-	m_swingSpan2 = btScalar(1e30);
-	m_twistSpan  = btScalar(1e30);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-
-	m_solveTwistLimit = false;
-	m_solveSwingLimit = false;
-
+	init();
 }
 
 btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame)
 											:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE,rbA),m_rbAFrame(rbAFrame),
-											 m_angularOnly(false)
+											 m_angularOnly(false),
+											 m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
 {
 	m_rbBFrame = m_rbAFrame;
-	
-	m_swingSpan1 = btScalar(1e30);
-	m_swingSpan2 = btScalar(1e30);
-	m_twistSpan  = btScalar(1e30);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
+	init();	
+}
 
-	m_solveTwistLimit = false;
-	m_solveSwingLimit = false;
-	
-}			
 
-void	btConeTwistConstraint::buildJacobian()
+void btConeTwistConstraint::init()
 {
-	m_appliedImpulse = btScalar(0.);
-
-	//set bias, sign, clear accumulator
-	m_swingCorrection = btScalar(0.);
-	m_twistLimitSign = btScalar(0.);
+	m_angularOnly = false;
 	m_solveTwistLimit = false;
 	m_solveSwingLimit = false;
-	m_accTwistLimitImpulse = btScalar(0.);
-	m_accSwingLimitImpulse = btScalar(0.);
+	m_bMotorEnabled = false;
+	m_maxMotorImpulse = btScalar(-1);
+
+	setLimit(btScalar(1e30), btScalar(1e30), btScalar(1e30));
+	m_damping = btScalar(0.01);
+	m_fixThresh = CONETWIST_DEF_FIX_THRESH;
+}
 
-	if (!m_angularOnly)
+
+//-----------------------------------------------------------------------------
+
+void btConeTwistConstraint::getInfo1 (btConstraintInfo1* info)
+{
+	if (m_useSolveConstraintObsolete)
 	{
-		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-		btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
-		btVector3 relPos = pivotBInW - pivotAInW;
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
+	} 
+	else
+	{
+		info->m_numConstraintRows = 3;
+		info->nub = 3;
+		calcAngleInfo2();
+		if(m_solveSwingLimit)
+		{
+			info->m_numConstraintRows++;
+			info->nub--;
+			if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
+			{
+				info->m_numConstraintRows++;
+				info->nub--;
+			}
+		}
+		if(m_solveTwistLimit)
+		{
+			info->m_numConstraintRows++;
+			info->nub--;
+		}
+	}
+} // btConeTwistConstraint::getInfo1()
+	
+//-----------------------------------------------------------------------------
 
-		btVector3 normal[3];
-		if (relPos.length2() > SIMD_EPSILON)
+void btConeTwistConstraint::getInfo2 (btConstraintInfo2* info)
+{
+	btAssert(!m_useSolveConstraintObsolete);
+	//retrieve matrices
+	btTransform body0_trans;
+	body0_trans = m_rbA.getCenterOfMassTransform();
+    btTransform body1_trans;
+	body1_trans = m_rbB.getCenterOfMassTransform();
+    // set jacobian
+    info->m_J1linearAxis[0] = 1;
+    info->m_J1linearAxis[info->rowskip+1] = 1;
+    info->m_J1linearAxis[2*info->rowskip+2] = 1;
+	btVector3 a1 = body0_trans.getBasis() * m_rbAFrame.getOrigin();
+	{
+		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
+		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
+		btVector3 a1neg = -a1;
+		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+	}
+	btVector3 a2 = body1_trans.getBasis() * m_rbBFrame.getOrigin();
+	{
+		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
+		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
+		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+	}
+    // set right hand side
+    btScalar k = info->fps * info->erp;
+    int j;
+	for (j=0; j<3; j++)
+    {
+        info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
+		info->m_lowerLimit[j*info->rowskip] = -SIMD_INFINITY;
+		info->m_upperLimit[j*info->rowskip] = SIMD_INFINITY;
+    }
+	int row = 3;
+    int srow = row * info->rowskip;
+	btVector3 ax1;
+	// angular limits
+	if(m_solveSwingLimit)
+	{
+		btScalar *J1 = info->m_J1angularAxis;
+		btScalar *J2 = info->m_J2angularAxis;
+		if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
+		{
+			btTransform trA = m_rbA.getCenterOfMassTransform()*m_rbAFrame;
+			btVector3 p = trA.getBasis().getColumn(1);
+			btVector3 q = trA.getBasis().getColumn(2);
+			int srow1 = srow + info->rowskip;
+			J1[srow+0] = p[0];
+			J1[srow+1] = p[1];
+			J1[srow+2] = p[2];
+			J1[srow1+0] = q[0];
+			J1[srow1+1] = q[1];
+			J1[srow1+2] = q[2];
+			J2[srow+0] = -p[0];
+			J2[srow+1] = -p[1];
+			J2[srow+2] = -p[2];
+			J2[srow1+0] = -q[0];
+			J2[srow1+1] = -q[1];
+			J2[srow1+2] = -q[2];
+			btScalar fact = info->fps * m_relaxationFactor;
+			info->m_constraintError[srow] =   fact * m_swingAxis.dot(p);
+			info->m_constraintError[srow1] =  fact * m_swingAxis.dot(q);
+			info->m_lowerLimit[srow] = -SIMD_INFINITY;
+			info->m_upperLimit[srow] = SIMD_INFINITY;
+			info->m_lowerLimit[srow1] = -SIMD_INFINITY;
+			info->m_upperLimit[srow1] = SIMD_INFINITY;
+			srow = srow1 + info->rowskip;
+		}
+		else
+		{
+			ax1 = m_swingAxis * m_relaxationFactor * m_relaxationFactor;
+			J1[srow+0] = ax1[0];
+			J1[srow+1] = ax1[1];
+			J1[srow+2] = ax1[2];
+			J2[srow+0] = -ax1[0];
+			J2[srow+1] = -ax1[1];
+			J2[srow+2] = -ax1[2];
+			btScalar k = info->fps * m_biasFactor;
+
+			info->m_constraintError[srow] = k * m_swingCorrection;
+			info->cfm[srow] = 0.0f;
+			// m_swingCorrection is always positive or 0
+			info->m_lowerLimit[srow] = 0;
+			info->m_upperLimit[srow] = SIMD_INFINITY;
+			srow += info->rowskip;
+		}
+	}
+	if(m_solveTwistLimit)
+	{
+		ax1 = m_twistAxis * m_relaxationFactor * m_relaxationFactor;
+		btScalar *J1 = info->m_J1angularAxis;
+		btScalar *J2 = info->m_J2angularAxis;
+		J1[srow+0] = ax1[0];
+		J1[srow+1] = ax1[1];
+		J1[srow+2] = ax1[2];
+		J2[srow+0] = -ax1[0];
+		J2[srow+1] = -ax1[1];
+		J2[srow+2] = -ax1[2];
+		btScalar k = info->fps * m_biasFactor;
+		info->m_constraintError[srow] = k * m_twistCorrection;
+		info->cfm[srow] = 0.0f;
+		if(m_twistSpan > 0.0f)
 		{
-			normal[0] = relPos.normalized();
+
+			if(m_twistCorrection > 0.0f)
+			{
+				info->m_lowerLimit[srow] = 0;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			} 
+			else
+			{
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = 0;
+			} 
 		}
 		else
 		{
-			normal[0].setValue(btScalar(1.0),0,0);
+			info->m_lowerLimit[srow] = -SIMD_INFINITY;
+			info->m_upperLimit[srow] = SIMD_INFINITY;
 		}
+		srow += info->rowskip;
+	}
+}
+	
+//-----------------------------------------------------------------------------
 
-		btPlaneSpace1(normal[0], normal[1], normal[2]);
+void	btConeTwistConstraint::buildJacobian()
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		m_appliedImpulse = btScalar(0.);
+		m_accTwistLimitImpulse = btScalar(0.);
+		m_accSwingLimitImpulse = btScalar(0.);
 
-		for (int i=0;i<3;i++)
+		if (!m_angularOnly)
 		{
-			new (&m_jac[i]) btJacobianEntry(
+			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
+			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
+			btVector3 relPos = pivotBInW - pivotAInW;
+
+			btVector3 normal[3];
+			if (relPos.length2() > SIMD_EPSILON)
+			{
+				normal[0] = relPos.normalized();
+			}
+			else
+			{
+				normal[0].setValue(btScalar(1.0),0,0);
+			}
+
+			btPlaneSpace1(normal[0], normal[1], normal[2]);
+
+			for (int i=0;i<3;i++)
+			{
+				new (&m_jac[i]) btJacobianEntry(
 				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
 				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
 				pivotAInW - m_rbA.getCenterOfMassPosition(),
@@ -103,9 +270,243 @@ void	btConeTwistConstraint::buildJacobian()
 				m_rbA.getInvMass(),
 				m_rbB.getInvInertiaDiagLocal(),
 				m_rbB.getInvMass());
+			}
+		}
+
+		calcAngleInfo2();
+	}
+}
+
+//-----------------------------------------------------------------------------
+
+void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
+		btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
+
+		btScalar tau = btScalar(0.3);
+
+		//linear part
+		if (!m_angularOnly)
+		{
+			btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
+			btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
+
+			btVector3 vel1;
+			bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
+			btVector3 vel2;
+			bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
+			btVector3 vel = vel1 - vel2;
+
+			for (int i=0;i<3;i++)
+			{		
+				const btVector3& normal = m_jac[i].m_linearJointAxis;
+				btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
+
+				btScalar rel_vel;
+				rel_vel = normal.dot(vel);
+				//positional error (zeroth order error)
+				btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+				btScalar impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
+				m_appliedImpulse += impulse;
+				
+				btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
+				btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
+				bodyA.applyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse);
+				bodyB.applyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse);
+		
+			}
+		}
+
+		// apply motor
+		if (m_bMotorEnabled)
+		{
+			// compute current and predicted transforms
+			btTransform trACur = m_rbA.getCenterOfMassTransform();
+			btTransform trBCur = m_rbB.getCenterOfMassTransform();
+			btVector3 omegaA; bodyA.getAngularVelocity(omegaA);
+			btVector3 omegaB; bodyB.getAngularVelocity(omegaB);
+			btTransform trAPred; trAPred.setIdentity(); 
+			btVector3 zerovec(0,0,0);
+			btTransformUtil::integrateTransform(
+				trACur, zerovec, omegaA, timeStep, trAPred);
+			btTransform trBPred; trBPred.setIdentity(); 
+			btTransformUtil::integrateTransform(
+				trBCur, zerovec, omegaB, timeStep, trBPred);
+
+			// compute desired transforms in world
+			btTransform trPose(m_qTarget);
+			btTransform trABDes = m_rbBFrame * trPose * m_rbAFrame.inverse();
+			btTransform trADes = trBPred * trABDes;
+			btTransform trBDes = trAPred * trABDes.inverse();
+
+			// compute desired omegas in world
+			btVector3 omegaADes, omegaBDes;
+			
+			btTransformUtil::calculateVelocity(trACur, trADes, timeStep, zerovec, omegaADes);
+			btTransformUtil::calculateVelocity(trBCur, trBDes, timeStep, zerovec, omegaBDes);
+
+			// compute delta omegas
+			btVector3 dOmegaA = omegaADes - omegaA;
+			btVector3 dOmegaB = omegaBDes - omegaB;
+
+			// compute weighted avg axis of dOmega (weighting based on inertias)
+			btVector3 axisA, axisB;
+			btScalar kAxisAInv = 0, kAxisBInv = 0;
+
+			if (dOmegaA.length2() > SIMD_EPSILON)
+			{
+				axisA = dOmegaA.normalized();
+				kAxisAInv = getRigidBodyA().computeAngularImpulseDenominator(axisA);
+			}
+
+			if (dOmegaB.length2() > SIMD_EPSILON)
+			{
+				axisB = dOmegaB.normalized();
+				kAxisBInv = getRigidBodyB().computeAngularImpulseDenominator(axisB);
+			}
+
+			btVector3 avgAxis = kAxisAInv * axisA + kAxisBInv * axisB;
+
+			static bool bDoTorque = true;
+			if (bDoTorque && avgAxis.length2() > SIMD_EPSILON)
+			{
+				avgAxis.normalize();
+				kAxisAInv = getRigidBodyA().computeAngularImpulseDenominator(avgAxis);
+				kAxisBInv = getRigidBodyB().computeAngularImpulseDenominator(avgAxis);
+				btScalar kInvCombined = kAxisAInv + kAxisBInv;
+
+				btVector3 impulse = (kAxisAInv * dOmegaA - kAxisBInv * dOmegaB) /
+									(kInvCombined * kInvCombined);
+
+				if (m_maxMotorImpulse >= 0)
+				{
+					btScalar fMaxImpulse = m_maxMotorImpulse;
+					if (m_bNormalizedMotorStrength)
+						fMaxImpulse = fMaxImpulse/kAxisAInv;
+
+					btVector3 newUnclampedAccImpulse = m_accMotorImpulse + impulse;
+					btScalar  newUnclampedMag = newUnclampedAccImpulse.length();
+					if (newUnclampedMag > fMaxImpulse)
+					{
+						newUnclampedAccImpulse.normalize();
+						newUnclampedAccImpulse *= fMaxImpulse;
+						impulse = newUnclampedAccImpulse - m_accMotorImpulse;
+					}
+					m_accMotorImpulse += impulse;
+				}
+
+				btScalar  impulseMag  = impulse.length();
+				btVector3 impulseAxis =  impulse / impulseMag;
+
+				bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
+				bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
+
+			}
+		}
+		else // no motor: do a little damping
+		{
+			const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
+			const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
+			btVector3 relVel = angVelB - angVelA;
+			if (relVel.length2() > SIMD_EPSILON)
+			{
+				btVector3 relVelAxis = relVel.normalized();
+				btScalar m_kDamping =  btScalar(1.) /
+					(getRigidBodyA().computeAngularImpulseDenominator(relVelAxis) +
+					 getRigidBodyB().computeAngularImpulseDenominator(relVelAxis));
+				btVector3 impulse = m_damping * m_kDamping * relVel;
+
+				btScalar  impulseMag  = impulse.length();
+				btVector3 impulseAxis = impulse / impulseMag;
+				bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
+				bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
+			}
+		}
+
+		// joint limits
+		{
+			///solve angular part
+			btVector3 angVelA;
+			bodyA.getAngularVelocity(angVelA);
+			btVector3 angVelB;
+			bodyB.getAngularVelocity(angVelB);
+
+			// solve swing limit
+			if (m_solveSwingLimit)
+			{
+				btScalar amplitude = m_swingLimitRatio * m_swingCorrection*m_biasFactor/timeStep;
+				btScalar relSwingVel = (angVelB - angVelA).dot(m_swingAxis);
+				if (relSwingVel > 0)
+					amplitude += m_swingLimitRatio * relSwingVel * m_relaxationFactor;
+				btScalar impulseMag = amplitude * m_kSwing;
+
+				// Clamp the accumulated impulse
+				btScalar temp = m_accSwingLimitImpulse;
+				m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, btScalar(0.0) );
+				impulseMag = m_accSwingLimitImpulse - temp;
+
+				btVector3 impulse = m_swingAxis * impulseMag;
+
+				// don't let cone response affect twist
+				// (this can happen since body A's twist doesn't match body B's AND we use an elliptical cone limit)
+				{
+					btVector3 impulseTwistCouple = impulse.dot(m_twistAxisA) * m_twistAxisA;
+					btVector3 impulseNoTwistCouple = impulse - impulseTwistCouple;
+					impulse = impulseNoTwistCouple;
+				}
+
+				impulseMag = impulse.length();
+				btVector3 noTwistSwingAxis = impulse / impulseMag;
+
+				bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*noTwistSwingAxis, impulseMag);
+				bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*noTwistSwingAxis, -impulseMag);
+			}
+
+
+			// solve twist limit
+			if (m_solveTwistLimit)
+			{
+				btScalar amplitude = m_twistLimitRatio * m_twistCorrection*m_biasFactor/timeStep;
+				btScalar relTwistVel = (angVelB - angVelA).dot( m_twistAxis );
+				if (relTwistVel > 0) // only damp when moving towards limit (m_twistAxis flipping is important)
+					amplitude += m_twistLimitRatio * relTwistVel * m_relaxationFactor;
+				btScalar impulseMag = amplitude * m_kTwist;
+
+				// Clamp the accumulated impulse
+				btScalar temp = m_accTwistLimitImpulse;
+				m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) );
+				impulseMag = m_accTwistLimitImpulse - temp;
+
+				btVector3 impulse = m_twistAxis * impulseMag;
+
+				bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
+				bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
+			}		
 		}
 	}
 
+}
+
+//-----------------------------------------------------------------------------
+
+void	btConeTwistConstraint::updateRHS(btScalar	timeStep)
+{
+	(void)timeStep;
+
+}
+
+//-----------------------------------------------------------------------------
+
+void btConeTwistConstraint::calcAngleInfo()
+{
+	m_swingCorrection = btScalar(0.);
+	m_twistLimitSign = btScalar(0.);
+	m_solveTwistLimit = false;
+	m_solveSwingLimit = false;
+
 	btVector3 b1Axis1,b1Axis2,b1Axis3;
 	btVector3 b2Axis1,b2Axis2;
 
@@ -122,20 +523,17 @@ void	btConeTwistConstraint::buildJacobian()
 	if (m_swingSpan1 >= btScalar(0.05f))
 	{
 		b1Axis2 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(1);
-//		swing1  = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
 		swx = b2Axis1.dot(b1Axis1);
 		swy = b2Axis1.dot(b1Axis2);
 		swing1  = btAtan2Fast(swy, swx);
 		fact = (swy*swy + swx*swx) * thresh * thresh;
 		fact = fact / (fact + btScalar(1.0));
 		swing1 *= fact; 
-
 	}
 
 	if (m_swingSpan2 >= btScalar(0.05f))
 	{
 		b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2);			
-//		swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
 		swx = b2Axis1.dot(b1Axis1);
 		swy = b2Axis1.dot(b1Axis3);
 		swing2  = btAtan2Fast(swy, swx);
@@ -152,17 +550,11 @@ void	btConeTwistConstraint::buildJacobian()
 	{
 		m_swingCorrection = EllipseAngle-1.0f;
 		m_solveSwingLimit = true;
-		
 		// Calculate necessary axis & factors
 		m_swingAxis = b2Axis1.cross(b1Axis2* b2Axis1.dot(b1Axis2) + b1Axis3* b2Axis1.dot(b1Axis3));
 		m_swingAxis.normalize();
-
 		btScalar swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
 		m_swingAxis *= swingAxisSign;
-
-		m_kSwing =  btScalar(1.) / (getRigidBodyA().computeAngularImpulseDenominator(m_swingAxis) +
-			getRigidBodyB().computeAngularImpulseDenominator(m_swingAxis));
-
 	}
 
 	// Twist limits
@@ -172,118 +564,426 @@ void	btConeTwistConstraint::buildJacobian()
 		btQuaternion rotationArc = shortestArcQuat(b2Axis1,b1Axis1);
 		btVector3 TwistRef = quatRotate(rotationArc,b2Axis2); 
 		btScalar twist = btAtan2Fast( TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2) );
+		m_twistAngle = twist;
 
-		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.);
+//		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.);
+		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? btScalar(1.0f) : btScalar(0.);
 		if (twist <= -m_twistSpan*lockedFreeFactor)
 		{
 			m_twistCorrection = -(twist + m_twistSpan);
 			m_solveTwistLimit = true;
-
 			m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
 			m_twistAxis.normalize();
 			m_twistAxis *= -1.0f;
+		}
+		else if (twist >  m_twistSpan*lockedFreeFactor)
+		{
+			m_twistCorrection = (twist - m_twistSpan);
+			m_solveTwistLimit = true;
+			m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
+			m_twistAxis.normalize();
+		}
+	}
+} // btConeTwistConstraint::calcAngleInfo()
+
+
+static btVector3 vTwist(1,0,0); // twist axis in constraint's space
+
+//-----------------------------------------------------------------------------
+
+void btConeTwistConstraint::calcAngleInfo2()
+{
+	m_swingCorrection = btScalar(0.);
+	m_twistLimitSign = btScalar(0.);
+	m_solveTwistLimit = false;
+	m_solveSwingLimit = false;
+
+	{
+		// compute rotation of A wrt B (in constraint space)
+		btQuaternion qA = getRigidBodyA().getCenterOfMassTransform().getRotation() * m_rbAFrame.getRotation();
+		btQuaternion qB = getRigidBodyB().getCenterOfMassTransform().getRotation() * m_rbBFrame.getRotation();
+		btQuaternion qAB = qB.inverse() * qA;
+
+		// split rotation into cone and twist
+		// (all this is done from B's perspective. Maybe I should be averaging axes...)
+		btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize();
+		btQuaternion qABCone  = shortestArcQuat(vTwist, vConeNoTwist); qABCone.normalize();
+		btQuaternion qABTwist = qABCone.inverse() * qAB; qABTwist.normalize();
+
+		if (m_swingSpan1 >= m_fixThresh && m_swingSpan2 >= m_fixThresh)
+		{
+			btScalar swingAngle, swingLimit = 0; btVector3 swingAxis;
+			computeConeLimitInfo(qABCone, swingAngle, swingAxis, swingLimit);
+
+			if (swingAngle > swingLimit * m_limitSoftness)
+			{
+				m_solveSwingLimit = true;
+
+				// compute limit ratio: 0->1, where
+				// 0 == beginning of soft limit
+				// 1 == hard/real limit
+				m_swingLimitRatio = 1.f;
+				if (swingAngle < swingLimit && m_limitSoftness < 1.f - SIMD_EPSILON)
+				{
+					m_swingLimitRatio = (swingAngle - swingLimit * m_limitSoftness)/
+										(swingLimit - swingLimit * m_limitSoftness);
+				}				
+
+				// swing correction tries to get back to soft limit
+				m_swingCorrection = swingAngle - (swingLimit * m_limitSoftness);
+
+				// adjustment of swing axis (based on ellipse normal)
+				adjustSwingAxisToUseEllipseNormal(swingAxis);
+
+				// Calculate necessary axis & factors		
+				m_swingAxis = quatRotate(qB, -swingAxis);
+
+				m_twistAxisA.setValue(0,0,0);
+
+				m_kSwing =  btScalar(1.) /
+					(getRigidBodyA().computeAngularImpulseDenominator(m_swingAxis) +
+					 getRigidBodyB().computeAngularImpulseDenominator(m_swingAxis));
+			}
+		}
+		else
+		{
+			// you haven't set any limits;
+			// or you're trying to set at least one of the swing limits too small. (if so, do you really want a conetwist constraint?)
+			// anyway, we have either hinge or fixed joint
+			btVector3 ivA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(0);
+			btVector3 jvA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(1);
+			btVector3 kvA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
+			btVector3 ivB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(0);
+			btVector3 target;
+			btScalar x = ivB.dot(ivA);
+			btScalar y = ivB.dot(jvA);
+			btScalar z = ivB.dot(kvA);
+			if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
+			{ // fixed. We'll need to add one more row to constraint
+				if((!btFuzzyZero(y)) || (!(btFuzzyZero(z))))
+				{
+					m_solveSwingLimit = true;
+					m_swingAxis = -ivB.cross(ivA);
+				}
+			}
+			else
+			{
+				if(m_swingSpan1 < m_fixThresh)
+				{ // hinge around Y axis
+					if(!(btFuzzyZero(y)))
+					{
+						m_solveSwingLimit = true;
+						if(m_swingSpan2 >= m_fixThresh)
+						{
+							y = btScalar(0.f);
+							btScalar span2 = btAtan2(z, x);
+							if(span2 > m_swingSpan2)
+							{
+								x = btCos(m_swingSpan2);
+								z = btSin(m_swingSpan2);
+							}
+							else if(span2 < -m_swingSpan2)
+							{
+								x =  btCos(m_swingSpan2);
+								z = -btSin(m_swingSpan2);
+							}
+						}
+					}
+				}
+				else
+				{ // hinge around Z axis
+					if(!btFuzzyZero(z))
+					{
+						m_solveSwingLimit = true;
+						if(m_swingSpan1 >= m_fixThresh)
+						{
+							z = btScalar(0.f);
+							btScalar span1 = btAtan2(y, x);
+							if(span1 > m_swingSpan1)
+							{
+								x = btCos(m_swingSpan1);
+								y = btSin(m_swingSpan1);
+							}
+							else if(span1 < -m_swingSpan1)
+							{
+								x =  btCos(m_swingSpan1);
+								y = -btSin(m_swingSpan1);
+							}
+						}
+					}
+				}
+				target[0] = x * ivA[0] + y * jvA[0] + z * kvA[0];
+				target[1] = x * ivA[1] + y * jvA[1] + z * kvA[1];
+				target[2] = x * ivA[2] + y * jvA[2] + z * kvA[2];
+				target.normalize();
+				m_swingAxis = -ivB.cross(target);
+				m_swingCorrection = m_swingAxis.length();
+				m_swingAxis.normalize();
+			}
+		}
 
-			m_kTwist = btScalar(1.) / (getRigidBodyA().computeAngularImpulseDenominator(m_twistAxis) +
-				getRigidBodyB().computeAngularImpulseDenominator(m_twistAxis));
+		if (m_twistSpan >= btScalar(0.f))
+		{
+			btVector3 twistAxis;
+			computeTwistLimitInfo(qABTwist, m_twistAngle, twistAxis);
 
-		}	else
-			if (twist >  m_twistSpan*lockedFreeFactor)
+			if (m_twistAngle > m_twistSpan*m_limitSoftness)
 			{
-				m_twistCorrection = (twist - m_twistSpan);
 				m_solveTwistLimit = true;
 
-				m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
-				m_twistAxis.normalize();
+				m_twistLimitRatio = 1.f;
+				if (m_twistAngle < m_twistSpan && m_limitSoftness < 1.f - SIMD_EPSILON)
+				{
+					m_twistLimitRatio = (m_twistAngle - m_twistSpan * m_limitSoftness)/
+										(m_twistSpan  - m_twistSpan * m_limitSoftness);
+				}
 
-				m_kTwist = btScalar(1.) / (getRigidBodyA().computeAngularImpulseDenominator(m_twistAxis) +
-					getRigidBodyB().computeAngularImpulseDenominator(m_twistAxis));
+				// twist correction tries to get back to soft limit
+				m_twistCorrection = m_twistAngle - (m_twistSpan * m_limitSoftness);
 
+				m_twistAxis = quatRotate(qB, -twistAxis);
+
+				m_kTwist = btScalar(1.) /
+					(getRigidBodyA().computeAngularImpulseDenominator(m_twistAxis) +
+					 getRigidBodyB().computeAngularImpulseDenominator(m_twistAxis));
 			}
+
+			if (m_solveSwingLimit)
+				m_twistAxisA = quatRotate(qA, -twistAxis);
+		}
+		else
+		{
+			m_twistAngle = btScalar(0.f);
+		}
+	}
+} // btConeTwistConstraint::calcAngleInfo2()
+
+
+
+// given a cone rotation in constraint space, (pre: twist must already be removed)
+// this method computes its corresponding swing angle and axis.
+// more interestingly, it computes the cone/swing limit (angle) for this cone "pose".
+void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
+												 btScalar& swingAngle, // out
+												 btVector3& vSwingAxis, // out
+												 btScalar& swingLimit) // out
+{
+	swingAngle = qCone.getAngle();
+	if (swingAngle > SIMD_EPSILON)
+	{
+		vSwingAxis = btVector3(qCone.x(), qCone.y(), qCone.z());
+		vSwingAxis.normalize();
+		if (fabs(vSwingAxis.x()) > SIMD_EPSILON)
+		{
+			// non-zero twist?! this should never happen.
+			int wtf = 0; wtf = wtf;
+		}
+
+		// Compute limit for given swing. tricky:
+		// Given a swing axis, we're looking for the intersection with the bounding cone ellipse.
+		// (Since we're dealing with angles, this ellipse is embedded on the surface of a sphere.)
+
+		// For starters, compute the direction from center to surface of ellipse.
+		// This is just the perpendicular (ie. rotate 2D vector by PI/2) of the swing axis.
+		// (vSwingAxis is the cone rotation (in z,y); change vars and rotate to (x,y) coords.)
+		btScalar xEllipse =  vSwingAxis.y();
+		btScalar yEllipse = -vSwingAxis.z();
+
+		// Now, we use the slope of the vector (using x/yEllipse) and find the length
+		// of the line that intersects the ellipse:
+		//  x^2   y^2
+		//  --- + --- = 1, where a and b are semi-major axes 2 and 1 respectively (ie. the limits)
+		//  a^2   b^2
+		// Do the math and it should be clear.
+
+		swingLimit = m_swingSpan1; // if xEllipse == 0, we have a pure vSwingAxis.z rotation: just use swingspan1
+		if (fabs(xEllipse) > SIMD_EPSILON)
+		{
+			btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);
+			btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
+			norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
+			btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
+			swingLimit = sqrt(swingLimit2);
+		}
+
+		// test!
+		/*swingLimit = m_swingSpan2;
+		if (fabs(vSwingAxis.z()) > SIMD_EPSILON)
+		{
+		btScalar mag_2 = m_swingSpan1*m_swingSpan1 + m_swingSpan2*m_swingSpan2;
+		btScalar sinphi = m_swingSpan2 / sqrt(mag_2);
+		btScalar phi = asin(sinphi);
+		btScalar theta = atan2(fabs(vSwingAxis.y()),fabs(vSwingAxis.z()));
+		btScalar alpha = 3.14159f - theta - phi;
+		btScalar sinalpha = sin(alpha);
+		swingLimit = m_swingSpan1 * sinphi/sinalpha;
+		}*/
+	}
+	else if (swingAngle < 0)
+	{
+		// this should never happen!
+		int wtf = 0; wtf = wtf;
 	}
 }
 
-void	btConeTwistConstraint::solveConstraint(btScalar	timeStep)
+btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const
 {
+	// compute x/y in ellipse using cone angle (0 -> 2*PI along surface of cone)
+	btScalar xEllipse = btCos(fAngleInRadians);
+	btScalar yEllipse = btSin(fAngleInRadians);
+
+	// Use the slope of the vector (using x/yEllipse) and find the length
+	// of the line that intersects the ellipse:
+	//  x^2   y^2
+	//  --- + --- = 1, where a and b are semi-major axes 2 and 1 respectively (ie. the limits)
+	//  a^2   b^2
+	// Do the math and it should be clear.
+
+	float swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1)
+	if (fabs(xEllipse) > SIMD_EPSILON)
+	{
+		btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);
+		btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
+		norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
+		btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
+		swingLimit = sqrt(swingLimit2);
+	}
 
-	btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-	btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
+	// convert into point in constraint space:
+	// note: twist is x-axis, swing 1 and 2 are along the z and y axes respectively
+	btVector3 vSwingAxis(0, xEllipse, -yEllipse);
+	btQuaternion qSwing(vSwingAxis, swingLimit);
+	btVector3 vPointInConstraintSpace(fLength,0,0);
+	return quatRotate(qSwing, vPointInConstraintSpace);
+}
 
-	btScalar tau = btScalar(0.3);
+// given a twist rotation in constraint space, (pre: cone must already be removed)
+// this method computes its corresponding angle and axis.
+void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
+												  btScalar& twistAngle, // out
+												  btVector3& vTwistAxis) // out
+{
+	btQuaternion qMinTwist = qTwist;
+	twistAngle = qTwist.getAngle();
 
-	//linear part
-	if (!m_angularOnly)
+	if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate.
 	{
-		btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-		btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-
-		btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
-		btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
-		btVector3 vel = vel1 - vel2;
-
-		for (int i=0;i<3;i++)
-		{		
-			const btVector3& normal = m_jac[i].m_linearJointAxis;
-			btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
-
-			btScalar rel_vel;
-			rel_vel = normal.dot(vel);
-			//positional error (zeroth order error)
-			btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
-			btScalar impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
-			m_appliedImpulse += impulse;
-			btVector3 impulse_vector = normal * impulse;
-			m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
-			m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
-		}
+		qMinTwist = operator-(qTwist);
+		twistAngle = qMinTwist.getAngle();
 	}
-	
+	if (twistAngle < 0)
 	{
-		///solve angular part
-		const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
-		const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
+		// this should never happen
+		int wtf = 0; wtf = wtf;			
+	}
 
-		// solve swing limit
-		if (m_solveSwingLimit)
-		{
-			btScalar amplitude = ((angVelB - angVelA).dot( m_swingAxis )*m_relaxationFactor*m_relaxationFactor + m_swingCorrection*(btScalar(1.)/timeStep)*m_biasFactor);
-			btScalar impulseMag = amplitude * m_kSwing;
+	vTwistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
+	if (twistAngle > SIMD_EPSILON)
+		vTwistAxis.normalize();
+}
 
-			// Clamp the accumulated impulse
-			btScalar temp = m_accSwingLimitImpulse;
-			m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, btScalar(0.0) );
-			impulseMag = m_accSwingLimitImpulse - temp;
 
-			btVector3 impulse = m_swingAxis * impulseMag;
+void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const
+{
+	// the swing axis is computed as the "twist-free" cone rotation,
+	// but the cone limit is not circular, but elliptical (if swingspan1 != swingspan2).
+	// so, if we're outside the limits, the closest way back inside the cone isn't 
+	// along the vector back to the center. better (and more stable) to use the ellipse normal.
+
+	// convert swing axis to direction from center to surface of ellipse
+	// (ie. rotate 2D vector by PI/2)
+	btScalar y = -vSwingAxis.z();
+	btScalar z =  vSwingAxis.y();
+
+	// do the math...
+	if (fabs(z) > SIMD_EPSILON) // avoid division by 0. and we don't need an update if z == 0.
+	{
+		// compute gradient/normal of ellipse surface at current "point"
+		btScalar grad = y/z;
+		grad *= m_swingSpan2 / m_swingSpan1;
 
-			m_rbA.applyTorqueImpulse(impulse);
-			m_rbB.applyTorqueImpulse(-impulse);
+		// adjust y/z to represent normal at point (instead of vector to point)
+		if (y > 0)
+			y =  fabs(grad * z);
+		else
+			y = -fabs(grad * z);
 
-		}
+		// convert ellipse direction back to swing axis
+		vSwingAxis.setZ(-y);
+		vSwingAxis.setY( z);
+		vSwingAxis.normalize();
+	}
+}
+
+
+
+void btConeTwistConstraint::setMotorTarget(const btQuaternion &q)
+{
+	btTransform trACur = m_rbA.getCenterOfMassTransform();
+	btTransform trBCur = m_rbB.getCenterOfMassTransform();
+	btTransform trABCur = trBCur.inverse() * trACur;
+	btQuaternion qABCur = trABCur.getRotation();
+	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
+	btQuaternion qConstraintCur = trConstraintCur.getRotation();
+
+	btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation();
+	setMotorTargetInConstraintSpace(qConstraint);
+}
 
-		// solve twist limit
-		if (m_solveTwistLimit)
-		{
-			btScalar amplitude = ((angVelB - angVelA).dot( m_twistAxis )*m_relaxationFactor*m_relaxationFactor + m_twistCorrection*(btScalar(1.)/timeStep)*m_biasFactor );
-			btScalar impulseMag = amplitude * m_kTwist;
 
-			// Clamp the accumulated impulse
-			btScalar temp = m_accTwistLimitImpulse;
-			m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) );
-			impulseMag = m_accTwistLimitImpulse - temp;
+void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion &q)
+{
+	m_qTarget = q;
+
+	// clamp motor target to within limits
+	{
+		btScalar softness = 1.f;//m_limitSoftness;
 
-			btVector3 impulse = m_twistAxis * impulseMag;
+		// split into twist and cone
+		btVector3 vTwisted = quatRotate(m_qTarget, vTwist);
+		btQuaternion qTargetCone  = shortestArcQuat(vTwist, vTwisted); qTargetCone.normalize();
+		btQuaternion qTargetTwist = qTargetCone.inverse() * m_qTarget; qTargetTwist.normalize();
 
-			m_rbA.applyTorqueImpulse(impulse);
-			m_rbB.applyTorqueImpulse(-impulse);
+		// clamp cone
+		if (m_swingSpan1 >= btScalar(0.05f) && m_swingSpan2 >= btScalar(0.05f))
+		{
+			btScalar swingAngle, swingLimit; btVector3 swingAxis;
+			computeConeLimitInfo(qTargetCone, swingAngle, swingAxis, swingLimit);
 
+			if (fabs(swingAngle) > SIMD_EPSILON)
+			{
+				if (swingAngle > swingLimit*softness)
+					swingAngle = swingLimit*softness;
+				else if (swingAngle < -swingLimit*softness)
+					swingAngle = -swingLimit*softness;
+				qTargetCone = btQuaternion(swingAxis, swingAngle);
+			}
 		}
-	
-	}
 
-}
+		// clamp twist
+		if (m_twistSpan >= btScalar(0.05f))
+		{
+			btScalar twistAngle; btVector3 twistAxis;
+			computeTwistLimitInfo(qTargetTwist, twistAngle, twistAxis);
 
-void	btConeTwistConstraint::updateRHS(btScalar	timeStep)
-{
-	(void)timeStep;
+			if (fabs(twistAngle) > SIMD_EPSILON)
+			{
+				// eddy todo: limitSoftness used here???
+				if (twistAngle > m_twistSpan*softness)
+					twistAngle = m_twistSpan*softness;
+				else if (twistAngle < -m_twistSpan*softness)
+					twistAngle = -m_twistSpan*softness;
+				qTargetTwist = btQuaternion(twistAxis, twistAngle);
+			}
+		}
 
+		m_qTarget = qTargetCone * qTargetTwist;
+	}
 }
+
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+
+
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
index f121919c8f9..84ea9e04095 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
@@ -20,7 +20,7 @@ Written by: Marcus Hennix
 #ifndef CONETWISTCONSTRAINT_H
 #define CONETWISTCONSTRAINT_H
 
-#include "../../LinearMath/btVector3.h"
+#include "LinearMath/btVector3.h"
 #include "btJacobianEntry.h"
 #include "btTypedConstraint.h"
 
@@ -42,10 +42,14 @@ public:
 	btScalar	m_biasFactor;
 	btScalar	m_relaxationFactor;
 
+	btScalar	m_damping;
+
 	btScalar	m_swingSpan1;
 	btScalar	m_swingSpan2;
 	btScalar	m_twistSpan;
 
+	btScalar	m_fixThresh;
+
 	btVector3   m_swingAxis;
 	btVector3	m_twistAxis;
 
@@ -56,6 +60,8 @@ public:
 	btScalar	m_swingCorrection;
 	btScalar	m_twistCorrection;
 
+	btScalar	m_twistAngle;
+
 	btScalar	m_accSwingLimitImpulse;
 	btScalar	m_accTwistLimitImpulse;
 
@@ -63,6 +69,19 @@ public:
 	bool		m_solveTwistLimit;
 	bool		m_solveSwingLimit;
 
+	bool	m_useSolveConstraintObsolete;
+
+	// not yet used...
+	btScalar	m_swingLimitRatio;
+	btScalar	m_twistLimitRatio;
+	btVector3   m_twistAxisA;
+
+	// motor
+	bool		 m_bMotorEnabled;
+	bool		 m_bNormalizedMotorStrength;
+	btQuaternion m_qTarget;
+	btScalar	 m_maxMotorImpulse;
+	btVector3	 m_accMotorImpulse;
 	
 public:
 
@@ -74,7 +93,12 @@ public:
 
 	virtual void	buildJacobian();
 
-	virtual	void	solveConstraint(btScalar	timeStep);
+	virtual void getInfo1 (btConstraintInfo1* info);
+	
+	virtual void getInfo2 (btConstraintInfo2* info);
+	
+
+	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
 
 	void	updateRHS(btScalar	timeStep);
 
@@ -92,7 +116,32 @@ public:
 		m_angularOnly = angularOnly;
 	}
 
-	void	setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan,  btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+	void	setLimit(int limitIndex,btScalar limitValue)
+	{
+		switch (limitIndex)
+		{
+		case 3:
+			{
+				m_twistSpan = limitValue;
+				break;
+			}
+		case 4:
+			{
+				m_swingSpan2 = limitValue;
+				break;
+			}
+		case 5:
+			{
+				m_swingSpan1 = limitValue;
+				break;
+			}
+		default:
+			{
+			}
+		};
+	}
+
+	void	setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan,  btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
 	{
 		m_swingSpan1 = _swingSpan1;
 		m_swingSpan2 = _swingSpan2;
@@ -121,6 +170,60 @@ public:
 		return m_twistLimitSign;
 	}
 
+	void calcAngleInfo();
+	void calcAngleInfo2();
+
+	inline btScalar getSwingSpan1()
+	{
+		return m_swingSpan1;
+	}
+	inline btScalar getSwingSpan2()
+	{
+		return m_swingSpan2;
+	}
+	inline btScalar getTwistSpan()
+	{
+		return m_twistSpan;
+	}
+	inline btScalar getTwistAngle()
+	{
+		return m_twistAngle;
+	}
+	bool isPastSwingLimit() { return m_solveSwingLimit; }
+
+
+	void setDamping(btScalar damping) { m_damping = damping; }
+
+	void enableMotor(bool b) { m_bMotorEnabled = b; }
+	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
+	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
+
+	btScalar getFixThresh() { return m_fixThresh; }
+	void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }
+
+	// setMotorTarget:
+	// q: the desired rotation of bodyA wrt bodyB.
+	// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
+	// note: don't forget to enableMotor()
+	void setMotorTarget(const btQuaternion &q);
+
+	// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
+	void setMotorTargetInConstraintSpace(const btQuaternion &q);
+
+	btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
+
+
+
+protected:
+	void init();
+
+	void computeConeLimitInfo(const btQuaternion& qCone, // in
+		btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
+
+	void computeTwistLimitInfo(const btQuaternion& qTwist, // in
+		btScalar& twistAngle, btVector3& vTwistAxis); // all outs
+
+	void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
 };
 
 #endif //CONETWISTCONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index 4d7cd05feb7..012c321fd6d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -22,7 +22,7 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 
-#define ASSERT2 assert
+#define ASSERT2 btAssert
 
 #define USE_INTERNAL_APPLY_IMPULSE 1
 
@@ -52,7 +52,7 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
 	btVector3 vel = vel1 - vel2;
 	
 
-	  btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
+	   btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
 		body2.getCenterOfMassTransform().getBasis().transpose(),
 		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
 		body2.getInvInertiaDiagLocal(),body2.getInvMass());
@@ -114,7 +114,7 @@ btScalar resolveSingleCollision(
 	btScalar Kcor = Kerp *Kfps;
 
 	btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
+	btAssert(cpd);
 	btScalar distance = cpd->m_penetration;
 	btScalar positionalError = Kcor *-distance;
 	btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;
@@ -166,7 +166,7 @@ btScalar resolveSingleFriction(
 	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
 	
 	btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
+	btAssert(cpd);
 
 	btScalar combinedFriction = cpd->m_friction;
 	
@@ -255,7 +255,7 @@ btScalar resolveSingleFrictionOriginal(
 	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
 	
 	btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
+	btAssert(cpd);
 
 	btScalar combinedFriction = cpd->m_friction;
 	
@@ -337,7 +337,7 @@ btScalar resolveSingleCollisionCombined(
 	btScalar Kcor = Kerp *Kfps;
 
 	btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
+	btAssert(cpd);
 	btScalar distance = cpd->m_penetration;
 	btScalar positionalError = Kcor *-distance;
 	btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;
@@ -425,5 +425,5 @@ btScalar resolveSingleFrictionEmpty(
 
 
 	return btScalar(0.);
-};
+}
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
index 826e79f78bd..e8871f3860b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef CONTACT_CONSTRAINT_H
 #define CONTACT_CONSTRAINT_H
 
-//todo: make into a proper class working with the iterative constraint solver
+///@todo: make into a proper class working with the iterative constraint solver
 
 class btRigidBody;
 #include "LinearMath/btVector3.h"
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 916d4581f79..e99430c00de 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -21,7 +21,13 @@ enum	btSolverMode
 	SOLVER_RANDMIZE_ORDER = 1,
 	SOLVER_FRICTION_SEPARATE = 2,
 	SOLVER_USE_WARMSTARTING = 4,
-	SOLVER_CACHE_FRIENDLY = 8
+	SOLVER_USE_FRICTION_WARMSTARTING = 8,
+	SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
+	SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
+	SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
+	SOLVER_CACHE_FRIENDLY = 128,
+	SOLVER_SIMD = 256,	//enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version
+	SOLVER_CUDA = 512	//will be open sourced during Game Developers Conference 2009. Much faster.
 };
 
 struct btContactSolverInfoData
@@ -38,12 +44,14 @@ struct btContactSolverInfoData
 	btScalar	m_sor;
 	btScalar	m_erp;//used as Baumgarte factor
 	btScalar	m_erp2;//used in Split Impulse
+	btScalar	m_globalCfm;//constraint force mixing
 	int			m_splitImpulse;
 	btScalar	m_splitImpulsePenetrationThreshold;
 	btScalar	m_linearSlop;
 	btScalar	m_warmstartingFactor;
 
 	int			m_solverMode;
+	int	m_restingContactRestitutionThreshold;
 
 
 };
@@ -63,12 +71,14 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_numIterations = 10;
 		m_erp = btScalar(0.2);
 		m_erp2 = btScalar(0.1);
-		m_sor = btScalar(1.3);
+		m_globalCfm = btScalar(0.);
+		m_sor = btScalar(1.);
 		m_splitImpulse = false;
 		m_splitImpulsePenetrationThreshold = -0.02f;
 		m_linearSlop = btScalar(0.0);
 		m_warmstartingFactor=btScalar(0.85);
-		m_solverMode = SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING;
+		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD ;//SOLVER_RANDMIZE_ORDER
+		m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
 	}
 };
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index 077b326d13a..6cbfe61f700 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -19,18 +19,40 @@ email: projectileman@yahoo.com
 http://gimpact.sf.net
 */
 
-
 #include "btGeneric6DofConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 #include <new>
 
 
-static const btScalar kSign[] = { btScalar(1.0), btScalar(-1.0), btScalar(1.0) };
-static const int kAxisA[] = { 1, 0, 0 };
-static const int kAxisB[] = { 2, 2, 1 };
+#define D6_USE_OBSOLETE_METHOD false
+//-----------------------------------------------------------------------------
+
+btGeneric6DofConstraint::btGeneric6DofConstraint()
+:btTypedConstraint(D6_CONSTRAINT_TYPE),
+m_useLinearReferenceFrameA(true),
+m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
+{
+}
+
+//-----------------------------------------------------------------------------
+
+btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
+: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
+, m_frameInA(frameInA)
+, m_frameInB(frameInB),
+m_useLinearReferenceFrameA(useLinearReferenceFrameA),
+m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
+{
+
+}
+//-----------------------------------------------------------------------------
+
+
 #define GENERIC_D6_DISABLE_WARMSTARTING 1
 
+//-----------------------------------------------------------------------------
+
 btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
 btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
 {
@@ -39,51 +61,48 @@ btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
 	return mat[i][j];
 }
 
+//-----------------------------------------------------------------------------
+
 ///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
 bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
 bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
 {
-//	// rot =  cy*cz          -cy*sz           sy
-//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
-//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
-//
+	//	// rot =  cy*cz          -cy*sz           sy
+	//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
+	//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
+	//
 
-		if (btGetMatrixElem(mat,2) < btScalar(1.0))
+	btScalar fi = btGetMatrixElem(mat,2);
+	if (fi < btScalar(1.0f))
+	{
+		if (fi > btScalar(-1.0f))
 		{
-			if (btGetMatrixElem(mat,2) > btScalar(-1.0))
-			{
-				xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
-				xyz[1] = btAsin(btGetMatrixElem(mat,2));
-				xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
-				return true;
-			}
-			else
-			{
-				// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
-				xyz[0] = -btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
-				xyz[1] = -SIMD_HALF_PI;
-				xyz[2] = btScalar(0.0);
-				return false;
-			}
+			xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
+			xyz[1] = btAsin(btGetMatrixElem(mat,2));
+			xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
+			return true;
 		}
 		else
 		{
-			// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
-			xyz[0] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
-			xyz[1] = SIMD_HALF_PI;
-			xyz[2] = 0.0;
-
+			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
+			xyz[0] = -btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+			xyz[1] = -SIMD_HALF_PI;
+			xyz[2] = btScalar(0.0);
+			return false;
 		}
-
-
+	}
+	else
+	{
+		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
+		xyz[0] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
+		xyz[1] = SIMD_HALF_PI;
+		xyz[2] = 0.0;
+	}
 	return false;
 }
 
-
-
 //////////////////////////// btRotationalLimitMotor ////////////////////////////////////
 
-
 int btRotationalLimitMotor::testLimitValue(btScalar test_value)
 {
 	if(m_loLimit>m_hiLimit)
@@ -107,212 +126,239 @@ int btRotationalLimitMotor::testLimitValue(btScalar test_value)
 
 	m_currentLimit = 0;//Free from violation
 	return 0;
-	
+
 }
 
+//-----------------------------------------------------------------------------
 
 btScalar btRotationalLimitMotor::solveAngularLimits(
-		btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
-	 	btRigidBody * body0, btRigidBody * body1)
+	btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
+	btRigidBody * body0, btSolverBody& bodyA, btRigidBody * body1, btSolverBody& bodyB)
 {
-    if (needApplyTorques()==false) return 0.0f;
+	if (needApplyTorques()==false) return 0.0f;
 
-    btScalar target_velocity = m_targetVelocity;
-    btScalar maxMotorForce = m_maxMotorForce;
+	btScalar target_velocity = m_targetVelocity;
+	btScalar maxMotorForce = m_maxMotorForce;
 
 	//current error correction
-    if (m_currentLimit!=0)
-    {
-        target_velocity = -m_ERP*m_currentLimitError/(timeStep);
-        maxMotorForce = m_maxLimitForce;
-    }
+	if (m_currentLimit!=0)
+	{
+		target_velocity = -m_ERP*m_currentLimitError/(timeStep);
+		maxMotorForce = m_maxLimitForce;
+	}
 
-    maxMotorForce *= timeStep;
+	maxMotorForce *= timeStep;
 
-    // current velocity difference
-    btVector3 vel_diff = body0->getAngularVelocity();
-    if (body1)
-    {
-        vel_diff -= body1->getAngularVelocity();
-    }
+	// current velocity difference
 
+	btVector3 angVelA;
+	bodyA.getAngularVelocity(angVelA);
+	btVector3 angVelB;
+	bodyB.getAngularVelocity(angVelB);
 
+	btVector3 vel_diff;
+	vel_diff = angVelA-angVelB;
 
-    btScalar rel_vel = axis.dot(vel_diff);
+
+
+	btScalar rel_vel = axis.dot(vel_diff);
 
 	// correction velocity
-    btScalar motor_relvel = m_limitSoftness*(target_velocity  - m_damping*rel_vel);
+	btScalar motor_relvel = m_limitSoftness*(target_velocity  - m_damping*rel_vel);
 
 
-    if ( motor_relvel < SIMD_EPSILON && motor_relvel > -SIMD_EPSILON  )
-    {
-        return 0.0f;//no need for applying force
-    }
+	if ( motor_relvel < SIMD_EPSILON && motor_relvel > -SIMD_EPSILON  )
+	{
+		return 0.0f;//no need for applying force
+	}
 
 
 	// correction impulse
-    btScalar unclippedMotorImpulse = (1+m_bounce)*motor_relvel*jacDiagABInv;
+	btScalar unclippedMotorImpulse = (1+m_bounce)*motor_relvel*jacDiagABInv;
 
 	// clip correction impulse
-    btScalar clippedMotorImpulse;
+	btScalar clippedMotorImpulse;
 
-    //todo: should clip against accumulated impulse
-    if (unclippedMotorImpulse>0.0f)
-    {
-        clippedMotorImpulse =  unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse;
-    }
-    else
-    {
-        clippedMotorImpulse =  unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce: unclippedMotorImpulse;
-    }
+	///@todo: should clip against accumulated impulse
+	if (unclippedMotorImpulse>0.0f)
+	{
+		clippedMotorImpulse =  unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse;
+	}
+	else
+	{
+		clippedMotorImpulse =  unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce: unclippedMotorImpulse;
+	}
 
 
 	// sort with accumulated impulses
-    btScalar	lo = btScalar(-1e30);
-    btScalar	hi = btScalar(1e30);
-
-    btScalar oldaccumImpulse = m_accumulatedImpulse;
-    btScalar sum = oldaccumImpulse + clippedMotorImpulse;
-    m_accumulatedImpulse = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
+	btScalar	lo = btScalar(-1e30);
+	btScalar	hi = btScalar(1e30);
 
-    clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse;
+	btScalar oldaccumImpulse = m_accumulatedImpulse;
+	btScalar sum = oldaccumImpulse + clippedMotorImpulse;
+	m_accumulatedImpulse = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
 
+	clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse;
 
+	btVector3 motorImp = clippedMotorImpulse * axis;
 
-    btVector3 motorImp = clippedMotorImpulse * axis;
+	//body0->applyTorqueImpulse(motorImp);
+	//body1->applyTorqueImpulse(-motorImp);
 
+	bodyA.applyImpulse(btVector3(0,0,0), body0->getInvInertiaTensorWorld()*axis,clippedMotorImpulse);
+	bodyB.applyImpulse(btVector3(0,0,0), body1->getInvInertiaTensorWorld()*axis,-clippedMotorImpulse);
 
-    body0->applyTorqueImpulse(motorImp);
-    if (body1) body1->applyTorqueImpulse(-motorImp);
 
-    return clippedMotorImpulse;
+	return clippedMotorImpulse;
 
 
 }
 
 //////////////////////////// End btRotationalLimitMotor ////////////////////////////////////
 
+
+
+
 //////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
-btScalar btTranslationalLimitMotor::solveLinearAxis(
-		btScalar timeStep,
-        btScalar jacDiagABInv,
-        btRigidBody& body1,const btVector3 &pointInA,
-        btRigidBody& body2,const btVector3 &pointInB,
-        int limit_index,
-        const btVector3 & axis_normal_on_a,
-		const btVector3 & anchorPos)
+
+
+int btTranslationalLimitMotor::testLimitValue(int limitIndex, btScalar test_value)
 {
+	btScalar loLimit = m_lowerLimit[limitIndex];
+	btScalar hiLimit = m_upperLimit[limitIndex];
+	if(loLimit > hiLimit)
+	{
+		m_currentLimit[limitIndex] = 0;//Free from violation
+		m_currentLimitError[limitIndex] = btScalar(0.f);
+		return 0;
+	}
 
-///find relative velocity
-//    btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition();
-//    btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition();
-    btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition();
-    btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
+	if (test_value < loLimit)
+	{
+		m_currentLimit[limitIndex] = 2;//low limit violation
+		m_currentLimitError[limitIndex] =  test_value - loLimit;
+		return 2;
+	}
+	else if (test_value> hiLimit)
+	{
+		m_currentLimit[limitIndex] = 1;//High limit violation
+		m_currentLimitError[limitIndex] = test_value - hiLimit;
+		return 1;
+	};
 
-    btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-    btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-    btVector3 vel = vel1 - vel2;
+	m_currentLimit[limitIndex] = 0;//Free from violation
+	m_currentLimitError[limitIndex] = btScalar(0.f);
+	return 0;
+} // btTranslationalLimitMotor::testLimitValue()
 
-    btScalar rel_vel = axis_normal_on_a.dot(vel);
+//-----------------------------------------------------------------------------
 
+btScalar btTranslationalLimitMotor::solveLinearAxis(
+	btScalar timeStep,
+	btScalar jacDiagABInv,
+	btRigidBody& body1,btSolverBody& bodyA,const btVector3 &pointInA,
+	btRigidBody& body2,btSolverBody& bodyB,const btVector3 &pointInB,
+	int limit_index,
+	const btVector3 & axis_normal_on_a,
+	const btVector3 & anchorPos)
+{
 
+	///find relative velocity
+	//    btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition();
+	//    btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition();
+	btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition();
+	btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
 
-/// apply displacement correction
+	btVector3 vel1;
+	bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
+	btVector3 vel2;
+	bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
+	btVector3 vel = vel1 - vel2;
 
-//positional error (zeroth order error)
-    btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
-    btScalar	lo = btScalar(-1e30);
-    btScalar	hi = btScalar(1e30);
+	btScalar rel_vel = axis_normal_on_a.dot(vel);
 
-    btScalar minLimit = m_lowerLimit[limit_index];
-    btScalar maxLimit = m_upperLimit[limit_index];
 
-    //handle the limits
-    if (minLimit < maxLimit)
-    {
-        {
-            if (depth > maxLimit)
-            {
-                depth -= maxLimit;
-                lo = btScalar(0.);
 
-            }
-            else
-            {
-                if (depth < minLimit)
-                {
-                    depth -= minLimit;
-                    hi = btScalar(0.);
-                }
-                else
-                {
-                    return 0.0f;
-                }
-            }
-        }
-    }
+	/// apply displacement correction
 
-    btScalar normalImpulse= m_limitSoftness*(m_restitution*depth/timeStep - m_damping*rel_vel) * jacDiagABInv;
+	//positional error (zeroth order error)
+	btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
+	btScalar	lo = btScalar(-1e30);
+	btScalar	hi = btScalar(1e30);
 
+	btScalar minLimit = m_lowerLimit[limit_index];
+	btScalar maxLimit = m_upperLimit[limit_index];
 
+	//handle the limits
+	if (minLimit < maxLimit)
+	{
+		{
+			if (depth > maxLimit)
+			{
+				depth -= maxLimit;
+				lo = btScalar(0.);
+
+			}
+			else
+			{
+				if (depth < minLimit)
+				{
+					depth -= minLimit;
+					hi = btScalar(0.);
+				}
+				else
+				{
+					return 0.0f;
+				}
+			}
+		}
+	}
 
+	btScalar normalImpulse= m_limitSoftness*(m_restitution*depth/timeStep - m_damping*rel_vel) * jacDiagABInv;
 
-    btScalar oldNormalImpulse = m_accumulatedImpulse[limit_index];
-    btScalar sum = oldNormalImpulse + normalImpulse;
-    m_accumulatedImpulse[limit_index] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
-    normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
 
-    btVector3 impulse_vector = axis_normal_on_a * normalImpulse;
-    body1.applyImpulse( impulse_vector, rel_pos1);
-    body2.applyImpulse(-impulse_vector, rel_pos2);
-    return normalImpulse;
-}
 
-//////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
 
+	btScalar oldNormalImpulse = m_accumulatedImpulse[limit_index];
+	btScalar sum = oldNormalImpulse + normalImpulse;
+	m_accumulatedImpulse[limit_index] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
+	normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
 
-btGeneric6DofConstraint::btGeneric6DofConstraint()
-        :btTypedConstraint(D6_CONSTRAINT_TYPE),
-		m_useLinearReferenceFrameA(true)
-{
-}
+	btVector3 impulse_vector = axis_normal_on_a * normalImpulse;
+	//body1.applyImpulse( impulse_vector, rel_pos1);
+	//body2.applyImpulse(-impulse_vector, rel_pos2);
 
-btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
-        : btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
-        , m_frameInA(frameInA)
-        , m_frameInB(frameInB),
-		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
-{
+	btVector3 ftorqueAxis1 = rel_pos1.cross(axis_normal_on_a);
+	btVector3 ftorqueAxis2 = rel_pos2.cross(axis_normal_on_a);
+	bodyA.applyImpulse(axis_normal_on_a*body1.getInvMass(), body1.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
+	bodyB.applyImpulse(axis_normal_on_a*body2.getInvMass(), body2.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
 
-}
 
 
 
+	return normalImpulse;
+}
 
+//////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
 
 void btGeneric6DofConstraint::calculateAngleInfo()
 {
 	btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis();
-
 	matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff);
-
-
-
 	// in euler angle mode we do not actually constrain the angular velocity
-  // along the axes axis[0] and axis[2] (although we do use axis[1]) :
-  //
-  //    to get			constrain w2-w1 along		...not
-  //    ------			---------------------		------
-  //    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
-  //    d(angle[1])/dt = 0	ax[1]
-  //    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
-  //
-  // constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
-  // to prove the result for angle[0], write the expression for angle[0] from
-  // GetInfo1 then take the derivative. to prove this for angle[2] it is
-  // easier to take the euler rate expression for d(angle[2])/dt with respect
-  // to the components of w and set that to 0.
-
+	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
+	//
+	//    to get			constrain w2-w1 along		...not
+	//    ------			---------------------		------
+	//    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
+	//    d(angle[1])/dt = 0	ax[1]
+	//    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
+	//
+	// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
+	// to prove the result for angle[0], write the expression for angle[0] from
+	// GetInfo1 then take the derivative. to prove this for angle[2] it is
+	// easier to take the euler rate expression for d(angle[2])/dt with respect
+	// to the components of w and set that to 0.
 	btVector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
 	btVector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
 
@@ -320,34 +366,29 @@ void btGeneric6DofConstraint::calculateAngleInfo()
 	m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
 	m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
 
-
-//    if(m_debugDrawer)
-//    {
-//
-//    	char buff[300];
-//		sprintf(buff,"\n X: %.2f ; Y: %.2f ; Z: %.2f ",
-//		m_calculatedAxisAngleDiff[0],
-//		m_calculatedAxisAngleDiff[1],
-//		m_calculatedAxisAngleDiff[2]);
-//    	m_debugDrawer->reportErrorWarning(buff);
-//    }
+	m_calculatedAxis[0].normalize();
+	m_calculatedAxis[1].normalize();
+	m_calculatedAxis[2].normalize();
 
 }
 
+//-----------------------------------------------------------------------------
+
 void btGeneric6DofConstraint::calculateTransforms()
 {
-    m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA;
-    m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB;
-
-    calculateAngleInfo();
+	m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA;
+	m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB;
+	calculateLinearInfo();
+	calculateAngleInfo();
 }
 
+//-----------------------------------------------------------------------------
 
 void btGeneric6DofConstraint::buildLinearJacobian(
-    btJacobianEntry & jacLinear,const btVector3 & normalWorld,
-    const btVector3 & pivotAInW,const btVector3 & pivotBInW)
+	btJacobianEntry & jacLinear,const btVector3 & normalWorld,
+	const btVector3 & pivotAInW,const btVector3 & pivotBInW)
 {
-    new (&jacLinear) btJacobianEntry(
+	new (&jacLinear) btJacobianEntry(
         m_rbA.getCenterOfMassTransform().getBasis().transpose(),
         m_rbB.getCenterOfMassTransform().getBasis().transpose(),
         pivotAInW - m_rbA.getCenterOfMassPosition(),
@@ -357,13 +398,14 @@ void btGeneric6DofConstraint::buildLinearJacobian(
         m_rbA.getInvMass(),
         m_rbB.getInvInertiaDiagLocal(),
         m_rbB.getInvMass());
-
 }
 
+//-----------------------------------------------------------------------------
+
 void btGeneric6DofConstraint::buildAngularJacobian(
-    btJacobianEntry & jacAngular,const btVector3 & jointAxisW)
+	btJacobianEntry & jacAngular,const btVector3 & jointAxisW)
 {
-    new (&jacAngular)	btJacobianEntry(jointAxisW,
+	 new (&jacAngular)	btJacobianEntry(jointAxisW,
                                       m_rbA.getCenterOfMassTransform().getBasis().transpose(),
                                       m_rbB.getCenterOfMassTransform().getBasis().transpose(),
                                       m_rbA.getInvInertiaDiagLocal(),
@@ -371,142 +413,260 @@ void btGeneric6DofConstraint::buildAngularJacobian(
 
 }
 
+//-----------------------------------------------------------------------------
+
 bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
 {
-    btScalar angle = m_calculatedAxisAngleDiff[axis_index];
-
-    //test limits
-    m_angularLimits[axis_index].testLimitValue(angle);
-    return m_angularLimits[axis_index].needApplyTorques();
+	btScalar angle = m_calculatedAxisAngleDiff[axis_index];
+	//test limits
+	m_angularLimits[axis_index].testLimitValue(angle);
+	return m_angularLimits[axis_index].needApplyTorques();
 }
 
+//-----------------------------------------------------------------------------
+
 void btGeneric6DofConstraint::buildJacobian()
 {
+	if (m_useSolveConstraintObsolete)
+	{
 
-	// Clear accumulated impulses for the next simulation step
-    m_linearLimits.m_accumulatedImpulse.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-    int i;
-    for(i = 0; i < 3; i++)
-    {
-        m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
-    }
-    //calculates transform
-    calculateTransforms();
-
-//  const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
-//  const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
-	calcAnchorPos();
-	btVector3 pivotAInW = m_AnchorPos;
-	btVector3 pivotBInW = m_AnchorPos;
-
-// not used here
-//    btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
-//    btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-
-    btVector3 normalWorld;
-    //linear part
-    for (i=0;i<3;i++)
-    {
-        if (m_linearLimits.isLimited(i))
-        {
-			if (m_useLinearReferenceFrameA)
-	            normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
-			else
-	            normalWorld = m_calculatedTransformB.getBasis().getColumn(i);
+		// Clear accumulated impulses for the next simulation step
+		m_linearLimits.m_accumulatedImpulse.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
+		int i;
+		for(i = 0; i < 3; i++)
+		{
+			m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
+		}
+		//calculates transform
+		calculateTransforms();
+
+		//  const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
+		//  const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
+		calcAnchorPos();
+		btVector3 pivotAInW = m_AnchorPos;
+		btVector3 pivotBInW = m_AnchorPos;
+
+		// not used here
+		//    btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
+		//    btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
+
+		btVector3 normalWorld;
+		//linear part
+		for (i=0;i<3;i++)
+		{
+			if (m_linearLimits.isLimited(i))
+			{
+				if (m_useLinearReferenceFrameA)
+					normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
+				else
+					normalWorld = m_calculatedTransformB.getBasis().getColumn(i);
 
-            buildLinearJacobian(
-                m_jacLinear[i],normalWorld ,
-                pivotAInW,pivotBInW);
+				buildLinearJacobian(
+					m_jacLinear[i],normalWorld ,
+					pivotAInW,pivotBInW);
 
-        }
-    }
+			}
+		}
 
-    // angular part
-    for (i=0;i<3;i++)
-    {
-        //calculates error angle
-        if (testAngularLimitMotor(i))
-        {
-            normalWorld = this->getAxis(i);
-            // Create angular atom
-            buildAngularJacobian(m_jacAng[i],normalWorld);
-        }
-    }
+		// angular part
+		for (i=0;i<3;i++)
+		{
+			//calculates error angle
+			if (testAngularLimitMotor(i))
+			{
+				normalWorld = this->getAxis(i);
+				// Create angular atom
+				buildAngularJacobian(m_jacAng[i],normalWorld);
+			}
+		}
+
+	}
+}
 
+//-----------------------------------------------------------------------------
 
+void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
+	} else
+	{
+		//prepare constraint
+		calculateTransforms();
+		info->m_numConstraintRows = 0;
+		info->nub = 6;
+		int i;
+		//test linear limits
+		for(i = 0; i < 3; i++)
+		{
+			if(m_linearLimits.needApplyForce(i))
+			{
+				info->m_numConstraintRows++;
+				info->nub--;
+			}
+		}
+		//test angular limits
+		for (i=0;i<3 ;i++ )
+		{
+			if(testAngularLimitMotor(i))
+			{
+				info->m_numConstraintRows++;
+				info->nub--;
+			}
+		}
+	}
+}
+
+//-----------------------------------------------------------------------------
+
+void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
+{
+	btAssert(!m_useSolveConstraintObsolete);
+	int row = setLinearLimits(info);
+	setAngularLimits(info, row);
 }
 
+//-----------------------------------------------------------------------------
 
-void btGeneric6DofConstraint::solveConstraint(btScalar	timeStep)
+int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
 {
-    m_timeStep = timeStep;
+	btGeneric6DofConstraint * d6constraint = this;
+	int row = 0;
+	//solve linear limits
+	btRotationalLimitMotor limot;
+	for (int i=0;i<3 ;i++ )
+	{
+		if(m_linearLimits.needApplyForce(i))
+		{ // re-use rotational motor code
+			limot.m_bounce = btScalar(0.f);
+			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
+			limot.m_currentLimitError  = m_linearLimits.m_currentLimitError[i];
+			limot.m_damping  = m_linearLimits.m_damping;
+			limot.m_enableMotor  = m_linearLimits.m_enableMotor[i];
+			limot.m_ERP  = m_linearLimits.m_restitution;
+			limot.m_hiLimit  = m_linearLimits.m_upperLimit[i];
+			limot.m_limitSoftness  = m_linearLimits.m_limitSoftness;
+			limot.m_loLimit  = m_linearLimits.m_lowerLimit[i];
+			limot.m_maxLimitForce  = btScalar(0.f);
+			limot.m_maxMotorForce  = m_linearLimits.m_maxMotorForce[i];
+			limot.m_targetVelocity  = m_linearLimits.m_targetVelocity[i];
+			btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
+			row += get_limit_motor_info2(&limot, &m_rbA, &m_rbB, info, row, axis, 0);
+		}
+	}
+	return row;
+}
 
-    //calculateTransforms();
+//-----------------------------------------------------------------------------
 
-    int i;
+int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset)
+{
+	btGeneric6DofConstraint * d6constraint = this;
+	int row = row_offset;
+	//solve angular limits
+	for (int i=0;i<3 ;i++ )
+	{
+		if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
+		{
+			btVector3 axis = d6constraint->getAxis(i);
+			row += get_limit_motor_info2(
+				d6constraint->getRotationalLimitMotor(i),
+				&m_rbA,
+				&m_rbB,
+				info,row,axis,1);
+		}
+	}
 
-    // linear
+	return row;
+}
 
-    btVector3 pointInA = m_calculatedTransformA.getOrigin();
-	btVector3 pointInB = m_calculatedTransformB.getOrigin();
+//-----------------------------------------------------------------------------
 
-	btScalar jacDiagABInv;
-	btVector3 linear_axis;
-    for (i=0;i<3;i++)
-    {
-        if (m_linearLimits.isLimited(i))
-        {
-            jacDiagABInv = btScalar(1.) / m_jacLinear[i].getDiagonal();
+void btGeneric6DofConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
+{
+	if (m_useSolveConstraintObsolete)
+	{
 
-			if (m_useLinearReferenceFrameA)
-	            linear_axis = m_calculatedTransformA.getBasis().getColumn(i);
-			else
-	            linear_axis = m_calculatedTransformB.getBasis().getColumn(i);
 
-            m_linearLimits.solveLinearAxis(
-            	m_timeStep,
-            	jacDiagABInv,
-            	m_rbA,pointInA,
-                m_rbB,pointInB,
-                i,linear_axis, m_AnchorPos);
+		m_timeStep = timeStep;
 
-        }
-    }
+		//calculateTransforms();
 
-    // angular
-    btVector3 angular_axis;
-    btScalar angularJacDiagABInv;
-    for (i=0;i<3;i++)
-    {
-        if (m_angularLimits[i].needApplyTorques())
-        {
+		int i;
 
-			// get axis
-			angular_axis = getAxis(i);
+		// linear
 
-			angularJacDiagABInv = btScalar(1.) / m_jacAng[i].getDiagonal();
+		btVector3 pointInA = m_calculatedTransformA.getOrigin();
+		btVector3 pointInB = m_calculatedTransformB.getOrigin();
 
-			m_angularLimits[i].solveAngularLimits(m_timeStep,angular_axis,angularJacDiagABInv, &m_rbA,&m_rbB);
-        }
-    }
+		btScalar jacDiagABInv;
+		btVector3 linear_axis;
+		for (i=0;i<3;i++)
+		{
+			if (m_linearLimits.isLimited(i))
+			{
+				jacDiagABInv = btScalar(1.) / m_jacLinear[i].getDiagonal();
+
+				if (m_useLinearReferenceFrameA)
+					linear_axis = m_calculatedTransformA.getBasis().getColumn(i);
+				else
+					linear_axis = m_calculatedTransformB.getBasis().getColumn(i);
+
+				m_linearLimits.solveLinearAxis(
+					m_timeStep,
+					jacDiagABInv,
+					m_rbA,bodyA,pointInA,
+					m_rbB,bodyB,pointInB,
+					i,linear_axis, m_AnchorPos);
+
+			}
+		}
+
+		// angular
+		btVector3 angular_axis;
+		btScalar angularJacDiagABInv;
+		for (i=0;i<3;i++)
+		{
+			if (m_angularLimits[i].needApplyTorques())
+			{
+
+				// get axis
+				angular_axis = getAxis(i);
+
+				angularJacDiagABInv = btScalar(1.) / m_jacAng[i].getDiagonal();
+
+				m_angularLimits[i].solveAngularLimits(m_timeStep,angular_axis,angularJacDiagABInv, &m_rbA,bodyA,&m_rbB,bodyB);
+			}
+		}
+	}
 }
 
+//-----------------------------------------------------------------------------
+
 void	btGeneric6DofConstraint::updateRHS(btScalar	timeStep)
 {
-    (void)timeStep;
+	(void)timeStep;
 
 }
 
+//-----------------------------------------------------------------------------
+
 btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
 {
-    return m_calculatedAxis[axis_index];
+	return m_calculatedAxis[axis_index];
 }
 
+//-----------------------------------------------------------------------------
+
 btScalar btGeneric6DofConstraint::getAngle(int axis_index) const
 {
-    return m_calculatedAxisAngleDiff[axis_index];
+	return m_calculatedAxisAngleDiff[axis_index];
 }
 
+//-----------------------------------------------------------------------------
+
 void btGeneric6DofConstraint::calcAnchorPos(void)
 {
 	btScalar imA = m_rbA.getInvMass();
@@ -526,3 +686,144 @@ void btGeneric6DofConstraint::calcAnchorPos(void)
 	return;
 } // btGeneric6DofConstraint::calcAnchorPos()
 
+//-----------------------------------------------------------------------------
+
+void btGeneric6DofConstraint::calculateLinearInfo()
+{
+	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
+	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
+	for(int i = 0; i < 3; i++)
+	{
+		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
+	}
+} // btGeneric6DofConstraint::calculateLinearInfo()
+
+//-----------------------------------------------------------------------------
+
+int btGeneric6DofConstraint::get_limit_motor_info2(
+	btRotationalLimitMotor * limot,
+	btRigidBody * body0, btRigidBody * body1,
+	btConstraintInfo2 *info, int row, btVector3& ax1, int rotational)
+{
+    int srow = row * info->rowskip;
+    int powered = limot->m_enableMotor;
+    int limit = limot->m_currentLimit;
+    if (powered || limit)
+    {   // if the joint is powered, or has joint limits, add in the extra row
+        btScalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
+        btScalar *J2 = rotational ? info->m_J2angularAxis : 0;
+        J1[srow+0] = ax1[0];
+        J1[srow+1] = ax1[1];
+        J1[srow+2] = ax1[2];
+        if(rotational)
+        {
+            J2[srow+0] = -ax1[0];
+            J2[srow+1] = -ax1[1];
+            J2[srow+2] = -ax1[2];
+        }
+        if((!rotational) && limit)
+        {
+			btVector3 ltd;	// Linear Torque Decoupling vector
+			btVector3 c = m_calculatedTransformB.getOrigin() - body0->getCenterOfMassPosition();
+			ltd = c.cross(ax1);
+            info->m_J1angularAxis[srow+0] = ltd[0];
+            info->m_J1angularAxis[srow+1] = ltd[1];
+            info->m_J1angularAxis[srow+2] = ltd[2];
+
+			c = m_calculatedTransformB.getOrigin() - body1->getCenterOfMassPosition();
+			ltd = -c.cross(ax1);
+			info->m_J2angularAxis[srow+0] = ltd[0];
+            info->m_J2angularAxis[srow+1] = ltd[1];
+            info->m_J2angularAxis[srow+2] = ltd[2];
+        }
+        // if we're limited low and high simultaneously, the joint motor is
+        // ineffective
+        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
+        info->m_constraintError[srow] = btScalar(0.f);
+        if (powered)
+        {
+            info->cfm[srow] = 0.0f;
+            if(!limit)
+            {
+                info->m_constraintError[srow] += limot->m_targetVelocity;
+                info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
+                info->m_upperLimit[srow] = limot->m_maxMotorForce;
+            }
+        }
+        if(limit)
+        {
+            btScalar k = info->fps * limot->m_ERP;
+			if(!rotational)
+			{
+				info->m_constraintError[srow] += k * limot->m_currentLimitError;
+			}
+			else
+			{
+				info->m_constraintError[srow] += -k * limot->m_currentLimitError;
+			}
+            info->cfm[srow] = 0.0f;
+            if (limot->m_loLimit == limot->m_hiLimit)
+            {   // limited low and high simultaneously
+                info->m_lowerLimit[srow] = -SIMD_INFINITY;
+                info->m_upperLimit[srow] = SIMD_INFINITY;
+            }
+            else
+            {
+                if (limit == 1)
+                {
+                    info->m_lowerLimit[srow] = 0;
+                    info->m_upperLimit[srow] = SIMD_INFINITY;
+                }
+                else
+                {
+                    info->m_lowerLimit[srow] = -SIMD_INFINITY;
+                    info->m_upperLimit[srow] = 0;
+                }
+                // deal with bounce
+                if (limot->m_bounce > 0)
+                {
+                    // calculate joint velocity
+                    btScalar vel;
+                    if (rotational)
+                    {
+                        vel = body0->getAngularVelocity().dot(ax1);
+                        if (body1)
+                            vel -= body1->getAngularVelocity().dot(ax1);
+                    }
+                    else
+                    {
+                        vel = body0->getLinearVelocity().dot(ax1);
+                        if (body1)
+                            vel -= body1->getLinearVelocity().dot(ax1);
+                    }
+                    // only apply bounce if the velocity is incoming, and if the
+                    // resulting c[] exceeds what we already have.
+                    if (limit == 1)
+                    {
+                        if (vel < 0)
+                        {
+                            btScalar newc = -limot->m_bounce* vel;
+                            if (newc > info->m_constraintError[srow]) 
+								info->m_constraintError[srow] = newc;
+                        }
+                    }
+                    else
+                    {
+                        if (vel > 0)
+                        {
+                            btScalar newc = -limot->m_bounce * vel;
+                            if (newc < info->m_constraintError[srow]) 
+								info->m_constraintError[srow] = newc;
+                        }
+                    }
+                }
+            }
+        }
+        return 1;
+    }
+    else return 0;
+}
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
index f0718d2d4a0..0ae161d5bdf 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
@@ -30,6 +30,8 @@ http://gimpact.sf.net
 class btRigidBody;
 
 
+
+
 //! Rotation Limit structure for generic joints
 class btRotationalLimitMotor
 {
@@ -92,7 +94,7 @@ public:
 	//! Is limited
     bool isLimited()
     {
-    	if(m_loLimit>=m_hiLimit) return false;
+    	if(m_loLimit > m_hiLimit) return false;
     	return true;
     }
 
@@ -110,8 +112,7 @@ public:
 	int testLimitValue(btScalar test_value);
 
 	//! apply the correction impulses for two bodies
-    btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
-
+    btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btSolverBody& bodyA,btRigidBody * body1,btSolverBody& bodyB);
 
 };
 
@@ -129,6 +130,11 @@ public:
     btScalar	m_damping;//!< Damping for linear limit
     btScalar	m_restitution;//! Bounce parameter for linear limit
     //!@}
+	bool		m_enableMotor[3];
+    btVector3	m_targetVelocity;//!< target motor velocity
+    btVector3	m_maxMotorForce;//!< max force on motor
+    btVector3	m_currentLimitError;//!  How much is violated this limit
+    int			m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
 
     btTranslationalLimitMotor()
     {
@@ -139,6 +145,12 @@ public:
     	m_limitSoftness = 0.7f;
     	m_damping = btScalar(1.0f);
     	m_restitution = btScalar(0.5f);
+		for(int i=0; i < 3; i++) 
+		{
+			m_enableMotor[i] = false;
+			m_targetVelocity[i] = btScalar(0.f);
+			m_maxMotorForce[i] = btScalar(0.f);
+		}
     }
 
     btTranslationalLimitMotor(const btTranslationalLimitMotor & other )
@@ -150,6 +162,12 @@ public:
     	m_limitSoftness = other.m_limitSoftness ;
     	m_damping = other.m_damping;
     	m_restitution = other.m_restitution;
+		for(int i=0; i < 3; i++) 
+		{
+			m_enableMotor[i] = other.m_enableMotor[i];
+			m_targetVelocity[i] = other.m_targetVelocity[i];
+			m_maxMotorForce[i] = other.m_maxMotorForce[i];
+		}
     }
 
     //! Test limit
@@ -163,13 +181,19 @@ public:
     {
        return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
     }
+    inline bool needApplyForce(int limitIndex)
+    {
+    	if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
+    	return true;
+    }
+	int testLimitValue(int limitIndex, btScalar test_value);
 
 
     btScalar solveLinearAxis(
     	btScalar timeStep,
         btScalar jacDiagABInv,
-        btRigidBody& body1,const btVector3 &pointInA,
-        btRigidBody& body2,const btVector3 &pointInB,
+        btRigidBody& body1,btSolverBody& bodyA,const btVector3 &pointInA,
+        btRigidBody& body2,btSolverBody& bodyB,const btVector3 &pointInB,
         int limit_index,
         const btVector3 & axis_normal_on_a,
 		const btVector3 & anchorPos);
@@ -247,6 +271,7 @@ protected:
     btTransform m_calculatedTransformB;
     btVector3 m_calculatedAxisAngleDiff;
     btVector3 m_calculatedAxis[3];
+    btVector3 m_calculatedLinearDiff;
     
 	btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
 
@@ -262,6 +287,9 @@ protected:
     }
 
 
+	int setAngularLimits(btConstraintInfo2 *info, int row_offset);
+
+	int setLinearLimits(btConstraintInfo2 *info);
 
     void buildLinearJacobian(
         btJacobianEntry & jacLinear,const btVector3 & normalWorld,
@@ -269,6 +297,8 @@ protected:
 
     void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW);
 
+	// tests linear limits
+	void calculateLinearInfo();
 
 	//! calcs the euler angles between the two bodies.
     void calculateAngleInfo();
@@ -276,6 +306,10 @@ protected:
 
 
 public:
+
+	///for backwards compatibility during the transition to 'getInfo/getInfo2'
+	bool		m_useSolveConstraintObsolete;
+
     btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
 
     btGeneric6DofConstraint();
@@ -330,7 +364,11 @@ public:
 	//! performs Jacobian calculation, and also calculates angle differences and axis
     virtual void	buildJacobian();
 
-    virtual	void	solveConstraint(btScalar	timeStep);
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+    virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
 
     void	updateRHS(btScalar	timeStep);
 
@@ -432,6 +470,11 @@ public:
 
 	virtual void calcAnchorPos(void); // overridable
 
+	int get_limit_motor_info2(	btRotationalLimitMotor * limot,
+								btRigidBody * body0, btRigidBody * body1,
+								btConstraintInfo2 *info, int row, btVector3& ax1, int rotational);
+
+
 };
 
 #endif //GENERIC_6DOF_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index a0523a8c76b..b6b34305804 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -19,19 +19,33 @@ subject to the following restrictions:
 #include "LinearMath/btTransformUtil.h"
 #include "LinearMath/btMinMax.h"
 #include <new>
+#include "btSolverBody.h"
+
+//-----------------------------------------------------------------------------
+
+#define HINGE_USE_OBSOLETE_SOLVER false
+
+//-----------------------------------------------------------------------------
 
 
 btHingeConstraint::btHingeConstraint()
 : btTypedConstraint (HINGE_CONSTRAINT_TYPE),
-m_enableAngularMotor(false)
+m_enableAngularMotor(false),
+m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
+m_useReferenceFrameA(false)
 {
+	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
 }
 
+//-----------------------------------------------------------------------------
+
 btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
-									 btVector3& axisInA,btVector3& axisInB)
+									 btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA)
 									 :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
 									 m_angularOnly(false),
-									 m_enableAngularMotor(false)
+									 m_enableAngularMotor(false),
+									 m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
+									 m_useReferenceFrameA(useReferenceFrameA)
 {
 	m_rbAFrame.getOrigin() = pivotInA;
 	
@@ -60,9 +74,9 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
 	btVector3 rbAxisB2 =  axisInB.cross(rbAxisB1);	
 	
 	m_rbBFrame.getOrigin() = pivotInB;
-	m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),-axisInB.getX(),
-									rbAxisB1.getY(),rbAxisB2.getY(),-axisInB.getY(),
-									rbAxisB1.getZ(),rbAxisB2.getZ(),-axisInB.getZ() );
+	m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
+									rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
+									rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
 	
 	//start with free
 	m_lowerLimit = btScalar(1e30);
@@ -71,32 +85,28 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
 	m_relaxationFactor = 1.0f;
 	m_limitSoftness = 0.9f;
 	m_solveLimit = false;
-
+	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
 }
 
+//-----------------------------------------------------------------------------
 
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA)
-:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false)
+btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA)
+:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false), 
+m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
+m_useReferenceFrameA(useReferenceFrameA)
 {
 
 	// since no frame is given, assume this to be zero angle and just pick rb transform axis
 	// fixed axis in worldspace
-	btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
-	btScalar projection = rbAxisA1.dot(axisInA);
-	if (projection > SIMD_EPSILON)
-		rbAxisA1 = rbAxisA1*projection - axisInA;
-	else
-		rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
-
-	btVector3 rbAxisA2 = axisInA.cross(rbAxisA1);
+	btVector3 rbAxisA1, rbAxisA2;
+	btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
 
 	m_rbAFrame.getOrigin() = pivotInA;
 	m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
 									rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
 									rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
 
-
-	btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * -axisInA;
+	btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * axisInA;
 
 	btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
 	btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
@@ -115,19 +125,19 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,
 	m_relaxationFactor = 1.0f;
 	m_limitSoftness = 0.9f;
 	m_solveLimit = false;
+	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
 }
 
+//-----------------------------------------------------------------------------
+
 btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, 
-								     const btTransform& rbAFrame, const btTransform& rbBFrame)
+								     const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
 :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
 m_angularOnly(false),
-m_enableAngularMotor(false)
+m_enableAngularMotor(false),
+m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
+m_useReferenceFrameA(useReferenceFrameA)
 {
-	// flip axis
-	m_rbBFrame.getBasis()[0][2] *= btScalar(-1.);
-	m_rbBFrame.getBasis()[1][2] *= btScalar(-1.);
-	m_rbBFrame.getBasis()[2][2] *= btScalar(-1.);
-
 	//start with free
 	m_lowerLimit = btScalar(1e30);
 	m_upperLimit = btScalar(-1e30);
@@ -135,22 +145,20 @@ m_enableAngularMotor(false)
 	m_relaxationFactor = 1.0f;
 	m_limitSoftness = 0.9f;
 	m_solveLimit = false;
+	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
 }			
 
+//-----------------------------------------------------------------------------
 
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame)
+btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA)
 :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
 m_angularOnly(false),
-m_enableAngularMotor(false)
+m_enableAngularMotor(false),
+m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
+m_useReferenceFrameA(useReferenceFrameA)
 {
 	///not providing rigidbody B means implicitly using worldspace for body B
 
-	// flip axis
-	m_rbBFrame.getBasis()[0][2] *= btScalar(-1.);
-	m_rbBFrame.getBasis()[1][2] *= btScalar(-1.);
-	m_rbBFrame.getBasis()[2][2] *= btScalar(-1.);
-
 	m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin());
 
 	//start with free
@@ -160,33 +168,38 @@ m_enableAngularMotor(false)
 	m_relaxationFactor = 1.0f;
 	m_limitSoftness = 0.9f;
 	m_solveLimit = false;
+	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
 }
 
+//-----------------------------------------------------------------------------
+
 void	btHingeConstraint::buildJacobian()
 {
-	m_appliedImpulse = btScalar(0.);
-
-	if (!m_angularOnly)
+	if (m_useSolveConstraintObsolete)
 	{
-		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-		btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
-		btVector3 relPos = pivotBInW - pivotAInW;
+		m_appliedImpulse = btScalar(0.);
 
-		btVector3 normal[3];
-		if (relPos.length2() > SIMD_EPSILON)
+		if (!m_angularOnly)
 		{
-			normal[0] = relPos.normalized();
-		}
-		else
-		{
-			normal[0].setValue(btScalar(1.0),0,0);
-		}
+			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
+			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
+			btVector3 relPos = pivotBInW - pivotAInW;
+
+			btVector3 normal[3];
+			if (relPos.length2() > SIMD_EPSILON)
+			{
+				normal[0] = relPos.normalized();
+			}
+			else
+			{
+				normal[0].setValue(btScalar(1.0),0,0);
+			}
 
-		btPlaneSpace1(normal[0], normal[1], normal[2]);
+			btPlaneSpace1(normal[0], normal[1], normal[2]);
 
-		for (int i=0;i<3;i++)
-		{
-			new (&m_jac[i]) btJacobianEntry(
+			for (int i=0;i<3;i++)
+			{
+				new (&m_jac[i]) btJacobianEntry(
 				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
 				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
 				pivotAInW - m_rbA.getCenterOfMassPosition(),
@@ -196,214 +209,458 @@ void	btHingeConstraint::buildJacobian()
 				m_rbA.getInvMass(),
 				m_rbB.getInvInertiaDiagLocal(),
 				m_rbB.getInvMass());
+			}
 		}
-	}
 
-	//calculate two perpendicular jointAxis, orthogonal to hingeAxis
-	//these two jointAxis require equal angular velocities for both bodies
+		//calculate two perpendicular jointAxis, orthogonal to hingeAxis
+		//these two jointAxis require equal angular velocities for both bodies
 
-	//this is unused for now, it's a todo
-	btVector3 jointAxis0local;
-	btVector3 jointAxis1local;
-	
-	btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local);
-
-	getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
-	btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local;
-	btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local;
-	btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
+		//this is unused for now, it's a todo
+		btVector3 jointAxis0local;
+		btVector3 jointAxis1local;
 		
-	new (&m_jacAng[0])	btJacobianEntry(jointAxis0,
-		m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbA.getInvInertiaDiagLocal(),
-		m_rbB.getInvInertiaDiagLocal());
-
-	new (&m_jacAng[1])	btJacobianEntry(jointAxis1,
-		m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbA.getInvInertiaDiagLocal(),
-		m_rbB.getInvInertiaDiagLocal());
-
-	new (&m_jacAng[2])	btJacobianEntry(hingeAxisWorld,
-		m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbA.getInvInertiaDiagLocal(),
-		m_rbB.getInvInertiaDiagLocal());
+		btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local);
 
+		getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
+		btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local;
+		btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local;
+		btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
+			
+		new (&m_jacAng[0])	btJacobianEntry(jointAxis0,
+			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbA.getInvInertiaDiagLocal(),
+			m_rbB.getInvInertiaDiagLocal());
+
+		new (&m_jacAng[1])	btJacobianEntry(jointAxis1,
+			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbA.getInvInertiaDiagLocal(),
+			m_rbB.getInvInertiaDiagLocal());
+
+		new (&m_jacAng[2])	btJacobianEntry(hingeAxisWorld,
+			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbA.getInvInertiaDiagLocal(),
+			m_rbB.getInvInertiaDiagLocal());
+
+			// clear accumulator
+			m_accLimitImpulse = btScalar(0.);
+
+			// test angular limit
+			testLimit();
+
+		//Compute K = J*W*J' for hinge axis
+		btVector3 axisA =  getRigidBodyA().getCenterOfMassTransform().getBasis() *  m_rbAFrame.getBasis().getColumn(2);
+		m_kHinge =   1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) +
+							 getRigidBodyB().computeAngularImpulseDenominator(axisA));
 
-	// Compute limit information
-	btScalar hingeAngle = getHingeAngle();  
+	}
+}
 
-	//set bias, sign, clear accumulator
-	m_correction = btScalar(0.);
-	m_limitSign = btScalar(0.);
-	m_solveLimit = false;
-	m_accLimitImpulse = btScalar(0.);
+//-----------------------------------------------------------------------------
 
-//	if (m_lowerLimit < m_upperLimit)
-	if (m_lowerLimit <= m_upperLimit)
+void btHingeConstraint::getInfo1(btConstraintInfo1* info)
+{
+	if (m_useSolveConstraintObsolete)
 	{
-//		if (hingeAngle <= m_lowerLimit*m_limitSoftness)
-		if (hingeAngle <= m_lowerLimit)
-		{
-			m_correction = (m_lowerLimit - hingeAngle);
-			m_limitSign = 1.0f;
-			m_solveLimit = true;
-		} 
-//		else if (hingeAngle >= m_upperLimit*m_limitSoftness)
-		else if (hingeAngle >= m_upperLimit)
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
+	}
+	else
+	{
+		info->m_numConstraintRows = 5; // Fixed 3 linear + 2 angular
+		info->nub = 1; 
+		//prepare constraint
+		testLimit();
+		if(getSolveLimit() || getEnableAngularMotor())
 		{
-			m_correction = m_upperLimit - hingeAngle;
-			m_limitSign = -1.0f;
-			m_solveLimit = true;
+			info->m_numConstraintRows++; // limit 3rd anguar as well
+			info->nub--; 
 		}
 	}
+} // btHingeConstraint::getInfo1 ()
 
-	//Compute K = J*W*J' for hinge axis
-	btVector3 axisA =  getRigidBodyA().getCenterOfMassTransform().getBasis() *  m_rbAFrame.getBasis().getColumn(2);
-	m_kHinge =   1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) +
-			             getRigidBodyB().computeAngularImpulseDenominator(axisA));
+//-----------------------------------------------------------------------------
 
+void btHingeConstraint::getInfo2 (btConstraintInfo2* info)
+{
+	btAssert(!m_useSolveConstraintObsolete);
+	int i, s = info->rowskip;
+	// transforms in world space
+	btTransform trA = m_rbA.getCenterOfMassTransform()*m_rbAFrame;
+	btTransform trB = m_rbB.getCenterOfMassTransform()*m_rbBFrame;
+	// pivot point
+	btVector3 pivotAInW = trA.getOrigin();
+	btVector3 pivotBInW = trB.getOrigin();
+	// linear (all fixed)
+    info->m_J1linearAxis[0] = 1;
+    info->m_J1linearAxis[s + 1] = 1;
+    info->m_J1linearAxis[2 * s + 2] = 1;
+	btVector3 a1 = pivotAInW - m_rbA.getCenterOfMassTransform().getOrigin();
+	{
+		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
+		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + s);
+		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * s);
+		btVector3 a1neg = -a1;
+		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+	}
+	btVector3 a2 = pivotBInW - m_rbB.getCenterOfMassTransform().getOrigin();
+	{
+		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
+		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + s);
+		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * s);
+		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+	}
+	// linear RHS
+    btScalar k = info->fps * info->erp;
+	for(i = 0; i < 3; i++)
+    {
+        info->m_constraintError[i * s] = k * (pivotBInW[i] - pivotAInW[i]);
+    }
+	// make rotations around X and Y equal
+	// the hinge axis should be the only unconstrained
+	// rotational axis, the angular velocity of the two bodies perpendicular to
+	// the hinge axis should be equal. thus the constraint equations are
+	//    p*w1 - p*w2 = 0
+	//    q*w1 - q*w2 = 0
+	// where p and q are unit vectors normal to the hinge axis, and w1 and w2
+	// are the angular velocity vectors of the two bodies.
+	// get hinge axis (Z)
+	btVector3 ax1 = trA.getBasis().getColumn(2);
+	// get 2 orthos to hinge axis (X, Y)
+	btVector3 p = trA.getBasis().getColumn(0);
+	btVector3 q = trA.getBasis().getColumn(1);
+	// set the two hinge angular rows 
+    int s3 = 3 * info->rowskip;
+    int s4 = 4 * info->rowskip;
+
+	info->m_J1angularAxis[s3 + 0] = p[0];
+	info->m_J1angularAxis[s3 + 1] = p[1];
+	info->m_J1angularAxis[s3 + 2] = p[2];
+	info->m_J1angularAxis[s4 + 0] = q[0];
+	info->m_J1angularAxis[s4 + 1] = q[1];
+	info->m_J1angularAxis[s4 + 2] = q[2];
+
+	info->m_J2angularAxis[s3 + 0] = -p[0];
+	info->m_J2angularAxis[s3 + 1] = -p[1];
+	info->m_J2angularAxis[s3 + 2] = -p[2];
+	info->m_J2angularAxis[s4 + 0] = -q[0];
+	info->m_J2angularAxis[s4 + 1] = -q[1];
+	info->m_J2angularAxis[s4 + 2] = -q[2];
+    // compute the right hand side of the constraint equation. set relative
+    // body velocities along p and q to bring the hinge back into alignment.
+    // if ax1,ax2 are the unit length hinge axes as computed from body1 and
+    // body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
+    // if `theta' is the angle between ax1 and ax2, we need an angular velocity
+    // along u to cover angle erp*theta in one step :
+    //   |angular_velocity| = angle/time = erp*theta / stepsize
+    //                      = (erp*fps) * theta
+    //    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
+    //                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
+    // ...as ax1 and ax2 are unit length. if theta is smallish,
+    // theta ~= sin(theta), so
+    //    angular_velocity  = (erp*fps) * (ax1 x ax2)
+    // ax1 x ax2 is in the plane space of ax1, so we project the angular
+    // velocity to p and q to find the right hand side.
+    btVector3 ax2 = trB.getBasis().getColumn(2);
+	btVector3 u = ax1.cross(ax2);
+	info->m_constraintError[s3] = k * u.dot(p);
+	info->m_constraintError[s4] = k * u.dot(q);
+	// check angular limits
+	int nrow = 4; // last filled row
+	int srow;
+	btScalar limit_err = btScalar(0.0);
+	int limit = 0;
+	if(getSolveLimit())
+	{
+		limit_err = m_correction * m_referenceSign;
+		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
+	}
+	// if the hinge has joint limits or motor, add in the extra row
+	int powered = 0;
+	if(getEnableAngularMotor())
+	{
+		powered = 1;
+	}
+	if(limit || powered) 
+	{
+		nrow++;
+		srow = nrow * info->rowskip;
+		info->m_J1angularAxis[srow+0] = ax1[0];
+		info->m_J1angularAxis[srow+1] = ax1[1];
+		info->m_J1angularAxis[srow+2] = ax1[2];
+
+		info->m_J2angularAxis[srow+0] = -ax1[0];
+		info->m_J2angularAxis[srow+1] = -ax1[1];
+		info->m_J2angularAxis[srow+2] = -ax1[2];
+
+		btScalar lostop = getLowerLimit();
+		btScalar histop = getUpperLimit();
+		if(limit && (lostop == histop))
+		{  // the joint motor is ineffective
+			powered = 0;
+		}
+		info->m_constraintError[srow] = btScalar(0.0f);
+		if(powered)
+		{
+            info->cfm[srow] = btScalar(0.0); 
+			btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * info->erp);
+			info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
+			info->m_lowerLimit[srow] = - m_maxMotorImpulse;
+			info->m_upperLimit[srow] =   m_maxMotorImpulse;
+		}
+		if(limit)
+		{
+			k = info->fps * info->erp;
+			info->m_constraintError[srow] += k * limit_err;
+			info->cfm[srow] = btScalar(0.0);
+			if(lostop == histop) 
+			{
+				// limited low and high simultaneously
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			else if(limit == 1) 
+			{ // low limit
+				info->m_lowerLimit[srow] = 0;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			else 
+			{ // high limit
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = 0;
+			}
+			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
+			btScalar bounce = m_relaxationFactor;
+			if(bounce > btScalar(0.0))
+			{
+				btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
+				vel -= m_rbB.getAngularVelocity().dot(ax1);
+				// only apply bounce if the velocity is incoming, and if the
+				// resulting c[] exceeds what we already have.
+				if(limit == 1)
+				{	// low limit
+					if(vel < 0)
+					{
+						btScalar newc = -bounce * vel;
+						if(newc > info->m_constraintError[srow])
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+				else
+				{	// high limit - all those computations are reversed
+					if(vel > 0)
+					{
+						btScalar newc = -bounce * vel;
+						if(newc < info->m_constraintError[srow])
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+			}
+			info->m_constraintError[srow] *= m_biasFactor;
+		} // if(limit)
+	} // if angular limit or powered
 }
 
-void	btHingeConstraint::solveConstraint(btScalar	timeStep)
+//-----------------------------------------------------------------------------
+
+void	btHingeConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
 {
 
-	btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-	btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
+	///for backwards compatibility during the transition to 'getInfo/getInfo2'
+	if (m_useSolveConstraintObsolete)
+	{
+
+		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
+		btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
 
-	btScalar tau = btScalar(0.3);
+		btScalar tau = btScalar(0.3);
 
-	//linear part
-	if (!m_angularOnly)
-	{
-		btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-		btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-
-		btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
-		btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
-		btVector3 vel = vel1 - vel2;
-
-		for (int i=0;i<3;i++)
-		{		
-			const btVector3& normal = m_jac[i].m_linearJointAxis;
-			btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
-
-			btScalar rel_vel;
-			rel_vel = normal.dot(vel);
-			//positional error (zeroth order error)
-			btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
-			btScalar impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
-			m_appliedImpulse += impulse;
-			btVector3 impulse_vector = normal * impulse;
-			m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
-			m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
+		//linear part
+		if (!m_angularOnly)
+		{
+			btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
+			btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
+
+			btVector3 vel1,vel2;
+			bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
+			bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
+			btVector3 vel = vel1 - vel2;
+
+			for (int i=0;i<3;i++)
+			{		
+				const btVector3& normal = m_jac[i].m_linearJointAxis;
+				btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
+
+				btScalar rel_vel;
+				rel_vel = normal.dot(vel);
+				//positional error (zeroth order error)
+				btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+				btScalar impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
+				m_appliedImpulse += impulse;
+				btVector3 impulse_vector = normal * impulse;
+				btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
+				btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
+				bodyA.applyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse);
+				bodyB.applyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse);
+			}
 		}
-	}
 
-	
-	{
-		///solve angular part
+		
+		{
+			///solve angular part
 
-		// get axes in world space
-		btVector3 axisA =  getRigidBodyA().getCenterOfMassTransform().getBasis() *  m_rbAFrame.getBasis().getColumn(2);
-		btVector3 axisB =  getRigidBodyB().getCenterOfMassTransform().getBasis() *  m_rbBFrame.getBasis().getColumn(2);
+			// get axes in world space
+			btVector3 axisA =  getRigidBodyA().getCenterOfMassTransform().getBasis() *  m_rbAFrame.getBasis().getColumn(2);
+			btVector3 axisB =  getRigidBodyB().getCenterOfMassTransform().getBasis() *  m_rbBFrame.getBasis().getColumn(2);
 
-		const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
-		const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
+			btVector3 angVelA;
+			bodyA.getAngularVelocity(angVelA);
+			btVector3 angVelB;
+			bodyB.getAngularVelocity(angVelB);
 
-		btVector3 angVelAroundHingeAxisA = axisA * axisA.dot(angVelA);
-		btVector3 angVelAroundHingeAxisB = axisB * axisB.dot(angVelB);
+			btVector3 angVelAroundHingeAxisA = axisA * axisA.dot(angVelA);
+			btVector3 angVelAroundHingeAxisB = axisB * axisB.dot(angVelB);
 
-		btVector3 angAorthog = angVelA - angVelAroundHingeAxisA;
-		btVector3 angBorthog = angVelB - angVelAroundHingeAxisB;
-		btVector3 velrelOrthog = angAorthog-angBorthog;
-		{
-			//solve orthogonal angular velocity correction
-			btScalar relaxation = btScalar(1.);
-			btScalar len = velrelOrthog.length();
-			if (len > btScalar(0.00001))
+			btVector3 angAorthog = angVelA - angVelAroundHingeAxisA;
+			btVector3 angBorthog = angVelB - angVelAroundHingeAxisB;
+			btVector3 velrelOrthog = angAorthog-angBorthog;
 			{
-				btVector3 normal = velrelOrthog.normalized();
-				btScalar denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
-					getRigidBodyB().computeAngularImpulseDenominator(normal);
-				// scale for mass and relaxation
-				//todo:  expose this 0.9 factor to developer
-				velrelOrthog *= (btScalar(1.)/denom) * m_relaxationFactor;
-			}
+				
 
-			//solve angular positional correction
-			btVector3 angularError = -axisA.cross(axisB) *(btScalar(1.)/timeStep);
-			btScalar len2 = angularError.length();
-			if (len2>btScalar(0.00001))
-			{
-				btVector3 normal2 = angularError.normalized();
-				btScalar denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) +
-						getRigidBodyB().computeAngularImpulseDenominator(normal2);
-				angularError *= (btScalar(1.)/denom2) * relaxation;
-			}
+				//solve orthogonal angular velocity correction
+				btScalar relaxation = btScalar(1.);
+				btScalar len = velrelOrthog.length();
+				if (len > btScalar(0.00001))
+				{
+					btVector3 normal = velrelOrthog.normalized();
+					btScalar denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
+						getRigidBodyB().computeAngularImpulseDenominator(normal);
+					// scale for mass and relaxation
+					//velrelOrthog *= (btScalar(1.)/denom) * m_relaxationFactor;
 
-			m_rbA.applyTorqueImpulse(-velrelOrthog+angularError);
-			m_rbB.applyTorqueImpulse(velrelOrthog-angularError);
+					bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*velrelOrthog,-(btScalar(1.)/denom));
+					bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*velrelOrthog,(btScalar(1.)/denom));
 
-			// solve limit
-			if (m_solveLimit)
-			{
-				btScalar amplitude = ( (angVelB - angVelA).dot( axisA )*m_relaxationFactor + m_correction* (btScalar(1.)/timeStep)*m_biasFactor  ) * m_limitSign;
+				}
 
-				btScalar impulseMag = amplitude * m_kHinge;
+				//solve angular positional correction
+				btVector3 angularError =  axisA.cross(axisB) *(btScalar(1.)/timeStep);
+				btScalar len2 = angularError.length();
+				if (len2>btScalar(0.00001))
+				{
+					btVector3 normal2 = angularError.normalized();
+					btScalar denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) +
+							getRigidBodyB().computeAngularImpulseDenominator(normal2);
+					//angularError *= (btScalar(1.)/denom2) * relaxation;
+					
+					bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*angularError,(btScalar(1.)/denom2));
+					bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*angularError,-(btScalar(1.)/denom2));
 
-				// Clamp the accumulated impulse
-				btScalar temp = m_accLimitImpulse;
-				m_accLimitImpulse = btMax(m_accLimitImpulse + impulseMag, btScalar(0) );
-				impulseMag = m_accLimitImpulse - temp;
+				}
+				
+				
 
 
-				btVector3 impulse = axisA * impulseMag * m_limitSign;
-				m_rbA.applyTorqueImpulse(impulse);
-				m_rbB.applyTorqueImpulse(-impulse);
-			}
-		}
 
-		//apply motor
-		if (m_enableAngularMotor) 
-		{
-			//todo: add limits too
-			btVector3 angularLimit(0,0,0);
+				// solve limit
+				if (m_solveLimit)
+				{
+					btScalar amplitude = ( (angVelB - angVelA).dot( axisA )*m_relaxationFactor + m_correction* (btScalar(1.)/timeStep)*m_biasFactor  ) * m_limitSign;
+
+					btScalar impulseMag = amplitude * m_kHinge;
+
+					// Clamp the accumulated impulse
+					btScalar temp = m_accLimitImpulse;
+					m_accLimitImpulse = btMax(m_accLimitImpulse + impulseMag, btScalar(0) );
+					impulseMag = m_accLimitImpulse - temp;
+
+
+					
+					bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*axisA,impulseMag * m_limitSign);
+					bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*axisA,-(impulseMag * m_limitSign));
+
+				}
+			}
 
-			btVector3 velrel = angVelAroundHingeAxisA - angVelAroundHingeAxisB;
-			btScalar projRelVel = velrel.dot(axisA);
+			//apply motor
+			if (m_enableAngularMotor) 
+			{
+				//todo: add limits too
+				btVector3 angularLimit(0,0,0);
 
-			btScalar desiredMotorVel = m_motorTargetVelocity;
-			btScalar motor_relvel = desiredMotorVel - projRelVel;
+				btVector3 velrel = angVelAroundHingeAxisA - angVelAroundHingeAxisB;
+				btScalar projRelVel = velrel.dot(axisA);
 
-			btScalar unclippedMotorImpulse = m_kHinge * motor_relvel;;
-			//todo: should clip against accumulated impulse
-			btScalar clippedMotorImpulse = unclippedMotorImpulse > m_maxMotorImpulse ? m_maxMotorImpulse : unclippedMotorImpulse;
-			clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse;
-			btVector3 motorImp = clippedMotorImpulse * axisA;
+				btScalar desiredMotorVel = m_motorTargetVelocity;
+				btScalar motor_relvel = desiredMotorVel - projRelVel;
 
-			m_rbA.applyTorqueImpulse(motorImp+angularLimit);
-			m_rbB.applyTorqueImpulse(-motorImp-angularLimit);
+				btScalar unclippedMotorImpulse = m_kHinge * motor_relvel;;
+				//todo: should clip against accumulated impulse
+				btScalar clippedMotorImpulse = unclippedMotorImpulse > m_maxMotorImpulse ? m_maxMotorImpulse : unclippedMotorImpulse;
+				clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse;
+				btVector3 motorImp = clippedMotorImpulse * axisA;
 			
+				bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*axisA,clippedMotorImpulse);
+				bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*axisA,-clippedMotorImpulse);
+				
+			}
 		}
 	}
 
 }
 
+//-----------------------------------------------------------------------------
+
 void	btHingeConstraint::updateRHS(btScalar	timeStep)
 {
 	(void)timeStep;
 
 }
 
+//-----------------------------------------------------------------------------
+
 btScalar btHingeConstraint::getHingeAngle()
 {
 	const btVector3 refAxis0  = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(0);
 	const btVector3 refAxis1  = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(1);
 	const btVector3 swingAxis = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(1);
-
-	return btAtan2Fast( swingAxis.dot(refAxis0), swingAxis.dot(refAxis1)  );
+	btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
+	return m_referenceSign * angle;
 }
 
+//-----------------------------------------------------------------------------
+
+void btHingeConstraint::testLimit()
+{
+	// Compute limit information
+	m_hingeAngle = getHingeAngle();  
+	m_correction = btScalar(0.);
+	m_limitSign = btScalar(0.);
+	m_solveLimit = false;
+	if (m_lowerLimit <= m_upperLimit)
+	{
+		if (m_hingeAngle <= m_lowerLimit)
+		{
+			m_correction = (m_lowerLimit - m_hingeAngle);
+			m_limitSign = 1.0f;
+			m_solveLimit = true;
+		} 
+		else if (m_hingeAngle >= m_upperLimit)
+		{
+			m_correction = m_upperLimit - m_hingeAngle;
+			m_limitSign = -1.0f;
+			m_solveLimit = true;
+		}
+	}
+	return;
+} // btHingeConstraint::testLimit()
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index 4fa9972f6d8..0af655f4409 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -53,27 +53,35 @@ public:
 	btScalar	m_correction;
 
 	btScalar	m_accLimitImpulse;
+	btScalar	m_hingeAngle;
+	btScalar    m_referenceSign;
 
 	bool		m_angularOnly;
 	bool		m_enableAngularMotor;
 	bool		m_solveLimit;
+	bool		m_useSolveConstraintObsolete;
+	bool		m_useReferenceFrameA;
 
 	
 public:
 
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB);
+	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA = false);
 
-	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
+	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA = false);
 	
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
+	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
 
-	btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
+	btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
 
 	btHingeConstraint();
 
 	virtual void	buildJacobian();
 
-	virtual	void	solveConstraint(btScalar	timeStep);
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+	
+	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
 
 	void	updateRHS(btScalar	timeStep);
 
@@ -86,6 +94,16 @@ public:
 		return m_rbB;
 	}
 
+	btRigidBody& getRigidBodyA()	
+	{		
+		return m_rbA;	
+	}	
+
+	btRigidBody& getRigidBodyB()	
+	{		
+		return m_rbB;	
+	}	
+	
 	void	setAngularOnly(bool angularOnly)
 	{
 		m_angularOnly = angularOnly;
@@ -122,6 +140,8 @@ public:
 
 	btScalar getHingeAngle();
 
+	void testLimit();
+
 
 	const btTransform& getAFrame() { return m_rbAFrame; };	
 	const btTransform& getBFrame() { return m_rbBFrame; };
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
index 2b69ad90438..1da749517e8 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
@@ -21,33 +21,38 @@ subject to the following restrictions:
 
 
 btPoint2PointConstraint::btPoint2PointConstraint()
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE)
+:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE),
+m_useSolveConstraintObsolete(false)
 {
 }
 
 btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
+:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
+m_useSolveConstraintObsolete(false)
 {
 
 }
 
 
 btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
+:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
+m_useSolveConstraintObsolete(false)
 {
 	
 }
 
 void	btPoint2PointConstraint::buildJacobian()
 {
-	m_appliedImpulse = btScalar(0.);
+	///we need it for both methods
+	{
+		m_appliedImpulse = btScalar(0.);
 
-	btVector3	normal(0,0,0);
+		btVector3	normal(0,0,0);
 
-	for (int i=0;i<3;i++)
-	{
-		normal[i] = 1;
-		new (&m_jac[i]) btJacobianEntry(
+		for (int i=0;i<3;i++)
+		{
+			normal[i] = 1;
+			new (&m_jac[i]) btJacobianEntry(
 			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
 			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
 			m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
@@ -58,64 +63,162 @@ void	btPoint2PointConstraint::buildJacobian()
 			m_rbB.getInvInertiaDiagLocal(),
 			m_rbB.getInvMass());
 		normal[i] = 0;
+		}
 	}
 
 }
 
-void	btPoint2PointConstraint::solveConstraint(btScalar	timeStep)
-{
-	btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
-	btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
 
+void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info)
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
+	} else
+	{
+		info->m_numConstraintRows = 3;
+		info->nub = 3;
+	}
+}
 
-	btVector3 normal(0,0,0);
+void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info)
+{
+	btAssert(!m_useSolveConstraintObsolete);
+
+	 //retrieve matrices
+	btTransform body0_trans;
+	body0_trans = m_rbA.getCenterOfMassTransform();
+    btTransform body1_trans;
+	body1_trans = m_rbB.getCenterOfMassTransform();
+
+	// anchor points in global coordinates with respect to body PORs.
+   
+    // set jacobian
+    info->m_J1linearAxis[0] = 1;
+    info->m_J1linearAxis[info->rowskip+1] = 1;
+    info->m_J1linearAxis[2*info->rowskip+2] = 1;
+
+	btVector3 a1 = body0_trans.getBasis()*getPivotInA();
+	{
+		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
+		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
+		btVector3 a1neg = -a1;
+		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
+	}
+    
+	/*info->m_J2linearAxis[0] = -1;
+    info->m_J2linearAxis[s+1] = -1;
+    info->m_J2linearAxis[2*s+2] = -1;
+	*/
 	
+	btVector3 a2 = body1_trans.getBasis()*getPivotInB();
+   
+	{
+		btVector3 a2n = -a2;
+		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
+		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
+		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
+		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
+	}
+    
 
-//	btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-//	btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-
-	for (int i=0;i<3;i++)
-	{		
-		normal[i] = 1;
-		btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
 
-		btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-		btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-		//this jacobian entry could be re-used for all iterations
-		
-		btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
-		btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
-		btVector3 vel = vel1 - vel2;
-		
-		btScalar rel_vel;
-		rel_vel = normal.dot(vel);
+    // set right hand side
+    btScalar k = info->fps * info->erp;
+    int j;
 
-	/*
-		//velocity error (first order error)
-		btScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
-														m_rbB.getLinearVelocity(),angvelB);
-	*/
-	
-		//positional error (zeroth order error)
-		btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
-		
-		btScalar impulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
+	for (j=0; j<3; j++)
+    {
+        info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] -                     a1[j] - body0_trans.getOrigin()[j]);
+		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
+    }
 
-		btScalar impulseClamp = m_setting.m_impulseClamp;
-		if (impulseClamp > 0)
+	btScalar impulseClamp = m_setting.m_impulseClamp;//
+	for (j=0; j<3; j++)
+    {
+		if (m_setting.m_impulseClamp > 0)
 		{
-			if (impulse < -impulseClamp) 
-				impulse = -impulseClamp;
-			if (impulse > impulseClamp) 
-				impulse = impulseClamp;
+			info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
+			info->m_upperLimit[j*info->rowskip] = impulseClamp;
 		}
+	}
+	
+}
+
 
-		m_appliedImpulse+=impulse;
-		btVector3 impulse_vector = normal * impulse;
-		m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
-		m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
+void	btPoint2PointConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
+		btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
+
+
+		btVector3 normal(0,0,0);
 		
-		normal[i] = 0;
+
+	//	btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
+	//	btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
+
+		for (int i=0;i<3;i++)
+		{		
+			normal[i] = 1;
+			btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
+
+			btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
+			btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
+			//this jacobian entry could be re-used for all iterations
+			
+			btVector3 vel1,vel2;
+			bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
+			bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
+			btVector3 vel = vel1 - vel2;
+			
+			btScalar rel_vel;
+			rel_vel = normal.dot(vel);
+
+		/*
+			//velocity error (first order error)
+			btScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
+															m_rbB.getLinearVelocity(),angvelB);
+		*/
+		
+			//positional error (zeroth order error)
+			btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+			
+			btScalar deltaImpulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
+
+			btScalar impulseClamp = m_setting.m_impulseClamp;
+			
+			const btScalar sum = btScalar(m_appliedImpulse) + deltaImpulse;
+			if (sum < -impulseClamp)
+			{
+				deltaImpulse = -impulseClamp-m_appliedImpulse;
+				m_appliedImpulse = -impulseClamp;
+			}
+			else if (sum > impulseClamp) 
+			{
+				deltaImpulse = impulseClamp-m_appliedImpulse;
+				m_appliedImpulse = impulseClamp;
+			}
+			else
+			{
+				m_appliedImpulse = sum;
+			}
+
+			
+			btVector3 impulse_vector = normal * deltaImpulse;
+			
+			btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
+			btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
+			bodyA.applyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,deltaImpulse);
+			bodyB.applyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-deltaImpulse);
+
+
+			normal[i] = 0;
+		}
 	}
 }
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
index c9d5968530c..e2b865cd484 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
@@ -50,6 +50,9 @@ public:
 	
 public:
 
+	///for backwards compatibility during the transition to 'getInfo/getInfo2'
+	bool		m_useSolveConstraintObsolete;
+
 	btConstraintSetting	m_setting;
 
 	btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
@@ -60,8 +63,12 @@ public:
 
 	virtual void	buildJacobian();
 
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+
 
-	virtual	void	solveConstraint(btScalar	timeStep);
+	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
 
 	void	updateRHS(btScalar	timeStep);
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 41e336c9d17..685a812d427 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -15,7 +15,6 @@ subject to the following restrictions:
 
 //#define COMPUTE_IMPULSE_DENOM 1
 //It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
-//#define FORCE_REFESH_CONTACT_MANIFOLDS 1
 
 #include "btSequentialImpulseConstraintSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -32,441 +31,264 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "btSolverBody.h"
 #include "btSolverConstraint.h"
-
-
 #include "LinearMath/btAlignedObjectArray.h"
+#include <string.h> //for memset
 
-
-int totalCpd = 0;
-
-int	gTotalContactPoints = 0;
-
-struct	btOrderIndex
+btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
+:m_btSeed2(0)
 {
-	int	m_manifoldIndex;
-	int	m_pointIndex;
-};
-
-
-
-#define SEQUENTIAL_IMPULSE_MAX_SOLVER_POINTS 16384
-static btOrderIndex	gOrder[SEQUENTIAL_IMPULSE_MAX_SOLVER_POINTS];
 
+}
 
-unsigned long btSequentialImpulseConstraintSolver::btRand2()
+btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
 {
-  m_btSeed2 = (1664525L*m_btSeed2 + 1013904223L) & 0xffffffff;
-  return m_btSeed2;
 }
 
-
-
-//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
-int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
+#ifdef USE_SIMD
+#include <emmintrin.h>
+#define vec_splat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e))
+static inline __m128 _vmathVfDot3( __m128 vec0, __m128 vec1 )
 {
-  // seems good; xor-fold and modulus
-  const unsigned long un = static_cast<unsigned long>(n);
-  unsigned long r = btRand2();
-
-  // note: probably more aggressive than it needs to be -- might be
-  //       able to get away without one or two of the innermost branches.
-  if (un <= 0x00010000UL) {
-    r ^= (r >> 16);
-    if (un <= 0x00000100UL) {
-      r ^= (r >> 8);
-      if (un <= 0x00000010UL) {
-        r ^= (r >> 4);
-        if (un <= 0x00000004UL) {
-          r ^= (r >> 2);
-          if (un <= 0x00000002UL) {
-            r ^= (r >> 1);
-          }
-        }
-     }
-    }
-   }
-
-  return (int) (r % un);
+	__m128 result = _mm_mul_ps( vec0, vec1);
+	return _mm_add_ps( vec_splat( result, 0 ), _mm_add_ps( vec_splat( result, 1 ), vec_splat( result, 2 ) ) );
 }
+#endif//USE_SIMD
 
-
-
-
-bool  MyContactDestroyedCallback(void* userPersistentData);
-bool  MyContactDestroyedCallback(void* userPersistentData)
+// Project Gauss Seidel or the equivalent Sequential Impulse
+void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
-	assert (userPersistentData);
-	btConstraintPersistentData* cpd = (btConstraintPersistentData*)userPersistentData;
-	btAlignedFree(cpd);
-	totalCpd--;
-	//printf("totalCpd = %i. DELETED Ptr %x\n",totalCpd,userPersistentData);
-	return true;
+#ifdef USE_SIMD
+	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
+	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
+	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
+	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
+	__m128 deltaVel1Dotn	=	_mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.m_deltaLinearVelocity.mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.m_deltaAngularVelocity.mVec128));
+	__m128 deltaVel2Dotn	=	_mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.m_deltaAngularVelocity.mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.m_deltaLinearVelocity.mVec128));
+	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
+	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
+	btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
+	btSimdScalar resultLowerLess,resultUpperLess;
+	resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
+	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
+	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
+	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
+	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
+	__m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp);
+	deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) );
+	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) );
+	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128);
+	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128);
+	__m128 impulseMagnitude = deltaImpulse;
+	body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
+	body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
+	body2.m_deltaLinearVelocity.mVec128 = _mm_sub_ps(body2.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
+	body2.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body2.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
+#else
+	resolveSingleConstraintRowGeneric(body1,body2,c);
+#endif
 }
 
-
-
-btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
-:m_btSeed2(0)
+// Project Gauss Seidel or the equivalent Sequential Impulse
+ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
-	gContactDestroyedCallback = &MyContactDestroyedCallback;
+	btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
+	const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.m_deltaLinearVelocity) 	+ c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);
+	const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.m_deltaLinearVelocity) + c.m_relpos2CrossNormal.dot(body2.m_deltaAngularVelocity);
 
-	//initialize default friction/contact funcs
-	int i,j;
-	for (i=0;i<MAX_CONTACT_SOLVER_TYPES;i++)
-		for (j=0;j<MAX_CONTACT_SOLVER_TYPES;j++)
-		{
+	const btScalar delta_rel_vel	=	deltaVel1Dotn-deltaVel2Dotn;
+	deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
+	deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
 
-			m_contactDispatch[i][j] = resolveSingleCollision;
-			m_frictionDispatch[i][j] = resolveSingleFriction;
-		}
+	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
+	if (sum < c.m_lowerLimit)
+	{
+		deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
+		c.m_appliedImpulse = c.m_lowerLimit;
+	}
+	else if (sum > c.m_upperLimit) 
+	{
+		deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
+		c.m_appliedImpulse = c.m_upperLimit;
+	}
+	else
+	{
+		c.m_appliedImpulse = sum;
+	}
+		body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
+		body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
 }
 
-btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
+ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
-
+#ifdef USE_SIMD
+	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
+	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
+	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
+	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
+	__m128 deltaVel1Dotn	=	_mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.m_deltaLinearVelocity.mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.m_deltaAngularVelocity.mVec128));
+	__m128 deltaVel2Dotn	=	_mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.m_deltaAngularVelocity.mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.m_deltaLinearVelocity.mVec128));
+	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
+	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
+	btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
+	btSimdScalar resultLowerLess,resultUpperLess;
+	resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
+	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
+	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
+	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
+	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
+	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128);
+	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128);
+	__m128 impulseMagnitude = deltaImpulse;
+	body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
+	body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
+	body2.m_deltaLinearVelocity.mVec128 = _mm_sub_ps(body2.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
+	body2.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body2.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
+#else
+	resolveSingleConstraintRowLowerLimit(body1,body2,c);
+#endif
 }
 
-void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
-void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
+// Project Gauss Seidel or the equivalent Sequential Impulse
+ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
-	btRigidBody* rb = btRigidBody::upcast(collisionObject);
-	if (rb)
+	btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
+	const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.m_deltaLinearVelocity) 	+ c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);
+	const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.m_deltaLinearVelocity) + c.m_relpos2CrossNormal.dot(body2.m_deltaAngularVelocity);
+
+	deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
+	deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
+	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
+	if (sum < c.m_lowerLimit)
 	{
-		solverBody->m_angularVelocity = rb->getAngularVelocity() ;
-		solverBody->m_centerOfMassPosition = collisionObject->getWorldTransform().getOrigin();
-		solverBody->m_friction = collisionObject->getFriction();
-		solverBody->m_invMass = rb->getInvMass();
-		solverBody->m_linearVelocity = rb->getLinearVelocity();
-		solverBody->m_originalBody = rb;
-		solverBody->m_angularFactor = rb->getAngularFactor();
-	} else
+		deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
+		c.m_appliedImpulse = c.m_lowerLimit;
+	}
+	else
 	{
-		solverBody->m_angularVelocity.setValue(0,0,0);
-		solverBody->m_centerOfMassPosition = collisionObject->getWorldTransform().getOrigin();
-		solverBody->m_friction = collisionObject->getFriction();
-		solverBody->m_invMass = 0.f;
-		solverBody->m_linearVelocity.setValue(0,0,0);
-		solverBody->m_originalBody = 0;
-		solverBody->m_angularFactor = 1.f;
+		c.m_appliedImpulse = sum;
 	}
-	
-	solverBody->m_pushVelocity.setValue(0.f,0.f,0.f);
-	solverBody->m_turnVelocity.setValue(0.f,0.f,0.f);
+	body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
+	body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
 }
 
 
-int		gNumSplitImpulseRecoveries = 0;
 
-btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
-btScalar restitutionCurve(btScalar rel_vel, btScalar restitution)
+unsigned long btSequentialImpulseConstraintSolver::btRand2()
 {
-	btScalar rest = restitution * -rel_vel;
-	return rest;
+	m_btSeed2 = (1664525L*m_btSeed2 + 1013904223L) & 0xffffffff;
+	return m_btSeed2;
 }
 
 
-void	resolveSplitPenetrationImpulseCacheFriendly(
-        btSolverBody& body1,
-        btSolverBody& body2,
-        const btSolverConstraint& contactConstraint,
-        const btContactSolverInfo& solverInfo);
 
-//SIMD_FORCE_INLINE
-void	resolveSplitPenetrationImpulseCacheFriendly(
-        btSolverBody& body1,
-        btSolverBody& body2,
-        const btSolverConstraint& contactConstraint,
-        const btContactSolverInfo& solverInfo)
+//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
+int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
 {
-        (void)solverInfo;
-
-		if (contactConstraint.m_penetration < solverInfo.m_splitImpulsePenetrationThreshold)
-        {
-
-				gNumSplitImpulseRecoveries++;
-                btScalar normalImpulse;
-
-                //  Optimized version of projected relative velocity, use precomputed cross products with normal
-                //      body1.getVelocityInLocalPoint(contactConstraint.m_rel_posA,vel1);
-                //      body2.getVelocityInLocalPoint(contactConstraint.m_rel_posB,vel2);
-                //      btVector3 vel = vel1 - vel2;
-                //      btScalar  rel_vel = contactConstraint.m_contactNormal.dot(vel);
-
-                btScalar rel_vel;
-                btScalar vel1Dotn = contactConstraint.m_contactNormal.dot(body1.m_pushVelocity)
-                + contactConstraint.m_relpos1CrossNormal.dot(body1.m_turnVelocity);
-                btScalar vel2Dotn = contactConstraint.m_contactNormal.dot(body2.m_pushVelocity)
-                + contactConstraint.m_relpos2CrossNormal.dot(body2.m_turnVelocity);
-
-                rel_vel = vel1Dotn-vel2Dotn;
-
-
-				btScalar positionalError = -contactConstraint.m_penetration * solverInfo.m_erp2/solverInfo.m_timeStep;
-                //      btScalar positionalError = contactConstraint.m_penetration;
-
-                btScalar velocityError = contactConstraint.m_restitution - rel_vel;// * damping;
-
-                btScalar penetrationImpulse = positionalError * contactConstraint.m_jacDiagABInv;
-                btScalar        velocityImpulse = velocityError * contactConstraint.m_jacDiagABInv;
-                normalImpulse = penetrationImpulse+velocityImpulse;
-
-                // See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
-                btScalar oldNormalImpulse = contactConstraint.m_appliedPushImpulse;
-                btScalar sum = oldNormalImpulse + normalImpulse;
-                contactConstraint.m_appliedPushImpulse = btScalar(0.) > sum ? btScalar(0.): sum;
-
-                normalImpulse = contactConstraint.m_appliedPushImpulse - oldNormalImpulse;
-
-				body1.internalApplyPushImpulse(contactConstraint.m_contactNormal*body1.m_invMass, contactConstraint.m_angularComponentA,normalImpulse);
-               
-				body2.internalApplyPushImpulse(contactConstraint.m_contactNormal*body2.m_invMass, contactConstraint.m_angularComponentB,-normalImpulse);
-               
-        }
+	// seems good; xor-fold and modulus
+	const unsigned long un = static_cast<unsigned long>(n);
+	unsigned long r = btRand2();
+
+	// note: probably more aggressive than it needs to be -- might be
+	//       able to get away without one or two of the innermost branches.
+	if (un <= 0x00010000UL) {
+		r ^= (r >> 16);
+		if (un <= 0x00000100UL) {
+			r ^= (r >> 8);
+			if (un <= 0x00000010UL) {
+				r ^= (r >> 4);
+				if (un <= 0x00000004UL) {
+					r ^= (r >> 2);
+					if (un <= 0x00000002UL) {
+						r ^= (r >> 1);
+					}
+				}
+			}
+		}
+	}
 
+	return (int) (r % un);
 }
 
 
-//velocity + friction
-//response  between two dynamic objects with friction
-
-btScalar resolveSingleCollisionCombinedCacheFriendly(
-	btSolverBody& body1,
-	btSolverBody& body2,
-	const btSolverConstraint& contactConstraint,
-	const btContactSolverInfo& solverInfo);
 
-//SIMD_FORCE_INLINE 
-btScalar resolveSingleCollisionCombinedCacheFriendly(
-	btSolverBody& body1,
-	btSolverBody& body2,
-	const btSolverConstraint& contactConstraint,
-	const btContactSolverInfo& solverInfo)
+void	btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
 {
-	(void)solverInfo;
+	btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0;
 
-	btScalar normalImpulse;
+	solverBody->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
+	solverBody->m_deltaAngularVelocity.setValue(0.f,0.f,0.f);
 
+	if (rb)
 	{
-
-		
-		//  Optimized version of projected relative velocity, use precomputed cross products with normal
-		//	body1.getVelocityInLocalPoint(contactConstraint.m_rel_posA,vel1);
-		//	body2.getVelocityInLocalPoint(contactConstraint.m_rel_posB,vel2);
-		//	btVector3 vel = vel1 - vel2;
-		//	btScalar  rel_vel = contactConstraint.m_contactNormal.dot(vel);
-
-		btScalar rel_vel;
-		btScalar vel1Dotn = contactConstraint.m_contactNormal.dot(body1.m_linearVelocity) 
-					+ contactConstraint.m_relpos1CrossNormal.dot(body1.m_angularVelocity);
-		btScalar vel2Dotn = contactConstraint.m_contactNormal.dot(body2.m_linearVelocity) 
-					+ contactConstraint.m_relpos2CrossNormal.dot(body2.m_angularVelocity);
-
-		rel_vel = vel1Dotn-vel2Dotn;
-
-		btScalar positionalError = 0.f;
-		if (!solverInfo.m_splitImpulse || (contactConstraint.m_penetration > solverInfo.m_splitImpulsePenetrationThreshold))
-		{
- 			positionalError = -contactConstraint.m_penetration * solverInfo.m_erp/solverInfo.m_timeStep;
-		}
-
-		btScalar velocityError = contactConstraint.m_restitution - rel_vel;// * damping;
-
-		btScalar penetrationImpulse = positionalError * contactConstraint.m_jacDiagABInv;
-		btScalar	velocityImpulse = velocityError * contactConstraint.m_jacDiagABInv;
-		normalImpulse = penetrationImpulse+velocityImpulse;
-		
-		
-		// See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
-		btScalar oldNormalImpulse = contactConstraint.m_appliedImpulse;
-		btScalar sum = oldNormalImpulse + normalImpulse;
-		contactConstraint.m_appliedImpulse = btScalar(0.) > sum ? btScalar(0.): sum;
-
-		normalImpulse = contactConstraint.m_appliedImpulse - oldNormalImpulse;
-
-		body1.internalApplyImpulse(contactConstraint.m_contactNormal*body1.m_invMass,
-				contactConstraint.m_angularComponentA,normalImpulse);
-		
-		body2.internalApplyImpulse(contactConstraint.m_contactNormal*body2.m_invMass,
-				contactConstraint.m_angularComponentB,-normalImpulse);
+		solverBody->m_invMass = btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor();
+		solverBody->m_originalBody = rb;
+		solverBody->m_angularFactor = rb->getAngularFactor();
+	} else
+	{
+		solverBody->m_invMass.setValue(0,0,0);
+		solverBody->m_originalBody = 0;
+		solverBody->m_angularFactor.setValue(1,1,1);
 	}
-
-	return normalImpulse;
 }
 
-//#define NO_FRICTION_TANGENTIALS 1
-#ifndef NO_FRICTION_TANGENTIALS
-
-btScalar resolveSingleFrictionCacheFriendly(
-	btSolverBody& body1,
-	btSolverBody& body2,
-	const btSolverConstraint& contactConstraint,
-	const btContactSolverInfo& solverInfo,
-	btScalar appliedNormalImpulse);
-
-//SIMD_FORCE_INLINE 
-btScalar resolveSingleFrictionCacheFriendly(
-	btSolverBody& body1,
-	btSolverBody& body2,
-	const btSolverConstraint& contactConstraint,
-	const btContactSolverInfo& solverInfo,
-	btScalar appliedNormalImpulse)
-{
-	(void)solverInfo;
-
-	
-	const btScalar combinedFriction = contactConstraint.m_friction;
-	
-	const btScalar limit = appliedNormalImpulse * combinedFriction;
-	
-	if (appliedNormalImpulse>btScalar(0.))
-	//friction
-	{
-		
-		btScalar j1;
-		{
 
-			btScalar rel_vel;
-			const btScalar vel1Dotn = contactConstraint.m_contactNormal.dot(body1.m_linearVelocity) 
-						+ contactConstraint.m_relpos1CrossNormal.dot(body1.m_angularVelocity);
-			const btScalar vel2Dotn = contactConstraint.m_contactNormal.dot(body2.m_linearVelocity) 
-				+ contactConstraint.m_relpos2CrossNormal.dot(body2.m_angularVelocity);
-			rel_vel = vel1Dotn-vel2Dotn;
-
-			// calculate j that moves us to zero relative velocity
-			j1 = -rel_vel * contactConstraint.m_jacDiagABInv;
-#define CLAMP_ACCUMULATED_FRICTION_IMPULSE 1
-#ifdef CLAMP_ACCUMULATED_FRICTION_IMPULSE
-			btScalar oldTangentImpulse = contactConstraint.m_appliedImpulse;
-			contactConstraint.m_appliedImpulse = oldTangentImpulse + j1;
-			
-			if (limit < contactConstraint.m_appliedImpulse)
-			{
-				contactConstraint.m_appliedImpulse = limit;
-			} else
-			{
-				if (contactConstraint.m_appliedImpulse < -limit)
-					contactConstraint.m_appliedImpulse = -limit;
-			}
-			j1 = contactConstraint.m_appliedImpulse - oldTangentImpulse;
-#else
-			if (limit < j1)
-			{
-				j1 = limit;
-			} else
-			{
-				if (j1 < -limit)
-					j1 = -limit;
-			}
-
-#endif //CLAMP_ACCUMULATED_FRICTION_IMPULSE
-
-			//GEN_set_min(contactConstraint.m_appliedImpulse, limit);
-			//GEN_set_max(contactConstraint.m_appliedImpulse, -limit);
-
-			
-
-		}
-	
-		body1.internalApplyImpulse(contactConstraint.m_contactNormal*body1.m_invMass,contactConstraint.m_angularComponentA,j1);
-		
-		body2.internalApplyImpulse(contactConstraint.m_contactNormal*body2.m_invMass,contactConstraint.m_angularComponentB,-j1);
+int		gNumSplitImpulseRecoveries = 0;
 
-	} 
-	return 0.f;
+btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution)
+{
+	btScalar rest = restitution * -rel_vel;
+	return rest;
 }
 
 
-#else
 
-//velocity + friction
-//response  between two dynamic objects with friction
-btScalar resolveSingleFrictionCacheFriendly(
-	btSolverBody& body1,
-	btSolverBody& body2,
-	btSolverConstraint& contactConstraint,
-	const btContactSolverInfo& solverInfo)
+void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection);
+void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection)
 {
-
-	btVector3 vel1;
-	btVector3 vel2;
-	btScalar normalImpulse(0.f);
-
+	if (colObj && colObj->hasAnisotropicFriction())
 	{
-		const btVector3& normal = contactConstraint.m_contactNormal;
-		if (contactConstraint.m_penetration < 0.f)
-			return 0.f;
-
-
-		body1.getVelocityInLocalPoint(contactConstraint.m_relpos1CrossNormal,vel1);
-		body2.getVelocityInLocalPoint(contactConstraint.m_rel_posB,vel2);
-		btVector3 vel = vel1 - vel2;
-		btScalar rel_vel;
-		rel_vel = normal.dot(vel);
-
-		btVector3 lat_vel = vel - normal * rel_vel;
-		btScalar lat_rel_vel = lat_vel.length2();
-
-		btScalar combinedFriction = contactConstraint.m_friction;
-		const btVector3& rel_pos1 = contactConstraint.m_rel_posA;
-		const btVector3& rel_pos2 = contactConstraint.m_rel_posB;
-
-
-		if (lat_rel_vel > SIMD_EPSILON*SIMD_EPSILON)
-		{
-			lat_rel_vel = btSqrt(lat_rel_vel);
-
-			lat_vel /= lat_rel_vel;
-			btVector3 temp1 = body1.m_invInertiaWorld * rel_pos1.cross(lat_vel);
-			btVector3 temp2 = body2.m_invInertiaWorld * rel_pos2.cross(lat_vel);
-			btScalar friction_impulse = lat_rel_vel /
-				(body1.m_invMass + body2.m_invMass + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
-			btScalar normal_impulse = contactConstraint.m_appliedImpulse * combinedFriction;
-
-			btSetMin(friction_impulse, normal_impulse);
-			btSetMin(friction_impulse, -normal_impulse);
-			body1.internalApplyImpulse(lat_vel * -friction_impulse, rel_pos1);
-			body2.applyImpulse(lat_vel * friction_impulse, rel_pos2);
-		}
+		// transform to local coordinates
+		btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
+		const btVector3& friction_scaling = colObj->getAnisotropicFriction();
+		//apply anisotropic friction
+		loc_lateral *= friction_scaling;
+		// ... and transform it back to global coordinates
+		frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
 	}
-
-	return normalImpulse;
 }
 
-#endif //NO_FRICTION_TANGENTIALS
-
-
 
 
-
-void	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation)
+btSolverConstraint&	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation)
 {
 
+
 	btRigidBody* body0=btRigidBody::upcast(colObj0);
 	btRigidBody* body1=btRigidBody::upcast(colObj1);
 
-	btSolverConstraint& solverConstraint = m_tmpSolverFrictionConstraintPool.expand();
+	btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expand();
+	memset(&solverConstraint,0xff,sizeof(btSolverConstraint));
 	solverConstraint.m_contactNormal = normalAxis;
 
 	solverConstraint.m_solverBodyIdA = solverBodyIdA;
 	solverConstraint.m_solverBodyIdB = solverBodyIdB;
-	solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D;
 	solverConstraint.m_frictionIndex = frictionIndex;
 
 	solverConstraint.m_friction = cp.m_combinedFriction;
 	solverConstraint.m_originalContactPoint = 0;
 
-	solverConstraint.m_appliedImpulse = btScalar(0.);
-	solverConstraint.m_appliedPushImpulse = 0.f;
-	solverConstraint.m_penetration = 0.f;
+	solverConstraint.m_appliedImpulse = 0.f;
+	//	solverConstraint.m_appliedPushImpulse = 0.f;
+
 	{
 		btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
 		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1 : btVector3(0,0,0);
+		solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
 	}
 	{
-		btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal);
+		btVector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
 		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1 : btVector3(0,0,0);
+		solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
 	}
 
 #ifdef COMPUTE_IMPULSE_DENOM
@@ -483,7 +305,7 @@ void	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
 	}
 	if (body1)
 	{
-		vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2);
+		vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
 		denom1 = body1->getInvMass() + normalAxis.dot(vec);
 	}
 
@@ -492,377 +314,499 @@ void	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
 	btScalar denom = relaxation/(denom0+denom1);
 	solverConstraint.m_jacDiagABInv = denom;
 
+#ifdef _USE_JACOBIAN
+	solverConstraint.m_jac =  btJacobianEntry (
+		rel_pos1,rel_pos2,solverConstraint.m_contactNormal,
+		body0->getInvInertiaDiagLocal(),
+		body0->getInvMass(),
+		body1->getInvInertiaDiagLocal(),
+		body1->getInvMass());
+#endif //_USE_JACOBIAN
 
-}
 
+	{
+		btScalar rel_vel;
+		btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?body0->getLinearVelocity():btVector3(0,0,0)) 
+			+ solverConstraint.m_relpos1CrossNormal.dot(body0?body0->getAngularVelocity():btVector3(0,0,0));
+		btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?body1->getLinearVelocity():btVector3(0,0,0)) 
+			+ solverConstraint.m_relpos2CrossNormal.dot(body1?body1->getAngularVelocity():btVector3(0,0,0));
+
+		rel_vel = vel1Dotn+vel2Dotn;
 
-void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection);
-void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection)
+		btScalar positionalError = 0.f;
+
+		btSimdScalar velocityError =  - rel_vel;
+		btSimdScalar	velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
+		solverConstraint.m_rhs = velocityImpulse;
+		solverConstraint.m_cfm = 0.f;
+		solverConstraint.m_lowerLimit = 0;
+		solverConstraint.m_upperLimit = 1e10f;
+	}
+
+	return solverConstraint;
+}
+
+int	btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body)
 {
-	if (colObj && colObj->hasAnisotropicFriction())
+	int solverBodyIdA = -1;
+
+	if (body.getCompanionId() >= 0)
 	{
-		// transform to local coordinates
-		btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
-		const btVector3& friction_scaling = colObj->getAnisotropicFriction();
-		//apply anisotropic friction
-		loc_lateral *= friction_scaling;
-		// ... and transform it back to global coordinates
-		frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
+		//body has already been converted
+		solverBodyIdA = body.getCompanionId();
+	} else
+	{
+		btRigidBody* rb = btRigidBody::upcast(&body);
+		if (rb && rb->getInvMass())
+		{
+			solverBodyIdA = m_tmpSolverBodyPool.size();
+			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
+			initSolverBody(&solverBody,&body);
+			body.setCompanionId(solverBodyIdA);
+		} else
+		{
+			return 0;//assume first one is a fixed solver body
+		}
 	}
+	return solverBodyIdA;
 }
+#include <stdio.h>
 
 
 
-
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
 {
-	BT_PROFILE("solveGroupCacheFriendlySetup");
-	(void)stackAlloc;
-	(void)debugDrawer;
+	btCollisionObject* colObj0=0,*colObj1=0;
 
+	colObj0 = (btCollisionObject*)manifold->getBody0();
+	colObj1 = (btCollisionObject*)manifold->getBody1();
 
-	if (!(numConstraints + numManifolds))
+	int solverBodyIdA=-1;
+	int solverBodyIdB=-1;
+
+	if (manifold->getNumContacts())
 	{
-//		printf("empty\n");
-		return 0.f;
+		solverBodyIdA = getOrInitSolverBody(*colObj0);
+		solverBodyIdB = getOrInitSolverBody(*colObj1);
 	}
-	btPersistentManifold* manifold = 0;
-	btCollisionObject* colObj0=0,*colObj1=0;
 
-	//btRigidBody* rb0=0,*rb1=0;
+	///avoid collision response between two static objects
+	if (!solverBodyIdA && !solverBodyIdB)
+		return;
 
+	btVector3 rel_pos1;
+	btVector3 rel_pos2;
+	btScalar relaxation;
 
-#ifdef FORCE_REFESH_CONTACT_MANIFOLDS
+	for (int j=0;j<manifold->getNumContacts();j++)
+	{
 
-	BEGIN_PROFILE("refreshManifolds");
+		btManifoldPoint& cp = manifold->getContactPoint(j);
 
-	int i;
-	
-	
+		if (cp.getDistance() <= manifold->getContactProcessingThreshold())
+		{
 
-	for (i=0;i<numManifolds;i++)
-	{
-		manifold = manifoldPtr[i];
-		rb1 = (btRigidBody*)manifold->getBody1();
-		rb0 = (btRigidBody*)manifold->getBody0();
-		
-		manifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
+			const btVector3& pos1 = cp.getPositionWorldOnA();
+			const btVector3& pos2 = cp.getPositionWorldOnB();
 
-	}
+			rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); 
+			rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
 
-	END_PROFILE("refreshManifolds");
-#endif //FORCE_REFESH_CONTACT_MANIFOLDS
 
-	
+			relaxation = 1.f;
+			btScalar rel_vel;
+			btVector3 vel;
 
+			int frictionIndex = m_tmpSolverContactConstraintPool.size();
 
+			{
+				btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expand();
+				btRigidBody* rb0 = btRigidBody::upcast(colObj0);
+				btRigidBody* rb1 = btRigidBody::upcast(colObj1);
 
-	//int sizeofSB = sizeof(btSolverBody);
-	//int sizeofSC = sizeof(btSolverConstraint);
+				solverConstraint.m_solverBodyIdA = solverBodyIdA;
+				solverConstraint.m_solverBodyIdB = solverBodyIdB;
 
+				solverConstraint.m_originalContactPoint = &cp;
 
-	//if (1)
-	{
-		//if m_stackAlloc, try to pack bodies/constraints to speed up solving
-//		btBlock*					sablock;
-//		sablock = stackAlloc->beginBlock();
+				btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
+				solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
+				btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);		
+				solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
+				{
+#ifdef COMPUTE_IMPULSE_DENOM
+					btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
+					btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
+#else							
+					btVector3 vec;
+					btScalar denom0 = 0.f;
+					btScalar denom1 = 0.f;
+					if (rb0)
+					{
+						vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
+						denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
+					}
+					if (rb1)
+					{
+						vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
+						denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
+					}
+#endif //COMPUTE_IMPULSE_DENOM		
+
+					btScalar denom = relaxation/(denom0+denom1);
+					solverConstraint.m_jacDiagABInv = denom;
+				}
 
-	//	int memsize = 16;
-//		unsigned char* stackMemory = stackAlloc->allocate(memsize);
+				solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
+				solverConstraint.m_relpos1CrossNormal = rel_pos1.cross(cp.m_normalWorldOnB);
+				solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(-cp.m_normalWorldOnB);
 
-		
-		//todo: use stack allocator for this temp memory
-//		int minReservation = numManifolds*2;
 
-		//m_tmpSolverBodyPool.reserve(minReservation);
+				btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
+				btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
 
-		//don't convert all bodies, only the one we need so solver the constraints
-/*
-		{
-			for (int i=0;i<numBodies;i++)
-			{
-				btRigidBody* rb = btRigidBody::upcast(bodies[i]);
-				if (rb && 	(rb->getIslandTag() >= 0))
+				vel  = vel1 - vel2;
+
+				rel_vel = cp.m_normalWorldOnB.dot(vel);
+
+				btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
+
+
+				solverConstraint.m_friction = cp.m_combinedFriction;
+
+				btScalar restitution = 0.f;
+				
+				if (cp.m_lifeTime>infoGlobal.m_restingContactRestitutionThreshold)
 				{
-					btAssert(rb->getCompanionId() < 0);
-					int solverBodyId = m_tmpSolverBodyPool.size();
-					btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-					initSolverBody(&solverBody,rb);
-					rb->setCompanionId(solverBodyId);
-				} 
-			}
-		}
-*/
-		
-		//m_tmpSolverConstraintPool.reserve(minReservation);
-		//m_tmpSolverFrictionConstraintPool.reserve(minReservation);
+					restitution = 0.f;
+				} else
+				{
+					restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);
+					if (restitution <= btScalar(0.))
+					{
+						restitution = 0.f;
+					};
+				}
 
-		{
-			int i;
 
-			for (i=0;i<numManifolds;i++)
-			{
-				manifold = manifoldPtr[i];
-				colObj0 = (btCollisionObject*)manifold->getBody0();
-				colObj1 = (btCollisionObject*)manifold->getBody1();
-			
-				int solverBodyIdA=-1;
-				int solverBodyIdB=-1;
+				///warm starting (or zero if disabled)
+				if (0)//infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+				{
+					solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
+					if (rb0)
+						m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
+					if (rb1)
+						m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
+				} else
+				{
+					solverConstraint.m_appliedImpulse = 0.f;
+				}
+
+				//							solverConstraint.m_appliedPushImpulse = 0.f;
 
-				if (manifold->getNumContacts())
 				{
+					btScalar rel_vel;
+					btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?rb0->getLinearVelocity():btVector3(0,0,0)) 
+						+ solverConstraint.m_relpos1CrossNormal.dot(rb0?rb0->getAngularVelocity():btVector3(0,0,0));
+					btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?rb1->getLinearVelocity():btVector3(0,0,0)) 
+						+ solverConstraint.m_relpos2CrossNormal.dot(rb1?rb1->getAngularVelocity():btVector3(0,0,0));
+
+					rel_vel = vel1Dotn+vel2Dotn;
+
+					btScalar positionalError = 0.f;
+					positionalError = -penetration * infoGlobal.m_erp/infoGlobal.m_timeStep;
+					btScalar	velocityError = restitution - rel_vel;// * damping;
+					btScalar  penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
+					btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
+					solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+					solverConstraint.m_cfm = 0.f;
+					solverConstraint.m_lowerLimit = 0;
+					solverConstraint.m_upperLimit = 1e10f;
+				}
 
-					
 
-					if (colObj0->getIslandTag() >= 0)
+				/////setup the friction constraints
+
+
+
+				if (1)
+				{
+					solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
+					if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
 					{
-						if (colObj0->getCompanionId() >= 0)
+						cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
+						btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
+						if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
 						{
-							//body has already been converted
-							solverBodyIdA = colObj0->getCompanionId();
+							cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
+							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+							if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+							{
+								cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
+								cp.m_lateralFrictionDir2.normalize();//??
+								applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
+								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
+								addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+							}
+							cp.m_lateralFrictionInitialized = true;
 						} else
 						{
-							solverBodyIdA = m_tmpSolverBodyPool.size();
-							btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-							initSolverBody(&solverBody,colObj0);
-							colObj0->setCompanionId(solverBodyIdA);
+							//re-calculate friction direction every frame, todo: check if this is really needed
+							btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+
+							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+							if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+							{
+								applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
+								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
+								addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+							}
+							cp.m_lateralFrictionInitialized = true;
 						}
+
 					} else
 					{
-						//create a static body
-						solverBodyIdA = m_tmpSolverBodyPool.size();
-						btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-						initSolverBody(&solverBody,colObj0);
+						addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+						if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+							addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 					}
 
-					if (colObj1->getIslandTag() >= 0)
+					if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
 					{
-						if (colObj1->getCompanionId() >= 0)
 						{
-							solverBodyIdB = colObj1->getCompanionId();
-						} else
+							btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
+							if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+							{
+								frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
+								if (rb0)
+									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
+								if (rb1)
+									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
+							} else
+							{
+								frictionConstraint1.m_appliedImpulse = 0.f;
+							}
+						}
+
+						if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 						{
-							solverBodyIdB = m_tmpSolverBodyPool.size();
-							btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-							initSolverBody(&solverBody,colObj1);
-							colObj1->setCompanionId(solverBodyIdB);
+							btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
+							if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+							{
+								frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
+								if (rb0)
+									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
+								if (rb1)
+									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse);
+							} else
+							{
+								frictionConstraint2.m_appliedImpulse = 0.f;
+							}
 						}
 					} else
 					{
-						//create a static body
-						solverBodyIdB = m_tmpSolverBodyPool.size();
-						btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-						initSolverBody(&solverBody,colObj1);
+						btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
+						frictionConstraint1.m_appliedImpulse = 0.f;
+						if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+						{
+							btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
+							frictionConstraint2.m_appliedImpulse = 0.f;
+						}
 					}
 				}
+			}
 
-				btVector3 rel_pos1;
-				btVector3 rel_pos2;
-				btScalar relaxation;
 
-				for (int j=0;j<manifold->getNumContacts();j++)
-				{
-					
-					btManifoldPoint& cp = manifold->getContactPoint(j);
-					
-					if (cp.getDistance() <= btScalar(0.))
-					{
-						
-						const btVector3& pos1 = cp.getPositionWorldOnA();
-						const btVector3& pos2 = cp.getPositionWorldOnB();
+		}
+	}
+}
 
-						 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); 
-						 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
 
-						
-						relaxation = 1.f;
-						btScalar rel_vel;
-						btVector3 vel;
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+{
+	BT_PROFILE("solveGroupCacheFriendlySetup");
+	(void)stackAlloc;
+	(void)debugDrawer;
 
-						int frictionIndex = m_tmpSolverConstraintPool.size();
 
-						{
-							btSolverConstraint& solverConstraint = m_tmpSolverConstraintPool.expand();
-							btRigidBody* rb0 = btRigidBody::upcast(colObj0);
-							btRigidBody* rb1 = btRigidBody::upcast(colObj1);
+	if (!(numConstraints + numManifolds))
+	{
+		//		printf("empty\n");
+		return 0.f;
+	}
 
-							solverConstraint.m_solverBodyIdA = solverBodyIdA;
-							solverConstraint.m_solverBodyIdB = solverBodyIdB;
-							solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D;
+	if (1)
+	{
+		int j;
+		for (j=0;j<numConstraints;j++)
+		{
+			btTypedConstraint* constraint = constraints[j];
+			constraint->buildJacobian();
+		}
+	}
 
-							solverConstraint.m_originalContactPoint = &cp;
+	btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
+	initSolverBody(&fixedBody,0);
 
-							btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
-							solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0 : btVector3(0,0,0);
-							btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);		
-							solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*torqueAxis1 : btVector3(0,0,0);
-							{
-#ifdef COMPUTE_IMPULSE_DENOM
-								btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
-								btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
-#else							
-								btVector3 vec;
-								btScalar denom0 = 0.f;
-								btScalar denom1 = 0.f;
-								if (rb0)
-								{
-									vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
-									denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
-								}
-								if (rb1)
-								{
-									vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2);
-									denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
-								}
-#endif //COMPUTE_IMPULSE_DENOM		
-								
-								btScalar denom = relaxation/(denom0+denom1);
-								solverConstraint.m_jacDiagABInv = denom;
-							}
+	//btRigidBody* rb0=0,*rb1=0;
 
-							solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
-							solverConstraint.m_relpos1CrossNormal = rel_pos1.cross(cp.m_normalWorldOnB);
-							solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(cp.m_normalWorldOnB);
+	//if (1)
+	{
+		{
 
+			int totalNumRows = 0;
+			int i;
+			//calculate the total number of contraint rows
+			for (i=0;i<numConstraints;i++)
+			{
 
-							btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
-							btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
-				
-							vel  = vel1 - vel2;
-							
-							rel_vel = cp.m_normalWorldOnB.dot(vel);
-							
-							solverConstraint.m_penetration = btMin(cp.getDistance()+infoGlobal.m_linearSlop,btScalar(0.));
-							//solverConstraint.m_penetration = cp.getDistance();
-
-							solverConstraint.m_friction = cp.m_combinedFriction;
-							solverConstraint.m_restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);
-							if (solverConstraint.m_restitution <= btScalar(0.))
-							{
-								solverConstraint.m_restitution = 0.f;
-							};
+				btTypedConstraint::btConstraintInfo1 info1;
+				constraints[i]->getInfo1(&info1);
+				totalNumRows += info1.m_numConstraintRows;
+			}
+			m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
 
-							
-							btScalar penVel = -solverConstraint.m_penetration/infoGlobal.m_timeStep;
+			btTypedConstraint::btConstraintInfo1 info1;
+			info1.m_numConstraintRows = 0;
 
-							
 
-							if (solverConstraint.m_restitution > penVel)
-							{
-								solverConstraint.m_penetration = btScalar(0.);
-							}
-							 
-							
-							
-							///warm starting (or zero if disabled)
-							if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-							{
-								solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-								if (rb0)
-									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
-								if (rb1)
-									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass(),solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
-							} else
-							{
-								solverConstraint.m_appliedImpulse = 0.f;
-							}
+			///setup the btSolverConstraints
+			int currentRow = 0;
 
-							solverConstraint.m_appliedPushImpulse = 0.f;
-							
-							solverConstraint.m_frictionIndex = m_tmpSolverFrictionConstraintPool.size();
-							if (!cp.m_lateralFrictionInitialized)
-							{
-								cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
-								
-								//scale anisotropic friction
-								
-								applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-
-								btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
-
-
-								if (lat_rel_vel > SIMD_EPSILON)//0.0f)
-								{
-									cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
-									addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-									cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
-									cp.m_lateralFrictionDir2.normalize();
-									applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
-									applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
-
-									addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-								} else
-								{
-									//re-calculate friction direction every frame, todo: check if this is really needed
-									btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
-									applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
-									applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
-									addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-									addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-								}
-								cp.m_lateralFrictionInitialized = true;
-								
-							} else
-							{
-								addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-								addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-							}
+			for (i=0;i<numConstraints;i++,currentRow+=info1.m_numConstraintRows)
+			{
+				constraints[i]->getInfo1(&info1);
+				if (info1.m_numConstraintRows)
+				{
+					btAssert(currentRow<totalNumRows);
 
-							{
-								btSolverConstraint& frictionConstraint1 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex];
-								if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-								{
-									frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
-									if (rb0)
-										m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
-									if (rb1)
-										m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass(),frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
-								} else
-								{
-									frictionConstraint1.m_appliedImpulse = 0.f;
-								}
-							}
-							{
-								btSolverConstraint& frictionConstraint2 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
-								if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-								{
-									frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
-									if (rb0)
-										m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
-									if (rb1)
-										m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse);
-								} else
-								{
-									frictionConstraint2.m_appliedImpulse = 0.f;
-								}
-							}
+					btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
+					btTypedConstraint* constraint = constraints[i];
+
+
+
+					btRigidBody& rbA = constraint->getRigidBodyA();
+					btRigidBody& rbB = constraint->getRigidBodyB();
+
+					int solverBodyIdA = getOrInitSolverBody(rbA);
+					int solverBodyIdB = getOrInitSolverBody(rbB);
+
+					btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
+					btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
+
+					int j;
+					for ( j=0;j<info1.m_numConstraintRows;j++)
+					{
+						memset(&currentConstraintRow[j],0,sizeof(btSolverConstraint));
+						currentConstraintRow[j].m_lowerLimit = -FLT_MAX;
+						currentConstraintRow[j].m_upperLimit = FLT_MAX;
+						currentConstraintRow[j].m_appliedImpulse = 0.f;
+						currentConstraintRow[j].m_appliedPushImpulse = 0.f;
+						currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
+						currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
+					}
+
+					bodyAPtr->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
+					bodyAPtr->m_deltaAngularVelocity.setValue(0.f,0.f,0.f);
+					bodyBPtr->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
+					bodyBPtr->m_deltaAngularVelocity.setValue(0.f,0.f,0.f);
+
+
+
+					btTypedConstraint::btConstraintInfo2 info2;
+					info2.fps = 1.f/infoGlobal.m_timeStep;
+					info2.erp = infoGlobal.m_erp;
+					info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
+					info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
+					info2.m_J2linearAxis = 0;
+					info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
+					info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
+					///the size of btSolverConstraint needs be a multiple of btScalar
+					btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
+					info2.m_constraintError = &currentConstraintRow->m_rhs;
+					info2.cfm = &currentConstraintRow->m_cfm;
+					info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
+					info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
+					constraints[i]->getInfo2(&info2);
+
+					///finalize the constraint setup
+					for ( j=0;j<info1.m_numConstraintRows;j++)
+					{
+						btSolverConstraint& solverConstraint = currentConstraintRow[j];
+
+						{
+							const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
+							solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor();
+						}
+						{
+							const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
+							solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor();
+						}
+
+						{
+							btVector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
+							btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
+							btVector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?
+							btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
+
+							btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
+							sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
+							sum += iMJlB.dot(solverConstraint.m_contactNormal);
+							sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
+
+							solverConstraint.m_jacDiagABInv = btScalar(1.)/sum;
 						}
 
 
+						///fix rhs
+						///todo: add force/torque accelerators
+						{
+							btScalar rel_vel;
+							btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
+							btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
+
+							rel_vel = vel1Dotn+vel2Dotn;
+
+							btScalar restitution = 0.f;
+							btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
+							btScalar	velocityError = restitution - rel_vel;// * damping;
+							btScalar	penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
+							btScalar	velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
+							solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+							solverConstraint.m_appliedImpulse = 0.f;
+
+						}
 					}
 				}
 			}
 		}
-	}
-	
-	btContactSolverInfo info = infoGlobal;
 
-	{
-		int j;
-		for (j=0;j<numConstraints;j++)
 		{
-			btTypedConstraint* constraint = constraints[j];
-			constraint->buildJacobian();
+			int i;
+			btPersistentManifold* manifold = 0;
+			btCollisionObject* colObj0=0,*colObj1=0;
+
+
+			for (i=0;i<numManifolds;i++)
+			{
+				manifold = manifoldPtr[i];
+				convertContact(manifold,infoGlobal);
+			}
 		}
 	}
-	
-	
 
-	int numConstraintPool = m_tmpSolverConstraintPool.size();
-	int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
+	btContactSolverInfo info = infoGlobal;
+
 
-	///todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
+
+	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
+	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
+
+	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
 	m_orderTmpConstraintPool.resize(numConstraintPool);
 	m_orderFrictionConstraintPool.resize(numFrictionPool);
 	{
@@ -877,8 +821,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 		}
 	}
 
-
-
 	return 0.f;
 
 }
@@ -886,8 +828,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
 {
 	BT_PROFILE("solveGroupCacheFriendlyIterations");
-	int numConstraintPool = m_tmpSolverConstraintPool.size();
-	int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
+
+	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
+	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
 
 	//should traverse the contacts random order...
 	int iteration;
@@ -915,110 +858,134 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
 				}
 			}
 
-			for (j=0;j<numConstraints;j++)
+			if (infoGlobal.m_solverMode & SOLVER_SIMD)
 			{
-				btTypedConstraint* constraint = constraints[j];
-				///todo: use solver bodies, so we don't need to copy from/to btRigidBody
-
-				if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0))
+				///solve all joint constraints, using SIMD, if available
+				for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
 				{
-					m_tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].writebackVelocity();
+					btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
+					resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
 				}
-				if ((constraint->getRigidBodyB().getIslandTag() >= 0) && (constraint->getRigidBodyB().getCompanionId() >= 0))
+
+				for (j=0;j<numConstraints;j++)
 				{
-					m_tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].writebackVelocity();
+					int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
+					int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
+					btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
+					btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
+					constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
 				}
 
-				constraint->solveConstraint(infoGlobal.m_timeStep);
-
-				if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0))
+				///solve all contact constraints using SIMD, if available
+				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+				for (j=0;j<numPoolConstraints;j++)
 				{
-					m_tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].readVelocity();
+					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
+					resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+
 				}
-				if ((constraint->getRigidBodyB().getIslandTag() >= 0) && (constraint->getRigidBodyB().getCompanionId() >= 0))
+				///solve all friction constraints, using SIMD, if available
+				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
+				for (j=0;j<numFrictionPoolConstraints;j++)
 				{
-					m_tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].readVelocity();
-				}
+					btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
+					btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
 
-			}
+					if (totalImpulse>btScalar(0))
+					{
+						solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+						solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
 
+						resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],	m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+					}
+				}
+			} else
 			{
-				int numPoolConstraints = m_tmpSolverConstraintPool.size();
-				for (j=0;j<numPoolConstraints;j++)
+
+				///solve all joint constraints
+				for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
 				{
-					
-					const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[m_orderTmpConstraintPool[j]];
-					resolveSingleCollisionCombinedCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
-						m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal);
+					btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
+					resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
 				}
-			}
 
-			{
-				 int numFrictionPoolConstraints = m_tmpSolverFrictionConstraintPool.size();
-				
-				 for (j=0;j<numFrictionPoolConstraints;j++)
+				for (j=0;j<numConstraints;j++)
 				{
-					const btSolverConstraint& solveManifold = m_tmpSolverFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-					btScalar totalImpulse = m_tmpSolverConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse+
-								m_tmpSolverConstraintPool[solveManifold.m_frictionIndex].m_appliedPushImpulse;			
+					int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
+					int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
+					btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
+					btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
 
-						resolveSingleFrictionCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
-							m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal,
-							totalImpulse);
+					constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
 				}
-			}
-			
-
 
-		}
-	
-		if (infoGlobal.m_splitImpulse)
-		{
-			
-			for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
-			{
+				///solve all contact constraints
+				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+				for (j=0;j<numPoolConstraints;j++)
 				{
-					int numPoolConstraints = m_tmpSolverConstraintPool.size();
-					int j;
-					for (j=0;j<numPoolConstraints;j++)
+					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
+					resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+				}
+				///solve all friction constraints
+				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
+				for (j=0;j<numFrictionPoolConstraints;j++)
+				{
+					btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
+					btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+
+					if (totalImpulse>btScalar(0))
 					{
-						const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[m_orderTmpConstraintPool[j]];
+						solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+						solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
 
-						resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
-							m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal);
+						resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],							m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 					}
 				}
 			}
 
-		}
 
-	}
 
+		}
+	}
 	return 0.f;
 }
 
 
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+
+/// btSequentialImpulseConstraintSolver Sequentially applies impulses
+btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
 {
+
+	
+
+	BT_PROFILE("solveGroup");
+	//we only implement SOLVER_CACHE_FRIENDLY now
+	//you need to provide at least some bodies
+	btAssert(bodies);
+	btAssert(numBodies);
+
 	int i;
 
 	solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
 	solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
 
-	int numPoolConstraints = m_tmpSolverConstraintPool.size();
+	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
 	int j;
+
 	for (j=0;j<numPoolConstraints;j++)
 	{
-		
-		const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[j];
+
+		const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
 		btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
 		btAssert(pt);
 		pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
-		pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-		pt->m_appliedImpulseLateral2 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
+		if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
+		{
+			pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+			pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
+		}
 
 		//do a callback here?
-
 	}
 
 	if (infoGlobal.m_splitImpulse)
@@ -1030,418 +997,26 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
 	} else
 	{
 		for ( i=0;i<m_tmpSolverBodyPool.size();i++)
-        {
-                m_tmpSolverBodyPool[i].writebackVelocity();
-        }
-	}
-
-//	printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size());
-
-/*
-	printf("m_tmpSolverBodyPool.size() = %i\n",m_tmpSolverBodyPool.size());
-	printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size());
-	printf("m_tmpSolverFrictionConstraintPool.size() = %i\n",m_tmpSolverFrictionConstraintPool.size());
-
-	
-	printf("m_tmpSolverBodyPool.capacity() = %i\n",m_tmpSolverBodyPool.capacity());
-	printf("m_tmpSolverConstraintPool.capacity() = %i\n",m_tmpSolverConstraintPool.capacity());
-	printf("m_tmpSolverFrictionConstraintPool.capacity() = %i\n",m_tmpSolverFrictionConstraintPool.capacity());
-*/
-
-	m_tmpSolverBodyPool.resize(0);
-	m_tmpSolverConstraintPool.resize(0);
-	m_tmpSolverFrictionConstraintPool.resize(0);
-
-
-	return 0.f;
-}
-
-/// btSequentialImpulseConstraintSolver Sequentially applies impulses
-btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
-{
-	BT_PROFILE("solveGroup");
-	if (infoGlobal.m_solverMode & SOLVER_CACHE_FRIENDLY)
-	{
-		//you need to provide at least some bodies
-		//btSimpleDynamicsWorld needs to switch off SOLVER_CACHE_FRIENDLY
-		btAssert(bodies);
-		btAssert(numBodies);
-		return solveGroupCacheFriendly(bodies,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
-	}
-
-	
-
-	btContactSolverInfo info = infoGlobal;
-
-	int numiter = infoGlobal.m_numIterations;
-
-	int totalPoints = 0;
-
-
-	{
-		short j;
-		for (j=0;j<numManifolds;j++)
-		{
-			btPersistentManifold* manifold = manifoldPtr[j];
-			prepareConstraints(manifold,info,debugDrawer);
-
-			for (short p=0;p<manifoldPtr[j]->getNumContacts();p++)
-			{
-				gOrder[totalPoints].m_manifoldIndex = j;
-				gOrder[totalPoints].m_pointIndex = p;
-				totalPoints++;
-			}
-		}
-	}
-
-	{
-		int j;
-		for (j=0;j<numConstraints;j++)
-		{
-			btTypedConstraint* constraint = constraints[j];
-			constraint->buildJacobian();
-		}
-	}
-	
-
-	//should traverse the contacts random order...
-	int iteration;
-
-	{
-		for ( iteration = 0;iteration<numiter;iteration++)
-		{
-			int j;
-			if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
-			{
-				if ((iteration & 7) == 0) {
-					for (j=0; j<totalPoints; ++j) {
-						btOrderIndex tmp = gOrder[j];
-						int swapi = btRandInt2(j+1);
-						gOrder[j] = gOrder[swapi];
-						gOrder[swapi] = tmp;
-					}
-				}
-			}
-
-			for (j=0;j<numConstraints;j++)
-			{
-				btTypedConstraint* constraint = constraints[j];
-				constraint->solveConstraint(info.m_timeStep);
-			}
-
-			for (j=0;j<totalPoints;j++)
-			{
-				btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
-				solve( (btRigidBody*)manifold->getBody0(),
-									(btRigidBody*)manifold->getBody1()
-				,manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
-			}
-		
-			for (j=0;j<totalPoints;j++)
-			{
-				btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
-				solveFriction((btRigidBody*)manifold->getBody0(),
-					(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
-			}
-			
-		}
-	}
-		
-
-
-
-	return btScalar(0.);
-}
-
-
-
-
-
-
-
-void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer)
-{
-
-	(void)debugDrawer;
-
-	btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
-	btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
-
-
-	//only necessary to refresh the manifold once (first iteration). The integration is done outside the loop
-	{
-#ifdef FORCE_REFESH_CONTACT_MANIFOLDS
-		manifoldPtr->refreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
-#endif //FORCE_REFESH_CONTACT_MANIFOLDS		
-		int numpoints = manifoldPtr->getNumContacts();
-
-		gTotalContactPoints += numpoints;
-
-		
-		for (int i=0;i<numpoints ;i++)
-		{
-			btManifoldPoint& cp = manifoldPtr->getContactPoint(i);
-			if (cp.getDistance() <= btScalar(0.))
-			{
-				const btVector3& pos1 = cp.getPositionWorldOnA();
-				const btVector3& pos2 = cp.getPositionWorldOnB();
-
-				btVector3 rel_pos1 = pos1 - body0->getCenterOfMassPosition(); 
-				btVector3 rel_pos2 = pos2 - body1->getCenterOfMassPosition();
-				
-
-				//this jacobian entry is re-used for all iterations
-				btJacobianEntry jac(body0->getCenterOfMassTransform().getBasis().transpose(),
-					body1->getCenterOfMassTransform().getBasis().transpose(),
-					rel_pos1,rel_pos2,cp.m_normalWorldOnB,body0->getInvInertiaDiagLocal(),body0->getInvMass(),
-					body1->getInvInertiaDiagLocal(),body1->getInvMass());
-
-				
-				btScalar jacDiagAB = jac.getDiagonal();
-
-				btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;
-				if (cpd)
-				{
-					//might be invalid
-					cpd->m_persistentLifeTime++;
-					if (cpd->m_persistentLifeTime != cp.getLifeTime())
-					{
-						//printf("Invalid: cpd->m_persistentLifeTime = %i cp.getLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.getLifeTime());
-						new (cpd) btConstraintPersistentData;
-						cpd->m_persistentLifeTime = cp.getLifeTime();
-
-					} else
-					{
-						//printf("Persistent: cpd->m_persistentLifeTime = %i cp.getLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.getLifeTime());
-						
-					}
-				} else
-				{
-						
-					//todo: should this be in a pool?
-					void* mem = btAlignedAlloc(sizeof(btConstraintPersistentData),16);
-					cpd = new (mem)btConstraintPersistentData;
-					assert(cpd);
-
-					totalCpd ++;
-					//printf("totalCpd = %i Created Ptr %x\n",totalCpd,cpd);
-					cp.m_userPersistentData = cpd;
-					cpd->m_persistentLifeTime = cp.getLifeTime();
-					//printf("CREATED: %x . cpd->m_persistentLifeTime = %i cp.getLifeTime() = %i\n",cpd,cpd->m_persistentLifeTime,cp.getLifeTime());
-					
-				}
-				assert(cpd);
-
-				cpd->m_jacDiagABInv = btScalar(1.) / jacDiagAB;
-
-				//Dependent on Rigidbody A and B types, fetch the contact/friction response func
-				//perhaps do a similar thing for friction/restutution combiner funcs...
-				
-				cpd->m_frictionSolverFunc = m_frictionDispatch[body0->m_frictionSolverType][body1->m_frictionSolverType];
-				cpd->m_contactSolverFunc = m_contactDispatch[body0->m_contactSolverType][body1->m_contactSolverType];
-				
-				btVector3 vel1 = body0->getVelocityInLocalPoint(rel_pos1);
-				btVector3 vel2 = body1->getVelocityInLocalPoint(rel_pos2);
-				btVector3 vel = vel1 - vel2;
-				btScalar rel_vel;
-				rel_vel = cp.m_normalWorldOnB.dot(vel);
-				
-				btScalar combinedRestitution = cp.m_combinedRestitution;
-				
-				cpd->m_penetration = cp.getDistance();///btScalar(info.m_numIterations);
-				cpd->m_friction = cp.m_combinedFriction;
-				cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
-				if (cpd->m_restitution <= btScalar(0.))
-				{
-					cpd->m_restitution = btScalar(0.0);
-
-				};
-				
-				//restitution and penetration work in same direction so
-				//rel_vel 
-				
-				btScalar penVel = -cpd->m_penetration/info.m_timeStep;
-
-				if (cpd->m_restitution > penVel)
-				{
-					cpd->m_penetration = btScalar(0.);
-				} 				
-				
-
-				btScalar relaxation = info.m_damping;
-				if (info.m_solverMode & SOLVER_USE_WARMSTARTING)
-				{
-					cpd->m_appliedImpulse *= relaxation;
-				} else
-				{
-					cpd->m_appliedImpulse =btScalar(0.);
-				}
-	
-				//for friction
-				cpd->m_prevAppliedImpulse = cpd->m_appliedImpulse;
-				
-				//re-calculate friction direction every frame, todo: check if this is really needed
-				btPlaneSpace1(cp.m_normalWorldOnB,cpd->m_frictionWorldTangential0,cpd->m_frictionWorldTangential1);
-
-
-#define NO_FRICTION_WARMSTART 1
-
-	#ifdef NO_FRICTION_WARMSTART
-				cpd->m_accumulatedTangentImpulse0 = btScalar(0.);
-				cpd->m_accumulatedTangentImpulse1 = btScalar(0.);
-	#endif //NO_FRICTION_WARMSTART
-				btScalar denom0 = body0->computeImpulseDenominator(pos1,cpd->m_frictionWorldTangential0);
-				btScalar denom1 = body1->computeImpulseDenominator(pos2,cpd->m_frictionWorldTangential0);
-				btScalar denom = relaxation/(denom0+denom1);
-				cpd->m_jacDiagABInvTangent0 = denom;
-
-
-				denom0 = body0->computeImpulseDenominator(pos1,cpd->m_frictionWorldTangential1);
-				denom1 = body1->computeImpulseDenominator(pos2,cpd->m_frictionWorldTangential1);
-				denom = relaxation/(denom0+denom1);
-				cpd->m_jacDiagABInvTangent1 = denom;
-
-				btVector3 totalImpulse = 
-	#ifndef NO_FRICTION_WARMSTART
-					cpd->m_frictionWorldTangential0*cpd->m_accumulatedTangentImpulse0+
-					cpd->m_frictionWorldTangential1*cpd->m_accumulatedTangentImpulse1+
-	#endif //NO_FRICTION_WARMSTART
-					cp.m_normalWorldOnB*cpd->m_appliedImpulse;
-
-
-
-				///
-				{
-				btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
-				cpd->m_angularComponentA = body0->getInvInertiaTensorWorld()*torqueAxis0;
-				btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);		
-				cpd->m_angularComponentB = body1->getInvInertiaTensorWorld()*torqueAxis1;
-				}
-				{
-					btVector3 ftorqueAxis0 = rel_pos1.cross(cpd->m_frictionWorldTangential0);
-					cpd->m_frictionAngularComponent0A = body0->getInvInertiaTensorWorld()*ftorqueAxis0;
-				}
-				{
-					btVector3 ftorqueAxis1 = rel_pos1.cross(cpd->m_frictionWorldTangential1);
-					cpd->m_frictionAngularComponent1A = body0->getInvInertiaTensorWorld()*ftorqueAxis1;
-				}
-				{
-					btVector3 ftorqueAxis0 = rel_pos2.cross(cpd->m_frictionWorldTangential0);
-					cpd->m_frictionAngularComponent0B = body1->getInvInertiaTensorWorld()*ftorqueAxis0;
-				}
-				{
-					btVector3 ftorqueAxis1 = rel_pos2.cross(cpd->m_frictionWorldTangential1);
-					cpd->m_frictionAngularComponent1B = body1->getInvInertiaTensorWorld()*ftorqueAxis1;
-				}
-				
-				///
-
-
-
-				//apply previous frames impulse on both bodies
-				body0->applyImpulse(totalImpulse, rel_pos1);
-				body1->applyImpulse(-totalImpulse, rel_pos2);
-			}
-			
-		}
-	}
-}
-
-
-btScalar btSequentialImpulseConstraintSolver::solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
-{
-	btScalar maxImpulse = btScalar(0.);
-
-	{
-
-		
 		{
-			if (cp.getDistance() <= btScalar(0.))
-			{
-
-				
-
-				{
-
-					//btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;
-					btScalar impulse = resolveSingleCollisionCombined(
-						*body0,*body1,
-						cp,
-						info);
-
-					if (maxImpulse < impulse)
-						maxImpulse  = impulse;
-
-				}
-			}
+			m_tmpSolverBodyPool[i].writebackVelocity();
 		}
 	}
-	return maxImpulse;
-}
-
-
-
-btScalar btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
-{
-
-	btScalar maxImpulse = btScalar(0.);
-
-	{
-
-		
-		{
-			if (cp.getDistance() <= btScalar(0.))
-			{
-
-				
-
-				{
 
-					btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;
-					btScalar impulse = cpd->m_contactSolverFunc(
-						*body0,*body1,
-						cp,
-						info);
 
-					if (maxImpulse < impulse)
-						maxImpulse  = impulse;
+	m_tmpSolverBodyPool.resize(0);
+	m_tmpSolverContactConstraintPool.resize(0);
+	m_tmpSolverNonContactConstraintPool.resize(0);
+	m_tmpSolverContactFrictionConstraintPool.resize(0);
 
-				}
-			}
-		}
-	}
-	return maxImpulse;
+	return 0.f;
 }
 
-btScalar btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
-{
 
-	(void)debugDrawer;
-	(void)iter;
 
 
-	{
 
-		
-		{
-			
-			if (cp.getDistance() <= btScalar(0.))
-			{
 
-				btConstraintPersistentData* cpd = (btConstraintPersistentData*) cp.m_userPersistentData;
-				cpd->m_frictionSolverFunc(
-					*body0,*body1,
-					cp,
-					info);
 
-				
-			}
-		}
-
-	
-	}
-	return btScalar(0.);
-}
 
 
 void	btSequentialImpulseConstraintSolver::reset()
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index 7143bc41991..90e7fc8354d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -23,67 +23,59 @@ class btIDebugDraw;
 #include "btSolverConstraint.h"
 
 
-/// btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
-/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
-/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
-/// Applies impulses for combined restitution and penetration recovery and to simulate friction
+
+///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
 class btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
+protected:
 
 	btAlignedObjectArray<btSolverBody>	m_tmpSolverBodyPool;
-	btAlignedObjectArray<btSolverConstraint>	m_tmpSolverConstraintPool;
-	btAlignedObjectArray<btSolverConstraint>	m_tmpSolverFrictionConstraintPool;
+	btConstraintArray			m_tmpSolverContactConstraintPool;
+	btConstraintArray			m_tmpSolverNonContactConstraintPool;
+	btConstraintArray			m_tmpSolverContactFrictionConstraintPool;
 	btAlignedObjectArray<int>	m_orderTmpConstraintPool;
 	btAlignedObjectArray<int>	m_orderFrictionConstraintPool;
 
-
-protected:
-	btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-	btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-	void  prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
-	void	addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation);
-
-	ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
-	ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
-
+	btSolverConstraint&	addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation);
 	
 	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
 	unsigned long	m_btSeed2;
 
-public:
+	void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
+	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
 
-	
-	btSequentialImpulseConstraintSolver();
+	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
 
-	///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
-	///See btRigidBody::m_contactSolverType and btRigidBody::m_frictionSolverType
-	void	setContactSolverFunc(ContactSolverFunc func,int type0,int type1)
-	{
-		m_contactDispatch[type0][type1] = func;
-	}
+	void	resolveSplitPenetrationImpulseCacheFriendly(
+        btSolverBody& body1,
+        btSolverBody& body2,
+        const btSolverConstraint& contactConstraint,
+        const btContactSolverInfo& solverInfo);
+
+	//internal method
+	int	getOrInitSolverBody(btCollisionObject& body);
+
+	void	resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+
+	void	resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
 	
-	///Advanced: Override the default friction solving function for contacts, for certain types of rigidbody
-	///See btRigidBody::m_contactSolverType and btRigidBody::m_frictionSolverType
-	void	SetFrictionSolverFunc(ContactSolverFunc func,int type0,int type1)
-	{
-		m_frictionDispatch[type0][type1] = func;
-	}
+	void	resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+	
+	void	resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+		
+public:
 
-	virtual ~btSequentialImpulseConstraintSolver();
 	
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+	btSequentialImpulseConstraintSolver();
+	virtual ~btSequentialImpulseConstraintSolver();
 
-	virtual btScalar solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-	btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+	
 	btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-
+	btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
 
 	///clear internal cached data and reset random seed
 	virtual	void	reset();
-
-	btScalar solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-
-
 	
 	unsigned long btRand2();
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
index 4128f504bf1..50d06960379 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
@@ -68,7 +68,9 @@ void btSliderConstraint::initParams()
 
 btSliderConstraint::btSliderConstraint()
         :btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
-		m_useLinearReferenceFrameA(true)
+		m_useLinearReferenceFrameA(true),
+		m_useSolveConstraintObsolete(false)
+//		m_useSolveConstraintObsolete(true)
 {
 	initParams();
 } // btSliderConstraint::btSliderConstraint()
@@ -79,7 +81,9 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
         : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB)
         , m_frameInA(frameInA)
         , m_frameInB(frameInB),
-		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
+		m_useLinearReferenceFrameA(useLinearReferenceFrameA),
+		m_useSolveConstraintObsolete(false)
+//		m_useSolveConstraintObsolete(true)
 {
 	initParams();
 } // btSliderConstraint::btSliderConstraint()
@@ -88,6 +92,10 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
 
 void btSliderConstraint::buildJacobian()
 {
+	if (!m_useSolveConstraintObsolete) 
+	{
+		return;
+	}
 	if(m_useLinearReferenceFrameA)
 	{
 		buildJacobianInt(m_rbA, m_rbB, m_frameInA, m_frameInB);
@@ -155,27 +163,372 @@ void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, co
 
 //-----------------------------------------------------------------------------
 
-void btSliderConstraint::solveConstraint(btScalar timeStep)
+void btSliderConstraint::getInfo1(btConstraintInfo1* info)
 {
-    m_timeStep = timeStep;
-	if(m_useLinearReferenceFrameA)
+	if (m_useSolveConstraintObsolete)
 	{
-		solveConstraintInt(m_rbA, m_rbB);
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
 	}
 	else
 	{
-		solveConstraintInt(m_rbB, m_rbA);
+		info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
+		info->nub = 2; 
+		//prepare constraint
+		calculateTransforms();
+		testLinLimits();
+		if(getSolveLinLimit() || getPoweredLinMotor())
+		{
+			info->m_numConstraintRows++; // limit 3rd linear as well
+			info->nub--; 
+		}
+		testAngLimits();
+		if(getSolveAngLimit() || getPoweredAngMotor())
+		{
+			info->m_numConstraintRows++; // limit 3rd angular as well
+			info->nub--; 
+		}
+	}
+} // btSliderConstraint::getInfo1()
+
+//-----------------------------------------------------------------------------
+
+void btSliderConstraint::getInfo2(btConstraintInfo2* info)
+{
+	btAssert(!m_useSolveConstraintObsolete);
+	int i, s = info->rowskip;
+	const btTransform& trA = getCalculatedTransformA();
+	const btTransform& trB = getCalculatedTransformB();
+	btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
+	// make rotations around Y and Z equal
+	// the slider axis should be the only unconstrained
+	// rotational axis, the angular velocity of the two bodies perpendicular to
+	// the slider axis should be equal. thus the constraint equations are
+	//    p*w1 - p*w2 = 0
+	//    q*w1 - q*w2 = 0
+	// where p and q are unit vectors normal to the slider axis, and w1 and w2
+	// are the angular velocity vectors of the two bodies.
+	// get slider axis (X)
+	btVector3 ax1 = trA.getBasis().getColumn(0);
+	// get 2 orthos to slider axis (Y, Z)
+	btVector3 p = trA.getBasis().getColumn(1);
+	btVector3 q = trA.getBasis().getColumn(2);
+	// set the two slider rows 
+	info->m_J1angularAxis[0] = p[0];
+	info->m_J1angularAxis[1] = p[1];
+	info->m_J1angularAxis[2] = p[2];
+	info->m_J1angularAxis[s+0] = q[0];
+	info->m_J1angularAxis[s+1] = q[1];
+	info->m_J1angularAxis[s+2] = q[2];
+
+	info->m_J2angularAxis[0] = -p[0];
+	info->m_J2angularAxis[1] = -p[1];
+	info->m_J2angularAxis[2] = -p[2];
+	info->m_J2angularAxis[s+0] = -q[0];
+	info->m_J2angularAxis[s+1] = -q[1];
+	info->m_J2angularAxis[s+2] = -q[2];
+	// compute the right hand side of the constraint equation. set relative
+	// body velocities along p and q to bring the slider back into alignment.
+	// if ax1,ax2 are the unit length slider axes as computed from body1 and
+	// body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
+	// if "theta" is the angle between ax1 and ax2, we need an angular velocity
+	// along u to cover angle erp*theta in one step :
+	//   |angular_velocity| = angle/time = erp*theta / stepsize
+	//                      = (erp*fps) * theta
+	//    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
+	//                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
+	// ...as ax1 and ax2 are unit length. if theta is smallish,
+	// theta ~= sin(theta), so
+	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
+	// ax1 x ax2 is in the plane space of ax1, so we project the angular
+	// velocity to p and q to find the right hand side.
+	btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
+    btVector3 ax2 = trB.getBasis().getColumn(0);
+	btVector3 u = ax1.cross(ax2);
+	info->m_constraintError[0] = k * u.dot(p);
+	info->m_constraintError[s] = k * u.dot(q);
+	// pull out pos and R for both bodies. also get the connection
+	// vector c = pos2-pos1.
+	// next two rows. we want: vel2 = vel1 + w1 x c ... but this would
+	// result in three equations, so we project along the planespace vectors
+	// so that sliding along the slider axis is disregarded. for symmetry we
+	// also consider rotation around center of mass of two bodies (factA and factB).
+	btTransform bodyA_trans = m_rbA.getCenterOfMassTransform();
+	btTransform bodyB_trans = m_rbB.getCenterOfMassTransform();
+	int s2 = 2 * s, s3 = 3 * s;
+	btVector3 c;
+	btScalar miA = m_rbA.getInvMass();
+	btScalar miB = m_rbB.getInvMass();
+	btScalar miS = miA + miB;
+	btScalar factA, factB;
+	if(miS > btScalar(0.f))
+	{
+		factA = miB / miS;
+	}
+	else 
+	{
+		factA = btScalar(0.5f);
+	}
+	if(factA > 0.99f) factA = 0.99f;
+	if(factA < 0.01f) factA = 0.01f;
+	factB = btScalar(1.0f) - factA;
+	c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
+	btVector3 tmp = c.cross(p);
+	for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i];
+	for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i];
+	tmp = c.cross(q);
+	for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i];
+	for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i];
+
+	for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
+	for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
+	// compute two elements of right hand side. we want to align the offset
+	// point (in body 2's frame) with the center of body 1.
+	btVector3 ofs; // offset point in global coordinates
+	ofs = trB.getOrigin() - trA.getOrigin();
+	k = info->fps * info->erp * getSoftnessOrthoLin();
+	info->m_constraintError[s2] = k * p.dot(ofs);
+	info->m_constraintError[s3] = k * q.dot(ofs);
+	int nrow = 3; // last filled row
+	int srow;
+	// check linear limits linear
+	btScalar limit_err = btScalar(0.0);
+	int limit = 0;
+	if(getSolveLinLimit())
+	{
+		limit_err = getLinDepth() *  signFact;
+		limit = (limit_err > btScalar(0.0)) ? 2 : 1;
+	}
+	int powered = 0;
+	if(getPoweredLinMotor())
+	{
+		powered = 1;
+	}
+	// if the slider has joint limits or motor, add in the extra row
+	if (limit || powered) 
+	{
+		nrow++;
+		srow = nrow * info->rowskip;
+		info->m_J1linearAxis[srow+0] = ax1[0];
+		info->m_J1linearAxis[srow+1] = ax1[1];
+		info->m_J1linearAxis[srow+2] = ax1[2];
+		// linear torque decoupling step:
+		//
+		// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
+		// do not create a torque couple. in other words, the points that the
+		// constraint force is applied at must lie along the same ax1 axis.
+		// a torque couple will result in limited slider-jointed free
+		// bodies from gaining angular momentum.
+		// the solution used here is to apply the constraint forces at the center of mass of the two bodies
+		btVector3 ltd;	// Linear Torque Decoupling vector (a torque)
+//		c = btScalar(0.5) * c;
+		ltd = c.cross(ax1);
+		info->m_J1angularAxis[srow+0] = factA*ltd[0];
+		info->m_J1angularAxis[srow+1] = factA*ltd[1];
+		info->m_J1angularAxis[srow+2] = factA*ltd[2];
+		info->m_J2angularAxis[srow+0] = factB*ltd[0];
+		info->m_J2angularAxis[srow+1] = factB*ltd[1];
+		info->m_J2angularAxis[srow+2] = factB*ltd[2];
+		// right-hand part
+		btScalar lostop = getLowerLinLimit();
+		btScalar histop = getUpperLinLimit();
+		if(limit && (lostop == histop))
+		{  // the joint motor is ineffective
+			powered = 0;
+		}
+		info->m_constraintError[srow] = 0.;
+		info->m_lowerLimit[srow] = 0.;
+		info->m_upperLimit[srow] = 0.;
+		if(powered)
+		{
+            info->cfm[nrow] = btScalar(0.0); 
+			btScalar tag_vel = getTargetLinMotorVelocity();
+			btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * info->erp);
+//			info->m_constraintError[srow] += mot_fact * getTargetLinMotorVelocity();
+			info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
+			info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps;
+			info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps;
+		}
+		if(limit)
+		{
+			k = info->fps * info->erp;
+			info->m_constraintError[srow] += k * limit_err;
+			info->cfm[srow] = btScalar(0.0); // stop_cfm;
+			if(lostop == histop) 
+			{	// limited low and high simultaneously
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			else if(limit == 1) 
+			{ // low limit
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = 0;
+			}
+			else 
+			{ // high limit
+				info->m_lowerLimit[srow] = 0;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
+			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
+			if(bounce > btScalar(0.0))
+			{
+				btScalar vel = m_rbA.getLinearVelocity().dot(ax1);
+				vel -= m_rbB.getLinearVelocity().dot(ax1);
+				vel *= signFact;
+				// only apply bounce if the velocity is incoming, and if the
+				// resulting c[] exceeds what we already have.
+				if(limit == 1)
+				{	// low limit
+					if(vel < 0)
+					{
+						btScalar newc = -bounce * vel;
+						if (newc > info->m_constraintError[srow])
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+				else
+				{ // high limit - all those computations are reversed
+					if(vel > 0)
+					{
+						btScalar newc = -bounce * vel;
+						if(newc < info->m_constraintError[srow]) 
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+			}
+			info->m_constraintError[srow] *= getSoftnessLimLin();
+		} // if(limit)
+	} // if linear limit
+	// check angular limits
+	limit_err = btScalar(0.0);
+	limit = 0;
+	if(getSolveAngLimit())
+	{
+		limit_err = getAngDepth();
+		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
+	}
+	// if the slider has joint limits, add in the extra row
+	powered = 0;
+	if(getPoweredAngMotor())
+	{
+		powered = 1;
+	}
+	if(limit || powered) 
+	{
+		nrow++;
+		srow = nrow * info->rowskip;
+		info->m_J1angularAxis[srow+0] = ax1[0];
+		info->m_J1angularAxis[srow+1] = ax1[1];
+		info->m_J1angularAxis[srow+2] = ax1[2];
+
+		info->m_J2angularAxis[srow+0] = -ax1[0];
+		info->m_J2angularAxis[srow+1] = -ax1[1];
+		info->m_J2angularAxis[srow+2] = -ax1[2];
+
+		btScalar lostop = getLowerAngLimit();
+		btScalar histop = getUpperAngLimit();
+		if(limit && (lostop == histop))
+		{  // the joint motor is ineffective
+			powered = 0;
+		}
+		if(powered)
+		{
+            info->cfm[srow] = btScalar(0.0); 
+			btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * info->erp);
+			info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
+			info->m_lowerLimit[srow] = -getMaxAngMotorForce() * info->fps;
+			info->m_upperLimit[srow] = getMaxAngMotorForce() * info->fps;
+		}
+		if(limit)
+		{
+			k = info->fps * info->erp;
+			info->m_constraintError[srow] += k * limit_err;
+			info->cfm[srow] = btScalar(0.0); // stop_cfm;
+			if(lostop == histop) 
+			{
+				// limited low and high simultaneously
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			else if(limit == 1) 
+			{ // low limit
+				info->m_lowerLimit[srow] = 0;
+				info->m_upperLimit[srow] = SIMD_INFINITY;
+			}
+			else 
+			{ // high limit
+				info->m_lowerLimit[srow] = -SIMD_INFINITY;
+				info->m_upperLimit[srow] = 0;
+			}
+			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
+			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng());
+			if(bounce > btScalar(0.0))
+			{
+				btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
+				vel -= m_rbB.getAngularVelocity().dot(ax1);
+				// only apply bounce if the velocity is incoming, and if the
+				// resulting c[] exceeds what we already have.
+				if(limit == 1)
+				{	// low limit
+					if(vel < 0)
+					{
+						btScalar newc = -bounce * vel;
+						if(newc > info->m_constraintError[srow])
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+				else
+				{	// high limit - all those computations are reversed
+					if(vel > 0)
+					{
+						btScalar newc = -bounce * vel;
+						if(newc < info->m_constraintError[srow])
+						{
+							info->m_constraintError[srow] = newc;
+						}
+					}
+				}
+			}
+			info->m_constraintError[srow] *= getSoftnessLimAng();
+		} // if(limit)
+	} // if angular limit or powered
+} // btSliderConstraint::getInfo2()
+
+//-----------------------------------------------------------------------------
+
+void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
+{
+	if (m_useSolveConstraintObsolete)
+	{
+		m_timeStep = timeStep;
+		if(m_useLinearReferenceFrameA)
+		{
+			solveConstraintInt(m_rbA,bodyA, m_rbB,bodyB);
+		}
+		else
+		{
+			solveConstraintInt(m_rbB,bodyB, m_rbA,bodyA);
+		}
 	}
 } // btSliderConstraint::solveConstraint()
 
 //-----------------------------------------------------------------------------
 
-void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
+void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB)
 {
     int i;
     // linear
-    btVector3 velA = rbA.getVelocityInLocalPoint(m_relPosA);
-    btVector3 velB = rbB.getVelocityInLocalPoint(m_relPosB);
+    btVector3 velA;
+	bodyA.getVelocityInLocalPointObsolete(m_relPosA,velA);
+    btVector3 velB;
+	bodyB.getVelocityInLocalPointObsolete(m_relPosB,velB);
     btVector3 vel = velA - velB;
 	for(i = 0; i < 3; i++)
     {
@@ -190,8 +543,18 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
 		// calcutate and apply impulse
 		btScalar normalImpulse = softness * (restitution * depth / m_timeStep - damping * rel_vel) * m_jacLinDiagABInv[i];
 		btVector3 impulse_vector = normal * normalImpulse;
-		rbA.applyImpulse( impulse_vector, m_relPosA);
-		rbB.applyImpulse(-impulse_vector, m_relPosB);
+		
+		//rbA.applyImpulse( impulse_vector, m_relPosA);
+		//rbB.applyImpulse(-impulse_vector, m_relPosB);
+		{
+			btVector3 ftorqueAxis1 = m_relPosA.cross(normal);
+			btVector3 ftorqueAxis2 = m_relPosB.cross(normal);
+			bodyA.applyImpulse(normal*rbA.getInvMass(), rbA.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
+			bodyB.applyImpulse(normal*rbB.getInvMass(), rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
+		}
+
+
+
 		if(m_poweredLinMotor && (!i))
 		{ // apply linear motor
 			if(m_accumulatedLinMotorImpulse < m_maxLinMotorForce)
@@ -217,8 +580,18 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
 				m_accumulatedLinMotorImpulse = new_acc;
 				// apply clamped impulse
 				impulse_vector = normal * normalImpulse;
-				rbA.applyImpulse( impulse_vector, m_relPosA);
-				rbB.applyImpulse(-impulse_vector, m_relPosB);
+				//rbA.applyImpulse( impulse_vector, m_relPosA);
+				//rbB.applyImpulse(-impulse_vector, m_relPosB);
+
+				{
+					btVector3 ftorqueAxis1 = m_relPosA.cross(normal);
+					btVector3 ftorqueAxis2 = m_relPosB.cross(normal);
+					bodyA.applyImpulse(normal*rbA.getInvMass(), rbA.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
+					bodyB.applyImpulse(normal*rbB.getInvMass(), rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
+				}
+
+
+
 			}
 		}
     }
@@ -227,8 +600,10 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
 	btVector3 axisA =  m_calculatedTransformA.getBasis().getColumn(0);
 	btVector3 axisB =  m_calculatedTransformB.getBasis().getColumn(0);
 
-	const btVector3& angVelA = rbA.getAngularVelocity();
-	const btVector3& angVelB = rbB.getAngularVelocity();
+	btVector3 angVelA;
+	bodyA.getAngularVelocity(angVelA);
+	btVector3 angVelB;
+	bodyB.getAngularVelocity(angVelB);
 
 	btVector3 angVelAroundAxisA = axisA * axisA.dot(angVelA);
 	btVector3 angVelAroundAxisB = axisB * axisB.dot(angVelB);
@@ -238,24 +613,38 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
 	btVector3 velrelOrthog = angAorthog-angBorthog;
 	//solve orthogonal angular velocity correction
 	btScalar len = velrelOrthog.length();
+	btScalar orthorImpulseMag = 0.f;
+
 	if (len > btScalar(0.00001))
 	{
 		btVector3 normal = velrelOrthog.normalized();
 		btScalar denom = rbA.computeAngularImpulseDenominator(normal) + rbB.computeAngularImpulseDenominator(normal);
-		velrelOrthog *= (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
+		//velrelOrthog *= (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
+		orthorImpulseMag = (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
 	}
 	//solve angular positional correction
 	btVector3 angularError = axisA.cross(axisB) *(btScalar(1.)/m_timeStep);
+	btVector3 angularAxis = angularError;
+	btScalar angularImpulseMag = 0;
+
 	btScalar len2 = angularError.length();
 	if (len2>btScalar(0.00001))
 	{
 		btVector3 normal2 = angularError.normalized();
 		btScalar denom2 = rbA.computeAngularImpulseDenominator(normal2) + rbB.computeAngularImpulseDenominator(normal2);
-		angularError *= (btScalar(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
+		angularImpulseMag = (btScalar(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
+		angularError *= angularImpulseMag;
 	}
 	// apply impulse
-	rbA.applyTorqueImpulse(-velrelOrthog+angularError);
-	rbB.applyTorqueImpulse(velrelOrthog-angularError);
+	//rbA.applyTorqueImpulse(-velrelOrthog+angularError);
+	//rbB.applyTorqueImpulse(velrelOrthog-angularError);
+
+	bodyA.applyImpulse(btVector3(0,0,0), rbA.getInvInertiaTensorWorld()*velrelOrthog,-orthorImpulseMag);
+	bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*velrelOrthog,orthorImpulseMag);
+	bodyA.applyImpulse(btVector3(0,0,0), rbA.getInvInertiaTensorWorld()*angularAxis,angularImpulseMag);
+	bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*angularAxis,-angularImpulseMag);
+
+
 	btScalar impulseMag;
 	//solve angular limits
 	if(m_solveAngLim)
@@ -269,8 +658,14 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
 		impulseMag *= m_kAngle * m_softnessDirAng;
 	}
 	btVector3 impulse = axisA * impulseMag;
-	rbA.applyTorqueImpulse(impulse);
-	rbB.applyTorqueImpulse(-impulse);
+	//rbA.applyTorqueImpulse(impulse);
+	//rbB.applyTorqueImpulse(-impulse);
+
+	bodyA.applyImpulse(btVector3(0,0,0), rbA.getInvInertiaTensorWorld()*axisA,impulseMag);
+	bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*axisA,-impulseMag);
+
+
+
 	//apply angular motor
 	if(m_poweredAngMotor) 
 	{
@@ -301,8 +696,11 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
 			m_accumulatedAngMotorImpulse = new_acc;
 			// apply clamped impulse
 			btVector3 motorImp = angImpulse * axisA;
-			m_rbA.applyTorqueImpulse(motorImp);
-			m_rbB.applyTorqueImpulse(-motorImp);
+			//rbA.applyTorqueImpulse(motorImp);
+			//rbB.applyTorqueImpulse(-motorImp);
+
+			bodyA.applyImpulse(btVector3(0,0,0), rbA.getInvInertiaTensorWorld()*axisA,angImpulse);
+			bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*axisA,-angImpulse);
 		}
 	}
 } // btSliderConstraint::solveConstraint()
@@ -312,7 +710,7 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB)
 //-----------------------------------------------------------------------------
 
 void btSliderConstraint::calculateTransforms(void){
-	if(m_useLinearReferenceFrameA)
+	if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
 	{
 		m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA;
 		m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB;
@@ -325,7 +723,14 @@ void btSliderConstraint::calculateTransforms(void){
 	m_realPivotAInW = m_calculatedTransformA.getOrigin();
 	m_realPivotBInW = m_calculatedTransformB.getOrigin();
 	m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
-	m_delta = m_realPivotBInW - m_realPivotAInW;
+	if(m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
+	{
+		m_delta = m_realPivotBInW - m_realPivotAInW;
+	}
+	else
+	{
+		m_delta = m_realPivotAInW - m_realPivotBInW;
+	}
 	m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
     btVector3 normalWorld;
     int i;
@@ -367,7 +772,6 @@ void btSliderConstraint::testLinLimits(void)
 } // btSliderConstraint::testLinLimits()
 
 //-----------------------------------------------------------------------------
- 
 
 void btSliderConstraint::testAngLimits(void)
 {
@@ -379,6 +783,7 @@ void btSliderConstraint::testAngLimits(void)
 		const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
 		const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
 		btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));  
+		m_angPos = rot;
 		if(rot < m_lowerAngLimit)
 		{
 			m_angDepth = rot - m_lowerAngLimit;
@@ -391,12 +796,9 @@ void btSliderConstraint::testAngLimits(void)
 		}
 	}
 } // btSliderConstraint::testAngLimits()
-
 	
 //-----------------------------------------------------------------------------
 
-
-
 btVector3 btSliderConstraint::getAncorInA(void)
 {
 	btVector3 ancorInA;
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index 580dfa1178d..70fbce5d9b2 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
@@ -46,6 +46,8 @@ class btRigidBody;
 class btSliderConstraint : public btTypedConstraint
 {
 protected:
+	///for backwards compatibility during the transition to 'getInfo/getInfo2'
+	bool		m_useSolveConstraintObsolete;
 	btTransform	m_frameInA;
     btTransform	m_frameInB;
 	// use frameA fo define limits, if true
@@ -104,6 +106,7 @@ protected:
 	btVector3 m_relPosB;
 
 	btScalar m_linPos;
+	btScalar m_angPos;
 
 	btScalar m_angDepth;
 	btScalar m_kAngle;
@@ -126,7 +129,13 @@ public:
     btSliderConstraint();
 	// overrides
     virtual void	buildJacobian();
-    virtual	void	solveConstraint(btScalar	timeStep);
+    virtual void getInfo1 (btConstraintInfo1* info);
+	
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+    virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
+	
+
 	// access
     const btRigidBody& getRigidBodyA() const { return m_rbA; }
     const btRigidBody& getRigidBodyB() const { return m_rbB; }
@@ -194,6 +203,7 @@ public:
 	void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
 	btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
 	btScalar getLinearPos() { return m_linPos; }
+	
 
 	// access for ODE solver
 	bool getSolveLinLimit() { return m_solveLinLim; }
@@ -202,10 +212,11 @@ public:
 	btScalar getAngDepth() { return m_angDepth; }
 	// internal
     void	buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB);
-    void	solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB);
+    void	solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB);
 	// shared code used by ODE solver
 	void	calculateTransforms(void);
 	void	testLinLimits(void);
+	void	testLinLimits2(btConstraintInfo2* info);
 	void	testAngLimits(void);
 	// access for PE Solver
 	btVector3 getAncorInA(void);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
index b3f0c9d7444..6b728959162 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
@@ -23,86 +23,152 @@ class	btRigidBody;
 #include "LinearMath/btAlignedAllocator.h"
 #include "LinearMath/btTransformUtil.h"
 
+///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
+#ifdef BT_USE_SSE
+#define USE_SIMD 1
+#endif //
 
-///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
+
+#ifdef USE_SIMD
+
+struct	btSimdScalar
+{
+	SIMD_FORCE_INLINE	btSimdScalar()
+	{
+
+	}
+
+	SIMD_FORCE_INLINE	btSimdScalar(float	fl)
+	:m_vec128 (_mm_set1_ps(fl))
+	{
+	}
+
+	SIMD_FORCE_INLINE	btSimdScalar(__m128 v128)
+		:m_vec128(v128)
+	{
+	}
+	union
+	{
+		__m128		m_vec128;
+		float		m_floats[4];
+		int			m_ints[4];
+		btScalar	m_unusedPadding;
+	};
+	SIMD_FORCE_INLINE	__m128	get128()
+	{
+		return m_vec128;
+	}
+
+	SIMD_FORCE_INLINE	const __m128	get128() const
+	{
+		return m_vec128;
+	}
+
+	SIMD_FORCE_INLINE	void	set128(__m128 v128)
+	{
+		m_vec128 = v128;
+	}
+
+	SIMD_FORCE_INLINE	operator       __m128()       
+	{ 
+		return m_vec128; 
+	}
+	SIMD_FORCE_INLINE	operator const __m128() const 
+	{ 
+		return m_vec128; 
+	}
+	
+	SIMD_FORCE_INLINE	operator float() const 
+	{ 
+		return m_floats[0]; 
+	}
+
+};
+
+///@brief Return the elementwise product of two btSimdScalar
+SIMD_FORCE_INLINE btSimdScalar 
+operator*(const btSimdScalar& v1, const btSimdScalar& v2) 
+{
+	return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
+}
+
+///@brief Return the elementwise product of two btSimdScalar
+SIMD_FORCE_INLINE btSimdScalar 
+operator+(const btSimdScalar& v1, const btSimdScalar& v2) 
+{
+	return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
+}
+
+
+#else
+#define btSimdScalar btScalar
+#endif
+
+///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
 ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-	
-	btVector3		m_angularVelocity;
-	float			m_angularFactor;
-	float			m_invMass;
-	float			m_friction;
+	btVector3		m_deltaLinearVelocity;
+	btVector3		m_deltaAngularVelocity;
+	btVector3		m_angularFactor;
+	btVector3		m_invMass;
+	btScalar		m_friction;
 	btRigidBody*	m_originalBody;
-	btVector3		m_linearVelocity;
-	btVector3		m_centerOfMassPosition;
-	
 	btVector3		m_pushVelocity;
-	btVector3		m_turnVelocity;
-	
+	//btVector3		m_turnVelocity;	
+
 	
-	SIMD_FORCE_INLINE void	getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
+	SIMD_FORCE_INLINE void	getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
 	{
-		velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos);
+		if (m_originalBody)
+			velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
+		else
+			velocity.setValue(0,0,0);
 	}
 
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
+	SIMD_FORCE_INLINE void	getAngularVelocity(btVector3& angVel) const
 	{
-		if (m_invMass)
-		{
-			m_linearVelocity += linearComponent*impulseMagnitude;
-			m_angularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
+		if (m_originalBody)
+			angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
+		else
+			angVel.setValue(0,0,0);
 	}
-	
-	SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
+
+
+	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
+	SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
 	{
-		if (m_invMass)
+		//if (m_invMass)
 		{
-			m_pushVelocity += linearComponent*impulseMagnitude;
-			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+			m_deltaLinearVelocity += linearComponent*impulseMagnitude;
+			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
 		}
 	}
 
 	
+/*
+	
 	void	writebackVelocity()
 	{
 		if (m_invMass)
 		{
-			m_originalBody->setLinearVelocity(m_linearVelocity);
-			m_originalBody->setAngularVelocity(m_angularVelocity);
+			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
+			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
 			
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
-	
+	*/
 
-	void	writebackVelocity(btScalar timeStep)
+	void	writebackVelocity(btScalar timeStep=0)
 	{
-		if (m_invMass)
+		if (m_originalBody)
 		{
-			m_originalBody->setLinearVelocity(m_linearVelocity);
-			m_originalBody->setAngularVelocity(m_angularVelocity);
-			
-			//correct the position/orientation based on push/turn recovery
-			btTransform newTransform;
-			btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
-			m_originalBody->setWorldTransform(newTransform);
-			
+			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity);
+			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
-
-	void	readVelocity()
-	{
-		if (m_invMass)
-		{
-			m_linearVelocity = m_originalBody->getLinearVelocity();
-			m_angularVelocity = m_originalBody->getAngularVelocity();
-		}
-	}
-
 	
 
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
index 2c71360c5b9..867d62a301d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
@@ -19,40 +19,64 @@ subject to the following restrictions:
 class	btRigidBody;
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
+#include "btJacobianEntry.h"
 
 //#define NO_FRICTION_TANGENTIALS 1
+#include "btSolverBody.h"
+
 
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
 ATTRIBUTE_ALIGNED16 (struct)	btSolverConstraint
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btVector3	m_relpos1CrossNormal;
-	btVector3	m_contactNormal;
-
-	btVector3	m_relpos2CrossNormal;
-	btVector3	m_angularComponentA;
+	btVector3		m_relpos1CrossNormal;
+	btVector3		m_contactNormal;
 
-	btVector3	m_angularComponentB;
+	btVector3		m_relpos2CrossNormal;
+	//btVector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
 
-	mutable btScalar	m_appliedPushImpulse;
+	btVector3		m_angularComponentA;
+	btVector3		m_angularComponentB;
+	
+	mutable btSimdScalar	m_appliedPushImpulse;
+	mutable btSimdScalar	m_appliedImpulse;
 	
-	mutable btScalar	m_appliedImpulse;
-	int			m_solverBodyIdA;
-	int			m_solverBodyIdB;
 	
 	btScalar	m_friction;
-	btScalar	m_restitution;
 	btScalar	m_jacDiagABInv;
-	btScalar	m_penetration;
-	
+	union
+	{
+		int	m_numConsecutiveRowsPerKernel;
+		btScalar	m_unusedPadding0;
+	};
 
+	union
+	{
+		int			m_frictionIndex;
+		btScalar	m_unusedPadding1;
+	};
+	union
+	{
+		int			m_solverBodyIdA;
+		btScalar	m_unusedPadding2;
+	};
+	union
+	{
+		int			m_solverBodyIdB;
+		btScalar	m_unusedPadding3;
+	};
 	
-	int			m_constraintType;
-	int			m_frictionIndex;
-	void*		m_originalContactPoint;
-	int			m_unusedPadding[1];
+	union
+	{
+		void*		m_originalContactPoint;
+		btScalar	m_unusedPadding4;
+	};
 
+	btScalar		m_rhs;
+	btScalar		m_cfm;
+	btScalar		m_lowerLimit;
+	btScalar		m_upperLimit;
 
 	enum		btSolverConstraintType
 	{
@@ -61,9 +85,7 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverConstraint
 	};
 };
 
-
-
-
+typedef btAlignedObjectArray<btSolverConstraint>	btConstraintArray;
 
 
 #endif //BT_SOLVER_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
index 6e8b552dbbc..3fa98ee4c88 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
@@ -19,13 +19,16 @@ subject to the following restrictions:
 
 static btRigidBody s_fixed(0, 0,0);
 
+#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
+
 btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
 :m_userConstraintType(-1),
 m_userConstraintId(-1),
 m_constraintType (type),
 m_rbA(s_fixed),
 m_rbB(s_fixed),
-m_appliedImpulse(btScalar(0.))
+m_appliedImpulse(btScalar(0.)),
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
 {
 	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
 }
@@ -35,7 +38,8 @@ m_userConstraintId(-1),
 m_constraintType (type),
 m_rbA(rbA),
 m_rbB(s_fixed),
-m_appliedImpulse(btScalar(0.))
+m_appliedImpulse(btScalar(0.)),
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
 {
 		s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
 
@@ -48,9 +52,63 @@ m_userConstraintId(-1),
 m_constraintType (type),
 m_rbA(rbA),
 m_rbB(rbB),
-m_appliedImpulse(btScalar(0.))
+m_appliedImpulse(btScalar(0.)),
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
 {
 		s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
 
 }
 
+
+//-----------------------------------------------------------------------------
+
+btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
+{
+	if(lowLim > uppLim)
+	{
+		return btScalar(1.0f);
+	}
+	else if(lowLim == uppLim)
+	{
+		return btScalar(0.0f);
+	}
+	btScalar lim_fact = btScalar(1.0f);
+	btScalar delta_max = vel / timeFact;
+	if(delta_max < btScalar(0.0f))
+	{
+		if((pos >= lowLim) && (pos < (lowLim - delta_max)))
+		{
+			lim_fact = (lowLim - pos) / delta_max;
+		}
+		else if(pos  < lowLim)
+		{
+			lim_fact = btScalar(0.0f);
+		}
+		else
+		{
+			lim_fact = btScalar(1.0f);
+		}
+	}
+	else if(delta_max > btScalar(0.0f))
+	{
+		if((pos <= uppLim) && (pos > (uppLim - delta_max)))
+		{
+			lim_fact = (uppLim - pos) / delta_max;
+		}
+		else if(pos  > uppLim)
+		{
+			lim_fact = btScalar(0.0f);
+		}
+		else
+		{
+			lim_fact = btScalar(1.0f);
+		}
+	}
+	else
+	{
+			lim_fact = btScalar(0.0f);
+	}
+	return lim_fact;
+} // btTypedConstraint::getMotorFactor()
+
+
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
index c50ec6ec579..14cbe831b40 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -18,6 +18,11 @@ subject to the following restrictions:
 
 class btRigidBody;
 #include "LinearMath/btScalar.h"
+#include "btSolverConstraint.h"
+struct  btSolverBody;
+
+
+
 
 enum btTypedConstraintType
 {
@@ -25,7 +30,6 @@ enum btTypedConstraintType
 	HINGE_CONSTRAINT_TYPE,
 	CONETWIST_CONSTRAINT_TYPE,
 	D6_CONSTRAINT_TYPE,
-	VEHICLE_CONSTRAINT_TYPE,
 	SLIDER_CONSTRAINT_TYPE
 };
 
@@ -48,6 +52,7 @@ protected:
 	btRigidBody&	m_rbA;
 	btRigidBody&	m_rbB;
 	btScalar	m_appliedImpulse;
+	btScalar	m_dbgDrawSize;
 
 
 public:
@@ -55,13 +60,55 @@ public:
 	btTypedConstraint(btTypedConstraintType type);
 	virtual ~btTypedConstraint() {};
 	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
-
 	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
 
+	struct btConstraintInfo1 {
+		int m_numConstraintRows,nub;
+	};
+
+	struct btConstraintInfo2 {
+		// integrator parameters: frames per second (1/stepsize), default error
+		// reduction parameter (0..1).
+		btScalar fps,erp;
+
+		// for the first and second body, pointers to two (linear and angular)
+		// n*3 jacobian sub matrices, stored by rows. these matrices will have
+		// been initialized to 0 on entry. if the second body is zero then the
+		// J2xx pointers may be 0.
+		btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
+
+		// elements to jump from one row to the next in J's
+		int rowskip;
+
+		// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
+		// "constraint force mixing" vector. c is set to zero on entry, cfm is
+		// set to a constant value (typically very small or zero) value on entry.
+		btScalar *m_constraintError,*cfm;
+
+		// lo and hi limits for variables (set to -/+ infinity on entry).
+		btScalar *m_lowerLimit,*m_upperLimit;
+
+		// findex vector for variables. see the LCP solver interface for a
+		// description of what this does. this is set to -1 on entry.
+		// note that the returned indexes are relative to the first index of
+		// the constraint.
+		int *findex;
+	};
+
+
 	virtual void	buildJacobian() = 0;
 
-	virtual	void	solveConstraint(btScalar	timeStep) = 0;
+	virtual	void	setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep)
+	{
+	}
+	virtual void getInfo1 (btConstraintInfo1* info)=0;
+
+	virtual void getInfo2 (btConstraintInfo2* info)=0;
 
+	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep) = 0;
+
+	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
+	
 	const btRigidBody& getRigidBodyA() const
 	{
 		return m_rbA;
@@ -94,7 +141,7 @@ public:
 	{
 		m_userConstraintId = uid;
 	}
-	
+
 	int getUserConstraintId() const
 	{
 		return m_userConstraintId;
@@ -114,7 +161,16 @@ public:
 	{
 		return m_constraintType;
 	}
-
+	
+	void setDbgDrawSize(btScalar dbgDrawSize)
+	{
+		m_dbgDrawSize = dbgDrawSize;
+	}
+	btScalar getDbgDrawSize()
+	{
+		return m_dbgDrawSize;
+	}
+	
 };
 
 #endif //TYPED_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
index c2fd71d67fe..47addbac45b 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
@@ -38,7 +38,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
 #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
@@ -110,16 +110,16 @@ void           plDeleteDynamicsWorld(plDynamicsWorldHandle world)
 void	plStepSimulation(plDynamicsWorldHandle world,	plReal	timeStep)
 {
 	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
-	assert(dynamicsWorld);
+	btAssert(dynamicsWorld);
 	dynamicsWorld->stepSimulation(timeStep);
 }
 
 void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
 {
 	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
-	assert(dynamicsWorld);
+	btAssert(dynamicsWorld);
 	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	assert(body);
+	btAssert(body);
 
 	dynamicsWorld->addRigidBody(body);
 }
@@ -127,9 +127,9 @@ void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
 void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
 {
 	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
-	assert(dynamicsWorld);
+	btAssert(dynamicsWorld);
 	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	assert(body);
+	btAssert(body);
 
 	dynamicsWorld->removeRigidBody(body);
 }
@@ -142,7 +142,7 @@ plRigidBodyHandle plCreateRigidBody(	void* user_data,  float mass, plCollisionSh
 	trans.setIdentity();
 	btVector3 localInertia(0,0,0);
 	btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
-	assert(shape);
+	btAssert(shape);
 	if (mass)
 	{
 		shape->calculateLocalInertia(mass,localInertia);
@@ -158,7 +158,7 @@ plRigidBodyHandle plCreateRigidBody(	void* user_data,  float mass, plCollisionSh
 void plDeleteRigidBody(plRigidBodyHandle cbody)
 {
 	btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody);
-	assert(body);
+	btAssert(body);
 	btAlignedFree( body);
 }
 
@@ -255,20 +255,20 @@ void		plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z)
 	(void)colShape;
 	btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE);
 	btConvexHullShape* convexHullShape = reinterpret_cast<btConvexHullShape*>( cshape);
-	convexHullShape->addPoint(btPoint3(x,y,z));
+	convexHullShape->addPoint(btVector3(x,y,z));
 
 }
 
 void plDeleteShape(plCollisionShapeHandle cshape)
 {
 	btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
-	assert(shape);
+	btAssert(shape);
 	btAlignedFree(shape);
 }
 void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling)
 {
 	btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
-	assert(shape);
+	btAssert(shape);
 	btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]);
 	shape->setLocalScaling(scaling);	
 }
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h b/extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h
new file mode 100644
index 00000000000..8348795ef70
--- /dev/null
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h
@@ -0,0 +1,39 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef _BT_ACTION_INTERFACE_H
+#define _BT_ACTION_INTERFACE_H
+
+class btIDebugDraw;
+class btCollisionWorld;
+
+#include "LinearMath/btScalar.h"
+
+///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
+class btActionInterface
+{
+	public:
+
+	virtual ~btActionInterface()
+	{
+	}
+
+	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0;
+
+	virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
+
+};
+
+#endif //_BT_ACTION_INTERFACE_H
\ No newline at end of file
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
index 19443adc723..fa0d63d74a1 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
@@ -90,8 +90,7 @@ void	btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
 	integrateTransforms(timeStep * toi);
 
 	///update vehicle simulation
-	updateVehicles(timeStep);
-
+	updateActions(timeStep);
 
 	updateActivationState( timeStep );
 	
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 745694e2f70..ea2e0ad2a2b 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -29,6 +29,11 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
 
 //for debug rendering
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
@@ -46,12 +51,7 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 
 
-
-//vehicle
-#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
-#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
-#include "BulletDynamics/Vehicle/btWheelInfo.h"
-#include "LinearMath/btIDebugDraw.h"
+#include "BulletDynamics/Dynamics/btActionInterface.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btMotionState.h"
 
@@ -110,7 +110,6 @@ void	btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-				btTransform predictedTrans;
 				if (body->getActivationState() != ISLAND_SLEEPING)
 				{
 					if (body->isKinematicObject())
@@ -125,6 +124,7 @@ void	btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
 
 void	btDiscreteDynamicsWorld::debugDrawWorld()
 {
+	BT_PROFILE("debugDrawWorld");
 
 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
 	{
@@ -144,13 +144,30 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 			}
 		}
 	}
+	bool drawConstraints = false;
+	if (getDebugDrawer())
+	{
+		int mode = getDebugDrawer()->getDebugMode();
+		if(mode  & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
+		{
+			drawConstraints = true;
+		}
+	}
+	if(drawConstraints)
+	{
+		for(int i = getNumConstraints()-1; i>=0 ;i--)
+		{
+			btTypedConstraint* constraint = getConstraint(i);
+			debugDrawConstraint(constraint);
+		}
+	}
+
 
 
 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
 	{
 		int i;
 
-		//todo: iterate over awake simulation islands!
 		for (  i=0;i<m_collisionObjects.size();i++)
 		{
 			btCollisionObject* colObj = m_collisionObjects[i];
@@ -179,7 +196,7 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 			}
 			if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 			{
-				btPoint3 minAabb,maxAabb;
+				btVector3 minAabb,maxAabb;
 				btVector3 colorvec(1,0,0);
 				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
 				m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
@@ -187,32 +204,11 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 
 		}
 	
-		for (  i=0;i<this->m_vehicles.size();i++)
+		if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
 		{
-			for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
+			for (i=0;i<m_actions.size();i++)
 			{
-				btVector3 wheelColor(0,255,255);
-				if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
-				{
-					wheelColor.setValue(0,0,255);
-				} else
-				{
-					wheelColor.setValue(255,0,255);
-				}
-		
-				btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
-
-				btVector3 axle = btVector3(	
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
-
-
-				//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
-				//debug wheels (cylinders)
-				m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
-				m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
-
+				m_actions[i]->debugDraw(m_debugDrawer);
 			}
 		}
 	}
@@ -220,7 +216,7 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 
 void	btDiscreteDynamicsWorld::clearForces()
 {
-	//todo: iterate over awake simulation islands!
+	///@todo: iterate over awake simulation islands!
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
@@ -236,7 +232,7 @@ void	btDiscreteDynamicsWorld::clearForces()
 ///apply gravity, call this once per timestep
 void	btDiscreteDynamicsWorld::applyGravity()
 {
-	//todo: iterate over awake simulation islands!
+	///@todo: iterate over awake simulation islands!
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
@@ -250,9 +246,29 @@ void	btDiscreteDynamicsWorld::applyGravity()
 }
 
 
+void	btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
+{
+	btAssert(body);
+
+	if (body->getMotionState() && !body->isStaticOrKinematicObject())
+	{
+		//we need to call the update at least once, even for sleeping objects
+		//otherwise the 'graphics' transform never updates properly
+		///@todo: add 'dirty' flag
+		//if (body->getActivationState() != ISLAND_SLEEPING)
+		{
+			btTransform interpolatedTransform;
+			btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
+				body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
+			body->getMotionState()->setWorldTransform(interpolatedTransform);
+		}
+	}
+}
+
 
 void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 {
+	BT_PROFILE("synchronizeMotionStates");
 	{
 		//todo: iterate over awake simulation islands!
 		for ( int i=0;i<m_collisionObjects.size();i++)
@@ -260,22 +276,11 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 			btCollisionObject* colObj = m_collisionObjects[i];
 			
 			btRigidBody* body = btRigidBody::upcast(colObj);
-			if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
-			{
-				//we need to call the update at least once, even for sleeping objects
-				//otherwise the 'graphics' transform never updates properly
-				//so todo: add 'dirty' flag
-				//if (body->getActivationState() != ISLAND_SLEEPING)
-				{
-					btTransform interpolatedTransform;
-					btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
-						body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
-					body->getMotionState()->setWorldTransform(interpolatedTransform);
-				}
-			}
+			if (body)
+				synchronizeSingleMotionState(body);
 		}
 	}
-
+/*
 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
 	{
 		for ( int i=0;i<this->m_vehicles.size();i++)
@@ -287,6 +292,8 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 			}
 		}
 	}
+	*/
+
 
 }
 
@@ -327,7 +334,8 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 	//process some debugging flags
 	if (getDebugDrawer())
 	{
-		gDisableDeactivation = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
+		btIDebugDraw* debugDrawer = getDebugDrawer ();
+		gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
 	}
 	if (numSimulationSubSteps)
 	{
@@ -391,9 +399,8 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	integrateTransforms(timeStep);
 
 	///update vehicle simulation
-	updateVehicles(timeStep);
-
-
+	updateActions(timeStep);
+	
 	updateActivationState( timeStep );
 
 	if(0 != m_internalTickCallback) {
@@ -423,13 +430,6 @@ btVector3 btDiscreteDynamicsWorld::getGravity () const
 
 void	btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
 {
-	//remove all constraints too
-	while (body->getNumConstraintRefs())
-	{
-		btTypedConstraint* constraint = body->getConstraintRef(0);
-		removeConstraint(constraint);
-	}
-
 	removeCollisionObject(body);
 }
 
@@ -464,17 +464,17 @@ void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
 }
 
 
-void	btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
+void	btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
 {
-	BT_PROFILE("updateVehicles");
+	BT_PROFILE("updateActions");
 	
-	for ( int i=0;i<m_vehicles.size();i++)
+	for ( int i=0;i<m_actions.size();i++)
 	{
-		btRaycastVehicle* vehicle = m_vehicles[i];
-		vehicle->updateVehicle( timeStep);
+		m_actions[i]->updateAction( this, timeStep);
 	}
 }
-
+	
+	
 void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
 {
 	BT_PROFILE("updateActivationState");
@@ -529,16 +529,38 @@ void	btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
 	constraint->getRigidBodyB().removeConstraintRef(constraint);
 }
 
-void	btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle)
+void	btDiscreteDynamicsWorld::addAction(btActionInterface* action)
+{
+	m_actions.push_back(action);
+}
+
+void	btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
+{
+	m_actions.remove(action);
+}
+
+
+void	btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
+{
+	addAction(vehicle);
+}
+
+void	btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
+{
+	removeAction(vehicle);
+}
+
+void	btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
 {
-	m_vehicles.push_back(vehicle);
+	addAction(character);
 }
 
-void	btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
+void	btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
 {
-	m_vehicles.remove(vehicle);
+	removeAction(character);
 }
 
+
 SIMD_FORCE_INLINE	int	btGetConstraintIslandId(const btTypedConstraint* lhs)
 {
 	int islandId;
@@ -611,8 +633,11 @@ void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 		{
 			if (islandId<0)
 			{
-				///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-				m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+				if (numManifolds + m_numConstraints)
+				{
+					///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
+					m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+				}
 			} else
 			{
 					//also add all non-contact constraints/joints for this island
@@ -658,7 +683,7 @@ void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 		sortedConstraints[i] = m_constraints[i];
 	}
 
-//	assert(0);
+//	btAssert(0);
 		
 	
 
@@ -671,7 +696,7 @@ void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 	m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
 	
 	/// solve all the constraints for this island
-	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback);
+	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),&solverCallback);
 
 	m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
 }
@@ -722,21 +747,27 @@ class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConve
 	btCollisionObject* m_me;
 	btScalar m_allowedPenetration;
 	btOverlappingPairCache* m_pairCache;
+	btDispatcher* m_dispatcher;
 
 
 public:
-	btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache) : 
+	btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : 
 	  btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
 		m_allowedPenetration(0.0f),
 		m_me(me),
-		m_pairCache(pairCache)
+		m_pairCache(pairCache),
+		m_dispatcher(dispatcher)
 	{
 	}
 
 	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
 	{
 		if (convexResult.m_hitCollisionObject == m_me)
-			return 1.0;
+			return 1.0f;
+
+		//ignore result if there is no contact response
+		if(!convexResult.m_hitCollisionObject->hasContactResponse())
+			return 1.0f;
 
 		btVector3 linVelA,linVelB;
 		linVelA = m_convexToWorld-m_convexFromWorld;
@@ -757,23 +788,29 @@ public:
 			return false;
 
 		///don't do CCD when the collision filters are not matching
-		if (!btCollisionWorld::ClosestConvexResultCallback::needsCollision(proxy0))
+		if (!ClosestConvexResultCallback::needsCollision(proxy0))
 			return false;
 
-		///don't do CCD when there are already contact points (touching contact/penetration)
-		btAlignedObjectArray<btPersistentManifold*> manifoldArray;
-		btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
-		if (collisionPair)
+		btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
+
+		//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
+		if (m_dispatcher->needsResponse(m_me,otherObj))
 		{
-			if (collisionPair->m_algorithm)
+			///don't do CCD when there are already contact points (touching contact/penetration)
+			btAlignedObjectArray<btPersistentManifold*> manifoldArray;
+			btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
+			if (collisionPair)
 			{
-				manifoldArray.resize(0);
-				collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
-				for (int j=0;j<manifoldArray.size();j++)
+				if (collisionPair->m_algorithm)
 				{
-					btPersistentManifold* manifold = manifoldArray[j];
-					if (manifold->getNumContacts()>0)
-						return false;
+					manifoldArray.resize(0);
+					collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
+					for (int j=0;j<manifoldArray.size();j++)
+					{
+						btPersistentManifold* manifold = manifoldArray[j];
+						if (manifold->getNumContacts()>0)
+							return false;
+					}
 				}
 			}
 		}
@@ -811,9 +848,13 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 					{
 						gNumClampedCcdMotions++;
 						
-						btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache());
+						btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
 						btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
 						btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+
+						sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
+						sweepResults.m_collisionFilterMask  = body->getBroadphaseProxy()->m_collisionFilterMask;
+
 						convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
 						if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
 						{
@@ -833,6 +874,8 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 
 
 
+
+
 void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
 	BT_PROFILE("predictUnconstraintMotion");
@@ -844,14 +887,12 @@ void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 		{
 			if (!body->isStaticOrKinematicObject())
 			{
-				if (body->isActive())
-				{
-					body->integrateVelocities( timeStep);
-					//damping
-					body->applyDamping(timeStep);
+				
+				body->integrateVelocities( timeStep);
+				//damping
+				body->applyDamping(timeStep);
 
-					body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
-				}
+				body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
 			}
 		}
 	}
@@ -1103,7 +1144,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
 				{
 					btConcaveShape* concaveMesh = (btConcaveShape*) shape;
 					
-					//todo pass camera, for some culling
+					///@todo pass camera, for some culling? no -> we are not a graphics lib
 					btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
 					btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
 
@@ -1132,7 +1173,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
 					int i;
 					for (i=0;i<polyshape->getNumEdges();i++)
 					{
-						btPoint3 a,b;
+						btVector3 a,b;
 						polyshape->getEdge(i,a,b);
 						btVector3 wa = worldTransform * a;
 						btVector3 wb = worldTransform * b;
@@ -1148,6 +1189,189 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
 }
 
 
+void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
+{
+	bool drawFrames = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraints) != 0;
+	bool drawLimits = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraintLimits) != 0;
+	btScalar dbgDrawSize = constraint->getDbgDrawSize();
+	if(dbgDrawSize <= btScalar(0.f))
+	{
+		return;
+	}
+
+	switch(constraint->getConstraintType())
+	{
+		case POINT2POINT_CONSTRAINT_TYPE:
+			{
+				btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)constraint;
+				btTransform tr;
+				tr.setIdentity();
+				btVector3 pivot = p2pC->getPivotInA();
+				pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot; 
+				tr.setOrigin(pivot);
+				getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				// that ideally should draw the same frame	
+				pivot = p2pC->getPivotInB();
+				pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot; 
+				tr.setOrigin(pivot);
+				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+			}
+			break;
+		case HINGE_CONSTRAINT_TYPE:
+			{
+				btHingeConstraint* pHinge = (btHingeConstraint*)constraint;
+				btTransform tr = pHinge->getRigidBodyA().getCenterOfMassTransform() * pHinge->getAFrame();
+				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				tr = pHinge->getRigidBodyB().getCenterOfMassTransform() * pHinge->getBFrame();
+				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				btScalar minAng = pHinge->getLowerLimit();
+				btScalar maxAng = pHinge->getUpperLimit();
+				if(minAng == maxAng)
+				{
+					break;
+				}
+				bool drawSect = true;
+				if(minAng > maxAng)
+				{
+					minAng = btScalar(0.f);
+					maxAng = SIMD_2_PI;
+					drawSect = false;
+				}
+				if(drawLimits) 
+				{
+					btVector3& center = tr.getOrigin();
+					btVector3 normal = tr.getBasis().getColumn(2);
+					btVector3 axis = tr.getBasis().getColumn(0);
+					getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, btVector3(0,0,0), drawSect);
+				}
+			}
+			break;
+		case CONETWIST_CONSTRAINT_TYPE:
+			{
+				btConeTwistConstraint* pCT = (btConeTwistConstraint*)constraint;
+				btTransform tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
+				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
+				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				if(drawLimits)
+				{
+					//const btScalar length = btScalar(5);
+					const btScalar length = dbgDrawSize;
+					static int nSegments = 8*4;
+					btScalar fAngleInRadians = btScalar(2.*3.1415926) * (btScalar)(nSegments-1)/btScalar(nSegments);
+					btVector3 pPrev = pCT->GetPointForAngle(fAngleInRadians, length);
+					pPrev = tr * pPrev;
+					for (int i=0; i<nSegments; i++)
+					{
+						fAngleInRadians = btScalar(2.*3.1415926) * (btScalar)i/btScalar(nSegments);
+						btVector3 pCur = pCT->GetPointForAngle(fAngleInRadians, length);
+						pCur = tr * pCur;
+						getDebugDrawer()->drawLine(pPrev, pCur, btVector3(0,0,0));
+
+						if (i%(nSegments/8) == 0)
+							getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0,0,0));
+
+						pPrev = pCur;
+					}						
+					btScalar tws = pCT->getTwistSpan();
+					btScalar twa = pCT->getTwistAngle();
+					bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f));
+					if(useFrameB)
+					{
+						tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
+					}
+					else
+					{
+						tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
+					}
+					btVector3 pivot = tr.getOrigin();
+					btVector3 normal = tr.getBasis().getColumn(0);
+					btVector3 axis1 = tr.getBasis().getColumn(1);
+					getDebugDrawer()->drawArc(pivot, normal, axis1, dbgDrawSize, dbgDrawSize, -twa-tws, -twa+tws, btVector3(0,0,0), true);
+
+				}
+			}
+			break;
+		case D6_CONSTRAINT_TYPE:
+			{
+				btGeneric6DofConstraint* p6DOF = (btGeneric6DofConstraint*)constraint;
+				btTransform tr = p6DOF->getCalculatedTransformA();
+				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				tr = p6DOF->getCalculatedTransformB();
+				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				if(drawLimits) 
+				{
+					tr = p6DOF->getCalculatedTransformA();
+					const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
+					btVector3 up = tr.getBasis().getColumn(2);
+					btVector3 axis = tr.getBasis().getColumn(0);
+					btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
+					btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
+					btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
+					btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
+					getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0,0,0));
+					axis = tr.getBasis().getColumn(1);
+					btScalar ay = p6DOF->getAngle(1);
+					btScalar az = p6DOF->getAngle(2);
+					btScalar cy = btCos(ay);
+					btScalar sy = btSin(ay);
+					btScalar cz = btCos(az);
+					btScalar sz = btSin(az);
+					btVector3 ref;
+					ref[0] = cy*cz*axis[0] + cy*sz*axis[1] - sy*axis[2];
+					ref[1] = -sz*axis[0] + cz*axis[1];
+					ref[2] = cz*sy*axis[0] + sz*sy*axis[1] + cy*axis[2];
+					tr = p6DOF->getCalculatedTransformB();
+					btVector3 normal = -tr.getBasis().getColumn(0);
+					btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
+					btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
+					if(minFi > maxFi)
+					{
+						getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0,0,0), false);
+					}
+					else if(minFi < maxFi)
+					{
+						getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0,0,0), true);
+					}
+					tr = p6DOF->getCalculatedTransformA();
+					btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
+					btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
+					getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0,0,0));
+				}
+			}
+			break;
+		case SLIDER_CONSTRAINT_TYPE:
+			{
+				btSliderConstraint* pSlider = (btSliderConstraint*)constraint;
+				btTransform tr = pSlider->getCalculatedTransformA();
+				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				tr = pSlider->getCalculatedTransformB();
+				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
+				if(drawLimits)
+				{
+					btTransform tr = pSlider->getCalculatedTransformA();
+					btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f);
+					btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f);
+					getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0));
+					btVector3 normal = tr.getBasis().getColumn(0);
+					btVector3 axis = tr.getBasis().getColumn(1);
+					btScalar a_min = pSlider->getLowerAngLimit();
+					btScalar a_max = pSlider->getUpperAngLimit();
+					const btVector3& center = pSlider->getCalculatedTransformB().getOrigin();
+					getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, a_min, a_max, btVector3(0,0,0), true);
+				}
+			}
+			break;
+		default : 
+			break;
+	}
+	return;
+} // btDiscreteDynamicsWorld::debugDrawConstraint()
+
+
+
+
+
 void	btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
 {
 	if (m_ownsConstraintSolver)
@@ -1176,3 +1400,5 @@ const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const
 {
 	return m_constraints[index];
 }
+
+
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index d9e2652aaf6..4662cf5052a 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -23,9 +23,8 @@ class btOverlappingPairCache;
 class btConstraintSolver;
 class btSimulationIslandManager;
 class btTypedConstraint;
+class btActionInterface;
 
-
-class btRaycastVehicle;
 class btIDebugDraw;
 #include "LinearMath/btAlignedObjectArray.h"
 
@@ -42,7 +41,6 @@ protected:
 
 	btAlignedObjectArray<btTypedConstraint*> m_constraints;
 
-
 	btVector3	m_gravity;
 
 	//for variable timesteps
@@ -52,33 +50,32 @@ protected:
 	bool	m_ownsIslandManager;
 	bool	m_ownsConstraintSolver;
 
+	btAlignedObjectArray<btActionInterface*>	m_actions;
 	
-	btAlignedObjectArray<btRaycastVehicle*>	m_vehicles;
-
 	int	m_profileTimings;
 
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
 	
 	virtual void	integrateTransforms(btScalar timeStep);
 		
-	void	calculateSimulationIslands();
+	virtual void	calculateSimulationIslands();
 
-	void	solveConstraints(btContactSolverInfo& solverInfo);
+	virtual void	solveConstraints(btContactSolverInfo& solverInfo);
 	
 	void	updateActivationState(btScalar timeStep);
 
-	void	updateVehicles(btScalar timeStep);
+	void	updateActions(btScalar timeStep);
 
 	void	startProfiling(btScalar timeStep);
 
 	virtual void	internalSingleStepSimulation( btScalar timeStep);
 
-	void	synchronizeMotionStates();
 
-	void	saveKinematicState(btScalar timeStep);
+	virtual void	saveKinematicState(btScalar timeStep);
 
 	void	debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
 
+
 public:
 
 
@@ -91,14 +88,19 @@ public:
 	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
 
 
-	void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
+	virtual void	synchronizeMotionStates();
 
-	void	removeConstraint(btTypedConstraint* constraint);
+	///this can be useful to synchronize a single rigid body -> graphics object
+	void	synchronizeSingleMotionState(btRigidBody* body);
 
-	void	addVehicle(btRaycastVehicle* vehicle);
+	virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
 
-	void	removeVehicle(btRaycastVehicle* vehicle);
+	virtual void	removeConstraint(btTypedConstraint* constraint);
 
+	virtual void	addAction(btActionInterface*);
+
+	virtual void	removeAction(btActionInterface*);
+	
 	btSimulationIslandManager*	getSimulationIslandManager()
 	{
 		return m_islandManager;
@@ -114,8 +116,8 @@ public:
 		return this;
 	}
 
-
 	virtual void	setGravity(const btVector3& gravity);
+
 	virtual btVector3 getGravity () const;
 
 	virtual void	addRigidBody(btRigidBody* body);
@@ -126,6 +128,8 @@ public:
 
 	void	debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
 
+	void	debugDrawConstraint(btTypedConstraint* constraint);
+
 	virtual void	debugDrawWorld();
 
 	virtual void	setConstraintSolver(btConstraintSolver* solver);
@@ -152,8 +156,24 @@ public:
 
 	virtual void	setNumTasks(int numTasks)
 	{
+        (void) numTasks;
+	}
+
+	///obsolete, use updateActions instead
+	virtual void updateVehicles(btScalar timeStep)
+	{
+		updateActions(timeStep);
 	}
 
+	///obsolete, use addAction instead
+	virtual void	addVehicle(btActionInterface* vehicle);
+	///obsolete, use removeAction instead
+	virtual void	removeVehicle(btActionInterface* vehicle);
+	///obsolete, use addAction instead
+	virtual void	addCharacter(btActionInterface* character);
+	///obsolete, use removeAction instead
+	virtual void	removeCharacter(btActionInterface* character);
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index 929e24d337c..ecf7a2f0c64 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -20,10 +20,11 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
 class btTypedConstraint;
-class btRaycastVehicle;
+class btActionInterface;
 class btConstraintSolver;
 class btDynamicsWorld;
 
+
 /// Type for the callback for each tick
 typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
 
@@ -71,15 +72,17 @@ public:
 
 		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
 
-		virtual void	addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
+		virtual void	addAction(btActionInterface* action) = 0;
 
-		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
+		virtual void	removeAction(btActionInterface* action) = 0;
 
 		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
 		//existing rigidbodies in the world get gravity assigned too, during this method
 		virtual void	setGravity(const btVector3& gravity) = 0;
 		virtual btVector3 getGravity () const = 0;
 
+		virtual void	synchronizeMotionStates() = 0;
+
 		virtual void	addRigidBody(btRigidBody* body) = 0;
 
 		virtual void	removeRigidBody(btRigidBody* body) = 0;
@@ -121,6 +124,16 @@ public:
 		}
 
 
+		///obsolete, use addAction instead.
+		virtual void	addVehicle(btActionInterface* vehicle) {(void)vehicle;}
+		///obsolete, use removeAction instead
+		virtual void	removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
+		///obsolete, use addAction instead.
+		virtual void	addCharacter(btActionInterface* character) {(void)character;}
+		///obsolete, use removeAction instead
+		virtual void	removeCharacter(btActionInterface* character) {(void)character;}
+
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
index 93d70de39d8..a4d8e1d77f6 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -44,9 +44,10 @@ void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
 
 	m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-	m_angularFactor = btScalar(1.);
-	m_anisotropicFriction.setValue(1.f,1.f,1.f);
+	m_angularFactor.setValue(1,1,1);
+	m_linearFactor.setValue(1,1,1);
 	m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
+	m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
 	m_linearDamping = btScalar(0.);
@@ -125,6 +126,7 @@ void btRigidBody::setGravity(const btVector3& acceleration)
 	{
 		m_gravity = acceleration * (btScalar(1.0) / m_inverseMass);
 	}
+	m_gravity_acceleration = acceleration;
 }
 
 
@@ -144,8 +146,17 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
 ///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
 void			btRigidBody::applyDamping(btScalar timeStep)
 {
+	//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
+	//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
+
+//#define USE_OLD_DAMPING_METHOD 1
+#ifdef USE_OLD_DAMPING_METHOD
 	m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
 	m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+#else
+	m_linearVelocity *= btPow(btScalar(1)-m_linearDamping, timeStep);
+	m_angularVelocity *= btPow(btScalar(1)-m_angularDamping, timeStep);
+#endif
 
 	if (m_additionalDamping)
 	{
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
index 4596f90a00f..da1fcb78611 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -17,7 +17,6 @@ subject to the following restrictions:
 #define RIGIDBODY_H
 
 #include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btPoint3.h"
 #include "LinearMath/btTransform.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
@@ -31,7 +30,7 @@ extern btScalar gDeactivationTime;
 extern bool gDisableDeactivation;
 
 
-///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
+///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
 ///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
 ///There are 3 types of rigid bodies: 
 ///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
@@ -46,9 +45,11 @@ class btRigidBody  : public btCollisionObject
 	btVector3		m_linearVelocity;
 	btVector3		m_angularVelocity;
 	btScalar		m_inverseMass;
-	btScalar		m_angularFactor;
+	btVector3		m_angularFactor;
+	btVector3		m_linearFactor;
 
 	btVector3		m_gravity;	
+	btVector3		m_gravity_acceleration;
 	btVector3		m_invInertiaLocal;
 	btVector3		m_totalForce;
 	btVector3		m_totalTorque;
@@ -75,7 +76,7 @@ class btRigidBody  : public btCollisionObject
 public:
 
 
-	///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
+	///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
 	///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
 	///You can use the motion state to synchronize the world transform between physics and graphics objects. 
 	///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
@@ -182,7 +183,7 @@ public:
 
 	const btVector3&	getGravity() const
 	{
-		return m_gravity;
+		return m_gravity_acceleration;
 	}
 
 	void			setDamping(btScalar lin_damping, btScalar ang_damping);
@@ -219,6 +220,14 @@ public:
 	
 	void			setMassProps(btScalar mass, const btVector3& inertia);
 	
+	const btVector3& getLinearFactor() const
+	{
+		return m_linearFactor;
+	}
+	void setLinearFactor(const btVector3& linearFactor)
+	{
+		m_linearFactor = linearFactor;
+	}
 	btScalar		getInvMass() const { return m_inverseMass; }
 	const btMatrix3x3& getInvInertiaTensorWorld() const { 
 		return m_invInertiaTensorWorld; 
@@ -230,10 +239,20 @@ public:
 
 	void			applyCentralForce(const btVector3& force)
 	{
-		m_totalForce += force;
+		m_totalForce += force*m_linearFactor;
 	}
+
+	const btVector3& getTotalForce()
+	{
+		return m_totalForce;
+	};
+
+	const btVector3& getTotalTorque()
+	{
+		return m_totalTorque;
+	};
     
-	const btVector3& getInvInertiaDiagLocal()
+	const btVector3& getInvInertiaDiagLocal() const
 	{
 		return m_invInertiaLocal;
 	};
@@ -251,23 +270,23 @@ public:
 
 	void	applyTorque(const btVector3& torque)
 	{
-		m_totalTorque += torque;
+		m_totalTorque += torque*m_angularFactor;
 	}
 	
 	void	applyForce(const btVector3& force, const btVector3& rel_pos) 
 	{
 		applyCentralForce(force);
-		applyTorque(rel_pos.cross(force)*m_angularFactor);
+		applyTorque(rel_pos.cross(force*m_linearFactor));
 	}
 	
 	void applyCentralImpulse(const btVector3& impulse)
 	{
-		m_linearVelocity += impulse * m_inverseMass;
+		m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
 	}
 	
   	void applyTorqueImpulse(const btVector3& torque)
 	{
-			m_angularVelocity += m_invInertiaTensorWorld * torque;
+			m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
 	}
 	
 	void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) 
@@ -277,7 +296,7 @@ public:
 			applyCentralImpulse(impulse);
 			if (m_angularFactor)
 			{
-				applyTorqueImpulse(rel_pos.cross(impulse)*m_angularFactor);
+				applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
 			}
 		}
 	}
@@ -287,10 +306,10 @@ public:
 	{
 		if (m_inverseMass != btScalar(0.))
 		{
-			m_linearVelocity += linearComponent*impulseMagnitude;
+			m_linearVelocity += linearComponent*m_linearFactor*impulseMagnitude;
 			if (m_angularFactor)
 			{
-				m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
+				m_angularVelocity += angularComponent*m_angularFactor*impulseMagnitude;
 			}
 		}
 	}
@@ -303,7 +322,7 @@ public:
 	
 	void updateInertiaTensor();    
 	
-	const btPoint3&     getCenterOfMassPosition() const { 
+	const btVector3&     getCenterOfMassPosition() const { 
 		return m_worldTransform.getOrigin(); 
 	}
 	btQuaternion getOrientation() const;
@@ -321,15 +340,12 @@ public:
 
 	inline void setLinearVelocity(const btVector3& lin_vel)
 	{ 
-		assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
 		m_linearVelocity = lin_vel; 
 	}
 
-	inline void setAngularVelocity(const btVector3& ang_vel) { 
-		assert (m_collisionFlags != btCollisionObject::CF_STATIC_OBJECT);
-		{
-			m_angularVelocity = ang_vel; 
-		}
+	inline void setAngularVelocity(const btVector3& ang_vel) 
+	{ 
+		m_angularVelocity = ang_vel; 
 	}
 
 	btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
@@ -353,7 +369,7 @@ public:
 
 
 	
-	SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const
+	SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
 	{
 		btVector3 r0 = pos - getCenterOfMassPosition();
 
@@ -443,11 +459,16 @@ public:
 	int	m_contactSolverType;
 	int	m_frictionSolverType;
 
-	void	setAngularFactor(btScalar angFac)
+	void	setAngularFactor(const btVector3& angFac)
 	{
 		m_angularFactor = angFac;
 	}
-	btScalar	getAngularFactor() const
+
+	void	setAngularFactor(btScalar angFac)
+	{
+		m_angularFactor.setValue(angFac,angFac,angFac);
+	}
+	const btVector3&	getAngularFactor() const
 	{
 		return m_angularFactor;
 	}
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
index 3be04d1a4ad..3f6141463c3 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -97,7 +97,7 @@ int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
 
 void	btSimpleDynamicsWorld::clearForces()
 {
-	//todo: iterate over awake simulation islands!
+	///@todo: iterate over awake simulation islands!
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
@@ -156,7 +156,7 @@ void	btSimpleDynamicsWorld::updateAabbs()
 		{
 			if (body->isActive() && (!body->isStaticObject()))
 			{
-				btPoint3 minAabb,maxAabb;
+				btVector3 minAabb,maxAabb;
 				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
 				btBroadphaseInterface* bp = getBroadphase();
 				bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
@@ -210,7 +210,7 @@ void	btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 
 void	btSimpleDynamicsWorld::synchronizeMotionStates()
 {
-	//todo: iterate over awake simulation islands!
+	///@todo: iterate over awake simulation islands!
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
index 5c56fdf1327..ea1a2a1ccc7 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
@@ -22,7 +22,7 @@ class btDispatcher;
 class btOverlappingPairCache;
 class btConstraintSolver;
 
-///btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
+///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
 ///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished).
 class btSimpleDynamicsWorld : public btDynamicsWorld
 {
@@ -60,7 +60,7 @@ public:
 	
 	virtual void	updateAabbs();
 
-	void	synchronizeMotionStates();
+	virtual void	synchronizeMotionStates();
 
 	virtual void	setConstraintSolver(btConstraintSolver* solver);
 
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index fe65245c2a1..031fcb5b447 100644
--- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -19,15 +19,13 @@
 #include "btVehicleRaycaster.h"
 #include "btWheelInfo.h"
 #include "LinearMath/btMinMax.h"
-
-
+#include "LinearMath/btIDebugDraw.h"
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
 static btRigidBody s_fixedObject( 0,0,0);
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
-: btTypedConstraint(VEHICLE_CONSTRAINT_TYPE),
-m_vehicleRaycaster(raycaster),
+:m_vehicleRaycaster(raycaster),
 m_pitchControl(btScalar(0.))
 {
 	m_chassisBody = chassis;
@@ -87,7 +85,7 @@ btWheelInfo&	btRaycastVehicle::addWheel( const btVector3& connectionPointCS, con
 
 const btTransform&	btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
 {
-	assert(wheelIndex < getNumWheels());
+	btAssert(wheelIndex < getNumWheels());
 	const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
 	return wheel.m_worldTransform;
 
@@ -175,7 +173,7 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 	
 	btVehicleRaycaster::btVehicleRaycasterResult	rayResults;
 
-	assert(m_vehicleRaycaster);
+	btAssert(m_vehicleRaycaster);
 
 	void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
 
@@ -188,7 +186,7 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 		wheel.m_raycastInfo.m_contactNormalWS  = rayResults.m_hitNormalInWorld;
 		wheel.m_raycastInfo.m_isInContact = true;
 		
-		wheel.m_raycastInfo.m_groundObject = &s_fixedObject;//todo for driving on dynamic/movable objects!;
+		wheel.m_raycastInfo.m_groundObject = &s_fixedObject;///@todo for driving on dynamic/movable objects!;
 		//wheel.m_raycastInfo.m_groundObject = object;
 
 
@@ -359,7 +357,7 @@ void btRaycastVehicle::updateVehicle( btScalar step )
 
 void	btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
 {
-	assert(wheel>=0 && wheel < getNumWheels());
+	btAssert(wheel>=0 && wheel < getNumWheels());
 
 	btWheelInfo& wheelInfo = getWheelInfo(wheel);
 	wheelInfo.m_steering = steering;
@@ -375,7 +373,7 @@ btScalar	btRaycastVehicle::getSteeringValue(int wheel) const
 
 void	btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
 {
-	assert(wheel>=0 && wheel < getNumWheels());
+	btAssert(wheel>=0 && wheel < getNumWheels());
 	btWheelInfo& wheelInfo = getWheelInfo(wheel);
 	wheelInfo.m_engineForce = force;
 }
@@ -691,7 +689,7 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 					
 					btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
 
-					rel_pos[2] *= wheelInfo.m_rollInfluence;
+					rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
 					m_chassisBody->applyImpulse(sideImp,rel_pos);
 
 					//apply friction impulse on the ground
@@ -704,6 +702,36 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 }
 
 
+
+void	btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
+{
+
+	for (int v=0;v<this->getNumWheels();v++)
+	{
+		btVector3 wheelColor(0,255,255);
+		if (getWheelInfo(v).m_raycastInfo.m_isInContact)
+		{
+			wheelColor.setValue(0,0,255);
+		} else
+		{
+			wheelColor.setValue(255,0,255);
+		}
+
+		btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
+
+		btVector3 axle = btVector3(	
+			getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
+			getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
+			getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
+
+		//debug wheels (cylinders)
+		debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
+		debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
+
+	}
+}
+
+
 void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
 {
 //	RayResultCallback& resultCallback;
@@ -727,3 +755,4 @@ void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3&
 	}
 	return 0;
 }
+
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
index 8361dcabe4b..d5a299c606f 100644
--- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
@@ -17,11 +17,12 @@
 class btDynamicsWorld;
 #include "LinearMath/btAlignedObjectArray.h"
 #include "btWheelInfo.h"
+#include "BulletDynamics/Dynamics/btActionInterface.h"
 
 class btVehicleTuning;
 
 ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
-class btRaycastVehicle : public btTypedConstraint
+class btRaycastVehicle : public btActionInterface
 {
 
 		btAlignedObjectArray<btVector3>	m_forwardWS;
@@ -29,6 +30,11 @@ class btRaycastVehicle : public btTypedConstraint
 		btAlignedObjectArray<btScalar>	m_forwardImpulse;
 		btAlignedObjectArray<btScalar>	m_sideImpulse;
 
+		int	m_userConstraintType;
+
+		int	m_userConstraintId;
+
+
 public:
 	class btVehicleTuning
 		{
@@ -73,13 +79,24 @@ public:
 
 	virtual ~btRaycastVehicle() ;
 
-		
+
+	///btActionInterface interface
+	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
+	{
+		updateVehicle(step);
+	}
+	
+
+	///btActionInterface interface
+	void	debugDraw(btIDebugDraw* debugDrawer);
+			
 	const btTransform& getChassisWorldTransform() const;
 	
 	btScalar rayCast(btWheelInfo& wheel);
 
 	virtual void updateVehicle(btScalar step);
-
+	
+	
 	void resetSuspension();
 
 	btScalar	getSteeringValue(int wheel) const;
@@ -175,15 +192,24 @@ public:
 		m_indexForwardAxis = forwardIndex;
 	}
 
-	virtual void	buildJacobian()
+	int getUserConstraintType() const
+	{
+		return m_userConstraintType ;
+	}
+
+	void	setUserConstraintType(int userConstraintType)
+	{
+		m_userConstraintType = userConstraintType;
+	};
+
+	void	setUserConstraintId(int uid)
 	{
-		//not yet
+		m_userConstraintId = uid;
 	}
 
-	virtual	void	solveConstraint(btScalar	timeStep)
+	int getUserConstraintId() const
 	{
-		(void)timeStep;
-		//not yet
+		return m_userConstraintId;
 	}
 
 
diff --git a/extern/bullet2/src/BulletSoftBody/CMakeLists.txt b/extern/bullet2/src/BulletSoftBody/CMakeLists.txt
index a725e10ff77..dbd87afea38 100644
--- a/extern/bullet2/src/BulletSoftBody/CMakeLists.txt
+++ b/extern/bullet2/src/BulletSoftBody/CMakeLists.txt
@@ -3,19 +3,41 @@ INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src }
 )
 
-ADD_LIBRARY(LibBulletSoftBody
+SET(BulletSoftBody_SRCS
 	btSoftBody.cpp
-	btSoftBody.h
 	btSoftBodyHelpers.cpp
-	btSparseSDF.h
-	btSoftBodyHelpers.h
 	btSoftBodyRigidBodyCollisionConfiguration.cpp
 	btSoftRigidCollisionAlgorithm.cpp
-	btSoftRigidCollisionAlgorithm.h
 	btSoftSoftCollisionAlgorithm.cpp
-	btSoftSoftCollisionAlgorithm.h
 	btSoftBodyConcaveCollisionAlgorithm.cpp
+	btSoftRigidDynamicsWorld.cpp
+)
+
+SET(BulletSoftBody_HDRS
+	btSoftBody.h
+	btSparseSDF.h
+	btSoftBodyHelpers.h
+	btSoftRigidCollisionAlgorithm.h
+	btSoftSoftCollisionAlgorithm.h
 	btSoftBodyConcaveCollisionAlgorithm.h
 	btSoftRigidDynamicsWorld.h
-	btSoftRigidDynamicsWorld.cpp
 )
+
+
+
+ADD_LIBRARY(BulletSoftBody  ${BulletSoftBody_SRCS} ${BulletSoftBody_HDRS})
+SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+	TARGET_LINK_LIBRARIES(BulletSoftBody BulletDynamics)
+ENDIF (BUILD_SHARED_LIBS)
+
+IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+	INSTALL(TARGETS BulletSoftBody DESTINATION lib)
+        INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
+ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES FRAMEWORK true)
+	SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES PUBLIC_HEADER "${BulletSoftBody_HDRS}")
+ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
index 1ec668c9c78..ee810c54082 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
@@ -150,98 +150,98 @@ bool			btSoftBody::checkFace(int node0,int node1,int node2) const
 //
 btSoftBody::Material*		btSoftBody::appendMaterial()
 {
-Material*	pm=new(btAlignedAlloc(sizeof(Material),16)) Material();
-if(m_materials.size()>0)
-	*pm=*m_materials[0];
+	Material*	pm=new(btAlignedAlloc(sizeof(Material),16)) Material();
+	if(m_materials.size()>0)
+		*pm=*m_materials[0];
 	else
-	ZeroInitialize(*pm);
-m_materials.push_back(pm);
-return(pm);
+		ZeroInitialize(*pm);
+	m_materials.push_back(pm);
+	return(pm);
 }
 
 //
 void			btSoftBody::appendNote(	const char* text,
-										const btVector3& o,
-										const btVector4& c,
-										Node* n0,
-										Node* n1,
-										Node* n2,
-										Node* n3)
-{
-Note	n;
-ZeroInitialize(n);
-n.m_rank		=	0;
-n.m_text		=	text;
-n.m_offset		=	o;
-n.m_coords[0]	=	c.x();
-n.m_coords[1]	=	c.y();
-n.m_coords[2]	=	c.z();
-n.m_coords[3]	=	c.w();
-n.m_nodes[0]	=	n0;n.m_rank+=n0?1:0;
-n.m_nodes[1]	=	n1;n.m_rank+=n1?1:0;
-n.m_nodes[2]	=	n2;n.m_rank+=n2?1:0;
-n.m_nodes[3]	=	n3;n.m_rank+=n3?1:0;
-m_notes.push_back(n);
+									   const btVector3& o,
+									   const btVector4& c,
+									   Node* n0,
+									   Node* n1,
+									   Node* n2,
+									   Node* n3)
+{
+	Note	n;
+	ZeroInitialize(n);
+	n.m_rank		=	0;
+	n.m_text		=	text;
+	n.m_offset		=	o;
+	n.m_coords[0]	=	c.x();
+	n.m_coords[1]	=	c.y();
+	n.m_coords[2]	=	c.z();
+	n.m_coords[3]	=	c.w();
+	n.m_nodes[0]	=	n0;n.m_rank+=n0?1:0;
+	n.m_nodes[1]	=	n1;n.m_rank+=n1?1:0;
+	n.m_nodes[2]	=	n2;n.m_rank+=n2?1:0;
+	n.m_nodes[3]	=	n3;n.m_rank+=n3?1:0;
+	m_notes.push_back(n);
 }
 
 //
 void			btSoftBody::appendNote(	const char* text,
-										const btVector3& o,
-										Node* feature)
+									   const btVector3& o,
+									   Node* feature)
 {
-appendNote(text,o,btVector4(1,0,0,0),feature);
+	appendNote(text,o,btVector4(1,0,0,0),feature);
 }
 
 //
 void			btSoftBody::appendNote(	const char* text,
-										const btVector3& o,
-										Link* feature)
+									   const btVector3& o,
+									   Link* feature)
 {
-static const btScalar	w=1/(btScalar)2;
-appendNote(text,o,btVector4(w,w,0,0),	feature->m_n[0],
-										feature->m_n[1]);
+	static const btScalar	w=1/(btScalar)2;
+	appendNote(text,o,btVector4(w,w,0,0),	feature->m_n[0],
+		feature->m_n[1]);
 }
-								
+
 //
 void			btSoftBody::appendNote(	const char* text,
-										const btVector3& o,
-										Face* feature)
+									   const btVector3& o,
+									   Face* feature)
 {
-static const btScalar	w=1/(btScalar)3;
-appendNote(text,o,btVector4(w,w,w,0),	feature->m_n[0],
-										feature->m_n[1],
-										feature->m_n[2]);
+	static const btScalar	w=1/(btScalar)3;
+	appendNote(text,o,btVector4(w,w,w,0),	feature->m_n[0],
+		feature->m_n[1],
+		feature->m_n[2]);
 }
 
 //
 void			btSoftBody::appendNode(	const btVector3& x,btScalar m)
 {
-if(m_nodes.capacity()==m_nodes.size())
+	if(m_nodes.capacity()==m_nodes.size())
 	{
-	pointersToIndices();
-	m_nodes.reserve(m_nodes.size()*2+1);
-	indicesToPointers();
+		pointersToIndices();
+		m_nodes.reserve(m_nodes.size()*2+1);
+		indicesToPointers();
 	}
-const btScalar	margin=getCollisionShape()->getMargin();
-m_nodes.push_back(Node());
-Node&			n=m_nodes[m_nodes.size()-1];
-ZeroInitialize(n);
-n.m_x			=	x;
-n.m_q			=	n.m_x;
-n.m_im			=	m>0?1/m:0;
-n.m_material	=	m_materials[0];
-n.m_leaf		=	m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n);
+	const btScalar	margin=getCollisionShape()->getMargin();
+	m_nodes.push_back(Node());
+	Node&			n=m_nodes[m_nodes.size()-1];
+	ZeroInitialize(n);
+	n.m_x			=	x;
+	n.m_q			=	n.m_x;
+	n.m_im			=	m>0?1/m:0;
+	n.m_material	=	m_materials[0];
+	n.m_leaf		=	m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n);
 }
 
 //
 void			btSoftBody::appendLink(int model,Material* mat)
 {
-Link	l;
-if(model>=0)
-	l=m_links[model];
+	Link	l;
+	if(model>=0)
+		l=m_links[model];
 	else
 	{ ZeroInitialize(l);l.m_material=mat?mat:m_materials[0]; }
-m_links.push_back(l);
+	m_links.push_back(l);
 }
 
 //
@@ -273,12 +273,12 @@ void			btSoftBody::appendLink(	Node* node0,
 //
 void			btSoftBody::appendFace(int model,Material* mat)
 {
-Face	f;
-if(model>=0)
+	Face	f;
+	if(model>=0)
 	{ f=m_faces[model]; }
 	else
 	{ ZeroInitialize(f);f.m_material=mat?mat:m_materials[0]; }
-m_faces.push_back(f);
+	m_faces.push_back(f);
 }
 
 //
@@ -306,9 +306,9 @@ void			btSoftBody::appendFace(int node0,int node1,int node2,Material* mat)
 }
 
 //
-void			btSoftBody::appendAnchor(int node,btRigidBody* body,bool disableCollisionWithBody=false)
+void			btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies)
 {
-	if (disableCollisionWithBody)
+	if (disableCollisionBetweenLinkedBodies)
 	{
 		if (m_collisionDisabledObjects.findLinearSearch(body)==m_collisionDisabledObjects.size())
 		{
@@ -327,54 +327,54 @@ void			btSoftBody::appendAnchor(int node,btRigidBody* body,bool disableCollision
 //
 void			btSoftBody::appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1)
 {
-LJoint*		pj	=	new(btAlignedAlloc(sizeof(LJoint),16)) LJoint();
-pj->m_bodies[0]	=	body0;
-pj->m_bodies[1]	=	body1;
-pj->m_refs[0]	=	pj->m_bodies[0].xform().inverse()*specs.position;
-pj->m_refs[1]	=	pj->m_bodies[1].xform().inverse()*specs.position;
-pj->m_cfm		=	specs.cfm;
-pj->m_erp		=	specs.erp;
-pj->m_split		=	specs.split;
-m_joints.push_back(pj);
+	LJoint*		pj	=	new(btAlignedAlloc(sizeof(LJoint),16)) LJoint();
+	pj->m_bodies[0]	=	body0;
+	pj->m_bodies[1]	=	body1;
+	pj->m_refs[0]	=	pj->m_bodies[0].xform().inverse()*specs.position;
+	pj->m_refs[1]	=	pj->m_bodies[1].xform().inverse()*specs.position;
+	pj->m_cfm		=	specs.cfm;
+	pj->m_erp		=	specs.erp;
+	pj->m_split		=	specs.split;
+	m_joints.push_back(pj);
 }
 
 //
 void			btSoftBody::appendLinearJoint(const LJoint::Specs& specs,Body body)
 {
-appendLinearJoint(specs,m_clusters[0],body);
+	appendLinearJoint(specs,m_clusters[0],body);
 }
 
 //
 void			btSoftBody::appendLinearJoint(const LJoint::Specs& specs,btSoftBody* body)
 {
-appendLinearJoint(specs,m_clusters[0],body->m_clusters[0]);
+	appendLinearJoint(specs,m_clusters[0],body->m_clusters[0]);
 }
 
 //
 void			btSoftBody::appendAngularJoint(const AJoint::Specs& specs,Cluster* body0,Body body1)
 {
-AJoint*		pj	=	new(btAlignedAlloc(sizeof(AJoint),16)) AJoint();
-pj->m_bodies[0]	=	body0;
-pj->m_bodies[1]	=	body1;
-pj->m_refs[0]	=	pj->m_bodies[0].xform().inverse().getBasis()*specs.axis;
-pj->m_refs[1]	=	pj->m_bodies[1].xform().inverse().getBasis()*specs.axis;
-pj->m_cfm		=	specs.cfm;
-pj->m_erp		=	specs.erp;
-pj->m_split		=	specs.split;
-pj->m_icontrol	=	specs.icontrol;
-m_joints.push_back(pj);
+	AJoint*		pj	=	new(btAlignedAlloc(sizeof(AJoint),16)) AJoint();
+	pj->m_bodies[0]	=	body0;
+	pj->m_bodies[1]	=	body1;
+	pj->m_refs[0]	=	pj->m_bodies[0].xform().inverse().getBasis()*specs.axis;
+	pj->m_refs[1]	=	pj->m_bodies[1].xform().inverse().getBasis()*specs.axis;
+	pj->m_cfm		=	specs.cfm;
+	pj->m_erp		=	specs.erp;
+	pj->m_split		=	specs.split;
+	pj->m_icontrol	=	specs.icontrol;
+	m_joints.push_back(pj);
 }
 
 //
 void			btSoftBody::appendAngularJoint(const AJoint::Specs& specs,Body body)
 {
-appendAngularJoint(specs,m_clusters[0],body);
+	appendAngularJoint(specs,m_clusters[0],body);
 }
 
 //
 void			btSoftBody::appendAngularJoint(const AJoint::Specs& specs,btSoftBody* body)
 {
-appendAngularJoint(specs,m_clusters[0],body->m_clusters[0]);
+	appendAngularJoint(specs,m_clusters[0],body->m_clusters[0]);
 }
 
 //
@@ -463,8 +463,8 @@ void			btSoftBody::setTotalMass(btScalar mass,bool fromfaces)
 		{
 			const Face&		f=m_faces[i];
 			const btScalar	twicearea=AreaOf(	f.m_n[0]->m_x,
-												f.m_n[1]->m_x,
-												f.m_n[2]->m_x);
+				f.m_n[1]->m_x,
+				f.m_n[2]->m_x);
 			for(int j=0;j<3;++j)
 			{
 				f.m_n[j]->m_im+=twicearea;
@@ -494,13 +494,17 @@ void			btSoftBody::setTotalDensity(btScalar density)
 void			btSoftBody::transform(const btTransform& trs)
 {
 	const btScalar	margin=getCollisionShape()->getMargin();
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)	vol;
+	
 	for(int i=0,ni=m_nodes.size();i<ni;++i)
 	{
 		Node&	n=m_nodes[i];
 		n.m_x=trs*n.m_x;
 		n.m_q=trs*n.m_q;
 		n.m_n=trs.getBasis()*n.m_n;
-		m_ndbvt.update(n.m_leaf,btDbvtVolume::FromCR(n.m_x,margin));
+		vol = btDbvtVolume::FromCR(n.m_x,margin);
+		
+		m_ndbvt.update(n.m_leaf,vol);
 	}
 	updateNormals();
 	updateBounds();
@@ -511,31 +515,34 @@ void			btSoftBody::transform(const btTransform& trs)
 //
 void			btSoftBody::translate(const btVector3& trs)
 {
-btTransform	t;
-t.setIdentity();
-t.setOrigin(trs);
-transform(t);
+	btTransform	t;
+	t.setIdentity();
+	t.setOrigin(trs);
+	transform(t);
 }
 
 //
 void			btSoftBody::rotate(	const btQuaternion& rot)
 {
-btTransform	t;
-t.setIdentity();
-t.setRotation(rot);
-transform(t);
+	btTransform	t;
+	t.setIdentity();
+	t.setRotation(rot);
+	transform(t);
 }
 
 //
 void			btSoftBody::scale(const btVector3& scl)
 {
 	const btScalar	margin=getCollisionShape()->getMargin();
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)	vol;
+	
 	for(int i=0,ni=m_nodes.size();i<ni;++i)
 	{
 		Node&	n=m_nodes[i];
 		n.m_x*=scl;
 		n.m_q*=scl;
-		m_ndbvt.update(n.m_leaf,btDbvtVolume::FromCR(n.m_x,margin));
+		vol = btDbvtVolume::FromCR(n.m_x,margin);
+		m_ndbvt.update(n.m_leaf,vol);
 	}
 	updateNormals();
 	updateBounds();
@@ -562,8 +569,8 @@ void			btSoftBody::setPose(bool bvolume,bool bframe)
 	{
 		Node&	n=m_nodes[i];
 		m_pose.m_wgh[i]=	n.m_im>0					?
-							1/(m_nodes[i].m_im*tmass)	:
-							kmass/tmass;
+			1/(m_nodes[i].m_im*tmass)	:
+		kmass/tmass;
 	}
 	/* Pos		*/ 
 	const btVector3	com=evaluateCom();
@@ -578,16 +585,16 @@ void			btSoftBody::setPose(bool bvolume,bool bframe)
 	m_pose.m_scl.setIdentity();
 	/* Aqq		*/ 
 	m_pose.m_aqq[0]	=
-	m_pose.m_aqq[1]	=
-	m_pose.m_aqq[2]	=	btVector3(0,0,0);
+		m_pose.m_aqq[1]	=
+		m_pose.m_aqq[2]	=	btVector3(0,0,0);
 	for( i=0,ni=m_nodes.size();i<ni;++i)
-		{
+	{
 		const btVector3&	q=m_pose.m_pos[i];
 		const btVector3		mq=m_pose.m_wgh[i]*q;
 		m_pose.m_aqq[0]+=mq.x()*q;
 		m_pose.m_aqq[1]+=mq.y()*q;
 		m_pose.m_aqq[2]+=mq.z()*q;
-		}
+	}
 	m_pose.m_aqq=m_pose.m_aqq.inverse();
 	updateConstants();
 }
@@ -614,87 +621,87 @@ btScalar		btSoftBody::getVolume() const
 //
 int				btSoftBody::clusterCount() const
 {
-return(m_clusters.size());
+	return(m_clusters.size());
 }
 
 //
 btVector3		btSoftBody::clusterCom(const Cluster* cluster)
 {
-btVector3		com(0,0,0);
-for(int i=0,ni=cluster->m_nodes.size();i<ni;++i)
+	btVector3		com(0,0,0);
+	for(int i=0,ni=cluster->m_nodes.size();i<ni;++i)
 	{
-	com+=cluster->m_nodes[i]->m_x*cluster->m_masses[i];
+		com+=cluster->m_nodes[i]->m_x*cluster->m_masses[i];
 	}
-return(com*cluster->m_imass);
+	return(com*cluster->m_imass);
 }
 
 //
 btVector3		btSoftBody::clusterCom(int cluster) const
 {
-return(clusterCom(m_clusters[cluster]));
+	return(clusterCom(m_clusters[cluster]));
 }
 
 //
 btVector3		btSoftBody::clusterVelocity(const Cluster* cluster,const btVector3& rpos)
 {
-return(cluster->m_lv+cross(cluster->m_av,rpos));
+	return(cluster->m_lv+cross(cluster->m_av,rpos));
 }
 
 //
 void			btSoftBody::clusterVImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse)
 {
-const btVector3	li=cluster->m_imass*impulse;
-const btVector3	ai=cluster->m_invwi*cross(rpos,impulse);
-cluster->m_vimpulses[0]+=li;cluster->m_lv+=li;
-cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai;
-cluster->m_nvimpulses++;
+	const btVector3	li=cluster->m_imass*impulse;
+	const btVector3	ai=cluster->m_invwi*cross(rpos,impulse);
+	cluster->m_vimpulses[0]+=li;cluster->m_lv+=li;
+	cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai;
+	cluster->m_nvimpulses++;
 }
 
 //
 void			btSoftBody::clusterDImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse)
 {
-const btVector3	li=cluster->m_imass*impulse;
-const btVector3	ai=cluster->m_invwi*cross(rpos,impulse);
-cluster->m_dimpulses[0]+=li;
-cluster->m_dimpulses[1]+=ai;
-cluster->m_ndimpulses++;
+	const btVector3	li=cluster->m_imass*impulse;
+	const btVector3	ai=cluster->m_invwi*cross(rpos,impulse);
+	cluster->m_dimpulses[0]+=li;
+	cluster->m_dimpulses[1]+=ai;
+	cluster->m_ndimpulses++;
 }
 
 //
 void			btSoftBody::clusterImpulse(Cluster* cluster,const btVector3& rpos,const Impulse& impulse)
 {
-if(impulse.m_asVelocity)	clusterVImpulse(cluster,rpos,impulse.m_velocity);
-if(impulse.m_asDrift)		clusterDImpulse(cluster,rpos,impulse.m_drift);
+	if(impulse.m_asVelocity)	clusterVImpulse(cluster,rpos,impulse.m_velocity);
+	if(impulse.m_asDrift)		clusterDImpulse(cluster,rpos,impulse.m_drift);
 }
 
 //
 void			btSoftBody::clusterVAImpulse(Cluster* cluster,const btVector3& impulse)
 {
-const btVector3	ai=cluster->m_invwi*impulse;
-cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai;
-cluster->m_nvimpulses++;
+	const btVector3	ai=cluster->m_invwi*impulse;
+	cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai;
+	cluster->m_nvimpulses++;
 }
 
 //
 void			btSoftBody::clusterDAImpulse(Cluster* cluster,const btVector3& impulse)
 {
-const btVector3	ai=cluster->m_invwi*impulse;
-cluster->m_dimpulses[1]+=ai;
-cluster->m_ndimpulses++;
+	const btVector3	ai=cluster->m_invwi*impulse;
+	cluster->m_dimpulses[1]+=ai;
+	cluster->m_ndimpulses++;
 }
 
 //
 void			btSoftBody::clusterAImpulse(Cluster* cluster,const Impulse& impulse)
 {
-if(impulse.m_asVelocity)	clusterVAImpulse(cluster,impulse.m_velocity);
-if(impulse.m_asDrift)		clusterDAImpulse(cluster,impulse.m_drift);
+	if(impulse.m_asVelocity)	clusterVAImpulse(cluster,impulse.m_velocity);
+	if(impulse.m_asDrift)		clusterDAImpulse(cluster,impulse.m_drift);
 }
 
 //
 void			btSoftBody::clusterDCImpulse(Cluster* cluster,const btVector3& impulse)
 {
-cluster->m_dimpulses[0]+=impulse*cluster->m_imass;
-cluster->m_ndimpulses++;
+	cluster->m_dimpulses[0]+=impulse*cluster->m_imass;
+	cluster->m_ndimpulses++;
 }
 
 //
@@ -762,9 +769,9 @@ int				btSoftBody::generateBendingConstraints(int distance,Material* mat)
 //
 void			btSoftBody::randomizeConstraints()
 {
-unsigned long	seed=243703;
+	unsigned long	seed=243703;
 #define NEXTRAND (seed=(1664525L*seed+1013904223L)&0xffffffff)
-int i,ni;
+	int i,ni;
 
 	for(i=0,ni=m_links.size();i<ni;++i)
 	{
@@ -780,493 +787,524 @@ int i,ni;
 //
 void			btSoftBody::releaseCluster(int index)
 {
-Cluster*	c=m_clusters[index];
-if(c->m_leaf) m_cdbvt.remove(c->m_leaf);
-c->~Cluster();
-btAlignedFree(c);
-m_clusters.remove(c);
+	Cluster*	c=m_clusters[index];
+	if(c->m_leaf) m_cdbvt.remove(c->m_leaf);
+	c->~Cluster();
+	btAlignedFree(c);
+	m_clusters.remove(c);
 }
 
 //
 void			btSoftBody::releaseClusters()
 {
-while(m_clusters.size()>0) releaseCluster(0);
+	while(m_clusters.size()>0) releaseCluster(0);
 }
 
 //
 int				btSoftBody::generateClusters(int k,int maxiterations)
 {
-int i;
-releaseClusters();
-m_clusters.resize(btMin(k,m_nodes.size()));
-for(i=0;i<m_clusters.size();++i)
-	{
-	m_clusters[i]			=	new(btAlignedAlloc(sizeof(Cluster),16)) Cluster();
-	m_clusters[i]->m_collide=	true;
-	}
-k=m_clusters.size();
-if(k>0)
-	{
-	/* Initialize		*/ 
-	btAlignedObjectArray<btVector3>	centers;
-	btVector3						cog(0,0,0);
-	int								i;
-	for(i=0;i<m_nodes.size();++i)
-		{
-		cog+=m_nodes[i].m_x;
-		m_clusters[(i*29873)%m_clusters.size()]->m_nodes.push_back(&m_nodes[i]);
-		}
-	cog/=(btScalar)m_nodes.size();
-	centers.resize(k,cog);
-	/* Iterate			*/ 
-	const btScalar	slope=16;
-	bool			changed;
-	int				iterations=0;
-	do	{
-		const btScalar	w=2-btMin<btScalar>(1,iterations/slope);
-		changed=false;
-		iterations++;	
-		int i;
-
-		for(i=0;i<k;++i)
+	int i;
+	releaseClusters();
+	m_clusters.resize(btMin(k,m_nodes.size()));
+	for(i=0;i<m_clusters.size();++i)
+	{
+		m_clusters[i]			=	new(btAlignedAlloc(sizeof(Cluster),16)) Cluster();
+		m_clusters[i]->m_collide=	true;
+	}
+	k=m_clusters.size();
+	if(k>0)
+	{
+		/* Initialize		*/ 
+		btAlignedObjectArray<btVector3>	centers;
+		btVector3						cog(0,0,0);
+		int								i;
+		for(i=0;i<m_nodes.size();++i)
+		{
+			cog+=m_nodes[i].m_x;
+			m_clusters[(i*29873)%m_clusters.size()]->m_nodes.push_back(&m_nodes[i]);
+		}
+		cog/=(btScalar)m_nodes.size();
+		centers.resize(k,cog);
+		/* Iterate			*/ 
+		const btScalar	slope=16;
+		bool			changed;
+		int				iterations=0;
+		do	{
+			const btScalar	w=2-btMin<btScalar>(1,iterations/slope);
+			changed=false;
+			iterations++;	
+			int i;
+
+			for(i=0;i<k;++i)
 			{
-			btVector3	c(0,0,0);
-			for(int j=0;j<m_clusters[i]->m_nodes.size();++j)
+				btVector3	c(0,0,0);
+				for(int j=0;j<m_clusters[i]->m_nodes.size();++j)
 				{
-				c+=m_clusters[i]->m_nodes[j]->m_x;
+					c+=m_clusters[i]->m_nodes[j]->m_x;
 				}
-			if(m_clusters[i]->m_nodes.size())
+				if(m_clusters[i]->m_nodes.size())
 				{
-				c			/=	(btScalar)m_clusters[i]->m_nodes.size();
-				c			=	centers[i]+(c-centers[i])*w;
-				changed		|=	((c-centers[i]).length2()>SIMD_EPSILON);
-				centers[i]	=	c;
-				m_clusters[i]->m_nodes.resize(0);
+					c			/=	(btScalar)m_clusters[i]->m_nodes.size();
+					c			=	centers[i]+(c-centers[i])*w;
+					changed		|=	((c-centers[i]).length2()>SIMD_EPSILON);
+					centers[i]	=	c;
+					m_clusters[i]->m_nodes.resize(0);
 				}			
 			}
-		for(i=0;i<m_nodes.size();++i)
+			for(i=0;i<m_nodes.size();++i)
 			{
-			const btVector3	nx=m_nodes[i].m_x;
-			int				kbest=0;
-			btScalar		kdist=ClusterMetric(centers[0],nx);
-			for(int j=1;j<k;++j)
+				const btVector3	nx=m_nodes[i].m_x;
+				int				kbest=0;
+				btScalar		kdist=ClusterMetric(centers[0],nx);
+				for(int j=1;j<k;++j)
 				{
-				const btScalar	d=ClusterMetric(centers[j],nx);
-				if(d<kdist)
+					const btScalar	d=ClusterMetric(centers[j],nx);
+					if(d<kdist)
 					{
-					kbest=j;
-					kdist=d;
+						kbest=j;
+						kdist=d;
 					}
 				}
-			m_clusters[kbest]->m_nodes.push_back(&m_nodes[i]);
+				m_clusters[kbest]->m_nodes.push_back(&m_nodes[i]);
 			}		
 		} while(changed&&(iterations<maxiterations));
-	/* Merge		*/ 
-	btAlignedObjectArray<int>	cids;
-	cids.resize(m_nodes.size(),-1);
-	for(i=0;i<m_clusters.size();++i)
+		/* Merge		*/ 
+		btAlignedObjectArray<int>	cids;
+		cids.resize(m_nodes.size(),-1);
+		for(i=0;i<m_clusters.size();++i)
 		{
-		for(int j=0;j<m_clusters[i]->m_nodes.size();++j)
+			for(int j=0;j<m_clusters[i]->m_nodes.size();++j)
 			{
-			cids[int(m_clusters[i]->m_nodes[j]-&m_nodes[0])]=i;
+				cids[int(m_clusters[i]->m_nodes[j]-&m_nodes[0])]=i;
 			}
 		}
-	for(i=0;i<m_faces.size();++i)
+		for(i=0;i<m_faces.size();++i)
 		{
-		const int idx[]={	int(m_faces[i].m_n[0]-&m_nodes[0]),
-							int(m_faces[i].m_n[1]-&m_nodes[0]),
-							int(m_faces[i].m_n[2]-&m_nodes[0])};
-		for(int j=0;j<3;++j)
+			const int idx[]={	int(m_faces[i].m_n[0]-&m_nodes[0]),
+				int(m_faces[i].m_n[1]-&m_nodes[0]),
+				int(m_faces[i].m_n[2]-&m_nodes[0])};
+			for(int j=0;j<3;++j)
 			{
-			const int cid=cids[idx[j]];
-			for(int q=1;q<3;++q)
+				const int cid=cids[idx[j]];
+				for(int q=1;q<3;++q)
 				{
-				const int kid=idx[(j+q)%3];
-				if(cids[kid]!=cid)
+					const int kid=idx[(j+q)%3];
+					if(cids[kid]!=cid)
 					{
-					if(m_clusters[cid]->m_nodes.findLinearSearch(&m_nodes[kid])==m_clusters[cid]->m_nodes.size())
+						if(m_clusters[cid]->m_nodes.findLinearSearch(&m_nodes[kid])==m_clusters[cid]->m_nodes.size())
 						{
-						m_clusters[cid]->m_nodes.push_back(&m_nodes[kid]);
+							m_clusters[cid]->m_nodes.push_back(&m_nodes[kid]);
 						}
 					}
 				}
 			}
 		}
-	/* Master		*/ 
-	if(m_clusters.size()>1)
+		/* Master		*/ 
+		if(m_clusters.size()>1)
 		{
-		Cluster*	pmaster=new(btAlignedAlloc(sizeof(Cluster),16)) Cluster();
-		pmaster->m_collide	=	false;
-		pmaster->m_nodes.reserve(m_nodes.size());
-		for(int i=0;i<m_nodes.size();++i) pmaster->m_nodes.push_back(&m_nodes[i]);
-		m_clusters.push_back(pmaster);
-		btSwap(m_clusters[0],m_clusters[m_clusters.size()-1]);
+			Cluster*	pmaster=new(btAlignedAlloc(sizeof(Cluster),16)) Cluster();
+			pmaster->m_collide	=	false;
+			pmaster->m_nodes.reserve(m_nodes.size());
+			for(int i=0;i<m_nodes.size();++i) pmaster->m_nodes.push_back(&m_nodes[i]);
+			m_clusters.push_back(pmaster);
+			btSwap(m_clusters[0],m_clusters[m_clusters.size()-1]);
 		}
-	/* Terminate	*/ 
-	for(i=0;i<m_clusters.size();++i)
+		/* Terminate	*/ 
+		for(i=0;i<m_clusters.size();++i)
 		{
-		if(m_clusters[i]->m_nodes.size()==0)
+			if(m_clusters[i]->m_nodes.size()==0)
 			{
-			releaseCluster(i--);
+				releaseCluster(i--);
 			}
 		}
-		
-	initializeClusters();
-	updateClusters();
-	return(m_clusters.size());
+
+		initializeClusters();
+		updateClusters();
+
+		//for self-collision
+		m_clusterConnectivity.resize(m_clusters.size()*m_clusters.size());
+		{
+			for (int c0=0;c0<m_clusters.size();c0++)
+			{
+				m_clusters[c0]->m_clusterIndex=c0;
+				for (int c1=0;c1<m_clusters.size();c1++)
+				{
+					
+					bool connected=false;
+					Cluster* cla = m_clusters[c0];
+					Cluster* clb = m_clusters[c1];
+					for (int i=0;!connected&&i<cla->m_nodes.size();i++)
+					{
+						for (int j=0;j<clb->m_nodes.size();j++)
+						{
+							if (cla->m_nodes[i] == clb->m_nodes[j])
+							{
+								connected=true;
+								break;
+							}
+						}
+					}
+					m_clusterConnectivity[c0+c1*m_clusters.size()]=connected;
+				}
+			}
+		}
+	
+		return(m_clusters.size());
 	}
-return(0);
+	return(0);
 }
 
 //
 void			btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut)
 {
-const Node*			nbase = &m_nodes[0];
-int					ncount = m_nodes.size();
-btSymMatrix<int>	edges(ncount,-2);
-int					newnodes=0;
-int i,j,k,ni;
+	const Node*			nbase = &m_nodes[0];
+	int					ncount = m_nodes.size();
+	btSymMatrix<int>	edges(ncount,-2);
+	int					newnodes=0;
+	int i,j,k,ni;
 
-/* Filter out		*/ 
-for(i=0;i<m_links.size();++i)
+	/* Filter out		*/ 
+	for(i=0;i<m_links.size();++i)
 	{
-	Link&	l=m_links[i];
-	if(l.m_bbending)
+		Link&	l=m_links[i];
+		if(l.m_bbending)
 		{
-		if(!SameSign(ifn->Eval(l.m_n[0]->m_x),ifn->Eval(l.m_n[1]->m_x)))
+			if(!SameSign(ifn->Eval(l.m_n[0]->m_x),ifn->Eval(l.m_n[1]->m_x)))
 			{
-			btSwap(m_links[i],m_links[m_links.size()-1]);
-			m_links.pop_back();--i;
+				btSwap(m_links[i],m_links[m_links.size()-1]);
+				m_links.pop_back();--i;
 			}
 		}	
 	}
-/* Fill edges		*/ 
-for(i=0;i<m_links.size();++i)
+	/* Fill edges		*/ 
+	for(i=0;i<m_links.size();++i)
 	{
-	Link&	l=m_links[i];
-	edges(int(l.m_n[0]-nbase),int(l.m_n[1]-nbase))=-1;
+		Link&	l=m_links[i];
+		edges(int(l.m_n[0]-nbase),int(l.m_n[1]-nbase))=-1;
 	}
-for(i=0;i<m_faces.size();++i)
+	for(i=0;i<m_faces.size();++i)
 	{	
-	Face&	f=m_faces[i];
-	edges(int(f.m_n[0]-nbase),int(f.m_n[1]-nbase))=-1;
-	edges(int(f.m_n[1]-nbase),int(f.m_n[2]-nbase))=-1;
-	edges(int(f.m_n[2]-nbase),int(f.m_n[0]-nbase))=-1;
+		Face&	f=m_faces[i];
+		edges(int(f.m_n[0]-nbase),int(f.m_n[1]-nbase))=-1;
+		edges(int(f.m_n[1]-nbase),int(f.m_n[2]-nbase))=-1;
+		edges(int(f.m_n[2]-nbase),int(f.m_n[0]-nbase))=-1;
 	}
-/* Intersect		*/ 
-for(i=0;i<ncount;++i)
+	/* Intersect		*/ 
+	for(i=0;i<ncount;++i)
 	{
-	for(j=i+1;j<ncount;++j)
+		for(j=i+1;j<ncount;++j)
 		{
-		if(edges(i,j)==-1)
+			if(edges(i,j)==-1)
 			{
-			Node&			a=m_nodes[i];
-			Node&			b=m_nodes[j];
-			const btScalar	t=ImplicitSolve(ifn,a.m_x,b.m_x,accurary);
-			if(t>0)
+				Node&			a=m_nodes[i];
+				Node&			b=m_nodes[j];
+				const btScalar	t=ImplicitSolve(ifn,a.m_x,b.m_x,accurary);
+				if(t>0)
 				{
-				const btVector3	x=Lerp(a.m_x,b.m_x,t);
-				const btVector3	v=Lerp(a.m_v,b.m_v,t);
-				btScalar		m=0;
-				if(a.m_im>0)
+					const btVector3	x=Lerp(a.m_x,b.m_x,t);
+					const btVector3	v=Lerp(a.m_v,b.m_v,t);
+					btScalar		m=0;
+					if(a.m_im>0)
 					{
-					if(b.m_im>0)
+						if(b.m_im>0)
 						{
-						const btScalar	ma=1/a.m_im;
-						const btScalar	mb=1/b.m_im;
-						const btScalar	mc=Lerp(ma,mb,t);
-						const btScalar	f=(ma+mb)/(ma+mb+mc);
-						a.m_im=1/(ma*f);
-						b.m_im=1/(mb*f);
-						m=mc*f;
+							const btScalar	ma=1/a.m_im;
+							const btScalar	mb=1/b.m_im;
+							const btScalar	mc=Lerp(ma,mb,t);
+							const btScalar	f=(ma+mb)/(ma+mb+mc);
+							a.m_im=1/(ma*f);
+							b.m_im=1/(mb*f);
+							m=mc*f;
 						}
 						else
 						{ a.m_im/=0.5;m=1/a.m_im; }
 					}
 					else
 					{
-					if(b.m_im>0)
+						if(b.m_im>0)
 						{ b.m_im/=0.5;m=1/b.m_im; }
 						else
-						m=0;
+							m=0;
 					}
-				appendNode(x,m);
-				edges(i,j)=m_nodes.size()-1;
-				m_nodes[edges(i,j)].m_v=v;
-				++newnodes;
+					appendNode(x,m);
+					edges(i,j)=m_nodes.size()-1;
+					m_nodes[edges(i,j)].m_v=v;
+					++newnodes;
 				}
 			}
 		}
 	}
-nbase=&m_nodes[0];
-/* Refine links		*/ 
-for(i=0,ni=m_links.size();i<ni;++i)
+	nbase=&m_nodes[0];
+	/* Refine links		*/ 
+	for(i=0,ni=m_links.size();i<ni;++i)
 	{
-	Link&		feat=m_links[i];
-	const int	idx[]={	int(feat.m_n[0]-nbase),
-						int(feat.m_n[1]-nbase)};
-	if((idx[0]<ncount)&&(idx[1]<ncount))
+		Link&		feat=m_links[i];
+		const int	idx[]={	int(feat.m_n[0]-nbase),
+			int(feat.m_n[1]-nbase)};
+		if((idx[0]<ncount)&&(idx[1]<ncount))
 		{
-		const int ni=edges(idx[0],idx[1]);
-		if(ni>0)
+			const int ni=edges(idx[0],idx[1]);
+			if(ni>0)
 			{
-			appendLink(i);
-			Link*		pft[]={	&m_links[i],
-								&m_links[m_links.size()-1]};			
-			pft[0]->m_n[0]=&m_nodes[idx[0]];
-			pft[0]->m_n[1]=&m_nodes[ni];
-			pft[1]->m_n[0]=&m_nodes[ni];
-			pft[1]->m_n[1]=&m_nodes[idx[1]];
+				appendLink(i);
+				Link*		pft[]={	&m_links[i],
+					&m_links[m_links.size()-1]};			
+				pft[0]->m_n[0]=&m_nodes[idx[0]];
+				pft[0]->m_n[1]=&m_nodes[ni];
+				pft[1]->m_n[0]=&m_nodes[ni];
+				pft[1]->m_n[1]=&m_nodes[idx[1]];
 			}
 		}
 	}
-/* Refine faces		*/ 
-for(i=0;i<m_faces.size();++i)
+	/* Refine faces		*/ 
+	for(i=0;i<m_faces.size();++i)
 	{
-	const Face&	feat=m_faces[i];
-	const int	idx[]={	int(feat.m_n[0]-nbase),
-						int(feat.m_n[1]-nbase),
-						int(feat.m_n[2]-nbase)};
-	for(j=2,k=0;k<3;j=k++)
+		const Face&	feat=m_faces[i];
+		const int	idx[]={	int(feat.m_n[0]-nbase),
+			int(feat.m_n[1]-nbase),
+			int(feat.m_n[2]-nbase)};
+		for(j=2,k=0;k<3;j=k++)
 		{
-		if((idx[j]<ncount)&&(idx[k]<ncount))
+			if((idx[j]<ncount)&&(idx[k]<ncount))
 			{
-			const int ni=edges(idx[j],idx[k]);
-			if(ni>0)
+				const int ni=edges(idx[j],idx[k]);
+				if(ni>0)
 				{
-				appendFace(i);
-				const int	l=(k+1)%3;
-				Face*		pft[]={	&m_faces[i],
-									&m_faces[m_faces.size()-1]};
-				pft[0]->m_n[0]=&m_nodes[idx[l]];
-				pft[0]->m_n[1]=&m_nodes[idx[j]];
-				pft[0]->m_n[2]=&m_nodes[ni];
-				pft[1]->m_n[0]=&m_nodes[ni];
-				pft[1]->m_n[1]=&m_nodes[idx[k]];
-				pft[1]->m_n[2]=&m_nodes[idx[l]];
-				appendLink(ni,idx[l],pft[0]->m_material);
-				--i;break;
+					appendFace(i);
+					const int	l=(k+1)%3;
+					Face*		pft[]={	&m_faces[i],
+						&m_faces[m_faces.size()-1]};
+					pft[0]->m_n[0]=&m_nodes[idx[l]];
+					pft[0]->m_n[1]=&m_nodes[idx[j]];
+					pft[0]->m_n[2]=&m_nodes[ni];
+					pft[1]->m_n[0]=&m_nodes[ni];
+					pft[1]->m_n[1]=&m_nodes[idx[k]];
+					pft[1]->m_n[2]=&m_nodes[idx[l]];
+					appendLink(ni,idx[l],pft[0]->m_material);
+					--i;break;
 				}
 			}
 		}
 	}
-/* Cut				*/ 
-if(cut)
+	/* Cut				*/ 
+	if(cut)
 	{	
-	btAlignedObjectArray<int>	cnodes;
-	const int					pcount=ncount;
-	int							i;
-	ncount=m_nodes.size();
-	cnodes.resize(ncount,0);
-	/* Nodes		*/ 
-	for(i=0;i<ncount;++i)
-		{
-		const btVector3	x=m_nodes[i].m_x;
-		if((i>=pcount)||(btFabs(ifn->Eval(x))<accurary))
+		btAlignedObjectArray<int>	cnodes;
+		const int					pcount=ncount;
+		int							i;
+		ncount=m_nodes.size();
+		cnodes.resize(ncount,0);
+		/* Nodes		*/ 
+		for(i=0;i<ncount;++i)
+		{
+			const btVector3	x=m_nodes[i].m_x;
+			if((i>=pcount)||(btFabs(ifn->Eval(x))<accurary))
 			{
-			const btVector3	v=m_nodes[i].m_v;
-			btScalar		m=getMass(i);
-			if(m>0) { m*=0.5;m_nodes[i].m_im/=0.5; }
-			appendNode(x,m);
-			cnodes[i]=m_nodes.size()-1;
-			m_nodes[cnodes[i]].m_v=v;
+				const btVector3	v=m_nodes[i].m_v;
+				btScalar		m=getMass(i);
+				if(m>0) { m*=0.5;m_nodes[i].m_im/=0.5; }
+				appendNode(x,m);
+				cnodes[i]=m_nodes.size()-1;
+				m_nodes[cnodes[i]].m_v=v;
 			}
 		}
-	nbase=&m_nodes[0];
-	/* Links		*/ 
-	for(i=0,ni=m_links.size();i<ni;++i)
+		nbase=&m_nodes[0];
+		/* Links		*/ 
+		for(i=0,ni=m_links.size();i<ni;++i)
 		{
-		const int		id[]={	int(m_links[i].m_n[0]-nbase),
-								int(m_links[i].m_n[1]-nbase)};
-		int				todetach=0;
-		if(cnodes[id[0]]&&cnodes[id[1]])
+			const int		id[]={	int(m_links[i].m_n[0]-nbase),
+				int(m_links[i].m_n[1]-nbase)};
+			int				todetach=0;
+			if(cnodes[id[0]]&&cnodes[id[1]])
 			{
-			appendLink(i);
-			todetach=m_links.size()-1;
+				appendLink(i);
+				todetach=m_links.size()-1;
 			}
-		else
+			else
 			{
-			if((	(ifn->Eval(m_nodes[id[0]].m_x)<accurary)&&
+				if((	(ifn->Eval(m_nodes[id[0]].m_x)<accurary)&&
 					(ifn->Eval(m_nodes[id[1]].m_x)<accurary)))
-				todetach=i;
+					todetach=i;
 			}
-		if(todetach)
+			if(todetach)
 			{
-			Link&	l=m_links[todetach];
-			for(int j=0;j<2;++j)
+				Link&	l=m_links[todetach];
+				for(int j=0;j<2;++j)
 				{
-				int cn=cnodes[int(l.m_n[j]-nbase)];
-				if(cn) l.m_n[j]=&m_nodes[cn];
+					int cn=cnodes[int(l.m_n[j]-nbase)];
+					if(cn) l.m_n[j]=&m_nodes[cn];
 				}			
 			}
 		}
-	/* Faces		*/ 
-	for(i=0,ni=m_faces.size();i<ni;++i)
+		/* Faces		*/ 
+		for(i=0,ni=m_faces.size();i<ni;++i)
 		{
-		Node**			n=	m_faces[i].m_n;
-		if(	(ifn->Eval(n[0]->m_x)<accurary)&&
-			(ifn->Eval(n[1]->m_x)<accurary)&&
-			(ifn->Eval(n[2]->m_x)<accurary))
+			Node**			n=	m_faces[i].m_n;
+			if(	(ifn->Eval(n[0]->m_x)<accurary)&&
+				(ifn->Eval(n[1]->m_x)<accurary)&&
+				(ifn->Eval(n[2]->m_x)<accurary))
 			{
-			for(int j=0;j<3;++j)
+				for(int j=0;j<3;++j)
 				{
-				int cn=cnodes[int(n[j]-nbase)];
-				if(cn) n[j]=&m_nodes[cn];
+					int cn=cnodes[int(n[j]-nbase)];
+					if(cn) n[j]=&m_nodes[cn];
 				}
 			}
 		}
-	/* Clean orphans	*/ 
-	int							nnodes=m_nodes.size();
-	btAlignedObjectArray<int>	ranks;
-	btAlignedObjectArray<int>	todelete;
-	ranks.resize(nnodes,0);
-	for(i=0,ni=m_links.size();i<ni;++i)
+		/* Clean orphans	*/ 
+		int							nnodes=m_nodes.size();
+		btAlignedObjectArray<int>	ranks;
+		btAlignedObjectArray<int>	todelete;
+		ranks.resize(nnodes,0);
+		for(i=0,ni=m_links.size();i<ni;++i)
 		{
-		for(int j=0;j<2;++j) ranks[int(m_links[i].m_n[j]-nbase)]++;
+			for(int j=0;j<2;++j) ranks[int(m_links[i].m_n[j]-nbase)]++;
 		}
-	for(i=0,ni=m_faces.size();i<ni;++i)
+		for(i=0,ni=m_faces.size();i<ni;++i)
 		{
-		for(int j=0;j<3;++j) ranks[int(m_faces[i].m_n[j]-nbase)]++;
+			for(int j=0;j<3;++j) ranks[int(m_faces[i].m_n[j]-nbase)]++;
 		}
-	for(i=0;i<m_links.size();++i)
+		for(i=0;i<m_links.size();++i)
 		{
-		const int	id[]={	int(m_links[i].m_n[0]-nbase),
-							int(m_links[i].m_n[1]-nbase)};
-		const bool	sg[]={	ranks[id[0]]==1,
-							ranks[id[1]]==1};
-		if(sg[0]||sg[1])
+			const int	id[]={	int(m_links[i].m_n[0]-nbase),
+				int(m_links[i].m_n[1]-nbase)};
+			const bool	sg[]={	ranks[id[0]]==1,
+				ranks[id[1]]==1};
+			if(sg[0]||sg[1])
 			{
-			--ranks[id[0]];
-			--ranks[id[1]];
-			btSwap(m_links[i],m_links[m_links.size()-1]);
-			m_links.pop_back();--i;
+				--ranks[id[0]];
+				--ranks[id[1]];
+				btSwap(m_links[i],m_links[m_links.size()-1]);
+				m_links.pop_back();--i;
 			}
 		}
-	#if 0	
-	for(i=nnodes-1;i>=0;--i)
+#if 0	
+		for(i=nnodes-1;i>=0;--i)
 		{
-		if(!ranks[i]) todelete.push_back(i);
+			if(!ranks[i]) todelete.push_back(i);
 		}	
-	if(todelete.size())
+		if(todelete.size())
 		{		
-		btAlignedObjectArray<int>&	map=ranks;
-		for(int i=0;i<nnodes;++i) map[i]=i;
-		PointersToIndices(this);
-		for(int i=0,ni=todelete.size();i<ni;++i)
+			btAlignedObjectArray<int>&	map=ranks;
+			for(int i=0;i<nnodes;++i) map[i]=i;
+			PointersToIndices(this);
+			for(int i=0,ni=todelete.size();i<ni;++i)
 			{
-			int		j=todelete[i];
-			int&	a=map[j];
-			int&	b=map[--nnodes];
-			m_ndbvt.remove(m_nodes[a].m_leaf);m_nodes[a].m_leaf=0;
-			btSwap(m_nodes[a],m_nodes[b]);
-			j=a;a=b;b=j;			
+				int		j=todelete[i];
+				int&	a=map[j];
+				int&	b=map[--nnodes];
+				m_ndbvt.remove(m_nodes[a].m_leaf);m_nodes[a].m_leaf=0;
+				btSwap(m_nodes[a],m_nodes[b]);
+				j=a;a=b;b=j;			
 			}
-		IndicesToPointers(this,&map[0]);
-		m_nodes.resize(nnodes);
+			IndicesToPointers(this,&map[0]);
+			m_nodes.resize(nnodes);
 		}
-	#endif
+#endif
 	}
-m_bUpdateRtCst=true;
+	m_bUpdateRtCst=true;
 }
 
 //
 bool			btSoftBody::cutLink(const Node* node0,const Node* node1,btScalar position)
 {
-return(cutLink(int(node0-&m_nodes[0]),int(node1-&m_nodes[0]),position));
+	return(cutLink(int(node0-&m_nodes[0]),int(node1-&m_nodes[0]),position));
 }
 
 //
 bool			btSoftBody::cutLink(int node0,int node1,btScalar position)
 {
-bool			done=false;
-int i,ni;
-const btVector3	d=m_nodes[node0].m_x-m_nodes[node1].m_x;
-const btVector3	x=Lerp(m_nodes[node0].m_x,m_nodes[node1].m_x,position);
-const btVector3	v=Lerp(m_nodes[node0].m_v,m_nodes[node1].m_v,position);
-const btScalar	m=1;
-appendNode(x,m);
-appendNode(x,m);
-Node*			pa=&m_nodes[node0];
-Node*			pb=&m_nodes[node1];
-Node*			pn[2]={	&m_nodes[m_nodes.size()-2],
-						&m_nodes[m_nodes.size()-1]};
-pn[0]->m_v=v;
-pn[1]->m_v=v;
-for(i=0,ni=m_links.size();i<ni;++i)
-	{
-	const int mtch=MatchEdge(m_links[i].m_n[0],m_links[i].m_n[1],pa,pb);
-	if(mtch!=-1)
-		{
-		appendLink(i);
-		Link*	pft[]={&m_links[i],&m_links[m_links.size()-1]};
-		pft[0]->m_n[1]=pn[mtch];
-		pft[1]->m_n[0]=pn[1-mtch];
-		done=true;
-		}
-	}
-for(i=0,ni=m_faces.size();i<ni;++i)
-	{
-	for(int k=2,l=0;l<3;k=l++)
-		{
-		const int mtch=MatchEdge(m_faces[i].m_n[k],m_faces[i].m_n[l],pa,pb);
+	bool			done=false;
+	int i,ni;
+	const btVector3	d=m_nodes[node0].m_x-m_nodes[node1].m_x;
+	const btVector3	x=Lerp(m_nodes[node0].m_x,m_nodes[node1].m_x,position);
+	const btVector3	v=Lerp(m_nodes[node0].m_v,m_nodes[node1].m_v,position);
+	const btScalar	m=1;
+	appendNode(x,m);
+	appendNode(x,m);
+	Node*			pa=&m_nodes[node0];
+	Node*			pb=&m_nodes[node1];
+	Node*			pn[2]={	&m_nodes[m_nodes.size()-2],
+		&m_nodes[m_nodes.size()-1]};
+	pn[0]->m_v=v;
+	pn[1]->m_v=v;
+	for(i=0,ni=m_links.size();i<ni;++i)
+	{
+		const int mtch=MatchEdge(m_links[i].m_n[0],m_links[i].m_n[1],pa,pb);
 		if(mtch!=-1)
+		{
+			appendLink(i);
+			Link*	pft[]={&m_links[i],&m_links[m_links.size()-1]};
+			pft[0]->m_n[1]=pn[mtch];
+			pft[1]->m_n[0]=pn[1-mtch];
+			done=true;
+		}
+	}
+	for(i=0,ni=m_faces.size();i<ni;++i)
+	{
+		for(int k=2,l=0;l<3;k=l++)
+		{
+			const int mtch=MatchEdge(m_faces[i].m_n[k],m_faces[i].m_n[l],pa,pb);
+			if(mtch!=-1)
 			{
-			appendFace(i);
-			Face*	pft[]={&m_faces[i],&m_faces[m_faces.size()-1]};
-			pft[0]->m_n[l]=pn[mtch];
-			pft[1]->m_n[k]=pn[1-mtch];
-			appendLink(pn[0],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true);
-			appendLink(pn[1],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true);
+				appendFace(i);
+				Face*	pft[]={&m_faces[i],&m_faces[m_faces.size()-1]};
+				pft[0]->m_n[l]=pn[mtch];
+				pft[1]->m_n[k]=pn[1-mtch];
+				appendLink(pn[0],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true);
+				appendLink(pn[1],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true);
 			}
 		}
 	}
-if(!done)
+	if(!done)
 	{
-	m_ndbvt.remove(pn[0]->m_leaf);
-	m_ndbvt.remove(pn[1]->m_leaf);
-	m_nodes.pop_back();
-	m_nodes.pop_back();
+		m_ndbvt.remove(pn[0]->m_leaf);
+		m_ndbvt.remove(pn[1]->m_leaf);
+		m_nodes.pop_back();
+		m_nodes.pop_back();
 	}
-return(done);
+	return(done);
 }
 
 //
-bool			btSoftBody::rayCast(const btVector3& org,
-									const btVector3& dir,
-									sRayCast& results,
-									btScalar maxtime)
+bool			btSoftBody::rayTest(const btVector3& rayFrom,
+									const btVector3& rayTo,
+									sRayCast& results)
 {
-if(m_faces.size()&&m_fdbvt.empty()) initializeFaceTree();
-results.body	=	this;
-results.time	=	maxtime;
-results.feature	=	eFeature::None;
-results.index	=	-1;
-return(rayCast(org,dir,results.time,results.feature,results.index,false)!=0);
+	if(m_faces.size()&&m_fdbvt.empty()) 
+		initializeFaceTree();
+
+	results.body	=	this;
+	results.fraction = 1.f;
+	results.feature	=	eFeature::None;
+	results.index	=	-1;
+
+	return(rayTest(rayFrom,rayTo,results.fraction,results.feature,results.index,false)!=0);
 }
 
 //
 void			btSoftBody::setSolver(eSolverPresets::_ preset)
 {
-m_cfg.m_vsequence.clear();
-m_cfg.m_psequence.clear();
-m_cfg.m_dsequence.clear();
-switch(preset)
+	m_cfg.m_vsequence.clear();
+	m_cfg.m_psequence.clear();
+	m_cfg.m_dsequence.clear();
+	switch(preset)
 	{
 	case	eSolverPresets::Positions:
-	m_cfg.m_psequence.push_back(ePSolver::Anchors);
-	m_cfg.m_psequence.push_back(ePSolver::RContacts);
-	m_cfg.m_psequence.push_back(ePSolver::SContacts);
-	m_cfg.m_psequence.push_back(ePSolver::Linear);	
-	break;	
+		m_cfg.m_psequence.push_back(ePSolver::Anchors);
+		m_cfg.m_psequence.push_back(ePSolver::RContacts);
+		m_cfg.m_psequence.push_back(ePSolver::SContacts);
+		m_cfg.m_psequence.push_back(ePSolver::Linear);	
+		break;	
 	case	eSolverPresets::Velocities:
-	m_cfg.m_vsequence.push_back(eVSolver::Linear);
-	
-	m_cfg.m_psequence.push_back(ePSolver::Anchors);
-	m_cfg.m_psequence.push_back(ePSolver::RContacts);
-	m_cfg.m_psequence.push_back(ePSolver::SContacts);
-	
-	m_cfg.m_dsequence.push_back(ePSolver::Linear);
-	break;
+		m_cfg.m_vsequence.push_back(eVSolver::Linear);
+
+		m_cfg.m_psequence.push_back(ePSolver::Anchors);
+		m_cfg.m_psequence.push_back(ePSolver::RContacts);
+		m_cfg.m_psequence.push_back(ePSolver::SContacts);
+
+		m_cfg.m_dsequence.push_back(ePSolver::Linear);
+		break;
 	}
 }
 
@@ -1282,11 +1320,11 @@ void			btSoftBody::predictMotion(btScalar dt)
 		updateConstants();
 		m_fdbvt.clear();
 		if(m_cfg.collisions&fCollision::VF_SS)
-			{
+		{
 			initializeFaceTree();			
-			}
+		}
 	}
-		
+
 	/* Prepare				*/ 
 	m_sst.sdt		=	dt*m_cfg.timescale;
 	m_sst.isdt		=	1/m_sst.sdt;
@@ -1310,45 +1348,48 @@ void			btSoftBody::predictMotion(btScalar dt)
 	/* Bounds				*/ 
 	updateBounds();	
 	/* Nodes				*/ 
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)	vol;
 	for(i=0,ni=m_nodes.size();i<ni;++i)
 	{
 		Node&	n=m_nodes[i];
+		vol = btDbvtVolume::FromCR(n.m_x,m_sst.radmrg);
 		m_ndbvt.update(	n.m_leaf,
-						btDbvtVolume::FromCR(n.m_x,m_sst.radmrg),
-						n.m_v*m_sst.velmrg,
-						m_sst.updmrg);
+			vol,
+			n.m_v*m_sst.velmrg,
+			m_sst.updmrg);
 	}
 	/* Faces				*/ 
 	if(!m_fdbvt.empty())
-		{
+	{
 		for(int i=0;i<m_faces.size();++i)
-			{
+		{
 			Face&			f=m_faces[i];
 			const btVector3	v=(	f.m_n[0]->m_v+
-								f.m_n[1]->m_v+
-								f.m_n[2]->m_v)/3;
+				f.m_n[1]->m_v+
+				f.m_n[2]->m_v)/3;
+			vol = VolumeOf(f,m_sst.radmrg);
 			m_fdbvt.update(	f.m_leaf,
-							VolumeOf(f,m_sst.radmrg),
-							v*m_sst.velmrg,
-							m_sst.updmrg);
-			}
+				vol,
+				v*m_sst.velmrg,
+				m_sst.updmrg);
 		}
+	}
 	/* Pose					*/ 
 	updatePose();
 	/* Match				*/ 
 	if(m_pose.m_bframe&&(m_cfg.kMT>0))
-		{
+	{
 		const btMatrix3x3	posetrs=m_pose.m_rot;
 		for(int i=0,ni=m_nodes.size();i<ni;++i)
-			{
+		{
 			Node&	n=m_nodes[i];
 			if(n.m_im>0)
-				{
+			{
 				const btVector3	x=posetrs*m_pose.m_pos[i]+m_pose.m_com;
 				n.m_x=Lerp(n.m_x,x,m_cfg.kMT);
-				}
 			}
 		}
+	}
 	/* Clear contacts		*/ 
 	m_rcontacts.resize(0);
 	m_scontacts.resize(0);
@@ -1361,104 +1402,104 @@ void			btSoftBody::predictMotion(btScalar dt)
 //
 void			btSoftBody::solveConstraints()
 {
-/* Apply clusters		*/ 
-applyClusters(false);
-/* Prepare links		*/ 
+	/* Apply clusters		*/ 
+	applyClusters(false);
+	/* Prepare links		*/ 
 
-int i,ni;
+	int i,ni;
 
-for(i=0,ni=m_links.size();i<ni;++i)
+	for(i=0,ni=m_links.size();i<ni;++i)
 	{
-	Link&	l=m_links[i];
-	l.m_c3		=	l.m_n[1]->m_q-l.m_n[0]->m_q;
-	l.m_c2		=	1/(l.m_c3.length2()*l.m_c0);
+		Link&	l=m_links[i];
+		l.m_c3		=	l.m_n[1]->m_q-l.m_n[0]->m_q;
+		l.m_c2		=	1/(l.m_c3.length2()*l.m_c0);
 	}
-/* Prepare anchors		*/ 
-for(i=0,ni=m_anchors.size();i<ni;++i)
+	/* Prepare anchors		*/ 
+	for(i=0,ni=m_anchors.size();i<ni;++i)
 	{
-	Anchor&			a=m_anchors[i];
-	const btVector3	ra=a.m_body->getWorldTransform().getBasis()*a.m_local;
-	a.m_c0	=	ImpulseMatrix(	m_sst.sdt,
-								a.m_node->m_im,
-								a.m_body->getInvMass(),
-								a.m_body->getInvInertiaTensorWorld(),
-								ra);
-	a.m_c1	=	ra;
-	a.m_c2	=	m_sst.sdt*a.m_node->m_im;
-	a.m_body->activate();
+		Anchor&			a=m_anchors[i];
+		const btVector3	ra=a.m_body->getWorldTransform().getBasis()*a.m_local;
+		a.m_c0	=	ImpulseMatrix(	m_sst.sdt,
+			a.m_node->m_im,
+			a.m_body->getInvMass(),
+			a.m_body->getInvInertiaTensorWorld(),
+			ra);
+		a.m_c1	=	ra;
+		a.m_c2	=	m_sst.sdt*a.m_node->m_im;
+		a.m_body->activate();
 	}
-/* Solve velocities		*/ 
-if(m_cfg.viterations>0)
+	/* Solve velocities		*/ 
+	if(m_cfg.viterations>0)
 	{
-	/* Solve			*/ 
-	for(int isolve=0;isolve<m_cfg.viterations;++isolve)
+		/* Solve			*/ 
+		for(int isolve=0;isolve<m_cfg.viterations;++isolve)
 		{
-		for(int iseq=0;iseq<m_cfg.m_vsequence.size();++iseq)
+			for(int iseq=0;iseq<m_cfg.m_vsequence.size();++iseq)
 			{
-			getSolver(m_cfg.m_vsequence[iseq])(this,1);
+				getSolver(m_cfg.m_vsequence[iseq])(this,1);
 			}
 		}
-	/* Update			*/ 
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+		/* Update			*/ 
+		for(i=0,ni=m_nodes.size();i<ni;++i)
 		{
-		Node&	n=m_nodes[i];
-		n.m_x	=	n.m_q+n.m_v*m_sst.sdt;
+			Node&	n=m_nodes[i];
+			n.m_x	=	n.m_q+n.m_v*m_sst.sdt;
 		}
 	}
-/* Solve positions		*/ 
-if(m_cfg.piterations>0)
+	/* Solve positions		*/ 
+	if(m_cfg.piterations>0)
 	{
-	for(int isolve=0;isolve<m_cfg.piterations;++isolve)
+		for(int isolve=0;isolve<m_cfg.piterations;++isolve)
 		{
-		const btScalar ti=isolve/(btScalar)m_cfg.piterations;
-		for(int iseq=0;iseq<m_cfg.m_psequence.size();++iseq)
+			const btScalar ti=isolve/(btScalar)m_cfg.piterations;
+			for(int iseq=0;iseq<m_cfg.m_psequence.size();++iseq)
 			{
-			getSolver(m_cfg.m_psequence[iseq])(this,1,ti);
+				getSolver(m_cfg.m_psequence[iseq])(this,1,ti);
 			}
 		}
-	const btScalar	vc=m_sst.isdt*(1-m_cfg.kDP);
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+		const btScalar	vc=m_sst.isdt*(1-m_cfg.kDP);
+		for(i=0,ni=m_nodes.size();i<ni;++i)
 		{
-		Node&	n=m_nodes[i];
-		n.m_v	=	(n.m_x-n.m_q)*vc;
-		n.m_f	=	btVector3(0,0,0);		
+			Node&	n=m_nodes[i];
+			n.m_v	=	(n.m_x-n.m_q)*vc;
+			n.m_f	=	btVector3(0,0,0);		
 		}
 	}
-/* Solve drift			*/ 
-if(m_cfg.diterations>0)
+	/* Solve drift			*/ 
+	if(m_cfg.diterations>0)
 	{
-	const btScalar	vcf=m_cfg.kVCF*m_sst.isdt;
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+		const btScalar	vcf=m_cfg.kVCF*m_sst.isdt;
+		for(i=0,ni=m_nodes.size();i<ni;++i)
 		{
-		Node&	n=m_nodes[i];
-		n.m_q	=	n.m_x;
+			Node&	n=m_nodes[i];
+			n.m_q	=	n.m_x;
 		}
-	for(int idrift=0;idrift<m_cfg.diterations;++idrift)
+		for(int idrift=0;idrift<m_cfg.diterations;++idrift)
 		{
-		for(int iseq=0;iseq<m_cfg.m_dsequence.size();++iseq)
+			for(int iseq=0;iseq<m_cfg.m_dsequence.size();++iseq)
 			{
-			getSolver(m_cfg.m_dsequence[iseq])(this,1,0);
+				getSolver(m_cfg.m_dsequence[iseq])(this,1,0);
 			}
 		}
-	for(int i=0,ni=m_nodes.size();i<ni;++i)
+		for(int i=0,ni=m_nodes.size();i<ni;++i)
 		{
-		Node&	n=m_nodes[i];
-		n.m_v	+=	(n.m_x-n.m_q)*vcf;
+			Node&	n=m_nodes[i];
+			n.m_v	+=	(n.m_x-n.m_q)*vcf;
 		}
 	}
-/* Apply clusters		*/ 
-dampClusters();
-applyClusters(true);
+	/* Apply clusters		*/ 
+	dampClusters();
+	applyClusters(true);
 }
 
 //
 void			btSoftBody::staticSolve(int iterations)
 {
-for(int isolve=0;isolve<iterations;++isolve)
+	for(int isolve=0;isolve<iterations;++isolve)
 	{
-	for(int iseq=0;iseq<m_cfg.m_psequence.size();++iseq)
+		for(int iseq=0;iseq<m_cfg.m_psequence.size();++iseq)
 		{
-		getSolver(m_cfg.m_psequence[iseq])(this,1,0);
+			getSolver(m_cfg.m_psequence[iseq])(this,1,0);
 		}
 	}
 }
@@ -1466,35 +1507,35 @@ for(int isolve=0;isolve<iterations;++isolve)
 //
 void			btSoftBody::solveCommonConstraints(btSoftBody** /*bodies*/,int /*count*/,int /*iterations*/)
 {
-/// placeholder
+	/// placeholder
 }
 
 //
 void			btSoftBody::solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies)
 {
-const int	nb=bodies.size();
-int			iterations=0;
-int i;
+	const int	nb=bodies.size();
+	int			iterations=0;
+	int i;
 
-for(i=0;i<nb;++i)
+	for(i=0;i<nb;++i)
 	{
-	iterations=btMax(iterations,bodies[i]->m_cfg.citerations);
+		iterations=btMax(iterations,bodies[i]->m_cfg.citerations);
 	}
-for(i=0;i<nb;++i)
+	for(i=0;i<nb;++i)
 	{
-	bodies[i]->prepareClusters(iterations);
+		bodies[i]->prepareClusters(iterations);
 	}
-for(i=0;i<iterations;++i)
+	for(i=0;i<iterations;++i)
 	{
-	const btScalar sor=1;
-	for(int j=0;j<nb;++j)
+		const btScalar sor=1;
+		for(int j=0;j<nb;++j)
 		{
-		bodies[j]->solveClusters(sor);
+			bodies[j]->solveClusters(sor);
 		}
 	}
-for(i=0;i<nb;++i)
+	for(i=0;i<nb;++i)
 	{
-	bodies[i]->cleanupClusters();
+		bodies[i]->cleanupClusters();
 	}
 }
 
@@ -1506,48 +1547,54 @@ void			btSoftBody::integrateMotion()
 }
 
 //
-					btSoftBody::RayCaster::RayCaster(const btVector3& org,const btVector3& dir,btScalar mxt)
+btSoftBody::RayFromToCaster::RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt)
 {
-o		=	org;
-d		=	dir;
-mint	=	mxt;
-face	=	0;
-tests	=	0;
+	m_rayFrom = rayFrom;
+	m_rayNormalizedDirection = (rayTo-rayFrom);
+	m_rayTo = rayTo;
+	m_mint	=	mxt;
+	m_face	=	0;
+	m_tests	=	0;
 }
 
 //
-void				btSoftBody::RayCaster::Process(const btDbvtNode* leaf)
+void				btSoftBody::RayFromToCaster::Process(const btDbvtNode* leaf)
 {
-btSoftBody::Face&	f=*(btSoftBody::Face*)leaf->data;
-const btScalar		t=rayTriangle(	o,d,
-									f.m_n[0]->m_x,
-									f.m_n[1]->m_x,
-									f.m_n[2]->m_x,
-									mint);
-if((t>0)&&(t<mint)) { mint=t;face=&f; }
-++tests;
+	btSoftBody::Face&	f=*(btSoftBody::Face*)leaf->data;
+	const btScalar		t=rayFromToTriangle(	m_rayFrom,m_rayTo,m_rayNormalizedDirection,
+		f.m_n[0]->m_x,
+		f.m_n[1]->m_x,
+		f.m_n[2]->m_x,
+		m_mint);
+	if((t>0)&&(t<m_mint)) 
+	{ 
+		m_mint=t;m_face=&f; 
+	}
+	++m_tests;
 }
 
 //
-btScalar			btSoftBody::RayCaster::rayTriangle(	const btVector3& org,
-														const btVector3& dir,
-														const btVector3& a,
-														const btVector3& b,
-														const btVector3& c,
-														btScalar maxt)
+btScalar			btSoftBody::RayFromToCaster::rayFromToTriangle(	const btVector3& rayFrom,
+																   const btVector3& rayTo,
+																   const btVector3& rayNormalizedDirection,
+																   const btVector3& a,
+																   const btVector3& b,
+																   const btVector3& c,
+																   btScalar maxt)
 {
 	static const btScalar	ceps=-SIMD_EPSILON*10;
 	static const btScalar	teps=SIMD_EPSILON*10;
+
 	const btVector3			n=cross(b-a,c-a);
 	const btScalar			d=dot(a,n);
-	const btScalar			den=dot(dir,n);
+	const btScalar			den=dot(rayNormalizedDirection,n);
 	if(!btFuzzyZero(den))
 	{
-		const btScalar		num=dot(org,n)-d;
+		const btScalar		num=dot(rayFrom,n)-d;
 		const btScalar		t=-num/den;
 		if((t>teps)&&(t<maxt))
 		{
-			const btVector3	hit=org+dir*t;
+			const btVector3	hit=rayFrom+rayNormalizedDirection*t;
 			if(	(dot(n,cross(a-hit,b-hit))>ceps)	&&			
 				(dot(n,cross(b-hit,c-hit))>ceps)	&&
 				(dot(n,cross(c-hit,a-hit))>ceps))
@@ -1569,9 +1616,9 @@ void				btSoftBody::pointersToIndices()
 	for(i=0,ni=m_nodes.size();i<ni;++i)
 	{
 		if(m_nodes[i].m_leaf)
-			{
+		{
 			m_nodes[i].m_leaf->data=*(void**)&i;
-			}
+		}
 	}
 	for(i=0,ni=m_links.size();i<ni;++i)
 	{
@@ -1584,21 +1631,21 @@ void				btSoftBody::pointersToIndices()
 		m_faces[i].m_n[1]=PTR2IDX(m_faces[i].m_n[1],base);
 		m_faces[i].m_n[2]=PTR2IDX(m_faces[i].m_n[2],base);
 		if(m_faces[i].m_leaf)
-			{
+		{
 			m_faces[i].m_leaf->data=*(void**)&i;
-			}
+		}
 	}
 	for(i=0,ni=m_anchors.size();i<ni;++i)
-		{
+	{
 		m_anchors[i].m_node=PTR2IDX(m_anchors[i].m_node,base);
-		}
+	}
 	for(i=0,ni=m_notes.size();i<ni;++i)
-		{
+	{
 		for(int j=0;j<m_notes[i].m_rank;++j)
-			{
+		{
 			m_notes[i].m_nodes[j]=PTR2IDX(m_notes[i].m_nodes[j],base);
-			}
 		}
+	}
 #undef	PTR2IDX
 }
 
@@ -1606,16 +1653,16 @@ void				btSoftBody::pointersToIndices()
 void				btSoftBody::indicesToPointers(const int* map)
 {
 #define	IDX2PTR(_p_,_b_)	map?(&(_b_)[map[(((char*)_p_)-(char*)0)]]):	\
-								(&(_b_)[(((char*)_p_)-(char*)0)])
+	(&(_b_)[(((char*)_p_)-(char*)0)])
 	btSoftBody::Node*	base=&m_nodes[0];
 	int i,ni;
 
 	for(i=0,ni=m_nodes.size();i<ni;++i)
 	{
 		if(m_nodes[i].m_leaf)
-			{
+		{
 			m_nodes[i].m_leaf->data=&m_nodes[i];
-			}
+		}
 	}
 	for(i=0,ni=m_links.size();i<ni;++i)
 	{
@@ -1628,110 +1675,116 @@ void				btSoftBody::indicesToPointers(const int* map)
 		m_faces[i].m_n[1]=IDX2PTR(m_faces[i].m_n[1],base);
 		m_faces[i].m_n[2]=IDX2PTR(m_faces[i].m_n[2],base);
 		if(m_faces[i].m_leaf)
-			{
+		{
 			m_faces[i].m_leaf->data=&m_faces[i];
-			}
+		}
 	}
 	for(i=0,ni=m_anchors.size();i<ni;++i)
-		{
+	{
 		m_anchors[i].m_node=IDX2PTR(m_anchors[i].m_node,base);
-		}
+	}
 	for(i=0,ni=m_notes.size();i<ni;++i)
-		{
+	{
 		for(int j=0;j<m_notes[i].m_rank;++j)
-			{
+		{
 			m_notes[i].m_nodes[j]=IDX2PTR(m_notes[i].m_nodes[j],base);
-			}
 		}
+	}
 #undef	IDX2PTR
 }
 
 //
-int					btSoftBody::rayCast(const btVector3& org,const btVector3& dir,
+int					btSoftBody::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
 										btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const
 {
 	int	cnt=0;
 	if(bcountonly||m_fdbvt.empty())
-		{/* Full search	*/ 
+	{/* Full search	*/ 
+		btVector3 dir = rayTo-rayFrom;
+		dir.normalize();
+
 		for(int i=0,ni=m_faces.size();i<ni;++i)
-			{
+		{
 			const btSoftBody::Face&	f=m_faces[i];
-			const btScalar			t=RayCaster::rayTriangle(	org,dir,
-																f.m_n[0]->m_x,
-																f.m_n[1]->m_x,
-																f.m_n[2]->m_x,
-																mint);
+
+			const btScalar			t=RayFromToCaster::rayFromToTriangle(	rayFrom,rayTo,dir,
+				f.m_n[0]->m_x,
+				f.m_n[1]->m_x,
+				f.m_n[2]->m_x,
+				mint);
 			if(t>0)
-				{
+			{
 				++cnt;
 				if(!bcountonly)
-					{
+				{
 					feature=btSoftBody::eFeature::Face;
 					index=i;
 					mint=t;
-					}
 				}
 			}
 		}
-		else
-		{/* Use dbvt	*/ 
-		RayCaster	collider(org,dir,mint);
-		btDbvt::collideRAY(m_fdbvt.m_root,org,dir,collider);
-		if(collider.face)
-			{
-			mint=collider.mint;
+	}
+	else
+	{/* Use dbvt	*/ 
+		RayFromToCaster	collider(rayFrom,rayTo,mint);
+
+		btDbvt::rayTest(m_fdbvt.m_root,rayFrom,rayTo,collider);
+		if(collider.m_face)
+		{
+			mint=collider.m_mint;
 			feature=btSoftBody::eFeature::Face;
-			index=(int)(collider.face-&m_faces[0]);
+			index=(int)(collider.m_face-&m_faces[0]);
 			cnt=1;
-			}
 		}
+	}
 	return(cnt);
 }
 
 //
 void			btSoftBody::initializeFaceTree()
 {
-m_fdbvt.clear();
-for(int i=0;i<m_faces.size();++i)
+	m_fdbvt.clear();
+	for(int i=0;i<m_faces.size();++i)
 	{
-	Face&	f=m_faces[i];
-	f.m_leaf=m_fdbvt.insert(VolumeOf(f,0),&f);
+		Face&	f=m_faces[i];
+		f.m_leaf=m_fdbvt.insert(VolumeOf(f,0),&f);
 	}
 }
 
 //
 btVector3		btSoftBody::evaluateCom() const
 {
-btVector3	com(0,0,0);
-if(m_pose.m_bframe)
+	btVector3	com(0,0,0);
+	if(m_pose.m_bframe)
 	{
-	for(int i=0,ni=m_nodes.size();i<ni;++i)
+		for(int i=0,ni=m_nodes.size();i<ni;++i)
 		{
-		com+=m_nodes[i].m_x*m_pose.m_wgh[i];
+			com+=m_nodes[i].m_x*m_pose.m_wgh[i];
 		}
 	}
 	return(com);
 }
-	
+
 //
-bool				btSoftBody::checkContact(	btRigidBody* prb,
-												const btVector3& x,
-												btScalar margin,
-												btSoftBody::sCti& cti) const
+bool				btSoftBody::checkContact(	btCollisionObject* colObj,
+											 const btVector3& x,
+											 btScalar margin,
+											 btSoftBody::sCti& cti) const
 {
 	btVector3			nrm;
-	btCollisionShape*	shp=prb->getCollisionShape();
-	const btTransform&	wtr=prb->getInterpolationWorldTransform();
+	btCollisionShape*	shp=colObj->getCollisionShape();
+	btRigidBody* tmpRigid = btRigidBody::upcast(colObj);
+	const btTransform&	wtr=tmpRigid? tmpRigid->getInterpolationWorldTransform() : colObj->getWorldTransform();
 	btScalar			dst=m_worldInfo->m_sparsesdf.Evaluate(	wtr.invXform(x),
-																shp,
-																nrm,
-																margin);
+		shp,
+		nrm,
+		margin);
 	if(dst<0)
 	{
-		cti.m_body		=	prb;
+		cti.m_colObj		=	colObj;
 		cti.m_normal	=	wtr.getBasis()*nrm;
 		cti.m_offset	=	-dot(	cti.m_normal,
-									x-cti.m_normal*dst);
+			x-cti.m_normal*dst);
 		return(true);
 	}
 	return(false);
@@ -1751,7 +1804,7 @@ void					btSoftBody::updateNormals()
 	{
 		btSoftBody::Face&	f=m_faces[i];
 		const btVector3		n=cross(f.m_n[1]->m_x-f.m_n[0]->m_x,
-									f.m_n[2]->m_x-f.m_n[0]->m_x);
+			f.m_n[2]->m_x-f.m_n[0]->m_x);
 		f.m_normal=n.normalized();
 		f.m_n[0]->m_n+=n;
 		f.m_n[1]->m_n+=n;
@@ -1769,28 +1822,28 @@ void					btSoftBody::updateNormals()
 void					btSoftBody::updateBounds()
 {
 	if(m_ndbvt.m_root)
-		{
+	{
 		const btVector3&	mins=m_ndbvt.m_root->volume.Mins();
 		const btVector3&	maxs=m_ndbvt.m_root->volume.Maxs();
 		const btScalar		csm=getCollisionShape()->getMargin();
 		const btVector3		mrg=btVector3(	csm,
-											csm,
-											csm)*1; // ??? to investigate...
+			csm,
+			csm)*1; // ??? to investigate...
 		m_bounds[0]=mins-mrg;
 		m_bounds[1]=maxs+mrg;
-			if(0!=getBroadphaseHandle())
-			{					
-				m_worldInfo->m_broadphase->setAabb(	getBroadphaseHandle(),
-													m_bounds[0],
-													m_bounds[1],
-													m_worldInfo->m_dispatcher);
-			}
+		if(0!=getBroadphaseHandle())
+		{					
+			m_worldInfo->m_broadphase->setAabb(	getBroadphaseHandle(),
+				m_bounds[0],
+				m_bounds[1],
+				m_worldInfo->m_dispatcher);
 		}
-		else
-		{
+	}
+	else
+	{
 		m_bounds[0]=
-		m_bounds[1]=btVector3(0,0,0);
-		}		
+			m_bounds[1]=btVector3(0,0,0);
+	}		
 }
 
 
@@ -1821,12 +1874,12 @@ void					btSoftBody::updatePose()
 		pose.m_rot=r;
 		pose.m_scl=pose.m_aqq*r.transpose()*Apq;
 		if(m_cfg.maxvolume>1)
-			{
+		{
 			const btScalar	idet=Clamp<btScalar>(	1/pose.m_scl.determinant(),
-													1,m_cfg.maxvolume);
+				1,m_cfg.maxvolume);
 			pose.m_scl=Mul(pose.m_scl,idet);
-			}
-		
+		}
+
 	}
 }
 
@@ -1881,53 +1934,53 @@ void					btSoftBody::initializeClusters()
 {
 	int i;
 
-for( i=0;i<m_clusters.size();++i)
+	for( i=0;i<m_clusters.size();++i)
 	{
-	Cluster&	c=*m_clusters[i];
-	c.m_imass=0;
-	c.m_masses.resize(c.m_nodes.size());
-	for(int j=0;j<c.m_nodes.size();++j)
+		Cluster&	c=*m_clusters[i];
+		c.m_imass=0;
+		c.m_masses.resize(c.m_nodes.size());
+		for(int j=0;j<c.m_nodes.size();++j)
 		{
-		c.m_masses[j]	=	c.m_nodes[j]->m_im>0?1/c.m_nodes[j]->m_im:0;
-		c.m_imass		+=	c.m_masses[j];
+			c.m_masses[j]	=	c.m_nodes[j]->m_im>0?1/c.m_nodes[j]->m_im:0;
+			c.m_imass		+=	c.m_masses[j];
 		}
-	c.m_imass		=	1/c.m_imass;
-	c.m_com			=	btSoftBody::clusterCom(&c);
-	c.m_lv			=	btVector3(0,0,0);
-	c.m_av			=	btVector3(0,0,0);
-	c.m_leaf		=	0;
-	/* Inertia	*/ 
-	btMatrix3x3&	ii=c.m_locii;
-	ii[0]=ii[1]=ii[2]=btVector3(0,0,0);
-	{
-		int i,ni;
+		c.m_imass		=	1/c.m_imass;
+		c.m_com			=	btSoftBody::clusterCom(&c);
+		c.m_lv			=	btVector3(0,0,0);
+		c.m_av			=	btVector3(0,0,0);
+		c.m_leaf		=	0;
+		/* Inertia	*/ 
+		btMatrix3x3&	ii=c.m_locii;
+		ii[0]=ii[1]=ii[2]=btVector3(0,0,0);
+		{
+			int i,ni;
 
-		for(i=0,ni=c.m_nodes.size();i<ni;++i)
-		{
-			const btVector3	k=c.m_nodes[i]->m_x-c.m_com;
-			const btVector3	q=k*k;
-			const btScalar	m=c.m_masses[i];
-			ii[0][0]	+=	m*(q[1]+q[2]);
-			ii[1][1]	+=	m*(q[0]+q[2]);
-			ii[2][2]	+=	m*(q[0]+q[1]);
-			ii[0][1]	-=	m*k[0]*k[1];
-			ii[0][2]	-=	m*k[0]*k[2];
-			ii[1][2]	-=	m*k[1]*k[2];
-		}
-	}
-	ii[1][0]=ii[0][1];
-	ii[2][0]=ii[0][2];
-	ii[2][1]=ii[1][2];
-	ii=ii.inverse();
-	/* Frame	*/ 
-	c.m_framexform.setIdentity();
-	c.m_framexform.setOrigin(c.m_com);
-	c.m_framerefs.resize(c.m_nodes.size());
-	{
-		int i;
-		for(i=0;i<c.m_framerefs.size();++i)
+			for(i=0,ni=c.m_nodes.size();i<ni;++i)
+			{
+				const btVector3	k=c.m_nodes[i]->m_x-c.m_com;
+				const btVector3	q=k*k;
+				const btScalar	m=c.m_masses[i];
+				ii[0][0]	+=	m*(q[1]+q[2]);
+				ii[1][1]	+=	m*(q[0]+q[2]);
+				ii[2][2]	+=	m*(q[0]+q[1]);
+				ii[0][1]	-=	m*k[0]*k[1];
+				ii[0][2]	-=	m*k[0]*k[2];
+				ii[1][2]	-=	m*k[1]*k[2];
+			}
+		}
+		ii[1][0]=ii[0][1];
+		ii[2][0]=ii[0][2];
+		ii[2][1]=ii[1][2];
+		ii=ii.inverse();
+		/* Frame	*/ 
+		c.m_framexform.setIdentity();
+		c.m_framexform.setOrigin(c.m_com);
+		c.m_framerefs.resize(c.m_nodes.size());
+		{
+			int i;
+			for(i=0;i<c.m_framerefs.size();++i)
 			{
-			c.m_framerefs[i]=c.m_nodes[i]->m_x-c.m_com;
+				c.m_framerefs[i]=c.m_nodes[i]->m_x-c.m_com;
 			}
 		}
 	}
@@ -1936,49 +1989,49 @@ for( i=0;i<m_clusters.size();++i)
 //
 void					btSoftBody::updateClusters()
 {
-BT_PROFILE("UpdateClusters");
-int i;
-
-for(i=0;i<m_clusters.size();++i)
-	{
-	btSoftBody::Cluster&	c=*m_clusters[i];
-	const int				n=c.m_nodes.size();
-	const btScalar			invn=1/(btScalar)n;
-	if(n)
-		{
-		/* Frame				*/ 
-		const btScalar	eps=btScalar(0.0001);
-		btMatrix3x3		m,r,s;
-		m[0]=m[1]=m[2]=btVector3(0,0,0);
-		m[0][0]=eps*1;
-		m[1][1]=eps*2;
-		m[2][2]=eps*3;
-		c.m_com=clusterCom(&c);
-		for(int i=0;i<c.m_nodes.size();++i)
+	BT_PROFILE("UpdateClusters");
+	int i;
+
+	for(i=0;i<m_clusters.size();++i)
+	{
+		btSoftBody::Cluster&	c=*m_clusters[i];
+		const int				n=c.m_nodes.size();
+		const btScalar			invn=1/(btScalar)n;
+		if(n)
+		{
+			/* Frame				*/ 
+			const btScalar	eps=btScalar(0.0001);
+			btMatrix3x3		m,r,s;
+			m[0]=m[1]=m[2]=btVector3(0,0,0);
+			m[0][0]=eps*1;
+			m[1][1]=eps*2;
+			m[2][2]=eps*3;
+			c.m_com=clusterCom(&c);
+			for(int i=0;i<c.m_nodes.size();++i)
 			{
-			const btVector3		a=c.m_nodes[i]->m_x-c.m_com;
-			const btVector3&	b=c.m_framerefs[i];
-			m[0]+=a[0]*b;m[1]+=a[1]*b;m[2]+=a[2]*b;
+				const btVector3		a=c.m_nodes[i]->m_x-c.m_com;
+				const btVector3&	b=c.m_framerefs[i];
+				m[0]+=a[0]*b;m[1]+=a[1]*b;m[2]+=a[2]*b;
 			}
-		PolarDecompose(m,r,s);
-		c.m_framexform.setOrigin(c.m_com);
-		c.m_framexform.setBasis(r);		
-		/* Inertia			*/ 
-		#if 1/* Constant	*/ 
-		c.m_invwi=c.m_framexform.getBasis()*c.m_locii*c.m_framexform.getBasis().transpose();
-		#else
-			#if 0/* Sphere	*/ 
+			PolarDecompose(m,r,s);
+			c.m_framexform.setOrigin(c.m_com);
+			c.m_framexform.setBasis(r);		
+			/* Inertia			*/ 
+#if 1/* Constant	*/ 
+			c.m_invwi=c.m_framexform.getBasis()*c.m_locii*c.m_framexform.getBasis().transpose();
+#else
+#if 0/* Sphere	*/ 
 			const btScalar	rk=(2*c.m_extents.length2())/(5*c.m_imass);
 			const btVector3	inertia(rk,rk,rk);
 			const btVector3	iin(btFabs(inertia[0])>SIMD_EPSILON?1/inertia[0]:0,
-								btFabs(inertia[1])>SIMD_EPSILON?1/inertia[1]:0,
-								btFabs(inertia[2])>SIMD_EPSILON?1/inertia[2]:0);
-			
+				btFabs(inertia[1])>SIMD_EPSILON?1/inertia[1]:0,
+				btFabs(inertia[2])>SIMD_EPSILON?1/inertia[2]:0);
+
 			c.m_invwi=c.m_xform.getBasis().scaled(iin)*c.m_xform.getBasis().transpose();
-			#else/* Actual	*/ 		
+#else/* Actual	*/ 		
 			c.m_invwi[0]=c.m_invwi[1]=c.m_invwi[2]=btVector3(0,0,0);
 			for(int i=0;i<n;++i)
-				{
+			{
 				const btVector3	k=c.m_nodes[i]->m_x-c.m_com;
 				const btVector3		q=k*k;
 				const btScalar		m=1/c.m_nodes[i]->m_im;
@@ -1988,74 +2041,79 @@ for(i=0;i<m_clusters.size();++i)
 				c.m_invwi[0][1]	-=	m*k[0]*k[1];
 				c.m_invwi[0][2]	-=	m*k[0]*k[2];
 				c.m_invwi[1][2]	-=	m*k[1]*k[2];
-				}
+			}
 			c.m_invwi[1][0]=c.m_invwi[0][1];
 			c.m_invwi[2][0]=c.m_invwi[0][2];
 			c.m_invwi[2][1]=c.m_invwi[1][2];
 			c.m_invwi=c.m_invwi.inverse();
-			#endif
-		#endif
-		/* Velocities			*/ 
-		c.m_lv=btVector3(0,0,0);
-		c.m_av=btVector3(0,0,0);
-		{
-			int i;
-
-			for(i=0;i<n;++i)
+#endif
+#endif
+			/* Velocities			*/ 
+			c.m_lv=btVector3(0,0,0);
+			c.m_av=btVector3(0,0,0);
 			{
-				const btVector3	v=c.m_nodes[i]->m_v*c.m_masses[i];
-				c.m_lv	+=	v;
-				c.m_av	+=	cross(c.m_nodes[i]->m_x-c.m_com,v);
+				int i;
+
+				for(i=0;i<n;++i)
+				{
+					const btVector3	v=c.m_nodes[i]->m_v*c.m_masses[i];
+					c.m_lv	+=	v;
+					c.m_av	+=	cross(c.m_nodes[i]->m_x-c.m_com,v);
+				}
 			}
-		}
-		c.m_lv=c.m_imass*c.m_lv*(1-c.m_ldamping);
-		c.m_av=c.m_invwi*c.m_av*(1-c.m_adamping);
-		c.m_vimpulses[0]	=
-		c.m_vimpulses[1]	= btVector3(0,0,0);
-		c.m_dimpulses[0]	=
-		c.m_dimpulses[1]	= btVector3(0,0,0);
-		c.m_nvimpulses		= 0;
-		c.m_ndimpulses		= 0;
-		/* Matching				*/ 
-		if(c.m_matching>0)
+			c.m_lv=c.m_imass*c.m_lv*(1-c.m_ldamping);
+			c.m_av=c.m_invwi*c.m_av*(1-c.m_adamping);
+			c.m_vimpulses[0]	=
+				c.m_vimpulses[1]	= btVector3(0,0,0);
+			c.m_dimpulses[0]	=
+				c.m_dimpulses[1]	= btVector3(0,0,0);
+			c.m_nvimpulses		= 0;
+			c.m_ndimpulses		= 0;
+			/* Matching				*/ 
+			if(c.m_matching>0)
 			{
-			for(int j=0;j<c.m_nodes.size();++j)
+				for(int j=0;j<c.m_nodes.size();++j)
 				{
-				Node&			n=*c.m_nodes[j];
-				const btVector3	x=c.m_framexform*c.m_framerefs[j];
-				n.m_x=Lerp(n.m_x,x,c.m_matching);
+					Node&			n=*c.m_nodes[j];
+					const btVector3	x=c.m_framexform*c.m_framerefs[j];
+					n.m_x=Lerp(n.m_x,x,c.m_matching);
 				}
-			}
-		/* Dbvt					*/ 
-		if(c.m_collide)
+			}			
+			/* Dbvt					*/ 
+			if(c.m_collide)
 			{
-			btVector3	mi=c.m_nodes[0]->m_x;
-			btVector3	mx=mi;
-			for(int j=1;j<n;++j)
+				btVector3	mi=c.m_nodes[0]->m_x;
+				btVector3	mx=mi;
+				for(int j=1;j<n;++j)
 				{
-				mi.setMin(c.m_nodes[j]->m_x);
-				mx.setMax(c.m_nodes[j]->m_x);
+					mi.setMin(c.m_nodes[j]->m_x);
+					mx.setMax(c.m_nodes[j]->m_x);
 				}			
-			const ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(mi,mx);
-			if(c.m_leaf)
-				m_cdbvt.update(c.m_leaf,bounds,c.m_lv*m_sst.sdt*3,m_sst.radmrg);
+				ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(mi,mx);
+				if(c.m_leaf)
+					m_cdbvt.update(c.m_leaf,bounds,c.m_lv*m_sst.sdt*3,m_sst.radmrg);
 				else
-				c.m_leaf=m_cdbvt.insert(bounds,&c);
+					c.m_leaf=m_cdbvt.insert(bounds,&c);
 			}
 		}
 	}
+
+
 }
 
+
+
+
 //
 void					btSoftBody::cleanupClusters()
 {
-for(int i=0;i<m_joints.size();++i)
+	for(int i=0;i<m_joints.size();++i)
 	{
-	m_joints[i]->Terminate(m_sst.sdt);
-	if(m_joints[i]->m_delete)
+		m_joints[i]->Terminate(m_sst.sdt);
+		if(m_joints[i]->m_delete)
 		{
-		btAlignedFree(m_joints[i]);
-		m_joints.remove(m_joints[i--]);
+			btAlignedFree(m_joints[i]);
+			m_joints.remove(m_joints[i--]);
 		}	
 	}
 }
@@ -2063,9 +2121,9 @@ for(int i=0;i<m_joints.size();++i)
 //
 void					btSoftBody::prepareClusters(int iterations)
 {
-for(int i=0;i<m_joints.size();++i)
+	for(int i=0;i<m_joints.size();++i)
 	{
-	m_joints[i]->Prepare(m_sst.sdt,iterations);
+		m_joints[i]->Prepare(m_sst.sdt,iterations);
 	}
 }
 
@@ -2073,50 +2131,51 @@ for(int i=0;i<m_joints.size();++i)
 //
 void					btSoftBody::solveClusters(btScalar sor)
 {
-for(int i=0,ni=m_joints.size();i<ni;++i)
+	for(int i=0,ni=m_joints.size();i<ni;++i)
 	{
-	m_joints[i]->Solve(m_sst.sdt,sor);
+		m_joints[i]->Solve(m_sst.sdt,sor);
 	}
 }
 
 //
 void					btSoftBody::applyClusters(bool drift)
 {
-BT_PROFILE("ApplyClusters");
-const btScalar					f0=m_sst.sdt;
-const btScalar					f1=f0/2;
-btAlignedObjectArray<btVector3>	deltas;
-btAlignedObjectArray<btScalar>	weights;
-deltas.resize(m_nodes.size(),btVector3(0,0,0));
-weights.resize(m_nodes.size(),0);
-int i;
+	BT_PROFILE("ApplyClusters");
+	const btScalar					f0=m_sst.sdt;
+	const btScalar					f1=f0/2;
+	btAlignedObjectArray<btVector3> deltas;
+	btAlignedObjectArray<btScalar> weights;
+	deltas.resize(m_nodes.size(),btVector3(0,0,0));
+	weights.resize(m_nodes.size(),0);
+	int i;
 
-if(drift)
+	if(drift)
 	{
-	for(i=0;i<m_clusters.size();++i)
+		for(i=0;i<m_clusters.size();++i)
 		{
-		Cluster&	c=*m_clusters[i];
-		if(c.m_ndimpulses)
+			Cluster&	c=*m_clusters[i];
+			if(c.m_ndimpulses)
 			{
-			c.m_dimpulses[0]/=(btScalar)c.m_ndimpulses;
-			c.m_dimpulses[1]/=(btScalar)c.m_ndimpulses;
+				c.m_dimpulses[0]/=(btScalar)c.m_ndimpulses;
+				c.m_dimpulses[1]/=(btScalar)c.m_ndimpulses;
 			}
 		}
 	}
-for(i=0;i<m_clusters.size();++i)
+	
+	for(i=0;i<m_clusters.size();++i)
 	{
-	Cluster&	c=*m_clusters[i];	
-	if(0<(drift?c.m_ndimpulses:c.m_nvimpulses))
+		Cluster&	c=*m_clusters[i];	
+		if(0<(drift?c.m_ndimpulses:c.m_nvimpulses))
 		{
-		const btVector3		v=(drift?c.m_dimpulses[0]:c.m_vimpulses[0])*m_sst.sdt;
-		const btVector3		w=(drift?c.m_dimpulses[1]:c.m_vimpulses[1])*m_sst.sdt;
-		for(int j=0;j<c.m_nodes.size();++j)
+			const btVector3		v=(drift?c.m_dimpulses[0]:c.m_vimpulses[0])*m_sst.sdt;
+			const btVector3		w=(drift?c.m_dimpulses[1]:c.m_vimpulses[1])*m_sst.sdt;
+			for(int j=0;j<c.m_nodes.size();++j)
 			{
-			const int			idx=int(c.m_nodes[j]-&m_nodes[0]);
-			const btVector3&	x=c.m_nodes[j]->m_x;
-			const btScalar		q=c.m_masses[j];
-			deltas[idx]		+=	(v+cross(w,x-c.m_com))*q;
-			weights[idx]	+=	q;
+				const int			idx=int(c.m_nodes[j]-&m_nodes[0]);
+				const btVector3&	x=c.m_nodes[j]->m_x;
+				const btScalar		q=c.m_masses[j];
+				deltas[idx]		+=	(v+cross(w,x-c.m_com))*q;
+				weights[idx]	+=	q;
 			}
 		}
 	}
@@ -2131,18 +2190,21 @@ void					btSoftBody::dampClusters()
 {
 	int i;
 
-for(i=0;i<m_clusters.size();++i)
+	for(i=0;i<m_clusters.size();++i)
 	{
-	Cluster&	c=*m_clusters[i];	
-	if(c.m_ndamping>0)
+		Cluster&	c=*m_clusters[i];	
+		if(c.m_ndamping>0)
 		{
-		for(int j=0;j<c.m_nodes.size();++j)
+			for(int j=0;j<c.m_nodes.size();++j)
 			{
-			Node&			n=*c.m_nodes[j];
-			if(n.m_im>0)
+				Node&			n=*c.m_nodes[j];
+				if(n.m_im>0)
 				{
-				const btVector3	vx=c.m_lv+cross(c.m_av,c.m_nodes[j]->m_q-c.m_com);
-				n.m_v	+=	c.m_ndamping*(vx-n.m_v);
+					const btVector3	vx=c.m_lv+cross(c.m_av,c.m_nodes[j]->m_q-c.m_com);
+					if(vx.length2()<=n.m_v.length2())
+						{
+						n.m_v	+=	c.m_ndamping*(vx-n.m_v);
+						}
 				}
 			}
 		}
@@ -2152,154 +2214,155 @@ for(i=0;i<m_clusters.size();++i)
 //
 void				btSoftBody::Joint::Prepare(btScalar dt,int)
 {
-m_bodies[0].activate();
-m_bodies[1].activate();
+	m_bodies[0].activate();
+	m_bodies[1].activate();
 }
 
 //
 void				btSoftBody::LJoint::Prepare(btScalar dt,int iterations)
 {
-static const btScalar	maxdrift=4;
-Joint::Prepare(dt,iterations);
-m_rpos[0]		=	m_bodies[0].xform()*m_refs[0];
-m_rpos[1]		=	m_bodies[1].xform()*m_refs[1];
-m_drift			=	Clamp(m_rpos[0]-m_rpos[1],maxdrift)*m_erp/dt;
-m_rpos[0]		-=	m_bodies[0].xform().getOrigin();
-m_rpos[1]		-=	m_bodies[1].xform().getOrigin();
-m_massmatrix	=	ImpulseMatrix(	m_bodies[0].invMass(),m_bodies[0].invWorldInertia(),m_rpos[0],
-									m_bodies[1].invMass(),m_bodies[1].invWorldInertia(),m_rpos[1]);
-if(m_split>0)
+	static const btScalar	maxdrift=4;
+	Joint::Prepare(dt,iterations);
+	m_rpos[0]		=	m_bodies[0].xform()*m_refs[0];
+	m_rpos[1]		=	m_bodies[1].xform()*m_refs[1];
+	m_drift			=	Clamp(m_rpos[0]-m_rpos[1],maxdrift)*m_erp/dt;
+	m_rpos[0]		-=	m_bodies[0].xform().getOrigin();
+	m_rpos[1]		-=	m_bodies[1].xform().getOrigin();
+	m_massmatrix	=	ImpulseMatrix(	m_bodies[0].invMass(),m_bodies[0].invWorldInertia(),m_rpos[0],
+		m_bodies[1].invMass(),m_bodies[1].invWorldInertia(),m_rpos[1]);
+	if(m_split>0)
 	{
-	m_sdrift	=	m_massmatrix*(m_drift*m_split);
-	m_drift		*=	1-m_split;
+		m_sdrift	=	m_massmatrix*(m_drift*m_split);
+		m_drift		*=	1-m_split;
 	}
-m_drift	/=(btScalar)iterations;
+	m_drift	/=(btScalar)iterations;
 }
 
 //
 void				btSoftBody::LJoint::Solve(btScalar dt,btScalar sor)
 {
-const btVector3		va=m_bodies[0].velocity(m_rpos[0]);
-const btVector3		vb=m_bodies[1].velocity(m_rpos[1]);
-const btVector3		vr=va-vb;
-btSoftBody::Impulse	impulse;
-impulse.m_asVelocity	=	1;
-impulse.m_velocity		=	m_massmatrix*(m_drift+vr*m_cfm)*sor;
-m_bodies[0].applyImpulse(-impulse,m_rpos[0]);
-m_bodies[1].applyImpulse( impulse,m_rpos[1]);
+	const btVector3		va=m_bodies[0].velocity(m_rpos[0]);
+	const btVector3		vb=m_bodies[1].velocity(m_rpos[1]);
+	const btVector3		vr=va-vb;
+	btSoftBody::Impulse	impulse;
+	impulse.m_asVelocity	=	1;
+	impulse.m_velocity		=	m_massmatrix*(m_drift+vr*m_cfm)*sor;
+	m_bodies[0].applyImpulse(-impulse,m_rpos[0]);
+	m_bodies[1].applyImpulse( impulse,m_rpos[1]);
 }
 
 //
 void				btSoftBody::LJoint::Terminate(btScalar dt)
 {
-if(m_split>0)
+	if(m_split>0)
 	{
-	m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]);
-	m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]);
+		m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]);
+		m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]);
 	}
 }
 
 //
 void				btSoftBody::AJoint::Prepare(btScalar dt,int iterations)
 {
-static const btScalar	maxdrift=SIMD_PI/16;
-m_icontrol->Prepare(this);
-Joint::Prepare(dt,iterations);
-m_axis[0]	=	m_bodies[0].xform().getBasis()*m_refs[0];
-m_axis[1]	=	m_bodies[1].xform().getBasis()*m_refs[1];
-m_drift		=	NormalizeAny(cross(m_axis[1],m_axis[0]));
-m_drift		*=	btMin(maxdrift,btAcos(Clamp<btScalar>(dot(m_axis[0],m_axis[1]),-1,+1)));
-m_drift		*=	m_erp/dt;
-m_massmatrix=	AngularImpulseMatrix(m_bodies[0].invWorldInertia(),m_bodies[1].invWorldInertia());
-if(m_split>0)
+	static const btScalar	maxdrift=SIMD_PI/16;
+	m_icontrol->Prepare(this);
+	Joint::Prepare(dt,iterations);
+	m_axis[0]	=	m_bodies[0].xform().getBasis()*m_refs[0];
+	m_axis[1]	=	m_bodies[1].xform().getBasis()*m_refs[1];
+	m_drift		=	NormalizeAny(cross(m_axis[1],m_axis[0]));
+	m_drift		*=	btMin(maxdrift,btAcos(Clamp<btScalar>(dot(m_axis[0],m_axis[1]),-1,+1)));
+	m_drift		*=	m_erp/dt;
+	m_massmatrix=	AngularImpulseMatrix(m_bodies[0].invWorldInertia(),m_bodies[1].invWorldInertia());
+	if(m_split>0)
 	{
-	m_sdrift	=	m_massmatrix*(m_drift*m_split);
-	m_drift		*=	1-m_split;
+		m_sdrift	=	m_massmatrix*(m_drift*m_split);
+		m_drift		*=	1-m_split;
 	}
-m_drift	/=(btScalar)iterations;
+	m_drift	/=(btScalar)iterations;
 }
 
 //
 void				btSoftBody::AJoint::Solve(btScalar dt,btScalar sor)
 {
-const btVector3		va=m_bodies[0].angularVelocity();
-const btVector3		vb=m_bodies[1].angularVelocity();
-const btVector3		vr=va-vb;
-const btScalar		sp=dot(vr,m_axis[0]);
-const btVector3		vc=vr-m_axis[0]*m_icontrol->Speed(this,sp);
-btSoftBody::Impulse	impulse;
-impulse.m_asVelocity	=	1;
-impulse.m_velocity		=	m_massmatrix*(m_drift+vc*m_cfm)*sor;
-m_bodies[0].applyAImpulse(-impulse);
-m_bodies[1].applyAImpulse( impulse);
+	const btVector3		va=m_bodies[0].angularVelocity();
+	const btVector3		vb=m_bodies[1].angularVelocity();
+	const btVector3		vr=va-vb;
+	const btScalar		sp=dot(vr,m_axis[0]);
+	const btVector3		vc=vr-m_axis[0]*m_icontrol->Speed(this,sp);
+	btSoftBody::Impulse	impulse;
+	impulse.m_asVelocity	=	1;
+	impulse.m_velocity		=	m_massmatrix*(m_drift+vc*m_cfm)*sor;
+	m_bodies[0].applyAImpulse(-impulse);
+	m_bodies[1].applyAImpulse( impulse);
 }
 
 //
 void				btSoftBody::AJoint::Terminate(btScalar dt)
 {
-if(m_split>0)
+	if(m_split>0)
 	{
-	m_bodies[0].applyDAImpulse(-m_sdrift);
-	m_bodies[1].applyDAImpulse( m_sdrift);
+		m_bodies[0].applyDAImpulse(-m_sdrift);
+		m_bodies[1].applyDAImpulse( m_sdrift);
 	}
 }
 
 //
 void				btSoftBody::CJoint::Prepare(btScalar dt,int iterations)
 {
-Joint::Prepare(dt,iterations);
-const bool	dodrift=(m_life==0);
-m_delete=(++m_life)>m_maxlife;
-if(dodrift)
+	Joint::Prepare(dt,iterations);
+	const bool	dodrift=(m_life==0);
+	m_delete=(++m_life)>m_maxlife;
+	if(dodrift)
 	{
-	m_drift=m_drift*m_erp/dt;
-	if(m_split>0)
+		m_drift=m_drift*m_erp/dt;
+		if(m_split>0)
 		{
-		m_sdrift	=	m_massmatrix*(m_drift*m_split);
-		m_drift		*=	1-m_split;
+			m_sdrift	=	m_massmatrix*(m_drift*m_split);
+			m_drift		*=	1-m_split;
 		}
-	m_drift/=(btScalar)iterations;
+		m_drift/=(btScalar)iterations;
 	}
 	else
 	{
-	m_drift=m_sdrift=btVector3(0,0,0);
+		m_drift=m_sdrift=btVector3(0,0,0);
 	}
 }
 
 //
 void				btSoftBody::CJoint::Solve(btScalar dt,btScalar sor)
 {
-const btVector3		va=m_bodies[0].velocity(m_rpos[0]);
-const btVector3		vb=m_bodies[1].velocity(m_rpos[1]);
-const btVector3		vrel=va-vb;
-const btScalar		rvac=dot(vrel,m_normal);
-btSoftBody::Impulse	impulse;
-impulse.m_asVelocity	=	1;
-impulse.m_velocity		=	m_drift;
-if(rvac<0)
+	const btVector3		va=m_bodies[0].velocity(m_rpos[0]);
+	const btVector3		vb=m_bodies[1].velocity(m_rpos[1]);
+	const btVector3		vrel=va-vb;
+	const btScalar		rvac=dot(vrel,m_normal);
+	btSoftBody::Impulse	impulse;
+	impulse.m_asVelocity	=	1;
+	impulse.m_velocity		=	m_drift;
+	if(rvac<0)
 	{
-	const btVector3	iv=m_normal*rvac;
-	const btVector3	fv=vrel-iv;
-	impulse.m_velocity	+=	iv+fv*m_friction;
+		const btVector3	iv=m_normal*rvac;
+		const btVector3	fv=vrel-iv;
+		impulse.m_velocity	+=	iv+fv*m_friction;
 	}
-impulse.m_velocity=m_massmatrix*impulse.m_velocity*sor;
-m_bodies[0].applyImpulse(-impulse,m_rpos[0]);
-m_bodies[1].applyImpulse( impulse,m_rpos[1]);
+	impulse.m_velocity=m_massmatrix*impulse.m_velocity*sor;
+	m_bodies[0].applyImpulse(-impulse,m_rpos[0]);
+	m_bodies[1].applyImpulse( impulse,m_rpos[1]);
 }
 
 //
 void				btSoftBody::CJoint::Terminate(btScalar dt)
 {
-if(m_split>0)
+	if(m_split>0)
 	{
-	m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]);
-	m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]);
+		m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]);
+		m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]);
 	}
 }
 
 //
 void				btSoftBody::applyForces()
 {
+
 	BT_PROFILE("SoftBody applyForces");
 	const btScalar					dt=m_sst.sdt;
 	const btScalar					kLF=m_cfg.kLF;
@@ -2311,14 +2374,14 @@ void				btSoftBody::applyForces()
 	const bool						as_pressure=kPR!=0;
 	const bool						as_volume=kVC>0;
 	const bool						as_aero=	as_lift		||
-												as_drag		;
+		as_drag		;
 	const bool						as_vaero=	as_aero		&&
-												(m_cfg.aeromodel<btSoftBody::eAeroModel::F_TwoSided);
+		(m_cfg.aeromodel<btSoftBody::eAeroModel::F_TwoSided);
 	const bool						as_faero=	as_aero		&&
-												(m_cfg.aeromodel>=btSoftBody::eAeroModel::F_TwoSided);
+		(m_cfg.aeromodel>=btSoftBody::eAeroModel::F_TwoSided);
 	const bool						use_medium=	as_aero;
 	const bool						use_volume=	as_pressure	||
-												as_volume	;
+		as_volume	;
 	btScalar						volume=0;
 	btScalar						ivolumetp=0;
 	btScalar						dvolumetv=0;
@@ -2447,12 +2510,10 @@ void				btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
 	for(int i=0,ni=psb->m_rcontacts.size();i<ni;++i)
 	{
 		const RContact&		c=psb->m_rcontacts[i];
-		///skip object that don't have collision response
-		if (!psb->getWorldInfo()->m_dispatcher->needsResponse(psb,c.m_cti.m_body))
-			continue;
-
 		const sCti&			cti=c.m_cti;	
-		const btVector3		va=cti.m_body->getVelocityInLocalPoint(c.m_c1)*dt;
+		btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
+
+		const btVector3		va=tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
 		const btVector3		vb=c.m_node->m_x-c.m_node->m_q;	
 		const btVector3		vr=vb-va;
 		const btScalar		dn=dot(vr,cti.m_normal);		
@@ -2462,7 +2523,8 @@ void				btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
 			const btVector3		fv=vr-cti.m_normal*dn;
 			const btVector3		impulse=c.m_c0*((vr-fv*c.m_c3+cti.m_normal*(dp*c.m_c4))*kst);
 			c.m_node->m_x-=impulse*c.m_c2;
-			c.m_cti.m_body->applyImpulse(impulse,c.m_c1);
+			if (tmpRigid)
+				tmpRigid->applyImpulse(impulse,c.m_c1);
 		}
 	}
 }
@@ -2470,32 +2532,32 @@ void				btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
 //
 void				btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti)
 {
-for(int i=0,ni=psb->m_scontacts.size();i<ni;++i)
+	for(int i=0,ni=psb->m_scontacts.size();i<ni;++i)
 	{
-	const SContact&		c=psb->m_scontacts[i];
-	const btVector3&	nr=c.m_normal;
-	Node&				n=*c.m_node;
-	Face&				f=*c.m_face;
-	const btVector3		p=BaryEval(	f.m_n[0]->m_x,
-									f.m_n[1]->m_x,
-									f.m_n[2]->m_x,
-									c.m_weights);
-	const btVector3		q=BaryEval(	f.m_n[0]->m_q,
-									f.m_n[1]->m_q,
-									f.m_n[2]->m_q,
-									c.m_weights);											
-	const btVector3		vr=(n.m_x-n.m_q)-(p-q);
-	btVector3			corr(0,0,0);
-	if(dot(vr,nr)<0)
+		const SContact&		c=psb->m_scontacts[i];
+		const btVector3&	nr=c.m_normal;
+		Node&				n=*c.m_node;
+		Face&				f=*c.m_face;
+		const btVector3		p=BaryEval(	f.m_n[0]->m_x,
+			f.m_n[1]->m_x,
+			f.m_n[2]->m_x,
+			c.m_weights);
+		const btVector3		q=BaryEval(	f.m_n[0]->m_q,
+			f.m_n[1]->m_q,
+			f.m_n[2]->m_q,
+			c.m_weights);											
+		const btVector3		vr=(n.m_x-n.m_q)-(p-q);
+		btVector3			corr(0,0,0);
+		if(dot(vr,nr)<0)
 		{
-		const btScalar	j=c.m_margin-(dot(nr,n.m_x)-dot(nr,p));
-		corr+=c.m_normal*j;
+			const btScalar	j=c.m_margin-(dot(nr,n.m_x)-dot(nr,p));
+			corr+=c.m_normal*j;
 		}
-	corr			-=	ProjectOnPlane(vr,nr)*c.m_friction;
-	n.m_x			+=	corr*c.m_cfm[0];
-	f.m_n[0]->m_x	-=	corr*(c.m_cfm[1]*c.m_weights.x());
-	f.m_n[1]->m_x	-=	corr*(c.m_cfm[1]*c.m_weights.y());
-	f.m_n[2]->m_x	-=	corr*(c.m_cfm[1]*c.m_weights.z());
+		corr			-=	ProjectOnPlane(vr,nr)*c.m_friction;
+		n.m_x			+=	corr*c.m_cfm[0];
+		f.m_n[0]->m_x	-=	corr*(c.m_cfm[1]*c.m_weights.x());
+		f.m_n[1]->m_x	-=	corr*(c.m_cfm[1]*c.m_weights.y());
+		f.m_n[2]->m_x	-=	corr*(c.m_cfm[1]*c.m_weights.z());
 	}
 }
 
@@ -2522,107 +2584,114 @@ void				btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti)
 //
 void				btSoftBody::VSolve_Links(btSoftBody* psb,btScalar kst)
 {
-for(int i=0,ni=psb->m_links.size();i<ni;++i)
+	for(int i=0,ni=psb->m_links.size();i<ni;++i)
 	{			
-	Link&			l=psb->m_links[i];
-	Node**			n=l.m_n;
-	const btScalar	j=-dot(l.m_c3,n[0]->m_v-n[1]->m_v)*l.m_c2*kst;
-	n[0]->m_v+=	l.m_c3*(j*n[0]->m_im);
-	n[1]->m_v-=	l.m_c3*(j*n[1]->m_im);
+		Link&			l=psb->m_links[i];
+		Node**			n=l.m_n;
+		const btScalar	j=-dot(l.m_c3,n[0]->m_v-n[1]->m_v)*l.m_c2*kst;
+		n[0]->m_v+=	l.m_c3*(j*n[0]->m_im);
+		n[1]->m_v-=	l.m_c3*(j*n[1]->m_im);
 	}
 }
 
 //
 btSoftBody::psolver_t	btSoftBody::getSolver(ePSolver::_ solver)
 {
-switch(solver)
+	switch(solver)
 	{
 	case	ePSolver::Anchors:		return(&btSoftBody::PSolve_Anchors);
 	case	ePSolver::Linear:		return(&btSoftBody::PSolve_Links);
 	case	ePSolver::RContacts:	return(&btSoftBody::PSolve_RContacts);
 	case	ePSolver::SContacts:	return(&btSoftBody::PSolve_SContacts);	
 	}
-return(0);
+	return(0);
 }
 
 //
 btSoftBody::vsolver_t	btSoftBody::getSolver(eVSolver::_ solver)
 {
-switch(solver)
+	switch(solver)
 	{
 	case	eVSolver::Linear:		return(&btSoftBody::VSolve_Links);
 	}
-return(0);
+	return(0);
 }
 
 //
 void			btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
 {
-switch(m_cfg.collisions&fCollision::RVSmask)
+	switch(m_cfg.collisions&fCollision::RVSmask)
 	{
 	case	fCollision::SDF_RS:
 		{
-		btSoftColliders::CollideSDF_RS	docollide;		
-		btRigidBody*		prb=btRigidBody::upcast(pco);
-		const btTransform	wtr=prb->getInterpolationWorldTransform();
-		const btTransform	ctr=prb->getWorldTransform();
-		const btScalar		timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
-		const btScalar		basemargin=getCollisionShape()->getMargin();
-		btVector3			mins;
-		btVector3			maxs;
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
-		pco->getCollisionShape()->getAabb(	pco->getInterpolationWorldTransform(),
-											mins,
-											maxs);
-		volume=btDbvtVolume::FromMM(mins,maxs);
-		volume.Expand(btVector3(basemargin,basemargin,basemargin));		
-		docollide.psb		=	this;
-		docollide.prb		=	prb;
-		docollide.dynmargin	=	basemargin+timemargin;
-		docollide.stamargin	=	basemargin;
-		btDbvt::collideTV(m_ndbvt.m_root,volume,docollide);
-		}
-	break;
+			btSoftColliders::CollideSDF_RS	docollide;		
+			btRigidBody*		prb1=btRigidBody::upcast(pco);
+			btTransform	wtr=prb1 ? prb1->getInterpolationWorldTransform() : pco->getWorldTransform();
+
+			const btTransform	ctr=pco->getWorldTransform();
+			const btScalar		timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
+			const btScalar		basemargin=getCollisionShape()->getMargin();
+			btVector3			mins;
+			btVector3			maxs;
+			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
+			pco->getCollisionShape()->getAabb(	pco->getInterpolationWorldTransform(),
+				mins,
+				maxs);
+			volume=btDbvtVolume::FromMM(mins,maxs);
+			volume.Expand(btVector3(basemargin,basemargin,basemargin));		
+			docollide.psb		=	this;
+			docollide.m_colObj1 = pco;
+			docollide.m_rigidBody = prb1;
+
+			docollide.dynmargin	=	basemargin+timemargin;
+			docollide.stamargin	=	basemargin;
+			m_ndbvt.collideTV(m_ndbvt.m_root,volume,docollide);
+		}
+		break;
 	case	fCollision::CL_RS:
 		{
-		btSoftColliders::CollideCL_RS	collider;
-		collider.Process(this,btRigidBody::upcast(pco));
+			btSoftColliders::CollideCL_RS	collider;
+			collider.Process(this,pco);
 		}
-	break;
+		break;
 	}
 }
 
 //
 void			btSoftBody::defaultCollisionHandler(btSoftBody* psb)
 {
-const int cf=m_cfg.collisions&psb->m_cfg.collisions;
-switch(cf&fCollision::SVSmask)
+	const int cf=m_cfg.collisions&psb->m_cfg.collisions;
+	switch(cf&fCollision::SVSmask)
 	{
 	case	fCollision::CL_SS:
 		{
-		btSoftColliders::CollideCL_SS	docollide;
-		docollide.Process(this,psb);
+			btSoftColliders::CollideCL_SS	docollide;
+			docollide.Process(this,psb);
 		}
-	break;
+		break;
 	case	fCollision::VF_SS:
 		{
-		btSoftColliders::CollideVF_SS	docollide;
-		/* common					*/ 
-		docollide.mrg=	getCollisionShape()->getMargin()+
-						psb->getCollisionShape()->getMargin();
-		/* psb0 nodes vs psb1 faces	*/ 
-		docollide.psb[0]=this;
-		docollide.psb[1]=psb;
-		btDbvt::collideTT(	docollide.psb[0]->m_ndbvt.m_root,
-							docollide.psb[1]->m_fdbvt.m_root,
-							docollide);
-		/* psb1 nodes vs psb0 faces	*/ 
-		docollide.psb[0]=psb;
-		docollide.psb[1]=this;
-		btDbvt::collideTT(	docollide.psb[0]->m_ndbvt.m_root,
-							docollide.psb[1]->m_fdbvt.m_root,
-							docollide);
-		}
-	break;
+			//only self-collision for Cluster, not Vertex-Face yet
+			if (this!=psb)
+			{
+				btSoftColliders::CollideVF_SS	docollide;
+				/* common					*/ 
+				docollide.mrg=	getCollisionShape()->getMargin()+
+					psb->getCollisionShape()->getMargin();
+				/* psb0 nodes vs psb1 faces	*/ 
+				docollide.psb[0]=this;
+				docollide.psb[1]=psb;
+				docollide.psb[0]->m_ndbvt.collideTT(	docollide.psb[0]->m_ndbvt.m_root,
+					docollide.psb[1]->m_fdbvt.m_root,
+					docollide);
+				/* psb1 nodes vs psb0 faces	*/ 
+				docollide.psb[0]=psb;
+				docollide.psb[1]=this;
+				docollide.psb[0]->m_ndbvt.collideTT(	docollide.psb[0]->m_ndbvt.m_root,
+					docollide.psb[1]->m_fdbvt.m_root,
+					docollide);
+			}
+		}
+		break;
 	}
 }
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.h b/extern/bullet2/src/BulletSoftBody/btSoftBody.h
index 743462d259a..a62c21883c8 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBody.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.h
@@ -18,7 +18,6 @@ subject to the following restrictions:
 #define _BT_SOFT_BODY_H
 
 #include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btPoint3.h"
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -45,7 +44,8 @@ struct	btSoftBodyWorldInfo
 };	
 
 
-/// btSoftBody is work-in-progress
+///The btSoftBody is an class to simulate cloth and volumetric soft bodies. 
+///There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject.
 class	btSoftBody : public btCollisionObject
 {
 public:
@@ -64,13 +64,13 @@ public:
 		F_OneSided,	///Face normals are taken as it is
 		END
 	};};
-	
+
 	///eVSolver : velocities solvers
 	struct	eVSolver { enum _ {
 		Linear,		///Linear solver
 		END
 	};};
-	
+
 	///ePSolver : positions solvers
 	struct	ePSolver { enum _ {
 		Linear,		///Linear solver
@@ -79,7 +79,7 @@ public:
 		SContacts,	///Soft contacts solver
 		END
 	};};
-	
+
 	///eSolverPresets
 	struct	eSolverPresets { enum _ {
 		Positions,
@@ -87,7 +87,7 @@ public:
 		Default	=	Positions,
 		END
 	};};
-	
+
 	///eFeature
 	struct	eFeature { enum _ {
 		None,
@@ -96,20 +96,20 @@ public:
 		Face,
 		END
 	};};
-	
+
 	typedef btAlignedObjectArray<eVSolver::_>	tVSolverArray;
 	typedef btAlignedObjectArray<ePSolver::_>	tPSolverArray;
-	
+
 	//
 	// Flags
 	//
-	
+
 	///fCollision
 	struct fCollision { enum _ {
 		RVSmask	=	0x000f,	///Rigid versus soft mask
 		SDF_RS	=	0x0001,	///SDF based rigid vs soft
 		CL_RS	=	0x0002, ///Cluster vs convex rigid vs soft
-		
+
 		SVSmask	=	0x00f0,	///Rigid versus soft mask		
 		VF_SS	=	0x0010,	///Vertex vs face soft vs soft handling
 		CL_SS	=	0x0020, ///Cluster vs cluster soft vs soft handling
@@ -117,7 +117,7 @@ public:
 		Default	=	SDF_RS,
 		END
 	};};
-	
+
 	///fMaterial
 	struct fMaterial { enum _ {
 		DebugDraw	=	0x0001,	/// Enable debug draw
@@ -125,26 +125,26 @@ public:
 		Default		=	DebugDraw,
 		END
 	};};
-		
+
 	//
 	// API Types
 	//
-	
+
 	/* sRayCast		*/ 
 	struct sRayCast
 	{
 		btSoftBody*	body;		/// soft body
 		eFeature::_	feature;	/// feature type
 		int			index;		/// feature index
-		btScalar	time;		/// time of impact (rayorg+raydir*time)
+		btScalar	fraction;		/// time of impact fraction (rayorg+(rayto-rayfrom)*fraction)
 	};
-	
+
 	/* ImplicitFn	*/ 
 	struct	ImplicitFn
 	{
 		virtual btScalar	Eval(const btVector3& x)=0;
 	};
-	
+
 	//
 	// Internal types
 	//
@@ -155,7 +155,7 @@ public:
 	/* sCti is Softbody contact info	*/ 
 	struct	sCti
 	{
-		btRigidBody*	m_body;		/* Rigid body			*/ 
+		btCollisionObject*	m_colObj;		/* Rigid body			*/ 
 		btVector3		m_normal;	/* Outward normal		*/ 
 		btScalar		m_offset;	/* Offset from origin	*/ 
 	};	
@@ -182,7 +182,7 @@ public:
 		btScalar				m_kVST;			// Volume stiffness coefficient [0,1]
 		int						m_flags;		// Flags
 	};
-		
+
 	/* Feature		*/ 
 	struct	Feature : Element
 	{
@@ -293,12 +293,13 @@ public:
 		btVector3					m_lv;
 		btVector3					m_av;
 		btDbvtNode*					m_leaf;
-		btScalar					m_ndamping;
-		btScalar					m_ldamping;
-		btScalar					m_adamping;
+		btScalar					m_ndamping;	/* Node damping		*/ 
+		btScalar					m_ldamping;	/* Linear damping	*/ 
+		btScalar					m_adamping;	/* Angular damping	*/ 
 		btScalar					m_matching;
 		bool						m_collide;
-									Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) {}
+		int							m_clusterIndex;
+		Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) {}
 	};
 	/* Impulse		*/ 
 	struct	Impulse
@@ -309,109 +310,115 @@ public:
 		int							m_asDrift:1;
 		Impulse() : m_velocity(0,0,0),m_drift(0,0,0),m_asVelocity(0),m_asDrift(0)	{}
 		Impulse						operator -() const
-			{
+		{
 			Impulse i=*this;
 			i.m_velocity=-i.m_velocity;
 			i.m_drift=-i.m_drift;
 			return(i);
-			}
+		}
 		Impulse						operator*(btScalar x) const
-			{
+		{
 			Impulse i=*this;
 			i.m_velocity*=x;
 			i.m_drift*=x;
 			return(i);
-			}
+		}
 	};
 	/* Body			*/ 
 	struct	Body
 	{
-		Cluster*		m_soft;
-		btRigidBody*				m_rigid;
-									Body() : m_soft(0),m_rigid(0)				{}
-									Body(Cluster* p) : m_soft(p),m_rigid(0)	{}
-									Body(btRigidBody* p) : m_soft(0),m_rigid(p)	{}
+		Cluster*			m_soft;
+		btRigidBody*		m_rigid;
+		btCollisionObject*	m_collisionObject;
+
+		Body() : m_soft(0),m_rigid(0),m_collisionObject(0)				{}
+		Body(Cluster* p) : m_soft(p),m_rigid(0),m_collisionObject(0)	{}
+		Body(btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj)
+		{
+			m_rigid = btRigidBody::upcast(m_collisionObject);
+		}
+
 		void						activate() const
-			{
+		{
 			if(m_rigid) m_rigid->activate();
-			}
+		}
 		const btMatrix3x3&			invWorldInertia() const
-			{
+		{
 			static const btMatrix3x3	iwi(0,0,0,0,0,0,0,0,0);
 			if(m_rigid) return(m_rigid->getInvInertiaTensorWorld());
 			if(m_soft)	return(m_soft->m_invwi);
 			return(iwi);
-			}
+		}
 		btScalar					invMass() const
-			{
+		{
 			if(m_rigid) return(m_rigid->getInvMass());
 			if(m_soft)	return(m_soft->m_imass);
 			return(0);
-			}
+		}
 		const btTransform&			xform() const
-			{
+		{
 			static const btTransform	identity=btTransform::getIdentity();		
-			if(m_rigid) return(m_rigid->getInterpolationWorldTransform());
+			if(m_collisionObject) return(m_collisionObject->getInterpolationWorldTransform());
 			if(m_soft)	return(m_soft->m_framexform);
 			return(identity);
-			}
+		}
 		btVector3					linearVelocity() const
-			{
+		{
 			if(m_rigid) return(m_rigid->getLinearVelocity());
 			if(m_soft)	return(m_soft->m_lv);
 			return(btVector3(0,0,0));
-			}
+		}
 		btVector3					angularVelocity(const btVector3& rpos) const
-			{			
+		{			
 			if(m_rigid) return(cross(m_rigid->getAngularVelocity(),rpos));
 			if(m_soft)	return(cross(m_soft->m_av,rpos));
 			return(btVector3(0,0,0));
-			}
+		}
 		btVector3					angularVelocity() const
-			{			
+		{			
 			if(m_rigid) return(m_rigid->getAngularVelocity());
 			if(m_soft)	return(m_soft->m_av);
 			return(btVector3(0,0,0));
-			}
+		}
 		btVector3					velocity(const btVector3& rpos) const
-			{
+		{
 			return(linearVelocity()+angularVelocity(rpos));
-			}
+		}
 		void						applyVImpulse(const btVector3& impulse,const btVector3& rpos) const
-			{
+		{
 			if(m_rigid)	m_rigid->applyImpulse(impulse,rpos);
 			if(m_soft)	btSoftBody::clusterVImpulse(m_soft,rpos,impulse);
-			}
+		}
 		void						applyDImpulse(const btVector3& impulse,const btVector3& rpos) const
-			{
+		{
 			if(m_rigid)	m_rigid->applyImpulse(impulse,rpos);
 			if(m_soft)	btSoftBody::clusterDImpulse(m_soft,rpos,impulse);
-			}		
+		}		
 		void						applyImpulse(const Impulse& impulse,const btVector3& rpos) const
-			{
+		{
 			if(impulse.m_asVelocity)	applyVImpulse(impulse.m_velocity,rpos);
 			if(impulse.m_asDrift)		applyDImpulse(impulse.m_drift,rpos);
-			}
+		}
 		void						applyVAImpulse(const btVector3& impulse) const
-			{
+		{
 			if(m_rigid)	m_rigid->applyTorqueImpulse(impulse);
 			if(m_soft)	btSoftBody::clusterVAImpulse(m_soft,impulse);
-			}
+		}
 		void						applyDAImpulse(const btVector3& impulse) const
-			{
+		{
 			if(m_rigid)	m_rigid->applyTorqueImpulse(impulse);
 			if(m_soft)	btSoftBody::clusterDAImpulse(m_soft,impulse);
-			}
+		}
 		void						applyAImpulse(const Impulse& impulse) const
-			{
+		{
 			if(impulse.m_asVelocity)	applyVAImpulse(impulse.m_velocity);
 			if(impulse.m_asDrift)		applyDAImpulse(impulse.m_drift);
-			}
+		}
 		void						applyDCImpulse(const btVector3& impulse) const
-			{
+		{
 			if(m_rigid)	m_rigid->applyCentralImpulse(impulse);
 			if(m_soft)	btSoftBody::clusterDCImpulse(m_soft,impulse);
-			}
+		}
 	};
 	/* Joint		*/ 
 	struct	Joint
@@ -419,15 +426,15 @@ public:
 		struct eType { enum _ {
 			Linear,
 			Angular,
-			Contact,
+			Contact
 		};};
 		struct Specs
-			{
-						Specs() : erp(1),cfm(1),split(1) {}
+		{
+			Specs() : erp(1),cfm(1),split(1) {}
 			btScalar	erp;
 			btScalar	cfm;
 			btScalar	split;
-			};
+		};
 		Body						m_bodies[2];
 		btVector3					m_refs[2];
 		btScalar					m_cfm;
@@ -438,7 +445,7 @@ public:
 		btMatrix3x3					m_massmatrix;
 		bool						m_delete;
 		virtual						~Joint() {}
-									Joint() : m_delete(false) {}
+		Joint() : m_delete(false) {}
 		virtual void				Prepare(btScalar dt,int iterations);
 		virtual void				Solve(btScalar dt,btScalar sor)=0;
 		virtual void				Terminate(btScalar dt)=0;
@@ -448,9 +455,9 @@ public:
 	struct	LJoint : Joint
 	{
 		struct Specs : Joint::Specs
-			{
+		{
 			btVector3	position;
-			};		
+		};		
 		btVector3					m_rpos[2];
 		void						Prepare(btScalar dt,int iterations);
 		void						Solve(btScalar dt,btScalar sor);
@@ -461,17 +468,17 @@ public:
 	struct	AJoint : Joint
 	{
 		struct IControl
-			{
+		{
 			virtual void			Prepare(AJoint*)				{}
 			virtual btScalar		Speed(AJoint*,btScalar current) { return(current); }
 			static IControl*		Default()						{ static IControl def;return(&def); }
-			};
+		};
 		struct Specs : Joint::Specs
-			{
-						Specs() : icontrol(IControl::Default()) {}
+		{
+			Specs() : icontrol(IControl::Default()) {}
 			btVector3	axis;
 			IControl*	icontrol;
-			};		
+		};		
 		btVector3					m_axis[2];
 		IControl*					m_icontrol;
 		void						Prepare(btScalar dt,int iterations);
@@ -534,23 +541,26 @@ public:
 		btScalar				radmrg;			// radial margin
 		btScalar				updmrg;			// Update margin
 	};	
-	/* RayCaster	*/ 
-	struct	RayCaster : btDbvt::ICollide
-		{
-		btVector3			o;
-		btVector3			d;
-		btScalar			mint;
-		Face*	face;
-		int					tests;
-								RayCaster(const btVector3& org,const btVector3& dir,btScalar mxt);
+	/// RayFromToCaster takes a ray from, ray to (instead of direction!)
+	struct	RayFromToCaster : btDbvt::ICollide
+	{
+		btVector3			m_rayFrom;
+		btVector3			m_rayTo;
+		btVector3			m_rayNormalizedDirection;
+		btScalar			m_mint;
+		Face*				m_face;
+		int					m_tests;
+		RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt);
 		void					Process(const btDbvtNode* leaf);
-		static inline btScalar	rayTriangle(const btVector3& org,
-											const btVector3& dir,
-											const btVector3& a,
-											const btVector3& b,
-											const btVector3& c,
-											btScalar maxt=SIMD_INFINITY);
-		};
+
+		static inline btScalar	rayFromToTriangle(const btVector3& rayFrom,
+			const btVector3& rayTo,
+			const btVector3& rayNormalizedDirection,
+			const btVector3& a,
+			const btVector3& b,
+			const btVector3& c,
+			btScalar maxt=SIMD_INFINITY);
+	};
 
 	//
 	// Typedef's
@@ -596,16 +606,19 @@ public:
 	btDbvt					m_fdbvt;		// Faces tree
 	btDbvt					m_cdbvt;		// Clusters tree
 	tClusterArray			m_clusters;		// Clusters
-	
-	btTransform				m_initialWorldTransform; //used to attach constraints etc.
+
+	btAlignedObjectArray<bool>m_clusterConnectivity;//cluster connectivity, for self-collision
+
+	btTransform			m_initialWorldTransform;
+
 	//
 	// Api
 	//
-	
+
 	/* ctor																	*/ 
 	btSoftBody(	btSoftBodyWorldInfo* worldInfo,int node_count,
-				const btVector3* x,
-				const btScalar* m);
+		const btVector3* x,
+		const btScalar* m);
 	/* dtor																	*/ 
 	virtual ~btSoftBody();
 	/* Check for existing link												*/ 
@@ -617,59 +630,60 @@ public:
 		return m_worldInfo;
 	}
 
+	///@todo: avoid internal softbody shape hack and move collision code to collision library
 	virtual void	setCollisionShape(btCollisionShape* collisionShape)
 	{
-		//don't do anything, due to the internal shape hack: todo: fix this
+		
 	}
 
 	bool				checkLink(	int node0,
 		int node1) const;
 	bool				checkLink(	const Node* node0,
-									const Node* node1) const;
+		const Node* node1) const;
 	/* Check for existring face												*/ 
 	bool				checkFace(	int node0,
-									int node1,
-									int node2) const;
+		int node1,
+		int node2) const;
 	/* Append material														*/ 
 	Material*			appendMaterial();
 	/* Append note															*/ 
 	void				appendNote(	const char* text,
-									const btVector3& o,
-									const btVector4& c=btVector4(1,0,0,0),
-									Node* n0=0,
-									Node* n1=0,
-									Node* n2=0,
-									Node* n3=0);
+		const btVector3& o,
+		const btVector4& c=btVector4(1,0,0,0),
+		Node* n0=0,
+		Node* n1=0,
+		Node* n2=0,
+		Node* n3=0);
 	void				appendNote(	const char* text,
-									const btVector3& o,
-									Node* feature);
+		const btVector3& o,
+		Node* feature);
 	void				appendNote(	const char* text,
-									const btVector3& o,
-									Link* feature);
+		const btVector3& o,
+		Link* feature);
 	void				appendNote(	const char* text,
-									const btVector3& o,
-									Face* feature);
+		const btVector3& o,
+		Face* feature);
 	/* Append node															*/ 
 	void				appendNode(	const btVector3& x,btScalar m);
 	/* Append link															*/ 
 	void				appendLink(int model=-1,Material* mat=0);
 	void				appendLink(	int node0,
-									int node1,
-									Material* mat=0,
-									bool bcheckexist=false);
+		int node1,
+		Material* mat=0,
+		bool bcheckexist=false);
 	void				appendLink(	Node* node0,
-									Node* node1,
-									Material* mat=0,
-									bool bcheckexist=false);
+		Node* node1,
+		Material* mat=0,
+		bool bcheckexist=false);
 	/* Append face															*/ 
 	void				appendFace(int model=-1,Material* mat=0);
 	void				appendFace(	int node0,
-									int node1,
-									int node2,
-									Material* mat=0);
+		int node1,
+		int node2,
+		Material* mat=0);
 	/* Append anchor														*/ 
 	void				appendAnchor(	int node,
-										btRigidBody* body,bool disableCollision);
+		btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false);
 	/* Append linear joint													*/ 
 	void				appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
 	void				appendLinearJoint(const LJoint::Specs& specs,Body body=Body());
@@ -682,7 +696,7 @@ public:
 	void				addForce(		const btVector3& force);
 	/* Add force (or gravity) to a node of the body							*/ 
 	void				addForce(		const btVector3& force,
-										int node);
+		int node);
 	/* Add velocity to the entire body										*/ 
 	void				addVelocity(	const btVector3& velocity);
 
@@ -691,17 +705,17 @@ public:
 
 	/* Add velocity to a node of the body									*/ 
 	void				addVelocity(	const btVector3& velocity,
-										int node);
+		int node);
 	/* Set mass																*/ 
 	void				setMass(		int node,
-										btScalar mass);
+		btScalar mass);
 	/* Get mass																*/ 
 	btScalar			getMass(		int node) const;
 	/* Get total mass														*/ 
 	btScalar			getTotalMass() const;
 	/* Set total mass (weighted by previous masses)							*/ 
 	void				setTotalMass(	btScalar mass,
-										bool fromfaces=false);
+		bool fromfaces=false);
 	/* Set total density													*/ 
 	void				setTotalDensity(btScalar density);
 	/* Transform															*/ 
@@ -714,7 +728,7 @@ public:
 	void				scale(	const btVector3& scl);
 	/* Set current state as pose											*/ 
 	void				setPose(		bool bvolume,
-										bool bframe);
+		bool bframe);
 	/* Return the volume													*/ 
 	btScalar			getVolume() const;
 	/* Cluster count														*/ 
@@ -734,7 +748,7 @@ public:
 	static void			clusterDCImpulse(Cluster* cluster,const btVector3& impulse);
 	/* Generate bending constraints based on distance in the adjency graph	*/ 
 	int					generateBendingConstraints(	int distance,
-													Material* mat=0);
+		Material* mat=0);
 	/* Randomize constraints to reduce solver bias							*/ 
 	void				randomizeConstraints();
 	/* Release clusters														*/ 
@@ -747,11 +761,11 @@ public:
 	/* CutLink																*/ 
 	bool				cutLink(int node0,int node1,btScalar position);
 	bool				cutLink(const Node* node0,const Node* node1,btScalar position);
-	/* Ray casting															*/ 
-	bool				rayCast(const btVector3& org,
-								const btVector3& dir,
-								sRayCast& results,
-								btScalar maxtime=SIMD_INFINITY);
+
+	///Ray casting using rayFrom and rayTo in worldspace, (not direction!)
+	bool				rayTest(const btVector3& rayFrom,
+		const btVector3& rayTo,
+		sRayCast& results);
 	/* Solver presets														*/ 
 	void				setSolver(eSolverPresets::_ preset);
 	/* predictMotion														*/ 
@@ -769,11 +783,11 @@ public:
 	/* defaultCollisionHandlers												*/ 
 	void				defaultCollisionHandler(btCollisionObject* pco);
 	void				defaultCollisionHandler(btSoftBody* psb);
-		
+
 	//
 	// Cast
 	//
-		
+
 	static const btSoftBody*	upcast(const btCollisionObject* colObj)
 	{
 		if (colObj->getInternalType()==CO_SOFT_BODY)
@@ -801,11 +815,12 @@ public:
 	//
 	void				pointersToIndices();
 	void				indicesToPointers(const int* map=0);
-	int					rayCast(const btVector3& org,const btVector3& dir,
-								btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const;
+
+	int					rayTest(const btVector3& rayFrom,const btVector3& rayTo,
+		btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const;
 	void				initializeFaceTree();
 	btVector3			evaluateCom() const;
-	bool				checkContact(btRigidBody* prb,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const;
+	bool				checkContact(btCollisionObject* colObj,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const;
 	void				updateNormals();
 	void				updateBounds();
 	void				updatePose();
@@ -825,7 +840,7 @@ public:
 	static void			VSolve_Links(btSoftBody* psb,btScalar kst);
 	static psolver_t	getSolver(ePSolver::_ solver);
 	static vsolver_t	getSolver(eVSolver::_ solver);
-	
+
 };
 
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
index 61a57ea5da9..f334e15e0d3 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
@@ -32,7 +32,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletSoftBody/btSoftBody.h"
 
-#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.3)//make this configurable
+#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
 
 btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
 : btCollisionAlgorithm(ci),
@@ -50,27 +50,27 @@ btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
 
 
 btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher*  dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
-	  m_dispatcher(dispatcher),
-	m_dispatchInfoPtr(0)
+m_dispatcher(dispatcher),
+m_dispatchInfoPtr(0)
 {
 	m_softBody = (btSoftBody*) (isSwapped? body1:body0);
 	m_triBody = isSwapped? body0:body1;
-	
-	  //
-	  // create the manifold from the dispatcher 'manifold pool'
-	  //
-//	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
 
-  	  clearCache();
+	//
+	// create the manifold from the dispatcher 'manifold pool'
+	//
+	//	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
+
+	clearCache();
 }
 
 btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
 {
 	clearCache();
-//	m_dispatcher->releaseManifold( m_manifoldPtr );
-  
+	//	m_dispatcher->releaseManifold( m_manifoldPtr );
+
 }
-  
+
 
 void	btSoftBodyTriangleCallback::clearCache()
 {
@@ -83,18 +83,18 @@ void	btSoftBodyTriangleCallback::clearCache()
 		delete tmp->m_childShape;
 	}
 	m_shapeCache.clear();
-};
+}
 
 
 void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
 {
- 	//just for debugging purposes
+	//just for debugging purposes
 	//printf("triangle %d",m_triangleCount++);
 	btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
-		///debug drawing of the overlapping triangles
+	///debug drawing of the overlapping triangles
 	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
 	{
 		btVector3 color(255,255,0);
@@ -107,7 +107,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 	btTriIndex	triIndex(partId,triangleIndex,0);
 	btHashKey<btTriIndex> triKey(triIndex.getUid());
 
-	
+
 	btTriIndex* shapeIndex = m_shapeCache[triKey];
 	if (shapeIndex)
 	{
@@ -116,13 +116,13 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 
 		//copy over user pointers to temporary shape
 		tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
-		
+
 		btCollisionShape* tmpShape = ob->getCollisionShape();
 		ob->internalSetTemporaryCollisionShape( tm );
-		
+
 
 		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
-		
+
 		colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
@@ -133,56 +133,56 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 	//aabb filter is already applied!	
 
 	//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
-	
-//	if (m_softBody->getCollisionShape()->getShapeType()==
+
+	//	if (m_softBody->getCollisionShape()->getShapeType()==
 	{
-//		btVector3 other;
+		//		btVector3 other;
 		btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
 		normal.normalize();
 		normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
-//		other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
-//		other+=normal*22.f;
-		btVector3	pts[6] = {triangle[0],
-			triangle[1],
-		triangle[2],
-		triangle[0]-normal,
-		triangle[1]-normal,
-		triangle[2]-normal};
+		//		other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
+		//		other+=normal*22.f;
+		btVector3	pts[6] = {triangle[0]+normal,
+			triangle[1]+normal,
+			triangle[2]+normal,
+			triangle[0]-normal,
+			triangle[1]-normal,
+			triangle[2]-normal};
 
 		btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6);
 
 
-//		btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
-		
+		//		btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
+
 		//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);	
-	//	tm.setMargin(m_collisionMarginTriangle);
-		
+		//	tm.setMargin(m_collisionMarginTriangle);
+
 		//copy over user pointers to temporary shape
 		tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
-		
+
 		btCollisionShape* tmpShape = ob->getCollisionShape();
 		ob->internalSetTemporaryCollisionShape( tm );
-		
+
 
 		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
 		///this should use the btDispatcher, so the actual registered algorithm is used
 		//		btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
 
 		//m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
-	//	cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
-//		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		//	cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
+		//		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-		
-		
+
+
 		ob->internalSetTemporaryCollisionShape( tmpShape );
 		triIndex.m_childShape = tm;
 		m_shapeCache.insert(triKey,triIndex);
 
 	}
 
-	
+
 
 }
 
@@ -194,7 +194,7 @@ void	btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
 	m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
 	m_resultOut = resultOut;
 
-	
+
 	btVector3	aabbWorldSpaceMin,aabbWorldSpaceMax;
 	m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
 	btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
@@ -217,8 +217,8 @@ void btSoftBodyConcaveCollisionAlgorithm::clearCache()
 
 void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-	
-	
+
+
 	btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
 	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
 
@@ -228,26 +228,26 @@ void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* b
 
 		btCollisionObject*	triOb = triBody;
 		btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
-		
-	//	if (convexBody->getCollisionShape()->isConvex())
+
+		//	if (convexBody->getCollisionShape()->isConvex())
 		{
 			btScalar collisionMarginTriangle = concaveShape->getMargin();
-					
-//			resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
+
+			//			resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
 			m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
 
 			//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
 			//m_dispatcher->clearManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
 
-//			m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
+			//			m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
 
 
 			concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
-			
-		//	resultOut->refreshContactPoints();
-	
+
+			//	resultOut->refreshContactPoints();
+
 		}
-	
+
 	}
 
 }
@@ -287,7 +287,7 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
 
 		btScalar	m_ccdSphereRadius;
 		btScalar	m_hitFraction;
-	
+
 
 		LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
 			:m_ccdSphereFromTrans(from),
@@ -296,8 +296,8 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
 			m_hitFraction(hitFraction)
 		{			
 		}
-		
-		
+
+
 		virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
 		{
 			(void)partId;
@@ -327,9 +327,9 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
 	};
 
 
-	
 
-	
+
+
 	if (triBody->getCollisionShape()->isConcave())
 	{
 		btVector3 rayAabbMin = convexFromLocal.getOrigin();
@@ -349,12 +349,12 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
 		btCollisionObject* concavebody = triBody;
 
 		btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
-		
+
 		if (triangleMesh)
 		{
 			triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
 		}
-	
+
 
 
 		if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
index 08ac3f11e20..a6ea33717bc 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
@@ -35,7 +35,7 @@ struct btTriIndex
 {
 	int m_PartIdTriangleIndex;
 	class btCollisionShape*	m_childShape;
-	
+
 	btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
 	{
 		m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
@@ -75,11 +75,11 @@ class btSoftBodyTriangleCallback : public btTriangleCallback
 	btScalar m_collisionMarginTriangle;
 
 	btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
-	
+
 public:
-int	m_triangleCount;
-	
-//	btPersistentManifold*	m_manifoldPtr;
+	int	m_triangleCount;
+
+	//	btPersistentManifold*	m_manifoldPtr;
 
 	btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
 
@@ -88,7 +88,7 @@ int	m_triangleCount;
 	virtual ~btSoftBodyTriangleCallback();
 
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
-	
+
 	void clearCache();
 
 	SIMD_FORCE_INLINE const btVector3& getAabbMin() const
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
index d9919967233..6ab93c16402 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -22,57 +22,57 @@ subject to the following restrictions:
 
 //
 static void				drawVertex(	btIDebugDraw* idraw,
-									const btVector3& x,btScalar s,const btVector3& c)
-	{
-		idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
-		idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
-		idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
-	}
+								   const btVector3& x,btScalar s,const btVector3& c)
+{
+	idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c);
+	idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c);
+	idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c);
+}
 
 //
 static void				drawBox(	btIDebugDraw* idraw,
-									const btVector3& mins,
-									const btVector3& maxs,
-									const btVector3& color)
+								const btVector3& mins,
+								const btVector3& maxs,
+								const btVector3& color)
 {
-const btVector3	c[]={	btVector3(mins.x(),mins.y(),mins.z()),
-						btVector3(maxs.x(),mins.y(),mins.z()),
-						btVector3(maxs.x(),maxs.y(),mins.z()),
-						btVector3(mins.x(),maxs.y(),mins.z()),
-						btVector3(mins.x(),mins.y(),maxs.z()),
-						btVector3(maxs.x(),mins.y(),maxs.z()),
-						btVector3(maxs.x(),maxs.y(),maxs.z()),
-						btVector3(mins.x(),maxs.y(),maxs.z())};
-idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
-idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
-idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
-idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
-idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
-idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
+	const btVector3	c[]={	btVector3(mins.x(),mins.y(),mins.z()),
+		btVector3(maxs.x(),mins.y(),mins.z()),
+		btVector3(maxs.x(),maxs.y(),mins.z()),
+		btVector3(mins.x(),maxs.y(),mins.z()),
+		btVector3(mins.x(),mins.y(),maxs.z()),
+		btVector3(maxs.x(),mins.y(),maxs.z()),
+		btVector3(maxs.x(),maxs.y(),maxs.z()),
+		btVector3(mins.x(),maxs.y(),maxs.z())};
+	idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color);
+	idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color);
+	idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color);
+	idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color);
+	idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color);
+	idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color);
 }
 
 //
 static void				drawTree(	btIDebugDraw* idraw,
-									const btDbvtNode* node,
-									int depth,
-									const btVector3& ncolor,
-									const btVector3& lcolor,
-									int mindepth,
-									int maxdepth)
+								 const btDbvtNode* node,
+								 int depth,
+								 const btVector3& ncolor,
+								 const btVector3& lcolor,
+								 int mindepth,
+								 int maxdepth)
 {
-if(node)
+	if(node)
 	{
-	if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
+		if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0)))
 		{
-		drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
-		drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
+			drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth);
+			drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth);
 		}
-	if(depth>=mindepth)
+		if(depth>=mindepth)
 		{
-		const btScalar	scl=(btScalar)(node->isinternal()?1:1);
-		const btVector3	mi=node->volume.Center()-node->volume.Extents()*scl;
-		const btVector3	mx=node->volume.Center()+node->volume.Extents()*scl;
-		drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
+			const btScalar	scl=(btScalar)(node->isinternal()?1:1);
+			const btVector3	mi=node->volume.Center()-node->volume.Extents()*scl;
+			const btVector3	mx=node->volume.Center()+node->volume.Extents()*scl;
+			drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor);
 		}
 	}
 }
@@ -81,25 +81,25 @@ if(node)
 template <typename T>
 static inline T				sum(const btAlignedObjectArray<T>& items)
 {
-T	v;
-if(items.size())
+	T	v;
+	if(items.size())
 	{
-	v=items[0];
-	for(int i=1,ni=items.size();i<ni;++i)
+		v=items[0];
+		for(int i=1,ni=items.size();i<ni;++i)
 		{
-		v+=items[i];
+			v+=items[i];
 		}
 	}
-return(v);
+	return(v);
 }
 
 //
 template <typename T,typename Q>
 static inline void			add(btAlignedObjectArray<T>& items,const Q& value)
 {
-for(int i=0,ni=items.size();i<ni;++i)
+	for(int i=0,ni=items.size();i<ni;++i)
 	{
-	items[i]+=value;
+		items[i]+=value;
 	}
 }
 
@@ -107,9 +107,9 @@ for(int i=0,ni=items.size();i<ni;++i)
 template <typename T,typename Q>
 static inline void			mul(btAlignedObjectArray<T>& items,const Q& value)
 {
-for(int i=0,ni=items.size();i<ni;++i)
+	for(int i=0,ni=items.size();i<ni;++i)
 	{
-	items[i]*=value;
+		items[i]*=value;
 	}
 }
 
@@ -117,8 +117,8 @@ for(int i=0,ni=items.size();i<ni;++i)
 template <typename T>
 static inline T				average(const btAlignedObjectArray<T>& items)
 {
-const btScalar	n=(btScalar)(items.size()>0?items.size():1);
-return(sum(items)/n);
+	const btScalar	n=(btScalar)(items.size()>0?items.size():1);
+	return(sum(items)/n);
 }
 
 //
@@ -136,27 +136,27 @@ static inline btScalar		tetravolume(const btVector3& x0,
 //
 #if 0
 static btVector3		stresscolor(btScalar stress)
-	{
+{
 	static const btVector3	spectrum[]=	{	btVector3(1,0,1),
-											btVector3(0,0,1),
-											btVector3(0,1,1),
-											btVector3(0,1,0),
-											btVector3(1,1,0),
-											btVector3(1,0,0),
-											btVector3(1,0,0)};
+		btVector3(0,0,1),
+		btVector3(0,1,1),
+		btVector3(0,1,0),
+		btVector3(1,1,0),
+		btVector3(1,0,0),
+		btVector3(1,0,0)};
 	static const int		ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1;
 	static const btScalar	one=1;
 	stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors;
 	const int				sel=(int)stress;
 	const btScalar			frc=stress-sel;
 	return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc);
-	}
+}
 #endif
 
 //
 void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
-					 btIDebugDraw* idraw,
-					 int drawflags)
+										btIDebugDraw* idraw,
+										int drawflags)
 {
 	const btScalar		scl=(btScalar)0.1;
 	const btScalar		nscl=scl*5;
@@ -251,29 +251,29 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 			const btVector3			x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
 			const btVector3			c=(x[0]+x[1]+x[2])/3;
 			idraw->drawTriangle((x[0]-c)*scl+c,
-								(x[1]-c)*scl+c,
-								(x[2]-c)*scl+c,
-								col,alp);
+				(x[1]-c)*scl+c,
+				(x[2]-c)*scl+c,
+				col,alp);
 		}	
 	}
 	/* Clusters	*/ 
 	if(0!=(drawflags&fDrawFlags::Clusters))
-		{
+	{
 		srand(1806);
 		for(i=0;i<psb->m_clusters.size();++i)
-			{
+		{
 			if(psb->m_clusters[i]->m_collide)
-				{
+			{
 				btVector3						color(	rand()/(btScalar)RAND_MAX,
-														rand()/(btScalar)RAND_MAX,
-														rand()/(btScalar)RAND_MAX);
+					rand()/(btScalar)RAND_MAX,
+					rand()/(btScalar)RAND_MAX);
 				color=color.normalized()*0.75;
 				btAlignedObjectArray<btVector3>	vertices;
 				vertices.resize(psb->m_clusters[i]->m_nodes.size());
 				for(j=0,nj=vertices.size();j<nj;++j)
-					{				
+				{				
 					vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
-					}
+				}
 				HullDesc		hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
 				HullResult		hres;
 				HullLibrary		hlib;
@@ -284,32 +284,32 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 				mul(hres.m_OutputVertices,(btScalar)1);
 				add(hres.m_OutputVertices,center);
 				for(j=0;j<(int)hres.mNumFaces;++j)
-					{
+				{
 					const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
 					idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
-										hres.m_OutputVertices[idx[1]],
-										hres.m_OutputVertices[idx[2]],
-										color,1);
-					}
-				hlib.ReleaseResult(hres);
+						hres.m_OutputVertices[idx[1]],
+						hres.m_OutputVertices[idx[2]],
+						color,1);
 				}
+				hlib.ReleaseResult(hres);
+			}
 			/* Velocities	*/ 
-			#if 0
+#if 0
 			for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
-				{
+			{
 				const btSoftBody::Cluster&	c=psb->m_clusters[i];
 				const btVector3				r=c.m_nodes[j]->m_x-c.m_com;
 				const btVector3				v=c.m_lv+cross(c.m_av,r);
 				idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
-				}
-			#endif
+			}
+#endif
 			/* Frame		*/ 
 			btSoftBody::Cluster& c=*psb->m_clusters[i];
 			idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
 			idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
 			idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
-			}
 		}
+	}
 	/* Notes	*/ 
 	if(0!=(drawflags&fDrawFlags::Notes))
 	{
@@ -318,9 +318,9 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 			const btSoftBody::Note&	n=psb->m_notes[i];
 			btVector3				p=n.m_offset;
 			for(int j=0;j<n.m_rank;++j)
-				{
+			{
 				p+=n.m_nodes[j]->m_x*n.m_coords[j];
-				}
+			}
 			idraw->draw3dText(p,n.m_text);
 		}
 	}
@@ -333,33 +333,33 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 	/* Joints		*/ 
 	if(0!=(drawflags&fDrawFlags::Joints))
 	{
-	for(i=0;i<psb->m_joints.size();++i)
+		for(i=0;i<psb->m_joints.size();++i)
 		{
-		const btSoftBody::Joint*	pj=psb->m_joints[i];
-		switch(pj->Type())
+			const btSoftBody::Joint*	pj=psb->m_joints[i];
+			switch(pj->Type())
 			{
 			case	btSoftBody::Joint::eType::Linear:
 				{
-				const btSoftBody::LJoint*	pjl=(const btSoftBody::LJoint*)pj;
-				const btVector3	a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
-				const btVector3	a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
-				idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0));
-				idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
-				drawVertex(idraw,a0,0.25,btVector3(1,1,0));
-				drawVertex(idraw,a1,0.25,btVector3(0,1,1));
+					const btSoftBody::LJoint*	pjl=(const btSoftBody::LJoint*)pj;
+					const btVector3	a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
+					const btVector3	a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
+					idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0));
+					idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
+					drawVertex(idraw,a0,0.25,btVector3(1,1,0));
+					drawVertex(idraw,a1,0.25,btVector3(0,1,1));
 				}
-			break;
+				break;
 			case	btSoftBody::Joint::eType::Angular:
 				{
-				const btSoftBody::AJoint*	pja=(const btSoftBody::AJoint*)pj;
-				const btVector3	o0=pj->m_bodies[0].xform().getOrigin();
-				const btVector3	o1=pj->m_bodies[1].xform().getOrigin();
-				const btVector3	a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
-				const btVector3	a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
-				idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0));
-				idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
-				idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
-				idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
+					const btSoftBody::AJoint*	pja=(const btSoftBody::AJoint*)pj;
+					const btVector3	o0=pj->m_bodies[0].xform().getOrigin();
+					const btVector3	o1=pj->m_bodies[1].xform().getOrigin();
+					const btVector3	a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
+					const btVector3	a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
+					idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0));
+					idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
+					idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
+					idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
 				}
 			}		
 		}
@@ -368,10 +368,10 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 
 //
 void			btSoftBodyHelpers::DrawInfos(		btSoftBody* psb,
-						  btIDebugDraw* idraw,
-						  bool masses,
-						  bool areas,
-						  bool /*stress*/)
+											 btIDebugDraw* idraw,
+											 bool masses,
+											 bool areas,
+											 bool /*stress*/)
 {
 	for(int i=0;i<psb->m_nodes.size();++i)
 	{
@@ -394,34 +394,34 @@ void			btSoftBodyHelpers::DrawInfos(		btSoftBody* psb,
 
 //
 void			btSoftBodyHelpers::DrawNodeTree(	btSoftBody* psb,
-													btIDebugDraw* idraw,
-													int mindepth,
-													int maxdepth)
+												btIDebugDraw* idraw,
+												int mindepth,
+												int maxdepth)
 {
-drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
+	drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth);
 }
 
 //
 void			btSoftBodyHelpers::DrawFaceTree(	btSoftBody* psb,
-													btIDebugDraw* idraw,
-													int mindepth,
-													int maxdepth)
+												btIDebugDraw* idraw,
+												int mindepth,
+												int maxdepth)
 {
-drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
+	drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth);
 }
 
 //
 void			btSoftBodyHelpers::DrawClusterTree(	btSoftBody* psb,
-													btIDebugDraw* idraw,
-													int mindepth,
-													int maxdepth)
+												   btIDebugDraw* idraw,
+												   int mindepth,
+												   int maxdepth)
 {
-drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth);
+	drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth);
 }
 
 //
 void			btSoftBodyHelpers::DrawFrame(		btSoftBody* psb,
-						  btIDebugDraw* idraw)
+											 btIDebugDraw* idraw)
 {
 	if(psb->m_pose.m_bframe)
 	{
@@ -445,9 +445,9 @@ void			btSoftBodyHelpers::DrawFrame(		btSoftBody* psb,
 
 //
 btSoftBody*		btSoftBodyHelpers::CreateRope(	btSoftBodyWorldInfo& worldInfo, const btVector3& from,
-						   const btVector3& to,
-						   int res,
-						   int fixeds)
+											  const btVector3& to,
+											  int res,
+											  int fixeds)
 {
 	/* Create nodes	*/ 
 	const int		r=res+2;
@@ -477,13 +477,13 @@ btSoftBody*		btSoftBodyHelpers::CreateRope(	btSoftBodyWorldInfo& worldInfo, cons
 
 //
 btSoftBody*		btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
-							const btVector3& corner10,
-							const btVector3& corner01,
-							const btVector3& corner11,
-							int resx,
-							int resy,
-							int fixeds,
-							bool gendiags)
+											   const btVector3& corner10,
+											   const btVector3& corner01,
+											   const btVector3& corner11,
+											   int resx,
+											   int resy,
+											   int fixeds,
+											   bool gendiags)
 {
 #define IDX(_x_,_y_)	((_y_)*rx+(_x_))
 	/* Create nodes	*/ 
@@ -553,9 +553,215 @@ btSoftBody*		btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const
 }
 
 //
+btSoftBody*		btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
+												 const btVector3& corner00,
+												 const btVector3& corner10,
+												 const btVector3& corner01,
+												 const btVector3& corner11,
+												 int resx,
+												 int resy,
+												 int fixeds,
+												 bool gendiags,
+												 float* tex_coords)
+{
+
+	/*
+	*
+	*  corners:
+	*
+	*  [0][0]     corner00 ------- corner01   [resx][0]
+	*                |                |
+	*                |                |
+	*  [0][resy]  corner10 -------- corner11  [resx][resy]
+	*
+	*
+	*
+	*
+	*
+	*
+	*   "fixedgs" map:
+	*
+	*  corner00     -->   +1
+	*  corner01     -->   +2
+	*  corner10     -->   +4
+	*  corner11     -->   +8
+	*  upper middle -->  +16
+	*  left middle  -->  +32
+	*  right middle -->  +64
+	*  lower middle --> +128
+	*  center       --> +256
+	*
+	*
+	*   tex_coords size   (resx-1)*(resy-1)*12
+	*
+	*
+	*
+	*     SINGLE QUAD INTERNALS
+	*
+	*  1) btSoftBody's nodes and links,
+	*     diagonal link is optional ("gendiags")
+	*
+	*
+	*    node00 ------ node01
+	*      | .              
+	*      |   .            
+	*      |     .          
+	*      |       .        
+	*      |         .      
+	*    node10        node11
+	*
+	*
+	*
+	*   2) Faces:
+	*      two triangles,
+	*      UV Coordinates (hier example for single quad)
+	*      
+	*     (0,1)          (0,1)  (1,1)
+	*     1 |\            3 \-----| 2
+	*       | \              \    |
+	*       |  \              \   |
+	*       |   \              \  |
+	*       |    \              \ |
+	*     2 |-----\ 3            \| 1
+	*     (0,0)    (1,0)       (1,0)
+	*
+	*
+	*
+	*
+	*
+	*
+	*/
+
+#define IDX(_x_,_y_)	((_y_)*rx+(_x_))
+	/* Create nodes		*/ 
+	if((resx<2)||(resy<2)) return(0);
+	const int	rx=resx;
+	const int	ry=resy;
+	const int	tot=rx*ry;
+	btVector3*	x=new btVector3[tot];
+	btScalar*	m=new btScalar[tot];
+
+	int iy;
+
+	for(iy=0;iy<ry;++iy)
+	{
+		const btScalar	ty=iy/(btScalar)(ry-1);
+		const btVector3	py0=lerp(corner00,corner01,ty);
+		const btVector3	py1=lerp(corner10,corner11,ty);
+		for(int ix=0;ix<rx;++ix)
+		{
+			const btScalar	tx=ix/(btScalar)(rx-1);
+			x[IDX(ix,iy)]=lerp(py0,py1,tx);
+			m[IDX(ix,iy)]=1;
+		}
+	}
+	btSoftBody*	psb=new btSoftBody(&worldInfo,tot,x,m);
+	if(fixeds&1)		psb->setMass(IDX(0,0),0);
+	if(fixeds&2)		psb->setMass(IDX(rx-1,0),0);
+	if(fixeds&4)		psb->setMass(IDX(0,ry-1),0);
+	if(fixeds&8)		psb->setMass(IDX(rx-1,ry-1),0);
+	if(fixeds&16)		psb->setMass(IDX((rx-1)/2,0),0);
+	if(fixeds&32)		psb->setMass(IDX(0,(ry-1)/2),0);
+	if(fixeds&64)		psb->setMass(IDX(rx-1,(ry-1)/2),0);
+	if(fixeds&128)		psb->setMass(IDX((rx-1)/2,ry-1),0);
+	if(fixeds&256)		psb->setMass(IDX((rx-1)/2,(ry-1)/2),0);
+	delete[] x;
+	delete[] m;
+
+
+	int z = 0;
+	/* Create links	and faces	*/ 
+	for(iy=0;iy<ry;++iy)
+	{
+		for(int ix=0;ix<rx;++ix)
+		{
+			const bool	mdx=(ix+1)<rx;
+			const bool	mdy=(iy+1)<ry;
+
+			int node00=IDX(ix,iy);
+			int node01=IDX(ix+1,iy);
+			int node10=IDX(ix,iy+1);
+			int node11=IDX(ix+1,iy+1);
+
+			if(mdx) psb->appendLink(node00,node01);
+			if(mdy) psb->appendLink(node00,node10);
+			if(mdx&&mdy)
+			{
+				psb->appendFace(node00,node10,node11);
+				if (tex_coords) {
+					tex_coords[z+0]=CalculateUV(resx,resy,ix,iy,0);
+					tex_coords[z+1]=CalculateUV(resx,resy,ix,iy,1);
+					tex_coords[z+2]=CalculateUV(resx,resy,ix,iy,0);
+					tex_coords[z+3]=CalculateUV(resx,resy,ix,iy,2);
+					tex_coords[z+4]=CalculateUV(resx,resy,ix,iy,3);
+					tex_coords[z+5]=CalculateUV(resx,resy,ix,iy,2);
+				}
+				psb->appendFace(node11,node01,node00);
+				if (tex_coords) {
+					tex_coords[z+6 ]=CalculateUV(resx,resy,ix,iy,3);
+					tex_coords[z+7 ]=CalculateUV(resx,resy,ix,iy,2);
+					tex_coords[z+8 ]=CalculateUV(resx,resy,ix,iy,3);
+					tex_coords[z+9 ]=CalculateUV(resx,resy,ix,iy,1);
+					tex_coords[z+10]=CalculateUV(resx,resy,ix,iy,0);
+					tex_coords[z+11]=CalculateUV(resx,resy,ix,iy,1);
+				}
+				if (gendiags) psb->appendLink(node00,node11);
+				z += 12;
+			}
+		}
+	}
+	/* Finished	*/ 
+#undef IDX
+	return(psb);
+}
+
+float   btSoftBodyHelpers::CalculateUV(int resx,int resy,int ix,int iy,int id)
+{
+
+	/*
+	*
+	*
+	*    node00 --- node01
+	*      |          |
+	*    node10 --- node11
+	*
+	*
+	*   ID map:
+	*
+	*   node00 s --> 0
+	*   node00 t --> 1
+	*
+	*   node01 s --> 3
+	*   node01 t --> 1
+	*
+	*   node10 s --> 0
+	*   node10 t --> 2
+	*
+	*   node11 s --> 3
+	*   node11 t --> 2
+	*
+	*
+	*/
+
+	float tc=0.0f;
+	if (id == 0) {
+		tc = (1.0f/((resx-1))*ix);
+	}
+	else if (id==1) {
+		tc = (1.0f/((resy-1))*(resy-1-iy));
+	}
+	else if (id==2) {
+		tc = (1.0f/((resy-1))*(resy-1-iy-1));
+	}
+	else if (id==3) {
+		tc = (1.0f/((resx-1))*(ix+1));
+	}
+	return tc;
+}
+//
 btSoftBody*		btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center,
-								const btVector3& radius,
-								int res)
+												   const btVector3& radius,
+												   int res)
 {
 	struct	Hammersley
 	{
@@ -586,8 +792,8 @@ btSoftBody*		btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,c
 
 //
 btSoftBody*		btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar*	vertices,
-								  const int* triangles,
-								  int ntriangles)
+													 const int* triangles,
+													 int ntriangles)
 {
 	int		maxidx=0;
 	int i,j,ni;
@@ -615,7 +821,7 @@ btSoftBody*		btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo
 			if(!chks[IDX(idx[j],idx[k])])
 			{
 				chks[IDX(idx[j],idx[k])]=true;
-				chks[IDX(idx[k],idx[k])]=true;
+				chks[IDX(idx[k],idx[j])]=true;
 				psb->appendLink(idx[j],idx[k]);
 			}
 		}
@@ -628,7 +834,7 @@ btSoftBody*		btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo
 
 //
 btSoftBody*		btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo,	const btVector3* vertices,
-									 int nvertices)
+														int nvertices)
 {
 	HullDesc		hdsc(QF_TRIANGLES,nvertices,vertices);
 	HullResult		hres;
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h
index e9c6cb20657..0e3b50397ee 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h
@@ -39,69 +39,81 @@ struct	fDrawFlags { enum _ {
 	Joints		=	0x1000,
 	/* presets	*/ 
 	Std			=	Links+Faces+Tetras+Anchors+Notes+Joints,
-	StdTetra	=	Std-Faces+Tetras,
+	StdTetra	=	Std-Faces+Tetras
 };};
 
 struct	btSoftBodyHelpers
 {
 	/* Draw body															*/ 
 	static void				Draw(		btSoftBody* psb,
-										btIDebugDraw* idraw,
-										int drawflags=fDrawFlags::Std);
+		btIDebugDraw* idraw,
+		int drawflags=fDrawFlags::Std);
 	/* Draw body infos														*/ 
 	static	void			DrawInfos(	btSoftBody* psb,
-										btIDebugDraw* idraw,
-										bool masses,
-										bool areas,
-										bool stress);
+		btIDebugDraw* idraw,
+		bool masses,
+		bool areas,
+		bool stress);
 	/* Draw node tree														*/ 
 	static void				DrawNodeTree(	btSoftBody* psb,
-											btIDebugDraw* idraw,
-											int mindepth=0,
-											int maxdepth=-1);
+		btIDebugDraw* idraw,
+		int mindepth=0,
+		int maxdepth=-1);
 	/* Draw face tree														*/ 
 	static void				DrawFaceTree(	btSoftBody* psb,
-											btIDebugDraw* idraw,
-											int mindepth=0,
-											int maxdepth=-1);
+		btIDebugDraw* idraw,
+		int mindepth=0,
+		int maxdepth=-1);
 	/* Draw cluster tree													*/ 
 	static void				DrawClusterTree(btSoftBody* psb,
-											btIDebugDraw* idraw,
-											int mindepth=0,
-											int maxdepth=-1);
+		btIDebugDraw* idraw,
+		int mindepth=0,
+		int maxdepth=-1);
 	/* Draw rigid frame														*/ 
 	static	void			DrawFrame(		btSoftBody* psb,
-											btIDebugDraw* idraw);
+		btIDebugDraw* idraw);
 	/* Create a rope														*/ 
 	static	btSoftBody*		CreateRope( btSoftBodyWorldInfo& worldInfo,
-										const btVector3& from,
-										const btVector3& to,
-										int res,
-										int fixeds);
+		const btVector3& from,
+		const btVector3& to,
+		int res,
+		int fixeds);
 	/* Create a patch														*/ 
 	static	btSoftBody*		CreatePatch(btSoftBodyWorldInfo& worldInfo,
-										const btVector3& corner00,
-										const btVector3& corner10,
-										const btVector3& corner01,
-										const btVector3& corner11,
-										int resx,
-										int resy,
-										int fixeds,
-										bool gendiags);
+		const btVector3& corner00,
+		const btVector3& corner10,
+		const btVector3& corner01,
+		const btVector3& corner11,
+		int resx,
+		int resy,
+		int fixeds,
+		bool gendiags);
+	/* Create a patch with UV Texture Coordinates	*/ 
+	static	btSoftBody*		CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
+		const btVector3& corner00,
+		const btVector3& corner10,
+		const btVector3& corner01,
+		const btVector3& corner11,
+		int resx,
+		int resy,
+		int fixeds,
+		bool gendiags,
+		float* tex_coords=0);
+	static	float	CalculateUV(int resx,int resy,int ix,int iy,int id);
 	/* Create an ellipsoid													*/ 
 	static	btSoftBody*		CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
-											const btVector3& center,
-											const btVector3& radius,
-											int res);	
+		const btVector3& center,
+		const btVector3& radius,
+		int res);	
 	/* Create from trimesh													*/ 
 	static	btSoftBody*		CreateFromTriMesh(	btSoftBodyWorldInfo& worldInfo,
-												const btScalar*	vertices,
-												const int* triangles,
-												int ntriangles);
+		const btScalar*	vertices,
+		const int* triangles,
+		int ntriangles);
 	/* Create from convex-hull												*/ 
 	static	btSoftBody*		CreateFromConvexHull(	btSoftBodyWorldInfo& worldInfo,
-													const btVector3* vertices,
-													int nvertices);
+		const btVector3* vertices,
+		int nvertices);
 };
 
 #endif //SOFT_BODY_HELPERS_H
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
index 8fcf633fecc..5f0f7d54318 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
@@ -31,14 +31,14 @@ subject to the following restrictions:
 template <typename T>
 struct btSymMatrix
 {
-						btSymMatrix() : dim(0)					{}
-						btSymMatrix(int n,const T& init=T())	{ resize(n,init); }
-void					resize(int n,const T& init=T())			{ dim=n;store.resize((n*(n+1))/2,init); }
-int						index(int c,int r) const				{ if(c>r) btSwap(c,r);btAssert(r<dim);return((r*(r+1))/2+c); }
-T&						operator()(int c,int r)					{ return(store[index(c,r)]); }
-const T&				operator()(int c,int r) const			{ return(store[index(c,r)]); }
-btAlignedObjectArray<T>	store;
-int						dim;
+	btSymMatrix() : dim(0)					{}
+	btSymMatrix(int n,const T& init=T())	{ resize(n,init); }
+	void					resize(int n,const T& init=T())			{ dim=n;store.resize((n*(n+1))/2,init); }
+	int						index(int c,int r) const				{ if(c>r) btSwap(c,r);btAssert(r<dim);return((r*(r+1))/2+c); }
+	T&						operator()(int c,int r)					{ return(store[index(c,r)]); }
+	const T&				operator()(int c,int r) const			{ return(store[index(c,r)]); }
+	btAlignedObjectArray<T>	store;
+	int						dim;
 };	
 
 //
@@ -48,10 +48,11 @@ class btSoftBodyCollisionShape : public btConcaveShape
 {
 public:
 	btSoftBody*						m_body;
-	
+
 	btSoftBodyCollisionShape(btSoftBody* backptr)
 	{
-	m_body=backptr;
+		m_shapeType = SOFTBODY_SHAPE_PROXYTYPE;
+		m_body=backptr;
 	}
 
 	virtual ~btSoftBodyCollisionShape()
@@ -68,37 +69,34 @@ public:
 	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
 	{
-	/* t should be identity, but better be safe than...fast? */ 
-	const btVector3	mins=m_body->m_bounds[0];
-	const btVector3	maxs=m_body->m_bounds[1];
-	const btVector3	crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
-							t*btVector3(maxs.x(),mins.y(),mins.z()),
-							t*btVector3(maxs.x(),maxs.y(),mins.z()),
-							t*btVector3(mins.x(),maxs.y(),mins.z()),
-							t*btVector3(mins.x(),mins.y(),maxs.z()),
-							t*btVector3(maxs.x(),mins.y(),maxs.z()),
-							t*btVector3(maxs.x(),maxs.y(),maxs.z()),
-							t*btVector3(mins.x(),maxs.y(),maxs.z())};
-	aabbMin=aabbMax=crns[0];
-	for(int i=1;i<8;++i)
+		/* t should be identity, but better be safe than...fast? */ 
+		const btVector3	mins=m_body->m_bounds[0];
+		const btVector3	maxs=m_body->m_bounds[1];
+		const btVector3	crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
+			t*btVector3(maxs.x(),mins.y(),mins.z()),
+			t*btVector3(maxs.x(),maxs.y(),mins.z()),
+			t*btVector3(mins.x(),maxs.y(),mins.z()),
+			t*btVector3(mins.x(),mins.y(),maxs.z()),
+			t*btVector3(maxs.x(),mins.y(),maxs.z()),
+			t*btVector3(maxs.x(),maxs.y(),maxs.z()),
+			t*btVector3(mins.x(),maxs.y(),maxs.z())};
+		aabbMin=aabbMax=crns[0];
+		for(int i=1;i<8;++i)
 		{
-		aabbMin.setMin(crns[i]);
-		aabbMax.setMax(crns[i]);
+			aabbMin.setMin(crns[i]);
+			aabbMax.setMax(crns[i]);
 		}
 	}
 
-	virtual int		getShapeType() const
-	{
-		return SOFTBODY_SHAPE_PROXYTYPE;
-	}
+
 	virtual void	setLocalScaling(const btVector3& /*scaling*/)
 	{		
 		///na
 	}
 	virtual const btVector3& getLocalScaling() const
 	{
-	static const btVector3 dummy(1,1,1);
-	return dummy;
+		static const btVector3 dummy(1,1,1);
+		return dummy;
 	}
 	virtual void	calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
 	{
@@ -121,24 +119,24 @@ public:
 	const btSoftBody::Cluster*	m_cluster;
 
 	btSoftClusterCollisionShape (const btSoftBody::Cluster* cluster) : m_cluster(cluster) { setMargin(0); }
-	
-	
+
+
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
-		{
+	{
 		btSoftBody::Node* const *						n=&m_cluster->m_nodes[0];
 		btScalar										d=dot(vec,n[0]->m_x);
 		int												j=0;
 		for(int i=1,ni=m_cluster->m_nodes.size();i<ni;++i)
-			{
+		{
 			const btScalar	k=dot(vec,n[i]->m_x);
 			if(k>d) { d=k;j=i; }
-			}
-		return(n[j]->m_x);
 		}
+		return(n[j]->m_x);
+	}
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
-		{
+	{
 		return(localGetSupportingVertex(vec));
-		}
+	}
 	//notice that the vectors should be unit length
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
 	{}
@@ -151,7 +149,7 @@ public:
 	{}
 
 	virtual int	getShapeType() const { return SOFTBODY_SHAPE_PROXYTYPE; }
-	
+
 	//debugging
 	virtual const char*	getName()const {return "SOFTCLUSTER";}
 
@@ -173,8 +171,8 @@ public:
 template <typename T>
 static inline void			ZeroInitialize(T& value)
 {
-static const T	zerodummy;
-value=zerodummy;
+	static const T	zerodummy;
+	value=zerodummy;
 }
 //
 template <typename T>
@@ -194,23 +192,23 @@ static inline T				InvLerp(const T& a,const T& b,btScalar t)
 { return((b+a*t-b*t)/(a*b)); }
 //
 static inline btMatrix3x3	Lerp(	const btMatrix3x3& a,
-									const btMatrix3x3& b,
-									btScalar t)
-{
-btMatrix3x3	r;
-r[0]=Lerp(a[0],b[0],t);
-r[1]=Lerp(a[1],b[1],t);
-r[2]=Lerp(a[2],b[2],t);
-return(r);
+								 const btMatrix3x3& b,
+								 btScalar t)
+{
+	btMatrix3x3	r;
+	r[0]=Lerp(a[0],b[0],t);
+	r[1]=Lerp(a[1],b[1],t);
+	r[2]=Lerp(a[2],b[2],t);
+	return(r);
 }
 //
 static inline btVector3		Clamp(const btVector3& v,btScalar maxlength)
 {
-const btScalar sql=v.length2();
-if(sql>(maxlength*maxlength))
-	return((v*maxlength)/btSqrt(sql));
+	const btScalar sql=v.length2();
+	if(sql>(maxlength*maxlength))
+		return((v*maxlength)/btSqrt(sql));
 	else
-	return(v);
+		return(v);
 }
 //
 template <typename T>
@@ -235,8 +233,8 @@ static inline bool			SameSign(const T& x,const T& y)
 //
 static inline btScalar		ClusterMetric(const btVector3& x,const btVector3& y)
 {
-const btVector3	d=x-y;
-return(btFabs(d[0])+btFabs(d[1])+btFabs(d[2]));
+	const btVector3	d=x-y;
+	return(btFabs(d[0])+btFabs(d[1])+btFabs(d[2]));
 }
 //
 static inline btMatrix3x3	ScaleAlongAxis(const btVector3& a,btScalar s)
@@ -273,7 +271,7 @@ static inline btMatrix3x3	Diagonal(btScalar x)
 }
 //
 static inline btMatrix3x3	Add(const btMatrix3x3& a,
-	const btMatrix3x3& b)
+								const btMatrix3x3& b)
 {
 	btMatrix3x3	r;
 	for(int i=0;i<3;++i) r[i]=a[i]+b[i];
@@ -281,7 +279,7 @@ static inline btMatrix3x3	Add(const btMatrix3x3& a,
 }
 //
 static inline btMatrix3x3	Sub(const btMatrix3x3& a,
-	const btMatrix3x3& b)
+								const btMatrix3x3& b)
 {
 	btMatrix3x3	r;
 	for(int i=0;i<3;++i) r[i]=a[i]-b[i];
@@ -289,7 +287,7 @@ static inline btMatrix3x3	Sub(const btMatrix3x3& a,
 }
 //
 static inline btMatrix3x3	Mul(const btMatrix3x3& a,
-	btScalar b)
+								btScalar b)
 {
 	btMatrix3x3	r;
 	for(int i=0;i<3;++i) r[i]=a[i]*b;
@@ -298,9 +296,9 @@ static inline btMatrix3x3	Mul(const btMatrix3x3& a,
 //
 static inline void			Orthogonalize(btMatrix3x3& m)
 {
-m[2]=cross(m[0],m[1]).normalized();
-m[1]=cross(m[2],m[0]).normalized();
-m[0]=cross(m[1],m[2]).normalized();
+	m[2]=cross(m[0],m[1]).normalized();
+	m[1]=cross(m[2],m[0]).normalized();
+	m[0]=cross(m[1],m[2]).normalized();
 }
 //
 static inline btMatrix3x3	MassMatrix(btScalar im,const btMatrix3x3& iwi,const btVector3& r)
@@ -311,90 +309,90 @@ static inline btMatrix3x3	MassMatrix(btScalar im,const btMatrix3x3& iwi,const bt
 
 //
 static inline btMatrix3x3	ImpulseMatrix(	btScalar dt,
-	btScalar ima,
-	btScalar imb,
-	const btMatrix3x3& iwi,
-	const btVector3& r)
+										  btScalar ima,
+										  btScalar imb,
+										  const btMatrix3x3& iwi,
+										  const btVector3& r)
 {
 	return(Diagonal(1/dt)*Add(Diagonal(ima),MassMatrix(imb,iwi,r)).inverse());
 }
 
 //
 static inline btMatrix3x3	ImpulseMatrix(	btScalar ima,const btMatrix3x3& iia,const btVector3& ra,
-											btScalar imb,const btMatrix3x3& iib,const btVector3& rb)	
+										  btScalar imb,const btMatrix3x3& iib,const btVector3& rb)	
 {
-return(Add(MassMatrix(ima,iia,ra),MassMatrix(imb,iib,rb)).inverse());
+	return(Add(MassMatrix(ima,iia,ra),MassMatrix(imb,iib,rb)).inverse());
 }
 
 //
 static inline btMatrix3x3	AngularImpulseMatrix(	const btMatrix3x3& iia,
-													const btMatrix3x3& iib)
+												 const btMatrix3x3& iib)
 {
-return(Add(iia,iib).inverse());
+	return(Add(iia,iib).inverse());
 }
 
 //
 static inline btVector3		ProjectOnAxis(	const btVector3& v,
-	const btVector3& a)
+										  const btVector3& a)
 {
 	return(a*dot(v,a));
 }
 //
 static inline btVector3		ProjectOnPlane(	const btVector3& v,
-	const btVector3& a)
+										   const btVector3& a)
 {
 	return(v-ProjectOnAxis(v,a));
 }
 
 //
 static inline void			ProjectOrigin(	const btVector3& a,
-											const btVector3& b,
-											btVector3& prj,
-											btScalar& sqd)
+										  const btVector3& b,
+										  btVector3& prj,
+										  btScalar& sqd)
 {
-const btVector3	d=b-a;
-const btScalar	m2=d.length2();
-if(m2>SIMD_EPSILON)
+	const btVector3	d=b-a;
+	const btScalar	m2=d.length2();
+	if(m2>SIMD_EPSILON)
 	{	
-	const btScalar	t=Clamp<btScalar>(-dot(a,d)/m2,0,1);
-	const btVector3	p=a+d*t;
-	const btScalar	l2=p.length2();
-	if(l2<sqd)
+		const btScalar	t=Clamp<btScalar>(-dot(a,d)/m2,0,1);
+		const btVector3	p=a+d*t;
+		const btScalar	l2=p.length2();
+		if(l2<sqd)
 		{
-		prj=p;
-		sqd=l2;
+			prj=p;
+			sqd=l2;
 		}
 	}
 }
 //
 static inline void			ProjectOrigin(	const btVector3& a,
-											const btVector3& b,
-											const btVector3& c,
-											btVector3& prj,
-											btScalar& sqd)
-{
-const btVector3&	q=cross(b-a,c-a);
-const btScalar		m2=q.length2();
-if(m2>SIMD_EPSILON)
+										  const btVector3& b,
+										  const btVector3& c,
+										  btVector3& prj,
+										  btScalar& sqd)
+{
+	const btVector3&	q=cross(b-a,c-a);
+	const btScalar		m2=q.length2();
+	if(m2>SIMD_EPSILON)
 	{
-	const btVector3	n=q/btSqrt(m2);
-	const btScalar	k=dot(a,n);
-	const btScalar	k2=k*k;
-	if(k2<sqd)
+		const btVector3	n=q/btSqrt(m2);
+		const btScalar	k=dot(a,n);
+		const btScalar	k2=k*k;
+		if(k2<sqd)
 		{
-		const btVector3	p=n*k;
-		if(	(dot(cross(a-p,b-p),q)>0)&&
-			(dot(cross(b-p,c-p),q)>0)&&
-			(dot(cross(c-p,a-p),q)>0))
+			const btVector3	p=n*k;
+			if(	(dot(cross(a-p,b-p),q)>0)&&
+				(dot(cross(b-p,c-p),q)>0)&&
+				(dot(cross(c-p,a-p),q)>0))
 			{			
-			prj=p;
-			sqd=k2;
+				prj=p;
+				sqd=k2;
 			}
 			else
 			{
-			ProjectOrigin(a,b,prj,sqd);
-			ProjectOrigin(b,c,prj,sqd);
-			ProjectOrigin(c,a,prj,sqd);
+				ProjectOrigin(a,b,prj,sqd);
+				ProjectOrigin(b,c,prj,sqd);
+				ProjectOrigin(c,a,prj,sqd);
 			}
 		}
 	}
@@ -403,53 +401,53 @@ if(m2>SIMD_EPSILON)
 //
 template <typename T>
 static inline T				BaryEval(		const T& a,
-											const T& b,
-											const T& c,
-											const btVector3& coord)
+									 const T& b,
+									 const T& c,
+									 const btVector3& coord)
 {
 	return(a*coord.x()+b*coord.y()+c*coord.z());
 }
 //
 static inline btVector3		BaryCoord(	const btVector3& a,
-										const btVector3& b,
-										const btVector3& c,
-										const btVector3& p)
-{
-const btScalar	w[]={	cross(a-p,b-p).length(),
-						cross(b-p,c-p).length(),
-						cross(c-p,a-p).length()};
-const btScalar	isum=1/(w[0]+w[1]+w[2]);
-return(btVector3(w[1]*isum,w[2]*isum,w[0]*isum));
+									  const btVector3& b,
+									  const btVector3& c,
+									  const btVector3& p)
+{
+	const btScalar	w[]={	cross(a-p,b-p).length(),
+		cross(b-p,c-p).length(),
+		cross(c-p,a-p).length()};
+	const btScalar	isum=1/(w[0]+w[1]+w[2]);
+	return(btVector3(w[1]*isum,w[2]*isum,w[0]*isum));
 }
 
 //
 static btScalar				ImplicitSolve(	btSoftBody::ImplicitFn* fn,
-											const btVector3& a,
-											const btVector3& b,
-											const btScalar accuracy,
-											const int maxiterations=256)
-{
-btScalar	span[2]={0,1};
-btScalar	values[2]={fn->Eval(a),fn->Eval(b)};
-if(values[0]>values[1])
+										  const btVector3& a,
+										  const btVector3& b,
+										  const btScalar accuracy,
+										  const int maxiterations=256)
+{
+	btScalar	span[2]={0,1};
+	btScalar	values[2]={fn->Eval(a),fn->Eval(b)};
+	if(values[0]>values[1])
 	{
-	btSwap(span[0],span[1]);
-	btSwap(values[0],values[1]);
+		btSwap(span[0],span[1]);
+		btSwap(values[0],values[1]);
 	}
-if(values[0]>-accuracy) return(-1);
-if(values[1]<+accuracy) return(-1);
-for(int i=0;i<maxiterations;++i)
+	if(values[0]>-accuracy) return(-1);
+	if(values[1]<+accuracy) return(-1);
+	for(int i=0;i<maxiterations;++i)
 	{
-	const btScalar	t=Lerp(span[0],span[1],values[0]/(values[0]-values[1]));
-	const btScalar	v=fn->Eval(Lerp(a,b,t));
-	if((t<=0)||(t>=1))		break;
-	if(btFabs(v)<accuracy)	return(t);
-	if(v<0)
+		const btScalar	t=Lerp(span[0],span[1],values[0]/(values[0]-values[1]));
+		const btScalar	v=fn->Eval(Lerp(a,b,t));
+		if((t<=0)||(t>=1))		break;
+		if(btFabs(v)<accuracy)	return(t);
+		if(v<0)
 		{ span[0]=t;values[0]=v; }
 		else
 		{ span[1]=t;values[1]=v; }
 	}
-return(-1);
+	return(-1);
 }
 
 //
@@ -464,26 +462,26 @@ static inline btVector3		NormalizeAny(const btVector3& v)
 
 //
 static inline btDbvtVolume	VolumeOf(	const btSoftBody::Face& f,
-										btScalar margin)
-{
-const btVector3*	pts[]={	&f.m_n[0]->m_x,
-							&f.m_n[1]->m_x,
-							&f.m_n[2]->m_x};
-btDbvtVolume		vol=btDbvtVolume::FromPoints(pts,3);
-vol.Expand(btVector3(margin,margin,margin));
-return(vol);
+									 btScalar margin)
+{
+	const btVector3*	pts[]={	&f.m_n[0]->m_x,
+		&f.m_n[1]->m_x,
+		&f.m_n[2]->m_x};
+	btDbvtVolume		vol=btDbvtVolume::FromPoints(pts,3);
+	vol.Expand(btVector3(margin,margin,margin));
+	return(vol);
 }
 
 //
 static inline btVector3			CenterOf(	const btSoftBody::Face& f)
 {
-return((f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3);
+	return((f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3);
 }
 
 //
 static inline btScalar			AreaOf(		const btVector3& x0,
-											const btVector3& x1,
-											const btVector3& x2)
+									   const btVector3& x1,
+									   const btVector3& x2)
 {
 	const btVector3	a=x1-x0;
 	const btVector3	b=x2-x0;
@@ -494,9 +492,9 @@ static inline btScalar			AreaOf(		const btVector3& x0,
 
 //
 static inline btScalar		VolumeOf(	const btVector3& x0,
-										const btVector3& x1,
-										const btVector3& x2,
-										const btVector3& x3)
+									 const btVector3& x1,
+									 const btVector3& x2,
+									 const btVector3& x3)
 {
 	const btVector3	a=x1-x0;
 	const btVector3	b=x2-x0;
@@ -506,8 +504,8 @@ static inline btScalar		VolumeOf(	const btVector3& x0,
 
 //
 static void					EvaluateMedium(	const btSoftBodyWorldInfo* wfi,
-											const btVector3& x,
-											btSoftBody::sMedium& medium)
+										   const btVector3& x,
+										   btSoftBody::sMedium& medium)
 {
 	medium.m_velocity	=	btVector3(0,0,0);
 	medium.m_pressure	=	0;
@@ -525,8 +523,8 @@ static void					EvaluateMedium(	const btSoftBodyWorldInfo* wfi,
 
 //
 static inline void			ApplyClampedForce(	btSoftBody::Node& n,
-												const btVector3& f,
-												btScalar dt)
+											  const btVector3& f,
+											  btScalar dt)
 {
 	const btScalar	dtim=dt*n.m_im;
 	if((f*dtim).length2()>n.m_v.length2())
@@ -541,13 +539,13 @@ static inline void			ApplyClampedForce(	btSoftBody::Node& n,
 
 //
 static inline int		MatchEdge(	const btSoftBody::Node* a,
-									const btSoftBody::Node* b,
-									const btSoftBody::Node* ma,
-									const btSoftBody::Node* mb)
+								  const btSoftBody::Node* b,
+								  const btSoftBody::Node* ma,
+								  const btSoftBody::Node* mb)
 {
-if((a==ma)&&(b==mb)) return(0);
-if((a==mb)&&(b==ma)) return(1);
-return(-1);
+	if((a==ma)&&(b==mb)) return(0);
+	if((a==mb)&&(b==ma)) return(1);
+	return(-1);
 }
 
 //
@@ -557,56 +555,56 @@ return(-1);
 //
 struct	btEigen
 {
-static int			system(btMatrix3x3& a,btMatrix3x3* vectors,btVector3* values=0)
+	static int			system(btMatrix3x3& a,btMatrix3x3* vectors,btVector3* values=0)
 	{
-	static const int		maxiterations=16;
-	static const btScalar	accuracy=(btScalar)0.0001;
-	btMatrix3x3&			v=*vectors;
-	int						iterations=0;
-	vectors->setIdentity();
-	do	{
-		int				p=0,q=1;
-		if(btFabs(a[p][q])<btFabs(a[0][2])) { p=0;q=2; }
-		if(btFabs(a[p][q])<btFabs(a[1][2])) { p=1;q=2; }
-		if(btFabs(a[p][q])>accuracy)
+		static const int		maxiterations=16;
+		static const btScalar	accuracy=(btScalar)0.0001;
+		btMatrix3x3&			v=*vectors;
+		int						iterations=0;
+		vectors->setIdentity();
+		do	{
+			int				p=0,q=1;
+			if(btFabs(a[p][q])<btFabs(a[0][2])) { p=0;q=2; }
+			if(btFabs(a[p][q])<btFabs(a[1][2])) { p=1;q=2; }
+			if(btFabs(a[p][q])>accuracy)
 			{
-			const btScalar	w=(a[q][q]-a[p][p])/(2*a[p][q]);
-			const btScalar	z=btFabs(w);
-			const btScalar	t=w/(z*(btSqrt(1+w*w)+z));
-			if(t==t)/* [WARNING] let hope that one does not get thrown aways by some compilers... */ 
+				const btScalar	w=(a[q][q]-a[p][p])/(2*a[p][q]);
+				const btScalar	z=btFabs(w);
+				const btScalar	t=w/(z*(btSqrt(1+w*w)+z));
+				if(t==t)/* [WARNING] let hope that one does not get thrown aways by some compilers... */ 
 				{
-				const btScalar	c=1/btSqrt(t*t+1);
-				const btScalar	s=c*t;
-				mulPQ(a,c,s,p,q);
-				mulTPQ(a,c,s,p,q);
-				mulPQ(v,c,s,p,q);
+					const btScalar	c=1/btSqrt(t*t+1);
+					const btScalar	s=c*t;
+					mulPQ(a,c,s,p,q);
+					mulTPQ(a,c,s,p,q);
+					mulPQ(v,c,s,p,q);
 				} else break;
 			} else break;
 		} while((++iterations)<maxiterations);
-	if(values)
+		if(values)
 		{
-		*values=btVector3(a[0][0],a[1][1],a[2][2]);
+			*values=btVector3(a[0][0],a[1][1],a[2][2]);
 		}
-	return(iterations);
+		return(iterations);
 	}
 private:
-static inline void	mulTPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
+	static inline void	mulTPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
 	{
-	const btScalar	m[2][3]={	{a[p][0],a[p][1],a[p][2]},
-								{a[q][0],a[q][1],a[q][2]}};
-	int i;
+		const btScalar	m[2][3]={	{a[p][0],a[p][1],a[p][2]},
+		{a[q][0],a[q][1],a[q][2]}};
+		int i;
 
-	for(i=0;i<3;++i) a[p][i]=c*m[0][i]-s*m[1][i];
-	for(i=0;i<3;++i) a[q][i]=c*m[1][i]+s*m[0][i];
+		for(i=0;i<3;++i) a[p][i]=c*m[0][i]-s*m[1][i];
+		for(i=0;i<3;++i) a[q][i]=c*m[1][i]+s*m[0][i];
 	}
-static inline void	mulPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
+	static inline void	mulPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
 	{
-	const btScalar	m[2][3]={	{a[0][p],a[1][p],a[2][p]},
-								{a[0][q],a[1][q],a[2][q]}};
-	int i;
+		const btScalar	m[2][3]={	{a[0][p],a[1][p],a[2][p]},
+		{a[0][q],a[1][q],a[2][q]}};
+		int i;
 
-	for(i=0;i<3;++i) a[i][p]=c*m[0][i]-s*m[1][i];
-	for(i=0;i<3;++i) a[i][q]=c*m[1][i]+s*m[0][i];
+		for(i=0;i<3;++i) a[i][p]=c*m[0][i]-s*m[1][i];
+		for(i=0;i<3;++i) a[i][q]=c*m[1][i]+s*m[0][i];
 	}
 };
 
@@ -641,7 +639,7 @@ static inline int			PolarDecompose(	const btMatrix3x3& m,btMatrix3x3& q,btMatrix
 		q.setIdentity();
 		s.setIdentity();
 	}
-return(i);
+	return(i);
 }
 
 //
@@ -654,54 +652,54 @@ struct btSoftColliders
 	//
 	struct	ClusterBase : btDbvt::ICollide
 	{
-	btScalar			erp;
-	btScalar			idt;
-	btScalar			margin;
-	btScalar			friction;
-	btScalar			threshold;
-					ClusterBase()
+		btScalar			erp;
+		btScalar			idt;
+		btScalar			margin;
+		btScalar			friction;
+		btScalar			threshold;
+		ClusterBase()
 		{
-		erp			=(btScalar)1;
-		idt			=0;
-		margin		=0;
-		friction	=0;
-		threshold	=(btScalar)0;
+			erp			=(btScalar)1;
+			idt			=0;
+			margin		=0;
+			friction	=0;
+			threshold	=(btScalar)0;
 		}
-	bool				SolveContact(	const btGjkEpaSolver2::sResults& res,
-										btSoftBody::Body ba,btSoftBody::Body bb,
-										btSoftBody::CJoint& joint)
+		bool				SolveContact(	const btGjkEpaSolver2::sResults& res,
+			btSoftBody::Body ba,btSoftBody::Body bb,
+			btSoftBody::CJoint& joint)
 		{
-		if(res.distance<margin)
+			if(res.distance<margin)
 			{
-			const btVector3		ra=res.witnesses[0]-ba.xform().getOrigin();
-			const btVector3		rb=res.witnesses[1]-bb.xform().getOrigin();
-			const btVector3		va=ba.velocity(ra);
-			const btVector3		vb=bb.velocity(rb);
-			const btVector3		vrel=va-vb;
-			const btScalar		rvac=dot(vrel,res.normal);
-			const btScalar		depth=res.distance-margin;
-			const btVector3		iv=res.normal*rvac;
-			const btVector3		fv=vrel-iv;
-			joint.m_bodies[0]	=	ba;
-			joint.m_bodies[1]	=	bb;
-			joint.m_refs[0]		=	ra*ba.xform().getBasis();
-			joint.m_refs[1]		=	rb*bb.xform().getBasis();
-			joint.m_rpos[0]		=	ra;
-			joint.m_rpos[1]		=	rb;
-			joint.m_cfm			=	1;
-			joint.m_erp			=	1;
-			joint.m_life		=	0;
-			joint.m_maxlife		=	0;
-			joint.m_split		=	1;
-			joint.m_drift		=	depth*res.normal;
-			joint.m_normal		=	res.normal;
-			joint.m_delete		=	false;
-			joint.m_friction	=	fv.length2()<(-rvac*friction)?1:friction;
-			joint.m_massmatrix	=	ImpulseMatrix(	ba.invMass(),ba.invWorldInertia(),joint.m_rpos[0],
-													bb.invMass(),bb.invWorldInertia(),joint.m_rpos[1]);
-			return(true);
+				const btVector3		ra=res.witnesses[0]-ba.xform().getOrigin();
+				const btVector3		rb=res.witnesses[1]-bb.xform().getOrigin();
+				const btVector3		va=ba.velocity(ra);
+				const btVector3		vb=bb.velocity(rb);
+				const btVector3		vrel=va-vb;
+				const btScalar		rvac=dot(vrel,res.normal);
+				const btScalar		depth=res.distance-margin;
+				const btVector3		iv=res.normal*rvac;
+				const btVector3		fv=vrel-iv;
+				joint.m_bodies[0]	=	ba;
+				joint.m_bodies[1]	=	bb;
+				joint.m_refs[0]		=	ra*ba.xform().getBasis();
+				joint.m_refs[1]		=	rb*bb.xform().getBasis();
+				joint.m_rpos[0]		=	ra;
+				joint.m_rpos[1]		=	rb;
+				joint.m_cfm			=	1;
+				joint.m_erp			=	1;
+				joint.m_life		=	0;
+				joint.m_maxlife		=	0;
+				joint.m_split		=	1;
+				joint.m_drift		=	depth*res.normal;
+				joint.m_normal		=	res.normal;
+				joint.m_delete		=	false;
+				joint.m_friction	=	fv.length2()<(-rvac*friction)?1:friction;
+				joint.m_massmatrix	=	ImpulseMatrix(	ba.invMass(),ba.invWorldInertia(),joint.m_rpos[0],
+					bb.invMass(),bb.invWorldInertia(),joint.m_rpos[1]);
+				return(true);
 			}
-		return(false);
+			return(false);
 		}
 	};
 	//
@@ -709,52 +707,53 @@ struct btSoftColliders
 	//
 	struct	CollideCL_RS : ClusterBase
 	{
-	btSoftBody*		psb;
-	btRigidBody*	prb;
-	void		Process(const btDbvtNode* leaf)
+		btSoftBody*		psb;
+		
+		btCollisionObject*	m_colObj;
+		void		Process(const btDbvtNode* leaf)
 		{
-		btSoftBody::Cluster*		cluster=(btSoftBody::Cluster*)leaf->data;
-		btSoftClusterCollisionShape	cshape(cluster);
-		const btConvexShape*		rshape=(const btConvexShape*)prb->getCollisionShape();
-		btGjkEpaSolver2::sResults	res;		
-		if(btGjkEpaSolver2::SignedDistance(	&cshape,btTransform::getIdentity(),
-											rshape,prb->getInterpolationWorldTransform(),
-											btVector3(1,0,0),res))
+			btSoftBody::Cluster*		cluster=(btSoftBody::Cluster*)leaf->data;
+			btSoftClusterCollisionShape	cshape(cluster);
+			const btConvexShape*		rshape=(const btConvexShape*)m_colObj->getCollisionShape();
+			btGjkEpaSolver2::sResults	res;		
+			if(btGjkEpaSolver2::SignedDistance(	&cshape,btTransform::getIdentity(),
+				rshape,m_colObj->getInterpolationWorldTransform(),
+				btVector3(1,0,0),res))
 			{
-			btSoftBody::CJoint	joint;
-			if(SolveContact(res,cluster,prb,joint))
+				btSoftBody::CJoint	joint;
+				if(SolveContact(res,cluster,m_colObj,joint))//prb,joint))
 				{
-				btSoftBody::CJoint*	pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
-				*pj=joint;psb->m_joints.push_back(pj);
-				if(prb->isStaticOrKinematicObject())
+					btSoftBody::CJoint*	pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
+					*pj=joint;psb->m_joints.push_back(pj);
+					if(m_colObj->isStaticOrKinematicObject())
 					{
-					pj->m_erp	*=	psb->m_cfg.kSKHR_CL;
-					pj->m_split	*=	psb->m_cfg.kSK_SPLT_CL;
+						pj->m_erp	*=	psb->m_cfg.kSKHR_CL;
+						pj->m_split	*=	psb->m_cfg.kSK_SPLT_CL;
 					}
 					else
 					{
-					pj->m_erp	*=	psb->m_cfg.kSRHR_CL;
-					pj->m_split	*=	psb->m_cfg.kSR_SPLT_CL;
+						pj->m_erp	*=	psb->m_cfg.kSRHR_CL;
+						pj->m_split	*=	psb->m_cfg.kSR_SPLT_CL;
 					}
 				}
 			}
 		}
-	void		Process(btSoftBody* ps,btRigidBody* pr)
+		void		Process(btSoftBody* ps,btCollisionObject* colOb)
 		{
-		psb			=	ps;
-		prb			=	pr;
-		idt			=	ps->m_sst.isdt;
-		margin		=	ps->getCollisionShape()->getMargin()+
-						pr->getCollisionShape()->getMargin();
-		friction	=	btMin(psb->m_cfg.kDF,prb->getFriction());
-		btVector3			mins;
-		btVector3			maxs;
-		
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
-		pr->getCollisionShape()->getAabb(pr->getInterpolationWorldTransform(),mins,maxs);
-		volume=btDbvtVolume::FromMM(mins,maxs);
-		volume.Expand(btVector3(1,1,1)*margin);
-		btDbvt::collideTV(ps->m_cdbvt.m_root,volume,*this);
+			psb			=	ps;
+			m_colObj			=	colOb;
+			idt			=	ps->m_sst.isdt;
+			margin		=	m_colObj->getCollisionShape()->getMargin();
+			///Bullet rigid body uses multiply instead of minimum to determine combined friction. Some customization would be useful.
+			friction	=	btMin(psb->m_cfg.kDF,m_colObj->getFriction());
+			btVector3			mins;
+			btVector3			maxs;
+
+			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
+			colOb->getCollisionShape()->getAabb(colOb->getInterpolationWorldTransform(),mins,maxs);
+			volume=btDbvtVolume::FromMM(mins,maxs);
+			volume.Expand(btVector3(1,1,1)*margin);
+			ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this);
 		}	
 	};
 	//
@@ -762,36 +761,53 @@ struct btSoftColliders
 	//
 	struct	CollideCL_SS : ClusterBase
 	{
-	btSoftBody*	bodies[2];
-	void		Process(const btDbvtNode* la,const btDbvtNode* lb)
+		btSoftBody*	bodies[2];
+		void		Process(const btDbvtNode* la,const btDbvtNode* lb)
 		{
-		btSoftBody::Cluster*		cla=(btSoftBody::Cluster*)la->data;
-		btSoftBody::Cluster*		clb=(btSoftBody::Cluster*)lb->data;
-		btSoftClusterCollisionShape	csa(cla);
-		btSoftClusterCollisionShape	csb(clb);
-		btGjkEpaSolver2::sResults	res;		
-		if(btGjkEpaSolver2::SignedDistance(	&csa,btTransform::getIdentity(),
-											&csb,btTransform::getIdentity(),
-											cla->m_com-clb->m_com,res))
+			btSoftBody::Cluster*		cla=(btSoftBody::Cluster*)la->data;
+			btSoftBody::Cluster*		clb=(btSoftBody::Cluster*)lb->data;
+
+
+			bool connected=false;
+			if ((bodies[0]==bodies[1])&&(bodies[0]->m_clusterConnectivity.size()))
 			{
-			btSoftBody::CJoint	joint;
-			if(SolveContact(res,cla,clb,joint))
+				connected = bodies[0]->m_clusterConnectivity[cla->m_clusterIndex+bodies[0]->m_clusters.size()*clb->m_clusterIndex];
+			}
+
+			if (!connected)
+			{
+				btSoftClusterCollisionShape	csa(cla);
+				btSoftClusterCollisionShape	csb(clb);
+				btGjkEpaSolver2::sResults	res;		
+				if(btGjkEpaSolver2::SignedDistance(	&csa,btTransform::getIdentity(),
+					&csb,btTransform::getIdentity(),
+					cla->m_com-clb->m_com,res))
 				{
-				btSoftBody::CJoint*	pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
-				*pj=joint;bodies[0]->m_joints.push_back(pj);
-				pj->m_erp	*=	btMax(bodies[0]->m_cfg.kSSHR_CL,bodies[1]->m_cfg.kSSHR_CL);
-				pj->m_split	*=	(bodies[0]->m_cfg.kSS_SPLT_CL+bodies[1]->m_cfg.kSS_SPLT_CL)/2;
+					btSoftBody::CJoint	joint;
+					if(SolveContact(res,cla,clb,joint))
+					{
+						btSoftBody::CJoint*	pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
+						*pj=joint;bodies[0]->m_joints.push_back(pj);
+						pj->m_erp	*=	btMax(bodies[0]->m_cfg.kSSHR_CL,bodies[1]->m_cfg.kSSHR_CL);
+						pj->m_split	*=	(bodies[0]->m_cfg.kSS_SPLT_CL+bodies[1]->m_cfg.kSS_SPLT_CL)/2;
+					}
 				}
+			} else
+			{
+				static int count=0;
+				count++;
+				//printf("count=%d\n",count);
+				
 			}
 		}
-	void		Process(btSoftBody* psa,btSoftBody* psb)
+		void		Process(btSoftBody* psa,btSoftBody* psb)
 		{
-		idt			=	psa->m_sst.isdt;
-		margin		=	(psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2;
-		friction	=	btMin(psa->m_cfg.kDF,psb->m_cfg.kDF);
-		bodies[0]	=	psa;
-		bodies[1]	=	psb;
-		btDbvt::collideTT(psa->m_cdbvt.m_root,psb->m_cdbvt.m_root,*this);
+			idt			=	psa->m_sst.isdt;
+			margin		=	(psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2;
+			friction	=	btMin(psa->m_cfg.kDF,psb->m_cfg.kDF);
+			bodies[0]	=	psa;
+			bodies[1]	=	psb;
+			psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root,psb->m_cdbvt.m_root,*this);
 		}	
 	};
 	//
@@ -799,96 +815,99 @@ struct btSoftColliders
 	//
 	struct	CollideSDF_RS : btDbvt::ICollide
 	{
-	void		Process(const btDbvtNode* leaf)
+		void		Process(const btDbvtNode* leaf)
 		{
-		btSoftBody::Node*	node=(btSoftBody::Node*)leaf->data;
-		DoNode(*node);
+			btSoftBody::Node*	node=(btSoftBody::Node*)leaf->data;
+			DoNode(*node);
 		}
-	void		DoNode(btSoftBody::Node& n) const
+		void		DoNode(btSoftBody::Node& n) const
 		{
-		const btScalar			m=n.m_im>0?dynmargin:stamargin;
-		btSoftBody::RContact	c;
-		if(	(!n.m_battach)&&
-			psb->checkContact(prb,n.m_x,m,c.m_cti))
+			const btScalar			m=n.m_im>0?dynmargin:stamargin;
+			btSoftBody::RContact	c;
+			if(	(!n.m_battach)&&
+				psb->checkContact(m_colObj1,n.m_x,m,c.m_cti))
 			{
-			const btScalar	ima=n.m_im;
-			const btScalar	imb=prb->getInvMass();
-			const btScalar	ms=ima+imb;
-			if(ms>0)
+				const btScalar	ima=n.m_im;
+				const btScalar	imb= m_rigidBody? m_rigidBody->getInvMass() : 0.f;
+				const btScalar	ms=ima+imb;
+				if(ms>0)
 				{
-				const btTransform&	wtr=prb->getInterpolationWorldTransform();
-				const btMatrix3x3&	iwi=prb->getInvInertiaTensorWorld();
-				const btVector3		ra=n.m_x-wtr.getOrigin();
-				const btVector3		va=prb->getVelocityInLocalPoint(ra)*psb->m_sst.sdt;
-				const btVector3		vb=n.m_x-n.m_q;	
-				const btVector3		vr=vb-va;
-				const btScalar		dn=dot(vr,c.m_cti.m_normal);
-				const btVector3		fv=vr-c.m_cti.m_normal*dn;
-				const btScalar		fc=psb->m_cfg.kDF*prb->getFriction();
-				c.m_node	=	&n;
-				c.m_c0		=	ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra);
-				c.m_c1		=	ra;
-				c.m_c2		=	ima*psb->m_sst.sdt;
-				c.m_c3		=	fv.length2()<(btFabs(dn)*fc)?0:1-fc;
-				c.m_c4		=	prb->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
-				psb->m_rcontacts.push_back(c);
-				prb->activate();
+					const btTransform&	wtr=m_rigidBody?m_rigidBody->getInterpolationWorldTransform() : m_colObj1->getWorldTransform();
+					static const btMatrix3x3	iwiStatic(0,0,0,0,0,0,0,0,0);
+					const btMatrix3x3&	iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
+					const btVector3		ra=n.m_x-wtr.getOrigin();
+					const btVector3		va=m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra)*psb->m_sst.sdt : btVector3(0,0,0);
+					const btVector3		vb=n.m_x-n.m_q;	
+					const btVector3		vr=vb-va;
+					const btScalar		dn=dot(vr,c.m_cti.m_normal);
+					const btVector3		fv=vr-c.m_cti.m_normal*dn;
+					const btScalar		fc=psb->m_cfg.kDF*m_colObj1->getFriction();
+					c.m_node	=	&n;
+					c.m_c0		=	ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra);
+					c.m_c1		=	ra;
+					c.m_c2		=	ima*psb->m_sst.sdt;
+					c.m_c3		=	fv.length2()<(btFabs(dn)*fc)?0:1-fc;
+					c.m_c4		=	m_colObj1->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
+					psb->m_rcontacts.push_back(c);
+					if (m_rigidBody)
+						m_rigidBody->activate();
 				}
 			}
 		}
-	btSoftBody*		psb;
-	btRigidBody*	prb;
-	btScalar		dynmargin;
-	btScalar		stamargin;
+		btSoftBody*		psb;
+		btCollisionObject*	m_colObj1;
+		btRigidBody*	m_rigidBody;
+		btScalar		dynmargin;
+		btScalar		stamargin;
 	};
 	//
 	// CollideVF_SS
 	//
 	struct	CollideVF_SS : btDbvt::ICollide
 	{
-	void		Process(const btDbvtNode* lnode,
-						const btDbvtNode* lface)
+		void		Process(const btDbvtNode* lnode,
+			const btDbvtNode* lface)
 		{
-		btSoftBody::Node*	node=(btSoftBody::Node*)lnode->data;
-		btSoftBody::Face*	face=(btSoftBody::Face*)lface->data;
-		btVector3			o=node->m_x;
-		btVector3			p;
-		btScalar			d=SIMD_INFINITY;
-		ProjectOrigin(	face->m_n[0]->m_x-o,
-						face->m_n[1]->m_x-o,
-						face->m_n[2]->m_x-o,
-						p,d);
-		const btScalar	m=mrg+(o-node->m_q).length()*2;
-		if(d<(m*m))
+			btSoftBody::Node*	node=(btSoftBody::Node*)lnode->data;
+			btSoftBody::Face*	face=(btSoftBody::Face*)lface->data;
+			btVector3			o=node->m_x;
+			btVector3			p;
+			btScalar			d=SIMD_INFINITY;
+			ProjectOrigin(	face->m_n[0]->m_x-o,
+				face->m_n[1]->m_x-o,
+				face->m_n[2]->m_x-o,
+				p,d);
+			const btScalar	m=mrg+(o-node->m_q).length()*2;
+			if(d<(m*m))
 			{
-			const btSoftBody::Node*	n[]={face->m_n[0],face->m_n[1],face->m_n[2]};
-			const btVector3			w=BaryCoord(n[0]->m_x,n[1]->m_x,n[2]->m_x,p+o);
-			const btScalar			ma=node->m_im;
-			btScalar				mb=BaryEval(n[0]->m_im,n[1]->m_im,n[2]->m_im,w);
-			if(	(n[0]->m_im<=0)||
-				(n[1]->m_im<=0)||
-				(n[2]->m_im<=0))
+				const btSoftBody::Node*	n[]={face->m_n[0],face->m_n[1],face->m_n[2]};
+				const btVector3			w=BaryCoord(n[0]->m_x,n[1]->m_x,n[2]->m_x,p+o);
+				const btScalar			ma=node->m_im;
+				btScalar				mb=BaryEval(n[0]->m_im,n[1]->m_im,n[2]->m_im,w);
+				if(	(n[0]->m_im<=0)||
+					(n[1]->m_im<=0)||
+					(n[2]->m_im<=0))
 				{
-				mb=0;
+					mb=0;
 				}
-			const btScalar	ms=ma+mb;
-			if(ms>0)
+				const btScalar	ms=ma+mb;
+				if(ms>0)
 				{
-				btSoftBody::SContact	c;
-				c.m_normal		=	p/-btSqrt(d);
-				c.m_margin		=	m;
-				c.m_node		=	node;
-				c.m_face		=	face;
-				c.m_weights		=	w;
-				c.m_friction	=	btMax(psb[0]->m_cfg.kDF,psb[1]->m_cfg.kDF);
-				c.m_cfm[0]		=	ma/ms*psb[0]->m_cfg.kSHR;
-				c.m_cfm[1]		=	mb/ms*psb[1]->m_cfg.kSHR;
-				psb[0]->m_scontacts.push_back(c);
+					btSoftBody::SContact	c;
+					c.m_normal		=	p/-btSqrt(d);
+					c.m_margin		=	m;
+					c.m_node		=	node;
+					c.m_face		=	face;
+					c.m_weights		=	w;
+					c.m_friction	=	btMax(psb[0]->m_cfg.kDF,psb[1]->m_cfg.kDF);
+					c.m_cfm[0]		=	ma/ms*psb[0]->m_cfg.kSHR;
+					c.m_cfm[1]		=	mb/ms*psb[1]->m_cfg.kSHR;
+					psb[0]->m_scontacts.push_back(c);
 				}
 			}	
 		}
-	btSoftBody*		psb[2];
-	btScalar		mrg;
+		btSoftBody*		psb[2];
+		btScalar		mrg;
 	};
 };
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
index 53ac2782583..f5a67f6d895 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
@@ -29,10 +29,10 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
 
 	mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
 	m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
-	
+
 	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
 	m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
-	
+
 	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
 	m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
 	m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
@@ -40,26 +40,27 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
 	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
 	m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
-	
+
 	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
 	m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
 	m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
 #endif
 
 	//replace pool by a new one, with potential larger size
-	
+
 	if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
 	{
 		int curElemSize = m_collisionAlgorithmPool->getElementSize();
 		///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
-		
-		
+
+
 		int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
 		int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
 		int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
 
 		int	collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
 		collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
+		
 		if (collisionAlgorithmMaxElementSize > curElemSize)
 		{
 			m_collisionAlgorithmPool->~btPoolAllocator();
@@ -69,9 +70,6 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
 		}
 	}
 
-
-
-
 }
 
 btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
@@ -93,7 +91,7 @@ btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfigur
 	btAlignedFree(	m_swappedSoftRigidConcaveCreateFunc);
 #endif
 }
-	
+
 ///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
 btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
 {
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
index 41c3af96939..21addcfe2e1 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
@@ -32,7 +32,7 @@ class	btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfi
 	btCollisionAlgorithmCreateFunc*	m_swappedSoftRigidConvexCreateFunc;
 	btCollisionAlgorithmCreateFunc*	m_softRigidConcaveCreateFunc;
 	btCollisionAlgorithmCreateFunc*	m_swappedSoftRigidConcaveCreateFunc;
-	
+
 public:
 
 	btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
index e5feb5ef749..11ad9e7daba 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
@@ -35,13 +35,13 @@ m_isSwapped(isSwapped)
 
 btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
 {
-	
+
 	//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
 
 	/*if (m_ownManifold)
 	{
-		if (m_manifoldPtr)
-			m_dispatcher->releaseManifold(m_manifoldPtr);
+	if (m_manifoldPtr)
+	m_dispatcher->releaseManifold(m_manifoldPtr);
 	}
 	*/
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
index 74327e6c635..adc3844e363 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
@@ -28,15 +28,15 @@ class btSoftBody;
 /// btSoftRigidCollisionAlgorithm  provides collision detection between btSoftBody and btRigidBody
 class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
 {
-//	bool	m_ownManifold;
-//	btPersistentManifold*	m_manifoldPtr;
+	//	bool	m_ownManifold;
+	//	btPersistentManifold*	m_manifoldPtr;
 
 	btSoftBody*				m_softBody;
 	btCollisionObject*		m_rigidCollisionObject;
 
 	///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
 	bool	m_isSwapped;
-	
+
 public:
 
 	btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
@@ -52,7 +52,7 @@ public:
 		//we don't add any manifolds
 	}
 
-	
+
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
index b363a2efbc1..a0069b95145 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
@@ -28,17 +28,17 @@ subject to the following restrictions:
 btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
 :btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
 {
-m_drawFlags			=	fDrawFlags::Std;
-m_drawNodeTree		=	true;
-m_drawFaceTree		=	false;
-m_drawClusterTree	=	false;
-m_sbi.m_broadphase = pairCache;
-m_sbi.m_dispatcher = dispatcher;
-m_sbi.m_sparsesdf.Initialize();
-m_sbi.m_sparsesdf.Reset();
+	m_drawFlags			=	fDrawFlags::Std;
+	m_drawNodeTree		=	true;
+	m_drawFaceTree		=	false;
+	m_drawClusterTree	=	false;
+	m_sbi.m_broadphase = pairCache;
+	m_sbi.m_dispatcher = dispatcher;
+	m_sbi.m_sparsesdf.Initialize();
+	m_sbi.m_sparsesdf.Reset();
 
 }
-		
+
 btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
 {
 
@@ -55,7 +55,7 @@ void	btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 		psb->predictMotion(timeStep);		
 	}
 }
-		
+
 void	btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
 {
 	btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
@@ -63,6 +63,13 @@ void	btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
 	///solve soft bodies constraints
 	solveSoftBodiesConstraints();
 
+	//self collisions
+	for ( int i=0;i<m_softBodies.size();i++)
+	{
+		btSoftBody*	psb=(btSoftBody*)m_softBodies[i];
+		psb->defaultCollisionHandler(psb);
+	}
+
 	///update soft bodies
 	updateSoftBodies();
 
@@ -71,7 +78,7 @@ void	btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
 void	btSoftRigidDynamicsWorld::updateSoftBodies()
 {
 	BT_PROFILE("updateSoftBodies");
-	
+
 	for ( int i=0;i<m_softBodies.size();i++)
 	{
 		btSoftBody*	psb=(btSoftBody*)m_softBodies[i];
@@ -82,12 +89,12 @@ void	btSoftRigidDynamicsWorld::updateSoftBodies()
 void	btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
 {
 	BT_PROFILE("solveSoftConstraints");
-	
+
 	if(m_softBodies.size())
-		{
+	{
 		btSoftBody::solveClusters(m_softBodies);
-		}
-	
+	}
+
 	for(int i=0;i<m_softBodies.size();++i)
 	{
 		btSoftBody*	psb=(btSoftBody*)m_softBodies[i];
@@ -100,8 +107,8 @@ void	btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body)
 	m_softBodies.push_back(body);
 
 	btCollisionWorld::addCollisionObject(body,
-					btBroadphaseProxy::DefaultFilter,
-					btBroadphaseProxy::AllFilter);
+		btBroadphaseProxy::DefaultFilter,
+		btBroadphaseProxy::AllFilter);
 
 }
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
index aa8795d897b..edb848e2481 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
@@ -23,7 +23,7 @@ typedef	btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
 
 class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
 {
-	
+
 	btSoftBodyArray	m_softBodies;
 	int				m_drawFlags;
 	bool			m_drawNodeTree;
@@ -32,9 +32,9 @@ class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
 	btSoftBodyWorldInfo m_sbi;
 
 protected:
-	
+
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
-	
+
 	virtual void	internalSingleStepSimulation( btScalar timeStep);
 
 	void	updateSoftBodies();
@@ -43,17 +43,17 @@ protected:
 
 
 public:
-	
+
 	btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
 
 	virtual ~btSoftRigidDynamicsWorld();
-	
+
 	virtual void	debugDrawWorld();
-			
+
 	void	addSoftBody(btSoftBody* body);
 
 	void	removeSoftBody(btSoftBody* body);
-	
+
 	int		getDrawFlags() const { return(m_drawFlags); }
 	void	setDrawFlags(int f)	{ m_drawFlags=f; }
 
@@ -66,7 +66,7 @@ public:
 		return m_sbi;
 	}
 
-			
+
 	btSoftBodyArray& getSoftBodyArray()
 	{
 		return m_softBodies;
@@ -76,7 +76,7 @@ public:
 	{
 		return m_softBodies;
 	}
-		
+
 };
 
 #endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
index 7ca9c3415c9..1b34e0af60f 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
@@ -33,7 +33,7 @@ class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm
 	btSoftBody*	m_softBody0;
 	btSoftBody*	m_softBody1;
 
-	
+
 public:
 	btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btCollisionAlgorithm(ci) {}
diff --git a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
index eafe74be1ae..cc4266732ae 100644
--- a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
+++ b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
@@ -23,139 +23,139 @@ subject to the following restrictions:
 // Modified Paul Hsieh hash
 template <const int DWORDLEN>
 unsigned int HsiehHash(const void* pdata)
-	{
+{
 	const unsigned short*	data=(const unsigned short*)pdata;
 	unsigned				hash=DWORDLEN<<2,tmp;
 	for(int i=0;i<DWORDLEN;++i)
-		{
+	{
 		hash	+=	data[0];
 		tmp		=	(data[1]<<11)^hash;
 		hash	=	(hash<<16)^tmp;
 		data	+=	2;
 		hash	+=	hash>>11;
-		}
+	}
 	hash^=hash<<3;hash+=hash>>5;
 	hash^=hash<<4;hash+=hash>>17;
 	hash^=hash<<25;hash+=hash>>6;
 	return(hash);
-	}
+}
 
 template <const int CELLSIZE>
 struct	btSparseSdf
-	{
+{
 	//
 	// Inner types
 	//
 	struct IntFrac
-		{
+	{
 		int					b;
 		int					i;
 		btScalar			f;
-		};
+	};
 	struct	Cell
-		{
+	{
 		btScalar			d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
 		int					c[3];
 		int					puid;
 		unsigned			hash;
 		btCollisionShape*	pclient;
 		Cell*				next;
-		};
+	};
 	//
 	// Fields
 	//
-	
+
 	btAlignedObjectArray<Cell*>		cells;	
 	btScalar						voxelsz;
 	int								puid;
 	int								ncells;
 	int								nprobes;
 	int								nqueries;	
-	
+
 	//
 	// Methods
 	//
-	
+
 	//
 	void					Initialize(int hashsize=2383)
-		{
+	{
 		cells.resize(hashsize,0);
 		Reset();		
-		}
+	}
 	//
 	void					Reset()
-		{
+	{
 		for(int i=0,ni=cells.size();i<ni;++i)
-			{
+		{
 			Cell*	pc=cells[i];
 			cells[i]=0;
 			while(pc)
-				{
+			{
 				Cell*	pn=pc->next;
 				delete pc;
 				pc=pn;
-				}
 			}
+		}
 		voxelsz		=0.25;
 		puid		=0;
 		ncells		=0;
 		nprobes		=1;
 		nqueries	=1;
-		}
+	}
 	//
 	void					GarbageCollect(int lifetime=256)
-		{
+	{
 		const int life=puid-lifetime;
 		for(int i=0;i<cells.size();++i)
-			{
+		{
 			Cell*&	root=cells[i];
 			Cell*	pp=0;
 			Cell*	pc=root;
 			while(pc)
-				{
+			{
 				Cell*	pn=pc->next;
 				if(pc->puid<life)
-					{
+				{
 					if(pp) pp->next=pn; else root=pn;
 					delete pc;pc=pp;--ncells;
-					}
-				pp=pc;pc=pn;
 				}
+				pp=pc;pc=pn;
 			}
+		}
 		//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
 		nqueries=1;
 		nprobes=1;
-		++puid;	/* TODO: Reset puid's when int range limit is reached	*/ 
-				/* else setup a priority list...						*/ 
-		}
+		++puid;	///@todo: Reset puid's when int range limit is reached	*/ 
+		/* else setup a priority list...						*/ 
+	}
 	//
 	int						RemoveReferences(btCollisionShape* pcs)
-		{
+	{
 		int	refcount=0;
 		for(int i=0;i<cells.size();++i)
-			{
+		{
 			Cell*&	root=cells[i];
 			Cell*	pp=0;
 			Cell*	pc=root;
 			while(pc)
-				{
+			{
 				Cell*	pn=pc->next;
 				if(pc->pclient==pcs)
-					{
+				{
 					if(pp) pp->next=pn; else root=pn;
 					delete pc;pc=pp;++refcount;
-					}
-				pp=pc;pc=pn;
 				}
+				pp=pc;pc=pn;
 			}
-		return(refcount);
 		}
+		return(refcount);
+	}
 	//
 	btScalar				Evaluate(	const btVector3& x,
-										btCollisionShape* shape,
-										btVector3& normal,
-										btScalar margin)
-		{
+		btCollisionShape* shape,
+		btVector3& normal,
+		btScalar margin)
+	{
 		/* Lookup cell			*/ 
 		const btVector3	scx=x/voxelsz;
 		const IntFrac	ix=Decompose(scx.x());
@@ -166,19 +166,19 @@ struct	btSparseSdf
 		Cell*			c=root;
 		++nqueries;
 		while(c)
-			{
+		{
 			++nprobes;
 			if(	(c->hash==h)	&&
 				(c->c[0]==ix.b)	&&
 				(c->c[1]==iy.b)	&&
 				(c->c[2]==iz.b)	&&
 				(c->pclient==shape))
-				{ break; }
-				else
-				{ c=c->next; }
-			}
+			{ break; }
+			else
+			{ c=c->next; }
+		}
 		if(!c)
-			{
+		{
 			++nprobes;		
 			++ncells;
 			c=new Cell();
@@ -187,82 +187,82 @@ struct	btSparseSdf
 			c->hash=h;
 			c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
 			BuildCell(*c);
-			}
+		}
 		c->puid=puid;
 		/* Extract infos		*/ 
 		const int		o[]={	ix.i,iy.i,iz.i};
 		const btScalar	d[]={	c->d[o[0]+0][o[1]+0][o[2]+0],
-								c->d[o[0]+1][o[1]+0][o[2]+0],
-								c->d[o[0]+1][o[1]+1][o[2]+0],
-								c->d[o[0]+0][o[1]+1][o[2]+0],
-								c->d[o[0]+0][o[1]+0][o[2]+1],
-								c->d[o[0]+1][o[1]+0][o[2]+1],
-								c->d[o[0]+1][o[1]+1][o[2]+1],
-								c->d[o[0]+0][o[1]+1][o[2]+1]};
+			c->d[o[0]+1][o[1]+0][o[2]+0],
+			c->d[o[0]+1][o[1]+1][o[2]+0],
+			c->d[o[0]+0][o[1]+1][o[2]+0],
+			c->d[o[0]+0][o[1]+0][o[2]+1],
+			c->d[o[0]+1][o[1]+0][o[2]+1],
+			c->d[o[0]+1][o[1]+1][o[2]+1],
+			c->d[o[0]+0][o[1]+1][o[2]+1]};
 		/* Normal	*/ 
-		#if 1
+#if 1
 		const btScalar	gx[]={	d[1]-d[0],d[2]-d[3],
-								d[5]-d[4],d[6]-d[7]};
+			d[5]-d[4],d[6]-d[7]};
 		const btScalar	gy[]={	d[3]-d[0],d[2]-d[1],
-								d[7]-d[4],d[6]-d[5]};
+			d[7]-d[4],d[6]-d[5]};
 		const btScalar	gz[]={	d[4]-d[0],d[5]-d[1],
-								d[7]-d[3],d[6]-d[2]};
+			d[7]-d[3],d[6]-d[2]};
 		normal.setX(Lerp(	Lerp(gx[0],gx[1],iy.f),
-							Lerp(gx[2],gx[3],iy.f),iz.f));
+			Lerp(gx[2],gx[3],iy.f),iz.f));
 		normal.setY(Lerp(	Lerp(gy[0],gy[1],ix.f),
-							Lerp(gy[2],gy[3],ix.f),iz.f));
+			Lerp(gy[2],gy[3],ix.f),iz.f));
 		normal.setZ(Lerp(	Lerp(gz[0],gz[1],ix.f),
-							Lerp(gz[2],gz[3],ix.f),iy.f));
+			Lerp(gz[2],gz[3],ix.f),iy.f));
 		normal		=	normal.normalized();
-		#else
+#else
 		normal		=	btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
-		#endif
+#endif
 		/* Distance	*/ 
 		const btScalar	d0=Lerp(Lerp(d[0],d[1],ix.f),
-								Lerp(d[3],d[2],ix.f),iy.f);
+			Lerp(d[3],d[2],ix.f),iy.f);
 		const btScalar	d1=Lerp(Lerp(d[4],d[5],ix.f),
-								Lerp(d[7],d[6],ix.f),iy.f);
+			Lerp(d[7],d[6],ix.f),iy.f);
 		return(Lerp(d0,d1,iz.f)-margin);
-		}
+	}
 	//
 	void					BuildCell(Cell& c)
-		{
+	{
 		const btVector3	org=btVector3(	(btScalar)c.c[0],
-										(btScalar)c.c[1],
-										(btScalar)c.c[2])	*
-										CELLSIZE*voxelsz;
+			(btScalar)c.c[1],
+			(btScalar)c.c[2])	*
+			CELLSIZE*voxelsz;
 		for(int k=0;k<=CELLSIZE;++k)
-			{
+		{
 			const btScalar	z=voxelsz*k+org.z();
 			for(int j=0;j<=CELLSIZE;++j)
-				{
+			{
 				const btScalar	y=voxelsz*j+org.y();
 				for(int i=0;i<=CELLSIZE;++i)
-					{
+				{
 					const btScalar	x=voxelsz*i+org.x();
 					c.d[i][j][k]=DistanceToShape(	btVector3(x,y,z),
-													c.pclient);
-					}
+						c.pclient);
 				}
 			}
 		}
+	}
 	//
 	static inline btScalar	DistanceToShape(const btVector3& x,
-											btCollisionShape* shape)
-		{
+		btCollisionShape* shape)
+	{
 		btTransform	unit;
 		unit.setIdentity();
 		if(shape->isConvex())
-			{
+		{
 			btGjkEpaSolver2::sResults	res;
 			btConvexShape*				csh=static_cast<btConvexShape*>(shape);
 			return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
-			}
-		return(0);
 		}
+		return(0);
+	}
 	//
 	static inline IntFrac	Decompose(btScalar x)
-		{
+	{
 		/* That one need a lot of improvements...	*/
 		/* Remove test, faster floor...				*/ 
 		IntFrac			r;
@@ -272,18 +272,18 @@ struct	btSparseSdf
 		const btScalar	k=(x-r.b)*CELLSIZE;
 		r.i=(int)k;r.f=k-r.i;r.b-=o;
 		return(r);
-		}
+	}
 	//
 	static inline btScalar	Lerp(btScalar a,btScalar b,btScalar t)
-		{
+	{
 		return(a+(b-a)*t);
-		}
+	}
+
 
-	
 
 	//
 	static inline unsigned int	Hash(int x,int y,int z,btCollisionShape* shape)
-		{
+	{
 		struct btS
 		{ 
 			int x,y,z;
@@ -291,16 +291,16 @@ struct	btSparseSdf
 		};
 
 		btS myset;
-		
+
 		myset.x=x;myset.y=y;myset.z=z;myset.p=shape;
 		const void* ptr = &myset;
 
 		unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
-		
+
 
 		return result;
-		}
+	}
 };
-	
+
 
 #endif
diff --git a/extern/bullet2/src/LinearMath/CMakeLists.txt b/extern/bullet2/src/LinearMath/CMakeLists.txt
index 02ffaad7228..99d5a6a2fef 100644
--- a/extern/bullet2/src/LinearMath/CMakeLists.txt
+++ b/extern/bullet2/src/LinearMath/CMakeLists.txt
@@ -3,7 +3,14 @@ INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src }
 )
 
-ADD_LIBRARY(LibLinearMath
+SET(LinearMath_SRCS
+		btConvexHull.cpp
+		btQuickprof.cpp
+		btGeometryUtil.cpp
+		btAlignedAllocator.cpp
+)
+
+SET(LinearMath_HDRS
 		btAlignedObjectArray.h
 		btList.h
 		btPoolAllocator.h
@@ -16,7 +23,6 @@ ADD_LIBRARY(LibLinearMath
 		btScalar.h
 		btAabbUtil2.h
 		btConvexHull.h
-		btConvexHull.cpp
 		btMinMax.h
 		btQuaternion.h
 		btStackAlloc.h
@@ -25,11 +31,21 @@ ADD_LIBRARY(LibLinearMath
 		btTransform.h
 		btAlignedAllocator.h
 		btIDebugDraw.h
-		btPoint3.h
 		btQuickprof.h
 		btTransformUtil.h
-		btQuickprof.cpp
-		btGeometryUtil.cpp
-		btAlignedAllocator.cpp
 )
 
+ADD_LIBRARY(LinearMath ${LinearMath_SRCS} ${LinearMath_HDRS})
+SET_TARGET_PROPERTIES(LinearMath PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(LinearMath PROPERTIES SOVERSION ${BULLET_VERSION})
+
+#FILES_MATCHING requires CMake 2.6
+IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+	INSTALL(TARGETS LinearMath DESTINATION lib)
+	INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
+ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	SET_TARGET_PROPERTIES(LinearMath PROPERTIES FRAMEWORK true)
+	SET_TARGET_PROPERTIES(LinearMath PROPERTIES PUBLIC_HEADER "${LinearMath_HDRS}")
+ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
diff --git a/extern/bullet2/src/LinearMath/btAabbUtil2.h b/extern/bullet2/src/LinearMath/btAabbUtil2.h
index 275c4914628..532ce1bf633 100644
--- a/extern/bullet2/src/LinearMath/btAabbUtil2.h
+++ b/extern/bullet2/src/LinearMath/btAabbUtil2.h
@@ -21,6 +21,8 @@ subject to the following restrictions:
 #include "btVector3.h"
 #include "btMinMax.h"
 
+
+
 SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
 								   btVector3& aabbMax,
 								   const btVector3& expansionMin,
@@ -30,15 +32,26 @@ SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
 	aabbMax = aabbMax + expansionMax;
 }
 
+/// conservative test for overlap between two aabbs
+SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
+								const btVector3 &point)
+{
+	bool overlap = true;
+	overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
+	overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
+	overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
+	return overlap;
+}
+
 
 /// conservative test for overlap between two aabbs
 SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
 								const btVector3 &aabbMin2, const btVector3 &aabbMax2)
 {
 	bool overlap = true;
-	overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-	overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-	overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
+	overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
+	overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
+	overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
 	return overlap;
 }
 
@@ -73,6 +86,7 @@ SIMD_FORCE_INLINE int	btOutcode(const btVector3& p,const btVector3& halfExtent)
 }
 
 
+
 SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 								  const btVector3& rayInvDirection,
 								  const unsigned int raySign[3],
@@ -82,10 +96,10 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 								  btScalar lambda_max)
 {
 	btScalar tmax, tymin, tymax, tzmin, tzmax;
-	tmin = (bounds[raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
-	tmax = (bounds[1-raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
-	tymin = (bounds[raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
-	tymax = (bounds[1-raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
+	tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
+	tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
+	tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
+	tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
 
 	if ( (tmin > tymax) || (tymin > tmax) )
 		return false;
@@ -96,8 +110,8 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 	if (tymax < tmax)
 		tmax = tymax;
 
-	tzmin = (bounds[raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
-	tzmax = (bounds[1-raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
+	tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
+	tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
 
 	if ( (tmin > tzmax) || (tzmin > tmax) )
 		return false;
@@ -196,6 +210,26 @@ SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& localAabbMin,const btVec
 		aabbMaxOut = center+extent;
 }
 
+#define USE_BANCHLESS 1
+#ifdef USE_BANCHLESS
+	//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
+	SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
+	{		
+		return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
+			& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
+			& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
+			1, 0));
+	}
+#else
+	SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
+	{
+		bool overlap = true;
+		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
+		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
+		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
+		return overlap;
+	}
+#endif //USE_BANCHLESS
 
 #endif
 
diff --git a/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp b/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp
index e120289e061..a3d790f8abc 100644
--- a/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp
+++ b/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp
@@ -19,6 +19,21 @@ int gNumAlignedAllocs = 0;
 int gNumAlignedFree = 0;
 int gTotalBytesAlignedAllocs = 0;//detect memory leaks
 
+static void *btAllocDefault(size_t size)
+{
+	return malloc(size);
+}
+
+static void btFreeDefault(void *ptr)
+{
+	free(ptr);
+}
+
+static btAllocFunc *sAllocFunc = btAllocDefault;
+static btFreeFunc *sFreeFunc = btFreeDefault;
+
+
+
 #if defined (BT_HAS_ALIGNED_ALLOCATOR)
 #include <malloc.h>
 static void *btAlignedAllocDefault(size_t size, int alignment)
@@ -49,7 +64,7 @@ static inline void *btAlignedAllocDefault(size_t size, int alignment)
   char *real;
   unsigned long offset;
 
-  real = (char *)malloc(size + sizeof(void *) + (alignment-1));
+  real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1));
   if (real) {
     offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1);
     ret = (void *)((real + sizeof(void *)) + offset);
@@ -66,25 +81,14 @@ static inline void btAlignedFreeDefault(void *ptr)
 
   if (ptr) {
     real = *((void **)(ptr)-1);
-    free(real);
+    sFreeFunc(real);
   }
 }
 #endif
 
-static void *btAllocDefault(size_t size)
-{
-	return malloc(size);
-}
-
-static void btFreeDefault(void *ptr)
-{
-	free(ptr);
-}
 
 static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault;
 static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault;
-static btAllocFunc *sAllocFunc = btAllocDefault;
-static btFreeFunc *sFreeFunc = btFreeDefault;
 
 void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc)
 {
diff --git a/extern/bullet2/src/LinearMath/btAlignedAllocator.h b/extern/bullet2/src/LinearMath/btAlignedAllocator.h
index a252f324d77..f168f3c66c7 100644
--- a/extern/bullet2/src/LinearMath/btAlignedAllocator.h
+++ b/extern/bullet2/src/LinearMath/btAlignedAllocator.h
@@ -38,7 +38,7 @@ void	btAlignedFreeInternal	(void* ptr,int line,char* filename);
 	void*	btAlignedAllocInternal	(size_t size, int alignment);
 	void	btAlignedFreeInternal	(void* ptr);
 
-	#define btAlignedAlloc(a,b) btAlignedAllocInternal(a,b)
+	#define btAlignedAlloc(size,alignment) btAlignedAllocInternal(size,alignment)
 	#define btAlignedFree(ptr) btAlignedFreeInternal(ptr)
 
 #endif
@@ -49,8 +49,11 @@ typedef void (btAlignedFreeFunc)(void *memblock);
 typedef void *(btAllocFunc)(size_t size);
 typedef void (btFreeFunc)(void *memblock);
 
-void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc);
+///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom
 void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc);
+///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it.
+void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc);
+
 
 ///The btAlignedAllocator is a portable class for aligned memory allocations.
 ///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned.
diff --git a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
index 5598f0d7236..bad1eee1f63 100644
--- a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
+++ b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
@@ -58,7 +58,7 @@ class btAlignedObjectArray
 		{
 			return (size ? size*2 : 1);
 		}
-		SIMD_FORCE_INLINE	void	copy(int start,int end, T* dest)
+		SIMD_FORCE_INLINE	void	copy(int start,int end, T* dest) const
 		{
 			int i;
 			for (i=start;i<end;++i)
@@ -120,13 +120,21 @@ class btAlignedObjectArray
 			clear();
 		}
 
-		SIMD_FORCE_INLINE	int capacity() const
-		{	// return current length of allocated storage
-			return m_capacity;
+		///Generally it is best to avoid using the copy constructor of an btAlignedObjectArray, and use a (const) reference to the array instead.
+		btAlignedObjectArray(const btAlignedObjectArray& otherArray)
+		{
+			init();
+
+			int otherSize = otherArray.size();
+			resize (otherSize);
+			otherArray.copy(0, otherSize, m_data);
 		}
+
 		
+		
+		/// return the number of elements in the array
 		SIMD_FORCE_INLINE	int size() const
-		{	// return length of sequence
+		{	
 			return m_size;
 		}
 		
@@ -141,6 +149,7 @@ class btAlignedObjectArray
 		}
 		
 
+		///clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
 		SIMD_FORCE_INLINE	void	clear()
 		{
 			destroy(0,size());
@@ -156,6 +165,8 @@ class btAlignedObjectArray
 			m_data[m_size].~T();
 		}
 
+		///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
+		///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
 		SIMD_FORCE_INLINE	void	resize(int newsize, const T& fillData=T())
 		{
 			int curSize = size();
@@ -219,6 +230,11 @@ class btAlignedObjectArray
 		}
 
 	
+		/// return the pre-allocated (reserved) elements, this is at least as large as the total number of elements,see size() and reserve()
+		SIMD_FORCE_INLINE	int capacity() const
+		{	
+			return m_capacity;
+		}
 		
 		SIMD_FORCE_INLINE	void reserve(int _Count)
 		{	// determine new minimum length of allocated storage
diff --git a/extern/bullet2/src/LinearMath/btConvexHull.cpp b/extern/bullet2/src/LinearMath/btConvexHull.cpp
index b8929a86808..419c752a1d9 100644
--- a/extern/bullet2/src/LinearMath/btConvexHull.cpp
+++ b/extern/bullet2/src/LinearMath/btConvexHull.cpp
@@ -262,8 +262,8 @@ int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray<int> &al
 		int ma=-1;
 		for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0))
 		{
-			btScalar s = sinf(SIMD_RADS_PER_DEG*(x));
-			btScalar c = cosf(SIMD_RADS_PER_DEG*(x));
+			btScalar s = btSin(SIMD_RADS_PER_DEG*(x));
+			btScalar c = btCos(SIMD_RADS_PER_DEG*(x));
 			int mb = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow);
 			if(ma==m && mb==m)
 			{
@@ -275,8 +275,8 @@ int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray<int> &al
 				int mc = ma;
 				for(btScalar xx = x-btScalar(40.0) ; xx <= x ; xx+= btScalar(5.0))
 				{
-					btScalar s = sinf(SIMD_RADS_PER_DEG*(xx));
-					btScalar c = cosf(SIMD_RADS_PER_DEG*(xx));
+					btScalar s = btSin(SIMD_RADS_PER_DEG*(xx));
+					btScalar c = btCos(SIMD_RADS_PER_DEG*(xx));
 					int md = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow);
 					if(mc==m && md==m)
 					{
@@ -342,30 +342,30 @@ int shareedge(const int3 &a,const int3 &b)
 	return 0;
 }
 
-class Tri;
+class btHullTriangle;
 
 
 
-class Tri : public int3
+class btHullTriangle : public int3
 {
 public:
 	int3 n;
 	int id;
 	int vmax;
 	btScalar rise;
-	Tri(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
+	btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
 	{
 		vmax=-1;
 		rise = btScalar(0.0);
 	}
-	~Tri()
+	~btHullTriangle()
 	{
 	}
 	int &neib(int a,int b);
 };
 
 
-int &Tri::neib(int a,int b)
+int &btHullTriangle::neib(int a,int b)
 {
 	static int er=-1;
 	int i;
@@ -379,7 +379,7 @@ int &Tri::neib(int a,int b)
 	btAssert(0);
 	return er;
 }
-void HullLibrary::b2bfix(Tri* s,Tri*t)
+void HullLibrary::b2bfix(btHullTriangle* s,btHullTriangle*t)
 {
 	int i;
 	for(i=0;i<3;i++) 
@@ -395,7 +395,7 @@ void HullLibrary::b2bfix(Tri* s,Tri*t)
 	}
 }
 
-void HullLibrary::removeb2b(Tri* s,Tri*t)
+void HullLibrary::removeb2b(btHullTriangle* s,btHullTriangle*t)
 {
 	b2bfix(s,t);
 	deAllocateTriangle(s);
@@ -403,7 +403,7 @@ void HullLibrary::removeb2b(Tri* s,Tri*t)
 	deAllocateTriangle(t);
 }
 
-void HullLibrary::checkit(Tri *t)
+void HullLibrary::checkit(btHullTriangle *t)
 {
 	(void)t;
 
@@ -427,36 +427,36 @@ void HullLibrary::checkit(Tri *t)
 	}
 }
 
-Tri*	HullLibrary::allocateTriangle(int a,int b,int c)
+btHullTriangle*	HullLibrary::allocateTriangle(int a,int b,int c)
 {
-	void* mem = btAlignedAlloc(sizeof(Tri),16);
-	Tri* tr = new (mem)Tri(a,b,c);
+	void* mem = btAlignedAlloc(sizeof(btHullTriangle),16);
+	btHullTriangle* tr = new (mem)btHullTriangle(a,b,c);
 	tr->id = m_tris.size();
 	m_tris.push_back(tr);
 
 	return tr;
 }
 
-void	HullLibrary::deAllocateTriangle(Tri* tri)
+void	HullLibrary::deAllocateTriangle(btHullTriangle* tri)
 {
 	btAssert(m_tris[tri->id]==tri);
 	m_tris[tri->id]=NULL;
-	tri->~Tri();
+	tri->~btHullTriangle();
 	btAlignedFree(tri);
 }
 
 
-void HullLibrary::extrude(Tri *t0,int v)
+void HullLibrary::extrude(btHullTriangle *t0,int v)
 {
 	int3 t= *t0;
 	int n = m_tris.size();
-	Tri* ta = allocateTriangle(v,t[1],t[2]);
+	btHullTriangle* ta = allocateTriangle(v,t[1],t[2]);
 	ta->n = int3(t0->n[0],n+1,n+2);
 	m_tris[t0->n[0]]->neib(t[1],t[2]) = n+0;
-	Tri* tb = allocateTriangle(v,t[2],t[0]);
+	btHullTriangle* tb = allocateTriangle(v,t[2],t[0]);
 	tb->n = int3(t0->n[1],n+2,n+0);
 	m_tris[t0->n[1]]->neib(t[2],t[0]) = n+1;
-	Tri* tc = allocateTriangle(v,t[0],t[1]);
+	btHullTriangle* tc = allocateTriangle(v,t[0],t[1]);
 	tc->n = int3(t0->n[2],n+0,n+1);
 	m_tris[t0->n[2]]->neib(t[0],t[1]) = n+2;
 	checkit(ta);
@@ -469,10 +469,10 @@ void HullLibrary::extrude(Tri *t0,int v)
 
 }
 
-Tri* HullLibrary::extrudable(btScalar epsilon)
+btHullTriangle* HullLibrary::extrudable(btScalar epsilon)
 {
 	int i;
-	Tri *t=NULL;
+	btHullTriangle *t=NULL;
 	for(i=0;i<m_tris.size();i++)
 	{
 		if(!t || (m_tris[i] && t->rise<m_tris[i]->rise))
@@ -550,23 +550,23 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
 
 
 	btVector3 center = (verts[p[0]]+verts[p[1]]+verts[p[2]]+verts[p[3]]) / btScalar(4.0);  // a valid interior point
-	Tri *t0 = allocateTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
-	Tri *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
-	Tri *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
-	Tri *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
+	btHullTriangle *t0 = allocateTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
+	btHullTriangle *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
+	btHullTriangle *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
+	btHullTriangle *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
 	isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1;
 	checkit(t0);checkit(t1);checkit(t2);checkit(t3);
 
 	for(j=0;j<m_tris.size();j++)
 	{
-		Tri *t=m_tris[j];
+		btHullTriangle *t=m_tris[j];
 		btAssert(t);
 		btAssert(t->vmax<0);
 		btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
 		t->vmax = maxdirsterid(verts,verts_count,n,allow);
 		t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
 	}
-	Tri *te;
+	btHullTriangle *te;
 	vlimit-=4;
 	while(vlimit >0 && ((te=extrudable(epsilon)) != 0))
 	{
@@ -594,7 +594,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
 			int3 nt=*m_tris[j];
 			if(above(verts,nt,center,btScalar(0.01)*epsilon)  || cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
 			{
-				Tri *nb = m_tris[m_tris[j]->n[0]];
+				btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
 				btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->id<j);
 				extrude(nb,v);
 				j=m_tris.size(); 
@@ -603,7 +603,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
 		j=m_tris.size();
 		while(j--)
 		{
-			Tri *t=m_tris[j];
+			btHullTriangle *t=m_tris[j];
 			if(!t) continue;
 			if(t->vmax>=0) break;
 			btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
diff --git a/extern/bullet2/src/LinearMath/btConvexHull.h b/extern/bullet2/src/LinearMath/btConvexHull.h
index 8c36307dfd6..92560bddb9c 100644
--- a/extern/bullet2/src/LinearMath/btConvexHull.h
+++ b/extern/bullet2/src/LinearMath/btConvexHull.h
@@ -137,13 +137,9 @@ class ConvexH
 	};
 	ConvexH()
 	{
-		int i;
-		i=0;
 	}
 	~ConvexH()
 	{
-		int i;
-		i=0;
 	}
 	btAlignedObjectArray<btVector3> vertices;
 	btAlignedObjectArray<HalfEdge> edges;
@@ -188,7 +184,7 @@ public:
 class HullLibrary
 {
 
-	btAlignedObjectArray<class Tri*> m_tris;
+	btAlignedObjectArray<class btHullTriangle*> m_tris;
 
 public:
 
@@ -203,15 +199,15 @@ private:
 
 	bool ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit);
 
-	class Tri*	allocateTriangle(int a,int b,int c);
-	void	deAllocateTriangle(Tri*);
-	void b2bfix(Tri* s,Tri*t);
+	class btHullTriangle*	allocateTriangle(int a,int b,int c);
+	void	deAllocateTriangle(btHullTriangle*);
+	void b2bfix(btHullTriangle* s,btHullTriangle*t);
 
-	void removeb2b(Tri* s,Tri*t);
+	void removeb2b(btHullTriangle* s,btHullTriangle*t);
 
-	void checkit(Tri *t);
+	void checkit(btHullTriangle *t);
 
-	Tri* extrudable(btScalar epsilon);
+	btHullTriangle* extrudable(btScalar epsilon);
 
 	int calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit);
 
@@ -221,7 +217,7 @@ private:
 
 	class ConvexH* ConvexHCrop(ConvexH& convex,const btPlane& slice);
 
-	void extrude(class Tri* t0,int v);
+	void extrude(class btHullTriangle* t0,int v);
 
 	ConvexH* test_cube();
 
diff --git a/extern/bullet2/src/LinearMath/btIDebugDraw.h b/extern/bullet2/src/LinearMath/btIDebugDraw.h
index 563615a9a32..e5a0061b779 100644
--- a/extern/bullet2/src/LinearMath/btIDebugDraw.h
+++ b/extern/bullet2/src/LinearMath/btIDebugDraw.h
@@ -29,6 +29,7 @@ DEALINGS IN THE SOFTWARE.
 #define IDEBUG_DRAW__H
 
 #include "btVector3.h"
+#include "btTransform.h"
 
 
 ///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
@@ -52,11 +53,26 @@ class	btIDebugDraw
 		DBG_EnableSatComparison = 256,
 		DBG_DisableBulletLCP = 512,
 		DBG_EnableCCD = 1024,
+		DBG_DrawConstraints = (1 << 11),
+		DBG_DrawConstraintLimits = (1 << 12),
 		DBG_MAX_DEBUG_DRAW_MODE
 	};
 
 	virtual ~btIDebugDraw() {};
 
+	virtual void    drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
+	{
+		drawLine (from, to, fromColor);
+	}
+
+	virtual void	drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
+	{
+	}
+
+	virtual void	drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
+	{
+	}
+
 	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
 	
 	virtual	void	drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)
@@ -109,6 +125,171 @@ class	btIDebugDraw
 				edgecoord[i]*=-1.f;
 		}
 	}
+	void drawTransform(const btTransform& transform, btScalar orthoLen)
+	{
+		btVector3 start = transform.getOrigin();
+		drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
+		drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0));
+		drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
+	}
+
+	void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, 
+				const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
+	{
+		const btVector3& vx = axis;
+		btVector3 vy = normal.cross(axis);
+		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
+		int nSteps = (int)((maxAngle - minAngle) / step);
+		if(!nSteps) nSteps = 1;
+		btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
+		if(drawSect)
+		{
+			drawLine(center, prev, color);
+		}
+		for(int i = 1; i <= nSteps; i++)
+		{
+			btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
+			btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
+			drawLine(prev, next, color);
+			prev = next;
+		}
+		if(drawSect)
+		{
+			drawLine(center, prev, color);
+		}
+	}
+	void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, 
+		btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f))
+	{
+		btVector3 vA[74];
+		btVector3 vB[74];
+		btVector3 *pvA = vA, *pvB = vB, *pT;
+		btVector3 npole = center + up * radius;
+		btVector3 spole = center - up * radius;
+		btVector3 arcStart;
+		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
+		const btVector3& kv = up;
+		const btVector3& iv = axis;
+		btVector3 jv = kv.cross(iv);
+		bool drawN = false;
+		bool drawS = false;
+		if(minTh <= -SIMD_HALF_PI)
+		{
+			minTh = -SIMD_HALF_PI + step;
+			drawN = true;
+		}
+		if(maxTh >= SIMD_HALF_PI)
+		{
+			maxTh = SIMD_HALF_PI - step;
+			drawS = true;
+		}
+		if(minTh > maxTh)
+		{
+			minTh = -SIMD_HALF_PI + step;
+			maxTh =  SIMD_HALF_PI - step;
+			drawN = drawS = true;
+		}
+		int n_hor = (int)((maxTh - minTh) / step) + 1;
+		if(n_hor < 2) n_hor = 2;
+		btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
+		bool isClosed = false;
+		if(minPs > maxPs)
+		{
+			minPs = -SIMD_PI + step;
+			maxPs =  SIMD_PI;
+			isClosed = true;
+		}
+		else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
+		{
+			isClosed = true;
+		}
+		else
+		{
+			isClosed = false;
+		}
+		int n_vert = (int)((maxPs - minPs) / step) + 1;
+		if(n_vert < 2) n_vert = 2;
+		btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
+		for(int i = 0; i < n_hor; i++)
+		{
+			btScalar th = minTh + btScalar(i) * step_h;
+			btScalar sth = radius * btSin(th);
+			btScalar cth = radius * btCos(th);
+			for(int j = 0; j < n_vert; j++)
+			{
+				btScalar psi = minPs + btScalar(j) * step_v;
+				btScalar sps = btSin(psi);
+				btScalar cps = btCos(psi);
+				pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
+				if(i)
+				{
+					drawLine(pvA[j], pvB[j], color);
+				}
+				else if(drawS)
+				{
+					drawLine(spole, pvB[j], color);
+				}
+				if(j)
+				{
+					drawLine(pvB[j-1], pvB[j], color);
+				}
+				else
+				{
+					arcStart = pvB[j];
+				}
+				if((i == (n_hor - 1)) && drawN)
+				{
+					drawLine(npole, pvB[j], color);
+				}
+				if(isClosed)
+				{
+					if(j == (n_vert-1))
+					{
+						drawLine(arcStart, pvB[j], color);
+					}
+				}
+				else
+				{
+					if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1))))
+					{
+						drawLine(center, pvB[j], color);
+					}
+				}
+			}
+			pT = pvA; pvA = pvB; pvB = pT;
+		}
+	}
+	
+	void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
+	{
+		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
+		drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
+		drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
+		drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
+		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
+		drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
+		drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
+		drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
+		drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
+		drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
+		drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
+		drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
+	}
+	void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
+	{
+		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
+		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
+		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
+		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
+		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
+		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
+		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
+		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
+		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
+		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
+		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
+		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
+	}
 };
 
 
diff --git a/extern/bullet2/src/LinearMath/btMatrix3x3.h b/extern/bullet2/src/LinearMath/btMatrix3x3.h
index 14aa4ae2348..e45afc3c055 100644
--- a/extern/bullet2/src/LinearMath/btMatrix3x3.h
+++ b/extern/bullet2/src/LinearMath/btMatrix3x3.h
@@ -23,14 +23,16 @@ subject to the following restrictions:
 
 
 
-///The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
-///Make sure to only include a pure orthogonal matrix without scaling.
+/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
+ * Make sure to only include a pure orthogonal matrix without scaling. */
 class btMatrix3x3 {
 	public:
+  /** @brief No initializaion constructor */
 		btMatrix3x3 () {}
 		
 //		explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
 		
+  /**@brief Constructor from Quaternion */
 		explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); }
 		/*
 		template <typename btScalar>
@@ -39,6 +41,7 @@ class btMatrix3x3 {
 			setEulerYPR(yaw, pitch, roll);
 		}
 		*/
+  /** @brief Constructor with row major formatting */
 		btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
 				  const btScalar& yx, const btScalar& yy, const btScalar& yz,
 				  const btScalar& zx, const btScalar& zy, const btScalar& zz)
@@ -47,14 +50,14 @@ class btMatrix3x3 {
 					 yx, yy, yz, 
 					 zx, zy, zz);
 		}
-		
+  /** @brief Copy constructor */
 		SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
 		{
 			m_el[0] = other.m_el[0];
 			m_el[1] = other.m_el[1];
 			m_el[2] = other.m_el[2];
 		}
-
+  /** @brief Assignment Operator */
 		SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
 		{
 			m_el[0] = other.m_el[0];
@@ -63,34 +66,45 @@ class btMatrix3x3 {
 			return *this;
 		}
 
+  /** @brief Get a column of the matrix as a vector 
+   *  @param i Column number 0 indexed */
 		SIMD_FORCE_INLINE btVector3 getColumn(int i) const
 		{
 			return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
 		}
 		
 
-
+  /** @brief Get a row of the matrix as a vector 
+   *  @param i Row number 0 indexed */
 		SIMD_FORCE_INLINE const btVector3& getRow(int i) const
 		{
+			btFullAssert(0 <= i && i < 3);
 			return m_el[i];
 		}
 
-
+  /** @brief Get a mutable reference to a row of the matrix as a vector 
+   *  @param i Row number 0 indexed */
 		SIMD_FORCE_INLINE btVector3&  operator[](int i)
 		{ 
 			btFullAssert(0 <= i && i < 3);
 			return m_el[i]; 
 		}
 		
+  /** @brief Get a const reference to a row of the matrix as a vector 
+   *  @param i Row number 0 indexed */
 		SIMD_FORCE_INLINE const btVector3& operator[](int i) const
 		{
 			btFullAssert(0 <= i && i < 3);
 			return m_el[i]; 
 		}
 		
+  /** @brief Multiply by the target matrix on the right
+   *  @param m Rotation matrix to be applied 
+   * Equivilant to this = this * m */
 		btMatrix3x3& operator*=(const btMatrix3x3& m); 
 		
-	
+  /** @brief Set from a carray of btScalars 
+   *  @param m A pointer to the beginning of an array of 9 btScalars */
 	void setFromOpenGLSubMatrix(const btScalar *m)
 		{
 			m_el[0].setValue(m[0],m[4],m[8]);
@@ -98,7 +112,16 @@ class btMatrix3x3 {
 			m_el[2].setValue(m[2],m[6],m[10]);
 
 		}
-
+  /** @brief Set the values of the matrix explicitly (row major)
+   *  @param xx Top left
+   *  @param xy Top Middle
+   *  @param xz Top Right
+   *  @param yx Middle Left
+   *  @param yy Middle Middle
+   *  @param yz Middle Right
+   *  @param zx Bottom Left
+   *  @param zy Bottom Middle
+   *  @param zz Bottom Right*/
 		void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz, 
 					  const btScalar& yx, const btScalar& yy, const btScalar& yz, 
 					  const btScalar& zx, const btScalar& zy, const btScalar& zz)
@@ -107,7 +130,9 @@ class btMatrix3x3 {
 			m_el[1].setValue(yx,yy,yz);
 			m_el[2].setValue(zx,zy,zz);
 		}
-  
+
+  /** @brief Set the matrix from a quaternion
+   *  @param q The Quaternion to match */  
 		void setRotation(const btQuaternion& q) 
 		{
 			btScalar d = q.length2();
@@ -123,35 +148,27 @@ class btMatrix3x3 {
 		}
 		
 
-
+  /** @brief Set the matrix from euler angles using YPR around YXZ respectively
+   *  @param yaw Yaw about Y axis
+   *  @param pitch Pitch about X axis
+   *  @param roll Roll about Z axis 
+   */
 		void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) 
 		{
-
-			btScalar cy(btCos(yaw)); 
-			btScalar  sy(btSin(yaw)); 
-			btScalar  cp(btCos(pitch)); 
-			btScalar  sp(btSin(pitch)); 
-			btScalar  cr(btCos(roll));
-			btScalar  sr(btSin(roll));
-			btScalar  cc = cy * cr; 
-			btScalar  cs = cy * sr; 
-			btScalar  sc = sy * cr; 
-			btScalar  ss = sy * sr;
-			setValue(cc - sp * ss, -cs - sp * sc, -sy * cp,
-                     cp * sr,       cp * cr,      -sp,
-					 sc + sp * cs, -ss + sp * cc,  cy * cp);
-		
+			setEulerZYX(roll, pitch, yaw);
 		}
 
-	/**
-	 * setEulerZYX
-	 * @param euler a const reference to a btVector3 of euler angles
+	/** @brief Set the matrix from euler angles YPR around ZYX axes
+	 * @param eulerX Roll about X axis
+         * @param eulerY Pitch around Y axis
+         * @param eulerZ Yaw aboud Z axis
+         * 
 	 * These angles are used to produce a rotation matrix. The euler
 	 * angles are applied in ZYX order. I.e a vector is first rotated 
 	 * about X then Y and then Z
 	 **/
-	
-	void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) {
+	void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) { 
+  ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
 		btScalar ci ( btCos(eulerX)); 
 		btScalar cj ( btCos(eulerY)); 
 		btScalar ch ( btCos(eulerZ)); 
@@ -168,13 +185,24 @@ class btMatrix3x3 {
 	       			 -sj,      cj * si,      cj * ci);
 	}
 
+  /**@brief Set the matrix to the identity */
 		void setIdentity()
 		{ 
 			setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0), 
 					 btScalar(0.0), btScalar(1.0), btScalar(0.0), 
 					 btScalar(0.0), btScalar(0.0), btScalar(1.0)); 
 		}
-    
+
+		static const btMatrix3x3&	getIdentity()
+		{
+			static const btMatrix3x3 identityMatrix(btScalar(1.0), btScalar(0.0), btScalar(0.0), 
+					 btScalar(0.0), btScalar(1.0), btScalar(0.0), 
+					 btScalar(0.0), btScalar(0.0), btScalar(1.0));
+			return identityMatrix;
+		}
+
+  /**@brief Fill the values of the matrix into a 9 element array 
+   * @param m The array to be filled */
 		void getOpenGLSubMatrix(btScalar *m) const 
 		{
 			m[0]  = btScalar(m_el[0].x()); 
@@ -191,6 +219,8 @@ class btMatrix3x3 {
 			m[11] = btScalar(0.0); 
 		}
 
+  /**@brief Get the matrix represented as a quaternion 
+   * @param q The quaternion which will be set */
 		void getRotation(btQuaternion& q) const
 		{
 			btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
@@ -224,35 +254,102 @@ class btMatrix3x3 {
 			}
 			q.setValue(temp[0],temp[1],temp[2],temp[3]);
 		}
-	
-		void getEuler(btScalar& yaw, btScalar& pitch, btScalar& roll) const
+
+  /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
+   * @param yaw Yaw around Y axis
+   * @param pitch Pitch around X axis
+   * @param roll around Z axis */	
+		void getEulerYPR(btScalar& yaw, btScalar& pitch, btScalar& roll) const
 		{
 			
-			if (btScalar(m_el[1].z()) < btScalar(1))
-			{
-				if (btScalar(m_el[1].z()) > -btScalar(1))
-				{
-					yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
-					pitch = btScalar(btAsin(-m_el[1].y()));
-					roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
-				}
-				else 
-				{
-					yaw = btScalar(-btAtan2(-m_el[0].y(), m_el[0].z()));
-					pitch = SIMD_HALF_PI;
-					roll = btScalar(0.0);
-				}
-			}
-			else
+			// first use the normal calculus
+			yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
+			pitch = btScalar(btAsin(-m_el[2].x()));
+			roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
+
+			// on pitch = +/-HalfPI
+			if (btFabs(pitch)==SIMD_HALF_PI)
 			{
-				yaw = btScalar(btAtan2(-m_el[0].y(), m_el[0].z()));
-				pitch = -SIMD_HALF_PI;
-				roll = btScalar(0.0);
+				if (yaw>0)
+					yaw-=SIMD_PI;
+				else
+					yaw+=SIMD_PI;
+
+				if (roll>0)
+					roll-=SIMD_PI;
+				else
+					roll+=SIMD_PI;
 			}
-		}
-		
-
+		};
+
+
+  /**@brief Get the matrix represented as euler angles around ZYX
+   * @param yaw Yaw around X axis
+   * @param pitch Pitch around Y axis
+   * @param roll around X axis 
+   * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/	
+  void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const
+  {
+    struct Euler{btScalar yaw, pitch, roll;};
+    Euler euler_out;
+    Euler euler_out2; //second solution
+    //get the pointer to the raw data
+    
+    // Check that pitch is not at a singularity
+    if (btFabs(m_el[2].x()) >= 1)
+    {
+      euler_out.yaw = 0;
+      euler_out2.yaw = 0;
 	
+      // From difference of angles formula
+      btScalar delta = btAtan2(m_el[0].x(),m_el[0].z());
+      if (m_el[2].x() > 0)  //gimbal locked up
+      {
+        euler_out.pitch = SIMD_PI / btScalar(2.0);
+        euler_out2.pitch = SIMD_PI / btScalar(2.0);
+        euler_out.roll = euler_out.pitch + delta;
+        euler_out2.roll = euler_out.pitch + delta;
+      }
+      else // gimbal locked down
+      {
+        euler_out.pitch = -SIMD_PI / btScalar(2.0);
+        euler_out2.pitch = -SIMD_PI / btScalar(2.0);
+        euler_out.roll = -euler_out.pitch + delta;
+        euler_out2.roll = -euler_out.pitch + delta;
+      }
+    }
+    else
+    {
+      euler_out.pitch = - btAsin(m_el[2].x());
+      euler_out2.pitch = SIMD_PI - euler_out.pitch;
+	
+      euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch), 
+			       m_el[2].z()/btCos(euler_out.pitch));
+      euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch), 
+				m_el[2].z()/btCos(euler_out2.pitch));
+	
+      euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch), 
+			      m_el[0].x()/btCos(euler_out.pitch));
+      euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch), 
+                               m_el[0].x()/btCos(euler_out2.pitch));
+    }
+    
+    if (solution_number == 1)
+    { 
+		yaw = euler_out.yaw; 
+		pitch = euler_out.pitch;
+		roll = euler_out.roll;
+    }
+    else
+    { 
+		yaw = euler_out2.yaw; 
+		pitch = euler_out2.pitch;
+		roll = euler_out2.roll;
+    }
+  }
+
+  /**@brief Create a scaled copy of the matrix 
+   * @param s Scaling vector The elements of the vector will scale each column */
 		
 		btMatrix3x3 scaled(const btVector3& s) const
 		{
@@ -261,10 +358,15 @@ class btMatrix3x3 {
 									 m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
 		}
 
+  /**@brief Return the determinant of the matrix */
 		btScalar            determinant() const;
+  /**@brief Return the adjoint of the matrix */
 		btMatrix3x3 adjoint() const;
+  /**@brief Return the matrix with all values non negative */
 		btMatrix3x3 absolute() const;
+  /**@brief Return the transpose of the matrix */
 		btMatrix3x3 transpose() const;
+  /**@brief Return the inverse of the matrix */
 		btMatrix3x3 inverse() const; 
 		
 		btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
@@ -284,12 +386,15 @@ class btMatrix3x3 {
 		}
 		
 
-		///diagonalizes this matrix by the Jacobi method. rot stores the rotation
-		///from the coordinate system in which the matrix is diagonal to the original
-		///coordinate system, i.e., old_this = rot * new_this * rot^T. The iteration
-		///stops when all off-diagonal elements are less than the threshold multiplied
-		///by the sum of the absolute values of the diagonal, or when maxSteps have
-		///been executed. Note that this matrix is assumed to be symmetric.
+  /**@brief diagonalizes this matrix by the Jacobi method.
+   * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
+   * coordinate system, i.e., old_this = rot * new_this * rot^T. 
+   * @param threshold See iteration
+   * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied 
+   * by the sum of the absolute values of the diagonal, or when maxSteps have been executed. 
+   * 
+   * Note that this matrix is assumed to be symmetric. 
+   */
 		void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps)
 		{
 		 rot.setIdentity();
@@ -371,11 +476,18 @@ class btMatrix3x3 {
 
 		
 	protected:
+  /**@brief Calculate the matrix cofactor 
+   * @param r1 The first row to use for calculating the cofactor
+   * @param c1 The first column to use for calculating the cofactor
+   * @param r1 The second row to use for calculating the cofactor
+   * @param c1 The second column to use for calculating the cofactor
+   * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
+   */
 		btScalar cofac(int r1, int c1, int r2, int c2) const 
 		{
 			return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
 		}
-
+  ///Data storage for the matrix, each vector is a row of the matrix
 		btVector3 m_el[3];
 	};
 	
@@ -494,6 +606,8 @@ class btMatrix3x3 {
 }
 */
 
+/**@brief Equality operator between two matrices
+ * It will test all elements are equal.  */
 SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
 {
    return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
diff --git a/extern/bullet2/src/LinearMath/btQuadWord.h b/extern/bullet2/src/LinearMath/btQuadWord.h
index 2e80fc2ca47..c657afd2bb1 100644
--- a/extern/bullet2/src/LinearMath/btQuadWord.h
+++ b/extern/bullet2/src/LinearMath/btQuadWord.h
@@ -18,121 +18,159 @@ subject to the following restrictions:
 
 #include "btScalar.h"
 #include "btMinMax.h"
-#include <math.h>
 
 
+#if defined (__CELLOS_LV2) && defined (__SPU__)
+#include <altivec.h>
+#endif
 
-///The btQuadWordStorage class is base class for btVector3 and btQuaternion. 
-///Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. todo: look into this
-///ATTRIBUTE_ALIGNED16(class) btQuadWordStorage
-class btQuadWordStorage
+/**@brief The btQuadWord class is base class for btVector3 and btQuaternion. 
+ * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
+ */
+#ifndef USE_LIBSPE2
+ATTRIBUTE_ALIGNED16(class) btQuadWord
+#else
+class btQuadWord
+#endif
 {
 protected:
 
-	btScalar	m_x;
-	btScalar	m_y;
-	btScalar	m_z;
-	btScalar	m_unusedW;
-
+#if defined (__SPU__) && defined (__CELLOS_LV2__)
+	union {
+		vec_float4 mVec128;
+		btScalar	m_floats[4];
+	};
 public:
+	vec_float4	get128() const
+	{
+		return mVec128;
+	}
+protected:
+#else //__CELLOS_LV2__ __SPU__
+	btScalar	m_floats[4];
+#endif //__CELLOS_LV2__ __SPU__
 
-};
-
-
-///btQuadWord is base-class for vectors, points
-class	btQuadWord : public btQuadWordStorage
-{
 	public:
-	
-//		SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_x)[i];	}      
-//		SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_x)[i]; }
-
-		SIMD_FORCE_INLINE const btScalar& getX() const { return m_x; }
-
-		SIMD_FORCE_INLINE const btScalar& getY() const { return m_y; }
-
-		SIMD_FORCE_INLINE const btScalar& getZ() const { return m_z; }
-
-		SIMD_FORCE_INLINE void	setX(btScalar x) { m_x = x;};
-
-		SIMD_FORCE_INLINE void	setY(btScalar y) { m_y = y;};
-
-		SIMD_FORCE_INLINE void	setZ(btScalar z) { m_z = z;};
-
-		SIMD_FORCE_INLINE void	setW(btScalar w) { m_unusedW = w;};
-
-		SIMD_FORCE_INLINE const btScalar& x() const { return m_x; }
-
-		SIMD_FORCE_INLINE const btScalar& y() const { return m_y; }
-
-		SIMD_FORCE_INLINE const btScalar& z() const { return m_z; }
-
-		SIMD_FORCE_INLINE const btScalar& w() const { return m_unusedW; }
-
-
-		SIMD_FORCE_INLINE	operator       btScalar *()       { return &m_x; }
-		SIMD_FORCE_INLINE	operator const btScalar *() const { return &m_x; }
-
-
-
+  
+
+  /**@brief Return the x value */
+		SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
+  /**@brief Return the y value */
+		SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
+  /**@brief Return the z value */
+		SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
+  /**@brief Set the x value */
+		SIMD_FORCE_INLINE void	setX(btScalar x) { m_floats[0] = x;};
+  /**@brief Set the y value */
+		SIMD_FORCE_INLINE void	setY(btScalar y) { m_floats[1] = y;};
+  /**@brief Set the z value */
+		SIMD_FORCE_INLINE void	setZ(btScalar z) { m_floats[2] = z;};
+  /**@brief Set the w value */
+		SIMD_FORCE_INLINE void	setW(btScalar w) { m_floats[3] = w;};
+  /**@brief Return the x value */
+		SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
+  /**@brief Return the y value */
+		SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
+  /**@brief Return the z value */
+		SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
+  /**@brief Return the w value */
+		SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
+
+	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
+	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
+	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
+	SIMD_FORCE_INLINE	operator       btScalar *()       { return &m_floats[0]; }
+	SIMD_FORCE_INLINE	operator const btScalar *() const { return &m_floats[0]; }
+
+	SIMD_FORCE_INLINE	bool	operator==(const btQuadWord& other) const
+	{
+		return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0]));
+	}
+
+	SIMD_FORCE_INLINE	bool	operator!=(const btQuadWord& other) const
+	{
+		return !(*this == other);
+	}
+
+  /**@brief Set x,y,z and zero w 
+   * @param x Value of x
+   * @param y Value of y
+   * @param z Value of z
+   */
 		SIMD_FORCE_INLINE void 	setValue(const btScalar& x, const btScalar& y, const btScalar& z)
 		{
-			m_x=x;
-			m_y=y;
-			m_z=z;
-			m_unusedW = 0.f;
+			m_floats[0]=x;
+			m_floats[1]=y;
+			m_floats[2]=z;
+			m_floats[3] = 0.f;
 		}
 
 /*		void getValue(btScalar *m) const 
 		{
-			m[0] = m_x;
-			m[1] = m_y;
-			m[2] = m_z;
+			m[0] = m_floats[0];
+			m[1] = m_floats[1];
+			m[2] = m_floats[2];
 		}
 */
+/**@brief Set the values 
+   * @param x Value of x
+   * @param y Value of y
+   * @param z Value of z
+   * @param w Value of w
+   */
 		SIMD_FORCE_INLINE void	setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w)
 		{
-			m_x=x;
-			m_y=y;
-			m_z=z;
-			m_unusedW=w;
+			m_floats[0]=x;
+			m_floats[1]=y;
+			m_floats[2]=z;
+			m_floats[3]=w;
 		}
-
+  /**@brief No initialization constructor */
 		SIMD_FORCE_INLINE btQuadWord()
-		//	:m_x(btScalar(0.)),m_y(btScalar(0.)),m_z(btScalar(0.)),m_unusedW(btScalar(0.))
-		{
-		}
-
-		SIMD_FORCE_INLINE btQuadWord(const btQuadWordStorage& q)
+		//	:m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
 		{
-			*((btQuadWordStorage*)this) = q;
 		}
-
+ 
+  /**@brief Three argument constructor (zeros w)
+   * @param x Value of x
+   * @param y Value of y
+   * @param z Value of z
+   */
 		SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z)		
 		{
-			m_x = x, m_y = y, m_z = z, m_unusedW = 0.0f;
+			m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = 0.0f;
 		}
 
+/**@brief Initializing constructor
+   * @param x Value of x
+   * @param y Value of y
+   * @param z Value of z
+   * @param w Value of w
+   */
 		SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) 
 		{
-			m_x = x, m_y = y, m_z = z, m_unusedW = w;
+			m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = w;
 		}
 
-
+  /**@brief Set each element to the max of the current values and the values of another btQuadWord
+   * @param other The other btQuadWord to compare with 
+   */
 		SIMD_FORCE_INLINE void	setMax(const btQuadWord& other)
 		{
-			btSetMax(m_x, other.m_x);
-			btSetMax(m_y, other.m_y);
-			btSetMax(m_z, other.m_z);
-			btSetMax(m_unusedW, other.m_unusedW);
+			btSetMax(m_floats[0], other.m_floats[0]);
+			btSetMax(m_floats[1], other.m_floats[1]);
+			btSetMax(m_floats[2], other.m_floats[2]);
+			btSetMax(m_floats[3], other.m_floats[3]);
 		}
-
+  /**@brief Set each element to the min of the current values and the values of another btQuadWord
+   * @param other The other btQuadWord to compare with 
+   */
 		SIMD_FORCE_INLINE void	setMin(const btQuadWord& other)
 		{
-			btSetMin(m_x, other.m_x);
-			btSetMin(m_y, other.m_y);
-			btSetMin(m_z, other.m_z);
-			btSetMin(m_unusedW, other.m_unusedW);
+			btSetMin(m_floats[0], other.m_floats[0]);
+			btSetMin(m_floats[1], other.m_floats[1]);
+			btSetMin(m_floats[2], other.m_floats[2]);
+			btSetMin(m_floats[3], other.m_floats[3]);
 		}
 
 
diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h
index 264751b33e7..cbeca2681cc 100644
--- a/extern/bullet2/src/LinearMath/btQuaternion.h
+++ b/extern/bullet2/src/LinearMath/btQuaternion.h
@@ -17,39 +17,56 @@ subject to the following restrictions:
 #ifndef SIMD__QUATERNION_H_
 #define SIMD__QUATERNION_H_
 
+
 #include "btVector3.h"
+#include "btQuadWord.h"
 
-///The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform.
+/**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */
 class btQuaternion : public btQuadWord {
 public:
+  /**@brief No initialization constructor */
 	btQuaternion() {}
 
 	//		template <typename btScalar>
 	//		explicit Quaternion(const btScalar *v) : Tuple4<btScalar>(v) {}
-
+  /**@brief Constructor from scalars */
 	btQuaternion(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w) 
 		: btQuadWord(x, y, z, w) 
 	{}
-
+  /**@brief Axis angle Constructor
+   * @param axis The axis which the rotation is around
+   * @param angle The magnitude of the rotation around the angle (Radians) */
 	btQuaternion(const btVector3& axis, const btScalar& angle) 
 	{ 
 		setRotation(axis, angle); 
 	}
-
+  /**@brief Constructor from Euler angles
+   * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z
+   * @param pitch Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y
+   * @param roll Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X */
 	btQuaternion(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
 	{ 
+#ifndef BT_EULER_DEFAULT_ZYX
 		setEuler(yaw, pitch, roll); 
+#else
+		setEulerZYX(yaw, pitch, roll); 
+#endif 
 	}
-
+  /**@brief Set the rotation using axis angle notation 
+   * @param axis The axis around which to rotate
+   * @param angle The magnitude of the rotation in Radians */
 	void setRotation(const btVector3& axis, const btScalar& angle)
 	{
 		btScalar d = axis.length();
-		assert(d != btScalar(0.0));
+		btAssert(d != btScalar(0.0));
 		btScalar s = btSin(angle * btScalar(0.5)) / d;
 		setValue(axis.x() * s, axis.y() * s, axis.z() * s, 
 			btCos(angle * btScalar(0.5)));
 	}
-
+  /**@brief Set the quaternion using Euler angles
+   * @param yaw Angle around Y
+   * @param pitch Angle around X
+   * @param roll Angle around Z */
 	void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
 	{
 		btScalar halfYaw = btScalar(yaw) * btScalar(0.5);  
@@ -66,122 +83,165 @@ public:
 			sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
 			cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
 	}
-
-	btQuaternion& operator+=(const btQuaternion& q)
+  /**@brief Set the quaternion using euler angles 
+   * @param yaw Angle around Z
+   * @param pitch Angle around Y
+   * @param roll Angle around X */
+	void setEulerZYX(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
 	{
-		m_x += q.x(); m_y += q.y(); m_z += q.z(); m_unusedW += q.m_unusedW;
+		btScalar halfYaw = btScalar(yaw) * btScalar(0.5);  
+		btScalar halfPitch = btScalar(pitch) * btScalar(0.5);  
+		btScalar halfRoll = btScalar(roll) * btScalar(0.5);  
+		btScalar cosYaw = btCos(halfYaw);
+		btScalar sinYaw = btSin(halfYaw);
+		btScalar cosPitch = btCos(halfPitch);
+		btScalar sinPitch = btSin(halfPitch);
+		btScalar cosRoll = btCos(halfRoll);
+		btScalar sinRoll = btSin(halfRoll);
+		setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, //x
+                         cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, //y
+                         cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z
+                         cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx
+	}
+  /**@brief Add two quaternions
+   * @param q The quaternion to add to this one */
+	SIMD_FORCE_INLINE	btQuaternion& operator+=(const btQuaternion& q)
+	{
+		m_floats[0] += q.x(); m_floats[1] += q.y(); m_floats[2] += q.z(); m_floats[3] += q.m_floats[3];
 		return *this;
 	}
 
+  /**@brief Subtract out a quaternion
+   * @param q The quaternion to subtract from this one */
 	btQuaternion& operator-=(const btQuaternion& q) 
 	{
-		m_x -= q.x(); m_y -= q.y(); m_z -= q.z(); m_unusedW -= q.m_unusedW;
+		m_floats[0] -= q.x(); m_floats[1] -= q.y(); m_floats[2] -= q.z(); m_floats[3] -= q.m_floats[3];
 		return *this;
 	}
 
+  /**@brief Scale this quaternion
+   * @param s The scalar to scale by */
 	btQuaternion& operator*=(const btScalar& s)
 	{
-		m_x *= s; m_y *= s; m_z *= s; m_unusedW *= s;
+		m_floats[0] *= s; m_floats[1] *= s; m_floats[2] *= s; m_floats[3] *= s;
 		return *this;
 	}
 
-
+  /**@brief Multiply this quaternion by q on the right
+   * @param q The other quaternion 
+   * Equivilant to this = this * q */
 	btQuaternion& operator*=(const btQuaternion& q)
 	{
-		setValue(m_unusedW * q.x() + m_x * q.m_unusedW + m_y * q.z() - m_z * q.y(),
-			m_unusedW * q.y() + m_y * q.m_unusedW + m_z * q.x() - m_x * q.z(),
-			m_unusedW * q.z() + m_z * q.m_unusedW + m_x * q.y() - m_y * q.x(),
-			m_unusedW * q.m_unusedW - m_x * q.x() - m_y * q.y() - m_z * q.z());
+		setValue(m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
+			m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(),
+			m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(),
+			m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z());
 		return *this;
 	}
-
+  /**@brief Return the dot product between this quaternion and another
+   * @param q The other quaternion */
 	btScalar dot(const btQuaternion& q) const
 	{
-		return m_x * q.x() + m_y * q.y() + m_z * q.z() + m_unusedW * q.m_unusedW;
+		return m_floats[0] * q.x() + m_floats[1] * q.y() + m_floats[2] * q.z() + m_floats[3] * q.m_floats[3];
 	}
 
+  /**@brief Return the length squared of the quaternion */
 	btScalar length2() const
 	{
 		return dot(*this);
 	}
 
+  /**@brief Return the length of the quaternion */
 	btScalar length() const
 	{
 		return btSqrt(length2());
 	}
 
+  /**@brief Normalize the quaternion 
+   * Such that x^2 + y^2 + z^2 +w^2 = 1 */
 	btQuaternion& normalize() 
 	{
 		return *this /= length();
 	}
 
+  /**@brief Return a scaled version of this quaternion
+   * @param s The scale factor */
 	SIMD_FORCE_INLINE btQuaternion
 	operator*(const btScalar& s) const
 	{
-		return btQuaternion(x() * s, y() * s, z() * s, m_unusedW * s);
+		return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s);
 	}
 
 
-
+  /**@brief Return an inversely scaled versionof this quaternion
+   * @param s The inverse scale factor */
 	btQuaternion operator/(const btScalar& s) const
 	{
-		assert(s != btScalar(0.0));
+		btAssert(s != btScalar(0.0));
 		return *this * (btScalar(1.0) / s);
 	}
 
-
+  /**@brief Inversely scale this quaternion
+   * @param s The scale factor */
 	btQuaternion& operator/=(const btScalar& s) 
 	{
-		assert(s != btScalar(0.0));
+		btAssert(s != btScalar(0.0));
 		return *this *= btScalar(1.0) / s;
 	}
 
-
+  /**@brief Return a normalized version of this quaternion */
 	btQuaternion normalized() const 
 	{
 		return *this / length();
 	} 
-
+  /**@brief Return the angle between this quaternion and the other 
+   * @param q The other quaternion */
 	btScalar angle(const btQuaternion& q) const 
 	{
 		btScalar s = btSqrt(length2() * q.length2());
-		assert(s != btScalar(0.0));
+		btAssert(s != btScalar(0.0));
 		return btAcos(dot(q) / s);
 	}
-
+  /**@brief Return the angle of rotation represented by this quaternion */
 	btScalar getAngle() const 
 	{
-		btScalar s = btScalar(2.) * btAcos(m_unusedW);
+		btScalar s = btScalar(2.) * btAcos(m_floats[3]);
 		return s;
 	}
 
 
-
+  /**@brief Return the inverse of this quaternion */
 	btQuaternion inverse() const
 	{
-		return btQuaternion(-m_x, -m_y, -m_z, m_unusedW);
+		return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
 	}
 
+  /**@brief Return the sum of this quaternion and the other 
+   * @param q2 The other quaternion */
 	SIMD_FORCE_INLINE btQuaternion
 	operator+(const btQuaternion& q2) const
 	{
 		const btQuaternion& q1 = *this;
-		return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_unusedW + q2.m_unusedW);
+		return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]);
 	}
 
+  /**@brief Return the difference between this quaternion and the other 
+   * @param q2 The other quaternion */
 	SIMD_FORCE_INLINE btQuaternion
 	operator-(const btQuaternion& q2) const
 	{
 		const btQuaternion& q1 = *this;
-		return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_unusedW - q2.m_unusedW);
+		return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]);
 	}
 
+  /**@brief Return the negative of this quaternion 
+   * This simply negates each element */
 	SIMD_FORCE_INLINE btQuaternion operator-() const
 	{
 		const btQuaternion& q2 = *this;
-		return btQuaternion( - q2.x(), - q2.y(),  - q2.z(),  - q2.m_unusedW);
+		return btQuaternion( - q2.x(), - q2.y(),  - q2.z(),  - q2.m_floats[3]);
 	}
-
+  /**@todo document this and it's use */
 	SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const 
 	{
 		btQuaternion diff,sum;
@@ -192,6 +252,10 @@ public:
 		return (-qd);
 	}
 
+  /**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
+   * @param q The other quaternion to interpolate with 
+   * @param t The ratio between this and q to interpolate.  If t = 0 the result is this, if t=1 the result is q.
+   * Slerp interpolates assuming constant velocity.  */
 	btQuaternion slerp(const btQuaternion& q, const btScalar& t) const
 	{
 		btScalar theta = angle(q);
@@ -200,10 +264,10 @@ public:
 			btScalar d = btScalar(1.0) / btSin(theta);
 			btScalar s0 = btSin((btScalar(1.0) - t) * theta);
 			btScalar s1 = btSin(t * theta);   
-			return btQuaternion((m_x * s0 + q.x() * s1) * d,
-				(m_y * s0 + q.y() * s1) * d,
-				(m_z * s0 + q.z() * s1) * d,
-				(m_unusedW * s0 + q.m_unusedW * s1) * d);
+			return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
+				(m_floats[1] * s0 + q.y() * s1) * d,
+				(m_floats[2] * s0 + q.z() * s1) * d,
+				(m_floats[3] * s0 + q.m_floats[3] * s1) * d);
 		}
 		else
 		{
@@ -211,13 +275,19 @@ public:
 		}
 	}
 
-	SIMD_FORCE_INLINE const btScalar& getW() const { return m_unusedW; }
+	static const btQuaternion&	getIdentity()
+	{
+		static const btQuaternion identityQuat(btScalar(0.),btScalar(0.),btScalar(0.),btScalar(1.));
+		return identityQuat;
+	}
+
+	SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; }
 
 	
 };
 
 
-
+/**@brief Return the negative of a quaternion */
 SIMD_FORCE_INLINE btQuaternion
 operator-(const btQuaternion& q)
 {
@@ -226,7 +296,7 @@ operator-(const btQuaternion& q)
 
 
 
-
+/**@brief Return the product of two quaternions */
 SIMD_FORCE_INLINE btQuaternion
 operator*(const btQuaternion& q1, const btQuaternion& q2) {
 	return btQuaternion(q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
@@ -253,6 +323,7 @@ operator*(const btVector3& w, const btQuaternion& q)
 		-w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); 
 }
 
+/**@brief Calculate the dot product between two quaternions */
 SIMD_FORCE_INLINE btScalar 
 dot(const btQuaternion& q1, const btQuaternion& q2) 
 { 
@@ -260,25 +331,32 @@ dot(const btQuaternion& q1, const btQuaternion& q2)
 }
 
 
+/**@brief Return the length of a quaternion */
 SIMD_FORCE_INLINE btScalar
 length(const btQuaternion& q) 
 { 
 	return q.length(); 
 }
 
+/**@brief Return the angle between two quaternions*/
 SIMD_FORCE_INLINE btScalar
 angle(const btQuaternion& q1, const btQuaternion& q2) 
 { 
 	return q1.angle(q2); 
 }
 
-
+/**@brief Return the inverse of a quaternion*/
 SIMD_FORCE_INLINE btQuaternion
 inverse(const btQuaternion& q) 
 {
 	return q.inverse();
 }
 
+/**@brief Return the result of spherical linear interpolation betwen two quaternions 
+ * @param q1 The first quaternion
+ * @param q2 The second quaternion 
+ * @param t The ration between q1 and q2.  t = 0 return q1, t=1 returns q2 
+ * Slerp assumes constant velocity between positions. */
 SIMD_FORCE_INLINE btQuaternion
 slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t) 
 {
diff --git a/extern/bullet2/src/LinearMath/btQuickprof.cpp b/extern/bullet2/src/LinearMath/btQuickprof.cpp
index e5b1196149b..fa45d02b3d3 100644
--- a/extern/bullet2/src/LinearMath/btQuickprof.cpp
+++ b/extern/bullet2/src/LinearMath/btQuickprof.cpp
@@ -110,7 +110,7 @@ void	CProfileNode::Reset( void )
 {
 	TotalCalls = 0;
 	TotalTime = 0.0f;
-	gProfileClock.reset();
+	
 
 	if ( Child ) {
 		Child->Reset();
@@ -251,6 +251,7 @@ void	CProfileManager::Stop_Profile( void )
  *=============================================================================================*/
 void	CProfileManager::Reset( void )
 { 
+	gProfileClock.reset();
 	Root.Reset();
     Root.Call();
 	FrameCounter = 0;
@@ -278,5 +279,68 @@ float CProfileManager::Get_Time_Since_Reset( void )
 	return (float)time / Profile_Get_Tick_Rate();
 }
 
+#include <stdio.h>
+
+void	CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spacing)
+{
+	profileIterator->First();
+	if (profileIterator->Is_Done())
+		return;
+
+	float accumulated_time=0,parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
+	int i;
+	int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
+	for (i=0;i<spacing;i++)	printf(".");
+	printf("----------------------------------\n");
+	for (i=0;i<spacing;i++)	printf(".");
+	printf("Profiling: %s (total running time: %.3f ms) ---\n",	profileIterator->Get_Current_Parent_Name(), parent_time );
+	float totalTime = 0.f;
+
+	
+	int numChildren = 0;
+	
+	for (i = 0; !profileIterator->Is_Done(); i++,profileIterator->Next())
+	{
+		numChildren++;
+		float current_total_time = profileIterator->Get_Current_Total_Time();
+		accumulated_time += current_total_time;
+		float fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
+		{
+			int i;	for (i=0;i<spacing;i++)	printf(".");
+		}
+		printf("%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)\n",i, profileIterator->Get_Current_Name(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls());
+		totalTime += current_total_time;
+		//recurse into children
+	}
+
+	if (parent_time < accumulated_time)
+	{
+		printf("what's wrong\n");
+	}
+	for (i=0;i<spacing;i++)	printf(".");
+	printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:",parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
+	
+	for (i=0;i<numChildren;i++)
+	{
+		profileIterator->Enter_Child(i);
+		dumpRecursive(profileIterator,spacing+3);
+		profileIterator->Enter_Parent();
+	}
+}
+
+
+
+void	CProfileManager::dumpAll()
+{
+	CProfileIterator* profileIterator = 0;
+	profileIterator = CProfileManager::Get_Iterator();
+
+	dumpRecursive(profileIterator,0);
+
+	CProfileManager::Release_Iterator(profileIterator);
+}
+
+
+
 #endif //USE_BT_CLOCK
 
diff --git a/extern/bullet2/src/LinearMath/btQuickprof.h b/extern/bullet2/src/LinearMath/btQuickprof.h
index b033940ca5c..f8d47c36861 100644
--- a/extern/bullet2/src/LinearMath/btQuickprof.h
+++ b/extern/bullet2/src/LinearMath/btQuickprof.h
@@ -10,14 +10,20 @@
 // Credits: The Clock class was inspired by the Timer classes in 
 // Ogre (www.ogre3d.org).
 
+
+
 #ifndef QUICK_PROF_H
 #define QUICK_PROF_H
 
+//To disable built-in profiling, please comment out next line
+//#define BT_NO_PROFILE 1
+#ifndef BT_NO_PROFILE
+
 #include "btScalar.h"
 #include "LinearMath/btAlignedAllocator.h"
 #include <new>
-//To disable built-in profiling, please comment out next line
-//#define BT_NO_PROFILE 1
+
+
 
 
 //if you don't need btClock, you can comment next line
@@ -321,6 +327,10 @@ public:
 	}
 	static	void						Release_Iterator( CProfileIterator * iterator ) { delete ( iterator); }
 
+	static void	dumpRecursive(CProfileIterator* profileIterator, int spacing);
+
+	static void	dumpAll();
+
 private:
 	static	CProfileNode			Root;
 	static	CProfileNode *			CurrentNode;
@@ -344,12 +354,14 @@ public:
 	}
 };
 
-#if !defined(BT_NO_PROFILE)
+
 #define	BT_PROFILE( name )			CProfileSample __profile( name )
+
 #else
+
 #define	BT_PROFILE( name )
-#endif
 
+#endif //#ifndef BT_NO_PROFILE
 
 
 
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h
index e8433405b20..822296164c1 100644
--- a/extern/bullet2/src/LinearMath/btScalar.h
+++ b/extern/bullet2/src/LinearMath/btScalar.h
@@ -18,13 +18,14 @@ subject to the following restrictions:
 #define SIMD___SCALAR_H
 
 #include <math.h>
+
 #include <stdlib.h>//size_t for MSVC 6.0
 
 #include <cstdlib>
 #include <cfloat>
 #include <float.h>
 
-#define BT_BULLET_VERSION 272
+#define BT_BULLET_VERSION 274
 
 inline int	btGetVersion()
 {
@@ -44,7 +45,7 @@ inline int	btGetVersion()
 			#define ATTRIBUTE_ALIGNED16(a) a
 			#define ATTRIBUTE_ALIGNED128(a) a
 		#else
-			#define BT_HAS_ALIGNED_ALLOCATOR
+			//#define BT_HAS_ALIGNED_ALLOCATOR
 			#pragma warning(disable : 4324) // disable padding warning
 //			#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
 //			#pragma warning(disable:4996) //Turn off warnings about deprecated C routines
@@ -60,12 +61,18 @@ inline int	btGetVersion()
  			#define BT_HAVE_NATIVE_FSEL
  			#define btFsel(a,b,c) __fsel((a),(b),(c))
 		#else
+
+#if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
 			#define BT_USE_SSE
-		#endif
+			#include <emmintrin.h>
+#endif
+
+		#endif//_XBOX
+
 		#endif //__MINGW32__
 
 		#include <assert.h>
-#if defined(DEBUG) || defined (_DEBUG)
+#ifdef BT_DEBUG
 		#define btAssert assert
 #else
 		#define btAssert(x)
@@ -85,7 +92,11 @@ inline int	btGetVersion()
 		#ifndef assert
 		#include <assert.h>
 		#endif
+#ifdef BT_DEBUG
 		#define btAssert assert
+#else
+		#define btAssert(x)
+#endif
 		//btFullAssert is optional, slows down a lot
 		#define btFullAssert(x)
 
@@ -102,7 +113,11 @@ inline int	btGetVersion()
 		#ifndef assert
 		#include <assert.h>
 		#endif
+#ifdef BT_DEBUG
 		#define btAssert assert
+#else
+		#define btAssert(x)
+#endif
 		//btFullAssert is optional, slows down a lot
 		#define btFullAssert(x)
 
@@ -115,6 +130,9 @@ inline int	btGetVersion()
 	//non-windows systems
 
 		#define SIMD_FORCE_INLINE inline
+		///@todo: check out alignment methods for other platforms/compilers
+		///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+		///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
 		#define ATTRIBUTE_ALIGNED16(a) a
 		#define ATTRIBUTE_ALIGNED128(a) a
 		#ifndef assert
@@ -141,10 +159,6 @@ inline int	btGetVersion()
 /// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.
 /// exclude Apple Intel (i's assumed to be a Macbook or new Intel Dual Core Processor)
 #if defined (__sun) || defined (__sun__) || defined (__sparc) || (defined (__APPLE__) && ! defined (__i386__))
-/* XXX Need to fix these... needed for SunOS 5.8 */
-#define sinf(a)         sin((double)(a))
-#define cosf(a)         cos((double)(a))
-#define fabsf(a)        fabs((double)(a))
 //use slow double float precision operation on those platforms
 #ifndef BT_USE_DOUBLE_PRECISION
 #define BT_FORCE_DOUBLE_FUNCTIONS
@@ -198,7 +212,7 @@ SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
 	tempf = y;
 	*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
 	x =  tempf;
-	z =  y*btScalar(0.5);                        /* hoist out the ô/2ö    */
+	z =  y*btScalar(0.5);                        /* hoist out the “/2”    */
 	x = (btScalar(1.5)*x)-(x*x)*(x*z);         /* iteration formula     */
 	x = (btScalar(1.5)*x)-(x*x)*(x*z);
 	x = (btScalar(1.5)*x)-(x*x)*(x*z);
diff --git a/extern/bullet2/src/LinearMath/btStackAlloc.h b/extern/bullet2/src/LinearMath/btStackAlloc.h
index 050d44bdfe9..397b084877f 100644
--- a/extern/bullet2/src/LinearMath/btStackAlloc.h
+++ b/extern/bullet2/src/LinearMath/btStackAlloc.h
@@ -23,6 +23,7 @@ Nov.2006
 #include "btScalar.h" //for btAssert
 #include "btAlignedAllocator.h"
 
+///The btBlock class is an internal structure for the btStackAlloc memory allocator.
 struct btBlock
 {
 	btBlock*			previous;
diff --git a/extern/bullet2/src/LinearMath/btTransform.h b/extern/bullet2/src/LinearMath/btTransform.h
index a8cdb428100..c4fe33eecd7 100644
--- a/extern/bullet2/src/LinearMath/btTransform.h
+++ b/extern/bullet2/src/LinearMath/btTransform.h
@@ -21,34 +21,39 @@ subject to the following restrictions:
 #include "btMatrix3x3.h"
 
 
-///The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
-///It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes.
+/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
+ *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
 class btTransform {
 	
 
 public:
 	
-	
+  /**@brief No initialization constructor */
 	btTransform() {}
-
+  /**@brief Constructor from btQuaternion (optional btVector3 )
+   * @param q Rotation from quaternion 
+   * @param c Translation from Vector (default 0,0,0) */
 	explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, 
 		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) 
 		: m_basis(q),
 		m_origin(c)
 	{}
 
+  /**@brief Constructor from btMatrix3x3 (optional btVector3)
+   * @param b Rotation from Matrix 
+   * @param c Translation from Vector default (0,0,0)*/
 	explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, 
 		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
 		: m_basis(b),
 		m_origin(c)
 	{}
-
+  /**@brief Copy constructor */
 	SIMD_FORCE_INLINE btTransform (const btTransform& other)
 		: m_basis(other.m_basis),
 		m_origin(other.m_origin)
 	{
 	}
-
+  /**@brief Assignment Operator */
 	SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
 	{
 		m_basis = other.m_basis;
@@ -57,6 +62,10 @@ public:
 	}
 
 
+  /**@brief Set the current transform as the value of the product of two transforms
+   * @param t1 Transform 1
+   * @param t2 Transform 2
+   * This = Transform1 * Transform2 */
 		SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
 			m_basis = t1.m_basis * t2.m_basis;
 			m_origin = t1(t2.m_origin);
@@ -69,7 +78,7 @@ public:
 		}
 		*/
 
-
+/**@brief Return the transform of the vector */
 	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
 	{
 		return btVector3(m_basis[0].dot(x) + m_origin.x(), 
@@ -77,17 +86,29 @@ public:
 			m_basis[2].dot(x) + m_origin.z());
 	}
 
+  /**@brief Return the transform of the vector */
 	SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
 	{
 		return (*this)(x);
 	}
 
+  /**@brief Return the transform of the btQuaternion */
+	SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
+	{
+		return getRotation() * q;
+	}
+
+  /**@brief Return the basis matrix for the rotation */
 	SIMD_FORCE_INLINE btMatrix3x3&       getBasis()          { return m_basis; }
+  /**@brief Return the basis matrix for the rotation */
 	SIMD_FORCE_INLINE const btMatrix3x3& getBasis()    const { return m_basis; }
 
+  /**@brief Return the origin vector translation */
 	SIMD_FORCE_INLINE btVector3&         getOrigin()         { return m_origin; }
+  /**@brief Return the origin vector translation */
 	SIMD_FORCE_INLINE const btVector3&   getOrigin()   const { return m_origin; }
 
+  /**@brief Return a quaternion representing the rotation */
 	btQuaternion getRotation() const { 
 		btQuaternion q;
 		m_basis.getRotation(q);
@@ -95,12 +116,16 @@ public:
 	}
 	
 	
+  /**@brief Set from an array 
+   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
 	void setFromOpenGLMatrix(const btScalar *m)
 	{
 		m_basis.setFromOpenGLSubMatrix(m);
 		m_origin.setValue(m[12],m[13],m[14]);
 	}
 
+  /**@brief Fill an array representation
+   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
 	void getOpenGLMatrix(btScalar *m) const 
 	{
 		m_basis.getOpenGLSubMatrix(m);
@@ -110,6 +135,8 @@ public:
 		m[15] = btScalar(1.0);
 	}
 
+  /**@brief Set the translational element
+   * @param origin The vector to set the translation to */
 	SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) 
 	{ 
 		m_origin = origin;
@@ -118,26 +145,28 @@ public:
 	SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
 
 
-
+  /**@brief Set the rotational element by btMatrix3x3 */
 	SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
 	{ 
 		m_basis = basis;
 	}
 
+  /**@brief Set the rotational element by btQuaternion */
 	SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
 	{
 		m_basis.setRotation(q);
 	}
 
 
-
+  /**@brief Set this transformation to the identity */
 	void setIdentity()
 	{
 		m_basis.setIdentity();
 		m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	}
 
-	
+  /**@brief Multiply this Transform by another(this = this * another) 
+   * @param t The other transform */
 	btTransform& operator*=(const btTransform& t) 
 	{
 		m_origin += m_basis * t.m_origin;
@@ -145,26 +174,32 @@ public:
 		return *this;
 	}
 
+  /**@brief Return the inverse of this transform */
 	btTransform inverse() const
 	{ 
 		btMatrix3x3 inv = m_basis.transpose();
 		return btTransform(inv, inv * -m_origin);
 	}
 
+  /**@brief Return the inverse of this transform times the other transform
+   * @param t The other transform 
+   * return this.inverse() * the other */
 	btTransform inverseTimes(const btTransform& t) const;  
 
+  /**@brief Return the product of this transform and the other */
 	btTransform operator*(const btTransform& t) const;
 
-	static btTransform	getIdentity()
+  /**@brief Return an identity transform */
+	static const btTransform&	getIdentity()
 	{
-		btTransform tr;
-		tr.setIdentity();
-		return tr;
+		static const btTransform identityTransform(btMatrix3x3::getIdentity());
+		return identityTransform;
 	}
 	
 private:
-
+  ///Storage for the rotation
 	btMatrix3x3 m_basis;
+  ///Storage for the translation
 	btVector3   m_origin;
 };
 
@@ -191,6 +226,7 @@ btTransform::operator*(const btTransform& t) const
 		(*this)(t.m_origin));
 }
 
+/**@brief Test if two transforms have all elements equal */
 SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
 {
    return ( t1.getBasis()  == t2.getBasis() &&
diff --git a/extern/bullet2/src/LinearMath/btTransformUtil.h b/extern/bullet2/src/LinearMath/btTransformUtil.h
index 86ee1da5edf..e8328da4ca6 100644
--- a/extern/bullet2/src/LinearMath/btTransformUtil.h
+++ b/extern/bullet2/src/LinearMath/btTransformUtil.h
@@ -100,6 +100,38 @@ public:
 		predictedTransform.setRotation(predictedOrn);
 	}
 
+	static void	calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
+	{
+		linVel = (pos1 - pos0) / timeStep;
+		btVector3 axis;
+		btScalar  angle;
+		if (orn0 != orn1)
+		{
+			calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
+			angVel = axis * angle / timeStep;
+		} else
+		{
+			angVel.setValue(0,0,0);
+		}
+	}
+
+	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
+	{
+		btQuaternion orn1 = orn0.farthest(orn1a);
+		btQuaternion dorn = orn1 * orn0.inverse();
+		///floating point inaccuracy can lead to w component > 1..., which breaks 
+		dorn.normalize();
+		angle = dorn.getAngle();
+		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
+		axis[3] = btScalar(0.);
+		//check for axis length
+		btScalar len = axis.length2();
+		if (len < SIMD_EPSILON*SIMD_EPSILON)
+			axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
+		else
+			axis /= btSqrt(len);
+	}
+
 	static void	calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
 	{
 		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
@@ -111,20 +143,11 @@ public:
 
 	static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle)
 	{
-	
-	#ifdef USE_QUATERNION_DIFF
-		btQuaternion orn0 = transform0.getRotation();
-		btQuaternion orn1a = transform1.getRotation();
-		btQuaternion orn1 = orn0.farthest(orn1a);
-		btQuaternion dorn = orn1 * orn0.inverse();
-#else
 		btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
 		btQuaternion dorn;
 		dmat.getRotation(dorn);
-#endif//USE_QUATERNION_DIFF
-	
-		///floating point inaccuracy can lead to w component > 1..., which breaks 
 
+		///floating point inaccuracy can lead to w component > 1..., which breaks 
 		dorn.normalize();
 		
 		angle = dorn.getAngle();
@@ -140,5 +163,85 @@ public:
 
 };
 
+
+///The btConvexSeparatingDistanceUtil can help speed up convex collision detection 
+///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
+class	btConvexSeparatingDistanceUtil
+{
+	btQuaternion	m_ornA;
+	btQuaternion	m_ornB;
+	btVector3	m_posA;
+	btVector3	m_posB;
+	
+	btVector3	m_separatingNormal;
+
+	btScalar	m_boundingRadiusA;
+	btScalar	m_boundingRadiusB;
+	btScalar	m_separatingDistance;
+
+public:
+
+	btConvexSeparatingDistanceUtil(btScalar	boundingRadiusA,btScalar	boundingRadiusB)
+		:m_boundingRadiusA(boundingRadiusA),
+		m_boundingRadiusB(boundingRadiusB),
+		m_separatingDistance(0.f)
+	{
+	}
+
+	btScalar	getConservativeSeparatingDistance()
+	{
+		return m_separatingDistance;
+	}
+
+	void	updateSeparatingDistance(const btTransform& transA,const btTransform& transB)
+	{
+		const btVector3& toPosA = transA.getOrigin();
+		const btVector3& toPosB = transB.getOrigin();
+		btQuaternion toOrnA = transA.getRotation();
+		btQuaternion toOrnB = transB.getRotation();
+
+		if (m_separatingDistance>0.f)
+		{
+			
+
+			btVector3 linVelA,angVelA,linVelB,angVelB;
+			btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA);
+			btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
+			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
+			btVector3 relLinVel = (linVelB-linVelA);
+			btScalar relLinVelocLength = (linVelB-linVelA).dot(m_separatingNormal);
+			if (relLinVelocLength<0.f)
+			{
+				relLinVelocLength = 0.f;
+			}
+	
+			btScalar	projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
+			m_separatingDistance -= projectedMotion;
+		}
+	
+		m_posA = toPosA;
+		m_posB = toPosB;
+		m_ornA = toOrnA;
+		m_ornB = toOrnB;
+	}
+
+	void	initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
+	{
+		m_separatingNormal = separatingVector;
+		m_separatingDistance = separatingDistance;
+		
+		const btVector3& toPosA = transA.getOrigin();
+		const btVector3& toPosB = transB.getOrigin();
+		btQuaternion toOrnA = transA.getRotation();
+		btQuaternion toOrnB = transB.getRotation();
+		m_posA = toPosA;
+		m_posB = toPosB;
+		m_ornA = toOrnA;
+		m_ornB = toOrnB;
+	}
+
+};
+
+
 #endif //SIMD_TRANSFORM_UTIL_H
 
diff --git a/extern/bullet2/src/LinearMath/btVector3.h b/extern/bullet2/src/LinearMath/btVector3.h
index 96548c6ba60..5d5c39e8587 100644
--- a/extern/bullet2/src/LinearMath/btVector3.h
+++ b/extern/bullet2/src/LinearMath/btVector3.h
@@ -17,127 +17,190 @@ subject to the following restrictions:
 #ifndef SIMD__VECTOR3_H
 #define SIMD__VECTOR3_H
 
-#include "btQuadWord.h"
 
-///btVector3 can be used to represent 3D points and vectors.
-///It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
-///Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
-class	btVector3 : public btQuadWord {
+#include "btScalar.h"
+#include "btScalar.h"
+#include "btMinMax.h"
+/**@brief btVector3 can be used to represent 3D points and vectors.
+ * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
+ * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
+ */
 
+ATTRIBUTE_ALIGNED16(class) btVector3
+{
 public:
-	SIMD_FORCE_INLINE btVector3() {}
 
-	SIMD_FORCE_INLINE btVector3(const btQuadWordStorage& q) 
-		: btQuadWord(q)
+#if defined (__SPU__) && defined (__CELLOS_LV2__)
+	union {
+		vec_float4 mVec128;
+		btScalar	m_floats[4];
+	};
+public:
+	vec_float4	get128() const
 	{
+		return mVec128;
 	}
-	
-
-	SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z) 
-		:btQuadWord(x,y,z,btScalar(0.))
+public:
+#else //__CELLOS_LV2__ __SPU__
+#ifdef BT_USE_SSE // WIN32
+	union {
+		__m128 mVec128;
+		btScalar	m_floats[4];
+	};
+	SIMD_FORCE_INLINE	__m128	get128() const
 	{
+		return mVec128;
 	}
+	SIMD_FORCE_INLINE	void	set128(__m128 v128)
+	{
+		mVec128 = v128;
+	}
+#else
+	btScalar	m_floats[4];
+#endif
+#endif //__CELLOS_LV2__ __SPU__
+
+	public:
 
-//	SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) 
-//		: btQuadWord(x,y,z,w)
-//	{
-//	}
+  /**@brief No initialization constructor */
+	SIMD_FORCE_INLINE btVector3() {}
 
+ 
 	
+  /**@brief Constructor from scalars 
+   * @param x X value
+   * @param y Y value 
+   * @param z Z value 
+   */
+	SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z)
+	{
+		m_floats[0] = x;
+		m_floats[1] = y;
+		m_floats[2] = z;
+		m_floats[3] = btScalar(0.);
+	}
 
+	
+/**@brief Add a vector to this one 
+ * @param The vector to add to this one */
 	SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
 	{
 
-		m_x += v.x(); m_y += v.y(); m_z += v.z();
+		m_floats[0] += v.m_floats[0]; m_floats[1] += v.m_floats[1];m_floats[2] += v.m_floats[2];
 		return *this;
 	}
 
 
-
+  /**@brief Subtract a vector from this one
+   * @param The vector to subtract */
 	SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) 
 	{
-		m_x -= v.x(); m_y -= v.y(); m_z -= v.z();
+		m_floats[0] -= v.m_floats[0]; m_floats[1] -= v.m_floats[1];m_floats[2] -= v.m_floats[2];
 		return *this;
 	}
-
+  /**@brief Scale the vector
+   * @param s Scale factor */
 	SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
 	{
-		m_x *= s; m_y *= s; m_z *= s;
+		m_floats[0] *= s; m_floats[1] *= s;m_floats[2] *= s;
 		return *this;
 	}
 
+  /**@brief Inversely scale the vector 
+   * @param s Scale factor to divide by */
 	SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) 
 	{
 		btFullAssert(s != btScalar(0.0));
 		return *this *= btScalar(1.0) / s;
 	}
 
+  /**@brief Return the dot product
+   * @param v The other vector in the dot product */
 	SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
 	{
-		return m_x * v.x() + m_y * v.y() + m_z * v.z();
+		return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] +m_floats[2] * v.m_floats[2];
 	}
 
+  /**@brief Return the length of the vector squared */
 	SIMD_FORCE_INLINE btScalar length2() const
 	{
 		return dot(*this);
 	}
 
+  /**@brief Return the length of the vector */
 	SIMD_FORCE_INLINE btScalar length() const
 	{
 		return btSqrt(length2());
 	}
 
+  /**@brief Return the distance squared between the ends of this and another vector
+   * This is symantically treating the vector like a point */
 	SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;
 
+  /**@brief Return the distance between the ends of this and another vector
+   * This is symantically treating the vector like a point */
 	SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
 
+  /**@brief Normalize this vector 
+   * x^2 + y^2 + z^2 = 1 */
 	SIMD_FORCE_INLINE btVector3& normalize() 
 	{
 		return *this /= length();
 	}
 
+  /**@brief Return a normalized version of this vector */
 	SIMD_FORCE_INLINE btVector3 normalized() const;
 
+  /**@brief Rotate this vector 
+   * @param wAxis The axis to rotate about 
+   * @param angle The angle to rotate by */
 	SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle );
 
+  /**@brief Return the angle between this and another vector
+   * @param v The other vector */
 	SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const 
 	{
 		btScalar s = btSqrt(length2() * v.length2());
 		btFullAssert(s != btScalar(0.0));
 		return btAcos(dot(v) / s);
 	}
-
+  /**@brief Return a vector will the absolute values of each element */
 	SIMD_FORCE_INLINE btVector3 absolute() const 
 	{
 		return btVector3(
-			btFabs(m_x), 
-			btFabs(m_y), 
-			btFabs(m_z));
+			btFabs(m_floats[0]), 
+			btFabs(m_floats[1]), 
+			btFabs(m_floats[2]));
 	}
-
+  /**@brief Return the cross product between this and another vector 
+   * @param v The other vector */
 	SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
 	{
 		return btVector3(
-			m_y * v.z() - m_z * v.y(),
-			m_z * v.x() - m_x * v.z(),
-			m_x * v.y() - m_y * v.x());
+			m_floats[1] * v.m_floats[2] -m_floats[2] * v.m_floats[1],
+			m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
+			m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
 	}
 
 	SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
 	{
-		return m_x * (v1.y() * v2.z() - v1.z() * v2.y()) + 
-			m_y * (v1.z() * v2.x() - v1.x() * v2.z()) + 
-			m_z * (v1.x() * v2.y() - v1.y() * v2.x());
+		return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + 
+			m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + 
+			m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
 	}
 
+  /**@brief Return the axis with the smallest value 
+   * Note return values are 0,1,2 for x, y, or z */
 	SIMD_FORCE_INLINE int minAxis() const
 	{
-		return m_x < m_y ? (m_x < m_z ? 0 : 2) : (m_y < m_z ? 1 : 2);
+		return m_floats[0] < m_floats[1] ? (m_floats[0] <m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2);
 	}
 
+  /**@brief Return the axis with the largest value 
+   * Note return values are 0,1,2 for x, y, or z */
 	SIMD_FORCE_INLINE int maxAxis() const 
 	{
-		return m_x < m_y ? (m_y < m_z ? 2 : 1) : (m_x < m_z ? 2 : 0);
+		return m_floats[0] < m_floats[1] ? (m_floats[1] <m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0);
 	}
 
 	SIMD_FORCE_INLINE int furthestAxis() const
@@ -153,67 +216,150 @@ public:
 	SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
 	{
 		btScalar s = btScalar(1.0) - rt;
-		m_x = s * v0.x() + rt * v1.x();
-		m_y = s * v0.y() + rt * v1.y();
-		m_z = s * v0.z() + rt * v1.z();
+		m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
+		m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
+		m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
 		//don't do the unused w component
 		//		m_co[3] = s * v0[3] + rt * v1[3];
 	}
 
+  /**@brief Return the linear interpolation between this and another vector 
+   * @param v The other vector 
+   * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
 	SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const 
 	{
-		return btVector3(m_x + (v.x() - m_x) * t,
-			m_y + (v.y() - m_y) * t,
-			m_z + (v.z() - m_z) * t);
+		return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
+			m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
+			m_floats[2] + (v.m_floats[2] -m_floats[2]) * t);
 	}
 
-
+  /**@brief Elementwise multiply this vector by the other 
+   * @param v The other vector */
 	SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
 	{
-		m_x *= v.x(); m_y *= v.y(); m_z *= v.z();
+		m_floats[0] *= v.m_floats[0]; m_floats[1] *= v.m_floats[1];m_floats[2] *= v.m_floats[2];
 		return *this;
 	}
 
-	
+	 /**@brief Return the x value */
+		SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
+  /**@brief Return the y value */
+		SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
+  /**@brief Return the z value */
+		SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
+  /**@brief Set the x value */
+		SIMD_FORCE_INLINE void	setX(btScalar x) { m_floats[0] = x;};
+  /**@brief Set the y value */
+		SIMD_FORCE_INLINE void	setY(btScalar y) { m_floats[1] = y;};
+  /**@brief Set the z value */
+		SIMD_FORCE_INLINE void	setZ(btScalar z) {m_floats[2] = z;};
+  /**@brief Set the w value */
+		SIMD_FORCE_INLINE void	setW(btScalar w) { m_floats[3] = w;};
+  /**@brief Return the x value */
+		SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
+  /**@brief Return the y value */
+		SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
+  /**@brief Return the z value */
+		SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
+  /**@brief Return the w value */
+		SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
+
+	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
+	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
+	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
+	SIMD_FORCE_INLINE	operator       btScalar *()       { return &m_floats[0]; }
+	SIMD_FORCE_INLINE	operator const btScalar *() const { return &m_floats[0]; }
+
+	SIMD_FORCE_INLINE	bool	operator==(const btVector3& other) const
+	{
+		return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0]));
+	}
+
+	SIMD_FORCE_INLINE	bool	operator!=(const btVector3& other) const
+	{
+		return !(*this == other);
+	}
+
+	 /**@brief Set each element to the max of the current values and the values of another btVector3
+   * @param other The other btVector3 to compare with 
+   */
+		SIMD_FORCE_INLINE void	setMax(const btVector3& other)
+		{
+			btSetMax(m_floats[0], other.m_floats[0]);
+			btSetMax(m_floats[1], other.m_floats[1]);
+			btSetMax(m_floats[2], other.m_floats[2]);
+			btSetMax(m_floats[3], other.w());
+		}
+  /**@brief Set each element to the min of the current values and the values of another btVector3
+   * @param other The other btVector3 to compare with 
+   */
+		SIMD_FORCE_INLINE void	setMin(const btVector3& other)
+		{
+			btSetMin(m_floats[0], other.m_floats[0]);
+			btSetMin(m_floats[1], other.m_floats[1]);
+			btSetMin(m_floats[2], other.m_floats[2]);
+			btSetMin(m_floats[3], other.w());
+		}
+
+		SIMD_FORCE_INLINE void 	setValue(const btScalar& x, const btScalar& y, const btScalar& z)
+		{
+			m_floats[0]=x;
+			m_floats[1]=y;
+			m_floats[2]=z;
+			m_floats[3] = 0.f;
+		}
+
+		void	getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
+		{
+			v0->setValue(0.		,-z()		,y());
+			v1->setValue(z()	,0.			,-x());
+			v2->setValue(-y()	,x()	,0.);
+		}
 
 };
 
+/**@brief Return the sum of two vectors (Point symantics)*/
 SIMD_FORCE_INLINE btVector3 
 operator+(const btVector3& v1, const btVector3& v2) 
 {
-	return btVector3(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z());
+	return btVector3(v1.m_floats[0] + v2.m_floats[0], v1.m_floats[1] + v2.m_floats[1], v1.m_floats[2] + v2.m_floats[2]);
 }
 
+/**@brief Return the elementwise product of two vectors */
 SIMD_FORCE_INLINE btVector3 
 operator*(const btVector3& v1, const btVector3& v2) 
 {
-	return btVector3(v1.x() * v2.x(), v1.y() * v2.y(), v1.z() * v2.z());
+	return btVector3(v1.m_floats[0] * v2.m_floats[0], v1.m_floats[1] * v2.m_floats[1], v1.m_floats[2] * v2.m_floats[2]);
 }
 
+/**@brief Return the difference between two vectors */
 SIMD_FORCE_INLINE btVector3 
 operator-(const btVector3& v1, const btVector3& v2)
 {
-	return btVector3(v1.x() - v2.x(), v1.y() - v2.y(), v1.z() - v2.z());
+	return btVector3(v1.m_floats[0] - v2.m_floats[0], v1.m_floats[1] - v2.m_floats[1], v1.m_floats[2] - v2.m_floats[2]);
 }
-
+/**@brief Return the negative of the vector */
 SIMD_FORCE_INLINE btVector3 
 operator-(const btVector3& v)
 {
-	return btVector3(-v.x(), -v.y(), -v.z());
+	return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
 }
 
+/**@brief Return the vector scaled by s */
 SIMD_FORCE_INLINE btVector3 
 operator*(const btVector3& v, const btScalar& s)
 {
-	return btVector3(v.x() * s, v.y() * s, v.z() * s);
+	return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
 }
 
+/**@brief Return the vector scaled by s */
 SIMD_FORCE_INLINE btVector3 
 operator*(const btScalar& s, const btVector3& v)
 { 
 	return v * s; 
 }
 
+/**@brief Return the vector inversely scaled by s */
 SIMD_FORCE_INLINE btVector3
 operator/(const btVector3& v, const btScalar& s)
 {
@@ -221,12 +367,14 @@ operator/(const btVector3& v, const btScalar& s)
 	return v * (btScalar(1.0) / s);
 }
 
+/**@brief Return the vector inversely scaled by s */
 SIMD_FORCE_INLINE btVector3
 operator/(const btVector3& v1, const btVector3& v2)
 {
-	return btVector3(v1.x() / v2.x(),v1.y() / v2.y(),v1.z() / v2.z());
+	return btVector3(v1.m_floats[0] / v2.m_floats[0],v1.m_floats[1] / v2.m_floats[1],v1.m_floats[2] / v2.m_floats[2]);
 }
 
+/**@brief Return the dot product between two vectors */
 SIMD_FORCE_INLINE btScalar 
 dot(const btVector3& v1, const btVector3& v2) 
 { 
@@ -234,7 +382,7 @@ dot(const btVector3& v1, const btVector3& v2)
 }
 
 
-
+/**@brief Return the distance squared between two vectors */
 SIMD_FORCE_INLINE btScalar
 distance2(const btVector3& v1, const btVector3& v2) 
 { 
@@ -242,18 +390,21 @@ distance2(const btVector3& v1, const btVector3& v2)
 }
 
 
+/**@brief Return the distance between two vectors */
 SIMD_FORCE_INLINE btScalar
 distance(const btVector3& v1, const btVector3& v2) 
 { 
 	return v1.distance(v2); 
 }
 
+/**@brief Return the angle between two vectors */
 SIMD_FORCE_INLINE btScalar
 angle(const btVector3& v1, const btVector3& v2) 
 { 
 	return v1.angle(v2); 
 }
 
+/**@brief Return the cross product of two vectors */
 SIMD_FORCE_INLINE btVector3 
 cross(const btVector3& v1, const btVector3& v2) 
 { 
@@ -266,6 +417,10 @@ triple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
 	return v1.triple(v2, v3);
 }
 
+/**@brief Return the linear interpolation between two vectors
+ * @param v1 One vector 
+ * @param v2 The other vector 
+ * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
 SIMD_FORCE_INLINE btVector3 
 lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
 {
@@ -273,10 +428,6 @@ lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
 }
 
 
-SIMD_FORCE_INLINE bool operator==(const btVector3& p1, const btVector3& p2) 
-{
-	return p1.x() == p2.x() && p1.y() == p2.y() && p1.z() == p2.z();
-}
 
 SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const
 {
@@ -316,47 +467,47 @@ public:
 	SIMD_FORCE_INLINE btVector4(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) 
 		: btVector3(x,y,z)
 	{
-		m_unusedW = w;
+		m_floats[3] = w;
 	}
 
 
 	SIMD_FORCE_INLINE btVector4 absolute4() const 
 	{
 		return btVector4(
-			btFabs(m_x), 
-			btFabs(m_y), 
-			btFabs(m_z),
-			btFabs(m_unusedW));
+			btFabs(m_floats[0]), 
+			btFabs(m_floats[1]), 
+			btFabs(m_floats[2]),
+			btFabs(m_floats[3]));
 	}
 
 
 
-	btScalar	getW() const { return m_unusedW;}
+	btScalar	getW() const { return m_floats[3];}
 
 
 		SIMD_FORCE_INLINE int maxAxis4() const
 	{
 		int maxIndex = -1;
 		btScalar maxVal = btScalar(-1e30);
-		if (m_x > maxVal)
+		if (m_floats[0] > maxVal)
 		{
 			maxIndex = 0;
-			maxVal = m_x;
+			maxVal = m_floats[0];
 		}
-		if (m_y > maxVal)
+		if (m_floats[1] > maxVal)
 		{
 			maxIndex = 1;
-			maxVal = m_y;
+			maxVal = m_floats[1];
 		}
-		if (m_z > maxVal)
+		if (m_floats[2] > maxVal)
 		{
 			maxIndex = 2;
-			maxVal = m_z;
+			maxVal =m_floats[2];
 		}
-		if (m_unusedW > maxVal)
+		if (m_floats[3] > maxVal)
 		{
 			maxIndex = 3;
-			maxVal = m_unusedW;
+			maxVal = m_floats[3];
 		}
 		
 		
@@ -371,25 +522,25 @@ public:
 	{
 		int minIndex = -1;
 		btScalar minVal = btScalar(1e30);
-		if (m_x < minVal)
+		if (m_floats[0] < minVal)
 		{
 			minIndex = 0;
-			minVal = m_x;
+			minVal = m_floats[0];
 		}
-		if (m_y < minVal)
+		if (m_floats[1] < minVal)
 		{
 			minIndex = 1;
-			minVal = m_y;
+			minVal = m_floats[1];
 		}
-		if (m_z < minVal)
+		if (m_floats[2] < minVal)
 		{
 			minIndex = 2;
-			minVal = m_z;
+			minVal =m_floats[2];
 		}
-		if (m_unusedW < minVal)
+		if (m_floats[3] < minVal)
 		{
 			minIndex = 3;
-			minVal = m_unusedW;
+			minVal = m_floats[3];
 		}
 		
 		return minIndex;
@@ -402,6 +553,40 @@ public:
 		return absolute4().maxAxis4();
 	}
 
+	
+ 
+
+  /**@brief Set x,y,z and zero w 
+   * @param x Value of x
+   * @param y Value of y
+   * @param z Value of z
+   */
+		
+
+/*		void getValue(btScalar *m) const 
+		{
+			m[0] = m_floats[0];
+			m[1] = m_floats[1];
+			m[2] =m_floats[2];
+		}
+*/
+/**@brief Set the values 
+   * @param x Value of x
+   * @param y Value of y
+   * @param z Value of z
+   * @param w Value of w
+   */
+		SIMD_FORCE_INLINE void	setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w)
+		{
+			m_floats[0]=x;
+			m_floats[1]=y;
+			m_floats[2]=z;
+			m_floats[3]=w;
+		}
+
+
+ 
+
 };
 
 
diff --git a/extern/bullet2/src/SConscript b/extern/bullet2/src/SConscript
index 5811e97319d..bd7fb87b01f 100644
--- a/extern/bullet2/src/SConscript
+++ b/extern/bullet2/src/SConscript
@@ -10,7 +10,7 @@ cflags = []
 if env['OURPLATFORM'] in ('win32-vc', 'win64-vc'):
     defs += ' WIN32 NDEBUG _WINDOWS _LIB'
     #cflags += ['/MT', '/W3', '/GX', '/O2', '/Op']
-    cflags += ['/MT', '/W3', '/GX', '/Og', '/Ot', '/Ob1', '/Op', '/G6']
+    cflags += ['/MT', '/W3', '/GX', '/Og', '/Ot', '/Ob1', '/Op', '/G6', '/O3']
 elif env['OURPLATFORM']=='win32-mingw':
     defs += ' NDEBUG'
     cflags += ['-O2']
diff --git a/extern/glew/src/Makefile b/extern/glew/src/Makefile
index 55cc7cfccad..ebcecae45c8 100644
--- a/extern/glew/src/Makefile
+++ b/extern/glew/src/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -25,7 +27,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL/BL DUAL LICENSE BLOCK *****
 #
@@ -42,15 +44,13 @@ CSRCS = glew.c
 CCSRCS = 
 include nan_compile.mk 
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_GLEW) ] || mkdir -p $(NAN_GLEW)
 	@[ -d $(NAN_GLEW)/include/GL ] || mkdir -p $(NAN_GLEW)/include/GL
-	@[ -d $(NAN_GLEW)/lib ] || mkdir -p $(NAN_GLEW)/lib
-	@[ -d $(NAN_GLEW)/lib/debug ] || mkdir -p $(NAN_GLEW)/lib/debug
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/lib$(LIBNAME).a $(NAN_GLEW)/lib/
+	@[ -d $(NAN_GLEW)/lib/$(DEBUG_DIR) ] || mkdir -p $(NAN_GLEW)/lib/$(DEBUG_DIR)
+	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)lib$(LIBNAME).a $(NAN_GLEW)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_GLEW)/lib/lib$(LIBNAME).a
-	ranlib $(NAN_GLEW)/lib/lib$(LIBNAME).a
+	ranlib $(NAN_GLEW)/lib/$(DEBUG_DIR)lib$(LIBNAME).a
 endif
 	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh ../include/GL/*.h $(NAN_GLEW)/include/GL
 
diff --git a/extern/libopenjpeg/CMakeLists.txt b/extern/libopenjpeg/CMakeLists.txt
new file mode 100644
index 00000000000..c179d5328b9
--- /dev/null
+++ b/extern/libopenjpeg/CMakeLists.txt
@@ -0,0 +1,32 @@
+# $Id: CMakeLists.txt 14444 2008-04-16 22:40:48Z hos $
+# ***** BEGIN GPL LICENSE BLOCK *****
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+#
+# The Original Code is Copyright (C) 2006, Blender Foundation
+# All rights reserved.
+#
+# The Original Code is: all of this file.
+#
+# Contributor(s): Jacques Beaurain.
+#
+# ***** END GPL LICENSE BLOCK *****
+
+SET(INC . src ${FREETYPE_INC})
+
+FILE(GLOB SRC *.c except t1_generate_luts.c)
+ADD_DEFINITIONS(-DWITH_OPENJPEG)
+BLENDERLIB(extern_libopenjpeg "${SRC}" "${INC}")
+#, libtype=['international','player'], priority=[5, 210])
diff --git a/extern/libopenjpeg/Makefile b/extern/libopenjpeg/Makefile
new file mode 100644
index 00000000000..15d9d9c7c01
--- /dev/null
+++ b/extern/libopenjpeg/Makefile
@@ -0,0 +1,43 @@
+#
+# $Id: Makefile 14444 2008-04-16 22:40:48Z hos $
+#
+# ***** BEGIN GPL LICENSE BLOCK *****
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 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 LICENSE BLOCK *****
+#
+#
+
+LIBNAME = openjpeg
+DIR = $(OCGDIR)/extern/$(LIBNAME)
+
+CCFLAGS += $(LEVEL_1_CPP_WARNINGS)
+
+TCSRCS = $(wildcard *.c)
+CSRCS = $(filter-out t1_generate_luts.c,$(TCSRCS))
+
+include nan_compile.mk 
+CPPFLAGS += -I.
+
+install: all debug
+
diff --git a/extern/libopenjpeg/SConscript b/extern/libopenjpeg/SConscript
index 14b7102cbcd..13a34bf5598 100644
--- a/extern/libopenjpeg/SConscript
+++ b/extern/libopenjpeg/SConscript
@@ -5,6 +5,7 @@ import sys
 Import('env')
 
 sources = env.Glob('*.c')
+
 incs = '.'
 flags = []
 defs = []
diff --git a/extern/libopenjpeg/t1_generate_luts.c b/extern/libopenjpeg/t1_generate_luts.c
deleted file mode 100644
index 1925b951f1b..00000000000
--- a/extern/libopenjpeg/t1_generate_luts.c
+++ /dev/null
@@ -1,275 +0,0 @@
-/*
- * Copyright (c) 2002-2007, Communications and Remote Sensing Laboratory, Universite catholique de Louvain (UCL), Belgium
- * Copyright (c) 2002-2007, Professor Benoit Macq
- * Copyright (c) 2001-2003, David Janssens
- * Copyright (c) 2002-2003, Yannick Verschueren
- * Copyright (c) 2003-2007, Francois-Olivier Devaux and Antonin Descampe
- * Copyright (c) 2005, Herve Drolon, FreeImage Team
- * Copyright (c) 2007, Callum Lerwick <seg@haxxed.com>
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS `AS IS'
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include "opj_includes.h"
-#include <math.h>
-
-static int t1_init_ctxno_zc(int f, int orient) {
-	int h, v, d, n, t, hv;
-	n = 0;
-	h = ((f & T1_SIG_W) != 0) + ((f & T1_SIG_E) != 0);
-	v = ((f & T1_SIG_N) != 0) + ((f & T1_SIG_S) != 0);
-	d = ((f & T1_SIG_NW) != 0) + ((f & T1_SIG_NE) != 0) + ((f & T1_SIG_SE) != 0) + ((f & T1_SIG_SW) != 0);
-
-	switch (orient) {
-		case 2:
-			t = h;
-			h = v;
-			v = t;
-		case 0:
-		case 1:
-			if (!h) {
-				if (!v) {
-					if (!d)
-						n = 0;
-					else if (d == 1)
-						n = 1;
-					else
-						n = 2;
-				} else if (v == 1) {
-					n = 3;
-				} else {
-					n = 4;
-				}
-			} else if (h == 1) {
-				if (!v) {
-					if (!d)
-						n = 5;
-					else
-						n = 6;
-				} else {
-					n = 7;
-				}
-			} else
-				n = 8;
-			break;
-		case 3:
-			hv = h + v;
-			if (!d) {
-				if (!hv) {
-					n = 0;
-				} else if (hv == 1) {
-					n = 1;
-				} else {
-					n = 2;
-				}
-			} else if (d == 1) {
-				if (!hv) {
-					n = 3;
-				} else if (hv == 1) {
-					n = 4;
-				} else {
-					n = 5;
-				}
-			} else if (d == 2) {
-				if (!hv) {
-					n = 6;
-				} else {
-					n = 7;
-				}
-			} else {
-				n = 8;
-			}
-			break;
-	}
-
-	return (T1_CTXNO_ZC + n);
-}
-
-static int t1_init_ctxno_sc(int f) {
-	int hc, vc, n;
-	n = 0;
-
-	hc = int_min(((f & (T1_SIG_E | T1_SGN_E)) ==
-				T1_SIG_E) + ((f & (T1_SIG_W | T1_SGN_W)) == T1_SIG_W),
-			1) - int_min(((f & (T1_SIG_E | T1_SGN_E)) ==
-					(T1_SIG_E | T1_SGN_E)) +
-				((f & (T1_SIG_W | T1_SGN_W)) ==
-				 (T1_SIG_W | T1_SGN_W)), 1);
-
-	vc = int_min(((f & (T1_SIG_N | T1_SGN_N)) ==
-				T1_SIG_N) + ((f & (T1_SIG_S | T1_SGN_S)) == T1_SIG_S),
-			1) - int_min(((f & (T1_SIG_N | T1_SGN_N)) ==
-					(T1_SIG_N | T1_SGN_N)) +
-				((f & (T1_SIG_S | T1_SGN_S)) ==
-				 (T1_SIG_S | T1_SGN_S)), 1);
-
-	if (hc < 0) {
-		hc = -hc;
-		vc = -vc;
-	}
-	if (!hc) {
-		if (vc == -1)
-			n = 1;
-		else if (!vc)
-			n = 0;
-		else
-			n = 1;
-	} else if (hc == 1) {
-		if (vc == -1)
-			n = 2;
-		else if (!vc)
-			n = 3;
-		else
-			n = 4;
-	}
-
-	return (T1_CTXNO_SC + n);
-}
-
-static int t1_init_spb(int f) {
-	int hc, vc, n;
-
-	hc = int_min(((f & (T1_SIG_E | T1_SGN_E)) ==
-				T1_SIG_E) + ((f & (T1_SIG_W | T1_SGN_W)) == T1_SIG_W),
-			1) - int_min(((f & (T1_SIG_E | T1_SGN_E)) ==
-					(T1_SIG_E | T1_SGN_E)) +
-				((f & (T1_SIG_W | T1_SGN_W)) ==
-				 (T1_SIG_W | T1_SGN_W)), 1);
-
-	vc = int_min(((f & (T1_SIG_N | T1_SGN_N)) ==
-				T1_SIG_N) + ((f & (T1_SIG_S | T1_SGN_S)) == T1_SIG_S),
-			1) - int_min(((f & (T1_SIG_N | T1_SGN_N)) ==
-					(T1_SIG_N | T1_SGN_N)) +
-				((f & (T1_SIG_S | T1_SGN_S)) ==
-				 (T1_SIG_S | T1_SGN_S)), 1);
-
-	if (!hc && !vc)
-		n = 0;
-	else
-		n = (!(hc > 0 || (!hc && vc > 0)));
-
-	return n;
-}
-
-void dump_array16(int array[],int size){
-	int i;
-	--size;
-	for (i = 0; i < size; ++i) {
-		printf("0x%04x, ", array[i]);
-		if(!((i+1)&0x7))
-			printf("\n  ");
-	}
-	printf("0x%04x\n};\n\n", array[size]);
-}
-
-int main(){
-	int i, j;
-	double u, v, t;
-
-	int lut_ctxno_zc[1024];
-	int lut_nmsedec_sig[1 << T1_NMSEDEC_BITS];
-	int lut_nmsedec_sig0[1 << T1_NMSEDEC_BITS];
-	int lut_nmsedec_ref[1 << T1_NMSEDEC_BITS];
-	int lut_nmsedec_ref0[1 << T1_NMSEDEC_BITS];
-
-	printf("/* This file was automatically generated by t1_generate_luts.c */\n\n");
-
-	// lut_ctxno_zc
-	for (j = 0; j < 4; ++j) {
-		for (i = 0; i < 256; ++i) {
-			int orient = j;
-			if (orient == 2) {
-				orient = 1;
-			} else if (orient == 1) {
-				orient = 2;
-			}
-			lut_ctxno_zc[(orient << 8) | i] = t1_init_ctxno_zc(i, j);
-		}
-	}
-
-	printf("static char lut_ctxno_zc[1024] = {\n  ");
-	for (i = 0; i < 1023; ++i) {
-		printf("%i, ", lut_ctxno_zc[i]);
-		if(!((i+1)&0x1f))
-			printf("\n  ");
-	}
-	printf("%i\n};\n\n", lut_ctxno_zc[1023]);
-
-	// lut_ctxno_sc
-	printf("static char lut_ctxno_sc[256] = {\n  ");
-	for (i = 0; i < 255; ++i) {
-		printf("0x%x, ", t1_init_ctxno_sc(i << 4));
-		if(!((i+1)&0xf))
-			printf("\n  ");
-	}
-	printf("0x%x\n};\n\n", t1_init_ctxno_sc(255 << 4));
-
-	// lut_spb
-	printf("static char lut_spb[256] = {\n  ");
-	for (i = 0; i < 255; ++i) {
-		printf("%i, ", t1_init_spb(i << 4));
-		if(!((i+1)&0x1f))
-			printf("\n  ");
-	}
-	printf("%i\n};\n\n", t1_init_spb(255 << 4));
-
-	/* FIXME FIXME FIXME */
-	/* fprintf(stdout,"nmsedec luts:\n"); */
-	for (i = 0; i < (1 << T1_NMSEDEC_BITS); ++i) {
-		t = i / pow(2, T1_NMSEDEC_FRACBITS);
-		u = t;
-		v = t - 1.5;
-		lut_nmsedec_sig[i] = 
-			int_max(0, 
-					(int) (floor((u * u - v * v) * pow(2, T1_NMSEDEC_FRACBITS) + 0.5) / pow(2, T1_NMSEDEC_FRACBITS) * 8192.0));
-		lut_nmsedec_sig0[i] =
-			int_max(0,
-					(int) (floor((u * u) * pow(2, T1_NMSEDEC_FRACBITS) + 0.5) / pow(2, T1_NMSEDEC_FRACBITS) * 8192.0));
-		u = t - 1.0;
-		if (i & (1 << (T1_NMSEDEC_BITS - 1))) {
-			v = t - 1.5;
-		} else {
-			v = t - 0.5;
-		}
-		lut_nmsedec_ref[i] =
-			int_max(0,
-					(int) (floor((u * u - v * v) * pow(2, T1_NMSEDEC_FRACBITS) + 0.5) / pow(2, T1_NMSEDEC_FRACBITS) * 8192.0));
-		lut_nmsedec_ref0[i] =
-			int_max(0,
-					(int) (floor((u * u) * pow(2, T1_NMSEDEC_FRACBITS) + 0.5) / pow(2, T1_NMSEDEC_FRACBITS) * 8192.0));
-	}
-
-	printf("static short lut_nmsedec_sig[1 << T1_NMSEDEC_BITS] = {\n  ");
-	dump_array16(&lut_nmsedec_sig, 1 << T1_NMSEDEC_BITS);
-
-	printf("static short lut_nmsedec_sig0[1 << T1_NMSEDEC_BITS] = {\n  ");
-	dump_array16(&lut_nmsedec_sig0, 1 << T1_NMSEDEC_BITS);
-
-	printf("static short lut_nmsedec_ref[1 << T1_NMSEDEC_BITS] = {\n  ");
-	dump_array16(&lut_nmsedec_ref, 1 << T1_NMSEDEC_BITS);
-
-	printf("static short lut_nmsedec_ref0[1 << T1_NMSEDEC_BITS] = {\n  ");
-	dump_array16(&lut_nmsedec_ref0, 1 << T1_NMSEDEC_BITS);
-
-	return 0;
-}
diff --git a/extern/libredcode/codec.c b/extern/libredcode/codec.c
index e0b79119e80..f47a85cbb13 100644
--- a/extern/libredcode/codec.c
+++ b/extern/libredcode/codec.c
@@ -64,7 +64,7 @@ struct redcode_frame_raw * redcode_decode_video_raw(
 	/* setup the decoder decoding parameters using the current image 
 	   and user parameters */
 	opj_setup_decoder(dinfo, &parameters);
-			
+
 	/* open a byte stream */
 	cio = opj_cio_open((opj_common_ptr)dinfo, 
 			   frame->data + frame->offset, frame->length);
diff --git a/extern/libredcode/format.c b/extern/libredcode/format.c
index 4677c49b8a5..cf8f9d5faa7 100644
--- a/extern/libredcode/format.c
+++ b/extern/libredcode/format.c
@@ -1,49 +1,50 @@
-#ifdef _WIN32
-#include <Winsock2.h>
-#else
-#include <netinet/in.h>
-#endif
-
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include "format.h"
 
 struct red_reob {
-	unsigned long len;
-	char head[4];
+	unsigned int len;
+	unsigned int head;
 
-	unsigned long rdvo;
-	unsigned long rdvs;
-	unsigned long rdao;
-	unsigned long rdas;
+	unsigned int rdvo;
+	unsigned int rdvs;
+	unsigned int rdao;
+	unsigned int rdas;
 
-	unsigned long unknown1;
-	unsigned long unknown2;
-	unsigned long totlen;
+	unsigned int unknown1;
+	unsigned int unknown2;
+	unsigned int totlen;
 	
-	unsigned long avgv;
-	unsigned long avgs;
+	unsigned int avgv;
+	unsigned int avgs;
 
-	unsigned long unknown3;
-	unsigned long unknown4;
-	unsigned long unknown5;
+	unsigned int unknown3;
+	unsigned int unknown4;
+	unsigned int unknown5;
 };
 
 struct redcode_handle {
 	FILE * fp;
 	struct red_reob * reob;
-        unsigned long * rdvo;
-	unsigned long * rdvs;
-	unsigned long * rdao;
-	unsigned long * rdas;
+        unsigned int * rdvo;
+	unsigned int * rdvs;
+	unsigned int * rdao;
+	unsigned int * rdas;
 	long cfra;
+	long length;
 };
 
+unsigned int read_be32(unsigned int val)
+{
+	unsigned char * v = (unsigned char*) & val;
+ 
+	return  (v[0] << 24) | (v[1] << 16) | (v[2] << 8) | v[3];
+}
 
 static unsigned char* read_packet(FILE * fp, char * expect)
 {
-	unsigned long len;
+	unsigned int len;
 	char head[5];
 	unsigned char * rv;
 
@@ -52,7 +53,7 @@ static unsigned char* read_packet(FILE * fp, char * expect)
 
 	head[4] = 0;
 
-	len = ntohl(len);
+	len = read_be32(len);
 
 	if (strcmp(expect, head) != 0) {
 		fprintf(stderr, "Read: %s, expect: %s\n", head, expect);
@@ -69,9 +70,9 @@ static unsigned char* read_packet(FILE * fp, char * expect)
 	return rv;
 }
 
-static unsigned long * read_index_packet(FILE * fp, char * expect)
+static unsigned int * read_index_packet(FILE * fp, char * expect)
 {
-	unsigned long * rv = (unsigned long*) read_packet(fp, expect);
+	unsigned int * rv = (unsigned int*) read_packet(fp, expect);
 	int i;
 
 	if (!rv) {
@@ -79,7 +80,7 @@ static unsigned long * read_index_packet(FILE * fp, char * expect)
 	}
 
 	for (i = 2; i < rv[0]/4; i++) {
-		rv[i] = ntohl(rv[i]);
+		rv[i] = read_be32(rv[i]);
 	}
 	return rv;
 }
@@ -91,14 +92,14 @@ static struct red_reob * read_reob(FILE * fp)
 	return (struct red_reob *) read_index_packet(fp, "REOB");
 }
 
-static unsigned long * read_index(FILE * fp, unsigned long i, char * expect)
+static unsigned int * read_index(FILE * fp, unsigned int i, char * expect)
 {
 	fseek(fp, i, SEEK_SET);
 	
-	return (unsigned long*) read_index_packet(fp, expect);
+	return (unsigned int*) read_index_packet(fp, expect);
 }
 
-static unsigned char * read_data(FILE * fp, unsigned long i, char * expect)
+static unsigned char * read_data(FILE * fp, unsigned int i, char * expect)
 {
 	fseek(fp, i, SEEK_SET);
 	
@@ -109,6 +110,7 @@ struct redcode_handle * redcode_open(const char * fname)
 {
 	struct redcode_handle * rv = NULL;
 	struct red_reob * reob = NULL;
+	int i;
 
 	FILE * fp = fopen(fname, "rb");
 
@@ -136,6 +138,12 @@ struct redcode_handle * redcode_open(const char * fname)
 		return NULL;
 	}
 
+	for (i = 0; i < (rv->rdvo[0] - 8)/4; i++) {
+		if (rv->rdvo[i + 2]) {
+			rv->length = i;
+		}
+	}
+
 	return rv;
 }
 
@@ -162,7 +170,7 @@ void redcode_close(struct redcode_handle * handle)
 
 long redcode_get_length(struct redcode_handle * handle)
 {
-	return handle->rdvo[0]/4;
+	return handle->length;
 }
 
 struct redcode_frame * redcode_read_video_frame(
@@ -182,7 +190,7 @@ struct redcode_frame * redcode_read_video_frame(
 	rv = (struct redcode_frame*) calloc(1, sizeof(struct redcode_frame));
 
 	rv->offset = 12+8;
-	rv->length = *(unsigned long*)data - rv->offset;
+	rv->length = *(unsigned int*)data - rv->offset;
 	rv->data = data;
 
 	return rv;
@@ -205,7 +213,7 @@ struct redcode_frame * redcode_read_audio_frame(
 	rv = (struct redcode_frame*) calloc(1, sizeof(struct redcode_frame));
 
 	rv->offset = 24+8;
-	rv->length = *(unsigned long*)data - rv->offset;
+	rv->length = *(unsigned int*)data - rv->offset;
 	rv->data = data;
 
 	return rv;
diff --git a/extern/libredcode/format.h b/extern/libredcode/format.h
index e09ea8a3b64..b2c6b2d885b 100644
--- a/extern/libredcode/format.h
+++ b/extern/libredcode/format.h
@@ -3,8 +3,8 @@
 
 struct redcode_handle;
 struct redcode_frame {
-	unsigned long length;
-	unsigned long offset;
+	unsigned int length;
+	unsigned int offset;
 	unsigned char * data;
 };
 
diff --git a/extern/ode/Makefile b/extern/ode/Makefile
deleted file mode 100644
index 51be666aa69..00000000000
--- a/extern/ode/Makefile
+++ /dev/null
@@ -1,110 +0,0 @@
-#
-# $Id$
-#
-# ***** BEGIN GPL LICENSE BLOCK *****
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software Foundation,
-# Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
-#
-# The Original Code is Copyright (C) 2002 by Hans Lambermont
-# All rights reserved.
-#
-# The Original Code is: all of this file.
-#
-# Contributor(s): none yet.
-#
-# ***** END GPL LICENSE BLOCK *****
-
-include nan_definitions.mk
-
-DISTDIR = dist
-CP = ../../intern/tools/cpifdiff.sh
-USERSETTINGS = ./dist/config/user-settings
-TEMPSETTINGS = ./user-settings
-
-all:
-	[ -d $(DISTDIR)/lib ] || mkdir $(DISTDIR)/lib
-	# prepare settings for patching, clean in case of interruption
-    ifeq ($(OS),$(findstring $(OS), "darwin windows"))
-	[ ! -f $(TEMPSETTINGS) ] || mv $(TEMPSETTINGS) $(USERSETTINGS) 
-	cp $(USERSETTINGS) $(TEMPSETTINGS)
-    endif
-    ifeq ($(OS),freebsd)
-	(grep FreeBSD $(DISTDIR)/Makefile >/dev/null ; \
-	    [ $$? -eq 0 ] || patch < patchfile.FreeBSD )
-    endif
-    ifeq ($(OS),darwin)
-	cat $(TEMPSETTINGS) | sed s/unix-gcc/osx/ > $(USERSETTINGS)
-    endif
-    ifeq ($(OS),windows)
-	# compile with MSVC
-	cat $(TEMPSETTINGS) | sed s/unix-gcc/msvc/ > $(USERSETTINGS)
-	env PATH=".:$(PATH)" $(MAKE) -C $(DISTDIR)
-    endif
-    ifeq ($(OS),$(findstring $(OS), "freebsd linux darwin"))
-	$(MAKE) -C $(DISTDIR)
-    endif
-	# restore settings
-    ifeq ($(OS),$(findstring $(OS), "darwin windows"))
-	mv $(TEMPSETTINGS) $(USERSETTINGS)
-    endif
-
-# fake debug target
-debug:
-
-install: all
-    ifeq ($(OS),$(findstring $(OS), "freebsd linux darwin"))
-	[ -d $(LCGDIR) ] || mkdir $(LCGDIR)
-	[ -d $(NAN_ODE) ] || mkdir $(NAN_ODE)
-	[ -d $(NAN_ODE)/include ] || mkdir $(NAN_ODE)/include
-	[ -d $(NAN_ODE)/include/ode ] || mkdir $(NAN_ODE)/include/ode
-	[ -d $(NAN_ODE)/lib ] || mkdir $(NAN_ODE)/lib
-	[ -d $(NAN_ODE)/ode ] || mkdir $(NAN_ODE)/ode
-	[ -d $(NAN_ODE)/ode/src ] || mkdir $(NAN_ODE)/ode/src
-	@$(CP) $(DISTDIR)/lib/libode.a $(NAN_ODE)/lib/
-	@$(CP) $(DISTDIR)/include/ode/*.h $(NAN_ODE)/include/ode/
-	@$(CP) $(DISTDIR)/ode/src/array.h $(NAN_ODE)/ode/src/
-	@$(CP) $(DISTDIR)/ode/src/joint.h $(NAN_ODE)/ode/src/
-	@$(CP) $(DISTDIR)/ode/src/objects.h $(NAN_ODE)/ode/src/
-	@$(CP) $(DISTDIR)/ode/src/obstack.h $(NAN_ODE)/ode/src/
-    ifeq ($(OS),darwin)
-	ranlib $(NAN_ODE)/lib/libode.a
-    endif
-    endif
-    ifeq ($(OS),windows)
-	@echo "====> $(MAKE) $@ in $(SOURCEDIR)"
-	[ -d $(LCGDIR) ] || mkdir $(LCGDIR)
-	[ -d $(NAN_ODE) ] || mkdir $(NAN_ODE)
-	[ -d $(NAN_ODE)/include ] || mkdir $(NAN_ODE)/include
-	[ -d $(NAN_ODE)/include/ode ] || mkdir $(NAN_ODE)/include/ode
-	[ -d $(NAN_ODE)/lib ] || mkdir $(NAN_ODE)/lib
-	[ -d $(NAN_ODE)/ode ] || mkdir $(NAN_ODE)/ode
-	[ -d $(NAN_ODE)/ode/src ] || mkdir $(NAN_ODE)/ode/src
-	cp $(DISTDIR)/lib/ode.lib $(NAN_ODE)/lib/libode.a
-	cp $(DISTDIR)/include/ode/*.h $(NAN_ODE)/include/ode/
-	cp $(DISTDIR)/ode/src/array.h $(NAN_ODE)/ode/src/
-	cp $(DISTDIR)/ode/src/joint.h $(NAN_ODE)/ode/src/
-	cp $(DISTDIR)/ode/src/objects.h $(NAN_ODE)/ode/src/
-	cp $(DISTDIR)/ode/src/obstack.h $(NAN_ODE)/ode/src/
-    endif
-
-clean:
-    ifeq ($(OS),$(findstring $(OS), "freebsd linux darwin"))
-	[ ! -f dist/Makefile ] || $(MAKE) -C dist clean
-    endif
-    ifeq ($(OS),freebsd)
-	(grep FreeBSD $(DISTDIR)/Makefile >/dev/null ; \
-	    [ $$? -ne 0 ] || patch -R < patchfile.FreeBSD )
-    endif
-
diff --git a/extern/ode/dist/INSTALL b/extern/ode/dist/INSTALL
deleted file mode 100644
index f82285db1b2..00000000000
--- a/extern/ode/dist/INSTALL
+++ /dev/null
@@ -1,44 +0,0 @@
-
-here are the steps to buid ODE:
-
-(1) get the GNU 'make' tool. many unix platforms come with this, although
-    sometimes it is called 'gmake'. i have provided a version of GNU make
-    for windows at: http://q12.org/ode/bin/make.exe
-
-(2) edit the settings in the file config/user-settings. the list of supported
-    platforms is given in that file.
-
-(3) run 'make' to configure and build ODE and the graphical test programs.
-    to build parts of ODE the make targets are:
-
-	make configure		create configuration file include/ode/config.h
-	make ode-lib		build the core ODE library
-	make drawstuff-lib	build the OpenGL-based graphics library
-	make ode-test		build some ODE tests (they need drawstuff)
-	make drawstuff-test	build a test app for the drawstuff library
-
-    all of these targets will do an implicit 'make configure'. if the
-    configurator screws up then you can edit the settings directly in
-    include/ode/config.h.
-
-(4) to install the ODE library onto your system you should copy the 'lib' and
-    'include' directories to a suitable place, e.g. on unix:
-
-	include/ode  --> /usr/local/include/ode
-	lib/libode.a --> /usr/local/lib/libode.a
-
-ODE has been verified to build on the following platforms:
-
-				config		ode-lib 	ode-test
-				------		------- 	--------
-  windows
-    MSVC			msvc		*		*
-    MinGW			mingw		*		*
-    CygWin			cygwin		*		*
-  linux (x86, mandrake 8.1)	unix-gcc	*		*
-  linux (alpha, debian 2.2)	unix-gcc	*		?
-  linux (RS/6000, debian 2.2)	unix-gcc	*		?
-  linux (Sparc U60, debian 2.2) unix-gcc	*		?
-  freebsd 4.3			unix-gcc	*		?
-  Mac OS-X			osx		*		?
-  Solaris 8 (Sparc R220)	unix-gcc	*		?
diff --git a/extern/ode/dist/LICENSE-BSD.TXT b/extern/ode/dist/LICENSE-BSD.TXT
deleted file mode 100644
index 05929239487..00000000000
--- a/extern/ode/dist/LICENSE-BSD.TXT
+++ /dev/null
@@ -1,34 +0,0 @@
-
-This is the BSD-style license for the Open Dynamics Engine
-----------------------------------------------------------
-
-Open Dynamics Engine
-Copyright (c) 2001,2002, Russell L. Smith.
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions
-are met:
-
-Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.
-
-Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation
-and/or other materials provided with the distribution.
-
-Neither the names of ODE's copyright owner nor the names of its
-contributors may be used to endorse or promote products derived from
-this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
-TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/extern/ode/dist/LICENSE.TXT b/extern/ode/dist/LICENSE.TXT
deleted file mode 100644
index cfe59bcadb8..00000000000
--- a/extern/ode/dist/LICENSE.TXT
+++ /dev/null
@@ -1,502 +0,0 @@
-		  GNU LESSER GENERAL PUBLIC LICENSE
-		       Version 2.1, February 1999
-
- Copyright (C) 1991, 1999 Free Software Foundation, Inc.
-     59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-[This is the first released version of the Lesser GPL.  It also counts
- as the successor of the GNU Library Public License, version 2, hence
- the version number 2.1.]
-
-			    Preamble
-
-  The licenses for most software are designed to take away your
-freedom to share and change it.  By contrast, the GNU General Public
-Licenses are intended to guarantee your freedom to share and change
-free software--to make sure the software is free for all its users.
-
-  This license, the Lesser General Public License, applies to some
-specially designated software packages--typically libraries--of the
-Free Software Foundation and other authors who decide to use it.  You
-can use it too, but we suggest you first think carefully about whether
-this license or the ordinary General Public License is the better
-strategy to use in any particular case, based on the explanations below.
-
-  When we speak of free software, we are referring to freedom of use,
-not price.  Our General Public Licenses are designed to make sure that
-you have the freedom to distribute copies of free software (and charge
-for this service if you wish); that you receive source code or can get
-it if you want it; that you can change the software and use pieces of
-it in new free programs; and that you are informed that you can do
-these things.
-
-  To protect your rights, we need to make restrictions that forbid
-distributors to deny you these rights or to ask you to surrender these
-rights.  These restrictions translate to certain responsibilities for
-you if you distribute copies of the library or if you modify it.
-
-  For example, if you distribute copies of the library, whether gratis
-or for a fee, you must give the recipients all the rights that we gave
-you.  You must make sure that they, too, receive or can get the source
-code.  If you link other code with the library, you must provide
-complete object files to the recipients, so that they can relink them
-with the library after making changes to the library and recompiling
-it.  And you must show them these terms so they know their rights.
-
-  We protect your rights with a two-step method: (1) we copyright the
-library, and (2) we offer you this license, which gives you legal
-permission to copy, distribute and/or modify the library.
-
-  To protect each distributor, we want to make it very clear that
-there is no warranty for the free library.  Also, if the library is
-modified by someone else and passed on, the recipients should know
-that what they have is not the original version, so that the original
-author's reputation will not be affected by problems that might be
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-
-  Finally, software patents pose a constant threat to the existence of
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-any patent license obtained for a version of the library must be
-consistent with the full freedom of use specified in this license.
-
-  Most GNU software, including some libraries, is covered by the
-ordinary GNU General Public License.  This license, the GNU Lesser
-General Public License, applies to certain designated libraries, and
-is quite different from the ordinary General Public License.  We use
-this license for certain libraries in order to permit linking those
-libraries into non-free programs.
-
-  When a program is linked with a library, whether statically or using
-a shared library, the combination of the two is legally speaking a
-combined work, a derivative of the original library.  The ordinary
-General Public License therefore permits such linking only if the
-entire combination fits its criteria of freedom.  The Lesser General
-Public License permits more lax criteria for linking other code with
-the library.
-
-  We call this license the "Lesser" General Public License because it
-does Less to protect the user's freedom than the ordinary General
-Public License.  It also provides other free software developers Less
-of an advantage over competing non-free programs.  These disadvantages
-are the reason we use the ordinary General Public License for many
-libraries.  However, the Lesser license provides advantages in certain
-special circumstances.
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-case, there is little to gain by limiting the free library to free
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-
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-non-free programs enables many more people to use the whole GNU
-operating system, as well as its variant, the GNU/Linux operating
-system.
-
-  Although the Lesser General Public License is Less protective of the
-users' freedom, it does ensure that the user of a program that is
-linked with the Library has the freedom and the wherewithal to run
-that program using a modified version of the Library.
-
-  The precise terms and conditions for copying, distribution and
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-be combined with the library in order to run.
-
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-
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diff --git a/extern/ode/dist/Makefile b/extern/ode/dist/Makefile
deleted file mode 100644
index 34fbd53f792..00000000000
--- a/extern/ode/dist/Makefile
+++ /dev/null
@@ -1,280 +0,0 @@
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-USER_SETTINGS=config/user-settings
-include $(USER_SETTINGS)
-PLATFORM_MAKEFILE=config/makefile.$(PLATFORM)
-include $(PLATFORM_MAKEFILE)
-
-##############################################################################
-# check some variables that were supposed to be defined
-
-ifneq ($(BUILD),debug)
-ifneq ($(BUILD),release)
-$(error the BUILD variable is not set properly)
-endif
-endif
-
-ifneq ($(PRECISION),SINGLE)
-ifneq ($(PRECISION),DOUBLE)
-$(error the PRECISION variable is not set properly)
-endif
-endif
-
-##############################################################################
-# package settings
-
-ODE_SRC = \
-	ode/src/array.cpp \
-	ode/src/error.cpp \
-	ode/src/memory.cpp \
-	ode/src/obstack.cpp \
-	ode/src/odemath.cpp \
-	ode/src/matrix.cpp \
-	ode/src/misc.cpp \
-	ode/src/rotation.cpp \
-	ode/src/mass.cpp \
-	ode/src/ode.cpp \
-	ode/src/step.cpp \
-	ode/src/lcp.cpp \
-	ode/src/joint.cpp \
-	ode/src/space.cpp \
-	ode/src/geom.cpp \
-	ode/src/timer.cpp \
-	ode/src/mat.cpp \
-	ode/src/testing.cpp
-ODE_PREGEN_SRC = \
-	ode/src/fastldlt.c \
-	ode/src/fastlsolve.c \
-	ode/src/fastltsolve.c \
-	ode/src/fastdot.c
-
-ifeq ($(WINDOWS),1)
-DRAWSTUFF_SRC = drawstuff/src/drawstuff.cpp drawstuff/src/windows.cpp
-RESOURCE_FILE=lib/resources.RES
-else
-DRAWSTUFF_SRC = drawstuff/src/drawstuff.cpp drawstuff/src/x11.cpp
-endif
-
-ODE_LIB_NAME=ode
-DRAWSTUFF_LIB_NAME=drawstuff
-
-INCPATH=include
-LIBPATH=lib
-
-ODE_TEST_SRC_CPP = \
-	ode/test/test_ode.cpp \
-	ode/test/test_chain2.cpp \
-	ode/test/test_hinge.cpp \
-	ode/test/test_slider.cpp \
-	ode/test/test_collision.cpp \
-	ode/test/test_boxstack.cpp \
-	ode/test/test_buggy.cpp \
-	ode/test/test_joints.cpp \
-	ode/test/test_space.cpp \
-	ode/test/test_I.cpp \
-	ode/test/test_step.cpp \
-	ode/test/test_friction.cpp
-ODE_TEST_SRC_C = \
-	ode/test/test_chain1.c
-DRAWSTUFF_TEST_SRC_CPP = \
-	drawstuff/dstest/dstest.cpp
-
-CONFIGURATOR_SRC=configurator.c
-CONFIG_H=include/ode/config.h
-
-##############################################################################
-# derived things
-
-DEFINES=
-
-# add some defines depending on the build mode
-ifeq ($(BUILD),release)
-DEFINES+=$(C_DEF)dNODEBUG
-endif
-ifeq ($(BUILD),debug)
-DEFINES+=$(C_DEF)dDEBUG_ALLOC
-endif
-
-# object file names
-ODE_PREGEN_OBJECTS=$(ODE_PREGEN_SRC:%.c=%$(OBJ))
-ODE_OBJECTS=$(ODE_SRC:%.cpp=%$(OBJ)) $(ODE_PREGEN_OBJECTS)
-DRAWSTUFF_OBJECTS=$(DRAWSTUFF_SRC:%.cpp=%$(OBJ)) $(RESOURCE_FILE)
-
-# side-effect variables causing creation of files containing lists of
-# filenames to be linked, to work around command-line-length limitations
-# on outdated 16-bit operating systems. because of command-line length
-# limitations we cannot issue a link command with all object filenames
-# specified (because this command is too long and overflows the command
-# buffer), but instead must create a file containing all object filenames
-# to be linked, and specify this list-file with @listfile on the command-line.
-#
-# the difficult part is doing this in a flexible way; we don't want to
-# hard-code the to-be-linked object filenames in a file, but instead
-# want to dynamically create a file containing a list of all object filenames
-# within the $XXX_OBJECTS makefile variables. to do this, we use side-effect
-# variables.
-#
-# idea: when these variables are EVALUATED (i.e. later during rule execution,
-# not now during variable definition), they cause a SIDE EFFECT which creates
-# a file with the list of all ODE object files. why the chicanery??? because
-# if we have a command-line length limitation, no SINGLE command we issue will 
-# be able to create a file containing all object files to be linked
-# (because that command itself would need to include all filenames, making
-# it too long to be executed). instead, we must use the gnu-make "foreach"
-# function, combined - probably in an unintended way - with the "shell" 
-# function. this is probably unintended because we are not using the "shell"
-# function to return a string value for variable evaluation, but are instead 
-# using the "shell" function to cause a side effect (appending of each filename
-# to the filename-list-file).
-#
-# one possible snag is that, forbidding use of any external EXE utilities and
-# relying only on the facilities provided by the outdated 16-bit operating
-# system, there is no way to issue a SERIES of commands which append text to
-# the end of a file WITHOUT adding newlines. therefore, the list of to-be-
-# linked object files is separated by newlines in the list file. fortunately,
-# the linker utility for this outdated 16-bit operating system accepts
-# filenames on separate lines in the list file.
-
-# remember: when we evaluate these variables later, this causes the creation
-# of the appropriate list file.
-ifeq ($(WINDOWS16),1)
-SIDE_EFFECT_ODE_OBJLIST = $(foreach o,$(ODE_OBJECTS),$(shell echo $(o) >> odeobj.txt ))
-SIDE_EFFECT_DRAWSTUFF_OBJLIST = $(foreach o,$(DRAWSTUFF_OBJECTS),$(shell echo $(o) >> dsobj.txt ))
-endif
-
-# library file names
-ODE_LIB=$(LIBPATH)/$(LIB_PREFIX)$(ODE_LIB_NAME)$(LIB_SUFFIX)
-DRAWSTUFF_LIB=$(LIBPATH)/$(LIB_PREFIX)$(DRAWSTUFF_LIB_NAME)$(LIB_SUFFIX)
-
-# executable file names
-ODE_TEST_EXE=$(ODE_TEST_SRC_CPP:%.cpp=%.exe) $(ODE_TEST_SRC_C:%.c=%.exe)
-DRAWSTUFF_TEST_EXE=$(DRAWSTUFF_TEST_SRC_CPP:%.cpp=%.exe)
-CONFIGURATOR_EXE=$(CONFIGURATOR_SRC:%.c=%.exe)
-
-##############################################################################
-# rules
-#
-# NOTE: the '.c' files are pregenerated sources, and must be compiled with
-# -O1 optimization. that is why the rule for .c files is a bit different.
-# why should it be compiled with O1? it is numerical code that is generated
-# by fbuild. O1 optimization is used to preserve the operation orders that
-# were discovered by fbuild to be the fastest on that platform. believe it or
-# not, O2 makes this code run much slower for most compilers.
-
-debug: all
-all: ode-lib drawstuff-lib ode-test drawstuff-test
-	@echo SUCCESS
-
-ode-lib: configure $(ODE_LIB)
-drawstuff-lib: configure $(DRAWSTUFF_LIB)
-ode-test: ode-lib drawstuff-lib $(ODE_TEST_EXE)
-drawstuff-test: drawstuff-lib $(DRAWSTUFF_TEST_EXE)
-
-ifndef ODE_LIB_AR_RULE
-ODE_LIB_AR_RULE=$(AR)$@
-endif
-
-$(ODE_LIB): pre_ode_lib $(ODE_OBJECTS)
-ifeq ($(WINDOWS16),1)
-#   if we have a command-line-length limitation, then dynamically create
-#   a file containing all object filenames, and pass this file to the linker
-#   instead of directly specifying the object filenames on the command line.
-#   the very evaluation of the following variable causes creation of file
-#   odeobj.txt
-	$(SIDE_EFFECT_ODE_OBJLIST)
-	$(ODE_LIB_AR_RULE) @odeobj.txt
-else
-#   if we have no command-line-length limitation, directly specify all
-#   object files to be linked.
-	$(ODE_LIB_AR_RULE) $(ODE_OBJECTS)
-endif
-
-ifdef RANLIB
-	$(RANLIB) $@
-endif
-
-$(DRAWSTUFF_LIB): pre_drawstuff_lib $(DRAWSTUFF_OBJECTS)
-ifeq ($WINDOWS16),1)
-#   if we have a command-line-length limitation, then do the same as above.
-	$(SIDE_EFFECT_DRAWSTUFF_OBJLIST)
-	$(AR)$@ @dsobj.txt
-else
-#   if we have no command-line-length limitation, directly specify all object
-#   files to be linked.
-	$(AR)$@ $(DRAWSTUFF_OBJECTS)
-endif
-ifdef RANLIB
-	$(RANLIB) $@
-endif
-
-# rules to be executed before library linking starts: delete list file (if one is used)
-
-pre_ode_lib:
-ifeq ($WINDOWS16),1)
-	$(DEL_CMD) odeobj.txt
-endif
-
-pre_drawstuff_lib:
-ifeq ($WINDOWS16),1)
-	$(DEL_CMD) dsobj.txt
-endif
-
-clean:
-	-$(DEL_CMD) $(ODE_OBJECTS) $(ODE_TEST_EXE) $(ODE_LIB) $(DRAWSTUFF_OBJECTS) $(DRAWSTUFF_TEST_EXE) $(DRAWSTUFF_LIB) ode/test/*$(OBJ) drawstuff/dstest/*$(OBJ) $(CONFIGURATOR_EXE) $(CONFIG_H)
-
-%$(OBJ): %.c
-	$(CC) $(C_FLAGS) $(C_INC)$(INCPATH) $(DEFINES) $(C_OPT)1 $(C_OUT)$@ $<
-
-%$(OBJ): %.cpp
-	$(CC) $(C_FLAGS) $(C_INC)$(INCPATH) $(DEFINES) $(C_OPT)$(OPT) $(C_OUT)$@ $<
-
-%.exe: %$(OBJ)
-	$(CC) $(C_EXEOUT)$@ $< $(ODE_LIB) $(DRAWSTUFF_LIB) $(RESOURCE_FILE) $(LINK_OPENGL) $(LINK_MATH)
-
-# windows specific rules
-
-lib/resources.RES: drawstuff/src/resources.rc
-	$(RC_RULE)
-
-
-# configurator rules
-
-configure: $(CONFIG_H)
-
-$(CONFIG_H): $(CONFIGURATOR_EXE) $(USER_SETTINGS) $(PLATFORM_MAKEFILE)
-	$(THIS_DIR)$(CONFIGURATOR_EXE) $(CONFIG_H) "$(CC) $(DEFINES) $(C_EXEOUT)" "$(DEL_CMD)" $(THIS_DIR)
-
-$(CONFIGURATOR_EXE): $(CONFIGURATOR_SRC) $(USER_SETTINGS) $(PLATFORM_MAKEFILE)
-	$(CC) $(C_DEF)d$(PRECISION) $(DEFINES) $(C_EXEOUT)$@ $<
-
-
-# unix-gcc specific dependency making
-
-DEP_RULE=gcc -M $(C_INC)$(INCPATH) $(DEFINES)
-depend: $(ODE_SRC) $(ODE_PREGEN_SRC) $(DRAWSTUFF_SRC) $(ODE_TEST_SRC_CPP) $(ODE_TEST_SRC_C) $(DRAWSTUFF_TEST_SRC_CPP)
-	$(DEP_RULE) $(ODE_SRC) $(ODE_PREGEN_SRC) | tools/process_deps ode/src/ > Makefile.deps
-	$(DEP_RULE) $(DRAWSTUFF_SRC) | tools/process_deps drawstuff/src/ >> Makefile.deps
-	$(DEP_RULE) $(ODE_TEST_SRC_CPP) | tools/process_deps ode/test/ >> Makefile.deps
-	$(DEP_RULE) $(DRAWSTUFF_TEST_SRC_CPP) | tools/process_deps drawstuff/dstest/ >> Makefile.deps
-
-include Makefile.deps
diff --git a/extern/ode/dist/Makefile.deps b/extern/ode/dist/Makefile.deps
deleted file mode 100644
index ad11f01353f..00000000000
--- a/extern/ode/dist/Makefile.deps
+++ /dev/null
@@ -1,456 +0,0 @@
-ode/src/array.o: \
-  ode/src/array.cpp \
-  include/ode/config.h \
-  include/ode/memory.h \
-  include/ode/error.h \
-  ode/src/array.h
-ode/src/error.o: \
-  ode/src/error.cpp \
-  include/ode/config.h \
-  include/ode/error.h
-ode/src/memory.o: \
-  ode/src/memory.cpp \
-  include/ode/config.h \
-  include/ode/memory.h \
-  include/ode/error.h
-ode/src/obstack.o: \
-  ode/src/obstack.cpp \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  ode/src/obstack.h \
-  ode/src/objects.h \
-  include/ode/mass.h \
-  ode/src/array.h
-ode/src/odemath.o: \
-  ode/src/odemath.cpp \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  include/ode/odemath.h
-ode/src/matrix.o: \
-  ode/src/matrix.cpp \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  include/ode/matrix.h
-ode/src/misc.o: \
-  ode/src/misc.cpp \
-  include/ode/config.h \
-  include/ode/misc.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/matrix.h
-ode/src/rotation.o: \
-  ode/src/rotation.cpp \
-  include/ode/rotation.h \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h
-ode/src/mass.o: \
-  ode/src/mass.cpp \
-  include/ode/config.h \
-  include/ode/mass.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h
-ode/src/ode.o: \
-  ode/src/ode.cpp \
-  ode/src/objects.h \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/mass.h \
-  ode/src/array.h \
-  include/ode/ode.h \
-  include/ode/contact.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  ode/src/joint.h \
-  ode/src/obstack.h \
-  ode/src/step.h
-ode/src/step.o: \
-  ode/src/step.cpp \
-  ode/src/objects.h \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/mass.h \
-  ode/src/array.h \
-  ode/src/joint.h \
-  include/ode/contact.h \
-  ode/src/obstack.h \
-  include/ode/odemath.h \
-  include/ode/rotation.h \
-  include/ode/timer.h \
-  include/ode/matrix.h \
-  ode/src/lcp.h
-ode/src/lcp.o: \
-  ode/src/lcp.cpp \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  ode/src/lcp.h \
-  include/ode/matrix.h \
-  include/ode/misc.h \
-  ode/src/mat.h \
-  include/ode/timer.h
-ode/src/joint.o: \
-  ode/src/joint.cpp \
-  include/ode/odemath.h \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  include/ode/rotation.h \
-  include/ode/matrix.h \
-  ode/src/joint.h \
-  ode/src/objects.h \
-  include/ode/memory.h \
-  include/ode/mass.h \
-  ode/src/array.h \
-  include/ode/contact.h \
-  ode/src/obstack.h
-ode/src/space.o: \
-  ode/src/space.cpp \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/contact.h \
-  include/ode/memory.h \
-  ode/src/objects.h \
-  include/ode/mass.h \
-  ode/src/array.h \
-  ode/src/geom_internal.h
-ode/src/geom.o: \
-  ode/src/geom.cpp \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  include/ode/geom.h \
-  include/ode/space.h \
-  include/ode/contact.h \
-  include/ode/rotation.h \
-  include/ode/odemath.h \
-  include/ode/memory.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/mass.h \
-  include/ode/matrix.h \
-  ode/src/objects.h \
-  ode/src/array.h \
-  ode/src/geom_internal.h
-ode/src/timer.o: \
-  ode/src/timer.cpp \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h \
-  include/ode/timer.h
-ode/src/mat.o: \
-  ode/src/mat.cpp \
-  include/ode/config.h \
-  include/ode/misc.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/matrix.h \
-  include/ode/memory.h \
-  ode/src/mat.h
-ode/src/testing.o: \
-  ode/src/testing.cpp \
-  include/ode/config.h \
-  include/ode/misc.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  ode/src/testing.h \
-  ode/src/array.h
-ode/src/fastldlt.o: \
-  ode/src/fastldlt.c \
-  include/ode/matrix.h \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h
-ode/src/fastlsolve.o: \
-  ode/src/fastlsolve.c \
-  include/ode/matrix.h \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h
-ode/src/fastltsolve.o: \
-  ode/src/fastltsolve.c \
-  include/ode/matrix.h \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h
-ode/src/fastdot.o: \
-  ode/src/fastdot.c \
-  include/ode/matrix.h \
-  include/ode/common.h \
-  include/ode/config.h \
-  include/ode/error.h
-drawstuff/src/drawstuff.o: \
-  drawstuff/src/drawstuff.cpp \
-  include/ode/config.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h \
-  drawstuff/src/internal.h
-drawstuff/src/x11.o: \
-  drawstuff/src/x11.cpp \
-  include/ode/config.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h \
-  drawstuff/src/internal.h
-ode/test/test_ode.o: \
-  ode/test/test_ode.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h
-ode/test/test_chain2.o: \
-  ode/test/test_chain2.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_hinge.o: \
-  ode/test/test_hinge.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_slider.o: \
-  ode/test/test_slider.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_collision.o: \
-  ode/test/test_collision.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_boxstack.o: \
-  ode/test/test_boxstack.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_buggy.o: \
-  ode/test/test_buggy.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_joints.o: \
-  ode/test/test_joints.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_space.o: \
-  ode/test/test_space.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_I.o: \
-  ode/test/test_I.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_step.o: \
-  ode/test/test_step.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-ode/test/test_friction.o: \
-  ode/test/test_friction.cpp \
-  include/ode/ode.h \
-  include/ode/config.h \
-  include/ode/contact.h \
-  include/ode/common.h \
-  include/ode/error.h \
-  include/ode/memory.h \
-  include/ode/odemath.h \
-  include/ode/matrix.h \
-  include/ode/timer.h \
-  include/ode/rotation.h \
-  include/ode/mass.h \
-  include/ode/space.h \
-  include/ode/geom.h \
-  include/ode/misc.h \
-  include/ode/objects.h \
-  include/ode/odecpp.h \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
-drawstuff/dstest/dstest.o: \
-  drawstuff/dstest/dstest.cpp \
-  include/drawstuff/drawstuff.h \
-  include/drawstuff/version.h
diff --git a/extern/ode/dist/README b/extern/ode/dist/README
deleted file mode 100644
index 6b151d1a27b..00000000000
--- a/extern/ode/dist/README
+++ /dev/null
@@ -1,30 +0,0 @@
-The Open Dynamics Engine (ODE), Copyright (C) 2001,2002 Russell L. Smith.
--------------------------------------------------------------------------
-
-ODE is a free, industrial quality library for simulating articulated
-rigid body dynamics - for example ground vehicles, legged creatures,
-and moving objects in VR environments. It is fast, flexible, robust
-and platform independent, with advanced joints, contact with friction,
-and built-in collision detection.
-
-This library is free software; you can redistribute it and/or
-modify it under the terms of EITHER:
-  (1) The GNU Lesser General Public License as published by the Free
-      Software Foundation; either version 2.1 of the License, or (at
-      your option) any later version. The text of the GNU Lesser
-      General Public License is included with this library in the
-      file LICENSE.TXT.
-  (2) The BSD-style license that is included with this library in
-      the file LICENSE-BSD.TXT.
-
-This library 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 files
-LICENSE.TXT and LICENSE-BSD.TXT for more details.
-
-  * Installation instructions are in the INSTALL file
-
-  * The ODE web pages are at http://q12.org/ode/
-
-  * The ODE documentation is in the file ode/doc/ode.html, or you
-    can view it on the web at http://q12.org/ode/ode-docs.html
diff --git a/extern/ode/dist/README_BLENDER b/extern/ode/dist/README_BLENDER
deleted file mode 100644
index 64d97624a55..00000000000
--- a/extern/ode/dist/README_BLENDER
+++ /dev/null
@@ -1,18 +0,0 @@
-Checked out from ODE cvs (http://q12.org) on or around
-Fri Oct 18 14:24:11 GMT 2002
-
-Note that ODE has its own build system. The source/ode/
-directory is traversed by Blender's source/Makefile. However
-source/ode/config/user-settings has to be set correctly
-depending on the target platform. This needs to be done in the
-source/Makefile which determines the proper platform, then copies
-the appropriate platform-specific user-settings.platform file to
-source/ode/config/user-settings. Currently source/ode/user-settings is
-for Linux.
-
-Don't change the source in this directory. This source code is
-maintained on the CVS server at http://q12.org and is provided here
-so that Blender developers can compile ODE without having to separately
-download and install it. This source code can and should periodically
-be synchronized (manually) with the source code at http://q12.org.
-
diff --git a/extern/ode/dist/config/README b/extern/ode/dist/config/README
deleted file mode 100644
index 0fa18062a4e..00000000000
--- a/extern/ode/dist/config/README
+++ /dev/null
@@ -1,41 +0,0 @@
-
-variable names used in the per-platform makefile configuration files:
-
-platform stuff
---------------
-
-WINDOWS			set to 1 if this is a microsoft windows based platform
-
-filesystem stuff and commands
------------------------------
-
-THIS_DIR		prefix to run a command from the current directory
-DEL_CMD			the name of the delete command
-
-compiler stuff
---------------
-
-CC			the C/C++ compiler to use
-OBJ			the object file extension
-C_FLAGS			the standard set of compiler flags
-C_INC			flag to add an include path
-C_OUT			flag to specify the object file output
-C_EXEOUT		flag to specify the executable file output
-C_DEF			flag to add a define
-C_OPT			flag to set the optimization level
-OPT			the optimization level to use
-
-library archiver
-----------------
-
-AR			library archiver command
-RANLIB			ranlib command, if necessary
-LIB_PREFIX		library file prefix
-LIB_SUFFIX		library file suffix
-LINK_OPENGL		link flags to link in windowing stuff and opengl
-LINK_MATH		link flags to link in the system math library
-
-windows specific stuff
-----------------------
-
-RC_RULE			makefile rule to use for the resource compiler
diff --git a/extern/ode/dist/config/makefile.cygwin b/extern/ode/dist/config/makefile.cygwin
deleted file mode 100644
index de23b71a29f..00000000000
--- a/extern/ode/dist/config/makefile.cygwin
+++ /dev/null
@@ -1,28 +0,0 @@
-WINDOWS=1
-THIS_DIR=./
-DEL_CMD=rm -f
-CC=gcc
-OBJ=.o
-C_FLAGS=-c -Wall -fno-exceptions -fno-rtti -DWIN32 -DCYGWIN
-C_INC=-I
-C_OUT=-o 
-C_EXEOUT=-o 
-C_DEF=-D
-C_OPT=-O
-AR=ar rc 
-RANLIB=
-LIB_PREFIX=lib
-LIB_SUFFIX=.a
-LINK_OPENGL=-lComctl32 -lkernel32 -luser32 -lgdi32 -lOpenGL32 -lGlu32
-LINK_MATH=-lm
-RC_RULE=windres -I rc -O coff $< $@
-
-ifeq ($(BUILD),release)
-OPT=2
-C_FLAGS+=-fomit-frame-pointer -ffast-math
-endif
-
-ifeq ($(BUILD),debug)
-OPT=0
-C_FLAGS+=-g
-endif
diff --git a/extern/ode/dist/config/makefile.mingw b/extern/ode/dist/config/makefile.mingw
deleted file mode 100644
index 4b18fb6bcdc..00000000000
--- a/extern/ode/dist/config/makefile.mingw
+++ /dev/null
@@ -1,28 +0,0 @@
-WINDOWS=1
-THIS_DIR=
-DEL_CMD=tools\rm
-CC=gcc
-OBJ=.o
-C_FLAGS=-c -Wall -fno-exceptions -fno-rtti -DWIN32
-C_INC=-I
-C_OUT=-o 
-C_EXEOUT=-o 
-C_DEF=-D
-C_OPT=-O
-AR=ar rc 
-RANLIB=
-LIB_PREFIX=lib
-LIB_SUFFIX=.a
-LINK_OPENGL=-lComctl32 -lkernel32 -luser32 -lgdi32 -lOpenGL32 -lGlu32
-LINK_MATH=-lm
-RC_RULE=windres -I rc -O coff $< $@
-
-ifeq ($(BUILD),release)
-OPT=2
-C_FLAGS+=-fomit-frame-pointer -ffast-math
-endif
-
-ifeq ($(BUILD),debug)
-OPT=0
-C_FLAGS+=-g
-endif
diff --git a/extern/ode/dist/config/makefile.msvc b/extern/ode/dist/config/makefile.msvc
deleted file mode 100644
index 9d4da0bf912..00000000000
--- a/extern/ode/dist/config/makefile.msvc
+++ /dev/null
@@ -1,27 +0,0 @@
-WINDOWS=1
-THIS_DIR=
-DEL_CMD=tools\rm
-CC=cl /nologo /DWIN32 /DMSVC /DSHAREDLIBEXPORT= /DSHAREDLIBIMPORT=
-OBJ=.obj
-C_FLAGS=/c /GR- /GX- /W3 /GF
-C_INC=/I
-C_OUT=/Fo
-C_EXEOUT=/Fe
-C_DEF=/D
-C_OPT=/O
-AR=lib /nologo /OUT:
-RANLIB=
-LIB_PREFIX=
-LIB_SUFFIX=.lib
-LINK_OPENGL=Comctl32.lib kernel32.lib user32.lib gdi32.lib OpenGL32.lib Glu32.lib
-LINK_MATH=
-RC_RULE=rc /r /fo$@ $<
-
-ifeq ($(BUILD),release)
-OPT=2
-C_FLAGS+=/Oy
-endif
-
-ifeq ($(BUILD),debug)
-OPT=d
-endif
diff --git a/extern/ode/dist/config/makefile.msvc-dll b/extern/ode/dist/config/makefile.msvc-dll
deleted file mode 100644
index fe495893616..00000000000
--- a/extern/ode/dist/config/makefile.msvc-dll
+++ /dev/null
@@ -1,29 +0,0 @@
-WINDOWS=1
-THIS_DIR=
-DEL_CMD=tools\rm
-CC=cl /nologo /DWIN32 /DMSVC /DSHAREDLIBIMPORT=__declspec(dllimport) /DSHAREDLIBEXPORT=__declspec(dllexport)
-OBJ=.obj
-C_FLAGS=/c /GR- /GX- /W3 /GF
-C_INC=/I
-C_OUT=/Fo
-C_EXEOUT=/Fe
-C_DEF=/D
-C_OPT=/O
-AR=lib /nologo /OUT:
-RANLIB=
-LIB_PREFIX=
-LIB_SUFFIX=.lib
-LINK_OPENGL=Comctl32.lib kernel32.lib user32.lib gdi32.lib OpenGL32.lib Glu32.lib
-LINK_MATH=
-RC_RULE=rc /r /fo$@ $<
-
-ifeq ($(BUILD),release)
-OPT=2
-C_FLAGS+=/Oy
-endif
-
-ifeq ($(BUILD),debug)
-OPT=d
-endif
-
-ODE_LIB_AR_RULE=link /dll /nologo /SUBSYSTEM:WINDOWS /LIBPATH:"C:\Programme\Micros~2\VC98\Lib" /def:config/msvcdefs.def $(LINK_OPENGL) /OUT:$(patsubst %.lib,%.dll,$@)
diff --git a/extern/ode/dist/config/makefile.osx b/extern/ode/dist/config/makefile.osx
deleted file mode 100644
index 1d5e0f42252..00000000000
--- a/extern/ode/dist/config/makefile.osx
+++ /dev/null
@@ -1,26 +0,0 @@
-THIS_DIR=./
-DEL_CMD=rm -f
-CC=cc
-OBJ=.o
-C_FLAGS=-c -Wall -fno-rtti -fno-exceptions -Wall -I/usr/X11R6/include
-C_INC=-I
-C_OUT=-o 
-C_EXEOUT=-o 
-C_DEF=-D
-C_OPT=-O
-AR=ar rc 
-RANLIB=ranlib
-LIB_PREFIX=lib
-LIB_SUFFIX=.a
-LINK_OPENGL=-L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU -lstdc++
-LINK_MATH=-lm
-
-ifeq ($(BUILD),release)
-OPT=2
-C_FLAGS+=-fomit-frame-pointer -ffast-math
-endif
-
-ifeq ($(BUILD),debug)
-OPT=0
-C_FLAGS+=-g
-endif
diff --git a/extern/ode/dist/config/makefile.unix-gcc b/extern/ode/dist/config/makefile.unix-gcc
deleted file mode 100644
index b9d07632353..00000000000
--- a/extern/ode/dist/config/makefile.unix-gcc
+++ /dev/null
@@ -1,29 +0,0 @@
-THIS_DIR=./
-DEL_CMD=rm -f
-CC=gcc
-OBJ=.o
-C_FLAGS=-c -Wall -fno-rtti -fno-exceptions -Wall
-C_INC=-I
-C_OUT=-o 
-C_EXEOUT=-o 
-C_DEF=-D
-C_OPT=-O
-AR=ar rc 
-RANLIB=
-LIB_PREFIX=lib
-LIB_SUFFIX=.a
-LINK_OPENGL=-L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU
-LINK_MATH=-lm
-
-ifeq ($(BUILD),release)
-OPT=2
-C_FLAGS+=-fomit-frame-pointer -ffast-math
-endif
-
-ifeq ($(BUILD),debug)
-OPT=0
-C_FLAGS+=-g
-endif
-
-# some other possible flags:
-#   -malign-double -mpentiumpro -march=pentiumpro
diff --git a/extern/ode/dist/config/makefile.unix-generic b/extern/ode/dist/config/makefile.unix-generic
deleted file mode 100644
index f435e1a0db8..00000000000
--- a/extern/ode/dist/config/makefile.unix-generic
+++ /dev/null
@@ -1,24 +0,0 @@
-THIS_DIR=./
-DEL_CMD=rm -f
-CC=CC
-OBJ=.o
-C_FLAGS=-c
-C_INC=-I
-C_OUT=-o 
-C_EXEOUT=-o 
-C_DEF=-D
-C_OPT=-O
-AR=ar rc 
-RANLIB=
-LIB_PREFIX=lib
-LIB_SUFFIX=.a
-LINK_OPENGL=-L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU
-LINK_MATH=-lm
-
-ifeq ($(BUILD),release)
-OPT=2
-endif
-
-ifeq ($(BUILD),debug)
-OPT=0
-endif
diff --git a/extern/ode/dist/config/msvcdefs.def b/extern/ode/dist/config/msvcdefs.def
deleted file mode 100644
index 11258ab9aa8..00000000000
--- a/extern/ode/dist/config/msvcdefs.def
+++ /dev/null
@@ -1,228 +0,0 @@
-LIBRARY ODE
-EXPORTS
-dAreConnected
-dBodyAddForce
-dBodyAddForceAtPos
-dBodyAddForceAtRelPos
-dBodyAddRelForce
-dBodyAddRelForceAtPos
-dBodyAddRelForceAtRelPos
-dBodyAddRelTorque
-dBodyAddTorque
-dBodyCreate
-dBodyDestroy
-dBodyDisable
-dBodyEnable
-dBodyGetAngularVel
-dBodyGetData
-dBodyGetFiniteRotationAxis
-dBodyGetFiniteRotationMode
-dBodyGetForce
-dBodyGetGravityMode
-dBodyGetJoint
-dBodyGetLinearVel
-dBodyGetMass
-dBodyGetNumJoints
-dBodyGetPointVel
-dBodyGetPosRelPoint
-dBodyGetPosition
-dBodyGetQuaternion
-dBodyGetRelPointPos
-dBodyGetRelPointVel
-dBodyGetRotation
-dBodyGetTorque
-dBodyIsEnabled
-dBodySetAngularVel
-dBodySetData
-dBodySetFiniteRotationAxis
-dBodySetFiniteRotationMode
-dBodySetForce
-dBodySetGravityMode
-dBodySetLinearVel
-dBodySetMass
-dBodySetPosition
-dBodySetQuaternion
-dBodySetRotation
-dBodySetTorque
-dBodyVectorFromWorld
-dBodyVectorToWorld
-dBoxBox
-dBoxClass
-dBoxTouchesBox
-dCCylinderClass
-dClearUpperTriangle
-dCloseODE
-dClosestLineSegmentPoints
-dCollide
-dCreateBox
-dCreateCCylinder
-dCreateGeom
-dCreateGeomClass
-dCreateGeomGroup
-dCreateGeomTransform
-dCreatePlane
-dCreateSphere
-dError
-dFactorCholesky
-dFactorLDLT
-dGeomBoxGetLengths
-dGeomBoxSetLengths
-dGeomCCylinderGetParams
-dGeomCCylinderSetParams
-dGeomDestroy
-dGeomGetAABB
-dGeomGetBody
-dGeomGetClass
-dGeomGetClassData
-dGeomGetData
-dGeomGetPosition
-dGeomGetRotation
-dGeomGetSpaceAABB
-dGeomGroupAdd
-dGeomGroupGetGeom
-dGeomGroupGetNumGeoms
-dGeomGroupRemove
-dGeomPlaneGetParams
-dGeomPlaneSetParams
-dGeomSetBody
-dGeomSetData
-dGeomSetPosition
-dGeomSetRotation
-dGeomSphereGetRadius
-dGeomSphereSetRadius
-dGeomTransformClass
-dGeomTransformGetCleanup
-dGeomTransformGetGeom
-dGeomTransformSetCleanup
-dGeomTransformSetGeom
-dHashSpaceCreate
-dHashSpaceSetLevels
-dInfiniteAABB
-dInfinityValue
-dInvertPDMatrix
-dIsPositiveDefinite
-dJointAttach
-dJointCreateAMotor
-dJointCreateBall
-dJointCreateContact
-dJointCreateFixed
-dJointCreateHinge
-dJointCreateHinge2
-dJointCreateSlider
-dJointCreateUniversal
-dJointDestroy
-dJointGetAMotorAngle
-dJointGetAMotorAngleRate
-dJointGetAMotorAxis
-dJointGetAMotorAxisRel
-dJointGetAMotorMode
-dJointGetAMotorNumAxes
-dJointGetAMotorParam
-dJointGetBallAnchor
-dJointGetBody
-dJointGetData
-dJointGetHinge2Anchor
-dJointGetHinge2Angle1
-dJointGetHinge2Angle1Rate
-dJointGetHinge2Angle2Rate
-dJointGetHinge2Axis1
-dJointGetHinge2Axis2
-dJointGetHinge2Param
-dJointGetHingeAnchor
-dJointGetHingeAngle
-dJointGetHingeAngleRate
-dJointGetHingeAxis
-dJointGetHingeParam
-dJointGetSliderAxis
-dJointGetSliderParam
-dJointGetSliderPosition
-dJointGetSliderPositionRate
-dJointGetType
-dJointGetUniversalAnchor
-dJointGetUniversalAxis1
-dJointGetUniversalAxis2
-dJointGroupCreate
-dJointGroupDestroy
-dJointGroupEmpty
-dJointSetAMotorAngle
-dJointSetAMotorAxis
-dJointSetAMotorMode
-dJointSetAMotorNumAxes
-dJointSetAMotorParam
-dJointSetBallAnchor
-dJointSetData
-dJointSetFixed
-dJointSetHinge2Anchor
-dJointSetHinge2Axis1
-dJointSetHinge2Axis2
-dJointSetHinge2Param
-dJointSetHingeAnchor
-dJointSetHingeAxis
-dJointSetHingeParam
-dJointSetSliderAxis
-dJointSetSliderParam
-dJointSetUniversalAnchor
-dJointSetUniversalAxis1
-dJointSetUniversalAxis2
-dLDLTAddTL
-dLDLTRemove
-dMakeRandomMatrix
-dMakeRandomVector
-dMassAdd
-dMassAdjust
-dMassRotate
-dMassSetBox
-dMassSetCappedCylinder
-dMassSetParameters
-dMassSetSphere
-dMassSetZero
-dMassTranslate
-dMaxDifference
-dMultiply0
-dMultiply1
-dMultiply2
-dNormalize3
-dNormalize4
-dPlaneSpace
-dQFromAxisAndAngle
-dQMultiply0
-dQMultiply1
-dQMultiply2
-dQMultiply3
-dQSetIdentity
-dQtoR
-dRFrom2Axes
-dRFromAxisAndAngle
-dRFromEulerAngles
-dRSetIdentity
-dRandInt
-dRandReal
-dRandSetSeed
-dRemoveRowCol
-dRtoQ
-dSetMessageHandler
-dSetZero
-dSimpleSpaceCreate
-dSolveCholesky
-dSolveLDLT
-dSpaceAdd
-dSpaceCollide
-dSpaceDestroy
-dSpaceQuery
-dSpaceRemove
-dSphereClass
-dTestMatrixComparison
-dTestRand
-dTestSolveLCP
-dWorldCreate
-dWorldDestroy
-dWorldGetCFM
-dWorldGetERP
-dWorldGetGravity
-dWorldImpulseToForce
-dWorldSetCFM
-dWorldSetERP
-dWorldSetGravity
-dWorldStep
-dWorldStep 
-dWtoDQ
diff --git a/extern/ode/dist/config/user-settings b/extern/ode/dist/config/user-settings
deleted file mode 100644
index d632eba9678..00000000000
--- a/extern/ode/dist/config/user-settings
+++ /dev/null
@@ -1,31 +0,0 @@
-# ODE user settings: the following variables must be set by the user
-
-# (1) the platform to use. this name should have a corresponding
-#     makefile.PLATFORM file. currently supported platforms are:
-#       msvc		microsoft visual C/C++
-#       msvc-dll	microsoft visual C/C++, create a DLL
-#       mingw		minimalist GNU for windows
-#       cygwin		cygnus GNU for windows
-#       unix-gcc	GNU gcc on unix
-#       unix-generic	generic unix compiler. you may need to edit the CC
-#			variable in makefile.unix-generic
-#	osx		Mac OS-X, with the gnu compiler.
-
-PLATFORM=unix-gcc
-
-# (2) the floating point precision to use (either "SINGLE" or "DOUBLE")
-
-PRECISION=SINGLE
-#PRECISION=DOUBLE
-
-# (3) the library type to build (either "debug" if you are doing development,
-#     or "release" for the optimized library)
-
-#BUILD=debug
-BUILD=release
-
-# (4) if you are using an old version of MS-Windows that has command line
-#     length limitations then you will need to set this to "1". otherwise,
-#     leave it at "0".
-
-WINDOWS16=0
diff --git a/extern/ode/dist/config/user-settings.example b/extern/ode/dist/config/user-settings.example
deleted file mode 100644
index 0b0d480a25a..00000000000
--- a/extern/ode/dist/config/user-settings.example
+++ /dev/null
@@ -1,31 +0,0 @@
-# ODE user settings: the following variables must be set by the user
-
-# (1) the platform to use. this name should have a corresponding
-#     makefile.PLATFORM file. currently supported platforms are:
-#       msvc		microsoft visual C/C++
-#       msvc-dll	microsoft visual C/C++, create a DLL
-#       mingw		minimalist GNU for windows
-#       cygwin		cygnus GNU for windows
-#       unix-gcc	GNU gcc on unix
-#       unix-generic	generic unix compiler. you may need to edit the CC
-#			variable in makefile.unix-generic
-#	osx		Mac OS-X, with the gnu compiler.
-
-PLATFORM=unix-gcc
-
-# (2) the floating point precision to use (either "SINGLE" or "DOUBLE")
-
-#PRECISION=SINGLE
-PRECISION=DOUBLE
-
-# (3) the library type to build (either "debug" if you are doing development,
-#     or "release" for the optimized library)
-
-#BUILD=debug
-BUILD=release
-
-# (4) if you are using an old version of MS-Windows that has command line
-#     length limitations then you will need to set this to "1". otherwise,
-#     leave it at "0".
-
-WINDOWS16=0
diff --git a/extern/ode/dist/configurator.c b/extern/ode/dist/configurator.c
deleted file mode 100644
index 8129716881d..00000000000
--- a/extern/ode/dist/configurator.c
+++ /dev/null
@@ -1,437 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-this program discovers some system configuration stuff, prior to compiling
-ODE. the usage is:
-
-  configurator <config.h-file-to-generate> <compiler-command-line>
-	<delete-command-line> <THIS_DIR-variable>
-
-this program looks long, but it really has an extremely simple structure and
-should be very easy for anyone to modify. it should be very portable as it
-is written in straight ANSI C and only uses the following library functions:
-  * printf
-  * fopen (assumes 0 returned on failure)
-  * fclose
-  * fprintf
-  * system
-  * exit
-except where stated, we do not assume anything about the return codes from
-these functions.
-
-why didn't i just use GNU autoconf? :
-  * autoconf needs a bourne shell and a bunch of other tools that windows
-    users may not have.
-  * i like reinventing the wheel.
-
-*/
-
-#include <stdio.h>
-
-/****************************************************************************/
-/* project constants */
-
-#define SETUP_SHLIB_DEFS \
-  "#ifndef SHAREDLIBIMPORT\n" \
-  "#define SHAREDLIBIMPORT\n" \
-  "#endif\n" \
-  "#ifndef SHAREDLIBEXPORT\n" \
-  "#define SHAREDLIBEXPORT\n" \
-  "#endif\n"
-
-/* the config.h header */
-char *config_h_part1 =
-"/* per-machine configuration. this file is automatically generated. */\n"
-"\n"
-"#ifndef _ODE_CONFIG_H_\n"
-"#define _ODE_CONFIG_H_\n"
-"\n"
-"/* shared lib definitions */\n"
-SETUP_SHLIB_DEFS
-"\n"
-"/* standard system headers */\n";
-
-
-char *config_h_part2 =
-"\n"
-"#ifdef __cplusplus\n"
-"extern \"C\" {\n"
-"#endif\n"
-"\n";
-
-/* the config.h footer */
-char *config_h_footer =
-"#ifdef __cplusplus\n"
-"}\n"
-"#endif\n"
-"#endif\n";
-
-/****************************************************************************/
-/* implementations of some string functions. these are prefixed with 'x'
- * to prevent any conflicts with built-in functions.
- */
-
-#define strcpy xstrcpy
-void xstrcpy (char *dest, char *src)
-{
-  while (*src) *dest++ = *src++;
-  *dest = 0;
-}
-
-
-#define strcat xstrcat
-void xstrcat (char *dest, char *src)
-{
-  while (*dest) dest++;
-  while (*src) *dest++ = *src++;
-  *dest = 0;
-}
-
-/****************************************************************************/
-/* utility functions */
-
-/* print an error message and exit */
-
-void fatal_error (char *message)
-{
-  printf ("\n*** configurator failed: %s.\n\n"
-	  "please fix your configuration and try again.\n"
-	  "if you have to fix the configurator program or the makefiles, "
-	  "please email\n"
-	  "your changes to the ODE mailing list (ode@q12.org).\n\n", message);
-  exit (0);
-}
-
-
-/* open a file, generate an error if it can't be done */
-
-FILE * xfopen (char *filename, char *mode)
-{
-  FILE *f;
-  f = fopen (filename,mode);
-  if (!f) fatal_error ("can not open a file");
-  return f;
-}
-
-
-/* return 1 if the file exists or 0 if not */
-
-int file_exists (char *filename)
-{
-  FILE *f;
-  f = fopen (filename,"rb");
-  if (f) fclose (f);
-  return (f != 0);
-}
-
-
-/* write a string to a new file */
-
-void write_to_file (char *filename, char *s)
-{
-  FILE *f = xfopen (filename,"wt");
-  fprintf (f,"%s",s);
-  fclose (f);
-}
-
-
-/* write a comment to a header file */
-
-void write_header_comment (FILE *file, char *description)
-{
-  fprintf (file,"/* %s */\n",description);
-  printf ("%s ...\n",description);
-}
-
-
-/* delete a file */
-
-char *delete_cmd_line = 0;
-void delete_file (char *filename)
-{
-  char cmd[1000];
-  strcpy (cmd,delete_cmd_line);
-  strcat (cmd," ");
-  strcat (cmd,filename);
-  printf ("%s\n",cmd);
-  system (cmd);
-}
-
-
-/* run a compile command */
-
-char *compile_cmd_line = 0;
-void compile (char *output, char *input)
-{
-  char cmd[1000];
-  strcpy (cmd,compile_cmd_line);
-  strcat (cmd,output);
-  strcat (cmd," ");
-  strcat (cmd,input);
-  printf ("%s\n",cmd);
-  system (cmd);
-}
-
-
-/* run a program we've just compiled */
-
-char *run_prefix = "";
-void run (char *filename)
-{
-  char cmd[1000];
-  strcpy (cmd,run_prefix);
-  strcat (cmd,filename);
-  printf ("%s\n",cmd);
-  system (cmd);
-}
-
-/****************************************************************************/
-/* system tests */
-
-void check_if_this_is_a_pentium (FILE *file)
-{
-  write_header_comment (file,"is this a pentium on a gcc-based platform?");
-  write_to_file ("ctest.c",
-		 "int main() {\n"
-		 "  asm (\"mov $0,%%eax\\n cpuid\\n\" : : : \"%eax\");\n"
-		 "  return 0;\n"
-		 "}\n");
-  delete_file ("ctest.exe");
-  compile ("ctest.exe","ctest.c");
-  if (file_exists ("ctest.exe")) {
-    fprintf (file,"#define PENTIUM 1\n\n");
-  }
-  else {
-    fprintf (file,"/* #define PENTIUM 1 -- not a pentium */\n\n");
-  }
-
-  delete_file ("ctest.c");
-  delete_file ("ctest.exe");
-}
-
-/****************************************************************************/
-/* tests: standard headers */
-
-void get_all_standard_headers (FILE *file)
-{
-  int i;
-  FILE *f;
-  char *header[7] = {"stdio.h", "stdlib.h", "math.h", "string.h",
-		     "stdarg.h", "malloc.h", "alloca.h"};
-
-  for (i=0; i < sizeof(header)/sizeof(char*); i++) {
-    FILE *f = xfopen ("ctest.c","wt");
-    fprintf (f,"#include <%s>\nint main() { return 0; }\n",header[i]);
-    fclose (f);
-    delete_file ("ctest.exe");
-    compile ("ctest.exe","ctest.c");
-    if (file_exists ("ctest.exe")) {
-      fprintf (file,"#include <%s>\n",header[i]);
-    }
-  }
-
-  delete_file ("ctest.c");
-  delete_file ("ctest.exe");
-}
-
-/****************************************************************************/
-/* tests: typedefs and constants for ODE */
-
-void get_ODE_integer_typedefs (FILE *file)
-{
-  write_header_comment (file,"integer types (we assume int >= 32 bits)");
-  if (sizeof(char) != 1) fatal_error ("expecting sizeof(char) == 1");
-  if (sizeof(int) < 4) fatal_error ("expecting sizeof(int) >= 4");
-  fprintf (file,"typedef char int8;\ntypedef unsigned char uint8;\n");
-  if (sizeof(short) == 4) {
-    fprintf (file,"typedef short int32;\ntypedef unsigned short uint32;\n");
-  }
-  else if (sizeof(int) == 4) {
-    fprintf (file,"typedef int int32;\ntypedef unsigned int uint32;\n");
-  }
-  else {
-    fatal_error ("can not find 4 byte integer type");
-  }
-  fprintf (file,"\n"
-	   "/* an integer type that we can safely cast a pointer to and\n"
-	   " * from without loss of bits.\n"
-	   " */\n");
-  if (sizeof(short) == sizeof(void*)) {
-    fprintf (file,"typedef unsigned short intP;\n");
-  }
-  else if (sizeof(int) == sizeof(void*)) {
-    fprintf (file,"typedef unsigned int intP;\n");
-  }
-  else if (sizeof(long int) == sizeof(void*)) {
-    fprintf (file,"typedef unsigned long int intP;\n");
-  }
-  fprintf (file,"\n");
-}
-
-
-void get_ODE_float_stuff (FILE *file)
-{
-  char *suffix,*type;
-  int i;
-  FILE *f;
-
-#define SHARED_LIB_SPEC_DECISION \
-    "#if defined SHARED_CONFIG_H_INCLUDED_FROM_DEFINING_FILE\n" \
-    "  #define GLOBAL_SHAREDLIB_SPEC SHAREDLIBEXPORT\n" \
-    "#else \n" \
-    "  #define GLOBAL_SHAREDLIB_SPEC SHAREDLIBIMPORT\n" \
-    "#endif\n"
-
-#define UNDEF_SHAREDLIB_SPEC "\n#undef GLOBAL_SHAREDLIB_SPEC\n"
-
-#ifdef dSINGLE
-
-#define INFBYTES SHARED_LIB_SPEC_DECISION "union dInfBytes { unsigned char c[4]; float f; };\nextern GLOBAL_SHAREDLIB_SPEC union dInfBytes dInfinityValue;\n#define dInfinity (dInfinityValue.f)"
-
-  char *inc[6]	= {"#include <math.h>",
-		   "#include <math.h>",
-		   "",
-		   "",
-		   "",
-		   ""};
-  char *decl[6] = {
-    "SHAREDLIBEXPORT double dInfinityValue = HUGE_VALF;",
-    "SHAREDLIBEXPORT double dInfinityValue = HUGE_VAL;",
-    "SHAREDLIBEXPORT union dInfBytes dInfinityValue = {{0x7f,0x80,0,0}};",
-    "SHAREDLIBEXPORT union dInfBytes dInfinityValue = {{0,0,0x80,0x7f}};",
-    "SHAREDLIBEXPORT double dInfinityValue = 1.0f/0.0f;",
-    "SHAREDLIBEXPORT double dInfinityValue = 1e20f;"};
-  char *inf[6]	= {
-    SHARED_LIB_SPEC_DECISION "extern GLOBAL_SHAREDLIB_SPEC double dInfinityValue;\n#define dInfinity dInfinityValue" UNDEF_SHAREDLIB_SPEC,
-    SHARED_LIB_SPEC_DECISION "extern GLOBAL_SHAREDLIB_SPEC double dInfinityValue;\n#define dInfinity dInfinityValue" UNDEF_SHAREDLIB_SPEC,
-    INFBYTES UNDEF_SHAREDLIB_SPEC,
-    INFBYTES UNDEF_SHAREDLIB_SPEC,
-    SHARED_LIB_SPEC_DECISION "extern GLOBAL_SHAREDLIB_SPEC double dInfinityValue;\n#define dInfinity dInfinityValue" UNDEF_SHAREDLIB_SPEC,
-    SHARED_LIB_SPEC_DECISION "extern GLOBAL_SHAREDLIB_SPEC double dInfinityValue;\n#define dInfinity dInfinityValue" UNDEF_SHAREDLIB_SPEC};
-
-#else /* not dSINGLE, must be dDOUBLE */
-
-#define INFBYTES SHARED_LIB_SPEC_DECISION "union dInfBytes { unsigned char c[8]; double d; };\nextern GLOBAL_SHAREDLIB_SPEC union dInfBytes dInfinityValue;\n#define dInfinity (dInfinityValue.d)"
-
-  char *inc[5]	= {
-    "#include <math.h>",
-    "",
-    "",
-    "",
-    ""};
-  char *decl[5] = {
-    "SHAREDLIBEXPORT double dInfinityValue = HUGE_VAL;",
-    "SHAREDLIBEXPORT union dInfBytes dInfinityValue = {{0x7f,0xf0,0,0,0,0,0,0}};",
-    "SHAREDLIBEXPORT union dInfBytes dInfinityValue = {{0,0,0,0,0,0,0xf0,0x7f}};",
-    "SHAREDLIBEXPORT double dInfinityValue = 1.0/0.0;",
-    "SHAREDLIBEXPORT double dInfinityValue = 1e20;"};
-  char *inf[5]	= {
-    SHARED_LIB_SPEC_DECISION "extern GLOBAL_SHAREDLIB_SPEC double dInfinityValue;\n#define dInfinity dInfinityValue" UNDEF_SHAREDLIB_SPEC,
-    INFBYTES UNDEF_SHAREDLIB_SPEC,
-    INFBYTES UNDEF_SHAREDLIB_SPEC,
-    SHARED_LIB_SPEC_DECISION "extern GLOBAL_SHAREDLIB_SPEC double dInfinityValue;\n#define dInfinity dInfinityValue" UNDEF_SHAREDLIB_SPEC,
-    SHARED_LIB_SPEC_DECISION "extern GLOBAL_SHAREDLIB_SPEC double dInfinityValue;\n#define dInfinity dInfinityValue" UNDEF_SHAREDLIB_SPEC};
-#endif
-
-  write_header_comment (file,"select the base floating point type");
-#ifdef dSINGLE
-  fprintf (file,"#define dSINGLE 1\n\n");
-  type = "float";
-  suffix = "f";
-#else
-  fprintf (file,"#define dDOUBLE 1\n\n");
-  type = "double";
-  suffix = "";
-#endif
-
-  /* infinity */
-  write_header_comment (file,"the floating point infinity");
-
-  /* try the different infinity constants until one works */
-  for (i=0; i < sizeof(inf)/sizeof(char*); i++) {
-    f = xfopen ("ctest.c","wt");
-    fprintf (f,
-	     "#include <stdio.h>\n"
-	     "#define SHARED_CONFIG_H_INCLUDED_FROM_DEFINING_FILE 1\n"
-	     SETUP_SHLIB_DEFS
-	     "%s\n"
-	     "%s\n"
-	     "%s\n"
-	     "int main() {\n"
-	     "	if (dInfinity > 1e10%s && -dInfinity < -1e10%s &&\n"
-	     "	    -dInfinity < dInfinity) {\n"
-	     "	  FILE *f = fopen (\"data\",\"wt\");\n"
-	     "	  fprintf (f,\"foo\\n\");\n"
-	     "	  fclose (f);\n"
-	     "	}\n"
-	     "	return 0;\n"
-	     "}\n"
-	     ,inc[i],inf[i],decl[i],suffix,suffix);
-    fclose (f);
-    delete_file ("data");
-    compile ("ctest.exe","ctest.c");
-    run ("ctest.exe");
-    if (file_exists ("data")) {
-      fprintf (file,"#define DINFINITY_DECL %s\n",decl[i]);
-      fprintf (file,"%s\n\n",inf[i]);
-      delete_file ("ctest.c");
-      delete_file ("ctest.exe");
-      delete_file ("data");
-      return;
-    }
-  }
-
-  fatal_error ("can't determine dInfinity constant");
-}
-
-/****************************************************************************/
-
-int main (int argc, char **argv)
-{
-  FILE *file;
-
-  if (argc < 4 || argc > 5)
-    fatal_error ("configurator expects 3 or 4 arguments");
-  compile_cmd_line = argv[2];
-  delete_cmd_line = argv[3];
-  if (argc >= 5) run_prefix = argv[4];
-
-  /* check some defines we should have been compiled with */
-#if !defined(dSINGLE) && !defined(dDOUBLE)
-  fatal_error ("you must set PRECISION to either SINGLE or DOUBLE");
-#endif
-
-  file = xfopen (argv[1],"wt");
-  fprintf (file,config_h_part1);
-  get_all_standard_headers (file);
-  fprintf (file,config_h_part2);
-  check_if_this_is_a_pentium (file);
-  get_ODE_integer_typedefs (file);
-  get_ODE_float_stuff (file);
-  fprintf (file,config_h_footer);
-  fclose (file);
-
-  printf ("\n*** configurator succeeded ***\n\n");
-  return 0;
-}
diff --git a/extern/ode/dist/include/ode/README b/extern/ode/dist/include/ode/README
deleted file mode 100644
index aaedfcc38fe..00000000000
--- a/extern/ode/dist/include/ode/README
+++ /dev/null
@@ -1,18 +0,0 @@
-
-this is the public C interface to the ODE library.
-
-all these files should be includable from C, i.e. they should not use any
-C++ features. everything should be protected with
-
-	#ifdef __cplusplus
-	extern "C" {
-	#endif
-
-	...
-
-	#ifdef __cplusplus
-	}
-	#endif
-
-the only exception is the odecpp.h file, which defines a C++ wrapper for
-the C interface. remember to keep this in sync!
diff --git a/extern/ode/dist/include/ode/common.h b/extern/ode/dist/include/ode/common.h
deleted file mode 100644
index bd29d904028..00000000000
--- a/extern/ode/dist/include/ode/common.h
+++ /dev/null
@@ -1,307 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_COMMON_H_
-#define _ODE_COMMON_H_
-
-#include <ode/config.h>
-#include <ode/error.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* configuration stuff */
-
-/* the efficient alignment. most platforms align data structures to some
- * number of bytes, but this is not always the most efficient alignment.
- * for example, many x86 compilers align to 4 bytes, but on a pentium it
- * is important to align doubles to 8 byte boundaries (for speed), and
- * the 4 floats in a SIMD register to 16 byte boundaries. many other
- * platforms have similar behavior. setting a larger alignment can waste
- * a (very) small amount of memory. NOTE: this number must be a power of
- * two. this is set to 16 by default.
- */
-#define EFFICIENT_ALIGNMENT 16
-
-
-/* constants */
-
-/* pi and 1/sqrt(2) are defined here if necessary because they don't get
- * defined in <math.h> on some platforms (like MS-Windows)
- */
-
-#ifndef M_PI
-#define M_PI REAL(3.1415926535897932384626433832795029)
-#endif
-#ifndef M_SQRT1_2
-#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
-#endif
-
-
-/* debugging:
- *   IASSERT  is an internal assertion, i.e. a consistency check. if it fails
- *            we want to know where.
- *   UASSERT  is a user assertion, i.e. if it fails a nice error message
- *            should be printed for the user.
- *   AASSERT  is an arguments assertion, i.e. if it fails "bad argument(s)"
- *            is printed.
- *   DEBUGMSG just prints out a message
- */
-
-#ifndef dNODEBUG
-#ifdef __GNUC__
-#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
-  "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
-#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
-  msg " in %s()", __FUNCTION__);
-#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
-  msg " in %s()", __FUNCTION__);
-#else
-#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
-  "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
-#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
-  msg " (%s:%d)", __FILE__,__LINE__);
-#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
-  msg " (%s:%d)", __FILE__,__LINE__);
-#endif
-#else
-#define dIASSERT(a) ;
-#define dUASSERT(a,msg) ;
-#define dDEBUGMSG(msg) ;
-#endif
-#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
-
-/* floating point data type, vector, matrix and quaternion types */
-
-#if defined(dSINGLE)
-typedef float dReal;
-#elif defined(dDOUBLE)
-typedef double dReal;
-#else
-#error You must #define dSINGLE or dDOUBLE
-#endif
-
-
-/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
- * (used to compute matrix leading dimensions)
- */
-#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
-
-/* these types are mainly just used in headers */
-typedef dReal dVector3[4];
-typedef dReal dVector4[4];
-typedef dReal dMatrix3[4*3];
-typedef dReal dMatrix4[4*4];
-typedef dReal dMatrix6[8*6];
-typedef dReal dQuaternion[4];
-
-
-/* precision dependent scalar math functions */
-
-#if defined(dSINGLE)
-
-#define REAL(x) (x ## f)			/* form a constant */
-#define dRecip(x) ((float)(1.0f/(x)))		/* reciprocal */
-#define dSqrt(x) ((float)sqrt(x))		/* square root */
-#define dRecipSqrt(x) ((float)(1.0f/sqrt(x)))	/* reciprocal square root */
-#define dSin(x) ((float)sin(x))			/* sine */
-#define dCos(x) ((float)cos(x))			/* cosine */
-#define dFabs(x) ((float)fabs(x))		/* absolute value */
-#define dAtan2(y,x) ((float)atan2((y),(x)))	/* arc tangent with 2 args */
-
-#elif defined(dDOUBLE)
-
-#define REAL(x) (x)
-#define dRecip(x) (1.0/(x))
-#define dSqrt(x) sqrt(x)
-#define dRecipSqrt(x) (1.0/sqrt(x))
-#define dSin(x) sin(x)
-#define dCos(x) cos(x)
-#define dFabs(x) fabs(x)
-#define dAtan2(y,x) atan2((y),(x))
-
-#else
-#error You must #define dSINGLE or dDOUBLE
-#endif
-
-
-/* utility */
-
-
-/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
-
-#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
-
-
-/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
- * up to 15 bytes per allocation, depending on what alloca() returns.
- */
-
-#define dALLOCA16(n) \
-  ((char*)dEFFICIENT_SIZE(((int)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
-
-
-/* internal object types (all prefixed with `dx') */
-
-struct dxWorld;		/* dynamics world */
-struct dxSpace;		/* collision space */
-struct dxBody;		/* rigid body (dynamics object) */
-struct dxGeom;		/* geometry (collision object) */
-struct dxJoint;
-struct dxJointNode;
-struct dxJointGroup;
-
-typedef struct dxWorld *dWorldID;
-typedef struct dxSpace *dSpaceID;
-typedef struct dxBody *dBodyID;
-typedef struct dxGeom *dGeomID;
-typedef struct dxJoint *dJointID;
-typedef struct dxJointGroup *dJointGroupID;
-
-
-/* error numbers */
-
-enum {
-  d_ERR_UNKNOWN = 0,		/* unknown error */
-  d_ERR_IASSERT,		/* internal assertion failed */
-  d_ERR_UASSERT,		/* user assertion failed */
-  d_ERR_LCP			/* user assertion failed */
-};
-
-
-/* joint type numbers */
-
-enum {
-  dJointTypeNone = 0,		/* or "unknown" */
-  dJointTypeBall,
-  dJointTypeHinge,
-  dJointTypeSlider,
-  dJointTypeContact,
-  dJointTypeUniversal,
-  dJointTypeHinge2,
-  dJointTypeFixed,
-  dJointTypeNull,
-  dJointTypeAMotor
-};
-
-
-/* an alternative way of setting joint parameters, using joint parameter
- * structures and member constants. we don't actually do this yet.
- */
-
-/*
-typedef struct dLimot {
-  int mode;
-  dReal lostop, histop;
-  dReal vel, fmax;
-  dReal fudge_factor;
-  dReal bounce, soft;
-  dReal suspension_erp, suspension_cfm;
-} dLimot;
-
-enum {
-  dLimotLoStop		= 0x0001,
-  dLimotHiStop		= 0x0002,
-  dLimotVel		= 0x0004,
-  dLimotFMax		= 0x0008,
-  dLimotFudgeFactor	= 0x0010,
-  dLimotBounce		= 0x0020,
-  dLimotSoft		= 0x0040
-};
-*/
-
-
-/* standard joint parameter names. why are these here? - because we don't want
- * to include all the joint function definitions in joint.cpp. hmmmm.
- * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
- * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
- * paste between these two.
- */
-
-#define D_ALL_PARAM_NAMES(start) \
-  /* parameters for limits and motors */ \
-  dParamLoStop = start, \
-  dParamHiStop, \
-  dParamVel, \
-  dParamFMax, \
-  dParamFudgeFactor, \
-  dParamBounce, \
-  dParamCFM, \
-  dParamStopERP, \
-  dParamStopCFM, \
-  /* parameters for suspension */ \
-  dParamSuspensionERP, \
-  dParamSuspensionCFM,
-
-#define D_ALL_PARAM_NAMES_X(start,x) \
-  /* parameters for limits and motors */ \
-  dParamLoStop ## x = start, \
-  dParamHiStop ## x, \
-  dParamVel ## x, \
-  dParamFMax ## x, \
-  dParamFudgeFactor ## x, \
-  dParamBounce ## x, \
-  dParamCFM ## x, \
-  dParamStopERP ## x, \
-  dParamStopCFM ## x, \
-  /* parameters for suspension */ \
-  dParamSuspensionERP ## x, \
-  dParamSuspensionCFM ## x,
-
-enum {
-  D_ALL_PARAM_NAMES(0)
-  D_ALL_PARAM_NAMES_X(0x100,2)
-  D_ALL_PARAM_NAMES_X(0x200,3)
-
-  /* add a multiple of this constant to the basic parameter numbers to get
-   * the parameters for the second, third etc axes.
-   */
-  dParamGroup=0x100
-};
-
-
-/* angular motor mode numbers */
-
-enum{
-  dAMotorUser = 0,
-  dAMotorEuler = 1
-};
-
-
-/* joint force feedback information */
-
-typedef struct dJointFeedback {
-  dVector3 f1;		// force applied to body 1
-  dVector3 t1;		// torque applied to body 1
-  dVector3 f2;		// force applied to body 2
-  dVector3 t2;		// torque applied to body 2
-} dJointFeedback;
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/contact.h b/extern/ode/dist/include/ode/contact.h
deleted file mode 100644
index 6fc66a179c0..00000000000
--- a/extern/ode/dist/include/ode/contact.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_CONTACT_H_
-#define _ODE_CONTACT_H_
-
-#include <ode/common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-enum {
-  dContactMu2		= 0x001,
-  dContactFDir1		= 0x002,
-  dContactBounce	= 0x004,
-  dContactSoftERP	= 0x008,
-  dContactSoftCFM	= 0x010,
-  dContactMotion1	= 0x020,
-  dContactMotion2	= 0x040,
-  dContactSlip1		= 0x080,
-  dContactSlip2		= 0x100,
-
-  dContactApprox0	= 0x0000,
-  dContactApprox1_1	= 0x1000,
-  dContactApprox1_2	= 0x2000,
-  dContactApprox1	= 0x3000
-};
-
-
-typedef struct dSurfaceParameters {
-  /* must always be defined */
-  int mode;
-  dReal mu;
-
-  /* only defined if the corresponding flag is set in mode */
-  dReal mu2;
-  dReal bounce;
-  dReal bounce_vel;
-  dReal soft_erp;
-  dReal soft_cfm;
-  dReal motion1,motion2;
-  dReal slip1,slip2;
-} dSurfaceParameters;
-
-
-/* contact info set by collision functions */
-
-typedef struct dContactGeom {
-  dVector3 pos;
-  dVector3 normal;
-  dReal depth;
-  dGeomID g1,g2;
-} dContactGeom;
-
-
-/* contact info used by contact joint */
-
-typedef struct dContact {
-  dSurfaceParameters surface;
-  dContactGeom geom;
-  dVector3 fdir1;
-} dContact;
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/error.h b/extern/ode/dist/include/ode/error.h
deleted file mode 100644
index 1350bbc8427..00000000000
--- a/extern/ode/dist/include/ode/error.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/* this comes from the `reuse' library. copy any changes back to the source */
-
-#ifndef _ODE_ERROR_H_
-#define _ODE_ERROR_H_
-
-#include <ode/config.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* all user defined error functions have this type. error and debug functions
- * should not return.
- */
-typedef void dMessageFunction (int errnum, const char *msg, va_list ap);
-
-/* set a new error, debug or warning handler. if fn is 0, the default handlers
- * are used.
- */
-void dSetErrorHandler (dMessageFunction *fn);
-void dSetDebugHandler (dMessageFunction *fn);
-void dSetMessageHandler (dMessageFunction *fn);
-
-/* return the current error, debug or warning handler. if the return value is
- * 0, the default handlers are in place.
- */
-dMessageFunction *dGetErrorHandler();
-dMessageFunction *dGetDebugHandler();
-dMessageFunction *dGetMessageHandler();
-
-/* generate a fatal error, debug trap or a message. */
-void dError (int num, const char *msg, ...);
-void dDebug (int num, const char *msg, ...);
-void dMessage (int num, const char *msg, ...);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/geom.h b/extern/ode/dist/include/ode/geom.h
deleted file mode 100644
index 20fc8998ded..00000000000
--- a/extern/ode/dist/include/ode/geom.h
+++ /dev/null
@@ -1,153 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_GEOM_H_
-#define _ODE_GEOM_H_
-
-#include <ode/common.h>
-#include <ode/space.h>
-#include <ode/contact.h>
-
-#if defined SHARED_GEOM_H_INCLUDED_FROM_DEFINING_FILE
-#define GLOBAL_SHAREDLIB_SPEC SHAREDLIBEXPORT
-#else 
-#define GLOBAL_SHAREDLIB_SPEC SHAREDLIBIMPORT
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* ************************************************************************ */
-/* utility functions */
-
-void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
-				const dVector3 b1, const dVector3 b2,
-				dVector3 cp1, dVector3 cp2);
-
-int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
-		    const dVector3 side1, const dVector3 _p2,
-		    const dMatrix3 R2, const dVector3 side2);
-
-void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
-void dCloseODE();
-
-/* ************************************************************************ */
-/* standard classes */
-
-/* class numbers */
-extern GLOBAL_SHAREDLIB_SPEC int dSphereClass;
-extern GLOBAL_SHAREDLIB_SPEC int dBoxClass;
-extern GLOBAL_SHAREDLIB_SPEC int dCCylinderClass;
-extern GLOBAL_SHAREDLIB_SPEC int dPlaneClass;
-extern GLOBAL_SHAREDLIB_SPEC int dGeomGroupClass;
-extern GLOBAL_SHAREDLIB_SPEC int dGeomTransformClass;
-
-/* constructors */
-dGeomID dCreateSphere (dSpaceID space, dReal radius);
-dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
-dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
-dGeomID dCreateCCylinder (dSpaceID space, dReal radius, dReal length);
-dGeomID dCreateGeomGroup (dSpaceID space);
-
-/* set geometry parameters */
-void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
-void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
-void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
-void dGeomCCylinderSetParams (dGeomID ccylinder, dReal radius, dReal length);
-
-/* get geometry parameters */
-int   dGeomGetClass (dGeomID);
-dReal dGeomSphereGetRadius (dGeomID sphere);
-void  dGeomBoxGetLengths (dGeomID box, dVector3 result);
-void  dGeomPlaneGetParams (dGeomID plane, dVector4 result);
-void  dGeomCCylinderGetParams (dGeomID ccylinder,
-			       dReal *radius, dReal *length);
-
-/* general functions */
-void dGeomSetData (dGeomID, void *);
-void *dGeomGetData (dGeomID);
-void dGeomSetBody (dGeomID, dBodyID);
-dBodyID dGeomGetBody (dGeomID);
-void dGeomSetPosition (dGeomID, dReal x, dReal y, dReal z);
-void dGeomSetRotation (dGeomID, const dMatrix3 R);
-const dReal * dGeomGetPosition (dGeomID);
-const dReal * dGeomGetRotation (dGeomID);
-void dGeomDestroy (dGeomID);
-void dGeomGetAABB (dGeomID, dReal aabb[6]);
-dReal *dGeomGetSpaceAABB (dGeomID);
-
-/* ************************************************************************ */
-/* geometry group functions */
-
-void dGeomGroupAdd (dGeomID group, dGeomID x);
-void dGeomGroupRemove (dGeomID group, dGeomID x);
-int dGeomGroupGetNumGeoms (dGeomID group);
-dGeomID dGeomGroupGetGeom (dGeomID group, int i);
-
-/* ************************************************************************ */
-/* transformed geometry functions */
-
-dGeomID dCreateGeomTransform (dSpaceID space);
-void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
-dGeomID dGeomTransformGetGeom (dGeomID g);
-void dGeomTransformSetCleanup (dGeomID g, int mode);
-int dGeomTransformGetCleanup (dGeomID g);
-void dGeomTransformSetInfo (dGeomID g, int mode);
-int dGeomTransformGetInfo (dGeomID g);
-
-/* ************************************************************************ */
-/* general collision */
-
-int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
-	      int skip);
-
-/* ************************************************************************ */
-/* custom classes */
-
-typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
-typedef int dColliderFn (dGeomID o1, dGeomID o2,
-			 int flags, dContactGeom *contact, int skip);
-typedef dColliderFn * dGetColliderFnFn (int num);
-typedef void dGeomDtorFn (dGeomID o);
-typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
-
-typedef struct dGeomClass {
-  int bytes;
-  dGetColliderFnFn *collider;
-  dGetAABBFn *aabb;
-  dAABBTestFn *aabb_test;
-  dGeomDtorFn *dtor;
-} dGeomClass;
-
-int dCreateGeomClass (const dGeomClass *classptr);
-void * dGeomGetClassData (dGeomID);
-dGeomID dCreateGeom (int classnum);
-
-/* ************************************************************************ */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/mass.h b/extern/ode/dist/include/ode/mass.h
deleted file mode 100644
index 8e75da0c1eb..00000000000
--- a/extern/ode/dist/include/ode/mass.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_MASS_H_
-#define _ODE_MASS_H_
-
-#include <ode/common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct dMass;
-typedef struct dMass dMass;
-
-
-void dMassSetZero (dMass *);
-
-void dMassSetParameters (dMass *, dReal themass,
-			 dReal cgx, dReal cgy, dReal cgz,
-			 dReal I11, dReal I22, dReal I33,
-			 dReal I12, dReal I13, dReal I23);
-
-void dMassSetSphere (dMass *, dReal density, dReal radius);
-
-void dMassSetCappedCylinder (dMass *, dReal density, int direction,
-			     dReal a, dReal b);
-
-void dMassSetBox (dMass *, dReal density,
-		  dReal lx, dReal ly, dReal lz);
-
-void dMassAdjust (dMass *, dReal newmass);
-
-void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
-
-void dMassRotate (dMass *, const dMatrix3 R);
-
-void dMassAdd (dMass *a, const dMass *b);
-
-
-
-struct dMass {
-  dReal mass;
-  dVector4 c;
-  dMatrix3 I;
-
-#ifdef __cplusplus
-  dMass()
-    { dMassSetZero (this); }
-  void setZero()
-    { dMassSetZero (this); }
-  void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
-		      dReal I11, dReal I22, dReal I33,
-		      dReal I12, dReal I13, dReal I23)
-    { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
-  void setSphere (dReal density, dReal radius)
-    { dMassSetSphere (this,density,radius); }
-  void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
-    { dMassSetCappedCylinder (this,density,direction,a,b); }
-  void setBox (dReal density, dReal lx, dReal ly, dReal lz)
-    { dMassSetBox (this,density,lx,ly,lz); }
-  void adjust (dReal newmass)
-    { dMassAdjust (this,newmass); }
-  void translate (dReal x, dReal y, dReal z)
-    { dMassTranslate (this,x,y,z); }
-  void rotate (const dMatrix3 R)
-    { dMassRotate (this,R); }
-  void add (const dMass *b)
-    { dMassAdd (this,b); }
-#endif
-};
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/matrix.h b/extern/ode/dist/include/ode/matrix.h
deleted file mode 100644
index 94d830095cd..00000000000
--- a/extern/ode/dist/include/ode/matrix.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/* optimized and unoptimized vector and matrix functions */
-
-#ifndef _ODE_MATRIX_H_
-#define _ODE_MATRIX_H_
-
-#include <ode/common.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* set a vector/matrix of size n to all zeros, or to a specific value. */
-
-void dSetZero (dReal *a, int n);
-void dSetValue (dReal *a, int n, dReal value);
-
-
-/* get the dot product of two n*1 vectors. if n <= 0 then
- * zero will be returned (in which case a and b need not be valid).
- */
-
-dReal dDot (const dReal *a, const dReal *b, int n);
-
-
-/* get the dot products of (a0,b), (a1,b), etc and return them in outsum.
- * all vectors are n*1. if n <= 0 then zeroes will be returned (in which case
- * the input vectors need not be valid). this function is somewhat faster
- * than calling dDot() for all of the combinations separately.
- */
-
-/* NOT INCLUDED in the library for now.
-void dMultidot2 (const dReal *a0, const dReal *a1,
-		 const dReal *b, dReal *outsum, int n);
-*/
-
-
-/* matrix multiplication. all matrices are stored in standard row format.
- * the digit refers to the argument that is transposed:
- *   0:   A = B  * C   (sizes: A:p*r B:p*q C:q*r)
- *   1:   A = B' * C   (sizes: A:p*r B:q*p C:q*r)
- *   2:   A = B  * C'  (sizes: A:p*r B:p*q C:r*q)
- * case 1,2 are equivalent to saying that the operation is A=B*C but
- * B or C are stored in standard column format.
- */
-
-void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-
-
-/* do an in-place cholesky decomposition on the lower triangle of the n*n
- * symmetric matrix A (which is stored by rows). the resulting lower triangle
- * will be such that L*L'=A. return 1 on success and 0 on failure (on failure
- * the matrix is not positive definite).
- */
-
-int dFactorCholesky (dReal *A, int n);
-
-
-/* solve for x: L*L'*x = b, and put the result back into x.
- * L is size n*n, b is size n*1. only the lower triangle of L is considered.
- */
-
-void dSolveCholesky (const dReal *L, dReal *b, int n);
-
-
-/* compute the inverse of the n*n positive definite matrix A and put it in
- * Ainv. this is not especially fast. this returns 1 on success (A was
- * positive definite) or 0 on failure (not PD).
- */
-
-int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n);
-
-
-/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no).
- * positive definite means that x'*A*x > 0 for any x. this performs a
- * cholesky decomposition of A. if the decomposition fails then the matrix
- * is not positive definite. A is stored by rows. A is not altered.
- */
-
-int dIsPositiveDefinite (const dReal *A, int n);
-
-
-/* factorize a matrix A into L*D*L', where L is lower triangular with ones on
- * the diagonal, and D is diagonal.
- * A is an n*n matrix stored by rows, with a leading dimension of n rounded
- * up to 4. L is written into the strict lower triangle of A (the ones are not
- * written) and the reciprocal of the diagonal elements of D are written into
- * d.
- */
-void dFactorLDLT (dReal *A, dReal *d, int n, int nskip);
-
-
-/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal,
- * and x,b are n*1. b is overwritten with x.
- * the leading dimension of L is `nskip'.
- */
-void dSolveL1 (const dReal *L, dReal *b, int n, int nskip);
-
-
-/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal,
- * and x,b are n*1. b is overwritten with x.
- * the leading dimension of L is `nskip'.
- */
-void dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
-
-
-/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */
-
-void dVectorScale (dReal *a, const dReal *d, int n);
-
-
-/* given `L', a n*n lower triangular matrix with ones on the diagonal,
- * and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix
- * D, solve L*D*L'*x=b where x,b are n*1. x overwrites b.
- * the leading dimension of L is `nskip'.
- */
-
-void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip);
-
-
-/* given an L*D*L' factorization of an n*n matrix A, return the updated
- * factorization L2*D2*L2' of A plus the following "top left" matrix:
- *
- *    [ b a' ]     <-- b is a[0]
- *    [ a 0  ]     <-- a is a[1..n-1]
- *
- *   - L has size n*n, its leading dimension is nskip. L is lower triangular
- *     with ones on the diagonal. only the lower triangle of L is referenced.
- *   - d has size n. d contains the reciprocal diagonal elements of D.
- *   - a has size n.
- * the result is written into L, except that the left column of L and d[0]
- * are not actually modified. see ldltaddTL.m for further comments. 
- */
-void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip);
-
-
-/* given an L*D*L' factorization of a permuted matrix A, produce a new
- * factorization for row and column `r' removed.
- *   - A has size n1*n1, its leading dimension in nskip. A is symmetric and
- *     positive definite. only the lower triangle of A is referenced.
- *     A itself may actually be an array of row pointers.
- *   - L has size n2*n2, its leading dimension in nskip. L is lower triangular
- *     with ones on the diagonal. only the lower triangle of L is referenced.
- *   - d has size n2. d contains the reciprocal diagonal elements of D.
- *   - p is a permutation vector. it contains n2 indexes into A. each index
- *     must be in the range 0..n1-1.
- *   - r is the row/column of L to remove.
- * the new L will be written within the old L, i.e. will have the same leading
- * dimension. the last row and column of L, and the last element of d, are
- * undefined on exit.
- *
- * a fast O(n^2) algorithm is used. see ldltremove.m for further comments.
- */
-void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
-		  int n1, int n2, int r, int nskip);
-
-
-/* given an n*n matrix A (with leading dimension nskip), remove the r'th row
- * and column by moving elements. the new matrix will have the same leading
- * dimension. the last row and column of A are untouched on exit.
- */
-void dRemoveRowCol (dReal *A, int n, int nskip, int r);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/memory.h b/extern/ode/dist/include/ode/memory.h
deleted file mode 100644
index 7ea668e4d39..00000000000
--- a/extern/ode/dist/include/ode/memory.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/* this comes from the `reuse' library. copy any changes back to the source */
-
-#ifndef _ODE_MEMORY_H_
-#define _ODE_MEMORY_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* function types to allocate and free memory */
-typedef void * dAllocFunction (int size);
-typedef void * dReallocFunction (void *ptr, int oldsize, int newsize);
-typedef void dFreeFunction (void *ptr, int size);
-
-/* set new memory management functions. if fn is 0, the default handlers are
- * used. */
-void dSetAllocHandler (dAllocFunction *fn);
-void dSetReallocHandler (dReallocFunction *fn);
-void dSetFreeHandler (dFreeFunction *fn);
-
-/* get current memory management functions */
-dAllocFunction *dGetAllocHandler ();
-dReallocFunction *dGetReallocHandler ();
-dFreeFunction *dGetFreeHandler ();
-
-/* allocate and free memory. */
-void * dAlloc (int size);
-void * dRealloc (void *ptr, int oldsize, int newsize);
-void dFree (void *ptr, int size);
-
-/* when alloc debugging is turned on, this indicates that the given block of
- * alloc()ed memory should not be reported as "still in use" when the program
- * exits.
- */
-void dAllocDontReport (void *ptr);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/misc.h b/extern/ode/dist/include/ode/misc.h
deleted file mode 100644
index 241ad71ed9e..00000000000
--- a/extern/ode/dist/include/ode/misc.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/* miscellaneous math functions. these are mostly useful for testing */
-
-#ifndef _ODE_MISC_H_
-#define _ODE_MISC_H_
-
-#include <ode/common.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* return 1 if the random number generator is working. */
-int dTestRand();
-
-/* return next 32 bit random number. this uses a not-very-random linear
- * congruential method.
- */
-unsigned long dRand();
-
-/* get and set the current random number seed. */
-unsigned long  dRandGetSeed();
-void dRandSetSeed (unsigned long s);
-
-/* return a random integer between 0..n-1. the distribution will get worse
- * as n approaches 2^32.
- */
-int dRandInt (int n);
-
-/* return a random real number between 0..1 */
-dReal dRandReal();
-
-/* print out a matrix */
-#ifdef __cplusplus
-void dPrintMatrix (dReal *A, int n, int m, char *fmt = "%10.4f ",
-		   FILE *f=stdout);
-#else
-void dPrintMatrix (dReal *A, int n, int m, char *fmt, FILE *f);
-#endif
-
-/* make a random vector with entries between +/- range. A has n elements. */
-void dMakeRandomVector (dReal *A, int n, dReal range);
-
-/* make a random matrix with entries between +/- range. A has size n*m. */
-void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
-
-/* clear the upper triangle of a square matrix */
-void dClearUpperTriangle (dReal *A, int n);
-
-/* return the maximum element difference between the two n*m matrices */
-dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m);
-
-/* return the maximum element difference between the lower triangle of two
- * n*n matrices */
-dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/objects.h b/extern/ode/dist/include/ode/objects.h
deleted file mode 100644
index 606051ead34..00000000000
--- a/extern/ode/dist/include/ode/objects.h
+++ /dev/null
@@ -1,202 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_OBJECTS_H_
-#define _ODE_OBJECTS_H_
-
-#include <ode/common.h>
-#include <ode/mass.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* world */
-
-dWorldID dWorldCreate();
-void dWorldDestroy (dWorldID);
-
-void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
-void dWorldGetGravity (dWorldID, dVector3 gravity);
-void dWorldSetERP (dWorldID, dReal erp);
-dReal dWorldGetERP (dWorldID);
-void dWorldSetCFM (dWorldID, dReal cfm);
-dReal dWorldGetCFM (dWorldID);
-void dWorldStep (dWorldID, dReal stepsize);
-void dWorldImpulseToForce (dWorldID, dReal stepsize,
-			   dReal ix, dReal iy, dReal iz, dVector3 force);
-
-/* bodies */
-
-dBodyID dBodyCreate (dWorldID);
-void dBodyDestroy (dBodyID);
-
-void  dBodySetData (dBodyID, void *data);
-void *dBodyGetData (dBodyID);
-
-void dBodySetPosition   (dBodyID, dReal x, dReal y, dReal z);
-void dBodySetRotation   (dBodyID, const dMatrix3 R);
-void dBodySetQuaternion (dBodyID, const dQuaternion q);
-void dBodySetLinearVel  (dBodyID, dReal x, dReal y, dReal z);
-void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
-const dReal * dBodyGetPosition   (dBodyID);
-const dReal * dBodyGetRotation   (dBodyID);	/* ptr to 4x3 rot matrix */
-const dReal * dBodyGetQuaternion (dBodyID);
-const dReal * dBodyGetLinearVel  (dBodyID);
-const dReal * dBodyGetAngularVel (dBodyID);
-
-void dBodySetMass (dBodyID, const dMass *mass);
-void dBodyGetMass (dBodyID, dMass *mass);
-
-void dBodyAddForce            (dBodyID, dReal fx, dReal fy, dReal fz);
-void dBodyAddTorque           (dBodyID, dReal fx, dReal fy, dReal fz);
-void dBodyAddRelForce         (dBodyID, dReal fx, dReal fy, dReal fz);
-void dBodyAddRelTorque        (dBodyID, dReal fx, dReal fy, dReal fz);
-void dBodyAddForceAtPos       (dBodyID, dReal fx, dReal fy, dReal fz,
-			                dReal px, dReal py, dReal pz);
-void dBodyAddForceAtRelPos    (dBodyID, dReal fx, dReal fy, dReal fz,
-			                dReal px, dReal py, dReal pz);
-void dBodyAddRelForceAtPos    (dBodyID, dReal fx, dReal fy, dReal fz,
-			                dReal px, dReal py, dReal pz);
-void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
-			                dReal px, dReal py, dReal pz);
-
-const dReal * dBodyGetForce   (dBodyID);
-const dReal * dBodyGetTorque  (dBodyID);
-void dBodySetForce  (dBodyID b, dReal x, dReal y, dReal z);
-void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
-
-void dBodyGetRelPointPos    (dBodyID, dReal px, dReal py, dReal pz,
-			     dVector3 result);
-void dBodyGetRelPointVel    (dBodyID, dReal px, dReal py, dReal pz,
-			     dVector3 result);
-void dBodyGetPointVel       (dBodyID, dReal px, dReal py, dReal pz,
-			     dVector3 result);
-void dBodyGetPosRelPoint    (dBodyID, dReal px, dReal py, dReal pz,
-			     dVector3 result);
-void dBodyVectorToWorld     (dBodyID, dReal px, dReal py, dReal pz,
-			     dVector3 result);
-void dBodyVectorFromWorld   (dBodyID, dReal px, dReal py, dReal pz,
-			     dVector3 result);
-
-void dBodySetFiniteRotationMode (dBodyID, int mode);
-void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
-
-int dBodyGetFiniteRotationMode (dBodyID);
-void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
-
-int dBodyGetNumJoints (dBodyID b);
-dJointID dBodyGetJoint (dBodyID, int index);
-
-void dBodyEnable (dBodyID);
-void dBodyDisable (dBodyID);
-int dBodyIsEnabled (dBodyID);
-
-void dBodySetGravityMode (dBodyID b, int mode);
-int dBodyGetGravityMode (dBodyID b);
-
-
-/* joints */
-
-dJointID dJointCreateBall (dWorldID, dJointGroupID);
-dJointID dJointCreateHinge (dWorldID, dJointGroupID);
-dJointID dJointCreateSlider (dWorldID, dJointGroupID);
-dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
-dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
-dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
-dJointID dJointCreateFixed (dWorldID, dJointGroupID);
-dJointID dJointCreateNull (dWorldID, dJointGroupID);
-dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
-
-void dJointDestroy (dJointID);
-
-dJointGroupID dJointGroupCreate (int max_size);
-void dJointGroupDestroy (dJointGroupID);
-void dJointGroupEmpty (dJointGroupID);
-
-void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
-void dJointSetData (dJointID, void *data);
-void *dJointGetData (dJointID);
-int dJointGetType (dJointID);
-dBodyID dJointGetBody (dJointID, int index);
-
-void dJointSetFeedback (dJointID, dJointFeedback *);
-dJointFeedback *dJointGetFeedback (dJointID);
-
-void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHingeParam (dJointID, int parameter, dReal value);
-void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
-void dJointSetSliderParam (dJointID, int parameter, dReal value);
-void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHinge2Param (dJointID, int parameter, dReal value);
-void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
-void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
-void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
-void dJointSetFixed (dJointID);
-void dJointSetAMotorNumAxes (dJointID, int num);
-void dJointSetAMotorAxis (dJointID, int anum, int rel,
-			  dReal x, dReal y, dReal z);
-void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
-void dJointSetAMotorParam (dJointID, int parameter, dReal value);
-void dJointSetAMotorMode (dJointID, int mode);
-
-void dJointGetBallAnchor (dJointID, dVector3 result);
-void dJointGetHingeAnchor (dJointID, dVector3 result);
-void dJointGetHingeAxis (dJointID, dVector3 result);
-dReal dJointGetHingeParam (dJointID, int parameter);
-dReal dJointGetHingeAngle (dJointID);
-dReal dJointGetHingeAngleRate (dJointID);
-dReal dJointGetSliderPosition (dJointID);
-dReal dJointGetSliderPositionRate (dJointID);
-void dJointGetSliderAxis (dJointID, dVector3 result);
-dReal dJointGetSliderParam (dJointID, int parameter);
-void dJointGetHinge2Anchor (dJointID, dVector3 result);
-void dJointGetHinge2Axis1 (dJointID, dVector3 result);
-void dJointGetHinge2Axis2 (dJointID, dVector3 result);
-dReal dJointGetHinge2Param (dJointID, int parameter);
-dReal dJointGetHinge2Angle1 (dJointID);
-dReal dJointGetHinge2Angle1Rate (dJointID);
-dReal dJointGetHinge2Angle2Rate (dJointID);
-void dJointGetUniversalAnchor (dJointID, dVector3 result);
-void dJointGetUniversalAxis1 (dJointID, dVector3 result);
-void dJointGetUniversalAxis2 (dJointID, dVector3 result);
-int dJointGetAMotorNumAxes (dJointID);
-void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
-int dJointGetAMotorAxisRel (dJointID, int anum);
-dReal dJointGetAMotorAngle (dJointID, int anum);
-dReal dJointGetAMotorAngleRate (dJointID, int anum);
-dReal dJointGetAMotorParam (dJointID, int parameter);
-int dJointGetAMotorMode (dJointID);
-
-int dAreConnected (dBodyID, dBodyID);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/ode.h b/extern/ode/dist/include/ode/ode.h
deleted file mode 100644
index da7f2e1a0e7..00000000000
--- a/extern/ode/dist/include/ode/ode.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_ODE_H_
-#define _ODE_ODE_H_
-
-/* include *everything* here */
-
-#include <ode/config.h>
-#include <ode/common.h>
-#include <ode/contact.h>
-#include <ode/error.h>
-#include <ode/memory.h>
-#include <ode/odemath.h>
-#include <ode/matrix.h>
-#include <ode/timer.h>
-#include <ode/rotation.h>
-#include <ode/mass.h>
-#include <ode/space.h>
-#include <ode/geom.h>
-#include <ode/misc.h>
-#include <ode/objects.h>
-#include <ode/odecpp.h>
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/odecpp.h b/extern/ode/dist/include/ode/odecpp.h
deleted file mode 100644
index 35712236d1d..00000000000
--- a/extern/ode/dist/include/ode/odecpp.h
+++ /dev/null
@@ -1,797 +0,0 @@
-/*************************************************************************
- *									 *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.	 *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org 	 *
- *									 *
- * This library is free software; you can redistribute it and/or	 *
- * modify it under the terms of EITHER: 				 *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *	 Software Foundation; either version 2.1 of the License, or (at  *
- *	 your option) any later version. The text of the GNU Lesser	 *
- *	 General Public License is included with this library in the	 *
- *	 file LICENSE.TXT.						 *
- *   (2) The BSD-style license that is included with this library in	 *
- *	 the file LICENSE-BSD.TXT.					 *
- *									 *
- * This library 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 files	 *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.			 *
- *									 *
- *************************************************************************/
-
-// C++ interface for everything
-
-
-#ifndef _ODE_ODECPP_H_
-#define _ODE_ODECPP_H_
-#ifdef __cplusplus
-
-#include <ode/error.h>
-
-
-class dWorld {
-  dWorldID _id;
-
-  // intentionally undefined, don't use these
-  dWorld (const dWorld &);
-  void operator= (const dWorld &);
-
-public:
-  dWorld()
-    { _id = dWorldCreate(); }
-  ~dWorld()
-    { dWorldDestroy (_id); }
-
-  dWorldID id() const
-    { return _id; }
-  operator dWorldID() const
-    { return _id; }
-
-  void setGravity (dReal x, dReal y, dReal z)
-    { dWorldSetGravity (_id,x,y,z); }
-  void getGravity (dVector3 g) const
-    { dWorldGetGravity (_id,g); }
-
-  void setERP (dReal erp)
-    { dWorldSetERP(_id, erp); }
-  dReal getERP() const
-    { return dWorldGetERP(_id); }
-
-  void setCFM (dReal cfm)
-    { dWorldSetCFM(_id, cfm); }
-  dReal getCFM() const
-    { return dWorldGetCFM(_id); }
-
-  void step (dReal stepsize)
-    { dWorldStep (_id,stepsize); }
-
-  void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
-		       dVector3 force)
-    { dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); }
-};
-
-
-class dBody {
-  dBodyID _id;
-
-  // intentionally undefined, don't use these
-  dBody (const dBody &);
-  void operator= (const dBody &);
-
-public:
-  dBody()
-    { _id = 0; }
-  dBody (dWorldID world)
-    { _id = dBodyCreate (world); }
-  ~dBody()
-    { if (_id) dBodyDestroy (_id); }
-
-  void create (dWorldID world) {
-    if (_id) dBodyDestroy (_id);
-    _id = dBodyCreate (world);
-  }
-
-  dBodyID id() const
-    { return _id; }
-  operator dBodyID() const
-    { return _id; }
-
-  void setData (void *data)
-    { dBodySetData (_id,data); }
-  void *getData() const
-    { return dBodyGetData (_id); }
-
-  void setPosition (dReal x, dReal y, dReal z)
-    { dBodySetPosition (_id,x,y,z); }
-  void setRotation (const dMatrix3 R)
-    { dBodySetRotation (_id,R); }
-  void setQuaternion (const dQuaternion q)
-    { dBodySetQuaternion (_id,q); }
-  void setLinearVel  (dReal x, dReal y, dReal z)
-    { dBodySetLinearVel (_id,x,y,z); }
-  void setAngularVel (dReal x, dReal y, dReal z)
-    { dBodySetAngularVel (_id,x,y,z); }
-
-  const dReal * getPosition() const
-    { return dBodyGetPosition (_id); }
-  const dReal * getRotation() const
-    { return dBodyGetRotation (_id); }
-  const dReal * getQuaternion() const
-    { return dBodyGetQuaternion (_id); }
-  const dReal * getLinearVel() const
-    { return dBodyGetLinearVel (_id); }
-  const dReal * getAngularVel() const
-    { return dBodyGetAngularVel (_id); }
-
-  void setMass (const dMass *mass)
-    { dBodySetMass (_id,mass); }
-  void getMass (dMass *mass) const
-    { dBodyGetMass (_id,mass); }
-
-  void addForce (dReal fx, dReal fy, dReal fz)
-    { dBodyAddForce (_id, fx, fy, fz); }
-  void addTorque (dReal fx, dReal fy, dReal fz)
-    { dBodyAddTorque (_id, fx, fy, fz); }
-  void addRelForce (dReal fx, dReal fy, dReal fz)
-    { dBodyAddRelForce (_id, fx, fy, fz); }
-  void addRelTorque (dReal fx, dReal fy, dReal fz)
-    { dBodyAddRelTorque (_id, fx, fy, fz); }
-  void addForceAtPos (dReal fx, dReal fy, dReal fz,
-		      dReal px, dReal py, dReal pz)
-    { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
-  void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
-		      dReal px, dReal py, dReal pz)
-    { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
-  void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
-			 dReal px, dReal py, dReal pz)
-    { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
-  void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
-			    dReal px, dReal py, dReal pz)
-    { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
-
-  const dReal * getForce() const
-    { return dBodyGetForce(_id); }
-  const dReal * getTorque() const
-    { return dBodyGetTorque(_id); }
-  void setForce (dReal x, dReal y, dReal z)
-    { dBodySetForce (_id,x,y,z); }
-  void setTorque (dReal x, dReal y, dReal z)
-    { dBodySetTorque (_id,x,y,z); }
-
-  void enable()
-    { dBodyEnable (_id); }
-  void disable()
-    { dBodyDisable (_id); }
-  int isEnabled() const
-    { return dBodyIsEnabled (_id); }
-
-  void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
-    { dBodyGetRelPointPos (_id, px, py, pz, result); }
-  void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
-    { dBodyGetRelPointVel (_id, px, py, pz, result); }
-  void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
-    { dBodyGetPointVel (_id,px,py,pz,result); }
-  void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
-    { dBodyGetPosRelPoint (_id,px,py,pz,result); }
-  void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
-    { dBodyVectorToWorld (_id,px,py,pz,result); }
-  void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
-    { dBodyVectorFromWorld (_id,px,py,pz,result); }
-
-  void setFiniteRotationMode (int mode)
-    { dBodySetFiniteRotationMode (_id, mode); }
-  void setFiniteRotationAxis (dReal x, dReal y, dReal z)
-    { dBodySetFiniteRotationAxis (_id, x, y, z); }
-
-  int getFiniteRotationMode() const
-    { return dBodyGetFiniteRotationMode (_id); }
-  void getFiniteRotationAxis (dVector3 result) const
-    { dBodyGetFiniteRotationAxis (_id, result); }
-
-  int getNumJoints() const
-    { return dBodyGetNumJoints (_id); }
-  dJointID getJoint (int index) const
-    { return dBodyGetJoint (_id, index); }
-
-  void setGravityMode (int mode)
-    { dBodySetGravityMode (_id,mode); }
-  int getGravityMode() const
-    { return dBodyGetGravityMode (_id); }
-
-  int isConnectedTo (dBodyID body) const
-    { return dAreConnected (_id, body); }
-};
-
-
-class dJointGroup {
-  dJointGroupID _id;
-
-  // intentionally undefined, don't use these
-  dJointGroup (const dJointGroup &);
-  void operator= (const dJointGroup &);
-
-public:
-  dJointGroup (int dummy_arg=0)
-    { _id = dJointGroupCreate (0); }
-  ~dJointGroup()
-    { dJointGroupDestroy (_id); }
-  void create (int dummy_arg=0) {
-    if (_id) dJointGroupDestroy (_id);
-    _id = dJointGroupCreate (0);
-  }
-
-  dJointGroupID id() const
-    { return _id; }
-  operator dJointGroupID() const
-    { return _id; }
-
-  void empty()
-    { dJointGroupEmpty (_id); }
-};
-
-
-class dJoint {
-private:
-  // intentionally undefined, don't use these
-  dJoint (const dJoint &) ;
-  void operator= (const dJoint &);
-
-protected:
-  dJointID _id;
-
-public:
-  dJoint()
-    { _id = 0; }
-  ~dJoint()
-    { if (_id) dJointDestroy (_id); }
-
-  dJointID id() const
-    { return _id; }
-  operator dJointID() const
-    { return _id; }
-
-  void attach (dBodyID body1, dBodyID body2)
-    { dJointAttach (_id, body1, body2); }
-
-  void setData (void *data)
-    { dJointSetData (_id, data); }
-  void *getData (void *data) const
-    { return dJointGetData (_id); }
-
-  int getType() const
-    { return dJointGetType (_id); }
-
-  dBodyID getBody (int index) const
-    { return dJointGetBody (_id, index); }
-};
-
-
-class dBallJoint : public dJoint {
-private:
-  // intentionally undefined, don't use these
-  dBallJoint (const dBallJoint &);
-  void operator= (const dBallJoint &);
-
-public:
-  dBallJoint() { }
-  dBallJoint (dWorldID world, dJointGroupID group=0)
-    { _id = dJointCreateBall (world, group); }
-
-  void create (dWorldID world, dJointGroupID group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateBall (world, group);
-  }
-
-  void setAnchor (dReal x, dReal y, dReal z)
-    { dJointSetBallAnchor (_id, x, y, z); }
-  void getAnchor (dVector3 result) const
-    { dJointGetBallAnchor (_id, result); }
-} ;
-
-
-class dHingeJoint : public dJoint {
-  // intentionally undefined, don't use these
-  dHingeJoint (const dHingeJoint &);
-  void operator = (const dHingeJoint &);
-
-public:
-  dHingeJoint() { }
-  dHingeJoint (dWorldID world, dJointGroupID group=0)
-    { _id = dJointCreateHinge (world, group); }
-
-  void create (dWorldID world, dJointGroupID group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateHinge (world, group);
-  }
-
-  void setAnchor (dReal x, dReal y, dReal z)
-    { dJointSetHingeAnchor (_id, x, y, z); }
-  void getAnchor (dVector3 result) const
-    { dJointGetHingeAnchor (_id, result); }
-
-  void setAxis (dReal x, dReal y, dReal z)
-    { dJointSetHingeAxis (_id, x, y, z); }
-  void getAxis (dVector3 result) const
-    { dJointGetHingeAxis (_id, result); }
-
-  dReal getAngle() const
-    { return dJointGetHingeAngle (_id); }
-  dReal getAngleRate() const
-    { return dJointGetHingeAngleRate (_id); }
-
-  void setParam (int parameter, dReal value)
-    { dJointSetHingeParam (_id, parameter, value); }
-  dReal getParam (int parameter) const
-    { return dJointGetHingeParam (_id, parameter); }
-};
-
-
-class dSliderJoint : public dJoint {
-  // intentionally undefined, don't use these
-  dSliderJoint (const dSliderJoint &);
-  void operator = (const dSliderJoint &);
-
-public:
-  dSliderJoint() { }
-  dSliderJoint (dWorldID world, dJointGroupID group=0)
-    { _id = dJointCreateSlider (world, group); }
-
-  void create (dWorldID world, dJointGroupID group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateSlider (world, group);
-  }
-
-  void setAxis (dReal x, dReal y, dReal z)
-    { dJointSetSliderAxis (_id, x, y, z); }
-  void getAxis (dVector3 result) const
-    { dJointGetSliderAxis (_id, result); }
-
-  dReal getPosition() const
-    { return dJointGetSliderPosition (_id); }
-  dReal getPositionRate() const
-    { return dJointGetSliderPositionRate (_id); }
-
-  void setParam (int parameter, dReal value)
-    { dJointSetSliderParam (_id, parameter, value); }
-  dReal getParam (int parameter) const
-    { return dJointGetSliderParam (_id, parameter); }
-};
-
-
-class dUniversalJoint : public dJoint {
-  // intentionally undefined, don't use these
-  dUniversalJoint (const dUniversalJoint &);
-  void operator = (const dUniversalJoint &);
-
-public:
-  dUniversalJoint() { }
-  dUniversalJoint (dWorldID world, dJointGroupID group=0)
-    { _id = dJointCreateUniversal (world, group); }
-
-  void create (dWorldID world, dJointGroupID group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateUniversal (world, group);
-  }
-
-  void setAnchor (dReal x, dReal y, dReal z)
-    { dJointSetUniversalAnchor (_id, x, y, z); }
-  void setAxis1 (dReal x, dReal y, dReal z)
-    { dJointSetUniversalAxis1 (_id, x, y, z); }
-  void setAxis2 (dReal x, dReal y, dReal z)
-    { dJointSetUniversalAxis2 (_id, x, y, z); }
-
-  void getAnchor (dVector3 result) const
-    { dJointGetUniversalAnchor (_id, result); }
-  void getAxis1 (dVector3 result) const
-    { dJointGetUniversalAxis1 (_id, result); }
-  void getAxis2 (dVector3 result) const
-    { dJointGetUniversalAxis2 (_id, result); }
-};
-
-
-class dHinge2Joint : public dJoint {
-  // intentionally undefined, don't use these
-  dHinge2Joint (const dHinge2Joint &);
-  void operator = (const dHinge2Joint &);
-
-public:
-  dHinge2Joint() { }
-  dHinge2Joint (dWorldID world, dJointGroupID group=0)
-    { _id = dJointCreateHinge2 (world, group); }
-
-  void create (dWorldID world, dJointGroupID group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateHinge2 (world, group);
-  }
-
-  void setAnchor (dReal x, dReal y, dReal z)
-    { dJointSetHinge2Anchor (_id, x, y, z); }
-  void setAxis1 (dReal x, dReal y, dReal z)
-    { dJointSetHinge2Axis1 (_id, x, y, z); }
-  void setAxis2 (dReal x, dReal y, dReal z)
-    { dJointSetHinge2Axis2 (_id, x, y, z); }
-
-  void getAnchor (dVector3 result) const
-    { dJointGetHinge2Anchor (_id, result); }
-  void getAxis1 (dVector3 result) const
-    { dJointGetHinge2Axis1 (_id, result); }
-  void getAxis2 (dVector3 result) const
-    { dJointGetHinge2Axis2 (_id, result); }
-
-  dReal getAngle1() const
-    { return dJointGetHinge2Angle1 (_id); }
-  dReal getAngle1Rate() const
-    { return dJointGetHinge2Angle1Rate (_id); }
-  dReal getAngle2Rate() const
-    { return dJointGetHinge2Angle2Rate (_id); }
-
-  void setParam (int parameter, dReal value)
-    { dJointSetHinge2Param (_id, parameter, value); }
-  dReal getParam (int parameter) const
-    { return dJointGetHinge2Param (_id, parameter); }
-};
-
-
-class dFixedJoint : public dJoint {
-  // intentionally undefined, don't use these
-  dFixedJoint (const dFixedJoint &);
-  void operator = (const dFixedJoint &);
-
-public:
-  dFixedJoint() { }
-  dFixedJoint (dWorldID world, dJointGroupID group=0)
-    { _id = dJointCreateFixed (world, group); }
-
-  void create (dWorldID world, dJointGroupID group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateFixed (world, group);
-  }
-
-  void set()
-    { dJointSetFixed (_id); }
-};
-
-
-class dContactJoint : public dJoint {
-  // intentionally undefined, don't use these
-  dContactJoint (const dContactJoint &);
-  void operator = (const dContactJoint &);
-
-public:
-  dContactJoint() { }
-  dContactJoint (dWorldID world, dJointGroupID group, dContact *contact)
-    { _id = dJointCreateContact (world, group, contact); }
-
-  void create (dWorldID world, dJointGroupID group, dContact *contact) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateContact (world, group, contact);
-  }
-};
-
-
-class dNullJoint : public dJoint {
-  // intentionally undefined, don't use these
-  dNullJoint (const dNullJoint &);
-  void operator = (const dNullJoint &);
-
-public:
-  dNullJoint() { }
-  dNullJoint (dWorldID world, dJointGroupID group=0)
-    { _id = dJointCreateNull (world, group); }
-
-  void create (dWorldID world, dJointGroupID group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateNull (world, group);
-  }
-};
-
-
-class dAMotorJoint : public dJoint {
-  // intentionally undefined, don't use these
-  dAMotorJoint (const dAMotorJoint &);
-  void operator = (const dAMotorJoint &);
-
-public:
-  dAMotorJoint() { }
-  dAMotorJoint (dWorldID world, dJointGroupID group=0)
-    { _id = dJointCreateAMotor (world, group); }
-
-  void create (dWorldID world, dJointGroupID group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateAMotor (world, group);
-  }
-
-  void setMode (int mode)
-    { dJointSetAMotorMode (_id, mode); }
-  int getMode() const
-    { return dJointGetAMotorMode (_id); }
-
-  void setNumAxes (int num)
-    { dJointSetAMotorNumAxes (_id, num); }
-  int getNumAxes() const
-    { return dJointGetAMotorNumAxes (_id); }
-
-  void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
-    { dJointSetAMotorAxis (_id, anum, rel, x, y, z); }
-  void getAxis (int anum, dVector3 result) const
-    { dJointGetAMotorAxis (_id, anum, result); }
-  int getAxisRel (int anum) const
-    { return dJointGetAMotorAxisRel (_id, anum); }
-
-  void setAngle (int anum, dReal angle)
-    { dJointSetAMotorAngle (_id, anum, angle); }
-  dReal getAngle (int anum) const
-    { return dJointGetAMotorAngle (_id, anum); }
-  dReal getAngleRate (int anum)
-    { return dJointGetAMotorAngleRate (_id,anum); }
-
-  void setParam (int parameter, dReal value)
-    { dJointSetAMotorParam (_id, parameter, value); }
-  dReal getParam (int parameter) const
-    { return dJointGetAMotorParam (_id, parameter); }
-};
-
-
-class dGeom {
-  // intentionally undefined, don't use these
-  dGeom (dGeom &);
-  void operator= (dGeom &);
-
-protected:
-  dGeomID _id;
-
-public:
-  dGeom()
-    { _id = 0; }
-  ~dGeom()
-    { if (_id) dGeomDestroy (_id); }
-
-  dGeomID id() const
-    { return _id; }
-  operator dGeomID() const
-    { return _id; }
-
-  void destroy() {
-    if (_id) dGeomDestroy (_id);
-    _id = 0;
-  }
-
-  int getClass() const
-    { return dGeomGetClass (_id); }
-
-  void setData (void *data)
-    { dGeomSetData (_id,data); }
-  void *getData() const
-    { return dGeomGetData (_id); }
-
-  void setBody (dBodyID b)
-    { dGeomSetBody (_id,b); }
-  dBodyID getBody() const
-    { return dGeomGetBody (_id); }
-
-  void setPosition (dReal x, dReal y, dReal z)
-    { dGeomSetPosition (_id,x,y,z); }
-  const dReal * getPosition() const
-    { return dGeomGetPosition (_id); }
-
-  void setRotation (const dMatrix3 R)
-    { dGeomSetRotation (_id,R); }
-  const dReal * getRotation() const
-    { return dGeomGetRotation (_id); }
-
-  void getAABB (dReal aabb[6]) const
-    { dGeomGetAABB (_id, aabb); }
-  const dReal *getSpaceAABB() const
-    { return dGeomGetSpaceAABB (_id); }
-};
-
-
-class dSpace {
-  // intentionally undefined, don't use these
-  dSpace (dSpace &);
-  void operator= (dSpace &);
-
-protected:
-  dSpaceID _id;
-
-  // the default constructor is protected so that you
-  // can't instance this class. you must instance one
-  // of its subclasses instead.
-  dSpace () { _id = 0; }
-
-public:
-  ~dSpace()
-    { dSpaceDestroy (_id); }
-
-  dSpaceID id() const
-    { return _id; }
-  operator dSpaceID() const
-    { return _id; }
-
-  void add (dGeomID x)
-    { dSpaceAdd (_id, x); }
-  void remove (dGeomID x)
-    { dSpaceRemove (_id, x); }
-  int query (dGeomID x)
-    { return dSpaceQuery (_id,x); }
-
-  void collide (void *data, dNearCallback *callback)
-    { dSpaceCollide (_id,data,callback); }
-};
-
-
-class dSimpleSpace : public dSpace {
-  // intentionally undefined, don't use these
-  dSimpleSpace (dSimpleSpace &);
-  void operator= (dSimpleSpace &);
-
-public:
-  dSimpleSpace ()
-    { _id = dSimpleSpaceCreate(); }
-};
-
-
-class dHashSpace : public dSpace {
-  // intentionally undefined, don't use these
-  dHashSpace (dHashSpace &);
-  void operator= (dHashSpace &);
-
-public:
-  dHashSpace ()
-    { _id = dHashSpaceCreate(); }
-  void setLevels (int minlevel, int maxlevel)
-    { dHashSpaceSetLevels (_id,minlevel,maxlevel); }
-};
-
-
-class dSphere : public dGeom {
-  // intentionally undefined, don't use these
-  dSphere (dSphere &);
-  void operator= (dSphere &);
-
-public:
-  dSphere () { }
-  dSphere (dSpaceID space, dReal radius)
-    { _id = dCreateSphere (space, radius); }
-
-  void create (dSpaceID space, dReal radius) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreateSphere (space, radius);
-  }
-
-  void setRadius (dReal radius)
-    { dGeomSphereSetRadius (_id, radius); }
-  dReal getRadius() const
-    { return dGeomSphereGetRadius (_id); }
-};
-
-
-class dBox : public dGeom {
-  // intentionally undefined, don't use these
-  dBox (dBox &);
-  void operator= (dBox &);
-
-public:
-  dBox () { }
-  dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
-    { _id = dCreateBox (space,lx,ly,lz); }
-
-  void create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreateBox (space,lx,ly,lz);
-  }
-
-  void setLengths (dReal lx, dReal ly, dReal lz)
-    { dGeomBoxSetLengths (_id, lx, ly, lz); }
-  void getLengths (dVector3 result) const
-    { dGeomBoxGetLengths (_id,result); }
-};
-
-
-class dPlane : public dGeom {
-  // intentionally undefined, don't use these
-  dPlane (dPlane &);
-  void operator= (dPlane &);
-
-public:
-  dPlane() { }
-  dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
-    { _id = dCreatePlane (space,a,b,c,d); }
-
-  void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreatePlane (space,a,b,c,d);
-  }
-
-  void setParams (dReal a, dReal b, dReal c, dReal d)
-    { dGeomPlaneSetParams (_id, a, b, c, d); }
-  void getParams (dVector4 result) const
-    { dGeomPlaneGetParams (_id,result); }
-};
-
-
-class dCCylinder : public dGeom {
-  // intentionally undefined, don't use these
-  dCCylinder (dCCylinder &);
-  void operator= (dCCylinder &);
-
-public:
-  dCCylinder() { }
-  dCCylinder (dSpaceID space, dReal radius, dReal length)
-    { _id = dCreateCCylinder (space,radius,length); }
-
-  void create (dSpaceID space, dReal radius, dReal length) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreateCCylinder (space,radius,length);
-  }
-
-  void setParams (dReal radius, dReal length)
-    { dGeomCCylinderSetParams (_id, radius, length); }
-  void getParams (dReal *radius, dReal *length) const
-    { dGeomCCylinderGetParams (_id,radius,length); }
-};
-
-
-class dGeomGroup : public dGeom {
-  // intentionally undefined, don't use these
-  dGeomGroup (dGeomGroup &);
-  void operator= (dGeomGroup &);
-
-public:
-  dGeomGroup() { }
-  dGeomGroup (dSpaceID space)
-    { _id = dCreateGeomGroup (space); }
-
-  void create (dSpaceID space=0) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreateGeomGroup (space);
-  }
-
-  void add (dGeomID x)
-    { dGeomGroupAdd (_id, x); }
-  void remove (dGeomID x)
-    { dGeomGroupRemove (_id, x); }
-
-  int getNumGeoms() const
-    { return dGeomGroupGetNumGeoms (_id); }
-  dGeomID getGeom (int i) const
-    { return dGeomGroupGetGeom (_id, i); }
-};
-
-
-class dGeomTransform : public dGeom {
-  // intentionally undefined, don't use these
-  dGeomTransform (dGeomTransform &);
-  void operator= (dGeomTransform &);
-
-public:
-  dGeomTransform() { }
-  dGeomTransform (dSpaceID space)
-    { _id = dCreateGeomTransform (space); }
-
-  void create (dSpaceID space=0) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreateGeomTransform (space);
-  }
-
-  void setGeom (dGeomID geom)
-    { dGeomTransformSetGeom (_id, geom); }
-  dGeomID getGeom() const
-    { return dGeomTransformGetGeom (_id); }
-
-  void setCleanup (int mode)
-    { dGeomTransformSetCleanup (_id,mode); }
-  int getCleanup (dGeomID g)
-    { return dGeomTransformGetCleanup (_id); }
-
-  void setInfo (int mode)
-    { dGeomTransformSetInfo (_id,mode); }
-  int getInfo()
-    { return dGeomTransformGetInfo (_id); }
-};
-
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/odecpp_old.h b/extern/ode/dist/include/ode/odecpp_old.h
deleted file mode 100644
index b7b55232f89..00000000000
--- a/extern/ode/dist/include/ode/odecpp_old.h
+++ /dev/null
@@ -1,317 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/* this is the old C++ interface, the new C++ interface is not quite
- * compatible with this. but this file is kept around in case you were
- * using the old interface.
- */
-
-#ifndef _ODE_ODECPP_H_
-#define _ODE_ODECPP_H_
-#ifdef __cplusplus
-
-#include <ode/error.h>
-
-
-class dWorld {
-  dWorldID _id;
-
-  dWorld (dWorld &) { dDebug (0,"bad"); }
-  void operator= (dWorld &) { dDebug (0,"bad"); }
-
-public:
-  dWorld()
-    { _id = dWorldCreate(); }
-  ~dWorld()
-    { dWorldDestroy (_id); }
-  dWorldID id()
-    { return _id; }
-
-  void setGravity (dReal x, dReal y, dReal z)
-    { dWorldSetGravity (_id,x,y,z); }
-  void getGravity (dVector3 g)
-    { dWorldGetGravity (_id,g); }
-  void step (dReal stepsize)
-    { dWorldStep (_id,stepsize); }
-};
-
-
-class dBody {
-  dBodyID _id;
-
-  dBody (dBody &) { dDebug (0,"bad"); }
-  void operator= (dBody &) { dDebug (0,"bad"); }
-
-public:
-  dBody()
-    { _id = 0; }
-  dBody (dWorld &world)
-    { _id = dBodyCreate (world.id()); }
-  ~dBody()
-    { dBodyDestroy (_id); }
-  void create (dWorld &world)
-    { if (_id) dBodyDestroy (_id); _id = dBodyCreate (world.id()); }
-  dBodyID id()
-    { return _id; }
-
-  void setData (void *data)
-    { dBodySetData (_id,data); }
-  void *getData()
-    { return dBodyGetData (_id); }
-
-  void setPosition (dReal x, dReal y, dReal z)
-    { dBodySetPosition (_id,x,y,z); }
-  void setRotation (const dMatrix3 R)
-    { dBodySetRotation (_id,R); }
-  void setQuaternion (const dQuaternion q)
-    { dBodySetQuaternion (_id,q); }
-  void setLinearVel  (dReal x, dReal y, dReal z)
-    { dBodySetLinearVel (_id,x,y,z); }
-  void setAngularVel (dReal x, dReal y, dReal z)
-    { dBodySetAngularVel (_id,x,y,z); }
-
-  const dReal * getPosition()
-    { return dBodyGetPosition (_id); }
-  const dReal * getRotation()
-    { return dBodyGetRotation (_id); }
-  const dReal * getQuaternion()
-    { return dBodyGetQuaternion (_id); }
-  const dReal * getLinearVel()
-    { return dBodyGetLinearVel (_id); }
-  const dReal * getAngularVel()
-    { return dBodyGetAngularVel (_id); }
-
-  void setMass (const dMass *mass)
-    { dBodySetMass (_id,mass); }
-  void getMass (dMass *mass)
-    { dBodyGetMass (_id,mass); }
-
-  void addForce (dReal fx, dReal fy, dReal fz)
-    { dBodyAddForce (_id, fx, fy, fz); }
-  void addTorque (dReal fx, dReal fy, dReal fz)
-    { dBodyAddTorque (_id, fx, fy, fz); }
-  void addRelForce (dReal fx, dReal fy, dReal fz)
-    { dBodyAddRelForce (_id, fx, fy, fz); }
-  void addRelTorque (dReal fx, dReal fy, dReal fz)
-    { dBodyAddRelTorque (_id, fx, fy, fz); }
-  void addForceAtPos (dReal fx, dReal fy, dReal fz,
-		      dReal px, dReal py, dReal pz)
-    { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
-  void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
-			 dReal px, dReal py, dReal pz)
-    { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
-  void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
-			    dReal px, dReal py, dReal pz)
-    { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
-
-  void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result)
-    { dBodyGetRelPointPos (_id, px, py, pz, result); }
-  void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result)
-    { dBodyGetRelPointVel (_id, px, py, pz, result); }
-
-  int isConnectedTo (const dBody &b)
-    { return dAreConnected (_id,b._id); }
-};
-
-
-class dJointGroup {
-  dJointGroupID _id;
-
-  dJointGroup (dJointGroup &) { dDebug (0,"bad"); }
-  void operator= (dJointGroup &) { dDebug (0,"bad"); }
-
-public:
-  dJointGroup()
-    { _id = 0; }
-  dJointGroup (int max_size)
-    { _id = dJointGroupCreate (max_size); }
-  ~dJointGroup()
-    { dJointGroupDestroy (_id); }
-  void create (int max_size)
-    { if (_id) dJointGroupDestroy (_id); _id = dJointGroupCreate (max_size); }
-  dJointGroupID id()
-    { return _id; }
-
-  void empty()
-    { dJointGroupEmpty (_id); }
-};
-
-
-class dJoint {
-  dJointID _id;
-
-  dJoint (dJoint &) { dDebug (0,"bad"); }
-  void operator= (dJoint &) { dDebug (0,"bad"); }
-
-public:
-  dJoint()
-    { _id = 0; }
-  ~dJoint()
-    { dJointDestroy (_id); }
-  dJointID id()
-    { return _id; }
-
-  void createBall (dWorld &world, dJointGroup *group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateBall (world.id(), group ? group->id() : 0);
-  }
-  void createHinge (dWorld &world, dJointGroup *group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateHinge (world.id(), group ? group->id() : 0);
-  }
-  void createSlider (dWorld &world, dJointGroup *group=0) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateSlider (world.id(), group ? group->id() : 0);
-  }
-  void createContact (dWorld &world, dJointGroup *group, dContact *contact) {
-    if (_id) dJointDestroy (_id);
-    _id = dJointCreateContact (world.id(), group ? group->id() : 0, contact);
-  }
-
-  void attach (dBody &body1, dBody &body2)
-    { dJointAttach (_id, body1.id(), body2.id()); }
-
-  void setBallAnchor (dReal x, dReal y, dReal z)
-    { dJointSetBallAnchor (_id, x, y, z); }
-  void setHingeAnchor (dReal x, dReal y, dReal z)
-    { dJointSetHingeAnchor (_id, x, y, z); }
-
-  void setHingeAxis (dReal x, dReal y, dReal z)
-    { dJointSetHingeAxis (_id, x, y, z); }
-  void setSliderAxis (dReal x, dReal y, dReal z)
-    { dJointSetSliderAxis (_id, x, y, z); }
-
-  void getBallAnchor (dVector3 result)
-    { dJointGetBallAnchor (_id, result); }
-  void getHingeAnchor (dVector3 result)
-    { dJointGetHingeAnchor (_id, result); }
-
-  void getHingeAxis (dVector3 result)
-    { dJointGetHingeAxis (_id, result); }
-  void getSliderAxis (dVector3 result)
-    { dJointGetSliderAxis (_id, result); }
-};
-
-
-class dSpace {
-  dSpaceID _id;
-
-  dSpace (dSpace &) { dDebug (0,"bad"); }
-  void operator= (dSpace &) { dDebug (0,"bad"); }
-
-public:
-  dSpace ()
-    { _id = dHashSpaceCreate(); }
-  ~dSpace()
-    { dSpaceDestroy (_id); }
-  dSpaceID id()
-    { return _id; }
-  void collide (void *data, dNearCallback *callback)
-    { dSpaceCollide (_id,data,callback); }
-};
-
-
-class dGeom {
-  dGeomID _id;
-
-  dGeom (dGeom &) { dDebug (0,"bad"); }
-  void operator= (dGeom &) { dDebug (0,"bad"); }
-
-public:
-  dGeom()
-    { _id = 0; }
-  ~dGeom()
-    { dGeomDestroy (_id); }
-  dGeomID id()
-    { return _id; }
-
-  void createSphere (dSpace &space, dReal radius) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreateSphere (space.id(),radius);
-  }
-
-  void createBox (dSpace &space, dReal lx, dReal ly, dReal lz) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreateBox (space.id(),lx,ly,lz);
-  }
-
-  void createPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreatePlane (space.id(),a,b,c,d);
-  }
-
-  void createCCylinder (dSpace &space, dReal radius, dReal length) {
-    if (_id) dGeomDestroy (_id);
-    _id = dCreateCCylinder (space.id(),radius,length);
-  }
-
-  void destroy() {
-    if (_id) dGeomDestroy (_id);
-    _id = 0;
-  }
-
-  int getClass()
-    { return dGeomGetClass (_id); }
-
-  dReal sphereGetRadius()
-    { return dGeomSphereGetRadius (_id); }
-
-  void boxGetLengths (dVector3 result)
-    { dGeomBoxGetLengths (_id,result); }
-
-  void planeGetParams (dVector4 result)
-    { dGeomPlaneGetParams (_id,result); }
-
-  void CCylinderGetParams (dReal *radius, dReal *length)
-    { dGeomCCylinderGetParams (_id,radius,length); }
-
-  void setData (void *data)
-    { dGeomSetData (_id,data); }
-
-  void *getData()
-    { return dGeomGetData (_id); }
-
-  void setBody (dBody &b)
-    { dGeomSetBody (_id,b.id()); }
-  void setBody (dBodyID b)
-    { dGeomSetBody (_id,b); }
-
-  dBodyID getBody()
-    { return dGeomGetBody (_id); }
-
-  void setPosition (dReal x, dReal y, dReal z)
-    { dGeomSetPosition (_id,x,y,z); }
-
-  void setRotation (const dMatrix3 R)
-    { dGeomSetRotation (_id,R); }
-
-  const dReal * getPosition()
-    { return dGeomGetPosition (_id); }
-
-  const dReal * getRotation()
-    { return dGeomGetRotation (_id); }
-};
-
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/odemath.h b/extern/ode/dist/include/ode/odemath.h
deleted file mode 100644
index 5f41a27b5a1..00000000000
--- a/extern/ode/dist/include/ode/odemath.h
+++ /dev/null
@@ -1,217 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_ODEMATH_H_
-#define _ODE_ODEMATH_H_
-
-#include <ode/common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* 3-way dot product. dDOTpq means that elements of `a' and `b' are spaced
- * p and q indexes apart respectively. dDOT() means dDOT11.
- */
-
-#ifdef __cplusplus
-inline dReal dDOT (const dReal *a, const dReal *b)
-  { return ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]); }
-inline dReal dDOT14(const dReal *a, const dReal *b)
-  { return ((a)[0]*(b)[0] + (a)[1]*(b)[4] + (a)[2]*(b)[8]); }
-inline dReal dDOT41(const dReal *a, const dReal *b)
-  { return ((a)[0]*(b)[0] + (a)[4]*(b)[1] + (a)[8]*(b)[2]); }
-inline dReal dDOT44(const dReal *a, const dReal *b)
-  { return ((a)[0]*(b)[0] + (a)[4]*(b)[4] + (a)[8]*(b)[8]); }
-#else
-#define dDOT(a,b)   ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2])
-#define dDOT14(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[4] + (a)[2]*(b)[8])
-#define dDOT41(a,b) ((a)[0]*(b)[0] + (a)[4]*(b)[1] + (a)[8]*(b)[2])
-#define dDOT44(a,b) ((a)[0]*(b)[0] + (a)[4]*(b)[4] + (a)[8]*(b)[8])
-#endif
-
-
-/* cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
- * and `c' are spaced p, q and r indexes apart respectively.
- * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
- * +=, -= etc to get other effects.
- */
-
-#define dCROSS(a,op,b,c) \
-  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
-  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
-  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
-#define dCROSSpqr(a,op,b,c,p,q,r) \
-  (a)[  0] op ((b)[  q]*(c)[2*r] - (b)[2*q]*(c)[  r]); \
-  (a)[  p] op ((b)[2*q]*(c)[  0] - (b)[  0]*(c)[2*r]); \
-  (a)[2*p] op ((b)[  0]*(c)[  r] - (b)[  q]*(c)[  0]);
-#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
-#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
-#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
-#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
-#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
-#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
-#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
-
-
-/* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
- * A is stored by rows, and has `skip' elements per row. the matrix is
- * assumed to be already zero, so this does not write zero elements!
- * if (plus,minus) is (+,-) then a positive version will be written.
- * if (plus,minus) is (-,+) then a negative version will be written.
- */
-
-#define dCROSSMAT(A,a,skip,plus,minus) \
-  (A)[1] = minus (a)[2]; \
-  (A)[2] = plus (a)[1]; \
-  (A)[(skip)+0] = plus (a)[2]; \
-  (A)[(skip)+2] = minus (a)[0]; \
-  (A)[2*(skip)+0] = minus (a)[1]; \
-  (A)[2*(skip)+1] = plus (a)[0];
-
-
-/* compute the distance between two 3-vectors (oops, C++!) */
-#ifdef __cplusplus
-inline dReal dDISTANCE (const dVector3 a, const dVector3 b)
-  { return dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) +
-		   (a[2]-b[2])*(a[2]-b[2]) ); }
-#else
-#define dDISTANCE(a,b) \
- (dSqrt( ((a)[0]-(b)[0])*((a)[0]-(b)[0]) + ((a)[1]-(b)[1])*((a)[1]-(b)[1]) + \
-	 ((a)[2]-(b)[2])*((a)[2]-(b)[2]) ))
-#endif
-
-
-/* normalize 3x1 and 4x1 vectors (i.e. scale them to unit length) */
-void dNormalize3 (dVector3 a);
-void dNormalize4 (dVector4 a);
-
-
-/* given a unit length "normal" vector n, generate vectors p and q vectors
- * that are an orthonormal basis for the plane space perpendicular to n.
- * i.e. this makes p,q such that n,p,q are all perpendicular to each other.
- * q will equal n x p. if n is not unit length then p will be unit length but
- * q wont be.
- */
-
-void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
-
-
-/* special case matrix multipication, with operator selection */
-
-#define dMULTIPLYOP0_331(A,op,B,C) \
-  (A)[0] op dDOT((B),(C)); \
-  (A)[1] op dDOT((B+4),(C)); \
-  (A)[2] op dDOT((B+8),(C));
-#define dMULTIPLYOP1_331(A,op,B,C) \
-  (A)[0] op dDOT41((B),(C)); \
-  (A)[1] op dDOT41((B+1),(C)); \
-  (A)[2] op dDOT41((B+2),(C));
-#define dMULTIPLYOP0_133(A,op,B,C) \
-  (A)[0] op dDOT14((B),(C)); \
-  (A)[1] op dDOT14((B),(C+1)); \
-  (A)[2] op dDOT14((B),(C+2));
-#define dMULTIPLYOP0_333(A,op,B,C) \
-  (A)[0] op dDOT14((B),(C)); \
-  (A)[1] op dDOT14((B),(C+1)); \
-  (A)[2] op dDOT14((B),(C+2)); \
-  (A)[4] op dDOT14((B+4),(C)); \
-  (A)[5] op dDOT14((B+4),(C+1)); \
-  (A)[6] op dDOT14((B+4),(C+2)); \
-  (A)[8] op dDOT14((B+8),(C)); \
-  (A)[9] op dDOT14((B+8),(C+1)); \
-  (A)[10] op dDOT14((B+8),(C+2));
-#define dMULTIPLYOP1_333(A,op,B,C) \
-  (A)[0] op dDOT44((B),(C)); \
-  (A)[1] op dDOT44((B),(C+1)); \
-  (A)[2] op dDOT44((B),(C+2)); \
-  (A)[4] op dDOT44((B+1),(C)); \
-  (A)[5] op dDOT44((B+1),(C+1)); \
-  (A)[6] op dDOT44((B+1),(C+2)); \
-  (A)[8] op dDOT44((B+2),(C)); \
-  (A)[9] op dDOT44((B+2),(C+1)); \
-  (A)[10] op dDOT44((B+2),(C+2));
-#define dMULTIPLYOP2_333(A,op,B,C) \
-  (A)[0] op dDOT((B),(C)); \
-  (A)[1] op dDOT((B),(C+4)); \
-  (A)[2] op dDOT((B),(C+8)); \
-  (A)[4] op dDOT((B+4),(C)); \
-  (A)[5] op dDOT((B+4),(C+4)); \
-  (A)[6] op dDOT((B+4),(C+8)); \
-  (A)[8] op dDOT((B+8),(C)); \
-  (A)[9] op dDOT((B+8),(C+4)); \
-  (A)[10] op dDOT((B+8),(C+8));
-
-#ifdef __cplusplus
-
-inline void dMULTIPLY0_331(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP0_331(A,=,B,C) }
-inline void dMULTIPLY1_331(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP1_331(A,=,B,C) }
-inline void dMULTIPLY0_133(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP0_133(A,=,B,C) }
-inline void dMULTIPLY0_333(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP0_333(A,=,B,C) }
-inline void dMULTIPLY1_333(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP1_333(A,=,B,C) }
-inline void dMULTIPLY2_333(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP2_333(A,=,B,C) }
-
-inline void dMULTIPLYADD0_331(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP0_331(A,+=,B,C) }
-inline void dMULTIPLYADD1_331(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP1_331(A,+=,B,C) }
-inline void dMULTIPLYADD0_133(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP0_133(A,+=,B,C) }
-inline void dMULTIPLYADD0_333(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP0_333(A,+=,B,C) }
-inline void dMULTIPLYADD1_333(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP1_333(A,+=,B,C) }
-inline void dMULTIPLYADD2_333(dReal *A, const dReal *B, const dReal *C)
-  { dMULTIPLYOP2_333(A,+=,B,C) }
-
-#else
-
-#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
-#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
-#define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C)
-#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
-#define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C)
-#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
-
-#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
-#define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C)
-#define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C)
-#define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C)
-#define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C)
-#define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C)
-
-#endif
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/rotation.h b/extern/ode/dist/include/ode/rotation.h
deleted file mode 100644
index 19204c651f3..00000000000
--- a/extern/ode/dist/include/ode/rotation.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_ROTATION_H_
-#define _ODE_ROTATION_H_
-
-#include <ode/common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-void dRSetIdentity (dMatrix3 R);
-
-void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
-			 dReal angle);
-
-void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
-
-void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
-		  dReal bx, dReal by, dReal bz);
-
-void dQSetIdentity (dQuaternion q);
-
-void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
-			 dReal angle);
-
-void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
-void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
-void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
-void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
-
-void dQtoR (const dQuaternion q, dMatrix3 R);
-
-void dRtoQ (const dMatrix3 R, dQuaternion q);
-
-void dWtoDQ (const dVector3 w, const dQuaternion q, dVector4 dq);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/space.h b/extern/ode/dist/include/ode/space.h
deleted file mode 100644
index c540cd69d6e..00000000000
--- a/extern/ode/dist/include/ode/space.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_SPACE_H_
-#define _ODE_SPACE_H_
-
-#include <ode/common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct dContactGeom;
-
-typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
-
-
-/* extra information the space needs in every geometry object */
-
-typedef struct dGeomSpaceData {
-  dGeomID next;
-} dGeomSpaceData;
-
-
-dSpaceID dSimpleSpaceCreate();
-dSpaceID dHashSpaceCreate();
-
-void dSpaceDestroy (dSpaceID);
-void dSpaceAdd (dSpaceID, dGeomID);
-void dSpaceRemove (dSpaceID, dGeomID);
-void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
-int dSpaceQuery (dSpaceID, dGeomID);
-
-void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
-
-
-/* @@@ NOT FLEXIBLE ENOUGH
- *
- * generate contacts for those objects in the space that touch each other.
- * an array of contacts is created on the alternative stack using
- * StackAlloc(), and a pointer to the array is returned. the size of the
- * array is returned by the function.
- */
-/* int dSpaceCollide (dSpaceID space, dContactGeom **contact_array); */
-
-
-/* HMMMMM... i dont think so.
- * tell the space that an object has moved, so its representation in the
- * space should be changed.
- */
-/* void dSpaceObjectMoved (dSpaceID, dGeomID); */
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/include/ode/timer.h b/extern/ode/dist/include/ode/timer.h
deleted file mode 100644
index fe2574feb3c..00000000000
--- a/extern/ode/dist/include/ode/timer.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_TIMER_H_
-#define _ODE_TIMER_H_
-
-#include <ode/config.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* stop watch objects */
-
-typedef struct dStopwatch {
-  double time;			/* total clock count */
-  unsigned long cc[2];		/* clock count since last `start' */
-} dStopwatch;
-
-void dStopwatchReset (dStopwatch *);
-void dStopwatchStart (dStopwatch *);
-void dStopwatchStop  (dStopwatch *);
-double dStopwatchTime (dStopwatch *);	/* returns total time in secs */
-
-
-/* code timers */
-
-void dTimerStart (const char *description);	/* pass a static string here */
-void dTimerNow (const char *description);	/* pass a static string here */
-void dTimerEnd();
-
-/* print out a timer report. if `average' is nonzero, print out the average
- * time for each slot (this is only meaningful if the same start-now-end
- * calls are being made repeatedly.
- */
-void dTimerReport (FILE *fout, int average);
-
-
-/* resolution */
-
-/* returns the timer ticks per second implied by the timing hardware or API.
- * the actual timer resolution may not be this great.
- */
-double dTimerTicksPerSecond();
-
-/* returns an estimate of the actual timer resolution, in seconds. this may
- * be greater than 1/ticks_per_second.
- */
-double dTimerResolution();
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/extern/ode/dist/ode/README b/extern/ode/dist/ode/README
deleted file mode 100644
index dd4596f9935..00000000000
--- a/extern/ode/dist/ode/README
+++ /dev/null
@@ -1,158 +0,0 @@
-Dynamics Library.
-=================
-
-CONVENTIONS
------------
-
-matrix storage
---------------
-
-matrix operations like factorization are expensive, so we must store the data
-in a way that is most useful to the matrix code. we want the ability to update
-the dynamics library without recompiling applications, e.g. so users can take
-advantage of new floating point hardware. so we must settle on a single
-format. because of the prevalence of 4-way SIMD, the format is this: store
-the matrix by rows or columns, and each column is rounded up to a multiple of
-4 elements. the extra "padding" elements at the end of each row/column are set
-to 0. this is called the "standard format". to indicate if the data is stored
-by rows or columns, we will say "standard row format" or "standard column
-format". hopefully this decision will remain good in the future, as more and
-more processors have 4-way SIMD, and 3D graphics always needs fast 4x4
-matrices.
-
-exception: matrices that have only one column or row (vectors), are always
-stored as consecutive elements in standard row format, i.e. there is no
-interior padding, only padding at the end.
-
-thus: all 3x1 floating point vectors are stored as 4x1 vectors: (x,x,x,0).
-also: all 6x1 spatial velocities and accelerations are split into 3x1 position
-  and angular components, which are stored as contiguous 4x1 vectors.
-
-ALL matrices are stored by in standard row format.
-
-
-arguments
----------
-
-3x1 vector arguments to set() functions are supplied as x,y,z.
-3x1 vector result arguments to get() function are pointers to arrays.
-larger vectors are always supplied and returned as pointers.
-all coordinates are in the global frame except where otherwise specified.
-output-only arguments are usually supplied at the end.
-
-
-memory allocation
------------------
-
-with many C/C++ libraries memory allocation is a difficult problem to solve.
-who allocates the memory? who frees it? must objects go on the heap or can
-they go on the stack or in static storage? to provide the maximum flexibility,
-the dynamics and collision libraries do not do their own memory allocation.
-you must pass in pointers to externally allocated chunks of the right sizes.
-the body, joint and colllision object structures are all exported, so you
-can make instances of those structure and pass pointers to them.
-
-there are helper functions which allocate objects out of areans, in case you
-need loots of dynamic creation and deletion.
-
-BUT!!! this ties us down to the body/joint/collision representation.
-
-a better approach is to supply custom memory allocation functions
-(e.g. dlAlloc() etc).
-
-
-C versus C++ ... ?
-------------------
-
-everything should be C linkable, and there should be C header files for
-everything. but we want to develop in C++. so do this:
-  * all comments are "//". automatically convert to /**/ for distribution.
-  * structures derived from other structures --> automatically convert?
-
-
-WORLDS
-------
-
-might want better terminology here.
-
-the dynamics world (DWorld) is a list of systems. each system corresponds to
-one or more bodies, or perhaps some other kinds of physical object.
-each system corresponds to one or more objects in the collision world
-(there does not have to be a one-to-one correspondence between bodies and
-collision objects).
-
-systems are simulated separately, perhaps using completely different
-techniques. we must do something special when systems collide.
-systems collide when collision objects belonging to system A touch
-collision objects belonging to system B.
-
-for each collision point, the system must provide matrix equation data
-that is used to compute collision forces. once those forces are computed,
-the system must incorporate the forces into its timestep.
-PROBLEM: what if we intertwine the LCP problems of the two systems - then
-this simple approach wont work.
-
-the dynamics world contains two kinds of objects: bodies and joints.
-joints connect two bodies together.
-
-the world contains one of more partitions. each partition is a collection of
-bodies and joints such that each body is attached (through one or more joints)
-to every other body.
-
-Joints
-------
-
-a joint can be connected to one or two bodies.
-if the joint is only connected to one body, joint.node[1].body == 0.
-joint.node[0].body is always valid.
-
-
-Linkage
--------
-
-this library will always be statically linked with the app, for these reasons:
-  * collision space is selected at compile time, it adds data to the geom
-    objects.
-
-
-Optimization
-------------
-
-doubles must be aligned on 8 byte boundaries!
-
-
-MinGW on Windows issues
------------------------
-
-* the .rc file for drawstuff needs a different include, try winresrc.h.
-
-* it seems we can't have both main() and WinMain() without the entry point
-  defaulting to main() and having resource loading problems. this screws up
-  what i was trying to do in the drawstuff library. perhaps main2() ?
-
-* remember to compile resources to COFF format RES files.
-
-
-
-Collision
----------
-
-to plug in your own collision handling, replace (some of?) these functions
-with your own. collision should be a separate library that you can link in
-or not. your own library can call components in this collision library, e.g.
-if you want polymorphic spaces instead of a single statically called space.
-
-creating an object will automatically register the appropriate
-class (if necessary). how can we ensure that the minimum amount of code is
-linked in? e.g. only one space handler, and sphere-sphere and sphere-box and
-box-box collision code (if spheres and boxes instanced).
-
-the user creates a collision space, and for each dynamics object that is
-created a collision object is inserted into the space. the collision
-object's pos and R pointers are set to the corresponding dynamics
-variables.
-
-there should be utility functions which create the dynamics and collision
-objects at the same time, e.g. dMakeSphere().
-
-collision objects and dynamics objects keep pointers to each other.
diff --git a/extern/ode/dist/ode/fbuild/BuildDot b/extern/ode/dist/ode/fbuild/BuildDot
deleted file mode 100644
index 09b49274da8..00000000000
--- a/extern/ode/dist/ode/fbuild/BuildDot
+++ /dev/null
@@ -1,148 +0,0 @@
-#!/usr/bin/perl
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# dot product code generator.
-#
-# code generation parameters, set in a parameters file:
-#    FNAME    : name of source file to generate - a .c file will be made
-#    UNROLL1  : inner loop unrolling factor (1..)
-#    FETCH    : max num of a[i]'s and b[i]'s to load ahead of muls
-#    LAT1     : load -> mul latency (>=1)
-#    LAT2     : mul -> add latency (>=1). if this is 1, use fused mul-add
-#
-#############################################################################
-
-require ("BuildUtil");
-
-# get and check code generation parameters
-error ("Usage: BuildDot <parameters-file>") if $#ARGV != 0;
-do $ARGV[0];
-
-if (!defined($FNAME) || !defined($UNROLL1) || !defined($FETCH) ||
-    !defined($LAT1) || !defined($LAT2)) {
-  error ("code generation parameters not defined");
-}
-
-# check parameters
-error ("bad UNROLL1") if $UNROLL1 < 1;
-error ("bad FETCH") if $FETCH < 1;
-error ("bad LAT1") if $LAT1 < 1;
-error ("bad LAT2") if $LAT2 < 1;
-
-#############################################################################
-
-open (FOUT,">$FNAME.c") or die "can't open $FNAME.c for writing";
-
-# file and function header
-output (<<END);
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-
-dReal dDot (const dReal *a, const dReal *b, int n)
-{
-END
-
-output ("dReal ");
-for ($i=0; $i<$UNROLL1; $i++) {
-  output ("p$i,q$i,m$i,");
-}
-output ("sum;\n");
-
-output (<<END);
-sum = 0;
-n -= $UNROLL1;
-while (n >= 0) {
-END
-
-@load = ();		# slot where a[i]'s and b[i]'s loaded
-@mul = ();		# slot where multiply i happened
-@add = ();		# slow where add i happened
-
-# in the future we may want to reduce the number of variables declared,
-# so these arrays will be useful.
-@pqused = ();		# 1 if p/q[i] loaded with data, 0 once that data's used
-@mused = ();		# 1 if m[i] loaded with data, 0 once that data's used
-@pqmap = ();		# map virtual p/q variables to actual p/q variables
-@mmap = ();		# map virtual m variables to actual m variables
-
-output ("p0 = a[0]; q0 = b[0];\n");
-push (@load,0);
-
-$slot=0;		# one slot for every load/mul/add/nop issued
-for (;;) {
-  $startslot = $slot;
-
-  # do next load
-  if (($#load - $#mul) < $FETCH && ($#load+1) < $UNROLL1) {
-    push (@load,$slot);
-    output ("p$#load = a[$#load]; q$#load = b[$#load];\n");
-    $slot++;
-  }
-  # do next multiply
-  if ($#load > $#mul && $slot >= ($load[$#mul+1] + $LAT1) &&
-      ($#mul+1) < $UNROLL1) {
-    push (@mul,$slot);
-    if ($LAT2 > 1) {
-      output ("m$#mul = p$#mul * q$#mul;\n");
-    }
-    else {
-      output ("sum += p$#mul * q$#mul;\n");
-      last if ($#mul+1) >= $UNROLL1;
-    }
-    $slot++;
-  }
-  # do next add
-  if ($LAT2 > 1) {
-    if ($#mul > $#add && $slot >= ($mul[$#add+1] + $LAT2)) {
-      push (@add,$slot);
-      output ("sum += m$#add;\n");
-      $slot++;
-      last if ($#add+1) >= $UNROLL1;
-    }
-  }
-
-  if ($slot == $startslot) {
-    # comment ("nop");
-    $slot++;
-  }
-}
-
-output ("a += $UNROLL1;\n");
-output ("b += $UNROLL1;\n");
-output ("n -= $UNROLL1;\n");
-output ("}\n");
-
-output (<<END);
-n += $UNROLL1;
-while (n > 0) {
-sum += (*a) * (*b);
-a++;
-b++;
-n--;
-}
-return sum;
-}
-END
diff --git a/extern/ode/dist/ode/fbuild/BuildLDLT b/extern/ode/dist/ode/fbuild/BuildLDLT
deleted file mode 100644
index fd74faf18df..00000000000
--- a/extern/ode/dist/ode/fbuild/BuildLDLT
+++ /dev/null
@@ -1,654 +0,0 @@
-#!/usr/bin/perl
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-#
-# triangular matrix solver and factorizer code generator.
-#
-# SOLVER
-# ------
-#
-# if L is an n x n lower triangular matrix (with ones on the diagonal), the
-# solver solves L*X=B where X and B are n x m matrices. this is the core
-# step in L*D*L' factorization. the algorithm is (in matlab):
-#
-#     for i=1:n
-#       for j=1:m
-#         X(i,j) = B(i,j) - L(i,1:i-1)*X(1:i-1,j);
-#       end
-#     end
-#
-# note that the ordering of the (i,j) loop is somewhat arbitrary. the only
-# prerequisite to calculating element (i,j) of X is that all X(1:i-1,j) have
-# have already been calcuated. this gives us some flexibility.
-#
-# the code generated below calculates X in N1 x N1 blocks. to speed up the
-# innermost dot product loop, the outer product trick is used. for instance,
-# to calculate the value of the 2x2 matrix ABCD below we first iterate over
-# the vectors (a,b,c,d) and (e,f,g,h), computing ABCD = a*e+b*f+c*g+d*h.
-# then A and B contain the dot product values needed in the algorithm, and
-# C and D have almost all of it. the outer product trick reduces the number
-# of memory loads required. in this example 16 loads are required, but if
-# the simple dot product in the above algorithm is used then 32 loads are
-# required. increasing N1 decreases the total number of loads, but only as long
-# as we have enough temporary registers to keep the matrix blocks and vectors.
-#
-#                L                     *    X     =     B
-#
-#  [ .                               ]   [ e e ]     [ . . ]
-#  [ . .                             ]   [ f f ]     [ . . ]
-#  [ . . .                           ]   [ g g ]     [ . . ]
-#  [ . . . .                         ]   [ h h ]     [ . . ]
-#  [ a b c d .                       ]   [ A B ]  =  [ . . ]
-#  [ a b c d . .                     ]   [ C D ]     [ . . ]
-#  [ . . . . . . .                   ]   [ . . ]     [ . . ]
-#  [ . . . . . . . .                 ]   [ . . ]     [ . . ]
-#  [ . . . . . . . . .               ]   [ . . ]     [ . . ]
-#
-# note that L is stored by rows but X and B are stored by columns.
-# the outer product loops are unrolled for extra speed.
-#
-# LDLT FACTORIZATION
-# ------------------
-#
-# the factorization algorithm builds L incrementally by repeatedly solving
-# the following equation:
-#
-#   [ L  0 ] [ D 0 ] [ L' l  ] = [ A  a ]    <-- n rows
-#   [ l' e ] [ 0 d ] [ 0  e' ]   [ a' b ]    <-- m rows
-#
-#   [ L*D*L'   L*D*l         ] = [ A  a ]
-#   [ l'*D*L'  l'*D*l+e*d*e' ]   [ a' b ]
-#
-# L*D*L'=A is an existing solution, and a,b are new rows/columns to add to A.
-# we compute:
-#
-#   L * (Dl) = a
-#   l = inv(D) * Dl
-#   e*d*e' = b - l'*Dl       (m*m LDLT factorization)
-#
-#
-# L-transpose solver
-# ------------------
-#
-# the LT (L-transpose) solver uses the same logic as the standard L-solver,
-# with a few tricks to make it work. to solve L^T*X=B we first remap:
-#    L to Lhat : Lhat(i,j) = L(n-j,n-i)
-#    X to Xhat : Xhat(i) = X(n-i)
-#    B to Bhat : Bhat(i) = B(n-i)
-# and then solve Lhat*Xhat = Bhat. the current LT solver only supports one
-# right hand side, but that's okay as it is not used in the factorizer.
-#
-#############################################################################
-#
-# code generation parameters, set in a parameters file:
-#    FNAME   : name of source file to generate - a .c file will be made
-#    TYPE    : 'f' to build factorizer, 's' to build solver, 't' to build the
-#              transpose solver.
-#    N1      : block size (size of outer product matrix) (1..9)
-#    UNROLL1 : solver inner loop unrolling factor (1..)
-#    UNROLL2 : factorizer inner loop unrolling factor (1..)
-#    MADD    : if nonzero, generate code for fused multiply-add (0,1)
-#    FETCH   : how to fetch data in the inner loop:
-#                0 - load in a batch (the `normal way')
-#                1 - delay inner loop loads until just before they're needed
-#
-#############################################################################
-#
-# TODO
-# ----
-#
-# * dFactorLDLT() is not so efficient for matrix sizes < block size, e.g.
-#   redundant calls, zero loads, adds etc
-#
-#############################################################################
-#
-# NOTES:
-#
-# * on the pentium we can prefetch like this:
-#     asm ("prefetcht0 %0" : : "m" (*Ai) );
-#   but it doesn't seem to help much
-
-require ("BuildUtil");
-
-# get and check code generation parameters
-error ("Usage: BuildLDLT <parameters-file>") if $#ARGV != 0;
-do $ARGV[0];
-
-if (!defined($FNAME) || !defined($TYPE) || !defined($N1) ||
-    !defined($UNROLL1) || !defined($UNROLL2) || !defined($MADD) ||
-    !defined($FETCH)) {
-  error ("code generation parameters not defined");
-}
-
-# check parameters
-error ("bad TYPE") if $TYPE ne 'f' && $TYPE ne 's' && $TYPE ne 't';
-error ("bad N1") if $N1 < 1 || $N1 > 9;
-error ("bad UNROLL1") if $UNROLL1 < 1;
-error ("bad UNROLL2") if $UNROLL2 < 1;
-error ("bad MADD") if $MADD != 0 && $MADD != 1;
-error ("bad FETCH") if $FETCH < 0 && $FETCH > 1;
-
-#############################################################################
-# utility
-
-# functions to handle delayed loading of p and q values.
-# bit in the the `ploaded' and `qloaded' numbers record what has been loaded,
-# so we dont load it again.
-
-sub newLoads
-{
-  # bits in these numbers say what registers p and q have been loaded so far
-  $ploaded = 0;
-  $qloaded = 0;
-}
-
-sub loadedEverything
-{
-  $ploaded = 0xffffffff;
-  $qloaded = 0xffffffff;
-}
-
-sub loadP # (i,loadcmd)
-{
-  my $i = $_[0];
-  my $loadcmd = $_[1];
-  return if ($ploaded & (1 << $i));
-  output ($loadcmd);
-  $ploaded |= (1 << $i);
-}
-
-sub loadQ # (i,loadcmd)
-{
-  my $i = $_[0];
-  my $loadcmd = $_[1];
-  return if ($qloaded & (1 << $i));
-  output ($loadcmd);
-  $qloaded |= (1 << $i);
-}
-
-#############################################################################
-# make a fast L solve function.
-# this function has a restriction that the leading dimension of X and B must
-# be a multiple of the block size.
-
-sub innerOuterProductLoop # (M,k,nrhs,increment)
-{
-  my $M=$_[0];
-  my $k=$_[1];
-  my $nrhs=$_[2];
-  my $increment=$_[3];
-  my ($i,$j);
-  newLoads;
-  if ($FETCH==0) {
-    comment ("load p and q values");
-    for ($i=1; $i<=$M; $i++) {
-      if ($TYPE eq 't') {
-        output ("p$i=ell[".ofs2(-($i-1),0,'lskip')."];\n");
-        output ("q$i=ex[".ofs2(-($k),$i-1,'lskip')."];\n") if $i <= $nrhs;
-      }
-      else {
-        output ("p$i=ell[".ofs2($k,$i-1,'lskip')."];\n");
-        output ("q$i=ex[".ofs2($k,$i-1,'lskip')."];\n") if $i <= $nrhs;
-      }
-    }
-    loadedEverything;
-  }
-
-  comment ("compute outer product and add it to the Z matrix");
-  for ($i=1; $i<=$M; $i++) {
-    for ($j=1; $j<=$nrhs; $j++) {
-      if ($TYPE eq 't') {
-        loadP ($i,"p$i=ell[".ofs2(-($i-1),0,'lskip')."];\n");
-        loadQ ($j,"q$j=ex[".ofs2(-($k),$j-1,'lskip')."];\n");
-      }
-      else {
-        loadP ($i,"p$i=ell[".ofs2($k,$i-1,'lskip')."];\n");
-        loadQ ($j,"q$j=ex[".ofs2($k,$j-1,'lskip')."];\n");
-      }
-      my $var = $MADD ? "Z$i$j +=" : "m$i$j =";
-      output ("$var p$i * q$j;\n");
-    }
-  }
-
-  if ($TYPE eq 't') {
-    if ($increment > 0) {
-      output ("ell += lskip1;\n");
-      output ("ex -= $increment;\n");
-    }
-    else {
-      output ("ell += lskip1;\n");
-    }
-  }
-  else {
-    if ($increment > 0) {
-      comment ("advance pointers");
-      output ("ell += $increment;\n");
-      output ("ex += $increment;\n");
-    }
-  }
-
-  if ($MADD==0) {
-    for ($i=1; $i<=$M; $i++) {
-      for ($j=1; $j<=$nrhs; $j++) {
-        output ("Z$i$j += m$i$j;\n");
-      }
-    }
-  }
-}
-
-
-sub computeRows # (nrhs,rows)
-{
-  my $nrhs = $_[0];
-  my $rows = $_[1];
-  my ($i,$j,$k);
-
-  comment ("compute all $rows x $nrhs block of X, from rows i..i+$rows-1");
-
-  comment ("set the Z matrix to 0");
-  for ($i=1; $i<=$rows; $i++) {
-    for ($j=1; $j<=$nrhs; $j++) {
-      output ("Z$i$j=0;\n");
-    }
-  }
-  if ($TYPE eq 't') {
-    output ("ell = L - i;\n");
-  }
-  else {
-    output ("ell = L + i*lskip1;\n");
-  }
-  output ("ex = B;\n");
-
-  comment ("the inner loop that computes outer products and adds them to Z");
-  output ("for (j=i-$UNROLL1; j >= 0; j -= $UNROLL1) {\n");
-  for ($k=0; $k < $UNROLL1; $k++) {
-    innerOuterProductLoop ($rows,$k,$nrhs,($k==$UNROLL1-1) ? $UNROLL1 : 0);
-  }
-
-  comment ("end of inner loop");
-  output ("}\n");
-
-  if ($UNROLL1 > 1) {
-    comment ("compute left-over iterations");
-    output ("j += $UNROLL1;\n");
-    output ("for (; j > 0; j--) {\n");
-    innerOuterProductLoop ($rows,'0',$nrhs,1);
-    output ("}\n");
-  }
-
-  comment ("finish computing the X(i) block");
-
-  for ($j=1; $j<=$nrhs; $j++) {
-    if ($TYPE eq 't') {
-      output ("Z1$j = ex[".ofs1(-($j-1),'lskip')."] - Z1$j;\n");
-      output ("ex[".ofs1(-($j-1),'lskip')."] = Z1$j;\n");
-    }
-    else {
-      output ("Z1$j = ex[".ofs1($j-1,'lskip')."] - Z1$j;\n");
-      output ("ex[".ofs1($j-1,'lskip')."] = Z1$j;\n");
-    }
-  }
-
-  for ($i=2; $i<=$rows; $i++) {
-    for ($j=1; $j<$i; $j++) {
-      if ($TYPE eq 't') {
-        output ("p$j = ell[".ofs2(-($i-1),$j-1,'lskip')."];\n");
-      }
-      else {
-        output ("p$j = ell[".ofs2($j-1,$i-1,'lskip')."];\n");
-      }
-    }
-    for ($j=1; $j<=$nrhs; $j++) {
-      if ($TYPE eq 't') {
-        output ("Z$i$j = ex[".ofs2(-($i-1),$j-1,'lskip')."] - Z$i$j");
-      }
-      else {
-        output ("Z$i$j = ex[".ofs2($i-1,$j-1,'lskip')."] - Z$i$j");
-      }
-      for ($k=1; $k < $i; $k++) {
-        output (" - p$k*Z$k$j");
-      }
-      output (";\n");
-      if ($TYPE eq 't') {
-        output ("ex[".ofs2(-($i-1),$j-1,'lskip')."] = Z$i$j;\n");
-      }
-      else {
-        output ("ex[".ofs2($i-1,$j-1,'lskip')."] = Z$i$j;\n");
-      }
-    }
-  }
-}
-
-
-sub makeFastL1Solve # ( number-of-right-hand-sides )
-{
-  my $nrhs = $_[0];
-  my ($i,$j,$k);
-  my $funcsuffix = ($TYPE eq 'f') ? "_$nrhs" : '';
-  my $staticvoid = ($TYPE eq 'f') ? 'static void' : 'void';
-
-  # function header
-  if ($TYPE eq 't') {
-    output (<<END);
-
-/* solve L^T * x=b, with b containing 1 right hand side.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * b is an n*1 matrix that contains the right hand side.
- * b is overwritten with x.
- * this processes blocks of $N1.
- */
-
-void dSolveL1T (const dReal *L, dReal *B, int n, int lskip1)
-{
-END
-  }
-  else {
-    output (<<END);
-
-/* solve L*X=B, with B containing $nrhs right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*$nrhs matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of $N1*$N1.
- * if this is in the factorizer source file, n must be a multiple of $N1.
- */
-
-$staticvoid dSolveL1$funcsuffix (const dReal *L, dReal *B, int n, int lskip1)
-{
-END
-  }
-
-  comment ("declare variables - Z matrix, p and q vectors, etc");
-  output ("dReal ");
-  for ($i=1; $i<=$N1; $i++) {
-    for ($j=1; $j<=$nrhs; $j++) {
-      output ("Z$i$j,");		# Z matrix
-      output ("m$i$j,") if ! $MADD;	# temporary vars where multiplies put
-    }
-  }
-  for ($i=1; $i<=$N1; $i++) {
-    output ("p$i,");
-    output ("q$i,") if $i <= $nrhs;
-  }
-  output ("*ex;\nconst dReal *ell;\n");
-  output ("int ");
-  for ($i=2; $i<$N1; $i++) {
-    output ("lskip$i,");
-  }
-  output ("i,j;\n");
-
-  if ($TYPE eq 't') {
-    comment ("special handling for L and B because we're solving L1 *transpose*");
-    output ("L = L + (n-1)*(lskip1+1);\n");
-    output ("B = B + n-1;\n");
-    output ("lskip1 = -lskip1;\n");
-  }
-
-  if ($N1 > 2) {
-    comment ("compute lskip values");
-    for ($i=2; $i<$N1; $i++) {
-      output ("lskip$i = $i*lskip1;\n");
-    }
-  }
-
-  comment ("compute all $N1 x $nrhs blocks of X");
-  if ($TYPE eq 's' or $TYPE eq 't') {
-    output ("for (i=0; i <= n-$N1; i+=$N1) {\n");
-  }
-  else {
-    output ("for (i=0; i < n; i+=$N1) {\n");
-  }
-  computeRows ($nrhs,$N1);
-  comment ("end of outer loop");
-  output ("}\n");
-
-  if ($TYPE eq 's' or $TYPE eq 't') {
-    comment ("compute rows at end that are not a multiple of block size");
-    output ("for (; i < n; i++) {\n");
-    computeRows ($nrhs,1);
-    output ("}\n");
-  }
-
-  output ("}\n");
-}
-
-#############################################################################
-# make a fast L*D*L' factorizer
-
-# code fragment: this factors an M x M block. if A_or_Z is 0 then it works
-# on the $A matrix otherwise it works on the Z matrix. in either case it
-# writes the diagonal entries into the `dee' vector.
-# it is a simple implementation of the LDLT algorithm, with no tricks.
-
-sub getA # (i,j,A,A_or_Z)
-{
-  my $i = $_[0];
-  my $j = $_[1];
-  my $A = $_[2];
-  return $_[3] ? ('Z'.($i+1).($j+1)) : ($A.'['.ofs2($j,$i,'nskip').']');
-}
-
-sub miniLDLT # (A,A_or_Z,M)
-{
-  my ($i,$j,$k);
-  my $A = $_[0];
-  my $AZ = $_[1];
-  my $M = $_[2];
-  comment ("factorize $M x $M block " . ($AZ ? "Z,dee" : "$A,dee"));
-  comment ("factorize row 1");
-  output ("dee[0] = dRecip(".getA(0,0,$A,$AZ).");\n");
-  for ($i=1; $i<$M; $i++) {
-    comment ("factorize row ".($i+1));
-    for ($j=1; $j<$i; $j++) {
-      output (getA($i,$j,$A,$AZ)." -= ");
-      for ($k=0; $k<$j; $k++) {
-	output (" + ") if $k > 0;
-	output (getA($i,$k,$A,$AZ)."*".getA($j,$k,$A,$AZ));
-      }
-      output (";\n");
-    }
-    output ("sum = 0;\n");
-    for ($j=0; $j<$i; $j++) {
-      output ("q1 = ".getA($i,$j,$A,$AZ).";\n");
-      output ("q2 = q1 * dee[$j];\n");
-      output (getA($i,$j,$A,$AZ)." = q2;\n");
-      output ("sum += q1*q2;\n");
-    }
-    output ("dee[$i] = dRecip(".getA($i,$i,$A,$AZ)." - sum);\n");
-  }
-  comment ("done factorizing $M x $M block");
-}
-
-
-sub innerScaleAndOuterProductLoop # (M,k)
-{
-  my $M = $_[0];
-  my $k = $_[1];
-  my ($i,$j);
-  for ($i=1; $i<=$M; $i++) {
-    output ("p$i = ell[".ofs2($k,$i-1,'nskip')."];\n");
-  }
-  output ("dd = dee[$k];\n");
-  for ($i=1; $i<=$M; $i++) {
-    output ("q$i = p$i*dd;\n");
-  }
-  for ($i=1; $i<=$M; $i++) {
-    output ("ell[".ofs2($k,$i-1,'nskip')."] = q$i;\n");
-  }
-  for ($i=1; $i<=$M; $i++) {
-    for ($j=1; $j<=$i; $j++) {
-      my $var = $MADD ? "Z$i$j +=" : "m$i$j =";
-      output ("$var p$i*q$j;\n");
-    }
-  }
-  if ($MADD==0) {
-  for ($i=1; $i<=$M; $i++) {
-    for ($j=1; $j<=$i; $j++) {
-        output ("Z$i$j += m$i$j;\n");
-      }
-    }
-  }
-}
-
-
-sub diagRows # (M)
-{
-  my $M=$_[0];
-  comment ("scale the elements in a $M x i block at A(i,0), and also");
-  comment ("compute Z = the outer product matrix that we'll need.");
-  for ($i=1; $i<=$M; $i++) {
-    for ($j=1; $j<=$i; $j++) {
-      output ("Z$i$j = 0;\n");
-    }
-  }
-  output ("ell = A+i*nskip1;\n");
-  output ("dee = d;\n");
-  output ("for (j=i-$UNROLL2; j >= 0; j -= $UNROLL2) {\n");
-  for ($i=0; $i < $UNROLL2; $i++) {
-    innerScaleAndOuterProductLoop ($M,$i);
-  }
-  output ("ell += $UNROLL2;\n");
-  output ("dee += $UNROLL2;\n");
-  output ("}\n");
-
-  if ($UNROLL2 > 1) {
-    comment ("compute left-over iterations");
-    output ("j += $UNROLL2;\n");
-    output ("for (; j > 0; j--) {\n");
-    innerScaleAndOuterProductLoop ($M,0);
-    output ("ell++;\n");
-    output ("dee++;\n");
-    output ("}\n");
-  }
-}
-
-
-sub diagBlock # (M)
-{
-  my $M = $_[0];
-  comment ("solve for diagonal $M x $M block at A(i,i)");
-  for ($i=1; $i<=$M; $i++) {
-    for ($j=1; $j<=$i; $j++) {
-      output ("Z$i$j = ell[".ofs2($j-1,$i-1,'nskip')."] - Z$i$j;\n");
-    }
-  }
-  output ("dee = d + i;\n");
-  miniLDLT ('',1,$M);
-  for ($i=2; $i<=$M; $i++) {
-    for ($j=1; $j<$i; $j++) {
-      output ("ell[".ofs2($j-1,$i-1,'nskip')."] = Z$i$j;\n");
-    }
-  }
-}
-
-
-sub makeFastLDLT
-{
-  my ($i,$j,$k);
-
-  # function header
-  output (<<END);
-
-
-void dFactorLDLT (dReal *A, dReal *d, int n, int nskip1)
-{
-END
-  output ("int i,j");
-  for ($i=2; $i<$N1; $i++) {
-    output (",nskip$i");
-  }
-  output (";\n");
-  output ("dReal sum,*ell,*dee,dd,p1,p2");
-  for ($i=3; $i<=$N1; $i++) {
-    output (",p$i");
-  }
-  for ($i=1; $i<=$N1; $i++) {
-    output (",q$i");
-  }
-  for ($i=1; $i<=$N1; $i++) {
-    for ($j=1; $j<=$i; $j++) {
-      output (",Z$i$j");
-      output (",m$i$j") if ! $MADD;	# temporary vars where multiplies put
-    }
-  }
-  output (";\n");
-  output ("if (n < 1) return;\n");
-  # output ("nskip1 = dPAD(n);\n");   ... not any more
-  for ($i=2; $i<$N1; $i++) {
-    output ("nskip$i = $i*nskip1;\n");
-  }
-
-  output ("\nfor (i=0; i<=n-$N1; i += $N1) {\n");
-  comment ("solve L*(D*l)=a, l is scaled elements in $N1 x i block at A(i,0)");
-  output ("dSolveL1_$N1 (A,A+i*nskip1,i,nskip1);\n");
-
-  diagRows ($N1);
-  diagBlock ($N1);
-  output ("}\n");
-
-  comment ("compute the (less than $N1) rows at the bottom");
-  output ("switch (n-i) {\n");
-  output ("case 0:\n");
-  output ("break;\n\n");
-
-  for ($i=1; $i<$N1; $i++) {
-    output ("case $i:\n");
-    output ("dSolveL1_$i (A,A+i*nskip1,i,nskip1);\n");
-    diagRows ($i);
-    diagBlock ($i);
-    output ("break;\n\n");
-  }
-
-  output ("default: *((char*)0)=0;  /* this should never happen! */\n");
-  output ("}\n");
-
-  output ("}\n");
-}
-
-#############################################################################
-# write source code
-
-open (FOUT,">$FNAME.c") or die "can't open $FNAME.c for writing";
-
-# file and function header
-output (<<END);
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-END
-
-if ($TYPE eq 'f') {
-  for ($i=1; $i <= $N1; $i++) {
-    makeFastL1Solve ($i);
-  }
-  makeFastLDLT;
-}
-else {
-  makeFastL1Solve (1);
-  makeRealFastL1Solve;
-}
-close FOUT;
diff --git a/extern/ode/dist/ode/fbuild/BuildMultidot b/extern/ode/dist/ode/fbuild/BuildMultidot
deleted file mode 100644
index f6b117708c5..00000000000
--- a/extern/ode/dist/ode/fbuild/BuildMultidot
+++ /dev/null
@@ -1,174 +0,0 @@
-#!/usr/bin/perl
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# multi-dot-product code generator. this code generator is based on the
-# dot-product code generator.
-#
-# code generation parameters, set in a parameters file:
-#    FNAME    : name of source file to generate - a .c file will be made
-#    N1       : block size (number of `a' vectors to dot)
-#    UNROLL1  : inner loop unrolling factor (1..)
-#    FETCH    : max num of a[i]'s and b[i]'s to load ahead of muls
-#    LAT1     : load -> mul latency (>=1)
-#    LAT2     : mul -> add latency (>=1). if this is 1, use fused mul-add
-#
-#############################################################################
-
-require ("BuildUtil");
-
-# get and check code generation parameters
-error ("Usage: BuildMultidot <parameters-file>") if $#ARGV != 0;
-do $ARGV[0];
-
-if (!defined($FNAME) || !defined($N1) || !defined($UNROLL1) ||
-    !defined($FETCH) || !defined($LAT1) || !defined($LAT2)) {
-  error ("code generation parameters not defined");
-}
-
-# check parameters
-error ("bad N1") if $N1 < 2;
-error ("bad UNROLL1") if $UNROLL1 < 1;
-error ("bad FETCH") if $FETCH < 1;
-error ("bad LAT1") if $LAT1 < 1;
-error ("bad LAT2") if $LAT2 < 1;
-
-#############################################################################
-
-open (FOUT,">$FNAME.c") or die "can't open $FNAME.c for writing";
-
-# file and function header
-output (<<END);
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-
-END
-output ("void dMultidot$N1 (");
-for ($i=0; $i<$N1; $i++) {
-  output ("const dReal *a$i, ");
-}
-output ("const dReal *b, dReal *outsum, int n)\n{\n");
-
-output ("dReal ");
-for ($i=0; $i<$UNROLL1; $i++) {
-  for ($j=0; $j<$N1; $j++) {
-    output ("p$i$j,");
-    output ("m$i$j,") if $LAT2 > 1;
-  }
-  output ("q$i,");
-}
-for ($i=0; $i<$N1; $i++) {
-  output ("sum$i");
-  output (",") if $i < ($N1-1);
-}
-output (";\n");
-for ($i=0; $i<$N1; $i++) {
-  output ("sum$i = 0;\n");
-}
-output (<<END);
-n -= $UNROLL1;
-while (n >= 0) {
-END
-
-@load = ();		# slot where a[i]'s and b[i]'s loaded
-@mul = ();		# slot where multiply i happened
-@add = ();		# slow where add i happened
-
-for ($i=0; $i<$N1; $i++) {
-  output ("p0$i = a$i [0];\n");
-}
-output ("q0 = b[0];\n");
-push (@load,0);
-
-$slot=0;		# one slot for every load/mul/add/nop issued
-for (;;) {
-  $startslot = $slot;
-
-  # do next load
-  if (($#load - $#mul) < $FETCH && ($#load+1) < $UNROLL1) {
-    push (@load,$slot);
-    for ($j=0; $j<$N1; $j++) {
-      output ("p$#load$j = a$j [$#load];\n");
-    }
-    output ("q$#load = b[$#load];\n");
-    $slot++;
-  }
-
-  # do next multiply
-  if ($#load > $#mul && $slot >= ($load[$#mul+1] + $LAT1) &&
-      ($#mul+1) < $UNROLL1) {
-    push (@mul,$slot);
-    if ($LAT2 > 1) {
-      for ($j=0; $j<$N1; $j++) {
-        output ("m$#mul$j = p$#mul$j * q$#mul;\n");
-      }
-    }
-    else {
-      for ($j=0; $j<$N1; $j++) {
-        output ("sum$j += p$#mul$j * q$#mul;\n");
-      }
-      last if ($#mul+1) >= $UNROLL1;
-    }
-    $slot++;
-  }
-  # do next add
-  if ($LAT2 > 1) {
-    if ($#mul > $#add && $slot >= ($mul[$#add+1] + $LAT2)) {
-      push (@add,$slot);
-      for ($j=0; $j<$N1; $j++) {
-        output ("sum$j += m$#add$j;\n");
-      }
-      $slot++;
-      last if ($#add+1) >= $UNROLL1;
-    }
-  }
-
-  if ($slot == $startslot) {
-    # comment ("nop");
-    $slot++;
-  }
-}
-
-for ($j=0; $j<$N1; $j++) {
-  output ("a$j += $UNROLL1;\n");
-}
-output ("b += $UNROLL1;\n");
-output ("n -= $UNROLL1;\n");
-output ("}\n");
-
-output ("n += $UNROLL1;\n");
-output ("while (n > 0) {\n");
-output ("q0 = *b;\n");
-for ($j=0; $j<$N1; $j++) {
-  output ("sum$j += (*a$j) * q0;\n");
-  output ("a$j++;\n");
-}
-output ("b++;\n");
-output ("n--;\n");
-output ("}\n");
-for ($j=0; $j<$N1; $j++) {
-  output ("outsum[$j] = sum$j;\n");
-}
-output ("}\n");
diff --git a/extern/ode/dist/ode/fbuild/BuildUtil b/extern/ode/dist/ode/fbuild/BuildUtil
deleted file mode 100644
index b0828ff5ec1..00000000000
--- a/extern/ode/dist/ode/fbuild/BuildUtil
+++ /dev/null
@@ -1,99 +0,0 @@
-#!/usr/bin/perl -w
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-package BuildUtil;
-
-
-# print out code. after newlines, indent according to the number of curly
-# brackets we've seen
-
-my $indent = 0;
-my $startofline = 1;
-
-
-sub main::output
-{
-  my $line = $_[0];
-  my ($i,$j,$c);
-  for ($i=0; $i < length ($line); $i++) {
-    $c = substr ($line,$i,1);
-    print main::FOUT $c if $c eq '{';
-    $indent++ if $c eq '{';
-    $indent-- if $c eq '}';
-    if ($startofline) {
-      for ($j=0; $j < $indent; $j++) {
-	print main::FOUT "  ";
-      }
-      $startofline = 0;
-    }
-    print main::FOUT $c if $c ne '{';
-    $startofline = 1 if $c eq "\n";
-  }
-}
-
-
-# write a C comment with the correct indenting
-
-sub main::comment
-{
-  main::output ("/* $_[0] */\n");
-}
-
-
-# return an offset: N*skip = skipN where N=0,1,2,...
-
-sub main::ofs1 # (N,skip)
-{
-  my $N = $_[0];
-  my $skip = $_[1];
-  return '0' if $N==0;
-  return $skip . $N;
-}
-
-
-# return an offset: M+N*skip = M+skipN where N=0,1,2,...
-
-sub main::ofs2 # (M,N,skip)
-{
-  my $M = $_[0];
-  my $N = $_[1];
-  my $skip = $_[2];
-  $M = '0' if $M eq '-0';
-  my $a = $M;
-  $a .= '+' . $skip . $N if ($N > 0);
-  substr ($a,0,2)='' if substr ($a,0,2) eq '0+';
-  return $a;
-}
-
-
-# print an error message and exit
-
-sub main::error
-{
-  print "ERROR: $_[0]\n";
-  exit 1;
-}
-
-
-1;
diff --git a/extern/ode/dist/ode/fbuild/Dependencies b/extern/ode/dist/ode/fbuild/Dependencies
deleted file mode 100644
index 86f5cd4417b..00000000000
--- a/extern/ode/dist/ode/fbuild/Dependencies
+++ /dev/null
@@ -1,16 +0,0 @@
-test_dot.o: test_dot.cpp ../../include/ode/ode.h \
- ../../include/ode/config.h ../../include/ode/contact.h \
- ../../include/ode/common.h ../../include/ode/error.h \
- ../../include/ode/memory.h ../../include/ode/odemath.h \
- ../../include/ode/matrix.h ../../include/ode/timer.h \
- ../../include/ode/rotation.h ../../include/ode/mass.h \
- ../../include/ode/space.h ../../include/ode/geom.h \
- ../../include/ode/misc.h
-test_ldlt.o: test_ldlt.cpp ../../include/ode/ode.h \
- ../../include/ode/config.h ../../include/ode/contact.h \
- ../../include/ode/common.h ../../include/ode/error.h \
- ../../include/ode/memory.h ../../include/ode/odemath.h \
- ../../include/ode/matrix.h ../../include/ode/timer.h \
- ../../include/ode/rotation.h ../../include/ode/mass.h \
- ../../include/ode/space.h ../../include/ode/geom.h \
- ../../include/ode/misc.h
diff --git a/extern/ode/dist/ode/fbuild/Makefile b/extern/ode/dist/ode/fbuild/Makefile
deleted file mode 100644
index f988c3739af..00000000000
--- a/extern/ode/dist/ode/fbuild/Makefile
+++ /dev/null
@@ -1,77 +0,0 @@
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# currently this only works under linux, and it's a bit of a mess!
-
-MAKEFILE_INC=../../build/Makefile.inc
-include $(MAKEFILE_INC)
-
-INCLUDE_PATHS=../../include
-LIB_PATHS = ../../lib
-DEFINES=dDOUBLE
-
-SOURCES_CPP=test_ldlt.cpp
-SOURCES_C=fastldlt.c fastlsolve.c fastltsolve.c
-APPS=$(call fEXENAME,test_ldlt) $(call fEXENAME,test_dot) $(call fEXENAME,test_multidot)
-EXTRA_CLEAN=test_ldlt test_dot test_multidot fastldlt.c fastlsolve.c fastltsolve.c fastdot.c fastmultidot.c
-
-
-all: $(APPS)
-
-$(call fEXENAME,test_ldlt): $(call fTARGETS,$(SOURCES_CPP) $(SOURCES_C))
-	gcc -o $@ $^ -L $(LIB_PATHS) $(call fLIB,ode) -lm
-
-$(call fEXENAME,test_dot): test_dot.o fastdot.o
-	gcc -o $@ test_dot.o fastdot.o -L $(LIB_PATHS) $(call fLIB,ode) -lm
-
-$(call fEXENAME,test_multidot): test_multidot.o fastmultidot.o
-	gcc -o $@ test_multidot.o fastmultidot.o -L $(LIB_PATHS) $(call fLIB,ode) -lm
-
-fastldlt.o: fastldlt.c
-	gcc -O1 -I$(INCLUDE_PATHS) -ffast-math -fomit-frame-pointer -c -D$(DEFINES) $<
-
-fastlsolve.o: fastlsolve.c
-	gcc -O1 -I$(INCLUDE_PATHS) -ffast-math -fomit-frame-pointer -c -D$(DEFINES) $<
-
-fastltsolve.o: fastltsolve.c
-	gcc -O1 -I$(INCLUDE_PATHS) -ffast-math -fomit-frame-pointer -c -D$(DEFINES) $<
-
-fastdot.o: fastdot.c
-	gcc -O1 -I$(INCLUDE_PATHS) -ffast-math -fomit-frame-pointer -c -D$(DEFINES) $<
-
-fastmultidot.o: fastmultidot.c
-	gcc -O1 -I$(INCLUDE_PATHS) -ffast-math -fomit-frame-pointer -c -D$(DEFINES) $<
-
-fastldlt.c: BuildLDLT BuildUtil ParametersF
-	./BuildLDLT ParametersF
-
-fastlsolve.c: BuildLDLT BuildUtil ParametersS
-	./BuildLDLT ParametersS
-
-fastltsolve.c: BuildLDLT BuildUtil ParametersT
-	./BuildLDLT ParametersT
-
-fastdot.c: BuildDot BuildUtil ParametersD
-	./BuildDot ParametersD
-
-fastmultidot.c: BuildMultidot BuildUtil ParametersM
-	./BuildMultidot ParametersM
diff --git a/extern/ode/dist/ode/fbuild/OptimizeDot b/extern/ode/dist/ode/fbuild/OptimizeDot
deleted file mode 100644
index 1dc178262aa..00000000000
--- a/extern/ode/dist/ode/fbuild/OptimizeDot
+++ /dev/null
@@ -1,71 +0,0 @@
-#!/usr/bin/perl
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# optimize the dot product built by BuildDot
-
-##############################################################################
-
-require ("OptimizeUtil");
-
-# unused standard parameters
-$TYPE='unused';
-$N1=0;			# unused
-$UNROLL2=0;		# unused
-$MADD=0;		# unused
-
-##############################################################################
-
-sub testDot # (filename)
-{
-  my $filename = $_[0];
-  createParametersFile ('ParametersD');
-  $params = "$N1 $UNROLL1 $UNROLL2 $MADD $FETCH $LAT1 $LAT2";
-  print "***** TESTING $params\n";
-  doit ("rm -f fastdot.c fastdot.o test_dot");
-  doit ("make test_dot");
-  doit ("./test_dot >> $filename");
-  open (FILE,">>$filename");
-  print FILE " $params\n";
-  close FILE;
-}
-
-# find optimal parameters. write results to data4.txt
-
-open (FILE,">data4.txt");
-print FILE "# dot product data from OptimizeDot\n";
-close FILE;
-$FNAME='fastdot';
-
-for ($UNROLL1=1; $UNROLL1 <= 10; $UNROLL1++) {
-  for ($LAT1=1; $LAT1 <= 5; $LAT1++) {
-    for ($LAT2=1; $LAT2 <= 5; $LAT2++) {
-      for ($FETCH=1; $FETCH<=5; $FETCH++) {
-	testDot ('data4.txt');
-      }
-    }
-  }
-}
-
-readBackDataFile ('data4.txt');
-createParametersFile ('ParametersD');
diff --git a/extern/ode/dist/ode/fbuild/OptimizeLDLT b/extern/ode/dist/ode/fbuild/OptimizeLDLT
deleted file mode 100644
index 612633e00c2..00000000000
--- a/extern/ode/dist/ode/fbuild/OptimizeLDLT
+++ /dev/null
@@ -1,91 +0,0 @@
-#!/usr/bin/perl
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# optimize the factorizer built by BuildLDLT
-#
-#    FNAME   : name of source file to generate - .h and .c files will be made
-#    N1      : block size (size of outer product matrix) (1..9)
-#    UNROLL1 : solver inner loop unrolling factor (1..)
-#    UNROLL2 : factorizer inner loop unrolling factor (1..)
-#    MADD    : if nonzero, generate code for fused multiply-add (0,1)
-#    FETCH   : how to fetch data in the inner loop:
-#                0 - load in a batch (the `normal way')
-#                1 - delay inner loop loads until just before they're needed
-
-##############################################################################
-
-require ("OptimizeUtil");
-
-##############################################################################
-# optimize factorizer
-
-sub testFactorizer # (filename)
-{
-  my $filename = $_[0];
-  createParametersFile ('ParametersF');
-  $params = "$N1 $UNROLL1 $UNROLL2 $MADD $FETCH";
-  print "***** TESTING $params\n";
-  doit ("rm -f fastldlt.c fastldlt.o test_ldlt");
-  doit ("make test_ldlt");
-  doit ("./test_ldlt f >> $filename");
-  open (FILE,">>$filename");
-  print FILE " $params\n";
-  close FILE;
-}
-
-
-# first find optimal parameters ignoring UNROLL1 and UNROLL2, write results
-# to data1.txt
-
-open (FILE,">data1.txt");
-print FILE "# factorizer data from OptimizeLDLT\n";
-close FILE;
-$FNAME='fastldlt';
-$TYPE='f';
-$UNROLL1=4;
-$UNROLL2=4;
-for ($N1=1; $N1 <= 4; $N1++) {
-  for ($MADD=0; $MADD<=1; $MADD++) {
-    for ($FETCH=0; $FETCH<=1; $FETCH++) {
-      testFactorizer ('data1.txt');
-    }
-  }
-}
-
-readBackDataFile ('data1.txt');
-createParametersFile ('ParametersF');
-
-# now find optimal UNROLL1 and UNROLL2 values, write results to data2.txt
-
-open (FILE,">data2.txt");
-print FILE "# factorizer data from OptimizeLDLT\n";
-close FILE;
-for ($UNROLL1=1; $UNROLL1 <= 10; $UNROLL1++) {
-  for ($UNROLL2=1; $UNROLL2 <= 10; $UNROLL2++) {
-    testFactorizer ('data2.txt');
-  }
-}
-
-readBackDataFile ('data2.txt');
-createParametersFile ('ParametersF');
diff --git a/extern/ode/dist/ode/fbuild/OptimizeLSolve b/extern/ode/dist/ode/fbuild/OptimizeLSolve
deleted file mode 100644
index bba6b495f2c..00000000000
--- a/extern/ode/dist/ode/fbuild/OptimizeLSolve
+++ /dev/null
@@ -1,76 +0,0 @@
-#!/usr/bin/perl
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# optimize the solver built by BuildLDLT
-#
-#    FNAME   : name of source file to generate - .h and .c files will be made
-#    N1      : block size (size of outer product matrix) (1..9)
-#    UNROLL1 : solver inner loop unrolling factor (1..)
-#    UNROLL2 : factorizer inner loop unrolling factor (1..)
-#    MADD    : if nonzero, generate code for fused multiply-add (0,1)
-#    FETCH   : how to fetch data in the inner loop:
-#                0 - load in a batch (the `normal way')
-#                1 - delay inner loop loads until just before they're needed
-
-##############################################################################
-
-require ("OptimizeUtil");
-
-##############################################################################
-# optimize solver
-
-sub testSolver # (filename)
-{
-  my $filename = $_[0];
-  createParametersFile ('ParametersS');
-  $params = "$N1 $UNROLL1 $UNROLL2 $MADD $FETCH";
-  print "***** TESTING $params\n";
-  doit ("rm -f fastlsolve.c fastlsolve.o test_ldlt");
-  doit ("make test_ldlt");
-  doit ("./test_ldlt s >> $filename");
-  open (FILE,">>$filename");
-  print FILE " $params\n";
-  close FILE;
-}
-
-# find optimal parameters. UNROLL2 has no effect. write results to data3.txt
-
-open (FILE,">data3.txt");
-print FILE "# solver data from OptimizeLDLT\n";
-close FILE;
-$FNAME='fastlsolve';
-$TYPE='s';
-$UNROLL2=1;
-for ($N1=1; $N1 <= 5; $N1++) {
-  for ($UNROLL1=1; $UNROLL1 <= 15; $UNROLL1++) {
-    for ($MADD=0; $MADD<=1; $MADD++) {
-      for ($FETCH=0; $FETCH<=1; $FETCH++) {
-	testSolver ('data3.txt');
-      }
-    }
-  }
-}
-
-readBackDataFile ('data3.txt');
-createParametersFile ('ParametersS');
diff --git a/extern/ode/dist/ode/fbuild/OptimizeLTSolve b/extern/ode/dist/ode/fbuild/OptimizeLTSolve
deleted file mode 100644
index a10109e2d2c..00000000000
--- a/extern/ode/dist/ode/fbuild/OptimizeLTSolve
+++ /dev/null
@@ -1,76 +0,0 @@
-#!/usr/bin/perl
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# optimize the transpose solver built by BuildLDLT
-#
-#    FNAME   : name of source file to generate - .h and .c files will be made
-#    N1      : block size (size of outer product matrix) (1..9)
-#    UNROLL1 : solver inner loop unrolling factor (1..)
-#    UNROLL2 : factorizer inner loop unrolling factor (1..)
-#    MADD    : if nonzero, generate code for fused multiply-add (0,1)
-#    FETCH   : how to fetch data in the inner loop:
-#                0 - load in a batch (the `normal way')
-#                1 - delay inner loop loads until just before they're needed
-
-##############################################################################
-
-require ("OptimizeUtil");
-
-##############################################################################
-# optimize solver
-
-sub testSolver # (filename)
-{
-  my $filename = $_[0];
-  createParametersFile ('ParametersT');
-  $params = "$N1 $UNROLL1 $UNROLL2 $MADD $FETCH";
-  print "***** TESTING $params\n";
-  doit ("rm -f fastltsolve.c fastltsolve.o test_ldlt");
-  doit ("make test_ldlt");
-  doit ("./test_ldlt t >> $filename");
-  open (FILE,">>$filename");
-  print FILE " $params\n";
-  close FILE;
-}
-
-# find optimal parameters. UNROLL2 has no effect. write results to data5.txt
-
-open (FILE,">data5.txt");
-print FILE "# solver data from OptimizeLDLT\n";
-close FILE;
-$FNAME='fastltsolve';
-$TYPE='t';
-$UNROLL2=1;
-for ($N1=1; $N1 <= 5; $N1++) {
-  for ($UNROLL1=1; $UNROLL1 <= 15; $UNROLL1++) {
-    for ($MADD=0; $MADD<=1; $MADD++) {
-      for ($FETCH=0; $FETCH<=1; $FETCH++) {
-	testSolver ('data5.txt');
-      }
-    }
-  }
-}
-
-readBackDataFile ('data5.txt');
-createParametersFile ('ParametersT');
diff --git a/extern/ode/dist/ode/fbuild/OptimizeMultidot b/extern/ode/dist/ode/fbuild/OptimizeMultidot
deleted file mode 100644
index f2b54383312..00000000000
--- a/extern/ode/dist/ode/fbuild/OptimizeMultidot
+++ /dev/null
@@ -1,73 +0,0 @@
-#!/usr/bin/perl
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# optimize the dot product built by BuildMultidot
-
-##############################################################################
-
-require ("OptimizeUtil");
-
-# multiple
-$N1=2;
-
-# unused standard parameters
-$TYPE='unused';
-$UNROLL2=0;		# unused
-$MADD=0;		# unused
-
-##############################################################################
-
-sub testMultidot # (filename)
-{
-  my $filename = $_[0];
-  createParametersFile ('ParametersM');
-  $params = "$N1 $UNROLL1 $UNROLL2 $MADD $FETCH $LAT1 $LAT2";
-  print "***** TESTING $params\n";
-  doit ("rm -f fastmultidot.c fastmultidot.o test_multidot");
-  doit ("make test_multidot");
-  doit ("./test_multidot >> $filename");
-  open (FILE,">>$filename");
-  print FILE " $params\n";
-  close FILE;
-}
-
-# find optimal parameters. write results to data6.txt
-
-open (FILE,">data6.txt");
-print FILE "# multi-dot product data from OptimizeMultidot\n";
-close FILE;
-$FNAME='fastmultidot';
-
-for ($UNROLL1=1; $UNROLL1 <= 10; $UNROLL1++) {
-  for ($LAT1=1; $LAT1 <= 5; $LAT1++) {
-    for ($LAT2=1; $LAT2 <= 5; $LAT2++) {
-      for ($FETCH=1; $FETCH<=5; $FETCH++) {
-	testMultidot ('data6.txt');
-      }
-    }
-  }
-}
-
-readBackDataFile ('data6.txt');
-createParametersFile ('ParametersM');
diff --git a/extern/ode/dist/ode/fbuild/OptimizeUtil b/extern/ode/dist/ode/fbuild/OptimizeUtil
deleted file mode 100644
index 2b882fcba65..00000000000
--- a/extern/ode/dist/ode/fbuild/OptimizeUtil
+++ /dev/null
@@ -1,86 +0,0 @@
-#!/usr/bin/perl -w
-#
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-package BuildUtil;
-
-
-sub main::doit
-{
-  my $cmd = $_[0];
-  print "$cmd\n";
-  system ($cmd)==0 or die "FAILED";
-}
-
-
-sub main::createParametersFile # (filename)
-{
-  open (PARAM,">$_[0]");
-  print PARAM "# perl script to set parameters required by the code generator\n";
-  print PARAM "\$FNAME=\"$main::FNAME\";\n" if defined($main::FNAME);
-  print PARAM "\$TYPE=\"$main::TYPE\";\n" if defined($main::TYPE);
-  print PARAM "\$N1=$main::N1;\n" if defined($main::N1);
-  print PARAM "\$UNROLL1=$main::UNROLL1;\n" if defined($main::UNROLL1);
-  print PARAM "\$UNROLL2=$main::UNROLL2;\n" if defined($main::UNROLL2);
-  print PARAM "\$MADD=$main::MADD;\n" if defined($main::MADD);
-  print PARAM "\$FETCH=$main::FETCH;\n" if defined($main::FETCH);
-  print PARAM "\$LAT1=$main::LAT1;\n" if defined($main::LAT1);
-  print PARAM "\$LAT2=$main::LAT2;\n" if defined($main::LAT2);
-  close PARAM;
-}
-
-
-# read back a data file and find best parameters
-
-sub main::readBackDataFile # (filename)
-{
-  my $filename = $_[0];
-  my $maxtime = 1e10;
-  open (FILE,$filename);
-  while (<FILE>) {
-    next if /^\#/;
-    my $line = lc $_;
-    if ($line =~ /error/) {
-      print "ERRORS FOUND IN $filename\n";
-      exit 1;
-    }
-    $line =~ s/^\s*//;
-    $line =~ s/\s*$//;
-    my @nums = split (/\s+/,$line);
-    $time = $nums[0];
-    if ($time < $maxtime) {
-      $main::N1 = $nums[1];
-      $main::UNROLL1 = $nums[2];
-      $main::UNROLL2 = $nums[3];
-      $main::MADD = $nums[4];
-      $main::FETCH = $nums[5];
-      $main::LAT1 = $nums[6];
-      $main::LAT2 = $nums[7];
-      $maxtime = $time;
-    }
-  }
-  close FILE;
-}
-
-
-1;
diff --git a/extern/ode/dist/ode/fbuild/ParametersD.example b/extern/ode/dist/ode/fbuild/ParametersD.example
deleted file mode 100644
index e58f279f7d7..00000000000
--- a/extern/ode/dist/ode/fbuild/ParametersD.example
+++ /dev/null
@@ -1,32 +0,0 @@
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library is distributed in the hope that it will be useful,       #
-# but WITHOUT ANY WARRANTY; without even the implied warranty of        #
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# perl script to set parameters required by the code generator
-$FNAME="fastdot";
-$TYPE="unused";
-$N1=0;
-$UNROLL1=2;
-$UNROLL2=0;
-$MADD=0;
-$FETCH=1;
-$LAT1=1;
-$LAT2=2;
diff --git a/extern/ode/dist/ode/fbuild/ParametersF.example b/extern/ode/dist/ode/fbuild/ParametersF.example
deleted file mode 100644
index 9881b09ad81..00000000000
--- a/extern/ode/dist/ode/fbuild/ParametersF.example
+++ /dev/null
@@ -1,30 +0,0 @@
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# perl script to set parameters required by the code generator
-$FNAME="fastldlt";
-$TYPE="f";
-$N1=2;
-$UNROLL1=2;
-$UNROLL2=6;
-$MADD=0;
-$FETCH=1;
diff --git a/extern/ode/dist/ode/fbuild/ParametersM.example b/extern/ode/dist/ode/fbuild/ParametersM.example
deleted file mode 100644
index bb81d6b83f1..00000000000
--- a/extern/ode/dist/ode/fbuild/ParametersM.example
+++ /dev/null
@@ -1,32 +0,0 @@
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library is distributed in the hope that it will be useful,       #
-# but WITHOUT ANY WARRANTY; without even the implied warranty of        #
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# perl script to set parameters required by the code generator
-$FNAME="fastmultidot";
-$TYPE="unused";
-$N1=2;
-$UNROLL1=1;
-$UNROLL2=0;
-$MADD=0;
-$FETCH=5;
-$LAT1=1;
-$LAT2=1;
diff --git a/extern/ode/dist/ode/fbuild/ParametersS.example b/extern/ode/dist/ode/fbuild/ParametersS.example
deleted file mode 100644
index 29c9a91fc16..00000000000
--- a/extern/ode/dist/ode/fbuild/ParametersS.example
+++ /dev/null
@@ -1,30 +0,0 @@
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library 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 files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# perl script to set parameters required by the code generator
-$FNAME="fastlsolve";
-$TYPE="s";
-$N1=4;
-$UNROLL1=12;
-$UNROLL2=1;
-$MADD=1;
-$FETCH=0;
diff --git a/extern/ode/dist/ode/fbuild/ParametersT.example b/extern/ode/dist/ode/fbuild/ParametersT.example
deleted file mode 100644
index 3aa92a31dd2..00000000000
--- a/extern/ode/dist/ode/fbuild/ParametersT.example
+++ /dev/null
@@ -1,30 +0,0 @@
-#########################################################################
-#                                                                       #
-# Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       #
-# All rights reserved.  Email: russ@q12.org   Web: www.q12.org          #
-#                                                                       #
-# This library is free software; you can redistribute it and/or         #
-# modify it under the terms of EITHER:                                  #
-#   (1) The GNU Lesser General Public License as published by the Free  #
-#       Software Foundation; either version 2.1 of the License, or (at  #
-#       your option) any later version. The text of the GNU Lesser      #
-#       General Public License is included with this library in the     #
-#       file LICENSE.TXT.                                               #
-#   (2) The BSD-style license that is included with this library in     #
-#       the file LICENSE-BSD.TXT.                                       #
-#                                                                       #
-# This library is distributed in the hope that it will be useful,       #
-# but WITHOUT ANY WARRANTY; without even the implied warranty of        #
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    #
-# LICENSE.TXT and LICENSE-BSD.TXT for more details.                     #
-#                                                                       #
-#########################################################################
-
-# perl script to set parameters required by the code generator
-$FNAME="fastltsolve";
-$TYPE="t";
-$N1=4;
-$UNROLL1=12;
-$UNROLL2=1;
-$MADD=1;
-$FETCH=0;
diff --git a/extern/ode/dist/ode/fbuild/README b/extern/ode/dist/ode/fbuild/README
deleted file mode 100644
index bcf7f5aa8b5..00000000000
--- a/extern/ode/dist/ode/fbuild/README
+++ /dev/null
@@ -1,41 +0,0 @@
-
-factorizer/solver builder
-
-before running `make', copy the following files:
-	ParametersD.example --> ParametersD
-	ParametersF.example --> ParametersF
-	ParametersS.example --> ParametersS
-
-the files Parameters[D|F|S] don't exist in the CVS archive because
-they are changable.
-
-
-
-STATS - for chol
------
-
-* all with -O1
-
-128x128 matrix
-atlas   = 1724779 clocks
-my chol = 1164629 clocks (parameters: 2 2 2 1)  with Ai++, Aj++
-my chol = 1140786 clocks (parameters: 2 6 8 0)  with Ai++, Aj++
-my chol = 1118968 clocks (parameters: 2 6 8 0)  with +ofs
-
-64x64 matrix
-atlas   = 374020 clocks
-my chol = 157076 clocks (parameters = 2 2 2 1)
-
-32x32 matrix (12961 flops)
-atlas   = 83827 clocks
-my chol = 25945 clocks (parameters: 2 2 2 1)
-
-
-
-
-TODO
-----
-
-* doc!
-
-* iterate blocks by partial rows to try and keep more data in cache
diff --git a/extern/ode/dist/ode/fbuild/ldlt.m b/extern/ode/dist/ode/fbuild/ldlt.m
deleted file mode 100644
index 19ae2d1c94e..00000000000
--- a/extern/ode/dist/ode/fbuild/ldlt.m
+++ /dev/null
@@ -1,26 +0,0 @@
-function [L,d] = ldlt(A)
-
-n=length(A);
-d=zeros(n,1);
-
-d(1) = 1/A(1,1);
-for i=2:n
-  for j=2:i-1
-    A(i,j) = A(i,j) - A(j,1:j-1) * A(i,1:j-1)';
-  end
-  sum = 0;
-  for j=1:i-1
-    q1 = A(i,j);
-    q2 = q1 * d(j);
-    A(i,j) = q2;
-    sum = sum + q1*q2;
-  end
-  d(i) = 1/(A(i,i) - sum);
-end
-
-L=A;
-for i=1:n
-  L(i,i:n)=zeros(1,n+1-i);
-  L(i,i)=1;
-end
-d = d .\ 1;
diff --git a/extern/ode/dist/ode/fbuild/test_dot.cpp b/extern/ode/dist/ode/fbuild/test_dot.cpp
deleted file mode 100644
index 62aec32e509..00000000000
--- a/extern/ode/dist/ode/fbuild/test_dot.cpp
+++ /dev/null
@@ -1,124 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <stdio.h>
-#include "ode/ode.h"
-
-#define ALLOCA dALLOCA16
-#define SIZE 1000
-
-
-// correct dot product, for accuracy testing
-
-dReal goodDot (dReal *a, dReal *b, int n)
-{
-  dReal sum=0;
-  while (n > 0) {
-    sum += (*a) * (*b);
-    a++;
-    b++;
-    n--;
-  }
-  return sum;
-}
-
-
-// test dot product accuracy
-
-void testAccuracy()
-{
-  // allocate vectors a and b and fill them with random data
-  dReal *a = (dReal*) ALLOCA (SIZE*sizeof(dReal));
-  dReal *b = (dReal*) ALLOCA (SIZE*sizeof(dReal));
-  dMakeRandomMatrix (a,1,SIZE,1.0);
-  dMakeRandomMatrix (b,1,SIZE,1.0);
-
-  for (int n=1; n<100; n++) {
-    dReal good = goodDot (a,b,n);
-    dReal test = dDot (a,b,n);
-    dReal diff = fabs(good-test);
-    //printf ("diff = %e\n",diff);
-    if (diff > 1e-10) printf ("ERROR: accuracy test failed\n");
-  }
-}
-
-
-// test dot product factorizer speed.
-
-void testSpeed()
-{
-  // allocate vectors a and b and fill them with random data
-  dReal *a = (dReal*) ALLOCA (SIZE*sizeof(dReal));
-  dReal *b = (dReal*) ALLOCA (SIZE*sizeof(dReal));
-  dMakeRandomMatrix (a,1,SIZE,1.0);
-  dMakeRandomMatrix (b,1,SIZE,1.0);
-
-  // time several dot products, return the minimum timing
-  double mintime = 1e100;
-  dStopwatch sw;
-  for (int i=0; i<1000; i++) {
-    dStopwatchReset (&sw);
-    dStopwatchStart (&sw);
-
-    // try a bunch of prime sizes up to 101
-    dDot (a,b,2);
-    dDot (a,b,3);
-    dDot (a,b,5);
-    dDot (a,b,7);
-    dDot (a,b,11);
-    dDot (a,b,13);
-    dDot (a,b,17);
-    dDot (a,b,19);
-    dDot (a,b,23);
-    dDot (a,b,29);
-    dDot (a,b,31);
-    dDot (a,b,37);
-    dDot (a,b,41);
-    dDot (a,b,43);
-    dDot (a,b,47);
-    dDot (a,b,53);
-    dDot (a,b,59);
-    dDot (a,b,61);
-    dDot (a,b,67);
-    dDot (a,b,71);
-    dDot (a,b,73);
-    dDot (a,b,79);
-    dDot (a,b,83);
-    dDot (a,b,89);
-    dDot (a,b,97);
-    dDot (a,b,101);
-
-    dStopwatchStop (&sw);
-    double time = dStopwatchTime (&sw);
-    if (time < mintime) mintime = time;
-  }
-
-  printf ("%.0f",mintime * dTimerTicksPerSecond());
-}
-
-
-int main()
-{
-  testAccuracy();
-  testSpeed();
-  return 0;
-}
diff --git a/extern/ode/dist/ode/fbuild/test_ldlt.cpp b/extern/ode/dist/ode/fbuild/test_ldlt.cpp
deleted file mode 100644
index 3b795b9ee7f..00000000000
--- a/extern/ode/dist/ode/fbuild/test_ldlt.cpp
+++ /dev/null
@@ -1,299 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <stdio.h>
-#include <malloc.h>
-#include "ode/ode.h"
-
-#define ALLOCA dALLOCA16
-
-//****************************************************************************
-// constants
-
-#ifdef dSINGLE
-#define TOL (1e-4)
-#else
-#define TOL (1e-10)
-#endif
-
-//****************************************************************************
-// test L*X=B solver accuracy.
-
-void testSolverAccuracy (int n)
-{
-  int i;
-  int npad = dPAD(n);
-  dReal *L = (dReal*) ALLOCA (n*npad*sizeof(dReal));
-  dReal *B = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *B2 = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *X = (dReal*) ALLOCA (n*sizeof(dReal));
-
-  // L is a random lower triangular matrix with 1's on the diagonal
-  dMakeRandomMatrix (L,n,n,1.0);
-  dClearUpperTriangle (L,n);
-  for (i=0; i<n; i++) L[i*npad+i] = 1;
-
-  // B is the right hand side
-  dMakeRandomMatrix (B,n,1,1.0);
-  memcpy (X,B,n*sizeof(dReal));	// copy B to X
-
-  dSolveL1 (L,X,n,npad);
-
-  /*
-  dPrintMatrix (L,n,n);
-  printf ("\n");
-  dPrintMatrix (B,n,1);
-  printf ("\n");
-  dPrintMatrix (X,n,1);
-  printf ("\n");
-  */
-
-  dSetZero (B2,n);
-  dMultiply0 (B2,L,X,n,n,1);
-  dReal error = dMaxDifference (B,B2,1,n);
-  if (error > TOL) {
-    printf ("error = %e, size = %d\n",error,n);
-  }
-}
-
-//****************************************************************************
-// test L^T*X=B solver accuracy.
-
-void testTransposeSolverAccuracy (int n)
-{
-  int i;
-  int npad = dPAD(n);
-  dReal *L = (dReal*) ALLOCA (n*npad*sizeof(dReal));
-  dReal *B = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *B2 = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *X = (dReal*) ALLOCA (n*sizeof(dReal));
-
-  // L is a random lower triangular matrix with 1's on the diagonal
-  dMakeRandomMatrix (L,n,n,1.0);
-  dClearUpperTriangle (L,n);
-  for (i=0; i<n; i++) L[i*npad+i] = 1;
-
-  // B is the right hand side
-  dMakeRandomMatrix (B,n,1,1.0);
-  memcpy (X,B,n*sizeof(dReal));	// copy B to X
-
-  dSolveL1T (L,X,n,npad);
-
-  dSetZero (B2,n);
-  dMultiply1 (B2,L,X,n,n,1);
-  dReal error = dMaxDifference (B,B2,1,n);
-  if (error > TOL) {
-    printf ("error = %e, size = %d\n",error,n);
-  }
-}
-
-//****************************************************************************
-// test L*D*L' factorizer accuracy.
-
-void testLDLTAccuracy (int n)
-{
-  int i,j;
-  int npad = dPAD(n);
-  dReal *A = (dReal*) ALLOCA (n*npad*sizeof(dReal));
-  dReal *L = (dReal*) ALLOCA (n*npad*sizeof(dReal));
-  dReal *d = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *Atest = (dReal*) ALLOCA (n*npad*sizeof(dReal));
-  dReal *DL = (dReal*) ALLOCA (n*npad*sizeof(dReal));
-
-  dMakeRandomMatrix (A,n,n,1.0);
-  dMultiply2 (L,A,A,n,n,n);
-  memcpy (A,L,n*npad*sizeof(dReal));
-  dSetZero (d,n);
-
-  dFactorLDLT (L,d,n,npad);
-
-  // make L lower triangular, and convert d into diagonal of D
-  dClearUpperTriangle (L,n);
-  for (i=0; i<n; i++) L[i*npad+i] = 1;
-  for (i=0; i<n; i++) d[i] = 1.0/d[i];
-
-  // form Atest = L*D*L'
-  dSetZero (Atest,n*npad);
-  dSetZero (DL,n*npad);
-  for (i=0; i<n; i++) {
-    for (j=0; j<n; j++) DL[i*npad+j] = L[i*npad+j] * d[j];
-  }
-  dMultiply2 (Atest,L,DL,n,n,n);
-  dReal error = dMaxDifference (A,Atest,n,n);
-  if (error > TOL) {
-    printf ("error = %e, size = %d\n",error,n);
-  }
-
-  /*
-  printf ("\n");
-  dPrintMatrix (A,n,n);
-  printf ("\n");
-  dPrintMatrix (L,n,n);
-  printf ("\n");
-  dPrintMatrix (d,1,n);
-  */
-}
-
-//****************************************************************************
-// test L*D*L' factorizer speed.
-
-void testLDLTSpeed (int n)
-{
-  int npad = dPAD(n);
-
-  // allocate A
-  dReal *A = (dReal*) ALLOCA (n*npad*sizeof(dReal));
-
-  // make B a symmetric positive definite matrix
-  dMakeRandomMatrix (A,n,n,1.0);
-  dReal *B = (dReal*) ALLOCA (n*npad*sizeof(dReal));
-  dSetZero (B,n*npad);
-  dMultiply2 (B,A,A,n,n,n);
-
-  // make d
-  dReal *d = (dReal*) ALLOCA (n*sizeof(dReal));
-  dSetZero (d,n);
-
-  // time several factorizations, return the minimum timing
-  double mintime = 1e100;
-  dStopwatch sw;
-  for (int i=0; i<100; i++) {
-    memcpy (A,B,n*npad*sizeof(dReal));
-    dStopwatchReset (&sw);
-    dStopwatchStart (&sw);
-
-    dFactorLDLT (A,d,n,npad);
-
-    dStopwatchStop (&sw);
-    double time = dStopwatchTime (&sw);
-    if (time < mintime) mintime = time;
-  }
-
-  printf ("%.0f",mintime * dTimerTicksPerSecond());
-}
-
-//****************************************************************************
-// test solver speed.
-
-void testSolverSpeed (int n, int transpose)
-{
-  int i;
-  int npad = dPAD(n);
-
-  // allocate L,B,X
-  dReal *L = (dReal*) ALLOCA (n*npad*sizeof(dReal));
-  dReal *B = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *X = (dReal*) ALLOCA (n*sizeof(dReal));
-
-  // L is a random lower triangular matrix with 1's on the diagonal
-  dMakeRandomMatrix (L,n,n,1.0);
-  dClearUpperTriangle (L,n);
-  for (i=0; i<n; i++) L[i*npad+i] = 1;
-
-  // B is the right hand side
-  dMakeRandomMatrix (B,n,1,1.0);
-
-  // time several factorizations, return the minimum timing
-  double mintime = 1e100;
-  dStopwatch sw;
-  for (int i=0; i<100; i++) {
-    memcpy (X,B,n*sizeof(dReal));	// copy B to X
-
-    if (transpose) {
-      dStopwatchReset (&sw);
-      dStopwatchStart (&sw);
-      dSolveL1T (L,X,n,npad);
-      dStopwatchStop (&sw);
-    }
-    else {
-      dStopwatchReset (&sw);
-      dStopwatchStart (&sw);
-      dSolveL1 (L,X,n,npad);
-      dStopwatchStop (&sw);
-    }
-
-    double time = dStopwatchTime (&sw);
-    if (time < mintime) mintime = time;
-  }
-
-  printf ("%.0f",mintime * dTimerTicksPerSecond());
-}
-
-//****************************************************************************
-// the single command line argument is 'f' to test and time the factorizer,
-// or 's' to test and time the solver.
-
-
-void testAccuracy (int n, char type)
-{
-  if (type == 'f') testLDLTAccuracy (n);
-  if (type == 's') testSolverAccuracy (n);
-  if (type == 't') testTransposeSolverAccuracy (n);
-}
-
-
-void testSpeed (int n, char type)
-{
-  if (type == 'f') testLDLTSpeed (n);
-  if (type == 's') testSolverSpeed (n,0);
-  if (type == 't') testSolverSpeed (n,1);
-}
-
-
-int main (int argc, char **argv)
-{
-  if (argc != 2 || argv[1][0] == 0 || argv[1][1] != 0 ||
-      (argv[1][0] != 'f' && argv[1][0] != 's' && argv[1][0] != 't')) {
-    fprintf (stderr,"Usage: test_ldlt [f|s|t]\n");
-    exit (1);
-  }
-  char type = argv[1][0];
-
-  // accuracy test: test all sizes up to 20 then all prime sizes up to 101
-  int i;
-  for (i=1; i<20; i++) {
-    testAccuracy (i,type);
-  }
-  testAccuracy (23,type);
-  testAccuracy (29,type);
-  testAccuracy (31,type);
-  testAccuracy (37,type);
-  testAccuracy (41,type);
-  testAccuracy (43,type);
-  testAccuracy (47,type);
-  testAccuracy (53,type);
-  testAccuracy (59,type);
-  testAccuracy (61,type);
-  testAccuracy (67,type);
-  testAccuracy (71,type);
-  testAccuracy (73,type);
-  testAccuracy (79,type);
-  testAccuracy (83,type);
-  testAccuracy (89,type);
-  testAccuracy (97,type);
-  testAccuracy (101,type);
-
-  // test speed on a 127x127 matrix
-  testSpeed (127,type);
-
-  return 0;
-}
diff --git a/extern/ode/dist/ode/fbuild/test_multidot.cpp b/extern/ode/dist/ode/fbuild/test_multidot.cpp
deleted file mode 100644
index 0e961152fed..00000000000
--- a/extern/ode/dist/ode/fbuild/test_multidot.cpp
+++ /dev/null
@@ -1,144 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <stdio.h>
-#include "ode/ode.h"
-
-#define NUM_A 2
-#define ALLOCA dALLOCA16
-#define SIZE 1000
-
-
-extern "C" void dMultidot2 (const dReal *a0, const dReal *a1,
-			    const dReal *b, dReal *outsum, int n);
-/*
-extern "C" void dMultidot4 (const dReal *a0, const dReal *a1,
-			    const dReal *a2, const dReal *a3,
-			    const dReal *b, dReal *outsum, int n);
-*/
-
-
-// correct dot product, for accuracy testing
-
-dReal goodDot (dReal *a, dReal *b, int n)
-{
-  dReal sum=0;
-  while (n > 0) {
-    sum += (*a) * (*b);
-    a++;
-    b++;
-    n--;
-  }
-  return sum;
-}
-
-
-// test multi-dot product accuracy
-
-void testAccuracy()
-{
-  int j;
-
-  // allocate vectors a and b and fill them with random data
-  dReal *a[NUM_A];
-  for (j=0; j<NUM_A; j++) a[j] = (dReal*) ALLOCA (SIZE*sizeof(dReal));
-  dReal *b = (dReal*) ALLOCA (SIZE*sizeof(dReal));
-  for (j=0; j<NUM_A; j++) dMakeRandomMatrix (a[j],1,SIZE,1.0);
-  dMakeRandomMatrix (b,1,SIZE,1.0);
-
-  for (int n=1; n<100; n++) {
-    dReal good[NUM_A];
-    for (j=0; j<NUM_A; j++) good[j] = goodDot (a[j],b,n);
-    dReal test[4];
-    dMultidot2 (a[0],a[1],b,test,n);
-    dReal diff = 0;
-    for (j=0; j<NUM_A; j++) diff += fabs(good[j]-test[j]);
-    // printf ("diff = %e\n",diff);
-    if (diff > 1e-10) printf ("ERROR: accuracy test failed\n");
-  }
-}
-
-
-// test multi-dot product factorizer speed.
-
-void testSpeed()
-{
-  int j;
-  dReal sum[NUM_A];
-
-  // allocate vectors a and b and fill them with random data
-  dReal *a[NUM_A];
-  for (j=0; j<NUM_A; j++) a[j] = (dReal*) ALLOCA (SIZE*sizeof(dReal));
-  dReal *b = (dReal*) ALLOCA (SIZE*sizeof(dReal));
-  for (j=0; j<NUM_A; j++) dMakeRandomMatrix (a[j],1,SIZE,1.0);
-  dMakeRandomMatrix (b,1,SIZE,1.0);
-
-  // time several dot products, return the minimum timing
-  double mintime = 1e100;
-  dStopwatch sw;
-  for (int i=0; i<1000; i++) {
-    dStopwatchReset (&sw);
-    dStopwatchStart (&sw);
-
-    // try a bunch of prime sizes up to 101
-    dMultidot2 (a[0],a[1],b,sum,2);
-    dMultidot2 (a[0],a[1],b,sum,3);
-    dMultidot2 (a[0],a[1],b,sum,5);
-    dMultidot2 (a[0],a[1],b,sum,7);
-    dMultidot2 (a[0],a[1],b,sum,11);
-    dMultidot2 (a[0],a[1],b,sum,13);
-    dMultidot2 (a[0],a[1],b,sum,17);
-    dMultidot2 (a[0],a[1],b,sum,19);
-    dMultidot2 (a[0],a[1],b,sum,23);
-    dMultidot2 (a[0],a[1],b,sum,29);
-    dMultidot2 (a[0],a[1],b,sum,31);
-    dMultidot2 (a[0],a[1],b,sum,37);
-    dMultidot2 (a[0],a[1],b,sum,41);
-    dMultidot2 (a[0],a[1],b,sum,43);
-    dMultidot2 (a[0],a[1],b,sum,47);
-    dMultidot2 (a[0],a[1],b,sum,53);
-    dMultidot2 (a[0],a[1],b,sum,59);
-    dMultidot2 (a[0],a[1],b,sum,61);
-    dMultidot2 (a[0],a[1],b,sum,67);
-    dMultidot2 (a[0],a[1],b,sum,71);
-    dMultidot2 (a[0],a[1],b,sum,73);
-    dMultidot2 (a[0],a[1],b,sum,79);
-    dMultidot2 (a[0],a[1],b,sum,83);
-    dMultidot2 (a[0],a[1],b,sum,89);
-    dMultidot2 (a[0],a[1],b,sum,97);
-    dMultidot2 (a[0],a[1],b,sum,101);
-
-    dStopwatchStop (&sw);
-    double time = dStopwatchTime (&sw);
-    if (time < mintime) mintime = time;
-  }
-
-  printf ("%.0f",mintime * dTimerTicksPerSecond());
-}
-
-
-int main()
-{
-  testAccuracy();
-  testSpeed();
-  return 0;
-}
diff --git a/extern/ode/dist/ode/src/array.cpp b/extern/ode/dist/ode/src/array.cpp
deleted file mode 100644
index cbb1a6ed557..00000000000
--- a/extern/ode/dist/ode/src/array.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/config.h>
-#include <ode/memory.h>
-#include <ode/error.h>
-#include "array.h"
-
-
-static inline int roundUpToPowerOfTwo (int x)
-{
-  int i = 1;
-  while (i < x) i <<= 1;
-  return i;
-}
-
-
-void dArrayBase::_freeAll (int sizeofT)
-{
-  if (_data) {
-    if (_data == this+1) return;	// if constructLocalArray() was called
-    dFree (_data,_anum * sizeofT);
-  }
-}
-
-
-void dArrayBase::_setSize (int newsize, int sizeofT)
-{
-  if (newsize < 0) return;
-  if (newsize > _anum) {
-    if (_data == this+1) {
-      // this is a no-no, because constructLocalArray() was called
-      dDebug (0,"setSize() out of space in LOCAL array");
-    }
-    int newanum = roundUpToPowerOfTwo (newsize);
-    if (_data) _data = dRealloc (_data, _anum*sizeofT, newanum*sizeofT);
-    else _data = dAlloc (newanum*sizeofT);
-    _anum = newanum;
-  }
-  _size = newsize;
-}
-
-
-void * dArrayBase::operator new (size_t size)
-{
-  return dAlloc (size);
-}
-
-
-void dArrayBase::operator delete (void *ptr, size_t size)
-{
-  dFree (ptr,size);
-}
-
-
-void dArrayBase::constructLocalArray (int __anum)
-{
-  _size = 0;
-  _anum = __anum;
-  _data = this+1;
-}
diff --git a/extern/ode/dist/ode/src/array.h b/extern/ode/dist/ode/src/array.h
deleted file mode 100644
index 97c2cebc2f4..00000000000
--- a/extern/ode/dist/ode/src/array.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/* this comes from the `reuse' library. copy any changes back to the source.
- *
- * Variable sized array template. The array is always stored in a contiguous
- * chunk. The array can be resized. A size increase will cause more memory
- * to be allocated, and may result in relocation of the array memory.
- * A size decrease has no effect on the memory allocation.
- *
- * Array elements with constructors or destructors are not supported!
- * But if you must have such elements, here's what to know/do:
- *   - Bitwise copy is used when copying whole arrays.
- *   - When copying individual items (via push(), insert() etc) the `='
- *     (equals) operator is used. Thus you should define this operator to do
- *     a bitwise copy. You should probably also define the copy constructor.
- */
-
-
-#ifndef _ODE_ARRAY_H_
-#define _ODE_ARRAY_H_
-
-#include <ode/config.h>
-
-
-// this base class has no constructors or destructor, for your convenience.
-
-class dArrayBase {
-protected:
-  int _size;		// number of elements in `data'
-  int _anum;		// allocated number of elements in `data'
-  void *_data;		// array data
-
-  void _freeAll (int sizeofT);
-  void _setSize (int newsize, int sizeofT);
-  // set the array size to `newsize', allocating more memory if necessary.
-  // if newsize>_anum and is a power of two then this is guaranteed to
-  // set _size and _anum to newsize.
-
-public:
-  // not: dArrayBase () { _size=0; _anum=0; _data=0; }
-
-  int size() const { return _size; }
-  int allocatedSize() const { return _anum; }
-  void * operator new (size_t size);
-  void operator delete (void *ptr, size_t size);
-
-  void constructor() { _size=0; _anum=0; _data=0; }
-  // if this structure is allocated with malloc() instead of new, you can
-  // call this to set it up.
-
-  void constructLocalArray (int __anum);
-  // this helper function allows non-reallocating arrays to be constructed
-  // on the stack (or in the heap if necessary). this is something of a
-  // kludge and should be used with extreme care. this function acts like
-  // a constructor - it is called on uninitialized memory that will hold the
-  // Array structure and the data. __anum is the number of elements that
-  // are allocated. the memory MUST be allocated with size:
-  //   sizeof(ArrayBase) + __anum*sizeof(T)
-  // arrays allocated this way will never try to reallocate or free the
-  // memory - that's your job.
-};
-
-
-template <class T> class dArray : public dArrayBase {
-public:
-  void equals (const dArray<T> &x) {
-    setSize (x.size());
-    memcpy (_data,x._data,x._size * sizeof(T));
-  }
-
-  dArray () { constructor(); }
-  dArray (const dArray<T> &x) { constructor(); equals (x); }
-  ~dArray () { _freeAll(sizeof(T)); }
-  void setSize (int newsize) { _setSize (newsize,sizeof(T)); }
-  T *data() const { return (T*) _data; }
-  T & operator[] (int i) const { return ((T*)_data)[i]; }
-  void operator = (const dArray<T> &x) { equals (x); }
-
-  void push (const T item) {
-    if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
-    ((T*)_data)[_size-1] = item;
-  }
-
-  void swap (dArray<T> &x) {
-    int tmp1;
-    void *tmp2;
-    tmp1=_size; _size=x._size; x._size=tmp1;
-    tmp1=_anum; _anum=x._anum; x._anum=tmp1;
-    tmp2=_data; _data=x._data; x._data=tmp2;
-  }
-
-  // insert the item at the position `i'. if i<0 then add the item to the
-  // start, if i >= size then add the item to the end of the array.
-  void insert (int i, const T item) {
-    if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
-    if (i >= (_size-1)) i = _size-1;	// add to end
-    else {
-      if (i < 0) i=0;			// add to start
-      int n = _size-1-i;
-      if (n>0) memmove (((T*)_data) + i+1, ((T*)_data) + i, n*sizeof(T));
-    }
-    ((T*)_data)[i] = item;
-  }
-
-  void remove (int i) {
-    if (i >= 0 && i < _size) {	// passing this test guarantees size>0
-      int n = _size-1-i;
-      if (n>0) memmove (((T*)_data) + i, ((T*)_data) + i+1, n*sizeof(T));
-      _size--;
-    }
-  }
-};
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/error.cpp b/extern/ode/dist/ode/src/error.cpp
deleted file mode 100644
index 9b33db55f0c..00000000000
--- a/extern/ode/dist/ode/src/error.cpp
+++ /dev/null
@@ -1,172 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/config.h>
-#include <ode/error.h>
-
-
-static dMessageFunction *error_function = 0;
-static dMessageFunction *debug_function = 0;
-static dMessageFunction *message_function = 0;
-
-
-extern "C" void dSetErrorHandler (dMessageFunction *fn)
-{
-  error_function = fn;
-}
-
-
-extern "C" void dSetDebugHandler (dMessageFunction *fn)
-{
-  debug_function = fn;
-}
-
-
-extern "C" void dSetMessageHandler (dMessageFunction *fn)
-{
-  message_function = fn;
-}
-
-
-extern "C" dMessageFunction *dGetErrorHandler()
-{
-  return error_function;
-}
-
-
-extern "C" dMessageFunction *dGetDebugHandler()
-{
-  return debug_function;
-}
-
-
-extern "C" dMessageFunction *dGetMessageHandler()
-{
-  return message_function;
-}
-
-
-static void printMessage (int num, const char *msg1, const char *msg2,
-			  va_list ap)
-{
-  fflush (stderr);
-  fflush (stdout);
-  if (num) fprintf (stderr,"\n%s %d: ",msg1,num);
-  else fprintf (stderr,"\n%s: ",msg1);
-  vfprintf (stderr,msg2,ap);
-  fprintf (stderr,"\n");
-  fflush (stderr);
-}
-
-//****************************************************************************
-// unix
-
-#ifndef WIN32
-
-extern "C" void dError (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (error_function) error_function (num,msg,ap);
-  else printMessage (num,"ODE Error",msg,ap);
-  exit (1);
-}
-
-
-extern "C" void dDebug (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (debug_function) debug_function (num,msg,ap);
-  else printMessage (num,"ODE INTERNAL ERROR",msg,ap);
-  // *((char *)0) = 0;   ... commit SEGVicide
-  abort();
-}
-
-
-extern "C" void dMessage (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (message_function) message_function (num,msg,ap);
-  else printMessage (num,"ODE Message",msg,ap);
-}
-
-#endif
-
-//****************************************************************************
-// windows
-
-#ifdef WIN32
-
-// isn't cygwin annoying!
-#ifdef CYGWIN
-#define _snprintf snprintf
-#define _vsnprintf vsnprintf
-#endif
-
-
-#include "windows.h"
-
-
-extern "C" void dError (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (error_function) error_function (num,msg,ap);
-  else {
-    char s[1000],title[100];
-    _snprintf (title,sizeof(title),"ODE Error %d",num);
-    _vsnprintf (s,sizeof(s),msg,ap);
-    s[sizeof(s)-1] = 0;
-    MessageBox(0,s,title,MB_OK | MB_ICONWARNING);
-  }
-  exit (1);
-}
-
-
-extern "C" void dDebug (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (debug_function) debug_function (num,msg,ap);
-  else {
-    char s[1000],title[100];
-    _snprintf (title,sizeof(title),"ODE INTERNAL ERROR %d",num);
-    _vsnprintf (s,sizeof(s),msg,ap);
-    s[sizeof(s)-1] = 0;
-    MessageBox(0,s,title,MB_OK | MB_ICONSTOP);
-  }
-  abort();
-}
-
-
-extern "C" void dMessage (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (message_function) message_function (num,msg,ap);
-  else printMessage (num,"ODE Message",msg,ap);
-}
-
-
-#endif
diff --git a/extern/ode/dist/ode/src/fastdot.c b/extern/ode/dist/ode/src/fastdot.c
deleted file mode 100644
index 148d2dd9e17..00000000000
--- a/extern/ode/dist/ode/src/fastdot.c
+++ /dev/null
@@ -1,30 +0,0 @@
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-
-dReal dDot (const dReal *a, const dReal *b, int n)
-{  
-  dReal p0,q0,m0,p1,q1,m1,sum;
-  sum = 0;
-  n -= 2;
-  while (n >= 0) {
-    p0 = a[0]; q0 = b[0];
-    m0 = p0 * q0;
-    p1 = a[1]; q1 = b[1];
-    m1 = p1 * q1;
-    sum += m0;
-    sum += m1;
-    a += 2;
-    b += 2;
-    n -= 2;
-  }
-  n += 2;
-  while (n > 0) {
-    sum += (*a) * (*b);
-    a++;
-    b++;
-    n--;
-  }
-  return sum;
-}
diff --git a/extern/ode/dist/ode/src/fastldlt.c b/extern/ode/dist/ode/src/fastldlt.c
deleted file mode 100644
index df2ea6ec229..00000000000
--- a/extern/ode/dist/ode/src/fastldlt.c
+++ /dev/null
@@ -1,381 +0,0 @@
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-/* solve L*X=B, with B containing 1 right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*1 matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of 2*2.
- * if this is in the factorizer source file, n must be a multiple of 2.
- */
-
-static void dSolveL1_1 (const dReal *L, dReal *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  dReal Z11,m11,Z21,m21,p1,q1,p2,*ex;
-  const dReal *ell;
-  int i,j;
-  /* compute all 2 x 1 blocks of X */
-  for (i=0; i < n; i+=2) {
-    /* compute all 2 x 1 block of X, from rows i..i+2-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z21=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-2; j >= 0; j -= 2) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      Z11 += m11;
-      Z21 += m21;
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[1];
-      q1=ex[1];
-      m11 = p1 * q1;
-      p2=ell[1+lskip1];
-      m21 = p2 * q1;
-      /* advance pointers */
-      ell += 2;
-      ex += 2;
-      Z11 += m11;
-      Z21 += m21;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 2;
-    for (; j > 0; j--) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-      Z11 += m11;
-      Z21 += m21;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    p1 = ell[lskip1];
-    Z21 = ex[1] - Z21 - p1*Z11;
-    ex[1] = Z21;
-    /* end of outer loop */
-  }
-}
-
-/* solve L*X=B, with B containing 2 right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*2 matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of 2*2.
- * if this is in the factorizer source file, n must be a multiple of 2.
- */
-
-static void dSolveL1_2 (const dReal *L, dReal *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  dReal Z11,m11,Z12,m12,Z21,m21,Z22,m22,p1,q1,p2,q2,*ex;
-  const dReal *ell;
-  int i,j;
-  /* compute all 2 x 2 blocks of X */
-  for (i=0; i < n; i+=2) {
-    /* compute all 2 x 2 block of X, from rows i..i+2-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z12=0;
-    Z21=0;
-    Z22=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-2; j >= 0; j -= 2) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      q2=ex[lskip1];
-      m12 = p1 * q2;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      m22 = p2 * q2;
-      Z11 += m11;
-      Z12 += m12;
-      Z21 += m21;
-      Z22 += m22;
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[1];
-      q1=ex[1];
-      m11 = p1 * q1;
-      q2=ex[1+lskip1];
-      m12 = p1 * q2;
-      p2=ell[1+lskip1];
-      m21 = p2 * q1;
-      m22 = p2 * q2;
-      /* advance pointers */
-      ell += 2;
-      ex += 2;
-      Z11 += m11;
-      Z12 += m12;
-      Z21 += m21;
-      Z22 += m22;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 2;
-    for (; j > 0; j--) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      q2=ex[lskip1];
-      m12 = p1 * q2;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      m22 = p2 * q2;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-      Z11 += m11;
-      Z12 += m12;
-      Z21 += m21;
-      Z22 += m22;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    Z12 = ex[lskip1] - Z12;
-    ex[lskip1] = Z12;
-    p1 = ell[lskip1];
-    Z21 = ex[1] - Z21 - p1*Z11;
-    ex[1] = Z21;
-    Z22 = ex[1+lskip1] - Z22 - p1*Z12;
-    ex[1+lskip1] = Z22;
-    /* end of outer loop */
-  }
-}
-
-
-void dFactorLDLT (dReal *A, dReal *d, int n, int nskip1)
-{  
-  int i,j;
-  dReal sum,*ell,*dee,dd,p1,p2,q1,q2,Z11,m11,Z21,m21,Z22,m22;
-  if (n < 1) return;
-  
-  for (i=0; i<=n-2; i += 2) {
-    /* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */
-    dSolveL1_2 (A,A+i*nskip1,i,nskip1);
-    /* scale the elements in a 2 x i block at A(i,0), and also */
-    /* compute Z = the outer product matrix that we'll need. */
-    Z11 = 0;
-    Z21 = 0;
-    Z22 = 0;
-    ell = A+i*nskip1;
-    dee = d;
-    for (j=i-6; j >= 0; j -= 6) {
-      p1 = ell[0];
-      p2 = ell[nskip1];
-      dd = dee[0];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[0] = q1;
-      ell[nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[1];
-      p2 = ell[1+nskip1];
-      dd = dee[1];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[1] = q1;
-      ell[1+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[2];
-      p2 = ell[2+nskip1];
-      dd = dee[2];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[2] = q1;
-      ell[2+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[3];
-      p2 = ell[3+nskip1];
-      dd = dee[3];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[3] = q1;
-      ell[3+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[4];
-      p2 = ell[4+nskip1];
-      dd = dee[4];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[4] = q1;
-      ell[4+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[5];
-      p2 = ell[5+nskip1];
-      dd = dee[5];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[5] = q1;
-      ell[5+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      ell += 6;
-      dee += 6;
-    }
-    /* compute left-over iterations */
-    j += 6;
-    for (; j > 0; j--) {
-      p1 = ell[0];
-      p2 = ell[nskip1];
-      dd = dee[0];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[0] = q1;
-      ell[nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      ell++;
-      dee++;
-    }
-    /* solve for diagonal 2 x 2 block at A(i,i) */
-    Z11 = ell[0] - Z11;
-    Z21 = ell[nskip1] - Z21;
-    Z22 = ell[1+nskip1] - Z22;
-    dee = d + i;
-    /* factorize 2 x 2 block Z,dee */
-    /* factorize row 1 */
-    dee[0] = dRecip(Z11);
-    /* factorize row 2 */
-    sum = 0;
-    q1 = Z21;
-    q2 = q1 * dee[0];
-    Z21 = q2;
-    sum += q1*q2;
-    dee[1] = dRecip(Z22 - sum);
-    /* done factorizing 2 x 2 block */
-    ell[nskip1] = Z21;
-  }
-  /* compute the (less than 2) rows at the bottom */
-  switch (n-i) {
-    case 0:
-    break;
-    
-    case 1:
-    dSolveL1_1 (A,A+i*nskip1,i,nskip1);
-    /* scale the elements in a 1 x i block at A(i,0), and also */
-    /* compute Z = the outer product matrix that we'll need. */
-    Z11 = 0;
-    ell = A+i*nskip1;
-    dee = d;
-    for (j=i-6; j >= 0; j -= 6) {
-      p1 = ell[0];
-      dd = dee[0];
-      q1 = p1*dd;
-      ell[0] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[1];
-      dd = dee[1];
-      q1 = p1*dd;
-      ell[1] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[2];
-      dd = dee[2];
-      q1 = p1*dd;
-      ell[2] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[3];
-      dd = dee[3];
-      q1 = p1*dd;
-      ell[3] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[4];
-      dd = dee[4];
-      q1 = p1*dd;
-      ell[4] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[5];
-      dd = dee[5];
-      q1 = p1*dd;
-      ell[5] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      ell += 6;
-      dee += 6;
-    }
-    /* compute left-over iterations */
-    j += 6;
-    for (; j > 0; j--) {
-      p1 = ell[0];
-      dd = dee[0];
-      q1 = p1*dd;
-      ell[0] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      ell++;
-      dee++;
-    }
-    /* solve for diagonal 1 x 1 block at A(i,i) */
-    Z11 = ell[0] - Z11;
-    dee = d + i;
-    /* factorize 1 x 1 block Z,dee */
-    /* factorize row 1 */
-    dee[0] = dRecip(Z11);
-    /* done factorizing 1 x 1 block */
-    break;
-    
-    default: *((char*)0)=0;  /* this should never happen! */
-  }
-}
diff --git a/extern/ode/dist/ode/src/fastlsolve.c b/extern/ode/dist/ode/src/fastlsolve.c
deleted file mode 100644
index 0ae99d62d0b..00000000000
--- a/extern/ode/dist/ode/src/fastlsolve.c
+++ /dev/null
@@ -1,298 +0,0 @@
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-/* solve L*X=B, with B containing 1 right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*1 matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of 4*4.
- * if this is in the factorizer source file, n must be a multiple of 4.
- */
-
-void dSolveL1 (const dReal *L, dReal *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  dReal Z11,Z21,Z31,Z41,p1,q1,p2,p3,p4,*ex;
-  const dReal *ell;
-  int lskip2,lskip3,i,j;
-  /* compute lskip values */
-  lskip2 = 2*lskip1;
-  lskip3 = 3*lskip1;
-  /* compute all 4 x 1 blocks of X */
-  for (i=0; i <= n-4; i+=4) {
-    /* compute all 4 x 1 block of X, from rows i..i+4-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z21=0;
-    Z31=0;
-    Z41=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-12; j >= 0; j -= 12) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[lskip1];
-      p3=ell[lskip2];
-      p4=ell[lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[1];
-      q1=ex[1];
-      p2=ell[1+lskip1];
-      p3=ell[1+lskip2];
-      p4=ell[1+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[2];
-      q1=ex[2];
-      p2=ell[2+lskip1];
-      p3=ell[2+lskip2];
-      p4=ell[2+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[3];
-      q1=ex[3];
-      p2=ell[3+lskip1];
-      p3=ell[3+lskip2];
-      p4=ell[3+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[4];
-      q1=ex[4];
-      p2=ell[4+lskip1];
-      p3=ell[4+lskip2];
-      p4=ell[4+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[5];
-      q1=ex[5];
-      p2=ell[5+lskip1];
-      p3=ell[5+lskip2];
-      p4=ell[5+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[6];
-      q1=ex[6];
-      p2=ell[6+lskip1];
-      p3=ell[6+lskip2];
-      p4=ell[6+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[7];
-      q1=ex[7];
-      p2=ell[7+lskip1];
-      p3=ell[7+lskip2];
-      p4=ell[7+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[8];
-      q1=ex[8];
-      p2=ell[8+lskip1];
-      p3=ell[8+lskip2];
-      p4=ell[8+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[9];
-      q1=ex[9];
-      p2=ell[9+lskip1];
-      p3=ell[9+lskip2];
-      p4=ell[9+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[10];
-      q1=ex[10];
-      p2=ell[10+lskip1];
-      p3=ell[10+lskip2];
-      p4=ell[10+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[11];
-      q1=ex[11];
-      p2=ell[11+lskip1];
-      p3=ell[11+lskip2];
-      p4=ell[11+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* advance pointers */
-      ell += 12;
-      ex += 12;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 12;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[lskip1];
-      p3=ell[lskip2];
-      p4=ell[lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    p1 = ell[lskip1];
-    Z21 = ex[1] - Z21 - p1*Z11;
-    ex[1] = Z21;
-    p1 = ell[lskip2];
-    p2 = ell[1+lskip2];
-    Z31 = ex[2] - Z31 - p1*Z11 - p2*Z21;
-    ex[2] = Z31;
-    p1 = ell[lskip3];
-    p2 = ell[1+lskip3];
-    p3 = ell[2+lskip3];
-    Z41 = ex[3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
-    ex[3] = Z41;
-    /* end of outer loop */
-  }
-  /* compute rows at end that are not a multiple of block size */
-  for (; i < n; i++) {
-    /* compute all 1 x 1 block of X, from rows i..i+1-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-12; j >= 0; j -= 12) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[1];
-      q1=ex[1];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[2];
-      q1=ex[2];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[3];
-      q1=ex[3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[4];
-      q1=ex[4];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[5];
-      q1=ex[5];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[6];
-      q1=ex[6];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[7];
-      q1=ex[7];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[8];
-      q1=ex[8];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[9];
-      q1=ex[9];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[10];
-      q1=ex[10];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[11];
-      q1=ex[11];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* advance pointers */
-      ell += 12;
-      ex += 12;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 12;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-  }
-}
diff --git a/extern/ode/dist/ode/src/fastltsolve.c b/extern/ode/dist/ode/src/fastltsolve.c
deleted file mode 100644
index eb950f6076a..00000000000
--- a/extern/ode/dist/ode/src/fastltsolve.c
+++ /dev/null
@@ -1,199 +0,0 @@
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-/* solve L^T * x=b, with b containing 1 right hand side.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * b is an n*1 matrix that contains the right hand side.
- * b is overwritten with x.
- * this processes blocks of 4.
- */
-
-void dSolveL1T (const dReal *L, dReal *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  dReal Z11,m11,Z21,m21,Z31,m31,Z41,m41,p1,q1,p2,p3,p4,*ex;
-  const dReal *ell;
-  int lskip2,lskip3,i,j;
-  /* special handling for L and B because we're solving L1 *transpose* */
-  L = L + (n-1)*(lskip1+1);
-  B = B + n-1;
-  lskip1 = -lskip1;
-  /* compute lskip values */
-  lskip2 = 2*lskip1;
-  lskip3 = 3*lskip1;
-  /* compute all 4 x 1 blocks of X */
-  for (i=0; i <= n-4; i+=4) {
-    /* compute all 4 x 1 block of X, from rows i..i+4-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z21=0;
-    Z31=0;
-    Z41=0;
-    ell = L - i;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-4; j >= 0; j -= 4) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-1];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-2];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-3];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      ex -= 4;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 4;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      ex -= 1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    p1 = ell[-1];
-    Z21 = ex[-1] - Z21 - p1*Z11;
-    ex[-1] = Z21;
-    p1 = ell[-2];
-    p2 = ell[-2+lskip1];
-    Z31 = ex[-2] - Z31 - p1*Z11 - p2*Z21;
-    ex[-2] = Z31;
-    p1 = ell[-3];
-    p2 = ell[-3+lskip1];
-    p3 = ell[-3+lskip2];
-    Z41 = ex[-3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
-    ex[-3] = Z41;
-    /* end of outer loop */
-  }
-  /* compute rows at end that are not a multiple of block size */
-  for (; i < n; i++) {
-    /* compute all 1 x 1 block of X, from rows i..i+1-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    ell = L - i;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-4; j >= 0; j -= 4) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-1];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-2];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      ex -= 4;
-      Z11 += m11;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 4;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      ex -= 1;
-      Z11 += m11;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-  }
-}
diff --git a/extern/ode/dist/ode/src/geom.cpp b/extern/ode/dist/ode/src/geom.cpp
deleted file mode 100644
index 1818814a791..00000000000
--- a/extern/ode/dist/ode/src/geom.cpp
+++ /dev/null
@@ -1,2207 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-the rule is that only the low level primitive collision functions should set
-dContactGeom::g1 and dContactGeom::g2.
-
-*/
-
-#define SHARED_GEOM_H_INCLUDED_FROM_DEFINING_FILE 1
-#include <ode/common.h>
-#include <ode/geom.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include <ode/memory.h>
-#include <ode/misc.h>
-#include <ode/objects.h>
-#include <ode/matrix.h>
-#include "objects.h"
-#include "array.h"
-#include "geom_internal.h"
-
-//****************************************************************************
-// collision utilities.
-
-// given a pointer `p' to a dContactGeom, return the dContactGeom at
-// p + skip bytes.
-
-#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
-
-
-// if the spheres (p1,r1) and (p2,r2) collide, set the contact `c' and
-// return 1, else return 0.
-
-static int dCollideSpheres (dVector3 p1, dReal r1,
-			    dVector3 p2, dReal r2, dContactGeom *c)
-{
-  // printf ("d=%.2f  (%.2f %.2f %.2f) (%.2f %.2f %.2f) r1=%.2f r2=%.2f\n",
-  //	  d,p1[0],p1[1],p1[2],p2[0],p2[1],p2[2],r1,r2);
-
-  dReal d = dDISTANCE (p1,p2);
-  if (d > (r1 + r2)) return 0;
-  if (d <= 0) {
-    c->pos[0] = p1[0];
-    c->pos[1] = p1[1];
-    c->pos[2] = p1[2];
-    c->normal[0] = 1;
-    c->normal[1] = 0;
-    c->normal[2] = 0;
-    c->depth = r1 + r2;
-  }
-  else {
-    dReal d1 = dRecip (d);
-    c->normal[0] = (p1[0]-p2[0])*d1;
-    c->normal[1] = (p1[1]-p2[1])*d1;
-    c->normal[2] = (p1[2]-p2[2])*d1;
-    dReal k = REAL(0.5) * (r2 - r1 - d);
-    c->pos[0] = p1[0] + c->normal[0]*k;
-    c->pos[1] = p1[1] + c->normal[1]*k;
-    c->pos[2] = p1[2] + c->normal[2]*k;
-    c->depth = r1 + r2 - d;
-  }
-  return 1;
-}
-
-
-// given two lines
-//    qa = pa + alpha* ua
-//    qb = pb + beta * ub
-// where pa,pb are two points, ua,ub are two unit length vectors, and alpha,
-// beta go from [-inf,inf], return alpha and beta such that qa and qb are
-// as close as possible
-
-static void lineClosestApproach (const dVector3 pa, const dVector3 ua,
-				 const dVector3 pb, const dVector3 ub,
-				 dReal *alpha, dReal *beta)
-{
-  dVector3 p;
-  p[0] = pb[0] - pa[0];
-  p[1] = pb[1] - pa[1];
-  p[2] = pb[2] - pa[2];
-  dReal uaub = dDOT(ua,ub);
-  dReal q1 =  dDOT(ua,p);
-  dReal q2 = -dDOT(ub,p);
-  dReal d = 1-uaub*uaub;
-  if (d <= 0) {
-    // @@@ this needs to be made more robust
-    *alpha = 0;
-    *beta  = 0;
-  }
-  else {
-    d = dRecip(d);
-    *alpha = (q1 + uaub*q2)*d;
-    *beta  = (uaub*q1 + q2)*d;
-  }
-}
-
-
-// given two line segments A and B with endpoints a1-a2 and b1-b2, return the
-// points on A and B that are closest to each other (in cp1 and cp2).
-// in the case of parallel lines where there are multiple solutions, a
-// solution involving the endpoint of at least one line will be returned.
-// this will work correctly for zero length lines, e.g. if a1==a2 and/or
-// b1==b2.
-//
-// the algorithm works by applying the voronoi clipping rule to the features
-// of the line segments. the three features of each line segment are the two
-// endpoints and the line between them. the voronoi clipping rule states that,
-// for feature X on line A and feature Y on line B, the closest points PA and
-// PB between X and Y are globally the closest points if PA is in V(Y) and
-// PB is in V(X), where V(X) is the voronoi region of X.
-
-
-void dClosestLineSegmentPoints (dVector3 const a1, dVector3 const a2,
-				dVector3 const b1, dVector3 const b2,
-				dVector3 cp1, dVector3 cp2)
-{
-  dVector3 a1a2,b1b2,a1b1,a1b2,a2b1,a2b2,n;
-  dReal la,lb,k,da1,da2,da3,da4,db1,db2,db3,db4,det;
-
-#define SET2(a,b) a[0]=b[0]; a[1]=b[1]; a[2]=b[2];
-#define SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2];
-
-  // check vertex-vertex features
-
-  SET3 (a1a2,a2,-,a1);
-  SET3 (b1b2,b2,-,b1);
-  SET3 (a1b1,b1,-,a1);
-  da1 = dDOT(a1a2,a1b1);
-  db1 = dDOT(b1b2,a1b1);
-  if (da1 <= 0 && db1 >= 0) {
-    SET2 (cp1,a1);
-    SET2 (cp2,b1);
-    return;
-  }
-
-  SET3 (a1b2,b2,-,a1);
-  da2 = dDOT(a1a2,a1b2);
-  db2 = dDOT(b1b2,a1b2);
-  if (da2 <= 0 && db2 <= 0) {
-    SET2 (cp1,a1);
-    SET2 (cp2,b2);
-    return;
-  }
-
-  SET3 (a2b1,b1,-,a2);
-  da3 = dDOT(a1a2,a2b1);
-  db3 = dDOT(b1b2,a2b1);
-  if (da3 >= 0 && db3 >= 0) {
-    SET2 (cp1,a2);
-    SET2 (cp2,b1);
-    return;
-  }
-
-  SET3 (a2b2,b2,-,a2);
-  da4 = dDOT(a1a2,a2b2);
-  db4 = dDOT(b1b2,a2b2);
-  if (da4 >= 0 && db4 <= 0) {
-    SET2 (cp1,a2);
-    SET2 (cp2,b2);
-    return;
-  }
-
-  // check edge-vertex features.
-  // if one or both of the lines has zero length, we will never get to here,
-  // so we do not have to worry about the following divisions by zero.
-
-  la = dDOT(a1a2,a1a2);
-  if (da1 >= 0 && da3 <= 0) {
-    k = da1 / la;
-    SET3 (n,a1b1,-,k*a1a2);
-    if (dDOT(b1b2,n) >= 0) {
-      SET3 (cp1,a1,+,k*a1a2);
-      SET2 (cp2,b1);
-      return;
-    }
-  }
-
-  if (da2 >= 0 && da4 <= 0) {
-    k = da2 / la;
-    SET3 (n,a1b2,-,k*a1a2);
-    if (dDOT(b1b2,n) <= 0) {
-      SET3 (cp1,a1,+,k*a1a2);
-      SET2 (cp2,b2);
-      return;
-    }
-  }
-
-  lb = dDOT(b1b2,b1b2);
-  if (db1 <= 0 && db2 >= 0) {
-    k = -db1 / lb;
-    SET3 (n,-a1b1,-,k*b1b2);
-    if (dDOT(a1a2,n) >= 0) {
-      SET2 (cp1,a1);
-      SET3 (cp2,b1,+,k*b1b2);
-      return;
-    }
-  }
-
-  if (db3 <= 0 && db4 >= 0) {
-    k = -db3 / lb;
-    SET3 (n,-a2b1,-,k*b1b2);
-    if (dDOT(a1a2,n) <= 0) {
-      SET2 (cp1,a2);
-      SET3 (cp2,b1,+,k*b1b2);
-      return;
-    }
-  }
-
-  // it must be edge-edge
-
-  k = dDOT(a1a2,b1b2);
-  det = la*lb - k*k;
-  if (det <= 0) {
-    // this should never happen, but just in case...
-    SET2(cp1,a1);
-    SET2(cp2,b1);
-    return;
-  }
-  det = dRecip (det);
-  dReal alpha = (lb*da1 -  k*db1) * det;
-  dReal beta  = ( k*da1 - la*db1) * det;
-  SET3 (cp1,a1,+,alpha*a1a2);
-  SET3 (cp2,b1,+,beta*b1b2);
-
-# undef SET2
-# undef SET3
-}
-
-
-// given a line segment p1-p2 and a box (center 'c', rotation 'R', side length
-// vector 'side'), compute the points of closest approach between the box
-// and the line. return these points in 'lret' (the point on the line) and
-// 'bret' (the point on the box). if the line actually penetrates the box
-// then the solution is not unique, but only one solution will be returned.
-// in this case the solution points will coincide.
-//
-// a simple root finding algorithm is used to find the value of 't' that
-// satisfies:
-//		d|D(t)|^2/dt = 0
-// where:
-//		|D(t)| = |p(t)-b(t)|
-// where p(t) is a point on the line parameterized by t:
-//		p(t) = p1 + t*(p2-p1)
-// and b(t) is that same point clipped to the boundary of the box. in box-
-// relative coordinates d|D(t)|^2/dt is the sum of three x,y,z components
-// each of which looks like this:
-//
-//	    t_lo     /
-//	      ______/    -->t
-//	     /     t_hi
-//	    /
-//
-// t_lo and t_hi are the t values where the line passes through the planes
-// corresponding to the sides of the box. the algorithm computes d|D(t)|^2/dt
-// in a piecewise fashion from t=0 to t=1, stopping at the point where
-// d|D(t)|^2/dt crosses from negative to positive.
-
-static void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
-				   const dVector3 c, const dMatrix3 R,
-				   const dVector3 side,
-				   dVector3 lret, dVector3 bret)
-{
-  int i;
-
-  // compute the start and delta of the line p1-p2 relative to the box.
-  // we will do all subsequent computations in this box-relative coordinate
-  // system. we have to do a translation and rotation for each point.
-  dVector3 tmp,s,v;
-  tmp[0] = p1[0] - c[0];
-  tmp[1] = p1[1] - c[1];
-  tmp[2] = p1[2] - c[2];
-  dMULTIPLY1_331 (s,R,tmp);
-  tmp[0] = p2[0] - p1[0];
-  tmp[1] = p2[1] - p1[1];
-  tmp[2] = p2[2] - p1[2];
-  dMULTIPLY1_331 (v,R,tmp);
-
-  // mirror the line so that v has all components >= 0
-  dVector3 sign;
-  for (i=0; i<3; i++) {
-    if (v[i] < 0) {
-      s[i] = -s[i];
-      v[i] = -v[i];
-      sign[i] = -1;
-    }
-    else sign[i] = 1;
-  }
-
-  // compute v^2
-  dVector3 v2;
-  v2[0] = v[0]*v[0];
-  v2[1] = v[1]*v[1];
-  v2[2] = v[2]*v[2];
-
-  // compute the half-sides of the box
-  dReal h[3];
-  h[0] = REAL(0.5) * side[0];
-  h[1] = REAL(0.5) * side[1];
-  h[2] = REAL(0.5) * side[2];
-
-  // region is -1,0,+1 depending on which side of the box planes each
-  // coordinate is on. tanchor in the next t value at which there is a
-  // transition, or the last one if there are no more.
-  int region[3];
-  dReal tanchor[3];
-
-  // find the region and tanchor values for p1
-  for (i=0; i<3; i++) {
-    if (v[i] > 0) {
-      if (s[i] < -h[i]) {
-	region[i] = -1;
-	tanchor[i] = (-h[i]-s[i])/v[i];
-      }
-      else {
-	region[i] = (s[i] > h[i]);
-	tanchor[i] = (h[i]-s[i])/v[i];
-      }
-    }
-    else {
-      region[i] = 0;
-      tanchor[i] = 2;		// this will never be a valid tanchor
-    }
-  }
-
-  // compute d|d|^2/dt for t=0. if it's >= 0 then p1 is the closest point
-  dReal t=0;
-  dReal dd2dt = 0;
-  for (i=0; i<3; i++) dd2dt -= (region[i] ? v2[i] : 0) * tanchor[i];
-  if (dd2dt >= 0) goto got_answer;
-
-  do {
-    // find the point on the line that is at the next clip plane boundary
-    dReal next_t = 1;
-    for (i=0; i<3; i++) {
-      if (tanchor[i] > t && tanchor[i] < 1 && tanchor[i] < next_t)
-        next_t = tanchor[i];
-    }
-
-    // compute d|d|^2/dt for the next t
-    dReal next_dd2dt = 0;
-    for (i=0; i<3; i++) {
-      next_dd2dt += (region[i] ? v2[i] : 0) * (next_t - tanchor[i]);
-    }
-
-    // if the sign of d|d|^2/dt has changed, solution = the crossover point
-    if (next_dd2dt >= 0) {
-      dReal m = (next_dd2dt-dd2dt)/(next_t - t);
-      t -= dd2dt/m;
-      goto got_answer;
-    }
-
-    // advance to the next anchor point / region
-    for (i=0; i<3; i++) {
-      if (tanchor[i] == next_t) {
-	tanchor[i] = (h[i]-s[i])/v[i];
-	region[i]++;
-      }
-    }
-    t = next_t;
-    dd2dt = next_dd2dt;
-  }
-  while (t < 1);
-  t = 1;
-
-  got_answer:
-
-  // compute closest point on the line
-  for (i=0; i<3; i++) lret[i] = p1[i] + t*tmp[i];	// note: tmp=p2-p1
-
-  // compute closest point on the box
-  for (i=0; i<3; i++) {
-    tmp[i] = sign[i] * (s[i] + t*v[i]);
-    if (tmp[i] < -h[i]) tmp[i] = -h[i];
-    else if (tmp[i] > h[i]) tmp[i] = h[i];
-  }
-  dMULTIPLY0_331 (s,R,tmp);
-  for (i=0; i<3; i++) bret[i] = s[i] + c[i];
-}
-
-
-// given a box (R,side), `R' is the rotation matrix for the box, and `side'
-// is a vector of x/y/z side lengths, return the size of the interval of the
-// box projected along the given axis. if the axis has unit length then the
-// return value will be the actual diameter, otherwise the result will be
-// scaled by the axis length.
-
-static inline dReal boxDiameter (const dMatrix3 R, const dVector3 side,
-				 const dVector3 axis)
-{
-  dVector3 q;
-  dMULTIPLY1_331 (q,R,axis);	// transform axis to body-relative
-  return dFabs(q[0])*side[0] + dFabs(q[1])*side[1] + dFabs(q[2])*side[2];
-}
-
-
-// given boxes (p1,R1,side1) and (p1,R1,side1), return 1 if they intersect
-// or 0 if not.
-
-int dBoxTouchesBox (const dVector3 p1, const dMatrix3 R1,
-		    const dVector3 side1, const dVector3 p2,
-		    const dMatrix3 R2, const dVector3 side2)
-{
-  // two boxes are disjoint if (and only if) there is a separating axis
-  // perpendicular to a face from one box or perpendicular to an edge from
-  // either box. the following tests are derived from:
-  //    "OBB Tree: A Hierarchical Structure for Rapid Interference Detection",
-  //    S.Gottschalk, M.C.Lin, D.Manocha., Proc of ACM Siggraph 1996.
-
-  // Rij is R1'*R2, i.e. the relative rotation between R1 and R2.
-  // Qij is abs(Rij)
-  dVector3 p,pp;
-  dReal A1,A2,A3,B1,B2,B3,R11,R12,R13,R21,R22,R23,R31,R32,R33,
-    Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33;
-
-  // get vector from centers of box 1 to box 2, relative to box 1
-  p[0] = p2[0] - p1[0];
-  p[1] = p2[1] - p1[1];
-  p[2] = p2[2] - p1[2];
-  dMULTIPLY1_331 (pp,R1,p);		// get pp = p relative to body 1
-
-  // get side lengths / 2
-  A1 = side1[0]*REAL(0.5); A2 = side1[1]*REAL(0.5); A3 = side1[2]*REAL(0.5);
-  B1 = side2[0]*REAL(0.5); B2 = side2[1]*REAL(0.5); B3 = side2[2]*REAL(0.5);
-
-  // for the following tests, excluding computation of Rij, in the worst case,
-  // 15 compares, 60 adds, 81 multiplies, and 24 absolutes.
-  // notation: R1=[u1 u2 u3], R2=[v1 v2 v3]
-
-  // separating axis = u1,u2,u3
-  R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
-  Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
-  if (dFabs(pp[0]) > (A1 + B1*Q11 + B2*Q12 + B3*Q13)) return 0;
-  R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
-  Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
-  if (dFabs(pp[1]) > (A2 + B1*Q21 + B2*Q22 + B3*Q23)) return 0;
-  R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
-  Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);
-  if (dFabs(pp[2]) > (A3 + B1*Q31 + B2*Q32 + B3*Q33)) return 0;
-
-  // separating axis = v1,v2,v3
-  if (dFabs(dDOT41(R2+0,p)) > (A1*Q11 + A2*Q21 + A3*Q31 + B1)) return 0;
-  if (dFabs(dDOT41(R2+1,p)) > (A1*Q12 + A2*Q22 + A3*Q32 + B2)) return 0;
-  if (dFabs(dDOT41(R2+2,p)) > (A1*Q13 + A2*Q23 + A3*Q33 + B3)) return 0;
-
-  // separating axis = u1 x (v1,v2,v3)
-  if (dFabs(pp[2]*R21-pp[1]*R31) > A2*Q31 + A3*Q21 + B2*Q13 + B3*Q12) return 0;
-  if (dFabs(pp[2]*R22-pp[1]*R32) > A2*Q32 + A3*Q22 + B1*Q13 + B3*Q11) return 0;
-  if (dFabs(pp[2]*R23-pp[1]*R33) > A2*Q33 + A3*Q23 + B1*Q12 + B2*Q11) return 0;
-
-  // separating axis = u2 x (v1,v2,v3)
-  if (dFabs(pp[0]*R31-pp[2]*R11) > A1*Q31 + A3*Q11 + B2*Q23 + B3*Q22) return 0;
-  if (dFabs(pp[0]*R32-pp[2]*R12) > A1*Q32 + A3*Q12 + B1*Q23 + B3*Q21) return 0;
-  if (dFabs(pp[0]*R33-pp[2]*R13) > A1*Q33 + A3*Q13 + B1*Q22 + B2*Q21) return 0;
-
-  // separating axis = u3 x (v1,v2,v3)
-  if (dFabs(pp[1]*R11-pp[0]*R21) > A1*Q21 + A2*Q11 + B2*Q33 + B3*Q32) return 0;
-  if (dFabs(pp[1]*R12-pp[0]*R22) > A1*Q22 + A2*Q12 + B1*Q33 + B3*Q31) return 0;
-  if (dFabs(pp[1]*R13-pp[0]*R23) > A1*Q23 + A2*Q13 + B1*Q32 + B2*Q31) return 0;
-
-  return 1;
-}
-
-
-// given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and
-// generate contact points. this returns 0 if there is no contact otherwise
-// it returns the number of contacts generated.
-// `normal' returns the contact normal.
-// `depth' returns the maximum penetration depth along that normal.
-// `code' returns a number indicating the type of contact that was detected:
-//        1,2,3 = box 2 intersects with a face of box 1
-//        4,5,6 = box 1 intersects with a face of box 2
-//        7..15 = edge-edge contact
-// `maxc' is the maximum number of contacts allowed to be generated, i.e.
-// the size of the `contact' array.
-// `contact' and `skip' are the contact array information provided to the
-// collision functions. this function only fills in the position and depth
-// fields.
-//
-// @@@ some stuff to optimize here, reuse code in contact point calculations.
-
-extern "C" int dBoxBox (const dVector3 p1, const dMatrix3 R1,
-			const dVector3 side1, const dVector3 p2,
-			const dMatrix3 R2, const dVector3 side2,
-			dVector3 normal, dReal *depth, int *code,
-			int maxc, dContactGeom *contact, int skip)
-{
-  dVector3 p,pp,normalC;
-  const dReal *normalR = 0;
-  dReal A1,A2,A3,B1,B2,B3,R11,R12,R13,R21,R22,R23,R31,R32,R33,
-    Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l;
-  int i,invert_normal;
-
-  // get vector from centers of box 1 to box 2, relative to box 1
-  p[0] = p2[0] - p1[0];
-  p[1] = p2[1] - p1[1];
-  p[2] = p2[2] - p1[2];
-  dMULTIPLY1_331 (pp,R1,p);		// get pp = p relative to body 1
-
-  // get side lengths / 2
-  A1 = side1[0]*REAL(0.5); A2 = side1[1]*REAL(0.5); A3 = side1[2]*REAL(0.5);
-  B1 = side2[0]*REAL(0.5); B2 = side2[1]*REAL(0.5); B3 = side2[2]*REAL(0.5);
-
-  // Rij is R1'*R2, i.e. the relative rotation between R1 and R2
-  R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
-  R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
-  R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
-
-  Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
-  Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
-  Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);
-
-  // for all 15 possible separating axes:
-  //   * see if the axis separates the boxes. if so, return 0.
-  //   * find the depth of the penetration along the separating axis (s2)
-  //   * if this is the largest depth so far, record it.
-  // the normal vector will be set to the separating axis with the smallest
-  // depth. note: normalR is set to point to a column of R1 or R2 if that is
-  // the smallest depth normal so far. otherwise normalR is 0 and normalC is
-  // set to a vector relative to body 1. invert_normal is 1 if the sign of
-  // the normal should be flipped.
-
-#define TEST(expr1,expr2,norm,cc) \
-  s2 = dFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  if (s2 > s) { \
-    s = s2; \
-    normalR = norm; \
-    invert_normal = ((expr1) < 0); \
-    *code = (cc); \
-  }
-
-  s = -dInfinity;
-  invert_normal = 0;
-  *code = 0;
-
-  // separating axis = u1,u2,u3
-  TEST (pp[0],(A1 + B1*Q11 + B2*Q12 + B3*Q13),R1+0,1);
-  TEST (pp[1],(A2 + B1*Q21 + B2*Q22 + B3*Q23),R1+1,2);
-  TEST (pp[2],(A3 + B1*Q31 + B2*Q32 + B3*Q33),R1+2,3);
-
-  // separating axis = v1,v2,v3
-  TEST (dDOT41(R2+0,p),(A1*Q11 + A2*Q21 + A3*Q31 + B1),R2+0,4);
-  TEST (dDOT41(R2+1,p),(A1*Q12 + A2*Q22 + A3*Q32 + B2),R2+1,5);
-  TEST (dDOT41(R2+2,p),(A1*Q13 + A2*Q23 + A3*Q33 + B3),R2+2,6);
-
-  // note: cross product axes need to be scaled when s is computed.
-  // normal (n1,n2,n3) is relative to box 1.
-#undef TEST
-#define TEST(expr1,expr2,n1,n2,n3,cc) \
-  s2 = dFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  l = dSqrt ((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
-  if (l > 0) { \
-    s2 /= l; \
-    if (s2 > s) { \
-      s = s2; \
-      normalR = 0; \
-      normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
-      invert_normal = ((expr1) < 0); \
-      *code = (cc); \
-    } \
-  }
-
-  // separating axis = u1 x (v1,v2,v3)
-  TEST(pp[2]*R21-pp[1]*R31,(A2*Q31+A3*Q21+B2*Q13+B3*Q12),0,-R31,R21,7);
-  TEST(pp[2]*R22-pp[1]*R32,(A2*Q32+A3*Q22+B1*Q13+B3*Q11),0,-R32,R22,8);
-  TEST(pp[2]*R23-pp[1]*R33,(A2*Q33+A3*Q23+B1*Q12+B2*Q11),0,-R33,R23,9);
-
-  // separating axis = u2 x (v1,v2,v3)
-  TEST(pp[0]*R31-pp[2]*R11,(A1*Q31+A3*Q11+B2*Q23+B3*Q22),R31,0,-R11,10);
-  TEST(pp[0]*R32-pp[2]*R12,(A1*Q32+A3*Q12+B1*Q23+B3*Q21),R32,0,-R12,11);
-  TEST(pp[0]*R33-pp[2]*R13,(A1*Q33+A3*Q13+B1*Q22+B2*Q21),R33,0,-R13,12);
-
-  // separating axis = u3 x (v1,v2,v3)
-  TEST(pp[1]*R11-pp[0]*R21,(A1*Q21+A2*Q11+B2*Q33+B3*Q32),-R21,R11,0,13);
-  TEST(pp[1]*R12-pp[0]*R22,(A1*Q22+A2*Q12+B1*Q33+B3*Q31),-R22,R12,0,14);
-  TEST(pp[1]*R13-pp[0]*R23,(A1*Q23+A2*Q13+B1*Q32+B2*Q31),-R23,R13,0,15);
-
-#undef TEST
-
-  // if we get to this point, the boxes interpenetrate. compute the normal
-  // in global coordinates.
-  if (normalR) {
-    normal[0] = normalR[0];
-    normal[1] = normalR[4];
-    normal[2] = normalR[8];
-  }
-  else {
-    dMULTIPLY0_331 (normal,R1,normalC);
-  }
-  if (invert_normal) {
-    normal[0] = -normal[0];
-    normal[1] = -normal[1];
-    normal[2] = -normal[2];
-  }
-  *depth = -s;
-
-  // compute contact point(s)
-
-  if (*code > 6) {
-    // an edge from box 1 touches an edge from box 2.
-    // find a point pa on the intersecting edge of box 1
-    dVector3 pa;
-    dReal sign;
-    for (i=0; i<3; i++) pa[i] = p1[i];
-    sign = (dDOT14(normal,R1+0) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) pa[i] += sign * A1 * R1[i*4];
-    sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) pa[i] += sign * A2 * R1[i*4+1];
-    sign = (dDOT14(normal,R1+2) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) pa[i] += sign * A3 * R1[i*4+2];
-
-    // find a point pb on the intersecting edge of box 2
-    dVector3 pb;
-    for (i=0; i<3; i++) pb[i] = p2[i];
-    sign = (dDOT14(normal,R2+0) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) pb[i] += sign * B1 * R2[i*4];
-    sign = (dDOT14(normal,R2+1) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) pb[i] += sign * B2 * R2[i*4+1];
-    sign = (dDOT14(normal,R2+2) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) pb[i] += sign * B3 * R2[i*4+2];
-
-    dReal alpha,beta;
-    dVector3 ua,ub;
-    for (i=0; i<3; i++) ua[i] = R1[((*code)-7)/3 + i*4];
-    for (i=0; i<3; i++) ub[i] = R2[((*code)-7)%3 + i*4];
-
-    lineClosestApproach (pa,ua,pb,ub,&alpha,&beta);
-    for (i=0; i<3; i++) pa[i] += ua[i]*alpha;
-    for (i=0; i<3; i++) pb[i] += ub[i]*beta;
-
-    for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]);
-    contact[0].depth = *depth;
-    return 1;
-  }
-
-  // okay, we have a face-something intersection (because the separating
-  // axis is perpendicular to a face).
-
-  // @@@ temporary: make deepest vertex on the "other" box the contact point.
-  // @@@ this kind of works, but we need multiple contact points for stability,
-  // @@@ especially for face-face contact.
-
-  dVector3 vertex;
-  if (*code <= 3) {
-    // face from box 1 touches a vertex/edge/face from box 2.
-    dReal sign;
-    for (i=0; i<3; i++) vertex[i] = p2[i];
-    sign = (dDOT14(normal,R2+0) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * B1 * R2[i*4];
-    sign = (dDOT14(normal,R2+1) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * B2 * R2[i*4+1];
-    sign = (dDOT14(normal,R2+2) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * B3 * R2[i*4+2];
-  }
-  else {
-    // face from box 2 touches a vertex/edge/face from box 1.
-    dReal sign;
-    for (i=0; i<3; i++) vertex[i] = p1[i];
-    sign = (dDOT14(normal,R1+0) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * A1 * R1[i*4];
-    sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * A2 * R1[i*4+1];
-    sign = (dDOT14(normal,R1+2) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * A3 * R1[i*4+2];
-  }
-  for (i=0; i<3; i++) contact[0].pos[i] = vertex[i];
-  contact[0].depth = *depth;
-  return 1;
-}
-
-//****************************************************************************
-// general support for geometry objects and classes
-
-struct dColliderEntry {
-  dColliderFn *fn;	// collider function
-  int mode;		// 1 = reverse o1 and o2, 2 = no function available
-};
-
-static dArray<dxGeomClass*> *classes=0;
-
-// function pointers and modes for n^2 class collider functions. this is an
-// n*n matrix stored by row. the functions pointers are extracted from the
-// class get-collider-function function.
-static dArray<dColliderEntry> *colliders=0;
-
-
-static inline void initCollisionArrays()
-{
-  if (classes==0) {
-    // old way:
-    //   classes = (dArray<dxGeomClass*> *) dAllocNoFree (sizeof(dArrayBase));
-    //   classes->constructor();
-    classes = new dArray<dxGeomClass*>;
-    classes->setSize (1);	// force allocation of array data memory
-    dAllocDontReport (classes);
-    dAllocDontReport (classes->data());
-    classes->setSize (0);
-  }
-  if (colliders==0) {
-    // old way:
-    //   colliders=(dArray<dColliderEntry> *)dAllocNoFree (sizeof(dArrayBase));
-    //   colliders->constructor();
-    colliders = new dArray<dColliderEntry>;
-    colliders->setSize (1);	// force allocation of array data memory
-    dAllocDontReport (colliders);
-    dAllocDontReport (colliders->data());
-    colliders->setSize (0);
-  }
-}
-
-
-int dCreateGeomClass (const dGeomClass *c)
-{
-  dUASSERT(c && c->bytes >= 0 && c->collider && c->aabb,"bad geom class");
-  initCollisionArrays();
-
-  int n = classes->size();
-  dxGeomClass *gc = (dxGeomClass*) dAlloc (sizeof(dxGeomClass));
-  dAllocDontReport (gc);
-  gc->collider = c->collider;
-  gc->aabb = c->aabb;
-  gc->aabb_test = c->aabb_test;
-  gc->dtor = c->dtor;
-  gc->num = n;
-  gc->size = SIZEOF_DXGEOM + c->bytes;
-  classes->push (gc);
-
-  // make room for n^2 class collider function pointers - these entries will
-  // be filled as dCollide() is called.
-  colliders->setSize ((n+1)*(n+1));
-  memset (colliders->data(),0,(n+1)*(n+1)*sizeof(dColliderEntry));
-
-  return n;
-}
-
-
-int dCollide (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact,
-	      int skip)
-{
-  int i,c1,c2,a1,a2,count,swap;
-  dColliderFn *fn;
-  dAASSERT(o1 && o2 && contact);
-  dUASSERT(classes && colliders,"no registered geometry classes");
-
-  // no contacts if both geoms on the same body, and the body is not 0
-  if (o1->body == o2->body && o1->body) return 0;
-
-  dColliderEntry *colliders2 = colliders->data();
-  c1 = o1->_class->num;
-  c2 = o2->_class->num;
-  a1 = c1 * classes->size() + c2;	// address 1 in collider array
-  a2 = c2 * classes->size() + c1;	// address 2 in collider array
-  swap = 0;		// set to 1 to swap normals before returning
-
-  // return if there are no collider functions available
-  if ((colliders2[a1].mode==2) || (colliders2[a2].mode==2)) return 0;
-
-  if ((fn = colliders2[a1].fn)) {
-    swap = colliders2[a1].mode;
-    if (swap) count = (*fn) (o2,o1,flags,contact,skip);
-    else count = (*fn) (o1,o2,flags,contact,skip);
-  }
-  else if ((fn = (*classes)[c1]->collider (c2))) {
-    colliders2 [a2].fn = fn;
-    colliders2 [a2].mode = 1;
-    colliders2 [a1].fn = fn;	// do mode=0 assignment second so that
-    colliders2 [a1].mode = 0;	// diagonal entries will have mode 0
-    count = (*fn) (o1,o2,flags,contact,skip);
-    swap = 0;
-  }
-  else if ((fn = (*classes)[c2]->collider (c1))) {
-    colliders2 [a1].fn = fn;
-    colliders2 [a1].mode = 1;
-    colliders2 [a2].fn = fn;	// do mode=0 assignment second so that
-    colliders2 [a2].mode = 0;	// diagonal entries will have mode 0
-    count = (*fn) (o2,o1,flags,contact,skip);
-    swap = 1;
-  }
-  else {
-    colliders2[a1].mode = 2;
-    colliders2[a2].mode = 2;
-    return 0;
-  }
-
-  if (swap) {
-    for (i=0; i<count; i++) {
-      dContactGeom *c = CONTACT(contact,skip*i);
-      c->normal[0] = -c->normal[0];
-      c->normal[1] = -c->normal[1];
-      c->normal[2] = -c->normal[2];
-      dxGeom *tmp = c->g1;
-      c->g1 = c->g2;
-      c->g2 = tmp;
-    }
-  }
-
-  return count;
-}
-
-
-int dGeomGetClass (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->_class->num;
-}
-
-
-void dGeomSetData (dxGeom *g, void *data)
-{
-  dAASSERT (g);
-  g->data = data;
-}
-
-
-void *dGeomGetData (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->data;
-}
-
-
-void dGeomSetBody (dxGeom *g, dBodyID b)
-{
-  dAASSERT (g);
-  if (b) {
-    if (!g->body) dFree (g->pos,sizeof(dxPosR));
-    g->body = b;
-    g->pos = b->pos;
-    g->R = b->R;
-  }
-  else {
-    if (g->body) {
-      dxPosR *pr = (dxPosR*) dAlloc (sizeof(dxPosR));
-      g->pos = pr->pos;
-      g->R = pr->R;
-      memcpy (g->pos,g->body->pos,sizeof(g->pos));
-      memcpy (g->R,g->body->R,sizeof(g->R));
-      g->body = 0;
-    }
-  }
-}
-
-
-dBodyID dGeomGetBody (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->body;
-}
-
-
-void dGeomSetPosition (dxGeom *g, dReal x, dReal y, dReal z)
-{
-  dAASSERT (g);
-  if (g->body) dBodySetPosition (g->body,x,y,z);
-  else {
-    g->pos[0] = x;
-    g->pos[1] = y;
-    g->pos[2] = z;
-  }
-}
-
-
-void dGeomSetRotation (dxGeom *g, const dMatrix3 R)
-{
-  dAASSERT (g);
-  if (g->body) dBodySetRotation (g->body,R);
-  else memcpy (g->R,R,sizeof(dMatrix3));
-}
-
-
-const dReal * dGeomGetPosition (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->pos;
-}
-
-
-const dReal * dGeomGetRotation (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->R;
-}
-
-
-// for external use only. use the CLASSDATA macro inside ODE.
-
-void * dGeomGetClassData (dxGeom *g)
-{
-  dAASSERT (g);
-  return (void*) CLASSDATA(g);
-}
-
-
-dxGeom * dCreateGeom (int classnum)
-{
-  dUASSERT (classes && colliders && classnum >= 0 &&
-	    classnum < classes->size(),"bad class number");
-  int size = (*classes)[classnum]->size;
-  dxGeom *geom = (dxGeom*) dAlloc (size);
-  memset (geom,0,size);		// everything is initially zeroed
-
-  geom->_class = (*classes)[classnum];
-  geom->data = 0;
-  geom->body = 0;
-
-  dxPosR *pr = (dxPosR*) dAlloc (sizeof(dxPosR));
-  geom->pos = pr->pos;
-  geom->R = pr->R;
-  dSetZero (geom->pos,4);
-  dRSetIdentity (geom->R);
-
-  return geom;
-}
-
-
-void dGeomDestroy (dxGeom *g)
-{
-  dAASSERT (g);
-  if (g->spaceid) dSpaceRemove (g->spaceid,g);
-  if (g->_class->dtor) g->_class->dtor (g);
-  if (!g->body) dFree (g->pos,sizeof(dxPosR));
-  dFree (g,g->_class->size);
-}
-
-
-void dGeomGetAABB (dxGeom *g, dReal aabb[6])
-{
-  dAASSERT (g);
-  g->_class->aabb (g,aabb);
-}
-
-
-dReal *dGeomGetSpaceAABB (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->space_aabb;
-}
-
-//****************************************************************************
-// data for the standard classes
-
-struct dxSphere {
-  dReal radius;		// sphere radius
-};
-
-struct dxBox {
-  dVector3 side;	// side lengths (x,y,z)
-};
-
-struct dxCCylinder {	// capped cylinder
-  dReal radius,lz;	// radius, length along z axis */
-};
-
-struct dxPlane {
-  dReal p[4];
-};
-
-struct dxGeomGroup {
-  dArray<dxGeom*> parts;	// all the geoms that make up the group
-};
-
-//****************************************************************************
-// primitive collision functions
-// same interface as dCollide().
-// S=sphere, B=box, C=capped cylinder, P=plane, G=group, T=transform
-
-int dCollideSS (const dxGeom *o1, const dxGeom *o2, int flags,
-		dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dSphereClass);
-  dIASSERT (o2->_class->num == dSphereClass);
-  dxSphere *s1 = (dxSphere*) CLASSDATA(o1);
-  dxSphere *s2 = (dxSphere*) CLASSDATA(o2);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  return dCollideSpheres (o1->pos,s1->radius,
-			  o2->pos,s2->radius,contact);
-}
-
-
-int dCollideSB (const dxGeom *o1, const dxGeom *o2, int flags,
-		dContactGeom *contact, int skip)
-{
-  // this is easy. get the sphere center `p' relative to the box, and then clip
-  // that to the boundary of the box (call that point `q'). if q is on the
-  // boundary of the box and |p-q| is <= sphere radius, they touch.
-  // if q is inside the box, the sphere is inside the box, so set a contact
-  // normal to push the sphere to the closest box edge.
-
-  dVector3 l,t,p,q,r;
-  dReal depth;
-  int onborder = 0;
-
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dSphereClass);
-  dIASSERT (o2->_class->num == dBoxClass);
-  dxSphere *sphere = (dxSphere*) CLASSDATA(o1);
-  dxBox *box = (dxBox*) CLASSDATA(o2);
-
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-
-  p[0] = o1->pos[0] - o2->pos[0];
-  p[1] = o1->pos[1] - o2->pos[1];
-  p[2] = o1->pos[2] - o2->pos[2];
-
-  l[0] = box->side[0]*REAL(0.5);
-  t[0] = dDOT14(p,o2->R);
-  if (t[0] < -l[0]) { t[0] = -l[0]; onborder = 1; }
-  if (t[0] >  l[0]) { t[0] =  l[0]; onborder = 1; }
-
-  l[1] = box->side[1]*REAL(0.5);
-  t[1] = dDOT14(p,o2->R+1);
-  if (t[1] < -l[1]) { t[1] = -l[1]; onborder = 1; }
-  if (t[1] >  l[1]) { t[1] =  l[1]; onborder = 1; }
-
-  t[2] = dDOT14(p,o2->R+2);
-  l[2] = box->side[2]*REAL(0.5);
-  if (t[2] < -l[2]) { t[2] = -l[2]; onborder = 1; }
-  if (t[2] >  l[2]) { t[2] =  l[2]; onborder = 1; }
-
-  if (!onborder) {
-    // sphere center inside box. find largest `t' value
-    dReal max = dFabs(t[0]);
-    int maxi = 0;
-    for (int i=1; i<3; i++) {
-      dReal tt = dFabs(t[i]);
-      if (tt > max) {
-	max = tt;
-	maxi = i;
-      }
-    }
-    // contact position = sphere center
-    contact->pos[0] = o1->pos[0];
-    contact->pos[1] = o1->pos[1];
-    contact->pos[2] = o1->pos[2];
-    // contact normal aligned with box edge along largest `t' value
-    dVector3 tmp;
-    tmp[0] = 0;
-    tmp[1] = 0;
-    tmp[2] = 0;
-    tmp[maxi] = (t[maxi] > 0) ? REAL(1.0) : REAL(-1.0);
-    dMULTIPLY0_331 (contact->normal,o2->R,tmp);
-    // contact depth = distance to wall along normal plus radius
-    contact->depth = l[maxi] - max + sphere->radius;
-    return 1;
-  }
-
-  t[3] = 0;			//@@@ hmmm
-  dMULTIPLY0_331 (q,o2->R,t);
-  r[0] = p[0] - q[0];
-  r[1] = p[1] - q[1];
-  r[2] = p[2] - q[2];
-  depth = sphere->radius - dSqrt(dDOT(r,r));
-  if (depth < 0) return 0;
-  contact->pos[0] = q[0] + o2->pos[0];
-  contact->pos[1] = q[1] + o2->pos[1];
-  contact->pos[2] = q[2] + o2->pos[2];
-  contact->normal[0] = r[0];
-  contact->normal[1] = r[1];
-  contact->normal[2] = r[2];
-  dNormalize3 (contact->normal);
-  contact->depth = depth;
-  return 1;
-}
-
-
-int dCollideSP (const dxGeom *o1, const dxGeom *o2, int flags,
-		dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dSphereClass);
-  dIASSERT (o2->_class->num == dPlaneClass);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  dxSphere *sphere = (dxSphere*) CLASSDATA(o1);
-  dxPlane *plane = (dxPlane*) CLASSDATA(o2);
-  dReal k = dDOT (o1->pos,plane->p);
-  dReal depth = plane->p[3] - k + sphere->radius;
-  if (depth >= 0) {
-    contact->normal[0] = plane->p[0];
-    contact->normal[1] = plane->p[1];
-    contact->normal[2] = plane->p[2];
-    contact->pos[0] = o1->pos[0] - plane->p[0] * sphere->radius;
-    contact->pos[1] = o1->pos[1] - plane->p[1] * sphere->radius;
-    contact->pos[2] = o1->pos[2] - plane->p[2] * sphere->radius;
-    contact->depth = depth;
-    return 1;
-  }
-  else return 0;
-}
-
-
-int dCollideBB (const dxGeom *o1, const dxGeom *o2, int flags,
-		dContactGeom *contact, int skip)
-{
-  dVector3 normal;
-  dReal depth;
-  int code;
-  dxBox *b1 = (dxBox*) CLASSDATA(o1);
-  dxBox *b2 = (dxBox*) CLASSDATA(o2);
-  int num = dBoxBox (o1->pos,o1->R,b1->side, o2->pos,o2->R,b2->side,
-		     normal,&depth,&code,flags & NUMC_MASK,contact,skip);
-  for (int i=0; i<num; i++) {
-    CONTACT(contact,i*skip)->normal[0] = -normal[0];
-    CONTACT(contact,i*skip)->normal[1] = -normal[1];
-    CONTACT(contact,i*skip)->normal[2] = -normal[2];
-    CONTACT(contact,i*skip)->g1 = const_cast<dxGeom*> (o1);
-    CONTACT(contact,i*skip)->g2 = const_cast<dxGeom*> (o2);
-  }
-  return num;
-}
-
-
-int dCollideBP (const dxGeom *o1, const dxGeom *o2,
-		int flags, dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dBoxClass);
-  dIASSERT (o2->_class->num == dPlaneClass);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  dxBox *box = (dxBox*) CLASSDATA(o1);
-  dxPlane *plane = (dxPlane*) CLASSDATA(o2);
-  int ret = 0;
-
-  //@@@ problem: using 4-vector (plane->p) as 3-vector (normal).
-  const dReal *R = o1->R;		// rotation of box
-  const dReal *n = plane->p;		// normal vector
-
-  // project sides lengths along normal vector, get absolute values
-  dReal Q1 = dDOT14(n,R+0);
-  dReal Q2 = dDOT14(n,R+1);
-  dReal Q3 = dDOT14(n,R+2);
-  dReal A1 = box->side[0] * Q1;
-  dReal A2 = box->side[1] * Q2;
-  dReal A3 = box->side[2] * Q3;
-  dReal B1 = dFabs(A1);
-  dReal B2 = dFabs(A2);
-  dReal B3 = dFabs(A3);
-
-  // early exit test
-  dReal depth = plane->p[3] + REAL(0.5)*(B1+B2+B3) - dDOT(n,o1->pos);
-  if (depth < 0) return 0;
-
-  // find number of contacts requested
-  int maxc = flags & NUMC_MASK;
-  if (maxc < 1) maxc = 1;
-  if (maxc > 3) maxc = 3;	// no more than 3 contacts per box allowed
-
-  // find deepest point
-  dVector3 p;
-  p[0] = o1->pos[0];
-  p[1] = o1->pos[1];
-  p[2] = o1->pos[2];
-#define FOO(i,op) \
-  p[0] op REAL(0.5)*box->side[i] * R[0+i]; \
-  p[1] op REAL(0.5)*box->side[i] * R[4+i]; \
-  p[2] op REAL(0.5)*box->side[i] * R[8+i];
-#define BAR(i,iinc) if (A ## iinc > 0) { FOO(i,-=) } else { FOO(i,+=) }
-  BAR(0,1);
-  BAR(1,2);
-  BAR(2,3);
-#undef FOO
-#undef BAR
-
-  // the deepest point is the first contact point
-  contact->pos[0] = p[0];
-  contact->pos[1] = p[1];
-  contact->pos[2] = p[2];
-  contact->normal[0] = n[0];
-  contact->normal[1] = n[1];
-  contact->normal[2] = n[2];
-  contact->depth = depth;
-  ret = 1;		// ret is number of contact points found so far
-  if (maxc == 1) goto done;
-
-  // get the second and third contact points by starting from `p' and going
-  // along the two sides with the smallest projected length.
-
-#define FOO(i,j,op) \
-  CONTACT(contact,i*skip)->pos[0] = p[0] op box->side[j] * R[0+j]; \
-  CONTACT(contact,i*skip)->pos[1] = p[1] op box->side[j] * R[4+j]; \
-  CONTACT(contact,i*skip)->pos[2] = p[2] op box->side[j] * R[8+j];
-#define BAR(ctact,side,sideinc) \
-  depth -= B ## sideinc; \
-  if (depth < 0) goto done; \
-  if (A ## sideinc > 0) { FOO(ctact,side,+) } else { FOO(ctact,side,-) } \
-  CONTACT(contact,ctact*skip)->depth = depth; \
-  ret++;
-
-  CONTACT(contact,skip)->normal[0] = n[0];
-  CONTACT(contact,skip)->normal[1] = n[1];
-  CONTACT(contact,skip)->normal[2] = n[2];
-  if (maxc == 3) {
-    CONTACT(contact,2*skip)->normal[0] = n[0];
-    CONTACT(contact,2*skip)->normal[1] = n[1];
-    CONTACT(contact,2*skip)->normal[2] = n[2];
-  }
-
-  if (B1 < B2) {
-    if (B3 < B1) goto use_side_3; else {
-      BAR(1,0,1);	// use side 1
-      if (maxc == 2) goto done;
-      if (B2 < B3) goto contact2_2; else goto contact2_3;
-    }
-  }
-  else {
-    if (B3 < B2) {
-      use_side_3:	// use side 3
-      BAR(1,2,3);
-      if (maxc == 2) goto done;
-      if (B1 < B2) goto contact2_1; else goto contact2_2;
-    }
-    else {
-      BAR(1,1,2);	// use side 2
-      if (maxc == 2) goto done;
-      if (B1 < B3) goto contact2_1; else goto contact2_3;
-    }
-  }
-
-  contact2_1: BAR(2,0,1); goto done;
-  contact2_2: BAR(2,1,2); goto done;
-  contact2_3: BAR(2,2,3); goto done;
-#undef FOO
-#undef BAR
-
- done:
-  for (int i=0; i<ret; i++) {
-    CONTACT(contact,i*skip)->g1 = const_cast<dxGeom*> (o1);
-    CONTACT(contact,i*skip)->g2 = const_cast<dxGeom*> (o2);
-  }
-  return ret;
-}
-
-
-int dCollideCS (const dxGeom *o1, const dxGeom *o2, int flags,
-		dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dCCylinderClass);
-  dIASSERT (o2->_class->num == dSphereClass);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  dxCCylinder *ccyl = (dxCCylinder*) CLASSDATA(o1);
-  dxSphere *sphere = (dxSphere*) CLASSDATA(o2);
-
-  // find the point on the cylinder axis that is closest to the sphere
-  dReal alpha = 
-    o1->R[2]  * (o2->pos[0] - o1->pos[0]) +
-    o1->R[6]  * (o2->pos[1] - o1->pos[1]) +
-    o1->R[10] * (o2->pos[2] - o1->pos[2]);
-  dReal lz2 = ccyl->lz * REAL(0.5);
-  if (alpha > lz2) alpha = lz2;
-  if (alpha < -lz2) alpha = -lz2;
-
-  // collide the spheres
-  dVector3 p;
-  p[0] = o1->pos[0] + alpha * o1->R[2];
-  p[1] = o1->pos[1] + alpha * o1->R[6];
-  p[2] = o1->pos[2] + alpha * o1->R[10];
-  return dCollideSpheres (p,ccyl->radius,o2->pos,sphere->radius,contact);
-}
-
-
-int dCollideCB (const dxGeom *o1, const dxGeom *o2, int flags,
-		dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dCCylinderClass);
-  dIASSERT (o2->_class->num == dBoxClass);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  dxCCylinder *cyl = (dxCCylinder*) CLASSDATA(o1);
-  dxBox *box = (dxBox*) CLASSDATA(o2);
-
-  // get p1,p2 = cylinder axis endpoints, get radius
-  dVector3 p1,p2;
-  dReal clen = cyl->lz * REAL(0.5);
-  p1[0] = o1->pos[0] + clen * o1->R[2];
-  p1[1] = o1->pos[1] + clen * o1->R[6];
-  p1[2] = o1->pos[2] + clen * o1->R[10];
-  p2[0] = o1->pos[0] - clen * o1->R[2];
-  p2[1] = o1->pos[1] - clen * o1->R[6];
-  p2[2] = o1->pos[2] - clen * o1->R[10];
-  dReal radius = cyl->radius;
-
-  // copy out box center, rotation matrix, and side array
-  dReal *c = o2->pos;
-  dReal *R = o2->R;
-  dReal *side = box->side;
-
-  // get the closest point between the cylinder axis and the box
-  dVector3 pl,pb;
-  dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb);
-
-  // generate contact point
-  return dCollideSpheres (pl,radius,pb,0,contact);
-}
-
-
-// this returns at most one contact point when the two cylinder's axes are not
-// aligned, and at most two (for stability) when they are aligned.
-// the algorithm minimizes the distance between two "sample spheres" that are
-// positioned along the cylinder axes according to:
-//    sphere1 = pos1 + alpha1 * axis1
-//    sphere2 = pos2 + alpha2 * axis2
-// alpha1 and alpha2 are limited to +/- half the length of the cylinders.
-// the algorithm works by finding a solution that has both alphas free, or
-// a solution that has one or both alphas fixed to the ends of the cylinder.
-
-int dCollideCC (const dxGeom *o1, const dxGeom *o2,
-		int flags, dContactGeom *contact, int skip)
-{
-  int i;
-  const dReal tolerance = REAL(1e-5);
-
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dCCylinderClass);
-  dIASSERT (o2->_class->num == dCCylinderClass);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  dxCCylinder *cyl1 = (dxCCylinder*) CLASSDATA(o1);
-  dxCCylinder *cyl2 = (dxCCylinder*) CLASSDATA(o2);
-
-  // copy out some variables, for convenience
-  dReal lz1 = cyl1->lz * REAL(0.5);
-  dReal lz2 = cyl2->lz * REAL(0.5);
-  dReal *pos1 = o1->pos;
-  dReal *pos2 = o2->pos;
-  dReal axis1[3],axis2[3];
-  axis1[0] = o1->R[2];
-  axis1[1] = o1->R[6];
-  axis1[2] = o1->R[10];
-  axis2[0] = o2->R[2];
-  axis2[1] = o2->R[6];
-  axis2[2] = o2->R[10];
-
-  dReal alpha1,alpha2,sphere1[3],sphere2[3];
-  int fix1 = 0;		// 0 if alpha1 is free, +/-1 to fix at +/- lz1
-  int fix2 = 0;		// 0 if alpha2 is free, +/-1 to fix at +/- lz2
-
-  for (int count=0; count<9; count++) {
-    // find a trial solution by fixing or not fixing the alphas
-    if (fix1) {
-      if (fix2) {
-	// alpha1 and alpha2 are fixed, so the solution is easy
-	if (fix1 > 0) alpha1 = lz1; else alpha1 = -lz1;
-	if (fix2 > 0) alpha2 = lz2; else alpha2 = -lz2;
-	for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-	for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-      }
-      else {
-	// fix alpha1 but let alpha2 be free
-	if (fix1 > 0) alpha1 = lz1; else alpha1 = -lz1;
-	for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-	alpha2 = (axis2[0]*(sphere1[0]-pos2[0]) +
-		  axis2[1]*(sphere1[1]-pos2[1]) +
-		  axis2[2]*(sphere1[2]-pos2[2]));
-	for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-      }
-    }
-    else {
-      if (fix2) {
-	// fix alpha2 but let alpha1 be free
-	if (fix2 > 0) alpha2 = lz2; else alpha2 = -lz2;
-	for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-	alpha1 = (axis1[0]*(sphere2[0]-pos1[0]) +
-		  axis1[1]*(sphere2[1]-pos1[1]) +
-		  axis1[2]*(sphere2[2]-pos1[2]));
-	for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-      }
-      else {
-	// let alpha1 and alpha2 be free
-	// compute determinant of d(d^2)\d(alpha) jacobian
-	dReal a1a2 = dDOT (axis1,axis2);
-	dReal det = REAL(1.0)-a1a2*a1a2;
-	if (det < tolerance) {
-	  // the cylinder axes (almost) parallel, so we will generate up to two
-	  // contacts. the solution matrix is rank deficient so alpha1 and
-	  // alpha2 are related by:
-	  //       alpha2 =   alpha1 + (pos1-pos2)'*axis1   (if axis1==axis2)
-	  //    or alpha2 = -(alpha1 + (pos1-pos2)'*axis1)  (if axis1==-axis2)
-	  // first compute where the two cylinders overlap in alpha1 space:
-	  if (a1a2 < 0) {
-	    axis2[0] = -axis2[0];
-	    axis2[1] = -axis2[1];
-	    axis2[2] = -axis2[2];
-	  }
-	  dReal q[3];
-	  for (i=0; i<3; i++) q[i] = pos1[i]-pos2[i];
-	  dReal k = dDOT (axis1,q);
-	  dReal a1lo = -lz1;
-	  dReal a1hi = lz1;
-	  dReal a2lo = -lz2 - k;
-	  dReal a2hi = lz2 - k;
-	  dReal lo = (a1lo > a2lo) ? a1lo : a2lo;
-	  dReal hi = (a1hi < a2hi) ? a1hi : a2hi;
-	  if (lo <= hi) {
-	    int num_contacts = flags & NUMC_MASK;
-	    if (num_contacts >= 2 && lo < hi) {
-	      // generate up to two contacts. if one of those contacts is
-	      // not made, fall back on the one-contact strategy.
-	      for (i=0; i<3; i++) sphere1[i] = pos1[i] + lo*axis1[i];
-	      for (i=0; i<3; i++) sphere2[i] = pos2[i] + (lo+k)*axis2[i];
-	      int n1 = dCollideSpheres (sphere1,cyl1->radius,
-					sphere2,cyl2->radius,contact);
-	      if (n1) {
-		for (i=0; i<3; i++) sphere1[i] = pos1[i] + hi*axis1[i];
-		for (i=0; i<3; i++) sphere2[i] = pos2[i] + (hi+k)*axis2[i];
-		dContactGeom *c2 = CONTACT(contact,skip);
-		int n2 = dCollideSpheres (sphere1,cyl1->radius,
-					  sphere2,cyl2->radius, c2);
-		if (n2) {
-		  c2->g1 = const_cast<dxGeom*> (o1);
-		  c2->g2 = const_cast<dxGeom*> (o2);
-		  return 2;
-		}
-	      }
-	    }
-
-	    // just one contact to generate, so put it in the middle of
-	    // the range
-	    alpha1 = (lo + hi) * REAL(0.5);
-	    alpha2 = alpha1 + k;
-	    for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-	    for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-	    return dCollideSpheres (sphere1,cyl1->radius,
-				    sphere2,cyl2->radius,contact);
-	  }
-	  else return 0;
-	}
-	det = REAL(1.0)/det;
-	dReal delta[3];
-	for (i=0; i<3; i++) delta[i] = pos1[i] - pos2[i];
-	dReal q1 = dDOT (delta,axis1);
-	dReal q2 = dDOT (delta,axis2);
-	alpha1 = det*(a1a2*q2-q1);
-	alpha2 = det*(q2-a1a2*q1);
-	for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-	for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-      }
-    }
-
-    // if the alphas are outside their allowed ranges then fix them and
-    // try again
-    if (fix1==0) {
-      if (alpha1 < -lz1) {
-	fix1 = -1;
-	continue;
-      }
-      if (alpha1 > lz1) {
-	fix1 = 1;
-	continue;
-      }
-    }
-    if (fix2==0) {
-      if (alpha2 < -lz2) {
-	fix2 = -1;
-	continue;
-      }
-      if (alpha2 > lz2) {
-	fix2 = 1;
-	continue;
-      }
-    }
-
-    // unfix the alpha variables if the local distance gradient indicates
-    // that we are not yet at the minimum
-    dReal tmp[3];
-    for (i=0; i<3; i++) tmp[i] = sphere1[i] - sphere2[i];
-    if (fix1) {
-      dReal gradient = dDOT (tmp,axis1);
-      if ((fix1 > 0 && gradient > 0) || (fix1 < 0 && gradient < 0)) {
-	fix1 = 0;
-	continue;
-      }
-    }
-    if (fix2) {
-      dReal gradient = -dDOT (tmp,axis2);
-      if ((fix2 > 0 && gradient > 0) || (fix2 < 0 && gradient < 0)) {
-	fix2 = 0;
-	continue;
-      }
-    }
-    return dCollideSpheres (sphere1,cyl1->radius,sphere2,cyl2->radius,contact);
-  }
-  // if we go through the loop too much, then give up. we should NEVER get to
-  // this point (i hope).
-  dMessage (0,"dCollideCC(): too many iterations");
-  return 0;
-}
-
-
-int dCollideCP (const dxGeom *o1, const dxGeom *o2, int flags,
-		dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dCCylinderClass);
-  dIASSERT (o2->_class->num == dPlaneClass);
-  dxCCylinder *ccyl = (dxCCylinder*) CLASSDATA(o1);
-  dxPlane *plane = (dxPlane*) CLASSDATA(o2);
-
-  // collide the deepest capping sphere with the plane
-  dReal sign = (dDOT14 (plane->p,o1->R+2) > 0) ? REAL(-1.0) : REAL(1.0);
-  dVector3 p;
-  p[0] = o1->pos[0] + o1->R[2]  * ccyl->lz * REAL(0.5) * sign;
-  p[1] = o1->pos[1] + o1->R[6]  * ccyl->lz * REAL(0.5) * sign;
-  p[2] = o1->pos[2] + o1->R[10] * ccyl->lz * REAL(0.5) * sign;
-
-  dReal k = dDOT (p,plane->p);
-  dReal depth = plane->p[3] - k + ccyl->radius;
-  if (depth < 0) return 0;
-  contact->normal[0] = plane->p[0];
-  contact->normal[1] = plane->p[1];
-  contact->normal[2] = plane->p[2];
-  contact->pos[0] = p[0] - plane->p[0] * ccyl->radius;
-  contact->pos[1] = p[1] - plane->p[1] * ccyl->radius;
-  contact->pos[2] = p[2] - plane->p[2] * ccyl->radius;
-  contact->depth = depth;
-
-  int ncontacts = 1;
-  if ((flags & NUMC_MASK) >= 2) {
-    // collide the other capping sphere with the plane
-    p[0] = o1->pos[0] - o1->R[2]  * ccyl->lz * REAL(0.5) * sign;
-    p[1] = o1->pos[1] - o1->R[6]  * ccyl->lz * REAL(0.5) * sign;
-    p[2] = o1->pos[2] - o1->R[10] * ccyl->lz * REAL(0.5) * sign;
-
-    k = dDOT (p,plane->p);
-    depth = plane->p[3] - k + ccyl->radius;
-    if (depth >= 0) {
-      dContactGeom *c2 = CONTACT(contact,skip);
-      c2->normal[0] = plane->p[0];
-      c2->normal[1] = plane->p[1];
-      c2->normal[2] = plane->p[2];
-      c2->pos[0] = p[0] - plane->p[0] * ccyl->radius;
-      c2->pos[1] = p[1] - plane->p[1] * ccyl->radius;
-      c2->pos[2] = p[2] - plane->p[2] * ccyl->radius;
-      c2->depth = depth;
-      ncontacts = 2;
-    }
-  }
-
-  for (int i=0; i < ncontacts; i++) {
-    CONTACT(contact,i*skip)->g1 = const_cast<dxGeom*> (o1);
-    CONTACT(contact,i*skip)->g2 = const_cast<dxGeom*> (o2);
-  }
-  return ncontacts;
-}
-
-
-// this collides a group with another geom. the other geom can also be a
-// group, but this case is not handled specially.
-
-int dCollideG (const dxGeom *o1, const dxGeom *o2, int flags,
-	       dContactGeom *contact, int skip)
-{
-  dxGeomGroup *gr = (dxGeomGroup*) CLASSDATA(o1);
-  int numleft = flags & NUMC_MASK;
-  if (numleft == 0) numleft = 1;
-  flags &= ~NUMC_MASK;
-  int num=0,i=0;
-  while (i < gr->parts.size() && numleft > 0) {
-    int n = dCollide (gr->parts[i],const_cast<dxGeom*>(o2),
-		      flags | numleft,contact,skip);
-    contact = CONTACT (contact,skip*n);
-    numleft -= n;
-    num += n;
-    i++;
-  }
-  return num;
-}
-
-//****************************************************************************
-// standard classes
-
-SHAREDLIBEXPORT int dSphereClass = -1;
-SHAREDLIBEXPORT int dBoxClass = -1;
-SHAREDLIBEXPORT int dCCylinderClass = -1;
-SHAREDLIBEXPORT int dPlaneClass = -1;
-
-
-static dColliderFn * dSphereColliderFn (int num)
-{
-  if (num == dSphereClass) return (dColliderFn *) &dCollideSS;
-  if (num == dBoxClass) return (dColliderFn *) &dCollideSB;
-  if (num == dPlaneClass) return (dColliderFn *) &dCollideSP;
-  return 0;
-}
-
-
-static void dSphereAABB (dxGeom *geom, dReal aabb[6])
-{
-  dxSphere *s = (dxSphere*) CLASSDATA(geom);
-  aabb[0] = geom->pos[0] - s->radius;
-  aabb[1] = geom->pos[0] + s->radius;
-  aabb[2] = geom->pos[1] - s->radius;
-  aabb[3] = geom->pos[1] + s->radius;
-  aabb[4] = geom->pos[2] - s->radius;
-  aabb[5] = geom->pos[2] + s->radius;
-}
-
-
-static dColliderFn * dBoxColliderFn (int num)
-{
-  if (num == dBoxClass) return (dColliderFn *) &dCollideBB;
-  if (num == dPlaneClass) return (dColliderFn *) &dCollideBP;
-  return 0;
-}
-
-
-static void dBoxAABB (dxGeom *geom, dReal aabb[6])
-{
-  dxBox *b = (dxBox*) CLASSDATA(geom);
-  dReal xrange = REAL(0.5) * (dFabs (geom->R[0] * b->side[0]) +
-    dFabs (geom->R[1] * b->side[1]) + dFabs (geom->R[2] * b->side[2]));
-  dReal yrange = REAL(0.5) * (dFabs (geom->R[4] * b->side[0]) +
-    dFabs (geom->R[5] * b->side[1]) + dFabs (geom->R[6] * b->side[2]));
-  dReal zrange = REAL(0.5) * (dFabs (geom->R[8] * b->side[0]) +
-    dFabs (geom->R[9] * b->side[1]) + dFabs (geom->R[10] * b->side[2]));
-  aabb[0] = geom->pos[0] - xrange;
-  aabb[1] = geom->pos[0] + xrange;
-  aabb[2] = geom->pos[1] - yrange;
-  aabb[3] = geom->pos[1] + yrange;
-  aabb[4] = geom->pos[2] - zrange;
-  aabb[5] = geom->pos[2] + zrange;
-}
-
-
-static dColliderFn * dCCylinderColliderFn (int num)
-{
-  if (num == dSphereClass) return (dColliderFn *) &dCollideCS;
-  if (num == dPlaneClass) return (dColliderFn *) &dCollideCP;
-  if (num == dCCylinderClass) return (dColliderFn *) &dCollideCC;
-  if (num == dBoxClass) return (dColliderFn *) &dCollideCB;
-  return 0;
-}
-
-
-static void dCCylinderAABB (dxGeom *geom, dReal aabb[6])
-{
-  dxCCylinder *c = (dxCCylinder*) CLASSDATA(geom);
-  dReal xrange = dFabs(geom->R[2]  * c->lz) * REAL(0.5) + c->radius;
-  dReal yrange = dFabs(geom->R[6]  * c->lz) * REAL(0.5) + c->radius;
-  dReal zrange = dFabs(geom->R[10] * c->lz) * REAL(0.5) + c->radius;
-  aabb[0] = geom->pos[0] - xrange;
-  aabb[1] = geom->pos[0] + xrange;
-  aabb[2] = geom->pos[1] - yrange;
-  aabb[3] = geom->pos[1] + yrange;
-  aabb[4] = geom->pos[2] - zrange;
-  aabb[5] = geom->pos[2] + zrange;
-}
-
-
-dColliderFn * dPlaneColliderFn (int num)
-{
-  return 0;
-}
-
-
-static void dPlaneAABB (dxGeom *geom, dReal aabb[6])
-{
-  // @@@ planes that have normal vectors aligned along an axis can use a
-  // @@@ less comprehensive bounding box.
-  aabb[0] = -dInfinity;
-  aabb[1] = dInfinity;
-  aabb[2] = -dInfinity;
-  aabb[3] = dInfinity;
-  aabb[4] = -dInfinity;
-  aabb[5] = dInfinity;
-}
-
-
-dxGeom *dCreateSphere (dSpaceID space, dReal radius)
-{
-  dAASSERT (radius > 0);
-  if (dSphereClass == -1) {
-    dGeomClass c;
-    c.bytes = sizeof (dxSphere);
-    c.collider = &dSphereColliderFn;
-    c.aabb = &dSphereAABB;
-    c.aabb_test = 0;
-    c.dtor = 0;
-    dSphereClass = dCreateGeomClass (&c);
-  }
-
-  dxGeom *g = dCreateGeom (dSphereClass);
-  if (space) dSpaceAdd (space,g);
-  dxSphere *s = (dxSphere*) CLASSDATA(g);
-  s->radius = radius;
-  return g;
-}
-
-
-dxGeom *dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
-{
-  dAASSERT (lx > 0 && ly > 0 && lz > 0);
-  if (dBoxClass == -1) {
-    dGeomClass c;
-    c.bytes = sizeof (dxBox);
-    c.collider = &dBoxColliderFn;
-    c.aabb = &dBoxAABB;
-    c.aabb_test = 0;
-    c.dtor = 0;
-    dBoxClass = dCreateGeomClass (&c);
-  }
-
-  dxGeom *g = dCreateGeom (dBoxClass);
-  if (space) dSpaceAdd (space,g);
-  dxBox *b = (dxBox*) CLASSDATA(g);
-  b->side[0] = lx;
-  b->side[1] = ly;
-  b->side[2] = lz;
-  return g;
-}
-
-
-dxGeom * dCreateCCylinder (dSpaceID space, dReal radius, dReal length)
-{
-  dAASSERT (radius > 0 && length > 0);
-  if (dCCylinderClass == -1) {
-    dGeomClass c;
-    c.bytes = sizeof (dxCCylinder);
-    c.collider = &dCCylinderColliderFn;
-    c.aabb = &dCCylinderAABB;
-    c.aabb_test = 0;
-    c.dtor = 0;
-    dCCylinderClass = dCreateGeomClass (&c);
-  }
-
-  dxGeom *g = dCreateGeom (dCCylinderClass);
-  if (space) dSpaceAdd (space,g);
-  dxCCylinder *c = (dxCCylinder*) CLASSDATA(g);
-  c->radius = radius;
-  c->lz = length;
-  return g;
-}
-
-
-dxGeom *dCreatePlane (dSpaceID space,
-		      dReal a, dReal b, dReal c, dReal d)
-{
-  if (dPlaneClass == -1) {
-    dGeomClass c;
-    c.bytes = sizeof (dxPlane);
-    c.collider = &dPlaneColliderFn;
-    c.aabb = &dPlaneAABB;
-    c.aabb_test = 0;
-    c.dtor = 0;
-    dPlaneClass = dCreateGeomClass (&c);
-  }
-
-  dxGeom *g = dCreateGeom (dPlaneClass);
-  if (space) dSpaceAdd (space,g);
-  dxPlane *p = (dxPlane*) CLASSDATA(g);
-
-  // make sure plane normal has unit length
-  dReal l = a*a + b*b + c*c;
-  if (l > 0) {
-    l = dRecipSqrt(l);
-    p->p[0] = a*l;
-    p->p[1] = b*l;
-    p->p[2] = c*l;
-    p->p[3] = d*l;
-  }
-  else {
-    p->p[0] = 1;
-    p->p[1] = 0;
-    p->p[2] = 0;
-    p->p[3] = 0;
-  }
-  return g;
-}
-
-
-void dGeomSphereSetRadius (dGeomID g, dReal radius)
-{
-  dUASSERT (g && g->_class->num == dSphereClass,"argument not a sphere");
-  dAASSERT (radius > 0);
-  dxSphere *s = (dxSphere*) CLASSDATA(g);
-  s->radius = radius;
-}
-
-
-void dGeomBoxSetLengths (dGeomID g, dReal lx, dReal ly, dReal lz)
-{
-  dUASSERT (g && g->_class->num == dBoxClass,"argument not a box");
-  dAASSERT (lx > 0 && ly > 0 && lz > 0);
-  dxBox *b = (dxBox*) CLASSDATA(g);
-  b->side[0] = lx;
-  b->side[1] = ly;
-  b->side[2] = lz;
-}
-
-
-void dGeomPlaneSetParams (dGeomID g, dReal a, dReal b, dReal c, dReal d)
-{
-  dUASSERT (g && g->_class->num == dPlaneClass,"argument not a plane");
-  dxPlane *p = (dxPlane*) CLASSDATA(g);
-  p->p[0] = a;
-  p->p[1] = b;
-  p->p[2] = c;
-  p->p[3] = d;
-}
-
-
-void dGeomCCylinderSetParams (dGeomID g, dReal radius, dReal length)
-{
-  dUASSERT (g && g->_class->num == dCCylinderClass,"argument not a ccylinder");
-  dAASSERT (radius > 0 && length > 0);
-  dxCCylinder *c = (dxCCylinder*) CLASSDATA(g);
-  c->radius = radius;
-  c->lz = length;
-}
-
-
-dReal dGeomSphereGetRadius (dGeomID g)
-{
-  dUASSERT (g && g->_class->num == dSphereClass,"argument not a sphere");
-  dxSphere *s = (dxSphere*) CLASSDATA(g);
-  return s->radius;
-}
-
-
-void  dGeomBoxGetLengths (dGeomID g, dVector3 result)
-{
-  dUASSERT (g && g->_class->num == dBoxClass,"argument not a box");
-  dxBox *b = (dxBox*) CLASSDATA(g);
-  result[0] = b->side[0];
-  result[1] = b->side[1];
-  result[2] = b->side[2];
-}
-
-
-void  dGeomPlaneGetParams (dGeomID g, dVector4 result)
-{
-  dUASSERT (g && g->_class->num == dPlaneClass,"argument not a plane");
-  dxPlane *p = (dxPlane*) CLASSDATA(g);
-  result[0] = p->p[0];
-  result[1] = p->p[1];
-  result[2] = p->p[2];
-  result[3] = p->p[3];
-}
-
-
-void dGeomCCylinderGetParams (dGeomID g, dReal *radius, dReal *length)
-{
-  dUASSERT (g && g->_class->num == dCCylinderClass,"argument not a ccylinder");
-  dxCCylinder *c = (dxCCylinder*) CLASSDATA(g);
-  *radius = c->radius;
-  *length = c->lz;
-}
-
-//****************************************************************************
-// geom group
-
-int dGeomGroupClass = -1;
-
-static dColliderFn * dGeomGroupColliderFn (int num)
-{
-  return (dColliderFn *) &dCollideG;
-}
-
-
-static void dGeomGroupAABB (dxGeom *geom, dReal aabb[6])
-{
-  dxGeomGroup *gr = (dxGeomGroup*) CLASSDATA(geom);
-  aabb[0] = dInfinity;
-  aabb[1] = -dInfinity;
-  aabb[2] = dInfinity;
-  aabb[3] = -dInfinity;
-  aabb[4] = dInfinity;
-  aabb[5] = -dInfinity;
-  int i,j;
-  for (i=0; i < gr->parts.size(); i++) {
-    dReal aabb2[6];
-    gr->parts[i]->_class->aabb (gr->parts[i],aabb2);
-    for (j=0; j<6; j += 2) if (aabb2[j] < aabb[j]) aabb[j] = aabb2[j];
-    for (j=1; j<6; j += 2) if (aabb2[j] > aabb[j]) aabb[j] = aabb2[j];
-  }
-}
-
-
-static void dGeomGroupDtor (dxGeom *geom)
-{
-  dxGeomGroup *gr = (dxGeomGroup*) CLASSDATA(geom);
-  gr->parts.~dArray();
-}
-
-
-dxGeom *dCreateGeomGroup (dSpaceID space)
-{
-  if (dGeomGroupClass == -1) {
-    dGeomClass c;
-    c.bytes = sizeof (dxGeomGroup);
-    c.collider = &dGeomGroupColliderFn;
-    c.aabb = &dGeomGroupAABB;
-    c.aabb_test = 0;
-    c.dtor = &dGeomGroupDtor;
-    dGeomGroupClass = dCreateGeomClass (&c);
-  }
-
-  dxGeom *g = dCreateGeom (dGeomGroupClass);
-  if (space) dSpaceAdd (space,g);
-  dxGeomGroup *gr = (dxGeomGroup*) CLASSDATA(g);
-  gr->parts.constructor();
-  return g;
-}
-
-
-void dGeomGroupAdd (dxGeom *g, dxGeom *x)
-{
-  dUASSERT (g && g->_class->num == dGeomGroupClass,"argument not a geomgroup");
-  dxGeomGroup *gr = (dxGeomGroup*) CLASSDATA(g);
-  gr->parts.push (x);
-}
-
-
-void dGeomGroupRemove (dxGeom *g, dxGeom *x)
-{
-  dUASSERT (g && g->_class->num == dGeomGroupClass,"argument not a geomgroup");
-  dxGeomGroup *gr = (dxGeomGroup*) CLASSDATA(g);
-  for (int i=0; i < gr->parts.size(); i++) {
-    if (gr->parts[i] == x) {
-      gr->parts.remove (i);
-      return;
-    }
-  }
-}
-
-
-int dGeomGroupGetNumGeoms (dxGeom *g)
-{
-  dUASSERT (g && g->_class->num == dGeomGroupClass,"argument not a geomgroup");
-  dxGeomGroup *gr = (dxGeomGroup*) CLASSDATA(g);
-  return gr->parts.size();
-}
-
-
-dxGeom * dGeomGroupGetGeom (dxGeom *g, int i)
-{
-  dUASSERT (g && g->_class->num == dGeomGroupClass,"argument not a geomgroup");
-  dxGeomGroup *gr = (dxGeomGroup*) CLASSDATA(g);
-  dAASSERT (i >= 0 && i < gr->parts.size());
-  return gr->parts[i];
-}
-
-//****************************************************************************
-// transformed geom
-
-int dGeomTransformClass = -1;
-
-struct dxGeomTransform {
-  dxGeom *obj;		// object that is being transformed
-  int cleanup;		// 1 to destroy obj when destroyed
-  int infomode;		// 1 to put Tx geom in dContactGeom g1
-  dVector3 final_pos;	// final tx (body tx + relative tx) of the object.
-  dMatrix3 final_R;	//   this is only set if the AABB function is called
-};			//   by space collision before the collide fn is called
-
-
-// compute final pos and R for the encapsulated geom object
-
-static void compute_final_tx (const dxGeom *g)
-{
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(g);
-  dMULTIPLY0_331 (tr->final_pos,g->R,tr->obj->pos);
-  tr->final_pos[0] += g->pos[0];
-  tr->final_pos[1] += g->pos[1];
-  tr->final_pos[2] += g->pos[2];
-  dMULTIPLY0_333 (tr->final_R,g->R,tr->obj->R);
-}
-
-
-
-// this collides a transformed geom with another geom. the other geom can
-// also be a transformed geom, but this case is not handled specially.
-
-int dCollideT (const dxGeom *o1, const dxGeom *o2, int flags,
-	       dContactGeom *contact, int skip)
-{
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(o1);
-  if (!tr->obj) return 0;
-  dUASSERT (tr->obj->spaceid==0,
-	    "GeomTransform encapsulated object must not be in a space");
-  dUASSERT (tr->obj->body==0,
-	    "GeomTransform encapsulated object must not be attach to a body");
-
-  // backup the relative pos and R pointers of the encapsulated geom object,
-  // and the body pointer
-  dReal *posbak = tr->obj->pos;
-  dReal *Rbak = tr->obj->R;
-  dxBody *bodybak = tr->obj->body;
-
-  // compute temporary pos and R for the encapsulated geom object
-  if (!o1->space_aabb) compute_final_tx (o1);
-  tr->obj->pos = tr->final_pos;
-  tr->obj->R = tr->final_R;
-  tr->obj->body = o1->body;
-
-  // do the collision
-  int n = dCollide (tr->obj,const_cast<dxGeom*>(o2),flags,contact,skip);
-
-  // if required, adjust the 'g1' values in the generated contacts so that
-  // thay indicated the GeomTransform object instead of the encapsulated
-  // object.
-  if (tr->infomode) {
-    for (int i=0; i<n; i++) {
-      dContactGeom *c = CONTACT(contact,skip*i);
-      c->g1 = const_cast<dxGeom*> (o1);
-    }
-  }
-
-  // restore the pos, R and body
-  tr->obj->pos = posbak;
-  tr->obj->R = Rbak;
-  tr->obj->body = bodybak;
-  return n;
-}
-
-
-static dColliderFn * dGeomTransformColliderFn (int num)
-{
-  return (dColliderFn *) &dCollideT;
-}
-
-
-static void dGeomTransformAABB (dxGeom *geom, dReal aabb[6])
-{
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(geom);
-  if (!tr->obj) {
-    dSetZero (aabb,6);
-    return;
-  }
-
-  // backup the relative pos and R pointers of the encapsulated geom object
-  dReal *posbak = tr->obj->pos;
-  dReal *Rbak = tr->obj->R;
-
-  // compute temporary pos and R for the encapsulated geom object
-  compute_final_tx (geom);
-  tr->obj->pos = tr->final_pos;
-  tr->obj->R = tr->final_R;
-
-  // compute the AABB
-  tr->obj->_class->aabb (tr->obj,aabb);
-
-  // restore the pos and R
-  tr->obj->pos = posbak;
-  tr->obj->R = Rbak;
-}
-
-
-static void dGeomTransformDtor (dxGeom *geom)
-{
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(geom);
-  if (tr->obj && tr->cleanup) {
-    dGeomDestroy (tr->obj);
-  }
-}
-
-
-dxGeom *dCreateGeomTransform (dSpaceID space)
-{
-  if (dGeomTransformClass == -1) {
-    dGeomClass c;
-    c.bytes = sizeof (dxGeomTransform);
-    c.collider = &dGeomTransformColliderFn;
-    c.aabb = &dGeomTransformAABB;
-    c.aabb_test = 0;
-    c.dtor = dGeomTransformDtor;
-    dGeomTransformClass = dCreateGeomClass (&c);
-  }
-
-  dxGeom *g = dCreateGeom (dGeomTransformClass);
-  if (space) dSpaceAdd (space,g);
-
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(g);
-  tr->obj = 0;
-  tr->cleanup = 0;
-  tr->infomode = 0;
-  dSetZero (tr->final_pos,4);
-  dRSetIdentity (tr->final_R);
-
-  return g;
-}
-
-
-void dGeomTransformSetGeom (dxGeom *g, dxGeom *obj)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformClass,
-	    "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(g);
-  if (tr->obj && tr->cleanup) {
-    dGeomDestroy (tr->obj);
-  }
-  tr->obj = obj;
-}
-
-
-dxGeom * dGeomTransformGetGeom (dxGeom *g)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformClass,
-	    "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(g);
-  return tr->obj;
-}
-
-
-void dGeomTransformSetCleanup (dGeomID g, int mode)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformClass,
-	    "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(g);
-  tr->cleanup = mode;
-}
-
-
-int dGeomTransformGetCleanup (dGeomID g)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformClass,
-	    "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(g);
-  return tr->cleanup;
-}
-
-
-void dGeomTransformSetInfo (dGeomID g, int mode)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformClass,
-	    "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(g);
-  tr->infomode = mode;
-}
-
-
-int dGeomTransformGetInfo (dGeomID g)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformClass,
-	    "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) CLASSDATA(g);
-  return tr->infomode;
-}
-
-//****************************************************************************
-// other utility functions
-
-void dInfiniteAABB (dxGeom *geom, dReal aabb[6])
-{
-  aabb[0] = -dInfinity;
-  aabb[1] = dInfinity;
-  aabb[2] = -dInfinity;
-  aabb[3] = dInfinity;
-  aabb[4] = -dInfinity;
-  aabb[5] = dInfinity;
-}
-
-
-void dCloseODE()
-{
-  if (colliders) {
-    delete colliders;
-    colliders = 0;
-  }
-  if (classes) {
-    for (int i=0; i < classes->size(); i++) {
-      dFree ((*classes)[i], sizeof (dxGeomClass));
-    }
-    delete classes;
-    classes = 0;
-  }
-
-  // reset geom class vars
-  dSphereClass = -1;
-  dBoxClass = -1;
-  dCCylinderClass = -1;
-  dPlaneClass = -1;
-  dGeomGroupClass = -1;
-  dGeomTransformClass = -1;
-
-  // if you're using contrib code you may want to uncomment the following:
-  // dTriListClass = -1;
-  // dRayClass = -1;
-}
diff --git a/extern/ode/dist/ode/src/geom_internal.h b/extern/ode/dist/ode/src/geom_internal.h
deleted file mode 100644
index 63be589ffe0..00000000000
--- a/extern/ode/dist/ode/src/geom_internal.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_GEOM_INTERNAL_H_
-#define _ODE_GEOM_INTERNAL_H_
-
-
-// mask for the number-of-contacts field in the dCollide() flags parameter
-#define NUMC_MASK (0xffff)
-
-
-// internal info for geometry class
-
-struct dxGeomClass {
-  dGetColliderFnFn *collider;
-  dGetAABBFn *aabb;
-  dAABBTestFn *aabb_test;
-  dGeomDtorFn *dtor;
-  int num;		// class number
-  int size;		// total size of object, including extra data area
-};
-
-
-// position vector and rotation matrix for geometry objects that are not
-// connected to bodies.
-
-struct dxPosR {
-  dVector3 pos;
-  dMatrix3 R;
-};
-
-
-// common data for all geometry objects. the class-specific data area follows
-// this structure. pos and R will either point to a separately allocated
-// buffer (if body is 0 - pos points to the dxPosR object) or to the pos and
-// R of the body (if body nonzero).
-
-struct dxGeom {		// a dGeomID is a pointer to this
-  dxGeomClass *_class;	// class of this object
-  void *data;		// user data pointer
-  dBodyID body;		// dynamics body associated with this object (if any)
-  dReal *pos;		// pointer to object's position vector
-  dReal *R;		// pointer to object's rotation matrix
-  dSpaceID spaceid;	// the space this object is in
-  dGeomSpaceData space;	// reserved for use by space this object is in
-  dReal *space_aabb;	// ptr to aabb array held by dSpaceCollide() fn
-  // class-specific data follows here, with proper alignment.
-};
-
-
-// this is the size of the dxGeom structure rounded up to a multiple of 16
-// bytes. any class specific data that comes after this will have the correct
-// alignment.
-
-#define SIZEOF_DXGEOM dEFFICIENT_SIZE(sizeof(dxGeom))
-
-
-// given a pointer to a dxGeom, return a pointer to the class data that
-// follows it.
-
-#define CLASSDATA(geomptr) (((char*)geomptr) + SIZEOF_DXGEOM)
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/joint.cpp b/extern/ode/dist/ode/src/joint.cpp
deleted file mode 100644
index 74e4c34cc71..00000000000
--- a/extern/ode/dist/ode/src/joint.cpp
+++ /dev/null
@@ -1,2160 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-design note: the general principle for giving a joint the option of connecting
-to the static environment (i.e. the absolute frame) is to check the second
-body (joint->node[1].body), and if it is zero then behave as if its body
-transform is the identity.
-
-*/
-
-#include <ode/odemath.h>
-#include <ode/rotation.h>
-#include <ode/matrix.h>
-#include "joint.h"
-
-//****************************************************************************
-// externs
-
-extern "C" void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz);
-extern "C" void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz);
-
-//****************************************************************************
-// utility
-
-// set three "ball-and-socket" rows in the constraint equation, and the
-// corresponding right hand side.
-
-static inline void setBall (dxJoint *joint, dxJoint::Info2 *info,
-			    dVector3 anchor1, dVector3 anchor2)
-{
-  // anchor points in global coordinates with respect to body PORs.
-  dVector3 a1,a2;
-
-  int s = info->rowskip;
-
-  // set jacobian
-  info->J1l[0] = 1;
-  info->J1l[s+1] = 1;
-  info->J1l[2*s+2] = 1;
-  dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1);
-  dCROSSMAT (info->J1a,a1,s,-,+);
-  if (joint->node[1].body) {
-    info->J2l[0] = -1;
-    info->J2l[s+1] = -1;
-    info->J2l[2*s+2] = -1;
-    dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2);
-    dCROSSMAT (info->J2a,a2,s,+,-);
-  }
-
-  // set right hand side
-  dReal k = info->fps * info->erp;
-  if (joint->node[1].body) {
-    for (int j=0; j<3; j++) {
-      info->c[j] = k * (a2[j] + joint->node[1].body->pos[j] -
-			a1[j] - joint->node[0].body->pos[j]);
-    }
-  }
-  else {
-    for (int j=0; j<3; j++) {
-      info->c[j] = k * (anchor2[j] - a1[j] -
-			joint->node[0].body->pos[j]);
-    }
-  }
-}
-
-
-// this is like setBall(), except that `axis' is a unit length vector
-// (in global coordinates) that should be used for the first jacobian
-// position row (the other two row vectors will be derived from this).
-// `erp1' is the erp value to use along the axis.
-
-static inline void setBall2 (dxJoint *joint, dxJoint::Info2 *info,
-			    dVector3 anchor1, dVector3 anchor2,
-			    dVector3 axis, dReal erp1)
-{
-  // anchor points in global coordinates with respect to body PORs.
-  dVector3 a1,a2;
-
-  int i,s = info->rowskip;
-
-  // get vectors normal to the axis. in setBall() axis,q1,q2 is [1 0 0],
-  // [0 1 0] and [0 0 1], which makes everything much easier.
-  dVector3 q1,q2;
-  dPlaneSpace (axis,q1,q2);
-
-  // set jacobian
-  for (i=0; i<3; i++) info->J1l[i] = axis[i];
-  for (i=0; i<3; i++) info->J1l[s+i] = q1[i];
-  for (i=0; i<3; i++) info->J1l[2*s+i] = q2[i];
-  dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1);
-  dCROSS (info->J1a,=,a1,axis);
-  dCROSS (info->J1a+s,=,a1,q1);
-  dCROSS (info->J1a+2*s,=,a1,q2);
-  if (joint->node[1].body) {
-    for (i=0; i<3; i++) info->J2l[i] = -axis[i];
-    for (i=0; i<3; i++) info->J2l[s+i] = -q1[i];
-    for (i=0; i<3; i++) info->J2l[2*s+i] = -q2[i];
-    dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2);
-    dCROSS (info->J2a,= -,a2,axis);
-    dCROSS (info->J2a+s,= -,a2,q1);
-    dCROSS (info->J2a+2*s,= -,a2,q2);
-  }
-
-  // set right hand side - measure error along (axis,q1,q2)
-  dReal k1 = info->fps * erp1;
-  dReal k = info->fps * info->erp;
-
-  for (i=0; i<3; i++) a1[i] += joint->node[0].body->pos[i];
-  if (joint->node[1].body) {
-    for (i=0; i<3; i++) a2[i] += joint->node[1].body->pos[i];
-    info->c[0] = k1 * (dDOT(axis,a2) - dDOT(axis,a1));
-    info->c[1] = k * (dDOT(q1,a2) - dDOT(q1,a1));
-    info->c[2] = k * (dDOT(q2,a2) - dDOT(q2,a1));
-  }
-  else {
-    info->c[0] = k1 * (dDOT(axis,anchor2) - dDOT(axis,a1));
-    info->c[1] = k * (dDOT(q1,anchor2) - dDOT(q1,a1));
-    info->c[2] = k * (dDOT(q2,anchor2) - dDOT(q2,a1));
-  }
-}
-
-
-// compute anchor points relative to bodies
-
-static void setAnchors (dxJoint *j, dReal x, dReal y, dReal z,
-			dVector3 anchor1, dVector3 anchor2)
-{
-  if (j->node[0].body) {
-    dReal q[4];
-    q[0] = x - j->node[0].body->pos[0];
-    q[1] = y - j->node[0].body->pos[1];
-    q[2] = z - j->node[0].body->pos[2];
-    q[3] = 0;
-    dMULTIPLY1_331 (anchor1,j->node[0].body->R,q);
-    if (j->node[1].body) {
-      q[0] = x - j->node[1].body->pos[0];
-      q[1] = y - j->node[1].body->pos[1];
-      q[2] = z - j->node[1].body->pos[2];
-      q[3] = 0;
-      dMULTIPLY1_331 (anchor2,j->node[1].body->R,q);
-    }
-    else {
-      anchor2[0] = x;
-      anchor2[1] = y;
-      anchor2[2] = z;
-    }
-  }
-  anchor1[3] = 0;
-  anchor2[3] = 0;
-}
-
-
-// compute axes relative to bodies. axis2 can be 0
-
-static void setAxes (dxJoint *j, dReal x, dReal y, dReal z,
-		     dVector3 axis1, dVector3 axis2)
-{
-  if (j->node[0].body) {
-    dReal q[4];
-    q[0] = x;
-    q[1] = y;
-    q[2] = z;
-    q[3] = 0;
-    dNormalize3 (q);
-    dMULTIPLY1_331 (axis1,j->node[0].body->R,q);
-    if (axis2) {
-      if (j->node[1].body) {
-	dMULTIPLY1_331 (axis2,j->node[1].body->R,q);
-      }
-      else {
-	axis2[0] = x;
-	axis2[1] = y;
-	axis2[2] = z;
-      }
-      axis2[3] = 0;
-    }
-  }
-  axis1[3] = 0;
-}
-
-
-static void getAnchor (dxJoint *j, dVector3 result, dVector3 anchor1)
-{
-  if (j->node[0].body) {
-    dMULTIPLY0_331 (result,j->node[0].body->R,anchor1);
-    result[0] += j->node[0].body->pos[0];
-    result[1] += j->node[0].body->pos[1];
-    result[2] += j->node[0].body->pos[2];
-  }
-}
-
-
-static void getAxis (dxJoint *j, dVector3 result, dVector3 axis1)
-{
-  if (j->node[0].body) {
-    dMULTIPLY0_331 (result,j->node[0].body->R,axis1);
-  }
-}
-
-
-// given two bodies (body1,body2), the hinge axis that they are connected by
-// w.r.t. body1 (axis), and the initial relative orientation between them
-// (q_initial), return the relative rotation angle. the initial relative
-// orientation corresponds to an angle of zero. if body2 is 0 then measure the
-// angle between body1 and the static frame.
-//
-// this will not return the correct angle if the bodies rotate along any axis
-// other than the given hinge axis.
-
-static dReal getHingeAngle (dxBody *body1, dxBody *body2, dVector3 axis,
-			    dQuaternion q_initial)
-{
-  // the angle between the two bodies is extracted from the quaternion that
-  // represents the relative rotation between them. recall that a quaternion
-  // q is:
-  //    [s,v] = [ cos(theta/2) , sin(theta/2) * u ]
-  // where s is a scalar and v is a 3-vector. u is a unit length axis and
-  // theta is a rotation along that axis. we can get theta/2 by:
-  //    theta/2 = atan2 ( sin(theta/2) , cos(theta/2) )
-  // but we can't get sin(theta/2) directly, only its absolute value, i.e.:
-  //    |v| = |sin(theta/2)| * |u|
-  //        = |sin(theta/2)|
-  // using this value will have a strange effect. recall that there are two
-  // quaternion representations of a given rotation, q and -q. typically as
-  // a body rotates along the axis it will go through a complete cycle using
-  // one representation and then the next cycle will use the other
-  // representation. this corresponds to u pointing in the direction of the
-  // hinge axis and then in the opposite direction. the result is that theta
-  // will appear to go "backwards" every other cycle. here is a fix: if u
-  // points "away" from the direction of the hinge (motor) axis (i.e. more
-  // than 90 degrees) then use -q instead of q. this represents the same
-  // rotation, but results in the cos(theta/2) value being sign inverted.
-
-  // get qrel = relative rotation between the two bodies
-  dQuaternion qrel;
-  if (body2) {
-    dQuaternion qq;
-    dQMultiply1 (qq,body1->q,body2->q);
-    dQMultiply2 (qrel,qq,q_initial);
-  }
-  else {
-    // pretend body2->q is the identity
-    dQMultiply3 (qrel,body1->q,q_initial);
-  }
-
-  // extract the angle from the quaternion. cost2 = cos(theta/2),
-  // sint2 = |sin(theta/2)|
-  dReal cost2 = qrel[0];
-  dReal sint2 = dSqrt (qrel[1]*qrel[1]+qrel[2]*qrel[2]+qrel[3]*qrel[3]);
-  dReal theta = (dDOT(qrel+1,axis) >= 0) ?	// @@@ padding assumptions
-    (2 * dAtan2(sint2,cost2)) :		// if u points in direction of axis
-    (2 * dAtan2(sint2,-cost2));		// if u points in opposite direction
-
-  // the angle we get will be between 0..2*pi, but we want to return angles
-  // between -pi..pi
-  if (theta > M_PI) theta -= 2*M_PI;
-
-  // the angle we've just extracted has the wrong sign
-  theta = -theta;
-
-  return theta;
-}
-
-//****************************************************************************
-// dxJointLimitMotor
-
-void dxJointLimitMotor::init (dxWorld *world)
-{
-  vel = 0;
-  fmax = 0;
-  lostop = -dInfinity;
-  histop = dInfinity;
-  fudge_factor = 1;
-  normal_cfm = world->global_cfm;
-  stop_erp = world->global_erp;
-  stop_cfm = world->global_cfm;
-  bounce = 0;
-  limit = 0;
-  limit_err = 0;
-}
-
-
-void dxJointLimitMotor::set (int num, dReal value)
-{
-  switch (num) {
-  case dParamLoStop:
-    if (value <= histop) lostop = value;
-    break;
-  case dParamHiStop:
-    if (value >= lostop) histop = value;
-    break;
-  case dParamVel:
-    vel = value;
-    break;
-  case dParamFMax:
-    if (value >= 0) fmax = value;
-    break;
-  case dParamFudgeFactor:
-    if (value >= 0 && value <= 1) fudge_factor = value;
-    break;
-  case dParamBounce:
-    bounce = value;
-    break;
-  case dParamCFM:
-    normal_cfm = value;
-    break;
-  case dParamStopERP:
-    stop_erp = value;
-    break;
-  case dParamStopCFM:
-    stop_cfm = value;
-    break;
-  }
-}
-
-
-dReal dxJointLimitMotor::get (int num)
-{
-  switch (num) {
-  case dParamLoStop: return lostop;
-  case dParamHiStop: return histop;
-  case dParamVel: return vel;
-  case dParamFMax: return fmax;
-  case dParamFudgeFactor: return fudge_factor;
-  case dParamBounce: return bounce;
-  case dParamCFM: return normal_cfm;
-  case dParamStopERP: return stop_erp;
-  case dParamStopCFM: return stop_cfm;
-  default: return 0;
-  }
-}
-
-
-int dxJointLimitMotor::testRotationalLimit (dReal angle)
-{
-  if (angle <= lostop) {
-    limit = 1;
-    limit_err = angle - lostop;
-    return 1;
-  }
-  else if (angle >= histop) {
-    limit = 2;
-    limit_err = angle - histop;
-    return 1;
-  }
-  else {
-    limit = 0;
-    return 0;
-  }
-}
-
-
-int dxJointLimitMotor::addLimot (dxJoint *joint,
-				 dxJoint::Info2 *info, int row,
-				 dVector3 ax1, int rotational)
-{
-  int srow = row * info->rowskip;
-
-  // if the joint is powered, or has joint limits, add in the extra row
-  int powered = fmax > 0;
-  if (powered || limit) {
-    dReal *J1 = rotational ? info->J1a : info->J1l;
-    dReal *J2 = rotational ? info->J2a : info->J2l;
-
-    J1[srow+0] = ax1[0];
-    J1[srow+1] = ax1[1];
-    J1[srow+2] = ax1[2];
-    if (joint->node[1].body) {
-      J2[srow+0] = -ax1[0];
-      J2[srow+1] = -ax1[1];
-      J2[srow+2] = -ax1[2];
-    }
-
-    // if we're limited low and high simultaneously, the joint motor is
-    // ineffective
-    if (limit && (lostop == histop)) powered = 0;
-
-    if (powered) {
-      info->cfm[row] = normal_cfm;
-      if (! limit) {
-	info->c[row] = vel;
-	info->lo[row] = -fmax;
-	info->hi[row] = fmax;
-      }
-      else {
-	// the joint is at a limit, AND is being powered. if the joint is
-	// being powered into the limit then we apply the maximum motor force
-	// in that direction, because the motor is working against the
-	// immovable limit. if the joint is being powered away from the limit
-	// then we have problems because actually we need *two* lcp
-	// constraints to handle this case. so we fake it and apply some
-	// fraction of the maximum force. the fraction to use can be set as
-	// a fudge factor.
-
-	dReal fm = fmax;
-	if (vel > 0) fm = -fm;
-
-	// if we're powering away from the limit, apply the fudge factor
-	if ((limit==1 && vel > 0) || (limit==2 && vel < 0)) fm *= fudge_factor;
-
-	if (rotational) {
-	  dBodyAddTorque (joint->node[0].body,-fm*ax1[0],-fm*ax1[1],
-			  -fm*ax1[2]);
-	  if (joint->node[1].body)
-	    dBodyAddTorque (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]);
-	}
-	else {
-	  dBodyAddForce (joint->node[0].body,-fm*ax1[0],-fm*ax1[1],-fm*ax1[2]);
-	  if (joint->node[1].body)
-	    dBodyAddForce (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]);
-	}
-      }
-    }
-
-    if (limit) {
-      dReal k = info->fps * stop_erp;
-      info->c[row] = -k * limit_err;
-      info->cfm[row] = stop_cfm;
-
-      if (lostop == histop) {
-	// limited low and high simultaneously
-	info->lo[row] = -dInfinity;
-	info->hi[row] = dInfinity;
-      }
-      else {
-	if (limit == 1) {
-	  // low limit
-	  info->lo[row] = 0;
-	  info->hi[row] = dInfinity;
-	}
-	else {
-	  // high limit
-	  info->lo[row] = -dInfinity;
-	  info->hi[row] = 0;
-	}
-
-	// deal with bounce
-	if (bounce > 0) {
-	  // calculate joint velocity
-	  dReal vel;
-	  if (rotational) {
-	    vel = dDOT(joint->node[0].body->avel,ax1);
-	    if (joint->node[1].body)
-	      vel -= dDOT(joint->node[1].body->avel,ax1);
-	  }
-	  else {
-	    vel = dDOT(joint->node[0].body->lvel,ax1);
-	    if (joint->node[1].body)
-	      vel -= dDOT(joint->node[1].body->lvel,ax1);
-	  }
-
-	  // only apply bounce if the velocity is incoming, and if the
-	  // resulting c[] exceeds what we already have.
-	  if (limit == 1) {
-	    // low limit
-	    if (vel < 0) {
-	      dReal newc = -bounce * vel;
-	      if (newc > info->c[row]) info->c[row] = newc;
-	    }
-	  }
-	  else {
-	    // high limit - all those computations are reversed
-	    if (vel > 0) {
-	      dReal newc = -bounce * vel;
-	      if (newc < info->c[row]) info->c[row] = newc;
-	    }
-	  }
-	}
-      }
-    }
-    return 1;
-  }
-  else return 0;
-}
-
-//****************************************************************************
-// ball and socket
-
-static void ballInit (dxJointBall *j)
-{
-  dSetZero (j->anchor1,4);
-  dSetZero (j->anchor2,4);
-}
-
-
-static void ballGetInfo1 (dxJointBall *j, dxJoint::Info1 *info)
-{
-  info->m = 3;
-  info->nub = 3;
-}
-
-
-static void ballGetInfo2 (dxJointBall *joint, dxJoint::Info2 *info)
-{
-  setBall (joint,info,joint->anchor1,joint->anchor2);
-}
-
-
-extern "C" void dJointSetBallAnchor (dxJointBall *joint,
-				     dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
-  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
-}
-
-
-extern "C" void dJointGetBallAnchor (dxJointBall *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
-  getAnchor (joint,result,joint->anchor1);
-}
-
-
-dxJoint::Vtable __dball_vtable = {
-  sizeof(dxJointBall),
-  (dxJoint::init_fn*) ballInit,
-  (dxJoint::getInfo1_fn*) ballGetInfo1,
-  (dxJoint::getInfo2_fn*) ballGetInfo2,
-  dJointTypeBall};
-
-//****************************************************************************
-// hinge
-
-static void hingeInit (dxJointHinge *j)
-{
-  dSetZero (j->anchor1,4);
-  dSetZero (j->anchor2,4);
-  dSetZero (j->axis1,4);
-  j->axis1[0] = 1;
-  dSetZero (j->axis2,4);
-  j->axis2[0] = 1;
-  dSetZero (j->qrel,4);
-  j->limot.init (j->world);
-}
-
-
-static void hingeGetInfo1 (dxJointHinge *j, dxJoint::Info1 *info)
-{
-  info->nub = 5;    
-
-  // see if joint is powered
-  if (j->limot.fmax > 0)
-    info->m = 6;	// powered hinge needs an extra constraint row
-  else info->m = 5;
-
-  // see if we're at a joint limit.
-  if ((j->limot.lostop >= -M_PI || j->limot.histop <= M_PI) &&
-       j->limot.lostop <= j->limot.histop) {
-    dReal angle = getHingeAngle (j->node[0].body,j->node[1].body,j->axis1,
-				 j->qrel);
-    if (j->limot.testRotationalLimit (angle)) info->m = 6;
-  }
-}
-
-
-static void hingeGetInfo2 (dxJointHinge *joint, dxJoint::Info2 *info)
-{
-  // set the three ball-and-socket rows
-  setBall (joint,info,joint->anchor1,joint->anchor2);
-
-  // set the two hinge rows. the hinge axis should be the only unconstrained
-  // rotational axis, the angular velocity of the two bodies perpendicular to
-  // the hinge axis should be equal. thus the constraint equations are
-  //    p*w1 - p*w2 = 0
-  //    q*w1 - q*w2 = 0
-  // where p and q are unit vectors normal to the hinge axis, and w1 and w2
-  // are the angular velocity vectors of the two bodies.
-
-  dVector3 ax1;  // length 1 joint axis in global coordinates, from 1st body
-  dVector3 p,q;  // plane space vectors for ax1
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-  dPlaneSpace (ax1,p,q);
-
-  int s3=3*info->rowskip;
-  int s4=4*info->rowskip;
-
-  info->J1a[s3+0] = p[0];
-  info->J1a[s3+1] = p[1];
-  info->J1a[s3+2] = p[2];
-  info->J1a[s4+0] = q[0];
-  info->J1a[s4+1] = q[1];
-  info->J1a[s4+2] = q[2];
-
-  if (joint->node[1].body) {
-    info->J2a[s3+0] = -p[0];
-    info->J2a[s3+1] = -p[1];
-    info->J2a[s3+2] = -p[2];
-    info->J2a[s4+0] = -q[0];
-    info->J2a[s4+1] = -q[1];
-    info->J2a[s4+2] = -q[2];
-  }
-
-  // compute the right hand side of the constraint equation. set relative
-  // body velocities along p and q to bring the hinge back into alignment.
-  // if ax1,ax2 are the unit length hinge axes as computed from body1 and
-  // body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
-  // if `theta' is the angle between ax1 and ax2, we need an angular velocity
-  // along u to cover angle erp*theta in one step :
-  //   |angular_velocity| = angle/time = erp*theta / stepsize
-  //                      = (erp*fps) * theta
-  //    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-  //                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-  // ...as ax1 and ax2 are unit length. if theta is smallish,
-  // theta ~= sin(theta), so
-  //    angular_velocity  = (erp*fps) * (ax1 x ax2)
-  // ax1 x ax2 is in the plane space of ax1, so we project the angular
-  // velocity to p and q to find the right hand side.
-
-  dVector3 ax2,b;
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
-  }
-  else {
-    ax2[0] = joint->axis2[0];
-    ax2[1] = joint->axis2[1];
-    ax2[2] = joint->axis2[2];
-  }
-  dCROSS (b,=,ax1,ax2);
-  dReal k = info->fps * info->erp;
-  info->c[3] = k * dDOT(b,p);
-  info->c[4] = k * dDOT(b,q);
-
-  // if the hinge is powered, or has joint limits, add in the stuff
-  joint->limot.addLimot (joint,info,5,ax1,1);
-}
-
-
-// compute initial relative rotation body1 -> body2, or env -> body1
-
-static void hingeComputeInitialRelativeRotation (dxJointHinge *joint)
-{
-  if (joint->node[0].body) {
-    if (joint->node[1].body) {
-      dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
-    }
-    else {
-      // set joint->qrel to the transpose of the first body q
-      joint->qrel[0] = joint->node[0].body->q[0];
-      for (int i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
-    }
-  }
-}
-
-
-extern "C" void dJointSetHingeAnchor (dxJointHinge *joint,
-				      dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
-  hingeComputeInitialRelativeRotation (joint);
-}
-
-
-extern "C" void dJointSetHingeAxis (dxJointHinge *joint,
-				    dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  setAxes (joint,x,y,z,joint->axis1,joint->axis2);
-  hingeComputeInitialRelativeRotation (joint);
-}
-
-
-extern "C" void dJointGetHingeAnchor (dxJointHinge *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  getAnchor (joint,result,joint->anchor1);
-}
-
-
-extern "C" void dJointGetHingeAxis (dxJointHinge *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  getAxis (joint,result,joint->axis1);
-}
-
-
-extern "C" void dJointSetHingeParam (dxJointHinge *joint,
-				     int parameter, dReal value)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  joint->limot.set (parameter,value);
-}
-
-
-extern "C" dReal dJointGetHingeParam (dxJointHinge *joint, int parameter)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  return joint->limot.get (parameter);
-}
-
-
-extern "C" dReal dJointGetHingeAngle (dxJointHinge *joint)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  if (joint->node[0].body) {
-    return getHingeAngle (joint->node[0].body,joint->node[1].body,joint->axis1,
-			  joint->qrel);
-  }
-  else return 0;
-}
-
-
-extern "C" dReal dJointGetHingeAngleRate (dxJointHinge *joint)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge");
-  if (joint->node[0].body) {
-    dVector3 axis;
-    dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1);
-    dReal rate = dDOT(axis,joint->node[0].body->avel);
-    if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
-    return rate;
-  }
-  else return 0;
-}
-
-
-dxJoint::Vtable __dhinge_vtable = {
-  sizeof(dxJointHinge),
-  (dxJoint::init_fn*) hingeInit,
-  (dxJoint::getInfo1_fn*) hingeGetInfo1,
-  (dxJoint::getInfo2_fn*) hingeGetInfo2,
-  dJointTypeHinge};
-
-//****************************************************************************
-// slider
-
-static void sliderInit (dxJointSlider *j)
-{
-  dSetZero (j->axis1,4);
-  j->axis1[0] = 1;
-  dSetZero (j->qrel,4);
-  dSetZero (j->offset,4);
-  j->limot.init (j->world);
-}
-
-
-extern "C" dReal dJointGetSliderPosition (dxJointSlider *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-
-  // get axis1 in global coordinates
-  dVector3 ax1,q;
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-
-  if (joint->node[1].body) {
-    // get body2 + offset point in global coordinates
-    dMULTIPLY0_331 (q,joint->node[1].body->R,joint->offset);
-    for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] - q[i] - 
-			      joint->node[1].body->pos[i];
-  }
-  else {
-    for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] -
-			      joint->offset[i];
-			      
-  }
-  return dDOT(ax1,q);
-}
-
-
-extern "C" dReal dJointGetSliderPositionRate (dxJointSlider *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-
-  // get axis1 in global coordinates
-  dVector3 ax1;
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-
-  if (joint->node[1].body) {
-    return dDOT(ax1,joint->node[0].body->lvel) -
-      dDOT(ax1,joint->node[1].body->lvel);
-  }
-  else {
-    return dDOT(ax1,joint->node[0].body->lvel);
-  }
-}
-
-
-static void sliderGetInfo1 (dxJointSlider *j, dxJoint::Info1 *info)
-{
-  info->nub = 5;
-
-  // see if joint is powered
-  if (j->limot.fmax > 0)
-    info->m = 6;	// powered slider needs an extra constraint row
-  else info->m = 5;
-
-  // see if we're at a joint limit.
-  j->limot.limit = 0;
-  if ((j->limot.lostop > -dInfinity || j->limot.histop < dInfinity) &&
-      j->limot.lostop <= j->limot.histop) {
-    // measure joint position
-    dReal pos = dJointGetSliderPosition (j);
-    if (pos <= j->limot.lostop) {
-      j->limot.limit = 1;
-      j->limot.limit_err = pos - j->limot.lostop;
-      info->m = 6;
-    }
-    else if (pos >= j->limot.histop) {
-      j->limot.limit = 2;
-      j->limot.limit_err = pos - j->limot.histop;
-      info->m = 6;
-    }
-  }
-}
-
-
-static void sliderGetInfo2 (dxJointSlider *joint, dxJoint::Info2 *info)
-{
-  int i,s = info->rowskip;
-  int s2=2*s,s3=3*s,s4=4*s;
-
-  // pull out pos and R for both bodies. also get the `connection'
-  // vector pos2-pos1.
-
-  dReal *pos1,*pos2,*R1,*R2;
-  dVector3 c;
-  pos1 = joint->node[0].body->pos;
-  R1 = joint->node[0].body->R;
-  if (joint->node[1].body) {
-    pos2 = joint->node[1].body->pos;
-    R2 = joint->node[1].body->R;
-    for (i=0; i<3; i++) c[i] = pos2[i] - pos1[i];
-  }
-  else {
-    pos2 = 0;
-    R2 = 0;
-  }
-
-  // 3 rows to make body rotations equal
-  info->J1a[0] = 1;
-  info->J1a[s+1] = 1;
-  info->J1a[s2+2] = 1;
-  if (joint->node[1].body) {
-    info->J2a[0] = -1;
-    info->J2a[s+1] = -1;
-    info->J2a[s2+2] = -1;
-  }
-
-  // remaining two rows. we want: vel2 = vel1 + w1 x c ... but this would
-  // result in three equations, so we project along the planespace vectors
-  // so that sliding along the slider axis is disregarded. for symmetry we
-  // also substitute (w1+w2)/2 for w1, as w1 is supposed to equal w2.
-
-  dVector3 ax1;	// joint axis in global coordinates (unit length)
-  dVector3 p,q;	// plane space of ax1
-  dMULTIPLY0_331 (ax1,R1,joint->axis1);
-  dPlaneSpace (ax1,p,q);
-  if (joint->node[1].body) {
-    dVector3 tmp;
-    dCROSS (tmp, = REAL(0.5) * ,c,p);
-    for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i];
-    for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i];
-    dCROSS (tmp, = REAL(0.5) * ,c,q);
-    for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i];
-    for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i];
-    for (i=0; i<3; i++) info->J2l[s3+i] = -p[i];
-    for (i=0; i<3; i++) info->J2l[s4+i] = -q[i];
-  }
-  for (i=0; i<3; i++) info->J1l[s3+i] = p[i];
-  for (i=0; i<3; i++) info->J1l[s4+i] = q[i];
-
-  // compute the right hand side. the first three elements will result in
-  // relative angular velocity of the two bodies - this is set to bring them
-  // back into alignment. the correcting angular velocity is 
-  //   |angular_velocity| = angle/time = erp*theta / stepsize
-  //                      = (erp*fps) * theta
-  //    angular_velocity  = |angular_velocity| * u
-  //                      = (erp*fps) * theta * u
-  // where rotation along unit length axis u by theta brings body 2's frame
-  // to qrel with respect to body 1's frame. using a small angle approximation
-  // for sin(), this gives
-  //    angular_velocity  = (erp*fps) * 2 * v
-  // where the quaternion of the relative rotation between the two bodies is
-  //    q = [cos(theta/2) sin(theta/2)*u] = [s v]
-
-  // get qerr = relative rotation (rotation error) between two bodies
-  dQuaternion qerr,e;
-  if (joint->node[1].body) {
-    dQuaternion qq;
-    dQMultiply1 (qq,joint->node[0].body->q,joint->node[1].body->q);
-    dQMultiply2 (qerr,qq,joint->qrel);
-  }
-  else {
-    dQMultiply3 (qerr,joint->node[0].body->q,joint->qrel);
-  }
-  if (qerr[0] < 0) {
-    qerr[1] = -qerr[1];		// adjust sign of qerr to make theta small
-    qerr[2] = -qerr[2];
-    qerr[3] = -qerr[3];
-  }
-  dMULTIPLY0_331 (e,joint->node[0].body->R,qerr+1); // @@@ bad SIMD padding!
-  dReal k = info->fps * info->erp;
-  info->c[0] = 2*k * e[0];
-  info->c[1] = 2*k * e[1];
-  info->c[2] = 2*k * e[2];
-
-  // compute last two elements of right hand side. we want to align the offset
-  // point (in body 2's frame) with the center of body 1.
-  if (joint->node[1].body) {
-    dVector3 ofs;		// offset point in global coordinates
-    dMULTIPLY0_331 (ofs,R2,joint->offset);
-    for (i=0; i<3; i++) c[i] += ofs[i];
-    info->c[3] = k * dDOT(p,c);
-    info->c[4] = k * dDOT(q,c);
-  }
-  else {
-    dVector3 ofs;		// offset point in global coordinates
-    for (i=0; i<3; i++) ofs[i] = joint->offset[i] - pos1[i];
-    info->c[3] = k * dDOT(p,ofs);
-    info->c[4] = k * dDOT(q,ofs);
-  }
-
-  // if the slider is powered, or has joint limits, add in the extra row
-  joint->limot.addLimot (joint,info,5,ax1,0);
-}
-
-
-extern "C" void dJointSetSliderAxis (dxJointSlider *joint,
-				     dReal x, dReal y, dReal z)
-{
-  int i;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  setAxes (joint,x,y,z,joint->axis1,0);
-
-  // compute initial relative rotation body1 -> body2, or env -> body1
-  // also compute center of body1 w.r.t body 2
-  if (joint->node[1].body) {
-    dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
-    dVector3 c;
-    for (i=0; i<3; i++)
-      c[i] = joint->node[0].body->pos[i] - joint->node[1].body->pos[i];
-    dMULTIPLY1_331 (joint->offset,joint->node[1].body->R,c);
-  }
-  else {
-    // set joint->qrel to the transpose of the first body's q
-    joint->qrel[0] = joint->node[0].body->q[0];
-    for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
-    for (i=0; i<3; i++) joint->offset[i] = joint->node[0].body->pos[i];
-  }
-}
-
-
-extern "C" void dJointGetSliderAxis (dxJointSlider *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  getAxis (joint,result,joint->axis1);
-}
-
-
-extern "C" void dJointSetSliderParam (dxJointSlider *joint,
-				      int parameter, dReal value)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  joint->limot.set (parameter,value);
-}
-
-
-extern "C" dReal dJointGetSliderParam (dxJointSlider *joint, int parameter)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  return joint->limot.get (parameter);
-}
-
-
-dxJoint::Vtable __dslider_vtable = {
-  sizeof(dxJointSlider),
-  (dxJoint::init_fn*) sliderInit,
-  (dxJoint::getInfo1_fn*) sliderGetInfo1,
-  (dxJoint::getInfo2_fn*) sliderGetInfo2,
-  dJointTypeSlider};
-
-//****************************************************************************
-// contact
-
-static void contactInit (dxJointContact *j)
-{
-  // default frictionless contact. hmmm, this info gets overwritten straight
-  // away anyway, so why bother?
-  j->contact.surface.mode = 0;
-  j->contact.surface.mu = 0;
-  dSetZero (j->contact.geom.pos,4);
-  dSetZero (j->contact.geom.normal,4);
-  j->contact.geom.depth = 0;
-}
-
-
-static void contactGetInfo1 (dxJointContact *j, dxJoint::Info1 *info)
-{
-  // make sure mu's >= 0, then calculate number of constraint rows and number
-  // of unbounded rows.
-  int m = 1, nub=0;
-  if (j->contact.surface.mu < 0) j->contact.surface.mu = 0;
-  if (j->contact.surface.mode & dContactMu2) {
-    if (j->contact.surface.mu > 0) m++;
-    if (j->contact.surface.mu2 < 0) j->contact.surface.mu2 = 0;
-    if (j->contact.surface.mu2 > 0) m++;
-    if (j->contact.surface.mu  == dInfinity) nub ++;
-    if (j->contact.surface.mu2 == dInfinity) nub ++;
-  }
-  else {
-    if (j->contact.surface.mu > 0) m += 2;
-    if (j->contact.surface.mu == dInfinity) nub += 2;
-  }
-
-  j->the_m = m;
-  info->m = m;
-  info->nub = nub;
-}
-
-
-static void contactGetInfo2 (dxJointContact *j, dxJoint::Info2 *info)
-{
-  int i,s = info->rowskip;
-  int s2 = 2*s;
-
-  // get normal, with sign adjusted for body1/body2 polarity
-  dVector3 normal;
-  if (j->flags & dJOINT_REVERSE) {
-    normal[0] = j->contact.geom.normal[0];
-    normal[1] = j->contact.geom.normal[1];
-    normal[2] = j->contact.geom.normal[2];
-  }
-  else {
-    normal[0] = - j->contact.geom.normal[0];
-    normal[1] = - j->contact.geom.normal[1];
-    normal[2] = - j->contact.geom.normal[2];
-  }
-  normal[3] = 0;	// @@@ hmmm
-
-  // c1,c2 = contact points with respect to body PORs
-  dVector3 c1,c2;
-  for (i=0; i<3; i++) c1[i] = j->contact.geom.pos[i] - j->node[0].body->pos[i];
-
-  // set jacobian for normal
-  info->J1l[0] = normal[0];
-  info->J1l[1] = normal[1];
-  info->J1l[2] = normal[2];
-  dCROSS (info->J1a,=,c1,normal);
-  if (j->node[1].body) {
-    for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] -
-			  j->node[1].body->pos[i];
-    info->J2l[0] = -normal[0];
-    info->J2l[1] = -normal[1];
-    info->J2l[2] = -normal[2];
-    dCROSS (info->J2a,= -,c2,normal);
-  }
-
-  // set right hand side and cfm value for normal
-  dReal erp = info->erp;
-  if (j->contact.surface.mode & dContactSoftERP)
-    erp = j->contact.surface.soft_erp;
-  dReal k = info->fps * erp;
-  info->c[0] = k*j->contact.geom.depth;
-  if (j->contact.surface.mode & dContactSoftCFM)
-    info->cfm[0] = j->contact.surface.soft_cfm;
-
-  // deal with bounce
-  if (j->contact.surface.mode & dContactBounce) {
-    // calculate outgoing velocity (-ve for incoming contact)
-    dReal outgoing = dDOT(info->J1l,j->node[0].body->lvel) +
-      dDOT(info->J1a,j->node[0].body->avel);
-    if (j->node[1].body) {
-      outgoing += dDOT(info->J2l,j->node[1].body->lvel) +
-	dDOT(info->J2a,j->node[1].body->avel);
-    }
-    // only apply bounce if the outgoing velocity is greater than the
-    // threshold, and if the resulting c[0] exceeds what we already have.
-    if (j->contact.surface.bounce_vel >= 0 &&
-	(-outgoing) > j->contact.surface.bounce_vel) {
-      dReal newc = - j->contact.surface.bounce * outgoing;
-      if (newc > info->c[0]) info->c[0] = newc;
-    }
-  }
-
-  // set LCP limits for normal
-  info->lo[0] = 0;
-  info->hi[0] = dInfinity;
-
-  // now do jacobian for tangential forces
-  dVector3 t1,t2;	// two vectors tangential to normal
-
-  // first friction direction
-  if (j->the_m >= 2) {
-    if (j->contact.surface.mode & dContactFDir1) {	// use fdir1 ?
-      t1[0] = j->contact.fdir1[0];
-      t1[1] = j->contact.fdir1[1];
-      t1[2] = j->contact.fdir1[2];
-      dCROSS (t2,=,normal,t1);
-    }
-    else {
-      dPlaneSpace (normal,t1,t2);
-    }
-    info->J1l[s+0] = t1[0];
-    info->J1l[s+1] = t1[1];
-    info->J1l[s+2] = t1[2];
-    dCROSS (info->J1a+s,=,c1,t1);
-    if (j->node[1].body) {
-      info->J2l[s+0] = -t1[0];
-      info->J2l[s+1] = -t1[1];
-      info->J2l[s+2] = -t1[2];
-      dCROSS (info->J2a+s,= -,c2,t1);
-    }
-    // set right hand side
-    if (j->contact.surface.mode & dContactMotion1) {
-      info->c[1] = j->contact.surface.motion1;
-    }
-    // set LCP bounds and friction index. this depends on the approximation
-    // mode
-    info->lo[1] = -j->contact.surface.mu;
-    info->hi[1] = j->contact.surface.mu;
-    if (j->contact.surface.mode & dContactApprox1_1) info->findex[1] = 0;
-
-    // set slip (constraint force mixing)
-    if (j->contact.surface.mode & dContactSlip1)
-      info->cfm[1] = j->contact.surface.slip1;
-  }
-
-  // second friction direction
-  if (j->the_m >= 3) {
-    info->J1l[s2+0] = t2[0];
-    info->J1l[s2+1] = t2[1];
-    info->J1l[s2+2] = t2[2];
-    dCROSS (info->J1a+s2,=,c1,t2);
-    if (j->node[1].body) {
-      info->J2l[s2+0] = -t2[0];
-      info->J2l[s2+1] = -t2[1];
-      info->J2l[s2+2] = -t2[2];
-      dCROSS (info->J2a+s2,= -,c2,t2);
-    }
-    // set right hand side
-    if (j->contact.surface.mode & dContactMotion2) {
-      info->c[2] = j->contact.surface.motion2;
-    }
-    // set LCP bounds and friction index. this depends on the approximation
-    // mode
-    if (j->contact.surface.mode & dContactMu2) {
-      info->lo[2] = -j->contact.surface.mu2;
-      info->hi[2] = j->contact.surface.mu2;
-    }
-    else {
-      info->lo[2] = -j->contact.surface.mu;
-      info->hi[2] = j->contact.surface.mu;
-    }
-    if (j->contact.surface.mode & dContactApprox1_2) info->findex[2] = 0;
-
-    // set slip (constraint force mixing)
-    if (j->contact.surface.mode & dContactSlip2)
-      info->cfm[2] = j->contact.surface.slip2;
-  }
-}
-
-
-dxJoint::Vtable __dcontact_vtable = {
-  sizeof(dxJointContact),
-  (dxJoint::init_fn*) contactInit,
-  (dxJoint::getInfo1_fn*) contactGetInfo1,
-  (dxJoint::getInfo2_fn*) contactGetInfo2,
-  dJointTypeContact};
-
-//****************************************************************************
-// hinge 2. note that this joint must be attached to two bodies for it to work
-
-static dReal measureHinge2Angle (dxJointHinge2 *joint)
-{
-  dVector3 a1,a2;
-  dMULTIPLY0_331 (a1,joint->node[1].body->R,joint->axis2);
-  dMULTIPLY1_331 (a2,joint->node[0].body->R,a1);
-  dReal x = dDOT(joint->v1,a2);
-  dReal y = dDOT(joint->v2,a2);
-  return -dAtan2 (y,x);
-}
-
-
-static void hinge2Init (dxJointHinge2 *j)
-{
-  dSetZero (j->anchor1,4);
-  dSetZero (j->anchor2,4);
-  dSetZero (j->axis1,4);
-  j->axis1[0] = 1;
-  dSetZero (j->axis2,4);
-  j->axis2[1] = 1;
-  j->c0 = 0;
-  j->s0 = 0;
-
-  dSetZero (j->v1,4);
-  j->v1[0] = 1;
-  dSetZero (j->v2,4);
-  j->v2[1] = 1;
-
-  j->limot1.init (j->world);
-  j->limot2.init (j->world);
-
-  j->susp_erp = j->world->global_erp;
-  j->susp_cfm = j->world->global_cfm;
-
-  j->flags |= dJOINT_TWOBODIES;
-}
-
-
-static void hinge2GetInfo1 (dxJointHinge2 *j, dxJoint::Info1 *info)
-{
-  info->m = 4;
-  info->nub = 4;
-
-  // see if we're powered or at a joint limit for axis 1
-  int atlimit=0;
-  if ((j->limot1.lostop >= -M_PI || j->limot1.histop <= M_PI) &&
-      j->limot1.lostop <= j->limot1.histop) {
-    dReal angle = measureHinge2Angle (j);
-    if (j->limot1.testRotationalLimit (angle)) atlimit = 1;
-  }
-  if (atlimit || j->limot1.fmax > 0) info->m++;
-
-  // see if we're powering axis 2 (we currently never limit this axis)
-  j->limot2.limit = 0;
-  if (j->limot2.fmax > 0) info->m++;
-}
-
-
-// macro that computes ax1,ax2 = axis 1 and 2 in global coordinates (they are
-// relative to body 1 and 2 initially) and then computes the constrained
-// rotational axis as the cross product of ax1 and ax2.
-// the sin and cos of the angle between axis 1 and 2 is computed, this comes
-// from dot and cross product rules.
-
-#define HINGE2_GET_AXIS_INFO(axis,sin_angle,cos_angle) \
-  dVector3 ax1,ax2; \
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); \
-  dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); \
-  dCROSS (axis,=,ax1,ax2); \
-  sin_angle = dSqrt (axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2]); \
-  cos_angle = dDOT (ax1,ax2);
-
-
-static void hinge2GetInfo2 (dxJointHinge2 *joint, dxJoint::Info2 *info)
-{
-  // get information we need to set the hinge row
-  dReal s,c;
-  dVector3 q;
-  HINGE2_GET_AXIS_INFO (q,s,c);
-  dNormalize3 (q);		// @@@ quicker: divide q by s ?
-
-  // set the three ball-and-socket rows (aligned to the suspension axis ax1)
-  setBall2 (joint,info,joint->anchor1,joint->anchor2,ax1,joint->susp_erp);
-
-  // set the hinge row
-  int s3=3*info->rowskip;
-  info->J1a[s3+0] = q[0];
-  info->J1a[s3+1] = q[1];
-  info->J1a[s3+2] = q[2];
-  if (joint->node[1].body) {
-    info->J2a[s3+0] = -q[0];
-    info->J2a[s3+1] = -q[1];
-    info->J2a[s3+2] = -q[2];
-  }
-
-  // compute the right hand side for the constrained rotational DOF.
-  // axis 1 and axis 2 are separated by an angle `theta'. the desired
-  // separation angle is theta0. sin(theta0) and cos(theta0) are recorded
-  // in the joint structure. the correcting angular velocity is:
-  //   |angular_velocity| = angle/time = erp*(theta0-theta) / stepsize
-  //                      = (erp*fps) * (theta0-theta)
-  // (theta0-theta) can be computed using the following small-angle-difference
-  // approximation:
-  //   theta0-theta ~= tan(theta0-theta)
-  //                 = sin(theta0-theta)/cos(theta0-theta)
-  //                 = (c*s0 - s*c0) / (c*c0 + s*s0)
-  //                 = c*s0 - s*c0         assuming c*c0 + s*s0 ~= 1
-  // where c = cos(theta), s = sin(theta)
-  //       c0 = cos(theta0), s0 = sin(theta0)
-
-  dReal k = info->fps * info->erp;
-  info->c[3] = k * (joint->c0 * s - joint->s0 * c);
-
-  // if the axis1 hinge is powered, or has joint limits, add in more stuff
-  int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1);
-
-  // if the axis2 hinge is powered, add in more stuff
-  joint->limot2.addLimot (joint,info,row,ax2,1);
-
-  // set parameter for the suspension
-  info->cfm[0] = joint->susp_cfm;
-}
-
-
-// compute vectors v1 and v2 (embedded in body1), used to measure angle
-// between body 1 and body 2
-
-static void makeHinge2V1andV2 (dxJointHinge2 *joint)
-{
-  if (joint->node[0].body) {
-    // get axis 1 and 2 in global coords
-    dVector3 ax1,ax2,v;
-    dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
-
-    // don't do anything if the axis1 or axis2 vectors are zero or the same
-    if ((ax1[0]==0 && ax1[1]==0 && ax1[2]==0) ||
-	(ax2[0]==0 && ax2[1]==0 && ax2[2]==0) ||
-	(ax1[0]==ax2[0] && ax1[1]==ax2[1] && ax1[2]==ax2[2])) return;
-
-    // modify axis 2 so it's perpendicular to axis 1
-    dReal k = dDOT(ax1,ax2);
-    for (int i=0; i<3; i++) ax2[i] -= k*ax1[i];
-    dNormalize3 (ax2);
-
-    // make v1 = modified axis2, v2 = axis1 x (modified axis2)
-    dCROSS (v,=,ax1,ax2);
-    dMULTIPLY1_331 (joint->v1,joint->node[0].body->R,ax2);
-    dMULTIPLY1_331 (joint->v2,joint->node[0].body->R,v);
-  }
-}
-
-
-extern "C" void dJointSetHinge2Anchor (dxJointHinge2 *joint,
-				       dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
-  makeHinge2V1andV2 (joint);
-}
-
-
-extern "C" void dJointSetHinge2Axis1 (dxJointHinge2 *joint,
-				      dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body) {
-    dReal q[4];
-    q[0] = x;
-    q[1] = y;
-    q[2] = z;
-    q[3] = 0;
-    dNormalize3 (q);
-    dMULTIPLY1_331 (joint->axis1,joint->node[0].body->R,q);
-    joint->axis1[3] = 0;
-
-    // compute the sin and cos of the angle between axis 1 and axis 2
-    dVector3 ax;
-    HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0);
-  }
-  makeHinge2V1andV2 (joint);
-}
-
-
-extern "C" void dJointSetHinge2Axis2 (dxJointHinge2 *joint,
-				      dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[1].body) {
-    dReal q[4];
-    q[0] = x;
-    q[1] = y;
-    q[2] = z;
-    q[3] = 0;
-    dNormalize3 (q);
-    dMULTIPLY1_331 (joint->axis2,joint->node[1].body->R,q);
-    joint->axis1[3] = 0;
-
-    // compute the sin and cos of the angle between axis 1 and axis 2
-    dVector3 ax;
-    HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0);
-  }
-  makeHinge2V1andV2 (joint);
-}
-
-
-extern "C" void dJointSetHinge2Param (dxJointHinge2 *joint,
-				      int parameter, dReal value)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if ((parameter & 0xff00) == 0x100) {
-    joint->limot2.set (parameter & 0xff,value);
-  }
-  else {
-    if (parameter == dParamSuspensionERP) joint->susp_erp = value;
-    else if (parameter == dParamSuspensionCFM) joint->susp_cfm = value;
-    else joint->limot1.set (parameter,value);
-  }
-}
-
-
-extern "C" void dJointGetHinge2Anchor (dxJointHinge2 *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  getAnchor (joint,result,joint->anchor1);
-}
-
-
-extern "C" void dJointGetHinge2Axis1 (dxJointHinge2 *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body) {
-    dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis1);
-  }
-}
-
-
-extern "C" void dJointGetHinge2Axis2 (dxJointHinge2 *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis2);
-  }
-}
-
-
-extern "C" dReal dJointGetHinge2Param (dxJointHinge2 *joint, int parameter)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if ((parameter & 0xff00) == 0x100) {
-    return joint->limot2.get (parameter & 0xff);
-  }
-  else {
-    if (parameter == dParamSuspensionERP) return joint->susp_erp;
-    else if (parameter == dParamSuspensionCFM) return joint->susp_cfm;
-    else return joint->limot1.get (parameter);
-  }
-}
-
-
-extern "C" dReal dJointGetHinge2Angle1 (dxJointHinge2 *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body) return measureHinge2Angle (joint);
-  else return 0;
-}
-
-
-extern "C" dReal dJointGetHinge2Angle1Rate (dxJointHinge2 *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body) {
-    dVector3 axis;
-    dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1);
-    dReal rate = dDOT(axis,joint->node[0].body->avel);
-    if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
-    return rate;
-  }
-  else return 0;
-}
-
-
-extern "C" dReal dJointGetHinge2Angle2Rate (dxJointHinge2 *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body && joint->node[1].body) {
-    dVector3 axis;
-    dMULTIPLY0_331 (axis,joint->node[1].body->R,joint->axis2);
-    dReal rate = dDOT(axis,joint->node[0].body->avel);
-    if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
-    return rate;
-  }
-  else return 0;
-}
-
-
-dxJoint::Vtable __dhinge2_vtable = {
-  sizeof(dxJointHinge2),
-  (dxJoint::init_fn*) hinge2Init,
-  (dxJoint::getInfo1_fn*) hinge2GetInfo1,
-  (dxJoint::getInfo2_fn*) hinge2GetInfo2,
-  dJointTypeHinge2};
-
-//****************************************************************************
-// universal
-
-static void universalInit (dxJointUniversal *j)
-{
-  dSetZero (j->anchor1,4);
-  dSetZero (j->anchor2,4);
-  dSetZero (j->axis1,4);
-  j->axis1[0] = 1;
-  dSetZero (j->axis2,4);
-  j->axis2[1] = 1;
-}
-
-
-static void universalGetInfo1 (dxJointUniversal *j, dxJoint::Info1 *info)
-{
-  info->nub = 4;
-  info->m = 4;
-}
-
-
-static void universalGetInfo2 (dxJointUniversal *joint, dxJoint::Info2 *info)
-{
-  // set the three ball-and-socket rows
-  setBall (joint,info,joint->anchor1,joint->anchor2);
-
-  // set the universal joint row. the angular velocity about an axis
-  // perpendicular to both joint axes should be equal. thus the constraint
-  // equation is
-  //    p*w1 - p*w2 = 0
-  // where p is a vector normal to both joint axes, and w1 and w2
-  // are the angular velocity vectors of the two bodies.
-
-  // length 1 joint axis in global coordinates, from each body
-  dVector3 ax1, ax2;
-  // length 1 vector perpendicular to ax1 and ax2. Neither body can rotate
-  // about this.
-  dVector3 p;
-  
-  // This says "ax1 = joint->node[0].body->R * joint->axis1"
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
-  }
-  else {
-    ax2[0] = joint->axis2[0];
-    ax2[1] = joint->axis2[1];
-    ax2[2] = joint->axis2[2];
-  }
-
-  // if ax1 and ax2 are almost parallel, p won't be perpendicular to them.
-  // Is there some more robust way to do this?
-  dCROSS(p, =, ax1, ax2);
-  dNormalize3(p);
- 
-  int s3=3*info->rowskip;
-
-  info->J1a[s3+0] = p[0];
-  info->J1a[s3+1] = p[1];
-  info->J1a[s3+2] = p[2];
-
-  if (joint->node[1].body) {
-    info->J2a[s3+0] = -p[0];
-    info->J2a[s3+1] = -p[1];
-    info->J2a[s3+2] = -p[2];
-  }
-
-  // compute the right hand side of the constraint equation. set relative
-  // body velocities along p to bring the axes back to perpendicular.
-  // If ax1, ax2 are unit length joint axes as computed from body1 and
-  // body2, we need to rotate both bodies along the axis p.  If theta
-  // is the angle between ax1 and ax2, we need an angular velocity
-  // along p to cover the angle erp * (theta - Pi/2) in one step:
-  //
-  //   |angular_velocity| = angle/time = erp*(theta - Pi/2) / stepsize
-  //                      = (erp*fps) * (theta - Pi/2)
-  //
-  // if theta is close to Pi/2, 
-  // theta - Pi/2 ~= cos(theta), so
-  //    |angular_velocity|  = (erp*fps) * (ax1 dot ax2)
-
-  info->c[3] = info->fps * info->erp * - dDOT(ax1, ax2);
-}
-
-
-extern "C" void dJointSetUniversalAnchor (dxJointUniversal *joint,
-					  dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
-}
-
-
-extern "C" void dJointSetUniversalAxis1 (dxJointUniversal *joint,
-					 dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->node[0].body) {
-    dReal q[4];
-    q[0] = x;
-    q[1] = y;
-    q[2] = z;
-    q[3] = 0;
-    dNormalize3 (q);
-    dMULTIPLY1_331 (joint->axis1,joint->node[0].body->R,q);
-  }
-  joint->axis1[3] = 0;
-}
-
-
-extern "C" void dJointSetUniversalAxis2 (dxJointUniversal *joint,
-					 dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->node[1].body) {
-    dReal q[4];
-    q[0] = x;
-    q[1] = y;
-    q[2] = z;
-    q[3] = 0;
-    dNormalize3 (q);
-    dMULTIPLY1_331 (joint->axis2,joint->node[1].body->R,q);
-  }
-  joint->axis2[3] = 0;
-}
-
-
-extern "C" void dJointGetUniversalAnchor (dxJointUniversal *joint,
-					  dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  getAnchor (joint,result,joint->anchor1);
-}
-
-
-extern "C" void dJointGetUniversalAxis1 (dxJointUniversal *joint,
-					 dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->node[0].body) {
-    dMULTIPLY0_331 (result, joint->node[0].body->R, joint->axis1);
-  }
-}
-
-
-extern "C" void dJointGetUniversalAxis2 (dxJointUniversal *joint,
-					 dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (result, joint->node[1].body->R, joint->axis2);
-  }
-}
-
-
-dxJoint::Vtable __duniversal_vtable = {
-  sizeof(dxJointUniversal),
-  (dxJoint::init_fn*) universalInit,
-  (dxJoint::getInfo1_fn*) universalGetInfo1,
-  (dxJoint::getInfo2_fn*) universalGetInfo2,
-  dJointTypeUniversal};
-
-//****************************************************************************
-// angular motor
-
-static void amotorInit (dxJointAMotor *j)
-{
-  int i;
-  j->num = 0;
-  j->mode = dAMotorUser;
-  for (i=0; i<3; i++) {
-    j->rel[i] = 0;
-    dSetZero (j->axis[i],4);
-    j->limot[i].init (j->world);
-    j->angle[i] = 0;
-  }
-  dSetZero (j->reference1,4);
-  dSetZero (j->reference2,4);
-
-  j->flags |= dJOINT_TWOBODIES;
-}
-
-
-// compute the 3 axes in global coordinates
-
-static void amotorComputeGlobalAxes (dxJointAMotor *joint, dVector3 ax[3])
-{
-  if (joint->mode == dAMotorEuler) {
-    // special handling for euler mode
-    dMULTIPLY0_331 (ax[0],joint->node[0].body->R,joint->axis[0]);
-    dMULTIPLY0_331 (ax[2],joint->node[1].body->R,joint->axis[2]);
-    dCROSS (ax[1],=,ax[2],ax[0]);
-    dNormalize3 (ax[1]);
-  }
-  else {
-    for (int i=0; i < joint->num; i++) {
-      if (joint->rel[i] == 1) {
-	// relative to b1
-	dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]);
-      }
-      if (joint->rel[i] == 2) {
-	// relative to b2
-	dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]);
-      }
-      else {
-	// global - just copy it
-	ax[i][0] = joint->axis[i][0];
-	ax[i][1] = joint->axis[i][1];
-	ax[i][2] = joint->axis[i][2];
-      }
-    }
-  }
-}
-
-
-static void amotorComputeEulerAngles (dxJointAMotor *joint, dVector3 ax[3])
-{
-  // assumptions:
-  //   global axes already calculated --> ax
-  //   axis[0] is relative to body 1 --> global ax[0]
-  //   axis[2] is relative to body 2 --> global ax[2]
-  //   ax[1] = ax[2] x ax[0]
-  //   original ax[0] and ax[2] are perpendicular
-  //   reference1 is perpendicular to ax[0] (in body 1 frame)
-  //   reference2 is perpendicular to ax[2] (in body 2 frame)
-  //   all ax[] and reference vectors are unit length
-
-  // calculate references in global frame
-  dVector3 ref1,ref2;
-  dMULTIPLY0_331 (ref1,joint->node[0].body->R,joint->reference1);
-  dMULTIPLY0_331 (ref2,joint->node[1].body->R,joint->reference2);
-
-  // get q perpendicular to both ax[0] and ref1, get first euler angle
-  dVector3 q;
-  dCROSS (q,=,ax[0],ref1);
-  joint->angle[0] = -dAtan2 (dDOT(ax[2],q),dDOT(ax[2],ref1));
-
-  // get q perpendicular to both ax[0] and ax[1], get second euler angle
-  dCROSS (q,=,ax[0],ax[1]);
-  joint->angle[1] = -dAtan2 (dDOT(ax[2],ax[0]),dDOT(ax[2],q));
-
-  // get q perpendicular to both ax[1] and ax[2], get third euler angle
-  dCROSS (q,=,ax[1],ax[2]);
-  joint->angle[2] = -dAtan2 (dDOT(ref2,ax[1]), dDOT(ref2,q));
-}
-
-
-// set the reference vectors as follows:
-//   * reference1 = current axis[2] relative to body 1
-//   * reference2 = current axis[0] relative to body 2
-// this assumes that:
-//    * axis[0] is relative to body 1
-//    * axis[2] is relative to body 2
-
-static void amotorSetEulerReferenceVectors (dxJointAMotor *j)
-{
-  if (j->node[0].body && j->node[1].body) {
-    dVector3 r;		// axis[2] and axis[0] in global coordinates
-    dMULTIPLY0_331 (r,j->node[1].body->R,j->axis[2]);
-    dMULTIPLY1_331 (j->reference1,j->node[0].body->R,r);
-    dMULTIPLY0_331 (r,j->node[0].body->R,j->axis[0]);
-    dMULTIPLY1_331 (j->reference2,j->node[1].body->R,r);
-  }
-}
-
-
-static void amotorGetInfo1 (dxJointAMotor *j, dxJoint::Info1 *info)
-{
-  info->m = 0;
-  info->nub = 0;
-
-  // compute the axes and angles, if in euler mode
-  if (j->mode == dAMotorEuler) {
-    dVector3 ax[3];
-    amotorComputeGlobalAxes (j,ax);
-    amotorComputeEulerAngles (j,ax);
-  }
-
-  // see if we're powered or at a joint limit for each axis
-  for (int i=0; i < j->num; i++) {
-    if (j->limot[i].testRotationalLimit (j->angle[i]) ||
-	j->limot[i].fmax > 0) {
-      info->m++;
-    }
-  }
-}
-
-
-static void amotorGetInfo2 (dxJointAMotor *joint, dxJoint::Info2 *info)
-{
-  int i;
-
-  // compute the axes (if not global)
-  dVector3 ax[3];
-  amotorComputeGlobalAxes (joint,ax);
-
-  // in euler angle mode we do not actually constrain the angular velocity
-  // along the axes axis[0] and axis[2] (although we do use axis[1]) :
-  //
-  //    to get			constrain w2-w1 along		...not
-  //    ------			---------------------		------
-  //    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
-  //    d(angle[1])/dt = 0	ax[1]
-  //    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
-  //
-  // constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
-  // to prove the result for angle[0], write the expression for angle[0] from
-  // GetInfo1 then take the derivative. to prove this for angle[2] it is
-  // easier to take the euler rate expression for d(angle[2])/dt with respect
-  // to the components of w and set that to 0.
-
-  dVector3 *axptr[3];
-  axptr[0] = &ax[0];
-  axptr[1] = &ax[1];
-  axptr[2] = &ax[2];
-
-  dVector3 ax0_cross_ax1;
-  dVector3 ax1_cross_ax2;
-  if (joint->mode == dAMotorEuler) {
-    dCROSS (ax0_cross_ax1,=,ax[0],ax[1]);
-    axptr[2] = &ax0_cross_ax1;
-    dCROSS (ax1_cross_ax2,=,ax[1],ax[2]);
-    axptr[0] = &ax1_cross_ax2;
-  }
-
-  int row=0;
-  for (i=0; i < joint->num; i++) {
-    row += joint->limot[i].addLimot (joint,info,row,*(axptr[i]),1);
-  }
-}
-
-
-extern "C" void dJointSetAMotorNumAxes (dxJointAMotor *joint, int num)
-{
-  dAASSERT(joint && num >= 0 && num <= 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (joint->mode == dAMotorEuler) {
-    joint->num = 3;
-  }
-  else {
-    if (num < 0) num = 0;
-    if (num > 3) num = 3;
-    joint->num = num;
-  }
-}
-
-
-extern "C" void dJointSetAMotorAxis (dxJointAMotor *joint, int anum, int rel,
-				     dReal x, dReal y, dReal z)
-{
-  dAASSERT(joint && anum >= 0 && anum <= 2 && rel >= 0 && rel <= 2);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  joint->rel[anum] = rel;
-
-  // x,y,z is always in global coordinates regardless of rel, so we may have
-  // to convert it to be relative to a body
-  dVector3 r;
-  r[0] = x;
-  r[1] = y;
-  r[2] = z;
-  r[3] = 0;
-  if (rel > 0) {
-    if (rel==1) {
-      dMULTIPLY1_331 (joint->axis[anum],joint->node[0].body->R,r);
-    }
-    else {
-      dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->R,r);
-    }
-  }
-  else {
-    joint->axis[anum][0] = r[0];
-    joint->axis[anum][1] = r[1];
-    joint->axis[anum][2] = r[2];
-  }
-  dNormalize3 (joint->axis[anum]);
-  if (joint->mode == dAMotorEuler) amotorSetEulerReferenceVectors (joint);
-}
-
-
-extern "C" void dJointSetAMotorAngle (dxJointAMotor *joint, int anum,
-				      dReal angle)
-{
-  dAASSERT(joint && anum >= 0 && anum < 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (joint->mode == dAMotorUser) {
-    if (anum < 0) anum = 0;
-    if (anum > 3) anum = 3;
-    joint->angle[anum] = angle;
-  }
-}
-
-
-extern "C" void dJointSetAMotorParam (dxJointAMotor *joint, int parameter,
-				      dReal value)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  int anum = parameter >> 8;
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  parameter &= 0xff;
-  joint->limot[anum].set (parameter, value);
-}
-
-
-extern "C" void dJointSetAMotorMode (dxJointAMotor *joint, int mode)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  joint->mode = mode;
-  if (joint->mode == dAMotorEuler) {
-    joint->num = 3;
-    amotorSetEulerReferenceVectors (joint);
-  }
-}
-
-
-extern "C" int dJointGetAMotorNumAxes (dxJointAMotor *joint)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  return joint->num;
-}
-
-
-extern "C" void dJointGetAMotorAxis (dxJointAMotor *joint, int anum,
-				     dVector3 result)
-{
-  dAASSERT(joint && anum >= 0 && anum < 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  if (joint->rel[anum] > 0) {
-    if (joint->rel[anum]==1) {
-      dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis[anum]);
-    }
-    else {
-      dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis[anum]);
-    }
-  }
-  else {
-    result[0] = joint->axis[anum][0];
-    result[1] = joint->axis[anum][1];
-    result[2] = joint->axis[anum][2];
-  }
-}
-
-
-extern "C" int dJointGetAMotorAxisRel (dxJointAMotor *joint, int anum)
-{
-  dAASSERT(joint && anum >= 0 && anum < 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  return joint->rel[anum];
-}
-
-
-extern "C" dReal dJointGetAMotorAngle (dxJointAMotor *joint, int anum)
-{
-  dAASSERT(joint && anum >= 0 && anum < 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (anum < 0) anum = 0;
-  if (anum > 3) anum = 3;
-  return joint->angle[anum];
-}
-
-
-extern "C" dReal dJointGetAMotorAngleRate (dxJointAMotor *joint, int anum)
-{
-  // @@@
-  dDebug (0,"not yet implemented");
-  return 0;
-}
-
-
-extern "C" dReal dJointGetAMotorParam (dxJointAMotor *joint, int parameter)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  int anum = parameter >> 8;
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  parameter &= 0xff;
-  return joint->limot[anum].get (parameter);
-}
-
-
-extern "C" int dJointGetAMotorMode (dxJointAMotor *joint)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  return joint->mode;
-}
-
-
-dxJoint::Vtable __damotor_vtable = {
-  sizeof(dxJointAMotor),
-  (dxJoint::init_fn*) amotorInit,
-  (dxJoint::getInfo1_fn*) amotorGetInfo1,
-  (dxJoint::getInfo2_fn*) amotorGetInfo2,
-  dJointTypeAMotor};
-
-//****************************************************************************
-// fixed joint
-
-static void fixedInit (dxJointFixed *j)
-{
-  dSetZero (j->offset,4);
-}
-
-
-static void fixedGetInfo1 (dxJointFixed *j, dxJoint::Info1 *info)
-{
-  info->m = 6;
-  info->nub = 6;
-}
-
-
-static void fixedGetInfo2 (dxJointFixed *joint, dxJoint::Info2 *info)
-{
-  int s = info->rowskip;
-
-  // set jacobian
-  info->J1l[0] = 1;
-  info->J1l[s+1] = 1;
-  info->J1l[2*s+2] = 1;
-  info->J1a[3*s] = 1;
-  info->J1a[4*s+1] = 1;
-  info->J1a[5*s+2] = 1;
-
-  dVector3 ofs;
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (ofs,joint->node[0].body->R,joint->offset);
-    dCROSSMAT (info->J1a,ofs,s,+,-);
-    info->J2l[0] = -1;
-    info->J2l[s+1] = -1;
-    info->J2l[2*s+2] = -1;
-    info->J2a[3*s] = -1;
-    info->J2a[4*s+1] = -1;
-    info->J2a[5*s+2] = -1;
-  }
-
-  // set right hand side for the first three rows (linear)
-  dReal k = info->fps * info->erp;
-  if (joint->node[1].body) {
-    for (int j=0; j<3; j++)
-      info->c[j] = k * (joint->node[1].body->pos[j] -
-			joint->node[0].body->pos[j] + ofs[j]);
-  }
-  else {
-    for (int j=0; j<3; j++)
-      info->c[j] = k * (joint->offset[j] - joint->node[0].body->pos[j]);
-  }
-
-  // set right hand side for the next three rows (angular). this code is
-  // borrowed from the slider, so look at the comments there.
-  // @@@ make a function common to both the slider and this joint !!!
-
-  // get qerr = relative rotation (rotation error) between two bodies
-  dQuaternion qerr,e;
-  if (joint->node[1].body) {
-    dQMultiply1 (qerr,joint->node[0].body->q,joint->node[1].body->q);
-  }
-  else {
-    qerr[0] = joint->node[0].body->q[0];
-    for (int i=1; i<4; i++) qerr[i] = -joint->node[0].body->q[i];
-  }
-  if (qerr[0] < 0) {
-    qerr[1] = -qerr[1];		// adjust sign of qerr to make theta small
-    qerr[2] = -qerr[2];
-    qerr[3] = -qerr[3];
-  }
-  dMULTIPLY0_331 (e,joint->node[0].body->R,qerr+1); // @@@ bad SIMD padding!
-  info->c[3] = 2*k * e[0];
-  info->c[4] = 2*k * e[1];
-  info->c[5] = 2*k * e[2];
-}
-
-
-extern "C" void dJointSetFixed (dxJointFixed *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dfixed_vtable,"joint is not fixed");
-  int i;
-
-  // compute the offset between the bodies
-  if (joint->node[0].body) {
-    if (joint->node[1].body) {
-      dReal ofs[4];
-      for (i=0; i<4; i++) ofs[i] = joint->node[0].body->pos[i];
-      for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->pos[i];
-      dMULTIPLY1_331 (joint->offset,joint->node[0].body->R,ofs);
-    }
-    else {
-      for (i=0; i<4; i++) joint->offset[i] = joint->node[0].body->pos[i];
-    }
-  }
-}
-
-
-dxJoint::Vtable __dfixed_vtable = {
-  sizeof(dxJointFixed),
-  (dxJoint::init_fn*) fixedInit,
-  (dxJoint::getInfo1_fn*) fixedGetInfo1,
-  (dxJoint::getInfo2_fn*) fixedGetInfo2,
-  dJointTypeFixed};
-
-//****************************************************************************
-// null joint
-
-static void nullGetInfo1 (dxJointNull *j, dxJoint::Info1 *info)
-{
-  info->m = 0;
-  info->nub = 0;
-}
-
-
-static void nullGetInfo2 (dxJointNull *joint, dxJoint::Info2 *info)
-{
-  dDebug (0,"this should never get called");
-}
-
-
-dxJoint::Vtable __dnull_vtable = {
-  sizeof(dxJointNull),
-  (dxJoint::init_fn*) 0,
-  (dxJoint::getInfo1_fn*) nullGetInfo1,
-  (dxJoint::getInfo2_fn*) nullGetInfo2,
-  dJointTypeNull};
diff --git a/extern/ode/dist/ode/src/joint.h b/extern/ode/dist/ode/src/joint.h
deleted file mode 100644
index e0362ffa829..00000000000
--- a/extern/ode/dist/ode/src/joint.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_JOINT_H_
-#define _ODE_JOINT_H_
-
-
-#include "objects.h"
-#include <ode/contact.h>
-#include "obstack.h"
-
-
-// joint flags
-enum {
-  // if this flag is set, the joint was allocated in a joint group
-  dJOINT_INGROUP = 1,
-
-  // if this flag is set, the joint was attached with arguments (0,body).
-  // our convention is to treat all attaches as (body,0), i.e. so node[0].body
-  // is always nonzero, so this flag records the fact that the arguments were
-  // swapped.
-  dJOINT_REVERSE = 2,
-
-  // if this flag is set, the joint can not have just one body attached to it,
-  // it must have either zero or two bodies attached.
-  dJOINT_TWOBODIES = 4
-};
-
-
-// there are two of these nodes in the joint, one for each connection to a
-// body. these are node of a linked list kept by each body of it's connecting
-// joints. but note that the body pointer in each node points to the body that
-// makes use of the *other* node, not this node. this trick makes it a bit
-// easier to traverse the body/joint graph.
-
-struct dxJointNode {
-  dxJoint *joint;		// pointer to enclosing dxJoint object
-  dxBody *body;			// *other* body this joint is connected to
-  dxJointNode *next;		// next node in body's list of connected joints
-};
-
-
-struct dxJoint : public dObject {
-  // naming convention: the "first" body this is connected to is node[0].body,
-  // and the "second" body is node[1].body. if this joint is only connected
-  // to one body then the second body is 0.
-
-  // info returned by getInfo1 function. the constraint dimension is m (<=6).
-  // i.e. that is the total number of rows in the jacobian. `nub' is the
-  // number of unbounded variables (which have lo,hi = -/+ infinity).
-
-  struct Info1 {
-    int m,nub;
-  };
-
-  // info returned by getInfo2 function
-
-  struct Info2 {
-    // integrator parameters: frames per second (1/stepsize), default error
-    // reduction parameter (0..1).
-    dReal fps,erp;
-
-    // for the first and second body, pointers to two (linear and angular)
-    // n*3 jacobian sub matrices, stored by rows. these matrices will have
-    // been initialized to 0 on entry. if the second body is zero then the
-    // J2xx pointers may be 0.
-    dReal *J1l,*J1a,*J2l,*J2a;
-
-    // elements to jump from one row to the next in J's
-    int rowskip;
-
-    // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-    // "constraint force mixing" vector. c is set to zero on entry, cfm is
-    // set to a constant value (typically very small or zero) value on entry.
-    dReal *c,*cfm;
-
-    // lo and hi limits for variables (set to -/+ infinity on entry).
-    dReal *lo,*hi;
-
-    // findex vector for variables. see the LCP solver interface for a
-    // description of what this does. this is set to -1 on entry.
-    // note that the returned indexes are relative to the first index of
-    // the constraint.
-    int *findex;
-  };
-
-  // virtual function table: size of the joint structure, function pointers.
-  // we do it this way instead of using C++ virtual functions because
-  // sometimes we need to allocate joints ourself within a memory pool.
-
-  typedef void init_fn (dxJoint *joint);
-  typedef void getInfo1_fn (dxJoint *joint, Info1 *info);
-  typedef void getInfo2_fn (dxJoint *joint, Info2 *info);
-  struct Vtable {
-    int size;
-    init_fn *init;
-    getInfo1_fn *getInfo1;
-    getInfo2_fn *getInfo2;
-    int typenum;		// a dJointTypeXXX type number 
-  };
-
-  Vtable *vtable;		// virtual function table
-  int flags;			// dJOINT_xxx flags
-  dxJointNode node[2];		// connections to bodies. node[1].body can be 0
-  dJointFeedback *feedback;	// optional feedback structure
-};
-
-
-// joint group. NOTE: any joints in the group that have their world destroyed
-// will have their world pointer set to 0.
-
-struct dxJointGroup : public dBase {
-  int num;		// number of joints on the stack
-  dObStack stack;	// a stack of (possibly differently sized) dxJoint
-};			// objects.
-
-
-// common limit and motor information for a single joint axis of movement
-struct dxJointLimitMotor {
-  dReal vel,fmax;		// powered joint: velocity, max force
-  dReal lostop,histop;		// joint limits, relative to initial position
-  dReal fudge_factor;		// when powering away from joint limits
-  dReal normal_cfm;		// cfm to use when not at a stop
-  dReal stop_erp,stop_cfm;	// erp and cfm for when at joint limit
-  dReal bounce;			// restitution factor
-  // variables used between getInfo1() and getInfo2()
-  int limit;			// 0=free, 1=at lo limit, 2=at hi limit
-  dReal limit_err;		// if at limit, amount over limit
-
-  void init (dxWorld *);
-  void set (int num, dReal value);
-  dReal get (int num);
-  int testRotationalLimit (dReal angle);
-  int addLimot (dxJoint *joint, dxJoint::Info2 *info, int row,
-		dVector3 ax1, int rotational);
-};
-
-
-// ball and socket
-
-struct dxJointBall : public dxJoint {
-  dVector3 anchor1;		// anchor w.r.t first body
-  dVector3 anchor2;		// anchor w.r.t second body
-};
-extern struct dxJoint::Vtable __dball_vtable;
-
-
-// hinge
-
-struct dxJointHinge : public dxJoint {
-  dVector3 anchor1;		// anchor w.r.t first body
-  dVector3 anchor2;		// anchor w.r.t second body
-  dVector3 axis1;		// axis w.r.t first body
-  dVector3 axis2;		// axis w.r.t second body
-  dQuaternion qrel;		// initial relative rotation body1 -> body2
-  dxJointLimitMotor limot;	// limit and motor information
-};
-extern struct dxJoint::Vtable __dhinge_vtable;
-
-
-// universal
-
-struct dxJointUniversal : public dxJoint {
-  dVector3 anchor1;		// anchor w.r.t first body
-  dVector3 anchor2;		// anchor w.r.t second body
-  dVector3 axis1;		// axis w.r.t first body
-  dVector3 axis2;		// axis w.r.t second body
-};
-extern struct dxJoint::Vtable __duniversal_vtable;
-
-
-// slider. if body2 is 0 then qrel is the absolute rotation of body1 and
-// offset is the position of body1 center along axis1.
-
-struct dxJointSlider : public dxJoint {
-  dVector3 axis1;		// axis w.r.t first body
-  dQuaternion qrel;		// initial relative rotation body1 -> body2
-  dVector3 offset;		// point relative to body2 that should be
-				// aligned with body1 center along axis1
-  dxJointLimitMotor limot;	// limit and motor information
-};
-extern struct dxJoint::Vtable __dslider_vtable;
-
-
-// contact
-
-struct dxJointContact : public dxJoint {
-  int the_m;			// number of rows computed by getInfo1
-  dContact contact;
-};
-extern struct dxJoint::Vtable __dcontact_vtable;
-
-
-// hinge 2
-
-struct dxJointHinge2 : public dxJoint {
-  dVector3 anchor1;		// anchor w.r.t first body
-  dVector3 anchor2;		// anchor w.r.t second body
-  dVector3 axis1;		// axis 1 w.r.t first body
-  dVector3 axis2;		// axis 2 w.r.t second body
-  dReal c0,s0;			// cos,sin of desired angle between axis 1,2
-  dVector3 v1,v2;		// angle ref vectors embedded in first body
-  dxJointLimitMotor limot1;	// limit+motor info for axis 1
-  dxJointLimitMotor limot2;	// limit+motor info for axis 2
-  dReal susp_erp,susp_cfm;	// suspension parameters (erp,cfm)
-};
-extern struct dxJoint::Vtable __dhinge2_vtable;
-
-
-// angular motor
-
-struct dxJointAMotor : public dxJoint {
-  int num;			// number of axes (0..3)
-  int mode;			// a dAMotorXXX constant
-  int rel[3];			// what the axes are relative to (global,b1,b2)
-  dVector3 axis[3];		// three axes
-  dxJointLimitMotor limot[3];	// limit+motor info for axes
-  dReal angle[3];		// user-supplied angles for axes
-  // these vectors are used for calculating euler angles
-  dVector3 reference1;		// original axis[2], relative to body 1
-  dVector3 reference2;		// original axis[0], relative to body 2
-};
-extern struct dxJoint::Vtable __damotor_vtable;
-
-
-// fixed
-
-struct dxJointFixed : public dxJoint {
-  dVector3 offset;		// relative offset between the bodies
-};
-extern struct dxJoint::Vtable __dfixed_vtable;
-
-
-// null joint, for testing only
-
-struct dxJointNull : public dxJoint {
-};
-extern struct dxJoint::Vtable __dnull_vtable;
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/lcp.cpp b/extern/ode/dist/ode/src/lcp.cpp
deleted file mode 100644
index dba2d3b949b..00000000000
--- a/extern/ode/dist/ode/src/lcp.cpp
+++ /dev/null
@@ -1,1455 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-
-THE ALGORITHM
--------------
-
-solve A*x = b+w, with x and w subject to certain LCP conditions.
-each x(i),w(i) must lie on one of the three line segments in the following
-diagram. each line segment corresponds to one index set :
-
-     w(i)
-     /|\      |           :
-      |       |           :
-      |       |i in N     :
-  w>0 |       |state[i]=0 :
-      |       |           :
-      |       |           :  i in C
-  w=0 +       +-----------------------+
-      |                   :           |
-      |                   :           |
-  w<0 |                   :           |i in N
-      |                   :           |state[i]=1
-      |                   :           |
-      |                   :           |
-      +-------|-----------|-----------|----------> x(i)
-             lo           0           hi
-
-the Dantzig algorithm proceeds as follows:
-  for i=1:n
-    * if (x(i),w(i)) is not on the line, push x(i) and w(i) positive or
-      negative towards the line. as this is done, the other (x(j),w(j))
-      for j<i are constrained to be on the line. if any (x,w) reaches the
-      end of a line segment then it is switched between index sets.
-    * i is added to the appropriate index set depending on what line segment
-      it hits.
-
-we restrict lo(i) <= 0 and hi(i) >= 0. this makes the algorithm a bit
-simpler, because the starting point for x(i),w(i) is always on the dotted
-line x=0 and x will only ever increase in one direction, so it can only hit
-two out of the three line segments.
-
-
-NOTES
------
-
-this is an implementation of "lcp_dantzig2_ldlt.m" and "lcp_dantzig_lohi.m".
-the implementation is split into an LCP problem object (dLCP) and an LCP
-driver function. most optimization occurs in the dLCP object.
-
-a naive implementation of the algorithm requires either a lot of data motion
-or a lot of permutation-array lookup, because we are constantly re-ordering
-rows and columns. to avoid this and make a more optimized algorithm, a
-non-trivial data structure is used to represent the matrix A (this is
-implemented in the fast version of the dLCP object).
-
-during execution of this algorithm, some indexes in A are clamped (set C),
-some are non-clamped (set N), and some are "don't care" (where x=0).
-A,x,b,w (and other problem vectors) are permuted such that the clamped
-indexes are first, the unclamped indexes are next, and the don't-care
-indexes are last. this permutation is recorded in the array `p'.
-initially p = 0..n-1, and as the rows and columns of A,x,b,w are swapped,
-the corresponding elements of p are swapped.
-
-because the C and N elements are grouped together in the rows of A, we can do
-lots of work with a fast dot product function. if A,x,etc were not permuted
-and we only had a permutation array, then those dot products would be much
-slower as we would have a permutation array lookup in some inner loops.
-
-A is accessed through an array of row pointers, so that element (i,j) of the
-permuted matrix is A[i][j]. this makes row swapping fast. for column swapping
-we still have to actually move the data.
-
-during execution of this algorithm we maintain an L*D*L' factorization of
-the clamped submatrix of A (call it `AC') which is the top left nC*nC
-submatrix of A. there are two ways we could arrange the rows/columns in AC.
-
-(1) AC is always permuted such that L*D*L' = AC. this causes a problem
-    when a row/column is removed from C, because then all the rows/columns of A
-    between the deleted index and the end of C need to be rotated downward.
-    this results in a lot of data motion and slows things down.
-(2) L*D*L' is actually a factorization of a *permutation* of AC (which is
-    itself a permutation of the underlying A). this is what we do - the
-    permutation is recorded in the vector C. call this permutation A[C,C].
-    when a row/column is removed from C, all we have to do is swap two
-    rows/columns and manipulate C.
-
-*/
-
-#include <ode/common.h>
-#include "lcp.h"
-#include <ode/matrix.h>
-#include <ode/misc.h>
-#include "mat.h"		// for testing
-#include <ode/timer.h>		// for testing
-
-//***************************************************************************
-// code generation parameters
-
-// LCP debugging (mosty for fast dLCP) - this slows things down a lot
-//#define DEBUG_LCP
-
-//#define dLCP_SLOW		// use slow dLCP object
-#define dLCP_FAST		// use fast dLCP object
-
-// option 1 : matrix row pointers (less data copying)
-#define ROWPTRS
-#define ATYPE dReal **
-#define AROW(i) (A[i])
-
-// option 2 : no matrix row pointers (slightly faster inner loops)
-//#define NOROWPTRS
-//#define ATYPE dReal *
-//#define AROW(i) (A+(i)*nskip)
-
-// misc defines
-#define ALLOCA dALLOCA16
-//#define dDot myDot
-#define NUB_OPTIMIZATIONS
-
-//***************************************************************************
-
-// an alternative inline dot product, for speed comparisons
-
-static inline dReal myDot (dReal *a, dReal *b, int n)
-{
-  dReal sum=0;
-  while (n > 0) {
-    sum += (*a) * (*b);
-    a++;
-    b++;
-    n--;
-  }
-  return sum;
-}
-
-
-// swap row/column i1 with i2 in the n*n matrix A. the leading dimension of
-// A is nskip. this only references and swaps the lower triangle.
-// if `do_fast_row_swaps' is nonzero and row pointers are being used, then
-// rows will be swapped by exchanging row pointers. otherwise the data will
-// be copied.
-
-static void swapRowsAndCols (ATYPE A, int n, int i1, int i2, int nskip,
-			     int do_fast_row_swaps)
-{
-  int i;
-  dIASSERT (A && n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n &&
-	    nskip >= n && i1 < i2);
-
-# ifdef ROWPTRS
-  for (i=i1+1; i<i2; i++) A[i1][i] = A[i][i1];
-  for (i=i1+1; i<i2; i++) A[i][i1] = A[i2][i];
-  A[i1][i2] = A[i1][i1];
-  A[i1][i1] = A[i2][i1];
-  A[i2][i1] = A[i2][i2];
-  // swap rows, by swapping row pointers
-  if (do_fast_row_swaps) {
-    dReal *tmpp;
-    tmpp = A[i1];
-    A[i1] = A[i2];
-    A[i2] = tmpp;
-  }
-  else {
-    dReal *tmprow = (dReal*) ALLOCA (n * sizeof(dReal));
-    memcpy (tmprow,A[i1],n * sizeof(dReal));
-    memcpy (A[i1],A[i2],n * sizeof(dReal));
-    memcpy (A[i2],tmprow,n * sizeof(dReal));
-  }
-  // swap columns the hard way
-  for (i=i2+1; i<n; i++) {
-    dReal tmp = A[i][i1];
-    A[i][i1] = A[i][i2];
-    A[i][i2] = tmp;
-  }
-# else
-  dReal tmp,*tmprow = (dReal*) ALLOCA (n * sizeof(dReal));
-  if (i1 > 0) {
-    memcpy (tmprow,A+i1*nskip,i1*sizeof(dReal));
-    memcpy (A+i1*nskip,A+i2*nskip,i1*sizeof(dReal));
-    memcpy (A+i2*nskip,tmprow,i1*sizeof(dReal));
-  }
-  for (i=i1+1; i<i2; i++) {
-    tmp = A[i2*nskip+i];
-    A[i2*nskip+i] = A[i*nskip+i1];
-    A[i*nskip+i1] = tmp;
-  }
-  tmp = A[i1*nskip+i1];
-  A[i1*nskip+i1] = A[i2*nskip+i2];
-  A[i2*nskip+i2] = tmp;
-  for (i=i2+1; i<n; i++) {
-    tmp = A[i*nskip+i1];
-    A[i*nskip+i1] = A[i*nskip+i2];
-    A[i*nskip+i2] = tmp;
-  }
-# endif
-}
-
-
-// swap two indexes in the n*n LCP problem. i1 must be <= i2.
-
-static void swapProblem (ATYPE A, dReal *x, dReal *b, dReal *w, dReal *lo,
-			 dReal *hi, int *p, int *state, int *findex,
-			 int n, int i1, int i2, int nskip,
-			 int do_fast_row_swaps)
-{
-  dReal tmp;
-  int tmpi;
-  dIASSERT (n>0 && i1 >=0 && i2 >= 0 && i1 < n && i2 < n && nskip >= n &&
-	    i1 <= i2);
-  if (i1==i2) return;
-  swapRowsAndCols (A,n,i1,i2,nskip,do_fast_row_swaps);
-  tmp = x[i1];
-  x[i1] = x[i2];
-  x[i2] = tmp;
-  tmp = b[i1];
-  b[i1] = b[i2];
-  b[i2] = tmp;
-  tmp = w[i1];
-  w[i1] = w[i2];
-  w[i2] = tmp;
-  tmp = lo[i1];
-  lo[i1] = lo[i2];
-  lo[i2] = tmp;
-  tmp = hi[i1];
-  hi[i1] = hi[i2];
-  hi[i2] = tmp;
-  tmpi = p[i1];
-  p[i1] = p[i2];
-  p[i2] = tmpi;
-  tmpi = state[i1];
-  state[i1] = state[i2];
-  state[i2] = tmpi;
-  if (findex) {
-    tmpi = findex[i1];
-    findex[i1] = findex[i2];
-    findex[i2] = tmpi;
-  }
-}
-
-
-// for debugging - check that L,d is the factorization of A[C,C].
-// A[C,C] has size nC*nC and leading dimension nskip.
-// L has size nC*nC and leading dimension nskip.
-// d has size nC.
-
-#ifdef DEBUG_LCP
-
-static void checkFactorization (ATYPE A, dReal *_L, dReal *_d,
-				int nC, int *C, int nskip)
-{
-  int i,j;
-  if (nC==0) return;
-
-  // get A1=A, copy the lower triangle to the upper triangle, get A2=A[C,C]
-  dMatrix A1 (nC,nC);
-  for (i=0; i<nC; i++) {
-    for (j=0; j<=i; j++) A1(i,j) = A1(j,i) = AROW(i)[j];
-  }
-  dMatrix A2 = A1.select (nC,C,nC,C);
-
-  // printf ("A1=\n"); A1.print(); printf ("\n");
-  // printf ("A2=\n"); A2.print(); printf ("\n");
-
-  // compute A3 = L*D*L'
-  dMatrix L (nC,nC,_L,nskip,1);
-  dMatrix D (nC,nC);
-  for (i=0; i<nC; i++) D(i,i) = 1/_d[i];
-  L.clearUpperTriangle();
-  for (i=0; i<nC; i++) L(i,i) = 1;
-  dMatrix A3 = L * D * L.transpose();
-
-  // printf ("L=\n"); L.print(); printf ("\n");
-  // printf ("D=\n"); D.print(); printf ("\n");
-  // printf ("A3=\n"); A2.print(); printf ("\n");
-
-  // compare A2 and A3
-  dReal diff = A2.maxDifference (A3);
-  if (diff > 1e-8)
-    dDebug (0,"L*D*L' check, maximum difference = %.6e\n",diff);
-}
-
-#endif
-
-
-// for debugging
-
-#ifdef DEBUG_LCP
-
-static void checkPermutations (int i, int n, int nC, int nN, int *p, int *C)
-{
-  int j,k;
-  dIASSERT (nC>=0 && nN>=0 && (nC+nN)==i && i < n);
-  for (k=0; k<i; k++) dIASSERT (p[k] >= 0 && p[k] < i);
-  for (k=i; k<n; k++) dIASSERT (p[k] == k);
-  for (j=0; j<nC; j++) {
-    int C_is_bad = 1;
-    for (k=0; k<nC; k++) if (C[k]==j) C_is_bad = 0;
-    dIASSERT (C_is_bad==0);
-  }
-}
-
-#endif
-
-//***************************************************************************
-// dLCP manipulator object. this represents an n*n LCP problem.
-//
-// two index sets C and N are kept. each set holds a subset of
-// the variable indexes 0..n-1. an index can only be in one set.
-// initially both sets are empty.
-//
-// the index set C is special: solutions to A(C,C)\A(C,i) can be generated.
-
-#ifdef dLCP_SLOW
-
-// simple but slow implementation of dLCP, for testing the LCP drivers.
-
-#include "array.h"
-
-struct dLCP {
-  int n,nub,nskip;
-  dReal *Adata,*x,*b,*w,*lo,*hi;	// LCP problem data
-  ATYPE A;				// A rows
-  dArray<int> C,N;			// index sets
-  int last_i_for_solve1;		// last i value given to solve1
-
-  dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
-	dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
-	dReal *_Dell, dReal *_ell, dReal *_tmp,
-	int *_state, int *_findex, int *_p, int *_C, dReal **Arows);
-  // the constructor is given an initial problem description (A,x,b,w) and
-  // space for other working data (which the caller may allocate on the stack).
-  // some of this data is specific to the fast dLCP implementation.
-  // the matrices A and L have size n*n, vectors have size n*1.
-  // A represents a symmetric matrix but only the lower triangle is valid.
-  // `nub' is the number of unbounded indexes at the start. all the indexes
-  // 0..nub-1 will be put into C.
-
-  ~dLCP();
-
-  int getNub() { return nub; }
-  // return the value of `nub'. the constructor may want to change it,
-  // so the caller should find out its new value.
-
-  // transfer functions: transfer index i to the given set (C or N). indexes
-  // less than `nub' can never be given. A,x,b,w,etc may be permuted by these
-  // functions, the caller must be robust to this.
-
-  void transfer_i_to_C (int i);
-    // this assumes C and N span 1:i-1. this also assumes that solve1() has
-    // been recently called for the same i without any other transfer
-    // functions in between (thereby allowing some data reuse for the fast
-    // implementation).
-  void transfer_i_to_N (int i);
-    // this assumes C and N span 1:i-1.
-  void transfer_i_from_N_to_C (int i);
-  void transfer_i_from_C_to_N (int i);
-
-  int numC();
-  int numN();
-  // return the number of indexes in set C/N
-
-  int indexC (int i);
-  int indexN (int i);
-  // return index i in set C/N.
-
-  // accessor and arithmetic functions. Aij translates as A(i,j), etc.
-  // make sure that only the lower triangle of A is ever referenced.
-
-  dReal Aii (int i);
-  dReal AiC_times_qC (int i, dReal *q);
-  dReal AiN_times_qN (int i, dReal *q);			// for all Nj
-  void pN_equals_ANC_times_qC (dReal *p, dReal *q);	// for all Nj
-  void pN_plusequals_ANi (dReal *p, int i, int sign=1);
-    // for all Nj. sign = +1,-1. assumes i > maximum index in N.
-  void pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q);
-  void pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q); // for all Nj
-  void solve1 (dReal *a, int i, int dir=1, int only_transfer=0);
-    // get a(C) = - dir * A(C,C) \ A(C,i). dir must be +/- 1.
-    // the fast version of this function computes some data that is needed by
-    // transfer_i_to_C(). if only_transfer is nonzero then this function
-    // *only* computes that data, it does not set a(C).
-
-  void unpermute();
-  // call this at the end of the LCP function. if the x/w values have been
-  // permuted then this will unscramble them.
-};
-
-
-dLCP::dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
-	    dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
-	    dReal *_Dell, dReal *_ell, dReal *_tmp,
-	    int *_state, int *_findex, int *_p, int *_C, dReal **Arows)
-{
-  dUASSERT (_findex==0,"slow dLCP object does not support findex array");
-
-  n = _n;
-  nub = _nub;
-  Adata = _Adata;
-  A = 0;
-  x = _x;
-  b = _b;
-  w = _w;
-  lo = _lo;
-  hi = _hi;
-  nskip = dPAD(n);
-  dSetZero (x,n);
-  last_i_for_solve1 = -1;
-
-  int i,j;
-  C.setSize (n);
-  N.setSize (n);
-  for (int i=0; i<n; i++) {
-    C[i] = 0;
-    N[i] = 0;
-  }
-
-# ifdef ROWPTRS
-  // make matrix row pointers
-  A = Arows;
-  for (i=0; i<n; i++) A[i] = Adata + i*nskip;
-# else
-  A = Adata;
-# endif
-
-  // lets make A symmetric
-  for (i=0; i<n; i++) {
-    for (j=i+1; j<n; j++) AROW(i)[j] = AROW(j)[i];
-  }
-
-  // if nub>0, put all indexes 0..nub-1 into C and solve for x
-  if (nub > 0) {
-    for (i=0; i<nub; i++) memcpy (_L+i*nskip,AROW(i),(i+1)*sizeof(dReal));
-    dFactorLDLT (_L,_d,nub,nskip);
-    memcpy (x,b,nub*sizeof(dReal));
-    dSolveLDLT (_L,_d,x,nub,nskip);
-    dSetZero (_w,nub);
-    for (i=0; i<nub; i++) C[i] = 1;
-  }
-}
-
-
-dLCP::~dLCP()
-{
-}
-
-
-void dLCP::transfer_i_to_C (int i)
-{
-  if (i < nub) dDebug (0,"bad i");
-  if (C[i]) dDebug (0,"i already in C");
-  if (N[i]) dDebug (0,"i already in N");
-  for (int k=0; k<i; k++) {
-    if (!(C[k] ^ N[k])) dDebug (0,"assumptions for C and N violated");
-  }
-  for (int k=i; k<n; k++)
-    if (C[k] || N[k]) dDebug (0,"assumptions for C and N violated");
-  if (i != last_i_for_solve1) dDebug (0,"assumptions for i violated");
-  last_i_for_solve1 = -1;
-  C[i] = 1;
-}
-
-
-void dLCP::transfer_i_to_N (int i)
-{
-  if (i < nub) dDebug (0,"bad i");
-  if (C[i]) dDebug (0,"i already in C");
-  if (N[i]) dDebug (0,"i already in N");
-  for (int k=0; k<i; k++)
-    if (!C[k] && !N[k]) dDebug (0,"assumptions for C and N violated");
-  for (int k=i; k<n; k++)
-    if (C[k] || N[k]) dDebug (0,"assumptions for C and N violated");
-  last_i_for_solve1 = -1;
-  N[i] = 1;
-}
-
-
-void dLCP::transfer_i_from_N_to_C (int i)
-{
-  if (i < nub) dDebug (0,"bad i");
-  if (C[i]) dDebug (0,"i already in C");
-  if (!N[i]) dDebug (0,"i not in N");
-  last_i_for_solve1 = -1;
-  N[i] = 0;
-  C[i] = 1;
-}
-
-
-void dLCP::transfer_i_from_C_to_N (int i)
-{
-  if (i < nub) dDebug (0,"bad i");
-  if (N[i]) dDebug (0,"i already in N");
-  if (!C[i]) dDebug (0,"i not in C");
-  last_i_for_solve1 = -1;
-  C[i] = 0;
-  N[i] = 1;
-}
-
-
-int dLCP::numC()
-{
-  int i,count=0;
-  for (i=0; i<n; i++) if (C[i]) count++;
-  return count;
-}
-
-
-int dLCP::numN()
-{
-  int i,count=0;
-  for (i=0; i<n; i++) if (N[i]) count++;
-  return count;
-}
-
-
-int dLCP::indexC (int i)
-{
-  int k,count=0;
-  for (k=0; k<n; k++) {
-    if (C[k]) {
-      if (count==i) return k;
-      count++;
-    }
-  }
-  dDebug (0,"bad index C (%d)",i);
-  return 0;
-}
-
-
-int dLCP::indexN (int i)
-{
-  int k,count=0;
-  for (k=0; k<n; k++) {
-    if (N[k]) {
-      if (count==i) return k;
-      count++;
-    }
-  }
-  dDebug (0,"bad index into N");
-  return 0;
-}
-
-
-dReal dLCP::Aii (int i)
-{
-  return AROW(i)[i];
-}
-
-
-dReal dLCP::AiC_times_qC (int i, dReal *q)
-{
-  dReal sum = 0;
-  for (int k=0; k<n; k++) if (C[k]) sum += AROW(i)[k] * q[k];
-  return sum;
-}
-
-
-dReal dLCP::AiN_times_qN (int i, dReal *q)
-{
-  dReal sum = 0;
-  for (int k=0; k<n; k++) if (N[k]) sum += AROW(i)[k] * q[k];
-  return sum;
-}
-
-
-void dLCP::pN_equals_ANC_times_qC (dReal *p, dReal *q)
-{
-  dReal sum;
-  for (int ii=0; ii<n; ii++) if (N[ii]) {
-    sum = 0;
-    for (int jj=0; jj<n; jj++) if (C[jj]) sum += AROW(ii)[jj] * q[jj];
-    p[ii] = sum;
-  }
-}
-
-
-void dLCP::pN_plusequals_ANi (dReal *p, int i, int sign)
-{
-  int k;
-  for (k=0; k<n; k++) if (N[k] && k >= i) dDebug (0,"N assumption violated");
-  if (sign > 0) {
-    for (k=0; k<n; k++) if (N[k]) p[k] += AROW(i)[k];
-  }
-  else {
-    for (k=0; k<n; k++) if (N[k]) p[k] -= AROW(i)[k];
-  }
-}
-
-
-void dLCP::pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q)
-{
-  for (int k=0; k<n; k++) if (C[k]) p[k] += s*q[k];
-}
-
-
-void dLCP::pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q)
-{
-  for (int k=0; k<n; k++) if (N[k]) p[k] += s*q[k];
-}
-
-
-void dLCP::solve1 (dReal *a, int i, int dir, int only_transfer)
-{
-  dReal *AA = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
-  dReal *dd = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *bb = (dReal*) ALLOCA (n*sizeof(dReal));
-  int ii,jj,AAi,AAj;
-
-  last_i_for_solve1 = i;
-  AAi = 0;
-  for (ii=0; ii<n; ii++) if (C[ii]) {
-    AAj = 0;
-    for (jj=0; jj<n; jj++) if (C[jj]) {
-      AA[AAi*nskip+AAj] = AROW(ii)[jj];
-      AAj++;
-    }
-    bb[AAi] = AROW(i)[ii];
-    AAi++;
-  }
-  if (AAi==0) return;
-
-  dFactorLDLT (AA,dd,AAi,nskip);
-  dSolveLDLT (AA,dd,bb,AAi,nskip);
-
-  AAi=0;
-  if (dir > 0) {
-    for (ii=0; ii<n; ii++) if (C[ii]) a[ii] = -bb[AAi++];
-  }
-  else {
-    for (ii=0; ii<n; ii++) if (C[ii]) a[ii] = bb[AAi++];
-  }
-}
-
-
-void dLCP::unpermute()
-{
-}
-
-#endif // dLCP_SLOW
-
-//***************************************************************************
-// fast implementation of dLCP. see the above definition of dLCP for
-// interface comments.
-//
-// `p' records the permutation of A,x,b,w,etc. p is initially 1:n and is
-// permuted as the other vectors/matrices are permuted.
-//
-// A,x,b,w,lo,hi,state,findex,p,c are permuted such that sets C,N have
-// contiguous indexes. the don't-care indexes follow N.
-//
-// an L*D*L' factorization is maintained of A(C,C), and whenever indexes are
-// added or removed from the set C the factorization is updated.
-// thus L*D*L'=A[C,C], i.e. a permuted top left nC*nC submatrix of A.
-// the leading dimension of the matrix L is always `nskip'.
-//
-// at the start there may be other indexes that are unbounded but are not
-// included in `nub'. dLCP will permute the matrix so that absolutely all
-// unbounded vectors are at the start. thus there may be some initial
-// permutation.
-//
-// the algorithms here assume certain patterns, particularly with respect to
-// index transfer.
-
-#ifdef dLCP_FAST
-
-struct dLCP {
-  int n,nskip,nub;
-  ATYPE A;				// A rows
-  dReal *Adata,*x,*b,*w,*lo,*hi;	// permuted LCP problem data
-  dReal *L,*d;				// L*D*L' factorization of set C
-  dReal *Dell,*ell,*tmp;
-  int *state,*findex,*p,*C;
-  int nC,nN;				// size of each index set
-
-  dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
-	dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
-	dReal *_Dell, dReal *_ell, dReal *_tmp,
-	int *_state, int *_findex, int *_p, int *_C, dReal **Arows);
-  int getNub() { return nub; }
-  void transfer_i_to_C (int i);
-  void transfer_i_to_N (int i)
-    { nN++; }			// because we can assume C and N span 1:i-1
-  void transfer_i_from_N_to_C (int i);
-  void transfer_i_from_C_to_N (int i);
-  int numC() { return nC; }
-  int numN() { return nN; }
-  int indexC (int i) { return i; }
-  int indexN (int i) { return i+nC; }
-  dReal Aii (int i) { return AROW(i)[i]; }
-  dReal AiC_times_qC (int i, dReal *q) { return dDot (AROW(i),q,nC); }
-  dReal AiN_times_qN (int i, dReal *q) { return dDot (AROW(i)+nC,q+nC,nN); }
-  void pN_equals_ANC_times_qC (dReal *p, dReal *q);
-  void pN_plusequals_ANi (dReal *p, int i, int sign=1);
-  void pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q)
-    { for (int i=0; i<nC; i++) p[i] += s*q[i]; }
-  void pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q)
-    { for (int i=0; i<nN; i++) p[i+nC] += s*q[i+nC]; }
-  void solve1 (dReal *a, int i, int dir=1, int only_transfer=0);
-  void unpermute();
-};
-
-
-dLCP::dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
-	    dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
-	    dReal *_Dell, dReal *_ell, dReal *_tmp,
-	    int *_state, int *_findex, int *_p, int *_C, dReal **Arows)
-{
-  n = _n;
-  nub = _nub;
-  Adata = _Adata;
-  A = 0;
-  x = _x;
-  b = _b;
-  w = _w;
-  lo = _lo;
-  hi = _hi;
-  L = _L;
-  d = _d;
-  Dell = _Dell;
-  ell = _ell;
-  tmp = _tmp;
-  state = _state;
-  findex = _findex;
-  p = _p;
-  C = _C;
-  nskip = dPAD(n);
-  dSetZero (x,n);
-
-  int k;
-
-# ifdef ROWPTRS
-  // make matrix row pointers
-  A = Arows;
-  for (k=0; k<n; k++) A[k] = Adata + k*nskip;
-# else
-  A = Adata;
-# endif
-
-  nC = 0;
-  nN = 0;
-  for (k=0; k<n; k++) p[k]=k;		// initially unpermuted
-
-  /*
-  // for testing, we can do some random swaps in the area i > nub
-  if (nub < n) {
-    for (k=0; k<100; k++) {
-      int i1,i2;
-      do {
-	i1 = dRandInt(n-nub)+nub;
-	i2 = dRandInt(n-nub)+nub;
-      }
-      while (i1 > i2); 
-      //printf ("--> %d %d\n",i1,i2);
-      swapProblem (A,x,b,w,lo,hi,p,state,findex,n,i1,i2,nskip,0);
-    }
-  }
-  */
-
-  // permute the problem so that *all* the unbounded variables are at the
-  // start, i.e. look for unbounded variables not included in `nub'. we can
-  // potentially push up `nub' this way and get a bigger initial factorization.
-  // note that when we swap rows/cols here we must not just swap row pointers,
-  // as the initial factorization relies on the data being all in one chunk.
-  for (k=nub; k<n; k++) {
-    if (lo[k]==-dInfinity && hi[k]==dInfinity) {
-      swapProblem (A,x,b,w,lo,hi,p,state,findex,n,nub,k,nskip,0);
-      nub++;
-    }
-  }
-
-  // if there are unbounded variables at the start, factorize A up to that
-  // point and solve for x. this puts all indexes 0..nub-1 into C.
-  if (nub > 0) {
-    for (k=0; k<nub; k++) memcpy (L+k*nskip,AROW(k),(k+1)*sizeof(dReal));
-    dFactorLDLT (L,d,nub,nskip);
-    memcpy (x,b,nub*sizeof(dReal));
-    dSolveLDLT (L,d,x,nub,nskip);
-    dSetZero (w,nub);
-    for (k=0; k<nub; k++) C[k] = k;
-    nC = nub;
-  }
-
-  // permute the indexes > nub such that all findex variables are at the end
-  if (findex) {
-    int num_at_end = 0;
-    for (k=n-1; k >= nub; k--) {
-      if (findex[k] >= 0) {
-	swapProblem (A,x,b,w,lo,hi,p,state,findex,n,k,n-1-num_at_end,nskip,1);
-	num_at_end++;
-      }
-    }
-  }
-
-  // print info about indexes
-  /*
-  for (k=0; k<n; k++) {
-    if (k<nub) printf ("C");
-    else if (lo[k]==-dInfinity && hi[k]==dInfinity) printf ("c");
-    else printf (".");
-  }
-  printf ("\n");
-  */
-}
-
-
-void dLCP::transfer_i_to_C (int i)
-{
-  int j;
-  if (nC > 0) {
-    // ell,Dell were computed by solve1(). note, ell = D \ L1solve (L,A(i,C))
-    for (j=0; j<nC; j++) L[nC*nskip+j] = ell[j];
-    d[nC] = dRecip (AROW(i)[i] - dDot(ell,Dell,nC));
-  }
-  else {
-    d[0] = dRecip (AROW(i)[i]);
-  }
-  swapProblem (A,x,b,w,lo,hi,p,state,findex,n,nC,i,nskip,1);
-  C[nC] = nC;
-  nC++;
-
-# ifdef DEBUG_LCP
-  checkFactorization (A,L,d,nC,C,nskip);
-  if (i < (n-1)) checkPermutations (i+1,n,nC,nN,p,C);
-# endif
-}
-
-
-void dLCP::transfer_i_from_N_to_C (int i)
-{
-  int j;
-  if (nC > 0) {
-    dReal *aptr = AROW(i);
-#   ifdef NUB_OPTIMIZATIONS
-    // if nub>0, initial part of aptr unpermuted
-    for (j=0; j<nub; j++) Dell[j] = aptr[j];
-    for (j=nub; j<nC; j++) Dell[j] = aptr[C[j]];
-#   else
-    for (j=0; j<nC; j++) Dell[j] = aptr[C[j]];
-#   endif
-    dSolveL1 (L,Dell,nC,nskip);
-    for (j=0; j<nC; j++) ell[j] = Dell[j] * d[j];
-    for (j=0; j<nC; j++) L[nC*nskip+j] = ell[j];
-    d[nC] = dRecip (AROW(i)[i] - dDot(ell,Dell,nC));
-  }
-  else {
-    d[0] = dRecip (AROW(i)[i]);
-  }
-  swapProblem (A,x,b,w,lo,hi,p,state,findex,n,nC,i,nskip,1);
-  C[nC] = nC;
-  nN--;
-  nC++;
-
-  // @@@ TO DO LATER
-  // if we just finish here then we'll go back and re-solve for
-  // delta_x. but actually we can be more efficient and incrementally
-  // update delta_x here. but if we do this, we wont have ell and Dell
-  // to use in updating the factorization later.
-
-# ifdef DEBUG_LCP
-  checkFactorization (A,L,d,nC,C,nskip);
-# endif
-}
-
-
-void dLCP::transfer_i_from_C_to_N (int i)
-{
-  // remove a row/column from the factorization, and adjust the
-  // indexes (black magic!)
-  int j,k;
-  for (j=0; j<nC; j++) if (C[j]==i) {
-    dLDLTRemove (A,C,L,d,n,nC,j,nskip);
-    for (k=0; k<nC; k++) if (C[k]==nC-1) {
-      C[k] = C[j];
-      if (j < (nC-1)) memmove (C+j,C+j+1,(nC-j-1)*sizeof(int));
-      break;
-    }
-    dIASSERT (k < nC);
-    break;
-  }
-  dIASSERT (j < nC);
-  swapProblem (A,x,b,w,lo,hi,p,state,findex,n,i,nC-1,nskip,1);
-  nC--;
-  nN++;
-
-# ifdef DEBUG_LCP
-  checkFactorization (A,L,d,nC,C,nskip);
-# endif
-}
-
-
-void dLCP::pN_equals_ANC_times_qC (dReal *p, dReal *q)
-{
-  // we could try to make this matrix-vector multiplication faster using
-  // outer product matrix tricks, e.g. with the dMultidotX() functions.
-  // but i tried it and it actually made things slower on random 100x100
-  // problems because of the overhead involved. so we'll stick with the
-  // simple method for now.
-  for (int i=0; i<nN; i++) p[i+nC] = dDot (AROW(i+nC),q,nC);
-}
-
-
-void dLCP::pN_plusequals_ANi (dReal *p, int i, int sign)
-{
-  dReal *aptr = AROW(i)+nC;
-  if (sign > 0) {
-    for (int i=0; i<nN; i++) p[i+nC] += aptr[i];
-  }
-  else {
-    for (int i=0; i<nN; i++) p[i+nC] -= aptr[i];
-  }
-}
-
-
-void dLCP::solve1 (dReal *a, int i, int dir, int only_transfer)
-{
-  // the `Dell' and `ell' that are computed here are saved. if index i is
-  // later added to the factorization then they can be reused.
-  //
-  // @@@ question: do we need to solve for entire delta_x??? yes, but
-  //     only if an x goes below 0 during the step.
-
-  int j;
-  if (nC > 0) {
-    dReal *aptr = AROW(i);
-#   ifdef NUB_OPTIMIZATIONS
-    // if nub>0, initial part of aptr[] is guaranteed unpermuted
-    for (j=0; j<nub; j++) Dell[j] = aptr[j];
-    for (j=nub; j<nC; j++) Dell[j] = aptr[C[j]];
-#   else
-    for (j=0; j<nC; j++) Dell[j] = aptr[C[j]];
-#   endif
-    dSolveL1 (L,Dell,nC,nskip);
-    for (j=0; j<nC; j++) ell[j] = Dell[j] * d[j];
-
-    if (!only_transfer) {
-      for (j=0; j<nC; j++) tmp[j] = ell[j];
-      dSolveL1T (L,tmp,nC,nskip);
-      if (dir > 0) {
-	for (j=0; j<nC; j++) a[C[j]] = -tmp[j];
-      }
-      else {
-	for (j=0; j<nC; j++) a[C[j]] = tmp[j];
-      }
-    }
-  }
-}
-
-
-void dLCP::unpermute()
-{
-  // now we have to un-permute x and w
-  int j;
-  dReal *tmp = (dReal*) ALLOCA (n*sizeof(dReal));
-  memcpy (tmp,x,n*sizeof(dReal));
-  for (j=0; j<n; j++) x[p[j]] = tmp[j];
-  memcpy (tmp,w,n*sizeof(dReal));
-  for (j=0; j<n; j++) w[p[j]] = tmp[j];
-}
-
-#endif // dLCP_FAST
-
-//***************************************************************************
-// an unoptimized Dantzig LCP driver routine for the basic LCP problem.
-// must have lo=0, hi=dInfinity, and nub=0.
-
-void dSolveLCPBasic (int n, dReal *A, dReal *x, dReal *b,
-		     dReal *w, int nub, dReal *lo, dReal *hi)
-{
-  dAASSERT (n>0 && A && x && b && w && nub == 0);
-
-  int i,k;
-  int nskip = dPAD(n);
-  dReal *L = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
-  dReal *d = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *delta_x = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *delta_w = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *Dell = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *ell = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *tmp = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal **Arows = (dReal**) ALLOCA (n*sizeof(dReal*));
-  int *p = (int*) ALLOCA (n*sizeof(int));
-  int *C = (int*) ALLOCA (n*sizeof(int));
-  int *dummy = (int*) ALLOCA (n*sizeof(int));
-
-  dLCP lcp (n,0,A,x,b,w,tmp,tmp,L,d,Dell,ell,tmp,dummy,dummy,p,C,Arows);
-  nub = lcp.getNub();
-
-  for (i=0; i<n; i++) {
-    w[i] = lcp.AiC_times_qC (i,x) - b[i];
-    if (w[i] >= 0) {
-      lcp.transfer_i_to_N (i);
-    }
-    else {
-      for (;;) {
-	// compute: delta_x(C) = -A(C,C)\A(C,i)
-	dSetZero (delta_x,n);
-	lcp.solve1 (delta_x,i);
-	delta_x[i] = 1;
-
-	// compute: delta_w = A*delta_x
-	dSetZero (delta_w,n);
-	lcp.pN_equals_ANC_times_qC (delta_w,delta_x);
-	lcp.pN_plusequals_ANi (delta_w,i);
-        delta_w[i] = lcp.AiC_times_qC (i,delta_x) + lcp.Aii(i);
-
-	// find index to switch
-	int si = i;		// si = switch index
-	int si_in_N = 0;	// set to 1 if si in N
-	dReal s = -w[i]/delta_w[i];
-
-	if (s <= 0) {
-	  dMessage (d_ERR_LCP, "LCP internal error, s <= 0 (s=%.4e)",s);
-	  if (i < (n-1)) {
-	    dSetZero (x+i,n-i);
-	    dSetZero (w+i,n-i);
-	  }
-	  goto done;
-	}
-
-	for (k=0; k < lcp.numN(); k++) {
-	  if (delta_w[lcp.indexN(k)] < 0) {
-	    dReal s2 = -w[lcp.indexN(k)] / delta_w[lcp.indexN(k)];
-	    if (s2 < s) {
-	      s = s2;
-	      si = lcp.indexN(k);
-	      si_in_N = 1;
-	    }
-	  }
-	}
-	for (k=0; k < lcp.numC(); k++) {
-	  if (delta_x[lcp.indexC(k)] < 0) {
-	    dReal s2 = -x[lcp.indexC(k)] / delta_x[lcp.indexC(k)];
-	    if (s2 < s) {
-	      s = s2;
-	      si = lcp.indexC(k);
-	      si_in_N = 0;
-	    }
-	  }
-	}
-
-	// apply x = x + s * delta_x
-	lcp.pC_plusequals_s_times_qC (x,s,delta_x);
-	x[i] += s;
-	lcp.pN_plusequals_s_times_qN (w,s,delta_w);
-	w[i] += s * delta_w[i];
-
-	// switch indexes between sets if necessary
-	if (si==i) {
-	  w[i] = 0;
-	  lcp.transfer_i_to_C (i);
-	  break;
-	}
-	if (si_in_N) {
-          w[si] = 0;
-	  lcp.transfer_i_from_N_to_C (si);
-	}
-	else {
-          x[si] = 0;
-	  lcp.transfer_i_from_C_to_N (si);
-	}
-      }
-    }
-  }
-
- done:
-  lcp.unpermute();
-}
-
-//***************************************************************************
-// an optimized Dantzig LCP driver routine for the lo-hi LCP problem.
-
-void dSolveLCP (int n, dReal *A, dReal *x, dReal *b,
-		dReal *w, int nub, dReal *lo, dReal *hi, int *findex)
-{
-  dAASSERT (n>0 && A && x && b && w && lo && hi && nub >= 0 && nub <= n);
-  int i,k,hit_first_friction_index = 0;
-  int nskip = dPAD(n);
-
-  // if all the variables are unbounded then we can just factor, solve,
-  // and return
-  if (nub >= n) {
-    dFactorLDLT (A,w,n,nskip);		// use w for d
-    dSolveLDLT (A,w,b,n,nskip);
-    memcpy (x,b,n*sizeof(dReal));
-    dSetZero (w,n);
-    return;
-  }
-
-# ifndef dNODEBUG
-  // check restrictions on lo and hi
-  for (k=0; k<n; k++) dIASSERT (lo[k] <= 0 && hi[k] >= 0);
-# endif
-
-  dReal *L = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
-  dReal *d = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *delta_x = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *delta_w = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *Dell = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *ell = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal **Arows = (dReal**) ALLOCA (n*sizeof(dReal*));
-  int *p = (int*) ALLOCA (n*sizeof(int));
-  int *C = (int*) ALLOCA (n*sizeof(int));
-  int dir;
-  dReal dirf;
-
-  // for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i)
-  int *state = (int*) ALLOCA (n*sizeof(int));
-
-  // create LCP object. note that tmp is set to delta_w to save space, this
-  // optimization relies on knowledge of how tmp is used, so be careful!
-  dLCP lcp (n,nub,A,x,b,w,lo,hi,L,d,Dell,ell,delta_w,state,findex,p,C,Arows);
-  nub = lcp.getNub();
-
-  // loop over all indexes nub..n-1. for index i, if x(i),w(i) satisfy the
-  // LCP conditions then i is added to the appropriate index set. otherwise
-  // x(i),w(i) is driven either +ve or -ve to force it to the valid region.
-  // as we drive x(i), x(C) is also adjusted to keep w(C) at zero.
-  // while driving x(i) we maintain the LCP conditions on the other variables
-  // 0..i-1. we do this by watching out for other x(i),w(i) values going
-  // outside the valid region, and then switching them between index sets
-  // when that happens.
-
-  for (i=nub; i<n; i++) {
-    // the index i is the driving index and indexes i+1..n-1 are "dont care",
-    // i.e. when we make changes to the system those x's will be zero and we
-    // don't care what happens to those w's. in other words, we only consider
-    // an (i+1)*(i+1) sub-problem of A*x=b+w.
-
-    // if we've hit the first friction index, we have to compute the lo and
-    // hi values based on the values of x already computed. we have been
-    // permuting the indexes, so the values stored in the findex vector are
-    // no longer valid. thus we have to temporarily unpermute the x vector. 
-    if (hit_first_friction_index == 0 && findex && findex[i] >= 0) {
-      // un-permute x into delta_w, which is not being used at the moment
-      for (k=0; k<n; k++) delta_w[p[k]] = x[k];
-      // set lo and hi values
-      for (k=i; k<n; k++) {
-	hi[k] = dFabs (hi[k] * delta_w[findex[k]]);
-	lo[k] = -hi[k];
-      }
-      hit_first_friction_index = 1;
-    }
-
-    // thus far we have not even been computing the w values for indexes
-    // greater than i, so compute w[i] now.
-    w[i] = lcp.AiC_times_qC (i,x) + lcp.AiN_times_qN (i,x) - b[i];
-
-    // if lo=hi=0 (which can happen for tangential friction when normals are
-    // 0) then the index will be assigned to set N with some state. however,
-    // set C's line has zero size, so the index will always remain in set N.
-    // with the "normal" switching logic, if w changed sign then the index
-    // would have to switch to set C and then back to set N with an inverted
-    // state. this is pointless, and also computationally expensive. to
-    // prevent this from happening, we use the rule that indexes with lo=hi=0
-    // will never be checked for set changes. this means that the state for
-    // these indexes may be incorrect, but that doesn't matter.
-
-    // see if x(i),w(i) is in a valid region
-    if (lo[i]==0 && w[i] >= 0) {
-      lcp.transfer_i_to_N (i);
-      state[i] = 0;
-    }
-    else if (hi[i]==0 && w[i] <= 0) {
-      lcp.transfer_i_to_N (i);
-      state[i] = 1;
-    }
-    else if (w[i]==0) {
-      // this is a degenerate case. by the time we get to this test we know
-      // that lo != 0, which means that lo < 0 as lo is not allowed to be +ve,
-      // and similarly that hi > 0. this means that the line segment
-      // corresponding to set C is at least finite in extent, and we are on it.
-      // NOTE: we must call lcp.solve1() before lcp.transfer_i_to_C()
-      lcp.solve1 (delta_x,i,0,1);
-      lcp.transfer_i_to_C (i);
-    }
-    else {
-      // we must push x(i) and w(i)
-      for (;;) {
-	// find direction to push on x(i)
-	if (w[i] <= 0) {
-	  dir = 1;
-	  dirf = REAL(1.0);
-	}
-	else {
-	  dir = -1;
-	  dirf = REAL(-1.0);
-	}
-
-	// compute: delta_x(C) = -dir*A(C,C)\A(C,i)
-	lcp.solve1 (delta_x,i,dir);
-	// note that delta_x[i] = dirf, but we wont bother to set it
-
-	// compute: delta_w = A*delta_x ... note we only care about
-        // delta_w(N) and delta_w(i), the rest is ignored
-	lcp.pN_equals_ANC_times_qC (delta_w,delta_x);
-	lcp.pN_plusequals_ANi (delta_w,i,dir);
-        delta_w[i] = lcp.AiC_times_qC (i,delta_x) + lcp.Aii(i)*dirf;
-
-	// find largest step we can take (size=s), either to drive x(i),w(i)
-	// to the valid LCP region or to drive an already-valid variable
-	// outside the valid region.
-
-	int cmd = 1;		// index switching command
-	int si = 0;		// si = index to switch if cmd>3
-	dReal s = -w[i]/delta_w[i];
-	if (dir > 0) {
-	  if (hi[i] < dInfinity) {
-	    dReal s2 = (hi[i]-x[i])/dirf;		// step to x(i)=hi(i)
-	    if (s2 < s) {
-	      s = s2;
-	      cmd = 3;
-	    }
-	  }
-	}
-	else {
-	  if (lo[i] > -dInfinity) {
-	    dReal s2 = (lo[i]-x[i])/dirf;		// step to x(i)=lo(i)
-	    if (s2 < s) {
-	      s = s2;
-	      cmd = 2;
-	    }
-	  }
-	}
-
-	for (k=0; k < lcp.numN(); k++) {
-	  if ((state[lcp.indexN(k)]==0 && delta_w[lcp.indexN(k)] < 0) ||
-	      (state[lcp.indexN(k)]!=0 && delta_w[lcp.indexN(k)] > 0)) {
-	    // don't bother checking if lo=hi=0
-	    if (lo[lcp.indexN(k)] == 0 && hi[lcp.indexN(k)] == 0) continue;
-	    dReal s2 = -w[lcp.indexN(k)] / delta_w[lcp.indexN(k)];
-	    if (s2 < s) {
-	      s = s2;
-	      cmd = 4;
-	      si = lcp.indexN(k);
-	    }
-	  }
-	}
-
-	for (k=nub; k < lcp.numC(); k++) {
-	  if (delta_x[lcp.indexC(k)] < 0 && lo[lcp.indexC(k)] > -dInfinity) {
-	    dReal s2 = (lo[lcp.indexC(k)]-x[lcp.indexC(k)]) /
-	      delta_x[lcp.indexC(k)];
-	    if (s2 < s) {
-	      s = s2;
-	      cmd = 5;
-	      si = lcp.indexC(k);
-	    }
-	  }
-	  if (delta_x[lcp.indexC(k)] > 0 && hi[lcp.indexC(k)] < dInfinity) {
-	    dReal s2 = (hi[lcp.indexC(k)]-x[lcp.indexC(k)]) /
-	      delta_x[lcp.indexC(k)];
-	    if (s2 < s) {
-	      s = s2;
-	      cmd = 6;
-	      si = lcp.indexC(k);
-	    }
-	  }
-	}
-
-	//static char* cmdstring[8] = {0,"->C","->NL","->NH","N->C",
-	//			     "C->NL","C->NH"};
-	//printf ("cmd=%d (%s), si=%d\n",cmd,cmdstring[cmd],(cmd>3) ? si : i);
-
-	// if s <= 0 then we've got a problem. if we just keep going then
-	// we're going to get stuck in an infinite loop. instead, just cross
-	// our fingers and exit with the current solution.
-	if (s <= 0) {
-	  dMessage (d_ERR_LCP, "LCP internal error, s <= 0 (s=%.4e)",s);
-	  if (i < (n-1)) {
-	    dSetZero (x+i,n-i);
-	    dSetZero (w+i,n-i);
-	  }
-	  goto done;
-	}
-
-	// apply x = x + s * delta_x
-	lcp.pC_plusequals_s_times_qC (x,s,delta_x);
-	x[i] += s * dirf;
-
-	// apply w = w + s * delta_w
-	lcp.pN_plusequals_s_times_qN (w,s,delta_w);
-	w[i] += s * delta_w[i];
-
-	// switch indexes between sets if necessary
-	switch (cmd) {
-	case 1:		// done
-	  w[i] = 0;
-	  lcp.transfer_i_to_C (i);
-	  break;
-	case 2:		// done
-	  x[i] = lo[i];
-	  state[i] = 0;
-	  lcp.transfer_i_to_N (i);
-	  break;
-	case 3:		// done
-	  x[i] = hi[i];
-	  state[i] = 1;
-	  lcp.transfer_i_to_N (i);
-	  break;
-	case 4:		// keep going
-	  w[si] = 0;
-	  lcp.transfer_i_from_N_to_C (si);
-	  break;
-	case 5:		// keep going
-	  x[si] = lo[si];
-	  state[si] = 0;
-	  lcp.transfer_i_from_C_to_N (si);
-	  break;
-	case 6:		// keep going
-	  x[si] = hi[si];
-	  state[si] = 1;
-	  lcp.transfer_i_from_C_to_N (si);
-	  break;
-	}
-
-	if (cmd <= 3) break;
-      }
-    }
-  }
-
- done:
-  lcp.unpermute();
-}
-
-//***************************************************************************
-// accuracy and timing test
-
-extern "C" void dTestSolveLCP()
-{
-  int n = 100;
-  int i,nskip = dPAD(n);
-  const dReal tol = REAL(1e-9);
-  printf ("dTestSolveLCP()\n");
-
-  dReal *A = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
-  dReal *x = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *b = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *w = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *lo = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *hi = (dReal*) ALLOCA (n*sizeof(dReal));
-
-  dReal *A2 = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
-  dReal *b2 = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *lo2 = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *hi2 = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *tmp1 = (dReal*) ALLOCA (n*sizeof(dReal));
-  dReal *tmp2 = (dReal*) ALLOCA (n*sizeof(dReal));
-
-  double total_time = 0;
-  for (int count=0; count < 1000; count++) {
-
-    // form (A,b) = a random positive definite LCP problem
-    dMakeRandomMatrix (A2,n,n,1.0);
-    dMultiply2 (A,A2,A2,n,n,n);
-    dMakeRandomMatrix (x,n,1,1.0);
-    dMultiply0 (b,A,x,n,n,1);
-    for (i=0; i<n; i++) b[i] += (dRandReal()*REAL(0.2))-REAL(0.1);
-
-    // choose `nub' in the range 0..n-1
-    int nub = 50; //dRandInt (n);
-
-    // make limits
-    for (i=0; i<nub; i++) lo[i] = -dInfinity;
-    for (i=0; i<nub; i++) hi[i] = dInfinity;
-    //for (i=nub; i<n; i++) lo[i] = 0;
-    //for (i=nub; i<n; i++) hi[i] = dInfinity;
-    //for (i=nub; i<n; i++) lo[i] = -dInfinity;
-    //for (i=nub; i<n; i++) hi[i] = 0;
-    for (i=nub; i<n; i++) lo[i] = -(dRandReal()*REAL(1.0))-REAL(0.01);
-    for (i=nub; i<n; i++) hi[i] =  (dRandReal()*REAL(1.0))+REAL(0.01);
-
-    // set a few limits to lo=hi=0
-    /*
-    for (i=0; i<10; i++) {
-      int j = dRandInt (n-nub) + nub;
-      lo[j] = 0;
-      hi[j] = 0;
-    }
-    */
-
-    // solve the LCP. we must make copy of A,b,lo,hi (A2,b2,lo2,hi2) for
-    // SolveLCP() to permute. also, we'll clear the upper triangle of A2 to
-    // ensure that it doesn't get referenced (if it does, the answer will be
-    // wrong).
-
-    memcpy (A2,A,n*nskip*sizeof(dReal));
-    dClearUpperTriangle (A2,n);
-    memcpy (b2,b,n*sizeof(dReal));
-    memcpy (lo2,lo,n*sizeof(dReal));
-    memcpy (hi2,hi,n*sizeof(dReal));
-    dSetZero (x,n);
-    dSetZero (w,n);
-
-    dStopwatch sw;
-    dStopwatchReset (&sw);
-    dStopwatchStart (&sw);
-
-    dSolveLCP (n,A2,x,b2,w,nub,lo2,hi2,0);
-
-    dStopwatchStop (&sw);
-    double time = dStopwatchTime(&sw);
-    total_time += time;
-    double average = total_time / double(count+1) * 1000.0;
-
-    // check the solution
-
-    dMultiply0 (tmp1,A,x,n,n,1);
-    for (i=0; i<n; i++) tmp2[i] = b[i] + w[i];
-    dReal diff = dMaxDifference (tmp1,tmp2,n,1);
-    // printf ("\tA*x = b+w, maximum difference = %.6e - %s (1)\n",diff,
-    //	    diff > tol ? "FAILED" : "passed");
-    if (diff > tol) dDebug (0,"A*x = b+w, maximum difference = %.6e",diff);
-    int n1=0,n2=0,n3=0;
-    for (i=0; i<n; i++) {
-      if (x[i]==lo[i] && w[i] >= 0) {
-	n1++;	// ok
-      }
-      else if (x[i]==hi[i] && w[i] <= 0) {
-	n2++;	// ok
-      }
-      else if (x[i] >= lo[i] && x[i] <= hi[i] && w[i] == 0) {
-	n3++;	// ok
-      }
-      else {
-	dDebug (0,"FAILED: i=%d x=%.4e w=%.4e lo=%.4e hi=%.4e",i,
-		x[i],w[i],lo[i],hi[i]);
-      }
-    }
-
-    // pacifier
-    printf ("passed: NL=%3d NH=%3d C=%3d   ",n1,n2,n3);
-    printf ("time=%10.3f ms  avg=%10.4f\n",time * 1000.0,average);
-  }
-}
diff --git a/extern/ode/dist/ode/src/lcp.h b/extern/ode/dist/ode/src/lcp.h
deleted file mode 100644
index 86cbd6319eb..00000000000
--- a/extern/ode/dist/ode/src/lcp.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-given (A,b,lo,hi), solve the LCP problem: A*x = b+w, where each x(i),w(i)
-satisfies one of
-	(1) x = lo, w >= 0
-	(2) x = hi, w <= 0
-	(3) lo < x < hi, w = 0
-A is a matrix of dimension n*n, everything else is a vector of size n*1.
-lo and hi can be +/- dInfinity as needed. the first `nub' variables are
-unbounded, i.e. hi and lo are assumed to be +/- dInfinity.
-
-we restrict lo(i) <= 0 and hi(i) >= 0.
-
-the original data (A,b) may be modified by this function.
-
-if the `findex' (friction index) parameter is nonzero, it points to an array
-of index values. in this case constraints that have findex[i] >= 0 are
-special. all non-special constraints are solved for, then the lo and hi values
-for the special constraints are set:
-  hi[i] = abs( hi[i] * x[findex[i]] )
-  lo[i] = -hi[i]
-and the solution continues. this mechanism allows a friction approximation
-to be implemented.
-
-*/
-
-
-#ifndef _ODE_LCP_H_
-#define _ODE_LCP_H_
-
-
-void dSolveLCP (int n, dReal *A, dReal *x, dReal *b, dReal *w,
-		int nub, dReal *lo, dReal *hi, int *findex);
-
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/mass.cpp b/extern/ode/dist/ode/src/mass.cpp
deleted file mode 100644
index 9c1aae2033f..00000000000
--- a/extern/ode/dist/ode/src/mass.cpp
+++ /dev/null
@@ -1,261 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/config.h>
-#include <ode/mass.h>
-#include <ode/odemath.h>
-#include <ode/matrix.h>
-
-
-#define _I(i,j) I[(i)*4+(j)]
-
-
-// return 1 if ok, 0 if bad
-
-static int checkMass (dMass *m)
-{
-  if (m->mass <= 0) {
-    dDEBUGMSG ("mass must be > 0");
-    return 0;
-  }
-  if (!dIsPositiveDefinite (m->I,3)) {
-    dDEBUGMSG ("inertia must be positive definite");
-    return 0;
-  }
-
-  // verify that the center of mass position is consistent with the mass
-  // and inertia matrix. this is done by checking that the inertia around
-  // the center of mass is also positive definite. from the comment in
-  // dMassTranslate(), if the body is translated so that its center of mass
-  // is at the point of reference, then the new inertia is:
-  //   I + mass*crossmat(c)^2
-  // note that requiring this to be positive definite is exactly equivalent
-  // to requiring that the spatial inertia matrix
-  //   [ mass*eye(3,3)   M*crossmat(c)^T ]
-  //   [ M*crossmat(c)   I               ]
-  // is positive definite, given that I is PD and mass>0. see the theorem
-  // about partitioned PD matrices for proof.
-
-  dMatrix3 I2,chat;
-  dSetZero (chat,12);
-  dCROSSMAT (chat,m->c,4,+,-);
-  dMULTIPLY0_333 (I2,chat,chat);
-  for (int i=0; i<12; i++) I2[i] = m->I[i] + m->mass*I2[i];
-  if (!dIsPositiveDefinite (I2,3)) {
-    dDEBUGMSG ("center of mass inconsistent with mass parameters");
-    return 0;
-  }
-  return 1;
-}
-
-
-void dMassSetZero (dMass *m)
-{
-  dAASSERT (m);
-  m->mass = REAL(0.0);
-  dSetZero (m->c,sizeof(m->c) / sizeof(dReal));
-  dSetZero (m->I,sizeof(m->I) / sizeof(dReal));
-}
-
-
-void dMassSetParameters (dMass *m, dReal themass,
-			 dReal cgx, dReal cgy, dReal cgz,
-			 dReal I11, dReal I22, dReal I33,
-			 dReal I12, dReal I13, dReal I23)
-{
-  dAASSERT (m);
-  dMassSetZero (m);
-  m->mass = themass;
-  m->c[0] = cgx;
-  m->c[1] = cgy;
-  m->c[2] = cgz;
-  m->_I(0,0) = I11;
-  m->_I(1,1) = I22;
-  m->_I(2,2) = I33;
-  m->_I(0,1) = I12;
-  m->_I(0,2) = I13;
-  m->_I(1,2) = I23;
-  m->_I(1,0) = I12;
-  m->_I(2,0) = I13;
-  m->_I(2,1) = I23;
-  checkMass (m);
-}
-
-
-void dMassSetSphere (dMass *m, dReal density, dReal radius)
-{
-  dAASSERT (m);
-  dMassSetZero (m);
-  m->mass = (REAL(4.0)/REAL(3.0)) * M_PI * radius*radius*radius * density;
-  dReal II = REAL(0.4) * m->mass * radius*radius;
-  m->_I(0,0) = II;
-  m->_I(1,1) = II;
-  m->_I(2,2) = II;
-
-# ifndef dNODEBUG
-  checkMass (m);
-# endif
-}
-
-
-void dMassSetCappedCylinder (dMass *m, dReal density, int direction,
-			     dReal a, dReal b)
-{
-  dReal M1,M2,Ia,Ib;
-  dAASSERT (m);
-  dUASSERT (direction >= 1 && direction <= 3,"bad direction number");
-  dMassSetZero (m);
-  M1 = M_PI*a*a*b*density;		// cylinder mass
-  M2 = (REAL(4.0)/REAL(3.0))*M_PI*a*a*a*density;	// total cap mass
-  m->mass = M1+M2;
-  Ia = M1*(REAL(0.25)*a*a + (REAL(1.0)/REAL(12.0))*b*b) +
-    M2*(REAL(0.4)*a*a + REAL(0.5)*b*b);
-  Ib = (M1*REAL(0.5) + M2*REAL(0.4))*a*a;
-  m->_I(0,0) = Ia;
-  m->_I(1,1) = Ia;
-  m->_I(2,2) = Ia;
-  m->_I(direction-1,direction-1) = Ib;
-
-# ifndef dNODEBUG
-  checkMass (m);
-# endif
-}
-
-
-void dMassSetBox (dMass *m, dReal density,
-		  dReal lx, dReal ly, dReal lz)
-{
-  dAASSERT (m);
-  dMassSetZero (m);
-  dReal M = lx*ly*lz*density;
-  m->mass = M;
-  m->_I(0,0) = M/REAL(12.0) * (ly*ly + lz*lz);
-  m->_I(1,1) = M/REAL(12.0) * (lx*lx + lz*lz);
-  m->_I(2,2) = M/REAL(12.0) * (lx*lx + ly*ly);
-
-# ifndef dNODEBUG
-  checkMass (m);
-# endif
-}
-
-
-void dMassAdjust (dMass *m, dReal newmass)
-{
-  dAASSERT (m);
-  dReal scale = newmass / m->mass;
-  m->mass = newmass;
-  for (int i=0; i<3; i++) for (int j=0; j<3; j++) m->_I(i,j) *= scale;
-
-# ifndef dNODEBUG
-  checkMass (m);
-# endif
-}
-
-
-void dMassTranslate (dMass *m, dReal x, dReal y, dReal z)
-{
-  // if the body is translated by `a' relative to its point of reference,
-  // the new inertia about the point of reference is:
-  //
-  //   I + mass*(crossmat(c)^2 - crossmat(c+a)^2)
-  //
-  // where c is the existing center of mass and I is the old inertia.
-
-  int i,j;
-  dMatrix3 ahat,chat,t1,t2;
-  dReal a[3];
-
-  dAASSERT (m);
-
-  // adjust inertia matrix
-  dSetZero (chat,12);
-  dCROSSMAT (chat,m->c,4,+,-);
-  a[0] = x + m->c[0];
-  a[1] = y + m->c[1];
-  a[2] = z + m->c[2];
-  dSetZero (ahat,12);
-  dCROSSMAT (ahat,a,4,+,-);
-  dMULTIPLY0_333 (t1,ahat,ahat);
-  dMULTIPLY0_333 (t2,chat,chat);
-  for (i=0; i<3; i++) for (j=0; j<3; j++)
-    m->_I(i,j) += m->mass * (t2[i*4+j]-t1[i*4+j]);
-
-  // ensure perfect symmetry
-  m->_I(1,0) = m->_I(0,1);
-  m->_I(2,0) = m->_I(0,2);
-  m->_I(2,1) = m->_I(1,2);
-
-  // adjust center of mass
-  m->c[0] += x;
-  m->c[1] += y;
-  m->c[2] += z;
-
-# ifndef dNODEBUG
-  checkMass (m);
-# endif
-}
-
-
-void dMassRotate (dMass *m, const dMatrix3 R)
-{
-  // if the body is rotated by `R' relative to its point of reference,
-  // the new inertia about the point of reference is:
-  //
-  //   R * I * R'
-  //
-  // where I is the old inertia.
-
-  dMatrix3 t1;
-  dReal t2[3];
-
-  dAASSERT (m);
-
-  // rotate inertia matrix
-  dMULTIPLY2_333 (t1,m->I,R);
-  dMULTIPLY0_333 (m->I,R,t1);
-
-  // ensure perfect symmetry
-  m->_I(1,0) = m->_I(0,1);
-  m->_I(2,0) = m->_I(0,2);
-  m->_I(2,1) = m->_I(1,2);
-
-  // rotate center of mass
-  dMULTIPLY0_331 (t2,R,m->c);
-  m->c[0] = t2[0];
-  m->c[1] = t2[1];
-  m->c[2] = t2[2];
-
-# ifndef dNODEBUG
-  checkMass (m);
-# endif
-}
-
-
-void dMassAdd (dMass *a, const dMass *b)
-{
-  int i;
-  dAASSERT (a && b);
-  dReal denom = dRecip (a->mass + b->mass);
-  for (i=0; i<3; i++) a->c[i] = (a->c[i]*a->mass + b->c[i]*b->mass)*denom;
-  a->mass += b->mass;
-  for (i=0; i<12; i++) a->I[i] += b->I[i];
-}
diff --git a/extern/ode/dist/ode/src/mat.cpp b/extern/ode/dist/ode/src/mat.cpp
deleted file mode 100644
index 6e635dcc994..00000000000
--- a/extern/ode/dist/ode/src/mat.cpp
+++ /dev/null
@@ -1,230 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/config.h>
-#include <ode/misc.h>
-#include <ode/matrix.h>
-#include <ode/error.h>
-#include <ode/memory.h>
-#include "mat.h"
-
-
-dMatrix::dMatrix()
-{
-  n = 0;
-  m = 0;
-  data = 0;
-}
-
-
-dMatrix::dMatrix (int rows, int cols)
-{
-  if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
-  n = rows;
-  m = cols;
-  data = (dReal*) dAlloc (n*m*sizeof(dReal));
-  dSetZero (data,n*m);
-}
-
-
-dMatrix::dMatrix (const dMatrix &a)
-{
-  n = a.n;
-  m = a.m;
-  data = (dReal*) dAlloc (n*m*sizeof(dReal));
-  memcpy (data,a.data,n*m*sizeof(dReal));
-}
-
-
-dMatrix::dMatrix (int rows, int cols,
-		    dReal *_data, int rowskip, int colskip)
-{
-  if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
-  n = rows;
-  m = cols;
-  data = (dReal*) dAlloc (n*m*sizeof(dReal));
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++) data[i*m+j] = _data[i*rowskip + j*colskip];
-  }
-}
-
-
-dMatrix::~dMatrix()
-{
-  if (data) dFree (data,n*m*sizeof(dReal));
-}
-
-
-dReal & dMatrix::operator () (int i, int j)
-{
-  if (i < 0 || i >= n || j < 0 || j >= m) dDebug (0,"bad matrix (i,j)");
-  return data [i*m+j];
-}
-
-
-void dMatrix::operator= (const dMatrix &a)
-{
-  if (data) dFree (data,n*m*sizeof(dReal));
-  n = a.n;
-  m = a.m;
-  if (n > 0 && m > 0) {
-    data = (dReal*) dAlloc (n*m*sizeof(dReal));
-    memcpy (data,a.data,n*m*sizeof(dReal));
-  }
-  else data = 0;
-}
-
-
-void dMatrix::operator= (dReal a)
-{
-  for (int i=0; i<n*m; i++) data[i] = a;
-}
-
-
-dMatrix dMatrix::transpose()
-{
-  dMatrix r (m,n);
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++) r.data[j*n+i] = data[i*m+j];
-  }
-  return r;
-}
-
-
-dMatrix dMatrix::select (int np, int *p, int nq, int *q)
-{
-  if (np < 1 || nq < 1) dDebug (0,"Matrix select, bad index array sizes");
-  dMatrix r (np,nq);
-  for (int i=0; i<np; i++) {
-    for (int j=0; j<nq; j++) {
-      if (p[i] < 0 || p[i] >= n || q[i] < 0 || q[i] >= m)
-	dDebug (0,"Matrix select, bad index arrays");
-      r.data[i*nq+j] = data[p[i]*m+q[j]];
-    }
-  }
-  return r;
-}
-
-
-dMatrix dMatrix::operator + (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"matrix +, mismatched sizes");
-  dMatrix r (n,m);
-  for (int i=0; i<n*m; i++) r.data[i] = data[i] + a.data[i];
-  return r;
-}
-
-
-dMatrix dMatrix::operator - (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"matrix -, mismatched sizes");
-  dMatrix r (n,m);
-  for (int i=0; i<n*m; i++) r.data[i] = data[i] - a.data[i];
-  return r;
-}
-
-
-dMatrix dMatrix::operator - ()
-{
-  dMatrix r (n,m);
-  for (int i=0; i<n*m; i++) r.data[i] = -data[i];
-  return r;
-}
-
-
-dMatrix dMatrix::operator * (const dMatrix &a)
-{
-  if (m != a.n) dDebug (0,"matrix *, mismatched sizes");
-  dMatrix r (n,a.m);
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<a.m; j++) {
-      dReal sum = 0;
-      for (int k=0; k<m; k++) sum += data[i*m+k] * a.data[k*a.m+j];
-      r.data [i*a.m+j] = sum;
-    }
-  }
-  return r;
-}
-
-
-void dMatrix::operator += (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"matrix +=, mismatched sizes");
-  for (int i=0; i<n*m; i++) data[i] += a.data[i];
-}
-
-
-void dMatrix::operator -= (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"matrix -=, mismatched sizes");
-  for (int i=0; i<n*m; i++) data[i] -= a.data[i];
-}
-
-
-void dMatrix::clearUpperTriangle()
-{
-  if (n != m) dDebug (0,"clearUpperTriangle() only works on square matrices");
-  for (int i=0; i<n; i++) {
-    for (int j=i+1; j<m; j++) data[i*m+j] = 0;
-  }
-}
-
-
-void dMatrix::clearLowerTriangle()
-{
-  if (n != m) dDebug (0,"clearLowerTriangle() only works on square matrices");
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<i; j++) data[i*m+j] = 0;
-  }
-}
-
-
-void dMatrix::makeRandom (dReal range)
-{
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++)
-      data[i*m+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
-  }
-}
-
-
-void dMatrix::print (char *fmt, FILE *f)
-{
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++) fprintf (f,fmt,data[i*m+j]);
-    fprintf (f,"\n");
-  }
-}
-
-
-dReal dMatrix::maxDifference (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"maxDifference(), mismatched sizes");
-  dReal max = 0;
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++) {
-      dReal diff = dFabs(data[i*m+j] - a.data[i*m+j]);
-      if (diff > max) max = diff;
-    }
-  }
-  return max;
-}
diff --git a/extern/ode/dist/ode/src/mat.h b/extern/ode/dist/ode/src/mat.h
deleted file mode 100644
index 26f6bd1093a..00000000000
--- a/extern/ode/dist/ode/src/mat.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-// matrix class. this is mostly for convenience in the testing code, it is
-// not optimized at all. correctness is much more importance here.
-
-#ifndef _ODE_MAT_H_
-#define _ODE_MAT_H_
-
-#include <ode/common.h>
-
-
-class dMatrix {
-  int n,m;		// matrix dimension, n,m >= 0
-  dReal *data;		// if nonzero, n*m elements allocated on the heap
-
-public:
-  // constructors, destructors
-  dMatrix();				// make default 0x0 matrix
-  dMatrix (int rows, int cols);		// construct zero matrix of given size
-  dMatrix (const dMatrix &);		// construct copy of given matrix
-  // create copy of given data - element (i,j) is data[i*rowskip+j*colskip]
-  dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip);
-  ~dMatrix();				// destructor
-
-  // data movement
-  dReal & operator () (int i, int j);	// reference an element
-  void operator= (const dMatrix &);	// matrix = matrix
-  void operator= (dReal);		// matrix = scalar
-  dMatrix transpose();			// return transposed matrix
-  // return a permuted submatrix of this matrix, made up of the rows in p
-  // and the columns in q. p has np elements, q has nq elements.
-  dMatrix select (int np, int *p, int nq, int *q);
-
-  // operators
-  dMatrix operator + (const dMatrix &);
-  dMatrix operator - (const dMatrix &);
-  dMatrix operator - ();
-  dMatrix operator * (const dMatrix &);
-  void operator += (const dMatrix &);
-  void operator -= (const dMatrix &);
-
-  // utility
-  void clearUpperTriangle();
-  void clearLowerTriangle();
-  void makeRandom (dReal range);
-  void print (char *fmt = "%10.4f ", FILE *f=stdout);
-  dReal maxDifference (const dMatrix &);
-};
-
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/matrix.cpp b/extern/ode/dist/ode/src/matrix.cpp
deleted file mode 100644
index 16afe915dd6..00000000000
--- a/extern/ode/dist/ode/src/matrix.cpp
+++ /dev/null
@@ -1,358 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/common.h>
-#include <ode/matrix.h>
-
-// misc defines
-#define ALLOCA dALLOCA16
-
-
-void dSetZero (dReal *a, int n)
-{
-  dAASSERT (a && n >= 0);
-  while (n > 0) {
-    *(a++) = 0;
-    n--;
-  }
-}
-
-
-void dSetValue (dReal *a, int n, dReal value)
-{
-  dAASSERT (a && n >= 0);
-  while (n > 0) {
-    *(a++) = value;
-    n--;
-  }
-}
-
-
-void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
-{
-  int i,j,k,qskip,rskip,rpad;
-  dAASSERT (A && B && C && p>0 && q>0 && r>0);
-  qskip = dPAD(q);
-  rskip = dPAD(r);
-  rpad = rskip - r;
-  dReal sum;
-  const dReal *b,*c,*bb;
-  bb = B;
-  for (i=p; i; i--) {
-    for (j=0 ; j<r; j++) {
-      c = C + j;
-      b = bb;
-      sum = 0;
-      for (k=q; k; k--, c+=rskip) sum += (*(b++))*(*c);
-      *(A++) = sum; 
-    }
-    A += rpad;
-    bb += qskip;
-  }
-}
-
-
-void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
-{
-  int i,j,k,pskip,rskip;
-  dReal sum;
-  dAASSERT (A && B && C && p>0 && q>0 && r>0);
-  pskip = dPAD(p);
-  rskip = dPAD(r);
-  for (i=0; i<p; i++) {
-    for (j=0; j<r; j++) {
-      sum = 0;
-      for (k=0; k<q; k++) sum += B[i+k*pskip] * C[j+k*rskip];
-      A[i*rskip+j] = sum;
-    }
-  }
-}
-
-
-void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
-{
-  int i,j,k,z,rpad,qskip;
-  dReal sum;
-  const dReal *bb,*cc;
-  dAASSERT (A && B && C && p>0 && q>0 && r>0);
-  rpad = dPAD(r) - r;
-  qskip = dPAD(q);
-  bb = B;
-  for (i=p; i; i--) {
-    cc = C;
-    for (j=r; j; j--) {
-      z = 0;
-      sum = 0;
-      for (k=q; k; k--,z++) sum += bb[z] * cc[z];
-      *(A++) = sum; 
-      cc += qskip;
-    }
-    A += rpad;
-    bb += qskip;
-  }
-}
-
-
-int dFactorCholesky (dReal *A, int n)
-{
-  int i,j,k,nskip;
-  dReal sum,*a,*b,*aa,*bb,*cc,*recip;
-  dAASSERT (n > 0 && A);
-  nskip = dPAD (n);
-  recip = (dReal*) ALLOCA (n * sizeof(dReal));
-  aa = A;
-  for (i=0; i<n; i++) {
-    bb = A;
-    cc = A + i*nskip;
-    for (j=0; j<i; j++) {
-      sum = *cc;
-      a = aa;
-      b = bb;
-      for (k=j; k; k--) sum -= (*(a++))*(*(b++));
-      *cc = sum * recip[j];
-      bb += nskip;
-      cc++;
-    }
-    sum = *cc;
-    a = aa;
-    for (k=i; k; k--, a++) sum -= (*a)*(*a);
-    if (sum <= REAL(0.0)) return 0;
-    *cc = dSqrt(sum);
-    recip[i] = dRecip (*cc);
-    aa += nskip;
-  }
-  return 1;
-}
-
-
-void dSolveCholesky (const dReal *L, dReal *b, int n)
-{
-  int i,k,nskip;
-  dReal sum,*y;
-  dAASSERT (n > 0 && L && b);
-  nskip = dPAD (n);
-  y = (dReal*) ALLOCA (n*sizeof(dReal));
-  for (i=0; i<n; i++) {
-    sum = 0;
-    for (k=0; k < i; k++) sum += L[i*nskip+k]*y[k];
-    y[i] = (b[i]-sum)/L[i*nskip+i];
-  }
-  for (i=n-1; i >= 0; i--) {
-    sum = 0;
-    for (k=i+1; k < n; k++) sum += L[k*nskip+i]*b[k];
-    b[i] = (y[i]-sum)/L[i*nskip+i];
-  }
-}
-
-
-int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n)
-{
-  int i,j,nskip;
-  dReal *L,*x;
-  dAASSERT (n > 0 && A && Ainv);
-  nskip = dPAD (n);
-  L = (dReal*) ALLOCA (nskip*n*sizeof(dReal));
-  memcpy (L,A,nskip*n*sizeof(dReal));
-  x = (dReal*) ALLOCA (n*sizeof(dReal));
-  if (dFactorCholesky (L,n)==0) return 0;
-  dSetZero (Ainv,n*nskip);	// make sure all padding elements set to 0
-  for (i=0; i<n; i++) {
-    for (j=0; j<n; j++) x[j] = 0;
-    x[i] = 1;
-    dSolveCholesky (L,x,n);
-    for (j=0; j<n; j++) Ainv[j*nskip+i] = x[j];
-  }
-  return 1;  
-}
-
-
-int dIsPositiveDefinite (const dReal *A, int n)
-{
-  dReal *Acopy;
-  dAASSERT (n > 0 && A);
-  int nskip = dPAD (n);
-  Acopy = (dReal*) ALLOCA (nskip*n * sizeof(dReal));
-  memcpy (Acopy,A,nskip*n * sizeof(dReal));
-  return dFactorCholesky (Acopy,n);
-}
-
-
-/***** this has been replaced by a faster version
-void dSolveL1T (const dReal *L, dReal *b, int n, int nskip)
-{
-  int i,j;
-  dAASSERT (L && b && n >= 0 && nskip >= n);
-  dReal sum;
-  for (i=n-2; i>=0; i--) {
-    sum = 0;
-    for (j=i+1; j<n; j++) sum += L[j*nskip+i]*b[j];
-    b[i] -= sum;
-  }
-}
-*/
-
-
-void dVectorScale (dReal *a, const dReal *d, int n)
-{
-  dAASSERT (a && d && n >= 0);
-  for (int i=0; i<n; i++) a[i] *= d[i];
-}
-
-
-void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip)
-{
-  dAASSERT (L && d && b && n > 0 && nskip >= n);
-  dSolveL1 (L,b,n,nskip);
-  dVectorScale (b,d,n);
-  dSolveL1T (L,b,n,nskip);
-}
-
-
-void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip)
-{
-  int j,p;
-  dReal *W1,*W2,W11,W21,alpha1,alpha2,alphanew,gamma1,gamma2,k1,k2,Wp,ell,dee;
-  dAASSERT (L && d && a && n > 0 && nskip >= n);
-
-  if (n < 2) return;
-  W1 = (dReal*) ALLOCA (n*sizeof(dReal));
-  W2 = (dReal*) ALLOCA (n*sizeof(dReal));
-
-  W1[0] = 0;
-  W2[0] = 0;
-  for (j=1; j<n; j++) W1[j] = W2[j] = a[j] * M_SQRT1_2;
-  W11 = (REAL(0.5)*a[0]+1)*M_SQRT1_2;
-  W21 = (REAL(0.5)*a[0]-1)*M_SQRT1_2;
-
-  alpha1=1;
-  alpha2=1;
-
-  dee = d[0];
-  alphanew = alpha1 + (W11*W11)*dee;
-  dee /= alphanew;
-  gamma1 = W11 * dee;
-  dee *= alpha1;
-  alpha1 = alphanew;
-  alphanew = alpha2 - (W21*W21)*dee;
-  dee /= alphanew;
-  gamma2 = W21 * dee;
-  alpha2 = alphanew;
-  k1 = REAL(1.0) - W21*gamma1;
-  k2 = W21*gamma1*W11 - W21;
-  for (p=1; p<n; p++) {
-    Wp = W1[p];
-    ell = L[p*nskip];
-    W1[p] =    Wp - W11*ell;
-    W2[p] = k1*Wp +  k2*ell;
-  }
-
-  for (j=1; j<n; j++) {
-    dee = d[j];
-    alphanew = alpha1 + (W1[j]*W1[j])*dee;
-    dee /= alphanew;
-    gamma1 = W1[j] * dee;
-    dee *= alpha1;
-    alpha1 = alphanew;
-    alphanew = alpha2 - (W2[j]*W2[j])*dee;
-    dee /= alphanew;
-    gamma2 = W2[j] * dee;
-    dee *= alpha2;
-    d[j] = dee;
-    alpha2 = alphanew;
-
-    k1 = W1[j];
-    k2 = W2[j];
-    for (p=j+1; p<n; p++) {
-      ell = L[p*nskip+j];
-      Wp = W1[p] - k1 * ell;
-      ell += gamma1 * Wp;
-      W1[p] = Wp;
-      Wp = W2[p] - k2 * ell;
-      ell -= gamma2 * Wp;
-      W2[p] = Wp;
-      L[p*nskip+j] = ell;
-    }
-  }
-}
-
-
-// macros for dLDLTRemove() for accessing A - either access the matrix
-// directly or access it via row pointers. we are only supposed to reference
-// the lower triangle of A (it is symmetric), but indexes i and j come from
-// permutation vectors so they are not predictable. so do a test on the
-// indexes - this should not slow things down too much, as we don't do this
-// in an inner loop.
-
-#define _GETA(i,j) (A[i][j])
-//#define _GETA(i,j) (A[(i)*nskip+(j)])
-#define GETA(i,j) ((i > j) ? _GETA(i,j) : _GETA(j,i))
-
-
-void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
-		  int n1, int n2, int r, int nskip)
-{
-  int i;
-  dAASSERT(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 &&
-	   n1 >= n2 && nskip >= n1);
-  #ifndef dNODEBUG
-  for (i=0; i<n2; i++) dIASSERT(p[i] >= 0 && p[i] < n1);
-  #endif
-
-  if (r==n2-1) {
-    return;		// deleting last row/col is easy
-  }
-  else if (r==0) {
-    dReal *a = (dReal*) ALLOCA (n2 * sizeof(dReal));
-    for (i=0; i<n2; i++) a[i] = -GETA(p[i],p[0]);
-    a[0] += REAL(1.0);
-    dLDLTAddTL (L,d,a,n2,nskip);
-  }
-  else {
-    dReal *t = (dReal*) ALLOCA (r * sizeof(dReal));
-    dReal *a = (dReal*) ALLOCA ((n2-r) * sizeof(dReal));
-    for (i=0; i<r; i++) t[i] = L[r*nskip+i] / d[i];
-    for (i=0; i<(n2-r); i++)
-      a[i] = dDot(L+(r+i)*nskip,t,r) - GETA(p[r+i],p[r]);
-    a[0] += REAL(1.0);
-    dLDLTAddTL (L + r*nskip+r, d+r, a, n2-r, nskip);
-  }
-
-  // snip out row/column r from L and d
-  dRemoveRowCol (L,n2,nskip,r);
-  if (r < (n2-1)) memmove (d+r,d+r+1,(n2-r-1)*sizeof(dReal));
-}
-
-
-void dRemoveRowCol (dReal *A, int n, int nskip, int r)
-{
-  int i;
-  dAASSERT(A && n > 0 && nskip >= n && r >= 0 && r < n);
-  if (r >= n-1) return;
-  if (r > 0) {
-    for (i=0; i<r; i++)
-      memmove (A+i*nskip+r,A+i*nskip+r+1,(n-r-1)*sizeof(dReal));
-    for (i=r; i<(n-1); i++)
-      memcpy (A+i*nskip,A+i*nskip+nskip,r*sizeof(dReal));
-  }
-  for (i=r; i<(n-1); i++)
-    memcpy (A+i*nskip+r,A+i*nskip+nskip+r+1,(n-r-1)*sizeof(dReal));
-}
diff --git a/extern/ode/dist/ode/src/memory.cpp b/extern/ode/dist/ode/src/memory.cpp
deleted file mode 100644
index df61f97375f..00000000000
--- a/extern/ode/dist/ode/src/memory.cpp
+++ /dev/null
@@ -1,278 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-// if the dDEBUG_ALLOC macro is defined, the following tests are performed in
-// the default allocator:
-//   - size > 0 for alloc and realloc
-//   - realloc and free operate on uncorrupted blocks
-//   - realloc and free with the correct sizes
-//   - on exit, report of block allocation statistics
-//   - on exit, report of unfreed blocks and if they are corrupted
-// the allocator will also call Debug() when it allocates a block with
-// sequence number `_d_seqstop' or pointer value `_d_ptrstop'. these variables
-// are global and can be set in the debugger.
-
-#include <ode/config.h>
-#include <ode/memory.h>
-#include <ode/error.h>
-
-#ifdef dDEBUG_ALLOC
-
-// when debugging, this is a header that it put at start of all blocks.
-// it contains `padding', which are PADSIZE elements of known value just
-// before the user memory starts. another PADSIZE padding elements are put
-// at the end of the user memory. the idea is that if the user accidentally
-// steps outside the allocated memory, it can hopefully be detected by
-// examining the padding elements.
-
-#define PADSIZE 10
-struct blockHeader {
-  long pad1;			// protective padding
-  long seq;			// sequence number
-  long size;			// data size
-  long flags;			// bit 0 = ignore this block in final report
-  blockHeader *next,*prev;	// next & previous blocks
-  long pad[PADSIZE];		// protective padding
-};
-
-// compute the memory block size, including padding. the user memory block is
-// rounded up to a multiple of 4 bytes, to get alignment for the padding at
-// the end of the block.
-
-#define BSIZE(size) (((((size)-1) | 3)+1) + sizeof(blockHeader) + \
-  PADSIZE * sizeof(long))
-
-static blockHeader dummyblock = {0,0,0,0,&dummyblock,&dummyblock,
-				 {0,0,0,0,0,0,0,0,0,0}};
-static blockHeader *firstblock = &dummyblock;
-static long num_blocks_alloced = 0;
-static long num_bytes_alloced = 0;
-static long total_num_blocks_alloced = 0;
-static long total_num_bytes_alloced = 0;
-static long max_blocks_alloced = 0;
-static long max_bytes_alloced = 0;
-
-long _d_seqstop = 0;
-void *_d_ptrstop = 0;
-
-static int checkBlockOk (void *ptr, int fatal)
-{
-  if (ptr==0) dDebug (0,"0 passed to checkBlockOk()");
-  blockHeader *b = ((blockHeader*) ptr) - 1;
-  int i,ok = 1;
-  if (b->pad1 != (long)0xdeadbeef || b->seq < 0 || b->size < 0) ok = 0;
-  if (ok) {
-    for (i=0; i<PADSIZE; i++) if (b->pad[i] != (long)0xdeadbeef) ok = 0;
-  }
-  if (ok) {
-    long *endpad = (long*) (((char*)ptr) + (((b->size-1) | 3)+1));
-    for (i=0; i<PADSIZE; i++) if (endpad[i] != (long)0xdeadbeef) ok = 0;
-  }
-  if (!ok && fatal)
-    dDebug (0,"corrupted memory block found, ptr=%p, size=%d, "
-	    "seq=%ld", ptr,b->size,b->seq);
-  return ok;
-}
-
-#endif
-
-
-static dAllocFunction *allocfn = 0;
-static dReallocFunction *reallocfn = 0;
-static dFreeFunction *freefn = 0;
-
-
-
-void dSetAllocHandler (dAllocFunction *fn)
-{
-  allocfn = fn;
-}
-
-
-void dSetReallocHandler (dReallocFunction *fn)
-{
-  reallocfn = fn;
-}
-
-
-void dSetFreeHandler (dFreeFunction *fn)
-{
-  freefn = fn;
-}
-
-
-dAllocFunction *dGetAllocHandler()
-{
-  return allocfn;
-}
-
-
-dReallocFunction *dGetReallocHandler()
-{
-  return reallocfn;
-}
-
-
-dFreeFunction *dGetFreeHandler()
-{
-  return freefn;
-}
-
-
-void * dAlloc (int size)
-{
-#ifdef dDEBUG_ALLOC
-  if (size < 1) dDebug (0,"bad block size to Alloc()");
-
-  num_blocks_alloced++;
-  num_bytes_alloced += size;
-  total_num_blocks_alloced++;
-  total_num_bytes_alloced += size;
-  if (num_blocks_alloced > max_blocks_alloced)
-    max_blocks_alloced = num_blocks_alloced;
-  if (num_bytes_alloced > max_bytes_alloced)
-    max_bytes_alloced = num_bytes_alloced;
-
-  if (total_num_blocks_alloced == _d_seqstop)
-    dDebug (0,"ALLOCATOR TRAP ON SEQUENCE NUMBER %d",_d_seqstop);
-  long size2 = BSIZE(size);
-  blockHeader *b = (blockHeader*) malloc (size2);
-  if (b+1 == _d_ptrstop)
-    dDebug (0,"ALLOCATOR TRAP ON BLOCK POINTER %p",_d_ptrstop);
-  for (unsigned int i=0; i < (size2/sizeof(long)); i++)
-    ((long*)b)[i] = 0xdeadbeef;
-  b->seq = total_num_blocks_alloced;
-  b->size = size;
-  b->flags = 0;
-  b->next = firstblock->next;
-  b->prev = firstblock;
-  firstblock->next->prev = b;
-  firstblock->next = b;
-  return b + 1;
-#else
-  if (allocfn) return allocfn (size); else return malloc (size);
-#endif
-}
-
-
-void * dRealloc (void *ptr, int oldsize, int newsize)
-{
-#ifdef dDEBUG_ALLOC
-  if (ptr==0) dDebug (0,"Realloc() called with ptr==0");
-  checkBlockOk (ptr,1);
-  blockHeader *b = ((blockHeader*) ptr) - 1;
-  if (b->size != oldsize)
-    dDebug (0,"Realloc(%p,%d,%d) has bad old size, good size "
-	    "is %ld, seq=%ld",ptr,oldsize,newsize,b->size,b->seq);
-  void *p = dAlloc (newsize);
-  blockHeader *newb = ((blockHeader*) p) - 1;
-  newb->flags = b->flags;
-  if (oldsize>=1) memcpy (p,ptr,oldsize);
-  dFree (ptr,oldsize);
-  return p;
-#else
-  if (reallocfn) return reallocfn (ptr,oldsize,newsize);
-  else return realloc (ptr,newsize);
-#endif
-}
-
-
-void dFree (void *ptr, int size)
-{
-  if (!ptr) return;
-#ifdef dDEBUG_ALLOC
-  checkBlockOk (ptr,1);
-  blockHeader *b = ((blockHeader*) ptr) - 1;
-  if (b->size != size)
-    dDebug (0,"Free(%p,%d) has bad size, good size "
-	    "is %ld, seq=%ld",ptr,size,b->size,b->seq);
-  num_blocks_alloced--;
-  num_bytes_alloced -= b->size;
-  if (num_blocks_alloced < 0 || num_bytes_alloced < 0)
-    dDebug (0,"Free called too many times");
-
-  b->next->prev = b->prev;
-  b->prev->next = b->next;
-  memset (b,0,BSIZE(b->size));
-
-  free (b);
-#else
-  if (freefn) freefn (ptr,size); else free (ptr);
-#endif
-}
-
-
-void dAllocDontReport (void *ptr)
-{
-#ifdef dDEBUG_ALLOC
-  checkBlockOk (ptr,1);
-  blockHeader *b = ((blockHeader*) ptr) - 1;
-  b->flags |= 1;
-#endif
-}
-
-
-#ifdef dDEBUG_ALLOC
-
-static void printReport()
-{
-  // subtract the "dont report" blocks from the totals
-  blockHeader *b = firstblock;
-  do {
-    if (b != &dummyblock && (b->flags & 1)) {
-      num_blocks_alloced--;
-      num_bytes_alloced -= b->size;
-      if (!checkBlockOk (b+1,0))
-	fprintf (stderr,"\tCORRUPTED: %p, size=%ld, seq=%ld\n",b+1,
-		 b->size,b->seq);
-    }
-    b = b->prev;
-  }
-  while (b != firstblock);
-
-  fprintf (stderr,"\nALLOCATOR REPORT\n");
-  fprintf (stderr,"\tblocks still allocated:  %ld\n",num_blocks_alloced);
-  fprintf (stderr,"\tbytes still allocated:   %ld\n",num_bytes_alloced);
-  fprintf (stderr,"\ttotal blocks allocated:  %ld\n",total_num_blocks_alloced);
-  fprintf (stderr,"\ttotal bytes allocated:   %ld\n",total_num_bytes_alloced);
-  fprintf (stderr,"\tmax blocks allocated:    %ld\n",max_blocks_alloced);
-  fprintf (stderr,"\tmax bytes allocated:     %ld\n",max_bytes_alloced);
-
-  b = firstblock;
-  do {
-    if (b != &dummyblock && (b->flags & 1)==0) {
-      int ok = checkBlockOk (b+1,0);
-      fprintf (stderr,"\tUNFREED: %p, size=%ld, seq=%ld (%s)\n",b+1,
-	       b->size,b->seq, ok ? "ok" : "CORUPTED");
-    }
-    b = b->prev;
-  }
-  while (b != firstblock);
-  fprintf (stderr,"\n");
-}
-
-
-struct dMemoryReportPrinter {
-  ~dMemoryReportPrinter() { printReport(); }
-} _dReportPrinter;
-
-#endif
diff --git a/extern/ode/dist/ode/src/misc.cpp b/extern/ode/dist/ode/src/misc.cpp
deleted file mode 100644
index bdc1579d5aa..00000000000
--- a/extern/ode/dist/ode/src/misc.cpp
+++ /dev/null
@@ -1,147 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/config.h>
-#include <ode/misc.h>
-#include <ode/matrix.h>
-
-//****************************************************************************
-// random numbers
-
-static unsigned long seed = 0;
-
-unsigned long dRand()
-{
-  seed = (1664525L*seed + 1013904223L) & 0xffffffff;
-  return seed;
-}
-
-
-unsigned long  dRandGetSeed()
-{
-  return seed;
-}
-
-
-void dRandSetSeed (unsigned long s)
-{
-  seed = s;
-}
-
-
-int dTestRand()
-{
-  unsigned long oldseed = seed;
-  int ret = 1;
-  seed = 0;
-  if (dRand() != 0x3c6ef35f || dRand() != 0x47502932 ||
-      dRand() != 0xd1ccf6e9 || dRand() != 0xaaf95334 ||
-      dRand() != 0x6252e503) ret = 0;
-  seed = oldseed;
-  return ret;
-}
-
-
-int dRandInt (int n)
-{
-  double a = double(n) / 4294967296.0;
-  return (int) (double(dRand()) * a);
-}
-
-
-dReal dRandReal()
-{
-  return ((dReal) dRand()) / ((dReal) 0xffffffff);
-}
-
-//****************************************************************************
-// matrix utility stuff
-
-void dPrintMatrix (dReal *A, int n, int m, char *fmt, FILE *f)
-{
-  int i,j;
-  int skip = dPAD(m);
-  for (i=0; i<n; i++) {
-    for (j=0; j<m; j++) fprintf (f,fmt,A[i*skip+j]);
-    fprintf (f,"\n");
-  }
-}
-
-
-void dMakeRandomVector (dReal *A, int n, dReal range)
-{
-  int i;
-  for (i=0; i<n; i++) A[i] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
-}
-
-
-void dMakeRandomMatrix (dReal *A, int n, int m, dReal range)
-{
-  int i,j;
-  int skip = dPAD(m);
-  dSetZero (A,n*skip);
-  for (i=0; i<n; i++) {
-    for (j=0; j<m; j++) A[i*skip+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
-  }
-}
-
-
-void dClearUpperTriangle (dReal *A, int n)
-{
-  int i,j;
-  int skip = dPAD(n);
-  for (i=0; i<n; i++) {
-    for (j=i+1; j<n; j++) A[i*skip+j] = 0;
-  }
-}
-
-
-dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m)
-{
-  int i,j;
-  int skip = dPAD(m);
-  dReal diff,max;
-  max = 0;
-  for (i=0; i<n; i++) {
-    for (j=0; j<m; j++) {
-      diff = dFabs(A[i*skip+j] - B[i*skip+j]);
-      if (diff > max) max = diff;
-    }
-  }
-  return max;
-}
-
-
-dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n)
-{
-  int i,j;
-  int skip = dPAD(n);
-  dReal diff,max;
-  max = 0;
-  for (i=0; i<n; i++) {
-    for (j=0; j<=i; j++) {
-      diff = dFabs(A[i*skip+j] - B[i*skip+j]);
-      if (diff > max) max = diff;
-    }
-  }
-  return max;
-}
diff --git a/extern/ode/dist/ode/src/objects.h b/extern/ode/dist/ode/src/objects.h
deleted file mode 100644
index 4d2c4ca6af7..00000000000
--- a/extern/ode/dist/ode/src/objects.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-// object, body, and world structs.
-
-
-#ifndef _ODE_OBJECT_H_
-#define _ODE_OBJECT_H_
-
-#include <ode/common.h>
-#include <ode/memory.h>
-#include <ode/mass.h>
-#include "array.h"
-
-
-// some body flags
-
-enum {
-  dxBodyFlagFiniteRotation = 1,		// use finite rotations
-  dxBodyFlagFiniteRotationAxis = 2,	// use finite rotations only along axis
-  dxBodyDisabled = 4,			// body is disabled
-  dxBodyNoGravity = 8			// body is not influenced by gravity
-};
-
-
-// base class that does correct object allocation / deallocation
-
-struct dBase {
-  void *operator new (size_t size) { return dAlloc (size); }
-  void operator delete (void *ptr, size_t size) { dFree (ptr,size); }
-  void *operator new[] (size_t size) { return dAlloc (size); }
-  void operator delete[] (void *ptr, size_t size) { dFree (ptr,size); }
-};
-
-
-// base class for bodies and joints
-
-struct dObject : public dBase {
-  dxWorld *world;		// world this object is in
-  dObject *next;		// next object of this type in list
-  dObject **tome;		// pointer to previous object's next ptr
-  void *userdata;		// user settable data
-  int tag;			// used by dynamics algorithms
-};
-
-
-struct dxBody : public dObject {
-  dxJointNode *firstjoint;	// list of attached joints
-  int flags;			// some dxBodyFlagXXX flags
-  dMass mass;			// mass parameters about POR
-  dMatrix3 invI;		// inverse of mass.I
-  dReal invMass;		// 1 / mass.mass
-  dVector3 pos;			// position of POR (point of reference)
-  dQuaternion q;		// orientation quaternion
-  dMatrix3 R;			// rotation matrix, always corresponds to q
-  dVector3 lvel,avel;		// linear and angular velocity of POR
-  dVector3 facc,tacc;		// force and torque accululators
-  dVector3 finite_rot_axis;	// finite rotation axis, unit length or 0=none
-};
-
-
-struct dxWorld : public dBase {
-  dxBody *firstbody;		// body linked list
-  dxJoint *firstjoint;		// joint linked list
-  int nb,nj;			// number of bodies and joints in lists
-  dVector3 gravity;		// gravity vector (m/s/s)
-  dReal global_erp;		// global error reduction parameter
-  dReal global_cfm;		// global costraint force mixing parameter
-};
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/obstack.cpp b/extern/ode/dist/ode/src/obstack.cpp
deleted file mode 100644
index a6b9d36fbb4..00000000000
--- a/extern/ode/dist/ode/src/obstack.cpp
+++ /dev/null
@@ -1,130 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/common.h>
-#include <ode/error.h>
-#include <ode/memory.h>
-#include "obstack.h"
-
-//****************************************************************************
-// macros and constants
-
-#define ROUND_UP_OFFSET_TO_EFFICIENT_SIZE(arena,ofs) \
-  ofs = (int) (dEFFICIENT_SIZE( ((intP)(arena)) + ofs ) - ((intP)(arena)) );
-
-#define MAX_ALLOC_SIZE \
-  ((int)(dOBSTACK_ARENA_SIZE - sizeof (Arena) - EFFICIENT_ALIGNMENT + 1))
-
-//****************************************************************************
-// dObStack
-
-dObStack::dObStack()
-{
-  first = 0;
-  last = 0;
-  current_arena = 0;
-  current_ofs = 0;
-}
-
-
-dObStack::~dObStack()
-{
-  // free all arenas
-  Arena *a,*nexta;
-  a = first;
-  while (a) {
-    nexta = a->next;
-    dFree (a,dOBSTACK_ARENA_SIZE);
-    a = nexta;
-  }
-}
-
-
-void *dObStack::alloc (int num_bytes)
-{
-  if (num_bytes > MAX_ALLOC_SIZE) dDebug (0,"num_bytes too large");
-
-  // allocate or move to a new arena if necessary
-  if (!first) {
-    // allocate the first arena if necessary
-    first = last = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
-    first->next = 0;
-    first->used = sizeof (Arena);
-    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
-  }
-  else {
-    // we already have one or more arenas, see if a new arena must be used
-    if ((last->used + num_bytes) > dOBSTACK_ARENA_SIZE) {
-      if (!last->next) {
-	last->next = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
-	last->next->next = 0;
-      }
-      last = last->next;
-      last->used = sizeof (Arena);
-      ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
-    }
-  }
-
-  // allocate an area in the arena
-  char *c = ((char*) last) + last->used;
-  last->used += num_bytes;
-  ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
-  return c;
-}
-
-
-void dObStack::freeAll()
-{
-  last = first;
-  if (first) {
-    first->used = sizeof(Arena);
-    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
-  }
-}
-
-
-void *dObStack::rewind()
-{
-  current_arena = first;
-  current_ofs = sizeof (Arena);
-  if (current_arena) {
-    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs)
-    return ((char*) current_arena) + current_ofs;
-  }
-  else return 0;
-}
-
-
-void *dObStack::next (int num_bytes)
-{
-  // this functions like alloc, except that no new storage is ever allocated
-  if (!current_arena) return 0;
-  current_ofs += num_bytes;
-  ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
-  if (current_ofs >= current_arena->used) {
-    current_arena = current_arena->next;
-    if (!current_arena) return 0;
-    current_ofs = sizeof (Arena);
-    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
-  }
-  return ((char*) current_arena) + current_ofs;
-}
diff --git a/extern/ode/dist/ode/src/obstack.h b/extern/ode/dist/ode/src/obstack.h
deleted file mode 100644
index fa7155dd966..00000000000
--- a/extern/ode/dist/ode/src/obstack.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_OBSTACK_H_
-#define _ODE_OBSTACK_H_
-
-#include "objects.h" 
-
-// each obstack Arena pointer points to a block of this many bytes
-#define dOBSTACK_ARENA_SIZE 16384
-
-
-struct dObStack : public dBase {
-  struct Arena {
-    Arena *next;	// next arena in linked list
-    int used;		// total number of bytes used in this arena, counting
-  };			//   this header
-
-  Arena *first;		// head of the arena linked list. 0 if no arenas yet
-  Arena *last;		// arena where blocks are currently being allocated
-
-  // used for iterator
-  Arena *current_arena;
-  int current_ofs;
-
-  dObStack();
-  ~dObStack();
-
-  void *alloc (int num_bytes);
-  // allocate a block in the last arena, allocating a new arena if necessary.
-  // it is a runtime error if num_bytes is larger than the arena size.
-
-  void freeAll();
-  // free all blocks in all arenas. this does not deallocate the arenas
-  // themselves, so future alloc()s will reuse them.
-
-  void *rewind();
-  // rewind the obstack iterator, and return the address of the first
-  // allocated block. return 0 if there are no allocated blocks.
-
-  void *next (int num_bytes);
-  // return the address of the next allocated block. 'num_bytes' is the size
-  // of the previous block. this returns null if there are no more arenas.
-  // the sequence of 'num_bytes' parameters passed to next() during a
-  // traversal of the list must exactly match the parameters passed to alloc().
-};
-
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/ode.cpp b/extern/ode/dist/ode/src/ode.cpp
deleted file mode 100644
index 1a14e3292a0..00000000000
--- a/extern/ode/dist/ode/src/ode.cpp
+++ /dev/null
@@ -1,1341 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-// this source file is mostly concerned with the data structures, not the
-// numerics.
-
-#include "objects.h"
-#include <ode/ode.h>
-#include "joint.h"
-#include <ode/odemath.h>
-#include <ode/matrix.h>
-#include "step.h"
-#include <ode/memory.h>
-#include <ode/error.h>
-
-// misc defines
-#define ALLOCA dALLOCA16
-
-//****************************************************************************
-// utility
-
-static inline void initObject (dObject *obj, dxWorld *w)
-{
-  obj->world = w;
-  obj->next = 0;
-  obj->tome = 0;
-  obj->userdata = 0;
-  obj->tag = 0;
-}
-
-
-// add an object `obj' to the list who's head pointer is pointed to by `first'.
-
-static inline void addObjectToList (dObject *obj, dObject **first)
-{
-  obj->next = *first;
-  obj->tome = first;
-  if (*first) (*first)->tome = &obj->next;
-  (*first) = obj;
-}
-
-
-// remove the object from the linked list
-
-static inline void removeObjectFromList (dObject *obj)
-{
-  if (obj->next) obj->next->tome = obj->tome;
-  *(obj->tome) = obj->next;
-  // safeguard
-  obj->next = 0;
-  obj->tome = 0;
-}
-
-
-// remove the joint from neighbour lists of all connected bodies
-
-static void removeJointReferencesFromAttachedBodies (dxJoint *j)
-{
-  for (int i=0; i<2; i++) {
-    dxBody *body = j->node[i].body;
-    if (body) {
-      dxJointNode *n = body->firstjoint;
-      dxJointNode *last = 0;
-      while (n) {
-	if (n->joint == j) {
-	  if (last) last->next = n->next;
-	  else body->firstjoint = n->next;
-	  break;
-	}
-	last = n;
-	n = n->next;
-      }
-    }
-  }
-  j->node[0].body = 0;
-  j->node[0].next = 0;
-  j->node[1].body = 0;
-  j->node[1].next = 0;
-}
-
-//****************************************************************************
-// island processing
-
-// this groups all joints and bodies in a world into islands. all objects
-// in an island are reachable by going through connected bodies and joints.
-// each island can be simulated separately.
-// note that joints that are not attached to anything will not be included
-// in any island, an so they do not affect the simulation.
-//
-// this function starts new island from unvisited bodies. however, it will
-// never start a new islands from a disabled body. thus islands of disabled
-// bodies will not be included in the simulation. disabled bodies are
-// re-enabled if they are found to be part of an active island.
-
-static void processIslands (dxWorld *world, dReal stepsize)
-{
-  dxBody *b,*bb,**body;
-  dxJoint *j,**joint;
-
-  // nothing to do if no bodies
-  if (world->nb <= 0) return;
-
-  // make arrays for body and joint lists (for a single island) to go into
-  body = (dxBody**) ALLOCA (world->nb * sizeof(dxBody*));
-  joint = (dxJoint**) ALLOCA (world->nj * sizeof(dxJoint*));
-  int bcount = 0;	// number of bodies in `body'
-  int jcount = 0;	// number of joints in `joint'
-
-  // set all body/joint tags to 0
-  for (b=world->firstbody; b; b=(dxBody*)b->next) b->tag = 0;
-  for (j=world->firstjoint; j; j=(dxJoint*)j->next) j->tag = 0;
-
-  // allocate a stack of unvisited bodies in the island. the maximum size of
-  // the stack can be the lesser of the number of bodies or joints, because
-  // new bodies are only ever added to the stack by going through untagged
-  // joints. all the bodies in the stack must be tagged!
-  int stackalloc = (world->nj < world->nb) ? world->nj : world->nb;
-  dxBody **stack = (dxBody**) ALLOCA (stackalloc * sizeof(dxBody*));
-
-  for (bb=world->firstbody; bb; bb=(dxBody*)bb->next) {
-    // get bb = the next enabled, untagged body, and tag it
-    if (bb->tag || (bb->flags & dxBodyDisabled)) continue;
-    bb->tag = 1;
-
-    // tag all bodies and joints starting from bb.
-    int stacksize = 0;
-    b = bb;
-    body[0] = bb;
-    bcount = 1;
-    jcount = 0;
-    goto quickstart;
-    while (stacksize > 0) {
-      b = stack[--stacksize];	// pop body off stack
-      body[bcount++] = b;	// put body on body list
-      quickstart:
-
-      // traverse and tag all body's joints, add untagged connected bodies
-      // to stack
-      for (dxJointNode *n=b->firstjoint; n; n=n->next) {
-	if (!n->joint->tag) {
-	  n->joint->tag = 1;
-	  joint[jcount++] = n->joint;
-	  if (n->body && !n->body->tag) {
-	    n->body->tag = 1;
-	    stack[stacksize++] = n->body;
-	  }
-	}
-      }
-      dIASSERT(stacksize <= world->nb);
-      dIASSERT(stacksize <= world->nj);
-    }
-
-    // now do something with body and joint lists
-    dInternalStepIsland (world,body,bcount,joint,jcount,stepsize);
-
-    // what we've just done may have altered the body/joint tag values.
-    // we must make sure that these tags are nonzero.
-    // also make sure all bodies are in the enabled state.
-    int i;
-    for (i=0; i<bcount; i++) {
-      body[i]->tag = 1;
-      body[i]->flags &= ~dxBodyDisabled;
-    }
-    for (i=0; i<jcount; i++) joint[i]->tag = 1;
-  }
-
-  // if debugging, check that all objects (except for disabled bodies,
-  // unconnected joints, and joints that are connected to disabled bodies)
-  // were tagged.
-# ifndef dNODEBUG
-  for (b=world->firstbody; b; b=(dxBody*)b->next) {
-    if (b->flags & dxBodyDisabled) {
-      if (b->tag) dDebug (0,"disabled body tagged");
-    }
-    else {
-      if (!b->tag) dDebug (0,"enabled body not tagged");
-    }
-  }
-  for (j=world->firstjoint; j; j=(dxJoint*)j->next) {
-    if ((j->node[0].body && (j->node[0].body->flags & dxBodyDisabled)==0) ||
-	(j->node[1].body && (j->node[1].body->flags & dxBodyDisabled)==0)) {
-      if (!j->tag) dDebug (0,"attached enabled joint not tagged");
-    }
-    else {
-      if (j->tag) dDebug (0,"unattached or disabled joint tagged");
-    }
-  }
-# endif
-}
-
-//****************************************************************************
-// debugging
-
-// see if an object list loops on itself (if so, it's bad).
-
-static int listHasLoops (dObject *first)
-{
-  if (first==0 || first->next==0) return 0;
-  dObject *a=first,*b=first->next;
-  int skip=0;
-  while (b) {
-    if (a==b) return 1;
-    b = b->next;
-    if (skip) a = a->next;
-    skip ^= 1;
-  }
-  return 0;
-}
-
-
-// check the validity of the world data structures
-
-static void checkWorld (dxWorld *w)
-{
-  dxBody *b;
-  dxJoint *j;
-
-  // check there are no loops
-  if (listHasLoops (w->firstbody)) dDebug (0,"body list has loops");
-  if (listHasLoops (w->firstjoint)) dDebug (0,"joint list has loops");
-
-  // check lists are well formed (check `tome' pointers)
-  for (b=w->firstbody; b; b=(dxBody*)b->next) {
-    if (b->next && b->next->tome != &b->next)
-      dDebug (0,"bad tome pointer in body list");
-  }
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
-    if (j->next && j->next->tome != &j->next)
-      dDebug (0,"bad tome pointer in joint list");
-  }
-
-  // check counts
-  int n = 0;
-  for (b=w->firstbody; b; b=(dxBody*)b->next) n++;
-  if (w->nb != n) dDebug (0,"body count incorrect");
-  n = 0;
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) n++;
-  if (w->nj != n) dDebug (0,"joint count incorrect");
-
-  // set all tag values to a known value
-  static int count = 0;
-  count++;
-  for (b=w->firstbody; b; b=(dxBody*)b->next) b->tag = count;
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) j->tag = count;
-
-  // check all body/joint world pointers are ok
-  for (b=w->firstbody; b; b=(dxBody*)b->next) if (b->world != w)
-    dDebug (0,"bad world pointer in body list");
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) if (j->world != w)
-    dDebug (0,"bad world pointer in joint list");
-
-  /*
-  // check for half-connected joints - actually now these are valid
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
-    if (j->node[0].body || j->node[1].body) {
-      if (!(j->node[0].body && j->node[1].body))
-	dDebug (0,"half connected joint found");
-    }
-  }
-  */
-
-  // check that every joint node appears in the joint lists of both bodies it
-  // attaches
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
-    for (int i=0; i<2; i++) {
-      if (j->node[i].body) {
-	int ok = 0;
-	for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) {
-	  if (n->joint == j) ok = 1;
-	}
-	if (ok==0) dDebug (0,"joint not in joint list of attached body");
-      }
-    }
-  }
-
-  // check all body joint lists (correct body ptrs)
-  for (b=w->firstbody; b; b=(dxBody*)b->next) {
-    for (dxJointNode *n=b->firstjoint; n; n=n->next) {
-      if (&n->joint->node[0] == n) {
-	if (n->joint->node[1].body != b)
-	  dDebug (0,"bad body pointer in joint node of body list (1)");
-      }
-      else {
-	if (n->joint->node[0].body != b)
-	  dDebug (0,"bad body pointer in joint node of body list (2)");
-      }
-      if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body");
-    }
-  }
-
-  // check all body pointers in joints, check they are distinct
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
-    if (j->node[0].body && (j->node[0].body == j->node[1].body))
-      dDebug (0,"non-distinct body pointers in joint");
-    if ((j->node[0].body && j->node[0].body->tag != count) ||
-	(j->node[1].body && j->node[1].body->tag != count))
-      dDebug (0,"bad body pointer in joint");
-  }
-}
-
-
-void dWorldCheck (dxWorld *w)
-{
-  checkWorld (w);
-}
-
-//****************************************************************************
-// body
-
-dxBody *dBodyCreate (dxWorld *w)
-{
-  dAASSERT (w);
-  dxBody *b = new dxBody;
-  initObject (b,w);
-  b->firstjoint = 0;
-  b->flags = 0;
-  dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0);
-  dSetZero (b->invI,4*3);
-  b->invI[0] = 1;
-  b->invI[5] = 1;
-  b->invI[10] = 1;
-  b->invMass = 1;
-  dSetZero (b->pos,4);
-  dSetZero (b->q,4);
-  b->q[0] = 1;
-  dRSetIdentity (b->R);
-  dSetZero (b->lvel,4);
-  dSetZero (b->avel,4);
-  dSetZero (b->facc,4);
-  dSetZero (b->tacc,4);
-  dSetZero (b->finite_rot_axis,4);
-  addObjectToList (b,(dObject **) &w->firstbody);
-  w->nb++;
-  return b;
-}
-
-
-void dBodyDestroy (dxBody *b)
-{
-  dAASSERT (b);
-
-  // detach all neighbouring joints, then delete this body.
-  dxJointNode *n = b->firstjoint;
-  while (n) {
-    // sneaky trick to speed up removal of joint references (black magic)
-    n->joint->node[(n == n->joint->node)].body = 0;
-
-    dxJointNode *next = n->next;
-    n->next = 0;
-    removeJointReferencesFromAttachedBodies (n->joint);
-    n = next;
-  }
-  removeObjectFromList (b);
-  b->world->nb--;
-  delete b;
-}
-
-
-void dBodySetData (dBodyID b, void *data)
-{
-  dAASSERT (b);
-  b->userdata = data;
-}
-
-
-void *dBodyGetData (dBodyID b)
-{
-  dAASSERT (b);
-  return b->userdata;
-}
-
-
-void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->pos[0] = x;
-  b->pos[1] = y;
-  b->pos[2] = z;
-}
-
-
-void dBodySetRotation (dBodyID b, const dMatrix3 R)
-{
-  dAASSERT (b && R);
-  dQuaternion q;
-  dRtoQ (R,q);
-  dNormalize4 (q);
-  b->q[0] = q[0];
-  b->q[1] = q[1];
-  b->q[2] = q[2];
-  b->q[3] = q[3];
-  dQtoR (b->q,b->R);
-}
-
-
-void dBodySetQuaternion (dBodyID b, const dQuaternion q)
-{
-  dAASSERT (b && q);
-  b->q[0] = q[0];
-  b->q[1] = q[1];
-  b->q[2] = q[2];
-  b->q[3] = q[3];
-  dNormalize4 (b->q);
-  dQtoR (b->q,b->R);
-}
-
-
-void dBodySetLinearVel  (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->lvel[0] = x;
-  b->lvel[1] = y;
-  b->lvel[2] = z;
-}
-
-
-void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->avel[0] = x;
-  b->avel[1] = y;
-  b->avel[2] = z;
-}
-
-
-const dReal * dBodyGetPosition (dBodyID b)
-{
-  dAASSERT (b);
-  return b->pos;
-}
-
-
-const dReal * dBodyGetRotation (dBodyID b)
-{
-  dAASSERT (b);
-  return b->R;
-}
-
-
-const dReal * dBodyGetQuaternion (dBodyID b)
-{
-  dAASSERT (b);
-  return b->q;
-}
-
-
-const dReal * dBodyGetLinearVel (dBodyID b)
-{
-  dAASSERT (b);
-  return b->lvel;
-}
-
-
-const dReal * dBodyGetAngularVel (dBodyID b)
-{
-  dAASSERT (b);
-  return b->avel;
-}
-
-
-void dBodySetMass (dBodyID b, const dMass *mass)
-{
-  dAASSERT (b && mass);
-  memcpy (&b->mass,mass,sizeof(dMass));
-  if (dInvertPDMatrix (b->mass.I,b->invI,3)==0) {
-    dDEBUGMSG ("inertia must be positive definite");
-    dRSetIdentity (b->invI);
-  }
-  b->invMass = dRecip(b->mass.mass);
-}
-
-
-void dBodyGetMass (dBodyID b, dMass *mass)
-{
-  dAASSERT (b && mass);
-  memcpy (mass,&b->mass,sizeof(dMass));
-}
-
-
-void dBodyAddForce (dBodyID b, dReal fx, dReal fy, dReal fz)
-{
-  dAASSERT (b);
-  b->facc[0] += fx;
-  b->facc[1] += fy;
-  b->facc[2] += fz;
-}
-
-
-void dBodyAddTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
-{
-  dAASSERT (b);
-  b->tacc[0] += fx;
-  b->tacc[1] += fy;
-  b->tacc[2] += fz;
-}
-
-
-void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz)
-{
-  dAASSERT (b);
-  dVector3 t1,t2;
-  t1[0] = fx;
-  t1[1] = fy;
-  t1[2] = fz;
-  t1[3] = 0;
-  dMULTIPLY0_331 (t2,b->R,t1);
-  b->facc[0] += t2[0];
-  b->facc[1] += t2[1];
-  b->facc[2] += t2[2];
-}
-
-
-void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
-{
-  dAASSERT (b);
-  dVector3 t1,t2;
-  t1[0] = fx;
-  t1[1] = fy;
-  t1[2] = fz;
-  t1[3] = 0;
-  dMULTIPLY0_331 (t2,b->R,t1);
-  b->tacc[0] += t2[0];
-  b->tacc[1] += t2[1];
-  b->tacc[2] += t2[2];
-}
-
-
-void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
-			 dReal px, dReal py, dReal pz)
-{
-  dAASSERT (b);
-  b->facc[0] += fx;
-  b->facc[1] += fy;
-  b->facc[2] += fz;
-  dVector3 f,q;
-  f[0] = fx;
-  f[1] = fy;
-  f[2] = fz;
-  q[0] = px - b->pos[0];
-  q[1] = py - b->pos[1];
-  q[2] = pz - b->pos[2];
-  dCROSS (b->tacc,+=,q,f);
-}
-
-
-void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
-			    dReal px, dReal py, dReal pz)
-{
-  dAASSERT (b);
-  dVector3 prel,f,p;
-  f[0] = fx;
-  f[1] = fy;
-  f[2] = fz;
-  f[3] = 0;
-  prel[0] = px;
-  prel[1] = py;
-  prel[2] = pz;
-  prel[3] = 0;
-  dMULTIPLY0_331 (p,b->R,prel);
-  b->facc[0] += f[0];
-  b->facc[1] += f[1];
-  b->facc[2] += f[2];
-  dCROSS (b->tacc,+=,p,f);
-}
-
-
-void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
-			    dReal px, dReal py, dReal pz)
-{
-  dAASSERT (b);
-  dVector3 frel,f;
-  frel[0] = fx;
-  frel[1] = fy;
-  frel[2] = fz;
-  frel[3] = 0;
-  dMULTIPLY0_331 (f,b->R,frel);
-  b->facc[0] += f[0];
-  b->facc[1] += f[1];
-  b->facc[2] += f[2];
-  dVector3 q;
-  q[0] = px - b->pos[0];
-  q[1] = py - b->pos[1];
-  q[2] = pz - b->pos[2];
-  dCROSS (b->tacc,+=,q,f);
-}
-
-
-void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
-			       dReal px, dReal py, dReal pz)
-{
-  dAASSERT (b);
-  dVector3 frel,prel,f,p;
-  frel[0] = fx;
-  frel[1] = fy;
-  frel[2] = fz;
-  frel[3] = 0;
-  prel[0] = px;
-  prel[1] = py;
-  prel[2] = pz;
-  prel[3] = 0;
-  dMULTIPLY0_331 (f,b->R,frel);
-  dMULTIPLY0_331 (p,b->R,prel);
-  b->facc[0] += f[0];
-  b->facc[1] += f[1];
-  b->facc[2] += f[2];
-  dCROSS (b->tacc,+=,p,f);
-}
-
-
-const dReal * dBodyGetForce (dBodyID b)
-{
-  dAASSERT (b);
-  return b->facc;
-}
-
-
-const dReal * dBodyGetTorque (dBodyID b)
-{
-  dAASSERT (b);
-  return b->tacc;
-}
-
-
-void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->facc[0] = x;
-  b->facc[1] = y;
-  b->facc[2] = z;
-}
-
-
-void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->tacc[0] = x;
-  b->tacc[1] = y;
-  b->tacc[2] = z;
-}
-
-
-void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz,
-			  dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 prel,p;
-  prel[0] = px;
-  prel[1] = py;
-  prel[2] = pz;
-  prel[3] = 0;
-  dMULTIPLY0_331 (p,b->R,prel);
-  result[0] = p[0] + b->pos[0];
-  result[1] = p[1] + b->pos[1];
-  result[2] = p[2] + b->pos[2];
-}
-
-
-void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz,
-			  dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 prel,p;
-  prel[0] = px;
-  prel[1] = py;
-  prel[2] = pz;
-  prel[3] = 0;
-  dMULTIPLY0_331 (p,b->R,prel);
-  result[0] = b->lvel[0];
-  result[1] = b->lvel[1];
-  result[2] = b->lvel[2];
-  dCROSS (result,+=,b->avel,p);
-}
-
-
-void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz,
-		       dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 p;
-  p[0] = px - b->pos[0];
-  p[1] = py - b->pos[1];
-  p[2] = pz - b->pos[2];
-  p[3] = 0;
-  result[0] = b->lvel[0];
-  result[1] = b->lvel[1];
-  result[2] = b->lvel[2];
-  dCROSS (result,+=,b->avel,p);
-}
-
-
-void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz,
-			  dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 prel;
-  prel[0] = px - b->pos[0];
-  prel[1] = py - b->pos[1];
-  prel[2] = pz - b->pos[2];
-  prel[3] = 0;
-  dMULTIPLY1_331 (result,b->R,prel);
-}
-
-
-void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz,
-			 dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 p;
-  p[0] = px;
-  p[1] = py;
-  p[2] = pz;
-  p[3] = 0;
-  dMULTIPLY0_331 (result,b->R,p);
-}
-
-
-void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz,
-			   dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 p;
-  p[0] = px;
-  p[1] = py;
-  p[2] = pz;
-  p[3] = 0;
-  dMULTIPLY1_331 (result,b->R,p);
-}
-
-
-void dBodySetFiniteRotationMode (dBodyID b, int mode)
-{
-  dAASSERT (b);
-  b->flags &= ~(dxBodyFlagFiniteRotation | dxBodyFlagFiniteRotationAxis);
-  if (mode) {
-    b->flags |= dxBodyFlagFiniteRotation;
-    if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 ||
-	b->finite_rot_axis[2] != 0) {
-      b->flags |= dxBodyFlagFiniteRotationAxis;
-    }
-  }
-}
-
-
-void dBodySetFiniteRotationAxis (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->finite_rot_axis[0] = x;
-  b->finite_rot_axis[1] = y;
-  b->finite_rot_axis[2] = z;
-  if (x != 0 || y != 0 || z != 0) {
-    dNormalize3 (b->finite_rot_axis);
-    b->flags |= dxBodyFlagFiniteRotationAxis;
-  }
-  else {
-    b->flags &= ~dxBodyFlagFiniteRotationAxis;
-  }
-}
-
-
-int dBodyGetFiniteRotationMode (dBodyID b)
-{
-  dAASSERT (b);
-  return ((b->flags & dxBodyFlagFiniteRotation) != 0);
-}
-
-
-void dBodyGetFiniteRotationAxis (dBodyID b, dVector3 result)
-{
-  dAASSERT (b);
-  result[0] = b->finite_rot_axis[0];
-  result[1] = b->finite_rot_axis[1];
-  result[2] = b->finite_rot_axis[2];
-}
-
-
-int dBodyGetNumJoints (dBodyID b)
-{
-  dAASSERT (b);
-  int count=0;
-  for (dxJointNode *n=b->firstjoint; n; n=n->next, count++);
-  return count;
-}
-
-
-dJointID dBodyGetJoint (dBodyID b, int index)
-{
-  dAASSERT (b);
-  int i=0;
-  for (dxJointNode *n=b->firstjoint; n; n=n->next, i++) {
-    if (i == index) return n->joint;
-  }
-  return 0;
-}
-
-
-void dBodyEnable (dBodyID b)
-{
-  dAASSERT (b);
-  b->flags &= ~dxBodyDisabled;
-}
-
-
-void dBodyDisable (dBodyID b)
-{
-  dAASSERT (b);
-  b->flags |= dxBodyDisabled;
-}
-
-
-int dBodyIsEnabled (dBodyID b)
-{
-  dAASSERT (b);
-  return ((b->flags & dxBodyDisabled) == 0);
-}
-
-
-void dBodySetGravityMode (dBodyID b, int mode)
-{
-  dAASSERT (b);
-  if (mode) b->flags &= ~dxBodyNoGravity;
-  else b->flags |= dxBodyNoGravity;
-}
-
-
-int dBodyGetGravityMode (dBodyID b)
-{
-  dAASSERT (b);
-  return ((b->flags & dxBodyNoGravity) == 0);
-}
-
-//****************************************************************************
-// joints
-
-static void dJointInit (dxWorld *w, dxJoint *j)
-{
-  dIASSERT (w && j);
-  initObject (j,w);
-  j->vtable = 0;
-  j->flags = 0;
-  j->node[0].joint = j;
-  j->node[0].body = 0;
-  j->node[0].next = 0;
-  j->node[1].joint = j;
-  j->node[1].body = 0;
-  j->node[1].next = 0;
-  addObjectToList (j,(dObject **) &w->firstjoint);
-  w->nj++;
-}
-
-
-static dxJoint *createJoint (dWorldID w, dJointGroupID group,
-			     dxJoint::Vtable *vtable)
-{
-  dIASSERT (w && vtable);
-  dxJoint *j;
-  if (group) {
-    j = (dxJoint*) group->stack.alloc (vtable->size);
-    group->num++;
-  }
-  else j = (dxJoint*) dAlloc (vtable->size);
-  dJointInit (w,j);
-  j->vtable = vtable;
-  if (group) j->flags |= dJOINT_INGROUP;
-  if (vtable->init) vtable->init (j);
-  j->feedback = 0;
-  return j;
-}
-
-
-dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dball_vtable);
-}
-
-
-dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dhinge_vtable);
-}
-
-
-dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dslider_vtable);
-}
-
-
-dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group,
-			       const dContact *c)
-{
-  dAASSERT (w && c);
-  dxJointContact *j = (dxJointContact *)
-    createJoint (w,group,&__dcontact_vtable);
-  j->contact = *c;
-  return j;
-}
-
-
-dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dhinge2_vtable);
-}
-
-
-dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__duniversal_vtable);
-}
-
-
-dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dfixed_vtable);
-}
-
-
-dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dnull_vtable);
-}
-
-
-dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__damotor_vtable);
-}
-
-
-void dJointDestroy (dxJoint *j)
-{
-  dAASSERT (j);
-  if (j->flags & dJOINT_INGROUP) return;
-  removeJointReferencesFromAttachedBodies (j);
-  removeObjectFromList (j);
-  j->world->nj--;
-  dFree (j,j->vtable->size);
-}
-
-
-dJointGroupID dJointGroupCreate (int max_size)
-{
-  // not any more ... dUASSERT (max_size > 0,"max size must be > 0");
-  dxJointGroup *group = new dxJointGroup;
-  group->num = 0;
-  return group;
-}
-
-
-void dJointGroupDestroy (dJointGroupID group)
-{
-  dAASSERT (group);
-  dJointGroupEmpty (group);
-  delete group;
-}
-
-
-void dJointGroupEmpty (dJointGroupID group)
-{
-  // the joints in this group are detached starting from the most recently
-  // added (at the top of the stack). this helps ensure that the various
-  // linked lists are not traversed too much, as the joints will hopefully
-  // be at the start of those lists.
-  // if any group joints have their world pointer set to 0, their world was
-  // previously destroyed. no special handling is required for these joints.
-
-  dAASSERT (group);
-  int i;
-  dxJoint **jlist = (dxJoint**) ALLOCA (group->num * sizeof(dxJoint*));
-  dxJoint *j = (dxJoint*) group->stack.rewind();
-  for (i=0; i < group->num; i++) {
-    jlist[i] = j;
-    j = (dxJoint*) (group->stack.next (j->vtable->size));
-  }
-  for (i=group->num-1; i >= 0; i--) {
-    if (jlist[i]->world) {
-      removeJointReferencesFromAttachedBodies (jlist[i]);
-      removeObjectFromList (jlist[i]);
-      jlist[i]->world->nj--;
-    }
-  }
-  group->num = 0;
-  group->stack.freeAll();
-}
-
-
-void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2)
-{
-  // check arguments
-  dUASSERT (joint,"bad joint argument");
-  dUASSERT (body1 == 0 || body1 != body2,"can't have body1==body2");
-  dxWorld *world = joint->world;
-  dUASSERT ( (!body1 || body1->world == world) &&
-	     (!body2 || body2->world == world),
-	     "joint and bodies must be in same world");
-
-  // check if the joint can not be attached to just one body
-  dUASSERT (!((joint->flags & dJOINT_TWOBODIES) &&
-	      ((body1 != 0) ^ (body2 != 0))),
-	    "joint can not be attached to just one body");
-
-  // remove any existing body attachments
-  if (joint->node[0].body || joint->node[1].body) {
-    removeJointReferencesFromAttachedBodies (joint);
-  }
-
-  // if a body is zero, make sure that it is body2, so 0 --> node[1].body
-  if (body1==0) {
-    body1 = body2;
-    body2 = 0;
-    joint->flags &= (~dJOINT_REVERSE);
-  }
-  else {
-    joint->flags |= dJOINT_REVERSE;
-  }
-
-  // attach to new bodies
-  joint->node[0].body = body1;
-  joint->node[1].body = body2;
-  if (body1) {
-    joint->node[1].next = body1->firstjoint;
-    body1->firstjoint = &joint->node[1];
-  }
-  else joint->node[1].next = 0;
-  if (body2) {
-    joint->node[0].next = body2->firstjoint;
-    body2->firstjoint = &joint->node[0];
-  }
-  else {
-    joint->node[0].next = 0;
-  }
-}
-
-
-void dJointSetData (dxJoint *joint, void *data)
-{
-  dAASSERT (joint);
-  joint->userdata = data;
-}
-
-
-void *dJointGetData (dxJoint *joint)
-{
-  dAASSERT (joint);
-  return joint->userdata;
-}
-
-
-int dJointGetType (dxJoint *joint)
-{
-  dAASSERT (joint);
-  return joint->vtable->typenum;
-}
-
-
-dBodyID dJointGetBody (dxJoint *joint, int index)
-{
-  dAASSERT (joint);
-  if (index >= 0 && index < 2) return joint->node[index].body;
-  else return 0;
-}
-
-
-void dJointSetFeedback (dxJoint *joint, dJointFeedback *f)
-{
-  dAASSERT (joint);
-  joint->feedback = f;
-}
-
-
-dJointFeedback *dJointGetFeedback (dxJoint *joint)
-{
-  dAASSERT (joint);
-  return joint->feedback;
-}
-
-
-int dAreConnected (dBodyID b1, dBodyID b2)
-{
-  dAASSERT (b1 && b2);
-  // look through b1's neighbour list for b2
-  for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
-    if (n->body == b2) return 1;
-  }
-  return 0;
-}
-
-//****************************************************************************
-// world
-
-dxWorld * dWorldCreate()
-{
-  dxWorld *w = new dxWorld;
-  w->firstbody = 0;
-  w->firstjoint = 0;
-  w->nb = 0;
-  w->nj = 0;
-  dSetZero (w->gravity,4);
-  w->global_erp = REAL(0.2);
-#if defined(dSINGLE)
-  w->global_cfm = 1e-5f;
-#elif defined(dDOUBLE)
-  w->global_cfm = 1e-10;
-#else
-  #error dSINGLE or dDOUBLE must be defined
-#endif
-  return w;
-}
-
-
-void dWorldDestroy (dxWorld *w)
-{
-  // delete all bodies and joints
-  dAASSERT (w);
-  dxBody *nextb, *b = w->firstbody;
-  while (b) {
-    nextb = (dxBody*) b->next;
-    delete b;
-    b = nextb;
-  }
-  dxJoint *nextj, *j = w->firstjoint;
-  while (j) {
-    nextj = (dxJoint*)j->next;
-    if (j->flags & dJOINT_INGROUP) {
-      // the joint is part of a group, so "deactivate" it instead
-      j->world = 0;
-      j->node[0].body = 0;
-      j->node[0].next = 0;
-      j->node[1].body = 0;
-      j->node[1].next = 0;
-      dMessage (0,"warning: destroying world containing grouped joints");
-    }
-    else {
-      dFree (j,j->vtable->size);
-    }
-    j = nextj;
-  }
-  delete w;
-}
-
-
-void dWorldSetGravity (dWorldID w, dReal x, dReal y, dReal z)
-{
-  dAASSERT (w);
-  w->gravity[0] = x;
-  w->gravity[1] = y;
-  w->gravity[2] = z;
-}
-
-
-void dWorldGetGravity (dWorldID w, dVector3 g)
-{
-  dAASSERT (w);
-  g[0] = w->gravity[0];
-  g[1] = w->gravity[1];
-  g[2] = w->gravity[2];
-}
-
-
-void dWorldSetERP (dWorldID w, dReal erp)
-{
-  dAASSERT (w);
-  w->global_erp = erp;
-}
-
-
-dReal dWorldGetERP (dWorldID w)
-{
-  dAASSERT (w);
-  return w->global_erp;
-}
-
-
-void dWorldSetCFM (dWorldID w, dReal cfm)
-{
-  dAASSERT (w);
-  w->global_cfm = cfm;
-}
-
-
-dReal dWorldGetCFM (dWorldID w)
-{
-  dAASSERT (w);
-  return w->global_cfm;
-}
-
-
-void dWorldStep (dWorldID w, dReal stepsize)
-{
-  dUASSERT (w,"bad world argument");
-  dUASSERT (stepsize > 0,"stepsize must be > 0");
-  processIslands (w,stepsize);
-}
-
-
-void dWorldImpulseToForce (dWorldID w, dReal stepsize,
-			   dReal ix, dReal iy, dReal iz,
-			   dVector3 force)
-{
-  dAASSERT (w);
-  stepsize = dRecip(stepsize);
-  force[0] = stepsize * ix;
-  force[1] = stepsize * iy;
-  force[2] = stepsize * iz;
-  // @@@ force[3] = 0;
-}
-
-//****************************************************************************
-// testing
-
-#define NUM 100
-
-#define DO(x)
-
-
-extern "C" void dTestDataStructures()
-{
-  int i;
-  DO(printf ("testDynamicsStuff()\n"));
-
-  dBodyID body [NUM];
-  int nb = 0;
-  dJointID joint [NUM];
-  int nj = 0;
-
-  for (i=0; i<NUM; i++) body[i] = 0;
-  for (i=0; i<NUM; i++) joint[i] = 0;
-
-  DO(printf ("creating world\n"));
-  dWorldID w = dWorldCreate();
-  checkWorld (w);
-
-  for (;;) {
-    if (nb < NUM && dRandReal() > 0.5) {
-      DO(printf ("creating body\n"));
-      body[nb] = dBodyCreate (w);
-      DO(printf ("\t--> %p\n",body[nb]));
-      nb++;
-      checkWorld (w);
-      DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-    }
-    if (nj < NUM && nb > 2 && dRandReal() > 0.5) {
-      dBodyID b1 = body [dRand() % nb];
-      dBodyID b2 = body [dRand() % nb];
-      if (b1 != b2) {
-	DO(printf ("creating joint, attaching to %p,%p\n",b1,b2));
-	joint[nj] = dJointCreateBall (w,0);
-	DO(printf ("\t-->%p\n",joint[nj]));
-	checkWorld (w);
-	dJointAttach (joint[nj],b1,b2);
-	nj++;
-	checkWorld (w);
-	DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-      }
-    }
-    if (nj > 0 && nb > 2 && dRandReal() > 0.5) {
-      dBodyID b1 = body [dRand() % nb];
-      dBodyID b2 = body [dRand() % nb];
-      if (b1 != b2) {
-	int k = dRand() % nj;
-	DO(printf ("reattaching joint %p\n",joint[k]));
-	dJointAttach (joint[k],b1,b2);
-	checkWorld (w);
-	DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-      }
-    }
-    if (nb > 0 && dRandReal() > 0.5) {
-      int k = dRand() % nb;
-      DO(printf ("destroying body %p\n",body[k]));
-      dBodyDestroy (body[k]);
-      checkWorld (w);
-      for (; k < (NUM-1); k++) body[k] = body[k+1];
-      nb--;
-      DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-    }
-    if (nj > 0 && dRandReal() > 0.5) {
-      int k = dRand() % nj;
-      DO(printf ("destroying joint %p\n",joint[k]));
-      dJointDestroy (joint[k]);
-      checkWorld (w);
-      for (; k < (NUM-1); k++) joint[k] = joint[k+1];
-      nj--;
-      DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-    }
-  }
-
-  /*
-  printf ("creating world\n");
-  dWorldID w = dWorldCreate();
-  checkWorld (w);
-  printf ("creating body\n");
-  dBodyID b1 = dBodyCreate (w);
-  checkWorld (w);
-  printf ("creating body\n");
-  dBodyID b2 = dBodyCreate (w);
-  checkWorld (w);
-  printf ("creating joint\n");
-  dJointID j = dJointCreateBall (w);
-  checkWorld (w);
-  printf ("attaching joint\n");
-  dJointAttach (j,b1,b2);
-  checkWorld (w);
-  printf ("destroying joint\n");
-  dJointDestroy (j);
-  checkWorld (w);
-  printf ("destroying body\n");
-  dBodyDestroy (b1);
-  checkWorld (w);
-  printf ("destroying body\n");
-  dBodyDestroy (b2);
-  checkWorld (w);
-  printf ("destroying world\n");
-  dWorldDestroy (w);
-  */
-}
diff --git a/extern/ode/dist/ode/src/odemath.cpp b/extern/ode/dist/ode/src/odemath.cpp
deleted file mode 100644
index cd6dbc855fe..00000000000
--- a/extern/ode/dist/ode/src/odemath.cpp
+++ /dev/null
@@ -1,173 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#define SHARED_CONFIG_H_INCLUDED_FROM_DEFINING_FILE 1
-#include <ode/common.h>
-#include <ode/odemath.h>
-
-
-// get some math functions under windows
-#ifdef WIN32
-#include <float.h>
-#ifndef CYGWIN			// added by andy for cygwin
-#define copysign(a,b) ((dReal)_copysign(a,b))
-#endif				// added by andy for cygwin
-#endif
-
-
-// infinity declaration
-
-#ifdef DINFINITY_DECL
-DINFINITY_DECL
-#endif
-
-
-// this may be called for vectors `a' with extremely small magnitude, for
-// example the result of a cross product on two nearly perpendicular vectors.
-// we must be robust to these small vectors. to prevent numerical error,
-// first find the component a[i] with the largest magnitude and then scale
-// all the components by 1/a[i]. then we can compute the length of `a' and
-// scale the components by 1/l. this has been verified to work with vectors
-// containing the smallest representable numbers.
-
-void dNormalize3 (dVector3 a)
-{
-  dReal a0,a1,a2,aa0,aa1,aa2,l;
-  dAASSERT (a);
-  a0 = a[0];
-  a1 = a[1];
-  a2 = a[2];
-  aa0 = dFabs(a0);
-  aa1 = dFabs(a1);
-  aa2 = dFabs(a2);
-  if (aa1 > aa0) {
-    if (aa2 > aa1) {
-      goto aa2_largest;
-    }
-    else {		// aa1 is largest
-      a0 /= aa1;
-      a2 /= aa1;
-      l = dRecipSqrt (a0*a0 + a2*a2 + 1);
-      a[0] = a0*l;
-      a[1] = copysign(l,a1);
-      a[2] = a2*l;
-    }
-  }
-  else {
-    if (aa2 > aa0) {
-      aa2_largest:	// aa2 is largest
-      a0 /= aa2;
-      a1 /= aa2;
-      l = dRecipSqrt (a0*a0 + a1*a1 + 1);
-      a[0] = a0*l;
-      a[1] = a1*l;
-      a[2] = copysign(l,a2);
-    }
-    else {		// aa0 is largest
-      if (aa0 <= 0) {
-	dDEBUGMSG ("vector has zero size");
-	a[0] = 1;	// if all a's are zero, this is where we'll end up.
-	a[1] = 0;	// return a default unit length vector.
-	a[2] = 0;
-	return;
-      }
-      a1 /= aa0;
-      a2 /= aa0;
-      l = dRecipSqrt (a1*a1 + a2*a2 + 1);
-      a[0] = copysign(l,a0);
-      a[1] = a1*l;
-      a[2] = a2*l;
-    }
-  }
-}
-
-
-/* OLD VERSION */
-/*
-void dNormalize3 (dVector3 a)
-{
-  dASSERT (a);
-  dReal l = dDOT(a,a);
-  if (l > 0) {
-    l = dRecipSqrt(l);
-    a[0] *= l;
-    a[1] *= l;
-    a[2] *= l;
-  }
-  else {
-    a[0] = 1;
-    a[1] = 0;
-    a[2] = 0;
-  }
-}
-*/
-
-
-void dNormalize4 (dVector4 a)
-{
-  dAASSERT (a);
-  dReal l = dDOT(a,a)+a[3]*a[3];
-  if (l > 0) {
-    l = dRecipSqrt(l);
-    a[0] *= l;
-    a[1] *= l;
-    a[2] *= l;
-    a[3] *= l;
-  }
-  else {
-    dDEBUGMSG ("vector has zero size");
-    a[0] = 1;
-    a[1] = 0;
-    a[2] = 0;
-    a[3] = 0;
-  }
-}
-
-
-void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q)
-{
-  dAASSERT (n && p && q);
-  if (dFabs(n[2]) > M_SQRT1_2) {
-    // choose p in y-z plane
-    dReal a = n[1]*n[1] + n[2]*n[2];
-    dReal k = dRecipSqrt (a);
-    p[0] = 0;
-    p[1] = -n[2]*k;
-    p[2] = n[1]*k;
-    // set q = n x p
-    q[0] = a*k;
-    q[1] = -n[0]*p[2];
-    q[2] = n[0]*p[1];
-  }
-  else {
-    // choose p in x-y plane
-    dReal a = n[0]*n[0] + n[1]*n[1];
-    dReal k = dRecipSqrt (a);
-    p[0] = -n[1]*k;
-    p[1] = n[0]*k;
-    p[2] = 0;
-    // set q = n x p
-    q[0] = -n[2]*p[1];
-    q[1] = n[2]*p[0];
-    q[2] = a*k;
-  }
-}
diff --git a/extern/ode/dist/ode/src/rotation.cpp b/extern/ode/dist/ode/src/rotation.cpp
deleted file mode 100644
index 22b9fb13820..00000000000
--- a/extern/ode/dist/ode/src/rotation.cpp
+++ /dev/null
@@ -1,283 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-quaternions have the format: (s,vx,vy,vz) where (vx,vy,vz) is the
-"rotation axis" and s is the "rotation angle".
-
-*/
-
-#include <ode/rotation.h>
-
-
-#define _R(i,j) R[(i)*4+(j)]
-
-#define SET_3x3_IDENTITY \
-  _R(0,0) = REAL(1.0); \
-  _R(0,1) = REAL(0.0); \
-  _R(0,2) = REAL(0.0); \
-  _R(0,3) = REAL(0.0); \
-  _R(1,0) = REAL(0.0); \
-  _R(1,1) = REAL(1.0); \
-  _R(1,2) = REAL(0.0); \
-  _R(1,3) = REAL(0.0); \
-  _R(2,0) = REAL(0.0); \
-  _R(2,1) = REAL(0.0); \
-  _R(2,2) = REAL(1.0); \
-  _R(2,3) = REAL(0.0);
-
-
-void dRSetIdentity (dMatrix3 R)
-{
-  dAASSERT (R);
-  SET_3x3_IDENTITY;
-}
-
-
-void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
-			 dReal angle)
-{
-  dAASSERT (R);
-  dQuaternion q;
-  dQFromAxisAndAngle (q,ax,ay,az,angle);
-  dQtoR (q,R);
-}
-
-
-void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi)
-{
-  dReal sphi,cphi,stheta,ctheta,spsi,cpsi;
-  dAASSERT (R);
-  sphi = dSin(phi);
-  cphi = dCos(phi);
-  stheta = dSin(theta);
-  ctheta = dCos(theta);
-  spsi = dSin(psi);
-  cpsi = dCos(psi);
-  _R(0,0) = cpsi*ctheta;
-  _R(0,1) = spsi*ctheta;
-  _R(0,2) =-stheta;
-  _R(1,0) = cpsi*stheta*sphi - spsi*cphi;
-  _R(1,1) = spsi*stheta*sphi + cpsi*cphi;
-  _R(1,2) = ctheta*sphi;
-  _R(2,0) = cpsi*stheta*cphi + spsi*sphi;
-  _R(2,1) = spsi*stheta*cphi - cpsi*sphi;
-  _R(2,2) = ctheta*cphi;
-}
-
-
-void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
-		  dReal bx, dReal by, dReal bz)
-{
-  dReal l,k;
-  dAASSERT (R);
-  l = dSqrt (ax*ax + ay*ay + az*az);
-  if (l <= REAL(0.0)) {
-    dDEBUGMSG ("zero length vector");
-    return;
-  }
-  l = dRecip(l);
-  ax *= l;
-  ay *= l;
-  az *= l;
-  k = ax*bx + ay*by + az*bz;
-  bx -= k*ax;
-  by -= k*ay;
-  bz -= k*az;
-  l = dSqrt (bx*bx + by*by + bz*bz);
-  if (l <= REAL(0.0)) {
-    dDEBUGMSG ("zero length vector");
-    return;
-  }
-  l = dRecip(l);
-  bx *= l;
-  by *= l;
-  bz *= l;
-  _R(0,0) = ax;
-  _R(1,0) = ay;
-  _R(2,0) = az;
-  _R(0,1) = bx;
-  _R(1,1) = by;
-  _R(2,1) = bz;
-  _R(0,2) = - by*az + ay*bz;
-  _R(1,2) = - bz*ax + az*bx;
-  _R(2,2) = - bx*ay + ax*by;
-}
-
-
-void dQSetIdentity (dQuaternion q)
-{
-  dAASSERT (q);
-  q[0] = 1;
-  q[1] = 0;
-  q[2] = 0;
-  q[3] = 0;
-}
-
-
-void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
-			 dReal angle)
-{
-  dAASSERT (q);
-  dReal l = ax*ax + ay*ay + az*az;
-  if (l > REAL(0.0)) {
-    angle *= REAL(0.5);
-    q[0] = dCos (angle);
-    l = dSin(angle) * dRecipSqrt(l);
-    q[1] = ax*l;
-    q[2] = ay*l;
-    q[3] = az*l;
-  }
-  else {
-    q[0] = 1;
-    q[1] = 0;
-    q[2] = 0;
-    q[3] = 0;
-  }
-}
-
-
-void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
-{
-  dAASSERT (qa && qb && qc);
-  qa[0] = qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
-  qa[1] = qb[0]*qc[1] + qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
-  qa[2] = qb[0]*qc[2] + qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
-  qa[3] = qb[0]*qc[3] + qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
-}
-
-
-void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
-{
-  dAASSERT (qa && qb && qc);
-  qa[0] = qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3];
-  qa[1] = qb[0]*qc[1] - qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2];
-  qa[2] = qb[0]*qc[2] - qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3];
-  qa[3] = qb[0]*qc[3] - qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1];
-}
-
-
-void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
-{
-  dAASSERT (qa && qb && qc);
-  qa[0] =  qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3];
-  qa[1] = -qb[0]*qc[1] + qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2];
-  qa[2] = -qb[0]*qc[2] + qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3];
-  qa[3] = -qb[0]*qc[3] + qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1];
-}
-
-
-void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
-{
-  dAASSERT (qa && qb && qc);
-  qa[0] =  qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
-  qa[1] = -qb[0]*qc[1] - qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
-  qa[2] = -qb[0]*qc[2] - qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
-  qa[3] = -qb[0]*qc[3] - qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
-}
-
-
-// QtoR(), RtoQ() and WtoDQ() are derived from equations in "An Introduction
-// to Physically Based Modeling: Rigid Body Simulation - 1: Unconstrained
-// Rigid Body Dynamics" by David Baraff, Robotics Institute, Carnegie Mellon
-// University, 1997.
-
-void dQtoR (const dQuaternion q, dMatrix3 R)
-{
-  dAASSERT (q && R);
-  // q = (s,vx,vy,vz)
-  dReal qq1 = 2*q[1]*q[1];
-  dReal qq2 = 2*q[2]*q[2];
-  dReal qq3 = 2*q[3]*q[3];
-  _R(0,0) = 1 - qq2 - qq3;
-  _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
-  _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
-  _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
-  _R(1,1) = 1 - qq1 - qq3;
-  _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
-  _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
-  _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
-  _R(2,2) = 1 - qq1 - qq2;
-}
-
-
-void dRtoQ (const dMatrix3 R, dQuaternion q)
-{
-  dAASSERT (q && R);
-  dReal tr,s;
-  tr = _R(0,0) + _R(1,1) + _R(2,2);
-  if (tr >= 0) {
-    s = dSqrt (tr + 1);
-    q[0] = REAL(0.5) * s;
-    s = REAL(0.5) * dRecip(s);
-    q[1] = (_R(2,1) - _R(1,2)) * s;
-    q[2] = (_R(0,2) - _R(2,0)) * s;
-    q[3] = (_R(1,0) - _R(0,1)) * s;
-  }
-  else {
-    // find the largest diagonal element and jump to the appropriate case
-    if (_R(1,1) > _R(0,0)) {
-      if (_R(2,2) > _R(1,1)) goto case_2;
-      goto case_1;
-    }
-    if (_R(2,2) > _R(0,0)) goto case_2;
-    goto case_0;
-
-    case_0:
-    s = dSqrt((_R(0,0) - (_R(1,1) + _R(2,2))) + 1);
-    q[1] = REAL(0.5) * s;
-    s = REAL(0.5) * dRecip(s);
-    q[2] = (_R(0,1) + _R(1,0)) * s;
-    q[3] = (_R(2,0) + _R(0,2)) * s;
-    q[0] = (_R(2,1) - _R(1,2)) * s;
-    return;
-
-    case_1:
-    s = dSqrt((_R(1,1) - (_R(2,2) + _R(0,0))) + 1);
-    q[2] = REAL(0.5) * s;
-    s = REAL(0.5) * dRecip(s);
-    q[3] = (_R(1,2) + _R(2,1)) * s;
-    q[1] = (_R(0,1) + _R(1,0)) * s;
-    q[0] = (_R(0,2) - _R(2,0)) * s;
-    return;
-
-    case_2:
-    s = dSqrt((_R(2,2) - (_R(0,0) + _R(1,1))) + 1);
-    q[3] = REAL(0.5) * s;
-    s = REAL(0.5) * dRecip(s);
-    q[1] = (_R(2,0) + _R(0,2)) * s;
-    q[2] = (_R(1,2) + _R(2,1)) * s;
-    q[0] = (_R(1,0) - _R(0,1)) * s;
-    return;
-  }
-}
-
-
-void dWtoDQ (const dVector3 w, const dQuaternion q, dVector4 dq)
-{
-  dAASSERT (w && q && dq);
-  dq[0] = REAL(0.5)*(- w[0]*q[1] - w[1]*q[2] - w[2]*q[3]);
-  dq[1] = REAL(0.5)*(  w[0]*q[0] + w[1]*q[3] - w[2]*q[2]);
-  dq[2] = REAL(0.5)*(- w[0]*q[3] + w[1]*q[0] + w[2]*q[1]);
-  dq[3] = REAL(0.5)*(  w[0]*q[2] - w[1]*q[1] + w[2]*q[0]);
-}
diff --git a/extern/ode/dist/ode/src/scrapbook.cpp b/extern/ode/dist/ode/src/scrapbook.cpp
deleted file mode 100644
index ca8c11f1f1b..00000000000
--- a/extern/ode/dist/ode/src/scrapbook.cpp
+++ /dev/null
@@ -1,270 +0,0 @@
-
-/*
-
-this is code that was once useful but has now been obseleted.
-
-this file should not be compiled as part of ODE!
-
-*/
-
-//***************************************************************************
-// intersect a line segment with a plane
-
-extern "C" int dClipLineToBox (const dVector3 p1, const dVector3 p2,
-			       const dVector3 p, const dMatrix3 R,
-			       const dVector3 side)
-{
-  // compute the start and end of the line (p1 and p2) relative to the box.
-  // we will do all subsequent computations in this box-relative coordinate
-  // system. we have to do a translation and rotation for each point.
-  dVector3 tmp,s,e;
-  tmp[0] = p1[0] - p[0];
-  tmp[1] = p1[1] - p[1];
-  tmp[2] = p1[2] - p[2];
-  dMULTIPLY1_331 (s,R,tmp);
-  tmp[0] = p2[0] - p[0];
-  tmp[1] = p2[1] - p[1];
-  tmp[2] = p2[2] - p[2];
-  dMULTIPLY1_331 (e,R,tmp);
-
-  // compute the vector 'v' from the start point to the end point
-  dVector3 v;
-  v[0] = e[0] - s[0];
-  v[1] = e[1] - s[1];
-  v[2] = e[2] - s[2];
-
-  // a point on the line is defined by the parameter 't'. t=0 corresponds
-  // to the start of the line, t=1 corresponds to the end of the line.
-  // we will clip the line to the box by finding the range of t where a
-  // point on the line is inside the box. the currently known bounds for
-  // t and tlo..thi.
-  dReal tlo=0,thi=1;
-
-  // clip in the X/Y/Z direction
-  for (int i=0; i<3; i++) {
-    // first adjust s,e for the current t range. this is redundant for the
-    // first iteration, but never mind.
-    e[i] = s[i] + thi*v[i];
-    s[i] = s[i] + tlo*v[i];
-    // compute where t intersects the positive and negative sides.
-    dReal tp = ( side[i] - s[i])/v[i];	// @@@ handle case where denom=0
-    dReal tm = (-side[i] - s[i])/v[i];
-    // handle 9 intersection cases
-    if (s[i] <= -side[i]) {
-      tlo = tm;
-      if (e[i] <= -side[i]) return 0;
-      else if (e[i] >= side[i]) thi = tp;
-    }
-    else if (s[i] <= side[i]) {
-      if (e[i] <= -side[i]) thi = tm;
-      else if (e[i] >= side[i]) thi = tp;
-    }
-    else {
-      tlo = tp;
-      if (e[i] <= -side[i]) thi = tm;
-      else if (e[i] >= side[i]) return 0;
-    }
-  }
-
-  //... @@@ AT HERE @@@
-
-  return 1;
-}
-
-
-//***************************************************************************
-// a nice try at C-B collision. unfortunately it doesn't work. the logic
-// for testing for line-box intersection is correct, but unfortunately the
-// closest-point distance estimates are often too large. as a result contact
-// points are placed incorrectly.
-
-
-int dCollideCB (const dxGeom *o1, const dxGeom *o2, int flags,
-		dContactGeom *contact, int skip)
-{
-  int i;
-
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dCCylinderClass);
-  dIASSERT (o2->_class->num == dBoxClass);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  dxCCylinder *cyl = (dxCCylinder*) CLASSDATA(o1);
-  dxBox *box = (dxBox*) CLASSDATA(o2);
-
-  // get p1,p2 = cylinder axis endpoints, get radius
-  dVector3 p1,p2;
-  dReal clen = cyl->lz * REAL(0.5);
-  p1[0] = o1->pos[0] + clen * o1->R[2];
-  p1[1] = o1->pos[1] + clen * o1->R[6];
-  p1[2] = o1->pos[2] + clen * o1->R[10];
-  p2[0] = o1->pos[0] - clen * o1->R[2];
-  p2[1] = o1->pos[1] - clen * o1->R[6];
-  p2[2] = o1->pos[2] - clen * o1->R[10];
-  dReal radius = cyl->radius;
-
-  // copy out box center, rotation matrix, and side array
-  dReal *c = o2->pos;
-  dReal *R = o2->R;
-  dReal *side = box->side;
-
-  // compute the start and end of the line (p1 and p2) relative to the box.
-  // we will do all subsequent computations in this box-relative coordinate
-  // system. we have to do a translation and rotation for each point.
-  dVector3 tmp3,s,e;
-  tmp3[0] = p1[0] - c[0];
-  tmp3[1] = p1[1] - c[1];
-  tmp3[2] = p1[2] - c[2];
-  dMULTIPLY1_331 (s,R,tmp3);
-  tmp3[0] = p2[0] - c[0];
-  tmp3[1] = p2[1] - c[1];
-  tmp3[2] = p2[2] - c[2];
-  dMULTIPLY1_331 (e,R,tmp3);
-
-  // compute the vector 'v' from the start point to the end point
-  dVector3 v;
-  v[0] = e[0] - s[0];
-  v[1] = e[1] - s[1];
-  v[2] = e[2] - s[2];
-
-  // compute the half-sides of the box
-  dReal S0 = side[0] * REAL(0.5);
-  dReal S1 = side[1] * REAL(0.5);
-  dReal S2 = side[2] * REAL(0.5);
-
-  // compute the size of the bounding box around the line segment
-  dReal B0 = dFabs (v[0]);
-  dReal B1 = dFabs (v[1]);
-  dReal B2 = dFabs (v[2]);
-
-  // for all 6 separation axes, measure the penetration depth. if any depth is
-  // less than 0 then the objects don't penetrate at all so we can just
-  // return 0. find the axis with the smallest depth, and record its normal.
-
-  // note: normalR is set to point to a column of R if that is the smallest
-  // depth normal so far. otherwise normalR is 0 and normalC is set to a
-  // vector relative to the box. invert_normal is 1 if the sign of the normal
-  // should be flipped.
-
-  dReal depth,trial_depth,tmp,length;
-  const dReal *normalR=0;
-  dVector3 normalC;
-  int invert_normal = 0;
-  int code = 0;		// 0=no contact, 1-3=face contact, 4-6=edge contact
-
-  depth = dInfinity;
-
-  // look at face-normal axes
-
-#undef TEST
-#define TEST(center,depth_expr,norm,contact_code) \
-  tmp = (center); \
-  trial_depth = radius + REAL(0.5) * ((depth_expr) - dFabs(tmp)); \
-  if (trial_depth < 0) return 0; \
-  if (trial_depth < depth) { \
-    depth = trial_depth; \
-    normalR = (norm); \
-    invert_normal = (tmp < 0); \
-    code = contact_code; \
-  }
-
-  TEST (s[0]+e[0], side[0] + B0, R+0, 1);
-  TEST (s[1]+e[1], side[1] + B1, R+1, 2);
-  TEST (s[2]+e[2], side[2] + B2, R+2, 3);
-
-  // look at v x box-edge axes
-
-#undef TEST
-#define TEST(box_radius,line_offset,nx,ny,nz,contact_code) \
-  tmp = (line_offset); \
-  trial_depth = (box_radius) - dFabs(tmp); \
-  length = dSqrt ((nx)*(nx) + (ny)*(ny) + (nz)*(nz)); \
-  if (length > 0) { \
-    length = dRecip(length); \
-    trial_depth = trial_depth * length + radius; \
-    if (trial_depth < 0) return 0; \
-    if (trial_depth < depth) { \
-      depth = trial_depth; \
-      normalR = 0; \
-      normalC[0] = (nx)*length; \
-      normalC[1] = (ny)*length; \
-      normalC[2] = (nz)*length; \
-      invert_normal = (tmp < 0); \
-      code = contact_code; \
-    } \
-  }
-
-  TEST (B2*S1+B1*S2,v[1]*s[2]-v[2]*s[1], 0,-v[2],v[1], 4);
-  TEST (B2*S0+B0*S2,v[2]*s[0]-v[0]*s[2], v[2],0,-v[0], 5);
-  TEST (B1*S0+B0*S1,v[0]*s[1]-v[1]*s[0], -v[1],v[0],0, 6);
-
-#undef TEST
-
-  // if we get to this point, the box and ccylinder interpenetrate.
-  // compute the normal in global coordinates.
-  dReal *normal = contact[0].normal;
-  if (normalR) {
-    normal[0] = normalR[0];
-    normal[1] = normalR[4];
-    normal[2] = normalR[8];
-  }
-  else {
-    dMULTIPLY0_331 (normal,R,normalC);
-  }
-  if (invert_normal) {
-    normal[0] = -normal[0];
-    normal[1] = -normal[1];
-    normal[2] = -normal[2];
-  }
-
-  // set the depth
-  contact[0].depth = depth;
-
-  if (code == 0) {
-    return 0;		// should never get here
-  }
-  else if (code >= 4) {
-    // handle edge contacts
-    // find an endpoint q1 on the intersecting edge of the box
-    dVector3 q1;
-    dReal sign[3];
-    for (i=0; i<3; i++) q1[i] = c[i];
-    sign[0] = (dDOT14(normal,R+0) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) q1[i] += sign[0] * S0 * R[i*4];
-    sign[1] = (dDOT14(normal,R+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) q1[i] += sign[1] * S1 * R[i*4+1];
-    sign[2] = (dDOT14(normal,R+2) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) q1[i] += sign[2] * S2 * R[i*4+2];
-
-    // find the other endpoint q2 of the intersecting edge
-    dVector3 q2;
-    for (i=0; i<3; i++)
-      q2[i] = q1[i] - R[code-4 + i*4] * (sign[code-4] * side[code-4]);
-
-    // determine the closest point between the box edge and the line segment
-    dVector3 cp1,cp2;
-    dClosestLineSegmentPoints (q1,q2, p1,p2, cp1,cp2);
-    for (i=0; i<3; i++) contact[0].pos[i] = cp1[i] - REAL(0.5)*normal[i]*depth;
-    return 1;
-  }
-  else {
-    // handle face contacts.
-    // @@@ temporary: make deepest vertex on the line the contact point.
-    // @@@ this kind of works, but we sometimes need two contact points for
-    // @@@ stability.
-
-    // compute 'v' in global coordinates
-    dVector3 gv;
-    for (i=0; i<3; i++) gv[i] = p2[i] - p1[i];
-
-    if (dDOT (normal,gv) > 0) {
-      for (i=0; i<3; i++)
-	contact[0].pos[i] = p1[i] + (depth*REAL(0.5)-radius)*normal[i];
-    }
-    else {
-      for (i=0; i<3; i++)
-	contact[0].pos[i] = p2[i] + (depth*REAL(0.5)-radius)*normal[i];
-    }
-    return 1;
-  }
-}
diff --git a/extern/ode/dist/ode/src/space.cpp b/extern/ode/dist/ode/src/space.cpp
deleted file mode 100644
index 0c656573918..00000000000
--- a/extern/ode/dist/ode/src/space.cpp
+++ /dev/null
@@ -1,621 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-simple space 
-------------
-
-reports all n^2 object intersections
-
-
-multi-resolution hash table
----------------------------
-
-the current implementation rebuilds a new hash table each time collide()
-is called. we don't keep any state between calls. this is wasteful if there
-are unmoving objects in the space.
-
-
-TODO
-----
-
-less memory wasting may to prevent multiple collision callbacks for the
-same pair?
-
-better virtual address function.
-
-the collision search can perhaps be optimized - as we search chains we can
-come across other candidate intersections at other levels, perhaps we should
-do the intersection check straight away? --> save on list searching time only,
-which is not too significant.
-
-*/
-
-//****************************************************************************
-
-#include <ode/common.h>
-#include <ode/space.h>
-#include <ode/geom.h>
-#include <ode/error.h>
-#include <ode/memory.h>
-#include "objects.h"
-#include "geom_internal.h"
-
-//****************************************************************************
-// space base class
-
-struct dxSpace : public dBase {
-  int type;			// don't want to use RTTI
-  virtual void destroy()=0;
-  virtual void add (dGeomID)=0;
-  virtual void remove (dGeomID)=0;
-  virtual void collide (void *data, dNearCallback *callback)=0;
-  virtual int query (dGeomID)=0;
-};
-
-#define TYPE_SIMPLE 0xbad
-#define TYPE_HASH 0xbabe
-
-//****************************************************************************
-// stuff common to all spaces
-
-#define ALLOCA(x) dALLOCA16(x)
-
-
-// collide two AABBs together. for the hash table space, this is called if
-// the two AABBs inhabit the same hash table cells. this only calls the
-// callback function if the boxes actually intersect. if a geom has an
-// AABB test function, that is called to provide a further refinement of
-// the intersection.
-
-static inline void collideAABBs (dReal bounds1[6], dReal bounds2[6],
-				 dxGeom *g1, dxGeom *g2,
-				 void *data, dNearCallback *callback)
-{
-  // no contacts if both geoms on the same body, and the body is not 0
-  if (g1->body == g2->body && g1->body) return;
-
-  if (bounds1[0] > bounds2[1] ||
-      bounds1[1] < bounds2[0] ||
-      bounds1[2] > bounds2[3] ||
-      bounds1[3] < bounds2[2] ||
-      bounds1[4] > bounds2[5] ||
-      bounds1[5] < bounds2[4]) return;
-  if (g1->_class->aabb_test) {
-    if (g1->_class->aabb_test (g1,g2,bounds2) == 0) return;
-  }
-  if (g2->_class->aabb_test) {
-    if (g2->_class->aabb_test (g2,g1,bounds1) == 0) return;
-  }
-  callback (data,g1,g2);
-}
-
-//****************************************************************************
-// simple space - reports all n^2 object intersections
-
-struct dxSimpleSpace : public dxSpace {
-  dGeomID first;
-  void destroy();
-  void add (dGeomID);
-  void remove (dGeomID);
-  void collide (void *data, dNearCallback *callback);
-  int query (dGeomID);
-};
-
-
-dSpaceID dSimpleSpaceCreate()
-{
-  dxSimpleSpace *w = new dxSimpleSpace;
-  w->type = TYPE_SIMPLE;
-  w->first = 0;
-  return w;
-}
-
-
-void dxSimpleSpace::destroy()
-{
-  // destroying each geom will call remove(). this will be efficient if
-  // we destroy geoms in list order.
-  dAASSERT (this);
-  dGeomID g,n;
-  g = first;
-  while (g) {
-    n = g->space.next;
-    dGeomDestroy (g);
-    g = n;
-  }
-  delete this;
-}
-
-
-void dxSimpleSpace::add (dGeomID obj)
-{
-  dAASSERT (this && obj);
-  dUASSERT (obj->spaceid == 0 && obj->space.next == 0,
-	    "object is already in a space");
-  obj->space.next = first;
-  first = obj;
-  obj->spaceid = this;
-}
-
-
-void dxSimpleSpace::remove (dGeomID geom_to_remove)
-{
-  dAASSERT (this && geom_to_remove);
-  dUASSERT (geom_to_remove->spaceid,"object is not in a space");
-  dGeomID last=0,g=first;
-  while (g) {
-    if (g==geom_to_remove) {
-      if (last) last->space.next = g->space.next;
-      else first = g->space.next;
-      geom_to_remove->space.next = 0;
-      geom_to_remove->spaceid = 0;
-      return;
-    }
-    last = g;
-    g = g->space.next;
-  }
-}
-
-
-void dxSimpleSpace::collide (void *data, dNearCallback *callback)
-{
-  dAASSERT (this && callback);
-  dxGeom *g1,*g2;
-  int i,j,n;
-
-  // count the number of objects
-  n=0;
-  for (g1=first; g1; g1=g1->space.next) n++;
-
-  // allocate and fill bounds array
-  dReal *bounds = (dReal*) ALLOCA (6 * n * sizeof(dReal));
-  i=0;
-  for (g1=first; g1; g1=g1->space.next) {
-    g1->_class->aabb (g1,bounds + i);
-    g1->space_aabb = bounds + i;
-    i += 6;
-  }
-
-  // intersect all bounding boxes
-  i=0;
-  for (g1=first; g1; g1=g1->space.next) {
-    j=i+6;
-    for (g2=g1->space.next; g2; g2=g2->space.next) {
-      collideAABBs (bounds+i,bounds+j,g1,g2,data,callback);
-      j += 6;
-    }
-    i += 6;
-  }
-
-  // reset the aabb fields of the geoms back to 0
-  for (g1=first; g1; g1=g1->space.next) g1->space_aabb = 0;
-}
-
-
-// @@@ NOT FLEXIBLE ENOUGH
-//
-//int dSpaceCollide (dSpaceID space, dContactGeom **contact_array)
-//{
-//  int n = 0;
-//  dContactGeom *base = (dContact*) dStackAlloc (sizeof(dContact));
-//  dContactGeom *c = base;
-//  for (dxGeom *g1=space->first; g1; g1=g1->space.next) {
-//    for (dxGeom *g2=g1->space.next; g2; g2=g2->space.next) {
-//      // generate at most 1 contact for this pair
-//      c->o1 = g1;
-//      c->o2 = g2;
-//      if (dCollide (0,c)) {
-//	c = (dContactGeom*) dStackAlloc (sizeof(dContactGeom));
-//	n++;
-//      }
-//    }
-//  }
-//  *contact_array = base;
-//  return n;
-//}
-
-
-int dxSimpleSpace::query (dGeomID obj)
-{
-  dAASSERT (this && obj);
-  if (obj->spaceid != this) return 0;
-  dGeomID compare = first;
-  while (compare) {
-    if (compare == obj) return 1;
-    compare = compare->space.next;
-  }
-  dDebug (0,"object is not in the space it thinks it is in");
-  return 0;
-}
-
-//****************************************************************************
-// hash table space
-
-// kind of silly, but oh well...
-#define MAXINT ((int)((((unsigned int)(-1)) << 1) >> 1))
-
-
-// prime[i] is the largest prime smaller than 2^i
-#define NUM_PRIMES 31
-static long int prime[NUM_PRIMES] = {1L,2L,3L,7L,13L,31L,61L,127L,251L,509L,
-  1021L,2039L,4093L,8191L,16381L,32749L,65521L,131071L,262139L,
-  524287L,1048573L,2097143L,4194301L,8388593L,16777213L,33554393L,
-  67108859L,134217689L,268435399L,536870909L,1073741789L};
-
-
-// currently the space 'container' is just a list of the geoms in the space.
-
-struct dxHashSpace : public dxSpace {
-  dxGeom *first;
-  int global_minlevel;	// smallest hash table level to put AABBs in
-  int global_maxlevel;	// objects that need a level larger than this will be
-			// put in a "big objects" list instead of a hash table
-  void destroy();
-  void add (dGeomID);
-  void remove (dGeomID);
-  void collide (void *data, dNearCallback *callback);
-  int query (dGeomID);
-};
-
-
-// an axis aligned bounding box
-struct dxAABB {
-  dxAABB *next;		// next in the list of all AABBs
-  dReal bounds[6];	// minx, maxx, miny, maxy, minz, maxz
-  int level;		// the level this is stored in (cell size = 2^level)
-  int dbounds[6];	// AABB bounds, discretized to cell size
-  dxGeom *geom;		// corresponding geometry object
-  int index;		// index of this AABB, starting from 0
-};
-
-
-// a hash table node that represents an AABB that intersects a particular cell
-// at a particular level
-struct Node {
-  Node *next;		// next node in hash table collision list, 0 if none
-  int x,y,z;		// cell position in space, discretized to cell size
-  dxAABB *aabb;		// axis aligned bounding box that intersects this cell
-};
-
-
-// return the `level' of an AABB. the AABB will be put into cells at this
-// level - the cell size will be 2^level. the level is chosen to be the
-// smallest value such that the AABB occupies no more than 8 cells, regardless
-// of its placement. this means that:
-//	size/2 < q <= size
-// where q is the maximum AABB dimension.
-
-static int findLevel (dReal bounds[6])
-{
-  // compute q
-  dReal q,q2;
-  q = bounds[1] - bounds[0];	// x bounds
-  q2 = bounds[3] - bounds[2];	// y bounds
-  if (q2 > q) q = q2;
-  q2 = bounds[5] - bounds[4];	// z bounds
-  if (q2 > q) q = q2;
-
-  if (q == dInfinity) return MAXINT;
-
-  // find level such that 0.5 * 2^level < q <= 2^level
-  int level;
-  frexp (q,&level);	// q = (0.5 .. 1.0) * 2^level (definition of frexp)
-  return level;
-}
-
-
-// find a virtual memory address for a cell at the given level and x,y,z
-// position.
-// @@@ currently this is not very sophisticated, e.g. the scaling
-// factors could be better designed to avoid collisions, and they should
-// probably depend on the hash table physical size.
-
-static unsigned long getVirtualAddress (int level, int x, int y, int z)
-{
-  return level*1000 + x*100 + y*10 + z;
-}
-
-//****************************************************************************
-// hash space public functions
-
-dSpaceID dHashSpaceCreate()
-{
-  dxHashSpace *w = new dxHashSpace;
-  w->type = TYPE_HASH;
-  w->first = 0;
-  w->global_minlevel = -3;
-  w->global_maxlevel = 10;
-  return w;
-}
-
-
-void dxHashSpace::destroy()
-{
-  // destroying each geom will call remove(). this will be efficient if
-  // we destroy geoms in list order.
-  dAASSERT (this);
-  dGeomID g,n;
-  g = first;
-  while (g) {
-    n = g->space.next;
-    dGeomDestroy (g);
-    g = n;
-  }
-  delete this;
-}
-
-
-void dHashSpaceSetLevels (dxSpace *space, int minlevel, int maxlevel)
-{
-  dUASSERT (minlevel <= maxlevel,"must have minlevel <= maxlevel");
-  dUASSERT (space->type == TYPE_HASH,"must be a hash space");
-  dxHashSpace *hspace = (dxHashSpace*) space;
-  hspace->global_minlevel = minlevel;
-  hspace->global_maxlevel = maxlevel;
-}
-
-
-void dxHashSpace::add (dGeomID obj)
-{
-  dAASSERT (this && obj);
-  dUASSERT (obj->spaceid == 0 && obj->space.next == 0,
-	    "object is already in a space");
-  obj->space.next = first;
-  first = obj;
-  obj->spaceid = this;
-}
-
-
-void dxHashSpace::remove (dGeomID geom_to_remove)
-{
-  dAASSERT (this && geom_to_remove);
-  dUASSERT (geom_to_remove->spaceid,"object is not in a space");
-  dGeomID last=0,g=first;
-  while (g) {
-    if (g==geom_to_remove) {
-      if (last) last->space.next = g->space.next;
-      else first = g->space.next;
-      geom_to_remove->space.next = 0;
-      geom_to_remove->spaceid = 0;
-      return;
-    }
-    last = g;
-    g = g->space.next;
-  }
-}
-
-
-void dxHashSpace::collide (void *data, dNearCallback *callback)
-{
-  dAASSERT(this && callback);
-  dxGeom *geom;
-  dxAABB *aabb;
-  int i,maxlevel;
-
-  // create a list of axis aligned bounding boxes for all geoms. count the
-  // number of AABBs as we go. set the level for all AABBs. put AABBs larger
-  // than the space's global_maxlevel in the big_boxes list, check everything
-  // else against that list at the end. for AABBs that are not too big,
-  // record the maximum level that we need.
-
-  int n = 0;			// number of AABBs in main list
-  int ntotal = 0;		// total number of AABBs
-  dxAABB *first_aabb = 0;	// list of AABBs in hash table
-  dxAABB *big_boxes = 0;	// list of AABBs too big for hash table
-  maxlevel = global_minlevel - 1;
-  for (geom = first; geom; geom=geom->space.next) {
-    ntotal++;
-    dxAABB *aabb = (dxAABB*) ALLOCA (sizeof(dxAABB));
-    geom->_class->aabb (geom,aabb->bounds);
-    geom->space_aabb = aabb->bounds;
-    aabb->geom = geom;
-    // compute level, but prevent cells from getting too small
-    int level = findLevel (aabb->bounds);
-    if (level < global_minlevel) level = global_minlevel;
-    if (level <= global_maxlevel) {
-      // aabb goes in main list
-      aabb->next = first_aabb;
-      first_aabb = aabb;
-      aabb->level = level;
-      if (level > maxlevel) maxlevel = level;
-      // cellsize = 2^level
-      dReal cellsize = (dReal) ldexp (1.0,level);
-      // discretize AABB position to cell size
-      for (i=0; i < 6; i++) aabb->dbounds[i] = (int)
-			      floor (aabb->bounds[i]/cellsize);
-      // set AABB index
-      aabb->index = n;
-      n++;
-    }
-    else {
-      // aabb is too big, put it in the big_boxes list. we don't care about
-      // setting level, dbounds, index, or the maxlevel
-      aabb->next = big_boxes;
-      big_boxes = aabb;
-    }
-  }
-
-  // 0 or 1 boxes can't collide with anything
-  if (ntotal < 2) return;
-
-  // for `n' objects, an n*n array of bits is used to record if those objects
-  // have been intersection-tested against each other yet. this array can
-  // grow large with high n, but oh well...
-  int tested_rowsize = (n+7) >> 3;	// number of bytes needed for n bits
-  unsigned char *tested = (unsigned char *) alloca (n * tested_rowsize);
-  memset (tested,0,n * tested_rowsize);
-
-  // create a hash table to store all AABBs. each AABB may take up to 8 cells.
-  // we use chaining to resolve collisions, but we use a relatively large table
-  // to reduce the chance of collisions.
-
-  // compute hash table size sz to be a prime > 8*n
-  for (i=0; i<NUM_PRIMES; i++) {
-    if (prime[i] >= (8*n)) break;
-  }
-  if (i >= NUM_PRIMES) i = NUM_PRIMES-1;	// probably pointless
-  int sz = prime[i];
-
-  // allocate and initialize hash table node pointers
-  Node **table = (Node **) ALLOCA (sizeof(Node*) * sz);
-  for (i=0; i<sz; i++) table[i] = 0;
-
-  // add each AABB to the hash table (may need to add it to up to 8 cells)
-  for (aabb=first_aabb; aabb; aabb=aabb->next) {
-    int *dbounds = aabb->dbounds;
-    for (int xi = dbounds[0]; xi <= dbounds[1]; xi++) {
-      for (int yi = dbounds[2]; yi <= dbounds[3]; yi++) {
-	for (int zi = dbounds[4]; zi <= dbounds[5]; zi++) {
-	  // get the hash index
-	  unsigned long hi = getVirtualAddress (aabb->level,xi,yi,zi) % sz;
-	  // add a new node to the hash table
-	  Node *node = (Node*) alloca (sizeof (Node));
-	  node->x = xi;
-	  node->y = yi;
-	  node->z = zi;
-	  node->aabb = aabb;
-	  node->next = table[hi];
-	  table[hi] = node;
-	}
-      }
-    }
-  }
-
-  // now that all AABBs are loaded into the hash table, we do the actual
-  // collision detection. for all AABBs, check for other AABBs in the
-  // same cells for collisions, and then check for other AABBs in all
-  // intersecting higher level cells.
-
-  int db[6];			// discrete bounds at current level
-  for (aabb=first_aabb; aabb; aabb=aabb->next) {
-    // we are searching for collisions with aabb
-    for (i=0; i<6; i++) db[i] = aabb->dbounds[i];
-    for (int level = aabb->level; level <= maxlevel; level++) {
-      for (int xi = db[0]; xi <= db[1]; xi++) {
-	for (int yi = db[2]; yi <= db[3]; yi++) {
-	  for (int zi = db[4]; zi <= db[5]; zi++) {
-	    // get the hash index
-	    unsigned long hi = getVirtualAddress (level,xi,yi,zi) % sz;
-	    // search all nodes at this index
-	    Node *node;
-	    for (node = table[hi]; node; node=node->next) {
-	      // node points to an AABB that may intersect aabb
-	      if (node->aabb == aabb) continue;
-	      if (node->aabb->level == level &&
-		  node->x == xi && node->y == yi && node->z == zi) {
-		// see if aabb and node->aabb have already been tested
-		// against each other
-		unsigned char mask;
-		if (aabb->index <= node->aabb->index) {
-		  i = (aabb->index * tested_rowsize)+(node->aabb->index >> 3);
-		  mask = 1 << (node->aabb->index & 7);
-		}
-		else {
-		  i = (node->aabb->index * tested_rowsize)+(aabb->index >> 3);
-		  mask = 1 << (aabb->index & 7);
-		}
-		dIASSERT (i >= 0 && i < (tested_rowsize*n));
-		if ((tested[i] & mask)==0) {
-		  collideAABBs (aabb->bounds,node->aabb->bounds,
-				aabb->geom,node->aabb->geom,
-				data,callback);
-		}
-		tested[i] |= mask;
-	      }
-	    }
-	  }
-	}
-      }
-      // get the discrete bounds for the next level up
-      for (i=0; i<6; i++) db[i] >>= 1;
-    }
-  }
-
-  // every AABB in the normal list must now be intersected against every
-  // AABB in the big_boxes list. so let's hope there are not too many objects
-  // in the big_boxes list.
-  for (aabb=first_aabb; aabb; aabb=aabb->next) {
-    for (dxAABB *aabb2=big_boxes; aabb2; aabb2=aabb2->next) {
-      collideAABBs (aabb->bounds,aabb2->bounds,aabb->geom,aabb2->geom,
-		    data,callback);
-    }
-  }
-
-  // intersected all AABBs in the big_boxes list together
-  for (aabb=big_boxes; aabb; aabb=aabb->next) {
-    for (dxAABB *aabb2=aabb->next; aabb2; aabb2=aabb2->next) {
-      collideAABBs (aabb->bounds,aabb2->bounds,aabb->geom,aabb2->geom,
-		    data,callback);
-    }
-  }
-
-  // reset the aabb fields of the geoms back to 0
-  for (geom=first; geom; geom=geom->space.next) geom->space_aabb = 0;
-}
-
-
-int dxHashSpace::query (dGeomID obj)
-{
-  dAASSERT (this && obj);
-  if (obj->spaceid != this) return 0;
-  dGeomID compare = first;
-  while (compare) {
-    if (compare == obj) return 1;
-    compare = compare->space.next;
-  }
-  dDebug (0,"object is not in the space it thinks it is in");
-  return 0;
-}
-
-//****************************************************************************
-// space functions
-
-void dSpaceDestroy (dxSpace * space)
-{
-  space->destroy();
-}
-
-
-void dSpaceAdd (dxSpace * space, dxGeom *g)
-{
-  space->add (g);
-}
-
-
-void dSpaceRemove (dxSpace * space, dxGeom *g)
-{
-  space->remove (g);
-}
-
-
-int dSpaceQuery (dxSpace * space, dxGeom *g)
-{
-  return space->query (g);
-}
-
-
-void dSpaceCollide (dxSpace * space, void *data, dNearCallback *callback)
-{
-  space->collide (data,callback);
-}
diff --git a/extern/ode/dist/ode/src/stack.cpp b/extern/ode/dist/ode/src/stack.cpp
deleted file mode 100644
index e062f92b54f..00000000000
--- a/extern/ode/dist/ode/src/stack.cpp
+++ /dev/null
@@ -1,114 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-@@@ this file should not be compiled any more @@@
-
-#include <string.h>
-#include <errno.h>
-#include "stack.h"
-#include "ode/error.h"
-#include "ode/config.h"
-
-//****************************************************************************
-// unix version that uses mmap(). some systems have anonymous mmaps and some
-// need to mmap /dev/zero.
-
-#ifndef WIN32
-
-#include <unistd.h>
-#include <sys/mman.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-
-
-void dStack::init (int max_size)
-{
-  if (sizeof(long int) != sizeof(char*)) dDebug (0,"internal");
-  if (max_size <= 0) dDebug (0,"Stack::init() given size <= 0");
-
-#ifndef MMAP_ANONYMOUS
-  static int dev_zero_fd = -1;	// cached file descriptor for /dev/zero
-  if (dev_zero_fd < 0) dev_zero_fd = open ("/dev/zero", O_RDWR);
-  if (dev_zero_fd < 0) dError (0,"can't open /dev/zero (%s)",strerror(errno));
-  base = (char*) mmap (0,max_size, PROT_READ | PROT_WRITE, MAP_PRIVATE,
-		       dev_zero_fd,0);
-#else
-  base = (char*) mmap (0,max_size, PROT_READ | PROT_WRITE,
-		       MAP_PRIVATE | MAP_ANON,0,0);
-#endif
-
-  if (int(base) == -1) dError (0,"Stack::init(), mmap() failed, "
-    "max_size=%d (%s)",max_size,strerror(errno));
-  size = max_size;
-  pointer = base;
-  frame = 0;
-}
-
-
-void dStack::destroy()
-{
-  munmap (base,size);
-  base = 0;
-  size = 0;
-  pointer = 0;
-  frame = 0;
-}
-
-#endif
-
-//****************************************************************************
-
-#ifdef WIN32
-
-#include "windows.h"
-
-
-void dStack::init (int max_size)
-{
-  if (sizeof(LPVOID) != sizeof(char*)) dDebug (0,"internal");
-  if (max_size <= 0) dDebug (0,"Stack::init() given size <= 0");
-  base = (char*) VirtualAlloc (NULL,max_size,MEM_RESERVE,PAGE_READWRITE);
-  if (base == 0) dError (0,"Stack::init(), VirtualAlloc() failed, "
-    "max_size=%d",max_size);
-  size = max_size;
-  pointer = base;
-  frame = 0;
-  committed = 0;
-
-  // get page size
-  SYSTEM_INFO info;
-  GetSystemInfo (&info);
-  pagesize = info.dwPageSize;
-}
-
-
-void dStack::destroy()
-{
-  VirtualFree (base,0,MEM_RELEASE);
-  base = 0;
-  size = 0;
-  pointer = 0;
-  frame = 0;
-}
-
-#endif
diff --git a/extern/ode/dist/ode/src/stack.h b/extern/ode/dist/ode/src/stack.h
deleted file mode 100644
index 3b98202b042..00000000000
--- a/extern/ode/dist/ode/src/stack.h
+++ /dev/null
@@ -1,139 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/* this comes from the `reuse' library. copy any changes back to the source.
-
-these stack allocation functions are a replacement for alloca(), except that
-they allocate memory from a separate pool.
-
-advantages over alloca():
-  - consecutive allocations are guaranteed to be contiguous with increasing
-    address.
-  - functions can allocate stack memory that is returned to the caller,
-    in other words pushing and popping stack frames is optional.
-
-disadvantages compared to alloca():
-  - less portable
-  - slightly slower, although still orders of magnitude faster than malloc().
-  - longjmp() and exceptions do not deallocate stack memory (but who cares?).
-
-just like alloca():
-  - using too much stack memory does not fail gracefully, it fails with a
-    segfault.
-
-*/
-
-
-#ifndef _ODE_STACK_H_
-#define _ODE_STACK_H_
-
-
-#ifdef WIN32
-#include "windows.h"
-#endif
-
-
-struct dStack {
-  char *base;		// bottom of the stack
-  int size;		// maximum size of the stack
-  char *pointer;	// current top of the stack
-  char *frame;		// linked list of stack frame ptrs
-# ifdef WIN32		// stuff for windows:
-  int pagesize;		//   - page size - this is ASSUMED to be a power of 2
-  int committed;	//   - bytes committed in allocated region
-#endif
-
-  // initialize the stack. `max_size' is the maximum size that the stack can
-  // reach. on unix and windows a `virtual' memory block of this size is
-  // mapped into the address space but does not actually consume physical
-  // memory until it is referenced - so it is safe to set this to a high value.
-
-  void init (int max_size);
-
-
-  // destroy the stack. this unmaps any virtual memory that was allocated.
-
-  void destroy();
-
-
-  // allocate `size' bytes from the stack and return a pointer to the allocated
-  // memory. `size' must be >= 0. the returned pointer will be aligned to the
-  // size of a long int.
-
-  char * alloc (int size)
-  {
-    char *ret = pointer;
-    pointer += ((size-1) | (sizeof(long int)-1) )+1;
-#   ifdef WIN32
-    // for windows we need to commit pages as they are required
-    if ((pointer-base) > committed) {
-      committed = ((pointer-base-1) | (pagesize-1))+1;	// round up to pgsize
-      VirtualAlloc (base,committed,MEM_COMMIT,PAGE_READWRITE);
-    }
-#   endif
-    return ret;
-  }
-
-
-  // return the address that will be returned by the next call to alloc()
-
-  char *nextAlloc()
-  {
-    return pointer;
-  }
-
-
-  // push and pop the current size of the stack. pushFrame() saves the current
-  // frame pointer on the stack, and popFrame() retrieves it. a typical
-  // stack-using function will bracket alloc() calls with pushFrame() and
-  // popFrame(). both functions return the current stack pointer - this should
-  // be the same value for the two bracketing calls. calling popFrame() too
-  // many times will result in a segfault.
-
-  char * pushFrame()
-  {
-    char *newframe = pointer;
-    char **addr = (char**) alloc (sizeof(char*));
-    *addr = frame;
-    frame = newframe;
-    return newframe;
-
-    /* OLD CODE
-	*((char**)pointer) = frame;
-	frame = pointer;
-	char *ret = pointer;
-	pointer += sizeof(char*);
-	return ret;
-    */
-  }
-
-  char * popFrame()
-  {
-    pointer = frame;
-    frame = *((char**)pointer);
-    return pointer;
-  }
-};
-
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/step.cpp b/extern/ode/dist/ode/src/step.cpp
deleted file mode 100644
index 16f77112ad2..00000000000
--- a/extern/ode/dist/ode/src/step.cpp
+++ /dev/null
@@ -1,1085 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include "objects.h"
-#include "joint.h"
-#include <ode/config.h>
-#include <ode/odemath.h>
-#include <ode/rotation.h>
-#include <ode/timer.h>
-#include <ode/error.h>
-#include <ode/matrix.h>
-#include "lcp.h"
-
-//****************************************************************************
-// misc defines
-
-#define FAST_FACTOR
-//#define TIMING
-
-#define ALLOCA dALLOCA16
-
-//****************************************************************************
-// debugging - comparison of various vectors and matrices produced by the
-// slow and fast versions of the stepper.
-
-//#define COMPARE_METHODS
-
-#ifdef COMPARE_METHODS
-#include "testing.h"
-dMatrixComparison comparator;
-#endif
-
-//****************************************************************************
-// special matrix multipliers
-
-// this assumes the 4th and 8th rows of B and C are zero.
-
-static void Multiply2_p8r (dReal *A, dReal *B, dReal *C,
-			   int p, int r, int Askip)
-{
-  int i,j;
-  dReal sum,*bb,*cc;
-  dIASSERT (p>0 && r>0 && A && B && C);
-  bb = B;
-  for (i=p; i; i--) {
-    cc = C;
-    for (j=r; j; j--) {
-      sum = bb[0]*cc[0];
-      sum += bb[1]*cc[1];
-      sum += bb[2]*cc[2];
-      sum += bb[4]*cc[4];
-      sum += bb[5]*cc[5];
-      sum += bb[6]*cc[6];
-      *(A++) = sum; 
-      cc += 8;
-    }
-    A += Askip - r;
-    bb += 8;
-  }
-}
-
-
-// this assumes the 4th and 8th rows of B and C are zero.
-
-static void MultiplyAdd2_p8r (dReal *A, dReal *B, dReal *C,
-			      int p, int r, int Askip)
-{
-  int i,j;
-  dReal sum,*bb,*cc;
-  dIASSERT (p>0 && r>0 && A && B && C);
-  bb = B;
-  for (i=p; i; i--) {
-    cc = C;
-    for (j=r; j; j--) {
-      sum = bb[0]*cc[0];
-      sum += bb[1]*cc[1];
-      sum += bb[2]*cc[2];
-      sum += bb[4]*cc[4];
-      sum += bb[5]*cc[5];
-      sum += bb[6]*cc[6];
-      *(A++) += sum; 
-      cc += 8;
-    }
-    A += Askip - r;
-    bb += 8;
-  }
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void Multiply0_p81 (dReal *A, dReal *B, dReal *C, int p)
-{
-  int i;
-  dIASSERT (p>0 && A && B && C);
-  dReal sum;
-  for (i=p; i; i--) {
-    sum =  B[0]*C[0];
-    sum += B[1]*C[1];
-    sum += B[2]*C[2];
-    sum += B[4]*C[4];
-    sum += B[5]*C[5];
-    sum += B[6]*C[6];
-    *(A++) = sum;
-    B += 8;
-  }
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void MultiplyAdd0_p81 (dReal *A, dReal *B, dReal *C, int p)
-{
-  int i;
-  dIASSERT (p>0 && A && B && C);
-  dReal sum;
-  for (i=p; i; i--) {
-    sum =  B[0]*C[0];
-    sum += B[1]*C[1];
-    sum += B[2]*C[2];
-    sum += B[4]*C[4];
-    sum += B[5]*C[5];
-    sum += B[6]*C[6];
-    *(A++) += sum;
-    B += 8;
-  }
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void MultiplyAdd1_8q1 (dReal *A, dReal *B, dReal *C, int q)
-{
-  int k;
-  dReal sum;
-  dIASSERT (q>0 && A && B && C);
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[k*8] * C[k];
-  A[0] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[1+k*8] * C[k];
-  A[1] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[2+k*8] * C[k];
-  A[2] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[4+k*8] * C[k];
-  A[4] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[5+k*8] * C[k];
-  A[5] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[6+k*8] * C[k];
-  A[6] += sum;
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void Multiply1_8q1 (dReal *A, dReal *B, dReal *C, int q)
-{
-  int k;
-  dReal sum;
-  dIASSERT (q>0 && A && B && C);
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[k*8] * C[k];
-  A[0] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[1+k*8] * C[k];
-  A[1] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[2+k*8] * C[k];
-  A[2] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[4+k*8] * C[k];
-  A[4] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[5+k*8] * C[k];
-  A[5] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[6+k*8] * C[k];
-  A[6] = sum;
-}
-
-//****************************************************************************
-// body rotation
-
-// return sin(x)/x. this has a singularity at 0 so special handling is needed
-// for small arguments.
-
-static inline dReal sinc (dReal x)
-{
-  // if |x| < 1e-4 then use a taylor series expansion. this two term expansion
-  // is actually accurate to one LS bit within this range if double precision
-  // is being used - so don't worry!
-  if (dFabs(x) < 1.0e-4) return REAL(1.0) - x*x*REAL(0.166666666666666666667);
-  else return dSin(x)/x;
-}
-
-
-// given a body b, apply its linear and angular rotation over the time
-// interval h, thereby adjusting its position and orientation.
-
-static inline void moveAndRotateBody (dxBody *b, dReal h)
-{
-  int j;
-
-  // handle linear velocity
-  for (j=0; j<3; j++) b->pos[j] += h * b->lvel[j];
-
-  if (b->flags & dxBodyFlagFiniteRotation) {
-    dVector3 irv;	// infitesimal rotation vector
-    dQuaternion q;	// quaternion for finite rotation
-
-    if (b->flags & dxBodyFlagFiniteRotationAxis) {
-      // split the angular velocity vector into a component along the finite
-      // rotation axis, and a component orthogonal to it.
-      dVector3 frv,irv;		// finite rotation vector
-      dReal k = dDOT (b->finite_rot_axis,b->avel);
-      frv[0] = b->finite_rot_axis[0] * k;
-      frv[1] = b->finite_rot_axis[1] * k;
-      frv[2] = b->finite_rot_axis[2] * k;
-      irv[0] = b->avel[0] - frv[0];
-      irv[1] = b->avel[1] - frv[1];
-      irv[2] = b->avel[2] - frv[2];
-
-      // make a rotation quaternion q that corresponds to frv * h.
-      // compare this with the full-finite-rotation case below.
-      h *= REAL(0.5);
-      dReal theta = k * h;
-      q[0] = dCos(theta);
-      dReal s = sinc(theta) * h;
-      q[1] = frv[0] * s;
-      q[2] = frv[1] * s;
-      q[3] = frv[2] * s;
-    }
-    else {
-      // make a rotation quaternion q that corresponds to w * h
-      dReal wlen = dSqrt (b->avel[0]*b->avel[0] + b->avel[1]*b->avel[1] +
-			  b->avel[2]*b->avel[2]);
-      h *= REAL(0.5);
-      dReal theta = wlen * h;
-      q[0] = dCos(theta);
-      dReal s = sinc(theta) * h;
-      q[1] = b->avel[0] * s;
-      q[2] = b->avel[1] * s;
-      q[3] = b->avel[2] * s;
-    }
-
-    // do the finite rotation
-    dQuaternion q2;
-    dQMultiply0 (q2,q,b->q);
-    for (j=0; j<4; j++) b->q[j] = q2[j];
-
-    // do the infitesimal rotation if required
-    if (b->flags & dxBodyFlagFiniteRotationAxis) {
-      dReal dq[4];
-      dWtoDQ (irv,b->q,dq);
-      for (j=0; j<4; j++) b->q[j] += h * dq[j];
-    }
-  }
-  else {
-    // the normal way - do an infitesimal rotation
-    dReal dq[4];
-    dWtoDQ (b->avel,b->q,dq);
-    for (j=0; j<4; j++) b->q[j] += h * dq[j];
-  }
-
-  // normalize the quaternion and convert it to a rotation matrix
-  dNormalize4 (b->q);
-  dQtoR (b->q,b->R);
-}
-
-//****************************************************************************
-// the slow, but sure way
-// note that this does not do any joint feedback!
-
-// given lists of bodies and joints that form an island, perform a first
-// order timestep.
-//
-// `body' is the body array, `nb' is the size of the array.
-// `_joint' is the body array, `nj' is the size of the array.
-
-void dInternalStepIsland_x1 (dxWorld *world, dxBody * const *body, int nb,
-			     dxJoint * const *_joint, int nj, dReal stepsize)
-{
-  int i,j,k;
-  int n6 = 6*nb;
-
-# ifdef TIMING
-  dTimerStart("preprocessing");
-# endif
-
-  // number all bodies in the body list - set their tag values
-  for (i=0; i<nb; i++) body[i]->tag = i;
-
-  // make a local copy of the joint array, because we might want to modify it.
-  // (the "dxJoint *const*" declaration says we're allowed to modify the joints
-  // but not the joint array, because the caller might need it unchanged).
-  dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*));
-  memcpy (joint,_joint,nj * sizeof(dxJoint*));
-
-  // for all bodies, compute the inertia tensor and its inverse in the global
-  // frame, and compute the rotational force and add it to the torque
-  // accumulator.
-  // @@@ check computation of rotational force.
-  dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal));
-  dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal));
-  dSetZero (I,3*nb*4);
-  dSetZero (invI,3*nb*4);
-  for (i=0; i<nb; i++) {
-    dReal tmp[12];
-    // compute inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->R);
-    dMULTIPLY0_333 (I+i*12,body[i]->R,tmp);
-    // compute inverse inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R);
-    dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp);
-    // compute rotational force
-    dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel);
-    dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
-  }
-
-  // add the gravity force to all bodies
-  for (i=0; i<nb; i++) {
-    if ((body[i]->flags & dxBodyNoGravity)==0) {
-      body[i]->facc[0] += body[i]->mass.mass * world->gravity[0];
-      body[i]->facc[1] += body[i]->mass.mass * world->gravity[1];
-      body[i]->facc[2] += body[i]->mass.mass * world->gravity[2];
-    }
-  }
-
-  // get m = total constraint dimension, nub = number of unbounded variables.
-  // create constraint offset array and number-of-rows array for all joints.
-  // the constraints are re-ordered as follows: the purely unbounded
-  // constraints, the mixed unbounded + LCP constraints, and last the purely
-  // LCP constraints.
-  //
-  // joints with m=0 are inactive and are removed from the joints array
-  // entirely, so that the code that follows does not consider them.
-  int m = 0;
-  dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1));
-  int *ofs = (int*) ALLOCA (nj*sizeof(int));
-  for (i=0, j=0; j<nj; j++) {	// i=dest, j=src
-    joint[j]->vtable->getInfo1 (joint[j],info+i);
-    dIASSERT (info[i].m >= 0 && info[i].m <= 6 &&
-	      info[i].nub >= 0 && info[i].nub <= info[i].m);
-    if (info[i].m > 0) {
-      joint[i] = joint[j];
-      i++;
-    }
-  }
-  nj = i;
-
-  // the purely unbounded constraints
-  for (i=0; i<nj; i++) if (info[i].nub == info[i].m) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-  int nub = m;
-  // the mixed unbounded + LCP constraints
-  for (i=0; i<nj; i++) if (info[i].nub > 0 && info[i].nub < info[i].m) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-  // the purely LCP constraints
-  for (i=0; i<nj; i++) if (info[i].nub == 0) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-
-  // create (6*nb,6*nb) inverse mass matrix `invM', and fill it with mass
-  // parameters
-# ifdef TIMING
-  dTimerNow ("create mass matrix");
-# endif
-  int nskip = dPAD (n6);
-  dReal *invM = (dReal*) ALLOCA (n6*nskip*sizeof(dReal));
-  dSetZero (invM,n6*nskip);
-  for (i=0; i<nb; i++) {
-    dReal *MM = invM+(i*6)*nskip+(i*6);
-    MM[0] = body[i]->invMass;
-    MM[nskip+1] = body[i]->invMass;
-    MM[2*nskip+2] = body[i]->invMass;
-    MM += 3*nskip+3;
-    for (j=0; j<3; j++) for (k=0; k<3; k++) {
-      MM[j*nskip+k] = invI[i*12+j*4+k];
-    }
-  }
-
-  // assemble some body vectors: fe = external forces, v = velocities
-  dReal *fe = (dReal*) ALLOCA (n6 * sizeof(dReal));
-  dReal *v = (dReal*) ALLOCA (n6 * sizeof(dReal));
-  dSetZero (fe,n6);
-  dSetZero (v,n6);
-  for (i=0; i<nb; i++) {
-    for (j=0; j<3; j++) fe[i*6+j] = body[i]->facc[j];
-    for (j=0; j<3; j++) fe[i*6+3+j] = body[i]->tacc[j];
-    for (j=0; j<3; j++) v[i*6+j] = body[i]->lvel[j];
-    for (j=0; j<3; j++) v[i*6+3+j] = body[i]->avel[j];
-  }
-
-  // this will be set to the velocity update
-  dReal *vnew = (dReal*) ALLOCA (n6 * sizeof(dReal));
-  dSetZero (vnew,n6);
-
-  // if there are constraints, compute cforce
-  if (m > 0) {
-    // create a constraint equation right hand side vector `c', a constraint
-    // force mixing vector `cfm', and LCP low and high bound vectors, and an
-    // 'findex' vector.
-    dReal *c = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal));
-    int *findex = (int*) alloca (m*sizeof(int));
-    dSetZero (c,m);
-    dSetValue (cfm,m,world->global_cfm);
-    dSetValue (lo,m,-dInfinity);
-    dSetValue (hi,m, dInfinity);
-    for (i=0; i<m; i++) findex[i] = -1;
-
-    // create (m,6*nb) jacobian mass matrix `J', and fill it with constraint
-    // data. also fill the c vector.
-#   ifdef TIMING
-    dTimerNow ("create J");
-#   endif
-    dReal *J = (dReal*) ALLOCA (m*nskip*sizeof(dReal));
-    dSetZero (J,m*nskip);
-    dxJoint::Info2 Jinfo;
-    Jinfo.rowskip = nskip;
-    Jinfo.fps = dRecip(stepsize);
-    Jinfo.erp = world->global_erp;
-    for (i=0; i<nj; i++) {
-      Jinfo.J1l = J + nskip*ofs[i] + 6*joint[i]->node[0].body->tag;
-      Jinfo.J1a = Jinfo.J1l + 3;
-      if (joint[i]->node[1].body) {
-	Jinfo.J2l = J + nskip*ofs[i] + 6*joint[i]->node[1].body->tag;
-	Jinfo.J2a = Jinfo.J2l + 3;
-      }
-      else {
-	Jinfo.J2l = 0;
-	Jinfo.J2a = 0;
-      }
-      Jinfo.c = c + ofs[i];
-      Jinfo.cfm = cfm + ofs[i];
-      Jinfo.lo = lo + ofs[i];
-      Jinfo.hi = hi + ofs[i];
-      Jinfo.findex = findex + ofs[i];
-      joint[i]->vtable->getInfo2 (joint[i],&Jinfo);
-      // adjust returned findex values for global index numbering
-      for (j=0; j<info[i].m; j++) {
-	if (findex[ofs[i] + j] >= 0) findex[ofs[i] + j] += ofs[i];
-      }
-    }
-
-    // compute A = J*invM*J'
-#   ifdef TIMING
-    dTimerNow ("compute A");
-#   endif
-    dReal *JinvM = (dReal*) ALLOCA (m*nskip*sizeof(dReal));
-    dSetZero (JinvM,m*nskip);
-    dMultiply0 (JinvM,J,invM,m,n6,n6);
-    int mskip = dPAD(m);
-    dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal));
-    dSetZero (A,m*mskip);
-    dMultiply2 (A,JinvM,J,m,n6,m);
-
-    // add cfm to the diagonal of A
-    for (i=0; i<m; i++) A[i*mskip+i] += cfm[i] * Jinfo.fps;
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (A,m,m,1,"A");
-#   endif
-
-    // compute `rhs', the right hand side of the equation J*a=c
-#   ifdef TIMING
-    dTimerNow ("compute rhs");
-#   endif
-    dReal *tmp1 = (dReal*) ALLOCA (n6 * sizeof(dReal));
-    dSetZero (tmp1,n6);
-    dMultiply0 (tmp1,invM,fe,n6,n6,1);
-    for (i=0; i<n6; i++) tmp1[i] += v[i]/stepsize;
-    dReal *rhs = (dReal*) ALLOCA (m * sizeof(dReal));
-    dSetZero (rhs,m);
-    dMultiply0 (rhs,J,tmp1,m,n6,1);
-    for (i=0; i<m; i++) rhs[i] = c[i]/stepsize - rhs[i];
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (c,m,1,0,"c");
-    comparator.nextMatrix (rhs,m,1,0,"rhs");
-#   endif
-
-    // solve the LCP problem and get lambda.
-    // this will destroy A but that's okay
-#   ifdef TIMING
-    dTimerNow ("solving LCP problem");
-#   endif
-    dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal));
-    dReal *residual = (dReal*) ALLOCA (m * sizeof(dReal));
-    dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex);
-
-//  OLD WAY - direct factor and solve
-//
-//    // factorize A (L*L'=A)
-//#   ifdef TIMING
-//    dTimerNow ("factorize A");
-//#   endif
-//    dReal *L = (dReal*) ALLOCA (m*mskip*sizeof(dReal));
-//    memcpy (L,A,m*mskip*sizeof(dReal));
-//    if (dFactorCholesky (L,m)==0) dDebug (0,"A is not positive definite");
-//
-//    // compute lambda
-//#   ifdef TIMING
-//    dTimerNow ("compute lambda");
-//#   endif
-//    dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal));
-//    memcpy (lambda,rhs,m * sizeof(dReal));
-//    dSolveCholesky (L,lambda,m);
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (lambda,m,1,0,"lambda");
-#   endif
-
-    // compute the velocity update `vnew'
-#   ifdef TIMING
-    dTimerNow ("compute velocity update");
-#   endif
-    dMultiply1 (tmp1,J,lambda,n6,m,1);
-    for (i=0; i<n6; i++) tmp1[i] += fe[i];
-    dMultiply0 (vnew,invM,tmp1,n6,n6,1);
-    for (i=0; i<n6; i++) vnew[i] = v[i] + stepsize*vnew[i];
-
-    // see if the constraint has worked: compute J*vnew and make sure it equals
-    // `c' (to within a certain tolerance).
-#   ifdef TIMING
-    dTimerNow ("verify constraint equation");
-#   endif
-    dMultiply0 (tmp1,J,vnew,m,n6,1);
-    dReal err = 0;
-    for (i=0; i<m; i++) err += dFabs(tmp1[i]-c[i]);
-    printf ("%.6e\n",err);
-  }
-  else {
-    // no constraints
-    dMultiply0 (vnew,invM,fe,n6,n6,1);
-    for (i=0; i<n6; i++) vnew[i] = v[i] + stepsize*vnew[i];
-  }
-
-# ifdef COMPARE_METHODS
-  comparator.nextMatrix (vnew,n6,1,0,"vnew");
-# endif
-
-  // apply the velocity update to the bodies
-# ifdef TIMING
-  dTimerNow ("update velocity");
-# endif
-  for (i=0; i<nb; i++) {
-    for (j=0; j<3; j++) body[i]->lvel[j] = vnew[i*6+j];
-    for (j=0; j<3; j++) body[i]->avel[j] = vnew[i*6+3+j];
-  }
-
-  // update the position and orientation from the new linear/angular velocity
-  // (over the given timestep)
-# ifdef TIMING
-  dTimerNow ("update position");
-# endif
-  for (i=0; i<nb; i++) moveAndRotateBody (body[i],stepsize);
-
-# ifdef TIMING
-  dTimerNow ("tidy up");
-# endif
-
-  // zero all force accumulators
-  for (i=0; i<nb; i++) {
-    body[i]->facc[0] = 0;
-    body[i]->facc[1] = 0;
-    body[i]->facc[2] = 0;
-    body[i]->facc[3] = 0;
-    body[i]->tacc[0] = 0;
-    body[i]->tacc[1] = 0;
-    body[i]->tacc[2] = 0;
-    body[i]->tacc[3] = 0;
-  }
-
-# ifdef TIMING
-  dTimerEnd();
-  if (m > 0) dTimerReport (stdout,1);
-# endif
-}
-
-//****************************************************************************
-// an optimized version of dInternalStepIsland1()
-
-void dInternalStepIsland_x2 (dxWorld *world, dxBody * const *body, int nb,
-			     dxJoint * const *_joint, int nj, dReal stepsize)
-{
-  int i,j,k;
-# ifdef TIMING
-  dTimerStart("preprocessing");
-# endif
-
-  dReal stepsize1 = dRecip(stepsize);
-
-  // number all bodies in the body list - set their tag values
-  for (i=0; i<nb; i++) body[i]->tag = i;
-
-  // make a local copy of the joint array, because we might want to modify it.
-  // (the "dxJoint *const*" declaration says we're allowed to modify the joints
-  // but not the joint array, because the caller might need it unchanged).
-  dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*));
-  memcpy (joint,_joint,nj * sizeof(dxJoint*));
-
-  // for all bodies, compute the inertia tensor and its inverse in the global
-  // frame, and compute the rotational force and add it to the torque
-  // accumulator. I and invI are vertically stacked 3x4 matrices, one per body.
-  // @@@ check computation of rotational force.
-  dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal));
-  dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal));
-  dSetZero (I,3*nb*4);
-  dSetZero (invI,3*nb*4);
-  for (i=0; i<nb; i++) {
-    dReal tmp[12];
-    // compute inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->R);
-    dMULTIPLY0_333 (I+i*12,body[i]->R,tmp);
-    // compute inverse inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R);
-    dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp);
-    // compute rotational force
-    dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel);
-    dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
-  }
-
-  // add the gravity force to all bodies
-  for (i=0; i<nb; i++) {
-    if ((body[i]->flags & dxBodyNoGravity)==0) {
-      body[i]->facc[0] += body[i]->mass.mass * world->gravity[0];
-      body[i]->facc[1] += body[i]->mass.mass * world->gravity[1];
-      body[i]->facc[2] += body[i]->mass.mass * world->gravity[2];
-    }
-  }
-
-  // get m = total constraint dimension, nub = number of unbounded variables.
-  // create constraint offset array and number-of-rows array for all joints.
-  // the constraints are re-ordered as follows: the purely unbounded
-  // constraints, the mixed unbounded + LCP constraints, and last the purely
-  // LCP constraints. this assists the LCP solver to put all unbounded
-  // variables at the start for a quick factorization.
-  //
-  // joints with m=0 are inactive and are removed from the joints array
-  // entirely, so that the code that follows does not consider them.
-  // also number all active joints in the joint list (set their tag values).
-  // inactive joints receive a tag value of -1.
-
-  int m = 0;
-  dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1));
-  int *ofs = (int*) ALLOCA (nj*sizeof(int));
-  for (i=0, j=0; j<nj; j++) {	// i=dest, j=src
-    joint[j]->vtable->getInfo1 (joint[j],info+i);
-    dIASSERT (info[i].m >= 0 && info[i].m <= 6 &&
-	      info[i].nub >= 0 && info[i].nub <= info[i].m);
-    if (info[i].m > 0) {
-      joint[i] = joint[j];
-      joint[i]->tag = i;
-      i++;
-    }
-    else {
-      joint[j]->tag = -1;
-    }
-  }
-  nj = i;
-
-  // the purely unbounded constraints
-  for (i=0; i<nj; i++) if (info[i].nub == info[i].m) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-  int nub = m;
-  // the mixed unbounded + LCP constraints
-  for (i=0; i<nj; i++) if (info[i].nub > 0 && info[i].nub < info[i].m) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-  // the purely LCP constraints
-  for (i=0; i<nj; i++) if (info[i].nub == 0) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-
-  // this will be set to the force due to the constraints
-  dReal *cforce = (dReal*) ALLOCA (nb*8 * sizeof(dReal));
-  dSetZero (cforce,nb*8);
-
-  // if there are constraints, compute cforce
-  if (m > 0) {
-    // create a constraint equation right hand side vector `c', a constraint
-    // force mixing vector `cfm', and LCP low and high bound vectors, and an
-    // 'findex' vector.
-    dReal *c = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal));
-    int *findex = (int*) alloca (m*sizeof(int));
-    dSetZero (c,m);
-    dSetValue (cfm,m,world->global_cfm);
-    dSetValue (lo,m,-dInfinity);
-    dSetValue (hi,m, dInfinity);
-    for (i=0; i<m; i++) findex[i] = -1;
-
-    // get jacobian data from constraints. a (2*m)x8 matrix will be created
-    // to store the two jacobian blocks from each constraint. it has this
-    // format:
-    //
-    //   l l l 0 a a a 0  \ 
-    //   l l l 0 a a a 0   }-- jacobian body 1 block for joint 0 (3 rows)
-    //   l l l 0 a a a 0  /
-    //   l l l 0 a a a 0  \ 
-    //   l l l 0 a a a 0   }-- jacobian body 2 block for joint 0 (3 rows)
-    //   l l l 0 a a a 0  /
-    //   l l l 0 a a a 0  }--- jacobian body 1 block for joint 1 (1 row)
-    //   l l l 0 a a a 0  }--- jacobian body 2 block for joint 1 (1 row)
-    //   etc...
-    //
-    //   (lll) = linear jacobian data
-    //   (aaa) = angular jacobian data
-    //
-#   ifdef TIMING
-    dTimerNow ("create J");
-#   endif
-    dReal *J = (dReal*) ALLOCA (2*m*8*sizeof(dReal));
-    dSetZero (J,2*m*8);
-    dxJoint::Info2 Jinfo;
-    Jinfo.rowskip = 8;
-    Jinfo.fps = stepsize1;
-    Jinfo.erp = world->global_erp;
-    for (i=0; i<nj; i++) {
-      Jinfo.J1l = J + 2*8*ofs[i];
-      Jinfo.J1a = Jinfo.J1l + 4;
-      Jinfo.J2l = Jinfo.J1l + 8*info[i].m;
-      Jinfo.J2a = Jinfo.J2l + 4;
-      Jinfo.c = c + ofs[i];
-      Jinfo.cfm = cfm + ofs[i];
-      Jinfo.lo = lo + ofs[i];
-      Jinfo.hi = hi + ofs[i];
-      Jinfo.findex = findex + ofs[i];
-      joint[i]->vtable->getInfo2 (joint[i],&Jinfo);
-      // adjust returned findex values for global index numbering
-      for (j=0; j<info[i].m; j++) {
-	if (findex[ofs[i] + j] >= 0) findex[ofs[i] + j] += ofs[i];
-      }
-    }
-
-    // compute A = J*invM*J'. first compute JinvM = J*invM. this has the same
-    // format as J so we just go through the constraints in J multiplying by
-    // the appropriate scalars and matrices.
-#   ifdef TIMING
-    dTimerNow ("compute A");
-#   endif
-    dReal *JinvM = (dReal*) ALLOCA (2*m*8*sizeof(dReal));
-    dSetZero (JinvM,2*m*8);
-    for (i=0; i<nj; i++) {
-      int b = joint[i]->node[0].body->tag;
-      dReal body_invMass = body[b]->invMass;
-      dReal *body_invI = invI + b*12;
-      dReal *Jsrc = J + 2*8*ofs[i];
-      dReal *Jdst = JinvM + 2*8*ofs[i];
-      for (j=info[i].m-1; j>=0; j--) {
-	for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass;
-	dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI);
-	Jsrc += 8;
-	Jdst += 8;
-      }
-      if (joint[i]->node[1].body) {
-	b = joint[i]->node[1].body->tag;
-	body_invMass = body[b]->invMass;
-	body_invI = invI + b*12;
-	for (j=info[i].m-1; j>=0; j--) {
-	  for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass;
-	  dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI);
-	  Jsrc += 8;
-	  Jdst += 8;
-	}
-      }
-    }
-
-    // now compute A = JinvM * J'. A's rows and columns are grouped by joint,
-    // i.e. in the same way as the rows of J. block (i,j) of A is only nonzero
-    // if joints i and j have at least one body in common. this fact suggests
-    // the algorithm used to fill A:
-    //
-    //    for b = all bodies
-    //      n = number of joints attached to body b
-    //      for i = 1..n
-    //        for j = i+1..n
-    //          ii = actual joint number for i
-    //          jj = actual joint number for j
-    //          // (ii,jj) will be set to all pairs of joints around body b
-    //          compute blockwise: A(ii,jj) += JinvM(ii) * J(jj)'
-    //
-    // this algorithm catches all pairs of joints that have at least one body
-    // in common. it does not compute the diagonal blocks of A however -
-    // another similar algorithm does that.
-
-    int mskip = dPAD(m);
-    dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal));
-    dSetZero (A,m*mskip);
-    for (i=0; i<nb; i++) {
-      for (dxJointNode *n1=body[i]->firstjoint; n1; n1=n1->next) {
-	for (dxJointNode *n2=n1->next; n2; n2=n2->next) {
-	  // get joint numbers and ensure ofs[j1] >= ofs[j2]
-	  int j1 = n1->joint->tag;
-	  int j2 = n2->joint->tag;
-	  if (ofs[j1] < ofs[j2]) {
-	    int tmp = j1;
-	    j1 = j2;
-	    j2 = tmp;
-	  }
-
-	  // if either joint was tagged as -1 then it is an inactive (m=0)
-	  // joint that should not be considered
-	  if (j1==-1 || j2==-1) continue;
-
-	  // determine if body i is the 1st or 2nd body of joints j1 and j2
-	  int jb1 = (joint[j1]->node[1].body == body[i]);
-	  int jb2 = (joint[j2]->node[1].body == body[i]);
-	  // jb1/jb2 must be 0 for joints with only one body
-	  dIASSERT(joint[j1]->node[1].body || jb1==0);
-	  dIASSERT(joint[j2]->node[1].body || jb2==0);
-
-	  // set block of A
-	  MultiplyAdd2_p8r (A + ofs[j1]*mskip + ofs[j2],
-			    JinvM + 2*8*ofs[j1] + jb1*8*info[j1].m,
-			    J     + 2*8*ofs[j2] + jb2*8*info[j2].m,
-			    info[j1].m,info[j2].m, mskip);
-	}
-      }
-    }
-    // compute diagonal blocks of A
-    for (i=0; i<nj; i++) {
-      Multiply2_p8r (A + ofs[i]*(mskip+1),
-		     JinvM + 2*8*ofs[i],
-		     J + 2*8*ofs[i],
-		     info[i].m,info[i].m, mskip);
-      if (joint[i]->node[1].body) {
-	MultiplyAdd2_p8r (A + ofs[i]*(mskip+1),
-			  JinvM + 2*8*ofs[i] + 8*info[i].m,
-			  J + 2*8*ofs[i] + 8*info[i].m,
-			  info[i].m,info[i].m, mskip);
-      }
-    }
-
-    // add cfm to the diagonal of A
-    for (i=0; i<m; i++) A[i*mskip+i] += cfm[i] * stepsize1;
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (A,m,m,1,"A");
-#   endif
-
-    // compute the right hand side `rhs'
-#   ifdef TIMING
-    dTimerNow ("compute rhs");
-#   endif
-    dReal *tmp1 = (dReal*) ALLOCA (nb*8 * sizeof(dReal));
-    dSetZero (tmp1,nb*8);
-    // put v/h + invM*fe into tmp1
-    for (i=0; i<nb; i++) {
-      dReal body_invMass = body[i]->invMass;
-      dReal *body_invI = invI + i*12;
-      for (j=0; j<3; j++) tmp1[i*8+j] = body[i]->facc[j] * body_invMass +
-			    body[i]->lvel[j] * stepsize1;
-      dMULTIPLY0_331 (tmp1 + i*8 + 4,body_invI,body[i]->tacc);
-      for (j=0; j<3; j++) tmp1[i*8+4+j] += body[i]->avel[j] * stepsize1;
-    }
-    // put J*tmp1 into rhs
-    dReal *rhs = (dReal*) ALLOCA (m * sizeof(dReal));
-    dSetZero (rhs,m);
-    for (i=0; i<nj; i++) {
-      dReal *JJ = J + 2*8*ofs[i];
-      Multiply0_p81 (rhs+ofs[i],JJ,
-		     tmp1 + 8*joint[i]->node[0].body->tag, info[i].m);
-      if (joint[i]->node[1].body) {
-	MultiplyAdd0_p81 (rhs+ofs[i],JJ + 8*info[i].m,
-			  tmp1 + 8*joint[i]->node[1].body->tag, info[i].m);
-      }
-    }
-    // complete rhs
-    for (i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i];
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (c,m,1,0,"c");
-    comparator.nextMatrix (rhs,m,1,0,"rhs");
-#   endif
-
-    // solve the LCP problem and get lambda.
-    // this will destroy A but that's okay
-#   ifdef TIMING
-    dTimerNow ("solving LCP problem");
-#   endif
-    dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal));
-    dReal *residual = (dReal*) ALLOCA (m * sizeof(dReal));
-    dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex);
-
-//  OLD WAY - direct factor and solve
-//
-//    // factorize A (L*L'=A)
-//#   ifdef TIMING
-//    dTimerNow ("factorize A");
-//#   endif
-//    dReal *L = (dReal*) ALLOCA (m*mskip*sizeof(dReal));
-//    memcpy (L,A,m*mskip*sizeof(dReal));
-//#   ifdef FAST_FACTOR
-//    dFastFactorCholesky (L,m);  // does not report non positive definiteness
-//#   else
-//    if (dFactorCholesky (L,m)==0) dDebug (0,"A is not positive definite");
-//#   endif
-//
-//    // compute lambda
-//#   ifdef TIMING
-//    dTimerNow ("compute lambda");
-//#   endif
-//    dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal));
-//    memcpy (lambda,rhs,m * sizeof(dReal));
-//    dSolveCholesky (L,lambda,m);
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (lambda,m,1,0,"lambda");
-#   endif
-
-    // compute the constraint force `cforce'
-#   ifdef TIMING
-    dTimerNow ("compute constraint force");
-#   endif
-    // compute cforce = J'*lambda
-    for (i=0; i<nj; i++) {
-      dReal *JJ = J + 2*8*ofs[i];
-      dxBody* b1 = joint[i]->node[0].body;
-      dxBody* b2 = joint[i]->node[1].body;
-      dJointFeedback *fb = joint[i]->feedback;
-
-      if (fb) {
-	// the user has requested feedback on the amount of force that this
-	// joint is applying to the bodies. we use a slightly slower
-	// computation that splits out the force components and puts them
-	// in the feedback structure.
-	dReal data1[8],data2[8];
-	Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
-	dReal *cf1 = cforce + 8*b1->tag;
-	cf1[0] += (fb->f1[0] = data1[0]);
-	cf1[1] += (fb->f1[1] = data1[1]);
-	cf1[2] += (fb->f1[2] = data1[2]);
-	cf1[4] += (fb->t1[0] = data1[4]);
-	cf1[5] += (fb->t1[1] = data1[5]);
-	cf1[6] += (fb->t1[2] = data1[6]);
-	if (b2){
-	  Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
-	  dReal *cf2 = cforce + 8*b2->tag;
-	  cf2[0] += (fb->f2[0] = data2[0]);
-	  cf2[1] += (fb->f2[1] = data2[1]);
-	  cf2[2] += (fb->f2[2] = data2[2]);
-	  cf2[4] += (fb->t2[0] = data2[4]);
-	  cf2[5] += (fb->t2[1] = data2[5]);
-	  cf2[6] += (fb->t2[2] = data2[6]);
-	}
-      }
-      else {
-	// no feedback is required, let's compute cforce the faster way
-	MultiplyAdd1_8q1 (cforce + 8*b1->tag,JJ, lambda+ofs[i], info[i].m);
-	if (b2) {
-	  MultiplyAdd1_8q1 (cforce + 8*b2->tag,
-			    JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
-	}
-      }
-    }
-  }
-
-  // compute the velocity update
-# ifdef TIMING
-  dTimerNow ("compute velocity update");
-# endif
-
-  // add fe to cforce
-  for (i=0; i<nb; i++) {
-    for (j=0; j<3; j++) cforce[i*8+j] += body[i]->facc[j];
-    for (j=0; j<3; j++) cforce[i*8+4+j] += body[i]->tacc[j];
-  }
-  // multiply cforce by stepsize
-  for (i=0; i < nb*8; i++) cforce[i] *= stepsize;
-  // add invM * cforce to the body velocity
-  for (i=0; i<nb; i++) {
-    dReal body_invMass = body[i]->invMass;
-    dReal *body_invI = invI + i*12;
-    for (j=0; j<3; j++) body[i]->lvel[j] += body_invMass * cforce[i*8+j];
-    dMULTIPLYADD0_331 (body[i]->avel,body_invI,cforce+i*8+4);
-  }
-
-  // update the position and orientation from the new linear/angular velocity
-  // (over the given timestep)
-# ifdef TIMING
-  dTimerNow ("update position");
-# endif
-  for (i=0; i<nb; i++) moveAndRotateBody (body[i],stepsize);
-
-# ifdef COMPARE_METHODS
-  dReal *tmp_vnew = (dReal*) ALLOCA (nb*6*sizeof(dReal));
-  for (i=0; i<nb; i++) {
-    for (j=0; j<3; j++) tmp_vnew[i*6+j] = body[i]->lvel[j];
-    for (j=0; j<3; j++) tmp_vnew[i*6+3+j] = body[i]->avel[j];
-  }
-  comparator.nextMatrix (tmp_vnew,nb*6,1,0,"vnew");
-# endif
-
-# ifdef TIMING
-  dTimerNow ("tidy up");
-# endif
-
-  // zero all force accumulators
-  for (i=0; i<nb; i++) {
-    body[i]->facc[0] = 0;
-    body[i]->facc[1] = 0;
-    body[i]->facc[2] = 0;
-    body[i]->facc[3] = 0;
-    body[i]->tacc[0] = 0;
-    body[i]->tacc[1] = 0;
-    body[i]->tacc[2] = 0;
-    body[i]->tacc[3] = 0;
-  }
-
-# ifdef TIMING
-  dTimerEnd();
-  if (m > 0) dTimerReport (stdout,1);
-# endif
-}
-
-//****************************************************************************
-
-void dInternalStepIsland (dxWorld *world, dxBody * const *body, int nb,
-			  dxJoint * const *joint, int nj, dReal stepsize)
-{
-# ifndef COMPARE_METHODS
-  dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize);
-# endif
-
-# ifdef COMPARE_METHODS
-  int i;
-
-  // save body state
-  dxBody *state = (dxBody*) ALLOCA (nb*sizeof(dxBody));
-  for (i=0; i<nb; i++) memcpy (state+i,body[i],sizeof(dxBody));
-
-  // take slow step
-  comparator.reset();
-  dInternalStepIsland_x1 (world,body,nb,joint,nj,stepsize);
-  comparator.end();
-
-  // restore state
-  for (i=0; i<nb; i++) memcpy (body[i],state+i,sizeof(dxBody));
-
-  // take fast step
-  dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize);
-  comparator.end();
-
-  //comparator.dump();
-  //_exit (1);
-# endif
-}
diff --git a/extern/ode/dist/ode/src/step.h b/extern/ode/dist/ode/src/step.h
deleted file mode 100644
index c825a11c1dc..00000000000
--- a/extern/ode/dist/ode/src/step.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_STEP_H_
-#define _ODE_STEP_H_
-
-#include <ode/common.h>
-
-
-void dInternalStepIsland (dxWorld *world,
-			  dxBody * const *body, int nb,
-			  dxJoint * const *joint, int nj,
-			  dReal stepsize);
-
-
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/testing.cpp b/extern/ode/dist/ode/src/testing.cpp
deleted file mode 100644
index d55afc25257..00000000000
--- a/extern/ode/dist/ode/src/testing.cpp
+++ /dev/null
@@ -1,243 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/config.h>
-#include <ode/misc.h>
-#include <ode/memory.h>
-#include "testing.h"
-
-#ifdef dDOUBLE
-static const dReal tol = 1.0e-9;
-#else
-static const dReal tol = 1.0e-5f;
-#endif
-
-
-// matrix header on the stack
-
-struct dMatrixComparison::dMatInfo {
-  int n,m;		// size of matrix
-  char name[128];	// name of the matrix
-  dReal *data;		// matrix data
-  int size;		// size of `data'
-};
-
-
-
-dMatrixComparison::dMatrixComparison()
-{
-  afterfirst = 0;
-  index = 0;
-}
-
-
-dMatrixComparison::~dMatrixComparison()
-{
-  reset();
-}
-
-
-dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri,
-				     char *name, ...)
-{
-  if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix");
-  int num = n*dPAD(m);
-
-  if (afterfirst==0) {
-    dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo));
-    mi->n = n;
-    mi->m = m;
-    mi->size = num * sizeof(dReal);
-    mi->data = (dReal*) dAlloc (mi->size);
-    memcpy (mi->data,A,mi->size);
-
-    va_list ap;
-    va_start (ap,name);
-    vsprintf (mi->name,name,ap);
-    if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long");
-
-    mat.push (mi);
-    return 0;
-  }
-  else {
-    if (lower_tri && n != m)
-      dDebug (0,"dMatrixComparison, lower triangular matrix must be square");
-    if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices");
-    dMatInfo *mp = mat[index];
-    index++;
-
-    dMatInfo mi;
-    va_list ap;
-    va_start (ap,name);
-    vsprintf (mi.name,name,ap);
-    if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long");
-
-    if (strcmp(mp->name,mi.name) != 0)
-      dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")",
-	      mp->name,mi.name);
-    if (mp->n != n || mp->m != m)
-      dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)",
-	      mp->n,mp->m,n,m);
-
-    dReal maxdiff;
-    if (lower_tri) {
-      maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n);
-    }
-    else {
-      maxdiff = dMaxDifference (A,mp->data,n,m);
-    }
-    if (maxdiff > tol)
-      dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", "
-	      "error=%.4e)",n,m,mi.name,maxdiff);
-    return maxdiff;
-  }
-}
-
-
-void dMatrixComparison::end()
-{
-  if (mat.size() <= 0) dDebug (0,"no matrices in sequence");
-  afterfirst = 1;
-  index = 0;
-}
-
-
-void dMatrixComparison::reset()
-{
-  for (int i=0; i<mat.size(); i++) {
-    dFree (mat[i]->data,mat[i]->size);
-    dFree (mat[i],sizeof(dMatInfo));
-  }
-  mat.setSize (0);
-  afterfirst = 0;
-  index = 0;
-}
-
-
-void dMatrixComparison::dump()
-{
-  for (int i=0; i<mat.size(); i++)
-    printf ("%d: %s (%dx%d)\n",i,mat[i]->name,mat[i]->n,mat[i]->m);
-}
-
-//****************************************************************************
-// unit test
-
-#include <setjmp.h>
-
-static jmp_buf jump_buffer;
-
-static void myDebug (int num, const char *msg, va_list ap)
-{
-  // printf ("(Error %d: ",num);
-  // vprintf (msg,ap);
-  // printf (")\n");
-  longjmp (jump_buffer,1);
-}
-
-
-extern "C" void dTestMatrixComparison()
-{
-  volatile int i;
-  printf ("dTestMatrixComparison()\n");
-  dMessageFunction *orig_debug = dGetDebugHandler();
-
-  dMatrixComparison mc;
-  dReal A[50*50];
-
-  // make first sequence
-  unsigned long seed = dRandGetSeed();
-  for (i=1; i<49; i++) {
-    dMakeRandomMatrix (A,i,i+1,1.0);
-    mc.nextMatrix (A,i,i+1,0,"A%d",i);
-  }
-  mc.end();
-
-  //mc.dump();
-
-  // test identical sequence
-  dSetDebugHandler (&myDebug);
-  dRandSetSeed (seed);
-  if (setjmp (jump_buffer)) {
-    printf ("\tFAILED (1)\n");
-  }
-  else {
-    for (i=1; i<49; i++) {
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-    }
-    mc.end();
-    printf ("\tpassed (1)\n");
-  }
-  dSetDebugHandler (orig_debug);
-
-  // test broken sequences (with matrix error)
-  dRandSetSeed (seed);
-  volatile int passcount = 0;
-  for (i=1; i<49; i++) {
-    if (setjmp (jump_buffer)) {
-      passcount++;
-    }
-    else {
-      dSetDebugHandler (&myDebug);
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      A[(i-1)*dPAD(i+1)+i] += REAL(0.01);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-      dSetDebugHandler (orig_debug);
-    }
-  }
-  mc.end();
-  printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED");
-
-  // test broken sequences (with name error)
-  dRandSetSeed (seed);
-  passcount = 0;
-  for (i=1; i<49; i++) {
-    if (setjmp (jump_buffer)) {
-      passcount++;
-    }
-    else {
-      dSetDebugHandler (&myDebug);
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"B%d",i);
-      dSetDebugHandler (orig_debug);
-    }
-  }
-  mc.end();
-  printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED");
-
-  // test identical sequence again
-  dSetDebugHandler (&myDebug);
-  dRandSetSeed (seed);
-  if (setjmp (jump_buffer)) {
-    printf ("\tFAILED (4)\n");
-  }
-  else {
-    for (i=1; i<49; i++) {
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-    }
-    mc.end();
-    printf ("\tpassed (4)\n");
-  }
-  dSetDebugHandler (orig_debug);
-}
diff --git a/extern/ode/dist/ode/src/testing.h b/extern/ode/dist/ode/src/testing.h
deleted file mode 100644
index aa4acf119db..00000000000
--- a/extern/ode/dist/ode/src/testing.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/* stuff used for testing */
-
-#ifndef _ODE_TESTING_H_
-#define _ODE_TESTING_H_
-
-#include <ode/common.h>
-#include "array.h"
-
-
-// compare a sequence of named matrices/vectors, i.e. to make sure that two
-// different pieces of code are giving the same results.
-
-class dMatrixComparison {
-  struct dMatInfo;
-  dArray<dMatInfo*> mat;
-  int afterfirst,index;
-
-public:
-  dMatrixComparison();
-  ~dMatrixComparison();
-
-  dReal nextMatrix (dReal *A, int n, int m, int lower_tri, char *name, ...);
-  // add a new n*m matrix A to the sequence. the name of the matrix is given
-  // by the printf-style arguments (name,...). if this is the first sequence
-  // then this object will simply record the matrices and return 0.
-  // if this the second or subsequent sequence then this object will compare
-  // the matrices with the first sequence, and report any differences.
-  // the matrix error will be returned. if `lower_tri' is 1 then only the
-  // lower triangle of the matrix (including the diagonal) will be compared
-  // (the matrix must be square).
-
-  void end();
-  // end a sequence.
-
-  void reset();
-  // restarts the object, so the next sequence will be the first sequence.
-
-  void dump();
-  // print out info about all the matrices in the sequence
-};
-
-
-#endif
-
diff --git a/extern/ode/dist/ode/src/timer.cpp b/extern/ode/dist/ode/src/timer.cpp
deleted file mode 100644
index 87cb9f6f2fe..00000000000
--- a/extern/ode/dist/ode/src/timer.cpp
+++ /dev/null
@@ -1,397 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library 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 files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-TODO
-----
-
-* gettimeofday() and the pentium time stamp counter return the real time,
-  not the process time. fix this somehow!
-
-*/
-
-#include <ode/common.h>
-#include <ode/timer.h>
-
-// misc defines
-#define ALLOCA dALLOCA16
-
-//****************************************************************************
-// implementation for windows based on the multimedia performance counter.
-
-#ifdef WIN32
-
-#include "windows.h"
-
-static inline void getClockCount (unsigned long cc[2])
-{
-  LARGE_INTEGER a;
-  QueryPerformanceCounter (&a);
-  cc[0] = a.LowPart;
-  cc[1] = a.HighPart;
-}
-
-
-static inline void serialize()
-{
-}
-
-
-static inline double loadClockCount (unsigned long cc[2])
-{
-  LARGE_INTEGER a;
-  a.LowPart = cc[0];
-  a.HighPart = cc[1];
-  return double(a.QuadPart);
-}
-
-
-double dTimerResolution()
-{
-  return 1.0/dTimerTicksPerSecond();
-}
-
-
-double dTimerTicksPerSecond()
-{
-  static int query=0;
-  static double hz=0.0;
-  if (!query) {
-    LARGE_INTEGER a;
-    QueryPerformanceFrequency (&a);
-    hz = double(a.QuadPart);
-    query = 1;
-  }
-  return hz;
-}
-
-#endif
-
-//****************************************************************************
-// implementation based on the pentium time stamp counter. the timer functions
-// can be serializing or non-serializing. serializing will ensure that all
-// instructions have executed and data has been written back before the cpu
-// time stamp counter is read. the CPUID instruction is used to serialize.
-
-#if defined(PENTIUM) && !defined(WIN32)
-
-// we need to know the clock rate so that the timing function can report
-// accurate times. this number only needs to be set accurately if we're
-// doing performance tests and care about real-world time numbers - otherwise,
-// just ignore this. i have not worked out how to determine this number
-// automatically yet.
-
-#define PENTIUM_HZ (500e6)
-
-
-static inline void getClockCount (unsigned long cc[2])
-{
-  asm volatile ("\n\
-	rdtsc\n\
-	movl %%eax,(%%esi)\n\
-	movl %%edx,4(%%esi)"
-	: : "S" (cc) : "%eax","%edx","cc","memory");
-}
-
-
-static inline void serialize()
-{
-  asm volatile ("\n\
-	mov $0,%%eax\n\
-	cpuid"
-	: : : "%eax","%ebx","%ecx","%edx","cc","memory");
-}
-
-
-static inline double loadClockCount (unsigned long a[2])
-{
-  double ret;
-  asm volatile ("fildll %1; fstpl %0" : "=m" (ret) : "m" (a[0]) :
-		"cc","memory");
-  return ret;
-}
-
-
-double dTimerResolution()
-{
-  return 1.0/PENTIUM_HZ;
-}
-
-
-double dTimerTicksPerSecond()
-{
-  return PENTIUM_HZ;
-}
-
-#endif
-
-//****************************************************************************
-// otherwise, do the implementation based on gettimeofday().
-
-#if !defined(PENTIUM) && !defined(WIN32)
-
-#ifndef macintosh
-
-#include <sys/time.h>
-#include <unistd.h>
-
-
-static inline void getClockCount (unsigned long cc[2])
-{
-  struct timeval tv;
-  gettimeofday (&tv,0);
-  cc[0] = tv.tv_usec;
-  cc[1] = tv.tv_sec;
-}
-
-#else // macintosh
-
-#include <MacTypes.h>
-#include <Timer.h>
-
-static inline void getClockCount (unsigned long cc[2])
-{
-  UnsignedWide ms;
-  Microseconds (&ms);
-  cc[1] = ms.lo / 1000000;
-  cc[0] = ms.lo - ( cc[1] * 1000000 );
-}
-
-#endif
-
-
-static inline void serialize()
-{
-}
-
-
-static inline double loadClockCount (unsigned long a[2])
-{
-  return a[1]*1.0e6 + a[0];
-}
-
-
-double dTimerResolution()
-{
-  unsigned long cc1[2],cc2[2];
-  getClockCount (cc1);
-  do {
-    getClockCount (cc2);
-  }
-  while (cc1[0]==cc2[0] && cc1[1]==cc2[1]);
-  do {
-    getClockCount (cc1);
-  }
-  while (cc1[0]==cc2[0] && cc1[1]==cc2[1]);
-  double t1 = loadClockCount (cc1);
-  double t2 = loadClockCount (cc2);
-  return (t1-t2) / dTimerTicksPerSecond();
-}
-
-
-double dTimerTicksPerSecond()
-{
-  return 1000000;
-}
-
-#endif
-
-//****************************************************************************
-// stop watches
-
-void dStopwatchReset (dStopwatch *s)
-{
-  s->time = 0;
-  s->cc[0] = 0;
-  s->cc[1] = 0;
-}
-
-
-void dStopwatchStart (dStopwatch *s)
-{
-  serialize();
-  getClockCount (s->cc);
-}
-
-
-void dStopwatchStop  (dStopwatch *s)
-{
-  unsigned long cc[2];
-  serialize();
-  getClockCount (cc);
-  double t1 = loadClockCount (s->cc);
-  double t2 = loadClockCount (cc);
-  s->time += t2-t1;
-}
-
-
-double dStopwatchTime (dStopwatch *s)
-{
-  return s->time / dTimerTicksPerSecond();
-}
-
-//****************************************************************************
-// code timers
-
-// maximum number of events to record
-#define MAXNUM 100
-
-static int num = 0;		// number of entries used in event array
-static struct {
-  unsigned long cc[2];		// clock counts
-  double total_t;		// total clocks used in this slot.
-  double total_p;		// total percentage points used in this slot.
-  int count;			// number of times this slot has been updated.
-  char *description;		// pointer to static string
-} event[MAXNUM];
-
-
-// make sure all slot totals and counts reset to 0 at start
-
-static void initSlots()
-{
-  static int initialized=0;
-  if (!initialized) {
-    for (int i=0; i<MAXNUM; i++) {
-      event[i].count = 0;
-      event[i].total_t = 0;
-      event[i].total_p = 0;
-    }
-    initialized = 1;
-  }
-}
-
-
-void dTimerStart (const char *description)
-{
-  initSlots();
-  event[0].description = const_cast<char*> (description);
-  num = 1;
-  serialize();
-  getClockCount (event[0].cc);
-}
-
-
-void dTimerNow (const char *description)
-{
-  if (num < MAXNUM) {
-    // do not serialize
-    getClockCount (event[num].cc);
-    event[num].description = const_cast<char*> (description);
-    num++;
-  }
-}
-
-
-void dTimerEnd()
-{
-  if (num < MAXNUM) {
-    serialize();
-    getClockCount (event[num].cc);
-    event[num].description = "TOTAL";
-    num++;
-  }
-}
-
-//****************************************************************************
-// print report
-
-static void fprintDoubleWithPrefix (FILE *f, double a, char *fmt)
-{
-  if (a >= 0.999999) {
-    fprintf (f,fmt,a);
-    return;
-  }
-  a *= 1000.0;
-  if (a >= 0.999999) {
-    fprintf (f,fmt,a);
-    fprintf (f,"m");
-    return;
-  }
-  a *= 1000.0;
-  if (a >= 0.999999) {
-    fprintf (f,fmt,a);
-    fprintf (f,"u");
-    return;
-  }
-  a *= 1000.0;
-  fprintf (f,fmt,a);
-  fprintf (f,"n");
-}
-
-
-void dTimerReport (FILE *fout, int average)
-{
-  int i,maxl;
-  double ccunit = 1.0/dTimerTicksPerSecond();
-  fprintf (fout,"\nTimer Report (");
-  fprintDoubleWithPrefix (fout,ccunit,"%.2f ");
-  fprintf (fout,"s resolution)\n------------\n");
-  if (num < 1) return;
-
-  // get maximum description length
-  maxl = 0;
-  for (i=0; i<num; i++) {
-    int l = strlen (event[i].description);
-    if (l > maxl) maxl = l;
-  }
-
-  // calculate total time
-  double t1 = loadClockCount (event[0].cc);
-  double t2 = loadClockCount (event[num-1].cc);
-  double total = t2 - t1;
-  if (total <= 0) total = 1;
-
-  // compute time difference for all slots except the last one. update totals
-  double *times = (double*) ALLOCA (num * sizeof(double));
-  for (i=0; i < (num-1); i++) {
-    double t1 = loadClockCount (event[i].cc);
-    double t2 = loadClockCount (event[i+1].cc);
-    times[i] = t2 - t1;
-    event[i].count++;
-    event[i].total_t += times[i];
-    event[i].total_p += times[i]/total * 100.0;
-  }
-
-  // print report (with optional averages)
-  for (i=0; i<num; i++) {
-    double t,p;
-    if (i < (num-1)) {
-      t = times[i];
-      p = t/total * 100.0;
-    }
-    else {
-      t = total;
-      p = 100.0;
-    }
-    fprintf (fout,"%-*s %7.2fms %6.2f%%",maxl,event[i].description,
-	     t*ccunit * 1000.0, p);
-    if (average && i < (num-1)) {
-      fprintf (fout,"  (avg %7.2fms %6.2f%%)",
-	       (event[i].total_t / event[i].count)*ccunit * 1000.0,
-	       event[i].total_p / event[i].count);
-    }
-    fprintf (fout,"\n");
-  }
-  fprintf (fout,"\n");
-}
diff --git a/extern/ode/dist/tools/build4 b/extern/ode/dist/tools/build4
deleted file mode 100755
index 49831e2df35..00000000000
--- a/extern/ode/dist/tools/build4
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/bin/sh
-#
-# build all four precision/release configurations and log the build messages
-# (used for debugging).
-
-PLATFORM=unix-gcc
-SETTINGS=config/user-settings
-
-if [ ! -f ode/src/ode.cpp ]; then
-  echo "run this from the ODE root directory"
-  exit 1
-fi
-
-function build() {
-echo -e "$PRECISION $MODE\n\n" >> BUILD_LOG
-cat <<END > $SETTINGS
-PLATFORM=$PLATFORM
-PRECISION=$PRECISION
-BUILD=$MODE
-END
-make clean
-make >> BUILD_LOG 2>&1
-echo -e "\n\n---------------------------------------------\n\n" >> BUILD_LOG
-}
-
-echo > BUILD_LOG
-
-PRECISION=SINGLE
-MODE=debug
-build
-PRECISION=SINGLE
-MODE=release
-build
-PRECISION=DOUBLE
-MODE=debug
-build
-PRECISION=DOUBLE
-MODE=release
-build
-
-make clean
-rm -f $SETTINGS
diff --git a/extern/ode/dist/tools/build4.bat b/extern/ode/dist/tools/build4.bat
deleted file mode 100755
index c87e9a9e2ba..00000000000
--- a/extern/ode/dist/tools/build4.bat
+++ /dev/null
@@ -1,43 +0,0 @@
-@echo off
-rem build all four precision/release configurations and log the build messages
-rem (used for debugging).
-
-setlocal
-
-set PLATFORM=cygwin
-set SETTINGS=config\user-settings
-
-echo SINGLE debug > BUILD_LOG
-echo PLATFORM=%PLATFORM%> %SETTINGS%
-echo PRECISION=SINGLE>> %SETTINGS%
-echo BUILD=debug>> %SETTINGS%
-make clean
-make >> BUILD_LOG
-echo --------------------------------------------- >> BUILD_LOG
-
-echo DOUBLE debug >> BUILD_LOG
-echo PLATFORM=%PLATFORM%> %SETTINGS%
-echo PRECISION=DOUBLE>> %SETTINGS%
-echo BUILD=debug>> %SETTINGS%
-make clean
-make >> BUILD_LOG
-echo --------------------------------------------- >> BUILD_LOG
-
-echo SINGLE release >> BUILD_LOG
-echo PLATFORM=%PLATFORM%> %SETTINGS%
-echo PRECISION=SINGLE>> %SETTINGS%
-echo BUILD=release>> %SETTINGS%
-make clean
-make >> BUILD_LOG
-echo --------------------------------------------- >> BUILD_LOG
-
-echo DOUBLE release >> BUILD_LOG
-echo PLATFORM=%PLATFORM%> %SETTINGS%
-echo PRECISION=DOUBLE>> %SETTINGS%
-echo BUILD=release>> %SETTINGS%
-make clean
-make >> BUILD_LOG
-echo --------------------------------------------- >> BUILD_LOG
-
-make clean
-del %SETTINGS%
diff --git a/extern/ode/dist/tools/make_distribution b/extern/ode/dist/tools/make_distribution
deleted file mode 100755
index ed6d52bcbfd..00000000000
--- a/extern/ode/dist/tools/make_distribution
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/bin/sh
-
-VER=0.03
-# VER=`date +%y%m%d`
-
-if [ ! -f ode/src/ode.cpp ]; then
-  echo "run this from the ODE root directory"
-  exit 1
-fi
-
-ODE_DIR=`pwd`
-
-cd /tmp
-if [ -d /tmp/ode-$VER ]; then
-  echo "remove /tmp/ode-$VER first"
-  exit 1
-fi
-
-mkdir /tmp/ode-$VER
-cp -av $ODE_DIR/* /tmp/ode-$VER
-find /tmp/ode-$VER -type d -name CVS -exec rm -rf {} \; -print
-find /tmp/ode-$VER -type f -name *~ -exec rm -f {} \; -print
-rmdir /tmp/ode-$VER/build
-
-cd /tmp/ode-$VER
-make clean
-cp config/user-settings.example config/user-settings
-
-cd ode/doc
-./doccer ode.doc > ode.html
-
-cd /tmp/ode-$VER
-echo -e "\n\nMake any modifications you want, then exit the shell:"
-bash
-
-cd /tmp
-tar cfvz ode-$VER.tgz ode-$VER
-rm -rf /tmp/ode-$VER
-
-echo -e "\ntype <return> to exit or 'c' to copy to q12"
-read Q
-if [ $Q ]; then
-  echo copying...
-  scp1 ode-$VER.tgz q12.org:~/q12/ode/release/
-fi
diff --git a/extern/ode/dist/tools/process_deps b/extern/ode/dist/tools/process_deps
deleted file mode 100755
index 9b95ddac382..00000000000
--- a/extern/ode/dist/tools/process_deps
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/usr/bin/perl
-
-$a = join ('',<STDIN>);
-$a =~ s/\\\n/ /g;		# join continued lines
-$a =~ s/(^\S+:)/$ARGV[0]$1/gm;	# put prefix in front of rules
-$a =~ s/\s+\/\S+/ /g;		# remove absolute path dependencies
-$a =~ s/\s+\n/\n/g;		# remove whitespace at end of lines
-$a =~ s/[ \t]+/ /g;		# clean up interior whitespace
-$a =~ s/ / \\\n  /g;		# put back line continuations
-
-print $a;
diff --git a/extern/ode/patchfile.FreeBSD b/extern/ode/patchfile.FreeBSD
deleted file mode 100644
index 1725a3acc45..00000000000
--- a/extern/ode/patchfile.FreeBSD
+++ /dev/null
@@ -1,22 +0,0 @@
---- dist/Makefile.org	Sat Jan 11 23:55:46 2003
-+++ dist/Makefile	Sat Jan 11 23:55:36 2003
-@@ -242,14 +242,16 @@
- clean:
- 	-$(DEL_CMD) $(ODE_OBJECTS) $(ODE_TEST_EXE) $(ODE_LIB) $(DRAWSTUFF_OBJECTS) $(DRAWSTUFF_TEST_EXE) $(DRAWSTUFF_LIB) ode/test/*$(OBJ) drawstuff/dstest/*$(OBJ) $(CONFIGURATOR_EXE) $(CONFIG_H)
- 
-+# Patched for FreeBSD
-+
- %$(OBJ): %.c
--	$(CC) $(C_FLAGS) $(C_INC)$(INCPATH) $(DEFINES) $(C_OPT)1 $(C_OUT)$@ $<
-+	$(CC) $(C_FLAGS) $(C_INC)$(INCPATH) -I/usr/X11R6/include $(DEFINES) $(C_OPT)1 $(C_OUT)$@ $<
- 
- %$(OBJ): %.cpp
--	$(CC) $(C_FLAGS) $(C_INC)$(INCPATH) $(DEFINES) $(C_OPT)$(OPT) $(C_OUT)$@ $<
-+	$(CC) $(C_FLAGS) $(C_INC)$(INCPATH) -I/usr/X11R6/include $(DEFINES) $(C_OPT)$(OPT) $(C_OUT)$@ $<
- 
- %.exe: %$(OBJ)
--	$(CC) $(C_EXEOUT)$@ $< $(ODE_LIB) $(DRAWSTUFF_LIB) $(RESOURCE_FILE) $(LINK_OPENGL) $(LINK_MATH)
-+	$(CC) $(C_EXEOUT)$@ $< $(ODE_LIB) $(DRAWSTUFF_LIB) $(RESOURCE_FILE) $(LINK_OPENGL) $(LINK_MATH) -lXext
- 
- # windows specific rules
- 
diff --git a/extern/qhull/src/Makefile b/extern/qhull/src/Makefile
index 8201e44f01b..81c06758cbb 100644
--- a/extern/qhull/src/Makefile
+++ b/extern/qhull/src/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
@@ -40,16 +42,13 @@ CSRCS = user.c global.c stat.c io.c geom2.c poly2.c \
 CCSRCS = 
 include nan_compile.mk 
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_QHULL) ] || mkdir -p $(NAN_QHULL)
 	@[ -d $(NAN_QHULL)/include/qhull ] || mkdir -p $(NAN_QHULL)/include/qhull
-	@[ -d $(NAN_QHULL)/lib ] || mkdir -p $(NAN_QHULL)/lib
-	@[ -d $(NAN_QHULL)/lib/debug ] || mkdir -p $(NAN_QHULL)/lib/debug
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/lib$(LIBNAME).a $(NAN_QHULL)/lib/
-#	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/debug/lib$(LIBNAME).a $(NAN_QHULL)/lib/debug/
+	@[ -d $(NAN_QHULL)/lib/$(DEBUG_DIR) ] || mkdir -p $(NAN_QHULL)/lib/$(DEBUG_DIR)
+	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)lib$(LIBNAME).a $(NAN_QHULL)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_QHULL)/lib/lib$(LIBNAME).a
-#	ranlib $(NAN_QHULL)/lib/debug/lib$(LIBNAME).a
+	ranlib $(NAN_QHULL)/lib/$(DEBUG_DIR)lib$(LIBNAME).a
 endif
 	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh ../include/qhull/*.h $(NAN_QHULL)/include/qhull
 
diff --git a/extern/solid/Makefile b/extern/solid/Makefile
index 3b333c5141d..206dc21c3fb 100644
--- a/extern/solid/Makefile
+++ b/extern/solid/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
@@ -37,18 +39,15 @@ DIRS = src
 
 include nan_subdirs.mk
 
-install: all debug
+install:  $(ALL_OR_DEBUG)
 	@[ -d $(NAN_SOLID) ] || mkdir -p $(NAN_SOLID)
 	@[ -d $(NAN_SOLID)/include/SOLID ] || mkdir -p $(NAN_SOLID)/include/SOLID
 	@[ -d $(NAN_SOLID)/include/SOLID/MT ] || mkdir -p $(NAN_SOLID)/include/SOLID/MT
-	@[ -d $(NAN_SOLID)/lib ] || mkdir -p $(NAN_SOLID)/lib
-	@[ -d $(NAN_SOLID)/lib/debug ] || mkdir -p $(NAN_SOLID)/lib/debug
+	@[ -d $(NAN_SOLID)/lib/$(DEBUG_DIR) ] || mkdir -p $(NAN_SOLID)/lib/$(DEBUG_DIR)
 	@for i in $(LIBNAMES); do \
-	    $(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/$$i/lib$$i.a $(NAN_SOLID)/lib/ ; \
-	    $(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/$$i/debug/lib$$i.a $(NAN_SOLID)/lib/debug/ ; \
+	    $(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/$$i/$(DEBUG_DIR)lib$$i.a $(NAN_SOLID)/lib/$(DEBUG_DIR) ; \
 	    if [ $(OS) = darwin ] ; then \
-            ranlib $(NAN_SOLID)/lib/lib$$i.a ; \
-            ranlib $(NAN_SOLID)/lib/debug/lib$$i.a ; \
+            ranlib $(NAN_SOLID)/lib/$(DEBUG_DIR)lib$$i.a ; \
         fi ; \
 	done
 	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh include/*.h $(NAN_SOLID)/include/SOLID
diff --git a/intern/SoundSystem/Makefile b/intern/SoundSystem/Makefile
index 051e2643a87..61785e44e68 100644
--- a/intern/SoundSystem/Makefile
+++ b/intern/SoundSystem/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
@@ -56,16 +58,13 @@ endif
 
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_SOUNDSYSTEM) ] || mkdir $(NAN_SOUNDSYSTEM)
 	@[ -d $(NAN_SOUNDSYSTEM)/include ] || mkdir $(NAN_SOUNDSYSTEM)/include
-	@[ -d $(NAN_SOUNDSYSTEM)/lib ] || mkdir $(NAN_SOUNDSYSTEM)/lib
-	@[ -d $(NAN_SOUNDSYSTEM)/lib/debug ] || mkdir $(NAN_SOUNDSYSTEM)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libSoundSystem.a $(NAN_SOUNDSYSTEM)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libSoundSystem.a $(NAN_SOUNDSYSTEM)/lib/debug/
+	@[ -d $(NAN_SOUNDSYSTEM)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_SOUNDSYSTEM)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libSoundSystem.a $(NAN_SOUNDSYSTEM)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_SOUNDSYSTEM)/lib/libSoundSystem.a
-	ranlib $(NAN_SOUNDSYSTEM)/lib/debug/libSoundSystem.a
+	ranlib $(NAN_SOUNDSYSTEM)/lib/$(DEBUG_DIR)libSoundSystem.a
 endif
 	@../tools/cpifdiff.sh *.h $(NAN_SOUNDSYSTEM)/include/
 
diff --git a/intern/SoundSystem/openal/SND_OpenALDevice.cpp b/intern/SoundSystem/openal/SND_OpenALDevice.cpp
index c660e9aecba..9ce30f985ac 100644
--- a/intern/SoundSystem/openal/SND_OpenALDevice.cpp
+++ b/intern/SoundSystem/openal/SND_OpenALDevice.cpp
@@ -235,7 +235,8 @@ SND_OpenALDevice::SND_OpenALDevice()
 
 			if (m_context) {
 #ifdef AL_VERSION_1_1
-		alcMakeContextCurrent((ALCcontext*)m_context);
+			alcMakeContextCurrent((ALCcontext*)m_context);
+			alutInitWithoutContext(NULL, NULL); /* in this case we dont want alut to initialize the context, see above */
 #else
 			alcMakeContextCurrent(m_context);
 #endif
@@ -380,6 +381,9 @@ SND_OpenALDevice::~SND_OpenALDevice()
 #else
 	if (m_device)
 		alcCloseDevice((ALCdevice*) m_device);
+#ifdef AL_VERSION_1_1
+	alutExit();
+#endif
 #endif
 }
 
@@ -437,7 +441,9 @@ SND_WaveSlot* SND_OpenALDevice::LoadSample(const STR_String& name,
 					alutLoadWAVMemory((char*)memlocation, &sampleformat, &data, &numberofsamples, &samplerate);				//	openal_2.12
 #else
 #ifdef AL_VERSION_1_1					
-					alutLoadWAVMemory((ALbyte*)memlocation, &sampleformat, &data, &numberofsamples, &samplerate, &loop);//	openal_2.14+
+					float frequency = 0.0f;
+					data = alutLoadMemoryFromFileImage(memlocation, size, &sampleformat, &numberofsamples, &frequency);
+					samplerate = (int)frequency;
 #else
 					 alutLoadWAVMemory((signed char*)memlocation, &sampleformat, &data, &numberofsamples, &samplerate, &loop);//  openal_2.14+
 					 
@@ -480,7 +486,11 @@ SND_WaveSlot* SND_OpenALDevice::LoadSample(const STR_String& name,
 				}
 				
 				/* and free the original stuff (copy was made in openal) */
+#if defined(OUDE_OPENAL) || defined (__APPLE__) || !defined(AL_VERSION_1_1)
 				alutUnloadWAV(sampleformat, data, numberofsamples, samplerate);
+#else
+				free(data);
+#endif
 			}
 		}
 		else
diff --git a/intern/SoundSystem/openal/SND_OpenALDevice.h b/intern/SoundSystem/openal/SND_OpenALDevice.h
index b8c64762a56..a7b97cc314f 100644
--- a/intern/SoundSystem/openal/SND_OpenALDevice.h
+++ b/intern/SoundSystem/openal/SND_OpenALDevice.h
@@ -32,7 +32,7 @@
 #include "SND_AudioDevice.h"
 #include "SoundDefines.h"
 
-typedef struct SDL_CD;
+struct SDL_CD;
 
 class SND_OpenALDevice : public SND_AudioDevice
 {
diff --git a/intern/SoundSystem/sdl/SND_SDLCDDevice.h b/intern/SoundSystem/sdl/SND_SDLCDDevice.h
index 15cb1975d74..96600d53630 100644
--- a/intern/SoundSystem/sdl/SND_SDLCDDevice.h
+++ b/intern/SoundSystem/sdl/SND_SDLCDDevice.h
@@ -29,7 +29,7 @@
 #ifndef SND_SDLCDDEVICE
 #define SND_SDLCDDEVICE
 
-typedef struct SDL_CD;
+struct SDL_CD;
 
 class SND_SDLCDDevice
 {
diff --git a/intern/bmfont/Makefile b/intern/bmfont/Makefile
index bc42f52a1fb..de0fc715884 100644
--- a/intern/bmfont/Makefile
+++ b/intern/bmfont/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # bmfont main makefile.
@@ -38,16 +40,13 @@ DIRS = intern
 
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_BMFONT) ] || mkdir $(NAN_BMFONT)
 	@[ -d $(NAN_BMFONT)/include ] || mkdir $(NAN_BMFONT)/include
-	@[ -d $(NAN_BMFONT)/lib ] || mkdir $(NAN_BMFONT)/lib
-	@[ -d $(NAN_BMFONT)/lib/debug ] || mkdir $(NAN_BMFONT)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libbmfont.a $(NAN_BMFONT)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libbmfont.a $(NAN_BMFONT)/lib/debug/
+	@[ -d $(NAN_BMFONT)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_BMFONT)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libbmfont.a $(NAN_BMFONT)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_BMFONT)/lib/libbmfont.a
-	ranlib $(NAN_BMFONT)/lib/debug/libbmfont.a
+	ranlib $(NAN_BMFONT)/lib/$(DEBUG_DIR)libbmfont.a
 endif
 	@../tools/cpifdiff.sh *.h $(NAN_BMFONT)/include/
 
diff --git a/intern/boolop/Makefile b/intern/boolop/Makefile
index 4058c4ca7c1..a7a08f665c7 100644
--- a/intern/boolop/Makefile
+++ b/intern/boolop/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # bsp main makefile.
@@ -38,16 +40,13 @@ DIRS = intern
 
 include nan_subdirs.mk
 
-install: all debug
+install:  $(ALL_OR_DEBUG)
 	@[ -d $(NAN_BOOLOP) ] || mkdir $(NAN_BOOLOP)
 	@[ -d $(NAN_BOOLOP)/include ] || mkdir $(NAN_BOOLOP)/include
-	@[ -d $(NAN_BOOLOP)/lib ] || mkdir $(NAN_BOOLOP)/lib
-	@[ -d $(NAN_BOOLOP)/lib/debug ] || mkdir $(NAN_BOOLOP)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libboolop.a $(NAN_BOOLOP)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libboolop.a $(NAN_BOOLOP)/lib/debug/
+	@[ -d $(NAN_BOOLOP)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_BOOLOP)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libboolop.a $(NAN_BOOLOP)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_BOOLOP)/lib/libboolop.a
-	ranlib $(NAN_BOOLOP)/lib/debug/libboolop.a
+	ranlib $(NAN_BOOLOP)/lib/$(DEBUG_DIR)libboolop.a
 endif
 	@../tools/cpifdiff.sh extern/*.h $(NAN_BOOLOP)/include/
 
diff --git a/intern/bsp/Makefile b/intern/bsp/Makefile
index fd106acab83..cd1653206a6 100644
--- a/intern/bsp/Makefile
+++ b/intern/bsp/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # bsp main makefile.
@@ -38,19 +40,14 @@ DIRS = intern
 
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_BSP) ] || mkdir $(NAN_BSP)
 	@[ -d $(NAN_BSP)/include ] || mkdir $(NAN_BSP)/include
-	@[ -d $(NAN_BSP)/lib ] || mkdir $(NAN_BSP)/lib
-	@[ -d $(NAN_BSP)/lib/debug ] || mkdir $(NAN_BSP)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libbsp.a $(NAN_BSP)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libbsp.a $(NAN_BSP)/lib/debug/
+	@[ -d $(NAN_BSP)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_BSP)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libbsp.a $(NAN_BSP)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_BSP)/lib/libbsp.a
-	ranlib $(NAN_BSP)/lib/debug/libbsp.a
+	ranlib $(NAN_BSP)/lib/$(DEBUG_DIR)libbsp.a
 endif
 	@../tools/cpifdiff.sh extern/*.h $(NAN_BSP)/include/
 
 
-
-
diff --git a/intern/container/Makefile b/intern/container/Makefile
index 76cba5b3ea1..8a9c038f0ee 100644
--- a/intern/container/Makefile
+++ b/intern/container/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # container main makefile.
@@ -38,12 +40,10 @@ DIRS = intern
  
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_CONTAINER) ] || mkdir $(NAN_CONTAINER)
 	@[ -d $(NAN_CONTAINER)/include ] || mkdir $(NAN_CONTAINER)/include
-	@[ -d $(NAN_CONTAINER)/lib ] || mkdir $(NAN_CONTAINER)/lib
-	@[ -d $(NAN_CONTAINER)/lib/debug ] || mkdir $(NAN_CONTAINER)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libcontainer.a $(NAN_CONTAINER)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libcontainer.a $(NAN_CONTAINER)/lib/debug
+	@[ -d $(NAN_CONTAINER)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_CONTAINER)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libcontainer.a $(NAN_CONTAINER)/lib/$(DEBUG_DIR)
 	@../tools/cpifdiff.sh *.h $(NAN_CONTAINER)/include/
 
diff --git a/intern/decimation/Makefile b/intern/decimation/Makefile
index 9241d87c3a3..7ff87fa018b 100644
--- a/intern/decimation/Makefile
+++ b/intern/decimation/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # decimation main makefile.
@@ -38,16 +40,13 @@ TESTDIRS = test
 
 include nan_subdirs.mk
 
-install: all debug
+install:  $(ALL_OR_DEBUG)
 	@[ -d $(NAN_DECIMATION) ] || mkdir $(NAN_DECIMATION)
 	@[ -d $(NAN_DECIMATION)/include ] || mkdir $(NAN_DECIMATION)/include
-	@[ -d $(NAN_DECIMATION)/lib ] || mkdir $(NAN_DECIMATION)/lib
-	@[ -d $(NAN_DECIMATION)/lib/debug ] || mkdir $(NAN_DECIMATION)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libdecimation.a $(NAN_DECIMATION)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libdecimation.a $(NAN_DECIMATION)/lib/debug/
+	@[ -d $(NAN_DECIMATION)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_DECIMATION)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libdecimation.a $(NAN_DECIMATION)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_DECIMATION)/lib/libdecimation.a
-	ranlib $(NAN_DECIMATION)/lib/debug/libdecimation.a
+	ranlib $(NAN_DECIMATION)/lib/$(DEBUG_DIR)libdecimation.a
 endif
 	@../tools/cpifdiff.sh extern/*.h $(NAN_DECIMATION)/include/
 
diff --git a/intern/decimation/SConscript b/intern/decimation/SConscript
index 55de37f3c69..ef95a795928 100644
--- a/intern/decimation/SConscript
+++ b/intern/decimation/SConscript
@@ -5,4 +5,4 @@ sources = env.Glob('intern/*.cpp')
 
 incs = '. ../moto/include ../container ../memutil'
 
-env.BlenderLib ('bf_decimation', sources, Split(incs) , [], libtype=['intern', 'player'], priority = [10, 20] )
+env.BlenderLib ('bf_decimation', sources, Split(incs) , [], libtype=['core'], priority = [10] )
diff --git a/intern/elbeem/Makefile b/intern/elbeem/Makefile
index 9ea08d63374..e7e8a8baa64 100644
--- a/intern/elbeem/Makefile
+++ b/intern/elbeem/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # elbeem main makefile.
@@ -40,16 +42,13 @@ DIRS = intern
 
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_ELBEEM) ] || mkdir $(NAN_ELBEEM)
 	@[ -d $(NAN_ELBEEM)/include ] || mkdir $(NAN_ELBEEM)/include
-	@[ -d $(NAN_ELBEEM)/lib ] || mkdir $(NAN_ELBEEM)/lib
-	@[ -d $(NAN_ELBEEM)/lib/debug ] || mkdir $(NAN_ELBEEM)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libelbeem.a $(NAN_ELBEEM)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libelbeem.a $(NAN_ELBEEM)/lib/debug/
+	@[ -d $(NAN_ELBEEM)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_ELBEEM)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libelbeem.a $(NAN_ELBEEM)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_ELBEEM)/lib/libelbeem.a
-	ranlib $(NAN_ELBEEM)/lib/debug/libelbeem.a
+	ranlib $(NAN_ELBEEM)/lib/$(DEBUG_DIR)libelbeem.a
 endif
 	@../tools/cpifdiff.sh extern/*.h $(NAN_ELBEEM)/include/
 
diff --git a/intern/ghost/Makefile b/intern/ghost/Makefile
index c5a9c522655..e983c3a9cee 100644
--- a/intern/ghost/Makefile
+++ b/intern/ghost/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # ghost main makefile.
@@ -38,16 +40,13 @@ TESTDIRS = test
 
 include nan_subdirs.mk
 
-install: all
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_GHOST) ] || mkdir $(NAN_GHOST)
 	@[ -d $(NAN_GHOST)/include ] || mkdir $(NAN_GHOST)/include
-	@[ -d $(NAN_GHOST)/lib ] || mkdir $(NAN_GHOST)/lib
-	@[ -d $(NAN_GHOST)/lib/debug ] || mkdir $(NAN_GHOST)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libghost.a $(NAN_GHOST)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libghost.a $(NAN_GHOST)/lib/debug/
+	@[ -d $(NAN_GHOST)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_GHOST)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libghost.a $(NAN_GHOST)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_GHOST)/lib/libghost.a
-	ranlib $(NAN_GHOST)/lib/debug/libghost.a
+	ranlib $(NAN_GHOST)/lib/$(DEBUG_DIR)libghost.a
 endif
 	@../tools/cpifdiff.sh *.h $(NAN_GHOST)/include/
 
diff --git a/intern/ghost/intern/GHOST_SystemX11.cpp b/intern/ghost/intern/GHOST_SystemX11.cpp
index 2e76b50fe7a..c6ce7b628e9 100644
--- a/intern/ghost/intern/GHOST_SystemX11.cpp
+++ b/intern/ghost/intern/GHOST_SystemX11.cpp
@@ -1010,11 +1010,11 @@ getClipboard(bool selection
 ) const {
 	//Flag 
 	//0 = Regular clipboard 1 = selection
-	static Atom Primary_atom, clip_String, compound_text;
+	static Atom Primary_atom, clip_String, compound_text, a_text, a_string;
 	Atom rtype;
 	Window m_window, owner;
 	unsigned char *data, *tmp_data;
-	int bits;
+	int bits, count;
 	unsigned long len, bytes;
 	XEvent xevent;
 	
@@ -1025,6 +1025,8 @@ getClipboard(bool selection
 
 	clip_String = XInternAtom(m_display, "_BLENDER_STRING", False);
 	compound_text = XInternAtom(m_display, "COMPOUND_TEXT", False);
+	a_text= XInternAtom(m_display, "TEXT", False);
+	a_string= XInternAtom(m_display, "STRING", False);
 
 	//lets check the owner and if it is us then return the static buffer
 	if(!selection) {
@@ -1058,18 +1060,46 @@ getClipboard(bool selection
 	XFlush(m_display);
 
 	//This needs to change so we do not wait for ever or check owner first
+	count= 1;
 	while(1) {
 		XNextEvent(m_display, &xevent);
 		if(xevent.type == SelectionNotify) {
-			if(XGetWindowProperty(m_display, m_window, xevent.xselection.property, 0L, 4096L, False, AnyPropertyType, &rtype, &bits, &len, &bytes, &data) == Success) {
-				if (data) {
-					tmp_data = (unsigned char*) malloc(strlen((char*)data)+1);
-					strcpy((char*)tmp_data, (char*)data);
-					XFree(data);
-					return (GHOST_TUns8*)tmp_data;
+			if (xevent.xselection.property == None) {
+				/* Ok, the client can't convert the property
+				 * to some that we can handle, try other types..
+				 */
+				if (count == 1) {
+					XConvertSelection(m_display, Primary_atom, a_text, clip_String, m_window, CurrentTime);
+					count++;
+				}
+				else if (count == 2) {
+					XConvertSelection(m_display, Primary_atom, a_string, clip_String, m_window, CurrentTime);
+					count++;
+				}
+				else {
+					/* Ok, the owner of the selection can't 
+					 * convert the data to something that we can
+					 * handle.
+					 */
+					return(NULL);
 				}
 			}
-			return NULL;
+			else {
+				if(XGetWindowProperty(m_display, m_window, xevent.xselection.property , 0L, 4096L, False, AnyPropertyType, &rtype, &bits, &len, &bytes, &data) == Success) {
+					if (data) {
+						if (bits == 8 && (rtype == compound_text || rtype == a_text || rtype == a_string)) {
+							tmp_data = (unsigned char*) malloc(strlen((char*)data)+1);
+							strcpy((char*)tmp_data, (char*)data);
+						}
+						else
+							tmp_data= NULL;
+
+						XFree(data);
+						return (GHOST_TUns8*)tmp_data;
+					}
+				}
+				return(NULL);
+			}
 		}
 	}
 }
diff --git a/intern/ghost/intern/Makefile b/intern/ghost/intern/Makefile
index 467ec768720..5b95bbb3b68 100644
--- a/intern/ghost/intern/Makefile
+++ b/intern/ghost/intern/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # ghost intern Makefile
@@ -38,8 +40,6 @@ CCSRCS += GHOST_Rect.cpp GHOST_DisplayManager.cpp GHOST_C-api.cpp
 CCSRCS += GHOST_CallbackEventConsumer.cpp
 CCSRCS += GHOST_NDOFManager.cpp
 
-include nan_definitions.mk
-
 ifeq ($(OS),$(findstring $(OS), "darwin"))
     CCSRCS += $(wildcard *Carbon.cpp)
 endif
diff --git a/intern/guardedalloc/Makefile b/intern/guardedalloc/Makefile
index f0cef3d222c..55894d54c8e 100644
--- a/intern/guardedalloc/Makefile
+++ b/intern/guardedalloc/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # decimation main makefile.
@@ -38,16 +40,13 @@ TESTDIRS = test
 
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_GUARDEDALLOC) ] || mkdir $(NAN_GUARDEDALLOC)
 	@[ -d $(NAN_GUARDEDALLOC)/include ] || mkdir $(NAN_GUARDEDALLOC)/include
-	@[ -d $(NAN_GUARDEDALLOC)/lib ] || mkdir $(NAN_GUARDEDALLOC)/lib
-	@[ -d $(NAN_GUARDEDALLOC)/lib/debug ] || mkdir $(NAN_GUARDEDALLOC)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libguardedalloc.a $(NAN_GUARDEDALLOC)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libguardedalloc.a $(NAN_GUARDEDALLOC)/lib/debug/
+	@[ -d $(NAN_GUARDEDALLOC)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_GUARDEDALLOC)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libguardedalloc.a $(NAN_GUARDEDALLOC)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_GUARDEDALLOC)/lib/libguardedalloc.a
-	ranlib $(NAN_GUARDEDALLOC)/lib/debug/libguardedalloc.a
+	ranlib $(NAN_GUARDEDALLOC)/lib/$(DEBUG_DIR)libguardedalloc.a
 endif
 	@../tools/cpifdiff.sh *.h $(NAN_GUARDEDALLOC)/include/
 
diff --git a/intern/iksolver/Makefile b/intern/iksolver/Makefile
index a6cfa88eb30..09e6e3a1c2a 100644
--- a/intern/iksolver/Makefile
+++ b/intern/iksolver/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # iksolver main makefile.
@@ -38,16 +40,13 @@ TESTDIRS = test
 
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_IKSOLVER) ] || mkdir $(NAN_IKSOLVER)
 	@[ -d $(NAN_IKSOLVER)/include ] || mkdir $(NAN_IKSOLVER)/include
-	@[ -d $(NAN_IKSOLVER)/lib ] || mkdir $(NAN_IKSOLVER)/lib
-	@[ -d $(NAN_IKSOLVER)/lib/debug ] || mkdir $(NAN_IKSOLVER)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libiksolver.a $(NAN_IKSOLVER)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libiksolver.a $(NAN_IKSOLVER)/lib/debug/
+	@[ -d $(NAN_IKSOLVER)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_IKSOLVER)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libiksolver.a $(NAN_IKSOLVER)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_IKSOLVER)/lib/libiksolver.a
-	ranlib $(NAN_IKSOLVER)/lib/debug/libiksolver.a
+	ranlib $(NAN_IKSOLVER)/lib/$(DEBUG_DIR)libiksolver.a
 endif
 	@../tools/cpifdiff.sh extern/*.h $(NAN_IKSOLVER)/include/
 
diff --git a/intern/memutil/Makefile b/intern/memutil/Makefile
index 787ca4fd58f..50aa0528f31 100644
--- a/intern/memutil/Makefile
+++ b/intern/memutil/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # memutil main makefile.
@@ -38,16 +40,13 @@ DIRS = intern
  
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_MEMUTIL) ] || mkdir $(NAN_MEMUTIL)
 	@[ -d $(NAN_MEMUTIL)/include ] || mkdir $(NAN_MEMUTIL)/include
-	@[ -d $(NAN_MEMUTIL)/lib ] || mkdir $(NAN_MEMUTIL)/lib
-	@[ -d $(NAN_MEMUTIL)/lib/debug ] || mkdir $(NAN_MEMUTIL)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libmemutil.a $(NAN_MEMUTIL)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libmemutil.a $(NAN_MEMUTIL)/lib/debug
+	@[ -d $(NAN_MEMUTIL)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_MEMUTIL)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libmemutil.a $(NAN_MEMUTIL)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_MEMUTIL)/lib/libmemutil.a
-	ranlib $(NAN_MEMUTIL)/lib/debug/libmemutil.a
+	ranlib $(NAN_MEMUTIL)/lib/$(DEBUG_DIR)libmemutil.a
 endif
 	@../tools/cpifdiff.sh *.h $(NAN_MEMUTIL)/include/
 
diff --git a/intern/moto/Makefile b/intern/moto/Makefile
index 7bd7ea10abc..3ad4fde9c4e 100644
--- a/intern/moto/Makefile
+++ b/intern/moto/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # moto main makefile.
@@ -38,16 +40,13 @@ DIRS = intern
  
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_MOTO) ] || mkdir $(NAN_MOTO)
 	@[ -d $(NAN_MOTO)/include ] || mkdir $(NAN_MOTO)/include
-	@[ -d $(NAN_MOTO)/lib ] || mkdir $(NAN_MOTO)/lib
-	@[ -d $(NAN_MOTO)/lib/debug ] || mkdir $(NAN_MOTO)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libmoto.a $(NAN_MOTO)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libmoto.a $(NAN_MOTO)/lib/debug/
+	@[ -d $(NAN_MOTO)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_MOTO)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libmoto.a $(NAN_MOTO)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_MOTO)/lib/libmoto.a
-	ranlib $(NAN_MOTO)/lib/debug/libmoto.a
+	ranlib $(NAN_MOTO)/lib/$(DEBUG_DIR)libmoto.a
 endif
 	@../tools/cpifdiff.sh include/*.h $(NAN_MOTO)/include/
 
diff --git a/intern/opennl/Makefile b/intern/opennl/Makefile
index a84fd135d1d..023491792db 100644
--- a/intern/opennl/Makefile
+++ b/intern/opennl/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # opennl main makefile.
@@ -40,25 +42,19 @@ DIRS = intern superlu
 
 include nan_subdirs.mk
 
-install: all debug
+install: $(ALL_OR_DEBUG)
 	@[ -d $(NAN_OPENNL) ] || mkdir $(NAN_OPENNL)
 	@[ -d $(NAN_OPENNL)/include ] || mkdir $(NAN_OPENNL)/include
-	@[ -d $(NAN_OPENNL)/lib ] || mkdir $(NAN_OPENNL)/lib
-	@[ -d $(NAN_OPENNL)/lib/debug ] || mkdir $(NAN_OPENNL)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libopennl.a $(NAN_OPENNL)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libopennl.a $(NAN_OPENNL)/lib/debug/
+	@[ -d $(NAN_OPENNL)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_OPENNL)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libopennl.a $(NAN_OPENNL)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_OPENNL)/lib/libopennl.a
-	ranlib $(NAN_OPENNL)/lib/debug/libopennl.a
+	ranlib $(NAN_OPENNL)/lib/$(DEBUG_DIR)libopennl.a
 endif
 	@../tools/cpifdiff.sh extern/*.h $(NAN_OPENNL)/include/
 	@[ -d $(NAN_SUPERLU) ] || mkdir $(NAN_SUPERLU)
-	@[ -d $(NAN_SUPERLU)/lib ] || mkdir $(NAN_SUPERLU)/lib
-	@[ -d $(NAN_SUPERLU)/lib/debug ] || mkdir $(NAN_SUPERLU)/lib/debug
-	@../tools/cpifdiff.sh $(DIR_SLU)/libsuperlu.a $(NAN_SUPERLU)/lib/
-	@../tools/cpifdiff.sh $(DIR_SLU)/debug/libsuperlu.a $(NAN_SUPERLU)/lib/debug/
+	@[ -d $(NAN_SUPERLU)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_SUPERLU)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR_SLU)/$(DEBUG_DIR)libsuperlu.a $(NAN_SUPERLU)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_SUPERLU)/lib/libsuperlu.a
-	ranlib $(NAN_SUPERLU)/lib/debug/libsuperlu.a
+	ranlib $(NAN_SUPERLU)/lib/$(DEBUG_DIR)libsuperlu.a
 endif
 
diff --git a/intern/opennl/SConscript b/intern/opennl/SConscript
index 8cd5f9c1548..f68810d2f16 100644
--- a/intern/opennl/SConscript
+++ b/intern/opennl/SConscript
@@ -6,7 +6,7 @@ sources = env.Glob('intern/*.c') + env.Glob('superlu/*.c')
 incs = 'extern superlu'
 
 if (env['OURPLATFORM'] == 'win32-mingw'):
-    env.BlenderLib ('blender_ONL', sources, Split(incs), [], libtype=['intern','player'], priority=[80,22] )
+    env.BlenderLib ('blender_ONL', sources, Split(incs), [], libtype=['core','intern'], priority=[1,80] )
 else:
-    env.BlenderLib ('blender_ONL', sources, Split(incs), [], libtype=['intern','player'], priority=[65,22] )
+    env.BlenderLib ('blender_ONL', sources, Split(incs), [], libtype=['core'], priority=[55] )
 
diff --git a/intern/opennl/superlu/get_perm_c.c b/intern/opennl/superlu/get_perm_c.c
index e255b4a76bd..4c0ee95c4c6 100644
--- a/intern/opennl/superlu/get_perm_c.c
+++ b/intern/opennl/superlu/get_perm_c.c
@@ -366,6 +366,10 @@ get_perm_c(int ispec, SuperMatrix *A, int *perm_c)
     int *b_rowind, *dhead, *qsize, *llist, *marker;
     double t, SuperLU_timer_();
     
+    /* make gcc happy */
+    b_rowind=NULL;
+    b_colptr=NULL;
+    
     m = A->nrow;
     n = A->ncol;
 
diff --git a/intern/string/Makefile b/intern/string/Makefile
index e885b87babe..7972defd406 100644
--- a/intern/string/Makefile
+++ b/intern/string/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): Hans Lambermont
+# Contributor(s): Hans Lambermont, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 # string main makefile.
@@ -38,16 +40,13 @@ DIRS = intern
 
 include nan_subdirs.mk
 
-install: all debug
+install:  $(ALL_OR_DEBUG)
 	@[ -d $(NAN_STRING) ] || mkdir $(NAN_STRING)
 	@[ -d $(NAN_STRING)/include ] || mkdir $(NAN_STRING)/include
-	@[ -d $(NAN_STRING)/lib ] || mkdir $(NAN_STRING)/lib
-	@[ -d $(NAN_STRING)/lib/debug ] || mkdir $(NAN_STRING)/lib/debug
-	@../tools/cpifdiff.sh $(DIR)/libstring.a $(NAN_STRING)/lib/
-	@../tools/cpifdiff.sh $(DIR)/debug/libstring.a $(NAN_STRING)/lib/debug/
+	@[ -d $(NAN_STRING)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_STRING)/lib/$(DEBUG_DIR)
+	@../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libstring.a $(NAN_STRING)/lib/$(DEBUG_DIR)
 ifeq ($(OS),darwin)
-	ranlib $(NAN_STRING)/lib/libstring.a
-	ranlib $(NAN_STRING)/lib/debug/libstring.a
+	ranlib $(NAN_STRING)/lib/$(DEBUG_DIR)libstring.a
 endif
 	@../tools/cpifdiff.sh *.h $(NAN_STRING)/include/
 
diff --git a/po/Makefile b/po/Makefile
index 4bafba8a6e6..40b4684f5c0 100644
--- a/po/Makefile
+++ b/po/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 # $Id$
 #
 # ***** BEGIN GPL LICENSE BLOCK *****
@@ -9,47 +11,48 @@
 #
 # 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
+# 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.
+# Inc., 59 Temple Place - Suite 330, Boston, MA	 02111-1307, USA.
 #
 # The Original Code is Copyright (C) 2002 by Stichting Blender Foundation,
 # Amsterdam, the Netherlands.
 # All rights reserved.
 #
-# The Original Code is: revision 1.1
+# The Original Code is: revision 1.2
 #
-# Contributor(s): Wouter van Heyst
+# Contributor(s): Wouter van Heyst, GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
-# po Makefile for blender. Compiles the translations and places them
+# po Makefile for blender. Compiles the translations in the place
 # where release can pick them up.
 
+PO_FILES = $(wildcard *.po)
+
+LINGUAS = $(basename $(PO_FILES))
+
 SOURCEDIR = blender/po
 
 include nan_definitions.mk
 
-LINGUAS = ar bg ca cs de el es fi fr hr it ja ko nl pl pt_BR ro ru sr sr@Latn sv uk zh_CN
-
 ifeq ($(OS), darwin)
-DIR = $(OCGDIR)/bin/blender.app/Contents/Resources/locale/$@/LC_MESSAGES/
+  DIR = $(OCGDIR)/bin/blender.app/Contents/Resources/locale/
 else
-DIR = $(OCGDIR)/bin/.blender/locale/$@/LC_MESSAGES/
+  DIR = $(OCGDIR)/bin/.blender/locale/
 endif
 
-all debug:: $(LINGUAS)
+LINGUAS_DEST= $(foreach LINGUA, $(LINGUAS),$(DIR)$(LINGUA)/LC_MESSAGES/blender.mo)
 
-clean::
-ifeq ($(OS), darwin)
-	rm -rf $(OCGDIR)/bin/blender.app/Contents/Resources/locale/
-else
-	rm -rf $(OCGDIR)/bin/.blender/locale/
-endif
+$(DIR)%/LC_MESSAGES/blender.mo: %.po
+	mkdir -p $(@D)
+	msgfmt -o $@ $<
 
-$(LINGUAS):
-	mkdir -p $(DIR)
-	msgfmt -o $(DIR)/blender.mo $@.po
+all debug:: $(LINGUAS_DEST)
+#	Just trigger the deps
+
+clean::
+	rm -rf $(DIR)
diff --git a/projectfiles_vc9/blender/blender.vcproj b/projectfiles_vc9/blender/blender.vcproj
index 9206623cd0a..3111c322311 100644
--- a/projectfiles_vc9/blender/blender.vcproj
+++ b/projectfiles_vc9/blender/blender.vcproj
@@ -44,7 +44,7 @@
 			<Tool

 				Name="VCCLCompilerTool"

 				InlineFunctionExpansion="1"

-				AdditionalIncludeDirectories="..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\source\blender;..\..\source\blender\imbuf;..\..\source\blender\misc;..\..\source\blender\blenlib;..\..\source\blender\editors\include;..\..\source\blender\python;..\..\source\blender\windowmanager;..\..\source\blender\renderui;..\..\source\blender\makesdna;..\..\source\blender\blenkernel;..\..\source\blender\blenloader;..\..\source\blender\renderconverter;..\..\source\blender\render\extern\include;..\..\source\blender\radiosity\extern\include;..\..\source\kernel\gen_system;..\..\source\kernel\gen_messaging;..\..\..\build\msvc_9\extern\glew\include;..\..\source\blender\gpu"

+				AdditionalIncludeDirectories="..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\source\blender;..\..\source\blender\imbuf;..\..\source\blender\misc;..\..\source\blender\blenlib;..\..\source\blender\editors\include;..\..\source\blender\python;..\..\source\blender\windowmanager;..\..\source\blender\renderui;..\..\source\blender\makesdna;..\..\source\blender\makesrna;..\..\source\blender\blenkernel;..\..\source\blender\blenloader;..\..\source\blender\renderconverter;..\..\source\blender\render\extern\include;..\..\source\blender\radiosity\extern\include;..\..\source\kernel\gen_system;..\..\source\kernel\gen_messaging;..\..\..\build\msvc_9\extern\glew\include;..\..\source\blender\gpu"

 				PreprocessorDefinitions="NDEBUG;WIN32;_CONSOLE;WITH_QUICKTIME;GAMEBLENDER=1;USE_SUMO_SOLID;FTGL_LIBRARY_STATIC"

 				StringPooling="true"

 				RuntimeLibrary="0"

@@ -139,7 +139,7 @@
 			<Tool

 				Name="VCCLCompilerTool"

 				Optimization="0"

-				AdditionalIncludeDirectories="..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\source\blender;..\..\source\blender\imbuf;..\..\source\blender\misc;..\..\source\blender\blenlib;..\..\source\blender\editors\include;..\..\source\blender\python;..\..\source\blender\windowmanager;..\..\source\blender\renderui;..\..\source\blender\makesdna;..\..\source\blender\blenkernel;..\..\source\blender\blenloader;..\..\source\blender\renderconverter;..\..\source\blender\render\extern\include;..\..\source\blender\radiosity\extern\include;..\..\source\kernel\gen_system;..\..\source\kernel\gen_messaging;..\..\..\build\msvc_9\extern\glew\include;..\..\source\blender\gpu"

+				AdditionalIncludeDirectories="..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\source\blender;..\..\source\blender\imbuf;..\..\source\blender\misc;..\..\source\blender\blenlib;..\..\source\blender\editors\include;..\..\source\blender\python;..\..\source\blender\windowmanager;..\..\source\blender\renderui;..\..\source\blender\makesdna;..\..\source\blender\makesrna;..\..\source\blender\blenkernel;..\..\source\blender\blenloader;..\..\source\blender\renderconverter;..\..\source\blender\render\extern\include;..\..\source\blender\radiosity\extern\include;..\..\source\kernel\gen_system;..\..\source\kernel\gen_messaging;..\..\..\build\msvc_9\extern\glew\include;..\..\source\blender\gpu"

 				PreprocessorDefinitions="_DEBUG;WIN32;_CONSOLE;WITH_QUICKTIME"

 				BasicRuntimeChecks="3"

 				RuntimeLibrary="1"

diff --git a/projectfiles_vc9/blender/blenkernel/BKE_blenkernel.vcproj b/projectfiles_vc9/blender/blenkernel/BKE_blenkernel.vcproj
index 9d011cfbc3a..1b3d071b05a 100644
--- a/projectfiles_vc9/blender/blenkernel/BKE_blenkernel.vcproj
+++ b/projectfiles_vc9/blender/blenkernel/BKE_blenkernel.vcproj
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="Windows-1252"?>

 <VisualStudioProject

 	ProjectType="Visual C++"

-	Version="9,00"

+	Version="9.00"

 	Name="BKE_blenkernel"

 	ProjectGUID="{CAE37E91-6570-43AC-A4B4-7A37A4B0FC94}"

 	RootNamespace="BKE_blenkernel"

diff --git a/projectfiles_vc9/blender/editors/ED_editors.vcproj b/projectfiles_vc9/blender/editors/ED_editors.vcproj
index da6f8276230..768079b63fb 100644
--- a/projectfiles_vc9/blender/editors/ED_editors.vcproj
+++ b/projectfiles_vc9/blender/editors/ED_editors.vcproj
@@ -383,6 +383,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\editors\interface\interface_layout.c"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\editors\interface\interface_panel.c"

 				>

 			</File>

@@ -395,6 +399,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\editors\interface\interface_widgets.c"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\editors\interface\keyval.c"

 				>

 			</File>

@@ -699,6 +707,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\editors\space_buttons\buttons_object.c"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\editors\space_buttons\buttons_scene.c"

 				>

 			</File>

@@ -1123,10 +1135,30 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\editors\armature\BIF_generate.h"

+				>

+			</File>

+			<File

+				RelativePath="..\..\..\source\blender\editors\armature\BIF_retarget.h"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\editors\armature\editarmature.c"

 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\editors\armature\editarmature_generate.c"

+				>

+			</File>

+			<File

+				RelativePath="..\..\..\source\blender\editors\armature\editarmature_retarget.c"

+				>

+			</File>

+			<File

+				RelativePath="..\..\..\source\blender\editors\armature\editarmature_sketch.c"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\editors\armature\meshlaplacian.c"

 				>

 			</File>

@@ -1143,6 +1175,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\editors\armature\reeb.c"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\editors\armature\reeb.h"

 				>

 			</File>

diff --git a/projectfiles_vc9/blender/imbuf/BL_imbuf.vcproj b/projectfiles_vc9/blender/imbuf/BL_imbuf.vcproj
index 90d0bd70d7a..69bce6b621b 100644
--- a/projectfiles_vc9/blender/imbuf/BL_imbuf.vcproj
+++ b/projectfiles_vc9/blender/imbuf/BL_imbuf.vcproj
@@ -553,6 +553,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\imbuf\intern\jp2.c"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\imbuf\intern\jpeg.c"

 				>

 			</File>

@@ -831,6 +835,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\imbuf\intern\IMB_jp2.h"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\imbuf\intern\IMB_jpeg.h"

 				>

 			</File>

diff --git a/projectfiles_vc9/blender/makesdna/DNA_makesdna.vcproj b/projectfiles_vc9/blender/makesdna/DNA_makesdna.vcproj
index 81449aa489d..96de0231363 100644
--- a/projectfiles_vc9/blender/makesdna/DNA_makesdna.vcproj
+++ b/projectfiles_vc9/blender/makesdna/DNA_makesdna.vcproj
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="Windows-1252"?>

 <VisualStudioProject

 	ProjectType="Visual C++"

-	Version="9,00"

+	Version="9.00"

 	Name="DNA_makesdna"

 	ProjectGUID="{E013786A-9575-4F34-81B2-33290357EE87}"

 	RootNamespace="DNA_makesdna"

@@ -702,6 +702,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\makesdna\DNA_meshdata_types.h"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\makesdna\DNA_meta_types.h"

 				>

 			</File>

diff --git a/projectfiles_vc9/blender/makesrna/RNA_makesrna.vcproj b/projectfiles_vc9/blender/makesrna/RNA_makesrna.vcproj
index e215bf2eaba..92dd343ab8f 100644
--- a/projectfiles_vc9/blender/makesrna/RNA_makesrna.vcproj
+++ b/projectfiles_vc9/blender/makesrna/RNA_makesrna.vcproj
@@ -629,6 +629,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\makesrna\intern\rna_context.c"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\makesrna\intern\rna_controller.c"

 				>

 			</File>

diff --git a/projectfiles_vc9/blender/makesrna/RNA_rna.vcproj b/projectfiles_vc9/blender/makesrna/RNA_rna.vcproj
index a0e4a87c630..dd63bc8e70b 100644
--- a/projectfiles_vc9/blender/makesrna/RNA_rna.vcproj
+++ b/projectfiles_vc9/blender/makesrna/RNA_rna.vcproj
@@ -203,6 +203,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\blender\makesrna\intern\rna.crna_context_gen.c"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\blender\makesrna\intern\rna.crna_controller_gen.c"

 				>

 			</File>

@@ -358,10 +362,6 @@
 				RelativePath="..\..\..\source\blender\makesrna\intern\rna_access.c"

 				>

 			</File>

-			<File

-				RelativePath="..\..\..\source\blender\makesrna\intern\rna_dependency.c"

-				>

-			</File>

 		</Filter>

 		<Filter

 			Name="Header Files"

diff --git a/projectfiles_vc9/blender/nodes/nodes.vcproj b/projectfiles_vc9/blender/nodes/nodes.vcproj
index 322b8e609d0..a289fffb3c2 100644
--- a/projectfiles_vc9/blender/nodes/nodes.vcproj
+++ b/projectfiles_vc9/blender/nodes/nodes.vcproj
@@ -617,6 +617,10 @@
 					>

 				</File>

 				<File

+					RelativePath="..\..\..\source\blender\nodes\intern\TEX_nodes\TEX_compose.c"

+					>

+				</File>

+				<File

 					RelativePath="..\..\..\source\blender\nodes\intern\TEX_nodes\TEX_coord.c"

 					>

 				</File>

@@ -625,6 +629,10 @@
 					>

 				</File>

 				<File

+					RelativePath="..\..\..\source\blender\nodes\intern\TEX_nodes\TEX_decompose.c"

+					>

+				</File>

+				<File

 					RelativePath="..\..\..\source\blender\nodes\intern\TEX_nodes\TEX_distance.c"

 					>

 				</File>

@@ -661,6 +669,10 @@
 					>

 				</File>

 				<File

+					RelativePath="..\..\..\source\blender\nodes\intern\TEX_nodes\TEX_scale.c"

+					>

+				</File>

+				<File

 					RelativePath="..\..\..\source\blender\nodes\intern\TEX_nodes\TEX_texture.c"

 					>

 				</File>

@@ -669,6 +681,10 @@
 					>

 				</File>

 				<File

+					RelativePath="..\..\..\source\blender\nodes\intern\TEX_nodes\TEX_valToNor.c"

+					>

+				</File>

+				<File

 					RelativePath="..\..\..\source\blender\nodes\intern\TEX_nodes\TEX_valToRgb.c"

 					>

 				</File>

diff --git a/projectfiles_vc9/gameengine/blenderhook/KX_blenderhook.vcproj b/projectfiles_vc9/gameengine/blenderhook/KX_blenderhook.vcproj
index 64f6b92ef29..8e027fd1854 100644
--- a/projectfiles_vc9/gameengine/blenderhook/KX_blenderhook.vcproj
+++ b/projectfiles_vc9/gameengine/blenderhook/KX_blenderhook.vcproj
@@ -4,6 +4,7 @@
 	Version="9,00"

 	Name="KX_blenderhook"

 	ProjectGUID="{8154A59A-CAED-403D-AB94-BC4E7C032666}"

+	RootNamespace="KX_blenderhook"

 	TargetFrameworkVersion="131072"

 	>

 	<Platforms>

@@ -43,7 +44,7 @@
 				Name="VCCLCompilerTool"

 				Optimization="0"

 				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\bmfont\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python2.5;..\..\..\source\blender;..\..\..\source\blender\misc;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\ketsji;..\..\..\source\gameengine\network;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\Physics\Sumo;..\..\..\source\gameengine\Physics\common;..\..\..\source\gameengine\network\loopbacknetwork;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\Physics\Sumo\Fuzzics\include;..\..\..\source\blender\gpu"

-				PreprocessorDefinitions="WIN32;_LIB;_DEBUG;WITH_GLEXT"

+				PreprocessorDefinitions="WIN32;_LIB;_DEBUG;WITH_GLEXT;WITH_FFMPEG"

 				BasicRuntimeChecks="3"

 				RuntimeLibrary="1"

 				DefaultCharIsUnsigned="true"

@@ -119,7 +120,7 @@
 				Name="VCCLCompilerTool"

 				InlineFunctionExpansion="1"

 				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\bmfont\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python2.5;..\..\..\source\blender;..\..\..\source\blender\misc;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\ketsji;..\..\..\source\gameengine\network;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\Physics\Sumo;..\..\..\source\gameengine\Physics\common;..\..\..\source\gameengine\network\loopbacknetwork;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\Physics\Sumo\Fuzzics\include;..\..\..\source\blender\gpu"

-				PreprocessorDefinitions="NDEBUG;WIN32;_LIB;USE_SUMO_SOLID;WITH_GLEXT"

+				PreprocessorDefinitions="NDEBUG;WIN32;_LIB;USE_SUMO_SOLID;WITH_GLEXT;WITH_FFMPEG"

 				StringPooling="true"

 				BasicRuntimeChecks="0"

 				RuntimeLibrary="0"

diff --git a/projectfiles_vc9/gameengine/gameplayer/ghost/GP_ghost.vcproj b/projectfiles_vc9/gameengine/gameplayer/ghost/GP_ghost.vcproj
index ab0b05c208c..fe20152388a 100644
--- a/projectfiles_vc9/gameengine/gameplayer/ghost/GP_ghost.vcproj
+++ b/projectfiles_vc9/gameengine/gameplayer/ghost/GP_ghost.vcproj
@@ -45,7 +45,7 @@
 				Name="VCCLCompilerTool"

 				Optimization="0"

 				AdditionalIncludeDirectories="..\..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\..\build\msvc_9\intern\ghost\include;..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\build\msvc_9\intern\openal\include;..\..\..\..\..\build\msvc_9\intern\opennl\include;..\..\..\..\..\build\msvc_9\intern\bmfont\include;..\..\..\..\..\build\msvc_9\intern\iksolver\include;..\..\..\..\..\build\msvc_9\intern\SoundSystem\include;..\..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\..\lib\windows\python\include\python2.5;..\..\..\..\source\blender\include;..\..\..\..\source\blender\imbuf;..\..\..\..\source\blender\blenlib;..\..\..\..\source\blender\blenkernel;..\..\..\..\source\blender\makesdna;..\..\..\..\source\blender\blenloader;..\..\..\..\source\blender\readblenfile;..\..\..\..\source\blender\render\extern\include;..\..\..\..\source\kernel\gen_system;..\..\..\..\source\kernel\gen_messaging;..\..\..\..\source\gameengine\ketsji;..\..\..\..\source\gameengine\Physics;..\..\..\..\source\gameengine\network;..\..\..\..\source\gameengine\rasterizer;..\..\..\..\source\gameengine\converter;..\..\..\..\source\gameengine\gamelogic;..\..\..\..\source\gameengine\expressions;..\..\..\..\source\gameengine\scenegraph;..\..\..\..\source\gameengine\Physics\Ode;..\..\..\..\source\gameengine\soundsystem;..\..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\..\source\gameengine\gameplayer\common;..\..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\..\source\gameengine\network\loopbacknetwork;..\..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\..\source\gameengine\gameplayer\common\windows;..\..\..\..\source\sumo\include;..\..\..\..\source\sumo\fuzzics\include;..\..\..\..\source\blender\gpu;..\..\..\..\..\build\msvc_9\intern\guardedalloc\include"

-				PreprocessorDefinitions="WIN32,_CONSOLE,dSINGLE, _DEBUG"

+				PreprocessorDefinitions="WIN32,_CONSOLE,dSINGLE, _DEBUG;WITH_FFMPEG"

 				BasicRuntimeChecks="3"

 				RuntimeLibrary="1"

 				UsePrecompiledHeader="0"

@@ -72,7 +72,7 @@
 			<Tool

 				Name="VCLinkerTool"

 				AdditionalOptions="/MACHINE:I386&#x0D;&#x0A;"

-				AdditionalDependencies="odelib.lib fmodvc.lib ws2_32.lib vfw32.lib odbc32.lib odbccp32.lib opengl32.lib glu32.lib openal_static.lib libjpeg.lib dxguid.lib libeay32.lib libpng.lib libz.lib qtmlClient.lib SDL.lib freetype2ST.lib python25_d.lib pthreadVSE2.lib pthreadVC2.lib Half.lib Iex.lib IlmImf.lib IlmThread.lib Imath.lib avcodec-51.lib avformat-52.lib avutil-49.lib swscale-0.lib"

+				AdditionalDependencies="odelib.lib fmodvc.lib ws2_32.lib vfw32.lib odbc32.lib odbccp32.lib opengl32.lib glu32.lib openal_static.lib libjpeg.lib dxguid.lib libeay32.lib libpng.lib libz.lib qtmlClient.lib SDL.lib freetype2ST.lib python25_d.lib pthreadVSE2.lib pthreadVC2.lib Half.lib Iex.lib IlmImf.lib IlmThread.lib Imath.lib avcodec-51.lib avformat-52.lib avutil-49.lib swscale-0.lib avdevice-52.lib"

 				ShowProgress="0"

 				OutputFile="..\..\..\..\bin\debug\blenderplayer.exe"

 				LinkIncremental="2"

@@ -138,7 +138,7 @@
 				Name="VCCLCompilerTool"

 				InlineFunctionExpansion="1"

 				AdditionalIncludeDirectories="..\..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\..\build\msvc_9\intern\ghost\include;..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\build\msvc_9\intern\openal\include;..\..\..\..\..\build\msvc_9\intern\opennl\include;..\..\..\..\..\build\msvc_9\intern\bmfont\include;..\..\..\..\..\build\msvc_9\intern\iksolver\include;..\..\..\..\..\build\msvc_9\intern\SoundSystem\include;..\..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\..\lib\windows\python\include\python2.5;..\..\..\..\source\blender\include;..\..\..\..\source\blender\imbuf;..\..\..\..\source\blender\blenlib;..\..\..\..\source\blender\blenkernel;..\..\..\..\source\blender\makesdna;..\..\..\..\source\blender\blenloader;..\..\..\..\source\blender\readblenfile;..\..\..\..\source\blender\render\extern\include;..\..\..\..\source\kernel\gen_system;..\..\..\..\source\kernel\gen_messaging;..\..\..\..\source\gameengine\ketsji;..\..\..\..\source\gameengine\Physics;..\..\..\..\source\gameengine\network;..\..\..\..\source\gameengine\rasterizer;..\..\..\..\source\gameengine\converter;..\..\..\..\source\gameengine\gamelogic;..\..\..\..\source\gameengine\expressions;..\..\..\..\source\gameengine\scenegraph;..\..\..\..\source\gameengine\Physics\Ode;..\..\..\..\source\gameengine\soundsystem;..\..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\..\source\gameengine\gameplayer\common;..\..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\..\source\gameengine\network\loopbacknetwork;..\..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\..\source\gameengine\gameplayer\common\windows;..\..\..\..\source\sumo\include;..\..\..\..\source\sumo\fuzzics\include;..\..\..\..\source\blender\gpu;..\..\..\..\..\build\msvc_9\intern\guardedalloc\include"

-				PreprocessorDefinitions="WIN32,NDEBUG,_CONSOLE"

+				PreprocessorDefinitions="WIN32,NDEBUG,_CONSOLE;WITH_FFMPEG"

 				StringPooling="true"

 				RuntimeLibrary="0"

 				EnableFunctionLevelLinking="true"

@@ -166,7 +166,7 @@
 			<Tool

 				Name="VCLinkerTool"

 				AdditionalOptions="/MACHINE:I386"

-				AdditionalDependencies="odelib.lib fmodvc.lib ws2_32.lib vfw32.lib odbc32.lib odbccp32.lib opengl32.lib glu32.lib openal_static.lib libjpeg.lib dxguid.lib libeay32.lib libpng.lib libz.lib qtmlClient.lib SDL.lib freetype2ST.lib python25_d.lib pthreadVSE2.lib pthreadVC2.lib Half.lib Iex.lib IlmImf.lib IlmThread.lib Imath.lib avcodec-51.lib avformat-52.lib avutil-49.lib swscale-0.lib"

+				AdditionalDependencies="odelib.lib fmodvc.lib ws2_32.lib vfw32.lib odbc32.lib odbccp32.lib opengl32.lib glu32.lib openal_static.lib libjpeg.lib dxguid.lib libeay32.lib libpng.lib libz.lib qtmlClient.lib SDL.lib freetype2ST.lib python25_d.lib pthreadVSE2.lib pthreadVC2.lib Half.lib Iex.lib IlmImf.lib IlmThread.lib Imath.lib avcodec-51.lib avformat-52.lib avutil-49.lib swscale-0.lib avdevice-52.lib"

 				OutputFile="..\..\..\..\bin\blenderplayer.exe"

 				LinkIncremental="1"

 				SuppressStartupBanner="true"

diff --git a/projectfiles_vc9/gameengine/videotexture/TEX_Video.vcproj b/projectfiles_vc9/gameengine/videotexture/TEX_Video.vcproj
index 726ab910e7c..2982f4ab820 100644
--- a/projectfiles_vc9/gameengine/videotexture/TEX_Video.vcproj
+++ b/projectfiles_vc9/gameengine/videotexture/TEX_Video.vcproj
@@ -42,7 +42,7 @@
 			<Tool

 				Name="VCCLCompilerTool"

 				Optimization="0"

-				AdditionalIncludeDirectories="..\..\..\..\lib\windows\python\include\python2.5;..\..\..\..\lib\windows\ffmpeg\include;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\Expressions;..\..\..\source\gameengine\GameLogic;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\Rasterizer;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\blender\editors\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\imbuf;..\..\..\source\blender\python;..\..\..\source\blender\gpu;..\..\..\source\kernel\gen_system;..\..\..\intern\string;..\..\..\intern\moto\include;..\..\..\intern\guardedalloc;..\..\..\intern\SoundSystem;..\..\..\extern\glew\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include"

+				AdditionalIncludeDirectories="..\..\..\..\lib\windows\python\include\python2.5;..\..\..\..\lib\windows\ffmpeg\include;..\..\..\..\lib\windows\pthreads\include;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\Expressions;..\..\..\source\gameengine\GameLogic;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\Rasterizer;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\blender\editors\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\imbuf;..\..\..\source\blender\python;..\..\..\source\blender\gpu;..\..\..\source\kernel\gen_system;..\..\..\intern\string;..\..\..\intern\moto\include;..\..\..\intern\guardedalloc;..\..\..\intern\SoundSystem;..\..\..\extern\glew\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include"

 				PreprocessorDefinitions="WIN32;_DEBUG;_LIB;WITH_FFMPEG;__STDC_CONSTANT_MACROS"

 				StringPooling="false"

 				BasicRuntimeChecks="3"

@@ -113,7 +113,7 @@
 			<Tool

 				Name="VCCLCompilerTool"

 				InlineFunctionExpansion="1"

-				AdditionalIncludeDirectories="..\..\..\..\lib\windows\python\include\python2.5;..\..\..\..\lib\windows\ffmpeg\include;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\Expressions;..\..\..\source\gameengine\GameLogic;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\Rasterizer;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\blender\editors\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\imbuf;..\..\..\source\blender\python;..\..\..\source\blender\gpu;..\..\..\source\kernel\gen_system;..\..\..\intern\string;..\..\..\intern\moto\include;..\..\..\intern\guardedalloc;..\..\..\intern\SoundSystem;..\..\..\extern\glew\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include"

+				AdditionalIncludeDirectories="..\..\..\..\lib\windows\python\include\python2.5;..\..\..\..\lib\windows\ffmpeg\include;..\..\..\..\lib\windows\pthreads\include;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\Expressions;..\..\..\source\gameengine\GameLogic;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\Rasterizer;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\blender\editors\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\imbuf;..\..\..\source\blender\python;..\..\..\source\blender\gpu;..\..\..\source\kernel\gen_system;..\..\..\intern\string;..\..\..\intern\moto\include;..\..\..\intern\guardedalloc;..\..\..\intern\SoundSystem;..\..\..\extern\glew\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include"

 				PreprocessorDefinitions="WIN32;NDEBUG;_LIB;WITH_FFMPEG;__STDC_CONSTANT_MACROS"

 				StringPooling="true"

 				RuntimeLibrary="0"

diff --git a/release/datafiles/blenderbuttons b/release/datafiles/blenderbuttons
index 664c82ab2c0..aa71ab4cfae 100644
--- a/release/datafiles/blenderbuttons
+++ b/release/datafiles/blenderbuttons
diff --git a/release/datafiles/prvicons b/release/datafiles/prvicons
index de3980f9676..5863afefbdc 100644
--- a/release/datafiles/prvicons
+++ b/release/datafiles/prvicons
diff --git a/release/freedesktop/blender.desktop b/release/freedesktop/blender.desktop
new file mode 100644
index 00000000000..39e0e3afe8e
--- /dev/null
+++ b/release/freedesktop/blender.desktop
@@ -0,0 +1,10 @@
+[Desktop Entry]
+Encoding=UTF-8
+Name=Blender
+Comment=3D modeling, animation, rendering and post-production
+Exec=blender
+Icon=blender.png
+Terminal=false
+Type=Application
+Categories=Graphics;3DGraphics;
+MimeType=application/x-blender;
diff --git a/release/scripts/bpymodules/paths_svg2obj.py b/release/scripts/bpymodules/paths_svg2obj.py
index de40bea3191..d51fe74190d 100644
--- a/release/scripts/bpymodules/paths_svg2obj.py
+++ b/release/scripts/bpymodules/paths_svg2obj.py
@@ -1,7 +1,7 @@
 # -*- coding: latin-1 -*-
 """
-SVG 2 OBJ translater, 0.5.9h
-Copyright (c) jm soler juillet/novembre 2004-april 2007, 
+SVG 2 OBJ translater, 0.5.9n
+Copyright (c) jm soler juillet/novembre 2004-february 2009, 
 # ---------------------------------------------------------------
     released under GNU Licence 
     for the Blender 2.42 Python Scripts Bundle.
@@ -20,7 +20,6 @@ en même temps que ce programme ; si ce n'est pas le cas, écrivez à la
 Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
 MA 02111-1307, États-Unis.
 
-
 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
@@ -35,7 +34,7 @@ You should have received a copy of the GNU General Public License
 along with this program; if not, write to the Free Software
 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA    
 # ---------------------------------------------------------------
-
+#
 #---------------------------------------------------------------------------
 # Page officielle :
 #   http://jmsoler.free.fr/didacticiel/blender/tutor/cpl_import_svg.htm
@@ -253,15 +252,27 @@ Changelog:
 
      0.5.9h : - 2007/5/2 
               - script was updated with the modifs by cambo
-              - removed all debug statements
+              - removed  all debug statements
               - correction of a zero division error in the calc_arc function.
 
+		  0.5.9f: - 2007/15/7 
+              - Correction de plusieurs bugs sur l'attributions des couleurs et le nommage 
+                des courbes
+
+     0.5.9i : - ??/??/?? 
+              - Patch externe réalisé sur blender.org project.
+
+     0.5.9j : - 08/11/2008 
+     0.5.9k : - 14/01/2009 
+     0.5.9l : - 31/01/2009 
+     0.5.9n : - 01/02/2009
+
 ==================================================================================   
 =================================================================================="""
 SHARP_IMPORT=0
 SCALE=1
 scale_=1
-DEBUG = 0#print
+DEBUG = 0
 DEVELOPPEMENT=0
 TESTCOLOR=0
 
@@ -533,7 +544,7 @@ def createCURVES(curves, name):
 	scene.objects.selected = [] 
 	
 	if not SEPARATE_CURVES: 
-		c = Curve.New()   
+		c = Curve.New()  
 		c.setResolu(24)  
 
 	MATNAME=[]			
@@ -709,7 +720,6 @@ def circle(prp):
 	else : cx =float(prp['cx'])
 	if 'cy' not in prp: cy=0.0
 	else : cy =float(prp['cy'])
-	#print 	prp.keys()
 	r = float(prp['r'])
 	D=['M',str(cx),str(cy+r),                  
 			'C',str(cx-r),       str(cy+r*0.552),str(cx-0.552*r),str(cy+r),      str(cx),str(cy+r), 
@@ -852,7 +862,7 @@ def calc_arc (cpx,cpy, rx, ry,  ang, fa , fs , x, y) :
 #--------------------
 # 0.3.9
 #--------------------
-def curve_to_a(c,D,n0,CP):  #A,a
+def curve_to_a(curves, c,D,n0,CP):  #A,a
 	global SCALE
 	l=[float(D[c[1]+1]),float(D[c[1]+2]),float(D[c[1]+3]),
 			int(D[c[1]+4]),int(D[c[1]+5]),float(D[c[1]+6]),float(D[c[1]+7])]
@@ -866,8 +876,7 @@ def curve_to_a(c,D,n0,CP):  #A,a
 	POINTS= calc_arc (CP[0],CP[1], 
 										l[0], l[1], l[2]*(PI / 180.0),
 										l[3], l[4], 
-										l[5], l[6] )    
-	#if DEBUG == 1  : print POINTS    
+										l[5], l[6] )     
 	for p in POINTS :
 		B=Bez()
 		B.co=[ p[2][0],p[2][1], p[0][0],p[0][1], p[1][0],p[1][1]]             
@@ -881,16 +890,23 @@ def curve_to_a(c,D,n0,CP):  #A,a
 	BP.co[2]=BP.co[0]
 	BP.co[3]=BP.co[1]
 	CP=[l[5], l[6]]
+	#----------  059m------------
+	if len(D)>c[1]+7 and D[c[1]+8] not in TAGcourbe :
+		c[1]+=7
+		curves,n0,CP=curve_to_a(curves, c, D, n0,CP)       
+	#----------  059m------------
 	return  curves,n0,CP    
 
-def move_to(c, D, n0,CP, proprietes):
+def move_to(curves, c, D, n0,CP, proprietes):
 	global DEBUG,TAGcourbe, LAST_ID
 	global 	USE_COLORS
 		
 	l=[float(D[c[1]+1]),float(D[c[1]+2])]
+	
 	if c[0]=='m':
 		l=[l[0]+CP[0],
 				l[1] + CP[1]]
+				
 	if n0 in curves.ITEM:
 		n0+=1
 	CP=[l[0],l[1]] 
@@ -917,14 +933,12 @@ def move_to(c, D, n0,CP, proprietes):
 	B.co=[CP[0],CP[1],CP[0],CP[1],CP[0],CP[1]]
 	B.ha=['L','C']
 	B.tag=c[0]
-	curves.ITEM[n0].beziers_knot.append(B)
-	#if DEBUG==1: print curves.ITEM[n0], CP    
+	curves.ITEM[n0].beziers_knot.append(B)  
 	return  curves,n0,CP     
 
-def close_z(c,D,n0,CP): #Z,z
+def close_z(curves, c,D,n0,CP): #Z,z
 	curves.ITEM[n0].flagUV[0]=1
 	if len(curves.ITEM[n0].beziers_knot)>1:
-		#print 	len(curves.ITEM[n0].beziers_knot)
 		BP=curves.ITEM[n0].beziers_knot[-1]
 		BP0=curves.ITEM[n0].beziers_knot[0]
 		if BP.tag in ['c','C','s','S',]: 
@@ -936,7 +950,7 @@ def close_z(c,D,n0,CP): #Z,z
 		n0-=1 
 	return  curves,n0,CP    
 
-def curve_to_q(c,D,n0,CP):  #Q,q
+def curve_to_q(curves, c,D,n0,CP):  #Q,q
 	l=[float(D[c[1]+1]),float(D[c[1]+2]),float(D[c[1]+3]),float(D[c[1]+4])]
 	if c[0]=='q':
 		l=[l[0]+CP[0], l[1]+CP[1], l[2]+CP[0], l[3]+CP[1]]
@@ -948,15 +962,14 @@ def curve_to_q(c,D,n0,CP):  #Q,q
 	BP.co[2]=BP.co[0]
 	BP.co[3]=BP.co[1]
 	curves.ITEM[n0].beziers_knot.append(B)
-	#if DEBUG==1: print B.co,BP.co
 	CP=[l[2],l[3]]
 	#if DEBUG==1:		pass 
 	if len(D)>c[1]+5 and D[c[1]+5] not in TAGcourbe :
 		c[1]+=4
-		curve_to_q(c, D, n0,CP)
+		curves,n0,CP=curve_to_q(curves, c, D, n0,CP)
 	return  curves,n0,CP          
 
-def curve_to_t(c,D,n0,CP):  #T,t 
+def curve_to_t(curves, c,D,n0,CP):  #T,t 
 	l=[float(D[c[1]+1]),float(D[c[1]+2])]
 	if c[0]=='t':
 		l=[l[0]+CP[0], l[1]+CP[1]]         
@@ -970,11 +983,10 @@ def curve_to_t(c,D,n0,CP):  #T,t
 		BP.co[2]=l0[2]
 		BP.co[3]=l0[3]
 	curves.ITEM[n0].beziers_knot.append(B)
-	#if DEBUG==1: print B.co,BP.co
 	CP=[l[0],l[1]]
 	if len(D)>c[1]+3 and D[c[1]+3] not in TAGcourbe :
 		c[1]+=4
-		curve_to_t(c, D, n0,CP)    
+		curves,n0,CP=curve_to_t(curves, c, D, n0,CP)    
 	return  curves,n0,CP     
 
 #--------------------
@@ -985,7 +997,7 @@ def build_SYMETRIC(l):
 	Y=l[3]-(l[1]-l[3])
 	return X,Y
 
-def curve_to_s(c,D,n0,CP):  #S,s
+def curve_to_s(curves, c,D,n0,CP):  #S,s
 	l=[float(D[c[1]+1]),
 			float(D[c[1]+2]),
 			float(D[c[1]+3]),
@@ -1003,17 +1015,16 @@ def curve_to_s(c,D,n0,CP):  #S,s
 	#--------------------
 	BP.co[2],BP.co[3]=build_SYMETRIC([BP.co[4],BP.co[5],BP.co[0],BP.co[1]])
 	curves.ITEM[n0].beziers_knot.append(B)
-	#if DEBUG==1: print B.co,BP.co
 	#--------------------
 	# 0.4.3
 	#--------------------	
 	CP=[l[2],l[3]]    
 	if len(D)>c[1]+5 and D[c[1]+5] not in TAGcourbe :
 		c[1]+=4
-		curve_to_c(c, D, n0,CP)       
+		curves,n0,CP=curve_to_c(curves, c, D, n0,CP)       
 	return  curves,n0,CP
 
-def curve_to_c(c, D, n0,CP): #c,C
+def curve_to_c(curves, c, D, n0,CP): #c,C	
 	l=[float(D[c[1]+1]),float(D[c[1]+2]),float(D[c[1]+3]),
 		 float(D[c[1]+4]),float(D[c[1]+5]),float(D[c[1]+6])]
 	if c[0]=='c':
@@ -1030,6 +1041,8 @@ def curve_to_c(c, D, n0,CP): #c,C
 				l[5],
 				l[2],
 				l[3]] #plus toucher au 2-3
+				
+				
 	B.ha=['C','C']
 	B.tag=c[0]
 	BP=curves.ITEM[n0].beziers_knot[-1]
@@ -1037,32 +1050,38 @@ def curve_to_c(c, D, n0,CP): #c,C
 	BP.co[3]=l[1]
 	BP.ha[1]='C'
 	curves.ITEM[n0].beziers_knot.append(B)
-	#if DEBUG==1: print B.co,BP.co
 	CP=[l[4],l[5]]
 	if len(D)>c[1]+7 and D[c[1]+7] not in TAGcourbe :
-		c[1]+=6
-		curve_to_c(c, D, n0,CP)
+			c[1]+=6
+			curves,n0,CP=curve_to_c(curves, c, D, n0,CP)
 	return  curves,n0,CP
 
-def draw_line_l(c, D, n0,CP): #L,l
-	l=[float(D[c[1]+1]),float(D[c[1]+2])]
+def draw_line_l(curves, c, D, n0,CP): #L,l
+	
+	l=[float(D[c[1]+1]),float(D[c[1]+2])]		
 	if c[0]=='l':
 		l=[l[0]+CP[0],
-				l[1]+CP[1]]
+				l[1]+CP[1]]								
 	B=Bez()
-	B.co=[l[0],l[1],l[0],l[1],l[0],l[1]]
+	B.co=[l[0],l[1],
+	      l[0],l[1],
+	      l[0],l[1]]
+	
 	B.ha=['L','L']
 	B.tag=c[0]
 	BP=curves.ITEM[n0].beziers_knot[-1]
 	BP.ha[1]='L'
+	
 	curves.ITEM[n0].beziers_knot.append(B)    
-	CP=[B.co[0],B.co[1]]
+	CP=[B.co[4],B.co[5]]
+		
 	if len(D)>c[1]+3 and D[c[1]+3] not in TAGcourbe :
 		c[1]+=2
-		draw_line_l(c, D, n0,CP) #L
+		curves,n0,CP=draw_line_l(curves, c, D, n0,CP) #L
+		
 	return  curves,n0,CP    
 
-def draw_line_h(c,D,n0,CP): #H,h
+def draw_line_h(curves, c,D,n0,CP): #H,h
 	if c[0]=='h':
 		l=[float(D[c[1]+1])+float(CP[0]),CP[1]]
 	else:
@@ -1077,7 +1096,7 @@ def draw_line_h(c,D,n0,CP): #H,h
 	CP=[l[0],l[1]]
 	return  curves,n0,CP    
 
-def draw_line_v(c,D,n0,CP): #V, v    
+def draw_line_v(curves, c,D,n0,CP): #V, v    
 	if c[0]=='v':
 		l=[CP[0], float(D[c[1]+1])+CP[1]]
 	else:
@@ -1121,17 +1140,31 @@ TAGtransform=['M','L','C','S','H','V','T','Q']
 tagTRANSFORM=0
  
 def wash_DATA(ndata):	
-	if ndata:
-		#if DEBUG==1: print ndata
+	if ndata:		
 		ndata = ndata.strip()
+		
 		if ndata[0]==',':ndata=ndata[1:]
 		if ndata[-1]==',':ndata=ndata[:-1]
+		
 		#--------------------
 		# 0.4.0 : 'e'
 		#--------------------
-		i = ndata.find('-')
-		if i != -1 and ndata[i-1] not in ' ,e':
-			ndata=ndata.replace('-',',-')
+		ni=0
+		i = ndata.find('-',ni)		
+		if i != -1:
+			while i>-1 :			
+				i = ndata.find('-',ni)	
+				# 059l		 ------
+				if i>0 :					
+					if ndata[i-1] not in [' ',',','e']:
+						ndata=ndata[:i]+','+ndata[i:]
+						ni=i+2
+					else:
+						ni=i+1												
+				elif i>-1:
+					ni=1
+				# 059l		 ------
+					
 		ndata=ndata.replace(',,',',')    
 		ndata=ndata.replace(' ',',')
 		ndata=ndata.split(',')		
@@ -1153,7 +1186,7 @@ def list_DATA(DATA):
 	#  borner les differents segments qui devront etre
 	#  traites
 	#  pour cela construire une liste avec chaque 
-	#  la position de chaqe emplacement tag de type 
+	#   position de chaque emplacement tag de type 
 	#  commande path...
 	# ----------------------------------------
 	tagplace=[]
@@ -1169,8 +1202,10 @@ def list_DATA(DATA):
 	# d'apparition des tags 
 	#------------------------------------------
 	tagplace.sort()
-
+	
 	tpn=range(len(tagplace))
+
+	
 	#--------------------
 	# 0.3.5 :: short data, only one tag
 	#--------------------
@@ -1179,14 +1214,18 @@ def list_DATA(DATA):
 		for t in tpn[:-1]: 
 			DATA2.append(DATA[tagplace[t]:tagplace[t]+1])    
 			ndata=DATA[tagplace[t]+1:tagplace[t+1]]
+			
 			if DATA2[-1] not in ['z','Z'] :
 				ndata=wash_DATA(ndata)
 				DATA2.extend(ndata)
+				
 		DATA2.append(DATA[tagplace[t+1]:tagplace[t+1]+1])  
+		
 		if DATA2[-1] not in ['z','Z'] and len(DATA)-1>=tagplace[t+1]+1:
 			ndata=DATA[tagplace[t+1]+1:]
 			ndata=wash_DATA(ndata)
 			DATA2.extend(ndata) #059a
+			
 	else:
 		#--------------------	
 		# 0.3.5 : short data,only one tag
@@ -1276,15 +1315,13 @@ def control_CONTAINT(txt):
 		nt0=txt[t0:t1+1]
 		t2=nt0[nt0.find('(')+1:-1]
 		val=nt0[:nt0.find('(')]
+
 		while t2.find('  ')!=-1:
 			t2=t2.replace('  ',' ')
-		t2=t2.replace(' ',',')
+		while t2.find(', ')!=-1: 		#059l
+			t2=t2.replace(', ',',')   #059l
 		
-		"""
-		t2=t2.split(',')		
-		for index, t in enumerate(t2):
-				t2[index]=float(t)
-		"""
+		t2=t2.replace(' ',',')
 		t2=[float(t) for t in t2.split(',')]		
 		
 		if val=='rotate' :
@@ -1314,12 +1351,24 @@ def curve_FILL(Courbe,proprietes):
 						i= i+6
 						Courbe[n].color=[int(pr[i:i+2],16),int(pr[i+2:i+4],16),int(pr[i+4:i+6],16)]
 						Courbe[n].mat=1
-					elif ';fill-opacity' in pr: 
-						i=  pr.find('fill:')+5
-						i2=	pr.find(';',i)
-						COLORNAME= pr[i:i2]
-						Courbe[n].color=SVGCOLORNAMELIST[COLORNAME]
-						Courbe[n].mat=1
+					elif ';fill-opacity' in pr:
+						if pr.find('fill:url')==-1:
+							i=  pr.find('fill:')+5
+							i2=	pr.find(';',i)
+							COLORNAME= pr[i:i2]
+							Courbe[n].color=SVGCOLORNAMELIST[COLORNAME]
+							Courbe[n].mat=1
+						elif 'color:' in pr:							
+							i=  pr.find('color:')+6
+							i2=	pr.find(';',i)
+							COLORNAME= pr[i:i2]
+							Courbe[n].color=SVGCOLORNAMELIST[COLORNAME]
+							Courbe[n].mat=1
+						else :
+							COLORNAME= 'white'
+							Courbe[n].color=SVGCOLORNAMELIST[COLORNAME]
+							Courbe[n].mat=1
+								
 #----------------------------------------------
 # 0.4.1 : apply transform stack
 #----------------------------------------------
@@ -1367,9 +1416,8 @@ def filter(d):
 def get_BOUNDBOX(BOUNDINGBOX,SVG):
 	if 'viewbox' not in SVG:
 		h=float(filter(SVG['height']))
-		#if DEBUG==1 : print 'h : ',h
+
 		w=float(filter(SVG['width']))
-		#if DEBUG==1 : print 'w :',w
 		BOUNDINGBOX['rec']=[0.0,0.0,w,h]
 		r=BOUNDINGBOX['rec']
 		BOUNDINGBOX['coef']=w/h       
@@ -1444,7 +1492,6 @@ def build_HIERARCHY(t):
 				b=balisetype.index(t[t0+1])
 				if t[t0+2]=='-': 
 					b=balisetype.index(t[t0+1])+1
-					#print t[t0:t1]
 				balise=BALISES[b]
 				if b==2:
 					parent=STACK.pop(-1)
@@ -1465,12 +1512,8 @@ def build_HIERARCHY(t):
 			if balise=='E' or balise=='O':
 				proprietes=collect_ATTRIBUTS(t[t0:t1+ouvrante])
 				
-				#print proprietes
 				if  'id' in proprietes:
 					LAST_ID=proprietes['id'] 
-					#print LAST_ID
-					
-
 					
 				if  balise=='O' and 'transform' in proprietes:
 					STACK.append(proprietes['transform'])
@@ -1489,20 +1532,20 @@ def build_HIERARCHY(t):
 					# 0.5.8, to remove exec 
 					#--------------------
 					D=OTHERSSHAPES[proprietes['TYPE']](proprietes)
-					
+				CP=[0.0,0.0]	
 				if len(D)>0:
 					cursor=0
 					proprietes['n']=[]
 					for cell in D: 
-						#if DEBUG==2 : print 'cell : ',cell ,' --'                   
+                 
 						if len(cell)>=1 and cell[0] in TAGcourbe:
 							#--------------------
 							# 0.5.8, to remove exec 
 							#--------------------
 							if cell[0] in ['m','M']: 
-								curves,n0,CP=Actions[cell]([cell,cursor], D, n0,CP,proprietes)
+								curves,n0,CP=Actions[cell](curves, [cell,cursor], D, n0,CP,proprietes)
 							else: 
-								curves,n0,CP=Actions[cell]([cell,cursor], D, n0,CP)
+								curves,n0,CP=Actions[cell](curves, [cell,cursor], D, n0,CP)
 								
 						cursor+=1
 					if TRANSFORM>0 or 'transform' in proprietes :
@@ -1513,7 +1556,6 @@ def build_HIERARCHY(t):
 						
 											
 				elif proprietes['TYPE'] == 'svg':
-					#print  'proprietes.keys()',proprietes.keys()
 					BOUNDINGBOX = get_BOUNDBOX(BOUNDINGBOX,proprietes)
 		else:
 			#--------------------
diff --git a/release/scripts/export_fbx.py b/release/scripts/export_fbx.py
index 6f964118964..730776bf1b8 100644
--- a/release/scripts/export_fbx.py
+++ b/release/scripts/export_fbx.py
@@ -1446,13 +1446,13 @@ def write(filename, batch_objects = None, \
 				for f in me.faces:
 					for col in f.col:
 						if i==-1:
-							file.write('%i,%i,%i,255' % (col[0], col[1], col[2]))
+							file.write('%.4f,%.4f,%.4f,1' % (col[0]/255.0, col[1]/255.0, col[2]/255.0))
 							i=0
 						else:
 							if i==7:
 								file.write('\n\t\t\t\t')
 								i=0
-							file.write(',%i,%i,%i,255' % (col[0], col[1], col[2]))
+							file.write(',%.4f,%.4f,%.4f,1' % (col[0]/255.0, col[1]/255.0, col[2]/255.0))
 						i+=1
 						ii+=1 # One more Color
 				
diff --git a/release/scripts/export_obj.py b/release/scripts/export_obj.py
index 9feb02638c3..28e1443e953 100644
--- a/release/scripts/export_obj.py
+++ b/release/scripts/export_obj.py
@@ -120,7 +120,7 @@ def write_mtl(filename):
 		if img:  # We have an image on the face!
 			file.write('map_Kd %s\n' % img.filename.split('\\')[-1].split('/')[-1]) # Diffuse mapping image			
 		
-		elif not mat: # No face image. if we havea material search for MTex image.
+		elif mat: # No face image. if we havea material search for MTex image.
 			for mtex in mat.getTextures():
 				if mtex and mtex.tex.type == Blender.Texture.Types.IMAGE:
 					try:
diff --git a/release/scripts/import_dxf.py b/release/scripts/import_dxf.py
index 6a1981bb262..c3203891c60 100644
--- a/release/scripts/import_dxf.py
+++ b/release/scripts/import_dxf.py
@@ -7,7 +7,7 @@ Group: 'Import'
 Tooltip: 'Import for DXF geometry data (Drawing eXchange Format).'
 """
 __author__ = 'Kitsu(Ed Blake) & migius(Remigiusz Fiedler)'
-__version__ = '1.12 - 2008.11.16 by migius'
+__version__ = '1.12 - 2009.03.14 by migius'
 __url__ = ["http://blenderartists.org/forum/showthread.php?t=84319",
 	 "http://wiki.blender.org/index.php/Scripts/Manual/Import/DXF-3D"]
 __email__ = ["migius(at)4d-vectors.de","Kitsune_e(at)yahoo.com"]
@@ -15,7 +15,7 @@ __bpydoc__ = """\
 This script imports objects from DXF (2d/3d) into Blender.
 
 This script imports 2d and 3d geometery from DXF files.
-Supported DXF format versions: from (r2.5) r12 up to 2008.
+Supported DXF format versions: from (r2.5) r12 up to r2008.
 Enhanced features are:
 - configurable object filtering and geometry manipulation,
 - configurable material pre-processing,
@@ -32,7 +32,7 @@ MINSERT (=array of blocks),
 CIRCLE,
 ARC,
 3DFACE,
-2d-POLYLINE (=plane, incl. arc, variable-width, curve, spline),
+2d-POLYLINE (=in plane, incl. arc, variable-width, curve, spline),
 3d-POLYLINE (=non-plane),
 3d-POLYMESH,
 3d-POLYFACE,
@@ -57,7 +57,7 @@ Supported layout modes:
 "model space" is default,
 "paper space" as option (= "layout views")
 
-Supported scene definition objescts produced with AVE_RENDER:
+Supported scene definition objects produced with AVE_RENDER:
 scene: selection of lights assigned to the camera,
 lights: DIRECT, OVERHEAD, SH_SPOT,
 (wip v1.13 import of AVE_RENDER material definitions)
@@ -88,7 +88,7 @@ in creating new objects in scene database - probably a database management probl
 
 """
 History:
- v1.0 - 2007/2008 by migius
+ v1.0 - 2007/2008/2009 by migius
  planned tasks:
  -- (to see more, search for "--todo--" in script code)
  -- command-line-mode/batch-mode
@@ -111,6 +111,11 @@ History:
  -- support ortho mode for VIEWs and VPORTs as cameras 
 
 
+ v1.12 - 2009.03.14 by migius
+ d3 removed all set()functions (problem with osx/python<2.4 reported by Blinkozo)
+ d3 code-cleaning
+ v1.12 - 2009.01.14 by migius
+ d2 temp patch for noname BLOCKS (*X,*U,*D)
  v1.12 - 2008.11.16 by migius
  d1 remove try_finally: cause not supported in python <2.5
  d1 add Bezier curves bevel radius support (default 1.0)
@@ -309,9 +314,17 @@ from dxfReader import readDXF
 #from dxfReader import get_name, get_layer
 from dxfReader import Object as dxfObject
 from dxfColorMap import color_map
-
 from math import *
 
+# osx-patch by Blinkozo
+#todo: avoid additional modules, prefer Blender-build-in test routines
+#import platform
+#if platform.python_version() < '2.4':
+#    from sets import Set as set
+#from sys import version_info
+#ver = '%s.%s' % version_info[0:2]
+# end osx-patch
+
 try:
 	import os
 	if os.name != 'mac':
@@ -950,7 +963,7 @@ class Point:  #-----------------------------------------------------------------
 		if thic < settings.var['dist_min']: thic = settings.var['dist_min']
 
 		if points_as in [1,3,4,5]:
-			if True: # points_as in [1,5]: # as 'empty'
+			if points_as in [1,5]: # as 'empty'
 				c = 'Empty'
 			elif points_as == 3: # as 'thin sphere'
 				res = settings.var['thin_res']
@@ -1276,66 +1289,6 @@ class Polyline:  #--------------------------------------------------------------
 		pline = Curve.New(obname)   # create new curve data
 		#pline.setResolu(24) #--todo-----						
 
-		if False: #old self.spline:  # NURBSplines-----OK-----
-			#print 'deb:polyline2dCurve.draw self.spline!' #---------------
-			weight1 = 0.5
-			weight2 = 1.0
-			if self.curvQuadrati:
-				# Bezier-curve form simulated in NURBS-curve
-				# generate middlepoints except start/end-segments ---
-				#print 'deb:polyline2dCurve.draw extraQBspline!' #---------------
-				temp_points = []
-				point = d_points[0].loc
-				point.append(weight1)
-				temp_points.append(point)
-				for i in xrange(1,len(d_points)-2):
-					point1 = d_points[i].loc
-					point2 = d_points[i+1].loc
-					mpoint = list((Mathutils.Vector(point1) + Mathutils.Vector(point2)) * 0.5)
-					mpoint.append(weight2)
-					point1.append(weight1)
-					temp_points.append(point1)
-					temp_points.append(mpoint)
-				point2.append(weight1)
-				temp_points.append(point2)
-				point = d_points[-1].loc
-				point.append(weight1)
-				temp_points.append(point)
-				d_points = temp_points
-			else:
-				temp_points = []
-				for d in d_points:
-					d = d.loc
-					d.append(weight1)
-					temp_points.append(d)
-				d_points = temp_points
-
-			if not self.closed:
-				# generate extended startpoint and endpoint------
-				point1 = Mathutils.Vector(d_points[0][:3])
-				point2 = Mathutils.Vector(d_points[1][:3])
-				startpoint = list(point1 - point2 + point1)
-				startpoint.append(weight1)
-				point1 = Mathutils.Vector(d_points[-1][:3])
-				point2 = Mathutils.Vector(d_points[-2][:3])
-				endpoint = list(point1 - point2 + point1)
-				endpoint.append(weight1)
-				temp_points = []
-				temp_points.append(startpoint)
-				temp_points.extend(d_points)
-				d_points = temp_points
-				d_points.append(endpoint)
-
-			point = d_points[0]
-			curve = pline.appendNurb(point)
-			curve.setType(4) #NURBS curve
-			for point in d_points[1:]:
-				curve.append(point)
-			if self.closed:
-				curve.flagU = 1 # Set curve cyclic=close
-			else:
-				curve.flagU = 0 # Set curve not cyclic=open
-
 		if self.spline:  # NURBSplines-----OK-----
 			#print 'deb:polyline2dCurve.draw self.spline!' #---------------
 			nurbs_points = []
@@ -1358,21 +1311,6 @@ class Polyline:  #--------------------------------------------------------------
 			except AttributeError: pass
 			#print 'deb: dir(curve):', dir(curve) #----------------
 
-		elif  False: #orig self.curved:  #--Bezier-curves---OK-------
-			#print 'deb:polyline2dCurve.draw self.curved!' #---------------
-			curve = pline.appendNurb(BezTriple.New(d_points[0]))
-			for p in d_points[1:]:
-				curve.append(BezTriple.New(p))
-			for point in curve:
-				point.handleTypes = [AUTO, AUTO]
-				point.radius = 1.0
-			if self.closed:
-				curve.flagU = 1 # Set curve cyclic=close
-			else:
-				curve.flagU = 0 # Set curve not cyclic=open
-				curve[0].handleTypes = [FREE, ALIGN]   #remi--todo-----
-				curve[-1].handleTypes = [ALIGN, FREE]   #remi--todo-----
-
 		elif  self.curved:  #--SPLINE as Bezier-curves---wip------
 			#print 'deb:polyline2dCurve.draw self.curved!' #---------------
 			begtangent, endtangent = None, None
@@ -1424,68 +1362,48 @@ class Polyline:  #--------------------------------------------------------------
 			for i in xrange(len(d_points)):
 				point1 = d_points[i]
 				#point2 = d_points[i+1]
-				if False: #-----outdated!- standard calculation ----------------------------------
-					if point1.bulge and (i < len(d_points)-2 or self.closed):
-						verts, center = calcBulge(point1, point2, arc_res, triples=False)
-						if i == 0: curve = pline.appendNurb(BezTriple.New(verts[0]))
-						else: curve.append(BezTriple.New(verts[0]))
-						curve[-1].handleTypes = [VECT, VECT]  #--todo--calculation of bezier-tangents
-						curve[-1].radius = 1.0
-						for p in verts[1:]:
-							curve.append(BezTriple.New(p))
-							curve[-1].handleTypes = [AUTO, AUTO]
-							curve[-1].radius = 1.0
-					else:
-						if i == 0: curve = pline.appendNurb(BezTriple.New(point1.loc))
-						else: curve.append(BezTriple.New(point1.loc))
-						curve[-1].handleTypes = [VECT, VECT]   #--todo--calculation of bezier-tangents
-						curve[-1].radius = 1.0
+				#----- optimised Bezier-Handles calculation --------------------------------
+				#print 'deb:drawPlineCurve: i:', i #---------
+				if point1.bulge and not (i == len(d_points)-1 and point1.bulge and not self.closed):
+					if i == len(d_points)-1: point2 = d_points[0]
+					else: point2 = d_points[i+1]
 
-				elif True:   #----- optimised Bezier-Handles calculation --------------------------------
-					#print 'deb:drawPlineCurve: i:', i #---------
-					if point1.bulge and not (i == len(d_points)-1 and point1.bulge and not self.closed):
-						if i == len(d_points)-1: point2 = d_points[0]
-						else: point2 = d_points[i+1]
 
+					# calculate additional points for bulge
+					VectorTriples = calcBulge(point1, point2, arc_res, triples=True)
 
-						# calculate additional points for bulge
-						VectorTriples = calcBulge(point1, point2, arc_res, triples=True)
+					if prevHandleType == FREE:
+						#print 'deb:drawPlineCurve: VectorTriples[0]:', VectorTriples[0] #---------
+						VectorTriples[0][:3] = prevHandleVect
+						#print 'deb:drawPlineCurve: VectorTriples[0]:', VectorTriples[0] #---------
 
-						if prevHandleType == FREE:
-							#print 'deb:drawPlineCurve: VectorTriples[0]:', VectorTriples[0] #---------
-							VectorTriples[0][:3] = prevHandleVect
-							#print 'deb:drawPlineCurve: VectorTriples[0]:', VectorTriples[0] #---------
+					if i == 0: curve = pline.appendNurb(BezTriple.New(VectorTriples[0]))
+					else: curve.append(BezTriple.New(VectorTriples[0]))
+					curve[-1].handleTypes = [prevHandleType, FREE]
+					curve[-1].radius = 1.0
 
-						if i == 0: curve = pline.appendNurb(BezTriple.New(VectorTriples[0]))
-						else: curve.append(BezTriple.New(VectorTriples[0]))
-						curve[-1].handleTypes = [prevHandleType, FREE]
+					for p in VectorTriples[1:-1]:
+						curve.append(BezTriple.New(p))
+						curve[-1].handleTypes = [FREE, FREE]
 						curve[-1].radius = 1.0
 
-						for p in VectorTriples[1:-1]:
-							curve.append(BezTriple.New(p))
-							curve[-1].handleTypes = [FREE, FREE]
-							curve[-1].radius = 1.0
-
-						prevHandleVect = VectorTriples[-1][:3]
-						prevHandleType = FREE
-						#print 'deb:drawPlineCurve: prevHandleVect:', prevHandleVect #---------
+					prevHandleVect = VectorTriples[-1][:3]
+					prevHandleType = FREE
+					#print 'deb:drawPlineCurve: prevHandleVect:', prevHandleVect #---------
+				else:
+					#print 'deb:drawPlineCurve: else' #----------
+					if prevHandleType == FREE:
+						VectorTriples = prevHandleVect + list(point1) + list(point1)
+						#print 'deb:drawPlineCurve: VectorTriples:', VectorTriples #---------
+						curve.append(BezTriple.New(VectorTriples))
+						curve[-1].handleTypes = [FREE, VECT]
+						prevHandleType = VECT
+						curve[-1].radius = 1.0
 					else:
-						#print 'deb:drawPlineCurve: else' #----------
-						if prevHandleType == FREE:
-							VectorTriples = prevHandleVect + list(point1) + list(point1)
-							#print 'deb:drawPlineCurve: VectorTriples:', VectorTriples #---------
-							curve.append(BezTriple.New(VectorTriples))
-							curve[-1].handleTypes = [FREE, VECT]
-							prevHandleType = VECT
-							curve[-1].radius = 1.0
-						else:
-							if i == 0: curve = pline.appendNurb(BezTriple.New(point1.loc))
-							else: curve.append(BezTriple.New(point1.loc))
-							curve[-1].handleTypes = [VECT, VECT]
-							curve[-1].radius = 1.0
-
-
-
+						if i == 0: curve = pline.appendNurb(BezTriple.New(point1.loc))
+						else: curve.append(BezTriple.New(point1.loc))
+						curve[-1].handleTypes = [VECT, VECT]
+						curve[-1].radius = 1.0
 					#print 'deb:drawPlineCurve: curve[-1].vec[0]', curve[-1].vec[0] #----------
 
 			if self.closed:
@@ -1584,23 +1502,6 @@ class Polyline:  #--------------------------------------------------------------
 		d_points = self.doubles_out(settings, d_points)
 		#print 'deb:drawPolyCurve d_pointsList =after DV-outsorting=====:\n ', d_points #------------------------
 
-		"""# routine to sort out of "double.vertices" ------------------------------------
-		minimal_dist =  settings.var['dist_min'] * 0.1
-		temp_points = []
-		for i in xrange(len(d_points)-1):
-			point = d_points[i]
-			point2 = d_points[i+1]
-			#print 'deb:double.vertex p1,p2', point, point2 #------------------------
-			delta = Mathutils.Vector(point2.loc) - Mathutils.Vector(point.loc)
-			if delta.length > minimal_dist:
-				 temp_points.append(point)
-			#else: print 'deb:drawPoly2d double.vertex sort out!' #------------------------
-		temp_points.append(d_points[-1])  #------ incl. last vertex -------------
-		#if self.closed: temp_points.append(d_points[1])  #------ loop start vertex -------------
-		d_points = temp_points   #-----vertex.list without "double.vertices"
-		#print 'deb:drawPoly2d d_pointsList =after DV-outsorting=====:\n ', d_points #------------------------
-		"""
-
 		#print 'deb:drawPoly2d len of d_pointsList ====== ', len(d_points) #------------------------
 		if len(d_points) < 2:  #if too few vertex, then return
 			#print 'deb:drawPoly2d corrupted Vertices' #---------
@@ -1796,29 +1697,6 @@ class Polyline:  #--------------------------------------------------------------
 							# clean corner intersection
 							pointsLc.append(cornerpointL)
 							pointsRc.append(cornerpointR)
-						elif False: # the standard no-intersection
-							# --todo-- not optimal, because produces X-face
-							pointsLc.extend((pointsLe[i],pointsLs[i+1]))
-							pointsRc.extend((pointsRe[i],pointsRs[i+1]))
-						elif False: # --todo-- the optimised non-intersection
-							if (cornerpointL - vecL1).length < (cornerpointR - vecR1).length:
-								left_angle = True
-							else:
-								left_angle = False
-							limit_dist = settings.var['dist_min']
-							if left_angle:  # if left turning angle
-								#print 'deb:drawPoly2d it is left turning angle' #-------------
-								# to avoid triangelface/doubleVertex
-								delta1 = (cornerpointL - vecL1).normalize() * limit_dist
-								delta4 = (cornerpointL - vecL4).normalize() * limit_dist
-								pointsLc.extend((cornerpointL - delta1, cornerpointL - delta4))
-								pointsRc.extend((pointsRe[i],pointsRs[i+1]))
-							else:  # if right turning angle
-								#print 'deb:drawPoly2d right turning angle' #-------------
-								delta1 = (cornerpointR - vecR1).normalize() * limit_dist
-								delta4 = (cornerpointR - vecR4).normalize() * limit_dist
-								pointsRc.extend((cornerpointR - delta1, cornerpointR - delta4))
-								pointsLc.extend((pointsLe[i],pointsLs[i+1]))
 						else:
 							pointsLc.extend((pointsLe[i],points[i+1],pointsLs[i+1]))
 							pointsRc.extend((pointsRe[i],points[i+1],pointsRs[i+1]))
@@ -1855,14 +1733,10 @@ class Polyline:  #--------------------------------------------------------------
 					vecR3, vecR4 = pointsRs[i+1], pointsRe[i+1]
 					if bulg_points[i] != None:
 						#compute left- and right-cornerpoints
-						if True:
-							cornerpointL = Mathutils.LineIntersect(vecL1, vecL2, vecL3, vecL4)
-							cornerpointR = Mathutils.LineIntersect(vecR1, vecR2, vecR3, vecR4)
-							pointsLc.append(cornerpointL[0])
-							pointsRc.append(cornerpointR[0])
-						else:
-							pointVec = Mathutils.Vector(point[i])
-
+						cornerpointL = Mathutils.LineIntersect(vecL1, vecL2, vecL3, vecL4)
+						cornerpointR = Mathutils.LineIntersect(vecR1, vecR2, vecR3, vecR4)
+						pointsLc.append(cornerpointL[0])
+						pointsRc.append(cornerpointR[0])
 					else: # IF non-bulg
 						pointsLc.extend((pointsLe[i],points[i+1],pointsLs[i+1]))
 						pointsRc.extend((pointsRe[i],points[i+1],pointsRs[i+1]))
@@ -1924,21 +1798,20 @@ class Polyline:  #--------------------------------------------------------------
 					for v in f_right: vg_right.extend(v)
 					for v in f_top: vg_top.extend(v)
 					for v in f_bottom: vg_bottom.extend(v)
-					me.addVertGroup('side.left')  ; me.assignVertsToGroup('side.left',  list(set(vg_left)), 1.0, replace)
-					me.addVertGroup('side.right') ; me.assignVertsToGroup('side.right', list(set(vg_right)), 1.0, replace)
-					me.addVertGroup('side.top')   ; me.assignVertsToGroup('side.top',   list(set(vg_top)), 1.0, replace)
-					me.addVertGroup('side.bottom'); me.assignVertsToGroup('side.bottom',list(set(vg_bottom)), 1.0, replace)
+					me.addVertGroup('side.left')  ; me.assignVertsToGroup('side.left',  vg_left, 1.0, replace)
+					me.addVertGroup('side.right') ; me.assignVertsToGroup('side.right', vg_right, 1.0, replace)
+					me.addVertGroup('side.top')   ; me.assignVertsToGroup('side.top',   vg_top, 1.0, replace)
+					me.addVertGroup('side.bottom'); me.assignVertsToGroup('side.bottom',vg_bottom, 1.0, replace)
 					if not self.closed:
 						me.addVertGroup('side.start'); me.assignVertsToGroup('side.start', f_start[0], 1.0, replace)
 						me.addVertGroup('side.end')  ; me.assignVertsToGroup('side.end',   f_end[0],   1.0, replace)
 
 				if settings.var['meshSmooth_on']:  # left and right side become smooth ----------------------
 					#if self.spline or self.curved:
-					if True:
-						smooth_len = len(f_left) + len(f_right)
-						for i in xrange(smooth_len):
-							me.faces[i].smooth = True
-						#me.Modes(AUTOSMOOTH)
+					smooth_len = len(f_left) + len(f_right)
+					for i in xrange(smooth_len):
+						me.faces[i].smooth = True
+					#me.Modes(AUTOSMOOTH)
 
 			# 2.level:IF width, but no-thickness  ---------------------
 			else:
@@ -1977,10 +1850,9 @@ class Polyline:  #--------------------------------------------------------------
 
 			if settings.var['meshSmooth_on']:  # left and right side become smooth ----------------------
 				#if self.spline or self.curved:
-				if True:
-					for i in xrange(len(faces)):
-						me.faces[i].smooth = True
-					#me.Modes(AUTOSMOOTH)
+				for i in xrange(len(faces)):
+					me.faces[i].smooth = True
+				#me.Modes(AUTOSMOOTH)
 
 		# 1.level:IF no-width and no-thickness  ---------------------
 		else:
@@ -2684,38 +2556,17 @@ class Circle:  #----------------------------------------------------------------
 			cyl_rad = 0.5 * settings.var['width_min']
 
 		if settings.var['lines_as'] == 5:  # draw CIRCLE as curve -------------
-			if True:  # universal version
-				arc_res = settings.var['curve_arc']
-				#arc_res = 3
-				start, end = 0.0, 360.0
-				VectorTriples = calcArc(None, radius, start, end, arc_res, True)
-				c = Curve.New(obname) # create new curve data
-				curve = c.appendNurb(BezTriple.New(VectorTriples[0]))
-				for p in VectorTriples[1:-1]:
-					curve.append(BezTriple.New(p))
-				for point in curve:
-					point.handleTypes = [FREE, FREE]
-					point.radius = 1.0
-			else:	# standard version
-				c = Curve.New(obname)   # create new curve data
-				p1 = (0, -radius, 0)
-				p2 = (radius, 0, 0)
-				p3 = (0, radius, 0)
-				p4 = (-radius, 0, 0)
-	
-				p1 = BezTriple.New(p1)
-				p2 = BezTriple.New(p2)
-				p3 = BezTriple.New(p3)
-				p4 = BezTriple.New(p4)
-	
-				curve = c.appendNurb(p1)
-				curve.append(p2)
-				curve.append(p3)
-				curve.append(p4)
-				for point in curve:
-					point.handleTypes = [AUTO, AUTO]
-					point.radius = 1.0
-
+			arc_res = settings.var['curve_arc']
+			#arc_res = 3
+			start, end = 0.0, 360.0
+			VectorTriples = calcArc(None, radius, start, end, arc_res, True)
+			c = Curve.New(obname) # create new curve data
+			curve = c.appendNurb(BezTriple.New(VectorTriples[0]))
+			for p in VectorTriples[1:-1]:
+				curve.append(BezTriple.New(p))
+			for point in curve:
+				point.handleTypes = [FREE, FREE]
+				point.radius = 1.0
 			curve.flagU = 1	 # 1 sets the curve cyclic=closed
 			if settings.var['fill_on']:
 				c.setFlag(6) # 2+4 set top and button caps
@@ -2737,24 +2588,6 @@ class Circle:  #----------------------------------------------------------------
 				ob.SizeZ *= abs(thic)
 			return ob
 
-		elif False: # create a new mesh_object with buildin_circle_primitive
-			verts_num = settings.var['arc_res'] * sqrt(radius / settings.var['arc_rad'])
-			if verts_num > 100: verts_num = 100 # Blender accepts only values [3:500]
-			if verts_num < 4: verts_num = 4 # Blender accepts only values [3:500]
-			if thic != 0:
-				loc2 = thic * 0.5   #-----blenderAPI draw Cylinder with 2*thickness
-				self.loc[2] += loc2  #---new location for the basis of cylinder
-				#print 'deb:circleDraw:self.loc2:', self.loc  #-----------------------
-				c = Mesh.Primitives.Cylinder(int(verts_num), radius*2, abs(thic))
-			else:
-				c = Mesh.Primitives.Circle(int(verts_num), radius*2)
-
-			#c.update()
-			ob = SCENE.objects.new(c, obname) # create a new circle_mesh_object
-			ob.loc = tuple(self.loc)
-			transform(self.extrusion, 0, ob)
-			return ob
-
 		else:  # draw CIRCLE as mesh -----------------------------------------------
 			if M_OBJ: obname, me, ob = makeNewObject()
 			else: 
@@ -2810,12 +2643,13 @@ class Circle:  #----------------------------------------------------------------
 					replace = Blender.Mesh.AssignModes.REPLACE  #or .AssignModes.ADD
 					vg_band, vg_top, vg_bottom = [], [], []
 					for v in f_band: vg_band.extend(v)
-					me.addVertGroup('side.band')  ; me.assignVertsToGroup('side.band',  list(set(vg_band)), 1.0, replace)
+					me.addVertGroup('side.band')  ; me.assignVertsToGroup('side.band',  vg_band, 1.0, replace)
+
 					if settings.var['fill_on']:
 						for v in f_top: vg_top.extend(v)
 						for v in f_bottom: vg_bottom.extend(v)
-						me.addVertGroup('side.top')   ; me.assignVertsToGroup('side.top',   list(set(vg_top)), 1.0, replace)
-						me.addVertGroup('side.bottom'); me.assignVertsToGroup('side.bottom',list(set(vg_bottom)), 1.0, replace)
+						me.addVertGroup('side.top')   ; me.assignVertsToGroup('side.top',   vg_top, 1.0, replace)
+						me.addVertGroup('side.bottom'); me.assignVertsToGroup('side.bottom',vg_bottom, 1.0, replace)
 
 			else: # if thic == 0
 				if settings.var['fill_on']:
@@ -2992,10 +2826,10 @@ class Arc:  #-----------------------------------------------------------------
 						for v in f_right: vg_right.extend(v)
 						for v in f_top: vg_top.extend(v)
 						for v in f_bottom: vg_bottom.extend(v)
-						me.addVertGroup('side.left')  ; me.assignVertsToGroup('side.left',  list(set(vg_left)), 1.0, replace)
-						me.addVertGroup('side.right') ; me.assignVertsToGroup('side.right', list(set(vg_right)), 1.0, replace)
-						me.addVertGroup('side.top')   ; me.assignVertsToGroup('side.top',   list(set(vg_top)), 1.0, replace)
-						me.addVertGroup('side.bottom'); me.assignVertsToGroup('side.bottom',list(set(vg_bottom)), 1.0, replace)
+						me.addVertGroup('side.left')  ; me.assignVertsToGroup('side.left',  vg_left, 1.0, replace)
+						me.addVertGroup('side.right') ; me.assignVertsToGroup('side.right', vg_right, 1.0, replace)
+						me.addVertGroup('side.top')   ; me.assignVertsToGroup('side.top',   vg_top, 1.0, replace)
+						me.addVertGroup('side.bottom'); me.assignVertsToGroup('side.bottom',vg_bottom, 1.0, replace)
 						me.addVertGroup('side.start'); me.assignVertsToGroup('side.start', f_start[0], 1.0, replace)
 						me.addVertGroup('side.end')  ; me.assignVertsToGroup('side.end',   f_end[0],   1.0, replace)
 					
@@ -3247,8 +3081,6 @@ class Insert:  #----------------------------------------------------------------
 
 				if a_data.key == 'SCENE': # define set of lights as blender group
 					scene_lights = 1
-				elif False: # define set of lights as blender group
-					scene_lights = 1
 				return
 		elif name == 'ave_global':
 			if settings.var['lights_on']:  #if lights support activated
@@ -3409,35 +3241,12 @@ class Ellipse:  #---------------------------------------------------------------
 		obname = obname[:MAX_NAMELENGTH]
 
 		center = self.loc
-		if True:
-			start = degrees(self.start_angle)
-			end = degrees(self.end_angle)
-			if abs(end - 360.0) < 0.00001: end = 360.0
-			ellipse_closed = False
-			if end - start == 360.0: ellipse_closed = True
+		start = degrees(self.start_angle)
+		end = degrees(self.end_angle)
+		if abs(end - 360.0) < 0.00001: end = 360.0
+		ellipse_closed = False
+		if end - start == 360.0: ellipse_closed = True
 	
-		else: # bug in AutoCAD_2002 dxf-exporter into r12 for ELLIPSE->POLYLINE_ARC
-			#print 'deb:calcEllipse---------:\n start=%s\n   end=%s' %(self.start_angle, self.end_angle)  #---------
-			if self.start_angle > pi+pi: self.start_angle %= pi+pi
-			if self.end_angle > pi+pi: self.end_angle %= pi+pi
-			if abs(self.end_angle - pi - pi) < 0.00001: self.end_angle = pi + pi
-			ellipse_closed = False
-			if abs(self.end_angle - self.start_angle) == pi + pi: ellipse_closed = True
-			test = self.start_angle % pi
-			if  test < 0.001 or pi - test < 0.001: start = self.start_angle
-			else:
-				start = atan(tan(self.start_angle) * self.ratio)
-				if start < 0.0: start += pi
-				if self.start_angle > pi: start += pi
-			test = self.end_angle % pi
-			if test < 0.001 or pi - test < 0.001: end = self.end_angle
-			else:
-				end = atan(tan(self.end_angle) * self.ratio)
-				if end < 0.0: end += pi
-				if self.end_angle > pi: end += pi
-			start = degrees(start)
-			end = degrees(end)
-
 		# rotation = Angle between major and WORLDX
 		# doesnt work, couse produces always positive value: rotation = Mathutils.AngleBetweenVecs(major, WORLDX)
 		if self.major[0] == 0:
@@ -3512,8 +3321,6 @@ class Ellipse:  #---------------------------------------------------------------
 
 			verts = calcArc(None, radius, start, end, arc_res, False)
 			#verts = [list(point) for point in verts]
-			if False: #--todo--: if ellipse_closed:
-				verts = verts[:-1] #list without last point/edge (cause closed curve)
 			len1 = len(verts)
 			#print 'deb:len1:', len1  #-----------------------
 			if width != 0:
@@ -3563,10 +3370,10 @@ class Ellipse:  #---------------------------------------------------------------
 						for v in f_right: vg_right.extend(v)
 						for v in f_top: vg_top.extend(v)
 						for v in f_bottom: vg_bottom.extend(v)
-						me.addVertGroup('side.left')  ; me.assignVertsToGroup('side.left',  list(set(vg_left)), 1.0, replace)
-						me.addVertGroup('side.right') ; me.assignVertsToGroup('side.right', list(set(vg_right)), 1.0, replace)
-						me.addVertGroup('side.top')   ; me.assignVertsToGroup('side.top',   list(set(vg_top)), 1.0, replace)
-						me.addVertGroup('side.bottom'); me.assignVertsToGroup('side.bottom',list(set(vg_bottom)), 1.0, replace)
+						me.addVertGroup('side.left')  ; me.assignVertsToGroup('side.left',  vg_left, 1.0, replace)
+						me.addVertGroup('side.right') ; me.assignVertsToGroup('side.right', vg_right, 1.0, replace)
+						me.addVertGroup('side.top')   ; me.assignVertsToGroup('side.top',   vg_top, 1.0, replace)
+						me.addVertGroup('side.bottom'); me.assignVertsToGroup('side.bottom',vg_bottom, 1.0, replace)
 						me.addVertGroup('side.start'); me.assignVertsToGroup('side.start', f_start[0], 1.0, replace)
 						me.addVertGroup('side.end')  ; me.assignVertsToGroup('side.end',   f_end[0],   1.0, replace)
 					
@@ -4378,8 +4185,9 @@ def	analyzeDXF(dxfFile): #---------------------------------------
 
 		for item2 in drawing.entities.data:
 			if type(item2) != list and item2.type == 'insert':
-				if not layersmap or (layersmap and not layersmap[item2.layer][1]): #if insert_layer is not frozen
-					blocksmap[item2.name][0] = True # marked as world used BLOCK
+				if item2.name in blocksmap.keys():
+					if not layersmap or (layersmap and not layersmap[item2.layer][1]): #if insert_layer is not frozen
+						blocksmap[item2.name][0] = True # marked as world used BLOCK
 
 		key_list = blocksmap.keys()
 		key_list.reverse()
@@ -4789,10 +4597,12 @@ def drawer(_type, entities, settings, block_def):  #----------------------------
 				group = getGroup('l:%s' % layernamesmap[entity.layer])
 
 			if _type == 'insert':   #---- INSERT and MINSERT=array --------------------
-				if not settings.var['block_nn'] and entity.name.startswith('*X'):   #---- support for noname BLOCKs
-					#print 'deb:drawer entity.name:', entity.name #------------
-					continue
-				elif settings.var['blockFilter_on'] and not settings.accepted_block(entity.name):
+				if not settings.var['block_nn']:  #----turn off support for noname BLOCKs
+					prefix = entity.name[:2]
+					if prefix in ('*X', '*U', '*D'):
+						#print 'deb:drawer entity.name:', entity.name #------------
+						continue
+				if settings.var['blockFilter_on'] and not settings.accepted_block(entity.name):
 					continue
 
 				#print 'deb:insert entity.loc:', entity.loc #----------------
diff --git a/release/scripts/import_obj.py b/release/scripts/import_obj.py
index 3aad0800cf7..42cdac4dc35 100644
--- a/release/scripts/import_obj.py
+++ b/release/scripts/import_obj.py
@@ -424,8 +424,8 @@ def create_mesh(scn, new_objects, has_ngons, CREATE_FGONS, CREATE_EDGES, verts_l
 					sharp_edges[key]= None
 	
 	
-	# mat the material names to an index
-	material_mapping= dict([(name, i) for i, name in enumerate(unique_materials.keys())])
+	# map the material names to an index
+	material_mapping= dict([(name, i) for i, name in enumerate(unique_materials)]) # enumerate over unique_materials keys()
 	
 	materials= [None] * len(unique_materials)
 	
diff --git a/release/scripts/import_web3d.py b/release/scripts/import_web3d.py
index 28bc1a40ef0..87a259cbe56 100755
--- a/release/scripts/import_web3d.py
+++ b/release/scripts/import_web3d.py
@@ -1758,7 +1758,7 @@ def importMesh_IndexedFaceSet(geom, bpyima, ancestry):
 							print '\tWarning: per vertex color index out of range'
 							continue
 					
-					if len(ifs_vcol) < color_index:
+					if color_index < len(ifs_vcol):
 						c.r, c.g, c.b = ifs_vcol[color_index]
 					else:
 						#print '\tWarning: per face color index out of range'
diff --git a/release/scripts/ply_import.py b/release/scripts/ply_import.py
index 302e21a0a43..43129ec01e9 100644
--- a/release/scripts/ply_import.py
+++ b/release/scripts/ply_import.py
@@ -160,13 +160,16 @@ def read(filename):
 	obj_spec = object_spec()
 
 	try:
-		file = open(filename, 'rb')
+		file = open(filename, 'rU') # Only for parsing the header, not binary data
 		signature = file.readline()
-		if (signature != 'ply\n'):
+		
+		if not signature.startswith('ply'):
 			print 'Signature line was invalid'
 			return None
+		
 		while 1:
 			tokens = re.split(r'[ \n]+', file.readline())
+			
 			if (len(tokens) == 0):
 				continue
 			if (tokens[0] == 'end_header'):
@@ -197,14 +200,22 @@ def read(filename):
 					obj_spec.specs[-1].properties.append(property_spec(tokens[4], type_specs[tokens[2]], type_specs[tokens[3]]))
 				else:
 					obj_spec.specs[-1].properties.append(property_spec(tokens[2], None, type_specs[tokens[1]]))
+		
+		if format != 'ascii':
+			file.close() # was ascii, now binary
+			file = open(filename, 'rb')
+			
+			# skip the header...
+			while not file.readline().startswith('end_header'):
+				pass
+		
 		obj = obj_spec.load(format_specs[format], file)
-
+		
 	except IOError, (errno, strerror):
 		try:	file.close()
 		except:	pass
 		
 		return None
-
 	try:	file.close()
 	except:	pass
 	
diff --git a/release/scripts/scripttemplate_gamelogic.py b/release/scripts/scripttemplate_gamelogic.py
index 7184d7e424f..01348e86d0a 100644
--- a/release/scripts/scripttemplate_gamelogic.py
+++ b/release/scripts/scripttemplate_gamelogic.py
@@ -11,6 +11,9 @@ import bpy
 
 script_data = \
 '''
+# This script must be assigned to a python controller
+# where it can access the object that owns it and the sensors/actuators that it connects to.
+
 # GameLogic has been added to the global namespace no need to import
 
 # for keyboard event comparison
@@ -50,7 +53,7 @@ def main():
 	for actu in cont.getActuators():
 		# The actuator can be on another object, we may want to use it
 		own_actu = actu.getOwner()
-		print '    actuator:', sens.getName()
+		print '    actuator:', actu.getName()
 		
 		# This runs the actuator or turns it off
 		# note that actuators will continue to run unless explicitly turned off.
diff --git a/source/Makefile b/source/Makefile
index 90e93d55f6e..b81f0c4e5ed 100644
--- a/source/Makefile
+++ b/source/Makefile
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
@@ -53,7 +55,7 @@ ifdef NAN_BUILDINFO
     BUILDINFO_C = $(SRCHOME)/creator/buildinfo.c
     BUILD_DATE := $(shell date "+%Y-%m-%d")
     BUILD_TIME := $(shell date "+%H:%M:%S")
-	BUILD_REV := $(shell svnversion)
+    BUILD_REV := $(shell svnversion)
 endif
 
 ############# set pyplayerlib ##################
@@ -89,7 +91,6 @@ GRPLIB += $(OCGDIR)/blender/radiosity/$(DEBUG_DIR)libradiosity.a
 # to properly resolve circular dependencies. ugly, but it works...
 # the repeat entries could probably be trimmed down.
 COMLIB = $(OCGDIR)/blender/blenkernel/$(DEBUG_DIR)libblenkernel.a
-COMLIB += $(NAN_DECIMATION)/lib/libdecimation.a
 COMLIB += $(OCGDIR)/blender/blenloader/$(DEBUG_DIR)libblenloader.a
 COMLIB += $(OCGDIR)/blender/blenpluginapi/$(DEBUG_DIR)libblenpluginapi.a
 COMLIB += $(OCGDIR)/blender/nodes_shd/$(DEBUG_DIR)libnodes_shd.a
@@ -98,15 +99,13 @@ COMLIB += $(OCGDIR)/blender/nodes_tex/$(DEBUG_DIR)libnodes_tex.a
 COMLIB += $(OCGDIR)/blender/nodes/$(DEBUG_DIR)libnodes.a
 COMLIB += $(OCGDIR)/blender/imbuf/$(DEBUG_DIR)libimbuf.a
 COMLIB += $(OCGDIR)/blender/blenlib/$(DEBUG_DIR)libblenlib.a
-COMLIB += $(NAN_IKSOLVER)/lib/libiksolver.a
-COMLIB += $(NAN_MOTO)/lib/libmoto.a
-COMLIB += $(NAN_OPENNL)/lib/$(DEBUG_DIR)libopennl.a
-COMLIB += $(NAN_SUPERLU)/lib/$(DEBUG_DIR)libsuperlu.a	
+COMLIB += $(NAN_IKSOLVER)/lib/$(DEBUG_DIR)libiksolver.a
+COMLIB += $(NAN_MOTO)/lib/$(DEBUG_DIR)libmoto.a
+COMLIB += $(NAN_SUPERLU)/lib/$(DEBUG_DIR)libsuperlu.a
 COMLIB += $(OCGDIR)/blender/avi/$(DEBUG_DIR)libavi.a
 COMLIB += $(NAN_JPEG)/lib/libjpeg.a
 COMLIB += $(OCGDIR)/blender/gpu/$(DEBUG_DIR)libgpu.a
-COMLIB += $(NAN_GLEW)/lib/libglew.a
-COMLIB += $(NAN_ELBEEM)/lib/$(DEBUG_DIR)libelbeem.a
+COMLIB += $(NAN_GLEW)/lib/$(DEBUG_DIR)libglew.a
 COMLIB += $(OCGDIR)/blender/blenfont/$(DEBUG_DIR)libblenfont.a
 
 ifneq ($(NAN_NO_KETSJI),true)
@@ -117,7 +116,7 @@ ifneq ($(NAN_NO_KETSJI),true)
     COMLIB += $(OCGDIR)/gameengine/blconverter/$(DEBUG_DIR)libblconverter.a
     COMLIB += $(OCGDIR)/gameengine/blconverter/$(DEBUG_DIR)libblconverter.a
     COMLIB += $(NAN_SOLID)/lib/libsolid.a
-    COMLIB += $(NAN_SOLID)/lib/libsolid_broad.a 
+    COMLIB += $(NAN_SOLID)/lib/libsolid_broad.a
     COMLIB += $(NAN_SOLID)/lib/libsolid_complex.a
     COMLIB += $(NAN_SOLID)/lib/libsolid_convex.a
     COMLIB += $(OCGDIR)/gameengine/blphys/sumo/$(DEBUG_DIR)libsumo.a
@@ -171,6 +170,10 @@ ifeq ($(WITH_OPENEXR), true)
     COMLIB += $(OCGDIR)/blender/imbuf/openexr/$(DEBUG_DIR)libopenexr.a
 endif
 
+ifeq ($(WITH_OPENJPEG), true)
+    COMLIB += $(OCGDIR)/extern/openjpeg/$(DEBUG_DIR)libopenjpeg.a
+endif
+
 COMLIB += $(OCGDIR)/blender/imbuf/cineon/$(DEBUG_DIR)libcineon.a
 
 ifeq ($(WITH_DDS), true)
@@ -192,7 +195,7 @@ ifeq ($(WITH_FREETYPE2), true)
         COMLIB += $(NAN_FREETYPE)/lib/freetype2ST.lib
       endif
     else
-      COMLIB += $(NAN_FTGL)/lib/libftgl.a
+      COMLIB += $(NAN_FTGL)/lib/$(DEBUG_DIR)libftgl.a
       ifeq ($(OS), irix)
         COMLIB += $(NAN_FREETYPE)/lib/libfreetype.a
         else
@@ -220,45 +223,48 @@ endif
 
 # note: space_api.a in begin of editors, screen.a in end
 PULIB = $(NAN_MOTO)/lib/libmoto.a
+PULIB += $(NAN_DECIMATION)/lib/$(DEBUG_DIR)libdecimation.a
 PULIB += $(OCGDIR)/blender/readblenfile/$(DEBUG_DIR)libreadblenfile.a
-PULIB += $(OCGDIR)/blender/ed_space/libed_space.a
-PULIB += $(OCGDIR)/blender/ed_sound/libed_sound.a
-PULIB += $(OCGDIR)/blender/ed_action/libed_action.a
-PULIB += $(OCGDIR)/blender/ed_nla/libed_nla.a
-PULIB += $(OCGDIR)/blender/ed_script/libed_script.a
-PULIB += $(OCGDIR)/blender/ed_text/libed_text.a
-PULIB += $(OCGDIR)/blender/ed_sequencer/libed_sequencer.a
-PULIB += $(OCGDIR)/blender/ed_file/libed_file.a
-PULIB += $(OCGDIR)/blender/ed_info/libed_info.a
-PULIB += $(OCGDIR)/blender/ed_buttons/libed_buttons.a
-PULIB += $(OCGDIR)/blender/ed_node/libed_node.a
-PULIB += $(OCGDIR)/blender/ed_graph/libed_graph.a
-PULIB += $(OCGDIR)/blender/ed_outliner/libed_outliner.a
-PULIB += $(OCGDIR)/blender/ed_time/libed_time.a
-PULIB += $(OCGDIR)/blender/ed_preview/libed_preview.a
-PULIB += $(OCGDIR)/blender/ed_view3d/libed_view3d.a
-PULIB += $(OCGDIR)/blender/ed_interface/libed_interface.a
-PULIB += $(OCGDIR)/blender/ed_object/libed_object.a
-PULIB += $(OCGDIR)/blender/ed_curve/libed_curve.a
-PULIB += $(OCGDIR)/blender/ed_armature/libed_armature.a
-PULIB += $(OCGDIR)/blender/ed_mesh/libed_mesh.a
-PULIB += $(OCGDIR)/blender/ed_sculpt_paint/libed_sculpt_paint.a
-PULIB += $(OCGDIR)/blender/ed_physics/libed_physics.a
-PULIB += $(OCGDIR)/blender/ed_animation/libed_animation.a
-PULIB += $(OCGDIR)/blender/ed_transform/libed_transform.a
-PULIB += $(OCGDIR)/blender/ed_util/libed_util.a
-PULIB += $(OCGDIR)/blender/ed_datafiles/libed_datafiles.a
-PULIB += $(OCGDIR)/blender/ed_image/libed_image.a
-PULIB += $(OCGDIR)/blender/ed_uvedit/libed_uvedit.a
-PULIB += $(OCGDIR)/blender/ed_screen/libed_screen.a
-PULIB += $(OCGDIR)/blender/windowmanager/libwindowmanager.a
+PULIB += $(OCGDIR)/blender/ed_space/$(DEBUG_DIR)libed_space.a
+PULIB += $(OCGDIR)/blender/ed_sound/$(DEBUG_DIR)libed_sound.a
+PULIB += $(OCGDIR)/blender/ed_action/$(DEBUG_DIR)libed_action.a
+PULIB += $(OCGDIR)/blender/ed_nla/$(DEBUG_DIR)libed_nla.a
+PULIB += $(OCGDIR)/blender/ed_script/$(DEBUG_DIR)libed_script.a
+PULIB += $(OCGDIR)/blender/ed_text/$(DEBUG_DIR)libed_text.a
+PULIB += $(OCGDIR)/blender/ed_sequencer/$(DEBUG_DIR)libed_sequencer.a
+PULIB += $(OCGDIR)/blender/ed_file/$(DEBUG_DIR)libed_file.a
+PULIB += $(OCGDIR)/blender/ed_info/$(DEBUG_DIR)libed_info.a
+PULIB += $(OCGDIR)/blender/ed_buttons/$(DEBUG_DIR)libed_buttons.a
+PULIB += $(OCGDIR)/blender/ed_node/$(DEBUG_DIR)libed_node.a
+PULIB += $(OCGDIR)/blender/ed_graph/$(DEBUG_DIR)libed_graph.a
+PULIB += $(OCGDIR)/blender/ed_outliner/$(DEBUG_DIR)libed_outliner.a
+PULIB += $(OCGDIR)/blender/ed_time/$(DEBUG_DIR)libed_time.a
+PULIB += $(OCGDIR)/blender/ed_preview/$(DEBUG_DIR)libed_preview.a
+PULIB += $(OCGDIR)/blender/ed_view3d/$(DEBUG_DIR)libed_view3d.a
+PULIB += $(OCGDIR)/blender/ed_interface/$(DEBUG_DIR)libed_interface.a
+PULIB += $(OCGDIR)/blender/ed_object/$(DEBUG_DIR)libed_object.a
+PULIB += $(OCGDIR)/blender/ed_curve/$(DEBUG_DIR)libed_curve.a
+PULIB += $(OCGDIR)/blender/ed_armature/$(DEBUG_DIR)libed_armature.a
+PULIB += $(OCGDIR)/blender/ed_mesh/$(DEBUG_DIR)libed_mesh.a
+PULIB += $(OCGDIR)/blender/ed_sculpt_paint/$(DEBUG_DIR)libed_sculpt_paint.a
+PULIB += $(OCGDIR)/blender/ed_physics/$(DEBUG_DIR)libed_physics.a
+PULIB += $(OCGDIR)/blender/ed_animation/$(DEBUG_DIR)libed_animation.a
+PULIB += $(OCGDIR)/blender/ed_transform/$(DEBUG_DIR)libed_transform.a
+PULIB += $(OCGDIR)/blender/ed_util/$(DEBUG_DIR)libed_util.a
+PULIB += $(OCGDIR)/blender/ed_datafiles/$(DEBUG_DIR)libed_datafiles.a
+PULIB += $(OCGDIR)/blender/ed_image/$(DEBUG_DIR)libed_image.a
+PULIB += $(OCGDIR)/blender/ed_uvedit/$(DEBUG_DIR)libed_uvedit.a
+PULIB += $(OCGDIR)/blender/ed_screen/$(DEBUG_DIR)libed_screen.a
+PULIB += $(OCGDIR)/blender/windowmanager/$(DEBUG_DIR)libwindowmanager.a
 PULIB += $(OCGDIR)/blender/python/$(DEBUG_DIR)libpython.a
 PULIB += $(OCGDIR)/blender/makesrna/$(DEBUG_DIR)librna.a
 # note, no idea but it suddenly doesn't compile :(
 PULIB += $(OCGDIR)/blender/blenlib/$(DEBUG_DIR)libblenlib.a
+PULIB += $(NAN_OPENNL)/lib/$(DEBUG_DIR)libopennl.a
+PULIB += $(NAN_ELBEEM)/lib/$(DEBUG_DIR)libelbeem.a
 
 ifeq ($(NAN_NO_KETSJI),true)
-    PULIB += $(NAN_MOTO)/lib/libmoto.a
+    PULIB += $(NAN_MOTO)/lib/$(DEBUG_DIR)libmoto.a
     PULIB += $(OCGDIR)/kernel/gen_system/$(DEBUG_DIR)libgen_system.a
     PULIB += $(OCGDIR)/kernel/gen_messaging/$(DEBUG_DIR)libgen_messaging.a
     COMLIB += $(NAN_SND_LIBS)
@@ -313,7 +319,7 @@ PLUGAPPLIB += $(OCGDIR)/gameengine/GamePlayer/common/$(DEBUG_DIR)libcommon.a
 
 ifeq ($(OS),$(findstring $(OS), "linux"))
   ifeq ($(CPU),i386)
-    PLUGAPPLIB_XPLINK = $(OCGDIR)/gameengine/GamePlayer/netscape/src/$(DEBUG_DIR)_Blender3DPlugin_implementation_.o 
+    PLUGAPPLIB_XPLINK = $(OCGDIR)/gameengine/GamePlayer/netscape/src/$(DEBUG_DIR)_Blender3DPlugin_implementation_.o
   endif
 endif
 
@@ -377,7 +383,7 @@ else
         NAN_SND_LIBS += $(OPENALSOUND)
         NAN_SND_LIBS += $(SDLSOUND)
         NAN_SND_LIBS += $(NAN_OPENAL)/lib/libopenal.a
-	ALUT = $(wildcard $(NAN_OPENAL)/lib/libalut.a)
+        ALUT = $(wildcard $(NAN_OPENAL)/lib/libalut.a)
         NAN_SND_LIBS += $(ALUT)
         NAN_SND_LIBS += $(SOUNDSYSTEM)
     else
@@ -387,7 +393,7 @@ else
         NAN_SND_LIBS += $(OPENALSOUND)
         NAN_SND_LIBS += $(SDLSOUND)
         NAN_SND_LIBS += $(NAN_OPENAL)/lib/openal_static.lib
-	ALUT = $(wildcard $(NAN_OPENAL)/lib/alut_static.lib)
+        ALUT = $(wildcard $(NAN_OPENAL)/lib/alut_static.lib)
         NAN_SND_LIBS += $(ALUT)
         NAN_SND_LIBS += $(SOUNDSYSTEM)
       else
@@ -546,7 +552,7 @@ ifeq ($(OS), darwin)
 	@$(MAKE) -C darwin/ APPLICATION=blenderstatic
 endif
 
-$(DIR)/$(DEBUG_DIR)bin/blender$(EXT): $(OBJS) $(GRPLIB) $(PULIB) $(COMLIB) 
+$(DIR)/$(DEBUG_DIR)bin/blender$(EXT): $(OBJS) $(GRPLIB) $(PULIB) $(COMLIB)
 	@echo "****> Link $@"
 ifdef NAN_BUILDINFO
 	$(CCC) $(REL_CFLAGS) -DBUILD_DATE='"$(BUILD_DATE)"' -DBUILD_TIME='"$(BUILD_TIME)"' -DBUILD_REV='"$(BUILD_REV)"' -DBUILD_PLATFORM='"$(CONFIG_GUESS)"' -DBUILD_TYPE='"dynamic"' $(BUILDINFO_C) -c -o $(BUILDINFO_O) -DNAN_BUILDINFO
@@ -636,4 +642,3 @@ endif
 ifdef NAN_BUILDINFO
 	/bin/rm $(BUILDINFO_O)
 endif
-
diff --git a/source/blender/Makefile b/source/blender/Makefile
index 3b092b6f3db..a12b53e6153 100644
--- a/source/blender/Makefile
+++ b/source/blender/Makefile
@@ -44,6 +44,11 @@ ifeq ($(WITH_QUICKTIME), true)
 	DIRS += quicktime
 endif
 
+ifeq ($(WITH_OPENJPEG), true)
+    CFLAGS += -DWITH_OPENJPEG -I../../../../extern/libopenjpeg
+endif
+
+
 DIR = $(OCGDIR)/blender
 SOURCEDIR = source/blender
 TESTDIRS = deflate streamglue
diff --git a/source/blender/blenfont/BLF_api.h b/source/blender/blenfont/BLF_api.h
index 0e96bf8ceb1..71554df57ab 100644
--- a/source/blender/blenfont/BLF_api.h
+++ b/source/blender/blenfont/BLF_api.h
@@ -52,6 +52,9 @@ void BLF_clipping(float xmin, float ymin, float xmax, float ymax);
 void BLF_enable(int option);
 void BLF_disable(int option);
 
+/* return the id of the current font. */
+int BLF_get(void);
+
 /* Read the .Blanguages file, return 1 on success or 0 if fails. */
 int BLF_lang_init(void);
 
diff --git a/source/blender/blenfont/intern/blf.c b/source/blender/blenfont/intern/blf.c
index 43c85b78977..8e3b27bb425 100644
--- a/source/blender/blenfont/intern/blf.c
+++ b/source/blender/blenfont/intern/blf.c
@@ -165,7 +165,7 @@ int BLF_load_mem(char *name, unsigned char *mem, int mem_size)
 	FontBLF *font;
 	int i;
 
-	if (!name || !mem || !mem_size)
+	if (!name)
 		return(-1);
 
 	i= blf_search(name);
@@ -181,19 +181,27 @@ int BLF_load_mem(char *name, unsigned char *mem, int mem_size)
 		return(-1);
 	}
 
-#ifdef WITH_FREETYPE2
-	font= blf_font_new_from_mem(name, mem, mem_size);
+	font= blf_internal_new(name);
 	if (!font) {
-		printf("Can't load font, %s from memory!!\n", name);
-		return(-1);
+#ifdef WITH_FREETYPE2
+		if (!mem || !mem_size) {
+			printf("Can't load font, %s from memory!!\n", name);
+			return(-1);
+		}
+
+		font= blf_font_new_from_mem(name, mem, mem_size);
+#endif /* WITH_FREETYPE2 */
+
+		if (!font) {
+			printf("Can't load font, %s from memory!!\n", name);
+			return(-1);
+		}
 	}
 
 	global_font[global_font_num]= font;
 	i= global_font_num;
 	global_font_num++;
 	return(i);
-#endif /* WITH_FREETYPE2 */
-	return(-1);
 }
 
 void BLF_set(int fontid)
@@ -202,6 +210,11 @@ void BLF_set(int fontid)
 		global_font_cur= fontid;
 }
 
+int BLF_get(void)
+{
+	return(global_font_cur);
+}
+
 void BLF_enable(int option)
 {
 	FontBLF *font;
@@ -272,7 +285,7 @@ void BLF_draw(char *str)
 	FontBLF *font;
 
 	font= global_font[global_font_cur];
-	if (font && font->draw && font->glyph_cache) {
+	if (font && font->draw) {
 		glEnable(GL_BLEND);
 		glEnable(GL_TEXTURE_2D);
 		glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
@@ -297,7 +310,7 @@ void BLF_boundbox(char *str, rctf *box)
 	FontBLF *font;
 
 	font= global_font[global_font_cur];
-	if (font && font->boundbox_get && font->glyph_cache)
+	if (font && font->boundbox_get)
 		(*font->boundbox_get)(font, str, box);
 }
 
@@ -306,7 +319,7 @@ float BLF_width(char *str)
 	FontBLF *font;
 
 	font= global_font[global_font_cur];
-	if (font && font->width_get && font->glyph_cache)
+	if (font && font->width_get)
 		return((*font->width_get)(font, str));
 	return(0.0f);
 }
@@ -316,7 +329,7 @@ float BLF_height(char *str)
 	FontBLF *font;
 
 	font= global_font[global_font_cur];
-	if (font && font->height_get && font->glyph_cache)
+	if (font && font->height_get)
 		return((*font->height_get)(font, str));
 	return(0.0f);
 }
diff --git a/source/blender/blenfont/intern/blf_font.c b/source/blender/blenfont/intern/blf_font.c
index a80e97327f3..d5c6ae5b359 100644
--- a/source/blender/blenfont/intern/blf_font.c
+++ b/source/blender/blenfont/intern/blf_font.c
@@ -110,6 +110,9 @@ void blf_font_draw(FontBLF *font, char *str)
 	int pen_x, pen_y;
 	int i, has_kerning;
 
+	if (!font->glyph_cache)
+		return;
+
 	face= (FT_Face)font->engine;
 	i= 0;
 	pen_x= 0;
@@ -161,6 +164,9 @@ void blf_font_boundbox(FontBLF *font, char *str, rctf *box)
 	int pen_x, pen_y;
 	int i, has_kerning;
 
+	if (!font->glyph_cache)
+		return;
+
 	face= (FT_Face)font->engine;
 	box->xmin= 32000.0f;
 	box->xmax= -32000.0f;
@@ -228,6 +234,9 @@ float blf_font_width(FontBLF *font, char *str)
 {
 	rctf box;
 
+	if (!font->glyph_cache)
+		return(0.0f);
+
 	blf_font_boundbox(font, str, &box);
 	return((box.xmax - box.xmin) * font->aspect);
 }
@@ -236,6 +245,9 @@ float blf_font_height(FontBLF *font, char *str)
 {
 	rctf box;
 
+	if (!font->glyph_cache)
+		return(0.0f);
+
 	blf_font_boundbox(font, str, &box);
 	return((box.ymax - box.ymin) * font->aspect);
 }
diff --git a/source/blender/blenfont/intern/blf_font_helv10.h b/source/blender/blenfont/intern/blf_font_helv10.h
new file mode 100644
index 00000000000..7a0a48d83bc
--- /dev/null
+++ b/source/blender/blenfont/intern/blf_font_helv10.h
@@ -0,0 +1,487 @@
+/**
+ * $Id:
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2009 Blender Foundation.
+ * All rights reserved.
+ *
+ * 
+ * Contributor(s): Blender Foundation
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#ifndef BLF_FONT_HELV10_H
+#define BLF_FONT_HELV10_H
+
+static unsigned char helv10_bitmap_data[]= {
+	0x80,0x00,0x80,0x80,0x80,0x80,0x80,0x80,
+	0xa0,0xa0,0x50,0x50,0xf8,0x28,0x7c,0x28,
+	0x28,0x20,0x70,0xa8,0x28,0x70,0xa0,0xa8,
+	0x70,0x20,0x26,0x29,0x16,0x10,0x08,0x68,
+	0x94,0x64,0x64,0x98,0x98,0xa4,0x60,0x50,
+	0x50,0x20,0x80,0x40,0x40,0x20,0x40,0x40,
+	0x80,0x80,0x80,0x80,0x40,0x40,0x20,0x80,
+	0x40,0x40,0x20,0x20,0x20,0x20,0x40,0x40,
+	0x80,0xa0,0x40,0xa0,0x20,0x20,0xf8,0x20,
+	0x20,0x80,0x40,0x40,0xf8,0x80,0x80,0x80,
+	0x40,0x40,0x40,0x40,0x20,0x20,0x70,0x88,
+	0x88,0x88,0x88,0x88,0x88,0x70,0x40,0x40,
+	0x40,0x40,0x40,0x40,0xc0,0x40,0xf8,0x80,
+	0x40,0x30,0x08,0x08,0x88,0x70,0x70,0x88,
+	0x08,0x08,0x30,0x08,0x88,0x70,0x10,0x10,
+	0xf8,0x90,0x50,0x50,0x30,0x10,0x70,0x88,
+	0x08,0x08,0xf0,0x80,0x80,0xf8,0x70,0x88,
+	0x88,0xc8,0xb0,0x80,0x88,0x70,0x40,0x40,
+	0x20,0x20,0x10,0x10,0x08,0xf8,0x70,0x88,
+	0x88,0x88,0x70,0x88,0x88,0x70,0x70,0x88,
+	0x08,0x68,0x98,0x88,0x88,0x70,0x80,0x00,
+	0x00,0x00,0x00,0x80,0x80,0x40,0x40,0x00,
+	0x00,0x00,0x00,0x40,0x20,0x40,0x80,0x40,
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+	0x7c,0xc0,0xc0,0x40,0x40,0x40,0xc0,0x40,
+	0xe0,0x00,0xe0,0xa0,0xe0,0xa0,0x50,0x28,
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+	0x09,0x00,0x48,0x00,0x44,0x00,0xc4,0x00,
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+	0xe2,0x00,0x60,0x90,0x80,0x40,0x20,0x20,
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+	0x10,0x10,0x00,0x10,0x20,0x82,0x82,0x7c,
+	0x44,0x28,0x28,0x10,0x10,0x00,0x10,0x08,
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+	0x40,0x40,0x40,0x40,0x40,0x40,0x00,0xa0,
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+	0x40,0x00,0xa0,0x78,0x44,0x42,0x42,0xf2,
+	0x42,0x44,0x78,0x8c,0x8c,0x94,0x94,0xa4,
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+	0x08,0x80,0x80,0xf0,0x88,0x88,0xf0,0x80,
+	0x80,0xa0,0x90,0x90,0x90,0xa0,0x90,0x90,
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+	0x20,0x40,0x68,0x90,0x90,0x70,0x10,0xe0,
+	0x00,0x20,0x10,0x68,0x90,0x90,0x70,0x10,
+	0xe0,0x00,0x50,0x20,0x68,0x90,0x90,0x70,
+	0x10,0xe0,0x00,0xa0,0x50,0x68,0x90,0x90,
+	0x70,0x10,0xe0,0x00,0x50,0x68,0x90,0x90,
+	0x70,0x10,0xe0,0x20,0x50,0x20,0x6c,0x92,
+	0x90,0x7e,0x12,0xec,0x60,0x20,0x60,0x90,
+	0x80,0x80,0x90,0x60,0x60,0x90,0x80,0xf0,
+	0x90,0x60,0x00,0x20,0x40,0x60,0x90,0x80,
+	0xf0,0x90,0x60,0x00,0x40,0x20,0x60,0x90,
+	0x80,0xf0,0x90,0x60,0x00,0x50,0x20,0x60,
+	0x90,0x80,0xf0,0x90,0x60,0x00,0x50,0x40,
+	0x40,0x40,0x40,0x40,0x40,0x00,0x40,0x80,
+	0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x80,
+	0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,
+	0xa0,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
+	0x00,0xa0,0x70,0x88,0x88,0x88,0x88,0x78,
+	0x90,0x60,0x50,0x90,0x90,0x90,0x90,0x90,
+	0xe0,0x00,0xa0,0x50,0x70,0x88,0x88,0x88,
+	0x88,0x70,0x00,0x20,0x40,0x70,0x88,0x88,
+	0x88,0x88,0x70,0x00,0x20,0x10,0x70,0x88,
+	0x88,0x88,0x88,0x70,0x00,0x50,0x20,0x70,
+	0x88,0x88,0x88,0x88,0x70,0x00,0x50,0x28,
+	0x70,0x88,0x88,0x88,0x88,0x70,0x00,0x50,
+	0x20,0x00,0xf8,0x00,0x20,0x70,0x88,0xc8,
+	0xa8,0x98,0x74,0x70,0x90,0x90,0x90,0x90,
+	0x90,0x00,0x20,0x40,0x70,0x90,0x90,0x90,
+	0x90,0x90,0x00,0x40,0x20,0x70,0x90,0x90,
+	0x90,0x90,0x90,0x00,0x50,0x20,0x70,0x90,
+	0x90,0x90,0x90,0x90,0x00,0x50,0x80,0x40,
+	0x40,0x60,0xa0,0xa0,0x90,0x90,0x00,0x20,
+	0x10,0x80,0x80,0xb0,0xc8,0x88,0x88,0xc8,
+	0xb0,0x80,0x80,0x80,0x40,0x40,0x60,0xa0,
+	0xa0,0x90,0x90,0x00,0x50,
+};
+
+FontDataBLF blf_font_helv10 = {
+	-1, -2,
+	10, 11,
+	{
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0, 0, 0, 0, 12, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0, 0, 0, 0, 3, -1},
+		{1, 8, -1, 0, 3, 0},
+		{3, 2, -1, -6, 4, 8},
+		{6, 7, 0, 0, 6, 10},
+		{5, 9, 0, 1, 6, 17},
+		{8, 8, 0, 0, 9, 26},
+		{6, 8, -1, 0, 8, 34},
+		{2, 3, -1, -5, 3, 42},
+		{3, 10, 0, 2, 4, 45},
+		{3, 10, -1, 2, 4, 55},
+		{3, 3, 0, -5, 4, 65},
+		{5, 5, 0, -1, 6, 68},
+		{2, 3, 0, 2, 3, 73},
+		{5, 1, -1, -3, 7, 76},
+		{1, 1, -1, 0, 3, 77},
+		{3, 8, 0, 0, 3, 78},
+		{5, 8, 0, 0, 6, 86},
+		{2, 8, -1, 0, 6, 94},
+		{5, 8, 0, 0, 6, 102},
+		{5, 8, 0, 0, 6, 110},
+		{5, 8, 0, 0, 6, 118},
+		{5, 8, 0, 0, 6, 126},
+		{5, 8, 0, 0, 6, 134},
+		{5, 8, 0, 0, 6, 142},
+		{5, 8, 0, 0, 6, 150},
+		{5, 8, 0, 0, 6, 158},
+		{1, 6, -1, 0, 3, 166},
+		{2, 8, 0, 2, 3, 172},
+		{3, 5, -1, -1, 6, 180},
+		{4, 3, 0, -2, 5, 185},
+		{3, 5, -1, -1, 6, 188},
+		{4, 8, -1, 0, 6, 193},
+		{10, 10, 0, 2, 11, 201},
+		{7, 8, 0, 0, 7, 221},
+		{5, 8, -1, 0, 7, 229},
+		{6, 8, -1, 0, 8, 237},
+		{6, 8, -1, 0, 8, 245},
+		{5, 8, -1, 0, 7, 253},
+		{5, 8, -1, 0, 6, 261},
+		{6, 8, -1, 0, 8, 269},
+		{6, 8, -1, 0, 8, 277},
+		{1, 8, -1, 0, 3, 285},
+		{4, 8, 0, 0, 5, 293},
+		{5, 8, -1, 0, 7, 301},
+		{4, 8, -1, 0, 6, 309},
+		{7, 8, -1, 0, 9, 317},
+		{6, 8, -1, 0, 8, 325},
+		{6, 8, -1, 0, 8, 333},
+		{5, 8, -1, 0, 7, 341},
+		{7, 9, -1, 1, 8, 349},
+		{5, 8, -1, 0, 7, 358},
+		{5, 8, -1, 0, 7, 366},
+		{5, 8, 0, 0, 5, 374},
+		{6, 8, -1, 0, 8, 382},
+		{7, 8, 0, 0, 7, 390},
+		{9, 8, 0, 0, 9, 398},
+		{5, 8, -1, 0, 7, 414},
+		{7, 8, 0, 0, 7, 422},
+		{5, 8, -1, 0, 7, 430},
+		{2, 10, -1, 2, 3, 438},
+		{3, 8, 0, 0, 3, 448},
+		{2, 10, 0, 2, 3, 456},
+		{5, 5, 0, -3, 6, 466},
+		{6, 1, 0, 2, 6, 471},
+		{2, 3, 0, -5, 3, 472},
+		{5, 6, 0, 0, 5, 475},
+		{5, 8, 0, 0, 6, 481},
+		{4, 6, 0, 0, 5, 489},
+		{5, 8, 0, 0, 6, 495},
+		{4, 6, 0, 0, 5, 503},
+		{4, 8, 0, 0, 4, 509},
+		{5, 8, 0, 2, 6, 517},
+		{5, 8, 0, 0, 6, 525},
+		{1, 8, 0, 0, 2, 533},
+		{1, 9, 0, 1, 2, 541},
+		{4, 8, 0, 0, 5, 550},
+		{1, 8, 0, 0, 2, 558},
+		{7, 6, 0, 0, 8, 566},
+		{5, 6, 0, 0, 6, 572},
+		{5, 6, 0, 0, 6, 578},
+		{5, 8, 0, 2, 6, 584},
+		{5, 8, 0, 2, 6, 592},
+		{3, 6, 0, 0, 4, 600},
+		{4, 6, 0, 0, 5, 606},
+		{3, 8, 0, 0, 4, 612},
+		{4, 6, 0, 0, 5, 620},
+		{5, 6, 0, 0, 6, 626},
+		{7, 6, 0, 0, 8, 632},
+		{5, 6, 0, 0, 6, 638},
+		{4, 8, 0, 2, 5, 644},
+		{4, 6, 0, 0, 5, 652},
+		{3, 10, 0, 2, 3, 658},
+		{1, 10, -1, 2, 3, 668},
+		{3, 10, 0, 2, 3, 678},
+		{6, 2, 0, -3, 7, 688},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0,0,0,0,0, -1},
+		{0, 0, 0, 0, 3, -1},
+		{1, 8, -1, 2, 3, 690},
+		{5, 8, 0, 1, 6, 698},
+		{5, 8, 0, 0, 6, 706},
+		{4, 6, 0, -1, 5, 714},
+		{5, 8, 0, 0, 6, 720},
+		{1, 10, -1, 2, 3, 728},
+		{5, 10, 0, 2, 6, 738},
+		{3, 1, 0, -7, 3, 748},
+		{7, 7, -1, 0, 9, 749},
+		{3, 5, 0, -3, 4, 756},
+		{5, 5, 0, 0, 6, 761},
+		{5, 3, -1, -2, 7, 766},
+		{3, 1, 0, -3, 4, 769},
+		{7, 7, -1, 0, 9, 770},
+		{3, 1, 0, -7, 3, 777},
+		{4, 4, 0, -3, 4, 778},
+		{5, 7, 0, 0, 6, 782},
+		{3, 4, 0, -3, 3, 789},
+		{3, 4, 0, -3, 3, 793},
+		{2, 2, 0, -6, 3, 797},
+		{4, 8, 0, 2, 5, 799},
+		{6, 10, 0, 2, 6, 807},
+		{2, 1, 0, -3, 3, 817},
+		{2, 2, 0, 2, 3, 818},
+		{2, 4, 0, -3, 3, 820},
+		{3, 5, 0, -3, 4, 824},
+		{5, 5, 0, 0, 6, 829},
+		{9, 8, 0, 0, 9, 834},
+		{8, 8, 0, 0, 9, 850},
+		{9, 8, 0, 0, 9, 858},
+		{4, 8, -1, 2, 6, 874},
+		{7, 11, 0, 0, 7, 882},
+		{7, 11, 0, 0, 7, 893},
+		{7, 11, 0, 0, 7, 904},
+		{7, 11, 0, 0, 7, 915},
+		{7, 10, 0, 0, 7, 926},
+		{7, 11, 0, 0, 7, 936},
+		{9, 8, 0, 0, 10, 947},
+		{6, 10, -1, 2, 8, 963},
+		{5, 11, -1, 0, 7, 973},
+		{5, 11, -1, 0, 7, 984},
+		{5, 11, -1, 0, 7, 995},
+		{5, 10, -1, 0, 7, 1006},
+		{2, 11, 0, 0, 3, 1016},
+		{2, 11, -1, 0, 3, 1027},
+		{3, 11, 0, 0, 3, 1038},
+		{3, 10, 0, 0, 3, 1049},
+		{7, 8, 0, 0, 8, 1059},
+		{6, 11, -1, 0, 8, 1067},
+		{6, 11, -1, 0, 8, 1078},
+		{6, 11, -1, 0, 8, 1089},
+		{6, 11, -1, 0, 8, 1100},
+		{6, 11, -1, 0, 8, 1111},
+		{6, 10, -1, 0, 8, 1122},
+		{5, 5, 0, -1, 6, 1132},
+		{6, 10, -1, 1, 8, 1137},
+		{6, 11, -1, 0, 8, 1147},
+		{6, 11, -1, 0, 8, 1158},
+		{6, 11, -1, 0, 8, 1169},
+		{6, 10, -1, 0, 8, 1180},
+		{7, 11, 0, 0, 7, 1190},
+		{5, 8, -1, 0, 7, 1201},
+		{4, 8, 0, 0, 5, 1209},
+		{5, 9, 0, 0, 5, 1217},
+		{5, 9, 0, 0, 5, 1226},
+		{5, 9, 0, 0, 5, 1235},
+		{5, 9, 0, 0, 5, 1244},
+		{5, 8, 0, 0, 5, 1253},
+		{5, 9, 0, 0, 5, 1261},
+		{7, 6, 0, 0, 8, 1270},
+		{4, 8, 0, 2, 5, 1276},
+		{4, 9, 0, 0, 5, 1284},
+		{4, 9, 0, 0, 5, 1293},
+		{4, 9, 0, 0, 5, 1302},
+		{4, 8, 0, 0, 5, 1311},
+		{2, 9, 1, 0, 2, 1319},
+		{2, 9, 0, 0, 2, 1328},
+		{3, 9, 1, 0, 2, 1337},
+		{3, 8, 0, 0, 2, 1346},
+		{5, 9, 0, 0, 6, 1354},
+		{4, 9, 0, 0, 5, 1363},
+		{5, 9, 0, 0, 6, 1372},
+		{5, 9, 0, 0, 6, 1381},
+		{5, 9, 0, 0, 6, 1390},
+		{5, 9, 0, 0, 6, 1399},
+		{5, 8, 0, 0, 6, 1408},
+		{5, 5, 0, -1, 6, 1416},
+		{6, 6, 0, 0, 6, 1421},
+		{4, 9, 0, 0, 5, 1427},
+		{4, 9, 0, 0, 5, 1436},
+		{4, 9, 0, 0, 5, 1445},
+		{4, 8, 0, 0, 5, 1454},
+		{4, 11, 0, 2, 5, 1462},
+		{5, 10, 0, 2, 6, 1473},
+		{4, 10, 0, 2, 5, 1483},
+	},
+	helv10_bitmap_data,
+	0
+};
+
+#endif /* BLF_FONT_HELV10_H */
diff --git a/source/blender/blenfont/intern/blf_internal.c b/source/blender/blenfont/intern/blf_internal.c
new file mode 100644
index 00000000000..d5ec20f790a
--- /dev/null
+++ b/source/blender/blenfont/intern/blf_internal.c
@@ -0,0 +1,290 @@
+/**
+ * $Id:
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2009 Blender Foundation.
+ * All rights reserved.
+ *
+ * 
+ * Contributor(s): Blender Foundation
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#ifdef WITH_FREETYPE2
+
+#include <ft2build.h>
+
+#include FT_FREETYPE_H
+#include FT_GLYPH_H
+
+#endif /* WITH_FREETYPE2 */
+
+#include "MEM_guardedalloc.h"
+
+#include "DNA_listBase.h"
+#include "DNA_vec_types.h"
+
+#include "BKE_utildefines.h"
+
+#include "BLI_blenlib.h"
+#include "BLI_linklist.h"	/* linknode */
+#include "BLI_string.h"
+#include "BLI_arithb.h"
+
+#include "BIF_gl.h"
+#include "BLF_api.h"
+
+#include "blf_internal_types.h"
+#include "blf_internal.h"
+#include "blf_font_helv10.h"
+
+
+int blf_internal_get_texture(FontBLF *font)
+{
+	FontDataBLF *data;
+	CharDataBLF *cd;
+	int width;
+	int height;
+	int c_rows, c_cols, c_width, c_height;
+	int i_width, i_height;
+	GLubyte *img, *img_row, *chr_row, *img_pxl;
+	int base_line, i, cell_x, cell_y, y, x;
+	int byte_idx, bit_idx;
+
+	data= (FontDataBLF *)font->engine;
+	if (data->texid != 0)
+		return(0);
+
+	width= data->xmax - data->xmin;
+	height= data->ymax - data->ymin;
+	c_rows= 16;
+	c_cols= 16;
+	c_width= 16;
+	c_height= 16;
+	i_width= c_cols * c_width;
+	i_height= c_rows * c_height;
+	base_line= -(data->ymin);
+	img= (GLubyte *)malloc(i_height * i_width);
+	memset((void *)img, 0, i_height * i_width);
+
+	if (width >= 16 || height >= 16) {
+		printf("Warning: Bad font size for: %s\n", font->name);
+		return(-1);
+	}
+
+	for (i= 0; i < 256; i++) {
+		cd= &data->chars[i];
+
+		if (cd->data_offset != -1) {
+			cell_x= i%16;
+			cell_y= i/16;
+
+			for (y= 0; y < cd->height; y++) {
+				img_row = &img[(cell_y*c_height + y + base_line - cd->yorig)*i_width];
+				chr_row = &data->bitmap_data[cd->data_offset + ((cd->width+7)/8)*y];
+
+				for (x= 0; x < cd->width; x++) {
+					img_pxl= &img_row[(cell_x*c_width + x - cd->xorig)];
+					byte_idx= x/8;
+					bit_idx= 7 - (x%8);
+
+					if (chr_row[byte_idx]&(1<<bit_idx)) {
+						img_pxl[0]= 255;
+					}
+				}
+			}
+		}
+	}
+
+	glGenTextures(1, &data->texid);
+	glBindTexture(GL_TEXTURE_2D, data->texid);
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_ALPHA4, i_width, i_height, 0, GL_ALPHA, GL_UNSIGNED_BYTE, img);
+	if (glGetError()) {
+		glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE4_ALPHA4, i_width, i_height, 0, GL_ALPHA, GL_UNSIGNED_BYTE, img);
+	}
+	
+	glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	free((void *)img);
+	return(0);
+}
+
+void blf_internal_size(FontBLF *font, int size, int dpi)
+{
+	return;
+}
+
+void blf_internal_draw(FontBLF *font, char *str)
+{
+	FontDataBLF *data;
+	CharDataBLF *cd;
+	unsigned char c;
+	float pos, cell_x, cell_y, x, y, z;
+	int base_line;
+	GLint cur_tex;
+
+	data= (FontDataBLF *)font->engine;
+	base_line= -(data->ymin);
+	pos= 0;
+	x= 0.0f;
+	y= 0.0f;
+	z= 0.0f;
+
+	glGetIntegerv(GL_TEXTURE_2D_BINDING_EXT, &cur_tex);
+	if (cur_tex != data->texid)
+		glBindTexture(GL_TEXTURE_2D, data->texid);
+
+	glBegin(GL_QUADS);
+	while ((c= (unsigned char) *str++)) {
+		cd= &data->chars[c];
+
+		if (cd->data_offset != -1) {
+			cell_x= (c%16)/16.0;
+			cell_y= (c/16)/16.0;
+
+			glTexCoord2f(cell_x + 1.0/16.0, cell_y);
+			glVertex3f(x + pos + 16.0, -base_line + y + 0.0, z);
+
+			glTexCoord2f(cell_x + 1.0/16.0, cell_y + 1.0/16.0);
+			glVertex3f(x + pos + 16.0, -base_line + y + 16.0, z);
+
+			glTexCoord2f(cell_x, cell_y + 1.0/16.0);
+			glVertex3f(x + pos + 0.0, -base_line + y + 16.0, z);
+
+			glTexCoord2f(cell_x, cell_y);
+			glVertex3f(x + pos + 0.0, -base_line + y + 0.0, z);
+		}
+		
+		pos += cd->advance;
+	}
+	glEnd();
+}
+
+void blf_internal_boundbox(FontBLF *font, char *str, rctf *box)
+{
+	FontDataBLF *data;
+	unsigned char c;
+	int length= 0;
+	int ascent= 0;
+	int descent= 0;
+
+	data= (FontDataBLF *)font->engine;
+	while ((c= (unsigned char) *str++)) {
+		int d = data->chars[c].yorig;
+		int a = data->chars[c].height - data->chars[c].yorig;
+
+		length += data->chars[c].advance;
+		if (a > ascent)
+			ascent= a;
+		if (d > descent)
+			descent= d;
+	}
+	box->xmin = (float)0;
+	box->ymin = (float)-descent;
+	box->xmax = (float)length;
+	box->ymax = (float)ascent;
+}
+
+float blf_internal_width(FontBLF *font, char *str)
+{
+	FontDataBLF *data;
+	unsigned char c;
+	int length= 0;
+
+	data= (FontDataBLF *)font->engine;
+	while ((c= (unsigned char) *str++)) {
+		length += data->chars[c].advance;
+	}
+
+	return((float)(length * font->aspect));
+}
+
+float blf_internal_height(FontBLF *font, char *str)
+{
+	FontDataBLF *data;
+
+	data= (FontDataBLF *)font->engine;
+	return(((float)(data->ymax - data->ymin)) * font->aspect);
+}
+
+void blf_internal_free(FontBLF *font)
+{
+	MEM_freeN(font->name);
+	MEM_freeN(font);
+}
+
+FontBLF *blf_internal_new(char *name)
+{
+	FontBLF *font;
+
+	font= (FontBLF *)MEM_mallocN(sizeof(FontBLF), "blf_internal_new");
+	font->name= BLI_strdup(name);
+	font->filename= NULL;
+
+	if (!strcmp(name, "helv10")) {
+		font->engine= (void *)&blf_font_helv10;
+		font->size= 10;
+	}
+	else
+		font->engine= NULL;
+
+	if (!font->engine) {
+		MEM_freeN(font->name);
+		MEM_freeN(font);
+		return(NULL);
+	}
+
+	font->type= BLF_FONT_INTERNAL;
+	font->ref= 1;
+	font->aspect= 1.0f;
+	font->pos[0]= 0.0f;
+	font->pos[1]= 0.0f;
+	font->angle= 0.0f;
+	Mat4One(font->mat);
+	font->clip_rec.xmin= 0.0f;
+	font->clip_rec.xmax= 0.0f;
+	font->clip_rec.ymin= 0.0f;
+	font->clip_rec.ymax= 0.0f;
+	font->flags= 0;
+	font->dpi= 72;
+	font->cache.first= NULL;
+	font->cache.last= NULL;
+	font->glyph_cache= NULL;
+	glGetIntegerv(GL_MAX_TEXTURE_SIZE, (GLint *)&font->max_tex_size);
+
+	font->size_set= blf_internal_size;
+	font->draw= blf_internal_draw;
+	font->boundbox_get= blf_internal_boundbox;
+	font->width_get= blf_internal_width;
+	font->height_get= blf_internal_height;
+	font->free= blf_internal_free;
+
+	if (blf_internal_get_texture(font) != 0) {
+		MEM_freeN(font->name);
+		MEM_freeN(font);
+		return(NULL);
+	}
+
+	return(font);
+}
diff --git a/source/blender/blenfont/intern/blf_internal.h b/source/blender/blenfont/intern/blf_internal.h
index d160df67f18..87d5938db9c 100644
--- a/source/blender/blenfont/intern/blf_internal.h
+++ b/source/blender/blenfont/intern/blf_internal.h
@@ -38,6 +38,8 @@ int blf_dir_split(const char *str, char *file, int *size);
 int blf_font_init(void);
 void blf_font_exit(void);
 
+FontBLF *blf_internal_new(char *name);
+
 #ifdef WITH_FREETYPE2
 
 FontBLF *blf_font_new(char *name, char *filename);
diff --git a/source/blender/blenfont/intern/blf_internal_types.h b/source/blender/blenfont/intern/blf_internal_types.h
index 7313eb97426..9df04522b1f 100644
--- a/source/blender/blenfont/intern/blf_internal_types.h
+++ b/source/blender/blenfont/intern/blf_internal_types.h
@@ -171,6 +171,24 @@ typedef struct FontBLF {
 	void (*free)(struct FontBLF *);
 } FontBLF;
 
+typedef struct CharDataBLF {
+	signed char width, height;
+	signed char xorig, yorig;
+	signed char advance;
+	
+	short data_offset;
+} CharDataBLF;
+
+typedef struct FontDataBLF {
+	int xmin, ymin;
+	int xmax, ymax;
+
+	CharDataBLF chars[256];
+	unsigned char *bitmap_data;
+
+	GLuint texid;
+} FontDataBLF;
+
 typedef struct DirBLF {
 	struct DirBLF *next;
 	struct DirBLF *prev;
diff --git a/source/blender/blenkernel/BKE_brush.h b/source/blender/blenkernel/BKE_brush.h
index 4146d313d41..9eb0b15aed4 100644
--- a/source/blender/blenkernel/BKE_brush.h
+++ b/source/blender/blenkernel/BKE_brush.h
@@ -34,6 +34,7 @@
 struct ID;
 struct Brush;
 struct ImBuf;
+struct Scene;
 struct wmOperator;
 
 /* datablock functions */
@@ -43,6 +44,7 @@ void make_local_brush(struct Brush *brush);
 void free_brush(struct Brush *brush);
 
 /* brush library operations used by different paint panels */
+struct Brush **current_brush_source(struct Scene *sce);
 int brush_set_nr(struct Brush **current_brush, int nr);
 int brush_delete(struct Brush **current_brush);
 void brush_check_exists(struct Brush **brush);
diff --git a/source/blender/blenkernel/BKE_context.h b/source/blender/blenkernel/BKE_context.h
index e384900e0cb..f08b14c7820 100644
--- a/source/blender/blenkernel/BKE_context.h
+++ b/source/blender/blenkernel/BKE_context.h
@@ -33,6 +33,7 @@ extern "C" {
 #endif
 
 #include "DNA_listBase.h"
+#include "RNA_types.h"
 
 struct ARegion;
 struct bScreen;
@@ -58,6 +59,7 @@ struct wmWindow;
 struct wmWindowManager;
 struct SpaceText;
 struct SpaceImage;
+struct ID;
 
 /* Structs */
 
@@ -67,68 +69,15 @@ typedef struct bContext bContext;
 struct bContextDataResult;
 typedef struct bContextDataResult bContextDataResult;
 
-enum {
-	CTX_DATA_MAIN,
-	CTX_DATA_SCENE,
-	CTX_DATA_TOOL_SETTINGS,
-
-	CTX_DATA_SELECTED_OBJECTS,
-	CTX_DATA_SELECTED_BASES,
-	CTX_DATA_SELECTED_EDITABLE_OBJECTS,
-	CTX_DATA_SELECTED_EDITABLE_BASES,
-	CTX_DATA_VISIBLE_OBJECTS,
-	CTX_DATA_VISIBLE_BASES,
-
-	CTX_DATA_ACTIVE_OBJECT,
-	CTX_DATA_ACTIVE_BASE,
-	CTX_DATA_EDIT_OBJECT,
-
-	CTX_DATA_EDIT_IMAGE,
-	CTX_DATA_EDIT_IMAGE_BUFFER,
-
-	CTX_DATA_EDIT_TEXT,
-
-	CTX_DATA_SELECTED_NODES,
-	
-	CTX_DATA_SELECTED_BONES,
-	CTX_DATA_SELECTED_EDITABLE_BONES,
-	CTX_DATA_SELECTED_PCHANS,
-	
-	CTX_DATA_ACTIVE_BONE,
-	CTX_DATA_ACTIVE_PCHAN,
-	
-	CTX_DATA_VISIBLE_BONES,
-	CTX_DATA_EDITABLE_BONES,
-	CTX_DATA_VISIBLE_PCHANS,
-};
-
-typedef int bContextDataMember;
-
 typedef int (*bContextDataCallback)(const bContext *C,
-	bContextDataMember member, bContextDataResult *result);
+	const char *member, bContextDataResult *result);
 
 /* Context */
 
 bContext *CTX_create(void);
 void CTX_free(bContext *C);
 
-bContext *CTX_copy(const bContext *C, int thread);
-int CTX_thread(const bContext *C);
-
-/* Context Task and Reports */
-
-typedef enum bContextTask {
-	CTX_DRAWING = 0,
-	CTX_EDITING = 1,
-	CTX_EVALUATING = 2,
-	CTX_UNDEFINED = 3
-} bContextTask;
-
-bContextTask CTX_task(const bContext *C);
-void CTX_task_set(bContext *C, bContextTask task);
-
-struct ReportList *CTX_reports(const bContext *C);
-void CTX_reports_set(bContext *C, struct ReportList *reports);
+bContext *CTX_copy(const bContext *C);
 
 /* Window Manager Context */
 
@@ -139,7 +88,7 @@ struct ScrArea *CTX_wm_area(const bContext *C);
 struct SpaceLink *CTX_wm_space_data(const bContext *C);
 struct ARegion *CTX_wm_region(const bContext *C);
 void *CTX_wm_region_data(const bContext *C);
-struct uiBlock *CTX_wm_ui_block(const bContext *C);
+struct ARegion *CTX_wm_menu(const bContext *C);
 
 struct View3D *CTX_wm_view3d(const bContext *C);
 struct RegionView3D *CTX_wm_region_view3d(const bContext *C);
@@ -149,25 +98,37 @@ struct SpaceImage *CTX_wm_space_image(const bContext *C);
 void CTX_wm_manager_set(bContext *C, struct wmWindowManager *wm);
 void CTX_wm_window_set(bContext *C, struct wmWindow *win);
 void CTX_wm_screen_set(bContext *C, struct bScreen *screen); /* to be removed */
-void CTX_wm_area_set(bContext *C, struct ScrArea *win);
-void CTX_wm_region_set(bContext *C, struct ARegion *win);
-void CTX_wm_ui_block_set(bContext *C, struct uiBlock *block, bContextDataCallback cb);
+void CTX_wm_area_set(bContext *C, struct ScrArea *sa);
+void CTX_wm_region_set(bContext *C, struct ARegion *region);
+void CTX_wm_menu_set(bContext *C, struct ARegion *menu);
 
 /* Data Context
 
    - note: listbases consist of LinkData items and must be
      freed with BLI_freelistN! */
 
-void CTX_data_pointer_set(bContextDataResult *result, void *data);
-void CTX_data_list_add(bContextDataResult *result, void *data);
+PointerRNA CTX_data_pointer_get(bContext *C, const char *member);
+ListBase CTX_data_collection_get(bContext *C, const char *member);
+void CTX_data_get(bContext *C, const char *member, PointerRNA *r_ptr, ListBase *r_lb);
+
+void CTX_data_id_pointer_set(bContextDataResult *result, struct ID *id);
+void CTX_data_pointer_set(bContextDataResult *result, struct ID *id, StructRNA *type, void *data);
+
+void CTX_data_id_list_add(bContextDataResult *result, struct ID *id);
+void CTX_data_list_add(bContextDataResult *result, struct ID *id, StructRNA *type, void *data);
+
+int CTX_data_equals(const char *member, const char *str);
+
+/*void CTX_data_pointer_set(bContextDataResult *result, void *data);
+void CTX_data_list_add(bContextDataResult *result, void *data);*/
 
 #define CTX_DATA_BEGIN(C, Type, instance, member) \
 	{ \
 		ListBase ctx_data_list; \
-		LinkData *link; \
+		CollectionPointerLink *ctx_link; \
 		CTX_data_##member(C, &ctx_data_list); \
-		for(link=ctx_data_list.first; link; link=link->next) { \
-			Type instance= link->data;
+		for(ctx_link=ctx_data_list.first; ctx_link; ctx_link=ctx_link->next) { \
+			Type instance= ctx_link->ptr.data;
 
 #define CTX_DATA_END \
 		} \
@@ -202,7 +163,6 @@ struct Base *CTX_data_active_base(const bContext *C);
 struct Object *CTX_data_edit_object(const bContext *C);
 
 struct Image *CTX_data_edit_image(const bContext *C);
-struct ImBuf *CTX_data_edit_image_buffer(const bContext *C);
 
 struct Text *CTX_data_edit_text(const bContext *C);
 
@@ -218,13 +178,6 @@ struct bPoseChannel *CTX_data_active_pchan(const bContext *C);
 int CTX_data_selected_pchans(const bContext *C, ListBase *list);
 int CTX_data_visible_pchans(const bContext *C, ListBase *list);
 
-/* Data Evaluation Context */
-
-float CTX_eval_frame(const bContext *C);
-
-int CTX_eval_render_resolution(const bContext *C);
-void CTX_eval_render_resolution_set(bContext *C, int render);
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/source/blender/blenkernel/BKE_fcurve.h b/source/blender/blenkernel/BKE_fcurve.h
index a8b1ad49648..9503c569e8b 100644
--- a/source/blender/blenkernel/BKE_fcurve.h
+++ b/source/blender/blenkernel/BKE_fcurve.h
@@ -44,6 +44,8 @@ typedef struct FModifierTypeInfo {
 	/* admin/ident */
 	short type;				/* FMODIFIER_TYPE_### */
 	short size;				/* size in bytes of the struct */
+	short acttype;			/* eFMI_Action_Types */
+	short requires;			/* eFMI_Requirement_Flags */
 	char name[32]; 			/* name of modifier in interface */
 	char structName[32];	/* name of struct for SDNA */
 	
@@ -54,25 +56,53 @@ typedef struct FModifierTypeInfo {
 	void (*copy_data)(struct FModifier *fcm, struct FModifier *src);
 		/* set settings for data that will be used for FCuModifier.data (memory already allocated using MEM_callocN) */
 	void (*new_data)(void *mdata);
+		/* verifies that the modifier settings are valid */
+	void (*verify_data)(struct FModifier *fcm);
 	
 	/* evaluation */
 		/* evaluate the modifier for the given time and 'accumulated' value */
 	void (*evaluate_modifier)(struct FCurve *fcu, struct FModifier *fcm, float *cvalue, float evaltime);
 } FModifierTypeInfo;
 
+/* Values which describe the behaviour of a FModifier Type */
+enum {
+		/* modifier only modifies values outside of data range */
+	FMI_TYPE_EXTRAPOLATION = 0,
+		/* modifier leaves data-points alone, but adjusts the interpolation between and around them */
+	FMI_TYPE_INTERPOLATION,
+		/* modifier only modifies the values of points (but times stay the same) */
+	FMI_TYPE_REPLACE_VALUES,
+		/* modifier generates a curve regardless of what came before */
+	FMI_TYPE_GENERATE_CURVE,
+} eFMI_Action_Types;
+
+/* Flags for the requirements of a FModifier Type */
+enum {
+		/* modifier requires original data-points (kindof beats the purpose of a modifier stack?) */
+	FMI_REQUIRES_ORIGINAL_DATA		= (1<<0),
+		/* modifier doesn't require on any preceeding data (i.e. it will generate a curve). 
+		 * Use in conjunction with FMI_TYPE_GENRATE_CURVE 
+		 */
+	FMI_REQUIRES_NOTHING			= (1<<1),
+		/* refer to modifier instance */
+	FMI_REQUIRES_RUNTIME_CHECK		= (1<<2),
+} eFMI_Requirement_Flags;
+
 /* Function Prototypes for FModifierTypeInfo's */
 FModifierTypeInfo *fmodifier_get_typeinfo(struct FModifier *fcm);
 FModifierTypeInfo *get_fmodifier_typeinfo(int type);
 
 /* ---------------------- */
 
-// TODO... general API here..
 struct FModifier *fcurve_add_modifier(struct FCurve *fcu, int type);
 void fcurve_copy_modifiers(ListBase *dst, ListBase *src);
 void fcurve_remove_modifier(struct FCurve *fcu, struct FModifier *fcm);
 void fcurve_free_modifiers(struct FCurve *fcu);
 void fcurve_bake_modifiers(struct FCurve *fcu, int start, int end);
 
+struct FModifier *fcurve_find_active_modifier(struct FCurve *fcu);
+void fcurve_set_active_modifier(struct FCurve *fcu, struct FModifier *fcm);
+
 /* ************** F-Curves API ******************** */
 
 /* -------- Data Managemnt  --------  */
diff --git a/source/blender/blenkernel/BKE_ipo.h b/source/blender/blenkernel/BKE_ipo.h
index a3f451438bd..e12170b73c9 100644
--- a/source/blender/blenkernel/BKE_ipo.h
+++ b/source/blender/blenkernel/BKE_ipo.h
@@ -38,7 +38,7 @@ extern "C" {
 struct Main;
 struct Ipo;
 
-void do_versions_ipo_to_animato(struct Main *main);
+void do_versions_ipos_to_animato(struct Main *main);
 
 /* --------------------- xxx stuff ------------------------ */
 
diff --git a/source/blender/blenkernel/BKE_node.h b/source/blender/blenkernel/BKE_node.h
index 7d0c5b83e6e..09237e74d1d 100644
--- a/source/blender/blenkernel/BKE_node.h
+++ b/source/blender/blenkernel/BKE_node.h
@@ -388,28 +388,32 @@ void free_compbuf(struct CompBuf *cbuf); /* internal...*/
 
 struct TexResult;
 
-#define TEX_NODE_OUTPUT     101
-#define TEX_NODE_CHECKER    102
-#define TEX_NODE_TEXTURE    103
-#define TEX_NODE_BRICKS     104
-#define TEX_NODE_MATH       105
-#define TEX_NODE_MIX_RGB    106
-#define TEX_NODE_RGBTOBW    107
-#define TEX_NODE_VALTORGB   108
-#define TEX_NODE_IMAGE      109
-#define TEX_NODE_CURVE_RGB  110
-#define TEX_NODE_INVERT     111
-#define TEX_NODE_HUE_SAT    112
-#define TEX_NODE_CURVE_TIME 113
-#define TEX_NODE_ROTATE     114
-#define TEX_NODE_VIEWER     115
-#define TEX_NODE_TRANSLATE  116
-#define TEX_NODE_COORD      117
-#define TEX_NODE_DISTANCE   118
+#define TEX_NODE_OUTPUT     401
+#define TEX_NODE_CHECKER    402
+#define TEX_NODE_TEXTURE    403
+#define TEX_NODE_BRICKS     404
+#define TEX_NODE_MATH       405
+#define TEX_NODE_MIX_RGB    406
+#define TEX_NODE_RGBTOBW    407
+#define TEX_NODE_VALTORGB   408
+#define TEX_NODE_IMAGE      409
+#define TEX_NODE_CURVE_RGB  410
+#define TEX_NODE_INVERT     411
+#define TEX_NODE_HUE_SAT    412
+#define TEX_NODE_CURVE_TIME 413
+#define TEX_NODE_ROTATE     414
+#define TEX_NODE_VIEWER     415
+#define TEX_NODE_TRANSLATE  416
+#define TEX_NODE_COORD      417
+#define TEX_NODE_DISTANCE   418
+#define TEX_NODE_COMPOSE    419
+#define TEX_NODE_DECOMPOSE  420
+#define TEX_NODE_VALTONOR   421
+#define TEX_NODE_SCALE      422
 
 /* 201-299 reserved. Use like this: TEX_NODE_PROC + TEX_CLOUDS, etc */
-#define TEX_NODE_PROC      200
-#define TEX_NODE_PROC_MAX  300
+#define TEX_NODE_PROC      500
+#define TEX_NODE_PROC_MAX  600
 
 extern struct ListBase node_all_textures;
 
diff --git a/source/blender/blenkernel/BKE_screen.h b/source/blender/blenkernel/BKE_screen.h
index 250aaf7245a..a25a7cff51d 100644
--- a/source/blender/blenkernel/BKE_screen.h
+++ b/source/blender/blenkernel/BKE_screen.h
@@ -36,11 +36,14 @@ struct bContext;
 struct bContextDataResult;
 struct bScreen;
 struct ListBase;
+struct Panel;
 struct ScrArea;
 struct SpaceType;
 struct wmNotifier;
 struct wmWindow;
 struct wmWindowManager;
+struct uiLayout;
+struct uiMenuItem;
 
 /* spacetype has everything stored to get an editor working, it gets initialized via 
    ED_spacetypes_init() in editors/area/spacetypes.c   */
@@ -77,7 +80,7 @@ typedef struct SpaceType {
 	void		(*keymap)(struct wmWindowManager *);
 
 	/* return context data */
-	int			(*context)(const struct bContext *, int, struct bContextDataResult *);
+	int			(*context)(const struct bContext *, const char*, struct bContextDataResult *);
 
 	/* region type definitions */
 	ListBase	regiontypes;
@@ -117,17 +120,55 @@ typedef struct ARegionType {
 	void		(*cursor)(struct wmWindow *, struct ScrArea *, struct ARegion *ar);
 
 	/* return context data */
-	int			(*context)(const struct bContext *, int, struct bContextDataResult *);
+	int			(*context)(const struct bContext *, const char *, struct bContextDataResult *);
 
 	/* custom drawing callbacks */
 	ListBase	drawcalls;
 
+	/* panels type definitions */
+	ListBase paneltypes;
+
+	/* header type definitions */
+	ListBase headertypes;
+
 	/* hardcoded constraints, smaller than these values region is not visible */
 	int			minsizex, minsizey;
 	/* default keymaps to add */
 	int			keymapflag;
 } ARegionType;
 
+/* panel types */
+
+typedef struct PanelType {
+	struct PanelType *next, *prev;
+	
+	char		*idname;	/* unique name */
+	char		*name;		/* for panel header */
+	char		*context;	/* for buttons window */
+
+	/* verify if the panel should draw or not */
+	int			(*poll)(const struct bContext *);
+	/* draw entirely, view changes should be handled here */
+	void		(*draw)(const struct bContext *, struct Panel *);	
+
+	/* python integration */
+	void		*py_data;
+} PanelType;
+
+/* header types */
+
+typedef struct HeaderType {
+	struct HeaderType *next, *prev;
+
+	char		*idname;	/* unique name */
+	char		*name;		/* for UI */
+
+	/* draw entirely, view changes should be handled here */
+	void		(*draw)(const struct bContext *, struct uiLayout *);	
+
+	/* python integration */
+	void		*py_data;
+} HeaderType;
 
 /* spacetypes */
 struct SpaceType *BKE_spacetype_from_id(int spaceid);
@@ -139,6 +180,7 @@ void BKE_spacetypes_free(void);	/* only for quitting blender */
 /* spacedata */
 void BKE_spacedata_freelist(ListBase *lb);
 void BKE_spacedata_copylist(ListBase *lb1, ListBase *lb2);
+void BKE_spacedata_copyfirst(ListBase *lb1, ListBase *lb2);
 
 /* area/regions */
 struct ARegion *BKE_area_region_copy(struct SpaceType *st, struct ARegion *ar);
diff --git a/source/blender/blenkernel/CMakeLists.txt b/source/blender/blenkernel/CMakeLists.txt
index 46153b928aa..5a612df2589 100644
--- a/source/blender/blenkernel/CMakeLists.txt
+++ b/source/blender/blenkernel/CMakeLists.txt
@@ -42,6 +42,10 @@ IF(WITH_OPENEXR)
   ADD_DEFINITIONS(-DWITH_OPENEXR)
 ENDIF(WITH_OPENEXR)
 
+IF(WITH_OPENJPEG)
+  ADD_DEFINITIONS(-DWITH_OPENJPEG)
+ENDIF(WITH_OPENJPEG)
+
 IF(WITH_DDS)
   ADD_DEFINITIONS(-DWITH_DDS)
 ENDIF(WITH_DDS)
diff --git a/source/blender/blenkernel/SConscript b/source/blender/blenkernel/SConscript
index 25673aa6782..1ea9cfae78e 100644
--- a/source/blender/blenkernel/SConscript
+++ b/source/blender/blenkernel/SConscript
@@ -28,6 +28,8 @@ if env['WITH_BF_QUICKTIME']:
 
 if env['WITH_BF_SDL']:
 	incs += ' ' + env['BF_SDL_INC']
+else:
+	defs += ' DISABLE_SDL'
 
 if env['WITH_BF_INTERNATIONAL']:
 	defs += ' WITH_FREETYPE2'
diff --git a/source/blender/blenkernel/intern/Makefile b/source/blender/blenkernel/intern/Makefile
index acb1fd2deb6..6554c93662d 100644
--- a/source/blender/blenkernel/intern/Makefile
+++ b/source/blender/blenkernel/intern/Makefile
@@ -105,6 +105,10 @@ ifeq ($(WITH_DDS), true)
     CPPFLAGS += -DWITH_DDS
 endif
 
+ifeq ($(WITH_OPENJPEG), true)
+    CPPFLAGS += -DWITH_OPENJPEG
+endif
+
 ifeq ($(WITH_QUICKTIME), true)
 	CPPFLAGS += -I../../quicktime
 	CPPFLAGS += -DWITH_QUICKTIME
diff --git a/source/blender/blenkernel/intern/anim.c b/source/blender/blenkernel/intern/anim.c
index 8c71a1d807e..fcd179d48de 100644
--- a/source/blender/blenkernel/intern/anim.c
+++ b/source/blender/blenkernel/intern/anim.c
@@ -34,6 +34,7 @@
 
 #include "MEM_guardedalloc.h"
 #include "BLI_blenlib.h"
+#include "BLI_editVert.h"
 #include "BLI_arithb.h"
 #include "BLI_rand.h"
 #include "DNA_listBase.h"
@@ -72,6 +73,8 @@
 #include <config.h>
 #endif
 
+#include "ED_mesh.h"
+
 static void object_duplilist_recursive(ID *id, Scene *scene, Object *ob, ListBase *duplilist, float par_space_mat[][4], int level, int animated);
 
 void free_path(Path *path)
@@ -445,6 +448,7 @@ static void vertex_duplilist(ListBase *lb, ID *id, Scene *scene, Object *par, fl
 	Scene *sce = NULL;
 	Group *group = NULL;
 	GroupObject * go = NULL;
+	EditMesh *em;
 	float vec[3], no[3], pmat[4][4];
 	int lay, totvert, a, oblay;
 	
@@ -452,12 +456,15 @@ static void vertex_duplilist(ListBase *lb, ID *id, Scene *scene, Object *par, fl
 	
 	/* simple preventing of too deep nested groups */
 	if(level>MAX_DUPLI_RECUR) return;
-
-	if(me->edit_mesh)
-		dm= editmesh_get_derived_cage(scene, par, me->edit_mesh, CD_MASK_BAREMESH);
-	else
+	
+	em = EM_GetEditMesh(me);
+	
+	if(em) {
+		dm= editmesh_get_derived_cage(scene, par, em, CD_MASK_BAREMESH);
+		EM_EndEditMesh(me, em);
+	} else
 		dm= mesh_get_derived_deform(scene, par, CD_MASK_BAREMESH);
-
+	
 	if(G.rendering) {
 		vdd.orco= (float(*)[3])get_mesh_orco_verts(par);
 		transform_mesh_orco_verts(me, vdd.orco, me->totvert, 0);
@@ -557,17 +564,19 @@ static void face_duplilist(ListBase *lb, ID *id, Scene *scene, Object *par, floa
 	Scene *sce = NULL;
 	Group *group = NULL;
 	GroupObject *go = NULL;
+	EditMesh *em;
 	float ob__obmat[4][4]; /* needed for groups where the object matrix needs to be modified */
 	
 	/* simple preventing of too deep nested groups */
 	if(level>MAX_DUPLI_RECUR) return;
 	
 	Mat4CpyMat4(pmat, par->obmat);
-
-	if(me->edit_mesh) {
+	
+	em = EM_GetEditMesh(me);
+	if(em) {
 		int totvert;
 		
-		dm= editmesh_get_derived_cage(scene, par, me->edit_mesh, CD_MASK_BAREMESH);
+		dm= editmesh_get_derived_cage(scene, par, em, CD_MASK_BAREMESH);
 		
 		totface= dm->getNumFaces(dm);
 		mface= MEM_mallocN(sizeof(MFace)*totface, "mface temp");
@@ -575,6 +584,8 @@ static void face_duplilist(ListBase *lb, ID *id, Scene *scene, Object *par, floa
 		totvert= dm->getNumVerts(dm);
 		mvert= MEM_mallocN(sizeof(MVert)*totvert, "mvert temp");
 		dm->copyVertArray(dm, mvert);
+
+		EM_EndEditMesh(me, em);
 	}
 	else {
 		dm = mesh_get_derived_deform(scene, par, CD_MASK_BAREMESH);
diff --git a/source/blender/blenkernel/intern/blender.c b/source/blender/blenkernel/intern/blender.c
index be64faec3cf..2033250585d 100644
--- a/source/blender/blenkernel/intern/blender.c
+++ b/source/blender/blenkernel/intern/blender.c
@@ -348,7 +348,7 @@ static void setup_app_data(bContext *C, BlendFileData *bfd, char *filename)
 		CTX_data_scene_set(C, bfd->curscreen->scene);
 		CTX_wm_area_set(C, NULL);
 		CTX_wm_region_set(C, NULL);
-		CTX_wm_ui_block_set(C, NULL, NULL);
+		CTX_wm_menu_set(C, NULL);
 	}
 	
 	/* this can happen when active scene was lib-linked, and doesnt exist anymore */
diff --git a/source/blender/blenkernel/intern/brush.c b/source/blender/blenkernel/intern/brush.c
index e5dd9c2188d..30a35cbe91c 100644
--- a/source/blender/blenkernel/intern/brush.c
+++ b/source/blender/blenkernel/intern/brush.c
@@ -103,6 +103,8 @@ Brush *copy_brush(Brush *brush)
 		}
 	}
 
+	brushn->curve= curvemapping_copy(brush->curve);
+
 	/* enable fake user by default */
 	if (!(brushn->id.flag & LIB_FAKEUSER)) {
 		brushn->id.flag |= LIB_FAKEUSER;
@@ -183,6 +185,19 @@ void make_local_brush(Brush *brush)
 
 /* Library Operations */
 
+Brush **current_brush_source(Scene *sce)
+{
+	if(G.f & G_SCULPTMODE)
+		return &sce->toolsettings->sculpt->brush;
+	else if(G.f & G_VERTEXPAINT)
+		return &sce->toolsettings->vpaint->brush;
+	else if(G.f & G_WEIGHTPAINT)
+		return &sce->toolsettings->wpaint->brush;
+	else if(G.f & G_TEXTUREPAINT)
+		return &sce->toolsettings->imapaint.brush;
+	return NULL;
+}
+
 int brush_set_nr(Brush **current_brush, int nr)
 {
 	ID *idtest, *id;
diff --git a/source/blender/blenkernel/intern/constraint.c b/source/blender/blenkernel/intern/constraint.c
index 5c8bec3af6f..b238116f0a1 100644
--- a/source/blender/blenkernel/intern/constraint.c
+++ b/source/blender/blenkernel/intern/constraint.c
@@ -38,6 +38,7 @@
 
 #include "BLI_blenlib.h"
 #include "BLI_arithb.h"
+#include "BLI_editVert.h"
 
 #include "DNA_armature_types.h"
 #include "DNA_constraint_types.h"
@@ -70,6 +71,7 @@
 #include "BPY_extern.h"
 #endif
 
+#include "ED_mesh.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -390,6 +392,7 @@ static void contarget_get_mesh_mat (Object *ob, char *substring, float mat[][4])
 {
 	DerivedMesh *dm;
 	Mesh *me= ob->data;
+	EditMesh *em = EM_GetEditMesh(me);
 	float vec[3] = {0.0f, 0.0f, 0.0f}, tvec[3];
 	float normal[3] = {0.0f, 0.0f, 0.0f}, plane[3];
 	float imat[3][3], tmat[3][3];
@@ -403,9 +406,9 @@ static void contarget_get_mesh_mat (Object *ob, char *substring, float mat[][4])
 	if (dgroup < 0) return;
 	
 	/* get DerivedMesh */
-	if (me->edit_mesh) {
+	if (em) {
 		/* target is in editmode, so get a special derived mesh */
-		dm = CDDM_from_editmesh(me->edit_mesh, ob->data);
+		dm = CDDM_from_editmesh(em, ob->data);
 	}
 	else {
 		/* when not in EditMode, this should exist */
@@ -475,8 +478,9 @@ static void contarget_get_mesh_mat (Object *ob, char *substring, float mat[][4])
 	}
 	
 	/* free temporary DerivedMesh created (in EditMode case) */
-	if (me->edit_mesh) {
+	if (em) {
 		if (dm) dm->release(dm);
+		EM_EndEditMesh(me, em);
 	}
 }
 
@@ -3108,7 +3112,7 @@ static bConstraintTypeInfo CTI_TRANSFORM = {
 
 /* ************************* Constraints Type-Info *************************** */
 /* All of the constraints api functions use bConstraintTypeInfo structs to carry out
- * and operations that involve constraint specifc code.
+ * and operations that involve constraint specific code.
  */
 
 /* These globals only ever get directly accessed in this file */
diff --git a/source/blender/blenkernel/intern/context.c b/source/blender/blenkernel/intern/context.c
index fc338e1bc95..47622611cb9 100644
--- a/source/blender/blenkernel/intern/context.c
+++ b/source/blender/blenkernel/intern/context.c
@@ -27,6 +27,7 @@
 
 #include "MEM_guardedalloc.h"
 
+#include "DNA_ID.h"
 #include "DNA_listBase.h"
 #include "DNA_scene_types.h"
 #include "DNA_screen_types.h"
@@ -48,8 +49,6 @@
 /* struct */
 
 struct bContext {
-	bContextTask task;
-	ReportList *reports;
 	int thread;
 
 	/* windowmanager context */
@@ -59,9 +58,7 @@ struct bContext {
 		struct bScreen *screen;
 		struct ScrArea *area;
 		struct ARegion *region;
-		struct uiBlock *block;
-
-		bContextDataCallback block_cb;
+		struct ARegion *menu;
 	} wm;
 	
 	/* data context */
@@ -86,57 +83,21 @@ bContext *CTX_create()
 	
 	C= MEM_callocN(sizeof(bContext), "bContext");
 
-	C->task= CTX_UNDEFINED;
-	C->thread= 0;
-
 	return C;
 }
 
-bContext *CTX_copy(const bContext *C, int thread)
+bContext *CTX_copy(const bContext *C)
 {
-	bContext *newC;
-
-	if(C->task != CTX_UNDEFINED)
-		BKE_report(C->reports, RPT_ERROR_INVALID_CONTEXT, "CTX_copy not allowed for this task");
-	
-	newC= MEM_dupallocN((void*)C);
-	newC->thread= thread;
+	bContext *newC= MEM_dupallocN((void*)C);
 
 	return newC;
 }
 
-int CTX_thread(const bContext *C)
-{
-	return C->thread;
-}
-
 void CTX_free(bContext *C)
 {
 	MEM_freeN(C);
 }
 
-/* context task and reports */
-
-bContextTask CTX_task(const bContext *C)
-{
-	return C->task;
-}
-
-void CTX_task_set(bContext *C, bContextTask task)
-{
-	C->task= task;
-}
-
-ReportList *CTX_reports(const bContext *C)
-{
-	return C->reports;
-}
-
-void CTX_reports_set(bContext *C, ReportList *reports)
-{
-	C->reports= reports;
-}
-
 /* window manager context */
 
 wmWindowManager *CTX_wm_manager(const bContext *C)
@@ -174,9 +135,9 @@ void *CTX_wm_region_data(const bContext *C)
 	return (C->wm.region)? C->wm.region->regiondata: NULL;
 }
 
-struct uiBlock *CTX_wm_ui_block(const bContext *C)
+struct ARegion *CTX_wm_menu(const bContext *C)
 {
-	return C->wm.block;
+	return C->wm.menu;
 }
 
 View3D *CTX_wm_view3d(const bContext *C)
@@ -245,20 +206,19 @@ void CTX_wm_region_set(bContext *C, ARegion *region)
 	C->wm.region= region;
 }
 
-void CTX_wm_ui_block_set(bContext *C, struct uiBlock *block, bContextDataCallback cb)
+void CTX_wm_menu_set(bContext *C, ARegion *menu)
 {
-	C->wm.block= block;
-	C->wm.block_cb= cb;
+	C->wm.menu= menu;
 }
 
 /* data context utility functions */
 
 struct bContextDataResult {
-	void *pointer;
+	PointerRNA ptr;
 	ListBase list;
 };
 
-static int ctx_data_get(bContext *C, bContextDataMember member, bContextDataResult *result)
+static int ctx_data_get(bContext *C, const char *member, bContextDataResult *result)
 {
 	int done= 0, recursion= C->data.recursion;
 
@@ -266,23 +226,19 @@ static int ctx_data_get(bContext *C, bContextDataMember member, bContextDataResu
 
 	/* we check recursion to ensure that we do not get infinite
 	 * loops requesting data from ourselfs in a context callback */
-	if(!done && recursion < 1 && C->wm.block) {
+	if(!done && recursion < 1 && C->wm.region) {
 		C->data.recursion= 1;
-		done= C->wm.block_cb(C, member, result);
-	}
-	if(!done && recursion < 2 && C->wm.region) {
-		C->data.recursion= 2;
 		if(C->wm.region->type && C->wm.region->type->context)
 			done= C->wm.region->type->context(C, member, result);
 	}
-	if(!done && recursion < 3 && C->wm.area) {
-		C->data.recursion= 3;
+	if(!done && recursion < 2 && C->wm.area) {
+		C->data.recursion= 2;
 		if(C->wm.area->type && C->wm.area->type->context)
 			done= C->wm.area->type->context(C, member, result);
 	}
-	if(!done && recursion < 4 && C->wm.screen) {
+	if(!done && recursion < 3 && C->wm.screen) {
 		bContextDataCallback cb= C->wm.screen->context;
-		C->data.recursion= 4;
+		C->data.recursion= 3;
 		if(cb)
 			done= cb(C, member, result);
 	}
@@ -292,22 +248,22 @@ static int ctx_data_get(bContext *C, bContextDataMember member, bContextDataResu
 	return done;
 }
 
-static void *ctx_data_pointer_get(const bContext *C, bContextDataMember member)
+static void *ctx_data_pointer_get(const bContext *C, const char *member)
 {
 	bContextDataResult result;
 
 	if(ctx_data_get((bContext*)C, member, &result))
-		return result.pointer;
+		return result.ptr.data;
 
 	return NULL;
 }
 
-static int ctx_data_pointer_verify(const bContext *C, bContextDataMember member, void **pointer)
+static int ctx_data_pointer_verify(const bContext *C, const char *member, void **pointer)
 {
 	bContextDataResult result;
 
 	if(ctx_data_get((bContext*)C, member, &result)) {
-		*pointer= result.pointer;
+		*pointer= result.ptr.data;
 		return 1;
 	}
 	else {
@@ -316,7 +272,7 @@ static int ctx_data_pointer_verify(const bContext *C, bContextDataMember member,
 	}
 }
 
-static int ctx_data_collection_get(const bContext *C, bContextDataMember member, ListBase *list)
+static int ctx_data_collection_get(const bContext *C, const char *member, ListBase *list)
 {
 	bContextDataResult result;
 
@@ -328,17 +284,80 @@ static int ctx_data_collection_get(const bContext *C, bContextDataMember member,
 	return 0;
 }
 
-void CTX_data_pointer_set(bContextDataResult *result, void *data)
+PointerRNA CTX_data_pointer_get(bContext *C, const char *member)
 {
-	result->pointer= data;
+	bContextDataResult result;
+
+	if(ctx_data_get((bContext*)C, member, &result)) {
+		return result.ptr;
+	}
+	else {
+		PointerRNA ptr;
+		memset(&ptr, 0, sizeof(ptr));
+		return ptr;
+	}
+
 }
 
-void CTX_data_list_add(bContextDataResult *result, void *data)
+ListBase CTX_data_collection_get(bContext *C, const char *member)
 {
-	LinkData *link;
-	
-	link= MEM_callocN(sizeof(LinkData), "LinkData");
-	link->data= data;
+	bContextDataResult result;
+
+	if(ctx_data_get((bContext*)C, member, &result)) {
+		return result.list;
+	}
+	else {
+		ListBase list;
+		memset(&list, 0, sizeof(list));
+		return list;
+	}
+}
+
+void CTX_data_get(bContext *C, const char *member, PointerRNA *r_ptr, ListBase *r_lb)
+{
+	bContextDataResult result;
+
+	if(ctx_data_get((bContext*)C, member, &result)) {
+		*r_ptr= result.ptr;
+		*r_lb= result.list;
+	}
+	else {
+		memset(r_ptr, 0, sizeof(*r_ptr));
+		memset(r_lb, 0, sizeof(*r_lb));
+	}
+}
+
+int CTX_data_equals(const char *member, const char *str)
+{
+	return (strcmp(member, str) == 0);
+}
+
+void CTX_data_id_pointer_set(bContextDataResult *result, ID *id)
+{
+	RNA_id_pointer_create(id, &result->ptr);
+}
+
+void CTX_data_pointer_set(bContextDataResult *result, ID *id, StructRNA *type, void *data)
+{
+	RNA_pointer_create(id, type, data, &result->ptr);
+}
+
+void CTX_data_id_list_add(bContextDataResult *result, ID *id)
+{
+	CollectionPointerLink *link;
+
+	link= MEM_callocN(sizeof(CollectionPointerLink), "CTX_data_id_list_add");
+	RNA_id_pointer_create(id, &link->ptr);
+
+	BLI_addtail(&result->list, link);
+}
+
+void CTX_data_list_add(bContextDataResult *result, ID *id, StructRNA *type, void *data)
+{
+	CollectionPointerLink *link;
+
+	link= MEM_callocN(sizeof(CollectionPointerLink), "CTX_data_list_add");
+	RNA_pointer_create(id, type, data, &link->ptr);
 
 	BLI_addtail(&result->list, link);
 }
@@ -362,7 +381,7 @@ Main *CTX_data_main(const bContext *C)
 {
 	Main *bmain;
 
-	if(ctx_data_pointer_verify(C, CTX_DATA_MAIN, (void*)&bmain))
+	if(ctx_data_pointer_verify(C, "main", (void*)&bmain))
 		return bmain;
 	else
 		return C->data.main;
@@ -377,7 +396,7 @@ Scene *CTX_data_scene(const bContext *C)
 {
 	Scene *scene;
 
-	if(ctx_data_pointer_verify(C, CTX_DATA_SCENE, (void*)&scene))
+	if(ctx_data_pointer_verify(C, "scene", (void*)&scene))
 		return scene;
 	else
 		return C->data.scene;
@@ -400,124 +419,101 @@ ToolSettings *CTX_data_tool_settings(const bContext *C)
 
 int CTX_data_selected_nodes(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_SELECTED_NODES, list);
+	return ctx_data_collection_get(C, "selected_nodes", list);
 }
 
 int CTX_data_selected_editable_objects(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_SELECTED_EDITABLE_OBJECTS, list);
+	return ctx_data_collection_get(C, "selected_editable_objects", list);
 }
 
 int CTX_data_selected_editable_bases(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_SELECTED_EDITABLE_BASES, list);
+	return ctx_data_collection_get(C, "selected_editable_bases", list);
 }
 
 int CTX_data_selected_objects(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_SELECTED_OBJECTS, list);
+	return ctx_data_collection_get(C, "selected_objects", list);
 }
 
 int CTX_data_selected_bases(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_SELECTED_BASES, list);
+	return ctx_data_collection_get(C, "selected_bases", list);
 }
 
 int CTX_data_visible_objects(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_VISIBLE_OBJECTS, list);
+	return ctx_data_collection_get(C, "visible_objects", list);
 }
 
 int CTX_data_visible_bases(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_VISIBLE_BASES, list);
+	return ctx_data_collection_get(C, "visible_bases", list);
 }
 
 struct Object *CTX_data_active_object(const bContext *C)
 {
-	return ctx_data_pointer_get(C, CTX_DATA_ACTIVE_OBJECT);
+	return ctx_data_pointer_get(C, "active_object");
 }
 
 struct Base *CTX_data_active_base(const bContext *C)
 {
-	return ctx_data_pointer_get(C, CTX_DATA_ACTIVE_BASE);
+	return ctx_data_pointer_get(C, "active_base");
 }
 
 struct Object *CTX_data_edit_object(const bContext *C)
 {
-	return ctx_data_pointer_get(C, CTX_DATA_EDIT_OBJECT);
+	return ctx_data_pointer_get(C, "edit_object");
 }
 
 struct Image *CTX_data_edit_image(const bContext *C)
 {
-	return ctx_data_pointer_get(C, CTX_DATA_EDIT_IMAGE);
-}
-
-struct ImBuf *CTX_data_edit_image_buffer(const bContext *C)
-{
-	return ctx_data_pointer_get(C, CTX_DATA_EDIT_IMAGE_BUFFER);
+	return ctx_data_pointer_get(C, "edit_image");
 }
 
 struct Text *CTX_data_edit_text(const bContext *C)
 {
-	return ctx_data_pointer_get(C, CTX_DATA_EDIT_TEXT);
+	return ctx_data_pointer_get(C, "edit_text");
 }
 
 struct EditBone *CTX_data_active_bone(const bContext *C)
 {
-	return ctx_data_pointer_get(C, CTX_DATA_ACTIVE_BONE);
+	return ctx_data_pointer_get(C, "active_bone");
 }
 
 int CTX_data_selected_bones(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_SELECTED_BONES, list);
+	return ctx_data_collection_get(C, "selected_bones", list);
 }
 
 int CTX_data_selected_editable_bones(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_SELECTED_EDITABLE_BONES, list);
+	return ctx_data_collection_get(C, "selected_editable_bones", list);
 }
 
 int CTX_data_visible_bones(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_VISIBLE_BONES, list);
+	return ctx_data_collection_get(C, "visible_bones", list);
 }
 
 int CTX_data_editable_bones(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_EDITABLE_BONES, list);
+	return ctx_data_collection_get(C, "editable_bones", list);
 }
 
 struct bPoseChannel *CTX_data_active_pchan(const bContext *C)
 {
-	return ctx_data_pointer_get(C, CTX_DATA_ACTIVE_PCHAN);
+	return ctx_data_pointer_get(C, "active_pchan");
 }
 
 int CTX_data_selected_pchans(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_SELECTED_PCHANS, list);
+	return ctx_data_collection_get(C, "selected_pchans", list);
 }
 
 int CTX_data_visible_pchans(const bContext *C, ListBase *list)
 {
-	return ctx_data_collection_get(C, CTX_DATA_VISIBLE_PCHANS, list);
-}
-
-
-/* data evaluation */
-
-float CTX_eval_frame(const bContext *C)
-{
-	return (C->data.scene)? C->data.scene->r.cfra: 0.0f;
-}
-
-int CTX_eval_render_resolution(const bContext *C)
-{
-	return C->eval.render;
-}
-
-void CTX_eval_render_resolution_set(bContext *C, int render)
-{
-	C->eval.render= render;
+	return ctx_data_collection_get(C, "visible_pchans", list);
 }
 
diff --git a/source/blender/blenkernel/intern/depsgraph.c b/source/blender/blenkernel/intern/depsgraph.c
index 0f48133efc7..917fb7d1de4 100644
--- a/source/blender/blenkernel/intern/depsgraph.c
+++ b/source/blender/blenkernel/intern/depsgraph.c
@@ -55,7 +55,7 @@
 #include "DNA_object_types.h"
 #include "DNA_object_force.h"
 #include "DNA_object_fluidsim.h"
-#include "DNA_oops_types.h"
+#include "DNA_outliner_types.h"
 #include "DNA_particle_types.h"
 #include "DNA_scene_types.h"
 #include "DNA_screen_types.h"
diff --git a/source/blender/blenkernel/intern/exotic.c b/source/blender/blenkernel/intern/exotic.c
index 249d3db9423..ae423cdd3aa 100644
--- a/source/blender/blenkernel/intern/exotic.c
+++ b/source/blender/blenkernel/intern/exotic.c
@@ -2388,7 +2388,7 @@ void write_stl(Scene *scene, char *str)
 static void write_videoscape_mesh(Scene *scene, Object *ob, char *str)
 {
 	Mesh *me= ob->data;
-	EditMesh *em = me->edit_mesh;
+	EditMesh *em = EM_GetEditMesh(me);
 	Material *ma;
 	MFace *mface;
 	FILE *fp;
@@ -2489,6 +2489,8 @@ static void write_videoscape_mesh(Scene *scene, Object *ob, char *str)
 	}
 	
 	fclose(fp);
+
+	if (em) EM_EndEditMesh(em);
 	
 }
 
diff --git a/source/blender/blenkernel/intern/fcurve.c b/source/blender/blenkernel/intern/fcurve.c
index 6f3cad7995c..2dfa1db171f 100644
--- a/source/blender/blenkernel/intern/fcurve.c
+++ b/source/blender/blenkernel/intern/fcurve.c
@@ -6,6 +6,7 @@
 #include <math.h>
 #include <stdio.h>
 #include <string.h>
+#include <float.h>
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -58,7 +59,7 @@ void free_fcurve (FCurve *fcu)
 	fcurve_free_driver(fcu);
 	fcurve_free_modifiers(fcu);
 	
-	/* free f-cruve itself */
+	/* free f-curve itself */
 	MEM_freeN(fcu);
 }
 
@@ -1105,25 +1106,39 @@ static float fcurve_eval_samples (FCurve *fcu, FPoint *fpts, float evaltime)
 static FModifierTypeInfo FMI_MODNAME = {
 	FMODIFIER_TYPE_MODNAME, /* type */
 	sizeof(FMod_ModName), /* size */
+	FMI_TYPE_SOME_ACTION, /* action type */
+	FMI_REQUIRES_SOME_REQUIREMENT, /* requirements */
 	"Modifier Name", /* name */
 	"FMod_ModName", /* struct name */
 	fcm_modname_free, /* free data */
 	fcm_modname_relink, /* relink data */
 	fcm_modname_copy, /* copy data */
 	fcm_modname_new_data, /* new data */
+	fcm_modname_verify, /* verify */
 	fcm_modname_evaluate /* evaluate */
 };
 #endif
 
 /* Generator F-Curve Modifier --------------------------- */
 
+/* Generators available:
+ * 	1) simple polynomial generator:
+ *		- Exanded form - (y = C[0]*(x^(n)) + C[1]*(x^(n-1)) + ... + C[n])  
+ *		- Factorised form - (y = (C[0][0]*x + C[0][1]) * (C[1][0]*x + C[1][1]) * ... * (C[n][0]*x + C[n][1]))
+ *	2) simple builin 'functions':
+ *		of the form (y = C[0] * fn( C[1]*x + C[2] ) + C[3])
+ * 	   where fn() can be any one of:
+ *		sin, cos, tan, ln, sqrt
+ *	3) expression...
+ */
+
 static void fcm_generator_free (FModifier *fcm)
 {
 	FMod_Generator *data= (FMod_Generator *)fcm->data;
 	
 	/* free polynomial coefficients array */
-	if (data->poly_coefficients)
-		MEM_freeN(data->poly_coefficients);
+	if (data->coefficients)
+		MEM_freeN(data->coefficients);
 }
 
 static void fcm_generator_copy (FModifier *fcm, FModifier *src)
@@ -1131,9 +1146,9 @@ static void fcm_generator_copy (FModifier *fcm, FModifier *src)
 	FMod_Generator *gen= (FMod_Generator *)fcm->data;
 	FMod_Generator *ogen= (FMod_Generator *)src->data;
 	
-	/* copy polynomial coefficients array? */
-	if (ogen->poly_coefficients)
-		gen->poly_coefficients= MEM_dupallocN(ogen->poly_coefficients);
+	/* copy coefficients array? */
+	if (ogen->coefficients)
+		gen->coefficients= MEM_dupallocN(ogen->coefficients);
 }
 
 static void fcm_generator_new_data (void *mdata)
@@ -1143,33 +1158,225 @@ static void fcm_generator_new_data (void *mdata)
 	
 	/* set default generator to be linear 0-1 (gradient = 1, y-offset = 0) */
 	data->poly_order= 1;
-	cp= data->poly_coefficients= MEM_callocN(sizeof(float)*2, "FMod_Generator_Coefs");
+	data->arraysize= 2;
+	cp= data->coefficients= MEM_callocN(sizeof(float)*2, "FMod_Generator_Coefs");
 	cp[0] = 0; // y-offset 
 	cp[1] = 1; // gradient
 }
 
+static void fcm_generator_verify (FModifier *fcm)
+{
+	FMod_Generator *data= (FMod_Generator *)fcm->data;
+	
+	/* requirements depend on mode */
+	switch (data->mode) {
+		case FCM_GENERATOR_POLYNOMIAL: /* expanded polynomial expression */
+		{
+			/* arraysize needs to be order+1, so resize if not */
+			if (data->arraysize != (data->poly_order+1)) {
+				float *nc;
+				
+				/* make new coefficients array, and copy over as much data as can fit */
+				nc= MEM_callocN(sizeof(float)*(data->poly_order+1), "FMod_Generator_Coefs");
+				
+				if (data->coefficients) {
+					if (data->arraysize > (data->poly_order+1))
+						memcpy(nc, data->coefficients, sizeof(float)*(data->poly_order+1));
+					else
+						memcpy(nc, data->coefficients, sizeof(float)*data->arraysize);
+						
+					/* free the old data */
+					MEM_freeN(data->coefficients);
+				}	
+				
+				/* set the new data */
+				data->coefficients= nc;
+				data->arraysize= data->poly_order+1;
+			}
+		}
+			break;
+		
+		case FCM_GENERATOR_POLYNOMIAL_FACTORISED: /* expanded polynomial expression */
+		{
+			/* arraysize needs to be 2*order, so resize if not */
+			if (data->arraysize != (data->poly_order * 2)) {
+				float *nc;
+				
+				/* make new coefficients array, and copy over as much data as can fit */
+				nc= MEM_callocN(sizeof(float)*(data->poly_order*2), "FMod_Generator_Coefs");
+				
+				if (data->coefficients) {
+					if (data->arraysize > (data->poly_order * 2))
+						memcpy(nc, data->coefficients, sizeof(float)*(data->poly_order * 2));
+					else
+						memcpy(nc, data->coefficients, sizeof(float)*data->arraysize);
+						
+					/* free the old data */
+					MEM_freeN(data->coefficients);
+				}	
+				
+				/* set the new data */
+				data->coefficients= nc;
+				data->arraysize= data->poly_order * 2;
+			}
+		}
+			break;
+			
+		case FCM_GENERATOR_FUNCTION: /* builtin function */
+		{
+			/* arraysize needs to be 4*/
+			if (data->arraysize != 4) {
+				float *nc;
+				
+				/* free the old data */
+				if (data->coefficients)
+					MEM_freeN(data->coefficients);
+				
+				/* make new coefficients array, and init using default values */
+				nc= data->coefficients= MEM_callocN(sizeof(float)*4, "FMod_Generator_Coefs");
+				data->arraysize= 4;
+				
+				nc[0]= 1.0f;
+				nc[1]= 1.0f;
+				nc[2]= 0.0f;
+				nc[3]= 0.0f;
+			}
+		}
+			break;	
+	}
+}
 
 static void fcm_generator_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, float evaltime)
 {
 	FMod_Generator *data= (FMod_Generator *)fcm->data;
 	
-	/* behaviour depends on mode (NOTE: we don't need to do anything...) */
+	/* behaviour depends on mode 
+	 * NOTE: the data in its default state is fine too
+	 */
 	switch (data->mode) {
-		case FCM_GENERATOR_POLYNOMIAL: /* polynomial expression */
+		case FCM_GENERATOR_POLYNOMIAL: /* expanded polynomial expression */
 		{
 			/* we overwrite cvalue with the sum of the polynomial */
-			float value= 0.0f, *cp = NULL;
+			float *powers = MEM_callocN(sizeof(float)*data->arraysize, "Poly Powers");
+			float value= 0.0f;
 			unsigned int i;
 			
+			/* for each x^n, precalculate value based on previous one first... this should be 
+			 * faster that calling pow() for each entry
+			 */
+			for (i=0; i < data->arraysize; i++) {
+				/* first entry is x^0 = 1, otherwise, calculate based on previous */
+				if (i)
+					powers[i]= powers[i-1] * evaltime;
+				else
+					powers[0]= 1;
+			}
+			
 			/* for each coefficient, add to value, which we'll write to *cvalue in one go */
-			// TODO: could this be more efficient (i.e. without need to recalc pow() everytime)
-			cp= data->poly_coefficients;
-			for (i=0; (i <= data->poly_order) && (cp); i++, cp++)
-				value += (*cp) * (float)pow(evaltime, i);
+			for (i=0; i < data->arraysize; i++)
+				value += data->coefficients[i] * powers[i];
 			
-			/* only if something changed */
-			if (data->poly_order)
-				*cvalue= value;
+			/* only if something changed, write *cvalue in one go */
+			if (data->poly_order) {
+				if (data->flag & FCM_GENERATOR_ADDITIVE)
+					*cvalue += value;
+				else
+					*cvalue= value;
+			}
+				
+			/* cleanup */
+			if (powers) 
+				MEM_freeN(powers);
+		}
+			break;
+			
+		case FCM_GENERATOR_POLYNOMIAL_FACTORISED: /* factorised polynomial */
+		{
+			float value= 1.0f, *cp=NULL;
+			unsigned int i;
+			
+			/* for each coefficient pair, solve for that bracket before accumulating in value by multiplying */
+			for (cp=data->coefficients, i=0; (cp) && (i < data->poly_order); cp+=2, i++) 
+				value *= (cp[0]*evaltime + cp[1]);
+				
+			/* only if something changed, write *cvalue in one go */
+			if (data->poly_order) {
+				if (data->flag & FCM_GENERATOR_ADDITIVE)
+					*cvalue += value;
+				else
+					*cvalue= value;
+			}
+		}
+			break;
+			
+		case FCM_GENERATOR_FUNCTION: /* builtin function */
+		{
+			double arg= data->coefficients[1]*evaltime + data->coefficients[2];
+			double (*fn)(double v) = NULL;
+			
+			/* get function pointer to the func to use:
+			 * WARNING: must perform special argument validation hereto guard against crashes  
+			 */
+			switch (data->func_type)
+			{
+				/* simple ones */			
+				case FCM_GENERATOR_FN_SIN: /* sine wave */
+					fn= sin;
+					break;
+				case FCM_GENERATOR_FN_COS: /* cosine wave */
+					fn= cos;
+					break;
+					
+				/* validation required */
+				case FCM_GENERATOR_FN_TAN: /* tangent wave */
+				{
+					/* check that argument is not on one of the discontinuities (i.e. 90deg, 270 deg, etc) */
+					if IS_EQ(fmod((arg - M_PI_2), M_PI), 0.0) {
+						if ((data->flag & FCM_GENERATOR_ADDITIVE) == 0)
+							*cvalue = 0.0f; /* no value possible here */
+					}
+					else
+						fn= tan;
+				}
+					break;
+				case FCM_GENERATOR_FN_LN: /* natural log */
+				{
+					/* check that value is greater than 1? */
+					if (arg > 1.0f) {
+						fn= log;
+					}
+					else {
+						if ((data->flag & FCM_GENERATOR_ADDITIVE) == 0)
+							*cvalue = 0.0f; /* no value possible here */
+					}
+				}
+					break;
+				case FCM_GENERATOR_FN_SQRT: /* square root */
+				{
+					/* no negative numbers */
+					if (arg > 0.0f) {
+						fn= sqrt;
+					}
+					else {
+						if ((data->flag & FCM_GENERATOR_ADDITIVE) == 0)
+							*cvalue = 0.0f; /* no value possible here */
+					}
+				}
+					break;
+					
+				default:
+					printf("Invalid Function-Generator for F-Modifier - %d \n", data->func_type);
+			}
+			
+			/* execute function callback to set value if appropriate */
+			if (fn) {
+				float value= data->coefficients[0]*fn(arg) + data->coefficients[3];
+				
+				if (data->flag & FCM_GENERATOR_ADDITIVE)
+					*cvalue += value;
+				else
+					*cvalue= value;
+			}
 		}
 			break;
 
@@ -1184,11 +1391,14 @@ static void fcm_generator_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue,
 static FModifierTypeInfo FMI_GENERATOR = {
 	FMODIFIER_TYPE_GENERATOR, /* type */
 	sizeof(FMod_Generator), /* size */
+	FMI_TYPE_GENERATE_CURVE, /* action type */
+	FMI_REQUIRES_NOTHING, /* requirements */
 	"Generator", /* name */
 	"FMod_Generator", /* struct name */
 	fcm_generator_free, /* free data */
 	fcm_generator_copy, /* copy data */
 	fcm_generator_new_data, /* new data */
+	fcm_generator_verify, /* verify */
 	fcm_generator_evaluate /* evaluate */
 };
 
@@ -1196,21 +1406,40 @@ static FModifierTypeInfo FMI_GENERATOR = {
 
 static void fcm_envelope_free (FModifier *fcm)
 {
-	FMod_Envelope *data= (FMod_Envelope *)fcm->data;
+	FMod_Envelope *env= (FMod_Envelope *)fcm->data;
 	
 	/* free envelope data array */
-	if (data->data)
-		MEM_freeN(data->data);
+	if (env->data)
+		MEM_freeN(env->data);
 }
 
 static void fcm_envelope_copy (FModifier *fcm, FModifier *src)
 {
-	FMod_Envelope *gen= (FMod_Envelope *)fcm->data;
-	FMod_Envelope *ogen= (FMod_Envelope *)src->data;
+	FMod_Envelope *env= (FMod_Envelope *)fcm->data;
+	FMod_Envelope *oenv= (FMod_Envelope *)src->data;
 	
 	/* copy envelope data array */
-	if (ogen->data)
-		gen->data= MEM_dupallocN(ogen->data);
+	if (oenv->data)
+		env->data= MEM_dupallocN(oenv->data);
+}
+
+static void fcm_envelope_new_data (void *mdata)
+{
+	FMod_Envelope *env= (FMod_Envelope *)mdata;
+	
+	/* set default min/max ranges */
+	env->min= -1.0f;
+	env->max= 1.0f;
+}
+
+static void fcm_envelope_verify (FModifier *fcm)
+{
+	FMod_Envelope *env= (FMod_Envelope *)fcm->data;
+	
+	/* if the are points, perform bubble-sort on them, as user may have changed the order */
+	if (env->data) {
+		// XXX todo...
+	}
 }
 
 static void fcm_envelope_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, float evaltime)
@@ -1224,7 +1453,7 @@ static void fcm_envelope_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, f
 	if (env->data == NULL) return;
 	prevfed= env->data;
 	fed= prevfed + 1;
-	lastfed= prevfed + env->totvert-1;
+	lastfed= prevfed + (env->totvert-1);
 	
 	/* get min/max values for envelope at evaluation time (relative to mid-value) */
 	if (prevfed->time >= evaltime) {
@@ -1239,6 +1468,7 @@ static void fcm_envelope_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, f
 	}
 	else {
 		/* evaltime occurs somewhere between segments */
+		// TODO: implement binary search for this to make it faster?
 		for (a=0; prevfed && fed && (a < env->totvert-1); a++, prevfed=fed, fed++) {  
 			/* evaltime occurs within the interval defined by these two envelope points */
 			if ((prevfed->time <= evaltime) && (fed->time >= evaltime)) {
@@ -1246,10 +1476,10 @@ static void fcm_envelope_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, f
 				
 				diff= fed->time - prevfed->time;
 				afac= (evaltime - prevfed->time) / diff;
-				bfac= (fed->time - evaltime)/(diff);
+				bfac= (fed->time - evaltime) / diff;
 				
-				min= afac*prevfed->min + bfac*fed->min;
-				max= afac*prevfed->max + bfac*fed->max;
+				min= bfac*prevfed->min + afac*fed->min;
+				max= bfac*prevfed->max + afac*fed->max;
 				
 				break;
 			}
@@ -1257,20 +1487,24 @@ static void fcm_envelope_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, f
 	}
 	
 	/* adjust *cvalue 
-	 * NOTE: env->min/max are relative to env->midval, and can be either +ve OR -ve, so we add...
+	 *	- fac is the ratio of how the current y-value corresponds to the reference range
+	 *	- thus, the new value is found by mapping the old range to the new!
 	 */
-	fac= (*cvalue - min) / (max - min);
-	*cvalue= (env->midval + env->min) + (fac * (env->max - env->min)); 
+	fac= (*cvalue - (env->midval + env->min)) / (env->max - env->min);
+	*cvalue= min + fac*(max - min); 
 }
 
 static FModifierTypeInfo FMI_ENVELOPE = {
 	FMODIFIER_TYPE_ENVELOPE, /* type */
 	sizeof(FMod_Envelope), /* size */
+	FMI_TYPE_REPLACE_VALUES, /* action type */
+	0, /* requirements */
 	"Envelope", /* name */
 	"FMod_Envelope", /* struct name */
 	fcm_envelope_free, /* free data */
 	fcm_envelope_copy, /* copy data */
-	NULL, /* new data */
+	fcm_envelope_new_data, /* new data */
+	fcm_envelope_verify, /* verify */
 	fcm_envelope_evaluate /* evaluate */
 };
 
@@ -1286,6 +1520,14 @@ static FModifierTypeInfo FMI_ENVELOPE = {
  * 				as appropriate
  */
 
+static void fcm_cycles_new_data (void *mdata)
+{
+	FMod_Cycles *data= (FMod_Cycles *)mdata;
+	
+	/* turn on cycles by default */
+	data->before_mode= data->after_mode= FCM_EXTRAPOLATE_CYCLIC;
+}
+ 
 static void fcm_cycles_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, float evaltime)
 {
 	FMod_Cycles *data= (FMod_Cycles *)fcm->data;
@@ -1331,7 +1573,7 @@ static void fcm_cycles_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, flo
 	 *	2) if before first frame or after last frame, make sure some cycling is in use
 	 */
 	if (evaltime < prevkey[0]) {
-		if (data->before_mode) {
+		if (data->before_mode)  {
 			side= -1;
 			mode= data->before_mode;
 			cycles= data->before_cycles;
@@ -1347,8 +1589,7 @@ static void fcm_cycles_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, flo
 	if ELEM(0, side, mode)
 		return;
 		
-	/* extrapolation mode is 'cyclic' - find relative place within a cycle */
-	// FIXME: adding the more fine-grained control of extrpolation mode
+	/* find relative place within a cycle */
 	{
 		float cycdx=0, cycdy=0, ofs=0;
 		
@@ -1362,15 +1603,19 @@ static void fcm_cycles_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, flo
 		/* check if cycle is infinitely small, to be point of being impossible to use */
 		if (cycdx == 0)
 			return;
+			
 		/* check that cyclic is still enabled for the specified time */
 		if (cycles == 0) {
 			/* catch this case so that we don't exit when we have cycles=0
 			 * as this indicates infinite cycles...
 			 */
 		}
-		else if ( ((float)side * (evaltime - ofs) / cycdx) > cycles )
+		else if ( ((float)side * (evaltime - ofs) / cycdx) > (cycles+1) ) {
+			/* we are too far away from range to evaluate
+			 * TODO: but we should still hold last value... 
+			 */
 			return;
-		
+		}
 		
 		/* check if 'cyclic extrapolation', and thus calculate y-offset for this cycle */
 		if (mode == FCM_EXTRAPOLATE_CYCLIC_OFFSET) {
@@ -1399,11 +1644,14 @@ static void fcm_cycles_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, flo
 static FModifierTypeInfo FMI_CYCLES = {
 	FMODIFIER_TYPE_CYCLES, /* type */
 	sizeof(FMod_Cycles), /* size */
+	FMI_TYPE_EXTRAPOLATION, /* action type */
+	FMI_REQUIRES_ORIGINAL_DATA, /* requirements */
 	"Cycles", /* name */
 	"FMod_Cycles", /* struct name */
 	NULL, /* free data */
 	NULL, /* copy data */
-	NULL, /* new data */
+	fcm_cycles_new_data, /* new data */
+	NULL /*fcm_cycles_verify*/, /* verify */
 	fcm_cycles_evaluate /* evaluate */
 };
 
@@ -1413,11 +1661,14 @@ static FModifierTypeInfo FMI_CYCLES = {
 static FModifierTypeInfo FMI_NOISE = {
 	FMODIFIER_TYPE_NOISE, /* type */
 	sizeof(FMod_Noise), /* size */
+	FMI_TYPE_REPLACE_VALUES, /* action type */
+	0, /* requirements */
 	"Noise", /* name */
 	"FMod_Noise", /* struct name */
 	NULL, /* free data */
 	NULL, /* copy data */
 	fcm_noise_new_data, /* new data */
+	NULL /*fcm_noise_verify*/, /* verify */
 	fcm_noise_evaluate /* evaluate */
 };
 #endif // XXX not yet implemented
@@ -1428,11 +1679,14 @@ static FModifierTypeInfo FMI_NOISE = {
 static FModifierTypeInfo FMI_FILTER = {
 	FMODIFIER_TYPE_FILTER, /* type */
 	sizeof(FMod_Filter), /* size */
+	FMI_TYPE_REPLACE_VALUES, /* action type */
+	0, /* requirements */
 	"Filter", /* name */
 	"FMod_Filter", /* struct name */
 	NULL, /* free data */
 	NULL, /* copy data */
 	NULL, /* new data */
+	NULL /*fcm_filter_verify*/, /* verify */
 	fcm_filter_evaluate /* evaluate */
 };
 #endif // XXX not yet implemented
@@ -1480,18 +1734,21 @@ static void fcm_python_evaluate (FCurve *fcu, FModifier *fcm, float *cvalue, flo
 static FModifierTypeInfo FMI_PYTHON = {
 	FMODIFIER_TYPE_PYTHON, /* type */
 	sizeof(FMod_Python), /* size */
+	FMI_TYPE_GENERATE_CURVE, /* action type */
+	FMI_REQUIRES_RUNTIME_CHECK, /* requirements */
 	"Python", /* name */
 	"FMod_Python", /* struct name */
 	fcm_python_free, /* free data */
 	fcm_python_copy, /* copy data */
 	fcm_python_new_data, /* new data */
+	NULL /*fcm_python_verify*/, /* verify */
 	fcm_python_evaluate /* evaluate */
 };
 
 
 /* F-Curve Modifier API --------------------------- */
 /* All of the F-Curve Modifier api functions use FModifierTypeInfo structs to carry out
- * and operations that involve F-Curve modifier specifc code.
+ * and operations that involve F-Curve modifier specific code.
  */
 
 /* These globals only ever get directly accessed in this file */
@@ -1499,7 +1756,8 @@ static FModifierTypeInfo *fmodifiersTypeInfo[FMODIFIER_NUM_TYPES];
 static short FMI_INIT= 1; /* when non-zero, the list needs to be updated */
 
 /* This function only gets called when FMI_INIT is non-zero */
-static void fmods_init_typeinfo () {
+static void fmods_init_typeinfo () 
+{
 	fmodifiersTypeInfo[0]=  NULL; 					/* 'Null' F-Curve Modifier */
 	fmodifiersTypeInfo[1]=  &FMI_GENERATOR; 		/* Generator F-Curve Modifier */
 	fmodifiersTypeInfo[2]=  &FMI_ENVELOPE;			/* Envelope F-Curve Modifier */
@@ -1568,10 +1826,12 @@ FModifier *fcurve_add_modifier (FCurve *fcu, int type)
 	
 	/* add modifier itself */
 	fcm= MEM_callocN(sizeof(FModifier), "F-Curve Modifier");
+	fcm->type = type;
+	fcm->flag = FMODIFIER_FLAG_EXPANDED;
 	BLI_addtail(&fcu->modifiers, fcm);
 	
 	/* add modifier's data */
-	fcm->data= MEM_callocN(fmi->size, "F-Curve Modifier Data");
+	fcm->data= MEM_callocN(fmi->size, fmi->structName);
 		
 	/* init custom settings if necessary */
 	if (fmi->new_data)	
@@ -1614,11 +1874,13 @@ void fcurve_remove_modifier (FCurve *fcu, FModifier *fcm)
 		return;
 	
 	/* free modifier's special data (stored inside fcm->data) */
-	if (fmi && fmi->free_data)
-		fmi->free_data(fcm);
-		
-	/* free modifier's data (fcm->data) */
-	MEM_freeN(fcm->data);
+	if (fcm->data) {
+		if (fmi && fmi->free_data)
+			fmi->free_data(fcm);
+			
+		/* free modifier's data (fcm->data) */
+		MEM_freeN(fcm->data);
+	}
 	
 	/* remove modifier from stack */
 	if (fcu)
@@ -1674,12 +1936,48 @@ void fcurve_bake_modifiers (FCurve *fcu, int start, int end)
 	fcu->driver= driver;
 }
 
+/* Find the active F-Curve Modifier */
+FModifier *fcurve_find_active_modifier (FCurve *fcu)
+{
+	FModifier *fcm;
+	
+	/* sanity checks */
+	if ELEM(NULL, fcu, fcu->modifiers.first)
+		return NULL;
+	
+	/* loop over modifiers until 'active' one is found */
+	for (fcm= fcu->modifiers.first; fcm; fcm= fcm->next) {
+		if (fcm->flag & FMODIFIER_FLAG_ACTIVE)
+			return fcm;
+	}
+	
+	/* no modifier is active */
+	return NULL;
+}
+
+/* Set the active F-Curve Modifier */
+void fcurve_set_active_modifier (FCurve *fcu, FModifier *fcm)
+{
+	FModifier *fm;
+	
+	/* sanity checks */
+	if ELEM(NULL, fcu, fcu->modifiers.first)
+		return;
+	
+	/* deactivate all, and set current one active */
+	for (fm= fcu->modifiers.first; fm; fm= fm->next)
+		fm->flag &= ~FMODIFIER_FLAG_ACTIVE;
+	
+	/* make given modifier active */
+	if (fcm)
+		fcm->flag |= FMODIFIER_FLAG_ACTIVE;
+}
+
 /* ***************************** F-Curve - Evaluation ********************************* */
 
 /* Evaluate and return the value of the given F-Curve at the specified frame ("evaltime") 
  * Note: this is also used for drivers
  */
-// TODO: set up the modifier system...
 float evaluate_fcurve (FCurve *fcu, float evaltime) 
 {
 	FModifier *fcm;
@@ -1711,6 +2009,12 @@ float evaluate_fcurve (FCurve *fcu, float evaltime)
 		}
 	}
 	
+	/* if curve can only have integral values, perform truncation (i.e. drop the decimal part)
+	 * here so that the curve can be sampled correctly
+	 */
+	if (fcu->flag & FCURVE_INT_VALUES)
+		cvalue= (float)((int)cvalue);
+	
 	/* return evaluated value */
 	return cvalue;
 }
diff --git a/source/blender/blenkernel/intern/ipo.c b/source/blender/blenkernel/intern/ipo.c
index dbb720fb0bc..b9417ccb467 100644
--- a/source/blender/blenkernel/intern/ipo.c
+++ b/source/blender/blenkernel/intern/ipo.c
@@ -1730,53 +1730,5 @@ void do_versions_ipos_to_animato(Main *main)
 	/* free unused drivers from actions + ipos */
 	free_fcurves(&drivers);
 	
-	printf("INFO: animato convert done \n"); // xxx debug
+	printf("INFO: Animato convert done \n"); // xxx debug
 }
-
-
-
-#if 0 // XXX old animation system
-
-/* ***************************** IPO - DataAPI ********************************* */
-
-// !!!!!!!!!!!!!!!!!!!!!!!!!!!! FIXME - BAD CRUFT WARNING !!!!!!!!!!!!!!!!!!!!!!!
-
-/* These functions here should be replaced eventually by the Data API, as this is 
- * inflexible duplication...
- */
-
-/* --------------------- Get Pointer API ----------------------------- */ 
-
-
-/* GS reads the memory pointed at in a specific ordering. There are,
- * however two definitions for it. I have jotted them down here, both,
- * but I think the first one is actually used. The thing is that
- * big-endian systems might read this the wrong way round. OTOH, we
- * constructed the IDs that are read out with this macro explicitly as
- * well. I expect we'll sort it out soon... */
-
-/* from blendef: */
-#define GS(a)	(*((short *)(a)))
-
-/* from misc_util: flip the bytes from x  */
-/*  #define GS(x) (((unsigned char *)(x))[0] << 8 | ((unsigned char *)(x))[1]) */
-
-
-/* general function to get pointer to source/destination data  */
-void *get_ipo_poin (ID *id, IpoCurve *icu, int *type)
-{
-	void *poin= NULL;
-	MTex *mtex= NULL;
-
-	/* most channels will have float data, but those with other types will override this */
-	*type= IPO_FLOAT;
-
-	/* data is divided into 'blocktypes' based on ID-codes */
-	// all adr codes put into converters!
-
-	/* return pointer */
-	return poin;
-}
-
-
-#endif // XXX old animation system
diff --git a/source/blender/blenkernel/intern/modifier.c b/source/blender/blenkernel/intern/modifier.c
index 62c9699aaf9..1239bc80875 100644
--- a/source/blender/blenkernel/intern/modifier.c
+++ b/source/blender/blenkernel/intern/modifier.c
@@ -6377,20 +6377,11 @@ static DerivedMesh * particleInstanceModifier_applyModifier(
 	psys->lattice=psys_get_lattice(md->scene, ob, psys);
 
 	if(psys->flag & (PSYS_HAIR_DONE|PSYS_KEYED)){
-		float co[3];
-		for(i=0; i< totvert; i++){
-			dm->getVertCo(dm,i,co);
-			if(i==0){
-				min_co=max_co=co[track];
-			}
-			else{
-				if(co[track]<min_co)
-					min_co=co[track];
 
-				if(co[track]>max_co)
-					max_co=co[track];
-			}
-		}
+		float min_r[3], max_r[3];
+		dm->getMinMax(dm, min_r, max_r);		
+		min_co=min_r[track];
+		max_co=max_r[track];
 	}
 
 	result = CDDM_from_template(dm, maxvert,dm->getNumEdges(dm)*totpart,maxface);
@@ -7550,6 +7541,7 @@ static void meshdeformModifier_do(
 	DerivedMesh *tmpdm, *cagedm;
 	MDeformVert *dvert = NULL;
 	MDeformWeight *dw;
+	EditMesh *em = EM_GetEditMesh(me);
 	MVert *cagemvert;
 	float imat[4][4], cagemat[4][4], iobmat[4][4], icagemat[3][3], cmat[4][4];
 	float weight, totweight, fac, co[3], *weights, (*dco)[3], (*bindcos)[3];
@@ -7559,10 +7551,11 @@ static void meshdeformModifier_do(
 		return;
 	
 	/* get cage derivedmesh */
-	if(me->edit_mesh) {
-		tmpdm= editmesh_get_derived_cage_and_final(md->scene, ob, me->edit_mesh, &cagedm, 0);
+	if(em) {
+		tmpdm= editmesh_get_derived_cage_and_final(md->scene, ob, em, &cagedm, 0);
 		if(tmpdm)
 			tmpdm->release(tmpdm);
+		EM_EndEditMesh(em);
 	}
 	else
 		cagedm= mmd->object->derivedFinal;
diff --git a/source/blender/blenkernel/intern/node.c b/source/blender/blenkernel/intern/node.c
index 1e0abac915b..1acad4e9e86 100644
--- a/source/blender/blenkernel/intern/node.c
+++ b/source/blender/blenkernel/intern/node.c
@@ -1999,19 +1999,23 @@ static bNodeThreadStack *ntreeGetThreadStack(bNodeTree *ntree, int thread)
 {
 	ListBase *lb= &ntree->threadstack[thread];
 	bNodeThreadStack *nts;
-
+	
+	/* for material shading this is called quite a lot (perhaps too much locking unlocking)
+	 * however without locking we get bug #18058 - Campbell */
+	BLI_lock_thread(LOCK_CUSTOM1); 
+	
 	for(nts=lb->first; nts; nts=nts->next) {
 		if(!nts->used) {
 			nts->used= 1;
+			BLI_unlock_thread(LOCK_CUSTOM1);
 			return nts;
 		}
 	}
-	
 	nts= MEM_callocN(sizeof(bNodeThreadStack), "bNodeThreadStack");
 	nts->stack= MEM_dupallocN(ntree->stack);
 	nts->used= 1;
 	BLI_addtail(lb, nts);
-
+	BLI_unlock_thread(LOCK_CUSTOM1);
 	return nts;
 }
 
@@ -3003,12 +3007,15 @@ static void registerTextureNodes(ListBase *ntypelist)
 	nodeRegisterType(ntypelist, &tex_node_mix_rgb);
 	nodeRegisterType(ntypelist, &tex_node_valtorgb);
 	nodeRegisterType(ntypelist, &tex_node_rgbtobw);
+	nodeRegisterType(ntypelist, &tex_node_valtonor);
 	nodeRegisterType(ntypelist, &tex_node_curve_rgb);
 	nodeRegisterType(ntypelist, &tex_node_curve_time);
 	nodeRegisterType(ntypelist, &tex_node_invert);
 	nodeRegisterType(ntypelist, &tex_node_hue_sat);
 	nodeRegisterType(ntypelist, &tex_node_coord);
 	nodeRegisterType(ntypelist, &tex_node_distance);
+	nodeRegisterType(ntypelist, &tex_node_compose);
+	nodeRegisterType(ntypelist, &tex_node_decompose);
 	
 	nodeRegisterType(ntypelist, &tex_node_output);
 	nodeRegisterType(ntypelist, &tex_node_viewer);
@@ -3020,6 +3027,7 @@ static void registerTextureNodes(ListBase *ntypelist)
 	
 	nodeRegisterType(ntypelist, &tex_node_rotate);
 	nodeRegisterType(ntypelist, &tex_node_translate);
+	nodeRegisterType(ntypelist, &tex_node_scale);
 	
 	nodeRegisterType(ntypelist, &tex_node_proc_voronoi);
 	nodeRegisterType(ntypelist, &tex_node_proc_blend);
diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c
index 949808b2e56..7b59a1e6d9c 100644
--- a/source/blender/blenkernel/intern/object.c
+++ b/source/blender/blenkernel/intern/object.c
@@ -58,7 +58,7 @@
 #include "DNA_object_types.h"
 #include "DNA_object_force.h"
 #include "DNA_object_fluidsim.h"
-#include "DNA_oops_types.h"
+#include "DNA_outliner_types.h"
 #include "DNA_particle_types.h"
 #include "DNA_scene_types.h"
 #include "DNA_screen_types.h"
@@ -514,6 +514,7 @@ void unlink_object(Scene *scene, Object *ob)
 	while(sce) {
 		if(sce->id.lib==NULL) {
 			if(sce->camera==ob) sce->camera= NULL;
+			if(sce->toolsettings->skgen_template==ob) sce->toolsettings->skgen_template = NULL;
 		}
 		sce= sce->id.next;
 	}
@@ -553,15 +554,9 @@ void unlink_object(Scene *scene, Object *ob)
 						// XXX if(v3d->localvd->persp==V3D_CAMOB) v3d->localvd->persp= V3D_PERSP;
 					}
 				}
-				else if(sl->spacetype==SPACE_OOPS) {
+				else if(sl->spacetype==SPACE_OUTLINER) {
 					SpaceOops *so= (SpaceOops *)sl;
-					Oops *oops;
 
-					oops= so->oops.first;
-					while(oops) {
-						if(oops->id==(ID *)ob) oops->id= NULL;
-						oops= oops->next;
-					}
 					if(so->treestore) {
 						TreeStoreElem *tselem= so->treestore->data;
 						int a;
@@ -569,7 +564,6 @@ void unlink_object(Scene *scene, Object *ob)
 							if(tselem->id==(ID *)ob) tselem->id= NULL;
 						}
 					}
-					so->lockpoin= NULL;
 				}
 			}
 
@@ -1641,15 +1635,16 @@ static void ob_parbone(Object *ob, Object *par, float mat[][4])
 
 static void give_parvert(Object *par, int nr, float *vec)
 {
+	EditMesh *em;
 	int a, count;
 	
 	vec[0]=vec[1]=vec[2]= 0.0f;
 	
 	if(par->type==OB_MESH) {
 		Mesh *me= par->data;
-		
-		if(me->edit_mesh) {
-			EditMesh *em = me->edit_mesh;
+		em = EM_GetEditMesh(me);
+
+		if(em) {
 			EditVert *eve;
 			
 			for(eve= em->verts.first; eve; eve= eve->next) {
@@ -1658,6 +1653,7 @@ static void give_parvert(Object *par, int nr, float *vec)
 					break;
 				}
 			}
+			EM_EndEditMesh(me, em);
 		}
 		else {
 			DerivedMesh *dm = par->derivedFinal;
@@ -2300,10 +2296,13 @@ void object_handle_update(Scene *scene, Object *ob)
 			
 			/* includes all keys and modifiers */
 			if(ob->type==OB_MESH) {
+				EditMesh *em = EM_GetEditMesh(ob->data);
+
 					// here was vieweditdatamask? XXX
-				if(ob==scene->obedit)
-					makeDerivedMesh(scene, ob, ((Mesh*)ob->data)->edit_mesh, CD_MASK_BAREMESH);
-				else
+				if(ob==scene->obedit) {
+					makeDerivedMesh(scene, ob, em, CD_MASK_BAREMESH);
+					EM_EndEditMesh(ob->data, em);
+				} else
 					makeDerivedMesh(scene, ob, NULL, CD_MASK_BAREMESH);
 			}
 			else if(ob->type==OB_MBALL) {
diff --git a/source/blender/blenkernel/intern/particle_system.c b/source/blender/blenkernel/intern/particle_system.c
index afb4fb68c8c..928730fb1f0 100644
--- a/source/blender/blenkernel/intern/particle_system.c
+++ b/source/blender/blenkernel/intern/particle_system.c
@@ -1575,7 +1575,7 @@ void initialize_particle(ParticleData *pa, int p, Object *ob, ParticleSystem *ps
 		}
 #endif // XXX old animation system
 
-	/* need to get every rand even if we don't use them so that randoms don't affect eachother */
+	/* need to get every rand even if we don't use them so that randoms don't affect each other */
 		rand= BLI_frand();
 		if(part->randlife!=0.0)
 			pa->lifetime*= 1.0f - part->randlife*rand;
@@ -4387,7 +4387,7 @@ static void particles_fluid_step(Scene *scene, Object *ob, ParticleSystem *psys,
 			gzf = gzopen(filename, "rb");
 			if (!gzf) {
 				snprintf(debugStrBuffer,256,"readFsPartData::error - Unable to open file for reading '%s' \n", filename); 
-				elbeemDebugOut(debugStrBuffer);
+				// XXX bad level call elbeemDebugOut(debugStrBuffer);
 				return;
 			}
 	
diff --git a/source/blender/blenkernel/intern/scene.c b/source/blender/blenkernel/intern/scene.c
index 7db96c07592..22f26741c55 100644
--- a/source/blender/blenkernel/intern/scene.c
+++ b/source/blender/blenkernel/intern/scene.c
@@ -287,6 +287,8 @@ Scene *add_scene(char *name)
 	sce->toolsettings->skgen_subdivisions[1] = SKGEN_SUB_LENGTH;
 	sce->toolsettings->skgen_subdivisions[2] = SKGEN_SUB_ANGLE;
 
+	sce->toolsettings->proportional_size = 1.0f;
+
 	pset= &sce->toolsettings->particle;
 	pset->flag= PE_KEEP_LENGTHS|PE_LOCK_FIRST|PE_DEFLECT_EMITTER;
 	pset->emitterdist= 0.25f;
diff --git a/source/blender/blenkernel/intern/screen.c b/source/blender/blenkernel/intern/screen.c
index 063c617e6bb..483876e5e05 100644
--- a/source/blender/blenkernel/intern/screen.c
+++ b/source/blender/blenkernel/intern/screen.c
@@ -54,8 +54,11 @@ static void spacetype_free(SpaceType *st)
 {
 	ARegionType *art;
 	
-	for(art= st->regiontypes.first; art; art= art->next)
+	for(art= st->regiontypes.first; art; art= art->next) {
 		BLI_freelistN(&art->drawcalls);
+		BLI_freelistN(&art->paneltypes);
+		BLI_freelistN(&art->headertypes);
+	}
 	
 	BLI_freelistN(&st->regiontypes);
 }
@@ -199,7 +202,7 @@ void BKE_spacedata_copylist(ListBase *lb1, ListBase *lb2)
 {
 	SpaceLink *sl;
 	
-	lb1->first= lb2->last= NULL;	/* to be sure */
+	lb1->first= lb1->last= NULL;	/* to be sure */
 	
 	for (sl= lb2->first; sl; sl= sl->next) {
 		SpaceType *st= BKE_spacetype_from_id(sl->spacetype);
@@ -214,6 +217,27 @@ void BKE_spacedata_copylist(ListBase *lb1, ListBase *lb2)
 	}
 }
 
+/* lb1 should be empty */
+void BKE_spacedata_copyfirst(ListBase *lb1, ListBase *lb2)
+{
+	SpaceLink *sl;
+	
+	lb1->first= lb1->last= NULL;	/* to be sure */
+	
+	sl= lb2->first;
+	if(sl) {
+		SpaceType *st= BKE_spacetype_from_id(sl->spacetype);
+
+		if(st && st->duplicate) {
+			SpaceLink *slnew= st->duplicate(sl);
+
+			BLI_addtail(lb1, slnew);
+
+			region_copylist(st, &slnew->regionbase, &sl->regionbase);
+		}
+	}
+}
+
 /* not region itself */
 void BKE_area_region_free(SpaceType *st, ARegion *ar)
 {
diff --git a/source/blender/blenkernel/intern/seqeffects.c b/source/blender/blenkernel/intern/seqeffects.c
index 11f8dfdf330..2ee95ed928e 100644
--- a/source/blender/blenkernel/intern/seqeffects.c
+++ b/source/blender/blenkernel/intern/seqeffects.c
@@ -926,18 +926,18 @@ static void free_gammacross(Sequence * seq)
 
 static void do_gammacross_effect_byte(float facf0, float facf1, 
 				      int x, int y, 
-				      char *rect1, 
-				      char *rect2, 
-				      char *out)
+				      unsigned char *rect1, 
+				      unsigned char *rect2, 
+				      unsigned char *out)
 {
 	int fac1, fac2, col;
 	int xo;
-	char *rt1, *rt2, *rt;
+	unsigned char *rt1, *rt2, *rt;
 	
 	xo= x;
-	rt1= (signed char *)rect1;
-	rt2= (signed char *)rect2;
-	rt= (signed char *)out;
+	rt1= (unsigned char *)rect1;
+	rt2= (unsigned char *)rect2;
+	rt= (unsigned char *)out;
 
 	fac2= (int)(256.0*facf0);
 	fac1= 256-fac2;
@@ -1038,8 +1038,8 @@ static void do_gammacross_effect(Sequence * seq,int cfra,
 	} else {
 		do_gammacross_effect_byte(
 			facf0, facf1, x, y,
-			(char*) ibuf1->rect, (char*) ibuf2->rect,
-			(char*) out->rect);
+			(unsigned char*) ibuf1->rect, (unsigned char*) ibuf2->rect,
+			(unsigned char*) out->rect);
 	}
 }
 
@@ -1996,6 +1996,9 @@ static void do_transform(Sequence * seq,float facf0, int x, int y,
 	float xs,ys,factxScale,factyScale,tx,ty,rad,s,c,xaux,yaux,factRot,px,py;
 	TransformVars *scale;
 	
+	// XXX struct RenderData *rd = NULL; // 2.5 global: &G.scene->r;
+
+
 	scale = (TransformVars *)seq->effectdata;
 	xo = x;
 	yo = y;
@@ -2006,8 +2009,10 @@ static void do_transform(Sequence * seq,float facf0, int x, int y,
 
 	//Factor translate
 	if(!scale->percent){
-		tx = scale->xIni+(xo / 2.0f) + (scale->xFin-(xo / 2.0f) - scale->xIni+(xo / 2.0f)) * facf0;
-		ty = scale->yIni+(yo / 2.0f) + (scale->yFin-(yo / 2.0f) - scale->yIni+(yo / 2.0f)) * facf0;
+		float rd_s = 0.0f; // XXX 2.5 global: (rd->size / 100.0f);
+
+		tx = scale->xIni * rd_s+(xo / 2.0f) + (scale->xFin * rd_s -(xo / 2.0f) - scale->xIni * rd_s +(xo / 2.0f)) * facf0;
+		ty = scale->yIni * rd_s+(yo / 2.0f) + (scale->yFin * rd_s -(yo / 2.0f) - scale->yIni * rd_s +(yo / 2.0f)) * facf0;
 	}else{
 		tx = xo*(scale->xIni/100.0f)+(xo / 2.0f) + (xo*(scale->xFin/100.0f)-(xo / 2.0f) - xo*(scale->xIni/100.0f)+(xo / 2.0f)) * facf0;
 		ty = yo*(scale->yIni/100.0f)+(yo / 2.0f) + (yo*(scale->yFin/100.0f)-(yo / 2.0f) - yo*(scale->yIni/100.0f)+(yo / 2.0f)) * facf0;
@@ -2019,6 +2024,7 @@ static void do_transform(Sequence * seq,float facf0, int x, int y,
 	s= sin(rad);
 	c= cos(rad);
 
+
 	for (yi = 0; yi < yo; yi++) {
 		for (xi = 0; xi < xo; xi++) {
 			//tranlate point
diff --git a/source/blender/blenkernel/intern/sequence.c b/source/blender/blenkernel/intern/sequence.c
index b32f1c765af..121dfce4980 100644
--- a/source/blender/blenkernel/intern/sequence.c
+++ b/source/blender/blenkernel/intern/sequence.c
@@ -2192,6 +2192,14 @@ static TStripElem* do_build_seq_recursively(Scene *scene, Sequence * seq, int cf
 	}
 }
 
+/* Bug: 18209
+ * when dragging the mouse over a metastrip, on mouse-up for some unknown
+ * reason in some cases the metastrips TStripElem->ibuf->rect is NULL,
+ * This should be fixed but I had a look and couldnt work out why its
+ * happening so for now workaround with a NULL check - campbell */
+
+#define SEQ_SPECIAL_SEQ_UPDATE_WORKAROUND
+
 static TStripElem* do_build_seq_array_recursively(Scene *scene,
 	ListBase *seqbasep, int cfra, int chanshown)
 {
@@ -2360,7 +2368,14 @@ static TStripElem* do_build_seq_array_recursively(Scene *scene,
 			    !se2->ibuf_comp->rect_float) {
 				IMB_rect_from_float(se2->ibuf);
 			}
-
+			
+#ifdef SEQ_SPECIAL_SEQ_UPDATE_WORKAROUND
+			if (se2->ibuf->rect==NULL && se2->ibuf->rect_float==NULL) {
+				printf("ERROR: sequencer se2->ibuf missing buffer\n");
+			} else if (se1->ibuf && se1->ibuf->rect==NULL && se1->ibuf->rect_float==NULL) {
+				printf("ERROR: sequencer se1->ibuf missing buffer\n");
+			} else {
+#endif
 			/* bad hack, to fix crazy input ordering of 
 			   those two effects */
 
@@ -2382,6 +2397,10 @@ static TStripElem* do_build_seq_array_recursively(Scene *scene,
 					   se2->ibuf_comp);
 			}
 			
+#ifdef SEQ_SPECIAL_SEQ_UPDATE_WORKAROUND
+			}
+#endif
+			
 			IMB_cache_limiter_insert(se2->ibuf_comp);
 			IMB_cache_limiter_ref(se2->ibuf_comp);
 			IMB_cache_limiter_touch(se2->ibuf_comp);
diff --git a/source/blender/blenkernel/intern/shrinkwrap.c b/source/blender/blenkernel/intern/shrinkwrap.c
index f2197c932c9..417d9311563 100644
--- a/source/blender/blenkernel/intern/shrinkwrap.c
+++ b/source/blender/blenkernel/intern/shrinkwrap.c
@@ -52,10 +52,12 @@
 #include "BLI_arithb.h"
 #include "BLI_kdtree.h"
 #include "BLI_kdopbvh.h"
+#include "BLI_editVert.h"
 
 #include "RE_raytrace.h"
 #include "MEM_guardedalloc.h"
 
+#include "ED_mesh.h"
 
 /* Util macros */
 #define TO_STR(a)	#a
@@ -94,11 +96,14 @@ typedef void ( *Shrinkwrap_ForeachVertexCallback) (DerivedMesh *target, float *c
 static DerivedMesh *object_get_derived_final(struct Scene *scene, Object *ob, CustomDataMask dataMask)
 {
 	Mesh *me= ob->data;
-	
-	if (me->edit_mesh)
+	EditMesh *em = EM_GetEditMesh(me);
+
+	if (em)
 	{
 		DerivedMesh *final = NULL;
-		editmesh_get_derived_cage_and_final(scene, ob, me->edit_mesh, &final, dataMask);
+		editmesh_get_derived_cage_and_final(scene, ob, em, &final, dataMask);
+		
+		EM_EndEditMesh(me, em);
 		return final;
 	}
 	else
diff --git a/source/blender/blenkernel/intern/softbody.c b/source/blender/blenkernel/intern/softbody.c
index 70a2e9ca3a3..d7accd54fb9 100644
--- a/source/blender/blenkernel/intern/softbody.c
+++ b/source/blender/blenkernel/intern/softbody.c
@@ -1559,7 +1559,7 @@ static void _scan_for_ext_spring_forces(Scene *scene, Object *ob, float timenow,
 				/* note we don't use sb->mediafrict but use sb->aeroedge for magnitude of effect*/ 
 				if(sb->aeroedge){
 					float vel[3],sp[3],pr[3],force[3];
-					float f,windfactor  = 250.0f;   
+					float f,windfactor  = 0.25f;   
 					/*see if we have wind*/
 					if(do_effector) {
 						float speed[3]={0.0f,0.0f,0.0f};
@@ -2392,7 +2392,7 @@ static void softbody_calc_forcesEx(Scene *scene, Object *ob, float forcetime, fl
 	BodyPoint *bproot;
 	ListBase *do_effector;
 	float iks, gravity;
-	float fieldfactor = 1000.0f, windfactor  = 250.0f;   
+	float fieldfactor = -1.0f, windfactor  = 0.25;   
 	int   do_deflector,do_selfcollision,do_springcollision,do_aero;
 	
 	gravity = sb->grav * sb_grav_force_scale(ob);	
@@ -2454,7 +2454,7 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
 		BodySpring *bs;	
 		ListBase *do_effector;
 		float iks, ks, kd, gravity;
-		float fieldfactor = 1000.0f, windfactor  = 250.0f;   
+		float fieldfactor = -1.0f, windfactor  = 0.25f;   
 		float tune = sb->ballstiff;
 		int a, b,  do_deflector,do_selfcollision,do_springcollision,do_aero;
 
diff --git a/source/blender/blenlib/BLI_arithb.h b/source/blender/blenlib/BLI_arithb.h
index 1f4f6d2e920..71307132243 100644
--- a/source/blender/blenlib/BLI_arithb.h
+++ b/source/blender/blenlib/BLI_arithb.h
@@ -395,8 +395,10 @@ void tubemap(float x, float y, float z, float *u, float *v);
 void spheremap(float x, float y, float z, float *u, float *v);
 
 int LineIntersectLine(float v1[3], float v2[3], float v3[3], float v4[3], float i1[3], float i2[3]);
+int LineIntersectLineStrict(float v1[3], float v2[3], float v3[3], float v4[3], float vi[3], float *lambda);
 int LineIntersectsTriangle(float p1[3], float p2[3], float v0[3], float v1[3], float v2[3], float *lambda, float *uv);
 int RayIntersectsTriangle(float p1[3], float d[3], float v0[3], float v1[3], float v2[3], float *lambda, float *uv);
+int RayIntersectsTriangleThreshold(float p1[3], float d[3], float v0[3], float v1[3], float v2[3], float *lambda, float *uv, float threshold);
 int SweepingSphereIntersectsTriangleUV(float p1[3], float p2[3], float radius, float v0[3], float v1[3], float v2[3], float *lambda, float *ipoint);
 int AxialLineIntersectsTriangle(int axis, float co1[3], float co2[3], float v0[3], float v1[3], float v2[3], float *lambda);
 int AabbIntersectAabb(float min1[3], float max1[3], float min2[3], float max2[3]);
diff --git a/source/blender/blenlib/BLI_graph.h b/source/blender/blenlib/BLI_graph.h
index 160c2e04cf5..f4fccfcbb2c 100644
--- a/source/blender/blenlib/BLI_graph.h
+++ b/source/blender/blenlib/BLI_graph.h
@@ -60,6 +60,39 @@ typedef struct BArc {
 	int symmetry_flag;
 } BArc;
 
+struct BArcIterator;
+
+void* IT_head(void* iter);
+void* IT_tail(void* iter);
+void* IT_peek(void* iter, int n);
+void* IT_next(void* iter);
+void* IT_nextN(void* iter, int n);
+void* IT_previous(void* iter);
+int   IT_stopped(void* iter);
+
+typedef void* (*HeadFct)(void* iter);
+typedef void* (*TailFct)(void* iter);
+typedef void* (*PeekFct)(void* iter, int n);
+typedef void* (*NextFct)(void* iter);
+typedef void* (*NextNFct)(void* iter, int n);
+typedef void* (*PreviousFct)(void* iter);
+typedef int   (*StoppedFct)(void* iter);
+
+typedef struct BArcIterator {
+	HeadFct		head;
+	TailFct		tail;
+	PeekFct		peek;
+	NextFct		next;
+	NextNFct	nextN;
+	PreviousFct	previous;
+	StoppedFct	stopped;
+	
+	float *p, *no;
+	
+	int length;
+	int index;
+} BArcIterator;
+
 /* Helper structure for radial symmetry */
 typedef struct RadialArc
 {
diff --git a/source/blender/blenlib/BLI_string.h b/source/blender/blenlib/BLI_string.h
index d9d030432d3..22b41d0055b 100644
--- a/source/blender/blenlib/BLI_string.h
+++ b/source/blender/blenlib/BLI_string.h
@@ -73,6 +73,12 @@ char *BLI_strncpy(char *dst, const char *src, int maxncpy);
 	 */
 int BLI_snprintf(char *buffer, size_t count, const char *format, ...);
 
+	/* 
+	 * Print formatted string into a newly mallocN'd string
+	 * and return it.
+	 */
+char *BLI_sprintfN(const char *format, ...);
+
 	/**
 	 * Compare two strings
 	 * 
diff --git a/source/blender/blenlib/intern/arithb.c b/source/blender/blenlib/intern/arithb.c
index a633b5811ff..f1c756bcce3 100644
--- a/source/blender/blenlib/intern/arithb.c
+++ b/source/blender/blenlib/intern/arithb.c
@@ -3945,6 +3945,57 @@ int RayIntersectsTriangle(float p1[3], float d[3], float v0[3], float v1[3], flo
 	return 1;
 }
 
+int RayIntersectsTriangleThreshold(float p1[3], float d[3], float v0[3], float v1[3], float v2[3], float *lambda, float *uv, float threshold)
+{
+	float p[3], s[3], e1[3], e2[3], q[3];
+	float a, f, u, v;
+	float du = 0, dv = 0;
+	
+	VecSubf(e1, v1, v0);
+	VecSubf(e2, v2, v0);
+	
+	Crossf(p, d, e2);
+	a = Inpf(e1, p);
+	if ((a > -0.000001) && (a < 0.000001)) return 0;
+	f = 1.0f/a;
+	
+	VecSubf(s, p1, v0);
+	
+	Crossf(q, s, e1);
+	*lambda = f * Inpf(e2, q);
+	if ((*lambda < 0.0)) return 0;
+	
+	u = f * Inpf(s, p);
+	v = f * Inpf(d, q);
+	
+	if (u < 0) du = u;
+	if (u > 1) du = u - 1;
+	if (v < 0) dv = v;
+	if (v > 1) dv = v - 1;
+	if (u > 0 && v > 0 && u + v > 1)
+	{
+		float t = u + v - 1;
+		du = u - t/2;
+		dv = v - t/2;
+	}
+
+	VecMulf(e1, du);
+	VecMulf(e2, dv);
+	
+	if (Inpf(e1, e1) + Inpf(e2, e2) > threshold * threshold)
+	{
+		return 0;
+	}
+
+	if(uv) {
+		uv[0]= u;
+		uv[1]= v;
+	}
+	
+	return 1;
+}
+
+
 /* Adapted from the paper by Kasper Fauerby */
 /* "Improved Collision detection and Response" */
 static int getLowestRoot(float a, float b, float c, float maxR, float* root)
@@ -4294,6 +4345,67 @@ int LineIntersectLine(float v1[3], float v2[3], float v3[3], float v4[3], float
 	}
 } 
 
+/* Intersection point strictly between the two lines
+ * 0 when no intersection is found 
+ * */
+int LineIntersectLineStrict(float v1[3], float v2[3], float v3[3], float v4[3], float vi[3], float *lambda)
+{
+	float a[3], b[3], c[3], ab[3], cb[3], ca[3], dir1[3], dir2[3];
+	float d;
+	float d1;
+	
+	VecSubf(c, v3, v1);
+	VecSubf(a, v2, v1);
+	VecSubf(b, v4, v3);
+
+	VecCopyf(dir1, a);
+	Normalize(dir1);
+	VecCopyf(dir2, b);
+	Normalize(dir2);
+	d = Inpf(dir1, dir2);
+	if (d == 1.0f || d == -1.0f || d == 0) {
+		/* colinear or one vector is zero-length*/
+		return 0;
+	}
+	
+	d1 = d;
+
+	Crossf(ab, a, b);
+	d = Inpf(c, ab);
+
+	/* test if the two lines are coplanar */
+	if (d > -0.000001f && d < 0.000001f) {
+		float f1, f2;
+		Crossf(cb, c, b);
+		Crossf(ca, c, a);
+
+		f1 = Inpf(cb, ab) / Inpf(ab, ab);
+		f2 = Inpf(ca, ab) / Inpf(ab, ab);
+		
+		if (f1 >= 0 && f1 <= 1 &&
+			f2 >= 0 && f2 <= 1)
+		{
+			VecMulf(a, f1);
+			VecAddf(vi, v1, a);
+			
+			if (lambda != NULL)
+			{
+				*lambda = f1;
+			}
+			
+			return 1; /* intersection found */
+		}
+		else
+		{
+			return 0;
+		}
+	}
+	else
+	{
+		return 0;
+	}
+} 
+
 int AabbIntersectAabb(float min1[3], float max1[3], float min2[3], float max2[3])
 {
 	return (min1[0]<max2[0] && min1[1]<max2[1] && min1[2]<max2[2] &&
diff --git a/source/blender/blenlib/intern/bpath.c b/source/blender/blenlib/intern/bpath.c
index f1057ff3efe..85a95fa6e66 100644
--- a/source/blender/blenlib/intern/bpath.c
+++ b/source/blender/blenlib/intern/bpath.c
@@ -341,9 +341,9 @@ void BLI_bpathIterator_step( struct BPathIterator *bpi) {
 				bSound *snd = (bSound *)bpi->data;
 				
 				bpi->lib = snd->id.lib ? snd->id.lib->filename : NULL;
-				bpi->path = snd->sample->name;
+				bpi->path = snd->name;
 				bpi->name = snd->id.name+2;
-				bpi->len = sizeof(snd->sample->name);
+				bpi->len = sizeof(snd->name);
 				
 				/* we are done, advancing to the next item, this type worked fine */
 				break;
diff --git a/source/blender/blenlib/intern/graph.c b/source/blender/blenlib/intern/graph.c
index 11bb8ea8964..cc15c499290 100644
--- a/source/blender/blenlib/intern/graph.c
+++ b/source/blender/blenlib/intern/graph.c
@@ -1031,6 +1031,11 @@ void BLI_markdownSymmetry(BGraph *graph, BNode *root_node, float limit)
 	BNode *node;
 	BArc *arc;
 	
+	if (root_node == NULL)
+	{
+		return;
+	}
+	
 	if (BLI_isGraphCyclic(graph))
 	{
 		return;
@@ -1083,3 +1088,56 @@ void BLI_markdownSymmetry(BGraph *graph, BNode *root_node, float limit)
 	}
 }
 
+void* IT_head(void* arg)
+{
+	BArcIterator *iter = (BArcIterator*)arg; 
+	return iter->head(iter);
+}
+
+void* IT_tail(void* arg)
+{
+	BArcIterator *iter = (BArcIterator*)arg; 
+	return iter->tail(iter); 
+}
+
+void* IT_peek(void* arg, int n)
+{
+	BArcIterator *iter = (BArcIterator*)arg;
+	
+	if (iter->index + n < 0)
+	{
+		return iter->head(iter);
+	}
+	else if (iter->index + n >= iter->length)
+	{
+		return iter->tail(iter);
+	}
+	else
+	{
+		return iter->peek(iter, n);
+	}
+}
+
+void* IT_next(void* arg)
+{
+	BArcIterator *iter = (BArcIterator*)arg; 
+	return iter->next(iter);
+}
+
+void* IT_nextN(void* arg, int n)
+{
+	BArcIterator *iter = (BArcIterator*)arg; 
+	return iter->nextN(iter, n);
+}
+
+void* IT_previous(void* arg)
+{
+	BArcIterator *iter = (BArcIterator*)arg; 
+	return iter->previous(iter);
+}
+
+int   IT_stopped(void* arg)
+{
+	BArcIterator *iter = (BArcIterator*)arg; 
+	return iter->stopped(iter);
+}
diff --git a/source/blender/blenlib/intern/storage.c b/source/blender/blenlib/intern/storage.c
index 8ba03ad1343..9204ab18bfa 100644
--- a/source/blender/blenlib/intern/storage.c
+++ b/source/blender/blenlib/intern/storage.c
@@ -152,7 +152,8 @@ int BLI_compare(struct direntry *entry1, struct direntry *entry2)
 	if( strcmp(entry1->relname, ".")==0 ) return (-1);
 	if( strcmp(entry2->relname, ".")==0 ) return (1);
 	if( strcmp(entry1->relname, "..")==0 ) return (-1);
-	
+	if( strcmp(entry2->relname, "..")==0 ) return (1);
+
 	return (BLI_strcasecmp(entry1->relname,entry2->relname));
 }
 
@@ -333,7 +334,6 @@ void BLI_adddirstrings()
 	char size[250];
 	static char * types[8] = {"---", "--x", "-w-", "-wx", "r--", "r-x", "rw-", "rwx"};
 	int num, mode;
-	off_t num1, num2, num3, num4, num5;
 #ifdef WIN32
 	__int64 st_size;
 #else
@@ -400,24 +400,19 @@ void BLI_adddirstrings()
 		 * everyone starts using __USE_FILE_OFFSET64 or equivalent.
 		 */
 		st_size= (off_t)files[num].s.st_size;
-		
-		num1= st_size % 1000;
-		num2= st_size/1000;
-		num2= num2 % 1000;
-		num3= st_size/(1000*1000);
-		num3= num3 % 1000;
-		num4= st_size/(1000*1000*1000);
-		num4= num4 % 1000;
-		num5= st_size/(1000000000000LL);
-		num5= num5 % 1000;
-
-		if(num5)
-			sprintf(files[num].size, "%1d %03d %03d %03d K", (int)num5, (int)num4, (int)num3, (int)num2);
-		else if(num4) sprintf(files[num].size, "%3d %03d %03d %03d", (int)num4, (int)num3, (int)num2, (int)num1);
-		else if(num3) sprintf(files[num].size, "%7d %03d %03d", (int)num3, (int)num2, (int)num1);
-		else if(num2) sprintf(files[num].size, "%11d %03d", (int)num2, (int)num1);
-		else if(num1) sprintf(files[num].size, "%15d", (int)num1);
-		else sprintf(files[num].size, "0");
+
+		if (st_size > 1024*1024*1024) {
+			sprintf(files[num].size, "%.2f GB", ((double)st_size)/(1024*1024*1024));	
+		}
+		else if (st_size > 1024*1024) {
+			sprintf(files[num].size, "%.1f MB", ((double)st_size)/(1024*1024));
+		}
+		else if (st_size > 1024) {
+			sprintf(files[num].size, "%d KB", (int)(st_size/1024));
+		}
+		else {
+			sprintf(files[num].size, "%d B", (int)st_size);
+		}
 
 		strftime(datum, 32, "%d-%b-%y %H:%M", tm);
 
diff --git a/source/blender/blenlib/intern/string.c b/source/blender/blenlib/intern/string.c
index e0522e60dd0..8485a0c975b 100644
--- a/source/blender/blenlib/intern/string.c
+++ b/source/blender/blenlib/intern/string.c
@@ -40,6 +40,7 @@
 
 #include "MEM_guardedalloc.h"
 
+#include "BLI_dynstr.h"
 #include "BLI_string.h"
 
 char *BLI_strdupn(const char *str, int len) {
@@ -81,6 +82,24 @@ int BLI_snprintf(char *buffer, size_t count, const char *format, ...)
 	return n;
 }
 
+char *BLI_sprintfN(const char *format, ...)
+{
+	DynStr *ds;
+	va_list arg;
+	char *n;
+
+	va_start(arg, format);
+
+	ds= BLI_dynstr_new();
+	BLI_dynstr_vappendf(ds, format, arg);
+	n= BLI_dynstr_get_cstring(ds);
+	BLI_dynstr_free(ds);
+
+	va_end(arg);
+
+	return n;
+}
+
 int BLI_streq(char *a, char *b) {
 	return (strcmp(a, b)==0);
 }
diff --git a/source/blender/blenloader/intern/readfile.c b/source/blender/blenloader/intern/readfile.c
index 338dc810641..b0b3e9daf2b 100644
--- a/source/blender/blenloader/intern/readfile.c
+++ b/source/blender/blenloader/intern/readfile.c
@@ -81,7 +81,7 @@
 #include "DNA_object_types.h"
 #include "DNA_object_force.h"
 #include "DNA_object_fluidsim.h" // NT
-#include "DNA_oops_types.h"
+#include "DNA_outliner_types.h"
 #include "DNA_object_force.h"
 #include "DNA_packedFile_types.h"
 #include "DNA_particle_types.h"
@@ -1725,7 +1725,14 @@ static void direct_link_fcurves(FileData *fd, ListBase *list)
 				{
 					FMod_Generator *data= (FMod_Generator *)fcm->data;
 					
-					data->poly_coefficients= newdataadr(fd, data->poly_coefficients);
+					data->coefficients= newdataadr(fd, data->coefficients);
+				}
+					break;
+				case FMODIFIER_TYPE_ENVELOPE:
+				{
+					FMod_Envelope *data= (FMod_Envelope *)fcm->data;
+					
+					data->data= newdataadr(fd, data->data);
 				}
 					break;
 				case FMODIFIER_TYPE_PYTHON:
@@ -3758,6 +3765,8 @@ static void lib_link_scene(FileData *fd, Main *main)
 				sce->toolsettings->sculpt->brush=
 					newlibadr_us(fd, sce->id.lib, sce->toolsettings->sculpt->brush);
 
+			sce->toolsettings->skgen_template = newlibadr(fd, sce->id.lib, sce->toolsettings->skgen_template);
+
 			for(base= sce->base.first; base; base= next) {
 				next= base->next;
 
@@ -4196,18 +4205,11 @@ static void lib_link_screen(FileData *fd, Main *main)
 							}
 						}
 					}
-					else if(sl->spacetype==SPACE_OOPS) {
+					else if(sl->spacetype==SPACE_OUTLINER) {
 						SpaceOops *so= (SpaceOops *)sl;
-						Oops *oops;
 						TreeStoreElem *tselem;
 						int a;
 
-						oops= so->oops.first;
-						while(oops) {
-							oops->id= newlibadr(fd, NULL, oops->id);
-							oops= oops->next;
-						}
-						so->lockpoin= NULL;
 						so->tree.first= so->tree.last= NULL;
 						so->search_tse.id= newlibadr(fd, NULL, so->search_tse.id);
 						
@@ -4329,7 +4331,7 @@ void lib_link_screen_restore(Main *newmain, bScreen *curscreen, Scene *curscene)
 						v3d->bgpic->ima= restore_pointer_by_name(newmain, (ID *)v3d->bgpic->ima, 1);
 					}
 					if(v3d->localvd) {
-						Base *base;
+						/*Base *base;*/
 
 						v3d->localvd->camera= sc->scene->camera;
 						
@@ -4405,17 +4407,10 @@ void lib_link_screen_restore(Main *newmain, bScreen *curscreen, Scene *curscene)
 						SCRIPT_SET_NULL(scpt->script)
 					}
 				}
-				else if(sl->spacetype==SPACE_OOPS) {
+				else if(sl->spacetype==SPACE_OUTLINER) {
 					SpaceOops *so= (SpaceOops *)sl;
-					Oops *oops;
 					int a;
 					
-					oops= so->oops.first;
-					while(oops) {
-						oops->id= restore_pointer_by_name(newmain, (ID *)oops->id, 0);
-						oops= oops->next;
-					}
-					so->lockpoin= NULL;
 					so->search_tse.id= restore_pointer_by_name(newmain, so->search_tse.id, 0);
 					
 					if(so->treestore) {
@@ -4520,7 +4515,6 @@ static void direct_link_screen(FileData *fd, bScreen *sc)
 	ScrArea *sa;
 	ScrVert *sv;
 	ScrEdge *se;
-	Oops *oops;
 	int a;
 	
 	link_list(fd, &(sc->vertbase));
@@ -4608,16 +4602,9 @@ static void direct_link_screen(FileData *fd, bScreen *sc)
 				
 				sipo->ads= newdataadr(fd, sipo->ads);
 			}
-			else if (sl->spacetype==SPACE_OOPS) {
+			else if (sl->spacetype==SPACE_OUTLINER) {
 				SpaceOops *soops= (SpaceOops*) sl;
 				
-				link_list(fd, &(soops->oops));
-				oops= soops->oops.first;
-				while(oops) {
-					oops->link.first= oops->link.last= 0;
-					oops= oops->next;
-				}
-				
 				soops->treestore= newdataadr(fd, soops->treestore);
 				if(soops->treestore) {
 					soops->treestore->data= newdataadr(fd, soops->treestore->data);
@@ -5516,7 +5503,7 @@ static void area_add_window_regions(ScrArea *sa, SpaceLink *sl, ListBase *lb)
 				view3d_split_250((View3D *)sl, lb);
 				break;		
 						
-			case SPACE_OOPS:
+			case SPACE_OUTLINER:
 			{
 				SpaceOops *soops= (SpaceOops *)sl;
 				
@@ -5529,8 +5516,6 @@ static void area_add_window_regions(ScrArea *sa, SpaceLink *sl, ListBase *lb)
 				ar->v2d.keeptot = V2D_KEEPTOT_STRICT;
 				ar->v2d.minzoom= ar->v2d.maxzoom= 1.0f;
 				//ar->v2d.flag |= V2D_IS_INITIALISED;
-				
-				soops->type= SO_OUTLINER;
 			}
 				break;
 			case SPACE_TIME:
@@ -5960,10 +5945,7 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 				while(sl) {
 					if(sl->spacetype==SPACE_TEXT) {
 						SpaceText *st= (SpaceText*) sl;
-						if(st->font_id>1) {
-							st->font_id= 0;
-							st->lheight= 13;
-						}
+						st->lheight= 12;
 					}
 					sl= sl->next;
 				}
@@ -7019,12 +7001,6 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 						View3D *v3d= (View3D *)sl;
 						if(v3d->twtype==0) v3d->twtype= V3D_MANIP_TRANSLATE;
 					}
-#ifndef SHOWDEPGRAPH
-					else if(sl->spacetype==SPACE_OOPS) {
-						if ( ((SpaceOops *)sl)->type==SO_DEPSGRAPH)
-							 ((SpaceOops *)sl)->type=SO_OOPS;
-					}
-#endif				
 					else if(sl->spacetype==SPACE_TIME) {
 						SpaceTime *stime= (SpaceTime *)sl;
 						if(stime->redraws==0)
@@ -8095,28 +8071,6 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 				ima->flag |= IMA_DO_PREMUL;
 			}
 		}
-
-		if (main->versionfile < 245 || main->subversionfile < 12)
-		{
-			/* initialize skeleton generation toolsettings */
-			for(sce=main->scene.first; sce; sce = sce->id.next)
-			{
-				sce->toolsettings->skgen_resolution = 50;
-				sce->toolsettings->skgen_threshold_internal 	= 0.01f;
-				sce->toolsettings->skgen_threshold_external 	= 0.01f;
-				sce->toolsettings->skgen_angle_limit	 		= 45.0f;
-				sce->toolsettings->skgen_length_ratio			= 1.3f;
-				sce->toolsettings->skgen_length_limit			= 1.5f;
-				sce->toolsettings->skgen_correlation_limit		= 0.98f;
-				sce->toolsettings->skgen_symmetry_limit			= 0.1f;
-				sce->toolsettings->skgen_postpro = SKGEN_SMOOTH;
-				sce->toolsettings->skgen_postpro_passes = 1;
-				sce->toolsettings->skgen_options = SKGEN_FILTER_INTERNAL|SKGEN_FILTER_EXTERNAL|SKGEN_SUB_CORRELATION;
-				sce->toolsettings->skgen_subdivisions[0] = SKGEN_SUB_CORRELATION;
-				sce->toolsettings->skgen_subdivisions[1] = SKGEN_SUB_LENGTH;
-				sce->toolsettings->skgen_subdivisions[2] = SKGEN_SUB_ANGLE;
-			}
-		}
 	}
 	
 	/* sanity check for skgen
@@ -8717,6 +8671,31 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 		for (sce= main->scene.first; sce; sce= sce->id.next) {
 			sce->toolsettings->imapaint.seam_bleed = 2;
 			sce->toolsettings->imapaint.normal_angle = 80;
+
+			/* initialize skeleton generation toolsettings */
+			sce->toolsettings->skgen_resolution = 250;
+			sce->toolsettings->skgen_threshold_internal 	= 0.1f;
+			sce->toolsettings->skgen_threshold_external 	= 0.1f;
+			sce->toolsettings->skgen_angle_limit	 		= 30.0f;
+			sce->toolsettings->skgen_length_ratio			= 1.3f;
+			sce->toolsettings->skgen_length_limit			= 1.5f;
+			sce->toolsettings->skgen_correlation_limit		= 0.98f;
+			sce->toolsettings->skgen_symmetry_limit			= 0.1f;
+			sce->toolsettings->skgen_postpro = SKGEN_SMOOTH;
+			sce->toolsettings->skgen_postpro_passes = 3;
+			sce->toolsettings->skgen_options = SKGEN_FILTER_INTERNAL|SKGEN_FILTER_EXTERNAL|SKGEN_FILTER_SMART|SKGEN_SUB_CORRELATION|SKGEN_HARMONIC;
+			sce->toolsettings->skgen_subdivisions[0] = SKGEN_SUB_CORRELATION;
+			sce->toolsettings->skgen_subdivisions[1] = SKGEN_SUB_LENGTH;
+			sce->toolsettings->skgen_subdivisions[2] = SKGEN_SUB_ANGLE;
+
+			
+			sce->toolsettings->skgen_retarget_angle_weight = 1.0f;
+			sce->toolsettings->skgen_retarget_length_weight = 1.0f;
+			sce->toolsettings->skgen_retarget_distance_weight = 1.0f;
+	
+			/* Skeleton Sketching */
+			sce->toolsettings->bone_sketching = 0;
+			sce->toolsettings->skgen_retarget_roll = SK_RETARGET_ROLL_VIEW;
 		}
 	}
 	if (main->versionfile < 248 || (main->versionfile == 248 && main->subversionfile < 3)) {
@@ -9737,6 +9716,9 @@ static void expand_scene(FileData *fd, Main *mainvar, Scene *sce)
 		expand_animdata(fd, mainvar, sce->adt);
 	expand_keyingsets(fd, mainvar, &sce->keyingsets);
 	
+	if(sce->set)
+		expand_doit(fd, mainvar, sce->set);
+	
 	if(sce->nodetree)
 		expand_nodetree(fd, mainvar, sce->nodetree);
 	
diff --git a/source/blender/blenloader/intern/writefile.c b/source/blender/blenloader/intern/writefile.c
index 45742b8f020..1c9c5cad19f 100644
--- a/source/blender/blenloader/intern/writefile.c
+++ b/source/blender/blenloader/intern/writefile.c
@@ -121,7 +121,7 @@ Any case: direct data is ALWAYS after the lib block
 #include "DNA_node_types.h"
 #include "DNA_object_types.h"
 #include "DNA_object_force.h"
-#include "DNA_oops_types.h"
+#include "DNA_outliner_types.h"
 #include "DNA_packedFile_types.h"
 #include "DNA_particle_types.h"
 #include "DNA_property_types.h"
@@ -805,9 +805,18 @@ static void write_fcurves(WriteData *wd, ListBase *fcurves)
 					{
 						FMod_Generator *data= (FMod_Generator *)fcm->data;
 						
-						/* write polynomial coefficients array */
-						if (data->poly_coefficients)
-							writedata(wd, DATA, sizeof(float)*(data->poly_order+1), data->poly_coefficients);
+						/* write coefficients array */
+						if (data->coefficients)
+							writedata(wd, DATA, sizeof(float)*(data->arraysize), data->coefficients);
+					}
+						break;
+					case FMODIFIER_TYPE_ENVELOPE:
+					{
+						FMod_Envelope *data= (FMod_Envelope *)fcm->data;
+						
+						/* write envelope data */
+						if (data->data)
+							writedata(wd, DATA, sizeof(FCM_EnvelopeData)*(data->totvert), data->data);
 					}
 						break;
 					case FMODIFIER_TYPE_PYTHON:
@@ -822,7 +831,7 @@ static void write_fcurves(WriteData *wd, ListBase *fcurves)
 				}
 			}
 			
-			/* Write the constraint */
+			/* Write the modifier */
 			writestruct(wd, DATA, "FModifier", 1, fcm);
 		}
 	}
@@ -1811,29 +1820,11 @@ static void write_screens(WriteData *wd, ListBase *scrbase)
 					writestruct(wd, DATA, "SpaceSeq", 1, sl);
 					if(sseq->gpd) write_gpencil(wd, sseq->gpd);
 				}
-				else if(sl->spacetype==SPACE_OOPS) {
+				else if(sl->spacetype==SPACE_OUTLINER) {
 					SpaceOops *so= (SpaceOops *)sl;
-					Oops *oops;
 					
-					/* cleanup */
-					oops= so->oops.first;
-					while(oops) {
-						Oops *oopsn= oops->next;
-						if(oops->id==0) {
-							BLI_remlink(&so->oops, oops);
-// XXX							free_oops(oops);
-						}
-						oops= oopsn;
-					}
-					
-					/* ater cleanup, because of listbase! */
 					writestruct(wd, DATA, "SpaceOops", 1, so);
-					
-					oops= so->oops.first;
-					while(oops) {
-						writestruct(wd, DATA, "Oops", 1, oops);
-						oops= oops->next;
-					}
+
 					/* outliner */
 					if(so->treestore) {
 						writestruct(wd, DATA, "TreeStore", 1, so->treestore);
@@ -2152,7 +2143,7 @@ static void write_global(WriteData *wd, Main *mainvar)
 	fg.subversion= BLENDER_SUBVERSION;
 	fg.minversion= BLENDER_MINVERSION;
 	fg.minsubversion= BLENDER_MINSUBVERSION;
-	
+	fg.pads= 0; /* prevent mem checkers from complaining */
 	writestruct(wd, GLOB, "FileGlobal", 1, &fg);
 }
 
diff --git a/source/blender/blenpluginapi/iff.h b/source/blender/blenpluginapi/iff.h
index e7f328d870f..9378cdc9134 100644
--- a/source/blender/blenpluginapi/iff.h
+++ b/source/blender/blenpluginapi/iff.h
@@ -45,6 +45,8 @@
 #define IB_zbuf			(1 << 13)
 #define IB_rgba			(1 << 14)
 
+#define JP2             (1 << 18)
+
 #define AMI             (1 << 31)
 #define PNG             (1 << 30)
 #define Anim            (1 << 29)
@@ -56,10 +58,6 @@
 #endif
 #define RADHDR  (1<<24)
 
-#ifdef WITH_OPENJPEG
-#define JP2                            (1 << 18)
-#endif
-
 #define RAWTGA	(TGA | 1)
 
 #define JPG_STD	(JPG | (0 << 8))
diff --git a/source/blender/editors/CMakeLists.txt b/source/blender/editors/CMakeLists.txt
index b014454d252..06b0fb4ab41 100644
--- a/source/blender/editors/CMakeLists.txt
+++ b/source/blender/editors/CMakeLists.txt
@@ -52,6 +52,10 @@ IF(WITH_OPENEXR)
   ADD_DEFINITIONS(-DWITH_OPENEXR)
 ENDIF(WITH_OPENEXR)
 
+IF(WITH_OPENJPEG)
+  ADD_DEFINITIONS(-DWITH_OPENJPEG)
+ENDIF(WITH_OPENJPEG)
+
 IF(WITH_QUICKTIME)
   SET(INC ${INC} ${QUICKTIME_INC})
   ADD_DEFINITIONS(-DWITH_QUICKTIME)
diff --git a/source/blender/editors/animation/anim_channels.c b/source/blender/editors/animation/anim_channels.c
index 8dfb1c20bbe..ff9876bf715 100644
--- a/source/blender/editors/animation/anim_channels.c
+++ b/source/blender/editors/animation/anim_channels.c
@@ -804,11 +804,11 @@ static int animchannels_setflag_exec(bContext *C, wmOperator *op)
 }
 
 
-void ANIM_OT_channels_enable_setting (wmOperatorType *ot)
+void ANIM_OT_channels_setting_enable (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Enable Channel Setting";
-	ot->idname= "ANIM_OT_channels_enable_setting";
+	ot->idname= "ANIM_OT_channels_setting_enable";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
@@ -825,11 +825,11 @@ void ANIM_OT_channels_enable_setting (wmOperatorType *ot)
 	RNA_def_enum(ot->srna, "type", prop_animchannel_settings_types, 0, "Type", "");
 }
 
-void ANIM_OT_channels_disable_setting (wmOperatorType *ot)
+void ANIM_OT_channels_setting_disable (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Disable Channel Setting";
-	ot->idname= "ANIM_OT_channels_disable_setting";
+	ot->idname= "ANIM_OT_channels_setting_disable";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
@@ -846,11 +846,11 @@ void ANIM_OT_channels_disable_setting (wmOperatorType *ot)
 	RNA_def_enum(ot->srna, "type", prop_animchannel_settings_types, 0, "Type", "");
 }
 
-void ANIM_OT_channels_toggle_setting (wmOperatorType *ot)
+void ANIM_OT_channels_setting_toggle (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Toggle Channel Setting";
-	ot->idname= "ANIM_OT_channels_toggle_setting";
+	ot->idname= "ANIM_OT_channels_setting_toggle";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
@@ -868,11 +868,11 @@ void ANIM_OT_channels_toggle_setting (wmOperatorType *ot)
 }
 
 // XXX currently, this is a separate operator, but perhaps we could in future specify in keymaps whether to call invoke or exec?
-void ANIM_OT_channels_toggle_editable (wmOperatorType *ot)
+void ANIM_OT_channels_editable_toggle (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Toggle Channel Editability";
-	ot->idname= "ANIM_OT_channels_toggle_editable";
+	ot->idname= "ANIM_OT_channels_editable_toggle";
 	
 	/* api callbacks */
 	ot->exec= animchannels_setflag_exec;
@@ -910,11 +910,11 @@ static int animchannels_deselectall_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
  
-void ANIM_OT_channels_deselectall (wmOperatorType *ot)
+void ANIM_OT_channels_select_all_toggle (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select All";
-	ot->idname= "ANIM_OT_channels_deselectall";
+	ot->idname= "ANIM_OT_channels_select_all_toggle";
 	
 	/* api callbacks */
 	ot->exec= animchannels_deselectall_exec;
@@ -1028,11 +1028,11 @@ static int animchannels_borderselect_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 } 
 
-void ANIM_OT_channels_borderselect(wmOperatorType *ot)
+void ANIM_OT_channels_select_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Border Select";
-	ot->idname= "ANIM_OT_channels_borderselect";
+	ot->idname= "ANIM_OT_channels_select_border";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
@@ -1365,9 +1365,9 @@ static int animchannels_mouseclick_invoke(bContext *C, wmOperator *op, wmEvent *
 	mval[1]= (event->y - ar->winrct.ymin);
 	
 	/* select mode is either replace (deselect all, then add) or add/extend */
-	if (RNA_boolean_get(op->ptr, "extend_select"))
+	if (RNA_boolean_get(op->ptr, "extend"))
 		selectmode= SELECT_INVERT;
-	else if (RNA_boolean_get(op->ptr, "select_children_only"))
+	else if (RNA_boolean_get(op->ptr, "children_only"))
 		selectmode= -1; /* this is a bit of a special case for ActionGroups only... should it be removed or extended to all instead? */
 	else
 		selectmode= SELECT_REPLACE;
@@ -1403,8 +1403,8 @@ void ANIM_OT_channels_mouseclick (wmOperatorType *ot)
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 	
 	/* id-props */
-	RNA_def_boolean(ot->srna, "extend_select", 0, "Extend Select", ""); // SHIFTKEY
-	RNA_def_boolean(ot->srna, "select_children_only", 0, "Select Children Only", ""); // CTRLKEY|SHIFTKEY
+	RNA_def_boolean(ot->srna, "extend", 0, "Extend Select", ""); // SHIFTKEY
+	RNA_def_boolean(ot->srna, "children_only", 0, "Select Children Only", ""); // CTRLKEY|SHIFTKEY
 }
 
 /* ************************************************************************** */
@@ -1412,16 +1412,16 @@ void ANIM_OT_channels_mouseclick (wmOperatorType *ot)
 
 void ED_operatortypes_animchannels(void)
 {
-	WM_operatortype_append(ANIM_OT_channels_deselectall);
-	WM_operatortype_append(ANIM_OT_channels_borderselect);
+	WM_operatortype_append(ANIM_OT_channels_select_all_toggle);
+	WM_operatortype_append(ANIM_OT_channels_select_border);
 	WM_operatortype_append(ANIM_OT_channels_mouseclick);
 	
-	WM_operatortype_append(ANIM_OT_channels_enable_setting);
-	WM_operatortype_append(ANIM_OT_channels_disable_setting);
-	WM_operatortype_append(ANIM_OT_channels_toggle_setting);
+	WM_operatortype_append(ANIM_OT_channels_setting_enable);
+	WM_operatortype_append(ANIM_OT_channels_setting_disable);
+	WM_operatortype_append(ANIM_OT_channels_setting_toggle);
 	
 		// XXX does this need to be a separate operator?
-	WM_operatortype_append(ANIM_OT_channels_toggle_editable);
+	WM_operatortype_append(ANIM_OT_channels_editable_toggle);
 	
 		// XXX these need to be updated for new system... todo...
 	//WM_operatortype_append(ANIM_OT_channels_move_up);
@@ -1440,23 +1440,23 @@ void ED_keymap_animchannels(wmWindowManager *wm)
 		/* click-select */
 		// XXX for now, only leftmouse.... 
 	WM_keymap_add_item(keymap, "ANIM_OT_channels_mouseclick", LEFTMOUSE, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "ANIM_OT_channels_mouseclick", LEFTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "extend_select", 1);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "ANIM_OT_channels_mouseclick", LEFTMOUSE, KM_PRESS, KM_CTRL|KM_SHIFT, 0)->ptr, "select_children_only", 1);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "ANIM_OT_channels_mouseclick", LEFTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "extend", 1);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "ANIM_OT_channels_mouseclick", LEFTMOUSE, KM_PRESS, KM_CTRL|KM_SHIFT, 0)->ptr, "children_only", 1);
 	
 		/* deselect all */
-	WM_keymap_add_item(keymap, "ANIM_OT_channels_deselectall", AKEY, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "ANIM_OT_channels_deselectall", IKEY, KM_PRESS, KM_CTRL, 0)->ptr, "invert", 1);
+	WM_keymap_add_item(keymap, "ANIM_OT_channels_select_all_toggle", AKEY, KM_PRESS, 0, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "ANIM_OT_channels_select_all_toggle", IKEY, KM_PRESS, KM_CTRL, 0)->ptr, "invert", 1);
 	
 		/* borderselect */
-	WM_keymap_add_item(keymap, "ANIM_OT_channels_borderselect", BKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "ANIM_OT_channels_select_border", BKEY, KM_PRESS, 0, 0);
 	
 	/* settings */
-	WM_keymap_add_item(keymap, "ANIM_OT_channels_toggle_setting", WKEY, KM_PRESS, KM_SHIFT, 0);
-	WM_keymap_add_item(keymap, "ANIM_OT_channels_enable_setting", WKEY, KM_PRESS, KM_CTRL|KM_SHIFT, 0);
-	WM_keymap_add_item(keymap, "ANIM_OT_channels_disable_setting", WKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_add_item(keymap, "ANIM_OT_channels_setting_toggle", WKEY, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "ANIM_OT_channels_setting_enable", WKEY, KM_PRESS, KM_CTRL|KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "ANIM_OT_channels_setting_disable", WKEY, KM_PRESS, KM_ALT, 0);
 	
 	/* settings - specialised hotkeys */
-	WM_keymap_add_item(keymap, "ANIM_OT_channels_toggle_editable", TABKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "ANIM_OT_channels_editable_toggle", TABKEY, KM_PRESS, 0, 0);
 	
 	/* rearranging - actions only */
 	//WM_keymap_add_item(keymap, "ANIM_OT_channels_move_up", PAGEUPKEY, KM_PRESS, KM_SHIFT, 0);
diff --git a/source/blender/editors/animation/anim_filter.c b/source/blender/editors/animation/anim_filter.c
index 689520eb0fa..ea30fe83f35 100644
--- a/source/blender/editors/animation/anim_filter.c
+++ b/source/blender/editors/animation/anim_filter.c
@@ -310,6 +310,12 @@ short ANIM_animdata_get_context (const bContext *C, bAnimContext *ac)
 /* quick macro to test if AnimData is usable for drivers */
 #define ANIMDATA_HAS_DRIVERS(id) ((id)->adt && (id)->adt->drivers.first)
 
+/* quick macro to test if a anim-channel (F-Curve, Group, etc.) is selected in an acceptable way */
+#define ANIMCHANNEL_SELOK(test_func) \
+		( !(filter_mode & (ANIMFILTER_SEL|ANIMFILTER_UNSEL)) || \
+		  ((filter_mode & ANIMFILTER_SEL) && test_func) || \
+		  ((filter_mode & ANIMFILTER_UNSEL) && test_func==0) ) 
+
 /* ----------- 'Private' Stuff --------------- */
 
 /* this function allocates memory for a new bAnimListElem struct for the 
@@ -509,8 +515,8 @@ static int animdata_filter_fcurves (ListBase *anim_data, FCurve *first, bActionG
 		if (!(filter_mode & ANIMFILTER_CURVEVISIBLE) || (fcu->flag & FCURVE_VISIBLE)) {
 			/* only work with this channel and its subchannels if it is editable */
 			if (!(filter_mode & ANIMFILTER_FOREDIT) || EDITABLE_FCU(fcu)) {
-				/* only include this curve if selected */
-				if (!(filter_mode & ANIMFILTER_SEL) || (SEL_FCU(fcu))) {
+				/* only include this curve if selected in a way consistent with the filtering requirements */
+				if ( ANIMCHANNEL_SELOK(SEL_FCU(fcu)) ) {
 					/* only include if this curve is active */
 					if (!(filter_mode & ANIMFILTER_ACTIVE) || (fcu->flag & FCURVE_ACTIVE)) {
 						/* owner/ownertype will be either object or action-channel, depending if it was dopesheet or part of an action */
@@ -543,7 +549,7 @@ static int animdata_filter_action (ListBase *anim_data, bAction *act, int filter
 		/* add this group as a channel first */
 		if ((filter_mode & ANIMFILTER_CHANNELS) || !(filter_mode & ANIMFILTER_CURVESONLY)) {
 			/* check if filtering by selection */
-			if ( !(filter_mode & ANIMFILTER_SEL) || SEL_AGRP(agrp) ) {
+			if ( ANIMCHANNEL_SELOK(SEL_AGRP(agrp)) ) {
 				ale= make_new_animlistelem(agrp, ANIMTYPE_GROUP, NULL, ANIMTYPE_NONE, owner_id);
 				if (ale) {
 					BLI_addtail(anim_data, ale);
@@ -569,8 +575,7 @@ static int animdata_filter_action (ListBase *anim_data, bAction *act, int filter
 			 *	- we're interested in keyframes, but not if they appear in selected channels
 			 */
 			if ( (!(filter_mode & ANIMFILTER_VISIBLE) || EXPANDED_AGRP(agrp)) || 
-				 ( (!(filter_mode & ANIMFILTER_SEL) || (SEL_AGRP(agrp))) && 
-				   (filter_mode & ANIMFILTER_CURVESONLY) ) ) 
+				 ( ANIMCHANNEL_SELOK(SEL_AGRP(agrp)) && (filter_mode & ANIMFILTER_CURVESONLY) ) ) 
 			{
 				if (!(filter_mode & ANIMFILTER_FOREDIT) || EDITABLE_AGRP(agrp)) {
 					// XXX the 'owner' info here needs review...
@@ -709,7 +714,7 @@ static int animdata_filter_gpencil (ListBase *anim_data, bScreen *sc, int filter
 				/* loop over layers as the conditions are acceptable */
 				for (gpl= gpd->layers.first; gpl; gpl= gpl->next) {
 					/* only if selected */
-					if (!(filter_mode & ANIMFILTER_SEL) || SEL_GPL(gpl)) {
+					if ( ANIMCHANNEL_SELOK(SEL_GPL(gpl)) ) {
 						/* only if editable */
 						if (!(filter_mode & ANIMFILTER_FOREDIT) || EDITABLE_GPL(gpl)) {
 							/* add to list */
@@ -784,7 +789,6 @@ static int animdata_filter_dopesheet_mats (ListBase *anim_data, bDopeSheet *ads,
 			
 			/* add material's F-Curve channels? */
 			if (FILTER_MAT_OBJD(ma) || (filter_mode & ANIMFILTER_CURVESONLY)) {
-				//items += animdata_filter_ipocurves(anim_data, ma->ipo, filter_mode, base, ANIMTYPE_OBJECT, (ID *)ma);
 					// XXX the 'owner' info here is still subject to improvement
 				items += animdata_filter_action(anim_data, ma->adt->action, filter_mode, ma, ANIMTYPE_DSMAT, (ID *)ma);
 			}
@@ -873,7 +877,7 @@ static int animdata_filter_dopesheet_ob (ListBase *anim_data, bDopeSheet *ads, B
 	/* add this object as a channel first */
 	if ((filter_mode & ANIMFILTER_CURVESONLY) == 0) {
 		/* check if filtering by selection */
-		if ( !(filter_mode & ANIMFILTER_SEL) || ((base->flag & SELECT) || (base == sce->basact)) ) {
+		if (ANIMCHANNEL_SELOK( ((base->flag & SELECT) || (base == sce->basact)) )) {
 			ale= make_new_animlistelem(base, ANIMTYPE_OBJECT, NULL, ANIMTYPE_NONE, NULL);
 			if (ale) {
 				BLI_addtail(anim_data, ale);
@@ -1041,7 +1045,7 @@ static int animdata_filter_dopesheet_scene (ListBase *anim_data, bDopeSheet *ads
 	/* add scene as a channel first (even if we aren't showing scenes we still need to show the scene's sub-data */
 	if ((filter_mode & ANIMFILTER_CURVESONLY) == 0) {
 		/* check if filtering by selection */
-		if ( !(filter_mode & ANIMFILTER_SEL) || (sce->flag & SCE_DS_SELECTED) ) {
+		if (ANIMCHANNEL_SELOK( (sce->flag & SCE_DS_SELECTED) )) {
 			ale= make_new_animlistelem(sce, ANIMTYPE_SCENE, NULL, ANIMTYPE_NONE, NULL);
 			if (ale) {
 				BLI_addtail(anim_data, ale);
diff --git a/source/blender/editors/animation/anim_markers.c b/source/blender/editors/animation/anim_markers.c
index 7817afc929c..fc52d9c4511 100644
--- a/source/blender/editors/animation/anim_markers.c
+++ b/source/blender/editors/animation/anim_markers.c
@@ -629,21 +629,17 @@ static int ed_marker_select(bContext *C, wmEvent *evt, int extend)
 	return OPERATOR_PASS_THROUGH;
 }
 
-static int ed_marker_select_extend_invoke(bContext *C, wmOperator *op, wmEvent *evt)
-{
-	return ed_marker_select(C, evt, 1);
-}
-
 static int ed_marker_select_invoke(bContext *C, wmOperator *op, wmEvent *evt)
 {
-	return ed_marker_select(C, evt, 0);
+	short extend= RNA_boolean_get(op->ptr, "extend");
+	return ed_marker_select(C, evt, extend);
 }
 
-static void MARKER_OT_mouseselect(wmOperatorType *ot)
+static void MARKER_OT_select(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select Time Marker";
-	ot->idname= "MARKER_OT_mouseselect";
+	ot->idname= "MARKER_OT_select";
 	
 	/* api callbacks */
 	ot->invoke= ed_marker_select_invoke;
@@ -651,20 +647,8 @@ static void MARKER_OT_mouseselect(wmOperatorType *ot)
 	
 	/* flags */
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
-}
 
-static void MARKER_OT_mouseselect_extend(wmOperatorType *ot)
-{
-	/* identifiers */
-	ot->name= "Extend Select Time Marker";
-	ot->idname= "MARKER_OT_mouseselect_extend";
-	
-	/* api callbacks */
-	ot->invoke= ed_marker_select_extend_invoke;
-	ot->poll= ED_operator_areaactive;
-	
-	/* flags */
-	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
+	RNA_def_boolean(ot->srna, "extend", 0, "Extend", "extend the selection");
 }
 
 /* *************************** border select markers **************** */
@@ -731,11 +715,11 @@ static int ed_marker_border_select_exec(bContext *C, wmOperator *op)
 	return 1;
 }
 
-static void MARKER_OT_border_select(wmOperatorType *ot)
+static void MARKER_OT_select_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Marker Border select";
-	ot->idname= "MARKER_OT_border_select";
+	ot->idname= "MARKER_OT_select_border";
 	
 	/* api callbacks */
 	ot->exec= ed_marker_border_select_exec;
@@ -796,11 +780,11 @@ static int ed_marker_select_all_invoke(bContext *C, wmOperator *op, wmEvent *evt
 	return ed_marker_select_all_exec(C, op);
 }
 
-static void MARKER_OT_select_all(wmOperatorType *ot)
+static void MARKER_OT_select_all_toggle(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "(De)select all markers";
-	ot->idname= "MARKER_OT_select_all";
+	ot->idname= "MARKER_OT_select_all_toggle";
 	
 	/* api callbacks */
 	ot->exec= ed_marker_select_all_exec;
@@ -866,10 +850,9 @@ void ED_marker_operatortypes(void)
 	WM_operatortype_append(MARKER_OT_add);
 	WM_operatortype_append(MARKER_OT_move);
 	WM_operatortype_append(MARKER_OT_duplicate);
-	WM_operatortype_append(MARKER_OT_mouseselect);
-	WM_operatortype_append(MARKER_OT_mouseselect_extend);
-	WM_operatortype_append(MARKER_OT_border_select);
-	WM_operatortype_append(MARKER_OT_select_all);
+	WM_operatortype_append(MARKER_OT_select);
+	WM_operatortype_append(MARKER_OT_select_border);
+	WM_operatortype_append(MARKER_OT_select_all_toggle);
 	WM_operatortype_append(MARKER_OT_delete);
 }
 
@@ -881,10 +864,10 @@ void ED_marker_keymap(wmWindowManager *wm)
 	WM_keymap_verify_item(keymap, "MARKER_OT_add", MKEY, KM_PRESS, 0, 0);
 	WM_keymap_verify_item(keymap, "MARKER_OT_move", EVT_TWEAK_S, KM_ANY, 0, 0);
 	WM_keymap_verify_item(keymap, "MARKER_OT_duplicate", DKEY, KM_PRESS, KM_SHIFT, 0);
-	WM_keymap_verify_item(keymap, "MARKER_OT_mouseselect", SELECTMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_verify_item(keymap, "MARKER_OT_mouseselect_extend", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0);
-	WM_keymap_verify_item(keymap, "MARKER_OT_border_select", BKEY, KM_PRESS, 0, 0);
-	WM_keymap_verify_item(keymap, "MARKER_OT_select_all", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_verify_item(keymap, "MARKER_OT_select", SELECTMOUSE, KM_PRESS, 0, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "MARKER_OT_select", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "extend", 1);
+	WM_keymap_verify_item(keymap, "MARKER_OT_select_border", BKEY, KM_PRESS, 0, 0);
+	WM_keymap_verify_item(keymap, "MARKER_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
 	WM_keymap_verify_item(keymap, "MARKER_OT_delete", XKEY, KM_PRESS, 0, 0);
 	
 	WM_keymap_add_item(keymap, "MARKER_OT_move", GKEY, KM_PRESS, 0, 0);
diff --git a/source/blender/editors/animation/anim_ops.c b/source/blender/editors/animation/anim_ops.c
index b51fa223eb3..f8c7cc909ae 100644
--- a/source/blender/editors/animation/anim_ops.c
+++ b/source/blender/editors/animation/anim_ops.c
@@ -243,11 +243,11 @@ static int previewrange_define_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 } 
 
-void ANIM_OT_previewrange_define(wmOperatorType *ot)
+void ANIM_OT_previewrange_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Preview Range";
-	ot->idname= "ANIM_OT_previewrange_define";
+	ot->idname= "ANIM_OT_previewrange_set";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
@@ -374,7 +374,7 @@ void ED_operatortypes_anim(void)
 	WM_operatortype_append(ANIM_OT_change_frame);
 	WM_operatortype_append(ANIM_OT_time_toggle);
 	
-	WM_operatortype_append(ANIM_OT_previewrange_define);
+	WM_operatortype_append(ANIM_OT_previewrange_set);
 	WM_operatortype_append(ANIM_OT_previewrange_clear);
 	
 		// XXX this is used all over... maybe for screen instead?
@@ -397,6 +397,6 @@ void ED_keymap_anim(wmWindowManager *wm)
 	WM_keymap_verify_item(keymap, "ANIM_OT_time_toggle", TKEY, KM_PRESS, KM_CTRL, 0);
 	
 	/* preview range */
-	WM_keymap_verify_item(keymap, "ANIM_OT_previewrange_define", PKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_verify_item(keymap, "ANIM_OT_previewrange_set", PKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_verify_item(keymap, "ANIM_OT_previewrange_clear", PKEY, KM_PRESS, KM_ALT, 0);
 }
diff --git a/source/blender/editors/animation/keyframes_draw.c b/source/blender/editors/animation/keyframes_draw.c
index 4b5ab6296b4..d67a40518e3 100644
--- a/source/blender/editors/animation/keyframes_draw.c
+++ b/source/blender/editors/animation/keyframes_draw.c
@@ -96,7 +96,7 @@
 
 static void add_bezt_to_keycolumnslist(ListBase *keys, BezTriple *bezt)
 {
-	/* The equivilant of add_to_cfra_elem except this version 
+	/* The equivalent of add_to_cfra_elem except this version 
 	 * makes ActKeyColumns - one of the two datatypes required
 	 * for action editor drawing.
 	 */
@@ -136,7 +136,7 @@ static void add_bezt_to_keycolumnslist(ListBase *keys, BezTriple *bezt)
 
 static void add_bezt_to_keyblockslist(ListBase *blocks, FCurve *fcu, int index)
 {
-	/* The equivilant of add_to_cfra_elem except this version 
+	/* The equivalent of add_to_cfra_elem except this version 
 	 * makes ActKeyBlocks - one of the two datatypes required
 	 * for action editor drawing.
 	 */
diff --git a/source/blender/editors/animation/keyframes_general.c b/source/blender/editors/animation/keyframes_general.c
index fc6ed9b00bb..48ca06fb73d 100644
--- a/source/blender/editors/animation/keyframes_general.c
+++ b/source/blender/editors/animation/keyframes_general.c
@@ -420,13 +420,20 @@ short copy_animedit_keys (bAnimContext *ac, ListBase *anim_data)
 	/* clear buffer first */
 	free_anim_copybuf();
 	
-	/* assume that each of these is an ipo-block */
+	/* assume that each of these is an F-Curve */
 	for (ale= anim_data->first; ale; ale= ale->next) {
 		FCurve *fcu= (FCurve *)ale->key_data;
 		tAnimCopybufItem *aci;
 		BezTriple *bezt, *newbuf;
 		int i;
 		
+		/* firstly, check if F-Curve has any selected keyframes
+		 *	- skip if no selected keyframes found (so no need to create unnecessary copy-buffer data)
+		 *	- this check should also eliminate any problems associated with using sample-data
+		 */
+		if (ANIM_fcurve_keys_bezier_loop(NULL, fcu, NULL, ANIM_editkeyframes_ok(BEZT_OK_SELECTED), NULL) == 0)
+			continue;
+		
 		/* init copybuf item info */
 		aci= MEM_callocN(sizeof(tAnimCopybufItem), "AnimCopybufItem");
 		aci->id= ale->id;
@@ -436,7 +443,6 @@ short copy_animedit_keys (bAnimContext *ac, ListBase *anim_data)
 		BLI_addtail(&animcopybuf, aci);
 		
 		/* add selected keyframes to buffer */
-		// XXX we don't cope with sample-data yet
 		// TODO: currently, we resize array everytime we add a new vert - this works ok as long as it is assumed only a few keys are copied
 		for (i=0, bezt=fcu->bezt; i < fcu->totvert; i++, bezt++) {
 			if (BEZSELECTED(bezt)) {
diff --git a/source/blender/editors/animation/keyframing.c b/source/blender/editors/animation/keyframing.c
index f490fb77438..b04eaa0c378 100644
--- a/source/blender/editors/animation/keyframing.c
+++ b/source/blender/editors/animation/keyframing.c
@@ -206,7 +206,7 @@ static int binarysearch_bezt_index (BezTriple array[], float frame, int arraylen
 	 */
 	for (loopbreaker=0; (start <= end) && (loopbreaker < maxloop); loopbreaker++) {
 		/* compute and get midpoint */
-		int mid = (start + end) / 2;
+		int mid = start + ((end - start) / 2);	/* we calculate the midpoint this way to avoid int overflows... */
 		float midfra= array[mid].vec[1][0];
 		
 		/* check if exactly equal to midpoint */
@@ -994,7 +994,7 @@ void ANIM_OT_keyingset_add_new (wmOperatorType *ot)
 		/* name */
 	RNA_def_string(ot->srna, "name", "KeyingSet", 64, "Name", "Name of Keying Set");
 		/* flags */
-	RNA_def_boolean(ot->srna, "absolute", 1, "Absolute", "Keying Set defines specifc paths/settings to be keyframed (i.e. is not reliant on context info)");
+	RNA_def_boolean(ot->srna, "absolute", 1, "Absolute", "Keying Set defines specific paths/settings to be keyframed (i.e. is not reliant on context info)");
 		/* keying flags */
 	RNA_def_boolean(ot->srna, "insertkey_needed", 0, "Insert Keyframes - Only Needed", "Only insert keyframes where they're needed in the relevant F-Curves.");
 	RNA_def_boolean(ot->srna, "insertkey_visual", 0, "Insert Keyframes - Visual", "Insert keyframes based on 'visual transforms'.");
@@ -1046,7 +1046,7 @@ char *ANIM_build_keyingsets_menu (ListBase *list, short for_edit)
 /* ******************************************* */
 /* KEYFRAME MODIFICATION */
 
-/* mode for common_modifykey */
+/* mode for commonkey_modifykey */
 enum {
 	COMMONKEY_MODE_INSERT = 0,
 	COMMONKEY_MODE_DELETE,
@@ -1623,34 +1623,6 @@ static void commonkey_context_getv3d (const bContext *C, ListBase *sources, bKey
 			/* set id-block to key to */
 			ob= base->object;
 			cks->id= (ID *)ob;
-			
-			/* when ob's keyframes are in an action, default to using 'Object' as achan name */
-			if (ob->ipoflag & OB_ACTION_OB)
-				cks->actname= "Object";
-			
-			/* set ipo-flags */
-			// TODO: add checks for lib-linked data
-			if ((ob->ipo) || (ob->action)) {
-				if (ob->ipo) {
-					cks->ipo= ob->ipo;
-				}
-				else {
-					bActionChannel *achan;
-					
-					cks->act= ob->action;
-					achan= get_action_channel(ob->action, cks->actname);
-					
-					if (achan && achan->ipo)
-						cks->ipo= achan->ipo;
-				}
-				/* cks->ipo can be NULL while editing */
-				if(cks->ipo) {
-					/* deselect all ipo-curves */
-					for (icu= cks->ipo->curve.first; icu; icu= icu->next) {
-						icu->flag &= ~IPO_SELECT;
-					}
-				}
-			}
 		}
 		CTX_DATA_END;
 	}
@@ -1799,6 +1771,23 @@ static void commonkey_context_getsbuts (const bContext *C, ListBase *sources, bK
 
 #endif // XXX old keyingsets code based on adrcodes... to be restored in due course
 
+#if 0 // XXX new relative keyingsets code
+
+/* Check if context data is suitable for the given absolute Keying Set */
+static short keyingset_context_ok_poll (bContext *C, KeyingSet *ks)
+{
+	
+	return 1;
+}
+
+/* Get list of data-sources from context for inserting keyframes using the given relative Keying Set */
+static short commonkey_get_context_data (bContext *C, ListBase *dsources, KeyingSet *ks)
+{
+	
+} 
+
+#endif // XXX new relative keyingsets code
+
 /* Given a KeyingSet and context info (if required), modify keyframes for the channels specified
  * by the KeyingSet. This takes into account many of the different combinations of using KeyingSets.
  * Returns the number of channels that keyframes were added to
@@ -1900,10 +1889,10 @@ static int modify_key_op_poll(bContext *C)
 		return 0;
 	
 	/* if Outliner, only allow in DataBlocks view */
-	if (sa->spacetype == SPACE_OOPS) {
+	if (sa->spacetype == SPACE_OUTLINER) {
 		SpaceOops *so= (SpaceOops *)CTX_wm_space_data(C);
 		
-		if ((so->type != SO_OUTLINER) || (so->outlinevis != SO_DATABLOCKS))
+		if ((so->outlinevis != SO_DATABLOCKS))
 			return 0;
 	}
 	
diff --git a/source/blender/editors/armature/BIF_generate.h b/source/blender/editors/armature/BIF_generate.h
new file mode 100644
index 00000000000..bc655a4cdff
--- /dev/null
+++ b/source/blender/editors/armature/BIF_generate.h
@@ -0,0 +1,45 @@
+/**
+ * $Id:  $
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+ 
+#ifndef BIF_GENERATE_H
+#define BIF_GENERATE_H
+
+struct ToolSettings;
+struct EditBone;
+struct BArcIterator;
+struct bArmature;
+struct ListBase;
+
+typedef int(NextSubdivisionFunc)(struct ToolSettings*, struct BArcIterator*, int, int, float[3], float[3]);
+ 
+float calcArcCorrelation(struct BArcIterator *iter, int start, int end, float v0[3], float n[3]);
+
+int nextFixedSubdivision(struct ToolSettings *toolsettings, struct BArcIterator *iter, int start, int end, float head[3], float p[3]);
+int nextLengthSubdivision(struct ToolSettings *toolsettings, struct BArcIterator *iter, int start, int end, float head[3], float p[3]);
+int nextAdaptativeSubdivision(struct ToolSettings *toolsettings, struct BArcIterator *iter, int start, int end, float head[3], float p[3]);
+
+struct EditBone * subdivideArcBy(struct ToolSettings *toolsettings, struct bArmature *arm, ListBase *editbones, struct BArcIterator *iter, float invmat[][4], float tmat[][3], NextSubdivisionFunc next_subdividion);
+
+void setBoneRollFromNormal(struct EditBone *bone, float *no, float invmat[][4], float tmat[][3]);
+ 
+
+#endif /* BIF_GENERATE_H */
diff --git a/source/blender/editors/armature/BIF_retarget.h b/source/blender/editors/armature/BIF_retarget.h
new file mode 100644
index 00000000000..049ddf5baa5
--- /dev/null
+++ b/source/blender/editors/armature/BIF_retarget.h
@@ -0,0 +1,160 @@
+/**
+ * $Id:  $
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#ifndef BIF_RETARGET_H
+#define BIF_RETARGET_H
+
+#include "DNA_listBase.h"
+
+#include "BLI_graph.h"
+#include "BLI_ghash.h"
+#include "BLI_threads.h"
+
+#include "reeb.h"
+
+struct Object;
+struct bArmature;
+struct bContext;
+
+struct EditBone;
+
+struct RigJoint;
+struct RigGraph;
+struct RigNode;
+struct RigArc;
+struct RigEdge;
+
+#define USE_THREADS
+
+typedef struct RigGraph {
+	ListBase	arcs;
+	ListBase	nodes;
+
+	float length;
+	
+	FreeArc			free_arc;
+	FreeNode		free_node;
+	RadialSymmetry	radial_symmetry;
+	AxialSymmetry	axial_symmetry;
+	/*********************************/
+	
+	int			flag;
+
+	ListBase	controls;
+	ListBase*	editbones;
+	
+	struct RigNode *head;
+	ReebGraph *link_mesh;
+	
+	
+	struct ThreadedWorker *worker;
+	
+	GHash *bones_map;	/* map of editbones by name */
+	GHash *controls_map;	/* map of rigcontrols by bone pointer */
+	
+	struct Object *ob;
+} RigGraph;
+
+typedef struct RigNode {
+	void *next, *prev;
+	float p[3];
+	int flag;
+
+	int degree;
+	struct BArc **arcs;
+
+	int subgraph_index;
+
+	int symmetry_level;
+	int symmetry_flag;
+	float symmetry_axis[3];
+	/*********************************/
+
+	ReebNode *link_mesh;
+} RigNode;
+
+typedef struct RigArc {
+	void *next, *prev;
+	RigNode *head, *tail;
+	int flag;
+
+	float length;
+
+	int symmetry_level;
+	int symmetry_group;
+	int symmetry_flag;
+	/*********************************/
+	
+	ListBase edges;
+	int count;
+	ReebArc *link_mesh;
+} RigArc;
+
+typedef struct RigEdge {
+	struct RigEdge *next, *prev;
+	float head[3], tail[3];
+	float length;
+	float angle; /* angle to next edge */
+	float up_angle; /* angle between up_axis and the joint normal (defined as Previous edge CrossProduct Current edge */
+	struct EditBone *bone;
+	float up_axis[3];
+} RigEdge;
+
+/* Graph flags */
+#define	RIG_FREE_BONELIST		1
+
+/* Control flags */
+#define RIG_CTRL_HEAD_DONE		1
+#define RIG_CTRL_TAIL_DONE		2
+#define RIG_CTRL_PARENT_DEFORM	4
+#define RIG_CTRL_FIT_ROOT		8
+#define RIG_CTRL_FIT_BONE		16
+
+#define RIG_CTRL_DONE	(RIG_CTRL_HEAD_DONE|RIG_CTRL_TAIL_DONE)
+
+/* Control tail flags */
+typedef enum {
+	TL_NONE = 0,
+	TL_TAIL,
+	TL_HEAD
+} LinkTailMode;
+
+typedef struct RigControl {
+	struct RigControl *next, *prev;
+	float head[3], tail[3];
+	struct EditBone *bone;
+	struct EditBone *link;
+	struct EditBone *link_tail;
+	float	up_axis[3];
+	float	offset[3];
+	float	qrot[4]; /* for dual linked bones, store the rotation of the linked bone for the finalization */
+	int		flag;
+	LinkTailMode tail_mode;
+} RigControl;
+
+void BIF_retargetArc(struct bContext *C, ReebArc *earc, RigGraph *template_rigg);
+RigGraph *RIG_graphFromArmature(struct bContext *C, struct Object *ob, struct bArmature *arm);
+int RIG_nbJoints(RigGraph *rg);
+char *RIG_nameBone(RigGraph *rg, int arc_index, int bone_index);
+void RIG_freeRigGraph(BGraph *rg);
+
+#endif /* BIF_RETARGET_H */
diff --git a/source/blender/editors/armature/armature_intern.h b/source/blender/editors/armature/armature_intern.h
index 9f50bb3f044..8142189b61b 100644
--- a/source/blender/editors/armature/armature_intern.h
+++ b/source/blender/editors/armature/armature_intern.h
@@ -31,7 +31,7 @@
 /* internal exports only */
 struct wmOperatorType;
 
-/* editarmature.c */
+/* editarmature.c operators */
 void ARMATURE_OT_bone_primitive_add(struct wmOperatorType *ot);
 void ARMATURE_OT_align_bones(struct wmOperatorType *ot);
 void ARMATURE_OT_calculate_roll(struct wmOperatorType *ot);
@@ -41,11 +41,11 @@ void ARMATURE_OT_subdivide_simple(struct wmOperatorType *ot);
 void ARMATURE_OT_subdivide_multi(struct wmOperatorType *ot);
 void ARMATURE_OT_parent_set(struct wmOperatorType *ot);
 void ARMATURE_OT_parent_clear(struct wmOperatorType *ot);
-void ARMATURE_OT_de_select_all(struct wmOperatorType *ot);
-void ARMATURE_OT_selection_invert(struct wmOperatorType *ot);
+void ARMATURE_OT_select_all_toggle(struct wmOperatorType *ot);
+void ARMATURE_OT_select_invert(struct wmOperatorType *ot);
 void ARMATURE_OT_select_hierarchy(struct wmOperatorType *ot);
-void ARMATURE_OT_select_connected(struct wmOperatorType *ot);
-void ARMATURE_OT_delete_selected(struct wmOperatorType *ot);
+void ARMATURE_OT_select_linked(struct wmOperatorType *ot);
+void ARMATURE_OT_delete(struct wmOperatorType *ot);
 void ARMATURE_OT_duplicate_selected(struct wmOperatorType *ot);
 void ARMATURE_OT_extrude(struct wmOperatorType *ot);
 void ARMATURE_OT_click_extrude(struct wmOperatorType *ot);
@@ -55,11 +55,41 @@ void POSE_OT_reveal(struct wmOperatorType *ot);
 void POSE_OT_rot_clear(struct wmOperatorType *ot);
 void POSE_OT_loc_clear(struct wmOperatorType *ot);
 void POSE_OT_scale_clear(struct wmOperatorType *ot);
-void POSE_OT_de_select_all(struct wmOperatorType *ot);
-void POSE_OT_selection_invert(struct wmOperatorType *ot);
+void POSE_OT_select_all_toggle(struct wmOperatorType *ot);
+void POSE_OT_select_invert(struct wmOperatorType *ot);
 void POSE_OT_select_parent(struct wmOperatorType *ot);
 void POSE_OT_select_hierarchy(struct wmOperatorType *ot);
-void POSE_OT_select_connected(struct wmOperatorType *ot);
+void POSE_OT_select_linked(struct wmOperatorType *ot);
+
+void SKETCH_OT_gesture(struct wmOperatorType *ot);
+void SKETCH_OT_delete(struct wmOperatorType *ot);
+void SKETCH_OT_draw_stroke(struct wmOperatorType *ot);
+void SKETCH_OT_draw_preview(struct wmOperatorType *ot);
+void SKETCH_OT_finish_stroke(struct wmOperatorType *ot);
+void SKETCH_OT_cancel_stroke(struct wmOperatorType *ot);
+void SKETCH_OT_select(struct wmOperatorType *ot);
+
+/* editarmature.c */
+struct bArmature;
+struct EditBone;
+struct ListBase;
+
+void make_boneList(struct ListBase *edbo, struct ListBase *bones, struct EditBone *parent);
+
+struct EditBone *addEditBone(struct bArmature *arm, char *name);
+
+/* duplicate method */
+void preEditBoneDuplicate(struct ListBase *editbones);
+struct EditBone *duplicateEditBone(struct EditBone *curBone, char *name, struct ListBase *editbones, struct Object *ob);
+void updateDuplicateSubtarget(struct EditBone *dupBone, struct ListBase *editbones, struct Object *ob);
+
+/* duplicate method (cross objects */
+
+/* editbones is the target list */
+struct EditBone *duplicateEditBoneObjects(struct EditBone *curBone, char *name, struct ListBase *editbones, struct Object *src_ob, struct Object *dst_ob);
+
+/* editbones is the source list */
+void updateDuplicateSubtargetObjects(struct EditBone *dupBone, struct ListBase *editbones, struct Object *src_ob, struct Object *dst_ob);
 
 #endif /* ED_ARMATURE_INTERN_H */
 
diff --git a/source/blender/editors/armature/armature_ops.c b/source/blender/editors/armature/armature_ops.c
index e80d4d017d9..bc171acfac7 100644
--- a/source/blender/editors/armature/armature_ops.c
+++ b/source/blender/editors/armature/armature_ops.c
@@ -120,16 +120,25 @@ void ED_operatortypes_armature(void)
 	WM_operatortype_append(ARMATURE_OT_parent_set);
 	WM_operatortype_append(ARMATURE_OT_parent_clear);
 	
-	WM_operatortype_append(ARMATURE_OT_de_select_all);
-	WM_operatortype_append(ARMATURE_OT_selection_invert);
+	WM_operatortype_append(ARMATURE_OT_select_all_toggle);
+	WM_operatortype_append(ARMATURE_OT_select_invert);
 	WM_operatortype_append(ARMATURE_OT_select_hierarchy);
-	WM_operatortype_append(ARMATURE_OT_select_connected);
+	WM_operatortype_append(ARMATURE_OT_select_linked);
 
-	WM_operatortype_append(ARMATURE_OT_delete_selected);
+	WM_operatortype_append(ARMATURE_OT_delete);
 	WM_operatortype_append(ARMATURE_OT_duplicate_selected);
 	WM_operatortype_append(ARMATURE_OT_extrude);
 	WM_operatortype_append(ARMATURE_OT_click_extrude);
-	
+
+	/* SKETCH */	
+	WM_operatortype_append(SKETCH_OT_gesture);
+	WM_operatortype_append(SKETCH_OT_delete);
+	WM_operatortype_append(SKETCH_OT_draw_stroke);
+	WM_operatortype_append(SKETCH_OT_draw_preview);
+	WM_operatortype_append(SKETCH_OT_finish_stroke);
+	WM_operatortype_append(SKETCH_OT_cancel_stroke);
+	WM_operatortype_append(SKETCH_OT_select);
+
 	/* POSE */
 	WM_operatortype_append(POSE_OT_hide);
 	WM_operatortype_append(POSE_OT_reveal);
@@ -138,12 +147,12 @@ void ED_operatortypes_armature(void)
 	WM_operatortype_append(POSE_OT_loc_clear);
 	WM_operatortype_append(POSE_OT_scale_clear);
 	
-	WM_operatortype_append(POSE_OT_de_select_all);
-	WM_operatortype_append(POSE_OT_selection_invert);
+	WM_operatortype_append(POSE_OT_select_all_toggle);
+	WM_operatortype_append(POSE_OT_select_invert);
 
 	WM_operatortype_append(POSE_OT_select_parent);
 	WM_operatortype_append(POSE_OT_select_hierarchy);
-	WM_operatortype_append(POSE_OT_select_connected);
+	WM_operatortype_append(POSE_OT_select_linked);
 	
 	WM_operatortype_append(ARMATURE_OT_test); // XXX temp test for context iterators... to be removed
 }
@@ -167,36 +176,42 @@ void ED_keymap_armature(wmWindowManager *wm)
 		/* only the menu-version of subdivide is registered in keymaps for now */
 	WM_keymap_add_item(keymap, "ARMATURE_OT_subdivs", SKEY, KM_PRESS, KM_ALT, 0);
 	
-	WM_keymap_add_item(keymap, "ARMATURE_OT_set_parent", PKEY, KM_PRESS, KM_CTRL, 0);
-	WM_keymap_add_item(keymap, "ARMATURE_OT_clear_parent", PKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_add_item(keymap, "ARMATURE_OT_parent_set", PKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "ARMATURE_OT_parent_clear", PKEY, KM_PRESS, KM_ALT, 0);
 	
-	WM_keymap_add_item(keymap, "ARMATURE_OT_de_select_all", AKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "ARMATURE_OT_selection_invert", IKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "ARMATURE_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "ARMATURE_OT_select_invert", IKEY, KM_PRESS, KM_CTRL, 0);
 	
 	WM_keymap_add_item(keymap, "ARMATURE_OT_test", TKEY, KM_PRESS, 0, 0);  // XXX temp test for context iterators... to be removed
 
 	kmi= WM_keymap_add_item(keymap, "ARMATURE_OT_select_hierarchy", LEFTBRACKETKEY, KM_PRESS, 0, 0);
 	RNA_enum_set(kmi->ptr, "direction", BONE_SELECT_PARENT);
-	RNA_boolean_set(kmi->ptr, "add_to_sel", 0);
+	RNA_boolean_set(kmi->ptr, "extend", 0);
 	kmi= WM_keymap_add_item(keymap, "ARMATURE_OT_select_hierarchy", LEFTBRACKETKEY, KM_PRESS, KM_SHIFT, 0);
 	RNA_enum_set(kmi->ptr, "direction", BONE_SELECT_PARENT);
-	RNA_boolean_set(kmi->ptr, "add_to_sel", 1);
+	RNA_boolean_set(kmi->ptr, "extend", 1);
 	
 	kmi= WM_keymap_add_item(keymap, "ARMATURE_OT_select_hierarchy", RIGHTBRACKETKEY, KM_PRESS, 0, 0);
 	RNA_enum_set(kmi->ptr, "direction", BONE_SELECT_CHILD);
-	RNA_boolean_set(kmi->ptr, "add_to_sel", 0);
+	RNA_boolean_set(kmi->ptr, "extend", 0);
 	kmi= WM_keymap_add_item(keymap, "ARMATURE_OT_select_hierarchy", RIGHTBRACKETKEY, KM_PRESS, KM_SHIFT, 0);
 	RNA_enum_set(kmi->ptr, "direction", BONE_SELECT_CHILD);
-	RNA_boolean_set(kmi->ptr, "add_to_sel", 1);
+	RNA_boolean_set(kmi->ptr, "extend", 1);
 
-	WM_keymap_add_item(keymap, "ARMATURE_OT_select_connected", LKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "ARMATURE_OT_delete_selected", XKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "ARMATURE_OT_select_linked", LKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "ARMATURE_OT_delete", XKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "ARMATURE_OT_duplicate_selected", DKEY, KM_PRESS, KM_SHIFT, 0);
 	WM_keymap_add_item(keymap, "ARMATURE_OT_extrude", EKEY, KM_PRESS, 0, 0);
 	kmi= WM_keymap_add_item(keymap, "ARMATURE_OT_extrude", EKEY, KM_PRESS, KM_SHIFT, 0);
 	RNA_boolean_set(kmi->ptr, "forked", 1);
 	WM_keymap_add_item(keymap, "ARMATURE_OT_click_extrude", LEFTMOUSE, KM_PRESS, KM_CTRL, 0);
 	
+	/* Armature ------------------------ */
+	WM_keymap_add_item(keymap, "SKETCH_OT_delete", XKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "SKETCH_OT_finish_stroke", SELECTMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "SKETCH_OT_cancel_stroke", ESCKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "SKETCH_OT_select", SELECTMOUSE, KM_PRESS, 0, 0);
+
 	/* Pose ------------------------ */
 	/* only set in posemode, by space_view3d listener */
 	keymap= WM_keymap_listbase(wm, "Pose", 0, 0);
@@ -210,25 +225,25 @@ void ED_keymap_armature(wmWindowManager *wm)
 	WM_keymap_add_item(keymap, "POSE_OT_loc_clear", GKEY, KM_PRESS, KM_ALT, 0);
 	WM_keymap_add_item(keymap, "POSE_OT_scale_clear", SKEY, KM_PRESS, KM_ALT, 0);
 	
-	WM_keymap_add_item(keymap, "POSE_OT_de_select_all", AKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "POSE_OT_selection_invert", IKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "POSE_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "POSE_OT_select_invert", IKEY, KM_PRESS, KM_CTRL, 0);
 
 	WM_keymap_add_item(keymap, "POSE_OT_select_parent", PKEY, KM_PRESS, KM_SHIFT, 0);
 
 	kmi= WM_keymap_add_item(keymap, "POSE_OT_select_hierarchy", LEFTBRACKETKEY, KM_PRESS, 0, 0);
 	RNA_enum_set(kmi->ptr, "direction", BONE_SELECT_PARENT);
-	RNA_boolean_set(kmi->ptr, "add_to_sel", 0);
+	RNA_boolean_set(kmi->ptr, "extend", 0);
 	kmi= WM_keymap_add_item(keymap, "POSE_OT_select_hierarchy", LEFTBRACKETKEY, KM_PRESS, KM_SHIFT, 0);
 	RNA_enum_set(kmi->ptr, "direction", BONE_SELECT_PARENT);
-	RNA_boolean_set(kmi->ptr, "add_to_sel", 1);
+	RNA_boolean_set(kmi->ptr, "extend", 1);
 	
 	kmi= WM_keymap_add_item(keymap, "POSE_OT_select_hierarchy", RIGHTBRACKETKEY, KM_PRESS, 0, 0);
 	RNA_enum_set(kmi->ptr, "direction", BONE_SELECT_CHILD);
-	RNA_boolean_set(kmi->ptr, "add_to_sel", 0);
+	RNA_boolean_set(kmi->ptr, "extend", 0);
 	kmi= WM_keymap_add_item(keymap, "POSE_OT_select_hierarchy", RIGHTBRACKETKEY, KM_PRESS, KM_SHIFT, 0);
 	RNA_enum_set(kmi->ptr, "direction", BONE_SELECT_CHILD);
-	RNA_boolean_set(kmi->ptr, "add_to_sel", 1);
+	RNA_boolean_set(kmi->ptr, "extend", 1);
 
-	WM_keymap_add_item(keymap, "POSE_OT_select_connected", LKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "POSE_OT_select_linked", LKEY, KM_PRESS, 0, 0);
 }
 
diff --git a/source/blender/editors/armature/editarmature.c b/source/blender/editors/armature/editarmature.c
index 021f87ea663..659cd586902 100644
--- a/source/blender/editors/armature/editarmature.c
+++ b/source/blender/editors/armature/editarmature.c
@@ -75,6 +75,7 @@
 
 #include "BIF_gl.h"
 #include "BIF_transform.h"
+#include "BIF_generate.h"
 
 #include "RNA_access.h"
 #include "RNA_define.h"
@@ -463,13 +464,16 @@ static EditBone *editbone_name_exists (ListBase *edbo, char *name)
 }
 
 /* note: there's a unique_bone_name() too! */
-void unique_editbone_name (ListBase *edbo, char *name)
+void unique_editbone_name (ListBase *edbo, char *name, EditBone *bone)
 {
+	EditBone *dupli;
 	char		tempname[64];
 	int			number;
 	char		*dot;
+
+	dupli = editbone_name_exists(edbo, name);
 	
-	if (editbone_name_exists(edbo, name)) {
+	if (dupli && bone != dupli) {
 		/*	Strip off the suffix, if it's a number */
 		number= strlen(name);
 		if (number && isdigit(name[number-1])) {
@@ -717,7 +721,7 @@ int join_armature(Scene *scene, View3D *v3d)
 					curbone= editbone_name_exists(curarm->edbo, pchan->name);
 					
 					/* Get new name */
-					unique_editbone_name(arm->edbo, curbone->name);
+					unique_editbone_name(arm->edbo, curbone->name, NULL);
 					
 					/* Transform the bone */
 					{
@@ -1347,11 +1351,11 @@ static int pose_select_connected_invoke(bContext *C, wmOperator *op, wmEvent *ev
 	return OPERATOR_FINISHED;
 }
 
-void POSE_OT_select_connected(wmOperatorType *ot)
+void POSE_OT_select_linked(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select Connected";
-	ot->idname= "POSE_OT_select_connected";
+	ot->idname= "POSE_OT_select_linked";
 	
 	/* api callbacks */
 	ot->exec= NULL;
@@ -1369,7 +1373,7 @@ void POSE_OT_select_connected(wmOperatorType *ot)
 
 /* called in space.c */
 /* previously "selectconnected_armature" */
-static int armature_select_connected_invoke(bContext *C, wmOperator *op, wmEvent *event)
+static int armature_select_linked_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	bArmature *arm;
 	EditBone *bone, *curBone, *next;
@@ -1441,15 +1445,15 @@ static int armature_select_connected_invoke(bContext *C, wmOperator *op, wmEvent
 	return OPERATOR_FINISHED;
 }
 
-void ARMATURE_OT_select_connected(wmOperatorType *ot)
+void ARMATURE_OT_select_linked(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select Connected";
-	ot->idname= "ARMATURE_OT_select_connected";
+	ot->idname= "ARMATURE_OT_select_linked";
 	
 	/* api callbacks */
 	ot->exec= NULL;
-	ot->invoke= armature_select_connected_invoke;
+	ot->invoke= armature_select_linked_invoke;
 	ot->poll= ED_operator_editarmature;
 	
 	/* flags */
@@ -1672,11 +1676,11 @@ static int armature_delete_selected_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void ARMATURE_OT_delete_selected(wmOperatorType *ot)
+void ARMATURE_OT_delete(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Delete Selected Bone(s)";
-	ot->idname= "ARMATURE_OT_delete_selected";
+	ot->idname= "ARMATURE_OT_delete";
 	
 	/* api callbacks */
 	ot->invoke = WM_operator_confirm;
@@ -1758,6 +1762,8 @@ void mouse_armature(bContext *C, short mval[2], int extend)
 
 	view3d_set_viewcontext(C, &vc);
 	
+	BIF_sk_selectStroke(C, mval, extend);
+	
 	nearBone= get_nearest_editbonepoint(&vc, mval, arm->edbo, 1, &selmask);
 	if (nearBone) {
 
@@ -1851,6 +1857,8 @@ void ED_armature_to_edit(Object *ob)
 	ED_armature_edit_free(ob);
 	arm->edbo= MEM_callocN(sizeof(ListBase), "edbo armature");
 	make_boneList(arm->edbo, &arm->bonebase,NULL);
+
+//	BIF_freeTemplates(); /* force template update when entering editmode */
 }
 
 
@@ -2085,14 +2093,12 @@ void undo_push_armature(bContext *C, char *name)
 /* *************** Adding stuff in editmode *************** */
 
 /* default bone add, returns it selected, but without tail set */
-static EditBone *add_editbone(Object *obedit, char *name)
+EditBone *addEditBone(bArmature *arm, char *name)
 {
-	bArmature *arm= obedit->data;
-	
 	EditBone *bone= MEM_callocN(sizeof(EditBone), "eBone");
 	
 	BLI_strncpy(bone->name, name, 32);
-	unique_editbone_name(arm->edbo, bone->name);
+	unique_editbone_name(arm->edbo, bone->name, NULL);
 	
 	BLI_addtail(arm->edbo, bone);
 	
@@ -2111,6 +2117,14 @@ static EditBone *add_editbone(Object *obedit, char *name)
 	return bone;
 }
 
+/* default bone add, returns it selected, but without tail set */
+static EditBone *add_editbone(Object *obedit, char *name)
+{
+	bArmature *arm= obedit->data;
+
+	return addEditBone(arm, name);
+}
+
 /* v3d and rv3d are allowed to be NULL */
 void add_primitive_bone(Scene *scene, View3D *v3d, RegionView3D *rv3d)
 {
@@ -2341,19 +2355,35 @@ static EditBone *get_named_editbone(ListBase *edbo, char *name)
 	return NULL;
 }
 
-static void update_dup_subtarget(Object *obedit, EditBone *dupBone)
+/* Call this before doing any duplications
+ * */
+void preEditBoneDuplicate(ListBase *editbones)
+{
+	EditBone *eBone;
+	
+	/* clear temp */
+	for (eBone = editbones->first; eBone; eBone = eBone->next)
+	{
+		eBone->temp = NULL;
+	}
+}
+
+/*
+ * Note: When duplicating cross objects, editbones here is the list of bones
+ * from the SOURCE object but ob is the DESTINATION object
+ * */
+void updateDuplicateSubtargetObjects(EditBone *dupBone, ListBase *editbones, Object *src_ob, Object *dst_ob)
 {
 	/* If an edit bone has been duplicated, lets
 	 * update it's constraints if the subtarget
 	 * they point to has also been duplicated
 	 */
-	bArmature    *arm = obedit->data;
 	EditBone     *oldtarget, *newtarget;
 	bPoseChannel *chan;
 	bConstraint  *curcon;
 	ListBase     *conlist;
 	
-	if ( (chan = verify_pose_channel(obedit->pose, dupBone->name)) ) {
+	if ( (chan = verify_pose_channel(dst_ob->pose, dupBone->name)) ) {
 		if ( (conlist = &chan->constraints) ) {
 			for (curcon = conlist->first; curcon; curcon=curcon->next) {
 				/* does this constraint have a subtarget in
@@ -2367,14 +2397,15 @@ static void update_dup_subtarget(Object *obedit, EditBone *dupBone)
 					cti->get_constraint_targets(curcon, &targets);
 					
 					for (ct= targets.first; ct; ct= ct->next) {
-						if ((ct->tar == obedit) && (ct->subtarget[0])) {
-							oldtarget = get_named_editbone(arm->edbo, ct->subtarget);
+						if ((ct->tar == src_ob) && (ct->subtarget[0])) {
+							ct->tar = dst_ob; /* update target */ 
+							oldtarget = get_named_editbone(editbones, ct->subtarget);
 							if (oldtarget) {
 								/* was the subtarget bone duplicated too? If
 								 * so, update the constraint to point at the 
 								 * duplicate of the old subtarget.
 								 */
-								if (oldtarget->flag & BONE_SELECTED){
+								if (oldtarget->temp) {
 									newtarget = (EditBone *) oldtarget->temp;
 									strcpy(ct->subtarget, newtarget->name);
 								}
@@ -2390,6 +2421,79 @@ static void update_dup_subtarget(Object *obedit, EditBone *dupBone)
 	}
 }
 
+void updateDuplicateSubtarget(EditBone *dupBone, ListBase *editbones, Object *ob)
+{
+	updateDuplicateSubtargetObjects(dupBone, editbones, ob, ob);
+}
+
+
+EditBone *duplicateEditBoneObjects(EditBone *curBone, char *name, ListBase *editbones, Object *src_ob, Object *dst_ob)
+{
+	EditBone *eBone = MEM_callocN(sizeof(EditBone), "addup_editbone");
+	
+	/*	Copy data from old bone to new bone */
+	memcpy(eBone, curBone, sizeof(EditBone));
+	
+	curBone->temp = eBone;
+	eBone->temp = curBone;
+	
+	if (name != NULL)
+	{
+		BLI_strncpy(eBone->name, name, 32);
+	}
+
+	unique_editbone_name(editbones, eBone->name, NULL);
+	BLI_addtail(editbones, eBone);
+	
+	/* Lets duplicate the list of constraints that the
+	 * current bone has.
+	 */
+	if (src_ob->pose) {
+		bPoseChannel *chanold, *channew;
+		ListBase     *listold, *listnew;
+		
+		chanold = verify_pose_channel(src_ob->pose, curBone->name);
+		if (chanold) {
+			listold = &chanold->constraints;
+			if (listold) {
+				/* WARNING: this creates a new posechannel, but there will not be an attached bone 
+				 *		yet as the new bones created here are still 'EditBones' not 'Bones'. 
+				 */
+				channew = 
+					verify_pose_channel(dst_ob->pose, eBone->name);
+				if (channew) {
+					/* copy transform locks */
+					channew->protectflag = chanold->protectflag;
+					
+					/* copy bone group */
+					channew->agrp_index= chanold->agrp_index;
+					
+					/* ik (dof) settings */
+					channew->ikflag = chanold->ikflag;
+					VECCOPY(channew->limitmin, chanold->limitmin);
+					VECCOPY(channew->limitmax, chanold->limitmax);
+					VECCOPY(channew->stiffness, chanold->stiffness);
+					channew->ikstretch= chanold->ikstretch;
+					
+					/* constraints */
+					listnew = &channew->constraints;
+					copy_constraints(listnew, listold);
+					
+					/* custom shape */
+					channew->custom= chanold->custom;
+				}
+			}
+		}
+	}
+	
+	return eBone;
+}
+
+EditBone *duplicateEditBone(EditBone *curBone, char *name, ListBase *editbones, Object *ob)
+{
+	return duplicateEditBoneObjects(curBone, name, editbones, ob, ob);
+}
+
 /* previously adduplicate_armature */
 static int armature_duplicate_selected_exec(bContext *C, wmOperator *op)
 {
@@ -2407,6 +2511,8 @@ static int armature_duplicate_selected_exec(bContext *C, wmOperator *op)
 	
 	armature_sync_selection(arm->edbo); // XXX why is this needed?
 
+	preEditBoneDuplicate(arm->edbo);
+
 	/* Select mirrored bones */
 	if (arm->flag & ARM_MIRROR_EDIT) {
 		for (curBone=arm->edbo->first; curBone; curBone=curBone->next) {
@@ -2419,6 +2525,7 @@ static int armature_duplicate_selected_exec(bContext *C, wmOperator *op)
 			}
 		}
 	}
+
 	
 	/*	Find the selected bones and duplicate them as needed */
 	for (curBone=arm->edbo->first; curBone && curBone!=firstDup; curBone=curBone->next) {
@@ -2433,7 +2540,7 @@ static int armature_duplicate_selected_exec(bContext *C, wmOperator *op)
 				curBone->temp = eBone;
 				eBone->temp = curBone;
 				
-				unique_editbone_name(arm->edbo, eBone->name);
+				unique_editbone_name(arm->edbo, eBone->name, NULL);
 				BLI_addtail(arm->edbo, eBone);
 				if (!firstDup)
 					firstDup=eBone;
@@ -2494,9 +2601,9 @@ static int armature_duplicate_selected_exec(bContext *C, wmOperator *op)
 					 */
 					eBone->parent = NULL;
 				}
-				else if (curBone->parent->flag & BONE_SELECTED) {
-					/* If this bone has a parent that IS selected,
-					 * Set the duplicate->parent to the curBone->parent->duplicate
+				else if (curBone->parent->temp) {
+					/* If this bone has a parent that was duplicated,
+					 * Set the duplicate->parent to the curBone->parent->temp
 					 */
 					eBone->parent= (EditBone *)curBone->parent->temp;
 				}
@@ -2511,7 +2618,7 @@ static int armature_duplicate_selected_exec(bContext *C, wmOperator *op)
 				/* Lets try to fix any constraint subtargets that might
 				 * have been duplicated 
 				 */
-				update_dup_subtarget(obedit, eBone);
+				updateDuplicateSubtarget(eBone, arm->edbo, obedit);
 			}
 		}
 	} 
@@ -3122,7 +3229,7 @@ static int armature_extrude_exec(bContext *C, wmOperator *op)
 							else strcat(newbone->name, "_R");
 						}
 					}
-					unique_editbone_name(arm->edbo, newbone->name);
+					unique_editbone_name(arm->edbo, newbone->name, NULL);
 					
 					/* Add the new bone to the list */
 					BLI_addtail(arm->edbo, newbone);
@@ -3299,7 +3406,7 @@ static int armature_subdivide_exec(bContext *C, wmOperator *op)
 			
 			newbone->flag |= BONE_CONNECTED;
 			
-			unique_editbone_name(arm->edbo, newbone->name);
+			unique_editbone_name(arm->edbo, newbone->name, NULL);
 			
 			/* correct parent bones */
 			for (tbone = arm->edbo->first; tbone; tbone=tbone->next) {
@@ -3647,11 +3754,11 @@ static int armature_parent_set_invoke(bContext *C, wmOperator *op, wmEvent *even
 	}
 	CTX_DATA_END;
 
-	uiMenuItemEnumO(head, "", 0, "ARMATURE_OT_set_parent", "type", ARM_PAR_CONNECT);
+	uiMenuItemEnumO(head, "", 0, "ARMATURE_OT_parent_set", "type", ARM_PAR_CONNECT);
 	
 	/* ob becomes parent, make the associated menus */
 	if (allchildbones)
-		uiMenuItemEnumO(head, "", 0, "ARMATURE_OT_set_parent", "type", ARM_PAR_OFFSET);	
+		uiMenuItemEnumO(head, "", 0, "ARMATURE_OT_parent_set", "type", ARM_PAR_OFFSET);	
 		
 	uiPupMenuEnd(C, head);
 	
@@ -3662,7 +3769,7 @@ void ARMATURE_OT_parent_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Make Parent";
-	ot->idname= "ARMATURE_OT_set_parent";
+	ot->idname= "ARMATURE_OT_parent_set";
 	
 	/* api callbacks */
 	ot->invoke = armature_parent_set_invoke;
@@ -3715,7 +3822,7 @@ void ARMATURE_OT_parent_clear(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Clear Parent";
-	ot->idname= "ARMATURE_OT_clear_parent";
+	ot->idname= "ARMATURE_OT_parent_clear";
 	
 	/* api callbacks */
 	ot->invoke = WM_menu_invoke;
@@ -3730,7 +3837,7 @@ void ARMATURE_OT_parent_clear(wmOperatorType *ot)
 
 /* ****************  Selections  ******************/
 
-static int armature_selection_invert_exec(bContext *C, wmOperator *op)
+static int armature_select_invert_exec(bContext *C, wmOperator *op)
 {
 	/*	Set the flags */
 	CTX_DATA_BEGIN(C, EditBone *, ebone, visible_bones) {
@@ -3745,15 +3852,15 @@ static int armature_selection_invert_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void ARMATURE_OT_selection_invert(wmOperatorType *ot)
+void ARMATURE_OT_select_invert(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Invert Selection";
-	ot->idname= "ARMATURE_OT_selection_invert";
+	ot->idname= "ARMATURE_OT_select_invert";
 	
 	/* api callbacks */
-	ot->exec= armature_selection_invert_exec;
+	ot->exec= armature_select_invert_exec;
 	ot->poll= ED_operator_editarmature;
 	
 	/* flags */
@@ -3788,12 +3895,12 @@ static int armature_de_select_all_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void ARMATURE_OT_de_select_all(wmOperatorType *ot)
+void ARMATURE_OT_select_all_toggle(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "deselect all editbone";
-	ot->idname= "ARMATURE_OT_de_select_all";
+	ot->idname= "ARMATURE_OT_select_all_toggle";
 	
 	/* api callbacks */
 	ot->exec= armature_de_select_all_exec;
@@ -3813,7 +3920,7 @@ static int armature_select_hierarchy_exec(bContext *C, wmOperator *op)
 	bArmature *arm;
 	EditBone *curbone, *pabone, *chbone;
 	int direction = RNA_enum_get(op->ptr, "direction");
-	int add_to_sel = RNA_boolean_get(op->ptr, "add_to_sel");
+	int add_to_sel = RNA_boolean_get(op->ptr, "extend");
 	
 	ob= obedit;
 	arm= (bArmature *)ob->data;
@@ -3883,7 +3990,7 @@ void ARMATURE_OT_select_hierarchy(wmOperatorType *ot)
 	/* props */
 	RNA_def_enum(ot->srna, "direction", direction_items,
 		     BONE_SELECT_PARENT, "Direction", "");
-	RNA_def_boolean(ot->srna, "add_to_sel", 0, "Add to Selection", "");
+	RNA_def_boolean(ot->srna, "extend", 0, "Add to Selection", "");
 }
 
 /* ***************** EditBone Alignment ********************* */
@@ -4714,7 +4821,7 @@ void POSE_OT_rot_clear(wmOperatorType *ot)
 
 /* ***************** selections ********************** */
 
-static int pose_selection_invert_exec(bContext *C, wmOperator *op)
+static int pose_select_invert_exec(bContext *C, wmOperator *op)
 {
 	
 	/*	Set the flags */
@@ -4729,15 +4836,15 @@ static int pose_selection_invert_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void POSE_OT_selection_invert(wmOperatorType *ot)
+void POSE_OT_select_invert(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Invert Selection";
-	ot->idname= "POSE_OT_selection_invert";
+	ot->idname= "POSE_OT_select_invert";
 	
 	/* api callbacks */
-	ot->exec= pose_selection_invert_exec;
+	ot->exec= pose_select_invert_exec;
 	ot->poll= ED_operator_posemode;
 	
 	/* flags */
@@ -4765,12 +4872,12 @@ static int pose_de_select_all_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void POSE_OT_de_select_all(wmOperatorType *ot)
+void POSE_OT_select_all_toggle(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "deselect all bones";
-	ot->idname= "POSE_OT_de_select_all";
+	ot->idname= "POSE_OT_select_all_toggle";
 	
 	/* api callbacks */
 	ot->exec= pose_de_select_all_exec;
@@ -5009,7 +5116,7 @@ void armature_bone_rename(Object *ob, char *oldnamep, char *newnamep)
 			
 			eBone= editbone_name_exists(arm->edbo, oldname);
 			if (eBone) {
-				unique_editbone_name(arm->edbo, newname);
+				unique_editbone_name(arm->edbo, newname, NULL);
 				BLI_strncpy(eBone->name, newname, MAXBONENAME);
 			}
 			else return;
@@ -5236,9 +5343,9 @@ EditBone * subdivideByAngle(Scene *scene, Object *obedit, ReebArc *arc, ReebNode
 	
 	if (scene->toolsettings->skgen_options & SKGEN_CUT_ANGLE)
 	{
-		ReebArcIterator iter;
-		EmbedBucket *current = NULL;
-		EmbedBucket *previous = NULL;
+		ReebArcIterator arc_iter;
+		BArcIterator *iter = (BArcIterator*)&arc_iter;
+		float *previous = NULL, *current = NULL;
 		EditBone *child = NULL;
 		EditBone *parent = NULL;
 		EditBone *root = NULL;
@@ -5250,22 +5357,28 @@ EditBone * subdivideByAngle(Scene *scene, Object *obedit, ReebArc *arc, ReebNode
 		
 		root = parent;
 		
-		for (initArcIterator(&iter, arc, head), previous = nextBucket(&iter), current = nextBucket(&iter);
-			current;
-			previous = current, current = nextBucket(&iter))
+		initArcIterator(iter, arc, head);
+		IT_next(iter);
+		previous = iter->p;
+		
+		for (IT_next(iter);
+			IT_stopped(iter) == 0;
+			previous = iter->p, IT_next(iter))
 		{
 			float vec1[3], vec2[3];
 			float len1, len2;
+			
+			current = iter->p;
 
-			VecSubf(vec1, previous->p, parent->head);
-			VecSubf(vec2, current->p, previous->p);
+			VecSubf(vec1, previous, parent->head);
+			VecSubf(vec2, current, previous);
 
 			len1 = Normalize(vec1);
 			len2 = Normalize(vec2);
 
 			if (len1 > 0.0f && len2 > 0.0f && Inpf(vec1, vec2) < angleLimit)
 			{
-				VECCOPY(parent->tail, previous->p);
+				VECCOPY(parent->tail, previous);
 
 				child = add_editbone(obedit, "Bone");
 				VECCOPY(child->head, parent->tail);
@@ -5292,182 +5405,29 @@ EditBone * subdivideByAngle(Scene *scene, Object *obedit, ReebArc *arc, ReebNode
 	return lastBone;
 }
 
-float calcVariance(ReebArc *arc, int start, int end, float v0[3], float n[3])
-{
-	int len = 2 + abs(end - start);
-	
-	if (len > 2)
-	{
-		ReebArcIterator iter;
-		EmbedBucket *bucket = NULL;
-		float avg_t = 0.0f;
-		float s_t = 0.0f;
-		float s_xyz = 0.0f;
-		
-		/* First pass, calculate average */
-		for (initArcIterator2(&iter, arc, start, end), bucket = nextBucket(&iter);
-			bucket;
-			bucket = nextBucket(&iter))
-		{
-			float v[3];
-			
-			VecSubf(v, bucket->p, v0);
-			avg_t += Inpf(v, n);
-		}
-		
-		avg_t /= Inpf(n, n);
-		avg_t += 1.0f; /* adding start (0) and end (1) values */
-		avg_t /= len;
-		
-		/* Second pass, calculate s_xyz and s_t */
-		for (initArcIterator2(&iter, arc, start, end), bucket = nextBucket(&iter);
-			bucket;
-			bucket = nextBucket(&iter))
-		{
-			float v[3], d[3];
-			float dt;
-			
-			VecSubf(v, bucket->p, v0);
-			Projf(d, v, n);
-			VecSubf(v, v, d);
-			
-			dt = VecLength(d) - avg_t;
-			
-			s_t += dt * dt;
-			s_xyz += Inpf(v, v);
-		}
-		
-		/* adding start(0) and end(1) values to s_t */
-		s_t += (avg_t * avg_t) + (1 - avg_t) * (1 - avg_t);
-		
-		return s_xyz / s_t; 
-	}
-	else
-	{
-		return 0;
-	}
-}
-
-float calcDistance(ReebArc *arc, int start, int end, float head[3], float tail[3])
-{
-	ReebArcIterator iter;
-	EmbedBucket *bucket = NULL;
-	float max_dist = 0;
-	
-	/* calculate maximum distance */
-	for (initArcIterator2(&iter, arc, start, end), bucket = nextBucket(&iter);
-		bucket;
-		bucket = nextBucket(&iter))
-	{
-		float v1[3], v2[3], c[3];
-		float dist;
-		
-		VecSubf(v1, head, tail);
-		VecSubf(v2, bucket->p, tail);
-
-		Crossf(c, v1, v2);
-		
-		dist = Inpf(c, c) / Inpf(v1, v1);
-		
-		max_dist = dist > max_dist ? dist : max_dist;
-	}
-	
-	
-	return max_dist; 
-}
-
-EditBone * subdivideByCorrelation(Scene *scene, Object *obedit, ReebArc *arc, ReebNode *head, ReebNode *tail)
+EditBone * test_subdivideByCorrelation(Scene *scene, Object *obedit, ReebArc *arc, ReebNode *head, ReebNode *tail)
 {
-	ReebArcIterator iter;
-	float n[3];
-	float ADAPTIVE_THRESHOLD = scene->toolsettings->skgen_correlation_limit;
 	EditBone *lastBone = NULL;
-	
-	/* init iterator to get start and end from head */
-	initArcIterator(&iter, arc, head);
-	
-	/* Calculate overall */
-	VecSubf(n, arc->buckets[iter.end].p, head->p);
-	
+
 	if (scene->toolsettings->skgen_options & SKGEN_CUT_CORRELATION)
 	{
-		EmbedBucket *bucket = NULL;
-		EmbedBucket *previous = NULL;
-		EditBone *child = NULL;
-		EditBone *parent = NULL;
-		float normal[3] = {0, 0, 0};
-		float avg_normal[3];
-		int total = 0;
-		int boneStart = iter.start;
+		float invmat[4][4] = {	{1, 0, 0, 0},
+								{0, 1, 0, 0},
+								{0, 0, 1, 0},
+								{0, 0, 0, 1}};
+		float tmat[3][3] = {	{1, 0, 0},
+								{0, 1, 0},
+								{0, 0, 1}};
+		ReebArcIterator arc_iter;
+		BArcIterator *iter = (BArcIterator*)&arc_iter;
+		bArmature *arm= obedit->data;
 		
-		parent = add_editbone(obedit, "Bone");
-		parent->flag = BONE_SELECTED|BONE_TIPSEL|BONE_ROOTSEL;
-		VECCOPY(parent->head, head->p);
+		initArcIterator(iter, arc, head);
 		
-		for (previous = nextBucket(&iter), bucket = nextBucket(&iter);
-			bucket;
-			previous = bucket, bucket = nextBucket(&iter))
-		{
-			float btail[3];
-			float value = 0;
-
-			if (scene->toolsettings->skgen_options & SKGEN_STICK_TO_EMBEDDING)
-			{
-				VECCOPY(btail, bucket->p);
-			}
-			else
-			{
-				float length;
-				
-				/* Calculate normal */
-				VecSubf(n, bucket->p, parent->head);
-				length = Normalize(n);
-				
-				total += 1;
-				VecAddf(normal, normal, n);
-				VECCOPY(avg_normal, normal);
-				VecMulf(avg_normal, 1.0f / total);
-				 
-				VECCOPY(btail, avg_normal);
-				VecMulf(btail, length);
-				VecAddf(btail, btail, parent->head);
-			}
-
-			if (scene->toolsettings->skgen_options & SKGEN_ADAPTIVE_DISTANCE)
-			{
-				value = calcDistance(arc, boneStart, iter.index, parent->head, btail);
-			}
-			else
-			{
-				float n[3];
-				
-				VecSubf(n, btail, parent->head);
-				value = calcVariance(arc, boneStart, iter.index, parent->head, n);
-			}
-
-			if (value > ADAPTIVE_THRESHOLD)
-			{
-				VECCOPY(parent->tail, btail);
-
-				child = add_editbone(obedit, "Bone");
-				VECCOPY(child->head, parent->tail);
-				child->parent = parent;
-				child->flag |= BONE_CONNECTED|BONE_SELECTED|BONE_TIPSEL|BONE_ROOTSEL;
-				
-				parent = child; // new child is next parent
-				boneStart = iter.index; // start from end
-				
-				normal[0] = normal[1] = normal[2] = 0;
-				total = 0;
-			}
-		}
-
-		VECCOPY(parent->tail, tail->p);
-		
-		lastBone = parent; /* set last bone in the chain */
+		lastBone = subdivideArcBy(arm, arm->edbo, iter, invmat, tmat, nextAdaptativeSubdivision);
 	}
 	
-	return lastBone;
+  	return lastBone;
 }
 
 float arcLengthRatio(ReebArc *arc)
@@ -5497,108 +5457,26 @@ float arcLengthRatio(ReebArc *arc)
 	return embedLength / arcLength;	
 }
 
-EditBone * subdivideByLength(Scene *scene, Object *obedit, ReebArc *arc, ReebNode *head, ReebNode *tail)
+EditBone * test_subdivideByLength(Scene *scene, Object *obedit, ReebArc *arc, ReebNode *head, ReebNode *tail)
 {
 	EditBone *lastBone = NULL;
-	
 	if ((scene->toolsettings->skgen_options & SKGEN_CUT_LENGTH) &&
-		arcLengthRatio(arc) >= scene->toolsettings->skgen_length_ratio)
+		arcLengthRatio(arc) >= G.scene->toolsettings->skgen_length_ratio)
 	{
-		ReebArcIterator iter;
-		EmbedBucket *bucket = NULL;
-		EmbedBucket *previous = NULL;
-		EditBone *child = NULL;
-		EditBone *parent = NULL;
-		float lengthLimit = scene->toolsettings->skgen_length_limit;
-		int same = 0;
-		
-		parent = add_editbone(obedit, "Bone");
-		parent->flag |= BONE_SELECTED|BONE_TIPSEL|BONE_ROOTSEL;
-		VECCOPY(parent->head, head->p);
-
-		initArcIterator(&iter, arc, head);
-
-		bucket = nextBucket(&iter);
+		float invmat[4][4] = {	{1, 0, 0, 0},
+								{0, 1, 0, 0},
+								{0, 0, 1, 0},
+								{0, 0, 0, 1}};
+		float tmat[3][3] = {	{1, 0, 0},
+								{0, 1, 0},
+								{0, 0, 1}};
+		ReebArcIterator arc_iter;
+		BArcIterator *iter = (BArcIterator*)&arc_iter;
+		bArmature *arm= obedit->data;
 		
-		while (bucket != NULL)
-		{
-			float *vec0 = NULL;
-			float *vec1 = bucket->p;
-
-			/* first bucket. Previous is head */
-			if (previous == NULL)
-			{
-				vec0 = head->p;
-			}
-			/* Previous is a valid bucket */
-			else
-			{
-				vec0 = previous->p;
-			}
-			
-			/* If lengthLimit hits the current segment */
-			if (VecLenf(vec1, parent->head) > lengthLimit)
-			{
-				if (same == 0)
-				{
-					float dv[3], off[3];
-					float a, b, c, f;
-					
-					/* Solve quadratic distance equation */
-					VecSubf(dv, vec1, vec0);
-					a = Inpf(dv, dv);
-					
-					VecSubf(off, vec0, parent->head);
-					b = 2 * Inpf(dv, off);
-					
-					c = Inpf(off, off) - (lengthLimit * lengthLimit);
-					
-					f = (-b + (float)sqrt(b * b - 4 * a * c)) / (2 * a);
-					
-					//printf("a %f, b %f, c %f, f %f\n", a, b, c, f);
-					
-					if (isnan(f) == 0 && f < 1.0f)
-					{
-						VECCOPY(parent->tail, dv);
-						VecMulf(parent->tail, f);
-						VecAddf(parent->tail, parent->tail, vec0);
-					}
-					else
-					{
-						VECCOPY(parent->tail, vec1);
-					}
-				}
-				else
-				{
-					float dv[3];
-					
-					VecSubf(dv, vec1, vec0);
-					Normalize(dv);
-					 
-					VECCOPY(parent->tail, dv);
-					VecMulf(parent->tail, lengthLimit);
-					VecAddf(parent->tail, parent->tail, parent->head);
-				}
-				
-				child = add_editbone(obedit, "Bone");
-				VECCOPY(child->head, parent->tail);
-				child->parent = parent;
-				child->flag |= BONE_CONNECTED|BONE_SELECTED|BONE_TIPSEL|BONE_ROOTSEL;
-				
-				parent = child; // new child is next parent
-				
-				same = 1; // mark as same
-			}
-			else
-			{
-				previous = bucket;
-				bucket = nextBucket(&iter);
-				same = 0; // Reset same
-			}
-		}
-		VECCOPY(parent->tail, tail->p);
+		initArcIterator(iter, arc, head);
 		
-		lastBone = parent; /* set last bone in the chain */
+		lastBone = subdivideArcBy(arm, arm->edbo, iter, invmat, tmat, nextLengthSubdivision);
 	}
 	
 	return lastBone;
@@ -5693,13 +5571,13 @@ void generateSkeletonFromReebGraph(Scene *scene, ReebGraph *rg)
 			switch(scene->toolsettings->skgen_subdivisions[i])
 			{
 				case SKGEN_SUB_LENGTH:
-					lastBone = subdivideByLength(scene, obedit, arc, head, tail);
+					lastBone = test_subdivideByLength(scene, obedit, arc, head, tail);
 					break;
 				case SKGEN_SUB_ANGLE:
 					lastBone = subdivideByAngle(scene, obedit, arc, head, tail);
 					break;
 				case SKGEN_SUB_CORRELATION:
-					lastBone = subdivideByCorrelation(scene, obedit, arc, head, tail);
+					lastBone = test_subdivideByCorrelation(scene, obedit, arc, head, tail);
 					break;
 			}
 		}
diff --git a/source/blender/editors/armature/editarmature_generate.c b/source/blender/editors/armature/editarmature_generate.c
new file mode 100644
index 00000000000..a1990814a02
--- /dev/null
+++ b/source/blender/editors/armature/editarmature_generate.c
@@ -0,0 +1,329 @@
+/**
+ * $Id: editarmature_generate.c  $
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 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 LICENSE BLOCK *****
+ * editarmature.c: Interface for creating and posing armature objects
+ */
+
+#include <string.h>
+#include <math.h>
+
+#include "MEM_guardedalloc.h"
+
+#include "DNA_listBase.h"
+#include "DNA_scene_types.h"
+#include "DNA_armature_types.h"
+
+#include "BLI_blenlib.h"
+#include "BLI_arithb.h"
+#include "BLI_graph.h"
+ 
+#include "BKE_utildefines.h"
+#include "BKE_global.h"
+#include "BKE_context.h"
+
+#include "ED_armature.h"
+#include "armature_intern.h"
+#include "BIF_generate.h"
+
+void setBoneRollFromNormal(EditBone *bone, float *no, float invmat[][4], float tmat[][3])
+{
+	if (no != NULL && !VecIsNull(no))
+	{
+		float tangent[3], cotangent[3], normal[3];
+
+		VECCOPY(normal, no);	
+		Mat3MulVecfl(tmat, normal);
+
+		VecSubf(tangent, bone->tail, bone->head);
+		Crossf(cotangent, tangent, normal);
+		Crossf(normal, cotangent, tangent);
+		
+		Normalize(normal);
+		
+		bone->roll = ED_rollBoneToVector(bone, normal);
+	}
+}
+
+float calcArcCorrelation(BArcIterator *iter, int start, int end, float v0[3], float n[3])
+{
+	int len = 2 + abs(end - start);
+	
+	if (len > 2)
+	{
+		float avg_t = 0.0f;
+		float s_t = 0.0f;
+		float s_xyz = 0.0f;
+		int i;
+		
+		/* First pass, calculate average */
+		for (i = start; i <= end; i++)
+		{
+			float v[3];
+			
+			IT_peek(iter, i);
+			VecSubf(v, iter->p, v0);
+			avg_t += Inpf(v, n);
+		}
+		
+		avg_t /= Inpf(n, n);
+		avg_t += 1.0f; /* adding start (0) and end (1) values */
+		avg_t /= len;
+		
+		/* Second pass, calculate s_xyz and s_t */
+		for (i = start; i <= end; i++)
+		{
+			float v[3], d[3];
+			float dt;
+			
+			IT_peek(iter, i);
+			VecSubf(v, iter->p, v0);
+			Projf(d, v, n);
+			VecSubf(v, v, d);
+			
+			dt = VecLength(d) - avg_t;
+			
+			s_t += dt * dt;
+			s_xyz += Inpf(v, v);
+		}
+		
+		/* adding start(0) and end(1) values to s_t */
+		s_t += (avg_t * avg_t) + (1 - avg_t) * (1 - avg_t);
+		
+		return 1.0f - s_xyz / s_t; 
+	}
+	else
+	{
+		return 1.0f;
+	}
+}
+
+int nextFixedSubdivision(ToolSettings *toolsettings, BArcIterator *iter, int start, int end, float head[3], float p[3])
+{
+	static float stroke_length = 0;
+	static float current_length;
+	static char n;
+	float *v1, *v2;
+	float length_threshold;
+	int i;
+	
+	if (stroke_length == 0)
+	{
+		current_length = 0;
+
+		IT_peek(iter, start);
+		v1 = iter->p;
+		
+		for (i = start + 1; i <= end; i++)
+		{
+			IT_peek(iter, i);
+			v2 = iter->p;
+
+			stroke_length += VecLenf(v1, v2);
+			
+			v1 = v2;
+		}
+		
+		n = 0;
+		current_length = 0;
+	}
+	
+	n++;
+	
+	length_threshold = n * stroke_length / toolsettings->skgen_subdivision_number;
+	
+	IT_peek(iter, start);
+	v1 = iter->p;
+
+	/* < and not <= because we don't care about end, it is P_EXACT anyway */
+	for (i = start + 1; i < end; i++)
+	{
+		IT_peek(iter, i);
+		v2 = iter->p;
+
+		current_length += VecLenf(v1, v2);
+
+		if (current_length >= length_threshold)
+		{
+			VECCOPY(p, v2);
+			return i;
+		}
+		
+		v1 = v2;
+	}
+	
+	stroke_length = 0;
+	
+	return -1;
+}
+int nextAdaptativeSubdivision(ToolSettings *toolsettings, BArcIterator *iter, int start, int end, float head[3], float p[3])
+{
+	float correlation_threshold = toolsettings->skgen_correlation_limit;
+	float *start_p;
+	float n[3];
+	int i;
+	
+	IT_peek(iter, start);
+	start_p = iter->p;
+
+	for (i = start + 2; i <= end; i++)
+	{
+		/* Calculate normal */
+		IT_peek(iter, i);
+		VecSubf(n, iter->p, head);
+
+		if (calcArcCorrelation(iter, start, i, start_p, n) < correlation_threshold)
+		{
+			IT_peek(iter, i - 1);
+			VECCOPY(p, iter->p);
+			return i - 1;
+		}
+	}
+	
+	return -1;
+}
+
+int nextLengthSubdivision(ToolSettings *toolsettings, BArcIterator *iter, int start, int end, float head[3], float p[3])
+{
+	float lengthLimit = toolsettings->skgen_length_limit;
+	int same = 1;
+	int i;
+	
+	i = start + 1;
+	while (i <= end)
+	{
+		float *vec0;
+		float *vec1;
+		
+		IT_peek(iter, i - 1);
+		vec0 = iter->p;
+
+		IT_peek(iter, i);
+		vec1 = iter->p;
+		
+		/* If lengthLimit hits the current segment */
+		if (VecLenf(vec1, head) > lengthLimit)
+		{
+			if (same == 0)
+			{
+				float dv[3], off[3];
+				float a, b, c, f;
+				
+				/* Solve quadratic distance equation */
+				VecSubf(dv, vec1, vec0);
+				a = Inpf(dv, dv);
+				
+				VecSubf(off, vec0, head);
+				b = 2 * Inpf(dv, off);
+				
+				c = Inpf(off, off) - (lengthLimit * lengthLimit);
+				
+				f = (-b + (float)sqrt(b * b - 4 * a * c)) / (2 * a);
+				
+				//printf("a %f, b %f, c %f, f %f\n", a, b, c, f);
+				
+				if (isnan(f) == 0 && f < 1.0f)
+				{
+					VECCOPY(p, dv);
+					VecMulf(p, f);
+					VecAddf(p, p, vec0);
+				}
+				else
+				{
+					VECCOPY(p, vec1);
+				}
+			}
+			else
+			{
+				float dv[3];
+				
+				VecSubf(dv, vec1, vec0);
+				Normalize(dv);
+				 
+				VECCOPY(p, dv);
+				VecMulf(p, lengthLimit);
+				VecAddf(p, p, head);
+			}
+			
+			return i - 1; /* restart at lower bound */
+		}
+		else
+		{
+			i++;
+			same = 0; // Reset same
+		}
+	}
+	
+	return -1;
+}
+
+EditBone * subdivideArcBy(ToolSettings *toolsettings, bArmature *arm, ListBase *editbones, BArcIterator *iter, float invmat[][4], float tmat[][3], NextSubdivisionFunc next_subdividion)
+{
+	EditBone *lastBone = NULL;
+	EditBone *child = NULL;
+	EditBone *parent = NULL;
+	int bone_start = 0;
+	int end = iter->length;
+	int index;
+	
+	IT_head(iter);
+	
+	parent = addEditBone(arm, "Bone");
+	VECCOPY(parent->head, iter->p);
+	
+	index = next_subdividion(toolsettings, iter, bone_start, end, parent->head, parent->tail);
+	while (index != -1)
+	{
+		IT_peek(iter, index);
+
+		child = addEditBone(arm, "Bone");
+		VECCOPY(child->head, parent->tail);
+		child->parent = parent;
+		child->flag |= BONE_CONNECTED;
+		
+		/* going to next bone, fix parent */
+		Mat4MulVecfl(invmat, parent->tail);
+		Mat4MulVecfl(invmat, parent->head);
+		setBoneRollFromNormal(parent, iter->no, invmat, tmat);
+
+		parent = child; // new child is next parent
+		bone_start = index; // start next bone from current index
+
+		index = next_subdividion(toolsettings, iter, bone_start, end, parent->head, parent->tail);
+	}
+	
+	iter->tail(iter);
+
+	VECCOPY(parent->tail, iter->p);
+
+	/* fix last bone */
+	Mat4MulVecfl(invmat, parent->tail);
+	Mat4MulVecfl(invmat, parent->head);
+	setBoneRollFromNormal(parent, iter->no, invmat, tmat);
+	lastBone = parent;
+	
+	return lastBone;
+}
diff --git a/source/blender/editors/armature/editarmature_retarget.c b/source/blender/editors/armature/editarmature_retarget.c
new file mode 100644
index 00000000000..5fc8d52ffef
--- /dev/null
+++ b/source/blender/editors/armature/editarmature_retarget.c
@@ -0,0 +1,2961 @@
+/**
+ * $Id:
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * Contributor(s): Martin Poirier
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ * autoarmature.c: Interface for automagically manipulating armature (retarget, created, ...)
+ */
+
+#include <ctype.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h> 
+#include <float.h>
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+
+#include "MEM_guardedalloc.h"
+
+#include "PIL_time.h"
+
+#include "DNA_ID.h"
+#include "DNA_action_types.h"
+#include "DNA_armature_types.h"
+#include "DNA_constraint_types.h"
+#include "DNA_mesh_types.h"
+#include "DNA_meshdata_types.h"
+#include "DNA_object_types.h"
+#include "DNA_scene_types.h"
+#include "DNA_view3d_types.h"
+
+#include "BLI_blenlib.h"
+#include "BLI_arithb.h"
+#include "BLI_editVert.h"
+#include "BLI_ghash.h"
+#include "BLI_graph.h"
+#include "BLI_rand.h"
+#include "BLI_threads.h"
+
+//#include "BDR_editobject.h"
+
+#include "BKE_global.h"
+#include "BKE_utildefines.h"
+#include "BKE_constraint.h"
+#include "BKE_armature.h"
+#include "BKE_context.h"
+
+#include "ED_armature.h"
+#include "BIF_retarget.h"
+//#include "BIF_space.h"
+//#include "BIF_toolbox.h"
+
+#include "PIL_time.h"
+
+//#include "mydevice.h"
+#include "reeb.h" // FIX ME
+//#include "blendef.h"
+
+#include "armature_intern.h"
+
+/************ RIG RETARGET DATA STRUCTURES ***************/
+
+typedef struct MemoNode {
+	float	weight;
+	int 	next;
+} MemoNode;
+
+typedef struct RetargetParam {
+	RigGraph	*rigg;
+	RigArc		*iarc;
+	RigNode		*inode_start;
+	bContext	*context;
+} RetargetParam;
+
+typedef enum 
+{
+	RETARGET_LENGTH,
+	RETARGET_AGGRESSIVE
+} RetargetMode; 
+
+typedef enum
+{
+	METHOD_BRUTE_FORCE = 0,
+	METHOD_MEMOIZE = 1
+} RetargetMethod;
+
+typedef enum
+{
+	ARC_FREE = 0,
+	ARC_TAKEN = 1,
+	ARC_USED = 2
+} ArcUsageFlags;
+
+RigGraph *GLOBAL_RIGG = NULL;
+
+/*******************************************************************************************************/
+
+void *exec_retargetArctoArc(void *param);
+
+static void RIG_calculateEdgeAngles(RigEdge *edge_first, RigEdge *edge_second);
+float rollBoneByQuat(EditBone *bone, float old_up_axis[3], float qrot[4]);
+
+/* two levels */
+#define SHAPE_LEVELS (SHAPE_RADIX * SHAPE_RADIX) 
+
+/*********************************** EDITBONE UTILS ****************************************************/
+
+int countEditBoneChildren(ListBase *list, EditBone *parent)
+{
+	EditBone *ebone;
+	int count = 0;
+	
+	for (ebone = list->first; ebone; ebone = ebone->next)
+	{
+		if (ebone->parent == parent)
+		{
+			count++;
+		}
+	}
+	
+	return count;
+}
+
+EditBone* nextEditBoneChild(ListBase *list, EditBone *parent, int n)
+{
+	EditBone *ebone;
+	
+	for (ebone = list->first; ebone; ebone = ebone->next)
+	{
+		if (ebone->parent == parent)
+		{
+			if (n == 0)
+			{
+				return ebone;
+			}
+			n--;
+		}
+	}
+	
+	return NULL;
+}
+
+void getEditBoneRollUpAxis(EditBone *bone, float roll, float up_axis[3])
+{
+	float mat[3][3], nor[3];
+
+	VecSubf(nor, bone->tail, bone->head);
+	
+	vec_roll_to_mat3(nor, roll, mat);
+	VECCOPY(up_axis, mat[2]);
+}
+
+float rollBoneByQuatAligned(EditBone *bone, float old_up_axis[3], float qrot[4], float qroll[4], float aligned_axis[3])
+{
+	float nor[3], new_up_axis[3], x_axis[3], z_axis[3];
+	
+	VECCOPY(new_up_axis, old_up_axis);
+	QuatMulVecf(qrot, new_up_axis);
+	
+	VecSubf(nor, bone->tail, bone->head);
+	
+	Crossf(x_axis, nor, aligned_axis);
+	Crossf(z_axis, x_axis, nor);
+	
+	Normalize(new_up_axis);
+	Normalize(x_axis);
+	Normalize(z_axis);
+	
+	if (Inpf(new_up_axis, x_axis) < 0)
+	{
+		VecMulf(x_axis, -1);
+	}
+	
+	if (Inpf(new_up_axis, z_axis) < 0)
+	{
+		VecMulf(z_axis, -1);
+	}
+	
+	if (NormalizedVecAngle2(x_axis, new_up_axis) < NormalizedVecAngle2(z_axis, new_up_axis))
+	{
+		RotationBetweenVectorsToQuat(qroll, new_up_axis, x_axis); /* set roll rotation quat */
+		return ED_rollBoneToVector(bone, x_axis);
+	}
+	else
+	{
+		RotationBetweenVectorsToQuat(qroll, new_up_axis, z_axis); /* set roll rotation quat */
+		return ED_rollBoneToVector(bone, z_axis);
+	}
+}
+
+float rollBoneByQuatJoint(RigEdge *edge, RigEdge *previous, float qrot[4], float qroll[4])
+{
+	if (previous == NULL)
+	{
+		QuatOne(qroll);
+		return rollBoneByQuat(edge->bone, edge->up_axis, qrot);
+	}
+	else
+	{
+		float new_up_axis[3];
+		float vec_first[3], vec_second[3], normal[3];
+		
+		if (previous->bone)
+		{
+			VecSubf(vec_first, previous->bone->tail, previous->bone->head);
+		} 
+		else if (previous->prev->bone)
+		{
+			VecSubf(vec_first, edge->bone->head, previous->prev->bone->tail);
+		}
+		else
+		{
+			/* SHOULDN'T BE HERE */
+			QuatOne(qroll);
+			return rollBoneByQuat(edge->bone, edge->up_axis, qrot);
+		}
+		
+		VecSubf(vec_second, edge->bone->tail, edge->bone->head);
+	
+		Normalize(vec_first);
+		Normalize(vec_second);
+		
+		Crossf(normal, vec_first, vec_second);
+		Normalize(normal);
+		
+		AxisAngleToQuat(qroll, vec_second, edge->up_angle);
+		
+		QuatMulVecf(qroll, normal);
+			
+		VECCOPY(new_up_axis, edge->up_axis);
+		QuatMulVecf(qrot, new_up_axis);
+		
+		Normalize(new_up_axis);
+		
+		/* real qroll between normal and up_axis */
+		RotationBetweenVectorsToQuat(qroll, new_up_axis, normal);
+
+		return ED_rollBoneToVector(edge->bone, normal);
+	}
+}
+
+float rollBoneByQuat(EditBone *bone, float old_up_axis[3], float qrot[4])
+{
+	float new_up_axis[3];
+	
+	VECCOPY(new_up_axis, old_up_axis);
+	QuatMulVecf(qrot, new_up_axis);
+	
+	Normalize(new_up_axis);
+	
+	return ED_rollBoneToVector(bone, new_up_axis);
+}
+
+/************************************ DESTRUCTORS ******************************************************/
+
+void RIG_freeRigArc(BArc *arc)
+{
+	BLI_freelistN(&((RigArc*)arc)->edges);
+}
+
+void RIG_freeRigGraph(BGraph *rg)
+{
+	RigGraph *rigg = (RigGraph*)rg;
+	BNode *node;
+	BArc *arc;
+	
+#ifdef USE_THREADS
+	BLI_destroy_worker(rigg->worker);
+#endif
+	
+	if (rigg->link_mesh)
+	{
+		REEB_freeGraph(rigg->link_mesh);
+	}
+	
+	for (arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		RIG_freeRigArc(arc);
+	}
+	BLI_freelistN(&rg->arcs);
+	
+	for (node = rg->nodes.first; node; node = node->next)
+	{
+		BLI_freeNode(rg, (BNode*)node);
+	}
+	BLI_freelistN(&rg->nodes);
+	
+	BLI_freelistN(&rigg->controls);
+
+	BLI_ghash_free(rigg->bones_map, NULL, NULL);
+	BLI_ghash_free(rigg->controls_map, NULL, NULL);
+	
+	if (rigg->flag & RIG_FREE_BONELIST)
+	{
+		BLI_freelistN(rigg->editbones);
+		MEM_freeN(rigg->editbones);
+	}
+	
+	MEM_freeN(rg);
+}
+
+/************************************* ALLOCATORS ******************************************************/
+
+static RigGraph *newRigGraph()
+{
+	RigGraph *rg;
+	int totthread;
+	
+	rg = MEM_callocN(sizeof(RigGraph), "rig graph");
+	
+	rg->head = NULL;
+	
+	rg->bones_map = BLI_ghash_new(BLI_ghashutil_strhash, BLI_ghashutil_strcmp);
+	rg->controls_map = BLI_ghash_new(BLI_ghashutil_strhash, BLI_ghashutil_strcmp);
+	
+	rg->free_arc = RIG_freeRigArc;
+	rg->free_node = NULL;
+	
+#ifdef USE_THREADS
+//	if(G.scene->r.mode & R_FIXED_THREADS)
+//	{
+//		totthread = G.scene->r.threads;
+//	}
+//	else
+//	{
+		totthread = BLI_system_thread_count();
+//	}
+	
+	rg->worker = BLI_create_worker(exec_retargetArctoArc, totthread, 20); /* fix number of threads */
+#endif
+	
+	return rg;
+}
+
+static RigArc *newRigArc(RigGraph *rg)
+{
+	RigArc *arc;
+	
+	arc = MEM_callocN(sizeof(RigArc), "rig arc");
+	arc->count = 0;
+	BLI_addtail(&rg->arcs, arc);
+	
+	return arc;
+}
+
+static RigControl *newRigControl(RigGraph *rg)
+{
+	RigControl *ctrl;
+	
+	ctrl = MEM_callocN(sizeof(RigControl), "rig control");
+	
+	BLI_addtail(&rg->controls, ctrl);
+	
+	return ctrl;
+}
+
+static RigNode *newRigNodeHead(RigGraph *rg, RigArc *arc, float p[3])
+{
+	RigNode *node;
+	node = MEM_callocN(sizeof(RigNode), "rig node");
+	BLI_addtail(&rg->nodes, node);
+
+	VECCOPY(node->p, p);
+	node->degree = 1;
+	node->arcs = NULL;
+	
+	arc->head = node;
+	
+	return node;
+}
+
+static void addRigNodeHead(RigGraph *rg, RigArc *arc, RigNode *node)
+{
+	node->degree++;
+
+	arc->head = node;
+}
+
+static RigNode *newRigNode(RigGraph *rg, float p[3])
+{
+	RigNode *node;
+	node = MEM_callocN(sizeof(RigNode), "rig node");
+	BLI_addtail(&rg->nodes, node);
+
+	VECCOPY(node->p, p);
+	node->degree = 0;
+	node->arcs = NULL;
+	
+	return node;
+}
+
+static RigNode *newRigNodeTail(RigGraph *rg, RigArc *arc, float p[3])
+{
+	RigNode *node = newRigNode(rg, p);
+	
+	node->degree = 1;
+	arc->tail = node;
+
+	return node;
+}
+
+static void RIG_appendEdgeToArc(RigArc *arc, RigEdge *edge)
+{
+	BLI_addtail(&arc->edges, edge);
+
+	if (edge->prev == NULL)
+	{
+		VECCOPY(edge->head, arc->head->p);
+	}
+	else
+	{
+		RigEdge *last_edge = edge->prev;
+		VECCOPY(edge->head, last_edge->tail);
+		RIG_calculateEdgeAngles(last_edge, edge);
+	}
+	
+	edge->length = VecLenf(edge->head, edge->tail);
+	
+	arc->length += edge->length;
+	
+	arc->count += 1;
+}
+
+static void RIG_addEdgeToArc(RigArc *arc, float tail[3], EditBone *bone)
+{
+	RigEdge *edge;
+
+	edge = MEM_callocN(sizeof(RigEdge), "rig edge");
+
+	VECCOPY(edge->tail, tail);
+	edge->bone = bone;
+	
+	if (bone)
+	{
+		getEditBoneRollUpAxis(bone, bone->roll, edge->up_axis);
+	}
+	
+	RIG_appendEdgeToArc(arc, edge);
+}
+/************************************** CLONING TEMPLATES **********************************************/
+
+static void renameTemplateBone(char *name, char *template_name, ListBase *editbones, char *side_string, char *num_string)
+{
+	int i, j;
+	
+	for (i = 0, j = 0; template_name[i] != '\0' && i < 31 && j < 31; i++)
+	{
+		if (template_name[i] == '&')
+		{
+			if (template_name[i+1] == 'S' || template_name[i+1] == 's')
+			{
+				j += sprintf(name + j, side_string);
+				i++;
+			}
+			else if (template_name[i+1] == 'N' || template_name[i+1] == 'n')
+			{
+				j += sprintf(name + j, num_string);
+				i++;
+			}
+			else
+			{
+				name[j] = template_name[i];
+				j++;
+			}
+		}
+		else
+		{
+			name[j] = template_name[i];
+			j++;
+		}
+	}
+	
+	name[j] = '\0';
+	
+	unique_editbone_name(editbones, name, NULL);
+}
+
+static RigControl *cloneControl(RigGraph *rg, RigGraph *src_rg, RigControl *src_ctrl, GHash *ptr_hash, char *side_string, char *num_string)
+{
+	RigControl *ctrl;
+	char name[32];
+	
+	ctrl = newRigControl(rg);
+	
+	VECCOPY(ctrl->head, src_ctrl->head);
+	VECCOPY(ctrl->tail, src_ctrl->tail);
+	VECCOPY(ctrl->up_axis, src_ctrl->up_axis);
+	VECCOPY(ctrl->offset, src_ctrl->offset);
+	
+	ctrl->tail_mode = src_ctrl->tail_mode;
+	ctrl->flag = src_ctrl->flag;
+
+	renameTemplateBone(name, src_ctrl->bone->name, rg->editbones, side_string, num_string);
+	ctrl->bone = duplicateEditBoneObjects(src_ctrl->bone, name, rg->editbones, src_rg->ob, rg->ob);
+	ctrl->bone->flag &= ~(BONE_TIPSEL|BONE_SELECTED|BONE_ROOTSEL|BONE_ACTIVE);
+	BLI_ghash_insert(ptr_hash, src_ctrl->bone, ctrl->bone);
+	
+	ctrl->link = src_ctrl->link;
+	ctrl->link_tail = src_ctrl->link_tail;
+	
+	return ctrl;
+}
+
+static RigArc *cloneArc(RigGraph *rg, RigGraph *src_rg, RigArc *src_arc, GHash *ptr_hash, char *side_string, char *num_string)
+{
+	RigEdge *src_edge;
+	RigArc  *arc;
+	
+	arc = newRigArc(rg);
+	
+	arc->head = BLI_ghash_lookup(ptr_hash, src_arc->head);
+	arc->tail = BLI_ghash_lookup(ptr_hash, src_arc->tail);
+	
+	arc->head->degree++;
+	arc->tail->degree++;
+	
+	arc->length = src_arc->length;
+
+	arc->count = src_arc->count;
+	
+	for (src_edge = src_arc->edges.first; src_edge; src_edge = src_edge->next)
+	{
+		RigEdge *edge;
+	
+		edge = MEM_callocN(sizeof(RigEdge), "rig edge");
+
+		VECCOPY(edge->head, src_edge->head);
+		VECCOPY(edge->tail, src_edge->tail);
+		VECCOPY(edge->up_axis, src_edge->up_axis);
+		
+		edge->length = src_edge->length;
+		edge->angle = src_edge->angle;
+		edge->up_angle = src_edge->up_angle;
+		
+		if (src_edge->bone != NULL)
+		{
+			char name[32];
+			renameTemplateBone(name, src_edge->bone->name, rg->editbones, side_string, num_string);
+			edge->bone = duplicateEditBoneObjects(src_edge->bone, name, rg->editbones, src_rg->ob, rg->ob);
+			edge->bone->flag &= ~(BONE_TIPSEL|BONE_SELECTED|BONE_ROOTSEL|BONE_ACTIVE);
+			BLI_ghash_insert(ptr_hash, src_edge->bone, edge->bone);
+		}
+
+		BLI_addtail(&arc->edges, edge);
+	}
+	
+	return arc;
+}
+
+static RigGraph *cloneRigGraph(RigGraph *src, ListBase *editbones, Object *ob, char *side_string, char *num_string)
+{
+	GHash	*ptr_hash;	
+	RigNode *node;
+	RigArc  *arc;
+	RigControl *ctrl;
+	RigGraph *rg;
+	
+	ptr_hash = BLI_ghash_new(BLI_ghashutil_ptrhash, BLI_ghashutil_ptrcmp);
+
+	rg = newRigGraph();
+	
+	rg->ob = ob;
+	rg->editbones = editbones;
+	
+	preEditBoneDuplicate(rg->editbones); /* prime bones for duplication */
+	preEditBoneDuplicate(src->editbones); /* prime bones for duplication */
+	
+	/* Clone nodes */
+	for (node = src->nodes.first; node; node = node->next)
+	{
+		RigNode *cloned_node = newRigNode(rg, node->p);
+		BLI_ghash_insert(ptr_hash, node, cloned_node);
+	}
+	
+	rg->head = BLI_ghash_lookup(ptr_hash, src->head);
+	
+	/* Clone arcs */
+	for (arc = src->arcs.first; arc; arc = arc->next)
+	{
+		cloneArc(rg, src, arc, ptr_hash, side_string, num_string);
+	}
+	
+	/* Clone controls */
+	for (ctrl = src->controls.first; ctrl; ctrl = ctrl->next)
+	{
+		cloneControl(rg, src, ctrl, ptr_hash, side_string, num_string);
+	}
+	
+	/* Relink bones properly */
+	for (arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		RigEdge *edge;
+		
+		for (edge = arc->edges.first; edge; edge = edge->next)
+		{
+			if (edge->bone != NULL)
+			{
+				EditBone *bone;
+				
+				updateDuplicateSubtargetObjects(edge->bone, src->editbones, src->ob, rg->ob);
+
+				if (edge->bone->parent)
+				{				
+					bone = BLI_ghash_lookup(ptr_hash, edge->bone->parent);
+		
+					if (bone != NULL)
+					{
+						edge->bone->parent = bone;
+					}
+					else
+					{
+						/* disconnect since parent isn't cloned
+						 * this will only happen when cloning from selected bones 
+						 * */
+						edge->bone->flag &= ~BONE_CONNECTED;
+					}
+				}
+			}
+		}
+	}
+	
+	for (ctrl = rg->controls.first; ctrl; ctrl = ctrl->next)
+	{
+		EditBone *bone;
+		
+		updateDuplicateSubtargetObjects(ctrl->bone, src->editbones, src->ob, rg->ob);
+
+		if (ctrl->bone->parent)
+		{
+			bone = BLI_ghash_lookup(ptr_hash, ctrl->bone->parent);
+			
+			if (bone != NULL)
+			{
+				ctrl->bone->parent = bone;
+			}
+			else
+			{
+				/* disconnect since parent isn't cloned
+				 * this will only happen when cloning from selected bones 
+				 * */
+				ctrl->bone->flag &= ~BONE_CONNECTED;
+			}
+		}
+
+		ctrl->link = BLI_ghash_lookup(ptr_hash, ctrl->link);
+		ctrl->link_tail = BLI_ghash_lookup(ptr_hash, ctrl->link_tail);
+	}
+	
+	BLI_ghash_free(ptr_hash, NULL, NULL);
+	
+	return rg;
+}
+
+
+/*******************************************************************************************************/
+
+static void RIG_calculateEdgeAngles(RigEdge *edge_first, RigEdge *edge_second)
+{
+	float vec_first[3], vec_second[3];
+	
+	VecSubf(vec_first, edge_first->tail, edge_first->head); 
+	VecSubf(vec_second, edge_second->tail, edge_second->head);
+
+	Normalize(vec_first);
+	Normalize(vec_second);
+	
+	edge_first->angle = NormalizedVecAngle2(vec_first, vec_second);
+	
+	if (edge_second->bone != NULL)
+	{
+		float normal[3];
+
+		Crossf(normal, vec_first, vec_second);
+		Normalize(normal);
+
+		edge_second->up_angle = NormalizedVecAngle2(normal, edge_second->up_axis);
+	}
+}
+
+/************************************ CONTROL BONES ****************************************************/
+
+static void RIG_addControlBone(RigGraph *rg, EditBone *bone)
+{
+	RigControl *ctrl = newRigControl(rg);
+	ctrl->bone = bone;
+	VECCOPY(ctrl->head, bone->head);
+	VECCOPY(ctrl->tail, bone->tail);
+	getEditBoneRollUpAxis(bone, bone->roll, ctrl->up_axis);
+	ctrl->tail_mode = TL_NONE;
+	
+	BLI_ghash_insert(rg->controls_map, bone->name, ctrl);
+}
+
+static int RIG_parentControl(RigControl *ctrl, EditBone *link)
+{
+	if (link)
+	{
+		float offset[3];
+		int flag = 0;
+		
+		VecSubf(offset, ctrl->bone->head, link->head);
+
+		/* if root matches, check for direction too */		
+		if (Inpf(offset, offset) < 0.0001)
+		{
+			float vbone[3], vparent[3];
+			
+			flag |= RIG_CTRL_FIT_ROOT;
+			
+			VecSubf(vbone, ctrl->bone->tail, ctrl->bone->head);
+			VecSubf(vparent, link->tail, link->head);
+			
+			/* test for opposite direction */
+			if (Inpf(vbone, vparent) > 0)
+			{
+				float nor[3];
+				float len;
+				
+				Crossf(nor, vbone, vparent);
+				
+				len = Inpf(nor, nor);
+				if (len < 0.0001)
+				{
+					flag |= RIG_CTRL_FIT_BONE;
+				}
+			}
+		}
+		
+		/* Bail out if old one is automatically better */
+		if (flag < ctrl->flag)
+		{
+			return 0;
+		}
+		
+		/* if there's already a link
+		 * 	overwrite only if new link is higher in the chain */
+		if (ctrl->link && flag == ctrl->flag)
+		{
+			EditBone *bone = NULL;
+			
+			for (bone = ctrl->link; bone; bone = bone->parent)
+			{
+				/* if link is in the chain, break and use that one */
+				if (bone == link)
+				{
+					break;
+				}
+			}
+			
+			/* not in chain, don't update link */
+			if (bone == NULL)
+			{
+				return 0;
+			}
+		}
+		
+		
+		ctrl->link = link;
+		ctrl->flag = flag;
+		
+		VECCOPY(ctrl->offset, offset);
+		
+		return 1;
+	}
+	
+	return 0;
+}
+
+static void RIG_reconnectControlBones(RigGraph *rg)
+{
+	RigControl *ctrl;
+	int change = 1;
+	
+	/* first pass, link to deform bones */
+	for (ctrl = rg->controls.first; ctrl; ctrl = ctrl->next)
+	{
+		bPoseChannel *pchan;
+		bConstraint *con;
+		int found = 0;
+		
+		/* DO SOME MAGIC HERE */
+		for (pchan= rg->ob->pose->chanbase.first; pchan; pchan= pchan->next)
+		{
+			for (con= pchan->constraints.first; con; con= con->next) 
+			{
+				bConstraintTypeInfo *cti= constraint_get_typeinfo(con);
+				ListBase targets = {NULL, NULL};
+				bConstraintTarget *ct;
+				
+				/* constraint targets */
+				if (cti && cti->get_constraint_targets)
+				{
+					int target_index;
+					
+					cti->get_constraint_targets(con, &targets);
+					
+					for (target_index = 0, ct= targets.first; ct; target_index++, ct= ct->next)
+					{
+						if ((ct->tar == rg->ob) && strcmp(ct->subtarget, ctrl->bone->name) == 0)
+						{
+							/* SET bone link to bone corresponding to pchan */
+							EditBone *link = BLI_ghash_lookup(rg->bones_map, pchan->name);
+							
+							/* Making sure bone is in this armature */
+							if (link != NULL)
+							{
+								/* for pole targets, link to parent bone instead, if possible */
+								if (con->type == CONSTRAINT_TYPE_KINEMATIC && target_index == 1)
+								{
+									if (link->parent && BLI_ghash_haskey(rg->bones_map, link->parent->name))
+									{
+										link = link->parent;
+									}
+								}
+								
+								found = RIG_parentControl(ctrl, link);
+							}
+						}
+					}
+					
+					if (cti->flush_constraint_targets)
+						cti->flush_constraint_targets(con, &targets, 0);
+				}
+			}
+		}
+
+		/* if not found yet, check parent */
+		if (found == 0)
+		{		
+			if (ctrl->bone->parent)
+			{
+				/* make sure parent is a deforming bone
+				 * NULL if not
+				 *  */
+				EditBone *link = BLI_ghash_lookup(rg->bones_map, ctrl->bone->parent->name);
+				
+				found = RIG_parentControl(ctrl, link);
+			}
+			
+			/* check if bone is not superposed on another one */
+			{
+				RigArc *arc;
+				RigArc *best_arc = NULL;
+				EditBone *link = NULL;
+				
+				for (arc = rg->arcs.first; arc; arc = arc->next)
+				{
+					RigEdge *edge;
+					for (edge = arc->edges.first; edge; edge = edge->next)
+					{
+						if (edge->bone)
+						{
+							int fit = 0;
+							
+							fit = VecLenf(ctrl->bone->head, edge->bone->head) < 0.0001;
+							fit = fit || VecLenf(ctrl->bone->tail, edge->bone->tail) < 0.0001;
+							
+							if (fit)
+							{
+								/* pick the bone on the arc with the lowest symmetry level
+								 * means you connect control to the trunk of the skeleton */
+								if (best_arc == NULL || arc->symmetry_level < best_arc->symmetry_level)
+								{
+									best_arc = arc;
+									link = edge->bone;
+								}
+							}
+						}
+					}
+				}
+				
+				found = RIG_parentControl(ctrl, link);
+			}
+		}
+		
+		/* if not found yet, check child */		
+		if (found == 0)
+		{
+			RigArc *arc;
+			RigArc *best_arc = NULL;
+			EditBone *link = NULL;
+			
+			for (arc = rg->arcs.first; arc; arc = arc->next)
+			{
+				RigEdge *edge;
+				for (edge = arc->edges.first; edge; edge = edge->next)
+				{
+					if (edge->bone && edge->bone->parent == ctrl->bone)
+					{
+						/* pick the bone on the arc with the lowest symmetry level
+						 * means you connect control to the trunk of the skeleton */
+						if (best_arc == NULL || arc->symmetry_level < best_arc->symmetry_level)
+						{
+							best_arc = arc;
+							link = edge->bone;
+						}
+					}
+				}
+			}
+			
+			found = RIG_parentControl(ctrl, link);
+		}
+
+	}
+	
+	
+	/* second pass, make chains in control bones */
+	while (change)
+	{
+		change = 0;
+		
+		for (ctrl = rg->controls.first; ctrl; ctrl = ctrl->next)
+		{
+			/* if control is not linked yet */
+			if (ctrl->link == NULL)
+			{
+				bPoseChannel *pchan;
+				bConstraint *con;
+				RigControl *ctrl_parent = NULL;
+				RigControl *ctrl_child;
+				int found = 0;
+
+				if (ctrl->bone->parent)
+				{
+					ctrl_parent = BLI_ghash_lookup(rg->controls_map, ctrl->bone->parent->name);
+				}
+
+				/* check constraints first */
+				
+				/* DO SOME MAGIC HERE */
+				for (pchan= rg->ob->pose->chanbase.first; pchan; pchan= pchan->next)
+				{
+					for (con= pchan->constraints.first; con; con= con->next) 
+					{
+						bConstraintTypeInfo *cti= constraint_get_typeinfo(con);
+						ListBase targets = {NULL, NULL};
+						bConstraintTarget *ct;
+						
+						/* constraint targets */
+						if (cti && cti->get_constraint_targets)
+						{
+							cti->get_constraint_targets(con, &targets);
+							
+							for (ct= targets.first; ct; ct= ct->next)
+							{
+								if ((ct->tar == rg->ob) && strcmp(ct->subtarget, ctrl->bone->name) == 0)
+								{
+									/* SET bone link to ctrl corresponding to pchan */
+									RigControl *link = BLI_ghash_lookup(rg->controls_map, pchan->name);
+
+									/* if owner is a control bone, link with it */									
+									if (link && link->link)
+									{
+										RIG_parentControl(ctrl, link->bone);
+										found = 1;
+										break;
+									}
+								}
+							}
+							
+							if (cti->flush_constraint_targets)
+								cti->flush_constraint_targets(con, &targets, 0);
+						}
+					}
+				}			
+
+				if (found == 0)
+				{
+					/* check if parent is already linked */
+					if (ctrl_parent && ctrl_parent->link)
+					{
+						RIG_parentControl(ctrl, ctrl_parent->bone);
+						change = 1;
+					}
+					else
+					{
+						/* check childs */
+						for (ctrl_child = rg->controls.first; ctrl_child; ctrl_child = ctrl_child->next)
+						{
+							/* if a child is linked, link to that one */
+							if (ctrl_child->link && ctrl_child->bone->parent == ctrl->bone)
+							{
+								RIG_parentControl(ctrl, ctrl_child->bone);
+								change = 1;
+								break;
+							}
+						}
+					}
+				}
+			}
+		}
+	}
+	
+	/* third pass, link control tails */
+	for (ctrl = rg->controls.first; ctrl; ctrl = ctrl->next)
+	{
+		/* fit bone already means full match, so skip those */
+		if ((ctrl->flag & RIG_CTRL_FIT_BONE) == 0)
+		{
+			GHashIterator ghi;
+			
+			/* look on deform bones first */
+			BLI_ghashIterator_init(&ghi, rg->bones_map);
+			
+			for( ; !BLI_ghashIterator_isDone(&ghi); BLI_ghashIterator_step(&ghi))
+			{
+				EditBone *bone = (EditBone*)BLI_ghashIterator_getValue(&ghi);
+				
+				/* don't link with parent */
+				if (bone->parent != ctrl->bone)
+				{
+					if (VecLenf(ctrl->bone->tail, bone->head) < 0.01)
+					{
+						ctrl->tail_mode = TL_HEAD;
+						ctrl->link_tail = bone;
+						break;
+					}
+					else if (VecLenf(ctrl->bone->tail, bone->tail) < 0.01)
+					{
+						ctrl->tail_mode = TL_TAIL;
+						ctrl->link_tail = bone;
+						break;
+					}
+				}
+			}
+			
+			/* if we haven't found one yet, look in control bones */
+			if (ctrl->tail_mode == TL_NONE)
+			{
+			}
+		}
+	}
+	
+}
+
+/*******************************************************************************************************/
+
+static void RIG_joinArcs(RigGraph *rg, RigNode *node, RigArc *joined_arc1, RigArc *joined_arc2)
+{
+	RigEdge *edge, *next_edge;
+	
+	/* ignore cases where joint is at start or end */
+	if (joined_arc1->head == joined_arc2->head || joined_arc1->tail == joined_arc2->tail)
+	{
+		return;
+	}
+	
+	/* swap arcs to make sure arc1 is before arc2 */
+	if (joined_arc1->head == joined_arc2->tail)
+	{
+		RigArc *tmp = joined_arc1;
+		joined_arc1 = joined_arc2;
+		joined_arc2 = tmp;
+	}
+	
+	for (edge = joined_arc2->edges.first; edge; edge = next_edge)
+	{
+		next_edge = edge->next;
+		
+		RIG_appendEdgeToArc(joined_arc1, edge);
+	}
+	
+	joined_arc1->tail = joined_arc2->tail;
+	
+	joined_arc2->edges.first = joined_arc2->edges.last = NULL;
+	
+	BLI_removeArc((BGraph*)rg, (BArc*)joined_arc2);
+	
+	BLI_removeNode((BGraph*)rg, (BNode*)node);
+}
+
+static void RIG_removeNormalNodes(RigGraph *rg)
+{
+	RigNode *node, *next_node;
+	
+	for (node = rg->nodes.first; node; node = next_node)
+	{
+		next_node = node->next;
+		
+		if (node->degree == 2)
+		{
+			RigArc *arc, *joined_arc1 = NULL, *joined_arc2 = NULL;
+			
+			for (arc = rg->arcs.first; arc; arc = arc->next)
+			{
+				if (arc->head == node || arc->tail == node)
+				{
+					if (joined_arc1 == NULL)
+					{
+						joined_arc1 = arc;
+					}
+					else
+					{
+						joined_arc2 = arc;
+						break;
+					}
+				}
+			}
+			
+			RIG_joinArcs(rg, node, joined_arc1, joined_arc2);
+		}
+	}
+}
+
+static void RIG_removeUneededOffsets(RigGraph *rg)
+{
+	RigArc *arc;
+	
+	for (arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		RigEdge *first_edge, *last_edge;
+		
+		first_edge = arc->edges.first;
+		last_edge = arc->edges.last;
+		
+		if (first_edge->bone == NULL)
+		{
+			if (first_edge->bone == NULL && VecLenf(first_edge->tail, arc->head->p) <= 0.001)
+			{
+				BLI_remlink(&arc->edges, first_edge);
+				MEM_freeN(first_edge);
+			}
+			else if (arc->head->degree == 1)
+			{
+				RigNode *new_node = (RigNode*)BLI_FindNodeByPosition((BGraph*)rg, first_edge->tail, 0.001);
+				
+				if (new_node)
+				{
+					BLI_remlink(&arc->edges, first_edge);
+					MEM_freeN(first_edge);
+					BLI_replaceNodeInArc((BGraph*)rg, (BArc*)arc, (BNode*)new_node, (BNode*)arc->head);
+				}
+				else
+				{
+					RigEdge *next_edge = first_edge->next;
+	
+					if (next_edge)
+					{
+						BLI_remlink(&arc->edges, first_edge);
+						MEM_freeN(first_edge);
+						
+						VECCOPY(arc->head->p, next_edge->head);
+					}
+				}
+			}
+			else
+			{
+				/* check if all arc connected start with a null edge */
+				RigArc *other_arc;
+				for (other_arc = rg->arcs.first; other_arc; other_arc = other_arc->next)
+				{
+					if (other_arc != arc)
+					{
+						RigEdge *test_edge;
+						if (other_arc->head == arc->head)
+						{
+							test_edge = other_arc->edges.first;
+							
+							if (test_edge->bone != NULL)
+							{
+								break;
+							}
+						}
+						else if (other_arc->tail == arc->head)
+						{
+							test_edge = other_arc->edges.last;
+							
+							if (test_edge->bone != NULL)
+							{
+								break;
+							}
+						}
+					}
+				}
+				
+				if (other_arc == NULL)
+				{
+					RigNode *new_node = (RigNode*)BLI_FindNodeByPosition((BGraph*)rg, first_edge->tail, 0.001);
+					
+					if (new_node)
+					{
+						/* remove null edge in other arcs too */
+						for (other_arc = rg->arcs.first; other_arc; other_arc = other_arc->next)
+						{
+							if (other_arc != arc)
+							{
+								RigEdge *test_edge;
+								if (other_arc->head == arc->head)
+								{
+									BLI_replaceNodeInArc((BGraph*)rg, (BArc*)other_arc, (BNode*)new_node, (BNode*)other_arc->head);
+									test_edge = other_arc->edges.first;
+									BLI_remlink(&other_arc->edges, test_edge);
+									MEM_freeN(test_edge);
+								}
+								else if (other_arc->tail == arc->head)
+								{
+									BLI_replaceNodeInArc((BGraph*)rg, (BArc*)other_arc, (BNode*)new_node, (BNode*)other_arc->tail);
+									test_edge = other_arc->edges.last;
+									BLI_remlink(&other_arc->edges, test_edge);
+									MEM_freeN(test_edge);
+								}
+							}
+						}
+						
+						BLI_remlink(&arc->edges, first_edge);
+						MEM_freeN(first_edge);
+						BLI_replaceNodeInArc((BGraph*)rg, (BArc*)arc, (BNode*)new_node, (BNode*)arc->head);
+					}
+					else
+					{
+						RigEdge *next_edge = first_edge->next;
+		
+						if (next_edge)
+						{
+							BLI_remlink(&arc->edges, first_edge);
+							MEM_freeN(first_edge);
+							
+							VECCOPY(arc->head->p, next_edge->head);
+							
+							/* remove null edge in other arcs too */
+							for (other_arc = rg->arcs.first; other_arc; other_arc = other_arc->next)
+							{
+								if (other_arc != arc)
+								{
+									RigEdge *test_edge;
+									if (other_arc->head == arc->head)
+									{
+										test_edge = other_arc->edges.first;
+										BLI_remlink(&other_arc->edges, test_edge);
+										MEM_freeN(test_edge);
+									}
+									else if (other_arc->tail == arc->head)
+									{
+										test_edge = other_arc->edges.last;
+										BLI_remlink(&other_arc->edges, test_edge);
+										MEM_freeN(test_edge);
+									}
+								}
+							}
+						}
+					}
+				}
+			}
+		}
+		
+		if (last_edge->bone == NULL)
+		{
+			if (VecLenf(last_edge->head, arc->tail->p) <= 0.001)
+			{
+				BLI_remlink(&arc->edges, last_edge);
+				MEM_freeN(last_edge);
+			}
+			else if (arc->tail->degree == 1)
+			{
+				RigNode *new_node = (RigNode*)BLI_FindNodeByPosition((BGraph*)rg, last_edge->head, 0.001);
+				
+				if (new_node)
+				{
+					RigEdge *previous_edge = last_edge->prev;
+					
+					BLI_remlink(&arc->edges, last_edge);
+					MEM_freeN(last_edge);
+					BLI_replaceNodeInArc((BGraph*)rg, (BArc*)arc, (BNode*)new_node, (BNode*)arc->tail);
+					
+					/* set previous angle to 0, since there's no following edges */
+					if (previous_edge)
+					{
+						previous_edge->angle = 0;
+					}
+				}
+				else
+				{
+					RigEdge *previous_edge = last_edge->prev;
+	
+					if (previous_edge)
+					{
+						BLI_remlink(&arc->edges, last_edge);
+						MEM_freeN(last_edge);
+						
+						VECCOPY(arc->tail->p, previous_edge->tail);
+						previous_edge->angle = 0;
+					}
+				}
+			}
+		}
+	}
+}
+
+static void RIG_arcFromBoneChain(RigGraph *rg, ListBase *list, EditBone *root_bone, RigNode *starting_node, int selected)
+{
+	EditBone *bone, *last_bone = root_bone;
+	RigArc *arc = NULL;
+	int contain_head = 0;
+	
+	for(bone = root_bone; bone; bone = nextEditBoneChild(list, bone, 0))
+	{
+		int nb_children;
+		
+		if (selected == 0 || (bone->flag & BONE_SELECTED))
+		{ 
+			if ((bone->flag & BONE_NO_DEFORM) == 0)
+			{
+				BLI_ghash_insert(rg->bones_map, bone->name, bone);
+			
+				if (arc == NULL)
+				{
+					arc = newRigArc(rg);
+					
+					if (starting_node == NULL)
+					{
+						starting_node = newRigNodeHead(rg, arc, root_bone->head);
+					}
+					else
+					{
+						addRigNodeHead(rg, arc, starting_node);
+					}
+				}
+				
+				if (bone->parent && (bone->flag & BONE_CONNECTED) == 0)
+				{
+					RIG_addEdgeToArc(arc, bone->head, NULL);
+				}
+				
+				RIG_addEdgeToArc(arc, bone->tail, bone);
+				
+				last_bone = bone;
+				
+				if (strcmp(bone->name, "head") == 0)
+				{
+					contain_head = 1;
+				}
+			}
+			else if ((bone->flag & BONE_EDITMODE_LOCKED) == 0) /* ignore locked bones */
+			{
+				RIG_addControlBone(rg, bone);
+			}
+		}
+		
+		nb_children = countEditBoneChildren(list, bone);
+		if (nb_children > 1)
+		{
+			RigNode *end_node = NULL;
+			int i;
+			
+			if (arc != NULL)
+			{
+				end_node = newRigNodeTail(rg, arc, bone->tail);
+			}
+			else
+			{
+				end_node = newRigNode(rg, bone->tail);
+			}
+
+			for (i = 0; i < nb_children; i++)
+			{
+				root_bone = nextEditBoneChild(list, bone, i);
+				RIG_arcFromBoneChain(rg, list, root_bone, end_node, selected);
+			}
+			
+			/* arc ends here, break */
+			break;
+		}
+	}
+	
+	/* If the loop exited without forking */
+	if (arc != NULL && bone == NULL)
+	{
+		newRigNodeTail(rg, arc, last_bone->tail);
+	}
+
+	if (contain_head)
+	{
+		rg->head = arc->tail;
+	}
+}
+
+/*******************************************************************************************************/
+static void RIG_findHead(RigGraph *rg)
+{
+	if (rg->head == NULL)
+	{
+		if (BLI_countlist(&rg->arcs) == 1)
+		{
+			RigArc *arc = rg->arcs.first;
+			
+			rg->head = (RigNode*)arc->head;
+		}
+		else
+		{
+			RigArc *arc;
+			
+			for (arc = rg->arcs.first; arc; arc = arc->next)
+			{
+				RigEdge *edge = arc->edges.last;
+				
+				if (edge->bone->flag & (BONE_TIPSEL|BONE_SELECTED))
+				{
+					rg->head = arc->tail;
+					break;
+				}
+			}
+		}
+		
+		if (rg->head == NULL)
+		{
+			rg->head = rg->nodes.first;
+		}
+	}
+}
+
+/*******************************************************************************************************/
+
+void RIG_printNode(RigNode *node, char name[])
+{
+	printf("%s %p %i <%0.3f, %0.3f, %0.3f>\n", name, node, node->degree, node->p[0], node->p[1], node->p[2]);
+	
+	if (node->symmetry_flag & SYM_TOPOLOGICAL)
+	{
+		if (node->symmetry_flag & SYM_AXIAL)
+			printf("Symmetry AXIAL\n");
+		else if (node->symmetry_flag & SYM_RADIAL)
+			printf("Symmetry RADIAL\n");
+			
+		printvecf("symmetry axis", node->symmetry_axis);
+	}
+}
+
+void RIG_printArcBones(RigArc *arc)
+{
+	RigEdge *edge;
+
+	for (edge = arc->edges.first; edge; edge = edge->next)
+	{
+		if (edge->bone)
+			printf("%s ", edge->bone->name);
+		else
+			printf("---- ");
+	}
+	printf("\n");
+}
+
+void RIG_printCtrl(RigControl *ctrl, char *indent)
+{
+	char text[128];
+	
+	printf("%sBone: %s\n", indent, ctrl->bone->name);
+	printf("%sLink: %s\n", indent, ctrl->link ? ctrl->link->name : "!NONE!");
+	
+	sprintf(text, "%soffset", indent);
+	printvecf(text, ctrl->offset);
+	
+	printf("%sFlag: %i\n", indent, ctrl->flag);
+}
+
+void RIG_printLinkedCtrl(RigGraph *rg, EditBone *bone, int tabs)
+{
+	RigControl *ctrl;
+	char indent[64];
+	char *s = indent;
+	int i;
+	
+	for (i = 0; i < tabs; i++)
+	{
+		s[0] = '\t';
+		s++;
+	}
+	s[0] = 0;
+	
+	for (ctrl = rg->controls.first; ctrl; ctrl = ctrl->next)
+	{
+		if (ctrl->link == bone)
+		{
+			RIG_printCtrl(ctrl, indent);
+			RIG_printLinkedCtrl(rg, ctrl->bone, tabs + 1);
+		}
+	}
+}
+
+void RIG_printArc(RigGraph *rg, RigArc *arc)
+{
+	RigEdge *edge;
+
+	RIG_printNode((RigNode*)arc->head, "head");
+
+	for (edge = arc->edges.first; edge; edge = edge->next)
+	{
+		printf("\tinner joints %0.3f %0.3f %0.3f\n", edge->tail[0], edge->tail[1], edge->tail[2]);
+		printf("\t\tlength %f\n", edge->length);
+		printf("\t\tangle %f\n", edge->angle * 180 / M_PI);
+		if (edge->bone)
+		{
+			printf("\t\t%s\n", edge->bone->name);
+			RIG_printLinkedCtrl(rg, edge->bone, 3);
+		}
+	}	
+	printf("symmetry level: %i flag: %i group %i\n", arc->symmetry_level, arc->symmetry_flag, arc->symmetry_group);
+
+	RIG_printNode((RigNode*)arc->tail, "tail");
+}
+
+void RIG_printGraph(RigGraph *rg)
+{
+	RigArc *arc;
+
+	printf("---- ARCS ----\n");
+	for (arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		RIG_printArc(rg, arc);	
+		printf("\n");
+	}
+
+	if (rg->head)
+	{
+		RIG_printNode(rg->head, "HEAD NODE:");
+	}
+	else
+	{
+		printf("HEAD NODE: NONE\n");
+	}	
+}
+
+/*******************************************************************************************************/
+
+RigGraph *RIG_graphFromArmature(bContext *C, Object *ob, bArmature *arm)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	EditBone *ebone;
+	RigGraph *rg;
+ 	
+	rg = newRigGraph();
+	
+	if (obedit == ob)
+	{
+		bArmature *arm = obedit->data;
+		rg->editbones = arm->edbo;
+	}
+	else
+	{
+		rg->editbones = MEM_callocN(sizeof(ListBase), "EditBones");
+		make_boneList(rg->editbones, &arm->bonebase, NULL);
+		rg->flag |= RIG_FREE_BONELIST;
+	}
+	
+	rg->ob = ob;
+
+	/* Do the rotations */
+	for (ebone = rg->editbones->first; ebone; ebone=ebone->next){
+		if (ebone->parent == NULL)
+		{
+			RIG_arcFromBoneChain(rg, rg->editbones, ebone, NULL, 0);
+		}
+	}
+	
+	BLI_removeDoubleNodes((BGraph*)rg, 0.001);
+	
+	RIG_removeNormalNodes(rg);
+	
+	RIG_removeUneededOffsets(rg);
+	
+	BLI_buildAdjacencyList((BGraph*)rg);
+	
+	RIG_findHead(rg);
+
+	BLI_markdownSymmetry((BGraph*)rg, (BNode*)rg->head, scene->toolsettings->skgen_symmetry_limit);
+	
+	RIG_reconnectControlBones(rg); /* after symmetry, because we use levels to find best match */
+	
+	if (BLI_isGraphCyclic((BGraph*)rg))
+	{
+		printf("armature cyclic\n");
+	}
+	
+	return rg;
+}
+
+RigGraph *armatureSelectedToGraph(bContext *C, Object *ob, bArmature *arm)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	EditBone *ebone;
+	RigGraph *rg;
+ 	
+	rg = newRigGraph();
+	
+	if (obedit == ob)
+	{
+		rg->editbones = arm->edbo;
+	}
+	else
+	{
+		rg->editbones = MEM_callocN(sizeof(ListBase), "EditBones");
+		make_boneList(rg->editbones, &arm->bonebase, NULL);
+		rg->flag |= RIG_FREE_BONELIST;
+	}
+
+	rg->ob = ob;
+
+	/* Do the rotations */
+	for (ebone = rg->editbones->first; ebone; ebone=ebone->next){
+		if (ebone->parent == NULL)
+		{
+			RIG_arcFromBoneChain(rg, rg->editbones, ebone, NULL, 1);
+		}
+	}
+	
+	BLI_removeDoubleNodes((BGraph*)rg, 0.001);
+	
+	RIG_removeNormalNodes(rg);
+	
+	RIG_removeUneededOffsets(rg);
+	
+	BLI_buildAdjacencyList((BGraph*)rg);
+	
+	RIG_findHead(rg);
+
+	BLI_markdownSymmetry((BGraph*)rg, (BNode*)rg->head, scene->toolsettings->skgen_symmetry_limit);
+	
+	RIG_reconnectControlBones(rg); /* after symmetry, because we use levels to find best match */
+	
+	if (BLI_isGraphCyclic((BGraph*)rg))
+	{
+		printf("armature cyclic\n");
+	}
+	
+	return rg;
+}
+/************************************ GENERATING *****************************************************/
+
+static EditBone *add_editbonetolist(char *name, ListBase *list)
+{
+	EditBone *bone= MEM_callocN(sizeof(EditBone), "eBone");
+	
+	BLI_strncpy(bone->name, name, 32);
+	unique_editbone_name(list, bone->name, NULL);
+	
+	BLI_addtail(list, bone);
+	
+	bone->flag |= BONE_TIPSEL;
+	bone->weight= 1.0F;
+	bone->dist= 0.25F;
+	bone->xwidth= 0.1;
+	bone->zwidth= 0.1;
+	bone->ease1= 1.0;
+	bone->ease2= 1.0;
+	bone->rad_head= 0.10;
+	bone->rad_tail= 0.05;
+	bone->segments= 1;
+	bone->layer=  1;//arm->layer;
+	
+	return bone;
+}
+
+void generateMissingArcsFromNode(RigGraph *rigg, ReebNode *node, int multi_level_limit)
+{
+	while (node->multi_level > multi_level_limit && node->link_up)
+	{
+		node = node->link_up;
+	}
+	
+	while (node->multi_level < multi_level_limit && node->link_down)
+	{
+		node = node->link_down;
+	}
+	
+	if (node->multi_level == multi_level_limit)
+	{
+		int i;
+		
+		for (i = 0; i < node->degree; i++)
+		{
+			ReebArc *earc = node->arcs[i];
+			
+			if (earc->flag == ARC_FREE && earc->head == node)
+			{
+				ReebNode *other = BIF_otherNodeFromIndex(earc, node);
+				
+				earc->flag = ARC_USED;
+				
+				//generateBonesForArc(rigg, earc, node, other);
+				generateMissingArcsFromNode(rigg, other, multi_level_limit);
+			}
+		}
+	}
+}
+
+void generateMissingArcs(RigGraph *rigg)
+{
+	ReebGraph *reebg = rigg->link_mesh;
+	int multi_level_limit = 5;
+	
+	for (reebg = rigg->link_mesh; reebg; reebg = reebg->link_up)
+	{
+		ReebArc *earc;
+		
+		for (earc = reebg->arcs.first; earc; earc = earc->next)
+		{
+			if (earc->flag == ARC_USED)
+			{
+				generateMissingArcsFromNode(rigg, earc->head, multi_level_limit);
+				generateMissingArcsFromNode(rigg, earc->tail, multi_level_limit);
+			}
+		}
+	}
+}
+
+/************************************ RETARGETTING *****************************************************/
+
+static void repositionControl(RigGraph *rigg, RigControl *ctrl, float head[3], float tail[3], float qrot[4], float resize);
+
+static void repositionTailControl(RigGraph *rigg, RigControl *ctrl);
+
+static void finalizeControl(RigGraph *rigg, RigControl *ctrl, float resize)
+{
+	if ((ctrl->flag & RIG_CTRL_DONE) == RIG_CTRL_DONE)
+	{
+		RigControl *ctrl_child;
+
+#if 0		
+		printf("CTRL: %s LINK: %s", ctrl->bone->name, ctrl->link->name);
+		
+		if (ctrl->link_tail)
+		{
+			printf(" TAIL: %s", ctrl->link_tail->name);
+		}
+		
+		printf("\n");
+#endif
+		
+		/* if there was a tail link: apply link, recalc resize factor and qrot */
+		if (ctrl->tail_mode != TL_NONE)
+		{
+			float *tail_vec = NULL;
+			float v1[3], v2[3], qtail[4];
+			
+			if (ctrl->tail_mode == TL_TAIL)
+			{
+				tail_vec = ctrl->link_tail->tail;
+			}
+			else if (ctrl->tail_mode == TL_HEAD)
+			{
+				tail_vec = ctrl->link_tail->head;
+			}
+			
+			VecSubf(v1, ctrl->bone->tail, ctrl->bone->head);
+			VecSubf(v2, tail_vec, ctrl->bone->head);
+			
+			VECCOPY(ctrl->bone->tail, tail_vec);
+			
+			RotationBetweenVectorsToQuat(qtail, v1, v2);
+			QuatMul(ctrl->qrot, qtail, ctrl->qrot);
+			
+			resize = VecLength(v2) / VecLenf(ctrl->head, ctrl->tail);
+		}
+		
+		ctrl->bone->roll = rollBoneByQuat(ctrl->bone, ctrl->up_axis, ctrl->qrot);
+	
+		/* Cascade to connected control bones */
+		for (ctrl_child = rigg->controls.first; ctrl_child; ctrl_child = ctrl_child->next)
+		{
+			if (ctrl_child->link == ctrl->bone)
+			{
+				repositionControl(rigg, ctrl_child, ctrl->bone->head, ctrl->bone->tail, ctrl->qrot, resize);
+			}
+			if (ctrl_child->link_tail == ctrl->bone)
+			{
+				repositionTailControl(rigg, ctrl_child);
+			}
+		}
+	}	
+}
+
+static void repositionTailControl(RigGraph *rigg, RigControl *ctrl)
+{
+	ctrl->flag |= RIG_CTRL_TAIL_DONE;
+
+	finalizeControl(rigg, ctrl, 1); /* resize will be recalculated anyway so we don't need it */
+}
+
+static void repositionControl(RigGraph *rigg, RigControl *ctrl, float head[3], float tail[3], float qrot[4], float resize)
+{
+	float parent_offset[3], tail_offset[3];
+	
+	VECCOPY(parent_offset, ctrl->offset);
+	VecMulf(parent_offset, resize);
+	QuatMulVecf(qrot, parent_offset);
+	
+	VecAddf(ctrl->bone->head, head, parent_offset); 
+
+	ctrl->flag |= RIG_CTRL_HEAD_DONE;
+
+	QUATCOPY(ctrl->qrot, qrot); 
+
+	if (ctrl->tail_mode == TL_NONE)
+	{
+		VecSubf(tail_offset, ctrl->tail, ctrl->head);
+		VecMulf(tail_offset, resize);
+		QuatMulVecf(qrot, tail_offset);
+
+		VecAddf(ctrl->bone->tail, ctrl->bone->head, tail_offset);
+		
+		ctrl->flag |= RIG_CTRL_TAIL_DONE;
+	}
+
+	finalizeControl(rigg, ctrl, resize);
+}
+
+static void repositionBone(bContext *C, RigGraph *rigg, RigEdge *edge, float vec0[3], float vec1[3], float up_axis[3])
+{
+	Scene *scene = CTX_data_scene(C);
+	EditBone *bone;
+	RigControl *ctrl;
+	float qrot[4], resize;
+	float v1[3], v2[3];
+	float l1, l2;
+	
+	bone = edge->bone;
+	
+	VecSubf(v1, edge->tail, edge->head);
+	VecSubf(v2, vec1, vec0);
+	
+	l1 = Normalize(v1);
+	l2 = Normalize(v2);
+
+	resize = l2 / l1;
+	
+	RotationBetweenVectorsToQuat(qrot, v1, v2);
+	
+	VECCOPY(bone->head, vec0);
+	VECCOPY(bone->tail, vec1);
+	
+	if (!VecIsNull(up_axis))
+	{
+		float qroll[4];
+
+		if (scene->toolsettings->skgen_retarget_roll == SK_RETARGET_ROLL_VIEW)
+		{
+			bone->roll = rollBoneByQuatAligned(bone, edge->up_axis, qrot, qroll, up_axis);
+		}
+		else if (scene->toolsettings->skgen_retarget_roll == SK_RETARGET_ROLL_JOINT)
+		{
+			bone->roll = rollBoneByQuatJoint(edge, edge->next, qrot, qroll);
+		}
+		else
+		{
+			QuatOne(qroll);
+		}
+		
+		QuatMul(qrot, qroll, qrot);
+	}
+	else
+	{
+		bone->roll = rollBoneByQuat(bone, edge->up_axis, qrot);
+	}
+
+	for (ctrl = rigg->controls.first; ctrl; ctrl = ctrl->next)
+	{
+		if (ctrl->link == bone)
+		{
+			repositionControl(rigg, ctrl, vec0, vec1, qrot, resize);
+		}
+		if (ctrl->link_tail == bone)
+		{
+			repositionTailControl(rigg, ctrl);
+		}
+	}
+}
+
+static RetargetMode detectArcRetargetMode(RigArc *arc);
+static void retargetArctoArcLength(bContext *C, RigGraph *rigg, RigArc *iarc, RigNode *inode_start);
+
+
+static RetargetMode detectArcRetargetMode(RigArc *iarc)
+{
+	RetargetMode mode = RETARGET_AGGRESSIVE;
+	ReebArc *earc = iarc->link_mesh;
+	RigEdge *edge;
+	int large_angle = 0;
+	float avg_angle = 0;
+	float avg_length = 0;
+	int nb_edges = 0;
+	
+	
+	for (edge = iarc->edges.first; edge; edge = edge->next)
+	{
+		avg_angle += edge->angle;
+		nb_edges++;
+	}
+	
+	avg_angle /= nb_edges - 1; /* -1 because last edge doesn't have an angle */
+
+	avg_length = iarc->length / nb_edges;
+	
+	
+	if (nb_edges > 2)
+	{
+		for (edge = iarc->edges.first; edge; edge = edge->next)
+		{
+			if (fabs(edge->angle - avg_angle) > M_PI / 6)
+			{
+				large_angle = 1;
+			}
+		}
+	}
+	else if (nb_edges == 2 && avg_angle > 0)
+	{
+		large_angle = 1;
+	}
+		
+	
+	if (large_angle == 0)
+	{
+		mode = RETARGET_LENGTH;
+	}
+	
+	if (earc->bcount <= (iarc->count - 1))
+	{
+		mode = RETARGET_LENGTH;
+	}
+	
+	mode = RETARGET_AGGRESSIVE;
+	
+	return mode;
+}
+
+#ifndef USE_THREADS
+static void printMovesNeeded(int *positions, int nb_positions)
+{
+	int moves = 0;
+	int i;
+	
+	for (i = 0; i < nb_positions; i++)
+	{
+		moves += positions[i] - (i + 1);
+	}
+	
+	printf("%i moves needed\n", moves);
+}
+
+static void printPositions(int *positions, int nb_positions)
+{
+	int i;
+	
+	for (i = 0; i < nb_positions; i++)
+	{
+		printf("%i ", positions[i]);
+	}
+	printf("\n");
+}
+#endif
+
+#define MAX_COST FLT_MAX /* FIX ME */
+
+static float costDistance(BArcIterator *iter, float *vec0, float *vec1, int i0, int i1, float distance_weight)
+{
+	EmbedBucket *bucket = NULL;
+	float max_dist = 0;
+	float v1[3], v2[3], c[3];
+	float v1_inpf;
+
+	if (distance_weight > 0)
+	{
+		VecSubf(v1, vec0, vec1);
+		
+		v1_inpf = Inpf(v1, v1);
+		
+		if (v1_inpf > 0)
+		{
+			int j;
+			for (j = i0 + 1; j < i1 - 1; j++)
+			{
+				float dist;
+				
+				bucket = IT_peek(iter, j);
+	
+				VecSubf(v2, bucket->p, vec1);
+		
+				Crossf(c, v1, v2);
+				
+				dist = Inpf(c, c) / v1_inpf;
+				
+				max_dist = dist > max_dist ? dist : max_dist;
+			}
+			
+			return distance_weight * max_dist;
+		}
+		else
+		{
+			return MAX_COST;
+		}
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+static float costAngle(float original_angle, float vec_first[3], float vec_second[3], float angle_weight)
+{
+	if (angle_weight > 0)
+	{
+		float current_angle;
+		
+		if (!VecIsNull(vec_first) && !VecIsNull(vec_second))
+		{
+			current_angle = saacos(Inpf(vec_first, vec_second));
+
+			return angle_weight * fabs(current_angle - original_angle);
+		}
+		else
+		{
+			return angle_weight * M_PI;
+		}
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+static float costLength(float original_length, float current_length, float length_weight)
+{
+	if (current_length == 0)
+	{
+		return MAX_COST;
+	}
+	else
+	{
+		float length_ratio = fabs((current_length - original_length) / original_length);
+		return length_weight * length_ratio * length_ratio;
+	}
+}
+
+#if 0
+static float calcCostLengthDistance(BArcIterator *iter, float **vec_cache, RigEdge *edge, float *vec1, float *vec2, int i1, int i2)
+{
+	float vec[3];
+	float length;
+
+	VecSubf(vec, vec2, vec1);
+	length = Normalize(vec);
+
+	return costLength(edge->length, length) + costDistance(iter, vec1, vec2, i1, i2);
+}
+#endif
+
+static float calcCostAngleLengthDistance(BArcIterator *iter, float **vec_cache, RigEdge *edge, float *vec0, float *vec1, float *vec2, int i1, int i2, float angle_weight, float length_weight, float distance_weight)
+{
+	float vec_second[3], vec_first[3];
+	float length2;
+	float new_cost = 0;
+
+	VecSubf(vec_second, vec2, vec1);
+	length2 = Normalize(vec_second);
+
+
+	/* Angle cost */	
+	if (edge->prev)
+	{
+		VecSubf(vec_first, vec1, vec0); 
+		Normalize(vec_first);
+		
+		new_cost += costAngle(edge->prev->angle, vec_first, vec_second, angle_weight);
+	}
+
+	/* Length cost */
+	new_cost += costLength(edge->length, length2, length_weight);
+
+	/* Distance cost */
+	new_cost += costDistance(iter, vec1, vec2, i1, i2, distance_weight);
+
+	return new_cost;
+}
+
+static int indexMemoNode(int nb_positions, int previous, int current, int joints_left)
+{
+	return joints_left * nb_positions * nb_positions + current * nb_positions + previous;
+}
+
+static void copyMemoPositions(int *positions, MemoNode *table, int nb_positions, int joints_left)
+{
+	int previous = 0, current = 0;
+	int i = 0;
+	
+	for (i = 0; joints_left > 0; joints_left--, i++)
+	{
+		MemoNode *node;
+		node = table + indexMemoNode(nb_positions, previous, current, joints_left);
+		
+		positions[i] = node->next;
+		
+		previous = current;
+		current = node->next;
+	}
+}
+
+static MemoNode * solveJoints(MemoNode *table, BArcIterator *iter, float **vec_cache, int nb_joints, int nb_positions, int previous, int current, RigEdge *edge, int joints_left, float angle_weight, float length_weight, float distance_weight)
+{
+	MemoNode *node;
+	int index = indexMemoNode(nb_positions, previous, current, joints_left);
+	
+	node = table + index;
+	
+	if (node->weight != 0)
+	{
+		return node;
+	}
+	else if (joints_left == 0)
+	{
+		float *vec0 = vec_cache[previous];
+		float *vec1 = vec_cache[current];
+		float *vec2 = vec_cache[nb_positions + 1];
+
+		node->weight = calcCostAngleLengthDistance(iter, vec_cache, edge, vec0, vec1, vec2, current, iter->length, angle_weight, length_weight, distance_weight);
+
+		return node;
+	}
+	else
+	{
+		MemoNode *min_node = NULL;
+		float *vec0 = vec_cache[previous];
+		float *vec1 = vec_cache[current];
+		float min_weight;
+		int min_next;
+		int next;
+		
+		for (next = current + 1; next <= nb_positions - (joints_left - 1); next++)
+		{
+			MemoNode *next_node;
+			float *vec2 = vec_cache[next];
+			float weight = 0;
+			
+			/* ADD WEIGHT OF PREVIOUS - CURRENT - NEXT triple */
+			weight = calcCostAngleLengthDistance(iter, vec_cache, edge, vec0, vec1, vec2, current, next, angle_weight, length_weight, distance_weight);
+			
+			if (weight >= MAX_COST)
+			{
+				continue;
+			}
+			
+			/* add node weight */
+			next_node = solveJoints(table, iter, vec_cache, nb_joints, nb_positions, current, next, edge->next, joints_left - 1, angle_weight, length_weight, distance_weight);
+			weight += next_node->weight;
+			
+			if (min_node == NULL || weight < min_weight)
+			{
+				min_weight = weight;
+				min_node = next_node;
+				min_next = next;
+			}
+		}
+		
+		if (min_node)
+		{
+			node->weight = min_weight;
+			node->next = min_next;
+			return node;
+		}
+		else
+		{
+			node->weight = MAX_COST;
+			return node;
+		}
+	}
+	
+}
+
+static int testFlipArc(RigArc *iarc, RigNode *inode_start)
+{
+	ReebArc *earc = iarc->link_mesh;
+	ReebNode *enode_start = BIF_NodeFromIndex(earc, inode_start->link_mesh);
+	
+	/* no flip needed if both nodes are the same */
+	if ((enode_start == earc->head && inode_start == iarc->head) || (enode_start == earc->tail && inode_start == iarc->tail))
+	{
+		return 0;
+	}
+	else
+	{
+		return 1;
+	}
+}
+
+static void retargetArctoArcAggresive(bContext *C, RigGraph *rigg, RigArc *iarc, RigNode *inode_start)
+{
+	ReebArcIterator arc_iter;
+	BArcIterator *iter = (BArcIterator*)&arc_iter;
+	RigEdge *edge;
+	EmbedBucket *bucket = NULL;
+	ReebNode *node_start, *node_end;
+	ReebArc *earc = iarc->link_mesh;
+	float angle_weight = 1.0; // GET FROM CONTEXT
+	float length_weight = 1.0;
+	float distance_weight = 1.0;
+	float min_cost = FLT_MAX;
+	float *vec0, *vec1;
+	int *best_positions;
+	int nb_edges = BLI_countlist(&iarc->edges);
+	int nb_joints = nb_edges - 1;
+	RetargetMethod method = METHOD_MEMOIZE;
+	int i;
+	
+	if (nb_joints > earc->bcount)
+	{
+		printf("NOT ENOUGH BUCKETS!\n");
+		return;
+	}
+
+	best_positions = MEM_callocN(sizeof(int) * nb_joints, "Best positions");
+	
+	if (testFlipArc(iarc, inode_start))
+	{
+		node_start = earc->tail;
+		node_end = earc->head;
+	}
+	else
+	{
+		node_start = earc->head;
+		node_end = earc->tail;
+	}
+
+	/* equal number of joints and potential position, just fill them in */
+	if (nb_joints == earc->bcount)
+	{
+		int i;
+		
+		/* init with first values */
+		for (i = 0; i < nb_joints; i++)
+		{
+			best_positions[i] = i + 1;
+		}
+	}
+	if (method == METHOD_MEMOIZE)
+	{
+		int nb_positions = earc->bcount;
+		int nb_memo_nodes = nb_positions * nb_positions * (nb_joints + 1);
+		MemoNode *table = MEM_callocN(nb_memo_nodes * sizeof(MemoNode), "memoization table");
+		MemoNode *result;
+		float **positions_cache = MEM_callocN(sizeof(float*) * (nb_positions + 2), "positions cache");
+		int i;
+		
+		positions_cache[0] = node_start->p;
+		positions_cache[nb_positions + 1] = node_end->p;
+		
+		initArcIterator(iter, earc, node_start);
+
+		for (i = 1; i <= nb_positions; i++)
+		{
+			EmbedBucket *bucket = IT_peek(iter, i);
+			positions_cache[i] = bucket->p;
+		}
+
+		result = solveJoints(table, iter, positions_cache, nb_joints, earc->bcount, 0, 0, iarc->edges.first, nb_joints, angle_weight, length_weight, distance_weight);
+		
+		min_cost = result->weight;
+		copyMemoPositions(best_positions, table, earc->bcount, nb_joints);
+		
+		MEM_freeN(table);
+		MEM_freeN(positions_cache);
+	}
+
+	vec0 = node_start->p;
+	initArcIterator(iter, earc, node_start);
+	
+#ifndef USE_THREADS
+	printPositions(best_positions, nb_joints);
+	printMovesNeeded(best_positions, nb_joints);
+	printf("min_cost %f\n", min_cost);
+	printf("buckets: %i\n", earc->bcount);
+#endif
+
+	/* set joints to best position */
+	for (edge = iarc->edges.first, i = 0;
+		 edge;
+		 edge = edge->next, i++)
+	{
+		float *no = NULL;
+		if (i < nb_joints)
+		{
+			bucket = IT_peek(iter, best_positions[i]);
+			vec1 = bucket->p;
+			no = bucket->no;
+		}
+		else
+		{
+			vec1 = node_end->p;
+			no = node_end->no;
+		}
+		
+		if (edge->bone)
+		{
+			repositionBone(C, rigg, edge, vec0, vec1, no);
+		}
+		
+		vec0 = vec1;
+	}
+
+	MEM_freeN(best_positions);
+}
+
+static void retargetArctoArcLength(bContext *C, RigGraph *rigg, RigArc *iarc, RigNode *inode_start)
+{
+	ReebArcIterator arc_iter;
+	BArcIterator *iter = (BArcIterator*)&arc_iter;
+	ReebArc *earc = iarc->link_mesh;
+	ReebNode *node_start, *node_end;
+	RigEdge *edge;
+	EmbedBucket *bucket = NULL;
+	float embedding_length = 0;
+	float *vec0 = NULL;
+	float *vec1 = NULL;
+	float *previous_vec = NULL;
+
+	
+	if (testFlipArc(iarc, inode_start))
+	{
+		node_start = (ReebNode*)earc->tail;
+		node_end = (ReebNode*)earc->head;
+	}
+	else
+	{
+		node_start = (ReebNode*)earc->head;
+		node_end = (ReebNode*)earc->tail;
+	}
+	
+	initArcIterator(iter, earc, node_start);
+
+	bucket = IT_next(iter);
+	
+	vec0 = node_start->p;
+	
+	while (bucket != NULL)
+	{
+		vec1 = bucket->p;
+		
+		embedding_length += VecLenf(vec0, vec1);
+		
+		vec0 = vec1;
+		bucket = IT_next(iter);
+	}
+	
+	embedding_length += VecLenf(node_end->p, vec1);
+	
+	/* fit bones */
+	initArcIterator(iter, earc, node_start);
+
+	bucket = IT_next(iter);
+
+	vec0 = node_start->p;
+	previous_vec = vec0;
+	vec1 = bucket->p;
+	
+	for (edge = iarc->edges.first; edge; edge = edge->next)
+	{
+		float new_bone_length = edge->length / iarc->length * embedding_length;
+		float *no = NULL;
+		float length = 0;
+
+		while (bucket && new_bone_length > length)
+		{
+			length += VecLenf(previous_vec, vec1);
+			bucket = IT_next(iter);
+			previous_vec = vec1;
+			vec1 = bucket->p;
+			no = bucket->no;
+		}
+		
+		if (bucket == NULL)
+		{
+			vec1 = node_end->p;
+			no = node_end->no;
+		}
+
+		/* no need to move virtual edges (space between unconnected bones) */		
+		if (edge->bone)
+		{
+			repositionBone(C, rigg, edge, vec0, vec1, no);
+		}
+		
+		vec0 = vec1;
+		previous_vec = vec1;
+	}
+}
+
+static void retargetArctoArc(bContext *C, RigGraph *rigg, RigArc *iarc, RigNode *inode_start)
+{
+#ifdef USE_THREADS
+	RetargetParam *p = MEM_callocN(sizeof(RetargetParam), "RetargetParam");
+	
+	p->rigg = rigg;
+	p->iarc = iarc;
+	p->inode_start = inode_start;
+	p->context = C;
+	
+	BLI_insert_work(rigg->worker, p);
+#else
+	RetargetParam p;
+
+	p.rigg = rigg;
+	p.iarc = iarc;
+	p.inode_start = inode_start;
+	p.context = C;
+	
+	exec_retargetArctoArc(&p);
+#endif
+}
+
+void *exec_retargetArctoArc(void *param)
+{
+	RetargetParam *p = (RetargetParam*)param;
+	RigGraph *rigg = p->rigg;
+	RigArc *iarc = p->iarc;
+	bContext *C = p->context;	
+	RigNode *inode_start = p->inode_start;
+	ReebArc *earc = iarc->link_mesh;
+	
+	if (BLI_countlist(&iarc->edges) == 1)
+	{
+		RigEdge *edge = iarc->edges.first;
+
+		if (testFlipArc(iarc, inode_start))
+		{
+			repositionBone(C, rigg, edge, earc->tail->p, earc->head->p, earc->head->no);
+		}
+		else
+		{
+			repositionBone(C, rigg, edge, earc->head->p, earc->tail->p, earc->tail->no);
+		}
+	}
+	else
+	{
+		RetargetMode mode = detectArcRetargetMode(iarc);
+		
+		if (mode == RETARGET_AGGRESSIVE)
+		{
+			retargetArctoArcAggresive(C, rigg, iarc, inode_start);
+		}
+		else
+		{		
+			retargetArctoArcLength(C, rigg, iarc, inode_start);
+		}
+	}
+
+#ifdef USE_THREADS
+	MEM_freeN(p);
+#endif
+	
+	return NULL;
+}
+
+static void matchMultiResolutionNode(RigGraph *rigg, RigNode *inode, ReebNode *top_node)
+{
+	ReebNode *enode = top_node;
+	ReebGraph *reebg = BIF_graphForMultiNode(rigg->link_mesh, enode);
+	int ishape, eshape;
+	
+	ishape = BLI_subtreeShape((BGraph*)rigg, (BNode*)inode, NULL, 0) % SHAPE_LEVELS;
+	eshape = BLI_subtreeShape((BGraph*)reebg, (BNode*)enode, NULL, 0) % SHAPE_LEVELS;
+	
+	inode->link_mesh = enode;
+
+	while (ishape == eshape && enode->link_down)
+	{
+		inode->link_mesh = enode;
+
+		enode = enode->link_down;
+		reebg = BIF_graphForMultiNode(rigg->link_mesh, enode); /* replace with call to link_down once that exists */
+		eshape = BLI_subtreeShape((BGraph*)reebg, (BNode*)enode, NULL, 0) % SHAPE_LEVELS;
+	} 
+}
+
+static void markMultiResolutionChildArc(ReebNode *end_enode, ReebNode *enode)
+{
+	int i;
+	
+	for(i = 0; i < enode->degree; i++)
+	{
+		ReebArc *earc = (ReebArc*)enode->arcs[i];
+		
+		if (earc->flag == ARC_FREE)
+		{
+			earc->flag = ARC_TAKEN;
+			
+			if (earc->tail->degree > 1 && earc->tail != end_enode)
+			{
+				markMultiResolutionChildArc(end_enode, earc->tail);
+			}
+			break;
+		}
+	}
+}
+
+static void markMultiResolutionArc(ReebArc *start_earc)
+{
+	if (start_earc->link_up)
+	{
+		ReebArc *earc;
+		for (earc = start_earc->link_up ; earc; earc = earc->link_up)
+		{
+			earc->flag = ARC_TAKEN;
+			
+			if (earc->tail->index != start_earc->tail->index)
+			{
+				markMultiResolutionChildArc(earc->tail, earc->tail);
+			}
+		}
+	}
+}
+
+static void matchMultiResolutionArc(RigGraph *rigg, RigNode *start_node, RigArc *next_iarc, ReebArc *next_earc)
+{
+	ReebNode *enode = next_earc->head;
+	ReebGraph *reebg = BIF_graphForMultiNode(rigg->link_mesh, enode);
+	int ishape, eshape;
+
+	ishape = BLI_subtreeShape((BGraph*)rigg, (BNode*)start_node, (BArc*)next_iarc, 1) % SHAPE_LEVELS;
+	eshape = BLI_subtreeShape((BGraph*)reebg, (BNode*)enode, (BArc*)next_earc, 1) % SHAPE_LEVELS;
+	
+	while (ishape != eshape && next_earc->link_up)
+	{
+		next_earc->flag = ARC_TAKEN; // mark previous as taken, to prevent backtrack on lower levels
+		
+		next_earc = next_earc->link_up;
+		reebg = reebg->link_up;
+		enode = next_earc->head;
+		eshape = BLI_subtreeShape((BGraph*)reebg, (BNode*)enode, (BArc*)next_earc, 1) % SHAPE_LEVELS;
+	} 
+
+	next_earc->flag = ARC_USED;
+	next_iarc->link_mesh = next_earc;
+	
+	/* mark all higher levels as taken too */
+	markMultiResolutionArc(next_earc);
+//	while (next_earc->link_up)
+//	{
+//		next_earc = next_earc->link_up;
+//		next_earc->flag = ARC_TAKEN;
+//	}
+}
+
+static void matchMultiResolutionStartingNode(RigGraph *rigg, ReebGraph *reebg, RigNode *inode)
+{
+	ReebNode *enode;
+	int ishape, eshape;
+	
+	enode = reebg->nodes.first;
+	
+	ishape = BLI_subtreeShape((BGraph*)rigg, (BNode*)inode, NULL, 0) % SHAPE_LEVELS;
+	eshape = BLI_subtreeShape((BGraph*)rigg->link_mesh, (BNode*)enode, NULL, 0) % SHAPE_LEVELS;
+	
+	while (ishape != eshape && reebg->link_up)
+	{
+		reebg = reebg->link_up;
+		
+		enode = reebg->nodes.first;
+		
+		eshape = BLI_subtreeShape((BGraph*)reebg, (BNode*)enode, NULL, 0) % SHAPE_LEVELS;
+	} 
+
+	inode->link_mesh = enode;
+}
+
+static void findCorrespondingArc(RigGraph *rigg, RigArc *start_arc, RigNode *start_node, RigArc *next_iarc, int root)
+{
+	ReebNode *enode = start_node->link_mesh;
+	ReebArc *next_earc;
+	int symmetry_level = next_iarc->symmetry_level;
+	int symmetry_group = next_iarc->symmetry_group;
+	int symmetry_flag = next_iarc->symmetry_flag;
+	int i;
+	
+	next_iarc->link_mesh = NULL;
+		
+//	if (root)
+//	{
+//		printf("-----------------------\n");
+//		printf("MATCHING LIMB\n");
+//		RIG_printArcBones(next_iarc);
+//	}
+	
+	for(i = 0; i < enode->degree; i++)
+	{
+		next_earc = (ReebArc*)enode->arcs[i];
+		
+//		if (next_earc->flag == ARC_FREE)
+//		{
+//			printf("candidate (level %i ?= %i) (flag %i ?= %i) (group %i ?= %i)\n",
+//			symmetry_level, next_earc->symmetry_level,
+//			symmetry_flag, next_earc->symmetry_flag, 
+//			symmetry_group, next_earc->symmetry_flag);
+//		}
+		
+		if (next_earc->flag == ARC_FREE &&
+			next_earc->symmetry_flag == symmetry_flag &&
+			next_earc->symmetry_group == symmetry_group &&
+			next_earc->symmetry_level == symmetry_level)
+		{
+//			printf("CORRESPONDING ARC FOUND\n");
+//			printf("flag %i -- level %i -- flag %i -- group %i\n", next_earc->flag, next_earc->symmetry_level, next_earc->symmetry_flag, next_earc->symmetry_group);
+			
+			matchMultiResolutionArc(rigg, start_node, next_iarc, next_earc);
+			break;
+		}
+	}
+	
+	/* not found, try at higher nodes (lower node might have filtered internal arcs, messing shape of tree */
+	if (next_iarc->link_mesh == NULL)
+	{
+//		printf("NO CORRESPONDING ARC FOUND - GOING TO HIGHER LEVELS\n");
+		
+		if (enode->link_up)
+		{
+			start_node->link_mesh = enode->link_up;
+			findCorrespondingArc(rigg, start_arc, start_node, next_iarc, 0);
+		}
+	}
+
+	/* still not found, print debug info */
+	if (root && next_iarc->link_mesh == NULL)
+	{
+		start_node->link_mesh = enode; /* linking back with root node */
+		
+//		printf("NO CORRESPONDING ARC FOUND\n");
+//		RIG_printArcBones(next_iarc);
+//		
+//		printf("ON NODE %i, multilevel %i\n", enode->index, enode->multi_level);
+//		
+//		printf("LOOKING FOR\n");
+//		printf("flag %i -- level %i -- flag %i -- group %i\n", ARC_FREE, symmetry_level, symmetry_flag, symmetry_group);
+//		
+//		printf("CANDIDATES\n");
+//		for(i = 0; i < enode->degree; i++)
+//		{
+//			next_earc = (ReebArc*)enode->arcs[i];
+//			printf("flag %i -- level %i -- flag %i -- group %i\n", next_earc->flag, next_earc->symmetry_level, next_earc->symmetry_flag, next_earc->symmetry_group);
+//		}
+		
+		/* Emergency matching */
+		for(i = 0; i < enode->degree; i++)
+		{
+			next_earc = (ReebArc*)enode->arcs[i];
+			
+			if (next_earc->flag == ARC_FREE && next_earc->symmetry_level == symmetry_level)
+			{
+//				printf("USING: \n");
+//				printf("flag %i -- level %i -- flag %i -- group %i\n", next_earc->flag, next_earc->symmetry_level, next_earc->symmetry_flag, next_earc->symmetry_group);
+				matchMultiResolutionArc(rigg, start_node, next_iarc, next_earc);
+				break;
+			}
+		}
+	}
+
+}
+
+static void retargetSubgraph(bContext *C, RigGraph *rigg, RigArc *start_arc, RigNode *start_node)
+{
+	RigNode *inode = start_node;
+	int i;
+
+	/* no start arc on first node */
+	if (start_arc)
+	{		
+		ReebNode *enode = start_node->link_mesh;
+		ReebArc *earc = start_arc->link_mesh;
+		
+		retargetArctoArc(C, rigg, start_arc, start_node);
+		
+		enode = BIF_otherNodeFromIndex(earc, enode);
+		inode = (RigNode*)BLI_otherNode((BArc*)start_arc, (BNode*)inode);
+	
+		/* match with lowest node with correct shape */
+		matchMultiResolutionNode(rigg, inode, enode);
+	}
+	
+	for(i = 0; i < inode->degree; i++)
+	{
+		RigArc *next_iarc = (RigArc*)inode->arcs[i];
+		
+		/* no back tracking */
+		if (next_iarc != start_arc)
+		{
+			findCorrespondingArc(rigg, start_arc, inode, next_iarc, 1);
+			if (next_iarc->link_mesh)
+			{
+				retargetSubgraph(C, rigg, next_iarc, inode);
+			}
+		}
+	}
+}
+
+static void finishRetarget(RigGraph *rigg)
+{
+#ifdef USE_THREADS
+	BLI_end_worker(rigg->worker);
+#endif
+}
+
+static void adjustGraphs(bContext *C, RigGraph *rigg)
+{
+	Scene *scene = CTX_data_scene(C);
+	bArmature *arm= rigg->ob->data;
+	RigArc *arc;
+	
+	for (arc = rigg->arcs.first; arc; arc = arc->next)
+	{
+		if (arc->link_mesh)
+		{
+			retargetArctoArc(C, rigg, arc, arc->head);
+		}
+	}
+
+	finishRetarget(rigg);
+
+	/* Turn the list into an armature */
+	arm->edbo = rigg->editbones;
+	ED_armature_from_edit(scene, rigg->ob);
+	
+	ED_undo_push("Retarget Skeleton");
+}
+
+static void retargetGraphs(bContext *C, RigGraph *rigg)
+{
+	Scene *scene = CTX_data_scene(C);
+	bArmature *arm= rigg->ob->data;
+	ReebGraph *reebg = rigg->link_mesh;
+	RigNode *inode;
+	
+	/* flag all ReebArcs as free */
+	BIF_flagMultiArcs(reebg, ARC_FREE);
+	
+	/* return to first level */
+	reebg = rigg->link_mesh;
+	
+	inode = rigg->head;
+	
+	matchMultiResolutionStartingNode(rigg, reebg, inode);
+
+	retargetSubgraph(C, rigg, NULL, inode);
+	
+	//generateMissingArcs(rigg);
+	
+	finishRetarget(rigg);
+
+	/* Turn the list into an armature */
+	arm->edbo = rigg->editbones;
+	ED_armature_from_edit(scene, rigg->ob);
+}
+
+char *RIG_nameBone(RigGraph *rg, int arc_index, int bone_index)
+{
+	RigArc *arc = BLI_findlink(&rg->arcs, arc_index);
+	RigEdge *iedge;
+
+	if (arc == NULL)
+	{
+		return "None";
+	}
+	
+	if (bone_index == BLI_countlist(&arc->edges))
+	{
+		return "Last joint";
+	}
+
+	iedge = BLI_findlink(&arc->edges, bone_index);
+	
+	if (iedge == NULL)
+	{
+		return "Done";
+	}
+	
+	if (iedge->bone == NULL)
+	{
+		return "Bone offset";
+	}
+	
+	return iedge->bone->name;
+}
+
+int RIG_nbJoints(RigGraph *rg)
+{
+	RigArc *arc;
+	int total = 0;
+	
+	total += BLI_countlist(&rg->nodes);
+	
+	for (arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		total += BLI_countlist(&arc->edges) - 1; /* -1 because end nodes are already counted */
+	}
+	
+	return total;
+}
+
+void BIF_freeRetarget()
+{
+	if (GLOBAL_RIGG)
+	{
+		RIG_freeRigGraph((BGraph*)GLOBAL_RIGG);
+		GLOBAL_RIGG = NULL;
+	}
+}
+
+void BIF_retargetArmature(bContext *C)
+{
+	ReebGraph *reebg;
+	double start_time, end_time;
+	double gstart_time, gend_time;
+	double reeb_time, rig_time, retarget_time, total_time;
+	
+	gstart_time = start_time = PIL_check_seconds_timer();
+	
+	reebg = BIF_ReebGraphMultiFromEditMesh(C);
+	
+	end_time = PIL_check_seconds_timer();
+	reeb_time = end_time - start_time;
+	
+	printf("Reeb Graph created\n");
+
+	CTX_DATA_BEGIN(C, Base*, base, selected_editable_bases) {
+		Object *ob = base->object;
+
+		if (ob->type==OB_ARMATURE)
+		{
+			RigGraph *rigg;
+			bArmature *arm;
+		 	
+			arm = ob->data;
+		
+			/* Put the armature into editmode */
+			
+		
+			start_time = PIL_check_seconds_timer();
+
+			rigg = RIG_graphFromArmature(C, ob, arm);
+			
+			end_time = PIL_check_seconds_timer();
+			rig_time = end_time - start_time;
+
+			printf("Armature graph created\n");
+	
+			//RIG_printGraph(rigg);
+			
+			rigg->link_mesh = reebg;
+			
+			printf("retargetting %s\n", ob->id.name);
+			
+			start_time = PIL_check_seconds_timer();
+
+			retargetGraphs(C, rigg);
+			
+			end_time = PIL_check_seconds_timer();
+			retarget_time = end_time - start_time;
+
+			BIF_freeRetarget();
+			
+			GLOBAL_RIGG = rigg;
+			
+			break; /* only one armature at a time */
+		}
+	}
+	CTX_DATA_END;
+
+	
+	gend_time = PIL_check_seconds_timer();
+
+	total_time = gend_time - gstart_time;
+
+	printf("-----------\n");
+	printf("runtime: \t%.3f\n", total_time);
+	printf("reeb: \t\t%.3f (%.1f%%)\n", reeb_time, reeb_time / total_time * 100);
+	printf("rig: \t\t%.3f (%.1f%%)\n", rig_time, rig_time / total_time * 100);
+	printf("retarget: \t%.3f (%.1f%%)\n", retarget_time, retarget_time / total_time * 100);
+	printf("-----------\n");
+	
+	ED_undo_push("Retarget Skeleton");
+
+	// XXX	
+//	allqueue(REDRAWVIEW3D, 0);
+}
+
+void BIF_retargetArc(bContext *C, ReebArc *earc, RigGraph *template_rigg)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	bArmature *armedit = obedit->data;
+	Object *ob;
+	RigGraph *rigg;
+	RigArc *iarc;
+	bArmature *arm;
+	char *side_string = scene->toolsettings->skgen_side_string;
+	char *num_string = scene->toolsettings->skgen_num_string;
+	int free_template = 0;
+	
+	if (template_rigg)
+	{
+		ob = template_rigg->ob; 	
+		arm = ob->data;
+	}
+	else
+	{
+		free_template = 1;
+		ob = obedit; 	
+		arm = ob->data;
+		template_rigg = armatureSelectedToGraph(C, ob, arm);
+	}
+	
+	if (template_rigg->arcs.first == NULL)
+	{
+//		XXX
+//		error("No Template and no deforming bones selected");
+		return;
+	}
+	
+	rigg = cloneRigGraph(template_rigg, armedit->edbo, obedit, side_string, num_string);
+	
+	iarc = rigg->arcs.first;
+	
+	iarc->link_mesh = earc;
+	iarc->head->link_mesh = earc->head;
+	iarc->tail->link_mesh = earc->tail;
+	
+	retargetArctoArc(C, rigg, iarc, iarc->head);
+	
+	finishRetarget(rigg);
+	
+	/* free template if it comes from the edit armature */
+	if (free_template)
+	{
+		RIG_freeRigGraph((BGraph*)template_rigg);
+	}
+	RIG_freeRigGraph((BGraph*)rigg);
+	
+//	XXX
+//	allqueue(REDRAWVIEW3D, 0);
+}
+
+void BIF_adjustRetarget(bContext *C)
+{
+	if (GLOBAL_RIGG)
+	{
+		adjustGraphs(C, GLOBAL_RIGG);
+	}
+}
diff --git a/source/blender/editors/armature/editarmature_sketch.c b/source/blender/editors/armature/editarmature_sketch.c
new file mode 100644
index 00000000000..5d0b954046c
--- /dev/null
+++ b/source/blender/editors/armature/editarmature_sketch.c
@@ -0,0 +1,3368 @@
+/**
+ * $Id: $
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#include <string.h>
+#include <math.h>
+#include <float.h>
+
+#include "MEM_guardedalloc.h"
+
+#include "DNA_listBase.h"
+#include "DNA_scene_types.h"
+#include "DNA_screen_types.h"
+#include "DNA_view3d_types.h"
+#include "DNA_meshdata_types.h"
+#include "DNA_object_types.h"
+#include "DNA_armature_types.h"
+#include "DNA_userdef_types.h"
+
+#include "RNA_define.h"
+#include "RNA_access.h"
+
+#include "BLI_blenlib.h"
+#include "BLI_arithb.h"
+#include "BLI_graph.h"
+#include "BLI_ghash.h"
+
+#include "BKE_utildefines.h"
+#include "BKE_global.h"
+#include "BKE_DerivedMesh.h"
+#include "BKE_object.h"
+#include "BKE_anim.h"
+#include "BKE_context.h"
+
+#include "ED_view3d.h"
+#include "ED_screen.h"
+
+#include "BIF_gl.h"
+#include "UI_resources.h"
+//#include "BIF_screen.h"
+//#include "BIF_space.h"
+//#include "BIF_mywindow.h"
+#include "ED_armature.h"
+#include "armature_intern.h"
+//#include "BIF_sketch.h"
+#include "BIF_retarget.h"
+#include "BIF_generate.h"
+//#include "BIF_interface.h"
+
+#include "BIF_transform.h"
+
+#include "WM_api.h"
+#include "WM_types.h"
+
+//#include "blendef.h"
+//#include "mydevice.h"
+#include "reeb.h"
+
+typedef enum SK_PType
+{
+	PT_CONTINUOUS,
+	PT_EXACT,
+} SK_PType;
+
+typedef enum SK_PMode
+{
+	PT_SNAP,
+	PT_PROJECT,
+} SK_PMode;
+
+typedef struct SK_Point
+{
+	float p[3];
+	float no[3];
+	SK_PType type;
+	SK_PMode mode;
+} SK_Point;
+
+typedef struct SK_Stroke
+{
+	struct SK_Stroke *next, *prev;
+
+	SK_Point *points;
+	int nb_points;
+	int buf_size;
+	int selected;
+} SK_Stroke;
+
+#define SK_OVERDRAW_LIMIT	5
+
+typedef struct SK_Overdraw
+{
+	SK_Stroke *target;
+	int	start, end;
+	int count;
+} SK_Overdraw;
+
+#define SK_Stroke_BUFFER_INIT_SIZE 20
+
+typedef struct SK_DrawData
+{
+	short mval[2];
+	short previous_mval[2];
+	SK_PType type;
+} SK_DrawData;
+
+typedef struct SK_Intersection
+{
+	struct SK_Intersection *next, *prev;
+	SK_Stroke *stroke;
+	int			before;
+	int			after;
+	int			gesture_index;
+	float		p[3];
+	float		lambda; /* used for sorting intersection points */
+} SK_Intersection;
+
+typedef struct SK_Sketch
+{
+	ListBase	strokes;
+	SK_Stroke	*active_stroke;
+	SK_Stroke	*gesture;
+	SK_Point	next_point;
+	SK_Overdraw over;
+} SK_Sketch;
+
+typedef struct SK_StrokeIterator {
+	HeadFct		head;
+	TailFct		tail;
+	PeekFct		peek;
+	NextFct		next;
+	NextNFct	nextN;
+	PreviousFct	previous;
+	StoppedFct	stopped;
+	
+	float *p, *no;
+	
+	int length;
+	int index;
+	/*********************************/
+	SK_Stroke *stroke;
+	int start;
+	int end;
+	int stride;
+} SK_StrokeIterator;
+
+typedef struct SK_Gesture {
+	SK_Stroke	*stk;
+	SK_Stroke	*segments;
+
+	ListBase	intersections;
+	ListBase	self_intersections;
+
+	int			nb_self_intersections;
+	int			nb_intersections;
+	int			nb_segments;
+} SK_Gesture;
+
+typedef int  (*GestureDetectFct)(bContext*, SK_Gesture*, SK_Sketch *);
+typedef void (*GestureApplyFct)(bContext*, SK_Gesture*, SK_Sketch *);
+
+typedef struct SK_GestureAction {
+	char name[64];
+	GestureDetectFct	detect;
+	GestureApplyFct		apply;
+} SK_GestureAction;
+
+SK_Sketch *GLOBAL_sketch = NULL;
+SK_Point boneSnap;
+int    LAST_SNAP_POINT_VALID = 0;
+float  LAST_SNAP_POINT[3];
+
+/******************** PROTOTYPES ******************************/
+
+void initStrokeIterator(BArcIterator *iter, SK_Stroke *stk, int start, int end);
+
+void sk_deleteSelectedStrokes(SK_Sketch *sketch);
+
+void sk_freeStroke(SK_Stroke *stk);
+void sk_freeSketch(SK_Sketch *sketch);
+
+SK_Point *sk_lastStrokePoint(SK_Stroke *stk);
+
+int sk_detectCutGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+void sk_applyCutGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+int sk_detectTrimGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+void sk_applyTrimGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+int sk_detectCommandGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+void sk_applyCommandGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+int sk_detectDeleteGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+void sk_applyDeleteGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+int sk_detectMergeGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+void sk_applyMergeGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+int sk_detectReverseGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+void sk_applyReverseGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+int sk_detectConvertGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+void sk_applyConvertGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch);
+
+
+void sk_resetOverdraw(SK_Sketch *sketch);
+int sk_hasOverdraw(SK_Sketch *sketch, SK_Stroke *stk);
+
+/******************** GESTURE ACTIONS ******************************/
+
+SK_GestureAction GESTURE_ACTIONS[] =
+	{
+		{"Cut", sk_detectCutGesture, sk_applyCutGesture},
+		{"Trim", sk_detectTrimGesture, sk_applyTrimGesture},
+		{"Command", sk_detectCommandGesture, sk_applyCommandGesture},
+		{"Delete", sk_detectDeleteGesture, sk_applyDeleteGesture},
+		{"Merge", sk_detectMergeGesture, sk_applyMergeGesture},
+		{"Reverse", sk_detectReverseGesture, sk_applyReverseGesture},
+		{"Convert", sk_detectConvertGesture, sk_applyConvertGesture},
+		{"", NULL, NULL}
+	};
+
+/******************** TEMPLATES UTILS *************************/
+
+char  *TEMPLATES_MENU = NULL;
+int    TEMPLATES_CURRENT = 0;
+GHash *TEMPLATES_HASH = NULL;
+RigGraph *TEMPLATE_RIGG = NULL;
+
+void BIF_makeListTemplates(bContext *C)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	Base *base;
+	int index = 0;
+
+	if (TEMPLATES_HASH != NULL)
+	{
+		BLI_ghash_free(TEMPLATES_HASH, NULL, NULL);
+	}
+	
+	TEMPLATES_HASH = BLI_ghash_new(BLI_ghashutil_inthash, BLI_ghashutil_intcmp);
+	TEMPLATES_CURRENT = 0;
+
+	for ( base = FIRSTBASE; base; base = base->next )
+	{
+		Object *ob = base->object;
+		
+		if (ob != obedit && ob->type == OB_ARMATURE)
+		{
+			index++;
+			BLI_ghash_insert(TEMPLATES_HASH, SET_INT_IN_POINTER(index), ob);
+			
+			if (ob == scene->toolsettings->skgen_template)
+			{
+				TEMPLATES_CURRENT = index;
+			}
+		}
+	}
+}
+
+char *BIF_listTemplates(bContext *C)
+{
+	GHashIterator ghi;
+	char menu_header[] = "Template%t|None%x0|";
+	char *p;
+	
+	if (TEMPLATES_MENU != NULL)
+	{
+		MEM_freeN(TEMPLATES_MENU);
+	}
+	
+	TEMPLATES_MENU = MEM_callocN(sizeof(char) * (BLI_ghash_size(TEMPLATES_HASH) * 32 + 30), "skeleton template menu");
+	
+	p = TEMPLATES_MENU;
+	
+	p += sprintf(TEMPLATES_MENU, "%s", menu_header);
+	
+	BLI_ghashIterator_init(&ghi, TEMPLATES_HASH);
+	
+	while (!BLI_ghashIterator_isDone(&ghi))
+	{
+		Object *ob = BLI_ghashIterator_getValue(&ghi);
+		int key = (int)BLI_ghashIterator_getKey(&ghi);
+		
+		p += sprintf(p, "|%s%%x%i", ob->id.name+2, key);
+		
+		BLI_ghashIterator_step(&ghi);
+	}
+	
+	return TEMPLATES_MENU;
+}
+
+int   BIF_currentTemplate(bContext *C)
+{
+	Scene *scene = CTX_data_scene(C);
+	if (TEMPLATES_CURRENT == 0 && scene->toolsettings->skgen_template != NULL)
+	{
+		GHashIterator ghi;
+		BLI_ghashIterator_init(&ghi, TEMPLATES_HASH);
+		
+		while (!BLI_ghashIterator_isDone(&ghi))
+		{
+			Object *ob = BLI_ghashIterator_getValue(&ghi);
+			int key = (int)BLI_ghashIterator_getKey(&ghi);
+			
+			if (ob == scene->toolsettings->skgen_template)
+			{
+				TEMPLATES_CURRENT = key;
+				break;
+			}
+			
+			BLI_ghashIterator_step(&ghi);
+		}
+	}
+	
+	return TEMPLATES_CURRENT;
+}
+
+RigGraph* sk_makeTemplateGraph(bContext *C, Object *ob)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	if (ob == obedit)
+	{
+		return NULL;
+	}
+	
+	if (ob != NULL)
+	{
+		if (TEMPLATE_RIGG && TEMPLATE_RIGG->ob != ob)
+		{
+			RIG_freeRigGraph((BGraph*)TEMPLATE_RIGG);
+			TEMPLATE_RIGG = NULL;
+		}
+		
+		if (TEMPLATE_RIGG == NULL)
+		{
+			bArmature *arm;
+
+			arm = ob->data;
+			
+			TEMPLATE_RIGG = RIG_graphFromArmature(C, ob, arm);
+		}
+	}
+	
+	return TEMPLATE_RIGG;
+}
+
+int BIF_nbJointsTemplate(bContext *C)
+{
+	Scene *scene = CTX_data_scene(C);
+	RigGraph *rg = sk_makeTemplateGraph(C, scene->toolsettings->skgen_template);
+	
+	if (rg)
+	{
+		return RIG_nbJoints(rg);
+	}
+	else
+	{
+		return -1; 
+	}
+}
+
+char * BIF_nameBoneTemplate(bContext *C)
+{
+	Scene *scene = CTX_data_scene(C);
+	SK_Sketch *stk = GLOBAL_sketch;
+	RigGraph *rg;
+	int index = 0;
+
+	if (stk && stk->active_stroke != NULL)
+	{
+		index = stk->active_stroke->nb_points;
+	}
+	
+	rg = sk_makeTemplateGraph(C, scene->toolsettings->skgen_template);
+	
+	if (rg == NULL)
+	{
+		return "";
+	}
+
+	return RIG_nameBone(rg, 0, index);
+}
+
+void  BIF_freeTemplates(bContext *C)
+{
+	if (TEMPLATES_MENU != NULL)
+	{
+		MEM_freeN(TEMPLATES_MENU);
+		TEMPLATES_MENU = NULL;
+	}
+	
+	if (TEMPLATES_HASH != NULL)
+	{
+		BLI_ghash_free(TEMPLATES_HASH, NULL, NULL);
+		TEMPLATES_HASH = NULL;
+	}
+	
+	if (TEMPLATE_RIGG != NULL)
+	{
+		RIG_freeRigGraph((BGraph*)TEMPLATE_RIGG);
+		TEMPLATE_RIGG = NULL;
+	}
+}
+
+void  BIF_setTemplate(bContext *C, int index)
+{
+	Scene *scene = CTX_data_scene(C);
+	if (index > 0)
+	{
+		scene->toolsettings->skgen_template = BLI_ghash_lookup(TEMPLATES_HASH, SET_INT_IN_POINTER(index));
+	}
+	else
+	{
+		scene->toolsettings->skgen_template = NULL;
+		
+		if (TEMPLATE_RIGG != NULL)
+		{
+			RIG_freeRigGraph((BGraph*)TEMPLATE_RIGG);
+		}
+		TEMPLATE_RIGG = NULL;
+	}
+}	
+
+/*********************** CONVERSION ***************************/
+
+void sk_autoname(bContext *C, ReebArc *arc)
+{
+	Scene *scene = CTX_data_scene(C);
+	if (scene->toolsettings->skgen_retarget_options & SK_RETARGET_AUTONAME)
+	{
+		if (arc == NULL)
+		{
+			char *num = scene->toolsettings->skgen_num_string;
+			int i = atoi(num);
+			i++;
+			BLI_snprintf(num, 8, "%i", i);
+		}
+		else
+		{
+			char *side = scene->toolsettings->skgen_side_string;
+			int valid = 0;
+			int caps = 0;
+			
+			if (BLI_streq(side, ""))
+			{
+				valid = 1;
+			}
+			else if (BLI_streq(side, "R") || BLI_streq(side, "L"))
+			{
+				valid = 1;
+				caps = 1;
+			}
+			else if (BLI_streq(side, "r") || BLI_streq(side, "l"))
+			{
+				valid = 1;
+				caps = 0;
+			}
+			
+			if (valid)
+			{
+				if (arc->head->p[0] < 0)
+				{
+					BLI_snprintf(side, 8, caps?"R":"r");
+				}
+				else
+				{
+					BLI_snprintf(side, 8, caps?"L":"l");
+				}
+			}
+		}
+	}
+}
+
+ReebNode *sk_pointToNode(SK_Point *pt, float imat[][4], float tmat[][3])
+{
+	ReebNode *node;
+	
+	node = MEM_callocN(sizeof(ReebNode), "reeb node");
+	VECCOPY(node->p, pt->p);
+	Mat4MulVecfl(imat, node->p);
+	
+	VECCOPY(node->no, pt->no);
+	Mat3MulVecfl(tmat, node->no);
+	
+	return node;
+}
+
+ReebArc *sk_strokeToArc(SK_Stroke *stk, float imat[][4], float tmat[][3])
+{
+	ReebArc *arc;
+	int i;
+	
+	arc = MEM_callocN(sizeof(ReebArc), "reeb arc");
+	arc->head = sk_pointToNode(stk->points, imat, tmat);
+	arc->tail = sk_pointToNode(sk_lastStrokePoint(stk), imat, tmat);
+	
+	arc->bcount = stk->nb_points - 2; /* first and last are nodes, don't count */
+	arc->buckets = MEM_callocN(sizeof(EmbedBucket) * arc->bcount, "Buckets");
+	
+	for (i = 0; i < arc->bcount; i++)
+	{
+		VECCOPY(arc->buckets[i].p, stk->points[i + 1].p);
+		Mat4MulVecfl(imat, arc->buckets[i].p);
+
+		VECCOPY(arc->buckets[i].no, stk->points[i + 1].no);
+		Mat3MulVecfl(tmat, arc->buckets[i].no);
+	}
+	
+	return arc;
+}
+
+void sk_retargetStroke(bContext *C, SK_Stroke *stk)
+{
+	Scene *scene = CTX_data_scene(C);
+	Object *obedit = CTX_data_edit_object(C);
+	float imat[4][4];
+	float tmat[3][3];
+	ReebArc *arc;
+	RigGraph *rg;
+	
+	Mat4Invert(imat, obedit->obmat);
+	
+	Mat3CpyMat4(tmat, obedit->obmat);
+	Mat3Transp(tmat);
+
+	arc = sk_strokeToArc(stk, imat, tmat);
+	
+	sk_autoname(C, arc);
+	
+	rg = sk_makeTemplateGraph(C, scene->toolsettings->skgen_template);
+
+	BIF_retargetArc(C, arc, rg);
+	
+	sk_autoname(C, NULL);
+	
+	MEM_freeN(arc->head);
+	MEM_freeN(arc->tail);
+	REEB_freeArc((BArc*)arc);
+}
+
+/**************************************************************/
+
+void sk_freeSketch(SK_Sketch *sketch)
+{
+	SK_Stroke *stk, *next;
+	
+	for (stk = sketch->strokes.first; stk; stk = next)
+	{
+		next = stk->next;
+		
+		sk_freeStroke(stk);
+	}
+	
+	MEM_freeN(sketch);
+}
+
+SK_Sketch* sk_createSketch()
+{
+	SK_Sketch *sketch;
+	
+	sketch = MEM_callocN(sizeof(SK_Sketch), "SK_Sketch");
+	
+	sketch->active_stroke = NULL;
+	sketch->gesture = NULL;
+
+	sketch->strokes.first = NULL;
+	sketch->strokes.last = NULL;
+	
+	return sketch;
+}
+
+void sk_initPoint(bContext *C, SK_Point *pt)
+{
+	ARegion *ar = CTX_wm_region(C);
+	RegionView3D *rv3d = ar->regiondata;
+
+	VECCOPY(pt->no, rv3d->viewinv[2]);
+	Normalize(pt->no);
+	/* more init code here */
+}
+
+void sk_copyPoint(SK_Point *dst, SK_Point *src)
+{
+	memcpy(dst, src, sizeof(SK_Point));
+}
+
+void sk_allocStrokeBuffer(SK_Stroke *stk)
+{
+	stk->points = MEM_callocN(sizeof(SK_Point) * stk->buf_size, "SK_Point buffer");
+}
+
+void sk_freeStroke(SK_Stroke *stk)
+{
+	MEM_freeN(stk->points);
+	MEM_freeN(stk);
+}
+
+SK_Stroke* sk_createStroke()
+{
+	SK_Stroke *stk;
+	
+	stk = MEM_callocN(sizeof(SK_Stroke), "SK_Stroke");
+	
+	stk->selected = 0;
+	stk->nb_points = 0;
+	stk->buf_size = SK_Stroke_BUFFER_INIT_SIZE;
+	
+	sk_allocStrokeBuffer(stk);
+	
+	return stk;
+}
+
+void sk_shrinkStrokeBuffer(SK_Stroke *stk)
+{
+	if (stk->nb_points < stk->buf_size)
+	{
+		SK_Point *old_points = stk->points;
+		
+		stk->buf_size = stk->nb_points;
+
+		sk_allocStrokeBuffer(stk);		
+		
+		memcpy(stk->points, old_points, sizeof(SK_Point) * stk->nb_points);
+		
+		MEM_freeN(old_points);
+	}
+}
+
+void sk_growStrokeBuffer(SK_Stroke *stk)
+{
+	if (stk->nb_points == stk->buf_size)
+	{
+		SK_Point *old_points = stk->points;
+		
+		stk->buf_size *= 2;
+		
+		sk_allocStrokeBuffer(stk);
+		
+		memcpy(stk->points, old_points, sizeof(SK_Point) * stk->nb_points);
+		
+		MEM_freeN(old_points);
+	}
+}
+
+void sk_growStrokeBufferN(SK_Stroke *stk, int n)
+{
+	if (stk->nb_points + n > stk->buf_size)
+	{
+		SK_Point *old_points = stk->points;
+		
+		while (stk->nb_points + n > stk->buf_size)
+		{
+			stk->buf_size *= 2;
+		}
+		
+		sk_allocStrokeBuffer(stk);
+		
+		memcpy(stk->points, old_points, sizeof(SK_Point) * stk->nb_points);
+		
+		MEM_freeN(old_points);
+	}
+}
+
+
+void sk_replaceStrokePoint(SK_Stroke *stk, SK_Point *pt, int n)
+{
+	memcpy(stk->points + n, pt, sizeof(SK_Point));
+}
+
+void sk_insertStrokePoint(SK_Stroke *stk, SK_Point *pt, int n)
+{
+	int size = stk->nb_points - n;
+	
+	sk_growStrokeBuffer(stk);
+	
+	memmove(stk->points + n + 1, stk->points + n, size * sizeof(SK_Point));
+	
+	memcpy(stk->points + n, pt, sizeof(SK_Point));
+	
+	stk->nb_points++;
+}
+
+void sk_appendStrokePoint(SK_Stroke *stk, SK_Point *pt)
+{
+	sk_growStrokeBuffer(stk);
+	
+	memcpy(stk->points + stk->nb_points, pt, sizeof(SK_Point));
+	
+	stk->nb_points++;
+}
+
+void sk_insertStrokePoints(SK_Stroke *stk, SK_Point *pts, int len, int start, int end)
+{
+	int size = end - start + 1;
+	
+	sk_growStrokeBufferN(stk, len - size);
+	
+	if (len != size)
+	{
+		int tail_size = stk->nb_points - end + 1;
+		
+		memmove(stk->points + start + len, stk->points + end + 1, tail_size * sizeof(SK_Point));
+	}
+	
+	memcpy(stk->points + start, pts, len * sizeof(SK_Point));
+	
+	stk->nb_points += len - size;
+}
+
+void sk_trimStroke(SK_Stroke *stk, int start, int end)
+{
+	int size = end - start + 1;
+	
+	if (start > 0)
+	{
+		memmove(stk->points, stk->points + start, size * sizeof(SK_Point));
+	}
+	
+	stk->nb_points = size;
+}
+
+void sk_straightenStroke(SK_Stroke *stk, int start, int end, float p_start[3], float p_end[3])
+{
+	SK_Point pt1, pt2;
+	SK_Point *prev, *next;
+	float delta_p[3];
+	int i, total;
+	
+	total = end - start;
+
+	VecSubf(delta_p, p_end, p_start);
+	
+	prev = stk->points + start;
+	next = stk->points + end;
+	
+	VECCOPY(pt1.p, p_start);
+	VECCOPY(pt1.no, prev->no);
+	pt1.mode = prev->mode;
+	pt1.type = prev->type;
+	
+	VECCOPY(pt2.p, p_end);
+	VECCOPY(pt2.no, next->no);
+	pt2.mode = next->mode;
+	pt2.type = next->type;
+	
+	sk_insertStrokePoint(stk, &pt1, start + 1); /* insert after start */
+	sk_insertStrokePoint(stk, &pt2, end + 1); /* insert before end (since end was pushed back already) */
+	
+	for (i = 1; i < total; i++)
+	{
+		float delta = (float)i / (float)total;
+		float *p = stk->points[start + 1 + i].p;
+
+		VECCOPY(p, delta_p);
+		VecMulf(p, delta);
+		VecAddf(p, p, p_start);
+	} 
+}
+
+void sk_polygonizeStroke(SK_Stroke *stk, int start, int end)
+{
+	int offset;
+	int i;
+	
+	/* find first exact points outside of range */
+	for (;start > 0; start--)
+	{
+		if (stk->points[start].type == PT_EXACT)
+		{
+			break;
+		}
+	}
+	
+	for (;end < stk->nb_points - 1; end++)
+	{
+		if (stk->points[end].type == PT_EXACT)
+		{
+			break;
+		}
+	}
+	
+	offset = start + 1;
+	
+	for (i = start + 1; i < end; i++)
+	{
+		if (stk->points[i].type == PT_EXACT)
+		{
+			if (offset != i)
+			{
+				memcpy(stk->points + offset, stk->points + i, sizeof(SK_Point));
+			}
+
+			offset++;
+		}
+	}
+	
+	/* some points were removes, move end of array */
+	if (offset < end)
+	{
+		int size = stk->nb_points - end;
+		memmove(stk->points + offset, stk->points + end, size * sizeof(SK_Point));
+		stk->nb_points = offset + size;
+	}
+}
+
+void sk_flattenStroke(SK_Stroke *stk, int start, int end)
+{
+	float normal[3], distance[3];
+	float limit;
+	int i, total;
+	
+	total = end - start + 1;
+	
+	VECCOPY(normal, stk->points[start].no);
+	
+	VecSubf(distance, stk->points[end].p, stk->points[start].p);
+	Projf(normal, distance, normal);
+	limit = Normalize(normal);
+	
+	for (i = 1; i < total - 1; i++)
+	{
+		float d = limit * i / total;
+		float offset[3];
+		float *p = stk->points[start + i].p;
+
+		VecSubf(distance, p, stk->points[start].p);
+		Projf(distance, distance, normal);
+		
+		VECCOPY(offset, normal);
+		VecMulf(offset, d);
+		
+		VecSubf(p, p, distance);
+		VecAddf(p, p, offset);
+	} 
+}
+
+void sk_removeStroke(SK_Sketch *sketch, SK_Stroke *stk)
+{
+	if (sketch->active_stroke == stk)
+	{
+		sketch->active_stroke = NULL;
+	}
+	
+	BLI_remlink(&sketch->strokes, stk);
+	sk_freeStroke(stk);
+}
+
+void sk_reverseStroke(SK_Stroke *stk)
+{
+	SK_Point *old_points = stk->points;
+	int i = 0;
+	
+	sk_allocStrokeBuffer(stk);
+	
+	for (i = 0; i < stk->nb_points; i++)
+	{
+		sk_copyPoint(stk->points + i, old_points + stk->nb_points - 1 - i);
+	}
+	
+	MEM_freeN(old_points);
+}
+
+
+void sk_cancelStroke(SK_Sketch *sketch)
+{
+	if (sketch->active_stroke != NULL)
+	{
+		sk_resetOverdraw(sketch);
+		sk_removeStroke(sketch, sketch->active_stroke);
+	}
+}
+
+/* Apply reverse Chaikin filter to simplify the polyline
+ * */
+void sk_filterStroke(SK_Stroke *stk, int start, int end)
+{
+	SK_Point *old_points = stk->points;
+	int nb_points = stk->nb_points;
+	int i, j;
+	
+	return;
+	
+	if (start == -1)
+	{
+		start = 0;
+		end = stk->nb_points - 1;
+	}
+
+	sk_allocStrokeBuffer(stk);
+	stk->nb_points = 0;
+	
+	/* adding points before range */
+	for (i = 0; i < start; i++)
+	{
+		sk_appendStrokePoint(stk, old_points + i);
+	}
+	
+	for (i = start, j = start; i <= end; i++)
+	{
+		if (i - j == 3)
+		{
+			SK_Point pt;
+			float vec[3];
+			
+			sk_copyPoint(&pt, &old_points[j+1]);
+
+			pt.p[0] = 0;
+			pt.p[1] = 0;
+			pt.p[2] = 0;
+			
+			VECCOPY(vec, old_points[j].p);
+			VecMulf(vec, -0.25);
+			VecAddf(pt.p, pt.p, vec);
+			
+			VECCOPY(vec, old_points[j+1].p);
+			VecMulf(vec,  0.75);
+			VecAddf(pt.p, pt.p, vec);
+
+			VECCOPY(vec, old_points[j+2].p);
+			VecMulf(vec,  0.75);
+			VecAddf(pt.p, pt.p, vec);
+
+			VECCOPY(vec, old_points[j+3].p);
+			VecMulf(vec, -0.25);
+			VecAddf(pt.p, pt.p, vec);
+			
+			sk_appendStrokePoint(stk, &pt);
+
+			j += 2;
+		}
+		
+		/* this might be uneeded when filtering last continuous stroke */
+		if (old_points[i].type == PT_EXACT)
+		{
+			sk_appendStrokePoint(stk, old_points + i);
+			j = i;
+		}
+	} 
+	
+	/* adding points after range */
+	for (i = end + 1; i < nb_points; i++)
+	{
+		sk_appendStrokePoint(stk, old_points + i);
+	}
+
+	MEM_freeN(old_points);
+
+	sk_shrinkStrokeBuffer(stk);
+}
+
+void sk_filterLastContinuousStroke(SK_Stroke *stk)
+{
+	int start, end;
+	
+	end = stk->nb_points -1;
+	
+	for (start = end - 1; start > 0 && stk->points[start].type == PT_CONTINUOUS; start--)
+	{
+		/* nothing to do here*/
+	}
+	
+	if (end - start > 1)
+	{
+		sk_filterStroke(stk, start, end);
+	}
+}
+
+SK_Point *sk_lastStrokePoint(SK_Stroke *stk)
+{
+	SK_Point *pt = NULL;
+	
+	if (stk->nb_points > 0)
+	{
+		pt = stk->points + (stk->nb_points - 1);
+	}
+	
+	return pt;
+}
+
+void sk_drawStroke(SK_Stroke *stk, int id, float color[3], int start, int end)
+{
+	float rgb[3];
+	int i;
+	
+	if (id != -1)
+	{
+		glLoadName(id);
+		
+		glBegin(GL_LINE_STRIP);
+		
+		for (i = 0; i < stk->nb_points; i++)
+		{
+			glVertex3fv(stk->points[i].p);
+		}
+		
+		glEnd();
+		
+	}
+	else
+	{
+		float d_rgb[3] = {1, 1, 1};
+		
+		VECCOPY(rgb, color);
+		VecSubf(d_rgb, d_rgb, rgb);
+		VecMulf(d_rgb, 1.0f / (float)stk->nb_points);
+		
+		glBegin(GL_LINE_STRIP);
+
+		for (i = 0; i < stk->nb_points; i++)
+		{
+			if (i >= start && i <= end)
+			{
+				glColor3f(0.3, 0.3, 0.3);
+			}
+			else
+			{
+				glColor3fv(rgb);
+			}
+			glVertex3fv(stk->points[i].p);
+			VecAddf(rgb, rgb, d_rgb);
+		}
+		
+		glEnd();
+	
+		glColor3f(0, 0, 0);
+		glBegin(GL_POINTS);
+	
+		for (i = 0; i < stk->nb_points; i++)
+		{
+			if (stk->points[i].type == PT_EXACT)
+			{
+				glVertex3fv(stk->points[i].p);
+			}
+		}
+		
+		glEnd();
+	}
+
+//	glColor3f(1, 1, 1);
+//	glBegin(GL_POINTS);
+//
+//	for (i = 0; i < stk->nb_points; i++)
+//	{
+//		if (stk->points[i].type == PT_CONTINUOUS)
+//		{
+//			glVertex3fv(stk->points[i].p);
+//		}
+//	}
+//
+//	glEnd();
+}
+
+void drawSubdividedStrokeBy(ToolSettings *toolsettings, BArcIterator *iter, NextSubdivisionFunc next_subdividion)
+{
+	float head[3], tail[3];
+	int bone_start = 0;
+	int end = iter->length;
+	int index;
+
+	iter->head(iter);
+	VECCOPY(head, iter->p);
+	
+	glColor3f(0, 1, 0);
+	glPointSize(UI_GetThemeValuef(TH_VERTEX_SIZE) * 2);
+	glBegin(GL_POINTS);
+	
+	index = next_subdividion(toolsettings, iter, bone_start, end, head, tail);
+	while (index != -1)
+	{
+		glVertex3fv(tail);
+		
+		VECCOPY(head, tail);
+		bone_start = index; // start next bone from current index
+
+		index = next_subdividion(toolsettings, iter, bone_start, end, head, tail);
+	}
+	
+	glEnd();
+	glPointSize(UI_GetThemeValuef(TH_VERTEX_SIZE));
+}
+
+void sk_drawStrokeSubdivision(ToolSettings *toolsettings, SK_Stroke *stk)
+{
+	int head_index = -1;
+	int i;
+	
+	if (toolsettings->bone_sketching_convert == SK_CONVERT_RETARGET)
+	{
+		return;
+	}
+
+	
+	for (i = 0; i < stk->nb_points; i++)
+	{
+		SK_Point *pt = stk->points + i;
+		
+		if (pt->type == PT_EXACT || i == stk->nb_points - 1) /* stop on exact or on last point */
+		{
+			if (head_index == -1)
+			{
+				head_index = i;
+			}
+			else
+			{
+				if (i - head_index > 1)
+				{
+					SK_StrokeIterator sk_iter;
+					BArcIterator *iter = (BArcIterator*)&sk_iter;
+					
+					initStrokeIterator(iter, stk, head_index, i);
+
+					if (toolsettings->bone_sketching_convert == SK_CONVERT_CUT_ADAPTATIVE)
+					{
+						drawSubdividedStrokeBy(toolsettings, iter, nextAdaptativeSubdivision);
+					}
+					else if (toolsettings->bone_sketching_convert == SK_CONVERT_CUT_LENGTH)
+					{
+						drawSubdividedStrokeBy(toolsettings, iter, nextLengthSubdivision);
+					}
+					else if (toolsettings->bone_sketching_convert == SK_CONVERT_CUT_FIXED)
+					{
+						drawSubdividedStrokeBy(toolsettings, iter, nextFixedSubdivision);
+					}
+					
+				}
+
+				head_index = i;
+			}
+		}
+	}	
+}
+
+SK_Point *sk_snapPointStroke(bContext *C, SK_Stroke *stk, short mval[2], int *dist, int *index, int all_pts)
+{
+	ARegion *ar = CTX_wm_region(C);
+	SK_Point *pt = NULL;
+	int i;
+	
+	for (i = 0; i < stk->nb_points; i++)
+	{
+		if (all_pts || stk->points[i].type == PT_EXACT)
+		{
+			short pval[2];
+			int pdist;
+			
+			project_short_noclip(ar, stk->points[i].p, pval);
+			
+			pdist = ABS(pval[0] - mval[0]) + ABS(pval[1] - mval[1]);
+			
+			if (pdist < *dist)
+			{
+				*dist = pdist;
+				pt = stk->points + i;
+				
+				if (index != NULL)
+				{
+					*index = i;
+				}
+			}
+		}
+	}
+	
+	return pt;
+}
+
+SK_Point *sk_snapPointArmature(bContext *C, Object *ob, ListBase *ebones, short mval[2], int *dist)
+{
+	ARegion *ar = CTX_wm_region(C);
+	SK_Point *pt = NULL;
+	EditBone *bone;
+	
+	for (bone = ebones->first; bone; bone = bone->next)
+	{
+		float vec[3];
+		short pval[2];
+		int pdist;
+		
+		if ((bone->flag & BONE_CONNECTED) == 0)
+		{
+			VECCOPY(vec, bone->head);
+			Mat4MulVecfl(ob->obmat, vec);
+			project_short_noclip(ar, vec, pval);
+			
+			pdist = ABS(pval[0] - mval[0]) + ABS(pval[1] - mval[1]);
+			
+			if (pdist < *dist)
+			{
+				*dist = pdist;
+				pt = &boneSnap;
+				VECCOPY(pt->p, vec);
+				pt->type = PT_EXACT;
+			}
+		}
+		
+		
+		VECCOPY(vec, bone->tail);
+		Mat4MulVecfl(ob->obmat, vec);
+		project_short_noclip(ar, vec, pval);
+		
+		pdist = ABS(pval[0] - mval[0]) + ABS(pval[1] - mval[1]);
+		
+		if (pdist < *dist)
+		{
+			*dist = pdist;
+			pt = &boneSnap;
+			VECCOPY(pt->p, vec);
+			pt->type = PT_EXACT;
+		}
+	}
+	
+	return pt;
+}
+
+void sk_resetOverdraw(SK_Sketch *sketch)
+{
+	sketch->over.target = NULL;
+	sketch->over.start = -1;
+	sketch->over.end = -1;
+	sketch->over.count = 0;
+}
+
+int sk_hasOverdraw(SK_Sketch *sketch, SK_Stroke *stk)
+{
+	return	sketch->over.target &&
+			sketch->over.count >= SK_OVERDRAW_LIMIT &&
+			(sketch->over.target == stk || stk == NULL) &&
+			(sketch->over.start != -1 || sketch->over.end != -1);
+}
+
+void sk_updateOverdraw(bContext *C, SK_Sketch *sketch, SK_Stroke *stk, SK_DrawData *dd)
+{
+	if (sketch->over.target == NULL)
+	{
+		SK_Stroke *target;
+		int closest_index = -1;
+		int dist = SNAP_MIN_DISTANCE * 2;
+		
+//		/* If snapping, don't start overdraw */ Can't do that, snap is embed too now
+//		if (sk_lastStrokePoint(stk)->mode == PT_SNAP)
+//		{
+//			return;
+//		}
+		
+		for (target = sketch->strokes.first; target; target = target->next)
+		{
+			if (target != stk)
+			{
+				int index;
+				
+				SK_Point *spt = sk_snapPointStroke(C, target, dd->mval, &dist, &index, 1);
+				
+				if (spt != NULL)
+				{
+					sketch->over.target = target;
+					closest_index = index;
+				}
+			}
+		}
+		
+		if (sketch->over.target != NULL)
+		{
+			if (closest_index > -1)
+			{
+				if (sk_lastStrokePoint(stk)->type == PT_EXACT)
+				{
+					sketch->over.count = SK_OVERDRAW_LIMIT;
+				}
+				else
+				{
+					sketch->over.count++;
+				}
+			}
+
+			if (stk->nb_points == 1)
+			{
+				sketch->over.start = closest_index;
+			}
+			else
+			{
+				sketch->over.end = closest_index;
+			}
+		}
+	}
+	else if (sketch->over.target != NULL)
+	{
+		SK_Point *closest_pt = NULL;
+		int dist = SNAP_MIN_DISTANCE * 2;
+		int index;
+
+		closest_pt = sk_snapPointStroke(C, sketch->over.target, dd->mval, &dist, &index, 1);
+		
+		if (closest_pt != NULL)
+		{
+			if (sk_lastStrokePoint(stk)->type == PT_EXACT)
+			{
+				sketch->over.count = SK_OVERDRAW_LIMIT;
+			}
+			else
+			{
+				sketch->over.count++;
+			}
+			
+			sketch->over.end = index;
+		}
+		else
+		{
+			sketch->over.end = -1;
+		}
+	}
+}
+
+/* return 1 on reverse needed */
+int sk_adjustIndexes(SK_Sketch *sketch, int *start, int *end)
+{
+	int retval = 0;
+
+	*start = sketch->over.start;
+	*end = sketch->over.end;
+	
+	if (*start == -1)
+	{
+		*start = 0;
+	}
+	
+	if (*end == -1)
+	{
+		*end = sketch->over.target->nb_points - 1;
+	}
+	
+	if (*end < *start)
+	{
+		int tmp = *start;
+		*start = *end;
+		*end = tmp;
+		retval = 1;
+	}
+	
+	return retval;
+}
+
+void sk_endOverdraw(SK_Sketch *sketch)
+{
+	SK_Stroke *stk = sketch->active_stroke;
+	
+	if (sk_hasOverdraw(sketch, NULL))
+	{
+		int start;
+		int end;
+		
+		if (sk_adjustIndexes(sketch, &start, &end))
+		{
+			sk_reverseStroke(stk);
+		}
+		
+		if (stk->nb_points > 1)
+		{
+			stk->points->type = sketch->over.target->points[start].type;
+			sk_lastStrokePoint(stk)->type = sketch->over.target->points[end].type;
+		}
+		
+		sk_insertStrokePoints(sketch->over.target, stk->points, stk->nb_points, start, end);
+		
+		sk_removeStroke(sketch, stk);
+		
+		sk_resetOverdraw(sketch);
+	}
+}
+
+
+void sk_startStroke(SK_Sketch *sketch)
+{
+	SK_Stroke *stk = sk_createStroke();
+	
+	BLI_addtail(&sketch->strokes, stk);
+	sketch->active_stroke = stk;
+
+	sk_resetOverdraw(sketch);	
+}
+
+void sk_endStroke(bContext *C, SK_Sketch *sketch)
+{
+	Scene *scene = CTX_data_scene(C);
+	sk_shrinkStrokeBuffer(sketch->active_stroke);
+
+	if (scene->toolsettings->bone_sketching & BONE_SKETCHING_ADJUST)
+	{
+		sk_endOverdraw(sketch);
+	}
+
+	sketch->active_stroke = NULL;
+}
+
+void sk_updateDrawData(SK_DrawData *dd)
+{
+	dd->type = PT_CONTINUOUS;
+	
+	dd->previous_mval[0] = dd->mval[0];
+	dd->previous_mval[1] = dd->mval[1];
+}
+
+float sk_distanceDepth(bContext *C, float p1[3], float p2[3])
+{
+	ARegion *ar = CTX_wm_region(C);
+	RegionView3D *rv3d = ar->regiondata;
+	float vec[3];
+	float distance;
+	
+	VecSubf(vec, p1, p2);
+	
+	Projf(vec, vec, rv3d->viewinv[2]);
+	
+	distance = VecLength(vec);
+	
+	if (Inpf(rv3d->viewinv[2], vec) > 0)
+	{
+		distance *= -1;
+	}
+	
+	return distance; 
+}
+
+void sk_interpolateDepth(bContext *C, SK_Stroke *stk, int start, int end, float length, float distance)
+{
+	ARegion *ar = CTX_wm_region(C);
+	ScrArea *sa = CTX_wm_area(C);
+	View3D *v3d = sa->spacedata.first;
+
+	float progress = 0;
+	int i;
+	
+	progress = VecLenf(stk->points[start].p, stk->points[start - 1].p);
+	
+	for (i = start; i <= end; i++)
+	{
+		float ray_start[3], ray_normal[3];
+		float delta = VecLenf(stk->points[i].p, stk->points[i + 1].p);
+		short pval[2];
+		
+		project_short_noclip(ar, stk->points[i].p, pval);
+		viewray(ar, v3d, pval, ray_start, ray_normal);
+		
+		VecMulf(ray_normal, distance * progress / length);
+		VecAddf(stk->points[i].p, stk->points[i].p, ray_normal);
+
+		progress += delta ;
+	}
+}
+
+void sk_projectDrawPoint(bContext *C, float vec[3], SK_Stroke *stk, SK_DrawData *dd)
+{
+	ARegion *ar = CTX_wm_region(C);
+	/* copied from grease pencil, need fixing */	
+	SK_Point *last = sk_lastStrokePoint(stk);
+	short cval[2];
+	float fp[3] = {0, 0, 0};
+	float dvec[3];
+	
+	if (last != NULL)
+	{
+		VECCOPY(fp, last->p);
+	}
+	
+	initgrabz(ar->regiondata, fp[0], fp[1], fp[2]);
+	
+	/* method taken from editview.c - mouse_cursor() */
+	project_short_noclip(ar, fp, cval);
+	window_to_3d_delta(ar, dvec, cval[0] - dd->mval[0], cval[1] - dd->mval[1]);
+	VecSubf(vec, fp, dvec);
+}
+
+int sk_getStrokeDrawPoint(bContext *C, SK_Point *pt, SK_Sketch *sketch, SK_Stroke *stk, SK_DrawData *dd)
+{
+	pt->type = dd->type;
+	pt->mode = PT_PROJECT;
+	sk_projectDrawPoint(C, pt->p, stk, dd);
+	
+	return 1;
+}
+
+int sk_addStrokeDrawPoint(bContext *C, SK_Sketch *sketch, SK_Stroke *stk, SK_DrawData *dd)
+{
+	SK_Point pt;
+	
+	sk_initPoint(C, &pt);
+	
+	sk_getStrokeDrawPoint(C, &pt, sketch, stk, dd);
+
+	sk_appendStrokePoint(stk, &pt);
+	
+	return 1;
+}
+
+int sk_getStrokeSnapPoint(bContext *C, SK_Point *pt, SK_Sketch *sketch, SK_Stroke *stk, SK_DrawData *dd)
+{
+	Scene *scene = CTX_data_scene(C);
+	int point_added = 0;
+
+	if (scene->snap_mode == SCE_SNAP_MODE_VOLUME)
+	{
+		ListBase depth_peels;
+		DepthPeel *p1, *p2;
+		float *last_p = NULL;
+		float dist = FLT_MAX;
+		float p[3];
+		
+		depth_peels.first = depth_peels.last = NULL;
+		
+		peelObjectsContext(C, &depth_peels, dd->mval);
+		
+		if (stk->nb_points > 0 && stk->points[stk->nb_points - 1].type == PT_CONTINUOUS)
+		{
+			last_p = stk->points[stk->nb_points - 1].p;
+		}
+		else if (LAST_SNAP_POINT_VALID)
+		{
+			last_p = LAST_SNAP_POINT;
+		}
+		
+		
+		for (p1 = depth_peels.first; p1; p1 = p1->next)
+		{
+			if (p1->flag == 0)
+			{
+				float vec[3];
+				float new_dist;
+				
+				p2 = NULL;
+				p1->flag = 1;
+	
+				/* if peeling objects, take the first and last from each object */			
+				if (scene->snap_flag & SCE_SNAP_PEEL_OBJECT)
+				{
+					DepthPeel *peel;
+					for (peel = p1->next; peel; peel = peel->next)
+					{
+						if (peel->ob == p1->ob)
+						{
+							peel->flag = 1;
+							p2 = peel;
+						}
+					}
+				}
+				/* otherwise, pair first with second and so on */
+				else
+				{
+					for (p2 = p1->next; p2 && p2->ob != p1->ob; p2 = p2->next)
+					{
+						/* nothing to do here */
+					}
+				}
+				
+				if (p2)
+				{
+					p2->flag = 1;
+					
+					VecAddf(vec, p1->p, p2->p);
+					VecMulf(vec, 0.5f);
+				}
+				else
+				{
+					VECCOPY(vec, p1->p);
+				}
+				
+				if (last_p == NULL)
+				{
+					VECCOPY(p, vec);
+					dist = 0;
+					break;
+				}
+				
+				new_dist = VecLenf(last_p, vec);
+				
+				if (new_dist < dist)
+				{
+					VECCOPY(p, vec);
+					dist = new_dist;
+				}
+			}
+		}
+		
+		if (dist != FLT_MAX)
+		{
+			pt->type = dd->type;
+			pt->mode = PT_SNAP;
+			VECCOPY(pt->p, p);
+			
+			point_added = 1;
+		}
+		
+		BLI_freelistN(&depth_peels);
+	}
+	else
+	{
+		SK_Stroke *snap_stk;
+		float vec[3];
+		float no[3];
+		int found = 0;
+		int dist = SNAP_MIN_DISTANCE; // Use a user defined value here
+
+		/* snap to strokes */
+		// if (scene->snap_mode == SCE_SNAP_MODE_VERTEX) /* snap all the time to strokes */
+		for (snap_stk = sketch->strokes.first; snap_stk; snap_stk = snap_stk->next)
+		{
+			SK_Point *spt = NULL;
+			if (snap_stk == stk)
+			{
+				spt = sk_snapPointStroke(C, snap_stk, dd->mval, &dist, NULL, 0);
+			}
+			else
+			{
+				spt = sk_snapPointStroke(C, snap_stk, dd->mval, &dist, NULL, 1);
+			}
+				
+			if (spt != NULL)
+			{
+				VECCOPY(pt->p, spt->p);
+				point_added = 1;
+			}
+		}
+
+		/* try to snap to closer object */
+		found = snapObjectsContext(C, dd->mval, &dist, vec, no, SNAP_NOT_SELECTED);
+		if (found == 1)
+		{
+			pt->type = dd->type;
+			pt->mode = PT_SNAP;
+			VECCOPY(pt->p, vec);
+			
+			point_added = 1;
+		}
+	}
+	
+	return point_added;
+}
+
+int sk_addStrokeSnapPoint(bContext *C, SK_Sketch *sketch, SK_Stroke *stk, SK_DrawData *dd)
+{
+	int point_added;
+	SK_Point pt;
+	
+	sk_initPoint(C, &pt);
+
+	point_added = sk_getStrokeSnapPoint(C, &pt, sketch, stk, dd);
+	
+	if (point_added)
+	{
+		float final_p[3];
+		float length, distance;
+		int total;
+		int i;
+		
+		VECCOPY(final_p, pt.p);
+		
+		sk_projectDrawPoint(C, pt.p, stk, dd);
+		sk_appendStrokePoint(stk, &pt);
+		
+		/* update all previous point to give smooth Z progresion */
+		total = 0;
+		length = 0;
+		for (i = stk->nb_points - 2; i > 0; i--)
+		{
+			length += VecLenf(stk->points[i].p, stk->points[i + 1].p);
+			total++;
+			if (stk->points[i].mode == PT_SNAP || stk->points[i].type == PT_EXACT)
+			{
+				break;
+			}
+		}
+		
+		if (total > 1)
+		{
+			distance = sk_distanceDepth(C, final_p, stk->points[i].p);
+			
+			sk_interpolateDepth(C, stk, i + 1, stk->nb_points - 2, length, distance);
+		}
+		
+		VECCOPY(stk->points[stk->nb_points - 1].p, final_p);
+		
+		point_added = 1;
+	}
+	
+	return point_added;
+}
+
+void sk_addStrokePoint(bContext *C, SK_Sketch *sketch, SK_Stroke *stk, SK_DrawData *dd, short snap)
+{
+	Scene *scene = CTX_data_scene(C);
+	int point_added = 0;
+	
+	if (snap)
+	{
+		point_added = sk_addStrokeSnapPoint(C, sketch, stk, dd);
+	}
+	
+	if (point_added == 0)
+	{
+		point_added = sk_addStrokeDrawPoint(C, sketch, stk, dd);
+	}
+	
+	if (stk == sketch->active_stroke && scene->toolsettings->bone_sketching & BONE_SKETCHING_ADJUST)
+	{
+		sk_updateOverdraw(C, sketch, stk, dd);
+	}
+}
+
+void sk_getStrokePoint(bContext *C, SK_Point *pt, SK_Sketch *sketch, SK_Stroke *stk, SK_DrawData *dd, short snap)
+{
+	int point_added = 0;
+	
+	if (snap)
+	{
+		point_added = sk_getStrokeSnapPoint(C, pt, sketch, stk, dd);
+		LAST_SNAP_POINT_VALID = 1;
+		VECCOPY(LAST_SNAP_POINT, pt->p);
+	}
+	else
+	{
+		LAST_SNAP_POINT_VALID = 0;
+	}
+	
+	if (point_added == 0)
+	{
+		point_added = sk_getStrokeDrawPoint(C, pt, sketch, stk, dd);
+	}	
+}
+
+void sk_endContinuousStroke(SK_Stroke *stk)
+{
+	stk->points[stk->nb_points - 1].type = PT_EXACT;
+}
+
+void sk_updateNextPoint(SK_Sketch *sketch, SK_Stroke *stk)
+{
+	if (stk)
+	{
+		memcpy(&sketch->next_point, stk->points[stk->nb_points - 1].p, sizeof(SK_Point));
+	}
+}
+
+int sk_stroke_filtermval(SK_DrawData *dd)
+{
+	int retval = 0;
+	if (ABS(dd->mval[0] - dd->previous_mval[0]) + ABS(dd->mval[1] - dd->previous_mval[1]) > U.gp_manhattendist)
+	{
+		retval = 1;
+	}
+	
+	return retval;
+}
+
+void sk_initDrawData(SK_DrawData *dd, short mval[2])
+{
+	dd->mval[0] = mval[0];
+	dd->mval[1] = mval[1];
+	dd->previous_mval[0] = -1;
+	dd->previous_mval[1] = -1;
+	dd->type = PT_EXACT;
+}
+/********************************************/
+
+static void* headPoint(void *arg);
+static void* tailPoint(void *arg);
+static void* nextPoint(void *arg);
+static void* nextNPoint(void *arg, int n);
+static void* peekPoint(void *arg, int n);
+static void* previousPoint(void *arg);
+static int   iteratorStopped(void *arg);
+
+static void initIteratorFct(SK_StrokeIterator *iter)
+{
+	iter->head = headPoint;
+	iter->tail = tailPoint;
+	iter->peek = peekPoint;
+	iter->next = nextPoint;
+	iter->nextN = nextNPoint;
+	iter->previous = previousPoint;
+	iter->stopped = iteratorStopped;	
+}
+
+static SK_Point* setIteratorValues(SK_StrokeIterator *iter, int index)
+{
+	SK_Point *pt = NULL;
+	
+	if (index >= 0 && index < iter->length)
+	{
+		pt = &(iter->stroke->points[iter->start + (iter->stride * index)]);
+		iter->p = pt->p;
+		iter->no = pt->no;
+	}
+	else
+	{
+		iter->p = NULL;
+		iter->no = NULL;
+	}
+	
+	return pt;
+}
+
+void initStrokeIterator(BArcIterator *arg, SK_Stroke *stk, int start, int end)
+{
+	SK_StrokeIterator *iter = (SK_StrokeIterator*)arg;
+
+	initIteratorFct(iter);
+	iter->stroke = stk;
+	
+	if (start < end)
+	{
+		iter->start = start + 1;
+		iter->end = end - 1;
+		iter->stride = 1;
+	}
+	else
+	{
+		iter->start = start - 1;
+		iter->end = end + 1;
+		iter->stride = -1;
+	}
+	
+	iter->length = iter->stride * (iter->end - iter->start + 1);
+	
+	iter->index = -1;
+}
+
+
+static void* headPoint(void *arg)
+{
+	SK_StrokeIterator *iter = (SK_StrokeIterator*)arg;
+	SK_Point *result = NULL;
+	
+	result = &(iter->stroke->points[iter->start - iter->stride]);
+	iter->p = result->p;
+	iter->no = result->no;
+	
+	return result;
+}
+
+static void* tailPoint(void *arg)
+{
+	SK_StrokeIterator *iter = (SK_StrokeIterator*)arg;
+	SK_Point *result = NULL;
+	
+	result = &(iter->stroke->points[iter->end + iter->stride]);
+	iter->p = result->p;
+	iter->no = result->no;
+	
+	return result;
+}
+
+static void* nextPoint(void *arg)
+{
+	SK_StrokeIterator *iter = (SK_StrokeIterator*)arg;
+	SK_Point *result = NULL;
+	
+	iter->index++;
+	if (iter->index < iter->length)
+	{
+		result = setIteratorValues(iter, iter->index);
+	}
+
+	return result;
+}
+
+static void* nextNPoint(void *arg, int n)
+{
+	SK_StrokeIterator *iter = (SK_StrokeIterator*)arg;
+	SK_Point *result = NULL;
+		
+	iter->index += n;
+
+	/* check if passed end */
+	if (iter->index < iter->length)
+	{
+		result = setIteratorValues(iter, iter->index);
+	}
+
+	return result;
+}
+
+static void* peekPoint(void *arg, int n)
+{
+	SK_StrokeIterator *iter = (SK_StrokeIterator*)arg;
+	SK_Point *result = NULL;
+	int index = iter->index + n;
+
+	/* check if passed end */
+	if (index < iter->length)
+	{
+		result = setIteratorValues(iter, index);
+	}
+
+	return result;
+}
+
+static void* previousPoint(void *arg)
+{
+	SK_StrokeIterator *iter = (SK_StrokeIterator*)arg;
+	SK_Point *result = NULL;
+	
+	if (iter->index > 0)
+	{
+		iter->index--;
+		result = setIteratorValues(iter, iter->index);
+	}
+
+	return result;
+}
+
+static int iteratorStopped(void *arg)
+{
+	SK_StrokeIterator *iter = (SK_StrokeIterator*)arg;
+
+	if (iter->index >= iter->length)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+void sk_convertStroke(bContext *C, SK_Stroke *stk)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	bArmature *arm = obedit->data;
+	SK_Point *head;
+	EditBone *parent = NULL;
+	float invmat[4][4]; /* move in caller function */
+	float tmat[3][3];
+	int head_index = 0;
+	int i;
+	
+	head = NULL;
+	
+	Mat4Invert(invmat, obedit->obmat);
+	
+	Mat3CpyMat4(tmat, obedit->obmat);
+	Mat3Transp(tmat);
+	
+	for (i = 0; i < stk->nb_points; i++)
+	{
+		SK_Point *pt = stk->points + i;
+		
+		if (pt->type == PT_EXACT)
+		{
+			if (head == NULL)
+			{
+				head_index = i;
+				head = pt;
+			}
+			else
+			{
+				EditBone *bone = NULL;
+				EditBone *new_parent;
+				
+				if (i - head_index > 1)
+				{
+					SK_StrokeIterator sk_iter;
+					BArcIterator *iter = (BArcIterator*)&sk_iter;
+
+					initStrokeIterator(iter, stk, head_index, i);
+					
+					if (scene->toolsettings->bone_sketching_convert == SK_CONVERT_CUT_ADAPTATIVE)
+					{
+						bone = subdivideArcBy(scene->toolsettings, arm, arm->edbo, iter, invmat, tmat, nextAdaptativeSubdivision);
+					}
+					else if (scene->toolsettings->bone_sketching_convert == SK_CONVERT_CUT_LENGTH)
+					{
+						bone = subdivideArcBy(scene->toolsettings, arm, arm->edbo, iter, invmat, tmat, nextLengthSubdivision);
+					}
+					else if (scene->toolsettings->bone_sketching_convert == SK_CONVERT_CUT_FIXED)
+					{
+						bone = subdivideArcBy(scene->toolsettings, arm, arm->edbo, iter, invmat, tmat, nextFixedSubdivision);
+					}
+				}
+				
+				if (bone == NULL)
+				{
+					bone = addEditBone(arm, "Bone");
+					
+					VECCOPY(bone->head, head->p);
+					VECCOPY(bone->tail, pt->p);
+
+					Mat4MulVecfl(invmat, bone->head);
+					Mat4MulVecfl(invmat, bone->tail);
+					setBoneRollFromNormal(bone, pt->no, invmat, tmat);
+				}
+				
+				new_parent = bone;
+				bone->flag |= BONE_SELECTED|BONE_TIPSEL|BONE_ROOTSEL;
+				
+				/* move to end of chain */
+				while (bone->parent != NULL)
+				{
+					bone = bone->parent;
+					bone->flag |= BONE_SELECTED|BONE_TIPSEL|BONE_ROOTSEL;
+				}
+
+				if (parent != NULL)
+				{
+					bone->parent = parent;
+					bone->flag |= BONE_CONNECTED;					
+				}
+				
+				parent = new_parent;
+				head_index = i;
+				head = pt;
+			}
+		}
+	}
+}
+
+void sk_convert(bContext *C, SK_Sketch *sketch)
+{
+	Scene *scene = CTX_data_scene(C);
+	SK_Stroke *stk;
+	
+	for (stk = sketch->strokes.first; stk; stk = stk->next)
+	{
+		if (stk->selected == 1)
+		{
+			if (scene->toolsettings->bone_sketching_convert == SK_CONVERT_RETARGET)
+			{
+				sk_retargetStroke(C, stk);
+			}
+			else
+			{
+				sk_convertStroke(C, stk);
+			}
+//			XXX
+//			allqueue(REDRAWBUTSEDIT, 0);
+		}
+	}
+}
+/******************* GESTURE *************************/
+
+
+/* returns the number of self intersections */
+int sk_getSelfIntersections(bContext *C, ListBase *list, SK_Stroke *gesture)
+{
+	ARegion *ar = CTX_wm_region(C);
+	int added = 0;
+	int s_i;
+
+	for (s_i = 0; s_i < gesture->nb_points - 1; s_i++)
+	{
+		float s_p1[3] = {0, 0, 0};
+		float s_p2[3] = {0, 0, 0};
+		int g_i;
+		
+		project_float(ar, gesture->points[s_i].p, s_p1);
+		project_float(ar, gesture->points[s_i + 1].p, s_p2);
+
+		/* start checking from second next, because two consecutive cannot intersect */
+		for (g_i = s_i + 2; g_i < gesture->nb_points - 1; g_i++)
+		{
+			float g_p1[3] = {0, 0, 0};
+			float g_p2[3] = {0, 0, 0};
+			float vi[3];
+			float lambda;
+			
+			project_float(ar, gesture->points[g_i].p, g_p1);
+			project_float(ar, gesture->points[g_i + 1].p, g_p2);
+			
+			if (LineIntersectLineStrict(s_p1, s_p2, g_p1, g_p2, vi, &lambda))
+			{
+				SK_Intersection *isect = MEM_callocN(sizeof(SK_Intersection), "Intersection");
+				
+				isect->gesture_index = g_i;
+				isect->before = s_i;
+				isect->after = s_i + 1;
+				isect->stroke = gesture;
+				
+				VecSubf(isect->p, gesture->points[s_i + 1].p, gesture->points[s_i].p);
+				VecMulf(isect->p, lambda);
+				VecAddf(isect->p, isect->p, gesture->points[s_i].p);
+				
+				BLI_addtail(list, isect);
+
+				added++;
+			}
+		}
+	}
+	
+	return added;
+}
+
+int cmpIntersections(void *i1, void *i2)
+{
+	SK_Intersection *isect1 = i1, *isect2 = i2;
+	
+	if (isect1->stroke == isect2->stroke)
+	{
+		if (isect1->before < isect2->before)
+		{
+			return -1;
+		}
+		else if (isect1->before > isect2->before)
+		{
+			return 1;
+		}
+		else
+		{
+			if (isect1->lambda < isect2->lambda)
+			{
+				return -1;
+			}
+			else if (isect1->lambda > isect2->lambda)
+			{
+				return 1;
+			}
+		}
+	}
+	
+	return 0;
+}
+
+
+/* returns the maximum number of intersections per stroke */
+int sk_getIntersections(bContext *C, ListBase *list, SK_Sketch *sketch, SK_Stroke *gesture)
+{
+	ARegion *ar = CTX_wm_region(C);
+	ScrArea *sa = CTX_wm_area(C);
+	View3D *v3d = sa->spacedata.first;
+	SK_Stroke *stk;
+	int added = 0;
+
+	for (stk = sketch->strokes.first; stk; stk = stk->next)
+	{
+		int s_added = 0;
+		int s_i;
+		
+		for (s_i = 0; s_i < stk->nb_points - 1; s_i++)
+		{
+			float s_p1[3] = {0, 0, 0};
+			float s_p2[3] = {0, 0, 0};
+			int g_i;
+			
+			project_float(ar, stk->points[s_i].p, s_p1);
+			project_float(ar, stk->points[s_i + 1].p, s_p2);
+
+			for (g_i = 0; g_i < gesture->nb_points - 1; g_i++)
+			{
+				float g_p1[3] = {0, 0, 0};
+				float g_p2[3] = {0, 0, 0};
+				float vi[3];
+				float lambda;
+				
+				project_float(ar, gesture->points[g_i].p, g_p1);
+				project_float(ar, gesture->points[g_i + 1].p, g_p2);
+				
+				if (LineIntersectLineStrict(s_p1, s_p2, g_p1, g_p2, vi, &lambda))
+				{
+					SK_Intersection *isect = MEM_callocN(sizeof(SK_Intersection), "Intersection");
+					float ray_start[3], ray_end[3];
+					short mval[2];
+					
+					isect->gesture_index = g_i;
+					isect->before = s_i;
+					isect->after = s_i + 1;
+					isect->stroke = stk;
+					isect->lambda = lambda;
+					
+					mval[0] = (short)(vi[0]);
+					mval[1] = (short)(vi[1]);
+					viewline(ar, v3d, mval, ray_start, ray_end);
+					
+					LineIntersectLine(	stk->points[s_i].p,
+										stk->points[s_i + 1].p,
+										ray_start,
+										ray_end,
+										isect->p,
+										vi);
+					
+					BLI_addtail(list, isect);
+
+					s_added++;
+				}
+			}
+		}
+		
+		added = MAX2(s_added, added);
+	}
+	
+	BLI_sortlist(list, cmpIntersections);
+	
+	return added;
+}
+
+int sk_getSegments(SK_Stroke *segments, SK_Stroke *gesture)
+{
+	SK_StrokeIterator sk_iter;
+	BArcIterator *iter = (BArcIterator*)&sk_iter;
+	
+	float CORRELATION_THRESHOLD = 0.99f;
+	float *vec;
+	int i, j;
+	
+	sk_appendStrokePoint(segments, &gesture->points[0]);
+	vec = segments->points[segments->nb_points - 1].p;
+
+	initStrokeIterator(iter, gesture, 0, gesture->nb_points - 1);
+
+	for (i = 1, j = 0; i < gesture->nb_points; i++)
+	{ 
+		float n[3];
+		
+		/* Calculate normal */
+		VecSubf(n, gesture->points[i].p, vec);
+		
+		if (calcArcCorrelation(iter, j, i, vec, n) < CORRELATION_THRESHOLD)
+		{
+			j = i - 1;
+			sk_appendStrokePoint(segments, &gesture->points[j]);
+			vec = segments->points[segments->nb_points - 1].p;
+			segments->points[segments->nb_points - 1].type = PT_EXACT;
+		}
+	}
+
+	sk_appendStrokePoint(segments, &gesture->points[gesture->nb_points - 1]);
+	
+	return segments->nb_points - 1;
+}
+
+int sk_detectCutGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	if (gest->nb_segments == 1 && gest->nb_intersections == 1)
+	{
+		return 1;
+	}
+
+	return 0;
+}
+
+void sk_applyCutGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	SK_Intersection *isect;
+	
+	for (isect = gest->intersections.first; isect; isect = isect->next)
+	{
+		SK_Point pt;
+		
+		pt.type = PT_EXACT;
+		pt.mode = PT_PROJECT; /* take mode from neighbouring points */
+		VECCOPY(pt.p, isect->p);
+		
+		sk_insertStrokePoint(isect->stroke, &pt, isect->after);
+	}
+}
+
+int sk_detectTrimGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	if (gest->nb_segments == 2 && gest->nb_intersections == 1 && gest->nb_self_intersections == 0)
+	{
+		float s1[3], s2[3];
+		float angle;
+		
+		VecSubf(s1, gest->segments->points[1].p, gest->segments->points[0].p);
+		VecSubf(s2, gest->segments->points[2].p, gest->segments->points[1].p);
+		
+		angle = VecAngle2(s1, s2);
+	
+		if (angle > 60 && angle < 120)
+		{
+			return 1;
+		}
+	}
+
+	return 0;
+}
+
+void sk_applyTrimGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	SK_Intersection *isect;
+	float trim_dir[3];
+	
+	VecSubf(trim_dir, gest->segments->points[2].p, gest->segments->points[1].p);
+	
+	for (isect = gest->intersections.first; isect; isect = isect->next)
+	{
+		SK_Point pt;
+		float stroke_dir[3];
+		
+		pt.type = PT_EXACT;
+		pt.mode = PT_PROJECT; /* take mode from neighbouring points */
+		VECCOPY(pt.p, isect->p);
+		
+		VecSubf(stroke_dir, isect->stroke->points[isect->after].p, isect->stroke->points[isect->before].p);
+		
+		/* same direction, trim end */
+		if (Inpf(stroke_dir, trim_dir) > 0)
+		{
+			sk_replaceStrokePoint(isect->stroke, &pt, isect->after);
+			sk_trimStroke(isect->stroke, 0, isect->after);
+		}
+		/* else, trim start */
+		else
+		{
+			sk_replaceStrokePoint(isect->stroke, &pt, isect->before);
+			sk_trimStroke(isect->stroke, isect->before, isect->stroke->nb_points - 1);
+		}
+	
+	}
+}
+
+int sk_detectCommandGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	if (gest->nb_segments > 2 && gest->nb_intersections == 2 && gest->nb_self_intersections == 1)
+	{
+		SK_Intersection *isect, *self_isect;
+		
+		/* get the the last intersection of the first pair */
+		for( isect = gest->intersections.first; isect; isect = isect->next )
+		{
+			if (isect->stroke == isect->next->stroke)
+			{
+				isect = isect->next;
+				break;
+			}
+		}
+		
+		self_isect = gest->self_intersections.first;
+		
+		if (isect && isect->gesture_index < self_isect->gesture_index)
+		{
+			return 1;
+		}
+	}
+	
+	return 0;
+}
+
+void sk_applyCommandGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	SK_Intersection *isect;
+	int command = 1;
+	
+//	XXX
+//	command = pupmenu("Action %t|Flatten %x1|Straighten %x2|Polygonize %x3");
+	if(command < 1) return;
+
+	for (isect = gest->intersections.first; isect; isect = isect->next)
+	{
+		SK_Intersection *i2;
+		
+		i2 = isect->next;
+		
+		if (i2 && i2->stroke == isect->stroke)
+		{
+			switch (command)
+			{
+				case 1:
+					sk_flattenStroke(isect->stroke, isect->before, i2->after);
+					break;
+				case 2:
+					sk_straightenStroke(isect->stroke, isect->before, i2->after, isect->p, i2->p);
+					break;
+				case 3:
+					sk_polygonizeStroke(isect->stroke, isect->before, i2->after);
+					break;
+			}
+
+			isect = i2;
+		}
+	}
+}
+
+int sk_detectDeleteGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	if (gest->nb_segments == 2 && gest->nb_intersections == 2)
+	{
+		float s1[3], s2[3];
+		float angle;
+		
+		VecSubf(s1, gest->segments->points[1].p, gest->segments->points[0].p);
+		VecSubf(s2, gest->segments->points[2].p, gest->segments->points[1].p);
+		
+		angle = VecAngle2(s1, s2);
+		
+		if (angle > 120)
+		{
+			return 1;
+		}
+	}
+	
+	return 0;
+}
+
+void sk_applyDeleteGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	SK_Intersection *isect;
+	
+	for (isect = gest->intersections.first; isect; isect = isect->next)
+	{
+		/* only delete strokes that are crossed twice */
+		if (isect->next && isect->next->stroke == isect->stroke)
+		{
+			isect = isect->next;
+			
+			sk_removeStroke(sketch, isect->stroke);
+		}
+	}
+}
+
+int sk_detectMergeGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	ARegion *ar = CTX_wm_region(C);
+	if (gest->nb_segments > 2 && gest->nb_intersections == 2)
+	{
+		short start_val[2], end_val[2];
+		short dist;
+		
+		project_short_noclip(ar, gest->stk->points[0].p, start_val);
+		project_short_noclip(ar, sk_lastStrokePoint(gest->stk)->p, end_val);
+		
+		dist = MAX2(ABS(start_val[0] - end_val[0]), ABS(start_val[1] - end_val[1]));
+		
+		/* if gesture is a circle */
+		if ( dist <= 20 )
+		{
+			SK_Intersection *isect;
+			
+			/* check if it circled around an exact point */
+			for (isect = gest->intersections.first; isect; isect = isect->next)
+			{
+				/* only delete strokes that are crossed twice */
+				if (isect->next && isect->next->stroke == isect->stroke)
+				{
+					int start_index, end_index;
+					int i;
+					
+					start_index = MIN2(isect->after, isect->next->after);
+					end_index = MAX2(isect->before, isect->next->before);
+	
+					for (i = start_index; i <= end_index; i++)
+					{
+						if (isect->stroke->points[i].type == PT_EXACT)
+						{
+							return 1; /* at least one exact point found, stop detect here */
+						}
+					}
+	
+					/* skip next */				
+					isect = isect->next;
+				}
+			}
+		}
+	}
+				
+	return 0;
+}
+
+void sk_applyMergeGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	SK_Intersection *isect;
+	
+	/* check if it circled around an exact point */
+	for (isect = gest->intersections.first; isect; isect = isect->next)
+	{
+		/* only merge strokes that are crossed twice */
+		if (isect->next && isect->next->stroke == isect->stroke)
+		{
+			int start_index, end_index;
+			int i;
+			
+			start_index = MIN2(isect->after, isect->next->after);
+			end_index = MAX2(isect->before, isect->next->before);
+
+			for (i = start_index; i <= end_index; i++)
+			{
+				/* if exact, switch to continuous */
+				if (isect->stroke->points[i].type == PT_EXACT)
+				{
+					isect->stroke->points[i].type = PT_CONTINUOUS;
+				}
+			}
+
+			/* skip next */				
+			isect = isect->next;
+		}
+	}
+}
+
+int sk_detectReverseGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	if (gest->nb_segments > 2 && gest->nb_intersections == 2 && gest->nb_self_intersections == 0)
+	{
+		SK_Intersection *isect;
+		
+		/* check if it circled around an exact point */
+		for (isect = gest->intersections.first; isect; isect = isect->next)
+		{
+			/* only delete strokes that are crossed twice */
+			if (isect->next && isect->next->stroke == isect->stroke)
+			{
+				float start_v[3], end_v[3];
+				float angle;
+				
+				if (isect->gesture_index < isect->next->gesture_index)
+				{
+					VecSubf(start_v, isect->p, gest->stk->points[0].p);
+					VecSubf(end_v, sk_lastStrokePoint(gest->stk)->p, isect->next->p);
+				}
+				else
+				{
+					VecSubf(start_v, isect->next->p, gest->stk->points[0].p);
+					VecSubf(end_v, sk_lastStrokePoint(gest->stk)->p, isect->p);
+				}
+				
+				angle = VecAngle2(start_v, end_v);
+				
+				if (angle > 120)
+				{
+					return 1;
+				}
+	
+				/* skip next */				
+				isect = isect->next;
+			}
+		}
+	}
+		
+	return 0;
+}
+
+void sk_applyReverseGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	SK_Intersection *isect;
+	
+	for (isect = gest->intersections.first; isect; isect = isect->next)
+	{
+		/* only reverse strokes that are crossed twice */
+		if (isect->next && isect->next->stroke == isect->stroke)
+		{
+			sk_reverseStroke(isect->stroke);
+
+			/* skip next */				
+			isect = isect->next;
+		}
+	}
+}
+
+int sk_detectConvertGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	if (gest->nb_segments == 3 && gest->nb_self_intersections == 1)
+	{
+		return 1;
+	}
+	return 0;
+}
+
+void sk_applyConvertGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	sk_convert(C, sketch);
+}
+
+static void sk_initGesture(bContext *C, SK_Gesture *gest, SK_Sketch *sketch)
+{
+	gest->intersections.first = gest->intersections.last = NULL;
+	gest->self_intersections.first = gest->self_intersections.last = NULL;
+	
+	gest->segments = sk_createStroke();
+	gest->stk = sketch->gesture;
+
+	gest->nb_self_intersections = sk_getSelfIntersections(C, &gest->self_intersections, gest->stk);
+	gest->nb_intersections = sk_getIntersections(C, &gest->intersections, sketch, gest->stk);
+	gest->nb_segments = sk_getSegments(gest->segments, gest->stk);
+}
+
+static void sk_freeGesture(SK_Gesture *gest)
+{
+	sk_freeStroke(gest->segments);
+	BLI_freelistN(&gest->intersections);
+	BLI_freelistN(&gest->self_intersections);
+}
+
+void sk_applyGesture(bContext *C, SK_Sketch *sketch)
+{
+	SK_Gesture gest;
+	SK_GestureAction *act;
+	
+	sk_initGesture(C, &gest, sketch);
+	
+	/* detect and apply */
+	for (act = GESTURE_ACTIONS; act->apply != NULL; act++)
+	{
+		if (act->detect(C, &gest, sketch))
+		{
+			act->apply(C, &gest, sketch);
+			break;
+		}
+	}
+	
+	sk_freeGesture(&gest);
+}
+
+/********************************************/
+
+void sk_deleteSelectedStrokes(SK_Sketch *sketch)
+{
+	SK_Stroke *stk, *next;
+	
+	for (stk = sketch->strokes.first; stk; stk = next)
+	{
+		next = stk->next;
+		
+		if (stk->selected == 1)
+		{
+			sk_removeStroke(sketch, stk);
+		}
+	}
+}
+
+void sk_selectAllSketch(SK_Sketch *sketch, int mode)
+{
+	SK_Stroke *stk = NULL;
+	
+	if (mode == -1)
+	{
+		for (stk = sketch->strokes.first; stk; stk = stk->next)
+		{
+			stk->selected = 0;
+		}
+	}
+	else if (mode == 0)
+	{
+		for (stk = sketch->strokes.first; stk; stk = stk->next)
+		{
+			stk->selected = 1;
+		}
+	}
+	else if (mode == 1)
+	{
+		int selected = 1;
+		
+		for (stk = sketch->strokes.first; stk; stk = stk->next)
+		{
+			selected &= stk->selected;
+		}
+		
+		selected ^= 1;
+
+		for (stk = sketch->strokes.first; stk; stk = stk->next)
+		{
+			stk->selected = selected;
+		}
+	}
+}
+
+void sk_selectStroke(bContext *C, SK_Sketch *sketch, short mval[2], int extend)
+{
+	ViewContext vc;
+	rcti rect;
+	unsigned int buffer[MAXPICKBUF];
+	short hits;
+	
+	view3d_set_viewcontext(C, &vc);
+	
+	rect.xmin= mval[0]-5;
+	rect.xmax= mval[0]+5;
+	rect.ymin= mval[1]-5;
+	rect.ymax= mval[1]+5;
+		
+	hits= view3d_opengl_select(&vc, buffer, MAXPICKBUF, &rect);
+
+	if (hits>0)
+	{
+		int besthitresult = -1;
+			
+		if(hits == 1) {
+			besthitresult = buffer[3];
+		}
+		else {
+			besthitresult = buffer[3];
+			/* loop and get best hit */
+		}
+		
+		if (besthitresult > 0)
+		{
+			SK_Stroke *selected_stk = BLI_findlink(&sketch->strokes, besthitresult - 1);
+			
+			if (extend == 0)
+			{
+				sk_selectAllSketch(sketch, -1);
+				
+				selected_stk->selected = 1;
+			}
+			else
+			{
+				selected_stk->selected ^= 1;
+			}
+			
+			
+		}
+	}
+}
+
+void sk_queueRedrawSketch(SK_Sketch *sketch)
+{
+	if (sketch->active_stroke != NULL)
+	{
+		SK_Point *last = sk_lastStrokePoint(sketch->active_stroke);
+		
+		if (last != NULL)
+		{
+//			XXX
+//			allqueue(REDRAWVIEW3D, 0);
+		}
+	}
+}
+
+void sk_drawSketch(Scene *scene, SK_Sketch *sketch, int with_names)
+{
+	SK_Stroke *stk;
+	
+	glDisable(GL_DEPTH_TEST);
+
+	glLineWidth(UI_GetThemeValuef(TH_VERTEX_SIZE));
+	glPointSize(UI_GetThemeValuef(TH_VERTEX_SIZE));
+	
+	if (with_names)
+	{
+		int id;
+		for (id = 1, stk = sketch->strokes.first; stk; id++, stk = stk->next)
+		{
+			sk_drawStroke(stk, id, NULL, -1, -1);
+		}
+		
+		glLoadName(-1);
+	}
+	else
+	{
+		float selected_rgb[3] = {1, 0, 0};
+		float unselected_rgb[3] = {1, 0.5, 0};
+		
+		for (stk = sketch->strokes.first; stk; stk = stk->next)
+		{
+			int start = -1;
+			int end = -1;
+			
+			if (sk_hasOverdraw(sketch, stk))
+			{
+				sk_adjustIndexes(sketch, &start, &end);
+			}
+			
+			sk_drawStroke(stk, -1, (stk->selected==1?selected_rgb:unselected_rgb), start, end);
+		
+			if (stk->selected == 1)
+			{
+				sk_drawStrokeSubdivision(scene->toolsettings, stk);
+			}
+		}
+	
+		/* only draw gesture in active area */
+		if (sketch->gesture != NULL /*&& area_is_active_area(G.vd->area)*/)
+		{
+			float gesture_rgb[3] = {0, 0.5, 1};
+			sk_drawStroke(sketch->gesture, -1, gesture_rgb, -1, -1);
+		}
+		
+		if (sketch->active_stroke != NULL)
+		{
+			SK_Point *last = sk_lastStrokePoint(sketch->active_stroke);
+			
+			if (scene->toolsettings->bone_sketching & BONE_SKETCHING_QUICK)
+			{
+				sk_drawStrokeSubdivision(scene->toolsettings, sketch->active_stroke);
+			}
+			
+			if (last != NULL)
+			{
+				glEnable(GL_LINE_STIPPLE);
+				glColor3fv(selected_rgb);
+				glBegin(GL_LINE_STRIP);
+				
+					glVertex3fv(last->p);
+					glVertex3fv(sketch->next_point.p);
+				
+				glEnd();
+				
+				glDisable(GL_LINE_STIPPLE);
+	
+				switch (sketch->next_point.mode)
+				{
+					case PT_SNAP:
+						glColor3f(0, 1, 0);
+						break;
+					case PT_PROJECT:
+						glColor3f(0, 0, 0);
+						break;
+				}
+				
+				glBegin(GL_POINTS);
+				
+					glVertex3fv(sketch->next_point.p);
+				
+				glEnd();
+			}
+		}
+	}
+	
+	glLineWidth(1.0);
+	glPointSize(1.0);
+
+	glEnable(GL_DEPTH_TEST);
+}
+
+int sk_finish_stroke(bContext *C, SK_Sketch *sketch)
+{
+	Scene *scene = CTX_data_scene(C);
+
+	if (sketch->active_stroke != NULL)
+	{
+		SK_Stroke *stk = sketch->active_stroke;
+		
+		sk_endStroke(C, sketch);
+		
+		if (scene->toolsettings->bone_sketching & BONE_SKETCHING_QUICK)
+		{
+			if (scene->toolsettings->bone_sketching_convert == SK_CONVERT_RETARGET)
+			{
+				sk_retargetStroke(C, stk);
+			}
+			else
+			{
+				sk_convertStroke(C, stk);
+			}
+//			XXX
+//			BIF_undo_push("Convert Sketch");
+			sk_removeStroke(sketch, stk);
+//			XXX
+//			allqueue(REDRAWBUTSEDIT, 0);
+		}
+
+//		XXX		
+//		allqueue(REDRAWVIEW3D, 0);
+		return 1;
+	}
+	
+	return 0;
+}
+
+void sk_start_draw_stroke(SK_Sketch *sketch)
+{
+	if (sketch->active_stroke == NULL)
+	{
+		sk_startStroke(sketch);
+		sk_selectAllSketch(sketch, -1);
+		
+		sketch->active_stroke->selected = 1;
+	}
+}
+
+void sk_start_draw_gesture(SK_Sketch *sketch)
+{
+	sketch->gesture = sk_createStroke();
+}
+
+int sk_draw_stroke(bContext *C, SK_Sketch *sketch, SK_Stroke *stk, SK_DrawData *dd, short snap)
+{
+	if (sk_stroke_filtermval(dd))
+	{
+		sk_addStrokePoint(C, sketch, stk, dd, snap);
+		sk_updateDrawData(dd);
+		sk_updateNextPoint(sketch, stk);
+		return 1;
+	}
+	
+	return 0;
+}
+
+static int ValidSketchViewContext(ViewContext *vc)
+{
+	Object *obedit = vc->obedit;
+	Scene *scene= vc->scene;
+	
+	if (obedit && 
+		obedit->type == OB_ARMATURE && 
+		scene->toolsettings->bone_sketching & BONE_SKETCHING)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+int BDR_drawSketchNames(ViewContext *vc)
+{
+	if (ValidSketchViewContext(vc))
+	{
+		if (GLOBAL_sketch != NULL)
+		{
+			sk_drawSketch(vc->scene, GLOBAL_sketch, 1);
+			return 1;
+		}
+	}
+	
+	return 0;
+}
+
+void BDR_drawSketch(bContext *C)
+{
+	if (ED_operator_sketch_mode(C))
+	{
+		if (GLOBAL_sketch != NULL)
+		{
+			sk_drawSketch(CTX_data_scene(C), GLOBAL_sketch, 0);
+		}
+	}
+}
+
+static int sketch_delete(bContext *C, wmOperator *op, wmEvent *event)
+{
+	if (GLOBAL_sketch != NULL)
+	{
+		sk_deleteSelectedStrokes(GLOBAL_sketch);
+//			allqueue(REDRAWVIEW3D, 0);
+	}
+	return OPERATOR_FINISHED;
+}
+
+void BIF_sk_selectStroke(bContext *C, short mval[2], short extend)
+{
+	if (GLOBAL_sketch != NULL)
+	{
+		sk_selectStroke(C, GLOBAL_sketch, mval, extend);
+	}
+}
+
+void BIF_convertSketch(bContext *C)
+{
+	if (ED_operator_sketch_full_mode(C))
+	{
+		if (GLOBAL_sketch != NULL)
+		{
+			sk_convert(C, GLOBAL_sketch);
+//			BIF_undo_push("Convert Sketch");
+//			allqueue(REDRAWVIEW3D, 0);
+//			allqueue(REDRAWBUTSEDIT, 0);
+		}
+	}
+}
+
+void BIF_deleteSketch(bContext *C)
+{
+	if (ED_operator_sketch_full_mode(C))
+	{
+		if (GLOBAL_sketch != NULL)
+		{
+			sk_deleteSelectedStrokes(GLOBAL_sketch);
+//			BIF_undo_push("Convert Sketch");
+//			allqueue(REDRAWVIEW3D, 0);
+		}
+	}
+}
+
+//void BIF_selectAllSketch(bContext *C, int mode)
+//{
+//	if (BIF_validSketchMode(C))
+//	{
+//		if (GLOBAL_sketch != NULL)
+//		{
+//			sk_selectAllSketch(GLOBAL_sketch, mode);
+////			XXX
+////			allqueue(REDRAWVIEW3D, 0);
+//		}
+//	}
+//}
+
+void BIF_freeSketch(bContext *C)
+{
+	if (GLOBAL_sketch != NULL)
+	{
+		sk_freeSketch(GLOBAL_sketch);
+		GLOBAL_sketch = NULL;
+	}
+}
+
+static int sketch_cancel(bContext *C, wmOperator *op, wmEvent *event)
+{
+	if (GLOBAL_sketch != NULL)
+	{
+		sk_cancelStroke(GLOBAL_sketch);
+		ED_area_tag_redraw(CTX_wm_area(C));
+		return OPERATOR_FINISHED;
+	}
+	return OPERATOR_PASS_THROUGH;
+}
+
+static int sketch_finish(bContext *C, wmOperator *op, wmEvent *event)
+{
+	if (GLOBAL_sketch != NULL)
+	{
+		if (sk_finish_stroke(C, GLOBAL_sketch))
+		{
+			ED_area_tag_redraw(CTX_wm_area(C));
+			return OPERATOR_FINISHED;
+		}
+	}
+	return OPERATOR_PASS_THROUGH;
+}
+
+static int sketch_select(bContext *C, wmOperator *op, wmEvent *event)
+{
+	if (GLOBAL_sketch != NULL)
+	{
+		short extend = 0;
+		sk_selectStroke(C, GLOBAL_sketch, event->mval, extend);
+		ED_area_tag_redraw(CTX_wm_area(C));
+	}
+	
+	return OPERATOR_FINISHED;
+}
+
+static int sketch_draw_stroke_cancel(bContext *C, wmOperator *op)
+{
+	sk_cancelStroke(GLOBAL_sketch);
+	MEM_freeN(op->customdata);	
+	return OPERATOR_CANCELLED;
+}
+
+static int sketch_draw_stroke(bContext *C, wmOperator *op, wmEvent *event)
+{
+	short snap = RNA_boolean_get(op->ptr, "snap");
+	SK_DrawData *dd;
+	
+	if (GLOBAL_sketch == NULL)
+	{
+		GLOBAL_sketch = sk_createSketch();
+	}
+	
+	op->customdata = dd = MEM_callocN(sizeof("SK_DrawData"), "SketchDrawData");
+	sk_initDrawData(dd, event->mval);
+	
+	sk_start_draw_stroke(GLOBAL_sketch);
+	
+	sk_draw_stroke(C, GLOBAL_sketch, GLOBAL_sketch->active_stroke, dd, snap);
+	
+	WM_event_add_modal_handler(C, &CTX_wm_window(C)->handlers, op);
+
+	return OPERATOR_RUNNING_MODAL;
+}
+
+static int sketch_draw_gesture_cancel(bContext *C, wmOperator *op)
+{
+	sk_cancelStroke(GLOBAL_sketch);
+	MEM_freeN(op->customdata);	
+	return OPERATOR_CANCELLED;
+}
+
+static int sketch_draw_gesture(bContext *C, wmOperator *op, wmEvent *event)
+{
+	short snap = RNA_boolean_get(op->ptr, "snap");
+	SK_DrawData *dd;
+	
+	if (GLOBAL_sketch == NULL)
+	{
+		GLOBAL_sketch = sk_createSketch();
+	}
+	
+	op->customdata = dd = MEM_callocN(sizeof("SK_DrawData"), "SketchDrawData");
+	sk_initDrawData(dd, event->mval);
+	
+	sk_start_draw_gesture(GLOBAL_sketch);
+	sk_draw_stroke(C, GLOBAL_sketch, GLOBAL_sketch->gesture, dd, snap);
+	
+	WM_event_add_modal_handler(C, &CTX_wm_window(C)->handlers, op);
+
+	return OPERATOR_RUNNING_MODAL;
+}
+
+static int sketch_draw_modal(bContext *C, wmOperator *op, wmEvent *event, short gesture, SK_Stroke *stk)
+{
+	short snap = RNA_boolean_get(op->ptr, "snap");
+	SK_DrawData *dd = op->customdata;
+	int retval = OPERATOR_RUNNING_MODAL;
+	
+	switch (event->type)
+	{
+	case LEFTCTRLKEY:
+	case RIGHTCTRLKEY:
+		snap = event->ctrl;
+		RNA_boolean_set(op->ptr, "snap", snap);
+		break;
+	case MOUSEMOVE:
+		dd->mval[0] = event->mval[0];
+		dd->mval[1] = event->mval[1];
+		sk_draw_stroke(C, GLOBAL_sketch, stk, dd, snap);
+		ED_area_tag_redraw(CTX_wm_area(C));
+		break;
+	case ESCKEY:
+		op->type->cancel(C, op);
+		ED_area_tag_redraw(CTX_wm_area(C));
+		retval = OPERATOR_CANCELLED;
+		break;
+	case LEFTMOUSE:
+		if (event->val == 0)
+		{
+			if (gesture == 0)
+			{
+				sk_endContinuousStroke(stk);
+				sk_filterLastContinuousStroke(stk);
+				sk_updateNextPoint(GLOBAL_sketch, stk);
+				ED_area_tag_redraw(CTX_wm_area(C));
+				MEM_freeN(op->customdata);	
+				retval = OPERATOR_FINISHED;
+			}
+			else
+			{
+				sk_endContinuousStroke(stk);
+				sk_filterLastContinuousStroke(stk);
+		
+				if (stk->nb_points > 1)		
+				{
+					/* apply gesture here */
+					sk_applyGesture(C, GLOBAL_sketch);
+				}
+		
+				sk_freeStroke(stk);
+				GLOBAL_sketch->gesture = NULL;
+	
+				ED_area_tag_redraw(CTX_wm_area(C));
+				MEM_freeN(op->customdata);	
+				retval = OPERATOR_FINISHED;
+			}
+		}
+		break;
+	}
+	
+	return retval;
+}
+
+static int sketch_draw_stroke_modal(bContext *C, wmOperator *op, wmEvent *event)
+{
+	return sketch_draw_modal(C, op, event, 0, GLOBAL_sketch->active_stroke);
+}
+
+static int sketch_draw_gesture_modal(bContext *C, wmOperator *op, wmEvent *event)
+{
+	return sketch_draw_modal(C, op, event, 1, GLOBAL_sketch->gesture);
+}
+
+static int sketch_draw_preview(bContext *C, wmOperator *op, wmEvent *event)
+{
+	short snap = RNA_boolean_get(op->ptr, "snap");
+	
+	if (GLOBAL_sketch != NULL)
+	{
+		SK_Sketch *sketch = GLOBAL_sketch;
+		SK_DrawData dd;
+		
+		sk_initDrawData(&dd, event->mval);
+		sk_getStrokePoint(C, &sketch->next_point, sketch, sketch->active_stroke, &dd, snap);
+		ED_area_tag_redraw(CTX_wm_area(C));
+	}
+	
+	return OPERATOR_FINISHED|OPERATOR_PASS_THROUGH;
+}
+
+/* ============================================== Poll Functions ============================================= */
+
+int ED_operator_sketch_mode_active_stroke(bContext *C)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	
+	if (obedit && 
+		obedit->type == OB_ARMATURE && 
+		scene->toolsettings->bone_sketching & BONE_SKETCHING &&
+		GLOBAL_sketch != NULL &&
+		GLOBAL_sketch->active_stroke != NULL)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+int ED_operator_sketch_mode_gesture(bContext *C)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	
+	if (obedit && 
+		obedit->type == OB_ARMATURE && 
+		scene->toolsettings->bone_sketching & BONE_SKETCHING &&
+		(scene->toolsettings->bone_sketching & BONE_SKETCHING_QUICK) == 0 &&
+		GLOBAL_sketch != NULL &&
+		GLOBAL_sketch->active_stroke == NULL)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+int ED_operator_sketch_full_mode(bContext *C)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	
+	if (obedit && 
+		obedit->type == OB_ARMATURE && 
+		scene->toolsettings->bone_sketching & BONE_SKETCHING && 
+		(scene->toolsettings->bone_sketching & BONE_SKETCHING_QUICK) == 0)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+int ED_operator_sketch_mode(bContext *C)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	
+	if (obedit && 
+		obedit->type == OB_ARMATURE && 
+		scene->toolsettings->bone_sketching & BONE_SKETCHING)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+/* ================================================ Operators ================================================ */
+
+void SKETCH_OT_delete(wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "delete";
+	ot->idname= "SKETCH_OT_delete";
+	
+	/* api callbacks */
+	ot->invoke= sketch_delete;
+	
+	ot->poll= ED_operator_sketch_full_mode;
+	
+	/* flags */
+//	ot->flag= OPTYPE_UNDO;
+}
+
+void SKETCH_OT_select(wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "select";
+	ot->idname= "SKETCH_OT_select";
+	
+	/* api callbacks */
+	ot->invoke= sketch_select;
+	
+	ot->poll= ED_operator_sketch_full_mode;
+	
+	/* flags */
+//	ot->flag= OPTYPE_UNDO;
+}
+
+void SKETCH_OT_cancel_stroke(wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "cancel stroke";
+	ot->idname= "SKETCH_OT_cancel_stroke";
+	
+	/* api callbacks */
+	ot->invoke= sketch_cancel;
+	
+	ot->poll= ED_operator_sketch_mode_active_stroke;
+	
+	/* flags */
+//	ot->flag= OPTYPE_UNDO;
+}
+
+void SKETCH_OT_finish_stroke(wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "end stroke";
+	ot->idname= "SKETCH_OT_finish_stroke";
+	
+	/* api callbacks */
+	ot->invoke= sketch_finish;
+	
+	ot->poll= ED_operator_sketch_mode_active_stroke;
+	
+	/* flags */
+//	ot->flag= OPTYPE_UNDO;
+}
+
+void SKETCH_OT_draw_preview(wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "draw preview";
+	ot->idname= "SKETCH_OT_draw_preview";
+	
+	/* api callbacks */
+	ot->invoke= sketch_draw_preview;
+	
+	ot->poll= ED_operator_sketch_mode_active_stroke;
+	
+	RNA_def_boolean(ot->srna, "snap", 0, "Snap", "");
+
+	/* flags */
+//	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
+}
+
+void SKETCH_OT_draw_stroke(wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "draw stroke";
+	ot->idname= "SKETCH_OT_draw_stroke";
+	
+	/* api callbacks */
+	ot->invoke = sketch_draw_stroke;
+	ot->modal  = sketch_draw_stroke_modal;
+	ot->cancel = sketch_draw_stroke_cancel;
+	
+	ot->poll= ED_operator_sketch_mode;
+	
+	RNA_def_boolean(ot->srna, "snap", 0, "Snap", "");
+	
+	/* flags */
+//	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
+}
+
+void SKETCH_OT_gesture(wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "gesture";
+	ot->idname= "SKETCH_OT_gesture";
+	
+	/* api callbacks */
+	ot->invoke = sketch_draw_gesture;
+	ot->modal  = sketch_draw_gesture_modal;
+	ot->cancel = sketch_draw_gesture_cancel;
+	
+	ot->poll= ED_operator_sketch_mode_gesture;
+	
+	RNA_def_boolean(ot->srna, "snap", 0, "Snap", "");
+	
+	/* flags */
+//	ot->flag= OPTYPE_UNDO;
+}
diff --git a/source/blender/editors/armature/poseobject.c b/source/blender/editors/armature/poseobject.c
index b951829d9d1..ae82c063435 100644
--- a/source/blender/editors/armature/poseobject.c
+++ b/source/blender/editors/armature/poseobject.c
@@ -452,7 +452,7 @@ static int pose_select_hierarchy_exec(bContext *C, wmOperator *op)
 	bPoseChannel *pchan;
 	Bone *curbone, *pabone, *chbone;
 	int direction = RNA_enum_get(op->ptr, "direction");
-	int add_to_sel = RNA_boolean_get(op->ptr, "add_to_sel");
+	int add_to_sel = RNA_boolean_get(op->ptr, "extend");
 	
 	for(pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) {
 		curbone= pchan->bone;
@@ -519,7 +519,7 @@ void POSE_OT_select_hierarchy(wmOperatorType *ot)
 	/* props */
 	RNA_def_enum(ot->srna, "direction", direction_items,
 				 BONE_SELECT_PARENT, "Direction", "");
-	RNA_def_boolean(ot->srna, "add_to_sel", 0, "Add to Selection", "");
+	RNA_def_boolean(ot->srna, "extend", 0, "Add to Selection", "");
 	
 }
 
diff --git a/source/blender/editors/armature/reeb.c b/source/blender/editors/armature/reeb.c
new file mode 100644
index 00000000000..a38b4de4657
--- /dev/null
+++ b/source/blender/editors/armature/reeb.c
@@ -0,0 +1,3725 @@
+/**
+ * $Id: 
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 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.
+ *
+ * Contributor(s): Martin Poirier
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+ 
+#include <math.h>
+#include <string.h> // for memcpy
+#include <stdio.h>
+#include <stdlib.h> // for qsort
+#include <float.h>
+
+#include "PIL_time.h"
+
+#include "DNA_listBase.h"
+#include "DNA_scene_types.h"
+#include "DNA_space_types.h"
+#include "DNA_object_types.h"
+#include "DNA_meshdata_types.h"
+#include "DNA_armature_types.h"
+
+#include "BKE_context.h"
+
+#include "MEM_guardedalloc.h"
+
+#include "BLI_blenlib.h"
+#include "BLI_arithb.h"
+#include "BLI_editVert.h"
+#include "BLI_edgehash.h"
+#include "BLI_ghash.h"
+#include "BLI_heap.h"
+
+//#include "BDR_editobject.h"
+
+#include "BMF_Api.h"
+
+#include "ED_mesh.h"
+#include "ED_armature.h"
+//#include "BIF_interface.h"
+//#include "BIF_toolbox.h"
+//#include "BIF_graphics.h"
+#include "BIF_gl.h"
+#include "UI_resources.h"
+
+#include "BKE_global.h"
+#include "BKE_utildefines.h"
+#include "BKE_customdata.h"
+
+//#include "blendef.h"
+
+#include "ONL_opennl.h"
+
+#include "reeb.h"
+
+
+ReebGraph *GLOBAL_RG = NULL;
+ReebGraph *FILTERED_RG = NULL;
+
+/*
+ * Skeleton generation algorithm based on: 
+ * "Harmonic Skeleton for Realistic Character Animation"
+ * Gregoire Aujay, Franck Hetroy, Francis Lazarus and Christine Depraz
+ * SIGGRAPH 2007
+ * 
+ * Reeb graph generation algorithm based on: 
+ * "Robust On-line Computation of Reeb Graphs: Simplicity and Speed"
+ * Valerio Pascucci, Giorgio Scorzelli, Peer-Timo Bremer and Ajith Mascarenhas
+ * SIGGRAPH 2007
+ * 
+ * */
+ 
+#define DEBUG_REEB
+#define DEBUG_REEB_NODE
+
+typedef struct VertexData
+{
+	float w; /* weight */
+	int i; /* index */
+	ReebNode *n;
+} VertexData;
+
+typedef struct EdgeIndex
+{
+	EditEdge **edges;
+	int		 *offset;
+} EdgeIndex;
+
+typedef enum {
+	MERGE_LOWER,
+	MERGE_HIGHER,
+	MERGE_APPEND
+} MergeDirection;
+
+int mergeArcs(ReebGraph *rg, ReebArc *a0, ReebArc *a1);
+void mergeArcEdges(ReebGraph *rg, ReebArc *aDst, ReebArc *aSrc, MergeDirection direction);
+int mergeConnectedArcs(ReebGraph *rg, ReebArc *a0, ReebArc *a1);
+EditEdge * NextEdgeForVert(EdgeIndex *indexed_edges, int index);
+void mergeArcFaces(ReebGraph *rg, ReebArc *aDst, ReebArc *aSrc);
+void addFacetoArc(ReebArc *arc, EditFace *efa);
+
+void REEB_RadialSymmetry(BNode* root_node, RadialArc* ring, int count);
+void REEB_AxialSymmetry(BNode* root_node, BNode* node1, BNode* node2, struct BArc* barc1, BArc* barc2);
+
+void flipArcBuckets(ReebArc *arc);
+
+
+/***************************************** UTILS **********************************************/
+
+VertexData *allocVertexData(EditMesh *em)
+{
+	VertexData *data;
+	EditVert *eve;
+	int totvert, index;
+	
+	totvert = BLI_countlist(&em->verts);
+	
+	data = MEM_callocN(sizeof(VertexData) * totvert, "VertexData");
+
+	for(index = 0, eve = em->verts.first; eve; index++, eve = eve->next)
+	{
+		data[index].i = index;
+		data[index].w = 0;
+		eve->tmp.p = data + index;
+	}
+		
+	return data;
+}
+
+int indexData(EditVert *eve)
+{
+	return ((VertexData*)eve->tmp.p)->i;
+}
+
+float weightData(EditVert *eve)
+{
+	return ((VertexData*)eve->tmp.p)->w;
+}
+
+void weightSetData(EditVert *eve, float w)
+{
+	((VertexData*)eve->tmp.p)->w = w;
+}
+
+ReebNode* nodeData(EditVert *eve)
+{
+	return ((VertexData*)eve->tmp.p)->n;
+}
+
+void nodeSetData(EditVert *eve, ReebNode *n)
+{
+	((VertexData*)eve->tmp.p)->n = n;
+}
+
+void REEB_freeArc(BArc *barc)
+{
+	ReebArc *arc = (ReebArc*)barc;
+	BLI_freelistN(&arc->edges);
+	
+	if (arc->buckets)
+		MEM_freeN(arc->buckets);
+		
+	if (arc->faces)
+		BLI_ghash_free(arc->faces, NULL, NULL);
+	
+	MEM_freeN(arc);
+}
+
+void REEB_freeGraph(ReebGraph *rg)
+{
+	ReebArc *arc;
+	ReebNode *node;
+	
+	// free nodes
+	for( node = rg->nodes.first; node; node = node->next )
+	{
+		BLI_freeNode((BGraph*)rg, (BNode*)node);
+	}
+	BLI_freelistN(&rg->nodes);
+	
+	// free arcs
+	arc = rg->arcs.first;
+	while( arc )
+	{
+		ReebArc *next = arc->next;
+		REEB_freeArc((BArc*)arc);
+		arc = next;
+	}
+	
+	// free edge map
+	BLI_edgehash_free(rg->emap, NULL);
+	
+	/* free linked graph */
+	if (rg->link_up)
+	{
+		REEB_freeGraph(rg->link_up);
+	}
+	
+	MEM_freeN(rg);
+}
+
+ReebGraph * newReebGraph()
+{
+	ReebGraph *rg;
+	rg = MEM_callocN(sizeof(ReebGraph), "reeb graph");
+	
+	rg->totnodes = 0;
+	rg->emap = BLI_edgehash_new();
+	
+	
+	rg->free_arc = REEB_freeArc;
+	rg->free_node = NULL;
+	rg->radial_symmetry = REEB_RadialSymmetry;
+	rg->axial_symmetry = REEB_AxialSymmetry;
+	
+	return rg;
+}
+
+void BIF_flagMultiArcs(ReebGraph *rg, int flag)
+{
+	for ( ; rg; rg = rg->link_up)
+	{
+		BLI_flagArcs((BGraph*)rg, flag);
+	}
+}
+
+ReebNode * addNode(ReebGraph *rg, EditVert *eve)
+{
+	float weight;
+	ReebNode *node = NULL;
+	
+	weight = weightData(eve);
+	
+	node = MEM_callocN(sizeof(ReebNode), "reeb node");
+	
+	node->flag = 0; // clear flag on init
+	node->symmetry_level = 0;
+	node->arcs = NULL;
+	node->degree = 0;
+	node->weight = weight;
+	node->index = rg->totnodes;
+	VECCOPY(node->p, eve->co);	
+	
+	BLI_addtail(&rg->nodes, node);
+	rg->totnodes++;
+	
+	nodeSetData(eve, node);
+	
+	return node;
+}
+
+ReebNode * copyNode(ReebGraph *rg, ReebNode *node)
+{
+	ReebNode *cp_node = NULL;
+	
+	cp_node = MEM_callocN(sizeof(ReebNode), "reeb node copy");
+	
+	memcpy(cp_node, node, sizeof(ReebNode));
+	
+	cp_node->prev = NULL;
+	cp_node->next = NULL;
+	cp_node->arcs = NULL;
+	
+	cp_node->link_up = NULL;
+	cp_node->link_down = NULL;
+	
+	BLI_addtail(&rg->nodes, cp_node);
+	rg->totnodes++;
+	
+	return cp_node; 
+}
+
+void relinkNodes(ReebGraph *low_rg, ReebGraph *high_rg)
+{
+	ReebNode *low_node, *high_node;
+	
+	if (low_rg == NULL || high_rg == NULL)
+	{
+		return;
+	}
+	
+	for (low_node = low_rg->nodes.first; low_node; low_node = low_node->next)
+	{
+		for (high_node = high_rg->nodes.first; high_node; high_node = high_node->next)
+		{
+			if (low_node->index == high_node->index)
+			{
+				high_node->link_down = low_node;
+				low_node->link_up = high_node;
+				break;
+			}
+		}
+	}
+}
+
+ReebNode *BIF_otherNodeFromIndex(ReebArc *arc, ReebNode *node)
+{
+	return (arc->head->index == node->index) ? arc->tail : arc->head;
+}
+
+ReebNode *BIF_NodeFromIndex(ReebArc *arc, ReebNode *node)
+{
+	return (arc->head->index == node->index) ? arc->head : arc->tail;
+}
+
+ReebNode *BIF_lowestLevelNode(ReebNode *node)
+{
+	while (node->link_down)
+	{
+		node = node->link_down;
+	}
+	
+	return node;
+}
+
+ReebArc * copyArc(ReebGraph *rg, ReebArc *arc)
+{
+	ReebArc *cp_arc;
+	ReebNode *node;
+	
+	cp_arc = MEM_callocN(sizeof(ReebArc), "reeb arc copy");
+
+	memcpy(cp_arc, arc, sizeof(ReebArc));
+	
+	cp_arc->link_up = arc;
+	
+	cp_arc->head = NULL;
+	cp_arc->tail = NULL;
+
+	cp_arc->prev = NULL;
+	cp_arc->next = NULL;
+
+	cp_arc->edges.first = NULL;
+	cp_arc->edges.last = NULL;
+
+	/* copy buckets */	
+	cp_arc->buckets = MEM_callocN(sizeof(EmbedBucket) * cp_arc->bcount, "embed bucket");
+	memcpy(cp_arc->buckets, arc->buckets, sizeof(EmbedBucket) * cp_arc->bcount);
+	
+	/* copy faces map */
+	cp_arc->faces = BLI_ghash_new(BLI_ghashutil_ptrhash, BLI_ghashutil_ptrcmp);
+	mergeArcFaces(rg, cp_arc, arc);
+	
+	/* find corresponding head and tail */
+	for (node = rg->nodes.first; node && (cp_arc->head == NULL || cp_arc->tail == NULL); node = node->next)
+	{
+		if (node->index == arc->head->index)
+		{
+			cp_arc->head = node;
+		}
+		else if (node->index == arc->tail->index)
+		{
+			cp_arc->tail = node;
+		}
+	}
+	
+	BLI_addtail(&rg->arcs, cp_arc);
+	
+	return cp_arc;
+}
+
+ReebGraph * copyReebGraph(ReebGraph *rg, int level)
+{
+	ReebNode *node;
+	ReebArc *arc;
+	ReebGraph *cp_rg = newReebGraph();
+	
+	cp_rg->resolution = rg->resolution;
+	cp_rg->length = rg->length;
+	cp_rg->link_up = rg;
+	cp_rg->multi_level = level;
+
+	/* Copy nodes */	
+	for (node = rg->nodes.first; node; node = node->next)
+	{
+		ReebNode *cp_node = copyNode(cp_rg, node);
+		cp_node->multi_level = level;
+	}
+	
+	/* Copy arcs */
+	for (arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		copyArc(cp_rg, arc);
+	}
+	
+	BLI_buildAdjacencyList((BGraph*)cp_rg);
+	
+	return cp_rg;
+}
+
+ReebGraph *BIF_graphForMultiNode(ReebGraph *rg, ReebNode *node)
+{
+	ReebGraph *multi_rg = rg;
+	
+	while(multi_rg && multi_rg->multi_level != node->multi_level)
+	{
+		multi_rg = multi_rg->link_up;
+	}
+	
+	return multi_rg;
+}
+
+ReebEdge * copyEdge(ReebEdge *edge)
+{
+	ReebEdge *newEdge = NULL;
+	
+	newEdge = MEM_callocN(sizeof(ReebEdge), "reeb edge");
+	memcpy(newEdge, edge, sizeof(ReebEdge));
+	
+	newEdge->next = NULL;
+	newEdge->prev = NULL;
+	
+	return newEdge;
+}
+
+void printArc(ReebArc *arc)
+{
+	ReebEdge *edge;
+	ReebNode *head = (ReebNode*)arc->head;
+	ReebNode *tail = (ReebNode*)arc->tail;
+	printf("arc: (%i) %f -> (%i) %f\n", head->index, head->weight, tail->index, tail->weight);
+	
+	for(edge = arc->edges.first; edge ; edge = edge->next)
+	{
+		printf("\tedge (%i, %i)\n", edge->v1->index, edge->v2->index);
+	}
+}
+
+void flipArc(ReebArc *arc)
+{
+	ReebNode *tmp;
+	tmp = arc->head;
+	arc->head = arc->tail;
+	arc->tail = tmp;
+	
+	flipArcBuckets(arc);
+}
+
+#ifdef DEBUG_REEB_NODE
+void NodeDegreeDecrement(ReebGraph *rg, ReebNode *node)
+{
+	node->degree--;
+
+//	if (node->degree == 0)
+//	{
+//		printf("would remove node %i\n", node->index);
+//	}
+}
+
+void NodeDegreeIncrement(ReebGraph *rg, ReebNode *node)
+{
+//	if (node->degree == 0)
+//	{
+//		printf("first connect node %i\n", node->index);
+//	}
+
+	node->degree++;
+}
+
+#else
+#define NodeDegreeDecrement(rg, node) {node->degree--;}
+#define NodeDegreeIncrement(rg, node) {node->degree++;}
+#endif
+
+void repositionNodes(ReebGraph *rg)
+{
+	BArc *arc = NULL;
+	BNode *node = NULL;
+	
+	// Reset node positions
+	for(node = rg->nodes.first; node; node = node->next)
+	{
+		node->p[0] = node->p[1] = node->p[2] = 0;
+	}
+	
+	for(arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		if (((ReebArc*)arc)->bcount > 0)
+		{
+			float p[3];
+			
+			VECCOPY(p, ((ReebArc*)arc)->buckets[0].p);
+			VecMulf(p, 1.0f / arc->head->degree);
+			VecAddf(arc->head->p, arc->head->p, p);
+			
+			VECCOPY(p, ((ReebArc*)arc)->buckets[((ReebArc*)arc)->bcount - 1].p);
+			VecMulf(p, 1.0f / arc->tail->degree);
+			VecAddf(arc->tail->p, arc->tail->p, p);
+		}
+	}
+}
+
+void verifyNodeDegree(ReebGraph *rg)
+{
+#ifdef DEBUG_REEB
+	ReebNode *node = NULL;
+	ReebArc *arc = NULL;
+
+	for(node = rg->nodes.first; node; node = node->next)
+	{
+		int count = 0;
+		for(arc = rg->arcs.first; arc; arc = arc->next)
+		{
+			if (arc->head == node || arc->tail == node)
+			{
+				count++;
+			}
+		}
+		if (count != node->degree)
+		{
+			printf("degree error in node %i: expected %i got %i\n", node->index, count, node->degree);
+		}
+		if (node->degree == 0)
+		{
+			printf("zero degree node %i with weight %f\n", node->index, node->weight);
+		}
+	}
+#endif
+}
+
+void verifyBucketsArc(ReebGraph *rg, ReebArc *arc)
+{
+	ReebNode *head = (ReebNode*)arc->head;
+	ReebNode *tail = (ReebNode*)arc->tail;
+
+	if (arc->bcount > 0)
+	{
+		int i;
+		for(i = 0; i < arc->bcount; i++)
+		{
+			if (arc->buckets[i].nv == 0)
+			{
+				printArc(arc);
+				printf("count error in bucket %i/%i\n", i+1, arc->bcount);
+			}
+		}
+		
+		if (ceil(head->weight) != arc->buckets[0].val)
+		{
+			printArc(arc);
+			printf("alloc error in first bucket: %f should be %f \n", arc->buckets[0].val, ceil(head->weight));
+		}
+		if (floor(tail->weight) != arc->buckets[arc->bcount - 1].val)
+		{
+			printArc(arc);
+			printf("alloc error in last bucket: %f should be %f \n", arc->buckets[arc->bcount - 1].val, floor(tail->weight));
+		}
+	}
+}
+
+void verifyBuckets(ReebGraph *rg)
+{
+#ifdef DEBUG_REEB
+	ReebArc *arc = NULL;
+	for(arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		verifyBucketsArc(rg, arc);
+	}
+#endif
+}
+
+void verifyFaces(ReebGraph *rg)
+{
+#ifdef DEBUG_REEB
+	int total = 0;
+	ReebArc *arc = NULL;
+	for(arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		total += BLI_ghash_size(arc->faces);
+	}
+	
+#endif
+}
+
+void verifyArcs(ReebGraph *rg)
+{
+	ReebArc *arc;
+	
+	for (arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		if (arc->head->weight > arc->tail->weight)
+		{
+			printf("FLIPPED ARC!\n");
+		}
+	}
+}
+
+void verifyMultiResolutionLinks(ReebGraph *rg, int level)
+{
+#ifdef DEBUG_REEB
+	ReebGraph *lower_rg = rg->link_up;
+	
+	if (lower_rg)
+	{
+		ReebArc *arc;
+		
+		for (arc = rg->arcs.first; arc; arc = arc->next)
+		{
+			if (BLI_findindex(&lower_rg->arcs, arc->link_up) == -1)
+			{
+				printf("missing arc %p for level %i\n", arc->link_up, level);
+				printf("Source arc was ---\n");
+				printArc(arc);
+
+				arc->link_up = NULL;
+			}
+		}
+		
+		
+		verifyMultiResolutionLinks(lower_rg, level + 1);
+	}
+#endif
+}
+/***************************************** BUCKET UTILS **********************************************/
+
+void addVertToBucket(EmbedBucket *b, float co[3])
+{
+	b->nv++;
+	VecLerpf(b->p, b->p, co, 1.0f / b->nv);
+}
+
+void removeVertFromBucket(EmbedBucket *b, float co[3])
+{
+	VecMulf(b->p, (float)b->nv);
+	VecSubf(b->p, b->p, co);
+	b->nv--;
+	VecMulf(b->p, 1.0f / (float)b->nv);
+}
+
+void mergeBuckets(EmbedBucket *bDst, EmbedBucket *bSrc)
+{
+	if (bDst->nv > 0 && bSrc->nv > 0)
+	{
+		bDst->nv += bSrc->nv;
+		VecLerpf(bDst->p, bDst->p, bSrc->p, (float)bSrc->nv / (float)(bDst->nv));
+	}
+	else if (bSrc->nv > 0)
+	{
+		bDst->nv = bSrc->nv;
+		VECCOPY(bDst->p, bSrc->p);
+	}
+}
+
+void mergeArcBuckets(ReebArc *aDst, ReebArc *aSrc, float start, float end)
+{
+	if (aDst->bcount > 0 && aSrc->bcount > 0)
+	{
+		int indexDst = 0, indexSrc = 0;
+		
+		start = MAX3(start, aDst->buckets[0].val, aSrc->buckets[0].val);
+		
+		while(indexDst < aDst->bcount && aDst->buckets[indexDst].val < start)
+		{
+			indexDst++;
+		}
+
+		while(indexSrc < aSrc->bcount && aSrc->buckets[indexSrc].val < start)
+		{
+			indexSrc++;
+		}
+		
+		for( ;	indexDst < aDst->bcount &&
+				indexSrc < aSrc->bcount &&
+				aDst->buckets[indexDst].val <= end &&
+				aSrc->buckets[indexSrc].val <= end
+				
+			 ;	indexDst++, indexSrc++)
+		{
+			mergeBuckets(aDst->buckets + indexDst, aSrc->buckets + indexSrc);
+		}
+	}
+}
+
+void flipArcBuckets(ReebArc *arc)
+{
+	int i, j;
+	
+	for (i = 0, j = arc->bcount - 1; i < j; i++, j--)
+	{
+		EmbedBucket tmp;
+		
+		tmp = arc->buckets[i];
+		arc->buckets[i] = arc->buckets[j];
+		arc->buckets[j] = tmp;
+	}
+}
+
+int countArcBuckets(ReebArc *arc)
+{
+	return (int)(floor(arc->tail->weight) - ceil(arc->head->weight)) + 1;
+}
+
+void allocArcBuckets(ReebArc *arc)
+{
+	int i;
+	float start = ceil(arc->head->weight);
+	arc->bcount = countArcBuckets(arc);
+	
+	if (arc->bcount > 0)
+	{
+		arc->buckets = MEM_callocN(sizeof(EmbedBucket) * arc->bcount, "embed bucket");
+		
+		for(i = 0; i < arc->bcount; i++)
+		{
+			arc->buckets[i].val = start + i;
+		}
+	}
+	else
+	{
+		arc->buckets = NULL;
+	}
+	
+}
+
+void resizeArcBuckets(ReebArc *arc)
+{
+	EmbedBucket *oldBuckets = arc->buckets;
+	int oldBCount = arc->bcount;
+	
+	if (countArcBuckets(arc) == oldBCount)
+	{
+		return;
+	}
+	
+	allocArcBuckets(arc);
+	
+	if (oldBCount != 0 && arc->bcount != 0)
+	{
+		int oldStart = (int)oldBuckets[0].val;
+		int oldEnd = (int)oldBuckets[oldBCount - 1].val;
+		int newStart = (int)arc->buckets[0].val;
+		int newEnd = (int)arc->buckets[arc->bcount - 1].val;
+		int oldOffset = 0;
+		int newOffset = 0;
+		int len;
+		
+		if (oldStart < newStart)
+		{
+			oldOffset = newStart - oldStart;
+		}
+		else
+		{
+			newOffset = oldStart - newStart;
+		}
+		
+		len = MIN2(oldEnd - (oldStart + oldOffset) + 1, newEnd - (newStart - newOffset) + 1);
+		
+		memcpy(arc->buckets + newOffset, oldBuckets + oldOffset, len * sizeof(EmbedBucket)); 
+	}
+
+	if (oldBuckets != NULL)
+	{
+		MEM_freeN(oldBuckets);
+	}
+}
+
+void reweightBuckets(ReebArc *arc)
+{
+	int i;
+	float start = ceil((arc->head)->weight);
+	
+	if (arc->bcount > 0)
+	{
+		for(i = 0; i < arc->bcount; i++)
+		{
+			arc->buckets[i].val = start + i;
+		}
+	}
+}
+
+static void interpolateBuckets(ReebArc *arc, float *start_p, float *end_p, int start_index, int end_index)
+{
+	int total;
+	int j;
+	
+	total = end_index - start_index + 2;
+	
+	for (j = start_index; j <= end_index; j++)
+	{
+		EmbedBucket *empty = arc->buckets + j;
+		empty->nv = 1;
+		VecLerpf(empty->p, start_p, end_p, (float)(j - start_index + 1) / total);
+	}
+}
+
+void fillArcEmptyBuckets(ReebArc *arc)
+{
+	float *start_p, *end_p;
+	int start_index = 0, end_index = 0;
+	int missing = 0;
+	int i;
+	
+	start_p = arc->head->p;
+	
+	for(i = 0; i < arc->bcount; i++)
+	{
+		EmbedBucket *bucket = arc->buckets + i;
+		
+		if (missing)
+		{
+			if (bucket->nv > 0)
+			{
+				missing = 0;
+				
+				end_p = bucket->p;
+				end_index = i - 1;
+				
+				interpolateBuckets(arc, start_p, end_p, start_index, end_index);
+			}
+		}
+		else
+		{
+			if (bucket->nv == 0)
+			{
+				missing = 1;
+				
+				if (i > 0)
+				{
+					start_p = arc->buckets[i - 1].p;
+				}
+				start_index = i;
+			}
+		}
+	}
+	
+	if (missing)
+	{
+		end_p = arc->tail->p;
+		end_index = arc->bcount - 1;
+		
+		interpolateBuckets(arc, start_p, end_p, start_index, end_index);
+	}
+}
+
+static void ExtendArcBuckets(ReebArc *arc)
+{
+	ReebArcIterator arc_iter;
+	BArcIterator *iter = (BArcIterator*)&arc_iter;
+	EmbedBucket *last_bucket, *first_bucket;
+	float *previous = NULL;
+	float average_length = 0, length;
+	int padding_head = 0, padding_tail = 0;
+	
+	if (arc->bcount == 0)
+	{
+		return; /* failsafe, shouldn't happen */
+	}
+	
+	initArcIterator(iter, arc, arc->head);
+	IT_next(iter);
+	previous = iter->p;
+	
+	for (	IT_next(iter);
+			IT_stopped(iter) == 0;
+			previous = iter->p, IT_next(iter)
+		)
+	{
+		average_length += VecLenf(previous, iter->p);
+	}
+	average_length /= (arc->bcount - 1);
+	
+	first_bucket = arc->buckets;
+	last_bucket = arc->buckets + (arc->bcount - 1);
+	
+	length = VecLenf(first_bucket->p, arc->head->p);
+	if (length > 2 * average_length)
+	{
+		padding_head = (int)floor(length / average_length);
+	}
+
+	length = VecLenf(last_bucket->p, arc->tail->p);
+	if (length > 2 * average_length)
+	{
+		padding_tail = (int)floor(length / average_length);
+	}
+	
+	if (padding_head + padding_tail > 0)
+	{
+		EmbedBucket *old_buckets = arc->buckets;
+		
+		arc->buckets = MEM_callocN(sizeof(EmbedBucket) * (padding_head + arc->bcount + padding_tail), "embed bucket");
+		memcpy(arc->buckets + padding_head, old_buckets, arc->bcount * sizeof(EmbedBucket));
+		
+		arc->bcount = padding_head + arc->bcount + padding_tail;
+		
+		MEM_freeN(old_buckets);
+	}
+	
+	if (padding_head > 0)
+	{
+		interpolateBuckets(arc, arc->head->p, first_bucket->p, 0, padding_head);
+	}
+	
+	if (padding_tail > 0)
+	{
+		interpolateBuckets(arc, last_bucket->p, arc->tail->p, arc->bcount - padding_tail, arc->bcount - 1);
+	}
+}
+
+/* CALL THIS ONLY AFTER FILTERING, SINCE IT MESSES UP WEIGHT DISTRIBUTION */
+void extendGraphBuckets(ReebGraph *rg)
+{
+	ReebArc *arc;
+	
+	for (arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		ExtendArcBuckets(arc);
+	}
+}
+
+/**************************************** LENGTH CALCULATIONS ****************************************/
+
+void calculateArcLength(ReebArc *arc)
+{
+	ReebArcIterator arc_iter;
+	BArcIterator *iter = (BArcIterator*)&arc_iter;
+	float *vec0, *vec1;
+
+	arc->length = 0;
+	
+	initArcIterator(iter, arc, arc->head);
+
+	vec0 = arc->head->p;
+	vec1 = arc->head->p; /* in case there's no embedding */
+
+	while (IT_next(iter))	
+	{
+		vec1 = iter->p;
+		
+		arc->length += VecLenf(vec0, vec1);
+		
+		vec0 = vec1;
+	}
+	
+	arc->length += VecLenf(arc->tail->p, vec1);	
+}
+
+void calculateGraphLength(ReebGraph *rg)
+{
+	ReebArc *arc;
+	
+	for (arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		calculateArcLength(arc);
+	}
+}
+
+/**************************************** SYMMETRY HANDLING ******************************************/
+
+void REEB_RadialSymmetry(BNode* root_node, RadialArc* ring, int count)
+{
+	ReebNode *node = (ReebNode*)root_node;
+	float axis[3];
+	int i;
+	
+	VECCOPY(axis, root_node->symmetry_axis);
+	
+	/* first pass, merge incrementally */
+	for (i = 0; i < count - 1; i++)
+	{
+		ReebNode *node1, *node2;
+		ReebArc *arc1, *arc2;
+		float tangent[3];
+		float normal[3];
+		int j = i + 1;
+
+		VecAddf(tangent, ring[i].n, ring[j].n);
+		Crossf(normal, tangent, axis);
+		
+		node1 = (ReebNode*)BLI_otherNode(ring[i].arc, root_node);
+		node2 = (ReebNode*)BLI_otherNode(ring[j].arc, root_node);
+		
+		arc1 = (ReebArc*)ring[i].arc;
+		arc2 = (ReebArc*)ring[j].arc;
+
+		/* mirror first node and mix with the second */
+		BLI_mirrorAlongAxis(node1->p, root_node->p, normal);
+		VecLerpf(node2->p, node2->p, node1->p, 1.0f / (j + 1));
+		
+		/* Merge buckets
+		 * there shouldn't be any null arcs here, but just to be safe 
+		 * */
+		if (arc1->bcount > 0 && arc2->bcount > 0)
+		{
+			ReebArcIterator arc_iter1, arc_iter2;
+			BArcIterator *iter1 = (BArcIterator*)&arc_iter1;
+			BArcIterator *iter2 = (BArcIterator*)&arc_iter2;
+			EmbedBucket *bucket1 = NULL, *bucket2 = NULL;
+			
+			initArcIterator(iter1, arc1, (ReebNode*)root_node);
+			initArcIterator(iter2, arc2, (ReebNode*)root_node);
+			
+			bucket1 = IT_next(iter1);
+			bucket2 = IT_next(iter2);
+		
+			/* Make sure they both start at the same value */	
+			while(bucket1 && bucket2 && bucket1->val < bucket2->val)
+			{
+				bucket1 = IT_next(iter1);
+			}
+			
+			while(bucket1 && bucket2 && bucket2->val < bucket1->val)
+			{
+				bucket2 = IT_next(iter2);
+			}
+	
+	
+			for ( ;bucket1 && bucket2; bucket1 = IT_next(iter1), bucket2 = IT_next(iter2))
+			{
+				bucket2->nv += bucket1->nv; /* add counts */
+				
+				/* mirror on axis */
+				BLI_mirrorAlongAxis(bucket1->p, root_node->p, normal);
+				/* add bucket2 in bucket1 */
+				VecLerpf(bucket2->p, bucket2->p, bucket1->p, (float)bucket1->nv / (float)(bucket2->nv));
+			}
+		}
+	}
+	
+	/* second pass, mirror back on previous arcs */
+	for (i = count - 1; i > 0; i--)
+	{
+		ReebNode *node1, *node2;
+		ReebArc *arc1, *arc2;
+		float tangent[3];
+		float normal[3];
+		int j = i - 1;
+
+		VecAddf(tangent, ring[i].n, ring[j].n);
+		Crossf(normal, tangent, axis);
+		
+		node1 = (ReebNode*)BLI_otherNode(ring[i].arc, root_node);
+		node2 = (ReebNode*)BLI_otherNode(ring[j].arc, root_node);
+		
+		arc1 = (ReebArc*)ring[i].arc;
+		arc2 = (ReebArc*)ring[j].arc;
+
+		/* copy first node than mirror */
+		VECCOPY(node2->p, node1->p);
+		BLI_mirrorAlongAxis(node2->p, root_node->p, normal);
+		
+		/* Copy buckets
+		 * there shouldn't be any null arcs here, but just to be safe 
+		 * */
+		if (arc1->bcount > 0 && arc2->bcount > 0)
+		{
+			ReebArcIterator arc_iter1, arc_iter2;
+			BArcIterator *iter1 = (BArcIterator*)&arc_iter1;
+			BArcIterator *iter2 = (BArcIterator*)&arc_iter2;
+			EmbedBucket *bucket1 = NULL, *bucket2 = NULL;
+			
+			initArcIterator(iter1, arc1, node);
+			initArcIterator(iter2, arc2, node);
+			
+			bucket1 = IT_next(iter1);
+			bucket2 = IT_next(iter2);
+		
+			/* Make sure they both start at the same value */	
+			while(bucket1 && bucket1->val < bucket2->val)
+			{
+				bucket1 = IT_next(iter1);
+			}
+			
+			while(bucket2 && bucket2->val < bucket1->val)
+			{
+				bucket2 = IT_next(iter2);
+			}
+	
+	
+			for ( ;bucket1 && bucket2; bucket1 = IT_next(iter1), bucket2 = IT_next(iter2))
+			{
+				/* copy and mirror back to bucket2 */			
+				bucket2->nv = bucket1->nv;
+				VECCOPY(bucket2->p, bucket1->p);
+				BLI_mirrorAlongAxis(bucket2->p, node->p, normal);
+			}
+		}
+	}
+}
+
+void REEB_AxialSymmetry(BNode* root_node, BNode* node1, BNode* node2, struct BArc* barc1, BArc* barc2)
+{
+	ReebArc *arc1, *arc2;
+	float nor[3], p[3];
+
+	arc1 = (ReebArc*)barc1;
+	arc2 = (ReebArc*)barc2;
+
+	VECCOPY(nor, root_node->symmetry_axis);
+	
+	/* mirror node2 along axis */
+	VECCOPY(p, node2->p);
+	BLI_mirrorAlongAxis(p, root_node->p, nor);
+
+	/* average with node1 */
+	VecAddf(node1->p, node1->p, p);
+	VecMulf(node1->p, 0.5f);
+	
+	/* mirror back on node2 */
+	VECCOPY(node2->p, node1->p);
+	BLI_mirrorAlongAxis(node2->p, root_node->p, nor);
+	
+	/* Merge buckets
+	 * there shouldn't be any null arcs here, but just to be safe 
+	 * */
+	if (arc1->bcount > 0 && arc2->bcount > 0)
+	{
+		ReebArcIterator arc_iter1, arc_iter2;
+		BArcIterator *iter1 = (BArcIterator*)&arc_iter1;
+		BArcIterator *iter2 = (BArcIterator*)&arc_iter2;
+		EmbedBucket *bucket1 = NULL, *bucket2 = NULL;
+		
+		initArcIterator(iter1, arc1, (ReebNode*)root_node);
+		initArcIterator(iter2, arc2, (ReebNode*)root_node);
+		
+		bucket1 = IT_next(iter1);
+		bucket2 = IT_next(iter2);
+	
+		/* Make sure they both start at the same value */	
+		while(bucket1 && bucket1->val < bucket2->val)
+		{
+			bucket1 = IT_next(iter1);
+		}
+		
+		while(bucket2 && bucket2->val < bucket1->val)
+		{
+			bucket2 = IT_next(iter2);
+		}
+
+
+		for ( ;bucket1 && bucket2; bucket1 = IT_next(iter1), bucket2 = IT_next(iter2))
+		{
+			bucket1->nv += bucket2->nv; /* add counts */
+			
+			/* mirror on axis */
+			BLI_mirrorAlongAxis(bucket2->p, root_node->p, nor);
+			/* add bucket2 in bucket1 */
+			VecLerpf(bucket1->p, bucket1->p, bucket2->p, (float)bucket2->nv / (float)(bucket1->nv));
+
+			/* copy and mirror back to bucket2 */			
+			bucket2->nv = bucket1->nv;
+			VECCOPY(bucket2->p, bucket1->p);
+			BLI_mirrorAlongAxis(bucket2->p, root_node->p, nor);
+		}
+	}
+}
+
+/************************************** ADJACENCY LIST *************************************************/
+
+
+/****************************************** SMOOTHING **************************************************/
+
+void postprocessGraph(ReebGraph *rg, char mode)
+{
+	ReebArc *arc;
+	float fac1 = 0, fac2 = 1, fac3 = 0;
+
+	switch(mode)
+	{
+	case SKGEN_AVERAGE:
+		fac1 = fac2 = fac3 = 1.0f / 3.0f;
+		break;
+	case SKGEN_SMOOTH:
+		fac1 = fac3 = 0.25f;
+		fac2 = 0.5f;
+		break;
+	case SKGEN_SHARPEN:
+		fac1 = fac2 = -0.25f;
+		fac2 = 1.5f;
+		break;
+	default:
+//		XXX
+//		error("Unknown post processing mode");
+		return;
+	}
+	
+	for(arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		EmbedBucket *buckets = arc->buckets;
+		int bcount = arc->bcount;
+		int index;
+
+		for(index = 1; index < bcount - 1; index++)
+		{
+			VecLerpf(buckets[index].p, buckets[index].p, buckets[index - 1].p, fac1 / (fac1 + fac2));
+			VecLerpf(buckets[index].p, buckets[index].p, buckets[index + 1].p, fac3 / (fac1 + fac2 + fac3));
+		}
+	}
+}
+
+/********************************************SORTING****************************************************/
+
+int compareNodesWeight(void *vnode1, void *vnode2)
+{
+	ReebNode *node1 = (ReebNode*)vnode1;
+	ReebNode *node2 = (ReebNode*)vnode2;
+	
+	if (node1->weight < node2->weight)
+	{
+		return -1;
+	}
+	if (node1->weight > node2->weight)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+void sortNodes(ReebGraph *rg)
+{
+	BLI_sortlist(&rg->nodes, compareNodesWeight);
+}
+
+int compareArcsWeight(void *varc1, void *varc2)
+{
+	ReebArc *arc1 = (ReebArc*)varc1;
+	ReebArc *arc2 = (ReebArc*)varc2;
+	ReebNode *node1 = (ReebNode*)arc1->head; 
+	ReebNode *node2 = (ReebNode*)arc2->head; 
+	
+	if (node1->weight < node2->weight)
+	{
+		return -1;
+	}
+	if (node1->weight > node2->weight)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+void sortArcs(ReebGraph *rg)
+{
+	BLI_sortlist(&rg->arcs, compareArcsWeight);
+}
+/******************************************* JOINING ***************************************************/
+
+void reweightArc(ReebGraph *rg, ReebArc *arc, ReebNode *start_node, float start_weight)
+{
+	ReebNode *node;
+	float old_weight;
+	float end_weight = start_weight + ABS(arc->tail->weight - arc->head->weight);
+	int i;
+	
+	node = (ReebNode*)BLI_otherNode((BArc*)arc, (BNode*)start_node);
+	
+	/* prevent backtracking */
+	if (node->flag == 1)
+	{
+		return;
+	}
+
+	if (arc->tail == start_node)
+	{
+		flipArc(arc);
+	}
+	
+	start_node->flag = 1;
+	
+	for (i = 0; i < node->degree; i++)
+	{
+		ReebArc *next_arc = node->arcs[i];
+		
+		reweightArc(rg, next_arc, node, end_weight);
+	}
+
+	/* update only if needed */	
+	if (arc->head->weight != start_weight || arc->tail->weight != end_weight)
+	{
+		old_weight = arc->head->weight; /* backup head weight, other arcs need it intact, it will be fixed by the source arc */
+		
+		arc->head->weight = start_weight;
+		arc->tail->weight = end_weight;
+		
+		reweightBuckets(arc);
+		resizeArcBuckets(arc);
+		fillArcEmptyBuckets(arc);
+		
+		arc->head->weight = old_weight;
+	}
+} 
+
+void reweightSubgraph(ReebGraph *rg, ReebNode *start_node, float start_weight)
+{
+	int i;
+		
+	BLI_flagNodes((BGraph*)rg, 0);
+
+	for (i = 0; i < start_node->degree; i++)
+	{
+		ReebArc *next_arc = start_node->arcs[i];
+		
+		reweightArc(rg, next_arc, start_node, start_weight);
+	}
+	start_node->weight = start_weight;
+}
+
+int joinSubgraphsEnds(ReebGraph *rg, float threshold, int nb_subgraphs)
+{
+	int joined = 0;
+	int subgraph;
+	
+	for (subgraph = 1; subgraph <= nb_subgraphs; subgraph++)
+	{
+		ReebNode *start_node, *end_node;
+		ReebNode *min_node_start = NULL, *min_node_end = NULL;
+		float min_distance = FLT_MAX;
+		
+		for (start_node = rg->nodes.first; start_node; start_node = start_node->next)
+		{
+			if (start_node->subgraph_index == subgraph && start_node->degree == 1)
+			{
+				
+				for (end_node = rg->nodes.first; end_node; end_node = end_node->next)
+				{
+					if (end_node->subgraph_index != subgraph)
+					{
+						float distance = VecLenf(start_node->p, end_node->p);
+						
+						if (distance < threshold && distance < min_distance)
+						{
+							min_distance = distance;
+							min_node_end = end_node;
+							min_node_start = start_node;
+						}
+					}
+				}
+			}
+		}
+		
+		end_node = min_node_end;
+		start_node = min_node_start;
+		
+		if (end_node && start_node)
+		{
+			ReebArc *start_arc, *end_arc;
+			int merging = 0;
+			
+			start_arc = start_node->arcs[0];
+			end_arc = end_node->arcs[0];
+			
+			if (start_arc->tail == start_node)
+			{
+				reweightSubgraph(rg, end_node, start_node->weight);
+				
+				start_arc->tail = end_node;
+				
+				merging = 1;
+			}
+			else if (start_arc->head == start_node)
+			{
+				reweightSubgraph(rg, start_node, end_node->weight);
+
+				start_arc->head = end_node;
+
+				merging = 2;
+			}
+			
+			if (merging)
+			{
+				BLI_ReflagSubgraph((BGraph*)rg, end_node->flag, subgraph);
+									
+				resizeArcBuckets(start_arc);
+				fillArcEmptyBuckets(start_arc);
+				
+				NodeDegreeIncrement(rg, end_node);
+				BLI_rebuildAdjacencyListForNode((BGraph*)rg, (BNode*)end_node);
+				
+				BLI_removeNode((BGraph*)rg, (BNode*)start_node);
+			}
+			
+			joined = 1;
+		}		
+	}
+	
+	return joined;
+}
+
+/* Reweight graph from smallest node, fix fliped arcs */
+void fixSubgraphsOrientation(ReebGraph *rg, int nb_subgraphs)
+{
+	int subgraph;
+	
+	for (subgraph = 1; subgraph <= nb_subgraphs; subgraph++)
+	{
+		ReebNode *node;
+		ReebNode *start_node = NULL;
+		
+		for (node = rg->nodes.first; node; node = node->next)
+		{
+			if (node->subgraph_index == subgraph)
+			{
+				if (start_node == NULL || node->weight < start_node->weight)
+				{
+					start_node = node;
+				}
+			}
+		}
+		
+		if (start_node)
+		{
+			reweightSubgraph(rg, start_node, start_node->weight);
+		}
+	}
+}
+
+int joinSubgraphs(ReebGraph *rg, float threshold)
+{
+	int nb_subgraphs;
+	int joined = 0;
+	
+	BLI_buildAdjacencyList((BGraph*)rg);
+	
+	if (BLI_isGraphCyclic((BGraph*)rg))
+	{
+		/* don't deal with cyclic graphs YET */
+		return 0;
+	}
+	
+	/* sort nodes before flagging subgraphs to make sure root node is subgraph 0 */
+	sortNodes(rg);
+	
+	nb_subgraphs = BLI_FlagSubgraphs((BGraph*)rg);
+	
+	/* Harmonic function can create flipped arcs, take the occasion to fix them */
+//	XXX
+//	if (G.scene->toolsettings->skgen_options & SKGEN_HARMONIC)
+//	{
+		fixSubgraphsOrientation(rg, nb_subgraphs);
+//	}
+
+	if (nb_subgraphs > 1)
+	{
+		joined |= joinSubgraphsEnds(rg, threshold, nb_subgraphs);
+		
+		if (joined)
+		{
+			removeNormalNodes(rg);
+			BLI_buildAdjacencyList((BGraph*)rg);
+		}
+	}
+	
+	return joined;
+}
+
+/****************************************** FILTERING **************************************************/
+
+float lengthArc(ReebArc *arc)
+{
+#if 0
+	ReebNode *head = (ReebNode*)arc->head;
+	ReebNode *tail = (ReebNode*)arc->tail;
+	
+	return tail->weight - head->weight;
+#else
+	return arc->length;
+#endif
+}
+
+int compareArcs(void *varc1, void *varc2)
+{
+	ReebArc *arc1 = (ReebArc*)varc1;
+	ReebArc *arc2 = (ReebArc*)varc2;
+	float len1 = lengthArc(arc1);
+	float len2 = lengthArc(arc2);
+	
+	if (len1 < len2)
+	{
+		return -1;
+	}
+	if (len1 > len2)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+void filterArc(ReebGraph *rg, ReebNode *newNode, ReebNode *removedNode, ReebArc * srcArc, int merging)
+{
+	ReebArc *arc = NULL, *nextArc = NULL;
+
+	if (merging)
+	{
+		/* first pass, merge buckets for arcs that spawned the two nodes into the source arc*/
+		for(arc = rg->arcs.first; arc; arc = arc->next)
+		{
+			if (arc->head == srcArc->head && arc->tail == srcArc->tail && arc != srcArc)
+			{
+				ReebNode *head = srcArc->head;
+				ReebNode *tail = srcArc->tail;
+				mergeArcBuckets(srcArc, arc, head->weight, tail->weight);
+			}
+		}
+	}
+
+	/* second pass, replace removedNode by newNode, remove arcs that are collapsed in a loop */
+	arc = rg->arcs.first;
+	while(arc)
+	{
+		nextArc = arc->next;
+		
+		if (arc->head == removedNode || arc->tail == removedNode)
+		{
+			if (arc->head == removedNode)
+			{
+				arc->head = newNode;
+			}
+			else
+			{
+				arc->tail = newNode;
+			}
+
+			// Remove looped arcs			
+			if (arc->head == arc->tail)
+			{
+				// v1 or v2 was already newNode, since we're removing an arc, decrement degree
+				NodeDegreeDecrement(rg, newNode);
+				
+				// If it's srcArc, it'll be removed later, so keep it for now
+				if (arc != srcArc)
+				{
+					BLI_remlink(&rg->arcs, arc);
+					REEB_freeArc((BArc*)arc);
+				}
+			}
+			else
+			{
+				/* flip arcs that flipped, can happen on diamond shapes, mostly on null arcs */
+				if (arc->head->weight > arc->tail->weight)
+				{
+					flipArc(arc);
+				}
+				//newNode->degree++; // incrementing degree since we're adding an arc
+				NodeDegreeIncrement(rg, newNode);
+				mergeArcFaces(rg, arc, srcArc);
+
+				if (merging)
+				{
+					ReebNode *head = arc->head;
+					ReebNode *tail = arc->tail;
+
+					// resize bucket list
+					resizeArcBuckets(arc);
+					mergeArcBuckets(arc, srcArc, head->weight, tail->weight);
+					
+					/* update length */
+					arc->length += srcArc->length;
+				}
+			}
+		}
+		
+		arc = nextArc;
+	}
+}
+
+void filterNullReebGraph(ReebGraph *rg)
+{
+	ReebArc *arc = NULL, *nextArc = NULL;
+	
+	arc = rg->arcs.first;
+	while(arc)
+	{
+		nextArc = arc->next;
+		// Only collapse arcs too short to have any embed bucket
+		if (arc->bcount == 0)
+		{
+			ReebNode *newNode = (ReebNode*)arc->head;
+			ReebNode *removedNode = (ReebNode*)arc->tail;
+			float blend;
+			
+			blend = (float)newNode->degree / (float)(newNode->degree + removedNode->degree); // blending factors
+			
+			VecLerpf(newNode->p, removedNode->p, newNode->p, blend);
+			
+			filterArc(rg, newNode, removedNode, arc, 0);
+
+			// Reset nextArc, it might have changed
+			nextArc = arc->next;
+			
+			BLI_remlink(&rg->arcs, arc);
+			REEB_freeArc((BArc*)arc);
+			
+			BLI_removeNode((BGraph*)rg, (BNode*)removedNode);
+		}
+		
+		arc = nextArc;
+	}
+}
+
+int filterInternalExternalReebGraph(ReebGraph *rg, float threshold_internal, float threshold_external)
+{
+	ReebArc *arc = NULL, *nextArc = NULL;
+	int value = 0;
+	
+	BLI_sortlist(&rg->arcs, compareArcs);
+	
+	for (arc = rg->arcs.first; arc; arc = nextArc)
+	{
+		nextArc = arc->next;
+
+		// Only collapse non-terminal arcs that are shorter than threshold
+		if (threshold_internal > 0 && arc->head->degree > 1 && arc->tail->degree > 1 && (lengthArc(arc) < threshold_internal))
+		{
+			ReebNode *newNode = NULL;
+			ReebNode *removedNode = NULL;
+			
+			/* Always remove lower node, so arcs don't flip */
+			newNode = arc->head;
+			removedNode = arc->tail;
+
+			filterArc(rg, newNode, removedNode, arc, 1);
+
+			// Reset nextArc, it might have changed
+			nextArc = arc->next;
+			
+			BLI_remlink(&rg->arcs, arc);
+			REEB_freeArc((BArc*)arc);
+			
+			BLI_removeNode((BGraph*)rg, (BNode*)removedNode);
+			value = 1;
+		}
+		
+		// Only collapse terminal arcs that are shorter than threshold
+		else if (threshold_external > 0 && (arc->head->degree == 1 || arc->tail->degree == 1) && (lengthArc(arc) < threshold_external))
+		{
+			ReebNode *terminalNode = NULL;
+			ReebNode *middleNode = NULL;
+			ReebNode *removedNode = NULL;
+			
+			// Assign terminal and middle nodes
+			if (arc->head->degree == 1)
+			{
+				terminalNode = arc->head;
+				middleNode = arc->tail;
+			}
+			else
+			{
+				terminalNode = arc->tail;
+				middleNode = arc->head;
+			}
+			
+			if (middleNode->degree == 2 && middleNode != rg->nodes.first)
+			{
+#if 1
+				// If middle node is a normal node, it will be removed later
+				// Only if middle node is not the root node
+				/* USE THIS IF YOU WANT TO PROLONG ARCS TO THEIR TERMINAL NODES
+				 * FOR HANDS, THIS IS NOT THE BEST RESULT 
+				 * */
+				continue;
+#else
+				removedNode = terminalNode;
+
+				// removing arc, so we need to decrease the degree of the remaining node
+				NodeDegreeDecrement(rg, middleNode);
+#endif
+			}
+			// Otherwise, just plain remove of the arc
+			else
+			{
+				removedNode = terminalNode;
+
+				// removing arc, so we need to decrease the degree of the remaining node
+				NodeDegreeDecrement(rg, middleNode);
+			}
+
+			// Reset nextArc, it might have changed
+			nextArc = arc->next;
+			
+			BLI_remlink(&rg->arcs, arc);
+			REEB_freeArc((BArc*)arc);
+			
+			BLI_removeNode((BGraph*)rg, (BNode*)removedNode);
+			value = 1;
+		}
+	}
+	
+	return value;
+}
+
+int filterCyclesReebGraph(ReebGraph *rg, float distance_threshold)
+{
+	ReebArc *arc1, *arc2;
+	ReebArc *next2;
+	int filtered = 0;
+	
+	for (arc1 = rg->arcs.first; arc1; arc1 = arc1->next)
+	{
+		for (arc2 = arc1->next; arc2; arc2 = next2)
+		{
+			next2 = arc2->next;
+			if (arc1 != arc2 && arc1->head == arc2->head && arc1->tail == arc2->tail)
+			{
+				mergeArcEdges(rg, arc1, arc2, MERGE_APPEND);
+				mergeArcFaces(rg, arc1, arc2);
+				mergeArcBuckets(arc1, arc2, arc1->head->weight, arc1->tail->weight);
+
+				NodeDegreeDecrement(rg, arc1->head);
+				NodeDegreeDecrement(rg, arc1->tail);
+
+				BLI_remlink(&rg->arcs, arc2);
+				REEB_freeArc((BArc*)arc2);
+				
+				filtered = 1;
+			}
+		}
+	}
+	
+	return filtered;
+}
+
+int filterSmartReebGraph(ReebGraph *rg, float threshold)
+{
+	ReebArc *arc = NULL, *nextArc = NULL;
+	int value = 0;
+	
+	#if 0 //XXX
+	BLI_sortlist(&rg->arcs, compareArcs);
+
+#ifdef DEBUG_REEB
+	{	
+		EditFace *efa;
+		for(efa=G.editMesh->faces.first; efa; efa=efa->next) {
+			efa->tmp.fp = -1;
+		}
+	}
+#endif
+
+	arc = rg->arcs.first;
+	while(arc)
+	{
+		nextArc = arc->next;
+		
+		/* need correct normals and center */
+		recalc_editnormals();
+
+		// Only test terminal arcs
+		if (arc->head->degree == 1 || arc->tail->degree == 1)
+		{
+			GHashIterator ghi;
+			int merging = 0;
+			int total = BLI_ghash_size(arc->faces);
+			float avg_angle = 0;
+			float avg_vec[3] = {0,0,0};
+			
+			for(BLI_ghashIterator_init(&ghi, arc->faces);
+				!BLI_ghashIterator_isDone(&ghi);
+				BLI_ghashIterator_step(&ghi))
+			{
+				EditFace *efa = BLI_ghashIterator_getValue(&ghi);
+
+#if 0
+				ReebArcIterator arc_iter;
+				BArcIterator *iter = (BArcIterator*)&arc_iter;
+				EmbedBucket *bucket = NULL;
+				EmbedBucket *previous = NULL;
+				float min_distance = -1;
+				float angle = 0;
+		
+				initArcIterator(iter, arc, arc->head);
+		
+				bucket = nextBucket(iter);
+				
+				while (bucket != NULL)
+				{
+					float *vec0 = NULL;
+					float *vec1 = bucket->p;
+					float midpoint[3], tangent[3];
+					float distance;
+		
+					/* first bucket. Previous is head */
+					if (previous == NULL)
+					{
+						vec0 = arc->head->p;
+					}
+					/* Previous is a valid bucket */
+					else
+					{
+						vec0 = previous->p;
+					}
+					
+					VECCOPY(midpoint, vec1);
+					
+					distance = VecLenf(midpoint, efa->cent);
+					
+					if (min_distance == -1 || distance < min_distance)
+					{
+						min_distance = distance;
+					
+						VecSubf(tangent, vec1, vec0);
+						Normalize(tangent);
+						
+						angle = Inpf(tangent, efa->n);
+					}
+					
+					previous = bucket;
+					bucket = nextBucket(iter);
+				}
+				
+				avg_angle += saacos(fabs(angle));
+#ifdef DEBUG_REEB
+				efa->tmp.fp = saacos(fabs(angle));
+#endif
+#else
+				VecAddf(avg_vec, avg_vec, efa->n);		
+#endif
+			}
+
+
+#if 0			
+			avg_angle /= total;
+#else
+			VecMulf(avg_vec, 1.0 / total);
+			avg_angle = Inpf(avg_vec, avg_vec);
+#endif
+			
+			arc->angle = avg_angle;
+			
+			if (avg_angle > threshold)
+				merging = 1;
+			
+			if (merging)
+			{
+				ReebNode *terminalNode = NULL;
+				ReebNode *middleNode = NULL;
+				ReebNode *newNode = NULL;
+				ReebNode *removedNode = NULL;
+				int merging = 0;
+				
+				// Assign terminal and middle nodes
+				if (arc->head->degree == 1)
+				{
+					terminalNode = arc->head;
+					middleNode = arc->tail;
+				}
+				else
+				{
+					terminalNode = arc->tail;
+					middleNode = arc->head;
+				}
+				
+				// If middle node is a normal node, merge to terminal node
+				if (middleNode->degree == 2)
+				{
+					merging = 1;
+					newNode = terminalNode;
+					removedNode = middleNode;
+				}
+				// Otherwise, just plain remove of the arc
+				else
+				{
+					merging = 0;
+					newNode = middleNode;
+					removedNode = terminalNode;
+				}
+				
+				// Merging arc
+				if (merging)
+				{
+					filterArc(rg, newNode, removedNode, arc, 1);
+				}
+				else
+				{
+					// removing arc, so we need to decrease the degree of the remaining node
+					//newNode->degree--;
+					NodeDegreeDecrement(rg, newNode);
+				}
+	
+				// Reset nextArc, it might have changed
+				nextArc = arc->next;
+				
+				BLI_remlink(&rg->arcs, arc);
+				REEB_freeArc((BArc*)arc);
+				
+				BLI_freelinkN(&rg->nodes, removedNode);
+				value = 1;
+			}
+		}
+		
+		arc = nextArc;
+	}
+	
+	#endif
+	
+	return value;
+}
+
+void filterGraph(ReebGraph *rg, short options, float threshold_internal, float threshold_external)
+{
+	int done = 1;
+	
+	calculateGraphLength(rg);
+
+	if ((options & SKGEN_FILTER_EXTERNAL) == 0)
+	{
+		threshold_external = 0;
+	}
+
+	if ((options & SKGEN_FILTER_INTERNAL) == 0)
+	{
+		threshold_internal = 0;
+	}
+
+	if (threshold_internal > 0 || threshold_external > 0)
+	{ 
+		/* filter until there's nothing more to do */
+		while (done == 1)
+		{
+			done = 0; /* no work done yet */
+			
+			done = filterInternalExternalReebGraph(rg, threshold_internal, threshold_external);
+		}
+	}
+
+	if (options & SKGEN_FILTER_SMART)
+	{
+		filterSmartReebGraph(rg, 0.5);
+		filterCyclesReebGraph(rg, 0.5);
+	}
+
+	repositionNodes(rg);
+
+	/* Filtering might have created degree 2 nodes, so remove them */
+	removeNormalNodes(rg);
+}
+
+void finalizeGraph(ReebGraph *rg, char passes, char method)
+{
+	int i;
+	
+	BLI_buildAdjacencyList((BGraph*)rg);
+
+	sortNodes(rg);
+	
+	sortArcs(rg);
+	
+	for(i = 0; i <  passes; i++)
+	{
+		postprocessGraph(rg, method);
+	}
+	
+	extendGraphBuckets(rg);
+}
+
+/************************************** WEIGHT SPREADING ***********************************************/
+
+int compareVerts( const void* a, const void* b )
+{
+	EditVert *va = *(EditVert**)a;
+	EditVert *vb = *(EditVert**)b;
+	int value = 0;
+	
+	if (weightData(va) < weightData(vb))
+	{
+		value = -1;
+	}
+	else if (weightData(va) > weightData(vb))
+	{
+		value = 1;
+	}
+
+	return value;		
+}
+
+void spreadWeight(EditMesh *em)
+{
+	EditVert **verts, *eve;
+	float lastWeight = 0.0f;
+	int totvert = BLI_countlist(&em->verts);
+	int i;
+	int work_needed = 1;
+	
+	verts = MEM_callocN(sizeof(EditVert*) * totvert, "verts array");
+	
+	for(eve = em->verts.first, i = 0; eve; eve = eve->next, i++)
+	{
+		verts[i] = eve;
+	}
+	
+	while(work_needed == 1)
+	{
+		work_needed = 0;
+		qsort(verts, totvert, sizeof(EditVert*), compareVerts);
+		
+		for(i = 0; i < totvert; i++)
+		{
+			eve = verts[i];
+			
+			if (i == 0 || (weightData(eve) - lastWeight) > FLT_EPSILON)
+			{
+				lastWeight = weightData(eve);
+			}
+			else
+			{
+				work_needed = 1;
+				weightSetData(eve, lastWeight + FLT_EPSILON * 2);
+				lastWeight = weightData(eve);
+			}
+		}
+	}
+	
+	MEM_freeN(verts);
+}
+
+/******************************************** EXPORT ***************************************************/
+
+void exportNode(FILE *f, char *text, ReebNode *node)
+{
+	fprintf(f, "%s i:%i w:%f d:%i %f %f %f\n", text, node->index, node->weight, node->degree, node->p[0], node->p[1], node->p[2]);
+}
+
+void REEB_exportGraph(ReebGraph *rg, int count)
+{
+	ReebArc *arc;
+	char filename[128];
+	FILE *f;
+	
+	if (count == -1)
+	{
+		sprintf(filename, "test.txt");
+	}
+	else
+	{
+		sprintf(filename, "test%05i.txt", count);
+	}
+	f = fopen(filename, "w");
+
+	for(arc = rg->arcs.first; arc; arc = arc->next)
+	{
+		int i;
+		float p[3];
+		
+		exportNode(f, "v1", arc->head);
+		
+		for(i = 0; i < arc->bcount; i++)
+		{
+			fprintf(f, "b nv:%i %f %f %f\n", arc->buckets[i].nv, arc->buckets[i].p[0], arc->buckets[i].p[1], arc->buckets[i].p[2]);
+		}
+		
+		VecAddf(p, arc->tail->p, arc->head->p);
+		VecMulf(p, 0.5f);
+		
+		fprintf(f, "angle %0.3f %0.3f %0.3f %0.3f %i\n", p[0], p[1], p[2], arc->angle, BLI_ghash_size(arc->faces));
+		exportNode(f, "v2", arc->tail);
+	}	
+	
+	fclose(f);
+}
+
+/***************************************** MAIN ALGORITHM **********************************************/
+
+/* edges alone will create zero degree nodes, use this function to remove them */
+void removeZeroNodes(ReebGraph *rg)
+{
+	ReebNode *node, *next_node;
+	
+	for (node = rg->nodes.first; node; node = next_node)
+	{
+		next_node = node->next;
+		
+		if (node->degree == 0)
+		{
+			BLI_removeNode((BGraph*)rg, (BNode*)node);
+		}
+	}
+}
+
+void removeNormalNodes(ReebGraph *rg)
+{
+	ReebArc *arc, *nextArc;
+	
+	// Merge degree 2 nodes
+	for(arc = rg->arcs.first; arc; arc = nextArc)
+	{
+		nextArc = arc->next;
+		
+		while (arc->head->degree == 2 || arc->tail->degree == 2)
+		{
+			// merge at v1
+			if (arc->head->degree == 2)
+			{
+				ReebArc *connectedArc = (ReebArc*)BLI_findConnectedArc((BGraph*)rg, (BArc*)arc, (BNode*)arc->head);
+
+				/* If arcs are one after the other */
+				if (arc->head == connectedArc->tail)
+				{		
+					/* remove furthest arc */		
+					if (arc->tail->weight < connectedArc->head->weight)
+					{
+						mergeConnectedArcs(rg, arc, connectedArc);
+						nextArc = arc->next;
+					}
+					else
+					{
+						mergeConnectedArcs(rg, connectedArc, arc);
+						break; /* arc was removed, move to next */
+					}
+				}
+				/* Otherwise, arcs are side by side */
+				else
+				{
+					/* Don't do anything, we need to keep the lowest node, even if degree 2 */
+					break;
+				}
+			}
+			
+			// merge at v2
+			if (arc->tail->degree == 2)
+			{
+				ReebArc *connectedArc = (ReebArc*)BLI_findConnectedArc((BGraph*)rg, (BArc*)arc, (BNode*)arc->tail);
+				
+				/* If arcs are one after the other */
+				if (arc->tail == connectedArc->head)
+				{				
+					/* remove furthest arc */		
+					if (arc->head->weight < connectedArc->tail->weight)
+					{
+						mergeConnectedArcs(rg, arc, connectedArc);
+						nextArc = arc->next;
+					}
+					else
+					{
+						mergeConnectedArcs(rg, connectedArc, arc);
+						break; /* arc was removed, move to next */
+					}
+				}
+				/* Otherwise, arcs are side by side */
+				else
+				{
+					/* Don't do anything, we need to keep the lowest node, even if degree 2 */
+					break;
+				}
+			}
+		}
+	}
+	
+}
+
+int edgeEquals(ReebEdge *e1, ReebEdge *e2)
+{
+	return (e1->v1 == e2->v1 && e1->v2 == e2->v2);
+}
+
+ReebArc *nextArcMappedToEdge(ReebArc *arc, ReebEdge *e)
+{
+	ReebEdge *nextEdge = NULL;
+	ReebEdge *edge = NULL;
+	ReebArc *result = NULL;
+
+	/* Find the ReebEdge in the edge list */
+	for(edge = arc->edges.first; edge && !edgeEquals(edge, e); edge = edge->next)
+	{	}
+	
+	nextEdge = edge->nextEdge;
+	
+	if (nextEdge != NULL)
+	{
+		result = nextEdge->arc;
+	}
+
+	return result;
+}
+
+void addFacetoArc(ReebArc *arc, EditFace *efa)
+{
+	BLI_ghash_insert(arc->faces, efa, efa);
+}
+
+void mergeArcFaces(ReebGraph *rg, ReebArc *aDst, ReebArc *aSrc)
+{
+	GHashIterator ghi;
+	
+	for(BLI_ghashIterator_init(&ghi, aSrc->faces);
+		!BLI_ghashIterator_isDone(&ghi);
+		BLI_ghashIterator_step(&ghi))
+	{
+		EditFace *efa = BLI_ghashIterator_getValue(&ghi);
+		BLI_ghash_insert(aDst->faces, efa, efa);
+	}
+} 
+
+void mergeArcEdges(ReebGraph *rg, ReebArc *aDst, ReebArc *aSrc, MergeDirection direction)
+{
+	ReebEdge *e = NULL;
+	
+	if (direction == MERGE_APPEND)
+	{
+		for(e = aSrc->edges.first; e; e = e->next)
+		{
+			e->arc = aDst; // Edge is stolen by new arc
+		}
+		
+		addlisttolist(&aDst->edges , &aSrc->edges);
+	}
+	else
+	{
+		for(e = aSrc->edges.first; e; e = e->next)
+		{
+			ReebEdge *newEdge = copyEdge(e);
+
+			newEdge->arc = aDst;
+			
+			BLI_addtail(&aDst->edges, newEdge);
+			
+			if (direction == MERGE_LOWER)
+			{
+				void **p = BLI_edgehash_lookup_p(rg->emap, e->v1->index, e->v2->index);
+				
+				newEdge->nextEdge = e;
+
+				// if edge was the first in the list, point the edit edge to the new reeb edge instead.							
+				if (*p == e)
+				{
+					*p = (void*)newEdge;
+				}
+				// otherwise, advance in the list until the predecessor is found then insert it there
+				else
+				{
+					ReebEdge *previous = (ReebEdge*)*p;
+					
+					while(previous->nextEdge != e)
+					{
+						previous = previous->nextEdge;
+					}
+					
+					previous->nextEdge = newEdge;
+				}
+			}
+			else
+			{
+				newEdge->nextEdge = e->nextEdge;
+				e->nextEdge = newEdge;
+			}
+		}
+	}
+} 
+
+// return 1 on full merge
+int mergeConnectedArcs(ReebGraph *rg, ReebArc *a0, ReebArc *a1)
+{
+	int result = 0;
+	ReebNode *removedNode = NULL;
+	
+	a0->length += a1->length;
+	
+	mergeArcEdges(rg, a0, a1, MERGE_APPEND);
+	mergeArcFaces(rg, a0, a1);
+	
+	// Bring a0 to the combine length of both arcs
+	if (a0->tail == a1->head)
+	{
+		removedNode = a0->tail;
+		a0->tail = a1->tail;
+	}
+	else if (a0->head == a1->tail)
+	{
+		removedNode = a0->head;
+		a0->head = a1->head;
+	}
+	
+	resizeArcBuckets(a0);
+	// Merge a1 in a0
+	mergeArcBuckets(a0, a1, a0->head->weight, a0->tail->weight);
+	
+	// remove a1 from graph
+	BLI_remlink(&rg->arcs, a1);
+	REEB_freeArc((BArc*)a1);
+	
+	BLI_removeNode((BGraph*)rg, (BNode*)removedNode);
+	result = 1;
+	
+	return result;
+}
+// return 1 on full merge
+int mergeArcs(ReebGraph *rg, ReebArc *a0, ReebArc *a1)
+{
+	int result = 0;
+	// TRIANGLE POINTS DOWN
+	if (a0->head->weight == a1->head->weight) // heads are the same
+	{
+		if (a0->tail->weight == a1->tail->weight) // tails also the same, arcs can be totally merge together
+		{
+			mergeArcEdges(rg, a0, a1, MERGE_APPEND);
+			mergeArcFaces(rg, a0, a1);
+			
+			mergeArcBuckets(a0, a1, a0->head->weight, a0->tail->weight);
+			
+			// Adjust node degree
+			//a1->head->degree--;
+			NodeDegreeDecrement(rg, a1->head);
+			//a1->tail->degree--;
+			NodeDegreeDecrement(rg, a1->tail);
+			
+			// remove a1 from graph
+			BLI_remlink(&rg->arcs, a1);
+			
+			REEB_freeArc((BArc*)a1);
+			result = 1;
+		}
+		else if (a0->tail->weight > a1->tail->weight) // a1->tail->weight is in the middle
+		{
+			mergeArcEdges(rg, a1, a0, MERGE_LOWER);
+			mergeArcFaces(rg, a1, a0);
+
+			// Adjust node degree
+			//a0->head->degree--;
+			NodeDegreeDecrement(rg, a0->head);
+			//a1->tail->degree++;
+			NodeDegreeIncrement(rg, a1->tail);
+			
+			mergeArcBuckets(a1, a0, a1->head->weight, a1->tail->weight);
+			a0->head = a1->tail;
+			resizeArcBuckets(a0);
+		}
+		else // a0>n2 is in the middle
+		{
+			mergeArcEdges(rg, a0, a1, MERGE_LOWER);
+			mergeArcFaces(rg, a0, a1);
+			
+			// Adjust node degree
+			//a1->head->degree--;
+			NodeDegreeDecrement(rg, a1->head);
+			//a0->tail->degree++;
+			NodeDegreeIncrement(rg, a0->tail);
+			
+			mergeArcBuckets(a0, a1, a0->head->weight, a0->tail->weight);
+			a1->head = a0->tail;
+			resizeArcBuckets(a1);
+		}
+	}
+	// TRIANGLE POINTS UP
+	else if (a0->tail->weight == a1->tail->weight) // tails are the same
+	{
+		if (a0->head->weight > a1->head->weight) // a0->head->weight is in the middle
+		{
+			mergeArcEdges(rg, a0, a1, MERGE_HIGHER);
+			mergeArcFaces(rg, a0, a1);
+			
+			// Adjust node degree
+			//a1->tail->degree--;
+			NodeDegreeDecrement(rg, a1->tail);
+			//a0->head->degree++;
+			NodeDegreeIncrement(rg, a0->head);
+			
+			mergeArcBuckets(a0, a1, a0->head->weight, a0->tail->weight);
+			a1->tail = a0->head;
+			resizeArcBuckets(a1);
+		}
+		else // a1->head->weight is in the middle
+		{
+			mergeArcEdges(rg, a1, a0, MERGE_HIGHER);
+			mergeArcFaces(rg, a1, a0);
+
+			// Adjust node degree
+			//a0->tail->degree--;
+			NodeDegreeDecrement(rg, a0->tail);
+			//a1->head->degree++;
+			NodeDegreeIncrement(rg, a1->head);
+
+			mergeArcBuckets(a1, a0, a1->head->weight, a1->tail->weight);
+			a0->tail = a1->head;
+			resizeArcBuckets(a0);
+		}
+	}
+	else
+	{
+		// Need something here (OR NOT)
+	}
+	
+	return result;
+}
+
+void glueByMergeSort(ReebGraph *rg, ReebArc *a0, ReebArc *a1, ReebEdge *e0, ReebEdge *e1)
+{
+	int total = 0;
+	while (total == 0 && a0 != a1 && a0 != NULL && a1 != NULL)
+	{
+		total = mergeArcs(rg, a0, a1);
+		
+		if (total == 0) // if it wasn't a total merge, go forward
+		{
+			if (a0->tail->weight < a1->tail->weight)
+			{
+				a0 = nextArcMappedToEdge(a0, e0);
+			}
+			else
+			{
+				a1 = nextArcMappedToEdge(a1, e1);
+			}
+		}
+	}
+}
+
+void mergePaths(ReebGraph *rg, ReebEdge *e0, ReebEdge *e1, ReebEdge *e2)
+{
+	ReebArc *a0, *a1, *a2;
+	a0 = e0->arc;
+	a1 = e1->arc;
+	a2 = e2->arc;
+	
+	glueByMergeSort(rg, a0, a1, e0, e1);
+	glueByMergeSort(rg, a0, a2, e0, e2);
+} 
+
+ReebEdge * createArc(ReebGraph *rg, ReebNode *node1, ReebNode *node2)
+{
+	ReebEdge *edge;
+	
+	edge = BLI_edgehash_lookup(rg->emap, node1->index, node2->index);
+	
+	// Only add existing edges that haven't been added yet
+	if (edge == NULL)
+	{
+		ReebArc *arc;
+		ReebNode *v1, *v2;
+		float len, offset;
+		int i;
+		
+		arc = MEM_callocN(sizeof(ReebArc), "reeb arc");
+		edge = MEM_callocN(sizeof(ReebEdge), "reeb edge");
+		
+		arc->flag = 0; // clear flag on init
+		arc->symmetry_level = 0;
+		arc->faces = BLI_ghash_new(BLI_ghashutil_ptrhash, BLI_ghashutil_ptrcmp);
+		
+		if (node1->weight <= node2->weight)
+		{
+			v1 = node1;	
+			v2 = node2;	
+		}
+		else
+		{
+			v1 = node2;	
+			v2 = node1;	
+		}
+		
+		arc->head = v1;
+		arc->tail = v2;
+		
+		// increase node degree
+		//v1->degree++;
+		NodeDegreeIncrement(rg, v1);
+		//v2->degree++;
+		NodeDegreeIncrement(rg, v2);
+
+		BLI_edgehash_insert(rg->emap, node1->index, node2->index, edge);
+		
+		edge->arc = arc;
+		edge->nextEdge = NULL;
+		edge->v1 = v1;
+		edge->v2 = v2;
+		
+		BLI_addtail(&rg->arcs, arc);
+		BLI_addtail(&arc->edges, edge);
+		
+		/* adding buckets for embedding */
+		allocArcBuckets(arc);
+		
+		offset = arc->head->weight;
+		len = arc->tail->weight - arc->head->weight;
+
+#if 0
+		/* This is the actual embedding filling described in the paper
+		 * the problem is that it only works with really dense meshes
+		 */
+		if (arc->bcount > 0)
+		{
+			addVertToBucket(&(arc->buckets[0]), arc->head->co);
+			addVertToBucket(&(arc->buckets[arc->bcount - 1]), arc->tail->co);
+		}
+#else
+		for(i = 0; i < arc->bcount; i++)
+		{
+			float co[3];
+			float f = (arc->buckets[i].val - offset) / len;
+			
+			VecLerpf(co, v1->p, v2->p, f);
+			addVertToBucket(&(arc->buckets[i]), co);
+		}
+#endif
+
+	}
+	
+	return edge;
+}
+
+void addTriangleToGraph(ReebGraph *rg, ReebNode * n1, ReebNode * n2, ReebNode * n3, EditFace *efa)
+{
+	ReebEdge *re1, *re2, *re3;
+	ReebEdge *e1, *e2, *e3;
+	float len1, len2, len3;
+	
+	re1 = createArc(rg, n1, n2);
+	re2 = createArc(rg, n2, n3);
+	re3 = createArc(rg, n3, n1);
+	
+	addFacetoArc(re1->arc, efa);
+	addFacetoArc(re2->arc, efa);
+	addFacetoArc(re3->arc, efa);
+	
+	len1 = (float)fabs(n1->weight - n2->weight);
+	len2 = (float)fabs(n2->weight - n3->weight);
+	len3 = (float)fabs(n3->weight - n1->weight);
+	
+	/* The rest of the algorithm assumes that e1 is the longest edge */
+	
+	if (len1 >= len2 && len1 >= len3)
+	{
+		e1 = re1;
+		e2 = re2;
+		e3 = re3;
+	}
+	else if (len2 >= len1 && len2 >= len3)
+	{
+		e1 = re2;
+		e2 = re1;
+		e3 = re3;
+	}
+	else
+	{
+		e1 = re3;
+		e2 = re2;
+		e3 = re1;
+	}
+	
+	/* And e2 is the lowest edge
+	 * If e3 is lower than e2, swap them
+	 */
+	if (e3->v1->weight < e2->v1->weight)
+	{
+		ReebEdge *etmp = e2;
+		e2 = e3;
+		e3 = etmp;
+	}
+	
+	
+	mergePaths(rg, e1, e2, e3);
+}
+
+ReebGraph * generateReebGraph(EditMesh *em, int subdivisions)
+{
+	ReebGraph *rg;
+	EditVert *eve;
+	EditFace *efa;
+	int index;
+	int totvert;
+	int totfaces;
+	
+#ifdef DEBUG_REEB
+	int countfaces = 0;
+#endif
+ 	
+	rg = newReebGraph();
+	
+	rg->resolution = subdivisions;
+	
+	totvert = BLI_countlist(&em->verts);
+	totfaces = BLI_countlist(&em->faces);
+	
+	renormalizeWeight(em, 1.0f);
+	
+	/* Spread weight to minimize errors */
+	spreadWeight(em);
+
+	renormalizeWeight(em, (float)rg->resolution);
+
+	/* Adding vertice */
+	for(index = 0, eve = em->verts.first; eve; eve = eve->next)
+	{
+		if (eve->h == 0)
+		{
+			addNode(rg, eve);
+			eve->f2 = 0;
+			index++;
+		}
+	}
+	
+	/* Adding face, edge per edge */
+	for(efa = em->faces.first; efa; efa = efa->next)
+	{
+		if (efa->h == 0)
+		{
+			ReebNode *n1, *n2, *n3;
+			
+			n1 = nodeData(efa->v1);
+			n2 = nodeData(efa->v2);
+			n3 = nodeData(efa->v3);
+			
+			addTriangleToGraph(rg, n1, n2, n3, efa);
+			
+			if (efa->v4)
+			{
+				ReebNode *n4 = nodeData(efa->v4);
+				addTriangleToGraph(rg, n1, n3, n4, efa);
+			}
+#ifdef DEBUG_REEB
+			countfaces++;
+			if (countfaces % 100 == 0)
+			{
+				printf("\rface %i of %i", countfaces, totfaces);
+			}
+#endif
+		}
+	}
+	
+	printf("\n");
+	
+	removeZeroNodes(rg);
+	
+	removeNormalNodes(rg);
+	
+	return rg;
+}
+
+/***************************************** WEIGHT UTILS **********************************************/
+
+void renormalizeWeight(EditMesh *em, float newmax)
+{
+	EditVert *eve;
+	float minimum, maximum, range;
+	
+	if (em == NULL || BLI_countlist(&em->verts) == 0)
+		return;
+
+	/* First pass, determine maximum and minimum */
+	eve = em->verts.first;
+	minimum = weightData(eve);
+	maximum = minimum;
+	for(eve = em->verts.first; eve; eve = eve->next)
+	{
+		maximum = MAX2(maximum, weightData(eve));
+		minimum = MIN2(minimum, weightData(eve));
+	}
+	
+	range = maximum - minimum;
+
+	/* Normalize weights */
+	for(eve = em->verts.first; eve; eve = eve->next)
+	{
+		float weight = (weightData(eve) - minimum) / range * newmax;
+		weightSetData(eve, weight);
+	}
+}
+
+
+int weightFromLoc(EditMesh *em, int axis)
+{
+	EditVert *eve;
+	
+	if (em == NULL || BLI_countlist(&em->verts) == 0 || axis < 0 || axis > 2)
+		return 0;
+
+	/* Copy coordinate in weight */
+	for(eve = em->verts.first; eve; eve = eve->next)
+	{
+		weightSetData(eve, eve->co[axis]);
+	}
+
+	return 1;
+}
+
+static float cotan_weight(float *v1, float *v2, float *v3)
+{
+	float a[3], b[3], c[3], clen;
+
+	VecSubf(a, v2, v1);
+	VecSubf(b, v3, v1);
+	Crossf(c, a, b);
+
+	clen = VecLength(c);
+
+	if (clen == 0.0f)
+		return 0.0f;
+	
+	return Inpf(a, b)/clen;
+}
+
+void addTriangle(EditVert *v1, EditVert *v2, EditVert *v3, long e1, long e2, long e3)
+{
+	/* Angle opposite e1 */
+	float t1= cotan_weight(v1->co, v2->co, v3->co) / e2;
+	
+	/* Angle opposite e2 */
+	float t2 = cotan_weight(v2->co, v3->co, v1->co) / e3;
+
+	/* Angle opposite e3 */
+	float t3 = cotan_weight(v3->co, v1->co, v2->co) / e1;
+	
+	int i1 = indexData(v1);
+	int i2 = indexData(v2);
+	int i3 = indexData(v3);
+	
+	nlMatrixAdd(i1, i1, t2+t3);
+	nlMatrixAdd(i2, i2, t1+t3);
+	nlMatrixAdd(i3, i3, t1+t2);
+
+	nlMatrixAdd(i1, i2, -t3);
+	nlMatrixAdd(i2, i1, -t3);
+
+	nlMatrixAdd(i2, i3, -t1);
+	nlMatrixAdd(i3, i2, -t1);
+
+	nlMatrixAdd(i3, i1, -t2);
+	nlMatrixAdd(i1, i3, -t2);
+}
+
+int weightToHarmonic(EditMesh *em, EdgeIndex *indexed_edges)
+{
+	NLboolean success;
+	EditVert *eve;
+	EditEdge *eed;
+	EditFace *efa;
+	int totvert = 0;
+	int index;
+	int rval;
+	
+	/* Find local extrema */
+	for(eve = em->verts.first; eve; eve = eve->next)
+	{
+		totvert++;
+	}
+
+	/* Solve with openNL */
+	
+	nlNewContext();
+
+	nlSolverParameteri(NL_NB_VARIABLES, totvert);
+
+	nlBegin(NL_SYSTEM);
+	
+	/* Find local extrema */
+	for(index = 0, eve = em->verts.first; eve; index++, eve = eve->next)
+	{
+		if (eve->h == 0)
+		{
+			EditEdge *eed;
+			int maximum = 1;
+			int minimum = 1;
+			
+			NextEdgeForVert(indexed_edges, -1); /* Reset next edge */
+			for(eed = NextEdgeForVert(indexed_edges, index); eed && (maximum || minimum); eed = NextEdgeForVert(indexed_edges, index))
+			{
+				EditVert *eve2;
+				
+				if (eed->v1 == eve)
+				{
+					eve2 = eed->v2;
+				}
+				else
+				{
+					eve2 = eed->v1;
+				}
+				
+				if (eve2->h == 0)
+				{
+					/* Adjacent vertex is bigger, not a local maximum */
+					if (weightData(eve2) > weightData(eve))
+					{
+						maximum = 0;
+					}
+					/* Adjacent vertex is smaller, not a local minimum */
+					else if (weightData(eve2) < weightData(eve))
+					{
+						minimum = 0;
+					}
+				}
+			}
+			
+			if (maximum || minimum)
+			{
+				float w = weightData(eve);
+				eve->f1 = 0;
+				nlSetVariable(0, index, w);
+				nlLockVariable(index);
+			}
+			else
+			{
+				eve->f1 = 1;
+			}
+		}
+	}
+	
+	nlBegin(NL_MATRIX);
+
+	/* Zero edge weight */
+	for(eed = em->edges.first; eed; eed = eed->next)
+	{
+		eed->tmp.l = 0;
+	}
+	
+	/* Add faces count to the edge weight */
+	for(efa = em->faces.first; efa; efa = efa->next)
+	{
+		if (efa->h == 0)
+		{
+			efa->e1->tmp.l++;
+			efa->e2->tmp.l++;
+			efa->e3->tmp.l++;
+			
+			if (efa->e4)
+			{
+				efa->e4->tmp.l++;
+			}
+		}
+	}
+
+	/* Add faces angle to the edge weight */
+	for(efa = em->faces.first; efa; efa = efa->next)
+	{
+		if (efa->h == 0)
+		{
+			if (efa->v4 == NULL)
+			{
+				addTriangle(efa->v1, efa->v2, efa->v3, efa->e1->tmp.l, efa->e2->tmp.l, efa->e3->tmp.l);
+			}
+			else
+			{
+				addTriangle(efa->v1, efa->v2, efa->v3, efa->e1->tmp.l, efa->e2->tmp.l, 2);
+				addTriangle(efa->v3, efa->v4, efa->v1, efa->e3->tmp.l, efa->e4->tmp.l, 2);
+			}
+		}
+	}
+	
+	nlEnd(NL_MATRIX);
+
+	nlEnd(NL_SYSTEM);
+
+	success = nlSolveAdvanced(NULL, NL_TRUE);
+
+	if (success)
+	{
+		rval = 1;
+		for(index = 0, eve = em->verts.first; eve; index++, eve = eve->next)
+		{
+			weightSetData(eve, nlGetVariable(0, index));
+		}
+	}
+	else
+	{
+		rval = 0;
+	}
+
+	nlDeleteContext(nlGetCurrent());
+
+	return rval;
+}
+
+
+EditEdge * NextEdgeForVert(EdgeIndex *indexed_edges, int index)
+{
+	static int offset = -1;
+	
+	/* Reset method, call with NULL mesh pointer */
+	if (index == -1)
+	{
+		offset = -1;
+		return NULL;
+	}
+	
+	/* first pass, start at the head of the list */
+	if (offset == -1)
+	{
+		offset = indexed_edges->offset[index];
+	}
+	/* subsequent passes, start on the next edge */
+	else
+	{
+		offset++;
+	}
+	
+	return indexed_edges->edges[offset];
+}
+
+void shortestPathsFromVert(EditMesh *em, EditVert *starting_vert, EdgeIndex *indexed_edges)
+{
+	Heap	 *edge_heap;
+	EditVert *current_eve = NULL;
+	EditEdge *eed = NULL;
+	EditEdge *select_eed = NULL;
+	
+	edge_heap = BLI_heap_new();
+	
+	current_eve = starting_vert;
+	
+	/* insert guard in heap, when that is returned, no more edges */
+	BLI_heap_insert(edge_heap, FLT_MAX, NULL);
+
+	/* Initialize edge flag */
+	for(eed= em->edges.first; eed; eed= eed->next)
+	{
+		eed->f1 = 0;
+	}
+	
+	while (BLI_heap_size(edge_heap) > 0)
+	{
+		float current_weight;
+		
+		current_eve->f1 = 1; /* mark vertex as selected */
+		
+		/* Add all new edges connected to current_eve to the list */
+		NextEdgeForVert(indexed_edges, -1); // Reset next edge
+		for(eed = NextEdgeForVert(indexed_edges, indexData(current_eve)); eed; eed = NextEdgeForVert(indexed_edges, indexData(current_eve)))
+		{ 
+			if (eed->f1 == 0)
+			{
+				BLI_heap_insert(edge_heap, weightData(current_eve) + eed->tmp.fp, eed);
+				eed->f1 = 1;
+			}
+		}
+		
+		/* Find next shortest edge with unselected verts */
+		do
+		{
+			current_weight = BLI_heap_node_value(BLI_heap_top(edge_heap));
+			select_eed = BLI_heap_popmin(edge_heap);
+		} while (select_eed != NULL && select_eed->v1->f1 != 0 && select_eed->v2->f1);
+		
+		if (select_eed != NULL)
+		{
+			select_eed->f1 = 2;
+			
+			if (select_eed->v1->f1 == 0) /* v1 is the new vertex */
+			{
+				current_eve = select_eed->v1;
+			}
+			else /* otherwise, it's v2 */
+			{
+				current_eve = select_eed->v2;
+			}
+			
+			weightSetData(current_eve, current_weight);
+		}
+	}
+	
+	BLI_heap_free(edge_heap, NULL);
+}
+
+void freeEdgeIndex(EdgeIndex *indexed_edges)
+{
+	MEM_freeN(indexed_edges->offset);
+	MEM_freeN(indexed_edges->edges);
+}
+
+void buildIndexedEdges(EditMesh *em, EdgeIndex *indexed_edges)
+{
+	EditVert *eve;
+	EditEdge *eed;
+	int totvert = 0;
+	int tot_indexed = 0;
+	int offset = 0;
+
+	totvert = BLI_countlist(&em->verts);
+
+	indexed_edges->offset = MEM_callocN(totvert * sizeof(int), "EdgeIndex offset");
+
+	for(eed = em->edges.first; eed; eed = eed->next)
+	{
+		if (eed->v1->h == 0 && eed->v2->h == 0)
+		{
+			tot_indexed += 2;
+			indexed_edges->offset[indexData(eed->v1)]++;
+			indexed_edges->offset[indexData(eed->v2)]++;
+		}
+	}
+	
+	tot_indexed += totvert;
+
+	indexed_edges->edges = MEM_callocN(tot_indexed * sizeof(EditEdge*), "EdgeIndex edges");
+
+	/* setting vert offsets */
+	for(eve = em->verts.first; eve; eve = eve->next)
+	{
+		if (eve->h == 0)
+		{
+			int d = indexed_edges->offset[indexData(eve)];
+			indexed_edges->offset[indexData(eve)] = offset;
+			offset += d + 1;
+		}
+	}
+
+	/* adding edges in array */
+	for(eed = em->edges.first; eed; eed= eed->next)
+	{
+		if (eed->v1->h == 0 && eed->v2->h == 0)
+		{
+			int i;
+			for (i = indexed_edges->offset[indexData(eed->v1)]; i < tot_indexed; i++)
+			{
+				if (indexed_edges->edges[i] == NULL)
+				{
+					indexed_edges->edges[i] = eed;
+					break;
+				}
+			}
+			
+			for (i = indexed_edges->offset[indexData(eed->v2)]; i < tot_indexed; i++)
+			{
+				if (indexed_edges->edges[i] == NULL)
+				{
+					indexed_edges->edges[i] = eed;
+					break;
+				}
+			}
+		}
+	}
+}
+
+int weightFromDistance(EditMesh *em, EdgeIndex *indexed_edges)
+{
+	EditVert *eve;
+	int totedge = 0;
+	int totvert = 0;
+	int vCount = 0;
+	
+	totvert = BLI_countlist(&em->verts);
+	
+	if (em == NULL || totvert == 0)
+	{
+		return 0;
+	}
+	
+	totedge = BLI_countlist(&em->edges);
+	
+	if (totedge == 0)
+	{
+		return 0;
+	}
+	
+	/* Initialize vertice flag and find at least one selected vertex */
+	for(eve = em->verts.first; eve; eve = eve->next)
+	{
+		eve->f1 = 0;
+		if (eve->f & SELECT)
+		{
+			vCount = 1;
+		}
+	}
+	
+	if (vCount == 0)
+	{
+		return 0; /* no selected vert, failure */
+	}
+	else
+	{
+		EditEdge *eed;
+		int allDone = 0;
+
+		/* Calculate edge weight */
+		for(eed = em->edges.first; eed; eed= eed->next)
+		{
+			if (eed->v1->h == 0 && eed->v2->h == 0)
+			{
+				eed->tmp.fp = VecLenf(eed->v1->co, eed->v2->co);
+			}
+		}
+
+		/* Apply dijkstra spf for each selected vert */
+		for(eve = em->verts.first; eve; eve = eve->next)
+		{
+			if (eve->f & SELECT)
+			{
+				shortestPathsFromVert(em, eve, indexed_edges);				
+			}
+		}
+		
+		/* connect unselected islands */
+		while (allDone == 0)
+		{
+			EditVert *selected_eve = NULL;
+			float selected_weight = 0;
+			float min_distance = FLT_MAX;
+			
+			allDone = 1;
+			
+			for (eve = em->verts.first; eve; eve = eve->next)
+			{
+				/* for every vertex visible that hasn't been processed yet */
+				if (eve->h == 0 && eve->f1 != 1)
+				{
+					EditVert *closest_eve;
+					
+					/* find the closest processed vertex */
+					for (closest_eve = em->verts.first; closest_eve; closest_eve = closest_eve->next)
+					{
+						/* vertex is already processed and distance is smaller than current minimum */
+						if (closest_eve->f1 == 1)
+						{
+							float distance = VecLenf(closest_eve->co, eve->co);
+							if (distance < min_distance)
+							{
+								min_distance = distance;
+								selected_eve = eve;
+								selected_weight = weightData(closest_eve);
+							}
+						}
+					}
+				}
+			}
+			
+			if (selected_eve)
+			{
+				allDone = 0;
+
+				weightSetData(selected_eve, selected_weight + min_distance);
+				shortestPathsFromVert(em, selected_eve, indexed_edges);
+			}
+		}
+	}
+
+	for(eve = em->verts.first; eve && vCount == 0; eve = eve->next)
+	{
+		if (eve->f1 == 0)
+		{
+			printf("vertex not reached\n");
+			break;
+		}
+	}
+	
+	return 1;
+}
+
+/****************************************** BUCKET ITERATOR **************************************************/
+
+static void* headNode(void *arg);
+static void* tailNode(void *arg);
+static void* nextBucket(void *arg);
+static void* nextNBucket(void *arg, int n);
+static void* peekBucket(void *arg, int n);
+static void* previousBucket(void *arg);
+static int   iteratorStopped(void *arg);
+
+static void initIteratorFct(ReebArcIterator *iter)
+{
+	iter->head = headNode;
+	iter->tail = tailNode;
+	iter->peek = peekBucket;
+	iter->next = nextBucket;
+	iter->nextN = nextNBucket;
+	iter->previous = previousBucket;
+	iter->stopped = iteratorStopped;	
+}
+
+static void setIteratorValues(ReebArcIterator *iter, EmbedBucket *bucket)
+{
+	if (bucket)
+	{
+		iter->p = bucket->p;
+		iter->no = bucket->no;
+	}
+	else
+	{
+		iter->p = NULL;
+		iter->no = NULL;
+	}
+}
+
+void initArcIterator(BArcIterator *arg, ReebArc *arc, ReebNode *head)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+
+	initIteratorFct(iter);
+	iter->arc = arc;
+	
+	if (head == arc->head)
+	{
+		iter->start = 0;
+		iter->end = arc->bcount - 1;
+		iter->stride = 1;
+	}
+	else
+	{
+		iter->start = arc->bcount - 1;
+		iter->end = 0;
+		iter->stride = -1;
+	}
+	
+	iter->length = arc->bcount;
+	
+	iter->index = -1;
+}
+
+void initArcIteratorStart(BArcIterator *arg, struct ReebArc *arc, struct ReebNode *head, int start)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+
+	initIteratorFct(iter);
+	iter->arc = arc;
+	
+	if (head == arc->head)
+	{
+		iter->start = start;
+		iter->end = arc->bcount - 1;
+		iter->stride = 1;
+	}
+	else
+	{
+		iter->start = arc->bcount - 1 - start;
+		iter->end = 0;
+		iter->stride = -1;
+	}
+	
+	iter->index = -1;
+	
+	iter->length = arc->bcount - start;
+
+	if (start >= arc->bcount)
+	{
+		iter->start = iter->end; /* stop iterator since it's past its end */
+	}
+}
+
+void initArcIterator2(BArcIterator *arg, ReebArc *arc, int start, int end)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+
+	initIteratorFct(iter);
+	iter->arc = arc;
+	
+	iter->start = start;
+	iter->end = end;
+	
+	if (end > start)
+	{
+		iter->stride = 1;
+	}
+	else
+	{
+		iter->stride = -1;
+	}
+
+	iter->index = -1;
+
+	iter->length = abs(iter->end - iter->start) + 1;
+}
+
+static void* headNode(void *arg)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+	ReebNode *node;
+	
+	if (iter->start < iter->end)
+	{
+		node = iter->arc->head;
+	}
+	else
+	{
+		node = iter->arc->tail;
+	}
+	
+	iter->p = node->p;
+	iter->no = node->no;
+	
+	return node;
+}
+
+static void* tailNode(void *arg)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+	ReebNode *node;
+	
+	if (iter->start < iter->end)
+	{
+		node = iter->arc->tail;
+	}
+	else
+	{
+		node = iter->arc->head;
+	}
+	
+	iter->p = node->p;
+	iter->no = node->no;
+	
+	return node;
+}
+
+static void* nextBucket(void *arg)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+	EmbedBucket *result = NULL;
+	
+	iter->index++;
+	
+	if (iter->index < iter->length)
+	{
+		result = &(iter->arc->buckets[iter->start + (iter->stride * iter->index)]);
+	}
+	
+	setIteratorValues(iter, result);
+	return result;
+}
+
+static void* nextNBucket(void *arg, int n)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+	EmbedBucket *result = NULL;
+		
+	iter->index += n;
+
+	/* check if passed end */
+	if (iter->index < iter->length)
+	{
+		result = &(iter->arc->buckets[iter->start + (iter->stride * iter->index)]);
+	}
+	
+	setIteratorValues(iter, result);
+	return result;
+}
+
+static void* peekBucket(void *arg, int n)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+	EmbedBucket *result = NULL;
+	int index = iter->index + n;
+
+	/* check if passed end */
+	if (index < iter->length)
+	{
+		result = &(iter->arc->buckets[iter->start + (iter->stride * index)]);
+	}
+
+	setIteratorValues(iter, result);
+	return result;
+}
+
+static void* previousBucket(void *arg)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+	EmbedBucket *result = NULL;
+	
+	if (iter->index > 0)
+	{
+		iter->index--;
+		result = &(iter->arc->buckets[iter->start + (iter->stride * iter->index)]);
+	}
+
+	setIteratorValues(iter, result);
+	return result;
+}
+
+static int iteratorStopped(void *arg)
+{
+	ReebArcIterator *iter = (ReebArcIterator*)arg;
+
+	if (iter->index >= iter->length)
+	{
+		return 1;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+/************************ PUBLIC FUNCTIONS *********************************************/
+
+ReebGraph *BIF_ReebGraphMultiFromEditMesh(bContext *C)
+{
+	Scene *scene = CTX_data_scene(C);
+	Object *obedit = CTX_data_edit_object(C);
+	EditMesh *em =( (Mesh*)obedit->data)->edit_mesh;
+	EdgeIndex indexed_edges;
+	VertexData *data;
+	ReebGraph *rg = NULL;
+	ReebGraph *rgi, *previous;
+	int i, nb_levels = REEB_MAX_MULTI_LEVEL;
+
+	if (em == NULL)
+		return NULL;
+	
+	data = allocVertexData(em);
+
+	buildIndexedEdges(em, &indexed_edges);
+
+	if (weightFromDistance(em, &indexed_edges) == 0)
+	{
+		error("No selected vertex\n");
+		freeEdgeIndex(&indexed_edges);
+		return NULL;
+	}
+	
+	renormalizeWeight(em, 1.0f);
+
+	if (scene->toolsettings->skgen_options & SKGEN_HARMONIC)
+	{
+		weightToHarmonic(em, &indexed_edges);
+	}
+	
+	freeEdgeIndex(&indexed_edges);
+	
+	rg = generateReebGraph(em, scene->toolsettings->skgen_resolution);
+
+	/* Remove arcs without embedding */
+	filterNullReebGraph(rg);
+
+	/* smart filter and loop filter on basic level */
+	filterGraph(rg, SKGEN_FILTER_SMART, 0, 0);
+
+	repositionNodes(rg);
+
+	/* Filtering might have created degree 2 nodes, so remove them */
+	removeNormalNodes(rg);
+	
+	joinSubgraphs(rg, 1.0);
+
+	BLI_buildAdjacencyList((BGraph*)rg);
+	
+	/* calc length before copy, so we have same length on all levels */
+	BLI_calcGraphLength((BGraph*)rg);
+
+	previous = NULL;
+	for (i = 0; i <= nb_levels; i++)
+	{
+		rgi = rg;
+		
+		/* don't filter last level */
+		if (i > 0)
+		{
+			float internal_threshold;
+			float external_threshold;
+
+			/* filter internal progressively in second half only*/
+			if (i > nb_levels / 2)
+			{
+				internal_threshold = rg->length * scene->toolsettings->skgen_threshold_internal;
+			}
+			else
+			{
+				internal_threshold = rg->length * scene->toolsettings->skgen_threshold_internal * (2 * i / (float)nb_levels);
+			}
+			
+			external_threshold = rg->length * scene->toolsettings->skgen_threshold_external * (i / (float)nb_levels);
+
+			filterGraph(rgi, scene->toolsettings->skgen_options, internal_threshold, external_threshold);
+		}
+
+		if (i < nb_levels)
+		{
+			rg = copyReebGraph(rgi, i + 1);
+		}
+
+		finalizeGraph(rgi, scene->toolsettings->skgen_postpro_passes, scene->toolsettings->skgen_postpro);
+
+		BLI_markdownSymmetry((BGraph*)rgi, rgi->nodes.first, scene->toolsettings->skgen_symmetry_limit);
+		
+		if (previous != NULL)
+		{
+			relinkNodes(rgi, previous);
+		}
+		previous = rgi;
+	}
+	
+	verifyMultiResolutionLinks(rg, 0);
+	
+	MEM_freeN(data);
+
+	return rg;
+}
+
+#if 0
+
+ReebGraph *BIF_ReebGraphFromEditMesh(void)
+{
+	EditMesh *em = G.editMesh;
+	EdgeIndex indexed_edges;
+	VertexData *data;
+	ReebGraph *rg = NULL;
+	
+	if (em == NULL)
+		return NULL;
+
+	data = allocVertexData(em);
+
+	buildIndexedEdges(em, &indexed_edges);
+	
+	if (weightFromDistance(em, &indexed_edges) == 0)
+	{
+		error("No selected vertex\n");
+		freeEdgeIndex(&indexed_edges);
+		freeEdgeIndex(&indexed_edges);
+		return NULL;
+	}
+	
+	renormalizeWeight(em, 1.0f);
+
+	if (G.scene->toolsettings->skgen_options & SKGEN_HARMONIC)
+	{
+		weightToHarmonic(em, &indexed_edges);
+	}
+	
+	freeEdgeIndex(&indexed_edges);
+	
+#ifdef DEBUG_REEB
+	weightToVCol(em, 1);
+#endif
+	
+	rg = generateReebGraph(em, G.scene->toolsettings->skgen_resolution);
+
+
+	/* Remove arcs without embedding */
+	filterNullReebGraph(rg);
+
+	/* smart filter and loop filter on basic level */
+	filterGraph(rg, SKGEN_FILTER_SMART, 0, 0);
+
+	repositionNodes(rg);
+
+	/* Filtering might have created degree 2 nodes, so remove them */
+	removeNormalNodes(rg);
+	
+	joinSubgraphs(rg, 1.0);
+
+	BLI_buildAdjacencyList((BGraph*)rg);
+	
+	/* calc length before copy, so we have same length on all levels */
+	BLI_calcGraphLength((BGraph*)rg);
+	
+	filterGraph(rg, G.scene->toolsettings->skgen_options, G.scene->toolsettings->skgen_threshold_internal, G.scene->toolsettings->skgen_threshold_external);
+
+	finalizeGraph(rg, G.scene->toolsettings->skgen_postpro_passes, G.scene->toolsettings->skgen_postpro);
+
+#ifdef DEBUG_REEB
+	REEB_exportGraph(rg, -1);
+	
+	arcToVCol(rg, em, 0);
+	//angleToVCol(em, 1);
+#endif
+
+	printf("DONE\n");
+	printf("%i subgraphs\n", BLI_FlagSubgraphs((BGraph*)rg));
+	
+	MEM_freeN(data);
+
+	return rg;
+}
+
+void BIF_GlobalReebFree()
+{
+	if (GLOBAL_RG != NULL)
+	{
+		REEB_freeGraph(GLOBAL_RG);
+		GLOBAL_RG = NULL;
+	}
+}
+
+void BIF_GlobalReebGraphFromEditMesh(void)
+{
+	ReebGraph *rg;
+	
+	BIF_GlobalReebFree();
+	
+	rg = BIF_ReebGraphMultiFromEditMesh();
+
+	GLOBAL_RG = rg;
+}
+
+void REEB_draw()
+{
+	ReebGraph *rg;
+	ReebArc *arc;
+	int i = 0;
+	
+	if (GLOBAL_RG == NULL)
+	{
+		return;
+	}
+	
+	if (GLOBAL_RG->link_up && G.scene->toolsettings->skgen_options & SKGEN_DISP_ORIG)
+	{
+		for (rg = GLOBAL_RG; rg->link_up; rg = rg->link_up) ;
+	}
+	else
+	{
+		i = G.scene->toolsettings->skgen_multi_level;
+		
+		for (rg = GLOBAL_RG; rg->multi_level != i && rg->link_up; rg = rg->link_up) ;
+	}
+	
+	glPointSize(BIF_GetThemeValuef(TH_VERTEX_SIZE));
+	
+	glDisable(GL_DEPTH_TEST);
+	for (arc = rg->arcs.first; arc; arc = arc->next, i++)
+	{
+		ReebArcIterator arc_iter;
+		BArcIterator *iter = (BArcIterator*)&arc_iter;
+		float vec[3];
+		char text[128];
+		char *s = text;
+		
+		glLineWidth(BIF_GetThemeValuef(TH_VERTEX_SIZE) + 2);
+		glColor3f(0, 0, 0);
+		glBegin(GL_LINE_STRIP);
+			glVertex3fv(arc->head->p);
+			
+			if (arc->bcount)
+			{
+				initArcIterator(iter, arc, arc->head);
+				for (IT_next(iter); IT_stopped(iter) == 0; IT_next(iter))
+				{
+					glVertex3fv(iter->p);
+				}
+			}
+			
+			glVertex3fv(arc->tail->p);
+		glEnd();
+
+		glLineWidth(BIF_GetThemeValuef(TH_VERTEX_SIZE));
+
+		if (arc->symmetry_level == 1)
+		{
+			glColor3f(1, 0, 0);
+		}
+		else if (arc->symmetry_flag == SYM_SIDE_POSITIVE || arc->symmetry_flag == SYM_SIDE_NEGATIVE)
+		{
+			glColor3f(1, 0.5f, 0);
+		}
+		else if (arc->symmetry_flag >= SYM_SIDE_RADIAL)
+		{
+			glColor3f(0.5f, 1, 0);
+		}
+		else
+		{
+			glColor3f(1, 1, 0);
+		}
+		glBegin(GL_LINE_STRIP);
+			glVertex3fv(arc->head->p);
+			
+			if (arc->bcount)
+			{
+				initArcIterator(iter, arc, arc->head);
+				for (iter->next(iter); IT_stopped(iter) == 0; iter->next(iter))
+				{
+					glVertex3fv(iter->p);
+				}
+			}
+			
+			glVertex3fv(arc->tail->p);
+		glEnd();
+
+		
+		if (G.scene->toolsettings->skgen_options & SKGEN_DISP_EMBED)
+		{
+			glColor3f(1, 1, 1);				
+			glBegin(GL_POINTS);
+				glVertex3fv(arc->head->p);
+				glVertex3fv(arc->tail->p);
+				
+				glColor3f(0.5f, 0.5f, 1);				
+				if (arc->bcount)
+				{
+					initArcIterator(iter, arc, arc->head);
+					for (iter->next(iter); IT_stopped(iter) == 0; iter->next(iter))
+					{
+						glVertex3fv(iter->p);
+					}
+				}
+			glEnd();
+		}
+		
+		if (G.scene->toolsettings->skgen_options & SKGEN_DISP_INDEX)
+		{
+			VecLerpf(vec, arc->head->p, arc->tail->p, 0.5f);
+			s += sprintf(s, "%i (%i-%i-%i) ", i, arc->symmetry_level, arc->symmetry_flag, arc->symmetry_group);
+		
+			if (G.scene->toolsettings->skgen_options & SKGEN_DISP_WEIGHT)
+			{
+				s += sprintf(s, "w:%0.3f ", arc->tail->weight - arc->head->weight);
+			}
+			
+			if (G.scene->toolsettings->skgen_options & SKGEN_DISP_LENGTH)
+			{
+				s += sprintf(s, "l:%0.3f", arc->length);
+			}
+			
+			glColor3f(0, 1, 0);
+			glRasterPos3fv(vec);
+			BMF_DrawString( G.fonts, text);
+		}
+
+		if (G.scene->toolsettings->skgen_options & SKGEN_DISP_INDEX)
+		{
+			sprintf(text, "  %i", arc->head->index);
+			glRasterPos3fv(arc->head->p);
+			BMF_DrawString( G.fonts, text);
+	
+			sprintf(text, "  %i", arc->tail->index);
+			glRasterPos3fv(arc->tail->p);
+			BMF_DrawString( G.fonts, text);
+		}
+	}
+	glEnable(GL_DEPTH_TEST);
+	
+	glLineWidth(1.0);
+	glPointSize(1.0);
+}
+
+#endif
diff --git a/source/blender/editors/armature/reeb.h b/source/blender/editors/armature/reeb.h
index c4c062196fc..3bdd55509ad 100644
--- a/source/blender/editors/armature/reeb.h
+++ b/source/blender/editors/armature/reeb.h
@@ -25,7 +25,7 @@
 #ifndef REEB_H_
 #define REEB_H_
 
-//#define WITH_BF_REEB
+#define WITH_BF_REEB
 
 #include "DNA_listBase.h"
 
@@ -60,6 +60,7 @@ typedef struct EmbedBucket {
 	float val;
 	int	  nv;
 	float p[3];
+	float no[3]; /* if non-null, normal of the bucket */
 } EmbedBucket;
 
 typedef struct ReebNode {
@@ -76,6 +77,8 @@ typedef struct ReebNode {
 	int symmetry_flag;
 	float symmetry_axis[3];
 	/*********************************/
+	
+	float no[3];
 
 	int index;
 	float weight;
@@ -114,12 +117,23 @@ typedef struct ReebArc {
 } ReebArc;
 
 typedef struct ReebArcIterator {
-	struct ReebArc	*arc;
+	HeadFct		head;
+	TailFct		tail;
+	PeekFct		peek;
+	NextFct		next;
+	NextNFct	nextN;
+	PreviousFct	previous;
+	StoppedFct	stopped;
+	
+	float *p, *no;
+	
+	int length;
 	int index;
+	/*********************************/
+	struct ReebArc	*arc;
 	int start;
 	int end;
-	int stride; 
-	int length;
+	int stride;
 } ReebArcIterator;
 
 struct EditMesh;
@@ -136,15 +150,9 @@ void renormalizeWeight(struct EditMesh *em, float newmax);
 ReebGraph * generateReebGraph(struct EditMesh *me, int subdivisions);
 ReebGraph * newReebGraph();
 
-void initArcIterator(struct ReebArcIterator *iter, struct ReebArc *arc, struct ReebNode *head);
-void initArcIterator2(struct ReebArcIterator *iter, struct ReebArc *arc, int start, int end);
-void initArcIteratorStart(struct ReebArcIterator *iter, struct ReebArc *arc, struct ReebNode *head, int start);
-struct EmbedBucket * nextBucket(struct ReebArcIterator *iter);
-struct EmbedBucket * nextNBucket(ReebArcIterator *iter, int n);
-struct EmbedBucket * peekBucket(ReebArcIterator *iter, int n);
-struct EmbedBucket * currentBucket(struct ReebArcIterator *iter);
-struct EmbedBucket * previousBucket(struct ReebArcIterator *iter);
-int iteratorStopped(struct ReebArcIterator *iter);
+void initArcIterator(BArcIterator *iter, struct ReebArc *arc, struct ReebNode *head);
+void initArcIterator2(BArcIterator *iter, struct ReebArc *arc, int start, int end);
+void initArcIteratorStart(BArcIterator *iter, struct ReebArc *arc, struct ReebNode *head, int start);
 
 /* Filtering */
 void filterNullReebGraph(ReebGraph *rg);
@@ -168,8 +176,10 @@ void verifyFaces(ReebGraph *rg);
 
 #define REEB_MAX_MULTI_LEVEL	10
 
+struct bContext;
+
 ReebGraph *BIF_ReebGraphFromEditMesh(void);
-ReebGraph *BIF_ReebGraphMultiFromEditMesh(void);
+ReebGraph *BIF_ReebGraphMultiFromEditMesh(struct bContext *C);
 void BIF_flagMultiArcs(ReebGraph *rg, int flag);
 
 void BIF_GlobalReebGraphFromEditMesh(void);
@@ -182,6 +192,7 @@ ReebNode *BIF_lowestLevelNode(ReebNode *node);
 ReebGraph *BIF_graphForMultiNode(ReebGraph *rg, ReebNode *node);
 
 void REEB_freeGraph(ReebGraph *rg);
+void REEB_freeArc(BArc *barc);
 void REEB_exportGraph(ReebGraph *rg, int count);
 void REEB_draw();
 
diff --git a/source/blender/editors/curve/curve_intern.h b/source/blender/editors/curve/curve_intern.h
index bb7a5b500a7..71684ceae7a 100644
--- a/source/blender/editors/curve/curve_intern.h
+++ b/source/blender/editors/curve/curve_intern.h
@@ -45,11 +45,11 @@ void FONT_OT_insert_text(struct wmOperatorType *ot);
 void FONT_OT_line_break(struct wmOperatorType *ot);
 void FONT_OT_insert_lorem(struct wmOperatorType *ot);
 
-void FONT_OT_toggle_case(struct wmOperatorType *ot);
-void FONT_OT_set_case(struct wmOperatorType *ot);
-void FONT_OT_toggle_style(struct wmOperatorType *ot);
-void FONT_OT_set_style(struct wmOperatorType *ot);
-void FONT_OT_set_material(struct wmOperatorType *ot);
+void FONT_OT_case_toggle(struct wmOperatorType *ot);
+void FONT_OT_case_set(struct wmOperatorType *ot);
+void FONT_OT_style_toggle(struct wmOperatorType *ot);
+void FONT_OT_style_set(struct wmOperatorType *ot);
+void FONT_OT_material_set(struct wmOperatorType *ot);
 
 void FONT_OT_copy_text(struct wmOperatorType *ot);
 void FONT_OT_cut_text(struct wmOperatorType *ot);
@@ -72,20 +72,20 @@ void CURVE_OT_separate(struct wmOperatorType *ot);
 void CURVE_OT_duplicate(struct wmOperatorType *ot);
 void CURVE_OT_delete(struct wmOperatorType *ot);
 
-void CURVE_OT_set_weight(struct wmOperatorType *ot);
-void CURVE_OT_set_radius(struct wmOperatorType *ot);
-void CURVE_OT_set_spline_type(struct wmOperatorType *ot);
-void CURVE_OT_set_handle_type(struct wmOperatorType *ot);
-void CURVE_OT_set_smooth(struct wmOperatorType *ot);
-void CURVE_OT_clear_tilt(struct wmOperatorType *ot);
+void CURVE_OT_spline_type_set(struct wmOperatorType *ot);
+void CURVE_OT_radius_set(struct wmOperatorType *ot);
+void CURVE_OT_spline_weight_set(struct wmOperatorType *ot);
+void CURVE_OT_handle_type_set(struct wmOperatorType *ot);
+void CURVE_OT_smooth_set(struct wmOperatorType *ot);
+void CURVE_OT_tilt_clear(struct wmOperatorType *ot);
 
 void CURVE_OT_smooth(struct wmOperatorType *ot);
 void CURVE_OT_smooth_radius(struct wmOperatorType *ot);
 
 void CURVE_OT_de_select_first(struct wmOperatorType *ot);
 void CURVE_OT_de_select_last(struct wmOperatorType *ot);
-void CURVE_OT_de_select_all(struct wmOperatorType *ot);
-void CURVE_OT_select_inverse(struct wmOperatorType *ot);
+void CURVE_OT_select_all_toggle(struct wmOperatorType *ot);
+void CURVE_OT_select_invert(struct wmOperatorType *ot);
 void CURVE_OT_select_linked(struct wmOperatorType *ot);
 void CURVE_OT_select_row(struct wmOperatorType *ot);
 void CURVE_OT_select_next(struct wmOperatorType *ot);
@@ -101,7 +101,7 @@ void CURVE_OT_make_segment(struct wmOperatorType *ot);
 void CURVE_OT_spin(struct wmOperatorType *ot);
 void CURVE_OT_add_vertex(struct wmOperatorType *ot);
 void CURVE_OT_extrude(struct wmOperatorType *ot);
-void CURVE_OT_toggle_cyclic(struct wmOperatorType *ot);
+void CURVE_OT_cyclic_toggle(struct wmOperatorType *ot);
 
 void CURVE_OT_specials_menu(struct wmOperatorType *ot);
 
diff --git a/source/blender/editors/curve/curve_ops.c b/source/blender/editors/curve/curve_ops.c
index a53acb2e9b7..a0390fe1084 100644
--- a/source/blender/editors/curve/curve_ops.c
+++ b/source/blender/editors/curve/curve_ops.c
@@ -72,8 +72,8 @@ static int specials_menu_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	head= uiPupMenuBegin("Specials", 0);
 	uiMenuItemO(head, 0, "CURVE_OT_subdivide");
 	uiMenuItemO(head, 0, "CURVE_OT_switch_direction");
-	uiMenuItemO(head, 0, "CURVE_OT_set_weight");
-	uiMenuItemO(head, 0, "CURVE_OT_set_radius");
+	uiMenuItemO(head, 0, "CURVE_OT_spline_weight_set");
+	uiMenuItemO(head, 0, "CURVE_OT_radius_set");
 	uiMenuItemO(head, 0, "CURVE_OT_smooth");
 	uiMenuItemO(head, 0, "CURVE_OT_smooth_radius");
 	uiPupMenuEnd(C, head);
@@ -100,11 +100,11 @@ void ED_operatortypes_curve(void)
 	WM_operatortype_append(FONT_OT_line_break);
 	WM_operatortype_append(FONT_OT_insert_lorem);
 
-	WM_operatortype_append(FONT_OT_toggle_case);
-	WM_operatortype_append(FONT_OT_set_case);
-	WM_operatortype_append(FONT_OT_toggle_style);
-	WM_operatortype_append(FONT_OT_set_style);
-	WM_operatortype_append(FONT_OT_set_material);
+	WM_operatortype_append(FONT_OT_case_toggle);
+	WM_operatortype_append(FONT_OT_case_set);
+	WM_operatortype_append(FONT_OT_style_toggle);
+	WM_operatortype_append(FONT_OT_style_set);
+	WM_operatortype_append(FONT_OT_material_set);
 
 	WM_operatortype_append(FONT_OT_copy_text);
 	WM_operatortype_append(FONT_OT_cut_text);
@@ -126,20 +126,20 @@ void ED_operatortypes_curve(void)
 	WM_operatortype_append(CURVE_OT_duplicate);
 	WM_operatortype_append(CURVE_OT_delete);
 
-	WM_operatortype_append(CURVE_OT_set_weight);
-	WM_operatortype_append(CURVE_OT_set_radius);
-	WM_operatortype_append(CURVE_OT_set_spline_type);
-	WM_operatortype_append(CURVE_OT_set_handle_type);
-	WM_operatortype_append(CURVE_OT_set_smooth);
-	WM_operatortype_append(CURVE_OT_clear_tilt);
+	WM_operatortype_append(CURVE_OT_spline_type_set);
+	WM_operatortype_append(CURVE_OT_radius_set);
+	WM_operatortype_append(CURVE_OT_spline_weight_set);
+	WM_operatortype_append(CURVE_OT_handle_type_set);
+	WM_operatortype_append(CURVE_OT_smooth_set);
+	WM_operatortype_append(CURVE_OT_tilt_clear);
 
 	WM_operatortype_append(CURVE_OT_smooth);
 	WM_operatortype_append(CURVE_OT_smooth_radius);
 
 	WM_operatortype_append(CURVE_OT_de_select_first);
 	WM_operatortype_append(CURVE_OT_de_select_last);
-	WM_operatortype_append(CURVE_OT_de_select_all);
-	WM_operatortype_append(CURVE_OT_select_inverse);
+	WM_operatortype_append(CURVE_OT_select_all_toggle);
+	WM_operatortype_append(CURVE_OT_select_invert);
 	WM_operatortype_append(CURVE_OT_select_linked);
 	WM_operatortype_append(CURVE_OT_select_row);
 	WM_operatortype_append(CURVE_OT_select_next);
@@ -155,7 +155,7 @@ void ED_operatortypes_curve(void)
 	WM_operatortype_append(CURVE_OT_spin);
 	WM_operatortype_append(CURVE_OT_add_vertex);
 	WM_operatortype_append(CURVE_OT_extrude);
-	WM_operatortype_append(CURVE_OT_toggle_cyclic);
+	WM_operatortype_append(CURVE_OT_cyclic_toggle);
 
 	WM_operatortype_append(CURVE_OT_specials_menu);
 }
@@ -165,9 +165,9 @@ void ED_keymap_curve(wmWindowManager *wm)
 	ListBase *keymap= WM_keymap_listbase(wm, "Font", 0, 0);
 	
 	/* only set in editmode font, by space_view3d listener */
-	RNA_enum_set(WM_keymap_add_item(keymap, "FONT_OT_toggle_style", BKEY, KM_PRESS, KM_CTRL, 0)->ptr, "style", CU_BOLD);
-	RNA_enum_set(WM_keymap_add_item(keymap, "FONT_OT_toggle_style", IKEY, KM_PRESS, KM_CTRL, 0)->ptr, "style", CU_ITALIC);
-	RNA_enum_set(WM_keymap_add_item(keymap, "FONT_OT_toggle_style", UKEY, KM_PRESS, KM_CTRL, 0)->ptr, "style", CU_UNDERLINE);
+	RNA_enum_set(WM_keymap_add_item(keymap, "FONT_OT_style_toggle", BKEY, KM_PRESS, KM_CTRL, 0)->ptr, "style", CU_BOLD);
+	RNA_enum_set(WM_keymap_add_item(keymap, "FONT_OT_style_toggle", IKEY, KM_PRESS, KM_CTRL, 0)->ptr, "style", CU_ITALIC);
+	RNA_enum_set(WM_keymap_add_item(keymap, "FONT_OT_style_toggle", UKEY, KM_PRESS, KM_CTRL, 0)->ptr, "style", CU_UNDERLINE);
 
 	RNA_enum_set(WM_keymap_add_item(keymap, "FONT_OT_delete", DELKEY, KM_PRESS, 0, 0)->ptr, "type", DEL_NEXT_SEL);
 	RNA_enum_set(WM_keymap_add_item(keymap, "FONT_OT_delete", BACKSPACEKEY, KM_PRESS, 0, 0)->ptr, "type", DEL_PREV_SEL);
@@ -213,7 +213,7 @@ void ED_keymap_curve(wmWindowManager *wm)
 	WM_keymap_add_item(keymap, "OBJECT_OT_curve_add", AKEY, KM_PRESS, KM_SHIFT, 0);
 	WM_keymap_add_item(keymap, "CURVE_OT_add_vertex", ACTIONMOUSE, KM_PRESS, KM_CTRL, 0);
 
-	WM_keymap_add_item(keymap, "CURVE_OT_de_select_all", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "CURVE_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "CURVE_OT_select_row", RKEY, KM_PRESS, KM_SHIFT, 0);
 	WM_keymap_add_item(keymap, "CURVE_OT_select_more", PADPLUSKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "CURVE_OT_select_less", PADMINUS, KM_PRESS, KM_CTRL, 0);
@@ -224,15 +224,15 @@ void ED_keymap_curve(wmWindowManager *wm)
 	WM_keymap_add_item(keymap, "CURVE_OT_extrude", EKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "CURVE_OT_duplicate", DKEY, KM_PRESS, KM_SHIFT, 0);
 	WM_keymap_add_item(keymap, "CURVE_OT_make_segment", FKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "CURVE_OT_toggle_cyclic", CKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "CURVE_OT_cyclic_toggle", CKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "CURVE_OT_delete", XKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "CURVE_OT_delete", DELKEY, KM_PRESS, 0, 0);
 
-	WM_keymap_add_item(keymap, "CURVE_OT_clear_tilt", TKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_add_item(keymap, "CURVE_OT_tilt_clear", TKEY, KM_PRESS, KM_ALT, 0);
 	RNA_enum_set(WM_keymap_add_item(keymap, "TFM_OT_transform", TKEY, KM_PRESS, 0, 0)->ptr, "mode", TFM_TILT);
-	RNA_enum_set(WM_keymap_add_item(keymap, "CURVE_OT_set_handle_type", HKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "type", 1);
-	RNA_enum_set(WM_keymap_add_item(keymap, "CURVE_OT_set_handle_type", HKEY, KM_PRESS, 0, 0)->ptr, "type", 3);
-	RNA_enum_set(WM_keymap_add_item(keymap, "CURVE_OT_set_handle_type", VKEY, KM_PRESS, 0, 0)->ptr, "type", 2);
+	RNA_enum_set(WM_keymap_add_item(keymap, "CURVE_OT_handle_type_set", HKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "type", 1);
+	RNA_enum_set(WM_keymap_add_item(keymap, "CURVE_OT_handle_type_set", HKEY, KM_PRESS, 0, 0)->ptr, "type", 3);
+	RNA_enum_set(WM_keymap_add_item(keymap, "CURVE_OT_handle_type_set", VKEY, KM_PRESS, 0, 0)->ptr, "type", 2);
 
 	WM_keymap_add_item(keymap, "CURVE_OT_reveal", HKEY, KM_PRESS, KM_ALT, 0);
 	WM_keymap_add_item(keymap, "CURVE_OT_hide", HKEY, KM_PRESS, KM_ALT|KM_CTRL, 0);
diff --git a/source/blender/editors/curve/editcurve.c b/source/blender/editors/curve/editcurve.c
index 830d36dcfd8..ce639e4bfc1 100644
--- a/source/blender/editors/curve/editcurve.c
+++ b/source/blender/editors/curve/editcurve.c
@@ -1061,11 +1061,11 @@ static int set_weight_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void CURVE_OT_set_weight(wmOperatorType *ot)
+void CURVE_OT_spline_weight_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Curve Weight";
-	ot->idname= "CURVE_OT_set_weight";
+	ot->idname= "CURVE_OT_spline_weight_set";
 	
 	/* api callbacks */
 	ot->exec= set_weight_exec;
@@ -1113,11 +1113,11 @@ static int set_radius_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void CURVE_OT_set_radius(wmOperatorType *ot)
+void CURVE_OT_radius_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Curve Radius";
-	ot->idname= "CURVE_OT_set_radius";
+	ot->idname= "CURVE_OT_radius_set";
 	
 	/* api callbacks */
 	ot->exec= set_radius_exec;
@@ -1595,11 +1595,11 @@ static int de_select_all_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void CURVE_OT_de_select_all(wmOperatorType *ot)
+void CURVE_OT_select_all_toggle(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select or Deselect All";
-	ot->idname= "CURVE_OT_de_select_all";
+	ot->idname= "CURVE_OT_select_all_toggle";
 	
 	/* api callbacks */
 	ot->exec= de_select_all_exec;
@@ -1741,7 +1741,7 @@ void CURVE_OT_reveal(wmOperatorType *ot)
 
 /********************** select invert operator *********************/
 
-static int select_inverse_exec(bContext *C, wmOperator *op)
+static int select_invert_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
 	ListBase *editnurb= curve_get_editcurve(obedit);
@@ -1780,14 +1780,14 @@ static int select_inverse_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;	
 }
 
-void CURVE_OT_select_inverse(wmOperatorType *ot)
+void CURVE_OT_select_invert(wmOperatorType *ot)
 {
 	/* identifiers */
-	ot->name= "Select Inverse";
-	ot->idname= "CURVE_OT_select_inverse";
+	ot->name= "Select Invert";
+	ot->idname= "CURVE_OT_select_invert";
 	
 	/* api callbacks */
-	ot->exec= select_inverse_exec;
+	ot->exec= select_invert_exec;
 	ot->poll= ED_operator_editsurfcurve;
 	
 	/* flags */
@@ -2476,7 +2476,7 @@ static int set_spline_type_exec(bContext *C, wmOperator *op)
 	return (changed)? OPERATOR_FINISHED: OPERATOR_CANCELLED;
 }
 
-void CURVE_OT_set_spline_type(wmOperatorType *ot)
+void CURVE_OT_spline_type_set(wmOperatorType *ot)
 {
 	static EnumPropertyItem type_items[]= {
 		{CU_POLY, "POLY", "Poly", ""},
@@ -2488,7 +2488,7 @@ void CURVE_OT_set_spline_type(wmOperatorType *ot)
 
 	/* identifiers */
 	ot->name= "Set Spline Type";
-	ot->idname= "CURVE_OT_set_spline_type";
+	ot->idname= "CURVE_OT_spline_type_set";
 	
 	/* api callbacks */
 	ot->exec= set_spline_type_exec;
@@ -2517,7 +2517,7 @@ static int set_handle_type_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void CURVE_OT_set_handle_type(wmOperatorType *ot)
+void CURVE_OT_handle_type_set(wmOperatorType *ot)
 {
 	static EnumPropertyItem type_items[]= {
 		{1, "AUTOMATIC", "Automatic", ""},
@@ -2529,7 +2529,7 @@ void CURVE_OT_set_handle_type(wmOperatorType *ot)
 
 	/* identifiers */
 	ot->name= "Set Handle Type";
-	ot->idname= "CURVE_OT_set_handle_type";
+	ot->idname= "CURVE_OT_handle_type_set";
 	
 	/* api callbacks */
 	ot->exec= set_handle_type_exec;
@@ -3490,8 +3490,7 @@ static int toggle_cyclic_exec(bContext *C, wmOperator *op)
 	Nurb *nu;
 	BezTriple *bezt;
 	BPoint *bp;
-	float *fp;
-	int a, b, direction= RNA_enum_get(op->ptr, "direction");
+	int a, direction= RNA_enum_get(op->ptr, "direction");
 
 	for(nu= editnurb->first; nu; nu= nu->next) {
 		if( nu->pntsu>1 || nu->pntsv>1) {
@@ -3500,8 +3499,7 @@ static int toggle_cyclic_exec(bContext *C, wmOperator *op)
 				bp= nu->bp;
 				while(a--) {
 					if( bp->f1 & SELECT ) {
-						if(nu->flagu & CU_CYCLIC) nu->flagu &= ~CU_CYCLIC;
-						else nu->flagu |= CU_CYCLIC;
+						nu->flagu ^= CU_CYCLIC;
 						break;
 					}
 					bp++;
@@ -3512,8 +3510,7 @@ static int toggle_cyclic_exec(bContext *C, wmOperator *op)
 				bezt= nu->bezt;
 				while(a--) {
 					if( BEZSELECTED_HIDDENHANDLES(bezt) ) {
-						if(nu->flagu & CU_CYCLIC) nu->flagu &= ~CU_CYCLIC;
-						else nu->flagu |= CU_CYCLIC;
+						nu->flagu ^= CU_CYCLIC;
 						break;
 					}
 					bezt++;
@@ -3526,19 +3523,8 @@ static int toggle_cyclic_exec(bContext *C, wmOperator *op)
 					bp= nu->bp;
 					while(a--) {
 						if( bp->f1 & SELECT ) {
-							if(nu->flagu & CU_CYCLIC) nu->flagu &= ~CU_CYCLIC;
-							else {
-								nu->flagu |= CU_CYCLIC;
-								nu->flagu &= ~2;	/* endpoint flag, fixme */
-								fp= MEM_mallocN(sizeof(float)*KNOTSU(nu), "makecyclicN");
-								b= (nu->orderu+nu->pntsu);
-								memcpy(fp, nu->knotsu, sizeof(float)*b);
-								MEM_freeN(nu->knotsu);
-								nu->knotsu= fp;
-							
-								makeknots(nu, 1, 0);	/* 1==u  0==uniform */
-							
-							}
+							nu->flagu ^= CU_CYCLIC;
+							makeknots(nu, 1, nu->flagu>>1);	/* 1==u  type is ignored for cyclic curves */
 							break;
 						}
 						bp++;
@@ -3552,38 +3538,12 @@ static int toggle_cyclic_exec(bContext *C, wmOperator *op)
 	
 					if( bp->f1 & SELECT) {
 						if(direction==0 && nu->pntsu>1) {
-							if(nu->flagu & CU_CYCLIC) nu->flagu &= ~CU_CYCLIC;
-							else {
-								nu->flagu |= CU_CYCLIC;
-								if (check_valid_nurb_u(nu)) {
-									fp= MEM_mallocN(sizeof(float)*KNOTSU(nu), "makecyclicN");
-									b= (nu->orderu+nu->pntsu);
-									if (nu->knotsu) { /* null if check_valid_nurb_u failed before but is valid now */
-										memcpy(fp, nu->knotsu, sizeof(float)*b);
-										MEM_freeN(nu->knotsu);
-									}
-									nu->knotsu= fp;
-								
-									makeknots(nu, 1, 0);	/* 1==u  0==uniform */
-								}
-							}
+							nu->flagu ^= CU_CYCLIC;
+							makeknots(nu, 1, nu->flagu>>1); /* 1==u  type is ignored for cyclic curves */
 						}
 						if(direction==1 && nu->pntsv>1) {
-							if(nu->flagv & 1) nu->flagv--;
-							else {
-								nu->flagv++;
-								if (check_valid_nurb_v(nu)) {
-									fp= MEM_mallocN(sizeof(float)*KNOTSV(nu), "makecyclicN");
-									b= (nu->orderv+nu->pntsv);
-									if (nu->knotsv) { /* null if check_valid_nurb_v failed before but is valid now */
-										memcpy(fp, nu->knotsv, sizeof(float)*b);
-										MEM_freeN(nu->knotsv);
-									}
-									nu->knotsv= fp;
-								
-									makeknots(nu, 2, 0);	/* 2==v  0==uniform */
-								}
-							}
+							nu->flagv ^= CU_CYCLIC;
+							makeknots(nu, 2, nu->flagv>>1); /* 2==v  type is ignored for cyclic curves */
 						}
 						break;
 					}
@@ -3621,7 +3581,7 @@ static int toggle_cyclic_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	return toggle_cyclic_exec(C, op);
 }
 
-void CURVE_OT_toggle_cyclic(wmOperatorType *ot)
+void CURVE_OT_cyclic_toggle(wmOperatorType *ot)
 {
 	static EnumPropertyItem direction_items[]= {
 		{0, "CYCLIC_U", "Cyclic U", ""},
@@ -3630,7 +3590,7 @@ void CURVE_OT_toggle_cyclic(wmOperatorType *ot)
 
 	/* identifiers */
 	ot->name= "Toggle Cyclic";
-	ot->idname= "CURVE_OT_toggle_cyclic";
+	ot->idname= "CURVE_OT_cyclic_toggle";
 	
 	/* api callbacks */
 	ot->exec= toggle_cyclic_exec;
@@ -4617,11 +4577,11 @@ static int set_smooth_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void CURVE_OT_set_smooth(wmOperatorType *ot)
+void CURVE_OT_smooth_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Smooth";
-	ot->idname= "CURVE_OT_set_smooth";
+	ot->idname= "CURVE_OT_smooth_set";
 	
 	/* api callbacks */
 	ot->exec= set_smooth_exec;
@@ -5169,11 +5129,11 @@ static int clear_tilt_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void CURVE_OT_clear_tilt(wmOperatorType *ot)
+void CURVE_OT_tilt_clear(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Clear Tilt";
-	ot->idname= "CURVE_OT_clear_tilt";
+	ot->idname= "CURVE_OT_tilt_clear";
 	
 	/* api callbacks */
 	ot->exec= clear_tilt_exec;
diff --git a/source/blender/editors/curve/editfont.c b/source/blender/editors/curve/editfont.c
index 722dfcdbd1d..e6992009056 100644
--- a/source/blender/editors/curve/editfont.c
+++ b/source/blender/editors/curve/editfont.c
@@ -646,11 +646,11 @@ static int set_style_exec(bContext *C, wmOperator *op)
 	return set_style(C, style, clear);
 }
 
-void FONT_OT_set_style(wmOperatorType *ot)
+void FONT_OT_style_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Style";
-	ot->idname= "FONT_OT_set_style";
+	ot->idname= "FONT_OT_style_set";
 	
 	/* api callbacks */
 	ot->exec= set_style_exec;
@@ -683,11 +683,11 @@ static int toggle_style_exec(bContext *C, wmOperator *op)
 	return set_style(C, style, clear);
 }
 
-void FONT_OT_toggle_style(wmOperatorType *ot)
+void FONT_OT_style_toggle(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Toggle Style";
-	ot->idname= "FONT_OT_toggle_style";
+	ot->idname= "FONT_OT_style_toggle";
 	
 	/* api callbacks */
 	ot->exec= toggle_style_exec;
@@ -727,11 +727,11 @@ static int set_material_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void FONT_OT_set_material(wmOperatorType *ot)
+void FONT_OT_material_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Material";
-	ot->idname= "FONT_OT_set_material";
+	ot->idname= "FONT_OT_material_set";
 	
 	/* api callbacks */
 	ot->exec= set_material_exec;
@@ -1509,11 +1509,11 @@ static int set_case_exec(bContext *C, wmOperator *op)
 	return set_case(C, RNA_enum_get(op->ptr, "case"));
 }
 
-void FONT_OT_set_case(wmOperatorType *ot)
+void FONT_OT_case_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Case";
-	ot->idname= "FONT_OT_set_case";
+	ot->idname= "FONT_OT_case_set";
 	
 	/* api callbacks */
 	ot->exec= set_case_exec;
@@ -1551,11 +1551,11 @@ static int toggle_case_exec(bContext *C, wmOperator *op)
 	return set_case(C, ccase);
 }
 
-void FONT_OT_toggle_case(wmOperatorType *ot)
+void FONT_OT_case_toggle(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Toggle Case";
-	ot->idname= "FONT_OT_toggle_case";
+	ot->idname= "FONT_OT_case_toggle";
 	
 	/* api callbacks */
 	ot->exec= toggle_case_exec;
diff --git a/source/blender/editors/datafiles/blenderbuttons.c b/source/blender/editors/datafiles/blenderbuttons.c
index d251673c1e9..c29137ab74c 100644
--- a/source/blender/editors/datafiles/blenderbuttons.c
+++ b/source/blender/editors/datafiles/blenderbuttons.c
@@ -1,3877 +1,4103 @@
 /* DataToC output of file <blenderbuttons> */
 
-int datatoc_blenderbuttons_size= 123869;
+int datatoc_blenderbuttons_size= 131097;
 char datatoc_blenderbuttons[]= {
-137, 80, 78, 71, 13, 10, 26, 10,  0,  0,  0, 13, 73, 72, 68, 82,  0,  0,  2, 88,  0,  0,  2,  0,  8,  6,  0,  0,  0,
- 94,187, 18, 70,  0,  0,  0,  9,112, 72, 89,115,  0,  0, 13,215,  0,  0, 13,215,  1, 66, 40,155,120,  0,  0,  1, 57,105, 67, 67,
- 80, 80,104,111,116,111,115,104,111,112, 32, 73, 67, 67, 32,112,114,111,102,105,108,101,  0,  0,120,218,173,145,177, 74,195, 80,
- 20,134,191, 27, 69,197,161, 86,  8,226,224,112, 39, 81, 80,108,213,193,140, 73, 91,138, 32, 88,171, 67,146,173, 73, 67,149,210,
- 36,220,220,170,125,  8, 71,183, 14, 46,238, 62,129,147,163,224,160,248,  4,190,129,226,212,193, 33, 72,112, 18,193,111,250,206,
-207,225,112,224,  7,163, 98,215,157,134, 81,134, 65,172, 85,187,233, 72,215,243,229,236, 19, 51, 76,  1, 64, 39,204, 82,187,213,
- 58,  0,136,147, 56,226, 39,  2, 62, 95, 17,  0,207,155,118,221,105,240, 55,230,195, 84,105, 96,  2,108,119,163, 44,  4, 81,  1,
-250, 23, 58,213, 32,198,128, 25,244, 83, 13,226, 14, 48,213, 73,187,  6,226,  1, 40,245,114,127,  1, 74, 65,238,111, 64, 73,185,
-158, 15,226,  3, 48,123,174,231,131, 49,  7,152, 65,238, 43,128,169,163, 75, 13, 80, 75,210,145, 58,235,157,106, 89,181, 44, 75,
-218,221, 36,136,228,241, 40,211,209, 32,147,251,113,152,168, 52, 81, 29, 29,117,129,252, 63,  0, 22,243,197,118,211,145,107, 85,
-203,218, 91,231,159,113, 61, 95,230,246,126,132,  0,196,210, 99,145, 21,132, 67,117,254,221,133,177,243,251, 92,220, 24, 47,195,
-225, 45, 76, 79,138,108,247, 10,110, 54, 96,225,186,200, 86,171, 80,222,130,251,241, 23,194,179, 79,254, 28,  9,179, 39,  0,  0,
-  0, 32, 99, 72, 82, 77,  0,  0,122, 37,  0,  0,128,131,  0,  0,249,255,  0,  0,128,232,  0,  0, 82,  8,  0,  1, 21, 88,  0,  0,
- 58,151,  0,  0, 23,111,215, 90, 31,144,  0,  1,226, 30, 73, 68, 65, 84,120,218,236,157,119,120, 20,197,255,199,223,179,123,123,
- 61,141,132, 36,228, 82,105,210,107,232, 32, 77, 20,233,  2,  2, 42, 40,162, 82,108, 40, 42, 77,233, 96, 80,  4, 17, 20,193,138,
-128, 32,168,128,  2,130,116,144, 78, 66,175, 95, 32,129, 52, 72, 33, 61,151,187,219,219,157,223, 31,228,238,119,  9,151,228, 46,
-  9, 69,156,215,243,220,115,119,123,187,239,155,217,157,153,125,239,103,102,103,  9,165, 20,247, 10, 66, 72, 35, 74,233, 25,166,
-201, 52,153, 38,211,100,154, 76,147,105, 50,205,255, 18, 92, 57,118,106,165, 59, 50, 66,  8, 45,124,117,122,216, 53,239, 97,222,
-105, 37,106,118, 42,212,156,254, 47, 73,103,167,135, 85,211,150,223,202,212,117,220,135,149,181, 63, 29,210, 73, 43, 59,157,247,
- 74,179,178,235,101,101,150, 81, 39,199,125,250,191, 36,157,157, 30, 54,205,226,229,167, 50,116,157,149,201,138,238, 79, 39,233,
-164,149,157,206,123,165, 89,217,231,203,202, 42,163,165, 28,251, 74, 59, 55, 61,204, 40, 30,180,193,  0,  0, 74, 41,113,208, 39,
- 15,171,166,227,126,176,233, 87,102, 90, 43,145, 61,149,173, 89,108,127, 86, 22,211, 41,165,132, 16,178, 23, 64,167,202,204,123,
-101, 28,247, 98,121,173, 20,221,123,105,174, 42,179,220,223,107,205,202,170, 75,197, 53, 43,163,220, 59, 59,238,247,240, 24, 85,
- 86, 58, 43,165, 46,221,139, 50,239,164,252, 84, 88,183,184,102,101,212,165,226,154,149, 81,238,239,135,102,101,212, 37,103,154,
-149, 81,238, 75, 58,246, 44,130,117,127,140, 64,241,138,221,249, 97, 54, 66,247, 56,138,213,233,223,160, 89,201,199,104,122,161,
-102,101, 94,205,116,174,172, 99, 84,188,236, 84,198, 85,151,163,102,101,149, 77, 39,233,172,240,113,114,166, 89,209,244,150,144,
-206, 74,207,123, 69,203,253,253,210,172,228, 99, 84, 41,117,169,152,102,231, 74,190,  8,232, 92,153,117,201, 81,179,178,234,146,
-147,116, 86,248, 56, 57,211,172,104,122, 75, 72,103,165,231,189, 18, 35,162,149,174,251,200, 69,176,238,165,185,186, 23,230,205,
-118,149, 84,217, 39,178,202, 52, 89,247, 42,210, 86, 89, 81, 28, 39,186,123, 43, 81,110, 79,101,167,179, 48,125,228, 94, 24, 97,
- 74,233,116, 66,200,180,135,185, 66,179,186,196,234,210,195, 86,151,156,149,155,138,214,165,123,117,241,236,168, 89, 89, 70,200,
- 73,222, 43, 84,151,138,111, 91, 25,117,169, 12, 77,114, 47,242, 95,217,245,233, 97,132,123, 88, 18,114, 15,198,247,208,123, 17,
- 21,187,135,249,174,204,116,118,254, 55,228,253, 94,164,147, 16, 50,253, 30,229,253,223,178, 79, 89, 93, 98,117,233,161,171, 75,
-197,202,100,231,202,138, 12, 85,246,133, 84,113,205,202, 28,135, 84,153,101,244, 94,231,189, 50,235,210,189, 56,246,255, 22,220,
-142, 96,221,171,171,227,127,131,230,189,208,190, 71,121,223,123, 47,174, 14,238,193,184,174, 74, 79, 39,165,116, 58, 42,177,203,
-209,150,231,202, 76,235,189,236, 38,188, 23,101,243, 94,150,247,202, 28,231,113,143,242,254,111, 57,238,149,158,206,202,170, 75,
- 78,142,121,133,211,234,108,255, 85,118, 23,118,101,150,205,123,169, 89, 25,218,247, 34,157,247,234,216,255,155, 32,247,114,154,
-  6,  6,131,193, 96, 48, 24,140,255, 34, 78, 35, 88,141, 26, 53,218,213,170, 85,171, 58, 39, 78,156,176, 80, 74, 65,  8,  1, 33,
-  4, 28,199,129, 16,  2, 89,150,147,143, 31, 63,222,142,237, 62,  6,131,225,210,149, 28, 33, 28,254,127, 72,130,124,231, 98,150,
- 93,221, 49, 24,140, 71,184,221,115,214,198, 53,105,210,228,242,137, 19, 39,130,255,254,251,111,104,181, 90,232,245,122,232,245,
-122,120,120,120, 64,175,215,163, 87,175, 94, 55,247,239,223, 95,211,221, 63,171, 94,189,250, 37,171,213, 90,205, 45,  7,168, 80,
-164,198,197,197,213,161,148, 74,206,126, 15, 10, 10,186, 68,  8,  9,113,179,177, 79, 79, 74, 74,170, 65, 41,181,222, 47,205, 86,
-173, 90,197, 73,146,228,239,142,166, 74,165, 74, 56,120,240, 96, 29, 86, 76,239, 15,237,218,181,187, 36,138,162,219,229, 51, 56,
- 56,184,206,186,117,235,156,150,207, 54,109,218, 92,151, 36,169,138,139,101,  8,  0,192,113, 92,236,145, 35, 71,154,150,100, 64,
-154, 55,111,238,118,249,  4,144, 26, 29, 29, 29, 81,210,143, 77,155, 54,189,196,243,124,165,106,218,136,140,140, 20,130,130,130,
-190,  5,240,108,105,235,  9,130,144,158,145,145, 81, 99,207,158, 61, 86, 86, 26, 25, 12,198,191, 29,167, 17, 44, 89,150, 19, 71,
-143, 30,173,143,137,137, 41, 41,130,149, 82,158, 63, 51,155,205, 33,113, 59,118, 64, 17, 24,  8,106, 54,195,226,237, 13, 74, 41,
-100, 89,134,112,229, 10,168,197,  2, 88, 44, 48, 53,108,  8,  0, 16, 69, 17,173, 91,183, 14,  8, 15, 15, 23,  0, 72, 37,200, 86,
-123,251,237,183,225,233,233,137,130,130,  2, 20, 20, 20,192,100, 50,193,100, 50,193,108, 54,195,108, 54,195, 98,177,192, 98,177,
- 64, 20, 69,152, 76, 38,196,196,196,248,132,135,135, 43,  0,148,212,144, 87,123,235,173,183,224,225,225, 97,215,179,189,219, 52,
- 28,245, 76, 38, 19, 78,157, 58, 85,170,166, 36, 73,254,123,247,238,133, 94,175,135, 44,203,144, 36,  9,146, 36, 65,150,101,200,
-178,108,219,239,142,235,163,123,247,238,213, 88, 17,189,127,152,205,230,144,253,115,230,128,175, 90, 21, 84, 20, 97,173, 95,223,
-126,124,132,127,254,  1, 68, 17, 84, 20, 33, 62,249,164,189,220,246,237,219, 55, 32, 45, 45,173,196,242, 41,138, 98,213,189, 31,
-124,  0,206,211, 19,180,160,  0,186,254,253,129, 59,225, 27,228, 44, 92,  8, 42,138,160, 22, 11, 60, 38, 78,188,179, 44, 39, 39,
-187,105,211,166, 59,166, 79,159, 78,  0,208, 18,140, 88,181,157, 59,119,218,203, 12,165, 20, 54, 47,102,171,167, 60,207,219, 95,
- 71,143, 30,197,123,239,189, 87,170,185,231,121,190,218,240,225,195, 97,177, 88,236,117,199,246, 89, 20, 69,123,121,183, 90,173,
- 16, 69, 17,102,179, 25,  9,  9,  9,101, 94, 48,216,204, 85,104,104,232,211, 11, 22, 44,192,166, 77,155, 80,189,122,117, 40,149,
- 74,123,250,108,233,125,231,157,119,124, 10,219, 36,102,176, 24, 12,198,163,105,176,206,156, 57,211, 21,  0,  6, 12, 24,176,171,
- 81,163, 70,117, 46, 92,184, 96,177, 53,222,133,175,160, 23, 94,120, 33,206,214,152, 83, 74,147, 87,174, 92,233, 82,151,161, 34,
- 48, 16,113,190,190,  0,128,248,221,187,109, 87,236,  8,238,212,201,190, 78,198,177, 99,224,121, 30, 17, 17, 17,246,171,250,210,
-240,240,240,192, 83, 79, 61,  5,149, 74,133,200,200, 72, 40,149, 74,  8,130, 80,226,203, 21,116, 58, 29,102,204,152, 97,139, 82,
- 64,175, 81,227,245,199,219, 64, 67,128, 31, 78, 93,128, 73,146,161, 80, 40,160, 80, 40, 92,214,212,235,245, 88,187,118, 45,148,
- 74,165,211,215,206,157, 59,209,175, 95, 63, 40,149, 74,248,250,250,226,191, 52, 33,219,195,  2, 95,181, 42, 18,155, 55,  7,  0,
-100, 69, 71,219,203,167,103,159, 62,246,117, 44, 23, 46,128,227, 56,  4,  4,  4,184, 84, 62, 57, 79, 79,220,236,209,  3,  0,144,
-180,111, 31, 84, 42, 21,148, 74, 37,188,102,205,  2, 21,  4,112, 74, 37, 44,175,189,  6,139,197,146, 53,117,234,212, 21,106,181,
-250,108, 89,154,146, 36,225,200,145, 35, 80, 42,149, 80,171,213,119,189, 84, 42, 21,212,106, 53,214,172, 89,131,248,248,120,151,
-242,110, 52, 26, 49,103,206, 28, 16, 66,138,212,161,146, 62,187, 16,145,227,122,246,236,249,117, 72, 72,200,147, 11, 22, 44,208,
- 43,149, 74, 44, 89,178,  4, 10,133,  2,189,122,245,130,175,175, 47,182,111,223, 14,165, 82,137, 15, 62,248,128, 21, 62,  6,131,
-241,232, 27, 44,135,  6, 50,248,163,143, 62,242, 94,181,106, 21,212,106, 53,180, 90, 45,116, 58, 29,116, 58, 93,145,207, 31,126,
-248,161,228,234, 31, 82,179,185,248,149, 51, 56,142,187,107, 25,207,243,246, 43,114, 23, 34, 15, 24, 52,104, 16,  0,148,105,174,
- 92, 53, 67, 38,147,  9, 10,133,  2, 53,195,252,241,209,160, 22,104,207, 83, 24,211,  1,164,229, 97,120,144,  2, 39, 67, 30,195,
-226, 27,233,184,158,157, 11,133,194,181,155, 49, 37, 73, 42,209, 92, 41,149, 74,172, 92,185, 18,131,  6, 13,130, 82,169,188,107,
-159, 48,238, 15, 84, 20,139,154, 35,142,187,235, 88, 56, 91, 86,170,102, 65,129,173, 96,219,205,149, 74,165,  2, 84, 42,112,130,
-  0,162, 84,194, 98,177,100,189,248,226,139,235,188,188,188,142,249,248,248, 24,203,212,164, 20,106,181,250, 46,131,165, 82,169,
-236,230,106,221,186,117, 88,181,106, 21, 90,183,110,237,114,153, 87, 42,149,120,243,205, 55,239,250,109,227,198,141,118,131,165,
- 80, 40,160, 84, 42,203, 50, 87,  4,  0, 39,  8,194,224,121,243,230,113,182,245,253,252,252, 32,  8,  2, 26, 53,106,  4, 15, 15,
- 15, 28, 56,112,192, 94, 47, 24, 12,  6,163, 20,  4,  0, 77,  1,248,227, 78,143, 65, 14,  0, 31,135,223, 83, 11,223,253, 29,190,
- 31,115,162,211,178,112, 29,219,239,182,239,102,  0, 42, 39,203,211,  1,104, 11, 95, 38,  0,  7,  1, 52,116,248, 31,219,118, 40,
-254,191,138,194,198,176, 19,128, 61,  0, 58, 59, 78,126, 71, 41, 77,156, 61,123,182,222, 73,  4,171, 72,183, 33,165,212,229, 46,
- 67,209,199,  7,241,187,119,131,227, 56,132, 58, 68,173,210,143, 28,177,155, 45,175, 39,159,  4,209,233, 32,124,246,153, 75,154,
-102,179, 25, 41, 41, 41,119, 93,121,151,215, 96, 17, 66, 32,138, 34,180, 90, 53,118, 47,235,136,228,107, 86,204,217, 20,143,141,
- 71, 99,161, 80, 40,208,187,110,109, 12,180,  2,115,125, 53, 24,101,149, 96,145, 93, 27,171,107,181, 90,157, 70,  2,108, 47, 66,
- 72,145,207,140,251,143,181,126,125,123,228,202, 59, 50,242,255,205,199,185,115,118, 99, 37,180,111, 15,162,211,129, 76,158,236,
-146,166,174,127,127, 36,239,223, 15,165, 82,  9,191, 39,159,  4, 10,163, 86,138, 99,199,160, 84, 42, 33,138, 98,214, 59, 79, 61,
-245,221, 45, 89,142,110,211,166, 77,198,205,155, 55,245,174, 24, 44, 71, 51,229, 24,181,114, 52, 87,130, 32, 64, 44,102, 26, 75,
- 51, 88, 37,213, 15, 91,121,117, 39,130,  5,  0,178, 44,211,191,254,250, 11, 75,150, 44,129,159,159, 31,158,122,234, 41, 84,171,
- 86, 13,235,214,173,  3,165, 20,111,190,249, 38,180, 90, 45,180, 90, 45, 43,243, 12,198,127,148,146, 60, 72, 49, 58, 78,154, 52,
-169,197,220,185,115, 63,110,219,182,237,154,131,  7, 15,174, 38,132,108,114,104, 19,123, 23,106,109,114,248,222,178,152,201, 18,
-  0,248, 19, 66, 54,217,214,119,252,238,176,188, 27,  0,149,237,251,164, 73,147, 26,206,157, 59,247,227,137, 19, 39, 78,142,138,
-138, 82, 78,154, 52,169,241,220,185,115, 63,182,253,143,179,116, 56, 70,176,156,206,  2,252,251,239,191,119, 45,158,195,250,245,
-235,239,106,211,166, 77,157,152,152, 24, 71,211, 21,212,178,101,203, 56, 74,105,153,119, 23, 82, 74,237, 99,185,156, 69,173, 56,
-142,  3,209,235,  1,189, 30,178, 11, 13,174,205, 12, 41, 20, 10,112, 28,135,237,219,183, 67,171,213,162,103,207,158, 37, 26, 44,
- 87,163, 98, 42,149, 18, 10, 31, 14, 47, 46, 56,142,180,140,124,123,151,224,142,184,120, 28,213,104,240, 81,131, 38,240,200,141,
- 67,182,201,236, 86,  4, 75,165, 82,217, 79, 86, 74,165, 18,111,188,241,  6,204,102, 51, 56,142,179, 47, 43, 52,174,236,140,243,
- 96, 42,123,137, 81, 43,199,242, 73, 93,140, 98,201,178,252,255, 81, 43,165, 18,156, 82,  9, 82,120,156, 69, 81,204, 26, 54,108,
-216,186, 91,178, 28,125,241,226,197,179,  0,116,173, 90,181,114,201, 96,217, 76,149, 77,219,153,185, 82, 40, 20,176, 88, 44, 46,
- 95,168,148, 20, 73,114,215, 96,209, 59, 13,138, 12,128, 70, 68, 68,216,183,  9, 12, 12,132,143,143,143,125,108,155, 70,163,129,
- 86,171,101, 17, 44,  6,227,191,141, 43, 79, 34, 80,207,157, 59,247, 99, 71,  3, 83,220,208, 56, 26,167, 98, 38,202,209,164, 53,
- 44,163,253,223, 84,220, 52,217,254,151, 16,178, 41, 42, 42,170,119, 25,233, 72, 45,110,176, 92,158,102,159,231,249,224,101,203,
-150,121,111,216,176,  1, 30, 30, 30,240,241,241,129,151,151, 23,124,124,124, 48,112,224,192, 50,187, 10,101, 89,118,218,197,226,
-104,176,160,215,223, 57,137,185,120, 69,107,177, 88, 32,  8,  2, 56,142,195,152, 49, 99,236,227,162, 42,210, 69,104, 54,155,193,
-115, 60,160,174, 14,138, 35,118,115,101,127,169, 84,136, 11,107,  2,114, 51, 17, 10,133,107, 61,164,178, 44,219, 79,122,130, 32,
- 96,234,212,169,152, 63,127,126,145, 27,  8,  4, 65, 64,179,102,205,112,249,242,101, 86,229, 30,  0, 37,149, 79,219, 64,108, 66,
-  8,136,135,199,157,242,169, 80,184,100,214,109,209, 38,165, 82,  9, 78,165,  2, 41, 52, 88,162, 40,102,189,255,254,251,223,221,
-186,117, 43, 58, 52, 52, 52, 21,  0, 15, 23, 39,225, 35,132,216, 53, 53, 26, 77,137,230, 74,161, 80,184, 28,193,178,213, 35, 71,
- 70,142, 28, 89,228, 29,  0,222,124,243, 77, 87,235, 17,  5,  0, 65, 16,208,173, 91, 55, 52,110,220, 24, 27, 55,110,132, 44,203,
-120,227,141, 55,160,213,106,177,112,225, 66, 88,173, 86,124,242,201, 39,172,240, 49, 24,255,237, 11,219,178, 60,136,113,226,196,
-137,147,  9, 33,155, 10, 35, 73,103, 75, 49, 82,206,104, 89,204,164,165,150,208, 94,247,118,102,178, 28, 63,219,152, 52,105, 82,
- 67, 39,233, 56,118,151,193,114,112,143,101,157,128, 18, 71,141, 26,165,183,205,145,101, 51,  6, 60,207,187,116,119,161,226,127,
-255, 67,208,227,143,  3,  0,110, 31, 61,106, 55, 85,158,221,187,  3, 58, 29,136, 78,  7,241,247,223,239,232,249,249,185,116, 96,
- 68, 81,180, 27,172,244,244,244, 74, 25,131, 37,138, 34,120,165,128,195, 30,  2,168,192, 23, 49, 87,130, 32,128, 83,  8,136,243,
-127, 12, 68,241, 55, 20,146,107, 55, 61,217, 12,150,237,197,113, 28,222,121,231, 29,251, 62,228, 56, 14,237,219,183,183, 27, 78,
-198,253, 71,177,127, 63, 60,122,223,169,171,230,243,231,255,223,248,118,236,  8,162,215,131,232,116,224, 54,111,190, 99,180, 60,
- 61,129,239,191, 47, 83, 51,111,201, 18,120,206,153,  3, 34,  8, 80, 28, 62, 12,149, 74,  5,139,197,146,245, 66,100,228,186, 84,
- 31,159,227, 23, 47, 94, 60, 15,128, 27, 56,112,160, 95,171, 86,173, 20, 46, 54, 70, 78,187,  5, 87,175, 94, 93,196, 92, 41, 20,
- 10, 88,173,174,149,207,210, 34, 88,206,162, 89, 46, 24, 75,218,183,111, 95,240, 60, 15,111,111,111,120,122,122,218,239,190,180,
- 69,174,172, 86, 43,172, 86,171,203,227, 24, 25, 12,198,163,137, 11, 30,196, 20, 21, 21,117, 54, 42, 42,202, 30, 73, 42, 30,193,
- 42,129, 94,133,102,202,223,102,206,112,103, 44,213,177, 82,210,210,187, 36,227,229,184,108,238,220,185, 31, 59, 73,135,189, 91,
-178,196,137, 70, 91,183,110, 93,199,113,154,  6,158,231, 33, 73, 82,242,185,115,231, 42, 52,193, 40,117,232,174,112, 22,181, 34,
-122,253,255,119, 21,186, 24,193,178,117, 17,242, 60,111, 55, 47, 63,253,244, 19, 60, 60, 60,240,242,203, 47, 87,192, 96,241,248,
- 67,121, 25, 80, 42,238,138, 96,241,130,128, 27,222,161,224,  4,  1, 10, 73,116, 41,173,217,217,217, 80, 42,149,248,226,139, 47,
-240,225,135, 31,218,246,169, 61, 58,226,104,180, 24, 15,168,146, 59, 68,123, 28, 47, 30,108, 81, 43,162,215,219, 35, 92, 60,207,
-195,165,185, 50,173, 86, 64,169,  4, 10,187,242, 44, 22, 75,214,248,241,227,191, 75,245,241,137, 14, 11, 11, 75,197,157,  9, 56,
- 57, 79, 79, 79,151,203, 39,199,113, 78,205,149,173, 30,216,203, 41,207,187, 21,193, 82, 42,149,216,188,121,179,189,174, 56, 70,
-174,220, 53, 88,142,105,221,183,111, 31, 98, 98, 98, 48,102,204, 24,104,181, 90, 44, 90,180,  8, 86,171, 21, 51,103,206,132, 86,
-171,189,211,125,202, 96, 48, 24, 37, 83,197,102,112, 10, 77, 82,145,200, 18,165,180,183,163,  9, 42,169,171,176, 48,226,180,175,
-140,255,218, 92,104,204,156, 98,139,164, 21,187,232,221, 84,220,156, 41,108,206,209,241,157,227,184,224,165, 75,151,122,239,219,
-183, 15, 58,157,206, 62,209,232,243,207, 63, 47, 85,120, 23, 21, 26, 44,234, 96, 42,138,156,192,116,186,114, 25, 44, 65, 16,138,
- 24,172,105,211,166, 65,161, 80,224,219,111,191,  5,  0,188,255,254,251,110, 25, 44,139,197,  2, 42,  3,  7,165, 61, 48, 44,105,
-  2,186, 92,131, 91,251, 46, 64, 16,  4, 84,107,245, 36,228, 22,  3,145,174,242,130,158,202, 46, 95,125,103,100,100,224,252,249,
-243, 32,132, 96,198,140, 25, 69,242,239, 56,198,  7,  0,182,111,223, 14,252,135,158,217,244,208, 25,172,194,238, 64,123, 89, 44,
- 44,159,156,131,193,178, 69,146, 92,209, 36, 42, 21,248, 66,115,245,210, 75, 47,173, 75, 78, 78, 62,126,241,226,197, 11,  0,184,
-231,158,123,206, 79,163,209,224,135, 31,126,200,  1,160, 94,179,102, 77,153, 99,176, 56,142,115,106,174,156, 25, 44, 73,146,220,
-170, 71,101, 93,140,148,199, 96, 17, 66, 32, 73,146, 61,114, 37,138,162,253,187, 90,173,102,  5,143,193,248,143, 71,175, 28,223,
- 75, 32,181,216, 56, 39, 82, 44,210,148,234,204, 88, 57,118,  7, 58,124, 22,157,232,154,139,117, 29, 22, 95,110,123, 79,143,138,
-138,218,109,139, 92, 57, 44, 47,146,142, 18, 35, 88,148, 82,251, 68,163,182,147,  8,199,113,144, 36, 41,165,162, 59,178,160, 65,
-  3,100, 69, 71,131,231,121,120,246,236,  9,162,211,129,234,116, 16,215,174,181, 15, 84, 87,204,154,117,231,100,214,179,167, 75,
-154,182,187,243, 28, 13, 86,102,102, 38,  4, 65,192,236,217,179,193,113, 28, 62,249,228, 19,  4,  7,  7, 35, 57, 57, 25, 91,183,
-110,117, 73,147,147, 57,104,134,251, 66, 51,202, 19,220,152, 90,104,216,103, 20,178,114, 34,112,218,172, 71,189,188,203,168,178,
-107, 26, 44,146,235,221, 27,162, 40,218,231, 46,162,148,218,163, 87,182,110, 19, 73,146,236,147, 58,126,250,233,167, 96, 79, 18,
-185,255, 88,158,120,  2,226,197,139,224,121, 30,202,206,157,239,140,181,210,233,192,109,220,248,255,198,106,218, 52, 80,189, 30,
-114,103,215, 30,  8,175,125,231, 29, 88,238, 76,226,153,245,110,143, 30,223, 39,139,226,177,154, 53,107,218, 34, 87, 68,163,209,
- 64,175,215, 19,220, 25,131,229, 82,248,210, 86, 87,202, 50, 87,182,207,174,150, 79,199,105, 24, 42,195, 96,217,218,142,151, 95,
-126, 25, 65, 65, 65, 88,188,120,113,145,200,213,228,201,147, 33,138, 34, 22, 46, 92,200, 10, 31,131,193, 40,141, 99,110,172,219,
-210,193, 44, 29, 43,167,238,177,138, 38,216,105,203,123,250,244,233,174, 37,109,224,216,125,104,107, 64, 41,165,201, 49, 49, 49,
-237,156, 52,174,141, 40,165,103, 28,151,201,178,252,255,243, 92,233,116,128,135,  7, 56,189,222,126,194,176, 69,179,120, 79, 79,
-167,131,136,157,105,218, 12, 22,199,113, 69,174,190, 21, 10,  5,178,178,178, 32,  8,  2, 22, 47, 94, 12, 47, 47, 47,152, 76, 38,
-184,146, 78,139,197,  2,158,231,145,127, 61, 31,177, 83, 78, 67,173,191,130, 58, 79,122,194, 83,184,138,218,251, 55,192,106, 53,
-  3, 14, 93,134,174,104,214,168, 81,  3,227,198,141,179, 15, 78, 46,254,114,204, 43,165, 20, 45, 91,182, 44, 83,179,162, 48,205,
-162,154,182, 46,113,219,221,130,196,195,227,206,184, 43,135,  8, 35,245,240,  0,231,225,113,231,110, 64, 23,202,103,161,121,185,
- 19,185, 18,197, 99,182,200,213,139, 47,190,232, 91, 24,185,202,  5,192,205,154, 53,203, 35, 36, 36, 68, 81,124,252,157, 51, 77,
-158,231,239, 50, 87,238, 24,172,146,234, 81,241,233, 67,198,142, 29,123,215, 68,163, 37, 25,172,146,242,206,243, 60,170, 86,173,
- 10,157, 78,  7,171,213,106,143, 92,105, 52, 26,251,236,240, 37, 93, 76,176,242,201, 52,153,230,127, 71,243,  1,153,177,123,134,
-219, 35, 75,109,221,135,135, 15, 31,134,167,167, 39,188,189,189,221,234, 58, 52,155,205, 48, 24, 12,144,101, 25,234, 79, 62,185,
- 19,189,  1,144,175, 84,254,255, 99, 73,186,116,  1,229, 56,100,228,228,192, 98,177,148,217, 13, 99, 52, 26,139, 12, 64,183,153,
- 43,199, 19, 67,110,110,174,125,242, 80, 87,176,105,218,162, 98, 68,162,184,182,227,215,187,239, 38,116, 99, 38,119, 73,146, 16,
- 16, 16, 80,100, 12,143,237, 36,232,228, 68, 13,176, 46,194,251,142, 40,138,168, 82,165, 10, 40,165, 16, 38, 78,  4,  8,  1, 37,
-  4,166,194, 72,163,213,106,133,208,182, 45, 40,207, 35,219,104,132,197, 98,129, 70,163, 41, 85, 51, 55, 55, 55,235,131, 15, 62,
-248, 14,192,145,174, 93,187,166,  0, 48,  2,160, 62, 62, 62,106, 74,169, 12, 32,  5,  0, 77, 74, 74,242,189,118,237,154,108, 54,
-155,203,124,206,231,225,195,135,113,237,218, 53, 52,111,222,220,254,248, 26,219,203,246,  8,166,242, 68,176,156,205,209, 86,222,
-153,220, 29,218, 12,120,123,123, 67,165, 82, 97,246,236,217, 80, 42,149,208,106,181,  0,128,133, 11, 23,222,217,215,110,232, 49,
- 24, 12,198,191,  1,183, 13,150,173,251,240,196,137, 19, 22, 91,227,233,234, 68,163, 74,165, 50,181, 69,139, 22,110, 61,240, 88,
-169, 84,102, 94,191,126,221, 90,138,139,190,185,103,207, 30,183, 30, 82,203,243,124,153,154,135, 15, 31,118, 75,147,227,184, 82,
- 53,  5, 65, 72,237,222,189,187, 91,121, 87,171,213, 41,172,136,222, 63,  4, 65, 72,237,213,171,151,243, 99,180,104, 81, 73,219,
-100,162,148,103,231,  9,130,112,173, 97,195,134,187,212,106,245, 21,111,111,111, 28, 58,116, 40,160, 89,179,102,  1,142,235, 52,
-107,214, 44,172, 88, 89, 50, 77,159, 62,157, 78,155, 54,173, 36,217,155,227,199,143,119,183,124,166,150,113, 53,122,243,230,205,
-155,238,214,163,212, 50, 27, 24,133,226,230,219,111,191, 29,226,106, 93,  7,123, 14, 33,131,193,248,175, 26,172,210,186, 15,203,
- 34, 46, 46, 46,162,178, 51,144,152,152, 88,231,223,160,121,248,240,225,  8, 86,220, 30,110,238,197, 49, 58,124,248,112,163,202,
-214,140,142,142,174,244,242,121,252,248,241, 58,247, 98,159,254,246,219,111,117, 88,201, 98, 48, 24,255, 69,216,124,  0, 12,  6,
-131,193, 96, 48, 24,204, 96, 49, 24, 12,  6,131,193, 96, 60,220, 16,  0, 78,187, 48,220,185, 59,128, 16,226,118, 55, 72, 89,250,
- 76,147,105, 50, 77,166,201, 52,153, 38,211,124,244, 52,203,210,126,136,239, 78,116,207, 96,221,203,185,150,216, 45,172, 76,147,
-105, 50, 77,166,201, 52,153, 38,211,252, 47,194,186,  8, 25, 12,  6,131,193, 96, 48,152,193,122,244,  8, 15, 15,175,198,246,  2,
-131,193, 96, 48, 24,143, 14, 37, 78,211,208,170, 85,171, 56, 73,146,220,154,183, 73, 16,132, 84, 87,111,117, 39,132, 40, 12,  6,
- 67,127,173, 86,219, 73, 16,132,182,  0, 32,138,226, 33,163,209,184, 55, 41, 41,105, 61,165,180, 92,243,225,  4,  6,  6, 70,112,
- 28,247,  2, 33,100, 16,  0, 80, 74,215,201,178,252,243,173, 91,183,226, 30,182,157, 79,  8,225, 66, 66, 66,190,175, 91,183,110,
-215,144,144,144,115, 94, 94, 94,253,206,157, 59,103,169,128, 94,134,179,229,148,210, 42,229,213, 12, 11, 11,243,177, 90,173, 45,
-  0, 52, 43, 92,116, 66,161, 80, 28,191,113,227, 70, 38,171, 62,143,  6,229,169,235,192,157,121,237, 14, 29, 58, 20, 81,153,154,
- 42,149, 42,225,224,193,131,117, 74,208,188, 36, 73, 82,200,191, 32,157,255,138,253, 89, 18, 45, 90,180,248,157, 82,218,189,176,
- 77,217,118,252,248,241,  1,172,150, 48, 24,149,104,176, 36, 73,242,223,187,119, 47,244,122,189,237, 36, 13, 73,146,236,179, 68,
-203,178,108,127,134,158,109,134,235,167,158,122,202,165,  6, 32, 52, 52,180, 65,157, 58,117, 86,189,249,230,155,161,125,250,244,
- 81,  5,  6,  6,130, 16,130,155, 55,111,214,218,180,105,211,144,197,139, 23, 79, 14, 13, 13, 29, 26, 31, 31,127,206, 21, 61,127,
-127,127,189, 82,169,124,134, 82, 58,180, 73,147, 38,237, 62,248,224,  3,210,190,125,123, 72,146,132, 93,187,118, 77, 90,176, 96,
-193, 68,131,193,112,144, 16,178,202, 98,177,108, 72, 77, 77,205,123,128,166,138,  4,  6,  6,134,221,186,117, 43, 30,  0,105,222,
-188,121,187,249,243,231,251,254,254,251,239,143,127,254,249,231, 95,  2, 24, 89,  1,121, 85, 37,166, 83, 17, 20, 20, 52, 14,192,
-196,226,186, 86,171,213,108, 48, 24,230, 38, 39, 39, 47, 40,175, 17,102, 60, 60, 56,214,117,219, 51, 49,173, 86,171,189,110, 75,
-146,  4, 74,169,253, 49, 66,182,246,160, 91,183,110,254,238,104,218,218, 13,155, 46,112,231,209, 89, 14,219,160,123,247,238, 37,
- 70,115, 41,165,213,118,238,220,  9,111,111,239, 82, 53, 29,145,101, 25, 79, 60,241, 68,185,210,105,107,223,138, 35,138, 98,169,
-233, 44,174,233,168, 91,146,166, 44,203,232,210,165,203,125, 77,167,141,214,173, 91,  7, 88,173,214, 69,132, 16, 21,207,243, 31,
- 80, 74,187,111,221,186, 21,146, 36,161, 87,175, 94,221, 91,183,110, 93, 75,146,164,121, 58,157, 78, 54,153, 76, 99,142, 28, 57,
-194, 38, 64,102, 48, 42, 98,176,  0, 64,175,215, 99,245,234,213,246,199, 99, 20,127, 20,141,227,231,240,240,112,151,254, 48, 40,
- 40,168,121, 68, 68,196,182,245,235,215,107,  3,  2,254,127, 66,107,139,197,  2, 47, 47, 47,188,252,242,203,170,110,221,186,213,
- 26, 58,116,232,158,160,160,160,238,201,201,201, 49,165,233,  5,  7,  7,143, 14,  8,  8,152, 53,110,220, 56,109,223,190,125, 81,
-165, 74,209, 96, 77,239,222,189,209,179,103, 79,114,237,218,181,246,235,214,173,107,191, 98,197,138,249,193,193,193, 83, 19, 19,
- 19,151,150,149,214,144,144,144, 42, 26,141,230,203,192,192,192, 70,177,177,177,  7, 85, 42,213,248,130,130,130, 55,131,130,130,
-158,207,205,205,141, 55,153, 76,111,220,184,113, 35,214, 29,115, 85,173, 90,181, 45,141, 26, 53,106,162, 82,169, 98, 77, 38,211,
-139,103,206,156,137,185,122,245,170, 97,232,208,161,228,204,153, 51,125, 13,  6,195,174,164,164,164,181,229,137, 92, 89,173,214,
-227,165,253,238,106, 36,171, 65,131,  6,202,160,160,160,109,  0, 90,245,233,211,231,250,244,233,211,169,143,143,143, 39,199,113,
- 36, 61, 61, 61,227,211, 79, 63, 85,174, 93,187,118, 90, 80, 80, 80,247,  6, 13, 26,116,175, 72,212,141,241,112,160,215,235,241,
-203, 47,191, 20,121, 28,142,227,115,  7,139, 63, 46,199,215,215,247,158,104, 82, 74, 75,125, 60,148,135,135,  7,126,253,245, 87,
-112, 28,119,151,142,163,182,237,123,213,170, 85, 65,  8,  1, 33,132,208, 18,238,232,113, 55,157, 85,171, 86,133, 44,203, 92,101,
-230,221,223,223,191,210,247,103,213,170, 85,203,220,159,133,237,198,162, 79, 63,253,180,151,167,167, 39, 38, 76,152,112, 50, 60,
- 60, 28, 94, 94, 94, 88,182,108, 25,170, 84,169,  2, 73,146, 78,126,246,217,103, 36, 62, 62, 30, 11, 23, 46,252, 26, 64,127, 86,
- 99, 24,140, 10, 26, 44,  0, 69, 42,109,105,  6,171,132, 43,206, 34,119, 24, 68, 68, 68,168, 61, 60, 60,126,254,227,143, 63,180,
-126,126,126,246,229,102,179, 25, 57, 57, 57,200,205,205, 69, 78, 78, 14,244,122, 61,150, 44, 89,162,125,225,133, 23,126,142,136,
-136,104, 18, 23, 23,103, 42, 73,147, 82, 58,247,212,169, 83,130,213,106,133, 74,229, 60,128,195,113, 28,106,213,170,133,177, 99,
-199,162, 67,135, 14,186,231,158,123,110, 46,128,165, 37,105, 58, 24,147,229,251,247,239,111, 27, 16, 16,160,217,176, 97,131,102,
-201,146, 37,151,123,246,236,153,251,210, 75, 47,  5,101,102,102,  6,245,238,221,251, 79,  0, 13, 92,201,123, 97,228,206,187, 81,
-163, 70, 13, 23, 44, 88,224,117,238,220,185,166, 83,167, 78,221,148,157,157, 61,107,214,172, 89,245, 87,174, 92, 89, 99,230,204,
-153,250, 83,167, 78, 77, 34,132,252, 70, 41,149, 92,209,116,140, 92,113, 28,167,112, 55,178,229, 76, 51, 51, 51,115, 50,128, 86,
- 63,253,244,211,153, 39,158,120, 34,140, 82,154, 14,224, 38,  0,  4,  4,  4,104, 22, 44, 88,160,235,212,169,211,137, 49, 99,198,
-180, 42, 92,119,186,139,233, 44, 55, 76,243,222,106,202,178, 12, 65, 16, 48,112,224, 64, 16, 66,138, 60,199,208, 86,207,247,239,
-223,143,167,158,122, 10,130, 32,224,213, 87, 95,117, 89,243,185,231,158,131,213,106,189, 75,115,231,206,157, 69,140,  1,199,113,
- 46,105, 58, 62, 35,180,164,151,187,154,165,105, 21,215,116,103,127,186,170,233,236,121,171,165,105, 14, 24, 48,  0, 91,183,110,
-173,112, 58,109,205,252,169, 83,167,208,164, 73, 19,172, 90,181,138,240, 60,143, 35, 71,142, 64,171,213, 98,248,240,225,104,212,
-168, 17,209,106,181,184,118,237, 26,114,115,115,  9,171, 71, 76,243, 94,105,150,129,  0,160, 41,  0,127,  0, 18,128, 28,  0, 62,
-  0,204,133,231,184,116,  0,218,194,151,  9, 64, 46,128,170,133,219,166,225,206,180, 84,126, 14,122,169, 40,250, 80,232,150,133,
-218,182, 71,128, 57, 94,245,152,139,157, 71,109,223,139,191, 23,209,230, 10,141,  4, 45,124,117, 42,182,  3, 93, 50, 87, 37, 53,
- 16,197,145,101,121,212,196,137, 19,  3, 28,205,149,201,100, 66,118,118, 54,114,114,114,236,239,151, 47, 95,134, 74,165,194,160,
- 65,131,  2,100, 89, 30, 85,214, 78,231,121, 30, 49, 49, 49,216,176, 97,  3, 98, 99,239, 14, 40, 93,189,122, 21, 95,124,241,  5,
-230,205,155,135,236,236,108,219,129,114,138,193, 96,240,107,208,160,193,204, 70,141, 26, 93,110,221,186,117,151,212,212, 84,205,
-169, 83,167, 16, 30, 30, 30,184,126,253,122,143,200,200,200,160,232,232,104, 92,188,120, 81,217,182,109,219,176,250,245,235, 95,
-111,210,164,201,151,129,129,129, 17,101, 69,175, 44, 22,139,215,217,179,103, 15,108,222,188, 89,106,209,162,  5, 86,173, 90, 21,
- 94,187,118,237, 79,175, 93,187,182,118,217,178,101, 70,127,127,127,244,236,217, 51,194, 96, 48, 60,237,106,228,138, 16,146, 97,
-181, 90,143, 59,139, 94,201,178,140,236,236,108, 92,191,126,253,248,233,211,167, 99, 10,215,191, 89, 70,212,174, 38,128,113,131,
-  7, 15,254, 95,161,185,186, 81, 88,144, 69,  0,162, 36, 73, 57, 25, 25, 25,137,157, 58,117, 10,234,214,173,219, 69,  0,227, 10,
-183, 97,252,139,177, 90,173, 16,  4,  1,127,253,245, 23,118,236,216,129, 93,187,118, 97,207,158, 61,216,183,111, 31,246,237,219,
-135,253,251,247, 67, 16,  4, 28, 56,112,  0,  7, 14, 28,192, 91,111,189,229,178,230, 31,127,252,225, 84, 83,167,211, 21, 49,  6,
-174,180, 33,146, 36,149,104, 86,126,252,241, 71,112, 28,119,151, 38, 33,132,162,148,  7,167,219,210,233,236,213,172,121,243,187,
-150, 57, 51,109, 37,165,115,203,150, 45,176, 90,173, 88,183,110, 29,178,179,179,241,195, 15, 63, 32, 57, 57, 25,139, 23, 47,198,
-149, 43, 87, 48,119,238, 92,156, 58,117,202, 37, 77, 91, 58,  7, 14, 28,104,127, 48,183, 32,  8, 72, 75, 75,195,178,101,203,112,
-253,250,117, 44, 88,176,  0,231,207,159,199,172, 89,179, 92,210,  4,  0,158,231,199,173, 89,179,198,186,123,247,110,172, 92,185,
- 18,107,215,174,197,149, 43, 87,160,209,104,160,213,106,113,243,230, 77, 92,184,112,  1,107,215,174,181,114, 28,247, 30,171, 45,
-140,202,166, 36, 15, 82,140,142,147, 38, 77,234, 74,  8,217,212,174, 93,187, 97,  0,124,  8, 33,155,  0,168, 10,223,253, 38, 77,
-154,212,138, 16,178,105,210,164, 73, 45,  0, 84, 37,132,108, 42,252,222,  5,128,159,237,123,225,250,254,197,204,155,191,195,114,
-255, 98,235,170,156,125, 47,254, 94, 92, 91,225, 96,166, 72,241,134,200,177, 49, 43,203, 96,185, 82,153, 61, 61, 61,159,126,250,
-233,167,149,142,230,202, 49,114,101,123,207,201,201,193,165, 75,151,208,168, 81, 35,165,167,167,231,211,  0,190, 40, 51, 20,167,
- 80,192, 96, 48, 32, 45, 45, 13,103,206,156, 65,120,120, 56, 68, 81,196,182,109,219,144,153,153,105, 15,165,155,205,230, 82,117,
-  2,  2,  2, 22,191,240,194, 11, 61, 71,141, 26,197,255,253,247,223,168, 87,175, 30,170, 87,175,142,131,  7, 15,194, 98,177, 32,
- 52, 52, 20,109,219,182,197,175,191,254,138,166, 77,155,114, 35, 71,142,172,122,246,236,217,225,139, 22, 45,106,  3,160,121, 73,
-186,213,170, 85,219,220,164, 73,147,166,231,207,159,191, 58,111,222,188,181, 55,110,220,232, 51,113,226, 68,125, 84, 84,148,239,
-192,129,  3,159,220,186,117,235,229, 41, 83,166, 52,237,221,187,183, 98,197,138, 21,195,  1,108,118,161, 92,150, 24,185,178, 90,
-173,200,205,205,181,153, 86, 69,118,118, 54,  7, 23,198,104,201,178,252, 56,  0,126,202,148, 41,160,148,222, 46,188, 82,176, 71,
- 26,115,115,115,145,155,155, 43, 75,146,148, 53,106,212, 40,227,142, 29, 59,248,194,109,174,178,102,226,223,139,173,174, 15, 24,
- 48,160, 72,116,104,231,206,157,232,221,187,247, 93,221, 82, 61,122,244,112, 89,115,200,144, 33, 69,162, 47, 10,133,194,105,244,
-197, 29,227,226, 44,130, 85,220, 92,217,150,149, 53,215, 95,105,209, 38,  0,119, 45,115,199,  8, 62,251,236,179, 80, 42,149, 24,
- 62,124, 56,148, 74, 37,222,124,243, 77,  8,130,128,  9, 19, 38, 64, 16,  4,180,104,209,194,229,188,219,210,185,113,227, 70,244,
-236,217,211,158,158,176,176, 48,188,251,238,187, 80, 42,149,104,220,184, 49,148, 74, 37,218,182,109,235, 82, 58,109,  3,218, 27,
- 53,106,132, 49, 99,198, 96,253,250,245,248,233,167,159,236,191, 15, 28, 56, 16,  3,  6, 12, 64,110,110, 46,  2,  3,  3, 21, 73,
- 73, 73,103, 91,180,104,193,  6,190, 51, 42, 29,103, 30,164, 24,234,185,115,231,126, 76, 41,237, 93,146,134,237,119, 66,200,166,
-168,168,168,222,133,186,119,125,119,136, 50, 57,154,183,134,142, 17, 40,219,118,142,255, 87,218,127, 23, 91, 63,181,136,193, 42,
-204, 88,103,103,141,132, 82,169,180, 55,104, 37, 25, 45, 87, 40, 40, 40,104,108,139, 94, 21, 20, 20, 20, 49, 84,133, 39,110,251,
-103,179,217,140, 26, 53,106,160,160,160,160,177,155, 78, 24, 65, 65, 65,176, 88, 44,248,246,219,111,237,198,202,134,197, 98, 41,
-235, 32,  7,117,237,218,149,143,139,139, 67, 98, 98, 34,100, 89,198,161, 67,135, 32,  8,  2,140, 70, 35, 76, 38, 19,126,253,245,
- 87,240, 60,143,171, 87,175, 66,163,209,160, 73,147, 38, 68,146, 36,159,146, 52,  3,  3,  3,117,109,218,180,169,191,120,241, 98,
-175,211,167, 79, 55,159, 52,105,146,215,186,117,235, 54,134,135,135, 15,126,237,181,215,132, 17, 35, 70, 52,253,230,155,111, 82,
-162,163,163,209,174, 93, 59,120,121,121,133, 87,164,160,154, 76,166, 34,251, 50, 59, 59, 27, 89, 89, 89,174,110,222, 12,  0,188,
-188,188,170,  2, 72,182, 45,204,207,207, 71,126,126, 62,178,179,179,145,159,159, 15,163,209,104,209,233,116, 42,135,109,126, 96,
- 77,196,191,223, 96,109,221,186,245,174,177, 76,187,118,237,186,107,204,143, 74,165,194,230,205,155, 93, 50,  4,127,254,249,103,
-137, 99,133, 28,187,181,120,158, 47,115,204,144, 45,170,206,243, 60,126,254,249,103,  0,192,232,209,163,237,203, 28,219, 36,155,
- 38,  0, 60,251,236,179,196,149,168, 88,199, 47,239,140, 45, 59,253,145,228,212, 96, 57,106,186,146,247, 95,127,253, 21,189,123,
-247,198,166, 77,155, 74,125,239,222,189,187, 91,209, 59,224,255,135,111,220,184,113,195,169,238,226,197,139, 93,217,159,221,183,
-110,221, 10, 47, 47, 47,123,183, 32,  0,244,238,221,251, 61, 15, 15,143, 14,  5,  5,  5,253, 54,109,218,132,204,204, 76,212,168,
- 81,  3,  1,  1,  1, 56,114,228, 72,119, 86, 99, 24,247, 34,138, 85,220,131, 20,195, 56,113,226,196,201,132,144, 77, 19, 39, 78,
-156, 28, 21, 21,117,182,112,187, 77,197,116, 54,149,241, 63, 54, 19,100,235, 30,108, 89,204,188,217,186, 14,123,149,178,173,185,
-152,161, 42,222, 69,120,172,204,  8,150, 44,203, 69,204, 85,105,  6,203,149, 43, 48, 74, 41, 79,  8, 41, 98,  0, 74,138, 96,137,
-162,136,244,244,116, 80, 74,249,202, 60,136,101, 25,172,244,244,244, 15,222,124,243,205,141,159,127,254,185,215,144, 33, 67,240,
-207, 63,255,160,126,253,250, 48,153, 76,240,243,243, 67,108,108, 44,120,158,199,229,203,151, 17, 30, 30, 14,189, 94,143,169, 83,
-167,230, 26,141,198,169, 37,105,222,186,117, 43, 63, 60, 60,124,255, 31,127,252,209,111,200,144, 33,252,218,181,107,107,142, 25,
- 51,198,243,171,175,190, 74, 26, 60,120,112,248,224,193,131,249,111,190,249, 70, 17, 27, 27,139, 14, 29, 58,192,199,199, 71, 87,
-222,252,229,229,229,221,101,174,108,223, 93,188,138, 16, 10, 67,181,246,219,146,108,230,215,246,202,206,206,134,201,100,162,162,
- 40,114,119, 54,161,  2,107, 30,254,221,216, 12,193,160, 65,131,138,212,107,155,169,216,182,109, 27,  6, 12, 24,  0,149, 74,  5,
-165, 82,137,200,200, 72, 87,202, 18,  4, 65,192,243,207, 63,111, 55, 42,127,252,241,135, 83,115,101, 27, 87,229,138,201,176,141,
-227,122,237,181,215, 32,  8,  2,126,248,225,  7,188,254,250,235,224,121, 30, 75,150, 44,  1,199,113,152, 56,113,162, 93,179,176,
- 93, 43, 51,157,130, 32,224,248,248,130, 59,145,160,217, 60,174, 70,221, 41,214, 33,161,161,119,234, 86,110,174,253,191, 93,221,
-159, 47,189,244, 18,148, 74, 37,222,120,227, 13,  8,130,128,241,227,199, 67, 16,  4, 68, 70, 70, 66, 16,  4,116,234,212,201,229,
-188, 59,166,243,224,193,131,246,207,117,235,214, 69,163, 70,141,160, 84, 42,209,166, 77, 27,168, 84, 42, 60,241,196, 19, 46,165,
-211,182, 79,151, 45, 91,  6,173, 86, 11,141, 70, 99, 59, 86,109,198,141, 27,215,207,217,250, 13, 26, 52, 96, 21,134,241, 32, 34,
- 88,166,168,168,168,179, 81, 81, 81, 78, 35, 84,197, 35, 73,165, 69,154, 28,140,213, 49, 20,118,  7, 78,156, 56,113, 50,238,140,
-221, 58,230,194,182, 42,155,185, 42, 30,229,114,164,120,  4,107, 70,241, 70,162,248, 64, 87,103,159, 21, 10,133, 75,  6, 75,167,
-211,157, 77, 75, 75,107,173, 86,171,237, 39,126,103,230, 42, 55, 55, 23, 60,207, 35, 37, 37,  5, 58,157,238,108,101, 30,196,178,
-186,  8, 19, 18, 18,142,133,132,132,140, 24, 57,114,228, 56,179,217,220, 80,161, 80, 40, 77, 38,147,234,207, 63,255, 36,219,182,
-109, 67,181,106,213, 48,118,236, 88,154,155,155,107, 33,132,152,  5, 65,136,205,203,203, 91, 26, 27, 27,187,170, 52,221,235,215,
-175,191,104, 48, 24,102,220,184,113, 99,212,212,169, 83, 61,198,141, 27,231, 63,102,204,152,156,152,152, 24,244,232,209,  3,190,
-190,190,118, 19,228,225,225,161,246,247,247,215,187, 51,157,132, 44,203,119,237, 67,199,125, 92, 56,246,172, 76, 56,142, 59, 73,
- 41, 29,154,159,159,159,173,213,106, 53,217,217,217, 22,199,  8, 99,110,110, 46,242,242,242, 32, 73,146,226,214,173, 91,  9,  0,
-234,113, 28,119,146, 53, 15,143,134,193,218,188,121,115,137,209, 38, 91,116,203,118, 65,181,109,219, 54,151, 34, 46, 27, 55,110,
-188, 43, 42,230,248,114,115, 28,167,125,155,229,203,151,  3,128,253,  2,144,227, 56,140, 27, 55, 14, 26,141,  6, 11, 22, 44,192,
-164, 73,147,236,219,165,165,165,185, 20,193,106,241,169,198,190,220, 22, 41,186,157,158, 14, 65, 16,224,233,225,  1,201,106,117,
-107,127,150,245,178,229,221,157, 40, 99, 73, 81,192,242,104,  2,216,220,171, 87,175, 94, 85,170, 84,193,240,225,195,161,211,233,
-208,191,127,127, 20, 20, 20, 12,  4,128,185,115,231,218,247,227,180,105,211, 48,125,250,116,228,231,231,155, 88,141, 97,220,163,
-  8,214,140, 82, 86,169, 98, 51, 78,133,102,200, 85,221, 77,142,235,219, 52,138,155,162,194,136,216,190,178,180,156,109, 91, 18,
- 10,155,115, 44,233,138,169, 44,115,101,123,185,114,  5,150,151,151,183,103,207,158, 61,145,207, 60,243,140,194,241,196, 95,220,
-104, 21,246,247,227,234,213,171,214,188,188,188, 61,174, 52, 60,149, 21,193, 42, 52, 89,219,  0,216,207, 30,126,126,126, 63,231,
-230,230,246, 12,  8,  8, 16,204,102, 51,178,178,178,174, 94,185,114,165,137,187,  5, 40, 41, 41,105,154,193, 96,168,213,165, 75,
-151,190, 61,123,246, 68, 64, 64,128,242,236,217,179,232,217,179, 39,234,213,171,231,149,151,119,199, 79,233,245,122, 53,207,243,
-126,  0,242, 92,205,147,179,136, 96, 94, 94, 30,178,178,178,144,159,159,239,114, 23, 33, 33,228, 32,165, 20, 31,127,252,113,246,
-244,233,211, 35,178,179,179,243,178,178,178, 36,199,200, 88,126,126, 62,209,233,116,138,213,171, 87,123,218,182, 97,205,195,163,
- 97,176, 92,121,185, 58,120,218, 49,130,229,104, 12,108,230, 64,165, 82, 97,221,186,117,197,199, 74,185,212, 69,248,227,143, 63,
- 98,244,232,209, 80,171,213, 88,186,116,233, 93,227,178, 56,142,179,167,147, 16,226,244,238,183,226,154, 45,231,105,113,126, 58,
-129, 82,169, 68,173,201,230,187,186,  8, 11, 47, 64,220, 74,231,119,223,125,231, 82, 23, 97,207,158, 61, 93,222,159, 45, 91,182,
-  4,  0,124,254,249,231,120,230,153,103,112,230,204, 25,167,186, 95,127,253,117,153,233,140,142,142, 30,220,188,121,243,154, 86,
-171, 53,166,113,227,198,138,155, 55,111, 98,192,128,  1, 88,183,110, 29, 10, 79,100,152, 56,113, 98,145,109,114,115,115,153,193,
- 98, 84,122,244,202,133,213, 82,139,141,159, 34,142,221,117,165,188, 23, 95, 31, 14,203, 28,117, 83,113,231,102, 46, 56, 89, 94,
-220, 84, 21,255, 15,199,117, 82,239,138, 96,185,210,232,150,102,182, 92, 49, 88,132,144,197,211,166, 77, 27,213,161, 67,135, 42,
- 94, 94, 94, 72, 74, 74,114, 26,193,242,242,242,130,197, 98,193,158, 61,123,114,  8, 33,139,203,144,181,138,162,168,  8,  8,  8,
- 64, 90, 90,154,211,  9,247,108, 13,163, 86,171, 69,110,110, 46,  0,184, 59, 57,166, 57, 39, 39, 71,124,254,249,231,133,197,139,
- 23,195,104, 52,150,187,129, 33,132,108, 61,113,226, 68,159,167,158,122,138,132,135,135, 43,108,198, 71,173, 86, 43,108, 17, 44,
-189, 94,175, 33,132,248,  2,184, 94,134,156, 47,  0,120,122,122, 38,  3,192,161, 67,135, 46, 56, 27,215, 54,121,242,228,122,133,
- 39,  5, 95,  0,180, 12,115,121,214, 96, 48, 44,255,233,167,159,134,119,234,212,233, 80,211,166, 77,107,100,100,100,100,229,230,
-230,154,243,243,243, 41,165, 84,161,211,233,132,253,251,247, 95,190,124,249,114,111,  0,203, 19, 18, 18,206,178, 38,226,223, 79,
-101,154, 43, 71, 67, 80, 60,130, 85,252,189, 60,154,175,191,254, 58,190,251,238, 59,123,221,182,233, 44, 88,176,  0, 60,207,227,
-163,143, 62,114,185,139,204,166,121,110, 26, 80,127, 58,197,157,225, 20,255, 31,193,242,244,242,186,179, 94,  9,109, 75,105,154,
-111,191,253, 54,148, 74, 37, 26, 54,108,  8, 65, 16,208,186,117,107,  8,130,128,174, 93,187, 66, 16,  4,151,140,213, 93,233, 60,
-119, 14, 74,165, 18,181,107,215,198,160, 65,131,208,186,117,107,116,232,208,  1, 74,165, 18,221,187,119,  7,207,243,232,217,179,
-103,153,131,251, 29,218,198,207, 62,249,228, 19,133, 70,163,129,217,108, 70,126,126, 62,210,211,211, 81, 82,  4,203,104, 52,170,
- 89,109, 97, 60,  0,142,221,103,221, 10,255,159,194,149, 10, 93,222,105, 26,138, 63,109,251,218,181,107,217,  6,131,225,229,231,
-159,127,126,205,146, 37, 75,180, 53,107,214,196,197,139, 23,145,145,145,  1,139,197,  2,165, 82,  9,131,193,128,220,220, 92,252,
-246,219,111,249, 70,163,241,229,164,164,164,236,210, 52,  9, 33, 51,159,126,250,233,105, 83,166, 76,225, 27, 52,104,128,140,140,
- 12,228,230,230,218, 27, 23, 66,  8,188,188,188,160,211,233,112,230,204, 25, 28, 62,124, 88, 34,132,204, 44, 77,211,201,137, 39,
- 62, 54, 54, 86, 94,180,104, 17, 10, 10, 10, 76, 86,171, 53,193,  5, 35,229, 84,147, 16,178, 59, 46, 46, 46, 23,128,167, 94,175,
-151, 83, 82, 82, 10,  0,104,100, 89,150,210,210,210,204,184, 51,135,  7,229,157, 56,214,226,154,148, 82, 83,225,114, 21,  0,100,
-102,102,222, 53,166, 45, 59, 59, 27,146, 36,169, 28,215, 47, 43,157,162, 40, 78, 16,  4,161,195,203, 47,191,220,182, 87,175, 94,
-167,134, 14, 29, 90,224,227,227,227,199,243,188,241,234,213,171,183,215,173, 91,167,190,114,229, 74,111,  0,215, 68, 81,156,224,
-106,222, 43, 24, 62,102,154,247, 80,211, 86,215,139, 71,166,221,137, 82,151,164,105, 27,135,228,248,178, 69,174,138,107, 22, 55,
-  5, 37,105,242, 60,143,177, 99,199, 22,137,138, 77,158, 60,185,196,121,249, 76, 38, 19, 41,109,127,218,182,139,251, 84, 85,164,
-251,205,152,159,239,116, 96,123, 89,233,180,105, 46, 90,180,168,220, 17,172,210,210,217,175, 95, 63, 36, 38, 38, 66, 16,  4, 28,
- 57,114,164,196,  8,150, 43,233,  4, 80,176,117,235, 86,104, 52, 26,252,246,219,111,214,192,192, 64,133,143,143, 79,137, 17,172,
-130,130,  2, 53,171, 71, 76,243, 94,104, 62,106,148,106,176,172, 86, 43, 66, 67, 67,237,230,137,227, 56,219,188, 50,224,121, 30,
- 28,199,217,  6,145,186,252,135, 73, 73, 73, 59, 13,  6,195,243,253,251,247,255, 97,248,240,225, 30,245,234,213, 19,194,195,195,
- 97, 52, 26, 17, 23, 23,135,184,184, 56,235,174, 93,187,114,140, 70,227,136,164,164,164,157,101,233, 37, 38, 38,206, 55, 24, 12,
-155,135, 13, 27, 54,171,105,211,166, 61,199,141, 27,135, 26, 53,106, 32, 43, 43, 11, 85,170, 84, 65, 64, 64,  0, 98, 99, 99,241,
-235,175,191, 34, 43, 43,107, 11,128, 41, 73, 73, 73,151,221,217, 73, 90,173,246,243, 79, 62,249,164, 99, 96, 96, 96,189,244,244,
-244,  4,165, 82, 57,185,188, 59, 60, 49, 49, 49,229,175,191,254,250,223,208,161, 67,  3,246,238,221,155,194,113,156,105,240,224,
-193, 97,  7, 15, 30, 76,225, 56,206, 52,100,200,144,176,  3,  7, 14,164, 36, 39, 39, 31,119, 67,214, 23,  0,158,126,250,233,219,
-197, 27,127,135,200,149,203,164,166,166,230,213,170, 85,171,189,209,104,140,218,188,121,243,240, 18,238, 22, 91,174,213,106, 39,
- 93,185,114, 37,143, 85,163, 71,164, 49, 80, 40,160, 82,169,202,101,174, 74,211,252,237,183,223,156, 70,174,138,107,186,218,142,
-148,102,  4,157,153, 43, 87, 34, 57,238,228,221,213,116, 42, 20, 10, 76,154, 52,  9,130, 32,160, 85,171, 86, 16,  4,  1, 93,186,
-116, 41, 18,185,114, 39,130,101,211,172, 83,231,206,163,  5,131,131,131,145,153,153,137, 46, 93,186,224,169,167,158,130, 66,161,
- 40,151, 46,165,244,173, 77,155, 54, 89, 41,165, 58,142,227,222, 79, 74, 74, 58,107,139, 42, 58,139, 96, 49, 24,140, 10, 26, 44,
- 65, 16, 82, 93,125,182,160, 13,149, 74,149,234,162,201,218, 81,171, 86,173,250,223,126,251,237, 27, 30, 30, 30, 93,140, 70, 99,
-163, 66, 35,115, 38, 55, 55,119,183, 66,161,248, 42, 41, 41, 41,199,213,255, 45, 52, 76,131, 12,  6, 67,219, 97,195,134,205,106,
-215,174, 93,235,215, 94,123, 13, 10,133,  2,107,215,174, 69, 98, 98,226,145, 66, 99,117,168, 60, 59,233,218,181,107,217, 40,253,
-246, 81,119, 26, 51, 43,128,142,149,121, 16, 29, 34, 89,165,254,238, 14, 87,174, 92,201,  1,240, 70, 80, 80,208,151, 60,207,183,
-151, 36,169, 25,  0,240, 60,127, 66,146,164,  3,201,201,201, 23, 89,245,121,116,144,101, 25,254,254,254, 69, 46,154,108,211, 30,
-148,215, 92,201,178,140,128,128,  0,251,120, 40,219, 69, 89, 25, 55,197, 16, 87,210, 73,  8, 41,162, 91,154, 38,165,148,154,205,
-102, 82,154,102, 96, 96,160, 61,159,149,145, 78, 73,146,236,154,182,180,242, 60,111,215, 46,239,254, 12, 12, 12,180, 13,115,168,
-148,116,  2, 64,116,116,116, 58,128, 97,182,239,145,145,145,155, 47, 94,188,216,171,164,  8, 22,131,193,168,160,193, 58,124,248,
-112,196,189,252,227,194, 19,120, 84,225,171, 82, 40, 52, 80, 93, 13,  6, 67,239,131,  7, 15,218,186,174, 62, 73, 74, 74,218,244,
- 95, 56,152,148, 82, 93,101,107, 22, 26, 41,102,166, 30, 97,  4, 65, 72,125,250,233,167,253,221,221,174,180, 11, 42, 65, 16, 82,
-187,119,239,238,182,166, 90,173, 78, 41, 69,243,102,143, 30, 61, 66,202,145,206,204,224,224, 96,169,178, 46, 36, 93, 72,103,185,
- 52,203,218,159,149,157,206, 82, 12,215, 96,131,193,112,208,207,207,175,166,201,100, 82, 26,141, 70,165, 99, 20, 80,171,213,166,
-177, 90,195, 96, 84,192, 96,253,155, 41, 52, 84,155,216,225,101, 48,202,230, 94, 92, 76,221, 11,205,131,  7, 15,214,249,175,230,
-253, 94, 95,240, 58,105, 67,219,177,154,193, 96, 84, 12,142,237,  2,  6,131,193, 96, 48, 24,140,202,133,  0,104,228,236,  7,119,
-238, 14, 32,132, 52,114,247,143,203,210,103,154, 76,147,105, 50, 77,166,201, 52,153,230,163,167, 89,150,246,163,114,119, 34,113,
-117,174,148,114,137,179, 91, 88,153, 38,211,100,154, 76,147,105, 50, 77,166,249, 31,132,117, 17, 50, 24, 12,  6,131,193, 96, 48,
-131,197, 96, 48, 24, 12,  6,131,193, 12, 22,131,193, 96, 48, 24, 12,  6, 51, 88, 12,  6,131,193, 96, 48, 24, 12,102,176, 24, 12,
-  6,131,193, 96, 48, 30, 26,238,233, 93,132, 12,  6,131,193, 96, 48, 24,255, 69,236, 17, 44, 66,200, 94, 66,200, 94,182, 75, 24,
- 12,  6,131,193, 96,220, 79, 30, 69, 15,162, 40,204, 24, 69, 37, 61,204,152,193, 96, 48, 24, 12,  6,195, 13,115,245, 72,122, 16,
- 66, 41,  5, 33,132, 82, 74,  9, 59,204, 12,  6,131,193, 96, 48,238,183,193,122, 20, 61,  8, 27,228,206, 96, 48, 24, 12,  6,131,
-113,143, 12,214, 12, 54,  6,139,193, 96, 48, 24, 12,198,  3,224,145,244, 32,246,187,  8,  9, 33,157,  0,128, 82,202, 76, 22,131,
-193, 96, 48, 24,140,251,103, 70, 30, 65, 15,194,166,105, 96, 48, 24, 12,  6,131,193,168,100,238,233, 24, 44, 66, 72, 35,166,201,
- 52,153, 38,211,100,154, 76,147,105, 50, 77,102,176, 24, 12,  6,131,193, 96, 48, 24,204, 96, 49, 24, 12,  6,131,193, 96, 48,131,
-197, 96, 48, 24, 12,  6,131,193, 12, 22,131,193, 96, 48, 24, 12,  6,131, 25, 44,  6,131,193, 96, 48, 24,140,  7,  4,  1,224,244,
- 78,  0, 74,233, 25,151, 69,202,113, 55, 65, 89,250, 76,147,105, 50, 77,166,201, 52,153, 38,211,124,244, 52,203,210,118,199,127,
- 60,212,  6,203,149,121,176, 72,225,131,130,220, 22, 39,164, 81,101,239,168,210, 52,  9, 33,164,240,224,208,202, 76,103,121,242,
-127,191,243,206, 52,153, 38,211,100,154, 76,147,105,254,155, 53, 31, 53, 20,101,236, 64, 14,119,186, 17,  9, 33, 68,  6, 32,211,
- 74,152,153,212, 65, 23,  0,228, 66, 79, 68, 43,160, 71,  0,240,182,252, 16, 66,172,  0,164,138,166,245, 94,229,255, 95,225,188,
-239,236, 83,242,255, 23, 20,108, 70, 90,  6,131,193, 96, 48, 42,100,176,  8, 33,164,126,253,250, 66,251,246,237,143,250,248,248,
-212,118,252,173, 79,159, 62,  0,  0,139,197, 34,109,219,182,205,211,221, 63,108,208,160,129,178, 52, 93, 73,146,164, 45, 91,182,
-184,172, 75,  8, 33,225,225,225,170,144,144,144, 35,222,222,222,181,156,105,202,178, 44,109,222,188,217, 45,205,178,242,239,110,
- 58,255,101,230, 74, 81,187,118,237,129, 58,157, 78,107, 91,214,172, 89, 51,199,223,105, 76, 76,204,143,172,250, 48, 24, 15,158,
-176,176,176, 81,  0,112,227,198,141,101,238,110,219,185,115,103, 69, 89, 23,218, 78,176,238,217,179,199,202,246, 60,131, 81, 14,
-131, 85,179,102, 77,165,191,191,255,190,176,176,176, 90,223,125,247, 29, 78,157, 58,133,230,205,155, 67, 20, 69, 88,173, 86,200,
-178,140,231,158,123,142, 47,143,185,242,247,247,223,111,211,189,117,235, 22,180, 90,251, 57, 28,146, 36, 97,196,136, 17, 46,235,
-218,204, 85, 68, 68,196,190,240,240,240,154,223,126,251, 45, 46, 93,186,132,234,213,171, 67,161, 80,192, 98,177, 32, 47, 47, 15,
-175,189,246,154, 91,105, 45, 41,255,178, 44, 67, 20, 69, 72,146,132, 33, 67,134,184,165,217,186,117,235, 75, 86,171, 53,196,157,
-109, 84, 42, 85,194,193,131,  7,235,148,244,123,219,182,109, 47, 89, 44, 22,183, 52,213,106,117,194,129,  3,  7,234,148,102,174,
-106,213,170,245,108,195,134, 13, 53,107,215,174, 69, 98, 98, 34,180, 90, 45,100, 89,134, 36, 73, 16, 69, 17,207, 60,243, 12, 97,
- 85,135,193,120,240,212,170, 85, 75, 69, 41,157, 66,  8, 65,173, 90,181,150, 95,185,114,197,236,206,246, 70,163,241, 26,165,212,
-167,132,182,192,233, 54, 60,207,103,  2,  8, 43,163,109, 14,  7,208, 83,161, 80,212, 84, 40, 20,117, 40,165, 97, 86,171, 53,160,
-176, 93, 75,225,121,254,134,197, 98,185,100, 54,155,175,  2,216, 66, 41,189,206,142, 38,227,145, 55, 88,132, 16,174,115,231,206,
- 91, 66, 67, 67, 27,124,247,221,119,132,231,121, 28, 60,120, 16,137,137,137,  8, 10, 10,130,167,167, 39, 52, 26, 77,121,162, 34,
- 92,231,206,157,255,114,212,221,180,105, 19,130,131,131, 17, 24, 24,  8, 15, 15,143,242,232,242,225,225,225,127,133,133,133,213,
-255,246,219,111,237,105,205,201,201,129,183,183, 55,242,242,242,144,146,146, 82,158,116, 86,122,254,101, 89,174,182,107,215, 46,
-120,122,122, 66,146, 36, 80, 74, 33,203, 50, 40,165,246, 87,145, 75, 68,171, 21,221,186,117,171, 86,234,101,164,213, 90,109,223,
-190,125,118,  3,228,168, 37, 73, 18, 84, 42, 21, 56,142,179,155, 87,139,197,130, 78,157, 58, 85, 43,205,176,214,174, 93,123,160,
-205, 92,241, 60,143, 53,107,214, 32, 48, 48, 16,190,190,190, 68,167,211,145, 66, 67, 76,203, 59, 46,143,193, 96, 84, 30,102,179,
-249,185,113,227,198,105, 11, 10, 10,240,245,215, 95, 63,  7, 96,185, 59,219, 75,146,228,183,127,255,254, 34, 23,186,101,172,143,
- 86,173, 90,249,149,209,134,118,247,243,243,251,185,109,219,182,130,191,191, 63,175,213,106,161,215,235,225,227,227,  3,141, 70,
-  3, 89,150,195,172, 86,107,152,201,100,122, 60, 37, 37, 69, 90,191,126,253, 76, 66,200, 11,148,210,109,236,136, 50, 30, 89,131,
- 85, 56,238,134,211,235,245,109,190,255,254,123,240,252,157, 32,141, 82,169,132, 70,163,129, 86,171,133, 70,163,129, 70,163,129,
- 36, 73,232,211,167, 79,190,227,246, 37,117, 27,150,166,171,213,106,139,232,  2, 40,162,107, 54,155,165,191,255,254,187, 36, 77,
-133,135,135, 71,171,239,190,251,206,174, 41, 73, 18, 50, 51, 51, 97,177, 88,144,147,147,131,212,212, 84,119,204,149,203,249, 47,
- 15, 58,157, 14, 27, 55,110,132, 66,161,128, 32,  8, 80, 42,149,246,119,219,103,219,119,127,127,127, 87, 35, 82, 56,120,240, 32,
- 56,142,179,111, 47,  8,  2, 54,111,222,140,247,222,123, 15,183,110,221,178,255,166,215,235,203,220,  5, 58,157, 78,107, 51, 87,
-182,188,139,162,168, 92,176, 96,193, 84, 15, 15, 15, 47,  0,  8, 14, 14, 70,112,112,240,162,242,118,193, 50, 24,140,202,193,203,
-203,235,195, 81,163, 70,169, 86,174, 92,  9, 65, 16, 38,185,107,176,  0, 64,171,213, 98,219,182,109,246,118, 73, 16,  4,240, 60,
- 15,149, 74,  5, 65, 16,138, 44, 15,  9,  9,113,165, 77,250,104,221,186,117,234,213,171, 87,227,202,149, 43, 40,140, 90, 65,175,
-215,195,203,203, 11, 62, 62, 62,240,245,245,133,159,159, 31,154, 53,107,198,191,250,234,171,124,135, 14, 29, 62,  2,192, 12, 22,
-227,209,142, 96,161,112, 96,243,169, 83,167,112,240,224, 65,251,201,222,199,199,167,136,193, 24, 60,120, 48, 94,124,241, 69,152,
- 76, 38,152,205,102, 88,173, 86,188,252,242,203, 69,186,205,156,221, 97,144,150,150,134,141, 27, 55, 66,165, 82,193,207,207,207,
- 30, 17,178,189, 58,119,238,140,119,223,125, 23,148, 82,100,100,100,148,165, 73,  0,224,242,229,203, 56,112,224,  0,172, 86, 43,
-180, 90, 45, 68, 81,196,173, 91,183,112,238,220, 57,196,197,197, 33, 47, 47, 15, 61,122,244,248, 90, 16,132, 89,127,252,241, 71,
-114,241, 52, 57,211, 44, 43,255,101,225, 44,239,146, 36,161,127,255,254, 32,132,128,231,121, 40, 20,138, 34,141,151,227,231,211,
-167, 79,187,164, 41,203, 50, 58,116,232,  0,  0,208,235,245,240,240,240,192,238,221,187,237,191, 55,111,222, 28,102,179, 25,254,
-254,254, 56,115,230,140, 75,154,201,201,201,248,249,231,159,109,198, 79,185,102,205,154,233, 53,107,214,212, 47, 93,186, 20,  9,
-  9,  9,208,233,116,144,101, 25,178, 44,195, 98,177,224,173,183,222, 42,243,184, 87, 20,166,201, 52,153,102, 81, 12,  6,195, 19,
- 31,125,244,145, 79, 94, 94, 30,242,243,243, 81,173, 90, 53, 15,131,193,240, 68, 82, 82,210, 78,119, 53, 21, 10,  5, 36, 73,194,
-214,173, 91, 17, 27, 27,139,157, 59,119,162,160,160,  0, 85,171, 86,133,143,143, 15,218,180,105,131, 17, 35, 70, 56, 53, 88,197,
- 53, 37, 73,250,153, 16,210,100,232,208,161,100,203,150, 45, 72, 75, 75, 67, 78, 78, 14, 44, 22, 11, 44, 22, 11,  4, 65,128, 78,
-167,131, 94,175,135,193, 96,  0,199,113,180,160,160,224,103,118,220,153,102, 25,180,  4,224, 24,121, 48,  3, 80, 57,188,167,  2,
- 56,230,100, 61,219,114,  1, 64,211,194,223, 36,  0, 57,  0,124,156,232,149,164,147,  6,128, 58, 44,179,173, 95,252,127,138, 26,
- 44, 66,136,173,171,167, 51,128,127,108, 39,230,164,164, 36,168,213,106,248,248,248,160,101,203,150,  0,128,220,220, 92,168, 84,
- 42,108,216,176,  1, 10,133,  2, 30, 30, 30,208,235,245,165, 70, 71, 40,165,180,240, 46, 60,232,245,122,132,132,132, 64,163,209,
-160,107,215,174,184,122,245, 42,170, 87,175,110,215, 61,117,234, 20,126,254,249,103,120,121,121,193,219,219,187, 44, 77, 17,  0,
-106,212,168,129,204,204, 76,100,101,101, 65, 20, 69, 28, 59,118, 12,221,187,119, 71,207,158, 61,161,211,233,144,150,150,134,227,
-199,143,247,152, 59,119,238, 51,189,122,245,122,105,243,230,205,127,151,149,206,226,249,119, 52, 88, 42,149,170, 92,165, 67,150,
-101,108,221,186,181, 72,164,170,120,  4,203,246, 94,210,248,  7,103,154, 71,142, 28,177,155, 51,133, 66, 97,143, 62, 17, 66,112,
-246,236, 89,112, 28,  7,165, 82,233, 82,157,  1,  0, 15, 15, 15,  4,  6,  6, 66,169, 84,146,111,190,249,102,106,173, 90,181,244,
- 75,151, 46, 37,182, 46,195,160,160, 32,  4,  4,  4, 64,175,215,151, 59,154,199, 96, 48, 92, 39, 44, 44, 44,134, 16, 18,164,215,
-235,137, 78,167,  3,  0, 68, 68, 68,112,195,134, 13,211, 28, 63,126, 28,190,190,190,232,219,183,175,215,234,213,171, 87,183,107,
-215, 78, 38,132, 32, 55, 55, 23,102,179,153, 18, 66,146, 47, 94,188,216,188, 52,125,158,231, 49,110,220, 56, 76,156, 56, 17,131,
-  6, 13,194,206,157, 59, 49, 97,194,  4,140, 24, 49,162,200,  5,160, 43,136,162,248,195,176, 97,195, 94, 89,183,110,221, 99,227,
-198,141,227, 10,163, 90,208,233,116, 32,132,192,100, 50,193,104, 52,162,160,160,  0, 23, 47, 94,148, 95,125,245,213,255,153,205,
-230, 31,216, 81,254,239,226,232, 65, 40,165,123, 75, 88,205,159, 16,178,201,225,124,221,155, 16,178,201,241,189,164,245, 10, 63,
-118,156, 52,105, 82,139,185,115,231,126,220,182,109,219, 53,  7, 15, 30, 92, 93,146, 94, 73, 58,147, 38, 77,106, 56,119,238,220,
-143, 29,215,119,242, 63,119, 71,176,238,120, 11, 66,225, 48,187,123, 80, 80,144,189,107, 44, 37, 37,  5, 90,173, 22, 30, 30, 30,
-144,101, 25, 30, 30, 30,240,244,244,132,135,135,  7,108,125,236,174,156,188,  1, 32, 48, 48, 16, 26,141,  6, 63,255,252, 51,106,
-214,172,137,191,254,250, 11,106,181, 26, 60,207, 67,167,211,193,195,195,195,254, 42,  3,201,214, 56,120,123,123,195,106,181, 98,
-231,206,157, 24, 55,110, 28,100, 89,198,149, 43, 87,240,245,215, 95,227,157,119,222, 65,147, 38, 77,252,190,255,254,251, 91, 35,
- 70,140, 88, 49, 96,192,128,230,191,255,254,123, 98, 73,158,197, 89,254,117, 58, 29,180, 90,173, 61,157,229, 53, 88,253,251,247,
-  7,207,243, 78,163, 86,142, 38,107,255,254,253, 46,107,182,105,211,  6, 58,157,206,126, 60,254,250,235, 47,251,239,173, 90,181,
-  2,165, 20,254,254,254,248,231,159,127,202,186, 34,161,205,154, 53,131, 44,203,168, 90,181, 42, 81, 40, 20,196,211,211,211,107,
-233,210,165,246, 60,171, 84, 42,123, 20, 79,173, 86, 67,173, 86,179,214,129,193,184,247, 39, 32,159, 46, 93,186,120,126,253,245,
-215, 69, 46,240,114,114,114,112,251,246,109, 84,169, 82,  5,193,193,193, 24, 55,110,156,206, 86, 87, 11, 10, 10,176,107,215, 46,
-188,255,254,251,  5,101,233, 27,141, 70, 88, 44, 22,132,135,135, 35, 58, 58, 26,121,121,121,120,226,137, 39,238,138,182,187, 24,
-217, 48, 19, 66,186,246,233,211,103,255,130,  5, 11,106, 52,104,208,128,228,229,229,193, 22,105,179,125, 62,115,230, 12, 93,189,
-122,117,108,126,126,126, 23, 74,169,153, 29,229,255, 54, 14, 30,132,148,177, 94,111, 23,245,108,235,221, 42,124, 87,207,157, 59,
-247,227,226,219,151,165,231,248,123,177,237,205,197, 76,217,173, 18, 13,150,227, 73,182, 79,159, 62,144, 36,  9, 94, 94, 94, 80,
-171,213,208,104, 52,168, 90,181,106,145,245,108, 39,115, 91,168,183, 44,131,101,211,149,101, 25,158,158,158,168, 93,251,255,103,
- 63,232,209,163,135,221, 44,216, 12,150, 77,223, 21, 77,139,197,130,220,220, 92, 36, 37, 37,161,123,247,238,160,148,226,242,229,
-203, 80, 42,149,248,254,251,239,241,246,219,111,163,160,160,  0, 30, 30, 30,129,195,135, 15,191,182,118,237,218, 79,  1, 60, 95,
-154, 38,128, 34,249,183,153,  9, 91,227,165, 80, 40,138,140, 21, 83, 40, 20,169,235,215,175,143, 40, 35,189,216,182,109, 91,153,
- 17, 44,165, 82,105, 31,156,238, 66, 33, 66, 76, 76,204, 93,227, 39,108, 17,176,147, 39, 79,218, 27, 72, 87,163, 98,146, 36,193,
-195,195,195,158,215,155, 55,111, 98,229,202,149, 80,169, 84,168, 82,165, 74,145,110, 93,102,176, 24,140,123,143, 36, 73, 79,237,
-221,187,119,219,248,241,227,253, 90,180,104,161,112,108,143,170, 84,169, 98,175,139,177,177,177,246,207,219,182,109,179,126,252,
-241,199,105,249,249,249, 79,151,165,239,235,235,139, 85,171, 86, 65, 16,  4,108,218,180,  9, 94, 94, 94, 24, 48, 96,  0,188,188,
-188, 48,126,252,120, 12, 25, 50,  4,130, 32,184,115,178,204, 38,132, 60,241,238,187,239,238,255,244,211, 79, 67,195,194,194, 96,
-177, 88, 96, 54,155, 97,177, 88,112,245,234, 85,172, 89,179, 38, 33, 63, 63,255,  9, 74,105, 54, 59,194, 12, 55, 46, 54, 54,185,
- 98,178, 28,214,139,182, 93, 71, 76,156, 56,113, 50, 33,100,211,196,137, 19, 39, 71, 69, 69,157,117, 69,175,132,223, 55, 23,190,
-247,114, 88, 22, 93,166,193,114, 60,201,218, 42,106,213,170, 85, 33,138, 34,120,158,183,159,248,191,250,234, 43,124,245,213, 87,
-246,245,179,178,178, 92,218, 57, 28,199, 65,163,209,216,186,237,208,163, 71, 15,236,222,189, 27,157, 58,117,  2,  0,119, 35, 88,
-246,171,175,212,212, 84,196,196,196,160, 87,175, 94,136,139,139,131, 74,165,178, 27, 21,133, 66,  1,165, 82,  9, 66,  8,158,122,
-234, 41,252,240,195, 15,237, 92, 49, 25,142,198,170,120,228, 42, 60, 60, 28, 11, 22, 44,176,127,239,211,167, 79,153,163,210,101,
- 89,198,179,207, 62, 91,196, 12, 21, 55, 88,182,116,111,222,188,217,101,131,213,169, 83, 39,251,254,242,244,244,196,250,245,235,
-237,191,119,236,216, 17,132, 16,  4,  4,  4, 96,211,166, 77, 46, 71,197,180, 90, 45,181,117, 43,234,245,122,123, 52,207,211,211,
- 19, 94, 94, 94, 44,130,197, 96,220, 71, 18, 18, 18,174, 24, 12,134, 86, 91,182,108,217,150,153,153, 25, 62,104,208, 32,141,227,
-152,208,226,175,133, 11, 23, 22,172, 89,179,230, 90, 78, 78, 78,143,196,196,196,219,101,233,219,218,164,220,220, 92,236,217,179,
-  7,191,252,242, 11, 90,180,104, 81,164,157,114, 55,114, 79, 41, 77, 35,132,116, 27, 63,126,252,158, 89,179,102,  5,249,249,249,
-193, 98,177,224,250,245,235,248,241,199, 31,147,243,242,242,186, 81, 74,211,216,209,101,184, 89,174,108,209,162, 64, 39, 63,247,
-114, 18,121,106,137, 59, 99,163, 76, 81, 81, 81,103,163,162,162,122, 19, 66, 54, 69, 69, 69,245, 46, 37,130,213,171,140,  8, 87,
- 47,220, 25,115, 85,122,189,114,112,105, 20,119,198, 96,217, 79,220,182, 19,168, 40,138,119, 93,189,124,252,241,199,232,223,191,
- 63,244,122, 61,130,131,131, 93,233, 34,180, 19, 18, 18,130,220,220, 92,244,232,209,  3,178, 44,131,227, 56,200,178,124,151,193,
-242,244,116,237,198,180,156,156, 28,220,186,117, 11,215,175, 95,135, 82,169,132, 36, 73, 24, 60,120, 48,226,226,226,224,237,237,
- 13,181, 90,109, 55, 46,158,158,158,  1, 22,139, 69,215,163, 71, 15,213, 95,127,253,101, 46,205,100,148,100,174,  0, 64,163,209,
- 96,207,158, 61,110,221, 85, 72, 41,197,230,205,155, 75, 29,123,101,123,119,117,  6,  4, 74, 41, 14, 29, 58,116, 87,  4,171,240,
-152,218,127,179, 13, 98,117, 21, 71,243, 36,203, 50,  2,  2,  2,236,121,181, 53,236,204, 96, 49, 24,247,143,164,164,164,244,144,
-144,144, 14,135, 15, 31,222,221,175, 95,191, 70,117,234,212,129, 36, 73,246,161, 11,182,250,185,125,251,118,252,252,243,207,255,
-179, 90,173,157, 19, 19, 19, 93,234,122,179, 88, 44, 80, 42,149,248,227,143, 63,208,178,101, 75, 68, 70, 70,218,219, 13,219,184,
- 78, 87,187,  8,139,181, 79,137,132,144,167, 23, 45, 90,180,119,193,130,  5, 62,185,185,185,248,241,199, 31,179,115,114,114,158,
-166,148, 38,178,163,202, 40,201,131,148, 65,116,177,232, 17,108,227,161,108,134,168,248,119,  0, 85,108,203, 38, 78,156, 56,217,
-213,237, 28,191,219, 34, 96,165, 24,175,187, 13, 22,165,148, 56,201,172,125, 64, 55,207,243,118,  3,100,195,214,133,103, 48, 24,
- 32, 73,146,203,221, 79,132, 16,228,229,229, 65,165, 82,217, 53, 29,181, 29,199, 18,185, 56, 48, 27, 89, 89, 89,246,249,174,110,
-221,186,  5,157, 78,135,191,254,250,203,110, 96, 28, 95,162, 40,222, 82, 42,149, 85, 74, 51, 87,142, 38,202,150,127,103,191,217,
-140,134,171,115,200, 80, 74,139, 92, 17,150,244,226, 56,206,101, 51, 36,203,178,189,241,227,121,222,254, 34,132,192,104, 52,150,
-235,202,211,214,104, 11,130, 64,109,223,245,122,253, 93,221,165,204, 96, 49, 24,247, 61,146, 85, 80,183,110, 93,191,238,221,187,
-195, 98,177,192,106,181,218,141,149,173, 13,142,140,140,  4, 33, 36,248,234,213,171, 46, 95, 81,173, 93,187, 22,215,174, 93,131,
-197, 98,193,236,217,179,139,152, 43,199, 87, 57, 35, 14, 87,155, 55,111, 46, 63,253,244,211, 56,116,232, 16, 52, 26,141, 72, 41,
-189,202,142, 38,195,161,140,184, 98, 32,210,138,141,117,178,125, 55, 23, 51, 59,197,191, 23, 95, 31,  0, 82,  0,240,101,108, 87,
-252,123, 90, 84, 84,212, 30, 91,228,171, 80,151, 47,105,252, 85,145,  8, 86,177,147,182, 52,112,224,192, 34,103,101, 65, 16,240,
-242,203, 47,227,194,133, 11,208,235,245,240,247,247,119,219, 92, 81, 74, 37,199, 25,224,121,158, 71,175, 94,189,112,227,198, 13,
-251, 88, 46, 63, 63, 63,119, 39, 29,149,166, 79,159,206,  3,119, 38,231,220,179,103, 15,158,122,234, 41,152,205,102,167,  6,107,
-253,250,245,178, 78,167, 59, 92,134,105,145,  6, 12, 24,224,212,149,  8,130,128, 38, 77,154,192,215,215,183,200, 28, 94,174,226,
-138,185,114, 23,155,169,114, 52, 89, 99,198,140,177,127,119,245,248,  0,128, 82,169,164,189,122,245,178,111, 16, 28, 28,108,143,
-102, 58, 51, 87,204, 96, 49, 24,247,143,208,208,208, 22,253,250,245,211,107,181, 90, 16, 66,144,147,147,131,215, 95,127, 61,135,
-227, 56, 44, 92,184,208, 51, 32, 32,  0,126,126,126,104,223,190,189, 50, 63, 63,255, 25,  0,191,186, 18,189,122,237,181,215,156,
-222, 45,104,155,184,216,246, 20, 11, 87, 47,122,157, 93, 92, 50, 24, 21,228,104, 25,223,221,221,254,158,227,212, 96, 57,155, 52,
-178, 79,159, 62,249,157, 58,117,194, 99,143, 61,102, 31,147, 99, 59,185, 23,143, 66, 57, 68,171,138, 60,109,123,211,166, 77,158,
-197, 53,  7, 12, 24,128, 51,103,206,192,219,219, 27,222,222,222,240,242,242,130,237, 54,228, 18, 34, 96, 69, 52,255,252,243, 79,
-187,230,160, 65,131,  2,191,255,254,251,147,173, 90,181,202,174, 82,165, 74,136,109,236,149,173,219,237,246,237,219,151,151, 44,
- 89, 98,240,243,243,235, 95,154,102,105,147,102,246,233,211, 39,127,202,148, 41, 56,119,238, 92,169, 17,172,146,158, 52,190,104,
-209, 34, 44, 59,112,  0,163,218,183, 47,245,192,124,249,229,151, 46,105, 82, 74,241,217,103,159, 85,154,230,145, 35, 71,126, 44,
-150,223,197,  0,236,221,172,142,198,202,113,166,120, 87,242, 94, 17,152, 38,211,100,154,128,151,151,215,152,209,163, 71,123, 80,
- 74,241,253,247,223, 91,190,250,234,171,124,179,217, 60, 14,128,178, 75,151, 46,159, 78,155, 54, 77, 63,104,208, 32,254,141, 55,
-222,240, 56,114,228,200,196,226,  6,203,153,102, 65, 65,  1, 22, 47, 94,236, 82, 27,178,108,217,178,114,229,221,241,252,224,138,
-217, 98,199,253,191,169,249,168,161,112,115,135,218,231,189,114,102,168,202, 67,126,126,126,145, 65,237,174, 14,108,119,198,186,
-117,235,110,245,234,213,107,248,168, 81,163, 86, 12, 25, 50, 36,238,153,103,158,129, 94,175,247, 55,153, 76, 41,191,254,250,171,
-180,116,233, 82,131,175,175,239, 27,127,254,249,103, 92, 69,211,173,211,233,138,116, 19,186, 16,185,186,113,245,234,213,136,249,
-243,231,115,121,  0, 62,231, 56,112, 28,103,191,113,160,184, 81,217,189,123,183, 85,165, 82,149,154, 78,149, 74,101,215,204, 39,
-  4,159, 19, 98,215,178,105,187,171,233, 52, 68, 40, 73, 69, 76,149,237,189,188,211, 85, 48, 24,140,242, 33, 73,210,147,102,179,
-153, 12, 28, 56, 48,239,242,229,203,219, 76, 38,211,216,184,184,184, 44,  0,  8, 15, 15,223, 53,123,246,236,229,191,253,246, 91,
-227,197,139, 23,123, 88,173,214,160,178,244,212,106,117,220,222,189,123, 67,103,206,156,201,167,113, 28,162, 28,134, 25,216, 94,
-142,109,211,238,221,187, 37,173, 86, 27, 95,145, 60,176,104, 22,131, 25,172,187,175, 64,164,178, 30,240,172, 84, 42, 37, 55, 27,
- 11,105,204,152, 49,124, 25,198,196, 45,205,205,155, 55,255, 61, 96,192,128,230,155, 54,109,250,120,237,218,181, 29, 76, 38,147,
- 86,165, 82,121,106, 52,154, 35,254,254,254,  3, 54,108,216,112,173, 66, 59, 76,161, 72,117,118,199,160, 82,169, 76, 45, 35,175,
-221,222,121,231,157, 93, 38,147, 41,194,149,255,209,106,181,137,121,121,121,221, 74, 91, 71, 20,197,110, 99,199,142,173, 84, 77,
- 39,166, 90, 26, 53,106, 84,169,199,200,195,195, 67, 98, 85,137,193,184, 47,164, 12, 27, 54, 44, 59, 35, 35, 99,116,114,114,114,
-145,137,237,174, 95,191,126, 19,192, 83,213,171, 87,127,177, 83,167, 78,115, 56,142, 43,243, 46, 39,171,213,218,245,179,207, 62,
-219, 97,177, 88,194, 92,249,115,149, 74,117,195, 98,177,116,115, 55,209,178, 44,147,228,228,100,204,155, 55, 47, 47, 61, 61,253,
- 32, 59,140,140,255,  2,228, 94, 94, 77, 60, 12, 97,201,178,238, 22,124, 88,210,201, 52,153, 38,211,100,154,143,170,166,175,175,
-239,102,  0,255,203,200,200,248,156, 82,154,192,246, 39,211,252, 47,160,120,212, 51,232,202,221,130, 12,  6,131,193,184,119,220,
-190,125,187, 23,219, 11,140,255, 26, 28,219,  5, 12,  6,131,193, 96, 48, 24,149, 11,  1,208,200,217, 15,238,132,254,  8, 33,141,
-220,253,227,178,244,153, 38,211,100,154, 76,147,105, 50, 77,166,249,232,105,150,165,253,168,116, 61, 62,242, 99,176,152, 38,211,
-100,154, 76,147,105, 50, 77,166,201,198, 96,221,111, 88, 23, 33,131,193, 96, 48, 24, 12,  6, 51, 88, 12,  6,131,193, 96, 48, 24,
-204, 96, 49, 24, 12,  6,131,193, 96, 48,131,197, 96, 48, 24, 12,  6,131,193, 96,  6,139,193, 96, 48, 24, 12,  6,227,161,129,176,
-231, 66, 49, 24, 12,  6,131,193, 96, 84, 46, 44,130,197, 96, 48, 24, 12,  6,131, 81,201, 40,  0,128, 16, 98, 15, 99, 81, 74,  9,
-219, 45, 12,  6,131,193, 96, 48,238,  7,143,170,  7, 81, 48, 99,197, 96, 48, 24, 12,  6,227, 65,242, 40,122, 16,206,153,131,100,
- 48, 24, 12,  6,131,193,184, 95, 60,138, 30,132,123,148,221, 35,131,193, 96, 48, 24,140,135,159, 71, 62,130,197,162, 88, 12,  6,
-131,193, 96, 48,238, 55,143,162,  7, 97,211, 52, 48, 24, 12,  6,131,193, 96, 84, 50,247,116,154,  6, 66, 72, 35,166,201, 52,153,
- 38,211,100,154, 76,147,105, 50, 77,102,176, 24, 12,  6,131,193, 96, 48, 24,204, 96, 49, 24, 12,  6,131,193, 96, 48,131,197, 96,
- 48, 24, 12,  6,131,193, 12, 22,131,193, 96, 48, 24, 12,  6,131, 25, 44,  6,131,193, 96, 48, 24,140,  7,  4,  1,224,244, 78,  0,
- 74,233, 25,151, 69,202,113, 55, 65, 89,250, 76,147,105, 50, 77,166,201, 52,153, 38,211,124,244, 52,203,210,118,199,127, 60,212,
-  6,235, 94,206,131, 69,  8,105, 84,217, 59,138,105, 50, 77,166,201, 52,153, 38,211,100,154,143,158,230,163,  6,235, 34,100, 48,
- 24, 12,  6,131,193,168,100, 20,108, 23, 48, 24,174, 17, 25, 25,169, 85,171,213, 79,236,222,189, 91,121,254,252,121, 28, 61,122,
-148,174, 90,181, 74, 52,153, 76, 59,163,163,163,141,108, 15, 61, 26, 52,109,218,180, 27,207,243,239,  1,128, 36, 73,243, 79,158,
- 60,185,163,  2, 87,249,164,102,205,154,175,171,213,234,238,130, 32,  4, 73,146, 68, 76, 38, 83,114,126,126,254,206,164,164,164,
- 69,148, 82,185, 28,154,145,126,126,126,175, 54,106,212,168,214,213,171, 87, 19,226,227,227,215,  0,216,  1,160, 91,104,104,232,
-115, 53,107,214, 12, 57,115,230,204,149,244,244,244,239, 40,165,209, 15, 42,157, 12,  6, 51, 88,174, 85, 62,206,203,203,171,139,
- 32,  8, 35,141, 70, 99, 83,141, 70,115,150,227,184,239,210,210,210,182,177,138,247,232, 66,  8,225,131,130,130,186,  6,  4,  4,
-140,205,206,206,110,237,227,227,115,252,246,237,219, 11,175, 95,191,190,131, 82, 42,149, 83,147,211,233,116,157, 21, 10,197, 43,
-102,179, 57, 82,173, 86,159,150,101,249,251,156,156,156,237, 15,178, 44,181,111,223,254,180,213,106, 13, 46,109, 29,149, 74, 37,
-236,218,181,139, 95,191,126, 61,253,249,231,159,111, 63,247,220,115,250, 17, 35, 70, 40,150, 47, 95,190, 12,192,248,226,235,183,
-105,211, 38, 78, 20, 69,127, 87,254, 95, 16,132,212,195,135, 15, 71,176, 82,247,224,225,121,254,189, 17,115,247,180,151, 41,176,
-124, 82,103, 20,154,151,114,209,188,121,243,111,251,245,235,247,108,157, 58,117, 20,178, 44, 67, 20, 69,152, 76,166,199, 98, 98,
- 98, 30,223,182,109, 91,115,  0,195,220,172, 63, 61, 38, 78,156,248,213,204,153, 51,171, 10,130, 64, 68, 81,108,245,203, 47,191,
- 60, 53,102,204,152,211, 95,127,253,117,227, 33, 67,134,120,216,150, 79,155, 54,237, 41, 66,200,  4, 74,233,186,251,157, 78,  6,
-131, 81,134,193,242,242,242,170,165,213,106, 71,121,122,122,118,175, 93,187,118,226,136, 17, 35,142, 89, 44,150,255,241, 60, 79,
- 87,172, 88,241,182,217,108,254, 44, 56, 56,120,187,201,100, 90,154,158,158,126,201,205,134,162, 22,128, 17,  0,158,  2, 96,  0,
-112, 19,192, 54,  0, 63, 82, 74, 47,151, 39, 51, 33, 33, 33, 13,181, 90,237, 56,158,231, 91,230,229,229,  5,235,116,186,100,  0,
-199,114,114,114, 22, 38, 37, 37,157, 44,143,102,104,104,104, 13,  0,163,149, 74,101,123,171,213, 26, 33,  8,194, 13, 81, 20, 15,
- 72,146,180, 52, 33, 33,225, 74,121, 52,219,133,123,245,164,122,207, 40, 11,209,132,228,153, 36,165, 94,197,139, 74,106, 74,144,
-242,179,166, 30,189,158,179,225, 65, 23, 10,131,193, 80,167, 90,181,106,111,213,174, 93,123, 96,120,120,184,114,232,208,161,202,
- 78,157, 58, 97,239,222,189, 29, 86,173, 90,213, 74,169, 84, 90, 90,181,106,245,123, 98, 98,226,162,164,164, 36,151,142,187, 90,
-173,174,233,225,225,241,154, 78,167,235, 94,183,110,221,228, 55,223,124,243, 82, 76, 76,204,197,198,141, 27,199, 47, 93,186,244,
-173, 75,151, 46,205, 11,  8,  8,248,187,160,160,224,219,156,156,156,203,247, 59,207, 38,147,169,230,190,125,251,160, 82,169,156,
-254, 46,203, 50,  6, 15, 30, 12,149, 74,133,165, 75,151,146,163, 71,143,206, 52, 26,141, 83,190,250,234, 43,191,229,203,151,247,
-119,102,176, 68, 81,244, 63,116,232, 16,148, 74,229, 93,122, 86,171, 21, 22,139,  5, 22,139,  5, 70,163, 17,125,250,244,241,103,
-205,209,195,  1,165,180, 26,  5,176,245, 84,  1,  0,248, 84, 68, 75,163,209,212,233,223,191,191, 34, 45, 45, 13, 10,133,  2, 22,
-139,  5, 55,111,222, 68,205,154, 53,121,147,201,244,152,187,122,117,235,214,125, 53, 42, 42,202,127,203,150, 45,150, 85,171, 86,
-153,187,117,235, 38,140, 24, 49,194,179, 83,167, 78,237, 66, 66, 66,184, 31,126,248,193,180, 99,199, 14,113,232,208,161,170,143,
- 63,254,216,127,235,214,173,207,  2, 88,119,191,211,201, 96, 48, 74, 49, 88, 58,157,110,139, 74,165, 10, 27, 52,104,208,190, 41,
- 83,166, 44,246,243,243, 19,  1, 96,245,234,213,134,193,131,  7, 39,191,241,198, 27,113,153,153,153,138,153, 51,103, 54, 90,185,
-114,229,111, 90,173,246,150,209,104,124,194,  5, 99, 69,  0,188,193,113,220,232,150, 45, 91,110,145, 36,233,202,238,221,187,231,
- 62,241,196, 19,253,  0,208,227,199,143,255, 70,  8,249,  1,192, 23,174, 70, 52,  8, 33,124,245,234,213, 63, 12, 14, 14, 30,251,
-245,215, 95,171,171, 87,175, 14,157, 78,135,156,156,156,208,203,151, 47,135,140, 29, 59,182, 87,205,154, 53,191,246,246,246,158,
- 17, 29, 29, 45,186,168, 73,130,131,131,223,244,242,242,154, 58,127,254,124, 77,157, 58,117,136, 94,175, 71, 98, 98, 98,131, 99,
-199,142,213, 95,184,112,225,139,161,161,161, 31, 39, 36, 36,184,156,206,206,132, 40, 10,106, 85,253,163,202, 99, 45, 59,126,253,
-205,119,164,154, 78,  7,129,227, 32, 90, 44, 66, 66, 94, 94,245, 55, 95, 31,189,178,205, 99,129,135,114,133,148, 94,231,206, 81,
-203,131, 40, 16, 53,107,214, 60,237,233,233, 25,214,191,127,127, 97,208,160, 65,168, 89,179,166,253,183, 97,195,134, 97,216,176,
- 97,202,171, 87,175, 42,215,173, 91,247,210,202,149, 43,159,175, 94,189,122,124,108,108,108,163, 50,204,213, 38,173, 86, 27, 62,
-106,212,168,147,227,199,143,223,231,233,233,105,  1,144,116,250,244,105,105,232,208,161,255,123,229,149, 87, 18,114,114,114,240,
-225,135, 31,134,175, 90,181,106,173, 90,173, 78, 49,153, 76, 79,221,239,188,235,116, 58,156, 58,117,170,200, 50, 73,146,144,150,
-150,134,219,183,111, 35, 63, 63, 31,153,153,153, 40,188,194, 47,144,101, 25, 28,199,  1,119,238,198,117,138, 82,169, 68, 76, 76,
- 12,156,152, 47, 20, 20, 20,192, 98,177,128,  2, 80,168,212,232,216,237,201,255, 17,138, 77, 57,  5,249,139, 78, 28, 60,120,131,
- 53, 79, 15,  6,142,227,174,254,185,239, 74, 13,  0, 22,  0, 23, 43, 40, 39,  3,192,190,125,251,112,235,214, 45,164,166,166, 34,
- 53, 53, 21,161,161,161, 40, 79,196,246,226,197,139, 95, 53,111,222,156,156, 56,113, 98, 11,128, 31,127,249,229,151,190,183,111,
-223,254,226,131, 15, 62,168, 50,111,222,188,140,241,227,199,143,  5,240,199, 47,191,252, 50,172, 73,147, 38, 61, 79,157, 58,245,
-229,131, 72, 39,131,193, 40,101,144, 59,165, 52, 40, 44, 44,236,198,138, 21, 43, 58,142, 30, 61,186, 94,122,122,186,  0,  0,254,
-254,254, 38,  0,200,204,204, 84,188,246,218,107, 13,191,255,254,251,142, 26,141, 38, 65,146,164,170, 78, 52,156,221, 97, 48, 70,
-167,211, 61,125,238,220,185, 79,107,213,170,165,153, 51,103,206, 30,189, 94,143, 47,191,252,114, 87, 72, 72,136,247,165, 75,151,
- 62,214,235,245,143,  3, 24, 91, 66,186,238,210,140,136,136,152,252,236,179,207,142, 61,112,224,128,186, 73,147, 38,240,244,244,
-  4,207,243,240,241,241, 65,235,214,173,201,190,125,251,212,189,122,245, 26,147,149,149, 53,199, 85,205,208,208,208,177,189,123,
-247,158, 22, 29, 29,173,109,215,174, 29, 17,  4,  1, 89, 89, 89, 80, 42,149,104,219,182, 45, 89,179,106,149,182, 69,179,102,147,
- 67, 67, 67,167,184,170,105,170, 93,117,211,224,209,227, 59,109,250,107, 27,  9,  8,  8,128,105,230, 76,100, 53,108,  8,211,132,
-  9,  8,172, 86, 13,127,110,217, 74,122, 15,123,189,157,167, 24,176,197, 85,205, 74,184, 90, 47,162, 89, 80, 80, 80,179, 89,179,
-102,252,193,131,  7, 77, 87,174, 92, 49, 22,191,203,148, 82,138,115,231,206,229,255,245,215, 95,121,126,126,126, 48,155,205, 53,
-202,210,164,148, 86,123,252,241,199,197,229,203,151,183, 27, 53,106,148,112,243,230,205, 67,  0, 46, 85,169, 82, 37,  1, 64, 98,
- 74, 74, 74,236,243,207, 63, 31,188,114,229,202,174, 85,171, 86, 77,162,148,250, 63,136,188,219, 12, 85,241,151, 44,203,144, 36,
-  9,213,170, 85,195,166, 77,155,208,171, 87, 47,180,105,211,230,147,190,125,251,170,143, 30, 61, 74,  9, 33,127,185,147, 78, 89,
-150, 81, 80, 80,  0,163,209,136,164,228,100, 44, 90,178, 20, 71, 14, 30,192, 47, 43,126, 50,188,249,250,152,215,188,117,158,  7,
-155,181,107, 23,118,191,243,206, 52,237,191, 39,222, 49, 87, 36,159, 82,122,189,188,154,253,251,247,111, 16, 17, 17, 17,176,246,
-108, 21,100, 40,235, 66, 18,188, 33,171,124, 32,249,181,192,255,148, 79,195, 96, 48,  4, 68, 68, 68,180,118, 71,147, 82,186, 43,
- 38, 38,230, 25, 74,233,119,148, 82,137, 82,186,126,252,248,241,175, 19, 66, 54,140, 31, 63,254, 45, 74,233,250,194,229,203, 79,
-158, 60,249, 44,165,116,223,131, 72, 39, 43, 75, 76,243, 30,208, 18, 64,175,194, 87, 43,  0,173,139,125, 87, 21, 91,175, 91,  9,
-239,189,138,125,111, 89,108,187,150,149,106,176,  8, 33,212,246,114,136,224,136, 75,151, 46,253,253,155,111,190, 89,154,154,154,
- 26, 80,163, 70,141,119, 59,116,232,208,254,234,213,171,186,142, 29, 59,182, 55, 24, 12,227, 98, 98, 98,  2,  6, 12, 24,240,205,
-139, 47,190,248, 43, 33,196,234, 66, 84,168,  6,199,113,111, 28, 60,120,112, 77,221,186,117, 77,201,201,201, 62,221,186,117,203,
-  0,128,200,200,200,220,204,204, 76, 15,127,127,127,105,227,198,141,191, 17, 66, 94, 38,132,148, 25,154, 14, 14, 14,110, 82,181,
-106,213,177,115,230,204, 81,243, 60, 95, 82,  4,  5,179,103,207, 86,123,121,121,189, 28, 18, 18,210,170, 44, 77,131,193, 80,199,
-211,211,243,195,207, 63,255, 92, 83, 80, 80,  0,171,213, 10,127,127,127,232,116, 58,164,167,165, 33,229,198, 13,100, 38, 37, 96,
-242,187, 99,181,122,173,246,205,224,224,224,198,101,105,118,168,238,217, 91,111,168,247,248,219, 99,223, 69,193, 43,175, 32, 95,
-163, 65,254,184,113, 48, 69, 71, 35,127,238, 92,152,170, 84, 65,193, 83, 79,225,221,119,223,131, 42,160,102,155,182, 97, 30,207,
- 62, 40,215, 61,117,234, 84,238,221,119,223, 85,111,218,180, 73,211,169, 83, 39,243,143, 63,254,152,147,151,151,135,175,190,250,
- 42, 39, 50, 50,178, 96,233,210,165,154, 54,109,218,232,187,118,237, 42,184, 24, 17, 16, 87,174, 92,121,122,217,178,101,115, 46,
- 95,190, 44,212,174, 93,123,102,211,166, 77,123,230,228,228,  8,173, 91,183,238, 21, 22, 22, 22, 21, 19, 19, 83,165, 71,143, 30,
-179, 62,252,240,195,213,  0, 68, 60, 36,240, 60, 15,133, 66,  1,133, 66,129,250,245,235,227,151, 95,126, 65,112,112, 48,190,253,
-246, 91,159,192,192, 64,221,242,229,203,179, 50, 51, 51, 63,119, 71,211,108, 54,195,100, 50,193,104, 52, 34,250,196, 73,252,245,
-199,  6,172, 88,245, 51, 94,122,245,181, 12,171,213,106, 26, 51,234, 53, 79, 79,141,238,109,118,253,247, 96,184, 51,190,144,228,
-  3, 52,151, 16, 98,  6,128, 90,181,106,169, 66, 66, 66, 90,213,170, 85, 75,229,170,142,209,104, 92,188, 96,193,130, 96, 78,237,
-131,127,204, 61,241, 11,157,137,237,222, 95, 33, 53, 98, 60,  2, 67,107,163, 71,143, 30,254,  0, 22, 84, 66,122, 55, 81, 74,135,
- 82, 74, 55,150,103,251,123,157,206,200,200,200,246,145,145,145,255, 68, 70, 70, 94, 43,124,111, 95,209, 60, 47,157, 66,186,252,
- 48, 85,245,191,175, 39,145,252, 31,166,170,254,183,116, 10,233,194, 74,238,191, 23,103, 30,196,  9,254,132,144, 77,132,144, 77,
-147, 38, 77,234,  2,192,175,216,247,118,142,235,  1, 80, 57,123,183,189, 28,150,251, 23, 26, 43,127,135,239,149,130,194,161,146,
- 58,237,230,  8, 13, 13, 53,206,155, 55,111,123, 94, 94,222,238, 47,190,248,162,229,187,239,190, 59, 44, 56, 56,120,223,179,207,
- 62,251,185,151,151,151, 40,  8,130, 59,255,247, 82,155, 54,109,126, 15, 13, 13,149, 19, 19, 19,149,162, 40, 42,175, 93,187,166,
- 22, 69,145,  8,130, 64,141, 70,163,112,230,204, 25,165, 40,138, 82,195,134, 13,215,158, 57,115,102,  4,128,  9,165,  9,106,181,
-218, 81,223,124,243,141,166, 36,115, 37, 73, 18,114,115,115, 97,181, 90, 49, 99,198, 12,205,  7, 31,124,240, 58,128,163,165,105,
- 10,130,240,250, 87, 95,125,165, 17, 69, 17,182,252, 93,186,116,  9, 89, 25, 25, 16,115,115, 97,201,205,134, 53, 55, 11,138,124,
- 47,140, 29,246,130, 38,234,219,239,223,  6,240, 74,105,154, 22,149,199,172,159,190,253, 30,162, 40,194,188,102,141,211,117,196,
- 61,123,  0,179, 25,179, 63,158, 75,222, 27,245,252, 12,  0,191, 62,160, 19, 12,120,158,199,203, 47,191, 76,204,102,179,234,207,
- 63,255, 84, 53,110,220, 88,106,214,172,153,103,191,126,253, 96,181, 90,145,149,149,  5,141, 70,227,142,172, 84,189,122,245,252,
-111,190,249,230,247,244,244,244, 63, 63,249,228,147,199, 23, 45, 90, 52,210,223,223,127,203,224,193,131, 39,123,122,122, 90, 84,
- 42, 21,172, 86,171,215,195, 86,249,  5, 65,128, 86,171,133,193, 96, 64,239,222,189,177,104,209, 34,240, 60,159,206,243,252,246,
-220,220,220,121,103,206,156,137,117, 71,207, 98,177,192,100, 50,161,160,160,  0,113, 55,226, 33,138, 34,150,175, 92,137,  3,123,
-118,127, 68, 41,157,185,122,197, 79,186,175,150, 45,235,  7,224, 61,214,244,222, 95,  6, 13, 26,196, 19, 66,124,106, 85,211,228,
- 17,142,230, 31,162,180, 74, 88, 88,216, 48,171,213,218, 53, 52, 52,180,106,124,124,124, 90, 72, 72,200, 14,179,217,252, 71,106,
-106,106, 94, 25,145, 74, 98,181, 90, 49,170, 85, 38,198,180,225, 96,181, 90,145,153,153,137, 27, 55,110,224,236,217,179, 56,114,
-228,108,185,210, 24, 17, 17,241,146, 86,171,125, 66,169, 84,134, 83, 74,185,188,188,188, 27,102,179,121,119, 98, 98,226,247,180,
- 28, 19, 27,222,171,116, 58, 16, 53, 96,192,128, 32,111,111,111,196,196,196,  4,157, 58,117, 42, 10, 64,135,138,  8, 42,137,114,
-233,224,215,119, 27,116,158,129, 72,185,244,139, 97,203,198,153, 75,  1,212,102, 37,248, 95,125, 97, 67,202, 88, 37,149, 82,218,
-187,208,144,109,138,138,138,234, 93,184, 93,111,199,239, 46,252, 79,111, 39,  6,111,147,179,229,149,102,176,  8, 33,180,180, 12,
-234,245,122,235,135, 31,126,120,104,239,222,189,145,237,219,183, 63,224,166,177,178,209,230,177,199, 30,139,254,251,239,191,253,
-130,130,130, 76,178, 44, 19, 47, 47, 47,171,167,167,167, 84, 56,182,133,198,198,198, 10,177,177,177, 30,126,126,126, 18,128, 54,
- 46,156,252, 90,215,168, 81,163,196, 72, 65,110,110, 46,114,114,114, 96, 50,153, 16, 24, 24, 72, 56,142, 43, 51,252,167, 80, 40,
-218,213,174, 93,155,228,228,228, 32, 48, 48, 16,167, 78,157, 66, 65,110, 46,196,188, 28, 88,179,115, 32,229,102,129,102,103, 34,
- 47, 43, 19, 53,  2,170, 18,158,231,203,140,138, 89,121,109,168, 65,175,135,121,226, 68, 88,254,247, 63, 64,169,132, 50, 60, 28,
-176,220, 25,106,101,137,139,  3, 84, 42,112,175,188,130,218,175,190, 10, 43,212,134,  7, 88,208, 97, 54,155,145,159,159, 15,165,
- 82,137,129,  3,  7, 98,239,222,189,150,150, 45, 91,106, 18, 18, 18, 96, 54,155,193,113, 28, 36,201,245, 27,  9,101, 89,150, 56,
-142,163,  0,224,231,231, 39,206,155, 55,111, 87,199,142, 29, 59,119,235,214,109,187,227,192,114,147,201, 36,  3,160, 15, 83,197,
- 87,171,213, 48, 26,141, 32,132,216,198,246,225,194,133, 11,225,229,209,146, 36,  9, 22,139,197, 30,197,146,101, 25,135,143, 29,
-130, 70,171, 69,235,199, 59, 78,150,101, 89, 43, 40, 20,224, 11,  7,119, 49,238, 31,173, 91,183,110,174,164,214, 57,175, 27, 44,
- 97, 79, 15,  8,201,211,232, 20,121,  3,182,152, 59,215,172,213,250,153, 57,179,231,120,212,168, 81, 67,127,226,196,137,220, 57,
-115,230,  4, 31, 63,126, 28,  0,126, 46, 77, 47, 49, 49,113,195,220,185,115,171,116,238,220,185,186, 32,  8, 36, 51, 51, 19,169,
-169,169, 72, 73, 73, 65,124,124, 60,141,141,141,189, 38,138,226,239,238,164,177,105,211,166, 75,134, 14, 29,250,124,131,  6, 13,
-  4, 74, 41, 68, 81, 68,126,126,126,147, 35, 71,142,244,250,231,159,127,218,  1,120,217,221,124, 39, 37, 37,173,159, 59,119,174,
-190,115,231,206,143,  9,130,192, 85, 70, 58,139, 17,228,233,233,137, 29, 59,118,192,219,219, 27,  0,130, 42,122,172,204,162,197,
-160,243, 50,  0,113,159, 35,192, 39, 12,102,209, 98, 96, 37,248,223, 31,197, 42,195,100, 29,  3,208,171,162,102,232, 94,153,169,
-114, 69,176,108,220,186,117, 75,157,147,147,163,160,148,114,146, 36, 41,100, 89, 38,106,181,218,221,174,156,250,207, 62,251,236,
-111,221,187,119,207,  4,  0,165, 82, 41,250,249,249, 89, 51, 50, 50,144,149,149,  5,171,213, 42,121,121,121,229, 87,171, 86, 45,
-191, 94,189,122,217,187,119,239, 46,179,139,208,104, 52,134, 56,139,164,228,231,231, 35, 55, 55,215,110,176,242,243,243,225,229,
-229,133,188,188,188, 50, 43,183,197, 98,  9,211,106,181, 72, 77, 77, 69, 90, 90, 26, 10,114,179, 97,201,201,133, 53, 55, 27,214,
-236, 44,200, 57, 89,160,185, 57,144,101,  9, 85,252,253, 97, 54,155, 67,202,210,204, 55, 73, 42,  1,128,241,247,223,129,119,222,
- 41,217,220,236,222, 13, 93,157, 58, 48, 26, 45, 15,108,142, 50,199,139, 96,139,197,  2,171,213, 10, 74, 41, 53,155,205, 48,155,
-205,142,166,201, 77,111,113,199,144,157, 60,121,210, 43, 37, 37, 69, 67, 41,229,115,115,115,213,121,121,121, 92,213,170, 85, 11,
-  0, 80,171,213, 42, 61,108, 21,223,241,142, 63,179,217,236, 86,190,139,155, 80,171,213, 10,171,213,122, 39,146,105, 54,195,108,
- 49, 97,225,162, 37,216,176,246, 23,156, 63,127, 46,120,202,204,217, 16,173, 86, 72, 50, 27, 87,124,191,104,210,164,201,147, 60,
-207, 47,108,227, 45,123,142, 13, 17,115,171,170,228,188, 75, 95,189,149,119, 42, 84,107, 44, 48, 90, 12, 81,139, 62,246,163, 20,
-248,240,195, 15,111, 13, 30, 60,216,227,221,119,223,109, 56,100,200,144,110, 13, 26, 52,248,245,220,185,115,150, 18, 26,113,229,
-136, 17, 35,142, 85,169, 82,165,198,202,149, 43, 83,146,147,147,125, 69, 81,212,154,205,102,139,217,108,190,102, 54,155, 15,138,
-162,184, 59, 41, 41,233,132, 59,105,213,235,245,141,134, 12, 25, 34,100,100,100,216,239,246, 75, 77, 77, 69,243,230,205,249,157,
- 59,119,214, 47, 79,254,207,159, 63,191, 40, 56, 56,120,223,159,127,254,249,132,135,135, 71, 51,149, 74, 21, 40,203,178,100, 52,
- 26, 83,140, 70,227,233,242,164,179, 24,201, 49, 49, 49, 65, 94, 94, 94, 72, 72, 72,  0,128,228,138, 30, 51,149,160, 76, 72,185,
-252, 75, 72,128,119, 13, 92, 61,191, 25, 42, 65,153,192, 74,242, 35, 31,193,106,233, 24,177, 42,197, 36, 25, 39, 78,156, 56,153,
- 16,178,105,226,196,137,147, 75,137, 96, 73,142,235, 57,172,111,170,116,131,229,140,188,188, 60,197,177, 99,199,252,110,221,186,
-229, 17, 16, 16,144, 87,191,126,253, 76, 66,  8, 40,165, 36, 59, 59, 91,151,146,146,162,211,235,245,166,240,240,240,108, 23,255,
-239,127,239,188,243, 78,223,  9, 19, 38,236,120,225,133, 23,146,  1, 32, 35, 35,  3,183,110,221, 66,122,122, 58, 44, 22, 11, 18,
- 19, 19,201,254,253,251,  3,119,238,220,217, 21, 64, 92, 89,130, 90,173, 54, 33, 39, 39,167,182,143,143,143,221, 28,216, 76,149,
-227,187,197, 98, 65, 78, 78, 14,244,122,125,153,149, 91, 16,132,164,212,212,212,154,102,147,  9,169,  9,  9,119,140, 85,110, 14,
-164,236, 76, 72,217, 89, 32,121, 57, 80,138, 34,212,130,128,156,219,233, 80, 42,149,183,202,210,212,169,121,179,217,106, 85,241,
-125,250,  0,164,228,114, 68,219,181,195,237,134, 13,161,217,244,187,248,  0, 11,186,211,239,197,141,133, 59, 70,227,246,237,219,
-220,162, 69,139,234, 95,186,116,201, 35, 32, 32, 32,173, 91,183,110,177,132, 16,202,113,156,156,146,146,226,123,233,210,165,218,
- 62, 62, 62,121,130, 32,164, 62,168,124,139,162,232,212, 92,229,231,231,219, 35, 78, 89, 89, 89, 80, 40, 20,232,216,177,227,110,
-147,201,180,158, 16,178,226,200,145, 35, 57,165,152,245,187,246,153, 44,203,118,147,165,224, 20, 88,191,118, 45,190, 92,246, 37,
-126,255,253, 79, 58,248,217,  1,100,239,190,253,144,101,154,200,154,220,251,  3,207,243, 31, 31,152, 48,208,147, 72,214,220,204,
- 93,107,243,191,140, 87,229,109, 62,121,230, 64,126,129,153,175, 94,179, 70,189,136,240,234,194,148,105, 19, 82, 78, 93, 56, 28,
-151,241,117, 70,181,247,223,127, 63,188,118,237,218,129,177,177,177, 53,  1, 92,112,166,233,233,233, 25, 54,124,248,240, 23, 51,
- 51, 51,133,239,191,255,126, 85,124,124,252,  1, 74,233,181, 98, 38,172, 41, 33,228,227,194,118, 56,  0,128,  4, 96, 39,165,116,
-117, 41,201,149,  9, 33,216,179,103,207, 93,119,251, 73,146, 84,110, 87,158,148,148,148,217,166, 77,155, 70,151, 46, 93,218,148,
-145,145,241,203, 93,237,151, 78,215,171, 97,195,134,207, 30, 61,122,116, 22,165,244,170, 59,218, 28,199, 77, 56,123,246,236,108,
- 74,105, 24, 33,228,  6,199,113, 31, 85,244,152, 89,168,229,245, 45, 27,166,127,101,182,152, 67, 85, 74, 85,188,133, 90,222, 96,
- 37,249,145,199, 54, 70, 10,142,198,201,137, 49, 58, 24, 21, 21,165,157, 59,119, 46,162,162,162,206, 58,139, 96,217,140, 86, 84,
- 84,212, 89,219,122, 14,235,239,171, 84,131,229,204, 57, 74,146,164,153, 59,119,110,187,  6, 13, 26, 36,181,111,223, 62, 41, 52,
- 52,212,104, 59,217, 42, 20, 10, 49, 32, 32, 32,203,106,181, 22,220,186,117,171,234,190,125,251,170, 83, 74, 93, 25,252,185,215,
-211,211, 83,121,252,248,241,160, 95,126,249,165,201,197,139, 23,235,244,234,213,203, 30, 29, 72, 72, 72,168,179,112,225, 66, 73,
-173, 86,167,241, 60, 31, 13,160,204, 65, 62,162, 40, 30,185,124,249,114,173,214,173, 91, 19, 81, 20,139,152, 42,199,207, 42,149,
- 10,  9,  9,  9, 84,150,229, 99, 46, 24,140, 99,167, 78,156,168,217,176,110,221, 59,230, 42, 39, 11, 82,118, 22,164,172, 76,144,
-252, 92, 40, 69, 11,244, 58, 25,106,149, 14,103,239, 92,145,149, 57, 91,178,194,106,188, 17,151,157, 93, 59,124,222, 60, 40,125,
-124,  0,139,197,222, 45,  8,192,222, 93, 72,147,147,113,252,208, 33, 40,100, 83,210,131,140,216,248,250,250, 34, 59, 59, 27, 38,
-147,  9,148, 82, 80, 74,237,134, 74,165, 82,161,112,188,148,171, 81, 28,239,126,253,250,117,104,221,186,245,197,151, 95,126,121,
- 87,253,250,245,175,219,202,186, 78,167,179,212,173, 91, 55,201,100, 50,229, 94,187,118,173,206,202,149, 43,219,201,178,236,241,
- 32,242,237, 24,157,115, 52, 72,102,179, 25,  5,  5,  5, 72, 75, 75,195,158, 61,123,112,240,224, 65,156, 59,119,174,229,145, 35,
- 71, 26,111,216,176,225,253,  6, 13, 26,180, 62,119,238,220, 45, 87, 12,150,109, 95,218,204, 22,189,115,119, 60, 54,254,241, 23,
-122,246,234, 68,114,242,178,177,105,203,223,160,148,  6,177,246,244,190,145,  7,171,148,103,218,187, 38,255,229,243,234,204, 84,
- 51,102,157, 56, 17,189,191, 87,175, 94, 59,106, 86,127,204, 11,  0,204, 38, 90, 69,167,244,211, 42, 20, 10, 21,  0,132,133,133,
- 69, 82, 74,191,192,157, 59,145,238,226,153,103,158,105, 19, 24, 24,216,100,235,214,173,167,227,227,227, 15, 22, 55, 87,  0, 80,
-167, 78,157,143,206,156, 57,243,148, 32,  8,196,161,241,167,  0,156, 26,172,254,253,251,215, 14, 13, 13,245,221,114,217, 27,217,
-202,154,144,185, 76, 80, 94, 13,201,167,  9,174, 43, 27,160, 90,181, 11,190,143, 61,246, 88,227,203,151, 47,159,118, 39,243,132,
-144,208,193,131,  7,255,254,221,119,223,213,233,222,189,187, 10,192, 93,  6,171, 94,189,122,253,118,238,220,217,127,204,152, 49,
-141,  9, 33,207, 82, 74, 93,158,  3,240,216,177, 99,135,  0, 84,234, 32,244,209,179,232,110,  0,117, 89,209,253,207, 68,175,  0,
-135, 49, 88,  0, 82,113,231, 89,202,142,223,109,115, 93,154, 29,214, 77,117,136, 90,153,139, 69,189,156,253,150,138, 74,188,201,
- 74, 81,202, 73,118,207,209,163, 71,155, 70, 70, 70, 94,181,153, 43, 91,125,180,125,208,235,245,102,  0,244,226,197,139,245, 37,
- 73, 58,232,194,255,253, 24, 29, 29,189,101,201,146, 37,159,134,133,133,153,250,245,235,199,205,158, 61,123,147, 45,138,181, 96,
-193,  2,218,179,103,207,205,151, 46, 93, 34,231,207,159,255,  8, 64,255,178,  4,141, 70,227,178, 55,222,120,227,217,253,251,247,
-107,204,102, 51, 50, 51, 51,139, 68,175,114,114,114, 96,181, 90,193,243, 60,150, 44, 89, 98,202,203,203, 91, 82,230,213,145,197,
-242,253, 39,159,124,242,204,234, 31,127,208,240,162, 25,  5,153, 25,144,179, 51,193,229,231, 65, 97, 49, 67, 45, 72,  8,170,173,
- 71, 78,138, 18, 95,110,219, 99, 20, 69,113, 89,153, 81, 49, 83,222,228,215, 71,141,252,109,251,174,221, 16,186,118,133,184,117,
-235,221, 87,122,129,129, 40,176, 88, 16, 53,103, 22, 37,198,204, 41, 15,162,160, 11,130,112, 97,228,200,145,129,163, 70,141,170,
-210,168, 81, 35, 88, 44, 22,136,162,  8, 74, 41, 36, 73,130,159,159, 31,  0, 32, 62, 62, 30, 49, 49, 49, 89, 60,207,151, 25,189,
-147, 36,105,239,245,235,215, 27,188,242,202, 43, 87,158,126,250,233,  0,139,197,162,200,200,200, 72, 46,188, 50, 86,132,132,132,
-104, 85, 42, 21, 73, 73, 73,201,188,125,251,118,128, 44,203,  7, 31, 68,222, 45, 22, 11,230,206,157,139,159, 46, 95,198, 75,143,
- 61,102, 55,155, 38,147,201, 30,193,218,182,109, 27,254,249,231, 31,172, 90,181, 42,125,224,192,129,222, 47,188,240,130,247,170,
- 85,171,222,  4,240, 81, 73,154, 51,102,204,192,159,215,174,161,143,147,177,130,148, 18, 36, 38, 37, 66, 20, 69,252,254,251,246,
- 36, 65, 33,248, 44,248,116,174,246,131,201,147,  9,107,118,239, 15,178, 44, 79,111, 63,127,195,155, 28,167,179,  0,248,234,196,
-137,227,  7,  1, 64,171,213,250,207,159, 63, 95,  5,  0,243, 62,157, 39, 80, 74,  5,171,213, 10,179,217,140, 89,179,102,105, 70,
-141, 26, 85,226,221, 70,191,254,250,107,230,204,153, 51,125, 95,125,245,213, 39,247,236,217,163, 38,132,108, 47,188, 16, 75, 47,
-140, 84, 85,  5,112,168,106,213,170,213,214,174, 93, 91,227,169,167,158,210,151,149,206,130,130,130,175,151, 45, 91, 22, 62,127,
-159, 39,182,228, 13, 64, 60, 29, 12,234, 75,225,171,204, 65,125,143, 27,232, 20, 20, 31,180,106,213,170,175,  0,184,124,151, 30,
- 33,164,222,192,129,  3,127,249,238,187,239, 34, 70,142, 28,153,120,240,224,193,  4, 66,136,179,178,156, 62,124,248,240, 27,203,
-151, 47,175, 33,203,242, 70, 66, 72, 63,119, 76, 22,131, 81,  9, 28,187, 71,235,222, 51, 74, 51, 88,111, 19, 66,234,207,155, 55,
-111,246,247,223,127,223,122,242,228,201,123,218,180,105,147, 97, 51, 88, 55,111,222,244,221,191,127,127,231,252,252,124,171, 36,
- 73,111, 58,155, 19,163,248,211,182, 41,165, 55,  8, 33, 11,219,183,111,255,252,138, 21, 43, 86,233,245,250,140, 29, 59,118,248,
- 26, 12,134,219,209,209,209, 94, 28,199,229, 92,190,124, 89,177, 99,199,142, 33,  0,150, 57,171,192,197, 53, 19, 19, 19, 79, 85,
-175, 94,253,139,247,223,127,127,236,148, 41, 83, 52,178, 44,195,104, 52, 34, 39, 39,  7,  5,  5,  5, 16,  4,  1, 60,207, 99,205,
-154, 53, 38,179,217,252, 67, 66, 66,194, 81, 23, 52,143, 68, 68, 68,124,247,217,188,207, 70,190, 53,226, 37, 21,151,157,  9,227,
-237, 52,192, 98,130, 90,193, 33, 52,178, 10,140, 25, 60,190,218,246,143, 57,213,104,252, 45, 62, 62,126,127, 89,154,  7,174,103,
-111,109, 83,219,127,247,172, 25,211,186, 76,252,245, 87, 64,146, 64, 94,122,  9,216,185, 19,104,212,  8,114, 82, 18, 10, 44, 22,
-124, 56,105,  2,120, 99,202,129, 35,215,115,215,151,165, 89, 25, 20,215,188,113,227, 70,107,171,213, 58,116,230,204,153,211,107,
-214,172, 41,140, 24, 49,194, 39, 34, 34,  2,178, 44, 67,169, 84, 34, 49, 49, 17, 71,143, 30,205,190,125,251,182,133, 82, 58, 53,
- 41, 41,233,231,178, 52, 37, 73, 26, 67,  8,169,255,222,123,239,205,154, 61,123,182,240,217,103,159, 29,122,242,201, 39,131,  5,
- 65, 80, 54,105,210,196,127,223,190,125,218, 13, 27, 54, 60,145,151,151,  7, 74,233, 88, 87,202, 82,101,231, 93,169, 84,166,158,
- 63,127,190,234,236,217,179,201,245,172, 44, 76,224,121,123, 68,203, 22,185,251,228,147, 79,224,233,233,137,  5, 11, 22,224,216,
-177, 99, 11,210,211,211,199, 45, 90,180,200,111,205,154, 53,131,108,  6,203, 81, 83,173, 86, 95, 63,125,250,116,232, 23, 95,124,
-193, 93,182, 88, 48,167, 48, 82,235,200,244, 57, 31,195, 98,182,128, 16, 30, 49,135,247,205,233,208,249,137,153, 85,124,124,180,
-178, 76,233,253, 60,238,255,101,205,147, 39, 79,238,  5,176,183,148,171,107,219,197, 28,210,210,210,144,150,150,  6,111,111,111,
-219,164,201, 78, 53,141, 70,227,233,  9, 19, 38,156, 88,186,116,233,147,  7, 14, 28, 24,184,119,239,222,167,119,237,218, 85, 16,
- 23, 23,103, 21, 69,145,  6,  5,  5, 41, 58,116,232,160,233,217,179,167, 78,173, 86,115, 31,126,248, 97,250,156, 57,115,252, 10,
- 13,152, 83, 77, 89,150,121, 89,150, 49,238,241,108,140,239,162,128,201,116,231,130, 50, 41, 41, 17,231,206,157,195,193,131, 23,
- 65,  8,225,220,220,159,159,173, 90,181,170,186, 74,165, 34,171, 87,175, 14, 93,189,122,245,235,101,237,191, 21, 43, 86,132,175,
- 94,189,250, 11, 66, 72, 47, 74,169,204,202, 18,211,100,184,105,176, 10, 27,150,243,  0,158, 33,132,180,251,224,131, 15,102,132,
-132,132,164, 75,146,164,252,243,207, 63,159,206,206,206,246,149, 36,105, 26,165,244, 31, 55, 67,129,223, 17, 66, 48,100,200,144,
- 73, 33, 33, 33,155,207,158, 61,219,101,224,192,129,107,255,252,243,207,174,146, 36, 93,191,122,245,234,100,  0, 75,  0,124,237,
-170,102, 92, 92,220,199,219,183,111, 39,135, 14, 29,122,123,226,196,137,234,128,128,  0,226,227,227,  3,163,209,136,248,248,120,
-250,227,143, 63,154,204,102,243, 82,111,111,239, 25,174,106,250,250,250, 78,217,126,224,128,234,244,185, 51,195,222,121,110,144,
- 38, 60, 56, 20,158, 92, 40,114,110,167,227,159,  3,137,248,226,239,253,  5,105,102,243, 90,142,227, 92,190,149, 62,228, 74, 90,
-191,237,235,190,223,176,111,207,158, 46,179,162, 62, 33,117, 95,125, 21,186,234,213,145, 85,187, 54,142,238,219,135,168, 57,179,
- 40,159,151,114,192,122,229, 86,239,  7, 85, 32, 10,159, 49,248, 83, 68, 68,196,218,203,151, 47,143,154, 60,121,242,196,230,205,
-155, 83,147,201,164,220,178,101, 75, 94,114,114,178, 44,203,242,167,130, 32, 44,141,139,139, 51,185,161,123, 30, 64,127, 66, 72,
-187, 87, 94,121,101,122,112,112,112,138,213,106, 85,140, 31, 63,190, 75, 70, 70, 70, 32,165,116,186,187,101,169,146,163, 87, 79,
- 76,154, 52,105, 55, 33,196,195,177, 59,180, 72,101, 81, 40,148,217,217,217, 68,150,101,177,160,160, 32,213, 22, 25, 45,169, 30,
- 89,173,214, 46,211,167, 79,223,109, 50,153,194, 75,250, 95,165, 70,139,127, 14, 30,194,208, 33,131, 37,  5,207,207,126, 97,200,
- 96,213,193,195, 71, 36, 74,229,141,172,121,122, 56,161,148,162,240, 98,128,150,178, 78, 60, 33,228,163,227,199,143,107, 70,143,
- 30,221,108,232,208,161,158, 93,187,118,213, 23,139,190,203,127,254,249,103,254,178,101,203,210,247,238,221, 27,253,202, 43,175,
-244,197,157,217,227,157,146,148,148,180,245,203, 47,191,244,238,212,169, 83, 45,219, 19,  6,108, 99,176, 18, 18, 18,112,253,250,
-245, 27,146, 36,109,118, 51, 59,239,188,240,194, 11,235,151, 47, 95, 30, 54,114,228,200,196, 53,107,214,108,  6,224,108, 76,173,
-126,192,128,  1,189,150, 47, 95, 30, 54,106,212,168,120,  0,239,177, 25,222, 25,140, 10, 24, 44,135,198,226, 32,128, 39,  8, 33,
-189,  9, 33,126,  5,  5,  5, 43, 40,165,155, 42,208, 64,125, 71,  8,217, 17, 31, 31, 63, 28, 64,240,226,197,139, 23,  3, 72,  0,
-112, 25, 64, 95,103,227, 21, 92, 48,  5, 51, 67, 66, 66, 54, 76,159, 62,189, 82,158, 69, 88,248, 72,157,119, 13,  6,195,175, 31,
-125,243,227,  4, 89,150,155,202,162,197, 23,188, 34,147,231,249, 83,162, 40,126, 18, 31, 31,239,150, 33, 88,119, 39,157,125, 90,
-135,123,245,152, 48,102,232, 28, 43,175, 13,203, 51, 89, 85, 58,149,194,172,164,  5,241,156, 49,107,250,145,184,156,135,226,196,
- 90,104,158,190,168, 85,171,214,143, 71,143, 30,125, 31,192,232,220,220,220,101, 26,141,230,179, 43, 87,174,228, 84,224,216, 31,
-  4,208,173,176, 44,  5,228,231,231,255, 82,145,178, 84, 89, 68, 71, 71, 95,139,140,140,172,  9, 64, 91,210, 58, 60,207, 47,218,
-186,117,107,255, 39,159,124,178,192,100, 50,205,123,242,201, 39, 21, 39, 78,156,160,148,210,221,206,214, 63,114,228, 72, 10,128,
- 82,239,236,106,214,174, 93,216,242, 21, 43, 14,142, 24, 62,220,243,171,133, 11,170, 28,139,142,145,126, 88,190, 60, 39,175,160,
- 96, 17,107,158, 30, 14,108,129, 42, 65, 16,160,211,233,224,229,229,133,212,212,212, 50,111,242,160,148, 94, 37,132, 12,248,224,
-131, 15,218,125,240,193,  7, 79,  7,  7,  7,215, 15, 15, 15, 15,225, 56,142, 75, 78, 78, 78,139,143,143,191, 97,177, 88,118,  3,
-216, 10, 64, 89,163, 70,141, 83,  0,214,148,164,119,238,220,185, 79,130,131,131,247,173, 95,191,254,105,141, 70, 83, 87,169, 84,
- 86,177, 88, 44, 92,126,126,126,134,217,108,190,104,177, 88,254, 74, 76, 76, 60,236,102,125,252, 31, 33,164,135, 66,161,248,253,
-187,239,190,171,147,156,156, 28,190,119,239,222,187, 38, 57,142,140,140,252,102,249,242,229, 97, 99,198,140,185,182,122,245,234,
-103, 89,247, 32,131,225, 66,219, 81,142,121,233,220,105,152, 30,169, 80,103, 68, 68,132,218,213,168, 13, 11, 29, 63,122,154,141,
- 26, 53,242,  9, 12, 12, 28,244,246,219,111,171,234,214,173,139,139, 23, 47,226,171,175,190, 50, 39, 37, 37,173, 59,115,230, 76,
-102,121,211,217,172, 93,187, 48,189, 70,243, 54, 64,122,  3,116, 83, 94, 65, 65,145,103, 17,178, 99,244, 96, 52,251,245,235,183,
- 65,173, 86, 87,231, 56,142, 80, 74,169,237,209, 73, 14,211,108,196,238,218,181,235,153, 71, 33,239,132,144,208, 86,173, 90,205,
-184,120,241,226,223,217,217,217,119, 13,114, 87,171,213,189,154, 55,111, 62,228,208,161, 67,211,139,223, 69,200,202, 18,211,100,
- 84, 32,130,197, 40, 18,213, 97,252, 71, 41, 52, 81,246, 27, 26,106,212,168,129, 94,189,122, 85, 88,183,208, 76,189,  7, 54,115,
-251, 67,197,198,141, 27,159,249,175,228,149, 82, 26,143, 82, 38, 41, 53,153, 76,155,  1,108,102,165,130,193,112, 29, 54, 91, 52,
-131,193, 96, 48, 24, 12, 70, 37, 67,  0, 52, 42,225,138,198,229,208, 31, 33,164, 81, 57,174,152,206, 48, 77,166,201, 52,153, 38,
-211,100,154, 76,243,191,165,233,160, 61,179,132,159, 18, 11,117,190,249, 87, 27, 44, 54,  6,139,105, 50, 77,166,201, 52,153, 38,
-211,100,154, 15, 90,179,152,254,200,127,187,193, 98, 93,132, 12,  6,131,193, 96, 48, 24,204, 96, 49, 24, 12,  6,131,193, 96, 60,
-220,184,116, 23,161, 74,165,170, 15,224, 69,  0,129,132,144, 91,148,210, 21,102,179,249,252,127,109,103,169, 84,170,250,132,144,
- 23, 41,165,129,  0,110,  1,120,176,251,129, 16, 50, 99,250,157,153,245,167, 77,  7,197,189,236,239,101, 48, 24, 12,  6,131, 81,
-113,131, 85, 61, 44,108, 32,225,240,153,104,149,125,124,124,124,184, 47,191,252,146,235,211,167, 15,254,252,243, 79,188,253,214,
- 91,175,135,132, 24,100,129, 87,100,130, 74,239,199,222, 72,252,205,149, 63, 27, 48, 96, 64,156, 40,138, 37, 62,191,139,231,249,
-212, 13, 27, 54, 68, 84, 52, 83,193,205,  7,199,137,162,165,196,255, 81, 40,132,212,164, 19,235, 92,250,159,176,176,224,129, 28,
-200,103, 86, 89,246,169, 82,165, 10,183,120,241, 98,251,126,120,243,205, 55, 95, 15, 13,  9,145,  5,  5,151, 73,101,188, 31,123,
-227,198,111,247,237,200, 57,152, 43,  0,152, 49, 29,100, 26, 33,120, 40, 77, 86, 97, 90,167, 77,  3,  5,152,  9,100, 48, 24, 12,
-198,127,216, 96, 17, 66, 23,174, 94,246,153, 79,122,122,  6,214,108,220,134,122,245,234,225,220,185,115,168, 87,175, 30, 58,180,
-106,194,117,111,219,148,227, 57, 84,157,186,120,229, 66,  0, 46, 25, 11, 81, 20,253,215,175, 95, 15, 66,136,125,194, 62,219,164,
-125, 57, 57, 57, 24, 59,118,172,127,101,100, 74, 20, 45,254,215,142,253, 14,  5, 79, 96,149, 40, 44, 86, 10,209, 42,195, 34, 81,
-100,231, 91,209,181,215, 11, 46,255, 15,161,100,225, 15,139,231,249,100,102,101,225,247, 45,219,139,236,135,174,237, 91,114,131,
-122,118,230,116, 90,101,213, 81, 19, 62,113,121, 63, 84,  6,142,230,170,136,201,  2, 30, 58,  3, 99, 75,235,140, 25, 32,192,157,
-105,177,167, 79,  7,165, 44,226,198, 96, 48, 24,140,255,154,193, 50,137,146, 79,160,175, 55,126,252,225,  7,140,159, 56, 11,117,
-235,214,  5,165, 20,132, 16, 76,158, 50, 19,159,207,154,136, 33, 61, 58, 66,180,202, 62, 37,105,148, 48, 99, 48, 98, 99, 99, 97,
- 52, 26,139,188, 26, 54,108,232, 82,130, 93,189,107, 65,193, 19,108,142,201,129, 69,148, 97,177, 22,190, 68, 25, 93, 26,121,186,
-165, 41, 74,178,143,143,183,  7,190, 91,246, 53, 62,152, 57,175,200,126,152, 48,121, 10,190,154,251, 17,222, 29,243, 18, 76,162,
-228, 83,158,116,186,195,163,164, 57,125, 58,200,140, 25,132,184,218,181,201,246, 39,211,100,154, 76,147,105, 62,218,154,143,164,
-193, 34,132,116,  2,176,167,112,167,217, 35, 35,162,185,  0, 13, 66,253,240,245,252,217,160,224, 32,131,  2, 50, 64,101, 17,213,
-171,234, 96,204,207,119,251, 15,101, 89,134,197, 98,129, 40,138,248,230,155,111,144,155,155, 11, 89,150, 81,175, 94, 61,  0, 64,
-100,100,164,163,104,124,116,116,116,221,178, 52,253, 27,245,187, 72, 64, 66, 29,151, 77,155,247, 61, 14,196, 92,  5,165,128, 90,
-171,195,179, 67, 71, 65,146, 41, 44,162,251,207, 39, 45,200,203, 71,160,135,128,207,231, 76,  1, 39, 40,193,129,128,227,  8, 56,
- 34,163,110, 72, 21,152,140,198,251,126,224,166, 77,  7, 45, 30,197,154, 54, 29, 20,211,254, 93,  5,240,161,238,218,100, 48, 24,
- 12,198, 61,167, 36, 15,242, 72, 24, 44,  0,123,156,101,202, 92,144,143,144, 42, 74, 84,243,240,134,213, 42,225,172, 37,  8, 57,
-249,  5,176, 88, 68, 92,183, 88,112,229, 68, 50,218,181,107,135,103,158,121, 38,215,108, 54, 67,169, 84,102,111,220,184, 49,184,
- 44,131, 37,138, 34, 44, 22, 11,242,242,242,176,106,213, 42, 40, 20, 10,251,131, 83,109,231, 89, 74, 41,218,183,111, 31,234,210,
-193,  1,  9,189,114,244, 55,120,106,120, 88,101, 10,171,149,194, 42,  1, 86,153, 34,223, 44, 99,192, 43, 31,193, 42,203,144,100,
- 25,102, 75,217,231,241, 34,134,205,183, 37,250, 77, 90,  3,192,195,254,187,151,154, 98,124,123, 14, 74,149, 26, 42, 37, 15,147,
- 49,255,254, 31, 57, 74,233, 52, 66,240,111, 27,228, 62,109, 26,149,  1, 66,238,116, 23, 58,152,172,135,176,107,147,193, 96, 48,
- 24,247,133, 61,143,146,177, 42,110,176,236, 46,146, 82,186,247,255, 13,150, 17, 86, 81,130,104,149, 96, 21,173,200,202, 53,226,
-211, 79, 63,133, 90,173,  6, 33,196,110,150,100, 89,230, 68, 81, 68,207,158, 61,125,202,250, 67, 73,146,236, 17, 44, 74, 41,120,
-158, 71,235,214,173,239, 90,239,240, 97,183, 30, 10, 15, 79, 13,143,234,221, 38,221,181,252,200,111,179, 65, 41,133, 36, 81, 88,
- 37, 10,179, 85,170,176, 97,107,214,105, 16, 76,102,241,206,112,109, 10, 20,228,231, 63,152,163, 71, 41,181, 27,147,127, 85,228,
-138,210,105,211, 64,103,204, 32,108,154, 16,  6,131,193, 96, 56,245, 32,143,148,193,194,157, 16,157,221, 69,154,140, 70,136,162,
- 21, 86,171,  4, 81,188, 99,140,180, 90, 45, 58,118,236,104, 59,191,219,223,183,109,219,  6,139,197, 82,230, 31,218,  6,181, 91,
- 44, 22,200,178, 12, 74, 41,214,172, 89,  3, 65, 16,236, 47,165, 82,233,118, 70,172, 18,197,164,  9,227,160, 20, 56,  8, 60,  7,
-165,130,131,160,224, 33, 81, 10, 74,  1, 89,166,144,100, 10,147,232, 90,160,164, 52,195,  6,  0, 22,147,  5,160, 20, 20, 20,198,
-188, 60, 86, 51, 24, 12,  6,131,193,168, 24, 69, 60,200,163, 98,176, 58, 19, 66,238,114, 30,102, 99, 94, 97,244, 74,130,104,181,
-218, 13,212,252,249,243,161, 80, 40,160, 82,169,160, 80, 40,236,134,200, 21,131, 85, 80, 80,128, 26, 53,106,192,108, 54,163, 94,
-189,122,160,148,226,185,231,158,187,107,189,163, 71,143,186,149, 17, 81,162,136,250,100,193, 93,203,255, 89, 55, 11,141,235, 87,
- 71,203,218,122, 20, 88,100,100,231, 91, 43,108,216,  0,160,192, 44, 66,198,157, 73,  7,140,121,249,172, 90, 48, 24, 12,  6,131,
- 81, 62,156,122,144, 71,194, 96, 21,134,228,238,114,141,  5,249,249,176,138, 86,187,201, 50,155,205,144,101, 25,111,189,245,214,
- 93, 66, 59,119,238,132,217,108, 46,253,207, 20,138,212,215, 94,123,173,200, 20,  9,148, 82,252,246,219,111, 80,171,213, 69,162,
- 88,132,184,103, 98, 69,137, 98,250, 71,239, 67,165,224, 33, 40,108,134,136,131, 44,  3,127,110,254, 27,127,110,254,219,190, 46,
-207, 11,169, 21, 49,108,  0, 96, 54, 91,  0,122, 39,  2,151,151,155,195,170,135,139, 16, 66,  8,155,158,129,193, 96, 48, 24, 14,
- 62,192,169,  7,121, 36, 12, 86, 73, 20, 24,243, 32, 58,140,193,178, 88, 44,176, 90,173,248,230,155,111,138,116,231,  9,130,  0,
-142,227,202,140, 96,173, 95,191,190,200,228,158,145,145,145,249,148, 82, 60,251,236,179,246,238,198,151, 95,126, 25, 35, 71,142,
-116,219, 96, 89, 37,138, 25,115,230,219,117,122,118,123, 28,253,122,116,130, 92,120, 42, 79, 57,179, 65, 87, 89,134, 13,  0,204,
-166, 59, 99,176, 40,128,252, 28,214, 69,232, 42,246,233, 25,166, 81,153,237, 13,  6,131,193, 96, 60,170,148,104,176,  4,  5,151,
-125,229,250, 77,175,170,122, 45,172,114,  1, 36,249,206,184, 41, 73,146, 48,114,228, 72,251,122,207, 63,255, 60, 94,124,241, 69,
-167,  6,203,149,167,109,203,178,140,127,254,249,  7,132, 16,112, 28,103,127,149, 18,  1,113,170,153,103,146,113, 96,237, 76,200,
-148, 66,166,128, 92,120, 67,130,201, 90,118,176,196,153,102, 89,134, 77,237,233,  3,158, 80, 16,  2, 92, 73,184,  5,  5,207,101,
-187,155,119,119,249,183,106, 78,159, 14, 58,189,216,148, 18,238, 14,112,103,251,147,105, 50, 77,166,201, 52, 31,109,205,255,140,
-193, 34,148,188,183,116,211,225,249,162, 36,123,217,150, 53,104,208,  0, 22,139,  5, 91,183,110,181, 27, 15,158,231,237, 93,122,
-174,140,193, 42, 70,124,199,142, 29, 75,155,138, 33,222, 21, 17, 10, 26,223,162,203,224,208,210,126,119, 55, 97,101, 25,182,239,
-246,158,253,255,157,200,113,217, 28, 33,239,177,226, 84,194,254,167,182,251, 45,139, 78,207,192, 96, 48, 24, 12,198,127,206, 96,
-197,197,199,175,  1,176,198,113, 89,207,158, 61, 83,250,245,235,167,181, 90,173, 48,153, 76,176, 88, 44, 48,155,205,176, 88, 44,
- 48,153, 76,208,104, 52,110,205,184,233,202, 36,162,174,144,122,102, 99,221,202,220, 41,174, 24,182,164,164,164,186,172,248,184,
-111,181,238, 60,143,144, 25, 45,  6,131,193, 96,252, 71, 13,150, 51,140, 70,163,  1,128, 34, 49, 49,241,174,223,110,222,188,  9,
-  0,214, 71, 97,167, 84,182, 97, 99,148,110,180,254,141, 51,208, 51, 24, 12,  6,131, 81,105,  6,107,207,158, 61,214, 71,197, 68,
- 49, 30, 34,163,197,204, 21,131,193, 96, 48, 30, 49,216, 76,218, 12,  6,131,193, 96, 48, 24,149, 12,  1,208,200,217, 15,238,220,
- 29, 64,  8,105,228,238, 31,151,165,207, 52,153, 38,211,100,154, 76,147,105, 50,205, 71, 79,179, 44,109, 74,233, 25, 66,200, 72,
- 74,233, 55,255,106,131,117, 47,231,124,100,183,176, 50, 77,166,201, 52,153, 38,211,100,154, 76,179, 28,250,255,122,131,197,186,
-  8, 25, 15,140,200, 81, 49, 90,182, 23, 24, 12,  6,131,241, 40,162,120, 24, 19, 21, 25, 25, 89,141, 82,218,156,227,184, 42,148,
-210, 29,209,209,209, 55,217,161, 42,215, 21,128,130, 82,106,125, 24, 53, 67,135,172,253, 93, 45,231, 62,101,232,119, 62,190,157,
- 82,211,112,221,186,103, 37,118,196, 24, 12,  6,131,193, 12, 86, 33,173, 90,181,138,144, 36,233,  5,  0, 67,  0,156,142,142,142,
-126,193, 93,141,182,109,219,106, 68, 81, 28, 13,160, 21, 56, 69,243,199,154,116, 12,106,222,186, 35, 50,242,101,236, 88,251, 89,
-108,231,206,157, 91,236,217,179,199,228,142,102,139, 22, 45,126,167,148,118, 47,193, 36,124,124,252,248,241, 57,238,232, 53,109,
-218,180, 27,207,243,239,  1,128, 36, 73,243, 79,158, 60,185,227, 97, 60,160,254,254,254,122, 47, 47,175,143,106,213,170,213,237,
-133, 23, 94,168,217,190,125,251,244,164,164,164, 99,162, 40,206, 77, 76, 76, 60, 93, 94, 77, 31, 31,159,143, 26, 54,108,248,212,
-203, 47,191, 92,189,125,251,246,233,137,137,137,199,172, 86,107,185, 52,219,188,123, 36,156,230,165,117, 95,191,244, 13,140,153,
-181, 38,236,180, 85,243,  2,128, 21,110, 27,241, 81,235,171,113, 10, 94,113,236,171,190,  9,  0, 16, 17, 17, 17, 46,138, 98, 39,
- 89,150, 27, 43, 20,138,211, 60,207,239,141,139,139,187, 94,145,253,249,111,209,100, 48, 24, 12,198, 35, 96,176, 26, 52,104,160,
- 87, 42,149,207,112, 28, 55,180,105,203,246,237,250, 62,251, 18, 17, 57, 45,102,143,123,222,237,200, 70,100,100,100, 43, 16,254,
-155, 23,223,142,170, 25, 86,163, 30,212, 58,111,228,153,129, 91, 89, 50, 84,249, 18, 66,155, 92,169,126,237,200,154,118,  0,118,
-185,163, 75, 41,237,190,118,203, 17, 36,103, 74, 32,228,206,104,126,142,  3,114, 11,100, 76, 30,209, 97, 50,  0,183, 12, 22,199,
-113,147, 94,153,187,183,149, 76,129, 31, 38,118, 84,  2,120,232, 12,150,193, 96,104,219,166, 77,155, 21,227,198,141,171,230,231,
-231,  7,189, 94, 15, 65, 16,  2, 19, 19, 19,251,188,249,230,155, 61,130,131,131, 39, 36, 38, 38, 46,117, 87,179,123,247,238,171,
-222,127,255,253,  0, 66,  8, 20, 10,  5,148, 74,101, 96, 98, 98, 98,159,247,222,123,207,109, 77, 66,  8,215,176,235,136, 17,158,
-  1, 29,193,113,  4,222,122, 13,178,226, 78, 15,138,136,120,107, 93, 92, 92,156,203, 38,186,217,168, 45, 83, 40,212, 31,200, 86,
- 66, 26, 61,191,108,235,237,125, 51,111,212,169, 83,135,140, 24, 49,226,182, 36, 73, 70, 81, 20,253,151, 47, 95,254,166,193, 96,
-160, 28,199,237, 49,153, 76,255,164,165,165,229,150,150,176, 25,133,143,243, 89,177,194,199,195,108,214,118,160,148,118,172, 91,
-183, 46,121,229,149, 87,210, 69, 81, 52, 22, 20, 20,  4,172, 88,177,194,117, 77,  7,170, 86,173,234,161, 82,169, 30,167,148,118,
-170, 80, 58, 29, 24,212,141,156, 92,183,131, 54, 45,239,239,197,178,239, 13, 64, 67, 41,189,233,194,186,  1,  0,116,148,210,216,
-251,173,121, 47,  8, 14, 14,206,162,148, 10,238,108,163, 84, 42,125,221, 41,175, 12,  6,131, 25,172,210, 26, 64,210,172, 89,179,
-246,132,144, 97, 17, 53,106, 61, 51,224,133, 81,218,136,218,141,144, 43,123, 33, 54,141, 34,102,247,207, 32,132,252,230,170, 94,
-173, 90,181, 84,222,222,222, 83,195, 30,107,241,246,200,119,167,115,103,110,105,176, 55, 86,130,130, 51,131,  7, 96,206, 79, 69,
-118,242, 69,220,186,180,199, 40, 73,210,145,242,100, 46, 49,195,138,125, 23,205,224,185, 59,230,138,231,  8, 20,229,159, 63,188,
- 26,  5,240,215, 41, 35,  8, 33, 65, 15,219,129, 12, 13, 13,125,170, 79,159, 62,235,198,142, 29,171,200,207,207, 71, 65, 65,  1,
- 40,165,208,104, 52, 48, 24, 12,248,237,183,223, 20, 67,134, 12,249, 52, 36, 36,228,100, 66, 66,194, 81, 87, 53,135, 15, 31,190,
-238,141, 55,222, 80, 92,188,120, 17, 22,139,  5, 90,173, 22, 26,141,  6,190,190,190, 88,190,124,185,226,213, 87, 95,117, 73,179,
- 94,189,122,173,213,106,245,172,150, 45, 91,182,168, 85,211,159, 79,243,125, 12,  0, 16, 86,163, 54, 60,113,171,227,181,228,128,
-212,230,205,155, 95,202,207,207,159,115,233,210,165, 63, 74,211,106,244,250, 22, 31,  5,200,184,165,227,218,113, 10,158, 39, 99,
- 62,255,167,231,234, 63,246,126,217, 49,178, 86,  6,128,188, 45, 91,182, 20,244,236,217,211,252,202, 43,175, 88, 46, 93,186,196,
-125,254,249,231, 77,118,237,218,213, 55, 36, 36,100,127, 66, 66,194,207,206, 52,103, 76,  7,217,146,252,199,  5,139,104, 13,169,
-210, 81, 52,245,  8, 57,183,248,213, 87, 71,102,135,132,132,136,133,154,166,158, 61,123,154, 71,141, 26,101,190,122,245, 42,153,
- 63,127,126,163,237,219,183,247, 14, 13, 13,221, 31,127,231,169,  7, 37,210,124,200,162,191,  3,154, 62,167,236,213,178,202,129,
-183,198,188,150,101, 48, 24,172,229, 77,103, 49,106, 87,240,119, 71,120,  0, 51,  9, 33, 63, 82, 74, 15,149,210, 14, 52,  5, 48,
-  8,192,231, 15, 72,179, 84,180, 90,109, 92, 65, 65,129, 63,  0,104, 52,154, 84,163,209, 24,225,194,197, 24, 89,180,104, 17,148,
- 74, 37, 56,142,131, 36, 73,144, 36,  9,178, 44,131, 82,106,127,183,221, 16, 52,113,226, 68,214,157,205, 96, 48, 42,207, 96, 53,
-111,222,124,125,207,  1, 47, 61,217,166,227,147,176, 42,  3,113, 49,133, 32, 62,150, 66,193, 91,193, 65, 70,236,177,141,148,231,
-249,159,139, 53, 92,103, 74,138,128,121,123,251,236,126,118,212,244,250, 53, 26, 62,142, 77,231, 44,144, 37, 51,210, 46,252,133,
-204,235, 71,145,119,235,130, 89, 52,229,158, 35,132, 28, 84,169, 84,159,159, 62,125, 58,191, 44, 77,103,220,121,134, 32,  5,161,
-  4,144,  1,128,  2, 28,113,214,192,150,169,201,113,220,233,141,187,207,133, 18, 65, 15,  0, 87, 93,104,180, 43,253,238,138,146,
- 52,131,131,131,123,190,249,230,155,191,244,234,213,139, 75, 75, 75,  3,  0,108,216,176,  1,199,143, 31, 71,104,104, 40,198,143,
- 31,143,176,176, 48,204,152, 49,131, 31, 62,124,120, 20,128, 46,174,104,126,244,226,139,191,244,122,229, 21,238,248,241,227,176,
- 90,173,216,177, 99,  7,206,156, 57,131,160,160, 32,140, 29, 59, 22, 97, 97, 97,248,240,195, 15,249,209,163, 71,151,170,217,162,
- 69,139,115, 17, 17, 17,161, 47,190,248, 34,215,167, 79, 31,146,146,  3,140,254,242,226,157,  2,168, 84, 99,240,160,129, 92,143,
- 79, 94,195,246,237,219,235,255,248,227,143, 43, 90,180,104, 97, 62,126,252,184,191,203,251,147, 16,234,225,229,151, 14, 32,  5,
-  0,188,188,188,244,  0,242,  1,228,215,169, 83, 71,177,100,201, 18,235,197,139, 23,175,118,239,222,253,105,  0, 63,151,164,105,
-181,202,213,190,159,252, 36, 94,249,120,187,122,218,180,169, 41, 28, 39,136,  0, 44,  0,224,227,227, 99,215,172, 89,179,166,226,
-203, 47,191, 20, 47, 94,188, 24, 91,168,185,166,180,116,138,130, 95,187,166, 29, 26, 90,246,196,167, 55,202, 90,125,229,224, 27,
-253,213,219, 27,214,240,205, 45,111, 58,  7,117, 35, 39,109,230,105, 80, 55,146, 95, 70,148, 43, 31,192,255,138, 71,178,138,107,
- 82, 74,111, 19, 66,190,  3,176,134, 16, 50,212,153, 33, 34,132,180,  5,176, 10,192, 51,148,210,212,178,202,167,163,166, 90,173,
- 86,154,205,102,159,226,198,199, 93, 77,135,180,228, 71, 71, 71, 35, 50, 50, 18,142,239,182, 11,139,194,117,252, 93,173, 71, 60,
-207,227,235,175,191,  6,199,113, 80, 42,149, 16,  4,  1, 74,165,242,174, 87,211,166, 77, 65, 41,  5, 33,196,229,250, 78,  8,225,
-195,194,194,198, 41, 20,138,225,102,179, 57, 88,173, 86, 39,139,162,184,202,207,207,239,211,232,232,104,241, 97,104, 67,152, 38,
-211,124, 24, 52,203,160, 37,  0,199, 58,109,  6,160, 42,252,156,134, 59, 29, 85,126,197,150, 59,174,103,123,183,181, 51,254,133,
-219, 81,  7,221, 84,  0,199, 42,213, 96, 17, 66, 40,165,148,216,222, 75,216,153,158,  9, 70, 31,228,198,250, 67,193,201, 80,240,
-  4, 10, 30,  0,  8,210, 19,206,163, 32, 55,237, 96,116,116,116,156, 43,127,170,209,104,102, 13, 26, 51,167,190,228,215, 18,155,
- 79,153, 33,102,199, 35, 97,239,103, 52, 63,245,242,119, 60,207,255, 40, 73,210,133,152,152, 24,177,162,153,147, 41, 32, 57, 26,
- 43, 25, 32, 40,247,180, 20,142, 15,140, 78,126, 88, 28,178,193, 96,232, 59, 97,194,132,159,155, 55,111, 78, 86,174, 92,137, 70,
-141, 26,225,187,239,190,163,151, 47, 95, 94, 72,  8, 89, 24, 23, 23,215, 37, 47, 47,239,199,159,127,254, 25,109,218,180,129,183,
-183,119,211,200,200, 72,161,180,134,221, 96, 48,244, 93,241,214, 91, 63, 55,110,223,158,204,239,214, 13,134,231,158,195, 47,123,
-247,210,216,216,216,133,132,144,133,241,241,241, 93, 10, 10, 10,126,252,246,219,111,209,162, 69,139, 50, 53,121,158, 15, 89,179,
-102, 13,175,211,233,192,243, 60,194, 53, 64,128,143, 18,159,174,189,136,212,172,  2,124,240,140,  1, 10,133,  2,221,186,117, 67,
-112,112,176, 98,204,152, 49,165,222,221,122,102, 73,207,204,102,163,182, 44, 24, 61,255,192,  4,142,112,180, 70,128, 98,183, 55,
-159,121, 30,240, 81,  0,240,246,247,247, 23,  1,192,108, 54,103,109,222,188,217, 26, 19, 19,227, 91,163, 70, 13, 63,119,246,235,
-137, 19, 39,243,171, 84,241, 75,175, 94,189,186,  2,128,183,159,159, 95,133, 52,135,245,108,162,202, 53,154,177,231,248,181, 14,
-175, 68,237,110, 95,221,224,121,170, 95, 75,223,157,  0,242,220,213,180,153,165, 65,221, 72,254,186,117,  7, 83, 65, 37,192,154,
- 35,194,146, 37, 66,202, 18, 97,201,182, 66,188, 45, 14, 26,187,160,209,186, 29, 84,231, 70,131,121,148, 16, 50, 20,192,170,226,
- 38,203,193,  8, 13,165,148,158,118, 87,211,108, 54,239,176, 25, 31,141, 70,227, 79,200, 29, 99,168,209,104,196,130,130,130, 30,
-238,104,  2, 64,116,116, 52,154, 55,111,238, 81,168, 73,109,239,133,134,213,109,108, 15,173,231,121, 30,205,155, 55, 71,159, 62,
-125, 80,167, 78, 29, 36, 36, 36, 96,207,158, 61,184,124,249,178, 61,194,229, 14,132, 16, 62, 34, 34, 98,215,147, 79, 62,217,224,
-237,183,223,214,132,133,133,225,226,197,139,161, 75,150, 44,121,231,159,127,254,233, 21, 25, 25,249,120,105,117,145,193,248, 47,
-224,138,  7,  1,224, 79,  8,217,228,208,182,244,182,125,159, 56,113,226,228,168,168,168,179,132,144, 77,142,203, 29,215,115,124,
- 47,252,207, 77,148,210,222,147, 38, 77,106, 56,119,238,220,143,109,235, 62,144,  8,150, 32,  8,207,159,217,186,240,192, 99, 22,
- 26, 20,208,176, 87, 97, 91, 70,  0, 80, 92, 63,185, 21,178, 44,175,114, 69,167, 89,179,102,143,135,214,109,243,154,161, 78, 27,
-108, 57,105, 66,206,149,109,184,121,232,171,120,217,106, 30,125,226,196,137,125,149,145,169,230,205,155, 63, 83,165,106, 16, 76,
- 22, 90,104,176,138,154,172, 71,133,176,176,176,129,115,230,204, 89, 94,179,102, 77,178,110,221, 58, 80, 74,241,235,175,191,210,
- 43, 87,174,140, 73, 78, 78, 94,105, 59, 31,215,169, 83,231, 43,158,231,181, 28,199, 33, 52, 52, 84,121,234,212, 41,  3,128,235,
- 37,105,254, 50, 97,194, 79, 77,235,212, 65,226,160, 65,232, 96,181,226,251, 21, 43,232,117, 89, 46,162,249,216, 99,143,125,165,
- 80, 40,180, 60,207, 35, 44, 44, 76,121,242,228,201, 18, 53,  1, 64, 20, 69,156, 58,117, 10, 10,133,  2,190,190,190,248,228,197,
- 16, 28,185,112, 27,141,107,  4,192,152,145,128,181, 59, 79, 32, 54, 54, 22, 62, 62, 62,174, 25,160,101, 61,103,133, 63,214,188,
-222,138, 85,107,147,212, 52,227, 76,122,122,186, 95,122,122, 58,188,188,188,178, 36, 73, 18, 63,253,244, 83,225,202,149, 43,222,
- 26,141,  6,106,181, 26,162, 40,186,229,172,173, 86, 43, 87,217,154, 85, 60, 53, 24,208,181,129,242,233,118,143,225,159,147,215,
- 35, 63,251, 45,182, 81,252,249,221, 35, 42,162,  9, 42,  1,135, 30,143,185,107,121,200,112,255,114, 94,149, 30, 42, 52, 89, 91,
-  8, 33,202,194,197, 41,133,239, 67, 75,235,234, 43, 67,211,254,221,100, 50, 57, 70,153,132,242,104, 70, 70, 70,218, 52,228, 98,
- 23,111,169,182,200,149, 70,163, 73,117, 85, 79,146, 36,168, 84, 42, 52,108,216, 16,239,189,247, 30, 46, 94,188,136,127,254,249,
-  7,  1,  1,  1,232,222,189, 59, 20, 10,  5,226,227,227,221, 54, 88,193,193,193,227,158,120,226,137,122,139, 22, 45,210,196,197,
-197,225,226,197,139,240,242,242,194,172, 89,179,180, 19, 39, 78,172,113,224,192,129, 73,  0,102,178, 83, 44,131,225,114,123,210,
-187,248,119, 66,200,166,168,168,168,222,206, 76,149, 19, 51, 87,100,249,220,185,115, 63,118,248,158, 81,153,105,229, 28, 29,100,
-105, 43,138,162,216,214,167,170,193,127,228, 11,221, 33,203,128, 85,  6,172, 18, 69,126,126, 30,110, 94,220,147,111,177, 88, 54,
-148,245,103, 13, 26, 52,208, 19, 94,185,244,229, 55,167,144, 45, 39, 76, 40,184, 29,135,228,131, 95,222, 80,112,180, 85, 37,155,
-171,229, 83, 62,253, 30,199,174,153, 11,187,  9,239, 68,178, 36,249,206,231, 71,  1,131,193, 80,167,119,239,222,203,107,212,168,
- 65,214,174, 93, 11,147,201,132,248,248,120, 26, 19, 19, 51, 42, 49, 49,113,165, 67,  3, 63,188, 71,143, 30, 90,158,231, 33,138,
- 34,174, 93,187,150,119,235,214,173,248,146, 52, 95,121,252,241,229,141, 67, 66,144,240,194, 11,144,178,178,112, 74,171,165,199,
- 40,189, 75,243,153,103,158,209, 42,149,119,206,191, 87,175, 94, 45, 81,179, 88,193,134,217,108, 70, 98, 98, 34, 78,199, 28, 65,
- 94,252, 33,252,178, 98, 25, 86,172, 88,129,216,216, 88, 40, 20, 10, 88,173,174,223, 39, 97,205, 79, 49,213, 52,104,115, 28,151,
-101,103,103,123,199,196,196,200, 23, 46, 92,240,182,157, 56,  1, 64,150,229,114, 91,235,226,154,246,  8,105, 57, 53,181,106,  1,
- 93, 90,212,224, 69,153, 42, 43,156, 78, 41,199,226,116,185,229,182, 88,129,  6,236, 16,  0,165,195,184,163,128,242,154,171, 98,
-198,231,174,174,181,242, 18, 29, 29,109,139, 88, 21,193,104, 52, 70, 80, 74,117,209,209,209,112,101,252,149,195,177,132, 74,165,
- 66,223,190,125,113,225,194,  5, 36, 38, 38,130,231,121,152, 76, 38,152, 76, 38, 52,111,222, 28, 74,165,210,237,244,171,213,234,
-231,223,126,251,109, 93,108,108, 44,210,211,211,193,113, 28,172, 86, 43, 36, 73,194,171,175,190,170,211,104, 52, 67,216, 41,147,
-193,112,238, 65,  8, 33, 35,  9, 33, 35,139, 27,164,138, 26, 52,103, 26,147, 38, 77,106,  8, 64,125, 79, 34, 88,182,240, 92, 73,
-166,197,167,170, 97,249,164,168,239, 20,235, 79,241,200, 72,190,132,130,148, 75,  8,109,222, 15, 41,151, 14,128, 74,150, 63,206,
-157, 59,151,231, 66, 99, 51,110,192,107,211,195,246,199,169, 97,180, 20, 32,245,159,207,100, 66,173, 35,143, 28,137,206,169, 44,
-115,229,227, 87,109,249, 71,159,124,175,248,227,172,128,219, 73,151,112,113,227,  4, 72,150,252,226,  7,109,155,155,  7,158, 68,
- 70, 70, 86,171, 29,164,  5,167, 84,227, 48, 33,  1,131,  6, 13,226,215,173, 91,247,192,  6,187, 38, 37, 37, 93, 50, 24, 12,179,
-205,102,243, 20,142,227,112,243,230, 77,122,242,228,201,145,  9,  9,  9,171,109,235,132,134,134, 62,213,170, 85,171,133, 19, 39,
- 78,  4, 33,  4,187,118,237, 66, 94, 94,222,  1, 74,169, 92,154,166,239,217,179, 83, 58,229,231, 99,131,159, 31, 93, 38, 73,119,
-105, 62,249,228,147, 11,223,125,247, 93, 16, 66,176,127,255,254, 82, 53, 29,137, 77,163,200, 51,  1, 17,126, 28,124,124,124,176,
-103,207, 30,251,120,151, 76,209, 19,146, 85,  5,131, 96, 44,247, 62,145,101,153,100,102,102,242, 70,163,145, 23, 69,145, 83, 40,
- 20,212,118, 18, 22, 69, 81,174, 44, 77, 73,146, 42,164, 89,236,194,165, 98,233, 20,179,156, 27, 41,115,106,101,116, 59,153, 11,
-223, 85, 21, 49, 87, 54,227, 99, 27,128,174, 86,171,237, 70,197,157, 40, 83,  9, 17,172,114,253,238,204, 96,  9,130,128,218,181,
-107,227,208,161, 67,240,242,242,130,135,135,  7,180, 90, 45,212,106, 53,188,188,188,160, 82,169,192,113,156, 91, 38,203, 98,177,
-132,132,132,132,224,127,255,251, 31, 52, 26,141,253,165, 82,169, 80,167, 78, 29,228,231,231, 27,216,169,149,193,112,238, 65,156,
-205,228, 94, 25,221,120,206, 76,214,220,185,115, 63,118,140,130, 85,170,193, 42,213,180, 84, 53, 44,159,248,241,119,138,117, 49,
- 28, 50,147, 47,226,250,214,201, 86,201,146,159, 42,203, 98, 80,198,213,127, 32,203,242, 74, 23, 51,213,161, 90,141,198, 56,112,
-194,130,130,139,191,193,156,121,237,203,232,232,232,  3,149,105,174, 38,207,253, 94,241,251, 41,  5,110, 39, 93,194,213,205, 19,
- 37,171, 57,239,181,152,152,152,181,229,213,109,221,186,117,173,182, 45,154,125, 61, 44,208,210,166,239,160, 26, 80,105,149,152,
-112, 85,241,196,185,131,113,251, 91,180,104, 49,234,248,241,227,231, 30,160,201,154, 91,173, 90, 53, 33, 52, 52,116, 66, 98, 98,
-226,171, 73, 73, 73,191, 56, 68,153,122, 14, 24, 48,224,151,209,163, 71,115, 94, 94, 94, 72, 79, 79,199,180,105,211,140, 60,207,
- 79,112, 69,115,167,159,223,132, 99,146,116,151,102,167,126,163,126,153,240,206, 75,156, 32,  8, 72, 75, 75,195,140, 25, 51,202,
-212,164,154, 32,242,220,231, 55,224,161, 21,160, 86,106, 16,127, 32, 15, 31, 63,115,167,171, 72,169, 84,226,120,118, 35,112, 94,
- 97,208, 42, 21,136, 73,200,128,232,121,142, 68,142,138, 17,162,151, 53, 47,211, 36, 16, 66,164,180,180, 52, 33, 54, 54, 86, 99,
- 54,155,185,136,136,136,  2,224, 78, 23, 95, 70, 70,134, 82,165, 82,129, 16, 98,177, 90,173,110,197, 46, 51, 50, 50, 20, 87,174,
- 92, 83,139,162, 88,162,166,197, 98,169,112, 60,180,162,233,132,152,229, 60,228,103, 73,171,168,193,138, 39,132,132,218, 62, 87,
- 70,121, 45, 40, 40,240,119,232, 26,  4,165,174,143, 15, 43, 33,130, 85,238,223,157,180, 77, 80,169, 84,184,114,229, 10,252,253,
-253, 97,181, 90,161,215,235,161,213,106,161,213,106, 97, 52, 26,161, 82,169,192,243,188,211, 65,238, 37,161, 82,169, 18, 46, 94,
-188, 88,219,199,199,  7,178, 44, 23, 49, 89,177,177,177,208,235,245, 73,236,212,202, 96,184, 21,240,216,228,104,180,  8, 33,155,
- 38, 78,156, 56,185,188,122, 19, 39, 78,156, 92,209,168, 88,169,  6,203, 54,168,172,248,224,178,230,205,155, 63,227,237, 23,180,
-252,131,217,223, 42,126, 62,206, 33, 43,249,  2,146,182,127,104,149, 44,249,195,  5, 65, 56,116,227,192,178, 85, 28,199, 25, 79,
-158, 60,249,143, 11, 59,133,139,108,243,120, 99, 94,233,  1, 74,141, 40, 72, 60,  2,133, 66,177,176, 50,205,213,196,168,239, 20,
-235, 78, 40,144,145,124, 17,215,255,154, 36, 73,150,252,114,155,171,206,157, 59, 43,114,115,115,199, 54,212, 75, 31,189, 23, 38,
- 42,131, 85, 50,206,127, 61,  1, 23,195,188,208,176,141, 22, 17,117,165, 38, 71,182,153, 14, 70, 70, 70,206, 55,153, 76,115,207,
-157, 59,103,121, 16,133,237,230,205,155,179, 66, 66, 66,254, 72, 74, 74,178,223,209, 97, 48, 24,250, 14, 29, 58,116, 85,167, 78,
-157,184,213,171, 87,163, 95,191,126,152, 58,117, 42, 77, 75, 75,123, 43, 41, 41,233,106,121, 53,  7,188,253,227,207,131,122,181,
- 37,131, 63,248, 28, 83, 94,235,130,239,191,156, 83,166,166,111,175,149, 71, 66, 13,189,248,199,124,141, 24, 51,184,253,157, 43,
-133, 95, 46,224,242,173, 59,  1, 79, 81, 86, 32, 11,129,248,122, 68, 19,112, 28,193,190,227,151,241,227,173, 70, 36, 49,110,207,
- 25,160,121,221,210,210, 41, 73, 18,249,233,167,159,188, 82, 82, 82,184, 58,117,234,220,110,210,164, 73,158, 74,165,146,141, 70,
-163,164,209,104,172,122,189, 94, 46, 40, 40, 80, 93,191,126,189, 74, 98, 98, 34,111,235,134,115,133,237,219,183,  7,213,173, 91,
- 63,189, 89,179,102, 37,106, 38, 37, 37,113,238,104, 58,163,162,233, 44, 49,130,101,169, 88,  4,139, 82, 90,151, 16,146, 95, 17,
- 19,116,175, 40,140,132,  1, 64, 94, 73, 83, 49,184, 19,193,178,141,171, 82,169, 84, 56,120,240, 32,158,126,250,105,200,178, 12,
-181, 90,109,159,150,228,232,209,163, 80, 42,149,224,121,222,173,180, 90, 44,150,213, 95,126,249,229,251,115,231,206,213,219,186,
- 33,117, 58, 29, 84, 42, 21,230,207,159,159,103, 52, 26,127, 97,167, 76,  6,139, 94, 57,247, 32,197, 72, 45, 22,189, 50, 59,124,
- 79,197,157,103, 43,247, 46,252, 12, 39,159,205, 78,150,165, 71, 69, 69,237,118,136, 92,165, 86,102,190, 74,140, 96, 53,107,214,
-236,  9,159,170,134,229,239,207,254, 86,177,226,  8,143,204,228,243, 72,219,253,145, 85, 22,141,195, 99, 98, 98,108,227,173,186,
-185,250, 71,145,145,145,181,194,235,182,214,165,228,200,160,178, 21,214,172,107, 41,199,143, 29, 73,169,104,  6,154, 53,107,246,
-132,143, 95,181,229,227,231,124,167, 88, 29,173, 64,102,210,  5, 36,109,255,176, 66,230,170,105,211,166,221,212, 10,238,251,183,
- 67, 68,223,222, 85,173,144, 40,176,242,166,128, 53, 39,142,252, 99, 33,178,169, 97, 91, 77,183, 70,237, 85,120, 98,136, 78,113,
-245,180,101,194,241, 29,120,163, 89,179,102,195, 79,156, 56,177,245, 65, 20,206,132,132,  4,187, 17, 10,  9,  9, 25, 48, 98,196,
-136,159, 58,119,238, 76,182,110,221, 10, 89,150, 49,111,222, 60,122,234,212,169,183, 29,163, 81,238,106, 14,120,251,199,159,  6,
-246,125,146,124,184, 78,196,237,124, 29, 62,152,254, 57, 53, 39,157, 46, 83,179, 65,168,178,193,215, 31, 13,  3,  0, 28, 62,119,
- 19, 59, 79,101, 32, 49, 45, 31,175,180,  2,206,  1, 80, 16, 17, 85,184,155,152,242,227,105, 52,137,240,192,179, 93, 30, 67,199,
- 22,143, 97,241, 79,127,133, 86,237,254,113,181,180,109,147, 75,156,164, 82,150,229,180,237,219,183,235,166, 76,153,146, 27, 20,
- 20,164,200,205,205,229, 28,199, 48, 41,149, 74,  4,  5,  5, 89, 51, 51, 51, 45,219,183,111,175, 46,203,242,237, 82, 43,131,130,
-187,249,202,199,219, 67, 84,156, 92,240,204, 51,  3,104,213,170, 85, 21, 70,163,209,169,102,122,122,186,101,215,174, 93, 53,100,
- 89, 78, 43,107, 95,242, 82, 78,218,252, 85,251,124,  6,117,107, 34, 84, 55,220, 61,136,223,221,116, 22, 53, 88,183, 69,132,190,
- 84, 21,230,219, 34,204,169, 86, 88,210, 69, 88, 82, 69, 88,243, 30,186,219, 57,202, 59,  0,189,140, 72,152,127,101, 69,176,148,
- 74, 37,226,227,227,177,115,231, 78,180,106,213, 10,158,158,158,200,203,203,195,161, 67,135,112,243,230, 77,123,  4,203, 29,110,
-220,184,177, 64, 16,132,158,111,190,249,102,221,209,163, 71,235,235,213,171,135,184,184, 56, 44, 88,176, 32,255,244,233,211,177,
-190,190,190, 81,236,244,202, 96,184,196,177,127, 91,130, 21,165, 92,213,125,208,246,217, 41,138,229,135, 21,200, 72, 60,139,172,
-253, 83,139,155, 43, 87, 66,121,246,167,109, 75,146,212,180, 97,179,182,184,122,203, 10,107,118, 28, 64,165, 19,229, 12, 15, 22,
-121,130, 55,199,113,239,183,123,118,138, 98,197, 49,  5,178,146,206, 35,117,247, 20,183,205,149, 19,205,137,187, 63,120,214, 23,
- 86, 43, 78,109,249,  5,159,199, 43,243,174, 25,201,132, 19, 39, 98,126,162,148,210,102,205,154, 13, 73,184, 44, 46,104,221, 67,
-227, 53,112,192,115, 24,240,140, 85,255,238,203,203,199,  3,216, 90,146,102, 37,133, 70, 75,213, 52, 24, 12,117,234,215,175,191,
-188,103,207,158,100,195,134, 13,200,201,201, 65, 70, 70,  6, 14, 31, 62,252, 70, 82, 82,210, 79,229,213, 12,106,208,103,249, 51,
-125,158, 36, 83,126,149,112,233,200, 90,120,152,110,192,148,124,196, 37,205, 51,241,150,147, 47,140,255,161,153, 90,163,133,164,
- 13,198,251,253, 12,168,231, 79, 96,204,255,255, 33,123, 45,171,252, 15,185,200,196, 63, 39,170,225,143,191,247,129,151,243,113,
- 35,165, 32, 33,109,231,255,155, 43,103,233, 76, 77, 77, 29,175, 84, 42, 59,142, 24, 49,226,185,199, 31,127,220,115,228,200,145,
- 41, 94, 94, 94,121, 42,149,138,247,245,245, 85, 81, 74, 85,127,255,253,183,225,230,205,155, 85,  0,172, 73, 77, 77,221, 87, 82,
- 58,167, 77,  7,197,244,190,245,206,159,  7, 57,118,204,240,248,240, 93,194,144,199, 31,127,220, 99,228,200,145,169,142,154,146,
- 36,169,254,254,251,239,224,155, 55,111,250,  0, 88,157,154,154,186,191,172,253,121,106, 77, 74,141,218,221, 19,166,126,117, 59,
-231,173,154, 33,254,124,255,110, 13,133, 42, 30,119,158,115,237,110, 58,129, 98,243, 96,189,253,121,227,210,202, 76, 73,243, 96,
- 61,136,242,105, 52, 26, 35,220,141,138,185,146,206,152,152,152,252,226,243, 97,149, 22,193, 42, 73, 83,165, 82, 65,161, 80, 32,
- 53, 53, 21,219,183,111, 47, 50, 23,150, 74,165,178, 79,227,224,142, 38,165, 84, 34,132,116,149, 36,105,220,187,239,190, 59, 60,
- 63, 63, 63, 88,167,211, 37,155,205,230, 85, 85,170, 84, 41,117, 30,172,  7,113,140,152, 38,211,124,144,154,143, 26,165,141,193,
-210,254, 19,125, 25,188, 58,  5, 57, 71, 62,117,219, 92, 57,227,230,237,  2, 36,104,172, 16,111, 95,  2,128,147,149, 20, 90,244,
-220, 31,115,  5,130, 38, 29, 89,135, 63,145,100,209, 88,161, 49, 87,133,  5, 71,132,213, 10,243,222,213,120,251,178, 38,157,112,
-124,171,152,152, 99,183,108,191,159, 56,113,226,151,102,205,154,237,218,182, 34,239,120,183,142,214,170,167, 99,255,  0,199,113,
-150,  7,125, 48, 11,  7,169,207,249,245,215, 95,167,228,229,229,225,246,237,219,244,232,209,163,163, 19, 19, 19, 87, 85, 84,243,
-243, 31,  6, 76,185,124, 41, 11,218,156, 35,212,116,125,227, 24,199,187, 10, 75, 35,115,243,176, 14, 13, 94,221,218,142,100,158,
-105,165,187,188,244,221, 63,210, 13, 62,134,215, 95, 39, 65, 65, 65,168, 82,165, 10,252,252,252,144,155,155,139,171,199,255,162,
-198,228,100,147,213, 35,242,107,115, 80,215,237,169, 59,251,254,227,194,177,167,  0,246, 70, 70, 70, 30,220,179,103,207,211,  7,
- 14, 28,232,219,181,107,215,148,118,237,218,229,198,196,196,132,199,198,198,  6,  0,248, 51, 32, 32, 96,107,153,115, 13, 81, 74,
-167,253,255, 93,105,123, 34, 35, 35, 15, 20,106,246,233,214,173, 91,106,155, 54,109,114, 99, 98, 98,194,227,226,226,252, 37, 73,
-250,163, 86,173, 90,219,246,236,217, 99,117,173,140, 78,147,  1, 76,111,252,212,  7,243, 46,100,234, 23, 92, 77,188, 61,184,241,
- 99,193,  4,  0,113, 59,157, 40, 54, 15, 86, 41,243, 92,149,245,187, 11, 68,223,131, 98, 90, 97,205,226,145,176,230,205,155, 71,
-216,204, 84,241,119, 55,234, 60,154, 52,105,  2,199, 59, 29, 57,142, 43,242,226,121, 30, 10,133,162, 60,109,148,  4, 96, 94,225,
-139,193, 96,252,215, 13,150, 66,161,248, 32, 47,250,139,153,148, 82,127,  0, 19, 99, 98, 98,182, 85,228,143,148, 74,229,129,152,
-191,191,205, 84,  5, 95,240, 41,136,223,151,199, 17,178,162, 50, 50, 64,  8, 25,159, 23,253,197, 76,  0,126,178, 44,127,116,226,
-196,137, 63, 43,170, 41, 73,210,252, 14, 11, 54,  2,208, 18, 73,146, 62, 59, 25, 29,115,171,248, 58, 39, 78,156, 72,107,218,180,
-233,107,239,189,178,194,254,  0,232,135,225,128,218,  6,169,215,168, 81, 99,194,141, 27, 55,138,220,  1, 88, 81, 77,109,181,150,
- 19,196,180, 19,163, 18, 19, 19,127,118,103,251,115,223, 61,125, 16,120,250, 32, 48, 97, 65,157, 58,117,  6, 77,158, 60,249,203,
-250,245,235,107,171, 86,173, 74,142, 28, 57, 66,175, 94,189,106,205,203,203,251,236,204,153, 51,179,203,117,198,190, 99, 74,254,
- 52, 24, 12, 59,183,111,223,254,204,223,127,255,221, 74,150,229,163,178, 44,207, 73, 74, 74, 50, 86, 84,115,219,182,109,207,108,
-221,186,181, 21,165,244, 16,165,244,143,196,196,196,130,242,104,158,254,123, 94, 62,128, 81, 13,159,248,112,234,137,188,196,101,
-188,210,179,241,181,107,215, 46, 84, 32,157,255,171,224,239,101,177,225, 30, 20,209, 10,107,186, 51,253,130,139,  6,136,190,243,
-206, 59,238,108,194,219,166, 40, 97, 48, 24,140,210, 26,151,123,246,  2,208,200,241,123,187,118,237, 60,154, 52,105,210,183, 81,
-163, 70,186,202,210,188, 23,233,124, 20, 52,131,131,131, 27, 61,204,154,117,235,214,125,167,117,235,214, 41, 77,155, 54,253, 26,
-128,130, 29,247,135, 79, 19,128,254, 30,104,  6,178, 99,196, 52,153, 38,211,116, 65,127,228,189,212,191, 31, 47,197,253, 52,115,
-  7, 14, 28,200,  5,240,  7,179,181,247, 30,199, 65,234, 15,163,230,133, 11, 23, 22,  2, 88,200,142,212, 67,125,241,149,119, 15,
- 52,111,177, 61,203, 96, 48,254, 11,112,108, 23, 48, 24, 12,  6,131,193, 96, 84, 46,  4, 64,163, 18,174, 52, 93,142, 86, 16, 66,
- 26,149,227, 74,246, 12,211,100,154, 76,147,105, 50, 77,166,201, 52,255, 91,154,101,105, 83, 74,207, 16, 66, 70, 58,155,201,253,
- 95,101,176,220,189,219,198, 45,113,118, 11, 43,211,100,154, 76,147,105, 50, 77,166,201, 52,221,215,255,215, 27, 44,214, 69,200,
- 96, 48, 24, 12,  6,131, 81,201, 40,216, 46, 96,184, 66,112,112,240,204, 54,109,218,140, 60,118,236,216, 23, 55,110,220, 40,215,
-236,211, 45, 91,182,108,162,211,233,166, 91,173,214, 72,171,213,170,214,106,181, 23,114,114,114,190, 62,126,252,248,154,242,166,
-171,101,203,150, 45,116, 58,221, 84,171,213,218,180, 80,243, 92,102,102,230,151, 39, 78,156,248,237, 97,210,100, 48, 24, 12,  6,
- 51, 88,118, 22,126, 72,170, 41, 77, 80,188, 62,159, 38,  0, 64, 68, 68, 68,184, 40,138,157,100, 89,110,172, 80, 40, 78,243, 60,
-191, 55, 46, 46,238,122, 69, 18,240,111,209,252,183, 64,  8,  9,212,233,116, 47, 18, 66,158,164,148,110,203,207,207, 95, 73, 41,
-173,208, 35,137,  2,  3,  3,253,  7, 13, 26,244,222, 23, 95,124,129, 17, 35, 70, 76,240,247,247, 95,156,154,154,234,214, 29,102,
- 29, 58,116,120, 93,171,213, 78,127,227,141, 55,181, 45, 90,180, 32, 58,157, 14,151, 46, 93,106,190, 96,193,252,133,157, 58,117,
-122,118,223,190,125,  3, 41,165,110, 61,222,229,241,199, 31,127, 87,171,213,126,248,206, 59,239,168,155, 53,107, 70,148, 74, 37,
- 78,158, 60,217, 98,209,162, 69, 75, 58,117,234,212,127,223,190,125, 47, 80, 55,251,192,139,107,106, 52, 26,156, 57,115,166,197,
-252,249,243,203,165, 25, 57, 42, 70, 80,234, 44, 10,  0,176,228, 43,173,209,203,154,139,174, 46, 99,205, 19,131,193, 96, 60,130,
-  6,107,201, 36, 50, 69,  5,124,  0, 37,200,140, 81,170,173,223,108,246,187, 81,167, 78, 29, 50, 98,196,136,219,146, 36, 25, 69,
- 81,244, 95,190,124,249,155,  6,131,129,114, 28,183,199,100, 50,253,147,150,150,150,235,202,159, 86,173, 90,213, 67,165, 82, 61,
- 78, 41,237, 88,167, 78, 29,242,234,171,175,222, 22, 69,209, 88, 80, 80, 16,176,106,213,170,183, 12,  6,131,236,178, 38, 33,100,
-198,116,144, 85,171,170,232, 11, 10, 52, 29, 40,165,157, 42, 43,157,255, 34, 83,165,210,104, 52,125,  4, 65,120,197,207,207,175,
-106,143, 30, 61, 78,  5,  6,  6,158,191,117,235, 86,221,191,254,250,107,139,151,151, 87,170, 40,138, 63, 20, 20, 20,252, 73, 41,
-117,123,198,121, 65, 16,194,  9, 33, 72, 76, 76,132, 32,  8,130, 74,165,138,  0,112,214,213,237, 91,183,110,221, 72,169, 84,206,
-252,250,251,213, 26, 43,239,137,116,171,140,244,108, 64, 89,181, 14,166, 71, 45,212,127, 54,231,163,246,109,219,182,125,  7,192,
-  2,119,162, 76, 90,173,246,195,181,107,215,106,  2,  2,  2, 32,203, 50,114,114,114, 80,175, 94, 61,204,158, 61, 91, 23, 21, 21,
-245, 68,235,214,173, 71,  3,248,186,188,154,148, 82, 88, 44, 22, 52,108,216, 16,243,230,205,211, 77,159, 62,221, 45,205,200,111,
- 98,  4,209,114,177,181, 37, 95,154,  0,  0, 68,224, 63,233, 60,195,247,184,104,185,216,162,172,101,145,223,224, 72,244, 72,102,
-178, 24,247, 23,131,193,208,182,122,245,234,191,220,184,113,227, 48,207,243, 47,197,197,197,153, 42,161,125, 10,  6, 16,  1,192,
-  7,119,110,172,202,  0,112,157,210, 59, 23,238,229,161,106,237, 46, 61,161,210, 13,  3,104, 99,  2,  0, 28,119,154,138,121, 43,
-211, 46,236,222, 82, 33, 77,181,254, 69, 80,169, 49,  1,100,112,252, 25, 34,229,253,152,114,110,247,223,172,100, 48, 42,205, 96,
-173,158, 68,124, 64, 49,110,228,115, 35, 57,158,231,201,178, 95,190,233,185,125,211,183, 95,214,111,214, 35,  3, 64,222,150, 45,
- 91, 10,122,246,236,105,126,229,149, 87, 44,151, 46, 93,226, 62,255,252,243, 38,187,118,237,234, 27, 18, 18,178, 63, 33, 33,161,
-196, 89,190,191,153,170,191, 36,137,249, 33, 83, 95,209,154,210, 85, 35, 23,141, 28,249,122,182,193, 96,176, 22,106,154,122,246,
-236,105, 30, 53,106,148,217, 65,179, 95, 72, 72,200,190,210, 52,103, 76,  7, 81,222,214,109,237,220,132, 40,171,213,121,238,224,
-171, 35,223,206, 54, 24, 12, 86,142,227,114,203,155,206,127, 19,158,158,158,159,234,245,250,222,205,155, 55,191,240,238,187,239,
-238,237,219,183,111, 42,  0, 44, 95,190, 60,228,147, 79, 62, 57, 13,224,224, 31,127,252,225,255,249,231,159, 63, 23, 19, 19, 51,
-203,211,211,115, 83, 78, 78,206,120, 23, 27, 70,174, 90,181,106,147,187,119,239, 62,225,133, 23, 94,128,167,167, 39,134, 15, 31,
-142,130,130,130,  3,  6,131, 97, 86,114,114,242,124, 87,162, 57,106,181,250,195, 49, 99,198,168,101,133, 39, 62,250,233, 10,110,
-231,222,241, 13, 58, 21,135, 55,186,169,241,236,179,131,116, 81, 81, 31, 79,116,199, 96,233,116,186,169,239,188,243,142, 58, 32,
- 32,  0,  0,144,155,155,139,220,220, 92,228,228,228,192,100, 50,161,111,223,190,186,165, 75,151, 78,117,199, 96, 57,106, 94,186,
-116,  9,102,179, 25, 70,163, 17,  5,  5,  5,240,244,244, 68,255,254,253,117, 95,126,249,165,203,154, 65, 55, 33, 92,183,200,159,
-191, 55,102,112, 85,  0,152,255,245,186,207,  1, 99, 39,234,194,178,160,155,120, 28,  0, 51, 88,165,151, 79, 30, 64, 95, 65, 16,
-250,214,170, 85,171,249,149, 43, 87, 78,137,162,248,  7,128,141,148, 82,177,130,218,157,131,130,130,166, 39, 39, 39, 47,165,148,
-174,249,175,236,211,154, 53,107,174,249,249,231,159,125,183,108,217,210,107,246,236,217,  3,  0,252, 92,129,125, 40,  0,104, 93,
-248,245, 82,161,177, 66,161,209,170, 67,  8,169, 14,224,176, 59, 23,125,254, 13, 58,235,101,104,127,106,215,185,123,187, 65,207,
-246,247,240,247,245, 70,158, 73,194,229,184,155,161,127,111,249,253,241,106,141,123, 29,150,164,252,151, 82,207,237,201,115, 87,
-179,235,211,125,219,117,125,162,155,135,183,183, 15,210,115, 68, 92,141, 75,  8,219,187,125, 99,251,192,198,189,254,  1,196, 87,
-111,157,254, 59,159,213, 58,134, 59,184, 52,200,157,  0,212,215, 71,151, 14,224, 38,128, 92, 47, 47, 47, 11,128,124,  0, 25,117,
-234,212,201, 90,178,100, 73,226,198,141, 27,119, 81, 74,159,112,220,174,248, 29,  6,178,100,170, 54,250,133,183,160, 86,202,202,
-201, 19,199,221, 54, 24, 12, 41,101,104,238, 44, 75, 19,  0,188,180,198,118,253, 59,251, 52, 14,229,150,140, 57,189,227,213, 86,
-183,147,163,243,  1, 41,207,203,195, 67, 44, 79, 58, 43,131,251,165,105, 54,155,251,249,248,248,100,221,190,125, 91, 47,138, 34,
-201, 54,138,194,197,132,  2,175, 27,198,160,106, 23, 19, 10,188,178,141,162, 32,138, 34, 73, 73, 73,209,107, 52,154, 44,147,201,
-212,207,213,116,  6,  5,  5, 77,141,138,138,154,244,195, 15, 63,112, 45, 91,182,132,167,167, 39,218,182,109,139,149, 43, 87, 42,
-166, 77,155, 54, 35, 40, 40,232,  3, 87,210, 73, 41,109, 25, 25, 25, 73,100,  0, 25,185, 86,236,142,138,196,129,121, 45,145,111,
-150,145,149,157, 11,142,227,160, 80, 40, 72,243,230,205,107,186,154,119,171,213,218,180, 89,179,102,  4,  0,114,114,114, 10,205,
-213,157, 87,110,110, 30,148, 74, 21,100, 89, 86, 54,107,214, 44,168, 60,154,102,179, 25, 17, 17, 17,  8, 15, 15, 71, 78, 78, 14,
-178,179,179,161, 84, 42,221,210, 52,235,  4, 66, 65,  3,180, 26,181,159, 86,163,246,163,160,  1,  0,224,202, 50,179, 78, 32, 15,
-178,124, 18, 66,170,242, 60,191,180, 86,173, 90, 49, 60,207,127, 75,  8,  9,172,136, 38, 33, 36,146, 16, 50, 67,167,211,109,174,
- 95,191,254,101,189, 94,255, 23, 33,100, 22, 33,164,117,121, 52,  9, 33, 42,157, 78,183,229,227,143, 63, 94,121,226,196,137,129,
- 59,119,238,140, 56,117,234,212, 51,159,126,250,233,114, 15, 15,143,191,  9, 33,218,138,212,205,234,213,171,127,125,244,232,209,
-200,246,237,219, 47, 33,132,168, 43,163,190, 19, 66,120, 66, 72, 19, 98,123,216,225, 67,210,134,216,  8,  9,  9,169,217,172, 89,
- 51, 63,158,231,241,248,227,143, 67,146,164,246, 21,212,108, 13,224, 22,165,244, 31, 74,105, 26,165, 84, 42,124,165, 83, 74, 15,
-  0, 72,  0,208,206, 29, 77, 25,218,159,222,121,119,252,147,239,191,253,154, 71,204,117,  9,223,254,157,140,181,255,164, 34, 49,
- 71,141, 39,251,189,226,213,185,199, 11,221,120, 94,247,147,187,154,147, 39, 77,122,242,213,225, 67, 61,206, 36,113, 88,119, 32,
- 13,255, 92,200, 70, 62,169,130,206,253, 70,250,212,111,217,227,105, 16,229,178,135,225, 24, 61,234,154,255,137,  8,214,243, 81,
- 52,115,201, 36,178, 96,233,154,111, 38,112,132, 80,189,111,163,221, 70, 26,114,190,112,125,111,127,127,127,177,240, 36,148,181,
-121,243,102,107, 76, 76,140,111,141, 26, 53,252, 92, 63, 50, 32,167, 78,157, 52, 86, 13,168,126,171,122,245,234,149,162,217,173,
- 93, 23, 85,129,201,136, 83, 23,207,180,255,243,155,142,237,170,  4,212, 59, 21, 80,247,181, 93,144,218,229,153,173,214,204,114,
-165,243, 95,  0,207,243,198, 95,127,253,245,219,237,219,183,  7,125, 52,117,230,147, 51,191,221, 27,224,213,240,185, 42,162,236,
-229,177,115,225,137,220,204, 51,171, 50,110, 95,220,154, 18,217,180,225,174,254,253,251, 39,127,246,217,103,111,151,165, 25, 18,
- 18,162, 81, 40, 20,143,245,234,213,235,189,151, 94,122,  9,113,113,113,120,255,253,247,141, 39, 79,158,188,221,162, 69, 11,223,
-121,243,230,105, 71,142, 28,137, 67,135, 14,125, 88,189,122,245, 63, 68, 81,140, 79, 72, 72, 40,241,249,124,146, 36,169, 53, 26,
- 13,140,133, 49,  5,139,149,  2,144,237,145, 39,142,102, 66,161, 80, 64,150,229,218,132,144,107,174, 68,197,172, 86,171, 90,163,
-209, 32, 47, 47, 15,185,185,185, 72, 76,205,197,245, 91,121,200,201, 51,193,104, 20,145,159, 39, 66,208,249,193,106,189, 85,143,
- 16,114,211, 29, 77, 73,146, 96, 52, 26,145,151,151,  7,163,209,  8,163,209,  8, 89,150,145,157,157, 13, 65, 16,168,217,108,174,
-  3, 32,185,204, 99,163,210, 90,  1,110,222,210,229, 27, 63, 44,188,158,153,231,129,  2, 57,221,133,101,119,182,125, 96,145, 33,
-117,213,170, 85,183,254,250,235,175,117,107,215,174,141,216,216,216, 58,131,  6, 13,106, 65,  8,105, 71, 41,205,119, 83, 75,199,
-113,220,172,151, 95,126,121,228,243,207, 63, 79, 30,123,236, 49, 40, 20, 10, 88,173,214,224, 43, 87,174,116, 92,187,118,237, 56,
-133, 66,241,163, 36, 73, 19, 93,157, 57,158, 16,194,169,213,234,159,150, 45, 91,214,161,117,235,214,248,233,167,159,112,228,200,
- 17,185, 85,171, 86,220,139, 47,190,136,240,240,240, 86, 47,189,244,210,207,132,144,129,133, 15, 90,118, 55,255, 97, 67,135, 14,
- 13,225,121, 30,109,219,182, 85, 30, 56,112,160, 41,128,195, 21,220,167,250,224,224,224,191,187,116,233,210,100,199,142, 29, 39,
-  9, 33,221,221,153, 41,223, 96, 48,244, 14, 12, 12,156,237,233,233, 89,197,213,109,114,115,115,243, 83, 82, 82, 38, 39, 36, 36,
-172,119,113,147,214,141, 27, 55,134,213,106,133,183,183, 55,130,130,130,218,134,132,132,188,237,229,229,213, 55, 39, 39,103, 98,
-124,124,252,113, 55,242,107,  0,192, 81, 74,175, 20,126, 15,  7,240, 88,225,207,255,163,148,198, 81, 74, 99,  9, 33, 65,132,144,
- 16, 87,186, 11,171,214,238,210,179,125,215,158,237, 30,111,221,136,139,250, 53, 14,146, 44, 67,  1,  9, 10, 94, 70,154, 36,128,
- 16,130,176, 58, 45,249,192, 51,199, 91, 85,173,215,173,103,218,133, 29, 91, 92,209,236,209,167,127,251, 58,143,213,225,230,111,
-184,129,204,196, 51,210,173, 11,187,210,  9,199,161,122,211, 39,253, 34,234, 52,227,107, 53,235, 42,220,140, 59,211,201,175, 78,
-199, 46,233,151,246,237,102,182,129,225,182,193, 34,132, 80, 74,169,253,202,234,245, 40, 58,171,113,189,192,122,107,126,254, 49,
- 41, 79,244, 61,147,158,158,238,151,158,158, 14, 47, 47,175, 44, 73,146,196, 79, 63,253, 84,184,114,229,138,183, 70,163,129, 90,
-173,134, 40,138,110, 13, 38,150,101,153, 84,182,166, 94,231,129,246,145,237,148, 45, 26, 69,226,220,149,243,145, 49,187,199, 54,
- 58,116, 34,251,149,203,151,175,150, 91,243,223,194,147, 79, 62,153,252, 88,100,247,205,139,119,137,227, 23,190,217, 82, 71,101,
-137, 18,142,215,191,245,133, 76, 90,213, 15,249,222, 87,153,149,201,243,124,153, 58, 97, 97, 97,211,187,116,233,242,142, 66,161,
- 16, 94,123,237, 53,  0,192,216,177, 99,115,142, 29, 59,214,248,214,173, 91,169,161,161,161, 65,239,189,247,222,169, 95,127,253,
- 85,247,202, 43,175, 40,140, 70,227,  9, 65, 16,104, 80, 80, 80, 84,114,114,242, 28,103,154, 74,165,242,244,249,243,231, 59,120,
-  5, 55, 66, 85, 79, 14,221, 63,140,  1,  0,120,104, 40, 50,210,110,226,234,141,211,  8, 15, 15,215,134,133,133,253, 18, 20, 20,
- 36,183,105,211,230,179,144,144,144,168,117,235,214,149,120,114,212,106,181,231, 78,158, 60,217,162,126,253,250,200,205,205, 69,
-124, 74, 30,126, 56, 68,144, 95,160,  5,160,  5,  7, 15,120, 84,  9, 86, 11,212,184,166,117,235,214, 92,219,182,109,231,  6,  7,
-  7, 47, 40, 75,243,252,249,243, 45, 26, 54,108,  8, 81, 20, 17, 29, 29,141,188,188, 60,152,205,102,100,100,100, 32, 54, 54, 22,
- 53,107,214,212,200,178,188,177, 87,175, 94, 82,122,122,250,244,163, 71,143, 46, 42,201,188,109,125,187,150,165,211,244, 61,223,
-152,141, 57,191,  1,128,159, 95, 72,198,166,233,205,205,157,166,231,150,185,108,235,219,181, 44,120,235,129, 21,213, 97, 31,126,
-248, 97, 93, 95, 95, 95,140, 30, 61, 26, 51,102,204,192,212,169, 83,107,141, 30, 61,122,  4,128,197,110,156,100,181,213,170, 85,
-219,255,197, 23, 95,212,105,223,190, 61,182,108,217,130,213,171, 87,227,218,181,107,214,234,213,171, 43, 90,183,110,141,105,211,
-166,161,123,247,238, 47,191,245,214, 91, 29, 10, 13,156, 43,166,227,197,169, 83,167,246,238,208,161,  3, 94,126,249,101,211,238,
-221,187, 95,  4,176,115,199,142, 29,157,246,237,219,183,106,229,202,149,218, 57,115,230, 60, 57,110,220,184,215,  0, 44, 45, 71,
-254,251,116,236,216, 17,  0,208,161, 67,  7,124,250,233,167,221, 42, 98,176,  8, 33, 42, 95, 95,223,223, 87,172, 88,209,164, 78,
-157, 58, 24, 54,108, 88,211,193,131,  7,255, 78,  8,233, 67, 41, 53,187,162, 81,173, 90,181, 89,223,124,243, 77, 77,173, 86,235,
-242,255,154,205,230, 42,163, 70,141,154,  9, 96,189,139,109,114,155, 70,141, 26, 97,207,158, 61,232,214,173, 27, 26, 54,108, 88,
-115,212,168, 81, 81,221,187,119,199,187,239,190,187,195, 96, 48,212, 76, 74, 74, 74,119,241,239,195,  0, 92, 46,204,127, 40,128,
-154,  0, 14, 21,254,214,146, 16,  2, 74,105, 92,225, 58,117, 10,163, 89,165,163,209, 15,235,219,167,151,199,239,  7, 83, 32,201,
- 50,234,  5,107, 80, 63,204, 11,113, 41,  5,184,158,152, 14,129, 88,224,169, 85,163,113,187, 94, 62,183,111,197, 13,  3, 80,246,
-120, 44,149,110,216, 51,125,123,233,215, 31, 74, 65,102,226, 89, 26,119,108,237, 94,201,100,124,  3,  0,206,239, 95,185, 40,168,
-138,166,235, 99, 77, 35,249,252,199,251,249,236,217,112,107, 24,  0,102,176,238,221,133, 93, 17, 15,242,200, 70,176,108,220,206,
- 81,152,188,  3, 26,231,228, 37, 38,218,151,101,103,103,123, 95,190,124, 57,229,194,133, 11,222,130, 32, 64,146, 36, 91,229,148,
-203,155,136,202,214, 84, 41, 85,104, 82,167, 49, 31,125,250,184,242,194,133, 11,222, 60,175,164,149,145,206,135,157, 51, 73, 82,
-168, 40,243,122,141, 82, 97, 63,180, 50, 81,234,179, 73,181, 80, 95,100,101,150,181,125,100,100,164,208,181,107,215,119,190,255,
-254,123, 33, 57, 57, 25, 62, 62, 62, 16, 69, 17, 49, 49, 49,137,183,110,221, 74,  5,128,248,248,248,228,144,144,144,100, 73,146,
-106,213,171, 87, 15,163, 70,141, 66,221,186,117,201,123,239,189, 55,142, 16, 18,229,236, 78,192,236,236,236,175,230,207,159,223,
-236,255,216, 59,239,248, 40,138, 62,140, 63,179,123,253, 46,157,244, 66, 73,  2,  1, 66,104, 33,  1, 66,111,210,  5, 20,164,163,
- 40, 69,165,136,160,244, 34, 82,165, 23, 65, 16,164,131, 34,189,247,222,  9, 61,212,132,244,222,235, 93,174,236,206,251, 71, 18,
-222,128,129, 92,  2,190,250,234,124,225, 62,185,219,219,125,110,118,103,118,246,217,223,148,253,110,206, 98,117,255,134,  4,185,
-121,122,228,228,228, 32, 46,226, 41, 20, 38,138,217,179,103, 67,169, 84,  2,  0,159,154,154,202,207,159, 63,111,252,157, 59,119,
-218,  0,104,241,186,180,102,100,100,172, 92,186,116,233,170, 31,126,248, 65,173,213,106,161,213,233,144,173,149,227,218,226,192,
-130, 91,241,175,175, 99,222,252, 31,224, 87, 73,163,138,141,141,197,244,233,211,199, 61,127,254,188, 49,128,238,111,210, 92,176,
- 96,193,170, 69,139, 22,169, 45, 44, 44, 64, 41,133, 40,138,136,142,142,  6,  0,124,255,253, 44, 20, 94,224,248,248,248,120,126,
-206,156,217,179, 20, 10, 69,107,  0, 93, 95, 19, 66,167,  0,242,  9, 65,130,155,155,167,151, 66,193, 77,118,115,203,191,124,118,
-122,204,118, 66,144, 80,176, 14,168,235, 90,215,222, 81,155,228, 65,122, 61, 86,198,199,135, 63,163, 20, 20,211,255,186,251,  0,
-123,123,251,207,187,117,235,134,121,243,230,225,192,129,  3, 19,236,236,236,230,125,247,221,119,112,113,113, 25, 70,  8, 89, 89,
-134, 81,148,179,151, 44, 89,226, 83,163, 70, 13, 12, 26, 52, 72,127,242,228,201, 25,  0, 14,  0,136,186,112,225,130,199,198,141,
- 27, 59,253,246,219,111, 51,151, 46, 93,170, 92,177, 98,133,215,135, 31,126,184,  0,192,231,165,137, 58, 57, 57,141,236,219,183,
- 47, 22, 46, 92,136, 51,103,206,244,163,148, 30, 43,252,234, 56, 33,164,231,156, 57,115, 14, 79,153, 50,  5, 75,150, 44,249,178,
-172,  6,139, 16,162,169, 81,163,198,132, 14, 29, 58,224,194,133, 11,104,214,172, 25,130,130,130, 70, 18, 66, 86, 81, 74, 83,203,
-113,209,224, 44, 45, 45, 55,109,220,184,177, 73,229,202,149, 49,107,214, 44,124,243,205, 55, 88,191,126,125,147,  1,  3,  6,108,
- 34,132,244, 53,103,244,172,149,149,149,133, 74,165,194,188,121,243,104, 84, 84, 84,169,231,178,139,139,139,205,212,169, 83,137,
-149,149,149,181, 25,105,228,221,220,220,172,156,157,157,155, 56, 59, 59, 99,217,178,101,112,116,116,196,215, 95,127,141, 10, 21,
- 42, 32, 55, 55, 23, 61,122,244,144, 94,189,122,181, 23,128, 85,102,238,186, 29,128,162,136, 87,117,  0, 87, 40,165, 57,133,191,
-119, 29,  5, 77,131, 17, 40,232,151,101, 86, 84,142,163,212,215,214,198, 26,113,247, 18, 33,129,  9, 53, 42, 90,226,102,104, 46,
- 12,  2,133, 74, 99,129,220,236, 12,212,245,118, 64, 86,158, 59, 64, 69, 95,115, 52,101, 60,169, 39, 87,168,144,148,149,137,132,
-135,167,210,140,162, 97,100, 70,216,249, 24,  0,176,243,110, 57,242,254,245, 35, 23,123,116,108,230,144,148, 94, 17,148, 10, 13,
-152, 13, 98,148,133, 50, 77, 52, 42,138, 34, 73, 75, 75,147,104,181, 90,222,104, 52,114,197,221,166,209,104, 44,151,113,249, 51,
- 52,139,243,103,104,254, 93,169,234,200,197,243, 60, 94,106,170, 35,160, 58, 11,146, 18,111,206,246,193,193,193,198,243,231,207,
-111,155, 56,113, 34, 22, 47, 94,140,176,176, 48, 72,165, 82,212,168, 81,195,217,193,193, 65,  3,  0,158,158,158, 86,126,126,126,
-142, 60,207, 35, 52, 52, 20,219,183,111,199,140, 25, 51,104,112,112,240,166,215, 93, 40,110,221,186,117, 48, 63, 63,255,240, 15,
-179,167,230,229,167, 60,129, 90, 72,  6,205, 10,135,154,215,226,147,161, 35,241, 60, 89,192,237,240,108,220, 14,207, 70, 92,174,
-  2, 95,126, 61,153,171, 82,165, 74,253,192,192,192, 79, 95,151,214,219,183,111,239,202,203,203, 59, 53,115,230,204,188,231,207,
-159, 67,171,213,  2,  0, 12, 38, 17,  6,211,203,201,112,115,115,195,188,121,243, 52, 26,141, 38,200,223,223,191,239,155, 52,115,
-115,115, 79, 77,155, 54, 45, 47, 52, 52, 20,153,153,153, 72, 72, 72,  0, 33,  4,159,125, 49, 22,207,147,197, 23,233, 76, 53, 88,
-226,171,111,167,115, 30, 30, 30, 45,234,213,171,247,193,155,142,171,155,155,187, 87,141, 26, 94, 91,174, 94,189,218,223,203,203,
-107,104,145,177,162, 20, 20,  0, 42, 85,170,244, 89,112,112,240,192,186,117,107,108,117,113,113,173,246, 23,223, 69, 54,239,221,
-187,119, 53, 81, 20,177,115,231,206,  7,148,210, 21,123,247,238, 13,206,207,207, 71,223,190,125, 43,  3,104,103,166,142,127,191,
-126,253,134, 54,107,214, 12,163, 71,143, 54,156, 60,121,178,  9,165,116, 57,165, 52,146, 22, 16, 69, 41, 93,117,246,236,217, 70,
- 35, 71,142,204, 15, 12, 12,196,199, 31,127, 60,144, 16,210,164, 20,221, 70,125,251,246,245, 17, 69, 17,219,183,111,191, 95,204,
- 92, 21,153,218,115, 59,119,238,188,174,215,235,209,191,127,255, 42,132,144, 22,101,216,119,153, 82,169,220, 58,107,214, 44,235,
-216,216, 88, 12, 28, 56, 48,255,241,227,199,152, 62,125,186,202,218,218,122, 15, 33, 68, 83,214,227,169, 84, 42, 87,174, 90,181,
-170, 75,237,218,181,241,249,231,159,235, 87,173, 90, 53,238,139, 47,190,208,251,251,251,227,199, 31,127,236, 34,151,203, 87,150,
- 69, 47, 33, 33, 33,243,236,217,179,238,165,189, 18, 19, 19,205,154,154,165,114,229,202,214,181,106,213,186, 30, 16, 16, 16, 93,
-167, 78, 29, 79,  0,120,240,224, 65,202,206,157, 59,105,133, 10, 21,112,244,232, 81,172, 93,187, 22, 77,155, 54,133,165,165,101,
-207, 50, 36,149, 22,190, 80,236,239,171,223,191,186, 94,169,154,153,121, 38, 72, 56, 14, 82,158, 34, 50, 81, 11,131, 64, 33,147,
-114,144,242,128,132,163,168, 96, 41,133, 84,202,  3,132,152,165,201, 17,130,244, 92, 35, 36, 60,129, 84, 46, 37,188, 32, 42,139,
-190,227,165,162, 82, 46, 87, 18, 71,107, 25,228, 18,  2,142,128,193,120,119, 17,172,194, 74, 71, 72, 73, 73,145,134,135,135, 43,
-245,122, 61, 87,185,114,101, 29,  0,152, 76, 38, 46, 61, 61, 93, 38,151,203, 65,  8, 49,152, 76,166, 50,221,114,167,165,165, 75,
- 35,162,158,190, 83,205,146, 48,153, 76, 92, 94, 94,186,252, 93,106,254, 29,121,252,248,177,197,179,240, 56,141, 19, 95, 51,120,
-228,138,224,134, 20,144, 18, 74,141, 10,237,227,171, 41, 73,119,100,176, 86,168,221,221,221, 75,237, 63,243,252,249,243, 47, 93,
- 93, 93,231, 83, 74,107, 80, 74,119, 45, 94,188,152, 44, 95,190,220,230,139, 47,190,120,224,234,234, 26,231,227,227, 83,113,241,
-226,197,150,  0,176,101,203, 22,241,200,145, 35, 93, 21, 10,197,227,136,136,136,196, 55,233,158, 59,119,238,147,192,192,192, 79,
- 87,175, 94, 61,211,100, 50, 41, 28, 28, 28, 20,155, 55,111, 70,108,134, 30, 83, 54,255,119,100,161, 70,193, 99,116,123, 13, 90,
-182,108,205, 69, 69, 69,141,  3,176,254,117,154,231,207,159,239,215,176, 97,195,225, 63,254,248,227, 52, 88, 84, 82, 40,170, 15,
-150,181,158, 88,208,252,232, 98,167,120, 81, 33,102,102,102, 34, 61, 61, 29, 61,122,244, 80,111,221,186,245,115,  0,219, 75,211,
- 92,177, 98,197, 52, 65, 16,100, 14, 14, 14,138,109,219,182, 33, 60, 69,143,  9, 27, 67,145,173, 43, 72,167,133, 66,130,145,109,
- 21,104,221,186, 53, 31, 23, 23, 55, 30,192,238,146,244,220,221,221,189,107,212,168,177,101,219,182,109,213,151, 46, 93,154,254,
-244,233,211, 60, 23, 23,151, 41,175,172,166,159, 59,119,110,218,230,205,155,171, 14, 28, 56,112,171,139,139,203,128,248,248,248,
-199,127, 69, 57,178,182,182,254,126,216,176, 97,248,245,215, 95,145,158,158,190,178,240,248,173,220,182,109,219,198,207, 62,251,
- 12,155, 54,109,250,158, 16,114,194,140, 40,214,123,125,250,244,193,145, 35, 71,112,250,244,233,153,148,210, 71,175,137,242,133,
- 18, 66,166,238,219,183,111, 65,223,190,125,241,203, 47,191,180,  3,112,233, 13,186,173,219,183,111,143,195,135, 15, 35, 45, 45,
-173,196,142,199,153,153,153,107, 15, 28, 56, 16,216,190,125,123,204,157, 59,183, 13,128,115,102,212,115, 62,214,214,214,107,150,
- 45, 91,230, 95,187,118,109,244,235,215, 79,103, 48, 24,186,143, 27, 55,238,247, 29, 59,118, 88,108,218,180,169,254,144, 33, 67,
-206, 19, 66,190,160,148, 94, 55,231, 88,242, 60,255,221,138, 21, 43,  6,181,108,217, 18, 99,199,142, 53, 29, 59,118,172, 23,165,
-244, 20, 33, 36,108,252,248,241,187, 23, 46, 92,200, 47, 92,184,112, 16,207,243, 41,130, 32, 76,255, 43,242, 91, 20,197,185,139,
- 22, 45,170,238,235,235, 11,157, 78,135,176,176, 48, 36, 36, 36,252,154,148,148,116,234,254,253,251,179,227,227,227,247, 58, 59,
- 59,127,242,245,215, 95,187, 53,104,208,192,191, 98,197,138, 54,230, 68,208,138, 69,166,146,  1, 60,  6, 16, 88, 24,185,  2,128,
-  0,  0,207, 10,223,219,  0,200, 48, 43,177,132,123,240, 52, 60,182,138,173,133, 21,210, 69, 57,194, 99, 83,161,210,104,192, 81,
- 14, 38,109, 58,170, 86,114,132, 72,129,172,148, 88,112, 28, 49,107, 26, 25,163, 72,111, 71, 68, 39,186,218,104,148,168,234,223,
-217,238,206,153, 95,214,219,120, 55, 31, 33,225,  5, 94, 34,183, 90,209,175,239,160, 10, 38,129, 34, 39, 61, 30,132,231,111,130,
-193,120, 87,  6, 75, 16,  4,178,105,211, 38,171,164,164, 36,206,199,199, 39,173, 78,157, 58,185,114,185, 92,212,106,181,130, 82,
-169, 52,105, 52, 26, 81,167,211,201, 35, 35, 35,109, 99, 99, 99,249,162,102, 56,115, 56,119,238,130,179,119,181,218, 73,239, 82,
-243, 53,119,144, 38,149, 74, 34,188, 75,205,191, 19,162, 40,202,103,207,158,221,200,206,206, 46, 55, 48, 48, 48, 54,200,219,225,
- 64, 92, 46, 46, 46, 94,242,243, 64,223,154, 21, 55, 91,243,233, 25,185,114, 42,141,137,137,113,126,246,236,153,154, 82, 42, 43,
- 77, 51, 46, 46, 46, 26, 64,180,139,139,203,218,150, 45, 91, 14,235,210,165, 11,206,158, 61,235,144,155,155,235,160,209, 20,220,
-196,239,218,181, 11,123,247,238, 93,158,144,144,112,214,220,180, 94,191,126,125, 61,128,245,245,234,213,243,183,182,182, 62,107,
-101,101,197, 69,103,230,190, 24, 89, 40,147,112,104,242,205, 13,164,166,103, 64,202, 17, 40,149, 74, 55, 66,  8,247,186,200, 88,
-225, 69,126, 53,128,213,129, 29, 63,235,102, 21,185, 99,253,162,197,139, 21, 69,119,166, 78,182, 50,100,100,100, 32, 57, 57, 25,
- 41, 41, 41,144, 72, 36,208,233,116, 53,222,120,139, 92, 76,179,118,237,218,173, 42, 84,168,176, 79,173, 86,243, 52, 37, 23,233,
- 57,134,151,154, 32,211, 51,242, 33,149, 74,161,209,104,188, 75,210,178,183,183,183,144,201,100,107,214,173, 91,231, 99,105,105,
-201, 15, 25, 50,196,122,200,144, 33,141,  1, 52, 46,105,125,181, 90,205,255,242,203, 47,222,117,235,214, 93,227,233,233,217,229,
-249,243,231, 89,255,195,200, 21, 15,224,179,113,227,198,213, 87, 42,149, 88,177, 98, 69, 56,128, 95, 11,191,222,189,106,213,170,
-137,125,250,244,169, 54,122,244,232,154, 83,166, 76, 25, 73,  8,249,241, 77, 29,200,101, 50, 89,189,154, 53,107, 98,207,158, 61,
- 64, 65,179,224,155,216,115,249,242,229,  5, 93,186,116,129, 74,165,242, 47, 45,232,226,225,225,129,125,251,246,  1,192,221,215,
-172,115,247,209,163, 71,232,209,163,  7, 56,142,171,100,198,190,119,121,239,189,247,182,206,157, 59, 87, 98,105,105,137, 79, 63,
-253, 84,127,237,218,181, 30,148,210,139,132,144, 14,  3,  6, 12, 56,182,101,203, 22,205,249,243,231,125,102,207,158,125,154,231,
-249,  5,130, 32,124, 87,138,230,192, 89,179,102,141,235,222,189, 59,190,251,238, 59,250,235,175,191, 14,166,148,158, 42, 44, 99,
- 39,  9, 33,159,217,218,218,254, 50,105,210, 36,146,153,153, 57,142, 16, 18, 75, 41,253,249,117,122, 57, 57, 57, 89,130, 32, 56,
-105,181, 90,179,250,108,153,187,190,183,183,247,123,190,190,190,216,183,111, 31,186,118,237,138, 19, 39, 78, 64, 34,145, 28,141,
-137,137, 57, 15,224, 20,  0,184,184,184, 88,133,134,134,142,106,222,188, 57,119,250,244,233,110,  0, 54,152,145,132,  8,  0,181,
-  0,156,166,148,198, 20, 14,156,108,132,130,121,176, 30, 83, 74,163, 11,215,243,  5,240,220,172,186,206,152,179,237,212,225,223,
- 91,180,251,240, 11, 43,158, 39,144, 64,134,188,236, 44, 64, 16,224, 93,201,  9,129, 53,157,112, 55, 66,139,203, 39,118,102,230,
-229,229,154, 53,189,132, 96,204,221,114,234,216,222,102,  1,237, 62,182, 82,120,215,132,135,211, 87,117, 30, 92, 63,126, 80, 41,
-151,145, 15, 62,236,101,221, 42,176, 42, 78,221,203,194,149, 83,123, 50,180,185, 25, 91,152,101, 96,148,203, 96,149,212,185, 76,
- 20,197,148, 19, 39, 78,168,167, 78,157,154,227,226,226, 34,201,201,201,225,138,247, 97,146,201,100,112,113,113, 49,101,100,100,
- 24, 78,156, 56, 81, 69, 20,197,180, 55,134, 99,121, 69,194, 79,219, 86,184, 11, 68,173,111,223,177,171,232,238, 94,249,173, 53,
-  1, 64,167, 87,164,252,126,116,143, 77,139,192,166, 82, 39,123,167,146, 42,251, 50,107,254, 31, 17,255,236,217, 51,251,217,179,
-103,223,117,115,115,211,  1, 64,  5,141,144,144, 26,178, 59,221,162,114,151,  4,169, 66,  1,  7,  7,135,124, 11, 11, 11,211,225,
-195,135,219, 80, 74, 19,204, 21,182,181,181,157, 48,108,216, 48,238,194,133, 11,159, 13, 24, 48,128, 84,169, 82,  5,183,111,223,
-198,150, 45, 91,232,206,157, 59,127, 76, 72, 72, 40,215, 93,183, 66,161,  8, 55, 24, 94,158,250,166,248,200,194,244,244,116,112,
-217, 41, 16,  4,193,100,238,236,238, 66,242,221,235,249, 42, 21,106, 85,252,111, 43, 78,122,122, 58,146, 83, 82, 94, 24,172,164,
-164, 36,240, 60,175, 51, 55,157,114,185, 60, 82,175,215,191,146, 78,177,120,164,  4, 66, 70, 10, 12,175,238, 76, 33, 41, 41, 41,
- 57,110,110,110, 63,173, 88,177, 98,238,204,153, 51, 29,150, 44, 89,146,254,232,209,163,108,142,227,116,175,156,103, 74, 47, 47,
- 47,139, 69,139, 22, 57, 46, 95,190, 60, 29,192,234,255,177,185,234,234,231,231,183,182, 83,167, 78, 22, 95,124,241,  5,150, 47,
- 95,142,132,132,132,105,148, 82, 83, 97,221, 32, 18, 66, 38,175, 90,181,106,215,248,241,227, 97, 48, 24,230, 30, 62,124,120, 10,
- 33,100, 20,165,244,215,146, 52, 29, 28, 28,220, 36, 18,  9,130,131,131,179, 41,165,207, 75, 49,181,137, 62, 62, 62, 73,132, 16,
- 71,103,103,231, 42,111, 90,215,206,206,206,211,210,210, 18,177,  5,253, 66, 35, 94,179, 90, 84, 92, 92, 28,149,203,229,196,197,
-197,197,187,180,253,183,177,177, 25,179,110,221, 58,201,153, 51,103, 48,125,250,244,216,200,200,200, 79, 11,167, 17,  0,165,244,
- 14, 33,164, 93,171, 86,173, 54,142, 31, 63,190,234,252,249,243,201,163, 71,143,134,  0,120,163,193,170, 84,169,210,103,131,  7,
- 15,198,138, 21, 43,176,102,205,154,209,148,210,221,175,236,243, 78, 66,136,173,157,157,221,162, 97,195,134, 97,195,134, 13,189,
-  1,188,214, 96, 37, 36, 36, 76,233,221,187,247,196,244,244,244,  5,230,228,169, 57,235,187,185,185,117,238,223,191,191, 35,165,
- 20,203,151, 47, 79, 92,177, 98, 69, 94,102,102,230,175,241,241,241,231, 95,137,196,237, 59,122,244,232,168, 47,190,248,  2,103,
-207,158, 93,236,230,230, 70, 99, 99, 99, 55,150,146,167,  9,132, 16, 79, 66, 72,117, 74,233,227,194, 81,130, 49,175,148,187,170,
-133,235,198,154,179, 79, 41,143,206, 28,118,172,213,233,202,157,235,103,219, 84,169,213, 76,234,104,107,  9,183,106,246,176,211,
-200, 64,  1,220,143,212,226,234,249,227,198,164,196,168,171,230,140, 32, 44,210,116,174,221,249,170,186,194,133, 54,158,190, 65,
-146, 42, 85,171,161, 93,147, 58, 54, 21,172,164,208, 27, 41, 78,220,201,196,149,243, 71,140,201, 73, 49,231,216,  8,194, 63,151,
-127, 90,  7,247, 82, 35, 88,201,201,201,223,202,100,178,230,131,  7, 15,238,211,172, 89, 51,203,161, 67,135, 38, 89, 89, 89,229,
-202,229,114,222,206,206, 78, 78, 41,149, 31, 63,126,220, 53, 33, 33,193, 22,192,142,228,228,228,243,175,156, 64, 47, 61,109,123,
-232,204, 92, 31, 66,  8,113,115,179,105, 46,217,241,121,159,102,205,154,105,222, 86,115,198, 12,208, 25, 45,116,222, 87,156,201,
-212,212,140,195, 35,220,157,157,249,230,  1, 65, 82, 11,181,166,208, 36,216,201, 69, 17,178,178,104,190,163,139,214,255, 68, 83,
-175,215,183,  9, 11, 11,251,104,192,128,  1, 99,253,253,253, 67, 38, 77,154,116,205,198,198,198, 88,120,167,  8,189, 94, 47, 61,
-113,226, 68,195,152,152, 24, 95,163,209,184,  8,192,111,230,166, 51, 36, 36,196,  0,224, 43, 87, 87,215, 67, 73, 73, 73,251,251,
-244,233,131, 13, 27, 54,224,242,229,203,237,226,226,226,174,148,119,223,175, 92,185,146,222,161, 67,  7,237,227,199,143, 53,188,
-198,  3,206,182, 50,116,152,122, 27, 84,164,176, 80, 82,228,102,103,194,152,150,134,188,188,188,135,230,106,  6,  7,  7, 39, 52,
-109,218, 84,247,252,249,115,133,167,167,103,129,185, 42, 52, 86,201,201,201, 72, 75, 75, 67, 86, 86, 22,149, 74,165,193,230,106,
-222,184,113, 35,188,125,251,246, 66, 68, 68,  4,207,243, 14,112,178,145,161,245,196,130,205,109,213, 64,118, 86, 38,180, 41, 41,
-208,106,181,175,213,140,141,141,221,233,230,230,  6,  0,115,167, 77,155, 86,161, 67,135, 14,161,215,175, 95,111, 95,252,119, 26,
- 52,104,240,235,204,153, 51, 59,204,158, 61, 59,117,211,166, 77, 83,226,226,226,118,252, 47,203,146,157,157,221,168,195,135, 15,
- 91, 24, 12,  6, 44, 95,190, 28,139, 23, 47,222, 68, 41,221,251, 74,229,119,148,231,249, 53, 28,199, 13, 27, 49, 98,  4,134, 13,
- 27,166,110,208,160,193,168, 98, 81,174,151, 52, 99, 99, 99,191,171, 95,191,254,196,228,228,100,179, 12,193,211,167, 79, 71,212,
-175, 95,127,124,114,114,242,146, 55,237,187, 70,163,209,  8,130,128,240,240,240, 12, 74,105,214,107, 42,106,157,143,143, 79,156,
- 32,  8,110, 26,141,198,182,180,242,153,145,145,177,192,223,223,127,114, 82, 82,210, 41,  0,243, 41,165,186, 87,244,238, 17, 66,
- 26,140, 30, 61,250,243,185,115,231,190,159,152,152,248,123,105,154,145,145,145, 11, 90,181,106, 53,225,201,147, 39, 91, 41,165,
-235, 95,147,206,159,  8, 33,134,173, 91,183, 14,  9, 15, 15, 95,248, 38,205,152,152,152, 35,  0,142,152,155,191,175, 91,255,149,
-124,255,122,228,200,145, 56,114,228,  8,114,114,114,126,140,141,141, 93,252, 26,173,235, 85,170, 84, 57,212,184,113,227,206, 11,
- 22, 44,144,117,234,212,105,  8,128,141,102,148,207,107,  0, 26, 21,246,131,123,  2,160,232,198,214, 22,  5, 83, 54, 16,188,102,
-116,230,235, 52, 41,213,126,124,251,194,158,141,209,207,238, 54,244,111,217,195, 38, 51,207, 29, 50,  9,135,156,244,120, 92, 57,
-185, 59, 35, 46, 54,236,154,193,144,251,113, 89, 52,  5, 33,111,208,221,139,123, 54, 37, 68,132,  4,230, 53,233,100,147,145, 93,
-  9, 50,  9, 65, 70, 74, 12,174,157,221,151, 30, 31, 29,126,201, 40,228, 15,251, 43,235,249,127,139,230,191,202, 96, 21, 54,151,
-156,243,247,247,191,124,246,236,217, 14,151, 46, 93,122,191,117,235,214, 73, 65, 65, 65, 57,183,110,221,170, 20, 30, 30,238,  8,
-224,128,163,163,227,209,224,224, 96,179,102, 78,126,215,154,133,122, 38,128,204,248,238, 75,251,  5, 49,247, 82, 22,199, 39,253,
-222,203,187, 82, 21,  2,128,  4,  7,223,174, 20, 30, 30,238, 80,214,116,254, 31,185,126, 10,224, 87, 66,200,158,107,215,174, 13,
-249,224,131, 15,134,181,110,221,250, 26,165,148, 92,190,124,217, 63, 50, 50,178,161, 32,  8,235, 69, 81, 28, 86,158,199,228, 20,
- 53,185,200,100, 50,234,227,227, 67, 84, 42, 21, 20, 10,197,195,183, 77,119, 70, 70,198,216, 69,139, 22,173,154,253,195,114,254,
-203,247,172,145,146,154,138,212,212, 84,164,167,165, 65,  6, 45,238,132, 60, 16,114,114,114,198,150, 69,211, 96, 48, 76,154, 58,
-117,234,130,133, 11, 23,106,178,179,179, 95, 24,172,180,180, 52,104,181, 90,156, 61,123, 54,223, 96, 48, 76, 41,139,102, 86, 86,
-214,180,  5, 11, 22,204, 25, 57,118, 50, 55,164,153, 20, 25, 89, 90,100,100,100, 32, 39, 59, 27, 10,162,197,245,  7, 15,  4,189,
- 94,255,205,155, 52, 10, 77, 22,141,142,142,158,146,157,157,253,172,132,223, 72, 24, 49, 98, 68,252,229,203,151,191,143,137,137,
-217,254,191, 46, 67,105,105,105, 63, 52,106,212,104,126,114,114,114,184,193, 96,216, 77, 41, 45, 49, 13,130, 32,124, 77,  8,185,
-182,114,229,202,158,246,246,246,142,  9,  9,  9,139,222, 80, 46,203,100,  8,204, 93, 63, 42, 42,106,154,191,191,255, 55, 73, 73,
- 73,139, 74, 49,108, 99, 10,215, 91, 98,198,111, 31,  5,112,180,148,117, 76, 40,152,162, 98,133,153,251,115, 16,192, 65, 51,214,
-251,  5,192, 47,127, 69,221,145,158,158,190,176, 75,151, 46, 83, 19, 19, 19,207, 37, 36, 36, 44,123,211,186, 70,163,241,227, 97,
-195,134, 77,117,118,118,110,152,148,148,180,220,204, 99, 96,  2,112,177,240, 81, 57, 94,  0,138, 70,225,101,  0,136, 40,207,163,
-114, 10,103,104,255,208,190, 70,219, 78, 39,127, 95, 54,  0,130, 80, 27, 32,224,164,252, 61, 93, 94,238, 22,115, 35, 87, 37,104,
-126, 96, 95,163,109,167,180,196,136,129,162, 32,212,230,  8, 68,194,243,247,243,117,185, 27,146, 66, 78,178, 71,229, 48,202,103,
- 66,203,242, 44, 92, 87, 87, 87,149, 84, 42,237, 78, 41, 13, 20, 69,241,186, 40,138,123,227,226,226,180,111,227,112,223,189, 38,
- 33, 99,  6,168,156, 44, 84,248,201, 66,  5,191,149,123,108,167,154, 76,226,158,183, 77,231,255,203, 29,  3, 33, 68, 35,147,201,
-198,138,162,216, 79, 20,197,109,162, 40, 46,122,211,220, 66,230,166,179,106,213,170,171, 90,181,106, 53,224,216,177, 99,107, 35,
- 35, 35,199,190,139,125,111,214,172,217,  6, 15, 15,143, 15, 90,182,108,201, 43,149, 74,196,199,199, 35, 45, 45, 13, 79,158, 60,
- 49,165,166,166,206,185,120,241,226,252,114,104,254, 44,151,203,223,239,218,181,171, 90, 38,147, 33, 45, 45, 13,153,153,153,244,
-226,197,139,122,142,227, 38, 94,190,124,121,109, 25,143, 39,105,214,172,217,110, 15, 15,143, 54, 65, 65, 65,188, 76, 38, 67,122,
-122, 58, 82, 83, 83,241,248,241, 99, 33, 57, 57,249,219,171, 87,175,254,100,142,166,183,183,183, 60, 52, 52,180,196, 62, 49,254,
-254,254,210,215,153,127,118,151,204, 52,153, 38,211,252,183, 69,176,  8, 33, 67, 41,165,107,255,177, 17,172, 87, 41, 52, 41,219,
-240, 22,207,167,250,243, 53, 41, 93,178,  5,  9,  0,233,246,221,119, 32, 81,209,218,130,  1,241,255, 18, 10,205,212,119, 40,165,
-143, 72, 89,121,246,236,217, 23,174,174,174,227,222,100, 84,203,202,133, 11, 23, 62,169, 95,191,254,111, 49, 49, 49, 83, 84, 42,
- 85,117, 65, 16, 76,122,189,254,142, 94,175,159,124,237,218,181, 91,229,212, 28, 82,191,126,253, 93,123,247,238,253, 74, 16,  4,
- 95,142,227,242, 41,165,193,148,210,239, 47, 95,190,252,168,156, 17,194, 30,245,235,215,239, 17, 27, 27,251,141, 66,161,168, 38,
-138,162, 49, 63, 63,255,166, 94,175,255,246,218,181,107,102,107,190,206, 92,  1,  5, 83,100,176,251, 61,  6,131,193,248,231, 32,
-249,231,238, 26,165,211,167,131, 98, 58,203,228,119,108,134,223, 41,183,110,221, 58,  6,224,216, 59,214, 60, 14,224,248, 59,214,
-220,  3, 51,103,196,102, 48, 24, 12,  6,131, 99,135,128,193, 96, 48, 24, 12,  6,227,221, 66,  0,248,149,244, 69, 89,218, 86,  9,
- 33,126,101,253, 97, 51,250,190, 48, 77,166,201, 52,153, 38,211,100,154, 76,243, 31,166, 89, 76,123,230,107,190,138, 45,212,249,
-191,238,131, 69,254,204,238, 73,172,  3, 32,211,100,154, 76,147,105, 50, 77,166,201, 52,255,141,176, 38, 66,  6,131,193, 96, 48,
- 24, 12,102,176, 24, 12,  6,131,193, 96, 48,152,193, 98, 48, 24, 12,  6,131,193, 96,  6,139,193, 96, 48, 24, 12,  6,131,193, 12,
- 22,131,193, 96, 48, 24, 12,198,223,  6,242, 47,154,228,156,193, 96, 48, 24, 12,  6,227,127,194, 75, 17, 44, 66,  8,115, 91, 12,
-  6,131,193, 96, 48,254,231,252,211, 60,  8,107, 34,100, 48, 24, 12,  6,131,193, 96,  6,139,193, 96, 48, 24, 12,  6,227,255,192,
- 96,177,166, 65,  6,131,193, 96, 48, 24,127,  5,255, 84, 15, 82, 20,193,106, 89,184,131, 45, 89, 86, 51, 24, 12,  6,131,193,248,
- 31,242,143,244, 32,108, 20, 33,131,193, 96, 48, 24, 12,198, 59,134,245,193, 98, 48, 24, 12,  6,131,193,248,127, 50, 88,132, 16,
- 63,166,201, 52,153, 38,211,100,154, 76,147,105, 50, 77,102,176, 24, 12,  6,131,193, 96, 48, 24,204, 96, 49, 24, 12,  6,131,193,
- 96, 48,131,197, 96, 48, 24, 12,  6,131,193, 12, 22,131,193, 96, 48, 24, 12,  6,131, 25, 44,  6,131,193, 96, 48, 24,140,191,  8,
-  2,160,196,145,  0,148,210,251,102,139,148, 99, 52, 65,105,250, 76,147,105, 50, 77,166,201, 52,153, 38,211,252,231,105,150,166,
- 93, 22,255,241,183, 54, 88,127,230, 68,163,132, 16,191,119,125,160,152, 38,211,100,154, 76,147,105, 50, 77,166,249,207,211,252,
-167, 33, 97,135,128,193,248, 63,231,119,194,195,190,102,101, 16,234, 12, 34, 75,196,217,187,207, 49,157,138,111,173,233, 92,171,
- 34,244, 70, 71,168, 84, 41, 56,113, 59,252,173, 53, 25, 12,  6,131, 25, 44,  6,131,241,127,131,187,111, 85, 24,197,153,  0,156,
-  1,125, 24,154,251, 45,  4, 16,242, 86,154,142,190, 85, 33,138,211, 33,227,220, 96,200,127,134, 86, 53, 23,  2,120,196, 14, 54,
-131,193, 96,152,199, 95,210,201,189, 65,131,  6,151,  2,  2,  2,166,181,108,217, 82,193,178,128,193,120, 11,238,215, 86,195,104,
-124, 47,223, 32,186, 30,189,156,230,144,171, 19,170,129, 51,180,199, 35, 95,205, 91,105,114, 98, 91,157, 65,240,216,114, 50,215,
- 49, 71,103,170, 14, 81,120, 59,205, 66,234,214,173,107, 29, 24, 24,184,207,223,223,191,  2,203, 60,  6,131,193, 12,214, 59,134,
- 82, 90,215,209,209,113,164, 86,171,125, 92,191,126,253,206,255,166,  3,222,176, 97,195,211,141, 27, 55,142,  8, 10, 10,138,  8,
- 10, 10,186, 92,218,242,127, 42, 13, 26, 52,168,219,180,105,211, 35,190,190,  5, 23,237,218,159,239,117,168,255,217,113,175,134,
-163,142,186,177,211,178, 12,100, 83, 71,128,111,241, 40, 60, 79,149,152,110,114, 12,126,156,107,  1,202, 55, 71,170,232,252, 86,
-154, 34,105,113, 59, 84,167,190, 18,230,224,120,233, 65,190, 37,192,183,120, 43,205, 66, 36, 18,201, 16,  0,173,121,158, 31,193,
- 50,239,223, 13, 33,196,151, 16,210,153, 16,226,255, 14, 53,103,213,172, 89, 51,148, 16,242, 37, 59,194,140,255, 27,131,213,211,
-139, 52,238,231, 69,142,245,241, 36, 73,125,189, 72, 82,127, 47,114,178,103, 53,210,180,188, 63,188,107,215, 46,213,230,205,155,
- 29,252,252,252, 54, 54,108,216,240,100,195,134, 13,189,203,163, 19, 24, 24,184,175, 65,131,  6, 31,188,186,204,223,223,191,231,
- 43,203,110,  6,  6,  6, 38,  4,  4,  4, 60, 48, 71,215,223,223,255,158,191,191,127,114,131,  6, 13,238,189,178,188,103, 96, 96,
-224,190, 87,204,194,  7,175, 46,123, 29, 60,207,187, 29, 56,112,192,225,208,161, 67, 14, 82,169,212,241,213,229,  7, 15, 30,124,
-105,121, 89,  9,  8,  8,248, 36, 32, 32,224,116,241,101,245,235,215,255,248,213,101,165,236,251,233,250,245,235,127,252,138,238,
-233,128,128,128, 79,222,145,201,172, 47,151,203,143, 25, 12,134,166, 26,141, 70, 13,  0, 18,163,202, 82,148, 73,122, 26,168,164,
- 94,237,111, 78, 56,176, 83,211, 12, 30,249,202, 32,154,154,  8, 34,181,127, 16,174,115,232,216,165,167,228,238, 51,173,189, 81,
- 16,108, 33,162, 57,206, 85, 86,148, 75, 83,208,  7,  9, 84,116, 60,117, 91,234,208,178,243,  8,254,204,125,169,189, 81, 16,236,
- 32,136, 77,203,165,249,223,114, 37,229,121,126,212,208,161, 67, 57, 66,200,112,111,111,111,249,191, 41,187, 26,215, 33,174,109,
- 26, 72,206,  7,212, 34,141,223,161,161,168,105, 97, 97,113,145, 16, 82,245,255,204, 92,213,  5,160,166,148, 30,  2,224, 72,  8,
-145,188,  3,205,249, 51,103,206, 28,115,239,222, 61, 23, 79, 79,207, 41,132, 16,158, 85, 18,140,191,189,193,234, 93,133, 76,118,
-113,118,219, 63,121,201,182,166, 63,159,123,174,249,241,192, 45,205,216,241,115, 26,187, 88, 59,236,233,239, 69,190,127,221,118,
-111, 26, 97, 32,151,203, 17, 22, 22,134, 21, 43, 86, 40,103,204,152,209,200,194,194,226, 90,195,134, 13,127, 40,138,104,152,171,
- 73, 41,109, 36,147,201, 86, 53,108,216,112, 77,177, 10,187,145, 82,169, 92,217,176, 97,195,245, 69,205,144,254,254,254,149,175,
- 95,191,110, 73,  8,113, 52, 39,157,129,129,129,206,193,193,193,106, 66,136, 51,  0,180,108,217, 82, 17, 24, 24,184,206,221,221,
-125,  5,128, 70,  0,224,237,237, 45,111,216,176,225, 26, 15, 15,143, 31,  9, 33,141,204,217,119,142,227, 96, 99, 99,131,109,219,
-182,129,227,184,226,149,  3,108,108,108,176,117,235, 86, 16, 66,202,124, 60,125,125,125, 53,129,129,129,219, 92, 92, 92,126, 16,
- 69,177, 33,  0,212,174, 93, 91, 29, 24, 24,184,213,221,221,125, 65,209, 50, 51, 53, 27, 42, 20,138, 31,  2,  3,  3,183,214,174,
- 93, 91, 13,  0,162, 40, 54,148, 74,165,243,  3,  3,  3,183,149, 53,143, 90,180,104,241, 69,163, 70,141,210,  3,  2,  2,178,155,
- 53,107,182,149,231,249, 35,179,103,207, 86, 43,149, 74,189,201,182,146,198,127,216, 41, 15,153, 84,110,162,132,203,167,  2,102,
- 74,179,101,182,222,163,142,202,205,221,247,242,242,127,175,153,204, 59,128,160,213,147, 72,173,178, 74,213,  6,106,199, 26, 61,
-225, 96, 35, 85, 92,125,152,107,  1,  9,105,  9, 78, 99, 95, 46, 77, 72, 91, 61,  8,211,170,236,188, 58,170,  2, 26, 55,  7,212,
- 85, 21,231,238,228, 90, 66,194,151, 79,243,191,223,119, 15, 10, 10,146,181,109,219, 22,174,174,174,156,149,149, 85,239,127,124,
- 30, 21, 51, 87, 22, 10,249,185, 69, 51,199,212,119,182, 83,255,102,142,201, 50, 99,248,124, 77, 71, 71,199,163, 43, 87,174,172,
-103,105,105,121,194, 28,147,245,119, 56,158,133,230, 74, 70, 41,189, 94,100,235,  1,  4,189,165,230,252, 25, 51,102,140,152, 56,
-113, 34,178,179,179,241,241,199, 31, 91,  2,152, 91, 30,205, 94,189,122,241,189,122,245,226,255, 21,117,200,223, 76,179, 20,228,
-  0, 90,  1,232, 12,160, 13,128,192,194,247,  1,133,175,206,  0,218,190,242, 55,160, 40, 70, 80,248,185,225,107, 52, 58,151,176,
- 93, 64,177,229,197, 63,191,250,254,205,  6,139, 16, 66,139,255,125,169,176,121,147, 70,246, 46,110, 99,230,237,185,161, 18,159,
-222,193,173, 79, 91,227,241,232,238, 80, 61,187,131,241, 35, 39,168,172,172,108,134,247,242, 38,205,203,115,180,158, 62,125,138,
-237,219,183,195,222,222,158,172, 95,191, 94,241,209, 71, 31, 13,177,178,178,122,218,160, 65,131,222,230,106,112, 28, 39,254,242,
-203, 47,154,110,221,186,245,180,179,179,187, 17, 16, 16, 80,133,227, 56,113,211,166, 77,154, 62,125,250,244,208,235,245,193, 13,
- 27, 54,244,190,117,235,150,112,227,198, 13,240,188,121, 55, 53,193,193,193,194,145, 35, 71,138, 34, 46,222,  0,130,231,205,155,
-215,115,207,158, 61, 22, 86, 86, 86, 52, 32, 32,160,138,135,135,199,141, 31,126,248,161,247,174, 93,187, 44, 44, 45, 45,169,153,
- 21,  1,116, 58, 29,148, 74,229, 75, 70,170,104,185, 66,161,120,173,193,122, 67,212,170,102,133, 10, 21,110,205,157, 59,183,203,
-222,189,123, 85,150,150,150,104,212,168, 81,117, 27, 27,155,219, 11, 22, 44,232,186,111,223, 62,149,165,165,165,217,122, 50,153,
- 12, 91,182,108, 81,247,235,215,175,179, 66,161,184,213,168, 81,163,234, 50,153, 12,219,182,109, 83,247,235,215,175,163, 90,173,
- 14, 14,  8,  8,168,105,174,158, 32,  8,227,151, 44, 89, 34,255,237,183,223,248, 74,149, 42,181,155, 61,123,182,218,223,223,159,
- 80, 74, 65,229, 85,173, 77, 18,218, 83,199,153,220,120,189,225, 32,  7,146, 40, 72, 12,253,109,  4,158, 69,177,222,196,239,132,
-  7, 49,212,  5,136, 87,240,211,188, 10,117,155,245,151, 32,105, 63,  2,107, 88, 72,206,  4,103, 59, 82, 17, 21, 33,152, 26,224,
- 92, 75, 73,153, 52,101,198,218,224,168,247,137, 59, 92,133,160,182,253, 37, 81, 81, 81,168, 82,179, 37,127,224,  6, 28, 41, 69,
-101, 16,161,126,153, 52, 95, 46, 87,147,122,245,234,165,137,136,136, 64, 80, 80,144, 90,161, 80, 76,124, 39, 81,188, 43, 53, 42,
-226, 66,141,102,184, 88,195,185,188,105,251,179, 35, 87, 22, 10,249,217,109, 91,126,117,169,221,236, 51,178,102, 76, 37,219, 10,
- 22,178,223,222, 38,146, 85,104,174,142, 92,187,118,205,238,189,247,222,195,140, 25, 51,236,173,172,172, 78,252,221, 35, 89,197,
-205, 21, 33, 68, 85,216, 60, 24,  7,192,237, 45, 52, 23,204,152, 49, 99,196,164, 73,147,112,245,234, 85,252,240,195, 15,232,216,
-177, 35,108,108,108,  2,205,213,104,208,160, 65, 64,139, 22, 45,182,183,104,209, 34, 62, 58, 58, 58, 43, 50, 50, 50,171, 89,179,
-102,241, 45, 90,180,216,222,160, 65,131,128,183,217,229,194, 23,227,205,121,248, 90, 15, 82,140, 58, 19, 39, 78, 12, 36,132, 28,
-156, 56,113, 98,  3,  0,246,132,144,131,  0, 28,  0, 56, 20,190,151,191,242,215,161,208, 52, 21,125, 95,161, 36,141,162,215, 43,
-219, 57, 20, 91, 94,252, 55, 94,125, 95,122,  4,139, 16,210,  2,192,249, 87, 87,144,138,152, 58,236,235,239,149,225, 27, 23, 35,
-126,203, 18,144,148, 88,240, 25,  9,200, 63,191, 31,198, 11,251, 49,176,113,144, 74,  5, 50,189, 60,  7,213,194,194,  2, 50,153,
- 12, 79,159, 62,197,195,135, 15,209,177, 99, 71,217,242,229,203,173,253,252,252, 86, 54,105,210,228,106,195,134, 13,253,204,200,
- 24, 84,171, 86, 13,125,250,244,145,143, 30, 61,218, 83, 46,151, 95,166,148, 74,170, 84,169,130,143, 62,250, 72, 54,126,252,248,
- 74,114,185,252,162, 40,138, 50,181, 90,109,182,121, 33,132, 64,173, 86,  3,128,212,203,203,235,210,246,237,219, 43, 55,105,210,
- 68,114,252,248,113,100,103,103,243, 85,171, 86,189,186,125,251,118,175,198,141, 27, 75, 46, 94,188,  8,173, 86,107,182,193,202,
-205,205, 45,209, 96,229,228,228,252, 97,185, 25,230,234, 19, 79, 79,207, 11, 59,118,236,112,107,218,180, 41,127,230,204, 25,100,
-103,103,195,221,221,253,226,142, 29, 59,220,130,130,130,248,203,151, 47, 35, 59, 59,187, 76,  6,171,240,248, 73,199,142, 29,235,
-198,243,252,  5,153, 76,134, 74,149, 42,225,163,143, 62,146,125,253,245,215,110, 50,153,236,156,185, 77,134,130, 32,200, 29, 28,
- 28, 96,109,109,141,207, 62,251, 76, 93,189,122,117, 98, 50,153, 64, 41,133,220,144,107, 32, 34,173, 70,  8,247,  1,225,121,131,
-  0,178,149, 80,190,153,104,146,200, 88,181,243,  6,172,252,236,192,147,214,145,241,249, 10,165,198,195, 66, 99, 95, 29, 72, 59,
- 15, 79, 55,  5,  8,225, 20,215, 31,229,104,192,147,214, 16, 82,237,202,164, 41,160,245,243,216,124,133, 65, 85, 75,227,234, 86,
- 17, 41, 41, 41,240,168, 82,  3, 58,206, 65,126,249, 65,142,  6,180,140,154,133,248,251,251, 55,241,240,240,112,174, 92,185, 50,
- 82, 82, 82, 80,181,106, 85, 88, 88, 88,216,212,171, 87,175,117,185,143,193,185,202, 10,100,113,141, 32, 96, 46,128, 41,  0, 55,
- 19, 36,165, 46,110,249, 75,255,110,230,106,251,214, 95, 93, 43,184, 84,  7,238,127,  6, 39, 59, 57,214, 79,172, 99, 91,193, 66,
- 81, 46,147, 69,  8,169,233,228,228,116,228,218,181,107, 21,148, 74, 37,130,131,131,225,235,235,139,197,139, 23,219,219,216,216,
-252,109, 77,214, 43,230,202,150, 82,170,  5, 32,  2,232,133,114,140,122, 37,  5, 44,254,254,251,239,191,152, 52,105, 18,174, 92,
-185,  2, 55, 55, 55, 36, 37, 37,161,121,243,230, 81, 25, 25, 25,243,205,137, 86, 53,111,222,252, 71, 91, 91,219,131, 67,134, 12,
-233,178,109,219, 54,171,189,123,247,146, 22, 45, 90,144,138, 21, 43, 90, 13, 25, 50,164,139,173,173,237,193,230,205,155,255,104,
-110, 84,171, 16,  9,  0, 37,  0,117,209, 43, 44, 44, 76,238,237,237, 45, 39,132, 40, 11,205,165,130, 16,194,158,166, 82,138,  7,
- 41,134,253,188,121,243,230, 80, 74,187,204,155, 55,111, 78,177,237, 14,190, 65,179,184,105,  2,  0,188,170, 65, 41,237, 82,252,
-111,241,109, 41,165, 93, 40,165, 93,138,111,255,166,223,123,173,193,  2,112,150, 82,218,226, 15, 97, 64,  2, 63,103,207,234,200,
- 56,177, 19, 42,158,188,244,226,158,223,135,135, 82,  2, 19,165, 53,203,115, 64, 45, 44, 44, 94,188, 56,142, 67,124,124, 60,120,
-158,199,180,105,211,148, 35, 70,140,168, 37,145, 72,206,180,104,209, 98,102,105,134,  5,  0,174, 95,191,142,170, 85,171,146, 73,
-147, 38, 89, 54,111,222, 92,  2,  0,119,239,222,133,183,183, 55,153, 53,107,150, 69,215,174, 93, 73, 89, 12, 22,199,113, 80, 42,
-149,104,217,178, 37,217,176, 97,131, 70,161, 80,224,208,161, 67, 72, 73, 73,193,123,239,189, 39,217,176, 97,131, 70,169, 84,226,
-220,185,115,200,204,204, 44,147,113,203,207,207,199,171,105,121, 93,100,235, 77, 52,105,210,100,181,179,179,243, 15,155, 55,111,
- 86,168, 84, 42,156, 57,115,  6,153,153,153,232,219,183,175,105,235,214,173, 74, 43, 43, 43, 92,190,124, 25,153,153,153,229, 42,
-240,197,142,169, 42, 40, 40,200,  8,  0,183,111,223,134,143,143, 15,153, 52,105,146,202,202,202,106,126,179,102,205, 86,155, 17,
- 74, 70, 94, 94, 30,116, 58, 29,158, 61,123,134,180,180, 52,196,196,196, 64, 20, 69, 16, 36,101,139, 50,233,111, 68, 20, 62,224,
-165, 10,133,132, 35,143, 64, 80,131, 74, 68, 25,249,238, 59, 86,249,188,174, 16,201,242,171, 66, 36,117,175,132,228,216, 54,125,
-175,159, 12,201, 71,  0,106,  4,136,  4,173, 26,186, 75,246, 95,206,115,  4, 37,126, 80, 17, 31,192,140,  2, 69,  8,129, 84,239,
- 13, 74,234,159,  8, 54,217, 53,109,255,185, 44, 38, 38,  6, 50,153, 12, 10,133,  2,245, 27,127, 40,217,126,214,232, 12,160, 54,
-148,164,154, 89,154, 47,155,246,  9,131,  7, 15, 86,199,198,198,190,208,236,216,177,163,198,194,194, 98, 82,185,205, 21,111, 17,
-  8,147, 48,226,193,115,109,197, 89,155,227,171,135,198,104,125,192,209, 81,208, 11,117,222,214,100, 85,169, 82,165, 89,245,234,
-213, 67,188,188,188,130,222,198, 92, 89, 42,228,103,118,108,253,213,213,206,185,192, 92, 65,200,  3,120, 21,156, 29,109,177,126,
-122, 75,219, 10,150,170, 50,153,172, 66,115,117,248,234,213,171, 21,148, 74, 37,110,222,188,  9,185, 92, 14,165, 82,137,218,181,
-107, 99,237,218,181,246,182,182,182,127, 11,147, 69,  8,177, 33,132,180, 37,132,244, 32,132,116, 47,102,174, 42,  3,104, 73,  8,
-105, 13,192,  9,192, 69, 74,233, 61, 51, 53,131, 36, 18,201,238,186,117,235,134, 73, 36,146,224, 57,115,230, 12, 27, 63,126, 60,
-150, 45, 91,134,150, 45, 91, 62,159, 48, 97,  2, 30, 63,126,108,202,205,205,237, 69, 41, 61, 82,154, 94, 92, 92,220, 20, 47, 47,
-175,158,123,247,238,213, 84,170, 84,137,203,205,205,197,137, 19, 39,176, 96,193,  2,228,231,231,195,221,221,157,219,187,119,175,
-198,203,203,171,103, 92, 92,220, 20, 51,210,103,111,111,111, 95, 21,  5,205, 89, 10,  0, 42,  0,234,136,136,  8,205,153, 51,103,
-108,235,214,173,107, 99, 97, 97,161,158, 50,101,138,235,232,209,163,187,148, 22,  1,249,151, 81,162,  7,121,141,105, 42,126,125,
-233,242, 58,211, 83,244, 93, 73,230,169,188,137,124,211,239,189,201, 96,181, 36,132,156, 43,105, 37, 67, 90, 34, 20, 16,160,230,
-  9, 84, 18, 82,240,151, 39, 80, 17, 17,146,244,196, 50, 86,181, 47, 27, 44, 75, 75, 75, 88, 90, 90,190,100,180,180, 90, 45,114,
-115,115, 95,234,163,244, 58,138,154,252,108,109,109,145,157,157, 13,147,201,132,162,230, 48, 59, 59, 59,228,231,231,131, 16,  2,
-141, 70,  3,141, 70, 83,102,131,  5,  0, 87,174, 92,193,165, 75,151, 32,145, 72, 96,103, 87,112,243,126,243,230, 77,220,187,119,
- 15,114,185, 28, 21, 42, 84, 40,147,174, 94,175,135, 82,169,252, 67, 31, 44,189, 94, 15,133, 66, 97,118, 51, 38,199,113,208,233,
-116,244,230,205,155,184,127,255, 62, 20, 10,  5, 28, 28, 28, 32,147,201, 16, 29, 29,141, 71,143, 30, 65, 46,151,195,193,161,124,
-231,176,149,149, 21, 50, 50, 50, 32,138, 34, 84, 42,213,139,101, 57, 57, 57,224, 56,206,172,252, 41,226,246,237,219,184,114,229,
- 10,194,195,195,113,247,238, 93, 60,126,252, 24, 47, 61, 69,128, 22,134,209,141,162,145,  2, 28,111,228,185, 25,152,206,170,156,
- 18,171,161, 58, 86,224, 36,109,146, 51,140,138,148, 28,185,149,147,119, 27, 32,229,  8, 64,120, 64,106,131, 70,245, 60, 17,149,
- 32,168, 31,199,228, 43, 97, 16,218,225,120, 77, 27,179, 52, 37,146,214, 73, 25, 70, 69,120,166,131,101, 77, 63,127, 36, 37, 37,
- 65,161, 80, 64,161, 80,160, 65,195, 54,  8, 75, 16, 85, 15, 34,180,106,136, 98, 91,179, 52,255, 27,189,242, 84, 42,149,129,245,
-235,215, 39,137,137,137, 80, 40, 20, 80, 42,149,104,220,184, 49, 56,142,171,229,239,239,239, 83,166,253, 15,243,150, 67,102, 17,
-  0,  8, 35, 30, 62,207,115,217,119, 73, 91,245,253,247, 63,180, 93,250,123,178,207,195,  8, 93,101,152, 12,163,145,109,172, 87,
- 94,147, 85,165, 74,149,166,106,181,122,215,148, 41, 83, 42, 75,165,210, 61,158,158,158, 77,202,163,163, 86,240,203, 39,143,238,
-235,106, 91,100,174, 76,185,  0,175,  2,120,117,129,201,114,178,199,172,209,109,109, 85, 82,217,118,115, 53, 85, 42,213,198,149,
- 43, 87,218, 23,153, 43,153, 76,  6,165, 82,249,226, 85,191,126,125, 76,159, 62,221,222,214,214,118,195, 95,108,174,108,  1, 52,
-  1,112, 31,192, 94,  0,103,138,153, 43, 47,  0,251, 10,163, 86,119, 40,165, 81,102,106, 54,234,208,161,195,145,176,176,176,246,
-119,238,220,113, 78, 72, 72,240, 25, 59,118, 44,150, 46, 93,138,241,227,199,255, 70, 41,173,187,115,231,206,198,215,175, 95, 15,
-164,148,134,152, 89,135,126,218,191,127,127,181, 74,165,130, 82,169,196,230,205,155,241,249,231,159, 67,161, 40, 24,203,161, 86,
-171,161, 82,169,208,191,127,127, 53, 33,100,176, 25,146,105, 89, 89, 89, 22, 61,122,244,240, 40,140, 92,105,244,122,189, 69, 74,
- 74,138, 21,199,113,214,181,106,213,114,156, 62,125,186, 79, 78, 78, 78,157,  3,  7, 14, 36,  1, 72, 97, 21, 90,233, 30,228, 85,
-131, 99,206,178,242,174,111,174,201, 42,147,193,162,148,158,  3,208,188,132, 21,238, 71,221, 56,  7, 59,223,250, 47, 71,176, 36,
-  4,106, 75, 43, 60,143,141,134, 20,228, 97, 57, 18,248, 82,  4,171,232, 21, 31, 31,143,  9, 19, 38,228,109,217,178,229,129,193,
- 96,104,117,238,220,185,105,230, 68,176, 28, 29, 29, 17, 21, 21, 69, 23, 44, 88,144,125,244,232, 81, 83,209,178,232,232,104, 58,
-117,234,212,156, 95,127,253,149,150,181,137, 80,165, 82,225,220,185,115,116,218,180,105, 89,177,177,177,212,206,206, 14, 21, 42,
- 84,192,169, 83,167, 76, 19, 39, 78,204, 10, 13, 13,165,118,118,118,176,179,179, 43,147,174, 32,  8, 80,169, 84, 47,109,195,113,
- 28,140, 70,227, 31,150,191,137, 11, 23, 46,124,158,153,153, 57,254,155,111,190,209,134,132,132, 80,  7,  7,  7, 56, 56, 56, 96,
-227,198,141,146,143, 63,254, 88,123,247,238,221, 23,203,202,131,189,189, 61, 30, 63,126, 76,231,206,157,171, 61,121,242,164, 20,
-  0, 28, 28, 28,240,248,241, 99,250,253,247,223,107, 51, 50, 50,198, 95,184,112,225,115,115,242, 58, 45, 45, 13, 41, 41, 41,136,
-137,137, 65, 74, 74, 10, 82, 83, 83, 33,138, 34, 40, 28, 45, 57,131,241, 35,240,220, 30,193,152,159,111,148,144,106,  0,125, 46,
-136,  6,253,244,233, 96, 51,135,151,132, 92,112,  2,104,227,139,247,114,172,219,117,234, 45, 39, 89,215,  1, 99, 14, 32,181,  5,
-164,182,144, 40, 43,160, 67,235,122,252,134,227, 89, 78, 32,104,  8,107,121,233,253, 91,164,162, 35,168, 24,116,242,150,206,166,
-105,199,145,242,180,180, 52,112, 28,247,194, 96,169, 53, 26,180,237,212,159,251,229,132,206,  9, 34,109,  4, 21, 49,187,207,140,
- 76, 38, 27, 51,120,240, 96,217,171,154, 42,149, 10,221,186,117, 83,104, 52,154,241,102,239,251, 35, 95, 25,146, 84,  1, 16,133,
- 17,143, 35,180, 46,123, 47,107,171,142,157,254,139,170, 86,157,134, 24,254,190,131,106,238,150,228, 26,119,194,242, 42, 67, 98,
- 26,137, 28, 99,125,172, 45,155,201,242,244,244,108,162, 86,171,119,239,221,187, 87,221,170, 85, 43,140, 27, 55, 78, 35,147,201,
-246, 84,169, 82,165,204, 35,166,181,217,194,215,223, 47,221,156,116,247,183, 14,128, 41,187,208, 92,253,247,149,148, 41, 98,234,
-202, 51, 89,122, 42,126,108,182,166, 86, 59,228,179,207, 62, 75,219,181,107,215, 31,204,149, 82,169, 68,120,120, 56,102,205,154,
-149,158,158,158, 62,244, 47, 46,165,117,  0,220,  5,160,  3,208, 20,128,186,112,164, 96, 96,161,217, 18, 40,165, 73,148,210,  4,
-115,  5,121,158,255,122,213,170, 85, 18,173, 86,139, 33, 67,134, 32, 58, 58, 26,113,113,113,152, 60,121,114,132, 40,138, 67, 10,
- 53,239, 81, 74,159,152,171,153,155,155, 59,124,230,204,153,218,216,216, 88,248,249,249, 33, 41, 41,  9,157, 58,117, 66,231,206,
-157,161, 86,171, 81,187,118,109, 68, 71, 71,227,187,239,190,211,229,229,229,153, 83,215,137, 70,163,241,225,153, 51,103,148, 93,
-186,116,169,182,112,225,194, 42,103,206,156,241,206,203,203,171,156,159,159, 95, 35, 62, 62,222,247,192,129,  3, 21,215,174, 93,
- 27, 29, 17, 17,113,131, 82, 42,176, 10,237,205, 30,228, 29,112,232,109, 34, 85, 37, 69,192,204,133, 43, 20, 34,197,255,190, 20,
-189, 34,248,126,211,239, 27,117,242, 74,213, 96, 93,163, 46,212, 74, 37, 84, 10, 57, 84, 54,118,208,137, 34,214,133, 39,228,229,
-130,126,247,182,  6, 75, 20, 69,172, 89,179, 70, 55,107,214,172,204,248,248,248, 81,231,207,159,111,116,237,218,181, 82, 71, 41,
-112, 28,135,172,172, 44,236,220,185, 83,187, 97,195,134,231,249,249,249, 65, 82,169,212,164,215,235,177,109,219, 54,221,178,101,
-203, 34,117, 58, 93, 83,169, 84,106, 40, 75,243, 91,145,193,146, 74,165,198,252,252,252,160,223,126,251, 45,236,224,193,131, 90,
- 43, 43, 43, 72, 36, 18,147, 78,167, 11,220,188,121,243,211, 29, 59,118,104,173,172,172,202,164, 43,138, 98,137,125,176,  4, 65,
-120,113,231,100, 46, 55,110,220,216, 96, 52, 26, 91,108,223,190, 61,118,195,134, 13, 58, 43, 43, 43,  0,128, 32,  8,205, 54,109,
-218, 20,251,211, 79, 63,229,151,165,131, 59,  0, 24, 12,  6,  8,130,128, 77,155, 54,229,239,216,177, 35, 86, 20,197,102, 69,203,
-126,249,229, 23,221,230,205,155, 99,141, 70, 99,139, 27, 55,110,108, 48, 51,175,245,113,113,113,136,143,143,199,221,187,119,245,
-143, 30, 61,162, 41, 41, 41,160,148,194, 40,209, 72, 40, 71,158,138,148,254, 78,  5, 65,198, 83,244, 38, 32,231,  9,207, 27, 88,
-149,243, 26,114,160,  6, 33,170, 39,209, 58, 75,165,204, 72,144,176, 27,144,217,190, 48, 88,144,218,194,213,205, 29, 55, 30,231,
- 89,128, 64, 14,157,177,116,135,157, 71, 53, 32, 68,253, 32,130, 90, 74,100, 42,146,152,152,248,226,162, 93,100,136,170,120,249,
-226,246,211, 60, 13,  8, 20, 16, 97,246, 84, 34,162, 40,118,180,176,176,144, 20,105, 22,233, 41, 20, 10,120,122,122,242, 70,163,
-177,157,217,251,158, 40, 58, 67, 48, 13,127, 18,169,115,217,123, 81,235,253,245,212, 95, 84, 42, 46, 29,136, 88,134, 90, 85,157,
-241,245,160, 58,242,201,235, 83,106,222,120,152,231,  9, 78,248, 12, 53,115,237,205,149,246,242,242, 10, 82,169, 84,123,246,238,
-221,171,214,104, 52,  8, 11, 11, 67,157, 58,117, 48,107,214, 44,181, 74,165,218, 93,165, 74,149,102,101,201,166,203,143,104, 84,
- 94,142,208,234,219, 53,209,137,119,195,133,  2, 99,197, 21,152,171,228, 44,138,207,166,238,207, 76,207,209,245,189,122,199,120,
-174, 12,245,230,221,204,204,204,174, 83,167, 78, 77, 75, 73, 73,121,201, 92, 69, 70, 70,162, 79,159, 62,233, 41, 41, 41,237, 41,
-165, 15,255,226, 82,170, 65, 65,231,117,159,194,136, 85,109, 74,169,  9, 64, 78,121, 77, 69,205,154, 53,235, 86,170, 84,  9,171,
- 87,175,198,186,117,235, 50, 22, 47, 94, 12, 74, 41,170, 85,171,102, 85, 94,205, 59,119,238, 28,209,106,181, 19,  6, 14, 28,168,
-221,186,117,171,240,241,199, 31, 35, 32, 32,  0,254,254,254, 24, 56,112, 32,214,173, 91,103, 26, 48, 96,128, 78,167,211,141,191,
-115,231,206, 17, 51,243, 40, 63, 43, 43,235,206,161, 67,135,238,173, 90,181, 42,230,171,175,190,202, 25, 58,116,168,108,206,156,
- 57, 41, 59,119,238,188,115,225,194,133, 99, 58,157,238,  6,165, 52,159, 85,102, 47,142,217,107, 61, 72, 49,146, 11,141,142,254,
-149,191,201,165,124,103,238,182, 37,190, 55, 99,189,215, 82,234,136,155,157,161,244,106,127, 47,178,228,251, 95,126,250,106, 64,
-237,154,170,202, 85,106, 66,200,201,192,189,132,  4,108,138,207,204, 51,136,116,205,206, 48,122,190,188,  6,139,231,121, 28, 59,
-118, 76,216,182,109,155,  1,192, 47,153,153,153, 51, 67, 66, 66,114,203, 80,121,115,131,  7, 15,206, 77, 75, 75,219, 23, 31, 31,
- 63, 42, 52, 52, 84,223,172, 89, 51,174, 95,191,126,185,169,169,169,135,  8, 33, 95, 94,187,118, 45,191,105,211,166, 40,203,131,
-173,  9, 33,144,201,100, 32,132,224,250,245,235, 17,190,190,190,  1, 87,175, 94, 93,242,244,233,211, 15, 41,165,220,141, 27, 55,
- 98,252,253,253, 27, 94,190,124,121,209,163, 71,143, 62, 18, 69,145, 51, 87,151,227,184, 63, 68,170,  8, 33, 47, 76, 93, 89, 71,
- 17,222,184,113,227,161,175,175,175,255,213,171, 87,215, 12, 29, 58,180, 45,  0,245,213,171, 87, 31,215,174, 93,187,254,213,171,
- 87,215, 12, 26, 52,168, 93, 97,184,218,108,131,213,189,123,247,188,204,204,204, 19,217,217,217,195,238,221,187,151,231,239,239,
-143,238,221,187,231,101,100,100,156,204,200,200, 24, 86,150, 60,162,148,206,191,120,241,226, 44, 74,169, 68,165, 82, 29,185,115,
-231, 78,219,188,188, 60, 53,165, 20, 68,120,158,197,233, 27,238, 18,136,132,163, 18,190, 51,  8,170,130,199, 52,153, 92,205, 66,
-231,175, 67, 97,202,  6, 33,241,189, 90,219, 41,150,173,252, 69,250, 73, 87, 79,165, 95,141, 74,  5,230, 74,102,139, 27, 15, 51,
- 48,125,241, 78,113,238, 80,251,  8,136, 52,  6,  6,250,180, 84, 77, 43, 62, 27,249, 98,242,224,246,114,197,188,159,191,170,220,
-164,243, 55,138,154,126,129, 47,140,208,163,144,155, 88, 58,111,148, 56,119,136, 77,  4, 68,196, 67,143, 39,101, 56, 71,251,207,
-155, 55,111,239, 39,159,124,162,169, 85,171,214, 11,205,240,240,112,252,240,195, 15, 90,157, 78,215,215,220,179, 18,210, 26,117,
-  4, 19,117,216,122, 34,213,123,204,200,225,106, 21,151,  6, 60, 95, 88, 96, 94,164,214,168, 87,203, 30,211,190,116,150,142, 93,
-112,160,198,197,101,158, 57, 16,229,213,  1,196,155,117,183,201,113,187,231,204,153,163, 86,169, 84,120,250,244, 41,138,154,141,
-252,253,253,177,116,233, 82,245,136, 17, 35,246,182,108,217,210,241,236,217,179,166,178,152,172,160, 26,164,213,183,171, 66,207,
-252, 48,218,198,169, 78,117,  7,164,100,  3,159, 77, 63,144,145,154,163,235, 95, 22,115, 85,220,100, 17, 66,186,142, 30, 61,250,
-192,198,141, 27,237,106,214,172,137,232,232,104,244,233,211, 39, 45, 37, 37,165,195,223,192, 92,  1, 64, 46,  0, 87,  0, 79, 81,
-208, 23, 41,140, 16, 34,199, 91, 60,158,237,225,195,135,119, 34, 35, 35,157, 63,253,244, 83,100,101,101,217,244,238,221, 27, 97,
- 97, 97,120,242,228,201,221,183, 73,232,245,235,215,215, 55,106,212,232,202,134, 13, 27,198,114, 28,215, 36, 63, 63,223,  1,128,
-120,252,248,241,  4, 65, 16, 46,104,181,218,229, 55,111,222,124, 90,198, 60,162,  0, 82, 11, 95, 79, 89,165,245, 78,184,241, 23,
-109, 91,110,204, 42,236, 91,195,232,236,158, 94,228,236,186,171,215,167, 25, 40,173, 11,  0, 50,142,220,207, 33,116,230,239, 97,
-244,226, 27,204,196, 27,159,182, 29, 30, 30,142,101,203,150,229,229,228,228,220, 51,153, 76, 95, 92,187,118, 45,212, 12,131,242,
-146,166, 68, 34,185, 26, 29, 29,189,229,230,205,155,187,139, 47,139,137,137,217,118,253,250,245,223,139, 45,139,110,213,170,149,
- 27, 33, 36,213,156,116, 18, 66, 18,186,117,235,198,243, 60, 31, 11,  0, 33, 33, 33,  6,  0, 95,  6,  4,  4, 28,179,176,176,248,
- 24,  0,130,131,131,141,  0, 70,  5,  6,  6,158,208,104, 52,159,152,179,239,132, 16,240, 60, 95, 98,  4, 11,192, 27, 59,185,191,
-233,120, 22, 26,158,126,  1,  1,  1,159,168,213,234,254,  0,112,239,222,189, 60,  0,253,  3,  2,  2, 62, 86,171,213,  3,204,213,
- 84,171,213,215, 18, 19, 19,183,220,184,113, 99,227, 43,203,182,154, 19,181,122, 85,243,198,141, 27,171,  0,172, 42,250,220,176,
- 97,195,250,207,158, 61, 59, 34,138,162, 74,146,250, 60,239,246,161,142, 73,254,195,206,120, 10, 28,213,128,208,169, 38,142,164,
-221, 94,220, 72, 87,150,178, 84, 30,254,111, 53, 43,112, 81, 72, 37, 75,189, 93,149, 99,135,118,181, 35,243,119, 60,175, 60,178,
-191,179,188,126, 93, 91, 92, 11, 73,199,184, 89, 91,197,121,195, 28,158, 55,241,181,136,128,136, 85, 16,242,147, 75,213,180, 48,
- 70, 65,103, 92, 92,205, 67, 49,118,236,  7, 34,153,182,121,118, 21,165,114,150,172, 65,195,150,120,248,224, 58,230,207, 24, 38,
-206, 31,102,243,188, 73, 77,203,104, 16,238, 71,  8,186,100,115,247,253,198,141, 27, 87,  2,  2,  2,186,111,220,184,113,239,232,
-209,163, 53,181,107,215, 70,120,120, 56,102,206,156,169,205,203,203,251,240,246,237,219,231,205,222,119, 74, 40, 64, 33, 10, 16,
- 38,204,248, 81,175,213, 11, 68,107,160, 68,167,  7,167,205, 23, 73,142, 94, 36, 70,163, 72,220, 28,212,  5, 17, 13,238,143, 55,
- 62,175, 75, 39,199,113,153,163, 71,143,182,120,173,175, 85, 40,114,203,147,239, 47, 76,214,178,224, 51,227, 63,147, 57, 45,223,
-118, 51, 61, 37, 75, 55,160, 52,115,245, 38,205, 34,147,245,201, 39,159, 28, 88,176, 96,129,221,196,137, 19, 83,147,146,146, 58,
-150,102,174,254,135,101,254, 46, 10,230,182,186, 70, 41,189, 64,  8,209,160, 96, 14,162,  7,229,213, 20,  4, 97,241,240,225,195,
-219,205,153, 51, 71, 50,125,250,116,132,134,134,226,251,239,191, 23, 76, 38,211,130,183, 61, 55,175, 94,189,250, 24,192,103,255,
-154, 58,228,111,170,249, 79,131,148, 37,170,243,174, 50,192,223,223, 63,175,125,251,246,218,115,231,206,229,234,116,186,145,183,
-110,221, 58,244,111, 41,124,173, 91,183, 62,205,243,124, 21, 66,  8, 40,165,241, 39, 78,156,  8,  2,128, 86,173, 90,157,150, 72,
- 36, 85, 10,239,248,227, 79,157, 58, 21,244, 79, 62,241, 26, 52,104, 80, 23,192,108,157, 78,215, 43, 36, 36, 36,183,222,168,163,
-246, 68,203, 89, 17,158, 55,  4,175,105, 19,205, 42,157, 82, 52,143,122,203,161, 86,212,  7,232,216,123, 97,121,149,167,110, 76,
-173,210,165, 93, 99,233,166,223,207,139,243,134,191, 48, 87,139, 65,181, 55,209, 34, 34,223,108, 77, 37,215,  0,188,100,236,237,
-103,121, 21,199,173, 73,247,106,215,229, 51,254,224,238, 53,226,252, 97,118, 69,230,106, 17,132,156,235,102,107, 22, 35, 32, 32,
-160,177, 76, 38,219,219,183,111, 95,205,142, 29, 59, 74, 53, 87, 37,106, 94,246,245,128,137,206,  0,161,165,247,  1,163, 92, 24,
-140,152,135, 54, 33,209,127,135,124, 15,170, 65, 42,170, 44,148,187,114, 13,198,111,204,137, 92,153,163, 73,  8,169, 99, 99, 99,
-179, 62, 35, 35, 99,160, 57,145,171,255,229,190, 19, 66,236,  1,248, 23,222,200, 19,  0, 15, 41,165,207,223, 82, 51,136,231,249,
-175,189,189,189,253, 66, 67, 67, 67,  4, 65, 88, 66, 41,189,192,140, 11, 51, 88,204, 96, 21,210,172, 89,179, 75,162, 40,158,144,
- 74,165, 63,156, 61,123, 54,159, 21, 62,166,201, 52,203,161, 89,204,100,221,124,154, 91,101,222,142,116,143, 49, 61,173, 99, 74,
- 51, 87,165,106, 22,154,172,235,143,243, 42,205,255, 45,203,227,235, 15, 45, 98, 74, 51, 87,230,238,123, 64, 64, 64, 99,185, 92,
-190, 54, 47, 47,239,203,210,204, 85,137,154,143,124,101, 72, 53,185,130, 18, 95, 80,250,250, 71,237, 16, 62, 15,132, 11, 65, 18,
- 77, 66,207, 16,  3, 43, 75, 76,147,105, 50,131,245,191,230, 47,153,245,248,194,133, 11, 77,216,161,103, 48,222,146, 14,161,122,
- 28,245,190,  5,181, 98, 81,  3, 31,213,240,221,223,169,243, 64, 73, 44, 68,250,227,155,204,149, 25,154, 55,161, 52, 45, 10,172,
-166,250,114,207, 12,117, 30,128, 68,128, 91,241, 38,115,101, 46, 55,110,220,184,  2,192,183,220,  2, 53, 66, 12,  0, 34,  0, 18,
-137,239,222, 48, 67,246,116, 80,224, 79,188,123,100, 48, 24,140,191,163,193, 98, 48, 24,239,208,100, 61,242, 13, 70,178,116, 18,
-  8, 42, 67,106,140, 70,150, 49, 17, 29, 34,244,111,169,121,  3,201,124, 36, 40,170, 66, 98,124,142, 44,221,219,105,190,115, 40,
- 45, 48, 81, 12,  6,131,193, 12, 22,131,193,248, 51,168, 17, 98, 64, 13,196,  2,136,253, 91,107, 50, 24, 12,198,191,  8,  2,192,
-175,228,251, 67,243,219, 86,  9, 33,126,101,253, 97, 51, 58,111, 50, 77,166,201, 52,153, 38,211,100,154, 76,243, 31,166, 89,154,
-246, 63,165,111,215, 95,210,201,157,105, 50, 77,166,201, 52,153, 38,211,100,154, 76,243,159, 12,123,152, 46,131,193, 96, 48, 24,
- 12,  6, 51, 88, 12,  6,131,193, 96, 48, 24,204, 96, 49, 24, 12,  6,131,193, 96, 48,131,197, 96, 48, 24, 12,  6,131,193, 96,  6,
-139,193, 96, 48, 24, 12,  6,227,111,195,159, 58,138,144,193, 96, 48, 24, 12,  6,227,223,  8,  7,  0,132, 16,230,178, 24, 12,  6,
-131,193, 96,252,207,249,167,122, 16,214, 68,200, 96, 48, 24, 12,  6,131,193, 12, 22,131,193, 96, 48, 24, 12,  6, 51, 88, 12,  6,
-131,193, 96, 48, 24,255, 78,131, 69,  8,161,172, 47, 22,131,193, 96, 48, 24,140,255, 53,255, 68, 15,194, 70, 17, 50, 24, 12,  6,
-131,193, 96,188, 99, 88, 19, 33,131,193, 96, 48, 24, 12,198,255,147,193, 34,132,248, 49, 77,166,201, 52,153, 38,211,100,154, 76,
-147,105, 50,131,197, 96, 48, 24, 12,  6,131,193, 96,  6,139,193, 96, 48, 24, 12,  6,131, 25, 44,  6,131,193, 96, 48, 24, 12,102,
-176, 24, 12,  6,131,193, 96, 48, 24,204, 96, 49, 24, 12,  6,131,193, 96,252, 69, 16,  0, 37,142,  4,160,148,222, 55, 91,164, 28,
-163,  9, 74,211,103,154, 76,147,105, 50, 77,166,201, 52,153,230, 63, 79,179, 52,237,178,248,143,191,181,193,250, 51, 39, 26, 37,
-132,248,189,235,  3,197, 52,153, 38,211,100,154, 76,147,105, 50,205,127,158,230, 63, 13,214, 68,200, 96, 48, 24, 12,  6,131,241,
-142,145,252,211,118,200,215,183,151, 44, 83, 74,223,183,181,181, 26, 11, 74,145,158,145,189,200,218, 72,246,135,132,236, 52,252,
- 89,191, 73,  8, 33,  0, 64,255,161,207, 29, 34,132, 40,107,213,170, 21,  0,  0, 15, 30, 60,184, 65, 41,213,189,237,241,114,240,
-237,241,181,165,149,106,128,201, 40, 80,157, 54,127, 67,226,131, 61,203,217,233,248,239,192,202,183,189,173, 74,102,201, 39,220,
-222,153,194,142,  6,131,193, 96,  6,171,144,138,126,253,108,242,137, 97, 50, 47,225,187, 83, 42, 90, 36,220,222,233,240,119,216,
- 17,199, 90,221, 61,109,108, 45, 71,214,106, 84,163,103,191, 15,219, 43,107,215,242,145,231, 27, 76,216,127,248,252,143,191,237,
- 63,190,208,167,249,160,189, 25,233,217, 43,146, 30,236,125,254,142,205,135, 98,242, 39,213,222,179,179, 80,200,  9, 33,123, 40,
-165,166,146,214,115,170,223,239, 52,  1,169, 82,176, 13,  7,194,  1,  4, 52, 62,246,198,150,160, 18, 52,213,  0,156,  1, 68,190,
- 78,175, 36, 84,174,181,220,101,156,124, 58,151,135,177,233,233,193, 89,239, 96,223, 28,189,189,189,131,170, 85,171,230, 56, 98,
-196,  8, 41,  0, 44, 94,188,184, 70,213,170, 85,147, 66, 67, 67, 47, 83, 74,147,202,149, 87,190,221, 38, 76, 29,255,249,148,247,
-219, 55, 69,122,142, 17, 43,214,255, 54,215,201,175,  7,159,120,127,207,146,119,149, 47, 22,206, 53,107,242, 82,213,215,162,104,
-106, 79, 56,217, 41, 65,175, 93,148,155,244,224,173,195,217, 85,218, 78, 26,  7,160, 65,225,199,155,225, 39,231, 44,100,213,136,
-217,229,201,170, 78, 53, 27,223,238,117,235,253,126,241,105,174,133,131, 95,247,221,224,177, 52,249,206,222,187,230,106,184,215,
-  8,186, 44,225,120, 23, 65, 20, 98,163, 31, 93,110,250,103,164, 83,227, 84,179, 53,  8,214, 19, 74,165, 20,116,  5, 47,146,221,
-217, 41,143,195,222,246,  6,202,202,221,215, 86, 16, 13,239,201, 57,117, 93,131,168,189, 37,145,169,142,103, 68,220,201,124, 71,
-199,150, 87, 59,249,244, 87, 42,212, 95,121,251,212,168, 26, 30,254,236, 89,110,118,230,242,188,196,167,155, 40,165, 98, 89,180,
-188,218, 76,252, 72,128, 56, 81, 52,233, 57,  9, 37,243,159,159, 95,178,141,149, 94,  6,227, 79, 54, 88, 14,190,189, 52, 68, 66,
-111, 52, 15,106,100, 55,233,203, 30,242,165, 91,207,195,185,238, 71,161,  9,119,126,243,254, 43,119,194,165,222,  7, 21,  9,193,
-189, 49,195,250,226,211,143,218,145,148,108, 19,178,180,  2,136, 20,232,245, 97,103,245,  7,221, 59,168,231, 47, 91,255,217,161,
-163,103, 62,115,169,247, 65,205,248,219,187,163, 74,211,116,246,239,119, 12, 32,213,138, 62, 83,193,164, 36,188, 68,  7,160,208,
- 28,113,208,216, 56, 94,152, 54,216,231,192,140, 79,107,205,216,120, 52,114, 21,128, 10,  0, 18, 75,172,  0, 57,137,219,230,181,
-139, 29,220, 42,200,193,113, 28, 50,114,141,232, 61,120,140, 80, 66, 69,169,249,105, 92,189,110, 31,119,174,220, 71,209, 98,247,
- 20, 66,200, 61,115, 42, 72,141, 83,245, 90,114,165,213, 65,175,186,109,109,194,239,158,244,181,112,170,241, 89,174, 82, 23, 70,
- 35, 34,242,203, 90, 81,107, 52,154,106, 86, 86, 86, 13, 58,116,232,160, 26, 63,126,188,180,121,243,230, 47,190, 31, 58,116,168,
-244,252,249,243,110,243,231,207,239,225,230,230,166,205,202,202,186,153,155,155,251,148, 82, 42,152,251, 27,182,182,182, 31,127,
-208,185, 57,186,244,249, 18, 20, 28,198, 77,152,138, 35,135,143, 14,  2,240, 78, 12,150,165,171, 79, 53,143, 74,158,231,166,126,
- 55, 87,233,227, 89,145, 28,187,120,247,131, 53, 75,102,118,208, 56,214,106,243,182, 38, 75,202,147,128,121, 95,125,216,201,104,
-  2, 38, 44,251,189,212,245,157,235,247,189,  8,194,185, 21,149, 25, 66,  0,142,  0,  4,  4,148,138,177,209,215,183,188,181, 73,
- 32,132,240, 42,167,234,237, 57, 42, 14,  0,  0,145,112, 91,180,137,143,143,149, 37, 79,  0,192,169,206,135, 17, 84, 20,254,112,
-195,196,243,210,228,248, 59, 59, 43,191, 69,250,236, 59,  4, 57,249,159,251,177,101,219,198,181,108,253,214,156,200,183,242,239,
- 56, 18,177, 25,232,185,111,207,238,158, 14,126,221,207,115,160,139, 19,239,239, 59, 85,154,150, 82,161,112, 60,112,224,128, 67,
-135, 14,157,108, 28,253,186,239, 21,  9, 18, 56,138,  4, 34,114,  9,132,152, 18, 76, 28, 77,  0, 79, 18, 83,189,228, 73,238, 33,
-113,231,120,142,119, 51,137, 66,124,204,163,203, 65,230, 39, 24,235,143,158,188,104,175, 51, 82,252,240,227,182,169,121,153,137,
- 83, 35, 30,218, 71,170,157,170,143,207, 75,124,124,168, 44,251,174,114,175,227, 42, 17,117, 29, 92, 92, 61, 63, 28, 57,250,219,
-192,118,173,155, 75, 61, 61,156,200,243,232, 68,122,226,244,121,131, 79, 96,199,171,241,177,225,187, 69,163,228, 72,110,114, 72,
- 98,249,142,111, 75,137,133, 99,141, 13, 93, 63,250,180,199,251, 31,244,133,141,149,  5,244,134,252,170,103, 78, 28, 94,249,243,
-202,121,141,  9, 33, 67,203, 98, 14,  5,106,154,248,243,220, 47,189,  1, 17,131, 70,205,154, 76,  8,217, 81, 86,147,198, 96, 48,
-202,104,176,  8,111,154,214,184, 97, 35,187,175, 70, 12,150, 15, 95,126, 22, 81,215,143,104,223,149,185,210, 56,214,114,148,200,
- 36,  3, 57,142,183, 33,224,148,162, 32, 68,103,146,228,159,104, 76, 76,169,205, 81,241,183,119, 71, 57,215,235, 22,176,108,205,
-175,211,110,222,  9,105, 62,124, 80, 15,141,187,155, 43,103, 52, 81, 92,190,121, 79, 88,185,118,123, 86, 90,122,214,101, 34,161,
- 51,205, 49, 87,  0, 64, 41,188, 22, 45,252,193,193,173,130,  2,153,121, 38,124,249,245, 84,204,159, 61,221,162,162,163, 18, 58,
-189,136, 85, 71, 99,146,125,211, 23,  6,207,232, 81,107,198,254, 75,241,235,  7,207,186,121, 23, 64,222, 27, 13,170,181, 28, 35,
-127,122,  2,149, 82,  2,107,181, 12, 60,225,254, 96,174, 86,127, 91,239,253,161,239,123, 78,154,179,233,209, 70,  0, 82,  0,114,
-  0,186, 55, 71,107,124, 91,170,173, 42,108,237,248,201, 76,107,181,181, 19,250,247,236,232,123,225,248,174, 19,209,209, 17,240,
-168,217, 84,103, 50,137,167,179,179,210, 87,228, 38, 62,126, 80,218,126, 87,174, 92,185,111,231,206,157, 53,223,126,251,173,212,
-205,205, 13,191,237, 63,237,214,230,195,209,237, 98, 19, 83,157,  1,192,205,169, 66,194,144,  1, 93, 79, 28, 57,114, 36, 54, 54,
- 54,214,106,238,220,185, 77,119,239,222, 93,  7,192,118,115,243,154, 82, 17, 38,129, 66, 16, 41, 68, 42, 34, 53, 91, 95, 46, 83,
-241, 90,  3, 65, 84,147,191,157, 56, 67,149,160,181,196,143,107,159,192,223,203,145,116,236, 51, 82,181, 99,205,188,177,  0,  6,
-189,109,180, 74,103,  4, 22,158, 50,211,183, 18,206,109,237,170, 37, 14, 21, 44,101,224,  9,  1, 47,225,192,115, 64,142, 78,192,
-192,207, 70,189,213, 57,163,114,173,229,206, 83,227, 32, 75,215,154,131, 62,248,160,183, 75,223, 62,189, 40,207,115,216,185,231,
- 96,151, 95,183,111, 76,176,112,241,217, 40, 16,233, 38,109,220,131, 24,179,242, 69, 20, 28, 14,252,190, 17, 21,172,100,224,  8,
-144,154, 45, 32, 60, 81,139, 81, 95, 14, 43, 87,148,154, 16, 98,243, 69,183, 42,237,239,110,110,211,194,167,162,165,247,221,103,
- 25,143, 62,249, 62,248,199,227, 49,213, 27,205, 88, 80,  3,121,186,124, 12,255,122, 10, 82,226, 34,154, 31, 59,188,191,121,133,
-234,237,159, 18,125,214,244,148,240,171,  7, 95,167,169,211,233, 50, 58,118,232,108,229,236,236,168, 90,191,110,109,187,180, 76,
- 45,210, 50,178,145,156,150,133,148,212,116,196, 39,166, 32, 54, 46, 30, 49,209,177, 98, 26,159,140,163, 71, 15,115, 93,187,118,
- 21,202,154,118,173, 65,196,157,231, 57,168,228,211,  0,118,142,238,  8,120,239,147, 74,119,206,237,248,205,194,185,230,194,156,
-132,135,211,205, 50,250,142, 62, 63,244,238,247,201,144,222, 61,123, 72,170,123,187,115,  9,201, 25,244,210,213,224,244,165,139,
-151, 61,108,210,162,101,205,174, 29,219,218, 14,251,184, 87,139,199,161, 49,205,182,255,190,119,145,133, 67,245, 45, 57,201,143,
- 71,149,245, 60, 80, 59, 85, 95,223,234,253, 79,122,248, 53,108,135,208,208, 80, 60, 11,185,137,150,109, 58,160, 67,231, 15,160,
-207,215,245,221,180,110,105, 48,128, 53, 37,110,239,239, 47,181,201,176, 81,189, 84, 23,187,250, 72,  0, 10, 74, 41, 76,218, 76,
-153,198,169,174,157,173,103, 91,  3,  0,100,216,100,104,105,112,176,145, 93, 58, 25,140,119,108,176, 56, 94,222,113,204,224, 78,
-242,  9,171,175, 32,234,250,175,218,132,219,191,217, 23,125,231,238,223, 39, 36, 38,120,135,239,203, 23,210,210, 71, 24, 16,226,
- 47,181,113,195,215,142, 46, 46,195,250,127, 58,146,175,228,238,196,229,232, 76,166,196,184, 24,122,244,192,246, 47,172, 43,214,
-253, 33, 51,234,206,207,175,211, 36,222, 29,229, 52,244,136, 62,225,246,190, 71,  0,122, 59,214,234,235,120,233,250,253,113,182,
- 54, 86,189, 76,130,  9,217,217,121, 59, 51, 50,140, 11,147, 30,108, 79, 42, 86, 41,145,226,119,116,175, 75,167,173,133, 12, 95,
-175,127, 10,157, 94,  0,165, 20, 14, 54,114,204,219, 21,  9,  9, 79,146,107,101, 44, 92, 60,179,135, 97,232,111,151,244, 59, 39,
-239,241,104,  2, 92, 94, 79, 41,205,121,109, 58,  1,240, 28,160, 81, 73,161, 81, 74, 96,169,146,162,160,231,214,127,205,213,143,
- 99,235,188, 63,236,125,207,201,115,183, 62,222, 48,101,237,195,203,  0, 66,139,247,119, 42, 41,157, 86, 46,126,253,108, 29,220,
- 22,118, 27, 58,203, 50, 34,157,131,212,  4,216,187,122,146,233, 51,102, 89, 41,229, 28, 84, 82,106,117,239,241,243,126, 95,126,
-249, 85,103,181,107,141,206,121,113,143,110,191, 41,143,180, 90,173, 98,192,128,  1, 82,157, 78,103,248,116,204,188,102, 17,209,
-137,239,205,158, 62, 78, 81,209,205, 17,130, 72,113,255, 73,180,247,140,217,139,220, 15,157,184,122,180, 87,251,218,199, 93, 92,
- 92,108,180, 90,173, 88,150,124,207,204,204,218,182,117,207,201,241,203, 22, 47, 64, 68, 98, 46,182,110,255, 29,130, 32,110,122,
-179, 41,123, 89,115,198,140, 25,206,126,126,126,178,  7, 15, 30, 36, 82, 74,181,175,172,221,177, 82,165,138,216,176, 35, 18,105,
-217, 70, 60, 79,200, 71,147,234,190,132,138,134, 54,101, 44,159, 13,198,125, 53,188,179, 72,129,197,203,126, 42, 48, 92,  4,254,
- 83,150,239,  4,  8, 73,  2,112,179,180,116, 18, 14,176,183,148, 97,206,239, 17, 80,201, 37, 80,201,121,168, 20,  5,127,  9,136,
-153,134,244,143,233,212, 56, 87, 31, 91,167, 86,221, 25,159,125,246, 41,215, 36,168, 33,229,121,  9, 18, 51,141,132, 35,192, 87,
- 35,134, 99,228, 23, 67,157,194,194,163, 38,174,254,105,205,120, 11,167, 26,243,114, 18, 31,205, 54,103,223, 43, 88,202, 48,109,
-107, 56, 84,138,130,116,214,171, 98, 97,118,253,240,170,166,107,157, 78,135,207, 36, 73,125,178, 15,233,174, 63,123,122,123,254,
-141,123,145, 55, 41,165,233,142,126,221,161, 55, 81,228,104,141,120, 16,101,130,168,147,162,123,135,  0,212,177,177,175,182,108,
-211,153,117,132, 16,167,162,243,243, 85,205,152,199, 87, 26,216,250,247,178,162,185,234,123, 11,246, 68,216, 87,114,178,130,179,
-173, 37, 28, 92, 43,160, 70, 13, 31,216,106,164,176, 82,241, 80,201,121,174, 69,135, 94,104,223,190,163, 86, 16, 77, 73,101,201,
-119, 66,201,224, 15, 58, 53,223, 68,  0, 25,199,203,226, 92, 42, 85,245,  8,236,240,153,178, 65,187, 79, 96,212,235,198, 90, 56,
-251,158,203, 73,  8, 57, 91,154,166,141,131,235,192,193,159, 14,149,121, 58, 41,112,250,220, 21,211,164,201,147,239,103,230,164,
- 47,202,137,127, 22,114,234,244,113,103,107, 91,187,201,147,166,206,106,220, 58,168, 30,223,182,115, 31,217,209,163,199,123,  2,
- 24, 85, 90, 58,  9, 33,156,202,177,234,224,170, 53,234,140,249,124,234,154, 74,177,169,122,216,186, 86,195,189,219, 55,113,116,
-231,138, 59,249, 57,153,203,142, 31,218, 53,102,250,156,229,181, 59,119,235,141,131,123,119,140, 34,132,172,165,  5,188,208,180,
-171,218,162,109,237, 74,126,235,157,171, 59,218, 21,215, 23, 41,143, 25,243,150, 67,151,147,142,202,174, 54,206,150, 53,189, 35,
- 41, 71, 64, 69, 32, 57, 57, 65,111,239,211,226,131,148, 39,231,206,150,165,158, 47, 43, 76,243,223,169, 89, 10,  1,  0, 28,  0,
- 36,  3,184,241,202,103, 20,190, 71,  9,159, 83, 10, 47,193, 21,  0,232, 11,131, 22, 69, 20,125,126,221,242,162,237, 67,  0,212,
- 44,212, 20,  0, 92,  7,144, 94,170,193, 42,244, 26,164,216,201,251,210,231,151,239,112,141,110, 14, 78,206, 16,104,228, 75,151,
-134, 74,129,125, 83, 70, 15,237,165,114,169,215, 51, 57,254,246,239,102,223,237,170,220,171,185,218, 84,180, 58, 60,226,171,111,
-173,191,248,184,171,197,163,232,188,236,144,200,188, 44,168, 40,108, 61, 42, 72,252,218, 59,  8, 73,191, 45,156,108,237, 86, 59,
- 35, 51,246,222,174,146, 52, 28,173,236, 66,220, 27,125,154,174,207,203,253, 46,229,193,206,163,133,253,130,190,113,111,220,107,
- 26,  0,196, 92,217,249,194,160, 56,214,235,209, 72,161,176,153,225,218,160,127,  5,  0,245, 75, 75, 95, 90,142,  1,130, 80,224,
-195, 56,142, 32, 87, 39, 64, 41,227, 82,124, 82, 23,188, 48, 87,151,232,144,143,141,116,135,172,184,185, 42,185, 82,  4,210,178,
-141,208, 40, 37,176, 80, 74, 96,161,146,128, 43,116, 88,132, 16,205,138, 49,117,186,126,222,195,123,242,188, 45, 79, 54, 78,254,
- 41,228, 50,128, 39,148,210,140, 55,105, 90, 57,213,104, 40,183,182, 95,252,217,183, 75, 52, 23,159,228,194,213, 78, 14,191, 74,
- 86,176, 86,203, 17,155, 86,208,167, 63, 46, 85,  7,157,193, 18,221,135,204,176, 58,178,115,229,121, 91,247, 58,155,210, 99,238,
-142, 40,109,223,119, 31, 58, 95,229,121, 84,194,123,191,253,178, 80,145,150,  7, 68,166,137, 72,203,214, 67,207,219, 98,202,244,
-153,138,  9, 19,198,119, 64,126,106,108,213, 74,118,241,101, 62, 49, 73,222,162,157,123,142,127,227,231,223,156, 59,123,230, 12,
-238,222,188,176, 51,249,254,222, 50, 53, 15, 86,172, 88,209,180,124,249,114,235,165, 75,151,182,176,181,181,141, 78, 79, 79, 15,
- 41, 60,150,238, 21, 42,250, 37, 30, 61,115,163, 82,157,202,158, 36, 58, 85,143, 26, 30,150,120,122,255,170,200, 75,100,199,222,
-164,233, 88,235,253,233, 32,124,189,130, 68, 10,183,213, 78, 53, 97, 52, 81,172, 57, 86, 16,  0,226,  9, 23,240,205,216,225,142,
-130, 64,177, 96,201,106,179,250, 95, 17,112,224,121,  2,181, 66,130, 59,199,215,102,230,231,101, 25, 72, 97, 19,161, 72,133,216,
-114, 87, 53, 34,233,127,116,223, 22, 46, 62,195,132,167,  9,249, 36, 38, 53, 23, 28, 40, 42, 88,242, 48, 24,165,200,206, 72, 34,
- 59,118,108,199,221, 91,215, 57, 66,184,143,  1,204, 54,235, 38,138,  3,148,114, 30, 74, 57, 15,149,140, 71, 78,126,129,119,118,
-244,235,190,133,  2,153, 18, 94,146, 19,127,231,247, 73,102,157,223,106,155,218,155,215, 46,192,241, 11,193,205,206,134,110,170,
-239, 84,171,246,234,138,126,253,150,  2,128,193, 36, 34, 47, 39, 19, 26, 99, 36,154, 85, 78, 65,  5,181,128, 39,233,174,184, 27,
- 35,209,148,214,156,149, 30,188, 51,203,201,247,253, 81,119, 46, 30,222, 33,105,249,  1, 50,114,  5, 68, 42,244, 80, 43, 36,133,
- 47, 30, 15,239, 94, 67, 66,150,120,209, 82,175,126, 63, 50,244, 72,153, 66,164, 57,137, 33,103,  0,184,255, 55, 66,236,109, 31,
-191,106,236,207,189, 70,175,104, 27,208,254, 83,242,244,198,137,111,  1,156, 45, 53,130,101, 99, 39,  9, 75, 20, 16, 30,241, 92,
- 12,108,216, 88,114,245,226,233,122, 39,206, 92,222,180,101,235,214,252, 78, 31,126,172,108,211,164, 46, 31,157,170,199,242,221,
- 15,233,131,120, 74,228,154, 10, 82, 51, 34, 86,156,131,119,192, 47, 27, 55,110,235,233, 91,205,  3,137, 25, 70,196,165, 27,112,
- 62,248, 25, 54,173,157,144,153,145, 20, 54, 24,250,156, 92, 17, 66,230,169,227,251,247, 13, 31, 57,  1,190,126,245, 42,229,196,
-229, 90,  2,120,185, 95,166, 40,126, 50,123,246, 15,118, 26,141,230, 15,191,147,156, 24,135,220,156, 92,200,213, 86, 80, 91, 85,
-128,201, 36,192, 40, 80,100,103,103,203, 39,142,236, 63,196,156,253,103, 48,202, 16,137, 53,199,135, 56, 16, 66, 14, 82, 74,187,
-  0,104, 11, 64, 94,236, 51,  8, 33,  7, 11,141,223, 75,159, 39, 76,152, 48,105,238,220,185, 15,138,214, 45, 90, 94,180,238,155,
-150, 23,219,190,194,196,137, 19,253,230,205,155, 55,167,113,227,198, 59, 46, 95,190,252,220, 44,131, 85,124,103,  8, 33,175,173,
-216,156,235,118,109,  0, 81,194,187, 59, 88,160, 74,101, 15,216,168,  7,169, 92,235,247, 78,150, 72,120,110,195,210,137,202,136,
- 12, 25, 36,156, 36,175, 44,230, 74,193, 91, 29, 95,253,243, 38,139,134,181,171, 40, 22,237,137,  9,143, 73,203,215,139, 38, 35,
-167,203,203,145,165, 39, 60,149,102, 37, 69, 88, 90, 57, 87,231,117, 89,201, 83,  0,148,104,176,228,114, 57,183,108,193,119,190,
-103,207, 93,218,120,192,194, 42,211,165, 94,255,197,188,194,176,169,200, 88, 17,242, 29,231, 84,247, 73, 15,185, 82, 61,190,122,
-237, 22, 46,174,213,  2,173,175, 29,217, 24,106,134, 61,231,199, 79,154,241,194, 92, 25,181,105,248, 97,237,129,236, 54,118,231,
- 22, 21,153,171,237,201,125,251,181,111, 94,205,233,200,  1, 89, 90,233, 23, 90, 83,236,128,207,190,146, 17, 14,224, 64, 10,250,
-113, 81, 49,137, 16,162, 94,254, 85,221, 46, 95,126,232, 53,101,254,214, 39,155, 38,253,244,160,200, 92,149,154,121,217,188,234,
-190, 85,190, 54, 49, 34,244,126,165,145,157,154, 72, 42, 57, 91, 67, 37,151, 32, 35,215,132,140, 60,  1, 49,201, 58,132, 37,228,
-226,126, 88, 50,  4,109, 22,250,127,249, 61,183,225,135,145,239,153,147, 63,135, 78,  7,183,251, 97,206, 36, 69, 90, 46,144,146,
- 35, 32, 46, 77,135,216, 20, 45, 98, 82,180, 80,201,128,198,237,250, 40, 46, 30,222,208,190,106, 37,187, 95,202,122, 50, 37,222,
- 59,158,231,232,215,253, 90,108,124,114, 99,239,106,190,224, 14,239,171, 81,161, 78, 47,215,212,187, 59,227,204,213, 56,114,228,
- 72,138,187,187,187,227,234,213,171,147, 23, 47, 94,236, 87,177, 98,197, 26,209,209,209,251,237,237,237,  7,125, 51,242,211,139,
-171,126, 89,236,218,234,253, 79, 37,117,170,250,113,161, 15,206,136,199,119,255,172,213,107,115, 23,191, 57,147,248,122,209, 55,
-119,180,  1,  0,175,150,163, 42,129,192, 98,217,202,159,138,206,248,  6, 32,128,201, 68,177,243, 82, 98, 25, 42, 14, 64,194,113,
- 80, 43, 36,200,207,203, 50, 68, 94,221, 84,249, 29,213, 73, 84,164, 20,193, 97,121,200,203, 55, 65,111, 20,225,110, 39, 65, 90,
- 82, 52,214, 44,219,140,144,123, 55, 16,208,172, 51,190, 91,178,  9, 19, 70,244, 49,123,212, 39, 71, 72,161,185,146, 64, 41,231,
-145,111, 44,168, 18,150,205,157,192,215,242,173,137,150, 93,  6,152, 29,210,178,180, 80, 33, 91,107,128,198,198,  5,193,167, 54,
-169, 15,157,186, 62,238,135,229,191,124,149,159, 77, 17,243,228, 10, 26,219,166,194,219, 94,143,235, 81,150, 56, 30, 85,  9,213,
-188, 60,193, 73,246,154, 87,134, 66,246, 31,112,172,219, 99,127, 86,205,122,239,219,122,249, 64, 33,227,161,144,113,144,203, 56,
-132, 61,121,128, 95,183,108,124,100, 82,170,123,133,222,219,171,127,219,  3,157,147, 16,154,162,116,242, 25,243,236,214,241,144,
- 38,239,127,  1, 27,231, 74,181,203,178,253,220, 89,147,243,  5,147,209,216,111,208,112,117,215,142,173, 36,141,155,  4,105,110,
- 62, 73,199,252, 13,103,132,139, 71,183,196,203, 20,214, 42,183,160, 97,118,230,152, 43,187, 74,245,126,222,188,229,183,158,158,
- 21,157,113,226,122, 56,110,133,102,192,202,210, 26, 18,141, 11,124, 90,124, 98,125,255,232,210,238,121, 41, 57,219,164, 82,229,
-199, 13, 26, 54,  5,165, 20, 79, 67, 66,210, 51, 50, 44,254, 80, 55,115, 18,238,231,169, 83,190,105,239,232,224, 84,252,206, 29,
- 94,222,213,208,233,253,158, 56,117,118, 39,158,135, 62,133, 72, 41, 68, 10, 80, 74,145,154,146,156,  6,142,219,192, 44,  1,227,
-207, 50, 89,111,242, 33, 69,198,233, 85, 67,244,170,209, 42,122, 95,180,222,220,185,115,187,188, 18,125,235,242,154,168,220, 31,
-214, 43,218,126,222,188,121,115,138,125,111,150,215,145, 20,138,144, 55,237,156, 99,221,110,141,229, 82,139,253, 63, 46,252,138,
- 75,202, 52, 66, 37,231,161,169,232,137,170,131,191, 82,247,107,230,128,184,124, 91, 28, 56,248, 75,182,145,154,142,152,107,174,
-228,156,197,177, 69, 43,127,145,121, 87,118, 37, 51,182, 71,132,234,140,  5,221, 36,244,249, 58, 73,228,221,163,234,152,144, 83,
- 58,152,140,155,121,185,194, 31, 84,116,124,147, 94, 37,103, 27,  4,181,104,171,110,209,162,133,250,248,153, 75,179, 14, 29, 58,
-244,  5, 10,103,168,119,241, 15, 63,229,223,164,147,175,171, 87,109,117,182,158, 64, 46,229,204,205,109,225,135, 57, 51, 80,209,
- 81,  9,173, 94,196,247, 63, 29,206,110, 97,113, 98, 78,113,115,229,228, 94,213, 93,166,208,188,212,212,247, 58, 98,111,108,107,
- 93, 66, 65, 81, 47,249,202,175,235,136, 94, 94, 83,126,216,250,100,243,196,213, 15, 46,  1,120,108,142,185,  2,  0, 26, 23,172,
-181,174,232,215, 98,255,198,133, 83, 14,111, 95,214,146,  3,181,171,225, 83, 77,210,174,221,123,138,186,  1, 65,138,228, 76,138,
-135,225,201,208,229,164,163, 77,227, 26, 56,186,103,139,144,152, 16,109, 86, 31,143,228,244, 44,231, 74,110, 78,  8, 79, 17, 17,
-149, 92, 96,172, 98,146,243, 16,155,170, 69,122,142, 30,  1,158, 78,200,205,213, 59,151,251,100,162,228,224,149, 43, 87, 26, 55,
-106,222, 14, 31,246, 27,230,123,112,247,150,235, 78,181, 62, 24,155,248, 96,247,111,230,108,191,115,231, 78,193,213,213, 53, 52,
- 49, 49,177,233,130,  5, 11,146,125,124,124, 60,102,204,152, 49,201,213,213,213,238,155,177,163, 34, 26, 53,106,180,253,135, 21,
-235,131,246,109, 93, 92, 17,192, 49,163, 33,111, 70, 78,194,147,167,102,156,228, 72, 78, 78,  6, 47, 83, 88,141, 27, 61,220,222,
- 82, 37,  1,199,  1, 25,185,130,227,162,101,171,147, 22, 46, 93,125,  8,  4, 13, 64,208,160, 74,219, 73,191,161,148,145,132, 28,
- 33,224,121, 64,163,148,188, 40, 39,142,117, 62,140, 64,  9,157,201, 11, 60, 30,159,156,120,103, 87,101, 51, 14,160,104, 18, 40,
-116,  6,  1,249,  6,  1, 60,161,200,206, 72,198,236,169, 99, 17,212,186, 27,190,233,245, 57,178,242,121, 60,142, 23, 96, 50,154,
-136,185,249, 18,155,166, 71,199,250,118, 72,201, 54, 33, 61, 87,128, 76, 82,112,190, 28,186,149,138,208,220,204,178,  5,217, 68,
- 10,123, 59,107,168, 83,129, 78, 95,239, 65,171,250,238, 56,179,111,173,228,210,245,123,248,126,254, 10, 56,118,107,132,245,119,
-188,161,176,242,128,194, 90,  1, 35, 45,219,180,124,212, 40,249,250,246,185, 61,173,189,189,198,107,228, 82, 25,228, 82, 30,241,
-209,207,177,101,227,154, 88,147, 20, 93,211,174,109,205,126, 87,149,191,148,227,221,172,237, 28,160,144,114,160, 38,125,110, 89,
-183, 79,136, 75,172,189, 96,214,248, 65, 23,174,246,152, 20,216,113,184,252,236,158,101,249, 33,215, 15,126,153, 27,111,177,219,
-171,169,253, 77,  0,118,165,148, 75, 98,237,226,183,230,167,245, 91,123,187, 56, 59, 98,207,169,187,216,184,238, 71,184,213,106,
-143,208, 91,199,225,225,223, 13, 22,158,173, 33,181,220, 57, 88,195, 73,107, 13, 29, 61,185, 91,253,  6, 65,184,114,241, 52,146,
-146, 99,214, 81,250,248, 15,163,145, 83,158,156, 59, 75,252,253, 29,109,194, 98, 95,244,193,226,120,131,139, 40, 34,184,141,129,
-226,121,232, 83,220,189,117,213, 95, 20,100, 47,162,212, 25, 54, 25, 90,250,140,245,193, 98,188,123, 74,243, 33,165, 69,157,202,
-104,230, 14,150,100,178, 94, 93, 78,  8, 57, 56, 97,194,132, 73,  0,232,132,  9, 19, 38, 21,125,158, 59,119,174, 22, 64,169,  1,
-  1, 73,241,157, 43,177,217,164,110,183,198,114,137,122,255,198,229,147, 85,219,175, 11, 88,112, 36, 24,245,124,156, 32,149,242,
-208, 40,157,113,234, 65, 38, 46,159,223,159, 19,124,243,154,142,151, 10,211,204, 49, 87, 50,162, 58, 60,111,233,234, 12,223,106,
- 30,242,149,135, 19,238,232,140, 34,161,148, 72,  9, 37, 60,165,162, 85,108,200,233,154, 89, 36,165, 49,141, 53,103,  4, 28, 17,
- 13, 38,138,136, 36, 61,  8,  1,154, 52,109,161, 60,126,252,132,234,191, 23, 44,169,109,197,234,254,234,135, 81,185,144, 73, 56,
- 56,218,200, 97,238,112, 26,  7, 27, 57,230,254, 30,  1,169,132, 75,110, 97,113, 98,113,113,115,229,236, 94,213,221,210,202, 10,
-162, 72, 64,  8, 41, 79,  6,171, 23,143,242,235, 50,186, 87,181, 41,139,183, 63,219, 50, 97,213,131,139,230, 70,174,138,147, 25,
-117, 63,  3,192,216,162,207,214, 21,253,108,110,220,188,214,214,218,214,113, 65,243,143,166, 84,200,201,212,163,109, 80,129,185,
-186,123,225,183, 62,121,  9,143,142,154,171,109, 48,137,136, 76,204, 67,120, 66,222,139,232, 85, 76,138, 22, 42, 57, 15,157, 94,
-120,171,147,201, 34, 63,127,205,209,195,251, 58, 26,  5, 52,173,233,223,  2, 31, 14, 30,111,115,114,223,198, 95,156,124,223,215,
- 37,134,236, 63, 96,142, 70, 92, 92,156,214,206,206,238,106, 86, 86, 86,215,173, 91,183,166,  7,  4,  4,240, 54, 54, 54,105,  0,
- 20,132, 26, 12, 87, 79,237,142,200,201,202,250,204, 96, 48,  4,151,225, 36,135,193, 80,208,188,106, 52, 81, 44,216, 19,  9,153,
-132,123, 97, 52,138,248,126,242, 72, 71, 81, 68,231,233,115, 86,148, 26,193,202,205, 23,160, 86, 72,254, 91, 78, 68,193, 97,245,
- 79, 63,193,206,162,160, 69,136,231,  9,210,114,140,136, 79, 51, 96,198,132,145,230, 54,177, 83,147,137, 34,223, 32, 20,152, 44,
-163,  9,214,142, 21, 48,101,225, 22,196,164,234,113,234, 65, 22, 34,147,116,168,231,109,  9,136,230, 21, 80,158,151, 38,247,248,
-232,227, 63,252,190, 82,109,161,147,241, 18,104,148,  5,199,192,177,102,183, 97,132,112, 89,188, 84,154, 31,119,231,183,125,175,
- 79, 33, 32,151,203,225,238,108,  7,131, 81,192,177,107,145,232,220, 38, 16,141,  2,253, 65, 36, 50,220,204,170,  7,133,149,  5,
- 40, 79, 96, 18, 41,244,198,178,149,169,228,144,157,137,206,126,221,199,223,185,114,252,199,247, 58,127,128,244,148,120,108,254,
-121,101,150, 81, 16, 58,167,220,217,157,240,174, 42,126, 11,167,218, 14,106, 43,235, 31,252,131,218, 65,155,153,128,228,216,240,
-125,101,213,200, 77,188,147,  1, 96,181,201,160,159,196,113,  4,196,164, 71,110,252,179,189,  0, 68,160, 94,169,219,107,156,125,
-134,206, 94,178,186,175,135,135,  7,142, 94,124,136,185,147,135,223, 81,171, 45, 43, 59,217, 89, 91,139, 62,117, 17,126,255,  4,
-236, 42,103,192,218,169,154, 91,231,182,131,221, 58,116,234,129,  7,119,131,177,124,225,204,107,185,156,122,193,107,179,168,160,
-195,250,139,166, 67, 59,175, 22, 51, 27, 55,111,  7,189,209,132,192, 38,109,113,231,230,181,225,233,207, 79,142,102,151,127,198,
-255,202,100,153,185, 94,151,183,252,157, 46, 40,232,171,229, 96,110,  4,107,238,220,185, 15,230,206,157, 91, 98, 68,172, 84,131,
-245, 38,115,181, 97,217, 36,213,214,107, 38, 60,138,200,192,123, 13, 92, 16, 31, 23,139,131,219, 87,136,160,128, 92, 41, 79, 52,
-153,196,227,249, 28, 38,167, 95,223,147, 85,154,185,146, 82,197,129, 89, 11,150, 62,172, 87,179, 26,191,234,104,210,229, 60,189,
- 64, 41,136,132,  0, 82,145, 18,  9, 56,165, 70, 20,141,213, 33,216,153, 27,106,162, 38,145, 22, 30, 12,192, 32, 80, 80,136, 47,
-101,146,209, 36, 66, 16,  1,145,  2, 69,235,150,110,128, 10, 70,122,169,100,124,138, 79, 90, 65,159,171,223,139,204,149, 71, 85,
-119, 75, 75, 43, 40,101, 60,104,225,186,101, 52, 87,170,197, 95,250,117,249,170,119,181,169, 75,126,125,186,117,220,202,251, 23,
- 29,124, 58, 57, 74,148, 54,118,174,245,  6, 20, 94,237,  0,  8,162, 54,238,246,182, 83,101,209, 46, 52, 92, 59, 53,206, 62,149,
-227, 67,111, 78,107,215,169, 15,142,236,217, 92,100,174, 14,155,171, 99,111,107,149,112,243, 65,132,183,129,218, 32, 34, 33, 23,
- 49, 41, 90, 36,102, 20,248, 93,  7,107, 25, 98,162, 35,161,209,200,205,190,136, 57,251,245,248,146, 18,124,  2,138,109,137,247,
-247, 44,  9, 13, 61,162, 39,254,195,186,156, 58,178,123,222,243,176,167,195, 27,182,233,133,122, 45, 63,196,209,173, 11, 38,  0,
- 56, 96,174,110, 90, 90, 90,182,173,173,237,133,177, 99,199,190,191,126,253,250, 52,  0,146,172,172, 44,117,143, 30, 61,220, 83,
- 83, 83,199, 80, 74, 35,203,120,226,193, 96, 48, 64, 48,104, 85, 75,150, 44,126, 49, 17, 38, 39, 81, 42,167, 79, 28,229, 40, 82,
-116,254,126,254, 10, 80, 17, 56,117, 55,195, 12, 65, 49,182,223,224,209,  5,101, 68, 20, 95,244,185,178,179,144,226,203,159, 30,
- 65,243,162,223,144,  4,109,235,217,149, 41,169, 70, 65,132, 78, 47, 64,167, 23,144,167, 23,112,237, 73, 38,158,198,230, 32, 75,
-107, 68,190,161,192,172, 24, 12, 34,  0,243, 42,173,226, 83, 49, 56,214,238,190,121,229,220, 73,252,193, 91,169,144,241, 60, 44,
-213, 50, 81, 41, 47, 48,132,171, 22, 79,145,248,212,168,137,214, 29,250, 41,222, 28,193, 18,113,254,198, 83,172,248,253, 14,150,
- 78,234,  5,  9, 71, 48, 98,214,111,232,223,190, 58, 68,145, 34,254,233, 77,184, 84,111,  4,133, 92, 89, 16,189, 54,136,230,156,
- 59,  1, 40, 28, 89, 75, 41, 13, 78,184,191,119,163,123,245,230,243,159,223, 62,168,209,233, 12,162, 65,162,121, 63,249,206,129,
-208,194,117,125,  1,200,  0,228, 83, 74, 31,149,181, 18,182,114,247,181, 21,  5, 83,175,138, 94,190,223,126, 58,122,166,163,218,
-218, 30,187, 54, 45,167,144,114,219,203,148, 81,130,129, 67, 65,159,174, 76,177,176,254, 33, 28, 65, 97,218,236, 68,193,192,151,
- 22,189,242,240,107, 61,166,122, 13, 95, 92,125, 16,131,249, 83, 63,191,163, 75, 10,255, 68,111,105, 59,216,144, 19, 63,170,166,
- 95, 61, 56, 57,217, 35, 49, 62, 30, 45,186,182,199,123,237, 59,224,193,221, 96,204,158, 62,246, 26,151,151,255, 62, 77, 14,209,
-154,147, 78,219,234,205,107,213,174,215, 96,176,119,141, 58, 72, 78, 77,131,167, 79,109,248,248,213, 27,108, 91,189,249,186,244,
-199,231, 31,128,193,248,251,112,  8, 64,231, 87,141,208,171, 38,169, 88,  4,170, 36,110, 20,215, 40, 90,255,117,  6,174,120,159,
- 44,  0,102, 13, 35,151,188,234, 24,139, 62, 59,214,237,214, 88, 38, 85,237,255,101,201, 68,213,150,107, 38, 60,137,204,196,123,
-  1, 46, 72, 73, 73,197,177,223,127,206, 37,156,169,115,194,157,  3, 55,205, 61, 26, 42,247,106,174, 18, 65,186,103,242,204,153,
- 71,155, 53,108, 96, 92,125, 44,254,124,182, 17,162, 40,145, 72,249,124, 81, 66,120, 42,161, 28,149, 42, 84,106,137, 67,149, 64,
-107,132, 93,221,167,113,172, 53, 46, 47,185,194, 35, 74,207,190,113,178, 77, 83,177, 27, 95, 65,160, 40, 30,162,162,  0, 76,  2,
-  5, 45, 26,118,108, 50,207, 96,113,  4,216,124, 42, 62,185, 86,214,194, 23,230,106,107, 74,129,185,178,178,180,130, 66, 86,208,
- 17,152,154, 61, 22,236,191,230,106,193,151,126, 93,191,234, 87,109,234,178,157,161, 91,199, 46,191,127,  1,192, 83,137,210,198,
-238,151,117,139, 21,174, 21,148,224,  0,100,228, 10,232, 51,168,124, 55,142, 22, 78,213, 62,242,111,214,101, 74,235,206,189,112,
-120,215, 47,194,189, 75,187,203,100,174,  0,160, 75,107,255, 19,115,127, 88,230, 62,118,210, 52,133, 92, 74,145,173, 53, 66, 33,
-227,224,104, 45,135,157,154,195,133,163,187,243,155,249, 58, 30, 51, 71,203,174, 97,127, 75,175,138, 21,231, 78,156, 60,145,255,
-229,231,159,191,119,173,253,254,145,184,123,251,159,210,224, 53, 70,  0, 99, 29,253, 62,120,230,230,126, 99,113,197, 90,205, 97,
- 99,239, 86,219,222,231,125,139,148, 39,251,115,204, 77,107,122,122,122,116,229,202,149,159,173, 92,185,178,198,136, 17, 35,242,
- 71,140, 24,225,174,213,106,119,150,213, 92, 21,153,  2,131,193,128,135,199, 22,169,101, 50,153, 26,  0, 76, 38, 19,124, 59, 79,
- 78, 17, 41,213, 28,186,153,  6, 16,146, 52,109,206,138,162,178,255,198,115, 32,234,218,107,230,185, 34,120,201, 92, 89, 40, 37,
-208,230,151,101,170, 33, 66, 13, 38, 17, 70,147,136,124,131,128,124,189,  9, 90,189,136,124,131,248,162,248,243, 28,129,177,160,
-188,151, 57,196, 74, 41,178, 60,171, 87,135,119, 78, 38,212, 74, 14, 42,185, 20, 42,121,193, 61,207,177, 91,105,136,208,103,152,
-119, 44, 11,163, 82,249,  6,  1, 26, 69,193,253,156,222, 88, 48, 42, 55,246,209,217,109,137,161,215,123, 59,251,  4,242,238, 62,
- 65,200, 87,152,149, 76, 27, 74,233,113, 66, 72, 91, 66, 72, 27,  0,180, 98,205, 38,226,190, 61,187,209,165,115,151,188,232,187,
-  7, 85,132,144,102,133,167, 62, 40,165, 23,  9, 33,165,206,129,101,233, 82,179,169, 72,177,153,  0, 42, 80,241,161,147, 75, 69,
-117,243, 86, 93,171, 55,109,221,137,175,236,229,  3,189, 81,192,150,117, 75,233,213, 51,187,199,229,198, 63,185, 91,150, 99,233,
- 90,169, 58,226,163, 35, 71,136,144,252,128,  2, 99,  5, 90,240,148,178, 92, 11,231,170,109, 84,182, 30,111,140, 90,218,216,212,
-183,172, 29,208,210, 61, 50,197,128, 35, 71,142, 32, 47, 43,105,166, 94,159,157,135,124,186,241,244,222, 53, 31,127, 52,236, 59,
-203,192,  6,254,176,177,210,160,130,141, 21,110,221,188,140,  5,179, 38, 93,227,242,242,223, 79, 78, 14, 49,187, 57,147,163,220,
-247, 93,123, 13,230,210, 82,211,177,100,206,183, 24, 62,110, 14,218,190, 63,144,123,250,232,206,247,  0,186,177,107, 58,227,127,
- 21,185,122, 77, 36, 43,185, 88,228,233, 15,159,139,153,162,146, 62,147,194,207,250,215,104,232, 95, 49, 85,250, 87,150,235, 95,
-209,187,243, 86, 17, 44, 30,210,  3,235, 23, 79, 80,238,189,207,227,121,108, 58,222, 11,112, 65, 82,114, 50, 14,109, 91,153,107,
- 20,117,221,147,202, 96,174,  0, 64, 98, 68,199,138,238,206,227,191,232,253, 62,217,121, 47, 53, 56,142, 83, 11, 10,165,132,227,
- 37, 57,188, 84,153,199,229,104,229,188,132,242, 28, 53, 24,248,186,109,199, 92,189,101,204,173,147, 26, 21, 50,217,194, 41,165,
-178,149, 75,141,237, 89,241,143,150,150,164, 43,  8, 38, 36,166,164,193,197, 86,141,196, 12, 35,140,  2, 45, 97, 29, 10, 66,  8,
-212, 10, 30,121,185, 89, 16,133,210,187, 16,168, 45,157, 14,214,202, 90, 24, 94,100,174,182,165, 20, 52, 11, 22, 55, 87, 74, 25,
- 15,142, 16,179, 35, 88,132, 16,213, 15, 35,124,187,140,237, 91, 96,174,198, 44,189,123, 17,192, 83, 74,105,170,107,189,  1,176,
-183,148,225,203, 21, 33,208,104,100,176, 85,203, 32, 41,199,131,140, 44,156,170,125, 84,191, 89,151,117,109,123, 12,231,246,109,
-252,193,244,232,238,165,190,101, 49, 87,130, 32, 16,163,209,136,214, 77,106,199,222, 10,137, 56, 63,107,250,212,230,129,109,123,
- 43,154, 85,119, 70,158,222,132,216,168,104, 92, 56,182, 51,223,197, 86,122,174,106, 37,187,120,163,209, 88,234,  5, 60,221,195,
-144,151,159,161,211, 73, 36, 50, 77,207, 30,157,200,205,224,224,173, 78,181,186,239,  1,200,  3, 16,209, 23,  4,221,234,250,122,
- 33, 29, 20,250,124,173,206, 81, 34, 47,115,199,228,200,200,200,211,203,151, 47,175, 37,149, 74,157,142, 30, 61, 42,230,230,230,
-238, 42,231,137, 14,131,193,128,176,176, 48,240, 60, 15,142,227,192,113, 28,  4,131, 86,245,221,172, 31, 82,  0, 64, 48,228,231,
- 24,114, 18, 31, 37, 61,216,255, 93,121, 43, 20,158,227,160, 86, 72,161, 81,242,208, 40, 36, 80, 41, 36,208, 27,205,159, 40,156,
-128,134, 95,184,114,203,183, 89, 13, 95,  4,135,229,226, 97,180, 30, 58,131,  0, 10, 10, 82, 24,101,180, 86, 73,145, 20, 31,  9,
-145, 10,101, 54,154, 18, 94,146,211,254,253, 63,118,104, 87,107, 44,140,114,  5,  7,141, 76, 86,170,134, 81, 16,208,196,191, 42,
-108,157, 42, 98,194,194,221,  0,128,149, 83, 62,130,163, 21,143,237, 27, 40,146,238,239, 27,234, 88,171,251,252,232,251,103, 39,
-196,220, 61,245, 81,155,134,206,188,147, 50,221,140,211,136,116,  7, 32,  2, 56, 76, 41, 53,121,212,  8, 10,235,208,190,131,155,
- 73, 20,226, 41,165,231, 11, 87,146,  3,104, 78,  8,105,135, 82,230,145, 43,200,119,242, 75,240,141,235, 14,  6, 19,197,169, 75,
-119,  2,155, 54,170,  7,189,145, 34, 55,223,128, 91,193,119,176,111,215,150,188, 71,247,111,124,146,151,240,196,236,115, 41, 49,
- 58,226,100, 76,196,211,206,  3,134, 79, 82,212,111,220,102,200,254, 29,171, 63,162,133, 33, 44, 66,128,202,141,  6, 92,119,174,
-221,189,186,196,194,153,131, 33,131,230, 38,133, 95, 41, 73, 39, 35,195, 34,239, 73,200,237,140,231,  9,122, 27,137, 77, 85, 72,
-101, 22,159, 18,107,247, 31,121,133,122,146, 91,163,143, 45,207, 94,186,138,144,219, 23,225,106,175, 65,120,216,211,188,144,187,
- 55,127,206,133,108, 14, 77, 14, 49,123,208,145,131,111, 75,167,106,213,107,183,182,180,113,192,238,237, 63, 35, 51, 61,117,201,
-233,163,187,199,180,233, 58,  8, 30, 94,190,173, 29,124, 91, 58, 37,135,156, 77,  4,131,241,215,113,163,148,207,239, 66,243,157,
- 34,121,253,133,214,164,180,119,174,132, 93, 95, 12,194,180,185, 43,112,239,113, 36,142,236,248,177,208, 92,237,187, 98,166,161,
-120,241,180,237,236,196,167, 47,230,178, 26, 28, 84,  1,131, 95,220, 83,218,151,188,241,228, 45,113,  0, 14,191, 73, 19,  0,242,
-115,179,250,141,249,246,187, 85, 77, 26,  5,184, 53,107,211,222,210, 36, 40, 65, 95,105, 18,161,  0, 28, 52, 20,207,239,158,204,
- 72,142,121,244, 68,212,166,127,249, 38, 77, 66,136, 98,218, 96,159, 75, 51,122,212,154,241,251, 37,253,206,115,194,103, 31,183,
-  9,170,234, 36, 85, 88, 20, 94,190, 72,193, 63,142, 64, 46,231, 75,116, 23, 37,105,206,251,210,183,243,184,190,213,167, 45,255,
- 61,116, 91,161,185,122, 66, 41, 77, 45, 90, 71,198,243,176,210,200, 96,165,150,193, 86, 35, 45, 85,243, 15, 23, 63,231, 26, 29,
- 27, 20,153,171, 77,230,153,171, 18,210,121,179, 71,143, 30,245, 62,255,252,115,249,216, 33, 93,206,157,187, 26, 18,246,235,209,
-223,218,165,165,102, 57, 11,130,  0,141, 70,158, 16, 84,195,254, 68,181, 74,118,177,247,238,221, 19, 79,157, 58,149, 47,  8,194,
-173, 55,105,210,157, 59,  5,251,218,221,119,223,188,125,111, 80,253,186,181,176,106,197,162, 26, 79,195, 34,106,132, 62,143,130,
-155,155, 27,220,220,220,144,101, 82, 35,236,218,125,228,101,167, 30,136,  8,217,103, 40,235,190, 83, 74, 77,132,144, 77, 83,167,
- 78,157,156,150,150, 54,223,156,153,167, 75,210, 44, 50, 88, 69,198,170,200,100,133, 28, 93,168,150,201,100,106, 66,  8, 76, 38,
-147,189,103,227,129,245,204,213, 44,209,116,230, 20, 76,217,161, 41,156,111, 74,163,144,192, 32,152,159, 78,169, 65, 61,124,244,
-151, 67,158,215,242,243,255,242,163,143,135,203,  2,171, 85,198,141,103, 89,176,179,144,194,217, 86,142,148,228, 84,220,220,187,
-216,148, 17,115,239,103, 78,138,185,101, 77,103,241,169, 24, 28,107,246, 24,190,106,241, 36,254,216,173, 52,200, 21, 28, 52,114,
-133,168, 86,243,165,166, 51, 61, 35,251,202,194,229, 63, 55, 30,216,167, 27, 58, 54,174,140, 11,119, 99, 33,210,130,166,122, 65,
- 44,200,158,228,144,125,250, 81,125, 60, 47, 13,123,191,154, 99,166, 54,185,234,180,  8,195, 53, 66,  8, 87,148,127,127, 40, 75,
-148, 30, 35,132,240,  0,  2,  1,180, 35,132, 92,160,148, 54,125, 37, 29, 30,  0,106,  1,  8, 47,188,129, 17,205,216,119, 98, 48,
- 81,132, 39,106,113,249,242, 37,232,242,178, 16, 26,250, 12, 39,142,236,189,153,157,153,186, 81,105,162,187,243, 82,158,228,148,
-165, 44,105,197,156,177, 11,167, 12, 21,253,155,183,111,223,233,131,193,242,241,179,215,217,132,134, 62, 19, 68, 17,208,120,117,
-148,187,121,105,106,114,212, 64, 83, 31,237,215, 71,221, 58,112, 82,224,184,113, 37,105, 82,122,214,100,225, 92,253,231, 75,151,
-206,125,171,116,245, 71,141,206,147, 58,199,222,217,223,217,217,183, 61,236,189,131, 16,119,103, 31,238, 94,222,126,236,150, 32,
- 76, 85, 10,136,206, 73,126,156, 91,150,116,  2,128,152, 47,244,172, 85,191, 41,167,213,233,241,224,214,149,232,140,231, 23,166,
- 61,212, 88,126,208,232,189,190, 30,222, 53, 27,113,209, 79,238,245,  4,176,226,109,202,124, 89, 96,154,255, 78,205,127, 26,146,
-215,223,193, 74,243,111,220,125,162,232,244,233, 28,  4, 63,  8,199,201, 93,171,203,100,174,254, 87,164,134,236,190,  9,160,129,
-147, 95,239,247,175,222,  8,158, 91,187,126, 67, 59, 81,252,239,112, 36, 42,138,252,221, 27, 23,115, 83, 35,130,227, 76,186,220,
-177,  9,119,127, 43,117,254,150, 97,221, 61, 91,204,248,180, 96,134,246,241,123,220,252, 76,194,118,254,168, 84,150, 76, 64, 80,
-248, 31,132, 16,112, 92,193,123,163,201,152,105, 70, 82,157,191,234,233,243,201,202,221,161,219,190, 90,114,247, 66, 81,228,234,
-165,139,110,158,  1, 86,106, 25,172, 52, 82,104,172,100,224,203,120, 44,228, 82,229,144,214, 93, 63, 53,219, 92,149, 68,114,114,
-242, 29, 66,200,163, 69,139, 22,  5,172, 93,187,214,123,220,184,113,145, 63,207, 30,246, 11,  0, 28, 59, 86,208, 34,248,228,201,
- 19,172, 92,185, 67,151,159,159,255, 44, 55, 55,247, 26,165,180,212,136,147, 32,149, 78,220,244,243, 79, 53, 18,186,124,216,160,
-146, 87,117,216, 56, 87, 71, 99,183,234,200,200, 51,226, 65,116, 26,194,158,221,198,253, 43,  7,239,201, 69,217, 56, 51, 79,238,
- 32,  0, 29, 81,208, 73,209,  1,128, 35,  0,135,148,148, 20,  7,  0,239, 19, 66,146, 11, 67,185, 69,175, 19,148,210, 82,243, 94,
-171,213,194,104, 52, 22,230,239,127, 13,214,179,103,207, 94,138,104,189, 45,241,233,122,180,173,107,  7,109,190,128,124, 35,133,
- 65,192,139, 38, 52,115, 40,124,214,228, 20,149, 91,237,159, 30,140, 25, 50,205, 47,160,105,159,102, 29,251,115,170, 10,150, 56,
-119,112, 61, 13,191,125,116,183,132,136,223,229, 38, 61, 13,127,251,138, 20,153,222,213,106, 34, 66,159,  1, 43,133, 12,106, 37,
- 15,141, 82, 90,122, 89,178,203,236,112,250,244,249,254, 39, 78,157,159,217,182, 85, 83,187,105,131,187, 97,231,161, 75,176, 80,
-201, 64, 69,  1,189, 91, 85,234,241,112,251,123,157, 60, 28,212,174,187,207, 69, 95, 28,177,244,254,196,220, 92,195,179,210,204,
-113,225, 12,254, 87,  8, 33, 53,  0,116, 37,132,152,  0,168,  0,228,162, 96,110, 26, 21,128,203,165,205, 35,247,242, 62,210, 79,
- 26, 55, 14,220, 66, 64,229,160, 88,119,106, 31, 14,139,144,134,231, 36,222, 75, 46,239,113,203,139,126, 18, 15,160,159,165, 75,
-205,166,119,175,156,158,209,188, 67,207,122,205, 59, 15,144, 70,164, 24, 33, 74, 44,144, 27,118,209, 16,113,243,215,123, 38,189,
-110, 70, 78,194,227,115,111,210,202,229,212, 11,110, 31, 92,208,172, 90,235, 81, 13, 43,120,  7,193,182,146, 63,  0, 32, 51,230,
-  1,162,111,236, 58,152, 21, 39, 29, 64,233,189,114,143,238,147, 40,149,125,171,214,172,143,199, 33,119,160,205,203,254,149, 82,
- 42,218,121, 55,255, 53,236,241,221,111, 93,189,234,129,147, 43,251,190,206, 96, 49, 24,140, 50, 26, 44, 19, 12, 93,102,124,191,
- 96,191, 40,154, 84, 60, 47,209, 10, 48,254,237,204,213, 75,225,248,251,191,238, 39,189,122, 29, 50, 94, 61, 63, 84, 34,145,180,
-254,111,244, 74, 12, 78,121,122,233,124,220,237,237,155,204,125, 30, 87, 98,138,206,180,236,183,167,203,198, 44,191,255, 16,192,
-250,210, 38, 17, 53,247,154,170,104,177,107, 60,  0, 11,  0,207, 40,165, 41,175,220, 67,106,251,127,242,245,139,102, 65, 30,128,
-  8,170, 45,203, 15, 24,141,218,165,139, 38,244,210,155,140,194,250,188,164, 71, 39,203,155,208, 66,195,116,145, 16,114,123,226,
-196,137,141,157,157,157, 93,167, 76,153,162,138,141,141,149, 28, 57,114, 68,151,157,157, 29,155,157,157,125,129, 82,106,118, 19,
- 68,122,240,206, 44,210,178,101,155,  3,191,111,255,  0, 60,109,103,231,224,218,218,206,222,217, 62, 45, 37, 62, 45, 53, 57,225,
- 52, 17,133,147, 73, 50,199,223,105,200, 26,163,153,105,188, 12,224,242, 59, 45, 68, 84,184, 93,171,205,112,179,215, 45,183, 97,
-225,249,228,233,227, 75, 30, 45, 40,145, 74,203,116, 65,215,198,222,139,  5, 48,212,194,185,230,178,251,183, 46, 79,226, 40,164,
- 38, 34,206,207, 75,122,124,235, 93, 29, 22, 94, 42,205,111,215,249,143, 29,218,101, 10,233, 27, 59,122,210,179,103, 77,  0, 54,
-146,150, 45,183,158, 57,123,177,255,201, 51, 23,103,  6,181,236,100,167,168,226,141, 74,182,  6,108,250,198,255,243, 19,183,146,
-130,187,125,123, 97,109,104,172,238,126,241,167, 22,152, 89,  6, 30, 17, 66,210,  1,116,164,148,254, 66,  8, 25, 12, 32, 20,192,
-185,178, 62, 59, 47, 59,254,225, 69,  0,149,254,140,186, 41, 59,254,225, 69, 66, 72,155,147,  7,243, 62,184,122,238,232,252,166,
-157,250,219,221, 57,184, 33, 91,175,203,252, 38, 55,254,217,239,230,164,149,198,  5,107,137, 83,237,174, 79,142, 45,156, 96, 23,
-122,113,168,202,206, 67,147,155, 18,145,158, 30,121,115,105, 94,162,211,178,210,250,169,150,134,189,163,171,187, 72,100,184, 27,
-124, 17,156, 68,186,  3,  0, 56,137,116,199,163,219, 23,191,173,224,238, 11,107, 59,151, 26,175, 62,  1,131,193, 96,148, 94, 73,
-253,105, 47,  0,126,255,143,154, 40,  8, 76, 57,  0,176,120,215,233,  4, 32,251,127, 59,158,  0,108, 84, 42, 85,  7,107,107,235,
-247, 81,208,201,248,157,164,211, 54,176,159,229, 63,189, 44, 49,205, 98,223,183,104, 33,113,170,213,237, 99,251, 90,239, 71,124,
-212,163, 69, 72, 83, 63,199,214,165,157, 99,102,150,207, 94,  0,  6,  3,232,245,119, 63,158, 64, 11,137,218,181,110,109,184,184,
-168,202, 93,135,212,172, 41, 83, 59,248, 58,  2, 45, 36,239, 42,157,182,158,205,198, 85,107, 58, 48,193,198,171,197,188,226,203,
-109,188,154, 79,242,108, 50, 32,198,214,179,217, 56, 86,230,153,230,159,173,249, 79,123, 73,152,197, 44,209,116, 82,252,119,148,
-193,187,214, 54,252, 31, 30,143, 12,  0, 71,223,181,238,187,156,  8,146,241,127, 80,142, 10, 35, 90,  0, 54, 22,239,103,245, 14,
-202,231,206,255,159,115,233,172,  9,192,189,183,210,  8,  9, 49,  0, 72,122,167,231, 98,216,249,133,  0,254, 48, 97,110,122,232,
-185, 57,  0,230,176,210,203, 96,148, 29,142, 29,  2,  6,131,241, 23,152,118,145, 29,  5,  6,131,241, 79,134,160,240,145, 50, 37,
- 84,128,102,143, 14, 32,132,248,149,163,130,189,207, 52,153, 38,211,100,154, 76,147,105, 50,205,127,151,102,105,218,255,148,209,
-137,228,207,236,179,200,134,176, 50, 77,166,201, 52,153, 38,211,100,154, 76,243,223,  8,107, 34,100, 48, 74,175, 72, 28,  9, 33,
-142,236, 72, 48, 24, 12,  6,227,111,107,176,204,189, 88,189,205, 69,141, 93, 16,255,148,124,147, 16, 66,190,182,181,181,189,234,
-233,233,153,100,109,109,125,149, 16, 50,150, 16, 34, 45,175,166,155,155, 91, 67, 87, 87,215,149,206,206,206,171, 93, 93, 93,131,
-254,196,180,187, 18, 66, 92,203,185,237, 76, 66, 16, 86,240, 34, 51, 89, 73, 96, 48, 24, 12,134, 57,188,118, 20, 97,179,102,205,
- 46, 74, 36, 18, 55,137, 68, 98,238,115,204,168,209,104,140, 61,123,246,108,211, 82, 46, 86, 99, 10,223, 47,161,148, 78,123,155,
-245,204,216,118, 37,165,116, 98,121, 46,200,  0, 64, 41,141,  3,  0,119,119,119, 47, 81, 20,155, 75,165,210,234, 70,163,241, 49,
-199,113,231, 99, 98, 98,194,254,102,  6,136,175, 89,211,123,  0, 79, 72, 19,  0, 54,  0, 50, 76, 34,189,236,224,224,186,229,236,
- 89,243,231,200, 33,132, 72,  0,140,210,104, 52, 61,213,106,117,149,156,156,156,231, 90,173,118,175, 92, 46,111,189,124,249,114,
-183,198,141, 27, 91, 38, 39, 39, 19,142,227, 28, 15, 30, 60,216,111,249,242,229,109,  9, 33,157, 41,165,101,158,135, 71, 16,132,
-  1,251,247,239,175,  5,  0,157, 58,117,250,132, 16,114,149, 82, 42,190,122,252, 75, 72, 35,113,113,113,  9,  2,128,248,248,248,
-203,148, 82,234,234,234,218, 68,161, 80,124,  2,  0,249,249,249, 27,226,226,226, 46,189,131,178,228, 72,  8,198, 20, 77, 92,203,
-113,228,107, 75, 75,203,109,217,217,217, 79,139,190, 47, 76,103, 18,171, 74, 24, 12,  6,131, 97,150,193,226, 56,206,109,221,186,
-117, 14, 42,149, 10,164,240, 97,123,164,216, 67,247,  8, 33, 47, 62, 27,141, 70,104,181, 90,124,249,229,151,166, 50, 92,172,198,
-182,107,215,238, 61,165, 82,249,210,196,146, 58,157, 78, 74,  8,124,139,158, 58,207,113,100, 12, 33,228, 71,115, 46, 98, 69,191,
-161,215,231,115, 82,169, 28, 60,207,141,170, 91,183,110,189,228,228,228,179,  0,214,197,197,197,165,154,161,241, 43,128, 46,132,
- 16, 88, 88, 88,220,240,242,242, 74,253,236,179,207,156,219,180,105,131,202,149, 43, 35, 62, 62,190,225,153, 51,103, 62,105,208,
-160, 65, 66, 66, 66,194,105, 74,233,217,184,184,184,167,111,105,142, 28,236,236,236, 58,202,100, 50, 25,199,113,233,113,113,113,
-151, 41,165,  9,101, 49, 87,126,190,213, 22, 13, 29, 54,188, 70,143, 30, 61, 92, 84,106, 75,101, 84, 84,104,220,207,107,127,178,
-190,120,225, 82, 93, 66,200,152,194,217,175,205,137, 82, 29,152, 62,125,186,107,211,166, 77, 45, 83, 83, 83, 97, 50,153, 42,236,
-221,187,119,104,253,250,245, 45,221,220,220,228,155, 55,111, 70, 78, 78, 14,  4, 65,176,245,242,242,178,237,219,183,175,126,243,
-230,205,163,  0, 44, 46,235,126,139,162,200, 23,254, 37,130, 32, 72,  1,240,132,144, 25,165, 25, 34, 55, 55,183,128,110,221,186,
-205, 83, 40, 20,216,190,125,251, 78,  0,203,  1,244, 62,121,242,100, 53,  0,104,218,180,105,111,  0,151,108,108,108,234, 18,130,
-175, 69,177,224,209, 73,101, 41, 75, 37,209,185,115, 23, 16, 66, 86, 58, 59, 59, 95, 74, 73, 73,113, 35,  4,189,203, 99,220, 24,
- 12,  6,131,241, 47, 54, 88,  0,160, 82,169,112,224,192,  1, 80, 74, 95, 60, 54,164,232, 17, 34, 55,115,252,160, 51, 73,145, 19,
-127, 23, 31,212,151,162,126,253,250, 47, 25,176,215, 93,195,139, 27,180,209,163, 71,195,201,201,233,165, 21, 18, 19, 19,113,250,
-244,169, 18,183, 49,215,111, 20,255, 48,107,214, 44,235,180,180,180,206,235,215,175,111,235,226,226,242, 93,124,124,252,133, 82,
- 34, 87, 93,138, 58,254,191,247,222,123,  1,107,214,172,121,152,157,157,109,184,118,237,154,225,167,159,126,138,107,213,170,149,
-107,207,158, 61,101,163, 70,141,114,126,254,252,121,255,  3,  7, 14,244,183,181,181,221,159,158,158,190,160, 60, 25,160,209,104,
-252,186,117,235,214,246,151, 95,126,145,171,213,106,132,133,133, 85, 24, 48, 96,128, 19, 33,228,215, 87, 31,165,243, 58,106,214,
-244, 30, 48,100,232, 80,159,225,159,143,240, 55, 24,244,121,119,131,207,158,150,200, 56,254,203, 47, 63,181, 78, 77, 77,180, 19,
- 69, 58,  0,  5,243, 15,149,198,168, 41, 83,166,184,120,121,121, 85,220,182,109, 27,114,114,114,  0,192,193,211,211, 19,213,170,
- 85, 19,206,157, 59,  7, 31, 31, 31, 88, 90, 90,226,220,185,115,184,114,229, 10,252,253,253, 45,100, 50,217,135,111, 50, 88,110,
-110,110,181,221,220,220,166, 58, 21,102,118,209,241,173, 87,175, 30, 70,143, 30, 13,157, 78,135,170, 85,171,122,170, 84,170, 75,
-231,206,157, 53,199, 92, 43,237,237,237, 49,124,248,112,228,228,228,244,114,115,115, 11,167,148, 74, 10,211, 11, 74,169, 99,181,
-106,213,182,180,108,217,178,234,254,253,251, 72,121, 79, 14, 74,105, 18, 33,100, 73,215,174, 93,190,  6,  8, 90,183,110,157, 54,
-122,244,104,225,225,195,135,205, 62,248,160, 71,224,147, 39, 79,223,137,113, 99, 48, 24, 12,198,191,200, 96, 21, 69,168, 78,158,
- 60,  9,189,254,143,143,154,179,109, 81, 31,227, 62,168,132, 79, 70,110,194,142,103,161,168, 93,187, 54, 94, 29,145,248,202, 67,
- 90,147,120,158, 95,199,113,100,  8, 33,  4,245,234,213, 79, 90,180,104, 81, 73,143, 69, 49,214,171, 87, 63,137,231, 57, 71, 74,
- 41,  8,225,126, 22, 69, 33,169, 36,205,215, 93, 16,229,114,197, 24,  0,112,113,113, 77, 58,116,232,144,177,103,207,158, 88,184,
-112,161,124,252,248,241,211,221,220,220,  6,197,198,198,198,190, 46,157,197,241,240,240,192,227,199,143, 49,121,242,228,132,196,
-196,196,117,  9,  9,  9,143,183,110,221, 90,201,211,211,243,147,181,107,215,122,  6,  5,  5,113, 29, 58,116,192,193,131,  7,235,
-150,144,150,210,134,190, 74,  1, 84,105,217,178,101,155,223,127,255, 93,158,149,149,133,200,200, 72,168,213,106, 76,155, 54,205,
-242,243,207, 63,111, 14, 96,183, 57,154, 60, 33, 77,222,239,214,221, 73,175,215,230,232,245,186,236,240,200,155,241,113,113, 15,
- 51,170,122,249, 59,190,215,190,177,221,227,199, 97, 77, 94,103,176,138,107, 42,149,202, 15,155, 52,105, 98,185,109,219, 54, 52,
-104,208,  0,214,214,214, 56,115,230, 12,238,221,187,135,180,180, 52,142, 82, 10, 11, 11, 11,204,155, 55, 15, 30, 30, 30,200,206,
-206, 70, 68, 68, 68,  5,169, 84,106,255,166,116,138,162,216,105,211,166, 77, 78,246,246,246, 48,153, 76,160,148,194,100, 50, 65,
- 20, 69,196,199,199, 35, 39, 39,  7, 26,141,  6, 58,157, 14,231,207,159, 43,209, 44, 23,215,140,141,141, 61,191,118,237,218,243,
-213,171, 87,111, 62,126,252,120,200,100,178,  9, 25, 25, 25, 88,184,112, 33,212,106, 53,102,205,154,229, 92,175, 94, 61,  0, 48,
-154, 76,166,162,178, 68, 41,197,138,226, 38,200,156, 17, 48,238,238,238, 39,147,146,146,131, 90,181,106,133,244,244,116,227,180,
-105,211, 80,175, 94, 61, 84,173, 90, 13,165, 29,207,119,  5,211,100,154, 76,147,105,254, 27, 52,255,145,  6,171,240, 17, 83,164,
-132,247,248,253,247,223, 75,220,240,227,197, 33,144,240,  5,215,191,213,171, 87, 35, 45, 45,173,212,104,147, 32,  8, 95, 57, 57,
- 57,105, 39, 76,152,208,186,106,213,170,198, 47,191,252,242, 86, 68, 68,196,232,226,235, 84,174, 92,121,217,143, 63,254,136,103,
-207,158,165,204,155, 55,239,116, 98, 98,226,164, 50,102,250, 84, 66,200, 74,  0,136,139,139, 75, 61,120,240, 96,131,115,231,206,
-141, 93,178,100,137,243,136, 17, 35,228, 35, 71,142, 28,  2, 96,250,107,182,141, 35,132,108,117,115,115,235,223,180,105, 83,116,
-239,222, 61,181, 73,147, 38,134,235,215,175, 59, 95,189,122,117,234,202,149, 43,197, 65,131,  6,113,205,154, 53, 67,114,114, 50,
-118,237,218, 37, 70, 69, 69,113, 10,133,194,236,103,  6, 18, 66, 90,243, 60,255, 53,199,113,245,124,125,125, 31, 13, 27, 54,236,
-126, 90, 90, 90, 74, 76, 76, 12,242,242,242, 96, 48, 24, 32,145, 72, 32,147,201,202, 48,127,  6,177, 86,171, 85,178, 43,151,246,
- 30,139,139,  9, 73,137, 79,188,159,201,129,114,113,113, 55, 51,125,124, 90,219,161,160, 79, 86,169, 88, 88, 88,120, 38, 39, 39,
- 35, 39, 39,  7, 54, 54, 54, 88,178,100,  9, 28, 29, 29,161,213,106,241,248,241, 99,234,238,238, 78,206,156, 57,  3, 55, 55, 55,
-164,167,167, 67,175,215, 35, 47, 47, 47, 81,175,215,191,113,255,165, 82,233,254, 65,131,  6, 53,119,116,116, 84, 23, 69,176, 68,
- 81,132,183,183, 55, 70,140, 24,129, 29, 59,118, 32, 52, 52, 20,148, 82,163,155,155,123, 18,199, 17, 71,  0,148,227,248,173, 38,
-147, 41,169,132,124,162,238,238,238,179,166, 78,157,234,254,211, 79, 63, 85, 25, 61,122, 52,  4, 65,128, 40,138, 16,  4,  1, 73,
- 73, 73,216,191,127, 63, 46, 93,186,100,120,252,248,241, 14, 43, 43,235,  7, 90,173,246,102,126,126,254,115,115,143,168,187,187,
-187, 82, 20,197,207,170, 85,171,214,177,111,223,190, 70,153, 76,  6,173, 86,139,188,188, 60,220,191,127,223,216,177, 99,199,180,
-174, 93,187,216, 29, 58,116,136, 82,138, 37, 44,122,197, 96, 48, 24,229,227,117, 30,228, 31, 19,193,122,221, 78,109,216,176,  1,
-148, 82,240, 60, 15,142,227, 94, 52, 17,230,196,137,248,120,228, 22,200,120, 17, 71,143, 30, 69,221,186,117,205,250, 65, 81, 20,
-151, 31, 61,122,180,113,211,166, 77, 37,109,219,182,173, 95,169, 82,165,122,145,145,145,183,  1,160, 82,165, 74,245,218,181,107,
- 87,223,209,209, 17,203,150, 45,211,137,162,184,188,156,206,186,248,197,238,154,135,135,199,119,123,246,236,249,105,216,176, 97,
-112,113,113,169, 83,202,182,195,218,183,111, 95,247,219,111,191,197,228,201,147, 13,235,214,173, 51, 13, 31, 62, 92,210,178,101,
- 75,108,222,188,153,123,242,228,  9,214,173, 91, 39,238,217,179, 39,129, 16,194,183,111,223,222,169, 12,133,168,133,147,147,211,
-175, 59,119,238, 20,  3,  2,  2,148, 79,159, 62,173, 49,102,204, 24,167,248,248,248,227, 85,171, 86, 77,205,203,203,131,201,100,
- 66,110,110, 46,  0,232,205,213,229,120,146, 24, 19,243,220, 49,223,144,161,235,208, 50,104, 76,114, 68, 10, 28, 42,119,195,137,
-115,191, 47,141,140, 14, 21,  9,  7,179,154, 26,115,114,114,158,155, 76, 38, 59,  0,142, 39, 79,158,132,131,131,  3,178,179,179,
- 97, 48, 24,160,213,106, 13,182,182,182,138,212,212, 84,228,231,231, 35, 63, 63, 31, 86, 86, 86,  8, 14, 14, 78, 51,153, 76,135,
-223,164, 27, 21, 21,245, 16,192,123,175, 24,105,  5,199,113,167,140, 70, 35,194,194,194,240,232,209,163, 54, 17, 17, 17,249,133,
-199,201, 21,  0, 76, 38, 83,220,235, 52, 99, 98, 98,116, 14, 14, 14,223,126,250,233,167,163,157,156,156,252,  0,192,203,203,203,
-106,204,152, 49, 88,176, 96,  1, 30, 60,120, 48, 85, 42,149, 94,141,141,141,205, 47,107,249,113,114,114,242, 85,169, 84,227, 70,
-141, 26,229,228,235,235,139,252,252,  2,  9, 75, 75, 75,228,229,229,193,202,202, 10,141, 27, 55,126,252,221,119,223, 25, 40,197,
- 80, 74,105, 34,171, 34, 25, 12,  6,227,221,152,172,127, 84,  4,171,208, 88, 16, 66,  8,125,101,135, 11, 46,224, 28,247,146,185,
-226,121, 30, 31, 52,224,145, 93,213, 11, 28, 87,208,148,104, 50,153, 55,136, 44, 57, 57, 57,209,221,221,125,111,112,112,112,207,
- 94,189,122,225,244,233,211, 95,  0,248, 12,  0,120,158,255,162, 87,175, 94,  8, 14, 14,198,163, 71,143,246, 38, 39, 39,191,147,
- 11,151,193, 96,200, 51, 26, 11, 90, 35,149, 74,165,172, 84,195,194,113,  6,153,172, 96,181,167, 79,159,118, 31, 57,114,100,247,
-246,237,219, 15,238,220,185, 51,246,239,223,143, 77,155, 54,205,  6,112,186,105,211,166, 91,202,146, 14,158,231,199,236,216,177,
-195,212,180,105, 83, 75, 74, 41,106,213,170,101, 57,110,220, 56,195,194,133, 11, 61,  7, 13, 26,148, 26, 19, 19,131,172,172, 44,
- 36, 36, 36, 24,162,162,162, 66,205,213, 53,  9,226,233,149, 43,127,116, 27,250, 89, 55,167,223, 15,174,159,187,107,247,221, 58,
-253,122, 39,132,184,186,213,118, 88,190,234,146,210,100, 18,247,153,163,163,211,233,118, 29, 58,116,168,119,165, 74,149, 28,239,
-221,187,  7,157, 78,  7, 81, 20,209,177, 99, 71,  0, 80, 20,173,247,248,241, 99, 93, 94, 94, 94, 82, 72, 72, 72,118,100,100,164,
- 17,  5,157,204,205, 57,129, 94,140, 14, 52, 24, 12,253, 59,117,234,  4, 65, 16,208,161, 67,  7,220,185,115,167, 63,128,117, 69,
-223,155, 91,150,  0, 76,  4,  0, 55, 55, 55, 59,107,107,235,253, 69,209, 49, 39, 39,167, 75,193,193,193, 70,119,119,247,190, 50,
-153,172,177, 86,171,253, 61, 33, 33,225,124,105,154,174,174,174, 65, 85,171, 86,157,178,112,225,  2,226,228,228, 12, 65, 48,194,
-100, 50, 33, 41, 41,  5, 57, 57, 57,240,245,245,133,135,135,  7,230,205,155,  7,142,227, 14, 48,115,197, 96, 48, 24,111, 79, 73,
- 30,228,255, 29,238,213, 29, 44,205, 92, 21,189,151, 73,120,216, 87,176,133,125,  5, 59,216,218,218, 66, 16,  4,152,235, 62, 57,
-142,219,188,109,219, 54,189,181,181, 53,186,118,237,234,227,226,226,210,212,197,197,165,105,215,174, 93,125,172,173,173,177,109,
-219, 54, 61,199,113,155,223,145, 43,230,120,158, 31,208,180,105, 83, 36, 38, 38,226,249,243,231,215,202,178,125,116,116,116,118,
-124,124,252,142,220,220, 92, 72, 36, 18,232,116, 58,  0, 56, 11,160,204,207, 82, 19, 69, 49, 32, 32, 32, 64, 85,212, 87, 45, 60,
- 60, 28,150,150,150,150,209,209,209,142,121,121,121,208,235,245,200,200,200,192,173, 91,183,242,  0,196,153,171,251,224,193,211,
-189, 55,175,223, 12, 62,122,252,  2, 87,165, 74, 29,  7,119, 55,117,150,189,131,187,229,225,163,247, 84,  9,241,169, 97, 15, 30,
-132,154,251, 48,220,229,123,246,236, 73, 13, 14, 14,126,228,238,238, 30,101,109,109, 77,  1, 32, 62, 62,254,165,215,141, 27, 55,
- 20, 71,143, 30,205,139,140,140,220,143,130, 65,  1, 38, 51,242, 97, 38, 33,120, 66,  8,158,240, 60,191,168,110,221,186,253,130,
-130,130, 16, 29, 29,141,160,160, 32,212,170, 85,171,159,189,189,189,115, 25,243,214,153, 16,226,234,235,235,171,209,104, 52, 75,
-  7, 15, 30, 12,147,201,132,182,109,219, 34, 55, 55,119,189,171,171,235, 55,237,219,183,255, 98,205,154, 53,117,156,156,156,190,
- 50, 83,182,111,159, 62,125,136, 90,173,129,209,104,132, 92, 46,135, 70, 99,  1, 79, 79, 79,180,110,221, 26,148, 82,180,110,221,
- 90, 92,187,118,237,126,149, 74,181,133, 85,139, 12,  6,131,241,238, 76,214, 63, 50,130,245,154, 11, 24,  4, 65,  0, 33,  4, 87,
- 51,253,160, 51, 73,144, 25,125, 19,189,  2,228, 47,140, 22,207,243,224,121, 30, 70,163, 17,230, 62,118, 39, 42, 42, 42,195,197,
-197,229,183, 75,151, 46, 13,236,209,163,  7,142, 29, 59, 54, 12,  0,122,244,232,129, 75,151, 46, 33, 44, 44,236,183,248,248,248,
-140, 50, 94,108,237,  1,240,197, 35, 10, 78, 78, 78, 85, 42, 86,172,248,197,208,161, 67, 27,214,174, 93, 27, 91,183,110,  5,128,
-211,102, 71,134, 10,162,114,142,  0,114, 94,217, 55, 25,  0, 75, 81, 20,203, 52,201, 38,199,113, 55, 78,159, 62, 29,208,185,115,
-103,203,200,200, 72,196,197,197, 97,231,206,157, 73,118,118,118, 73,162, 40,194,206,206, 14,246,246,246, 48, 26,141,170,199,143,
- 31, 59,  3, 48,123,174, 45,129,202,127, 62,126,236,218, 79,129,254, 29,185, 42,149, 52,153,128,158,220,  8,142,213, 72,100,146,
-213,101, 40,220, 38, 66, 72,215,139, 23, 47,142,186,114,229,202,  7, 46, 46, 46,100,224,192,129,232,216,177, 35,228,114, 57,180,
- 90, 45,210,211,211,113,232,208, 33, 98, 50,153,130,  0,192,197,197,165, 98,229,202,149, 55, 16, 66, 98,195,195,195,  7,190, 38,
-111, 94,157,162, 99, 88,247,238,221, 31,198,199,199, 27,199,140, 25,131, 69,139, 22,225,147, 79, 62,145,134,132,132,124,  6,224,
-123, 51,243,251, 59, 66,240, 53, 40, 72, 76,116,244,147, 31, 87,173,202,119,113,113,193,201,147, 39,209,184,113, 99,120,123,123,
- 87,185,117,235, 86,149,102,205,154,225,218,181,107, 72, 77, 77,189, 82,154,102,203,150, 45, 37, 60,207,123,186,186,186, 34, 34,
- 34,  2, 74,165, 18,206,206,206,176,177,177,129,131,131,  3, 22, 45, 90,132, 37, 75,150,220,149, 72, 36,235, 98, 99, 99,195, 88,
-117,200, 96, 48, 24,140, 55, 26,172,226,174,241,213, 40,214,145, 35, 71, 64, 41,133, 69, 80,  3, 76,232, 85, 25,  3,190,216,132,
-237, 97,143,161, 80, 40,254, 43, 34,145,224,243,207, 63, 47,211, 15,219,218,218,110,223,190,125,123,143, 38, 77,154,104,218,182,
-109,235, 13,  0, 74,165,210,184,125,251,246, 92, 91, 91,219,237,101, 52, 87,147,  9,193,120, 80,112, 10,185,252,164, 93,133, 10,
-167, 44, 45, 45,253,219,183,111,239,221,161, 67,  7,120,121,121, 97,231,206,157,216,185,115,231,233,248,248,248,203,230,234,122,
-122,122,226,225,195,135,  3,  0,172,  7, 64,241,223, 78,252, 38,  0, 77, 60, 60, 60,148,101, 73,167, 32,  8, 75,  6, 13, 26,244,
-251,228,201,147, 83,124,124,124, 52, 59,118,236, 72, 63,121,242,164,190, 83,167, 78,207,139, 46,228, 90,173, 22, 90,173, 86,238,
-230,230, 86,181, 44,  6,235,193,131,  7, 73, 29,218,183,113, 88,245,211, 37,111,173, 86, 48,236, 59,114,210, 96,212,107,180, 15,
- 31,135, 37,148, 37,141,148, 82,147,187,187,251,112, 81, 20, 29, 76, 38,147,193,193,193, 65,246,235,175,191, 66,169, 84,130,227,
- 56,212,171, 87, 15, 74,165, 82,239,234,234,154,  9,  0,142,142,142,198,197,139, 23, 75, 62,253,244, 83, 89, 89,178,204,217,217,
- 25, 91,182,108, 65,110,110,238,220, 29, 59,118, 76,252,252,243,207,225,227,227,211,210,213,213,117, 81, 92, 92,156,182,148,252,
-182, 45,110,216,  8, 33,213,101, 50,217,195,229,203,151,235, 47, 94,188,184,231,232,209,163, 29, 63,249,228, 19,101,211,166, 77,
-113,249,242,101,252,252,243,207,215,172,173,173,151,149,150,168,115,231,206,137, 46, 46, 46, 47,154,193,117, 58, 29,194,195,195,
-209,184,113, 99,172, 91,183, 14,203,151, 47,223,150,144,144,192,162, 86, 12,  6,131,241, 39, 69,174,254, 73, 81, 44, 73,105, 43,
-236,216,177,  3,  0,240,217,138,199,208,235, 11,250, 49,173, 94,189,250,197,252, 85, 69, 77,137,231,207,159,  7,202, 48,103, 85,
- 72, 72, 72,174,187,187,251,230,145, 35, 71,206,186,113,227,186, 35,  0,220,188,121, 51, 41, 33, 33, 97, 74, 76, 76, 76,110, 25,
-204,149, 13, 33, 24, 47,138,148, 47, 52,105,237,198,140, 25,227,218,164, 73, 19,131, 84, 42, 69, 84, 84, 20,126,248,225,  7, 92,
-186,116,105, 71,124,124,252, 42,106, 70,152, 45, 34, 34,226, 90,116,116,116,195, 17, 35, 70,160,121,243,230, 93,126,254,249,231,
-247,138,239, 91,189,122,245, 54,118,234,212,201, 73,161, 80, 72,244,122,189,240,244,233,211,219,102, 22,162,115,132,144,190,227,
-199,143, 31, 69, 41,173,235,232,232, 24, 21, 24, 24, 24,210,164, 73,147, 84, 43, 43, 43, 72, 36, 18, 36, 37, 37, 33, 47, 47, 15,
-130, 32,216,150, 37, 35, 61, 60, 60,154,142, 26, 53,170,206,240,225,195,145,155,155,139, 77,155, 54, 97,213,170, 85,240,240,240,
-104, 26, 29, 29,125,177, 44, 90,162, 40, 58, 28, 56,112,160, 40, 82,135, 83,167, 78,193,213,213, 21,214,214,214,200,202,202,194,
-192,129,  3,229, 83,167, 78,  5,  0,220,186,117, 75,170, 82,169, 74,219,239, 36, 66,200, 18,142, 35, 99,  0,144,128,128,192,100,
- 43, 43, 43,227,213,171, 87, 67, 99, 99, 99, 15,123,121,121,125, 56,104,208, 32,239,192,192, 64,217,211,167, 79,155,  1, 56, 86,
-214,130,156,150,150,134,243,231,207,159,143,143,143, 95,226,232,232,184,253,187,239,190,251,218,217,217,185,110, 92, 92,220, 85,
- 39, 39,167, 89,193,193,193, 70, 51,242, 71,116,113,113,137, 62,126,252,184, 71,207,158, 61, 33,151,203,145,158,158, 14, 43, 43,
- 43, 44, 94,188,152, 26, 12,134,189,172, 42,100, 48, 24, 12,198, 59, 49, 88,123,246,236,  1,199,113,208, 39,233,241,249,248, 29,
- 80, 43,121,156, 57,115,  6,118,118,118, 47,245,203, 42,106, 50,124,197,252,188,241,105,219,105,105,105, 23,227,226, 98, 29,138,
- 77, 44,233,160, 80, 40, 47,150, 98,168,222,168, 73,  8,129,193, 96,192,209,163, 71,113,225,194,  5,195,179,103,207,206, 17, 66,
- 14,196,197,197,221, 53, 87, 51, 51, 51,115,254,176, 97,195,198,119,236,216,177,225,128,  1,  3,176,124,249,114,217,195,135, 15,
- 65, 41, 69,253,250,245, 81,187,118,109, 55,163,209, 72, 31, 60,120,144,179,127,255,254,163, 58,157,110,139,185,233,164,148,158,
-  4,112,146, 16, 34, 75, 72, 72,168,146,153,153,217, 70, 20, 69,203,164,164, 36, 68, 68, 68, 32, 45, 45, 13, 89, 89, 89, 48,153,
- 76,105,101,217,247,232,232,232,139,  1,  1,  1,224, 56, 14, 90,173, 22, 49, 49, 49, 48,153, 76,136,139,139, 43,243,241,228, 56,
- 46,185, 83,167, 78, 14,249,249,249,166, 62,125,250, 72,146,147,147,225,227,227,  3,  0,200,206,206,198,145, 35, 71, 80,189,122,
-245,162,200, 25,124,125,125, 75,213,164,148, 78, 35,132,172,113,113,113,249,110,206,156, 57, 62, 87,175, 94,133,209,104, 60, 10,
-  0, 70,163,241,232,205,155, 55,189,253,253,253,177,117,235,214,246, 37, 25,172,226,154,148,210,244, 66,195,246, 53, 40,136,111,
-205,154,169, 62, 62, 62,  6,169, 84, 90,  1,  0,146,146,146,146,  0,140, 55,195,156,251,149, 48,103,215,148,221,187,119,127,122,
-229,202,149,102, 95,127,253, 53,105,221,186, 53,  0, 32, 55, 55, 87, 72, 78, 78,206, 45,143,230,219,194, 52,153, 38,211,100,154,
-255,  6,205,127,149,193,202,204,204, 68, 96, 96, 32,140, 70, 35,106,214, 52, 34, 43,203, 19, 70,163,241, 69,231, 95, 81, 20, 97,
- 50,153, 32,  8,  2, 56,142, 51,187, 15, 86, 17, 58,157,206,240,234,228,239, 58,157,206, 80,198,208, 98,  6, 33,228,  7,142, 35,
-227, 65,193,201,229,242,107,171, 86,173,218,  4, 32,150, 82,122,173,180,230,166,146, 72, 72, 72, 72,  1, 48,174, 98,197,138,245,
-207,156, 57, 51,226,131, 15, 62,240,238,218,181, 43,162,162,162, 96, 50,153, 16, 26, 26,106,220,191,127,255,131,140,140,140, 53,
-148,210,135,229, 57,240,148, 82,  3,128, 39,150,150,150, 16, 69,177,121,227,198,141,237, 76, 38, 19, 82, 82, 82,112,229,202,149,
-136,148,148,148, 75,229,136, 96, 97,216,176, 97,200,201,201,193,142, 29, 59,112,236,216,177,114, 69,176, 98, 98, 98,170,  2,128,
-171,171,107,162,149,149,149,100,240,224,193, 48, 26,141,200,203,203, 67, 86, 86, 22, 82, 83, 83,245, 95,125,245,149, 28,  0,228,
-114,185,177, 67,135, 14, 18, 51,247, 57, 46, 40, 40,200, 90,169, 84,226,252,249,243,162, 40,138,167, 10, 77,205,169,139, 23, 47,
-142,168, 91,183, 46,103,111,111, 95,221, 76,173,233,132,144,159,172,172,172, 92,107,250,250, 46,165,148,194,193,193,193,227,109,
- 79,136,196,196,196,100,  0,115,221,220,220,118,127,251,237,183, 67, 26, 54,108, 88,107,250,244,233,160,180, 32, 66,202, 96, 48,
- 24, 12,198,219, 26,172,240,225,195,135, 27,138, 71,134, 94,137,114,252, 33,114, 36,138, 98,108, 25, 77, 70, 18, 33,100,113, 97,
-211, 17,202, 59, 97, 35,165,116, 22, 33,100, 13,  0, 94,151,159,255,206,134,205, 71, 69, 69,221, 34,132, 12,222,188,121,115,219,
-157, 59,119,142,235,221,187,183,106,253,250,245,250,164,164,164, 69,  0,142, 81, 74,197,183,253,141,236,236,236, 39,132,144,248,
-199,143, 31, 55,146,203,229, 42, 65, 16,146,147,147,147, 67, 40,165, 57,101,209,137,142,142,190,232,234,234,138,189,123,247,194,
-206,206, 14,105,105,105,102, 69,176, 74,185, 67,233,190,109,219,182, 61,162, 40, 42, 95,201,251,172,184,184,184,170, 64, 65, 39,
-247, 35, 71,142,108, 32,132,196,154,153,206, 29, 95,126,249,229,192,228,228,228, 93,177,177,177,233,133,134, 46,221,221,221,125,
-201,228,201,147,251,166,164,164,252, 90,134,124, 79, 32,132, 36, 63,127,254, 60, 59, 45, 45,205, 82, 16,132,119,118, 98,196,198,
-198, 62,  3,240,141,155,155, 91,195, 14, 29, 58,244,167,148, 38,179,234,130,193, 96, 48, 24,111,109,176,206,156, 57,211,250,127,
-145,128,194,166,163, 31,139, 12,215, 91,232,164,252, 73,233,163,  0, 78, 16, 66, 78, 47, 91,182,172, 70, 94, 94, 94,  4,165, 52,
-247, 29,255, 70, 54,128,227,111,171, 19, 23, 23,167, 38,132, 76,  6, 48,  9,192, 28, 74,233,236,183, 52, 25, 87,  1,188,113,234,
-132,248,248,248, 40,  0,173,204,213,140,137,137,217,141, 87, 30,  1, 84,184,124, 47,128,189,229, 56,118,130,135,135,199,180, 49,
- 99,198,116,  0,112,224, 93,231,127,108,108,236, 53,  0,215, 88, 85,193, 96, 48, 24,127, 57,  1,  0, 28, 10,223, 23,221,244, 58,
-188,242, 94, 15, 64, 94,108,155,162,207,201,  0,110, 20,211, 40,190,188,180,109,  1, 32,  5,192, 93,148,101, 18,240,191,195, 17,
-163,148, 38,253,221, 31, 53, 66, 41, 21,114,115,115, 31,188,107,115,245, 39,164,115, 54,165, 84,253,182,230,234,255,137,232,232,
-232,224,216,216,216,239, 99, 99, 99,239,177,250,135,193, 96, 48,254,185,230,138, 16,114,144, 16,114,176,208, 16, 57,148,240, 94,
- 94,180, 78,241,207,197,140,153, 67,  9,203,223,184, 45, 33,228,224,196,137, 19, 91,  1,  8, 42, 75,130, 57,150,103, 12,  6,131,
-193, 96, 48,254,230, 56, 16, 66, 14, 82, 74,187, 80, 74,187, 20, 26,160,215,  5, 26,186, 20,255,251, 38, 74,210, 41,250,141,226,
-159,231,205,155, 55,  7,128,170, 44,  9,150, 16, 66,252, 94,147, 64,179, 71,  7,188, 78,227, 77,223,149,166,207, 52,153, 38,211,
-100,154, 76,147,105, 50,205,127,158,230,187,218,254, 93, 80,146, 89, 43, 50,114,197, 63, 79,152, 48, 97, 18,202,208, 60, 88, 36,
-254,167,189,  0,248, 49, 77,166,201, 52,153, 38,211,100,154, 76,147,105,190,229,171,115,129,101,161,157,139,191, 47,105,217,155,
-222,151,182,173, 25,235,154,157,102,  9, 24, 12,  6,131,193, 96, 48,254,222, 36, 23,143, 54, 21, 70,152,132,  9, 19, 38, 76, 42,
- 90, 86, 24,101,202,  7,160, 40, 33, 90, 86,124,187,210, 34,107,102,175,251, 38,152,193, 98,152,  5, 33, 68,  2, 96,148,141,141,
- 77, 47, 27, 27,155,202,105,105,105,225, 89, 89, 89,187,  0, 44,167,148, 26,203,163, 89,171, 42,105, 43,152, 48, 78, 20,193,243,
- 18, 44,122, 24, 70,143,178, 35,205, 96, 48, 24,140, 18,184,  1, 32,160,152,233, 73,  6,112,111,238,220,185,233,115,231,206, 45,
-190,236, 14,128,186,133,235, 37,151, 96,148,244,133,159,245, 37,172,163, 55,103,221, 63,197, 96,249, 86, 36, 67, 32, 98, 50,  8,
- 40,  8,230,132, 68,209,159,203,178,125,109, 31,210, 74,206, 73, 86, 81, 80, 94,103, 20, 38, 18,  1, 37,206,209, 68,121, 52, 85,
- 74,249,185,  4, 68,212,139,166,207,239, 61,161,103,204,190,104, 87, 39,237, 36,148, 91, 47,138, 84, 42,138,116, 43,  7, 28, 81,
-235,113,245, 74, 12,213,149, 55, 87, 43, 86, 36, 54, 68, 68, 71,153, 68,210,192, 96, 50,221,164, 28,142, 68, 69,209,140,191, 83,
-201,235,229, 75,100, 18, 15,213, 66,141,194,216,150,231,  5, 91, 65,228,211,243,116,210, 83,198,104,237,216,157, 33,212,236,201,
- 91,  9, 33, 82,  0,163, 52, 26,205,135,106,181,186, 74, 78, 78,206,115,173, 86,187, 71, 46,151,183, 89,190,124,185,123,227,198,
-141, 45,146,147,147,  9,199,113,142,251,247,239,239,191,114,229,202,182,132,144,206,148, 82, 83, 89,211, 44,152,240,205,163, 67,
-159,  7,  1, 64,149,182,171, 39, 17, 66,142,151,117,110,177, 58,222,164,166, 32, 96, 88,105,235,241, 60,214,220, 13, 45,223,164,
-176, 53, 61,201,106,  2, 84,  5,197, 94,158,195,206,123, 97,108, 78, 44,  6,131,193,248,139, 76,214,171, 92, 55,115,189,255, 57,
-101, 50, 88,132, 98,250,131,103,209, 54, 16, 13,168,229,227, 53, 13, 64,153, 12,150,156,231,127,190,113, 39,222,  9,130, 14,139,
-191,235,179, 73,167, 23, 33,138, 38,  8, 38, 19, 68,209,  4, 81, 16, 32,138, 38, 80,106,192,220,213, 55,  0, 83, 54, 26,212,243,
-249, 25,128,167,185,191, 33, 21,185,245,183, 46, 31,183, 37,166, 76,108,255,101,214,231,209,  9,218,207, 79, 93,143, 75,245,173,
- 76,166, 61,140,196, 22,115, 47,224,149, 42, 17,103, 74,209,181,162,171,195,135,227,135,127,212,176,125,171,166, 92,197, 74, 85,
- 16, 21, 25, 62,228,216,153,139, 98,179,198,142,215,162,226,146,119, 17,130,  3,145,145, 52,225,109, 50,193,193,134,212,177,210,
-168, 86, 75,101,156, 70,202,243,207,146,211,179,230, 39,164, 82,179, 11, 72, 47, 95, 34,179,240,148, 93,109,213,105,144,109,179,
-214,159,  8, 42,181, 69,118,204,243, 96,253,209,  3,139,218,133,201, 30, 93,235,229, 75, 26,154, 99,178,  8, 33, 18, 66,200,193,
-233,211,167, 59, 55,109,218,212, 50, 53, 53, 21, 38,147,201,110,247,238,221,195,  3,  2,  2, 44,220,220,220,228,155, 55,111, 70,
- 78, 78, 14,  4, 65,176,245,242,242,178,237,221,187,183,105,235,214,173,163,  0, 44,126,147,118,229,202, 68,161, 33,176,122,201,
- 96,137,120, 49,129,169,209,  4,181,151, 43, 92,106, 85, 33, 70,  0,144,235,145, 19, 28, 71, 75,157,133, 95, 16, 48,236,246,205,
- 51,159,154, 50,110,  0,130,  1, 20, 70, 64, 52,  0,212,  8, 42, 26,  0,209,  8, 74, 13,104,212,125,  3,  0,140, 42, 79,254, 16,
-130, 54,167, 78,221,112, 78, 76,136,247, 95,178,100,206, 56,223, 42,228, 56,199, 99,251,131, 48, 92,124, 23,147,205, 50, 24,140,
-191,158, 54,109,218,172,207,201,201,153,127,253,250,245,103,239, 74,211,217,217,185,  6,199,113,145,229,121,162, 72,113,234,215,
-175,255, 21,128,143, 11, 63,110,188,117,235,214,210,183, 77, 91,195,134, 13,221, 40,165, 78,133,117,127,226,181,107,215, 98, 89,
- 41,248, 11, 13, 22,  5, 20,160, 34,112,169, 59, 40,129,178,172, 63, 70, 41,148,160, 38, 32,239,  9,  6,244,  8,128,189,173, 29,
- 32,228,  3,162, 30, 16,243, 11, 94, 66, 62, 82,210, 18,  1, 83, 54,144,124,  4, 38, 74, 21,101,222, 43, 99, 38,144,180, 19, 29,
-130,156, 97, 99, 97,129,209,125,124, 43,172,221,251,100,213,186,189,143, 91,  1, 24, 84,218,230,238,238,100,233,132,225,221, 62,
-123,175, 93, 23, 82,217,203, 15,105,201, 49,184,126,227, 74,198,146,181,191, 63,108,215,162, 65,205, 15,123,124,100, 51,108,248,
-184,198,145, 97,247, 27,159, 61,189,111,113, 69, 87,178, 60, 42,142, 78, 44, 87,116,204, 69, 54,236,189,182,109,191, 95,189,118,
-163, 90,101, 81,  1, 89,105, 81, 85,  6,244,235, 81,215,217,142,116, 73, 72, 51, 47,226, 34,245, 80, 45,106,219,101,176, 93,207,
-143, 23, 90, 26, 13, 57,134,184,167, 71, 31,106, 84, 38,174,119,159,209,153, 27,127,158,230, 28,102, 72, 91,  4, 96,164, 25, 82,
-163,166, 79,159,238,236,229,229, 85,113,219,182,109,200,201,201,  1,  0,199,170, 85,171,162,106,213,170,194,185,115,231,224,227,
-227,  3, 75, 75, 75,156, 61,123, 22, 87,175, 94, 69,189,122,245,212, 50,153,236,195, 55, 25,172,154,222,164, 87,247, 86, 13, 86,
-122, 86,114, 83, 23,116,254, 19, 65,169,136,156,156,124,124, 49, 39, 24,233, 89, 58,116,106, 83,191, 90,101, 55,203,167, 28, 68,
- 80, 10, 68,196, 37, 10, 53, 60, 73,159, 71,207,233,225,210, 34, 83,245,  2, 90,  5,221,  9,190,226, 99, 72, 58,136,192, 78,115,
-159,128,226,242,127,221, 17,130,130,207,109,240,  1, 54,148,235,  4, 33,132, 16,223, 42, 16,162,174,204,135,123,253, 33,252,154,
- 13, 71,237, 51, 83, 99,251,237,222,185,186,251,170, 53, 63,253, 90, 94,211,198, 96, 48,254,118,180,183,177,177,105, 25, 24, 24,
-216,254, 93,153, 44,169, 84,170, 18,  4,161,154,171,171,235,211,242,154,172,209,163, 71,127, 73,  8,153, 29, 28, 28, 12,  0,240,
-247,247,159,237,239,239, 95,226, 60,135, 86, 86, 86,185,190,190,190, 51,151, 45, 91,246,227,155, 52,199,143, 31,239, 98, 52, 26,
- 43,223,186,117,171,200,192, 85,174, 95,191,126,229,146,214,213,104, 52, 66,195,134, 13, 35,231,207,159, 31,207,138,200,159, 25,
-193,  2,158, 36, 92,248,170,174, 62, 45, 15,  4,120, 82,186,161,122,121,168,165,206, 40, 44, 92,249,125,247,239, 27,213,181, 70,
- 66, 74, 62,142, 93, 76,132,104, 50, 66, 20,  5,  8, 66, 81,  4, 75, 64,231,166, 14,104,134,207,177,252,215,167, 48,154,196,  5,
-111,210,252, 67, 68,  3,226,199,245, 90,124,180, 69,160, 84,166, 82,144, 44, 79, 55, 27,135,111,  7,214,230, 70,247,241,133, 86,
-103,250,176,102,101,114,238, 97,  4,221,240, 38,205, 90, 85,108,  7,127, 49,100,  8, 17,213,181,112,243,234, 97,140,250,118,114,
-104, 74,106,250,220,200, 24,220, 58,112,234,124,165,138, 78, 21,166, 47,157, 51,185,158, 79,221, 14,232,192,105,113,254,226,133,
-143,  1, 76, 44, 75, 58,157,156,136, 90,204, 71,167,134,129, 13,102,110,218,113, 80,205,229,220,  6,162,182,194,198,166, 49,214,
- 44,159,239,248,126,143, 94,139,  1,188,103,142,166, 70, 97,108,219,172,205,199, 48, 26,114, 12,198,252,236,124,109,122,136, 65,
-200, 75, 50,112, 82, 78, 18, 80,167,102, 82, 98,226,153,118,230,228,145, 70,163,233, 25, 20, 20,100,177,117,235, 86,248,251,251,
-195,198,198,  6,167, 79,159,198,221,187,119,145,154,154,202, 81, 74, 97, 97, 97,129,121,243,230,193,195,195,  3, 89, 89, 89,136,
-140,140,180,149, 74,165,118,111, 74,167, 66, 34, 25,184,112,254,124, 53,199,  1, 16, 77,  0,253,239, 43, 46, 33,  9,185,185, 90,
-216, 88,200,224, 96,167,122,177,220,100,212,243, 13, 58,126, 51, 28,192,225, 55,237,251,221, 80,250,176, 86, 21,114, 25,212,228,
- 67,  5, 45, 64,113,249, 65, 56,125, 97,122,234,120,147,154,254,205, 63, 25,198,243, 88, 83, 90,249, 44,  9,223, 42,232, 24, 80,
-195, 66,163, 50, 62, 68,204,153, 81,  8, 21, 20,212,169,246,167,232,211,239, 75,245,154,159,215,116, 34,132,140,166,197, 30,194,
-249,103, 12, 47,102,154, 76,243,159,160,217,171, 87, 47, 30,  0,118,238,220, 41,252, 29,211, 41,145, 72, 12, 63,253,244,147,227,
-240,225,195,143,153,107,178, 74,189, 30, 21, 60,191,235, 41,  0,179, 77,214,171,154,161,161,161,115,231,206,157,139,223,126,251,
- 13,  0,176,109,219, 54, 84,171, 86,173,196,109,239,222,189,171,153, 52,105,210, 92,  0, 63,190, 73,243,254,253,251, 85,230,204,
-153,131, 95,127, 45,120, 50,217,150, 45, 91, 80,163, 70,141, 18, 53,111,223,190,205, 79,158, 60,185, 10,128,248, 63, 59,143,254,
-177,  6,139, 16, 66, 41,165,164,148,245,159, 59, 91, 74,235,194,104,  4,128,231,101,253,177,144, 80,186,184, 78, 85, 73,187,238,
-237, 71, 55,173, 86, 25,152,187,122,117,116, 70,150,174, 21,207, 65,  4,  0, 65,  4,103,105, 33, 61,179,120, 92, 35,143,244, 44,
- 61, 14,156,139,189, 24,242,156,150, 41, 20,122,239, 41, 61, 13,192,229,197,  5,214,147, 84, 29, 52,237,252,166,237,115, 90,250,
-141,233, 87, 11,123,207, 70,140, 68, 41,225, 12, 11,181,140, 39,  9,187,144, 46,220, 69,195,134, 93,113,253,122,184,247,157,171,
-123,127,217,177, 99,179, 48,168,207,135,124, 53,255,158,200, 75,125,132,200, 43,115,144, 29,121, 18, 86,106,137,212,220,244, 57,
-216,144, 58, 42,149,234,203,138,206,149,186,140,159, 56, 94,210,165, 75,111, 37,151,123, 31, 52,126, 39, 68, 67, 14,196,220,104,
-216, 89,  4,130, 16, 56,153,125,151, 36,231,109, 44, 44,108, 12,177, 15,182, 61, 50,228, 60, 55, 64,155, 32,208,188, 56, 66,228,
- 82,234,238,232, 12,158, 51, 89,155,163,163, 82,169,170, 36, 37, 37, 33, 59, 59, 27,214,214,214, 88,178,100,  9, 28, 29, 29,161,
-213,106,241,248,241, 99,234,238,238, 78,206,156, 57,  3, 55, 55, 55,164,167,167, 67,175,215, 35, 47, 47, 47, 81,175,215,191,177,
-210,208, 25, 76,171,191, 30,247,117,179, 74,238, 78,124, 81,  4, 75, 20, 69,212,173,229,137,214,205, 27,225,196,131, 27,216,123,
-247, 25, 68, 42,162,232,251,136,152,148, 92,131, 40,108, 49,187,242, 20, 77,128,160, 45,209,128,149, 39,202, 84,187, 54, 81, 11,
- 57,152,208,208,215,114,208,196,  1, 21, 45, 44, 20, 28,116, 74,  1, 58,189, 17,217,143, 86,161,130, 71, 29,168,149, 74, 82,191,
-190, 86,  2,192,200,170, 18,  6,227,143, 52,104,208, 32, 64,173, 86,127,  5,160, 69,126,126,190,165, 40,138,104,214,172, 89, 54,
-199,113,231,242,242,242,150,222,188,121,179,188,125,101,138,174, 85,244, 93,166,183, 82,165, 74, 40,171,201, 42,141,184,184, 56,
-173,171,171,107,153, 76, 86,113,146,147,147,121, 31, 31, 31,104,181, 90,136,162,136,220,220, 92,236,221,187, 23, 89, 89, 89, 16,
- 69, 17, 42,149, 10, 75, 79,230, 35,247,193, 86,108, 93,187, 16,201,201,201,188, 25,154,164, 70,141, 26,208,233,116, 48,153, 76,
-200,207,207,199,241,227,199,145,159,159, 15,163,209,  8,169, 84,138, 57,251, 50,144,127,127, 43, 54,252,252,  3,146,147,147,201,
-159, 93, 86,204,244, 32,255,127,  6,171,104,199,254, 23, 59, 72, 33, 76, 95,181,229,228,153,217, 95,189,135, 79, 63,172,231,177,
-104,227,229, 86, 15,158,211,109,  0, 80,211,147,244, 27,216,185,170,135,141,133, 28,223,173,189,  5, 16, 58,253,109,127,239,238,
-115,250,172,118, 53,242,237,238, 51, 81,199,166,126, 86,  7, 94,110,150,222,222,222, 68, 30, 26, 74,245,165,165,116,196,148, 21,
- 48, 25,151, 26,199, 13,255, 64,218,176,213, 32,212, 13, 58,202,167,133, 31,197,205,221,159, 98,195,158, 43,121, 82,  9,148,  3,
-155, 75,205,158, 13,223,222,154,212,111,212,168,241,177, 53,107,215, 41,157, 92,189,  9, 49, 38,  3, 89,231, 96, 74, 56,142,124,
-109, 10,244,218,108, 24, 68, 75,100, 70,157,134, 66, 78,205, 62,177,141,122, 49, 53, 35, 37, 76,197,139, 25,164, 70, 77,187,166,
- 72, 63, 13,216,246, 66,196,237, 75, 55,194,147,226, 44,  5, 81,146,102,142, 78, 78, 78,206,115,163,209, 88,  1,128,195,169, 83,
-167,224,224,224,128,236,236,108, 24, 12,  6,104,181, 90,163,173,173,173, 60, 53, 53, 21,249,249,249,200,207,207,135,149,149, 21,
-110,222,188,153, 99, 50,153,222,248, 12,193, 71,207,233, 97,127, 87,226,116, 90, 14,139,162,101, 60,143, 10, 38,131,254, 70,235,
- 38,181, 17,124,231, 49,118, 30,188, 22, 32,  8, 72, 45,250, 62,151, 34, 43, 34,130,230,155, 95,176, 76,160,194,127,199, 49, 20,
-117,126, 47, 79,231,118, 95, 79,210, 64,161,144, 46,154, 55,169,115,141, 22,190,130,130,232,226, 65,  0,168,149, 18,228,235,  5,
- 88,187,120,131,234,179,169, 86,167,203,188,127, 31, 38, 48, 24,140, 63, 68,171,146,146,146,150,219,218,218,126, 56,112,224, 64,
- 85,139, 22, 45, 56,142,227,176,100,201, 18, 36, 36, 36, 88,181,111,223,190,203,230,205,155, 91, 55,111,222,124,151,163,163,227,
- 40,115,162, 90,197,174, 89, 82,  0, 69, 38,130,134,133,133,153, 58,116,232,128,176,176, 48,174,208,120,137,  0, 12,229,237, 31,
-249,119, 52, 89,241,241,241, 72, 78, 78, 70,187,174, 93,177,116,222, 60, 52,111,222, 28,109,219,182,  5,  0,156, 60,121, 18, 13,
- 45,174,193,174, 75,115, 60,124,104,126, 85, 23, 29, 29,141,212,212, 84,116,234,214, 13, 63,175, 90,133,250,245,235,163,122,245,
-234,  0,128, 51,103,206,160,181,243, 51, 88, 84,109,141, 71,143, 30,253,233,229,229,127,233, 65,254,146,  8,214,255,138,123,207,
-232,117, 95, 79,114,100, 96,231,154, 29,123,183,247,198,150,253,183,167,251,250,146,223, 11, 12,136, 98,250,160, 46, 85, 17, 18,
-150,142, 83,215,226,142,132, 60,167,215,223,197,111,154, 76,240,112,172, 96,  1, 16, 41,114,243,141, 38, 43, 43,152,125,226,221,
-139, 72,169,250,209,232,159,134,124,245,209,149, 73,163,251,249, 97,235,142,219, 88,252,219,163,111, 12,  6,108,250,176,153, 93,
- 20, 96,126, 95, 52, 75,181,234,243, 53,107,215, 41,157, 43,200,  8, 34,151, 66,208,198, 64,208,165,194,144,159,129,172,204, 12,
-196,196,167, 32, 61, 79,130,200, 68,162,141, 77,208,111, 53, 87, 55, 51, 79,178,255,192,239, 11,  6,245,252,112, 96,133,167,215,
-215, 94,221,119, 90,235,208,167,221,145, 92,185,166,146,205,185,235, 39,109, 51,181,146, 95,204,209,209,233,116,187,142, 28, 57,
-210,187, 82,165, 74, 14,247,238,221,131, 78,167,131, 40,138,232,216,177, 35, 80,236,  1,152,143, 30, 61,210,105,181,218,164,  7,
- 15, 30,228, 68, 69, 69,229,  1, 88, 94,154,118, 97,135,245, 23,149, 74,205, 42,164,151,175,143, 11, 32,104, 81,179,170, 51,140,
-  2, 90, 61, 12,167, 43,202,239,220,141,  5, 17, 44,130,160, 90, 85,200,114, 16,  4,221, 60,189,196,167, 65,235, 49, 40, 75,  4,
-203,215,155,188,231,231,227,186,102,201,156,137,182,118, 14, 30, 60,  4, 45,136, 41,139,138,105, 87, 33,201,125, 10, 43,247,206,
- 16,172,131,176,230,199, 69,185,130, 64,119, 22,111, 30,100, 48, 24, 47, 12,197, 20, 31, 31,159,158, 43, 86,172, 80,223,185,115,
-  7,185,185,185,184,118,237, 26, 22, 44, 88,128, 15, 63,252, 16,238,238,238,220,222,189,123, 53, 35, 71,142,236,249,228,201,147,
-100,  0,223,149,114,  1,182,175, 80,161,130, 77, 74, 74, 74, 28,  0, 89,161,201, 34, 17, 17, 17, 56,115,230, 12, 87,183,110, 93,
-154,148,148,100, 26, 61,122,180, 77, 78, 78, 78,157,101,203,150, 93,  4,144,248, 79,137,100,237,218,181, 11,183,111,223,198,244,
-186,117, 49,198,197,  5, 21, 42, 84,192,185,115,231, 64, 41,133, 70,163, 65, 90, 90, 26,126,253,245, 87,180,108,217,210,236,244,
-236,223,191, 31, 55,110,220,192,204,122,245, 48, 82,169,132,181,181, 53,206,156, 41, 24,176,175, 80, 40, 16, 19, 19,131,211,167,
- 79,163,121,243,230,172, 64,151, 19,179,163, 47, 45,  9,145, 16,  2, 39,163, 81, 11,131,137,130, 16,184,248,250, 18, 89,185, 92,
- 29,135, 25,203,182, 94,166, 42,169,  9,131,223,175,230, 10, 45,134, 64,139, 33,159,118,243,113, 85, 43, 36, 88,182, 35,132, 74,
- 56,204,120, 23, 59, 88,187, 10,169,102,103,169,152,214,181,101,117, 68, 36,230, 35, 60, 54,231, 88,112,176,249,243, 54, 61,127,
-142,244,152, 56, 44,205,209,155,192,243, 18,100,106, 41, 98, 98,240, 75, 82, 18,242,203,154, 22, 94, 66,222,115,114,245, 38, 52,
-113, 47,242, 51, 30, 35, 55, 35,  6,169,169, 49,200,206, 76, 69,110, 94, 54,178,179,243, 16, 31, 27,135,163, 87,226,210, 77, 58,
-225,162,185,186,191, 29,207,155,116,235,214,197,199,215,175, 30,215, 88, 57,212,177,245,173,172, 16, 53,150,174,150,231,174,133,
- 88,199, 37,233, 30,253,118, 52,207,220, 99,185,124,215,174, 93,233,183,110,221,122,228,238,238, 30,101,109,109, 77,  9, 33,136,
-143,143,127,233,117,243,230, 77,197,209,163, 71,243,162,162,162,246,  1,232, 82,214, 41, 26,234,120,147,154,173, 27, 87,251,190,
- 83, 75, 63, 64,208,162, 75,203,154,104, 30, 80,229,251, 58,222,164,102,185,253, 21, 45,104, 34,188,188,173,181,207,229,173, 77,
- 63,189,180,169,161,143, 62,118, 75,153,117,136,136,145, 99,122, 87,182,178, 83,233, 57, 34,228,128, 72,173,  1,181, 55,225,220,
-251, 17,105,253, 77, 36, 42,175,146,208,179, 95,159,228,159,183, 28, 92,109, 47, 98, 41,171, 66, 24,140, 18, 46, 44, 28,247,105,
-255,254,253,213, 42,149, 10, 74,165, 18,155, 55,111,198,231,159,127, 14,133,162, 96,204,146, 90,173,134, 74,165, 66,255,254,253,
-213,132,144,193,102, 72,166,101,101,101, 89,244,232,209,195,  3,128, 26,128, 70,175,215, 91,164,164,164, 88,113, 28,103, 93,171,
- 86, 45,199,233,211,167,251,228,228,228,212, 57,112,224, 64, 18,128,148,242,164, 59, 51, 51, 19, 97, 97, 97, 56,124,248, 48,134,
- 13, 27,150,107, 50,153,228, 22, 22, 22,227,223, 50, 58, 35,117,114,114, 82,187,186,186, 86,160,148, 86,167,148,114,148,210,138,
-229,209, 18,  4,  1, 13, 26, 52,192,201,243, 55,176,102,231, 37, 44,250,113, 19,162,162,162, 80,163, 70, 13,136, 98,249,  7, 52,
-  7,  4,  4,224,244,233, 11,216,186,239, 58, 22, 44, 89,141,152,152,152,215,246,201, 98,148, 49,130, 85, 90,104,206,183, 10,169,
-237,228,167, 88, 55,249,125,175, 26,146, 90, 51, 64, 36, 42,236,222,112,160,241,196,185, 63,221,170,227, 78, 62,189, 27, 67,203,
-212,142,126, 55,148, 62,172,229, 73,118, 94,191, 31,243,209, 71,237, 60,177,229,112,232,  4,  0,248,168,157, 39,174,135, 36,227,
-218,253,164,157, 15,158,151,111,206,162, 34,106,120, 18,111,142, 98, 80,245, 42, 14, 67,150, 78,237,170,113,170,160,194,247,171,
- 79, 67,  4,182,154, 95,152,  1,  0,238,  0, 50,255, 27,167, 32, 69,209, 28, 27, 65, 68,153, 66,153, 28,161,199, 19, 34,239,244,
-174,192,217,145,156,172, 20, 36,196, 69, 35, 59, 43,  7, 54, 86, 82, 88,171,121,184,186, 56, 66,109,237, 14, 81,146,108,243,248,
-121, 78, 32,  0,179, 39,222,204, 50,202,190,184,116,233,196,197, 38,117,135,234,106, 86,145,154, 36, 82, 94,121, 35, 36, 66,145,
-173,149,141, 52, 87,131, 82,106, 34,132,116,185,112,225,194,168,203,151, 47,247,112,113,113, 33,  3,  7, 14, 68,135, 14, 29,160,
- 80, 40,160,213,106,145,158,158,142, 67,135, 14, 17,147,201, 20,  4,  0, 46, 46, 46, 21, 43, 87,174,188,129, 16, 18, 27, 30, 30,
- 62,208,156,223,145,203,229,139,166,141,234, 36, 53, 25,114,240,221,242, 67,152, 54,162, 45,166,143,104, 41,237, 50, 44,118, 17,
-128,246,229,202,112,209,  4, 81,208, 33,104,192,249,130, 81,132,  4, 65, 55,142,205,242,  1,110,155, 45,225,239, 79,164,188,132,
- 84,175,233,150, 47, 21, 98,119,128, 40,221, 40, 95,161,  5, 96,225, 67,168,133, 31, 86, 46,155,150,187,110,221,186,147,148,195,
-156,255,176,119,222,225, 81, 84,109, 27,191,207,204,108, 79, 15,233,133, 64, 40,161, 24,  8,217, 20,170,  4,233, 72, 17,  4, 21,
- 17, 21,164,169, 32, 69,  5,108,  8, 40, 96,161, 88,  0, 65, 80, 81,138,244, 46, 16,164,183,144,  2,  4, 66,  2,  4, 72,239, 61,
-217,100,235,204,249,254, 72, 54, 95,192,148, 77,192, 87, 95,222,249, 93,215, 94,187,179, 59,123,207,153,153, 51,115,238,121, 78,
-139, 75,162,241,226,237, 67, 68,164,118, 52, 26,205,212, 69,139, 22,109,106,221,186,181,210,223,223, 31,107,214,172,193,144, 33,
- 67,170,205, 85,167, 78,157,144,154,154,138,133, 11, 23,106,203,203,203,167, 89,112,111, 18,  8, 33, 55, 79,158, 60,217,126,232,
-208,161,238, 79, 63,253, 52,233,208,161,131, 68, 46,151, 11, 58,157,206, 42, 51, 51, 83, 30, 31, 31,143,168,168,168,187, 90,173,
- 54,150, 82,202, 55, 37,221, 11, 23, 46,212, 56, 57, 57, 89,205,156, 57, 19, 95,126,249,101,250,153, 51,103,  2, 31,245, 88,184,
-187,187,183,100, 24, 70, 72, 79, 79,191,239,233,233,233,158,150,150,214,164,198,225,230, 96,249,181,107,215,112,246,142,  0,153,
-149,  3,146,226, 75,112,124,255, 62,140,155, 60,  5, 38, 83,211, 91, 43, 92,185,114,  5, 91,142,197,195,173,101,123,104,227,175,
- 96,215,174, 93,152, 54,109,218, 35,105, 54,114,223,200, 19,219,  6,203,188,131, 15,255,216,186, 53,145,201,116,248, 96, 96, 55,
-207, 89,163,251,182,102, 77,229,153, 16,  4,  1, 44,  0, 39, 27,  6, 63,173, 95,215,114,199,158, 63, 78,118,106,206,174,129, 94,
- 88, 24,155, 77,203, 45,118,245, 28, 62,251,118,235,141, 81, 91,150, 60,195, 77, 27,211,222,  1,  0,164, 18,  6,223,110,189, 97,
- 34, 28, 62,107,100,148,170, 39, 39, 97,182, 24, 41, 85, 82,158,166,120,184,217, 89, 61,215,175,179,231,136,254,129,  8,236,224,
-  5,222,164,195,130,213,135,177,251,232,205,213,241,247,235,239,246,255,128, 73,107,105,143, 72,143,236,119, 25, 14,159,145, 26,
-246,202,213, 21, 82, 41,135,153,109,189, 21, 50, 52,162,  9, 78,105,121,197,218,249,115,103,246,251,240,237,225,142,134, 82, 21,
-185,157, 84,  8,240, 90, 88, 41,173, 97,237,214, 11,246,182,109,160, 45,201,132,148,139, 86,185, 58,165,141,105,140,193,218,115,
-184,244,206,219,227,219,177,159,126, 23,233,164, 47,  7, 53, 25,162,153,114, 45,161,187,194, 75, 18, 27,153,209,141, 94, 94, 94,
- 83,  4, 65,112, 54,153, 76,  6,103,103,103,233,246,237,219,161, 80, 40,192, 48, 12,  2,  2,  2,160, 80, 40,244, 30, 30, 30,197,
-  0,224,226,226, 98, 92,177, 98,  5, 55,113,226, 68,139,162,153, 29,125,137,247,200,  1, 79,245,104,102,203, 98,211,158, 11,216,
-119,252,230,190,150,158, 86, 35, 38,140,120, 10, 97, 33,158, 61, 58,250, 18,239,184,123, 52,181,241, 87,168, 17, 53,123, 17,118,
-110, 77, 58,  4, 15,248,168,214,222,131,117,209, 50,  6,194,173, 86, 20,132,176,160, 32,128, 54, 29,166,180,205, 96,125,167,211,
- 61,123, 63,171,248,113,253,134,165,113, 73,141,235,116, 33, 34,242,191,200,213,171, 87,255,  8,  9,  9,153, 55,126,252,248,101,
-227,199,143,151,189,246,218,107,236,165, 75,151, 32,  8,  2,130,130,130,176, 97,195,  6,211,182,109,219,140, 58,157,110,238,213,
-171, 87,255,176,240,222,164, 35,132, 92, 61,116,232,144,227,205,155, 55, 29, 37, 18,137,147, 32,  8,246,229,229,229,121,122,189,
- 62,191,176,176, 48,  7, 64, 97, 83,171,237,181, 90,173,226,230,205,155, 17,  6,131,193, 99,230,204,153,237,250,245,235,231,167,
- 86,171, 67,162,163,163,155,220, 84,133, 97, 24,169, 32,  8, 21,148, 82,165,121, 51,206,206,206, 86,185,185,185,154,166,232,177,
- 44,139,194,194, 66,148,166, 39,162, 60, 47, 15,237,216,114,116,113,116,134,141,141, 13,140,198,166,247,181, 41, 43, 43,131,220,
-148,134,251,145,247,145,151,151,132, 54, 45,187,192,202,202, 10, 58,157,238, 63,150,103,158, 52,115,245,128,193,250, 75, 65,216,
-156, 76,114,144,226,203,215,198,248, 74,125, 91,120, 66,159, 27,133, 43,137, 26,124,180, 49, 36,158,149,218,232,222,126,181,127,
-151, 62,253,156,209, 59, 44,152,180,240,249,232,173,101,203,214, 78,233,232, 77, 62,136, 75,165,171, 45,217,240,245,219,244,126,
-135,150,228,151,147, 81,153,111,120, 57, 85,128,130,226,100, 84, 38,174,221, 41,252,229,230,125,122,191, 81,153, 78,202,252, 26,
- 19, 29,235,  8, 83,  5,178,238,236,247,115,115,245,  1,  4,  3,140,250, 10, 92,136,185,129, 13,219,207,152,162,175,167,190,127,
- 51,137, 90, 84,216,222, 73, 41, 58,158,152, 86,220,111,209,212, 16, 12,238,209,252,181,165, 27,163, 95,170,238,172, 66, 41,  6,
-  5,217,223, 28,215,199, 70,165,228,244, 48, 65,134,232,219,197,225,150,232,102,230,209, 24,119, 39, 50,234,218,181,171,175,123,
-186,217,245, 27, 28,172,116,114,182,133,212,198,169,  5,100, 86,142, 16, 76,101, 40, 47,184,  5,202,107, 65, 32,248, 54,230, 24,
-120,123,123,247,156, 57,115,166, 98,202,148, 41, 40, 43, 43,195,166, 77,155,176,102,205, 26,120,123,123,247, 76, 77, 77, 61,215,
- 24, 45, 65, 16,156, 15, 28, 56,  0, 84,182,117,192,159,127,254,  9, 15, 15, 15,216,217,217,161,180,180, 20,227,199,143,151,125,
-252,241,199,  0,128,152,152, 24,137, 82,169,108,196, 69,132, 49,131,122,248, 18,240, 21,216,121,228, 70, 62, 20,120,125,119,120,
- 66,143,  9,195,124,155, 13,238,234, 78, 14,157,190, 63,  6,192,215,141,191, 56,121, 64,168,120, 32, 74,138, 70,246, 30,220, 65,
- 41,223,209,151,220,221, 22,158,107, 53,122, 72,160, 82, 42, 97,  8,213,166, 65, 32, 82,178,106,205, 79,101, 86, 28,126,130,136,
-136,136, 69, 92,190,124,121, 99,215,174, 93, 47,254,252,243,207,115, 24,134,233,161,211,233,156,  1,  8,199,142, 29,203,226,121,
-254,108, 69, 69,197,183, 81, 81, 81,183, 27, 89,  8, 83,  0,249, 85,175,219,143, 51,189, 28,199,253, 94, 82, 82,178,152,231,249,
-209, 71,143, 30, 93, 62,114,228, 72,236,223,191,127,  2,106, 31, 41,220,210,123,105, 73,102,102,230,125, 47, 47, 47, 39, 31, 31,
- 31, 39,141, 70,147, 45,151,203,221,  0, 36, 54, 69, 79, 46,151,227,236,217,179, 24,220,179, 23,174, 30, 79, 70,123, 87,111,244,
- 25,247, 42,246,158, 60,  9,150,101,155,186,223, 56,123,246, 44, 70, 13,233,131,221,187,119,163,101,160, 63,222,126,251,109, 28,
- 59,118, 12, 28, 39,206,166,247,183, 24, 44, 34,224,227,240,223,151, 72, 33, 24,177,115,203,151, 56, 30, 89,174,143, 79,195,167,
-237,210,177,122, 39, 74,133,236,252, 93,111,132,158,190,251,249,132,215,134,170,158,233,221, 31,207, 60,221,135,123, 42,160,247,
- 60,212, 24,127,131, 16,226, 95,223, 88, 25, 84,192,178, 31,119,197, 79,220,118,248, 22,129,169, 20, 47, 13, 15,166, 84,192,178,
-122, 35, 95,117,105,154, 42,128,226,  8, 28, 12,143,128,155,107, 58,110,223, 75,193,222, 35,209,169,197,165,229,191, 17,130,205,
- 55,147,234,142,138, 60,172,153, 95,170,127,107,208,244,131,223,191,208,191, 85,255, 89, 99, 59, 99,223,138,103,101,247, 50,138,
-193,243, 38,244,239, 76, 65,218,203, 84,  2,120, 92, 72,228,232,143,  7,211,247,150,233,249, 89,150,166, 51, 51,143, 70,  3,136,
-246,117, 32,182, 55,238, 96,240,200, 94, 46,159,119, 13,228, 93,202,178,163,145,153,114,  7, 69, 21, 10,164,229, 19,128,226,174,
-197,251, 14, 32, 53, 53,245, 92,112,112, 48,  0,160,162,162,  2,105,105,105, 48,153, 76,200,200,200, 56,215,216,227,201, 48, 76,
-238,144, 33, 67,156,117, 58,157,105,236,216,177, 92, 94, 94, 30,252,252,252, 42,163,112,165,165,248,227,143, 63,170,123,155,220,
-184,113,  3, 29, 59,118,180, 56,157,206,246,202,113, 65, 29, 29,113,227, 86, 10,146, 51, 74,182,198,221,163,134,142,190,100,235,
-181,132,236, 25,221,187,184,192,209, 86, 54,174, 54,131, 85,151,102,231,214,164,  3,  8,186, 67, 48, 86,246, 34, 36,232,222,185,
- 53,233, 96, 73,207,193,218, 52, 57, 14, 19,150,255,158, 52,119,199,233,220,161,239,191,209,203,166, 71,183,193, 50,  8, 70, 90,
- 86,174, 51,222,184, 71, 75,155,162,249,168,136,154,162,230,127,171,230,165, 75,151, 18,  0,188,241,223,176,239, 39, 78,156,152,
-  9,  0,106,181,122,219,238,221,187,151,108,218,180, 73,102,109,109, 29,252, 40,154, 25, 25, 25,183,170,214,203,245,240,240,232,
-144,159,159,127,221,203,203, 75,214, 24, 77,137, 68,146,219,185,115,103,231,231,158,123, 14, 38,147,  9,119,238,220, 65,114,114,
- 50,134, 77,120, 29, 14, 14, 14,136,136,139,195,157, 59,119,240,201, 39,159, 64,167,211,225,254,253,251,185, 13,105, 74,165, 82,
-131,191,191,191,116,248,240,225, 48,153, 76, 72, 76, 76, 68,106,106, 42,166, 79,159, 14, 59, 59, 59, 36, 36, 36, 32, 49, 49, 17,
- 31,127,252, 49,116, 58, 29,146,147,147, 13,255,137,115,244, 63, 99,176, 40,  1, 15,193,136,226,200,  5,248,225, 32, 12, 70, 30,
-129, 55,210,104, 82,141, 85,126,236,226, 77, 14, 95,187, 30, 31, 23, 29,241,140, 12, 37,177,160, 64,163,234,189,227,147,105, 86,
-112,123,174, 12,166, 82, 27,228,254,129,123, 25,165,154,248, 38, 76, 59,195, 27,132,241, 93, 66,186,110, 21, 64,165,  2, 79,119,
-152,128, 19, 28,197,189, 27,247, 17,215,148,112,113, 90, 26,205,  0,240, 92, 11, 47,242,244,129,179, 73,203, 38, 14,107,239, 63,
-109,244, 83, 40,215,148, 66, 66,181,184,158, 37,195,247,251,179, 35,243, 75,245,239,165,166,210,232,166, 28,248,123,133,180,  4,
-192,182,246, 45, 56, 90, 90,113,227,195, 81,125,124, 90, 18, 56, 33, 59,183, 24,187, 78,102, 94,202, 40,168,191, 87, 77, 29, 17,
- 44, 76,157, 58, 21,165,165,165,216,182,109, 27,142, 30, 61,218,164,  8, 86, 90, 90, 90, 27,  0,240,240,240,200,182,177,177,225,
- 94,127,253,117,243, 80, 13, 40, 41, 41, 65,126,126,190,126,230,204,153, 50,  0,144,201,100,198, 65,131,  6, 89,252,152,211,198,
-199,206,147,131, 14,123,255,188,  5,112,248,189, 42, 23,254,190,239, 84,242,140,206,109, 29,209,166,185,109, 43,181,  7, 81, 90,
- 50, 77, 14, 80, 57, 85, 78,228,145,133,126,218,219, 31,131, 82, 35,206,174,113,240,235, 53,173,112, 10,154, 56,194,250,181,219,
- 52,  3,192,140,142, 45,201,198,119, 62, 63, 50, 47,200, 63,174,251,187, 83, 71,216, 80, 34, 78,140, 46, 34,242,191, 64,116,116,
-116, 73, 64, 64,192,235,207, 60,243,204,172,178,178,178, 21,143, 67,147, 82,106,114,115,115,203,116,115,115,243, 51, 24, 12,141,
-154,203,212, 96, 48, 76,255,254,251,239,191, 51, 26,141,206,230,239,116, 58, 29,182,108,217,  2,131,193,  0,169, 84, 10,149, 74,
-133,196,196, 68,176, 44,155,107, 50,153, 26,108,119, 43,  8,194,221,213,171, 87,183, 50, 24, 12,213, 77, 59, 76, 38, 19, 54,111,
-222, 12,157, 78,  7,185, 92, 14,107,107,107,220,185,115,  7, 82,169,212, 32,  8,194, 93, 49,103, 52,193,212,215,229, 63, 58, 54,
- 39,147, 64,241,  1, 40,  8, 24,124, 94,215,196,206,213,235,  1,120,120,  2,104, 75, 28,110, 39, 63,210, 71,198,178,155,  0, 64,
- 43,240, 19,111, 36,208,240,127,211,147, 13, 33,132,248,120, 97,140,187,147,213,183,239,142, 11,176,250,242,183,171,154,204,  2,
-205,196,148, 20,122,232,113,165,179,185, 43,105,233,233,128,121,114, 25,236, 77, 38,196, 37,229, 98,115,106, 14,189,215, 88, 77,
- 15, 15,143,114, 31, 31, 31, 56, 58, 58,162,160,160,  0,201,201,201,200,200,200, 80, 53, 53,157,158,158,158, 93,  9, 33,123,  4,
- 65, 80, 60, 28,225, 50,155, 48,119,119,247,230, 50,153,236,129, 70,238,245,105, 62,213,154, 44,241,111,237, 48,245,198,221,226,
-205,215,239,240,213, 38,168, 99, 75,178, 40,176,131,211,155,177,119, 10,126,188,118,155,159,223,152,  8,214,195,147, 61, 91, 58,
-246,149, 69,249,211,151, 60, 35, 80,188,  3,130,204, 27,247,232, 84, 49,146, 33,106,138,154,162,166,168, 41, 70,176, 44,117,214,
-127,219, 11,128,255,147,162,  9,128,107,209,  2,109,  1,200,254,229,233,252, 16, 64, 57,128, 15,255,173,233, 12, 12,132,228,127,
- 57, 47,137,154,162,166,168, 41,106,138,154, 79,254, 75,172,246,104, 68,136, 23,143,185, 81,229,223,148,206,207,  1,124,254,239,
- 14,193, 83,113,106, 25, 17, 17, 17, 17,145, 39, 26, 70, 60,  4, 34, 34, 34, 34, 34, 34, 34, 34,143, 23,  2,192,191,182, 31, 26,
- 83,183, 74,  8,241,111,236,134, 27,210, 23, 53, 69, 77, 81, 83,212, 20, 53, 69, 77, 81,243,201,211,108, 72,251, 73,105,219, 69,
-254,206,169,212,196,  6,128,162,166,168, 41,106,138,154,162,166,168, 41,106,254, 47, 34, 86, 17,138,136,136,136,136,136,136,136,
-136,  6, 75, 68, 68, 68, 68, 68, 68, 68, 68, 52, 88, 34, 34, 34, 34, 34, 34, 34, 34,162,193, 18, 17, 17, 17, 17, 17, 17, 17, 17,
- 17, 13,150,136,136,136,136,136,136,136,200,191,134,191,181, 23,161,136,136,136,136,136,136,136,200,255, 34, 12,  0, 16, 66,104,
-213,171,183,120, 72, 68, 68, 68, 68, 68, 68, 68,254, 83, 60,169, 30,164,122,170, 28, 74, 41, 33,132, 80, 84, 14, 62, 42, 34, 34,
- 34, 34, 34, 34, 34,242, 31,225, 73,244, 32, 76, 77,  7,  9, 32, 76, 60,205, 34, 34, 34, 34, 34, 34, 34,255, 73,158, 68, 15,242,
- 64,  4, 75, 60,197, 34, 34, 34, 34, 34, 34, 34,255,105,158, 68, 15, 34,246, 34, 20, 17, 17, 17, 17, 17, 17, 17,121,204,136,189,
-  8, 69, 68, 68, 68, 68, 68, 68, 68, 30, 51, 98,  4, 75, 68, 68, 68, 68, 68, 68, 68,228,191,201, 96, 17, 66,252, 69, 77, 81, 83,
-212, 20, 53, 69, 77, 81, 83,212, 20, 53, 69,131, 37, 34, 34, 34, 34, 34, 34, 34, 34, 34, 26, 44, 17, 17, 17, 17, 17, 17, 17, 17,
-209, 96,137,136,136,136,136,136,136,136,136,  6, 75, 68, 68, 68, 68, 68, 68, 68, 68, 68, 52, 88, 34, 34, 34, 34, 34, 34, 34, 34,
-255, 16,  4, 64,173, 61,  1, 40,165,215, 45, 22,105, 66,111,130,134,244, 69, 77, 81, 83,212, 20, 53, 69, 77, 81, 83,212,124,242,
- 52, 27,210,110,140,255,248, 87, 27,172,191,115,160, 81, 66,136,255,227, 62, 80,162,166,168, 41,106,138,154,162,166,168, 41,106,
- 62,121,154, 79, 26, 98, 21,161,136,136,136,136,136,136,136,200, 99,134,251,167, 54, 76,  8, 97,106, 24, 60,  1,  0,165,143, 24,
- 78,251, 59, 52,255,173, 16,128,233,176,112, 33, 39,207,204,108,212, 57,212,185,187,155,110, 46, 88, 96,162,149,199, 71, 68,228,
-191,142, 59,197,103,171, 63,183,181,127,154, 84, 94, 14,  0,  0,122,187,232, 76,157,215,123, 27,187, 94,226,193, 19, 17,169,131,
-168,168,168,114, 31, 31, 31,116,234,212,233,118, 86, 86,214, 90, 74,233,143,226, 81,249, 23, 25,172, 14,174,202, 16, 31, 47,167,
- 65,135,163, 82, 62,173,111, 61,181, 90, 45, 25, 58,116,232,143,  0, 70,215,252,126,216,176, 97, 15,172, 39,145, 72,242, 11, 11,
- 11,125, 79,157, 58,101,106,104,219,106,181, 90, 50,116,216,176,191,106, 14, 31,254, 23,205, 20, 71,199, 86, 49,235,214,153,106,
-124, 73,  8, 64, 40, 64,  1,192,207,207,239, 28,195, 48,158,132,144,186,140, 92,245,103,134,169,244,115,130, 32,164,199,197,197,
-245,108, 40,157, 30, 30, 30,253,  0,204,177,224,112, 46,207,200,200, 56, 94,223, 10,182,225,225,137,148, 82,123,150,101, 45, 58,
- 63, 60,207, 67,122,227, 70, 17, 22, 44,104, 33,102,125,145,255,118,218,218, 63,205, 12, 27, 54,236, 25,  0,213,249,249,189, 87,
-151,255,101, 61,150,101,117,123,247,238,221, 76, 41, 21, 31, 42, 68, 68,234, 32, 60, 60, 28,147, 39, 79, 70,108,108,108,219,195,
-135, 15,175,242,240,240,152,146,153,153, 57,136, 82,154, 39, 30,157,127,216, 96,249,121,216,180,117,105,214,108,215,210,207, 22,
-  1,192,167,245, 25, 33,119,119,247, 31,189,189,189,  7,173, 88,177,  2,  7, 15, 30, 68,203,150, 45, 33,149, 74,193,178, 44, 88,
-150,  5,195, 48, 96, 89, 22, 51,103,206,180,175, 74,163,169, 33,115,229,238,238,254,163,151,183,247,160,229,203,151,227,240,225,
-195,240,241,241,169, 85,115,214,172, 89,246,  0, 36,  0,248,106,  1,169,212,252, 20, 76,171, 76,147,103, 76, 76,140,179, 66,161,
-168,124, 44,166, 20,130, 32, 60,240,162,148, 86,191,120,158, 71,175, 94, 22, 63, 29,207,137,143,143,239,169,209,104, 30,208, 48,
-111,195,252,185, 74,175, 94,131,165,215,235,155, 69, 93, 62,  7, 98,184,  7,240,  5,160,140, 35, 32,243,  5, 24,121,173,235, 23,
- 20, 20, 96,224,192,129,205,196,108, 47,242, 36,152,171,161, 67,135,246,109,211,166,141,199,146, 37, 75,144,152,152,  8, 63, 63,
- 63,240, 60, 15, 65, 16, 30,120, 31, 63,126,188,108,244,232,209, 68, 60,106, 34, 34, 15,210,124,228,143,171, 40,111,156, 84,185,
-100, 15, 96, 61, 74, 75, 75,241,198, 27,111, 96,223,190,125,237,186,118,237,186, 24,192, 84,241, 72,253,131,  6,171,173,151,210,
- 67, 37,179, 58,176,238,135,239,137,177, 52,203,190,174,245,  8, 33,204,144, 33, 67,214,122,121,121,245, 95,177, 98,133,149, 84,
- 42, 69,194,196,137, 40,210,106,161,255,242, 75,216, 59, 57,193,111,202, 20, 52, 51,153, 96,186,122,213,162,109,215,212, 92,190,
-124,185,149, 84, 42, 69, 90, 90, 26,244,122, 61, 92, 92, 92,160, 84, 42, 33,147,201,170, 95, 22,106, 66,161, 80, 32, 60, 60, 28,
- 28,199, 85,191, 88,150,173,117,217,213,213,181, 49,135,107,121,187,118,237, 58,221,185,115,199,166,160,160,  0, 93,187,118, 45,
- 37,132,196,154,127,164,148,118,138,141,141,181,177, 84,140, 24,238, 65,147,242,  3,132,194, 93,128,253, 40,240,182, 47, 66, 11,
-223, 90, 11, 26, 65, 16, 31,224, 69,158,  8,115, 69,134, 12, 25,210,167,117,235,214,238, 75,150, 44,145, 72, 36, 18, 92,185,114,
-  5, 57, 57, 57,104,214,172, 25,148, 74, 37, 36, 18,  9, 88,150,133, 68, 34, 17, 15,152,136, 72, 29, 80,222, 56, 41, 32,168,123,
-245,242,166,240,111,161,179, 11, 68,250,167,159, 98,213,170, 85,104,219,182,109,144,120,148,254, 65,131, 21,208,194,222, 78, 70,
-165,  7, 54,174, 89, 33,131,161,204, 62, 33,242, 60,158, 26, 60,197,108, 22,174,215, 48, 45,  4,  0, 35,145, 72, 94,248,234,171,
-175, 24,169, 84, 10,  0,  8,226,121,120, 24, 12, 40,238,216, 17, 74,123,123, 52, 55, 24,  0,131,  1,186,170,223,255,146, 33, 44,
-208,100, 89, 22, 82,169, 20, 28,199, 65, 34,145, 64, 42,149,214,111,176, 52,154, 90,123, 66,152, 77, 84,120,120, 56,140, 70, 35,
- 70,143, 30, 93,171,217,106, 40,157, 53,201,200,200, 56,238,225,225, 17, 43,  8, 66, 79, 65, 16, 64,  8,137,205,200,200, 24,104,
-254,221,195,195,163, 95,231,206,157,231,  0, 88,110,145, 38, 95,  0,161, 96, 43,108,186,229,161,228,162, 19,136, 85, 63,240,240,
-193,133,107,201, 56, 29,157,140,220,130, 18,248,251, 58,225,133,129,254,181, 26,172,191,163, 23,136,168, 41,106,254,205,154, 68,
- 42,149,182, 88,178,100,  9, 49, 27, 40,115,132,218,108,172,204,159,205, 85,248,226,241, 20, 53, 69,205, 90, 46, 36, 86,242,227,
-213,168, 11,147,  0,160,228,230,110,188, 51,182, 59, 74, 75,239, 96,234,212,143,145,158,158,142,219,183,111, 95,249, 79,166,243,
-137, 53, 88,132, 16, 74, 41,109, 84, 24,221,203,139, 40,108, 76,170, 93,171, 87, 45,181,181,177, 81, 57, 69, 29,219,139,228,228,
-172,122,255, 35,  8,  2,253,227,143, 63,112,107,210, 36,116, 49,153, 80,248,213, 87, 32, 30, 30,120,106,196,  8, 72, 13,  6,148,
- 92,190, 12,169,181, 53,100,214,214,168,171, 13, 84, 93,154,105, 25, 25,224, 56, 14,214,214,214,176,178,178,130, 92, 46,175, 54,
- 86, 82,169, 20, 82,169,212, 98, 77, 74, 41, 56,142,195,245,235,215,145,156,156, 12,123,123,123,156, 63,127, 30,253,250,245,123,
-192, 92,177, 44, 11, 66,136,197,186, 53,245,121,158,175,213,128,161,129,170,193,  7,207, 96, 51,192,241, 21,148, 94,242,  0, 28,
-198,193, 72,237, 33, 80,  1, 81,  9,217,248, 97,225, 43,  0,128,192,145, 11, 49,186,127, 71, 49,130, 37,242,196,192,243, 60,110,
-221,186,133,155, 55,111,130,101, 89,216,218,218,194,202,202, 10, 18,137,164,250,197, 48,140, 24,193, 18, 17,169,135,148, 61,147,
-102, 18, 66,150, 53,111,222,252,232,218, 37, 75, 90,247,235,215, 15,  0,112,252,248,113,252,252,242,203,248, 20, 24,251, 45, 33,
- 89, 51, 40,253,228,239, 78, 75, 83, 60,200,127,133,193, 50,239, 88, 99,118,144, 16, 66, 90,187,218,254,182,240,195,183, 90,248,
-248,182,114,141, 56,180, 29,247,238,165, 35, 59,187,176, 46, 67, 65,  9, 33,  2,  0,218,162, 69, 11, 20,106,181,240,208,235,193,
-122,120,192,186, 89, 51,112, 85,145, 43,137,149, 21,164,214,214,144,214, 17,193,170, 79, 83,171,215, 67, 38,147,193,218,218, 26,
-214,214,214,144,203,229,144,214, 48, 87,150,104,214, 48,109,224, 56, 14,215,174, 93, 67,207,158, 61,225,237,237,141,223,127,255,
- 29,  3,  7, 14,252, 75, 20,171,177,230,170, 54,131, 85,163,241,123,131,141,219, 31, 64,214, 26, 38,155, 23,192,168,250,194, 64,
-109,161,163,238,149, 85,130, 38,  1, 95,239,190,135, 91, 41,121,224,121,161,186,154, 80, 68,228,  9,128, 18, 66,104,251,246,237,
- 73,126,126, 62, 36, 18, 73,181,185,106,215,174, 29,210,211,211,171,205,149, 57,162, 37, 34, 34, 82, 59, 44,203, 46,222,187,119,
-111,107,133, 66,129,207, 63,255, 28, 54, 54, 54,184,180,120, 49,126,146, 74,161,  4,176,214, 96,152,  3,224,111, 53, 88, 77,241,
- 32,255, 85, 17,172,198,226,233,233,185,180,107,207,174, 61,125, 59,  4,203, 35,142,236,198,157,219,201,200,203, 43,  6,165,168,
-168,239,198,  8,  0, 18,137,  4,229,139, 22,161,176, 83, 39,248, 63,255, 60, 56,131,  1, 37,151, 46, 65,106,109, 13, 85, 96, 32,
-136, 94, 15, 73,118,182,197, 55, 91,179,166,179,179, 51,164, 82, 41,228,114, 57, 20, 10, 69,101,  4,171,134,185,106,172,193, 42,
- 41, 41,193,253,251,247, 49,121,242,100,168, 84, 42, 16, 66,144,147,147,131,230,205,155,131,101, 89,164,167,167,227,196,137, 19,
-104,217,178, 37,100, 50, 89,163, 50, 69,141,198,237,157, 60, 60, 60,142, 82, 74, 59,197,196,196,216,168,213,106, 52, 42,130, 69,
-164,208,193,  7, 60,188, 32,208,255, 55, 82,198, 26,102,138, 82,177, 13,150,200,147,195,237,162, 51,244,253,215, 86,  0,  0,156,
-157,157,171,141, 84,171, 86,173, 30,136, 92,137,230, 74, 68,164, 97,218,182,109,219,197,211,211, 19, 51,103,206,132,118,235, 86,
-148,  1, 24, 10, 96,175,193,  0,  0,176,  6,230,139, 71,233, 63,104,176,188,189,189,167,  6,  4,  4,188,254,227, 47,155,173,150,
-125,252, 94,105,113,220,117, 70,167,213, 91,105,141, 70,253,189,140,130,181,245, 69,156,134, 15, 31, 14,150,101, 97,237,224,  0,
-165,157, 29,164,230,200,149, 74,  5,169,181, 53,136, 94, 15,170,215, 67,106, 97,104,191,166,166, 66,161,128, 76, 38,171,213, 88,
- 53,214, 96, 21, 21, 21, 97,251,246,237,  8,  9,  9,129, 74,165,  2,203,178,232,220,185, 51,226,226,226,224,235,235, 11,  0,216,
-187,119, 47, 70,141, 26,133, 59,119,238,160, 67,135, 14, 86,141, 53, 88, 60,207, 35, 60, 60,220,134, 82,218,147, 82,138,220,220,
-220, 38,157, 68,158,231, 81, 80, 80,128,125,251,246, 33, 59, 59, 27,206,206,206, 40, 41,181,131,185, 87,186, 32,252,127, 47, 72,
- 17,145, 39,  5, 65, 16,160, 84, 42, 17, 29, 29,141, 23, 95,124, 17,  0, 96, 52, 26,225,228,228,  4, 95, 95, 95, 12, 26, 52,  8,
-  3,  7, 14, 20, 15,148,136, 72,125, 15, 44,183,111, 71, 37, 39, 39,251,125,252,241,199,248,217,211, 19, 54, 54, 54,152,189, 96,
- 65,132,201,100,122, 70, 60, 58,143,193, 96, 53, 38, 52,231,237,237, 61,220,205,205,109,241,230,205,155,149, 25, 25, 25,240,108,
-235,111,115,112,231, 14,157,139,181,180, 34,189,176,104,242,181,180,210,189, 13,105, 48, 12,131,118,179,102,161,165,193,128,252,
- 11, 23, 32,179,182,134,117,112, 48,136, 94, 15, 89, 82, 18,164,214,214, 96,149,202, 70,237,  8,195, 48,149, 85,130,102, 51, 85,
-163,106,208,108,182,106,107,240, 90, 27,  6,131,193,174, 95,191,126,232,219,183, 47,158,127,254,249,234,170,192, 46, 93,186, 96,
-219,182,109, 24, 57,114, 36,174, 94,189, 10, 15, 15, 15,180,107,215, 14,237,218,181,195,201,147, 39, 27,149, 94,243,176, 12,  3,
-  6, 12, 40, 37,132,196, 82, 74, 59, 69, 70, 70,218, 52,229, 36, 10,130,128,125,251,246,225,165,151, 94, 66,219,182,109,113,233,
-210, 37,204,253,248,115,216,185,248,192,196, 56,  3,160, 98, 21,161,200, 19,  7,207,243,117, 54,100, 55,223, 19, 68, 68, 68, 26,
-188,142, 62, 30, 49, 98,132,250,243,207, 63,111, 55,123,246,108,  0,128,135,135, 71,168,135,135, 71,244,127,106, 28,172, 39,177,
-122,176,218, 96, 89,178,131,189,123,247, 94,205,243,252, 48,149, 74,101,255,198, 27,111, 24,242,242,242,176,103,207, 30,252,244,
-211, 79,229, 26, 35,115,165,184,128,127, 35, 49,189, 52,221, 82, 51,164, 48,153,  0,131,  1,210,170, 54, 87,208,233, 64, 13,  6,
- 72,172,173,193,169, 84,141,222, 17,134, 97,106,141, 88,201,101, 50, 72,170,198,195,178, 20,153, 76, 86,124,238,220, 57,231,180,
-180,180,  7, 26,180,183,108,217, 18,  0,112,249,242,101, 92,186,116,  9, 47,189,244, 18, 56,142,131, 84, 42,197,181,107,215,202,
- 26,107,138,120,158,175,238, 69,232,225,225,209, 47, 36, 36,164,214,222,131,150,104,165,165,165,161,109,219,182,208,233,116,176,
-177,177, 65, 94,230,125,220,189,125,  7, 37, 21,113,104,238,172, 66, 78, 78, 14,228,114,185,120, 55, 17,121,162, 96, 89, 22, 79,
- 63,253, 52,242,242,242,224,228,228,  4,185, 92,142,226,226,226,  7,140,215,198,141, 27,197,  3, 37, 34, 82, 11,205, 71,254,184,
-202,107,216,234, 73,  0, 48,231,155, 63,241,225,226,149, 24,247,252, 64,188,254,250,235,255,241,113,176,158,248, 54, 88,117,237,
- 88, 88, 88,216, 56, 71, 71,199, 49, 19, 38, 76, 80, 94,190,124, 25,159,125,246, 25, 23, 30, 30,110,136,140,140, 52,  9,130, 48,
- 63, 45, 45,195,226, 59, 24, 33,  4, 12,195,160,236,208, 33,148,186,185,193, 54, 40,  8,196, 96,168,140, 92,217,216, 64,227,233,
-  9,232,116,176, 43, 46, 70, 99, 53,205, 67, 50,212, 28,150, 65, 82, 53, 92, 67, 83,110,220,181,141,123, 53,117,234, 84,252,248,
-227,143,232,214,173, 27,218,180,105,  3,142,227,192, 48, 76,147,122, 17,214,172,178,107,116,239,193,135,158,228,189,189,189, 17,
- 29, 29, 13,123,123,123,252,244,211, 79,112,113,118,198,212, 17,126,208,235,245, 48, 26,141,208,104, 52,224,121, 30, 79,232,204,
- 65, 34,255,131,  8,130,240, 64,155,171,188,188, 60,120,121,121,213, 27,213, 18, 17, 17,169, 81, 14,213, 28,  7, 43,168, 59,206,
-239,254, 10,219,110, 53, 71,250,226,197,255,200, 56, 88, 79, 90,  4,171,193,187, 80,143, 30, 61,172, 11, 11, 11,191,126,245,213,
- 87,149, 26,141,  6,121,121,121,200,203,203, 67, 68, 68,196,  9,189, 94, 31,156,150,150,182,177, 30,227,227, 95,151,121,113,116,
-113,129,204,198,  6,164, 70,239, 65,137, 74, 85, 25,201,210,235,129, 58,140, 64,125,154, 53,205,149,185,138,208, 34,115,101,101,
-245,128, 38,195, 48,213,195, 52, 60,220, 99,208,219,219, 27, 75,150, 44,193,136, 17, 35, 30, 24,166,193,210,116,122,120,120,244,
-163,148,118, 50, 23, 16, 85,141,220,251, 89,104, 36,253,235, 50, 88,131,  7, 15,198,193,131,  7,241,238,187,239, 34, 41, 41,  9,
- 35, 71,142,  4, 33,  4,118,118,118,112,115,115,131,131,131,  3, 20, 10,197, 95,210, 90,151,230,163, 32,106,138,154,255, 41,205,
-154, 13,218,173,173,173, 81, 94, 94,222,160,185, 18,143,167,168, 41,106, 86,125, 95, 57, 14, 22,174, 70, 93,192,233, 95,102,227,
-173,161, 45, 49,178,197, 29,124,252,113,195,227, 96,253, 29,233,124,210,104,208,125,148,148,148,124,210,174, 93, 59,233,205,155,
- 55,145,152,152,136, 91,183,110,129,231,249,187,105,105,105,207, 55,217,213, 49, 12,236,236,236, 32,147,201,192,165,167, 87,182,
-145,178,182,  6,128,202,200, 21,165, 32,141,172,206, 98, 24,  6, 28,199,253,255,152, 87, 85, 55,221,166,194,243,124,245,  8,237,
-230,113,174,204, 47,134, 97,170, 95, 77, 24,162, 97, 78, 68, 68,132, 77,114,114, 50, 40,165,216,179,103,143,205,168, 81,163,230,
- 52, 53,122,149,147,147,  3,131,193,  0,137, 68,130,193,131,  7,163,123,247,238, 40, 43, 43,171,142, 86, 17, 66,192,113,156,216,
-139, 80,228,137,195,220,  6,171,230,168,237, 98,228, 74, 68,196,114, 82,246, 76,154,  9, 96, 38, 33,100,204,130,  5, 11,126,126,
-243,205, 55, 33,  8,  2, 78,158, 60,137, 53,243,230,225, 83,158, 31,251, 45, 33,229, 51, 40,157, 41, 30,173,199,104,176,186,118,
-237,234, 83, 90, 90,250,163,201,100,234,204,243,188,236,244,233,211,208,106,181,136,139,139,171, 16,  4, 97, 79,147, 55,200,113,
- 89, 51,102,204,240,178,100, 93,169, 84, 90,132,  6,230, 33,172,169, 73, 45, 48, 59, 82,169,180, 72,231,238, 94,175,166, 32,  8,
-233, 53,231, 22, 52,155,168, 90,162, 63, 53,111,246,233, 22, 30,130,229, 93,187,118,253,203,119, 77, 57,150, 50,153, 44,109,232,
-208,161,110,141,249,143, 84, 42,205, 18,179,189,200,127, 59, 82,169,180, 98,252,248,241, 22,245,220,101, 89, 86,191,115,231, 78,
-177,110, 92, 68,164, 14, 20, 82,233,216,183,222,122, 11,191,253,246, 27,246,172, 90,133,129,105,105,216, 38,149, 66, 41,149, 98,
-173,193, 48,  9,128,104,176, 30,167,193, 42, 46, 46,254,180,160,160, 32,164,164,164,196,116,247,238,221, 10, 66,  8,207, 48, 76,
-133, 32,  8, 75,121,158,223,208,212, 13,238,218,181,203,239,113,239,132, 89,147, 88, 80,229,105,  9,113,113,113, 61,255,174,  3,
-254, 40,109,173, 30,230,226,133, 11,237,197, 44, 44,242,191, 70, 27,187, 94,216,177,163,215, 86,241, 72,136,136, 60, 30,174,196,
-198,246,  3,128,193,131,  7,163, 98,206, 28,  0,192,166,170,113,176,108,128, 31,255, 37,201, 12,  6,224, 92,245, 57, 15, 64,  2,
-  0, 53,  0, 37,  0, 29,128, 50,  0, 78, 53,214,207,175,250,205,252,251, 25,  0,198,255,100,130,235, 52, 36,  9,  9,  9,175,229,
-230,230,218,232,245,122,  7,158,231,157, 76, 38,147,171,193, 96,104,105, 50,153,126,164, 98, 75,233,127, 28, 10,  8,143,242, 18,
-143,160,136,136,136,136,  8,  0,248,249,249,169,156,156,156, 84,126,126,126,170,143, 40,125,224,245, 47,170, 30,116, 38,132, 28,
- 36,132, 28,156, 63,127,126, 31,  0,221,231,207,159, 31, 82,181, 28,  4,192,201,252, 59, 33,228, 32,128,102, 15,253, 30,240,159,
- 78,240,147,214, 96,129, 54,233,101, 48,152, 63,139,136,136,136,136,136,136,252, 91, 11,121, 74,135, 46, 91,182,108,  9,  0,118,
-217,178,101, 75,106, 44,131, 82, 58,180,230,251, 67,191, 59,255,167,211, 74,  0,248,215,177, 19, 22,207,148,221,148,222,  4, 13,
-233,139,154,162,166,168, 41,106,138,154,162,166,168,249,228,105, 54,164, 93,199,255,159, 37,132, 28,164,148, 14,173,249, 94,211,
-120, 85,105, 30,172,249,249,161,223, 15,253,167,221,224,223,246,  2,224, 47,106,138,154,162,166,168, 41,106,138,154,162,166,168,
-249,136,175,103, 43, 45, 75,221,239,117,125,174,241,221,127, 50,189,245, 12,211,176,115, 39,155,234,167,180,145, 91,241, 82,  0,
-208,105, 88,131,247,173,138, 82,140, 30, 45,206,183, 34, 34, 34, 34, 34, 34, 34,242, 31,135, 16,114,112,222,188,121, 31,252, 55,
-164,149,171,203, 92,229,170,101,205, 20,198,162, 54, 38, 19,218,  1,128, 66,134,132, 92,181,205, 29,231,157, 59,243, 31,183,201,
- 26, 62,124,184,181, 76, 38,147,236,216,177,163,240,223,120,144, 58,181, 38,158,188, 17,195,192, 98, 16,  0,128,199, 17, 86,130,
-  3,177,137, 52,189,145, 25,195,165, 42,106,152,243, 56,214,123,220,255, 21,121, 50,240,240,240, 80,  2, 24,202,113,220, 56,  7,
-  7,135,160,252,252,252,207,211,210,210,190,107,226,205,140,  3, 48,195,222,222,126,140,189,189,125,139,130,130,130,251, 37, 37,
- 37,187,  0,124, 75, 41, 53,254,147,251, 73,  8, 97,252,253,253, 21, 60,207, 19,185, 92, 46, 72,165, 82, 42,147,201, 30,110, 75,
-105, 58,117,234,148,233, 73, 61,215, 97, 97, 97,114,  0, 56,117,234,148,238,191,172,144,100, 90,182,108,105,125,255,254,253, 50,
-106,158,149, 94,164, 65,186,119,239,126, 75,175,215,215, 59,204,145, 84, 42,205,151,201,100,190, 79, 96,190,207, 51, 87,253,  1,
-200,  1,192, 86, 45,235,171,222,179,107,124,151, 93,199,239,255,188,193, 74,245, 83,218, 40,140, 69,109,114,178,226, 70,231,100,
- 92,121, 30,  0, 92, 60,186,236,114,113,235,184, 51,213,207,222,208,181,227, 24,107, 86, 73, 86,113,140,164,179, 86,167,107, 38,
-145, 72,242,245, 38,211, 53,206, 72,102,102,196,237, 72,109,108, 34, 40,165,219,  9, 33,238,195,134, 13, 59, 42,  8,194,166, 67,
-135, 14, 37, 52,233,162, 13, 11,227, 92, 11,155,141,101, 36,220, 16,128,250, 83, 10, 80,194, 93,135,193,112, 36,219, 49,111, 51,
-109, 68,134, 83,171,137, 82, 91,130,126, 16, 48,172,109, 75,215,208,153, 83,158,111, 22,210,125,160, 82, 83,110,196,153, 19,  7,
-131, 55,108, 57,240,214, 83,190,228, 50, 79,112, 64,105,135,240,232,104, 90,209,192, 13,101, 17, 33,152, 85,245,121, 37,165,244,
-147, 71, 89,207,130,255,126, 79, 41,157,255,152,111,138, 79, 57, 56, 56,124, 47,151,203,173, 88,150,189,147,150,150,246, 53,165,
- 52,166,177, 58,222,222,222, 29, 77, 38,211,  8,137, 68,162, 54, 26,141,209, 28,199,237, 75, 77, 77,141,123,132,116,177, 29, 58,
-180,126,133, 37,164,  7,  0,123,  0, 69, 60,165,231,111,222, 76,252,141, 82,218,164,135,129,176,176, 48,174, 66,163, 25,203,177,
-236, 96, 74,169, 63, 40, 37, 32,228,186,201,100, 58,162,178,177,217,108,233,205,171, 91,183,110,183, 76, 38, 83,163,198, 42, 99,
- 89, 54,215,203,203,203,111,199,142, 29,141, 78,187,151,151,215, 40, 79, 79,207,181, 93,187,118, 85,117,233,210,  5, 82,169, 20,
- 95,126,249,229, 12,  0,223, 89, 98,164,172,172,172, 70,171, 84,170,150,101,101,101,247, 42, 42, 42,246,202,100,178,103,190,253,
-246, 91,207,110,221,186,217,228,230,230, 18,134, 97, 92, 14, 28, 56,240,242,119,223,125,215,143, 16,242, 44,165,244,145,110,226,
- 30, 30, 30,239,  2, 48, 79,199, 17,149,145,145,241,181, 37,255,235,216,177,163,116,232,208,161,191, 18, 66,158, 37,132,212, 89,
- 64, 51, 12, 83, 22, 22, 22,214,188,190,243,213,178,171,195, 57,142,229, 60,235,250,221,196,155,210,239, 95, 42,124,228,161, 91,
-250,245,235,183,133, 82, 58,194,100, 50,129,101,217,211, 39, 78,156, 24, 98,249,253, 72,221, 12,192,108,  0,140, 76, 38, 91,113,
-225,194,133, 92,181, 90,125, 72, 42,149,134, 85,253,126, 42, 58, 58,250,217,135,206, 41,121,148, 30,223, 97, 97, 97, 31,  9,130,
- 48, 69, 38,147,165, 22, 22, 22, 78,140,142,142,190,245,168,199, 64,173, 86, 75,178,179,179,103,116,238,220,121, 90,112,112,176,
- 91, 92, 92, 92,182,167,167,231, 26, 87, 87,215,111,163,163,163, 27, 52,236, 93,186,116,113,103, 24,230, 21,  0, 99,171, 10,208,
-157,132,144,205,209,209,209,247,254, 23, 12,150,201,100,114,187, 56,111, 30, 32,151,131,239,221, 27,  2, 33, 32,159,125,  6, 33,
- 59, 27,134, 47,190,128,  9,192,208,161, 67,237,171,202,246, 39,205, 96, 93,254,111, 75,112,173,  6, 75,110,197, 75, 77, 38,180,
-203,201,184,242,124,232,160,111,109,  1, 32,226,200,140,231, 29,221, 59,198,201,173,248, 59, 50,107,233,214, 81,195,250,117, 30,
- 61,180, 55,241,114,119, 65, 90,102,142,203,198,109, 71,251, 31, 60,114,114, 43,128, 30, 22, 70,173, 94, 54, 26,141, 62, 12,195,
-108, 99, 24,198,125,213,170, 85,173, 18, 19, 19, 39,110,219,182,109,248,176, 97,195,206, 11,130,240,243,161, 67,135, 46, 90,186,
- 35,110, 93, 70,180,119,131,219,150, 17, 35,135, 52,127,182,191,179,204,199,205, 25,130, 32, 71,194, 61,163,119,248,217,152,254,
-135,255, 56, 54,211,213,127,196, 43,217,215,247,221,104, 72,171,125, 43,242,162, 74, 46,157, 61,239,205,103,221,  6, 15, 26,106,
-227,232, 21,200,129, 84, 78, 22, 45,179,  5, 70,190, 50,199,106,196,203,239, 88,221,187,113,206,243,208,225,  3,253, 55,239, 61,
-149,217,190, 21, 89, 17,127,151,254, 94, 87, 84,137, 16,204, 18,  4,202, 84,222,244,201,156,254,253,251, 15, 80, 40, 20, 15,220,
- 80,180, 90,173,132, 16,116, 20,  4, 90, 85, 56,144, 89,132,144,213,150, 68,163,204,219,208,235,117,140, 68, 34,  3,203, 50, 51,
-  2,  2,  2,186,228,230,230,158,  2,176, 33, 35, 35, 35,255, 81, 50,138, 74,165,154, 48, 98,196,136, 37,155, 54,109,178, 86, 42,
-149,200,200,200,240,123,241,197, 23, 59, 19, 66,158,163,148, 54,120,227,245,240,240,  8,  0,240,156,147,147,211,168,137, 19, 39,
-250,244,237,219, 23, 45, 90,180, 64, 70, 70, 70,191,147, 39, 79,206, 15, 12, 12, 76,201,206,206,222,  5, 96,111, 70, 70,198,213,
-198,152, 43,255,142,109,151, 79,158, 50,181,253,200,145, 35,221,229, 10, 37,151,150,150,148,187,254,135, 53,118, 44, 97, 58, 19,
- 66,230, 52,214,100,133,134,134,182, 39,130,176,117,218,132,  9, 45,130,186,119,231, 92,221,221,161, 45, 46, 70, 98, 66,130,119,
-228,229,203,253,246, 29, 63, 62, 75,173, 86,143,139,142,142,110, 48, 47, 25, 12,  6,175,179,159,127, 14,214,201,  9,212,104,132,
-182, 77,155,234,250,121,249,197,139,128,209, 88,249,125,159, 62,160,148,130,231,121,140, 26, 53,202, 37, 47, 47, 79,  2,160, 81,
-233,246,246,246,118,111,211,166,205,134,249,243,231, 75,117, 58, 29,174, 92,185,130, 11, 23, 46,  8,185,185,185,203, 27, 50, 87,
-132,144,  3, 11, 22, 44,240,232,217,179,167, 77,126,126, 62, 76, 38, 83,179,189,123,247, 78, 86,171,213, 54,158,158,158,178, 95,
-127,253,213, 60, 67,128, 67,171, 86,173, 28,198,142, 29,171,255,245,215, 95,103,  0, 88,241, 72, 55, 32,142, 11,190,117,235,214,
- 16,  0,104,213,170,149, 69,255,233,216,177,163,212,215,215,119,147,175,175,111,159,101,203,150,145,196,196, 68,182, 67,135, 14,
- 16,  4,  1, 38,147,  9, 60,207,131,231, 43, 15,221,184,113,227,172, 27, 42,108, 56,150,243, 60,183,251,134,179, 74,165,170,254,
-175,121, 50,118,141, 70,131, 65,175,118,125, 44, 55, 91,158,231,  7,109,216,176,  1, 28,199, 97,220,184,113,189,213,106,181, 50,
- 58, 58,186,194,194,191, 79,123,227,141, 55,222,177,182,182,198,170, 85,171,158,233,216,177, 99,152, 92, 46, 15,251,243,207, 63,
-  1,  0,189,122,245, 10, 11,  9,  9,113, 52,153, 76,195,  8, 33, 35,109,109,109,123,  6,  6,  6,158, 11,  8,  8,120,229,234,213,
-171,197,141, 77,107, 80, 80,208, 40,127,127,255,233, 95,125,245,149,213,141, 27, 55, 28, 22, 45, 90,180, 21, 64,151, 71,217,255,
-142, 29, 59, 74, 53, 26,205,150, 79, 63,253,116,176,121,170, 49, 65, 16, 92,207,156, 57,179,232,221,119,223,237,170, 86,171, 95,
-170,203,100,  5,  7,  7,119,166,148,126,220,170, 85,171,126,175,190,250, 42,219,163, 71, 15,148,149,149,225,216,177, 99,239,239,
-222,189,251,253,192,192,192, 75,148,210, 69, 87,174, 92, 57,251,184, 10, 71,181, 90,157,  0,192,219, 28,119,136,142,142,110,247,
-175,136,254,217,217,161,116,240, 96, 24,238,220,  1,100, 50, 72, 87,172,  0, 12,  6, 24, 22, 44,  0,100, 50, 49,204,247,111, 55,
- 88, 13, 81, 94, 94, 30, 48,127,198,120, 48, 76,229, 72,230,109,124,155, 99,233,  7,147,201,190,131, 71, 45, 30,103,162,160,160,
-224,227,177, 99,199,186,239,219,183,239, 13,134, 97, 20, 57, 57, 57,164,188,188, 92, 57,107,214, 44,175,210,210,210,145,123,247,
-238,125,122,248,240,225,177,148,210, 47, 15, 28, 56, 16, 85,159,150,115,192,243,173, 93,156, 92,142,125,189,120,178,131,191,111,
- 43,232,141, 70,164,229,164,131, 66, 14, 55, 23,107,140,123, 46, 64,218, 35, 72,210,122,249,247,127, 30,117,235, 60,172,127,214,
-181,  3, 55,235,141, 32, 80,188, 23,113, 57,174, 45, 99,202, 39, 68, 98, 91,199,147, 49,135,214,157,194,184,105,190,254,246, 67,
-  6, 12,178, 29,245,218,172,247,  0,252, 94,223,117, 81,163, 64,195, 59,239,188, 83, 61, 21,143,153,236,236,108,156, 56,241,103,
-173,255,177,244,218,171,185,240,217,103,159,217, 21, 20, 20, 60,187,113,227,198,126,238,238,238, 11, 51, 51, 51, 27,125,243, 33,
-132, 40,  1, 12,122,230,153,103, 22,239,222,189,219,218, 60,122,189,171,171, 43, 86,172, 88,225,253,226,139, 47,126,  1, 96,120,
-  3,230,234,231,241,227,199,143,233,223,191, 63,252,252,252,144,159,159,143, 75,151, 46,233,215,172, 89,115,191,111,223,190, 45,
-199,140, 25, 35,123,231,157,119,154, 39, 37, 37,205,217,187,119,239, 28,  7,  7,135,159, 10, 11, 11,167, 91,146,190, 14, 29, 90,
-191, 50,113,210,164,246, 83,167,189,173, 54, 24,116,229,215,162, 79,159,224,164, 12,251,246,244, 73,118,  5,133,185, 78,148, 10,
-175,  0,248,165, 17,230,170,181,167,171,107,248,178, 47,190,176,119,116,118, 70, 86, 86, 22, 82,211,210,144,121,253, 58,  8,128,
-254,253,251,203,  2, 58,119,110,181,114,221,186, 35,193,193,193,  3, 34, 35, 35,111, 54, 24,145,114,114, 66,122, 96, 96,229, 93,
-250,228, 73,115,100,  5,158,195,134, 85,175, 83, 24, 25,  9,150,101,225,229,229,213,148,233,151,204,145,224,208,158, 61,123, 74,
-  1,224,221,119,223, 45,213,104, 52, 95, 17, 66,182,167,167,167,103, 52,240,215, 25, 31,125,244,145,123,171, 86,173,154,111,217,
-178,  5,101,101,101,  0,224,236,235,235,139, 54,109,218,240,167, 79,159,134,159,159, 31,108,108,108,112,250,244,105, 92,186,116,
-  9,129,129,129,214, 82,169,244,249,198, 24,172,186,162, 85, 60,207,163,216,194,201,221,  9, 33,204,179,207, 62,187,161, 69,139,
- 22, 97,203,150, 45, 83, 73,165, 82,196,198,198, 34, 43, 43, 11,206,206,206, 80, 40, 20,144, 72, 36,224, 56,174, 81, 83,101,169,
- 84, 42,100,100,100,192, 80, 53,184, 34,207,243, 40, 45, 45,133,155, 91,101,240,113,225, 66,194, 44, 88, 96,121, 85, 86,191,126,
-253,188, 41,165,205, 31, 50, 88,140,217, 92,235,245,122, 40, 20,138, 94,125,251,246, 45,175, 50,154,133, 71,143, 30,173, 47, 47,
-217,185,187,187, 99,216,176, 97,208,235,245,237,215,174, 93,251, 11,165, 20,229,229,229,213, 43,184,184,184, 36,245,234,213,139,
-237,217,179, 39, 90,181,106,133,117,235,214,245,217,185,115,231,211,  0,246, 55, 54, 47,217,217,217,189, 48,122,244,104, 43,107,
-107,107,132,134,134, 66,175,215,123,132,133,133,201,155, 82, 21, 73,  8,225, 60, 60, 60, 92, 57,142,251,102,198,140, 25,  3,123,
-247,238,141,248,248,120, 28, 57,114,  4,195,135, 15, 71, 88, 88, 24, 62,252,240,195, 65,159,124,242,201, 12,212, 49,171,133, 32,
-  8,155,119,237,218,213,194,203,203, 11, 44, 91,249,176,107,107,107,139,137, 19, 39, 98,252,248,241, 56,124,248,112,215, 37, 75,
-150,108, 13, 11, 11,243,121,140, 85, 99,222,209,209,209,102,179,229,253,111, 41,180,141,221,186,193,144,146,  2,169,143, 79,165,
-177, 74, 74,170, 52, 90, 85,203, 18,181, 90,116, 54,255,102,131,165,211,176,  6,133, 12,  9, 46, 30, 93,118, 69, 28,153, 81, 93,
- 69,200, 81, 36,104, 53,172,  1,  0,120, 74, 81, 82,102,130, 82,206, 32, 41,179, 20,215,239,230,214,118,195,127,160,171,101,255,
-254,253, 15,148,150,150,250, 57, 58, 58,174, 48,153, 76,108,159, 62,125,216,174, 93,187, 58, 39, 39, 39,227,212,169, 83,144, 72,
- 36,208,235,245,196,193,193, 65, 62,113,226, 68,143,138,138,138,102, 31,124,240,129, 19,128,222,117,105,146, 49, 99, 88,119,  9,
-187,243,171,197, 99, 29,  8,123, 11,183, 82,138,208,218, 43, 20,205,236,188,145,158, 91,134,232,184,195,184,149,120,  8,173,189,
-154, 99,242,184, 54,118, 43,127,200,219, 69,212, 83,252,105,244, 58, 99, 93,154,  0, 88, 86,213,154,232, 79,142, 18, 88,167,222,
-132,117, 31, 74,136,194,227,129, 21, 52,249, 73, 72,184,184,137, 38,197,238,167,205,  3, 94, 33,  0,216,186,246,157, 82,154,195,
-178,236,  6,134, 33,147,  8, 33,232,210, 37, 48,103,249,242,229,181, 61,169, 25,187,116,  9,204, 97, 89,198,165,114, 30, 65,230,
- 71, 65,224,115,234, 73,103,205,237,229, 16, 66, 86,202,100,242, 89,  0,224,238,238,145,115,232,208, 33,227,232,209,163,241,245,
-215, 95,203,230,206,157,187,192,211,211,243,213,244,244,244,244,250,206, 81,141,155,162,191,173,173,237,148,182,109,219, 14, 95,
-188,120,177,108,208,160, 65, 74, 74, 41, 74, 75, 75, 81, 90, 90,138,242,242,114, 88, 89, 89,129,227, 56,183,134,206,123,139, 22,
- 45, 70, 77,156, 56, 17,206,206,206,136,136,136,192,220,185,115,147,115,115,115, 63,203,204,204,140,222,186,117,107,187, 86,173,
- 90,125,184,110,221,186,246, 61,123,246,100,134, 13, 27,134,  3,  7, 14,244,104, 72,179,250, 68, 17,210,227,185,231, 70, 58,235,
-245, 21, 26,157,174,162,248,126,114, 84,102, 90,218,141, 34,191, 54,193, 46,  3,  6,118,115, 76, 72,184,219,163, 46,131,245,176,
-230,152, 49, 99, 88,134,231,127,255,226,171,175,236, 25,142,131,209,104,132,143,143, 15, 98, 99, 99, 81, 82, 88,136,138,178, 50,
-220,139,139,131, 71,203,150,152, 49,110,156,253,103,107,214,108, 81,171,213, 65, 53,159,186,107, 75, 39, 53, 26, 31,202, 92,236,
- 95,230,204, 99, 89,182,186,224,176,116,223,107, 41,132,146, 50, 50, 50,160, 82,169,208,190,125,123,171,168,168,168, 11,105,105,
-105, 25, 13,105, 42, 20,138,231,123,244,232, 97,179,117,235, 86,168,213,106,216,219,219,227,196,137, 19,136,141,141,133,193, 96,
- 96, 74, 75, 75, 97,109,109,141,101,203,150,161,121,243,230, 40, 41, 41, 65, 82, 82, 82, 51,137, 68,226,212,200,116,  6,197,197,
-197, 61, 91, 21,205, 48, 27, 46,117,219,182,109,129,202, 54, 21, 81,245,165,147, 84, 58, 79,134,227,184,231,150, 44, 89,194, 72,
-165,210,106,179,106,158,147,208,108,172,204,147,180,215,102, 86,107, 75,167,201,100,130,193, 96,128,193, 96,128, 32,  8,200,205,
-205, 69, 73, 73,  9, 28, 28, 28, 42, 87, 88,  0, 16, 16, 66,235,152,133,190,166,230,128,  1,  3,222,115,113,113,249,216,197,197,
-229,129, 19,170,211,233, 48,111,222, 60,148,149,149,193,211,211, 19,158,158,158,187,205, 19,203,231,231,231,163,127,255,254,203,
-194,195,195, 23,215,166,201,113,220,151, 95,127,253,245,240,118,237,218,185, 77,152, 48,  1, 28,199, 13,202,207,207,199,166, 77,
-155,160, 82,169,176,113,227, 70,180,104,209,130,229,121, 30, 21, 21, 21,102, 35,172,145,201,100, 73, 77,201, 75,133,133,133,191,
- 29, 60,120,176,123,183,110,221,236,  0, 96,196,136, 17,204,190,125,251, 82,250,244,233,147, 90, 90, 90,250, 74,205,234,194,186,
- 52,213,106,181, 36, 43, 43,107,246,184,113,227,222,233,215,175,159,109,126,126, 62,228,114, 57,182,111,223,142, 13, 27, 54, 28,
- 51, 26,141, 11,119,237,218,245,233,250,245,235,251,143, 24, 49,  2,235,215,175,127,179,170, 89,132, 80,139,166,187,183,183, 55,
-174, 93,187,  6,  7,  7,  7, 56, 57, 57,161,184,184, 24,151, 46, 93,194,229,203,151,209,190,125,123, 16, 66,234,173, 26,171, 39,
-157, 77,142, 84, 53,102, 56,163,199,165,217,148, 90,223,134, 52, 67, 66, 66, 90,240, 60,255, 50,128, 49, 85, 95,237, 96, 89,118,
-203,229,203,151,147,254,147,251,254, 68, 26, 44, 66,136,249,140,133, 81, 74, 79,123,223,170, 40,205, 85,219,220,113,113,235,184,
-211,209,189, 99, 28,  0,112, 20,  9, 84, 98,115,199, 59,182,162,180,178,234,131,226, 66, 66, 33,174,222,206, 70,236,237, 44, 88,
- 43, 26,126,234,214,233,116,207, 28, 57,114,  4, 59,119,238, 92,254,221,119,223,209,148,148, 20, 36, 39, 39,195,193,193,  1,189,
-123,247, 70,110,110, 46, 34, 35, 35,209,186,117,107, 80, 74,225,237,237, 45,  3, 96, 87,159,166,235,109, 97,220,171,147,187,180,
-116,178, 35, 56,112,225, 40,186,182, 31,  9,149,156, 67,110, 97, 57, 24, 66,144,120,255, 56,120,222, 10, 87,227, 83,208,221,223,
- 10, 61, 67,109, 61, 53,127, 22, 78,  0,176,174,225, 18,203,  8, 62,231, 56,229,115,254,164,140, 67, 16, 97,221, 71,144,194, 98,
- 45,226, 47,254, 68, 51, 19, 78, 86,223,107, 13,250, 82, 75,170,  7,102,186,186,186, 86,204,155, 55,239,153, 54,109,218, 24,223,
-122,235,173,152,164,164,164,119, 30, 50, 34,223,172, 94,189, 26,119,238,220,201, 91,182,108,217,137,236,236,236, 15, 26,121, 17,
-125, 76,  8,249, 30,  0, 50, 50, 50,242, 15, 30, 60, 24,116,250,244,233, 57, 43, 87,174,116,123,251,237,183,101,211,167, 79,159,
- 84, 89, 84, 52,248,196, 25, 16, 22, 22,118,228,183,223,126,179,114,115,115, 35,132, 16, 24, 12,  6,228,230,230, 34, 55, 55, 23,
-197,197,197,208,104, 52, 40, 43, 43,  3,195, 48, 13,182,151, 83,169, 84,108, 73, 73,  9,138,138,138, 16, 18, 18,130,203,151, 47,
-251,156, 63,127,126,195, 15, 63,252, 32,140, 31, 63,158,132,133,133,145,188,188, 60,236,222,189, 91,200,202,202, 98, 20, 10, 69,
-153,197, 79,199, 12,236, 85, 42,165,244,226,249,189, 71, 50,210,226,242, 50,179,175, 23, 51,160, 76, 70, 70, 84,177,111,155, 62,
-205, 80,217, 38,203, 34,238,221,187,247,210,172,169, 83,125,237, 28, 28, 96, 50,153,224,228,228,132,180,180, 52,148,151,151,163,
-188,164,  4, 21,101,101,208,150,148, 32,254,207, 63,209,109,200, 16, 12,232,210,197,251, 80, 76,204,235,  0,214,215,167,171,247,
-243, 67,234,201,147, 96, 24,  6,222,189,171,159, 21,144, 31, 17, 81,109,182,108,251,247,  7, 81,169, 32,249,160,233,157, 99, 50,
- 50, 50,174,250,248,248, 28, 29, 52,104,208,192,201,147, 39, 51, 89, 89, 89,251,220,220,220,158,201,202,202,138,175,239,127,214,
-214,214,190,121,121,121, 40, 45, 45,133,189,189, 61, 86,174, 92,  9, 23, 23, 23, 84, 84, 84, 32, 50, 50,146,122,121,121,145,147,
- 39, 79,194,211,211, 19,  5,  5,  5,208,235,245, 40, 47, 47,207,214,235,245, 21,141,137, 88,153, 35, 67,102,143,207,113, 92,112,
-108,108,172, 75,101, 36,178,131,197,237,175,  4, 65,160,119,238,220, 65, 92, 92, 92,229,177,179,181,133,149,149, 85,229, 36,239,
- 82,105,181,185,226, 56,203,  3,244,230,201,209,205,230, 42, 55, 55, 23,137,201,183,176,251,228,175, 48,240,198,102, 63,135,218,
-222,111, 37,145, 92,119, 46, 35, 11,114,175,209,171, 13, 92,135,227,191,252,242, 75,214,221,221,253, 47,191,165,165,165,161,184,
-184, 24, 54, 54, 54,176,183,183,175,174,210,204,203,203,195,204,153, 51,199,  3, 88, 92,155,102, 68, 68, 68, 78,104,104,232, 11,
-179,103,207, 62,254,235,175,191,202,198,141, 27, 87, 93,157,201,243, 60,202,202,202,240,231,159,127,226,236,217,179,136,138,138,
- 42, 52, 24, 12,251, 89,150, 93, 19, 17, 17, 17,223,216,124,212,173, 91, 55,  7,107,107,235,207,223,124,243, 77, 27,  0,208,106,
-181, 24, 55,110,156,242,133, 23, 94, 64,116,116,116,251,239,190,251,110, 19,128,144,134,170,  3, 25,134,217,113,242,228,201,126,
- 85,  6, 26, 70,163, 17,231,207,159,199,228,201,147, 11, 84, 42,213,248,184,184, 56,141,167,167,231,167,  7, 15, 30,236, 31, 16,
- 16,128, 78,157, 58,185,230,229,229, 89,  3, 40,169,227,188,131,231,249,234,243,179,113,227,198,234,223,180, 90,109,229,181,166,
-215,147,144,144,144, 22,245, 25,131, 70, 68,170, 82,107, 44,167,254,147,  5,117,199,142, 29,173,100, 50,217,  8,142,227, 88,110,
-231, 78, 72, 39, 77,130, 33, 49,241,129,200,149, 57,146,101, 28, 49,  2,146, 70,104, 18, 66,198, 57, 57, 57,245,232,222,189, 59,
-145, 72, 36, 24, 49, 98,  4, 14, 31, 62, 60,255,200,145, 35,243,212,106,245,  5, 65, 16, 54, 27, 12,134,189,113,113,113,154,191,
-173,218,243, 33, 15,242,196, 69,176, 40,165,164,106, 39,  9, 70,143,230,157,119,238,204, 79,245,179, 55,200,173,248, 59,  0,160,
-213,176,  6,239,216,170, 97, 26, 22,111,  5,  5,  5,207, 83, 80, 65,128, 64, 41,120, 11,130,231,205,108,141, 96,174, 59, 96,108,
-215, 17, 24, 63, 62,138,252,249,231,159, 56,117,234, 20,  2,  2,  2, 96, 52, 26, 97,107,107,139, 49, 99,198, 96,239,222,189, 80,
-169, 84,208,104, 26, 62,159,214,142,166,145,161,157,218,176,183, 82, 98, 17,212,246,121,180,112,239,137,196,244, 98, 20,150,234,
-144, 95, 92,  1, 63,191,247,144, 93, 80,129, 18, 77,  5,174, 37,108,129,151,187, 47,195, 72,238,246,183,200, 96,253,255, 45, 19,
- 66, 97, 36, 21, 10, 35,233,159, 71,255,218,220,200,164,179,172,122, 67, 16,132,111,143, 28, 57,210,173,103,207,158, 92,191,126,
-253,  2,125,124,124,186, 36, 39, 39, 95,  1,  0, 31, 31,159, 46,253,251,247, 15,116,113,113,193, 55,223,124,163, 21,  4,225,219,
- 38, 62,253,212,108,175, 21,225,237,237,189,112,207,158, 61, 63, 76,153, 50,  5,238,238,238,157, 45,209,176,183,183,159,180,105,
-211, 38, 43,119,119,119, 98, 50,153,160,213,106,145,149,149,133,162,162, 34, 20, 22, 22, 34, 37, 37,  5,  5,  5,  5,200,204,204,
-212, 36, 37, 37,237,178, 52,109, 31,125,244, 17, 76, 38,147,113,242,228,201,146, 62,125,250,224,215, 95,127,101,238,221,187,135,
-245,235,215,243, 59,118,236, 72,102, 24,134,123,254,249,231,155, 55,110,135, 73, 94, 90,218, 61,103,157,161, 80, 59, 40,172,251,
-172,220,164, 60, 56,183, 24,129,227,103,118,125,147,146,148, 72,  9,  3,139,219,158,201, 37,146,  1,234,174, 93, 37, 89, 89, 89,
-104,221,186, 53,210,211,211,113,251,246,109,232,245,122,104,138,139, 97, 44, 41,  1, 95, 88,  8, 90, 82,130,164, 51,103,208,161,
-117,107,217,145,152,152,254, 13, 25, 44, 65, 16,192, 48,204, 95,162, 41,230,168, 21,195, 48, 32, 86, 86,128,149, 21, 40,211,184,
-201, 21, 60, 60, 60,134,218,218,218,206, 46, 41, 41, 57,154,145,145,241,133,193, 96,152,189,116,233, 82,245,162, 69,139,154,205,
-157, 59,215,102,238,220,185,155, 91,180,104,209, 45, 41, 41,169,206,170,157,178,178,178,123, 70,163,209, 17,128,203,241,227,199,
-225,236,236,140,210,210, 82, 24, 12,  6, 84, 84, 84, 24, 28, 28, 28,228,249,249,249,208,233,116,208,233,116,176,181,181, 69,116,
-116,116,129,201,100, 58,220, 80,196,234,254,253,251,207, 86, 61, 60,180, 34,132,216,119,234,212,169,250, 55,115,228, 40, 43, 43,
-203,210,188, 77,  9, 33,  2, 33,132,250,249,249,161,168,168,  8, 44,203,194,202,202, 10,214,214,214,104,223,190, 61, 82, 83, 83,
-155,108,176,106,154,171, 63, 47, 30, 68,110, 89, 38,126,252,106, 43, 60,221,188, 25,  0, 78,233, 89,169,207, 76,152, 51, 38,184,
-101, 79,199,175,238,159, 43, 88, 94, 79, 97,241,235,220,185,115, 63,117,118,126,112,224,104,111,111,111, 76,153, 50,  5,  7, 15,
- 30,196,157, 59,119, 30, 24, 47,167,160,160, 64,  0,240,107,125,105,140,136,136,136, 81,171,213, 19,198,140, 25,179,162, 69,139,
- 22, 46,148, 82,  4,  4,  4, 96,236,216,177,248,234,171,175,112,230,204,153,157,130, 32,252,108,107,107,123, 33, 55, 55,151, 77,
- 76, 76,212, 55,246,254, 17, 18, 18,226, 40,151,203, 79,175, 94,189,218,167, 85,171, 86, 76, 70, 70,  6, 46, 94,188,136,110,221,
-186,129, 16,130, 54,109,218,192,104, 52,122, 54,100,174, 40,165,219,247,236,217,211,175, 85,171, 86,136,143,143,199,217,179,103,
-225,236,236, 12,165, 82,137, 97,195,134, 57,110,223,190,125, 74,199,142, 29,191,227, 56,238,147, 33, 67,134,128,231,121, 68, 69,
- 69,101,221,191,127,191,172,190,115, 84,207,195, 59, 40,165, 48, 26,141, 95, 50, 12,243,124,112,112,240,176,200,200,200,168, 71,
- 41, 28,255, 45,109,174,158,122,234,169, 25, 42,149,234,163,238,221,187,171, 46, 94,188,  8, 90,101, 38,235,129, 45, 43, 43,123,
- 19,245, 84,223, 15, 28, 56,112,166,141,141,205,  7, 93,187,118, 85,121,120,120, 64,163,209,160,160,160,  0,121,121,121,152, 59,
-119, 46,218,182,109,139, 25, 51,102,144, 11, 23, 46,244, 56,112,224, 64,143,139, 23, 47, 46, 87,171,213,159, 68, 71, 71,255,240,
-119,237,231,  3, 30,228, 73, 51, 88, 85, 59, 22, 86,253,203,232,209,188, 55, 80, 84,117, 19,111,102,111,111,191,130,231,249,222,
-248,228, 19,216,112,118, 72, 74,188,141,210, 66,  1, 70,189, 14,130, 64, 65,133,134,143,137, 82,198,195,246,105,138,146, 51,  4,
- 18, 66, 48,100,200, 16, 12, 28, 56, 16, 49, 49, 49,248,245,215, 95,209,179,103, 79, 20, 23, 23,163,164,164,  4,101,101,101,230,
-182, 32,245, 34, 85,104,159,242,113,109,139,210,138, 16,168,100, 50, 20,148,232, 80, 88,170, 67, 94,145, 22,187,247,141,133, 78,
- 91, 14,147, 78, 15,222, 96,130,181,235, 72,180,113,236,  3,208, 59, 29, 31,231, 65, 52,234, 74, 45,138,217,230,230,230,102,123,
-121,121,237,141,142,142, 30, 61,102,204, 24,156, 56,113,226, 77,  0,111, 84, 21,182,111,142, 25, 51,  6,209,209,209,136,143,143,
-223,155,155,155,251, 88,186,148, 26, 12,134,114, 99, 85, 21,149, 66,161,144, 90,242, 31,134, 97,250, 59, 59, 59, 19,131,193,128,
-252,252,124,228,229,229, 33, 63, 63, 31, 21, 21, 21, 40, 43, 43,131,201,100,130,209,104, 68, 68, 68, 68, 54,207,243, 17,141, 73,
-207,205,155, 55,219,204,154, 53,235,141,126,253,250,125, 56,116,232, 80, 28, 56,112,  0,191,253,246,219, 20,  0,187,122,244,232,
- 17,221,216,253,227,121,254,228,234,213,107, 92, 39, 77, 28,238,186,243,224,198,165,187,118, 95,235,252,242,139, 89,113, 30,158,
-157,156, 55,175, 57, 47, 51,153,232, 65,139,197,  4,161, 83, 51, 87, 87, 36, 37, 37, 33, 50, 50, 18, 90,173,182,218, 84, 24, 10,
- 11, 97, 44, 40,  0,209,104, 32, 55,153,160, 77, 73, 65,171, 78,157, 64,128, 14, 22,220, 56,192, 48, 76,157,213,130, 12,195,  0,
- 86, 86,149, 38,171,142,106,173, 58,204, 85,151, 46, 93,186,252,186,126,253,122,233,236,217,179,131,125,125,125,127,200,204,204,
- 76,241,246,246, 30,242,245,215, 95,159, 89,188,120,177,124,220,184,113,109,215,175, 95,255, 50,128,141,117,233,104,181,218, 93,
-135, 14, 29,122,209,199,199,199, 37, 54, 54, 22, 90,173, 22,130, 32, 96,240,224,193,  0, 32, 55,175,151,144,144,160, 45, 47, 47,
-207,137,139,139, 43, 77, 78, 78, 54,  2,104,240, 33,128, 16,130,220,220, 92, 16, 66,236, 99, 98, 98, 92,164, 82, 41,170, 34,162,
- 46, 93,186,116,201,233,212,169,211,161, 42,179, 21,228,225,225,177, 29, 13,247, 36,164,102, 93, 39, 39,167,234, 42, 65,115,117,
-161,171,171, 43,138,139,139,155,100,176, 74, 74, 74, 80, 92, 92,140,219,247,227,145, 83,154,137,240,109, 23,193,243, 60,116,186,
- 74,111,234,225,234,133,227,219, 46, 91,135,141, 14,122,223,169, 11, 57,147,119,133,214,154, 95,143, 29, 59,246,213,128,  1,  3,
- 14,102,101,101, 57,213,184,166,186, 25,141,198, 79, 76, 38, 19,146,146,146,112,243,230,205, 47, 41,165, 39,107,228,133,244,240,
-240,240,  6,163, 46,209,209,209,251, 58,118,236,248, 71,105,105,169, 15,207,243, 47, 58, 58, 58,206, 53,153, 76,230,232,219, 65,
-134, 97,174,105, 52,154,  3,173, 91,183,238, 30, 20, 20,180, 59, 42, 42,106, 66,  3,231,135,  4,  7,  7, 63,175, 82,169, 94,211,
-104, 52,219, 20, 10,197,220,213,171, 87,251,248,250,250, 50,201,201,201, 48,153, 76, 72, 73, 73, 17, 34, 35, 35,203,131,130,130,
-172,195,195,195,203, 24,134,169,211,  8,170,213,106,137,209,104,252,125,255,254,253,253, 91,181,106,133, 51,103,206, 96,217,178,
-101,104,221,186, 53,126,254,249,103,116,239,222, 29, 45, 91,182,132,131,131,195, 91, 37, 37, 37,161, 95,124,241,197,192,192,192,
- 64,236,217,179,  7,185,185,185,107,235, 27,178,193,100,170,187,105, 85,121,121, 57, 40,165,120,230,153,103, 38,204,158, 61, 27,
-195,134, 13, 59, 16, 26, 26,218, 43, 34, 34, 34,209,130,211,255,175,137, 84,213,177,223, 31, 59, 57, 57, 41,239,222,189, 11, 74,
- 41, 12, 47,191, 12,195,136, 17,127,137, 92,113, 62, 62, 56,219,172, 25,220,131,130,144,155,151,247,105,199,142, 29,191,143,139,
-139, 51,212, 90,110, 74,165, 11,103,207,158,205, 37, 39, 39, 35, 62, 62, 30,  5,  5,  5,127, 49,176, 28,199,161, 87,175, 94,104,
-222,188, 57,250,244,233,163,250,244,211, 79,151,  1,248,219, 12,214, 95, 60,200, 19, 27,193,122,240, 38,222,204,206,206, 46,106,
-245,234,213,142, 33, 33, 33,172,201,100,194,159, 39, 78,224,221,233, 19, 48,104,232, 91,208,234,100, 48,105,  9,120,169,117,131,
- 27,171,208,179, 40, 57, 67, 32, 88, 15,129, 94,175,199,228,173, 82,216,147,124,172,122, 45,  4,223,125,247, 93,101, 85, 76,121,
- 57, 74, 75, 75, 81, 86, 86,134,210,210,134,171,222,202,138,172, 13,  6,163,128,244,156,100,164,101, 94,135,157,117,115, 80,198,
- 27,217,  5,229, 32,112,129,177, 34,  1, 66,213,133,169,171, 72,131, 70,103,161, 57,110, 68,239,115,131,190,196,226,117, 25,134,
-249,117,203,150, 45,195, 86,172, 88, 33, 27, 54,108,152,159,187,187,123, 79,  0,120,225,133, 23,252,236,236,236,176,101,203, 22,
-125,125, 55,176, 70,102, 88,198,221,221,253,149,158, 61,123, 34, 59, 59, 27,247,238,221,139,176, 48,141,199,174, 94,189,250,170,
-183,183, 55, 73, 73, 73, 65, 90, 90, 26, 10, 10, 10, 96,103,103,  7, 71, 71, 71,184,185,185, 65, 16,  4, 84, 84, 84,184,222,184,
-113,163, 11,128, 99,150,166, 41, 39, 39,167, 16,192, 55,229,229,229, 31,114, 28,103, 14,237,239, 67, 19, 39,160,190,113, 51,113,
-135,191,127,155,142, 94, 94, 14,109,213,254,254,206, 94,158,137, 37, 78,206, 94, 54,135,143,196, 42,115,178, 11, 19,110,220,184,
-179,167, 49,135,172,162,160,  0, 25,215,174, 85,182,185, 42, 45,133,182,172, 12,166,162, 34,184,183,109, 11,104, 52, 96,180, 90,
-112, 90, 45, 36,130,  0,165, 74,  5, 75,158,182,228, 23, 47,194,125,104,229,240, 45,  5,151, 47, 87,155, 42,155,129,  3,  1,149,
- 10, 68,165,130,113,247,110,176, 44, 11,234,224,  0,108,220,104,137,185,106,230,230,230,182,227,187,239,190,147,230,229,229, 33,
- 46, 46, 46,246,222,189,123, 37, 78, 78, 78,214, 28,199,  9,  9,  9,  9, 39, 19, 18, 18,  6,183,108,217, 18, 60,207, 55,212, 61,
-239,219, 61,123,246,244,237,209,163,135,169,101,203,150,170,220,220, 92,239,194,194, 66,146,153,153,249,192, 74,145,145,145,242,
-212,212,212,114,158,231,247,163,114, 28,172,  6, 47, 18, 74,233,  3, 13,199, 99, 99, 99,107, 53,155,215,174, 93,115,  1,240,108,
-231,206,157, 27,140, 98,141, 24, 49,  2,148, 82, 68, 70, 70,226,236,217,179, 56,123,246, 44,146,146,254,223,155,216,217,217, 33,
- 60, 60, 28,125,250,244,177,248,196,151,151,151,195,213,213, 21,118,118,118,216,115,234, 87,108,248,122,107,117, 67,247, 26, 15,
- 72, 80,169, 84,248,252,221,149, 86, 19,222,127,254, 19,  0,195,234,210, 59,118,236,216, 45,  0,183,204, 38,166,111,223,190, 75,
-250,245,235,  7,131,193,128, 94,189,122, 33, 54, 54,118,176,189,189,253,103, 77, 25,138, 35, 46, 46,206, 16, 24, 24,232,226,234,
-234, 58,235,213, 87, 95,133,201,100,194,192,129,  3,113,235,214,173,159,114,115,115,211, 39, 78,156,232,211,187,119,111,124,242,
-201, 39, 47,132,132,132, 44,174,175,186,172,103,207,158,239,141, 30, 61,250,253,231,158,123, 78,113,246,236,217,144,138,138, 10,
-214,203,203,139, 73, 76, 76,  4,207,243, 56,127,254,188,233,216,177, 99,233,  6,131, 97,249,245,235,215,187,150,149,149,237,191,
-114,229, 74,157,145,203,236,236,236, 25,123,246,236, 25,224,231,231,135, 35, 71,142, 96,218,180,105, 71,172,173,173, 59, 60,251,
-236,179,222, 86, 86, 86,184,122,245, 42, 12,  6,  3,220,221,221, 93,230,205,155, 55,120,224,192,129, 56,126,252, 56, 22, 45, 90,
-244,135,171,171,235,183, 13,153, 96,174,170,109,228,195, 15, 42, 87,174, 92,193, 51,207, 60,131,185,115,231,  2,  0,254,252,243,
- 79,155,  1,  3,  6, 68,134,133,133,185, 53,212, 48,191,174, 72,213,191,165, 23,161, 74,165, 98,247,239,223,143,237,219,183,227,
-151, 95,126,193,186,117,235, 48,114,228, 72,152,159,150,245,122, 61, 14, 28, 56,128,120,181, 26,114,127,127,  4,123,123,227,240,
-225,195,172,147,147, 83,157,225,240,204,204, 76,110,212,168, 81,184,120,241, 34, 60, 61, 61,113,251,246,109,196,198,198, 86,155,
- 88, 65, 16,144,144,144,128, 59,119,238,224,206,157, 59, 16,  4,  1,148, 82,201,223,185,159, 79,116,  4,171, 46,236,236,236,190,
- 90,187,118,173, 99,247,238,221, 89,141, 70,  3, 65, 16,208,173,107, 87,188,250,218,171, 56,186,103, 39,220,125,251,128,213, 42,
- 97,178, 81, 53,108,176,140,182, 64,231, 98,104, 74, 75,161,168,106, 76,122, 45, 77, 91,125, 19,214,104, 52,213,109,123,204,141,
-169, 27,140, 30, 25,228, 87,110,222,229,189, 74,202,174, 32, 34,250, 55, 24,245,122,180,244,155, 15,157,209,  9, 86, 46, 19, 81,
- 97, 56,  0, 67, 81,229,131,162,204, 54, 12,217,217,121,  0, 97, 26, 28,115,137,154, 44,110,  6,  4,163,214,114,131,149,146,146,
- 82,228,238,238,190,253,252,249,243,227, 71,142, 28,137,163, 71,143, 78,  1,128,145, 35, 71,226,252,249,243,184,123,247,238,246,
-204,204,204,162, 70, 26, 41, 39, 84,142,  9, 83, 29,245,114,117,117,109,217,188,121,243, 55, 39, 79,158, 28,218,169, 83, 39,108,
-222,188, 25,  0, 78, 88,162,151,151,151,247,227,156, 57,115,250,207,154, 53,203,141, 97, 24,114,235,214, 45, 16, 66,224,226,226,
-  2,111,111,111, 56, 58, 58,162,168,168,  8,129,129,129, 86,222,222,222,195, 44, 53, 88, 85, 79, 72, 94,  0,138,205, 13, 53,171,
-222,165,  0,236, 40,165, 77,234,213, 42,  8,210, 53,199,142, 68,172,  9, 14, 28,196,180,244,177, 42,  6,244,228,114,100,186,149,
-145,151,172,111,164, 35,141,189,123,251,118, 75, 42,  8, 40, 43, 44,132,161,180, 20,198,194, 66,152, 10, 10, 64,220,221,193,105,
-181, 96,117, 58,176,122, 45, 20, 10, 21,138,115,114, 64, 24, 11,242, 82,141,  2,161,182,168, 21,177,178,250,255,170, 66, 66, 44,
-106,196, 42,151,203,127, 94,183,110,157,155,187,187, 59, 86,174, 92,  9, 55, 55, 55,191,190,125,251,230,245,234,213, 75,233,228,
-228,  4, 63, 63, 63,  4,  5,  5,225,228,201,147, 96, 89,246,110,  3, 55, 54, 19, 33,100,216,185,115,231,102, 92,188,120,113,148,
-187,187, 59, 25, 63,126, 60,  6, 13, 26,  4,185, 92,142,138,138, 10, 20, 22, 22,226,208,161, 67,196,100, 50,117,  7,  0,119,119,
-247,230, 45, 90,180,248,153, 16,146,126,255,254,253,241, 22, 24, 44, 85,112,112,112,205,234,107, 85,116,116,180, 11,165,244,217,
-160,160, 32,240, 60,255,128, 73,178, 36, 47,113, 28, 87,107,213,171,249, 56, 51, 22, 86,183,154,120, 83,250,224,215,186,253,255,
-  3, 19,111,104,230,233,230,205,152, 35, 87,  0, 80, 82, 82,130,148,148, 20, 24,141, 70, 52,107,214, 12, 70,163,209,226,249,217,
-250,246,237,251, 74,155, 54,109,186,132,134,134, 34, 41, 41,  9,  1,  1,  1,104,211,166, 77,199,219,183,111, 79, 68,  3,213,203,
-117, 84,227,181,177,183,183,223,245,217,103,159, 73,109,109,109,113,229,202, 21,116,232,208,  1, 95,127,253, 53,119,235,214, 45,
-159,118,237,218, 33, 62, 62, 30,233,233,233,247, 26,106,139, 36,147,201,166,188,245,214, 91,138,212,212, 84, 60,255,252,243,138,
-123,247,238,225,198,141, 27,160,148, 34, 38, 38,198,180,103,207,158,244,138,138,138,167,163,163,163,243,  1,252,212,208,  3, 93,
-175, 94,189,222,106,211,166, 13,254,252,243, 79,188,249,230,155,199,172,172,172,198, 22, 21, 21, 77,212,235,245, 95, 15, 29, 58,
- 20,221,187,119, 71, 66, 66,  2,134, 13, 27,134,224,224, 96,156, 56,113,  2,115,231,206, 61, 98,101,101,245,114,  3,227, 96, 37,
-158, 58,117,170, 99, 80, 80, 80,117,237,134, 68, 34,129,189,189, 61,110,222,188,137,182,109,219, 98,238,220,185, 88,177, 98,  5,
-102,207,158, 45, 12, 24, 48,192,164,215,235,165,230,200,102, 19,249,215,244, 34, 36,132,160, 93,187,118, 88,186,116, 41,178,179,
-178,176,122,206, 28, 88,191,247, 30, 12, 60,143,212,113,227,160,244,247,135, 77,104, 40,100, 50,153,197,249,158, 16,  2,185, 92,
-142,214,173, 91,163, 69,139, 22,120,234,169,167, 16, 27, 27,139,247,223,127, 31, 45, 91,182, 68, 82, 82, 18, 76, 38, 19,100, 50,
- 25,108,109,109, 33,210, 68,131, 69, 41, 37, 53,223, 31, 44,188,132,222, 65, 65, 65,108, 89, 89, 25,180, 90, 45,178,179,179,113,
-255,254,125, 40,149, 74,164,231,164, 32,164,117, 25,178,136, 30,113, 49,183,121,112,220,181,134,110,138,122,189, 30, 17, 17, 17,
-136,136,136,128,224,183, 12,130, 32,152,171, 41,170,163, 87, 89, 89, 89,130,183,183, 55, 74, 74, 74,152,134, 11, 47,221,177, 19,
-231,175, 14, 28, 63,242, 25, 89,248,169, 13, 48,234, 76, 40,211,218, 67,163,213,163,180, 66,  2,189,124,  0,  8, 57,  3,134,149,
-163,123,151,214, 56,121,238,182, 86, 48, 26,194,235, 47,112, 32,  8,134,124,202,120,141, 35, 66,230,110, 10,190,142, 58,111,150,
-  5, 39,179, 70, 69,121,169, 64,169,229, 17, 24,  7,  7,135,173, 91,183,110, 29,217,163, 71, 15,171,126,253,250,181,174,170,190,
- 51,110,221,186, 85,227,224,224,176,181,145, 23,222,135,132, 96, 46, 40, 24,185, 76,118,220,177, 89,179, 63,109,108,108,212,  3,
-  7, 14,108, 61,104,208, 32,180,106,213, 10, 59,118,236,192,142, 29, 59, 78,100,102,102, 94,176,240, 73,226, 26, 33,100,204,253,
-251,247, 95,118,119,119, 31,208,185,115,103, 55, 95, 95, 95,133,157,157, 29, 88,150,133, 70,163, 65, 94, 94,158,185,199,149,175,
-165,105,109,209,162,  5,220,221,221,223,149, 72, 36,159, 61,244,164, 98,  2, 48,196,221,221,221,170, 41,153, 56, 46, 46, 46,123,
-208,192,190, 46,107,126, 56,223,166,162,130, 55,236,251,227,184,193,168,183,170,184,153,112,183, 81,163,217, 27,  4,225, 88,116,
- 84,212,160,158,221,187,203,147,162,163, 97, 44, 42,  2, 95, 88,  8,206, 96,  0,167,209,128,213,233, 64, 42, 42,208,188,139, 10,
- 16, 92,113,249, 94,186,201,192,243,199, 45, 53, 88,148, 97,170, 11,126,150,101, 65,172,173, 43, 13,150, 74,245,128,193,106,168,
-138,208,213,213, 85, 53,120,240,224,176,192,192, 64, 80, 74,241,213, 87, 95,193, 96, 48,200, 12,  6,  3,140, 70, 35, 12,  6,  3,
- 74, 75, 75,177,107,215, 46,252,250,235,175, 23,109,109,109,127,179,224,156,155,188,188,188,166, 10,130,224,108, 50,153, 12,206,
-206,206,210,237,219,183, 67,161, 80,128, 97, 24,116,233,210,  5, 10,133, 66,239,225,225, 81, 12,  0, 46, 46, 46,198, 21, 43, 86,
-112, 19, 39, 78,148,214,111,126,  5, 24, 12,  6, 36, 36, 36, 88, 73,165, 82, 43,115, 85, 79,219,182,109,115, 76, 38,147,213,237,
-219,183,  1, 32, 39, 48, 48,208,220, 94, 38,202,194, 60,138,190,125,251, 98,192,128,  1,213,213,129, 46, 46, 46,208,235,245, 48,
-153, 76, 22, 23, 50,  0, 96, 30, 68,116,225, 66,194, 96,  1,240,115,168,205,125,  0,213,213,123,197,197,197, 72, 77, 77, 69,114,
-114,114,229,  3,149,209,  8,129, 90,246,148,189,112,225, 66,134, 16,242,209, 43,175,188,130,172,172, 44, 44, 90,180,  8, 31,124,
-240,  1, 70,143, 30,141,207, 63,255,252,  3,181, 90,253,179, 37,  3,108, 62, 84,101, 52,126,250,244,233, 86, 46, 46, 46,216,184,
-113, 35,246,239,223,159,211,185,115,103,151,  9, 19, 38,192,207,207, 15,113,113,113,248,230,155,111,242,  5, 65,120,209,  2,173,
-123,151, 47, 95,118, 53, 24, 12, 72, 79, 79,175,142, 92,164,167,167, 11,167, 79,159, 78,215,106,181,102,115,213, 32, 45, 91,182,
-180, 86,171,213, 46,183,110,221,194,182,109,219, 96, 52, 26, 23,198,197,197, 25,236,237,237,183,173, 94,189,250,  3, 95, 95, 95,
-135,167,159,126, 26,221,187,119,  7,165, 20,  7, 14, 28,192,167,159,126,122, 68,169, 84,142,173,171, 42,171, 70, 84,253,165,197,
-139, 23,127,220,172, 89,179,231,199,141, 27,199,168,213,106, 68, 69, 69,129,231,121,244,237,219,183,218, 92, 29, 61,122,116,251,
-145, 35, 71,158,  3, 32,181,182,182,118,180,100, 88,  9, 66,200, 16,  0,230,  8, 65, 57,165,244,240,191,185,208,118,117,115,195,
-203, 31,127,140,210,210, 82,108,218,180,  9, 86, 85,  3, 10,215, 52, 78,141, 54,  2, 28,135,230,205,155,195,203,203, 11, 63,254,
-248, 35,174, 94,189, 90,221,105,164,169,154,141,141, 94,213,229, 65,158,232,  8,150,217, 24,  9,130,128,140,140, 12, 68, 70, 70,
-226,222,189,123,176,182,182, 70,133, 73, 16,190,187,116, 85, 96,136, 36,195, 68,113,145,240,146, 15,235, 45,192, 12,  6,240, 60,
-143,139, 23, 47,226,206,157, 59,176,107, 75,205, 13, 19,161,213,106,161,209,104,204,145,171,138,155, 55,111,102, 21, 23, 23, 59,
- 54,148,182,236,182,204,230,240,240,227, 51,131,186,116,108,211,175,247,167, 56,120,240, 19, 20,149,148, 64,163,227, 80, 86, 97,
-128, 70, 75,225, 97,211, 10,161,157,  3,145,155,175,199,173, 27,209,233,185, 82,135,122,159,196, 40,193,247, 99, 70,246,157,245,
-241,123,147, 93, 59,248,205, 83,208,156,195,160,197, 49, 20,230,241, 42,  9,  3,153,181, 19,192,201,105,212,205,188,178,147,177,
- 21,121,148,224,251, 70, 24,  2,141,151,151,215,175,211,167, 79,255, 44, 50,242,178, 11,  0, 68, 69, 69,229,100,101,101,125,148,
-150,150,102,113, 79, 13, 66,136, 61, 33,152, 43,  8,148,173, 50,105,253,103,205,154,229,209,163, 71, 15,131, 68, 34, 65, 74, 74,
- 10,190,252,242, 75,156, 63,127,126, 91,102,102,230,154,198,140,234, 76, 41,189, 10,224, 42, 33,100, 81,108,108,108,191,190,125,
-251,126,222,182,109, 91, 47,147,201,132,226,226, 98, 20, 22, 22,226,246,237,219, 40, 47, 47,191, 99, 65,212,238,120,106,106,106,
-191,169, 83,167,162, 71,143, 30,175,253,242,203, 47, 47,213, 12,  3,119,234,212,233,210,240,225,195,189,236,236,236,164, 21, 21,
- 21,198,132,132,132, 51,141,122,204,244,246,238, 57,115,230,204,206, 83,166, 76, 65, 89, 89, 25, 54,109,218,132, 53,107,214,192,
-219,219,187,103,106,106,234,185, 70, 24,192,173,251,195,195,103,117,110,215,174,173, 79,203,150,184,117,236, 24,164,  6,  3, 36,
- 38, 19,216,242,114, 72,140, 58,180,  8,178,130, 84,225,132,204,164, 10,108,187,113, 35,153, 82,250, 83,131,213, 79, 79, 63,141,
-226,232,104,176, 44, 11,155, 33, 67, 64, 84, 42, 80,149, 10,198,237,219,171,163, 48,220,226,197,149,102,235,153,103, 26, 76,103,
-118,118,118,121,155, 54,109, 98,226,227,227,213,237,218,181,195,194,133, 11,145,154,154, 10, 74, 41,114,114,114,180, 57, 57, 57,
- 25,  5,  5,  5, 41, 12,195,236, 79, 79, 79,255,217,210,169, 72,  4, 65,112, 62,112,224,128, 57,162,136, 63,255,252, 19, 30, 30,
- 30,176,179,179, 67, 73, 73,  9,198,143, 31, 47,251,248,227,143,  1,  0, 49, 49, 49, 18,165, 82,105,145, 17, 50, 24, 12,184,123,
-247,110,181,137,172, 50, 63,170,208,208,208,156,170,117,138,  8, 33, 22,247, 34, 52, 27, 55,150,101,255,210,160,189,177,230,170,
- 38, 11, 22, 80,129,128, 16, 95,142,189,150,158,149,218,207,195,213, 11,217,217,217, 72, 73, 73, 65, 74, 74, 10, 82, 83, 83,209,
-166, 77, 27,220, 79,190, 11,153, 84,114,205, 18,205,243,231,207,247,106,217,178,165,135,151,151, 23,214,175, 95,143,138,138,138,
-187,123,247,238,109, 53,126,252,120,248,248,248, 56,241, 60,223, 23,192,145,198,164,147, 97, 24, 47,149, 74,133,138,138, 10, 28,
- 56,112,160,192,218,218,186,253,149, 43, 87, 70,223,190,125,251, 75,111,111,111,155,228,228,228,108,131,193, 48, 56, 42, 42,234,
-118, 67, 90,101,101,101,111,188,255,254,251, 91,  4, 65,240,125,234,169,167,216,225,195,135, 91,121,122,122, 34, 50, 50,178, 92,
-167,211,125, 97,169,185,  2,128,251,247,239,151,157, 61,123, 54,167, 99,199,142, 46,238,238,238,144, 72, 36,139, 61, 60, 60,190,
-176,178,178, 90, 50,116,232, 80,135, 29, 59,118, 96,231,206,157,176,178,178,194,253,251,247, 51, 19, 18, 18,190,119,113,113, 89,
- 99,137,193,140,140,140,188, 15,224,245,208,208,208, 37,171, 86,173,154, 75,  8,121,233,216,177, 99,213,  6, 96,249,242,229, 56,
-122,244,232,246, 22, 45, 90, 76,218,177, 99,199,132,198,214,194, 81, 74,111, 84,221, 83,159,170,241,253,191,165,109,150,209,100,
- 50,201, 60, 61, 61,145,149,149, 85, 93, 69,106, 99, 99,243,128,241,225, 56, 14, 54, 54, 54,230, 30,177,124, 94, 94, 94,125,215,
-189,201,104, 52,114, 94, 94,149,121,220,172,201, 48, 12, 12,  6,  3,100, 85,  3,150, 74, 36, 18,216,218,218,154,183,243,196, 78,
- 57,245,143, 25,172,170, 41, 29, 70,118,238,220,153,187,125,251, 54,170,158, 56, 81, 94, 94,110,226, 88,236,201,190,182,247,245,
-122, 12,128,255, 67,227, 65, 93, 92,176, 96, 65,183,215, 94,123, 13,158,158,158, 88,119,217,128,228, 20, 30,  6,131,  1,153,153,
-153,184,112,225,  2,223,171, 87, 47,214,100, 50,149,241, 60, 63, 44, 53, 53,117, 44, 33, 36,171, 94,205, 29, 59,120,231,128,231,
-199,172, 94,251,227,201,215, 94,123,205, 97,248,136, 53,136,137,187,142, 66,141, 11,  0,192,195,201, 10,161,237,222, 71, 78,190,
- 14, 71,255, 56, 88, 68,133,242,151,233,149,109,198,250, 52,111,222,163, 63,249, 55, 39,167, 95,153,252,209, 59, 93,252, 91, 14,
-120,119,234,115,205,218,122,141,144,163, 40,130,202,109, 75, 33,179,114, 70,252,189,188,138,195, 23, 51,242,243,138, 77,127, 18,
- 30,223,220, 76,161,247,235,211,124,152,130,130,130,115, 25, 25,233,206, 53, 70,109,119,150,203, 21,231, 26, 48, 84,245,106,154,
-135, 83, 56,114,228,  8,206,158, 61,107,184,115,231,206,105, 66,200,129,140,140,140,107, 77,213,164,148,150,  2,216,109, 99, 99,
- 35,104,181,218, 79,  6, 15, 30,220,134, 16,130,196,196, 68,156, 56,113,226, 84, 94, 94,222, 23, 13,105,150,151,151,191,245,206,
- 59,239,124,223,175, 95,191,254, 85, 61,158,100,183,110,221,  2,165, 20,193,193,193,232,222,189,187,175, 94,175, 23, 46, 93,186,
- 84,112,232,208,161,109, 90,173,118, 69, 99,210,153,154,154,122, 46, 56, 56, 24,  0, 80, 81, 81,129,180,180, 52,152, 76, 38,100,
-100,100, 52,234,120,238,216,177,131, 15, 13, 13,125, 97,213, 79, 63,157,156,241,252,243, 14, 93,135, 15, 71,250,197,139,208,103,
-100, 64,198,243,144, 73, 21, 48,106, 92, 80,144,174,197,134, 27, 55, 74,244, 60, 63,246,225,194,161,182,116,154,205,  0,203,178,
-128, 74,  5, 88, 91,131,169, 28, 67,236,129,104, 22,107, 99,  3, 72, 36,127,121, 90,172, 77,179,162,162,226,229,201,147, 39, 71,
- 28, 62,124,216,126,236,216,177, 24, 62,124,248,213,146,146,146, 65,121,121,121, 22,213,109,215,166,201, 48, 76,238,144, 33, 67,
-156,117, 58,157,233,165,151, 94,226,242,242,242,224,231,231,  7,  0, 40, 45, 45,197, 31,127,252,129,118,237, 42,155,161,220,184,
-113,  3, 29, 59,118,108, 80,211,108,176,204,198,202,108,178,226,227,227,173,164, 82,169, 21, 33,  4, 38,147,201,165,109,219,182,
- 65,141,201,159,148,210,  7,204, 21,199,113, 40, 47, 47,183,200, 92,213,151,151, 40, 40,117,214,144,133,175,207, 30, 19,122,124,
- 91,132,181,149,149, 85,117,225,211,186,117,107,112, 18, 14, 27,247,126,167, 41, 46,205, 95,100, 97, 58, 95, 10,  9,  9, 65, 69,
- 69,  5, 98, 98, 98,120,137, 68,242, 82,108,108,236, 69,141, 70, 35,233,220,185, 51,146,147,147, 95,168,203, 96,213,163,121, 47,
- 45, 45, 13, 45, 91,182,132,189,189,189,173,209,104, 52, 93,185,114,229,183, 78,157, 58,237,185,125,251,118, 75,185, 92,158, 28,
- 21, 21, 85,102,137,102,116,116,116, 42,128,158, 97, 97, 97,220,245,235,215,147,123,245,234,  5,153, 76,134, 54,109,218, 88, 39,
- 38, 38,142, 69,  3, 61, 27,107,106, 82, 74,  5, 79, 79,207,213,151, 47, 95, 94,212,165, 75, 23,188,244,210, 75,207, 68, 69, 69,
- 61, 19, 16, 16,128, 86,173, 90,225,252,249,243, 56,117,234,212, 54, 65, 16,102,100,102,102,106,235,123,224,171,107,223,171, 26,
-173,191,161, 86,171, 71, 85, 25, 10, 54, 61, 61,157, 61,118,236, 24, 40,165,111,215,215,166,173,161,123,221,195, 88,210,230,170,
-177,154, 77,185, 54,  9, 33,203,198,142, 29,187,112,222,188,121,108,167, 78,157, 80, 80, 80,128,156,156, 28,152, 59, 55,200,100,
- 50,248,248,248, 64,169, 84, 34, 41, 41,  9,209,209,209,188, 78,167, 91, 86, 51, 42, 88, 75, 58, 23,190,252,242,203,159,190,255,
-254,251,127,209,  4,  0,185, 92, 14, 31, 31, 31, 40, 20, 10,220,191,127, 31,209,209,209, 60,128,133,127,247,190,255,207, 25,172,
-162,162,162,247,230,207,159,223,123,226,196,137,142, 21, 21, 21,172,147,147, 19, 50, 50, 50, 76,199,142, 29, 43, 44, 43, 43,123,
-175, 49, 27, 99, 89,118, 80, 70, 70,198,184,153, 51,103, 46,106,211,166,141,227,235,175,191,142,183,222,106,  7,189, 94, 15,185,
- 92, 14,169, 84,250,195,193,131,  7, 71,219,219,219,167, 31, 56,112, 32, 21,192, 50, 75,116,115,175,238, 74,116,235, 50, 98,192,
-183,223,174,217, 18, 24, 28,234,221,162,101, 75,121, 79,111, 59, 24,140, 60,178,115,242,113,250,194, 77,221,173,184, 43,105, 48,
-105, 95,201,190,126,224,166, 37,154,215, 43, 13,211, 59,157, 91,147,128,151,222, 92, 62,179, 87, 72,171,174,111,191, 20,236, 80,
- 34, 20,211, 61,251,239, 20,220, 75, 45,187,204,177, 88,117,227, 62,189,218,148,  3,175,213,106, 13, 15, 71, 93,181, 90,173,161,
-145, 97,213, 34, 66,200,151, 12, 67,230,130,130,145,201,100, 17,107,214,172,217,  4, 32,157, 82, 26,145,145,145, 81,241,184, 50,
- 74,105,105,233, 94, 66, 72, 76, 98, 98,226, 44,134, 97,236,121,158,191,153,157,157,189,157, 82,218,208, 40,225,168, 26,236,242,
- 57, 47, 47,175,167,207,157, 59,183,108,232,208,161,254,207, 62,251, 44,178,178,178,192,113, 28,174, 94,189,170, 63,116,232, 80,
- 68, 81, 81,209,167,148,210,200,198,166,173, 42,130,133,169, 83,167,162,180,180, 20,219,182,109,195,209,163, 71, 27, 29,193, 50,
-223,192, 67, 67, 67,  7,124,246,243,207, 91,135,180,107,215,188, 93,171, 86, 82,159,142, 29,161, 84,169, 80,156,159,143,171, 73,
-153,252,111,  9,  9,247, 43, 76,166, 87,162,163,163, 45,202, 75,  6,131,  1, 78, 78, 78,160,148, 66, 57,127, 62, 40, 33, 16, 40,
- 69, 25, 33,213, 99,251,200, 67, 66, 96,226, 56, 20, 86, 13,143,208, 80, 15,184,244,244,244,116,111,111,239,177,111,191,253,246,
-225, 77,155, 54, 49, 97, 97, 97,157,247,239,223, 79, 31,229, 28,167,165,165,181,  1,  0, 15, 15,143,108, 91, 91, 91,238,245,215,
- 95,135,209,104, 68,121,121, 57, 74, 74, 74,144,159,159,175,159, 57,115,166, 12,  0,100, 50,153,113,208,160, 65, 13,222, 63, 42,
- 42, 42, 96, 52, 26, 65,  8,121,192, 96,221,185,115,231,225,136, 86,163, 48, 71,213,171, 26,223, 86, 79,147,243, 56,200,189, 70,
-175,182,236,110,255, 85,159, 49,193,239,127, 54,103,165,149,147,179, 19, 76, 38, 19,238,165,220,197, 79,123,190,215,148,232,138,
-190,204,187,222,240, 28,156, 97, 97, 97,114,137, 68, 50,188, 75,151, 46,136,138,138,130, 94,175, 63,115,252,248,241,248,190,125,
-251, 30,191,122,245,234, 96, 63, 63, 63, 48, 12, 51, 36, 44, 44,204,234,212,169, 83,141, 25, 99,232,110, 70, 70,  6,140, 70, 35,
-156,157,157,185, 91,183,110, 53,  7,112, 47, 54, 54,182, 28,192,141,166,236,243,169, 83,167, 76, 61,123,246,188,115,253,250,245,
-224, 22, 45, 90,144,136,136,  8,141, 86,171,221,218, 88, 29, 87, 87,215,111, 15, 30, 60,216,131, 82,218, 63, 48, 48, 16, 62, 62,
- 62,230,168, 61,206,156, 57,179, 35, 61, 61,125,242, 99,154,220,153, 18, 66, 80, 90, 90,202, 86, 21,246,  6,107,107,235,166,234,
-150,215,136, 92,149,255,219, 10,233,168,168,168,149,106,181,250,192,212,169, 83,231,250,248,248,188,248,238,187,239,178,237,218,
-181, 67, 73, 73,  9, 66, 67, 67,225,226,226,130,248,248,120, 28, 59,118,140, 47, 44, 44,220,197,178,236,210,152,152,152,196,  6,
-204,227, 10,181, 90,189,127,234,212,169,115, 91,182,108,249,226,236,217,179,217,246,237,219,163,184,184,184, 90, 51, 46, 46, 14,
-135, 15, 31,230,139,139,139,127,  7,240,197,255,202,124,143,143,213, 44, 91, 82,107, 84, 53, 76,195, 87, 60,207,247, 54, 71,181,
-138,138,138,222,107,104,126,187,186, 28,110, 88, 88, 24,167, 84, 42,199,229,229,229, 45,242,242,242,114,124,253,245,215,241,225,
-135, 31, 34, 54, 54, 86, 53,114,228, 72, 71,142,227, 76, 59,118,236, 40,105,236, 19,131,121,178,103,112,210,193,160,130, 63,  0,
-  2,134,109,112,178,103, 75,156,120,167, 86,164, 15, 79, 49,169,242, 15, 88, 31,119,151,158,122,212, 39,155,154,147, 51, 83,138,
-  6, 39,118,174, 75,179,182, 70,238, 77,125, 90,250, 59,158,192, 30,250,141,184,187,187,143,145,201,100,223,142, 25, 51,198,234,
-151, 95,126,209,230,228,228,204,  4,176,173,190, 57,  3, 27, 74,167,135,135, 71,185,143,143, 15, 28, 29, 29, 81, 80, 80,128,228,
-228,100,100,100,100,168,154,154,206,154,147, 61,163,106,178,103,106,193,100,207, 15,107,118,237,218, 53,201,104, 52, 58, 55,230,
-248, 73, 36,146,124,185, 92,238,107,222, 70,125,233,244,244,244, 28,227,229,229,181, 56, 61, 61,125, 95, 90, 90,218,220,199,113,
-142, 60, 61, 61,187, 18, 66,246,  8,130,160,120, 56,194,101, 54, 97,238,238,238,205,101, 50,217,  3,141,220, 31,214,124,104,160,
-209,  6,203,145,218,170,  8,107, 75,231,152, 49, 99, 98, 13,  6,131,143,133,199, 50,151, 16,242,192,196,217,150,230,121,167, 46,
- 68,109,167,108,246,137,222, 96,236,196, 16, 80,137, 68, 18, 91, 92,154,191,168, 54,115, 85,155,230,192,129,  3, 29, 28, 29, 29,
-211, 62,249,228, 19,172, 93,187, 22, 55,111,222,156,116,252,248,241,173,253,250,245, 27,213,162, 69,139, 95,199,141, 27,135,181,
-107,215, 34, 55, 55,183,231,137, 19, 39,174, 88,122,142, 66, 67, 67,219,251,250,250, 70,206,159, 63,159, 44, 94,188, 24,169,169,
-169,234, 75,151, 46, 37, 60,234,121,239,218,181,171, 15,203,178, 63,243, 60,239, 75,  8,249,229,210,165, 75,159, 90, 98,134, 30,
-214,236,216,177,163,180,184,184,248, 77, 47, 47,175, 25,174,174,174, 46,217,217,217, 41,169,169,169, 95,103,102,102,254, 98,169,
-185,178,228, 28,169,213,234, 66,  0, 50,  0,176,164,189,213,127,250, 94,247,119,104,170,213,106, 95,  0,115,189,189,189, 95,156,
- 58,117, 42,123,251,246,109, 28, 57,114,132,207,203,203,219,197,178,236,210,186,134,165,176, 68,211,199,199,231,197, 41, 83,166,
-176, 85,211, 24,241,249,249,249,245, 26, 43, 49,130,245,152, 12,214,223,149,249,204, 70,171,176,176,240, 67,107,107,235, 59,225,
-225,225, 67,254,109, 25,250,239,214, 36,132,184, 84, 69,163,114,254,151,246,157, 16,194, 41, 20,138, 32,173, 86, 27, 79, 41, 45,
-121, 76,154, 31,  2,248,  0,192, 18, 74,233,231,255,107,121, 73,212,252,119,105, 86, 13,207,176,215,193,193,161, 95, 97, 97,225,
-117,147,201, 20,118,234,212, 41,157, 90,173,150,216,219,219,111,177,181,181, 29, 82, 82, 82,114,174, 71,143, 30,131, 23, 44, 88,
- 32, 52, 38,157, 65, 65, 65,159,178, 44, 59,198,100, 50,109,139,142,142, 94,252,111, 60,158,132, 16,226,227,227, 35,171,111,144,
- 91, 49, 47, 53,217, 92,250,  2,120,147, 16,194, 84,141,216,159,248,184, 52,171, 22,215, 52, 20,177, 18, 13, 86,195,112,255,228,
-198,171,158,208,127, 65, 35, 38,227,125,210,176,196, 88, 61,161,251,109,  2,112,233, 49,107,126, 14,224,115,241,178, 22,249,151,
-228,113, 10, 96, 68,191,126,253,188,143, 31, 63, 94,221, 72, 58, 58, 58,218, 24, 22, 22, 54,182,162,162,194,222,100, 50, 21,213,
-102,174, 26, 34, 42, 42,234, 83,  0,159,254, 23,236,191, 78,204,  9,143,159, 42,243, 51,231,223,174, 41, 26, 44, 17, 17, 17, 17,
-145,191,141,154,230,234,161,135,203, 60,241,232,136,136, 60,185, 16,  0,254,117, 60,125, 88, 28,250, 35,132,248, 55,118,195, 22,
- 84,247,136,154,162,166,168, 41,106,138,154,162,166,168,249,132,105, 54,164,253,164, 84, 61,254,163,109,176, 68, 77, 81, 83,212,
- 20, 53, 69, 77, 81, 83,212, 20, 53,159, 68, 24,241, 16,136,136,136,136,136,136,136,136, 60, 94, 44,110,131,213,169, 53,241,228,
-141, 24,  6, 22,131,  0,  0, 60,142,176, 18, 28,136, 77,164,233, 77,221,184,155,155, 91,123, 66,200, 43, 12,195,140,  6, 32,  8,
-130,176,131, 16,242, 91, 70, 70,198,237,166,106,134,134,134,182, 55,153, 76, 47, 18, 66,158,  3,  0, 74,233, 94,142,227,126,143,
-136,136,136,183,228,255, 74,165, 50, 73,171,213, 58,  3,128, 66,161,200,213,106,181, 45, 81, 53,234,248,232,209,163, 73, 94, 94,
- 30,  1,128,211,167, 79, 83,  0,180,114, 19,245,135,  1,229,114,121,146, 94,175,255, 75, 87,125,137, 68, 98,176,183,183, 47,106,
-214,172, 89,145,179,179,115,161, 84, 42,189,145,151,151,119,250,234,213,171, 81,148,210,172,198,236,119,239,222,189, 63,150,203,
-229,211,245,122,253,186, 83,167, 78,125,252,119,103, 28, 66, 72,176,183,135,219, 58,163,209, 32,100,229, 22,124, 74, 41, 61,216,
-152,255,183,110,221, 90,230,233,233, 73, 30,238, 90,189,106, 10,113,163, 12,152, 89,107, 27, 30, 95,171,129,244,  5, 74, 36,146,
-169,174,174,174,  3,210,210,210, 98,  0,124, 72, 41,141, 23, 47,121, 17, 17, 17, 17,145,127,220, 96,169,213, 68,169, 45, 65, 63,
-  8, 24,214,182,165,107,232,172,169,163,155,  5,117, 27,168, 42, 47, 55,208, 51, 39, 14,  6,111,216,114,224,173,167,124,201,101,
-158,224,128,210, 14,225,209,209,180,206,129, 45,191,121,151, 75,226,121,222, 25,  0,  4,112,154,149, 59,156, 19,131,131,131,  3,
-230,204,153,131,208,208, 80,  8,130,128,211,167, 79,207, 90,185,114,229, 44,119,119,247, 40,150,101, 55, 75,165,210,157,247,238,
-221,107,176, 11,127,112,112,176,151, 32,  8,163,  1,188,208,181,107,215,142,211,166, 77, 67,155, 54,109,160,211,233, 16, 17, 17,
- 49,103,243,230,205,115,212,106,117, 28,128,237, 12,195,236,140,140,140, 76,171, 75, 75,171,213, 58,155,253, 18, 33,196,121,242,
-228,201, 26,163,209,  8,189, 94, 15,163,209,  8,107,107,235, 56,173, 86,123,173,103,207,158, 81, 54, 54, 54, 23, 14, 29, 58,116,
-  7,  0,223,193, 85, 25,226,227,229, 52,232,112, 84,202,167, 15,107,234,245,122,103,109, 68,  4,192,243, 48, 37, 39, 67,219,175,
- 31,170,230,141,147,178,131,  7,187,152, 24,198,133,148,149,221,213,254,246,219,218,118,237,218, 85,119,183,173, 79,243, 33, 51,
- 65,166, 78,157, 58,103,222,188,121,146,151, 95,126,249,245,176,176,176,133,117,141,211,100,169,102,  3,219,147,119, 13,234,252,
-199,129, 93,219, 20, 32,  4, 35, 71,142,254,153, 16, 50,137, 82,186,247,225,117,187,116,233,210, 87, 42,149,126,106, 50,153, 98,
- 56,142,251, 56, 34, 34,162, 52, 40, 40,104,151,147,147,211, 32,189, 94,143,192,192,192,139, 49, 49, 49,253,  0, 96,237, 27,100,
-161, 12,152,  5, 30,100,221, 27,100,245,148, 13,116, 94, 19,211, 55,249,181,215, 94,251,250,243,207, 63,103,221,221,221,145,158,
-158,222,191, 67,135, 14,109,  8, 33, 65,148,210, 10,241,178, 23, 17, 17, 17, 17,249,199, 12, 86,251, 86,228, 69,149, 92, 58,123,
-222,155,207,186, 13, 30, 52,212,198,209, 43,144,  3, 97, 43, 35, 50,182, 32, 35, 95,153, 99, 53,226,229,119,172,238,199,157,247,
- 60,116,248, 96,255,223,246,156,200,108,223,138,172,136,191, 75,127,175, 77,143,231,121,231,217, 19,167,  1,  0, 86,108, 92,107,
-149,144,144, 16, 96,109,109,253,192,180, 32,  3,  7, 14, 68,255,254,253,145,146,146, 18,180,107,215,174,160,159,127,254,249, 75,
- 47, 47,175,  5,105,105,105,223,213,109,  2,213,139, 61, 61, 61,103,205,153, 51,135,  4,  5,  5, 65, 46,151, 87,255,102,101,101,
-133,190,125,251,162,111,223,190,200,202,202,234,120,234,212,169,142, 91,182,108, 89,164, 86,171, 87, 70, 71, 71, 91, 20,229, 25,
- 59,118, 44,242,243,243,145,159,159,143,146,146,146, 76,141, 70,147,171,213,106, 51, 21, 10,197,237, 62,125,250, 36,  2,224,253,
- 60,108,218, 58, 59, 53,219,181,244,179, 69, 64, 61, 93,167, 51,186,119,  7,  0, 84, 92,255,255,106,107, 21,165, 20, 82,233, 45,
- 46, 51,115, 95, 77,115,101,169,102,149,193,116,184,119,239,158, 32,149, 74,209,174, 93, 59,201,173, 91,183,146,194,194,194, 54,
-156, 58,117,234,129,169, 13, 26,163,217,  0, 65,159,190,247,150, 52,239,238, 21,196, 95, 56,134, 17,106, 47, 69,204,141, 91, 11,
-  0,252,197, 96,177, 44, 59,239,240,225,195,  1,151, 47, 95, 14, 88,176, 96, 65,107,181, 90, 61, 28, 64,159, 35, 71,142, 64, 34,
-145,160,111,223,190,221,194,194,194,154, 73, 77,185,195,134,183, 33,115,222,156, 53,149,  0,192,250,239,215,191,189,230, 45,178,
-250,205,213, 52,173, 17,198, 74,202,178,236,202, 77,155, 54,189, 54,126,252,120, 36, 39, 39,227,220,185,115,176,182,182,198,226,
-197,139,125,230,204,153,179, 16,192,123,226,101, 47, 34, 34, 34, 34,242,143, 25, 44,150,226,189,136,203,113,109, 25, 83, 62, 33,
- 18,219, 90,215, 97, 24, 14,173,252,123,115, 83, 91, 62,101, 63,184,255,  0,219, 81,175,205,122, 15,192,239,150,108,216,198,198,
-166, 14, 77,  6, 45, 90,180,192,187,239,190,139,128,128,  0,217,171,175,190,250, 17,128,239,234,145,154,181, 99,199, 14, 82, 61,
-215, 91, 29,184,185,185,161,127,255,254,112,115,115, 35,239,189,247,222, 44,  0,181, 26, 44,133, 66,145, 75,  8,113,  6,  0, 71,
- 71, 71,172, 93,187, 22, 70,163, 81, 40, 47, 47,191, 94, 94, 94,126,213, 96, 48, 68,202,229,242, 75,103,206,156, 73,  4,128,182,
- 94, 74, 15,149, 76,117, 96,253,218,239, 96, 44,205,118,168,107,251,124,218, 95,125,  2,165,180,152, 81, 42,147, 37,247,239,239,
-146, 22, 23, 71,155,191,183, 84, 19,  0,122,246,236,105,111,101,101,117,122,205,154, 53, 18,169, 84,138, 73,147, 38, 89,101,100,
-100,224,171,175,190,122, 19, 53,230,142,106,140,102, 61,  6,166, 91,207, 80,245,254,111,151,125,162, 12, 12,237,137, 75, 59,215,
-160,168, 72,131,178,210,114,240,  2,149,215,246, 31, 74,105, 65, 98, 98, 34,  6, 15, 30,140,204,204,204,167,215,173, 91,183, 78,
- 16,  4,162,209,104,170, 39,106,181,182,182,190,211,187,123,152,140,185,187,168,201, 25,153, 16,226,108,107,107,187,253,232,209,
-163,193,193,193,193,184,116,233, 18,238,222,189,139,183,222,122, 75,255,214, 91,111, 73, 95,125,245, 85, 50,123,246,236,105,132,
-144,189,148,210,139,226,165, 47, 34, 34, 34, 34,242,143, 24, 44,  0, 44,171,106, 77,244, 39, 71,  9,172, 83,111,194,186, 15, 37,
- 68,225,241,192, 10,154,252, 36, 36, 92,220, 68,147, 98,247,211,230,  1,175, 16,  0,236, 67,133,107,117,168,134, 97,217,188, 21,
- 27,215, 58,  1,128, 76,217, 12, 59,118,236, 64,191,126,253,176,235,219,142, 40, 43,206,172, 44,104,237,220,241,252,140, 56, 36,
- 36, 36,224,252,249,243,230,137,102, 37,117,105,154,203, 86, 68, 69, 33,183, 71, 15,200, 10, 10,160, 82,169,170,103,  2, 55,115,
-235,214, 45,156, 57,115,  6,201,201,201,104,213,170, 85,229,127,234,208,172,168,168,104, 49,126,252,248,188, 87, 94,121, 69,249,
-203, 47,191,224,222,189,123,110, 17, 17, 17,165,181, 29,160,128, 22,246,118, 82, 65,122, 96,227,218,149, 18, 24, 52, 14,  9,145,
-231,241,212,224, 41,181,166, 83,219,187,119,117,228, 74, 25, 26, 10,166,101, 75,  3,145, 74,111, 23,172, 95, 63, 32, 48, 48,208,
-216, 88,205, 94,189,122,125,192,243,252,219,130, 32,200, 55,110,220, 40,113,114,114, 98, 86,172, 88, 97, 60,118,236, 24, 79, 41,
-101,164, 82,233,154,166,164,179, 62,228, 50,201,186,181, 95,126,164, 36,134,114,196, 28,254, 13,105,201, 41,184,118, 39,221,248,
-251,185,155,188,222,104,154, 90,219,241,228, 56,110,198,252,249,243,187,108,220,184,209,253,141, 55,222,128, 84, 42,125, 33, 63,
- 63, 31,219,182,109,131, 74,165,194,218,181,107,209,162, 69, 11, 25,207,243,184,114, 48, 31,107,191, 89, 13, 80, 10,173, 81,186,
-117,246, 38, 83, 90, 61,231,189,166,185,234,232,227,227,115,224,228,201,147, 46,158,158,158, 56,117,234, 20,178,178,178,224,238,
-238,142,183,222,122, 75,182,108,217,178, 45, 37, 37, 37, 35, 63,255,252,115, 69,108,108,236, 47,132,144,182,180,146,199,222,  3,
- 70,212, 20, 53, 69, 77, 81, 83,212,252, 91,  8,  6,224, 12, 32, 23, 64,228, 67,203,168,250,140, 90,150,243,170,202,252,102, 53,
-180,242, 80,217,134,218, 25,  0, 15,224, 50,128,194,191,197, 96, 17, 66,122,  3, 56,  5, 96, 33,165,244,211,  7,214, 16,140,224,
-115,142, 83, 62,231, 79,202, 56,  4, 17,214,125,  4, 41, 44,214, 34,254,226, 79, 52, 51,225, 36, 69, 85,123, 37,131,190,180,222,
- 13,125,179,219,203, 79, 38,147, 21,196,199,199,227,207, 63,255,  4,  0,236,222,189, 27,101,197,153,168, 81,117,136,175,191,254,
- 26, 38,147,  9, 12,195,192, 96,176,108,238, 99,170,171,108, 39,173,215,235,161,215,235, 65, 66, 66, 32,121,250,105, 36,190,245,
- 22,142, 31, 63,142,220,220, 92, 72,165, 82, 72,165, 82,139, 38,132, 53,153, 76, 36, 39, 39,  7, 90,173, 86, 48,213,241,  7, 47,
- 47,162,176, 49,169,118,125,183,242,115, 27, 27,107,149, 75,212,177,189, 72, 78,174,187, 93,186,209,104,252,255, 40, 93,171, 86,
- 21,224,184, 24,201,149, 43,191,215, 52, 87,141,209,228,121,254,157,173, 91,183, 90, 21, 22, 22, 66, 42,149,226,139, 47,190, 48,
-158, 61,123, 54,195,100, 50, 61, 29, 29, 29,157,223,212,116,214,  7,203, 73,127, 30, 50,102,226,226, 69,175,245, 69, 69,185, 22,
-123,206,198,225,207,216,251, 99,  0, 92,164,148,214, 58, 89,109, 68, 68, 68, 78,104,104,232,168,153, 51,103,158,248,249,231,159,
-149,227,198,141,  3,207,243,213,175,242,242,114,156, 60,121, 18,103,207,158, 69,116,244,181, 52, 41,109,247,167,155,170,116,251,
-111, 71, 45,155,164,153, 16,226,222,178,101,203, 67, 17, 17, 17, 78, 42,149, 10,225,225,225, 40, 42, 42,194,155,111,190, 89, 29,
-185, 42, 42, 42, 26,189,118,237,218,151,147,146,146,150,156, 63,127,190,160,234, 65,192,  4, 17, 17, 17, 17,145,127,156,122, 61,
-200,255,227, 76,  8, 57, 72, 41, 29, 10,160, 31,  0, 89,141,101, 16, 66, 14, 86, 25,191,  7,150,231,205,155,247,193,210,165, 75,
-111,152,151,205,235,204,159, 63,255,169,101,203,150, 45,233,214,173,219,182, 11, 23, 46,220,251,219, 12, 22,128, 83,148, 82,210,
-128,141,129, 80, 24, 73,133,194, 72,250,231,209, 91,127, 53, 37,186,226, 70,111,220,219,219, 27,113, 55,255, 98,110,170, 63, 91,
-106,176,208,163,  7,144,153,  9,184,187, 87,166, 52, 51, 19,  6,  0, 63,204,159, 15,153, 76, 86, 93, 21, 85,101, 76, 26,148,211,
-235,245, 36, 55, 55,151,106,181,218, 88,157, 78,103,170, 37, 51,144,214,174,182,191, 45,152,247, 86,243,150,173,218,184, 71, 28,
-218,142,123,247,210,145,157, 93,251,249,177,182,182, 46, 51, 26,141,214, 85, 39,246, 42, 97,152,124,229,149, 43, 59,  1,196, 53,
- 85,147, 16,114,100,220,184,113, 67, 67, 67, 67, 73,251,246,237,101, 39, 78,156, 48,241, 60,255,128,185,106,172,102,125,120,120,
-120,244, 27, 59,118,236,167,147, 39, 79,198,200,193,253,241,122, 31,127,164,100, 23, 25,  1,156,168,111,146,230, 42,147,117, 93,
-173, 86,191, 60,122,244,232,111,124,125,125,189,  1, 32, 32, 32,  0, 47,191,252, 50, 86,173, 90,133,240,240,240, 95,  0,108,140,
-142,142,190,210,200,139, 82,229,224,224,176,239,196,137, 19, 78, 42,149, 10,199,142, 29, 67,121,121,249, 95, 34, 87, 75,150, 44,
- 81, 36, 37, 37,173, 56,122,244,104,123,  0, 76,213, 52, 61, 34, 34, 34, 34, 34,255, 14, 44,240, 32,213,247,253,131,148,210,161,
- 53, 13,211,195, 70,203,252,217,188,222,210,165, 75,135,214, 52, 95,  0,176,108,217,178, 37, 53,150,203,255,142,157, 50, 27,172,
- 48, 66,  8,  5, 16, 70, 41, 61,221, 20, 33,163,174,180, 73, 35,150,202,148,205,176, 98,227,218,202,131,196, 61,216, 46,203,226,
-  8, 86, 35,  6, 75,181, 36,130,101, 48, 24,132,194,194,194, 36,141, 70, 19,125,243,230,205,191,152,  7, 79, 79,207,165,221,122,
-118,237,222,166,115,136, 50,226,200,110,220,185,157,140,188,188, 98,128, 82,109,109,122,142,142,142,249,204,180,105,214,170,204,
-204, 34, 70, 16,210,125, 98, 99, 95,124, 84,205,243,231,207,191, 22, 26, 26, 26,120,225,194,133,112, 91, 91, 91,  0,160, 53,205,
- 85, 83, 52,107, 49, 85,221, 56,142,219,207, 48,140,114,224,192,129,152, 49, 99,  6, 86,173, 90,101, 42,172, 48, 44, 92,177,255,
-210,155, 26,157, 97, 90, 67,230,202, 76,116,116,116,248,152, 49, 99, 58, 94,189,122,213,131, 82, 58,200,193,193, 97,133,209,104,
-132, 32,  8,160,148, 30, 48,153, 76,183,131,130,130,182, 58, 59, 59,247,205,201,201,217, 26, 29, 29, 61,179,129,139,140,145, 74,
-165,191, 28, 63,126,188,131,135,135,  7,194,195,195, 81, 94, 94, 94, 29,185,122,237,181,215, 30,136, 92, 93,184,112,161, 64, 52,
- 87, 34, 34, 34, 34,255, 74, 44,246, 32,102,211,244,176,201,106,140, 57,  3, 80, 49,111,222,188, 15,  8, 33,  7,171, 34, 92, 21,
-  0, 50, 30,247, 78, 49, 85,  9, 62, 93,229, 30, 79, 61,184, 39,150,151, 69,  6,125, 73,147, 18,208,250,233, 45,  8, 28,113, 26,
-247, 12,111, 34,155,153,250,112, 36,201, 50,131,181,123,119,101,244, 42, 51,243,255, 35, 89, 85,209,172,166, 24,172,178,178,178,
-235,  5,  5,  5,177,197,197,197,151,  0,  8, 15, 69,221,166,118,238,220,249,181,245,191,108,182, 57,112,228,100,121,116,228, 13,
- 77,118, 78, 17,202, 13, 70, 67,108, 74,246,154,218,244, 92, 92, 92, 10, 41, 80,192, 25,141,199,101,215,175,239,172, 37,146,215,
-104,205,170,200, 80, 12,128,131, 71,142, 28,185,195,178,236,183,143, 67,179,166,185,106,214,172,217,190,205,155, 55, 43,119,237,
-218,133,  9, 19, 38,224,203, 47,191,196,145, 35, 71,158,215,104, 52, 43,202,180,250, 86,148,210,227,150,158,231, 85, 83,136, 91,
-111,167,157,238, 28,199,217, 53,107,214,108,209, 43,175,188,  2,147,201,132, 62,125,250,192,217,217,121,155, 84, 42, 61, 61,113,
-226,196,225,203,151, 47, 87,181,108,217,114,146, 90,173,118,107, 64,242,179, 45, 91,182, 12, 14,  8,  8,192,249,243,231, 81, 92,
- 92, 12,119,119,119,188,253,246,219,178,101,203,150,109,253,246,219,111,181, 75,151, 46,149,246,239,223,127,197,209,163, 71,187,
-148,151,151, 15, 16,205,149,136,136,136,200,191,143, 58, 61, 72, 61, 38,171,137,219, 49,255, 79,178,116,233,210, 27,148,210,161,
-203,150, 45, 91,  2, 64,249,183, 69,176,170,156, 35,  0,132, 61,232,175,202, 44,143, 96,105,235, 55, 88,239,140, 74,187, 37,240,
- 60, 86,205, 97, 33, 83, 54, 67,235,167,183, 52, 24,149,106,108, 27,172, 90,220,234, 95,150, 45, 49, 88,229,229,229,209, 57, 57,
- 57,119,239,223,191,127,182,230, 32,162,222,222,222,195, 92, 93, 93, 23,111,217,178, 69,153,145,145,  1,175,182,254,182,107,119,
-254,174,115, 85,201,181,169, 69,  5,147,175,165,149,237,169, 77, 79,161, 80,196,211,164,164,155,178,132,132,163,  4,184,241,144,
- 17,106,146,166,153,139, 23, 47,190, 86,139, 97,123, 36, 77, 15, 15,143,110, 78, 78, 78,251,190,255,254,123, 85, 70, 70,  6,164,
- 82, 41,172,173,173,113,226,196,  9,100,100,100, 28,111,108, 38, 91, 51,137,124, 40, 19,240, 62,120, 48, 61,188,211,117, 47,190,
-255,189,210,209,209, 17, 87,174, 92, 65,135, 14, 29,176,124,249,114,217,173, 91,183,218,183,107,215, 14,183,111,223, 70,102,102,
-102,124,116,116,116, 86, 61, 79, 33,195, 39, 79,158,252,206,243,207, 63,143,203,151, 47, 35, 51, 51, 19,211,166, 77,211,191,253,
-246,219,210, 87, 95,125,149, 20, 23, 23,143, 94,179,102,205,203,247,239,223, 23, 35, 87, 34, 34, 34, 34,255,114,234,242, 32,245,
-112,  8,192,179, 15, 71,181, 30, 54, 95,230,  8, 85,205,229,135,215,175,250, 93,251,119,236, 23, 87,181, 49,242, 87,131,  3, 65,
- 48,228, 83,198,107, 28, 17, 50,119, 83,240,117,108,159,101,193,201,172, 81, 81, 94, 42, 80,250, 96,180,167, 38,  2,207, 59,213,
-108,204,206,178,108,157,237,161, 88,150,133,157,157, 29, 74, 75, 75,  1,192,216,192, 62,240,198,231,159,103,101,207, 61,  7,131,
-155, 27,168,193, 80, 25,197,  2,128, 15, 62,120, 96, 69,169, 84,106,142,138,213, 91,173, 85, 82, 82,114, 57, 58, 58,250,  2,165,
- 52,  7,  0,122,247,238,189,154,231,249, 97, 86, 86, 86,246,147, 38, 77, 50,228,229,229, 97,207,158, 61,248,233,167,159, 42, 52,
-  6, 54,166, 72,111,122, 35, 49,189,172,206, 17,237,243,242,242,254,244,142,143,223, 85,243,187, 71,213,172,141,199,161,233,225,
-225,209,205,197,197,165,218, 92,201,229,114, 88, 91, 91, 35, 61, 61, 29, 28,199, 53,122,144,206,173,111, 18,123, 80,188, 59,229,
-157, 41, 12,195, 48,204,250,213, 63, 42,237, 85, 20,191,254,250, 43,118,236,216,145,224,239,239,223,110,226,196,137,240,243,243,
- 67, 66, 66,  2, 86,174, 92,153, 97, 48, 24, 94,168, 55,211,114,220,107,139, 23, 47,166, 25, 25, 25,228,238,221,187,213,145,171,
-165, 75,151, 86,183,185,186,119,239,158,216,230, 74, 68, 68, 68,228,191, 35,130,101, 73,251,171,188, 42,243,148, 93,203, 50, 91,
-195, 88, 61,188,156,243,208, 50,  0,232, 31,250,253,234,223,102,176,106,221, 97,130,239,199,140,236, 59,235,147,247,166,184,182,
-247,155,167,160, 57,127,128, 22, 71, 83,152,155,220, 16,  6, 50,107, 39,128,147,211,168,155,121,101, 39, 99, 43,242, 40,193,247,
-150,110,184,125,251,246,200,202,202, 66, 65, 65, 65,245,119, 12,195,192,209,209, 17, 10,133,  2, 81, 81, 81, 56,127,254,188, 17,
-192,226,  6, 78,204,178, 87, 95,125,117,254,155,111,190,201,132, 76,152,  0,195,217,179, 15,116, 15, 35,132, 64,161, 80, 64,169,
- 84, 34, 61, 61, 29,183,110,221, 18, 40,165,203,234,211, 76, 76, 76, 60, 79, 41,205,  5,128,176,176,176,113,142,142,142, 99, 38,
- 76,152,160,188,124,249, 50, 62,251,236, 51, 46, 60, 60,220, 16, 25, 25,105, 18,  4, 97,126, 90, 90,198,134,134,246,245,230,205,
-155,145, 53,151, 31,135,230,195, 60, 14, 77, 79, 79,207,174, 30, 30, 30,251,190,249,230, 27, 85, 86, 86, 22,228,114, 57,108,108,
-108,144,146,146,130,197,139, 23,107, 76, 38,211,115,143, 35,211,105,181, 90,236,218,181, 43,211,215,215, 55,228,218,181,107,125,
-230,206,157,187,218,199,199,199, 35, 37, 37, 37,137,231,249,103, 35, 35, 35,147,235,251,191,189,189,125,168,179,179, 51,185,120,
-241, 34,166, 77,155,166,159, 62,125,186, 24,185, 18, 17, 17, 17,121,178,185,220,192,242,191,142, 58, 39,123,190,121,143,254,148,
-120, 43,117,248,184,201, 31,110,125,227,237,249,233,183,243,154,233,136,235,  8, 66,228, 30,144,219,186,195,214,221, 31,247,115,
-185,138,239,118,101,164, 29,140,168,216, 89, 81,134,145, 55,239,209,159, 30, 10,251,249,215,136, 74,229,174,216,184, 22, 43, 54,
-174,133, 73,144,232, 95,127,253,117,228,229,229,225,222,185, 87, 16,179,175, 55,124,165,107,224, 70,215, 33, 55, 55, 23, 63,252,
-240,  3, 13, 15, 15,223,109, 52, 26,187,100,100,100,124, 95,151, 38,  0,196,196,196, 44, 73, 79, 79,239,246,193,  7, 31,132,191,
- 89, 90,138,248, 53,107, 32,123,245, 85, 48,157, 58, 65,165, 82,193,201,201,  9, 26,141,  6,167, 79,159,198,181,107,215,194,117,
- 58, 93,183,152,152,152, 37,245,105,154,205, 85,143, 30, 61,172,139,138,138,190,126,245,213, 87,149, 26,141,  6,121,121,121,200,
-203,203, 67, 68, 68,196,  9,189, 94, 31,156,150,150, 86,167,105,169,169, 73, 41, 77, 53,127,126, 92,154, 53,121, 92,154, 42,149,
-106,230,158, 61,123, 84, 12,195, 64, 46,151,195,206,206, 14,169,169,169, 88,180,104,145,166,162,162,226,185,140,140, 12,139,  6,
-232,172,169, 57,118, 13, 45,  2,193,215,235,190, 89, 39,172, 89,185,150, 82,199,222, 80,218,121,194,206,206,206,113,231,206,157,
-194,213,171, 87,143,123,120,120,180,187,125,251,182,191, 78,167, 11,190,116,233, 82,114, 67,154,121,121,121,103,146,146,146, 96,
-101,101,133,233,211,167,203,150, 44, 89,178,245,219,111,191,213, 46, 89,178,164, 81,109,174,234, 58,158,143,130,168, 41,106,138,
-154,162,166,168, 41, 82,111,  4, 11,  0,174,167,208,251,  0,222,233,220,154,  4,188,244,230,242,153,189, 66, 90,117,125,251,165,
- 96,135, 18,161,152,238,217,127,167,224, 94,106,217,101,142,197,170, 27,247,104,131,225,181,119,190, 54,181,168,185,252,157,151,
- 87,240,132,  9, 19, 62,155, 51, 38,167,123,205,170,195,205,219, 55,159, 37,132,124,152,153,153,105,113,151,253,232,232,232, 27,
-  0,158, 11, 12, 12,236, 57,123,246,236,197,163,188,189,131,198,133,133, 65, 34,145, 32, 50, 50, 18,249,249,249, 81,  0, 62,142,
-137,137, 57,215,152,131, 83, 82, 82,242,137,159,159,159,244,230,205,155, 72, 76, 76,196,173, 91,183,192,243,252,221,180,180,180,
-231,155,122,192,255,205,154, 90,173,246,171,207, 62,251,172,239,194,133, 11,229, 54, 54, 54,184,114,229, 10, 22, 46, 92,168,209,
-106,181, 22,155,171,218,120,243, 71,250,249,170, 41,228,167,243,247,124,251,119,240,236,182,198,104, 52,194,197,197, 69,214,181,
-107, 87,119,  0, 25, 59,118,236,224,  1,220,107,132,228,199,  1,  1,  1,126,159,125,246, 89,235,215, 94,123, 13, 69, 69, 69, 98,
-228, 74, 68, 68, 68, 68,228,191,199, 96,153,185,150, 72,175,  2,120,181, 83, 43,210,231,108,228,221, 73,149,246, 21,235,227,238,
-211, 83, 77,221,112, 90, 90, 90, 36,128,254, 43,102,145,  7,198,159,200,204,204, 28,212, 84,205, 42,  3,213, 59, 32, 32, 96,248,
- 30,150,125, 15,247,238,129,231,249,175,174, 94,189,186,191, 49, 58, 93,187,118,245, 41, 45, 45,253,209,104, 52,118,230,121, 94,
-118,250,244,105,104,181, 90,196,197,197, 85,  8,130,176,167, 41,105,251,111,208, 76, 77, 77,141,246,240,240, 24, 74,  8, 57, 56,
-119,238, 92,249,162, 69,139, 30,217, 92,153,153,185,142,102,109, 86,171, 79,177,183,110,241, 70,163,145, 53,153, 76,224,121, 94,
-218, 20, 45, 74,105, 34, 33, 36,100,214,172, 89, 31,191,251,238,187, 51,151, 45, 91, 38, 21,219, 92,137,136,136,136,136,252,215,
- 25, 44, 51,177,119,233, 73,  0, 39, 31,103,  2,170,170, 14,157,205,159, 31,135,102,149,161,218,223,212,255, 23, 23, 23,127, 90,
- 80, 80, 16, 82, 82, 82, 98,186,119,239, 94,  5, 33,132,103, 24,166, 66, 16,132,165, 60,207,111,120,146, 53, 51, 50, 50, 46,186,
-187,187,247,191,112,225,194,244,242,242,242,117, 25, 25, 25,151, 30,215,185,142,142,142, 78, 85,171,213, 31, 77,154, 52,233,101,
-147,201,244,123, 84, 84, 84, 82, 83,181, 40,165,122,  0, 31, 17, 66,246,197,198,198,254,122,225,194,133, 44,209, 92,137,136,136,
-136,136,252, 87, 26,172,191,131,135,171, 14,255, 13, 36, 36, 36,188,  6,224,181,255, 69, 77,  0,200,204,204,140,249, 59,116,171,
- 76,214,183,  0,190,125, 92,122,148,210,104, 66, 72,  7, 84,246, 18, 17,205,149,136,136,136,136,136,104,176, 68, 68, 30,147,201,
-162, 16,231, 22, 20, 17, 17, 17, 17,249, 23, 65,  0,248,215, 81,104, 89, 60, 83,118, 83,122, 19, 52,164, 47,106,138,154,162,166,
-168, 41,106,138,154,162,230,147,167,217,144,118, 99,252,199,191,218, 96, 53,102, 30,191, 70,139, 19,226,255,184, 15,148,168, 41,
-106,254, 39, 52, 73,229, 52,  0,164,242, 90,183,252, 34, 17,143,167,168, 41,106,138,154,162,166,  8, 32, 86, 17,254,231, 29, 45,
- 33, 12,254,127,252, 49,161,177,  5,184,200,223,126,126,204,198,138,  3,192,  2,224,  9, 33, 38,241, 60,137,136,136,136,136,252,
-173,  6, 43, 52, 52,180, 53,  0, 68, 68, 68, 36,254, 27,118,160, 75,151, 46,167, 91,181,106,213,252,206,157, 59, 70, 66,  8,106,
-190,  0, 64, 38,147, 93,184,112,225,194,235,255,134,180,118,236,216, 81,250,212, 83, 79,237,151, 74,165,189,106,126,175, 86,171,
-205, 31,  5,107,107,107,167, 83,167, 78,233,158,180,140,102,101,101,165, 97, 89,150, 48, 12,  3,150,101,241,240,123,109,223, 17,
- 66, 92,226,226,226, 52,117,105,142, 27, 55,206,166,172,172,108, 40,165, 52,134, 16, 18, 72, 41,141,225, 56, 46,208,100, 50, 61,
-240, 46,147,201, 78,109,219,182, 45,211,146,116,  6,  6,  6, 42, 56,142,139, 55,153, 76, 78, 15,255,166, 86,171,193,178, 44, 46,
- 95,190,172,122,146,206,141,191,191,255,137,144,144, 16,191, 43, 87,174, 24, 40,165,213,215, 15,195, 48, 32,132, 64, 16,132,204,
-168,168,168,238, 79,242,141,208,221,221,189, 39,128,229, 85, 29, 38,106,114,139, 16,242,110,122,122,250, 41,136,136,136,136, 60,
- 78,131, 21, 18, 18,210,134,231,249, 94,132,144,158,148,210,158,237,219,183,119, 41, 47, 47,135, 90,173,206, 33,132,156,163,148,
-158, 99, 89,246,236,229,203,151,239, 52,164,213,189,123,247, 40,189, 94,223,190, 81,  9,228,184, 82,133, 66,209,250,212,169, 83,
-181, 22,180,174,174,174, 45, 55,111,222,236, 24, 27, 27, 11, 43, 43,171,  7, 94, 28,199,161,107,215,174,193,255, 22,115,197,178,
-236,  1, 15, 15,143,238,251,247,239, 71,108,108,108, 77, 99,  5,158,231,209,171, 87, 47,198,201,201, 73,  6,192, 34,131, 21, 26,
- 26,154,100, 50,153,156, 27,147, 14,169, 84,154,123,241,226, 69,139,122,110,246,232,209,195,218,100, 50,205, 98, 89,182,183, 32,
-  8, 29,  0,128,101,217,155, 38,147,233, 52,199,113, 43,207,159, 63,111,241,108,224, 44,203,146,188,188, 60,108,219,182, 13,254,
-129,161,160, 20,  8,232,216,166,218,  8, 71,196,220,  4,207,243, 56,127,234,  8,230,204,153,131,192,192, 64,104, 52, 26,182, 62,
- 77, 65, 16,142, 88, 89, 89,117, 54, 47,215,156,220,251,161,137,190,163,  1, 60,221, 80, 26,213,106,181, 82, 34,145, 36, 40,149,
- 74,199, 35, 71,142,224,210,165, 75,104,211,166, 13,120,158,  7,165, 20,148, 82,140, 28, 57,242,137,187,  9, 48, 12,227,185,110,
-221, 58,187, 99,199,142, 65,169, 84, 86, 95, 63,214,214,214,176,178,178,194,179,207, 62,203, 63,174,109,169,213,234, 45,  0, 70,
- 84, 45,158,138,142,142,126,182,169, 90, 78, 78, 78,214,114,185,124,150, 92, 46,239,109, 50,153, 58, 16, 66, 32,145, 72,110,234,
-116,186,211, 21, 21, 21, 43,243,242,242, 44,206,159,132,144, 47, 55,108,216,208,161,121,243,230,200,206,206, 70,110,110, 46,138,
-139,139, 81, 90, 90,234,183,113,227,198, 85,  0, 58,137,197,133,136,136,200, 99, 49, 88,106,181,122, 15,128,158,237,219,183, 87,
-246,239,223, 31,129,129,129,240,241,241,129, 66,161,  0,  0, 20, 20, 20,184,196,197,197, 61,127,229,202,149,231, 47, 94,188,  8,
-181, 90, 93, 65,  8,185, 24, 21, 21, 53,188,158,  2,209,235,200,145, 35,112,114,114,178, 40,113,130, 32, 96,240,224,193,146,226,
-226, 98, 21,128, 90, 13, 86, 86, 86,150,240,201, 39,159, 20,159, 63,127,222,192, 48, 12, 40,165,164, 70, 53, 15, 76, 38, 83,193,
- 63,125,144,  9, 33,204, 83, 79, 61,181,175,202, 92, 49, 18,137,  4, 81, 81, 81, 72, 79, 79,135,139,139, 11,172,172,172, 32,151,
-203, 33,  8,  2,238,223,191,159, 25, 18, 18, 34, 40,149,202,  6, 35, 89, 38,147,201,249,220,185,115,213,231,164, 33,120,158, 71,
- 72, 72,136, 69,134,172, 75,151, 46, 79,203,229,242, 95,167, 77,155,102,215,189,123,119,206,203,203, 11,132, 16,100,101,101,133,
- 92,184,112, 33,112,205,154, 53, 19,187,116,233, 50,254,202,149, 43,103, 44, 52, 88,216,180,105, 19, 62,251,236, 51,204,254,232,
- 75,188, 61, 97, 52,  8, 33,144,203,229, 40, 46, 46, 70,104, 96,  7,172,221,180, 15,219,182,109, 67, 69, 69,  5, 88,150, 69,203,
-150, 45, 27,138,138,181, 91,189,122, 53,102,205,154,133,149, 43, 87, 86,191,207,158, 61, 27, 43, 86,172,192,156, 57,115,176,124,
-249,114,204,153, 51, 71,253,250,235,175,203,127,254,249,103, 93,125,231, 40, 36, 36, 36,190,202, 92, 17,169, 84,138,194,222,189,
-145, 12,192, 38, 46, 14,214,214,214,208,235,245, 96, 89, 22,106,181,186,188, 41,145,172, 78,157, 58,157, 99, 89,214,211,130,243,
-148, 30, 27, 27,219,243, 17,242, 91, 63,  0,115,170, 22,151, 83, 74,143, 55,112,157,165, 79,157, 58,213, 42, 38, 38,166,174,  8,
- 86,206, 35, 24,170,102,132,144,239,  0, 40, 89,150,125, 23,192,160,240,240,112, 48, 12,131,  1,  3,  6,132,169,213,106, 63,  0,
- 75, 85, 42, 21,213,235,245,211, 34, 34, 34, 44,218,150,151,151,215,211,182,182,182,191,206,159, 63,223,174, 71,143, 30,156,179,
-179, 51, 34, 34, 34, 96,111,111, 31,114,246,236,217, 46, 63,254,248,227, 68, 47, 47,175,241,105,105,105,103, 44, 76,106, 91,111,
-111,111,124,252,241,199,176,181,181,133,163,163, 35, 28, 28, 28,224,232,232,  8,119,119,119,223,241,227,199,103, 22, 20, 20,148,
- 93,191,126,125, 33, 33,228,116,106,106,106,166, 88,124,136,136,136, 52, 53,130, 53,224,244,233,211, 48, 26,141,176,177,177,  1,
-203, 62, 24, 76,112,116,116,196,211, 79, 63,141,208,208, 80,244,235,215, 15,  9,  9,  9,202, 47,190,248,226,153,134, 54,168, 82,
-169,112,241,226, 69,152, 76, 38, 68, 71, 71,163,180,180, 20,195,135, 15,135, 68, 34,129, 68, 34,  1,199,113,213,239,174,174,174,
- 80, 40, 20,164,184,184,184, 78, 61, 59, 59,187, 86,135, 14, 29, 98,228,114, 57,181,182,182,166,167, 79,159,166,  0, 40, 30,161,
-205, 76,112,112,176, 43,199,113,159,241, 60, 63,146,231,121, 89, 61,166,193, 40,149, 74, 15,104,181,218,143,162,163,163, 83,235,
- 40,236,  8,  0, 70, 46,151, 63,189,107,215, 46, 72, 36, 18,  0,128, 76, 38,131, 92, 46,135, 66,161,168,126,247,243,243,195,140,
- 25, 51, 48,121,242,100,139, 35, 89, 10,133,  2,167, 78,157,  2,199,113,232,216,171,178,230, 49,229,234, 85, 72, 36, 18,184,119,
-236,  8,  0, 40, 75, 73,129, 68, 34,129,155,155,155, 69,251, 31, 16, 16,208,175,121,243,230, 91,191,249,230, 27, 37,203,178,184,
-125,251, 54,  8, 33, 96, 89, 22, 57, 57, 57,232,217,179, 39,231,239,239,223,108,254,252,249,187,  2,  2,  2,198, 94,189,122,245,
-184,  5, 81, 18,188,250,234,171,248,234,171,175, 48,125,226,104,152,231, 59,212,235,245,213,235, 76,123,117,  4,126, 89,179, 20,
- 31,127,252, 49,254,248,227,143,134,162,119,183, 66, 67, 67,101,185,185,185, 80, 40, 20,200,201,201,129, 82,169,124,224, 93,161,
- 80, 32, 59, 59, 27, 74,165, 18, 87,174, 92,185, 19, 22, 22,214,242,212,169, 83,166, 58,206, 17,103, 50,153,156,142, 28, 57,  2,
-169,180,114,128,249,114,  0, 60,  0,103,103,103,232,116, 58, 40, 20, 10,180,104,209,  2, 31,126,248, 33, 94,127,189,241,181,206,
- 44,203,122,198,196,196, 52,104,112,  3,  3,  3, 31,245,186,158, 67, 41,237, 89, 35,146, 87,239,249,185,126,253,250, 51,  0, 48,
-106,212,168, 19,254,254,254,126,241,241,241,  6,243,127,171, 94,238, 47,191,252,114,146,217,116, 81, 74, 51,127,251,237, 55,139,
-170, 12,  9, 33,203, 15, 28, 56, 48,204, 96, 48, 96,194,132,  9,209,190,190,190,156,157,157, 29, 54,110,220,  8,  7,  7,  7,232,
-245,250,203, 95,127,253, 53,151,156,156,140,239,191,255,126, 93,141,232, 86,157,120,120,120,244,243,245,245,221,186,125,251,118,
- 37,  0,220,187,119, 15,105,105,105, 56,118,236, 24, 94,122,233, 37,140, 30, 61, 90,210,163, 71,143,102,211,167, 79,223,229,225,
-225, 49, 54, 35, 35,227,184, 37,105,181,183,183,231,231,206,157,203,170, 84,170,  7, 34,225,135, 14, 29, 34, 95,124,241,133,237,
- 55,223,124, 99, 51,116,232,208, 57, 63,252,240, 67, 87, 47, 47,175,101,105,105,105, 25, 98, 17, 34, 34, 34,210, 20,131,  5, 43,
- 43, 43, 68, 70, 70,130, 16,  2, 27, 27, 27,216,218,218,194,206,206, 14, 37, 37, 37,136,139,139, 67,124,124, 60,238,223,191, 15,
-134, 97,208,170, 85, 43,152,163, 70,102,106,235, 97, 96, 46,168,147,146,146,144,149,149,  5,134, 97,112,230,204, 25, 12, 26, 52,
-232,  1,115,101, 54, 34, 15,243,176,230,169, 83,167, 76,239,190,234,118,194,160,215, 56,153, 76,250, 11,167, 40,157, 22, 24, 24,
-120,218,197,197,197, 43, 32, 32,128, 55, 87, 21,213,215, 46,235, 97, 77,150,101,151,190,249,230,155,207,143, 25, 51,134,225, 56,
-238,129,  8,144, 94,175,135, 94,175,135,209,104, 68, 69, 69,133,100,215,174, 93,207, 29, 60,120, 80,  5, 96, 84,125,233,228,121,
- 30,113,113,113,184,118,237, 26, 24,134,129,131,131,  3,108,109,109,161, 80, 40,160, 84, 42, 33,147,201,160, 82,169,160, 80, 40,
- 32,145, 72,112,255,254,253,204,206,157, 59, 11, 37, 37, 37, 78, 73, 73, 73,186,186,142, 39,  0,112, 28,135,154,233, 52, 31,195,
-186,150,235, 75,103,104,104,168,141, 76, 38,251,105,197,138, 21,202,156,156, 28,196,198,198,162,115,231,206,248,240,195, 15,161,
-209,104,176,124,249,114, 36, 38, 38,194,197,197,  5, 31,124,240,129,242,221,119,223,253, 41, 52, 52,180, 67, 68, 68, 68,105,125,
-231,157, 97, 24,108,216,176,  1, 38,147,  9, 12, 83,217,198, 95,167,211, 65, 46,151, 63,156, 30, 44, 88,176,160,122,157,186, 52,
-  5, 65,112,115,113,113,193,169, 83,167,160, 84, 42,113,250,244,105, 40,149, 74,156, 57,115,  6, 10,133,  2,103,206,156,169, 94,
-182,178,178,130, 32,  8,118, 85,249,221, 84,139, 38, 65,101,131,118, 92,185,114,  5, 89, 93,187,162, 28,128,205,254,253,176,109,
-209,  2,112,118,134, 19,  0, 77, 94, 30, 84, 42, 21,228,114,121,157,145, 44, 75,122,213,196,199,199, 67,167,251,171,119,150,203,
-229,104,223,190,125,131,231,168,150,107,170,147,139,139,203, 15,126,126,126,254,  0,240,244,211, 13,214,134,214,117,109,122,126,
-244,209, 71,118,155, 55,111,134, 92, 46,135, 82,169,132, 74,165,130, 74,165,122,224,243,135, 31,126,200, 91,170,  9, 64,150,144,
-144,  0, 27, 27, 27,172, 95,191,158,115,116,116, 68,116,116, 52, 56,142,195, 43,175,188,130, 78,157, 58,113,230,243, 87, 86, 86,
-214,160,102,235,214,173,109,100, 50,217, 79, 91,183,110, 85,206,155, 55, 15, 65, 65, 65,240,243,243,  3, 33,  4,163, 70,141,  2,
-165, 20, 69, 69, 69,112,118,118,198,215, 95,127,173,156, 60,121,242, 79,173, 91,183,238,144,152,152, 88,218, 64, 58,169, 78,167,
-163, 10,133,162,250,161, 71, 46,151, 67, 42,149,162,164,164,132,190,255,254,251, 37, 44,203, 50, 35, 70,140,240,125,235,173,183,
-152,133, 11, 23,246,  1,240, 91, 99,206,123, 99, 17, 53, 69,205,255, 53,205,134, 98, 31,  0,106, 62,160,234,  1,152,  3, 32,121,
- 85,247,241,102, 15,125, 15,  0,230, 25, 98,156,235, 88,206,  3, 16,  7,160, 67,213,119, 60,128,203,  0, 10, 31,139,193, 34,132,
-208, 26,  7,141,212,114, 32, 81, 82, 82,130,146,146, 18,164,166,166, 98,237,218,181,213,133, 54,199,113, 96, 24,  6, 38,147,229,
-227, 60, 74, 36, 18,164,166,166, 34, 32, 32,  0, 46, 46, 46,248,249,231,159, 49,116,232,208,106, 61,243,171,166, 41,170,143,238,
-125, 94,110,255, 92,135, 91, 54,111, 46, 11,167, 64,101,187,172,125,251,246, 57,222,190,125,187,218,192, 40,149,202,106,243,210,
- 80,187, 44, 65, 16,134,141, 30, 61,154,  9, 15, 15,135,201,100,  2,199,113,144, 74,165,144,201,100, 96, 89, 22, 82,169,180,250,
- 53,108,216, 48,102,247,238,221,207,132,133,133,113,181, 69, 71,104,101,157,165, 64,  8,129, 90,173, 70, 94, 94, 30,164, 82, 41,
-108,108,108, 96,103,103, 87, 93, 96,203,100, 50, 88, 89, 89, 65,161, 80,160, 83,167, 78,152, 60,121, 50, 38, 77,154,196, 56, 58,
- 58, 54, 24,201,170, 25,185,226, 56, 14, 30, 53, 34, 87, 28,199, 65,225,238,110, 78,140, 37,167,103,230,132,  9, 19,108,228,114,
- 57,174, 95,191, 14,185, 92, 14,141, 70,131, 17, 35, 70,160,172,172, 12, 38,147,  9,114,185, 28, 58,157, 14,174,174,174,232,215,
-175,159, 85,120,120,248, 76,  0,139, 26,136,222,224,141, 55,222,192,234,213,171,241,205,143,219,241,206,164, 23,254,178,206,154,
- 95, 42,167, 79, 92,184,112, 33, 78,157,106,184, 77,241,128,  1,  3,112,230,204, 25,120,122,122,162,160,160,  0, 94, 94, 94, 40,
- 44, 44,132,143,143, 15,138,138,138,224,235,235,139,210,210, 82,244,238,221,187,161,136, 24,173,186,168,224,239,239, 15,  1,149,
-221, 59,109, 91,180, 64,179,102,205,160, 64,101,183, 79,185, 92, 94,109,130,155, 26,201,162,148, 98,238,220,185,197, 25, 25, 25,
-134, 90, 34, 51,210,221,187,119,219, 53, 38,240, 74,  8,233,220,190,125,251,163, 39, 78,156,176,118,117,117,133,201,100,130,209,
-104,132, 70,163,193, 11, 47,188,  0,  0,123, 26,145,182,244,207, 62,251,204,170,150,  8,214,  3,213,134,148, 82,139,171, 12, 57,
-142,155, 55,119,238,220, 65, 35, 70,140,224,108,108,108, 32,145, 72, 32,147,201, 32,147,201, 32,149, 74,145,148,148,  4,163,209,
-136, 29, 59,118, 80,150,101,223,107, 72, 79,167,211,205,252,224,131, 15,108, 36, 18,  9,218,181,107,135,153, 51,103, 98,203,150,
- 45,240,240,240,128, 76, 38, 67, 51, 85, 22, 24,134,131,142, 87,161, 77,155, 54, 24, 58,116,168,213,238,221,187, 27,204,159,148,
-210,235,122,189, 62, 80,169, 84, 86, 71,148,205, 85,239,233,233,233, 55,207,156, 57, 19,226,230,230,214,190, 93,187,118,235,194,
-194,194,252,155, 53,107, 22, 76,  8,217, 44,246, 44, 21, 17,121,116, 26,242, 32,102, 67, 68,  8, 57, 88, 99,189,161,230,229,121,
-243,230,125,176,116,233,210, 27,132,144,131, 53,191, 55,175, 87,181,141,131,181, 45, 87,253,183,217,252,249,243,253,151, 45, 91,
-182,164, 91,183,110,219, 46, 92,184,112,239,177, 25,172,170,118, 75,180,158, 29,251, 75, 20,234, 97, 44, 49, 88,230,155,180, 78,
-167, 67, 94, 94, 30,  6, 12, 24,  0,165, 82,  9,134, 97,144,154,154,138,182,109,219,130,227, 56, 92,189,122, 21,159,124,242,  9,
- 58,118,236,  8,131,193,208, 96,154,142, 30, 92, 95,113,225, 56, 95, 33,  8,149, 55,254,236,236,108,186,116,233,210,178,240,240,
-112,253,255,111,186, 90,134, 52,212, 46,139, 82,202,113, 28,  7,163,209,248, 64, 47, 55, 66,  8,250,244,233,131,179,103,207, 86,
-127, 87, 21,129, 97, 30,142,142,212, 82,128, 67, 16,  4,184,184,184, 64, 38,147,161,230,141,220, 92,224,152,205, 86,205,155,123,
-163, 78,230, 67,145,191,250, 34,129,117,193, 48, 76, 88,175, 94,189,184, 91,183,110, 85,167,203, 96, 48,160,119,239,222, 96, 24,
-  6, 41, 41, 41,213,223, 83, 74,209,165, 75, 23,233,217,179,103,195, 26, 42,192, 24,134,193,218,181,107, 97, 52, 26,  1,  0,223,
-255,180, 27,111, 79, 24, 85, 29,201,249,254,167,221,213,235,125,244,209, 71,127,137, 96,213, 70,231,206,157, 81, 86, 86, 86, 29,
- 21,229, 56,238, 47,239, 12,195,160, 89,179,102,168,175, 28,172, 50,193, 38,115, 62,182,141,139,131,139,139, 11,224,228,  4, 57,
-  0,133,201,132,220,220, 92, 56, 85, 25, 44,121,141,247,198,154, 43,189, 94,143,140,140, 12,195,213,171, 87,255,210,209, 32, 32,
- 32, 32, 73,175,215,195,210, 50,155, 16,226, 98, 54, 87,148, 82, 60,251,236,179,152, 57,115, 38,130,131,131, 81, 90, 90,138, 57,
-115,230,160,168,168,104,101,167, 78,157,190,184,126,253,250,135,148,210, 53,245,233,237,222,189,251, 47, 85,252, 29, 58,116, 56,
-209,181,107, 87,191,152,152,152,154,166,203, 61, 56, 56, 56,137, 82, 90,111,239, 66,115,131,246, 78,157, 58, 97,202,148, 41,216,
-181,107, 23,126,254,249,103,240,124,101,  0,108,228,200,145,120,238,185,231,144,155,155, 11, 87, 87, 87,146,158,158,126, 77,173,
- 86,215,219,240, 93,161, 80,132,245,236,217,147, 75, 78, 78, 70,183,110,221, 48,121,242,100,188,241,198, 27,216,191,127, 63,154,
-187,  1,209,251,199,162, 83,191,245,144, 90, 73, 65,  8, 65,207,158, 61,165,225,225,225, 13,230, 79,142,227,222,235,219,183,239,
- 18,  0, 29,107,222,  7,  9, 33,241,132,144, 15,  1, 32, 43, 43, 43,126,216,176, 97, 73,125,251,246,237,210,170, 85, 43,167,216,
-216, 88, 14,128, 81, 44, 30, 69, 68, 30, 57, 26,102,177,  7, 49, 27,164,135,141,214,210,165, 75,135, 62,252, 93, 77, 51, 85,219,
-231,154,255, 93,182,108,217,146, 26,218,229,143, 99,191, 30,219, 56, 88,230,130,179, 33,244,122, 61, 98, 98, 98,208,166, 77, 27,
- 40,149, 74,112, 28,135,192,192, 64,196,196,196,160, 67,135, 14, 16,  4,  1, 31,124,240,  1, 22, 44, 88,128, 29, 59,118, 32, 46,
- 46,142,115,117,117,173, 87,115,221,174, 82,223,154,203, 54, 54, 54,190, 59,118,236,120,164,118, 89,132,144,234,130,122,248,240,
-225, 56,124,248, 48, 36, 18, 73,117, 97,174, 86,171,171,171,251, 44,200, 16, 84,173, 86,195,100, 50,193,218,218,186,186,253,149,
-217,168,200,100, 50, 48, 12, 83,221,216,221, 28,109,  3,  0,123,123,251,  6,245,147,175, 92,129, 68, 34,129,199, 83, 79,  1,  0,
- 74,147,147, 33,145, 72,160,240,240,168,140, 24,150,149,213, 89, 69,248, 48, 60,207,119,240,244,244,196,173, 91,183,170,211,216,
-188,121,115, 76,159, 62, 29,229,229,229,216,176, 97,  3,138,138,138, 32,147,201, 32,145, 72,208,186,117,107,232,245,250, 14, 13,
-233,178, 44,139,169, 83,167,226,167,159,126,194,218,229,149, 85,128, 63,172,168,124,175, 57, 60,  3,195, 48,248,252,243,207,209,
-167, 79, 31,139, 77,229,166, 77,155,170,207,153, 89,195,252,154, 62,125,186, 69,134,133, 82, 42,168,213,106, 80, 74,171,163,139,
-166, 42,231,108,110,127,200,178,108,181, 49, 54, 71,178,154, 98,176,234, 74, 15,165,180,214,170,195,250,130,120,243,230,205,179,
- 22,  4,  1,125,250,244,193,132,  9, 19, 16, 20, 20,132,239,190,251, 14,231,207,159,199,143, 63,254,136, 45, 91,182,192,100, 50,
- 73,  7, 14, 28, 56, 19,192,154,198, 94,215, 44,203,122,174, 91,183,206,110,239,222,189,176,182,182,134,189,189, 61,108,109,109,
- 97,111,111,143,231,159,127,190,161,222,133,131,194,195,195,225,224,224,128,168,168, 40,200,100,149, 81,123,107,107,107,199, 83,
-167, 78,233, 86,175, 94, 93,162, 84, 42, 57,153, 76,134, 79, 62,249,  4, 50,153, 12,111,188,241, 70, 88, 88, 88,152,188,174, 14,
- 30, 70,163,177, 67, 70, 70,  6, 14, 31, 62,140,161, 67,135, 98,210,164, 73, 72, 77, 77,197,184,113, 47, 99,233, 12, 41,252,  3,
- 39, 64,106,223,171, 58,111,180,111,223, 30, 90,173,182,193,252,153,154,154, 26, 13,160,191, 37,231, 80, 68, 68,228, 31,141,118,
- 29,124,216,100, 61,138,214,188,121,243, 62,  0, 64,231,205,155,247,129,121,121,233,210,165, 21,  0, 30,185,141,229, 99, 51, 88,
-150, 68,176,122,245,234,165, 88,189,122, 53,220,220,220, 16, 24, 24, 88, 29, 97, 81,171,213,248,238,187,239, 48, 97,194,  4,252,
-241,199, 31,232,208,161,  3,  6, 13, 26,132,167,159,126, 26,157, 58, 53,220, 59,250,221,  9,158,231, 76,186, 82,123,131, 94, 23,
-185,102,183, 97, 66, 73, 73,201,217,214,173, 91,187,167,164,164,152, 74, 75, 75,171, 27, 13, 19, 66, 16, 28, 28, 12,142,227, 46,
- 95,188,120,241,101, 75, 10,239,209,163, 71, 99,239,222,189, 24, 57,114, 36,142, 29, 59,  6,  0,  8, 14, 14,198,205,155, 55,161,
- 82,169, 44,142, 16, 17, 66,192,243, 60,148, 74,101,117,117,163,217,192,152, 49, 71, 69,204,133,184, 37,213,163, 64,195,109,174,
-204,209,156, 70,100, 58, 72,165, 82, 48, 12, 83, 93,149, 83, 86, 86,134,226,226,226,234,180,155, 95,150, 86, 13,179, 44,139,239,
-190,251, 14, 70,163, 17,211,230, 44,  4,203,114,152,246,234,115, 96,217, 74,131,186,118,211, 62,240, 60,143,237, 63,175,194,188,
-121,243, 44,222,119,142,227, 48,105,210,164,234,125,172, 45,138,213,216,130,209,213,219, 27, 20,128,188,234, 63, 70, 66,208,172,
- 50,  4,249, 72, 17, 44,243,  3, 70, 83, 13, 88, 45,236,127,255,253,247, 39, 26, 12,134,246, 33, 33, 33,202,201,147, 39, 35, 53,
- 53, 21, 43, 86,172,208, 22, 22, 22,174,233,223,191,255, 68,107,107,107, 59,141, 70,163,185,127,255,254,215, 77,185,174,  5, 65,
- 72,159, 50,101,138,149,121,140, 44,115,207, 66,150,101, 45,234, 93,200,243, 60,214,175, 95, 95, 93, 53, 88, 91,190,168,153,167,
- 44,161, 99,199,142,176,178,178,  2,165, 20, 70,163, 17, 95,124,241,  5, 94,120,126, 32, 14,159,163,232, 63,254,125,  8,148, 64,
- 34,145,224,167,159,126,130,175,175,111,131,122,117,140,129, 37,142,127, 37, 34,242,239,140,118, 13,125,156, 90,230,  8,214,210,
-165, 75,111, 44, 93,186,244, 47,209,176,191,213, 96,177, 44, 91, 29,210,175,171, 48,182,180, 13,214,185,115,231,180, 39, 78,156,
-176, 78, 75, 75,171,142, 16,113, 28,135, 86,173, 90,129, 16,130, 63,254,248,  3,155, 55,111,198,135, 31,126,  8,142,227, 96,107,
-107,139, 46, 93,186, 24, 51, 51,235,239, 17,221,253,233, 23, 91, 85,181,193,226,  1,192,205,205,205,115,199,142, 29,245,181,193,
-234,108, 73, 65, 40,145, 72,112,240,224, 65, 12, 24, 48,160,186, 49, 53,  0,196,197,197, 33, 32, 32,  0,183,111,223,110, 84, 21,
- 28,165,244,  1, 99,101,238,173, 86,211, 96,177, 44, 91,221,200,214, 82,106, 70,174, 56,142,131,178, 70,228,138,101, 89,232,148,
- 74,232,  0,216, 91, 80,112, 75,165,210,248,172,172,172, 32, 23, 23, 23, 20, 20, 20, 64, 38,147, 61, 96,206, 56,142,123, 32,250,
- 86,213, 78, 43,190, 33, 93,115, 52,233,247,223,127,  7,  0, 76,123,245, 57,168, 84, 74,232,245,122,104,181, 90, 76,123,117,  4,
-214,110,218,  7,134, 97,176,116,233, 82, 12, 24, 48,192, 98,115,185,113,227, 70,152, 11,127,243,203,156, 47,103,205,154,101,110,
- 55,212,232,139, 35, 43, 43, 11, 64,101,171,201,135,207,145,217,  4, 63,238,  8,150, 37,  6,139, 16, 50,165, 67,135, 14,115, 20,
- 10, 69,106,118,118,246,118, 55, 55,183,233,223,124,243,141,119,114,114, 50,108,109,109,113,228,200, 17,197,140, 25, 51,222,188,
-124,249,242, 88, 74,105,120, 67,233,242,247,247, 63, 17, 26, 26,234, 87,115,152,134,170,235, 62, 51, 46, 46,238, 81,  6, 24, 61,
- 62,104,208,160,103,109,109,109, 49, 97,194,  4, 72,165, 82,140, 26, 53, 10,118,118,118,  5,235,215,175, 71, 80, 80, 80,181,137,
- 95,176, 96,  1,146,147,147, 65,  8, 57, 94,223,240, 36, 50,153, 44, 62, 57, 57, 57, 72,165, 82,193, 96, 48, 84, 95,127,  7,255,
- 56,  3,142,147, 84,155, 43,169, 84,138,233,211,167,155, 59, 59,196, 55,112, 60,151,110,216,176,161,131,139,139, 11, 50, 50, 50,
- 80, 80, 80,128,210,210, 82,191,213,171, 87, 47,  7, 72, 32, 22,130, 96,  1,168,151,151,103,171, 41, 83,166,120,153, 76, 38, 33,
- 41, 41,169,  0,226,  4,227, 34, 34,255, 72,  4,171,166,209,170, 17,133,170,139,220,154,237,178,234, 50,104, 53,219,100,193,194,
-177, 40, 45, 54, 88, 15,215,125, 82, 74, 19,175, 94,189,218,250,169,167,158, 66, 74, 74, 10,138,138,138,106, 21,176,178,178,130,
- 82,169,196,157, 59,119, 64, 41, 77,108,168,128, 97, 24,166,250,166, 88,179,199,224,  7, 31,124,128,121,243,230,161,127,255,254,
-232,209,163, 71,163,118,226,232,254, 31, 74,206,133, 11, 26, 94,160, 25,  0,144,157,157, 45, 44, 94,188, 88,115,236,216, 49,125,
-205,134,242,230,234, 60,158,231,179, 26, 56,129,166,146,146, 18, 78, 38,147,129, 16,130,243,231,207, 87, 15, 35, 17, 23, 23,  7,
-137, 68,130,164,164, 36, 72,165, 82, 24, 12,  6,160,178, 77,180, 69, 55, 91,115,  4,171, 54, 99,166, 82,169, 64,  8,121,192, 96,
- 89, 82, 69, 88,211,252,212,212,109,108,228, 10,  0, 12,  6,195,169,136,136,136,128,126,253,250,113, 26,141,166, 86,131,101, 54,
- 87,114,185, 28,151, 46, 93,210, 87, 84, 84, 52,248,148,207,178, 44, 86,174, 92,  9,131,193, 80, 61, 76,131,185, 58,204, 60, 22,
-214,180, 87, 71, 96,207,230,213,120,239,189,247, 44,170,122, 53,167,103,218,180,105,181, 70,174,204,159, 31, 30, 98,164,161,116,
-234,203,202, 32,149, 74,225,106, 62,150,130,240,192, 57,170, 25,109,180,  4, 55, 55, 55, 39,103,103,231,111, 28, 28, 28, 20, 90,
-173,246, 47,  6,170,230,239,245, 69,184,204,248,250,250,190,127,245,234, 85,215,194,194, 66,143,131,  7, 15,118,117,113,113,129,
- 92, 46,199,115,207, 61, 87, 46,  8,  2,243,205, 55,223, 40,126,248,225,  7,197,220,185,115,215,  0,104,101,129,249,245,252,225,
-135, 31,236,206,156, 57,131,154, 67, 20,140, 29, 59,246,145,  6, 24,141,142,142,126,161,107,215,174, 62, 60,207,199,118,238,220,
-153, 75, 78, 78,198,208,161, 67,161, 84, 42,171,207,139, 70,163, 49,183, 75,163, 28,199,  5, 52, 52, 67,132, 86,171, 61,117,246,
-236,217,206, 47,189,244,146,164,184,184,184,250, 30, 66, 72,165,177, 54, 95, 91,230,247, 83,167, 78,233, 53, 26, 77, 67,249,179,
-157,151,151, 23, 22, 44, 88,128,102,205,154,193,197,197,  5,190,190,190,112,119,119,111, 61,110, 92, 96,166, 70, 83,161,167,195,
- 76, 23,167, 77,235,234,209,187,119,216, 83,183,110,221,186,159,147,147, 19, 41, 54,112, 23, 17,121,172,145,169,134,170, 45,114,
- 31, 50, 71,250, 26,203,185,168,156, 91,121,104,213,103,212,248, 28,  9, 32,248,161,117,205,191,235, 31,122, 55,255,126,245,111,
-141, 96,177, 44, 59,114,210,164, 73,223,246,239,223, 63,108,206,156, 57,176,182,182, 70,102,102,102,117,164, 74, 38,147,193,219,
-219, 27, 21, 21, 21, 56,115,230, 12,138,138,138, 78,179, 44, 59,189,161, 13, 26,141,198,234,  6,227, 53,123, 12,250,250,250, 98,
-223,190,125,127, 49,  4, 66,141,194,173, 46,214,237,209,248,213, 92,142,137,137,241,  1,128, 69,139, 22, 53,233,160, 72, 36,146,
-  3, 59,119,238,124,126,224,192,129,140, 57,130,103, 78, 71,205,161, 36,116, 58, 29,126,253,245, 87,170, 80, 40, 78,212,214,131,
-240,161,200,144,177,119,239,222, 18,153, 76,134, 62,125,250, 84,119,125,175, 25, 93,115,112,112,168, 54, 88,150,154,  2,163,209,
-136,146,164,164,  7,122,117,178, 37, 37, 15, 44,219, 89,112, 12,107,152,203,149,107,215,174,125, 35, 48, 48,208,193,221,221, 29,
-229,229,229, 32,132,192,217,217,185,186,157,148, 66,161,128, 84, 42, 69,124,124, 60,194,195,195,203, 41,165, 43, 45,137, 96,205,
-156, 57, 19,123,247,238,125,192, 60,153,205,149,217,172, 80, 74,241,213, 87, 95,225,217,103,159,173, 55,114,106,142,158,114, 28,
-135,245,235,215, 63, 16,193, 50, 27, 37,134, 97,240,254,251,239, 91,108, 50, 57,142, 67,239,222,189,193,113, 28,194,194,194,170,
- 59, 27,212,124, 53,107,214,236,129, 72, 86, 67,120,122,122,118, 10, 13, 13, 61,184,110,221, 58, 71, 39, 39, 39,100,100,100, 60,
-144,167, 61, 61, 61, 59,133,132,132, 28, 92,183,110,157,163,179,179, 51, 82, 82, 82, 26,220,239,123,247,238,173, 29, 54,108,216,
-167, 35, 70,140, 32,253,250,245,131, 82,169,196, 71, 31,125,132,155, 55,111,190, 13, 32,118,255,254,253, 87, 38, 79,158,140, 22,
- 45, 90,184, 89,120, 99,171, 30,104,180,102, 84,154,231,249,156, 71,189,193,152, 76,166,101,223,126,251, 45,167, 82,169, 80, 81,
- 81,129,220,220,220,  7,170,  4,203,203,203,225,230,230,134,183,223,126,155,172, 90,181,234, 43, 52, 48, 14,150, 84, 42, 93,185,
-113,227,198, 55,122,245,234,229,224,234,234, 10, 65, 16, 30, 48, 84, 53, 63, 95,189,122, 21,251,246,237, 43,231, 56,174,161,252,
- 73,220,221,221,133, 15, 63,252,144,177,177,177,169, 30,146,102,247,238, 93,204, 87, 95, 45,183,249,246,155,111,240,252,243,163,
-134,155, 76, 38,225,214,237, 59,247,215,172, 89,115, 73, 16,132,211, 98,145, 40, 34,242, 31, 37,242, 31,250,239,227, 55, 88,145,
-145,145,247,  1, 60, 27, 24, 24,248,194,153, 51,103,190,152, 61,123,182, 83,207,158, 61, 81, 80, 80,  0, 31, 31, 31,184,187,187,
- 35, 42, 42, 10, 87,175, 94,205,167,148,206,139,138,138,218, 86, 75,  1,248,151,217,182, 43, 42, 42,176, 97,195,  6,204, 56,120,
- 16,203,159,122, 10,  5,245, 68,  1, 86,173, 90,101,142, 16,213,171,249,112, 27,172, 46, 93,186, 92,108,222,188,185,123, 74, 74,
-138,169,102,  4,203,252,249,225, 54, 88, 15,107,234,116,186, 15,182,111,223, 46,249,237,183,223,158, 21,  4, 65, 82,143,  9, 53,
- 41, 20,138,112,189, 94,255, 94, 67,251,126,225,194,  5, 59,  0,  8, 14, 14, 46,159, 52,105, 18, 28, 28, 28,234,140,100,153, 27,
- 79, 63,220, 14,169,182,125,215,235,245, 88,185,108, 25,150, 95,184,128,183,186,117,171,215, 60,172, 94,189, 26, 13,165, 51, 34,
- 34,162,180, 75,151, 46,147,223,123,239,189, 95, 23, 45, 90,164,116,118,118,134,201,100,194,119,223,125,  7, 65, 16, 32,  8, 66,
-181,185,154, 51,103, 78,121,121,121,249,228, 43, 87,174,148, 54,148, 78,150,101,241,213, 87, 95,193,100, 50, 85, 15,211, 96, 30,
-104, 84,161, 80, 64,171,213,226,167,223,255,  0,195, 48,152, 51,103,206, 95,170,166,107,211, 52, 26,141,144, 72, 36,152, 49, 99,
- 70,173,189,  8, 37, 18,  9, 24,134,169,211, 96,213,178,239, 42,  0, 80,171,213,229,115,230,204,169, 30,  7,169,174,104,163, 37,
-154,205,154, 53,155,185, 97,195,  6,199,138,138, 10,196,199,199, 35, 62, 62, 30, 12,195, 36, 60,252,187, 70,163,193,245,235,215,
-113,243,230, 77, 16, 66, 18,234,211,164,148,126, 77,  8,217,114,244,232,209, 17,114,185,124,164,139,139,139, 87, 74, 74,202,239,
-148,210, 29,  0, 48,109,218, 52, 24,141,198,134,170,246,171, 53, 99, 99, 99,235, 28, 32,184,102,245,161, 57, 79, 82, 74, 51, 99,
- 98, 98,186, 91,114,189,  3,208,239,223,191, 31,214,214,214,216,187,119,175,201,193,193,129, 91,184,112, 33,100, 50, 25, 62,253,
-244, 83,164,164,164,152,222,120,227, 13, 78, 16,  4, 80, 74,245, 13,105, 38, 38, 38,150,122,121,121, 77,158, 62,125,250,166, 85,
-171, 86,169,204,205, 11,126,254,249,103, 76,153, 50,229,  1,115, 53, 97,194,132,114,157, 78, 55, 57, 45, 45,173,161,252, 73,121,
-158,167, 53,171,190,171,218, 29,210,249,243,230,149,149,105,202,116, 95,126,241, 69,100,114,106, 74, 97,122,122,102,180, 32,  8,
- 39,178,178,178, 82, 44,216,247, 71,173, 10, 17, 53, 69,205,255, 41,205, 39,141,  6, 31,237, 99, 98, 98,182,  7,  4,  4, 28, 91,
-182,108,217,226, 61,123,246,188, 62, 99,198, 12, 98,107,107,139, 29, 59,118,208,194,194,194,223, 20, 10,197,  7,231,206,157, 43,
-178, 48, 66,112,235,248,241,227,157,103,207,158, 45, 97,223,123, 15, 31, 63, 52,201,239,195,196,199,199, 83,141, 70,195,107,181,
- 90, 77,125,186,143,187, 13, 86,116,116,116, 22,128,113,127,199,  1,151,201,100,198,145, 35, 71, 74,228,114, 57,  6, 12, 24, 80,
- 61, 76,131,121, 96, 67,153, 76,  6,123,123,251,234, 72, 76,125, 85,132, 10,133, 34,249,252,249,243, 94,139,191,252,146,213, 49,
- 12, 86, 85, 29, 79,243, 49,125,152,243,231,207, 83,153, 76, 86,220, 80, 26,175, 92,185,114, 68,173, 86,191, 60,125,250,244,159,
-134, 13, 27,166, 10, 10, 10,146,250,248,248,128,227, 56,164,164,164,224,236,217,179,250, 35, 71,142, 84,232,116,186,  9, 87,174,
- 92,  9,183,100,191, 25,134,193,187,239,190, 11,134, 97,224,215,170, 57,142,157,137,124,160,199,220,254, 99,231,224,230,210, 12,
- 79, 61,245, 20,190,248,226, 11, 60,247,220,115, 22, 69,239,220,220,220, 80, 85, 56,195,220,126,200,108,232,154, 82, 69,104, 54,
-163,  3,  7, 14,180, 40,146,101, 65,  4,167,125, 97, 97, 33, 52, 26, 13,162,162,162,232,234,213,171,243,138,139,139, 23,212,252,
-189,170,205, 15, 46, 95,190, 76,127,252,241,199,188,210,210,210,  5, 22, 68,157,178,  0,172,173,122, 61, 64,118,118,118,185,193,
- 96, 80,101,102,102, 62,242, 16,  2,230,234,195, 75,151, 46, 85,247,174,108, 76,213, 33,165,116,206,177, 99,199,164,168,154, 42,
- 39, 55, 55,247,178, 68, 34,145,201,100, 50,164,167,167, 67, 16,132,144,245,235,215, 47,  5, 96,224, 56,110,134, 37,154,105,105,
-105, 71, 60, 60, 60,198, 77,152, 48,225,167,145, 35, 71, 42,123,247,238, 45,243,243,243, 67, 89, 89, 25,174, 94,189,138,240,240,
-112,253,222,189,123, 43, 42, 42, 42, 38,100,100,100, 88,146, 63, 19,116, 58, 93, 39, 71, 71, 71, 72, 36,146,234,104,106, 90, 90,
-250,237, 83,167,206,168,177, 16,100, 33,128,237, 59,169, 32, 22, 25, 34, 34, 34, 22,155,208,198, 52, 35,  8, 13, 13, 13, 21,  4,
- 97, 23,207,243, 18, 66,200,168,232,232,232,243,141,113,184,161,161,161, 54, 82,169,244,120, 69, 69, 69, 71, 11,205, 72,145,209,
-104,124, 54, 50, 50,242, 90,125,174,121,202, 72,171, 91, 42,133,192,150,107,141,137,235,246, 24,  7,  7,  6,  6, 38, 15, 25, 50,
- 68, 81, 87, 27, 44,131,193,112, 39, 42, 42,170,239, 63,233,238,213,106,117,249,174, 93,187,208,172, 89,179, 58,163, 36, 33, 33,
- 33,  8,  8,  8,112, 95,183,110, 93, 73, 29,199,211, 69, 34,145,156,212,106,181, 62,150,164, 73, 46,151,103,234,116,186,129,209,
-209,209,247, 44, 73,103,207,158, 61,237, 77, 38,211, 59,114,185,188,143, 78,167,107, 15,  0, 74,165, 50,190,162,162,226, 36,199,
-113,223,212,101,172,107,211,236,220,185,179,134,101, 89, 82,115, 72,134,218,222,107, 14,215, 80, 86, 86,230, 98,158,228,251, 97,
-205,238,221,187,223,210,235,245, 94,141, 48,182,249, 82,169,212,183,102, 85,174, 37,231,232,232,209,163,245, 70,178,130,130,130,
- 16, 29, 29,173,170, 75,211,199,199, 39,192,202,202,106, 61, 42, 71, 22,190, 91, 92, 92, 60, 35, 61, 61, 61,189,230,239, 74,165,
-114, 61,  0, 25,195, 48,127,249,189, 41,249,147, 16, 50,185, 93,187,118,239, 37, 36, 36,172,172,107,236, 43, 75, 53, 59,117,234,
-116, 34, 36, 36,196,239,202,149, 43,  6,243, 53, 84,215,248, 87,150,104,170,213,234,237,  0,158,173, 90,255,120, 84, 84,212,136,
-166, 94, 71,205,155, 55,183,  7,240,142,149,149, 85,159,138,138,138,246, 85,145,197,248,242,242,242,147,130, 32,124,147,146,146,
- 98, 81,254,124, 28,189,  8,197, 72,134,168, 41,106,138, 60,146,193, 18, 51,202,227,211, 12, 10, 10, 42,166,148, 74, 26, 48, 68,
- 66,235,214,173,157,204,147, 20,255,147,251,110, 30,169,213,146,134,189, 79,202, 57, 10, 13, 13, 45,111,168,119,172, 68, 34,193,
-165, 75,151, 84, 98,158, 23,243,167,168, 41,106,138,154, 34, 53,225,196, 67,240,207, 16, 21, 21,101,247,223,148,222,255,197, 30,
- 83,230, 54, 89, 34, 98,254, 20, 17, 17, 17,105, 44,140,120,  8, 68, 68, 68, 68, 68, 68, 68, 68, 30, 47,  4,128,127, 29, 79,132,
-141,105,243,225,223,132, 39,206,235,162,166,168, 41,106,138,154,162,166,168, 41,106,254,111,105, 54,164,253,164, 84, 61,138,109,
-176, 68, 77, 81, 83,212, 20, 53, 69, 77, 81, 83,212,252,199, 53,159, 52,196, 42, 66, 17, 17, 17, 17, 17, 17, 17,145,199,140,216,
-200,189,  9,120,120,120, 40,  1, 12,229, 56,110,156,131,131, 67, 80,126,126,254,231,105,105,105,223, 61,161,251,218,150, 82, 58,
-142, 97,152, 23,  0, 64, 16,132, 29,132,144,223, 50, 50, 50,110,139, 57, 65, 68, 68, 68, 68, 68,228, 17, 12, 22, 33,132,237,208,
-161,245, 43, 44, 33, 61,  0,216,  3, 40,226, 41, 61,127,243,102,226,111,148,210, 38,205, 87, 22, 22, 22,198, 85,104, 52, 99, 57,
-150, 29, 76, 41,245,  7,165,  4,132, 92, 55,153, 76, 71, 84, 54, 54,155, 27,154,122,  6,  0,198,140, 25,195,166,165,165,221,226,
-121,222,185, 81, 59,205,113, 89, 23, 47, 94,244,107, 74,186,189,188,188, 70,121,122,122,174,237,218,181,171,170, 75,151, 46,144,
- 74,165,248,242,203, 47,103,  0,176,216, 96,145,176, 48,206,181,176,217, 88, 70,194, 13,  1,168, 63,165,  0, 37,220,117, 24, 12,
- 71,178, 29,243, 54, 83, 11,246, 29,  0,  2,  3,  3,223, 35,132,140,171,234, 65,245, 75, 76, 76,204,170, 71,201, 12,159, 76, 98,
-179, 41, 21,172,  5, 74, 80,166,149, 24,118,157,118,188,209,165, 75,151,192,247,222,123, 15, 93,187,118,133, 32,  8, 56,115,230,
-204,172,149, 43, 87,206,114,119,119,143, 98, 89,118,179, 84, 42,221,121,239,222,189,146,198,108, 39, 52, 52,212,159, 82, 58,  7,
- 64,144, 32,  8, 30, 28,199,101, 16, 66,162,140, 70,227,170,168,168,168, 70,207,  1, 69,  8, 33, 33, 33,  1, 35,109,109,201, 96,
-134, 32,128,130, 18,  2,114,173,160, 16, 71,162,162,174,236,162,180,233,  3, 68,  6,  5,  5,237,166,148, 14,172,218,206,209,168,
-168,168, 81,143,251, 34, 92,243,  6,121,151,161,  8,  2,  0,129, 32,234,205, 13,244,235, 71,209,179,118,235,208,193,202,218,118,
-182,201,100, 24, 40,145,200,255, 44, 45, 46, 89,174,201,185,241,143,134,242,187,117,235,166, 48,153, 76,147, 89,160, 47,165,244,
-169,170,227,121,131,  7,254,228, 56,110,253,197,139, 23,181,226,237, 88, 68, 68,228,127,202, 96, 17, 66, 88,255,142,109,151, 79,
-158, 50,181,253,200,145, 35,221,149, 42, 27, 69, 74, 74, 98,198,250, 31,214,216,177,132,233, 76,  8,153,211, 88,147, 21, 26, 26,
-218,158,  8,194,214,105, 19, 38,180,  8,234,222,157,115,117,119,135,182,184, 24,137,  9,  9,222,145,151, 47,247,219,119,252,248,
- 44,181, 90, 61, 46, 58, 58,250, 70,125, 58,121,121,121, 18,142,231, 93, 78, 46, 89,194, 50, 14, 14,160, 38, 19,180,173, 91, 87,
-142,234,205,243,144, 71, 68,  0, 70, 35, 40,207,163,226,233,167,  1,  0, 38,147,  9,195,134, 13,243,106,202,193,242,246,246,118,
-111,211,166,205,134,249,243,231, 75,117, 58, 29,174, 92,185,130, 11, 23, 46,  8,185,185,185,203, 45,213,112,235, 50,162,189, 27,
-220,182,140, 24, 57,164,249,179,253,157,101, 62,110,206, 16,  4, 57, 18,238, 25,189,195,207,198,244, 63,252,199,177,153,174,254,
- 35, 94,201,190,190,175,222,125, 15,  9,  9, 25,192, 48,204,167, 81, 81, 81,  0,  0,181, 90,253,185, 90,173,254,188,161,237, 91,
- 89, 89,229,104, 52,154,137,209,209,209,181, 12,160, 40,168, 22,206,152, 10,129,  2, 63, 30, 74,144,198,175,217, 23,104,107,107,
-251,192,148, 61,  3,  6, 12, 64,255,254,253,145,146,146, 18,180,103,207,158,160, 13, 27, 54,124,233,229,229,245,105, 90, 90,218,
-183,150,152,234,178,178,178, 79, 28, 29, 29,223,156, 62,125,186,162, 85,171, 86, 80,169, 84,200,202,202,106,158,144,144,224,189,
-121,243,230, 33,221,187,119,255, 65, 42,149,126,122,202, 66,147, 25, 28, 28,220,114, 64,255, 46,155,159, 27, 25,214,206,205,173,
-163, 84, 34,113,  2,165, 20, 70, 99, 65,155,220,220,155,207, 57, 56,224,221,208,208,208,151, 27,154, 68,184, 70,222,116, 49,153,
- 76,223,  2,144, 50, 12, 51,135, 82, 58,240,200,145, 35,224,121, 30,207, 62,251,236,192,224,224,224,150,130, 32, 44,183,178,178,
-162, 58,157,110, 90, 68, 68,196, 35,207,215,199, 49,108,240,228,121,139,134, 64,208,227,135,165,139, 30, 73,203,198,195,175,109,
-219, 54,109, 79,175, 91,189, 82,225,219,194,155, 68, 94,137, 31, 53,125,214,187,131,172, 92,158,234,219, 88,147, 21, 20, 20, 20,
- 32,151,203, 63, 47, 42, 42, 26, 19, 23, 23,167,233, 52,109,175, 51,103, 84,218, 72,148,130, 46,226,219, 65,233,150,234,  4,  7,
-  7,  7,113,132,108,249,250,253,137,110,237, 58,117,102, 20,206, 78, 32,201, 57, 40,228, 43,250, 92,184,126,179,215,170, 53,155,
-223, 10, 14, 14,126, 57, 50, 50, 50, 74,188, 37,139,136,136,252,207, 24,172, 14, 29, 90,191, 50,113,210,164,246, 83,167,189,173,
- 54, 24,116,229,215,162, 79,159,224,164, 12,251,246,244, 73,118,  5,133,185, 78,148, 10,175,  0,248,165, 17,230,170,181,167,171,
-107,248,178, 47,190,176,119,116,118, 70, 86, 86, 22, 82,211,210,144,121,253, 58,  8,128,254,253,251,203,  2, 58,119,110,181,114,
-221,186, 35,193,193,193,  3, 34, 35, 35,111,214,167,199,114, 28,136,149, 21,210,  3,  3, 65, 37, 18,164, 29, 59, 86,249,189,201,
-  4,143, 97,195,  0,  0, 84, 34, 65,209,133, 11, 96, 89, 22,222,222,222, 77, 62, 88,148,210,208,158, 61,123, 74,  1,224,221,119,
-223, 45,213,104, 52, 95, 17, 66,182,167,167,167,103, 88,242,127,231,128,231, 91,187, 56,185, 28,251,122,241,100,  7,127,223, 86,
-208, 27,141, 72,203, 73,  7,133, 28,110, 46,214, 24,247, 92,128,180, 71,144,164,245,242,239,255, 60,234,214,121, 88,255,172,107,
-  7,234,220,119,150,101,151,207,155, 55, 15,219,183,111,  7,  0,108,217,178,  5,109,219,182,109, 48, 13, 23, 46, 92,112,121,255,
-253,247,215,  2,168, 53,130, 39,208,202,169, 98, 90,181,106, 13, 59, 59,187,186, 76, 55,124,124,124, 48,107,214, 44,  4,  6,  6,
-202, 94,121,229,149,197,  0, 26, 52, 88, 26,141,230,211,174, 93,187,190,185,120,241, 98, 89, 68, 68,  4, 78,159, 62,141,195,135,
- 15,195,195,195,  3,190,190,190,100,201,146, 37,138, 85,171, 86, 77, 73, 74, 74, 98,  0,124,208,144,158, 90,173,246,238,208,161,
-217,201,229, 95,127,226,116,224,224, 13,124,253,245, 79, 72, 76,172,244, 81,173, 90,181,194,203, 99,199, 72, 54,255,182,174,195,
-220,185, 11, 78,132,132,132,244,189,124,249,242,157,134, 52, 77, 38,211,183, 75,151, 46,125,214,218,218, 26,243,230,205,187,234,
-235,235, 11, 91, 91, 91,172, 91,183, 14, 14, 14, 14, 48,153, 76, 87,191,248,226, 11, 46, 35, 35,  3,223,124,243,205, 90,  0, 35,
- 31, 75,180,138,106,129,146,207, 44,141,216,177,117, 61,212, 40, 20,214, 31,126,179,124,153,210,193,217, 27,  9,153, 60,138,136,
- 27,233, 53,124,138,114,199,143, 95,206,  1,240,106, 35,174,211, 64,153, 76,246,135,193, 96, 80, 90, 89, 89,169,  0,104, 56,163,
-210, 70,144,114,163, 13, 84,184,217,233,189,112, 67,236, 87,253,115, 45, 49, 87,237, 91, 55, 63,244,205,231, 31, 90,177,185,183,
-161, 33, 87, 80,152,109,  0,150, 31,  0, 99,235,140, 62,239,190,205,117,238, 18,224, 49,239,195,165,135, 66, 66, 66,134, 92,190,
-124, 57, 90,188, 45,139,136,136, 60,  9, 52,216,200,157, 37,164,199,115,207,141,116,214,235, 43, 52, 90,173,166,232,126,114, 84,
-230,137, 19, 27,174,223,186,121,246,246,128,129,221, 12, 12, 75,122,212, 99, 72, 30,120, 98, 30, 51,102, 12,203,240,252,239, 95,
-124,245,149, 61, 43,149,194,104, 52,194,199,199,  7, 90,173, 22, 37,133,133,200, 74, 73,193,249,131,  7,161,201,203,195,244,113,
-227,236, 37,132,108, 81,171,213,146,250, 52, 65, 41,240,208,104,219, 15,207, 63, 71,  8,169,119, 78, 58, 75,123, 66,  8,130,144,
-148,145,145,  1,149, 74,133,246,237,219, 91, 17, 66, 46,164,165,165,101, 88,162, 73,198,140, 97, 37, 18,118,231, 87,139,199, 58,
- 16,246, 22,110,165, 68,129, 99,229,104,102,231, 13,189,  1, 56, 23,125, 24, 63,237,252, 24,105,233, 17,152, 60,174,141,157, 82,
- 73,119, 17,245,148, 58,247,221, 96, 48,180,104,221,186, 53,252,253,253,209,169, 83, 39,240, 60,143, 27, 55,110, 32, 54, 54, 22,
- 87,174, 92, 65,116,116, 52, 34, 35, 35,113,233,210, 37, 92,184,112,  1, 99,166,175,192,212,233,239,161,172,172, 12, 53,167,152,
-121, 48,157, 76,249,196,143,127,253, 63,246,206, 59, 58,138,234,111,227,207,157,217,190,217,108, 26, 33,201, 38, 33, 16,122, 47,
- 73,  0, 17,  5,149, 14,130, 40,160,136,138,130, 74, 17, 65, 16, 41,190, 10,130, 18, 16, 65, 65,133, 32,162,128, 40,210,  4,  5,
- 69, 64,138, 34, 36,164, 24, 58,  1,  2, 33,101,211,123,178,217, 54, 51,247,253, 35,229, 23, 16,146,221,  0, 18,241,126,206,217,
-179, 59,187,179,207,220,185, 51,115,231,153,239,109, 56,112,206,134,156,124, 51,182,110,221,138,188,188, 60,124,255,105, 79, 68,
-204,243, 67,196, 60, 63,124,179,188, 11,242,243,115, 17, 25, 25,137,165, 75,151,162,180,180, 20,162, 40,202,106,203,207,208,208,
-208, 78,122,189,126,226,252,249,243,149,155, 54,109, 66, 76, 76, 12,236,118, 59, 26, 52,104,128,147, 39, 79, 98,203,150, 45,  8,
-  9,  9,193,236,217,179, 53, 10,133, 98,124,104,104,104, 88,141,249, 73,  8,241,242,148, 54,127,252,241, 59, 13,120,238, 44, 60,
-221,150,224,196,137, 63,145,153,153,137,204,204, 76, 68, 69, 29,131,135,251, 90,200,100,231,176,124,249,124, 79,119,119,225, 59,
- 66,  8,231,192,113, 87,156, 63,127, 30,101,101,101,216,188,121,179, 44, 60, 60, 28, 81, 81, 81,208,104, 52, 24, 59,118, 44, 86,
-174, 92, 41,243,244,244,196,213,171, 87, 81, 82, 82, 66,156, 61,151, 56,138,208,  9,115, 23, 14,158, 48,119,193, 96,142, 34,116,
-213,120,242,166, 40,137, 33,171,195,223,199,234,213,200,146,  8, 98,106,211,156, 63,127,190,111,251,246,237,155, 16, 66, 52, 55,
-113,200,  3,131,155,  4, 33,179, 64,196,174,227,233, 88,177,243, 10,120,183, 38,132, 74,182,199,106,210,236,213,171,215,164,238,
-221,187,231,135,133,133, 21, 63,244,208, 67,155,120,158,255,229,131, 15, 62,208,170,213,106,171,224, 17,228, 18,242,234,111,129,
- 10,185, 82,160,132,179, 80, 17, 11,228,197, 10,143,102,175,239, 85,214,164,249,192,  3, 15,168,229, 28,247,237,202,240,255,115,
-177,199,236,  0,252,252,209, 48,248, 21,232, 60,186,131, 22,148, 65,136, 63,143,226,143, 62,131, 76, 45,225,255,222,158,229, 66,
- 36,233,155,102,205,154, 41,235,114,109, 58,249,160,196, 52,153, 38,211,172,135,154,255,185,  8, 22,225,224,174,213,106, 20,199,
-255,220,185,215,152,122, 54, 39, 61,243,116, 33,  7,202, 25,141, 49,133,193,205, 31,241, 66,121,155, 44,135,184,114,229,202, 51,
-111, 76,152, 16,236, 86, 30,  9, 64,131,  6, 13,144,154,154, 10,179,217, 12, 83, 81, 17,202, 74, 74, 96, 41, 42,194,185,131,  7,
-209, 99,224, 64,244,239,220, 57,112,119, 92,220,139,  0,190,184,149,166,157,227, 96,110,211,  6, 41,135, 14,129,179,219, 17,248,
-200, 35, 85, 81,171,220,168,168,114, 99, 37,  8,208,247,237, 11,162,213, 66, 54,127,126,157, 51,203,104, 52,198,  7,  5,  5,237,
- 27, 48, 96, 64,191, 87, 94,121,133,203,200,200,216,229,235,235,251,104, 70, 70,198,249,218,254,235,115, 81, 26,243,194, 43,157,
-155, 52,112, 35,248,233,216,175,232,222,122, 56,180, 42, 25,178,243, 77,224,  8,193,229,171,  7, 32,138, 46,136, 63,159,140, 30,
-237, 93,208,179,155,222,191,244,183,252,151,  0,172,185,149,166,217,108, 70, 86, 86, 22,236,118, 59,  4, 65,192,136,145, 35,177,
- 97,253,122,148,150,150,194,108, 54,195,106,181, 66,146,202,155, 31,101,100,153, 17, 21,247, 11, 66, 58,220, 58,202,181, 96,173,
-232, 99, 48, 24, 76, 27,126, 90,131,253,251,203,231,200,221,181,107, 23,204,153,137,152,252, 76,121,211,163,143, 55,108,198,199,
-203,151,193,102,151, 42,141,158, 99, 78,158,227,166, 77,154, 52, 73, 21, 27, 27,139,130,130,  2,184,185,185, 65,175,215,195, 96,
- 48,224,252,249,255,101,159,191,191, 63, 38, 78,156,168, 89,181,106,213,100,  0,209,183,210,235,218,181,211,240,215, 94, 27,210,
- 74,163,214, 32, 53,249, 19,180,110,173,192,140, 55,188, 16,190, 36,  7,  0,240,250,107,  1,  8, 13,245, 66, 81,193, 54, 52,104,
- 56, 23,111,206, 24, 30, 92, 82,130,209,  0, 54,213,146,206, 25,155, 54,109,138,239,215,175,159, 44, 46, 46, 14, 42,149,170,106,
-162,112,141, 70,131,140,140, 12, 88,173, 86,108,217,178, 69,224, 56,110, 70,109,251,109, 48, 24,222,  4,202, 35, 86,  0, 98,222,
-233, 15,128,218,129,162,242,170,192,138,234,193,134, 21,213,131, 49, 19,215,213,222,254,170, 81,163, 70,194,202,149, 43,221, 62,
-249,228,147, 94, 30, 30, 30, 41,249,249,249,103, 43, 76,103,128,127,211,142,153, 71,142,199,  5,153,213, 77,201,239,167,179,224,
-227,174,196,201,232,227, 18,199,201,126,173, 73, 83, 20,197, 89, 27, 55,110, 84, 54,104,208,  0, 83,166, 76,233, 59,110,220, 56,
- 77, 72, 72,  8,161,148,130, 42,155,187,137, 50,218, 75,128,112,130,183,138,187,161,224,251,137, 50,219, 24,119,145, 95,  3, 32,
-181,134,104,224, 43, 75,223,127,221,135,106,178,160,120,116, 32,184,108,130,180,  9, 67, 33, 21,155, 97,251, 96, 50, 36,170,128,
-197, 42,131,237,137,201, 80,  4,183,196,107, 93,194,252, 86,196, 69,191, 12,224, 51, 86, 52, 51, 24,140, 27,  8,  3, 80,217,222,
- 58,  7,229,227,120,122,  1,168,140,164,123,  3,176,162,124,222,215, 74,110, 92,174,190,238,141,203,213, 63,231,  0,160, 21,159,
- 69,  0, 39,  0,228,215, 41,130, 69,  8,161,213, 34,  3,215, 15,140, 69, 73, 78,106,234,149, 60,139, 45,223, 60,160,119,143, 55,
-134,116,243,125,239,197,103, 38,205,115,115, 85,107,146,147, 46, 83,194, 33,215,209,141,169,228,242,126, 33,221,187,203, 51, 50,
- 50,224,230,230,134,180,180, 52, 92,188,120, 17,102,179, 25,165,133,133,176,228,231, 67,200,205,  5,114,115,145,244,251,239,104,
-101, 48, 40,121,160,175,  3, 78,186,106,130,224,155, 69,173, 56,158,  7, 92, 92,  0,157, 14,148, 16,167, 50,200, 96, 48, 12,105,
-221,186,245, 97,131,193, 48,171,194, 80,188, 17, 30, 30,158, 75, 41,197,172, 89,179, 92, 93, 93, 93, 55, 53,110,220, 88, 85,155,
-142,206, 83, 24,222,173, 67,115, 62, 33,249, 20, 66, 91, 60,133,198,126, 15,227,114, 90, 33,178, 11,205,200,200, 43, 69,203,150,
- 51,225,109,120,  5,110,190, 19,112,242, 66, 10, 12,190,193, 28, 39, 87,212,184,239, 25, 25, 25,215, 45,127,247,237,183, 48,153,
- 76,104,222,188, 57,158,121,230, 25,188,245,214, 91,120,250,233,167, 97, 48, 24,208,179, 41,240,210,115, 35,144,149,229, 92,147,
-161,128,128,  0,144,255, 69,240, 32,  8,  2,236,246,255,153, 42,171,213,234,168, 84,104, 96, 96, 32,174, 93,187, 86,101,174,244,
-122, 61,  6, 13, 26,132,168,168, 40,196,198,198,130, 16,  2,189, 94,143,142, 29, 59, 18,142,227,194,106, 18,211,235,185,  1,161,
-161, 61,149,  5,249, 95,  1, 40, 55,123, 47,189,232,141,163, 71,218,225,207, 63, 66, 48,229,181,166,224,136, 26,132, 83,192, 84,
-250, 27,218,180,109,175,112,117,165,  3,107, 76, 96,104,232, 14, 73,146,206,180,107,215, 78, 54,113,226, 68,168, 84, 42,108,216,
-176,  1,171, 87,175,198,242,229,203,145,144,144,128,160,160, 32,248,249,249,193,199,199, 71, 38, 73,210,153,208,208,208, 29,181,
-237,247,213,171, 87,  7, 95,189,122,117,112,223, 86, 69,207, 80,130,208,213,139, 23, 96,245,106,128, 18,132, 82,208,144,242,234,
- 65,199,219, 94,253,242,203, 47, 57,187,119,239,230, 87,175, 94,157, 61,110,220,184,246,141, 26, 53, 26, 73,  8, 81, 54,104,208,
-224,133,215, 39,188,120,244,255,222,121,215,190,119,239, 62,169,169,151,132,148,115, 71,164,243,127,124, 85, 38,218,203,150,215,
- 98,176,148, 60,207,131, 82,138,241,227,199,107, 91,182,108, 73,  4, 65,  0,165, 20, 74, 91,169,141,147,208,146, 16,238, 73,194,
-243, 54, 17,100, 19,161,252, 67,146, 32, 83,212, 24,253,  6, 30,107,219,177, 35,111, 42, 75,130, 78, 31,130,220, 15,223,133,148,
-145, 15,154, 85,  4, 81,166, 69,153,164, 70,145, 85,142,188, 14, 93, 96,140, 63,143,134, 90,189, 76, 70, 72, 31,118, 31, 97, 48,
-254, 91,212,232, 65,254,135, 55, 33,100, 55, 33,100,247,156, 57,115, 30,  1,224, 69,  8,217, 93, 97,130,188, 43, 62, 43, 43,215,
-185,197,178,119,117,157, 27,254, 91,253,115,131, 57,115,230, 60, 74,  8,217,221,163, 71,143,231, 42,140,220,157,143, 96,137,162,
-120,232,243,207, 87,249,188, 60,110,168,207,182,221,235,194,183,239, 56,217,241,217,167, 51,206, 26,252, 59,120,111, 90,245,167,
- 82, 16,232,110,135,183, 38, 73, 29,188,124,124,144,148,148,132,232,232,104,152,205,102, 88, 44, 22, 88, 44, 22,216,242,243, 97,
- 47, 40,  0, 41, 46,134, 82, 16, 96, 78, 78, 70,211, 14, 29, 64,128, 54,142, 26,172, 27,171,  0,171, 12, 22,165, 32, 46, 46,229,
-175, 91, 84, 19,222,194, 92,117,238,220,185,243,198, 47,190,248, 66, 49,125,250,244,176,224,224,224,136,244,244,244,228,192,192,
-192, 65, 31,125,244,209,239, 11, 23, 46, 84,141, 25, 51,166,197, 23, 95,124,241, 44,128,117, 53,105, 41,212,230,118, 65, 62, 45,
- 80, 92,214, 21, 90,165, 18,121, 69, 22,228, 23, 91,144, 83, 96,198,142, 93,163, 97, 49,155, 32, 88,172, 16,109,  2,116, 62,195,
-209,220,243, 17,128, 94,106, 91,147,102,100,100, 36,206,156, 57, 83, 21,193, 50,155,205, 24, 48, 96,  0,134, 15, 31,142,164,164,
- 36,196,197,197,193,205,205, 13,222,222,222,216,186,117, 43, 78,157, 58,133,144,144, 16,167, 79, 18, 94,229,133, 79,191,253, 30,
-102,179, 25,148,211,129, 86,171, 89,118, 52,130, 37, 73,146, 65,169, 84, 86,152,163,114,115,229,230,230,134,207, 63,255,220,244,
-218,107,175,253,109,206, 63,181, 90, 93,163, 19, 38,144, 58,121,120,182,129, 49, 37,188,226,162,148,129, 64,133, 71,251,198,195,
-102,147,144,112, 97,  0,212, 42, 21, 56,162,130, 32,228, 66,239,230,  3,128,180,173,229, 60,234,191,119,239, 94,232,245,250,170,
-106, 65,  0, 24, 50,100,200, 12,157, 78,215,211,108, 54, 15,219,189,123, 55, 10, 10, 10, 16, 28, 28,140,134, 13, 27, 34, 42, 42,
-170,191,  3,133,  7,178,179,179,225,167, 23,220, 39,206, 89,216, 16,156,103,197,197,149,209,112,245,226,133, 89, 17,139,222,223,
- 67,  9, 66, 65, 16, 26, 49,142,108,169,173, 39,225,214,173, 91, 69,131,193,112, 57, 51, 51,179,231,210,165, 75,179, 91,182,108,
- 25, 56,127,254,252,185,  6,131,193,115,230,140,215,147,186,119,239,254,221,226, 21, 95,246,216,183,229,147, 70,146, 68,127, 37,
-176,204, 47,201, 72,184, 88,219, 53,116,250,244,105,184,186,186, 34, 49, 49, 17, 94, 94, 94, 16, 69, 17,146, 36,129, 32,171, 88,
- 84,200,190,231,237,194,215,188, 92,189, 26,176,157,151, 40,109, 77,101,146,130,188,247, 30, 71,231,205,147,110,161,217, 78,169,
- 82,161,180,148,162,248,207, 61,144,242, 76,160,  5,101,128,201,138,210, 50, 30,197, 38,130, 98,147,132,178,142,161, 16,247, 69,
-194,163,208, 12, 74,105,  7,118,187, 97, 48, 24, 53,148, 85, 67,  8, 33,187,195,195,195,135,212,244, 59,165,116,  8,  0,235, 13,
-203,112,228, 51,  0, 44, 94,188,120, 81,181,101,211, 93, 49, 88,103,206, 93,222,218,190,125,243,182,  1,  1, 30, 45, 66,218,183,
-247, 14,240,191, 92,212,192, 59,192,245,231,189,167, 52, 89,153,249, 23,206,156,185,244,131, 51, 70,181, 44, 47, 15,198,147, 39,
- 81,148,151,135,178,210, 82,152,139,139, 33,228,231,195,175, 85, 43,208,146, 18,240,101,101,144, 89, 44, 80, 72, 18, 52, 90, 45,
- 42,194,128,183, 68, 46, 73, 80,253,241,  7,252,134, 15,  7,149,203,145,119,226, 68, 85,181,160,107,255,254,128, 86, 11,206,221,
- 29,182, 29, 59,192,243, 60, 36, 15, 15, 96,197, 10, 71,204,149,151,175,175,239,214, 79, 63,253, 84,145,147,147,131,179,103,207,
-158,186,114,229, 74, 81,131,  6, 13,116, 50,153, 76,186,112,225,194,161, 11, 23, 46, 12,108,210,164,  9, 68, 81,108, 90,155, 94,
- 73,129,206,102,179, 75, 72,203,186,134,212,244,211,112,211, 53,  2,229,  2,145,153,103,  2, 65, 67,216,203, 46, 64,170,104, 75,
-102, 41, 75, 69,169,197,177, 72,155,205,102,131,205,102,131, 32,  8,176, 90,173,120,254,249,231,113,236,248,113,124,187,235,119,
-164,164,164, 32,216, 71,131,103,158, 30,129, 78,157, 58,161,178,199,161, 35,134,181, 58, 77,186, 46,131, 82,169,196,182,109,219,
-160,213,106,255,182,125,135, 78, 52,153,204,152,156,156,220,200,219,219, 27, 28,199, 85, 69,177,  6, 14, 28,168, 73, 74, 74,202,
-177,219,237, 93, 78,156, 56,145,231,204,201,187,103,207,113, 76,152,112, 22,217,217,229,145,221,239,191,253,159,127, 74,186, 98,
-195,128,193,123,  1,  0,238,238,238, 88,182,204,177,217, 30, 68, 81,196,154, 53,107,170,170,  5,  1, 64,169, 84,118,159, 62,125,
-250,176,155,173,223,182,109, 91,135,242,179, 42,159,168, 29,200,159,116,211,245, 38,206, 89,216, 16,212, 62,216,145,158,132, 70,
-163,177,204,211,211, 51,178,168,168,232,241, 77,155, 54,229,135,133,133,241,238,238,238,121,  0, 84,132,218,108, 39, 14,253,144,
-100, 46, 42, 26,111,179,217, 28,110, 52,158,151,151,  7,139,197,130,171, 87,175, 66,163,209, 64, 46,151, 87, 24,172,202, 29,169,
-248,104,151,236, 84, 70, 56,153,157,231,230, 99,222,173, 47,118,142,  3,174,102,  0,159,237, 66,222,216,193,176, 47,156, 12, 81,
- 80,160,164, 72,130,117,240,107,176,218, 36,216,121, 37,202, 90,183, 67,254,130, 15, 96,209,105,128,211,127,178, 59,  8,131,193,
-168,233,129,117,247,236,217,179,231, 58,184,250,  1,  0,131,157, 49,110,149,203,179,103,207,158, 91,185,173,240,240,240, 50,  0,
- 70,103,211,234,208, 72,238,146,164, 88,181,111,111,148,156,147,203,184, 38, 65, 46,133,128, 21, 39,162,211, 92,236,162,252, 11,
- 39,115,230, 84,226,197,139,160,146,132,146,130,  2,152,243,242, 96,207,202,130, 61, 43, 11,164,184, 24,178,178, 50,200,204,102,
-200,173,102,168,101, 50, 20,102,102,130,112,220,217, 90, 51,198,110,175,138, 20, 92, 87, 45,168,211,129,232,116,128,139, 75,213,
-247,196,193, 42, 66,149, 74,245,245,154, 53,107,124,253,252,252,176,110,221, 58,248,250,250,182,124,236,177,199,114, 30,122,232,
-161,204,161, 67,135,198,188,245,214, 91,  3, 67, 67, 67,145,147,147,  3,158,231, 19,107,211,179,219, 84,127,157, 75, 20,145,157,
-243, 23,162, 98,191,198,238, 95,231,224,252,213,179, 72,207, 45,133, 75,195,113,144,233, 30,170, 90, 87,169,239,141,204,204, 28,
-128,212,188,239, 55, 26, 33, 74, 41, 78,158, 60,137, 13, 59,143,193,208,246, 49,200, 93,188,113,250,244, 57, 28,222,191, 15,  1,
-  1,  1,181,154,161,119, 95,230, 51, 31,235, 82,136,253, 91, 94, 65,214,165,175, 29, 54,120, 14, 94, 20, 49,151, 46, 93,162,174,
-174,174,215, 85, 17,246,235,215,143,140, 28, 57,210, 85,169, 84,238,232,221,187,183,195,  3,223, 82,144,147,146,152,139,166, 77,
-255,231,109, 55,124,147,141,184,152, 62, 56,123,234,113,236,252, 49,189,234,251, 70,141, 26, 33, 35,227, 10,  0,122,182,150, 52,
-254, 58,120,240, 96,236,222,189, 27,106,181, 26, 90,173, 22,195,135, 15,135,201,100,122,170,226,137,  6,132, 16, 16, 66, 48,191,
-162, 45,159,201,100,178, 56,106,176,146,242, 20,218,183,103, 45,201,122,123,145, 50,235,237, 69,202,172, 21,159,146,210,137,115,
- 22, 54,156, 48,231,157,193,  0, 26, 86,111,155,229,160, 33, 42, 62,126,252,248, 31, 51,102,204,  8,104,215,174,157,201,223,223,
-223, 94, 84, 84,196, 15, 31, 62, 60, 32, 55, 55,247, 13,103,204, 21,165, 20,185,185,185,200,201,201, 65,106,106, 42,178,179,179,
-145,147,147, 83, 62,228,  9, 26,186,242, 54,225,105,240,220, 15,162,221, 98,177,203, 72, 11,128, 94, 17, 37,155,117,222, 60, 72,
- 53,136,158, 49, 21, 21,131, 51, 83, 72,127, 37,193, 42,169, 81,104,149,161,192,194,163,216, 44,162,136, 40, 80,204,169,144,215,
-163, 55, 44, 34,143,162,194, 34, 16, 66, 78,177, 91,  8,131,193,168,201,  8, 45, 94,188,120,209,221,210,174,252, 28, 30, 30,126,
-166,218,182, 52,183, 19,193,234, 93,173,222,179,247,141, 43,157, 61,123, 54,115, 64,255,199, 26,174,252,252,112, 83,155, 85, 20,
-118,253,188,223,102,183,233,202,206, 93, 72,116,170, 65,143, 77,146,246,197,198,196, 12,232,217,163,135, 42, 41, 46, 14,246,252,
-124,136,249,249,144,219,108,144,149,150,130,179, 88,192,151,149,161, 81,103, 45, 64,125,113, 34,209, 40,216, 68,241, 64,173, 38,
-163,194, 96,161,210, 92, 85, 84, 23, 86, 85, 11,234,116, 85,223, 59, 98,176,124,124,124,180,  3,  7, 14,236,221,165, 75, 23, 80,
- 74,177,116,233, 82,216,108, 54,165,205,102,131,221,110,135,205,102, 67,113,113, 49,182,111,223,142,141, 27, 55, 30,215,235,245,
-223,212,110,  2, 45,251, 14,254, 25,223,255,249,225,143, 42,247, 31,254, 18,118,139,128, 18,179, 59, 74,205, 86, 20,151,201, 97,
- 85,245,  3, 33,191,131,227, 85,232,209,185, 25, 14, 29,189,104,150,236,182,253, 78, 58,123, 88, 44, 22,100,101,101, 35,175,228,
- 55,160, 48, 21, 13,108,197, 40,185,122, 25,157,159,127,161, 86, 51,196,113,208,174, 91,248, 60,100, 50, 25,182, 31, 47,129, 76,
- 38,131, 32,220,124, 56, 42,158,231,225,230,230,134,146,146, 18,  0,168,213,101,217,237,246, 79,118,236,216, 49,168,105,211,166,
-234,192,192,192,235,170,  9, 39, 79,158,172, 60,123,246,108,235,132,132,132, 15,  1, 76,119,100, 95, 11, 11,165, 95,243,242, 46,
- 13, 31, 54,108,152, 34, 50, 50, 18,148, 82,180,104,225, 14,189,171, 14,132, 83,161, 77, 27,111,  0, 23, 64,  8, 65,239,222,189,
- 97,179, 25,133,210, 82,212,216,208, 59, 38, 38,230,201,176,176,176, 38,130, 32,196,119,232,208, 65,150,145,145,129, 17, 35, 70,
-224,251,239,191,175,124,162,193,236,217,179,175,143, 76,150,148,212,106,176, 36, 73,130,205,102, 67,196, 79,105, 46, 10,133,194,
-  5, 40, 31,143, 45,252,  5,175, 44, 80,187, 11,138, 22,  2, 64, 86, 68,248,130, 24,160,124,248,  6, 71,143,121,126,126,126, 74,
-227,198,141, 47,125,246,217,103,173, 95,123,237, 53,203,107,175,189, 22, 80, 86, 86,182,149, 82,122,205,201,130,197,154,158,158,
-174,211,104, 52, 56,117,234,148, 85,163,209, 40,124,125,125,  9,165, 20,130,204, 69, 38,113, 72,  0,165, 39,136, 40, 42,120, 94,
-246, 52,  8,249,157,240,124,141,199, 93,  4,126,187,116,246, 92,175,230,254, 45,184,226,195,103, 80,216,229, 33, 20,151,  2,165,
- 37,  4,162, 92,131, 82,153, 10, 37, 77, 91,160,216,203, 23, 50,112, 48,166, 36,217,  5, 74, 15,176, 91,  8,131,241,159,163, 70,
- 15,114, 99,  4,235,129,  7, 30,216, 92, 61,202, 84,249, 25,128,  5, 64, 77,109,162,179,171, 71,170,170, 27,170,155,109,231,  6,
-221,186, 25, 44, 74,233, 17,212, 80, 21, 23, 24, 24,216,115,218,180,105, 29, 95,125,245, 85,148,148,148, 96,195,134, 13, 88,181,
-106, 21,  2,  3,  3,123,166,164,164, 28,117,116, 99,141, 27, 55,254,238,199,253,251,223,232,216,170, 85,139,198,141, 27,227,194,
-165, 75, 80,216,108,144,  9,  2,120,147,  9,114,187,  5,141, 67, 93,160, 80, 55, 64,122,146,  9,155,207,156,185, 70, 41,253,170,
-198, 27, 55,199,161,244,209, 71, 81, 20, 23,  7, 78, 16,224, 58,104, 16,136, 86, 11,170,215,195,190,101, 11,100, 50, 25, 56, 73,
-130,108,225,194,114,179,213,183,214, 54,243,200,204,204, 52, 53,111,222, 60,238,252,249,243, 33,173, 90,181,194,123,239,189,135,
-148,148, 20, 80, 74,145,149,149,101,206,202,202, 50,230,229,229, 37,115, 28,247, 99, 90, 90,218,215,142,140, 20,158,217,130,219,
-180,127,255,129,105,161,157,219, 54,239,211,107, 62,118,239,126, 23,  5, 69, 69, 40,181,200, 80, 82,102, 67,169,153,194,224,218,
- 20,221, 58,118, 65,118,174, 21,  9,103, 98,211,178, 21, 30, 95, 57,107,176,226,227,227,209,200, 19, 56,123, 33,  6, 13, 44,185,
-104,229,174, 67,151,158, 15,225,202,149, 43, 55,141,122,253,205,100,145,242,155,127, 81, 81, 17,122,180,106,133,204,204, 76,228,
-230,230, 86, 51, 97, 28, 60, 61, 61,161,213,106, 17, 19, 19,131, 63,254,248,195,206,113,220,187,181,165, 45, 38, 38, 38,190, 71,
-143, 30, 17, 27, 55,110,156,240,246,219,111,171, 43,205, 85,101, 68,232,163,143, 62,210,142, 26, 53,106, 76,151, 46, 93,162,226,
-226,226,182,214,166, 23, 29,125,114,135, 94, 79,222, 28, 59,118, 82,219, 49, 99,198, 96,251,246,205,120,233,197,150, 32,156, 10,
-132,168, 48,244,241,214, 88,176, 48,  6,221,186,245, 70,131,  6, 10, 28, 56,112, 38, 73, 38,115,251,206,  1, 51,180,108,201,146,
- 37, 50,181, 90, 13,171,213,138,146,146,146,170,253, 95,188,120, 49,230,204,153,  3,  0,152, 55,111, 30,230,207,159, 15,179,217,
- 92,107,  7,135,202,  8, 86, 98, 98, 98,149,209,231, 56,174, 42,162,  5, 40,145, 94, 36, 43,216,127, 65, 31, 99, 52, 26,157, 30,
-197,253,218,181,107,  7, 87,174, 92,217, 78, 46,151,251,236,221,187, 87, 42, 45, 45,221, 94,135, 39,183, 37,145,145,145,239, 83,
- 74,101, 90,173,246,151, 83,167, 78,245, 41, 45, 45,213, 82, 74, 65,196, 43, 69,156,181,219,118,145,200, 56, 42,227,  7,131,160,
- 57,120,188,171, 80,106,115,106, 44, 92,100,178, 47,230,110,218, 57,121,109,196, 71,134,162,210, 66,148,125,176,  6,182,216,179,
-176, 41,117,200, 93, 24, 14,147, 85, 66, 89,126,  9, 92,215,126, 14,141,175, 47, 14, 23, 39,102, 21, 22, 21,173,101,247, 26,  6,
-227, 63, 23,149,170,209,131, 84, 55, 71, 21,159,243,  0, 36,133,135,135,231, 84,107,139,149, 13, 32, 30, 64,167,138,245,178,111,
-248, 95, 54,202,123,166,135, 85,211,201,174,102,180,170,127,182,222,176, 78,124, 93,246,203,161, 42,153,148,148,148,163, 97, 97,
-229,157,186,202,202,202,144,154,154, 10, 65, 16, 96, 52, 26,143,214,114,195,191,110,182,237,173, 91,183,138,221,186,117, 27,245,
-201, 87, 95, 29,154,242,228,147, 30,221,135, 14, 69,234,241,227,176, 25,141, 80, 10,  2,148, 10, 53,236,165, 13,145,151,102,198,
-151,103,206, 20, 89, 69,113,116,108,108,172,189, 38,205,202,  8, 65,101, 99,118,232,116,229,237,174, 92, 93,203,205, 21,199,129,
- 39,164, 60,138,229,234, 10, 40, 20,181,166,179, 98, 63,159,125,229,149, 87,162,126,254,249,103,247,209,163, 71, 99,232,208,161,
-241, 69, 69, 69,  3,114,114,114, 74, 28, 52, 59,215,105,210,173, 91, 69,239, 78, 79,141,252,124,245,218, 67, 99,199,142,245, 24,
- 58,108, 21,226,206,158, 70,126,105, 67,  0,128,161,129, 11,186,181,122, 11, 89,185, 22,252,250,203,238,  2, 42,153,158,165,127,
-109,174,113,223,189,189,189,175,139,200,241, 60,143,195,135, 15, 99,234,212,169,104,160, 59,140,226,164,203,232,240, 80,111,244,
- 29,243,  2, 94,122,233, 37,240, 60, 15, 47, 47, 47,100,102,102,222, 84, 83,146, 96,154,183, 50, 66, 39,136, 28,178, 11,149,226,
-247,251,158,231,166, 79,159, 78,210, 79,206, 66, 89, 73,  6, 26, 41, 44, 80,112, 13,144,145, 59, 18, 27, 55,110,164,185,185,185,
- 59,228,114,249,123,169,169,169, 87,107,203, 79,  0, 80, 40, 20,243, 51, 51, 51,165, 55,222,120, 99,226,248,241,227,213, 29, 58,
-116, 32, 77,154, 52, 65, 90, 90, 26,226,227,227,169,197, 98,225,244,122,189,143, 67,249, 73,169,212,181,107,215,167,247,239,255,
-225,200,227,143, 63,233,213,191,255,  3,240,245, 45,134, 32,228,128,112, 10,168,212, 13,177,118,237, 98,100,101,230,225,216,241,
-227,249,101,101,202,209, 81, 81,215,143, 14,127,139,116,218,246,238,221, 11,181, 90,141,237,219,183, 11, 62, 62, 62, 50,119,119,
-247, 91, 70,176,202,202,202, 84,181,105, 86, 26,172, 74, 99, 85,105,178, 86,255,152,234,162, 80, 40, 92,  8, 33, 16,  4,161, 97,
-139, 22, 45, 66, 29,217,247,155, 20, 78,  2, 33,100,195, 59,239,188,243,118, 94, 94,222, 18, 71, 12,255,141,154,209,209,209,171,
-  0,172,170, 92,238,214,173, 91,151, 43, 87,174,252, 34, 73,146, 70,150,123,197,244,215,158,129, 89, 33,175, 30, 10, 22, 57,234,
-  2, 66,223, 17, 56,146,247,215,242,238,230,154, 52,143, 31, 63,110, 14, 11, 11,123,118,193,162, 79,246, 76,154, 50,197, 69, 28,
-255, 50, 74, 47,189,143, 98,155,132, 98, 59,129, 69,226,224,245,203, 54,200, 26, 52,196, 33,174,160,212,202,243,207, 94,190,124,
-217,234,204,190,215,  5,166,201, 52,153,102,253,212,172,237,185,250,102,177, 11,  7,214,139,118, 64,231,174,224,144,193,170,136,
- 96, 97,194,132,  9, 40, 46, 46,198,230,205,155,241,235,175,191, 58, 29,193,  2,128,168,168,168,203,221,186,117,235,247,254,250,
-245,223, 13,110,213,170, 81,171,166, 77, 21,158,109,219, 66,163,213,162, 32, 55, 23,241, 73,233,226,198, 11, 23,174,154,  5,225,
-185,216,216,216,115, 14, 68, 28, 32,  8,  2,188,188,188, 64,  5,  1,154, 89,179, 64,  9,129, 68,  8, 74,  8,129, 36, 73, 16,  5,
-  1,170,174, 93, 33,200,100,200, 43, 40,112, 40,157,105,105,105,105,129,129,129,163, 95,123,237,181,159, 55,108,216,192,245,238,
-221,187,227,143, 63,254, 72,111, 39,179,179,227,183, 95,246,237, 60,172,223,202,149,171,190,237, 18,214, 45,176,113,147, 38,170,
-158,129,110,176,217, 69,100,102,229,226,200,177,115,150,132,179,127,165, 66, 48, 63,151,121,250,167, 26,247, 93,161, 80, 36,185,
-187,187, 55,158, 63,127, 62,  4, 65,128, 36, 73,176,219,237,200,206,206, 70, 92, 92, 28, 66,186, 63,128,214,227,198, 35, 47, 47,
- 15,235,214,173, 67, 64, 64,  0,  6, 13, 26,132,130,130,  2, 92,184,112, 33,233,102,154, 11,214,138,215,153, 27,131,193,208,121,
-220,184,113, 31,188, 49,170,248,161, 55,199,141,  5,165, 20,225,107,190,196, 55, 59, 55, 30,  5,200,220,244,244,244,191,156,217,
-255,138,233,111,222,237,214,173,219,246,181,107,215,206,224, 56, 46,180,172,172,204,160, 86,171,115,  8, 33, 39, 77, 38,211,251,
-209,209,209, 39, 29,213, 59,113,226, 68, 82, 72, 72,200, 35,153, 25,171,191,155, 56,161, 95, 51,187, 61, 84,169,119,123,  8,148,
- 10, 40,200, 79,  1,161, 39,109, 63,236,252,237, 74,113,177,226, 25, 71,167,202,145,201,100,175,255,244,211, 79, 64,197, 84, 57,
- 70,163,241, 76,229,240, 31, 55,139, 96, 57, 66, 89, 89, 25,236,118, 59,  8, 33,215, 25,172, 75,151, 46, 93, 23,209,114,162, 96,
-235,  1, 96, 32, 42,186, 21,  3,104,  8,192, 59, 39, 39,199, 27,192, 80, 66, 72,118,197, 83, 87,229,107, 63,165,244,176,147,215,
-105, 92,104,104,104,127, 66,200,  7,165,165,165, 38,  0,144,148,214, 98,174,140,219, 70,120,222, 22,255,217,163, 14, 53, 15,136,
-142,142,142,  9, 11, 11, 27, 60,107,230,172,111,159,120, 98,148, 79,224,139,207,242,228,228,  5,216,212, 74,168, 18, 18,192,233,
- 92,233,158,194, 43,153,197,114,254,153,232,232,104, 54,138, 59,131,193,184,111, 32,181, 85, 25, 85,187,217,154,130,130,130,224,
-233,233,137,188,188, 60, 92,187,118, 13, 70,163, 81, 91, 87,135,123,227,100,207,132, 82, 66, 29,152,236,185,186,102,239,222,189,
-101, 22,139,229,138,221,110,119,106,140, 10,185, 92,158, 29, 25, 25,217,216,145,116,250,251,251,143, 12,  8,  8, 88,152,150,150,
-182, 43, 53, 53,117,214,157,112,247,149,147, 61, 67,166, 24,  8, 42,181,  7, 64,192,241,181, 78,246, 92, 93, 51, 36, 36,164,183,
- 66,161,248,212,102,179, 53,190,113, 61,155,205,134,220,220, 92, 88, 44,229,213,198, 74,165, 18, 94, 94, 94, 80, 42,149,224,121,
- 62, 73, 20,197, 41,149,115, 17, 58,242, 20,242,225, 84,185,105,250, 75,227, 40,  0, 44, 93,251,  5,185,100,162,158, 95,127, 77,
- 45,245,229,105,137, 16,194,245,232,209,121,132,171,142, 12,144,168,212,177,226,187, 51, 37, 37,248,213,207, 47,248,251,173, 91,
-183,138,117, 77,103,104,104,232,142,146,146,146,254,  9,  9,  9,183, 74, 23, 40,165,218, 91,105,222, 48,208,104,109,220,180,138,
-240,126,120,162,173, 62,217,179, 76,146,218,219,  9,161,142, 76,246,204, 34,  4, 76,147,105,178,  8,214,191, 21,135,123,109, 25,
-141, 70, 45, 33,228,109,148,207, 17,183,136, 82,250,193,237,108,184,194, 64,109,172,120,221,142, 70,163,187,153, 65,105,105,105,
- 91,  1,108,189,147,154,244, 14,236,123,133, 65,106,251, 79,156, 36,130, 40, 88,150,173, 91,163,  2,  0,  9,176,  5, 93,131, 80,
-159, 78,226,138, 42,177, 45, 21,175, 59, 74, 76, 76,204,147,  6,131,225,152,151,151, 87, 83,139,197,162, 40, 43, 43,147, 83, 74,
-171,234,101, 53, 26, 77, 78, 45,215,205, 71,172,152, 41,175, 46,  4,176,162,226,197, 96, 48, 24,204, 96,221,112, 35,251,  0,192,
-  7, 44,219,254, 91,204,253,140,122,254,151,247,223,104, 52,246, 96,103,  1,131,193, 96, 48,156,129, 99, 89,192, 96, 48, 24, 12,
-  6,131,113,103, 33,  0,110, 58,196,181, 51,117,171,132,144,246,206,110,184, 54,125,166,201, 52,153, 38,211,100,154, 76,147,105,
-222,127,154,181,105,223, 47,109,187, 28,110,228, 94, 39,113,214,  0,144,105, 50, 77,166,201, 52,153, 38,211,100,154,255, 65, 88,
- 21, 33,131,193, 96, 48, 24, 12,  6, 51, 88, 12,  6,131,193, 96, 48, 24,204, 96, 49, 24, 12,  6,131,193, 96, 48,131,197, 96, 48,
- 24, 12,  6,131,193, 96,  6,139,193, 96, 48, 24, 12,  6,163,222,112, 87,123, 17, 50, 24, 12,  6,131,193, 96,252, 23, 97, 17, 44,
-  6,131,193, 96, 48, 24,140,187, 97,176,  8, 33,180,250, 59,131,193, 96, 48, 24, 12,198, 63,193,253,234, 65, 88,  4,139,193, 96,
- 48, 24, 12,  6,131, 25, 44,  6,131,193, 96, 48, 24,140,127,135,193,234, 93, 17,154,235,205,178,132,193, 96, 48, 24, 12,198, 63,
-200,125,233, 65,170,122, 17, 18, 66, 40,165,148,176,227,204, 96, 48, 24, 12,  6,227, 31, 53, 35,247,161,  7, 97,195, 52, 48, 24,
- 12,  6,131,193, 96,220, 97,238,106, 27, 44, 66, 72,123,166,201, 52,153, 38,211,100,154, 76,147,105, 50, 77,102,176, 24, 12,  6,
-131,193, 96, 48, 24,204, 96, 49, 24, 12,  6,131,193, 96, 48,131,197, 96, 48, 24, 12,  6,131,193, 12, 22,131,193, 96, 48, 24, 12,
-  6,131, 25, 44,  6,131,193, 96, 48, 24,140,123,  4,  1,112,211,158,  0,148,210,211, 14,139,212,161, 55, 65,109,250, 76,147,105,
- 50, 77,166,201, 52,153, 38,211,188,255, 52,107,211,118,198,127,212,107,131,117, 55,199,193, 34,132,180,191,211, 25,197, 52,153,
- 38,211,100,154, 76,147,105, 50,205,251, 79,243,126,131, 85, 17, 50, 24, 12,  6,131,193, 96,220, 97,100, 44, 11, 24, 12,231,240,
-241,241,209,202,100,178,246, 70,163, 49,154, 82, 42,178, 28,169, 31,199,132,227,184,206,148,210,132,140,140,140,156, 59,161,105,
- 48, 24,188,  0, 52,151, 36,233,242,157,210,100, 48, 24,204, 96,161,107,215,174,  9,162, 40,  6, 56, 35,166, 84, 42, 83,143, 29,
- 59,214,242, 86,191,135,133,133, 37, 72,146,244, 55, 77,185, 92, 46,217,237,246,155, 70,211,228,114,121,118,100,100,100,227,250,
-146, 97,132, 16,127,  0, 31,184,184,184,244, 38,132,112, 37, 37, 37, 71,  0,188, 77, 41, 77,174,163,158, 43,128, 23,  1,132, 84,
-124, 21, 11,224,107, 74,105, 49, 59, 61,235, 31,254,254,254,131,120,158,223,232,239,239, 47, 81, 74,243,  3,  3,  3,199,164,164,
-164,196,176,156,185, 55,  4,  4,  4,180,147, 36,105,170,135,135,199,208, 54,109,218,104, 18, 19, 19, 97, 48, 24,162,100, 50,217,
-203,201,201,201, 87,235,104,172,  2,  1,172,245,246,246,126,176, 89,179,102,184,124,249,242,109,107, 50, 24,245,149,198,141, 27,
-187, 21, 23, 23,175,226, 56,174,147, 90,173,246,113,117,117,133, 78,167,203, 84,169, 84, 39,221,220,220, 38,238,220,185,179,144,
-229,210, 29, 54, 88,148, 82,223,223,126,251, 13,122,189, 30,162, 40, 66,146, 36, 72,146,  4, 74,105,213,123,117,108, 54, 27,250,
-247,239,239, 91,211,198, 40,165,126,135, 14, 29,130,171,171,235,117,255,123,224,129,  7,184,163, 71,143, 66,173, 86, 95,183,190,
-213,106, 69,143, 30, 61,188,235,145,185, 50,232,116,186, 19,  3,  6, 12,176,133,133,133,105, 20, 10,  5,205,201,201,121, 96,221,
-186,117, 39,  8, 33,221, 40,165,215,156,212,235,170,215,235, 87, 61,249,228,147,150,192,192,192, 70, 58,157, 14,102,179,185,201,
-170, 85,171,158, 39,132, 76,162,148,158, 96,167,104,253, 33, 56, 56, 88,239,225,225,241,213,146,197,139, 85,191,252,252, 51, 82,
- 83, 83, 53,162, 40,126, 71,  8,105, 69, 41, 21, 88, 14,253,243,199,131, 16,178,235,195, 15, 63,244, 25, 53,106, 20,120,158,135,
-217,108,198,182,109,219,186, 45, 92,184, 48, 50, 32, 32,224,193,212,212,212,203,206,104,250,248,248, 52,214,106,181,145,225,225,
-225,186, 17, 35, 70,  0,  0, 76, 38, 19,118,236,216, 81,103, 77,  6,163,190,226,237,237, 61,182,168,168,232, 99,173, 86,171,112,
-119,119,135, 70,163,129, 66,161,128, 82,169, 12,244,240,240,  8,212,233,116,253,159,125,246,217, 55,190,253,246,219,245, 44,183,
-238,160,193,  2,  0,173, 86,139,205,155, 55, 67, 38,147, 65,161, 80, 64, 46,151, 67, 46,151, 67,169, 84, 66, 38,147, 85, 45, 43,
- 20, 10,  4,  4, 56, 30,236,250,241,199, 31,225,230,230,  6,189, 94,143, 54,109,218,  0,  0, 84, 42, 21, 14, 28, 56,  0,133, 66,
- 81,165, 29, 26, 26,122, 79, 50,101, 84, 31,146, 79,  1,229,183,115, 91, 89,229, 60, 81,142, 90,120,222, 74,  1,229,136, 94,174,
-146, 91,163,222,220,162,143, 62, 75,115,119,247, 56,100,183,219,119, 29, 58,116,168,157,159,159,223,136,137, 19, 39, 46,  6,240,
-180, 19,230,202,213,205,205,109,213,107,175,189,230, 61,118,236,216, 51,190,190,190, 27,138,139,139,143, 69, 70, 70,182, 88,187,
-118,237, 27, 19, 39, 78, 92, 69,  8,233,237,108, 36,171,122,148,144,231,249, 92,141, 70, 19,124,248,240,225,123,126,243, 39,132,
-248,  1,248,  0,128,  0, 96, 25,165, 52,161,218,111,205, 21, 10,197,  7, 54,155, 45, 31,192,251,148,210,212,250,120,177, 88, 44,
-150,208,247, 23, 46,148, 95, 73, 76,196, 79,123,246, 84,126,237, 26, 16, 16,208, 29,192,209,127, 50, 45, 97, 97, 97, 77,148, 74,
-229,  7,  0, 58, 89, 44, 22, 67,197,245,106,148, 36,233,199,178,178,178,247, 98, 99, 99,203,234,120,156,  2,  0,180, 65,121, 15,
-227,155, 62, 39,133,135,135, 95,154, 61,123,246,213,123,169,  9,  0,102,179,121, 65,223,190,125,125, 70,143, 30,141,125,251,246,
- 97,255,254,253,232,218,181, 43,250,247,239,143,196,196, 68,151,117,235,214,189,  4, 96,142,147,251,255,252,203, 47,191,172, 27,
- 49, 98,  4,246,236,217,131,223,126,251, 13,221,187,119,191, 45, 77, 70,253,133,231,249, 66, 73,146,228,  0, 60, 41,165,150,218,
-150,239,167,125,111,208,160,193,203,121,121,121,159, 24, 12,  6,120,123,123,131,144,242,203, 83,146, 36,148,150,150,162,172,172,
- 12,193,193,193,138, 54,109,218,124, 62,121,242,100,249,231,159,127,190,150,157, 49,206,193, 17, 66,122,221, 80,192, 84, 45, 75,
-146, 84,101,172,170, 27, 42,158,231,171, 62, 87,254, 86,241,223, 27, 35, 86,167,111, 88, 38, 37, 37, 37, 85,230,202,205,205,173,
- 42, 18,102,183,219,175, 51, 87,114,185, 28,162, 40,222, 44, 10,118,199,123, 45,220, 76, 83, 43,192, 83,222,251,188,  7, 30, 58,
-167,221,114,128,122,108, 61, 64,181, 63, 71, 11, 57, 45,219, 63, 84,234,238,238,113,146,231,249,131, 25, 25, 25,103,151, 46, 93,
-186,166, 87,175, 94, 58, 31, 31,159,135,156, 76,231,139, 79, 61,245,148,101,204,152, 49,167,131,131,131, 31,214,104, 52,222, 62,
- 62, 62, 10,157, 78,183, 67, 16,132,117, 43, 86,172,176,162,188,234,208,169,125,167,148,250,238,219,183, 15,  7, 15, 30,  4,165,
-212,189, 54, 19,253, 79,229, 39,128, 89,153,153,153, 35,147,146,146, 70,123,121,121, 29, 38,132,116,172, 56,103,218, 13, 27, 54,
-236,143,210,210,210,129,145,145,145, 99, 42, 76,216,189, 76,231,223, 48, 24, 12, 63, 24, 12,  6, 19,207,243, 63, 94,185,114, 69,
-182, 42, 34,  2,130, 80,229, 89,229,114,185,252,244, 63,153,206,144,144,144,150, 74,165,242,207,101,203,150, 13,217,183,111, 95,
-192,241,227,199,185, 63,254,248,131,251,228,147, 79,  2,194,194,194,198,169,213,234,227, 33, 33, 33,242, 58,238,123,155, 35, 71,
-142,152,140, 70, 99,209,205, 94, 23, 47, 94, 52,205,158, 61,251,161,122,160,  9, 66,200, 71,  7, 14, 28,216, 63,102,204, 24,140,
- 31, 63, 62,101,203,150, 45, 83,166, 79,159,126, 37, 33, 33,  1,  3,  6, 12,  0,207,243,163,111,150, 15,183,210, 36,132,240, 60,
-207,143,121,250,233,167,113,229,202, 21, 76,152, 48, 33,101,199,142, 29, 99,103,204,152,113, 37, 33, 33,  1,  3,  7, 14,116, 90,
-243,159, 56, 63,235,179, 38, 33, 36,131, 16, 98, 34,132,232,239,132,102,133, 94,126,229, 75,161, 80,228,187,186,186,230,123,123,
-123,231,  7,  5,  5,229,139,162,248, 21,  0,185,163,154,228,127, 55,173, 14,132, 16,174,182,229,250,112,140,  8, 33,254, 60,207,
-127,199,113, 92, 58,199,113,153, 60,207,111,245,243,243,107,228,140,166,191,191,191,103,113,113,241, 82,131,193,128,134, 13, 27,
-130, 16,  2,158,231,209,173, 91, 55,116,232,208,  1, 28,199, 65,146, 36, 92,190,124, 25,105,105,105,104,219,182,237,210,240,240,
-112,207,187,177,239, 53,121,144,127,189,193,  2,112,248,134,157, 58, 92,249,163, 40,138,215, 25,169, 27, 77, 85,245,101,142,115,
-168, 67, 34,177, 90,173, 85,230, 74,175,215, 67, 46, 47,191, 22,  4, 65,248,155,230,205, 12,150,163,120,120,120,252, 72,  8,121,
-172, 46,255,221,242,110,107,124, 61, 47,232,102, 39,  2,212,106, 53, 68, 81,252,225,242,229,203, 39,154, 52,105,146, 93, 88, 88,
-232,230,230,230,  6,158,231,157,221, 76, 72, 80, 80, 80,163,128,128,128, 88,  0, 91,  0,236, 59,117,234, 84,114,159, 62,125,232,
-218,181,107,127,111,223,190,125, 16,254,215, 46,203, 41,220,220,220,112,240,224,193,250,118,174,185,151,149,149, 33, 47, 47, 15,
- 17, 17, 17,174, 94, 94, 94,123,  9, 33,207, 14, 27, 54,236,183,109,219,182,233, 10, 11, 11, 97,179,217,  0,192, 92,223, 18,110,
-179,217,214,235,245,122, 58,124,248,112, 68,172, 89,195, 23, 22, 22,138,  0, 74,  0,152, 56,142,123,249,202,149, 43, 69,255,100,
-122, 84, 42,213,180,247,223,127,223,181,109,219,182, 36, 39, 39,  7, 70,163, 17, 57, 57, 57,104,208,160,  1,222,124,243, 77,117,
-243,230,205, 13, 42,149,106,102, 93,203,187,102,205,154,221,242,194,115,113,113, 17,225,124,239,227,155,106, 10,130, 64,186,119,
-239,254, 70,199,142, 29,215,214, 65, 19, 70,163, 49,213,104, 52, 62,113,228,200,145,241,146, 36,189, 98, 52, 26,191,226, 56,110,
-237,174, 93,187,224,237,237,141,214,173, 91,123,101,103,103,119,115, 84,207, 96, 48,180,235,208,161,131, 95,163, 70,141,176,121,
-243,102,  0,248, 58, 45, 45,109, 91,117,205, 54,109,218, 56,165,201,168, 34, 93, 46,151,155, 60, 60, 60,244,183,169,163,172,124,
-201,100, 50,165, 82,169, 84,170,213,106,165, 90,173, 86,170, 84, 42,229,253,158,137,132, 16,  3, 33, 36, 86, 38,147, 13,112,119,
-119,215,123,122,122,234,  2,  3,  3,251, 52,109,218, 52,250,197, 23, 95, 12,114, 84,167,172,172,236, 75,141, 70, 35,247,246, 46,
-111,129,211,175, 95, 63,108,218,180,  9, 79, 63,253,180,212,175, 95, 63,105,228,200,145,240,241,241,  1,  0,196,199,199, 67,169,
- 84,202,117, 58,221,151,119,105,183,110,233, 65,254,237,200,110,216,201,235, 66, 80,146, 36, 93, 23,173,186,209,  0, 85,127, 57,
-138, 40,138,240,245,245,133, 86,171,133, 86,171,189,110, 91, 55,106,222,206, 24, 93,205,155, 55,239,165,213,106,123, 16, 66, 70,
- 82, 74, 15,221,129, 19, 91, 14,224,212,213,171, 87, 31,216,190,125,123,255,111,191,253, 54, 62, 44, 44,204,255,227,143, 63,158,
-116,238,220,185, 82,163,209,232,116, 67,103,189, 94,143,194,194,194,163, 26,141, 70,119,236,216,177,212,  7, 31,124, 48, 31,128,
-103, 81, 81,145,167,139,139, 11,113, 84,167,122,181,160, 90,173,182, 18, 66,100,238,238,238,112,115,115,179,229,231,231,231,133,
-132,132, 64,169, 84,230, 42, 20, 10,135,171, 11,187,118,237,154, 36,138, 98,141,237,223, 20, 10, 69,246,241,227,199, 29,237,128,
-240, 94,167, 78,157, 30, 90,181,106, 85,131, 22, 45, 90, 32, 34, 34,194,117,219,182,109, 95,108,218,180,  9,  5,  5,  5,184,122,
-245, 42, 94,122,233,165, 98,  0, 31,215,179,  2,205,255,177,199, 30, 91,214,169, 83, 39,178,121,243,102, 74, 41, 37,132, 16,112,
- 28, 55, 73, 16,132,163, 70,163, 49,231, 30,164,169, 79,171, 86,173, 72, 97, 97, 33, 40,165,224,121,254,186,215,204,153, 51, 53,
-227,198,141,155,213,163, 71,143,105,114,185,188, 88, 16,132,109, 38,147,105, 73,124,124,124, 97,125,202,219,135, 31,126,248,181,
-148,148,148,129, 65, 65, 65, 63,223,142,142,209,104,220, 92,109,241,132,209,104,  4,  0,232,116, 58,136,162,168,114, 34, 95, 21,
-238,238,238,  0,128,107,215,174,  1, 64,252,237,106, 50,202,225,121, 30, 42,149, 10, 50,153, 44,189, 81,163, 70,224, 56,206, 51,
- 41, 41,169, 46, 85,110,190,  0, 50,100, 50,153, 82,165, 82, 65,173, 86,163,242,253,204,153, 51,219,120,158,127, 21,128,221,137,
-104, 17,117,102,249,158, 71, 68, 56,238, 67,153, 76,166,244,242,242, 82, 84,123,  0, 84,120,120,120, 32, 48, 48,112, 57,128,225,
- 14, 74,117,108,208,160,  1,  8, 33, 80, 40, 20,120,249,229,151, 17, 29, 29,253, 99, 74, 74,202,203, 89, 89, 89, 40, 41, 41, 89,
-171,215,235,135,102,101,101, 65, 20, 69, 36, 37, 37,161, 83,167, 78, 29,239,242,238,253,205,131,220, 23,  6,171,210, 57,222, 24,
-154,187,153,233,169,110,178,170,127,118,240, 34,147,158,121,230,153,155,134,122,  4, 65,248, 91, 21,225,237,156,219, 42,149, 10,
-131,  6, 13, 82,107,181,218,239, 43, 76,214, 17, 71,255, 59,106,193,121,104,  4,224,235, 94, 85,  5,175, 95, 96, 96,224,175,195,
-135, 15, 15,182, 88, 44,200,205,205, 29,188, 98,197,138, 33,238,238,238,184,112,230,184,106,226,196, 25,165,  0,102, 59,153,196,
- 88,147,201,212, 36, 54, 54,182, 67,114,114,242,174,183,222,122,139,  2,240,  4,224, 49,109,218,180,193,153,153,153,201, 40,239,
- 81,232, 72, 33,225,123,224,192,  1, 84,220, 28,148, 86,171, 21,238,238,238,136,136,136, 80,235,245,122,232,245,122,244,232,209,
-195, 93,161, 80,200, 80,222,  6,202, 17, 35,236,125,228,200, 17,184,184,184,160,180,180, 20, 22,139,  5,130, 32,128, 82, 10,153,
- 76,  6,181, 90,141, 94,189,122,121, 59, 81,144, 93, 33,132,244,157, 52,105,210,254, 85,171, 86, 53,104,214,172, 25,222,123,239,
- 61,228,230,230, 34, 57, 57, 25, 99,198,140, 41,190,114,229,202,128,234,109,179,234,129,185, 10,232,219,183,239,161,205,155, 55,
-251,237,223,191, 31,185,185,185,100,223,190,125, 20,  0, 39,147,201,126, 73, 77, 77,189, 39,109, 50, 68, 81,212, 41,149, 74,216,
-237,118,200,100, 50,240, 60, 95,245,206,243, 60,252,253,253,177,127,255,126,153,201,100,146,229,230,230,106,215,173, 91, 55, 33,
- 38, 38,198,  7, 55, 84, 57,255,211, 68, 68, 68,  4,142, 31, 63, 62, 85, 38,147,209,129,  3,  7, 62,115,237,218,181,199,253,252,
-252, 14, 31, 60,120,112, 37,128,230,206,104, 61,248,224,131,  9, 22,139,229,111, 13, 63, 61, 61, 61,171,202, 35,185, 92,142,134,
- 13, 27,174,239,221,187,119, 35, 71, 30, 44, 12,  6,195,183, 42,149,170,170,252,240,246,246,222, 21, 18, 18,  2, 47, 47, 47, 84,
-255,222,215,215,247,235,222,189,123,  7,213,135,182,141,255,  6, 56,142,131, 74,165,170,122, 85,152,162,188,238,221,187,227,207,
- 63,255,220,226,140, 41,162,148, 90,229,114,121,149, 78,229, 75,165, 82,129,227, 56,169, 14,215,146, 91, 69,115,  5,226,200,242,
-189,134, 82,250,144,139,139,139,226,198,239,243,243,243, 21, 45, 91,182,236,225,168,142, 90,173,246,212,104, 52,  0,128, 94,189,
-122, 33, 43, 43, 75, 12, 14, 14,126, 97,228,200,145,118,  0,120,245,213, 87, 95,200,202,202,202,179,219,237,188, 76, 38, 67,118,
-118, 54,154, 54,109,234,121, 23,203,218,155,122,144,127,189,193,170,120, 34,167,213,223,171, 29,204, 90, 35, 87,149,191, 57, 82,
- 69, 40, 73, 18,189, 69, 47,194, 42, 51,119, 39, 13,150,187,187, 59, 70,143, 30,173, 77, 75, 75,251,194,217,  2,188,218,129,247,
-  9, 10, 10,218, 31, 23, 23,215, 56, 57, 57, 25, 83,167, 78,197,103,159,125,118, 98,201,146, 37,237, 57,142,227,186,  6, 23, 43,
-181,162,181,167, 51, 61,  8, 43,162, 97,113,187,118,237,154,215,166, 77,155,119,252,253,253, 93, 31,124,240,193,227, 54,155, 77,
- 63,121,242,228,254,  3,  7, 14,236,219,169, 83,167, 76,  0, 95, 59,168,  7, 73,146,176,103,207, 30,184,186,186, 66,175,215,195,
-221,221, 29,149,230,170,174, 36, 38, 38, 34, 53, 53, 21, 46, 46, 46,112,113,113,129, 78,167,131, 78,167,131, 82,169, 68,229,197,
-233,100,225,112,137, 16, 50,115,199,142, 29,235, 23, 45, 90,132,130,130,  2,152, 76, 38,204,155, 55, 15,137,137,137, 51, 41,165,
- 39,235,147,185, 26, 48, 96,192,225,205,155, 55,251, 70, 70, 70, 34, 53, 53, 21,123,246,236, 73, 17, 69,241, 29,149, 74, 53,246,
-218,181,107,247,236,230, 42,138,162,130,231,121,112, 28,  7,142,227,254, 22,193,170, 52, 91, 26,141,  6, 13, 26, 52,192,156, 57,
-115, 20,195,134, 13, 27,120, 47,243,243,195, 15, 63,108,186, 98,197,138,213,235,215,175,223,247,220,115,207,109, 63,125,250,244,
-115,122,189,254,204,129,  3,  7,150,168, 84, 42,167,111,140,118,187,221, 55, 38, 38,230,186,118,159,162, 40, 66, 20, 69,  8,130,
-  0,187,221,142,101,203,150, 97,248,240,225,186,138,  7, 73,193,129,243,211,123,237,218,181, 32,132,224,243,207, 63,175,122,200,
-172,174,185,116,233, 82, 12, 27, 54,204,213, 81, 77,102,174,184,235,140,144, 70,163,185,206, 28,213,  5, 65, 16,124, 85, 42, 85,
- 70, 69,213, 32, 84, 42, 21, 98, 98, 98,156,142, 94, 85, 59,238, 39,157, 89,190,151, 84,150,195,118,187,253,111,223,183,104,209,
-194, 97, 29,157, 78, 71, 42,239,177,118,187, 29,233,233,233,226,233,211,167,197, 46, 93,186,  0,  0,252,252,252,196,200,200, 72,
-209, 98,177,240,149,247,107, 55, 55,183,187, 98, 50,107,242, 32,247, 69,  4, 11,192,239, 55,188, 87, 21, 46,149,134,231, 86,145,
-171,202,101,  7,219, 96, 65, 38,147, 97,199,142, 29, 85,237,176, 58,118,236, 88,101,230,110,212,189,177,209,188, 51, 40,149, 74,
-184,185,185, 97,223,190,125,230,248,248,248,201,206,252,119,203,187,173,  1,177,188, 19, 86,163, 70,141,126,136,139,139,107, 92,
- 90, 90,138, 47,191,252, 18,209,209,209,151, 41,165,131,171,162, 93,125, 72,126,199, 64, 56,220,235,141, 16,210,168, 83,167, 78,
-251,199,141, 27,231,159,149,149,133, 57,115,230, 88, 22, 47, 94,220,103,221,186,117, 47,107,181, 90, 98, 52, 26,147, 59,117,234,
-148,153,144,144, 48,201,209, 30,132, 28,199,101,244,235,215, 47,  0,  0, 92, 93, 93,173, 95,125,245,149,210,221,221, 29,207, 62,
-251,172, 57, 35, 35, 67, 93,145, 31,  5,206,220, 16,100, 50, 89,246,248,241,227,189,107,201,227,108, 39, 77, 75,199, 33, 67,134,
-124,246,253,247,223, 35, 55, 55, 23, 38,147,  9, 10,133,  2, 75,151, 46, 69, 74, 74,202, 71,132,144,179,245,161, 48, 35,132,  4,
- 14, 25, 50,228,208,119,223,125,231,123,238,220, 57, 24,141, 70,124,252,241,199, 41, 57, 57, 57,  3, 41,165, 73,  0,182,223,235,
- 36,166,166,166,226,155,111,190,129, 40,138, 24, 51,102, 12, 26, 55,110, 92,101,176, 50, 50, 50,240,213, 87, 95, 65, 20, 69,140,
- 31, 63, 30,141, 26, 53,130,221,110, 87,247,238,221, 91,118,175,162, 46,211,167, 79,191,242,195, 15, 63,236, 75, 77, 77,237,183,
-100,201,146,158,132, 16,105,230,204,153,203,220,220,220,196,219, 56, 78, 40, 43, 43,131,197, 98,185,233, 43, 48, 48,208,233, 50,
-132, 16,  2,155,205,118,157,142,213,106,173,250,108, 48, 24,110,171, 92,250,175, 81, 61,114,165, 82,169,160, 84, 42,161, 82,169,
- 42, 35, 87,  4,192,207,  0,156, 50,216,148, 82,107, 96, 96, 96, 85,228,170,174,209,171,187,197,221,236,153,216,170, 85,171, 63,
-116, 58,221,192, 11, 23, 46, 92, 23,197, 26, 61,122,180,173, 89,179,102,199, 28,213,113,117,117, 45, 80, 42,149,158,102,179, 25,
-199,143, 31, 71,235,214,173, 21,133,133,133, 11,  8, 33,239,  0, 64,199,142, 29, 23,100,102,102, 42,252,253,253, 43,183,139,194,
-194,194,130,192,192,192,187,149,109, 55,245, 32,247,133,193,162,148,246,170,254,126, 99,  4,171,182,234, 65, 71, 35, 88,132, 16,
-148,148,148, 64,167,211,161, 98, 48, 51, 72,146, 84,181,173, 27,171,  8,111,167, 32, 83,171,213, 56,116,232,144,121,205,154, 53,
- 99, 40,165,  7,234, 88,128, 55,158, 50,101, 74,135,188,188, 60,172, 88,177,  2, 95,125,245,149,209,106,181, 14,189,141, 27, 66,
-163, 46, 93,186, 28, 58,114,228,136,207,229,203,151,241,230,155,111,226,236,217,179, 79, 13, 30, 60,184, 61,110, 99,160,209,168,
-168,168,170,193, 93,187,118,237, 90,164,215,235,161,211,233,144,157,157,173,208,233,116,158,135, 15, 31,118,186, 42, 43, 42, 42,
-234,142, 14,238, 74,  8,105,254,248,227,143,239,219,190,125,187, 75, 65, 65,  1,146,146,146,240,214, 91,111,225,243,207, 63,135,
- 94,175,199,238,221,187,117, 67,134, 12,249,149, 16,242,  8,165,244,252, 61, 52, 87,218,129,  3,  7,254,250,253,247,223,251,166,
-166,166, 34, 61, 61, 29,243,230,205, 75,206,200,200, 24,232,236, 56,103,119, 11, 73,146,232,180,105,211,176,118,237, 90,112, 28,
-135, 23, 94,120,  1, 69, 69,255,107,103,239,233,233,121,179,223,248,123, 25,117,145,201,100,244,200,145, 35,203,123,245,234,133,
-212,212,212,126,161,161,161,171, 95,124,241, 69,227,221,220,166,205,102,195,157,110, 66, 99,183,219, 81,207,154,229,252,171, 12,
- 86,108,108,236, 54,185, 92, 78,  1,212, 41,218, 84, 73, 74, 74,138, 71,135, 14, 29,242, 85, 42,149,242,216,177, 99, 91,234, 26,
-189,186, 75,101, 72,245,158,135, 49, 21, 70,242,150,203,148, 82,135,205, 97,203,150, 45,223,242,243,243,123,180, 75,151, 46, 56,
-119,238,156, 66,165, 82,225,185,231,158,179, 13, 30, 60,216,198,243,252,116, 39,238,143,231, 93, 93, 93,123, 86, 62, 64,252,246,
-219,111,240,240,240,120, 99,200,144, 33,147,210,211,211, 97, 52, 26,149, 21,198, 21, 28,199,225,145, 71, 30, 65, 94, 94,222, 93,
- 43,151,111,229, 65,238,151,  8,214,173,118,218,161,234, 65,103,204,144,217,108,174,170,106,114,117,117,173, 50,102,132,144,191,
-105, 58, 26, 21,187, 25,113,113,113,145,137,137,137, 43, 41,165,191, 58,251,223,202, 54, 88,  0,174,173, 95,191, 62,254,196,137,
- 19,157, 78,159, 62,125,205, 98,177, 12,188,113,196,246,234,209, 46, 71,205, 85, 82, 82, 18, 54,109,218,132,200,200,200,203,148,
-210,195,184,195,189, 38,234, 82,125,119,183, 81,171,213,175,109,219,182,205,165,160,160,  0,137,137,137, 24, 51,102, 76, 97, 82,
- 82,210,180,225,195,135,127,252,203, 47,191,184,123,122,122, 98,223,190,125,186,192,192,192,  5,  0,158,186, 87,233,108,216,176,
-225,242,111,191,253, 54,192,100, 50, 33, 43, 43, 11,111,188,241,198, 53,163,209, 56,168,190,152, 43,  0,136,137,137,113,123,252,
-241,199,127,  6,208,235,220,185,115,144, 36, 41, 50, 54, 54,182,170,199,108, 77,191, 57,226,223, 76, 38,147, 76,171,213, 10,183,
- 56,183,228,206, 70, 28,170,107,254,249,231,159,203,150, 45, 91,246,227,140, 25, 51, 18,111, 83,179, 86,163, 99,181, 90,113,167,
- 53, 43,122,186, 50, 28,164, 50, 98,117,254,252,249, 74, 99,245,202,157, 50, 66,149, 17,172,255, 18, 27, 54,108, 48,126,249,229,
-151, 33,  1,  1,  1, 31, 62,255,252,243,189, 12,  6,  3,167, 84, 42,255,224,121,126, 38,  0,135,103, 19,209,104, 52, 19, 60, 60,
- 60, 78,243, 60,207,167,165,165,225,226,197,139,224,121, 30,148, 82,101, 89, 89, 25,124,124,124,170,122,198,143, 30, 61, 26,  1,
-  1,  1,226,249,243,231, 39,176, 51,250, 14, 26, 44,  0, 88,184,112, 33,126,186,114,  5,143,  7,  7,215,184,222,142, 29, 59,110,
-102, 42,254, 54,219,182,221,110, 71,120,120,120,213,242,143, 63,254, 88,101,176, 38, 77,154,116,221,255,119,238,220,233,144,230,
-205,184,124,249,114,127, 39,158, 56,110,170, 89, 81, 41,252, 80,116,116,116, 99,  0,105,148, 82,107, 93, 53, 13,  6,195,178,223,
-127,255,221, 39, 41, 41,  9,235,215,175,199,154, 53,107,140,102,179,217,169,104,152, 35,251, 46,151,203, 51,122,244,232, 17, 80,
- 81,184,213, 90, 45,248, 79,205,178,110, 54,155, 17, 25, 25,  9,  0, 24, 55,110, 92, 97, 82, 82, 82, 95, 74,233, 57, 66,200,249,
- 65,131,  6,237,251,249,231,159,221, 43, 86,205,187, 87,233,148,203,229, 61,215,172, 89, 51,200,213,213,149,251,233,167,159, 44,
- 83,167, 78, 77, 73, 73, 73, 25,230,204, 52, 72,255, 84,126,102,102,102, 78,153, 48, 97,194,167, 22,139,133, 55,155,205, 83, 28,
-253,173,182,116,126,255,253,247,137,205,154, 53,235,137, 91, 15,155, 32,  1,136,186, 29,205, 21, 43, 86,  0, 64,139,219,209,188,
- 29, 51,244, 79,107,222,201,227,254,111,211, 76, 79, 79,223, 83,113,159,113,202, 88, 57,146,206,168,168,168, 29, 21,218,191, 58,
-162,253, 79,237,251,237,246, 76,172, 45,157,227,199,143, 79,  3, 48,250,118,210,185,119,239,222,107,207, 60,243,204,226,246,237,
-219,191,173,211,233,144,144,144, 80, 53, 44, 82,229,  3, 58, 33,  4, 35, 71,142,196,196,137, 19,177,127,255,254,197, 79, 63,253,
-244,181,187,157,159,255, 25,131, 37,151,203,147, 19, 19, 19, 27,111,216,176,129, 43, 36,  4,223, 84, 12, 68, 86,209, 69, 29,149,
-141,108, 43, 93,238,161, 67,135,  4,165, 82,153, 84,203,205, 63,249,196,137, 19,141,190,252,242, 75,153,139,139, 11,212,106, 53,
- 46, 93,186,  4,153, 76,134,107,215,174,225,187,239,190,187,174,209,238,254,253,251, 69,141, 70,243,143,143,234, 93, 61, 42, 85,
- 17,190,189, 82, 91,180,235,235, 90,  2,155,110,110,110, 29,206,156, 57,131, 29, 59,118, 96,205,154, 53, 70,147,201,212,167,174,
-243, 23,214,196,159,127,254,217,178,158,158,107,239,247,234,213, 75,  2,224,  5,224, 61, 74,233,229,138,252, 61, 71,  8,233,221,
-178,101,203,215,  1,104,  0,188,127,175, 18,200,243,252,140, 71, 30,121,132,159, 58,117,106,230,214,173, 91,127,203,206,206,158,
- 78, 41, 53,213,199,204,140,142,142,190, 10, 96,144,179,191,213,198,168, 81,163,174,212,116,190,215, 23,205, 74, 51,164, 80, 40,
-192,113, 92,229,244, 30, 80,169, 84,176, 88, 44, 48,155,205, 48,153, 76, 78, 87,231, 85, 70,237, 85, 42, 85,213, 16, 53, 74,165,
- 18, 10,133,  2, 10,133,  2,101,101,101,172,138,208, 57, 94,254,151,106,215,153,127, 75,207,196,205,155, 55, 47,154, 52,105,146,
-172, 91,183,110, 51,195,194,194,184,171, 87,175, 34, 59, 59, 27, 60,207,163, 69,139, 22,232,223,191, 63,130,130,130,164, 95,126,
-249,101,233, 19, 79, 60,177,136,157,202,119,208, 96,137,162,216,103,198,140, 25,  7, 45, 22,139, 67,109,113, 52, 26, 77, 90,105,
-105,105,159, 90, 78,188, 62, 17, 17, 17,  7, 63,249,228,147,198,213, 76, 87,153,221,110,127,123,210,164, 73, 31,  8,130,160,185,
- 65, 51,213,102,179, 61,114, 79,114,134,211,228,141,234, 67,172, 55,155, 50,231,198,101, 71,228,206,157, 59, 55,125,192,128,  1,
-239,153, 76,166,124,187,221, 62,238,110,152,171,250, 12,165, 52, 27,192,180, 91,252,118, 25,192,148,123,157, 70,171,213, 58,181,
-101,203,150, 43, 68, 81, 92,102,183,219,143,178,226,161,254, 34,151,203, 51,186,118,237, 26,224,192,122, 14,119,238,184, 27,154,
-140,255, 38,255,150,158,137,171, 86,173, 90, 48,125,250,244, 77, 65, 65, 65, 95,246,236,217,179,101,179,102,205, 92, 93, 93, 93,
- 81, 84, 84, 84,146,151,151,151,240,211, 79, 63,141,123,241,197, 23,217,  4,231,119,218, 96, 69, 69, 69,101,  1,104,123, 39, 55,
- 86,139,230, 23,245, 38, 87,122,158,243,  0,128, 45, 55, 52,141,175,109,185,150, 11,110, 55,128,221,236,148,171,215,133, 98, 50,
-128, 97, 44, 39,234, 63,119, 35, 82, 91,143,163,191, 12,198, 93, 99,249,242,229, 87,  1, 60,  2,  0, 35, 71,142,228,  1, 96,235,
-214,173, 98, 61, 76,106, 24,  0,111,  0,149,189,215,189,  1, 88, 81, 30,228,200,  6, 16,253,175, 49, 88, 12,  6,131,193, 96, 48,
-254, 59,212, 83, 99, 85,137, 55, 33,100, 55,165,116,  8,  0, 84,126,174,254, 93,125,131, 99,167, 20,131,193, 96, 48, 24, 12,198,
-157,133,  0,104,127,179, 31,156,233, 29, 64,  8,105,239,236,134, 29,152, 49,156,105, 50, 77,166,201, 52,153, 38,211,100,154,247,
-153,102,109,218,183,248,255,224, 90, 34, 88,123,234,157,193,186,155, 61, 98, 88,215,101,166,201, 52,153, 38,211,100,154, 76,147,
-105,222,  1,254,117,  6,139,181,193, 98, 48, 24, 12,  6,131, 81,223, 41,155, 61,123,246, 92, 66,200,110,  0,152, 61,123,246,220,
-250,158, 96,102,176, 24, 12,  6,131,193, 96,212,119,142,133,135,135,155,194,195,195, 43, 27,180,103,163,188, 22,110,  8,254,215,
-179,240,223,109,176,102,247,  9,126,208, 16,104,248,170, 48, 55, 55, 94,178,150, 76,156,247,107,106,126, 93, 54, 76,  8,241, 84,
- 42,149, 35,180, 90,237, 35,148,210, 96,158,231, 47, 20, 21, 21, 29,178,219,237, 91, 41,165,165,236, 92, 98,220,107, 66, 66, 66,
-218,201,229,242,233,132,144, 48, 65, 16,252,229,114,121, 58, 33, 36,218,106,181,126, 18, 19, 19, 19,207,114,232,254, 37, 52, 52,
-116,  7,165,180,127, 69, 89,245,107, 76, 76,204,147, 44, 87, 24,140,123,138, 21,192,137,127, 83,130,157, 54, 88,132,210,103,198,
-189,252,130,161, 32, 37,193,176,113,243,222, 22,239, 13,106,220,127,222,207, 73,153,206,104,104, 52,154, 17,237,218,181,251,232,
-211, 79, 63,245,108,210,164,  9,209,104, 52, 72, 79, 79,111,121,242,228,201,161,243,231,207,159, 43,151,203, 95,181,219,237,  7,
-111,103,199,  8, 33,110, 94,174,178,233, 57, 69,246,119,217,121,201,112,134,145, 35, 71,242, 41, 41, 41,111,123,122,122, 78,157,
- 53,107,150, 42, 56, 56, 24, 58,157, 14, 89, 89, 89,129, 23, 47, 94, 12, 88,181,106,213,160, 30, 61,122, 68, 40, 20,138,249,135,
- 15, 31,102,  3, 78,222,  7,116,235,214,173,161, 32,  8, 43,  9, 33, 74,158,231,103, 82, 74,251,239,221,187, 23,162, 40, 98,240,
-224,193,253,187,117,235,214, 76, 20,197,165, 90,173, 86,178, 88, 44, 19, 43,198,244, 99,252,203,233,218,181,107,146, 40,138,222,
-142,174,175, 84, 42, 83,143, 29, 59,198,198, 75, 99,220, 29,131,197, 83,252,186,103,251,150, 23, 30,127,184, 21,121, 97, 88,151,
-102,155,126,140, 61, 52,163, 95,211,126,203,246, 37, 58, 52,165,141, 86,171,157, 52, 97,194,132,  5, 11, 22, 44, 80, 95,184,112,
-  1,103,207,158,133, 32,  8,112,117,117, 69,251,246,237,185, 61,123,246,248, 78,153, 50,229, 91,165, 82, 57,193,106,181,238,170,
-235,142,249,120,242,139, 92,213,178, 81, 42,153, 44,218, 34,  8,123,234,233,197,253,147,221,110, 95,246,215, 95,127,253,254,111,
- 57, 97,194,194,194, 30,144,201,100,115,149, 74,229,176,251,213, 92, 92,187,118,109,238, 67, 15, 61, 52,117,254,252,249,170,171,
- 87,175, 34, 33, 33,  1,233,233,233,104,210,164,  9,154, 52,105, 66, 86,174, 92,169,254,244,211, 79, 39,196,199,199,115,  0, 28,
-110,  7, 64,  8,225,252,252,252,198, 62,250,232,163, 79,120,121,121,233,211,211,211,139,142, 29, 59,182, 59, 45, 45,237, 43, 74,
-105,157,242,146, 16,194,121,123,123,143, 25, 60,120,240, 19, 30, 30, 30, 30,233,233,233,249,  7, 15, 30,220,157,149,149,181,190,
- 98,154,167,186, 62,160,248,162,188,135,177,103,197, 87, 25,193,193,193,231, 18, 19, 19,179,239,160,102,122,112,112,240,249,186,
-104, 62,240,192,  3,  6,155,205,182,  7, 64,243, 91,173, 67, 41, 61, 47,151,203,  7, 59, 98,134,  4, 65, 88,249,225,135, 31, 14,
-118,117,117,197,172, 89,179,226,131,130,130,160,215,235,177,102,205, 26,120,120,120, 64, 20,197,248,143, 62,250,136,164,164,164,
-224,147, 79, 62, 89, 13, 96, 56,187,125, 56,116,204,191,  1,224, 14, 96, 44,165, 52,183,218,247, 94,  0,190,  7,144, 77, 41, 29,
-125,175,210, 39,138,162,247,145, 35, 71,160, 82,169, 32, 73, 18, 36, 73,  2,165,180,234,189, 58, 54,155, 13,253,251,247,247,101,
- 71,149,225,240,249, 95, 83, 47,194, 57,125,154,188,210,190,115,151, 15, 20, 74,153, 70, 18,237,144,  4, 59, 68,187, 21, 60, 21,
-208,182,137, 59,154, 54, 84,162,164,184,  4, 27,247, 93, 42,206, 45,195,195,139,126,190,112,169,150,139, 45, 40, 44, 44,236,248,
-225,195,135,245,191,253,246, 27, 46, 92,184,128, 69,139,202,167, 56,114,113,113,193, 47,191,252, 82, 57,163, 55,  6, 12, 24,144,
- 99, 52, 26, 59, 83, 74,243,235,112, 81, 55,122, 56, 52,224,207, 29, 31, 61,236,209,110,248,182,228,140, 60,107, 59, 74,105,189,
- 27, 64, 45, 36, 36,196, 36,151,203, 77, 86,171,117,196,191,193,100,133,133,133, 61,192,243,252, 78,187,221,174,213,233,116, 94,
-135, 15, 31,182,220,111, 23, 68, 72, 72, 72, 59,119,119,247,195, 59,119,238, 84, 71, 70, 70, 34, 63, 63, 31, 89, 89, 89,152, 58,
-117, 42, 86,175, 94,141,118,237,218,193,197,197,  5, 74,165, 18,147, 39, 79, 46, 51,153, 76,253,163,162,162,226, 28, 49, 66, 15,
- 63,252,240,215,155, 54,109,106,108,183,219, 57,160,124,226,243,228,228,100,113,238,220,185, 41,177,177,177, 47, 58,107,178,  8,
- 33, 92,143, 30, 61,214,109,218,180, 41, 88,169, 84,114,130, 32, 64,146, 36, 92,188,120, 81,124,251,237,183,175,197,198,198,190,
- 84,151,243,158, 16,210, 81,171,213,182,154, 60,121,114,238,176, 97,195,108,  0, 16, 23, 23, 71,226,226,226,220,130,130,130,174,
-205,155, 55,239,100, 29, 52, 59,107,181,218, 22, 83,166, 76,201, 25, 52,104,144,160, 84, 42,165,200,200, 72,254,212,169, 83,110,
-193,193,193, 87,230,206,157,235, 84,111,164, 46, 93,186,156,252,236,179,207,252,  3,  2,  2, 68, 66,  8,173,216,  6, 37,132, 80,
-142,227, 40,  0,156, 63,127, 94,254,230,155,111, 38,199,197,197,133, 58,112,220,119,142, 30, 61,186,111,199,142, 29,209,170, 85,
- 43,240, 60,143,132,132,  4, 92,190,124, 25,106,181, 26,237,219,183,135, 70,163,193,174, 93,187,240,221,119,223,237,143,141,141,
-125,130,221, 62, 28, 58,238, 71,  0,132,  2, 56,  7, 96, 32,165, 52,183,194, 92,237,  5,208, 26,192,113, 74,105,159,123, 89,  6,
- 71, 70, 70, 98,231,206,157, 80, 40, 20,144,203,229,200,205,205, 69, 80, 80, 16,100, 50, 25,228,114, 57,228,114, 57, 20, 10,  5,
-  2,  2,  2,240,216, 99,143,  9,209,209,209,122,118,100, 25,183, 29,193,242,243,109,240,214, 83, 79,245,209, 64, 20,  0, 91, 41,
- 96, 51,129,218, 74, 65,173, 38, 16,165,  6,212,110,134, 11,159,139, 87, 31,107,232,186,253, 88,102,220,156, 71,155, 60, 25,126,
-240,234,254, 91,233,233,245,250,217,107,214,172,209,159, 58,117, 10,  9,  9,  9,248,248,227,143,177, 96,193,  2, 40, 20, 10,228,
-231,231, 99,232,208,161, 56,118,236, 24,172, 86, 43,254,239,255,254,207, 99,246,236,217, 19,  0, 56, 61,201,164,175,167,108,197,
-150,141, 43, 61, 60, 53, 57,120,105,104,180,231,170,173, 73,175,  0, 88, 93, 31, 15,192, 91,111,189,165, 93,186,116,233,182,206,
-157, 59,215,107,147, 21, 22, 22,246,128, 66,161,216,249,206, 59,239,184,188,243,206, 59,226, 29,210,108,195,113,220, 70,171,213,
- 58, 59, 62, 62,254, 64,125,216, 79,133, 66, 49,233,205, 55,223, 84,167,164,164,160,160,160,160,234,201,182, 18,149, 74,  5,142,
-227,160, 84, 42,241,252,243,207,171,215,173, 91, 55,  5,192,216,218,116,253,252,252,198,126,243,205, 55,141,109, 54, 27, 87, 82,
- 82, 82, 53,129,112,135, 14, 29,248,153, 51,103,  6, 76,155, 54,109, 60,128,  8,103,210,234,233,233,249,236, 55,223,124, 19,172,
- 84, 42,185,244,244,116, 60,248,224,131,136,140,140, 68,183,110,221,248,183,222,122, 43,112,202,148, 41, 47,  1, 88,235,108,148,
- 73,171,213,182, 57,122,244,104,170,191,191,127,213,247, 77,155, 54,165,131,  6, 13,202, 59,119,238, 92,139,152,152,152,188,208,
-208,208, 84, 39, 52, 13, 90,173,182,229,190,125,251, 50, 22, 44, 88,240,200,234,213,171,135,  0, 64,215,174, 93,247,132,135,135,
- 31,202,206,206,110, 29, 25, 25,153,215,189,123,119,163, 19,154,205,252,252,252, 74, 38, 77,154,164,187,213, 58, 95,127,253,117,
- 30, 33,164,181, 35,122, 60,207, 79,223,188,121,243,201,252,252,124, 89,108,108, 44,212,106, 53, 52, 26, 77,213,123, 70, 70,  6,
-172, 86, 43,182,108,217, 34,112, 28, 55,131,221, 58, 28,102, 20,128, 95,  1,180,  1,240, 11, 33,228, 57,  0,223,  2,104,  5,224,
- 18,128, 49,247, 58,129,146, 36, 65, 46,151, 67, 38,147, 97,207,158, 61,136,136,136,192, 15, 63,252,  0,131,193, 80,101,176,100,
- 50, 89,229,121,199,142, 40,195, 57,131, 69,  8,161,148, 82, 82,249, 94,249, 99,122,122,214,242,245, 17, 95, 45, 82,202, 57,121,
-159, 30,173,224,161, 18, 64,180,158, 80,244,154, 13,226, 30,  4,  0,160,121,137,176,254, 58, 27, 35, 59,231,112, 27,109,228,251,
- 15,135,182,108,244,214,143,  9, 37,183, 40, 20,187, 54,106,212,  8,191,255,254, 59,154, 52,105,130,119,222,121,  7,173, 91,183,
-134, 86,171, 69,102,102, 38, 74, 75, 75,225,226,226,  2, 81, 20,209,165, 75, 23, 94,167,211, 61,236,172,193, 34,132,116, 26, 55,
-170, 91,168, 76,223, 10, 15, 14, 24,143,125,171,122,185,172,223,147,254, 38, 33,100, 35,165,212, 84,223, 14,192, 19, 79, 60,129,
-204,204, 76,237,166, 77,155,234,108,178,186,118,237,250,147, 40,138,143,214,182,158, 90,173,254,253,232,209,163,  3,235,106,174,
-214,173, 91,231,226,238,238,126, 71, 10,153, 10,115,245,219, 11, 47,188,224,250,205, 55,223,108,238,212,169,211, 51,245,193,100,
- 17, 66,186,  7,  7,  7, 35, 57, 57, 25,153,153,153,176, 88, 44,200,204, 44,111, 98,152,154,154,138,128,128,  0,120,120,120, 32,
- 32, 32,  0, 45, 91,182, 36, 28,199,133, 57,162,219,171, 87,175, 33,  0,184,196,196, 68,100,103,103, 67,175,215, 67,167,211,193,
-223,223, 31,143, 60,242,136,172,105,211,166,253,157, 53, 88,253,251,247,127, 66,171,213,114,201,201,201,184,122,245, 42, 44, 22,
- 11, 46, 93,186,  4,119,119,119, 60,246,216, 99,242,224,224,224,129,206, 26, 44,  0,109, 39, 76,152,144, 93,221, 92, 85,226,226,
-226, 66,218,180,105,147,239,234,234,218,  5, 64,170, 51,154, 83,167, 78,205, 10, 15, 15,239,185,127,255,254,233,149, 95,238,223,
-191,255, 13,  0,248,252,243,207,143,186,185,185,117,  1, 96,116, 38,161,148, 82,105,252,248,241,151,149, 74,101,149, 97,173,252,
-172, 84, 42,193,113,156,155, 35, 58,149, 13,218,219,183,111,143,137, 19, 39,226,135, 31,126,192,134, 13, 27,170,126,127,234,169,
-167,240,228,147, 79,162,164,164,  4, 62, 62, 62, 50,163,209,120, 38, 52, 52,180, 94, 52,124, 39,132,132,  0, 88, 12,192,  6, 96,
- 62,165,180, 94,205,199, 70, 41,205, 34,132,244,175,102,178,142,  3, 80, 85,152,171,254,148,210,123,222,150, 77, 20, 69,200,229,
-114,164,164,164,224,203, 47,191,196, 43,175,188,130, 14, 29, 58,160,176,176,176,202, 96,201,229,114,112, 28,155,248,228, 46,158,
-199, 55,245, 32,247,117,  4, 75,213, 51, 57,226,234,159, 92,135,145,143,247, 24,227,169,215, 64, 42, 54, 66,241,216,124,156,202,
-211,226,147,136, 95,  1,  0,211, 70,116, 65,251,190,239,195,242, 85, 63, 60, 26,100, 85,126,245,151,250, 13,  0, 11,110,166,231,
-237,237,237, 37,  8,  2, 56,142,131,139,139, 11, 60, 61, 61,161,209,104,144,147,147,131,215, 95,127, 29,123,247,238,133,213,106,
-133, 66,161, 64,112,112, 48,108, 54, 91,176,179, 59,228,227, 33, 91,245,201, 71,139,220,114, 19,191, 67,236,133,  2,104,221,  2,
-240,246, 43, 33,238,239,173,142,157, 11,224,237,250,120, 16,218,182,109,139,215, 95,127, 93,251,233,167,159,214,201,100, 81, 74,
- 23,203,100,178,238, 51,102,204,208,140, 24, 49,226,111,191,159, 61,123, 22, 19, 39, 78, 44, 51,153, 76, 75,234, 98,174,228,114,
-249,206, 47,191,252,210,197,205,205, 13,201,201,201,119,204, 92,173, 92,185,210,181,105,211,166,144,203,229,234,175,191,254,186,
- 94,152, 44, 65, 16,  2,180, 90, 45,114,114,114, 48,109,218,180,235,218, 97, 84, 86,103,  3, 64, 66, 66,  2,  2,  2,  2, 96, 54,
-155, 13,142,232,122,121,121,185, 83, 74,241,242,203, 47, 35, 37, 37,165,234,123,131,193,128,212,212, 84,  8,130,224,225,108, 90,
- 61, 61, 61, 61,236,118, 59, 30,126,248, 97,152,205,230,242,112,193,168, 81,144,203,229,200,202,202,130,221,110,247,172, 67, 22,
-120, 13, 26, 52, 40,253, 86, 63,234,116, 58,187,167,167,103, 35,103,147, 58,120,240, 96,227,170, 85,171,  6,223,248,195,137, 19,
- 39,  6,187,185,185, 29,244,242,242,106, 81,151,224,131, 74,165,130, 82,169,132, 92, 46, 71,229,231,202, 23,207,243,146,131,215,
- 79,255,189,123,247, 66,175,215, 35, 42, 42, 10, 26,141,  6,  0, 48,100,200,144, 25, 58,157,174,167,217,108, 30,182,123,247,110,
- 20, 20, 20, 32, 56, 56, 24, 13, 27, 54, 68, 84, 84, 84,255,122, 82,124,124,  0,160,123,197,231, 21,213, 62,215, 55,147, 53,  6,
-192,209, 10,115,101,  5, 48,186, 62,152,171,234, 17,172, 37, 75,150, 64, 16,  4, 28, 59,118, 12, 35, 71,142,  4, 33,  4,132, 16,
-232,245,122,172, 88,177,130,185, 32, 70,221, 12,214,205,156,227,123,239, 17,206,242,103,227,213, 35,  7,119, 31,211, 38,192,  5,
-150,156, 68, 40,117, 94, 32,238,141,241, 73,196,175, 56,151,148,  7,  0,248,100, 91, 28,214,207,233, 15,162,245,132, 95,217,  5,
-232,149,170,161,183, 50, 88,185,185,185, 37, 54,155,205, 67,163,209, 84, 61, 21,228,228,228,224,221,119,223,197,150, 45, 91,208,
-184,113, 99,  8,130,  0,165, 82,137,236,236,108,200,229,114,167,122, 39,202,100,100,192,252,169,  3, 27,187,120,181, 64,110,220,
-123,229, 95,234,187,224,149, 81,156,114,217,198,211,207, 18, 66, 86, 80, 74,235,221,120, 25, 58,157, 14, 29, 59,118,196,179,207,
- 62,171,221,180,105,211, 90,212,208,112,247,102, 68, 71, 71, 31, 15, 11, 11, 27,186,124,249,242, 31,211,211,211, 53,157, 59,119,
-134, 78,167,131, 78,167, 67, 98, 98, 34, 22, 44, 88, 96, 54,155,205, 79,213, 37, 58,198,113, 92,196,184,113,227, 92,244,122, 61,
- 18, 19, 19,225,233,233,121, 91,251, 26, 22, 22,214,134,231,249,223, 86,174, 92,233,218,172, 89, 51,156, 63,127, 30, 33, 33, 33,
-240,245,245, 85,135,135,135,223,115,147,165, 80, 40,210,178,179,179,155,  6,  6,  6, 98,221,186,117,224, 56, 14, 70,163, 17,111,
-191,253, 54,194,195,195,209,189,123,119,232,116, 58,  4,  6,  6,226,210,165, 75,208,104, 52, 25,142,232,166,165,165,229,  3,240,
-254,229,151, 95,144,147,147, 83,245,125,163, 70,141,144,151,151,  7,171,213,154,231,108, 90,141, 70, 99, 30,128,134,241,241,241,
-184,122,245, 42,  6, 14, 28,136, 93,187,118, 33, 36, 36,  4,162, 40,194,110,183,231,213, 33, 11, 68,158,231,107,154,222,129,  0,
-112,214, 12, 10, 50,153,140,214,240,244, 90, 23, 77, 72,146, 68,111,101,174, 20, 10,  5,106,218,230,205,162, 24,107,214,172,169,
-170, 22,  4,  0,185, 92,222,125,250,244,233,195,110,245, 80, 84, 79,168, 30,165,171,151,157, 78,  8, 33,222,  0,190,  1,160,172,
-136,180, 41,  1,108, 32,132, 12,172,222,240,253, 94, 26, 44,158,231,171,150, 93, 92, 92,208,177, 99,199, 42,131,101, 50,153, 32,
-151,203,153, 91,184,187, 38,252,190,139, 94,  1, 21,147, 61, 87, 15,207, 93,103,174,  6,134,142,105, 29,160,198, 95,113,167, 33,
-179,230,129, 90,138,106, 40,161,236, 32, 10, 23,232, 93,100,254, 53, 92,104,241, 73, 73, 73,112,119,119,135, 66,161,128, 74,165,
- 66,251,246,237,113,252,248,113,180,104,209,  2,162, 40, 86, 21,148,103,206,156,129, 32,  8, 71,157,184,136,249,  6,122,217, 71,
-111,205, 93,160, 67,218, 58,184,187,170,240, 72,247,102,128, 75, 27,240,114, 21,150,255,223,227, 30, 62, 13,220, 62,172,143,  7,
- 65,167,211, 33, 45, 45, 13,223,125,247,157,201,108, 54,191, 92, 23,141,232,232,232,227,162, 40, 14,221,186,117,107, 89, 82, 82,
- 18,212,106, 53, 46, 94,188, 88,105,174,158,172,107,251, 46, 73,146, 38,172, 93,187,182,116,247,238,221,208,233,116,112,117,117,
-189,237,200,213,235,175,191,174,107,222,188, 57, 18, 19, 19,225,230,230,  6, 47, 47, 47,244,236,217, 19,159,126,250,169, 90,167,
-211,109,238,212,169,211, 61,107,244, 42, 73, 82,212,165, 75,151,168,155,155, 27, 90,182,108,137,118,237,218,161,107,215,174,  0,
-128,202,  6,208, 77,154, 52,  1,  0, 92,190,124, 25,148,210, 24, 71,116,143, 30, 61,186, 59, 33, 33, 65,244,243,243, 67,135, 14,
- 29,208,165, 75, 23,116,235,214, 13, 65, 65, 65,248,226,139, 47,108,215,174, 93,219,235,108, 90, 15, 30, 60,248,211,233,211,167,
-  5, 63, 63, 63,132,132,132, 64,165, 82,161, 93,187,118,240,243,243,195,154, 53,107,108, 73, 73, 73,123,235,144,  5,169, 39, 79,
-158,228,111,245,163, 70,163,113,  5,224,108,228,193,120,226,196,  9,174, 71,143, 30,127,235,205,219,181,107,215, 61, 26,141,198,
- 13, 64,134,179,  9, 37,132, 72, 74,165, 18,106,181,250, 58,115,165, 84, 42,161, 82,169, 32,147,201, 28,237, 69,185,103,240,224,
-193,216,189,123, 55,212,106, 53,180, 90, 45,134, 15, 31, 14,179,217,252, 20,  0, 44, 94,188,184,234,102, 59,127,254,124,  0,128,
-201,100,170, 47, 29, 60,102,  2, 56,  3,224, 10,128,255,171,135,230,170, 33,202,171,  7, 91,160,188, 90,176,103,197,123,101,155,
- 44,175,122,112,115,135, 66,161,192,194,133, 11, 33,151,203,225,235,235,139,185,115,231,226,157,119,222,193,252,249,243,177,116,
-233, 82,120,120,120,176, 42,194,187,123,158, 92,231, 65,238, 43,131,117, 35,214,200,160,121, 35,  6,116, 30,211,218, 95,133,248,
-184, 51,248,233, 68,250,197,156,156,  2, 72,153,167, 33,101,159,199,180, 17, 93,208,166,177, 39,218, 52,246,196,180, 17, 93, 32,
-101,157,  1,205, 79,  4, 85,123, 34,187,132,220,178,122, 33, 47, 47,239,147,  5, 11, 22, 20,120,120,120, 84, 21,138,169,169,169,
-104,219,182,237,117,133, 36,207,243,120,247,221,119,115,178,178,178,214, 57,108, 82, 52,252, 75, 75,254,239,153,134, 10,149, 43,
-144,247, 59,244,122, 29,214, 69,124,  4, 88,140,  0,167,196,227,125, 58,241,126, 13,221,122, 19, 66,154,215,183,131,144,156,156,
-140,249,243,231,155, 76, 38,211,109, 53,116,143,142,142, 62,110,183,219,135,174, 89,179,166,236,231,159,127,198,  7, 31,124,112,
- 91,230,170,154,113,123, 98,195,134, 13,165,201,201,201,183,101,176,228,114,249,155,130, 32,184,126,252,241,199, 82,223,190,125,
-197,201,147, 39,139, 47,190,248,162,248,228,147, 79,138,125,250,244, 17, 39, 76,152, 32,154,205,102,149, 78,167,251,224, 94, 29,
- 11,155,205, 22, 17, 17, 17, 97,230, 56, 14, 58,157, 14, 74,165, 18,222,222,222, 85, 70,184,178,157,143,205,102,195,170, 85,171,
-202, 44, 22,203,231,142,232,230,228,228,108,152, 57,115,102,210,190,125,251,236,133,133,133,  0,128,244,244,116, 44, 90,180,200,
-182,122,245,106, 99,126,126,254, 87,206,166,181,176,176,240,155, 89,179,102, 93,251,249,231,159,237, 60,207, 35, 63, 63, 31,238,
-238,238, 88,180,104,145, 45, 34, 34,194, 88, 84, 84,228,180,102,207,158, 61, 19, 83, 83, 83, 93, 45, 22, 11,189,201,241, 35, 26,
-141, 38, 20,192, 97,103, 52,187,118,237,154,152,156,156,172,127,255,253,247,255,232,219,183,239,114,189, 94,127, 89,175,215, 95,
-238,219,183,239,199,171, 87,175, 62,162, 86,171, 67,  1, 28,170, 67,116, 85,170, 44, 51,212,106, 53, 84, 42, 85,213,  3,154, 74,
-165,130, 92, 46,119,200, 96,197,198,198,142,162,148,118, 16,  4, 65,232,208,161,  3,180, 90, 45,158,124,242, 73, 40, 20, 10,  0,
-192,236,217,179, 65, 41,  5,165,180,202, 96,149,148,148,212, 11,131, 69, 41,253,131, 82,218,141, 82,218,158, 82, 90, 31, 59,201,
-108,170,102,174,250, 83, 74,207,  2,232, 95,205,100,109,169, 15,  6, 75, 46,151,163,117,235,214,152, 54,109, 26,118,237,218,133,
-164,164, 36,  8,130,  0, 81, 20,193,113, 28,100, 50, 25, 51, 88, 12,167,169,170, 34,172,254,238,235,238,242, 92, 27, 63, 25,226,
-227,207,225,199,152,188, 77, 28,199,239,138,187,106,217,222, 63,184, 24,182, 45,163,209,126,228, 55, 88, 63,167,188,  9,130,148,
-117,  6,182,173,207,129,104, 27,224, 82,145, 22, 38, 91,254,222, 26, 78,228, 24, 79, 79,207,109, 27, 55,110,124, 97,236,216,177,
- 74, 73,146,160,209,104, 48,125,250,116, 80, 74,171,204,213,196,137, 19, 75,179,178,178, 62,165,148, 38, 58,232,126, 53,254,222,
-202, 89, 99, 94,126, 91,141,148,  8,128, 83, 32,  7,157,209,241,225,113,200, 74, 58, 14,148,158,  3,136,  2, 17, 75,198,123, 13,
-125,241,163,207,  0,244,173, 47,  7,224,252,249,243,152, 55,111,222,109,155,171,234,134, 40, 44, 44,108,232,174, 93,187,190, 48,
-155,205,147,239,160,230, 19, 75,150, 44,217,217,176, 97, 67,151,186,234, 24, 12,134,241, 57, 57, 57, 19, 29, 88,245,158, 85,117,
-196,196,196,196, 63,240,192,  3, 95,126,252,241,199, 47, 79,157, 58, 85,173,209,104,160,215,235,145,144,144,128, 70,141,202,155,
- 30,149,149,149, 97,206,156, 57,101,130, 32,108,138,138,138,138,114,176, 16,151,  8, 33,227, 38, 76,152, 48,182, 69,139, 22,131,
- 41,165,158, 54,155, 45,239,218,181,107,123,139,138,138,234, 52, 14, 86,133,230, 75, 19, 39, 78, 28,211,188,121,243, 39,236,118,
-187,167, 32,  8,121, 41, 41, 41,123,138,138,138, 54,212, 69,243,143, 63,254,200, 89,183,110,221, 21,163,209,216,218,199,199,167,
-200,203,203,203,106, 50,153,120, 87, 87, 87, 87,165, 82,217, 25, 64, 20,128, 11,206,104, 70, 69, 69,101,173, 89,179,230,154,201,
-100,106, 17, 17, 17,113,212,221,221,253,144, 40,138, 68,169, 84,122,184,184,184,244,  2,240,  7,128,203,117, 49, 88,149, 15,102,
- 10,133,162, 42, 42, 94,185, 12, 64,114, 66,235,163, 37, 75,150,200,212,106, 53,172, 86, 43, 76, 38, 19,114,115,203,107,175, 22,
- 47, 94,140, 57,115,230,  0,  0,230,205,155,135,249,243,231,163,172,172, 76,197,110, 31, 14,145,  7, 32,  6,192,168,202, 54, 87,
-213, 26,190,111,  2, 80, 88, 95, 12,150, 92, 46,199,216,177, 99, 49,104,208,160,191, 13,211,192, 26,185,223,245, 99,112,157,  7,
-185,111, 34,115, 55, 27,  7,107,118,223,198,175,  6,184,201,223, 52, 22,  9,187,148, 15, 36,205,154, 63, 31,116,206, 99,141,119,
- 61,209,188,244,177, 54,190, 18, 64,  5, 16,125,249,205,134,150, 24, 65, 92,124,145, 47,185, 97,221,193,204, 76,202,113, 93,231,
-253,116, 49,183,  6, 51, 36,119,119,119, 95,214,188,121,243, 39, 23, 45, 90,228,214,170, 85, 43,104,181, 90, 80, 74,113,234,212,
- 41, 76,156, 56, 49, 63, 59, 59,123, 93,110,110,238,123,180,166, 65,186,170,225,237, 46, 95,184,122,254,192,215,158, 28,251,174,
-  2, 23,102,  0, 50, 55,160, 65, 31,100,144, 71,225, 43, 59,  9, 88, 51,202,191,147,187, 97,224,152,197,249,123, 15, 70, 63, 77,
- 41, 61,118,175, 51, 63, 36, 36,196,164, 86,171,239,152,185,186,219,132,133,133, 61,160, 84, 42,119, 90, 44, 22,173,139,139,203,
-125, 57, 14, 86,197,113,145,171, 84,170,  5, 10,133, 98,252,115,207, 61,167,105,213,170, 21,130,130,130,144,149,149,133,132,132,
-  4, 68, 68, 68,152, 37, 73, 90,159,151,151, 55,247,236,217,179,182,251, 49, 15, 46, 94,188,232,215,180,105,211, 48,158,231,155,
-162,124,160,200, 12,  0,251,234, 98,132, 42,185,116,233,146, 33, 40, 40, 40, 76,161, 80,  4, 87,104, 26,  1, 28,168,139,102,151,
- 46, 93, 78,206,158, 61,187,225,195, 15, 63, 92,202,243, 60, 85, 40, 20,148,227, 56, 40, 20, 10, 42,147,201, 40, 33,132,126,251,
-237,183,250,229,203,151,167, 59, 50, 14, 86,104,104,232,230, 33, 67,134, 60,174, 86,171,177,125,251,118,193,199,199, 71,230,238,
-238,142,245,235,215,223,170, 28,  3,165, 84,203,110,141,255,250,107,221,116,224,192,  1,164,164,164, 92, 55,230, 85,117, 99, 85,
-185, 76,  8, 65,143, 30, 61,132, 19, 39, 78,176,113,176, 24,117, 55, 88, 55, 99, 73,159, 96,125, 33,232,247, 29,253,233, 67,161,
- 65, 42,120,187,171,193,201, 85, 40, 50, 19,156, 53,154,113,244,124, 81,170, 40,145,167, 62,216,151,120,214,193,168, 83, 87, 95,
- 95,223,153,146, 36,181,225, 56, 78, 75, 41, 45,225, 56,238,100,122,122,250, 34, 74,233, 57,103,118,194,221,149, 63,229,225, 34,
-115, 83, 40,149, 84, 16, 68,  0, 60,192, 17,128,112,  0,184,138,119, 30, 32, 28,202,202,108, 10, 65, 36,187,178,114,114, 38,221,
-235,204,127,248,225,135,127, 42, 41, 41,249,215,141,228,174, 82,169,230,242, 60, 63,236,126,159, 38,166, 91,183,110, 93,148, 74,
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+ 74, 74,122, 51, 38, 38, 38,187,160,160, 96, 35,128, 68,173, 86,123,166, 57,230, 42, 42,178,213,252,  9, 19, 39, 69,140, 24, 49,
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+ 82, 82, 82,154,188,150, 76, 38,147,239,161, 15, 63,132,196,205, 13,212, 98,  1,223,166, 13, 68, 81,172,153, 71,239,240, 97,192,
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+ 82,213,253,182,118, 50,246,202,202, 74, 12,122,170,107, 75,162, 85,126,148, 82,255, 59, 12, 22, 87,219, 54,195,100, 50,193,198,
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+ 50, 50, 50, 78,169, 84,198,237,219,183, 15,  0,208,171, 87,175,184,206,157, 59,187,240, 60, 63,148, 16, 50,194,193,193,161,103,
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+ 30, 61,122, 64,175,215, 99,247,238,221,255,183,105,211,166,255,139,137,137, 57, 70, 41,125,255,244,233,211,135,238,213,195, 49,
+ 54, 54,246, 18,  0,191,218,184, 67, 74, 74, 74,235,127,197, 83,219,222, 30,232,219, 23, 21,121,121, 53,101,243,188,121, 53,101,
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+109,187,172, 30,103,162,180,180,116,198,227,143, 63,238,189,101,203,150,231, 56,142,179, 41, 44, 44, 36, 85, 85, 85,182,211,166,
+ 77,243,213,233,116, 35, 18, 19, 19,123, 15, 27, 54,236, 28,165,244,147,173, 91,183, 38, 55,166,229, 30, 61, 50,212,195,205, 99,
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+219,229,213,126,104,255,252,179, 91, 27, 43,200, 32,161,120,253,248,137,212, 86, 28, 95, 66,136,204,161,129, 55, 99, 41, 66,219,
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+ 41, 40, 40,192,254,253,251,238,250, 27,107,253, 70,253, 15, 31,124,240,129, 99,105,105,233,131, 43, 86,172,136,247,246,246,158,
+149,151,151,215,236,194,135, 16, 98, 11, 96, 80,191,126,253,102,111,218,180, 73, 93, 59,122,189,167,167, 39, 22, 44, 88,224,247,
+232,163,143,126, 12, 96, 88, 19,230,234,187,177, 99,199,142,238,223,191, 63,194,195,195, 81, 82, 82,130, 99,199,142,153,150, 44,
+ 89,114,253,129,  7, 30,  8, 26, 61,122,180, 98,202,148, 41,254,153,153,153,175, 38, 38, 38,190,234,236,236,252,109, 89, 89,217,
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+ 29, 75,203,138,220, 40, 21,159,  4,240,125, 51,204, 85,168,143,167,231,158,185, 31,127,236,228,226,238,142,252,252,124,220,200,
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+ 29,239,144,144, 16,255, 53,107,214, 64,175,215,  3,128,123,112,112, 48,194,194,194,132,131,  7, 15, 34, 60, 60, 28,246,246,246,
+ 56,120,240, 32,142, 29, 59,134,152,152, 24,181, 92, 46, 31,105,141,193,234, 21, 77,134,116,236, 16,213, 53,192,207, 31,  7,142,
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+ 46, 15, 12, 12,140,155, 59,119,174, 74, 46,151,227,220,185,115,200,207,207,135,187,187, 59,108,108,108, 32,147,201, 32,149, 74,
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+ 42,107,192,128,  1,175,123,120,120,204,240,240,240,144,212,255,222,104, 52,226,141, 55,222,128, 94,175,135,143,143, 15,124,124,
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+175,190,250,234,123, 74, 41,170,170,170,234, 54,240,240,240,200,236,213,171,151,164,103,207,158,  8,  9,  9,193,210,165, 75,251,
+110,216,176,161, 55,128,159,155,123, 45, 57, 58, 58, 62, 50,106,212, 40, 59,181, 90,141, 46, 93,186,192,100, 50,105,226,226,226,
+148, 45,169,138, 36,132, 72, 53, 26,141,167, 84, 42,253,108,242,228,201,  3,251,244,233,131,180,180, 52,236,220,185, 19,195,134,
+ 13, 67, 92, 92, 28,222,126,251,237, 65,239,190,251,238,100, 52, 48,171,133, 40,138,171, 55,110,220, 24,232,235,235, 11,137,164,
+ 38, 91, 29, 28, 28, 48,110,220, 56,140, 29, 59, 22, 59,118,236,232, 58,103,206,156,181,113,113,113,  1,  7,154, 81, 83,209,212,
+ 59, 75,202,173,251, 53, 54, 54,214,239,223,242,208, 54,117,235,134,178,188, 60,120,122,123,  3,  0,242,180, 90, 80, 74,235, 62,
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+  1, 64,160, 20, 21,122, 30,182, 74, 14,153,121, 58,156,191, 90,116,183,  2,255,182,174,150,253,251,247,223,170,211,233,194, 93,
+ 92, 92, 22,240, 60, 47,233,219,183,175,164,107,215,174,238, 89, 89, 89, 56,112,224,  0,100, 50, 25, 76, 38, 19,113,118,118, 86,
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+113, 57,251, 38, 66,125,187,192,213,209, 15,185, 69,122,164,164,238,192,229,140,237,  8,245,245,199,132, 49, 97,142, 11,191, 46,
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+ 80, 89,146,137, 75,191,173,164,153,231,126,166,254,209, 79, 18,  0,146,134,142,157, 82, 90, 40,145, 72,150,115, 28, 25, 79,  8,
+ 65,135, 14, 49,133,243,231,207,191,219,155,154,165, 67,135,152, 66,137,132,243,168,153, 71,144, 91, 38,138, 66, 97, 35,233,172,
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+125,124,124,158,202,205,205,205,109,236, 28,213, 43, 20,163, 28, 28, 28, 38,182,106,213,106,216,236,217,179, 21,131,  6, 13,178,
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+ 74,206,203,201,185,112, 51, 60,172,147,199,128,129,221, 92, 46, 93,186,218,163, 33,131,117,167,230,232,209,163, 37,156, 32,252,
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+247, 59, 30, 66,153, 90,173, 22, 42,149, 10, 17, 17, 17,118,201,201,201, 71,115,114,114,180, 77,105,218,216,216,140,236,209,163,
+135,253,218,181,107, 17, 27, 27, 11, 39, 39, 39,236,223,191, 31,231,206,157,131,217,108,230,116, 58, 29,212,106, 53,230,206,157,
+ 11,127,127,127, 84, 84, 84, 32, 51, 51,211, 85, 38,147,185, 89,149, 78,130,103, 70,143,120,  8, 18,185, 29, 46,101,228,160, 79,
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+ 56, 79, 78, 42,149, 62, 52,103,206, 28, 78, 46,151,215,229, 93,237,156,132,181,198,170,118,146,246,187,153,213,187,165,147,231,
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+196,252,188, 63, 53,251,245,235,119,126,213,170, 85,173, 59,118,236,200, 16, 66,192,178, 44,  8, 33, 96, 24,  6, 44,203, 54,188,
+  2,192,145, 35, 71,132, 55,222,120, 35,235,167,159,126,234, 37,230,231,221,209,124,208,112,104, 45,194,186, 38,187, 47,235,254,
+ 68, 68,254, 54,220,206,186,126, 34,247, 31,201,201,201,227,188,189,189,227,221,221,221,219, 27,141, 70,105, 77, 77,141,180,241,
+195,168, 66,161, 40, 17,115,233,254, 71, 16,132, 65,115,230,204, 57, 98, 48, 24,124,111,245, 93,133, 66,145, 87, 93, 93, 61, 68,
+204, 53,145,187, 98,176, 68, 68, 68, 68,254, 46,228,231,231,135,137,185,240, 96, 83,215,124,220, 77,204,  9,145,187,129, 56, 44,
+ 66, 68, 68, 68, 68, 68, 68, 68, 68, 52, 88, 34, 34, 34, 34, 34, 34, 34, 34,162,193, 18, 17, 17, 17, 17, 17, 17, 17, 17, 13,150,
+136,136,136,136,136,136,136,136, 72,243,249,127, 79, 26,247,226, 57,216,252,127,  0,  0,  0,  0, 73, 69, 78, 68,174, 66, 96,130,
   0};
 
diff --git a/source/blender/editors/datafiles/prvicons.c b/source/blender/editors/datafiles/prvicons.c
index 6222090705a..2a470e056cf 100644
--- a/source/blender/editors/datafiles/prvicons.c
+++ b/source/blender/editors/datafiles/prvicons.c
@@ -1,436 +1,304 @@
 /* DataToC output of file <prvicons> */
 
-int datatoc_prvicons_size= 13732;
+int datatoc_prvicons_size= 9534;
 char datatoc_prvicons[]= {
-137, 80, 78, 71,
- 13, 10, 26, 10,  0,  0,  0, 13, 73, 72, 68, 82,  0,  0,  0,192,  0,  0,  0,192,  8,  6,  0,  0,  0, 82,220,108,  7,  0,  0,  0,
-  6, 98, 75, 71, 68,  0,  0,  0,  0,  0,  0,249, 67,187,127,  0,  0,  0,  9,112, 72, 89,115,  0,  0, 11, 19,  0,  0, 11, 19,  1,
-  0,154,156, 24,  0,  0,  0,  7,116, 73, 77, 69,  7,215,  8, 27, 17, 57, 33, 43,142, 73,203,  0,  0,  0, 29,116, 69, 88,116, 67,
-111,109,109,101,110,116,  0, 67,114,101, 97,116,101,100, 32,119,105,116,104, 32, 84,104,101, 32, 71, 73, 77, 80,239,100, 37,110,
-  0,  0, 32,  0, 73, 68, 65, 84,120,218,237,125,121,124, 84,213,249,254,115,238,189, 51,147,201,158, 12, 73, 72,216,  3,200, 98,
- 88, 69, 66, 38, 65, 16, 20,165, 40,213,162, 32, 45,138,203, 79,176,223, 42,180,110, 72,235,190, 97, 91, 91, 21,181,149,182, 90,
- 20, 42, 10, 66, 80,164, 34, 59,146,  5,194, 30, 18,  8, 75,  2,201,144,144,201, 62, 73,102,189,247,158,243,251, 35,235, 36, 51,
-217,200,100, 38,229, 62,159,207,124,146,123,239,153, 59,207, 61,247,125,207,121,223,247,156,243, 30, 64,129,  2,  5, 10, 20, 40,
- 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,
-  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,
-160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5,
- 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160,
- 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,160, 64,129,  2,  5, 10, 20, 40, 80,208, 18, 36, 41, 41,105,
-180, 32,  8,143, 16, 66, 72,119,223,156, 49, 22, 46,203,242,112,198,216,203, 41, 41, 41,251, 60,241,  0,189,157,191,  2,239, 43,
-192, 61, 49, 49, 49, 27,230,204,153,227,215,157, 55,206,206,206,198,169, 83,167, 16, 25, 25,  9,131,193, 64, 37, 73,154,150,146,
-146,146,226,  1,  5,232,213,252, 21,120, 23,  2,  0, 68, 71, 71,219, 23, 46, 92,216,109,  2,180,105,211, 38, 24, 12,  6, 60,250,
-232,163,224, 56, 14,  7, 15, 30,228, 50, 51, 51, 15, 36, 38, 38, 38,164,166,166,102,116,247, 67,244,118,254, 10,188,  7,174,187,
-111, 40, 73, 18,214,175, 95,143,  5, 11, 22,160,111,223,190,240,247,247, 71, 98, 98, 34,226,226,226, 56,149, 74,149,174,215,235,
- 39,250,114,133,244,118,254, 10,188,172,  0,  6,131,  1,193,193,193,136,136,136,128, 32,  8,208,106,181,208,106,181,208,235,245,
- 24, 57,114, 36,167, 86,171, 51,244,122,125,156,175, 86, 72,111,231,175,192,203, 10, 80, 88, 88,  8,157, 78,215,120,172,209,104,
- 26,133, 40, 49, 49, 17,195,135, 15,231,213,106,245,137,132,132,132, 27,124,177, 66,122, 59,127,  5, 94, 86,128,192,192, 64, 88,
-173, 86,167,115,254,254,254,141,159,164,164, 36,196,198,198, 10,126,126,126, 89,122,189, 62,214,215, 42,164,183,243, 87,224,101,
-  5,208,233,116, 48,153, 76,173,206, 55,180,162, 90,173, 22, 73, 73, 73, 24, 56,112,160, 74,163,209,156,213,235,245,  3,124,169,
- 66,122, 59,127,  5,157,131,208,221, 55,140,138,138, 66, 77, 77, 13,172, 86, 43,180, 90, 45,  0,160,170,170, 10,165,165,165, 40,
- 47, 47, 71,105,105, 41, 44, 22, 11,  6, 15, 30, 12, 81, 20,213, 87,175, 94, 61,175,215,235,135,164,165,165, 21,251, 66,133,244,
-118,254, 10,188,172,  0,106,181, 26,227,199,143, 71, 78, 78, 14,116, 58, 29, 14, 28, 56,128,130,130,  2,196,198,198, 34, 42, 42,
- 10, 67,135, 14,  5,207,243, 72, 77, 77,133,209,104,132, 40,138,126, 26,141, 38, 79,175,215, 15, 74, 75, 75, 43,245,118,133,244,
-118,254, 10,188,172,  0,  0, 48,109,218, 52,124,250,233,167, 16, 69, 17,143, 63,254, 56,102,206,156,  9,181, 90,237, 84,102,209,
-162, 69, 48,153, 76, 88,183,110, 29,182,108,217,162,165,148,190,  9,224,  9,  0,204,219,149,210,219,249, 43,240,162, 15,  0,  0,
-  9,  9,  9,  8, 12, 12,196, 71, 31,125,132,217,179,103,183, 18,158,  6,132,132,132,224,201, 39,159,132, 70,163, 97, 86,171,117,
-108,104,104,104,127,  0,196,219,149,210,219,249, 43,240,178,  2,  4,  5,  5, 97,205,154, 53,136,137,137,233, 80,249, 33, 67,134,
- 72, 86,171,213,204,243,252,253,190, 32, 64,189,157,191,  2, 47, 43,  0,  0,  8, 66,199,173, 43, 63, 63, 63, 70, 41,149, 24, 99,
- 26, 95, 17,160,222,206, 95,129,151, 21,160,139,144,123,121,125,202,138, 72, 41, 10,208, 37, 16, 66,100, 66, 72,175, 21,160,222,
-206,255,122,133,208, 19, 63, 98,178,216,193, 24,131, 74,224, 17,160, 81,185,109, 61, 25, 99, 50,122,111, 20,165,183,243, 87, 20,
-192, 19,200, 45,174,194,152,103, 62,  5,  0, 68,135,  5,226,252,234, 37,224,185,122, 51,153, 81, 56,142,252, 11,183, 71, 92,225,
- 39,223, 22, 56, 50, 88,173,213,234, 99,111,136,134, 64,254, 25,249,155,244,139,158,230,166, 82,185, 85, 70,136,162,216,217, 30,
-128,  2,160,138, 15,160, 40,128, 19, 62, 63,112,186,241,255,171,149,181,248,241,100, 30,126, 54,113, 40,  0,128,154,174,192,126,
-124, 61,146,194,192, 35, 76, 51, 28,192,112,  0,183, 17,137,255,216,155,194,223,145,235, 45,148,132,  1,104, 48,129,148, 30, 64,
-241,  1,234,109,  2,202,240,159,159,178,157,206,125,113, 32,171,241,127, 90,118,190,213,119, 24, 80, 30,190, 60,165,192,155,194,
-223,197,251, 80,197,  9, 86, 20,192,  9, 59, 79, 93,194,213, 42, 51,180,234,166,142,230,135, 19,121, 40,173,182,212, 41, 72,217,
-  5,184,208,128, 19,189,169,  2,155, 41,  1,173,247,  1, 20, 40, 10,224,220,218,191,255,240, 76, 52, 44, 89, 23,101,138, 13, 41,
-103,234, 36,166,212,101, 15,112,220,215, 43, 77, 20, 69,167, 15,  0, 13,165, 20,  0,244,  0,120, 69,172, 20,  5, 64,105,181,  5,
-255, 61,158,139, 65, 17, 33, 88,116, 75, 28,102,196, 13,106,230, 23,100,213,247,  0, 46, 20,128,178,227,189,173, 18, 25, 99,  0,
- 16,  7,160, 76,241,  1, 20, 39, 24,  0,176, 33,229, 12, 68,153,226,161,105, 55,130, 16,224,161,105, 99,176,231,116, 62,  0,224,
-236,149,114,100,100,102, 97,148,189,166,213,247,204,140,157,  0,128,146,143,167,  7,242,212, 54,  7,192, 72, 70,137,131,227,113,
- 90,148,232,145,168,223, 30, 54,250,168,  2,252,  4,160, 90, 17, 41,165,  7,104,108,229, 57, 66,240,224,180,186,229,179,115, 39,
- 13, 67, 88, 64, 83,226,134,181,123, 91,155,250,162,204, 44,187,114,228, 75,229,171,227,159,225,101, 91, 49, 24,190,  2,195,171,
-132,176,183, 25,101,219,  4,142,228, 85,172, 78, 88,234,139, 21,233,112, 56,202, 25, 99,134,122,103, 88,193,245,172,  0, 71,115,
-139,113,246, 74, 57,102,142, 25,132,254,225, 65,  0,  0,141,138,199,130,196, 81,141,101, 54,159, 42,133, 85,118, 54,151,171,172,
-180,224, 23,113,170,117,  0,121, 23, 64,128,139, 91,251, 51,176, 79,202, 62, 72, 88,229,131,117, 25, 98,179,217,250,195,247,166,
-151, 40,232,105,  5, 88,187,191, 46,246,191,120,250, 24,167,243, 15, 79,111, 74,166, 80,227, 96,216, 86,230, 60,219, 82, 23,192,
- 15, 35,192,130,246,238, 79,  8,123,166,236,189, 41,163,188, 85,105, 42,149,170, 85, 40,149, 16,  2, 74,169, 77, 81,128,235, 92,
-  1, 44,118, 17,223,164,159,131, 46, 72,139,187,110, 26,234,116,109,236,160, 72,140, 27, 28,217,228, 39, 24,  7, 57,147, 33, 16,
- 24, 96,  7,240, 79,  2,242, 75,  2,242, 75,  6, 28,112, 37,131,132,195,115,222,170,180,102,209,159, 70,225,231, 56, 14, 42,149,
-234, 40,234,162, 64,202,104,240,245,170,  0, 91,143, 92, 64,181,213,142,  7, 18, 71, 65, 45,180,142,  8, 62,220,172, 87, 72,175,
- 14,199,101, 91,147,165, 67, 41,236,162,204,238,214, 45, 59,180, 36,124, 89,250,134,240,101,233, 27,116, 21,126,183,  1,200,105,
-221, 13,224,198,107, 17, 96, 15, 33,166,222,  7, 96,  0, 84,138,120, 93,135, 10,208, 16,251, 95, 60,205,117,238,168,249,250,145,
-240, 19,184,250,232,  9,193,134,226,129,141,215, 14, 92, 52,255, 43,250,119,135,247, 56,201,249,171,251, 37, 66, 88,178,139,216,
-139, 79,229,229,169,207,205, 43,212,127, 72,125,221,106, 20, 17,187,142, 20,224, 82,137,  9,  7,207, 26, 48, 49, 54, 10,113,  3,
- 35, 92,150,  9, 11,240,195, 93,195,154,150, 24,126,109, 28,  8,153, 17, 88, 37, 88, 95,218,102,220,233, 70,188,170, 92,156,243,
-243,149, 74,164,148,130, 82, 10, 73,146, 56,  0, 13,221,139, 31,234,204, 57,  5, 62,140,110, 29,  7,248,226, 64, 22, 24,  3,146,
- 70, 14, 64,102,126,137,219,114, 19,131, 42,241, 13,234, 82,142, 92,117,248, 97,127,101, 36,  2,107, 11, 47, 24,107, 36,171,171,
-242,140,161,159,139,211, 62,149,129,161,190,  7, 16,209, 52, 16,102, 82,196,235, 58, 82,  0,202, 24,214,255, 84,103,254,172,254,
-239, 81,172,254,239,209, 54, 74,107,157,142, 54, 24,  7,226, 94,114,165,202,221,130, 18,  2, 50,136,181, 30, 96,205,242, 86,165,
- 53, 68,128,154,251, 18,140, 49,112, 28, 39,214,215,169,168,136,214,117,166,  0,187, 78, 93, 70, 97, 69, 45,166,142, 26,128,219,
-199, 14,118, 95, 80,118,192,126,116, 45, 14,155,194,177,187, 50, 10,  0,240, 99,121, 95,220,168,209, 88, 40,165,173,166, 19,151,
-175,142, 15,102, 96,183,182,234, 21,  0,175,231,234, 87,169, 84, 78, 74,192,113,156, 67, 49,123,174, 83,  5,104,112,126, 95,186,
- 79,143,164,145,253,221,150,147,138, 78,192,106, 60,143,139,186, 64,236, 62, 86,167,  0, 14,198,225, 44, 63,108, 24, 33, 57,178,
- 11,211,226,  9,198, 16,220,178,195,225,101,124,233, 11, 21,216,208, 27,168, 84, 42,155, 90,173,110,112,128, 21, 92, 79, 78,112,
-121,141, 21,219,143,231, 98, 72,100,  8, 18, 71,244,111,219, 84,170,159,  1, 58,204,191, 22, 55,  7, 87, 52,158, 63, 45,247, 31,
- 76,235,167, 84, 54,160,236,195,201, 51, 24,195, 75, 46,140,162, 45, 97,191, 59,116,217,135,236,255, 82, 65, 16,120, 40, 19,225,
-174,207, 30,224,171,212,179,112, 72, 50, 22,221,114, 35,218,219,169,171,249, 26,128, 95, 70,229,227, 72,117, 56,  0, 32,207, 22,
- 36,124,241,127,250, 79,110,139,170,120,141,112, 40,231, 25,110,167, 12,207,160,117, 40,209,194,113,228, 89, 95,170, 68,158,231,
-  3,120,158,175, 97,140, 29,135, 50, 23,232,250,235,  1,214,238, 63, 13,142, 16, 44,186,165,253,125, 35,154,175,  2,251,121, 68,
- 33,252, 57,169,241,120,111,109,255, 49, 60,193, 55, 28,195, 62,  6,252,158,180, 22,126, 10, 66, 30, 14,123, 50, 45,223,199,234,
-145, 17, 66,168, 39, 54,234, 83,224,163, 61, 64, 65, 89, 53,118,158,186,132,242, 26, 43,178, 13,101,232, 23, 30,136, 31, 79,230,
-  1,  0,126, 54,113, 40, 98,194,  2, 91, 75,137,100,  3,173, 42, 64,165,164,198,119,165,117,243,128,  6,105, 45, 56,107,174, 51,
-241,183,148,246,199,232,128,186, 25,197,183,134,149, 96,160,159,197,201,125, 32,192,178,240,167,210, 55,249, 82,  5,138,162,216,
- 16,  2,149, 91,154,112, 10,254,135, 21, 32,203, 80,134,101,159,237,110, 60, 46,172,168,109, 60, 30,214, 55,204,165,  2,208,242,
- 92,128, 81, 20,219,253,240,252,197,113,173,174, 87, 75,170,198,243,159,141,202,104,174,  0, 57,132,224,255,133, 63,117, 40,181,
- 59,  5,247, 90,215,  6, 55, 68,128, 24, 99,168,239,  1, 20,  5,184, 94, 20, 32,126, 88, 52,118,252, 97,190,203,107, 99,  7,185,
- 30,  5,230,130,251, 65, 59,247,  3,140,112,200,216, 62,185,166,222,129,228,177,230,235, 31,109,135,207,228,173, 11, 12,208,156,
-126,112, 28, 25, 30,161,178, 15, 25, 27,100,178,  1,200, 97,132,238,235,243, 84,198, 94, 79,181,222,157, 77,141, 34, 73, 82,171,
-180,137,132, 16, 48,198,168, 44,203, 65,138, 72, 93, 39, 10,160, 11,210,226,150,209,157,219, 28,133,104, 67, 33,104, 39, 32,  4,
-192,173,131,155,206,127,191,245, 59, 57,220,116,225, 66,126,102,254,174, 63,236, 48,125,212,147,209,148,206, 78,140,115,151, 51,
- 84,201, 12,119, 29, 59,193,221,132,222, 46, 64,138,  2,244,214, 30,192,100, 50,  9, 25, 25,222,219,255,217,100, 50,241,132, 16,
- 42,203,178,220,197,239,247,106,254, 10,188,171,  0,198,226,226,226, 83,171, 86,173,226,237,118,123, 52, 99, 76,141,186,176, 30,
-234, 77, 17,214,204, 36, 97,132,144,198,255, 91, 94,115,119,189,197,189, 90,150,101,178, 44,203,146, 36,149,212, 59,145,157, 53,
-127,122, 59,127,  5, 94, 68,243,184, 53,167,211,233,150,  3,232,139,166, 44,103, 50, 99, 76, 34,132,200,140, 49,153, 16, 34, 53,
- 59, 71,155, 93,107, 56, 47, 19, 66,164,250,  4, 81,114,195, 53, 66,136, 76, 41,149, 90, 28,203, 13,118, 51,165, 84,146,101, 89,
- 98,140, 89,204,102,243,149,174,154,115,189,156,191,  2, 47, 43,  0,  9, 12, 12,140,230, 56, 78, 77,  8, 97,245, 19,189, 26, 91,
-185,134, 86,176,249,113,125,232,143,  1,128,195,225,112,106, 65,  9, 33,172,217,167,161, 44, 44, 22,139,211, 61, 56,142, 99,132,
- 16, 86, 89, 89,201,234,133,182,171, 51, 41,123, 59,127,  5, 94, 86,  0, 87,199, 29,  5,243,209,231,233,109,252, 21,244,180,192,
- 36, 37, 37,141, 22,  4,225, 17, 79, 12,227, 51,198,194,101, 89, 30,206, 24,123, 57, 37, 37,101,159, 39, 30, 64,225,175,240,191,
- 86,  5,184, 39, 38, 38,102,195,156, 57,115,186,117,137, 97,118,118, 54, 78,157, 58,133,200,200, 72, 24, 12,  6, 42, 73,210,180,
-148,148,148, 20, 15,188,  0,133,191,194,255,154,162, 64,136,142,142,182, 47, 92,184,176,219, 30, 96,211,166, 77, 48, 24, 12,120,
-244,209, 71,193,113, 28, 14, 30, 60,200,101,102,102, 30, 72, 76, 76, 76, 72, 77, 77,237,246,120,165,194, 95,225,223, 85,116,251,
- 64,152, 36, 73, 88,191,126, 61, 22, 44, 88,128,190,125,251,194,223,223, 31,137,137,137,136,139,139,227, 84, 42, 85,186, 94,175,
-159,232,203, 54,161,194,255,250,226,223,237, 10, 96, 48, 24, 16, 28, 28,140,136,136,  8,  8,130,  0,173, 86, 11,173, 86, 11,189,
- 94,143,145, 35, 71,114,106,181, 58, 67,175,215,199,249,234, 11, 80,248, 95, 95,252,187, 93,  1, 10, 11, 11,161,211,233, 26,143,
- 53, 26, 77,227, 67, 36, 38, 38, 98,248,240,225,188, 90,173, 62,145,144,144,112,131, 47,190,  0,133,255,245,197,191,219, 21, 32,
- 48, 48, 16, 86,171,115,118, 19,127,127,255,198, 79, 82, 82, 18, 98, 99, 99,  5, 63, 63,191, 44,189, 94, 31,235,107, 47, 64,225,
-127,125,241,239,118,  5,208,233,116, 48,153, 90,167,196,105,208, 98,173, 86,139,164,164, 36, 12, 28, 56, 80,165,209,104,206,234,
-245,250,  1,190,244,  2, 20,254,215, 23,255,110,223, 32, 35, 42, 42, 10, 53, 53, 53,176, 90,173,208,106,235,242,255, 84, 85, 85,
-161,180,180, 20,229,229,229, 40, 45, 45,133,197, 98,193,224,193,131, 33,138,162,250,234,213,171,231,245,122,253,144,180,180,180,
- 98, 95,120,  1, 10,255,235,139,127,183, 43,128, 90,173,198,248,241,227,145,147,147,  3,157, 78,135,  3,  7, 14,160,160,160,  0,
-177,177,177,136,138,138,194,208,161, 67,193,243, 60, 82, 83, 83, 97, 52, 26, 33,138,162,159, 70,163,201,211,235,245,131,210,210,
-210,188,158,237, 77,225,127,125,241,247,200, 22, 73,211,166, 77,195,167,159,126, 10, 81, 20,241,248,227,143, 99,230,204,153, 80,
-171,213, 78,101, 22, 45, 90,  4,147,201,132,117,235,214, 97,203,150, 45, 90, 74,233,155,  0,158,128, 15, 76, 75, 80,248, 95, 63,
-252, 61,178, 32, 38, 33, 33,  1,129,129,129,248,232,163,143, 48,123,246,108,183,171,168, 66, 66, 66,240,228,147, 79, 66,163,209,
- 48,171,213, 58, 54, 52, 52,180, 63,124, 32,177, 84, 75,254, 45, 43, 95,225,255,191,195,223, 35, 10, 16, 20, 20,132, 53,107,214,
- 32, 38, 38,  6,207, 62,251, 44,102,204,152,  1,135,195,225,182,252,144, 33, 67, 36,171,213,106,230,121,254,126, 95,120,  1,205,
-249,119,  4,189,141,191,217, 46,225, 82,105, 45,142, 95,174,192,190, 51,197,136,136,155, 70, 73,212, 40,191,136,184,169,207,196,
-175,248, 79,191,235,169,254, 61,182, 75,164, 32,  8,248,252,243,207,177,122,245,106,  0, 64,114,114, 50, 22, 44,112,189,251,145,
-159,159, 31,163,148, 74,140, 49, 13,124, 36,181,160,187, 94,171, 55,243, 63,122,169,  2,155, 50, 12,200, 41, 50,129,202, 82, 99,
- 90,119, 22, 54,158, 15,157, 50,118,124,  8,165,227, 41,149,151, 37,190,240,245, 22,202,196,215,210,255,184,232,244,255,122,253,
- 11,158,124,136, 63,252,225, 15,  0,128,216,216, 88,124,241,197, 23,110, 21,160, 25,122,251,146, 66,159,229,127,185,204,140, 55,
-191,205,134,192,  1, 49, 33, 26, 20,148,137, 96,148,130,177, 86, 31,  2, 70,231,129,146, 95, 76,126,118,253,188,140,119, 23, 37,
-119,250,189,111,248,  9, 89,  5,158,245,167,191,121,246, 94,168,120,238,154,235,223, 99, 10, 80, 84, 84,132,146,146, 18,188,249,
-230,155,120,238,185,231,176,120,241,226, 54,203,247,246,172, 10,190,206,255, 68,126, 37, 24,163,120,235,254,  9, 24, 17, 29,140,
- 63,109, 59,141,189, 89, 69, 96, 13,189, 64,227, 95,214,112, 76, 64,233, 59,  0, 58,173,  0,207,220, 61, 25, 14,201,179, 85,209,
- 82,248,187, 90,255, 30, 83,128,236,236,108, 68, 68, 68,224,217,103,159,  5, 33,  4,185,185,185, 46,115,234, 52,215,222,250,165,
-136,189,117,113,138, 79,243, 63, 83,104,  2,165, 20,  2, 87,103, 33,168, 56, 82,215,  3,180,248,180, 80,130, 27,110, 90,178,198,
-255,216, 63,150, 90, 58,243, 91, 57,133,229, 40,175,181, 94, 51,103,209, 97,119,235, 59,206, 26, 59, 24, 92,253, 18,  4,187,221,
- 14, 89,150, 57, 89,150,213,  0, 66,208,118,126,214,234,230,215, 59,164,  0,159,237,205,196,165,146,206,109,120,146,157,150,138,
-232, 81,147,240,202,198, 84, 72, 14, 59,206,156,191,136, 87,190, 78,  1,199,183,222, 56,239, 80, 77,  8, 95, 54,112,234, 72,235,
-  0,149, 86,  8, 31, 20, 13,144,118,133, 72, 82,227,143,248,114,101,165, 15,245,  0,180,190, 98,125, 50, 63,168, 67,148,193, 40,
-195,138, 47,143,162, 95,152, 22, 57,133,149,117,  2,207, 24, 24,163,160,204,165, 57,  4,217, 95,173,  6,208, 41,  5,200, 51, 86,
- 33,191,172,250,154, 57,239, 92,247, 49,210,183,111,236, 72, 81, 53,128, 59,235, 63,111,183, 83,246, 70,  0,103, 58,165,  0,250,
- 17,253,220,238,249,229, 14, 17, 86,  3,138,250,248,225,238, 73,195,240,233, 71,239, 33,208,223, 31, 63,143, 31,225,186,194, 82,
-183,211, 98, 83,126,161,228, 96,167,164,240,129,223, 18,158,111, 63,197, 96,165,214,210, 93,194, 65,171, 12,224, 66, 59, 54,162,
-110, 50,153, 96,179,217, 16, 21, 21,213,252, 52, 67, 83, 94, 32, 31,237,193,234,  4,221,108,151,113,174,200,214, 36,244,148,130,
- 82,230,214, 20,  2,215,249, 64,225,162, 91,110,236, 22,198,166, 67,201, 72,175,139,242, 32, 34,194,181,252,157, 57,115,  6,181,
-181,181, 13,141, 80, 25, 99, 44,215,205,237, 70,  1,173,246,153,232,152,  2,140,236,167,235,188, 61, 80, 58,  4, 63, 92,202, 65,
-148,202,129, 13,159,125,130, 25, 51,102, 96,242,176,104,151,101,163, 84, 14,234, 95,109, 40,179,150,151, 95,172,201,220,123,  8,
- 61,156, 98,220,113, 98, 61,184,136, 17, 80,199,253,162,221,178, 85, 85, 85,152, 59,119, 46,118,239,222,221,242,165, 80, 95,115,
-130, 25, 99, 16,229, 58,125, 92,126,199, 72,136,242,  8,103,253,100,117,255, 63,248,167,173,204, 14,129,184, 50,133,  0,128, 93,
-125,186, 97,177,139, 68,162,255, 42,181,247,187,203,255,189, 27, 39, 47,151, 92,187,227,158, 86,183, 59, 46, 55,106,  6,248,113,
- 83,157,174,237,122,105,  1,212,  2,143,105,211,166, 33, 61, 61, 29,  0,160,209,104,126,176,217,108, 15,187,145,159, 61,  0,102,
-244,152, 15, 48, 96,192,  0, 28, 59,118, 12,219,183,111,135,205,102,195,252,249,243,219,109,136,235,109,104,175,180,142,246,148,
- 15, 64, 56, 30,170,209, 63,111,183,244,217,179,103,113,199, 29,119, 96,231,206,157,232,211,167,143, 15,240,119,150,233,140,188,
- 10,164,158, 47, 65, 70, 94, 57,204, 86,  7, 40,149, 91,181,240, 78,231,160, 34, 13, 38, 80, 75, 83,232,181,159, 93,137,  4,112,
-174,241, 25,175,254,238, 44,152,188,140,196,172,118,155,175,245,131, 71,110,235,150,103,121,222,122, 18,239,103,236,192,138,123,
-226,241,240,195,191,236,136,194,119,186,225,236,144,  2, 56, 36, 25,148,117,174,103, 55,219,108,216,187,119, 47,100, 89, 70,100,
-100, 36,102,205,254, 25,108,162,228, 38,118, 72, 64,121,  1,208,104, 57,220,189,212, 15,186,232,246, 31,100,237, 43,246,142,248,
- 10,157, 81,  2,219, 79,127,  5,  8, 15,213,168,187,218, 45,157,149,149,133, 59,239,188, 19, 59,119, 54,238,236,234, 19, 81,160,
- 79,246,229,226,199,204,162, 38, 97,111, 33,216, 77,  2,206,156,237,125, 23,166, 80,235, 42,162, 28,152,116, 35,152,252, 29, 51,
- 44, 25, 72,  6,252,163,194, 21,135,175,211,114, 96,232,  6, 31,224,104,110,221,252,182, 31, 79, 94, 66,217,119,206, 43, 33,127,
-119,215,205,224,185, 86,238,150,103, 20,224,181, 77,169,157,138,235, 58,204,213, 72, 91,243, 18, 26, 50,  5, 14,152,181, 24,143,
-253, 99,143,251, 22,181, 50, 92, 85, 26, 59,123,170, 72, 84,163,  4, 77,240, 47, 96,110,223,142,150, 22,190,189, 24, 27, 96,236,
-238,158,192,118,224,207,  0,199, 67, 53, 98,118,187,165, 51, 51, 51, 49,123,246,108, 76,154, 52,  9,245,137,182,188,170,  0, 57,
- 87,107,240,227,233,171,237, 10,182,187,191,172,222,236,113, 45,252, 18,192,228,186, 15,149,  2,192,228,223,  0,120,195,165, 73,
- 27,226,223, 24,161,185, 22,204,152, 53, 27, 67,  6, 13, 68,220,164,201,232, 31, 17,210, 34,232,224,218,138,104,227,118, 31,  3,
-216,  6,160,184,211, 10,240,214,194, 91, 58, 69,124,225,194,133,176, 86,214,217,128, 43, 86,172,192, 27,111,188,209,102,249,167,
-159,126,218,177,235,232,174, 93,165,165,165,187, 42, 42, 42,190,132, 87,183, 25, 98,176,237,255, 35,  8,199, 67, 24, 62,171,221,
-210, 39, 78,156, 64, 97, 97,161, 42, 40, 40,136,247,182, 15,176,247,140,177, 93,193,102, 45,206, 57,149,173,239, 33,154,161,118,
-214,232,138, 64, 48,  9,160,178,179, 18, 48,233,255,220, 41,192,164,161,125, 33,201,215,254, 10,111, 31, 59,  8,192,189, 46,175,
-185, 81,176,182, 26,206, 45, 93,238,  1, 58,131, 77,155, 54, 97,243,230,205,  0,128,233,211,167, 99,220,184,113, 29, 14, 35,250,
-130, 13, 93,223,213,195,186,247,109,104,  9, 15, 97,216,204,118,139,151,148,148,112, 85, 85, 85, 51,181, 90,237, 78,111,210, 46,
- 40, 51,183, 22,108, 39,211,135,181,109, 10, 81,218,232, 24,215,139,211, 14, 63, 34,198,131,214, 11,190,179, 18,244,101,185,247,
- 69, 76, 93, 92,236,210, 98,200,204,247,236, 72,240,182, 23,230, 65, 45,240, 61,227,  3,116, 20, 70,163, 17,203,150, 45,  3,  0,
- 60,245,212, 83, 88,190,124, 57,222,127,255,125,220,119,223,125,237,  9,191,207,216,208, 78, 74,176,231, 13,104, 57, 30, 66,236,
-244,246,205, 62,135, 35, 66,146,164, 21,  0, 54,163,110,176,165,199, 81,108,178,180, 22,236, 86,145,157, 54, 76, 32,103, 63,239,
-220,188,201,149,175,129,138, 59,235, 91,252,230, 38, 80,195,255,195, 93,241,248,243,131,183,122,235,173,121, 70,  1, 58, 58, 16,
-182,229,253,151, 80, 94, 94,142,126,195,227,224, 55,241,110,124,188,247, 44, 54,126,247,  3, 28,  3, 39, 35,172,175,251, 73,134,
-233, 53,193, 66,241,128, 91, 38, 89,  7,106,116, 66,112,244, 77, 62, 51, 16,198, 40,172,187, 95,131,246,118, 30,194,144,169,237,
-215, 62,165, 35,234,237,204,159,  1, 48,247,228,155,183,139, 50,202,170,173,109, 10, 56, 24,197,168,126, 97, 24, 30, 19, 10,127,
- 53, 95,175, 36, 12,187,247,236,145, 10,140,101,217, 18,175,189,164, 14, 31,144, 77,128,172,111,127,115,246,252,128, 80,219, 23,
- 96, 82,180,139,214, 31,245,102,209, 48, 87,202,254,238,119, 25, 56, 95, 84,225,209,231,253,248,241, 89,174,230,  2,121, 70,  1,
-166,223, 56, 16,147,134, 58,218,142,138,156, 58,129, 11,199,211,160,235, 19,129,127,253,123, 45, 34,162,250,226,245,149,207,162,
-164, 32, 23,255,120,254, 33, 68,247,235,143, 71,150, 62,137, 95, 44, 92,212,186,235, 78,219, 78, 75,170, 46, 94,144,236, 72,167,
-129,186,253,224, 85,237, 63,136, 40,246,140,128, 81, 25,214, 93,175, 64,123,199, 27, 16,  6, 37,118,228, 27,183,212, 43,193, 28,
-  0,214,158, 82,  0,158, 35,  0, 99,110,109,252,176, 64, 53,126, 63,111, 18,110, 30, 80, 14, 34, 93,  6, 88,211,134,246, 55,251,
-149, 18,201, 94,174,234, 19, 74,252, 71, 13,171,138, 38,160,119,130, 74,227, 65,101,190,141,214, 31, 96, 82,128, 43,  5, 88,144,
- 56, 10, 86,187,103,115,  4, 11,174,  7,232,152, 71, 20, 32, 54, 42,180,221, 50, 23,143,213,201,227,250,117, 95, 96,230,228,177,
- 88,191,126, 61,190,251,230,171,198,235, 87, 11,175,224,237,151, 95,192,200,193, 49,120,224,129,  7,156,190,219, 71, 37,202,  1,
-181, 87, 75,106,141,198,139,181,153,123, 79,194,215,246,218,165, 18,172, 59, 95,134,118,214,155,  0, 58, 52, 71,253, 86,  0,223,
-  1,184, 27,128,173, 39, 40, 10, 60,135,240,  0, 21, 74, 76, 98, 43, 27,159,128,225,181,  7,166, 96, 92,216, 15,224,106,178, 90,
-125, 87, 63, 30, 60, 88,232,104, 80,121,180,139, 86, 30,173,148,160, 73, 17,114, 80, 55,247,198,  9,102,155,  3,213, 86,199,255,
-142,  9,212, 17,148,151,151, 35, 52, 52, 20, 51,103,214, 57,141,111,189,245, 22,198,141, 27,135,249,243,231, 35, 47, 47, 15, 35,
- 71,142,196, 59,239,188,131, 23, 95,124,177,149,  2, 52,115, 96,124,119, 54,168, 44,194,150,242, 30,144,240,118, 71,191,113, 27,
-128,135,  0,252,163,167, 40,246, 13,209,194, 88, 89,219,202,244,153,114, 67, 20,198, 70, 21,128,171,205,114,209,102,182, 16,112,
- 87,166,142,203,243, 50, 64,165,179,  0,166,180,188,229,206, 83,151,112,161,216,179,214,233,196, 33, 81, 16,122,202,  4,170,181,
- 57,218, 13,107,197, 12, 28,140, 81,163,111, 68,149,217,134,146, 18, 35,114,115,115,241,205,214,239, 16, 63, 37,  1,143, 62,180,
-  8,171,222,125, 15, 34,  5,126,191,226, 57,100,229, 92, 64,255,  1, 77,115,111,236,148, 16, 89,229,175,146,  2,250,248,225,230,
-135, 67,161, 13,110,255, 65,198,163, 26,175,190,218, 99, 61,  5,231,175,131,118,206,187, 40, 55,117,184,151,125,191, 39,133, 31,
-  0,134, 68,  4,226,100, 94, 73,171,112,231,232,  1,225, 32,226,233,214,214, 66, 91,173, 60,117,161,  4,206,231,175,144,184,148,
-226,164,164,164, 86, 60,150,253,108,146,119,226, 22,158,138,  2,253,101,219, 17,100, 27,218, 14,107,201, 14, 59, 78, 95,184,132,
- 37,107,118,128,202, 18,180, 33, 58,124,145, 85,131,245, 57,251,144,117,165,  2, 75,214,236,128,100,139,  0, 39,168,240,252,231,
- 59, 17, 24,209,228, 20,103, 85,135,169,138,  7,207,184,205, 65,212, 99,  4, 77,224, 67, 29,114,130, 79,  9, 75,  0,148,244,152,
-240,207,253,  0, 92,232, 64,192,148,223, 81,225,255, 93, 79, 11,192,188,248,193,248,238, 72, 30,100,217, 57,220, 25,232,167,  2,
-161,181, 78,206,125,199, 90,249,230,202,209,226, 26,240, 23,119, 60,126,253,207,157, 56,158,231,217, 44, 43,  7,223,248, 85,171,
- 48,168,199,122,128, 87,238,239,144,243,135,249,199, 55,227, 47,247,223,132,  1,  3,  6,224, 29,249, 34,180,154, 34, 44, 95,190,
- 28,203,243,247,225,165,135,146,224,231,231,135, 81,127, 95,129,109,111, 62,  1,190,217,180,232,103,158, 57,232,216,115,108, 79,
-178,209,104,252,161,188,188,124,191, 47,249,  0, 78,194,223, 49,124,224, 13,225,  7,128,200, 16, 45,102,143, 31,128,173,135,115,
-157, 28, 96,231,  9,112,157,106,229, 91, 40,135,220,240,106, 74,219,234,221,254,254,248, 44,175,188,171,102,251,187,245,188, 15,
-  0,  0,127,255,251,223,241,252,243,207,227,239,127,255, 59, 94,120,225,  5, 36, 39, 39, 67,146, 36,140, 27, 55, 14,199,143, 31,
- 71,126,126, 62,238,184,227, 14, 39,225,111,230,189,203,148, 82,159,154, 78,220, 89,225,231,121,254, 27, 89,150,127,231, 77,206,
-191,190, 35, 14,126, 42, 14,  7, 78, 27, 80, 92, 89, 11,  6, 82, 63,106, 74,  1, 38,186,108,229,101, 81,  6,152, 36, 19, 34, 83,
- 14, 50,117,171,  4,117, 14,253, 81,  0,207,146,184, 84,183,211,209,119,158,186,132, 18,147,197,163,207,185, 48,105,116,171,185,
- 64,245, 38, 16,243,154,  2,232,116, 58,188,248,226,139, 88,185,114, 37,238,186,235, 46,220,123,111,221, 48,246,152, 49, 99,240,
-250,235,175,227,198, 27,111,196,154, 53,107,220,105, 47,245,165,129,176,206, 10,127, 80, 80,208, 17,149, 74,245, 65, 69, 69,133,
- 87,121,171,  4, 14, 75,102,197, 97,201,172, 22,  9,148, 77,123,  1, 42,186, 52,117,254,181, 45,216,158,113,228,196,231,209, 97,
-214,159, 94,249, 77,255,227, 42,158,177,102,189,193,121, 18,119,176, 83, 61,178, 40, 83,183, 19, 31,123,101, 20,232,147,157, 39,
-144,107,172,234, 56,139,209,183,227,131,173,  7,241,202,223,214,163,232, 66, 54,170,203,141,144, 28,118,140,184,255,183,120,225,
-203,159, 90,219,115,213, 33,234, 43,  3,111,157,105, 25,172, 29, 42,248,135,221,215,145, 69, 85, 18, 52,175, 99,211,211, 21,190,
- 32,252,227,198,141,147, 36, 73,218, 89, 88, 88,232, 91,225,219, 22,161,220,186, 86,189,181,169,179,244,238, 18,205,210,187,162,
-150,128,201, 75, 90,181,254, 96, 97,  0,170, 58,243, 83,115, 38, 14,245,150, 19,236, 25, 19,104,214,184, 33,168,181,117, 50,174,
-123,155,243, 62,  6, 75, 23,221,143,135,166,141,113, 89,180,228,200,143, 82, 85,213,197,147,146,168, 74,113, 12,158,156,  5,194,
-117,224, 65,170,107,125, 65,248,151, 45, 91,  6,198,152, 99,223,190,125, 62,190,168, 95,114,107,  2, 57, 69,129, 84,209,102, 16,
-129,192,122,222,191,203,102, 88, 39,157,224,221, 47, 63,128, 32,173,218,119,123,128,142, 12,132,181,135, 49,163, 70, 96,236,160,
- 72,151,215,250,168, 68, 57,168,182,176,168,186,176,240,172,249,232,182,147,222,242,  3,186, 34,252,239,190,251, 46,158,121,230,
- 25,230,107, 38, 92,235,214,145,  7,105, 48,129,220,216,248,148,105,109, 92,236,218,  0, 16, 14,184,176,160, 22,142, 66,127,  0,
-246, 78,251,130, 94,114,130,225,205,129,176,230, 56,113,226,  4,190,252,242, 75, 76,157, 58, 21,115,231,206,  5,  0, 12, 29, 58,
- 20,178, 44,187,114,128, 27, 39,195,213, 59,193,232, 77,194,239, 43,252,219, 85,  0,213, 96,192,156,222,102,180,135, 48,137,135,
- 92, 13,112, 26, 64,174, 38,  0, 78,146,184, 84,171,175, 61,203,246,237,219, 81, 88, 88,  8,  0, 40, 46,110,234,105, 40,165, 19,
-209,148, 31,116, 63,128,156, 30, 87,  0, 74, 41,230,205,155,135, 43, 87,174,224,227,143, 63,198,241,227,199, 49,114,228, 72,132,
-132,132,192,106,181, 34, 48, 48,208,149,237,230, 85, 39,152,248,247,233,178,240,251,  2,255, 14,189,151,192, 89,224, 44,135, 64,
-172,103, 93,155, 64,160, 32,128, 10,231,127,110,  7, 56,  6, 38,137,  0,150,250,226,179,172, 94,189, 26,251,246,237,115, 37,123,
-115, 80, 55,  7, 11,  0, 30,243,138,  2,212,214,214,226,202,149, 43,141,202,208,208,226, 23, 23, 23, 67, 20, 69,119, 17, 32, 48,
-198,168,220,176,132,172,135,161,185,249, 49,128,227, 59, 84,182, 95,191,126, 78,194,239, 11,252, 59,166,229, 42, 72, 81,175,131,
- 51,167,129,171, 88,  7, 98,191,220,220,209,109,214, 26,201,118, 64,126, 15,192,123, 36, 46,213,228,139,143,242,231, 63,255, 25,
-149,149, 77, 83, 45,254,246,183,191,217, 14, 31, 62,188,174,180,180, 52, 77, 20,197,252,250,  7,202,233,200,189,186, 93,  1,130,
-131,131,113,251,237,183, 35, 59, 59, 27,159,127,254, 57,134, 15, 31,142,140,140, 12, 24,141, 70,132,133,133,185,127, 63,222,204,
-172,214, 65,225,  7,220,231,172,236, 29,153,237,  8,104, 64, 34,104, 64, 34, 32, 87,129, 56, 10, 64, 28,  6,108,217,188,209,158,
-151,119,225,115,115,109,229, 87, 99,134,  9, 63,205,127,250,156, 79, 63,199,216,177, 99,157,142,183,109,219, 38,231,230,230, 94,
- 48,155,205,135, 76, 38,211,185,206,248,144, 30,241,  1, 54,110,220,136,215, 94,123, 13,159,125,246, 25,190,255,254,123,232,116,
- 58,124,240,193,  7,237,125,173, 87,167, 70,236,117,252,249, 80, 48,109, 40,152,118, 44, 82,206,236,147,246,239,207, 62, 87, 80,
- 80,126,165,170,170,138, 94, 79,245, 47,  0,128,201,100, 18, 50, 50,186,119,255,228,150,171,192, 78,158, 60,233,182,172,201,100,
-226,  9, 33, 93, 54, 33, 60,193,191,147,191,175,240,239,165,252,  5,  0,198,226,226,226, 83,171, 86,173,226,237,118,123, 52, 99,
- 76, 13,128,213, 71, 54, 88,179, 15,234,207, 55,254,223,242,154,187,235, 45,238,213,178, 44,147,101, 89,150, 36,169,164, 62,189,
- 96,103, 67,160, 10,127,133,127,151,249, 55, 31,114,229,116, 58,221,114,  0,125,209,148,229, 76,102,140, 73,132, 16,153, 49, 38,
- 19, 66,164,102,231,104,179,107, 13,231,101, 66,136, 84,191,184, 93,110,184, 70,  8,145, 41,165, 82,139, 99,185,193,110,166,148,
- 74,178, 44, 75,140, 49,139,217,108,190,210, 85, 75, 94,225,175,240,239, 44,255,230, 10, 64,  2,  3,  3,163, 57,142, 83, 19, 66,
-152, 74,165,130, 40,138,141, 90,214,160,133,205,143,235, 67,127, 12,  0, 28, 14,135,147,  6, 19, 66, 88,179, 79, 67, 89, 88, 44,
- 22,167,123,112, 28,199,  8, 33,172,178,178,146,213, 87, 90, 87,215,210, 41,252, 21,254,157,230, 79,218, 57,238, 40,124,101,  6,
-167,194, 95,225,223, 35,132,187,  5, 73, 73, 73,  2,128,217, 28,199,221,247,211, 79, 63, 45,238,109, 97,  7,133, 63,144,148,148,
- 52, 90, 16,132, 71,  8, 33,221, 46, 75,140,177,112, 89,150,135, 51,198, 94, 78, 73, 73,217,231,137, 58, 16,186,169, 34,251,  1,
- 40, 79, 73, 73,177,117,176,252,120,181, 90,189,132, 49,246, 43,157, 78,199,149,149,149,  9,  0, 22,123, 81, 16, 20,254, 93,231,
-127, 67,100,100,228,147,115,230,204,241,235,206,103,202,206,206,198,169, 83,167, 16, 25, 25,  9,131,193,176, 59, 41, 41,105, 90,
- 74, 74, 74,138,207, 40, 64, 82, 82, 82,  8,128,121, 90,173,246,215, 14,135, 99,188, 32,  8, 59,146,146,146,230,166,164,164, 48,
- 55,229, 35, 57,142,123, 80,173, 86,255,159, 32,  8, 81,241,241,241,154, 73,147, 38,  9, 90,173, 22,111,190,249,166,205, 11, 66,
-163,240,239, 38,254,209,209,209,246,133, 11, 23,118,155,  2,108,218,180,  9,  6,131,  1,143, 62,250, 40, 56,142,195,193,131,  7,
-185,204,204,204,  3,137,137,137,  9,169,169,169, 25, 94, 83,128,164,164, 36, 53,128,217,126,126,126, 75,101, 89,158, 62,108,216,
- 48, 41, 62, 62, 62,104,232,208,161, 88,179,102,205,173, 37, 37, 37,239,  2,120,166, 69,249,185, 90,173,246, 73, 73,146,226,227,
-226,226,104,124,124,188,255,224,193,131, 27, 38,144,193,106,181,246,164,208, 40,252,189,200,191, 35,144, 36,  9,235,215,175,199,
-210,165, 75, 17, 22, 22,134,218,218, 90, 36, 38, 38,130, 82,202,101,101,101,165,235,245,250,155,211,210,210,142,247,152,  2, 36,
- 37, 37, 17,  0, 73, 26,141,230, 49, 74,233,188,190,125,251,202, 83,166, 76,  9,137,139,139,131,159, 95,147,210, 63,246,216, 99,
-  1,239,189,247,222, 19,183,220,114, 75, 14,165,244,148, 70,163, 89, 74, 41,157, 31, 19, 19, 67, 19, 18, 18,130,227,226,226,160,
- 82,169,188, 97, 30, 40,252,189,200,191,179, 48, 24, 12,  8, 14, 14,110,220,124, 68,171,213, 66,150,101,232,245,122, 72,146,196,
-229,228,228,100,232,245,250,241,105,105,105, 89, 30, 85,128,122,231,102, 49,199,113,143,  6,  6,  6,170,227,227,227,  3, 38, 76,
-152,192,135,132,132,184, 44,239,239,239,143, 37, 75,150,248,175, 94,189,250, 35,173, 86,235,152, 50,101,138,118,226,196,137,124,
-104,104,104,183, 85,206,244,233,211,251,216,237,118,154,158,158, 94,209,  1,193, 81,248,123,145,127, 87, 81, 88, 88,  8,157,174,
-105, 71, 34,141, 70,  3, 89,150, 33,203, 50, 18, 19, 19, 33,203, 50,127,225,194,133, 19,  9,  9,  9, 55,166,167,167,159,239, 86,
-  5, 72, 74, 74,138,225, 56,238, 87,106,181,122,  9,199,113, 49,147, 38, 77, 18,110,186,233, 38,117,223,190,125, 59,116,179,136,
-136,  8,172, 92,185, 82,237,239,239,175,238,206, 74, 73, 76, 76, 28, 17, 16, 16,176,210,110,183,223, 86, 93, 93, 29,219,134,208,
- 40,252,189,200,191, 59, 16, 24, 24,216,202, 44,243,247,247,111,220,212, 59, 41, 41,  9,178, 44, 11,151, 46, 93,202,210,235,245,
- 35,211,210,210,242,186, 69,  1,146,146,146, 18,  4, 65,216, 59,102,204, 24,122,243,205, 55,251,199,198,198,162, 43,145, 45,127,
-127,255,110,171,140,169, 83,167, 78, 11,  8,  8,120,153, 82,154, 16, 16, 16,160,150,101,249,163,236,236,108,135, 27,225, 81,248,
-123,145,127,119, 65,167,211,193,100,106, 61, 11,187,193, 20,146,101,185, 65,  9, 84,  5,  5,  5,103,245,122,253,176,180,180, 52,
-195, 53, 43,128,159,159,223,107,208,238,250,153,  0,  0, 20,252, 73, 68, 65, 84,119,222,121,167, 58, 33, 33,129,131, 23, 49,125,
-250,116, 65,150,229,251,252,253,253, 95,241,247,247,239,255,224,131, 15,  6, 76,159, 62,157, 44, 88,176,192,102,177, 88, 62,114,
-247, 61,133,191,119,249,119, 23,162,162,162, 80, 83, 83,  3,171,213, 10,173, 86, 11,160,110, 99,194,210,210, 82,148,151,151,163,
-180,180, 20, 22,139,  5,131,  7, 15,134, 40,138,234,171, 87,175,158,215,235,245, 67,210,210,210,138,187,172,  0, 73, 73, 73, 35,
-  1, 36, 77,154, 52,201,107,149, 31, 31, 31, 31,172,209,104,150,  8,130,176, 98,232,208,161,154,135, 30,122, 40,104,202,148, 41,
- 32,132, 96,247,238,221, 16,  4,225, 84,122,122,250, 69, 55,173,167,194,223,139,252,187, 19,106,181, 26,227,199,143, 71, 78, 78,
- 14,116, 58, 29, 14, 28, 56,128,130,130,  2,196,198,198, 34, 42, 42, 10, 67,135, 14,  5,207,243, 72, 77, 77,133,209,104,132, 40,
-138,126, 26,141, 38, 79,175,215, 15, 74, 75, 75, 43,237,146,  2,104, 52,154,151,166, 78,157,170,242, 70,148,160,186,186, 26, 28,
-199,169,  2,  3,  3,139, 38, 79,158,140, 95,253,234, 87,  1, 55,220,112,131, 83,153,111,190,249,166,166,182,182,246,207,238,238,
-161,240,119,195,205, 38,225,167,139,165, 40,169,113, 64, 45,112, 80,243,  4,106,158,131, 70,224, 48, 97, 64, 40,250,  6,251,117,
- 11,255,238,198,180,105,211,240,233,167,159, 66, 20, 69, 60,254,248,227,152, 57,115, 38,212,106,103,183,102,209,162, 69, 48,153,
- 76, 88,183,110, 29,182,108,217,162,165,148,190,137,166,245,192, 29, 87,128,164,164,164,104, 74,233,189,122,189, 94,232, 73,193,
- 41, 44, 44, 68, 74, 74, 10,206,157, 59,135, 57,115,230,240, 11, 22, 44,  8,136,140,108,157, 53, 34, 63, 63, 31,  5,  5,  5,148,
-231,249,111,221,180,158, 94,231, 63,243,206,159,241,139,127,249,128, 79,240,183, 75, 20,169,121,229,216,157, 83,130,140,252, 74,
-136,110,146, 26, 19,  0,  3, 53,118,220,104,207,198, 67,119, 37,240,183,205,127, 34, 32, 50, 50,170,211,252, 61,129,132,132,  4,
-124,253,245,215,120,227,141, 55, 16, 19,227, 62, 29,125, 72, 72,  8,158,124,242, 73,108,223,190,157,213,212,212,140, 13, 13, 13,
-237, 95, 85, 85,117,165, 51, 74, 32,168,213,234,231,110,186,233, 38,174, 59,157, 39,119, 96,140, 33, 39, 39,  7,169,169,169,168,
-172,172,196,125,247,221,135,215, 95,127,189, 77,199, 45, 57, 57,217,193, 24, 91,179,127,255,126,201, 77,151,233, 85,254,137,243,
- 30,197,211,235,126,194, 61,178, 10,145, 94,228,207, 24,240,245,113,  3,214, 30, 42,128, 85,108,127, 93,  8,  3,144,111,215,224,
-151,131,181,184, 91,216,  3,203,119,199, 96, 31, 57,  3,252,144,169, 16,162,199, 55, 46, 19,109,143,191, 39, 16, 20, 20,132, 53,
-107,214,184, 93,126,218, 18, 67,134, 12,145, 12,  6,131,153,231,249,251, 81,151,152,184,227, 10,192,243,252,207, 39, 77,154,164,
-241,228,  3, 73,146,132, 99,199,142, 33, 45, 45, 13,  1,  1,  1, 88,184,112, 33,166, 77,155,230, 50, 69,138, 83,107,102,183, 99,
-231,206,157,212,106,181,254,205, 93, 25,111,242,207,200, 45,198, 93,171,190,129,213, 33,225,238,119,190,193,190, 87, 23, 34, 58,
- 44,176,199,249,151,155, 29,120,251,199,115, 56, 90,208,249,156,252, 19,  2,235,190,227, 47, 85,193,145,181,  5,200,218,  2,226,
- 23, 12, 97,144, 30,108,128, 30,251,246,180,205,223, 83,232,168,240,215,  7, 16, 24,165, 84, 98,140,105,208,201,  9,158,  2,  0,
-194,113,158,241,189,204,102, 51,210,211,211,113,248,240, 97,140, 26, 53, 10, 43, 86,172,232,240,174,145,  0,176,111,223, 62,  8,
-130,112, 36, 45, 45,173,173,156,228, 94,225,159,109, 40,195,188,119,183,194,234,168,107, 24, 11,202,170,113,239,159,147,177,243,
-165,249,  8,214,106,122,140,191,201, 38,225,183,155, 51, 81, 80,209,249,100,180,  4,192,248,160,214, 89, 15,153,173, 26,226,185,
- 29,192,185, 29,248,247,108,162, 82, 17,246, 23,242,192,148,100,104,196,239,195,151, 30,243,201, 76, 17,245,232,218,154,224,238,
- 70,105,105, 41, 82, 83, 83,145,153,153,137,105,211,166,225,195, 15, 63,196,128,102, 27, 98,116, 20, 61,237,124,117,148,127, 65,
- 89, 53,230,190,243, 13,170,204,206,115,200, 50,243, 75,176,240,253,109, 72,126,238, 94,168,  5,222,227,252,173,162,140,231,147,
- 79,119, 73,248,  1, 32, 86, 91,139, 16,161,237,245, 35, 42,142,241,  0,230, 49, 96, 58,236,170,229,229, 31, 76,249, 74,144,201,
-218,144,167,211,189,155,  5,152, 81,128, 52, 53, 28, 93,205,202,209,173, 10,144,151,151,135,148,148, 20, 20, 22, 22, 98,238,220,
-185,120,238,185,231,208,213,161,248,220,220, 92, 92,189,122, 85,140,142,142,254,111, 79,213,105, 71,248,151,152, 44,152,179,106,
- 19,174, 86,185,222,163,111, 95, 86, 62,150,124,178,  3, 47,222, 57,210,227,252,255,153,122, 25, 57,198,154,182, 91,121,  2,232,
- 71,244, 71, 76, 88,  0,204, 54, 17,149,102, 59, 14, 95, 40,  2,101, 12, 19,130, 42,219,234,151,144,122,133,179,199,199,208, 39,
- 52,  4,  7, 67,151,165,229,250, 66, 19, 79, 45,229,176,253,176, 18,204, 82,  6,245,228, 37, 80,141,184,163,177,245,175, 95, 74,
-217,233,244,232,215,180, 26,135, 82,138,204,204, 76,164,166,166, 66,150,101, 60,240,192,  3,184,253,246,219, 91,133,173, 58,139,
-173, 91,183,218, 41,165, 31,111,218,180,169, 61,173,238, 49,254, 53, 86,  7,238,249,211, 22,228, 22,183,157, 44,121, 99,122, 14,
- 12,185, 57,178,218,131,252, 47,150,214, 34,249, 84,161,219,235,129,126,106,172,184, 39, 30, 11, 18, 71,161,127,120,144,211,181,
-203, 37, 38,124,180,227, 56,  6, 95,106, 61,159,204,  6, 13,252, 96,  7, 24,197,153, 50, 97,227,220, 63,166,172,245, 37, 27,135,
- 85, 23, 65,174,200,173,219,179,109,223,219, 16,179,147, 17,227,  7, 82,191, 32,158,118,197,  7,232, 18, 28, 14,  7, 14, 29, 58,
-132,244,244,116,244,239,223, 31, 79, 60,241,  4,226,227,227,209, 29, 11,131,108, 54, 27,246,236,217,195,108, 54,219, 39,158,170,
-200,206,242,183,139, 50, 22,188,247, 45, 78, 94, 54,118,232,254,233, 37,224, 53, 33,137, 20,216,227, 17,254,255, 72,201,  3,117,
-163, 58,209, 97,129,216,242,236,189, 24, 55,216,117, 50,226,193,145, 33,120,247,161, 91, 81,242,229, 23, 78,155,156,214,112, 65,
-  8,162, 77, 61,202,226, 56,199,224, 23,124,204,200,231,251,142,129,118,214, 27,176,238,124,  9,144, 69,200, 37,103,241,255,  6,
- 16,149,223, 20,255,193,111,109, 39, 93,234,  1,186,132,109,219,182,129, 82,138, 85,171, 86, 97,248,240,225,221,250,144,123,246,
-236,129, 32,  8,169,169,169,169, 69,158,170,200,206,240,167,140,225,145,143,183, 99,127,118, 65,167,126,195,206,107, 95,230,231,
-175, 58, 39,111, 92,185,161, 59,185,151,155, 29,200,200,175,116,217,216, 13,208,  5, 97,247, 43, 11, 49, 64, 23,212,142,187, 40,
- 66,107,174,123, 30, 17,  2,100,162,114, 18,126,  0, 80,243,152, 90,249,158,126,124,216,239,210, 78,250,146, 18,  8,131,244,208,
-206,122,  3,182,157, 47,131,201, 14,240,132, 97,241, 36,191,113, 83,  6, 14,122, 88, 16,134,173,155,252,234,225,234,142,222,139,
- 67, 23,246, 21, 48,155,205,200,204,204,196,202,149, 43,187, 93,248, 27,156, 95,179,217,220, 81,231,209,227,252,151,125,182, 27,
- 91,143, 92,232,202,163, 16,194,176, 86,184,127,213,140,238,228,191, 35,171, 16,204, 77, 79,255,135,121,250,246,133, 31,128, 92,
- 94,103, 70,128, 87, 33, 48,225,  9,248, 49,215, 11, 99, 40, 47,223,235,139,225, 30, 97,144, 30,126,179,255,  8,162,210, 54,158,
- 27, 17,169,158, 52, 52,156, 28, 42,251, 48, 97,164, 71,123,128,163, 71,143, 34, 33, 33,161,205, 92,159, 93,197,185,115,231, 80,
- 82, 82, 98, 59,120,240,224, 78, 79, 85, 94,103,248,191,254, 77, 42, 62,219,155,121, 45, 63,167,  6,144,172, 90,240,206, 45,226,
-215, 47,156,234, 14,254,169,103, 93, 79,126, 28,216, 39, 24, 11,147, 70,119, 44, 94, 88,114,  6, 32, 28,180,183,191,  6, 97,112,
- 18,196,236,100,208,106, 23, 62,  5, 35,  9, 61,102,223,215,150, 64, 42, 60,  6, 72,118, 48, 89,  4,100,  7, 24, 21, 65,168,  4,
-230,176,130, 57,106,193, 28,181,128,104,  1,179,155,235,254,111,189, 51,234, 40,194,216,225,242, 15, 19,230,235,158, 74,255,177,
-219, 21,128, 82,138,140,140, 12,188,252,242,203, 30,169,132,173, 91,183,218, 68, 81,252,  0, 30, 74,149,209, 25,254,127,251,241,
- 56,222, 73, 62,212,120, 28,164, 85, 99, 70,220, 32,216, 68,  9, 63,158,188,228,186, 66,  9, 16,224,168, 56,100, 82,133,107,  0,
- 76,168, 63, 29,204, 40,251,193,239,129, 85,122,219, 87, 43, 47, 95, 43,255,203,149, 86,128,104, 91, 93, 91,116,203,141, 80,241,
- 29, 27, 83,160, 37,103,161,137, 95, 10, 97,112,221, 62,191,170,225, 51, 97, 63,246,133,139, 62, 12, 61,178,233,175,116, 97, 39,
-172,123,223,118, 37,208, 93, 65, 48, 24,219, 94,241, 97,252,178,240,167, 14,255,173, 61, 19,168, 83, 56,127,254, 60,130,130,130,
- 16, 23, 23,215,237,149, 96,177, 88,176,127,255,126, 56, 28,142,127,122,170,162, 59,202,255,235,180, 28, 60,183,110, 31,162,195,
-  2,241,248,109,227,240,237,138,121, 48,124,242,127,216,240,219,185,109,239,129, 69, 37,140, 40, 73,253,185,180,105,229, 68,  9,
-100, 16,  1,158,  2,176, 27, 64,164, 36, 99,  7,238,125, 91,119,173,252, 45,196,245,250,243,168,144,128,142,219,102,234,  0,168,
-199, 63,208, 36,  8, 49, 19,221, 21, 13,233,  9,  5, 16,207,239,236, 46,225,111,244,151, 25, 35, 31,151,127,144,240, 62,123,213,
-189,156, 11,157,221, 91,245,240,225,195,248,197, 47,126,225,145, 74,216,181,107, 23, 83,171,213,123,247,236,217,211,225, 13,176,
- 61,193,127, 87,230,101,252,117, 91,  6,214, 44,189, 19, 11,244,163, 58,220,170,  2,  0,  3,145,210,210,210,234,248,111,122,161,
- 64,  4, 62,  2,240,145,102,193,159,134, 74,178,252,172, 32,112,155,164,251,255, 58,  7,155,158,182,118,149,191,138,143,133, 67,
-110,253,181,176, 64,103,197, 56,124,161,  8,195,163,195, 17,222,226, 60, 24,133,122,226,131,206, 78,180,228, 54, 49,  4,199, 54,
-222,207,147,249,155, 60,154,249,218,111,198,139,144, 75,178,  1,209, 10, 38, 90,193, 28, 22,192, 81,  3,106, 53,129,150,157,131,
- 92,226, 58,221, 63, 31, 58, 16,124,248, 96, 64,208,128, 89, 42, 32, 22,157,172,223,240,163, 65, 64,216,242,242,176, 41, 67, 75,
- 62,246, 91, 24,249,155,253,181, 93, 54,129, 24, 99, 40, 47, 47, 71, 65, 65,  1,110,187,237, 54,143, 84,194,166, 77,155,204,213,
-213,213,239,122,196,190,236, 32,127,179, 93,132,192, 17, 28,122,251, 33,116, 37,162, 75,  9,231,114, 79, 45,251,215,207,231,  2,
-248, 53, 22,190, 21, 37,136,142,  9, 18,144,214, 85,254,  1,125, 71,194, 97,110,253, 51,205,103,126,214,218, 28,120,107, 75, 58,
-190, 91, 49,207, 69,171,193,129,248, 59,119, 68,204,230, 54,112, 34,226,204, 38,143,103,110, 35,218, 80,  8,131, 90,111,200, 46,
- 95,205,132, 53,111,127,171,243,170,126, 19,161,141,127, 28, 66,191,241,173,158,195,126,126, 39, 44, 41,171,235,156,124,  0,132,
-224, 46, 94,182,165,148,175,142,191, 75,183,236,240,149, 78, 41,  0, 99,245, 59,142, 51,134,195,135, 15, 99,214,172, 89,208,104,
-186,127,238,217,153, 51,103, 80, 85, 85, 85,147,154,154,186,175,187,  5,191, 51,252,  3, 52, 42,220, 26, 55,168,235,191,  7,210,
-246,172,201, 13,127, 48, 74,128,241, 90,248, 27, 11,131, 81,105,110,189,246, 99,219,145, 11, 88,152, 56, 10,140,  1,203, 63,219,
-141, 62, 65,218, 14,243, 46,185,120, 28,193,174, 47, 93, 32,175,194, 43,123,  6, 72, 23,247,192,186,239,237, 70, 65,110,236, 45,
-110,122,  8,254,  9, 75, 27,167, 66,156, 59,127,  6,102,179, 25,186,112, 29,  6, 13,138,133,223,216,251, 32, 68,220,128,154,237,
- 43,192,172,141,131,150,227,  0,238, 61,  0,247,119,216,  7,160,148, 54,174,195,180,217,108, 56,126,252, 56,238,185,231, 30,143,
- 60,236,150, 45, 91,172,162, 40,190,215,221, 14,111, 79,241,247,148,195,238,138,255,228,225,209, 46,203,239,204,188, 12,139, 93,
-196,239, 55, 28,192,134,212,179,152, 60, 44,186, 99, 74,230,176, 64,147,191,219, 77, 43, 79,206,244,248,131, 51, 10,251,225, 53,
-176,238,126,189,149,240,171,135,205,128,191,254,215,  0,225,112, 56, 35, 29,241, 79,188,138,184, 23,191, 67,252,170, 61, 24,246,
-220, 70,252,252,153, 55,112,241, 98, 14,132,232,177,  8,185,255, 95, 32,126,205,167,178,176,123,171, 62,156, 60,164,165,  2,180,
-138, 67, 55,175,248,134, 79,102,102, 38,134, 13, 27,134,254,253,251,119,251,243,214,212,212, 32, 53, 53,149,216,108,182, 79,187,
-214,200,123,151,255,181,119, 82,157,227, 63,101,120, 63,215, 65,  4,187,136,121,127,217,138, 15,182, 31,  5,  0, 76, 30, 22,211,
- 33,  2,181,199,191,130,134,147,220, 24,124,108,103,143, 42,189,185, 12,150,109,203,225, 56,241,159,214,129, 64, 65,  3,255,233,
-207,  2,  0,242,242,206,227,231,171,119,227,120,133,179,127,243, 95,131, 10,243,255,244, 21, 36, 81,  4, 23,210, 15,234, 33,122,
- 39,151, 65,166,252,114,183, 61,  0, 99,172,177,194, 37, 73,130, 36, 73,141,199,199,143, 31,199,188,121,243, 60,242,208, 59,119,
-238,132, 90,173,222,113,173,249,102,188,197,191, 59,205,181,142,240,159, 59,105, 24, 66,252, 93,155,113,  7,234, 71,171,181,106,
-  1, 99,  6, 69,180,111,102,228,167, 65, 62,245, 31,119,151,109, 68, 35,110,236, 49,147,231,202, 49, 88,191,121, 12,114,145,235,
-225, 18, 85,244, 88,112,218,186,177,155, 15,191,254, 14,229, 14,215, 75, 72, 79, 87,249,225,207,255,168, 11, 36,170,  6, 76,110,
-209,161,177, 71, 13,127, 77,208, 58, 41, 64,131,157,217,178,213,105,120, 17,  6,131,  1, 22,139,  5,  9,  9,221, 59, 38, 66, 41,
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- 61,199,235, 36,168,218,153, 30,239,200,254, 22,150, 31, 86,130,103,110,167, 68,127,213, 35,243,255, 25,133,253,216, 90, 88,183,
- 63,  3,106,117, 63, 67, 85,136,106, 26,228, 59,125,213,220,230, 45,243, 74,235,156,122, 97,192,205, 45, 47,  5,169,180, 36,168,
-185, 19,204, 26, 42,186,193,217,106, 72, 66,212,240, 57,113,226,  4,238,185,231, 30,116,215,194, 19, 89,150,177,107,215, 46,124,
-246,217,103,176, 88, 44,142,226,226,226, 45,  6,131, 33, 60, 56, 56,248,230,234,234,234, 35,157,173,190,158,230, 79,105,183,250,
-132, 93,226,255,200,140, 49, 88,179,235, 68,227,130,156,150,152,192, 95,132,121,227, 98,  8, 35,102, 67,125,195, 29, 32,129,117,
- 19,227,152,104,133,227,226, 62,148, 30,222,128, 16, 91,126, 91, 83, 39, 77, 50, 47,175,244,184,236,139, 86,216,118,189,  2,169,
-224,144,115, 67,205,171,193,192,156,124,  0, 90,219, 20, 29, 31, 18,174,193,129, 54, 18,161,140,111,152,  8,232, 98,108,193,223,
-108,111, 60, 41, 52,111,125, 26, 42,188,249, 75,176, 88, 44, 56,127,254, 60, 94,121,229,149,107,239,226, 36,  9, 63,252,240,  3,
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-186, 69,  8, 94,136,252,205,145, 98,143, 10,191,189, 22,214,255, 62,  7,217,152,237,252,219,193, 49,240,159,245, 38,236, 71,254,
-  5, 41,191, 41, 90, 44,149,158,107,252,255,233,  7,238,194,127, 94,217,  6,145,181, 86,225, 80,149,132,217,183,212,141,112,203,
-165,173,179, 39, 50, 78, 77,157,194,160, 45, 95, 64,243, 23,113,234,212, 41, 36, 36, 36,224, 90,114, 76, 58, 28, 14,124,255,253,
-247, 88,183,110, 29, 28, 14,135,173,168,168, 40,185,168,168,232,123,142,227,140,140, 49,163, 36, 73,198,170,170,170,210,107,105,
-145,123,146,255, 85, 41,226, 52,250,224,230,238,142,246,184,226,159,125,250, 52,134,198, 77,192, 15, 89,133,216,118,244, 34,174,
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- 14,219,127, 99,196, 67,255, 76, 69,177,189,105,237,198,208,  0, 59, 62, 91, 58,  3,177,177,117,169, 93,172, 39,190,108,249,211,
-162, 57,192, 97,115, 82,128,  6,123,179,229, 11,144,101, 25, 89, 89, 89,120,253,245,215,187,244,144,118,187, 29,223,126,251, 45,
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+209,137,182,214, 30,156,248,219, 87,136, 31,151,  3,199, 64, 15, 40, 51,  3,105,112,  0, 98,199, 89, 88, 17,139, 41, 99, 99,225,
+126,123, 23, 79, 31,  3, 65,112,  2, 45,223,  2,146,  8, 24, 98, 97,119, 72,136, 73, 14,127, 43,  2,143, 92,187, 60, 14, 32,247,
+  2,253,253,253,202,236,176,225,244, 32, 24,222,228,167, 40, 10, 13,255,250, 47,200,159, 63, 15,105,137, 20, 36,198,128,198,243,
+173, 56, 89, 86,137, 89,175,124,137,180,194,123,208,121,249, 50,192, 39, 92, 31,248,250,250, 21,216,172, 22,204,201, 78,194,125,
+ 69,153, 24,101, 54,194, 28,103,192,178,239,143,197,157,115,198,194,225,112,128,173,120,227, 58,105, 19, 51,209,221,213,135,164,
+ 91,230,106,223,  3,200, 35,193,118,187,221, 37,240,245, 54,135, 51, 90, 86,153, 40,192,200, 80,  2,103,239, 53, 36,143,155,  7,
+ 73,178,227,244,137,211,104,191,218,141,217,175, 30,129, 33, 62, 17,227, 22,175, 70,217,255,123, 27, 89,121,121,160, 91,190,  5,
+107,237,130,177,244, 37,244,205,122, 26,119, 23,140,197,221,  5, 99,255, 43,150,128,  8, 67,197, 27, 48, 52,253, 13,160, 89,136,
+ 99,102,226,204,127,124,133,121,175,188,169,189,  2, 56,157, 78, 88, 44, 22, 12, 12, 12,184,144, 77,174,239, 38, 22,152, 32,208,
+ 30, 32,225,150,  2,148,127,250, 57, 28,150,126,152, 38,127, 31,183,255,223, 63,129, 49,240,215, 39,197,196,153, 49,126,249, 26,
+156, 59,245, 53,110,201,248, 62,132,115,159, 35,254,228, 78,112,173, 85,232,207, 95,  3,123,106, 62, 68,138,  1,215, 81,131,248,
+ 83,127,  0,127,165,236,186,245, 31, 55, 27,205, 45, 93, 24,117,219, 18,196,103, 76,209, 39,  6,144,103,235,168, 21,128,196,  0,
+  4,193, 42,193, 45, 15,191,  5, 75,115, 61, 56, 83, 50,140, 41, 99, 61,198,  5, 38,174,252, 23,124,245,200,187, 48, 39, 23, 96,
+ 76,222, 61, 16, 78,255, 39,184,246,239,144,252,197, 47, 60,127,148,225,192, 76, 94,138, 46,167, 25,167, 43,190,192,226,237,199,
+ 53,145,213,107, 22,200,106,181,122,237,  1,252,213,242, 19,  5, 32,112, 87,  0,154,166, 97,202,156,234,187,126,159,143, 65,225,
+230,175, 81,245,210, 42,116,143, 78, 70,206,109, 15,129,106, 61,  6,169,175, 21, 82,223, 21, 64, 20, 64,197,167,129, 50,141,  1,
+149,158,143,198,243, 87,208,120,178, 12,133,175,254, 21,198,228,116,125, 20,192,189,  7,144,  9, 23, 19, 19, 67,122,  0,130,160,
+200, 31,200, 92,222,152,212, 12,204,127,173, 12,167,222,123,  2,127, 63,240, 23,140,157, 50,  5, 73,163, 38,195,148,147, 14,138,
+166,209,223,126, 13, 61,215,218,113,249,175, 21, 48,142,202,194,226,119,190,  3, 27, 19,175,153,188, 94,123,  0,139,197,  2,139,
+197,226, 98,241, 29, 14,135, 50, 97, 93,239, 73,235, 67, 17,156, 76,154, 31,222,  8,122,133,  7,214,128,252, 71,182,161,239, 82,
+ 61, 58, 78,254, 29,205,213,135,209,241,197, 62, 72,130, 19, 73,217,223, 71,202,140, 59, 48,253,174, 66, 36, 77,153,169,185,172,
+ 62,199,  1,228,145, 95,181, 98, 72,146,  4,167,211,169,217,156,221, 80, 45, 57,153, 51, 60, 50,130,224, 96, 22,181,162, 40, 10,
+230,204, 92,152, 51,115,241,189, 31,174,137,152,188, 94,123,  0,155,205,230,210,  3,200,100, 21, 69, 17, 14,135, 67,119,  2, 14,
+165, 24, 54,155, 13, 20, 69,137,196, 21, 26, 25, 74, 16,  8,249, 35,177,147,252,144, 10,192,178,108,255,213,171, 87,227, 71,143,
+ 30,237, 82, 10, 33,138, 34,210,210,210,148, 50,137,104, 90,127, 73,146,112,229,202, 21,240, 60,127,105,112,112,144,176,109,152,
+ 43,192,112, 38,191,135,  2, 24,141,198,147,135, 15, 31,158,179,116,233, 82,212,213,213, 65, 16,  4,101,121,148,217,179,103,163,
+171,171, 43,104,235,175,181,149,150, 36,  9, 53, 53, 53,131,162, 40,150, 17,170, 17,242,107,170,  0, 14,135, 99,211,206,157, 59,
+255, 99,213,170, 85,134,159,252,228, 39, 56,115,230, 12, 40,138, 66, 78, 78, 14,210,211,211,113,252,248,241,168,251,255,151, 47,
+ 95,198,167,159,126,234,176,219,237,207, 19,186,141,188, 32, 56,156,133,108,117, 87,  0,155,205,118,152,231,249,119, 86,174, 92,
+185,118,237,218,181,134, 69,139, 22, 33, 61, 61, 29, 61, 61, 61, 40, 47, 47, 15,105,185, 18, 45,122,  0, 65, 16,208,214,214,134,
+154,154, 26,235,193,131,  7,  5, 81, 20,127, 13,224, 12,161,218,200,  9,130,135, 35,249,125,107,  5,203, 46,141,141,141, 61,202,
+178,108, 63,  2,220, 47, 76,207,  7, 69, 81,  2,207,243,141,  6,131,225, 67,  0,217,132,102,195, 19, 51,103,206,148,156, 78,167,
+100,177, 88, 36,171,213, 42, 13, 14, 14, 74, 54,155, 77,178,219,237,146,195,225,144,156, 78,167, 36,138,162,110,143,250,250,122,
+105,230,204,153, 65, 89, 92,175, 43, 48, 59,157,206,207,157, 78,231,231,195,165, 97, 37, 73,138,250, 60,100,130,192, 96,183,219,
+113,246,236, 89,175,126,190,222,150,223, 96,  8,126,157,  4,178,  4, 57,129,102,224,121,190,109,254,252,249,105,209,150,129,220,
+  9,  2,  2,  2,  2,  2,  2,  2,  2,191,248,255, 88,111,246,205,191, 63,162,  3,  0,  0,  0,  0, 73, 69, 78, 68,174, 66, 96,130,
+  0};
 
diff --git a/source/blender/editors/gpencil/gpencil.c b/source/blender/editors/gpencil/gpencil.c
index dfe76ac6a07..7a251f2c252 100644
--- a/source/blender/editors/gpencil/gpencil.c
+++ b/source/blender/editors/gpencil/gpencil.c
@@ -944,7 +944,7 @@ static void gp_stroke_to_bonechain (bGPDlayer *gpl, bGPDstroke *gps, bArmature *
 		/* add new bone - note: sync with editarmature.c::add_editbone() */
 		{
 			BLI_strncpy(ebo->name, "Stroke", 32);
-			unique_editbone_name(bones, ebo->name);
+			unique_editbone_name(bones, ebo->name, NULL);
 			
 			BLI_addtail(bones, ebo);
 			
diff --git a/source/blender/editors/include/BIF_transform.h b/source/blender/editors/include/BIF_transform.h
index 4375bd027d7..d16ac563eb3 100644
--- a/source/blender/editors/include/BIF_transform.h
+++ b/source/blender/editors/include/BIF_transform.h
@@ -56,7 +56,6 @@ enum {
 	TFM_WARP,
 	TFM_SHRINKFATTEN,
 	TFM_TILT,
-	TFM_LAMP_ENERGY,
 	TFM_TRACKBALL,
 	TFM_PUSHPULL,
 	TFM_CREASE,
@@ -96,6 +95,7 @@ struct TransInfo;
 struct ScrArea;
 struct Base;
 struct Scene;
+struct Object;
 
 void BIF_setSingleAxisConstraint(float vec[3], char *text);
 void BIF_setDualAxisConstraint(float vec1[3], float vec2[3], char *text);
@@ -131,5 +131,35 @@ void ManipulatorTransform();
 //int BIF_do_manipulator(struct ScrArea *sa);
 //void BIF_draw_manipulator(struct ScrArea *sa);
 
+/* Snapping */
+
+
+typedef struct DepthPeel
+{
+	struct DepthPeel *next, *prev;
+	
+	float depth;
+	float p[3];
+	float no[3];
+	struct Object *ob;
+	int flag;
+} DepthPeel;
+
+struct ListBase;
+
+typedef enum SnapMode
+{
+	SNAP_ALL = 0,
+	SNAP_NOT_SELECTED = 1,
+	SNAP_NOT_OBEDIT = 2
+} SnapMode;
+
+#define SNAP_MIN_DISTANCE 30
+
+int peelObjectsTransForm(struct TransInfo *t, struct ListBase *depth_peels, short mval[2]);
+int peelObjectsContext(struct bContext *C, struct ListBase *depth_peels, short mval[2]);
+int snapObjectsTransform(struct TransInfo *t, short mval[2], int *dist, float *loc, float *no, SnapMode mode);
+int snapObjectsContext(struct bContext *C, short mval[2], int *dist, float *loc, float *no, SnapMode mode);
+
 #endif
 
diff --git a/source/blender/editors/include/ED_anim_api.h b/source/blender/editors/include/ED_anim_api.h
index 08c5f752fd1..0210e3d6a85 100644
--- a/source/blender/editors/include/ED_anim_api.h
+++ b/source/blender/editors/include/ED_anim_api.h
@@ -149,12 +149,13 @@ typedef enum eAnim_KeyType {
 typedef enum eAnimFilter_Flags {
 	ANIMFILTER_VISIBLE		= (1<<0),	/* should channels be visible (in terms of hierarchy only) */
 	ANIMFILTER_SEL			= (1<<1),	/* should channels be selected */
-	ANIMFILTER_FOREDIT		= (1<<2),	/* does editable status matter */
-	ANIMFILTER_CURVESONLY	= (1<<3),	/* don't include summary-channels, etc. */
-	ANIMFILTER_CHANNELS		= (1<<4),	/* make list for interface drawing */
-	ANIMFILTER_ACTGROUPED	= (1<<5),	/* belongs to the active actiongroup */
-	ANIMFILTER_CURVEVISIBLE	= (1<<6),	/* F-Curve is visible for editing/viewing in Graph Editor */
-	ANIMFILTER_ACTIVE		= (1<<7),	/* channel should be 'active' */  // FIXME: this is only relevant for F-Curves for now
+	ANIMFILTER_UNSEL		= (1<<2),	/* should channels be NOT selected */
+	ANIMFILTER_FOREDIT		= (1<<3),	/* does editable status matter */
+	ANIMFILTER_CURVESONLY	= (1<<4),	/* don't include summary-channels, etc. */
+	ANIMFILTER_CHANNELS		= (1<<5),	/* make list for interface drawing */
+	ANIMFILTER_ACTGROUPED	= (1<<6),	/* belongs to the active actiongroup */
+	ANIMFILTER_CURVEVISIBLE	= (1<<7),	/* F-Curve is visible for editing/viewing in Graph Editor */
+	ANIMFILTER_ACTIVE		= (1<<8),	/* channel should be 'active' */  // FIXME: this is only relevant for F-Curves for now
 } eAnimFilter_Flags;
 
 
diff --git a/source/blender/editors/include/ED_armature.h b/source/blender/editors/include/ED_armature.h
index 290c7bfbcad..0f2ac6e3027 100644
--- a/source/blender/editors/include/ED_armature.h
+++ b/source/blender/editors/include/ED_armature.h
@@ -37,6 +37,7 @@ struct bPoseChannel;
 struct wmWindowManager;
 struct ListBase;
 struct View3D;
+struct ViewContext;
 struct RegionView3D;
 
 typedef struct EditBone
@@ -111,8 +112,8 @@ void create_vgroups_from_armature(struct Scene *scene, struct Object *ob, struct
 void docenter_armature (struct Scene *scene, struct View3D *v3d, struct Object *ob, int centermode);
 
 void auto_align_armature(struct Scene *scene, struct View3D *v3d, short mode);
-void unique_editbone_name (ListBase *edbo, char *name);
-void armature_bone_rename(Object *ob, char *oldnamep, char *newnamep);
+void unique_editbone_name(struct ListBase *ebones, char *name, EditBone *bone); /* if bone is already in list, pass it as param to ignore it */
+void armature_bone_rename(struct Object *ob, char *oldnamep, char *newnamep);
 
 void undo_push_armature(struct bContext *C, char *name);
 
@@ -122,6 +123,27 @@ void ED_armature_enter_posemode(struct bContext *C, struct Base *base);
 int ED_pose_channel_in_IK_chain(struct Object *ob, struct bPoseChannel *pchan);
 void ED_pose_deselectall(struct Object *ob, int test, int doundo);
 
+/* sketch */
+
+int ED_operator_sketch_mode_active_stroke(struct bContext *C);
+int ED_operator_sketch_full_mode(struct bContext *C);
+int ED_operator_sketch_mode(struct bContext *C);
+
+void BIF_freeSketch(struct bContext *C);
+void BIF_convertSketch(struct bContext *C);
+void BIF_deleteSketch(struct bContext *C);
+void BIF_selectAllSketch(struct bContext *C, int mode); /* -1: deselect, 0: select, 1: toggle */
+
+void  BIF_makeListTemplates(struct bContext *C);
+char *BIF_listTemplates(struct bContext *C);
+int   BIF_currentTemplate(struct bContext *C);
+void  BIF_freeTemplates(struct bContext *C);
+void  BIF_setTemplate(struct bContext *C, int index);
+int   BIF_nbJointsTemplate(struct bContext *C);
+char * BIF_nameBoneTemplate(struct bContext *C);
+
+void BDR_drawSketch(struct bContext *vc);
+int BDR_drawSketchNames(struct ViewContext *vc);
 
 #endif /* ED_ARMATURE_H */
 
diff --git a/source/blender/editors/include/ED_fileselect.h b/source/blender/editors/include/ED_fileselect.h
index df5cf13df55..bb5ced66428 100644
--- a/source/blender/editors/include/ED_fileselect.h
+++ b/source/blender/editors/include/ED_fileselect.h
@@ -59,6 +59,28 @@ typedef struct FileSelectParams {
 	/* XXX --- end unused -- */
 } FileSelectParams;
 
+#define FILE_LAYOUT_HOR 1
+#define FILE_LAYOUT_VER 2
+
+typedef struct FileLayout
+{
+	/* view settings - XXX - move into own struct */
+	short prv_w;
+	short prv_h;
+	short tile_w;
+	short tile_h;
+	short tile_border_x;
+	short tile_border_y;
+	short prv_border_x;
+	short prv_border_y;
+	short rows;
+	short columns;
+	short width;
+	short height;
+	short flag;
+
+} FileLayout;
+
 FileSelectParams* ED_fileselect_get_params(struct SpaceFile *sfile);
 
 short ED_fileselect_set_params(struct SpaceFile *sfile, int type, const char *title, const char *path, 
@@ -66,5 +88,16 @@ short ED_fileselect_set_params(struct SpaceFile *sfile, int type, const char *ti
 
 void ED_fileselect_reset_params(struct SpaceFile *sfile);
 
+
+void ED_fileselect_init_layout(struct SpaceFile *sfile, struct ARegion *ar);
+
+
+FileLayout* ED_fileselect_get_layout(struct SpaceFile *sfile, struct ARegion *ar);
+
+int ED_fileselect_layout_offset(FileLayout* layout, int x, int y);
+
+void ED_fileselect_layout_tilepos(FileLayout* layout, int tile, short *x, short *y);
+
+
 #endif /* ED_FILES_H */
 
diff --git a/source/blender/editors/include/ED_mesh.h b/source/blender/editors/include/ED_mesh.h
index f431b5d5f84..22a13f7123e 100644
--- a/source/blender/editors/include/ED_mesh.h
+++ b/source/blender/editors/include/ED_mesh.h
@@ -86,6 +86,12 @@ void		ED_keymap_mesh(struct wmWindowManager *wm);
 
 
 /* editmesh.c */
+
+/*accessor functions for editmesh, all access to editmesh must
+  go through them!*/
+struct EditMesh *EM_GetEditMesh(struct Mesh *me);
+void EM_EndEditMesh(struct Mesh *me, struct EditMesh *em);
+
 void		ED_spacetypes_init(void);
 void		ED_keymap_mesh(struct wmWindowManager *wm);
 
diff --git a/source/blender/editors/include/ED_screen.h b/source/blender/editors/include/ED_screen.h
index 0433bf3f235..847120a5804 100644
--- a/source/blender/editors/include/ED_screen.h
+++ b/source/blender/editors/include/ED_screen.h
@@ -73,6 +73,7 @@ void	ED_area_do_refresh(struct bContext *C, ScrArea *sa);
 void	ED_area_headerprint(ScrArea *sa, const char *str);
 void	ED_area_newspace(struct bContext *C, ScrArea *sa, int type);
 void	ED_area_prevspace(struct bContext *C);
+void	ED_area_swapspace(struct bContext *C, ScrArea *sa1, ScrArea *sa2);
 
 /* screens */
 void	ED_screens_initialize(struct wmWindowManager *wm);
diff --git a/source/blender/editors/include/ED_view3d.h b/source/blender/editors/include/ED_view3d.h
index 128af0fd36a..fbe6362db7c 100644
--- a/source/blender/editors/include/ED_view3d.h
+++ b/source/blender/editors/include/ED_view3d.h
@@ -91,6 +91,7 @@ void viewline(struct ARegion *ar, struct View3D *v3d, short mval[2], float ray_s
 void viewray(struct ARegion *ar, struct View3D *v3d, short mval[2], float ray_start[3], float ray_normal[3]);
 
 int get_view3d_viewplane(struct View3D *v3d, struct RegionView3D *rv3d, int winxi, int winyi, rctf *viewplane, float *clipsta, float *clipend, float *pixsize);
+int get_view3d_ortho(struct View3D *v3d, struct RegionView3D *rv3d);
 void view3d_get_object_project_mat(struct RegionView3D *v3d, struct Object *ob, float pmat[4][4], float vmat[4][4]);
 void view3d_project_float(struct ARegion *a, float *vec, float *adr, float mat[4][4]);
 
diff --git a/source/blender/editors/include/UI_interface.h b/source/blender/editors/include/UI_interface.h
index 60d504c21fe..f7d21d0374c 100644
--- a/source/blender/editors/include/UI_interface.h
+++ b/source/blender/editors/include/UI_interface.h
@@ -36,11 +36,13 @@ struct ID;
 struct Main;
 struct ListBase;
 struct ARegion;
+struct ScrArea;
 struct wmWindow;
 struct wmWindowManager;
 struct wmOperator;
 struct AutoComplete;
 struct bContext;
+struct Panel;
 struct PointerRNA;
 struct PropertyRNA;
 struct ReportList;
@@ -85,6 +87,7 @@ typedef struct uiPopupBlockHandle uiPopupBlockHandle;
 #define UI_BLOCK_MOVEMOUSE_QUIT	128
 #define UI_BLOCK_KEEP_OPEN		256
 #define UI_BLOCK_POPUP			512
+#define UI_BLOCK_2_50			1024	/* XXX 2.5 migration flag */
 
 /* uiPopupBlockHandle->menuretval */
 #define UI_RETURN_CANCEL	1       /* cancel all menus cascading */
@@ -190,6 +193,7 @@ typedef struct uiPopupBlockHandle uiPopupBlockHandle;
 void uiEmboss(float x1, float y1, float x2, float y2, int sel);
 void uiRoundBox(float minx, float miny, float maxx, float maxy, float rad);
 void uiSetRoundBox(int type);
+int uiGetRoundBox(void);
 void uiRoundRect(float minx, float miny, float maxx, float maxy, float rad);
 void uiDrawMenuBox(float minx, float miny, float maxx, float maxy, short flag, short direction);
 void uiDrawBoxShadow(unsigned char alpha, float minx, float miny, float maxx, float maxy);
@@ -302,7 +306,7 @@ void uiTextBoundsBlock(uiBlock *block, int addval);
 void uiPopupBoundsBlock(uiBlock *block, int addval, int mx, int my);
 void uiMenuPopupBoundsBlock(uiBlock *block, int addvall, int mx, int my);
 
-int		uiBlocksGetYMin		(ListBase *lb);
+int		uiBlocksGetYMin		(struct ListBase *lb);
 int		uiBlockGetCol		(uiBlock *block);
 
 void	uiBlockSetCol		(uiBlock *block, int col);
@@ -310,6 +314,7 @@ void	uiBlockSetEmboss	(uiBlock *block, int emboss);
 void	uiBlockSetDirection	(uiBlock *block, int direction);
 void 	uiBlockFlipOrder	(uiBlock *block);
 void	uiBlockSetFlag		(uiBlock *block, int flag);
+void	uiBlockClearFlag	(uiBlock *block, int flag);
 void	uiBlockSetXOfs		(uiBlock *block, int xofs);
 
 int		uiButGetRetVal		(uiBut *but);
@@ -429,8 +434,8 @@ void uiDefKeyevtButS(uiBlock *block, int retval, char *str, short x1, short y1,
 
 void uiBlockPickerButtons(struct uiBlock *block, float *col, float *hsv, float *old, char *hexcol, char mode, short retval);
 
-uiBut *uiDefAutoButR(uiBlock *block, struct PointerRNA *ptr, struct PropertyRNA *prop, int index, char *name, int x1, int y1, int x2, int y2);
-int uiDefAutoButsRNA(uiBlock *block, struct PointerRNA *ptr);
+uiBut *uiDefAutoButR(uiBlock *block, struct PointerRNA *ptr, struct PropertyRNA *prop, int index, char *name, int icon, int x1, int y1, int x2, int y2);
+int uiDefAutoButsRNA(const struct bContext *C, uiBlock *block, struct PointerRNA *ptr);
 
 /* Links
  *
@@ -499,11 +504,13 @@ extern void uiMatchPanelsView2d(struct ARegion *ar);
 
 extern void uiNewPanelHeight(struct uiBlock *block, int sizey);
 extern void uiNewPanelTitle(struct uiBlock *block, char *str);
-extern uiBlock *uiFindOpenPanelBlockName(ListBase *lb, char *name);
+extern uiBlock *uiFindOpenPanelBlockName(struct ListBase *lb, char *name);
 extern int uiAlignPanelStep(struct ScrArea *sa, struct ARegion *ar, float fac);
 extern void uiPanelControl(int);
 extern void uiSetPanelHandler(int);
 
+struct Panel *uiPanelFromBlock(struct uiBlock *block);
+
 /* Handlers
  *
  * Handlers that can be registered in regions, areas and windows for
@@ -512,22 +519,22 @@ extern void uiSetPanelHandler(int);
 
 void UI_add_region_handlers(struct ListBase *handlers);
 void UI_add_area_handlers(struct ListBase *handlers);
-void UI_add_popup_handlers(struct ListBase *handlers, uiPopupBlockHandle *menu);
+void UI_add_popup_handlers(struct bContext *C, struct ListBase *handlers, uiPopupBlockHandle *menu);
 
 /* Legacy code
  * Callbacks and utils to get 2.48 work */
 
 void test_idbutton_cb(struct bContext *C, void *namev, void *arg2);
-void test_scriptpoin_but(struct bContext *C, char *name, ID **idpp);
-void test_actionpoin_but(struct bContext *C, char *name, ID **idpp);
-void test_obpoin_but(struct bContext *C, char *name, ID **idpp);
-void test_meshobpoin_but(struct bContext *C, char *name, ID **idpp);
-void test_meshpoin_but(struct bContext *C, char *name, ID **idpp);
-void test_matpoin_but(struct bContext *C, char *name, ID **idpp);
-void test_scenepoin_but(struct bContext *C, char *name, ID **idpp);
-void test_grouppoin_but(struct bContext *C, char *name, ID **idpp);
-void test_texpoin_but(struct bContext *C, char *name, ID **idpp);
-void test_imapoin_but(struct bContext *C, char *name, ID **idpp);
+void test_scriptpoin_but(struct bContext *C, char *name, struct ID **idpp);
+void test_actionpoin_but(struct bContext *C, char *name, struct ID **idpp);
+void test_obpoin_but(struct bContext *C, char *name, struct ID **idpp);
+void test_meshobpoin_but(struct bContext *C, char *name, struct ID **idpp);
+void test_meshpoin_but(struct bContext *C, char *name, struct ID **idpp);
+void test_matpoin_but(struct bContext *C, char *name, struct ID **idpp);
+void test_scenepoin_but(struct bContext *C, char *name, struct ID **idpp);
+void test_grouppoin_but(struct bContext *C, char *name, struct ID **idpp);
+void test_texpoin_but(struct bContext *C, char *name, struct ID **idpp);
+void test_imapoin_but(struct bContext *C, char *name, struct ID **idpp);
 void autocomplete_bone(struct bContext *C, char *str, void *arg_v);
 void autocomplete_vgroup(struct bContext *C, char *str, void *arg_v);
 
@@ -552,5 +559,74 @@ uiBut *uiDefMenuSep(uiBlock *block);
 uiBut *uiDefMenuSub(uiBlock *block, uiBlockCreateFunc func, char *name);
 uiBut *uiDefMenuTogR(uiBlock *block, struct PointerRNA *ptr, char *propname, char *propvalue, char *name);
 
+/* Layout
+ *
+ * More automated layout of buttons. Has three levels:
+ * - Layout: contains a number templates, within a bounded width or height.
+ * - Template: predefined layouts for buttons with a number of slots, each
+ *   slot can contain multiple items.
+ * - Item: item to put in a template slot, being either an RNA property,
+ *   operator, label or menu currently. */
+
+/* layout */
+#define UI_LAYOUT_HORIZONTAL	0
+#define UI_LAYOUT_VERTICAL		1
+
+typedef struct uiLayout uiLayout;
+
+uiLayout *uiLayoutBegin(int dir, int x, int y, int w, int h);
+void uiLayoutContext(uiLayout *layout, int opcontext);
+void uiLayoutEnd(const struct bContext *C, uiBlock *block, uiLayout *layout, int *x, int *y);
+
+/* vertical button templates */
+#define UI_TSLOT_COLUMN_1	0
+#define UI_TSLOT_COLUMN_2	1
+#define UI_TSLOT_COLUMN_3	2
+#define UI_TSLOT_COLUMN_4	3
+#define UI_TSLOT_COLUMN_5	4
+#define UI_TSLOT_COLUMN_MAX	5
+
+#define UI_TSLOT_LR_LEFT	0
+#define UI_TSLOT_LR_RIGHT	1
+
+void uiTemplateLeftRight(uiLayout *layout);
+void uiTemplateColumn(uiLayout *layout);
+uiLayout *uiTemplateStack(uiLayout *layout);
+
+/* horizontal header templates */
+#define UI_TSLOT_HEADER		0
+
+void uiTemplateHeaderMenus(uiLayout *layout);
+void uiTemplateHeaderButtons(uiLayout *layout);
+void uiTemplateHeaderID(uiLayout *layout, struct PointerRNA *ptr, char *propname, int flag, uiIDPoinFunc func);
+void uiTemplateSetColor(uiLayout *layout, int color);
+
+/* items */
+void uiItemO(uiLayout *layout, int slot, const char *name, int icon, char *opname);
+void uiItemEnumO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, int value);
+void uiItemsEnumO(uiLayout *layout, int slot, char *opname, char *propname);
+void uiItemBooleanO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, int value);
+void uiItemIntO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, int value);
+void uiItemFloatO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, float value);
+void uiItemStringO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, char *value);
+void uiItemFullO(uiLayout *layout, int slot, const char *name, int icon, char *idname, IDProperty *properties, int context);
+
+void uiItemR(uiLayout *layout, int slot, const char *name, int icon, struct PointerRNA *ptr, char *propname);
+void uiItemFullR(uiLayout *layout, int slot, const char *name, int icon, struct PointerRNA *ptr, char *propname, int index);
+
+void uiItemLabel(uiLayout *layout, int slot, const char *name, int icon);
+
+void uiItemMenu(uiLayout *layout, int slot, const char *name, int icon, uiMenuCreateFunc func);
+
+/* utilities */
+#define UI_PANEL_WIDTH			340
+#define UI_COMPACT_PANEL_WIDTH	160
+
+typedef void (*uiHeaderCreateFunc)(const struct bContext *C, uiLayout *layout);
+typedef void (*uiPanelCreateFunc)(const struct bContext *C, uiLayout *layout);
+
+void uiRegionPanelLayout(const struct bContext *C, struct ARegion *ar, int vertical, char *context);
+void uiRegionHeaderLayout(const struct bContext *C, struct ARegion *ar);
+
 #endif /*  UI_INTERFACE_H */
 
diff --git a/source/blender/editors/include/UI_interface_icons.h b/source/blender/editors/include/UI_interface_icons.h
index 9387eabbae6..bf160b4ad68 100644
--- a/source/blender/editors/include/UI_interface_icons.h
+++ b/source/blender/editors/include/UI_interface_icons.h
@@ -44,6 +44,7 @@ typedef struct IconFile {
 } IconFile;
 
 #define ICON_DEFAULT_HEIGHT 16
+#define ICON_DEFAULT_WIDTH	16
 #define PREVIEW_DEFAULT_HEIGHT 96
 
 /*
diff --git a/source/blender/editors/include/UI_resources.h b/source/blender/editors/include/UI_resources.h
index e644c0aa019..e6c2dfb31e7 100644
--- a/source/blender/editors/include/UI_resources.h
+++ b/source/blender/editors/include/UI_resources.h
@@ -609,21 +609,21 @@ typedef enum {
 	ICON_IMGDISPLAY,
 	ICON_BLANK284,
 	ICON_BLANK285,
-	ICON_FOLDER_DEHLT,
-	ICON_FOLDER_HLT,
-	ICON_BLUEIMAGE_DEHLT,
-	ICON_BLUEIMAGE_HLT,
-	ICON_BPIBFOLDER_DEHLT,
-	ICON_BPIBFOLDER_HLT,
-	ICON_BPIBFOLDER_ERR,
 	ICON_BOOKMARKS,
 	ICON_FONTPREVIEW,
-	ICON_BLANK286,
-	ICON_BLANK287,
-	ICON_BLANK288,
-	ICON_BLANK289,
-	ICON_BLANK290,
-	ICON_BLANK291,
+	ICON_FILTER,
+	ICON_BLANK285E,
+	ICON_BLANK285F,
+	ICON_FILE_PARENT,
+	ICON_FILE_REFRESH,
+	ICON_FILE_FOLDER,
+	ICON_FILE_BLANK,
+	ICON_FILE_BLEND,
+	ICON_FILE_IMAGE,
+	ICON_FILE_MOVIE,
+	ICON_FILE_SCRIPT,
+	ICON_FILE_SOUND,
+	ICON_FILE_FONT,
 	ICON_BLANK291b,
 
 	/* available */
diff --git a/source/blender/editors/include/UI_view2d.h b/source/blender/editors/include/UI_view2d.h
index cdb69477f12..0650a5611dc 100644
--- a/source/blender/editors/include/UI_view2d.h
+++ b/source/blender/editors/include/UI_view2d.h
@@ -56,6 +56,8 @@ enum {
 	V2D_COMMONVIEW_HEADER,
 		/* ui listviews, tries to wrap tot inside region width */
 	V2D_COMMONVIEW_LIST_UI,
+		/* ui region containing panels */
+	V2D_COMMONVIEW_PANELS_UI,
 } eView2D_CommonViewTypes;
 
 /* ---- Defines for Scroller/Grid Arguments ----- */
@@ -68,6 +70,7 @@ enum {
 	/* for drawing time */
 	V2D_UNIT_SECONDS = 0,
 	V2D_UNIT_FRAMES,
+	V2D_UNIT_FRAMESCALE,
 	
 	/* for drawing values */
 	V2D_UNIT_VALUES,
diff --git a/source/blender/editors/interface/interface.c b/source/blender/editors/interface/interface.c
index d1c4447f215..7396edd3025 100644
--- a/source/blender/editors/interface/interface.c
+++ b/source/blender/editors/interface/interface.c
@@ -538,6 +538,8 @@ static int ui_but_update_from_old_block(const bContext *C, uiBlock *block, uiBut
 				but->editcumap= oldbut->editcumap;
 				but->selsta= oldbut->selsta;
 				but->selend= oldbut->selend;
+				but->softmin= oldbut->softmin;
+				but->softmax= oldbut->softmax;
 				found= 1;
 
 				oldbut->active= NULL;
@@ -600,11 +602,15 @@ void uiEndBlock(const bContext *C, uiBlock *block)
 		/* temp? Proper check for greying out */
 		if(but->opname) {
 			wmOperatorType *ot= WM_operatortype_find(but->opname);
-			if(ot==NULL || ot->poll((bContext *)C)==0) {
+			if(ot==NULL || (ot->poll && ot->poll((bContext *)C)==0)) {
 				but->flag |= UI_BUT_DISABLED;
 				but->lock = 1;
 			}
 		}
+
+		/* only update soft range while not editing */
+		if(but->rnaprop && !(but->editval || but->editstr || but->editvec))
+			ui_set_but_soft_range(but, ui_get_but_val(but));
 	}
 
 	if(block->oldblock) {
@@ -634,9 +640,14 @@ void uiEndBlock(const bContext *C, uiBlock *block)
 
 void uiDrawBlock(const bContext *C, uiBlock *block)
 {
-	ARegion *ar= CTX_wm_region(C);
+	ARegion *ar;
 	uiBut *but;
 
+	/* get menu region or area region */
+	ar= CTX_wm_menu(C);
+	if(!ar)
+		ar= CTX_wm_region(C);
+
 	if(!block->endblock)
 		uiEndBlock(C, block);
 
@@ -646,11 +657,11 @@ void uiDrawBlock(const bContext *C, uiBlock *block)
 	if(block->flag & UI_BLOCK_LOOP)
 		uiDrawMenuBox(block->minx, block->miny, block->maxx, block->maxy, block->flag, block->direction);
 	else if(block->panel)
-		ui_draw_panel(CTX_wm_region(C), block);
+		ui_draw_panel(ar, block);
 
 	if(block->drawextra) block->drawextra(C, block);
 
-	for (but= block->buttons.first; but; but= but->next)
+	for(but= block->buttons.first; but; but= but->next)
 		ui_draw_but(ar, but);
 
 	ui_draw_links(block);
@@ -686,14 +697,14 @@ static void ui_is_but_sel(uiBut *but)
 		case TOG3:
 		case BUT_TOGDUAL:
 		case ICONTOG:
-			if(value!=but->min) push= 1;
+			if(value!=but->hardmin) push= 1;
 			break;
 		case ICONTOGN:
 		case TOGN:
 			if(value==0.0) push= 1;
 			break;
 		case ROW:
-			if(value == but->max) push= 1;
+			if(value == but->hardmax) push= 1;
 			break;
 		case COL:
 			push= 1;
@@ -728,7 +739,7 @@ static uiBut *ui_get_valid_link_button(uiBlock *block, uiBut *but, short *mval)
 			}
 		}
 		else if(but->type==INLINK && bt->type==LINK) {
-			if( bt->link->tocode == (int)but->min ) {
+			if( bt->link->tocode == (int)but->hardmin ) {
 				return bt;
 			}
 		}
@@ -1415,7 +1426,92 @@ void ui_set_but_string(uiBut *but, const char *str)
 			RNA_property_string_set(&but->rnapoin, but->rnaprop, str);
 	}
 	else
-		BLI_strncpy(but->poin, str, but->max);
+		BLI_strncpy(but->poin, str, but->hardmax);
+}
+
+static double soft_range_round_up(double value, double max)
+{
+	/* round up to .., 0.1, 0.2, 0.5, 1, 2, 5, 10, 20, 50, .. */
+	double newmax= pow(10.0, ceil(log(value)/log(10.0)));
+
+	if(newmax*0.2 >= max && newmax*0.2 >= value)
+		return newmax*0.2;
+	else if(newmax*0.5 >= max && newmax*0.5 >= value)
+		return newmax*0.5;
+	else
+		return newmax;
+}
+
+static double soft_range_round_down(double value, double max)
+{
+	/* round down to .., 0.1, 0.2, 0.5, 1, 2, 5, 10, 20, 50, .. */
+	double newmax= pow(10.0, floor(log(value)/log(10.0)));
+
+	if(newmax*5.0 <= max && newmax*5.0 <= value)
+		return newmax*5.0;
+	else if(newmax*2.0 <= max && newmax*2.0 <= value)
+		return newmax*2.0;
+	else
+		return newmax;
+}
+
+void ui_set_but_soft_range(uiBut *but, double value)
+{
+	PropertyType type;
+	double softmin, softmax, step, precision;
+	
+	if(but->rnaprop) {
+		type= RNA_property_type(&but->rnapoin, but->rnaprop);
+
+		if(type == PROP_INT) {
+			int imin, imax, istep;
+
+			RNA_property_int_ui_range(&but->rnapoin, but->rnaprop, &imin, &imax, &istep);
+			softmin= imin;
+			softmax= imax;
+			step= istep;
+			precision= 1;
+		}
+		else if(type == PROP_FLOAT) {
+			float fmin, fmax, fstep, fprecision;
+
+			RNA_property_float_ui_range(&but->rnapoin, but->rnaprop, &fmin, &fmax, &fstep, &fprecision);
+			softmin= fmin;
+			softmax= fmax;
+			step= fstep;
+			precision= fprecision;
+		}
+		else
+			return;
+
+		/* clamp button range to something reasonable in case
+		 * we get -inf/inf from RNA properties */
+		softmin= MAX2(softmin, -1e4);
+		softmax= MIN2(softmax, 1e4);
+
+		/* if the value goes out of the soft/max range, adapt the range */
+		if(value+1e-10 < softmin) {
+			if(value < 0.0)
+				softmin= -soft_range_round_up(-value, -softmin);
+			else
+				softmin= soft_range_round_down(value, softmin);
+
+			if(softmin < but->hardmin)
+				softmin= but->hardmin;
+		}
+		else if(value-1e-10 > softmax) {
+			if(value < 0.0)
+				softmax= -soft_range_round_down(-value, -softmax);
+			else
+				softmax= soft_range_round_up(value, softmax);
+
+			if(softmax > but->hardmax)
+				softmax= but->hardmax;
+		}
+
+		but->softmin= softmin;
+		but->softmax= softmax;
+	}
 }
 
 /* ******************* Font ********************/
@@ -1676,14 +1772,14 @@ void ui_check_but(uiBut *but)
 		case NUMSLI:
 		case HSVSLI:
 			value= ui_get_but_val(but);
-			if(value < but->min) ui_set_but_val(but, but->min);
-			else if(value > but->max) ui_set_but_val(but, but->max);
+			if(value < but->hardmin) ui_set_but_val(but, but->hardmin);
+			else if(value > but->hardmax) ui_set_but_val(but, but->hardmax);
 			break;
 			
 		case NUMABS:
 			value= fabs( ui_get_but_val(but) );
-			if(value < but->min) ui_set_but_val(but, but->min);
-			else if(value > but->max) ui_set_but_val(but, but->max);
+			if(value < but->hardmin) ui_set_but_val(but, but->hardmin);
+			else if(value > but->hardmax) ui_set_but_val(but, but->hardmax);
 			break;
 			
 		case ICONTOG: 
@@ -1694,21 +1790,18 @@ void ui_check_but(uiBut *but)
 			
 		case ICONROW:
 			value= ui_get_but_val(but);
-			but->iconadd= (int)value- (int)(but->min);
+			but->iconadd= (int)value- (int)(but->hardmin);
 			break;
 			
 		case ICONTEXTROW:
 			value= ui_get_but_val(but);
-			but->iconadd= (int)value- (int)(but->min);
+			but->iconadd= (int)value- (int)(but->hardmin);
 			break;
 	}
 	
 	
 	/* safety is 4 to enable small number buttons (like 'users') */
-	if(but->type==NUMSLI || but->type==HSVSLI) 
-		okwidth= -4 + (but->x2 - but->x1)/2.0;
-	else 
-		okwidth= -4 + (but->x2 - but->x1); 
+	okwidth= -4 + (but->x2 - but->x1); 
 	
 	/* name: */
 	switch( but->type ) {
@@ -1739,13 +1832,20 @@ void ui_check_but(uiBut *but)
 				else sprintf(but->drawstr, "%s%.4f", but->str, value);
 			}
 			else {
-				if(but->max<10.001) sprintf(but->drawstr, "%s%.3f", but->str, value);
+				if(but->hardmax<10.001) sprintf(but->drawstr, "%s%.3f", but->str, value);
 				else sprintf(but->drawstr, "%s%.2f", but->str, value);
 			}
 		}
 		else {
 			sprintf(but->drawstr, "%s%d", but->str, (int)value);
 		}
+			
+		if(but->rnaprop) {
+			PropertySubType pstype = RNA_property_subtype(&but->rnapoin, but->rnaprop);
+			
+			if (pstype == PROP_PERCENTAGE)
+				strcat(but->drawstr, "%");
+		}
 		break;
 
 	case LABEL:
@@ -2124,8 +2224,8 @@ static uiBut *ui_def_but(uiBlock *block, int type, int retval, char *str, short
 		but->y2= (y1+y2);
 	}
 	but->poin= poin;
-	but->min= min; 
-	but->max= max;
+	but->hardmin= but->softmin= min; 
+	but->hardmax= but->softmax= max;
 	but->a1= a1; 
 	but->a2= a2;
 	but->tip= tip;
@@ -2258,13 +2358,14 @@ uiBut *ui_def_but_rna(uiBlock *block, int type, int retval, char *str, short x1,
 
 		if(min == max || a1 == -1 || a2 == -1) {
 			if(proptype == PROP_INT) {
-				int softmin, softmax, step;
+				int hardmin, hardmax, softmin, softmax, step;
 
+				RNA_property_int_range(ptr, prop, &hardmin, &hardmax);
 				RNA_property_int_ui_range(ptr, prop, &softmin, &softmax, &step);
 
 				if(min == max) {
-					min= softmin;
-					max= softmax;
+					min= hardmin;
+					max= hardmax;
 				}
 				if(a1 == -1)
 					a1= step;
@@ -2272,13 +2373,14 @@ uiBut *ui_def_but_rna(uiBlock *block, int type, int retval, char *str, short x1,
 					a2= 0;
 			}
 			else if(proptype == PROP_FLOAT) {
-				float softmin, softmax, step, precision;
+				float hardmin, hardmax, softmin, softmax, step, precision;
 
+				RNA_property_float_range(ptr, prop, &hardmin, &hardmax);
 				RNA_property_float_ui_range(ptr, prop, &softmin, &softmax, &step, &precision);
 
 				if(min == max) {
-					min= softmin;
-					max= softmax;
+					min= hardmin;
+					max= hardmax;
 				}
 				if(a1 == -1)
 					a1= step;
@@ -2302,7 +2404,11 @@ uiBut *ui_def_but_rna(uiBlock *block, int type, int retval, char *str, short x1,
 	if(prop) {
 		but->rnapoin= *ptr;
 		but->rnaprop= prop;
-		but->rnaindex= index;
+
+		if(RNA_property_array_length(&but->rnapoin, but->rnaprop))
+			but->rnaindex= index;
+		else
+			but->rnaindex= 0;
 	}
 	
 	if (!prop || !RNA_property_editable(&but->rnapoin, prop)) {
@@ -2420,12 +2526,13 @@ void autocomplete_do_name(AutoComplete *autocpl, const char *name)
 }
 
 void autocomplete_end(AutoComplete *autocpl, char *autoname)
-{
+{	
 	if(autocpl->truncate[0])
 		BLI_strncpy(autoname, autocpl->truncate, autocpl->maxlen);
-	else
-		BLI_strncpy(autoname, autocpl->startname, autocpl->maxlen);
-
+	else {
+		if (autoname != autocpl->startname) /* dont copy a string over its self */
+			BLI_strncpy(autoname, autocpl->startname, autocpl->maxlen);
+	}
 	MEM_freeN(autocpl->truncate);
 	MEM_freeN(autocpl);
 }
@@ -2846,7 +2953,11 @@ void uiBlockFlipOrder(uiBlock *block)
 
 void uiBlockSetFlag(uiBlock *block, int flag)
 {
-	block->flag= flag;
+	block->flag|= flag;
+}
+void uiBlockClearFlag(uiBlock *block, int flag)
+{
+	block->flag&= ~flag;
 }
 void uiBlockSetXOfs(uiBlock *block, int xofs)
 {
diff --git a/source/blender/editors/interface/interface_draw.c b/source/blender/editors/interface/interface_draw.c
index 5be578c4d50..fc2f5a15122 100644
--- a/source/blender/editors/interface/interface_draw.c
+++ b/source/blender/editors/interface/interface_draw.c
@@ -81,6 +81,14 @@ void uiSetRoundBox(int type)
 	
 }
 
+int uiGetRoundBox(void)
+{
+	if (ELEM3(UI_GetThemeValue(TH_BUT_DRAWTYPE), TH_MINIMAL, TH_SHADED, TH_OLDSKOOL))
+		return 0;
+	else
+		return roundboxtype;
+}
+
 void gl_round_box(int mode, float minx, float miny, float maxx, float maxy, float rad)
 {
 	float vec[7][2]= {{0.195, 0.02}, {0.383, 0.067}, {0.55, 0.169}, {0.707, 0.293},
@@ -442,8 +450,8 @@ void uiRoundRectFakeAA(float minx, float miny, float maxx, float maxy, float rad
 	
 	/* get the colour and divide up the alpha */
 	glGetFloatv(GL_CURRENT_COLOR, color);
-	alpha = color[3];
-	color[3]= alpha/(float)passes;
+	alpha = 1; //color[3];
+	color[3]= 0.5*alpha/(float)passes;
 	glColor4fv(color);
 	
 	/* set the 'jitter amount' */
@@ -565,36 +573,6 @@ void uiRoundBoxEmboss(float minx, float miny, float maxx, float maxy, float rad,
 	glDisable( GL_BLEND );
 }
 
-/* plain antialiased filled box */
-#if 0
-void uiRoundBox(float minx, float miny, float maxx, float maxy, float rad)
-{
-	float color[4];
-	
-	if(roundboxtype & UI_RB_ALPHA) {
-		glGetFloatv(GL_CURRENT_COLOR, color);
-		color[3]= 0.5;
-		glColor4fv(color);
-		glEnable( GL_BLEND );
-	}
-	
-	/* solid part */
-	gl_round_box(GL_POLYGON, minx, miny, maxx, maxy, rad);
-	
-	/* set antialias line */
-	if (UI_GetThemeValue(TH_BUT_DRAWTYPE) != TH_MINIMAL) {
-		glEnable( GL_LINE_SMOOTH );
-		glEnable( GL_BLEND );
-	}
-		
-	gl_round_box(GL_LINE_LOOP, minx, miny, maxx, maxy, rad);
-   
-	glDisable( GL_BLEND );
-	glDisable( GL_LINE_SMOOTH );
-}
-#endif
-
-
 /* ************** safe rasterpos for pixmap alignment with pixels ************* */
 
 void ui_rasterpos_safe(float x, float y, float aspect)
@@ -652,7 +630,7 @@ void uiEmboss(float x1, float y1, float x2, float y2, int sel)
 /* icons have been standardized... and this call draws in untransformed coordinates */
 #define ICON_HEIGHT		16.0f
 
-static void ui_draw_icon(uiBut *but, BIFIconID icon, int blend)
+void ui_draw_icon(uiBut *but, BIFIconID icon, int blend)
 {
 	float xs=0, ys=0, aspect, height;
 
@@ -918,6 +896,10 @@ static void round_button_shaded(int type, int colorid, float asp, float x1, floa
 	int alpha_offs= (flag & UI_BUT_DISABLED)?UI_DISABLED_ALPHA_OFFS:0;
 	float shadefac;
 	
+	/* emboss */
+	glColor4f(1.0f, 1.0f, 1.0f, 0.08f);
+	uiRoundRectFakeAA(x1+1, y1-1, x2, y2-1, rad, asp);
+	
 	/* colour shading */
 	if (flag & UI_SELECT) {
 		shadefac = -0.05;
@@ -946,25 +928,26 @@ static void round_button_flat(int colorid, float asp, float x1, float y1, float
 {	
 	int alpha_offs= (flag & UI_BUT_DISABLED)?UI_DISABLED_ALPHA_OFFS:0;
 	
+	/* emboss */
+	//glColor4f(1.0f, 1.0f, 1.0f, 0.08f);
+	//uiRoundRectFakeAA(x1+1, y1-1, x2, y2-1, rad, asp);
+	
 	/* colour shading */
 	if(flag & UI_SELECT) {
-		if (flag & UI_ACTIVE) UI_ThemeColorShade(colorid, -20);
+		if (flag & UI_ACTIVE) UI_ThemeColorShade(colorid, -30);
 		else UI_ThemeColorShade(colorid, -45);	
 	}
 	else {
 		if(flag & UI_ACTIVE) UI_ThemeColorShade(colorid, 35);
 		else UI_ThemeColorShade(colorid, 25);
 	}
-	/* end colour shading */
 	
 	/* the solid base */
 	gl_round_box(GL_POLYGON, x1, y1, x2, y2, rad);
 	
 	/* outline */
 	UI_ThemeColorBlendShadeAlpha(TH_BUT_OUTLINE, TH_BACK, 0.1, -30, alpha_offs);
-	
 	uiRoundRectFakeAA(x1, y1, x2, y2, rad, asp);
-	/* end outline */
 }
 
 static void ui_checkmark_box(int colorid, float x1, float y1, float x2, float y2)
@@ -1214,11 +1197,14 @@ static void ui_roundshaded_button(int type, int colorid, float asp, float x1, fl
 
 static void ui_roundshaded_flat(int type, int colorid, float asp, float x1, float y1, float x2, float y2, int flag)
 {
-	float rad, maxrad=10.0;
+	float rad, maxrad;
 	int align= (flag & UI_BUT_ALIGN);
 	int alpha_offs= (flag & UI_BUT_DISABLED)?UI_DISABLED_ALPHA_OFFS:0;
 	
 	/* rounded corners */
+	if (type == TEX) maxrad = 5.0;
+	else maxrad= 10.0;
+	
 	rad= (y2-y1)/2.0;
 	if (rad>(x2-x1)/2) rad = (x2-x1)/2;
 	if (maxrad) {
@@ -1658,83 +1644,6 @@ static void ui_default_flat(int type, int colorid, float asp, float x1, float y1
 	}
 }
 
-#if 0
-static void ui_default_slider(int colorid, float fac, float aspect, float x1, float y1, float x2, float y2, int flag)
-{
-	float ymid, yc;
-
-	/* the slider background line */
-	ymid= (y1+y2)/2.0;
-	//yc= 2.5*aspect;	// height of center line
-	yc = 2.3; // height of center line
-	
-	if(flag & UI_SELECT) 
-			UI_ThemeColorShade(TH_BUT_NUM, -5);
-	else {
-		if(flag & UI_ACTIVE) 
-			UI_ThemeColorShade(TH_BUT_NUM, +35); 
-		else
-			UI_ThemeColorShade(TH_BUT_NUM, +25); 
-	}
-
-	glRectf(x1, ymid-yc, x2, ymid+yc);
-	
-	/* top inner bevel */
-	if(flag & UI_SELECT) UI_ThemeColorShade(TH_BUT_NUM, -40); 
-	else UI_ThemeColorShade(TH_BUT_NUM, -5); 
-	fdrawline(x1+1, ymid+yc, x2, ymid+yc);
-	
-	/* bottom inner bevel */
-	if(flag & UI_SELECT) UI_ThemeColorShade(TH_BUT_NUM, +15); 
-	else UI_ThemeColorShade(TH_BUT_NUM, +45); 
-	fdrawline(x1+1, ymid-yc, x2, ymid-yc);
-	
-	
-	/* the movable slider */
-	if(flag & UI_SELECT) UI_ThemeColorShade(TH_BUT_NUM, +80); 
-	else UI_ThemeColorShade(TH_BUT_NUM, -45); 
-
-	glShadeModel(GL_SMOOTH);
-	glBegin(GL_QUADS);
-
-	UI_ThemeColorShade(TH_BUT_NUM, -45); 
-
-	glVertex2f(x1,     y1+2.5);
-	glVertex2f(x1+fac, y1+2.5);
-
-	UI_ThemeColor(TH_BUT_NUM); 
-
-	glVertex2f(x1+fac, y2-2.5);
-	glVertex2f(x1,     y2-2.5);
-
-	glEnd();
-	
-
-	/* slider handle center */
-	glShadeModel(GL_SMOOTH);
-	glBegin(GL_QUADS);
-
-	UI_ThemeColor(TH_BUT_NUM); 
-	glVertex2f(x1+fac-3, y1+2);
-	glVertex2f(x1+fac, y1+4);
-	UI_ThemeColorShade(TH_BUT_NUM, +80); 
-	glVertex2f(x1+fac, y2-2);
-	glVertex2f(x1+fac-3, y2-2);
-
-	glEnd();
-	
-	/* slider handle left bevel */
-	UI_ThemeColorShade(TH_BUT_NUM, +70); 
-	fdrawline(x1+fac-3, y2-2, x1+fac-3, y1+2);
-	
-	/* slider handle right bevel */
-	UI_ThemeColorShade(TH_BUT_NUM, -35); 
-	fdrawline(x1+fac, y2-2, x1+fac, y1+2);
-
-	glShadeModel(GL_FLAT);
-}
-#endif
-
 /* default theme callback */
 static void ui_draw_default(int type, int colorid, float aspect, float x1, float y1, float x2, float y2, int flag)
 {
@@ -2078,27 +1987,74 @@ static void ui_draw_minimal(int type, int colorid, float asp, float x1, float y1
 /* fac is the slider handle position between x1 and x2 */
 static void ui_draw_slider(int colorid, float fac, float aspect, float x1, float y1, float x2, float y2, int flag)
 {
-	float ymid, yc;
-
-	/* the slider background line */
-	ymid= (y1+y2)/2.0;
-	yc= 1.7*aspect;	
-
-	if(flag & UI_ACTIVE) 
-		UI_ThemeColorShade(colorid, -50); 
-	else 
-		UI_ThemeColorShade(colorid, -40); 
+	int alpha_offs= (flag & UI_BUT_DISABLED)?UI_DISABLED_ALPHA_OFFS:0;
+	float maxrad= 10.0;
+	float rad;
+	int origround, round = uiGetRoundBox();
+	
+	rad= (y2-y1)/2.0;
+	if (rad>(x2-x1)/2) rad = (x2-x1)/2;
+	if (rad > maxrad) rad = maxrad;
 
-	/* left part */
-	glRectf(x1, ymid-2.0*yc, x1+fac, ymid+2.0*yc);
-	/* right part */
-	glRectf(x1+fac, ymid-yc, x2, ymid+yc);
+	if(flag & UI_ACTIVE) UI_ThemeColorShade(colorid, -75); 
+	else UI_ThemeColorShade(colorid, -45); 
 
-	/* the movable slider */
+	origround = round;
+	round &= ~(2|4);
+	uiSetRoundBox(round);
+	
+	if (fac < rad) {
+		/* if slider end is in the left end cap */
+		float ofsy;
+		float start_rad;
+		
+		start_rad = fac;
+		ofsy = (origround!=0) ? ((rad - fac) * 0.5) : 0.f;	/* shrink in Y if rounded but */
+		
+		gl_round_box(GL_POLYGON, x1, y1+ofsy, x1+fac, y2-ofsy, start_rad);
+		
+	} else if ( (fac >= rad) && (x1+fac < x2 - rad) ) {
+		/* if the slider is in the middle */
+		
+		gl_round_box(GL_POLYGON, x1, y1, x1+fac, y2, rad);
+	
+	} else if (x1+fac >= x2-rad) {
+		/* if the slider is in the right end cap */
+		float extx, ofsy;
+		float end_rad;
+		
+		/* draw the full slider area at 100% */
+		uiSetRoundBox(origround);
+		gl_round_box(GL_POLYGON, x1, y1, x2, y2, rad);
+		
+		/* don't draw anything else if the slider is completely full */
+		if (x2 - (x1+fac) < 0.05f)	
+			return;
+		
+		/* tricky to trim off right end curve by drawing over it */
+		extx = ((x1 + fac) - (x2 - rad)) * aspect;	/* width of extension bit */
+		end_rad = rad - extx - 1.0;
+		ofsy = (origround!=0) ? (extx * 0.4) : 0.f; 	/* shrink in Y if rounded but */
+		
+		if (end_rad > 1.0) {
+			
+			if(flag & UI_SELECT) UI_ThemeColorShade(colorid, -20);
+			else UI_ThemeColorShade(colorid, -0);
+			
+			round = origround;
+			round &= ~(1|8);
+			uiSetRoundBox(round);
+			gl_round_box(GL_POLYGON, x1+fac-1.0, y1+ofsy, x2-1.0, y2-ofsy, end_rad);
+		}
+		
+		/* trace over outline again, to cover up inaccuracies */
+		UI_ThemeColorBlendShadeAlpha(TH_BUT_OUTLINE, TH_BACK, 0.1, -30, alpha_offs);
+		uiSetRoundBox(origround);
+		uiRoundRectFakeAA(x1, y1, x2, y2, rad, aspect);
+	}
+	
+	
 	
-	UI_ThemeColorShade(colorid, +70); 
-	glRectf(x1+fac-aspect, ymid-2.0*yc, x1+fac+aspect, ymid+2.0*yc);
-
 }
 
 /* ************** STANDARD MENU DRAWING FUNCTION ************* */
@@ -2246,17 +2202,79 @@ static void ui_draw_pulldown_round(int type, int colorid, float asp, float x1, f
 
 /* ************** TEXT AND ICON DRAWING FUNCTIONS ************* */
 
+#define BUT_TEXT_NORMAL	0
+#define BUT_TEXT_SUNKEN	1
 
-
-/* draws text and icons for buttons */
-static void ui_draw_text_icon(uiBut *but)
+void ui_draw_text(uiBut *but, float x, float y, int sunken)
 {
-	float x;
+	int alpha_offs= (but->flag & UI_BUT_DISABLED)?UI_DISABLED_ALPHA_OFFS:0;
+	int transopts;
 	int len;
+	float ypos = (sunken==BUT_TEXT_SUNKEN) ? (y-1) : y;
 	char *cpoin;
+	
+	if(but->type==LABEL && but->hardmin!=0.0) {
+		UI_ThemeColor(TH_BUT_TEXT_HI);
+	}
+	else if(but->dt==UI_EMBOSSP) {
+		if((but->flag & UI_ACTIVE) && but->type!=LABEL) {	// LABEL = title in pulldowns
+			UI_ThemeColorShadeAlpha(TH_MENU_TEXT_HI, 0, alpha_offs);
+		} else {
+			UI_ThemeColorShadeAlpha(TH_MENU_TEXT, 0, alpha_offs);
+		}
+	}
+	else {
+		if(but->flag & UI_SELECT) {		
+			UI_ThemeColorShadeAlpha(TH_BUT_TEXT_HI, 0, alpha_offs);
+		} else {
+			UI_ThemeColorShadeAlpha(TH_BUT_TEXT, 0, alpha_offs);
+		}
+	}
+	
+	if (sunken == BUT_TEXT_SUNKEN) {
+		float curcol[4];
+
+		glGetFloatv(GL_CURRENT_COLOR, curcol); /* returns four components: r,g,b,a */		
+
+		/* only draw embossed text if the text color is darker than 0.5 mid-grey */
+		if ((curcol[0] + curcol[1] + curcol[2]) * 0.3f < 0.5f)
+			glColor4f(0.6f, 0.6f, 0.6f, 0.3f);
+		else
+			return;
+	}
+	
+	ui_rasterpos_safe(x, ypos, but->aspect);
+	if(but->type==IDPOIN) transopts= 0;	// no translation, of course!
+	else transopts= ui_translate_buttons();
+	
+	/* cut string in 2 parts */
+	cpoin= strchr(but->drawstr, '|');
+	if(cpoin) *cpoin= 0;		
+	
+#ifdef INTERNATIONAL
+	if (but->type == FTPREVIEW)
+		FTF_DrawNewFontString (but->drawstr+but->ofs, FTF_INPUT_UTF8);
+	else
+		UI_DrawString(but->font, but->drawstr+but->ofs, transopts);
+#else
+	UI_DrawString(but->font, but->drawstr+but->ofs, transopts);
+#endif
+	
+	/* part text right aligned */
+	if(cpoin) {
+		len= UI_GetStringWidth(but->font, cpoin+1, ui_translate_buttons());
+		ui_rasterpos_safe( but->x2 - len*but->aspect-3, ypos, but->aspect);
+		UI_DrawString(but->font, cpoin+1, ui_translate_buttons());
+		*cpoin= '|';
+	}
+}
+
+/* draws text and icons for buttons */
+void ui_draw_text_icon(uiBut *but)
+{
+	float x, y;
 	short t, pos, ch;
 	short selsta_tmp, selend_tmp, selsta_draw, selwidth_draw;
-	int alpha_offs= (but->flag & UI_BUT_DISABLED)?UI_DISABLED_ALPHA_OFFS:0;
 	
 	/* check for button text label */
 	if (but->type == ICONTEXTROW) {
@@ -2322,13 +2340,8 @@ static void ui_draw_text_icon(uiBut *but)
 		}
 		
 		if(but->drawstr[0]!=0) {
-			int transopts;
 			int tog3= 0;
 			
-			// cut string in 2 parts
-			cpoin= strchr(but->drawstr, '|');
-			if(cpoin) *cpoin= 0;
-
 			/* If there's an icon too (made with uiDefIconTextBut) then draw the icon
 			and offset the text label to accomodate it */
 			
@@ -2364,46 +2377,14 @@ static void ui_draw_text_icon(uiBut *but)
 				if (tog3) glColor3ub(255, 255, 0);
 			}
 			
-			/* text color, with pulldown item exception */
-			if(tog3);	// color already set
-			else if(but->dt==UI_EMBOSSP) {
-				if((but->flag & UI_ACTIVE) && but->type!=LABEL) {	// LABEL = title in pulldowns
-					UI_ThemeColorShadeAlpha(TH_MENU_TEXT_HI, 0, alpha_offs);
-				} else {
-					UI_ThemeColorShadeAlpha(TH_MENU_TEXT, 0, alpha_offs);
-				}
-			}
-			else {
-				if(but->flag & UI_SELECT) {		
-					UI_ThemeColorShadeAlpha(TH_BUT_TEXT_HI, 0, alpha_offs);
-				} else {
-					UI_ThemeColorShadeAlpha(TH_BUT_TEXT, 0, alpha_offs);
-				}
-			}
-
-			/* LABEL button exception */
-			if(but->type==LABEL && but->min!=0.0) UI_ThemeColor(TH_BUT_TEXT_HI);
-		
-			ui_rasterpos_safe(x, (but->y1+but->y2- 9.0)/2.0, but->aspect);
-			if(but->type==IDPOIN) transopts= 0;	// no translation, of course!
-			else transopts= ui_translate_buttons();
+			/* position and draw */
+			y = (but->y1+but->y2- 9.0)/2.0;
+			
+			if (ELEM(but->type, LABEL, PULLDOWN) && !(but->flag & UI_ACTIVE))
+				ui_draw_text(but, x, y, BUT_TEXT_SUNKEN);
+			
+			ui_draw_text(but, x, y, BUT_TEXT_NORMAL);
 			
-		#ifdef INTERNATIONAL
-			if (but->type == FTPREVIEW)
-				FTF_DrawNewFontString (but->drawstr+but->ofs, FTF_INPUT_UTF8);
-			else
-				UI_DrawString(but->font, but->drawstr+but->ofs, transopts);
-		#else
-			UI_DrawString(but->font, but->drawstr+but->ofs, transopts);
-		#endif
-
-			/* part text right aligned */
-			if(cpoin) {
-				len= UI_GetStringWidth(but->font, cpoin+1, ui_translate_buttons());
-				ui_rasterpos_safe( but->x2 - len*but->aspect-3, (but->y1+but->y2- 9.0)/2.0, but->aspect);
-				UI_DrawString(but->font, cpoin+1, ui_translate_buttons());
-				*cpoin= '|';
-			}
 		}
 		/* if there's no text label, then check to see if there's an icon only and draw it */
 		else if( but->flag & UI_HAS_ICON ) {
@@ -3141,7 +3122,7 @@ static void ui_draw_roundbox(uiBut *but)
 	UI_ThemeColorShadeAlpha(but->themecol, but->a2, but->a2);
 
 	uiSetRoundBox(but->a1);
-	gl_round_box(GL_POLYGON, but->x1, but->y1, but->x2, but->y2, but->min);
+	gl_round_box(GL_POLYGON, but->x1, but->y1, but->x2, but->y2, but->hardmin);
 
 	glDisable(GL_BLEND);
 }
@@ -3261,30 +3242,31 @@ void ui_draw_but(ARegion *ar, uiBut *but)
 	int type;
 	
 	if(but==NULL) return;
+	
+	if(but->block->flag & UI_BLOCK_2_50) {
+		extern void ui_draw_but_new(ARegion *ar, uiBut *but); // XXX
+
+		ui_draw_but_new(ar, but);
+		return;
+	}
 
-	/* XXX 2.50 no frontbuffer drawing allowed */
-#if 0
-	/* signal for frontbuf flush buttons and menus, not when normal drawing */
-	if(but->block->in_use) ui_block_set_flush(but->block, but);
-#endif
-		
 	switch (but->type) {
 
 	case NUMSLI:
 	case HSVSLI:
 		type= (but->editstr)? TEX: but->type;
 		but->embossfunc(type, but->themecol, but->aspect, but->x1, but->y1, but->x2, but->y2, but->flag);
-		ui_draw_text_icon(but);
-
-		x1= (but->x1+but->x2)/2;
-		x2= but->x2 - 5.0*but->aspect;
-		y1= but->y1 + 2.0*but->aspect;
-		y2= but->y2 - 2.0*but->aspect;
+		
+		x1= but->x1;
+		x2= but->x2;
+		y1= but->y1;
+		y2= but->y2;
 		
 		value= ui_get_but_val(but);
-		fac= (value-but->min)*(x2-x1)/(but->max - but->min);
+		fac= (value-but->softmin)*(x2-x1)/(but->softmax - but->softmin);
 		
 		but->sliderfunc(but->themecol, fac, but->aspect, x1, y1, x2, y2, but->flag);
+		ui_draw_text_icon(but);
 		break;
 		
 	case SEPR:
diff --git a/source/blender/editors/interface/interface_handlers.c b/source/blender/editors/interface/interface_handlers.c
index 588615675cf..4220d9c2781 100644
--- a/source/blender/editors/interface/interface_handlers.c
+++ b/source/blender/editors/interface/interface_handlers.c
@@ -101,7 +101,7 @@ typedef struct uiHandleButtonData {
 
 	/* edited value */
 	char *str, *origstr;
-	double value, origvalue;
+	double value, origvalue, startvalue;
 	float vec[3], origvec[3];
 	int togdual, togonly;
 	ColorBand *coba;
@@ -300,7 +300,7 @@ static void ui_apply_but_BUT(bContext *C, uiBut *but, uiHandleButtonData *data)
 
 static void ui_apply_but_BUTM(bContext *C, uiBut *but, uiHandleButtonData *data)
 {
-	ui_set_but_val(but, but->min);
+	ui_set_but_val(but, but->hardmin);
 	ui_apply_but_func(C, but);
 
 	data->retval= but->retval;
@@ -381,7 +381,7 @@ static void ui_apply_but_TOG(bContext *C, uiBlock *block, uiBut *but, uiHandleBu
 
 static void ui_apply_but_ROW(bContext *C, uiBlock *block, uiBut *but, uiHandleButtonData *data)
 {
-	ui_set_but_val(but, but->max);
+	ui_set_but_val(but, but->hardmax);
 	ui_apply_but_func(C, but);
 
 	data->retval= but->retval;
@@ -426,8 +426,10 @@ static void ui_apply_but_NUM(bContext *C, uiBut *but, uiHandleButtonData *data)
 
 		if(!ui_is_but_float(but)) data->value= (int)data->value;
 		if(but->type==NUMABS) data->value= fabs(data->value);
-		if(data->value<but->min) data->value= but->min;
-		if(data->value>but->max) data->value= but->max;
+
+		/* not that we use hard limits here */
+		if(data->value<but->hardmin) data->value= but->hardmin;
+		if(data->value>but->hardmax) data->value= but->hardmax;
 	}
 
 	ui_set_but_val(but, data->value);
@@ -1138,7 +1140,7 @@ static void ui_textedit_begin(uiBut *but, uiHandleButtonData *data)
 
 	/* retrieve string */
 	if(but->type == TEX) {
-		data->maxlen= but->max;
+		data->maxlen= but->hardmax;
 		data->str= MEM_callocN(sizeof(char)*(data->maxlen+1), "textedit str");
 
 		ui_get_but_string(but, data->str, data->maxlen+1);
@@ -1389,18 +1391,9 @@ static void ui_do_but_textedit_select(bContext *C, uiBlock *block, uiBut *but, u
 
 /* ************* number editing for various types ************* */
 
-static void but_clamped_range(uiBut *but, float *butmin, float *butmax, float *butrange)
-{
-	/* clamp button range to something reasonable in case
-	 * we get -inf/inf from RNA properties */
-	*butmin= MAX2(but->min, -1e4f);
-	*butmax= MIN2(but->max, 1e4f);
-	*butrange= *butmax - *butmin;
-}
-
 static void ui_numedit_begin(uiBut *but, uiHandleButtonData *data)
 {
-	float butrange, butmin, butmax;
+	float softrange, softmin, softmax;
 
 	if(but->type == BUT_CURVE) {
 		data->cumap= (CurveMapping*)but->poin;
@@ -1416,13 +1409,16 @@ static void ui_numedit_begin(uiBut *but, uiHandleButtonData *data)
 		but->editvec= data->vec;
 	}
 	else {
-		data->origvalue= ui_get_but_val(but);
+		data->startvalue= ui_get_but_val(but);
+		data->origvalue= data->startvalue;
 		data->value= data->origvalue;
 		but->editval= &data->value;
 
-		but_clamped_range(but, &butmin, &butmax, &butrange);
+		softmin= but->softmin;
+		softmax= but->softmax;
+		softrange= softmax - softmin;
 
-		data->dragfstart= (butrange == 0.0)? 0.0f: (data->value - butmin)/butrange;
+		data->dragfstart= (softrange == 0.0)? 0.0: (data->value - softmin)/softrange;
 		data->dragf= data->dragfstart;
 	}
 
@@ -1629,7 +1625,7 @@ static int ui_do_but_EXIT(bContext *C, uiBut *but, uiHandleButtonData *data, wmE
 
 static int ui_numedit_but_NUM(uiBut *but, uiHandleButtonData *data, float fac, int snap, int mx)
 {
-	float deler, tempf, butmin, butmax, butrange;
+	float deler, tempf, softmin, softmax, softrange;
 	int lvalue, temp, changed= 0;
 	
 	if(mx == data->draglastx)
@@ -1645,19 +1641,21 @@ static int ui_numedit_but_NUM(uiBut *but, uiHandleButtonData *data, float fac, i
 		data->dragstartx= mx;  /* ignore mouse movement within drag-lock */
 	}
 
-	but_clamped_range(but, &butmin, &butmax, &butrange);
+	softmin= but->softmin;
+	softmax= but->softmax;
+	softrange= softmax - softmin;
 
 	deler= 500;
 	if(!ui_is_but_float(but)) {
-		if((butrange)<100) deler= 200.0;
-		if((butrange)<25) deler= 50.0;
+		if((softrange)<100) deler= 200.0;
+		if((softrange)<25) deler= 50.0;
 	}
 	deler /= fac;
 
-	if(ui_is_but_float(but) && butrange > 11) {
+	if(ui_is_but_float(but) && softrange > 11) {
 		/* non linear change in mouse input- good for high precicsion */
 		data->dragf+= (((float)(mx-data->draglastx))/deler) * (fabs(data->dragstartx-mx)*0.002);
-	} else if (!ui_is_but_float(but) && butrange > 129) { /* only scale large int buttons */
+	} else if (!ui_is_but_float(but) && softrange > 129) { /* only scale large int buttons */
 		/* non linear change in mouse input- good for high precicsionm ints need less fine tuning */
 		data->dragf+= (((float)(mx-data->draglastx))/deler) * (fabs(data->dragstartx-mx)*0.004);
 	} else {
@@ -1668,51 +1666,50 @@ static int ui_numedit_but_NUM(uiBut *but, uiHandleButtonData *data, float fac, i
 	if(data->dragf>1.0) data->dragf= 1.0;
 	if(data->dragf<0.0) data->dragf= 0.0;
 	data->draglastx= mx;
-	tempf= (butmin + data->dragf*butrange);
+	tempf= (softmin + data->dragf*softrange);
 	
 	if(!ui_is_but_float(but)) {
-		
 		temp= floor(tempf+.5);
 		
-		if(tempf==but->min || tempf==but->max);
+		if(tempf==softmin || tempf==softmax);
 		else if(snap) {
 			if(snap == 2) temp= 100*(temp/100);
 			else temp= 10*(temp/10);
 		}
-		if( temp>=but->min && temp<=but->max) {
-			lvalue= (int)data->value;
+
+		CLAMP(temp, softmin, softmax);
+		lvalue= (int)data->value;
 			
-			if(temp != lvalue ) {
-				data->dragchange= 1;
-				data->value= (double)temp;
-				changed= 1;
-			}
+		if(temp != lvalue) {
+			data->dragchange= 1;
+			data->value= (double)temp;
+			changed= 1;
 		}
-
 	}
 	else {
 		temp= 0;
+
 		if(snap) {
 			if(snap == 2) {
-				if(tempf==but->min || tempf==but->max);
-				else if(butrange < 2.10) tempf= 0.01*floor(100.0*tempf);
-				else if(butrange < 21.0) tempf= 0.1*floor(10.0*tempf);
+				if(tempf==softmin || tempf==softmax);
+				else if(softrange < 2.10) tempf= 0.01*floor(100.0*tempf);
+				else if(softrange < 21.0) tempf= 0.1*floor(10.0*tempf);
 				else tempf= floor(tempf);
 			}
 			else {
-				if(tempf==but->min || tempf==but->max);
-				else if(butrange < 2.10) tempf= 0.1*floor(10*tempf);
-				else if(butrange < 21.0) tempf= floor(tempf);
+				if(tempf==softmin || tempf==softmax);
+				else if(softrange < 2.10) tempf= 0.1*floor(10*tempf);
+				else if(softrange < 21.0) tempf= floor(tempf);
 				else tempf= 10.0*floor(tempf/10.0);
 			}
 		}
 
-		if( tempf>=but->min && tempf<=but->max) {
-			if(tempf != data->value) {
-				data->dragchange= 1;
-				data->value= tempf;
-				changed= 1;
-			}
+		CLAMP(tempf, softmin, softmax);
+
+		if(tempf != data->value) {
+			data->dragchange= 1;
+			data->value= tempf;
+			changed= 1;
 		}
 	}
 
@@ -1786,15 +1783,18 @@ static int ui_do_but_NUM(bContext *C, uiBlock *block, uiBut *but, uiHandleButton
 	if(click) {
 		/* we can click on the side arrows to increment/decrement,
 		 * or click inside to edit the value directly */
-		float tempf;
+		float tempf, softmin, softmax;
 		int temp;
 
+		softmin= but->softmin;
+		softmax= but->softmax;
+
 		if(!ui_is_but_float(but)) {
 			if(mx < (but->x1 + (but->x2 - but->x1)/3 - 3)) {
 				button_activate_state(C, but, BUTTON_STATE_NUM_EDITING);
 
 				temp= (int)data->value - 1;
-				if(temp>=but->min && temp<=but->max)
+				if(temp>=softmin && temp<=softmax)
 					data->value= (double)temp;
 				else
 					data->cancel= 1;
@@ -1805,7 +1805,7 @@ static int ui_do_but_NUM(bContext *C, uiBlock *block, uiBut *but, uiHandleButton
 				button_activate_state(C, but, BUTTON_STATE_NUM_EDITING);
 
 				temp= (int)data->value + 1;
-				if(temp>=but->min && temp<=but->max)
+				if(temp>=softmin && temp<=softmax)
 					data->value= (double)temp;
 				else
 					data->cancel= 1;
@@ -1820,7 +1820,7 @@ static int ui_do_but_NUM(bContext *C, uiBlock *block, uiBut *but, uiHandleButton
 				button_activate_state(C, but, BUTTON_STATE_NUM_EDITING);
 
 				tempf= data->value - 0.01*but->a1;
-				if (tempf < but->min) tempf = but->min;
+				if (tempf < softmin) tempf = softmin;
 				data->value= tempf;
 
 				button_activate_state(C, but, BUTTON_STATE_EXIT);
@@ -1829,7 +1829,7 @@ static int ui_do_but_NUM(bContext *C, uiBlock *block, uiBut *but, uiHandleButton
 				button_activate_state(C, but, BUTTON_STATE_NUM_EDITING);
 
 				tempf= data->value + 0.01*but->a1;
-				if (tempf < but->min) tempf = but->min;
+				if (tempf > softmax) tempf = softmax;
 				data->value= tempf;
 
 				button_activate_state(C, but, BUTTON_STATE_EXIT);
@@ -1846,12 +1846,14 @@ static int ui_do_but_NUM(bContext *C, uiBlock *block, uiBut *but, uiHandleButton
 
 static int ui_numedit_but_SLI(uiBut *but, uiHandleButtonData *data, int shift, int ctrl, int mx)
 {
-	float deler, f, tempf, butmin, butmax, butrange;
+	float deler, f, tempf, softmin, softmax, softrange;
 	int temp, lvalue, changed= 0;
 
-	but_clamped_range(but, &butmin, &butmax, &butrange);
+	softmin= but->softmin;
+	softmax= but->softmax;
+	softrange= softmax - softmin;
 
-	if(but->type==NUMSLI) deler= ((but->x2-but->x1)/2 - 5.0*but->aspect);
+	if(but->type==NUMSLI) deler= ((but->x2-but->x1) - 5.0*but->aspect);
 	else if(but->type==HSVSLI) deler= ((but->x2-but->x1)/2 - 5.0*but->aspect);
 	else deler= (but->x2-but->x1- 5.0*but->aspect);
 
@@ -1861,22 +1863,22 @@ static int ui_numedit_but_SLI(uiBut *but, uiHandleButtonData *data, int shift, i
 		f= (f-data->dragfstart)/10.0 + data->dragfstart;
 
 	CLAMP(f, 0.0, 1.0);
-	tempf= butmin + f*butrange;
+	tempf= softmin + f*softrange;
 	temp= floor(tempf+.5);
 
 	if(ctrl) {
-		if(tempf==but->min || tempf==but->max);
+		if(tempf==softmin || tempf==softmax);
 		else if(ui_is_but_float(but)) {
 
 			if(shift) {
-				if(tempf==but->min || tempf==but->max);
-				else if(but->max-but->min < 2.10) tempf= 0.01*floor(100.0*tempf);
-				else if(but->max-but->min < 21.0) tempf= 0.1*floor(10.0*tempf);
+				if(tempf==softmin || tempf==softmax);
+				else if(softmax-softmin < 2.10) tempf= 0.01*floor(100.0*tempf);
+				else if(softmax-softmin < 21.0) tempf= 0.1*floor(10.0*tempf);
 				else tempf= floor(tempf);
 			}
 			else {
-				if(but->max-but->min < 2.10) tempf= 0.1*floor(10*tempf);
-				else if(but->max-but->min < 21.0) tempf= floor(tempf);
+				if(softmax-softmin < 2.10) tempf= 0.1*floor(10*tempf);
+				else if(softmax-softmin < 21.0) tempf= floor(tempf);
 				else tempf= 10.0*floor(tempf/10.0);
 			}
 		}
@@ -1889,6 +1891,8 @@ static int ui_numedit_but_SLI(uiBut *but, uiHandleButtonData *data, int shift, i
 	if(!ui_is_but_float(but)) {
 		lvalue= floor(data->value+0.5);
 
+		CLAMP(temp, softmin, softmax);
+
 		if(temp != lvalue) {
 			data->value= temp;
 			data->dragchange= 1;
@@ -1896,6 +1900,8 @@ static int ui_numedit_but_SLI(uiBut *but, uiHandleButtonData *data, int shift, i
 		}
 	}
 	else {
+		CLAMP(tempf, softmin, softmax);
+
 		if(tempf != data->value) {
 			data->value= tempf;
 			data->dragchange= 1;
@@ -1916,21 +1922,19 @@ static int ui_do_but_SLI(bContext *C, uiBlock *block, uiBut *but, uiHandleButton
 	ui_window_to_block(data->region, block, &mx, &my);
 
 	if(data->state == BUTTON_STATE_HIGHLIGHT) {
-		if(ELEM3(event->type, LEFTMOUSE, PADENTER, RETKEY) && event->val==KM_PRESS) {
-			/* start either dragging as slider, or editing as text */
-			if(mx>= -6+(but->x1+but->x2)/2) {
-				if(event->type == LEFTMOUSE) {
-					data->dragstartx= mx;
-					data->draglastx= mx;
-					button_activate_state(C, but, BUTTON_STATE_NUM_EDITING);
-				}
-				else
-					click= 1;
-			}
-			else
+		if(event->val==KM_PRESS) {
+			if(ELEM3(event->type, LEFTMOUSE, PADENTER, RETKEY) && event->shift) {
 				button_activate_state(C, but, BUTTON_STATE_TEXT_EDITING);
-			
-			retval= WM_UI_HANDLER_BREAK;
+				retval= WM_UI_HANDLER_BREAK;
+			}
+			else if(event->type == LEFTMOUSE) {
+				data->dragstartx= mx;
+				data->draglastx= mx;
+				button_activate_state(C, but, BUTTON_STATE_NUM_EDITING);
+				retval= WM_UI_HANDLER_BREAK;
+			}
+			else if(ELEM(event->type, PADENTER, RETKEY) && event->val==KM_PRESS)
+				click= 1;
 		}
 	}
 	else if(data->state == BUTTON_STATE_NUM_EDITING) {
@@ -1956,45 +1960,52 @@ static int ui_do_but_SLI(bContext *C, uiBlock *block, uiBut *but, uiHandleButton
 	}
 
 	if(click) {
-		float f, h;
-		float tempf, butmin, butmax, butrange;
-		int temp;
-		
-		button_activate_state(C, but, BUTTON_STATE_NUM_EDITING);
-
-		but_clamped_range(but, &butmin, &butmax, &butrange);
-
-		tempf= data->value;
-		temp= (int)data->value;
-
-		h= but->y2-but->y1;
-
-		if(but->type==SLI) f= (float)(mx-but->x1)/(but->x2-but->x1-h);
-		else f= (float)(mx- (but->x1+but->x2)/2)/((but->x2-but->x1)/2 - h);
-		
-		f= butmin + f*butrange;
-
-		if(!ui_is_but_float(but)) {
-			if(f<temp) temp--;
-			else temp++;
-
-			if(temp>=but->min && temp<=but->max)
-				data->value= temp;
-			else
-				data->cancel= 1;
-		} 
+		if (event->ctrl) {
+			/* nudge slider to the left or right */
+			float f, tempf, softmin, softmax, softrange;
+			int temp;
+			
+			button_activate_state(C, but, BUTTON_STATE_NUM_EDITING);
+			
+			softmin= but->softmin;
+			softmax= but->softmax;
+			softrange= softmax - softmin;
+			
+			tempf= data->value;
+			temp= (int)data->value;
+			
+			if(but->type==SLI) f= (float)(mx-but->x1)/(but->x2-but->x1);
+			else f= (float)(mx- but->x1)/(but->x2-but->x1);
+			
+			f= softmin + f*softrange;
+			
+			if(!ui_is_but_float(but)) {
+				if(f<temp) temp--;
+				else temp++;
+				
+				if(temp>=softmin && temp<=softmax)
+					data->value= temp;
+				else
+					data->cancel= 1;
+			} 
+			else {
+				if(f<tempf) tempf-=.01;
+				else tempf+=.01;
+				
+				if(tempf>=softmin && tempf<=softmax)
+					data->value= tempf;
+				else
+					data->cancel= 1;
+			}
+			
+			button_activate_state(C, but, BUTTON_STATE_EXIT);
+			retval= WM_UI_HANDLER_BREAK;
+		}
 		else {
-			if(f<tempf) tempf-=.01;
-			else tempf+=.01;
-
-			if(tempf>=but->min && tempf<=but->max)
-				data->value= tempf;
-			else
-				data->cancel= 1;
+			/* edit the value directly */
+			button_activate_state(C, but, BUTTON_STATE_TEXT_EDITING);
+			retval= WM_UI_HANDLER_BREAK;
 		}
-
-		button_activate_state(C, but, BUTTON_STATE_EXIT);
-		retval= WM_UI_HANDLER_BREAK;
 	}
 	
 	return retval;
@@ -2638,16 +2649,17 @@ static int ui_do_button(bContext *C, uiBlock *block, uiBut *but, wmEvent *event)
 
 	/* verify if we can edit this button */
 	if(ELEM(event->type, LEFTMOUSE, RETKEY)) {
+		/* this should become disabled button .. */
 		if(but->lock) {
 			if(but->lockstr) {
-				BKE_report(CTX_reports(C), RPT_WARNING, but->lockstr);
+				BKE_report(NULL, RPT_WARNING, but->lockstr);
 				button_activate_state(C, but, BUTTON_STATE_EXIT);
 				return WM_UI_HANDLER_BREAK;
 			}
 		} 
 		else if(but->pointype && but->poin==0) {
 			/* there's a pointer needed */
-			BKE_reportf(CTX_reports(C), RPT_WARNING, "DoButton pointer error: %s", but->str);
+			BKE_reportf(NULL, RPT_WARNING, "DoButton pointer error: %s", but->str);
 			button_activate_state(C, but, BUTTON_STATE_EXIT);
 			return WM_UI_HANDLER_BREAK;
 		}
@@ -2957,6 +2969,8 @@ static void button_activate_state(bContext *C, uiBut *but, uiHandleButtonState s
 
 	data->state= state;
 
+	ui_check_but(but);
+
 	/* redraw */
 	ED_region_tag_redraw(data->region);
 }
@@ -3046,6 +3060,7 @@ static void button_activate_exit(bContext *C, uiHandleButtonData *data, uiBut *b
 	MEM_freeN(but->active);
 	but->active= NULL;
 	but->flag &= ~(UI_ACTIVE|UI_SELECT);
+	ui_check_but(but);
 
 	/* adds empty mousemove in queue for re-init handler, in case mouse is
 	 * still over a button. we cannot just check for this ourselfs because
@@ -3274,62 +3289,63 @@ static void ui_handle_button_closed_submenu(bContext *C, wmEvent *event, uiBut *
  * - only for 1 second
  */
 
-static void ui_mouse_motion_towards_init(uiPopupBlockHandle *menu, int mx, int my)
+static void ui_mouse_motion_towards_init(uiPopupBlockHandle *menu, int mx, int my, int force)
 {
-	if(!menu->dotowards) {
+	if(!menu->dotowards || force) {
 		menu->dotowards= 1;
 		menu->towardsx= mx;
 		menu->towardsy= my;
-		menu->towardstime= PIL_check_seconds_timer();
+
+		if(force)
+			menu->towardstime= DBL_MAX; /* unlimited time */
+		else
+			menu->towardstime= PIL_check_seconds_timer();
 	}
 }
 
 static int ui_mouse_motion_towards_check(uiBlock *block, uiPopupBlockHandle *menu, int mx, int my)
 {
-	int fac, dx, dy, domx, domy;
+	float p1[2], p2[2], p3[2], p4[2], oldp[2], newp[2];
+	int closer;
 
 	if(!menu->dotowards) return 0;
 	if((block->direction & UI_TOP) || (block->direction & UI_DOWN)) {
 		menu->dotowards= 0;
 		return menu->dotowards;
 	}
+
+	/* verify that we are moving towards one of the edges of the
+	 * menu block, in other words, in the triangle formed by the
+	 * initial mouse location and two edge points. */
+	p1[0]= block->minx-20;
+	p1[1]= block->miny-20;
+
+	p2[0]= block->maxx+20;
+	p2[1]= block->miny-20;
 	
-	/* calculate dominant direction */
-	domx= (-menu->towardsx + (block->maxx+block->minx)/2);
-	domy= (-menu->towardsy + (block->maxy+block->miny)/2);
+	p3[0]= block->maxx+20;
+	p3[1]= block->maxy+20;
 
-	/* we need some accuracy */
-	if(abs(domx) < 4) {
-		menu->dotowards= 0;
+	p4[0]= block->minx-20;
+	p4[1]= block->maxy+20;
+
+	oldp[0]= menu->towardsx;
+	oldp[1]= menu->towardsy;
+
+	newp[0]= mx;
+	newp[1]= my;
+
+	if(Vec2Lenf(oldp, newp) < 4.0f)
 		return menu->dotowards;
-	}
-	
-	/* check direction */
-	dx= mx - menu->towardsx;
-	dy= my - menu->towardsy;
-	
-	/* threshold */
-	if(abs(dx)+abs(dy) > 4) {
-		/* menu to right */
-		if(domx>0) {
-			fac= (mx - menu->towardsx)*( menu->towardsy - (int)(block->maxy+20)) +
-			     (my - menu->towardsy)*(-menu->towardsx + (int)block->minx);
-			if(fac>0) menu->dotowards= 0;
-			
-			fac= (mx - menu->towardsx)*( menu->towardsy - (int)(block->miny-20)) +
-			     (my - menu->towardsy)*(-menu->towardsx + (int)block->minx);
-			if(fac<0) menu->dotowards= 0;
-		}
-		else {
-			fac= (mx - menu->towardsx)*( menu->towardsy - (int)(block->maxy+20)) +
-			     (my - menu->towardsy)*(-menu->towardsx + (int)block->maxx);
-			if(fac<0) menu->dotowards= 0;
-			
-			fac= (mx - menu->towardsx)*( menu->towardsy - (int)(block->miny-20)) +
-			     (my - menu->towardsy)*(-menu->towardsx + (int)block->maxx);
-			if(fac>0) menu->dotowards= 0;
-		}
-	}
+
+	closer= 0;
+	closer |= IsectPT2Df(newp, oldp, p1, p2);
+	closer |= IsectPT2Df(newp, oldp, p2, p3);
+	closer |= IsectPT2Df(newp, oldp, p3, p4);
+	closer |= IsectPT2Df(newp, oldp, p4, p1);
+
+	if(!closer)
+		menu->dotowards= 0;
 
 	/* 1 second timer */
 	if(PIL_check_seconds_timer() - menu->towardstime > BUTTON_MOUSE_TOWARDS_THRESH)
@@ -3361,10 +3377,16 @@ int ui_handle_menu_event(bContext *C, wmEvent *event, uiPopupBlockHandle *menu,
 		if(block->miny <= my && block->maxy >= my)
 			inside= 1;
 
-	if(topmenu && event->type != TIMER) {
+	if((but=ui_but_find_activated(ar)) && button_modal_state(but->active->state)) {
+		/* if a button is activated modal, always reset the start mouse
+		 * position of the towards mechanism to avoid loosing focus,
+		 * and don't handle events */
+		ui_mouse_motion_towards_init(menu, mx, my, 1);
+	}
+	else if(event->type != TIMER) {
 		/* for ui_mouse_motion_towards_block */
 		if(event->type == MOUSEMOVE)
-			ui_mouse_motion_towards_init(menu, mx, my);
+			ui_mouse_motion_towards_init(menu, mx, my, 0);
 
 		switch(event->type) {
 			/* closing sublevels of pulldowns */
@@ -3387,7 +3409,7 @@ int ui_handle_menu_event(bContext *C, wmEvent *event, uiPopupBlockHandle *menu,
 						else but= ui_but_first(block);
 					}
 
-					if(but && but->type==BLOCK)
+					if(but && ELEM(but->type, BLOCK, HMENU))
 						ui_handle_button_activate(C, ar, but, BUTTON_ACTIVATE_OPEN);
 				}
 
@@ -3579,6 +3601,7 @@ static int ui_handle_menu_closed_submenu(bContext *C, wmEvent *event, uiPopupBlo
 	uiBlock *block;
 	uiHandleButtonData *data;
 	uiPopupBlockHandle *submenu;
+	int mx, my;
 
 	ar= menu->region;
 	block= ar->uiblocks.first;
@@ -3602,6 +3625,13 @@ static int ui_handle_menu_closed_submenu(bContext *C, wmEvent *event, uiPopupBlo
 		ui_handle_button_closed_submenu(C, event, but);
 	}
 
+	/* for cases where close does not cascade, allow the user to
+	 * move the mouse back towards the menu without closing */
+	mx= event->x;
+	my= event->y;
+	ui_window_to_block(ar, block, &mx, &my);
+	ui_mouse_motion_towards_init(menu, mx, my, 1);
+
 	if(menu->menuretval)
 		return WM_UI_HANDLER_CONTINUE;
 	else
@@ -3701,7 +3731,10 @@ static int ui_handler_region_menu(bContext *C, wmEvent *event, void *userdata)
 
 	/* here we handle buttons at the window level, modal, for example
 	 * while number sliding, text editing, or when a menu block is open */
-	ar= CTX_wm_region(C);
+	ar= CTX_wm_menu(C);
+	if(!ar)
+		ar= CTX_wm_region(C);
+
 	but= ui_but_find_activated(ar);
 
 	if(but) {
@@ -3792,8 +3825,8 @@ void UI_add_region_handlers(ListBase *handlers)
 	WM_event_add_ui_handler(NULL, handlers, ui_handler_region, ui_handler_remove_region, NULL);
 }
 
-void UI_add_popup_handlers(ListBase *handlers, uiPopupBlockHandle *menu)
+void UI_add_popup_handlers(bContext *C, ListBase *handlers, uiPopupBlockHandle *menu)
 {
-	WM_event_add_ui_handler(NULL, handlers, ui_handler_popup, ui_handler_remove_popup, menu);
+	WM_event_add_ui_handler(C, handlers, ui_handler_popup, ui_handler_remove_popup, menu);
 }
 
diff --git a/source/blender/editors/interface/interface_intern.h b/source/blender/editors/interface/interface_intern.h
index 8e1e8fad4ce..7f26f4fa89e 100644
--- a/source/blender/editors/interface/interface_intern.h
+++ b/source/blender/editors/interface/interface_intern.h
@@ -55,7 +55,7 @@ struct wmWindow;
 #define UI_MOUSE_OVER	2
 #define UI_ACTIVE		4
 #define UI_HAS_ICON		8
-/* warn: rest of uiBut->flag in BIF_interface.c */
+/* warn: rest of uiBut->flag in UI_interface.h */
 
 /* internal panel drawing defines */
 #define PNL_GRID	4
@@ -117,7 +117,7 @@ struct uiBut {
 	float x1, y1, x2, y2;
 
 	char *poin;
-	float min, max;
+	float hardmin, hardmax, softmin, softmax;
 	float a1, a2, hsv[3];	// hsv is temp memory for hsv buttons
 	float aspect;
 
@@ -261,6 +261,8 @@ extern void ui_set_but_vectorf(uiBut *but, float *vec);
 extern void ui_get_but_string(uiBut *but, char *str, int maxlen);
 extern void ui_set_but_string(uiBut *but, const char *str);
 
+extern void ui_set_but_soft_range(uiBut *but, double value);
+
 extern void ui_check_but(uiBut *but);
 extern void ui_autofill(uiBlock *block);
 extern int  ui_is_but_float(uiBut *but);
@@ -334,6 +336,9 @@ extern void gl_round_box(int mode, float minx, float miny, float maxx, float max
 extern void gl_round_box_shade(int mode, float minx, float miny, float maxx, float maxy, float rad, float shadetop, float shadedown);
 extern void gl_round_box_vertical_shade(int mode, float minx, float miny, float maxx, float maxy, float rad, float shadeLeft, float shadeRight);
 
+void ui_draw_icon(uiBut *but, BIFIconID icon, int blend);
+void ui_draw_text(uiBut *but, float x, float y, int sunken);
+
 /* interface_handlers.c */
 extern void ui_button_active_cancel(const struct bContext *C, uiBut *but);
 
diff --git a/source/blender/editors/interface/interface_layout.c b/source/blender/editors/interface/interface_layout.c
new file mode 100644
index 00000000000..f6f5bae5fa5
--- /dev/null
+++ b/source/blender/editors/interface/interface_layout.c
@@ -0,0 +1,1004 @@
+
+#include <limits.h>
+#include <math.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "MEM_guardedalloc.h"
+
+#include "DNA_ID.h"
+#include "DNA_scene_types.h"
+#include "DNA_screen_types.h"
+#include "DNA_windowmanager_types.h"
+
+#include "BLI_listbase.h"
+
+#include "BKE_context.h"
+#include "BKE_global.h"
+#include "BKE_idprop.h"
+#include "BKE_screen.h"
+#include "BKE_utildefines.h"
+
+#include "RNA_access.h"
+
+#include "UI_interface.h"
+#include "UI_resources.h"
+#include "UI_view2d.h"
+
+#include "BIF_gl.h"
+
+#include "ED_util.h"
+#include "ED_types.h"
+#include "ED_screen.h"
+
+#include "WM_api.h"
+#include "WM_types.h"
+
+/************************ Structs and Defines *************************/
+
+#define COLUMN_SPACE	5
+#define TEMPLATE_SPACE	5
+#define STACK_SPACE		5
+#define BUTTON_SPACE_X	5
+#define BUTTON_SPACE_Y	2
+
+#define RNA_NO_INDEX	-1
+
+/* Item */
+
+typedef enum uiItemType {
+	ITEM_OPERATOR,
+	ITEM_RNA_PROPERTY,
+	ITEM_MENU,
+	ITEM_LABEL
+} uiItemType;
+
+enum uiItemFlag {
+	ITEM_ICON,
+	ITEM_TEXT
+};
+
+typedef struct uiItem {
+	struct uiItem *next, *prev;
+	uiItemType type;
+	int slot;
+
+	const char *name;
+	int icon;
+} uiItem;
+
+typedef struct uiItemRNA {
+	uiItem item;
+
+	PointerRNA ptr;
+	PropertyRNA *prop;
+	int index;
+} uiItemRNA;
+
+typedef struct uiItemOp {
+	uiItem item;
+
+	wmOperatorType *ot;
+	IDProperty *properties;
+	int context;
+} uiItemOp;
+
+typedef struct uiItemLMenu {
+	uiItem item;
+
+	uiMenuCreateFunc func;
+} uiItemLMenu;
+
+/* Template */
+
+typedef enum uiTemplateType {
+	TEMPLATE_COLUMN,
+	TEMPLATE_LR,
+	TEMPLATE_STACK,
+
+	TEMPLATE_HEADER_MENUS,
+	TEMPLATE_HEADER_BUTTONS,
+	TEMPLATE_HEADER_ID
+} uiTemplateType;
+
+typedef struct uiTemplate {
+	struct uiTemplate *next, *prev;
+	uiTemplateType type;
+
+	ListBase items;
+	int color;
+} uiTemplate;
+
+typedef struct uiTemplateStck {
+	uiTemplate template;
+	uiLayout *sublayout;
+} uiTemplateStck;
+
+typedef struct uiTemplateHeadID {
+	uiTemplate template;
+
+	PointerRNA ptr;
+	char *propname;
+	int flag;
+	uiIDPoinFunc func;
+} uiTemplateHeadID;
+
+/* Layout */
+
+struct uiLayout {
+	ListBase templates;
+	int opcontext;
+	int dir;
+	int x, y, w, h;
+};
+
+void ui_layout_free(uiLayout *layout);
+void ui_layout_end(const bContext *C, uiBlock *block, uiLayout *layout, int *x, int *y);
+
+/************************** Item ***************************/
+
+static int ui_item_fit(int item, int all, int available)
+{
+	if(all > available)
+		return (item*available)/all;
+	
+	return all;
+}
+
+/* create buttons for an item with an RNA array */
+static void ui_item_array(uiBlock *block, uiItemRNA *rnaitem, int len, int x, int y, int w, int h)
+{
+	PropertyType type;
+	PropertySubType subtype;
+	char *name;
+	int a;
+
+	/* retrieve type and subtype */
+	type= RNA_property_type(&rnaitem->ptr, rnaitem->prop);
+	subtype= RNA_property_subtype(&rnaitem->ptr, rnaitem->prop);
+
+	/* create label */
+	if(rnaitem->item.name)
+		name= (char*)rnaitem->item.name;
+	else
+		name= (char*)RNA_property_ui_name(&rnaitem->ptr, rnaitem->prop);
+
+	if(strcmp(name, "") != 0)
+		uiDefBut(block, LABEL, 0, name, x, y + h - YIC, w, YIC, NULL, 0.0, 0.0, 0, 0, "");
+
+	/* create buttons */
+	uiBlockBeginAlign(block);
+
+	if(type == PROP_BOOLEAN && len == 20) {
+		/* special check for layer layout */
+		int butw, buth;
+
+		butw= ui_item_fit(XIC, XIC*10 + BUTTON_SPACE_X, w);
+		buth= MIN2(YIC, butw);
+
+		y += 2*(YIC - buth);
+
+		uiBlockBeginAlign(block);
+		for(a=0; a<5; a++)
+			uiDefAutoButR(block, &rnaitem->ptr, rnaitem->prop, a, "", ICON_BLANK1, x + butw*a, y+buth, butw, buth);
+		for(a=0; a<5; a++)
+			uiDefAutoButR(block, &rnaitem->ptr, rnaitem->prop, a+10, "", ICON_BLANK1, x + butw*a, y, butw, buth);
+		uiBlockEndAlign(block);
+
+		x += 5*butw + BUTTON_SPACE_X;
+
+		uiBlockBeginAlign(block);
+		for(a=0; a<5; a++)
+			uiDefAutoButR(block, &rnaitem->ptr, rnaitem->prop, a+5, "", ICON_BLANK1, x + butw*a, y+buth, butw, buth);
+		for(a=0; a<5; a++)
+			uiDefAutoButR(block, &rnaitem->ptr, rnaitem->prop, a+15, "", ICON_BLANK1, x + butw*a, y, butw, buth);
+		uiBlockEndAlign(block);
+	}
+	else if(subtype == PROP_MATRIX) {
+		/* matrix layout */
+		int row, col;
+
+		len= ceil(sqrt(len));
+
+		h /= len;
+		w /= len;
+
+		// XXX test
+		for(a=0; a<len; a++) {
+			col= a%len;
+			row= a/len;
+
+			uiDefAutoButR(block, &rnaitem->ptr, rnaitem->prop, a, "", 0, x + w*col, y+(row-a-1)*YIC, w, YIC);
+		}
+	}
+	else if(len <= 4 && ELEM3(subtype, PROP_ROTATION, PROP_VECTOR, PROP_COLOR)) {
+		/* layout for known array subtypes */
+		static char vectoritem[4]= {'X', 'Y', 'Z', 'W'};
+		static char quatitem[4]= {'W', 'X', 'Y', 'Z'};
+		static char coloritem[4]= {'R', 'G', 'B', 'A'};
+		char str[3];
+
+		for(a=0; a<len; a++) {
+			if(len == 4 && subtype == PROP_ROTATION)
+				str[0]= quatitem[a];
+			else if(subtype == PROP_VECTOR || subtype == PROP_ROTATION)
+				str[0]= vectoritem[a];
+			else
+				str[0]= coloritem[a];
+
+			if(type == PROP_BOOLEAN) {
+				str[1]= '\0';
+			}
+			else {
+				str[1]= ':';
+				str[2]= '\0';
+			}
+
+			uiDefAutoButR(block, &rnaitem->ptr, rnaitem->prop, a, str, 0, x, y+(len-a-1)*YIC, w, YIC);
+		}
+	}
+	else {
+		/* default array layout */
+		for(a=0; a<len; a++)
+			uiDefAutoButR(block, &rnaitem->ptr, rnaitem->prop, a, "", 0, x, y+(len-a-1)*YIC, w, YIC);
+	}
+
+	uiBlockEndAlign(block);
+}
+
+/* create lable + button for RNA property */
+static void ui_item_with_label(uiBlock *block, uiItemRNA *rnaitem, int x, int y, int w, int h)
+{
+	char *name;
+	int butw;
+
+	if(rnaitem->item.name)
+		name= (char*)rnaitem->item.name;
+	else
+		name= (char*)RNA_property_ui_name(&rnaitem->ptr, rnaitem->prop);
+	
+	if(strcmp(name, "") != 0) {
+		butw= GetButStringLength(name);
+		uiDefBut(block, LABEL, 0, name, x, y, butw, h, NULL, 0.0, 0.0, 0, 0, "");
+
+		x += butw;
+		w -= butw;
+	}
+
+	uiDefAutoButR(block, &rnaitem->ptr, rnaitem->prop, rnaitem->index, "", rnaitem->item.icon, x, y, w, h);
+}
+
+/* create buttons for an arbitrary item */
+static void ui_item_buts(uiBlock *block, uiItem *item, int x, int y, int w, int h)
+{
+	if(item->type == ITEM_RNA_PROPERTY) {
+		/* RNA property */
+		uiItemRNA *rnaitem= (uiItemRNA*)item;
+		PropertyType type;
+		int len;
+		
+		/* retrieve info */
+		type= RNA_property_type(&rnaitem->ptr, rnaitem->prop);
+		len= RNA_property_array_length(&rnaitem->ptr, rnaitem->prop);
+
+		/* array property */
+		if(rnaitem->index == RNA_NO_INDEX && len > 0)
+			ui_item_array(block, rnaitem, len, x, y, w, h);
+		/* property with separate label */
+		else if(type == PROP_ENUM || type == PROP_STRING || type == PROP_POINTER)
+			ui_item_with_label(block, rnaitem, x, y, w, h);
+		/* single button */
+		else
+			uiDefAutoButR(block, &rnaitem->ptr, rnaitem->prop, rnaitem->index, (char*)item->name, item->icon, x, y, w, h);
+	}
+	else if(item->type == ITEM_OPERATOR) {
+		/* operator */
+		uiItemOp *opitem= (uiItemOp*)item;
+
+		if(item->icon && item->name)
+			uiDefIconTextButO(block, BUT, opitem->ot->idname, opitem->context, item->icon, (char*)item->name, x, y, w, h, NULL);
+		else if(item->icon)
+			uiDefIconButO(block, BUT, opitem->ot->idname, opitem->context, item->icon, x, y, w, h, NULL);
+		/* text only */
+		else
+			uiDefButO(block, BUT, opitem->ot->idname, opitem->context, (char*)item->name, x, y, w, h, NULL);
+	}
+	else if(item->type == ITEM_MENU) {
+		/* menu */
+		uiItemLMenu *menuitem= (uiItemLMenu*)item;
+
+		uiDefMenuBut(block, menuitem->func, NULL, (char*)item->name, x, y-2, w-3, h+4, "");
+	}
+	else if(item->type == ITEM_LABEL) {
+		/* label */
+
+		if(item->icon && item->name)
+			uiDefIconTextBut(block, LABEL, 0, item->icon, (char*)item->name, x, y, w, h, NULL, 0.0, 0.0, 0, 0, "");
+		else if(item->icon)
+			uiDefIconBut(block, LABEL, 0, item->icon, x, y, w, h, NULL, 0.0, 0.0, 0, 0, "");
+		else if((char*)item->name)
+			uiDefBut(block, LABEL, 0, (char*)item->name, x, y, w, h, NULL, 0.0, 0.0, 0, 0, "");
+	}
+	else {
+		/* separator */
+		uiDefBut(block, SEPR, 0, "", x, y, w, h, NULL, 0.0, 0.0, 0, 0, "");
+	}
+}
+
+/* estimated size of text + icon */
+static int ui_text_icon_width(const char *name, int icon)
+{
+	if(icon && name && strcmp(name, "") == 0)
+		return XIC; /* icon only */
+	else if(icon && name)
+		return XIC + GetButStringLength((char*)name); /* icon + text */
+	else if(name)
+		return GetButStringLength((char*)name); /* text only */
+	else
+		return 0;
+}
+
+/* estimated size of an item */
+static void ui_item_size(uiItem *item, int *r_w, int *r_h)
+{
+	const char *name;
+	int w, h;
+
+	if(item->type == ITEM_RNA_PROPERTY) {
+		/* RNA property */
+		uiItemRNA *rnaitem= (uiItemRNA*)item;
+		PropertyType type;
+		PropertySubType subtype;
+		int len;
+
+		name= item->name;
+		if(!name)
+			name= RNA_property_ui_name(&rnaitem->ptr, rnaitem->prop);
+
+		w= ui_text_icon_width(name, item->icon);
+		h= YIC;
+
+		/* arbitrary extended width by type */
+		type= RNA_property_type(&rnaitem->ptr, rnaitem->prop);
+		subtype= RNA_property_subtype(&rnaitem->ptr, rnaitem->prop);
+		len= RNA_property_array_length(&rnaitem->ptr, rnaitem->prop);
+
+		if(type == PROP_BOOLEAN && !item->icon)
+			w += XIC;
+		else if(type == PROP_INT || type == PROP_FLOAT)
+			w += 2*XIC;
+		else if(type == PROP_STRING)
+			w += 8*XIC;
+
+		/* increase height for arrays */
+		if(rnaitem->index == RNA_NO_INDEX && len > 0) {
+			if(name && strcmp(name, "") == 0 && item->icon == 0)
+				h= 0;
+
+			if(type == PROP_BOOLEAN && len == 20)
+				h += 2*YIC;
+			else if(subtype == PROP_MATRIX)
+				h += ceil(sqrt(len))*YIC;
+			else
+				h += len*YIC;
+		}
+	}
+	else if(item->type == ITEM_OPERATOR) {
+		/* operator */
+		uiItemOp *opitem= (uiItemOp*)item;
+
+		name= item->name;
+		if(!name)
+			name= opitem->ot->name;
+
+		w= ui_text_icon_width(name, item->icon);
+		h= YIC;
+	}
+	else {
+		/* other */
+		w= ui_text_icon_width(item->name, item->icon);
+		h= YIC;
+	}
+
+	if(r_w) *r_w= w;
+	if(r_h) *r_h= h;
+}
+
+static void ui_item_free(uiItem *item)
+{
+	if(item->type == ITEM_OPERATOR) {
+		uiItemOp *opitem= (uiItemOp*)item;
+
+		if(opitem->properties) {
+			IDP_FreeProperty(opitem->properties);
+			MEM_freeN(opitem->properties);
+		}
+	}
+}
+
+/* operator items */
+void uiItemFullO(uiLayout *layout, int slot, const char *name, int icon, char *idname, IDProperty *properties, int context)
+{
+	uiTemplate *template= layout->templates.last;
+	wmOperatorType *ot= WM_operatortype_find(idname);
+	uiItemOp *opitem;
+
+	if(!ot)
+		return;
+
+	opitem= MEM_callocN(sizeof(uiItemOp), "uiItemOp");
+
+	opitem->item.name= name;
+	opitem->item.icon= icon;
+	opitem->item.type= ITEM_OPERATOR;
+	opitem->item.slot= slot;
+
+	opitem->ot= ot;
+	opitem->properties= properties;
+	opitem->context= context;
+
+	BLI_addtail(&template->items, opitem);
+}
+
+void uiItemEnumO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, int value)
+{
+	PointerRNA ptr;
+
+	WM_operator_properties_create(&ptr, opname);
+	RNA_enum_set(&ptr, propname, value);
+
+	uiItemFullO(layout, slot, name, icon, opname, ptr.data, layout->opcontext);
+}
+
+void uiItemsEnumO(uiLayout *layout, int slot, char *opname, char *propname)
+{
+	wmOperatorType *ot= WM_operatortype_find(opname);
+	PointerRNA ptr;
+	PropertyRNA *prop;
+
+	if(!ot || !ot->srna)
+		return;
+
+	RNA_pointer_create(NULL, ot->srna, NULL, &ptr);
+	prop= RNA_struct_find_property(&ptr, propname);
+
+	if(prop && RNA_property_type(&ptr, prop) == PROP_ENUM) {
+		const EnumPropertyItem *item;
+		int totitem, i;
+
+		RNA_property_enum_items(&ptr, prop, &item, &totitem);
+
+		for(i=0; i<totitem; i++)
+			uiItemEnumO(layout, slot, "", 0, opname, propname, item[i].value);
+	}
+}
+
+void uiItemBooleanO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, int value)
+{
+	PointerRNA ptr;
+
+	WM_operator_properties_create(&ptr, opname);
+	RNA_boolean_set(&ptr, propname, value);
+
+	uiItemFullO(layout, slot, name, icon, opname, ptr.data, layout->opcontext);
+}
+
+void uiItemIntO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, int value)
+{
+	PointerRNA ptr;
+
+	WM_operator_properties_create(&ptr, opname);
+	RNA_int_set(&ptr, propname, value);
+
+	uiItemFullO(layout, slot, name, icon, opname, ptr.data, layout->opcontext);
+}
+
+void uiItemFloatO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, float value)
+{
+	PointerRNA ptr;
+
+	WM_operator_properties_create(&ptr, opname);
+	RNA_float_set(&ptr, propname, value);
+
+	uiItemFullO(layout, slot, name, icon, opname, ptr.data, layout->opcontext);
+}
+
+void uiItemStringO(uiLayout *layout, int slot, const char *name, int icon, char *opname, char *propname, char *value)
+{
+	PointerRNA ptr;
+
+	WM_operator_properties_create(&ptr, opname);
+	RNA_string_set(&ptr, propname, value);
+
+	uiItemFullO(layout, slot, name, icon, opname, ptr.data, layout->opcontext);
+}
+
+void uiItemO(uiLayout *layout, int slot, const char *name, int icon, char *opname)
+{
+	uiItemFullO(layout, slot, name, icon, opname, NULL, layout->opcontext);
+}
+
+/* RNA property items */
+void uiItemFullR(uiLayout *layout, int slot, const char *name, int icon, PointerRNA *ptr, char *propname, int index)
+{
+	uiTemplate *template= layout->templates.last;
+	PropertyRNA *prop;
+	uiItemRNA *rnaitem;
+	
+	prop= RNA_struct_find_property(ptr, propname);
+	if(!prop)
+		return;
+	
+	rnaitem= MEM_callocN(sizeof(uiItemRNA), "uiItemRNA");
+
+	rnaitem->item.name= name;
+	rnaitem->item.icon= icon;
+	rnaitem->item.type= ITEM_RNA_PROPERTY;
+	rnaitem->item.slot= slot;
+
+	rnaitem->ptr= *ptr;
+	rnaitem->prop= prop;
+	rnaitem->index= index;
+
+	BLI_addtail(&template->items, rnaitem);
+}
+
+void uiItemR(uiLayout *layout, int slot, const char *name, int icon, PointerRNA *ptr, char *propname)
+{
+	uiItemFullR(layout, slot, name, icon, ptr, propname, RNA_NO_INDEX);
+}
+
+/* menu item */
+void uiItemMenu(uiLayout *layout, int slot, const char *name, int icon, uiMenuCreateFunc func)
+{
+	uiTemplate *template= layout->templates.last;
+	uiItemLMenu *menuitem= MEM_callocN(sizeof(uiItemLMenu), "uiItemLMenu");
+
+	menuitem->item.name= name;
+	menuitem->item.icon= icon;
+	menuitem->item.type= ITEM_MENU;
+	menuitem->item.slot= slot;
+
+	menuitem->func= func;
+
+	BLI_addtail(&template->items, menuitem);
+}
+
+/* label item */
+void uiItemLabel(uiLayout *layout, int slot, const char *name, int icon)
+{
+	uiTemplate *template= layout->templates.last;
+	uiItem *item= MEM_callocN(sizeof(uiItem), "uiItem");
+
+	item->name= name;
+	item->icon= icon;
+	item->type= ITEM_LABEL;
+	item->slot= slot;
+
+	BLI_addtail(&template->items, item);
+}
+
+/**************************** Template ***************************/
+
+/* multi-column layout */
+static void ui_layout_column(uiLayout *layout, uiBlock *block, uiTemplate *template, int *x, int *y, int w, int h)
+{
+	uiItem *item;
+	int col, totcol= 0, colx, coly, colw, miny, itemw, itemh;
+
+	/* compute number of columns */
+	for(item=template->items.first; item; item=item->next)
+		totcol= MAX2(item->slot+1, totcol);
+	
+	if(totcol == 0)
+		return;
+	
+	colx= *x;
+	colw= (w - (totcol-1)*COLUMN_SPACE)/totcol;
+	miny= *y;
+
+	/* create column per column */
+	for(col=0; col<totcol; col++) {
+		coly= *y;
+
+		for(item=template->items.first; item; item=item->next) {
+			if(item->slot != col)
+				continue;
+
+			ui_item_size(item, &itemw, &itemh);
+
+			coly -= itemh + BUTTON_SPACE_Y;
+			ui_item_buts(block, item, colx, coly, colw, itemh);
+		}
+
+		colx += colw + COLUMN_SPACE;
+		miny= MIN2(miny, coly);
+	}
+
+	*y= miny;
+}
+
+/* left-right layout, with buttons aligned on both sides */
+static void ui_layout_lr(uiLayout *layout, uiBlock *block, uiTemplate *template, int *x, int *y, int w, int h)
+{
+	uiItem *item;
+	int totw= 0, maxh= 0, itemw, itemh, leftx, rightx;
+
+	/* estimate total width of buttons */
+	for(item=template->items.first; item; item=item->next) {
+		ui_item_size(item, &itemw, &itemh);
+		totw += itemw;
+		maxh= MAX2(maxh, itemh);
+	}
+
+	if(totw == 0)
+		return;
+	
+	/* create buttons starting from left and right */
+	leftx= *x;
+	rightx= *x + w;
+
+	for(item=template->items.first; item; item=item->next) {
+		ui_item_size(item, &itemw, &itemh);
+		itemw= ui_item_fit(itemw, totw+BUTTON_SPACE_X, w);
+
+		if(item->slot == UI_TSLOT_LR_LEFT) {
+			ui_item_buts(block, item, leftx, *y-itemh, itemw, itemh);
+			leftx += itemw;
+		}
+		else {
+			rightx -= itemw;
+			ui_item_buts(block, item, rightx, *y-itemh, itemw, itemh);
+		}
+	}
+
+	*y -= maxh;
+}
+
+/* element in a stack layout */
+static void ui_layout_stack(const bContext *C, uiLayout *layout, uiBlock *block, uiTemplate *template, int *x, int *y, int w, int h)
+{
+	uiTemplateStck *stack= (uiTemplateStck*)template;
+	int starty, startx;
+
+	startx= *x;
+	starty= *y;
+
+	/* some extra padding */
+	stack->sublayout->x= *x + STACK_SPACE;
+	stack->sublayout->w= w - 2*STACK_SPACE;
+	stack->sublayout->y= *y - STACK_SPACE;
+	stack->sublayout->h= h;
+
+	/* do layout for elements in sublayout */
+	ui_layout_end(C, block, stack->sublayout, NULL, y);
+
+	/* roundbox around the sublayout */
+	uiDefBut(block, ROUNDBOX, 0, "", startx, *y, w, starty - *y, NULL, 7.0, 0.0, 3, 20, "");
+}
+
+static void ui_layout_header_buttons(uiLayout *layout, uiBlock *block, uiTemplate *template, int *x, int *y, int w, int h)
+{
+	uiItem *item;
+	int itemw, itemh;
+	
+	uiBlockBeginAlign(block);
+
+	for(item=template->items.first; item; item=item->next) {
+		ui_item_size(item, &itemw, &itemh);
+		ui_item_buts(block, item, *x, *y, itemw, itemh);
+		*x += itemw;
+	}
+
+	uiBlockEndAlign(block);
+}
+
+static void ui_layout_header_menus(const bContext *C, uiLayout *layout, uiBlock *block, uiTemplate *template, int *x, int *y, int w, int h)
+{
+	ScrArea *sa= CTX_wm_area(C);
+
+	*x= ED_area_header_standardbuttons(C, block, *y);
+
+	if((sa->flag & HEADER_NO_PULLDOWN)==0) {
+		uiBlockSetEmboss(block, UI_EMBOSSP);
+		ui_layout_header_buttons(layout, block, template, x, y, w, h);
+	}
+
+	uiBlockSetEmboss(block, UI_EMBOSS);
+}
+
+static void ui_layout_header_id(const bContext *C, uiLayout *layout, uiBlock *block, uiTemplate *template, int *x, int *y, int w, int h)
+{
+	uiTemplateHeadID *idtemplate= (uiTemplateHeadID*)template;
+	PointerRNA idptr;
+
+	idptr= RNA_pointer_get(&idtemplate->ptr, idtemplate->propname);
+
+	*x= uiDefIDPoinButs(block, CTX_data_main(C), NULL, (ID*)idptr.data, ID_TXT, NULL, *x, *y,
+		idtemplate->func, UI_ID_BROWSE|UI_ID_RENAME|UI_ID_ADD_NEW|UI_ID_OPEN|UI_ID_DELETE);
+}
+
+void ui_template_free(uiTemplate *template)
+{
+	uiItem *item;
+
+	if(template->type == TEMPLATE_STACK) {
+		uiTemplateStck *stack= (uiTemplateStck*)template;
+		ui_layout_free(stack->sublayout);
+	}
+
+	for(item=template->items.first; item; item=item->next)
+		ui_item_free(item);
+
+	BLI_freelistN(&template->items);
+}
+
+/* template create functions */
+void uiTemplateColumn(uiLayout *layout)
+{
+	uiTemplate *template;
+
+	template= MEM_callocN(sizeof(uiTemplate), "uiTemplate");
+	template->type= TEMPLATE_COLUMN;
+
+	BLI_addtail(&layout->templates, template);
+}
+
+
+void uiTemplateLeftRight(uiLayout *layout)
+{
+	uiTemplate *template;
+
+	template= MEM_callocN(sizeof(uiTemplate), "uiTemplate");
+	template->type= TEMPLATE_LR;
+
+	BLI_addtail(&layout->templates, template);
+}
+
+uiLayout *uiTemplateStack(uiLayout *layout)
+{
+	uiTemplateStck *stack;
+
+	stack= MEM_callocN(sizeof(uiTemplateStck), "uiTemplateStck");
+	stack->template.type= TEMPLATE_STACK;
+	stack->sublayout= uiLayoutBegin(layout->dir, 0, 0, 0, 0);
+	BLI_addtail(&layout->templates, stack);
+
+	return stack->sublayout;
+}
+
+void uiTemplateHeaderMenus(uiLayout *layout)
+{
+	uiTemplate *template;
+
+	template= MEM_callocN(sizeof(uiTemplate), "uiTemplate");
+	template->type= TEMPLATE_HEADER_MENUS;
+
+	BLI_addtail(&layout->templates, template);
+}
+
+void uiTemplateHeaderButtons(uiLayout *layout)
+{
+	uiTemplate *template;
+
+	template= MEM_callocN(sizeof(uiTemplate), "uiTemplate");
+	template->type= TEMPLATE_HEADER_BUTTONS;
+
+	BLI_addtail(&layout->templates, template);
+}
+
+void uiTemplateHeaderID(uiLayout *layout, PointerRNA *ptr, char *propname, int flag, uiIDPoinFunc func)
+{
+	uiTemplateHeadID *idtemplate;
+
+	idtemplate= MEM_callocN(sizeof(uiTemplateHeadID), "uiTemplateHeadID");
+	idtemplate->template.type= TEMPLATE_HEADER_ID;
+	idtemplate->ptr= *ptr;
+	idtemplate->propname= propname;
+	idtemplate->flag= flag;
+	idtemplate->func= func;
+
+	BLI_addtail(&layout->templates, idtemplate);
+}
+
+void uiTemplateSetColor(uiLayout *layout, int color)
+{
+	uiTemplate *template= layout->templates.last;
+
+	template->color= color;
+}
+
+/********************** Layout *******************/
+
+static void ui_layout_templates(const bContext *C, uiBlock *block, uiLayout *layout)
+{
+	uiTemplate *template;
+	int oldcolor= 0;
+
+	for(template=layout->templates.first; template; template=template->next) {
+		if(template->color) {
+			oldcolor= uiBlockGetCol(block);
+			uiBlockSetCol(block, template->color);
+		}
+
+		switch(template->type) {
+			case TEMPLATE_COLUMN:
+				ui_layout_column(layout, block, template, &layout->x, &layout->y, layout->w, layout->h);
+				break;
+			case TEMPLATE_LR:
+				ui_layout_lr(layout, block, template, &layout->x, &layout->y, layout->w, layout->h);
+				break;
+			case TEMPLATE_STACK:
+				ui_layout_stack(C, layout, block, template, &layout->x, &layout->y, layout->w, layout->h);
+				break;
+			case TEMPLATE_HEADER_MENUS:
+				ui_layout_header_menus(C, layout, block, template, &layout->x, &layout->y, layout->w, layout->h);
+				break;
+			case TEMPLATE_HEADER_BUTTONS:
+				ui_layout_header_buttons(layout, block, template, &layout->x, &layout->y, layout->w, layout->h);
+				break;
+			case TEMPLATE_HEADER_ID:
+				ui_layout_header_id(C, layout, block, template, &layout->x, &layout->y, layout->w, layout->h);
+				break;
+		}
+
+		if(template->color)
+			uiBlockSetCol(block, oldcolor);
+
+		if(layout->dir == UI_LAYOUT_HORIZONTAL)
+			layout->x += TEMPLATE_SPACE;
+		else
+			layout->y -= TEMPLATE_SPACE;
+	}
+}
+
+void ui_layout_end(const bContext *C, uiBlock *block, uiLayout *layout, int *x, int *y)
+{
+	ui_layout_templates(C, block, layout);
+
+	if(x) *x= layout->x;
+	if(y) *y= layout->y;
+	
+	/* XXX temp, migration flag for drawing code */
+	uiBlockSetFlag(block, UI_BLOCK_2_50);
+}
+
+void ui_layout_free(uiLayout *layout)
+{
+	uiTemplate *template;
+
+	for(template=layout->templates.first; template; template=template->next)
+		ui_template_free(template);
+
+	BLI_freelistN(&layout->templates);
+	MEM_freeN(layout);
+}
+
+uiLayout *uiLayoutBegin(int dir, int x, int y, int w, int h)
+{
+	uiLayout *layout;
+
+	layout= MEM_callocN(sizeof(uiLayout), "uiLayout");
+	layout->opcontext= WM_OP_INVOKE_REGION_WIN;
+	layout->dir= dir;
+	layout->x= x;
+	layout->y= y;
+	layout->w= w;
+	layout->h= h;
+
+	return layout;
+}
+
+void uiLayoutContext(uiLayout *layout, int opcontext)
+{
+	layout->opcontext= opcontext;
+}
+
+void uiLayoutEnd(const bContext *C, uiBlock *block, uiLayout *layout, int *x, int *y)
+{
+	ui_layout_end(C, block, layout, x, y);
+	ui_layout_free(layout);
+}
+
+/* Utilities */
+
+void uiRegionPanelLayout(const bContext *C, ARegion *ar, int vertical, char *context)
+{
+	uiBlock *block;
+	PanelType *pt;
+	Panel *panel;
+	float col[3];
+	int xco, yco, x=0, y=0, w;
+
+	// XXX this only hides cruft
+
+	/* clear */
+	UI_GetThemeColor3fv(TH_HEADER, col);
+	glClearColor(col[0], col[1], col[2], 0.0);
+	glClear(GL_COLOR_BUFFER_BIT);
+	
+	/* set view2d view matrix for scrolling (without scrollers) */
+	UI_view2d_view_ortho(C, &ar->v2d);
+	
+	for(pt= ar->type->paneltypes.first; pt; pt= pt->next) {
+		if(context)
+			if(!pt->context || strcmp(context, pt->context) != 0)
+				continue;
+
+		if(pt->draw && (!pt->poll || pt->poll(C))) {
+			w= (ar->type->minsizex)? ar->type->minsizex-22: UI_PANEL_WIDTH-22;
+
+			block= uiBeginBlock(C, ar, pt->idname, UI_EMBOSS, UI_HELV);
+			if(uiNewPanel(C, ar, block, pt->name, pt->name, x, y, w, 0)==0) return;
+			
+			panel= uiPanelFromBlock(block);
+			panel->type= pt;
+			panel->layout= uiLayoutBegin(UI_LAYOUT_VERTICAL, x, y, w, 0);
+
+			pt->draw(C, panel);
+
+			uiLayoutEnd(C, block, panel->layout, &xco, &yco);
+			uiEndBlock(C, block);
+
+			panel->layout= NULL;
+			uiNewPanelHeight(block, y - yco + 6);
+
+			if(vertical)
+				y += yco;
+			else
+				x += xco;
+		}
+	}
+
+	uiDrawPanels(C, 1);
+	uiMatchPanelsView2d(ar);
+	
+	/* restore view matrix? */
+	UI_view2d_view_restore(C);
+}
+
+void uiRegionHeaderLayout(const bContext *C, ARegion *ar)
+{
+	uiBlock *block;
+	uiLayout *layout;
+	HeaderType *ht;
+	float col[3];
+	int xco, yco;
+
+	// XXX this only hides cruft
+	
+	/* clear */
+	if(ED_screen_area_active(C))
+		UI_GetThemeColor3fv(TH_HEADER, col);
+	else
+		UI_GetThemeColor3fv(TH_HEADERDESEL, col);
+	
+	glClearColor(col[0], col[1], col[2], 0.0);
+	glClear(GL_COLOR_BUFFER_BIT);
+	
+	/* set view2d view matrix for scrolling (without scrollers) */
+	UI_view2d_view_ortho(C, &ar->v2d);
+
+	xco= 8;
+	yco= 3;
+
+	/* draw all headers types */
+	for(ht= ar->type->headertypes.first; ht; ht= ht->next) {
+		block= uiBeginBlock(C, ar, "header buttons", UI_EMBOSS, UI_HELV);
+		layout= uiLayoutBegin(UI_LAYOUT_HORIZONTAL, xco, yco, 0, 24);
+
+		if(ht->draw)
+			ht->draw(C, layout);
+
+		uiLayoutEnd(C, block, layout, &xco, &yco);
+		uiEndBlock(C, block);
+		uiDrawBlock(C, block);
+	}
+
+	/* always as last  */
+	UI_view2d_totRect_set(&ar->v2d, xco+XIC+80, ar->v2d.tot.ymax-ar->v2d.tot.ymin);
+
+	/* restore view matrix? */
+	UI_view2d_view_restore(C);
+}
+
diff --git a/source/blender/editors/interface/interface_panel.c b/source/blender/editors/interface/interface_panel.c
index 6775f6362b8..17a58f8b616 100644
--- a/source/blender/editors/interface/interface_panel.c
+++ b/source/blender/editors/interface/interface_panel.c
@@ -236,6 +236,11 @@ int uiNewPanel(const bContext *C, ARegion *ar, uiBlock *block, char *panelname,
 	return 1;
 }
 
+Panel *uiPanelFromBlock(uiBlock *block)
+{
+	return block->panel;
+}
+
 void uiFreePanels(ListBase *lb)
 {
 	BLI_freelistN(lb);
@@ -932,8 +937,7 @@ int uiAlignPanelStep(ScrArea *sa, ARegion *ar, float fac)
 	if(align==BUT_VERTICAL)
 		ps->pa->ofsy= -ps->pa->sizey-PNL_HEADER-PNL_DIST;
 	else
-		ps->pa->ofsy= 0;
-		
+		ps->pa->ofsy= -ps->pa->sizey-PNL_HEADER-PNL_DIST; // XXX was 0;
 	
 	for(a=0 ; a<tot-1; a++, ps++) {
 		psnext= ps+1;
diff --git a/source/blender/editors/interface/interface_regions.c b/source/blender/editors/interface/interface_regions.c
index 5365c3e09f0..d64ad75a48a 100644
--- a/source/blender/editors/interface/interface_regions.c
+++ b/source/blender/editors/interface/interface_regions.c
@@ -261,7 +261,7 @@ static void ui_tooltip_region_draw(const bContext *C, ARegion *ar)
 {
 	uiTooltipData *data;
 	int x1, y1, x2, y2;
-
+	
 	data= ar->regiondata;
 
 	x1= ar->winrct.xmin;
@@ -269,34 +269,21 @@ static void ui_tooltip_region_draw(const bContext *C, ARegion *ar)
 	x2= ar->winrct.xmax;
 	y2= ar->winrct.ymax;
 
-	/* draw drop shadow */
-	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+	/* draw background */
 	glEnable(GL_BLEND);
-
-	glColor4ub(0, 0, 0, 20);
-	
-	gl_round_box(GL_POLYGON, 3, 3, x2-x1-3, y2-y1-2, 2.0);
-	gl_round_box(GL_POLYGON, 3, 2, x2-x1-2, y2-y1-2, 3.0);
+	glColor4f(0.15f, 0.15f, 0.15f, 0.85f);
 	
-	glColor4ub(0, 0, 0, 8);
-	
-	gl_round_box(GL_POLYGON, 3, 1, x2-x1-1, y2-y1-3, 4.0);
-	gl_round_box(GL_POLYGON, 3, 0, x2-x1-0, y2-y1-3, 5.0);
-
-	glDisable(GL_BLEND);
-	
-	/* draw background */
-	glColor3f(1.0f, 1.0f, 0.8666f);
-	glRectf(0, 4, x2-x1-4, y2-y1);
+	uiSetRoundBox(15);
+	uiRoundBox(data->bbox.xmin, 2, data->bbox.xmax+10, y2-y1-2, 5.0f);
 	
 	/* draw text */
-	glColor3ub(0,0,0);
+	glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
 
-	/* set the position for drawing text +4 in from the left edge, and leaving
+	/* set the position for drawing text +6 in from the left edge, and leaving
 	 * an equal gap between the top of the background box and the top of the
 	 * string's bbox, and the bottom of the background box, and the bottom of
 	 * the string's bbox */
-	ui_rasterpos_safe(4, ((y2-data->bbox.ymax)+(y1+data->bbox.ymin))/2 - data->bbox.ymin - y1, data->aspect);
+	ui_rasterpos_safe(5, ((y2-data->bbox.ymax)+(y1+data->bbox.ymin))/2 - data->bbox.ymin - y1, data->aspect);
 	UI_SetScale(1.0);
 
 	UI_DrawString(data->font, data->tip, ui_translate_tooltips());
@@ -856,8 +843,8 @@ uiBlock *ui_block_func_ICONROW(bContext *C, uiPopupBlockHandle *handle, void *ar
 	block->flag= UI_BLOCK_LOOP|UI_BLOCK_REDRAW|UI_BLOCK_NUMSELECT;
 	block->themecol= TH_MENU_ITEM;
 	
-	for(a=(int)but->min; a<=(int)but->max; a++) {
-		uiDefIconButF(block, BUTM|FLO, B_NOP, but->icon+(a-but->min), 0, (short)(18*a), (short)(but->x2-but->x1-4), 18, &handle->retvalue, (float)a, 0.0, 0, 0, "");
+	for(a=(int)but->hardmin; a<=(int)but->hardmax; a++) {
+		uiDefIconButF(block, BUTM|FLO, B_NOP, but->icon+(a-but->hardmin), 0, (short)(18*a), (short)(but->x2-but->x1-4), 18, &handle->retvalue, (float)a, 0.0, 0, 0, "");
 	}
 
 	block->direction= UI_TOP;	
@@ -905,7 +892,7 @@ uiBlock *ui_block_func_ICONTEXTROW(bContext *C, uiPopupBlockHandle *handle, void
 			ypos +=3;
 		}
 		else {
-			uiDefIconTextButF(block, BUTM|FLO, B_NOP, (short)((but->icon)+(md->items[a].retval-but->min)), md->items[a].str, 0, ypos,(short)width, 19, &handle->retvalue, (float) md->items[a].retval, 0.0, 0, 0, "");
+			uiDefIconTextButF(block, BUTM|FLO, B_NOP, (short)((but->icon)+(md->items[a].retval-but->hardmin)), md->items[a].str, 0, ypos,(short)width, 19, &handle->retvalue, (float) md->items[a].retval, 0.0, 0, 0, "");
 			ypos += 20;
 		}
 	}
@@ -2236,7 +2223,7 @@ void uiPupMenuEnd(bContext *C, uiMenuItem *head)
 	menu= ui_popup_block_create(C, NULL, NULL, NULL, ui_block_func_MENU_ITEM, &info);
 	menu->popup= 1;
 	
-	UI_add_popup_handlers(&window->handlers, menu);
+	UI_add_popup_handlers(C, &window->handlers, menu);
 	WM_event_add_mousemove(C);
 	
 	BLI_freelistN(&head->items);
@@ -2261,7 +2248,7 @@ static uiPopupBlockHandle *ui_pup_menu(bContext *C, int maxrow, uiMenuHandleFunc
 	menu= ui_popup_block_create(C, NULL, NULL, NULL, ui_block_func_PUPMENU, &info);
 	menu->popup= 1;
 
-	UI_add_popup_handlers(&window->handlers, menu);
+	UI_add_popup_handlers(C, &window->handlers, menu);
 	WM_event_add_mousemove(C);
 
 	menu->popup_func= func;
@@ -2412,7 +2399,7 @@ void uiPupBlockO(bContext *C, uiBlockCreateFunc func, void *arg, char *opname, i
 	handle->opname= opname;
 	handle->opcontext= opcontext;
 	
-	UI_add_popup_handlers(&window->handlers, handle);
+	UI_add_popup_handlers(C, &window->handlers, handle);
 	WM_event_add_mousemove(C);
 }
 
diff --git a/source/blender/editors/interface/interface_utils.c b/source/blender/editors/interface/interface_utils.c
index 58563166847..429b2de0227 100644
--- a/source/blender/editors/interface/interface_utils.c
+++ b/source/blender/editors/interface/interface_utils.c
@@ -217,7 +217,7 @@ int UI_GetIconRNA(PointerRNA *ptr)
 		return ICON_DOT;
 }
 
-uiBut *uiDefAutoButR(uiBlock *block, PointerRNA *ptr, PropertyRNA *prop, int index, char *name, int x1, int y1, int x2, int y2)
+uiBut *uiDefAutoButR(uiBlock *block, PointerRNA *ptr, PropertyRNA *prop, int index, char *name, int icon, int x1, int y1, int x2, int y2)
 {
 	uiBut *but=NULL;
 	const char *propname= RNA_property_identifier(ptr, prop);
@@ -237,10 +237,12 @@ uiBut *uiDefAutoButR(uiBlock *block, PointerRNA *ptr, PropertyRNA *prop, int ind
 			else
 				value= RNA_property_boolean_get(ptr, prop);
 
-			if(name && strcmp(name, "") == 0)
-				name= (value)? "Enabled": "Disabled";
-
-			but= uiDefButR(block, TOG, 0, name, x1, y1, x2, y2, ptr, propname, index, 0, 0, -1, -1, NULL);
+			if(icon && name && strcmp(name, "") == 0)
+				but= uiDefIconButR(block, ICONTOG, 0, icon, x1, y1, x2, y2, ptr, propname, index, 0, 0, -1, -1, NULL);
+			else if(icon)
+				but= uiDefIconTextButR(block, ICONTOG, 0, icon, name, x1, y1, x2, y2, ptr, propname, index, 0, 0, -1, -1, NULL);
+			else
+				but= uiDefButR(block, TOG, 0, name, x1, y1, x2, y2, ptr, propname, index, 0, 0, -1, -1, NULL);
 			break;
 		}
 		case PROP_INT:
@@ -267,24 +269,29 @@ uiBut *uiDefAutoButR(uiBlock *block, PointerRNA *ptr, PropertyRNA *prop, int ind
 			int icon;
 
 			pptr= RNA_property_pointer_get(ptr, prop);
+			descr= (char*)RNA_property_ui_description(ptr, prop);
 
-			if(!pptr.data)
-				return NULL;
+			if(!pptr.type)
+				pptr.type= RNA_property_pointer_type(ptr, prop);
 
 			icon= UI_GetIconRNA(&pptr);
-			nameprop= RNA_struct_name_property(&pptr);
-
-			if(nameprop) {
-				text= RNA_property_string_get_alloc(&pptr, nameprop, textbuf, sizeof(textbuf));
-				descr= (char*)RNA_property_ui_description(&pptr, prop);
-				but= uiDefIconTextBut(block, LABEL, 0, icon, text, x1, y1, x2, y2, NULL, 0, 0, 0, 0, descr);
-				if(text != textbuf)
-					MEM_freeN(text);
+
+			if(pptr.data == NULL) {
+				but= uiDefIconTextBut(block, LABEL, 0, icon, "", x1, y1, x2, y2, NULL, 0, 0, 0, 0, "");
 			}
 			else {
-				text= (char*)RNA_struct_ui_name(&pptr);
-				descr= (char*)RNA_property_ui_description(&pptr, prop);
-				but= uiDefIconTextBut(block, LABEL, 0, icon, text, x1, y1, x2, y2, NULL, 0, 0, 0, 0, descr);
+				nameprop= RNA_struct_name_property(&pptr);
+
+				if(nameprop) {
+					text= RNA_property_string_get_alloc(&pptr, nameprop, textbuf, sizeof(textbuf));
+					but= uiDefIconTextBut(block, LABEL, 0, icon, text, x1, y1, x2, y2, NULL, 0, 0, 0, 0, descr);
+					if(text != textbuf)
+						MEM_freeN(text);
+				}
+				else {
+					text= (char*)RNA_struct_ui_name(&pptr);
+					but= uiDefIconTextBut(block, LABEL, 0, icon, text, x1, y1, x2, y2, NULL, 0, 0, 0, 0, descr);
+				}
 			}
 			break;
 		}
@@ -303,22 +310,18 @@ uiBut *uiDefAutoButR(uiBlock *block, PointerRNA *ptr, PropertyRNA *prop, int ind
 	return but;
 }
 
-int uiDefAutoButsRNA(uiBlock *block, PointerRNA *ptr)
+int uiDefAutoButsRNA(const bContext *C, uiBlock *block, PointerRNA *ptr)
 {
 	CollectionPropertyIterator iter;
 	PropertyRNA *iterprop, *prop;
-	PropertySubType subtype;
-	char *name, namebuf[128];
-	int a= 0, length, x= 0, y= 0;
+	uiLayout *layout;
+	char *name;
+	int x= 0, y= 0;
 
-	x= 0;
-	y= 0;
+	layout= uiLayoutBegin(UI_LAYOUT_VERTICAL, x, y, DEF_BUT_WIDTH*2, 0);
 
-	/* create buttons */
-	uiSetCurFont(block, UI_HELVB);
-	uiDefBut(block, LABEL, 0, (char*)RNA_struct_ui_name(ptr), x, y, DEF_BUT_WIDTH, DEF_BUT_HEIGHT-1, NULL, 0, 0, 0, 0, "");
-	y -= DEF_BUT_HEIGHT;
-	uiSetCurFont(block, UI_HELV);
+	uiTemplateColumn(layout);
+	uiItemLabel(layout, UI_TSLOT_COLUMN_1, (char*)RNA_struct_ui_name(ptr), 0);
 
 	iterprop= RNA_struct_iterator_property(ptr);
 	RNA_property_collection_begin(ptr, iterprop, &iter);
@@ -329,74 +332,15 @@ int uiDefAutoButsRNA(uiBlock *block, PointerRNA *ptr)
 		if(strcmp(RNA_property_identifier(ptr, prop), "rna_type") == 0)
 			continue;
 
-		if((length= RNA_property_array_length(ptr, prop))) {
-			name= (char*)RNA_property_ui_name(ptr, prop);
-			uiDefBut(block, LABEL, 0, name, x, y, DEF_BUT_WIDTH, DEF_BUT_HEIGHT-1, NULL, 0, 0, 0, 0, "");
-		}
-		else
-			length= 1;
-
-		subtype= RNA_property_subtype(ptr, prop);
+		uiTemplateColumn(layout);
 
 		name= (char*)RNA_property_ui_name(ptr, prop);
-		uiDefBut(block, LABEL, 0, name, x, y, DEF_BUT_WIDTH, DEF_BUT_HEIGHT-1, NULL, 0, 0, 0, 0, "");
-
-		uiBlockBeginAlign(block);
-
-		if(length <= 16 && subtype == PROP_MATRIX) {
-			/* matrix layout */
-			int size, row, col, butwidth;
-
-			size= ceil(sqrt(length));
-			butwidth= DEF_BUT_WIDTH*2/size;
-			y -= DEF_BUT_HEIGHT;
-
-			for(a=0; a<length; a++) {
-				col= a%size;
-				row= a/size;
-
-				uiDefAutoButR(block, ptr, prop, a, "", x+butwidth*col, y-row*DEF_BUT_HEIGHT, butwidth, DEF_BUT_HEIGHT-1);
-			}
-
-			y -= DEF_BUT_HEIGHT*(length/size);
-		}
-		else if(length <= 4 && ELEM3(subtype, PROP_ROTATION, PROP_VECTOR, PROP_COLOR)) {
-			static char *vectoritem[4]= {"X:", "Y:", "Z:", "W:"};
-			static char *quatitem[4]= {"W:", "X:", "Y:", "Z:"};
-			static char *coloritem[4]= {"R:", "G:", "B:", "A:"};
-			int butwidth;
-
-			butwidth= DEF_BUT_WIDTH*2/length;
-			y -= DEF_BUT_HEIGHT;
-
-			for(a=0; a<length; a++) {
-				if(length == 4 && subtype == PROP_ROTATION)
-					name= quatitem[a];
-				else if(subtype == PROP_VECTOR || subtype == PROP_ROTATION)
-					name= vectoritem[a];
-				else
-					name= coloritem[a];
-
-				uiDefAutoButR(block, ptr, prop, a, name, x+butwidth*a, y, butwidth, DEF_BUT_HEIGHT-1);
-			}
-			y -= DEF_BUT_HEIGHT;
-		}
-		else {
-			if(RNA_property_array_length(ptr, prop)) {
-				sprintf(namebuf, "%d:", a+1);
-				name= namebuf;
-			}
-			else
-				name= "";
-
-			uiDefAutoButR(block, ptr, prop, 0, name, x+DEF_BUT_WIDTH, y, DEF_BUT_WIDTH, DEF_BUT_HEIGHT-1);
-			y -= DEF_BUT_HEIGHT;
-		}
-
-		uiBlockEndAlign(block);
+		uiItemLabel(layout, UI_TSLOT_COLUMN_1, name, 0);
+		uiItemR(layout, UI_TSLOT_COLUMN_2, "", 0, ptr, (char*)RNA_property_identifier(ptr, prop));
 	}
 
 	RNA_property_collection_end(&iter);
+	uiLayoutEnd(C, block, layout, &x, &y);
 
 	return -y;
 }
diff --git a/source/blender/editors/interface/interface_widgets.c b/source/blender/editors/interface/interface_widgets.c
new file mode 100644
index 00000000000..be7bb5c09d8
--- /dev/null
+++ b/source/blender/editors/interface/interface_widgets.c
@@ -0,0 +1,1046 @@
+/**
+* ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2009 Blender Foundation.
+ * All rights reserved.
+ * 
+ * Contributor(s): Blender Foundation
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#include <limits.h>
+#include <math.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "MEM_guardedalloc.h"
+
+#include "DNA_ID.h"
+#include "DNA_scene_types.h"
+#include "DNA_screen_types.h"
+#include "DNA_windowmanager_types.h"
+
+#include "BLI_arithb.h"
+#include "BLI_listbase.h"
+#include "BLI_rect.h"
+
+#include "BKE_context.h"
+#include "BKE_global.h"
+#include "BKE_idprop.h"
+#include "BKE_utildefines.h"
+
+#include "RNA_access.h"
+
+#include "BIF_gl.h"
+
+#include "UI_interface.h"
+#include "UI_interface_icons.h"
+#include "UI_resources.h"
+#include "UI_text.h"
+#include "UI_view2d.h"
+
+#include "ED_util.h"
+#include "ED_types.h"
+#include "ED_screen.h"
+
+#include "WM_api.h"
+#include "WM_types.h"
+
+#include "BMF_Api.h"
+#ifdef INTERNATIONAL
+#include "FTF_Api.h"
+#endif
+
+#include "interface_intern.h"
+
+/* ************** widget base functions ************** */
+/*
+     - in: roundbox codes for corner types and radius
+     - return: array of [size][2][x,y] points, the edges of the roundbox, + UV coords
+ 
+     - draw black box with alpha 0 on exact button boundbox
+     - for ever AA step:
+        - draw the inner part for a round filled box, with color blend codes or texture coords
+        - draw outline in outline color
+        - draw outer part, bottom half, extruded 1 pixel to bottom, for emboss shadow
+        - draw extra decorations
+     - draw background color box with alpha 1 on exact button boundbox
+ 
+ */
+
+/* fill this struct with polygon info to draw AA'ed */
+/* it has outline, back, and two optional tria meshes */
+
+typedef struct uiWidgetTrias {
+	int tot;
+	
+	float vec[32][2];
+	int (*index)[3];
+	
+} uiWidgetTrias;
+
+typedef struct uiWidgetColors {
+	float outline[3];
+	float inner[3];
+	float inner_sel[3];
+	float item[3];
+	float text[3];
+	float text_sel[3];
+	short shaded;
+	float shadetop, shadedown;
+	
+} uiWidgetColors;
+
+typedef struct uiWidgetBase {
+	
+	int totvert, halfwayvert;
+	float outer_v[64][2];
+	float inner_v[64][2];
+	float inner_uv[64][2];
+	
+	uiWidgetTrias tria1;
+	uiWidgetTrias tria2;
+	
+} uiWidgetBase;
+
+
+static float cornervec[9][2]= {{0.0, 0.0}, {0.195, 0.02}, {0.383, 0.067}, {0.55, 0.169}, 
+{0.707, 0.293}, {0.831, 0.45}, {0.924, 0.617}, {0.98, 0.805}, {1.0, 1.0}};
+
+static float jit[8][2]= {{0.468813 , -0.481430}, {-0.155755 , -0.352820}, 
+{0.219306 , -0.238501},  {-0.393286 , -0.110949}, {-0.024699 , 0.013908}, 
+{0.343805 , 0.147431}, {-0.272855 , 0.269918}, {0.095909 , 0.388710}};
+
+static float num_tria_vert[19][2]= {
+{0.382684, 0.923879}, {0.000001, 1.000000}, {-0.382683, 0.923880}, {-0.707107, 0.707107},
+{-0.923879, 0.382684}, {-1.000000, 0.000000}, {-0.923880, -0.382684}, {-0.707107, -0.707107},
+{-0.382683, -0.923880}, {0.000000, -1.000000}, {0.382684, -0.923880}, {0.707107, -0.707107},
+{0.923880, -0.382684}, {1.000000, -0.000000}, {0.923880, 0.382683}, {0.707107, 0.707107}, 
+{-0.352077, 0.532607}, {-0.352077, -0.549313}, {0.729843, -0.008353}};
+
+static int num_tria_face[19][3]= {
+{13, 14, 18}, {17, 5, 6}, {12, 13, 18}, {17, 6, 7}, {15, 18, 14}, {16, 4, 5}, {16, 5, 17}, {18, 11, 12}, 
+{18, 17, 10}, {18, 10, 11}, {17, 9, 10}, {15, 0, 18}, {18, 0, 16}, {3, 4, 16}, {8, 9, 17}, {8, 17, 7}, 
+{2, 3, 16}, {1, 2, 16}, {16, 0, 1}};
+
+static float menu_tria_vert[6][2]= {
+{-0.41, 0.16}, {0.41, 0.16}, {0, 0.82}, 
+{0, -0.82}, {-0.41, -0.16}, {0.41, -0.16}};
+
+static int menu_tria_face[2][3]= {{2, 0, 1}, {3, 5, 4}};
+
+static float check_tria_vert[6][2]= {
+{-0.578579, 0.253369}, 	{-0.392773, 0.412794}, 	{-0.004241, -0.328551}, 
+{-0.003001, 0.034320}, 	{1.055313, 0.864744}, 	{0.866408, 1.026895}};
+
+static int check_tria_face[4][3]= {
+{3, 2, 4}, {3, 4, 5}, {1, 0, 3}, {0, 2, 3}};
+
+
+
+static void widget_init(uiWidgetBase *wt)
+{
+	wt->totvert= wt->halfwayvert= 0;
+	wt->tria1.tot= 0;
+	wt->tria2.tot= 0;
+}
+
+
+static void round_box_edges(uiWidgetBase *wt, int roundboxtype, rcti *rect, float rad)
+{
+	float vec[9][2], veci[9][2];
+	float minx= rect->xmin, miny= rect->ymin, maxx= rect->xmax, maxy= rect->ymax;
+	float radi= rad - 1.0f; /* rad inner */
+	float minxi= minx + 1.0f; /* boundbox inner */
+	float maxxi= maxx - 1.0f;
+	float minyi= miny + 1.0f;
+	float maxyi= maxy - 1.0f;
+	float facxi= 1.0f/(maxxi-minxi); /* for uv */
+	float facyi= 1.0f/(maxyi-minyi);
+	int a, tot= 0;
+	
+	/* mult */
+	for(a=0; a<9; a++) {
+		veci[a][0]= radi*cornervec[a][0]; 
+		veci[a][1]= radi*cornervec[a][1]; 
+		vec[a][0]= rad*cornervec[a][0]; 
+		vec[a][1]= rad*cornervec[a][1]; 
+	}
+	
+	/* corner left-bottom */
+	if(roundboxtype & 8) {
+		
+		for(a=0; a<9; a++, tot++) {
+			wt->inner_v[tot][0]= minxi+veci[a][1];
+			wt->inner_v[tot][1]= minyi+radi-veci[a][0];
+			
+			wt->outer_v[tot][0]= minx+vec[a][1];
+			wt->outer_v[tot][1]= miny+rad-vec[a][0];
+			
+			wt->inner_uv[tot][0]= facxi*(wt->inner_v[tot][0] - minxi);
+			wt->inner_uv[tot][1]= facyi*(wt->inner_v[tot][1] - minyi);
+		}
+	}
+	else {
+		wt->inner_v[tot][0]= minxi;
+		wt->inner_v[tot][1]= minyi;
+		
+		wt->outer_v[tot][0]= minx;
+		wt->outer_v[tot][1]= miny;
+
+		wt->inner_uv[tot][0]= 0.0f;
+		wt->inner_uv[tot][1]= 0.0f;
+		
+		tot++;
+	}
+	
+	/* corner right-bottom */
+	if(roundboxtype & 4) {
+		
+		for(a=0; a<9; a++, tot++) {
+			wt->inner_v[tot][0]= maxxi-radi+veci[a][0];
+			wt->inner_v[tot][1]= minyi+veci[a][1];
+			
+			wt->outer_v[tot][0]= maxx-rad+vec[a][0];
+			wt->outer_v[tot][1]= miny+vec[a][1];
+			
+			wt->inner_uv[tot][0]= facxi*(wt->inner_v[tot][0] - minxi);
+			wt->inner_uv[tot][1]= facyi*(wt->inner_v[tot][1] - minyi);
+		}
+	}
+	else {
+		wt->inner_v[tot][0]= maxxi;
+		wt->inner_v[tot][1]= minyi;
+		
+		wt->outer_v[tot][0]= maxx;
+		wt->outer_v[tot][1]= miny;
+
+		wt->inner_uv[tot][0]= 1.0f;
+		wt->inner_uv[tot][1]= 0.0f;
+		
+		tot++;
+	}
+	
+	wt->halfwayvert= tot;
+	
+	/* corner right-top */
+	if(roundboxtype & 2) {
+		
+		for(a=0; a<9; a++, tot++) {
+			wt->inner_v[tot][0]= maxxi-veci[a][1];
+			wt->inner_v[tot][1]= maxyi-radi+veci[a][0];
+			
+			wt->outer_v[tot][0]= maxx-vec[a][1];
+			wt->outer_v[tot][1]= maxy-rad+vec[a][0];
+			
+			wt->inner_uv[tot][0]= facxi*(wt->inner_v[tot][0] - minxi);
+			wt->inner_uv[tot][1]= facyi*(wt->inner_v[tot][1] - minyi);
+		}
+	}
+	else {
+		wt->inner_v[tot][0]= maxxi;
+		wt->inner_v[tot][1]= maxyi;
+		
+		wt->outer_v[tot][0]= maxx;
+		wt->outer_v[tot][1]= maxy;
+		
+		wt->inner_uv[tot][0]= 1.0f;
+		wt->inner_uv[tot][1]= 1.0f;
+		
+		tot++;
+	}
+	
+	/* corner left-top */
+	if(roundboxtype & 1) {
+		
+		for(a=0; a<9; a++, tot++) {
+			wt->inner_v[tot][0]= minxi+radi-veci[a][0];
+			wt->inner_v[tot][1]= maxyi-veci[a][1];
+			
+			wt->outer_v[tot][0]= minx+rad-vec[a][0];
+			wt->outer_v[tot][1]= maxy-vec[a][1];
+			
+			wt->inner_uv[tot][0]= facxi*(wt->inner_v[tot][0] - minxi);
+			wt->inner_uv[tot][1]= facyi*(wt->inner_v[tot][1] - minyi);
+		}
+		
+	}
+	else {
+		
+		wt->inner_v[tot][0]= minxi;
+		wt->inner_v[tot][1]= maxyi;
+		
+		wt->outer_v[tot][0]= minx;
+		wt->outer_v[tot][1]= maxy;
+		
+		wt->inner_uv[tot][0]= 0.0f;
+		wt->inner_uv[tot][1]= 1.0f;
+		
+		tot++;
+	}
+		
+	wt->totvert= tot;
+}
+
+/* based on button rect, return scaled array of triangles */
+static void widget_num_tria(uiWidgetTrias *tria, rcti *rect, float triasize, char where)
+{
+	float centx, centy, size;
+	int a;
+	
+	/* center position and size */
+	centx= (float)rect->xmin + 0.5f*(rect->ymax-rect->ymin);
+	centy= (float)rect->ymin + 0.5f*(rect->ymax-rect->ymin);
+	size= -0.5f*triasize*(rect->ymax-rect->ymin);
+
+	if(where=='r') {
+		centx= (float)rect->xmax - 0.5f*(rect->ymax-rect->ymin);
+		size= -size;
+	}	
+	
+	for(a=0; a<19; a++) {
+		tria->vec[a][0]= size*num_tria_vert[a][0] + centx;
+		tria->vec[a][1]= size*num_tria_vert[a][1] + centy;
+	}
+	
+	tria->tot= 19;
+	tria->index= num_tria_face;
+}
+
+static void widget_trias_draw(uiWidgetTrias *tria)
+{
+	int a;
+	
+	glBegin(GL_TRIANGLES);
+	for(a=0; a<tria->tot; a++) {
+		glVertex2fv(tria->vec[ tria->index[a][0] ]);
+		glVertex2fv(tria->vec[ tria->index[a][1] ]);
+		glVertex2fv(tria->vec[ tria->index[a][2] ]);
+	}
+	glEnd();
+	
+}
+
+static void widget_menu_trias(uiWidgetTrias *tria, rcti *rect)
+{
+	float centx, centy, size;
+	int a;
+		
+	/* center position and size */
+	centx= rect->xmax - 0.5f*(rect->ymax-rect->ymin);
+	centy= rect->ymin + 0.5f*(rect->ymax-rect->ymin);
+	size= 0.4f*(rect->ymax-rect->ymin);
+	
+	for(a=0; a<6; a++) {
+		tria->vec[a][0]= size*menu_tria_vert[a][0] + centx;
+		tria->vec[a][1]= size*menu_tria_vert[a][1] + centy;
+	}
+
+	tria->tot= 2;
+	tria->index= menu_tria_face;
+}
+
+static void widget_check_trias(uiWidgetTrias *tria, rcti *rect)
+{
+	float centx, centy, size;
+	int a;
+	
+	/* center position and size */
+	centx= rect->xmin + 0.5f*(rect->ymax-rect->ymin);
+	centy= rect->ymin + 0.5f*(rect->ymax-rect->ymin);
+	size= 0.5f*(rect->ymax-rect->ymin);
+	
+	for(a=0; a<6; a++) {
+		tria->vec[a][0]= size*check_tria_vert[a][0] + centx;
+		tria->vec[a][1]= size*check_tria_vert[a][1] + centy;
+	}
+	
+	tria->tot= 4;
+	tria->index= check_tria_face;
+}
+
+
+/* prepares shade colors */
+static void shadecolors(float *coltop, float *coldown, float *color, float shadetop, float shadedown)
+{
+	float hue, sat, val, valshade;
+	
+	rgb_to_hsv(color[0], color[1], color[2], &hue, &sat, &val);
+	
+	valshade= CLAMPIS(val+shadetop, 0.0f, 1.0f);
+	hsv_to_rgb(hue, sat, valshade, coltop, coltop+1, coltop+2);
+
+	valshade= CLAMPIS(val+shadedown, 0.0f, 1.0f);
+	hsv_to_rgb(hue, sat, valshade, coldown, coldown+1, coldown+2);
+}
+
+static void round_box_shade_col(float *col1, float *col2, float fac)
+{
+	float col[4];
+	
+	col[0]= (fac*col1[0] + (1.0-fac)*col2[0]);
+	col[1]= (fac*col1[1] + (1.0-fac)*col2[1]);
+	col[2]= (fac*col1[2] + (1.0-fac)*col2[2]);
+	col[3]= 1;
+	
+	glColor4fv(col);
+}
+
+static void widget_draw(uiWidgetBase *wt, uiWidgetColors *wcol, int state)
+{
+	float *inner= wcol->inner;
+	int j, a;
+	
+	if(state & UI_SELECT)
+		inner= wcol->inner_sel;
+	
+	glEnable(GL_BLEND);
+
+	/* backdrop non AA */
+	if(wcol->shaded==0) {
+		/* filled center, solid */
+		glColor3fv(inner);
+		glBegin(GL_POLYGON);
+		for(a=0; a<wt->totvert; a++)
+			glVertex2fv(wt->inner_v[a]);
+		glEnd();
+	}
+	else {
+		float col1[3], col2[3];
+		
+		shadecolors(col1, col2, inner, wcol->shadetop, wcol->shadedown);
+		
+		glShadeModel(GL_SMOOTH);
+		glBegin(GL_POLYGON);
+		for(a=0; a<wt->totvert; a++) {
+			round_box_shade_col(col1, col2, wt->inner_uv[a][1]);
+			glVertex2fv(wt->inner_v[a]);
+		}
+		glEnd();
+		glShadeModel(GL_FLAT);
+	}
+	
+	/* for each AA step */
+	for(j=0; j<8; j++) {
+		glTranslatef(1.0*jit[j][0], 1.0*jit[j][1], 0.0f);
+		
+		/* outline */
+		glColor4f(wcol->outline[0], wcol->outline[1], wcol->outline[0], 0.125);
+		glBegin(GL_QUAD_STRIP);
+		for(a=0; a<wt->totvert; a++) {
+			glVertex2fv(wt->outer_v[a]);
+			glVertex2fv(wt->inner_v[a]);
+		}
+		glVertex2fv(wt->outer_v[0]);
+		glVertex2fv(wt->inner_v[0]);
+		glEnd();
+	
+		/* emboss bottom shadow */
+		glColor4f(1.0f, 1.0f, 1.0f, 0.02f);
+		glBegin(GL_QUAD_STRIP);
+		for(a=0; a<wt->halfwayvert; a++) {
+			glVertex2fv(wt->outer_v[a]);
+			glVertex2f(wt->outer_v[a][0], wt->outer_v[a][1]-1.0f);
+		}
+		glEnd();
+		
+		glTranslatef(-1.0*jit[j][0], -1.0*jit[j][1], 0.0f);
+	}
+	
+	/* decoration */
+	if(wt->tria1.tot || wt->tria2.tot) {
+		/* for each AA step */
+		for(j=0; j<8; j++) {
+			glTranslatef(1.0*jit[j][0], 1.0*jit[j][1], 0.0f);
+
+			if(wt->tria1.tot) {
+				glColor4f(wcol->item[0], wcol->item[1], wcol->item[2], 0.125);
+				widget_trias_draw(&wt->tria1);
+			}
+			if(wt->tria2.tot) {
+				glColor4f(wcol->item[0], wcol->item[1], wcol->item[2], 0.125);
+				widget_trias_draw(&wt->tria2);
+			}
+		
+			glTranslatef(-1.0*jit[j][0], -1.0*jit[j][1], 0.0f);
+		}
+	}
+
+	glDisable(GL_BLEND);
+	
+}
+
+/* *********************** text/icon ************************************** */
+
+static void widget_draw_text(uiBut *but, float x, float y)
+{
+	int transopts;
+	int len;
+	char *cpoin;
+	
+	ui_rasterpos_safe(x, y, but->aspect);
+	if(but->type==IDPOIN) transopts= 0;	// no translation, of course!
+	else transopts= ui_translate_buttons();
+	
+	/* cut string in 2 parts */
+	cpoin= strchr(but->drawstr, '|');
+	if(cpoin) *cpoin= 0;		
+	
+#ifdef INTERNATIONAL
+	if (but->type == FTPREVIEW)
+		FTF_DrawNewFontString (but->drawstr+but->ofs, FTF_INPUT_UTF8);
+	else
+		UI_DrawString(but->font, but->drawstr+but->ofs, transopts);
+#else
+	UI_DrawString(but->font, but->drawstr+but->ofs, transopts);
+#endif
+	
+	/* part text right aligned */
+	if(cpoin) {
+		len= UI_GetStringWidth(but->font, cpoin+1, ui_translate_buttons());
+		ui_rasterpos_safe( but->x2 - len*but->aspect-3, y, but->aspect);
+		UI_DrawString(but->font, cpoin+1, ui_translate_buttons());
+		*cpoin= '|';
+	}
+}
+
+/* draws text and icons for buttons */
+static void widget_draw_text_icon(uiBut *but, rcti *rect, float *col)
+{
+	float x, y;
+	short t, pos, ch;
+	short selsta_tmp, selend_tmp, selsta_draw, selwidth_draw;
+	
+	if(but==NULL) return;
+	
+	/* check for button text label */
+	if (but->type == ICONTEXTROW) {
+		ui_draw_icon(but, (BIFIconID) (but->icon+but->iconadd), 0);
+	}
+	else {
+		
+		/* text button selection and cursor */
+		if(but->editstr && but->pos != -1) {
+			
+			if ((but->selend - but->selsta) > 0) {
+				/* text button selection */
+				selsta_tmp = but->selsta + strlen(but->str);
+				selend_tmp = but->selend + strlen(but->str);
+				
+				if(but->drawstr[0]!=0) {
+					ch= but->drawstr[selsta_tmp];
+					but->drawstr[selsta_tmp]= 0;
+					
+					selsta_draw = but->aspect*UI_GetStringWidth(but->font, but->drawstr+but->ofs, ui_translate_buttons()) + 3;
+					
+					but->drawstr[selsta_tmp]= ch;
+					
+					
+					ch= but->drawstr[selend_tmp];
+					but->drawstr[selend_tmp]= 0;
+					
+					selwidth_draw = but->aspect*UI_GetStringWidth(but->font, but->drawstr+but->ofs, ui_translate_buttons()) + 3;
+					
+					but->drawstr[selend_tmp]= ch;
+					
+					UI_ThemeColor(TH_BUT_TEXTFIELD_HI);
+					glRects(rect->xmin+selsta_draw+1, rect->ymin+2, rect->xmin+selwidth_draw+1, rect->ymax-2);
+				}
+			} else {
+				/* text cursor */
+				pos= but->pos+strlen(but->str);
+				if(pos >= but->ofs) {
+					if(but->drawstr[0]!=0) {
+						ch= but->drawstr[pos];
+						but->drawstr[pos]= 0;
+						
+						t= but->aspect*UI_GetStringWidth(but->font, but->drawstr+but->ofs, ui_translate_buttons()) + 3;
+						
+						but->drawstr[pos]= ch;
+					}
+					else t= 3;
+					
+					glColor3ub(255,0,0);
+					glRects(rect->xmin+t, rect->ymin+2, rect->xmin+t+2, rect->ymax-2);
+				}
+			}
+		}
+		
+		if(but->type==BUT_TOGDUAL) {
+			int dualset= 0;
+			if(but->pointype==SHO)
+				dualset= BTST( *(((short *)but->poin)+1), but->bitnr);
+			else if(but->pointype==INT)
+				dualset= BTST( *(((int *)but->poin)+1), but->bitnr);
+			
+			ui_draw_icon(but, ICON_DOT, dualset?0:-100);
+		}
+		
+		if(but->drawstr[0]!=0) {
+			
+			/* If there's an icon too (made with uiDefIconTextBut) then draw the icon
+			and offset the text label to accomodate it */
+			
+			if ( (but->flag & UI_HAS_ICON) && (but->flag & UI_ICON_LEFT) ) 
+			{
+				ui_draw_icon(but, but->icon, 0);
+				
+				if(but->editstr || (but->flag & UI_TEXT_LEFT)) x= rect->xmin + but->aspect*UI_icon_get_width(but->icon)+5.0;
+				else x= (rect->xmin+rect->xmax-but->strwidth+1)/2.0;
+			}
+			else
+			{
+				if(but->editstr || (but->flag & UI_TEXT_LEFT))
+					x= rect->xmin+4.0;
+				else if ELEM3(but->type, TOG, TOGN, TOG3)
+					x= rect->xmin+28.0;	/* offset for checkmark */
+				else
+					x= (rect->xmin+rect->xmax-but->strwidth+1)/2.0;
+			}
+			
+			/* position and draw */
+			y = (rect->ymin+rect->ymax- 9.0)/2.0;
+			
+			glColor3fv(col);
+			widget_draw_text(but, x, y);
+			
+		}
+		/* if there's no text label, then check to see if there's an icon only and draw it */
+		else if( but->flag & UI_HAS_ICON ) {
+			ui_draw_icon(but, (BIFIconID) (but->icon+but->iconadd), 0);
+		}
+	}
+}
+
+
+
+/* *********************** widget types ************************************* */
+
+/*		
+ float outline[3];
+ float inner[3];
+ float select[3];
+ float item[3];
+ short shaded;
+ float shadetop, shadedown;
+*/	
+
+static struct uiWidgetColors wcol_num= {
+	{0.1f, 0.1f, 0.1f},
+	{0.7f, 0.7f, 0.7f},
+	{0.6f, 0.6f, 0.6f},
+	{0.35f, 0.35f, 0.35f},
+	
+	{0.0f, 0.0f, 0.0f},
+	{1.0f, 1.0f, 1.0f},
+	
+	1,
+	-0.08f, 0.0f
+};
+
+static struct uiWidgetColors wcol_text= {
+	{0.1f, 0.1f, 0.1f},
+	{0.6f, 0.6f, 0.6f},
+	{0.6f, 0.6f, 0.6f},
+	{0.35f, 0.35f, 0.35f},
+	
+	{0.0f, 0.0f, 0.0f},
+	{1.0f, 1.0f, 1.0f},
+	
+	1,
+	0.0f, 0.1f
+};
+
+static struct uiWidgetColors wcol_menu= {
+	{0.0f, 0.0f, 0.0f},
+	{0.25f, 0.25f, 0.25f},
+	{0.25f, 0.25f, 0.25f},
+	{1.0f, 1.0f, 1.0f},
+	
+	{1.0f, 1.0f, 1.0f},
+	{0.0f, 0.0f, 0.0f},
+	
+	1,
+	0.1f, -0.08f
+};
+
+static struct uiWidgetColors wcol_row= {
+	{0.0f, 0.0f, 0.0f},
+	{0.25f, 0.25f, 0.25f},
+	{0.34f, 0.5f, 0.76f},
+	{1.0f, 1.0f, 1.0f},
+	
+	{1.0f, 1.0f, 1.0f},
+	{0.0f, 0.0f, 0.0f},
+	
+	1,
+	0.1f, -0.1f
+};
+
+static struct uiWidgetColors wcol_regular= {
+	{0.1f, 0.1f, 0.1f},
+	{0.6f, 0.6f, 0.6f},
+	{0.4f, 0.4f, 0.4f},
+	{0.1f, 0.1f, 0.1f},
+	
+	{0.0f, 0.0f, 0.0f},
+	{1.0f, 1.0f, 1.0f},
+	
+	0,
+	0.0f, 0.0f
+};
+
+static struct uiWidgetColors wcol_regular2= {
+	{0.1f, 0.1f, 0.1f},
+	{0.6f, 0.6f, 0.6f},
+	{0.4f, 0.4f, 0.4f},
+	{0.1f, 0.1f, 0.1f},
+	
+	{0.0f, 0.0f, 0.0f},
+	{1.0f, 1.0f, 1.0f},
+	
+	1,
+	0.1f, -0.1f
+};
+
+
+static void widget_numbut(uiBut *but, rcti *rect, int state, int roundboxtype)
+{
+	uiWidgetBase wt;
+	
+	widget_init(&wt);
+	
+	/* fully rounded */
+	round_box_edges(&wt, roundboxtype, rect, 0.5f*(rect->ymax - rect->ymin));
+	
+	/* decoration */
+	widget_num_tria(&wt.tria1, rect, 0.6f, 0);
+	widget_num_tria(&wt.tria2, rect, 0.6f, 'r');
+	
+	widget_draw(&wt, &wcol_num, state);
+
+	if(state & UI_SELECT)
+		widget_draw_text_icon(but, rect, wcol_num.text_sel);
+	else
+		widget_draw_text_icon(but, rect, wcol_num.text);
+}
+
+static void widget_textbut(uiBut *but, rcti *rect, int state, int roundboxtype)
+{
+	uiWidgetBase wt;
+	
+	widget_init(&wt);
+	
+	/* half rounded */
+	round_box_edges(&wt, roundboxtype, rect, 4.0f);
+	
+	/* XXX button state */
+	widget_draw(&wt, &wcol_text, state);
+
+	widget_draw_text_icon(but, rect, wcol_text.text);
+}
+
+
+static void widget_menubut(uiBut *but, rcti *rect, int state, int roundboxtype)
+{
+	uiWidgetBase wt;
+	
+	widget_init(&wt);
+	
+	/* half rounded */
+	round_box_edges(&wt, roundboxtype, rect, 4.0f);
+	
+	/* XXX button state */
+	
+	/* decoration */
+	widget_menu_trias(&wt.tria1, rect);
+	
+	widget_draw(&wt, &wcol_menu, state);
+
+	widget_draw_text_icon(but, rect, wcol_menu.text);
+}
+
+static void widget_togbut(uiBut *but, rcti *rect, int state, int roundboxtype)
+{
+	uiWidgetBase wt;
+	rcti recttemp= *rect;
+	int delta;
+	
+	widget_init(&wt);
+	
+	/* square */
+	recttemp.xmax= recttemp.xmin + (recttemp.ymax-recttemp.ymin);
+	
+	/* smaller */
+	delta= 1 + (recttemp.ymax-recttemp.ymin)/8;
+	recttemp.xmin+= delta;
+	recttemp.ymin+= delta;
+	recttemp.xmax-= delta;
+	recttemp.ymax-= delta;
+	
+	/* half rounded */
+	round_box_edges(&wt, roundboxtype, &recttemp, 4.0f);
+	
+	/* button state */
+	
+	/* decoration */
+	if(state & UI_SELECT) {
+		widget_check_trias(&wt.tria1, &recttemp);
+	}
+	
+	widget_draw(&wt, &wcol_menu, state);
+
+	if(state & UI_SELECT)
+		widget_draw_text_icon(but, rect, wcol_menu.text);
+	else
+		widget_draw_text_icon(but, rect, wcol_menu.text_sel);
+}
+
+
+static void widget_rowbut(uiBut *but, rcti *rect, int state, int roundboxtype)
+{
+	uiWidgetBase wt;
+	
+	widget_init(&wt);
+	
+	/* half rounded */
+	round_box_edges(&wt, roundboxtype, rect, 4.0f);
+	
+	widget_draw(&wt, &wcol_row, state);
+
+	widget_draw_text_icon(but, rect, wcol_row.text);
+}
+
+static void widget_but(uiBut *but, rcti *rect, int state, int roundboxtype)
+{
+	uiWidgetBase wt;
+	
+	widget_init(&wt);
+	
+	/* half rounded */
+	round_box_edges(&wt, roundboxtype, rect, 4.0f);
+		
+	widget_draw(&wt, &wcol_regular, state);
+
+	widget_draw_text_icon(but, rect, wcol_regular.text);
+}
+
+static void widget_roundbut(uiBut *but, rcti *rect, int state, int roundboxtype)
+{
+	uiWidgetBase wt;
+	
+	widget_init(&wt);
+	
+	/* fully rounded */
+	round_box_edges(&wt, roundboxtype, rect, 0.5f*(rect->ymax - rect->ymin));
+	
+	widget_num_tria(&wt.tria1, rect, 0.6f, 0);
+
+	widget_draw(&wt, &wcol_regular2, state);
+	
+	widget_draw_text_icon(but, rect, wcol_regular2.text);
+
+}
+
+/* test function only */
+void drawnewstuff()
+{
+	rcti rect;
+	
+	rect.xmin= 10; rect.xmax= 10+100;
+	rect.ymin= -30; rect.ymax= -30+18;
+	widget_numbut(NULL, &rect, 0, 15);
+	
+	rect.xmin= 120; rect.xmax= 120+100;
+	rect.ymin= -30; rect.ymax= -30+20;
+	widget_numbut(NULL, &rect, 0, 15);
+	
+	rect.xmin= 10; rect.xmax= 10+100;
+	rect.ymin= -60; rect.ymax= -60+20;
+	widget_menubut(NULL, &rect, 0, 15);
+
+	rect.xmin= 120; rect.xmax= 120+100;
+	widget_but(NULL, &rect, 0, 15);
+	
+	rect.xmin= 10; rect.xmax= 10+100;
+	rect.ymin= -90; rect.ymax= -90+20;
+	widget_rowbut(NULL, &rect, 1, 9);
+	
+	rect.xmin= 109; rect.xmax= 110+100;
+	rect.ymin= -90; rect.ymax= -90+20;
+	widget_rowbut(NULL, &rect, 0, 6);
+	
+	rect.xmin= 240; rect.xmax= 240+30;
+	rect.ymin= -90; rect.ymax= -90+30;
+	widget_roundbut(NULL, &rect, 0, 15);
+}
+
+/* ************ new color and style definition ********************* */
+/*
+
+- minimum width definition?
+
+- Types
+    * Icon toggle button
+    * Row button (exclusive "enum" values)
+    * Option button (also "bit flags")
+    * Tool/Operator button
+    * Number button
+    * Number slider
+
+    * Text string button (to rename data)
+    * File name button (separate design?)
+    * Linkage "Library" button (Object, Material, Parent, etc)
+    * Linkage data name button (Bone, Vgroup)
+
+    * Popup settings button, with optional text, icon or both.
+    * Popup linkage button (Materials, Bones, etc)
+    * Pulldown menu button (to invoke pulldown)
+    * Pulldown menu item (and menu backdrop + title)
+
+    * Button-less icons (open-close triangle, delete cross, ...)
+    * Color picker Swatch
+    * Color picker fields
+    * Normal button (rotatable sphere) 
+
+*/
+
+static int widget_roundbox_set(uiBut *but, rcti *rect)
+{
+	/* alignment */
+	if(but->flag & UI_BUT_ALIGN) {
+		
+		if(but->flag & UI_BUT_ALIGN_TOP)
+			rect->ymax+= 1;
+		if(but->flag & UI_BUT_ALIGN_LEFT)
+			rect->xmin-= 1;
+		
+		switch(but->flag & UI_BUT_ALIGN) {
+			case UI_BUT_ALIGN_TOP:
+				return (12);
+				break;
+			case UI_BUT_ALIGN_DOWN:
+				return (3);
+				break;
+			case UI_BUT_ALIGN_LEFT:
+				return (6);
+				break;
+			case UI_BUT_ALIGN_RIGHT:
+				return (9);
+				break;
+				
+			case UI_BUT_ALIGN_DOWN|UI_BUT_ALIGN_RIGHT:
+				return (1);
+				break;
+			case UI_BUT_ALIGN_DOWN|UI_BUT_ALIGN_LEFT:
+				return (2);
+				break;
+			case UI_BUT_ALIGN_TOP|UI_BUT_ALIGN_RIGHT:
+				return (8);
+				break;
+			case UI_BUT_ALIGN_TOP|UI_BUT_ALIGN_LEFT:
+				return (4);
+				break;
+				
+			default:
+				return (0);
+				break;
+		}
+	} 
+	return 15;
+}
+
+
+/* widget classification
+
+- state: 
+	UI_MOUSE_OVER: on mouse over
+	UI_ACTIVE: while using it
+    UI_SELECT: internal state (toggle, row)
+
+- drawtype
+    CUSTOM: no widget class, entirely free within rect
+    WIDGET: part of the standard widget set
+
+- text placement, split?
+
+- widget color style hint
+   - outline
+   - interior col
+   - interior slider color?
+   - shade factors
+   - decoration color
+   - text colors
+
+- callbacks
+    - widget_draw()
+    - widget_text_icon()
+    - 
+
+*/
+
+
+void ui_draw_but_new(ARegion *ar, uiBut *but)
+{
+	rcti rect;
+	int roundboxtype, state;
+	
+	/* XXX project later */
+	rect.xmin= but->x1;
+	rect.xmax= but->x2;
+	rect.ymin= but->y1;
+	rect.ymax= but->y2;
+	
+	roundboxtype= widget_roundbox_set(but, &rect);
+	state= but->flag;
+	
+	switch (but->type) {
+		case LABEL:
+			widget_draw_text_icon(but, &rect, wcol_regular2.text);
+			break;
+		case NUM:
+			widget_numbut(but, &rect, state, roundboxtype);
+			break;
+		case ROW:
+			widget_rowbut(but, &rect, state, roundboxtype);
+			break;
+		case TEX:
+			widget_textbut(but, &rect, state, roundboxtype);
+			break;
+		case TOG:
+		case TOGN:
+		case TOG3:
+			if (!(state & UI_HAS_ICON))
+				widget_togbut(but, &rect, state, roundboxtype);
+			else
+				widget_but(but, &rect, state, roundboxtype);
+			break;
+		case MENU:
+		case BLOCK:
+			widget_menubut(but, &rect, state, roundboxtype);
+			break;
+			
+		default:
+			widget_but(but, &rect, state, roundboxtype);
+	}
+	
+}
+
+
+
+
diff --git a/source/blender/editors/interface/resources.c b/source/blender/editors/interface/resources.c
index d0d1da40a8f..039ebcc91f9 100644
--- a/source/blender/editors/interface/resources.c
+++ b/source/blender/editors/interface/resources.c
@@ -176,7 +176,7 @@ char *UI_ThemeGetColorPtr(bTheme *btheme, int spacetype, int colorid)
 			case SPACE_TEXT:
 				ts= &btheme->text;
 				break;
-			case SPACE_OOPS:
+			case SPACE_OUTLINER:
 				ts= &btheme->toops;
 				break;
 			case SPACE_SOUND:
@@ -363,14 +363,14 @@ void ui_theme_init_userdef(void)
 	
 	UI_SetTheme(NULL);	// make sure the global used in this file is set
 
-	/* UI buttons (todo) */
-	SETCOL(btheme->tui.outline, 	0xA0,0xA0,0xA0, 255);
-	SETCOL(btheme->tui.neutral, 	180, 180, 180, 255);
-	SETCOL(btheme->tui.action, 		180, 180, 180, 255);
-	SETCOL(btheme->tui.setting, 	180, 180, 180, 255);
-	SETCOL(btheme->tui.setting1, 	180, 180, 180, 255);
-	SETCOL(btheme->tui.setting2, 	180, 180, 180, 255);
-	SETCOL(btheme->tui.num,		 	143, 143, 143, 255);
+	/* UI buttons */
+	SETCOL(btheme->tui.outline, 	130, 130, 130, 255);
+	SETCOL(btheme->tui.neutral, 	165, 165, 165, 255);
+	SETCOL(btheme->tui.action, 		165, 165, 165, 255);
+	SETCOL(btheme->tui.setting, 	165, 165, 165, 255);
+	SETCOL(btheme->tui.setting1, 	165, 165, 165, 255);
+	SETCOL(btheme->tui.setting2, 	165, 165, 165, 255);
+	SETCOL(btheme->tui.num,		 	165, 165, 165, 255);
 	SETCOL(btheme->tui.textfield,	143, 142, 143, 255);
 	SETCOL(btheme->tui.textfield_hi,255, 151, 26,  255);
 	SETCOL(btheme->tui.popup,		174, 174, 174, 255);
@@ -378,9 +378,9 @@ void ui_theme_init_userdef(void)
 	SETCOL(btheme->tui.text,		0,0,0, 255);
 	SETCOL(btheme->tui.text_hi, 	255, 255, 255, 255);
 	
-	SETCOL(btheme->tui.menu_back, 	255, 255, 255, 235);
+	SETCOL(btheme->tui.menu_back, 	220, 220, 220, 235);
 	SETCOL(btheme->tui.menu_item, 	255, 255, 255, 20);
-	SETCOL(btheme->tui.menu_hilite, 0x7F,0x7F,0x7F, 255);
+	SETCOL(btheme->tui.menu_hilite, 110, 110, 110, 255);
 	SETCOL(btheme->tui.menu_text, 	0, 0, 0, 255);
 	SETCOL(btheme->tui.menu_text_hi, 255, 255, 255, 255);
 
@@ -391,7 +391,7 @@ void ui_theme_init_userdef(void)
 	SETCOL(btheme->tv3d.back,       90, 90, 90, 255);
 	SETCOL(btheme->tv3d.text,       0, 0, 0, 255);
 	SETCOL(btheme->tv3d.text_hi, 255, 255, 255, 255);
-	SETCOL(btheme->tv3d.header, 195, 195, 195, 255);
+	SETCOL(btheme->tv3d.header,		185, 185, 185, 255);
 	SETCOL(btheme->tv3d.panel,      165, 165, 165, 127);
 
 	SETCOL(btheme->tv3d.shade1,  160, 160, 160, 100);
@@ -427,9 +427,9 @@ void ui_theme_init_userdef(void)
 	/* to have something initialized */
 	btheme->tbuts= btheme->tv3d;
 
-	SETCOL(btheme->tbuts.back, 	180, 180, 180, 255);
-	SETCOL(btheme->tbuts.header, 195, 195, 195, 255);
-	SETCOL(btheme->tbuts.panel,  255, 255, 255, 40);
+	SETCOL(btheme->tbuts.back, 	0x82, 0x82, 0x82, 255);
+	SETCOL(btheme->tbuts.header, 185, 185, 185, 255);
+	SETCOL(btheme->tbuts.panel, 0x82, 0x82, 0x82, 255);
 
 	/* space ipo */
 	/* to have something initialized */
@@ -437,7 +437,7 @@ void ui_theme_init_userdef(void)
 
 	SETCOL(btheme->tipo.grid, 	94, 94, 94, 255);
 	SETCOL(btheme->tipo.back, 	120, 120, 120, 255);
-	SETCOL(btheme->tipo.header, 195, 195, 195, 255);
+	SETCOL(btheme->tipo.header, 185, 185, 185, 255);
 	SETCOL(btheme->tipo.panel,  255, 255, 255, 150);
 	SETCOL(btheme->tipo.shade1,		172, 172, 172, 100);
 	SETCOL(btheme->tipo.shade2,		0x70, 0x70, 0x70, 100);
@@ -458,11 +458,18 @@ void ui_theme_init_userdef(void)
 	/* space file */
 	/* to have something initialized */
 	btheme->tfile= btheme->tv3d;
-	SETCOL(btheme->tfile.back, 	128, 128, 128, 255);
-	SETCOL(btheme->tfile.text, 	0, 0, 0, 255);
-	SETCOL(btheme->tfile.text_hi, 255, 255, 255, 255);
-	SETCOL(btheme->tfile.header, 182, 182, 182, 255);
-	SETCOL(btheme->tfile.hilite, 0xA0, 0xA0, 0xD0, 255); // selected files
+	SETCOL(btheme->tfile.back, 	90, 90, 90, 255);
+	SETCOL(btheme->tfile.text, 	250, 250, 250, 255);
+	SETCOL(btheme->tfile.text_hi, 15, 15, 15, 255);
+	SETCOL(btheme->tfile.header, 185, 185, 185, 255);
+	SETCOL(btheme->tfile.panel, 180, 180, 180, 255);	// bookmark/ui regions
+	SETCOL(btheme->tfile.active, 130, 130, 130, 255); // selected files
+	SETCOL(btheme->tfile.hilite, 255, 140, 25, 255); // selected files
+	
+	SETCOL(btheme->tfile.grid,	250, 250, 250, 255);
+	SETCOL(btheme->tfile.image,	250, 250, 250, 255);
+	SETCOL(btheme->tfile.movie,	250, 250, 250, 255);
+	SETCOL(btheme->tfile.scene,	250, 250, 250, 255);
 
 	
 	/* space action */
@@ -470,7 +477,7 @@ void ui_theme_init_userdef(void)
 	SETCOL(btheme->tact.back, 	116, 116, 116, 255);
 	SETCOL(btheme->tact.text, 	0, 0, 0, 255);
 	SETCOL(btheme->tact.text_hi, 255, 255, 255, 255);
-	SETCOL(btheme->tact.header, 182, 182, 182, 255);
+	SETCOL(btheme->tact.header, 185, 185, 185, 255);
 	SETCOL(btheme->tact.grid,  94, 94, 94, 255);
 	SETCOL(btheme->tact.face,  166, 166, 166, 255);	// RVK
 	SETCOL(btheme->tact.shade1,  172, 172, 172, 255);		// sliders
@@ -489,7 +496,7 @@ void ui_theme_init_userdef(void)
 	SETCOL(btheme->tnla.back, 	116, 116, 116, 255);
 	SETCOL(btheme->tnla.text, 	0, 0, 0, 255);
 	SETCOL(btheme->tnla.text_hi, 255, 255, 255, 255);
-	SETCOL(btheme->tnla.header, 182, 182, 182, 255);
+	SETCOL(btheme->tnla.header, 185, 185, 185, 255);
 	SETCOL(btheme->tnla.grid,  94, 94, 94, 255);	
 	SETCOL(btheme->tnla.shade1,  172, 172, 172, 255);		// sliders
 	SETCOL(btheme->tnla.shade2,  84, 44, 31, 100);	// bar
@@ -526,7 +533,7 @@ void ui_theme_init_userdef(void)
 	SETCOL(btheme->timasel.active, 	195, 195, 195, 255); /* active tile */
 	SETCOL(btheme->timasel.grid,  94, 94, 94, 255); /* active file text */
 	SETCOL(btheme->timasel.back, 	110, 110, 110, 255);
-	SETCOL(btheme->timasel.header,	195, 195, 195, 255);	
+	SETCOL(btheme->timasel.header,	185, 185, 185, 255);
 	SETCOL(btheme->timasel.shade1,  94, 94, 94, 255);	/* bar */
 	SETCOL(btheme->timasel.shade2,  172, 172, 172, 255); /* sliders */
 	SETCOL(btheme->timasel.hilite,  17, 27, 60, 100);	/* selected tile */
diff --git a/source/blender/editors/interface/view2d.c b/source/blender/editors/interface/view2d.c
index 693f540128f..d81d9eb79ca 100644
--- a/source/blender/editors/interface/view2d.c
+++ b/source/blender/editors/interface/view2d.c
@@ -249,9 +249,30 @@ void UI_view2d_region_reinit(View2D *v2d, short type, int winx, int winy)
 				v2d->tot.ymin= -336.0f*((float)winy)/(float)winx;
 				
 				v2d->cur= v2d->tot;
+			}
+				break;
+
+			/* panels view, with free/horizontal/vertical align */
+			case V2D_COMMONVIEW_PANELS_UI:
+			{
+				/* for now, aspect ratio should be maintained, and zoom is clamped within sane default limits */
+				v2d->keepzoom= (V2D_LOCKZOOM_X|V2D_LOCKZOOM_Y|V2D_KEEPASPECT|V2D_KEEPZOOM);
+				v2d->minzoom= 0.5f;
+				v2d->maxzoom= 2.0f;
+				
+				v2d->align= (V2D_ALIGN_NO_NEG_X|V2D_ALIGN_NO_POS_Y);
+				v2d->keeptot= V2D_KEEPTOT_BOUNDS;
 				
+				v2d->tot.xmin= 0.0f;
+				v2d->tot.xmax= winx;
+
+				v2d->tot.ymax= 0.0f;
+				v2d->tot.ymin= -winy;
+
+				v2d->cur= v2d->tot;
 			}
 				break;
+
 				/* other view types are completely defined using their own settings already */
 			default:
 				/* we don't do anything here, as settings should be fine, but just make sure that rect */
@@ -1468,10 +1489,14 @@ void UI_view2d_scrollers_draw(const bContext *C, View2D *v2d, View2DScrollers *v
 			/* draw numbers in the appropriate range */
 			if (dfac > 0.0f) {
 				for (; fac < hor.xmax; fac+=dfac, val+=grid->dx) {
-					switch (vs->xunits) {
+					switch (vs->xunits) {							
 						case V2D_UNIT_FRAMES:		/* frames (as whole numbers)*/
 							scroll_printstr(vs, scene, fac, 3.0f+(float)(hor.ymin), val, grid->powerx, V2D_UNIT_FRAMES, 'h');
 							break;
+							
+						case V2D_UNIT_FRAMESCALE:	/* frames (not always as whole numbers) */
+							scroll_printstr(vs, scene, fac, 3.0f+(float)(hor.ymin), val, grid->powerx, V2D_UNIT_FRAMESCALE, 'h');
+							break;
 						
 						case V2D_UNIT_SECONDS:		/* seconds */
 							fac2= val/(float)FPS;
@@ -1490,7 +1515,7 @@ void UI_view2d_scrollers_draw(const bContext *C, View2D *v2d, View2DScrollers *v
 						}
 							break;
 							
-						case V2D_UNIT_DEGREES:		/* IPO-Editor for rotation IPO-Drivers */
+						case V2D_UNIT_DEGREES:		/* Graph Editor for rotation Drivers */
 							/* HACK: although we're drawing horizontal, we make this draw as 'vertical', just to get degree signs */
 							scroll_printstr(vs, scene, fac, 3.0f+(float)(hor.ymin), val, grid->powerx, V2D_UNIT_DEGREES, 'v');
 							break;
diff --git a/source/blender/editors/interface/view2d_ops.c b/source/blender/editors/interface/view2d_ops.c
index 95df3ef9c53..6da9512f9e0 100644
--- a/source/blender/editors/interface/view2d_ops.c
+++ b/source/blender/editors/interface/view2d_ops.c
@@ -239,11 +239,11 @@ static int view_pan_modal(bContext *C, wmOperator *op, wmEvent *event)
 	return OPERATOR_RUNNING_MODAL;
 }
 
-void View2D_OT_view_pan(wmOperatorType *ot)
+void VIEW2D_OT_pan(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Pan View";
-	ot->idname= "View2D_OT_view_pan";
+	ot->idname= "VIEW2D_OT_pan";
 	
 	/* api callbacks */
 	ot->exec= view_pan_exec;
@@ -287,11 +287,11 @@ static int view_scrollright_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void View2D_OT_view_scrollright(wmOperatorType *ot)
+void VIEW2D_OT_scroll_right(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Scroll Right";
-	ot->idname= "View2D_OT_view_rightscroll";
+	ot->idname= "VIEW2D_OT_scroll_right";
 	
 	/* api callbacks */
 	ot->exec= view_scrollright_exec;
@@ -333,11 +333,11 @@ static int view_scrollleft_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void View2D_OT_view_scrollleft(wmOperatorType *ot)
+void VIEW2D_OT_scroll_left(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Scroll Left";
-	ot->idname= "View2D_OT_view_leftscroll";
+	ot->idname= "VIEW2D_OT_scroll_left";
 	
 	/* api callbacks */
 	ot->exec= view_scrollleft_exec;
@@ -378,11 +378,11 @@ static int view_scrolldown_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void View2D_OT_view_scrolldown(wmOperatorType *ot)
+void VIEW2D_OT_scroll_down(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Scroll Down";
-	ot->idname= "View2D_OT_view_downscroll";
+	ot->idname= "VIEW2D_OT_scroll_down";
 	
 	/* api callbacks */
 	ot->exec= view_scrolldown_exec;
@@ -424,11 +424,11 @@ static int view_scrollup_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void View2D_OT_view_scrollup(wmOperatorType *ot)
+void VIEW2D_OT_scroll_up(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Scroll Up";
-	ot->idname= "View2D_OT_view_upscroll";
+	ot->idname= "VIEW2D_OT_scroll_up";
 	
 	/* api callbacks */
 	ot->exec= view_scrollup_exec;
@@ -524,11 +524,11 @@ static int view_zoomin_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void View2D_OT_view_zoomin(wmOperatorType *ot)
+void VIEW2D_OT_zoom_in(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Zoom In";
-	ot->idname= "View2D_OT_view_zoomin";
+	ot->idname= "VIEW2D_OT_zoom_in";
 	
 	/* api callbacks */
 	ot->exec= view_zoomin_exec;
@@ -560,11 +560,11 @@ static int view_zoomout_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void View2D_OT_view_zoomout(wmOperatorType *ot)
+void VIEW2D_OT_zoom_out(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Zoom Out";
-	ot->idname= "View2D_OT_view_zoomout";
+	ot->idname= "VIEW2D_OT_zoom_out";
 	
 	/* api callbacks */
 	ot->exec= view_zoomout_exec;
@@ -794,11 +794,11 @@ static int view_zoomdrag_modal(bContext *C, wmOperator *op, wmEvent *event)
 	return OPERATOR_RUNNING_MODAL;
 }
 
-void View2D_OT_view_zoom(wmOperatorType *ot)
+void VIEW2D_OT_zoom(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Zoom View";
-	ot->idname= "View2D_OT_view_zoom";
+	ot->idname= "VIEW2D_OT_zoom";
 	
 	/* api callbacks */
 	ot->exec= view_zoomdrag_exec;
@@ -892,11 +892,11 @@ static int view_borderzoom_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 } 
 
-void View2D_OT_view_borderzoom(wmOperatorType *ot)
+void VIEW2D_OT_zoom_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Zoom to Border";
-	ot->idname= "View2D_OT_view_borderzoom";
+	ot->idname= "VIEW2D_OT_zoom_border";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
@@ -1232,11 +1232,11 @@ static int scroller_activate_invoke(bContext *C, wmOperator *op, wmEvent *event)
 }
 
 /* LMB-Drag in Scrollers - not repeatable operator! */
-void View2D_OT_scroller_activate(wmOperatorType *ot)
+void VIEW2D_OT_scroller_activate(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Scroller Activate";
-	ot->idname= "View2D_OT_scroller_activate";
+	ot->idname= "VIEW2D_OT_scroller_activate";
 	
 	/* api callbacks */
 	ot->invoke= scroller_activate_invoke;
@@ -1248,20 +1248,20 @@ void View2D_OT_scroller_activate(wmOperatorType *ot)
 
 void ui_view2d_operatortypes(void)
 {
-	WM_operatortype_append(View2D_OT_view_pan);
+	WM_operatortype_append(VIEW2D_OT_pan);
 	
-	WM_operatortype_append(View2D_OT_view_scrollleft);
-	WM_operatortype_append(View2D_OT_view_scrollright);
-	WM_operatortype_append(View2D_OT_view_scrollup);
-	WM_operatortype_append(View2D_OT_view_scrolldown);
+	WM_operatortype_append(VIEW2D_OT_scroll_left);
+	WM_operatortype_append(VIEW2D_OT_scroll_right);
+	WM_operatortype_append(VIEW2D_OT_scroll_up);
+	WM_operatortype_append(VIEW2D_OT_scroll_down);
 	
-	WM_operatortype_append(View2D_OT_view_zoomin);
-	WM_operatortype_append(View2D_OT_view_zoomout);
+	WM_operatortype_append(VIEW2D_OT_zoom_in);
+	WM_operatortype_append(VIEW2D_OT_zoom_out);
 	
-	WM_operatortype_append(View2D_OT_view_zoom);
-	WM_operatortype_append(View2D_OT_view_borderzoom);
+	WM_operatortype_append(VIEW2D_OT_zoom);
+	WM_operatortype_append(VIEW2D_OT_zoom_border);
 	
-	WM_operatortype_append(View2D_OT_scroller_activate);
+	WM_operatortype_append(VIEW2D_OT_scroller_activate);
 }
 
 void UI_view2d_keymap(wmWindowManager *wm)
@@ -1269,43 +1269,43 @@ void UI_view2d_keymap(wmWindowManager *wm)
 	ListBase *keymap= WM_keymap_listbase(wm, "View2D", 0, 0);
 	
 	/* pan/scroll */
-	WM_keymap_add_item(keymap, "View2D_OT_view_pan", MIDDLEMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_pan", MIDDLEMOUSE, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_pan", MIDDLEMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_pan", MIDDLEMOUSE, KM_PRESS, KM_SHIFT, 0);
 	
-	WM_keymap_add_item(keymap, "View2D_OT_view_rightscroll", WHEELDOWNMOUSE, KM_PRESS, KM_CTRL, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_leftscroll", WHEELUPMOUSE, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_right", WHEELDOWNMOUSE, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_left", WHEELUPMOUSE, KM_PRESS, KM_CTRL, 0);
 	
-	WM_keymap_add_item(keymap, "View2D_OT_view_downscroll", WHEELDOWNMOUSE, KM_PRESS, KM_SHIFT, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_upscroll", WHEELUPMOUSE, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_down", WHEELDOWNMOUSE, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_up", WHEELUPMOUSE, KM_PRESS, KM_SHIFT, 0);
 	
 	/* zoom - single step */
-	WM_keymap_add_item(keymap, "View2D_OT_view_zoomout", WHEELOUTMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_zoomin", WHEELINMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_zoomout", PADMINUS, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_zoomin", PADPLUSKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_zoom_out", WHEELOUTMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_zoom_in", WHEELINMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_zoom_out", PADMINUS, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_zoom_in", PADPLUSKEY, KM_PRESS, 0, 0);
 	
 	/* scroll up/down - no modifiers, only when zoom fails */
 		/* these may fail if zoom is disallowed, in which case they should pass on event */
-	WM_keymap_add_item(keymap, "View2D_OT_view_downscroll", WHEELDOWNMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_upscroll", WHEELUPMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_down", WHEELDOWNMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_up", WHEELUPMOUSE, KM_PRESS, 0, 0);
 		/* these may be necessary if vertical scroll is disallowed */
-	WM_keymap_add_item(keymap, "View2D_OT_view_rightscroll", WHEELDOWNMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_leftscroll", WHEELUPMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_right", WHEELDOWNMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_left", WHEELUPMOUSE, KM_PRESS, 0, 0);
 	
 	/* zoom - drag */
-	WM_keymap_add_item(keymap, "View2D_OT_view_zoom", MIDDLEMOUSE, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_zoom", MIDDLEMOUSE, KM_PRESS, KM_CTRL, 0);
 	
 	/* borderzoom - drag */
-	WM_keymap_add_item(keymap, "View2D_OT_view_borderzoom", BKEY, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_zoom_border", BKEY, KM_PRESS, KM_SHIFT, 0);
 	
 	/* scrollers */
-	WM_keymap_add_item(keymap, "View2D_OT_scroller_activate", LEFTMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroller_activate", LEFTMOUSE, KM_PRESS, 0, 0);
 	
 	/* Alternative keymap for buttons listview */
 	keymap= WM_keymap_listbase(wm, "View2D Buttons List", 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_pan", MIDDLEMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_downscroll", WHEELDOWNMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_upscroll", WHEELUPMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "View2D_OT_view_zoom", MIDDLEMOUSE, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_pan", MIDDLEMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_down", WHEELDOWNMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_scroll_up", WHEELUPMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW2D_OT_zoom", MIDDLEMOUSE, KM_PRESS, KM_CTRL, 0);
 }
 
diff --git a/source/blender/editors/mesh/editdeform.c b/source/blender/editors/mesh/editdeform.c
index 83668400708..1bf81f125fb 100644
--- a/source/blender/editors/mesh/editdeform.c
+++ b/source/blender/editors/mesh/editdeform.c
@@ -94,9 +94,10 @@ void sel_verts_defgroup (Object *obedit, int select)
 	case OB_MESH:
 	{
 		Mesh *me= ob->data;
-		
-		for (eve=me->edit_mesh->verts.first; eve; eve=eve->next){
-			dvert= CustomData_em_get(&me->edit_mesh->vdata, eve->data, CD_MDEFORMVERT);
+		EditMesh *em = EM_GetEditMesh(me);
+
+		for (eve=em->verts.first; eve; eve=eve->next){
+			dvert= CustomData_em_get(&em->vdata, eve->data, CD_MDEFORMVERT);
 
 			if (dvert && dvert->totweight){
 				for (i=0; i<dvert->totweight; i++){
@@ -110,8 +111,10 @@ void sel_verts_defgroup (Object *obedit, int select)
 			}
 		}
 		/* this has to be called, because this function operates on vertices only */
-		if(select) EM_select_flush(me->edit_mesh);	// vertices to edges/faces
-		else EM_deselect_flush(me->edit_mesh);
+		if(select) EM_select_flush(em);	// vertices to edges/faces
+		else EM_deselect_flush(em);
+
+		EM_EndEditMesh(em, me);
 	}
 		break;
 	case OB_LATTICE:
@@ -395,18 +398,19 @@ void del_defgroup (Object *ob)
 	/* Make sure that any verts with higher indices are adjusted accordingly */
 	if(ob->type==OB_MESH) {
 		Mesh *me= ob->data;
-		EditMesh *em = me->edit_mesh;
+		EditMesh *em = EM_GetEditMesh(me);
 		EditVert *eve;
 		MDeformVert *dvert;
 		
 		for (eve=em->verts.first; eve; eve=eve->next){
-			dvert= CustomData_em_get(&me->edit_mesh->vdata, eve->data, CD_MDEFORMVERT);
+			dvert= CustomData_em_get(&em->vdata, eve->data, CD_MDEFORMVERT);
 
 			if (dvert)
 				for (i=0; i<dvert->totweight; i++)
 					if (dvert->dw[i].def_nr > (ob->actdef-1))
 						dvert->dw[i].def_nr--;
 		}
+		EM_EndEditMesh(me, em);
 	}
 	else if(ob->type==OB_LATTICE) {
 		Lattice *lt= def_get_lattice(ob);
@@ -720,13 +724,14 @@ void assign_verts_defgroup (Object *obedit, float weight)
 	case OB_MESH:
 	{
 		Mesh *me= ob->data;
-		
-		if (!CustomData_has_layer(&me->edit_mesh->vdata, CD_MDEFORMVERT))
-			EM_add_data_layer(me->edit_mesh, &me->edit_mesh->vdata, CD_MDEFORMVERT);
+		EditMesh *em = EM_GetEditMesh(me);
+
+		if (!CustomData_has_layer(&em->vdata, CD_MDEFORMVERT))
+			EM_add_data_layer(em, &em->vdata, CD_MDEFORMVERT);
 
 		/* Go through the list of editverts and assign them */
-		for (eve=me->edit_mesh->verts.first; eve; eve=eve->next){
-			dvert= CustomData_em_get(&me->edit_mesh->vdata, eve->data, CD_MDEFORMVERT);
+		for (eve=em->verts.first; eve; eve=eve->next){
+			dvert= CustomData_em_get(&em->vdata, eve->data, CD_MDEFORMVERT);
 
 			if (dvert && (eve->f & 1)){
 				done=0;
@@ -759,6 +764,7 @@ void assign_verts_defgroup (Object *obedit, float weight)
 				}
 			}
 		}
+		EM_EndEditMesh(me, em);
 	}
 		break;
 	case OB_LATTICE:
@@ -882,9 +888,10 @@ void remove_verts_defgroup (Object *obedit, int allverts)
 	case OB_MESH:
 	{
 		Mesh *me= ob->data;
-		
-		for (eve=me->edit_mesh->verts.first; eve; eve=eve->next){
-			dvert= CustomData_em_get(&me->edit_mesh->vdata, eve->data, CD_MDEFORMVERT);
+		EditMesh *em = EM_GetEditMesh(me);
+
+		for (eve=em->verts.first; eve; eve=eve->next){
+			dvert= CustomData_em_get(&em->vdata, eve->data, CD_MDEFORMVERT);
 		
 			if (dvert && dvert->dw && ((eve->f & 1) || allverts)){
 				for (i=0; i<dvert->totweight; i++){
@@ -911,6 +918,7 @@ void remove_verts_defgroup (Object *obedit, int allverts)
 				}
 			}
 		}
+		EM_EndEditMesh(me, em);
 	}
 		break;
 	case OB_LATTICE:
@@ -1007,11 +1015,11 @@ void vgroup_assign_with_menu(Scene *scene, Object *ob)
 	switch (mode) {
 		case 1: /* add to new group */
 			add_defgroup(ob);
-			assign_verts_defgroup(ob, wp->weight);
+			assign_verts_defgroup(ob, wp->brush->alpha);
 			BIF_undo_push("Assign to vertex group");
 			break;
 		case 2: /* add to current group */
-			assign_verts_defgroup(ob, wp->weight);
+			assign_verts_defgroup(ob, wp->brush->alpha);
 			BIF_undo_push("Assign to vertex group");
 			break;
 		case 3:	/* remove from current group */
diff --git a/source/blender/editors/mesh/editmesh.c b/source/blender/editors/mesh/editmesh.c
index 16f2ce7f6b7..e262f28a28e 100644
--- a/source/blender/editors/mesh/editmesh.c
+++ b/source/blender/editors/mesh/editmesh.c
@@ -1410,9 +1410,10 @@ static int mesh_separate_selected(Scene *scene, Base *editbase)
 	
 	obedit= editbase->object;
 	me= obedit->data;
-	em= me->edit_mesh;
+	em= EM_GetEditMesh(me);
 	if(me->key) {
 		error("Can't separate with vertex keys");
+		EM_EndEditMesh(me, em);
 		return 0;
 	}
 	
@@ -1423,7 +1424,10 @@ static int mesh_separate_selected(Scene *scene, Base *editbase)
 	
 	EM_stats_update(em);
 	
-	if(em->totvertsel==0) return 0;
+	if(em->totvertsel==0) {
+		EM_EndEditMesh(me, em);
+		return 0;
+	}
 	
 	/* we are going to work as follows:
 	 * 1. add a linked duplicate object: this will be the new one, we remember old pointer
@@ -1491,6 +1495,8 @@ static int mesh_separate_selected(Scene *scene, Base *editbase)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);	
 	DAG_object_flush_update(scene, basenew->object, OB_RECALC_DATA);	
 
+	EM_EndEditMesh(me, em);
+
 	return 1;
 }
 
@@ -1498,7 +1504,7 @@ static int mesh_separate_selected(Scene *scene, Base *editbase)
 static int mesh_separate_material(Scene *scene, Base *editbase)
 {
 	Mesh *me= editbase->object->data;
-	EditMesh *em= me->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(me);
 	unsigned char curr_mat;
 	
 	for (curr_mat = 1; curr_mat < editbase->object->totcol; ++curr_mat) {
@@ -1507,9 +1513,13 @@ static int mesh_separate_material(Scene *scene, Base *editbase)
 		/* select the material */
 		editmesh_select_by_material(em, curr_mat);
 		/* and now separate */
-		if(0==mesh_separate_selected(scene, editbase))
+		if(0==mesh_separate_selected(scene, editbase)) {
+			EM_EndEditMesh(me, em);
 			return 0;
+		}
 	}
+
+	EM_EndEditMesh(me, em);
 	return 1;
 }
 
@@ -1521,10 +1531,11 @@ static int mesh_separate_loose(Scene *scene, Base *editbase)
 	int doit= 1;
 	
 	me= editbase->object->data;
-	em= me->edit_mesh;
+	em= EM_GetEditMesh(me);
 	
 	if(me->key) {
 		error("Can't separate with vertex keys");
+		EM_EndEditMesh(me, em);
 		return 0;
 	}
 	
@@ -1540,6 +1551,8 @@ static int mesh_separate_loose(Scene *scene, Base *editbase)
 		/* and now separate */
 		doit= mesh_separate_selected(scene, editbase);
 	}
+
+	EM_EndEditMesh(me, em);
 	return 1;
 }
 
@@ -1976,11 +1989,11 @@ void em_setup_viewcontext(bContext *C, ViewContext *vc)
 	}
 }
 
-void EM_beginEditMesh(Object *ob)
+EditMesh *EM_GetEditMesh(Mesh *me)
 {
-	return ((Mesh *)ob->data)->edit_mesh;
+	return me->edit_mesh;
 }
 
-void EM_endEditMesh(Object *ob, EditMesh *em)
+void EM_EndEditMesh(Mesh *me, EditMesh *em)
 {
 }
diff --git a/source/blender/editors/mesh/editmesh_add.c b/source/blender/editors/mesh/editmesh_add.c
index 5b2f4d40e0a..b3ee7d6b2f1 100644
--- a/source/blender/editors/mesh/editmesh_add.c
+++ b/source/blender/editors/mesh/editmesh_add.c
@@ -82,18 +82,18 @@
 /* XXX */
 
 static float icovert[12][3] = {
-	{0,0,-200}, 
-	{144.72, -105.144,-89.443},
-	{-55.277, -170.128,-89.443}, 
-	{-178.885,0,-89.443},
-	{-55.277,170.128,-89.443}, 
-	{144.72,105.144,-89.443},
-	{55.277,-170.128,89.443},
-	{-144.72,-105.144,89.443},
-	{-144.72,105.144,89.443},
-	{55.277,170.128,89.443},
-	{178.885,0,89.443},
-	{0,0,200}
+	{0.0f,0.0f,-200.0f}, 
+	{144.72f, -105.144f,-89.443f},
+	{-55.277f, -170.128,-89.443f}, 
+	{-178.885f,0.0f,-89.443f},
+	{-55.277f,170.128f,-89.443f}, 
+	{144.72f,105.144f,-89.443f},
+	{55.277f,-170.128f,89.443f},
+	{-144.72f,-105.144f,89.443f},
+	{-144.72f,105.144f,89.443f},
+	{55.277f,170.128f,89.443f},
+	{178.885f,0.0f,89.443f},
+	{0.0f,0.0f,200.0f}
 };
 static short icoface[20][3] = {
 	{1,0,2},
@@ -341,23 +341,26 @@ int make_fgon(EditMesh *em, wmOperator *op, int make)
 static int make_fgon_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 
 	if( make_fgon(em, op, 1) ) {
 		DAG_object_flush_update(CTX_data_scene(C), obedit, OB_RECALC_DATA);	
 	
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
-		
+
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_FINISHED;
 	}
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_CANCELLED;
 }
 
-void MESH_OT_make_fgon(struct wmOperatorType *ot)
+void MESH_OT_fgon_make(struct wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Make F-gon";
-	ot->idname= "MESH_OT_make_fgon";
+	ot->idname= "MESH_OT_fgon_make";
 	
 	/* api callbacks */
 	ot->exec= make_fgon_exec;
@@ -370,23 +373,26 @@ void MESH_OT_make_fgon(struct wmOperatorType *ot)
 static int clear_fgon_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	if( make_fgon(em, op, 0) ) {
 		DAG_object_flush_update(CTX_data_scene(C), obedit, OB_RECALC_DATA);	
 		
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
-
+		
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_FINISHED;
 	}
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_CANCELLED;
 }
 
-void MESH_OT_clear_fgon(struct wmOperatorType *ot)
+void MESH_OT_fgon_clear(struct wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Clear F-gon";
-	ot->idname= "MESH_OT_clear_fgon";
+	ot->idname= "MESH_OT_fgon_clear";
 	
 	/* api callbacks */
 	ot->exec= clear_fgon_exec;
@@ -819,7 +825,7 @@ static void addedgeface_mesh(EditMesh *em, wmOperator *op)
 static int addedgeface_mesh_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	addedgeface_mesh(em, op);
 	
@@ -827,6 +833,7 @@ static int addedgeface_mesh_exec(bContext *C, wmOperator *op)
 	
 	DAG_object_flush_update(CTX_data_scene(C), obedit, OB_RECALC_DATA);	
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -1016,7 +1023,7 @@ static void make_prim(Object *obedit, int type, float mat[4][4], int tot, int se
 	 * fill - end capping, and option to fill in circle
 	 * cent[3] - center of the data. 
 	 * */
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	EditVert *eve, *v1=NULL, *v2, *v3, *v4=NULL, *vtop, *vdown;
 	float phi, phid, vec[3];
 	float q[4], cmat[3][3], nor[3]= {0.0, 0.0, 0.0};
@@ -1024,8 +1031,8 @@ static void make_prim(Object *obedit, int type, float mat[4][4], int tot, int se
 	
 	EM_clear_flag_all(em, SELECT);
 
-	phid= 2*M_PI/tot;
-	phi= .25*M_PI;
+	phid= 2.0f*(float)M_PI/tot;
+	phi= .25f*(float)M_PI;
 
 	switch(type) {
 	case PRIM_GRID: /*  grid */
@@ -1297,6 +1304,8 @@ static void make_prim(Object *obedit, int type, float mat[4][4], int tot, int se
 	
 	if(type!=0 && type!=13)
 		righthandfaces(em, 1);	/* otherwise monkey has eyes in wrong direction */
+
+	EM_EndEditMesh(obedit->data, em);
 }
 
 
diff --git a/source/blender/editors/mesh/editmesh_loop.c b/source/blender/editors/mesh/editmesh_loop.c
index 7afa5e1bceb..dcec73eebc2 100644
--- a/source/blender/editors/mesh/editmesh_loop.c
+++ b/source/blender/editors/mesh/editmesh_loop.c
@@ -782,8 +782,8 @@ static float bm_seg_intersect(BMEdge *e, CutCurve *c, int len, char mode,
 static int knife_cut_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh, *em2;
 	BMesh *bm;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data)), *em2;
 	ARegion *ar= CTX_wm_region(C);
 	BMVert *bv;
 	BMIter iter;
@@ -798,6 +798,7 @@ static int knife_cut_exec(bContext *C, wmOperator *op)
 	
 	if (EM_nvertices_selected(em) < 2) {
 		error("No edges are selected to operate on");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;;
 	}
 
@@ -810,8 +811,11 @@ static int knife_cut_exec(bContext *C, wmOperator *op)
 	}
 	RNA_END;
 	
-	if(len<2) return OPERATOR_CANCELLED;
-	
+	if(len<2) {
+		EM_EndEditMesh(obedit->data, em);
+		return OPERATOR_CANCELLED;
+	}
+
 	bm = editmesh_to_bmesh(em);
 
 	/*the floating point coordinates of verts in screen space will be stored in a hash table according to the vertices pointer*/
@@ -872,7 +876,8 @@ static int knife_cut_exec(bContext *C, wmOperator *op)
 	
 	MEM_freeN(em2);
 	BM_Free_Mesh(bm);
-	
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
diff --git a/source/blender/editors/mesh/editmesh_mods.c b/source/blender/editors/mesh/editmesh_mods.c
index a77f6cbc538..dc081fe5a76 100644
--- a/source/blender/editors/mesh/editmesh_mods.c
+++ b/source/blender/editors/mesh/editmesh_mods.c
@@ -802,7 +802,7 @@ static int similar_face_select_exec(bContext *C, wmOperator *op)
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
 	Mesh *me= obedit->data;
-	EditMesh *em= me->edit_mesh; 
+	EditMesh *em= EM_GetEditMesh(me); 
 
 	int selcount = similar_face_select__internal(scene, em, RNA_int_get(op->ptr, "type"));
 	
@@ -810,17 +810,19 @@ static int similar_face_select_exec(bContext *C, wmOperator *op)
 		/* here was an edge-mode only select flush case, has to be generalized */
 		EM_selectmode_flush(em);
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+		EM_EndEditMesh(me, em);
 		return OPERATOR_FINISHED;
 	}
 	
+	EM_EndEditMesh(me, em);
 	return OPERATOR_CANCELLED;
 }	
 
-void MESH_OT_similar_face_select(wmOperatorType *ot)
+void MESH_OT_select_face_similar(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Similar Face Select";
-	ot->idname= "MESH_OT_similar_face_select";
+	ot->idname= "MESH_OT_select_face_similar";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
@@ -1061,7 +1063,7 @@ static int similar_edge_select_exec(bContext *C, wmOperator *op)
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
 	Mesh *me= obedit->data;
-	EditMesh *em= me->edit_mesh; 
+	EditMesh *em= EM_GetEditMesh(me); 
 
 	int selcount = similar_edge_select__internal(scene, em, RNA_int_get(op->ptr, "type"));
 	
@@ -1069,17 +1071,19 @@ static int similar_edge_select_exec(bContext *C, wmOperator *op)
 		/* here was an edge-mode only select flush case, has to be generalized */
 		EM_selectmode_flush(em);
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+		EM_EndEditMesh(me, em);
 		return OPERATOR_FINISHED;
 	}
 	
+	EM_EndEditMesh(me, em);
 	return OPERATOR_CANCELLED;
 }
 
-void MESH_OT_similar_edge_select(wmOperatorType *ot)
+void MESH_OT_select_edge_similar(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Similar Edge Select";
-	ot->idname= "MESH_OT_similar_edge_select";
+	ot->idname= "MESH_OT_select_edge_similar";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
@@ -1114,7 +1118,7 @@ static int similar_vert_select_exec(bContext *C, wmOperator *op)
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
 	Mesh *me= obedit->data;
-	EditMesh *em= me->edit_mesh; 
+	EditMesh *em= EM_GetEditMesh(me); 
 	EditVert *eve, *base_eve=NULL;
 	unsigned int selcount=0; /* count how many new edges we select*/
 	
@@ -1140,8 +1144,10 @@ static int similar_vert_select_exec(bContext *C, wmOperator *op)
 		
 	}
 	
-	if (!ok || !deselcount) /* no data selected OR no more data to select*/
+	if (!ok || !deselcount) { /* no data selected OR no more data to select*/
+		EM_EndEditMesh(me, em);
 		return 0;
+	}
 	
 	if(RNA_enum_is_equal(op->ptr, "type", "FACE")) {
 		/* store face users */
@@ -1169,8 +1175,10 @@ static int similar_vert_select_exec(bContext *C, wmOperator *op)
 							eve->f |= SELECT;
 							selcount++;
 							deselcount--;
-							if (!deselcount) /*have we selected all posible faces?, if so return*/
+							if (!deselcount) {/*have we selected all posible faces?, if so return*/
+								EM_EndEditMesh(me, em);
 								return selcount;
+							}
 						}
 					}
 				}
@@ -1185,8 +1193,10 @@ static int similar_vert_select_exec(bContext *C, wmOperator *op)
 						eve->f |= SELECT;
 						selcount++;
 						deselcount--;
-						if (!deselcount) /*have we selected all posible faces?, if so return*/
+						if (!deselcount) {/*have we selected all posible faces?, if so return*/
+							EM_EndEditMesh(me, em);
 							return selcount;
+						}
 					}
 				}
 			} 
@@ -1197,8 +1207,10 @@ static int similar_vert_select_exec(bContext *C, wmOperator *op)
 				base_dvert= CustomData_em_get(&em->vdata, base_eve->data,
 					CD_MDEFORMVERT);
 
-				if (!base_dvert || base_dvert->totweight == 0)
+				if (!base_dvert || base_dvert->totweight == 0) {
+					EM_EndEditMesh(me, em);
 					return selcount;
+				}
 				
 				for(eve= em->verts.first; eve; eve= eve->next) {
 					dvert= CustomData_em_get(&em->vdata, eve->data,
@@ -1213,8 +1225,10 @@ static int similar_vert_select_exec(bContext *C, wmOperator *op)
 									eve->f |= SELECT;
 									selcount++;
 									deselcount--;
-									if (!deselcount) /*have we selected all posible faces?, if so return*/
+									if (!deselcount) { /*have we selected all posible faces?, if so return*/
+										EM_EndEditMesh(me, em);
 										return selcount;
+									}
 									break;
 								}
 							}
@@ -1227,16 +1241,19 @@ static int similar_vert_select_exec(bContext *C, wmOperator *op)
 
 	if(selcount) {
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+		EM_EndEditMesh(me, em);
 		return OPERATOR_FINISHED;
 	}
+
+	EM_EndEditMesh(me, em);
 	return OPERATOR_CANCELLED;
 }
 
-void MESH_OT_similar_vertex_select(wmOperatorType *ot)
+void MESH_OT_select_vertex_similar(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Similar Vertex Select";
-	ot->idname= "MESH_OT_similar_vertex_select";
+	ot->idname= "MESH_OT_select_vertex_similar";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
@@ -1944,7 +1961,7 @@ static void edgering_select(EditMesh *em, EditEdge *startedge, int select)
 static int loop_multiselect(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	EditEdge *eed;
 	EditEdge **edarray;
 	int edindex, edfirstcount;
@@ -1982,14 +1999,16 @@ static int loop_multiselect(bContext *C, wmOperator *op)
 //	if (EM_texFaceCheck())
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
-void MESH_OT_select_multi_loop(wmOperatorType *ot)
+void MESH_OT_select_loop_multi(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Multi Select Loops";
-	ot->idname= "MESH_OT_select_multi_loop";
+	ot->idname= "MESH_OT_select_loop_multi";
 	
 	/* api callbacks */
 	ot->exec= loop_multiselect;
@@ -2051,7 +2070,7 @@ static void mouse_mesh_loop(bContext *C, short mval[2], short extend, short ring
 	}
 }
 
-static int mesh_loop_select_invoke(bContext *C, wmOperator *op, wmEvent *event)
+static int mesh_select_loop_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	
 	view3d_operator_needs_opengl(C);
@@ -2063,14 +2082,14 @@ static int mesh_loop_select_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	return OPERATOR_FINISHED;
 }
 
-void MESH_OT_loop_select(wmOperatorType *ot)
+void MESH_OT_select_loop(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Loop Select";
-	ot->idname= "MESH_OT_loop_select";
+	ot->idname= "MESH_OT_select_loop";
 	
 	/* api callbacks */
-	ot->invoke= mesh_loop_select_invoke;
+	ot->invoke= mesh_select_loop_invoke;
 	ot->poll= ED_operator_editmesh;
 	
 	/* flags */
@@ -2162,11 +2181,11 @@ static int mesh_shortest_path_select_invoke(bContext *C, wmOperator *op, wmEvent
 	return OPERATOR_FINISHED;
 }
 	
-void MESH_OT_shortest_path_select(wmOperatorType *ot)
+void MESH_OT_select_path_shortest(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Shortest Path Select";
-	ot->idname= "MESH_OT_shortest_path_select";
+	ot->idname= "MESH_OT_select_path_shortest";
 	
 	/* api callbacks */
 	ot->invoke= mesh_shortest_path_select_invoke;
@@ -2519,7 +2538,7 @@ void selectconnected_mesh_all(EditMesh *em)
 static int select_linked_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(obedit->data);
 	
 	if( RNA_boolean_get(op->ptr, "limit") ) {
 		ViewContext vc;
@@ -2530,6 +2549,8 @@ static int select_linked_exec(bContext *C, wmOperator *op)
 		selectconnected_mesh_all(em);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -2658,11 +2679,13 @@ void EM_hide_mesh(EditMesh *em, int swap)
 static int hide_mesh_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	EM_hide_mesh(em, RNA_boolean_get(op->ptr, "unselected"));
 		
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -2722,11 +2745,13 @@ void EM_reveal_mesh(EditMesh *em)
 static int reveal_mesh_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	EM_reveal_mesh(em);
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -2780,7 +2805,7 @@ static int select_sharp_edges_exec(bContext *C, wmOperator *op)
 	* small enough, select the edge
 	*/
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	EditEdge *eed;
 	EditFace *efa;
 	EditFace **efa1;
@@ -2792,6 +2817,7 @@ static int select_sharp_edges_exec(bContext *C, wmOperator *op)
 	
 	if(em->selectmode==SCE_SELECT_FACE) {
 		BKE_report(op->reports, RPT_ERROR, "Doesn't work in face selection mode");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 
@@ -2870,6 +2896,8 @@ static int select_sharp_edges_exec(bContext *C, wmOperator *op)
 //	if (EM_texFaceCheck())
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit); //TODO is this needed ?
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -3030,11 +3058,13 @@ static void select_linked_flat_faces(EditMesh *em, wmOperator *op, float sharpne
 static int select_linked_flat_faces_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	select_linked_flat_faces(em, op, RNA_float_get(op->ptr, "sharpness"));
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -3128,11 +3158,13 @@ void select_non_manifold(EditMesh *em, wmOperator *op )
 static int select_non_manifold_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	select_non_manifold(em, op);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -3189,11 +3221,13 @@ void EM_select_swap(EditMesh *em) /* exported for UV */
 static int select_invert_mesh_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	EM_select_swap(em);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -3224,20 +3258,21 @@ void EM_toggle_select_all(EditMesh *em) /* exported for UV */
 static int toggle_select_all_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	EM_toggle_select_all(em);
 	
-	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);	
+	EM_EndEditMesh(obedit->data, em);
 
 	return OPERATOR_FINISHED;
 }
 
-void MESH_OT_de_select_all(wmOperatorType *ot)
+void MESH_OT_select_all_toggle(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select or Deselect All";
-	ot->idname= "MESH_OT_de_select_all";
+	ot->idname= "MESH_OT_select_all_toggle";
 	
 	/* api callbacks */
 	ot->exec= toggle_select_all_exec;
@@ -3377,13 +3412,15 @@ void EM_select_more(EditMesh *em)
 static int select_more(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data)) ;
 
 	EM_select_more(em);
 
 //	if (EM_texFaceCheck(em))
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -3465,12 +3502,14 @@ void EM_select_less(EditMesh *em)
 static int select_less(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 
 	EM_select_less(em);
 
 //	if (EM_texFaceCheck(em))
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -3533,12 +3572,13 @@ static void selectrandom_mesh(EditMesh *em, float perc) /* randomly selects a us
 static int mesh_select_random_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	selectrandom_mesh(em, RNA_float_get(op->ptr,"percent"));
 		
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -3622,12 +3662,13 @@ static int mesh_selection_type_exec(bContext *C, wmOperator *op)
 {		
 	
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 
 	mesh_selection_type(CTX_data_scene(C), em, RNA_enum_get(op->ptr,"type"));
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
-
+	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -3647,7 +3688,7 @@ void MESH_OT_selection_type(wmOperatorType *ot)
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 	
 	/* props */
-	RNA_def_enum(ot->srna, "type", prop_mesh_edit_types, 0, "Type", "Select the mesh selection type");
+	RNA_def_enum(ot->srna, "type", prop_mesh_edit_types, 0, "Type", "Set the mesh selection type");
 	
 }
 /* ************************* SEAMS AND EDGES **************** */
@@ -3655,7 +3696,7 @@ void MESH_OT_selection_type(wmOperatorType *ot)
 static int editmesh_mark_seam(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	Mesh *me= ((Mesh *)obedit->data);
 	EditEdge *eed;
 	int clear = RNA_boolean_get(op->ptr, "clear");
@@ -3686,6 +3727,7 @@ static int editmesh_mark_seam(bContext *C, wmOperator *op)
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -3708,7 +3750,7 @@ void MESH_OT_mark_seam(wmOperatorType *ot)
 static int editmesh_mark_sharp(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	Mesh *me= ((Mesh *)obedit->data);
 	int set = RNA_boolean_get(op->ptr, "set");
 	EditEdge *eed;
@@ -3734,6 +3776,7 @@ static int editmesh_mark_sharp(bContext *C, wmOperator *op)
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -4128,7 +4171,7 @@ void righthandfaces(EditMesh *em, int select)	/* makes faces righthand turning *
 static int righthandfaces_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	/* 'standard' behaviour - check if selected, then apply relevant selection */
 	
@@ -4136,6 +4179,8 @@ static int righthandfaces_exec(bContext *C, wmOperator *op)
 	righthandfaces(em, RNA_boolean_get(op->ptr, "inside"));
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit); //TODO is this needed ?
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -4336,7 +4381,7 @@ static int smooth_vertex(bContext *C, wmOperator *op)
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
 	Mesh *me= obedit->data;
-	EditMesh *em= me->edit_mesh; 
+	EditMesh *em= me; 
 
 	EditVert *eve, *eve_mir = NULL;
 	EditEdge *eed;
@@ -4345,7 +4390,10 @@ static int smooth_vertex(bContext *C, wmOperator *op)
 	int teller=0;
 	ModifierData *md= obedit->modifiers.first;
 
-	if(em==NULL) return OPERATOR_CANCELLED;
+	if(em==NULL) {
+		EM_EndEditMesh(obedit->data, em);
+		return OPERATOR_CANCELLED;
+	}
 
 	/* count */
 	eve= em->verts.first;
@@ -4353,7 +4401,10 @@ static int smooth_vertex(bContext *C, wmOperator *op)
 		if(eve->f & SELECT) teller++;
 		eve= eve->next;
 	}
-	if(teller==0) return OPERATOR_CANCELLED;
+	if(teller==0) {
+		EM_EndEditMesh(obedit->data, em);
+		return OPERATOR_CANCELLED;
+	}
 	
 	adr=adror= (float *)MEM_callocN(3*sizeof(float *)*teller, "vertsmooth");
 	eve= em->verts.first;
@@ -4466,6 +4517,7 @@ static int smooth_vertex(bContext *C, wmOperator *op)
 
 //	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -4590,12 +4642,13 @@ static int vertices_to_sphere_exec(bContext *C, wmOperator *op)
 	Object *obedit= CTX_data_edit_object(C);
 	View3D *v3d = CTX_wm_view3d(C);
 	Scene *scene = CTX_data_scene(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	
 	vertices_to_sphere(scene, v3d, obedit, em, RNA_float_get(op->ptr,"percent"));
 		
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -4639,7 +4692,7 @@ void flipface(EditMesh *em, EditFace *efa)
 static int flip_editnormals(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	EditFace *efa;
 	
 	efa= em->faces.first;
@@ -4653,6 +4706,7 @@ static int flip_editnormals(bContext *C, wmOperator *op)
 	/* update vertex normals too */
 	recalc_editnormals(em);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
diff --git a/source/blender/editors/mesh/editmesh_tools.c b/source/blender/editors/mesh/editmesh_tools.c
index 68a6a48a098..bfcbc01b8ed 100644
--- a/source/blender/editors/mesh/editmesh_tools.c
+++ b/source/blender/editors/mesh/editmesh_tools.c
@@ -488,7 +488,7 @@ static int removedoublesflag_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
 	Scene *scene = CTX_data_scene(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(((Mesh *)obedit->data));
 	char msg[100];
 
 	int cnt = removedoublesflag(em,1,0,scene->toolsettings->doublimit);
@@ -501,14 +501,15 @@ static int removedoublesflag_exec(bContext *C, wmOperator *op)
 		
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
-void MESH_OT_removedoublesflag(wmOperatorType *ot)
+void MESH_OT_remove_doubles(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Remove Doubles";
-	ot->idname= "MESH_OT_removedoublesflag";
+	ot->idname= "MESH_OT_remove_doubles";
 	
 	/* api callbacks */
 	ot->exec= removedoublesflag_exec;
@@ -704,7 +705,7 @@ void extrude_mesh(Object *obedit, EditMesh *em, wmOperator *op)
 static int mesh_extrude_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 	extrude_mesh(obedit,em, op);
 	
@@ -713,6 +714,7 @@ static int mesh_extrude_invoke(bContext *C, wmOperator *op, wmEvent *event)
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -720,12 +722,13 @@ static int mesh_extrude_invoke(bContext *C, wmOperator *op, wmEvent *event)
 static int mesh_extrude_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(obedit->data);
 	
 	extrude_mesh(obedit,em, op);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -751,7 +754,7 @@ void MESH_OT_extrude(wmOperatorType *ot)
 static int split_mesh(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 	WM_cursor_wait(1);
 
@@ -766,14 +769,15 @@ static int split_mesh(bContext *C, wmOperator *op)
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
 //	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
-void MESH_OT_split_mesh(wmOperatorType *ot)
+void MESH_OT_split(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Split Mesh";
-	ot->idname= "MESH_OT_split_mesh";
+	ot->idname= "MESH_OT_split";
 	
 	/* api callbacks */
 	ot->exec= split_mesh;
@@ -787,8 +791,8 @@ void MESH_OT_split_mesh(wmOperatorType *ot)
 static int extrude_repeat_mesh(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
-	
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
+
 	RegionView3D *rv3d = CTX_wm_region_view3d(C);		
 		
 	int steps = RNA_int_get(op->ptr,"steps");
@@ -824,6 +828,7 @@ static int extrude_repeat_mesh(bContext *C, wmOperator *op)
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
 //	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -852,7 +857,7 @@ static int spin_mesh(bContext *C, float *dvec, int steps, float degr, int dupli
 	Object *obedit= CTX_data_edit_object(C);
 	View3D *v3d = CTX_wm_view3d(C);
 	Scene *scene = CTX_data_scene(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	RegionView3D *rv3d= CTX_wm_region_view3d(C);
 	EditVert *eve,*nextve;
 	float nor[3]= {0.0f, 0.0f, 0.0f};
@@ -935,6 +940,7 @@ static int spin_mesh(bContext *C, float *dvec, int steps, float degr, int dupli
 		DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	}
 	
+	EM_EndEditMesh(obedit->data, em);
 	return ok;
 }
 
@@ -975,7 +981,7 @@ void MESH_OT_spin(wmOperatorType *ot)
 static int screw_mesh_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	EditVert *eve,*v1=0,*v2=0;
 	EditEdge *eed;
 	float dvec[3], nor[3];
@@ -1011,6 +1017,7 @@ static int screw_mesh_exec(bContext *C, wmOperator *op)
 	}
 	if(v1==NULL || v2==NULL) {
 		BKE_report(op->reports, RPT_ERROR, "You have to select a string of connected vertices too");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 
@@ -1029,13 +1036,16 @@ static int screw_mesh_exec(bContext *C, wmOperator *op)
 	
 	if(spin_mesh(C, dvec, turns*steps, 360.0f*turns, 0)) {
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
-		
+		EM_EndEditMesh(obedit->data, em);		
 		return OPERATOR_FINISHED;
 	}
 	else {
 		BKE_report(op->reports, RPT_ERROR, "No valid vertices are selected");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
+
+	EM_EndEditMesh(obedit->data, em);
 }
 
 void MESH_OT_screw(wmOperatorType *ot)
@@ -1102,29 +1112,13 @@ static void erase_vertices(EditMesh *em, ListBase *l)
 	}
 }
 
-/* Note, these values must match delete_mesh() event values */
-static EnumPropertyItem prop_mesh_delete_types[] = {
-	{10,"VERT",		"Vertices", ""},
-	{1, "EDGE",		"Edges", ""},
-	{2, "FACE",		"Faces", ""},
-	{3, "ALL",		"All", ""},
-	{4, "EDGE_FACE","Edges & Faces", ""},
-	{5, "ONLY_FACE","Only Faces", ""},
-	{6, "EDGE_LOOP","Edge Loop", ""},
-	{7, "DISSOLVE","Dissolve Verts", ""},
-	{0, NULL, NULL, NULL}
-};
-
-static int delete_mesh_exec(bContext *C, wmOperator *op)
+static int delete_mesh(Object *obedit, EditMesh *em, wmOperator *op, int event)
 {
-	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
 	EditFace *efa, *nextvl;
 	EditVert *eve,*nextve;
 	EditEdge *eed,*nexted;
 	int count;
 	char *str="Erase";
-	int event = RNA_enum_get(op->ptr, "type");
 
 	if(event<1) return;
 
@@ -1251,8 +1245,32 @@ static int delete_mesh_exec(bContext *C, wmOperator *op)
 
 	EM_fgon_flags(em);	// redo flags and indices for fgons
 
+//	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
+}
+
+/* Note, these values must match delete_mesh() event values */
+static EnumPropertyItem prop_mesh_delete_types[] = {
+	{10,"VERT",		"Vertices", ""},
+	{1, "EDGE",		"Edges", ""},
+	{2, "FACE",		"Faces", ""},
+	{3, "ALL",		"All", ""},
+	{4, "EDGE_FACE","Edges & Faces", ""},
+	{5, "ONLY_FACE","Only Faces", ""},
+	{6, "EDGE_LOOP","Edge Loop", ""},
+	{7, "DISSOLVE","Dissolve Verts", ""},
+	{0, NULL, NULL, NULL}
+};
+
+static int delete_mesh_exec(bContext *C, wmOperator *op)
+{
+	Object *obedit= CTX_data_edit_object(C);
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
+	
+	delete_mesh(obedit, em, op, RNA_enum_get(op->ptr, "type"));
+	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -3621,7 +3639,7 @@ static void edge_rotate(EditMesh *em, wmOperator *op, EditEdge *eed,int dir)
 static int edge_rotate_selected(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 		
 	int dir = RNA_int_get(op->ptr,"dir"); // dir == 2 when clockwise and ==1 for counter CW.
 	EditEdge *eed;
@@ -3660,6 +3678,7 @@ static int edge_rotate_selected(bContext *C, wmOperator *op)
 		else 
 		{
 			BKE_report(op->reports, RPT_ERROR, "Select one edge or two adjacent faces");
+			EM_EndEditMesh(obedit->data, em);
 			return OPERATOR_CANCELLED;
 		}
 	}
@@ -3675,6 +3694,7 @@ static int edge_rotate_selected(bContext *C, wmOperator *op)
 	else 
 	{	
 		BKE_report(op->reports, RPT_ERROR, "Select one edge or two adjacent faces");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 	
@@ -3686,16 +3706,16 @@ static int edge_rotate_selected(bContext *C, wmOperator *op)
 
 	
 //	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
-	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 
 }
 
-void MESH_OT_edge_rotate_selected(wmOperatorType *ot)
+void MESH_OT_edge_rotate(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Rotate Selected Edge";
-	ot->idname= "MESH_OT_edge_rotate_selected";
+	ot->idname= "MESH_OT_edge_rotate";
 	
 	/* api callbacks */
 	ot->exec= edge_rotate_selected;
@@ -4741,7 +4761,7 @@ static int mesh_rip_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	ARegion *ar= CTX_wm_region(C);
 	RegionView3D *rv3d= ar->regiondata;
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	EditVert *eve, *nextve;
 	EditEdge *eed, *seed= NULL;
 	EditFace *efa, *sefa= NULL;
@@ -4785,10 +4805,12 @@ static int mesh_rip_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	
 	if(efa) {
 		BKE_report(op->reports, RPT_ERROR, "Can't perform ripping with faces selected this way");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 	if(sefa==NULL) {
 		BKE_report(op->reports, RPT_ERROR, "No proper selection or faces included");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 	
@@ -4853,6 +4875,7 @@ static int mesh_rip_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	
 	if(seed==NULL) {	// never happens?
 		BKE_report(op->reports, RPT_ERROR, "No proper edge found to start");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 	
@@ -4942,6 +4965,7 @@ static int mesh_rip_invoke(bContext *C, wmOperator *op, wmEvent *event)
 //	scene->prop_mode = propmode;
 // XXX	scene->proportional = prop;
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -5880,7 +5904,7 @@ void pathselect(EditMesh *em, wmOperator *op)
 static int region_to_loop(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	EditEdge *eed;
 	EditFace *efa;
 	
@@ -5913,6 +5937,7 @@ static int region_to_loop(bContext *C, wmOperator *op)
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -6057,7 +6082,7 @@ static int loop_bisect(EditMesh *em, Collection *edgecollection){
 static int loop_to_region(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 
 	EditFace *efa;
@@ -6089,7 +6114,7 @@ static int loop_to_region(bContext *C, wmOperator *op)
 //	if (EM_texFaceCheck())
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
-	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -6114,7 +6139,7 @@ void MESH_OT_loop_to_region(wmOperatorType *ot)
 static int mesh_rotate_uvs(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 	EditFace *efa;
 	short change = 0, ccw;
@@ -6124,6 +6149,7 @@ static int mesh_rotate_uvs(bContext *C, wmOperator *op)
 
 	if (!EM_texFaceCheck(em)) {
 		BKE_report(op->reports, RPT_ERROR, "mesh has no uv/image layers");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 	
@@ -6180,13 +6206,14 @@ static int mesh_rotate_uvs(bContext *C, wmOperator *op)
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	}
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
 static int mesh_mirror_uvs(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 	EditFace *efa;
 	short change = 0, altaxis;
@@ -6196,6 +6223,7 @@ static int mesh_mirror_uvs(bContext *C, wmOperator *op)
 	
 	if (!EM_texFaceCheck(em)) {
 		BKE_report(op->reports, RPT_ERROR, "mesh has no uv/image layers");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 	
@@ -6266,13 +6294,15 @@ static int mesh_mirror_uvs(bContext *C, wmOperator *op)
 //		DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	}
+
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
 static int mesh_rotate_colors(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 	EditFace *efa;
 	short change = 0, ccw;
@@ -6281,6 +6311,7 @@ static int mesh_rotate_colors(bContext *C, wmOperator *op)
 	
 	if (!EM_vertColorCheck(em)) {
 		BKE_report(op->reports, RPT_ERROR, "mesh has no color layers");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 	
@@ -6320,6 +6351,7 @@ static int mesh_rotate_colors(bContext *C, wmOperator *op)
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	}	
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -6327,7 +6359,7 @@ static int mesh_rotate_colors(bContext *C, wmOperator *op)
 static int mesh_mirror_colors(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 	EditFace *efa;
 	short change = 0, altaxis;
@@ -6336,6 +6368,7 @@ static int mesh_mirror_colors(bContext *C, wmOperator *op)
 	
 	if (!EM_vertColorCheck(em)) {
 		BKE_report(op->reports, RPT_ERROR, "Mesh has no color layers");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 	
@@ -6374,6 +6407,7 @@ static int mesh_mirror_colors(bContext *C, wmOperator *op)
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	}
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -6437,12 +6471,13 @@ static int subdivide_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
 	Scene *scene = CTX_data_scene(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	
 	BM_esubdivideflag_conv(obedit, em, 1, 0.0, scene->toolsettings->editbutflag, 1, 0);
 		
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -6464,12 +6499,13 @@ static int subdivide_multi_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
 	Scene *scene = CTX_data_scene(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	
 	BM_esubdivideflag_conv(obedit, em, 1, 0.0, scene->toolsettings->editbutflag, RNA_int_get(op->ptr,"number_cuts"), 0);
 		
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -6494,12 +6530,13 @@ static int subdivide_multi_fractal_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
 	Scene *scene = CTX_data_scene(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 	BM_esubdivideflag_conv(obedit, em, 1, -(RNA_float_get(op->ptr, "random_factor")/100), scene->toolsettings->editbutflag, RNA_int_get(op->ptr, "number_cuts"), 0);
 		
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -6525,12 +6562,13 @@ static int subdivide_smooth_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
 	Scene *scene = CTX_data_scene(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 	BM_esubdivideflag_conv(obedit, em, 1, 0.292f*RNA_float_get(op->ptr, "smoothness"), scene->toolsettings->editbutflag | B_SMOOTH, 1, 0);
 		
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;	
 }
 
@@ -6865,13 +6903,14 @@ static void fill_mesh(EditMesh *em)
 static int fill_mesh_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	
 	fill_mesh(em);
 	DAG_object_flush_update(CTX_data_scene(C), obedit, OB_RECALC_DATA);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 	
 }
@@ -6893,12 +6932,13 @@ void MESH_OT_fill(wmOperatorType *ot)
 static int beauty_fill_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	
 	beauty_fill(em);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -6919,7 +6959,7 @@ void MESH_OT_beauty_fill(wmOperatorType *ot)
 static int convert_quads_to_tris_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	
 	//convert_to_triface(em,0);
 	if (!EDBM_CallOpf(em, op, "triangulate faces=%hf", BM_SELECT))
@@ -6927,6 +6967,7 @@ static int convert_quads_to_tris_exec(bContext *C, wmOperator *op)
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -6947,12 +6988,13 @@ void MESH_OT_convert_quads_to_tris(wmOperatorType *ot)
 static int convert_tris_to_quads_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 	join_triangles(em);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -6973,12 +7015,13 @@ void MESH_OT_convert_tris_to_quads(wmOperatorType *ot)
 static int edge_flip_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	
 	edge_flip(em);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -6999,19 +7042,20 @@ void MESH_OT_edge_flip(wmOperatorType *ot)
 static int mesh_faces_shade_smooth_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	
 	mesh_set_smooth_faces(em,1);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
 void MESH_OT_faces_shade_smooth(wmOperatorType *ot)
 {
 	/* identifiers */
-	ot->name= "Flat Face Shading";
+	ot->name= "Smooth Face Shading";
 	ot->idname= "MESH_OT_faces_shade_smooth";
 	
 	/* api callbacks */
@@ -7025,19 +7069,20 @@ void MESH_OT_faces_shade_smooth(wmOperatorType *ot)
 static int mesh_faces_shade_solid_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 	
 	mesh_set_smooth_faces(em,0);
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
 void MESH_OT_faces_shade_solid(wmOperatorType *ot)
 {
 	/* identifiers */
-	ot->name= "Smooth Face Shading";
+	ot->name= "Flat Face Shading";
 	ot->idname= "MESH_OT_faces_shade_solid";
 	
 	/* api callbacks */
diff --git a/source/blender/editors/mesh/mesh_intern.h b/source/blender/editors/mesh/mesh_intern.h
index 1e07f5dff87..d618b524010 100644
--- a/source/blender/editors/mesh/mesh_intern.h
+++ b/source/blender/editors/mesh/mesh_intern.h
@@ -114,8 +114,8 @@ void MESH_OT_add_primitive_ico_sphere(struct wmOperatorType *ot);
 void MESH_OT_dupli_extrude_cursor(struct wmOperatorType *ot);
 void MESH_OT_add_edge_face(struct wmOperatorType *ot);
 
-void MESH_OT_make_fgon(struct wmOperatorType *ot);
-void MESH_OT_clear_fgon(struct wmOperatorType *ot);
+void MESH_OT_fgon_make(struct wmOperatorType *ot);
+void MESH_OT_fgon_clear(struct wmOperatorType *ot);
 
 /* ******************* editmesh_lib.c */
 void EM_stats_update(EditMesh *em);
@@ -173,8 +173,8 @@ extern struct EditFace *EM_face_from_faces(EditMesh *em, struct EditFace *efa1,
 void MESH_OT_knife_cut(struct wmOperatorType *ot);
 
 /* ******************* editmesh_mods.c */
-void MESH_OT_loop_select(struct wmOperatorType *ot);
-void MESH_OT_de_select_all(struct wmOperatorType *ot);
+void MESH_OT_select_loop(struct wmOperatorType *ot);
+void MESH_OT_select_all_toggle(struct wmOperatorType *ot);
 void MESH_OT_bmesh_test(struct wmOperatorType *ot);
 void MESH_OT_select_more(struct wmOperatorType *ot);
 void MESH_OT_select_less(struct wmOperatorType *ot);
@@ -187,14 +187,14 @@ void MESH_OT_reveal(struct wmOperatorType *ot);
 void MESH_OT_consistant_normals(struct wmOperatorType *ot);
 void MESH_OT_select_linked_flat_faces(struct wmOperatorType *ot);
 void MESH_OT_select_sharp_edges(struct wmOperatorType *ot);
-void MESH_OT_shortest_path_select(struct wmOperatorType *ot);
-void MESH_OT_similar_vertex_select(struct wmOperatorType *ot);
-void MESH_OT_similar_edge_select(struct wmOperatorType *ot);
-void MESH_OT_similar_face_select(struct wmOperatorType *ot);
+void MESH_OT_select_path_shortest(struct wmOperatorType *ot);
+void MESH_OT_select_vertex_similar(struct wmOperatorType *ot);
+void MESH_OT_select_edge_similar(struct wmOperatorType *ot);
+void MESH_OT_select_face_similar(struct wmOperatorType *ot);
 void MESH_OT_select_random(struct wmOperatorType *ot);
 void MESH_OT_vertices_to_sphere(struct wmOperatorType *ot);
 void MESH_OT_selection_type(struct wmOperatorType *ot);
-void MESH_OT_select_multi_loop(struct wmOperatorType *ot);
+void MESH_OT_select_loop_multi(struct wmOperatorType *ot);
 void MESH_OT_mark_seam(struct wmOperatorType *ot);
 void MESH_OT_mark_sharp(struct wmOperatorType *ot);
 void MESH_OT_smooth_vertex(struct wmOperatorType *ot);
@@ -232,12 +232,12 @@ int removedoublesflag(EditMesh *em, short flag, short automerge, float limit);
 void esubdivideflag(Object *obedit, EditMesh *em, int flag, float rad, int beauty, int numcuts, int seltype);
 int EdgeSlide(EditMesh *em, struct wmOperator *op, short immediate, float imperc);
 
-void MESH_OT_subdivs(struct wmOperatorType *ot);
 void MESH_OT_subdivide(struct wmOperatorType *ot);
+void MESH_OT_subdivs(struct wmOperatorType *ot);
 void MESH_OT_subdivide_multi(struct wmOperatorType *ot);
 void MESH_OT_subdivide_multi_fractal(struct wmOperatorType *ot);
 void MESH_OT_subdivide_smooth(struct wmOperatorType *ot);
-void MESH_OT_removedoublesflag(struct wmOperatorType *ot);
+void MESH_OT_remove_doubles(struct wmOperatorType *ot);
 void MESH_OT_extrude(struct wmOperatorType *ot);
 void MESH_OT_spin(struct wmOperatorType *ot);
 void MESH_OT_screw(struct wmOperatorType *ot);
@@ -249,9 +249,9 @@ void MESH_OT_convert_tris_to_quads(struct wmOperatorType *ot);
 void MESH_OT_edge_flip(struct wmOperatorType *ot);
 void MESH_OT_faces_shade_smooth(struct wmOperatorType *ot);
 void MESH_OT_faces_shade_solid(struct wmOperatorType *ot);
-void MESH_OT_split_mesh(struct wmOperatorType *ot);
+void MESH_OT_split(struct wmOperatorType *ot);
 void MESH_OT_extrude_repeat(struct wmOperatorType *ot);
-void MESH_OT_edge_rotate_selected(struct wmOperatorType *ot);
+void MESH_OT_edge_rotate(struct wmOperatorType *ot);
 void MESH_OT_loop_to_region(struct wmOperatorType *ot);
 void MESH_OT_region_to_loop(struct wmOperatorType *ot);
 
diff --git a/source/blender/editors/mesh/mesh_ops.c b/source/blender/editors/mesh/mesh_ops.c
index 05cc377c6f3..ebcd82c6a70 100644
--- a/source/blender/editors/mesh/mesh_ops.c
+++ b/source/blender/editors/mesh/mesh_ops.c
@@ -65,10 +65,11 @@
 static int mesh_add_duplicate_exec(bContext *C, wmOperator *op)
 {
 	Object *ob= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh *)ob->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(ob->data);
 
 	adduplicateflag(em, SELECT);
 	
+	EM_EndEditMesh(ob->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -84,12 +85,12 @@ static int mesh_add_duplicate_invoke(bContext *C, wmOperator *op, wmEvent *event
 	return OPERATOR_FINISHED;
 }
 
-static void MESH_OT_add_duplicate(wmOperatorType *ot)
+static void MESH_OT_duplicate_add(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Add Duplicate";
-	ot->idname= "MESH_OT_add_duplicate";
+	ot->idname= "MESH_OT_duplicate_add";
 	
 	/* api callbacks */
 	ot->invoke= mesh_add_duplicate_invoke;
@@ -106,7 +107,7 @@ static void MESH_OT_add_duplicate(wmOperatorType *ot)
 
 void ED_operatortypes_mesh(void)
 {
-	WM_operatortype_append(MESH_OT_de_select_all);
+	WM_operatortype_append(MESH_OT_select_all_toggle);
 	WM_operatortype_append(MESH_OT_select_more);
 	WM_operatortype_append(MESH_OT_select_less);
 	WM_operatortype_append(MESH_OT_select_invert);
@@ -135,18 +136,18 @@ void ED_operatortypes_mesh(void)
 	WM_operatortype_append(MESH_OT_add_primitive_monkey);
 	WM_operatortype_append(MESH_OT_add_primitive_uv_sphere);
 	WM_operatortype_append(MESH_OT_add_primitive_ico_sphere);
-	WM_operatortype_append(MESH_OT_clear_fgon);
-	WM_operatortype_append(MESH_OT_make_fgon);
-	WM_operatortype_append(MESH_OT_add_duplicate);
-	WM_operatortype_append(MESH_OT_removedoublesflag);
+	WM_operatortype_append(MESH_OT_fgon_clear);
+	WM_operatortype_append(MESH_OT_fgon_make);
+	WM_operatortype_append(MESH_OT_duplicate_add);
+	WM_operatortype_append(MESH_OT_remove_doubles);
 	WM_operatortype_append(MESH_OT_extrude);
 	WM_operatortype_append(MESH_OT_spin);
 	WM_operatortype_append(MESH_OT_screw);
 	
 	WM_operatortype_append(MESH_OT_vertices_to_sphere);
-	WM_operatortype_append(MESH_OT_split_mesh);
+	WM_operatortype_append(MESH_OT_split);
 	WM_operatortype_append(MESH_OT_extrude_repeat);
-	WM_operatortype_append(MESH_OT_edge_rotate_selected);
+	WM_operatortype_append(MESH_OT_edge_rotate);
 	WM_operatortype_append(MESH_OT_loop_to_region);
 	WM_operatortype_append(MESH_OT_region_to_loop);
 	
@@ -167,13 +168,13 @@ void ED_operatortypes_mesh(void)
 
 	WM_operatortype_append(MESH_OT_separate);
 	WM_operatortype_append(MESH_OT_dupli_extrude_cursor);
-	WM_operatortype_append(MESH_OT_loop_select);
+	WM_operatortype_append(MESH_OT_select_loop);
 	WM_operatortype_append(MESH_OT_add_edge_face);
-	WM_operatortype_append(MESH_OT_shortest_path_select);
-	WM_operatortype_append(MESH_OT_similar_vertex_select);
-	WM_operatortype_append(MESH_OT_similar_edge_select);
-	WM_operatortype_append(MESH_OT_similar_face_select);
-	WM_operatortype_append(MESH_OT_select_multi_loop);
+	WM_operatortype_append(MESH_OT_select_path_shortest);
+	WM_operatortype_append(MESH_OT_select_vertex_similar);
+	WM_operatortype_append(MESH_OT_select_edge_similar);
+	WM_operatortype_append(MESH_OT_select_face_similar);
+	WM_operatortype_append(MESH_OT_select_loop_multi);
 	WM_operatortype_append(MESH_OT_mark_seam);
 	WM_operatortype_append(MESH_OT_mark_sharp);
 	WM_operatortype_append(MESH_OT_smooth_vertex);
@@ -193,18 +194,18 @@ void ED_keymap_mesh(wmWindowManager *wm)
 	
 	/* selecting */
 	/* standard mouse selection goes via space_view3d */
-	WM_keymap_add_item(keymap, "MESH_OT_loop_select", SELECTMOUSE, KM_PRESS, KM_ALT, 0);
-	kmi= WM_keymap_add_item(keymap, "MESH_OT_loop_select", SELECTMOUSE, KM_PRESS, KM_SHIFT|KM_ALT, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_select_loop", SELECTMOUSE, KM_PRESS, KM_ALT, 0);
+	kmi= WM_keymap_add_item(keymap, "MESH_OT_select_loop", SELECTMOUSE, KM_PRESS, KM_SHIFT|KM_ALT, 0);
 	RNA_boolean_set(kmi->ptr, "extend", 1);
-	kmi= WM_keymap_add_item(keymap, "MESH_OT_loop_select", SELECTMOUSE, KM_PRESS, KM_ALT|KM_CTRL, 0);
+	kmi= WM_keymap_add_item(keymap, "MESH_OT_select_loop", SELECTMOUSE, KM_PRESS, KM_ALT|KM_CTRL, 0);
 	RNA_boolean_set(kmi->ptr, "ring", 1);
-	kmi= WM_keymap_add_item(keymap, "MESH_OT_loop_select", SELECTMOUSE, KM_PRESS, KM_SHIFT|KM_ALT|KM_CTRL, 0);
+	kmi= WM_keymap_add_item(keymap, "MESH_OT_select_loop", SELECTMOUSE, KM_PRESS, KM_SHIFT|KM_ALT|KM_CTRL, 0);
 	RNA_boolean_set(kmi->ptr, "extend", 1);
 	RNA_boolean_set(kmi->ptr, "ring", 1);
 
-	WM_keymap_add_item(keymap, "MESH_OT_shortest_path_select", SELECTMOUSE, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_select_path_shortest", SELECTMOUSE, KM_PRESS, KM_CTRL, 0);
 	
-	WM_keymap_add_item(keymap, "MESH_OT_de_select_all", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_select_more", PADPLUSKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_select_less", PADMINUS, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_select_invert", IKEY, KM_PRESS, KM_CTRL, 0);
@@ -227,9 +228,9 @@ void ED_keymap_mesh(wmWindowManager *wm)
 	RNA_boolean_set(WM_keymap_add_item(keymap, "MESH_OT_mark_sharp", TWOKEY, KM_PRESS, KM_ALT , 0)->ptr,"set",1);
 
 	/* temp hotkeys! */
-	WM_keymap_add_item(keymap, "MESH_OT_similar_vertex_select", GKEY, KM_PRESS, KM_SHIFT, 0);
-	WM_keymap_add_item(keymap, "MESH_OT_similar_edge_select", GKEY, KM_PRESS, KM_SHIFT2|KM_CTRL, 0);
-	WM_keymap_add_item(keymap, "MESH_OT_similar_face_select", GKEY, KM_PRESS, KM_SHIFT|KM_CTRL2, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_select_vertex_similar", GKEY, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_select_edge_similar", GKEY, KM_PRESS, KM_SHIFT2|KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_select_face_similar", GKEY, KM_PRESS, KM_SHIFT|KM_CTRL2, 0);
 	
 	/* selection mode */
 	WM_keymap_add_item(keymap, "MESH_OT_selection_type", TABKEY, KM_PRESS, KM_CTRL, 0);
@@ -249,7 +250,7 @@ void ED_keymap_mesh(wmWindowManager *wm)
 	/*WM_keymap_add_item(keymap, "MESH_OT_subdivide_multi", WKEY, KM_PRESS, KM_CTRL|KM_SHIFT, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_subdivide_multi_fractal", WKEY, KM_PRESS, KM_ALT, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_subdivide_smooth", WKEY, KM_PRESS, KM_CTRL|KM_ALT, 0);*/
-	WM_keymap_add_item(keymap, "MESH_OT_removedoublesflag", VKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_remove_doubles", VKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_extrude", EKEY, KM_PRESS, 0, 0);
 	
 	WM_keymap_add_item(keymap, "MESH_OT_spin", RKEY, KM_PRESS, KM_ALT, 0);
@@ -261,9 +262,9 @@ void ED_keymap_mesh(wmWindowManager *wm)
 	WM_keymap_add_item(keymap, "MESH_OT_convert_quads_to_tris", TKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_convert_tris_to_quads", JKEY, KM_PRESS, KM_ALT, 0);
 	
-	WM_keymap_add_item(keymap, "MESH_OT_split_mesh", FOURKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_split", FOURKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_extrude_repeat", FOURKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_add_item(keymap, "MESH_OT_edge_rotate_selected", FIVEKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_edge_rotate", FIVEKEY, KM_PRESS, KM_CTRL, 0);
 	
 	WM_keymap_add_item(keymap, "MESH_OT_loop_to_region",SIXKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_region_to_loop",SIXKEY, KM_PRESS, KM_ALT, 0);
@@ -277,7 +278,7 @@ void ED_keymap_mesh(wmWindowManager *wm)
 
 	/* add/remove */
 	WM_keymap_add_item(keymap, "MESH_OT_add_edge_face", FKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "MESH_OT_add_duplicate", DKEY, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_duplicate_add", DKEY, KM_PRESS, KM_SHIFT, 0);
 	WM_keymap_add_item(keymap, "OBJECT_OT_mesh_add", AKEY, KM_PRESS, KM_SHIFT, 0);
 	WM_keymap_add_item(keymap, "MESH_OT_separate", PKEY, KM_PRESS, KM_SHIFT, 0);
 						/* use KM_RELEASE because same key is used for tweaks */
@@ -285,8 +286,8 @@ void ED_keymap_mesh(wmWindowManager *wm)
 	
 	WM_keymap_add_item(keymap, "MESH_OT_delete", XKEY, KM_PRESS, 0, 0);
 	
-	WM_keymap_add_item(keymap, "MESH_OT_make_fgon", FKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_add_item(keymap, "MESH_OT_clear_fgon", FKEY, KM_PRESS, KM_SHIFT|KM_ALT, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_fgon_make", FKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_add_item(keymap, "MESH_OT_fgon_clear", FKEY, KM_PRESS, KM_SHIFT|KM_ALT, 0);
 	
 	WM_keymap_add_item(keymap, "MESH_OT_knife_cut", LEFTMOUSE, KM_PRESS, KM_ALT|KM_CTRL, 0);
 	
diff --git a/source/blender/editors/object/editgroup.c b/source/blender/editors/object/editgroup.c
index 5a47c6c4430..b49e2040b03 100644
--- a/source/blender/editors/object/editgroup.c
+++ b/source/blender/editors/object/editgroup.c
@@ -107,6 +107,7 @@ void GROUP_OT_objects_add_active(wmOperatorType *ot)
 	
 	/* identifiers */
 	ot->name= "Add Selected To Active Group";
+	ot->description = "Add the object to an object group that contains the active object.";
 	ot->idname= "GROUP_OT_objects_add_active";
 	
 	/* api callbacks */
@@ -161,6 +162,7 @@ void GROUP_OT_objects_remove_active(wmOperatorType *ot)
 	
 	/* identifiers */
 	ot->name= "Remove Selected From active group";
+	ot->description = "Remove the object from an object group that contains the active object.";
 	ot->idname= "GROUP_OT_objects_remove_active";
 	
 	/* api callbacks */
@@ -194,12 +196,13 @@ static int group_remove_exec(bContext *C, wmOperator *op)
 
 }
 
-void GROUP_OT_group_remove(wmOperatorType *ot)
+void GROUP_OT_objects_remove(wmOperatorType *ot)
 {
 	
 	/* identifiers */
-	ot->name= "remove Selected from group";
-	ot->idname= "GROUP_OT_group_remove";
+	ot->name= "Remove from group";
+	ot->description = "Remove selected objects from all groups.";
+	ot->idname= "GROUP_OT_objects_remove";
 	
 	/* api callbacks */
 	ot->exec= group_remove_exec;	
@@ -239,6 +242,7 @@ void GROUP_OT_group_create(wmOperatorType *ot)
 	
 	/* identifiers */
 	ot->name= "Create New Group";
+	ot->description = "Create an object group.";
 	ot->idname= "GROUP_OT_group_create";
 	
 	/* api callbacks */
diff --git a/source/blender/editors/object/object_edit.c b/source/blender/editors/object/object_edit.c
index cc07c334aec..59d7ad7ad26 100644
--- a/source/blender/editors/object/object_edit.c
+++ b/source/blender/editors/object/object_edit.c
@@ -319,6 +319,7 @@ void OBJECT_OT_object_add(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Add Object";
+	ot->description = "Add an object to the scene.";
 	ot->idname= "OBJECT_OT_object_add";
 	
 	/* api callbacks */
@@ -405,6 +406,7 @@ void OBJECT_OT_mesh_add(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Add Mesh";
+	ot->description = "Add a mesh object to the scene.";
 	ot->idname= "OBJECT_OT_mesh_add";
 	
 	/* api callbacks */
@@ -476,6 +478,7 @@ void OBJECT_OT_curve_add(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Add Curve";
+	ot->description = "Add a curve object to the scene.";
 	ot->idname= "OBJECT_OT_curve_add";
 	
 	/* api callbacks */
@@ -533,6 +536,7 @@ void OBJECT_OT_surface_add(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Add Surface";
+	ot->description = "Add a surface object to the scene.";
 	ot->idname= "OBJECT_OT_surface_add";
 	
 	/* api callbacks */
@@ -569,6 +573,7 @@ void OBJECT_OT_text_add(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Add Text";
+	ot->description = "Add a text object to the scene";
 	ot->idname= "OBJECT_OT_text_add";
 	
 	/* api callbacks */
@@ -579,7 +584,7 @@ void OBJECT_OT_text_add(wmOperatorType *ot)
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 }
 
-static int object_add_armature_exec(bContext *C, wmOperator *op)
+static int object_armature_add_exec(bContext *C, wmOperator *op)
 {
 	Object *obedit= CTX_data_edit_object(C);
 	View3D *v3d= CTX_wm_view3d(C);
@@ -613,10 +618,11 @@ void OBJECT_OT_armature_add(wmOperatorType *ot)
 {	
 	/* identifiers */
 	ot->name= "Add Armature";
+	ot->description = "Add an armature object to the scene.";
 	ot->idname= "OBJECT_OT_armature_add";
 	
 	/* api callbacks */
-	ot->exec= object_add_armature_exec;
+	ot->exec= object_armature_add_exec;
 	ot->poll= ED_operator_scene_editable;
 	
 	/* flags */
@@ -624,7 +630,7 @@ void OBJECT_OT_armature_add(wmOperatorType *ot)
 }
 
 
-static int object_add_primitive_invoke(bContext *C, wmOperator *op, wmEvent *event)
+static int object_primitive_add_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	uiMenuItem *head= uiPupMenuBegin("Add Object", 0);
 	
@@ -650,10 +656,11 @@ void OBJECT_OT_primitive_add(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Add Primitive";
+	ot->description = "Add a primitive object.";
 	ot->idname= "OBJECT_OT_primitive_add";
 	
 	/* api callbacks */
-	ot->invoke= object_add_primitive_invoke;
+	ot->invoke= object_primitive_add_invoke;
 	
 	ot->poll= ED_operator_scene_editable;
 	
@@ -708,6 +715,7 @@ void OBJECT_OT_delete(wmOperatorType *ot)
 	
 	/* identifiers */
 	ot->name= "Delete Objects";
+	ot->description = "Delete the object.";
 	ot->idname= "OBJECT_OT_delete";
 	
 	/* api callbacks */
@@ -912,7 +920,7 @@ static int return_editmesh_vgroup(Object *obedit, EditMesh *em, char *name, floa
 static void select_editmesh_hook(Object *ob, HookModifierData *hmd)
 {
 	Mesh *me= ob->data;
-	EditMesh *em= me->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(me);
 	EditVert *eve;
 	int index=0, nr=0;
 	
@@ -923,6 +931,8 @@ static void select_editmesh_hook(Object *ob, HookModifierData *hmd)
 		}
 	}
 	EM_select_flush(em);
+
+	EM_EndEditMesh(me, em);
 }
 
 static int return_editlattice_indexar(Lattice *editlatt, int *tot, int **indexar, float *cent)
@@ -1095,9 +1105,16 @@ int hook_getIndexArray(Object *obedit, int *tot, int **indexar, char *name, floa
 		case OB_MESH:
 		{
 			Mesh *me= obedit->data;
+			EditMesh *em = EM_GetEditMesh(me);
+
 			/* check selected vertices first */
-			if( return_editmesh_indexar(me->edit_mesh, tot, indexar, cent_r)) return 1;
-			else return return_editmesh_vgroup(obedit, me->edit_mesh, name, cent_r);
+			if( return_editmesh_indexar(em, tot, indexar, cent_r)) {
+				EM_EndEditMesh(me, em);
+				return 1;
+			} else {
+				int ret = return_editmesh_vgroup(obedit, em, name, cent_r);
+				EM_EndEditMesh(me, em);
+			}
 		}
 		case OB_CURVE:
 		case OB_SURF:
@@ -1369,7 +1386,7 @@ static EnumPropertyItem prop_clear_parent_types[] = {
 };
 
 /* note, poll should check for editable scene */
-static int clear_parent_exec(bContext *C, wmOperator *op)
+static int parent_clear_exec(bContext *C, wmOperator *op)
 {
 	
 	CTX_DATA_BEGIN(C, Object*, ob, selected_editable_objects) {
@@ -1395,15 +1412,16 @@ static int clear_parent_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_clear_parent(wmOperatorType *ot)
+void OBJECT_OT_parent_clear(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Clear parent";
-	ot->idname= "OBJECT_OT_clear_parent";
+	ot->description = "Clear the object's parenting.";
+	ot->idname= "OBJECT_OT_parent_clear";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
-	ot->exec= clear_parent_exec;
+	ot->exec= parent_clear_exec;
 	
 	ot->poll= ED_operator_object_active;
 	
@@ -1423,7 +1441,7 @@ static EnumPropertyItem prop_clear_track_types[] = {
 };
 
 /* note, poll should check for editable scene */
-static int object_clear_track_exec(bContext *C, wmOperator *op)
+static int object_track_clear_exec(bContext *C, wmOperator *op)
 {
 	if(CTX_data_edit_object(C)) {
 		BKE_report(op->reports, RPT_ERROR, "Operation cannot be performed in EditMode");
@@ -1445,15 +1463,16 @@ static int object_clear_track_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_clear_track(wmOperatorType *ot)
+void OBJECT_OT_track_clear(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Clear track";
-	ot->idname= "OBJECT_OT_clear_track";
+	ot->description = "Clear tracking constraint or flag from object.";
+	ot->idname= "OBJECT_OT_track_clear";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
-	ot->exec= object_clear_track_exec;
+	ot->exec= object_track_clear_exec;
 	
 	ot->poll= ED_operator_scene_editable;
 	
@@ -1489,6 +1508,7 @@ void OBJECT_OT_select_by_type(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select By Type";
+	ot->description = "Select all visible objects that are of a type.";
 	ot->idname= "OBJECT_OT_select_by_type";
 	
 	/* api callbacks */
@@ -1641,6 +1661,7 @@ void OBJECT_OT_select_linked(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select Linked";
+	ot->description = "Select all visible objects that are linked.";
 	ot->idname= "OBJECT_OT_select_linked";
 	
 	/* api callbacks */
@@ -1677,7 +1698,8 @@ static int object_select_by_layer_exec(bContext *C, wmOperator *op)
 void OBJECT_OT_select_by_layer(wmOperatorType *ot)
 {
 	/* identifiers */
-	ot->name= "Selection by layer";
+	ot->name= "select by layer";
+	ot->description = "Select all visible objects on a layer.";
 	ot->idname= "OBJECT_OT_select_by_layer";
 	
 	/* api callbacks */
@@ -1713,6 +1735,7 @@ void OBJECT_OT_select_invert(wmOperatorType *ot)
 	
 	/* identifiers */
 	ot->name= "Invert selection";
+	ot->description = "Invert th select of all visible objects.";
 	ot->idname= "OBJECT_OT_select_invert";
 	
 	/* api callbacks */
@@ -1725,7 +1748,7 @@ void OBJECT_OT_select_invert(wmOperatorType *ot)
 }
 /* ****** (de)select All *******/
 
-static int object_de_select_all_exec(bContext *C, wmOperator *op)
+static int object_select_de_select_all_exec(bContext *C, wmOperator *op)
 {
 	
 	int a=0, ok=0; 
@@ -1753,15 +1776,16 @@ static int object_de_select_all_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_de_select_all(wmOperatorType *ot)
+void OBJECT_OT_select_all_toggle(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "deselect all";
-	ot->idname= "OBJECT_OT_de_select_all";
+	ot->description = "(de)select all visible objects in scene.";
+	ot->idname= "OBJECT_OT_select_all_toggle";
 	
 	/* api callbacks */
-	ot->exec= object_de_select_all_exec;
+	ot->exec= object_select_de_select_all_exec;
 	ot->poll= ED_operator_scene_editable;
 	
 	/* flags */
@@ -1791,7 +1815,8 @@ static int object_select_random_exec(bContext *C, wmOperator *op)
 void OBJECT_OT_select_random(wmOperatorType *ot)
 {
 	/* identifiers */
-	ot->name= "Random selection";
+	ot->name= "Random select";
+	ot->description = "Set select on random visible objects.";
 	ot->idname= "OBJECT_OT_select_random";
 	
 	/* api callbacks */
@@ -1807,7 +1832,7 @@ void OBJECT_OT_select_random(wmOperatorType *ot)
 
 /* ******** Clear object Translation *********** */
 
-static int object_clear_location_exec(bContext *C, wmOperator *op)
+static int object_location_clear_exec(bContext *C, wmOperator *op)
 {
 	int armature_clear= 0;
 
@@ -1833,23 +1858,24 @@ static int object_clear_location_exec(bContext *C, wmOperator *op)
 }
 
 
-void OBJECT_OT_clear_location(wmOperatorType *ot)
+void OBJECT_OT_location_clear(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Clear Object Location";
-	ot->idname= "OBJECT_OT_clear_location";
+	ot->description = "Clear the object's location.";
+	ot->idname= "OBJECT_OT_location_clear";
 	
 	/* api callbacks */
 	ot->invoke= WM_operator_confirm;
-	ot->exec= object_clear_location_exec;
+	ot->exec= object_location_clear_exec;
 	ot->poll= ED_operator_object_active;
 	
 	/* flags */
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 }
 
-static int object_clear_rotation_exec(bContext *C, wmOperator *op)
+static int object_rotation_clear_exec(bContext *C, wmOperator *op)
 {
 	int armature_clear= 0;
 
@@ -1876,23 +1902,24 @@ static int object_clear_rotation_exec(bContext *C, wmOperator *op)
 }
 
 
-void OBJECT_OT_clear_rotation(wmOperatorType *ot)
+void OBJECT_OT_rotation_clear(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Clear Object Rotation";
-	ot->idname= "OBJECT_OT_clear_rotation";
+	ot->description = "Clear the object's rotation.";
+	ot->idname= "OBJECT_OT_rotation_clear";
 	
 	/* api callbacks */
 	ot->invoke= WM_operator_confirm;
-	ot->exec= object_clear_rotation_exec;
+	ot->exec= object_rotation_clear_exec;
 	ot->poll= ED_operator_object_active;
 	
 	/* flags */
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 }
 
-static int object_clear_scale_exec(bContext *C, wmOperator *op)
+static int object_scale_clear_exec(bContext *C, wmOperator *op)
 {
 	int armature_clear= 0;
 
@@ -1923,23 +1950,24 @@ static int object_clear_scale_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_clear_scale(wmOperatorType *ot)
+void OBJECT_OT_scale_clear(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Clear Object Scale";
-	ot->idname= "OBJECT_OT_clear_scale";
+	ot->description = "Clear the object's scale.";
+	ot->idname= "OBJECT_OT_scale_clear";
 	
 	/* api callbacks */
 	ot->invoke= WM_operator_confirm;
-	ot->exec= object_clear_scale_exec;
+	ot->exec= object_scale_clear_exec;
 	ot->poll= ED_operator_object_active;
 	
 	/* flags */
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 }
 
-static int object_clear_origin_exec(bContext *C, wmOperator *op)
+static int object_origin_clear_exec(bContext *C, wmOperator *op)
 {
 	float *v1, *v3, mat[3][3];
 	int armature_clear= 0;
@@ -1968,16 +1996,17 @@ static int object_clear_origin_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_clear_origin(wmOperatorType *ot)
+void OBJECT_OT_origin_clear(wmOperatorType *ot)
 {
 
 	/* identifiers */
 	ot->name= "Clear Object Origin";
-	ot->idname= "OBJECT_OT_clear_origin";
+	ot->description = "Clear the object's origin.";
+	ot->idname= "OBJECT_OT_origin_clear";
 	
 	/* api callbacks */
 	ot->invoke= WM_operator_confirm;
-	ot->exec= object_clear_origin_exec;
+	ot->exec= object_origin_clear_exec;
 	ot->poll= ED_operator_object_active;
 	
 	/* flags */
@@ -1985,7 +2014,7 @@ void OBJECT_OT_clear_origin(wmOperatorType *ot)
 }
 
 /* ********* clear/set restrict view *********/
-static int object_clear_restrictview_exec(bContext *C, wmOperator *op)
+static int object_restrictview_clear_exec(bContext *C, wmOperator *op)
 {
 	ScrArea *sa= CTX_wm_area(C);
 	View3D *v3d= sa->spacedata.first;
@@ -2010,16 +2039,17 @@ static int object_clear_restrictview_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_clear_restrictview(wmOperatorType *ot)
+void OBJECT_OT_restrictview_clear(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Clear restrict view";
-	ot->idname= "OBJECT_OT_clear_restrictview";
+	ot->description = "Reveal the object by setting the restrictview flag.";
+	ot->idname= "OBJECT_OT_restrictview_clear";
 	
 	/* api callbacks */
 	ot->invoke= WM_operator_confirm;
-	ot->exec= object_clear_restrictview_exec;
+	ot->exec= object_restrictview_clear_exec;
 	ot->poll= ED_operator_view3d_active;
 	
 	/* flags */
@@ -2032,7 +2062,7 @@ static EnumPropertyItem prop_set_restrictview_types[] = {
 	{0, NULL, NULL, NULL}
 };
 
-static int object_set_restrictview_exec(bContext *C, wmOperator *op)
+static int object_restrictview_set_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	short changed = 0;
@@ -2068,15 +2098,16 @@ static int object_set_restrictview_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_set_restrictview(wmOperatorType *ot)
+void OBJECT_OT_restrictview_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set restrict view";
-	ot->idname= "OBJECT_OT_set_restrictview";
+	ot->description = "Hide the object by setting the restrictview flag.";
+	ot->idname= "OBJECT_OT_restrictview_set";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
-	ot->exec= object_set_restrictview_exec;
+	ot->exec= object_restrictview_set_exec;
 	ot->poll= ED_operator_view3d_active;
 	
 	/* flags */
@@ -2086,7 +2117,7 @@ void OBJECT_OT_set_restrictview(wmOperatorType *ot)
 	
 }
 /* ************* Slow Parent ******************* */
-static int object_set_slowparent_exec(bContext *C, wmOperator *op)
+static int object_slowparent_set_exec(bContext *C, wmOperator *op)
 {
 
 	CTX_DATA_BEGIN(C, Base*, base, selected_editable_bases) {
@@ -2104,23 +2135,24 @@ static int object_set_slowparent_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_set_slowparent(wmOperatorType *ot)
+void OBJECT_OT_slowparent_set(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Set Slow Parent";
-	ot->idname= "OBJECT_OT_set_slow_parent";
+	ot->description = "Set the object's slow parent.";
+	ot->idname= "OBJECT_OT_slow_parent_set";
 	
 	/* api callbacks */
 	ot->invoke= WM_operator_confirm;
-	ot->exec= object_set_slowparent_exec;
+	ot->exec= object_slowparent_set_exec;
 	ot->poll= ED_operator_view3d_active;
 	
 	/* flags */
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 }
 
-static int object_clear_slowparent_exec(bContext *C, wmOperator *op)
+static int object_slowparent_clear_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 
@@ -2144,16 +2176,17 @@ static int object_clear_slowparent_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_clear_slowparent(wmOperatorType *ot)
+void OBJECT_OT_slowparent_clear(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Clear Slow Parent";
-	ot->idname= "OBJECT_OT_clear_slow_parent";
+	ot->description = "Clear the object's slow parent.";
+	ot->idname= "OBJECT_OT_slow_parent_clear";
 	
 	/* api callbacks */
 	ot->invoke= WM_operator_confirm;
-	ot->exec= object_clear_slowparent_exec;
+	ot->exec= object_slowparent_clear_exec;
 	ot->poll= ED_operator_view3d_active;
 	
 	/* flags */
@@ -2178,8 +2211,9 @@ void make_vertex_parent(Scene *scene, Object *obedit, View3D *v3d)
 	
 	if(obedit->type==OB_MESH) {
 		Mesh *me= obedit->data;
-		
-		eve= me->edit_mesh->verts.first;
+		EditMesh *em = EM_GetEditMesh(me);
+
+		eve= em->verts.first;
 		while(eve) {
 			if(eve->f & 1) {
 				if(v1==0) v1= nr;
@@ -2191,6 +2225,8 @@ void make_vertex_parent(Scene *scene, Object *obedit, View3D *v3d)
 			nr++;
 			eve= eve->next;
 		}
+
+		EM_EndEditMesh(me, em);
 	}
 	else if(ELEM(obedit->type, OB_SURF, OB_CURVE)) {
 		ListBase *editnurb= curve_get_editcurve(obedit);
@@ -2421,7 +2457,7 @@ static int test_parent_loop(Object *par, Object *ob)
 }
 
 
-static int make_parent_exec(bContext *C, wmOperator *op)
+static int parent_set_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *par= CTX_data_active_object(C);
@@ -2541,26 +2577,26 @@ static int make_parent_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-static int make_parent_invoke(bContext *C, wmOperator *op, wmEvent *event)
+static int parent_set_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	Object *ob= CTX_data_active_object(C);
-	uiMenuItem *head= uiPupMenuBegin("Make Parent To", 0);
+	uiMenuItem *head= uiPupMenuBegin("Set Parent To", 0);
 	
 	uiMenuContext(head, WM_OP_EXEC_DEFAULT);
-	uiMenuItemEnumO(head, "", 0, "OBJECT_OT_make_parent", "type", PAR_OBJECT);
+	uiMenuItemEnumO(head, "", 0, "OBJECT_OT_parent_set", "type", PAR_OBJECT);
 	
 	/* ob becomes parent, make the associated menus */
 	if(ob->type==OB_ARMATURE) {
-		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_make_parent", "type", PAR_ARMATURE);
-		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_make_parent", "type", PAR_BONE);
+		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_parent_set", "type", PAR_ARMATURE);
+		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_parent_set", "type", PAR_BONE);
 	}
 	else if(ob->type==OB_CURVE) {
-		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_make_parent", "type", PAR_CURVE);
-		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_make_parent", "type", PAR_FOLLOW);
-		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_make_parent", "type", PAR_PATH_CONST);
+		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_parent_set", "type", PAR_CURVE);
+		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_parent_set", "type", PAR_FOLLOW);
+		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_parent_set", "type", PAR_PATH_CONST);
 	}
 	else if(ob->type == OB_LATTICE) {
-		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_make_parent", "type", PAR_LATTICE);
+		uiMenuItemEnumO(head, "", 0, "OBJECT_OT_parent_set", "type", PAR_LATTICE);
 	}
 	
 	uiPupMenuEnd(C, head);
@@ -2569,15 +2605,16 @@ static int make_parent_invoke(bContext *C, wmOperator *op, wmEvent *event)
 }
 
 
-void OBJECT_OT_make_parent(wmOperatorType *ot)
+void OBJECT_OT_parent_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Make parent";
-	ot->idname= "OBJECT_OT_make_parent";
+	ot->description = "Set the object's parenting.";
+	ot->idname= "OBJECT_OT_parent_set";
 	
 	/* api callbacks */
-	ot->invoke= make_parent_invoke;
-	ot->exec= make_parent_exec;
+	ot->invoke= parent_set_invoke;
+	ot->exec= parent_set_exec;
 	
 	ot->poll= ED_operator_object_active;
 	
@@ -2595,7 +2632,7 @@ static EnumPropertyItem prop_make_track_types[] = {
 	{0, NULL, NULL, NULL}
 };
 
-static int make_track_exec(bContext *C, wmOperator *op)
+static int track_set_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 		
@@ -2662,15 +2699,16 @@ static int make_track_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_make_track(wmOperatorType *ot)
+void OBJECT_OT_track_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Make Track";
-	ot->idname= "OBJECT_OT_make_track";
+	ot->description = "Make the object track another object, either by constraint or old way or locked track.";
+	ot->idname= "OBJECT_OT_track_set";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
-	ot->exec= make_track_exec;
+	ot->exec= track_set_exec;
 	
 	ot->poll= ED_operator_scene_editable;
 	
@@ -2724,7 +2762,7 @@ static void make_object_duplilist_real(Scene *scene, View3D *v3d, Base *base)
 }
 
 
-static int object_make_dupli_real_exec(bContext *C, wmOperator *op)
+static int object_dupli_set_real_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	ScrArea *sa= CTX_wm_area(C);
@@ -2744,16 +2782,17 @@ static int object_make_dupli_real_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_make_dupli_real(wmOperatorType *ot)
+void OBJECT_OT_dupli_set_real(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Make Dupli Real";
-	ot->idname= "OBJECT_OT_make_dupli_real";
+	ot->description = "Make dupli objects attached to this object real.";
+	ot->idname= "OBJECT_OT_dupli_set_real";
 	
 	/* api callbacks */
 	ot->invoke= WM_operator_confirm;
-	ot->exec= object_make_dupli_real_exec;
+	ot->exec= object_dupli_set_real_exec;
 	
 	ot->poll= ED_operator_scene_editable;
 	
@@ -2770,7 +2809,7 @@ static EnumPropertyItem prop_set_center_types[] = {
 };
 
 /* 0 == do center, 1 == center new, 2 == center cursor */
-static int object_set_center_exec(bContext *C, wmOperator *op)
+static int object_center_set_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	ScrArea *sa= CTX_wm_area(C);
@@ -2807,8 +2846,9 @@ static int object_set_center_exec(bContext *C, wmOperator *op)
 	
 		if(obedit->type==OB_MESH) {
 			Mesh *me= obedit->data;
-			
-			for(eve= me->edit_mesh->verts.first; eve; eve= eve->next) {
+			EditMesh *em = EM_GetEditMesh(me);
+
+			for(eve= em->verts.first; eve; eve= eve->next) {
 				if(v3d->around==V3D_CENTROID) {
 					total++;
 					VECADD(cent, cent, eve->co);
@@ -2827,13 +2867,14 @@ static int object_set_center_exec(bContext *C, wmOperator *op)
 				cent[2]= (min[2]+max[2])/2.0f;
 			}
 			
-			for(eve= me->edit_mesh->verts.first; eve; eve= eve->next) {
+			for(eve= em->verts.first; eve; eve= eve->next) {
 				VecSubf(eve->co, eve->co, cent);			
 			}
 			
-			recalc_editnormals(me->edit_mesh);
+			recalc_editnormals(em);
 			tot_change++;
 			DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
+			EM_EndEditMesh(me, em);
 		}
 	}
 	
@@ -3093,15 +3134,16 @@ static int object_set_center_exec(bContext *C, wmOperator *op)
 	
 	return OPERATOR_FINISHED;
 }
-void OBJECT_OT_set_center(wmOperatorType *ot)
+void OBJECT_OT_center_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Center";
-	ot->idname= "OBJECT_OT_set_center";
+	ot->description = "Set the object's center, by either moving the data, or set to center of data, or use 3d cursor";
+	ot->idname= "OBJECT_OT_center_set";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
-	ot->exec= object_set_center_exec;
+	ot->exec= object_center_set_exec;
 	
 	ot->poll= ED_operator_view3d_active;
 	
@@ -3284,7 +3326,7 @@ void ED_object_enter_editmode(bContext *C, int flag)
 	if(flag & EM_WAITCURSOR) waitcursor(0);
 }
 
-static int toggle_editmode_exec(bContext *C, wmOperator *op)
+static int editmode_toggle_exec(bContext *C, wmOperator *op)
 {
 	
 	if(!CTX_data_edit_object(C))
@@ -3300,10 +3342,11 @@ void OBJECT_OT_editmode_toggle(wmOperatorType *ot)
 	
 	/* identifiers */
 	ot->name= "Toggle Editmode";
+	ot->description = "Toggle object's editmode.";
 	ot->idname= "OBJECT_OT_editmode_toggle";
 	
 	/* api callbacks */
-	ot->exec= toggle_editmode_exec;
+	ot->exec= editmode_toggle_exec;
 	
 	ot->poll= ED_operator_object_active;
 	
@@ -6018,7 +6061,7 @@ Base *ED_object_add_duplicate(Scene *scene, Base *base, int usedupflag)
 }
 
 /* contextual operator dupli */
-static int add_duplicate_exec(bContext *C, wmOperator *op)
+static int duplicate_add_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	View3D *v3d= CTX_wm_view3d(C);
@@ -6050,9 +6093,9 @@ static int add_duplicate_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-static int add_duplicate_invoke(bContext *C, wmOperator *op, wmEvent *event)
+static int duplicate_add_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
-	add_duplicate_exec(C, op);
+	duplicate_add_exec(C, op);
 	
 	RNA_int_set(op->ptr, "mode", TFM_TRANSLATION);
 	WM_operator_name_call(C, "TFM_OT_transform", WM_OP_INVOKE_REGION_WIN, op->ptr);
@@ -6060,16 +6103,17 @@ static int add_duplicate_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	return OPERATOR_FINISHED;
 }
 
-void OBJECT_OT_add_duplicate(wmOperatorType *ot)
+void OBJECT_OT_duplicate_add(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Add Duplicate";
-	ot->idname= "OBJECT_OT_add_duplicate";
+	ot->description = "Duplicate the object.";
+	ot->idname= "OBJECT_OT_duplicate_add";
 	
 	/* api callbacks */
-	ot->invoke= add_duplicate_invoke;
-	ot->exec= add_duplicate_exec;
+	ot->invoke= duplicate_add_invoke;
+	ot->exec= duplicate_add_exec;
 	
 	ot->poll= ED_operator_scene_editable;
 	
diff --git a/source/blender/editors/object/object_intern.h b/source/blender/editors/object/object_intern.h
index 138f278fe77..1c56b0c7115 100644
--- a/source/blender/editors/object/object_intern.h
+++ b/source/blender/editors/object/object_intern.h
@@ -36,35 +36,32 @@ struct Object;
 struct Mesh;
 
 /* internal exports only */
-#define CLEAR_OBJ_ROTATION 0
-#define CLEAR_OBJ_LOCATION 1
-#define CLEAR_OBJ_SCALE 2
-#define CLEAR_OBJ_ORIGIN 3
+
 
 /* object_edit.c */
 void OBJECT_OT_editmode_toggle(struct wmOperatorType *ot);
-void OBJECT_OT_make_parent(struct wmOperatorType *ot);
-void OBJECT_OT_clear_parent(struct wmOperatorType *ot);
-void OBJECT_OT_make_track(struct wmOperatorType *ot);
-void OBJECT_OT_clear_track(struct wmOperatorType *ot);
-void OBJECT_OT_de_select_all(struct wmOperatorType *ot);
+void OBJECT_OT_parent_set(struct wmOperatorType *ot);
+void OBJECT_OT_parent_clear(struct wmOperatorType *ot);
+void OBJECT_OT_track_set(struct wmOperatorType *ot);
+void OBJECT_OT_track_clear(struct wmOperatorType *ot);
+void OBJECT_OT_select_all_toggle(struct wmOperatorType *ot);
 void OBJECT_OT_select_invert(struct wmOperatorType *ot);
 void OBJECT_OT_select_random(struct wmOperatorType *ot);
 void OBJECT_OT_select_by_type(struct wmOperatorType *ot);
 void OBJECT_OT_select_by_layer(struct wmOperatorType *ot);
 void OBJECT_OT_select_linked(struct wmOperatorType *ot);
-void OBJECT_OT_clear_location(struct wmOperatorType *ot);
-void OBJECT_OT_clear_rotation(struct wmOperatorType *ot);
-void OBJECT_OT_clear_scale(struct wmOperatorType *ot);
-void OBJECT_OT_clear_origin(struct wmOperatorType *ot);
-void OBJECT_OT_clear_restrictview(struct wmOperatorType *ot);
-void OBJECT_OT_set_restrictview(struct wmOperatorType *ot);
-void OBJECT_OT_set_slowparent(struct wmOperatorType *ot);
-void OBJECT_OT_clear_slowparent(struct wmOperatorType *ot);
-void OBJECT_OT_set_center(struct wmOperatorType *ot);
-void OBJECT_OT_make_dupli_real(struct wmOperatorType *ot);
+void OBJECT_OT_location_clear(struct wmOperatorType *ot);
+void OBJECT_OT_rotation_clear(struct wmOperatorType *ot);
+void OBJECT_OT_scale_clear(struct wmOperatorType *ot);
+void OBJECT_OT_origin_clear(struct wmOperatorType *ot);
+void OBJECT_OT_restrictview_set(struct wmOperatorType *ot);
+void OBJECT_OT_restrictview_clear(struct wmOperatorType *ot);
+void OBJECT_OT_slowparent_set(struct wmOperatorType *ot);
+void OBJECT_OT_slowparent_clear(struct wmOperatorType *ot);
+void OBJECT_OT_center_set(struct wmOperatorType *ot);
+void OBJECT_OT_dupli_set_real(struct wmOperatorType *ot);
 void OBJECT_OT_object_add(struct wmOperatorType *ot);
-void OBJECT_OT_add_duplicate(struct wmOperatorType *ot);
+void OBJECT_OT_duplicate_add(struct wmOperatorType *ot);
 void OBJECT_OT_delete(struct wmOperatorType *ot);
 
 void OBJECT_OT_mesh_add(struct wmOperatorType *ot);
@@ -83,7 +80,7 @@ void remake_editLatt(Object *obedit);
 
 /* editgroup.c */
 void GROUP_OT_group_create(struct wmOperatorType *ot);
-void GROUP_OT_group_remove(struct wmOperatorType *ot);
+void GROUP_OT_objects_remove(struct wmOperatorType *ot);
 void GROUP_OT_objects_add_active(struct wmOperatorType *ot);
 void GROUP_OT_objects_remove_active(struct wmOperatorType *ot);
 
diff --git a/source/blender/editors/object/object_ops.c b/source/blender/editors/object/object_ops.c
index 134c486bb66..8cbf9bf5287 100644
--- a/source/blender/editors/object/object_ops.c
+++ b/source/blender/editors/object/object_ops.c
@@ -64,29 +64,29 @@
 void ED_operatortypes_object(void)
 {
 	WM_operatortype_append(OBJECT_OT_editmode_toggle);
-	WM_operatortype_append(OBJECT_OT_make_parent);
-	WM_operatortype_append(OBJECT_OT_clear_parent);
-	WM_operatortype_append(OBJECT_OT_make_track);
-	WM_operatortype_append(OBJECT_OT_clear_track);
+	WM_operatortype_append(OBJECT_OT_parent_set);
+	WM_operatortype_append(OBJECT_OT_parent_clear);
+	WM_operatortype_append(OBJECT_OT_track_set);
+	WM_operatortype_append(OBJECT_OT_track_clear);
 	WM_operatortype_append(OBJECT_OT_select_invert);
 	WM_operatortype_append(OBJECT_OT_select_random);
-	WM_operatortype_append(OBJECT_OT_de_select_all);
+	WM_operatortype_append(OBJECT_OT_select_all_toggle);
 	WM_operatortype_append(OBJECT_OT_select_by_type);
 	WM_operatortype_append(OBJECT_OT_select_by_layer);
 	WM_operatortype_append(OBJECT_OT_select_linked);
-	WM_operatortype_append(OBJECT_OT_clear_location);
-	WM_operatortype_append(OBJECT_OT_clear_rotation);
-	WM_operatortype_append(OBJECT_OT_clear_scale);
-	WM_operatortype_append(OBJECT_OT_clear_origin);
-	WM_operatortype_append(OBJECT_OT_clear_restrictview);
-	WM_operatortype_append(OBJECT_OT_set_restrictview);
-	WM_operatortype_append(OBJECT_OT_set_slowparent);
-	WM_operatortype_append(OBJECT_OT_clear_slowparent);
-	WM_operatortype_append(OBJECT_OT_set_center);
-	WM_operatortype_append(OBJECT_OT_make_dupli_real);
-	WM_operatortype_append(OBJECT_OT_add_duplicate);
+	WM_operatortype_append(OBJECT_OT_location_clear);
+	WM_operatortype_append(OBJECT_OT_rotation_clear);
+	WM_operatortype_append(OBJECT_OT_scale_clear);
+	WM_operatortype_append(OBJECT_OT_origin_clear);
+	WM_operatortype_append(OBJECT_OT_restrictview_clear);
+	WM_operatortype_append(OBJECT_OT_restrictview_set);
+	WM_operatortype_append(OBJECT_OT_slowparent_set);
+	WM_operatortype_append(OBJECT_OT_slowparent_clear);
+	WM_operatortype_append(OBJECT_OT_center_set);
+	WM_operatortype_append(OBJECT_OT_dupli_set_real);
+	WM_operatortype_append(OBJECT_OT_duplicate_add);
 	WM_operatortype_append(GROUP_OT_group_create);
-	WM_operatortype_append(GROUP_OT_group_remove);
+	WM_operatortype_append(GROUP_OT_objects_remove);
 	WM_operatortype_append(GROUP_OT_objects_add_active);
 	WM_operatortype_append(GROUP_OT_objects_remove_active);
 
@@ -106,41 +106,41 @@ void ED_keymap_object(wmWindowManager *wm)
 	
 	/* Note: this keymap works disregarding mode */
 	WM_keymap_add_item(keymap, "OBJECT_OT_editmode_toggle", TABKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "OBJECT_OT_set_center", CKEY, KM_PRESS, KM_ALT|KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "OBJECT_OT_center_set", CKEY, KM_PRESS, KM_ALT|KM_CTRL, 0);
 
 	/* Note: this keymap gets disabled in non-objectmode,  */
 	keymap= WM_keymap_listbase(wm, "Object Mode", 0, 0);
 	
-	WM_keymap_add_item(keymap, "OBJECT_OT_de_select_all", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "OBJECT_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "OBJECT_OT_select_invert", IKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "OBJECT_OT_select_random", PADASTERKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "OBJECT_OT_select_by_type", PADASTERKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "OBJECT_OT_select_by_layer", PADASTERKEY, KM_PRESS, KM_ALT, 0);
 	WM_keymap_add_item(keymap, "OBJECT_OT_select_linked", LKEY, KM_PRESS, KM_SHIFT, 0);
 	
-	WM_keymap_verify_item(keymap, "OBJECT_OT_make_parent", PKEY, KM_PRESS, KM_CTRL, 0);
-	WM_keymap_verify_item(keymap, "OBJECT_OT_clear_parent", PKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_verify_item(keymap, "OBJECT_OT_make_track", TKEY, KM_PRESS, KM_CTRL, 0);
-	WM_keymap_verify_item(keymap, "OBJECT_OT_clear_track", TKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_parent_set", PKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_parent_clear", PKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_track_set", TKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_track_set", TKEY, KM_PRESS, KM_ALT, 0);
 	
-	WM_keymap_verify_item(keymap, "OBJECT_OT_clear_location", GKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_verify_item(keymap, "OBJECT_OT_clear_rotation", RKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_verify_item(keymap, "OBJECT_OT_clear_scale", SKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_verify_item(keymap, "OBJECT_OT_clear_origin", OKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_location_clear", GKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_rotation_clear", RKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_scale_clear", SKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_origin_clear", OKEY, KM_PRESS, KM_ALT, 0);
 	
-	WM_keymap_verify_item(keymap, "OBJECT_OT_clear_restrictview", HKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_verify_item(keymap, "OBJECT_OT_set_restrictview", HKEY, KM_PRESS, 0, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_restrictview_clear", HKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_restrictview_set", HKEY, KM_PRESS, 0, 0);
 	
 	WM_keymap_verify_item(keymap, "OBJECT_OT_delete", XKEY, KM_PRESS, 0, 0);
 	WM_keymap_verify_item(keymap, "OBJECT_OT_primitive_add", AKEY, KM_PRESS, KM_SHIFT, 0);
-	WM_keymap_verify_item(keymap, "OBJECT_OT_add_duplicate", DKEY, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_verify_item(keymap, "OBJECT_OT_duplicate_add", DKEY, KM_PRESS, KM_SHIFT, 0);
 	
 	// XXX this should probably be in screen instead... here for testing purposes in the meantime... - Aligorith
 	WM_keymap_verify_item(keymap, "ANIM_OT_insert_keyframe_old", IKEY, KM_PRESS, 0, 0);
 	WM_keymap_verify_item(keymap, "ANIM_OT_delete_keyframe_old", IKEY, KM_PRESS, KM_ALT, 0);
 	
 	WM_keymap_verify_item(keymap, "GROUP_OT_group_create", GKEY, KM_PRESS, KM_CTRL, 0);
-	WM_keymap_verify_item(keymap, "GROUP_OT_group_remove", GKEY, KM_PRESS, KM_CTRL|KM_ALT, 0);
+	WM_keymap_verify_item(keymap, "GROUP_OT_objects_remove", GKEY, KM_PRESS, KM_CTRL|KM_ALT, 0);
 	WM_keymap_verify_item(keymap, "GROUP_OT_objects_add_active", GKEY, KM_PRESS, KM_SHIFT|KM_CTRL, 0);
 	WM_keymap_verify_item(keymap, "GROUP_OT_objects_remove_active", GKEY, KM_PRESS, KM_SHIFT|KM_ALT, 0);
 
diff --git a/source/blender/editors/physics/editparticle.c b/source/blender/editors/physics/editparticle.c
index b3c7be688f2..33d1bd66676 100644
--- a/source/blender/editors/physics/editparticle.c
+++ b/source/blender/editors/physics/editparticle.c
@@ -1209,11 +1209,11 @@ static int de_select_all_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void PARTICLE_OT_de_select_all(wmOperatorType *ot)
+void PARTICLE_OT_select_all_toggle(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select or Deselect All";
-	ot->idname= "PARTICLE_OT_de_select_all";
+	ot->idname= "PARTICLE_OT_select_all_toggle";
 	
 	/* api callbacks */
 	ot->exec= de_select_all_exec;
@@ -2312,7 +2312,6 @@ static int brush_radial_control_exec(bContext *C, wmOperator *op)
 	ParticleBrushData *brush;
 	int mode = RNA_enum_get(op->ptr, "mode");
 	float new_value = RNA_float_get(op->ptr, "new_value");
-	char str[256];
 
 	if(pset->brushtype < 0)
 		return OPERATOR_CANCELLED;
@@ -2324,8 +2323,6 @@ static int brush_radial_control_exec(bContext *C, wmOperator *op)
 	else if(mode == WM_RADIALCONTROL_STRENGTH)
 		brush->strength= new_value;
 
-	WM_radial_control_string(op, str, 256);
-
 	return OPERATOR_FINISHED;
 }
 
@@ -2584,11 +2581,11 @@ static int set_brush_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void PARTICLE_OT_set_brush(wmOperatorType *ot)
+void PARTICLE_OT_brush_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Brush";
-	ot->idname= "PARTICLE_OT_set_brush";
+	ot->idname= "PARTICLE_OT_brush_set";
 	
 	/* api callbacks */
 	ot->exec= set_brush_exec;
@@ -3781,11 +3778,11 @@ static int set_editable_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void PARTICLE_OT_set_editable(wmOperatorType *ot)
+void PARTICLE_OT_editable_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Editable";
-	ot->idname= "PARTICLE_OT_set_editable";
+	ot->idname= "PARTICLE_OT_editable_set";
 	
 	/* api callbacks */
 	ot->exec= set_editable_exec;
@@ -3874,7 +3871,7 @@ void PARTICLE_OT_specials_menu(wmOperatorType *ot)
 
 void ED_operatortypes_particle(void)
 {
-	WM_operatortype_append(PARTICLE_OT_de_select_all);
+	WM_operatortype_append(PARTICLE_OT_select_all_toggle);
 	WM_operatortype_append(PARTICLE_OT_select_first);
 	WM_operatortype_append(PARTICLE_OT_select_last);
 	WM_operatortype_append(PARTICLE_OT_select_linked);
@@ -3890,21 +3887,21 @@ void ED_operatortypes_particle(void)
 	WM_operatortype_append(PARTICLE_OT_delete);
 	WM_operatortype_append(PARTICLE_OT_mirror);
 
-	WM_operatortype_append(PARTICLE_OT_set_brush);
+	WM_operatortype_append(PARTICLE_OT_brush_set);
 	WM_operatortype_append(PARTICLE_OT_brush_edit);
 	WM_operatortype_append(PARTICLE_OT_brush_radial_control);
 
 	WM_operatortype_append(PARTICLE_OT_specials_menu);
 
 	WM_operatortype_append(PARTICLE_OT_particle_edit_toggle);
-	WM_operatortype_append(PARTICLE_OT_set_editable);
+	WM_operatortype_append(PARTICLE_OT_editable_set);
 }
 
 void ED_keymap_particle(wmWindowManager *wm)
 {
 	ListBase *keymap= WM_keymap_listbase(wm, "Particle", 0, 0);
 	
-	WM_keymap_add_item(keymap, "PARTICLE_OT_de_select_all", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "PARTICLE_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "PARTICLE_OT_select_more", PADPLUSKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "PARTICLE_OT_select_less", PADMINUS, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "PARTICLE_OT_select_linked", LKEY, KM_PRESS, 0, 0);
diff --git a/source/blender/editors/screen/area.c b/source/blender/editors/screen/area.c
index be9c76111db..5c481652db1 100644
--- a/source/blender/editors/screen/area.c
+++ b/source/blender/editors/screen/area.c
@@ -660,12 +660,15 @@ void area_copy_data(ScrArea *sa1, ScrArea *sa2, int swap_space)
 	sa1->spacetype= sa2->spacetype;
 	sa1->butspacetype= sa2->butspacetype;
 	
-	if(swap_space) {
+	if(swap_space == 1) {
 		SWAP(ListBase, sa1->spacedata, sa2->spacedata);
 		/* exception: ensure preview is reset */
 //		if(sa1->spacetype==SPACE_VIEW3D)
 // XXX			BIF_view3d_previewrender_free(sa1->spacedata.first);
 	}
+	else if (swap_space == 2) {
+		BKE_spacedata_copylist(&sa1->spacedata, &sa2->spacedata);
+	}
 	else {
 		BKE_spacedata_freelist(&sa1->spacedata);
 		BKE_spacedata_copylist(&sa1->spacedata, &sa2->spacedata);
@@ -674,10 +677,12 @@ void area_copy_data(ScrArea *sa1, ScrArea *sa2, int swap_space)
 	/* Note; SPACE_EMPTY is possible on new screens */
 	
 	/* regions */
-	st= BKE_spacetype_from_id(sa1->spacetype);
-	for(ar= sa1->regionbase.first; ar; ar= ar->next)
-		BKE_area_region_free(st, ar);
-	BLI_freelistN(&sa1->regionbase);
+	if(swap_space<2) {
+		st= BKE_spacetype_from_id(sa1->spacetype);
+		for(ar= sa1->regionbase.first; ar; ar= ar->next)
+			BKE_area_region_free(st, ar);
+		BLI_freelistN(&sa1->regionbase);
+	}
 	
 	st= BKE_spacetype_from_id(sa2->spacetype);
 	for(ar= sa2->regionbase.first; ar; ar= ar->next) {
@@ -695,6 +700,35 @@ void area_copy_data(ScrArea *sa1, ScrArea *sa2, int swap_space)
 
 /* *********** Space switching code *********** */
 
+void ED_area_swapspace(bContext *C, ScrArea *sa1, ScrArea *sa2)
+{
+	ScrArea *tmp= MEM_callocN(sizeof(ScrArea), "addscrarea");
+
+	ED_area_exit(C, sa1);
+	ED_area_exit(C, sa2);
+
+	tmp->spacetype= sa1->spacetype;
+	tmp->butspacetype= sa1->butspacetype;
+	BKE_spacedata_copyfirst(&tmp->spacedata, &sa1->spacedata);
+
+	area_copy_data(tmp, sa1, 2);
+	area_copy_data(sa1, sa2, 0);
+	area_copy_data(sa2, tmp, 0);
+	ED_area_initialize(CTX_wm_manager(C), CTX_wm_window(C), sa1);
+	ED_area_initialize(CTX_wm_manager(C), CTX_wm_window(C), sa2);
+
+	BKE_screen_area_free(tmp);
+	MEM_freeN(tmp);
+
+	/* tell WM to refresh, cursor types etc */
+	WM_event_add_mousemove(C);
+	
+	ED_area_tag_redraw(sa1);
+	ED_area_tag_refresh(sa1);
+	ED_area_tag_redraw(sa2);
+	ED_area_tag_refresh(sa2);
+}
+
 void ED_area_newspace(bContext *C, ScrArea *sa, int type)
 {
 	if(sa->spacetype != type) {
diff --git a/source/blender/editors/screen/glutil.c b/source/blender/editors/screen/glutil.c
index 573e89b8bb4..74e0bc3852e 100644
--- a/source/blender/editors/screen/glutil.c
+++ b/source/blender/editors/screen/glutil.c
@@ -462,10 +462,10 @@ void glaDrawPixelsTex(float x, float y, int img_w, int img_h, int format, void *
 			glTexCoord2f((float) (subpart_w-1)/tex_w, 0);
 			glVertex2f(rast_x+subpart_w*xzoom, rast_y);
 
-			glTexCoord2f((float) (subpart_w-1)/tex_w, (float) subpart_h/tex_h);
+			glTexCoord2f((float) (subpart_w-1)/tex_w, (float) (subpart_h-1)/tex_h);
 			glVertex2f(rast_x+subpart_w*xzoom, rast_y+subpart_h*yzoom);
 
-			glTexCoord2f(0, (float) subpart_h/tex_h);
+			glTexCoord2f(0, (float) (subpart_h-1)/tex_h);
 			glVertex2f(rast_x, rast_y+subpart_h*yzoom);
 			glEnd();
 			glDisable(GL_TEXTURE_2D);
diff --git a/source/blender/editors/screen/screen_context.c b/source/blender/editors/screen/screen_context.c
index 2406c1c5e32..11d1d019005 100644
--- a/source/blender/editors/screen/screen_context.c
+++ b/source/blender/editors/screen/screen_context.c
@@ -25,6 +25,7 @@
  */
 
 #include <stdlib.h>
+#include <string.h>
 
 #include "DNA_object_types.h"
 #include "DNA_scene_types.h"
@@ -33,44 +34,48 @@
 #include "BKE_context.h"
 #include "BKE_utildefines.h"
 
-int ed_screen_context(const bContext *C, bContextDataMember member, bContextDataResult *result)
+#include "RNA_access.h"
+
+int ed_screen_context(const bContext *C, const char *member, bContextDataResult *result)
 {
 	bScreen *sc= CTX_wm_screen(C);
 	Scene *scene= sc->scene;
 	Base *base;
 
-	if(member == CTX_DATA_SCENE) {
-		CTX_data_pointer_set(result, scene);
+	if(CTX_data_equals(member, "scene")) {
+		CTX_data_id_pointer_set(result, &scene->id);
 		return 1;
 	}
-	else if(ELEM(member, CTX_DATA_SELECTED_OBJECTS, CTX_DATA_SELECTED_BASES)) {
+	else if(CTX_data_equals(member, "selected_objects") || CTX_data_equals(member, "selected_bases")) {
+		int selected_objects= CTX_data_equals(member, "selected_objects");
+
 		for(base=scene->base.first; base; base=base->next) {
 			if((base->flag & SELECT) && (base->lay & scene->lay)) {
-				if(member == CTX_DATA_SELECTED_OBJECTS)
-					CTX_data_list_add(result, base->object);
+				if(selected_objects)
+					CTX_data_id_list_add(result, &base->object->id);
 				else
-					CTX_data_list_add(result, base);
+					CTX_data_list_add(result, &scene->id, &RNA_UnknownType, base);
 			}
 		}
 
 		return 1;
 	}
-	else if(member == CTX_DATA_ACTIVE_BASE) {
+	else if(CTX_data_equals(member, "active_base")) {
 		if(scene->basact)
-			CTX_data_pointer_set(result, scene->basact);
+			CTX_data_pointer_set(result, &scene->id, &RNA_UnknownType, &scene->basact);
 
 		return 1;
 	}
-	else if(member == CTX_DATA_ACTIVE_OBJECT) {
+	else if(CTX_data_equals(member, "active_object")) {
 		if(scene->basact)
-			CTX_data_pointer_set(result, scene->basact->object);
+			CTX_data_id_pointer_set(result, &scene->basact->object->id);
 
 		return 1;
 	}
-	else if(member == CTX_DATA_EDIT_OBJECT) {
+	else if(CTX_data_equals(member, "edit_object")) {
 		/* convenience for now, 1 object per scene in editmode */
 		if(scene->obedit)
-			CTX_data_pointer_set(result, scene->obedit);
+			CTX_data_id_pointer_set(result, &scene->obedit->id);
 		
 		return 1;
 	}
diff --git a/source/blender/editors/screen/screen_intern.h b/source/blender/editors/screen/screen_intern.h
index f39ca7d4c3e..a0804f3e633 100644
--- a/source/blender/editors/screen/screen_intern.h
+++ b/source/blender/editors/screen/screen_intern.h
@@ -55,7 +55,7 @@ AZone		*is_in_area_actionzone(ScrArea *sa, int x, int y);
 void		ed_screen_fullarea(bContext *C, ScrArea *sa);
 
 /* screen_context.c */
-void ed_screen_context(const bContext *C, bContextDataMember member, bContextDataResult *result);
+void ed_screen_context(const bContext *C, const char *member, bContextDataResult *result);
 
 /* screendump.c */
 void SCREEN_OT_screenshot(struct wmOperatorType *ot);
diff --git a/source/blender/editors/screen/screen_ops.c b/source/blender/editors/screen/screen_ops.c
index 8bc6cb6e567..d06259d1487 100644
--- a/source/blender/editors/screen/screen_ops.c
+++ b/source/blender/editors/screen/screen_ops.c
@@ -57,6 +57,7 @@
 
 #include "ED_util.h"
 #include "ED_screen.h"
+#include "ED_mesh.h"
 #include "ED_screen_types.h"
 
 #include "RE_pipeline.h"
@@ -134,11 +135,7 @@ int ED_operator_timeline_active(bContext *C)
 
 int ED_operator_outliner_active(bContext *C)
 {
-	if(ed_spacetype_test(C, SPACE_OOPS)) {
-		SpaceOops *so= (SpaceOops *)CTX_wm_space_data(C);
-		return (so->type == SO_OUTLINER);
-	}
-	return 0;
+	return ed_spacetype_test(C, SPACE_OUTLINER);
 }
 
 int ED_operator_file_active(bContext *C)
@@ -220,11 +217,14 @@ int ED_operator_uvedit(bContext *C)
 	EditMesh *em= NULL;
 
 	if(obedit && obedit->type==OB_MESH)
-		em= ((Mesh *)obedit->data)->edit_mesh;
+		em= EM_GetEditMesh((Mesh *)obedit->data);
 
-    if(em && (em->faces.first) && (CustomData_has_layer(&em->fdata, CD_MTFACE)))
+	if(em && (em->faces.first) && (CustomData_has_layer(&em->fdata, CD_MTFACE))) {
+		EM_EndEditMesh(obedit->data, em);
 		return 1;
+	}
 
+	EM_EndEditMesh(obedit->data, em);
 	return 0;
 }
 
@@ -234,11 +234,14 @@ int ED_operator_uvmap(bContext *C)
 	EditMesh *em= NULL;
 
 	if(obedit && obedit->type==OB_MESH)
-		em= ((Mesh *)obedit->data)->edit_mesh;
+		em= EM_GetEditMesh((Mesh *)obedit->data);
 
-    if(em && (em->faces.first))
+	if(em && (em->faces.first)) {
+		EM_EndEditMesh(obedit->data, em);
 		return 1;
+	}
 
+	EM_EndEditMesh(obedit->data, em);
 	return 0;
 }
 
@@ -438,14 +441,122 @@ void SCREEN_OT_actionzone(wmOperatorType *ot)
 	RNA_def_int(ot->srna, "modifier", 0, 0, 2, "modifier", "modifier state", 0, 2);
 }
 
+/* ************** swap area operator *********************************** */
 
-/* *********** Duplicate area as new window operator ****************** */
+/* operator state vars used:  
+ 					sa1		start area
+					sa2		area to swap with
+
+	functions:
+
+	init()   set custom data for operator, based on actionzone event custom data
+
+	cancel()	cancel the operator
+
+	exit()	cleanup, send notifier
+
+	callbacks:
+
+	invoke() gets called on shift+lmb drag in actionzone
+            call init(), add handler
+
+	modal()  accept modal events while doing it
+
+*/
+
+typedef struct sAreaSwapData {
+	ScrArea *sa1, *sa2;
+} sAreaSwapData;
 
+static int area_swap_init(bContext *C, wmOperator *op, wmEvent *event)
+{
+	sAreaSwapData *sd= NULL;
+	sActionzoneData *sad= event->customdata;
+
+	if(sad==NULL || sad->sa1==NULL)
+					return 0;
+	
+	sd= MEM_callocN(sizeof(sAreaSwapData), "sAreaSwapData");
+	sd->sa1= sad->sa1;
+	sd->sa2= sad->sa2;
+	op->customdata= sd;
+
+	return 1;
+}
+
+
+static void area_swap_exit(bContext *C, wmOperator *op)
+{
+	if(op->customdata)
+		MEM_freeN(op->customdata);
+	op->customdata= NULL;
+}
+
+static int area_swap_cancel(bContext *C, wmOperator *op)
+{
+	area_swap_exit(C, op);
+	return OPERATOR_CANCELLED;
+}
+
+static int area_swap_invoke(bContext *C, wmOperator *op, wmEvent *event)
+{
+
+	if(!area_swap_init(C, op, event))
+		return OPERATOR_PASS_THROUGH;
+
+	/* add modal handler */
+	WM_cursor_modal(CTX_wm_window(C), BC_SWAPAREA_CURSOR);
+	WM_event_add_modal_handler(C, &CTX_wm_window(C)->handlers, op);
+	
+	return OPERATOR_RUNNING_MODAL;
+
+}
+
+static int area_swap_modal(bContext *C, wmOperator *op, wmEvent *event)
+{
+	sActionzoneData *sad= op->customdata;
+
+	switch(event->type) {
+		case MOUSEMOVE:
+			/* second area, for join */
+			sad->sa2= screen_areahascursor(CTX_wm_screen(C), event->x, event->y);
+			break;
+		case LEFTMOUSE: /* release LMB */
+			if(event->val==0) {
+				if(sad->sa1 == sad->sa2) {
+
+					return area_swap_cancel(C, op);
+				}
+				ED_area_swapspace(C, sad->sa1, sad->sa2);
+
+				area_swap_exit(C, op);
+
+				WM_event_add_notifier(C, NC_SCREEN|NA_EDITED, NULL);
+
+				return OPERATOR_FINISHED;
+			}
+			break;
+
+		case ESCKEY:
+			return area_swap_cancel(C, op);
+	}
+	return OPERATOR_RUNNING_MODAL;
+}
+
+void SCREEN_OT_area_swap(wmOperatorType *ot)
+{
+	ot->name= "Swap areas";
+	ot->idname= "SCREEN_OT_area_swap";
+
+	ot->invoke= area_swap_invoke;
+	ot->modal= area_swap_modal;
+	ot->poll= ED_operator_areaactive;
+}
+
+/* *********** Duplicate area as new window operator ****************** */
 
 /* operator callback */
-/* (ton) removed attempt to merge ripped area with another, don't think this is desired functionality.
-conventions: 'atomic' and 'dont think for user' :) */
-static int screen_area_dupli_new_op(bContext *C, wmOperator *op, wmEvent *event)
+static int area_dupli_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	wmWindow *newwin, *win;
 	bScreen *newsc, *sc;
@@ -454,15 +565,17 @@ static int screen_area_dupli_new_op(bContext *C, wmOperator *op, wmEvent *event)
 	sActionzoneData *sad= event->customdata;
 
 	if(sad==NULL)
-		return OPERATOR_CANCELLED;
+		return OPERATOR_PASS_THROUGH;
 	
 	win= CTX_wm_window(C);
 	sc= CTX_wm_screen(C);
 	sa= sad->sa1;
 
 	/*  poll() checks area context, but we don't accept full-area windows */
-	if(sc->full != SCREENNORMAL) 
+	if(sc->full != SCREENNORMAL) {
+		actionzone_exit(C, op);
 		return OPERATOR_CANCELLED;
+	}
 	
 	/* adds window to WM */
 	rect= sa->totrct;
@@ -478,16 +591,18 @@ static int screen_area_dupli_new_op(bContext *C, wmOperator *op, wmEvent *event)
 	
 	/* screen, areas init */
 	WM_event_add_notifier(C, NC_SCREEN|NA_EDITED, NULL);
+
+	actionzone_exit(C, op);
 	
 	return OPERATOR_FINISHED;
 }
 
-void SCREEN_OT_area_dupli_new(wmOperatorType *ot)
+void SCREEN_OT_area_dupli(wmOperatorType *ot)
 {
 	ot->name= "Duplicate Area into New Window";
-	ot->idname= "SCREEN_OT_area_dupli_new";
+	ot->idname= "SCREEN_OT_area_dupli";
 	
-	ot->invoke= screen_area_dupli_new_op;
+	ot->invoke= area_dupli_invoke;
 	ot->poll= ED_operator_areaactive;
 }
 
@@ -1527,6 +1642,7 @@ static uiBlock *ui_block_create_redo_last(bContext *C, ARegion *ar, void *arg_op
 	int height;
 	
 	block= uiBeginBlock(C, ar, "redo_last_popup", UI_EMBOSS, UI_HELV);
+	uiBlockClearFlag(block, UI_BLOCK_LOOP);
 	uiBlockSetFlag(block, UI_BLOCK_KEEP_OPEN|UI_BLOCK_RET_1);
 	uiBlockSetFunc(block, redo_last_cb, arg_op, NULL);
 
@@ -1536,7 +1652,7 @@ static uiBlock *ui_block_create_redo_last(bContext *C, ARegion *ar, void *arg_op
 	}
 
 	RNA_pointer_create(&wm->id, op->type->srna, op->properties, &ptr);
-	height= uiDefAutoButsRNA(block, &ptr);
+	height= uiDefAutoButsRNA(C, block, &ptr);
 
 	uiPopupBoundsBlock(block, 4.0f, 0, 0);
 	uiEndBlock(C, block);
@@ -2308,7 +2424,8 @@ void ED_operatortypes_screen(void)
 	WM_operatortype_append(SCREEN_OT_area_move);
 	WM_operatortype_append(SCREEN_OT_area_split);
 	WM_operatortype_append(SCREEN_OT_area_join);
-	WM_operatortype_append(SCREEN_OT_area_dupli_new);
+	WM_operatortype_append(SCREEN_OT_area_dupli);
+	WM_operatortype_append(SCREEN_OT_area_swap);
 	WM_operatortype_append(SCREEN_OT_region_split);
 	WM_operatortype_append(SCREEN_OT_region_foursplit);
 	WM_operatortype_append(SCREEN_OT_region_flip);
@@ -2339,16 +2456,16 @@ void ED_keymap_screen(wmWindowManager *wm)
 	/* standard timers */
 	WM_keymap_add_item(keymap, "SCREEN_OT_animation_play", TIMER0, KM_ANY, KM_ANY, 0);
 	
-	/*WM_keymap_verify_item(keymap, "SCREEN_OT_actionzone", LEFTMOUSE, KM_PRESS, 0, 0);*/
 	RNA_int_set(WM_keymap_add_item(keymap, "SCREEN_OT_actionzone", LEFTMOUSE, KM_PRESS, 0, 0)->ptr, "modifier", 0);
 	RNA_int_set(WM_keymap_add_item(keymap, "SCREEN_OT_actionzone", LEFTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "modifier", 1);
 	RNA_int_set(WM_keymap_add_item(keymap, "SCREEN_OT_actionzone", LEFTMOUSE, KM_PRESS, KM_ALT, 0)->ptr, "modifier", 2);
 	
 	/* screen tools */
 	WM_keymap_verify_item(keymap, "SCREEN_OT_area_move", LEFTMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_verify_item(keymap, "SCREEN_OT_area_split", EVT_ACTIONZONE, 0, KM_ANY, 0);
-	WM_keymap_verify_item(keymap, "SCREEN_OT_area_join", EVT_ACTIONZONE, 0, KM_ANY, 0);
-	WM_keymap_verify_item(keymap, "SCREEN_OT_area_dupli_new", EVT_ACTIONZONE, 0, KM_ANY, 0);
+	WM_keymap_verify_item(keymap, "SCREEN_OT_area_split", EVT_ACTIONZONE, 0, 0, 0);
+	WM_keymap_verify_item(keymap, "SCREEN_OT_area_join", EVT_ACTIONZONE, 0, 0, 0);
+	WM_keymap_verify_item(keymap, "SCREEN_OT_area_dupli", EVT_ACTIONZONE, 0, KM_SHIFT, 0);
+	WM_keymap_verify_item(keymap, "SCREEN_OT_area_swap", EVT_ACTIONZONE, 0, KM_ALT, 0);
 	RNA_int_set(WM_keymap_add_item(keymap, "SCREEN_OT_screen_set", RIGHTARROWKEY, KM_PRESS, KM_CTRL, 0)->ptr, "delta", 1);
 	RNA_int_set(WM_keymap_add_item(keymap, "SCREEN_OT_screen_set", LEFTARROWKEY, KM_PRESS, KM_CTRL, 0)->ptr, "delta", -1);
 	WM_keymap_add_item(keymap, "SCREEN_OT_screen_full_area", UPARROWKEY, KM_PRESS, KM_CTRL, 0);
diff --git a/source/blender/editors/sculpt_paint/paint_image.c b/source/blender/editors/sculpt_paint/paint_image.c
index fd6719d63bb..1ce5f3a348b 100644
--- a/source/blender/editors/sculpt_paint/paint_image.c
+++ b/source/blender/editors/sculpt_paint/paint_image.c
@@ -5048,11 +5048,11 @@ static int set_clone_cursor_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	return set_clone_cursor_exec(C, op);
 }
 
-void PAINT_OT_set_clone_cursor(wmOperatorType *ot)
+void PAINT_OT_clone_cursor_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Clone Cursor";
-	ot->idname= "PAINT_OT_set_clone_cursor";
+	ot->idname= "PAINT_OT_clone_cursor_set";
 	
 	/* api callbacks */
 	ot->exec= set_clone_cursor_exec;
@@ -5101,7 +5101,11 @@ static int texture_paint_toggle_exec(bContext *C, wmOperator *op)
 
 	if(G.f & G_TEXTUREPAINT) {
 		G.f &= ~G_TEXTUREPAINT;
+
+		if(U.glreslimit != 0)
+			GPU_free_images();
 		GPU_paint_set_mipmap(1);
+
 		toggle_paint_cursor(C, 0);
 	}
 	else {
@@ -5112,7 +5116,11 @@ static int texture_paint_toggle_exec(bContext *C, wmOperator *op)
 							 NULL, me->totface);
 
 		brush_check_exists(&scene->toolsettings->imapaint.brush);
+
+		if(U.glreslimit != 0)
+			GPU_free_images();
 		GPU_paint_set_mipmap(0);
+
 		toggle_paint_cursor(C, 1);
 	}
 
diff --git a/source/blender/editors/sculpt_paint/paint_intern.h b/source/blender/editors/sculpt_paint/paint_intern.h
index 7e1ecd9629a..b630975c934 100644
--- a/source/blender/editors/sculpt_paint/paint_intern.h
+++ b/source/blender/editors/sculpt_paint/paint_intern.h
@@ -50,7 +50,7 @@ void PAINT_OT_image_paint(struct wmOperatorType *ot);
 void PAINT_OT_image_paint_radial_control(struct wmOperatorType *ot);
 void PAINT_OT_grab_clone(struct wmOperatorType *ot);
 void PAINT_OT_sample_color(struct wmOperatorType *ot);
-void PAINT_OT_set_clone_cursor(struct wmOperatorType *ot);
+void PAINT_OT_clone_cursor_set(struct wmOperatorType *ot);
 void PAINT_OT_texture_paint_toggle(struct wmOperatorType *ot);
 void PAINT_OT_texture_paint_radial_control(struct wmOperatorType *ot);
 
diff --git a/source/blender/editors/sculpt_paint/paint_ops.c b/source/blender/editors/sculpt_paint/paint_ops.c
index 6b3a36de826..e9263ddabf0 100644
--- a/source/blender/editors/sculpt_paint/paint_ops.c
+++ b/source/blender/editors/sculpt_paint/paint_ops.c
@@ -17,7 +17,7 @@ void ED_operatortypes_paint(void)
 	WM_operatortype_append(PAINT_OT_image_paint_radial_control);
 	WM_operatortype_append(PAINT_OT_sample_color);
 	WM_operatortype_append(PAINT_OT_grab_clone);
-	WM_operatortype_append(PAINT_OT_set_clone_cursor);
+	WM_operatortype_append(PAINT_OT_clone_cursor_set);
 
 	/* weight */
 	WM_operatortype_append(PAINT_OT_weight_paint_toggle);
diff --git a/source/blender/editors/sculpt_paint/paint_utils.c b/source/blender/editors/sculpt_paint/paint_utils.c
index e0ac3c94109..85ea55331dc 100644
--- a/source/blender/editors/sculpt_paint/paint_utils.c
+++ b/source/blender/editors/sculpt_paint/paint_utils.c
@@ -11,6 +11,7 @@
 
 #include "BLI_arithb.h"
 
+#include "BKE_brush.h"
 #include "BKE_DerivedMesh.h"
 #include "BKE_global.h"
 #include "BKE_utildefines.h"
@@ -159,7 +160,7 @@ int imapaint_pick_face(ViewContext *vc, Mesh *me, int *mval, unsigned int *index
 /* used for both 3d view and image window */
 void paint_sample_color(Scene *scene, ARegion *ar, int x, int y)	/* frontbuf */
 {
-	VPaint *vp= scene->toolsettings->vpaint;
+	Brush **br = current_brush_source(scene);
 	unsigned int col;
 	char *cp;
 
@@ -172,20 +173,10 @@ void paint_sample_color(Scene *scene, ARegion *ar, int x, int y)	/* frontbuf */
 
 	cp = (char *)&col;
 	
-	if(G.f & (G_VERTEXPAINT|G_WEIGHTPAINT)) {
-		vp->r= cp[0]/255.0f;
-		vp->g= cp[1]/255.0f;
-		vp->b= cp[2]/255.0f;
-	}
-	else {
-		Brush *brush= scene->toolsettings->imapaint.brush;
-
-		if(brush) {
-			brush->rgb[0]= cp[0]/255.0f;
-			brush->rgb[1]= cp[1]/255.0f;
-			brush->rgb[2]= cp[2]/255.0f;
-
-		}
+	if(br && *br) {
+		(*br)->rgb[0]= cp[0]/255.0f;
+		(*br)->rgb[1]= cp[1]/255.0f;
+		(*br)->rgb[2]= cp[2]/255.0f;
 	}
 }
 
diff --git a/source/blender/editors/sculpt_paint/paint_vertex.c b/source/blender/editors/sculpt_paint/paint_vertex.c
index a9860402f74..0c20c0cc1cf 100644
--- a/source/blender/editors/sculpt_paint/paint_vertex.c
+++ b/source/blender/editors/sculpt_paint/paint_vertex.c
@@ -64,6 +64,7 @@
 #include "RNA_access.h"
 
 #include "BKE_armature.h"
+#include "BKE_brush.h"
 #include "BKE_DerivedMesh.h"
 #include "BKE_cloth.h"
 #include "BKE_context.h"
@@ -74,7 +75,6 @@
 #include "BKE_global.h"
 #include "BKE_mesh.h"
 #include "BKE_modifier.h"
-#include "BKE_multires.h"
 #include "BKE_object.h"
 #include "BKE_utildefines.h"
 
@@ -143,7 +143,7 @@ static void vp_drawcursor(bContext *C, int x, int y, void *customdata)
 	glColor4ub(255, 255, 255, 128);
 	glEnable( GL_LINE_SMOOTH );
 	glEnable(GL_BLEND);
-	glutil_draw_lined_arc(0.0, M_PI*2.0, ts->vpaint->size, 40);
+	glutil_draw_lined_arc(0.0, M_PI*2.0, ts->vpaint->brush->size, 40);
 	glDisable(GL_BLEND);
 	glDisable( GL_LINE_SMOOTH );
 	
@@ -159,7 +159,7 @@ static void wp_drawcursor(bContext *C, int x, int y, void *customdata)
 	glColor4ub(200, 200, 255, 128);
 	glEnable( GL_LINE_SMOOTH );
 	glEnable(GL_BLEND);
-	glutil_draw_lined_arc(0.0, M_PI*2.0, ts->wpaint->size, 40);
+	glutil_draw_lined_arc(0.0, M_PI*2.0, ts->wpaint->brush->size, 40);
 	glDisable(GL_BLEND);
 	glDisable( GL_LINE_SMOOTH );
 	
@@ -186,20 +186,13 @@ static VPaint *new_vpaint(int wpaint)
 {
 	VPaint *vp= MEM_callocN(sizeof(VPaint), "VPaint");
 	
-	vp->r= 1.0f;
-	vp->g= 1.0f;
-	vp->b= 1.0f;
-	vp->a= 0.2f;
-	vp->size= 25.0f;
 	vp->gamma= vp->mul= 1.0f;
 	
 	vp->flag= VP_AREA+VP_SOFT+VP_SPRAY;
 	
-	if(wpaint) {
-		vp->weight= 1.0f;
-		vp->a= 1.0f;
+	if(wpaint)
 		vp->flag= VP_AREA+VP_SOFT;
-	}
+
 	return vp;
 }
 
@@ -239,7 +232,7 @@ unsigned int rgba_to_mcol(float r, float g, float b, float a)
 
 static unsigned int vpaint_get_current_col(VPaint *vp)
 {
-	return rgba_to_mcol(vp->r, vp->g, vp->b, 1.0f);
+	return rgba_to_mcol(vp->brush->rgb[0], vp->brush->rgb[1], vp->brush->rgb[2], 1.0f);
 }
 
 void do_shared_vertexcol(Mesh *me)
@@ -334,8 +327,6 @@ void make_vertexcol(Scene *scene, int shade)	/* single ob */
 	else
 		memset(me->mcol, 255, 4*sizeof(MCol)*me->totface);
 	
-// XXX	if (me->mr) multires_load_cols(me);
-	
 	DAG_object_flush_update(scene, ob, OB_RECALC_DATA);
 	
 }
@@ -434,7 +425,7 @@ void clear_vpaint_selectedfaces(Scene *scene)
 void clear_wpaint_selectedfaces(Scene *scene)
 {
 	VPaint *wp= scene->toolsettings->wpaint;
-	float paintweight= wp->weight;
+	float paintweight= wp->brush->alpha;
 	Mesh *me;
 	MFace *mface;
 	Object *ob;
@@ -742,7 +733,7 @@ static void vpaint_blend(VPaint *vp, unsigned int *col, unsigned int *colorig, u
 		unsigned int testcol=0, a;
 		char *cp, *ct, *co;
 		
-		alpha= (int)(255.0*vp->a);
+		alpha= (int)(255.0*vp->brush->alpha);
 		
 		if(vp->mode==VP_MIX || vp->mode==VP_BLUR) testcol= mcol_blend( *colorig, paintcol, alpha);
 		else if(vp->mode==VP_ADD) testcol= mcol_add( *colorig, paintcol, alpha);
@@ -818,14 +809,14 @@ static int calc_vp_alpha_dl(VPaint *vp, ViewContext *vc, float vpimat[][3], floa
 		dy= mval[1]-vertco[1];
 		
 		fac= sqrt(dx*dx + dy*dy);
-		if(fac > vp->size) return 0;
+		if(fac > vp->brush->size) return 0;
 		if(vp->flag & VP_HARD)
 			alpha= 255;
 		else
-			alpha= 255.0*vp->a*(1.0-fac/vp->size);
+			alpha= 255.0*vp->brush->alpha*(1.0-fac/vp->brush->size);
 	}
 	else {
-		alpha= 255.0*vp->a;
+		alpha= 255.0*vp->brush->alpha;
 	}
 
 	if(vp->flag & VP_NORMALS) {
@@ -872,7 +863,7 @@ static void wpaint_blend(VPaint *wp, MDeformWeight *dw, MDeformWeight *uw, float
 	if((wp->flag & VP_SPRAY)==0) {
 		float testw=0.0f;
 		
-		alpha= wp->a;
+		alpha= wp->brush->alpha;
 		if(wp->mode==VP_MIX || wp->mode==VP_BLUR)
 			testw = paintval*alpha + uw->weight*(1.0-alpha);
 		else if(wp->mode==VP_ADD)
@@ -1028,20 +1019,20 @@ void sample_wpaint(Scene *scene, ARegion *ar, View3D *v3d, int mode)
 				fac= MIN4(w1, w2, w3, w4);
 				if(w1==fac) {
 					dw= get_defweight(me->dvert+mface->v1, ob->actdef-1);
-					if(dw) wp->weight= dw->weight; else wp->weight= 0.0f;
+					if(dw) wp->brush->alpha= dw->weight; else wp->brush->alpha= 0.0f;
 				}
 				else if(w2==fac) {
 					dw= get_defweight(me->dvert+mface->v2, ob->actdef-1);
-					if(dw) wp->weight= dw->weight; else wp->weight= 0.0f;
+					if(dw) wp->brush->alpha= dw->weight; else wp->brush->alpha= 0.0f;
 				}
 				else if(w3==fac) {
 					dw= get_defweight(me->dvert+mface->v3, ob->actdef-1);
-					if(dw) wp->weight= dw->weight; else wp->weight= 0.0f;
+					if(dw) wp->brush->alpha= dw->weight; else wp->brush->alpha= 0.0f;
 				}
 				else if(w4==fac) {
 					if(mface->v4) {
 						dw= get_defweight(me->dvert+mface->v4, ob->actdef-1);
-						if(dw) wp->weight= dw->weight; else wp->weight= 0.0f;
+						if(dw) wp->brush->alpha= dw->weight; else wp->brush->alpha= 0.0f;
 					}
 				}
 			}
@@ -1120,6 +1111,8 @@ static int set_wpaint(bContext *C, wmOperator *op)		/* toggle */
 		
 		if(wp==NULL)
 			wp= scene->toolsettings->wpaint= new_vpaint(1);
+
+		brush_check_exists(&wp->brush);
 		
 		toggle_paint_cursor(C, 1);
 		
@@ -1178,36 +1171,10 @@ void PAINT_OT_weight_paint_toggle(wmOperatorType *ot)
 
 /* ************ paint radial controls *************/
 
-void paint_radial_control_invoke(wmOperator *op, VPaint *vp)
-{
-	int mode = RNA_int_get(op->ptr, "mode");
-	float original_value;
-
-	if(mode == WM_RADIALCONTROL_SIZE)
-		original_value = vp->size;
-	else if(mode == WM_RADIALCONTROL_STRENGTH)
-		original_value = vp->a;
-
-	RNA_float_set(op->ptr, "initial_value", original_value);
-}
-
-static int paint_radial_control_exec(wmOperator *op, VPaint *vp)
-{
-	int mode = RNA_int_get(op->ptr, "mode");
-	float new_value = RNA_float_get(op->ptr, "new_value");
-
-	if(mode == WM_RADIALCONTROL_SIZE)
-		vp->size = new_value;
-	else if(mode == WM_RADIALCONTROL_STRENGTH)
-		vp->a = new_value;
-
-	return OPERATOR_FINISHED;
-}
-
 static int vpaint_radial_control_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	toggle_paint_cursor(C, 0);
-	paint_radial_control_invoke(op, CTX_data_scene(C)->toolsettings->vpaint);
+	brush_radial_control_invoke(op, CTX_data_scene(C)->toolsettings->vpaint->brush, 1);
 	return WM_radial_control_invoke(C, op, event);
 }
 
@@ -1221,16 +1188,13 @@ static int vpaint_radial_control_modal(bContext *C, wmOperator *op, wmEvent *eve
 
 static int vpaint_radial_control_exec(bContext *C, wmOperator *op)
 {
-	int ret = paint_radial_control_exec(op, CTX_data_scene(C)->toolsettings->vpaint);
-	char str[256];
-	WM_radial_control_string(op, str, 256);
-	return ret;
+	return brush_radial_control_exec(op, CTX_data_scene(C)->toolsettings->vpaint->brush, 1);
 }
 
 static int wpaint_radial_control_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	toggle_paint_cursor(C, 1);
-	paint_radial_control_invoke(op, CTX_data_scene(C)->toolsettings->wpaint);
+	brush_radial_control_invoke(op, CTX_data_scene(C)->toolsettings->wpaint->brush, 1);
 	return WM_radial_control_invoke(C, op, event);
 }
 
@@ -1244,10 +1208,7 @@ static int wpaint_radial_control_modal(bContext *C, wmOperator *op, wmEvent *eve
 
 static int wpaint_radial_control_exec(bContext *C, wmOperator *op)
 {
-	int ret = paint_radial_control_exec(op, CTX_data_scene(C)->toolsettings->wpaint);
-	char str[256];
-	WM_radial_control_string(op, str, 256);
-	return ret;
+	return brush_radial_control_exec(op, CTX_data_scene(C)->toolsettings->wpaint->brush, 1);
 }
 
 void PAINT_OT_weight_paint_radial_control(wmOperatorType *ot)
@@ -1347,7 +1308,7 @@ static int wpaint_modal(bContext *C, wmOperator *op, wmEvent *event)
 			Object *ob= vc->obact;
 			Mesh *me= ob->data;
 			float mat[4][4];
-			float paintweight= wp->weight;
+			float paintweight= wp->brush->alpha;
 			int *indexar= wpd->indexar;
 			int totindex, index, alpha, totw;
 			short mval[2];
@@ -1366,7 +1327,7 @@ static int wpaint_modal(bContext *C, wmOperator *op, wmEvent *event)
 			
 			/* which faces are involved */
 			if(wp->flag & VP_AREA) {
-				totindex= sample_backbuf_area(vc, indexar, me->totface, mval[0], mval[1], wp->size);
+				totindex= sample_backbuf_area(vc, indexar, me->totface, mval[0], mval[1], wp->brush->size);
 			}
 			else {
 				indexar[0]= view3d_sample_backbuf(vc, mval[0], mval[1]);
@@ -1404,7 +1365,7 @@ static int wpaint_modal(bContext *C, wmOperator *op, wmEvent *event)
 			if(wp->mode==VP_BLUR) 
 				paintweight= 0.0f;
 			else
-				paintweight= wp->weight;
+				paintweight= wp->brush->alpha;
 			
 			for(index=0; index<totindex; index++) {
 				if(indexar[index] && indexar[index]<=me->totface) {
@@ -1655,6 +1616,7 @@ static int set_vpaint(bContext *C, wmOperator *op)		/* toggle */
 			vp= scene->toolsettings->vpaint= new_vpaint(0);
 		
 		toggle_paint_cursor(C, 0);
+		brush_check_exists(&scene->toolsettings->vpaint->brush);
 	}
 	
 	if (me)
@@ -1765,7 +1727,7 @@ static int vpaint_modal(bContext *C, wmOperator *op, wmEvent *event)
 				
 			/* which faces are involved */
 			if(vp->flag & VP_AREA) {
-				totindex= sample_backbuf_area(vc, indexar, me->totface, mval[0], mval[1], vp->size);
+				totindex= sample_backbuf_area(vc, indexar, me->totface, mval[0], mval[1], vp->brush->size);
 			}
 			else {
 				indexar[0]= view3d_sample_backbuf(vc, mval[0], mval[1]);
diff --git a/source/blender/editors/sculpt_paint/sculpt.c b/source/blender/editors/sculpt_paint/sculpt.c
index 40aaee758b9..8f1e3826314 100644
--- a/source/blender/editors/sculpt_paint/sculpt.c
+++ b/source/blender/editors/sculpt_paint/sculpt.c
@@ -1275,11 +1275,7 @@ static int sculpt_radial_control_modal(bContext *C, wmOperator *op, wmEvent *eve
 
 static int sculpt_radial_control_exec(bContext *C, wmOperator *op)
 {
-	int ret = brush_radial_control_exec(op, CTX_data_scene(C)->toolsettings->sculpt->brush, 1);
-	char str[256];
-	WM_radial_control_string(op, str, 256);
-
-	return ret;
+	return brush_radial_control_exec(op, CTX_data_scene(C)->toolsettings->sculpt->brush, 1);
 }
 
 static void SCULPT_OT_radial_control(wmOperatorType *ot)
@@ -1662,12 +1658,10 @@ static int sculpt_toggle_mode(bContext *C, wmOperator *op)
 
 		toggle_paint_cursor(C);
 
+		/* If there's no brush, create one */
+		brush_check_exists(&ts->sculpt->brush);
 
-
-		/* XXX: testing */
-		/* Needed for testing, if there's no brush then create one */
-		ts->sculpt->brush = add_brush("test brush");
-		/* Also for testing, set the brush texture to the first available one */
+		/* XXX: testing: set the brush texture to the first available one */
 		if(G.main->tex.first) {
 			Tex *tex = G.main->tex.first;
 			if(tex->type) {
diff --git a/source/blender/editors/space_action/action_edit.c b/source/blender/editors/space_action/action_edit.c
index 53403a4e699..adb5d749f71 100644
--- a/source/blender/editors/space_action/action_edit.c
+++ b/source/blender/editors/space_action/action_edit.c
@@ -172,11 +172,11 @@ static int actkeys_previewrange_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
  
-void ACT_OT_set_previewrange (wmOperatorType *ot)
+void ACT_OT_previewrange_set (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Auto-Set Preview Range";
-	ot->idname= "ACT_OT_set_previewrange";
+	ot->idname= "ACT_OT_previewrange_set";
 	
 	/* api callbacks */
 	ot->exec= actkeys_previewrange_exec;
@@ -248,7 +248,7 @@ static short copy_action_keys (bAnimContext *ac)
 	free_anim_copybuf();
 	
 	/* filter data */
-	filter= (ANIMFILTER_VISIBLE | ANIMFILTER_SEL | ANIMFILTER_CURVESONLY);
+	filter= (ANIMFILTER_VISIBLE | ANIMFILTER_CURVESONLY);
 	ANIM_animdata_filter(ac, &anim_data, filter, ac->data, ac->datatype);
 	
 	/* copy keyframes */
@@ -852,11 +852,11 @@ static int actkeys_expo_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
  
-void ACT_OT_keyframes_extrapolation_type (wmOperatorType *ot)
+void ACT_OT_keyframes_extrapolation_type_set (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Keyframe Extrapolation";
-	ot->idname= "ACT_OT_keyframes_extrapolation_type";
+	ot->idname= "ACT_OT_keyframes_extrapolation_type_set";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
@@ -1028,11 +1028,11 @@ static int actkeys_handletype_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
  
-void ACT_OT_keyframes_handletype (wmOperatorType *ot)
+void ACT_OT_keyframes_handle_type_set (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Keyframe Handle Type";
-	ot->idname= "ACT_OT_keyframes_handletype";
+	ot->idname= "ACT_OT_keyframes_handle_type_set";
 	
 	/* api callbacks */
 	ot->invoke= WM_menu_invoke;
diff --git a/source/blender/editors/space_action/action_intern.h b/source/blender/editors/space_action/action_intern.h
index 7d21ac263c3..b4d2528b3b4 100644
--- a/source/blender/editors/space_action/action_intern.h
+++ b/source/blender/editors/space_action/action_intern.h
@@ -53,9 +53,9 @@ void action_header_buttons(const struct bContext *C, struct ARegion *ar);
 /* ***************************************** */
 /* action_select.c */
 
-void ACT_OT_keyframes_deselectall(struct wmOperatorType *ot);
-void ACT_OT_keyframes_borderselect(struct wmOperatorType *ot);
-void ACT_OT_keyframes_columnselect(struct wmOperatorType *ot);
+void ACT_OT_keyframes_select_all_toggle(struct wmOperatorType *ot);
+void ACT_OT_keyframes_select_border(struct wmOperatorType *ot);
+void ACT_OT_keyframes_select_column(struct wmOperatorType *ot);
 void ACT_OT_keyframes_clickselect(struct wmOperatorType *ot);
 
 /* defines for left-right select tool */
@@ -77,7 +77,7 @@ enum {
 /* ***************************************** */
 /* action_edit.c */
 
-void ACT_OT_set_previewrange(struct wmOperatorType *ot);
+void ACT_OT_previewrange_set(struct wmOperatorType *ot);
 void ACT_OT_view_all(struct wmOperatorType *ot);
 
 void ACT_OT_keyframes_copy(struct wmOperatorType *ot);
@@ -89,9 +89,9 @@ void ACT_OT_keyframes_delete(struct wmOperatorType *ot);
 void ACT_OT_keyframes_clean(struct wmOperatorType *ot);
 void ACT_OT_keyframes_sample(struct wmOperatorType *ot);
 
-void ACT_OT_keyframes_handletype(struct wmOperatorType *ot);
+void ACT_OT_keyframes_handle_type_set(struct wmOperatorType *ot);
 void ACT_OT_keyframes_interpolation_type(struct wmOperatorType *ot);
-void ACT_OT_keyframes_extrapolation_type(struct wmOperatorType *ot);
+void ACT_OT_keyframes_extrapolation_type_set(struct wmOperatorType *ot);
 
 void ACT_OT_keyframes_cfrasnap(struct wmOperatorType *ot);
 void ACT_OT_keyframes_snap(struct wmOperatorType *ot);
diff --git a/source/blender/editors/space_action/action_ops.c b/source/blender/editors/space_action/action_ops.c
index 081b5539524..eedf4868391 100644
--- a/source/blender/editors/space_action/action_ops.c
+++ b/source/blender/editors/space_action/action_ops.c
@@ -64,17 +64,17 @@ void action_operatortypes(void)
 	/* keyframes */
 		/* selection */
 	WM_operatortype_append(ACT_OT_keyframes_clickselect);
-	WM_operatortype_append(ACT_OT_keyframes_deselectall);
-	WM_operatortype_append(ACT_OT_keyframes_borderselect);
-	WM_operatortype_append(ACT_OT_keyframes_columnselect);
+	WM_operatortype_append(ACT_OT_keyframes_select_all_toggle);
+	WM_operatortype_append(ACT_OT_keyframes_select_border);
+	WM_operatortype_append(ACT_OT_keyframes_select_column);
 	
 		/* editing */
 	WM_operatortype_append(ACT_OT_keyframes_snap);
 	WM_operatortype_append(ACT_OT_keyframes_mirror);
 	WM_operatortype_append(ACT_OT_keyframes_cfrasnap);
-	WM_operatortype_append(ACT_OT_keyframes_handletype);
+	WM_operatortype_append(ACT_OT_keyframes_handle_type_set);
 	WM_operatortype_append(ACT_OT_keyframes_interpolation_type);
-	WM_operatortype_append(ACT_OT_keyframes_extrapolation_type);
+	WM_operatortype_append(ACT_OT_keyframes_extrapolation_type_set);
 	WM_operatortype_append(ACT_OT_keyframes_sample);
 	WM_operatortype_append(ACT_OT_keyframes_clean);
 	WM_operatortype_append(ACT_OT_keyframes_delete);
@@ -83,7 +83,7 @@ void action_operatortypes(void)
 	WM_operatortype_append(ACT_OT_keyframes_copy);
 	WM_operatortype_append(ACT_OT_keyframes_paste);
 	
-	WM_operatortype_append(ACT_OT_set_previewrange);
+	WM_operatortype_append(ACT_OT_previewrange_set);
 	WM_operatortype_append(ACT_OT_view_all);
 }
 
@@ -95,23 +95,23 @@ static void action_keymap_keyframes (wmWindowManager *wm, ListBase *keymap)
 		/* click-select */
 		// TODO: column to alt, left-right to ctrl (for select-linked consistency)
 	WM_keymap_add_item(keymap, "ACT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_CTRL, 0)->ptr, "column_select", 1);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "extend_select", 1);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_CTRL, 0)->ptr, "column", 1);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "extend", 1);
 	RNA_enum_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_ALT, 0)->ptr, "left_right", ACTKEYS_LRSEL_TEST);
 	
 		/* deselect all */
-	WM_keymap_add_item(keymap, "ACT_OT_keyframes_deselectall", AKEY, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_deselectall", IKEY, KM_PRESS, KM_CTRL, 0)->ptr, "invert", 1);
+	WM_keymap_add_item(keymap, "ACT_OT_keyframes_select_all_toggle", AKEY, KM_PRESS, 0, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_select_all_toggle", IKEY, KM_PRESS, KM_CTRL, 0)->ptr, "invert", 1);
 	
 		/* borderselect */
-	WM_keymap_add_item(keymap, "ACT_OT_keyframes_borderselect", BKEY, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_borderselect", BKEY, KM_PRESS, KM_ALT, 0)->ptr, "axis_range", 1);
+	WM_keymap_add_item(keymap, "ACT_OT_keyframes_select_border", BKEY, KM_PRESS, 0, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_select_border", BKEY, KM_PRESS, KM_ALT, 0)->ptr, "axis_range", 1);
 	
 		/* column select */
-	RNA_enum_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_columnselect", KKEY, KM_PRESS, 0, 0)->ptr, "mode", ACTKEYS_COLUMNSEL_KEYS);
-	RNA_enum_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_columnselect", KKEY, KM_PRESS, KM_CTRL, 0)->ptr, "mode", ACTKEYS_COLUMNSEL_CFRA);
-	RNA_enum_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_columnselect", KKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "mode", ACTKEYS_COLUMNSEL_MARKERS_COLUMN);
-	RNA_enum_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_columnselect", KKEY, KM_PRESS, KM_ALT, 0)->ptr, "mode", ACTKEYS_COLUMNSEL_MARKERS_BETWEEN);
+	RNA_enum_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_select_column", KKEY, KM_PRESS, 0, 0)->ptr, "mode", ACTKEYS_COLUMNSEL_KEYS);
+	RNA_enum_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_select_column", KKEY, KM_PRESS, KM_CTRL, 0)->ptr, "mode", ACTKEYS_COLUMNSEL_CFRA);
+	RNA_enum_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_select_column", KKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "mode", ACTKEYS_COLUMNSEL_MARKERS_COLUMN);
+	RNA_enum_set(WM_keymap_add_item(keymap, "ACT_OT_keyframes_select_column", KKEY, KM_PRESS, KM_ALT, 0)->ptr, "mode", ACTKEYS_COLUMNSEL_MARKERS_BETWEEN);
 	
 	/* action_edit.c */
 		/* snap - current frame to selected keys */
@@ -122,9 +122,9 @@ static void action_keymap_keyframes (wmWindowManager *wm, ListBase *keymap)
 	WM_keymap_add_item(keymap, "ACT_OT_keyframes_mirror", MKEY, KM_PRESS, KM_SHIFT, 0);
 	
 		/* menu + set setting */
-	WM_keymap_add_item(keymap, "ACT_OT_keyframes_handletype", HKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "ACT_OT_keyframes_handle_type_set", HKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "ACT_OT_keyframes_interpolation_type", TKEY, KM_PRESS, KM_SHIFT, 0);
-	WM_keymap_add_item(keymap, "ACT_OT_keyframes_extrapolation_type", EKEY, KM_PRESS, KM_SHIFT, 0); 
+	WM_keymap_add_item(keymap, "ACT_OT_keyframes_extrapolation_type_set", EKEY, KM_PRESS, KM_SHIFT, 0); 
 	
 		/* destructive */
 	WM_keymap_add_item(keymap, "ACT_OT_keyframes_clean", OKEY, KM_PRESS, 0, 0);
@@ -141,7 +141,7 @@ static void action_keymap_keyframes (wmWindowManager *wm, ListBase *keymap)
 	WM_keymap_add_item(keymap, "ACT_OT_keyframes_paste", VKEY, KM_PRESS, KM_CTRL, 0);
 	
 		/* auto-set range */
-	WM_keymap_add_item(keymap, "ACT_OT_set_previewrange", PKEY, KM_PRESS, KM_CTRL|KM_ALT, 0);
+	WM_keymap_add_item(keymap, "ACT_OT_previewrange_set", PKEY, KM_PRESS, KM_CTRL|KM_ALT, 0);
 	WM_keymap_add_item(keymap, "ACT_OT_view_all", HOMEKEY, KM_PRESS, 0, 0);
 	
 	/* transform system */
diff --git a/source/blender/editors/space_action/action_select.c b/source/blender/editors/space_action/action_select.c
index 5cf92abb664..5fb39376fd0 100644
--- a/source/blender/editors/space_action/action_select.c
+++ b/source/blender/editors/space_action/action_select.c
@@ -328,11 +328,11 @@ static int actkeys_deselectall_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
  
-void ACT_OT_keyframes_deselectall (wmOperatorType *ot)
+void ACT_OT_keyframes_select_all_toggle (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select All";
-	ot->idname= "ACT_OT_keyframes_deselectall";
+	ot->idname= "ACT_OT_keyframes_select_all_toggle";
 	
 	/* api callbacks */
 	ot->exec= actkeys_deselectall_exec;
@@ -487,11 +487,11 @@ static int actkeys_borderselect_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 } 
 
-void ACT_OT_keyframes_borderselect(wmOperatorType *ot)
+void ACT_OT_keyframes_select_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Border Select";
-	ot->idname= "ACT_OT_keyframes_borderselect";
+	ot->idname= "ACT_OT_keyframes_select_border";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
@@ -723,11 +723,11 @@ static int actkeys_columnselect_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
  
-void ACT_OT_keyframes_columnselect (wmOperatorType *ot)
+void ACT_OT_keyframes_select_column (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select All";
-	ot->idname= "ACT_OT_keyframes_columnselect";
+	ot->idname= "ACT_OT_keyframes_select_column";
 	
 	/* api callbacks */
 	ot->exec= actkeys_columnselect_exec;
@@ -1067,7 +1067,7 @@ static int actkeys_clickselect_invoke(bContext *C, wmOperator *op, wmEvent *even
 	
 	/* select mode is either replace (deselect all, then add) or add/extend */
 	// XXX this is currently only available for normal select only
-	if (RNA_boolean_get(op->ptr, "extend_select"))
+	if (RNA_boolean_get(op->ptr, "extend"))
 		selectmode= SELECT_INVERT;
 	else
 		selectmode= SELECT_REPLACE;
@@ -1085,7 +1085,7 @@ static int actkeys_clickselect_invoke(bContext *C, wmOperator *op, wmEvent *even
 		
 		selectkeys_leftright(&ac, RNA_enum_get(op->ptr, "left_right"), selectmode);
 	}
-	else if (RNA_boolean_get(op->ptr, "column_select")) {
+	else if (RNA_boolean_get(op->ptr, "column")) {
 		/* select all the keyframes that occur on the same frame as where the mouse clicked */
 		float x;
 		
@@ -1122,8 +1122,8 @@ void ACT_OT_keyframes_clickselect (wmOperatorType *ot)
 	/* id-props */
 	// XXX should we make this into separate operators?
 	RNA_def_enum(ot->srna, "left_right", NULL /* XXX prop_actkeys_clickselect_items */, 0, "Left Right", ""); // ALTKEY
-	RNA_def_boolean(ot->srna, "extend_select", 0, "Extend Select", ""); // SHIFTKEY
-	RNA_def_boolean(ot->srna, "column_select", 0, "Column Select", ""); // CTRLKEY
+	RNA_def_boolean(ot->srna, "extend", 0, "Extend Select", ""); // SHIFTKEY
+	RNA_def_boolean(ot->srna, "column", 0, "Column Select", ""); // CTRLKEY
 }
 
 /* ************************************************************************** */
diff --git a/source/blender/editors/space_buttons/SConscript b/source/blender/editors/space_buttons/SConscript
index d36dd89b681..541da52f7f9 100644
--- a/source/blender/editors/space_buttons/SConscript
+++ b/source/blender/editors/space_buttons/SConscript
@@ -7,4 +7,12 @@ incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../imbuf'
 incs += ' ../../windowmanager #/intern/guardedalloc #/extern/glew/include'
 incs += ' ../../makesrna ../../render/extern/include'
 
-env.BlenderLib ( 'bf_editors_space_buttons', sources, Split(incs), [], libtype=['core'], priority=[120] )
+defs = []
+
+if env['WITH_BF_GAMEENGINE']:
+	defs.append('GAMEBLENDER=1')
+
+	if env['WITH_BF_SOLID']:
+		defs.append('USE_SUMO_SOLID')
+
+env.BlenderLib ( 'bf_editors_space_buttons', sources, Split(incs), defs, libtype=['core'], priority=[120] )
diff --git a/source/blender/editors/space_buttons/buttons_header.c b/source/blender/editors/space_buttons/buttons_header.c
index 515083c9fec..40e3564e69b 100644
--- a/source/blender/editors/space_buttons/buttons_header.c
+++ b/source/blender/editors/space_buttons/buttons_header.c
@@ -62,22 +62,44 @@
 
 static void do_viewmenu(bContext *C, void *arg, int event)
 {
-	
+	SpaceButs *sbuts= (SpaceButs*)CTX_wm_space_data(C);
+	ScrArea *sa= CTX_wm_area(C);
+
+	switch(event) {
+		case 0: /* panel alignment */
+		case 1:
+		case 2:
+			sbuts->align= event;
+			if(event) {
+				sbuts->re_align= 1;
+				// uiAlignPanelStep(sa, 1.0);
+			}
+            break;
+    }
+
+	ED_area_tag_redraw(sa);
 }
 
 static uiBlock *dummy_viewmenu(bContext *C, ARegion *ar, void *arg_unused)
 {
-	ScrArea *curarea= CTX_wm_area(C);
+	SpaceButs *sbuts= (SpaceButs*)CTX_wm_space_data(C);
+	ScrArea *sa= CTX_wm_area(C);
 	uiBlock *block;
 	short yco= 0, menuwidth=120;
 	
 	block= uiBeginBlock(C, ar, "dummy_viewmenu", UI_EMBOSSP, UI_HELV);
 	uiBlockSetButmFunc(block, do_viewmenu, NULL);
 	
-	uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Nothing yet", 0, yco-=20, 
-					 menuwidth, 19, NULL, 0.0, 0.0, 1, 3, "");
-	
-	if(curarea->headertype==HEADERTOP) {
+	if (sbuts->align == 1) uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_HLT, "Horizontal", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 1, "");
+	else uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_DEHLT, "Horizontal", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 1, "");
+
+	if (sbuts->align == 2) uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_HLT, "Vertical", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 2, "");
+	else uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_DEHLT, "Vertical", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 2, "");
+
+	if (sbuts->align == 0) uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_HLT, "Free", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 0, "");
+	else uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_DEHLT, "Free", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 0, "");
+
+	if(sa->headertype==HEADERTOP) {
 		uiBlockSetDirection(block, UI_DOWN);
 	}
 	else {
diff --git a/source/blender/editors/space_buttons/buttons_intern.h b/source/blender/editors/space_buttons/buttons_intern.h
index ffc325e59ab..e979e815e18 100644
--- a/source/blender/editors/space_buttons/buttons_intern.h
+++ b/source/blender/editors/space_buttons/buttons_intern.h
@@ -28,6 +28,10 @@
 #ifndef ED_BUTTONS_INTERN_H
 #define ED_BUTTONS_INTERN_H
 
+struct ARegion;
+struct ARegionType;
+struct bContext;
+
 /* warning: the values of these defines are used in sbuts->tabs[7] */
 /* buts->mainb new */
 #define CONTEXT_SCENE	0
@@ -73,8 +77,9 @@
 /* internal exports only */
 
 /* image_header.c */
-void buttons_header_buttons(const bContext *C, ARegion *ar);
-void buttons_scene(const bContext *C, ARegion *ar);
+void buttons_header_buttons(const struct bContext *C, struct ARegion *ar);
+void buttons_scene(const struct bContext *C, struct ARegion *ar);
+void buttons_object_register(struct ARegionType *art);
 
 #endif /* ED_BUTTONS_INTERN_H */
 
diff --git a/source/blender/editors/space_buttons/buttons_object.c b/source/blender/editors/space_buttons/buttons_object.c
new file mode 100644
index 00000000000..965376b731a
--- /dev/null
+++ b/source/blender/editors/space_buttons/buttons_object.c
@@ -0,0 +1,216 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 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 LICENSE BLOCK *****
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "MEM_guardedalloc.h"
+
+#include "DNA_group_types.h"
+#include "DNA_object_types.h"
+#include "DNA_screen_types.h"
+#include "DNA_space_types.h"
+
+#include "BLI_listbase.h"
+
+#include "BKE_context.h"
+#include "BKE_group.h"
+#include "BKE_main.h"
+#include "BKE_screen.h"
+
+#include "UI_interface.h"
+#include "UI_resources.h"
+
+#include "RNA_access.h"
+
+#include "WM_types.h"
+
+static void object_panel_transform(const bContext *C, Panel *pnl)
+{
+	uiLayout *layout= pnl->layout;
+	Object *ob= CTX_data_active_object(C);
+	PointerRNA obptr;
+
+	RNA_id_pointer_create(&ob->id, &obptr);
+
+	uiTemplateColumn(layout);
+	uiItemR(layout, UI_TSLOT_COLUMN_1, NULL, 0, &obptr, "location");
+	uiItemR(layout, UI_TSLOT_COLUMN_2, NULL, 0, &obptr, "rotation");
+	uiItemR(layout, UI_TSLOT_COLUMN_3, NULL, 0, &obptr, "scale");
+}
+
+static void object_panel_groups(const bContext *C, Panel *pnl)
+{
+	uiLayout *layout= pnl->layout;
+	Main *bmain= CTX_data_main(C);
+	Object *ob= CTX_data_active_object(C);
+	Group *group;
+	PointerRNA obptr, groupptr;
+	uiLayout *sublayout;
+
+	RNA_id_pointer_create(&ob->id, &obptr);
+
+	uiTemplateColumn(layout);
+	uiItemR(layout, UI_TSLOT_COLUMN_1, NULL, 0, &obptr, "pass_index");
+	uiItemR(layout, UI_TSLOT_COLUMN_2, NULL, 0, &obptr, "parent");
+
+	/* uiTemplateLeftRight(layout);
+	uiItemO(layout, UI_TSLOT_LR_LEFT, NULL, 0, "OBJECT_OT_add_group"); */
+
+	for(group=bmain->group.first; group; group=group->id.next) {
+		if(object_in_group(ob, group)) {
+			RNA_id_pointer_create(&group->id, &groupptr);
+
+			sublayout= uiTemplateStack(layout);
+
+			uiTemplateLeftRight(sublayout);
+			uiItemR(sublayout, UI_TSLOT_LR_LEFT, NULL, 0, &groupptr, "name");
+			// uiItemO(sublayout, UI_TSLOT_LR_RIGHT, "", ICON_X, "OBJECT_OT_remove_group");
+
+			uiTemplateColumn(sublayout);
+			uiItemR(sublayout, UI_TSLOT_COLUMN_1, NULL, 0, &groupptr, "layer");
+			uiItemR(sublayout, UI_TSLOT_COLUMN_2, NULL, 0, &groupptr, "dupli_offset");
+		}
+	}
+}
+
+static void object_panel_display(const bContext *C, Panel *pnl)
+{
+	uiLayout *layout= pnl->layout;
+	Object *ob= CTX_data_active_object(C);
+	PointerRNA obptr;
+
+	RNA_id_pointer_create(&ob->id, &obptr);
+
+	uiTemplateColumn(layout);
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Type", 0, &obptr, "max_draw_type");
+	uiItemR(layout, UI_TSLOT_COLUMN_2, "Bounds", 0, &obptr, "draw_bounds_type");
+
+	uiTemplateColumn(layout);
+	uiItemLabel(layout, UI_TSLOT_COLUMN_1, "Extra", 0);
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Name", 0, &obptr, "draw_name");
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Axis", 0, &obptr, "draw_axis");
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Wire", 0, &obptr, "draw_wire");
+	uiItemLabel(layout, UI_TSLOT_COLUMN_2, "", 0);
+	uiItemR(layout, UI_TSLOT_COLUMN_2, "Texture Space", 0, &obptr, "draw_texture_space");
+	uiItemR(layout, UI_TSLOT_COLUMN_2, "X-Ray", 0, &obptr, "x_ray");
+	uiItemR(layout, UI_TSLOT_COLUMN_2, "Transparency", 0, &obptr, "draw_transparent");
+}
+
+static void object_panel_duplication(const bContext *C, Panel *pnl)
+{
+	uiLayout *layout= pnl->layout;
+	Object *ob= CTX_data_active_object(C);
+	PointerRNA obptr;
+
+	RNA_id_pointer_create(&ob->id, &obptr);
+
+	uiTemplateColumn(layout);
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Frames", 0, &obptr, "dupli_frames");
+	uiItemR(layout, UI_TSLOT_COLUMN_2, "Verts", 0, &obptr, "dupli_verts");
+	uiItemR(layout, UI_TSLOT_COLUMN_3, "Faces", 0, &obptr, "dupli_faces");
+	uiItemR(layout, UI_TSLOT_COLUMN_4, "Group", 0, &obptr, "use_dupli_group");
+
+	if(RNA_boolean_get(&obptr, "dupli_frames")) {
+		uiTemplateColumn(layout);
+		uiItemR(layout, UI_TSLOT_COLUMN_1, "Start:", 0, &obptr, "dupli_frames_start");
+		uiItemR(layout, UI_TSLOT_COLUMN_1, "End:", 0, &obptr, "dupli_frames_end");
+
+		uiItemR(layout, UI_TSLOT_COLUMN_2, "On:", 0, &obptr, "dupli_frames_on");
+		uiItemR(layout, UI_TSLOT_COLUMN_2, "Off:", 0, &obptr, "dupli_frames_off");
+	}
+}
+
+static void object_panel_animation(const bContext *C, Panel *pnl)
+{
+	uiLayout *layout= pnl->layout;
+	Object *ob= CTX_data_active_object(C);
+	PointerRNA obptr;
+
+	RNA_id_pointer_create(&ob->id, &obptr);
+
+	uiTemplateColumn(layout);
+	uiItemLabel(layout, UI_TSLOT_COLUMN_1, "Time Offset:", 0);
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Edit", 0, &obptr, "time_offset_edit");
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Particle", 0, &obptr, "time_offset_particle");
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Parent", 0, &obptr, "time_offset_parent");
+	uiItemR(layout, UI_TSLOT_COLUMN_1, NULL, 0, &obptr, "slow_parent");
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Offset: ", 0, &obptr, "time_offset");
+
+	uiItemLabel(layout, UI_TSLOT_COLUMN_2, "Tracking:", 0);
+	uiItemR(layout, UI_TSLOT_COLUMN_2, "Axis: ", 0, &obptr, "track_axis");
+	uiItemR(layout, UI_TSLOT_COLUMN_2, "Up Axis: ", 0, &obptr, "up_axis");
+	uiItemR(layout, UI_TSLOT_COLUMN_2, "Rotation", 0, &obptr, "track_rotation");
+}
+
+void buttons_object_register(ARegionType *art)
+{
+	PanelType *pt;
+
+	/* panels: transform */
+	pt= MEM_callocN(sizeof(PanelType), "spacetype buttons panel");
+	pt->idname= "OBJECT_PT_transform";
+	pt->name= "Transform";
+	pt->context= "object";
+	pt->draw= object_panel_transform;
+	BLI_addtail(&art->paneltypes, pt);
+
+	/* panels: groups */
+	pt= MEM_callocN(sizeof(PanelType), "spacetype buttons panel");
+	pt->idname= "OBJECT_PT_groups";
+	pt->name= "Groups";
+	pt->context= "object";
+	pt->draw= object_panel_groups;
+	BLI_addtail(&art->paneltypes, pt);
+
+	/* panels: display */
+	pt= MEM_callocN(sizeof(PanelType), "spacetype buttons panel");
+	pt->idname= "OBJECT_PT_display";
+	pt->name= "Display";
+	pt->context= "object";
+	pt->draw= object_panel_display;
+	BLI_addtail(&art->paneltypes, pt);
+
+	/* panels: duplication */
+	pt= MEM_callocN(sizeof(PanelType), "spacetype buttons panel");
+	pt->idname= "OBJECT_PT_duplication";
+	pt->name= "Duplication";
+	pt->context= "object";
+	pt->draw= object_panel_duplication;
+	BLI_addtail(&art->paneltypes, pt);
+
+	/* panels: animation */
+	pt= MEM_callocN(sizeof(PanelType), "spacetype buttons panel");
+	pt->idname= "OBJECT_PT_animation";
+	pt->name= "Animation";
+	pt->context= "object";
+	pt->draw= object_panel_animation;
+	BLI_addtail(&art->paneltypes, pt);
+}
+
diff --git a/source/blender/editors/space_buttons/buttons_scene.c b/source/blender/editors/space_buttons/buttons_scene.c
index e4cff2f4f06..ca645ab1845 100644
--- a/source/blender/editors/space_buttons/buttons_scene.c
+++ b/source/blender/editors/space_buttons/buttons_scene.c
@@ -266,13 +266,11 @@ static void render_panel_render(const bContext *C, ARegion *ar)
 	uiDefButBitI(block, TOG, R_RADIO, 0,"Radio",	649,142,38,29, &scene->r.mode, 0, 0, 0, 0, "Enable radiosity rendering");
 	uiBlockEndAlign(block);
 	
-	uiBlockBeginAlign(block);
-	uiDefButS(block, ROW,0,"100%",			565,109,122,20,&scene->r.size,1.0,100.0, 0, 0, "Set render size to defined size");
-	uiDefButS(block, ROW,0,"75%",			565,88,40,20,&scene->r.size,1.0,75.0, 0, 0, "Set render size to 3/4 of defined size");
-	uiDefButS(block, ROW,0,"50%",			606,88,40,20,&scene->r.size,1.0,50.0, 0, 0, "Set render size to 1/2 of defined size");
-	uiDefButS(block, ROW,0,"25%",			647,88,40,20,&scene->r.size,1.0,25.0, 0, 0, "Set render size to 1/4 of defined size");
-	uiBlockEndAlign(block);
-
+	uiDefButS(block, NUMSLI, 0, "Size %: ",
+			  565,109,122,20,
+			  &(scene->r.size), 1.0, 100.0, 0, 0,
+			  "Render at percentage of frame size");
+	
 	uiBlockBeginAlign(block);
 	uiDefButBitI(block, TOG, R_FIELDS, 0,"Fields",  565,55,60,20,&scene->r.mode, 0, 0, 0, 0, "Enables field rendering");
 	uiDefButBitI(block, TOG, R_ODDFIELD, 0,"Odd",	627,55,39,20,&scene->r.mode, 0, 0, 0, 0, "Enables Odd field first rendering (Default: Even field)");
diff --git a/source/blender/editors/space_buttons/space_buttons.c b/source/blender/editors/space_buttons/space_buttons.c
index f2134af7424..bae318ff454 100644
--- a/source/blender/editors/space_buttons/space_buttons.c
+++ b/source/blender/editors/space_buttons/space_buttons.c
@@ -141,14 +141,13 @@ static SpaceLink *buttons_duplicate(SpaceLink *sl)
 	return (SpaceLink *)sbutsn;
 }
 
-
-
 /* add handlers, stuff you only do once or on area/region changes */
 static void buttons_main_area_init(wmWindowManager *wm, ARegion *ar)
 {
 	ListBase *keymap;
-	
-	UI_view2d_region_reinit(&ar->v2d, V2D_COMMONVIEW_STANDARD, ar->winx, ar->winy);
+
+//	ar->v2d.minzoom= ar->v2d.maxzoom= 1.0f;
+	UI_view2d_region_reinit(&ar->v2d, V2D_COMMONVIEW_PANELS_UI, ar->winx, ar->winy);
 	
 	/* own keymap */
 	keymap= WM_keymap_listbase(wm, "Buttons", SPACE_BUTS, 0);	/* XXX weak? */
@@ -159,37 +158,51 @@ static void buttons_main_area_draw(const bContext *C, ARegion *ar)
 {
 	/* draw entirely, view changes should be handled here */
 	SpaceButs *sbuts= (SpaceButs*)CTX_wm_space_data(C);
-	View2D *v2d= &ar->v2d;
-	float col[3], fac;
-	int align= 0;
-	
-	/* clear and setup matrix */
-	UI_GetThemeColor3fv(TH_BACK, col);
-	glClearColor(col[0], col[1], col[2], 0.0);
-	glClear(GL_COLOR_BUFFER_BIT);
-	
-	UI_view2d_view_ortho(C, v2d);
+
+	if(sbuts->mainb == CONTEXT_OBJECT) {
+		int tab= sbuts->tab[CONTEXT_OBJECT];
+		int vertical= (sbuts->align == 2);
+
+		if(tab == TAB_OBJECT_OBJECT)
+			uiRegionPanelLayout(C, ar, vertical, "object");
+	}
+	else {
+		View2D *v2d= &ar->v2d;
+		float col[3], fac;
+		//int align= 0;
+
+		/* clear and setup matrix */
+		UI_GetThemeColor3fv(TH_BACK, col);
+		glClearColor(col[0], col[1], col[2], 0.0);
+		glClear(GL_COLOR_BUFFER_BIT);
 		
-	/* swapbuffers indicator */
-	fac= BLI_frand();
-	glColor3f(fac, fac, fac);
-	glRecti(20,  2,  30,  12);
-	
-	/* panels */
-	if(sbuts->mainb == CONTEXT_SCENE)
-		buttons_scene(C, ar);
-	
-	if(sbuts->align)
-		if(sbuts->re_align || sbuts->mainbo!=sbuts->mainb || sbuts->tabo!=sbuts->tab[sbuts->mainb])
-			align= 1;
+		UI_view2d_view_ortho(C, v2d);
 
-	uiDrawPanels(C, align);
-	uiMatchPanelsView2d(ar);
-	
-	/* reset view matrix */
-	UI_view2d_view_restore(C);
-	
-	/* scrollers? */
+		/* swapbuffers indicator */
+		fac= BLI_frand();
+		glColor3f(fac, fac, fac);
+		glRecti(20, v2d->cur.ymin+2,  30, v2d->cur.ymin+12);
+		
+		/* panels */
+		if(sbuts->mainb == CONTEXT_SCENE)
+			buttons_scene(C, ar);
+		else
+			drawnewstuff();
+		
+#if 0
+		if(sbuts->align)
+			if(sbuts->re_align || sbuts->mainbo!=sbuts->mainb || sbuts->tabo!=sbuts->tab[sbuts->mainb])
+				align= 1;
+#endif
+
+		uiDrawPanels(C, 1); // XXX align);
+		uiMatchPanelsView2d(ar);
+		
+		/* reset view matrix */
+		UI_view2d_view_restore(C);
+		
+		/* scrollers? */
+	}
 }
 
 void buttons_operatortypes(void)
@@ -268,6 +281,8 @@ void ED_spacetype_buttons(void)
 	art->listener= buttons_area_listener;
 	art->keymapflag= ED_KEYMAP_UI|ED_KEYMAP_VIEW2D|ED_KEYMAP_FRAMES;
 
+	buttons_object_register(art);
+
 	BLI_addhead(&st->regiontypes, art);
 	
 	/* regions: header */
@@ -292,7 +307,6 @@ void ED_spacetype_buttons(void)
 	
 	BLI_addhead(&st->regiontypes, art);
 	
-	
 	BKE_spacetype_register(st);
 }
 
diff --git a/source/blender/editors/space_file/Makefile b/source/blender/editors/space_file/Makefile
index 7a41f66fb1d..480a4ee3889 100644
--- a/source/blender/editors/space_file/Makefile
+++ b/source/blender/editors/space_file/Makefile
@@ -54,3 +54,8 @@ CPPFLAGS += -I$(NAN_GUARDEDALLOC)/include
 # own include 
 
 CPPFLAGS += -I../include 
+
+ifeq ($(WITH_OPENJPEG),true)
+	CPPFLAGS += -DWITH_OPENJPEG
+endif
+
diff --git a/source/blender/editors/space_file/file_draw.c b/source/blender/editors/space_file/file_draw.c
index 72da15ccd9d..c65c486d4bb 100644
--- a/source/blender/editors/space_file/file_draw.c
+++ b/source/blender/editors/space_file/file_draw.c
@@ -29,6 +29,7 @@
 #include <string.h>
 
 #include "BLI_blenlib.h"
+#include "BLI_dynstr.h"
 #include "BLI_storage_types.h"
 #ifdef WIN32
 #include "BLI_winstuff.h"
@@ -36,6 +37,7 @@
 
 #include "BIF_gl.h"
 #include "BIF_glutil.h"
+#include "BMF_Api.h"
 
 #include "BKE_colortools.h"
 #include "BKE_context.h"
@@ -76,7 +78,7 @@
 #include "file_intern.h"	// own include
 
 /* ui geometry */
-#define IMASEL_BUTTONS_HEIGHT 60
+#define IMASEL_BUTTONS_HEIGHT 40
 #define TILE_BORDER_X 8
 #define TILE_BORDER_Y 8
 
@@ -88,6 +90,9 @@ enum {
 	B_FS_PARENT,
 } eFile_ButEvents;
 
+/* XXX very bad, need to check font code */
+static int gFontsize=12;
+
 static void do_file_buttons(bContext *C, void *arg, int event)
 {
 	switch(event) {
@@ -111,19 +116,14 @@ void file_draw_buttons(const bContext *C, ARegion *ar)
 	uiBlock *block;
 	int loadbutton;
 	char name[20];
-	char *menu;
 	float slen;
-	float parentbut_width = 20;
-	float bookmarkbut_width = 0.0f;
-	float file_start_width = 0.0f;
-
 	int filebuty1, filebuty2;
 
-	float xmin = 10;
+	float xmin = 8;
 	float xmax = ar->winx - 10;
 
-	filebuty1= ar->winy - IMASEL_BUTTONS_HEIGHT;
-	filebuty2= filebuty1+IMASEL_BUTTONS_HEIGHT/2 -6;
+	filebuty1= ar->winy - IMASEL_BUTTONS_HEIGHT - 12;
+	filebuty2= filebuty1 + IMASEL_BUTTONS_HEIGHT/2 + 4;
 
 	/* HEADER */
 	sprintf(name, "win %p", ar);
@@ -146,34 +146,28 @@ void file_draw_buttons(const bContext *C, ARegion *ar)
 		loadbutton= 0;
 	}
 
-	/* XXX to channel region */
-	menu= fsmenu_build_menu();
-
-	if (menu[0]&& (params->type != FILE_MAIN)) {
-		bookmarkbut_width = parentbut_width;
-		file_start_width = parentbut_width;
-	}
-
-	uiDefBut(block, TEX, 0 /* XXX B_FS_FILENAME */,"",	xmin+file_start_width+bookmarkbut_width+2, filebuty1, xmax-xmin-loadbutton-file_start_width-bookmarkbut_width, 21, params->file, 0.0, (float)FILE_MAXFILE-1, 0, 0, "");
-	uiDefBut(block, TEX, 0 /* XXX B_FS_DIRNAME */,"",	xmin+parentbut_width, filebuty2, xmax-xmin-loadbutton-parentbut_width, 21, params->dir, 0.0, (float)FILE_MAXFILE-1, 0, 0, "");
-
+	uiDefBut(block, TEX, 0 /* XXX B_FS_FILENAME */,"",	xmin+2, filebuty1, xmax-xmin-loadbutton-4, 21, params->file, 0.0, (float)FILE_MAXFILE-1, 0, 0, "");
+	uiDefBut(block, TEX, 0 /* XXX B_FS_DIRNAME */,"",	xmin+2, filebuty2, xmax-xmin-loadbutton-4, 21, params->dir, 0.0, (float)FILE_MAXFILE-1, 0, 0, "");
+	
 	if(loadbutton) {
 		uiSetCurFont(block, UI_HELV);
 		uiDefBut(block, BUT, B_FS_EXEC, params->title,	xmax-loadbutton, filebuty2, loadbutton, 21, params->dir, 0.0, (float)FILE_MAXFILE-1, 0, 0, "");
 		uiDefBut(block, BUT, B_FS_CANCEL, "Cancel",		xmax-loadbutton, filebuty1, loadbutton, 21, params->file, 0.0, (float)FILE_MAXFILE-1, 0, 0, "");
 	}
 
+#if 0
 	/* menu[0] = NULL happens when no .Bfs is there, and first time browse
 	   disallow external directory browsing for databrowse */
 
 	if(menu[0] && (params->type != FILE_MAIN))	{ 
-		uiDefButS(block, MENU, 0 /* B_FS_DIR_MENU */, menu, xmin, filebuty1, parentbut_width, 21, &params->menu, 0, 0, 0, 0, "");
-		uiDefBut(block, BUT, 0 /* B_FS_BOOKMARK */, "B", xmin+22, filebuty1, bookmarkbut_width, 21, 0, 0, 0, 0, 0, "Bookmark current directory");
+		uiDefButS(block, MENU, 0 /* B_FS_DIR_MENU */, menu, xmin, filebuty2, fsmenubut_width, 21, &params->menu, 0, 0, 0, 0, "");
+		uiDefBut(block, BUT, 0 /* B_FS_BOOKMARK */, "B", xmin, filebuty1, bookmarkbut_width, 21, 0, 0, 0, 0, 0, "Bookmark current directory");
 	}
 
 	MEM_freeN(menu);
+#endif
+
 
-	uiDefBut(block, BUT, B_FS_PARENT, "P", xmin, filebuty2, parentbut_width, 21, 0, 0, 0, 0, 0, "Move to the parent directory (PKEY)");	
 	uiEndBlock(C, block);
 	uiDrawBlock(C, block);
 }
@@ -194,28 +188,89 @@ static void draw_tile(short sx, short sy, short width, short height, int colorid
 	uiRoundBox(sx, sy - height, sx + width, sy, 6);
 }
 
-static float shorten_string(char* string, float w)
+#define FILE_SHORTEN_END				0
+#define FILE_SHORTEN_FRONT				1
+
+static float shorten_string(char* string, float w, int flag)
 {	
+	char temp[FILE_MAX];
 	short shortened = 0;
 	float sw = 0;
-	
+	float pad = 0;
+
 	sw = UI_GetStringWidth(G.font, string,0);
-	while (sw>w) {
-		int slen = strlen(string);
-		string[slen-1] = '\0';
-		sw = UI_GetStringWidth(G.font, string,0);
-		shortened = 1;
-	}
-	if (shortened) {
-		int slen = strlen(string);
-		if (slen > 3) {
-			BLI_strncpy(string+slen-3, "...", 4);				
+	if (flag == FILE_SHORTEN_FRONT) {
+		char *s = string;
+		BLI_strncpy(temp, "...", 4);
+		pad = UI_GetStringWidth(G.font, temp,0);
+		while (s && (sw+pad>w)) {
+			s++;
+			sw = UI_GetStringWidth(G.font, s,0);
+			shortened = 1;
+		}
+		if (shortened) {
+			int slen = strlen(s);			
+			BLI_strncpy(temp+3, s, slen+1);
+			temp[slen+4] = '\0';
+			BLI_strncpy(string, temp, slen+4);
+		}
+	} else {
+		char *s = string;
+		while (sw>w) {
+			int slen = strlen(string);
+			string[slen-1] = '\0';
+			sw = UI_GetStringWidth(G.font, s,0);
+			shortened = 1;
+		}
+		if (shortened) {
+			int slen = strlen(string);
+			if (slen > 3) {
+				BLI_strncpy(string+slen-3, "...", 4);				
+			}
 		}
 	}
+	
 	return sw;
 }
 
-static void file_draw_string(short sx, short sy, char* string, short width, short height)
+static int get_file_icon(struct direntry *file)
+{
+	if (file->type & S_IFDIR)
+		return ICON_FILE_FOLDER;
+	else if (file->flags & BLENDERFILE)
+		return ICON_FILE_BLEND;
+	else if (file->flags & IMAGEFILE)
+		return ICON_FILE_IMAGE;
+	else if (file->flags & MOVIEFILE)
+		return ICON_FILE_MOVIE;
+	else if (file->flags & PYSCRIPTFILE)
+		return ICON_FILE_SCRIPT;
+	else if (file->flags & PYSCRIPTFILE)
+		return ICON_FILE_SCRIPT;
+	else if (file->flags & SOUNDFILE) 
+		return ICON_FILE_SOUND;
+	else if (file->flags & FTFONTFILE) 
+		return ICON_FILE_FONT;
+	else
+		return ICON_FILE_BLANK;
+}
+
+static void file_draw_icon(short sx, short sy, int icon, short width, short height)
+{
+	float x,y;
+	int blend=0;
+	
+	x = (float)(sx);
+	y = (float)(sy-height);
+	
+	if (icon == ICON_FILE_BLANK) blend = -80;
+	
+	glEnable(GL_BLEND);
+	
+	UI_icon_draw_aspect_blended(x, y, icon, 1.f, blend);
+}
+
+static void file_draw_string(short sx, short sy, const char* string, short width, short height, int flag)
 {
 	short soffs;
 	char fname[FILE_MAXFILE];
@@ -223,7 +278,8 @@ static void file_draw_string(short sx, short sy, char* string, short width, shor
 	float x,y;
 
 	BLI_strncpy(fname,string, FILE_MAXFILE);
-	sw = shorten_string(fname, width );
+	sw = shorten_string(fname, width, flag );
+
 	soffs = (width - sw) / 2;
 	x = (float)(sx);
 	y = (float)(sy-height);
@@ -240,210 +296,131 @@ static void file_draw_string(short sx, short sy, char* string, short width, shor
 
 }
 
-/* returns max number of rows in view */
-static int file_view_rows(SpaceFile* sfile, View2D *v2d)
-{
-	int height= (v2d->cur.ymax - v2d->cur.ymin - 2*sfile->tile_border_y);
-	return height / (sfile->tile_h + 2*sfile->tile_border_y);
-}
-
-/* returns max number of columns in view */
-static int file_view_columns(SpaceFile* sfile, View2D *v2d)
-{
-	int width= (v2d->cur.xmax - v2d->cur.xmin - 2*sfile->tile_border_x);
-	return width / (sfile->tile_w + 2*sfile->tile_border_x);
-}
-
 void file_calc_previews(const bContext *C, ARegion *ar)
 {
 	SpaceFile *sfile= (SpaceFile*)CTX_wm_space_data(C);
-	FileSelectParams* params = ED_fileselect_get_params(sfile);
 	View2D *v2d= &ar->v2d;
-	int width=0, height=0;
-	int rows, columns;
-
-	if (params->display == FILE_IMGDISPLAY) {
-		sfile->prv_w = 96;
-		sfile->prv_h = 96;
-		sfile->tile_border_x = 4;
-		sfile->tile_border_y = 4;
-		sfile->prv_border_x = 4;
-		sfile->prv_border_y = 4;
-		sfile->tile_w = sfile->prv_w + 2*sfile->prv_border_x;
-		sfile->tile_h = sfile->prv_h + 4*sfile->prv_border_y + U.fontsize*3/2;
-		width= (v2d->cur.xmax - v2d->cur.xmin - 2*sfile->tile_border_x);
-		columns= file_view_columns(sfile, v2d);
-		if(columns)
-			rows= filelist_numfiles(sfile->files)/columns + 1; // XXX dirty, modulo is zero
-		else
-			rows= filelist_numfiles(sfile->files) + 1; // XXX dirty, modulo is zero
-		height= rows*(sfile->tile_h+2*sfile->tile_border_y) + sfile->tile_border_y*2;
-	} else {
-		sfile->prv_w = 0;
-		sfile->prv_h = 0;
-		sfile->tile_border_x = 8;
-		sfile->tile_border_y = 2;
-		sfile->prv_border_x = 0;
-		sfile->prv_border_y = 0;
-		sfile->tile_w = 240;
-		sfile->tile_h = U.fontsize*3/2;
-		height= v2d->cur.ymax - v2d->cur.ymin;
-		rows = file_view_rows(sfile, v2d);
-		if(rows)
-			columns = filelist_numfiles(sfile->files)/rows + 1; // XXX dirty, modulo is zero
-		else
-			columns = filelist_numfiles(sfile->files) + 1; // XXX dirty, modulo is zero
-			
-		width = columns * (sfile->tile_w + 2*sfile->tile_border_x) + sfile->tile_border_x*2;
-	}
-
-	UI_view2d_totRect_set(v2d, width, height);
+	
+	ED_fileselect_init_layout(sfile, ar);
+	UI_view2d_totRect_set(v2d, sfile->layout->width, sfile->layout->height);
 }
 
 void file_draw_previews(const bContext *C, ARegion *ar)
 {
 	SpaceFile *sfile= (SpaceFile*)CTX_wm_space_data(C);
 	FileSelectParams* params= ED_fileselect_get_params(sfile);
+	FileLayout* layout= ED_fileselect_get_layout(sfile, ar);
 	View2D *v2d= &ar->v2d;
-	static double lasttime= 0;
 	struct FileList* files = sfile->files;
 	int numfiles;
 	struct direntry *file;
-
 	short sx, sy;
-	int do_load = 1;
-	
 	ImBuf* imb=0;
 	int i;
-	short type;
 	int colorid = 0;
-	int todo;
 	int offset;
-	int columns;
-	int rows;
+	int is_icon;
 
 	if (!files) return;
 
-	type = filelist_gettype(files);	
-	filelist_imgsize(files,sfile->prv_w,sfile->prv_h);
+	filelist_imgsize(files,sfile->layout->prv_w,sfile->layout->prv_h);
 	numfiles = filelist_numfiles(files);
-	
-	todo = 0;
-	if (lasttime < 0.001) lasttime = PIL_check_seconds_timer();
-
-	sx = v2d->cur.xmin + sfile->tile_border_x;
-	sy = v2d->cur.ymax - sfile->tile_border_y;
-	columns = file_view_columns(sfile, v2d);
-	rows = file_view_rows(sfile, v2d);
 
-	offset = columns*(-v2d->cur.ymax-sfile->tile_border_y)/(sfile->tile_h+sfile->tile_border_y);
-	offset = (offset/columns-1)*columns;
+	sx = v2d->cur.xmin + layout->tile_border_x;
+	sy = v2d->cur.ymax - layout->tile_border_y;
+	
+	offset = ED_fileselect_layout_offset(layout, 0, 0);
 	if (offset<0) offset=0;
-	for (i=offset; (i < numfiles) && (i < (offset+(rows+2)*columns)); ++i)
+	for (i=offset; (i < numfiles) && (i < (offset+(layout->rows+2)*layout->columns)); ++i)
 	{
-		sx = v2d->tot.xmin + sfile->tile_border_x + ((i)%columns)*(sfile->tile_w+2*sfile->tile_border_x);
-		sy = v2d->tot.ymax - sfile->tile_border_y - ((i)/columns)*(sfile->tile_h+2*sfile->tile_border_y);
+		ED_fileselect_layout_tilepos(layout, i, &sx, &sy);
+		sx += v2d->tot.xmin+2;
+		sy = v2d->tot.ymax - sy;
 		file = filelist_file(files, i);				
 
-		if (params->active_file == i) {
-			colorid = TH_ACTIVE;
-			draw_tile(sx - 1, sy, sfile->tile_w + 1, sfile->tile_h, colorid,0);
-		} else if (file->flags & ACTIVE) {
+		if (file->flags & ACTIVE) {
 			colorid = TH_HILITE;
-			draw_tile(sx - 1, sy, sfile->tile_w + 1, sfile->tile_h, colorid,0);
-		} else {
-			colorid = TH_BACK;
-			draw_tile(sx, sy, sfile->tile_w, sfile->tile_h, colorid, -5);
+			draw_tile(sx - 1, sy, sfile->layout->tile_w + 1, sfile->layout->tile_h, colorid,0);
+		} else if (params->active_file == i) {
+			colorid = TH_ACTIVE;
+			draw_tile(sx - 1, sy, sfile->layout->tile_w + 1, sfile->layout->tile_h, colorid,0);
 		}
-
-#if 0
-		if ( type == FILE_MAIN) {
-			ID *id;
-			int icon_id = 0;
-			int idcode;
-			idcode= groupname_to_code(sfile->dir);
-			if (idcode == ID_MA || idcode == ID_TE || idcode == ID_LA || idcode == ID_WO || idcode == ID_IM) {
-				id = (ID *)file->poin;
-				icon_id = BKE_icon_getid(id);
-			}		
-			if (icon_id) {
-				glEnable(GL_BLEND);
-				glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-				if (do_load) {
-					UI_icon_draw_preview(sx+2*TILE_BORDER_X, sy-simasel->prv_w-TILE_BORDER_X, icon_id, 0);			
-				} else {
-					UI_icon_draw_preview(sx+2*TILE_BORDER_X, sy-simasel->prv_w-TILE_BORDER_X, icon_id, 1);
-					todo++;
-				}
-				
-				glDisable(GL_BLEND);
-			}		
+		
+		if ( (file->flags & IMAGEFILE) /* || (file->flags & MOVIEFILE) */)
+		{			
+			filelist_loadimage(files, i);
+		}
+		is_icon = 0;
+		imb = filelist_getimage(files, i);
+		if (!imb) {
+			imb = filelist_geticon(files,i);
+			is_icon = 1;
 		}
-		else {
-#endif
-			if ( (file->flags & IMAGEFILE) /* || (file->flags & MOVIEFILE) */)
-			{
-				if (do_load) {					
-					filelist_loadimage(files, i);				
-				} else {
-					todo++;
-				}
-				imb = filelist_getimage(files, i);
-			} else {
-				imb = filelist_getimage(files, i);
-			}
 
-			if (imb) {		
-				float fx = ((float)sfile->prv_w - (float)imb->x)/2.0f;
-				float fy = ((float)sfile->prv_h - (float)imb->y)/2.0f;
-				short dx = (short)(fx + 0.5f + sfile->prv_border_x);
-				short dy = (short)(fy + 0.5f - sfile->prv_border_y);
-				
-				glEnable(GL_BLEND);
-				glBlendFunc(GL_SRC_ALPHA,  GL_ONE_MINUS_SRC_ALPHA);													
-				// glaDrawPixelsSafe((float)sx+8 + dx, (float)sy - imgwidth + dy - 8, imb->x, imb->y, imb->x, GL_RGBA, GL_UNSIGNED_BYTE, imb->rect);
-				glColor4f(1.0, 1.0, 1.0, 1.0);
-				glaDrawPixelsTex((float)sx + dx, (float)sy - sfile->prv_h + dy, imb->x, imb->y,GL_UNSIGNED_BYTE, imb->rect);
-				glDisable(GL_BLEND);
-				imb = 0;
+		if (imb) {
+			float fx = ((float)layout->prv_w - (float)imb->x)/2.0f;
+			float fy = ((float)layout->prv_h - (float)imb->y)/2.0f;
+			float dx = (fx + 0.5f + sfile->layout->prv_border_x);
+			float dy = (fy + 0.5f - sfile->layout->prv_border_y);
+			short xco = (float)sx + dx;
+			short yco = (float)sy - sfile->layout->prv_h + dy;
+			
+			glBlendFunc(GL_SRC_ALPHA,  GL_ONE_MINUS_SRC_ALPHA);
+			
+			/* shadow */
+			if (!is_icon && (file->flags & IMAGEFILE))
+				uiDrawBoxShadow(220, xco, yco, xco + imb->x, yco + imb->y);
+			
+			glEnable(GL_BLEND);
+			
+			/* the image */
+			glColor4f(1.0, 1.0, 1.0, 1.0);
+			glaDrawPixelsTex(xco, yco, imb->x, imb->y, GL_UNSIGNED_BYTE, imb->rect);
+			
+			/* border */
+			if (!is_icon && (file->flags & IMAGEFILE)) {
+				glColor4f(0.0f, 0.0f, 0.0f, 0.4f);
+				fdrawbox(xco, yco, xco + imb->x, yco + imb->y);
 			}
-#if 0
-		}		
-#endif
-		if (type == FILE_MAIN) {
-			glColor4f(1.0f, 1.0f, 1.0f, 1.0f);			
+			
+			glDisable(GL_BLEND);
+			imb = 0;
+		}
+
+		/* shadow */
+		UI_ThemeColorShade(TH_BACK, -20);
+		
+		
+		if (S_ISDIR(file->type)) {
+			glColor4f(1.0f, 1.0f, 0.9f, 1.0f);
+		}
+		else if (file->flags & IMAGEFILE) {
+			UI_ThemeColor(TH_SEQ_IMAGE);
+		}
+		else if (file->flags & MOVIEFILE) {
+			UI_ThemeColor(TH_SEQ_MOVIE);
+		}
+		else if (file->flags & BLENDERFILE) {
+			UI_ThemeColor(TH_SEQ_SCENE);
 		}
 		else {
-			if (S_ISDIR(file->type)) {
-				glColor4f(1.0f, 1.0f, 0.9f, 1.0f);
-			}
-			else if (file->flags & IMAGEFILE) {
-				UI_ThemeColor(TH_SEQ_IMAGE);
-			}
-			else if (file->flags & MOVIEFILE) {
-				UI_ThemeColor(TH_SEQ_MOVIE);
-			}
-			else if (file->flags & BLENDERFILE) {
-				UI_ThemeColor(TH_SEQ_SCENE);
-			}
-			else {
-				if (params->active_file == i) {
-					UI_ThemeColor(TH_GRID); /* grid used for active text */
-				} else if (file->flags & ACTIVE) {
-					UI_ThemeColor(TH_TEXT_HI);			
-				} else {
-					UI_ThemeColor(TH_TEXT);
-				}
+			if (params->active_file == i) {
+				UI_ThemeColor(TH_GRID); /* grid used for active text */
+			} else if (file->flags & ACTIVE) {
+				UI_ThemeColor(TH_TEXT_HI);			
+			} else {
+				UI_ThemeColor(TH_TEXT);
 			}
 		}
-			
-		file_draw_string(sx + sfile->prv_border_x, sy+U.fontsize*3/2, file->relname, sfile->tile_w, sfile->tile_h);
+
+		file_draw_string(sx + layout->prv_border_x, sy+4, file->relname, layout->tile_w, layout->tile_h, FILE_SHORTEN_END);
 
 		if (!sfile->loadimage_timer)
 			sfile->loadimage_timer= WM_event_add_window_timer(CTX_wm_window(C), TIMER1, 1.0/30.0);	/* max 30 frames/sec. */
 
 	}
 
+	uiSetRoundBox(0);
 }
 
 
@@ -451,6 +428,8 @@ void file_draw_list(const bContext *C, ARegion *ar)
 {
 	SpaceFile *sfile= (SpaceFile*)CTX_wm_space_data(C);
 	FileSelectParams* params = ED_fileselect_get_params(sfile);
+	FileLayout* layout= ED_fileselect_get_layout(sfile, ar);
+	View2D *v2d= &ar->v2d;
 	struct FileList* files = sfile->files;
 	struct direntry *file;
 	int numfiles;
@@ -459,113 +438,181 @@ void file_draw_list(const bContext *C, ARegion *ar)
 	int offset;
 	short type;
 	int i;
-	int rows;
-	float sw;
+	float sw, spos;
 
 	numfiles = filelist_numfiles(files);
 	type = filelist_gettype(files);	
 
-	sx = ar->v2d.tot.xmin + sfile->tile_border_x/2;
-	sy = ar->v2d.cur.ymax - sfile->tile_border_y;
+	sx = ar->v2d.tot.xmin + layout->tile_border_x/2;
+	sy = ar->v2d.cur.ymax - layout->tile_border_y;
 
-	rows = (ar->v2d.cur.ymax - ar->v2d.cur.ymin - 2*sfile->tile_border_y) / (sfile->tile_h+sfile->tile_border_y);
-	offset = rows*(sx - sfile->tile_border_x)/(sfile->tile_w+sfile->tile_border_x);
-	offset = (offset/rows-1)*rows;
+	offset = ED_fileselect_layout_offset(layout, 0, 0);
+	if (offset<0) offset=0;
 
+	/* alternating flat shade background */
+	for (i=0; (i <= layout->rows); ++i)
+	{
+		sx = v2d->cur.xmin;
+		sy = v2d->cur.ymax - i*(layout->tile_h+2*layout->tile_border_y) - layout->tile_border_y;
+		
+		if (i % 2) {
+			UI_ThemeColor(TH_BACK);
+		} else {
+			UI_ThemeColorShade(TH_BACK, -7);
+		}
+		glRectf(v2d->cur.xmin, sy, v2d->cur.xmax, sy+layout->tile_h+2*layout->tile_border_y);
+	}
+	
+	/* vertical column dividers */
+	sx = v2d->tot.xmin;
 	while (sx < ar->v2d.cur.xmax) {
-		sx += (sfile->tile_w+sfile->tile_border_x);
-		glColor4ub(0xB0,0xB0,0xB0, 0xFF);
-		sdrawline(sx+1,  ar->v2d.cur.ymax - sfile->tile_border_y ,  sx+1,  ar->v2d.cur.ymin + sfile->tile_border_y); 
-		glColor4ub(0x30,0x30,0x30, 0xFF);
-		sdrawline(sx,  ar->v2d.cur.ymax - sfile->tile_border_y ,  sx,  ar->v2d.cur.ymin + sfile->tile_border_y); 
+		sx += (sfile->layout->tile_w+2*sfile->layout->tile_border_x);
+		
+		UI_ThemeColorShade(TH_BACK, 30);
+		sdrawline(sx+1,  ar->v2d.cur.ymax - layout->tile_border_y ,  sx+1,  ar->v2d.cur.ymin); 
+		UI_ThemeColorShade(TH_BACK, -30);
+		sdrawline(sx,  ar->v2d.cur.ymax - layout->tile_border_y ,  sx,  ar->v2d.cur.ymin); 
 	}
 
-	sx = ar->v2d.cur.xmin + sfile->tile_border_x;
-	sy = ar->v2d.cur.ymax - sfile->tile_border_y;
-	if (offset<0) offset=0;
+	sx = ar->v2d.cur.xmin + layout->tile_border_x;
+	sy = ar->v2d.cur.ymax - layout->tile_border_y;
+
 	for (i=offset; (i < numfiles); ++i)
 	{
-		sy = ar->v2d.tot.ymax-sfile->tile_border_y - (i%rows)*(sfile->tile_h+sfile->tile_border_y);
-		sx = 2 + ar->v2d.tot.xmin +sfile->tile_border_x + (i/rows)*(sfile->tile_w+sfile->tile_border_x);
+		ED_fileselect_layout_tilepos(layout, i, &sx, &sy);
+		sx += v2d->tot.xmin+2;
+		sy = v2d->tot.ymax - sy;
 
 		file = filelist_file(files, i);	
 
 		if (params->active_file == i) {
 			if (file->flags & ACTIVE) colorid= TH_HILITE;
 			else colorid = TH_BACK;
-			draw_tile(sx-2, sy-3, sfile->tile_w+2, sfile->tile_h, colorid,20);
+			draw_tile(sx-2, sy-3, layout->tile_w+2, sfile->layout->tile_h+layout->tile_border_y, colorid,20);
 		} else if (file->flags & ACTIVE) {
 			colorid = TH_HILITE;
-			draw_tile(sx-2, sy-3, sfile->tile_w+2, sfile->tile_h, colorid,0);
+			draw_tile(sx-2, sy-3, layout->tile_w+2, sfile->layout->tile_h+layout->tile_border_y, colorid,0);
+		} 
+
+		spos = sx;
+		file_draw_icon(spos, sy-3, get_file_icon(file), ICON_DEFAULT_WIDTH, ICON_DEFAULT_WIDTH);
+		spos += ICON_DEFAULT_WIDTH + 4;
+		
+		UI_ThemeColor4(TH_TEXT);
+		
+		
+		sw = UI_GetStringWidth(G.font, file->relname, 0);
+		file_draw_string(spos, sy, file->relname, sw, layout->tile_h, FILE_SHORTEN_END);
+		spos += filelist_column_len(sfile->files, COLUMN_NAME) + 10;
+		if (params->display == FILE_SHOWSHORT) {
+			if (!(file->type & S_IFDIR)) {
+				sw = UI_GetStringWidth(G.font, file->size, 0);
+				spos += filelist_column_len(sfile->files, COLUMN_SIZE) + 10 - sw;
+				file_draw_string(spos, sy, file->size, sw, layout->tile_h, FILE_SHORTEN_END);	
+			}
 		} else {
-			/*
-			colorid = TH_PANEL;
-			draw_tile(sx, sy, sfile->tile_w, sfile->tile_h, colorid);
-			*/
-		}
-		if (type == FILE_MAIN) {
-			glColor4f(1.0f, 1.0f, 1.0f, 1.0f);			
-		}
-		else {
-			if (S_ISDIR(file->type))
-				UI_ThemeColor4(TH_TEXT_HI);			
-			else
-				UI_ThemeColor4(TH_TEXT);
+#if 0 // XXX TODO: add this for non-windows systems
+			/* rwx rwx rwx */
+			spos += 20;
+			sw = UI_GetStringWidth(G.font, file->mode1, 0);
+			file_draw_string(spos, sy, file->mode1, sw, layout->tile_h); 
+			
+			spos += 30;
+			sw = UI_GetStringWidth(G.font, file->mode2, 0);
+			file_draw_string(spos, sy, file->mode2, sw, layout->tile_h);
+
+			spos += 30;
+			sw = UI_GetStringWidth(G.font, file->mode3, 0);
+			file_draw_string(spos, sy, file->mode3, sw, layout->tile_h);
+			
+			spos += 30;
+			sw = UI_GetStringWidth(G.font, file->owner, 0);
+			file_draw_string(spos, sy, file->owner, sw, layout->tile_h);
+#endif
+
+			
+			sw = UI_GetStringWidth(G.font, file->date, 0);
+			file_draw_string(spos, sy, file->date, sw, layout->tile_h, FILE_SHORTEN_END);
+			spos += filelist_column_len(sfile->files, COLUMN_DATE) + 10;
+
+			sw = UI_GetStringWidth(G.font, file->time, 0);
+			file_draw_string(spos, sy, file->time, sw, layout->tile_h, FILE_SHORTEN_END); 
+			spos += filelist_column_len(sfile->files, COLUMN_TIME) + 10;
+
+			if (!(file->type & S_IFDIR)) {
+				sw = UI_GetStringWidth(G.font, file->size, 0);
+				spos += filelist_column_len(sfile->files, COLUMN_SIZE) + 10 - sw;
+				file_draw_string(spos, sy, file->size, sw, layout->tile_h, FILE_SHORTEN_END);
+			}
 		}
-		
-		sw = UI_GetStringWidth(G.font, file->size, 0);
-		file_draw_string(sx, sy, file->relname, sfile->tile_w - sw - 5, sfile->tile_h);
-		file_draw_string(sx + sfile->tile_w - sw, sy, file->size, sfile->tile_w - sw, sfile->tile_h);
 	}
 }
 
-void file_draw_fsmenu(const bContext *C, ARegion *ar)
+static void file_draw_fsmenu_category(const bContext *C, ARegion *ar, FSMenuCategory category, const char* category_name, short *starty)
 {
-	SpaceFile *sfile= (SpaceFile*)CTX_wm_space_data(C);
-	FileSelectParams* params = ED_fileselect_get_params(sfile);
+	struct FSMenu* fsmenu = fsmenu_get();
 	char bookmark[FILE_MAX];
-	int nentries = fsmenu_get_nentries();
-	int linestep = U.fontsize*3/2;
+	int nentries = fsmenu_get_nentries(fsmenu, category);
+	int linestep = gFontsize*2.0f;
+	short sx, sy, xpos, ypos;
+	int bmwidth = ar->v2d.cur.xmax - ar->v2d.cur.xmin - 2*TILE_BORDER_X - ICON_DEFAULT_WIDTH - 4;
+	int fontsize = gFontsize;
 	int i;
-	short sx, sy;
-	int bmwidth = ar->v2d.cur.xmax - ar->v2d.cur.xmin - 2*TILE_BORDER_X;
-	int fontsize = U.fontsize;
-
-	if (params->flag & FILE_BOOKMARKS) {
-		sx = ar->v2d.cur.xmin + TILE_BORDER_X;
-		sy = ar->v2d.cur.ymax-2*TILE_BORDER_Y;
-		for (i=0; i< nentries && (sy > ar->v2d.cur.ymin) ;++i) {
-			char *fname = fsmenu_get_entry(i);
-
-			if (fname) {
-				int sl;
-				BLI_strncpy(bookmark, fname, FILE_MAX);
-			
-				sl = strlen(bookmark)-1;
-				while (bookmark[sl] == '\\' || bookmark[sl] == '/') {
-					bookmark[sl] = '\0';
-					sl--;
-				}
-				if (params->active_bookmark == i ) {
-					glColor4ub(0, 0, 0, 100);
-					UI_ThemeColor(TH_HILITE);
-					uiSetRoundBox(15);	
-					uiRoundBox(sx, sy - linestep, sx + bmwidth, sy, 6);
-					// glRecti(sx, sy - linestep, sx + bmwidth, sy);
-					UI_ThemeColor(TH_TEXT_HI);
-				} else {
-					UI_ThemeColor(TH_TEXT);
-				}
-
-				file_draw_string(sx, sy, bookmark, bmwidth, fontsize);
-				sy -= linestep;
+
+	
+	sx = ar->v2d.cur.xmin + TILE_BORDER_X;
+	sy = *starty;
+
+	UI_ThemeColor(TH_TEXT_HI);
+	file_draw_string(sx, sy, category_name, bmwidth, fontsize, FILE_SHORTEN_END);
+	
+	sy -= linestep;
+
+	for (i=0; i< nentries && (sy > ar->v2d.cur.ymin) ;++i) {
+		char *fname = fsmenu_get_entry(fsmenu, category, i);
+
+		if (fname) {
+			int sl;
+			BLI_strncpy(bookmark, fname, FILE_MAX);
+		
+			sl = strlen(bookmark)-1;
+			while (bookmark[sl] == '\\' || bookmark[sl] == '/') {
+				bookmark[sl] = '\0';
+				sl--;
+			}
+			if (fsmenu_is_selected(fsmenu, category, i) ) {
+				UI_ThemeColor(TH_HILITE);
+				//uiSetRoundBox(15);	
+				uiRoundBox(sx, sy - linestep, ar->v2d.cur.xmax - TILE_BORDER_X, sy, 4.0f);
+				// glRectf(ar->v2d.cur.xmin, sy-linestep, ar->v2d.cur.xmax + 2*TILE_BORDER_X, sy);
+				UI_ThemeColor(TH_TEXT);
 			} else {
-				glColor4ub(0xB0,0xB0,0xB0, 0xFF);
-				sdrawline(sx,  sy-1-fontsize/2 ,  sx + bmwidth,  sy-1-fontsize/2); 
-				glColor4ub(0x30,0x30,0x30, 0xFF);
-				sdrawline(sx,  sy-fontsize/2 ,  sx + bmwidth,  sy - fontsize/2);
-				sy -= linestep;
+				UI_ThemeColor(TH_TEXT_HI);
 			}
+
+			xpos = sx;
+			ypos = sy - (TILE_BORDER_Y * 0.5);
+			
+			file_draw_icon(xpos, ypos, ICON_FILE_FOLDER, ICON_DEFAULT_WIDTH, ICON_DEFAULT_WIDTH);
+			xpos += ICON_DEFAULT_WIDTH + 4;
+			file_draw_string(xpos, ypos, bookmark, bmwidth, fontsize, FILE_SHORTEN_FRONT);
+			sy -= linestep;
+			fsmenu_set_pos(fsmenu, category, i, xpos, ypos);
 		}
 	}
+
+	*starty = sy;
+}
+
+void file_draw_fsmenu(const bContext *C, ARegion *ar)
+{
+	int linestep = gFontsize*2.0f;
+	short sy= ar->v2d.cur.ymax-2*TILE_BORDER_Y;
+	
+	file_draw_fsmenu_category(C, ar, FS_CATEGORY_SYSTEM, "SYSTEM", &sy);
+	sy -= linestep;
+	file_draw_fsmenu_category(C, ar, FS_CATEGORY_BOOKMARKS, "BOOKMARKS", &sy);
+	sy -= linestep;
+	file_draw_fsmenu_category(C, ar, FS_CATEGORY_RECENT, "RECENT", &sy);
+	
 }
diff --git a/source/blender/editors/space_file/file_header.c b/source/blender/editors/space_file/file_header.c
index be734ec971d..54dd7ff15ba 100644
--- a/source/blender/editors/space_file/file_header.c
+++ b/source/blender/editors/space_file/file_header.c
@@ -63,41 +63,10 @@
 
 #define B_SORTIMASELLIST 1
 #define B_RELOADIMASELDIR 2
-
+#define B_FILTERIMASELDIR 3
 
 /* ************************ header area region *********************** */
 
-static void do_viewmenu(bContext *C, void *arg, int event)
-{
-	
-}
-
-static uiBlock *dummy_viewmenu(bContext *C, ARegion *ar, void *arg_unused)
-{
-	ScrArea *curarea= CTX_wm_area(C);
-	uiBlock *block;
-	short yco= 0, menuwidth=120;
-	
-	block= uiBeginBlock(C, ar, "dummy_viewmenu", UI_EMBOSSP, UI_HELV);
-	uiBlockSetButmFunc(block, do_viewmenu, NULL);
-	
-	uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Nothing yet", 0, yco-=20, 
-					 menuwidth, 19, NULL, 0.0, 0.0, 1, 3, "");
-	
-	if(curarea->headertype==HEADERTOP) {
-		uiBlockSetDirection(block, UI_DOWN);
-	}
-	else {
-		uiBlockSetDirection(block, UI_TOP);
-		uiBlockFlipOrder(block);
-	}
-	
-	uiTextBoundsBlock(block, 50);
-	uiEndBlock(C, block);
-	
-	return block;
-}
-
 static void do_file_header_buttons(bContext *C, void *arg, int event)
 {
 	SpaceFile *sfile= (SpaceFile*)CTX_wm_space_data(C);
@@ -109,13 +78,23 @@ static void do_file_header_buttons(bContext *C, void *arg, int event)
 		case B_RELOADIMASELDIR:
 			WM_event_add_notifier(C, NC_WINDOW, NULL);
 			break;
+		case B_FILTERIMASELDIR:
+			if(sfile->params) {
+				if (sfile->params->flag & FILE_FILTER) {
+					filelist_setfilter(sfile->files,sfile->params->filter);
+					filelist_filter(sfile->files);
+				} else {
+					filelist_setfilter(sfile->files,0);
+					filelist_filter(sfile->files);
+				}
+			}
+			WM_event_add_notifier(C, NC_WINDOW, NULL);
 	}
 }
 
 
 void file_header_buttons(const bContext *C, ARegion *ar)
 {
-	ScrArea *sa= CTX_wm_area(C);
 	SpaceFile *sfile= (SpaceFile*)CTX_wm_space_data(C);
 	FileSelectParams* params = ED_fileselect_get_params(sfile);
 
@@ -128,10 +107,10 @@ void file_header_buttons(const bContext *C, ARegion *ar)
 	
 	xco= ED_area_header_standardbuttons(C, block, yco);
 	
+	/*
 	if((sa->flag & HEADER_NO_PULLDOWN)==0) {
 		int xmax;
 		
-		/* pull down menus */
 		uiBlockSetEmboss(block, UI_EMBOSSP);
 		
 		xmax= GetButStringLength("View");
@@ -139,31 +118,65 @@ void file_header_buttons(const bContext *C, ARegion *ar)
 						 "View", xco, yco-2, xmax-3, 24, "");
 		xco+=XIC+xmax;
 	}
+	 */
 	
 	/* SORT TYPE */
 	uiBlockSetEmboss(block, UI_EMBOSSX);
-	xco+=XIC;
+	
+	xco += 5;
+
 	uiBlockBeginAlign(block);
-	uiDefIconButS(block, ROW, B_SORTIMASELLIST, ICON_SORTALPHA,	xco+=XIC,0,XIC,YIC, &params->sort, 1.0, 0.0, 0, 0, "Sorts files alphabetically");
-	uiDefIconButS(block, ROW, B_SORTIMASELLIST, ICON_SORTBYEXT,	xco+=XIC,0,XIC,YIC, &params->sort, 1.0, 3.0, 0, 0, "Sorts files by extension");	
-	uiDefIconButS(block, ROW, B_SORTIMASELLIST, ICON_SORTTIME,	xco+=XIC,0,XIC,YIC, &params->sort, 1.0, 1.0, 0, 0, "Sorts files by time");
-	uiDefIconButS(block, ROW, B_SORTIMASELLIST, ICON_SORTSIZE,	xco+=XIC,0,XIC,YIC, &params->sort, 1.0, 2.0, 0, 0, "Sorts files by size");	
+	uiDefIconButO(block, BUT, "FILE_OT_parent", WM_OP_INVOKE_DEFAULT, ICON_FILE_PARENT, xco+=XIC, yco, 20, 20, "Navigate to Parent Folder");
+	uiDefIconButO(block, BUT, "FILE_OT_refresh", WM_OP_INVOKE_DEFAULT, ICON_FILE_REFRESH, xco+=XIC, yco, 20, 20, "Refresh List of Files");
 	uiBlockEndAlign(block);
-	xco+=XIC+10;
 
+	xco += 5;
+	
 	if (sfile->params->type != FILE_MAIN) {
-		uiDefIconButBitS(block, TOG, FILE_BOOKMARKS, B_RELOADIMASELDIR, ICON_BOOKMARKS,xco+=XIC,0,XIC,YIC, &params->flag, 0, 0, 0, 0, "Toggles Bookmarks on/off");
-		xco+=XIC+10;
-	} 
+		uiBlockBeginAlign(block);
+		uiDefIconButS(block, ROW, B_RELOADIMASELDIR, ICON_SHORTDISPLAY,	xco+=XIC, yco, XIC,YIC, &params->display, 1.0, FILE_SHORTDISPLAY, 0, 0, "Displays short file description");
+		uiDefIconButS(block, ROW, B_RELOADIMASELDIR, ICON_LONGDISPLAY,	xco+=XIC, yco, XIC,YIC, &params->display, 1.0, FILE_LONGDISPLAY, 0, 0, "Displays long file description");
+		uiDefIconButS(block, ROW, B_RELOADIMASELDIR, ICON_IMGDISPLAY,	xco+=XIC, yco, XIC,YIC, &params->display, 1.0, FILE_IMGDISPLAY, 0, 0, "Displays files as thumbnails");
+		uiBlockEndAlign(block);
+		
+		xco+=XIC;
+	}
+	
+	uiBlockBeginAlign(block);
+	uiDefIconButS(block, ROW, B_SORTIMASELLIST, ICON_SORTALPHA,	xco+=XIC, yco, XIC,YIC, &params->sort, 1.0, 0.0, 0, 0, "Sorts files alphabetically");
+	uiDefIconButS(block, ROW, B_SORTIMASELLIST, ICON_SORTBYEXT,	xco+=XIC, yco, XIC,YIC, &params->sort, 1.0, 3.0, 0, 0, "Sorts files by extension");	
+	uiDefIconButS(block, ROW, B_SORTIMASELLIST, ICON_SORTTIME,	xco+=XIC, yco, XIC,YIC, &params->sort, 1.0, 1.0, 0, 0, "Sorts files by time");
+	uiDefIconButS(block, ROW, B_SORTIMASELLIST, ICON_SORTSIZE,	xco+=XIC, yco, XIC,YIC, &params->sort, 1.0, 2.0, 0, 0, "Sorts files by size");	
+	uiBlockEndAlign(block);
+	
+	xco+=XIC;
 
+	/* replace with consistent sub-region collapsing
 	if (sfile->params->type != FILE_MAIN) {
 		uiBlockBeginAlign(block);
-		uiDefIconButS(block, ROW, B_RELOADIMASELDIR, ICON_SHORTDISPLAY,	xco+=XIC,0,XIC,YIC, &params->display, 1.0, 1.0, 0, 0, "Displays short file description");
-		uiDefIconButS(block, ROW, B_RELOADIMASELDIR, ICON_LONGDISPLAY,	xco+=XIC,0,XIC,YIC, &params->display, 1.0, 2.0, 0, 0, "Displays long file description");
-		uiDefIconButS(block, ROW, B_RELOADIMASELDIR, ICON_IMAGE_COL /* ICON_IMGDISPLAY */,	xco+=XIC,0,XIC,YIC, &params->display, 1.0, 3.0, 0, 0, "Displays files as thumbnails");
+		// uiDefIconButBitS(block, TOG, FILE_BOOKMARKS, B_RELOADIMASELDIR, ICON_BOOKMARKS,xco+=XIC,0,XIC,YIC, &params->flag, 0, 0, 0, 0, "Toggles Bookmarks on/off");
+		uiDefIconButO(block, TOG, "FILE_OT_bookmark_toggle", WM_OP_INVOKE_DEFAULT, ICON_BOOKMARKS, xco+XIC,yco,20,20, "Toggle Bookmarks");
 		uiBlockEndAlign(block);
-		xco+=XIC+10;
-	} 
+		xco+=XIC;
+	}
+	 */
+
+	uiDefIconButBitS(block, TOG, FILE_FILTER, B_FILTERIMASELDIR, ICON_FILTER,xco+=XIC,0,XIC,YIC, &params->flag, 0, 0, 0, 0, "Filter files");
+	if (params->flag & FILE_FILTER) {
+		xco+=4;
+		uiBlockBeginAlign(block);
+		uiDefIconButBitS(block, TOG, IMAGEFILE, B_FILTERIMASELDIR, ICON_FILE_IMAGE,xco+=XIC,0,XIC,YIC, &params->filter, 0, 0, 0, 0, "Show images");
+		uiDefIconButBitS(block, TOG, BLENDERFILE, B_FILTERIMASELDIR, ICON_FILE_BLEND,xco+=XIC,0,XIC,YIC, &params->filter, 0, 0, 0, 0, "Show .blend files");
+		uiDefIconButBitS(block, TOG, MOVIEFILE, B_FILTERIMASELDIR, ICON_FILE_MOVIE,xco+=XIC,0,XIC,YIC, &params->filter, 0, 0, 0, 0, "Show movies");
+		uiDefIconButBitS(block, TOG, PYSCRIPTFILE, B_FILTERIMASELDIR, ICON_FILE_SCRIPT,xco+=XIC,0,XIC,YIC, &params->filter, 0, 0, 0, 0, "Show python scripts");
+		uiDefIconButBitS(block, TOG, FTFONTFILE, B_FILTERIMASELDIR, ICON_FILE_FONT,xco+=XIC,0,XIC,YIC, &params->filter, 0, 0, 0, 0, "Show fonts");
+		uiDefIconButBitS(block, TOG, SOUNDFILE, B_FILTERIMASELDIR, ICON_FILE_SOUND,xco+=XIC,0,XIC,YIC, &params->filter, 0, 0, 0, 0, "Show sound files");
+		uiDefIconButBitS(block, TOG, TEXTFILE, B_FILTERIMASELDIR, ICON_FILE_BLANK,xco+=XIC,0,XIC,YIC, &params->filter, 0, 0, 0, 0, "Show text files");
+		uiDefIconButBitS(block, TOG, FOLDERFILE, B_FILTERIMASELDIR, ICON_FILE_FOLDER,xco+=XIC,0,XIC,YIC, &params->filter, 0, 0, 0, 0, "Show folders");
+		uiBlockEndAlign(block);
+		xco+=XIC;
+	}
+
 	xcotitle= xco;
 	xco+= UI_GetStringWidth(G.font, params->title, 0);
 
diff --git a/source/blender/editors/space_file/file_intern.h b/source/blender/editors/space_file/file_intern.h
index e47387a2d22..80b7eb21818 100644
--- a/source/blender/editors/space_file/file_intern.h
+++ b/source/blender/editors/space_file/file_intern.h
@@ -34,6 +34,8 @@
 /* file_header.c */
 void file_header_buttons(const bContext *C, ARegion *ar);
 
+/* file_ops.c */
+struct ARegion *file_buttons_region(struct ScrArea *sa);
 
 /* file_draw.c */
 #define TILE_BORDER_X 8
@@ -51,13 +53,15 @@ struct wmOperator;
 struct wmEvent;
 void FILE_OT_highlight(struct wmOperatorType *ot);
 void FILE_OT_select(struct wmOperatorType *ot);
-void FILE_OT_select_all(struct wmOperatorType *ot);
-void FILE_OT_border_select(struct wmOperatorType *ot);
+void FILE_OT_select_all_toggle(struct wmOperatorType *ot);
+void FILE_OT_select_border(struct wmOperatorType *ot);
 void FILE_OT_select_bookmark(struct wmOperatorType *ot);
 void FILE_OT_loadimages(struct wmOperatorType *ot);
 void FILE_OT_exec(struct wmOperatorType *ot);
 void FILE_OT_cancel(struct wmOperatorType *ot);
 void FILE_OT_parent(struct wmOperatorType *ot);
+void FILE_OT_refresh(struct wmOperatorType *ot);
+void FILE_OT_bookmark_toggle(struct wmOperatorType *ot);
 
 int file_exec(bContext *C, struct wmOperator *unused);
 int file_cancel_exec(bContext *C, struct wmOperator *unused);
diff --git a/source/blender/editors/space_file/file_ops.c b/source/blender/editors/space_file/file_ops.c
index ae989194527..3d845ac4be6 100644
--- a/source/blender/editors/space_file/file_ops.c
+++ b/source/blender/editors/space_file/file_ops.c
@@ -69,19 +69,15 @@
 static int find_file_mouse_hor(SpaceFile *sfile, struct ARegion* ar, short x, short y)
 {
 	float fx,fy;
-	int offsetx, offsety;
-	int columns;
 	int active_file = -1;
 	int numfiles = filelist_numfiles(sfile->files);
 	View2D* v2d = &ar->v2d;
 
 	UI_view2d_region_to_view(v2d, x, y, &fx, &fy);
 
-	offsetx = (fx - (v2d->cur.xmin+sfile->tile_border_x))/(sfile->tile_w + 2*sfile->tile_border_x);
-	offsety = (v2d->tot.ymax - sfile->tile_border_y - fy)/(sfile->tile_h + 2*sfile->tile_border_y);
-	columns = (v2d->cur.xmax - v2d->cur.xmin) / (sfile->tile_w+ 2*sfile->tile_border_x);
-	active_file = offsetx + columns*offsety;
+	active_file = ED_fileselect_layout_offset(sfile->layout, v2d->tot.xmin + fx, v2d->tot.ymax - fy);
 
+	printf("FINDFILE %d\n", active_file);
 	if ( (active_file < 0) || (active_file >= numfiles) )
 	{
 		active_file = -1;
@@ -92,19 +88,15 @@ static int find_file_mouse_hor(SpaceFile *sfile, struct ARegion* ar, short x, sh
 
 static int find_file_mouse_vert(SpaceFile *sfile, struct ARegion* ar, short x, short y)
 {
-	int offsetx, offsety;
 	float fx,fy;
 	int active_file = -1;
 	int numfiles = filelist_numfiles(sfile->files);
-	int rows;
 	View2D* v2d = &ar->v2d;
 
 	UI_view2d_region_to_view(v2d, x, y, &fx, &fy);
 	
-	offsetx = (fx-sfile->tile_border_x)/(sfile->tile_w + sfile->tile_border_x);
-	offsety = (v2d->cur.ymax-fy-sfile->tile_border_y)/(sfile->tile_h + sfile->tile_border_y);
-	rows = (v2d->cur.ymax - v2d->cur.ymin - 2*sfile->tile_border_y) / (sfile->tile_h+sfile->tile_border_y);
-	active_file = rows*offsetx + offsety;
+	active_file = ED_fileselect_layout_offset(sfile->layout, v2d->tot.xmin + fx, v2d->tot.ymax - fy);
+
 	if ( (active_file < 0) || (active_file >= numfiles) )
 	{
 		active_file = -1;
@@ -125,17 +117,19 @@ static void file_deselect_all(SpaceFile* sfile)
 	}
 }
 
-static void file_select(SpaceFile* sfile, FileSelectParams* params, ARegion* ar, const rcti* rect, short val)
+static void file_select(SpaceFile* sfile, ARegion* ar, const rcti* rect, short val)
 {
 	int first_file = -1;
 	int last_file = -1;
 	int act_file;
 	short selecting = (val == LEFTMOUSE);
+	FileSelectParams *params = ED_fileselect_get_params(sfile);
+	FileLayout *layout = ED_fileselect_get_layout(sfile, ar);
 
 	int numfiles = filelist_numfiles(sfile->files);
 
 	params->selstate = NOTACTIVE;
-	if (params->display) {
+	if  ( (layout->flag == FILE_LAYOUT_HOR) ) {
 		first_file = find_file_mouse_hor(sfile, ar, rect->xmin, rect->ymax);
 		last_file = find_file_mouse_hor(sfile, ar, rect->xmax, rect->ymin);
 	} else {
@@ -154,6 +148,8 @@ static void file_select(SpaceFile* sfile, FileSelectParams* params, ARegion* ar,
 		}
 	}
 	
+	printf("Selecting %d %d\n", first_file, last_file);
+
 	/* make the last file active */
 	if (last_file >= 0 && last_file < numfiles) {
 		struct direntry* file = filelist_file(sfile->files, last_file);
@@ -215,16 +211,16 @@ static int file_border_select_exec(bContext *C, wmOperator *op)
 	rect.xmax= RNA_int_get(op->ptr, "xmax");
 	rect.ymax= RNA_int_get(op->ptr, "ymax");
 
-	file_select(sfile, sfile->params, ar, &rect, val );
+	file_select(sfile, ar, &rect, val );
 	WM_event_add_notifier(C, NC_WINDOW, NULL);
 	return OPERATOR_FINISHED;
 }
 
-void FILE_OT_border_select(wmOperatorType *ot)
+void FILE_OT_select_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Activate/Select File";
-	ot->idname= "FILE_OT_border_select";
+	ot->idname= "FILE_OT_select_border";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
@@ -252,10 +248,13 @@ static int file_select_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	rect.ymin = rect.ymax = event->y - ar->winrct.ymin;
 	val = event->val;
 
-	/* single select, deselect all selected first */
-	file_deselect_all(sfile);
-	file_select(sfile, sfile->params, ar, &rect, val );
-	WM_event_add_notifier(C, NC_WINDOW, NULL);
+	if (BLI_in_rcti(&ar->v2d.mask, rect.xmin, rect.ymin)) { 
+
+		/* single select, deselect all selected first */
+		file_deselect_all(sfile);
+		file_select(sfile, ar, &rect, val );
+		WM_event_add_notifier(C, NC_WINDOW, NULL);
+	}
 	return OPERATOR_FINISHED;
 }
 
@@ -303,11 +302,11 @@ static int file_select_all_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	return OPERATOR_FINISHED;
 }
 
-void FILE_OT_select_all(wmOperatorType *ot)
+void FILE_OT_select_all_toggle(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select/Deselect all files";
-	ot->idname= "FILE_OT_select_all";
+	ot->idname= "FILE_OT_select_all_toggle";
 	
 	/* api callbacks */
 	ot->invoke= file_select_all_invoke;
@@ -321,34 +320,73 @@ void FILE_OT_select_all(wmOperatorType *ot)
 
 static void set_active_bookmark(FileSelectParams* params, struct ARegion* ar, short x, short y)
 {
-	int nentries = fsmenu_get_nentries();
+	int nentries = fsmenu_get_nentries(fsmenu_get(), FS_CATEGORY_BOOKMARKS);
 	float fx, fy;
 	short posy;
 
 	UI_view2d_region_to_view(&ar->v2d, x, y, &fx, &fy);
 
 	posy = ar->v2d.cur.ymax - 2*TILE_BORDER_Y - fy;
-	params->active_bookmark = ((float)posy / (U.fontsize*3.0f/2.0f));
+	posy -= U.fontsize*2.0f;	/* header */
+	
+	params->active_bookmark = ((float)posy / (U.fontsize*2.0f));
 	if (params->active_bookmark < 0 || params->active_bookmark > nentries) {
 		params->active_bookmark = -1;
 	}
 }
 
+static int file_select_bookmark_category(SpaceFile* sfile, ARegion* ar, short x, short y, FSMenuCategory category)
+{
+	struct FSMenu* fsmenu = fsmenu_get();
+	int nentries = fsmenu_get_nentries(fsmenu, category);
+	int linestep = U.fontsize*2.0f;
+	short xs, ys;
+	int i;
+	int selected = -1;
+
+	for (i=0; i < nentries; ++i) {
+		fsmenu_get_pos(fsmenu, category, i, &xs, &ys);
+		if ( (y<=ys) && (y>ys-linestep) ) {
+			fsmenu_select_entry(fsmenu, category, i);
+			selected = i;
+			break;
+		}
+	}
+	return selected;
+}
+
 static void file_select_bookmark(SpaceFile* sfile, ARegion* ar, short x, short y)
 {
+	float fx, fy;
+	int selected;
+	FSMenuCategory category = FS_CATEGORY_SYSTEM;
+
 	if (BLI_in_rcti(&ar->v2d.mask, x, y)) {
-		char *selected;
-		set_active_bookmark(sfile->params, ar, x, y);
-		selected= fsmenu_get_entry(sfile->params->active_bookmark);			
-		/* which string */
-		if (selected) {
-			FileSelectParams* params = sfile->params;
-			BLI_strncpy(params->dir, selected, sizeof(params->dir));
-			BLI_cleanup_dir(G.sce, params->dir);
-			filelist_free(sfile->files);	
-			filelist_setdir(sfile->files, params->dir);
-			params->file[0] = '\0';			
-			params->active_file = -1;
+		char *entry;
+
+		UI_view2d_region_to_view(&ar->v2d, x, y, &fx, &fy);
+		selected = file_select_bookmark_category(sfile, ar, fx, fy, FS_CATEGORY_SYSTEM);
+		if (selected<0) {
+			category = FS_CATEGORY_BOOKMARKS;
+			selected = file_select_bookmark_category(sfile, ar, fx, fy, category);
+		}
+		if (selected<0) {
+			category = FS_CATEGORY_RECENT;
+			selected = file_select_bookmark_category(sfile, ar, fx, fy, category);
+		}
+		
+		if (selected>=0) {
+			entry= fsmenu_get_entry(fsmenu_get(), category, selected);			
+			/* which string */
+			if (entry) {
+				FileSelectParams* params = sfile->params;
+				BLI_strncpy(params->dir, entry, sizeof(params->dir));
+				BLI_cleanup_dir(G.sce, params->dir);
+				filelist_free(sfile->files);	
+				filelist_setdir(sfile->files, params->dir);
+				params->file[0] = '\0';			
+				params->active_file = -1;
+			}
 		}
 	}
 }
@@ -410,20 +448,22 @@ void FILE_OT_loadimages(wmOperatorType *ot)
 int file_hilight_set(SpaceFile *sfile, ARegion *ar, int mx, int my)
 {
 	FileSelectParams* params;
+	FileLayout* layout;
 	int numfiles, actfile;
 	
 	if(sfile==NULL || sfile->files==NULL) return 0;
 	
 	numfiles = filelist_numfiles(sfile->files);
 	params = ED_fileselect_get_params(sfile);
-	
-	if (params->display == FILE_IMGDISPLAY) {
+	layout = ED_fileselect_get_layout(sfile, ar);
+
+	if ( (layout->flag == FILE_LAYOUT_HOR)) {
 		actfile = find_file_mouse_hor(sfile, ar, mx , my);
 	} else {
 		actfile = find_file_mouse_vert(sfile, ar, mx, my);
 	}
 	
-	if (actfile >= 0 && actfile < numfiles ) {
+	if (params && (actfile >= 0) && (actfile < numfiles) ) {
 		params->active_file=actfile;
 		return 1;
 	}
@@ -488,6 +528,9 @@ int file_exec(bContext *C, wmOperator *unused)
 		strcat(name, sfile->params->file);
 		RNA_string_set(op->ptr, "filename", name);
 		
+		fsmenu_insert_entry(fsmenu_get(), FS_CATEGORY_RECENT, sfile->params->dir,0, 1);
+		BLI_make_file_string(G.sce, name, BLI_gethome(), ".Bfs");
+		fsmenu_write_file(fsmenu_get(), name);
 		WM_event_fileselect_event(C, op, EVT_FILESELECT_EXEC);
 	}
 				
@@ -522,6 +565,7 @@ int file_parent_exec(bContext *C, wmOperator *unused)
 
 }
 
+
 void FILE_OT_parent(struct wmOperatorType *ot)
 {
 	/* identifiers */
@@ -534,4 +578,65 @@ void FILE_OT_parent(struct wmOperatorType *ot)
 }
 
 
+int file_refresh_exec(bContext *C, wmOperator *unused)
+{
+	SpaceFile *sfile= (SpaceFile*)CTX_wm_space_data(C);
+	
+	if(sfile->params) {
+		filelist_setdir(sfile->files, sfile->params->dir);
+		filelist_free(sfile->files);
+		sfile->params->active_file = -1;
+	}		
+	ED_area_tag_redraw(CTX_wm_area(C));
+
+	return OPERATOR_FINISHED;
+
+}
+
+
+void FILE_OT_refresh(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "Refresh Filelist";
+	ot->idname= "FILE_OT_refresh";
+	
+	/* api callbacks */
+	ot->exec= file_refresh_exec;
+	ot->poll= ED_operator_file_active; /* <- important, handler is on window level */
+}
 
+struct ARegion *file_buttons_region(struct ScrArea *sa)
+{
+	ARegion *ar;
+	
+	for(ar= sa->regionbase.first; ar; ar= ar->next)
+		if(ar->regiontype==RGN_TYPE_CHANNELS)
+			return ar;
+	return NULL;
+}
+
+int file_bookmark_toggle_exec(bContext *C, wmOperator *unused)
+{
+	ScrArea *sa= CTX_wm_area(C);
+	ARegion *ar= file_buttons_region(sa);
+	
+	if(ar) {
+		ar->flag ^= RGN_FLAG_HIDDEN;
+		ar->v2d.flag &= ~V2D_IS_INITIALISED; /* XXX should become hide/unhide api? */
+		
+		ED_area_initialize(CTX_wm_manager(C), CTX_wm_window(C), sa);
+		ED_area_tag_redraw(sa);
+	}
+	return OPERATOR_FINISHED;
+}
+
+void FILE_OT_bookmark_toggle(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "Toggle Bookmarks";
+	ot->idname= "FILE_OT_bookmark_toggle";
+	
+	/* api callbacks */
+	ot->exec= file_bookmark_toggle_exec;
+	ot->poll= ED_operator_file_active; /* <- important, handler is on window level */
+}
diff --git a/source/blender/editors/space_file/filelist.c b/source/blender/editors/space_file/filelist.c
index 384fb2141c3..1ba84566940 100644
--- a/source/blender/editors/space_file/filelist.c
+++ b/source/blender/editors/space_file/filelist.c
@@ -82,6 +82,7 @@
 
 #include "PIL_time.h"
 
+#include "UI_text.h"
 
 #include "filelist.h"
 
@@ -113,32 +114,17 @@ typedef struct FileList
 	int numfiltered;
 	char dir[FILE_MAX];
 	short type;
-	short ipotype;
-	struct BlendHandle *libfiledata;
 	int has_func;
 	short prv_w;
 	short prv_h;
 	short hide_dot;
 	unsigned int filter;
 	short changed;
+	int columns[MAX_FILE_COLUMN];
 	ListBase loadimages;
 	ListBase threads;
 } FileList;
 
-int BIF_groupname_to_code(char *group)
-{
-	char buf[32];
-	char *lslash;
-	
-	BLI_strncpy(buf, group, 31);
-	lslash= BLI_last_slash(buf);
-	if (lslash)
-		lslash[0]= '\0';
-
-	return BLO_idcode_from_name(buf);
-}
-
-
 #define SPECIAL_IMG_SIZE 48
 #define SPECIAL_IMG_ROWS 4
 #define SPECIAL_IMG_COLS 4
@@ -153,7 +139,8 @@ int BIF_groupname_to_code(char *group)
 #define SPECIAL_IMG_TEXTFILE 7
 #define SPECIAL_IMG_FONTFILE 8
 #define SPECIAL_IMG_UNKNOWNFILE 9
-#define SPECIAL_IMG_MAX SPECIAL_IMG_UNKNOWNFILE + 1
+#define SPECIAL_IMG_LOADING 10
+#define SPECIAL_IMG_MAX SPECIAL_IMG_LOADING + 1
 
 static ImBuf* gSpecialFileImages[SPECIAL_IMG_MAX];
 
@@ -183,6 +170,7 @@ static int compare_name(const void *a1, const void *a2)
 	if( strcmp(entry1->relname, ".")==0 ) return (-1);
 	if( strcmp(entry2->relname, ".")==0 ) return (1);
 	if( strcmp(entry1->relname, "..")==0 ) return (-1);
+	if( strcmp(entry2->relname, "..")==0 ) return (1);
 	
 	return (BLI_strcasecmp(entry1->relname,entry2->relname));
 }
@@ -210,6 +198,7 @@ static int compare_date(const void *a1, const void *a2)
 	if( strcmp(entry1->relname, ".")==0 ) return (-1);
 	if( strcmp(entry2->relname, ".")==0 ) return (1);
 	if( strcmp(entry1->relname, "..")==0 ) return (-1);
+	if( strcmp(entry2->relname, "..")==0 ) return (1);
 	
 	if ( entry1->s.st_mtime < entry2->s.st_mtime) return 1;
 	if ( entry1->s.st_mtime > entry2->s.st_mtime) return -1;
@@ -240,6 +229,7 @@ static int compare_size(const void *a1, const void *a2)
 	if( strcmp(entry1->relname, ".")==0 ) return (-1);
 	if( strcmp(entry2->relname, ".")==0 ) return (1);
 	if( strcmp(entry1->relname, "..")==0 ) return (-1);
+	if( strcmp(entry2->relname, "..")==0 ) return (1);
 	
 	if ( entry1->s.st_size < entry2->s.st_size) return 1;
 	if ( entry1->s.st_size > entry2->s.st_size) return -1;
@@ -277,25 +267,19 @@ static int compare_extension(const void *a1, const void *a2) {
 	if( strcmp(entry1->relname, ".")==0 ) return (-1);
 	if( strcmp(entry2->relname, ".")==0 ) return (1);
 	if( strcmp(entry1->relname, "..")==0 ) return (-1);
-	if( strcmp(entry2->relname, "..")==0 ) return (-1);
+	if( strcmp(entry2->relname, "..")==0 ) return (1);
 	
 	return (BLI_strcasecmp(sufix1, sufix2));
 }
 
 void filelist_filter(FileList* filelist)
 {
-	char dir[FILE_MAX], group[GROUP_MAX];
 	int num_filtered = 0;
 	int i, j;
 	
 	if (!filelist->filelist)
 		return;
 	
-	if ( ( (filelist->type == FILE_LOADLIB) &&  filelist_islibrary(filelist, dir, group)) 
-		|| (filelist->type == FILE_MAIN) ) {
-		filelist->filter = 0;
-	}
-
 	if (!filelist->filter) {
 		if (filelist->fidx) {
 			MEM_freeN(filelist->fidx);
@@ -378,7 +362,6 @@ struct FileList*	filelist_new()
 	p->filelist = 0;
 	p->numfiles = 0;
 	p->dir[0] = '\0';
-	p->libfiledata = 0;
 	p->type = 0;
 	p->has_func = 0;
 	p->filter = 0;
@@ -392,8 +375,6 @@ struct FileList*	filelist_copy(struct FileList* filelist)
 	p->filelist = NULL;
 	p->fidx = NULL;
 	p->type = filelist->type;
-	p->ipotype = filelist->ipotype;
-	p->has_func = filelist->has_func;
 
 	return p;
 }
@@ -435,18 +416,6 @@ void filelist_free(struct FileList* filelist)
 	filelist->numfiltered =0;
 }
 
-void filelist_freelib(struct FileList* filelist)
-{
-	if(filelist->libfiledata)	
-		BLO_blendhandle_close(filelist->libfiledata);
-	filelist->libfiledata= 0;
-}
-
-struct BlendHandle *filelist_lib(struct FileList* filelist)
-{
-	return filelist->libfiledata;
-}
-
 int	filelist_numfiles(struct FileList* filelist)
 {
 	return filelist->numfiltered;
@@ -597,34 +566,47 @@ struct ImBuf * filelist_getimage(struct FileList* filelist, int index)
 	fidx = filelist->fidx[index];
 	ibuf = filelist->filelist[fidx].image;
 
-	if (ibuf == NULL) {
-		struct direntry *file = &filelist->filelist[fidx];
-		if (file->type & S_IFDIR) {
+	return ibuf;
+}
+
+struct ImBuf * filelist_geticon(struct FileList* filelist, int index)
+{
+	ImBuf* ibuf= NULL;
+	struct direntry *file= NULL;
+	int fidx = 0;	
+	if ( (index < 0) || (index >= filelist->numfiltered) ) {
+		return NULL;
+	}
+	fidx = filelist->fidx[index];
+	file = &filelist->filelist[fidx];
+	if (file->type & S_IFDIR) {
 			if ( strcmp(filelist->filelist[fidx].relname, "..") == 0) {
 				ibuf = gSpecialFileImages[SPECIAL_IMG_PARENT];
 			} else if  ( strcmp(filelist->filelist[fidx].relname, ".") == 0) {
 				ibuf = gSpecialFileImages[SPECIAL_IMG_REFRESH];
 			} else {
-				ibuf = gSpecialFileImages[SPECIAL_IMG_FOLDER];
+		ibuf = gSpecialFileImages[SPECIAL_IMG_FOLDER];
 			}
-		} else {
-			ibuf = gSpecialFileImages[SPECIAL_IMG_UNKNOWNFILE];
-		}
+	} else {
+		ibuf = gSpecialFileImages[SPECIAL_IMG_UNKNOWNFILE];
+	}
 
-		if (file->flags & BLENDERFILE) {
-			ibuf = gSpecialFileImages[SPECIAL_IMG_BLENDFILE];
-		} else if ( (file->flags & MOVIEFILE) || (file->flags & MOVIEFILE_ICON) ) {
-			ibuf = gSpecialFileImages[SPECIAL_IMG_MOVIEFILE];
-		} else if (file->flags & SOUNDFILE) {
-			ibuf = gSpecialFileImages[SPECIAL_IMG_SOUNDFILE];
-		} else if (file->flags & PYSCRIPTFILE) {
-			ibuf = gSpecialFileImages[SPECIAL_IMG_PYTHONFILE];
-		} else if (file->flags & FTFONTFILE) {
-			ibuf = gSpecialFileImages[SPECIAL_IMG_FONTFILE];
-		} else if (file->flags & TEXTFILE) {
-			ibuf = gSpecialFileImages[SPECIAL_IMG_TEXTFILE];
-		} 
+	if (file->flags & BLENDERFILE) {
+		ibuf = gSpecialFileImages[SPECIAL_IMG_BLENDFILE];
+	} else if ( (file->flags & MOVIEFILE) || (file->flags & MOVIEFILE_ICON) ) {
+		ibuf = gSpecialFileImages[SPECIAL_IMG_MOVIEFILE];
+	} else if (file->flags & SOUNDFILE) {
+		ibuf = gSpecialFileImages[SPECIAL_IMG_SOUNDFILE];
+	} else if (file->flags & PYSCRIPTFILE) {
+		ibuf = gSpecialFileImages[SPECIAL_IMG_PYTHONFILE];
+	} else if (file->flags & FTFONTFILE) {
+		ibuf = gSpecialFileImages[SPECIAL_IMG_FONTFILE];
+	} else if (file->flags & TEXTFILE) {
+		ibuf = gSpecialFileImages[SPECIAL_IMG_TEXTFILE];
+	} else if (file->flags & IMAGEFILE) {
+		ibuf = gSpecialFileImages[SPECIAL_IMG_LOADING];
 	}
+
 	return ibuf;
 }
 
@@ -676,39 +658,59 @@ void filelist_setfilter(struct FileList* filelist, unsigned int filter)
 	filelist->filter = filter;
 }
 
+int	filelist_column_len(struct FileList* filelist, FileListColumns column)
+{
+	return filelist->columns[column];
+}
+
 void filelist_readdir(struct FileList* filelist)
 {
 	char wdir[FILE_MAX];
-	int finished = 0;
+	int i;
 
 	if (!filelist) return;
 	filelist->fidx = 0;
 	filelist->filelist = 0;
 
-	if(filelist->type==FILE_MAIN) {
-		filelist_from_main(filelist);
-		finished = 1;
-	} else if(filelist->type==FILE_LOADLIB) {
-		BLI_cleanup_dir(G.sce, filelist->dir);
-		filelist_from_library(filelist);
-		if(filelist->libfiledata) {
-			finished = 1;
-		}
+	BLI_getwdN(wdir);	 
+	
+	BLI_cleanup_dir(G.sce, filelist->dir);
+	BLI_hide_dot_files(filelist->hide_dot);
+	filelist->numfiles = BLI_getdir(filelist->dir, &(filelist->filelist));
+
+	chdir(wdir);
+	filelist_setfiletypes(filelist, G.have_quicktime);
+	filelist_filter(filelist);
+	
+	if (!filelist->threads.first) {
+		BLI_init_threads(&filelist->threads, exec_loadimages, 2);
 	}
 
-	if (!finished) {
-		BLI_getwdN(wdir);	 
-		
-		BLI_cleanup_dir(G.sce, filelist->dir);
-		BLI_hide_dot_files(filelist->hide_dot);
-		filelist->numfiles = BLI_getdir(filelist->dir, &(filelist->filelist));
+	for (i=0; i<MAX_FILE_COLUMN; ++i) {
+		filelist->columns[i] = 0;
+	}
 
-		chdir(wdir);
-		filelist_setfiletypes(filelist, G.have_quicktime);
-		filelist_filter(filelist);
-		
-		if (!filelist->threads.first) {
-			BLI_init_threads(&filelist->threads, exec_loadimages, 2);
+	for (i=0; (i < filelist->numfiles); ++i)
+	{
+		struct direntry* file = filelist_file(filelist, i);	
+		if (file) {
+			int len;
+			len = UI_GetStringWidth(G.font, file->relname,0);
+			if (len > filelist->columns[COLUMN_NAME]) filelist->columns[COLUMN_NAME] = len;
+			len = UI_GetStringWidth(G.font, file->date,0);
+			if (len > filelist->columns[COLUMN_DATE]) filelist->columns[COLUMN_DATE] = len;
+			len = UI_GetStringWidth(G.font, file->time,0);
+			if (len > filelist->columns[COLUMN_TIME]) filelist->columns[COLUMN_TIME] = len;
+			len = UI_GetStringWidth(G.font, file->size,0);
+			if (len > filelist->columns[COLUMN_SIZE]) filelist->columns[COLUMN_SIZE] = len;
+			len = UI_GetStringWidth(G.font, file->mode1,0);
+			if (len > filelist->columns[COLUMN_MODE1]) filelist->columns[COLUMN_MODE1] = len;
+			len = UI_GetStringWidth(G.font, file->mode2,0);
+			if (len > filelist->columns[COLUMN_MODE2]) filelist->columns[COLUMN_MODE2] = len;
+			len = UI_GetStringWidth(G.font, file->mode3,0);
+			if (len > filelist->columns[COLUMN_MODE3]) filelist->columns[COLUMN_MODE3] = len;
+			len = UI_GetStringWidth(G.font, file->owner,0);
+			if (len > filelist->columns[COLUMN_OWNER]) filelist->columns[COLUMN_OWNER] = len;
 		}
 	}
 }
@@ -744,17 +746,6 @@ void filelist_setfiletypes(struct FileList* filelist, short has_quicktime)
 		
 		if(BLO_has_bfile_extension(file->relname)) {
 			file->flags |= BLENDERFILE;
-			if(filelist->type==FILE_LOADLIB) {		
-				char name[FILE_MAXDIR+FILE_MAXFILE];
-				BLI_strncpy(name, filelist->dir, sizeof(name));
-				strcat(name, file->relname);
-				
-				/* prevent current file being used as acceptable dir */
-				if (BLI_streq(G.main->name, name)==0) {
-					file->type &= ~S_IFMT;
-					file->type |= S_IFDIR;
-				}
-			}
 		} else if(BLI_testextensie(file->relname, ".py")) {
 				file->flags |= PYSCRIPTFILE;
 		} else if(BLI_testextensie(file->relname, ".txt")) {
@@ -869,296 +860,6 @@ void filelist_swapselect(struct FileList* filelist)
 	}
 }
 
-int filelist_islibrary(struct FileList* filelist, char* dir, char* group)
-{
-	 /* return ok when a blenderfile, in dir is the filename,
-	 * in group the type of libdata
-	 */
-	int len;
-	char *fd;
-	
-	strcpy(dir, filelist->dir);
-	len= strlen(dir);
-	if(len<7) return 0;
-	if( dir[len-1] != '/' && dir[len-1] != '\\') return 0;
-		
-	group[0]= 0;
-	dir[len-1]= 0;
-
-	/* Find the last slash */
-	fd= (strrchr(dir, '/')>strrchr(dir, '\\'))?strrchr(dir, '/'):strrchr(dir, '\\');
-
-	if(fd==0) return 0;
-	*fd= 0;
-	if(BLO_has_bfile_extension(fd+1)) {
-		*fd= '/';
-	}
-	else {
-		char *gp = fd+1; // in case we have a .blend file, gp points to the group
-
-		/* Find the last slash */
-		fd= (strrchr(dir, '/')>strrchr(dir, '\\'))?strrchr(dir, '/'):strrchr(dir, '\\');
-		if (!fd || !BLO_has_bfile_extension(fd+1)) return 0;
-
-		/* now we know that we are in a blend file and it is safe to 
-		   assume that gp actually points to a group */
-		BLI_strncpy(group, gp, GROUP_MAX);
-	}
-	return 1;
-}
-
-void filelist_from_library(struct FileList* filelist)
-{
-	LinkNode *l, *names, *previews;
-	struct ImBuf* ima;
-	int ok, i, nnames, idcode;
-	char filename[FILE_MAXDIR+FILE_MAXFILE];
-	char dir[FILE_MAX], group[GROUP_MAX];	
-	
-	filelist->type = FILE_LOADLIB;
-
-	/* name test */
-	ok= filelist_islibrary(filelist, dir, group);
-	if (!ok) {
-		/* free */
-		if(filelist->libfiledata) BLO_blendhandle_close(filelist->libfiledata);
-		filelist->libfiledata= 0;
-		return;
-	}
-	
-	BLI_strncpy(filename, G.sce, sizeof(filename));	// G.sce = last file loaded, for UI
-
-	/* there we go */
-	/* for the time being only read filedata when libfiledata==0 */
-	if (filelist->libfiledata==0) {
-		filelist->libfiledata= BLO_blendhandle_from_file(dir);
-		if(filelist->libfiledata==0) return;
-	}
-	
-	idcode= BIF_groupname_to_code(group);
-
-		// memory for strings is passed into filelist[i].relname
-		// and free'd in freefilelist
-	previews = NULL;
-	if (idcode) {
-		previews= BLO_blendhandle_get_previews(filelist->libfiledata, idcode);
-		names= BLO_blendhandle_get_datablock_names(filelist->libfiledata, idcode);
-		/* ugh, no rewind, need to reopen */
-		BLO_blendhandle_close(filelist->libfiledata);
-		filelist->libfiledata= BLO_blendhandle_from_file(dir);
-		
-	} else {
-		names= BLO_blendhandle_get_linkable_groups(filelist->libfiledata);
-	}
-	
-	nnames= BLI_linklist_length(names);
-
-	filelist->numfiles= nnames + 2;
-	filelist->filelist= malloc(filelist->numfiles * sizeof(*filelist->filelist));
-	memset(filelist->filelist, 0, filelist->numfiles * sizeof(*filelist->filelist));
-
-	filelist->filelist[0].relname= BLI_strdup(".");
-	filelist->filelist[0].type |= S_IFDIR;
-	filelist->filelist[1].relname= BLI_strdup("..");
-	filelist->filelist[1].type |= S_IFDIR;
-		
-	for (i=0, l= names; i<nnames; i++, l= l->next) {
-		char *blockname= l->link;
-
-		filelist->filelist[i + 2].relname= BLI_strdup(blockname);
-		if (!idcode)
-			filelist->filelist[i + 2].type |= S_IFDIR;
-	}
-	
-	if(previews) {
-		for (i=0, l= previews; i<nnames; i++, l= l->next) {
-			PreviewImage *img= l->link;
-			
-			if (img) {
-				unsigned int w = img->w[PREVIEW_MIPMAP_LARGE];
-				unsigned int h = img->h[PREVIEW_MIPMAP_LARGE];
-				unsigned int *rect = img->rect[PREVIEW_MIPMAP_LARGE];
-
-				/* first allocate imbuf for copying preview into it */
-				if (w > 0 && h > 0 && rect) {
-					ima = IMB_allocImBuf(w, h, 32, IB_rect, 0);
-					memcpy(ima->rect, rect, w*h*sizeof(unsigned int));
-					filelist->filelist[i + 2].image = ima;
-					filelist->filelist[i + 2].flags = IMAGEFILE;
-				}
-			}
-		}
-	}
-
-	BLI_linklist_free(names, free);
-	if (previews) BLI_linklist_free(previews, (void(*)(void*)) MEM_freeN);
-
-	filelist_sort(filelist, FILE_SORTALPHA);
-
-	BLI_strncpy(G.sce, filename, sizeof(filename));	// prevent G.sce to change
-
-	filelist->filter = 0;
-	filelist_filter(filelist);
-}
-
-void filelist_append_library(struct FileList *filelist, char *dir, char *file, short flag, int idcode, struct Main *mainvar, struct Scene* scene)
-{
-	// XXX todo: replace NULL with op->reports
-	BLO_library_append(&filelist->libfiledata, filelist->filelist, filelist->numfiles, dir, file, flag, idcode, mainvar, scene, NULL);
-}
-
-void filelist_from_main(struct FileList *filelist)
-{
-	ID *id;
-	struct direntry *files, *firstlib = NULL;
-	ListBase *lb;
-	int a, fake, idcode, ok, totlib, totbl;
-	
-	filelist->type = FILE_MAIN;
-
-	if(filelist->dir[0]=='/') filelist->dir[0]= 0;
-	
-	if(filelist->dir[0]) {
-		idcode= BIF_groupname_to_code(filelist->dir);
-		if(idcode==0) filelist->dir[0]= 0;
-	}
-	
-	if( filelist->dir[0]==0) {
-		
-		/* make directories */
-		filelist->numfiles= 23;
-		filelist->filelist= (struct direntry *)malloc(filelist->numfiles * sizeof(struct direntry));
-		
-		for(a=0; a<filelist->numfiles; a++) {
-			memset( &(filelist->filelist[a]), 0 , sizeof(struct direntry));
-			filelist->filelist[a].type |= S_IFDIR;
-		}
-		
-		filelist->filelist[0].relname= BLI_strdup("..");
-		filelist->filelist[1].relname= BLI_strdup(".");
-		filelist->filelist[2].relname= BLI_strdup("Scene");
-		filelist->filelist[3].relname= BLI_strdup("Object");
-		filelist->filelist[4].relname= BLI_strdup("Mesh");
-		filelist->filelist[5].relname= BLI_strdup("Curve");
-		filelist->filelist[6].relname= BLI_strdup("Metaball");
-		filelist->filelist[7].relname= BLI_strdup("Material");
-		filelist->filelist[8].relname= BLI_strdup("Texture");
-		filelist->filelist[9].relname= BLI_strdup("Image");
-		filelist->filelist[10].relname= BLI_strdup("Ika");
-		filelist->filelist[11].relname= BLI_strdup("Wave");
-		filelist->filelist[12].relname= BLI_strdup("Lattice");
-		filelist->filelist[13].relname= BLI_strdup("Lamp");
-		filelist->filelist[14].relname= BLI_strdup("Camera");
-		filelist->filelist[15].relname= BLI_strdup("Ipo");
-		filelist->filelist[16].relname= BLI_strdup("World");
-		filelist->filelist[17].relname= BLI_strdup("Screen");
-		filelist->filelist[18].relname= BLI_strdup("VFont");
-		filelist->filelist[19].relname= BLI_strdup("Text");
-		filelist->filelist[20].relname= BLI_strdup("Armature");
-		filelist->filelist[21].relname= BLI_strdup("Action");
-		filelist->filelist[22].relname= BLI_strdup("NodeTree");
-		filelist_sort(filelist, FILE_SORTALPHA);
-	}
-	else {
-
-		/* make files */
-		idcode= BIF_groupname_to_code(filelist->dir);
-		
-		lb= wich_libbase(G.main, idcode );
-		if(lb==0) return;
-		
-		id= lb->first;
-		filelist->numfiles= 0;
-		while(id) {
-			
-			if(filelist->has_func && idcode==ID_IP) {
-				if(filelist->ipotype== ((Ipo *)id)->blocktype) filelist->numfiles++;
-			}
-			else if (!filelist->hide_dot || id->name[2] != '.') {
-				filelist->numfiles++;
-			}
-			
-			id= id->next;
-		}
-		
-		if(!filelist->has_func) filelist->numfiles+= 2;
-		filelist->filelist= (struct direntry *)malloc(filelist->numfiles * sizeof(struct direntry));
-		
-		files = filelist->filelist;
-		
-		if(!filelist->has_func) {
-			memset( &(filelist->filelist[0]), 0 , sizeof(struct direntry));
-			filelist->filelist[0].relname= BLI_strdup(".");
-			filelist->filelist[0].type |= S_IFDIR;
-			memset( &(filelist->filelist[1]), 0 , sizeof(struct direntry));
-			filelist->filelist[1].relname= BLI_strdup("..");
-			filelist->filelist[1].type |= S_IFDIR;
-		
-			files+= 2;
-		}
-		
-		id= lb->first;
-		totlib= totbl= 0;
-		
-		while(id) {
-			
-			ok= 0;
-			if(filelist->has_func && idcode==ID_IP) {
-				if(filelist->ipotype== ((Ipo *)id)->blocktype) ok= 1;
-			}
-			else ok= 1;
-			
-			if(ok) {
-				/* TODO: hide dot files - elubie */
-				memset( files, 0 , sizeof(struct direntry));
-				if(id->lib==NULL)
-					files->relname= BLI_strdup(id->name+2);
-				else {
-					files->relname= MEM_mallocN(FILE_MAXDIR+FILE_MAXFILE+32, "filename for lib");
-					sprintf(files->relname, "%s | %s", id->lib->name, id->name+2);
-				}
-				/* files->type |= S_IFDIR; */
-				if(!filelist->has_func) { /* F4 DATA BROWSE */
-					if(idcode==ID_OB) {
-						if( ((Object *)id)->flag & SELECT) files->flags |= ACTIVE;
-					}
-					else if(idcode==ID_SCE) {
-						if( ((Scene *)id)->r.scemode & R_BG_RENDER) files->flags |= ACTIVE;
-					}					
-				}
-				files->nr= totbl+1;
-				files->poin= id;
-				fake= id->flag & LIB_FAKEUSER;
-				if(idcode == ID_MA || idcode == ID_TE || idcode == ID_LA || idcode == ID_WO || idcode == ID_IM) {
-					files->flags |= IMAGEFILE;
-				}
-				if(id->lib && fake) sprintf(files->extra, "LF %d", id->us);
-				else if(id->lib) sprintf(files->extra, "L    %d", id->us);
-				else if(fake) sprintf(files->extra, "F    %d", id->us);
-				else sprintf(files->extra, "      %d", id->us);
-				
-				if(id->lib) {
-					if(totlib==0) firstlib= files;
-					totlib++;
-				}
-				
-				files++;
-				totbl++;
-			}
-			
-			id= id->next;
-		}
-		
-		/* only qsort of library blocks */
-		if(totlib>1) {
-			qsort(firstlib, totlib, sizeof(struct direntry), compare_name);
-		}
-	}
-	filelist->filter = 0;
-	filelist_filter(filelist);
-}
-
-
 void filelist_settype(struct FileList* filelist, int type)
 {
 	filelist->type = type;
@@ -1194,15 +895,3 @@ void filelist_sort(struct FileList* filelist, short sort)
 	}
 	filelist_filter(filelist);
 }
-
-
-void filelist_setipotype(struct FileList* filelist, short ipotype)
-{
-	filelist->ipotype = ipotype;
-}
-
-void filelist_hasfunc(struct FileList* filelist, int has_func)
-{
-	filelist->has_func = has_func;
-}
-
diff --git a/source/blender/editors/space_file/filelist.h b/source/blender/editors/space_file/filelist.h
index e71bcbddb86..26a2d46f5a7 100644
--- a/source/blender/editors/space_file/filelist.h
+++ b/source/blender/editors/space_file/filelist.h
@@ -42,6 +42,19 @@ struct direntry;
 struct BlendHandle;
 struct Scene;
 
+#define MAX_FILE_COLUMN 8
+
+typedef enum FileListColumns {
+	COLUMN_NAME = 0,
+	COLUMN_DATE,
+	COLUMN_TIME,
+	COLUMN_SIZE,
+	COLUMN_MODE1,
+	COLUMN_MODE2,
+	COLUMN_MODE3,
+	COLUMN_OWNER
+} FileListColumns;
+
 struct FileList *	filelist_new();
 void				filelist_init_icons();
 void				filelist_free_icons();
@@ -62,23 +75,16 @@ void				filelist_imgsize(struct FileList* filelist, short w, short h);
 void				filelist_loadimage(struct FileList* filelist, int index);
 void				filelist_loadimage_timer(struct FileList* filelist);
 struct ImBuf *		filelist_getimage(struct FileList* filelist, int index);
+struct ImBuf *		filelist_geticon(struct FileList* filelist, int index);
 short				filelist_changed(struct FileList* filelist);
 void				filelist_readdir(struct FileList* filelist);
+int					filelist_column_len(struct FileList* filelist, FileListColumns column);
 
 int					filelist_empty(struct FileList* filelist);
 void				filelist_parent(struct FileList* filelist);
 void				filelist_setfiletypes(struct FileList* filelist, short has_quicktime);
-int					filelist_islibrary (struct FileList* filelist, char* dir, char* group);
-void				filelist_from_main(struct FileList* filelist);
-void				filelist_from_library(struct FileList* filelist);
-void				filelist_append_library(struct FileList* filelist, char *dir, char* file, short flag, int idcode, struct Main *mainvar, struct Scene* scene);
 void				filelist_settype(struct FileList* filelist, int type);
 short				filelist_gettype(struct FileList* filelist);
-void				filelist_setipotype(struct FileList* filelist, short ipotype);
-void				filelist_hasfunc(struct FileList* filelist, int has_func);
-
-struct BlendHandle *filelist_lib(struct FileList* filelist);
-int					groupname_to_code(char *group); /* TODO: where should this go */
 
 #ifdef __cplusplus
 }
diff --git a/source/blender/editors/space_file/filesel.c b/source/blender/editors/space_file/filesel.c
index f2eb7ad58ea..a422bda9503 100644
--- a/source/blender/editors/space_file/filesel.c
+++ b/source/blender/editors/space_file/filesel.c
@@ -58,6 +58,8 @@
 #include "BKE_screen.h"
 #include "BKE_global.h"
 
+#include "DNA_userdef_types.h"
+
 #include "ED_screen.h"
 #include "ED_util.h"
 #include "ED_fileselect.h"
@@ -79,7 +81,7 @@
 FileSelectParams* ED_fileselect_get_params(struct SpaceFile *sfile)
 {
 	if (!sfile->params) {
-		ED_fileselect_set_params(sfile, FILE_UNIX, "", "/", 0, 0, 0);
+		ED_fileselect_set_params(sfile, FILE_UNIX, "", "/", 0, FILE_SHORTDISPLAY, 0);
 	}
 	return sfile->params;
 }
@@ -132,3 +134,111 @@ void ED_fileselect_reset_params(SpaceFile *sfile)
 	sfile->params->flag = 0;
 	sfile->params->title[0] = '\0';
 }
+
+
+int ED_fileselect_layout_offset(FileLayout* layout, int x, int y)
+{
+	int offsetx, offsety;
+	int active_file;
+
+	offsetx = (x)/(layout->tile_w + 2*layout->tile_border_x);
+	offsety = (y)/(layout->tile_h + 2*layout->tile_border_y);
+	
+	if (offsetx > layout->columns-1) offsetx = layout->columns-1 ;
+	if (offsety > layout->rows-1) offsety = layout->rows-1 ;
+
+	if (layout->flag & FILE_LAYOUT_HOR) 
+		active_file = layout->rows*offsetx + offsety;
+	else
+		active_file = offsetx + layout->columns*offsety;
+	printf("OFFSET %d %d %d %d %d\n", x,y, offsetx, offsety, active_file);
+	return active_file;
+}
+
+void ED_fileselect_layout_tilepos(FileLayout* layout, int tile, short *x, short *y)
+{
+	if (layout->flag == FILE_LAYOUT_HOR) {
+		*x = layout->tile_border_x + (tile/layout->rows)*(layout->tile_w+2*layout->tile_border_x);
+		*y = layout->tile_border_y + (tile%layout->rows)*(layout->tile_h+2*layout->tile_border_y);
+	} else {
+		*x = layout->tile_border_x + ((tile)%layout->columns)*(layout->tile_w+2*layout->tile_border_x);
+		*y = layout->tile_border_y + ((tile)/layout->columns)*(layout->tile_h+2*layout->tile_border_y);
+	}
+}
+
+
+void ED_fileselect_init_layout(struct SpaceFile *sfile, struct ARegion *ar)
+{
+	FileSelectParams* params = ED_fileselect_get_params(sfile);
+	View2D *v2d= &ar->v2d;
+	int maxlen = 0;
+	int numfiles = filelist_numfiles(sfile->files);
+
+	if (sfile->layout == 0) {
+		sfile->layout = MEM_callocN(sizeof(struct FileLayout), "file_layout");
+	}
+
+	if (params->display == FILE_IMGDISPLAY) {
+		sfile->layout->prv_w = 96;
+		sfile->layout->prv_h = 96;
+		sfile->layout->tile_border_x = 6;
+		sfile->layout->tile_border_y = 6;
+		sfile->layout->prv_border_x = 6;
+		sfile->layout->prv_border_y = 6;
+		sfile->layout->tile_w = sfile->layout->prv_w + 2*sfile->layout->prv_border_x;
+		sfile->layout->tile_h = sfile->layout->prv_h + 2*sfile->layout->prv_border_y + U.fontsize;
+		sfile->layout->width= (v2d->cur.xmax - v2d->cur.xmin - 2*sfile->layout->tile_border_x);
+		sfile->layout->columns= sfile->layout->width / (sfile->layout->tile_w + 2*sfile->layout->tile_border_x);
+		if(sfile->layout->columns > 0)
+			sfile->layout->rows= numfiles/sfile->layout->columns + 1; // XXX dirty, modulo is zero
+		else {
+			sfile->layout->columns = 1;
+			sfile->layout->rows= numfiles + 1; // XXX dirty, modulo is zero
+		}
+		sfile->layout->height= sfile->layout->rows*(sfile->layout->tile_h+2*sfile->layout->tile_border_y) + sfile->layout->tile_border_y*2;
+		sfile->layout->flag = FILE_LAYOUT_VER;
+	} else {
+		sfile->layout->prv_w = 0;
+		sfile->layout->prv_h = 0;
+		sfile->layout->tile_border_x = 8;
+		sfile->layout->tile_border_y = 2;
+		sfile->layout->prv_border_x = 0;
+		sfile->layout->prv_border_y = 0;
+		sfile->layout->tile_h = U.fontsize*3/2;
+		sfile->layout->height= v2d->cur.ymax - v2d->cur.ymin;
+		sfile->layout->rows = sfile->layout->height / (sfile->layout->tile_h + 2*sfile->layout->tile_border_y);;
+        
+		if (params->display == FILE_SHORTDISPLAY) {
+			maxlen = filelist_column_len(sfile->files, COLUMN_NAME) +
+					 filelist_column_len(sfile->files, COLUMN_SIZE);
+			maxlen += 20+2*10; // for icon and space between columns
+		} else {
+			maxlen = filelist_column_len(sfile->files, COLUMN_NAME) +
+			     filelist_column_len(sfile->files, COLUMN_DATE) + 
+			     filelist_column_len(sfile->files, COLUMN_TIME) +
+				 filelist_column_len(sfile->files, COLUMN_SIZE) /* +
+				 filelist_column_len(sfile->files, COLUMN_MODE1) +
+				 filelist_column_len(sfile->files, COLUMN_MODE2) +
+				 filelist_column_len(sfile->files, COLUMN_MODE3) +
+				 filelist_column_len(sfile->files, COLUMN_OWNER) */ ;
+			maxlen += 20+4*10; // for icon and space between columns
+		}
+		sfile->layout->tile_w = maxlen + 40;
+		if(sfile->layout->rows > 0)
+			sfile->layout->columns = numfiles/sfile->layout->rows + 1; // XXX dirty, modulo is zero
+		else {
+			sfile->layout->rows = 1;
+			sfile->layout->columns = numfiles + 1; // XXX dirty, modulo is zero
+		}
+		sfile->layout->width = sfile->layout->columns * (sfile->layout->tile_w + 2*sfile->layout->tile_border_x) + sfile->layout->tile_border_x*2;
+		sfile->layout->flag = FILE_LAYOUT_HOR;
+	} 
+}
+
+FileLayout* ED_fileselect_get_layout(struct SpaceFile *sfile, struct ARegion *ar)
+{
+	if (!sfile->layout) {
+		ED_fileselect_init_layout(sfile, ar);
+	}
+	return sfile->layout;
+}
diff --git a/source/blender/editors/space_file/fsmenu.c b/source/blender/editors/space_file/fsmenu.c
index 4ea62ea0397..6ef946c9697 100644
--- a/source/blender/editors/space_file/fsmenu.c
+++ b/source/blender/editors/space_file/fsmenu.c
@@ -59,106 +59,133 @@ struct _FSMenuEntry {
 
 	char *path;
 	short save;
+	short xs, ys;
 };
 
-static FSMenuEntry *fsmenu= 0;
+typedef struct FSMenu
+{
+	FSMenuEntry *fsmenu_system;
+	FSMenuEntry *fsmenu_bookmarks;
+	FSMenuEntry *fsmenu_recent;
+
+	FSMenuCategory selected_category;
+	int selected_entry;
+
+} FSMenu;
+
+static FSMenu *g_fsmenu = NULL;
+
+struct FSMenu* fsmenu_get(void)
+{
+	if (!g_fsmenu) {
+		g_fsmenu=MEM_callocN(sizeof(struct FSMenu), "fsmenu");
+	}
+	return g_fsmenu;
+}
 
-int fsmenu_get_nentries(void)
+void fsmenu_select_entry(struct FSMenu* fsmenu, FSMenuCategory category, int index)
+{
+	fsmenu->selected_category = category;
+	fsmenu->selected_entry = index;
+}
+
+int	fsmenu_is_selected(struct FSMenu* fsmenu, FSMenuCategory category, int index)
+{
+	return (category==fsmenu->selected_category) && (index==fsmenu->selected_entry);
+}
+
+static FSMenuEntry *fsmenu_get_category(struct FSMenu* fsmenu, FSMenuCategory category)
+{
+	FSMenuEntry *fsms = NULL;
+
+	switch(category) {
+		case FS_CATEGORY_SYSTEM:
+			fsms = fsmenu->fsmenu_system;
+			break;
+		case FS_CATEGORY_BOOKMARKS:
+			fsms = fsmenu->fsmenu_bookmarks;
+			break;
+		case FS_CATEGORY_RECENT:
+			fsms = fsmenu->fsmenu_recent;
+			break;
+	}
+	return fsms;
+}
+
+static void fsmenu_set_category(struct FSMenu* fsmenu, FSMenuCategory category, FSMenuEntry *fsms)
+{
+	switch(category) {
+		case FS_CATEGORY_SYSTEM:
+			fsmenu->fsmenu_system = fsms;
+			break;
+		case FS_CATEGORY_BOOKMARKS:
+			fsmenu->fsmenu_bookmarks = fsms;
+			break;
+		case FS_CATEGORY_RECENT:
+			fsmenu->fsmenu_recent = fsms;
+			break;
+	}
+}
+
+int fsmenu_get_nentries(struct FSMenu* fsmenu, FSMenuCategory category)
 {
 	FSMenuEntry *fsme;
 	int count= 0;
 
-	for (fsme= fsmenu; fsme; fsme= fsme->next) 
+	for (fsme= fsmenu_get_category(fsmenu, category); fsme; fsme= fsme->next) 
 		count++;
 
 	return count;
 }
-int fsmenu_is_entry_a_separator(int idx)
+
+char *fsmenu_get_entry(struct FSMenu* fsmenu, FSMenuCategory category, int idx)
 {
 	FSMenuEntry *fsme;
 
-	for (fsme= fsmenu; fsme && idx; fsme= fsme->next)
+	for (fsme= fsmenu_get_category(fsmenu, category); fsme && idx; fsme= fsme->next)
 		idx--;
 
-	return (fsme && !fsme->path)?1:0;
+	return fsme?fsme->path:NULL;
 }
-char *fsmenu_get_entry(int idx)
+
+void fsmenu_set_pos(struct FSMenu* fsmenu, FSMenuCategory category, int idx, short xs, short ys)
 {
 	FSMenuEntry *fsme;
 
-	for (fsme= fsmenu; fsme && idx; fsme= fsme->next)
+	for (fsme= fsmenu_get_category(fsmenu, category); fsme && idx; fsme= fsme->next)
 		idx--;
 
-	return fsme?fsme->path:NULL;
+	if (fsme) {
+		fsme->xs = xs;
+		fsme->ys = ys;
+	}
 }
-char *fsmenu_build_menu(void)
+
+int	fsmenu_get_pos (struct FSMenu* fsmenu, FSMenuCategory category, int idx, short* xs, short* ys)
 {
-	DynStr *ds= BLI_dynstr_new();
 	FSMenuEntry *fsme;
-	char *menustr;
-
-	for (fsme= fsmenu; fsme; fsme= fsme->next) {
-		if (!fsme->path) {
-				/* clean consecutive seperators and ignore trailing ones */
-			if (fsme->next) {
-				if (fsme->next->path) {
-					BLI_dynstr_append(ds, "%l|");
-				} else {
-					FSMenuEntry *next= fsme->next;
-					fsme->next= next->next;
-					MEM_freeN(next);
-				}
-			}
-		} else {
-			if (fsme->save) {
-				BLI_dynstr_append(ds, "o ");
-			} else {
-				BLI_dynstr_append(ds, "  ");
-			}
-			BLI_dynstr_append(ds, fsme->path);
-			if (fsme->next) BLI_dynstr_append(ds, "|");
-		}
-	}
 
-	menustr= BLI_dynstr_get_cstring(ds);
-	BLI_dynstr_free(ds);
-	return menustr;
-}
-static FSMenuEntry *fsmenu_get_last_separator(void) 
-{
-	FSMenuEntry *fsme, *lsep=NULL;
+	for (fsme= fsmenu_get_category(fsmenu, category); fsme && idx; fsme= fsme->next)
+		idx--;
 
-	for (fsme= fsmenu; fsme; fsme= fsme->next)
-		if (!fsme->path)
-			lsep= fsme;
+	if (fsme) {
+		*xs = fsme->xs;
+		*ys = fsme->ys;
+		return 1;
+	}
 
-	return lsep;
+	return 0;
 }
 
-static FSMenuEntry *fsmenu_get_first_separator(void) 
-{
-	FSMenuEntry *fsme, *lsep=NULL;
 
-	for (fsme= fsmenu; fsme; fsme= fsme->next)
-		if (!fsme->path) {
-			lsep= fsme;
-			break;
-		}
-
-	return lsep;
-}
-
-void fsmenu_insert_entry(char *path, int sorted, short save)
+void fsmenu_insert_entry(struct FSMenu* fsmenu, FSMenuCategory category, char *path, int sorted, short save)
 {
 	FSMenuEntry *prev;
 	FSMenuEntry *fsme;
+	FSMenuEntry *fsms;
 
-	if (save) {
-		prev = fsmenu_get_first_separator();
-	} else {
-		prev = fsmenu_get_last_separator();
-	}
-	fsme= prev?prev->next:fsmenu;
+	fsms = fsmenu_get_category(fsmenu, category);
+	prev= fsme= fsms;
 
 	for (; fsme; prev= fsme, fsme= fsme->next) {
 		if (fsme->path) {
@@ -185,27 +212,17 @@ void fsmenu_insert_entry(char *path, int sorted, short save)
 		fsme->next= prev->next;
 		prev->next= fsme;
 	} else {
-		fsme->next= fsmenu;
-		fsmenu= fsme;
+		fsme->next= fsms;
+		fsmenu_set_category(fsmenu, category, fsme);
 	}
 }
-void fsmenu_append_separator(void)
-{
-	if (fsmenu) {
-		FSMenuEntry *fsme= fsmenu;
-
-		while (fsme->next) fsme= fsme->next;
 
-		fsme->next= MEM_mallocN(sizeof(*fsme), "fsme");
-		fsme->next->next= NULL;
-		fsme->next->path= NULL;
-	}
-}
-void fsmenu_remove_entry(int idx)
+void fsmenu_remove_entry(struct FSMenu* fsmenu, FSMenuCategory category, int idx)
 {
-	FSMenuEntry *prev= NULL, *fsme= fsmenu;
+	FSMenuEntry *prev= NULL, *fsme= NULL;
+	FSMenuEntry *fsms = fsmenu_get_category(fsmenu, category);
 
-	for (fsme= fsmenu; fsme && idx; prev= fsme, fsme= fsme->next)		
+	for (fsme= fsms; fsme && idx; prev= fsme, fsme= fsme->next)		
 		idx--;
 
 	if (fsme) {
@@ -218,7 +235,8 @@ void fsmenu_remove_entry(int idx)
 			if (prev) {
 				prev->next= fsme->next;
 			} else {
-				fsmenu= fsme->next;
+				fsms= fsme->next;
+				fsmenu_set_category(fsmenu, category, fsms);
 			}
 			/* free entry */
 			MEM_freeN(fsme->path);
@@ -227,14 +245,22 @@ void fsmenu_remove_entry(int idx)
 	}
 }
 
-void fsmenu_write_file(const char *filename)
+void fsmenu_write_file(struct FSMenu* fsmenu, const char *filename)
 {
-	FSMenuEntry *fsme= fsmenu;
+	FSMenuEntry *fsme= NULL;
+	int count=FSMENU_RECENT_MAX;
 
 	FILE *fp = fopen(filename, "w");
 	if (!fp) return;
-
-	for (fsme= fsmenu; fsme; fsme= fsme->next) {
+	
+	fprintf(fp, "[Bookmarks]\n");
+	for (fsme= fsmenu_get_category(fsmenu, FS_CATEGORY_BOOKMARKS); fsme; fsme= fsme->next) {
+		if (fsme->path && fsme->save) {
+			fprintf(fp, "%s\n", fsme->path);
+		}
+	}
+	fprintf(fp, "[Recent]\n");
+	for (fsme= fsmenu_get_category(fsmenu, FS_CATEGORY_RECENT); fsme && count; fsme= fsme->next, --count) {
 		if (fsme->path && fsme->save) {
 			fprintf(fp, "%s\n", fsme->path);
 		}
@@ -242,9 +268,10 @@ void fsmenu_write_file(const char *filename)
 	fclose(fp);
 }
 
-void fsmenu_read_file(const char *filename)
+void fsmenu_read_file(struct FSMenu* fsmenu, const char *filename)
 {
 	char line[256];
+	FSMenuCategory category = FS_CATEGORY_BOOKMARKS;
 	FILE *fp;
 
 	#ifdef WIN32
@@ -264,19 +291,15 @@ void fsmenu_read_file(const char *filename)
 				tmps[2]='\\';
 				tmps[3]=0;
 				
-				fsmenu_insert_entry(tmps, 0, 0);
+				fsmenu_insert_entry(fsmenu, FS_CATEGORY_SYSTEM, tmps, 1, 0);
 			}
 		}
 
 		/* Adding Desktop and My Documents */
-		fsmenu_append_separator();
-
 		SHGetSpecialFolderPath(0, folder, CSIDL_PERSONAL, 0);
-		fsmenu_insert_entry(folder, 0, 0);
+		fsmenu_insert_entry(fsmenu,FS_CATEGORY_BOOKMARKS, folder, 1, 0);
 		SHGetSpecialFolderPath(0, folder, CSIDL_DESKTOPDIRECTORY, 0);
-		fsmenu_insert_entry(folder, 0, 0);
-
-		fsmenu_append_separator();
+		fsmenu_insert_entry(fsmenu, FS_CATEGORY_BOOKMARKS, folder, 1, 0);
 	}
 #endif
 
@@ -285,20 +308,26 @@ void fsmenu_read_file(const char *filename)
 
 	while ( fgets ( line, 256, fp ) != NULL ) /* read a line */
 	{
-		int len = strlen(line);
-		if (len>0) {
-			if (line[len-1] == '\n') {
-				line[len-1] = '\0';
+		if (strncmp(line, "[Bookmarks]", 11)==0){
+			category = FS_CATEGORY_BOOKMARKS;
+		} else if (strncmp(line, "[Recent]", 8)==0){
+			category = FS_CATEGORY_RECENT;
+		} else {
+			int len = strlen(line);
+			if (len>0) {
+				if (line[len-1] == '\n') {
+					line[len-1] = '\0';
+				}
+				fsmenu_insert_entry(fsmenu, category, line, 0, 1);
 			}
-			fsmenu_insert_entry(line, 0, 1);
 		}
 	}
 	fclose(fp);
 }
 
-void fsmenu_free(void)
+static void fsmenu_free_category(struct FSMenu* fsmenu, FSMenuCategory category)
 {
-	FSMenuEntry *fsme= fsmenu;
+	FSMenuEntry *fsme= fsmenu_get_category(fsmenu, category);
 
 	while (fsme) {
 		FSMenuEntry *n= fsme->next;
@@ -310,5 +339,11 @@ void fsmenu_free(void)
 	}
 }
 
-
+void fsmenu_free(struct FSMenu* fsmenu)
+{
+	fsmenu_free_category(fsmenu, FS_CATEGORY_SYSTEM);
+	fsmenu_free_category(fsmenu, FS_CATEGORY_BOOKMARKS);
+	fsmenu_free_category(fsmenu, FS_CATEGORY_RECENT);
+	MEM_freeN(fsmenu);
+}
 
diff --git a/source/blender/editors/space_file/fsmenu.h b/source/blender/editors/space_file/fsmenu.h
index f4291673a3e..c51c45b7dc4 100644
--- a/source/blender/editors/space_file/fsmenu.h
+++ b/source/blender/editors/space_file/fsmenu.h
@@ -31,46 +31,54 @@
 #ifndef BSE_FSMENU_H
 #define BSE_FSMENU_H
 
-	/** Returns the number of entries in the Fileselect Menu */
-int		fsmenu_get_nentries		(void);
+/* XXX could become UserPref */
+#define FSMENU_RECENT_MAX 10
 
-	/** Returns true if the fsmenu entry at @a index exists and
-	 * is a seperator.
-	 */
-int	fsmenu_is_entry_a_separator	(int index);
+typedef enum FSMenuCategory {
+	FS_CATEGORY_SYSTEM,
+	FS_CATEGORY_BOOKMARKS,
+	FS_CATEGORY_RECENT
+} FSMenuCategory;
+
+struct FSMenu;
+
+struct FSMenu* fsmenu_get		(void);
+
+	/** Returns the number of entries in the Fileselect Menu */
+int		fsmenu_get_nentries		(struct FSMenu* fsmenu, FSMenuCategory category);
 
 	/** Returns the fsmenu entry at @a index (or NULL if a bad index)
      * or a separator.
 	 */
-char*	fsmenu_get_entry		(int index);
+char*	fsmenu_get_entry		(struct FSMenu* fsmenu, FSMenuCategory category, int index);
 
-	/** Returns a new menu description string representing the
-	 * fileselect menu. Should be free'd with MEM_freeN.
-	 */
-char*	fsmenu_build_menu		(void);
+void	fsmenu_select_entry		(struct FSMenu* fsmenu, FSMenuCategory category, int index);
 
-	/** Append a seperator to the FSMenu, inserts always follow the
-	 * last seperator.
-	 */
-void	fsmenu_append_separator	(void);
+int		fsmenu_is_selected		(struct FSMenu* fsmenu, FSMenuCategory category, int index);
+
+	/** Sets the position of the  fsmenu entry at @a index */
+void	fsmenu_set_pos			(struct FSMenu* fsmenu, FSMenuCategory category, int index, short xs, short ys);
+
+	/** Returns the position of the  fsmenu entry at @a index. return value is 1 if successful, 0 otherwise */
+int		fsmenu_get_pos			(struct FSMenu* fsmenu, FSMenuCategory category, int index, short* xs, short* ys);
 
 	/** Inserts a new fsmenu entry with the given @a path.
 	 * Duplicate entries are not added.
 	 * @param sorted Should entry be inserted in sorted order?
 	 */
-void	fsmenu_insert_entry		(char *path, int sorted, short save);
+void	fsmenu_insert_entry		(struct FSMenu* fsmenu, FSMenuCategory category, char *path, int sorted, short save);
 
 	/** Removes the fsmenu entry at the given @a index. */
-void	fsmenu_remove_entry		(int index);
+void	fsmenu_remove_entry		(struct FSMenu* fsmenu, FSMenuCategory category, int index);
 
 	/** saves the 'bookmarks' to the specified file */
-void	fsmenu_write_file(const char *filename);
+void	fsmenu_write_file		(struct FSMenu* fsmenu, const char *filename);
 	
 	/** reads the 'bookmarks' from the specified file */
-void	fsmenu_read_file(const char *filename);
+void	fsmenu_read_file		(struct FSMenu* fsmenu, const char *filename);
 
 	/** Free's all the memory associated with the fsmenu */
-void	fsmenu_free				(void);
+void	fsmenu_free				(struct FSMenu* fsmenu);
 
 #endif
 
diff --git a/source/blender/editors/space_file/space_file.c b/source/blender/editors/space_file/space_file.c
index 70d7ad9cde5..084fcf1e5f6 100644
--- a/source/blender/editors/space_file/space_file.c
+++ b/source/blender/editors/space_file/space_file.c
@@ -62,6 +62,7 @@
 #include "UI_resources.h"
 #include "UI_view2d.h"
 
+
 #include "ED_markers.h"
 #include "ED_fileselect.h"
 
@@ -83,13 +84,13 @@ static SpaceLink *file_new(const bContext *C)
 	ar= MEM_callocN(sizeof(ARegion), "header for file");
 	BLI_addtail(&sfile->regionbase, ar);
 	ar->regiontype= RGN_TYPE_HEADER;
-	ar->alignment= RGN_ALIGN_BOTTOM;
+	ar->alignment= RGN_ALIGN_TOP;
 
 	/* channel list region */
 	ar= MEM_callocN(sizeof(ARegion), "channel area for file");
 	BLI_addtail(&sfile->regionbase, ar);
 	ar->regiontype= RGN_TYPE_CHANNELS;
-	ar->alignment= RGN_ALIGN_LEFT;
+	ar->alignment= RGN_ALIGN_LEFT;	
 
 	/* ui list region */
 	ar= MEM_callocN(sizeof(ARegion), "ui area for file");
@@ -117,7 +118,6 @@ static void file_free(SpaceLink *sl)
 	
 	if(sfile->files) {
 		filelist_free(sfile->files);
-		filelist_freelib(sfile->files);
 		MEM_freeN(sfile->files);
 		sfile->files= NULL;
 	}
@@ -128,6 +128,11 @@ static void file_free(SpaceLink *sl)
 		MEM_freeN(sfile->params);
 		sfile->params= NULL;
 	}
+
+	if (sfile->layout) {
+		MEM_freeN(sfile->layout);
+		sfile->layout = NULL;
+	}
 }
 
 
@@ -153,6 +158,9 @@ static SpaceLink *file_duplicate(SpaceLink *sl)
 		filelist_setdir(sfilen->files, sfilen->params->dir);
 		filelist_settype(sfilen->files, sfilen->params->type);
 	}
+	if (sfileo->layout) {
+		sfilen->layout= MEM_dupallocN(sfileo->layout);
+	}
 	return (SpaceLink *)sfilen;
 }
 
@@ -175,7 +183,9 @@ static void file_main_area_draw(const bContext *C, ARegion *ar)
 {
 	/* draw entirely, view changes should be handled here */
 	SpaceFile *sfile= (SpaceFile*)CTX_wm_space_data(C);
-	FileSelectParams* params = sfile->params;
+	FileSelectParams *params = ED_fileselect_get_params(sfile);
+	FileLayout *layout=NULL;
+
 	View2D *v2d= &ar->v2d;
 	View2DScrollers *scrollers;
 	float col[3];
@@ -187,6 +197,8 @@ static void file_main_area_draw(const bContext *C, ARegion *ar)
 		params->active_file = -1; // added this so it opens nicer (ton)
 	}
 
+	layout = ED_fileselect_get_layout(sfile, ar);
+
 	if (filelist_empty(sfile->files))
 	{
 		unsigned int filter = 0;
@@ -209,11 +221,17 @@ static void file_main_area_draw(const bContext *C, ARegion *ar)
 	glClear(GL_COLOR_BUFFER_BIT);
 	
 	/* Allow dynamically sliders to be set, saves notifiers etc. */
-	if (sfile->params && (sfile->params->display == FILE_IMGDISPLAY) )
+	if (layout && (layout->flag == FILE_LAYOUT_VER)) {
 		v2d->scroll = V2D_SCROLL_RIGHT;
-	else
+		v2d->keepofs &= ~V2D_LOCKOFS_Y;
+		v2d->keepofs |= V2D_LOCKOFS_X;
+	}
+	else {
 		v2d->scroll = V2D_SCROLL_BOTTOM;
-		/* v2d has initialized flag, so this call will only set the mask correct */
+		v2d->keepofs &= ~V2D_LOCKOFS_X;
+		v2d->keepofs |= V2D_LOCKOFS_Y;
+	}
+	/* v2d has initialized flag, so this call will only set the mask correct */
 	UI_view2d_region_reinit(v2d, V2D_COMMONVIEW_LIST, ar->winx, ar->winy);
 
 	/* sets tile/border settings in sfile */
@@ -248,14 +266,16 @@ static void file_main_area_draw(const bContext *C, ARegion *ar)
 void file_operatortypes(void)
 {
 	WM_operatortype_append(FILE_OT_select);
-	WM_operatortype_append(FILE_OT_select_all);
-	WM_operatortype_append(FILE_OT_border_select);
+	WM_operatortype_append(FILE_OT_select_all_toggle);
+	WM_operatortype_append(FILE_OT_select_border);
 	WM_operatortype_append(FILE_OT_select_bookmark);
 	WM_operatortype_append(FILE_OT_loadimages);
 	WM_operatortype_append(FILE_OT_highlight);
 	WM_operatortype_append(FILE_OT_exec);
 	WM_operatortype_append(FILE_OT_cancel);
 	WM_operatortype_append(FILE_OT_parent);
+	WM_operatortype_append(FILE_OT_refresh);
+	WM_operatortype_append(FILE_OT_bookmark_toggle);
 }
 
 /* NOTE: do not add .blend file reading on this level */
@@ -263,8 +283,8 @@ void file_keymap(struct wmWindowManager *wm)
 {
 	ListBase *keymap= WM_keymap_listbase(wm, "File", SPACE_FILE, 0);
 	WM_keymap_add_item(keymap, "FILE_OT_select", LEFTMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "FILE_OT_select_all", AKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "FILE_OT_border_select", BKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "FILE_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "FILE_OT_select_border", BKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "FILE_OT_highlight", MOUSEMOVE, KM_ANY, 0, 0);
 	WM_keymap_add_item(keymap, "FILE_OT_parent", PKEY, KM_PRESS, 0, 0);
 	
@@ -291,7 +311,7 @@ static void file_channel_area_draw(const bContext *C, ARegion *ar)
 	View2D *v2d= &ar->v2d;
 	float col[3];
 
-	UI_GetThemeColor3fv(TH_BACK, col);
+	UI_GetThemeColor3fv(TH_PANEL, col);
 	glClearColor(col[0], col[1], col[2], 0.0);
 	glClear(GL_COLOR_BUFFER_BIT);
 
@@ -339,7 +359,7 @@ static void file_ui_area_draw(const bContext *C, ARegion *ar)
 {
 	float col[3];
 	/* clear */
-	UI_GetThemeColor3fv(TH_BACK, col);
+	UI_GetThemeColor3fv(TH_PANEL, col);
 	glClearColor(col[0], col[1], col[2], 0.0);
 	glClear(GL_COLOR_BUFFER_BIT);
 
@@ -392,7 +412,7 @@ void ED_spacetype_file(void)
 	/* regions: ui */
 	art= MEM_callocN(sizeof(ARegionType), "spacetype file region");
 	art->regionid = RGN_TYPE_UI;
-	art->minsizey= 100;
+	art->minsizey= 60;
 	art->keymapflag= ED_KEYMAP_UI;
 	art->init= file_ui_area_init;
 	art->draw= file_ui_area_draw;
@@ -401,7 +421,7 @@ void ED_spacetype_file(void)
 	/* regions: channels (directories) */
 	art= MEM_callocN(sizeof(ARegionType), "spacetype file region");
 	art->regionid = RGN_TYPE_CHANNELS;
-	art->minsizex= 200;
+	art->minsizex= 240;
 	art->keymapflag= ED_KEYMAP_UI|ED_KEYMAP_VIEW2D;
 	art->init= file_channel_area_init;
 	art->draw= file_channel_area_draw;
@@ -415,13 +435,13 @@ void ED_file_init(void)
 {
 	char name[FILE_MAX];
 	BLI_make_file_string("/", name, BLI_gethome(), ".Bfs");
-	fsmenu_read_file(name);
+	fsmenu_read_file(fsmenu_get(), name);
 	filelist_init_icons();
 	IMB_thumb_makedirs();
 }
 
 void ED_file_exit(void)
 {
-	fsmenu_free();
+	fsmenu_free(fsmenu_get());
 	filelist_free_icons();
 }
diff --git a/source/blender/editors/space_graph/graph_buttons.c b/source/blender/editors/space_graph/graph_buttons.c
index 859aab9283e..5207d4843f7 100644
--- a/source/blender/editors/space_graph/graph_buttons.c
+++ b/source/blender/editors/space_graph/graph_buttons.c
@@ -52,6 +52,7 @@
 #include "BKE_curve.h"
 #include "BKE_customdata.h"
 #include "BKE_depsgraph.h"
+#include "BKE_fcurve.h"
 #include "BKE_object.h"
 #include "BKE_global.h"
 #include "BKE_scene.h"
@@ -132,7 +133,7 @@ static void graph_panel_properties(const bContext *C, ARegion *ar, short cntrl,
 	 */
 }
 
-/* -------------- */
+/* ******************* drivers ******************************** */
 
 #define B_IPO_DEPCHANGE 	10
 
@@ -216,44 +217,595 @@ static void graph_panel_drivers(const bContext *C, ARegion *ar, short cntrl, bAn
 	}
 }
 
-/* -------------- */
+/* ******************* f-modifiers ******************************** */
+
+#define B_FMODIFIER_REDRAW		20
 
 static void do_graph_region_modifier_buttons(bContext *C, void *arg, int event)
 {
-	//Scene *scene= CTX_data_scene(C);
+	switch (event) {
+		case B_REDR:
+		case B_FMODIFIER_REDRAW: // XXX this should send depsgraph updates too
+			ED_area_tag_redraw(CTX_wm_area(C));
+			return; /* no notifier! */
+	}
+}
+
+/* macro for use here to draw background box and set height */
+// XXX for now, roundbox has it's callback func set to NULL to not intercept events
+#define DRAW_BACKDROP(height) \
+	{ \
+		if (active) uiBlockSetCol(block, TH_BUT_ACTION); \
+			but= uiDefBut(block, ROUNDBOX, B_REDR, "", 10-8, *yco-height, width, height-1, NULL, 5.0, 0.0, 12.0, (float)rb_col, ""); \
+			uiButSetFunc(but, NULL, NULL, NULL); \
+		if (active) uiBlockSetCol(block, TH_AUTO); \
+	}
+
+/* callback to verify modifier data */
+static void validate_fmodifier_cb (bContext *C, void *fcu_v, void *fcm_v)
+{
+	FModifier *fcm= (FModifier *)fcm_v;
+	FModifierTypeInfo *fmi= fmodifier_get_typeinfo(fcm);
 	
-	switch(event) {
+	/* call the verify callback on the modifier if applicable */
+	if (fmi && fmi->verify_data)
+		fmi->verify_data(fcm);
+}
+
+/* callback to set the active modifier */
+static void activate_fmodifier_cb (bContext *C, void *fcu_v, void *fcm_v)
+{
+	FCurve *fcu= (FCurve *)fcu_v;
+	FModifier *fcm= (FModifier *)fcm_v;
+	
+	/* call API function to set the active modifier for active F-Curve */
+	fcurve_set_active_modifier(fcu, fcm);
+}
 
+/* callback to remove the given modifier  */
+static void delete_fmodifier_cb (bContext *C, void *fcu_v, void *fcm_v)
+{
+	FCurve *fcu= (FCurve *)fcu_v;
+	FModifier *fcm= (FModifier *)fcm_v;
+	
+	/* remove the given F-Modifier from the F-Curve */
+	fcurve_remove_modifier(fcu, fcm);
+}
+
+/* --------------- */
+	
+/* draw settings for generator modifier */
+static void draw_modifier__generator(uiBlock *block, FCurve *fcu, FModifier *fcm, int *yco, short *height, short width, short active, int rb_col)
+{
+	FMod_Generator *data= (FMod_Generator *)fcm->data;
+	char gen_mode[]="Generator Type%t|Expanded Polynomial%x0|Factorised Polynomial%x1|Built-In Function%x2|Expression%x3";
+	char fn_type[]="Built-In Function%t|Sin%x0|Cos%x1|Tan%x2|Square Root%x3|Natural Log%x4";
+	int cy= *yco - 30;
+	uiBut *but;
+	
+	/* set the height */
+	(*height) = 90;
+	switch (data->mode) {
+		case FCM_GENERATOR_POLYNOMIAL: /* polynomial expression */
+			(*height) += 20*(data->poly_order+1) + 35;
+			break;
+		case FCM_GENERATOR_POLYNOMIAL_FACTORISED: /* factorised polynomial */
+			(*height) += 20 * data->poly_order;
+			break;
+		case FCM_GENERATOR_FUNCTION: /* builtin function */
+			(*height) += 50; // xxx
+			break;
+		case FCM_GENERATOR_EXPRESSION: /* py-expression */
+			// xxx nothing to draw 
+			break;
 	}
 	
-	/* default for now */
-	//WM_event_add_notifier(C, NC_OBJECT|ND_TRANSFORM, ob);
+	/* basic settings (backdrop + mode selector + some padding) */
+	//DRAW_BACKDROP((*height)); // XXX buggy...
+	uiBlockBeginAlign(block);
+		but= uiDefButS(block, MENU, B_FMODIFIER_REDRAW, gen_mode, 10,cy,width-30,19, &data->mode, 0, 0, 0, 0, "Selects type of generator algorithm.");
+		uiButSetFunc(but, validate_fmodifier_cb, fcu, fcm);
+		cy -= 20;
+		
+		uiDefButBitS(block, TOG, FCM_GENERATOR_ADDITIVE, B_FMODIFIER_REDRAW, "Additive", 10,cy,width-30,19, &data->flag, 0, 0, 0, 0, "Values generated by this modifier are applied on top of the existing values instead of overwriting them");
+		cy -= 35;
+	uiBlockEndAlign(block);
+	
+	/* now add settings for individual modes */
+	switch (data->mode) {
+		case FCM_GENERATOR_POLYNOMIAL: /* polynomial expression */
+		{
+			float *cp = NULL;
+			char xval[32];
+			unsigned int i;
+			
+			/* draw polynomial order selector */
+			but= uiDefButS(block, NUM, B_FMODIFIER_REDRAW, "Poly Order: ", 10,cy,width-30,19, &data->poly_order, 1, 100, 0, 0, "'Order' of the Polynomial - for a polynomial with n terms, 'order' is n-1");
+			uiButSetFunc(but, validate_fmodifier_cb, fcu, fcm);
+			cy -= 35;
+			
+			/* draw controls for each coefficient and a + sign at end of row */
+			uiDefBut(block, LABEL, 1, "y = ", 0, cy, 50, 20, NULL, 0.0, 0.0, 0, 0, "");
+			
+			cp= data->coefficients;
+			for (i=0; (i < data->arraysize) && (cp); i++, cp++) {
+				/* coefficient */
+				uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "", 50, cy, 150, 20, cp, -FLT_MAX, FLT_MAX, 10, 3, "Coefficient for polynomial");
+				
+				/* 'x' param (and '+' if necessary) */
+				if (i == 0)
+					strcpy(xval, "");
+				else if (i == 1)
+					strcpy(xval, "x");
+				else
+					sprintf(xval, "x^%d", i);
+				uiDefBut(block, LABEL, 1, xval, 200, cy, 50, 20, NULL, 0.0, 0.0, 0, 0, "Power of x");
+				
+				if ( (i != (data->arraysize - 1)) || ((i==0) && data->arraysize==2) )
+					uiDefBut(block, LABEL, 1, "+", 250, cy, 30, 20, NULL, 0.0, 0.0, 0, 0, "");
+				
+				cy -= 20;
+			}
+		}
+			break;
+		
+		case FCM_GENERATOR_POLYNOMIAL_FACTORISED: /* factorised polynomial expression */
+		{
+			float *cp = NULL;
+			unsigned int i;
+			
+			/* draw polynomial order selector */
+			but= uiDefButS(block, NUM, B_FMODIFIER_REDRAW, "Poly Order: ", 10,cy,width-30,19, &data->poly_order, 1, 100, 0, 0, "'Order' of the Polynomial - for a polynomial with n terms, 'order' is n-1");
+			uiButSetFunc(but, validate_fmodifier_cb, fcu, fcm);
+			cy -= 35;
+			
+			/* draw controls for each pair of coefficients */
+			uiDefBut(block, LABEL, 1, "y = ", 0, cy, 50, 20, NULL, 0.0, 0.0, 0, 0, "");
+			
+			cp= data->coefficients;
+			for (i=0; (i < data->poly_order) && (cp); i++, cp+=2) {
+				/* opening bracket */
+				uiDefBut(block, LABEL, 1, "(", 40, cy, 50, 20, NULL, 0.0, 0.0, 0, 0, "");
+				
+				/* coefficients */
+				uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "", 50, cy, 100, 20, cp, -FLT_MAX, FLT_MAX, 10, 3, "Coefficient of x");
+				
+				uiDefBut(block, LABEL, 1, "x + ", 150, cy, 30, 20, NULL, 0.0, 0.0, 0, 0, "");
+				
+				uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "", 180, cy, 100, 20, cp+1, -FLT_MAX, FLT_MAX, 10, 3, "Second coefficient");
+				
+				/* closing bracket and '+' sign */
+				if ( (i != (data->poly_order - 1)) || ((i==0) && data->poly_order==2) )
+					uiDefBut(block, LABEL, 1, ") ×", 280, cy, 30, 20, NULL, 0.0, 0.0, 0, 0, "");
+				else
+					uiDefBut(block, LABEL, 1, ")", 280, cy, 30, 20, NULL, 0.0, 0.0, 0, 0, "");
+				
+				cy -= 20;
+			}
+		}
+			break;
+		
+		case FCM_GENERATOR_FUNCTION: /* built-in function */
+		{
+			float *cp= data->coefficients;
+			
+			/* draw function selector */
+			but= uiDefButS(block, MENU, B_FMODIFIER_REDRAW, fn_type, 10,cy,width-30,19, &data->func_type, 0, 0, 0, 0, "Built-In Function to use");
+			uiButSetFunc(but, validate_fmodifier_cb, fcu, fcm);
+			cy -= 35;
+			
+			/* draw controls for equation of coefficients */
+			/* row 1 */
+			{
+				uiDefBut(block, LABEL, 1, "y = ", 0, cy, 50, 20, NULL, 0.0, 0.0, 0, 0, "");
+				
+				uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "", 50, cy, 150, 20, cp+3, -FLT_MAX, FLT_MAX, 10, 3, "Coefficient (D) for function");
+				uiDefBut(block, LABEL, 1, "+", 200, cy, 30, 20, NULL, 0.0, 0.0, 0, 0, "");
+				cy -= 20;
+			}
+			
+			/* row 2 */
+			{
+				char func_name[32];
+				
+				/* coefficient outside bracket */
+				uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "", 0, cy, 80, 20, cp, -FLT_MAX, FLT_MAX, 10, 3, "Coefficient (A) for function");
+				
+				/* opening bracket */
+				switch (data->func_type)
+				{		
+					case FCM_GENERATOR_FN_SIN: /* sine wave */
+						sprintf(func_name, "sin(");
+						break;
+					case FCM_GENERATOR_FN_COS: /* cosine wave */
+						sprintf(func_name, "cos(");
+						break;
+					case FCM_GENERATOR_FN_TAN: /* tangent wave */
+						sprintf(func_name, "tan(");
+						break;
+					case FCM_GENERATOR_FN_LN: /* natural log */
+						sprintf(func_name, "ln(");
+						break;
+					case FCM_GENERATOR_FN_SQRT: /* square root */
+						sprintf(func_name, "sqrt(");
+						break;
+					default: /* unknown */
+						sprintf(func_name, "<fn?>(");
+						break;
+				}
+				uiDefBut(block, LABEL, 1, func_name, 80, cy, 40, 20, NULL, 0.0, 0.0, 0, 0, "");
+				
+				/* coefficients inside bracket */
+				uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "", 115, cy, 75, 20, cp+1, -FLT_MAX, FLT_MAX, 10, 3, "Coefficient (B) of x");
+				
+				uiDefBut(block, LABEL, 1, "x+", 190, cy, 30, 20, NULL, 0.0, 0.0, 0, 0, "");
+				
+				uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "", 220, cy, 80, 20, cp+2, -FLT_MAX, FLT_MAX, 10, 3, "Coefficient (C) of function");
+				
+				/* closing bracket */
+					uiDefBut(block, LABEL, 1, ")", 300, cy, 30, 20, NULL, 0.0, 0.0, 0, 0, "");
+				cy -= 20;
+			}
+		}
+			break;
+		
+		case FCM_GENERATOR_EXPRESSION: /* py-expression */
+			// TODO...
+			break;
+	}
+}
+
+/* --------------- */
+
+/* draw settings for cycles modifier */
+static void draw_modifier__cycles(uiBlock *block, FCurve *fcu, FModifier *fcm, int *yco, short *height, short width, short active, int rb_col)
+{
+	FMod_Cycles *data= (FMod_Cycles *)fcm->data;
+	char cyc_mode[]="Cycling Mode%t|No Cycles%x0|Repeat Motion%x1|Repeat with Offset%x2";
+	int cy= (*yco - 30), cy1= (*yco - 50), cy2= (*yco - 70);
+	
+	/* set the height */
+	(*height) = 90;
+	
+	/* basic settings (backdrop + some padding) */
+	//DRAW_BACKDROP((*height)); // XXX buggy...
+	
+	/* 'before' range */
+	uiDefBut(block, LABEL, 1, "Before:", 10, cy, 80, 20, NULL, 0.0, 0.0, 0, 0, "Settings for cycling before first keyframe");
+	uiBlockBeginAlign(block);
+		uiDefButS(block, MENU, B_FMODIFIER_REDRAW, cyc_mode, 10,cy1,150,20, &data->before_mode, 0, 0, 0, 0, "Cycling mode to use before first keyframe");
+		uiDefButS(block, NUM, B_FMODIFIER_REDRAW, "Max Cycles:", 10, cy2, 150, 20, &data->before_cycles, 0, 10000, 10, 3, "Maximum number of cycles to allow (0 = infinite)");
+	uiBlockEndAlign(block);
+	
+	/* 'after' range */
+	uiDefBut(block, LABEL, 1, "After:", 160, cy, 80, 20, NULL, 0.0, 0.0, 0, 0, "Settings for cycling after last keyframe");
+	uiBlockBeginAlign(block);
+		uiDefButS(block, MENU, B_FMODIFIER_REDRAW, cyc_mode, 170,cy1,150,20, &data->after_mode, 0, 0, 0, 0, "Cycling mode to use after first keyframe");
+		uiDefButS(block, NUM, B_FMODIFIER_REDRAW, "Max Cycles:", 170, cy2, 150, 20, &data->after_cycles, 0, 10000, 10, 3, "Maximum number of cycles to allow (0 = infinite)");
+	uiBlockEndAlign(block);
+}
+
+/* --------------- */
+
+#define BINARYSEARCH_FRAMEEQ_THRESH	0.0001
+
+/* Binary search algorithm for finding where to insert Envelope Data Point.
+ * Returns the index to insert at (data already at that index will be offset if replace is 0)
+ */
+static int binarysearch_fcm_envelopedata_index (FCM_EnvelopeData array[], float frame, int arraylen, short *exists)
+{
+	int start=0, end=arraylen;
+	int loopbreaker= 0, maxloop= arraylen * 2;
+	
+	/* initialise exists-flag first */
+	*exists= 0;
+	
+	/* sneaky optimisations (don't go through searching process if...):
+	 *	- keyframe to be added is to be added out of current bounds
+	 *	- keyframe to be added would replace one of the existing ones on bounds
+	 */
+	if ((arraylen <= 0) || (array == NULL)) {
+		printf("Warning: binarysearch_fcm_envelopedata_index() encountered invalid array \n");
+		return 0;
+	}
+	else {
+		/* check whether to add before/after/on */
+		float framenum;
+		
+		/* 'First' Point (when only one point, this case is used) */
+		framenum= array[0].time;
+		if (IS_EQT(frame, framenum, BINARYSEARCH_FRAMEEQ_THRESH)) {
+			*exists = 1;
+			return 0;
+		}
+		else if (frame < framenum)
+			return 0;
+			
+		/* 'Last' Point */
+		framenum= array[(arraylen-1)].time;
+		if (IS_EQT(frame, framenum, BINARYSEARCH_FRAMEEQ_THRESH)) {
+			*exists= 1;
+			return (arraylen - 1);
+		}
+		else if (frame > framenum)
+			return arraylen;
+	}
+	
+	
+	/* most of the time, this loop is just to find where to put it
+	 * 	- 'loopbreaker' is just here to prevent infinite loops 
+	 */
+	for (loopbreaker=0; (start <= end) && (loopbreaker < maxloop); loopbreaker++) {
+		/* compute and get midpoint */
+		int mid = start + ((end - start) / 2);	/* we calculate the midpoint this way to avoid int overflows... */
+		float midfra= array[mid].time;
+		
+		/* check if exactly equal to midpoint */
+		if (IS_EQT(frame, midfra, BINARYSEARCH_FRAMEEQ_THRESH)) {
+			*exists = 1;
+			return mid;
+		}
+		
+		/* repeat in upper/lower half */
+		if (frame > midfra)
+			start= mid + 1;
+		else if (frame < midfra)
+			end= mid - 1;
+	}
+	
+	/* print error if loop-limit exceeded */
+	if (loopbreaker == (maxloop-1)) {
+		printf("Error: binarysearch_fcm_envelopedata_index() was taking too long \n");
+		
+		// include debug info 
+		printf("\tround = %d: start = %d, end = %d, arraylen = %d \n", loopbreaker, start, end, arraylen);
+	}
+	
+	/* not found, so return where to place it */
+	return start;
+}
+
+/* callback to add new envelope data point */
+// TODO: should we have a separate file for things like this?
+static void fmod_envelope_addpoint_cb (bContext *C, void *fcm_dv, void *dummy)
+{
+	Scene *scene= CTX_data_scene(C);
+	FMod_Envelope *env= (FMod_Envelope *)fcm_dv;
+	FCM_EnvelopeData *fedn;
+	FCM_EnvelopeData fed;
+	
+	/* init template data */
+	fed.min= -1.0f;
+	fed.max= 1.0f;
+	fed.time= (float)scene->r.cfra; // XXX make this int for ease of use?
+	fed.f1= fed.f2= 0;
+	
+	/* check that no data exists for the current frame... */
+	if (env->data) {
+		short exists = -1;
+		int i= binarysearch_fcm_envelopedata_index(env->data, (float)(scene->r.cfra), env->totvert, &exists);
+		
+		/* binarysearch_...() will set exists by default to 0, so if it is non-zero, that means that the point exists already */
+		if (exists)
+			return;
+			
+		/* add new */
+		fedn= MEM_callocN((env->totvert+1)*sizeof(FCM_EnvelopeData), "FCM_EnvelopeData");
+		
+		/* add the points that should occur before the point to be pasted */
+		if (i > 0)
+			memcpy(fedn, env->data, i*sizeof(FCM_EnvelopeData));
+		
+		/* add point to paste at index i */
+		*(fedn + i)= fed;
+		
+		/* add the points that occur after the point to be pasted */
+		if (i < env->totvert) 
+			memcpy(fedn+i+1, env->data+i, (env->totvert-i)*sizeof(FCM_EnvelopeData));
+		
+		/* replace (+ free) old with new */
+		MEM_freeN(env->data);
+		env->data= fedn;
+		
+		env->totvert++;
+	}
+	else {
+		env->data= MEM_callocN(sizeof(FCM_EnvelopeData), "FCM_EnvelopeData");
+		*(env->data)= fed;
+		
+		env->totvert= 1;
+	}
+}
+
+/* callback to remove envelope data point */
+// TODO: should we have a separate file for things like this?
+static void fmod_envelope_deletepoint_cb (bContext *C, void *fcm_dv, void *ind_v)
+{
+	FMod_Envelope *env= (FMod_Envelope *)fcm_dv;
+	FCM_EnvelopeData *fedn;
+	int index= GET_INT_FROM_POINTER(ind_v);
+	
+	/* check that no data exists for the current frame... */
+	if (env->totvert > 1) {
+		/* allocate a new smaller array */
+		fedn= MEM_callocN(sizeof(FCM_EnvelopeData)*(env->totvert-1), "FCM_EnvelopeData");
+		
+		memcpy(fedn, &env->data, sizeof(FCM_EnvelopeData)*(index));
+		memcpy(&fedn[index], &env->data[index+1], sizeof(FCM_EnvelopeData)*(env->totvert-index-1));
+		
+		/* free old array, and set the new */
+		MEM_freeN(env->data);
+		env->data= fedn;
+		env->totvert--;
+	}
+	else {
+		/* just free array, since the only vert was deleted */
+		if (env->data) 
+			MEM_freeN(env->data);
+		env->totvert= 0;
+	}
+}
+
+/* draw settings for envelope modifier */
+static void draw_modifier__envelope(uiBlock *block, FCurve *fcu, FModifier *fcm, int *yco, short *height, short width, short active, int rb_col)
+{
+	FMod_Envelope *env= (FMod_Envelope *)fcm->data;
+	FCM_EnvelopeData *fed;
+	uiBut *but;
+	int cy= (*yco - 30);
+	int i;
+	
+	/* set the height:
+	 *	- basic settings + variable height from envelope controls
+	 */
+	(*height) = 96 + (25 * env->totvert);
+	
+	/* basic settings (backdrop + general settings + some padding) */
+	//DRAW_BACKDROP((*height)); // XXX buggy...
+	
+	/* General Settings */
+	uiDefBut(block, LABEL, 1, "Envelope:", 10, cy, 100, 20, NULL, 0.0, 0.0, 0, 0, "Settings for cycling before first keyframe");
+	cy -= 20;
+	
+	uiBlockBeginAlign(block);
+		uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "Reference Val:", 10, cy, 300, 20, &env->midval, -FLT_MAX, FLT_MAX, 10, 3, "");
+		cy -= 20;
+		
+		uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "Min:", 10, cy, 150, 20, &env->min, -FLT_MAX, env->max, 10, 3, "Minimum value (relative to Reference Value) that is used as the 'normal' minimum value");
+		uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "Max:", 160, cy, 150, 20, &env->max, env->min, FLT_MAX, 10, 3, "Maximum value (relative to Reference Value) that is used as the 'normal' maximum value");
+		cy -= 35;
+	uiBlockEndAlign(block);
+	
+	
+	/* Points header */
+	uiDefBut(block, LABEL, 1, "Control Points:", 10, cy, 150, 20, NULL, 0.0, 0.0, 0, 0, "");
+	
+	but= uiDefBut(block, BUT, B_FMODIFIER_REDRAW, "Add Point", 160,cy,150,19, NULL, 0, 0, 0, 0, "Adds a new control-point to the envelope on the current frame");
+	uiButSetFunc(but, fmod_envelope_addpoint_cb, env, NULL);
+	cy -= 35;
+	
+	/* Points List */
+	for (i=0, fed=env->data; i < env->totvert; i++, fed++) {
+		uiBlockBeginAlign(block);
+			but=uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "Fra:", 5, cy, 100, 20, &fed->time, -FLT_MAX, FLT_MAX, 10, 3, "Frame that envelope point occurs");
+			uiButSetFunc(but, validate_fmodifier_cb, fcu, fcm);
+			
+			uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "Min:", 105, cy, 100, 20, &fed->min, -FLT_MAX, FLT_MAX, 10, 3, "Minimum bound of envelope at this point");
+			uiDefButF(block, NUM, B_FMODIFIER_REDRAW, "Max:", 205, cy, 100, 20, &fed->max, -FLT_MAX, FLT_MAX, 10, 3, "Maximum bound of envelope at this point");
+			
+			but= uiDefIconBut(block, BUT, B_FMODIFIER_REDRAW, ICON_X, 305, cy, 20, 20, NULL, 0.0, 0.0, 0.0, 0.0, "Delete envelope control point");
+			uiButSetFunc(but, fmod_envelope_deletepoint_cb, env, SET_INT_IN_POINTER(i));
+		uiBlockBeginAlign(block);
+		cy -= 25;
+	}
+}
+
+/* --------------- */
+
+static void graph_panel_modifier_draw(uiBlock *block, FCurve *fcu, FModifier *fcm, int *yco)
+{
+	FModifierTypeInfo *fmi= fmodifier_get_typeinfo(fcm);
+	uiBut *but;
+	short active= (fcm->flag & FMODIFIER_FLAG_ACTIVE);
+	short width= 314;
+	short height = 0; 
+	int rb_col;
+	
+	/* draw header */
+	{
+		uiBlockSetEmboss(block, UI_EMBOSSN);
+		
+		/* rounded header */
+#if 0 // XXX buggy...
+		if (active) uiBlockSetCol(block, TH_BUT_ACTION);
+			rb_col= (active)?-20:20;
+			but= uiDefBut(block, ROUNDBOX, B_REDR, "", 10-8, *yco-2, width, 24, NULL, 5.0, 0.0, 15.0, (float)(rb_col-20), ""); 
+		if (active) uiBlockSetCol(block, TH_AUTO);
+#endif // XXX buggy
+		
+		/* expand */
+		uiDefIconButBitS(block, ICONTOG, FMODIFIER_FLAG_EXPANDED, B_REDR, ICON_TRIA_RIGHT,	5, *yco-1, 20, 20, &fcm->flag, 0.0, 0.0, 0, 0, "Modifier is expanded");
+		
+		/* checkbox for 'active' status (for now) */
+		but= uiDefIconButBitS(block, ICONTOG, FMODIFIER_FLAG_ACTIVE, B_REDR, ICON_RADIOBUT_OFF,	25, *yco-1, 20, 20, &fcm->flag, 0.0, 0.0, 0, 0, "Modifier is active one");
+		uiButSetFunc(but, activate_fmodifier_cb, fcu, fcm);
+		
+		/* name */
+		if (fmi)
+			but= uiDefBut(block, LABEL, 1, fmi->name,	10+40, *yco, 240, 20, NULL, 0.0, 0.0, 0, 0, "F-Curve Modifier Type. Click to make modifier active one.");
+		else
+			but= uiDefBut(block, LABEL, 1, "<Unknown Modifier>",	10+40, *yco, 240, 20, NULL, 0.0, 0.0, 0, 0, "F-Curve Modifier Type. Click to make modifier active one.");
+		
+		/* delete button */
+		but= uiDefIconBut(block, BUT, B_REDR, ICON_X, 10+(width-30), *yco, 19, 19, NULL, 0.0, 0.0, 0.0, 0.0, "Delete F-Curve Modifier.");
+		uiButSetFunc(but, delete_fmodifier_cb, fcu, fcm);
+		
+		uiBlockSetEmboss(block, UI_EMBOSS);
+	}
+	
+	/* when modifier is expanded, draw settings */
+	if (fcm->flag & FMODIFIER_FLAG_EXPANDED) {
+		/* draw settings for individual modifiers */
+		switch (fcm->type) {
+			case FMODIFIER_TYPE_GENERATOR: /* Generator */
+				draw_modifier__generator(block, fcu, fcm, yco, &height, width, active, rb_col);
+				break;
+				
+			case FMODIFIER_TYPE_CYCLES: /* Cycles */
+				draw_modifier__cycles(block, fcu, fcm, yco, &height, width, active, rb_col);
+				break;
+				
+			case FMODIFIER_TYPE_ENVELOPE: /* Envelope */
+				draw_modifier__envelope(block, fcu, fcm, yco, &height, width, active, rb_col);
+				break;
+			
+			default: /* unknown type */
+				height= 96;
+				//DRAW_BACKDROP(height); // XXX buggy...
+				break;
+		}
+	}
+	
+	/* adjust height for new to start */
+	(*yco) -= (height + 27); 
 }
 
 static void graph_panel_modifiers(const bContext *C, ARegion *ar, short cntrl, bAnimListElem *ale)	
 {
-	//FCurve *fcu= (FCurve *)ale->data;
-	//FModifier *fcm;
+	FCurve *fcu= (FCurve *)ale->data;
+	FModifier *fcm;
 	uiBlock *block;
-
+	int yco= 190;
+	
 	block= uiBeginBlock(C, ar, "graph_panel_modifiers", UI_EMBOSS, UI_HELV);
 	if (uiNewPanel(C, ar, block, "Modifiers", "Graph", 340, 30, 318, 254)==0) return;
 	uiBlockSetHandleFunc(block, do_graph_region_modifier_buttons, NULL);
-
-	/* to force height */
-	uiNewPanelHeight(block, 204); // XXX variable height!
 	
+	uiNewPanelHeight(block, 204);
+	
+	/* 'add modifier' button at top of panel */
+	// XXX for now, this will be a operator button which calls a temporary 'add modifier' operator
+	uiDefButO(block, BUT, "GRAPHEDIT_OT_fmodifier_add", WM_OP_INVOKE_REGION_WIN, "Add Modifier", 10, 225, 150, 20, "Adds a new F-Curve Modifier for the active F-Curve");
 	
+	/* draw each modifier */
+	for (fcm= fcu->modifiers.first; fcm; fcm= fcm->next)
+		graph_panel_modifier_draw(block, fcu, fcm, &yco);
+	
+	/* since these buttons can have variable height */
+	if (yco < 0)
+		uiNewPanelHeight(block, (204 - yco));
+	else
+		uiNewPanelHeight(block, 204);
 }
 
-/* -------------- */
+/* ******************* general ******************************** */
 
 /* Find 'active' F-Curve. It must be editable, since that's the purpose of these buttons (subject to change).  
  * We return the 'wrapper' since it contains valuable context info (about hierarchy), which will need to be freed 
  * when the caller is done with it.
  */
 // TODO: move this to anim api with another name?
-static bAnimListElem *get_active_fcurve_channel (bAnimContext *ac)
+bAnimListElem *get_active_fcurve_channel (bAnimContext *ac)
 {
 	ListBase anim_data = {NULL, NULL};
 	int filter= (ANIMFILTER_VISIBLE | ANIMFILTER_FOREDIT | ANIMFILTER_ACTIVE | ANIMFILTER_CURVESONLY);
diff --git a/source/blender/editors/space_graph/graph_draw.c b/source/blender/editors/space_graph/graph_draw.c
index 1efa257c317..46d3f102b89 100644
--- a/source/blender/editors/space_graph/graph_draw.c
+++ b/source/blender/editors/space_graph/graph_draw.c
@@ -27,6 +27,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <string.h>
+#include <float.h>
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -90,7 +91,57 @@ extern void ui_rasterpos_safe(float x, float y, float aspect);
 extern void gl_round_box(int mode, float minx, float miny, float maxx, float maxy, float rad);
 
 /* *************************** */
-/* Curve Drawing */
+/* F-Curve Modifier Drawing */
+
+/* Envelope -------------- */
+
+// TODO: draw a shaded poly showing the region of influence too!!!
+static void draw_fcurve_modifier_controls_envelope (FCurve *fcu, FModifier *fcm, View2D *v2d)
+{
+	FMod_Envelope *env= (FMod_Envelope *)fcm->data;
+	FCM_EnvelopeData *fed;
+	const float fac= 0.05f * (v2d->cur.xmax - v2d->cur.xmin);
+	int i;
+	
+	/* draw two black lines showing the standard reference levels */
+	glColor3f(0.0f, 0.0f, 0.0f);
+	setlinestyle(5);
+	
+	glBegin(GL_LINES);
+		glVertex2f(v2d->cur.xmin, env->midval+env->min);
+		glVertex2f(v2d->cur.xmax, env->midval+env->min);
+		
+		glVertex2f(v2d->cur.xmin, env->midval+env->max);
+		glVertex2f(v2d->cur.xmax, env->midval+env->max);
+	glEnd(); // GL_LINES
+	setlinestyle(0);
+	
+	/* set size of vertices (non-adjustable for now) */
+	glPointSize(2.0f);
+	
+	// for now, point color is fixed, and is white
+	glColor3f(1.0f, 1.0f, 1.0f);
+	
+	/* we use bgl points not standard gl points, to workaround vertex 
+	 * drawing bugs that some drivers have (probably legacy ones only though)
+	 */
+	bglBegin(GL_POINTS);
+	for (i=0, fed=env->data; i < env->totvert; i++, fed++) {
+		/* only draw if visible
+		 *	- min/max here are fixed, not relative
+		 */
+		if IN_RANGE(fed->time, (v2d->cur.xmin - fac), (v2d->cur.xmax + fac)) {
+			glVertex2f(fed->time, fed->min);
+			glVertex2f(fed->time, fed->max);
+		}
+	}
+	bglEnd();
+	
+	glPointSize(1.0f);
+}
+
+/* *************************** */
+/* F-Curve Drawing */
 
 /* Points ---------------- */
 
@@ -401,9 +452,62 @@ static void draw_fcurve_samples (SpaceIpo *sipo, ARegion *ar, FCurve *fcu)
 
 /* Curve ---------------- */
 
+/* minimum pixels per gridstep 
+ * XXX: defined in view2d.c - must keep these in sync or relocate to View2D header!
+ */
+#define MINGRIDSTEP 	35
+
+/* helper func - just draw the F-Curve by sampling the visible region (for drawing curves with modifiers) */
+static void draw_fcurve_curve (FCurve *fcu, SpaceIpo *sipo, View2D *v2d, View2DGrid *grid)
+{
+	ChannelDriver *driver;
+	float samplefreq, ctime;
+	float stime, etime;
+	
+	/* disable any drivers temporarily */
+	driver= fcu->driver;
+	fcu->driver= NULL;
+	
+	
+	/* Note about sampling frequency:
+	 * 	Ideally, this is chosen such that we have 1-2 pixels = 1 segment
+	 *	which means that our curves can be as smooth as possible. However,
+	 * 	this does mean that curves may not be fully accurate (i.e. if they have
+	 * 	sudden spikes which happen at the sampling point, we may have problems).
+	 * 	Also, this may introduce lower performance on less densely detailed curves,'
+	 *	though it is impossible to predict this from the modifiers!
+	 *
+	 *	If the automatically determined sampling frequency is likely to cause an infinite
+	 *	loop (i.e. too close to FLT_EPSILON), fall back to default of 0.001
+	 */
+		/* grid->dx is the first float in View2DGrid struct, so just cast to float pointer, and use it
+		 * It represents the number of 'frames' between gridlines, but we divide by MINGRIDSTEP to get pixels-steps
+		 */
+		// TODO: perhaps we should have 1.0 frames as upper limit so that curves don't get too distorted?
+	samplefreq= *((float *)grid) / MINGRIDSTEP;
+	if (IS_EQ(samplefreq, 0)) samplefreq= 0.001f;
+	
+	
+	/* the start/end times are simply the horizontal extents of the 'cur' rect */
+	stime= v2d->cur.xmin;
+	etime= v2d->cur.xmax;
+	
+	
+	/* at each sampling interval, add a new vertex */
+	glBegin(GL_LINE_STRIP);
+	
+	for (ctime= stime; ctime <= etime; ctime += samplefreq)
+		glVertex2f( ctime, evaluate_fcurve(fcu, ctime) );
+	
+	glEnd();
+	
+	/* restore driver */
+	fcu->driver= driver;
+}
+
 /* helper func - draw a samples-based F-Curve */
 // TODO: add offset stuff...
-static void draw_fcurve_repeat_samples (FCurve *fcu, View2D *v2d)
+static void draw_fcurve_curve_samples (FCurve *fcu, View2D *v2d)
 {
 	FPoint *prevfpt= fcu->fpt;
 	FPoint *fpt= prevfpt + 1;
@@ -412,26 +516,23 @@ static void draw_fcurve_repeat_samples (FCurve *fcu, View2D *v2d)
 	
 	glBegin(GL_LINE_STRIP);
 	
-	/* extrapolate to left? */
-	if ( (fcu->modifiers.first == NULL)/* || ( ((FModifier *)fcu->modifiers.first)->type != FMODIFIER_TYPE_CYCLES) */) {
-		/* left-side of view comes before first keyframe, so need to extend as not cyclic */
-		if (prevfpt->vec[0] > v2d->cur.xmin) {
-			v[0]= v2d->cur.xmin;
-			
-			/* y-value depends on the interpolation */
-			if ((fcu->extend==FCURVE_EXTRAPOLATE_CONSTANT) || (fcu->flag & FCURVE_INT_VALUES) || (fcu->totvert==1)) {
-				/* just extend across the first keyframe's value */
-				v[1]= prevfpt->vec[1];
-			} 
-			else {
-				/* extrapolate linear dosnt use the handle, use the next points center instead */
-				fac= (prevfpt->vec[0]-fpt->vec[0])/(prevfpt->vec[0]-v[0]);
-				if (fac) fac= 1.0f/fac;
-				v[1]= prevfpt->vec[1]-fac*(prevfpt->vec[1]-fpt->vec[1]);
-			}
-			
-			glVertex2fv(v);
+	/* extrapolate to left? - left-side of view comes before first keyframe? */
+	if (prevfpt->vec[0] > v2d->cur.xmin) {
+		v[0]= v2d->cur.xmin;
+		
+		/* y-value depends on the interpolation */
+		if ((fcu->extend==FCURVE_EXTRAPOLATE_CONSTANT) || (fcu->flag & FCURVE_INT_VALUES) || (fcu->totvert==1)) {
+			/* just extend across the first keyframe's value */
+			v[1]= prevfpt->vec[1];
+		} 
+		else {
+			/* extrapolate linear dosnt use the handle, use the next points center instead */
+			fac= (prevfpt->vec[0]-fpt->vec[0])/(prevfpt->vec[0]-v[0]);
+			if (fac) fac= 1.0f/fac;
+			v[1]= prevfpt->vec[1]-fac*(prevfpt->vec[1]-fpt->vec[1]);
 		}
+		
+		glVertex2fv(v);
 	}
 	
 	/* if only one sample, add it now */
@@ -440,7 +541,6 @@ static void draw_fcurve_repeat_samples (FCurve *fcu, View2D *v2d)
 	
 	/* loop over samples, drawing segments */
 	/* draw curve between first and last keyframe (if there are enough to do so) */
-	// XXX this doesn't take into account modifiers, or sample data
 	while (b--) {
 		/* Linear interpolation: just add one point (which should add a new line segment) */
 		glVertex2fv(prevfpt->vec);
@@ -455,95 +555,90 @@ static void draw_fcurve_repeat_samples (FCurve *fcu, View2D *v2d)
 	}
 	
 	/* extrapolate to right? (see code for left-extrapolation above too) */
-	if ( (fcu->modifiers.first == NULL)/* || ( ((FModifier *)fcu->modifiers.first)->type != FMODIFIER_TYPE_CYCLES) */) {
-		if (prevfpt->vec[0] < v2d->cur.xmax) {
-			v[0]= v2d->cur.xmax;
-			
-			/* y-value depends on the interpolation */
-			if ((fcu->extend==FCURVE_EXTRAPOLATE_CONSTANT) || (fcu->flag & FCURVE_INT_VALUES) || (fcu->totvert==1)) {
-				/* based on last keyframe's value */
-				v[1]= prevfpt->vec[1];
-			} 
-			else {
-				/* extrapolate linear dosnt use the handle, use the previous points center instead */
-				fpt = prevfpt-1;
-				fac= (prevfpt->vec[0]-fpt->vec[0])/(prevfpt->vec[0]-v[0]);
-				if (fac) fac= 1.0f/fac;
-				v[1]= prevfpt->vec[1]-fac*(prevfpt->vec[1]-fpt->vec[1]);
-			}
-			
-			glVertex2fv(v);
+	if (prevfpt->vec[0] < v2d->cur.xmax) {
+		v[0]= v2d->cur.xmax;
+		
+		/* y-value depends on the interpolation */
+		if ((fcu->extend==FCURVE_EXTRAPOLATE_CONSTANT) || (fcu->flag & FCURVE_INT_VALUES) || (fcu->totvert==1)) {
+			/* based on last keyframe's value */
+			v[1]= prevfpt->vec[1];
+		} 
+		else {
+			/* extrapolate linear dosnt use the handle, use the previous points center instead */
+			fpt = prevfpt-1;
+			fac= (prevfpt->vec[0]-fpt->vec[0])/(prevfpt->vec[0]-v[0]);
+			if (fac) fac= 1.0f/fac;
+			v[1]= prevfpt->vec[1]-fac*(prevfpt->vec[1]-fpt->vec[1]);
 		}
+		
+		glVertex2fv(v);
 	}
 	
 	glEnd();
 }
 
 /* helper func - draw one repeat of an F-Curve */
-static void draw_fcurve_repeat (FCurve *fcu, View2D *v2d, float cycxofs, float cycyofs, float *facp)
+static void draw_fcurve_curve_bezts (FCurve *fcu, View2D *v2d, View2DGrid *grid)
 {
 	BezTriple *prevbezt= fcu->bezt;
 	BezTriple *bezt= prevbezt+1;
 	float v1[2], v2[2], v3[2], v4[2];
 	float *fp, data[120];
-	float fac= *(facp);
+	float fac= 0.0f;
 	int b= fcu->totvert-1;
 	int resol;
 	
 	glBegin(GL_LINE_STRIP);
 	
 	/* extrapolate to left? */
-	if ( (fcu->modifiers.first == NULL)/* || ( ((FModifier *)fcu->modifiers.first)->type != FMODIFIER_TYPE_CYCLES) */) {
+	if (prevbezt->vec[1][0] > v2d->cur.xmin) {
 		/* left-side of view comes before first keyframe, so need to extend as not cyclic */
-		if (prevbezt->vec[1][0] > v2d->cur.xmin) {
-			v1[0]= v2d->cur.xmin;
-			
-			/* y-value depends on the interpolation */
-			if ((fcu->extend==FCURVE_EXTRAPOLATE_CONSTANT) || (fcu->flag & FCURVE_INT_VALUES) || (prevbezt->ipo==BEZT_IPO_CONST) || (fcu->totvert==1)) {
-				/* just extend across the first keyframe's value */
-				v1[1]= prevbezt->vec[1][1];
-			} 
-			else if (prevbezt->ipo==BEZT_IPO_LIN) {
-				/* extrapolate linear dosnt use the handle, use the next points center instead */
-				fac= (prevbezt->vec[1][0]-bezt->vec[1][0])/(prevbezt->vec[1][0]-v1[0]);
-				if (fac) fac= 1.0f/fac;
-				v1[1]= prevbezt->vec[1][1]-fac*(prevbezt->vec[1][1]-bezt->vec[1][1]);
-			} 
-			else {
-				/* based on angle of handle 1 (relative to keyframe) */
-				fac= (prevbezt->vec[0][0]-prevbezt->vec[1][0])/(prevbezt->vec[1][0]-v1[0]);
-				if (fac) fac= 1.0f/fac;
-				v1[1]= prevbezt->vec[1][1]-fac*(prevbezt->vec[0][1]-prevbezt->vec[1][1]);
-			}
-			
-			glVertex2fv(v1);
+		v1[0]= v2d->cur.xmin;
+		
+		/* y-value depends on the interpolation */
+		if ((fcu->extend==FCURVE_EXTRAPOLATE_CONSTANT) || (prevbezt->ipo==BEZT_IPO_CONST) || (fcu->totvert==1)) {
+			/* just extend across the first keyframe's value */
+			v1[1]= prevbezt->vec[1][1];
+		} 
+		else if (prevbezt->ipo==BEZT_IPO_LIN) {
+			/* extrapolate linear dosnt use the handle, use the next points center instead */
+			fac= (prevbezt->vec[1][0]-bezt->vec[1][0])/(prevbezt->vec[1][0]-v1[0]);
+			if (fac) fac= 1.0f/fac;
+			v1[1]= prevbezt->vec[1][1]-fac*(prevbezt->vec[1][1]-bezt->vec[1][1]);
+		} 
+		else {
+			/* based on angle of handle 1 (relative to keyframe) */
+			fac= (prevbezt->vec[0][0]-prevbezt->vec[1][0])/(prevbezt->vec[1][0]-v1[0]);
+			if (fac) fac= 1.0f/fac;
+			v1[1]= prevbezt->vec[1][1]-fac*(prevbezt->vec[0][1]-prevbezt->vec[1][1]);
 		}
+		
+		glVertex2fv(v1);
 	}
 	
 	/* if only one keyframe, add it now */
 	if (fcu->totvert == 1) {
-		v1[0]= prevbezt->vec[1][0] + cycxofs;
-		v1[1]= prevbezt->vec[1][1] + cycyofs;
+		v1[0]= prevbezt->vec[1][0];
+		v1[1]= prevbezt->vec[1][1];
 		glVertex2fv(v1);
 	}
 	
 	/* draw curve between first and last keyframe (if there are enough to do so) */
-	// XXX this doesn't take into account modifiers, or sample data
 	while (b--) {
-		if ((fcu->flag & FCURVE_INT_VALUES) || (prevbezt->ipo==BEZT_IPO_CONST)) {
+		if (prevbezt->ipo==BEZT_IPO_CONST) {
 			/* Constant-Interpolation: draw segment between previous keyframe and next, but holding same value */
-			v1[0]= prevbezt->vec[1][0]+cycxofs;
-			v1[1]= prevbezt->vec[1][1]+cycyofs;
+			v1[0]= prevbezt->vec[1][0];
+			v1[1]= prevbezt->vec[1][1];
 			glVertex2fv(v1);
 			
-			v1[0]= bezt->vec[1][0]+cycxofs;
-			v1[1]= prevbezt->vec[1][1]+cycyofs;
+			v1[0]= bezt->vec[1][0];
+			v1[1]= prevbezt->vec[1][1];
 			glVertex2fv(v1);
 		}
 		else if (prevbezt->ipo==BEZT_IPO_LIN) {
 			/* Linear interpolation: just add one point (which should add a new line segment) */
-			v1[0]= prevbezt->vec[1][0]+cycxofs;
-			v1[1]= prevbezt->vec[1][1]+cycyofs;
+			v1[0]= prevbezt->vec[1][0];
+			v1[1]= prevbezt->vec[1][1];
 			glVertex2fv(v1);
 		}
 		else {
@@ -560,23 +655,23 @@ static void draw_fcurve_repeat (FCurve *fcu, View2D *v2d, float cycxofs, float c
 			
 			if (resol < 2) {
 				/* only draw one */
-				v1[0]= prevbezt->vec[1][0]+cycxofs;
-				v1[1]= prevbezt->vec[1][1]+cycyofs;
+				v1[0]= prevbezt->vec[1][0];
+				v1[1]= prevbezt->vec[1][1];
 				glVertex2fv(v1);
 			}
 			else {
 				/* clamp resolution to max of 32 */
 				if (resol > 32) resol= 32;
 				
-				v1[0]= prevbezt->vec[1][0]+cycxofs;
-				v1[1]= prevbezt->vec[1][1]+cycyofs;
-				v2[0]= prevbezt->vec[2][0]+cycxofs;
-				v2[1]= prevbezt->vec[2][1]+cycyofs;
+				v1[0]= prevbezt->vec[1][0];
+				v1[1]= prevbezt->vec[1][1];
+				v2[0]= prevbezt->vec[2][0];
+				v2[1]= prevbezt->vec[2][1];
 				
-				v3[0]= bezt->vec[0][0]+cycxofs;
-				v3[1]= bezt->vec[0][1]+cycyofs;
-				v4[0]= bezt->vec[1][0]+cycxofs;
-				v4[1]= bezt->vec[1][1]+cycyofs;
+				v3[0]= bezt->vec[0][0];
+				v3[1]= bezt->vec[0][1];
+				v4[0]= bezt->vec[1][0];
+				v4[1]= bezt->vec[1][1];
 				
 				correct_bezpart(v1, v2, v3, v4);
 				
@@ -594,152 +689,41 @@ static void draw_fcurve_repeat (FCurve *fcu, View2D *v2d, float cycxofs, float c
 		
 		/* last point? */
 		if (b == 0) {
-			v1[0]= prevbezt->vec[1][0]+cycxofs;
-			v1[1]= prevbezt->vec[1][1]+cycyofs;
+			v1[0]= prevbezt->vec[1][0];
+			v1[1]= prevbezt->vec[1][1];
 			glVertex2fv(v1);
 		}
 	}
 	
 	/* extrapolate to right? (see code for left-extrapolation above too) */
-	if ( (fcu->modifiers.first == NULL)/* || ( ((FModifier *)fcu->modifiers.first)->type != FMODIFIER_TYPE_CYCLES) */) {
-		if (prevbezt->vec[1][0] < v2d->cur.xmax) {
-			v1[0]= v2d->cur.xmax;
-			
-			/* y-value depends on the interpolation */
-			if ((fcu->extend==FCURVE_EXTRAPOLATE_CONSTANT) || (fcu->flag & FCURVE_INT_VALUES) || (prevbezt->ipo==BEZT_IPO_CONST) || (fcu->totvert==1)) {
-				/* based on last keyframe's value */
-				v1[1]= prevbezt->vec[1][1];
-			} 
-			else if (prevbezt->ipo==BEZT_IPO_LIN) {
-				/* extrapolate linear dosnt use the handle, use the previous points center instead */
-				bezt = prevbezt-1;
-				fac= (prevbezt->vec[1][0]-bezt->vec[1][0])/(prevbezt->vec[1][0]-v1[0]);
-				if (fac) fac= 1.0f/fac;
-				v1[1]= prevbezt->vec[1][1]-fac*(prevbezt->vec[1][1]-bezt->vec[1][1]);
-			} 
-			else {
-				/* based on angle of handle 1 (relative to keyframe) */
-				fac= (prevbezt->vec[2][0]-prevbezt->vec[1][0])/(prevbezt->vec[1][0]-v1[0]);
-				if (fac) fac= 1.0f/fac;
-				v1[1]= prevbezt->vec[1][1]-fac*(prevbezt->vec[2][1]-prevbezt->vec[1][1]);
-			}
-			
-			glVertex2fv(v1);
+	if (prevbezt->vec[1][0] < v2d->cur.xmax) {
+		v1[0]= v2d->cur.xmax;
+		
+		/* y-value depends on the interpolation */
+		if ((fcu->extend==FCURVE_EXTRAPOLATE_CONSTANT) || (fcu->flag & FCURVE_INT_VALUES) || (prevbezt->ipo==BEZT_IPO_CONST) || (fcu->totvert==1)) {
+			/* based on last keyframe's value */
+			v1[1]= prevbezt->vec[1][1];
+		} 
+		else if (prevbezt->ipo==BEZT_IPO_LIN) {
+			/* extrapolate linear dosnt use the handle, use the previous points center instead */
+			bezt = prevbezt-1;
+			fac= (prevbezt->vec[1][0]-bezt->vec[1][0])/(prevbezt->vec[1][0]-v1[0]);
+			if (fac) fac= 1.0f/fac;
+			v1[1]= prevbezt->vec[1][1]-fac*(prevbezt->vec[1][1]-bezt->vec[1][1]);
+		} 
+		else {
+			/* based on angle of handle 1 (relative to keyframe) */
+			fac= (prevbezt->vec[2][0]-prevbezt->vec[1][0])/(prevbezt->vec[1][0]-v1[0]);
+			if (fac) fac= 1.0f/fac;
+			v1[1]= prevbezt->vec[1][1]-fac*(prevbezt->vec[2][1]-prevbezt->vec[1][1]);
 		}
+		
+		glVertex2fv(v1);
 	}
 	
 	glEnd();
-	
-	/* return fac, as we alter it */
-	*(facp) = fac;
 } 
 
-#if 0 // XXX old animation system unconverted code!
-
-/* draw all ipo-curves */
-static void draw_ipocurves(SpaceIpo *sipo, ARegion *ar, int sel)
-{
-	View2D *v2d= &ar->v2d;
-	EditIpo *ei;
-	int nr, val/*, pickselcode=0*/;
-	
-	/* if we're drawing for GL_SELECT, reset pickselcode first 
-	 * 	- there's only one place that will do this, so it should be fine
-	 */
-	//if (G.f & G_PICKSEL)
-	//	pickselcode= 1;
-	
-	ei= sipo->editipo;
-	for (nr=0; nr<sipo->totipo; nr++, ei++) {
-		if ISPOIN3(ei, flag & IPO_VISIBLE, icu, icu->bezt) {
-			/* val is used to indicate if curve can be edited */
-			//if (G.f & G_PICKSEL) {
-			//	/* when using OpenGL to select stuff (on mouseclick) */
-			//	glLoadName(pickselcode++);
-			//	val= 1;
-			//}
-			//else {
-				/* filter to only draw those that are selected or unselected (based on drawing mode */
-				val= (ei->flag & (IPO_SELECT+IPO_EDIT)) != 0;
-				val= (val==sel);
-			//}
-			
-			/* only draw those curves that we can draw */
-			if (val) {
-				IpoCurve *icu= ei->icu;
-				float cycdx=0.0f, cycdy=0.0f, cycxofs=0.0f, cycyofs=0.0f;
-				const int lastindex= (icu->totvert-1);
-				float fac= 0.0f;
-				int cycount=1;
-				
-				/* set color for curve curve:
-				 *	- bitflag curves (evil) must always be drawn coloured as they cannot work with IPO-Keys
-				 *	- when IPO-Keys are shown, individual curves are not editable, so we show by drawing them all black
-				 */
-				if ((sipo->showkey) && (ei->disptype!=IPO_DISPBITS)) UI_ThemeColor(TH_TEXT); 
-				else cpack(ei->col);
-				
-				/* cyclic curves - get offset and number of repeats to display */
-				if (icu->extrap & IPO_CYCL) {
-					BezTriple *bezt= icu->bezt;
-					BezTriple *lastbezt= bezt + lastindex;
-					
-					/* calculate cycle length and amplitude  */
-					cycdx= lastbezt->vec[1][0] - bezt->vec[1][0];
-					cycdy= lastbezt->vec[1][1] - bezt->vec[1][1];
-					
-					/* check that the cycle does have some length */
-					if (cycdx > 0.01f) {
-						/* count cycles before first frame  */
-						while (icu->bezt->vec[1][0]+cycxofs > v2d->cur.xmin) {
-							cycxofs -= cycdx;
-							if (icu->extrap & IPO_DIR) cycyofs-= cycdy;
-							cycount++;
-						}
-						
-						/* count cycles after last frame (and adjust offset) */
-						fac= 0.0f;
-						while (lastbezt->vec[1][0]+fac < v2d->cur.xmax) {
-							cycount++;
-							fac += cycdx;
-						}
-					}
-				}
-				
-				/* repeat process for each repeat */
-				while (cycount--) {
-					/* bitflag curves are drawn differently to normal curves */
-					if (ei->disptype==IPO_DISPBITS)
-						draw_ipocurve_repeat_bits(icu, v2d, cycxofs);
-					else
-						draw_ipocurve_repeat_normal(icu, v2d, cycxofs, cycyofs, &fac);
-					
-					/* prepare for next cycle by adjusing offsets */
-					cycxofs += cycdx;
-					if (icu->extrap & IPO_DIR) cycyofs += cycdy;
-				}
-				
-				/* vertical line that indicates the end of a speed curve */
-				if ((sipo->blocktype==ID_CU) && (icu->adrcode==CU_SPEED)) {
-					int b= icu->totvert-1;
-					
-					if (b) {
-						BezTriple *bezt= icu->bezt+b;
-						
-						glColor3ub(0, 0, 0);
-						
-						glBegin(GL_LINES);
-							glVertex2f(bezt->vec[1][0], 0.0f);
-							glVertex2f(bezt->vec[1][0], bezt->vec[1][1]);
-						glEnd();
-					}
-				}
-			}
-		}
-	}
-}
-#endif // XXX old animation system unconverted code
-
 #if 0
 static void draw_ipokey(SpaceIpo *sipo, ARegion *ar)
 {
@@ -758,7 +742,9 @@ static void draw_ipokey(SpaceIpo *sipo, ARegion *ar)
 }
 #endif
 
-void graph_draw_curves (bAnimContext *ac, SpaceIpo *sipo, ARegion *ar)
+/* Public Curve-Drawing API  ---------------- */
+
+void graph_draw_curves (bAnimContext *ac, SpaceIpo *sipo, ARegion *ar, View2DGrid *grid)
 {
 	ListBase anim_data = {NULL, NULL};
 	bAnimListElem *ale;
@@ -774,20 +760,22 @@ void graph_draw_curves (bAnimContext *ac, SpaceIpo *sipo, ARegion *ar)
 	 */
 	for (ale=anim_data.first; ale; ale=ale->next) {
 		FCurve *fcu= (FCurve *)ale->key_data;
-		Object *nob= ANIM_nla_mapping_get(ac, ale);
-		float fac=0.0f; // dummy var
+		FModifier *fcm= fcurve_find_active_modifier(fcu);
+		//Object *nob= ANIM_nla_mapping_get(ac, ale);
 		
 		/* map keyframes for drawing if scaled F-Curve */
-		if (nob)
-			ANIM_nla_mapping_apply_fcurve(nob, ale->key_data, 0, 0); 
+		//if (nob)
+		//	ANIM_nla_mapping_apply_fcurve(nob, ale->key_data, 0, 0); 
 		
-		/* draw curve - if there's an active modifier (or a stack of modifiers) drawing these takes presidence,
-		 * unless modifiers in use will not alter any of the values within the keyframed area...
+		/* draw curve:
+		 *	- curve line may be result of one or more destructive modifiers or just the raw data,
+		 *	  so we need to check which method should be used
+		 *	- controls from active modifier take precidence over keyframes
+		 *	  (XXX! editing tools need to take this into account!)
 		 */
-		
-		
-		/* draw curve - as defined by keyframes */
-		if ( ((fcu->bezt) || (fcu->fpt)) && (fcu->totvert) ) { 
+		 
+		/* 1) draw curve line */
+		{
 			/* set color/drawing style for curve itself */
 			if ( ((fcu->grp) && (fcu->grp->flag & AGRP_PROTECTED)) || (fcu->flag & FCURVE_PROTECTED) ) {
 				/* protected curves (non editable) are drawn with dotted lines */
@@ -803,18 +791,50 @@ void graph_draw_curves (bAnimContext *ac, SpaceIpo *sipo, ARegion *ar)
 				glColor3fv(fcu->color);
 			}
 			
+			/* anti-aliased lines for less jagged appearance */
+			glEnable(GL_LINE_SMOOTH);
+			glEnable(GL_BLEND);
+			
 			/* draw F-Curve */
-			if (fcu->bezt)
-				draw_fcurve_repeat(fcu, &ar->v2d, 0, 0, &fac); // XXX this call still needs a lot more work
-			else if (fcu->fpt)
-				draw_fcurve_repeat_samples(fcu, &ar->v2d);
-			/*else  modifiers? */
+			if ((fcu->modifiers.first) || (fcu->flag & FCURVE_INT_VALUES)) {
+				/* draw a curve affected by modifiers or only allowed to have integer values 
+				 * by sampling it at various small-intervals over the visible region 
+				 */
+				draw_fcurve_curve(fcu, sipo, &ar->v2d, grid);
+			}
+			else if ( ((fcu->bezt) || (fcu->fpt)) && (fcu->totvert) ) { 
+				/* just draw curve based on defined data (i.e. no modifiers) */
+				if (fcu->bezt)
+					draw_fcurve_curve_bezts(fcu, &ar->v2d, grid);
+				else if (fcu->fpt)
+					draw_fcurve_curve_samples(fcu, &ar->v2d);
+			}
 			
 			/* restore settings */
 			setlinestyle(0);
 			
-			
-			/* draw handles and vertices as appropriate */
+			glDisable(GL_LINE_SMOOTH);
+			glDisable(GL_BLEND);
+		}
+		
+		/* 2) draw handles and vertices as appropriate based on active */
+		if ( ((fcm) && (fcm->type != FMODIFIER_TYPE_CYCLES)) || (fcu->modifiers.first && !fcm) ) {
+			/* draw controls for the 'active' modifier
+			 *	- there may not be an 'active' modifier on this curve to draw
+			 *	- this curve may not be active, so modifier controls shouldn't get drawn either
+			 *
+			 * NOTE: cycles modifier is currently an exception where the original points can still be edited, so
+			 *  	 	this branch is skipped... (TODO: set up the generic system for this so that we don't need special hacks like this)
+			 */
+			if ((fcu->flag & FCURVE_ACTIVE) && (fcm)) {
+				switch (fcm->type) {
+					case FMODIFIER_TYPE_ENVELOPE: /* envelope */
+						draw_fcurve_modifier_controls_envelope(fcu, fcm, &ar->v2d);
+						break;
+				}
+			}
+		}
+		else if ( ((fcu->bezt) || (fcu->fpt)) && (fcu->totvert) ) { 
 			if (fcu->bezt) {
 				/* only draw handles/vertices on keyframes */
 				draw_fcurve_handles(sipo, ar, fcu);
@@ -827,8 +847,8 @@ void graph_draw_curves (bAnimContext *ac, SpaceIpo *sipo, ARegion *ar)
 		}
 		
 		/* undo mapping of keyframes for drawing if scaled F-Curve */
-		if (nob)
-			ANIM_nla_mapping_apply_fcurve(nob, ale->key_data, 1, 0); 
+		//if (nob)
+		//	ANIM_nla_mapping_apply_fcurve(nob, ale->key_data, 1, 0); 
 	}
 	
 	/* free list of curves */
diff --git a/source/blender/editors/space_graph/graph_edit.c b/source/blender/editors/space_graph/graph_edit.c
index 932b22c0a6e..de020e8ce70 100644
--- a/source/blender/editors/space_graph/graph_edit.c
+++ b/source/blender/editors/space_graph/graph_edit.c
@@ -177,11 +177,11 @@ static int graphkeys_previewrange_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
  
-void GRAPHEDIT_OT_set_previewrange (wmOperatorType *ot)
+void GRAPHEDIT_OT_previewrange_set (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Auto-Set Preview Range";
-	ot->idname= "GRAPHEDIT_OT_set_previewrange";
+	ot->idname= "GRAPHEDIT_OT_previewrange_set";
 	
 	/* api callbacks */
 	ot->exec= graphkeys_previewrange_exec;
@@ -256,7 +256,7 @@ static short copy_graph_keys (bAnimContext *ac)
 	free_anim_copybuf();
 	
 	/* filter data */
-	filter= (ANIMFILTER_VISIBLE | ANIMFILTER_CURVEVISIBLE | ANIMFILTER_SEL | ANIMFILTER_CURVESONLY);
+	filter= (ANIMFILTER_VISIBLE | ANIMFILTER_CURVEVISIBLE | ANIMFILTER_CURVESONLY);
 	ANIM_animdata_filter(ac, &anim_data, filter, ac->data, ac->datatype);
 	
 	/* copy keyframes */
@@ -1011,6 +1011,91 @@ void GRAPHEDIT_OT_keyframes_handletype (wmOperatorType *ot)
 /* ************************************************************************** */
 /* TRANSFORM STUFF */
 
+/* ***************** 'Euler Filter' Operator **************************** */
+/* Euler filter tools (as seen in Maya), are necessary for working with 'baked'
+ * rotation curves (with Euler rotations). The main purpose of such tools is to
+ * resolve any discontinuities that may arise in the curves due to the clamping
+ * of values to -180 degrees to 180 degrees.
+ */
+
+#if 0 // XXX this is not ready for the primetime yet
+ 
+/* set of three euler-rotation F-Curves */
+typedef struct tEulerFilter {
+	ID *id;							/* ID-block which owns the channels */
+	FCurve *fcu1, *fcu2, *fcu3;		/* x,y,z rotation curves */
+	int i1, i2, i3;					/* current index for each curve */
+} tEulerFilter;
+ 
+static int graphkeys_euler_filter_exec (bContext *C, wmOperator *op)
+{
+	bAnimContext ac;
+	
+	ListBase anim_data= {NULL, NULL};
+	bAnimListElem *ale;
+	int filter;
+	
+	ListBase eulers = {NULL, NULL};
+	tEulerFilter *euf= NULL;	
+	
+	/* get editor data */
+	if (ANIM_animdata_get_context(C, &ac) == 0)
+		return OPERATOR_CANCELLED;
+		
+	/* The process is done in two passes:
+	 * 	 1) Sets of three related rotation curves are identified from the selected channels,
+	 *		and are stored as a single 'operation unit' for the next step
+	 *	 2) Each set of three F-Curves is processed for each keyframe, with the values being
+	 * 		processed according to one of several ways.
+	 */
+	 
+	/* step 1: extract only the rotation f-curves */
+	filter= (ANIMFILTER_VISIBLE | ANIMFILTER_SEL | ANIMFILTER_CURVEVISIBLE | ANIMFILTER_CURVESONLY);
+	ANIM_animdata_filter(&ac, &anim_data, filter, ac.data, ac.datatype);
+	
+	for (ale= anim_data.first; ale; ale= ale->next) {
+		FCurve *fcu = (FCurve *)ale->data;
+		
+		/* check if this is an appropriate F-Curve 
+		 *	- only rotation curves
+		 *	- for pchan curves, make sure we're only using the euler curves
+		 */
+		if (ELEM(0, fcu->rna_path, strstr(fcu->rna_path, "rotation")))
+			continue;
+		if (strstr(fcu->rna_path, "pose.pose_channels")) {
+			if (strstr(fcu->rna_path, "euler_rotation") == 0)
+				continue;
+		}
+		
+		/* check if current set of 3-curves is suitable to add this curve to 
+		 *	- things like whether the current set of curves is 'full' should be checked later only
+		 *	- first check if id-blocks are compatible
+		 */
+		if ((euf) && (ale->id != euf->id)) {
+			
+		}
+	}
+	
+	// XXX for now
+	return OPERATOR_CANCELLED;
+}
+ 
+void GRAPHEDIT_OT_keyframes_euler_filter (wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "Euler Filter";
+	ot->idname= "GRAPHEDIT_OT_keyframes_euler_filter";
+	
+	/* api callbacks */
+	ot->exec= graphkeys_euler_filter_exec;
+	ot->poll= ED_operator_areaactive;
+	
+	/* flags */
+	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
+}
+
+#endif // XXX this is not ready for the primetime yet
+
 /* ***************** Snap Current Frame Operator *********************** */
 
 /* helper callback for graphkeys_cfrasnap_exec() -> used to help get the average time of all selected beztriples */
@@ -1332,3 +1417,81 @@ void GRAPHEDIT_OT_keyframes_smooth (wmOperatorType *ot)
 }
 
 /* ************************************************************************** */
+/* F-CURVE MODIFIERS */
+
+/* ******************** Add F-Curve Modifier Operator *********************** */
+
+/* F-Modifier types - duplicate of existing codes...  */
+	// XXX how can we have this list from the RNA definitions instead?
+EnumPropertyItem prop_fmodifier_types[] = {
+	{FMODIFIER_TYPE_GENERATOR, "GENERATOR", "Generator", ""},
+	{FMODIFIER_TYPE_ENVELOPE, "ENVELOPE", "Envelope", ""},
+	{FMODIFIER_TYPE_CYCLES, "CYCLES", "Cycles", ""},
+	{FMODIFIER_TYPE_NOISE, "NOISE", "Noise", ""},
+	{FMODIFIER_TYPE_FILTER, "FILTER", "Filter", ""},
+	{FMODIFIER_TYPE_PYTHON, "PYTHON", "Python", ""},
+	{0, NULL, NULL, NULL}
+};
+
+static int graph_fmodifier_add_exec(bContext *C, wmOperator *op)
+{
+	bAnimContext ac;
+	bAnimListElem *ale;
+	FCurve *fcu;
+	FModifier *fcm;
+	short type;
+	
+	/* get editor data */
+	if (ANIM_animdata_get_context(C, &ac) == 0)
+		return OPERATOR_CANCELLED;
+		
+		// xxx call the raw methods here instead?
+	ale= get_active_fcurve_channel(&ac);
+	if (ale == NULL) 
+		return OPERATOR_CANCELLED;
+	
+	fcu= (FCurve *)ale->data;
+	MEM_freeN(ale);
+	if (fcu == NULL) 
+		return OPERATOR_CANCELLED;
+		
+	/* get type of modifier to add */
+	type= RNA_enum_get(op->ptr, "type");
+	
+	/* add F-Modifier of specified type to active F-Curve, and make it the active one */
+	fcm= fcurve_add_modifier(fcu, type);
+	if (fcm)
+		fcurve_set_active_modifier(fcu, fcm);
+	else {
+		BKE_report(op->reports, RPT_ERROR, "Modifier couldn't be added. See console for details.");
+		return OPERATOR_CANCELLED;
+	}
+	
+	/* validate keyframes after editing */
+	ANIM_editkeyframes_refresh(&ac);
+	
+	/* set notifier that things have changed */
+	ANIM_animdata_send_notifiers(C, &ac, ANIM_CHANGED_BOTH);
+	
+	return OPERATOR_FINISHED;
+}
+ 
+void GRAPHEDIT_OT_fmodifier_add (wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name= "Add F-Curve Modifier";
+	ot->idname= "GRAPHEDIT_OT_fmodifier_add";
+	
+	/* api callbacks */
+	ot->invoke= WM_menu_invoke;
+	ot->exec= graph_fmodifier_add_exec;
+	ot->poll= ED_operator_areaactive; // XXX need active F-Curve
+	
+	/* flags */
+	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
+	
+	/* id-props */
+	RNA_def_enum(ot->srna, "type", prop_fmodifier_types, 0, "Type", "");
+}
+
+/* ************************************************************************** */
diff --git a/source/blender/editors/space_graph/graph_intern.h b/source/blender/editors/space_graph/graph_intern.h
index 6144556378a..06fda53fc67 100644
--- a/source/blender/editors/space_graph/graph_intern.h
+++ b/source/blender/editors/space_graph/graph_intern.h
@@ -31,9 +31,11 @@
 struct bContext;
 struct wmWindowManager;
 struct bAnimContext;
+struct bAnimListElem;
 struct SpaceIpo;
 struct ScrArea;
 struct ARegion;
+struct View2DGrid;
 
 /* internal exports only */
 
@@ -44,7 +46,7 @@ struct ARegion *graph_has_buttons_region(struct ScrArea *sa);
 /* ***************************************** */
 /* graph_draw.c */
 void graph_draw_channel_names(struct bAnimContext *ac, struct SpaceIpo *sipo, struct ARegion *ar);
-void graph_draw_curves(struct bAnimContext *ac, struct SpaceIpo *sipo, struct ARegion *ar);
+void graph_draw_curves(struct bAnimContext *ac, struct SpaceIpo *sipo, struct ARegion *ar, struct View2DGrid *grid);
 
 /* ***************************************** */
 /* graph_header.c */
@@ -53,8 +55,8 @@ void graph_header_buttons(const bContext *C, struct ARegion *ar);
 /* ***************************************** */
 /* graph_select.c */
 
-void GRAPHEDIT_OT_keyframes_deselectall(struct wmOperatorType *ot);
-void GRAPHEDIT_OT_keyframes_borderselect(struct wmOperatorType *ot);
+void GRAPHEDIT_OT_keyframes_select_all_toggle(struct wmOperatorType *ot);
+void GRAPHEDIT_OT_keyframes_select_border(struct wmOperatorType *ot);
 void GRAPHEDIT_OT_keyframes_columnselect(struct wmOperatorType *ot);
 void GRAPHEDIT_OT_keyframes_clickselect(struct wmOperatorType *ot);
 
@@ -77,7 +79,7 @@ enum {
 /* ***************************************** */
 /* graph_edit.c */
 
-void GRAPHEDIT_OT_set_previewrange(struct wmOperatorType *ot);
+void GRAPHEDIT_OT_previewrange_set(struct wmOperatorType *ot);
 void GRAPHEDIT_OT_view_all(struct wmOperatorType *ot);
 
 void GRAPHEDIT_OT_keyframes_copy(struct wmOperatorType *ot);
@@ -119,11 +121,17 @@ enum {
 	GRAPHKEYS_MIRROR_MARKER,
 } eGraphKeys_Mirror_Mode;
 
+/* ----------- */
+
+void GRAPHEDIT_OT_fmodifier_add(struct wmOperatorType *ot);
+
 /* ***************************************** */
 /* graph_buttons.c */
 void GRAPHEDIT_OT_properties(struct wmOperatorType *ot);
 void graph_region_buttons(const struct bContext *C, struct ARegion *ar);
 
+struct bAnimListElem *get_active_fcurve_channel(struct bAnimContext *ac);
+
 /* ***************************************** */
 /* graph_ops.c */
 void graphedit_keymap(struct wmWindowManager *wm);
diff --git a/source/blender/editors/space_graph/graph_ops.c b/source/blender/editors/space_graph/graph_ops.c
index 80b8dcbf0ff..4ff566489ae 100644
--- a/source/blender/editors/space_graph/graph_ops.c
+++ b/source/blender/editors/space_graph/graph_ops.c
@@ -84,7 +84,7 @@ void GRAPHEDIT_OT_view_togglehandles (wmOperatorType *ot)
 {
 	/* identification */
 	ot->name= "Show/Hide All Handles";
-	ot->idname= "GRAPHEDIT_OT_view_toggle_handles";
+	ot->idname= "GRAPHEDIT_OT_handles_view_toggle";
 	
 	/* callbacks */
 	ot->exec= view_toggle_handles_exec;
@@ -97,15 +97,15 @@ void graphedit_operatortypes(void)
 {
 	/* view */
 	WM_operatortype_append(GRAPHEDIT_OT_view_togglehandles);
-	WM_operatortype_append(GRAPHEDIT_OT_set_previewrange);
+	WM_operatortype_append(GRAPHEDIT_OT_previewrange_set);
 	WM_operatortype_append(GRAPHEDIT_OT_view_all);
 	WM_operatortype_append(GRAPHEDIT_OT_properties);
 	
 	/* keyframes */
 		/* selection */
 	WM_operatortype_append(GRAPHEDIT_OT_keyframes_clickselect);
-	WM_operatortype_append(GRAPHEDIT_OT_keyframes_deselectall);
-	WM_operatortype_append(GRAPHEDIT_OT_keyframes_borderselect);
+	WM_operatortype_append(GRAPHEDIT_OT_keyframes_select_all_toggle);
+	WM_operatortype_append(GRAPHEDIT_OT_keyframes_select_border);
 	WM_operatortype_append(GRAPHEDIT_OT_keyframes_columnselect);
 	
 		/* editing */
@@ -126,6 +126,10 @@ void graphedit_operatortypes(void)
 	WM_operatortype_append(GRAPHEDIT_OT_keyframes_paste);
 	
 	//TODO: insertkey...
+	
+	/* F-Curve Modifiers */
+	// XXX temporary?
+	WM_operatortype_append(GRAPHEDIT_OT_fmodifier_add);
 }
 
 /* ************************** registration - keymaps **********************************/
@@ -133,23 +137,23 @@ void graphedit_operatortypes(void)
 static void graphedit_keymap_keyframes (wmWindowManager *wm, ListBase *keymap)
 {
 	/* view */
-	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_view_toggle_handles", HKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_handles_view_toggle", HKEY, KM_PRESS, KM_CTRL, 0);
 	
 	/* graph_select.c - selection tools */
 		/* click-select */
 		// TODO: column to alt, left-right to ctrl (for select-linked consistency)
 	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_CTRL, 0)->ptr, "column_select", 1);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "extend_select", 1);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_CTRL, 0)->ptr, "column", 1);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "extend", 1);
 	RNA_enum_set(WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_clickselect", SELECTMOUSE, KM_PRESS, KM_ALT, 0)->ptr, "left_right", GRAPHKEYS_LRSEL_TEST);
 	
 		/* deselect all */
-	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_deselectall", AKEY, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_deselectall", IKEY, KM_PRESS, KM_CTRL, 0)->ptr, "invert", 1);
+	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_select_all_toggle", AKEY, KM_PRESS, 0, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_select_all_toggle", IKEY, KM_PRESS, KM_CTRL, 0)->ptr, "invert", 1);
 	
 		/* borderselect */
-	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_borderselect", BKEY, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_borderselect", BKEY, KM_PRESS, KM_ALT, 0)->ptr, "axis_range", 1);
+	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_select_border", BKEY, KM_PRESS, 0, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_select_border", BKEY, KM_PRESS, KM_ALT, 0)->ptr, "axis_range", 1);
 	
 		/* column select */
 		// XXX KKEY would be nice to keep for 'keyframe' lines
@@ -192,9 +196,14 @@ static void graphedit_keymap_keyframes (wmWindowManager *wm, ListBase *keymap)
 	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_keyframes_paste", VKEY, KM_PRESS, KM_CTRL, 0);
 	
 		/* auto-set range */
-	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_set_previewrange", PKEY, KM_PRESS, KM_CTRL|KM_ALT, 0);
+	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_previewrange_set", PKEY, KM_PRESS, KM_CTRL|KM_ALT, 0);
 	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_view_all", HOMEKEY, KM_PRESS, 0, 0);
 	
+		/* F-Curve Modifiers */
+		// XXX these are temporary? operators...
+	WM_keymap_add_item(keymap, "GRAPHEDIT_OT_fmodifier_add", MKEY, KM_PRESS, KM_CTRL|KM_SHIFT, 0);
+	
+	
 	/* transform system */
 	transform_keymap_for_space(wm, keymap, SPACE_IPO);
 }
diff --git a/source/blender/editors/space_graph/graph_select.c b/source/blender/editors/space_graph/graph_select.c
index e4cb2f64071..d6f738b5285 100644
--- a/source/blender/editors/space_graph/graph_select.c
+++ b/source/blender/editors/space_graph/graph_select.c
@@ -176,11 +176,11 @@ static int graphkeys_deselectall_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
  
-void GRAPHEDIT_OT_keyframes_deselectall (wmOperatorType *ot)
+void GRAPHEDIT_OT_keyframes_select_all_toggle (wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select All";
-	ot->idname= "GRAPHEDIT_OT_keyframes_deselectall";
+	ot->idname= "GRAPHEDIT_OT_keyframes_select_all_toggle";
 	
 	/* api callbacks */
 	ot->exec= graphkeys_deselectall_exec;
@@ -307,11 +307,11 @@ static int graphkeys_borderselect_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 } 
 
-void GRAPHEDIT_OT_keyframes_borderselect(wmOperatorType *ot)
+void GRAPHEDIT_OT_keyframes_select_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Border Select";
-	ot->idname= "GRAPHEDIT_OT_keyframes_borderselect";
+	ot->idname= "GRAPHEDIT_OT_keyframes_select_border";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
@@ -613,6 +613,7 @@ static short findnearest_fcurve_vert (bAnimContext *ac, int mval[2], FCurve **fc
 				}
 				
 				/* handles - only do them if they're visible */
+				// XXX also need to check for int-values only?
 				if ((sipo->flag & SIPO_NOHANDLES)==0) {
 					/* first handle only visible if previous segment had handles */
 					if ( (!prevbezt && (bezt1->ipo==BEZT_IPO_BEZ)) || (prevbezt && (prevbezt->ipo==BEZT_IPO_BEZ)) )
@@ -853,7 +854,7 @@ static int graphkeys_clickselect_invoke(bContext *C, wmOperator *op, wmEvent *ev
 	
 	/* select mode is either replace (deselect all, then add) or add/extend */
 	// XXX this is currently only available for normal select only
-	if (RNA_boolean_get(op->ptr, "extend_select"))
+	if (RNA_boolean_get(op->ptr, "extend"))
 		selectmode= SELECT_INVERT;
 	else
 		selectmode= SELECT_REPLACE;
@@ -871,7 +872,7 @@ static int graphkeys_clickselect_invoke(bContext *C, wmOperator *op, wmEvent *ev
 		
 		graphkeys_select_leftright(&ac, RNA_enum_get(op->ptr, "left_right"), selectmode);
 	}
-	else if (RNA_boolean_get(op->ptr, "column_select")) {
+	else if (RNA_boolean_get(op->ptr, "column")) {
 		/* select all the keyframes that occur on the same frame as where the mouse clicked */
 		float x;
 		
@@ -904,8 +905,8 @@ void GRAPHEDIT_OT_keyframes_clickselect (wmOperatorType *ot)
 	/* id-props */
 	// XXX should we make this into separate operators?
 	RNA_def_enum(ot->srna, "left_right", NULL /* XXX prop_graphkeys_clickselect_items */, 0, "Left Right", ""); // ALTKEY
-	RNA_def_boolean(ot->srna, "extend_select", 0, "Extend Select", ""); // SHIFTKEY
-	RNA_def_boolean(ot->srna, "column_select", 0, "Column Select", ""); // CTRLKEY
+	RNA_def_boolean(ot->srna, "extend", 0, "Extend Select", ""); // SHIFTKEY
+	RNA_def_boolean(ot->srna, "column", 0, "Column Select", ""); // CTRLKEY
 }
 
 /* ************************************************************************** */
diff --git a/source/blender/editors/space_graph/space_graph.c b/source/blender/editors/space_graph/space_graph.c
index a43f8ee3502..72e52f15a65 100644
--- a/source/blender/editors/space_graph/space_graph.c
+++ b/source/blender/editors/space_graph/space_graph.c
@@ -83,7 +83,7 @@ ARegion *graph_has_buttons_region(ScrArea *sa)
 	
 	BLI_insertlinkafter(&sa->regionbase, ar, arnew);
 	arnew->regiontype= RGN_TYPE_UI;
-	arnew->alignment= RGN_ALIGN_TOP|RGN_SPLIT_PREV;
+	arnew->alignment= RGN_ALIGN_BOTTOM|RGN_SPLIT_PREV;
 	
 	arnew->flag = RGN_FLAG_HIDDEN;
 	
@@ -227,15 +227,16 @@ static void graph_main_area_draw(const bContext *C, ARegion *ar)
 	UI_view2d_view_ortho(C, v2d);
 	
 	/* grid */
-	unitx= (sipo->flag & SIPO_DRAWTIME)? V2D_UNIT_SECONDS : V2D_UNIT_FRAMES;
+	unitx= (sipo->flag & SIPO_DRAWTIME)? V2D_UNIT_SECONDS : V2D_UNIT_FRAMESCALE;
 	grid= UI_view2d_grid_calc(C, v2d, unitx, V2D_GRID_NOCLAMP, unity, V2D_GRID_NOCLAMP, ar->winx, ar->winy);
 	UI_view2d_grid_draw(C, v2d, grid, V2D_GRIDLINES_ALL);
-	UI_view2d_grid_free(grid);
 	
 	/* draw data */
-	if (ANIM_animdata_get_context(C, &ac)) {
-		graph_draw_curves(&ac, sipo, ar);
-	}
+	if (ANIM_animdata_get_context(C, &ac))
+		graph_draw_curves(&ac, sipo, ar, grid);
+	
+	/* only free grid after drawing data, as we need to use it to determine sampling rate */
+	UI_view2d_grid_free(grid);
 	
 	/* current frame */
 	if (sipo->flag & SIPO_DRAWTIME) 	flag |= DRAWCFRA_UNIT_SECONDS;
@@ -568,9 +569,9 @@ void ED_spacetype_ipo(void)
 	/* regions: UI buttons */
 	art= MEM_callocN(sizeof(ARegionType), "spacetype graphedit region");
 	art->regionid = RGN_TYPE_UI;
-	art->minsizey= 160;
-	art->keymapflag= ED_KEYMAP_UI|ED_KEYMAP_FRAMES;
-	art->listener= NULL; // graph_region_listener;
+	art->minsizey= 200;
+	art->keymapflag= ED_KEYMAP_UI;
+	art->listener= graph_region_listener;
 	art->init= graph_buttons_area_init;
 	art->draw= graph_buttons_area_draw;
 	
diff --git a/source/blender/editors/space_image/image_draw.c b/source/blender/editors/space_image/image_draw.c
index 1b7a96459ff..ab042fce41f 100644
--- a/source/blender/editors/space_image/image_draw.c
+++ b/source/blender/editors/space_image/image_draw.c
@@ -144,7 +144,7 @@ static void draw_render_info(SpaceImage *sima, ARegion *ar)
 	/* clear header rect */
 	UI_GetThemeColor3fv(TH_BACK, colf);
 	glColor3f(colf[0]+0.1f, colf[1]+0.1f, colf[2]+0.1f);
-	glRecti(rect.xmin, rect.ymin, rect.xmax, rect.ymax);
+	glRecti(rect.xmin, rect.ymin, rect.xmax, rect.ymax+1);
 	
 	UI_ThemeColor(TH_TEXT_HI);
 	glRasterPos2i(12, rect.ymin + 5);
diff --git a/source/blender/editors/space_image/image_header.c b/source/blender/editors/space_image/image_header.c
index 2b6078b71a8..80ace5500b8 100644
--- a/source/blender/editors/space_image/image_header.c
+++ b/source/blender/editors/space_image/image_header.c
@@ -164,12 +164,12 @@ static void image_viewmenu(bContext *C, uiMenuItem *head, void *arg_unused)
 
 static void image_selectmenu(bContext *C, uiMenuItem *head, void *arg_unused)
 {
-	uiMenuItemO(head, 0, "UV_OT_border_select");
-	uiMenuItemBooleanO(head, "Border Select Pinned", 0, "UV_OT_border_select", "pinned", 1); // Border Select Pinned|Shift B
+	uiMenuItemO(head, 0, "UV_OT_select_border");
+	uiMenuItemBooleanO(head, "Border Select Pinned", 0, "UV_OT_select_border", "pinned", 1); // Border Select Pinned|Shift B
 
 	uiMenuSeparator(head);
 	
-	uiMenuItemO(head, 0, "UV_OT_de_select_all");
+	uiMenuItemO(head, 0, "UV_OT_select_all_toggle");
 	uiMenuItemO(head, 0, "UV_OT_select_invert");
 	uiMenuItemO(head, 0, "UV_OT_unlink_selection");
 	
@@ -381,7 +381,7 @@ static void image_uvsmenu(bContext *C, uiMenuItem *head, void *arg_unused)
 static void image_menu_uvlayers(Object *obedit, char *menustr, int *active)
 {
 	Mesh *me= (Mesh*)obedit->data;
-	EditMesh *em= me->edit_mesh;
+	EditMesh *em= EM_GetEditMesh(me);
 	CustomDataLayer *layer;
 	int i, count = 0;
 
@@ -397,6 +397,8 @@ static void image_menu_uvlayers(Object *obedit, char *menustr, int *active)
 	}
 
 	*active= CustomData_get_active_layer(&em->fdata, CD_MTFACE);
+
+	EM_EndEditMesh(me, em);
 }
 
 static void do_image_buttons(bContext *C, void *arg, int event)
diff --git a/source/blender/editors/space_image/image_intern.h b/source/blender/editors/space_image/image_intern.h
index 20f12fecaf5..c592e2cb004 100644
--- a/source/blender/editors/space_image/image_intern.h
+++ b/source/blender/editors/space_image/image_intern.h
@@ -75,7 +75,7 @@ void IMAGE_OT_pack(struct wmOperatorType *ot);
 void IMAGE_OT_unpack(struct wmOperatorType *ot);
 
 void IMAGE_OT_sample(struct wmOperatorType *ot);
-void IMAGE_OT_set_curves_point(struct wmOperatorType *ot);
+void IMAGE_OT_curves_point_set(struct wmOperatorType *ot);
 
 void IMAGE_OT_record_composite(struct wmOperatorType *ot);
 
diff --git a/source/blender/editors/space_image/image_ops.c b/source/blender/editors/space_image/image_ops.c
index 8038e6a00ff..934d58926e2 100644
--- a/source/blender/editors/space_image/image_ops.c
+++ b/source/blender/editors/space_image/image_ops.c
@@ -1403,7 +1403,7 @@ void IMAGE_OT_sample(wmOperatorType *ot)
 
 /******************** set curve point operator ********************/
 
-void IMAGE_OT_set_curves_point(wmOperatorType *ot)
+void IMAGE_OT_curves_point_set(wmOperatorType *ot)
 {
 	static EnumPropertyItem point_items[]= {
 		{0, "BLACK_POINT", "Black Point", ""},
@@ -1412,7 +1412,7 @@ void IMAGE_OT_set_curves_point(wmOperatorType *ot)
 
 	/* identifiers */
 	ot->name= "Set Curves Point";
-	ot->idname= "IMAGE_OT_set_curves_point";
+	ot->idname= "IMAGE_OT_curves_point_set";
 
 	/* flags */
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
diff --git a/source/blender/editors/space_image/image_panels.c b/source/blender/editors/space_image/image_panels.c
index c0fe8afd036..b6da7415f1f 100644
--- a/source/blender/editors/space_image/image_panels.c
+++ b/source/blender/editors/space_image/image_panels.c
@@ -249,7 +249,7 @@ static void image_editvertex_buts(const bContext *C, uiBlock *block)
 	
 	image_transform_but_attr(sima, &imx, &imy, &step, &digits);
 	
-	em= ((Mesh *)obedit->data)->edit_mesh;
+	em= EM_GetEditMesh((Mesh *)obedit->data);
 	for (efa= em->faces.first; efa; efa= efa->next) {
 		tf= CustomData_em_get(&em->fdata, efa->data, CD_MTFACE);
 		if (simaFaceDraw_Check(efa, tf)) {
@@ -338,6 +338,8 @@ static void image_editvertex_buts(const bContext *C, uiBlock *block)
 		
 		WM_event_add_notifier(C, NC_IMAGE, sima->image);
 	}
+
+	EM_EndEditMesh(obedit->data, em);
 }
 
 
@@ -441,7 +443,7 @@ static void image_panel_view_properties(const bContext *C, ARegion *ar)
 	
 	if (obedit && obedit->type==OB_MESH) {
 		Mesh *me= obedit->data;
-		EditMesh *em= me->edit_mesh;
+		EditMesh *em= EM_GetEditMesh(me);
 		
 		if(EM_texFaceCheck(em)) {
 			uiDefBut(block, LABEL, B_NOP, "Draw Type:",		10, 80,120,19, 0, 0, 0, 0, 0, "");
@@ -459,6 +461,7 @@ static void image_panel_view_properties(const bContext *C, ARegion *ar)
 			uiDefButBitI(block, TOG, ME_DRAWEDGES, B_REDR, "Edges", 70, 30,60,19, &me->drawflag, 0, 0, 0, 0, "Displays selected edges using hilights in the 3d view and UV editor");
 			
 			uiDefButBitI(block, TOG, SI_DRAWSHADOW, B_REDR, "Final Shadow", 130, 30,110,19, &sima->flag, 0, 0, 0, 0, "Draw the final result from the objects modifiers");
+			uiDefButBitI(block, TOG, SI_DRAW_OTHER, B_REDR, "Other Objs", 230, 30, 80, 19, &sima->flag, 0, 0, 0, 0, "Also draw all 3d view selected mesh objects that use this image");
 			
 			uiDefButBitI(block, TOG, SI_DRAW_STRETCH, B_REDR, "UV Stretch",	10,0,100,19,  &sima->flag, 0, 0, 0, 0, "Difference between UV's and the 3D coords (blue for low distortion, red is high)");
 			if (sima->flag & SI_DRAW_STRETCH) {
@@ -468,7 +471,8 @@ static void image_panel_view_properties(const bContext *C, ARegion *ar)
 				uiBlockEndAlign(block);
 			}
 		}
-		
+
+		EM_EndEditMesh(me, em);
 	}
 	image_editcursor_buts(C, &ar->v2d, block);
 }
diff --git a/source/blender/editors/space_image/space_image.c b/source/blender/editors/space_image/space_image.c
index 419eb913edd..db8bdbdacc8 100644
--- a/source/blender/editors/space_image/space_image.c
+++ b/source/blender/editors/space_image/space_image.c
@@ -192,7 +192,7 @@ void image_operatortypes(void)
 	WM_operatortype_append(IMAGE_OT_unpack);
 
 	WM_operatortype_append(IMAGE_OT_sample);
-	WM_operatortype_append(IMAGE_OT_set_curves_point);
+	WM_operatortype_append(IMAGE_OT_curves_point_set);
 
 	WM_operatortype_append(IMAGE_OT_record_composite);
 
@@ -237,8 +237,8 @@ void image_keymap(struct wmWindowManager *wm)
 	RNA_enum_set(WM_keymap_add_item(keymap, "PAINT_OT_image_paint_radial_control", FKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "mode", WM_RADIALCONTROL_STRENGTH);
 
 	WM_keymap_add_item(keymap, "IMAGE_OT_sample", ACTIONMOUSE, KM_PRESS, 0, 0);
-	RNA_enum_set(WM_keymap_add_item(keymap, "IMAGE_OT_set_curves_point", ACTIONMOUSE, KM_PRESS, KM_CTRL, 0)->ptr, "point", 0);
-	RNA_enum_set(WM_keymap_add_item(keymap, "IMAGE_OT_set_curves_point", ACTIONMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "point", 1);
+	RNA_enum_set(WM_keymap_add_item(keymap, "IMAGE_OT_curves_point_set", ACTIONMOUSE, KM_PRESS, KM_CTRL, 0)->ptr, "point", 0);
+	RNA_enum_set(WM_keymap_add_item(keymap, "IMAGE_OT_curves_point_set", ACTIONMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "point", 1);
 
 	WM_keymap_add_item(keymap, "IMAGE_OT_toolbox", SPACEKEY, KM_PRESS, 0, 0);
 }
@@ -255,7 +255,7 @@ static void image_refresh(const bContext *C, ScrArea *sa)
 	if(ima && (ima->source==IMA_SRC_VIEWER || sima->pin));
 	else if(obedit && obedit->type == OB_MESH) {
 		Mesh *me= (Mesh*)obedit->data;
-		EditMesh *em= me->edit_mesh;
+		EditMesh *em= EM_GetEditMesh(me);
 		MTFace *tf;
 		
 		if(em && EM_texFaceCheck(em)) {
@@ -278,6 +278,8 @@ static void image_refresh(const bContext *C, ScrArea *sa)
 				}
 			}
 		}
+
+		EM_EndEditMesh(obedit->data, em);
 	}
 }
 
@@ -304,16 +306,12 @@ static void image_listener(ScrArea *sa, wmNotifier *wmn)
 	}
 }
 
-static int image_context(const bContext *C, bContextDataMember member, bContextDataResult *result)
+static int image_context(const bContext *C, const char *member, bContextDataResult *result)
 {
 	SpaceImage *sima= (SpaceImage*)CTX_wm_space_data(C);
 
-	if(member == CTX_DATA_EDIT_IMAGE) {
-		CTX_data_pointer_set(result, ED_space_image(sima));
-		return 1;
-	}
-	else if(member == CTX_DATA_EDIT_IMAGE_BUFFER) {
-		CTX_data_pointer_set(result, ED_space_image_buffer(sima));
+	if(CTX_data_equals(member, "edit_image")) {
+		CTX_data_id_pointer_set(result, (ID*)ED_space_image(sima));
 		return 1;
 	}
 
@@ -759,8 +757,15 @@ int ED_space_image_show_uvedit(SpaceImage *sima, Object *obedit)
 	if(ED_space_image_show_paint(sima))
 		return 0;
 
-	if(obedit && obedit->type == OB_MESH)
-		return EM_texFaceCheck(((Mesh*)obedit->data)->edit_mesh);
+	if(obedit && obedit->type == OB_MESH) {
+		EditMesh *em = EM_GetEditMesh(obedit->data);
+		int ret;
+	
+		ret = EM_texFaceCheck(em);
+
+		EM_EndEditMesh(obedit->data, em);
+		return ret;
+	}
 
 	return 0;
 }
@@ -771,8 +776,15 @@ int ED_space_image_show_uvshadow(SpaceImage *sima, Object *obedit)
 		return 0;
 
 	if(ED_space_image_show_paint(sima))
-		if(obedit && obedit->type == OB_MESH)
-			return EM_texFaceCheck(((Mesh*)obedit->data)->edit_mesh);
+		if(obedit && obedit->type == OB_MESH) {
+			EditMesh *em = EM_GetEditMesh(obedit->data);
+			int ret;
+
+			ret = EM_texFaceCheck(em);
+
+			EM_EndEditMesh(obedit->data, em);
+			return ret;
+		}
 
 	return 0;
 }
diff --git a/source/blender/editors/space_info/Makefile b/source/blender/editors/space_info/Makefile
index 13f7a0d169f..bc04ddc7824 100644
--- a/source/blender/editors/space_info/Makefile
+++ b/source/blender/editors/space_info/Makefile
@@ -44,6 +44,7 @@ CPPFLAGS += -I../../blenloader
 CPPFLAGS += -I../../blenkernel
 CPPFLAGS += -I../../blenlib
 CPPFLAGS += -I../../makesdna
+CPPFLAGS += -I../../makesrna
 CPPFLAGS += -I../../imbuf
 CPPFLAGS += -I../../python
 CPPFLAGS += -I../../blenfont
diff --git a/source/blender/editors/space_info/SConscript b/source/blender/editors/space_info/SConscript
index faedcbfa587..05afcae162e 100644
--- a/source/blender/editors/space_info/SConscript
+++ b/source/blender/editors/space_info/SConscript
@@ -3,7 +3,15 @@ Import ('env')
 
 sources = env.Glob('*.c')
 
-incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../imbuf ../../blenfont'
+incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../makesrna ../../imbuf ../../blenfont'
 incs += ' ../../windowmanager #/intern/guardedalloc #/extern/glew/include'
 
-env.BlenderLib ( 'bf_editors_space_info', sources, Split(incs), [], libtype=['core'], priority=[70] )
+defs = []
+
+if env['WITH_BF_GAMEENGINE']:
+	defs.append('GAMEBLENDER=1')
+
+	if env['WITH_BF_SOLID']:
+		defs.append('USE_SUMO_SOLID')
+
+env.BlenderLib ( 'bf_editors_space_info', sources, Split(incs), defs, libtype=['core'], priority=[70] )
diff --git a/source/blender/editors/space_info/info_header.c b/source/blender/editors/space_info/info_header.c
index 8b72e20ec51..69f33df3005 100644
--- a/source/blender/editors/space_info/info_header.c
+++ b/source/blender/editors/space_info/info_header.c
@@ -404,7 +404,7 @@ void info_header_buttons(const bContext *C, ARegion *ar)
 		uiBlockSetEmboss(block, UI_EMBOSSP);
 		
 		xmax= GetButStringLength("File");
-		uiDefMenuBut(block, info_filemenu, NULL, "File", xco, yco, xmax-3, 24, "");
+		uiDefMenuBut(block, info_filemenu, NULL, "File", xco, yco, xmax-3, 22, "");
 		xco+= xmax;
 		
 		xmax= GetButStringLength("Add");
diff --git a/source/blender/editors/space_nla/Makefile b/source/blender/editors/space_nla/Makefile
index 85405a2a3f5..43f010e6adc 100644
--- a/source/blender/editors/space_nla/Makefile
+++ b/source/blender/editors/space_nla/Makefile
@@ -44,6 +44,7 @@ CPPFLAGS += -I../../blenloader
 CPPFLAGS += -I../../blenkernel
 CPPFLAGS += -I../../blenlib
 CPPFLAGS += -I../../makesdna
+CPPFLAGS += -I../../makesrna
 CPPFLAGS += -I../../imbuf
 CPPFLAGS += -I../../python
 CPPFLAGS += -I$(NAN_GUARDEDALLOC)/include
diff --git a/source/blender/editors/space_nla/SConscript b/source/blender/editors/space_nla/SConscript
index c6a4f34292f..790e3ad822c 100644
--- a/source/blender/editors/space_nla/SConscript
+++ b/source/blender/editors/space_nla/SConscript
@@ -3,7 +3,7 @@ Import ('env')
 
 sources = env.Glob('*.c')
 
-incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../imbuf'
+incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../makesrna ../../imbuf'
 incs += ' ../../windowmanager #/intern/guardedalloc #/extern/glew/include'
 
 env.BlenderLib ( 'bf_editors_space_nla', sources, Split(incs), [], libtype=['core'], priority=[85] )
diff --git a/source/blender/editors/space_node/node_edit.c b/source/blender/editors/space_node/node_edit.c
index 68e9d38e192..d77d2aa09cb 100644
--- a/source/blender/editors/space_node/node_edit.c
+++ b/source/blender/editors/space_node/node_edit.c
@@ -2518,12 +2518,12 @@ static int node_delete_selection_exec(bContext *C, wmOperator *op)
 
 /* operators */
 
-void NODE_OT_delete_selection(wmOperatorType *ot)
+void NODE_OT_delete(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Delete";
-	ot->idname= "NODE_OT_delete_selection";
+	ot->idname= "NODE_OT_delete";
 	
 	/* api callbacks */
 	ot->exec= node_delete_selection_exec;
diff --git a/source/blender/editors/space_node/node_header.c b/source/blender/editors/space_node/node_header.c
index d2e7df55e54..14545b87cd4 100644
--- a/source/blender/editors/space_node/node_header.c
+++ b/source/blender/editors/space_node/node_header.c
@@ -75,7 +75,7 @@ static void do_node_selectmenu(bContext *C, void *arg, int event)
 	
 	switch(event) {
 		case 1: /* border select */
-			WM_operator_name_call(C, "NODE_OT_border_select", WM_OP_INVOKE_REGION_WIN, NULL);
+			WM_operator_name_call(C, "NODE_OT_select_border", WM_OP_INVOKE_REGION_WIN, NULL);
 			break;
 		case 2: /* select/deselect all */
 			// XXX node_deselectall(snode, 1);
@@ -582,13 +582,13 @@ static void do_node_viewmenu(bContext *C, void *arg, int event)
 	
 	switch(event) {
 		case 1: /* Zoom in */
-			WM_operator_name_call(C, "View2D_OT_view_zoomin", WM_OP_EXEC_REGION_WIN, NULL);
+			WM_operator_name_call(C, "VIEW2D_OT_zoom_in", WM_OP_EXEC_REGION_WIN, NULL);
 			break;
 		case 2: /* View all */
-			WM_operator_name_call(C, "View2D_OT_view_zoomout", WM_OP_EXEC_REGION_WIN, NULL);
+			WM_operator_name_call(C, "VIEW2D_OT_zoom_out", WM_OP_EXEC_REGION_WIN, NULL);
 			break;
 		case 3: /* View all */
-			WM_operator_name_call(C, "NODE_OT_fit_all", WM_OP_EXEC_REGION_WIN, NULL);
+			WM_operator_name_call(C, "NODE_OT_view_all", WM_OP_EXEC_REGION_WIN, NULL);
 			break;
 		case 4: /* Grease Pencil */
 			// XXX add_blockhandler(sa, NODES_HANDLER_GREASEPENCIL, UI_PNL_UNSTOW);
diff --git a/source/blender/editors/space_node/node_intern.h b/source/blender/editors/space_node/node_intern.h
index de3999ae5cb..4796db98e95 100644
--- a/source/blender/editors/space_node/node_intern.h
+++ b/source/blender/editors/space_node/node_intern.h
@@ -55,10 +55,10 @@ void node_keymap(wmWindowManager *wm);
 
 /* node_select.c */
 void NODE_OT_select(struct wmOperatorType *ot);
-void NODE_OT_extend_select(struct wmOperatorType *ot);
+void NODE_OT_select_extend(struct wmOperatorType *ot);
 void NODE_OT_visibility_toggle(struct wmOperatorType *ot);
-void NODE_OT_fit_all(struct wmOperatorType *ot);
-void NODE_OT_border_select(struct wmOperatorType *ot);
+void NODE_OT_view_all(struct wmOperatorType *ot);
+void NODE_OT_select_border(struct wmOperatorType *ot);
 
 /* drawnode.c */
 void node_draw_link(View2D *v2d, SpaceNode *snode, bNodeLink *link);
@@ -83,7 +83,7 @@ bNode *snode_get_editgroup(SpaceNode *snode);
 void snode_autoconnect(SpaceNode *snode, bNode *node_to, int flag);
 
 void NODE_OT_link(struct wmOperatorType *ot);
-void NODE_OT_delete_selection(struct wmOperatorType *ot);
+void NODE_OT_delete(struct wmOperatorType *ot);
 void NODE_OT_size_widget(struct wmOperatorType *ot);
 void NODE_OT_links_cut(struct wmOperatorType *ot);
 
diff --git a/source/blender/editors/space_node/node_ops.c b/source/blender/editors/space_node/node_ops.c
index dc6ae03cef9..cef867faa1f 100644
--- a/source/blender/editors/space_node/node_ops.c
+++ b/source/blender/editors/space_node/node_ops.c
@@ -51,11 +51,11 @@
 void node_operatortypes(void)
 {
 	WM_operatortype_append(NODE_OT_select);
-	WM_operatortype_append(NODE_OT_extend_select);
+	WM_operatortype_append(NODE_OT_select_extend);
 	WM_operatortype_append(NODE_OT_visibility_toggle);
-	WM_operatortype_append(NODE_OT_fit_all);
-	WM_operatortype_append(NODE_OT_border_select);
-	WM_operatortype_append(NODE_OT_delete_selection);
+	WM_operatortype_append(NODE_OT_view_all);
+	WM_operatortype_append(NODE_OT_select_border);
+	WM_operatortype_append(NODE_OT_delete);
 	WM_operatortype_append(NODE_OT_link);
 	WM_operatortype_append(NODE_OT_size_widget);
 	WM_operatortype_append(NODE_OT_links_cut);
@@ -68,17 +68,17 @@ void node_keymap(struct wmWindowManager *wm)
 	/* mouse select in nodes used to be both keys, it's UI elements... */
 	RNA_enum_set(WM_keymap_add_item(keymap, "NODE_OT_select", ACTIONMOUSE, KM_PRESS, 0, 0)->ptr, "select_type", NODE_SELECT_MOUSE);
 	RNA_enum_set(WM_keymap_add_item(keymap, "NODE_OT_select", SELECTMOUSE, KM_PRESS, 0, 0)->ptr, "select_type", NODE_SELECT_MOUSE);
-	RNA_enum_set(WM_keymap_add_item(keymap, "NODE_OT_extend_select", ACTIONMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "select_type", NODE_SELECT_MOUSE);
-	RNA_enum_set(WM_keymap_add_item(keymap, "NODE_OT_extend_select", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "select_type", NODE_SELECT_MOUSE);
+	RNA_enum_set(WM_keymap_add_item(keymap, "NODE_OT_select_extend", ACTIONMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "select_type", NODE_SELECT_MOUSE);
+	RNA_enum_set(WM_keymap_add_item(keymap, "NODE_OT_select_extend", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "select_type", NODE_SELECT_MOUSE);
 	
 	WM_keymap_add_item(keymap, "NODE_OT_link", LEFTMOUSE, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "NODE_OT_size_widget", LEFTMOUSE, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "NODE_OT_visibility_toggle", LEFTMOUSE, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "NODE_OT_links_cut", LEFTMOUSE, KM_PRESS, KM_ALT, 0);
 	
-	WM_keymap_add_item(keymap, "NODE_OT_fit_all", HOMEKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "NODE_OT_border_select", BKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "NODE_OT_delete_selection", XKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "NODE_OT_view_all", HOMEKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "NODE_OT_select_border", BKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "NODE_OT_delete", XKEY, KM_PRESS, 0, 0);
 	
 	transform_keymap_for_space(wm, keymap, SPACE_NODE);
 }
diff --git a/source/blender/editors/space_node/node_select.c b/source/blender/editors/space_node/node_select.c
index 0006d227d1a..3c37793e8d6 100644
--- a/source/blender/editors/space_node/node_select.c
+++ b/source/blender/editors/space_node/node_select.c
@@ -180,11 +180,12 @@ static EnumPropertyItem prop_select_items[] = {
 	{NODE_SELECT_MOUSE, "NORMAL", "Normal Select", "Select using the mouse"},
 	{0, NULL, NULL, NULL}};
 
-void NODE_OT_extend_select(wmOperatorType *ot)
+void NODE_OT_select_extend(wmOperatorType *ot)
 {
+	// XXX - Todo - This should just be a toggle option for NODE_OT_select not its own op
 	/* identifiers */
 	ot->name= "Activate/Select (Shift)";
-	ot->idname= "NODE_OT_extend_select";
+	ot->idname= "NODE_OT_select_extend";
 	
 	/* api callbacks */
 	ot->invoke= node_extend_select_invoke;
@@ -265,11 +266,11 @@ static int node_borderselect_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void NODE_OT_border_select(wmOperatorType *ot)
+void NODE_OT_select_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Border Select";
-	ot->idname= "NODE_OT_border_select";
+	ot->idname= "NODE_OT_select_border";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
diff --git a/source/blender/editors/space_node/node_state.c b/source/blender/editors/space_node/node_state.c
index ee3bfbf0fbf..f05a24ef05a 100644
--- a/source/blender/editors/space_node/node_state.c
+++ b/source/blender/editors/space_node/node_state.c
@@ -193,11 +193,11 @@ static int node_fit_all_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void NODE_OT_fit_all(wmOperatorType *ot)
+void NODE_OT_view_all(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Fit All";
-	ot->idname= "NODE_OT_fit_all";
+	ot->idname= "NODE_OT_view_all";
 	
 	/* api callbacks */
 	ot->exec= node_fit_all_exec;
diff --git a/source/blender/editors/space_node/space_node.c b/source/blender/editors/space_node/space_node.c
index 1d2aa148e18..493ef6954b5 100644
--- a/source/blender/editors/space_node/space_node.c
+++ b/source/blender/editors/space_node/space_node.c
@@ -60,6 +60,8 @@
 #include "UI_resources.h"
 #include "UI_view2d.h"
 
+#include "RNA_access.h"
+
 #include "node_intern.h"	// own include
 
 /* ******************** default callbacks for node space ***************** */
@@ -277,16 +279,16 @@ static void node_region_listener(ARegion *ar, wmNotifier *wmn)
 	}
 }
 
-static int node_context(const bContext *C, bContextDataMember member, bContextDataResult *result)
+static int node_context(const bContext *C, const char *member, bContextDataResult *result)
 {
 	SpaceNode *snode= (SpaceNode*)CTX_wm_space_data(C);
 	
-	if(member == CTX_DATA_SELECTED_NODES) {
+	if(CTX_data_equals(member, "selected_nodes")) {
 		bNode *node;
 		
 		for(next_node(snode->edittree); (node=next_node(NULL));) {
 			if(node->flag & SELECT) {
-				CTX_data_list_add(result, node);
+				CTX_data_list_add(result, &snode->edittree->id, &RNA_Node, node);
 			}
 		}
 		return 1;
diff --git a/source/blender/editors/space_outliner/outliner.c b/source/blender/editors/space_outliner/outliner.c
index 220fd7b8dc8..54652587c53 100644
--- a/source/blender/editors/space_outliner/outliner.c
+++ b/source/blender/editors/space_outliner/outliner.c
@@ -50,7 +50,7 @@
 #include "DNA_modifier_types.h"
 #include "DNA_nla_types.h"
 #include "DNA_object_types.h"
-#include "DNA_oops_types.h"
+#include "DNA_outliner_types.h"
 #include "DNA_particle_types.h"
 #include "DNA_scene_types.h"
 #include "DNA_screen_types.h"
@@ -3063,9 +3063,9 @@ enum {
 static int ed_operator_outliner_datablocks_active(bContext *C)
 {
 	ScrArea *sa= CTX_wm_area(C);
-	if ((sa) && (sa->spacetype==SPACE_OOPS)) {
+	if ((sa) && (sa->spacetype==SPACE_OUTLINER)) {
 		SpaceOops *so= (SpaceOops *)CTX_wm_space_data(C);
-		return ((so->type == SO_OUTLINER) && (so->outlinevis == SO_DATABLOCKS));
+		return (so->outlinevis == SO_DATABLOCKS);
 	}
 	return 0;
 }
@@ -4204,13 +4204,13 @@ static void outliner_draw_rnabuts(uiBlock *block, Scene *scene, ARegion *ar, Spa
 				prop= te->directdata;
 				
 				if(!(RNA_property_type(ptr, prop) == PROP_POINTER && (tselem->flag & TSE_CLOSED)==0))
-					uiDefAutoButR(block, ptr, prop, -1, "", sizex, (int)te->ys, OL_RNA_COL_SIZEX, OL_H-1);
+					uiDefAutoButR(block, ptr, prop, -1, "", 0, sizex, (int)te->ys, OL_RNA_COL_SIZEX, OL_H-1);
 			}
 			else if(tselem->type == TSE_RNA_ARRAY_ELEM) {
 				ptr= &te->rnaptr;
 				prop= te->directdata;
 				
-				uiDefAutoButR(block, ptr, prop, te->index, "", sizex, (int)te->ys, OL_RNA_COL_SIZEX, OL_H-1);
+				uiDefAutoButR(block, ptr, prop, te->index, "", 0, sizex, (int)te->ys, OL_RNA_COL_SIZEX, OL_H-1);
 			}
 		}
 		
diff --git a/source/blender/editors/space_outliner/outliner_header.c b/source/blender/editors/space_outliner/outliner_header.c
index b42f6ec16ff..ecff2d8a417 100644
--- a/source/blender/editors/space_outliner/outliner_header.c
+++ b/source/blender/editors/space_outliner/outliner_header.c
@@ -88,9 +88,6 @@ static void do_viewmenu(bContext *C, void *arg, int event)
 			/* using event B_FULL */
 			break;
 			break;
-		case 14: /* show outliner viewer */
-			soops->type= SO_OUTLINER;
-			break;
 		case 6:
 			//outliner_toggle_visible(curarea);
 			break;
@@ -124,23 +121,21 @@ static uiBlock *outliner_viewmenu(bContext *C, ARegion *ar, void *arg_unused)
 	block= uiBeginBlock(C, ar, "outliner_viewmenu", UI_EMBOSSP, UI_HELV);
 	uiBlockSetButmFunc(block, do_viewmenu, NULL);
 	
-	if(soops->type==SO_OUTLINER) {
-		if (soops->flag & SO_HIDE_RESTRICTCOLS)
-			uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_DEHLT, "Show Restriction Columns", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 12, "");
-		else
-			uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_HLT, "Show Restriction Columns", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 12, "");
-		
-		uiDefBut(block, SEPR, 0, "",        0, yco-=6, menuwidth, 6, NULL, 0.0, 0.0, 0, 0, "");
-		
-		uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Expand One Level|NumPad +", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 9, "");
-		uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Collapse One Level|NumPad -", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 10, "");
-		
-		uiDefBut(block, SEPR, 0, "",        0, yco-=6, menuwidth, 6, NULL, 0.0, 0.0, 0, 0, "");  
-		
-		uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Show/Hide All", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 6, "");
-		uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Show Hierarchy|Home", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 7, "");
-		uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Show Active|NumPad .", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 8, "");
-	}
+	if (soops->flag & SO_HIDE_RESTRICTCOLS)
+		uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_DEHLT, "Show Restriction Columns", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 12, "");
+	else
+		uiDefIconTextBut(block, BUTM, 1, ICON_CHECKBOX_HLT, "Show Restriction Columns", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 12, "");
+	
+	uiDefBut(block, SEPR, 0, "",        0, yco-=6, menuwidth, 6, NULL, 0.0, 0.0, 0, 0, "");
+	
+	uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Expand One Level|NumPad +", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 9, "");
+	uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Collapse One Level|NumPad -", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 10, "");
+	
+	uiDefBut(block, SEPR, 0, "",        0, yco-=6, menuwidth, 6, NULL, 0.0, 0.0, 0, 0, "");  
+	
+	uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Show/Hide All", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 6, "");
+	uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Show Hierarchy|Home", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 7, "");
+	uiDefIconTextBut(block, BUTM, 1, ICON_BLANK1, "Show Active|NumPad .", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 8, "");
 	
 //	uiDefBut(block, SEPR, 0, "",        0, yco-=6, menuwidth, 6, NULL, 0.0, 0.0, 0, 0, "");  
 //	if(!curarea->full) uiDefIconTextBut(block, BUTM, B_FULL, ICON_BLANK1, "Maximize Window|Ctrl UpArrow", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 0, 4, "");
@@ -239,73 +234,71 @@ void outliner_header_buttons(const bContext *C, ARegion *ar)
 		uiBlockSetEmboss(block, UI_EMBOSS);
 	}
 	
-	//if (outliner->type==SO_OUTLINER) {
-		/* data selector*/
-		if(G.main->library.first) 
-			uiDefButS(block, MENU, B_REDR, "Outliner Display%t|Libraries %x7|All Scenes %x0|Current Scene %x1|Visible Layers %x2|Groups %x6|Same Types %x5|Selected %x3|Active %x4|Sequence %x10|Datablocks %x11|User Preferences %x12",	 xco, yco, 120, 20,  &soutliner->outlinevis, 0, 0, 0, 0, "");
-		else
-			uiDefButS(block, MENU, B_REDR, "Outliner Display%t|All Scenes %x0|Current Scene %x1|Visible Layers %x2|Groups %x6|Same Types %x5|Selected %x3|Active %x4|Sequence %x10|Datablocks %x11|User Preferences %x12",	 xco, yco, 120, 20,  &soutliner->outlinevis, 0, 0, 0, 0, "");	
-		xco += 120;
+	/* data selector*/
+	if(G.main->library.first) 
+		uiDefButS(block, MENU, B_REDR, "Outliner Display%t|Libraries %x7|All Scenes %x0|Current Scene %x1|Visible Layers %x2|Groups %x6|Same Types %x5|Selected %x3|Active %x4|Sequence %x10|Datablocks %x11|User Preferences %x12",	 xco, yco, 120, 20,  &soutliner->outlinevis, 0, 0, 0, 0, "");
+	else
+		uiDefButS(block, MENU, B_REDR, "Outliner Display%t|All Scenes %x0|Current Scene %x1|Visible Layers %x2|Groups %x6|Same Types %x5|Selected %x3|Active %x4|Sequence %x10|Datablocks %x11|User Preferences %x12",	 xco, yco, 120, 20,  &soutliner->outlinevis, 0, 0, 0, 0, "");	
+	xco += 120;
+	
+	/* KeyingSet editing buttons */
+	if ((soutliner->flag & SO_HIDE_KEYINGSETINFO)==0 && (soutliner->outlinevis==SO_DATABLOCKS)) {
+		KeyingSet *ks= NULL;
+		char *menustr= NULL;
 		
-		/* KeyingSet editing buttons */
-		if ((soutliner->flag & SO_HIDE_KEYINGSETINFO)==0 && (soutliner->outlinevis==SO_DATABLOCKS)) {
-			KeyingSet *ks= NULL;
-			char *menustr= NULL;
-			
-			xco+= (int)(XIC*1.5);
+		xco+= (int)(XIC*1.5);
+		
+		if (scene->active_keyingset)
+			ks= (KeyingSet *)BLI_findlink(&scene->keyingsets, scene->active_keyingset-1);
+		
+		uiBlockBeginAlign(block);
+			/* currently 'active' KeyingSet */
+			menustr= ANIM_build_keyingsets_menu(&scene->keyingsets, 1);
+			uiDefButI(block, MENU, B_KEYINGSET_CHANGE, menustr, xco,yco, 18,20, &scene->active_keyingset, 0, 0, 0, 0, "Browse Keying Sets");
+			MEM_freeN(menustr);
+			xco += 18;
 			
-			if (scene->active_keyingset)
-				ks= (KeyingSet *)BLI_findlink(&scene->keyingsets, scene->active_keyingset-1);
+			/* currently 'active' KeyingSet - change name */
+			if (ks) {
+				/* active KeyingSet */
+				uiDefBut(block, TEX, B_KEYINGSET_CHANGE,"", xco,yco,120,20, ks->name, 0, 63, 0, 0, "Name of Active Keying Set");
+				xco += 120;
+				uiDefIconBut(block, BUT, B_KEYINGSET_REMOVE, VICON_X, xco, yco, 20, 20, NULL, 0.0, 0.0, 0.0, 0.0, "Remove this Keying Set");
+				xco += 20;
+			}
+			else {
+				/* no active KeyingSet... so placeholder instead */
+				uiDefBut(block, LABEL, 0,"<No Keying Set Active>", xco,yco,140,20, NULL, 0, 63, 0, 0, "Name of Active Keying Set");
+				xco += 140;
+			}
+		uiBlockEndAlign(block);
+		
+		/* current 'active' KeyingSet */
+		if (ks) {
+			xco += 5;
 			
+			/* operator buttons to add/remove selected items from set */
 			uiBlockBeginAlign(block);
-				/* currently 'active' KeyingSet */
-				menustr= ANIM_build_keyingsets_menu(&scene->keyingsets, 1);
-				uiDefButI(block, MENU, B_KEYINGSET_CHANGE, menustr, xco,yco, 18,20, &scene->active_keyingset, 0, 0, 0, 0, "Browse Keying Sets");
-				MEM_freeN(menustr);
-				xco += 18;
-				
-				/* currently 'active' KeyingSet - change name */
-				if (ks) {
-					/* active KeyingSet */
-					uiDefBut(block, TEX, B_KEYINGSET_CHANGE,"", xco,yco,120,20, ks->name, 0, 63, 0, 0, "Name of Active Keying Set");
-					xco += 120;
-					uiDefIconBut(block, BUT, B_KEYINGSET_REMOVE, VICON_X, xco, yco, 20, 20, NULL, 0.0, 0.0, 0.0, 0.0, "Remove this Keying Set");
-					xco += 20;
-				}
-				else {
-					/* no active KeyingSet... so placeholder instead */
-					uiDefBut(block, LABEL, 0,"<No Keying Set Active>", xco,yco,140,20, NULL, 0, 63, 0, 0, "Name of Active Keying Set");
-					xco += 140;
-				}
+					// XXX the icons here are temporary
+				uiDefIconButO(block, BUT, "OUTLINER_OT_keyingset_remove_selected", WM_OP_INVOKE_REGION_WIN, ICON_ZOOMOUT, xco,yco,XIC,YIC, "Remove selected properties from active Keying Set (Alt-K)");
+				xco += XIC;
+				uiDefIconButO(block, BUT, "OUTLINER_OT_keyingset_add_selected", WM_OP_INVOKE_REGION_WIN, ICON_ZOOMIN, xco,yco,XIC,YIC, "Add selected properties to active Keying Set (K)");
+				xco += XIC;
 			uiBlockEndAlign(block);
 			
-			/* current 'active' KeyingSet */
-			if (ks) {
-				xco += 5;
-				
-				/* operator buttons to add/remove selected items from set */
-				uiBlockBeginAlign(block);
-						// XXX the icons here are temporary
-					uiDefIconButO(block, BUT, "OUTLINER_OT_keyingset_remove_selected", WM_OP_INVOKE_REGION_WIN, ICON_ZOOMOUT, xco,yco,XIC,YIC, "Remove selected properties from active Keying Set (Alt-K)");
-					xco += XIC;
-					uiDefIconButO(block, BUT, "OUTLINER_OT_keyingset_add_selected", WM_OP_INVOKE_REGION_WIN, ICON_ZOOMIN, xco,yco,XIC,YIC, "Add selected properties to active Keying Set (K)");
-					xco += XIC;
-				uiBlockEndAlign(block);
-				
-				xco += 10;
-				
-				/* operator buttons to insert/delete keyframes for the active set */
-				uiBlockBeginAlign(block);
-					uiDefIconButO(block, BUT, "ANIM_OT_delete_keyframe", WM_OP_INVOKE_REGION_WIN, ICON_KEY_DEHLT, xco,yco,XIC,YIC, "Delete Keyframes for the Active Keying Set (Alt-I)");
-					xco+= XIC;
-					uiDefIconButO(block, BUT, "ANIM_OT_insert_keyframe", WM_OP_INVOKE_REGION_WIN, ICON_KEY_HLT, xco,yco,XIC,YIC, "Insert Keyframes for the Active Keying Set (I)");
-					xco+= XIC;
-				uiBlockEndAlign(block);
-			}
+			xco += 10;
 			
-			xco += XIC*2;
+			/* operator buttons to insert/delete keyframes for the active set */
+			uiBlockBeginAlign(block);
+				uiDefIconButO(block, BUT, "ANIM_OT_delete_keyframe", WM_OP_INVOKE_REGION_WIN, ICON_KEY_DEHLT, xco,yco,XIC,YIC, "Delete Keyframes for the Active Keying Set (Alt-I)");
+				xco+= XIC;
+				uiDefIconButO(block, BUT, "ANIM_OT_insert_keyframe", WM_OP_INVOKE_REGION_WIN, ICON_KEY_HLT, xco,yco,XIC,YIC, "Insert Keyframes for the Active Keying Set (I)");
+				xco+= XIC;
+			uiBlockEndAlign(block);
 		}
-	//}
+		
+		xco += XIC*2;
+	}
 	
 	/* always as last  */
 	UI_view2d_totRect_set(&ar->v2d, xco+XIC+100, (int)(ar->v2d.tot.ymax-ar->v2d.tot.ymin));
diff --git a/source/blender/editors/space_outliner/outliner_ops.c b/source/blender/editors/space_outliner/outliner_ops.c
index 8ed4c9ed986..920ccb62a7a 100644
--- a/source/blender/editors/space_outliner/outliner_ops.c
+++ b/source/blender/editors/space_outliner/outliner_ops.c
@@ -51,7 +51,7 @@ void outliner_operatortypes(void)
 
 void outliner_keymap(wmWindowManager *wm)
 {
-	ListBase *keymap= WM_keymap_listbase(wm, "Outliner", SPACE_OOPS, 0);
+	ListBase *keymap= WM_keymap_listbase(wm, "Outliner", SPACE_OUTLINER, 0);
 	
 	WM_keymap_verify_item(keymap, "OUTLINER_OT_activate_click", LEFTMOUSE, KM_PRESS, 0, 0);
 	
diff --git a/source/blender/editors/space_outliner/space_outliner.c b/source/blender/editors/space_outliner/space_outliner.c
index b8187309c0d..4add1e88986 100644
--- a/source/blender/editors/space_outliner/space_outliner.c
+++ b/source/blender/editors/space_outliner/space_outliner.c
@@ -31,7 +31,7 @@
 
 #include "DNA_color_types.h"
 #include "DNA_object_types.h"
-#include "DNA_oops_types.h"
+#include "DNA_outliner_types.h"
 #include "DNA_space_types.h"
 #include "DNA_scene_types.h"
 #include "DNA_screen_types.h"
@@ -78,7 +78,7 @@ static void outliner_main_area_init(wmWindowManager *wm, ARegion *ar)
 	UI_view2d_region_reinit(&ar->v2d, V2D_COMMONVIEW_LIST, ar->winx, ar->winy);
 	
 	/* own keymap */
-	keymap= WM_keymap_listbase(wm, "Outliner", SPACE_OOPS, 0);	/* XXX weak? */
+	keymap= WM_keymap_listbase(wm, "Outliner", SPACE_OUTLINER, 0);	/* XXX weak? */
 	WM_event_add_keymap_handler_bb(&ar->handlers, keymap, &ar->v2d.mask, &ar->winrct);
 }
 
@@ -190,7 +190,7 @@ static SpaceLink *outliner_new(const bContext *C)
 	SpaceOops *soutliner;
 
 	soutliner= MEM_callocN(sizeof(SpaceOops), "initoutliner");
-	soutliner->spacetype= SPACE_OOPS;
+	soutliner->spacetype= SPACE_OUTLINER;
 	
 	/* header */
 	ar= MEM_callocN(sizeof(ARegion), "header for outliner");
@@ -214,27 +214,10 @@ static SpaceLink *outliner_new(const bContext *C)
 	return (SpaceLink*)soutliner;
 }
 
-static void free_oops(Oops *oops)	/* also oops itself */
-{
-	BLI_freelistN(&oops->link);
-	MEM_freeN(oops);
-}
-
 /* not spacelink itself */
 static void outliner_free(SpaceLink *sl)
 {
 	SpaceOops *soutliner= (SpaceOops*)sl;
-	Oops *oops;
-
-	if(soutliner->rnapath) {
-		MEM_freeN(soutliner->rnapath);
-		soutliner->rnapath= NULL;
-	}
-
-	while( (oops= soutliner->oops.first) ) {
-		BLI_remlink(&soutliner->oops, oops);
-		free_oops(oops);
-	}
 	
 	outliner_free_tree(&soutliner->tree);
 	if(soutliner->treestore) {
@@ -255,10 +238,6 @@ static SpaceLink *outliner_duplicate(SpaceLink *sl)
 	SpaceOops *soutliner= (SpaceOops *)sl;
 	SpaceOops *soutlinern= MEM_dupallocN(soutliner);
 
-	if(soutlinern->rnapath)
-		soutlinern->rnapath= MEM_dupallocN(soutlinern->rnapath);
-	
-	soutlinern->oops.first= soutlinern->oops.last= NULL;
 	soutlinern->tree.first= soutlinern->tree.last= NULL;
 	soutlinern->treestore= NULL;
 	
@@ -271,7 +250,7 @@ void ED_spacetype_outliner(void)
 	SpaceType *st= MEM_callocN(sizeof(SpaceType), "spacetype time");
 	ARegionType *art;
 	
-	st->spaceid= SPACE_OOPS;
+	st->spaceid= SPACE_OUTLINER;
 	strncpy(st->name, "Outliner", BKE_ST_MAXNAME);
 	
 	st->new= outliner_new;
diff --git a/source/blender/editors/space_script/space_script.c b/source/blender/editors/space_script/space_script.c
index 054033fd987..c7f280f439e 100644
--- a/source/blender/editors/space_script/space_script.c
+++ b/source/blender/editors/space_script/space_script.c
@@ -157,10 +157,12 @@ static void script_main_area_draw(const bContext *C, ARegion *ar)
 	/* data... */
 	// BPY_run_python_script(C, "/root/blender-svn/blender25/test.py", NULL);
 	
+#ifndef DISABLE_PYTHON
 	if (sscript->script) {
 		//BPY_run_python_script_space(scpt->script.filename, NULL);
 		BPY_run_script_space_draw(C, sscript);
 	}
+#endif
 	
 	/* reset view matrix */
 	UI_view2d_view_restore(C);
diff --git a/source/blender/editors/space_sequencer/sequencer_draw.c b/source/blender/editors/space_sequencer/sequencer_draw.c
index 0068c03f6f9..e71abec8e4b 100644
--- a/source/blender/editors/space_sequencer/sequencer_draw.c
+++ b/source/blender/editors/space_sequencer/sequencer_draw.c
@@ -264,7 +264,7 @@ static void drawseqwave(Scene *scene, View2D *v2d, Sequence *seq, float x1, floa
 	uint8_t *stream;
 	
 // XXX	audio_makestream(seq->sound);
-//	if(seq->sound==NULL || seq->sound->stream==NULL) return;
+	if(seq->sound==NULL || seq->sound->stream==NULL) return;
 	
 	if (seq->flag & SEQ_MUTE) glColor3ub(0x70, 0x80, 0x80); else glColor3ub(0x70, 0xc0, 0xc0);
 	
diff --git a/source/blender/editors/space_sequencer/sequencer_edit.c b/source/blender/editors/space_sequencer/sequencer_edit.c
index a9a3591c54f..1ae9d19a10e 100644
--- a/source/blender/editors/space_sequencer/sequencer_edit.c
+++ b/source/blender/editors/space_sequencer/sequencer_edit.c
@@ -169,7 +169,7 @@ Sequence *get_forground_frame_seq(Scene *scene, int frame)
 	if(!ed) return NULL;
 	
 	for (seq=ed->seqbasep->first; seq; seq= seq->next) {
-		if(seq->startdisp > frame || seq->enddisp <= frame)
+		if(seq->flag & SEQ_MUTE || seq->startdisp > frame || seq->enddisp <= frame)
 			continue;
 		/* only use elements you can see - not */
 		if (ELEM6(seq->type, SEQ_IMAGE, SEQ_META, SEQ_SCENE, SEQ_MOVIE, SEQ_MOVIE_AND_HD_SOUND, SEQ_COLOR)) {
@@ -1805,12 +1805,12 @@ static int sequencer_add_duplicate_invoke(bContext *C, wmOperator *op, wmEvent *
 	return OPERATOR_FINISHED;
 }
 
-void SEQUENCER_OT_add_duplicate(wmOperatorType *ot)
+void SEQUENCER_OT_duplicate_add(wmOperatorType *ot)
 {
 
 	/* identifiers */
 	ot->name= "Add Duplicate";
-	ot->idname= "SEQUENCER_OT_add_duplicate";
+	ot->idname= "SEQUENCER_OT_duplicate_add";
 
 	/* api callbacks */
 	ot->invoke= sequencer_add_duplicate_invoke;
diff --git a/source/blender/editors/space_sequencer/sequencer_header.c b/source/blender/editors/space_sequencer/sequencer_header.c
index 71d7ff728d3..a701a9dd55b 100644
--- a/source/blender/editors/space_sequencer/sequencer_header.c
+++ b/source/blender/editors/space_sequencer/sequencer_header.c
@@ -158,7 +158,7 @@ static void seq_selectmenu(bContext *C, uiMenuItem *head, void *arg_unused)
 	uiMenuItemO(head, 0, "SEQUENCER_OT_select_linked");
 	uiMenuSeparator(head);
 	uiMenuItemO(head, 0, "SEQUENCER_OT_select_linked");
-	uiMenuItemO(head, 0, "SEQUENCER_OT_deselect_all");
+	uiMenuItemO(head, 0, "SEQUENCER_OT_select_all_toggle");
 	uiMenuItemO(head, 0, "SEQUENCER_OT_select_invert");
 }
 
@@ -275,7 +275,7 @@ static void seq_editmenu(bContext *C, uiMenuItem *head, void *arg_unused)
 
 	uiMenuItemO(head, 0, "SEQUENCER_OT_separate_images");
 	uiMenuSeparator(head);
-	uiMenuItemO(head, 0, "SEQUENCER_OT_add_duplicate");
+	uiMenuItemO(head, 0, "SEQUENCER_OT_duplicate_add");
 	uiMenuItemO(head, 0, "SEQUENCER_OT_delete");
 
 	if (ed && ed->act_seq) {
@@ -439,7 +439,7 @@ void sequencer_header_buttons(const bContext *C, ARegion *ar)
 			      0, 0, 0, 0,
 			      "Zooms view in and out (Ctrl MiddleMouse)");
 		xco += XIC;
-		uiDefIconButO(block, BUT, "View2D_OT_view_borderzoom", WM_OP_INVOKE_REGION_WIN, ICON_BORDERMOVE, xco,yco,XIC,YIC, "Zooms view to fit area");
+		uiDefIconButO(block, BUT, "VIEW2D_OT_zoom_border", WM_OP_INVOKE_REGION_WIN, ICON_BORDERMOVE, xco,yco,XIC,YIC, "Zooms view to fit area");
 		
 		uiBlockEndAlign(block);
 		xco += 8 + XIC;
diff --git a/source/blender/editors/space_sequencer/sequencer_intern.h b/source/blender/editors/space_sequencer/sequencer_intern.h
index 18c08d94094..8a56d15e1da 100644
--- a/source/blender/editors/space_sequencer/sequencer_intern.h
+++ b/source/blender/editors/space_sequencer/sequencer_intern.h
@@ -78,7 +78,7 @@ void SEQUENCER_OT_lock(struct wmOperatorType *ot);
 void SEQUENCER_OT_unlock(struct wmOperatorType *ot);
 void SEQUENCER_OT_reload(struct wmOperatorType *ot);
 void SEQUENCER_OT_refresh_all(struct wmOperatorType *ot);
-void SEQUENCER_OT_add_duplicate(struct wmOperatorType *ot);
+void SEQUENCER_OT_duplicate_add(struct wmOperatorType *ot);
 void SEQUENCER_OT_delete(struct wmOperatorType *ot);
 void SEQUENCER_OT_separate_images(struct wmOperatorType *ot);
 void SEQUENCER_OT_meta_toggle(struct wmOperatorType *ot);
@@ -89,15 +89,15 @@ void SEQUENCER_OT_view_all(struct wmOperatorType *ot);
 void SEQUENCER_OT_view_selected(struct wmOperatorType *ot);
 
 /* sequencer_select.c */
-void SEQUENCER_OT_deselect_all(struct wmOperatorType *ot);
+void SEQUENCER_OT_select_all_toggle(struct wmOperatorType *ot);
 void SEQUENCER_OT_select(struct wmOperatorType *ot);
 void SEQUENCER_OT_select_more(struct wmOperatorType *ot);
 void SEQUENCER_OT_select_less(struct wmOperatorType *ot);
 void SEQUENCER_OT_select_linked(struct wmOperatorType *ot);
-void SEQUENCER_OT_select_pick_linked(struct wmOperatorType *ot);
+void SEQUENCER_OT_select_linked_pick(struct wmOperatorType *ot);
 void SEQUENCER_OT_select_handles(struct wmOperatorType *ot);
 void SEQUENCER_OT_select_active_side(struct wmOperatorType *ot);
-void SEQUENCER_OT_borderselect(struct wmOperatorType *ot);
+void SEQUENCER_OT_select_border(struct wmOperatorType *ot);
 void SEQUENCER_OT_select_invert(struct wmOperatorType *ot);
 
 
diff --git a/source/blender/editors/space_sequencer/sequencer_ops.c b/source/blender/editors/space_sequencer/sequencer_ops.c
index d7ca063f4c5..a159a4828da 100644
--- a/source/blender/editors/space_sequencer/sequencer_ops.c
+++ b/source/blender/editors/space_sequencer/sequencer_ops.c
@@ -71,7 +71,7 @@ void sequencer_operatortypes(void)
 	WM_operatortype_append(SEQUENCER_OT_unlock);
 	WM_operatortype_append(SEQUENCER_OT_reload);
 	WM_operatortype_append(SEQUENCER_OT_refresh_all);
-	WM_operatortype_append(SEQUENCER_OT_add_duplicate);
+	WM_operatortype_append(SEQUENCER_OT_duplicate_add);
 	WM_operatortype_append(SEQUENCER_OT_delete);
 	WM_operatortype_append(SEQUENCER_OT_separate_images);
 	WM_operatortype_append(SEQUENCER_OT_meta_toggle);
@@ -82,16 +82,16 @@ void sequencer_operatortypes(void)
 	WM_operatortype_append(SEQUENCER_OT_view_selected);
 	
 	/* sequencer_select.c */
-	WM_operatortype_append(SEQUENCER_OT_deselect_all);
+	WM_operatortype_append(SEQUENCER_OT_select_all_toggle);
 	WM_operatortype_append(SEQUENCER_OT_select_invert);
 	WM_operatortype_append(SEQUENCER_OT_select);
 	WM_operatortype_append(SEQUENCER_OT_select_more);
 	WM_operatortype_append(SEQUENCER_OT_select_less);
-	WM_operatortype_append(SEQUENCER_OT_select_pick_linked);
+	WM_operatortype_append(SEQUENCER_OT_select_linked_pick);
 	WM_operatortype_append(SEQUENCER_OT_select_linked);
 	WM_operatortype_append(SEQUENCER_OT_select_handles);
 	WM_operatortype_append(SEQUENCER_OT_select_active_side);
-	WM_operatortype_append(SEQUENCER_OT_borderselect);
+	WM_operatortype_append(SEQUENCER_OT_select_border);
 	
 	/* sequencer_add.c */
 	WM_operatortype_append(SEQUENCER_OT_add_scene_strip);
@@ -107,7 +107,7 @@ void sequencer_keymap(wmWindowManager *wm)
 	ListBase *keymap= WM_keymap_listbase(wm, "Sequencer", SPACE_SEQ, 0);
 	wmKeymapItem *kmi;
 	
-	WM_keymap_add_item(keymap, "SEQUENCER_OT_deselect_all", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "SEQUENCER_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "SEQUENCER_OT_select_invert", IKEY, KM_PRESS, KM_CTRL, 0);
 	
 	RNA_enum_set(WM_keymap_add_item(keymap, "SEQUENCER_OT_cut", KKEY, KM_PRESS, 0, 0)->ptr, "type", SEQ_CUT_SOFT);
@@ -124,7 +124,7 @@ void sequencer_keymap(wmWindowManager *wm)
 
 	WM_keymap_add_item(keymap, "SEQUENCER_OT_reload", RKEY, KM_PRESS, KM_ALT, 0);
 
-	WM_keymap_add_item(keymap, "SEQUENCER_OT_add_duplicate", DKEY, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "SEQUENCER_OT_duplicate_add", DKEY, KM_PRESS, KM_SHIFT, 0);
 
 	WM_keymap_add_item(keymap, "SEQUENCER_OT_delete", XKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "SEQUENCER_OT_delete", DELKEY, KM_PRESS, 0, 0);
@@ -168,12 +168,12 @@ void sequencer_keymap(wmWindowManager *wm)
 	WM_keymap_add_item(keymap, "SEQUENCER_OT_select_more", PADPLUSKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "SEQUENCER_OT_select_less", PADMINUS, KM_PRESS, KM_CTRL, 0);
 	
-	WM_keymap_add_item(keymap, "SEQUENCER_OT_select_pick_linked", LKEY, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "SEQUENCER_OT_select_pick_linked", LKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "extend", 1);
+	WM_keymap_add_item(keymap, "SEQUENCER_OT_select_linked_pick", LKEY, KM_PRESS, 0, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "SEQUENCER_OT_select_linked_pick", LKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "extend", 1);
 	
 	WM_keymap_add_item(keymap, "SEQUENCER_OT_select_linked", LKEY, KM_PRESS, KM_CTRL, 0);
 	
-	WM_keymap_add_item(keymap, "SEQUENCER_OT_borderselect", BKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "SEQUENCER_OT_select_border", BKEY, KM_PRESS, 0, 0);
 	
 	WM_keymap_verify_item(keymap, "ANIM_OT_change_frame", LEFTMOUSE, KM_PRESS, 0, 0);
 
diff --git a/source/blender/editors/space_sequencer/sequencer_select.c b/source/blender/editors/space_sequencer/sequencer_select.c
index f7548aa556a..bfd89ccdffb 100644
--- a/source/blender/editors/space_sequencer/sequencer_select.c
+++ b/source/blender/editors/space_sequencer/sequencer_select.c
@@ -227,11 +227,11 @@ static int sequencer_deselect_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void SEQUENCER_OT_deselect_all(struct wmOperatorType *ot)
+void SEQUENCER_OT_select_all_toggle(struct wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "(De)Select All";
-	ot->idname= "SEQUENCER_OT_deselect_all";
+	ot->idname= "SEQUENCER_OT_select_all_toggle";
 
 	/* api callbacks */
 	ot->exec= sequencer_deselect_exec;
@@ -575,7 +575,7 @@ void SEQUENCER_OT_select_less(wmOperatorType *ot)
 
 
 /* select pick linked operator (uses the mouse) */
-static int sequencer_select_pick_linked_invoke(bContext *C, wmOperator *op, wmEvent *event)
+static int sequencer_select_linked_pick_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	Scene *scene= CTX_data_scene(C);
 	ARegion *ar= CTX_wm_region(C);
@@ -611,14 +611,14 @@ static int sequencer_select_pick_linked_invoke(bContext *C, wmOperator *op, wmEv
 	return OPERATOR_FINISHED;
 }
 
-void SEQUENCER_OT_select_pick_linked(wmOperatorType *ot)
+void SEQUENCER_OT_select_linked_pick(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select pick linked";
-	ot->idname= "SEQUENCER_OT_select_pick_linked";
+	ot->idname= "SEQUENCER_OT_select_linked_pick";
 	
 	/* api callbacks */
-	ot->invoke= sequencer_select_pick_linked_invoke;
+	ot->invoke= sequencer_select_linked_pick_invoke;
 	ot->poll= ED_operator_sequencer_active;
 	
 	/* flags */
@@ -794,11 +794,11 @@ static int sequencer_borderselect_exec(bContext *C, wmOperator *op)
 
 
 /* ****** Border Select ****** */
-void SEQUENCER_OT_borderselect(wmOperatorType *ot)
+void SEQUENCER_OT_select_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Border Select";
-	ot->idname= "SEQUENCER_OT_borderselect";
+	ot->idname= "SEQUENCER_OT_select_border";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
diff --git a/source/blender/editors/space_sound/Makefile b/source/blender/editors/space_sound/Makefile
index 9b1e95bf3a6..4d375282223 100644
--- a/source/blender/editors/space_sound/Makefile
+++ b/source/blender/editors/space_sound/Makefile
@@ -44,6 +44,7 @@ CPPFLAGS += -I../../blenloader
 CPPFLAGS += -I../../blenkernel
 CPPFLAGS += -I../../blenlib
 CPPFLAGS += -I../../makesdna
+CPPFLAGS += -I../../makesrna
 CPPFLAGS += -I../../imbuf
 CPPFLAGS += -I../../python
 CPPFLAGS += -I$(NAN_GUARDEDALLOC)/include
diff --git a/source/blender/editors/space_sound/SConscript b/source/blender/editors/space_sound/SConscript
index 9e57223cc2a..e4fffb53e4c 100644
--- a/source/blender/editors/space_sound/SConscript
+++ b/source/blender/editors/space_sound/SConscript
@@ -3,7 +3,7 @@ Import ('env')
 
 sources = env.Glob('*.c')
 
-incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../imbuf'
+incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../makesrna ../../imbuf'
 incs += ' ../../windowmanager #/intern/guardedalloc #/extern/glew/include'
 
 env.BlenderLib ( 'bf_editors_space_sound', sources, Split(incs), [], libtype=['core'], priority=[75] )
diff --git a/source/blender/editors/space_text/SConscript b/source/blender/editors/space_text/SConscript
index c35772becbc..3d5ccc318e1 100644
--- a/source/blender/editors/space_text/SConscript
+++ b/source/blender/editors/space_text/SConscript
@@ -10,4 +10,4 @@ incs += ' #/intern/bmfont ../../python ../../makesrna ../../blenfont'
 if not env['WITH_BF_PYTHON']:
 	defs.append('DISABLE_PYTHON')
 
-env.BlenderLib ( 'bf_editors_space_text', sources, Split(incs), [], libtype=['core'], priority=[95] )
+env.BlenderLib ( 'bf_editors_space_text', sources, Split(incs), defs, libtype=['core'], priority=[95] )
diff --git a/source/blender/editors/space_text/space_text.c b/source/blender/editors/space_text/space_text.c
index 160b93d185e..89852955ca3 100644
--- a/source/blender/editors/space_text/space_text.c
+++ b/source/blender/editors/space_text/space_text.c
@@ -74,7 +74,6 @@ static SpaceLink *text_new(const bContext *C)
 	stext= MEM_callocN(sizeof(SpaceText), "inittext");
 	stext->spacetype= SPACE_TEXT;
 
-	stext->font_id= 5;
 	stext->lheight= 12;
 	stext->tabnumber= 4;
 	
@@ -164,7 +163,7 @@ static void text_operatortypes(void)
 	WM_operatortype_append(TEXT_OT_unindent);
 	WM_operatortype_append(TEXT_OT_indent);
 
-	WM_operatortype_append(TEXT_OT_clear_all_markers);
+	WM_operatortype_append(TEXT_OT_markers_clear);
 	WM_operatortype_append(TEXT_OT_next_marker);
 	WM_operatortype_append(TEXT_OT_previous_marker);
 
@@ -175,9 +174,9 @@ static void text_operatortypes(void)
 	WM_operatortype_append(TEXT_OT_move);
 	WM_operatortype_append(TEXT_OT_move_select);
 	WM_operatortype_append(TEXT_OT_delete);
-	WM_operatortype_append(TEXT_OT_toggle_overwrite);
+	WM_operatortype_append(TEXT_OT_overwrite_toggle);
 
-	WM_operatortype_append(TEXT_OT_set_cursor);
+	WM_operatortype_append(TEXT_OT_cursor_set);
 	WM_operatortype_append(TEXT_OT_scroll);
 	WM_operatortype_append(TEXT_OT_scroll_bar);
 	WM_operatortype_append(TEXT_OT_line_number);
@@ -185,7 +184,8 @@ static void text_operatortypes(void)
 	WM_operatortype_append(TEXT_OT_line_break);
 	WM_operatortype_append(TEXT_OT_insert);
 
-	WM_operatortype_append(TEXT_OT_find_and_replace);
+	WM_operatortype_append(TEXT_OT_properties);
+
 	WM_operatortype_append(TEXT_OT_find);
 	WM_operatortype_append(TEXT_OT_find_set_selected);
 	WM_operatortype_append(TEXT_OT_replace);
@@ -220,8 +220,8 @@ static void text_keymap(struct wmWindowManager *wm)
 
 	WM_keymap_add_item(keymap, "TEXT_OT_jump", JKEY, KM_PRESS, KM_ALT, 0);
 	WM_keymap_add_item(keymap, "TEXT_OT_find", FKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_add_item(keymap, "TEXT_OT_find_and_replace", FKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_add_item(keymap, "TEXT_OT_find_and_replace", FKEY, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "TEXT_OT_properties", FKEY, KM_PRESS, KM_ALT, 0);
+	WM_keymap_add_item(keymap, "TEXT_OT_properties", FKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "TEXT_OT_replace", HKEY, KM_PRESS, KM_ALT, 0);
 	WM_keymap_add_item(keymap, "TEXT_OT_replace", HKEY, KM_PRESS, KM_CTRL, 0);
 
@@ -268,12 +268,12 @@ static void text_keymap(struct wmWindowManager *wm)
 	RNA_enum_set(WM_keymap_add_item(keymap, "TEXT_OT_delete", DELKEY, KM_PRESS, KM_CTRL, 0)->ptr, "type", DEL_NEXT_WORD);
 	RNA_enum_set(WM_keymap_add_item(keymap, "TEXT_OT_delete", BACKSPACEKEY, KM_PRESS, KM_CTRL, 0)->ptr, "type", DEL_PREV_WORD);
 
-	WM_keymap_add_item(keymap, "TEXT_OT_toggle_overwrite", INSERTKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "TEXT_OT_overwrite_toggle", INSERTKEY, KM_PRESS, 0, 0);
 
 	WM_keymap_add_item(keymap, "TEXT_OT_scroll", MIDDLEMOUSE, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "TEXT_OT_scroll_bar", LEFTMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "TEXT_OT_set_cursor", LEFTMOUSE, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "TEXT_OT_set_cursor", LEFTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "select", 1);
+	WM_keymap_add_item(keymap, "TEXT_OT_cursor_set", LEFTMOUSE, KM_PRESS, 0, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "TEXT_OT_cursor_set", LEFTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "select", 1);
 	RNA_int_set(WM_keymap_add_item(keymap, "TEXT_OT_scroll", WHEELUPMOUSE, KM_PRESS, 0, 0)->ptr, "lines", -1);
 	RNA_int_set(WM_keymap_add_item(keymap, "TEXT_OT_scroll", WHEELDOWNMOUSE, KM_PRESS, 0, 0)->ptr, "lines", 1);
 
@@ -284,12 +284,12 @@ static void text_keymap(struct wmWindowManager *wm)
 	WM_keymap_add_item(keymap, "TEXT_OT_insert", KM_TEXTINPUT, KM_ANY, KM_ANY, 0); // last!
 }
 
-static int text_context(const bContext *C, bContextDataMember member, bContextDataResult *result)
+static int text_context(const bContext *C, const char *member, bContextDataResult *result)
 {
 	SpaceText *st= CTX_wm_space_text(C);
 
-	if(member == CTX_DATA_EDIT_TEXT) {
-		CTX_data_pointer_set(result, st->text);
+	if(CTX_data_equals(member, "edit_text")) {
+		CTX_data_id_pointer_set(result, &st->text->id);
 		return 1;
 	}
 
@@ -344,58 +344,25 @@ static void text_cursor(wmWindow *win, ScrArea *sa, ARegion *ar)
 static void text_header_area_init(wmWindowManager *wm, ARegion *ar)
 {
 	UI_view2d_region_reinit(&ar->v2d, V2D_COMMONVIEW_HEADER, ar->winx, ar->winy);
+	ar->v2d.flag &= ~(V2D_PIXELOFS_X|V2D_PIXELOFS_Y); // XXX temporary
 }
 
 static void text_header_area_draw(const bContext *C, ARegion *ar)
 {
-	float col[3];
-	
-	/* clear */
-	if(ED_screen_area_active(C))
-		UI_GetThemeColor3fv(TH_HEADER, col);
-	else
-		UI_GetThemeColor3fv(TH_HEADERDESEL, col);
-	
-	glClearColor(col[0], col[1], col[2], 0.0);
-	glClear(GL_COLOR_BUFFER_BIT);
-	
-	/* set view2d view matrix for scrolling (without scrollers) */
-	UI_view2d_view_ortho(C, &ar->v2d);
-	
-	text_header_buttons(C, ar);
-	
-	/* restore view matrix? */
-	UI_view2d_view_restore(C);
+	uiRegionHeaderLayout(C, ar);
 }
 
-/****************** find & replace region ******************/
+/****************** properties region ******************/
 
 /* add handlers, stuff you only do once or on area/region changes */
-static void text_find_area_init(wmWindowManager *wm, ARegion *ar)
+static void text_properties_area_init(wmWindowManager *wm, ARegion *ar)
 {
-	UI_view2d_region_reinit(&ar->v2d, V2D_COMMONVIEW_HEADER, ar->winx, ar->winy);
+	UI_view2d_region_reinit(&ar->v2d, V2D_COMMONVIEW_PANELS_UI, ar->winx, ar->winy);
 }
 
-static void text_find_area_draw(const bContext *C, ARegion *ar)
+static void text_properties_area_draw(const bContext *C, ARegion *ar)
 {
-	float col[3];
-	
-	/* clear */
-	if(ED_screen_area_active(C))
-		UI_GetThemeColor3fv(TH_HEADER, col);
-	else
-		UI_GetThemeColor3fv(TH_HEADERDESEL, col);
-	
-	glClearColor(col[0], col[1], col[2], 0.0);
-	glClear(GL_COLOR_BUFFER_BIT);
-	
-	/* set view2d view matrix for scrolling (without scrollers) */
-	UI_view2d_view_ortho(C, &ar->v2d);
-	
-	text_find_buttons(C, ar);
-	
-	/* restore view matrix? */
-	UI_view2d_view_restore(C);
+	uiRegionPanelLayout(C, ar, 1, NULL);
 }
 
 /********************* registration ********************/
@@ -426,28 +393,32 @@ void ED_spacetype_text(void)
 
 	BLI_addhead(&st->regiontypes, art);
 	
-	/* regions: header */
+	/* regions: properties */
 	art= MEM_callocN(sizeof(ARegionType), "spacetype text region");
-	art->regionid = RGN_TYPE_HEADER;
-	art->minsizey= HEADERY;
+	art->regionid = RGN_TYPE_UI;
+	art->minsizex= UI_COMPACT_PANEL_WIDTH;
 	art->keymapflag= ED_KEYMAP_UI|ED_KEYMAP_VIEW2D;
 	
-	art->init= text_header_area_init;
-	art->draw= text_header_area_draw;
+	art->init= text_properties_area_init;
+	art->draw= text_properties_area_draw;
 	
+	text_properties_register(art);
+
 	BLI_addhead(&st->regiontypes, art);
 
-	/* regions: find & replace */
+	/* regions: header */
 	art= MEM_callocN(sizeof(ARegionType), "spacetype text region");
-	art->regionid = RGN_TYPE_UI;
+	art->regionid = RGN_TYPE_HEADER;
 	art->minsizey= HEADERY;
 	art->keymapflag= ED_KEYMAP_UI|ED_KEYMAP_VIEW2D;
 	
-	art->init= text_find_area_init;
-	art->draw= text_find_area_draw;
+	art->init= text_header_area_init;
+	art->draw= text_header_area_draw;
 	
+	text_header_register(art);
+
 	BLI_addhead(&st->regiontypes, art);
-	
+
 	BKE_spacetype_register(st);
 }
 
diff --git a/source/blender/editors/space_text/text_header.c b/source/blender/editors/space_text/text_header.c
index ea0005fd716..63e3bca1ad0 100644
--- a/source/blender/editors/space_text/text_header.c
+++ b/source/blender/editors/space_text/text_header.c
@@ -93,7 +93,7 @@ static void do_text_template_scriptsmenu(bContext *C, void *arg, int event)
 	// XXX BPY_menu_do_python(PYMENU_SCRIPTTEMPLATE, event);
 }
 
-uiBlock *text_template_scriptsmenu(bContext *C, void *args_unused)
+static uiBlock *text_template_scriptsmenu(bContext *C, void *args_unused)
 {
 	ARegion *ar= CTX_wm_region(C);
 	uiBlock *block;
@@ -126,7 +126,7 @@ static void do_text_plugin_scriptsmenu(bContext *C, void *arg, int event)
 	// XXX BPY_menu_do_python(PYMENU_TEXTPLUGIN, event);
 }
 
-uiBlock *text_plugin_scriptsmenu(bContext *C, void *args_unused)
+static uiBlock *text_plugin_scriptsmenu(bContext *C, void *args_unused)
 {
 	ARegion *ar= CTX_wm_region(C);
 	uiBlock *block;
@@ -169,7 +169,7 @@ static void text_editmenu_selectmenu(bContext *C, uiMenuItem *head, void *arg_un
 
 static void text_editmenu_markermenu(bContext *C, uiMenuItem *head, void *arg_unused)
 {
-	uiMenuItemO(head, 0, "TEXT_OT_clear_all_markers");
+	uiMenuItemO(head, 0, "TEXT_OT_markers_clear");
 	uiMenuItemO(head, 0, "TEXT_OT_next_marker");
 	uiMenuItemO(head, 0, "TEXT_OT_previous_marker");
 }
@@ -195,6 +195,11 @@ static void text_editmenu_to3dmenu(bContext *C, uiMenuItem *head, void *arg_unus
 	uiMenuItemBooleanO(head, "One Object Per Line", 0, "TEXT_OT_to_3d_object", "split_lines", 1);
 }
 
+static int text_menu_edit_poll(bContext *C)
+{
+	return (CTX_data_edit_text(C) != NULL);
+}
+
 static void text_editmenu(bContext *C, uiMenuItem *head, void *arg_unused)
 {
 	uiMenuItemO(head, 0, "ED_OT_undo");
@@ -215,7 +220,7 @@ static void text_editmenu(bContext *C, uiMenuItem *head, void *arg_unused)
 	uiMenuSeparator(head);
 
 	uiMenuItemO(head, 0, "TEXT_OT_jump");
-	uiMenuItemO(head, 0, "TEXT_OT_find_and_replace");
+	uiMenuItemO(head, 0, "TEXT_OT_properties");
 
 	uiMenuSeparator(head);
 
@@ -353,89 +358,43 @@ static void text_idpoin_handle(bContext *C, ID *id, int event)
 
 /********************** header buttons ***********************/
 
-void text_header_buttons(const bContext *C, ARegion *ar)
+static void text_header_draw(const bContext *C, uiLayout *layout)
 {
 	bScreen *sc= CTX_wm_screen(C);
 	SpaceText *st= (SpaceText*)CTX_wm_space_data(C);
 	PointerRNA spaceptr;
 	Text *text= st->text;
-	ScrArea *sa= CTX_wm_area(C);
-	uiBlock *block;
-	int xco, yco= 3, xmax, oldcol;
 	
 	RNA_pointer_create(&sc->id, &RNA_SpaceTextEditor, st, &spaceptr);
 
-	block= uiBeginBlock(C, ar, "header buttons", UI_EMBOSS, UI_HELV);
-	
-	xco= ED_area_header_standardbuttons(C, block, yco);
-	
-	if((sa->flag & HEADER_NO_PULLDOWN)==0) {
-		/* pull down menus */
-		uiBlockSetEmboss(block, UI_EMBOSSP);
-		
-		xmax= GetButStringLength("Text");
-		uiDefMenuBut(block, text_filemenu, NULL, "Text", xco, yco-2, xmax-3, 24, "");
-		xco+=xmax;
-	
-		if(text) {
-			xmax= GetButStringLength("Edit");
-			uiDefMenuBut(block, text_editmenu, NULL, "Edit", xco, yco-2, xmax-3, 24, "");
-			xco+=xmax;
-			
-			xmax= GetButStringLength("Format");
-			uiDefMenuBut(block, text_formatmenu, NULL, "Format", xco, yco-2, xmax-3, 24, "");
-			xco+=xmax;
-		}
+	uiTemplateHeaderMenus(layout);
+	uiItemMenu(layout, UI_TSLOT_HEADER, "Text", 0, text_filemenu);
+	if(text) {
+		uiItemMenu(layout, UI_TSLOT_HEADER, "Edit", 0, text_editmenu);
+		uiItemMenu(layout, UI_TSLOT_HEADER, "Format", 0, text_formatmenu);
 	}
-	
-	uiBlockSetEmboss(block, UI_EMBOSS);
-
-	uiBlockBeginAlign(block);
-	uiDefIconButR(block, ICONTOG, 0, ICON_LINENUMBERS_OFF, xco, yco,XIC,YIC, &spaceptr, "line_numbers", 0, 0, 0, 0, 0, NULL);
-	uiDefIconButR(block, ICONTOG, 0, ICON_WORDWRAP_OFF, xco+=XIC, yco,XIC,YIC, &spaceptr, "word_wrap", 0, 0, 0, 0, 0, NULL);
-	uiDefIconButR(block, ICONTOG, 0, ICON_SYNTAX_OFF, xco+=XIC, yco,XIC,YIC, &spaceptr, "syntax_highlight", 0, 0, 0, 0, 0, NULL);
-	// uiDefIconButR(block, ICONTOG, 0, ICON_SCRIPTPLUGINS, xco+=XIC, yco,XIC,YIC, &spaceptr, "do_python_plugins", 0, 0, 0, 0, 0, "Enables Python text plugins");
-	uiBlockEndAlign(block);
-	
+
 	/* warning button if text is out of date */
 	if(text && text_file_modified(text)) {
-		xco+= XIC;
-
-		oldcol= uiBlockGetCol(block);
-		uiBlockSetCol(block, TH_REDALERT);
-		uiDefIconButO(block, BUT, "TEXT_OT_resolve_conflict", WM_OP_INVOKE_DEFAULT, ICON_HELP,	xco+=XIC,yco,XIC,YIC, "External text is out of sync, click for options to resolve the conflict");
-		uiBlockSetCol(block, oldcol);
+		uiTemplateHeaderButtons(layout);
+		uiTemplateSetColor(layout, TH_REDALERT);
+		uiItemO(layout, UI_TSLOT_HEADER, "", ICON_HELP, "TEXT_OT_resolve_conflict");
 	}
-	
-	/* browse text datablock */
-	xco+= 2*XIC;
-	xco= uiDefIDPoinButs(block, CTX_data_main(C), NULL, (ID*)st->text, ID_TXT, NULL, xco, yco,
-		text_idpoin_handle, UI_ID_BROWSE|UI_ID_RENAME|UI_ID_ADD_NEW|UI_ID_OPEN|UI_ID_DELETE);
-	xco+=XIC;
-	
-	/*
-	if(st->text) {
-		if(st->text->flags & TXT_ISDIRTY && (st->text->flags & TXT_ISEXT || !(st->text->flags & TXT_ISMEM)))
-			uiDefIconBut(block, BUT,0, ICON_ERROR, xco+=XIC,yco,XIC,YIC, 0, 0, 0, 0, 0, "The text has been changed");
-		if(st->text->flags & TXT_ISEXT) 
-			uiDefBut(block, BUT,B_TEXTSTORE, ICON(),	xco+=XIC,yco,XIC,YIC, 0, 0, 0, 0, 0, "Stores text in project file");
-		else 
-			uiDefBut(block, BUT,B_TEXTSTORE, ICON(),	xco+=XIC,yco,XIC,YIC, 0, 0, 0, 0, 0, "Disables storing of text in project file");
-		xco+=10;
-	}
-	*/		
-	
-	/* display settings */
-	if(st->font_id>1) st->font_id= 0;
-	uiDefButR(block, MENU, 0, NULL, xco,yco,100,YIC, &spaceptr, "font_size", 0, 0, 0, 0, 0, NULL);
-	xco+=105;
-	
-	uiDefButR(block, NUM, 0, "Tab:", xco,yco,XIC+50,YIC, &spaceptr, "tab_width", 0, 0, 0, 0, 0, NULL);
-	xco+= XIC+50;
+
+	uiTemplateHeaderButtons(layout);
+	uiItemR(layout, UI_TSLOT_HEADER, "", ICON_LINENUMBERS_OFF, &spaceptr, "line_numbers");
+	uiItemR(layout, UI_TSLOT_HEADER, "", ICON_WORDWRAP_OFF, &spaceptr, "word_wrap");
+	uiItemR(layout, UI_TSLOT_HEADER, "", ICON_SYNTAX_OFF, &spaceptr, "syntax_highlight");
+	// XXX uiItemR(layout, "", ICON_SCRIPTPLUGINS, &spaceptr, "do_python_plugins");
+
+	uiTemplateHeaderID(layout, &spaceptr, "text",
+		UI_ID_BROWSE|UI_ID_RENAME|UI_ID_ADD_NEW|UI_ID_OPEN|UI_ID_DELETE,
+		text_idpoin_handle);
 
 	/* file info */
 	if(text) {
-		char fname[HEADER_PATH_MAX], headtxt[HEADER_PATH_MAX+17];
+		char fname[HEADER_PATH_MAX];
+		static char headtxt[HEADER_PATH_MAX+17];
 		int len;
 
 		if(text->name) {
@@ -452,74 +411,97 @@ void text_header_buttons(const bContext *C, ARegion *ar)
 		else
 			sprintf(headtxt, text->id.lib? "Text: External": "Text: Internal");
 
-		UI_ThemeColor(TH_MENU_TEXT);
-		UI_RasterPos(xco+=XIC, yco+6);
-
-		UI_DrawString(G.font, headtxt, 0);
-		xco += UI_GetStringWidth(G.font, headtxt, 0);
+		uiTemplateHeaderButtons(layout);
+		uiItemLabel(layout, UI_TSLOT_HEADER, headtxt, 0);
 	}
+}
 
-	uiEndBlock(C, block);
-	uiDrawBlock(C, block);
-
-	/* always as last  */
-	UI_view2d_totRect_set(&ar->v2d, xco+XIC+80, ar->v2d.tot.ymax-ar->v2d.tot.ymin);
+void text_header_register(ARegionType *art)
+{
+	HeaderType *ht;
+
+	/* header */
+	ht= MEM_callocN(sizeof(HeaderType), "spacetype text header");
+	ht->idname= "TEXT_HT_header";
+	ht->name= "Header";
+	ht->draw= text_header_draw;
+	BLI_addhead(&art->headertypes, ht);
 }
 
-/************************* find & replace ***************************/
+/************************** properties ******************************/
 
-void text_find_buttons(const bContext *C, ARegion *ar)
+static void text_properties_panel_draw(const bContext *C, Panel *panel)
 {
 	bScreen *sc= CTX_wm_screen(C);
 	SpaceText *st= CTX_wm_space_text(C);
+	uiLayout *layout= panel->layout;
 	PointerRNA spaceptr;
-	uiBlock *block;
-	int xco= 5, yco= 3;
 	
 	RNA_pointer_create(&sc->id, &RNA_SpaceTextEditor, st, &spaceptr);
 
-	block= uiBeginBlock(C, ar, "find buttons", UI_EMBOSS, UI_HELV);
+	uiTemplateColumn(layout);
+	uiItemR(layout, UI_TSLOT_COLUMN_1, NULL, ICON_LINENUMBERS_OFF, &spaceptr, "line_numbers");
+	uiItemR(layout, UI_TSLOT_COLUMN_1, NULL, ICON_WORDWRAP_OFF, &spaceptr, "word_wrap");
+	uiItemR(layout, UI_TSLOT_COLUMN_1, NULL, ICON_SYNTAX_OFF, &spaceptr, "syntax_highlight");
+
+	uiTemplateColumn(layout);
+	uiItemR(layout, UI_TSLOT_COLUMN_1, NULL, 0, &spaceptr, "font_size");
+	uiItemR(layout, UI_TSLOT_COLUMN_1, NULL, 0, &spaceptr, "tab_width");
+}
+
+static void text_find_panel_draw(const bContext *C, Panel *panel)
+{
+	bScreen *sc= CTX_wm_screen(C);
+	SpaceText *st= CTX_wm_space_text(C);
+	uiLayout *layout= panel->layout;
+	PointerRNA spaceptr;
+	
+	RNA_pointer_create(&sc->id, &RNA_SpaceTextEditor, st, &spaceptr);
 
 	/* find */
-	uiBlockBeginAlign(block);
-	uiDefButR(block, TEX, 0, "Find: ", xco, yco,220,20, &spaceptr, "find_text", 0, 0, 0, 0, 0, NULL);
-	xco += 220;
-	uiDefIconButO(block, BUT, "TEXT_OT_find_set_selected", WM_OP_INVOKE_DEFAULT, ICON_TEXT, xco,yco,20,20, "Copy from selection");
-	xco += 20+XIC;
-	uiBlockEndAlign(block);
+	uiTemplateLeftRight(layout);
+	uiItemR(layout, UI_TSLOT_LR_LEFT, "", 0, &spaceptr, "find_text");
+	uiItemO(layout, UI_TSLOT_LR_RIGHT, "", ICON_TEXT, "TEXT_OT_find_set_selected");
+	uiTemplateColumn(layout);
+	uiItemO(layout, UI_TSLOT_COLUMN_1, NULL, 0, "TEXT_OT_find");
 
 	/* replace */
-	uiBlockBeginAlign(block);
-	uiDefButR(block, TEX, 0, "Replace: ", xco, yco,220,20, &spaceptr, "replace_text", 0, 0, 0, 0, 0, NULL);
-	xco += 220;
-	uiDefIconButO(block, BUT, "TEXT_OT_replace_set_selected", WM_OP_INVOKE_DEFAULT, ICON_TEXT, xco,yco,20,20, "Copy from selection");
-	xco += 20+XIC;
-	uiBlockEndAlign(block);
-
-	uiBlockBeginAlign(block);
-	uiDefButR(block, TOG, 0, "Wrap", xco, yco,60,20, &spaceptr, "find_wrap", 0, 0, 0, 0, 0, NULL);
-	xco += 60;
-	uiDefButR(block, TOG, 0, "All", xco, yco,60,20, &spaceptr, "find_all", 0, 0, 0, 0, 0, NULL);
-	xco += 50+XIC;
-	uiBlockEndAlign(block);
-
-	uiBlockBeginAlign(block);
-	uiDefButO(block, BUT, "TEXT_OT_find", WM_OP_INVOKE_REGION_WIN, "Find", xco,yco,50,20, "Find next.");
-	xco += 50;
-	uiDefButO(block, BUT, "TEXT_OT_replace", WM_OP_INVOKE_REGION_WIN, "Replace", xco,yco,70,20, "Replace then find next.");
-	xco += 70;
-	uiDefButO(block, BUT, "TEXT_OT_mark_all", WM_OP_INVOKE_REGION_WIN, "Mark All", xco,yco,80,20, "Mark each occurrence to edit all from one");
-	xco += 80;
-	uiBlockEndAlign(block);
-	
-	uiEndBlock(C, block);
-	uiDrawBlock(C, block);
+	uiTemplateLeftRight(layout);
+	uiItemR(layout, UI_TSLOT_LR_LEFT, "", 0, &spaceptr, "replace_text");
+	uiItemO(layout, UI_TSLOT_LR_RIGHT, "", ICON_TEXT, "TEXT_OT_replace_set_selected");
+	uiTemplateColumn(layout);
+	uiItemO(layout, UI_TSLOT_COLUMN_1, NULL, 0, "TEXT_OT_replace");
+
+	/* mark */
+	uiTemplateColumn(layout);
+	uiItemO(layout, UI_TSLOT_COLUMN_1, NULL, 0, "TEXT_OT_mark_all");
+
+	/* settings */
+	uiTemplateColumn(layout);
+	uiItemR(layout, UI_TSLOT_COLUMN_1, "Wrap", 0, &spaceptr, "find_wrap");
+	uiItemR(layout, UI_TSLOT_COLUMN_2, "All", 0, &spaceptr, "find_all");
+}
 
-	/* always as last  */
-	UI_view2d_totRect_set(&ar->v2d, xco+XIC+80, ar->v2d.tot.ymax-ar->v2d.tot.ymin);
+void text_properties_register(ARegionType *art)
+{
+	PanelType *pt;
+
+	/* panels: properties */
+	pt= MEM_callocN(sizeof(PanelType), "spacetype text panel");
+	pt->idname= "TEXT_PT_properties";
+	pt->name= "Properties";
+	pt->draw= text_properties_panel_draw;
+	BLI_addtail(&art->paneltypes, pt);
+
+	/* panels: find */
+	pt= MEM_callocN(sizeof(PanelType), "spacetype text panel");
+	pt->idname= "TEXT_PT_find";
+	pt->name= "Find";
+	pt->draw= text_find_panel_draw;
+	BLI_addtail(&art->paneltypes, pt);
 }
 
-ARegion *text_has_find_region(ScrArea *sa)
+ARegion *text_has_properties_region(ScrArea *sa)
 {
 	ARegion *ar, *arnew;
 	
@@ -535,18 +517,18 @@ ARegion *text_has_find_region(ScrArea *sa)
 	/* is error! */
 	if(ar==NULL) return NULL;
 	
-	arnew= MEM_callocN(sizeof(ARegion), "find and replace region");
+	arnew= MEM_callocN(sizeof(ARegion), "properties region");
 	
 	BLI_insertlinkafter(&sa->regionbase, ar, arnew);
 	arnew->regiontype= RGN_TYPE_UI;
-	arnew->alignment= RGN_ALIGN_BOTTOM;
+	arnew->alignment= RGN_ALIGN_LEFT;
 	
 	arnew->flag = RGN_FLAG_HIDDEN;
 	
 	return arnew;
 }
 
-static int find_and_replace_poll(bContext *C)
+static int properties_poll(bContext *C)
 {
 	SpaceText *st= CTX_wm_space_text(C);
 	Text *text= CTX_data_edit_text(C);
@@ -554,10 +536,10 @@ static int find_and_replace_poll(bContext *C)
 	return (st && text);
 }
 
-static int find_and_replace_exec(bContext *C, wmOperator *op)
+static int properties_exec(bContext *C, wmOperator *op)
 {
 	ScrArea *sa= CTX_wm_area(C);
-	ARegion *ar= text_has_find_region(sa);
+	ARegion *ar= text_has_properties_region(sa);
 	
 	if(ar) {
 		ar->flag ^= RGN_FLAG_HIDDEN;
@@ -570,15 +552,15 @@ static int find_and_replace_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void TEXT_OT_find_and_replace(wmOperatorType *ot)
+void TEXT_OT_properties(wmOperatorType *ot)
 {
 	/* identifiers */
-	ot->name= "Find and Replace";
-	ot->idname= "TEXT_OT_find_and_replace";
+	ot->name= "Properties";
+	ot->idname= "TEXT_OT_properties";
 	
 	/* api callbacks */
-	ot->exec= find_and_replace_exec;
-	ot->poll= find_and_replace_poll;
+	ot->exec= properties_exec;
+	ot->poll= properties_poll;
 }
 
 /******************** XXX popup menus *******************/
diff --git a/source/blender/editors/space_text/text_intern.h b/source/blender/editors/space_text/text_intern.h
index b7e45501047..7ec75e292ce 100644
--- a/source/blender/editors/space_text/text_intern.h
+++ b/source/blender/editors/space_text/text_intern.h
@@ -31,6 +31,7 @@
 /* internal exports only */
 
 struct ARegion;
+struct ARegionType;
 struct bContext;
 struct BMF_Font;
 struct ReportList;
@@ -42,8 +43,8 @@ struct wmOperatorType;
 struct wmWindowManager;
 
 /* text_header.c */
-void text_header_buttons(const struct bContext *C, struct ARegion *ar);
-void text_find_buttons(const struct bContext *C, struct ARegion *ar);
+void text_properties_register(struct ARegionType *art);
+void text_header_register(struct ARegionType *art);
 
 /* text_draw.c */
 void draw_text_main(struct SpaceText *st, struct ARegion *ar);
@@ -124,7 +125,7 @@ void TEXT_OT_indent(struct wmOperatorType *ot);
 void TEXT_OT_line_break(struct wmOperatorType *ot);
 void TEXT_OT_insert(struct wmOperatorType *ot);
 
-void TEXT_OT_clear_all_markers(struct wmOperatorType *ot);
+void TEXT_OT_markers_clear(struct wmOperatorType *ot);
 void TEXT_OT_next_marker(struct wmOperatorType *ot);
 void TEXT_OT_previous_marker(struct wmOperatorType *ot);
 
@@ -135,14 +136,15 @@ void TEXT_OT_jump(struct wmOperatorType *ot);
 void TEXT_OT_move(struct wmOperatorType *ot);
 void TEXT_OT_move_select(struct wmOperatorType *ot);
 void TEXT_OT_delete(struct wmOperatorType *ot);
-void TEXT_OT_toggle_overwrite(struct wmOperatorType *ot);
+void TEXT_OT_overwrite_toggle(struct wmOperatorType *ot);
 
 void TEXT_OT_scroll(struct wmOperatorType *ot);
 void TEXT_OT_scroll_bar(struct wmOperatorType *ot);
-void TEXT_OT_set_cursor(struct wmOperatorType *ot);
+void TEXT_OT_cursor_set(struct wmOperatorType *ot);
 void TEXT_OT_line_number(struct wmOperatorType *ot);
 
-void TEXT_OT_find_and_replace(struct wmOperatorType *ot);
+void TEXT_OT_properties(struct wmOperatorType *ot);
+
 void TEXT_OT_find(struct wmOperatorType *ot);
 void TEXT_OT_find_set_selected(struct wmOperatorType *ot);
 void TEXT_OT_replace(struct wmOperatorType *ot);
diff --git a/source/blender/editors/space_text/text_ops.c b/source/blender/editors/space_text/text_ops.c
index a77bea4c640..c7fe02975ef 100644
--- a/source/blender/editors/space_text/text_ops.c
+++ b/source/blender/editors/space_text/text_ops.c
@@ -78,11 +78,6 @@ static int text_new_poll(bContext *C)
 	return 1;
 }
 
-static int text_valid_poll(bContext *C)
-{
-	return CTX_data_edit_text(C) ? 1:0;
-}
-
 static int text_edit_poll(bContext *C)
 {
 	Text *text= CTX_data_edit_text(C);
@@ -1162,11 +1157,11 @@ static int clear_all_markers_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void TEXT_OT_clear_all_markers(wmOperatorType *ot)
+void TEXT_OT_markers_clear(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Clear All Markers";
-	ot->idname= "TEXT_OT_clear_all_markers";
+	ot->idname= "TEXT_OT_markers_clear";
 
 	/* api callbacks */
 	ot->exec= clear_all_markers_exec;
@@ -1578,11 +1573,11 @@ static int toggle_overwrite_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void TEXT_OT_toggle_overwrite(wmOperatorType *ot)
+void TEXT_OT_overwrite_toggle(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Toggle Overwrite";
-	ot->idname= "TEXT_OT_toggle_overwrite";
+	ot->idname= "TEXT_OT_overwrite_toggle";
 	
 	/* api callbacks */
 	ot->exec= toggle_overwrite_exec;
@@ -1742,7 +1737,7 @@ void TEXT_OT_scroll(wmOperatorType *ot)
 	ot->poll= text_space_edit_poll;
 
 	/* properties */
-	RNA_def_int(ot->srna, "lines", INT_MIN, INT_MAX, 1, "Lines", "Number of lines to scroll.", -100, 100);
+	RNA_def_int(ot->srna, "lines", 1, INT_MIN, INT_MAX, "Lines", "Number of lines to scroll.", -100, 100);
 }
 
 /******************** scroll bar operator *******************/
@@ -1786,7 +1781,7 @@ void TEXT_OT_scroll_bar(wmOperatorType *ot)
 	ot->poll= text_region_edit_poll;
 
 	/* properties */
-	RNA_def_int(ot->srna, "lines", INT_MIN, INT_MAX, 1, "Lines", "Number of lines to scroll.", -100, 100);
+	RNA_def_int(ot->srna, "lines", 1, INT_MIN, INT_MAX, "Lines", "Number of lines to scroll.", -100, 100);
 }
 
 /******************* set cursor operator **********************/
@@ -2043,11 +2038,11 @@ static int set_cursor_cancel(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void TEXT_OT_set_cursor(wmOperatorType *ot)
+void TEXT_OT_cursor_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Cursor";
-	ot->idname= "TEXT_OT_set_cursor";
+	ot->idname= "TEXT_OT_cursor_set";
 	
 	/* api callbacks */
 	ot->invoke= set_cursor_invoke;
@@ -2489,6 +2484,7 @@ void TEXT_OT_resolve_conflict(wmOperatorType *ot)
 	/* identifiers */
 	ot->name= "Resolve Conflict";
 	ot->idname= "TEXT_OT_resolve_conflict";
+	ot->description= "When external text is out of sync, resolve the conflict.";
 
 	/* api callbacks */
 	ot->exec= resolve_conflict_exec;
diff --git a/source/blender/editors/space_view3d/drawmesh.c b/source/blender/editors/space_view3d/drawmesh.c
index 5eb7caf50f1..1807de9efbb 100644
--- a/source/blender/editors/space_view3d/drawmesh.c
+++ b/source/blender/editors/space_view3d/drawmesh.c
@@ -353,9 +353,10 @@ static void draw_textured_begin(Scene *scene, View3D *v3d, RegionView3D *rv3d, O
 		solidtex= 1;
 		Gtexdraw.islit= -1;
 	}
-	else
+	else {
 		/* draw with lights in the scene otherwise */
-		Gtexdraw.islit= GPU_scene_object_lights(scene, ob, v3d->lay, rv3d->viewmat);
+		Gtexdraw.islit= GPU_scene_object_lights(scene, ob, v3d->lay, rv3d->viewmat, get_view3d_ortho(v3d, rv3d));
+	}
 	
 	obcol[0]= CLAMPIS(ob->col[0]*255, 0, 255);
 	obcol[1]= CLAMPIS(ob->col[1]*255, 0, 255);
diff --git a/source/blender/editors/space_view3d/drawobject.c b/source/blender/editors/space_view3d/drawobject.c
index ab4781a25a8..78f3ea73aaf 100644
--- a/source/blender/editors/space_view3d/drawobject.c
+++ b/source/blender/editors/space_view3d/drawobject.c
@@ -1097,14 +1097,15 @@ void lattice_foreachScreenVert(ViewContext *vc, void (*func)(void *userData, BPo
 	float *co = dl?dl->verts:NULL;
 	float pmat[4][4], vmat[4][4];
 	int i, N = lt->editlatt->pntsu*lt->editlatt->pntsv*lt->editlatt->pntsw;
-	short s[2];
+	short s[2] = {IS_CLIPPED, 0};
 
 	view3d_get_object_project_mat(vc->rv3d, vc->obedit, pmat, vmat);
 
 	for (i=0; i<N; i++, bp++, co+=3) {
 		if (bp->hide==0) {
 			view3d_project_short_clip(vc->ar, dl?co:bp->vec, s, pmat, vmat);
-			func(userData, bp, s[0], s[1]);
+			if (s[0] != IS_CLIPPED)
+				func(userData, bp, s[0], s[1]);
 		}
 	}
 }
@@ -1198,16 +1199,18 @@ static void mesh_foreachScreenVert__mapFunc(void *userData, int index, float *co
 {
 	struct { void (*func)(void *userData, EditVert *eve, int x, int y, int index); void *userData; ViewContext vc; int clipVerts; float pmat[4][4], vmat[4][4]; } *data = userData;
 	EditVert *eve = EM_get_vert_for_index(index);
-	short s[2];
 
 	if (eve->h==0) {
+		short s[2]= {IS_CLIPPED, 0};
+
 		if (data->clipVerts) {
 			view3d_project_short_clip(data->vc.ar, co, s, data->pmat, data->vmat);
 		} else {
 			view3d_project_short_noclip(data->vc.ar, co, s, data->pmat);
 		}
 
-		data->func(data->userData, eve, s[0], s[1], index);
+		if (s[0]!=IS_CLIPPED)
+			data->func(data->userData, eve, s[0], s[1], index);
 	}
 }
 
@@ -1309,7 +1312,7 @@ void nurbs_foreachScreenVert(ViewContext *vc, void (*func)(void *userData, Nurb
 {
 	Curve *cu= vc->obedit->data;
 	float pmat[4][4], vmat[4][4];
-	short s[2];
+	short s[2] = {IS_CLIPPED, 0};
 	Nurb *nu;
 	int i;
 
@@ -1345,7 +1348,8 @@ void nurbs_foreachScreenVert(ViewContext *vc, void (*func)(void *userData, Nurb
 
 				if(bp->hide==0) {
 					view3d_project_short_clip(vc->ar, bp->vec, s, pmat, vmat);
-					func(userData, nu, bp, NULL, -1, s[0], s[1]);
+					if (s[0] != IS_CLIPPED)
+						func(userData, nu, bp, NULL, -1, s[0], s[1]);
 				}
 			}
 		}
diff --git a/source/blender/editors/space_view3d/space_view3d.c b/source/blender/editors/space_view3d/space_view3d.c
index 4e2a0090244..b7682225fe3 100644
--- a/source/blender/editors/space_view3d/space_view3d.c
+++ b/source/blender/editors/space_view3d/space_view3d.c
@@ -62,6 +62,8 @@
 #include "UI_resources.h"
 #include "UI_view2d.h"
 
+#include "RNA_access.h"
+
 #include "view3d_intern.h"	// own include
 
 /* ******************** manage regions ********************* */
@@ -241,6 +243,13 @@ static void view3d_modal_keymaps(wmWindowManager *wm, ARegion *ar, int stype)
 	else
 		WM_event_remove_keymap_handler(&ar->handlers, keymap);
 
+	/* armature sketching needs to take over mouse */
+	keymap= WM_keymap_listbase(wm, "Armature_Sketch", 0, 0);
+	if(stype==NS_EDITMODE_TEXT)
+		WM_event_add_keymap_handler_priority(&ar->handlers, keymap, 10);
+	else
+		WM_event_remove_keymap_handler(&ar->handlers, keymap);
+
 	keymap= WM_keymap_listbase(wm, "Particle", 0, 0);
 	if(stype==NS_MODE_PARTICLE)
 		WM_event_add_keymap_handler(&ar->handlers, keymap);
@@ -519,7 +528,7 @@ static int object_is_libdata(Object *ob)
 	return 0;
 }
 
-static int view3d_context(const bContext *C, bContextDataMember member, bContextDataResult *result)
+static int view3d_context(const bContext *C, const char *member, bContextDataResult *result)
 {
 	View3D *v3d= CTX_wm_view3d(C);
 	Scene *scene= CTX_data_scene(C);
@@ -527,29 +536,33 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 
 	if(v3d==NULL) return 0;
 
-	if(ELEM(member, CTX_DATA_SELECTED_OBJECTS, CTX_DATA_SELECTED_BASES)) {
+	if(CTX_data_equals(member, "selected_objects") || CTX_data_equals(member, "selected_bases")) {
+		int selected_objects= CTX_data_equals(member, "selected_objects");
+
 		for(base=scene->base.first; base; base=base->next) {
 			if((base->flag & SELECT) && (base->lay & v3d->lay)) {
 				if((base->object->restrictflag & OB_RESTRICT_VIEW)==0) {
-					if(member == CTX_DATA_SELECTED_OBJECTS)
-						CTX_data_list_add(result, base->object);
+					if(selected_objects)
+						CTX_data_id_list_add(result, &base->object->id);
 					else
-						CTX_data_list_add(result, base);
+						CTX_data_list_add(result, &scene->id, &RNA_UnknownType, base);
 				}
 			}
 		}
 
 		return 1;
 	}
-	else if(ELEM(member, CTX_DATA_SELECTED_EDITABLE_OBJECTS, CTX_DATA_SELECTED_EDITABLE_BASES)) {
+	else if(CTX_data_equals(member, "selected_editable_objects") || CTX_data_equals(member, "selected_editable_bases")) {
+		int selected_editable_objects= CTX_data_equals(member, "selected_editable_objects");
+
 		for(base=scene->base.first; base; base=base->next) {
 			if((base->flag & SELECT) && (base->lay & v3d->lay)) {
 				if((base->object->restrictflag & OB_RESTRICT_VIEW)==0) {
 					if(0==object_is_libdata(base->object)) {
-						if(member == CTX_DATA_SELECTED_EDITABLE_OBJECTS)
-							CTX_data_list_add(result, base->object);
+						if(selected_editable_objects)
+							CTX_data_id_list_add(result, &base->object->id);
 						else
-							CTX_data_list_add(result, base);
+							CTX_data_list_add(result, &scene->id, &RNA_UnknownType, base);
 					}
 				}
 			}
@@ -557,38 +570,41 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 		
 		return 1;
 	}
-	else if(ELEM(member, CTX_DATA_VISIBLE_OBJECTS, CTX_DATA_VISIBLE_BASES)) {
+	else if(CTX_data_equals(member, "visible_objects") || CTX_data_equals(member, "visible_bases")) {
+		int visible_objects= CTX_data_equals(member, "visible_objects");
+
 		for(base=scene->base.first; base; base=base->next) {
 			if(base->lay & v3d->lay) {
 				if((base->object->restrictflag & OB_RESTRICT_VIEW)==0) {
-					if(member == CTX_DATA_VISIBLE_OBJECTS)
-						CTX_data_list_add(result, base->object);
+					if(visible_objects)
+						CTX_data_id_list_add(result, &base->object->id);
 					else
-						CTX_data_list_add(result, base);
+						CTX_data_list_add(result, &scene->id, &RNA_UnknownType, base);
 				}
 			}
 		}
 		
 		return 1;
 	}
-	else if(member == CTX_DATA_ACTIVE_BASE) {
+	else if(CTX_data_equals(member, "active_base")) {
 		if(scene->basact && (scene->basact->lay & v3d->lay))
 			if((scene->basact->object->restrictflag & OB_RESTRICT_VIEW)==0)
-				CTX_data_pointer_set(result, scene->basact);
+				CTX_data_pointer_set(result, &scene->id, &RNA_UnknownType, scene->basact);
 		
 		return 1;
 	}
-	else if(member == CTX_DATA_ACTIVE_OBJECT) {
+	else if(CTX_data_equals(member, "active_object")) {
 		if(scene->basact && (scene->basact->lay & v3d->lay))
 			if((scene->basact->object->restrictflag & OB_RESTRICT_VIEW)==0)
-				CTX_data_pointer_set(result, scene->basact->object);
+				CTX_data_id_pointer_set(result, &scene->basact->object->id);
 		
 		return 1;
 	}
-	else if(ELEM(member, CTX_DATA_VISIBLE_BONES, CTX_DATA_EDITABLE_BONES)) {
+	else if(CTX_data_equals(member, "visible_bones") || CTX_data_equals(member, "editable_bones")) {
 		Object *obedit= scene->obedit; // XXX get from context?
 		bArmature *arm= (obedit) ? obedit->data : NULL;
 		EditBone *ebone, *flipbone=NULL;
+		int editable_bones= CTX_data_equals(member, "editable_bones");
 		
 		if (arm && arm->edbo) {
 			/* Attention: X-Axis Mirroring is also handled here... */
@@ -605,21 +621,21 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 						flipbone = ED_armature_bone_get_mirrored(arm->edbo, ebone);
 					
 					/* if we're filtering for editable too, use the check for that instead, as it has selection check too */
-					if (member == CTX_DATA_EDITABLE_BONES) {
+					if (editable_bones) {
 						/* only selected + editable */
 						if (EBONE_EDITABLE(ebone)) {
-							CTX_data_list_add(result, ebone);
+							CTX_data_list_add(result, &arm->id, &RNA_UnknownType, ebone);
 						
 							if ((flipbone) && !(flipbone->flag & BONE_SELECTED))
-								CTX_data_list_add(result, flipbone);
+								CTX_data_list_add(result, &arm->id, &RNA_UnknownType, flipbone);
 						}
 					}
 					else {
 						/* only include bones if visible */
-						CTX_data_list_add(result, ebone);
+						CTX_data_list_add(result, &arm->id, &RNA_UnknownType, ebone);
 						
 						if ((flipbone) && EBONE_VISIBLE(arm, flipbone)==0)
-							CTX_data_list_add(result, flipbone);
+							CTX_data_list_add(result, &arm->id, &RNA_UnknownType, flipbone);
 					}
 				}
 			}	
@@ -627,10 +643,11 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 			return 1;
 		}
 	}
-	else if(ELEM(member, CTX_DATA_SELECTED_BONES, CTX_DATA_SELECTED_EDITABLE_BONES)) {
+	else if(CTX_data_equals(member, "selected_bones") || CTX_data_equals(member, "selected_editable_bones")) {
 		Object *obedit= scene->obedit; // XXX get from context?
 		bArmature *arm= (obedit) ? obedit->data : NULL;
 		EditBone *ebone, *flipbone=NULL;
+		int selected_editable_bones= CTX_data_equals(member, "selected_editable_bones");
 		
 		if (arm && arm->edbo) {
 			/* Attention: X-Axis Mirroring is also handled here... */
@@ -647,21 +664,21 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 						flipbone = ED_armature_bone_get_mirrored(arm->edbo, ebone);
 					
 					/* if we're filtering for editable too, use the check for that instead, as it has selection check too */
-					if (member == CTX_DATA_SELECTED_EDITABLE_BONES) {
+					if (selected_editable_bones) {
 						/* only selected + editable */
 						if (EBONE_EDITABLE(ebone)) {
-							CTX_data_list_add(result, ebone);
+							CTX_data_list_add(result, &arm->id, &RNA_UnknownType, ebone);
 						
 							if ((flipbone) && !(flipbone->flag & BONE_SELECTED))
-								CTX_data_list_add(result, flipbone);
+								CTX_data_list_add(result, &arm->id, &RNA_UnknownType, flipbone);
 						}
 					}
 					else {
 						/* only include bones if selected */
-						CTX_data_list_add(result, ebone);
+						CTX_data_list_add(result, &arm->id, &RNA_UnknownType, ebone);
 						
 						if ((flipbone) && !(flipbone->flag & BONE_SELECTED))
-							CTX_data_list_add(result, flipbone);
+							CTX_data_list_add(result, &arm->id, &RNA_UnknownType, flipbone);
 					}
 				}
 			}	
@@ -669,7 +686,7 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 			return 1;
 		}
 	}
-	else if(member == CTX_DATA_VISIBLE_PCHANS) {
+	else if(CTX_data_equals(member, "visible_pchans")) {
 		Object *obact= OBACT;
 		bArmature *arm= (obact) ? obact->data : NULL;
 		bPoseChannel *pchan;
@@ -678,14 +695,14 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 			for (pchan= obact->pose->chanbase.first; pchan; pchan= pchan->next) {
 				/* ensure that PoseChannel is on visible layer and is not hidden in PoseMode */
 				if ((pchan->bone) && (arm->layer & pchan->bone->layer) && !(pchan->bone->flag & BONE_HIDDEN_P)) {
-					CTX_data_list_add(result, pchan);
+					CTX_data_list_add(result, &obact->id, &RNA_PoseChannel, pchan);
 				}
 			}
 			
 			return 1;
 		}
 	}
-	else if(member == CTX_DATA_SELECTED_PCHANS) {
+	else if(CTX_data_equals(member, "selected_pchans")) {
 		Object *obact= OBACT;
 		bArmature *arm= (obact) ? obact->data : NULL;
 		bPoseChannel *pchan;
@@ -695,14 +712,14 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 				/* ensure that PoseChannel is on visible layer and is not hidden in PoseMode */
 				if ((pchan->bone) && (arm->layer & pchan->bone->layer) && !(pchan->bone->flag & BONE_HIDDEN_P)) {
 					if (pchan->bone->flag & (BONE_SELECTED|BONE_ACTIVE)) 
-						CTX_data_list_add(result, pchan);
+						CTX_data_list_add(result, &obact->id, &RNA_PoseChannel, pchan);
 				}
 			}
 			
 			return 1;
 		}
 	}
-	else if(member == CTX_DATA_ACTIVE_BONE) {
+	else if(CTX_data_equals(member, "active_bone")) {
 		Object *obedit= scene->obedit; // XXX get from context?
 		bArmature *arm= (obedit) ? obedit->data : NULL;
 		EditBone *ebone;
@@ -711,7 +728,7 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 			for (ebone= arm->edbo->first; ebone; ebone= ebone->next) {
 				if (EBONE_VISIBLE(arm, ebone)) {
 					if (ebone->flag & BONE_ACTIVE) {
-						CTX_data_pointer_set(result, ebone);
+						CTX_data_pointer_set(result, &arm->id, &RNA_UnknownType, ebone);
 						
 						return 1;
 					}
@@ -720,13 +737,13 @@ static int view3d_context(const bContext *C, bContextDataMember member, bContext
 		}
 		
 	}
-	else if(member == CTX_DATA_ACTIVE_PCHAN) {
+	else if(CTX_data_equals(member, "active_pchan")) {
 		Object *obact= OBACT;
 		bPoseChannel *pchan;
 		
 		pchan= get_active_posechannel(obact);
 		if (pchan) {
-			CTX_data_pointer_set(result, pchan);
+			CTX_data_pointer_set(result, &obact->id, &RNA_PoseChannel, pchan);
 			return 1;
 		}
 	}
diff --git a/source/blender/editors/space_view3d/view3d_buttons.c b/source/blender/editors/space_view3d/view3d_buttons.c
index 6f5860ea4b5..bbcb8b3601d 100644
--- a/source/blender/editors/space_view3d/view3d_buttons.c
+++ b/source/blender/editors/space_view3d/view3d_buttons.c
@@ -56,6 +56,7 @@
 #include "BLI_rand.h"
 
 #include "BKE_action.h"
+#include "BKE_brush.h"
 #include "BKE_context.h"
 #include "BKE_curve.h"
 #include "BKE_customdata.h"
@@ -160,7 +161,7 @@ static void v3d_editvertex_buts(const bContext *C, uiBlock *block, View3D *v3d,
 
 	if(ob->type==OB_MESH) {
 		Mesh *me= ob->data;
-		EditMesh *em = me->edit_mesh;
+		EditMesh *em = EM_GetEditMesh(me);
 		EditVert *eve, *evedef=NULL;
 		EditEdge *eed;
 		
@@ -208,6 +209,8 @@ static void v3d_editvertex_buts(const bContext *C, uiBlock *block, View3D *v3d,
 				tfp->defweightp= &dvert->dw[0].weight;
 			}
 		}
+
+		EM_EndEditMesh(me, em);
 	}
 	else if(ob->type==OB_CURVE || ob->type==OB_SURF) {
 		Curve *cu= ob->data;
@@ -362,7 +365,7 @@ static void v3d_editvertex_buts(const bContext *C, uiBlock *block, View3D *v3d,
 		
 		if(ob->type==OB_MESH) {
 			Mesh *me= ob->data;
-			EditMesh *em = me->edit_mesh;
+			EditMesh *em = EM_GetEditMesh(me);
 			EditVert *eve;
 			EditEdge *eed;
 			
@@ -387,6 +390,8 @@ static void v3d_editvertex_buts(const bContext *C, uiBlock *block, View3D *v3d,
 			}
 			
 			recalc_editnormals(em);
+
+			EM_EndEditMesh(me, em);
 		}
 		else if(ob->type==OB_CURVE || ob->type==OB_SURF) {
 			Curve *cu= ob->data;
@@ -640,7 +645,6 @@ static void do_view3d_region_buttons(bContext *C, void *arg, int event)
 	BoundBox *bb;
 	Object *ob= OBACT;
 	TransformProperties *tfp= v3d->properties_storage;
-	VPaint *wpaint= scene->toolsettings->wpaint;
 	
 	switch(event) {
 	
@@ -846,6 +850,7 @@ static void do_view3d_region_buttons(bContext *C, void *arg, int event)
 		BIF_clearTransformOrientation(C);
 		break;
 		
+#if 0 // XXX
 	case B_WEIGHT0_0:
 		wpaint->weight = 0.0f;
 		break;
@@ -878,6 +883,7 @@ static void do_view3d_region_buttons(bContext *C, void *arg, int event)
 	case B_OPA1_0:
 		wpaint->a = 1.0f;
 		break;
+#endif
 	case B_CLR_WPAINT:
 //		if(!multires_level1_test()) {
 		{
@@ -1003,7 +1009,8 @@ static void weight_paint_buttons(Scene *scene, uiBlock *block)
 	ob= OBACT;
 	
 	if(ob==NULL || ob->type!=OB_MESH) return;
-	
+
+	/* XXX	
 	uiBlockBeginAlign(block);
 	uiDefButF(block, NUMSLI, B_REDR, "Weight:",10,170,225,19, &wpaint->weight, 0, 1, 10, 0, "Sets the current vertex group's bone deformation strength");
 	
@@ -1032,6 +1039,7 @@ static void weight_paint_buttons(Scene *scene, uiBlock *block)
 	uiDefButS(block, ROW, B_NOP, "Lighter",	250, 80,60,17, &wpaint->mode, 1.0, 5.0, 0, 0, "Paint over darker areas only");
 	uiDefButS(block, ROW, B_NOP, "Darker",		250, 62,60,17, &wpaint->mode, 1.0, 6.0, 0, 0, "Paint over lighter areas only");
 	uiBlockEndAlign(block);
+	*/
 	
 	/* draw options same as below */
 	uiBlockBeginAlign(block);
@@ -1062,47 +1070,112 @@ static void weight_paint_buttons(Scene *scene, uiBlock *block)
 	}
 }
 
-static void sculptmode_draw_interface_tools(Scene *scene, uiBlock *block, unsigned short cx, unsigned short cy)
+static void brush_idpoin_handle(bContext *C, ID *id, int event)
 {
-	Sculpt *s = scene->toolsettings->sculpt;
-	Brush *br = s->brush;
-	
+	Brush **br = current_brush_source(CTX_data_scene(C));
+
+	if(!br)
+		return;
+
+	switch(event) {
+	case UI_ID_BROWSE:
+		(*br) = (Brush*)id;
+		break;
+	case UI_ID_DELETE:
+		brush_delete(br);
+		break;
+	case UI_ID_RENAME:
+		/* XXX ? */
+		break;
+	case UI_ID_ADD_NEW:
+		if(id) {
+			(*br) = copy_brush((Brush*)id);
+			id->us--;
+		}
+		else
+			(*br) = add_brush("Brush");
+		break;
+	case UI_ID_OPEN:
+		/* XXX not implemented */
+		break;
+	}
+}
+
+static void view3d_panel_brush(const bContext *C, ARegion *ar, short cntrl)
+{
+	uiBlock *block;
+	Brush **brp = current_brush_source(CTX_data_scene(C)), *br;
+	short w = 268, h = 400, cx = 10, cy = h;
+	rctf rect;
+
+	if(!brp)
+		return;
+	br = *brp;
+
+	block= uiBeginBlock(C, ar, "view3d_panel_brush", UI_EMBOSS, UI_HELV);
+	if(uiNewPanel(C, ar, block, "Brush", "View3d", 340, 10, 318, h)==0) return;
+	uiBlockSetHandleFunc(block, do_view3d_region_buttons, NULL);
+
 	uiBlockBeginAlign(block);
-	
-	uiDefBut(block,LABEL,B_NOP,"Brush",cx,cy,90,19,NULL,0,0,0,0,"");
-	cy-= 20;
-	
-	uiBlockBeginAlign(block);	
-	uiDefButC(block,ROW,B_REDR,"Draw",cx,cy,67,19,&br->sculpt_tool,14.0,SCULPT_TOOL_DRAW,0,0,"Draw lines on the model");
-	uiDefButC(block,ROW,B_REDR,"Smooth",cx+67,cy,67,19,&br->sculpt_tool,14.0,SCULPT_TOOL_SMOOTH,0,0,"Interactively smooth areas of the model");
-	uiDefButC(block,ROW,B_REDR,"Pinch",cx+134,cy,67,19,&br->sculpt_tool,14.0,SCULPT_TOOL_PINCH,0,0,"Interactively pinch areas of the model");
-	uiDefButC(block,ROW,B_REDR,"Inflate",cx+201,cy,67,19,&br->sculpt_tool,14,SCULPT_TOOL_INFLATE,0,0,"Push vertices along the direction of their normals");
+	uiDefIDPoinButs(block, CTX_data_main(C), NULL, &br->id, ID_BR, NULL, cx, cy,
+			brush_idpoin_handle, UI_ID_BROWSE|UI_ID_RENAME|UI_ID_ADD_NEW|UI_ID_OPEN|UI_ID_DELETE|UI_ID_ALONE);
+	cy-= 25;
+	uiBlockEndAlign(block);
+
+	if(!br)
+		return;
+
+	if(G.f & G_SCULPTMODE) {
+		uiBlockBeginAlign(block);	
+		uiDefButC(block,ROW,B_REDR,"Draw",cx,cy,67,19,&br->sculpt_tool,14.0,SCULPT_TOOL_DRAW,0,0,"Draw lines on the model");
+		uiDefButC(block,ROW,B_REDR,"Smooth",cx+67,cy,67,19,&br->sculpt_tool,14.0,SCULPT_TOOL_SMOOTH,0,0,"Interactively smooth areas of the model");
+		uiDefButC(block,ROW,B_REDR,"Pinch",cx+134,cy,67,19,&br->sculpt_tool,14.0,SCULPT_TOOL_PINCH,0,0,"Interactively pinch areas of the model");
+		uiDefButC(block,ROW,B_REDR,"Inflate",cx+201,cy,67,19,&br->sculpt_tool,14,SCULPT_TOOL_INFLATE,0,0,"Push vertices along the direction of their normals");
+		cy-= 20;
+		uiDefButC(block,ROW,B_REDR,"Grab", cx,cy,89,19,&br->sculpt_tool,14,SCULPT_TOOL_GRAB,0,0,"Grabs a group of vertices and moves them with the mouse");
+		uiDefButC(block,ROW,B_REDR,"Layer", cx+89,cy,89,19,&br->sculpt_tool,14, SCULPT_TOOL_LAYER,0,0,"Adds a layer of depth");
+		uiDefButC(block,ROW,B_REDR,"Flatten", cx+178,cy,90,19,&br->sculpt_tool,14, SCULPT_TOOL_FLATTEN,0,0,"Interactively flatten areas of the model");
+		cy-= 25;
+		uiBlockEndAlign(block);
+	}
+
+	uiBlockBeginAlign(block);
+	uiDefButI(block,NUMSLI,B_NOP,"Size: ",cx,cy,w,19,&br->size,1.0,200.0,0,0,"Set brush radius in pixels");
 	cy-= 20;
-	uiDefButC(block,ROW,B_REDR,"Grab", cx,cy,89,19,&br->sculpt_tool,14,SCULPT_TOOL_GRAB,0,0,"Grabs a group of vertices and moves them with the mouse");
-	uiDefButC(block,ROW,B_REDR,"Layer", cx+89,cy,89,19,&br->sculpt_tool,14, SCULPT_TOOL_LAYER,0,0,"Adds a layer of depth");
-	uiDefButC(block,ROW,B_REDR,"Flatten", cx+178,cy,90,19,&br->sculpt_tool,14, SCULPT_TOOL_FLATTEN,0,0,"Interactively flatten areas of the model");
+	uiDefButF(block,NUMSLI,B_NOP,"Strength: ",cx,cy,w,19,&br->alpha,0,1.0,0,0,"Set brush strength");
 	cy-= 25;
 	uiBlockEndAlign(block);
-	
+
 	uiBlockBeginAlign(block);
-	uiDefBut(block,LABEL,B_NOP,"Shape",cx,cy,90,19,NULL,0,0,0,0,"");
+
+	uiDefButBitS(block, TOG, BRUSH_AIRBRUSH, B_NOP, "Airbrush", cx,cy,w/3,19, &br->flag,0,0,0,0, "Brush makes changes without waiting for the mouse to move");
+	uiDefButBitS(block, TOG, BRUSH_ANCHORED, B_NOP, "Rake", cx+w/3,cy,w/3,19, &br->flag,0,0,0,0, "");
+	uiDefButBitS(block, TOG, BRUSH_RAKE, B_NOP, "Anchored", cx+w*2.0/3,cy,w/3,19, &br->flag,0,0,0,0, "");
+	cy-= 20;
+	uiDefButBitS(block, TOG, BRUSH_SPACE, B_NOP, "Space", cx,cy,w/3,19, &br->flag,0,0,0,0, "");
+	uiDefButF(block,NUMSLI,B_NOP,"Spacing: ",cx+w/3,cy,w*2.0/3,19,&br->spacing,1.0,500,0,0,"");
 	cy-= 20;
+	uiBlockEndAlign(block);
 
+	rect.xmin= cx; rect.xmax= cx + w;
+	rect.ymin= cy - 200; rect.ymax= cy;
 	uiBlockBeginAlign(block);
+	curvemap_buttons(block, br->curve, (char)0, B_NOP, 0, &rect);
+	uiBlockEndAlign(block);
+	
+	uiEndBlock(C, block);
+}
+
+static void sculptmode_draw_interface_tools(Scene *scene, uiBlock *block, unsigned short cx, unsigned short cy)
+{
+	Sculpt *s = scene->toolsettings->sculpt;
+	
 	//XXX if(sd->brush_type != SMOOTH_BRUSH && sd->brush_type != GRAB_BRUSH && sd->brush_type != FLATTEN_BRUSH) {
 	{
 		/*uiDefButBitS(block,ROW,B_NOP,"Add",cx,cy,89,19,&br->dir,15.0,1.0,0, 0,"Add depth to model [Shift]");
 		uiDefButBitS(block,ROW,B_NOP,"Sub",cx+89,cy,89,19,&br->dir,15.0,2.0,0, 0,"Subtract depth from model [Shift]");
 		*/}
 	//XXX if(sd->brush_type!=GRAB_BRUSH)
-		uiDefButBitS(block, TOG, BRUSH_AIRBRUSH, B_NOP, "Airbrush", cx+178,cy,89,19, &br->flag,0,0,0,0, "Brush makes changes without waiting for the mouse to move");
-	cy-= 20;
-	uiDefButI(block,NUMSLI,B_NOP,"Size: ",cx,cy,268,19,&br->size,1.0,200.0,0,0,"Set brush radius in pixels");
-	cy-= 20;
-	//XXX if(sd->brush_type!=GRAB_BRUSH)
-		uiDefButF(block,NUMSLI,B_NOP,"Strength: ",cx,cy,268,19,&br->alpha,0,1.0,0,0,"Set brush strength");
-	cy-= 25;
-	uiBlockEndAlign(block);
 	
 	uiBlockBeginAlign(block);
 	uiDefBut( block,LABEL,B_NOP,"Symmetry",cx,cy,90,19,NULL,0,0,0,0,"");
@@ -1199,16 +1272,12 @@ static void view3d_panel_object(const bContext *C, ARegion *ar, short cntrl)	//
 	}
 	else if(G.f & (G_VERTEXPAINT|G_TEXTUREPAINT)) {
 		static float hsv[3], old[3];	// used as temp mem for picker
-		float *rgb= NULL;
-		ToolSettings *settings= scene->toolsettings;
+		Brush **br = current_brush_source(scene);
 
-		if(G.f & G_VERTEXPAINT) rgb= &settings->vpaint->r;
-		else if(settings->imapaint.brush) rgb= settings->imapaint.brush->rgb;
-		
 		uiNewPanelTitle(block, "Paint Properties");
-		if (rgb)
+		if(br && *br)
 			/* 'f' is for floating panel */
-			uiBlockPickerButtons(block, rgb, hsv, old, hexcol, 'f', B_REDR);
+			uiBlockPickerButtons(block, (*br)->rgb, hsv, old, hexcol, 'f', B_REDR);
 	}
 	else if(G.f & G_SCULPTMODE) {
 		uiNewPanelTitle(block, "Sculpt Properties");
@@ -1492,6 +1561,142 @@ static void view3d_panel_gpencil(const bContext *C, ARegion *ar, short cntrl)	//
 	uiEndBlock(C, block);
 }
 
+static void delete_sketch_armature(bContext *C, void *arg1, void *arg2)
+{
+	BIF_deleteSketch(C);
+}
+
+static void convert_sketch_armature(bContext *C, void *arg1, void *arg2)
+{
+	BIF_convertSketch(C);
+}
+
+static void assign_template_sketch_armature(bContext *C, void *arg1, void *arg2)
+{
+	int index = *(int*)arg1;
+	BIF_setTemplate(C, index);
+}
+static void view3d_panel_bonesketch_spaces(const bContext *C, ARegion *ar, short cntrl)
+{
+	Object *obedit = CTX_data_edit_object(C);
+	Scene *scene = CTX_data_scene(C);
+	static int template_index;
+	static char joint_label[128];
+	uiBlock *block;
+	uiBut *but;
+	char *bone_name;
+	int yco = 130, height = 140;
+	int nb_joints;
+
+	/* replace with check call to sketching lib */
+	if (obedit && obedit->type == OB_ARMATURE)
+	{
+		static char subdiv_tooltip[4][64] = {
+			"Subdivide arcs based on a fixed number of bones",
+			"Subdivide arcs in bones of equal length",
+			"Subdivide arcs based on correlation",
+			"Retarget template to stroke"
+			};
+
+		
+		block= uiBeginBlock(C, ar, "view3d_panel_bonesketch_spaces", UI_EMBOSS, UI_HELV);
+		if(uiNewPanel(C, ar, block, "Bone Sketching", "View3d", 340, 10, 318, height)==0) return;
+		uiBlockSetHandleFunc(block, do_view3d_region_buttons, NULL);
+	
+		uiNewPanelHeight(block, height);
+	
+		uiBlockBeginAlign(block);
+		
+		/* use real flag instead of 1 */
+		uiDefButBitC(block, TOG, BONE_SKETCHING, B_REDR, "Use Bone Sketching", 10, yco, 160, 20, &scene->toolsettings->bone_sketching, 0, 0, 0, 0, "Use sketching to create and edit bones");
+		uiDefButBitC(block, TOG, BONE_SKETCHING_ADJUST, B_REDR, "A", 170, yco, 20, 20, &scene->toolsettings->bone_sketching, 0, 0, 0, 0, "Adjust strokes by drawing near them");
+		uiDefButBitC(block, TOG, BONE_SKETCHING_QUICK, B_REDR, "Q", 190, yco, 20, 20, &scene->toolsettings->bone_sketching, 0, 0, 0, 0, "Automatically convert and delete on stroke end");
+		yco -= 20;
+		
+		but = uiDefBut(block, BUT, B_REDR, "Convert", 10,yco,100,20, 0, 0, 0, 0, 0, "Convert sketch to armature");
+		uiButSetFunc(but, convert_sketch_armature, NULL, NULL);
+
+		but = uiDefBut(block, BUT, B_REDR, "Delete", 110,yco,100,20, 0, 0, 0, 0, 0, "Delete sketch");
+		uiButSetFunc(but, delete_sketch_armature, NULL, NULL);
+		yco -= 20;
+		
+		uiBlockEndAlign(block);
+
+		uiBlockBeginAlign(block);
+		
+		uiDefButC(block, MENU, B_REDR, "Subdivision Method%t|Length%x1|Adaptative%x2|Fixed%x0|Template%x3", 10,yco,60,19, &scene->toolsettings->bone_sketching_convert, 0, 0, 0, 0, subdiv_tooltip[(unsigned char)scene->toolsettings->bone_sketching_convert]);
+
+		switch(scene->toolsettings->bone_sketching_convert)
+		{
+		case SK_CONVERT_CUT_LENGTH:
+			uiDefButF(block, NUM, B_REDR, 					"Lim:",		70, yco, 140, 19, &scene->toolsettings->skgen_length_limit,0.1,50.0, 10, 0,		"Maximum length of the subdivided bones");
+			yco -= 20;
+			break;
+		case SK_CONVERT_CUT_ADAPTATIVE:
+			uiDefButF(block, NUM, B_REDR, 					"Thres:",			70, yco, 140, 19, &scene->toolsettings->skgen_correlation_limit,0.0, 1.0, 0.01, 0,	"Correlation threshold for subdivision");
+			yco -= 20;
+			break;
+		default:
+		case SK_CONVERT_CUT_FIXED:
+			uiDefButC(block, NUM, B_REDR, 					"Num:",		70, yco, 140, 19, &scene->toolsettings->skgen_subdivision_number,1, 100, 1, 5,	"Number of subdivided bones");
+			yco -= 20;
+			break;
+		case SK_CONVERT_RETARGET:
+			uiDefButC(block, ROW, B_NOP, "No",			70,  yco, 40,19, &scene->toolsettings->skgen_retarget_roll, 0, 0, 0, 0,									"No special roll treatment");
+			uiDefButC(block, ROW, B_NOP, "View",		110,  yco, 50,19, &scene->toolsettings->skgen_retarget_roll, 0, SK_RETARGET_ROLL_VIEW, 0, 0,				"Roll bones perpendicular to view");
+			uiDefButC(block, ROW, B_NOP, "Joint",		160, yco, 50,19, &scene->toolsettings->skgen_retarget_roll, 0, SK_RETARGET_ROLL_JOINT, 0, 0,				"Roll bones relative to joint bend");
+			yco -= 30;
+
+			uiBlockEndAlign(block);
+
+			uiBlockBeginAlign(block);
+			/* button here to select what to do (copy or not), template, ...*/
+
+			BIF_makeListTemplates(C);
+			template_index = BIF_currentTemplate(C);
+			
+			but = uiDefButI(block, MENU, B_REDR, BIF_listTemplates(C), 10,yco,200,19, &template_index, 0, 0, 0, 0, "Template");
+			uiButSetFunc(but, assign_template_sketch_armature, &template_index, NULL);
+			
+			yco -= 20;
+			
+			uiDefButF(block, NUM, B_NOP, 							"A:",			10, yco, 66,19, &scene->toolsettings->skgen_retarget_angle_weight, 0, 10, 1, 0,		"Angle Weight");
+			uiDefButF(block, NUM, B_NOP, 							"L:",			76, yco, 67,19, &scene->toolsettings->skgen_retarget_length_weight, 0, 10, 1, 0,		"Length Weight");
+			uiDefButF(block, NUM, B_NOP, 							"D:",		143,yco, 67,19, &scene->toolsettings->skgen_retarget_distance_weight, 0, 10, 1, 0,		"Distance Weight");
+			yco -= 20;
+			
+			uiDefBut(block, TEX,B_REDR,"S:",							10,  yco, 90, 20, scene->toolsettings->skgen_side_string, 0.0, 8.0, 0, 0, "Text to replace &S with");
+			uiDefBut(block, TEX,B_REDR,"N:",							100, yco, 90, 20, scene->toolsettings->skgen_num_string, 0.0, 8.0, 0, 0, "Text to replace &N with");
+			uiDefIconButBitC(block, TOG, SK_RETARGET_AUTONAME, B_NOP, ICON_AUTO,190,yco,20,20, &scene->toolsettings->skgen_retarget_options, 0, 0, 0, 0, "Use Auto Naming");	
+			yco -= 20;
+	
+			/* auto renaming magic */
+			uiBlockEndAlign(block);
+			
+			nb_joints = BIF_nbJointsTemplate(C);
+	
+			if (nb_joints == -1)
+			{
+				//XXX
+				//nb_joints = G.totvertsel;
+			}
+			
+			bone_name = BIF_nameBoneTemplate(C);
+			
+			BLI_snprintf(joint_label, 32, "%i joints: %s", nb_joints, bone_name);
+			
+			uiDefBut(block, LABEL, 1, joint_label,					10, yco, 200, 20, NULL, 0.0, 0.0, 0, 0, "");
+			yco -= 20;
+			break;
+		}
+
+		uiBlockEndAlign(block);
+		
+		uiDefButBitS(block, TOG, SCE_SNAP_PEEL_OBJECT, B_NOP, "Peel Objects", 10, yco, 200, 20, &scene->snap_flag, 0, 0, 0, 0, "Peel whole objects as one");
+
+		if(yco < 0) uiNewPanelHeight(block, height-yco);
+	}
+}
 
 void view3d_buttons_area_defbuts(const bContext *C, ARegion *ar)
 {
@@ -1499,11 +1704,15 @@ void view3d_buttons_area_defbuts(const bContext *C, ARegion *ar)
 	view3d_panel_object(C, ar, 0);
 	view3d_panel_properties(C, ar, 0);
 	view3d_panel_background(C, ar, 0);
+	if(G.f & (G_SCULPTMODE|G_TEXTUREPAINT|G_VERTEXPAINT|G_WEIGHTPAINT))
+		view3d_panel_brush(C, ar, 0);
 	// XXX view3d_panel_preview(C, ar, 0);
 	view3d_panel_transform_spaces(C, ar, 0);
 	if(0)
 		view3d_panel_gpencil(C, ar, 0);
 	
+	view3d_panel_bonesketch_spaces(C, ar, 0);
+	
 	uiDrawPanels(C, 1);		/* 1 = align */
 	uiMatchPanelsView2d(ar); /* sets v2d->totrct */
 	
diff --git a/source/blender/editors/space_view3d/view3d_draw.c b/source/blender/editors/space_view3d/view3d_draw.c
index 80728a77244..00843a58ba7 100644
--- a/source/blender/editors/space_view3d/view3d_draw.c
+++ b/source/blender/editors/space_view3d/view3d_draw.c
@@ -2053,6 +2053,8 @@ void view3d_main_area_draw(const bContext *C, ARegion *ar)
 //	if (v3d->flag2 & V3D_DISPGP)
 //		draw_gpencil_3dview(ar, 1);
 	
+	BDR_drawSketch(C);
+	
 	ED_region_pixelspace(ar);
 	
 	/* Draw Sculpt Mode brush XXX (removed) */
diff --git a/source/blender/editors/space_view3d/view3d_edit.c b/source/blender/editors/space_view3d/view3d_edit.c
index 78309a40f94..b4b35be3ef3 100644
--- a/source/blender/editors/space_view3d/view3d_edit.c
+++ b/source/blender/editors/space_view3d/view3d_edit.c
@@ -549,6 +549,7 @@ void VIEW3D_OT_viewrotate(wmOperatorType *ot)
 
 	/* identifiers */
 	ot->name= "Rotate view";
+	ot->description = "Rotate the view.";
 	ot->idname= "VIEW3D_OT_viewrotate";
 
 	/* api callbacks */
@@ -630,7 +631,8 @@ void VIEW3D_OT_viewmove(wmOperatorType *ot)
 {
 
 	/* identifiers */
-	ot->name= "Rotate view";
+	ot->name= "Move view";
+	ot->description = "Move the view.";
 	ot->idname= "VIEW3D_OT_viewmove";
 
 	/* api callbacks */
@@ -824,11 +826,12 @@ static int viewzoom_invoke(bContext *C, wmOperator *op, wmEvent *event)
 }
 
 
-void VIEW3D_OT_viewzoom(wmOperatorType *ot)
+void VIEW3D_OT_zoom(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Zoom view";
-	ot->idname= "VIEW3D_OT_viewzoom";
+	ot->description = "Zoom in/out in the view.";
+	ot->idname= "VIEW3D_OT_zoom";
 
 	/* api callbacks */
 	ot->invoke= viewzoom_invoke;
@@ -910,6 +913,7 @@ void VIEW3D_OT_viewhome(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "View home";
+	ot->description = "View all objects in scene.";
 	ot->idname= "VIEW3D_OT_viewhome";
 
 	/* api callbacks */
@@ -1048,6 +1052,7 @@ void VIEW3D_OT_viewcenter(wmOperatorType *ot)
 
 	/* identifiers */
 	ot->name= "View center";
+	ot->description = "Move the view to the selection center.";
 	ot->idname= "VIEW3D_OT_viewcenter";
 
 	/* api callbacks */
@@ -1118,6 +1123,7 @@ void VIEW3D_OT_render_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Render Border";
+	ot->description = "Set the boundries of the border render and enables border render .";
 	ot->idname= "VIEW3D_OT_render_border";
 
 	/* api callbacks */
@@ -1286,12 +1292,13 @@ static int view3d_border_zoom_invoke(bContext *C, wmOperator *op, wmEvent *event
 		return OPERATOR_PASS_THROUGH;
 }
 
-void VIEW3D_OT_border_zoom(wmOperatorType *ot)
+void VIEW3D_OT_zoom_border(wmOperatorType *ot)
 {
 	
 	/* identifiers */
 	ot->name= "Border Zoom";
-	ot->idname= "VIEW3D_OT_border_zoom";
+	ot->description = "Zoom in the view to the nearest object contained in the border.";
+	ot->idname= "VIEW3D_OT_zoom_border";
 
 	/* api callbacks */
 	ot->invoke= view3d_border_zoom_invoke;
@@ -1458,6 +1465,7 @@ void VIEW3D_OT_viewnumpad(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "View numpad";
+	ot->description = "Set the view.";
 	ot->idname= "VIEW3D_OT_viewnumpad";
 
 	/* api callbacks */
@@ -1526,6 +1534,7 @@ void VIEW3D_OT_view_orbit(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "View Orbit";
+	ot->description = "Orbit the view.";
 	ot->idname= "VIEW3D_OT_view_orbit";
 
 	/* api callbacks */
@@ -1575,6 +1584,7 @@ void VIEW3D_OT_view_pan(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "View Pan";
+	ot->description = "Pan the view.";
 	ot->idname= "VIEW3D_OT_view_pan";
 
 	/* api callbacks */
@@ -1606,6 +1616,7 @@ void VIEW3D_OT_view_persportho(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "View persp/ortho";
+	ot->description = "Switch the current view from perspective/orthographic.";
 	ot->idname= "VIEW3D_OT_view_persportho";
 
 	/* api callbacks */
@@ -1704,6 +1715,7 @@ void VIEW3D_OT_clipping(wmOperatorType *ot)
 
 	/* identifiers */
 	ot->name= "Clipping Border";
+	ot->description = "Set the view clipping border.";
 	ot->idname= "VIEW3D_OT_clipping";
 
 	/* api callbacks */
@@ -1757,6 +1769,7 @@ void VIEW3D_OT_drawtype(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Change draw type";
+	ot->description = "Change the draw type of the view.";
 	ot->idname= "VIEW3D_OT_drawtype";
 
 	/* api callbacks */
@@ -1833,6 +1846,7 @@ void VIEW3D_OT_cursor3d(wmOperatorType *ot)
 	
 	/* identifiers */
 	ot->name= "Set 3D Cursor";
+	ot->description = "Set the location of the 3D cursor.";
 	ot->idname= "VIEW3D_OT_cursor3d";
 	
 	/* api callbacks */
diff --git a/source/blender/editors/space_view3d/view3d_header.c b/source/blender/editors/space_view3d/view3d_header.c
index a7dd419f672..28db2f45094 100644
--- a/source/blender/editors/space_view3d/view3d_header.c
+++ b/source/blender/editors/space_view3d/view3d_header.c
@@ -133,6 +133,7 @@ static int retopo_mesh_paint_check() {return 0;}
 #define VIEW3D_HANDLER_MULTIRES         5
 #define VIEW3D_HANDLER_TRANSFORM	6
 #define VIEW3D_HANDLER_GREASEPENCIL 7
+#define VIEW3D_HANDLER_BONESKETCH	8
 
 /* end XXX ************* */
 
@@ -633,8 +634,8 @@ static void view3d_view_viewnavmenu(bContext *C, uiMenuItem *head, void *arg_unu
 	
 	uiMenuSeparator(head);
 	
-	uiMenuItemFloatO(head, "Zoom in", 0, "VIEW3D_OT_viewzoom", "delta", 1.0f);
-	uiMenuItemFloatO(head, "Zoom out", 0, "VIEW3D_OT_viewzoom", "delta", -1.0f);
+	uiMenuItemFloatO(head, "Zoom in", 0, "VIEW3D_OT_zoom", "delta", 1.0f);
+	uiMenuItemFloatO(head, "Zoom out", 0, "VIEW3D_OT_zoom", "delta", -1.0f);
 	
 }
 static void view3d_view_alignviewmenu(bContext *C, uiMenuItem *head, void *arg_unused)
@@ -684,7 +685,7 @@ static void view3d_viewmenu(bContext *C, uiMenuItem *head, void *arg_unused)
 	uiMenuContext(head, WM_OP_INVOKE_REGION_WIN);	
 
 	uiMenuItemO(head, 0, "VIEW3D_OT_clipping");
-	uiMenuItemO(head, 0, "VIEW3D_OT_border_zoom");
+	uiMenuItemO(head, 0, "VIEW3D_OT_zoom_border");
 	
 	uiMenuSeparator(head);
 	
@@ -1034,11 +1035,11 @@ static uiBlock *view3d_select_objectmenu(bContext *C, ARegion *ar, void *arg_unu
 	uiDefIconTextBlockBut(block, view3d_select_object_linkedmenu, NULL, ICON_RIGHTARROW_THIN, "Linked", 0, yco-=20, 120, 19, "");
 	uiDefIconTextBlockBut(block, view3d_select_object_groupedmenu, NULL, ICON_RIGHTARROW_THIN, "Grouped", 0, yco-=20, 120, 19, "");
 #endif
-	uiDefMenuButO(block, "VIEW3D_OT_borderselect", "Border Select");
+	uiDefMenuButO(block, "VIEW3D_OT_select_border", "Border Select");
 	
 	uiDefMenuSep(block);
 	
-	uiDefMenuButO(block, "OBJECT_OT_de_select_all", "Select/Deselect All");
+	uiDefMenuButO(block, "OBJECT_OT_select_all_toggle", "Select/Deselect All");
 	uiDefMenuButO(block, "OBJECT_OT_select_invert", "Inverse");
 	uiDefMenuButO(block, "OBJECT_OT_select_random", "Random");
 	uiDefMenuButO(block, "OBJECT_OT_select_by_layer", "Select All by Layer");
@@ -1211,13 +1212,13 @@ static void view3d_select_curvemenu(bContext *C, uiMenuItem *head, void *arg_unu
 {
 	Object *obedit= CTX_data_edit_object(C);
 
-	uiMenuItemO(head, 0, "VIEW3D_OT_borderselect");
-	uiMenuItemO(head, 0, "VIEW3D_OT_circle_select");
+	uiMenuItemO(head, 0, "VIEW3D_OT_select_border");
+	uiMenuItemO(head, 0, "VIEW3D_OT_select_circle");
 
 	uiMenuSeparator(head);
 
-	uiMenuItemO(head, 0, "CURVE_OT_de_select_all");
-	uiMenuItemO(head, 0, "CURVE_OT_select_inverse");
+	uiMenuItemO(head, 0, "CURVE_OT_select_all_toggle");
+	uiMenuItemO(head, 0, "CURVE_OT_select_invert");
 	uiMenuItemO(head, 0, "CURVE_OT_select_random"); // Random...
 	uiMenuItemO(head, 0, "CURVE_OT_select_every_nth"); // Every Nth..
 
@@ -3293,14 +3294,14 @@ static void view3d_edit_curve_controlpointsmenu(bContext *C, uiMenuItem *head, v
 
 	if(obedit->type == OB_CURVE) {
 		uiMenuItemEnumO(head, "", 0, "TFM_OT_transform", "mode", TFM_TILT);
-		uiMenuItemO(head, 0, "CURVE_OT_clear_tilt");
+		uiMenuItemO(head, 0, "CURVE_OT_tilt_clear");
 		uiMenuItemO(head, 0, "CURVE_OT_separate");
 		
 		uiMenuSeparator(head);
 
-		uiMenuItemEnumO(head, "", 0, "CURVE_OT_set_handle_type", "type", 1);
-		uiMenuItemEnumO(head, "", 0, "CURVE_OT_set_handle_type", "type", 3);
-		uiMenuItemEnumO(head, "", 0, "CURVE_OT_set_handle_type", "type", 2);
+		uiMenuItemEnumO(head, "", 0, "CURVE_OT_handle_type_set", "type", 1);
+		uiMenuItemEnumO(head, "", 0, "CURVE_OT_handle_type_set", "type", 3);
+		uiMenuItemEnumO(head, "", 0, "CURVE_OT_handle_type_set", "type", 2);
 
 		uiMenuSeparator(head);
 	}
@@ -3350,7 +3351,7 @@ static void view3d_edit_curvemenu(bContext *C, uiMenuItem *head, void *arg_unuse
 	uiMenuItemO(head, 0, "CURVE_OT_duplicate");
 	uiMenuItemO(head, 0, "CURVE_OT_separate");
 	uiMenuItemO(head, 0, "CURVE_OT_make_segment");
-	uiMenuItemO(head, 0, "CURVE_OT_toggle_cyclic");
+	uiMenuItemO(head, 0, "CURVE_OT_cyclic_toggle");
 	uiMenuItemO(head, 0, "CURVE_OT_delete"); // Delete...
 
 	uiMenuSeparator(head);
@@ -3718,6 +3719,9 @@ static void do_view3d_edit_armaturemenu(bContext *C, void *arg, int event)
 	case 22: /* separate */
 		separate_armature();
 		break;
+	case 23: /* bone sketching panel */
+		add_blockhandler(curarea, VIEW3D_HANDLER_BONESKETCH, UI_PNL_UNSTOW);
+		break;
 	}
 	
 #endif
@@ -3796,6 +3800,7 @@ static uiBlock *view3d_edit_armaturemenu(bContext *C, ARegion *ar, void *arg_unu
 	uiDefBut(block, SEPR, 0, "",				0, yco-=6, menuwidth, 6, NULL, 0.0, 0.0, 0, 0, "");
 	
 	uiDefIconTextBut(block, BUTM, 1, ICON_MENU_PANEL, "Transform Properties|N", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 1, "");
+	uiDefIconTextBut(block, BUTM, 1, ICON_MENU_PANEL, "Bone Sketching|P", 0, yco-=20, menuwidth, 19, NULL, 0.0, 0.0, 1, 23, "");
 	uiDefIconTextBlockBut(block, view3d_transformmenu, NULL, ICON_RIGHTARROW_THIN, "Transform", 0, yco-=20, 120, 19, "");
 	uiDefIconTextBlockBut(block, view3d_edit_mirrormenu, NULL, ICON_RIGHTARROW_THIN, "Mirror", 0, yco-=20, menuwidth, 19, "");
 	uiDefIconTextBlockBut(block, view3d_edit_snapmenu, NULL, ICON_RIGHTARROW_THIN, "Snap", 0, yco-=20, 120, 19, "");
@@ -4696,11 +4701,11 @@ static void view3d_select_particlemenu(bContext *C, uiMenuItem *head, void *arg_
 {
 	Scene *scene= CTX_data_scene(C);
 
-	uiMenuItemO(head, 0, "VIEW3D_OT_borderselect");
+	uiMenuItemO(head, 0, "VIEW3D_OT_select_border");
 
 	uiMenuSeparator(head);
 
-	uiMenuItemO(head, 0, "PARTICLE_OT_de_select_all");
+	uiMenuItemO(head, 0, "PARTICLE_OT_select_all_toggle");
 	uiMenuItemO(head, 0, "PARTICLE_OT_select_linked");
 
 	if(scene->selectmode & SCE_SELECT_POINT) {
@@ -4847,6 +4852,7 @@ static char *snapmode_pup(void)
 	str += sprintf(str, "%s", "|Vertex%x0");
 	str += sprintf(str, "%s", "|Edge%x1");
 	str += sprintf(str, "%s", "|Face%x2"); 
+	str += sprintf(str, "%s", "|Volume%x3"); 
 	return string;
 }
 
@@ -4880,7 +4886,7 @@ static void do_view3d_header_buttons(bContext *C, void *arg, int event)
 	int bit, ctrl= win->eventstate->ctrl, shift= win->eventstate->shift;
 	
 	if(obedit && obedit->type==OB_MESH) {
-		em= ((Mesh *)obedit->data)->edit_mesh;
+		em= EM_GetEditMesh((Mesh *)obedit->data);
 	}
 	/* watch it: if sa->win does not exist, check that when calling direct drawing routines */
 
@@ -5111,6 +5117,8 @@ static void do_view3d_header_buttons(bContext *C, void *arg, int event)
 		}
 		break;
 	}
+
+	EM_EndEditMesh(obedit->data, em);
 }
 
 static void view3d_header_pulldowns(const bContext *C, uiBlock *block, Object *ob, int *xcoord, int yco)
@@ -5475,7 +5483,7 @@ void view3d_header_buttons(const bContext *C, ARegion *ar)
 
 		/* selection modus */
 		if(obedit && (obedit->type == OB_MESH)) {
-			EditMesh *em= ((Mesh *)obedit->data)->edit_mesh;
+			EditMesh *em= EM_GetEditMesh((Mesh *)obedit->data);
 
 			uiBlockBeginAlign(block);
 			uiDefIconButBitS(block, TOG, SCE_SELECT_VERTEX, B_SEL_VERT, ICON_VERTEXSEL, xco,yco,XIC,YIC, &em->selectmode, 1.0, 0.0, 0, 0, "Vertex select mode (Ctrl Tab 1)");
@@ -5491,6 +5499,8 @@ void view3d_header_buttons(const bContext *C, ARegion *ar)
 			}
 			uiBlockEndAlign(block);
 			xco+= 20;
+
+			EM_EndEditMesh(obedit->data, em);
 		}
 		else if(G.f & G_PARTICLEEDIT) {
 			uiBlockBeginAlign(block);
diff --git a/source/blender/editors/space_view3d/view3d_intern.h b/source/blender/editors/space_view3d/view3d_intern.h
index 6e26a9a7ad8..ae77b4293bf 100644
--- a/source/blender/editors/space_view3d/view3d_intern.h
+++ b/source/blender/editors/space_view3d/view3d_intern.h
@@ -62,7 +62,7 @@ void view3d_operatortypes(void);
 void view3d_keymap(struct wmWindowManager *wm);
 
 /* view3d_edit.c */
-void VIEW3D_OT_viewzoom(struct wmOperatorType *ot);
+void VIEW3D_OT_zoom(struct wmOperatorType *ot);
 void VIEW3D_OT_viewmove(struct wmOperatorType *ot);
 void VIEW3D_OT_viewrotate(struct wmOperatorType *ot);
 void VIEW3D_OT_viewhome(struct wmOperatorType *ot);
@@ -74,7 +74,7 @@ void VIEW3D_OT_view_orbit(struct wmOperatorType *ot);
 void VIEW3D_OT_clipping(struct wmOperatorType *ot);
 void VIEW3D_OT_cursor3d(struct wmOperatorType *ot);
 void VIEW3D_OT_render_border(struct wmOperatorType *ot);
-void VIEW3D_OT_border_zoom(struct wmOperatorType *ot);
+void VIEW3D_OT_zoom_border(struct wmOperatorType *ot);
 void VIEW3D_OT_drawtype(struct wmOperatorType *ot);
 void VIEW3D_OT_editmesh_face_toolbox(struct wmOperatorType *ot);
 
@@ -109,9 +109,9 @@ void view3d_update_depths(struct ARegion *ar, View3D *v3d);
 /* view3d_select.c */
 void VIEW3D_OT_select(struct wmOperatorType *ot);
 void VIEW3D_OT_select_extend(struct wmOperatorType *ot);
-void VIEW3D_OT_circle_select(struct wmOperatorType *ot);
-void VIEW3D_OT_borderselect(struct wmOperatorType *ot);
-void VIEW3D_OT_lasso_select(struct wmOperatorType *ot);
+void VIEW3D_OT_select_circle(struct wmOperatorType *ot);
+void VIEW3D_OT_select_border(struct wmOperatorType *ot);
+void VIEW3D_OT_select_lasso(struct wmOperatorType *ot);
 
 /* view3d_view.c */
 void VIEW3D_OT_smoothview(struct wmOperatorType *ot);
diff --git a/source/blender/editors/space_view3d/view3d_ops.c b/source/blender/editors/space_view3d/view3d_ops.c
index 7ff6e6b88a8..1cda1b9e4c8 100644
--- a/source/blender/editors/space_view3d/view3d_ops.c
+++ b/source/blender/editors/space_view3d/view3d_ops.c
@@ -65,7 +65,7 @@ void view3d_operatortypes(void)
 {
 	WM_operatortype_append(VIEW3D_OT_viewrotate);
 	WM_operatortype_append(VIEW3D_OT_viewmove);
-	WM_operatortype_append(VIEW3D_OT_viewzoom);
+	WM_operatortype_append(VIEW3D_OT_zoom);
 	WM_operatortype_append(VIEW3D_OT_viewhome);
 	WM_operatortype_append(VIEW3D_OT_viewnumpad);
 	WM_operatortype_append(VIEW3D_OT_view_orbit);
@@ -73,14 +73,14 @@ void view3d_operatortypes(void)
 	WM_operatortype_append(VIEW3D_OT_view_persportho);
 	WM_operatortype_append(VIEW3D_OT_viewcenter);
 	WM_operatortype_append(VIEW3D_OT_select);
-	WM_operatortype_append(VIEW3D_OT_borderselect);
+	WM_operatortype_append(VIEW3D_OT_select_border);
 	WM_operatortype_append(VIEW3D_OT_clipping);
-	WM_operatortype_append(VIEW3D_OT_circle_select);
+	WM_operatortype_append(VIEW3D_OT_select_circle);
 	WM_operatortype_append(VIEW3D_OT_smoothview);
 	WM_operatortype_append(VIEW3D_OT_render_border);
-	WM_operatortype_append(VIEW3D_OT_border_zoom);
+	WM_operatortype_append(VIEW3D_OT_zoom_border);
 	WM_operatortype_append(VIEW3D_OT_cursor3d);
-	WM_operatortype_append(VIEW3D_OT_lasso_select);
+	WM_operatortype_append(VIEW3D_OT_select_lasso);
 	WM_operatortype_append(VIEW3D_OT_setcameratoview);
 	WM_operatortype_append(VIEW3D_OT_drawtype);
 	WM_operatortype_append(VIEW3D_OT_editmesh_face_toolbox);
@@ -118,24 +118,33 @@ void view3d_keymap(wmWindowManager *wm)
 
 	WM_keymap_add_item(keymap, "PAINT_OT_image_paint", LEFTMOUSE, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "PAINT_OT_sample_color", RIGHTMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "PAINT_OT_set_clone_cursor", LEFTMOUSE, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "PAINT_OT_clone_cursor_set", LEFTMOUSE, KM_PRESS, KM_CTRL, 0);
 
 	WM_keymap_add_item(keymap, "SCULPT_OT_brush_stroke", LEFTMOUSE, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "SCULPT_OT_brush_stroke", LEFTMOUSE, KM_PRESS, KM_SHIFT, 0);
-	
+
+	/* sketch poll checks mode */	
+	WM_keymap_add_item(keymap, "SKETCH_OT_gesture", ACTIONMOUSE, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "SKETCH_OT_draw_stroke", ACTIONMOUSE, KM_PRESS, 0, 0);
+	km = WM_keymap_add_item(keymap, "SKETCH_OT_draw_stroke", ACTIONMOUSE, KM_PRESS, KM_CTRL, 0);
+	RNA_boolean_set(km->ptr, "snap", 1);
+	WM_keymap_add_item(keymap, "SKETCH_OT_draw_preview", MOUSEMOVE, KM_ANY, 0, 0);
+	km = WM_keymap_add_item(keymap, "SKETCH_OT_draw_preview", MOUSEMOVE, KM_ANY, KM_CTRL, 0);
+	RNA_boolean_set(km->ptr, "snap", 1);
+
 	WM_keymap_verify_item(keymap, "VIEW3D_OT_cursor3d", ACTIONMOUSE, KM_PRESS, 0, 0);
 	
 	WM_keymap_verify_item(keymap, "VIEW3D_OT_viewrotate", MIDDLEMOUSE, KM_PRESS, 0, 0);
 	WM_keymap_verify_item(keymap, "VIEW3D_OT_viewmove", MIDDLEMOUSE, KM_PRESS, KM_SHIFT, 0);
-	WM_keymap_verify_item(keymap, "VIEW3D_OT_viewzoom", MIDDLEMOUSE, KM_PRESS, KM_CTRL, 0);
+	WM_keymap_verify_item(keymap, "VIEW3D_OT_zoom", MIDDLEMOUSE, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_verify_item(keymap, "VIEW3D_OT_viewcenter", PADPERIOD, KM_PRESS, 0, 0);
 	
 	WM_keymap_verify_item(keymap, "VIEW3D_OT_smoothview", TIMER1, KM_ANY, KM_ANY, 0);
 	
-	RNA_int_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewzoom", PADPLUSKEY, KM_PRESS, 0, 0)->ptr, "delta", 1);
-	RNA_int_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewzoom", PADMINUS, KM_PRESS, 0, 0)->ptr, "delta", -1);
-	RNA_int_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewzoom", WHEELINMOUSE, KM_PRESS, 0, 0)->ptr, "delta", 1);
-	RNA_int_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewzoom", WHEELOUTMOUSE, KM_PRESS, 0, 0)->ptr, "delta", -1);
+	RNA_int_set(WM_keymap_add_item(keymap, "VIEW3D_OT_zoom", PADPLUSKEY, KM_PRESS, 0, 0)->ptr, "delta", 1);
+	RNA_int_set(WM_keymap_add_item(keymap, "VIEW3D_OT_zoom", PADMINUS, KM_PRESS, 0, 0)->ptr, "delta", -1);
+	RNA_int_set(WM_keymap_add_item(keymap, "VIEW3D_OT_zoom", WHEELINMOUSE, KM_PRESS, 0, 0)->ptr, "delta", 1);
+	RNA_int_set(WM_keymap_add_item(keymap, "VIEW3D_OT_zoom", WHEELOUTMOUSE, KM_PRESS, 0, 0)->ptr, "delta", -1);
 
 	RNA_boolean_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewhome", HOMEKEY, KM_PRESS, 0, 0)->ptr, "center", 0);
 	RNA_boolean_set(WM_keymap_add_item(keymap, "VIEW3D_OT_viewhome", CKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "center", 1);
@@ -189,16 +198,16 @@ void view3d_keymap(wmWindowManager *wm)
 	/* selection*/
 	WM_keymap_add_item(keymap, "VIEW3D_OT_select", SELECTMOUSE, KM_PRESS, 0, 0);
 	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_select", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "type", 1);
-	WM_keymap_add_item(keymap, "VIEW3D_OT_borderselect", BKEY, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "VIEW3D_OT_lasso_select", EVT_TWEAK_A, KM_ANY, KM_CTRL, 0);
-	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_lasso_select", EVT_TWEAK_A, KM_ANY, KM_SHIFT|KM_CTRL, 0)->ptr, "type", 1);
-	WM_keymap_add_item(keymap, "VIEW3D_OT_circle_select", CKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW3D_OT_select_border", BKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "VIEW3D_OT_select_lasso", EVT_TWEAK_A, KM_ANY, KM_CTRL, 0);
+	RNA_enum_set(WM_keymap_add_item(keymap, "VIEW3D_OT_select_lasso", EVT_TWEAK_A, KM_ANY, KM_SHIFT|KM_CTRL, 0)->ptr, "type", 1);
+	WM_keymap_add_item(keymap, "VIEW3D_OT_select_circle", CKEY, KM_PRESS, 0, 0);
 	
 	WM_keymap_add_item(keymap, "VIEW3D_OT_clipping", BKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_add_item(keymap, "VIEW3D_OT_border_zoom", BKEY, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "VIEW3D_OT_zoom_border", BKEY, KM_PRESS, KM_SHIFT, 0);
 	WM_keymap_add_item(keymap, "VIEW3D_OT_render_border", BKEY, KM_PRESS, KM_SHIFT, 0);
 	
-	WM_keymap_add_item(keymap, "VIEW3D_OT_set_camera_to_view", PAD0, KM_PRESS, KM_ALT|KM_CTRL, 0);
+	WM_keymap_add_item(keymap, "VIEW3D_OT_camera_to_view", PAD0, KM_PRESS, KM_ALT|KM_CTRL, 0);
 	
 	WM_keymap_add_item(keymap, "VIEW3D_OT_snap_menu", SKEY, KM_PRESS, KM_SHIFT, 0);
 	
diff --git a/source/blender/editors/space_view3d/view3d_select.c b/source/blender/editors/space_view3d/view3d_select.c
index b6098e52a89..d03586da2d5 100644
--- a/source/blender/editors/space_view3d/view3d_select.c
+++ b/source/blender/editors/space_view3d/view3d_select.c
@@ -754,10 +754,10 @@ static int view3d_lasso_select_exec(bContext *C, wmOperator *op)
 	return OPERATOR_PASS_THROUGH;
 }
 
-void VIEW3D_OT_lasso_select(wmOperatorType *ot)
+void VIEW3D_OT_select_lasso(wmOperatorType *ot)
 {
 	ot->name= "Lasso Select";
-	ot->idname= "VIEW3D_OT_lasso_select";
+	ot->idname= "VIEW3D_OT_select_lasso";
 	
 	ot->invoke= WM_gesture_lasso_invoke;
 	ot->modal= WM_gesture_lasso_modal;
@@ -1532,11 +1532,11 @@ static EnumPropertyItem prop_select_types[] = {
 };
 
 /* ****** Border Select ****** */
-void VIEW3D_OT_borderselect(wmOperatorType *ot)
+void VIEW3D_OT_select_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Border Select";
-	ot->idname= "VIEW3D_OT_borderselect";
+	ot->idname= "VIEW3D_OT_select_border";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
@@ -1823,10 +1823,10 @@ static int view3d_circle_select_exec(bContext *C, wmOperator *op)
 	return OPERATOR_FINISHED;
 }
 
-void VIEW3D_OT_circle_select(wmOperatorType *ot)
+void VIEW3D_OT_select_circle(wmOperatorType *ot)
 {
 	ot->name= "Circle Select";
-	ot->idname= "VIEW3D_OT_circle_select";
+	ot->idname= "VIEW3D_OT_select_circle";
 	
 	ot->invoke= WM_gesture_circle_invoke;
 	ot->modal= WM_gesture_circle_modal;
diff --git a/source/blender/editors/space_view3d/view3d_view.c b/source/blender/editors/space_view3d/view3d_view.c
index b1bd39a66da..2aade74dcca 100644
--- a/source/blender/editors/space_view3d/view3d_view.c
+++ b/source/blender/editors/space_view3d/view3d_view.c
@@ -70,6 +70,7 @@
 #include "ED_mesh.h"
 #include "ED_screen.h"
 #include "ED_view3d.h"
+#include "ED_armature.h"
 
 #include "UI_interface.h"
 #include "UI_resources.h"
@@ -410,7 +411,7 @@ void VIEW3D_OT_setcameratoview(wmOperatorType *ot)
 	
 	/* identifiers */
 	ot->name= "Align Camera To View";
-	ot->idname= "VIEW3D_OT_set_camera_to_view";
+	ot->idname= "VIEW3D_OT_camera_to_view";
 	
 	/* api callbacks */
 	ot->exec= view3d_setcameratoview_exec;	
@@ -802,7 +803,28 @@ void project_float_noclip(ARegion *ar, float *vec, float *adr)
 	}
 }
 
-
+int get_view3d_ortho(View3D *v3d, RegionView3D *rv3d)
+{
+  Camera *cam;
+  
+  if(rv3d->persp==V3D_CAMOB) {
+      if(v3d->camera && v3d->camera->type==OB_CAMERA) {
+          cam= v3d->camera->data;
+
+          if(cam && cam->type==CAM_ORTHO)
+              return 1;
+          else
+              return 0;
+      }
+      else
+          return 0;
+  }
+  
+  if(rv3d->persp==V3D_ORTHO)
+      return 1;
+
+  return 0;
+}
 
 /* also exposed in previewrender.c */
 int get_view3d_viewplane(View3D *v3d, RegionView3D *rv3d, int winxi, int winyi, rctf *viewplane, float *clipsta, float *clipend, float *pixsize)
@@ -1120,8 +1142,11 @@ short view3d_opengl_select(ViewContext *vc, unsigned int *buffer, unsigned int b
 	if(vc->obedit && vc->obedit->type==OB_MBALL) {
 		draw_object(scene, ar, v3d, BASACT, DRAW_PICKING|DRAW_CONSTCOLOR);
 	}
-	else if ((vc->obedit && vc->obedit->type==OB_ARMATURE)) {
-		draw_object(scene, ar, v3d, BASACT, DRAW_PICKING|DRAW_CONSTCOLOR);
+	else if((vc->obedit && vc->obedit->type==OB_ARMATURE)) {
+		/* if not drawing sketch, draw bones */
+		if(!BDR_drawSketchNames(vc)) {
+			draw_object(scene, ar, v3d, BASACT, DRAW_PICKING|DRAW_CONSTCOLOR);
+		}
 	}
 	else {
 		Base *base;
@@ -1236,7 +1261,7 @@ static void initlocalview(Scene *scene, ScrArea *sa)
 	locallay= free_localbit();
 
 	if(locallay==0) {
-		printf("Sorry,  no more than 8 localviews\n");	// XXX error 
+		printf("Sorry, no more than 8 localviews\n");	// XXX error 
 		ok= 0;
 	}
 	else {
diff --git a/source/blender/editors/transform/transform.c b/source/blender/editors/transform/transform.c
index e7749e6eb3a..091b35c7361 100644
--- a/source/blender/editors/transform/transform.c
+++ b/source/blender/editors/transform/transform.c
@@ -163,7 +163,7 @@ static void helpline(TransInfo *t, float *vec)
 
 void setTransformViewMatrices(TransInfo *t)
 {
-	if(t->spacetype==SPACE_VIEW3D) {
+	if(t->spacetype==SPACE_VIEW3D && t->ar->regiontype == RGN_TYPE_WINDOW) {
 		RegionView3D *rv3d = t->ar->regiondata;
 		
 		Mat4CpyMat4(t->viewmat, rv3d->viewmat);
@@ -186,7 +186,10 @@ void setTransformViewMatrices(TransInfo *t)
 void convertViewVec(TransInfo *t, float *vec, short dx, short dy)
 {
 	if (t->spacetype==SPACE_VIEW3D) {
-		window_to_3d_delta(t->ar, vec, dx, dy);
+		if (t->ar->regiontype == RGN_TYPE_WINDOW)
+		{
+			window_to_3d_delta(t->ar, vec, dx, dy);
+		}
 	}
 	else if(t->spacetype==SPACE_IMAGE) {
 		View2D *v2d = t->view;
@@ -764,15 +767,15 @@ void transformEvent(TransInfo *t, wmEvent *event)
 			}
 			break;
 		case OKEY:
-			if (t->flag & T_PROP_EDIT && event->keymodifier == KM_SHIFT) {
-				t->scene->prop_mode = (t->scene->prop_mode+1)%6;
+			if (t->flag & T_PROP_EDIT && event->shift) {
+				t->prop_mode = (t->prop_mode + 1) % 6;
 				calculatePropRatio(t);
-				t->redraw= 1;
+				t->redraw = 1;
 			}
 			break;
 		case PADPLUSKEY:
-			if(event->keymodifier & KM_ALT && t->flag & T_PROP_EDIT) {
-				t->propsize*= 1.1f;
+			if(event->alt && t->flag & T_PROP_EDIT) {
+				t->prop_size *= 1.1f;
 				calculatePropRatio(t);
 			}
 			t->redraw= 1;
@@ -783,15 +786,15 @@ void transformEvent(TransInfo *t, wmEvent *event)
 				transform_autoik_update(t, 1);
 			}
 			else if(t->flag & T_PROP_EDIT) {
-				t->propsize*= 1.1f;
+				t->prop_size*= 1.1f;
 				calculatePropRatio(t);
 			}
 			else view_editmove(event->type);
 			t->redraw= 1;
 			break;
 		case PADMINUS:
-			if(event->keymodifier & KM_ALT && t->flag & T_PROP_EDIT) {
-				t->propsize*= 0.90909090f;
+			if(event->alt && t->flag & T_PROP_EDIT) {
+				t->prop_size*= 0.90909090f;
 				calculatePropRatio(t);
 			}
 			t->redraw= 1;
@@ -802,7 +805,7 @@ void transformEvent(TransInfo *t, wmEvent *event)
 				transform_autoik_update(t, -1);
 			}
 			else if (t->flag & T_PROP_EDIT) {
-				t->propsize*= 0.90909090f;
+				t->prop_size*= 0.90909090f;
 				calculatePropRatio(t);
 			}
 			else view_editmove(event->type);
@@ -903,7 +906,7 @@ int calculateTransformCenter(bContext *C, wmEvent *event, int centerMode, float
 	
 	t->mode = TFM_DUMMY;
 
-	initTransInfo(C, t, event);					// internal data, mouse, vectors
+	initTransInfo(C, t, NULL, event);					// internal data, mouse, vectors
 
 	createTransData(C, t);			// make TransData structs from selection
 
@@ -935,29 +938,90 @@ void drawTransform(const struct bContext *C, struct ARegion *ar, void *arg)
 {
 	TransInfo *t = arg;
 	
-	drawConstraint(t);
-	drawPropCircle(t);
-	drawSnapping(t);
+	drawConstraint(C, t);
+	drawPropCircle(C, t);
+	drawSnapping(C, t);
 }
 
 void saveTransform(bContext *C, TransInfo *t, wmOperator *op)
 {
-	short twmode= (t->spacetype==SPACE_VIEW3D)? ((View3D*)t->view)->twmode: V3D_MANIP_GLOBAL;
+	Scene *sce = CTX_data_scene(C);
+	int constraint_axis[3] = {0, 0, 0};
+	int proportional = 0;
 
-	RNA_int_set(op->ptr, "mode", t->mode);
-	RNA_int_set(op->ptr, "options", t->options);
-	RNA_float_set_array(op->ptr, "values", t->values);
+	if (t->flag & T_AUTOVALUES)
+	{
+		RNA_float_set_array(op->ptr, "value", t->auto_values);
+	}
+	else
+	{
+		RNA_float_set_array(op->ptr, "value", t->values);
+	}
+
+	/* XXX convert stupid flag to enum */
+	switch(t->flag & (T_PROP_EDIT|T_PROP_CONNECTED))
+	{
+	case (T_PROP_EDIT|T_PROP_CONNECTED):
+		proportional = 2;
+		break;
+	case T_PROP_EDIT:
+		proportional = 1;
+		break;
+	default:
+		proportional = 0;
+	}
+
+	if (RNA_struct_find_property(op->ptr, "proportional"))
+	{
+		RNA_enum_set(op->ptr, "proportional", proportional);
+		RNA_enum_set(op->ptr, "proportional_editing_falloff", t->prop_mode);
+		RNA_float_set(op->ptr, "proportional_size", t->prop_size);
+	}
 
+	if (RNA_struct_find_property(op->ptr, "mirror"))
+	{
+		RNA_boolean_set(op->ptr, "mirror", t->flag & T_MIRROR);
+	}
 	
-	RNA_int_set(op->ptr, "constraint_mode", t->con.mode);
-	RNA_int_set(op->ptr, "constraint_orientation", twmode);
-	RNA_float_set_array(op->ptr, "constraint_matrix", (float*)t->con.mtx);
+	if (RNA_struct_find_property(op->ptr, "constraint_mode"))
+	{
+		RNA_int_set(op->ptr, "constraint_mode", t->con.mode);
+		RNA_int_set(op->ptr, "constraint_orientation", t->current_orientation);
+
+		if (t->con.mode & CON_APPLY)
+		{
+			if (t->con.mode & CON_AXIS0) {
+				constraint_axis[0] = 1;
+			}
+			if (t->con.mode & CON_AXIS1) {
+				constraint_axis[1] = 1;
+			}
+			if (t->con.mode & CON_AXIS2) {
+				constraint_axis[2] = 1;
+			}
+		}
+
+		RNA_boolean_set_array(op->ptr, "constraint_axis", constraint_axis);
+	}
+
+	// XXX If modal, save settings back in scene
+	if (t->flag & T_MODAL)
+	{
+		sce->prop_mode = t->prop_mode;
+		sce->proportional = proportional;
+
+		if(t->spacetype == SPACE_VIEW3D)
+		{
+			View3D *v3d = t->view;
+			
+			v3d->twmode = t->current_orientation;
+		}
+	}
 }
 
-void initTransform(bContext *C, TransInfo *t, wmOperator *op, wmEvent *event)
+int initTransform(bContext *C, TransInfo *t, wmOperator *op, wmEvent *event, int mode)
 {
-	int mode    = RNA_int_get(op->ptr, "mode");
-	int options = RNA_int_get(op->ptr, "options");
+	int options = 0;
 
 	/* added initialize, for external calls to set stuff in TransInfo, like undo string */
 
@@ -967,15 +1031,21 @@ void initTransform(bContext *C, TransInfo *t, wmOperator *op, wmEvent *event)
 	
 	t->mode = mode;
 
-	initTransInfo(C, t, event);					// internal data, mouse, vectors
-	
+	if (!initTransInfo(C, t, op, event))					// internal data, mouse, vectors
+	{
+		return 0;
+	}
+
 	initTransformOrientation(C, t);
 
 	if(t->spacetype == SPACE_VIEW3D)
 	{
-		RegionView3D *rv3d = t->ar->regiondata;
 		//calc_manipulator_stats(curarea);
-		Mat3CpyMat4(t->spacemtx, rv3d->twmat);
+		if (t->ar->regiontype == RGN_TYPE_WINDOW)
+		{
+			RegionView3D *rv3d = t->ar->regiondata;
+			Mat3CpyMat4(t->spacemtx, rv3d->twmat);
+		}
 		Mat3Ortho(t->spacemtx);
 		
 		t->draw_handle = ED_region_draw_cb_activate(t->ar->type, drawTransform, t, REGION_DRAW_POST);
@@ -989,13 +1059,13 @@ void initTransform(bContext *C, TransInfo *t, wmOperator *op, wmEvent *event)
 
 	createTransData(C, t);			// make TransData structs from selection
 
-	initSnapping(t); // Initialize snapping data AFTER mode flags
-
 	if (t->total == 0) {
 		postTrans(t);
-		return;
+		return 0;
 	}
 
+	initSnapping(t, op); // Initialize snapping data AFTER mode flags
+
 	/* EVIL! posemode code can switch translation to rotate when 1 bone is selected. will be removed (ton) */
 	/* EVIL2: we gave as argument also texture space context bit... was cleared */
 	/* EVIL3: extend mode for animation editors also switches modes... but is best way to avoid duplicate code */
@@ -1094,27 +1164,43 @@ void initTransform(bContext *C, TransInfo *t, wmOperator *op, wmEvent *event)
 		initAlign(t);
 		break;
 	}
-	
+
 	/* overwrite initial values if operator supplied a non-null vector */
-	if (RNA_property_is_set(op->ptr, "values"))
+	if (RNA_property_is_set(op->ptr, "value"))
 	{
 		float values[4];
-		RNA_float_get_array(op->ptr, "values", values);
+		RNA_float_get_array(op->ptr, "value", values);
 		QUATCOPY(t->values, values);
+		QUATCOPY(t->auto_values, values);
+		t->flag |= T_AUTOVALUES;
 	}
 
 	/* Constraint init from operator */
+	if (RNA_struct_find_property(op->ptr, "constraint_axis") && RNA_property_is_set(op->ptr, "constraint_axis"))
 	{
-		t->con.mode = RNA_int_get(op->ptr, "constraint_mode");
-		
-		if (t->con.mode & CON_APPLY)
+		int constraint_axis[3];
+
+		RNA_boolean_get_array(op->ptr, "constraint_axis", constraint_axis);
+
+		if (constraint_axis[0] || constraint_axis[1] || constraint_axis[2])
 		{
-			RNA_float_get_array(op->ptr, "constraint_matrix", (float*)t->spacemtx);
-			
+			t->con.mode |= CON_APPLY;
+
+			if (constraint_axis[0]) {
+				t->con.mode |= CON_AXIS0;
+			}
+			if (constraint_axis[1]) {
+				t->con.mode |= CON_AXIS1;
+			}
+			if (constraint_axis[2]) {
+				t->con.mode |= CON_AXIS2;
+			}
+				
 			setUserConstraint(t, t->con.mode, "%s");		
 		}
-
 	}
+	
+	return 1;
 }
 
 void transformApply(bContext *C, TransInfo *t)
@@ -2227,6 +2313,13 @@ int Resize(TransInfo *t, short mval[2])
 
 	applySnapping(t, size);
 
+	if (t->flag & T_AUTOVALUES)
+	{
+		VECCOPY(size, t->auto_values);
+	}
+
+	VECCOPY(t->values, size);
+
 	SizeToMat3(size, mat);
 
 	if (t->con.applySize) {
@@ -2996,8 +3089,6 @@ int Translation(TransInfo *t, short mval[2])
 
 	ED_area_headerprint(t->sa, str);
 
-	drawSnapping(t);
-
 	return 1;
 }
 
diff --git a/source/blender/editors/transform/transform.h b/source/blender/editors/transform/transform.h
index ddf10c213af..dfbc22b1e14 100644
--- a/source/blender/editors/transform/transform.h
+++ b/source/blender/editors/transform/transform.h
@@ -80,8 +80,9 @@ typedef struct NumInput {
 typedef struct TransSnap {
 	short	modePoint;
 	short	modeTarget;
-	int		mode;
-	int  	status;
+	short	mode;
+	short	align;
+	short  	status;
 	float	snapPoint[3];
 	float	snapTarget[3];
 	float	snapNormal[3];
@@ -214,7 +215,7 @@ typedef struct TransInfo {
     NDofInput   ndof;           /* ndof input                           */
     MouseInput	mouse;			/* mouse input                          */
     char        redraw;         /* redraw flag                          */
-	float		propsize;		/* proportional circle radius           */
+	float		prop_size;		/* proportional circle radius           */
 	char		proptext[20];	/* proportional falloff text			*/
     float       center[3];      /* center of transformation             */
     int         center2d[2];    /* center in screen coordinates         */
@@ -245,7 +246,12 @@ typedef struct TransInfo {
 
 	/*************** NEW STUFF *********************/
 
+	short		current_orientation;
+
+	short		prop_mode;
+
 	float		values[4];
+	float		auto_values[4];
 	void		*view;
 	struct ScrArea	*sa;
 	struct ARegion	*ar;
@@ -303,6 +309,13 @@ typedef struct TransInfo {
 	/* auto-ik is on */
 #define T_AUTOIK			(1 << 18)
 
+#define T_MIRROR			(1 << 19)
+
+#define T_AUTOVALUES		(1 << 20)
+
+	/* to specificy if we save back settings at the end */
+#define	T_MODAL				(1 << 21)
+
 /* TransInfo->modifiers */
 #define	MOD_CONSTRAINT_SELECT	0x01
 #define	MOD_PRECISION			0x02
@@ -335,11 +348,13 @@ typedef struct TransInfo {
 #define TD_BEZTRIPLE		(1 << 12)	/* if this is a bez triple, we need to restore the handles, if this is set transdata->misc.hdata needs freeing */
 #define TD_NO_LOC			(1 << 13)	/* when this is set, don't apply translation changes to this element */
 #define TD_NOTIMESNAP		(1 << 14)	/* for Graph Editor autosnap, indicates that point should not undergo autosnapping */
+#define TD_INTVALUES	 	(1 << 15) 	/* for Graph Editor - curves that can only have int-values need their keyframes tagged with this */
 
 /* transsnap->status */
 #define SNAP_ON			1
-#define TARGET_INIT		2
-#define POINT_INIT		4
+#define SNAP_FORCED		2
+#define TARGET_INIT		4
+#define POINT_INIT		8
 
 /* transsnap->modePoint */
 #define SNAP_GRID			0
@@ -354,7 +369,7 @@ typedef struct TransInfo {
 
 void TFM_OT_transform(struct wmOperatorType *ot);
 
-void initTransform(struct bContext *C, struct TransInfo *t, struct wmOperator *op, struct wmEvent *event);
+int initTransform(struct bContext *C, struct TransInfo *t, struct wmOperator *op, struct wmEvent *event, int mode);
 void saveTransform(struct bContext *C, struct TransInfo *t, struct wmOperator *op);
 void transformEvent(TransInfo *t, struct wmEvent *event);
 void transformApply(struct bContext *C, TransInfo *t);
@@ -441,7 +456,7 @@ void initAlign(TransInfo *t);
 int Align(TransInfo *t, short mval[2]);
 
 
-void drawPropCircle(TransInfo *t);
+void drawPropCircle(const struct bContext *C, TransInfo *t);
 
 /*********************** transform_conversions.c ********** */
 struct ListBase;
@@ -475,7 +490,7 @@ void autokeyframe_pose_cb_func(struct Scene *scene, struct View3D *v3d, struct O
 
 /*********************** Constraints *****************************/
 
-void drawConstraint(TransInfo *t);
+void drawConstraint(const struct bContext *C, TransInfo *t);
 
 void getConstraintMatrix(TransInfo *t);
 void setConstraint(TransInfo *t, float space[3][3], int mode, const char text[]);
@@ -509,11 +524,11 @@ typedef enum {
 void snapGrid(TransInfo *t, float *val);
 void snapGridAction(TransInfo *t, float *val, GearsType action);
 
-void initSnapping(struct TransInfo *t);
+void initSnapping(struct TransInfo *t, struct wmOperator *op);
 void applySnapping(TransInfo *t, float *vec);
 void resetSnapping(TransInfo *t);
 int  handleSnapping(TransInfo *t, struct wmEvent *event);
-void drawSnapping(TransInfo *t);
+void drawSnapping(const struct bContext *C, TransInfo *t);
 int usingSnappingNormal(TransInfo *t);
 int validSnappingNormal(TransInfo *t);
 
@@ -539,7 +554,7 @@ void applyMouseInput(struct TransInfo *t, struct MouseInput *mi, short mval[2],
 
 /*********************** Generics ********************************/
 
-void initTransInfo(struct bContext *C, TransInfo *t, struct wmEvent *event);
+int initTransInfo(struct bContext *C, TransInfo *t, struct wmOperator *op, struct wmEvent *event);
 void postTrans (TransInfo *t);
 void resetTransRestrictions(TransInfo *t);
 
diff --git a/source/blender/editors/transform/transform_constraints.c b/source/blender/editors/transform/transform_constraints.c
index 26d240be3fc..0064317b57a 100644
--- a/source/blender/editors/transform/transform_constraints.c
+++ b/source/blender/editors/transform/transform_constraints.c
@@ -90,6 +90,28 @@
 static void drawObjectConstraint(TransInfo *t);
 
 /* ************************** CONSTRAINTS ************************* */
+void constraintAutoValues(TransInfo *t, float vec[3])
+{
+	int mode = t->con.mode;
+	if (mode & CON_APPLY)
+	{
+		float nval = (t->flag & T_NULL_ONE)?1.0f:0.0f;
+
+		if ((mode & CON_AXIS0) == 0)
+		{
+			vec[0] = nval;
+		}
+		if ((mode & CON_AXIS1) == 0)
+		{
+			vec[1] = nval;
+		}
+		if ((mode & CON_AXIS2) == 0)
+		{
+			vec[2] = nval;
+		}
+	}
+}
+
 void constraintNumInput(TransInfo *t, float vec[3])
 {
 	int mode = t->con.mode;
@@ -99,6 +121,8 @@ void constraintNumInput(TransInfo *t, float vec[3])
 		if (getConstraintSpaceDimension(t) == 2) {
 			int axis = mode & (CON_AXIS0|CON_AXIS1|CON_AXIS2);
 			if (axis == (CON_AXIS0|CON_AXIS1)) {
+				vec[0] = vec[0];
+				vec[1] = vec[1];
 				vec[2] = nval;
 			}
 			else if (axis == (CON_AXIS1|CON_AXIS2)) {
@@ -107,12 +131,14 @@ void constraintNumInput(TransInfo *t, float vec[3])
 				vec[0] = nval;
 			}
 			else if (axis == (CON_AXIS0|CON_AXIS2)) {
+				vec[0] = vec[0];
 				vec[2] = vec[1];
 				vec[1] = nval;
 			}
 		}
 		else if (getConstraintSpaceDimension(t) == 1) {
 			if (mode & CON_AXIS0) {
+				vec[0] = vec[0];
 				vec[1] = nval;
 				vec[2] = nval;
 			}
@@ -152,6 +178,13 @@ static void postConstraintChecks(TransInfo *t, float vec[3], float pvec[3]) {
 		applyNumInput(&t->num, vec);
 		constraintNumInput(t, vec);
 	}
+
+	/* autovalues is operator param, use that directly but not if snapping is forced */
+	if (t->flag & T_AUTOVALUES && (t->tsnap.status & SNAP_FORCED) == 0)
+	{
+		VECCOPY(vec, t->auto_values);
+		constraintAutoValues(t, vec);
+	}
 	
 	if (t->con.mode & CON_AXIS0) {
 		pvec[i++] = vec[0];
@@ -522,9 +555,9 @@ void setLocalConstraint(TransInfo *t, int mode, const char text[]) {
 */
 void setUserConstraint(TransInfo *t, int mode, const char ftext[]) {
 	char text[40];
-	short twmode= (t->spacetype==SPACE_VIEW3D)? ((View3D*)t->view)->twmode: V3D_MANIP_GLOBAL;
+	//short twmode= (t->spacetype==SPACE_VIEW3D)? ((View3D*)t->view)->twmode: V3D_MANIP_GLOBAL;
 
-	switch(twmode) {
+	switch(t->current_orientation) {
 	case V3D_MANIP_GLOBAL:
 		{
 			float mtx[3][3];
@@ -678,7 +711,7 @@ void BIF_setDualAxisConstraint(float vec1[3], float vec2[3], char *text) {
 
 /*----------------- DRAWING CONSTRAINTS -------------------*/
 
-void drawConstraint(TransInfo *t)
+void drawConstraint(const struct bContext *C, TransInfo *t)
 {
 	TransCon *tc = &(t->con);
 
@@ -737,17 +770,16 @@ void drawConstraint(TransInfo *t)
 }
 
 /* called from drawview.c, as an extra per-window draw option */
-void drawPropCircle(TransInfo *t)
+void drawPropCircle(const struct bContext *C, TransInfo *t)
 {
 	if (t->flag & T_PROP_EDIT) {
+		RegionView3D *rv3d = CTX_wm_region_view3d(C);
 		float tmat[4][4], imat[4][4];
 
 		UI_ThemeColor(TH_GRID);
 		
-		if(t->spacetype == SPACE_VIEW3D)
+		if(t->spacetype == SPACE_VIEW3D && rv3d != NULL)
 		{
-			RegionView3D *rv3d = t->ar->regiondata;
-			
 			Mat4CpyMat4(tmat, rv3d->viewmat);
 			Mat4Invert(imat, tmat);
 		}
@@ -772,7 +804,7 @@ void drawPropCircle(TransInfo *t)
 		}
 
 		set_inverted_drawing(1);
-		drawcircball(GL_LINE_LOOP, t->center, t->propsize, imat);
+		drawcircball(GL_LINE_LOOP, t->center, t->prop_size, imat);
 		set_inverted_drawing(0);
 		
 		glPopMatrix();
diff --git a/source/blender/editors/transform/transform_conversions.c b/source/blender/editors/transform/transform_conversions.c
index b47f4edc7da..12d7bef1bb8 100644
--- a/source/blender/editors/transform/transform_conversions.c
+++ b/source/blender/editors/transform/transform_conversions.c
@@ -671,7 +671,7 @@ static void bone_children_clear_transflag(TransInfo *t, ListBase *lb)
 		{
 			bone->flag |= BONE_HINGE_CHILD_TRANSFORM;
 		}
-		else if (bone->flag & BONE_TRANSFORM && (t->mode == TFM_ROTATION || t->mode == TFM_TRACKBALL)) 
+		else if (bone->flag & BONE_TRANSFORM && (t->mode == TFM_ROTATION || t->mode == TFM_TRACKBALL) && t->around == V3D_LOCAL) 
 		{
 			bone->flag |= BONE_TRANSFORM_CHILD;
 		}
@@ -978,7 +978,8 @@ static void createTransPose(bContext *C, TransInfo *t, Object *ob)
 	
 	if (arm->flag & ARM_RESTPOS) {
 		if (ELEM(t->mode, TFM_DUMMY, TFM_BONESIZE)==0) {
-			BKE_report(CTX_reports(C), RPT_ERROR, "Can't select linked when sync selection is enabled.");
+			// XXX use transform operator reports
+			// BKE_report(op->reports, RPT_ERROR, "Can't select linked when sync selection is enabled.");
 			return;
 		}
 	}
@@ -1016,7 +1017,8 @@ static void createTransPose(bContext *C, TransInfo *t, Object *ob)
 	}
 	
 	if(td != (t->data+t->total)) {
-		BKE_report(CTX_reports(C), RPT_DEBUG, "Bone selection count error.");
+		// XXX use transform operator reports
+		// BKE_report(op->reports, RPT_DEBUG, "Bone selection count error.");
 	}
 	
 	/* initialise initial auto=ik chainlen's? */
@@ -2110,8 +2112,8 @@ static void createTransEditVerts(bContext *C, TransInfo *t)
 	int count=0, countsel=0, a, totleft;
 	int propmode = t->flag & T_PROP_EDIT;
 	int mirror = 0;
-	
-	if ((t->options & CTX_NO_MIRROR) == 0 && (scene->toolsettings->editbutflag & B_MESH_X_MIRROR))
+
+	if (t->flag & T_MIRROR)
 	{
 		mirror = 1;
 	}
@@ -3047,7 +3049,7 @@ static void createTransActionData(bContext *C, TransInfo *t)
 /* Helper function for createTransGraphEditData, which is reponsible for associating
  * source data with transform data
  */
-static void bezt_to_transdata (TransData *td, TransData2D *td2d, Object *nob, float *loc, float *cent, short selected, short ishandle)
+static void bezt_to_transdata (TransData *td, TransData2D *td2d, Object *nob, float *loc, float *cent, short selected, short ishandle, short intvals)
 {
 	/* New location from td gets dumped onto the old-location of td2d, which then
 	 * gets copied to the actual data at td2d->loc2d (bezt->vec[n])
@@ -3094,6 +3096,8 @@ static void bezt_to_transdata (TransData *td, TransData2D *td2d, Object *nob, fl
 	
 	if (ishandle)	
 		td->flag |= TD_NOTIMESNAP;
+	if (intvals)
+		td->flag |= TD_INTVALUES;
 	
 	Mat3One(td->mtx);
 	Mat3One(td->smtx);
@@ -3204,6 +3208,7 @@ static void createTransGraphEditData(bContext *C, TransInfo *t)
 	for (ale= anim_data.first; ale; ale= ale->next) {
 		Object *nob= NULL; //ANIM_nla_mapping_get(&ac, ale);	// XXX we don't handle NLA mapping here yet
 		FCurve *fcu= (FCurve *)ale->key_data;
+		short intvals= (fcu->flag & FCURVE_INT_VALUES);
 		
 		/* only include BezTriples whose 'keyframe' occurs on the same side of the current frame as mouse (if applicable) */
 		bezt= fcu->bezt;
@@ -3218,7 +3223,7 @@ static void createTransGraphEditData(bContext *C, TransInfo *t)
 				if ( (!prevbezt && (bezt->ipo==BEZT_IPO_BEZ)) || (prevbezt && (prevbezt->ipo==BEZT_IPO_BEZ)) ) {
 					if (bezt->f1 & SELECT) {
 						hdata = initTransDataCurveHandes(td, bezt);
-						bezt_to_transdata(td++, td2d++, nob, bezt->vec[0], bezt->vec[1], 1, 1);
+						bezt_to_transdata(td++, td2d++, nob, bezt->vec[0], bezt->vec[1], 1, 1, intvals);
 					}
 					else
 						h1= 0;
@@ -3227,7 +3232,7 @@ static void createTransGraphEditData(bContext *C, TransInfo *t)
 					if (bezt->f3 & SELECT) {
 						if (hdata==NULL)
 							hdata = initTransDataCurveHandes(td, bezt);
-						bezt_to_transdata(td++, td2d++, nob, bezt->vec[2], bezt->vec[1], 1, 1);
+						bezt_to_transdata(td++, td2d++, nob, bezt->vec[2], bezt->vec[1], 1, 1, intvals);
 					}
 					else
 						h2= 0;
@@ -3243,7 +3248,7 @@ static void createTransGraphEditData(bContext *C, TransInfo *t)
 								hdata = initTransDataCurveHandes(td, bezt);
 						}
 						
-						bezt_to_transdata(td++, td2d++, nob, bezt->vec[1], bezt->vec[1], 1, 0);
+						bezt_to_transdata(td++, td2d++, nob, bezt->vec[1], bezt->vec[1], 1, 0, intvals);
 					}
 					
 					/* special hack (must be done after initTransDataCurveHandes(), as that stores handle settings to restore...): 
@@ -3489,7 +3494,11 @@ void flushTransGraphData(TransInfo *t)
 		//else
 			td2d->loc2d[0]= td2d->loc[0];
 		
-		td2d->loc2d[1]= td2d->loc[1];
+		/* if int-values only, truncate to integers */
+		if (td->flag & TD_INTVALUES)
+			td2d->loc2d[1]= (float)((int)td2d->loc[1]);
+		else
+			td2d->loc2d[1]= td2d->loc[1];
 	}
 }
 
@@ -4049,7 +4058,7 @@ static void set_trans_object_base_flags(bContext *C, TransInfo *t)
 			
 			if(parsel)
 			{
-				if (t->mode == TFM_ROTATION || t->mode == TFM_TRACKBALL)
+				if ((t->mode == TFM_ROTATION || t->mode == TFM_TRACKBALL)  && t->around == V3D_LOCAL)
 				{
 					base->flag |= BA_TRANSFORM_CHILD;
 				}
@@ -4375,13 +4384,13 @@ void special_aftertrans_update(TransInfo *t)
 		Editing *ed= seq_give_editing(t->scene, FALSE);
 		if (ed && !cancelled) {
 			ListBase *seqbasep= ed->seqbasep;
-			int a;
-			TransData *td= t->data;
-			TransData2D *td2d= t->data2d;
-			TransDataSeq *tdsq= NULL;
 			Sequence *seq;
-
+#if 0		// TRANSFORM_FIX_ME, Would prefer to use this since the array takes into
+			// account what where transforming (with extend, locked strips etc)
+			// But at the moment t->data is freed in postTrans so for now re-shuffeling selected strips works ok. - Campbell
 			
+			int a;
+			TransData *td= t->data;
 
 			/* prevent updating the same seq twice
 			 * if the transdata order is changed this will mess up
@@ -4389,23 +4398,32 @@ void special_aftertrans_update(TransInfo *t)
 			Sequence *seq_prev= NULL;
 
 			/* flush to 2d vector from internally used 3d vector */
-			for(a=0; a<t->total; a++, td++, td2d++) {
-
-				tdsq= (TransDataSeq *)td->extra;
-				seq= tdsq->seq;
-
-				if (seq != seq_prev) {
-					if(seq->depth==0) {
-						if (seq->flag & SEQ_OVERLAP) {
-							shuffle_seq(seqbasep, seq);
-						}
-					}
+			for(a=0; a<t->total; a++, td++) {
+				seq= ((TransDataSeq *)td->extra)->seq;
+				if ((seq != seq_prev) && (seq->depth==0) && (seq->flag & SEQ_OVERLAP)) {
+					shuffle_seq(seqbasep, seq);
 				}
 
-				/* as last: */
 				seq_prev= seq;
 			}
+#else		// while t->data is not available...
+			int machine, max_machine = 0;
 
+			/* update in order so we always move bottom strips first */
+			for(seq= seqbasep->first; seq; seq= seq->next) {
+				max_machine = MAX2(max_machine, seq->machine);
+			}
+			
+			for (machine = 0; machine <= max_machine; machine++)
+			{
+				for(seq= seqbasep->first; seq; seq= seq->next) {
+					if (seq->machine == machine && seq->depth == 0 && (seq->flag & (SELECT|SEQ_LEFTSEL|SEQ_RIGHTSEL)) != 0 && (seq->flag & SEQ_OVERLAP)) {
+						shuffle_seq(seqbasep, seq);
+					}
+				}
+			}
+#endif
+			
 			for(seq= seqbasep->first; seq; seq= seq->next) {
 				/* We might want to build a list of effects that need to be updated during transform */
 				if(seq->type & SEQ_EFFECT) {
@@ -4420,7 +4438,8 @@ void special_aftertrans_update(TransInfo *t)
 		
 		if (t->customData)
 			MEM_freeN(t->customData);
-
+		if (t->data)
+			MEM_freeN(t->data); // XXX postTrans usually does this
 	}
 	else if (t->spacetype == SPACE_ACTION) {
 		SpaceAction *saction= (SpaceAction *)t->sa->spacedata.first;
@@ -5017,16 +5036,18 @@ void createTransData(bContext *C, TransInfo *t)
 		t->flag |= T_POINTS;
 	}
 	else {
-		View3D *v3d = t->view;
-		RegionView3D *rv3d = t->ar->regiondata;
-		
 		t->flag &= ~T_PROP_EDIT; /* no proportional edit in object mode */
 		createTransObject(C, t);
 		t->flag |= T_OBJECT;
 		
-		if((t->flag & T_OBJECT) && v3d->camera == OBACT && rv3d->persp==V3D_CAMOB)
+		if (t->ar->regiontype == RGN_TYPE_WINDOW)
 		{
-			t->flag |= T_CAMERA;
+			View3D *v3d = t->view;
+			RegionView3D *rv3d = t->ar->regiondata;
+			if((t->flag & T_OBJECT) && v3d->camera == OBACT && rv3d->persp==V3D_CAMOB)
+			{
+				t->flag |= T_CAMERA;
+			}
 		}
 	}
 
diff --git a/source/blender/editors/transform/transform_generics.c b/source/blender/editors/transform/transform_generics.c
index 861681423e9..5b7fa24f2ab 100644
--- a/source/blender/editors/transform/transform_generics.c
+++ b/source/blender/editors/transform/transform_generics.c
@@ -52,6 +52,9 @@
 #include "DNA_scene_types.h"
 #include "DNA_userdef_types.h"
 #include "DNA_view3d_types.h"
+#include "DNA_windowmanager_types.h"
+
+#include "RNA_access.h"
 
 //#include "BIF_screen.h"
 //#include "BIF_mywindow.h"
@@ -468,7 +471,7 @@ void recalcData(TransInfo *t)
 //					}
 					clipMirrorModifier(t, t->obedit);
 				}
-				if((t->options & CTX_NO_MIRROR) == 0 && (scene->toolsettings->editbutflag & B_MESH_X_MIRROR))
+				if((t->options & CTX_NO_MIRROR) == 0 && (t->flag & T_MIRROR))
 					editmesh_apply_to_mirror(t);
 				
 				DAG_object_flush_update(scene, t->obedit, OB_RECALC_DATA);  /* sets recalc flags */
@@ -660,7 +663,7 @@ void resetTransRestrictions(TransInfo *t)
 	t->flag &= ~T_ALL_RESTRICTIONS;
 }
 
-void initTransInfo (bContext *C, TransInfo *t, wmEvent *event)
+int initTransInfo (bContext *C, TransInfo *t, wmOperator *op, wmEvent *event)
 {
 	Scene *sce = CTX_data_scene(C);
 	ARegion *ar = CTX_wm_region(C);
@@ -685,16 +688,6 @@ void initTransInfo (bContext *C, TransInfo *t, wmEvent *event)
 	
 	t->redraw = 1; /* redraw first time */
 	
-	t->propsize = 1.0f; /* TRANSFORM_FIX_ME this needs to be saved in scene or something */
-
-	/* setting PET flag */
-	if ((t->options & CTX_NO_PET) == 0 && (sce->proportional)) {
-		t->flag |= T_PROP_EDIT;
-		
-		if(sce->proportional == 2)
-			t->flag |= T_PROP_CONNECTED;	// yes i know, has to become define
-	}
-
 	if (event)
 	{
 		t->imval[0] = event->x - t->ar->winrct.xmin;
@@ -741,6 +734,20 @@ void initTransInfo (bContext *C, TransInfo *t, wmEvent *event)
 		
 		if(v3d->flag & V3D_ALIGN) t->flag |= T_V3D_ALIGN;
 		t->around = v3d->around;
+
+		if (op && RNA_struct_find_property(op->ptr, "constraint_axis") && RNA_property_is_set(op->ptr, "constraint_orientation"))
+		{
+			t->current_orientation = RNA_int_get(op->ptr, "constraint_orientation");
+
+			if (t->current_orientation >= V3D_MANIP_CUSTOM + BIF_countTransformOrientation(C) - 1)
+			{
+				t->current_orientation = V3D_MANIP_GLOBAL;
+			}
+		}
+		else
+		{
+			t->current_orientation = v3d->twmode;
+		}
 	}
 	else if(t->spacetype==SPACE_IMAGE || t->spacetype==SPACE_NODE)
 	{
@@ -756,9 +763,73 @@ void initTransInfo (bContext *C, TransInfo *t, wmEvent *event)
 		t->around = V3D_CENTER;
 	}
 
+	if (op && RNA_struct_find_property(op->ptr, "mirror") && RNA_property_is_set(op->ptr, "mirror"))
+	{
+		if (RNA_boolean_get(op->ptr, "mirror"))
+		{
+			t->flag |= T_MIRROR;
+		}
+	}
+	// Need stuff to take it from edit mesh or whatnot here
+	else
+	{
+		if (t->obedit && t->obedit->type == OB_MESH && sce->toolsettings->editbutflag & B_MESH_X_MIRROR)
+		{
+			t->flag |= T_MIRROR;
+		}
+	}
+
+	/* setting PET flag */
+	if (op && RNA_struct_find_property(op->ptr, "proportional") && RNA_property_is_set(op->ptr, "proportional"))
+	{
+		switch(RNA_enum_get(op->ptr, "proportional"))
+		{
+		case 2: /* XXX connected constant */
+			t->flag |= T_PROP_CONNECTED;
+		case 1: /* XXX prop on constant */
+			t->flag |= T_PROP_EDIT;
+			break;
+		}
+	}
+	else
+	{
+		if ((t->options & CTX_NO_PET) == 0 && (sce->proportional)) {
+			t->flag |= T_PROP_EDIT;
+			
+			if(sce->proportional == 2)
+				t->flag |= T_PROP_CONNECTED;	// yes i know, has to become define
+		}
+	}
+
+	if (op && RNA_struct_find_property(op->ptr, "proportional_size") && RNA_property_is_set(op->ptr, "proportional_size"))
+	{
+		t->prop_size = RNA_float_get(op->ptr, "proportional_size");
+	}
+	else
+	{
+		t->prop_size = sce->toolsettings->proportional_size;
+	}
+	
+	if (op && RNA_struct_find_property(op->ptr, "proportional_editing_falloff") && RNA_property_is_set(op->ptr, "proportional_editing_falloff"))
+	{
+		t->prop_mode = RNA_enum_get(op->ptr, "proportional_editing_falloff");
+	}
+	else
+	{
+		t->prop_mode = sce->prop_mode;
+	}
+
+	/* TRANSFORM_FIX_ME rna restrictions */
+	if (t->prop_size <= 0)
+	{
+		t->prop_size = 1.0f;
+	}
+
 	setTransformViewMatrices(t);
 	initNumInput(&t->num);
 	initNDofInput(&t->ndof);
+	
+	return 1;
 }
 
 /* Here I would suggest only TransInfo related issues, like free data & reset vars. Not redraws */
@@ -1118,10 +1189,10 @@ void calculatePropRatio(TransInfo *t)
 				td->factor = 1.0f;
 			}
 			else if	((connected && 
-						(td->flag & TD_NOTCONNECTED || td->dist > t->propsize))
+						(td->flag & TD_NOTCONNECTED || td->dist > t->prop_size))
 				||
 					(connected == 0 &&
-						td->rdist > t->propsize)) {
+						td->rdist > t->prop_size)) {
 				/* 
 				   The elements are sorted according to their dist member in the array,
 				   that means we can stop when it finds one element outside of the propsize.
@@ -1133,7 +1204,7 @@ void calculatePropRatio(TransInfo *t)
 			else {
 				/* Use rdist for falloff calculations, it is the real distance */
 				td->flag &= ~TD_NOACTION;
-				dist= (t->propsize-td->rdist)/t->propsize;
+				dist= (t->prop_size-td->rdist)/t->prop_size;
 				
 				/*
 				 * Clamp to positive numbers.
@@ -1143,7 +1214,7 @@ void calculatePropRatio(TransInfo *t)
 				if (dist < 0.0f)
 					dist = 0.0f;
 				
-				switch(t->scene->prop_mode) {
+				switch(t->prop_mode) {
 				case PROP_SHARP:
 					td->factor= dist*dist;
 					break;
@@ -1171,7 +1242,7 @@ void calculatePropRatio(TransInfo *t)
 				}
 			}
 		}
-		switch(t->scene->prop_mode) {
+		switch(t->prop_mode) {
 		case PROP_SHARP:
 			strcpy(t->proptext, "(Sharp)");
 			break;
diff --git a/source/blender/editors/transform/transform_numinput.c b/source/blender/editors/transform/transform_numinput.c
index fc348bab719..34976105db3 100644
--- a/source/blender/editors/transform/transform_numinput.c
+++ b/source/blender/editors/transform/transform_numinput.c
@@ -129,7 +129,6 @@ short hasNumInput(NumInput *n)
 void applyNumInput(NumInput *n, float *vec)
 {
 	short i, j;
-	float val[3];
 
 	if (hasNumInput(n)) {
 		for (j=0; j<=n->idx_max; j++) {
@@ -142,17 +141,17 @@ void applyNumInput(NumInput *n, float *vec)
 			if (n->ctrl[i] == 0 && n->flag & NUM_NULL_ONE) {
 				vec[j] = 1.0f;
 			}
-			else if (val[i] == 0.0f && n->flag & NUM_NO_ZERO) {
+			else if (n->val[i] == 0.0f && n->flag & NUM_NO_ZERO) {
 				vec[j] = 0.0001f;
 			}
 			else {
 				if (n->inv[i])
 				{
-					vec[j] = 1.0f / val[i];
+					vec[j] = 1.0f / n->val[i];
 				}
 				else
 				{
-					vec[j] = val[i];
+					vec[j] = n->val[i];
 				}
 			}
 		}
diff --git a/source/blender/editors/transform/transform_ops.c b/source/blender/editors/transform/transform_ops.c
index 49f0020420a..a45af971d01 100644
--- a/source/blender/editors/transform/transform_ops.c
+++ b/source/blender/editors/transform/transform_ops.c
@@ -24,11 +24,13 @@
 
 #include "MEM_guardedalloc.h"
 
+#include "DNA_scene_types.h"
 #include "DNA_space_types.h"
 #include "DNA_windowmanager_types.h"
 
 #include "RNA_access.h"
 #include "RNA_define.h"
+#include "RNA_enum_types.h"
 
 #include "BLI_arithb.h"
 
@@ -44,6 +46,64 @@
 
 #include "transform.h"
 
+typedef struct TransformModeItem
+{
+	char *idname;
+	int		mode;
+} TransformModeItem;
+
+static float VecOne[3] = {1, 1, 1};
+
+/* need constants for this */
+EnumPropertyItem proportional_mode_types[] = {
+		{0, "OFF", "Off", ""},
+		{1, "ON", "On", ""},
+		{2, "CONNECTED", "Connected", ""},
+		{0, NULL, NULL, NULL}
+};
+
+EnumPropertyItem snap_mode_types[] = {
+		{SCE_SNAP_TARGET_CLOSEST, "CLOSEST", "Closest", ""},
+		{SCE_SNAP_TARGET_CENTER,  "CENTER", "Center", ""},
+		{SCE_SNAP_TARGET_MEDIAN,  "MEDIAN", "Median", ""},
+		{SCE_SNAP_TARGET_ACTIVE,  "ACTIVE", "Active", ""},
+		{0, NULL, NULL, NULL}
+};
+
+EnumPropertyItem proportional_falloff_types[] = {
+		{PROP_SMOOTH, "SMOOTH", "Smooth", ""},
+		{PROP_SPHERE, "SPHERE", "Sphere", ""},
+		{PROP_ROOT, "ROOT", "Root", ""},
+		{PROP_SHARP, "SHARP", "Sharp", ""},
+		{PROP_LIN, "LINEAR", "Linear", ""},
+		{PROP_CONST, "CONSTANT", "Constant", ""},
+		{PROP_RANDOM, "RANDOM", "Random", ""},
+		{0, NULL, NULL, NULL}
+};
+
+char OP_TRANSLATION[] = "TFM_OT_translation";
+char OP_ROTATION[] = "TFM_OT_rotation";
+char OP_TOSPHERE[] = "TFM_OT_tosphere";
+char OP_RESIZE[] = "TFM_OT_resize";
+char OP_SHEAR[] = "TFM_OT_shear";
+char OP_WARP[] = "TFM_OT_warp";
+char OP_SHRINK_FATTEN[] = "TFM_OT_shrink_fatten";
+char OP_TILT[] = "TFM_OT_tilt";
+
+
+TransformModeItem transform_modes[] =
+{
+	{OP_TRANSLATION, TFM_TRANSLATION},
+	{OP_ROTATION, TFM_ROTATION},
+	{OP_TOSPHERE, TFM_TOSPHERE},
+	{OP_RESIZE, TFM_RESIZE},
+	{OP_SHEAR, TFM_SHEAR},
+	{OP_WARP, TFM_WARP},
+	{OP_SHRINK_FATTEN, TFM_SHRINKFATTEN},
+	{OP_TILT, TFM_TILT},
+	{NULL, 0}
+};
+
 static int select_orientation_exec(bContext *C, wmOperator *op)
 {
 	int orientation = RNA_enum_get(op->ptr, "orientation");
@@ -98,17 +158,35 @@ static void transformops_exit(bContext *C, wmOperator *op)
 	op->customdata = NULL;
 }
 
-static void transformops_data(bContext *C, wmOperator *op, wmEvent *event)
+static int transformops_data(bContext *C, wmOperator *op, wmEvent *event)
 {
+	int retval = 1;
 	if (op->customdata == NULL)
 	{
 		TransInfo *t = MEM_callocN(sizeof(TransInfo), "TransInfo data");
-		
-		initTransform(C, t, op, event);
+		TransformModeItem *tmode;
+		int mode = -1;
+
+		for (tmode = transform_modes; tmode->idname; tmode++)
+		{
+			if (op->type->idname == tmode->idname)
+			{
+				mode = tmode->mode;
+			}
+		}
+
+		if (mode == -1)
+		{
+			mode = RNA_int_get(op->ptr, "mode");
+		}
+
+		retval = initTransform(C, t, op, event, mode);
 	
 		/* store data */
 		op->customdata = t;
 	}
+	
+	return retval; /* return 0 on error */
 }
 
 static int transform_modal(bContext *C, wmOperator *op, wmEvent *event)
@@ -147,7 +225,10 @@ static int transform_exec(bContext *C, wmOperator *op)
 {
 	TransInfo *t;
 
-	transformops_data(C, op, NULL);
+	if (!transformops_data(C, op, NULL))
+	{
+		return OPERATOR_CANCELLED;
+	}
 
 	t = op->customdata;
 
@@ -164,22 +245,242 @@ static int transform_exec(bContext *C, wmOperator *op)
 
 static int transform_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
-	transformops_data(C, op, event);
+	if (!transformops_data(C, op, event))
+	{
+		return OPERATOR_CANCELLED;
+	}
 
-	if(RNA_property_is_set(op->ptr, "values")) {
+	if(RNA_property_is_set(op->ptr, "value")) {
 		return transform_exec(C, op);
 	}
 	else {
+		TransInfo *t = op->customdata;
+
 		/* add temp handler */
 		WM_event_add_modal_handler(C, &CTX_wm_window(C)->handlers, op);
 
+		t->flag |= T_MODAL; // XXX meh maybe somewhere else
+
 		return OPERATOR_RUNNING_MODAL;
 	}
 }
 
+void Properties_Proportional(struct wmOperatorType *ot)
+{
+	RNA_def_enum(ot->srna, "proportional", proportional_mode_types, 0, "Proportional Edition", "");
+	RNA_def_enum(ot->srna, "proportional_editing_falloff", prop_mode_items, 0, "Proportional Editing Falloff", "Falloff type for proportional editing mode.");
+	RNA_def_float(ot->srna, "proportional_size", 1, 0, FLT_MAX, "Proportional Size", "", 0, 100);
+}
+
+void Properties_Snapping(struct wmOperatorType *ot, short align)
+{
+	RNA_def_boolean(ot->srna, "snap", 0, "Snap to Point", "");
+	RNA_def_enum(ot->srna, "snap_mode", snap_mode_types, 0, "Mode", "");
+	RNA_def_float_vector(ot->srna, "snap_point", 3, NULL, -FLT_MAX, FLT_MAX, "Point", "", -FLT_MAX, FLT_MAX);
+	
+	if (align)
+	{
+		RNA_def_boolean(ot->srna, "snap_align", 0, "Align with Point Normal", "");
+		RNA_def_float_vector(ot->srna, "snap_normal", 3, NULL, -FLT_MAX, FLT_MAX, "Normal", "", -FLT_MAX, FLT_MAX);
+	}
+}
+
+void Properties_Constraints(struct wmOperatorType *ot)
+{
+	RNA_def_boolean_vector(ot->srna, "constraint_axis", 3, NULL, "Constraint Axis", "");
+	RNA_def_int(ot->srna, "constraint_orientation", 0, 0, INT_MAX, "Constraint Orientation", "", 0, INT_MAX);
+}
+
+void TFM_OT_translation(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name   = "Translation";
+	ot->idname = OP_TRANSLATION;
+	ot->flag = OPTYPE_REGISTER|OPTYPE_UNDO;
+
+	/* api callbacks */
+	ot->invoke = transform_invoke;
+	ot->exec   = transform_exec;
+	ot->modal  = transform_modal;
+	ot->cancel  = transform_cancel;
+	ot->poll   = ED_operator_areaactive;
+
+	RNA_def_float_vector(ot->srna, "value", 3, NULL, -FLT_MAX, FLT_MAX, "Vector", "", -FLT_MAX, FLT_MAX);
+
+	Properties_Proportional(ot);
+
+	RNA_def_boolean(ot->srna, "mirror", 0, "Mirror Edition", "");
+
+	Properties_Constraints(ot);
+	
+	Properties_Snapping(ot, 1);
+}
+
+void TFM_OT_resize(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name   = "Resize";
+	ot->idname = OP_RESIZE;
+	ot->flag = OPTYPE_REGISTER|OPTYPE_UNDO;
+
+	/* api callbacks */
+	ot->invoke = transform_invoke;
+	ot->exec   = transform_exec;
+	ot->modal  = transform_modal;
+	ot->cancel  = transform_cancel;
+	ot->poll   = ED_operator_areaactive;
+
+	RNA_def_float_vector(ot->srna, "value", 3, VecOne, -FLT_MAX, FLT_MAX, "Vector", "", -FLT_MAX, FLT_MAX);
+
+	Properties_Proportional(ot);
+
+	RNA_def_boolean(ot->srna, "mirror", 0, "Mirror Edition", "");
+
+	Properties_Constraints(ot);
+	
+	Properties_Snapping(ot, 0);
+}
+
+void TFM_OT_rotation(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name   = "Rotation";
+	ot->idname = OP_ROTATION;
+	ot->flag = OPTYPE_REGISTER|OPTYPE_UNDO;
+
+	/* api callbacks */
+	ot->invoke = transform_invoke;
+	ot->exec   = transform_exec;
+	ot->modal  = transform_modal;
+	ot->cancel  = transform_cancel;
+	ot->poll   = ED_operator_areaactive;
+
+	RNA_def_float_rotation(ot->srna, "value", 1, NULL, -FLT_MAX, FLT_MAX, "Angle", "", -M_PI*2, M_PI*2);
+
+	Properties_Proportional(ot);
+
+	RNA_def_boolean(ot->srna, "mirror", 0, "Mirror Edition", "");
+
+	Properties_Constraints(ot);
+	
+	Properties_Snapping(ot, 0);
+}
+
+void TFM_OT_tilt(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name   = "Tilt";
+	ot->idname = OP_TILT;
+	ot->flag = OPTYPE_REGISTER|OPTYPE_UNDO;
+
+	/* api callbacks */
+	ot->invoke = transform_invoke;
+	ot->exec   = transform_exec;
+	ot->modal  = transform_modal;
+	ot->cancel  = transform_cancel;
+	ot->poll   = ED_operator_editcurve;
+
+	RNA_def_float_rotation(ot->srna, "value", 1, NULL, -FLT_MAX, FLT_MAX, "Angle", "", -M_PI*2, M_PI*2);
+
+	Properties_Proportional(ot);
+
+	RNA_def_boolean(ot->srna, "mirror", 0, "Mirror Edition", "");
+
+	Properties_Constraints(ot);
+}
+
+void TFM_OT_warp(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name   = "Warp";
+	ot->idname = OP_WARP;
+	ot->flag = OPTYPE_REGISTER|OPTYPE_UNDO;
+
+	/* api callbacks */
+	ot->invoke = transform_invoke;
+	ot->exec   = transform_exec;
+	ot->modal  = transform_modal;
+	ot->cancel  = transform_cancel;
+	ot->poll   = ED_operator_areaactive;
+
+	RNA_def_float_rotation(ot->srna, "value", 1, NULL, -FLT_MAX, FLT_MAX, "Angle", "", 0, 1);
+
+	Properties_Proportional(ot);
+
+	RNA_def_boolean(ot->srna, "mirror", 0, "Mirror Edition", "");
+
+	// XXX Shear axis?
+//	Properties_Constraints(ot);
+}
+
+void TFM_OT_shear(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name   = "Shear";
+	ot->idname = OP_SHEAR;
+	ot->flag = OPTYPE_REGISTER|OPTYPE_UNDO;
+
+	/* api callbacks */
+	ot->invoke = transform_invoke;
+	ot->exec   = transform_exec;
+	ot->modal  = transform_modal;
+	ot->cancel  = transform_cancel;
+	ot->poll   = ED_operator_areaactive;
+
+	RNA_def_float(ot->srna, "value", 0, -FLT_MAX, FLT_MAX, "Offset", "", -FLT_MAX, FLT_MAX);
+
+	Properties_Proportional(ot);
+
+	RNA_def_boolean(ot->srna, "mirror", 0, "Mirror Edition", "");
+
+	// XXX Shear axis?
+//	Properties_Constraints(ot);
+}
+
+void TFM_OT_shrink_fatten(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name   = "Shrink/Fatten";
+	ot->idname = OP_SHRINK_FATTEN;
+	ot->flag = OPTYPE_REGISTER|OPTYPE_UNDO;
+
+	/* api callbacks */
+	ot->invoke = transform_invoke;
+	ot->exec   = transform_exec;
+	ot->modal  = transform_modal;
+	ot->cancel  = transform_cancel;
+	ot->poll   = ED_operator_editmesh;
+
+	RNA_def_float(ot->srna, "value", 0, -FLT_MAX, FLT_MAX, "Offset", "", -FLT_MAX, FLT_MAX);
+
+	Properties_Proportional(ot);
+
+	RNA_def_boolean(ot->srna, "mirror", 0, "Mirror Edition", "");
+}
+
+void TFM_OT_tosphere(struct wmOperatorType *ot)
+{
+	/* identifiers */
+	ot->name   = "To Sphere";
+	ot->idname = OP_TOSPHERE;
+	ot->flag = OPTYPE_REGISTER|OPTYPE_UNDO;
+
+	/* api callbacks */
+	ot->invoke = transform_invoke;
+	ot->exec   = transform_exec;
+	ot->modal  = transform_modal;
+	ot->cancel  = transform_cancel;
+	ot->poll   = ED_operator_areaactive;
+
+	RNA_def_float_percentage(ot->srna, "value", 0, 0, 1, "Percentage", "", 0, 1);
+
+	Properties_Proportional(ot);
+
+	RNA_def_boolean(ot->srna, "mirror", 0, "Mirror Edition", "");
+}
+
 void TFM_OT_transform(struct wmOperatorType *ot)
 {
-	static const float mtx[3][3] = {{1, 0, 0},{0, 1, 0},{0, 0, 1}};
 	static EnumPropertyItem transform_mode_types[] = {
 			{TFM_INIT, "INIT", "Init", ""},
 			{TFM_DUMMY, "DUMMY", "Dummy", ""},
@@ -191,7 +492,6 @@ void TFM_OT_transform(struct wmOperatorType *ot)
 			{TFM_WARP, "WARP", "Warp", ""},
 			{TFM_SHRINKFATTEN, "SHRINKFATTEN", "Shrinkfatten", ""},
 			{TFM_TILT, "TILT", "Tilt", ""},
-			{TFM_LAMP_ENERGY, "LAMP_ENERGY", "Lamp_Energy", ""},
 			{TFM_TRACKBALL, "TRACKBALL", "Trackball", ""},
 			{TFM_PUSHPULL, "PUSHPULL", "Pushpull", ""},
 			{TFM_CREASE, "CREASE", "Crease", ""},
@@ -210,7 +510,7 @@ void TFM_OT_transform(struct wmOperatorType *ot)
 			{TFM_ALIGN, "ALIGN", "Align", ""},
 			{0, NULL, NULL, NULL}
 	};
-	
+
 	/* identifiers */
 	ot->name   = "Transform";
 	ot->idname = "TFM_OT_transform";
@@ -224,19 +524,28 @@ void TFM_OT_transform(struct wmOperatorType *ot)
 	ot->poll   = ED_operator_areaactive;
 
 	RNA_def_enum(ot->srna, "mode", transform_mode_types, 0, "Mode", "");
-	RNA_def_int(ot->srna, "options", 0, INT_MIN, INT_MAX, "Options", "", INT_MIN, INT_MAX);
-	
-	RNA_def_float_vector(ot->srna, "values", 4, NULL, -FLT_MAX, FLT_MAX, "Values", "", -FLT_MAX, FLT_MAX);
 
-	RNA_def_int(ot->srna, "constraint_orientation", 0, INT_MIN, INT_MAX, "Constraint Orientation", "", INT_MIN, INT_MAX);
-	RNA_def_int(ot->srna, "constraint_mode", 0, INT_MIN, INT_MAX, "Constraint Mode", "", INT_MIN, INT_MAX);
+	RNA_def_float_vector(ot->srna, "value", 4, NULL, -FLT_MAX, FLT_MAX, "Values", "", -FLT_MAX, FLT_MAX);
+
+	Properties_Proportional(ot);
+	RNA_def_boolean(ot->srna, "mirror", 0, "Mirror Edition", "");
 
-	RNA_def_float_matrix(ot->srna, "constraint_matrix", 9, mtx[0], -FLT_MAX, FLT_MAX, "Constraint Matrix", "", -FLT_MAX, FLT_MAX);
+	RNA_def_boolean_vector(ot->srna, "constraint_axis", 3, NULL, "Constraint Axis", "");
+	RNA_def_int(ot->srna, "constraint_orientation", 0, 0, INT_MAX, "Constraint Orientation", "", 0, INT_MAX);
 }
 
 void transform_operatortypes(void)
 {
 	WM_operatortype_append(TFM_OT_transform);
+	WM_operatortype_append(TFM_OT_translation);
+	WM_operatortype_append(TFM_OT_rotation);
+	WM_operatortype_append(TFM_OT_tosphere);
+	WM_operatortype_append(TFM_OT_resize);
+	WM_operatortype_append(TFM_OT_shear);
+	WM_operatortype_append(TFM_OT_warp);
+	WM_operatortype_append(TFM_OT_shrink_fatten);
+	WM_operatortype_append(TFM_OT_tilt);
+
 	WM_operatortype_append(TFM_OT_select_orientation);
 }
  
@@ -246,27 +555,24 @@ void transform_keymap_for_space(struct wmWindowManager *wm, struct ListBase *key
 	switch(spaceid)
 	{
 		case SPACE_VIEW3D:
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", GKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km = WM_keymap_add_item(keymap, "TFM_OT_translation", GKEY, KM_PRESS, 0, 0);
 			
-			km= WM_keymap_add_item(keymap, "TFM_OT_transform", EVT_TWEAK_S, KM_ANY, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km= WM_keymap_add_item(keymap, "TFM_OT_translation", EVT_TWEAK_S, KM_ANY, 0, 0);
 			
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", RKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_ROTATION);
+			km = WM_keymap_add_item(keymap, "TFM_OT_rotation", RKEY, KM_PRESS, 0, 0);
 
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", SKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_RESIZE);
+			km = WM_keymap_add_item(keymap, "TFM_OT_resize", SKEY, KM_PRESS, 0, 0);
 
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", WKEY, KM_PRESS, KM_SHIFT, 0);
-			RNA_int_set(km->ptr, "mode", TFM_WARP);
+			km = WM_keymap_add_item(keymap, "TFM_OT_warp", WKEY, KM_PRESS, KM_SHIFT, 0);
 
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", SKEY, KM_PRESS, KM_CTRL|KM_SHIFT, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TOSPHERE);
+			km = WM_keymap_add_item(keymap, "TFM_OT_tosphere", SKEY, KM_PRESS, KM_CTRL|KM_SHIFT, 0);
 			
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", SKEY, KM_PRESS, KM_ALT|KM_CTRL|KM_SHIFT, 0);
-			RNA_int_set(km->ptr, "mode", TFM_SHEAR);
+			km = WM_keymap_add_item(keymap, "TFM_OT_shear", SKEY, KM_PRESS, KM_ALT|KM_CTRL|KM_SHIFT, 0);
 			
+			km = WM_keymap_add_item(keymap, "TFM_OT_shrink_fatten", SKEY, KM_PRESS, KM_ALT, 0);
+
+			km = WM_keymap_add_item(keymap, "TFM_OT_tilt", TKEY, KM_PRESS, 0, 0);
+
 			km = WM_keymap_add_item(keymap, "TFM_OT_select_orientation", SPACEKEY, KM_PRESS, KM_ALT, 0);
 
 			break;
@@ -287,59 +593,44 @@ void transform_keymap_for_space(struct wmWindowManager *wm, struct ListBase *key
 			RNA_int_set(km->ptr, "mode", TFM_TIME_SLIDE);
 			break;
 		case SPACE_IPO:
-			km= WM_keymap_add_item(keymap, "TFM_OT_transform", GKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km= WM_keymap_add_item(keymap, "TFM_OT_translation", GKEY, KM_PRESS, 0, 0);
 			
-			km= WM_keymap_add_item(keymap, "TFM_OT_transform", EVT_TWEAK_S, KM_ANY, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km= WM_keymap_add_item(keymap, "TFM_OT_translation", EVT_TWEAK_S, KM_ANY, 0, 0);
 			
 				// XXX the 'mode' identifier here is not quite right
 			km= WM_keymap_add_item(keymap, "TFM_OT_transform", EKEY, KM_PRESS, 0, 0);
 			RNA_int_set(km->ptr, "mode", TFM_TIME_EXTEND);
 			
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", RKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_ROTATION);
+			km = WM_keymap_add_item(keymap, "TFM_OT_rotation", RKEY, KM_PRESS, 0, 0);
 			
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", SKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_RESIZE);
+			km = WM_keymap_add_item(keymap, "TFM_OT_resize", SKEY, KM_PRESS, 0, 0);
 			break;
 		case SPACE_NODE:
-			km= WM_keymap_add_item(keymap, "TFM_OT_transform", GKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km= WM_keymap_add_item(keymap, "TFM_OT_translation", GKEY, KM_PRESS, 0, 0);
 			
-			km= WM_keymap_add_item(keymap, "TFM_OT_transform", EVT_TWEAK_A, KM_ANY, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
-			km= WM_keymap_add_item(keymap, "TFM_OT_transform", EVT_TWEAK_S, KM_ANY, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km= WM_keymap_add_item(keymap, "TFM_OT_translation", EVT_TWEAK_A, KM_ANY, 0, 0);
+			km= WM_keymap_add_item(keymap, "TFM_OT_translation", EVT_TWEAK_S, KM_ANY, 0, 0);
 			
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", RKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_ROTATION);
+			km = WM_keymap_add_item(keymap, "TFM_OT_rotation", RKEY, KM_PRESS, 0, 0);
 			
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", SKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_RESIZE);
+			km = WM_keymap_add_item(keymap, "TFM_OT_resize", SKEY, KM_PRESS, 0, 0);
 			break;
 		case SPACE_SEQ:
-			km= WM_keymap_add_item(keymap, "TFM_OT_transform", GKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km= WM_keymap_add_item(keymap, "TFM_OT_translation", GKEY, KM_PRESS, 0, 0);
 			
-			km= WM_keymap_add_item(keymap, "TFM_OT_transform", EVT_TWEAK_S, KM_ANY, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km= WM_keymap_add_item(keymap, "TFM_OT_translation", EVT_TWEAK_S, KM_ANY, 0, 0);
 			
 			km= WM_keymap_add_item(keymap, "TFM_OT_transform", EKEY, KM_PRESS, 0, 0);
 			RNA_int_set(km->ptr, "mode", TFM_TIME_EXTEND);
 			break;
 		case SPACE_IMAGE:
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", GKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km = WM_keymap_add_item(keymap, "TFM_OT_translation", GKEY, KM_PRESS, 0, 0);
 			
-			km= WM_keymap_add_item(keymap, "TFM_OT_transform", EVT_TWEAK_S, KM_ANY, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_TRANSLATION);
+			km= WM_keymap_add_item(keymap, "TFM_OT_translation", EVT_TWEAK_S, KM_ANY, 0, 0);
 			
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", RKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_ROTATION);
+			km = WM_keymap_add_item(keymap, "TFM_OT_rotation", RKEY, KM_PRESS, 0, 0);
 
-			km = WM_keymap_add_item(keymap, "TFM_OT_transform", SKEY, KM_PRESS, 0, 0);
-			RNA_int_set(km->ptr, "mode", TFM_RESIZE);
+			km = WM_keymap_add_item(keymap, "TFM_OT_resize", SKEY, KM_PRESS, 0, 0);
 
 			km = WM_keymap_add_item(keymap, "TFM_OT_transform", MKEY, KM_PRESS, 0, 0);
 			RNA_int_set(km->ptr, "mode", TFM_MIRROR);
diff --git a/source/blender/editors/transform/transform_orientations.c b/source/blender/editors/transform/transform_orientations.c
index fd1db9e1984..df785f92166 100644
--- a/source/blender/editors/transform/transform_orientations.c
+++ b/source/blender/editors/transform/transform_orientations.c
@@ -448,15 +448,15 @@ static int count_bone_select(bArmature *arm, ListBase *lb, int do_it)
 void initTransformOrientation(bContext *C, TransInfo *t)
 {
 	View3D *v3d = CTX_wm_view3d(C);
-	RegionView3D *rv3d= CTX_wm_region_view3d(C);
+	RegionView3D *rv3d = CTX_wm_region_view3d(C);
 	Object *ob = CTX_data_active_object(C);
 	Object *obedit = CTX_data_active_object(C);
 	float normal[3]={0.0, 0.0, 0.0};
 	float plane[3]={0.0, 0.0, 0.0};
 
-	if(v3d==NULL) return;
+	if(t->spacetype != SPACE_VIEW3D) return;
 	
-	switch(v3d->twmode) {
+	switch(t->current_orientation) {
 	case V3D_MANIP_GLOBAL:
 		strcpy(t->spacename, "global");
 		break;
diff --git a/source/blender/editors/transform/transform_snap.c b/source/blender/editors/transform/transform_snap.c
index 447c4b810ab..dc32a46a301 100644
--- a/source/blender/editors/transform/transform_snap.c
+++ b/source/blender/editors/transform/transform_snap.c
@@ -34,6 +34,8 @@
 
 #include "PIL_time.h"
 
+#include "DNA_action_types.h"
+#include "DNA_armature_types.h"
 #include "DNA_object_types.h"
 #include "DNA_scene_types.h"
 #include "DNA_meshdata_types.h" // Temporary, for snapping to other unselected meshes
@@ -41,9 +43,13 @@
 #include "DNA_screen_types.h"
 #include "DNA_userdef_types.h"
 #include "DNA_view3d_types.h"
+#include "DNA_windowmanager_types.h"
+
+#include "RNA_access.h"
 
 #include "BLI_arithb.h"
 #include "BLI_editVert.h"
+#include "BLI_blenlib.h"
 
 //#include "BDR_drawobject.h"
 //
@@ -57,6 +63,8 @@
 //#include "BIF_drawimage.h"
 //#include "BIF_editmesh.h"
 
+#include "BIF_transform.h"
+
 #include "BKE_global.h"
 #include "BKE_utildefines.h"
 #include "BKE_DerivedMesh.h"
@@ -64,6 +72,7 @@
 #include "BKE_anim.h" /* for duplis */
 #include "BKE_context.h"
 
+#include "ED_armature.h"
 #include "ED_image.h"
 #include "ED_mesh.h"
 #include "ED_uvedit.h"
@@ -82,7 +91,7 @@
 
 /********************* PROTOTYPES ***********************/
 
-void setSnappingCallback(TransInfo *t);
+void setSnappingCallback(TransInfo *t, short snap_target);
 
 void ApplySnapTranslation(TransInfo *t, float vec[3]);
 void ApplySnapRotation(TransInfo *t, float *vec);
@@ -100,12 +109,6 @@ float RotationBetween(TransInfo *t, float p1[3], float p2[3]);
 float TranslationBetween(TransInfo *t, float p1[3], float p2[3]);
 float ResizeBetween(TransInfo *t, float p1[3], float p2[3]);
 
-/* Modes */
-#define SNAP_ALL			0
-#define SNAP_NOT_SELECTED	1
-#define SNAP_NOT_OBEDIT		2
-int snapObjects(TransInfo *t, int *dist, float *loc, float *no, int mode);
-
 
 /****************** IMPLEMENTATIONS *********************/
 
@@ -113,7 +116,7 @@ int BIF_snappingSupported(Object *obedit)
 {
 	int status = 0;
 	
-	if (obedit == NULL || obedit->type==OB_MESH) /* only support object or mesh */
+	if (obedit == NULL || ELEM(obedit->type, OB_MESH, OB_ARMATURE)) /* only support object mesh or armature */
 	{
 		status = 1;
 	}
@@ -121,7 +124,7 @@ int BIF_snappingSupported(Object *obedit)
 	return status;
 }
 
-void drawSnapping(TransInfo *t)
+void drawSnapping(const struct bContext *C, TransInfo *t)
 {
 	if ((t->tsnap.status & (SNAP_ON|POINT_INIT|TARGET_INIT)) == (SNAP_ON|POINT_INIT|TARGET_INIT) &&
 		(t->modifiers & MOD_SNAP_GEARS))
@@ -132,8 +135,8 @@ void drawSnapping(TransInfo *t)
 		glColor4ub(col[0], col[1], col[2], 128);
 		
 		if (t->spacetype == SPACE_VIEW3D) {
-			View3D *v3d = t->view;
-			RegionView3D *rv3d= t->ar->regiondata;
+			View3D *v3d = CTX_wm_view3d(C);
+			RegionView3D *rv3d = CTX_wm_region_view3d(C);
 			float tmat[4][4], imat[4][4];
 			float size;
 			
@@ -208,7 +211,7 @@ int  handleSnapping(TransInfo *t, wmEvent *event)
 	{
 		/* toggle snap and reinit */
 		t->scene->snap_flag ^= SCE_SNAP;
-		initSnapping(t);
+		initSnapping(t, NULL);
 		status = 1;
 	}
 	
@@ -217,7 +220,13 @@ int  handleSnapping(TransInfo *t, wmEvent *event)
 
 void applySnapping(TransInfo *t, float *vec)
 {
-	if ((t->tsnap.status & SNAP_ON) && 
+	if (t->tsnap.status & SNAP_FORCED)
+	{
+		t->tsnap.targetSnap(t);
+	
+		t->tsnap.applySnap(t, vec);
+	}
+	else if ((t->tsnap.status & SNAP_ON) && 
 		(t->modifiers & MOD_SNAP_GEARS))
 	{
 		double current = PIL_check_seconds_timer();
@@ -241,6 +250,8 @@ void applySnapping(TransInfo *t, float *vec)
 void resetSnapping(TransInfo *t)
 {
 	t->tsnap.status = 0;
+	t->tsnap.mode = 0;
+	t->tsnap.align = 0;
 	t->tsnap.modePoint = 0;
 	t->tsnap.modeTarget = 0;
 	t->tsnap.last = 0;
@@ -253,14 +264,7 @@ void resetSnapping(TransInfo *t)
 
 int usingSnappingNormal(TransInfo *t)
 {
-	if (t->scene->snap_flag & SCE_SNAP_ROTATE)
-	{
-		return 1;
-	}
-	else
-	{
-		return 0;
-	}
+	return t->tsnap.align;
 }
 
 int validSnappingNormal(TransInfo *t)
@@ -276,20 +280,48 @@ int validSnappingNormal(TransInfo *t)
 	return 0;
 }
 
-void initSnapping(TransInfo *t)
+void initSnapping(TransInfo *t, wmOperator *op)
 {
 	Scene *scene = t->scene;
 	Object *obedit = t->obedit;
+	int snapping = 0;
+	short snap_mode = t->scene->snap_target;
+	
 	resetSnapping(t);
 	
+	if (op && RNA_struct_find_property(op->ptr, "snap") && RNA_property_is_set(op->ptr, "snap"))
+	{
+		if (RNA_boolean_get(op->ptr, "snap"))
+		{
+			snapping = 1;
+			snap_mode = RNA_enum_get(op->ptr, "snap_mode");
+			
+			t->tsnap.status |= SNAP_FORCED|POINT_INIT;
+			RNA_float_get_array(op->ptr, "snap_point", t->tsnap.snapPoint);
+			
+			/* snap align only defined in specific cases */
+			if (RNA_struct_find_property(op->ptr, "snap_align"))
+			{
+				t->tsnap.align = RNA_boolean_get(op->ptr, "snap_align");
+				RNA_float_get_array(op->ptr, "snap_normal", t->tsnap.snapNormal);
+				Normalize(t->tsnap.snapNormal);
+			}
+		}
+	}
+	else
+	{
+		snapping = ((scene->snap_flag & SCE_SNAP) == SCE_SNAP);
+		t->tsnap.align = ((t->scene->snap_flag & SCE_SNAP_ROTATE) == SCE_SNAP_ROTATE);
+	}
+	
 	if ((t->spacetype == SPACE_VIEW3D || t->spacetype == SPACE_IMAGE) && // Only 3D view or UV
 			(t->flag & T_CAMERA) == 0) { // Not with camera selected
-		setSnappingCallback(t);
+		setSnappingCallback(t, snap_mode);
 
 		/* Edit mode */
 		if (t->tsnap.applySnap != NULL && // A snapping function actually exist
-			(scene->snap_flag & SCE_SNAP) && // Only if the snap flag is on
-			(obedit != NULL && obedit->type==OB_MESH) ) // Temporary limited to edit mode meshes
+			(snapping) && // Only if the snap flag is on
+			(obedit != NULL && ELEM(obedit->type, OB_MESH, OB_ARMATURE)) ) // Temporary limited to edit mode meshes or armature
 		{
 			t->tsnap.status |= SNAP_ON;
 			t->tsnap.modePoint = SNAP_GEO;
@@ -305,7 +337,7 @@ void initSnapping(TransInfo *t)
 		}
 		/* Object mode */
 		else if (t->tsnap.applySnap != NULL && // A snapping function actually exist
-			(scene->snap_flag & SCE_SNAP) && // Only if the snap flag is on
+			(snapping) && // Only if the snap flag is on
 			(obedit == NULL) ) // Object Mode
 		{
 			t->tsnap.status |= SNAP_ON;
@@ -325,12 +357,11 @@ void initSnapping(TransInfo *t)
 	}
 }
 
-void setSnappingCallback(TransInfo *t)
+void setSnappingCallback(TransInfo *t, short snap_target)
 {
-	Scene *scene = t->scene;
 	t->tsnap.calcSnap = CalcSnapGeometry;
 
-	switch(scene->snap_target)
+	switch(snap_target)
 	{
 		case SCE_SNAP_TARGET_CLOSEST:
 			t->tsnap.modeTarget = SNAP_CLOSEST;
@@ -362,7 +393,7 @@ void setSnappingCallback(TransInfo *t)
 		t->tsnap.distance = RotationBetween;
 		
 		// Can't do TARGET_CENTER with rotation, use TARGET_MEDIAN instead
-		if (scene->snap_target == SCE_SNAP_TARGET_CENTER) {
+		if (snap_target == SCE_SNAP_TARGET_CENTER) {
 			t->tsnap.modeTarget = SNAP_MEDIAN;
 			t->tsnap.targetSnap = TargetSnapMedian;
 		}
@@ -372,7 +403,7 @@ void setSnappingCallback(TransInfo *t)
 		t->tsnap.distance = ResizeBetween;
 		
 		// Can't do TARGET_CENTER with resize, use TARGET_MEDIAN instead
-		if (scene->snap_target == SCE_SNAP_TARGET_CENTER) {
+		if (snap_target == SCE_SNAP_TARGET_CENTER) {
 			t->tsnap.modeTarget = SNAP_MEDIAN;
 			t->tsnap.targetSnap = TargetSnapMedian;
 		}
@@ -503,85 +534,162 @@ void CalcSnapGrid(TransInfo *t, float *vec)
 
 void CalcSnapGeometry(TransInfo *t, float *vec)
 {
-	/* Object mode */
-	if (t->obedit == NULL)
+	if (t->spacetype == SPACE_VIEW3D)
 	{
-		if (t->spacetype == SPACE_VIEW3D)
+		float loc[3];
+		float no[3];
+		int found = 0;
+		int dist = SNAP_MIN_DISTANCE; // Use a user defined value here
+		SnapMode mode;
+		
+		if (t->scene->snap_mode == SCE_SNAP_MODE_VOLUME)
 		{
-			float vec[3];
-			float no[3];
-			int found = 0;
-			int dist = 40; // Use a user defined value here
+			ListBase depth_peels;
+			DepthPeel *p1, *p2;
+			float *last_p = NULL;
+			float dist = FLT_MAX;
+			float p[3];
 			
-			found = snapObjects(t, &dist, vec, no, t->tsnap.mode);
-			if (found == 1)
+			depth_peels.first = depth_peels.last = NULL;
+			
+			peelObjectsTransForm(t, &depth_peels, t->mval);
+			
+//			if (stk->nb_points > 0 && stk->points[stk->nb_points - 1].type == PT_CONTINUOUS)
+//			{
+//				last_p = stk->points[stk->nb_points - 1].p;
+//			}
+//			else if (LAST_SNAP_POINT_VALID)
+//			{
+//				last_p = LAST_SNAP_POINT;
+//			}
+			
+			
+			for (p1 = depth_peels.first; p1; p1 = p1->next)
 			{
-				float tangent[3];
-				
-				VecSubf(tangent, vec, t->tsnap.snapPoint);
-				tangent[2] = 0; 
-				
-				if (Inpf(tangent, tangent) > 0)
+				if (p1->flag == 0)
 				{
-					VECCOPY(t->tsnap.snapTangent, tangent);
+					float vec[3];
+					float new_dist;
+					
+					p2 = NULL;
+					p1->flag = 1;
+		
+					/* if peeling objects, take the first and last from each object */			
+					if (t->scene->snap_flag & SCE_SNAP_PEEL_OBJECT)
+					{
+						DepthPeel *peel;
+						for (peel = p1->next; peel; peel = peel->next)
+						{
+							if (peel->ob == p1->ob)
+							{
+								peel->flag = 1;
+								p2 = peel;
+							}
+						}
+					}
+					/* otherwise, pair first with second and so on */
+					else
+					{
+						for (p2 = p1->next; p2 && p2->ob != p1->ob; p2 = p2->next)
+						{
+							/* nothing to do here */
+						}
+					}
+					
+					if (p2)
+					{
+						p2->flag = 1;
+						
+						VecAddf(vec, p1->p, p2->p);
+						VecMulf(vec, 0.5f);
+					}
+					else
+					{
+						VECCOPY(vec, p1->p);
+					}
+					
+					if (last_p == NULL)
+					{
+						VECCOPY(p, vec);
+						dist = 0;
+						break;
+					}
+					
+					new_dist = VecLenf(last_p, vec);
+					
+					if (new_dist < dist)
+					{
+						VECCOPY(p, vec);
+						dist = new_dist;
+					}
 				}
-				
-				VECCOPY(t->tsnap.snapPoint, vec);
-				VECCOPY(t->tsnap.snapNormal, no);
-
-				t->tsnap.status |=  POINT_INIT;
 			}
-			else
+			
+			if (dist != FLT_MAX)
 			{
-				t->tsnap.status &= ~POINT_INIT;
+				VECCOPY(loc, p);
+				found = 1;
 			}
+			
+			BLI_freelistN(&depth_peels);
 		}
-	}
-	/* Mesh edit mode */
-	else if (t->obedit->type==OB_MESH)
-	{
-		if (t->spacetype == SPACE_VIEW3D)
+		else
 		{
-			float vec[3];
-			float no[3];
-			int found = 0;
-			int dist = 40; // Use a user defined value here
-
-			found = snapObjects(t, &dist, vec, no, t->tsnap.mode);
-			if (found == 1)
+			if (t->obedit == NULL)
 			{
-				VECCOPY(t->tsnap.snapPoint, vec);
-				VECCOPY(t->tsnap.snapNormal, no);
-				
-				t->tsnap.status |=  POINT_INIT;
+				mode = SNAP_NOT_SELECTED;
 			}
 			else
 			{
-				t->tsnap.status &= ~POINT_INIT;
+				mode = SNAP_NOT_OBEDIT;
 			}
+				
+			found = snapObjectsTransform(t, t->mval, &dist, loc, no, mode);
 		}
-		else if (t->spacetype == SPACE_IMAGE)
+		
+		if (found == 1)
 		{
-			/* same as above but for UV's */
-			Image *ima= ED_space_image(t->sa->spacedata.first);
-			float aspx, aspy, co[2];
+			float tangent[3];
 			
-			UI_view2d_region_to_view(&t->ar->v2d, t->mval[0], t->mval[1], co, co+1);
-
-			if(ED_uvedit_nearest_uv(t->scene, t->obedit, ima, co, t->tsnap.snapPoint))
-			{
-				ED_space_image_uv_aspect(t->sa->spacedata.first, &aspx, &aspy);
-				t->tsnap.snapPoint[0] *= aspx;
-				t->tsnap.snapPoint[1] *= aspy;
-
-				Mat4MulVecfl(t->obedit->obmat, t->tsnap.snapPoint);
-				
-				t->tsnap.status |=  POINT_INIT;
-			}
-			else
+			VecSubf(tangent, loc, t->tsnap.snapPoint);
+			tangent[2] = 0; 
+			
+			if (Inpf(tangent, tangent) > 0)
 			{
-				t->tsnap.status &= ~POINT_INIT;
+				VECCOPY(t->tsnap.snapTangent, tangent);
 			}
+			
+			VECCOPY(t->tsnap.snapPoint, loc);
+			VECCOPY(t->tsnap.snapNormal, no);
+
+			t->tsnap.status |=  POINT_INIT;
+		}
+		else
+		{
+			t->tsnap.status &= ~POINT_INIT;
+		}
+	}
+	else if (t->spacetype == SPACE_IMAGE && t->obedit != NULL && t->obedit->type==OB_MESH)
+	{	/* same as above but for UV's */
+		/* same as above but for UV's */
+		Image *ima= ED_space_image(t->sa->spacedata.first);
+		float aspx, aspy, co[2];
+		
+		UI_view2d_region_to_view(&t->ar->v2d, t->mval[0], t->mval[1], co, co+1);
+
+		if(ED_uvedit_nearest_uv(t->scene, t->obedit, ima, co, t->tsnap.snapPoint))
+		{
+			ED_space_image_uv_aspect(t->sa->spacedata.first, &aspx, &aspy);
+			t->tsnap.snapPoint[0] *= aspx;
+			t->tsnap.snapPoint[1] *= aspy;
+
+			Mat4MulVecfl(t->obedit->obmat, t->tsnap.snapPoint);
+			
+			t->tsnap.status |=  POINT_INIT;
+		}
+		else
+		{
+			t->tsnap.status &= ~POINT_INIT;
 		}
 	}
 }
@@ -757,7 +865,252 @@ void TargetSnapClosest(TransInfo *t)
 }
 /*================================================================*/
 
-int snapDerivedMesh(TransInfo *t, Object *ob, DerivedMesh *dm, EditMesh *em, float obmat[][4], float ray_start[3], float ray_normal[3], short mval[2], float *loc, float *no, int *dist, float *depth)
+int snapFace(ARegion *ar, float v1co[3], float v2co[3], float v3co[3], float *v4co, short mval[2], float ray_start[3], float ray_start_local[3], float ray_normal_local[3], float obmat[][4], float timat[][3], float *loc, float *no, int *dist, float *depth)
+{
+	float lambda;
+	int result;
+	int retval = 0;
+	
+	result = RayIntersectsTriangleThreshold(ray_start_local, ray_normal_local, v1co, v2co, v3co, &lambda, NULL, 0.001);
+	
+	if (result) {
+		float location[3], normal[3];
+		float intersect[3];
+		float new_depth;
+		int screen_loc[2];
+		int new_dist;
+		
+		VECCOPY(intersect, ray_normal_local);
+		VecMulf(intersect, lambda);
+		VecAddf(intersect, intersect, ray_start_local);
+		
+		VECCOPY(location, intersect);
+		
+		if (v4co)
+			CalcNormFloat4(v1co, v2co, v3co, v4co, normal);
+		else
+			CalcNormFloat(v1co, v2co, v3co, normal);
+
+		Mat4MulVecfl(obmat, location);
+		
+		new_depth = VecLenf(location, ray_start);					
+		
+		project_int(ar, location, screen_loc);
+		new_dist = abs(screen_loc[0] - mval[0]) + abs(screen_loc[1] - mval[1]);
+		
+		if (new_dist <= *dist && new_depth < *depth) 
+		{
+			*depth = new_depth;
+			retval = 1;
+			
+			VECCOPY(loc, location);
+			VECCOPY(no, normal);
+			
+			Mat3MulVecfl(timat, no);
+			Normalize(no);
+
+			*dist = new_dist;
+		} 
+	}
+	
+	return retval;
+}
+
+int snapEdge(ARegion *ar, float v1co[3], short v1no[3], float v2co[3], short v2no[3], short mval[2], float ray_start[3], float ray_start_local[3], float ray_normal_local[3], float obmat[][4], float timat[][3], float *loc, float *no, int *dist, float *depth)
+{
+	float intersect[3] = {0, 0, 0}, ray_end[3], dvec[3];
+	int result;
+	int retval = 0;
+	
+	VECCOPY(ray_end, ray_normal_local);
+	VecMulf(ray_end, 2000);
+	VecAddf(ray_end, ray_start_local, ray_end);
+	
+	result = LineIntersectLine(v1co, v2co, ray_start_local, ray_end, intersect, dvec); /* dvec used but we don't care about result */
+	
+	if (result)
+	{
+		float edge_loc[3], vec[3];
+		float mul;
+	
+		/* check for behind ray_start */
+		VecSubf(dvec, intersect, ray_start_local);
+		
+		VecSubf(edge_loc, v1co, v2co);
+		VecSubf(vec, intersect, v2co);
+		
+		mul = Inpf(vec, edge_loc) / Inpf(edge_loc, edge_loc);
+		
+		if (mul > 1) {
+			mul = 1;
+			VECCOPY(intersect, v1co);
+		}
+		else if (mul < 0) {
+			mul = 0;
+			VECCOPY(intersect, v2co);
+		}
+
+		if (Inpf(ray_normal_local, dvec) > 0)
+		{
+			float location[3];
+			float new_depth;
+			int screen_loc[2];
+			int new_dist;
+			
+			VECCOPY(location, intersect);
+			
+			Mat4MulVecfl(obmat, location);
+			
+			new_depth = VecLenf(location, ray_start);					
+			
+			project_int(ar, location, screen_loc);
+			new_dist = abs(screen_loc[0] - mval[0]) + abs(screen_loc[1] - mval[1]);
+			
+			/* 10% threshold if edge is closer but a bit further
+			 * this takes care of series of connected edges a bit slanted w.r.t the viewport
+			 * otherwise, it would stick to the verts of the closest edge and not slide along merrily 
+			 * */
+			if (new_dist <= *dist && new_depth < *depth * 1.001)
+			{
+				float n1[3], n2[3];
+				
+				*depth = new_depth;
+				retval = 1;
+				
+				VecSubf(edge_loc, v1co, v2co);
+				VecSubf(vec, intersect, v2co);
+				
+				mul = Inpf(vec, edge_loc) / Inpf(edge_loc, edge_loc);
+				
+				if (no)
+				{
+					NormalShortToFloat(n1, v1no);						
+					NormalShortToFloat(n2, v2no);
+					VecLerpf(no, n2, n1, mul);
+					Mat3MulVecfl(timat, no);
+					Normalize(no);
+				}			
+
+				VECCOPY(loc, location);
+				
+				*dist = new_dist;
+			} 
+		}
+	}
+	
+	return retval;
+}
+
+int snapVertex(ARegion *ar, float vco[3], short vno[3], short mval[2], float ray_start[3], float ray_start_local[3], float ray_normal_local[3], float obmat[][4], float timat[][3], float *loc, float *no, int *dist, float *depth)
+{
+	int retval = 0;
+	float dvec[3];
+	
+	VecSubf(dvec, vco, ray_start_local);
+	
+	if (Inpf(ray_normal_local, dvec) > 0)
+	{
+		float location[3];
+		float new_depth;
+		int screen_loc[2];
+		int new_dist;
+		
+		VECCOPY(location, vco);
+		
+		Mat4MulVecfl(obmat, location);
+		
+		new_depth = VecLenf(location, ray_start);					
+		
+		project_int(ar, location, screen_loc);
+		new_dist = abs(screen_loc[0] - mval[0]) + abs(screen_loc[1] - mval[1]);
+		
+		if (new_dist <= *dist && new_depth < *depth)
+		{
+			*depth = new_depth;
+			retval = 1;
+			
+			VECCOPY(loc, location);
+			
+			if (no)
+			{
+				NormalShortToFloat(no, vno);
+				Mat3MulVecfl(timat, no);
+				Normalize(no);
+			}
+
+			*dist = new_dist;
+		} 
+	}
+	
+	return retval;
+}
+
+int snapArmature(short snap_mode, ARegion *ar, Object *ob, bArmature *arm, float obmat[][4], float ray_start[3], float ray_normal[3], short mval[2], float *loc, float *no, int *dist, float *depth)
+{
+	float imat[4][4];
+	float ray_start_local[3], ray_normal_local[3];
+	int retval = 0;
+
+	Mat4Invert(imat, obmat);
+
+	VECCOPY(ray_start_local, ray_start);
+	VECCOPY(ray_normal_local, ray_normal);
+	
+	Mat4MulVecfl(imat, ray_start_local);
+	Mat4Mul3Vecfl(imat, ray_normal_local);
+
+	if(arm->edbo)
+	{
+		EditBone *eBone;
+
+		for (eBone=arm->edbo->first; eBone; eBone=eBone->next) {
+			if (eBone->layer & arm->layer) {
+				/* skip hidden or moving (selected) bones */
+				if ((eBone->flag & (BONE_HIDDEN_A|BONE_ROOTSEL|BONE_TIPSEL))==0) {
+					switch (snap_mode)
+					{
+						case SCE_SNAP_MODE_VERTEX:
+							retval |= snapVertex(ar, eBone->head, NULL, mval, ray_start, ray_start_local, ray_normal_local, obmat, NULL, loc, NULL, dist, depth);
+							retval |= snapVertex(ar, eBone->tail, NULL, mval, ray_start, ray_start_local, ray_normal_local, obmat, NULL, loc, NULL, dist, depth);
+							break;
+						case SCE_SNAP_MODE_EDGE:
+							retval |= snapEdge(ar, eBone->head, NULL, eBone->tail, NULL, mval, ray_start, ray_start_local, ray_normal_local, obmat, NULL, loc, NULL, dist, depth);
+							break;
+					}
+				}
+			}
+		}
+	}
+	else if (ob->pose && ob->pose->chanbase.first)
+	{
+		bPoseChannel *pchan;
+		Bone *bone;
+		
+		for (pchan= ob->pose->chanbase.first; pchan; pchan= pchan->next) {
+			bone= pchan->bone;
+			/* skip hidden bones */
+			if (bone && !(bone->flag & (BONE_HIDDEN_P|BONE_HIDDEN_PG))) {
+				float *head_vec = pchan->pose_head;
+				float *tail_vec = pchan->pose_tail;
+				
+				switch (snap_mode)
+				{
+					case SCE_SNAP_MODE_VERTEX:
+						retval |= snapVertex(ar, head_vec, NULL, mval, ray_start, ray_start_local, ray_normal_local, obmat, NULL, loc, NULL, dist, depth);
+						retval |= snapVertex(ar, tail_vec, NULL, mval, ray_start, ray_start_local, ray_normal_local, obmat, NULL, loc, NULL, dist, depth);
+						break;
+					case SCE_SNAP_MODE_EDGE:
+						retval |= snapEdge(ar, head_vec, NULL, tail_vec, NULL, mval, ray_start, ray_start_local, ray_normal_local, obmat, NULL, loc, NULL, dist, depth);
+						break;
+				}
+			}
+		}
+	}
+
+	return retval;
+}
+
+int snapDerivedMesh(short snap_mode, ARegion *ar, Object *ob, DerivedMesh *dm, EditMesh *em, float obmat[][4], float ray_start[3], float ray_normal[3], short mval[2], float *loc, float *no, int *dist, float *depth)
 {
 	int retval = 0;
 	int totvert = dm->getNumVerts(dm);
@@ -791,7 +1144,7 @@ int snapDerivedMesh(TransInfo *t, Object *ob, DerivedMesh *dm, EditMesh *em, flo
 		
 		if (test == 1) {
 			
-			switch (t->scene->snap_mode)
+			switch (snap_mode)
 			{
 				case SCE_SNAP_MODE_FACE:
 				{ 
@@ -810,8 +1163,6 @@ int snapDerivedMesh(TransInfo *t, Object *ob, DerivedMesh *dm, EditMesh *em, flo
 					for( i = 0; i < totface; i++) {
 						EditFace *efa = NULL;
 						MFace *f = faces + i;
-						float lambda;
-						int result;
 						
 						test = 1; /* reset for every face */
 					
@@ -844,91 +1195,20 @@ int snapDerivedMesh(TransInfo *t, Object *ob, DerivedMesh *dm, EditMesh *em, flo
 						
 						if (test)
 						{
-							result = RayIntersectsTriangle(ray_start_local, ray_normal_local, verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, &lambda, NULL);
+							int result;
+							float *v4co = NULL;
 							
-							if (result) {
-								float location[3], normal[3];
-								float intersect[3];
-								float new_depth;
-								int screen_loc[2];
-								int new_dist;
-								
-								VECCOPY(intersect, ray_normal_local);
-								VecMulf(intersect, lambda);
-								VecAddf(intersect, intersect, ray_start_local);
-								
-								VECCOPY(location, intersect);
-								
-								if (f->v4)
-									CalcNormFloat4(verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, verts[f->v4].co, normal);
-								else
-									CalcNormFloat(verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, normal);
-
-								Mat4MulVecfl(obmat, location);
-								
-								new_depth = VecLenf(location, ray_start);					
-								
-								project_int(t->ar, location, screen_loc);
-								new_dist = abs(screen_loc[0] - mval[0]) + abs(screen_loc[1] - mval[1]);
-								
-								if (new_dist <= *dist && new_depth < *depth)
-								{
-									*depth = new_depth;
-									retval = 1;
-									
-									VECCOPY(loc, location);
-									VECCOPY(no, normal);
-									
-									Mat3MulVecfl(timat, no);
-									Normalize(no);
-					
-									*dist = new_dist;
-								} 
+							if (f->v4)
+							{
+								v4co = verts[f->v4].co;
 							}
-					
+							
+							result = snapFace(ar, verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, v4co, mval, ray_start, ray_start_local, ray_normal_local, obmat, timat, loc, no, dist, depth);
+							retval |= result;
+
 							if (f->v4 && result == 0)
 							{
-								result = RayIntersectsTriangle(ray_start_local, ray_normal_local, verts[f->v3].co, verts[f->v4].co, verts[f->v1].co, &lambda, NULL);
-								
-								if (result) {
-									float location[3], normal[3];
-									float intersect[3];
-									float new_depth;
-									int screen_loc[2];
-									int new_dist;
-									
-									VECCOPY(intersect, ray_normal_local);
-									VecMulf(intersect, lambda);
-									VecAddf(intersect, intersect, ray_start_local);
-									
-									VECCOPY(location, intersect);
-									
-									if (f->v4)
-										CalcNormFloat4(verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, verts[f->v4].co, normal);
-									else
-										CalcNormFloat(verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, normal);
-	
-									Mat4MulVecfl(obmat, location);
-									
-									new_depth = VecLenf(location, ray_start);					
-									
-									project_int(t->ar, location, screen_loc);
-									new_dist = abs(screen_loc[0] - mval[0]) + abs(screen_loc[1] - mval[1]);
-									
-									if (new_dist <= *dist && new_depth < *depth)
-									{
-										*depth = new_depth;
-										retval = 1;
-										
-										VECCOPY(loc, location);
-										VECCOPY(no, normal);
-										
-										Mat3MulVecfl(timat, no);
-										Normalize(no);
-						
-										*dist = new_dist;
-									}
-								} 
+								retval |= snapFace(ar, verts[f->v3].co, verts[f->v4].co, verts[f->v1].co, verts[f->v2].co, mval, ray_start, ray_start_local, ray_normal_local, obmat, timat, loc, no, dist, depth);
 							}
 						}
 					}
@@ -987,40 +1267,7 @@ int snapDerivedMesh(TransInfo *t, Object *ob, DerivedMesh *dm, EditMesh *em, flo
 						
 						if (test)
 						{
-							float dvec[3];
-							
-							VecSubf(dvec, v->co, ray_start_local);
-							
-							if (Inpf(ray_normal_local, dvec) > 0)
-							{
-								float location[3];
-								float new_depth;
-								int screen_loc[2];
-								int new_dist;
-								
-								VECCOPY(location, v->co);
-								
-								Mat4MulVecfl(obmat, location);
-								
-								new_depth = VecLenf(location, ray_start);					
-								
-								project_int(t->ar, location, screen_loc);
-								new_dist = abs(screen_loc[0] - mval[0]) + abs(screen_loc[1] - mval[1]);
-								
-								if (new_dist <= *dist && new_depth < *depth)
-								{
-									*depth = new_depth;
-									retval = 1;
-									
-									VECCOPY(loc, location);
-									
-									NormalShortToFloat(no, v->no);
-									Mat3MulVecfl(timat, no);
-									Normalize(no);
-					
-									*dist = new_dist;
-								} 
-							}
+							retval |= snapVertex(ar, v->co, v->no, mval, ray_start, ray_start_local, ray_normal_local, obmat, timat, loc, no, dist, depth);
 						}
 					}
 
@@ -1080,79 +1327,7 @@ int snapDerivedMesh(TransInfo *t, Object *ob, DerivedMesh *dm, EditMesh *em, flo
 						
 						if (test)
 						{
-							float intersect[3] = {0, 0, 0}, ray_end[3], dvec[3];
-							int result;
-							
-							VECCOPY(ray_end, ray_normal_local);
-							VecMulf(ray_end, 2000);
-							VecAddf(ray_end, ray_start_local, ray_end);
-							
-							result = LineIntersectLine(verts[e->v1].co, verts[e->v2].co, ray_start_local, ray_end, intersect, dvec); /* dvec used but we don't care about result */
-							
-							if (result)
-							{
-								float edge_loc[3], vec[3];
-								float mul;
-							
-								/* check for behind ray_start */
-								VecSubf(dvec, intersect, ray_start_local);
-								
-								VecSubf(edge_loc, verts[e->v1].co, verts[e->v2].co);
-								VecSubf(vec, intersect, verts[e->v2].co);
-								
-								mul = Inpf(vec, edge_loc) / Inpf(edge_loc, edge_loc);
-								
-								if (mul > 1) {
-									mul = 1;
-									VECCOPY(intersect, verts[e->v1].co);
-								}
-								else if (mul < 0) {
-									mul = 0;
-									VECCOPY(intersect, verts[e->v2].co);
-								}
-	
-								if (Inpf(ray_normal_local, dvec) > 0)
-								{
-									float location[3];
-									float new_depth;
-									int screen_loc[2];
-									int new_dist;
-									
-									VECCOPY(location, intersect);
-									
-									Mat4MulVecfl(obmat, location);
-									
-									new_depth = VecLenf(location, ray_start);					
-									
-									project_int(t->ar, location, screen_loc);
-									new_dist = abs(screen_loc[0] - mval[0]) + abs(screen_loc[1] - mval[1]);
-									
-									if (new_dist <= *dist && new_depth < *depth)
-									{
-										float n1[3], n2[3];
-										
-										*depth = new_depth;
-										retval = 1;
-										
-										VecSubf(edge_loc, verts[e->v1].co, verts[e->v2].co);
-										VecSubf(vec, intersect, verts[e->v2].co);
-										
-										mul = Inpf(vec, edge_loc) / Inpf(edge_loc, edge_loc);
-										
-										NormalShortToFloat(n1, verts[e->v1].no);						
-										NormalShortToFloat(n2, verts[e->v2].no);
-										VecLerpf(no, n2, n1, mul);
-										Normalize(no);			
-	
-										VECCOPY(loc, location);
-										
-										Mat3MulVecfl(timat, no);
-										Normalize(no);
-										
-										*dist = new_dist;
-									} 
-								}
-							}
+							retval |= snapEdge(ar, verts[e->v1].co, verts[e->v1].no, verts[e->v2].co, verts[e->v2].no, mval, ray_start, ray_start_local, ray_normal_local, obmat, timat, loc, no, dist, depth);
 						}
 					}
 
@@ -1169,41 +1344,273 @@ int snapDerivedMesh(TransInfo *t, Object *ob, DerivedMesh *dm, EditMesh *em, flo
 	return retval;
 } 
 
-int snapObjects(TransInfo *t, int *dist, float *loc, float *no, int mode) {
-	Scene *scene = t->scene;
-	View3D *v3d = t->view;
+int snapObject(Scene *scene, ARegion *ar, Object *ob, int editobject, float obmat[][4], float ray_start[3], float ray_normal[3], short mval[2], float *loc, float *no, int *dist, float *depth)
+{
+	int retval = 0;
+	
+	if (ob->type == OB_MESH) {
+		EditMesh *em;
+		DerivedMesh *dm;
+		
+		if (editobject)
+		{
+			em = ((Mesh *)ob->data)->edit_mesh;
+			dm = editmesh_get_derived_cage(scene, ob, em, CD_MASK_BAREMESH);
+		}
+		else
+		{
+			em = NULL;
+			dm = mesh_get_derived_final(scene, ob, CD_MASK_BAREMESH);
+		}
+		
+		retval = snapDerivedMesh(scene->snap_mode, ar, ob, dm, em, obmat, ray_start, ray_normal, mval, loc, no, dist, depth);
+
+		dm->release(dm);
+	}
+	else if (ob->type == OB_ARMATURE)
+	{
+		retval = snapArmature(scene->snap_mode, ar, ob, ob->data, obmat, ray_start, ray_normal, mval, loc, no, dist, depth);
+	}
+	
+	return retval;
+}
+
+int snapObjects(Scene *scene, View3D *v3d, ARegion *ar, Object *obedit, short mval[2], int *dist, float *loc, float *no, SnapMode mode) {
 	Base *base;
 	float depth = FLT_MAX;
 	int retval = 0;
 	float ray_start[3], ray_normal[3];
 	
-	viewray(t->ar, v3d, t->mval, ray_start, ray_normal);
+	viewray(ar, v3d, mval, ray_start, ray_normal);
 
-	if (mode == SNAP_ALL && t->obedit)
+	if (mode == SNAP_ALL && obedit)
 	{
-		DerivedMesh *dm;
-		Object *ob = t->obedit;
-		EditMesh *em = ((Mesh *)t->obedit->data)->edit_mesh;
+		Object *ob = obedit;
 		
-		dm = editmesh_get_derived_cage(t->scene, t->obedit, em, CD_MASK_BAREMESH);
+		retval |= snapObject(scene, ar, ob, 1, ob->obmat, ray_start, ray_normal, mval, loc, no, dist, &depth);
+	}
+	
+	base= FIRSTBASE;
+	for ( base = FIRSTBASE; base != NULL; base = base->next ) {
+		if ( BASE_SELECTABLE(v3d, base) && (base->flag & (BA_HAS_RECALC_OB|BA_HAS_RECALC_DATA)) == 0 && ((mode == SNAP_NOT_SELECTED && (base->flag & (SELECT|BA_WAS_SEL)) == 0) || (mode == SNAP_NOT_OBEDIT && base != BASACT)) ) {
+			Object *ob = base->object;
+			
+			if (ob->transflag & OB_DUPLI)
+			{
+				DupliObject *dupli_ob;
+				ListBase *lb = object_duplilist(scene, ob);
+				
+				for(dupli_ob = lb->first; dupli_ob; dupli_ob = dupli_ob->next)
+				{
+					Object *ob = dupli_ob->ob;
+					
+					retval |= snapObject(scene, ar, ob, 0, dupli_ob->mat, ray_start, ray_normal, mval, loc, no, dist, &depth);
+				}
+				
+				free_object_duplilist(lb);
+			}
+			
+			retval |= snapObject(scene, ar, ob, 0, ob->obmat, ray_start, ray_normal, mval, loc, no, dist, &depth);
+		}
+	}
+	
+	return retval;
+}
+
+int snapObjectsTransform(TransInfo *t, short mval[2], int *dist, float *loc, float *no, SnapMode mode)
+{
+	return snapObjects(t->scene, t->view, t->ar, t->obedit, mval, dist, loc, no, mode);
+}
+
+int snapObjectsContext(bContext *C, short mval[2], int *dist, float *loc, float *no, SnapMode mode)
+{
+	ScrArea *sa = CTX_wm_area(C);
+	View3D *v3d = sa->spacedata.first;
+
+	return snapObjects(CTX_data_scene(C), v3d, CTX_wm_region(C), CTX_data_edit_object(C), mval, dist, loc, no, mode);
+}
+
+/******************** PEELING *********************************/
+
+
+int cmpPeel(void *arg1, void *arg2)
+{
+	DepthPeel *p1 = arg1;
+	DepthPeel *p2 = arg2;
+	int val = 0;
+	
+	if (p1->depth < p2->depth)
+	{
+		val = -1;
+	}
+	else if (p1->depth > p2->depth)
+	{
+		val = 1;
+	}
+	
+	return val;
+}
+
+void removeDoublesPeel(ListBase *depth_peels)
+{
+	DepthPeel *peel;
+	
+	for (peel = depth_peels->first; peel; peel = peel->next)
+	{
+		DepthPeel *next_peel = peel->next;
 		
-		retval = snapDerivedMesh(t, ob, dm, em, ob->obmat, ray_start, ray_normal, t->mval, loc, no, dist, &depth);
+		if (peel && next_peel && ABS(peel->depth - next_peel->depth) < 0.0015)
+		{
+			peel->next = next_peel->next;
+			
+			if (next_peel->next)
+			{
+				next_peel->next->prev = peel;
+			}
+			
+			MEM_freeN(next_peel);
+		}
+	}
+}
+
+void addDepthPeel(ListBase *depth_peels, float depth, float p[3], float no[3], Object *ob)
+{
+	DepthPeel *peel = MEM_callocN(sizeof(DepthPeel), "DepthPeel");
+	
+	peel->depth = depth;
+	peel->ob = ob;
+	VECCOPY(peel->p, p);
+	VECCOPY(peel->no, no);
+	
+	BLI_addtail(depth_peels, peel);
+	
+	peel->flag = 0;
+}
+
+int peelDerivedMesh(Object *ob, DerivedMesh *dm, float obmat[][4], float ray_start[3], float ray_normal[3], short mval[2], ListBase *depth_peels)
+{
+	int retval = 0;
+	int totvert = dm->getNumVerts(dm);
+	int totface = dm->getNumFaces(dm);
+	
+	if (totvert > 0) {
+		float imat[4][4];
+		float timat[3][3]; /* transpose inverse matrix for normals */
+		float ray_start_local[3], ray_normal_local[3];
+		int test = 1;
+
+		Mat4Invert(imat, obmat);
+
+		Mat3CpyMat4(timat, imat);
+		Mat3Transp(timat);
 		
-		dm->release(dm);
+		VECCOPY(ray_start_local, ray_start);
+		VECCOPY(ray_normal_local, ray_normal);
+		
+		Mat4MulVecfl(imat, ray_start_local);
+		Mat4Mul3Vecfl(imat, ray_normal_local);
+		
+		
+		/* If number of vert is more than an arbitrary limit, 
+		 * test against boundbox first
+		 * */
+		if (totface > 16) {
+			struct BoundBox *bb = object_get_boundbox(ob);
+			test = ray_hit_boundbox(bb, ray_start_local, ray_normal_local);
+		}
+		
+		if (test == 1) {
+			MVert *verts = dm->getVertArray(dm);
+			MFace *faces = dm->getFaceArray(dm);
+			int i;
+			
+			for( i = 0; i < totface; i++) {
+				MFace *f = faces + i;
+				float lambda;
+				int result;
+				
+				
+				result = RayIntersectsTriangleThreshold(ray_start_local, ray_normal_local, verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, &lambda, NULL, 0.001);
+				
+				if (result) {
+					float location[3], normal[3];
+					float intersect[3];
+					float new_depth;
+					
+					VECCOPY(intersect, ray_normal_local);
+					VecMulf(intersect, lambda);
+					VecAddf(intersect, intersect, ray_start_local);
+					
+					VECCOPY(location, intersect);
+					
+					if (f->v4)
+						CalcNormFloat4(verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, verts[f->v4].co, normal);
+					else
+						CalcNormFloat(verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, normal);
+
+					Mat4MulVecfl(obmat, location);
+					
+					new_depth = VecLenf(location, ray_start);					
+					
+					Mat3MulVecfl(timat, normal);
+					Normalize(normal);
+
+					addDepthPeel(depth_peels, new_depth, location, normal, ob);
+				}
+		
+				if (f->v4 && result == 0)
+				{
+					result = RayIntersectsTriangleThreshold(ray_start_local, ray_normal_local, verts[f->v3].co, verts[f->v4].co, verts[f->v1].co, &lambda, NULL, 0.001);
+					
+					if (result) {
+						float location[3], normal[3];
+						float intersect[3];
+						float new_depth;
+						
+						VECCOPY(intersect, ray_normal_local);
+						VecMulf(intersect, lambda);
+						VecAddf(intersect, intersect, ray_start_local);
+						
+						VECCOPY(location, intersect);
+						
+						if (f->v4)
+							CalcNormFloat4(verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, verts[f->v4].co, normal);
+						else
+							CalcNormFloat(verts[f->v1].co, verts[f->v2].co, verts[f->v3].co, normal);
+
+						Mat4MulVecfl(obmat, location);
+						
+						new_depth = VecLenf(location, ray_start);					
+						
+						Mat3MulVecfl(timat, normal);
+						Normalize(normal);
+	
+						addDepthPeel(depth_peels, new_depth, location, normal, ob);
+					} 
+				}
+			}
+		}
 	}
+
+	return retval;
+} 
+
+int peelObjects(Scene *scene, View3D *v3d, ARegion *ar, Object *obedit, ListBase *depth_peels, short mval[2])
+{
+	Base *base;
+	int retval = 0;
+	float ray_start[3], ray_normal[3];
 	
+	viewray(ar, v3d, mval, ray_start, ray_normal);
+
 	for ( base = scene->base.first; base != NULL; base = base->next ) {
-		if ( BASE_SELECTABLE(v3d, base) && /* SELECTABLE */
-			(base->flag & (BA_HAS_RECALC_OB|BA_HAS_RECALC_DATA)) == 0 && /* IS NOT AFFECTED BY TRANSFORM */
-			(	(mode == SNAP_NOT_SELECTED && (base->flag & (SELECT|BA_WAS_SEL)) == 0) || /* NOT_SELECTED */
-				((mode == SNAP_NOT_OBEDIT || mode == SNAP_ALL) && base->object != t->obedit)) /* OR NOT OBEDIT */
-			) {
+		if ( BASE_SELECTABLE(v3d, base) ) {
 			Object *ob = base->object;
 			
 			if (ob->transflag & OB_DUPLI)
 			{
 				DupliObject *dupli_ob;
-				ListBase *lb = object_duplilist(t->scene, ob);
+				ListBase *lb = object_duplilist(scene, ob);
 				
 				for(dupli_ob = lb->first; dupli_ob; dupli_ob = dupli_ob->next)
 				{
@@ -1211,21 +1618,9 @@ int snapObjects(TransInfo *t, int *dist, float *loc, float *no, int mode) {
 					
 					if (ob->type == OB_MESH) {
 						DerivedMesh *dm;
-						EditMesh *em;
 						int val;
-
-						if(ob == t->obedit)
-						{
-							em = ((Mesh *)ob->data)->edit_mesh;
-							dm = editmesh_get_derived_cage(t->scene, t->obedit, em, CD_MASK_BAREMESH);
-						}
-						else
-						{
-							em = NULL;
-							dm = mesh_get_derived_final(t->scene, ob, CD_MASK_BAREMESH);
-						}
-
-						val = snapDerivedMesh(t, ob, dm, em, dupli_ob->mat, ray_start, ray_normal, t->mval, loc, no, dist, &depth);
+						
+						val = peelDerivedMesh(ob, dm, dupli_ob->mat, ray_start, ray_normal, mval, depth_peels);
 	
 						retval = retval || val;
 	
@@ -1237,11 +1632,24 @@ int snapObjects(TransInfo *t, int *dist, float *loc, float *no, int mode) {
 			}
 			
 			if (ob->type == OB_MESH) {
-				DerivedMesh *dm = mesh_get_derived_final(t->scene, ob, CD_MASK_BAREMESH);
+				EditMesh *em;
+				DerivedMesh *dm = NULL;
 				int val;
-				
-				val = snapDerivedMesh(t, ob, dm, NULL, ob->obmat, ray_start, ray_normal, t->mval, loc, no, dist, &depth);
-				
+
+				if (ob != obedit)
+				{
+					dm = mesh_get_derived_final(scene, ob, CD_MASK_BAREMESH);
+					
+					val = peelDerivedMesh(ob, dm, ob->obmat, ray_start, ray_normal, mval, depth_peels);
+				}
+				else
+				{
+					em = ((Mesh *)ob->data)->edit_mesh;
+					dm = editmesh_get_derived_cage(scene, obedit, em, CD_MASK_BAREMESH);
+					
+					val = peelDerivedMesh(ob, dm, ob->obmat, ray_start, ray_normal, mval, depth_peels);
+				}
+					
 				retval = retval || val;
 				
 				dm->release(dm);
@@ -1249,9 +1657,25 @@ int snapObjects(TransInfo *t, int *dist, float *loc, float *no, int mode) {
 		}
 	}
 	
+	BLI_sortlist(depth_peels, cmpPeel);
+	removeDoublesPeel(depth_peels);
+	
 	return retval;
 }
 
+int peelObjectsTransForm(TransInfo *t, ListBase *depth_peels, short mval[2])
+{
+	return peelObjects(t->scene, t->view, t->ar, t->obedit, depth_peels, mval);
+}
+
+int peelObjectsContext(bContext *C, ListBase *depth_peels, short mval[2])
+{
+	ScrArea *sa = CTX_wm_area(C);
+	View3D *v3d = sa->spacedata.first;
+
+	return peelObjects(CTX_data_scene(C), v3d, CTX_wm_region(C), CTX_data_edit_object(C), depth_peels, mval);
+}
+
 /*================================================================*/
 
 static void applyGrid(TransInfo *t, float *val, int max_index, float fac[3], GearsType action);
diff --git a/source/blender/editors/uvedit/uvedit_draw.c b/source/blender/editors/uvedit/uvedit_draw.c
index 9686d4d6094..4b2f23e823b 100644
--- a/source/blender/editors/uvedit/uvedit_draw.c
+++ b/source/blender/editors/uvedit/uvedit_draw.c
@@ -120,7 +120,7 @@ static void draw_uvs_shadow(SpaceImage *sima, Object *obedit)
 	EditFace *efa;
 	TFace *tf;
 	
-	em= ((Mesh*)obedit->data)->edit_mesh;
+	em= EM_GetEditMesh((Mesh*)obedit->data);
 
 	/* draws the grey mesh when painting */
 	glColor3ub(112, 112, 112);
@@ -135,6 +135,8 @@ static void draw_uvs_shadow(SpaceImage *sima, Object *obedit)
 			if(efa->v4) glVertex2fv(tf->uv[3]);
 		glEnd();
 	}
+
+	EM_EndEditMesh(obedit->data, em);
 }
 
 static int draw_uvs_dm_shadow(DerivedMesh *dm)
@@ -373,6 +375,45 @@ static void draw_uvs_stretch(SpaceImage *sima, Scene *scene, EditMesh *em, MTFac
 	}
 }
 
+static void draw_uvs_other(SpaceImage *sima, Scene *scene, Object *obedit, MTFace *activetf)
+{
+	Base *base;
+	Image *curimage;
+
+	curimage= (activetf)? activetf->tpage: NULL;
+
+	glColor3ub(96, 96, 96);
+
+	for(base=scene->base.first; base; base=base->next) {
+		Object *ob= base->object;
+
+		if(!(base->flag & SELECT)) continue;
+		if(!(base->lay & scene->lay)) continue;
+		if(ob->restrictflag & OB_RESTRICT_VIEW) continue;
+
+		if((ob->type==OB_MESH) && (ob!=obedit)) {
+			Mesh *me= ob->data;
+
+			if(me->mtface) {
+				MFace *mface= me->mface;
+				MTFace *tface= me->mtface;
+				int a;
+
+				for(a=me->totface; a>0; a--, tface++, mface++) {
+					if(tface->tpage == curimage) {
+						glBegin(GL_LINE_LOOP);
+						glVertex2fv(tface->uv[0]);
+						glVertex2fv(tface->uv[1]);
+						glVertex2fv(tface->uv[2]);
+						if(mface->v4) glVertex2fv(tface->uv[3]);
+						glEnd();
+					}
+				}
+			}
+		}
+	}
+}
+
 /* draws uv's in the image space */
 static void draw_uvs(SpaceImage *sima, Scene *scene, Object *obedit)
 {
@@ -387,7 +428,7 @@ static void draw_uvs(SpaceImage *sima, Scene *scene, Object *obedit)
 	int drawfaces, interpedges, lastsel, sel;
 	Image *ima= sima->image;
  	
-	em= me->edit_mesh;
+	em= EM_GetEditMesh(me);
 	activetf= EM_get_active_mtface(em, &efa_act, NULL, 0); /* will be set to NULL if hidden */
 
 	settings= scene->toolsettings;
@@ -397,6 +438,10 @@ static void draw_uvs(SpaceImage *sima, Scene *scene, Object *obedit)
 		interpedges= (scene->selectmode & SCE_SELECT_VERTEX);
 	else
 		interpedges= (settings->uv_selectmode == UV_SELECT_VERTEX);
+	
+	/* draw other uvs */
+	if(sima->flag & SI_DRAW_OTHER)
+		draw_uvs_other(sima, scene, obedit, activetf);
 
 	/* 1. draw shadow mesh */
 	
@@ -576,7 +621,7 @@ static void draw_uvs(SpaceImage *sima, Scene *scene, Object *obedit)
 			}
 			
 			glLineWidth(1);
-			col2[0] = col2[1] = col2[2] = 128; col2[3] = 255;
+			col2[0] = col2[1] = col2[2] = 192; col2[3] = 255;
 			glColor4ubv((unsigned char *)col2); 
 			
 			if(me->drawflag & ME_DRAWEDGES) {
@@ -781,6 +826,7 @@ static void draw_uvs(SpaceImage *sima, Scene *scene, Object *obedit)
 	}
 
 	glPointSize(1.0);
+	EM_EndEditMesh(obedit->data, em);
 }
 
 void draw_uvedit_main(SpaceImage *sima, ARegion *ar, Scene *scene, Object *obedit)
diff --git a/source/blender/editors/uvedit/uvedit_ops.c b/source/blender/editors/uvedit/uvedit_ops.c
index 60cfbfd0f39..17b2aff1b21 100644
--- a/source/blender/editors/uvedit/uvedit_ops.c
+++ b/source/blender/editors/uvedit/uvedit_ops.c
@@ -75,10 +75,17 @@
 
 int ED_uvedit_test(Object *obedit)
 {
+	EditMesh *em;
+	int ret;
+
 	if(obedit->type != OB_MESH)
 		return 0;
 
-	return EM_texFaceCheck(((Mesh*)obedit->data)->edit_mesh);
+	em = EM_GetEditMesh(obedit->data);
+	ret = EM_texFaceCheck(em);
+	EM_EndEditMesh(obedit->data, em);
+	
+	return ret;
 }
 
 /************************* assign image ************************/
@@ -98,9 +105,11 @@ void ED_uvedit_assign_image(Scene *scene, Object *obedit, Image *ima, Image *pre
 	if(!obedit || (obedit->type != OB_MESH))
 		return;
 
-	em= ((Mesh*)obedit->data)->edit_mesh;
-	if(!em || !em->faces.first)
+	em= EM_GetEditMesh(((Mesh*)obedit->data));
+	if(!em || !em->faces.first) {
+		EM_EndEditMesh(obedit->data, em);
 		return;
+	}
 	
 	/* ensure we have a uv layer */
 	if(!CustomData_has_layer(&em->fdata, CD_MTFACE)) {
@@ -135,6 +144,8 @@ void ED_uvedit_assign_image(Scene *scene, Object *obedit, Image *ima, Image *pre
 	/* and update depdency graph */
 	if(update)
 		DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
+
+	EM_EndEditMesh(obedit->data, em);
 }
 
 /* dotile -	1, set the tile flag (from the space image)
@@ -153,7 +164,7 @@ void ED_uvedit_set_tile(bContext *C, Scene *scene, Object *obedit, Image *ima, i
 	if(ima->type==IMA_TYPE_R_RESULT || ima->type==IMA_TYPE_COMPOSITE)
 		return;
 	
-	em= ((Mesh*)obedit->data)->edit_mesh;
+	em= EM_GetEditMesh((Mesh*)obedit->data);
 
 	for(efa= em->faces.first; efa; efa= efa->next) {
 		tf = CustomData_em_get(&em->fdata, efa->data, CD_MTFACE);
@@ -173,6 +184,7 @@ void ED_uvedit_set_tile(bContext *C, Scene *scene, Object *obedit, Image *ima, i
 
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
+	EM_EndEditMesh(obedit->data, em);
 }
 
 /*********************** space conversion *********************/
@@ -356,7 +368,7 @@ void uv_copy_aspect(float uv_orig[][2], float uv[][2], float aspx, float aspy)
 
 int ED_uvedit_minmax(Scene *scene, Image *ima, Object *obedit, float *min, float *max)
 {
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	int sel;
@@ -373,13 +385,14 @@ int ED_uvedit_minmax(Scene *scene, Image *ima, Object *obedit, float *min, float
 			if(efa->v4 && (uvedit_uv_selected(scene, efa, tf, 3)))	{ DO_MINMAX2(tf->uv[3], min, max); sel = 1; }
 		}
 	}
-
+	
+	EM_EndEditMesh(obedit->data, em);
 	return sel;
 }
 
 int uvedit_center(Scene *scene, Image *ima, Object *obedit, float *cent, int mode)
 {
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	float min[2], max[2];
@@ -407,10 +420,12 @@ int uvedit_center(Scene *scene, Image *ima, Object *obedit, float *cent, int mod
 	if(change) {
 		cent[0]= (min[0]+max[0])/2.0;
 		cent[1]= (min[1]+max[1])/2.0;
-
+		
+		EM_EndEditMesh(obedit->data, em);
 		return 1;
 	}
 
+	EM_EndEditMesh(obedit->data, em);
 	return 0;
 }
 
@@ -569,7 +584,7 @@ static void find_nearest_uv_vert(Scene *scene, Image *ima, EditMesh *em, float c
 
 int ED_uvedit_nearest_uv(Scene *scene, Object *obedit, Image *ima, float co[2], float uv[2])
 {
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	float mindist, dist;
@@ -599,6 +614,7 @@ int ED_uvedit_nearest_uv(Scene *scene, Object *obedit, Image *ima, float co[2],
 		}
 	}
 
+	EM_EndEditMesh(obedit->data, em);
 	return found;
 }
 
@@ -978,7 +994,7 @@ static void weld_align_uv(bContext *C, int tool)
 	
 	scene= CTX_data_scene(C);
 	obedit= CTX_data_edit_object(C);
-	em= ((Mesh*)obedit->data)->edit_mesh;
+	em= EM_GetEditMesh((Mesh*)obedit->data);
 	ima= CTX_data_edit_image(C);
 
 	INIT_MINMAX2(min, max);
@@ -1038,6 +1054,8 @@ static void weld_align_uv(bContext *C, int tool)
 
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
+
+	EM_EndEditMesh(obedit->data, em);
 }
 
 static int align_exec(bContext *C, wmOperator *op)
@@ -1111,7 +1129,7 @@ static int stitch_exec(bContext *C, wmOperator *op)
 	sima= (SpaceImage*)CTX_wm_space_data(C);
 	scene= CTX_data_scene(C);
 	obedit= CTX_data_edit_object(C);
-	em= ((Mesh*)obedit->data)->edit_mesh;
+	em= EM_GetEditMesh((Mesh*)obedit->data);
 	ima= CTX_data_edit_image(C);
 	
 	if(RNA_boolean_get(op->ptr, "use_limit")) {
@@ -1126,8 +1144,10 @@ static int stitch_exec(bContext *C, wmOperator *op)
 		EM_init_index_arrays(em, 0, 0, 1);
 		vmap= EM_make_uv_vert_map(em, 1, 0, limit);
 
-		if(vmap == NULL)
+		if(vmap == NULL) {
+			EM_EndEditMesh(obedit->data, em);
 			return OPERATOR_CANCELLED;
+		}
 
 		for(a=0, eve= em->verts.first; eve; a++, eve= eve->next) {
 			vlist= EM_get_uv_map_vert(vmap, a);
@@ -1256,6 +1276,7 @@ static int stitch_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -1288,7 +1309,7 @@ static int select_inverse_exec(bContext *C, wmOperator *op)
 	
 	scene= CTX_data_scene(C);
 	obedit= CTX_data_edit_object(C);
-	em= ((Mesh*)obedit->data)->edit_mesh;
+	em= EM_GetEditMesh((Mesh*)obedit->data);
 	ima= CTX_data_edit_image(C);
 
 	if(scene->toolsettings->uv_flag & UV_SYNC_SELECTION) {
@@ -1309,6 +1330,7 @@ static int select_inverse_exec(bContext *C, wmOperator *op)
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -1338,7 +1360,7 @@ static int de_select_all_exec(bContext *C, wmOperator *op)
 	
 	scene= CTX_data_scene(C);
 	obedit= CTX_data_edit_object(C);
-	em= ((Mesh*)obedit->data)->edit_mesh;
+	em= EM_GetEditMesh((Mesh*)obedit->data);
 	ima= CTX_data_edit_image(C);
 	
 	if(scene->toolsettings->uv_flag & UV_SYNC_SELECTION) {
@@ -1376,14 +1398,15 @@ static int de_select_all_exec(bContext *C, wmOperator *op)
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
-void UV_OT_de_select_all(wmOperatorType *ot)
+void UV_OT_select_all_toggle(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Select or Deselect All";
-	ot->idname= "UV_OT_de_select_all";
+	ot->idname= "UV_OT_select_all_toggle";
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 	
 	/* api callbacks */
@@ -1422,7 +1445,7 @@ static int mouse_select(bContext *C, float co[2], int extend, int loop)
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
 	Image *ima= CTX_data_edit_image(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	NearestHit hit;
@@ -1456,14 +1479,18 @@ static int mouse_select(bContext *C, float co[2], int extend, int loop)
 	if(loop) {
 		/* find edge */
 		find_nearest_uv_edge(scene, ima, em, co, &hit);
-		if(hit.efa == NULL)
+		if(hit.efa == NULL) {
+			EM_EndEditMesh(obedit->data, em);
 			return OPERATOR_CANCELLED;
+		}
 	}
 	else if(selectmode == UV_SELECT_VERTEX) {
 		/* find vertex */
 		find_nearest_uv_vert(scene, ima, em, co, penalty, &hit);
-		if(hit.efa == NULL)
+		if(hit.efa == NULL) {
+			EM_EndEditMesh(obedit->data, em);
 			return OPERATOR_CANCELLED;
+		}
 
 		/* mark 1 vertex as being hit */
 		for(i=0; i<4; i++)
@@ -1475,8 +1502,10 @@ static int mouse_select(bContext *C, float co[2], int extend, int loop)
 	else if(selectmode == UV_SELECT_EDGE) {
 		/* find edge */
 		find_nearest_uv_edge(scene, ima, em, co, &hit);
-		if(hit.efa == NULL)
+		if(hit.efa == NULL) {
+			EM_EndEditMesh(obedit->data, em);
 			return OPERATOR_CANCELLED;
+		}
 
 		/* mark 2 edge vertices as being hit */
 		for(i=0; i<4; i++)
@@ -1492,8 +1521,10 @@ static int mouse_select(bContext *C, float co[2], int extend, int loop)
 	else if(selectmode == UV_SELECT_FACE) {
 		/* find face */
 		find_nearest_uv_face(scene, ima, em, co, &hit);
-		if(hit.efa == NULL)
+		if(hit.efa == NULL) {
+			EM_EndEditMesh(obedit->data, em);
 			return OPERATOR_CANCELLED;
+		}
 		
 		/* make active */
 		EM_set_actFace(em, hit.efa);
@@ -1512,11 +1543,15 @@ static int mouse_select(bContext *C, float co[2], int extend, int loop)
 	else if(selectmode == UV_SELECT_ISLAND) {
 		find_nearest_uv_vert(scene, ima, em, co, NULL, &hit);
 
-		if(hit.efa==NULL)
+		if(hit.efa==NULL) {
+			EM_EndEditMesh(obedit->data, em);
 			return OPERATOR_CANCELLED;
+		}
 	}
-	else
+	else {
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
+	}
 
 	/* do selection */
 	if(loop) {
@@ -1666,7 +1701,8 @@ static int mouse_select(bContext *C, float co[2], int extend, int loop)
 	
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
-
+	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_PASS_THROUGH|OPERATOR_FINISHED;
 }
 
@@ -1718,7 +1754,7 @@ void UV_OT_select(wmOperatorType *ot)
 
 /* ******************** loop select operator **************** */
 
-static int loop_select_exec(bContext *C, wmOperator *op)
+static int select_loop_exec(bContext *C, wmOperator *op)
 {
 	float co[2];
 	int extend, loop;
@@ -1730,7 +1766,7 @@ static int loop_select_exec(bContext *C, wmOperator *op)
 	return mouse_select(C, co, extend, loop);
 }
 
-static int loop_select_invoke(bContext *C, wmOperator *op, wmEvent *event)
+static int select_loop_invoke(bContext *C, wmOperator *op, wmEvent *event)
 {
 	ARegion *ar= CTX_wm_region(C);
 	float co[2];
@@ -1742,19 +1778,19 @@ static int loop_select_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	UI_view2d_region_to_view(&ar->v2d, x, y, &co[0], &co[1]);
 	RNA_float_set_array(op->ptr, "location", co);
 
-	return loop_select_exec(C, op);
+	return select_loop_exec(C, op);
 }
 
-void UV_OT_loop_select(wmOperatorType *ot)
+void UV_OT_select_loop(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Loop Select";
-	ot->idname= "UV_OT_loop_select";
+	ot->idname= "UV_OT_select_loop";
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 	
 	/* api callbacks */
-	ot->exec= loop_select_exec;
-	ot->invoke= loop_select_invoke;
+	ot->exec= select_loop_exec;
+	ot->invoke= select_loop_invoke;
 	ot->poll= ED_operator_uvedit;
 
 	/* properties */
@@ -1772,12 +1808,13 @@ static int select_linked_exec(bContext *C, wmOperator *op)
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
 	Image *ima= CTX_data_edit_image(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	float limit[2];
 	int extend;
 
 	if(scene->toolsettings->uv_flag & UV_SYNC_SELECTION) {
 		BKE_report(op->reports, RPT_ERROR, "Can't select linked when sync selection is enabled.");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 
@@ -1788,6 +1825,7 @@ static int select_linked_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -1814,12 +1852,13 @@ static int unlink_selection_exec(bContext *C, wmOperator *op)
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
 	Image *ima= CTX_data_edit_image(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 
 	if(scene->toolsettings->uv_flag & UV_SYNC_SELECTION) {
 		BKE_report(op->reports, RPT_ERROR, "Can't unlink selection when sync selection is enabled.");
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
 	}
 	
@@ -1841,6 +1880,7 @@ static int unlink_selection_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -1873,7 +1913,7 @@ static void uv_faces_do_sticky(bContext *C, SpaceImage *sima, Scene *scene, Obje
 	 * This only needs to be done when the Mesh is not used for
 	 * selection (so for sticky modes, vertex or location based). */
 	
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	int nverts, i;
@@ -1928,8 +1968,10 @@ static void uv_faces_do_sticky(bContext *C, SpaceImage *sima, Scene *scene, Obje
 		/*for(a=0, eve= em->verts.first; eve; a++, eve= eve->next)
 			eve->tmp.l = a; */
 		
-		if(vmap == NULL)
+		if(vmap == NULL) {
+			EM_EndEditMesh(obedit->data, em);
 			return;
+		}
 		
 		for(efa_index=0, efa= em->faces.first; efa; efa_index++, efa= efa->next) {
 			if(efa->tmp.l) {
@@ -1989,6 +2031,7 @@ static void uv_faces_do_sticky(bContext *C, SpaceImage *sima, Scene *scene, Obje
 			}
 		}
 	}
+	EM_EndEditMesh(obedit->data, em);
 }
 
 static int border_select_exec(bContext *C, wmOperator *op)
@@ -1998,7 +2041,7 @@ static int border_select_exec(bContext *C, wmOperator *op)
 	Object *obedit= CTX_data_edit_object(C);
 	Image *ima= CTX_data_edit_image(C);
 	ARegion *ar= CTX_wm_region(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tface;
 	rcti rect;
@@ -2110,18 +2153,20 @@ static int border_select_exec(bContext *C, wmOperator *op)
 		}
 
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
-
+		
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_FINISHED;
 	}
-
+	
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_CANCELLED;
 } 
 
-void UV_OT_border_select(wmOperatorType *ot)
+void UV_OT_select_border(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Border Select";
-	ot->idname= "UV_OT_border_select";
+	ot->idname= "UV_OT_select_border";
 	
 	/* api callbacks */
 	ot->invoke= WM_border_select_invoke;
@@ -2166,7 +2211,7 @@ int circle_select_exec(bContext *C, wmOperator *op)
 	SpaceImage *sima= (SpaceImage*)CTX_wm_space_data(C);
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	ARegion *ar= CTX_wm_region(C);
 	EditFace *efa;
 	MTFace *tface;
@@ -2204,6 +2249,7 @@ int circle_select_exec(bContext *C, wmOperator *op)
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -2301,7 +2347,7 @@ void UV_OT_snap_cursor(wmOperatorType *ot)
 
 static int snap_uvs_to_cursor(Scene *scene, Image *ima, Object *obedit, View2D *v2d)
 {
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tface;
 	short change= 0;
@@ -2319,12 +2365,13 @@ static int snap_uvs_to_cursor(Scene *scene, Image *ima, Object *obedit, View2D *
 		}
 	}
 
+	EM_EndEditMesh(obedit->data, em);
 	return change;
 }
 
 static int snap_uvs_to_adjacent_unselected(Scene *scene, Image *ima, Object *obedit)
 {
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	EditVert *eve;
 	MTFace *tface;
@@ -2399,6 +2446,7 @@ static int snap_uvs_to_adjacent_unselected(Scene *scene, Image *ima, Object *obe
 	if(!change) {
 		MEM_freeN(coords);
 		MEM_freeN(usercount);
+		EM_EndEditMesh(obedit->data, em);
 		return change;
 	}
 	
@@ -2445,12 +2493,13 @@ static int snap_uvs_to_adjacent_unselected(Scene *scene, Image *ima, Object *obe
 	MEM_freeN(coords);
 	MEM_freeN(usercount);
 
+	EM_EndEditMesh(obedit->data, em);
 	return change;
 }
 
 static int snap_uvs_to_pixels(SpaceImage *sima, Scene *scene, Object *obedit)
 {
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	Image *ima= sima->image;
 	EditFace *efa;
 	MTFace *tface;
@@ -2475,6 +2524,7 @@ static int snap_uvs_to_pixels(SpaceImage *sima, Scene *scene, Object *obedit)
 		}
 	}
 
+	EM_EndEditMesh(obedit->data, em);
 	return change;
 }
 
@@ -2536,7 +2586,7 @@ static int pin_exec(bContext *C, wmOperator *op)
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
 	Image *ima= CTX_data_edit_image(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tface;
 	int clear= RNA_boolean_get(op->ptr, "clear");
@@ -2564,6 +2614,7 @@ static int pin_exec(bContext *C, wmOperator *op)
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -2589,7 +2640,7 @@ static int select_pinned_exec(bContext *C, wmOperator *op)
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
 	Image *ima= CTX_data_edit_image(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tface;
 	
@@ -2608,6 +2659,7 @@ static int select_pinned_exec(bContext *C, wmOperator *op)
 	
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -2630,7 +2682,7 @@ static int hide_exec(bContext *C, wmOperator *op)
 	SpaceImage *sima= (SpaceImage*)CTX_wm_space_data(C);
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	int swap= RNA_boolean_get(op->ptr, "unselected");
@@ -2638,6 +2690,8 @@ static int hide_exec(bContext *C, wmOperator *op)
 	if(scene->toolsettings->uv_flag & UV_SYNC_SELECTION) {
 		EM_hide_mesh(em, swap);
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_FINISHED;
 	}
 	
@@ -2745,6 +2799,7 @@ static int hide_exec(bContext *C, wmOperator *op)
 	EM_validate_selections(em);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -2770,7 +2825,7 @@ static int reveal_exec(bContext *C, wmOperator *op)
 	SpaceImage *sima= (SpaceImage*)CTX_wm_space_data(C);
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	
@@ -2778,6 +2833,8 @@ static int reveal_exec(bContext *C, wmOperator *op)
 	if(scene->toolsettings->uv_flag & UV_SYNC_SELECTION) {
 		EM_reveal_mesh(em);
 		WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
+
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_FINISHED;
 	}
 	
@@ -2873,6 +2930,7 @@ static int reveal_exec(bContext *C, wmOperator *op)
 
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_SELECT, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -2918,11 +2976,11 @@ static int set_2d_cursor_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	return set_2d_cursor_exec(C, op);
 }
 
-void UV_OT_set_2d_cursor(wmOperatorType *ot)
+void UV_OT_cursor_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set 3D Cursor";
-	ot->idname= "UV_OT_set_2d_cursor";
+	ot->idname= "UV_OT_cursor_set";
 	
 	/* api callbacks */
 	ot->exec= set_2d_cursor_exec;
@@ -2983,11 +3041,11 @@ static int set_tile_invoke(bContext *C, wmOperator *op, wmEvent *event)
 	return set_tile_exec(C, op);
 }
 
-void UV_OT_set_tile(wmOperatorType *ot)
+void UV_OT_tile_set(wmOperatorType *ot)
 {
 	/* identifiers */
 	ot->name= "Set Tile";
-	ot->idname= "UV_OT_set_tile";
+	ot->idname= "UV_OT_tile_set";
 	
 	/* api callbacks */
 	ot->exec= set_tile_exec;
@@ -3005,14 +3063,14 @@ void UV_OT_set_tile(wmOperatorType *ot)
 
 void ED_operatortypes_uvedit(void)
 {
-	WM_operatortype_append(UV_OT_de_select_all);
+	WM_operatortype_append(UV_OT_select_all_toggle);
 	WM_operatortype_append(UV_OT_select_invert);
 	WM_operatortype_append(UV_OT_select);
-	WM_operatortype_append(UV_OT_loop_select);
+	WM_operatortype_append(UV_OT_select_loop);
 	WM_operatortype_append(UV_OT_select_linked);
 	WM_operatortype_append(UV_OT_unlink_selection);
 	WM_operatortype_append(UV_OT_select_pinned);
-	WM_operatortype_append(UV_OT_border_select);
+	WM_operatortype_append(UV_OT_select_border);
 	WM_operatortype_append(UV_OT_circle_select);
 
 	WM_operatortype_append(UV_OT_snap_cursor);
@@ -3038,8 +3096,8 @@ void ED_operatortypes_uvedit(void)
 	WM_operatortype_append(UV_OT_reveal);
 	WM_operatortype_append(UV_OT_hide);
 
-	WM_operatortype_append(UV_OT_set_2d_cursor);
-	WM_operatortype_append(UV_OT_set_tile);
+	WM_operatortype_append(UV_OT_cursor_set);
+	WM_operatortype_append(UV_OT_tile_set);
 }
 
 void ED_keymap_uvedit(wmWindowManager *wm)
@@ -3049,18 +3107,18 @@ void ED_keymap_uvedit(wmWindowManager *wm)
 	/* pick selection */
 	WM_keymap_add_item(keymap, "UV_OT_select", SELECTMOUSE, KM_PRESS, 0, 0);
 	RNA_boolean_set(WM_keymap_add_item(keymap, "UV_OT_select", SELECTMOUSE, KM_PRESS, KM_SHIFT, 0)->ptr, "extend", 1);
-	WM_keymap_add_item(keymap, "UV_OT_loop_select", SELECTMOUSE, KM_PRESS, KM_ALT, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "UV_OT_loop_select", SELECTMOUSE, KM_PRESS, KM_SHIFT|KM_ALT, 0)->ptr, "extend", 1);
+	WM_keymap_add_item(keymap, "UV_OT_select_loop", SELECTMOUSE, KM_PRESS, KM_ALT, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "UV_OT_select_loop", SELECTMOUSE, KM_PRESS, KM_SHIFT|KM_ALT, 0)->ptr, "extend", 1);
 
 	/* border/circle selection */
-	WM_keymap_add_item(keymap, "UV_OT_border_select", BKEY, KM_PRESS, 0, 0);
-	RNA_boolean_set(WM_keymap_add_item(keymap, "UV_OT_border_select", BKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "pinned", 1);
+	WM_keymap_add_item(keymap, "UV_OT_select_border", BKEY, KM_PRESS, 0, 0);
+	RNA_boolean_set(WM_keymap_add_item(keymap, "UV_OT_select_border", BKEY, KM_PRESS, KM_SHIFT, 0)->ptr, "pinned", 1);
 	WM_keymap_add_item(keymap, "UV_OT_circle_select", CKEY, KM_PRESS, 0, 0);
 
 	/* selection manipulation */
 	WM_keymap_add_item(keymap, "UV_OT_select_linked", LKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "UV_OT_unlink_selection", LKEY, KM_PRESS, KM_ALT, 0);
-	WM_keymap_add_item(keymap, "UV_OT_de_select_all", AKEY, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "UV_OT_select_all_toggle", AKEY, KM_PRESS, 0, 0);
 	WM_keymap_add_item(keymap, "UV_OT_select_invert", IKEY, KM_PRESS, KM_CTRL, 0);
 	WM_keymap_add_item(keymap, "UV_OT_select_pinned", PKEY, KM_PRESS, KM_SHIFT, 0);
 
@@ -3081,8 +3139,8 @@ void ED_keymap_uvedit(wmWindowManager *wm)
 	WM_keymap_add_item(keymap, "UV_OT_reveal", HKEY, KM_PRESS, KM_ALT, 0);
 
 	/* cursor */
-	WM_keymap_add_item(keymap, "UV_OT_set_2d_cursor", ACTIONMOUSE, KM_PRESS, 0, 0);
-	WM_keymap_add_item(keymap, "UV_OT_set_tile", ACTIONMOUSE, KM_PRESS, KM_SHIFT, 0);
+	WM_keymap_add_item(keymap, "UV_OT_cursor_set", ACTIONMOUSE, KM_PRESS, 0, 0);
+	WM_keymap_add_item(keymap, "UV_OT_tile_set", ACTIONMOUSE, KM_PRESS, KM_SHIFT, 0);
 
 	transform_keymap_for_space(wm, keymap, SPACE_IMAGE);
 }
diff --git a/source/blender/editors/uvedit/uvedit_unwrap_ops.c b/source/blender/editors/uvedit/uvedit_unwrap_ops.c
index d34c0b916ec..e8a0de28658 100644
--- a/source/blender/editors/uvedit/uvedit_unwrap_ops.c
+++ b/source/blender/editors/uvedit/uvedit_unwrap_ops.c
@@ -72,18 +72,22 @@
 
 static int ED_uvedit_ensure_uvs(bContext *C, Scene *scene, Object *obedit)
 {
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 
-	if(ED_uvedit_test(obedit))
+	if(ED_uvedit_test(obedit)) {
+		EM_EndEditMesh(obedit->data, em);
 		return 1;
+	}
 
 	if(em && em->faces.first)
 		EM_add_data_layer(em, &em->fdata, CD_MTFACE);
 	
-	if(!ED_uvedit_test(obedit))
+	if(!ED_uvedit_test(obedit)) {
+		EM_EndEditMesh(obedit->data, em);
 		return 0;
+	}
 	
 	// XXX this image is not in context in 3d view .. only
 	// way to get would be to find the first image window?
@@ -95,6 +99,7 @@ static int ED_uvedit_ensure_uvs(bContext *C, Scene *scene, Object *obedit)
 		uvedit_face_select(scene, efa, tf);
 	}
 
+	EM_EndEditMesh(obedit->data, em);
 	return 1;
 }
 
@@ -218,7 +223,7 @@ static void minimize_stretch_init(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	MinStretch *ms;
 	int fill_holes= RNA_boolean_get(op->ptr, "fill_holes");
 
@@ -400,7 +405,7 @@ static int pack_islands_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	ParamHandle *handle;
 
 	handle = construct_param_handle(scene, em, 1, 0, 1, 1);
@@ -411,6 +416,7 @@ static int pack_islands_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -432,7 +438,7 @@ static int average_islands_scale_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	ParamHandle *handle;
 
 	handle= construct_param_handle(scene, em, 1, 0, 1, 1);
@@ -443,6 +449,7 @@ static int average_islands_scale_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -464,15 +471,19 @@ static ParamHandle *liveHandle = NULL;
 
 void ED_uvedit_live_unwrap_begin(Scene *scene, Object *obedit)
 {
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	short abf = scene->toolsettings->unwrapper == 1;
 	short fillholes = scene->toolsettings->uvcalc_flag & UVCALC_FILLHOLES;
 
-	if(!ED_uvedit_test(obedit)) return;
+	if(!ED_uvedit_test(obedit)) {
+		EM_EndEditMesh(obedit->data, em);
+		return;
+	}
 
 	liveHandle = construct_param_handle(scene, em, 0, fillholes, 1, 1);
 
 	param_lscm_begin(liveHandle, PARAM_TRUE, abf);
+	EM_EndEditMesh(obedit->data, em);
 }
 
 void ED_uvedit_live_unwrap_re_solve(void)
@@ -595,7 +606,7 @@ static void uv_map_transform(bContext *C, wmOperator *op, float center[3], float
 	/* context checks are messy here, making it work in both 3d view and uv editor */
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	View3D *v3d= CTX_wm_view3d(C);
 	RegionView3D *rv3d= CTX_wm_region_view3d(C);
 	/* common operator properties */
@@ -621,6 +632,8 @@ static void uv_map_transform(bContext *C, wmOperator *op, float center[3], float
 		Mat4One(rotmat);
 	else 
 		uv_map_rotation_matrix(rotmat, rv3d, obedit, upangledeg, sideangledeg, radius);
+
+	EM_EndEditMesh(obedit->data, em);
 }
 
 static void uv_transform_properties(wmOperatorType *ot, int radius)
@@ -773,15 +786,17 @@ static int unwrap_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	ParamHandle *handle;
 	int method = RNA_enum_get(op->ptr, "method");
 	int fill_holes = RNA_boolean_get(op->ptr, "fill_holes");
 	int correct_aspect = RNA_boolean_get(op->ptr, "correct_aspect");
 	
 	/* add uvs if they don't exist yet */
-	if(!ED_uvedit_ensure_uvs(C, scene, obedit))
+	if(!ED_uvedit_ensure_uvs(C, scene, obedit)) {
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
+	}
 
 	handle= construct_param_handle(scene, em, 0, fill_holes, 0, correct_aspect);
 
@@ -798,6 +813,7 @@ static int unwrap_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -882,15 +898,17 @@ static int from_view_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	ARegion *ar= CTX_wm_region(C);
 	EditFace *efa;
 	MTFace *tf;
 	float rotmat[4][4];
 
 	/* add uvs if they don't exist yet */
-	if(!ED_uvedit_ensure_uvs(C, scene, obedit))
+	if(!ED_uvedit_ensure_uvs(C, scene, obedit)) {
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
+	}
 
 	if(RNA_boolean_get(op->ptr, "orthographic")) {
 		uv_map_rotation_matrix(rotmat, ar->regiondata, obedit, 90.0f, 0.0f, 1.0f);
@@ -928,6 +946,7 @@ static int from_view_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -963,13 +982,15 @@ static int reset_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 
 	/* add uvs if they don't exist yet */
-	if(!ED_uvedit_ensure_uvs(C, scene, obedit))
+	if(!ED_uvedit_ensure_uvs(C, scene, obedit)) {
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
+	}
 
 	for(efa= em->faces.first; efa; efa= efa->next) {
 		if(efa->f & SELECT) {
@@ -992,6 +1013,7 @@ static int reset_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -1047,14 +1069,16 @@ static int sphere_project_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	float center[3], rotmat[4][4];
 
 	/* add uvs if they don't exist yet */
-	if(!ED_uvedit_ensure_uvs(C, scene, obedit))
+	if(!ED_uvedit_ensure_uvs(C, scene, obedit)) {
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
+	}
 
 	uv_map_transform(C, op, center, rotmat);
 
@@ -1077,6 +1101,7 @@ static int sphere_project_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -1116,14 +1141,16 @@ static int cylinder_project_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	float center[3], rotmat[4][4];
 
 	/* add uvs if they don't exist yet */
-	if(!ED_uvedit_ensure_uvs(C, scene, obedit))
+	if(!ED_uvedit_ensure_uvs(C, scene, obedit)) {
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
+	}
 
 	uv_map_transform(C, op, center, rotmat);
 
@@ -1146,6 +1173,7 @@ static int cylinder_project_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
@@ -1171,15 +1199,17 @@ static int cube_project_exec(bContext *C, wmOperator *op)
 {
 	Scene *scene= CTX_data_scene(C);
 	Object *obedit= CTX_data_edit_object(C);
-	EditMesh *em= ((Mesh*)obedit->data)->edit_mesh;
+	EditMesh *em= EM_GetEditMesh((Mesh*)obedit->data);
 	EditFace *efa;
 	MTFace *tf;
 	float no[3], cube_size, *loc, dx, dy;
 	int cox, coy;
 
 	/* add uvs if they don't exist yet */
-	if(!ED_uvedit_ensure_uvs(C, scene, obedit))
+	if(!ED_uvedit_ensure_uvs(C, scene, obedit)) {
+		EM_EndEditMesh(obedit->data, em);
 		return OPERATOR_CANCELLED;
+	}
 
 	loc= obedit->obmat[3];
 	cube_size= RNA_float_get(op->ptr, "cube_size");
@@ -1230,6 +1260,7 @@ static int cube_project_exec(bContext *C, wmOperator *op)
 	DAG_object_flush_update(scene, obedit, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_OBJECT|ND_GEOM_DATA, obedit);
 
+	EM_EndEditMesh(obedit->data, em);
 	return OPERATOR_FINISHED;
 }
 
diff --git a/source/blender/gpu/GPU_draw.h b/source/blender/gpu/GPU_draw.h
index e326be9d776..ce130951840 100644
--- a/source/blender/gpu/GPU_draw.h
+++ b/source/blender/gpu/GPU_draw.h
@@ -84,7 +84,7 @@ int GPU_set_tpage(struct MTFace *tface);
 
 int GPU_default_lights(void);
 int GPU_scene_object_lights(struct Scene *scene, struct Object *ob,
-	int lay, float viewmat[][4]);
+	int lay, float viewmat[][4], int ortho);
 
 /* Text render
  * - based on moving uv coordinates */
diff --git a/source/blender/gpu/intern/gpu_draw.c b/source/blender/gpu/intern/gpu_draw.c
index 6f69a2b8a31..7f5f85e23a6 100644
--- a/source/blender/gpu/intern/gpu_draw.c
+++ b/source/blender/gpu/intern/gpu_draw.c
@@ -167,6 +167,8 @@ static int smaller_pow2(int num)
 static int is_pow2_limit(int num)
 {
 	/* take texture clamping into account */
+	if (G.f & G_TEXTUREPAINT)
+		return 1;
 	if (U.glreslimit != 0 && num > U.glreslimit)
 		return 0;
 
@@ -175,6 +177,9 @@ static int is_pow2_limit(int num)
 
 static int smaller_pow2_limit(int num)
 {
+	if (G.f & G_TEXTUREPAINT)
+		return 1;
+	
 	/* take texture clamping into account */
 	if (U.glreslimit != 0 && num > U.glreslimit)
 		return U.glreslimit;
@@ -999,6 +1004,8 @@ int GPU_default_lights(void)
 		U.light[2].spec[3]= 1.0;
 	}
 
+	glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, GL_FALSE);
+
 	glLightfv(GL_LIGHT0, GL_POSITION, U.light[0].vec); 
 	glLightfv(GL_LIGHT0, GL_DIFFUSE, U.light[0].col); 
 	glLightfv(GL_LIGHT0, GL_SPECULAR, U.light[0].spec); 
@@ -1036,7 +1043,7 @@ int GPU_default_lights(void)
 	return count;
 }
 
-int GPU_scene_object_lights(Scene *scene, Object *ob, int lay, float viewmat[][4])
+int GPU_scene_object_lights(Scene *scene, Object *ob, int lay, float viewmat[][4], int ortho)
 {
 	Base *base;
 	Lamp *la;
@@ -1047,6 +1054,10 @@ int GPU_scene_object_lights(Scene *scene, Object *ob, int lay, float viewmat[][4
 	for(count=0; count<8; count++)
 		glDisable(GL_LIGHT0+count);
 	
+	/* view direction for specular is not compute correct by default in
+	 * opengl, so we set the settings ourselfs */
+	glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, (ortho)? GL_FALSE: GL_TRUE);
+
 	count= 0;
 	
 	for(base=scene->base.first; base; base=base->next) {
@@ -1133,9 +1144,6 @@ void GPU_state_init(void)
 
 	GPU_default_lights();
 	
-	/* no local viewer, looks ugly in ortho mode */
-	/* glLightModelfv(GL_LIGHT_MODEL_LOCAL_VIEWER, &one); */
-	
 	glDepthFunc(GL_LEQUAL);
 	/* scaling matrices */
 	glEnable(GL_NORMALIZE);
diff --git a/source/blender/imbuf/CMakeLists.txt b/source/blender/imbuf/CMakeLists.txt
index 61ec3430bff..391f6e9e1a2 100644
--- a/source/blender/imbuf/CMakeLists.txt
+++ b/source/blender/imbuf/CMakeLists.txt
@@ -33,12 +33,17 @@ SET(INC
   ${PNG_INC}
   ${TIFF_INC}
   ${ZLIB_INC}
+  ${OPENJPEG_INC}
 )
 
 IF(WITH_OPENEXR)
   ADD_DEFINITIONS(-DWITH_OPENEXR)
 ENDIF(WITH_OPENEXR)
 
+IF(WITH_OPENJPEG)
+  ADD_DEFINITIONS(-DWITH_OPENJPEG)
+ENDIF(WITH_OPENJPEG)
+
 IF(WITH_QUICKTIME)
   SET(INC ${INC} ${QUICKTIME_INC})
   ADD_DEFINITIONS(-DWITH_QUICKTIME)
diff --git a/source/blender/imbuf/IMB_imbuf_types.h b/source/blender/imbuf/IMB_imbuf_types.h
index eadd7affe6a..3cc155af1ad 100644
--- a/source/blender/imbuf/IMB_imbuf_types.h
+++ b/source/blender/imbuf/IMB_imbuf_types.h
@@ -97,7 +97,7 @@ typedef struct ImBuf {
 	unsigned int   encodedsize;       /**< Size of data written to encodedbuffer */
 	unsigned int   encodedbuffersize; /**< Size of encodedbuffer */
 
-	float *rect_float;		/**< floating point Rect equivilant */
+	float *rect_float;		/**< floating point Rect equivalent */
 	int channels;			/**< amount of channels in rect_float (0 = 4 channel default) */
 	float dither;			/**< random dither value, for conversion from float -> byte rect */
 	
diff --git a/source/blender/imbuf/intern/Makefile b/source/blender/imbuf/intern/Makefile
index 8294931b60f..427052cbdc3 100644
--- a/source/blender/imbuf/intern/Makefile
+++ b/source/blender/imbuf/intern/Makefile
@@ -48,6 +48,10 @@ ifeq ($(WITH_DDS), true)
     CPPFLAGS += -DWITH_DDS
 endif
 
+ifeq ($(WITH_OPENJPEG), true)
+    CFLAGS += -DWITH_OPENJPEG -I../../../../extern/libopenjpeg
+endif
+
 CFLAGS += $(LEVEL_1_C_WARNINGS)
 
 CPPFLAGS += -I$(NAN_JPEG)/include
diff --git a/source/blender/imbuf/intern/cineon/cineon_dpx.c b/source/blender/imbuf/intern/cineon/cineon_dpx.c
index 8b7ef8c8101..45f23d34405 100644
--- a/source/blender/imbuf/intern/cineon/cineon_dpx.c
+++ b/source/blender/imbuf/intern/cineon/cineon_dpx.c
@@ -40,6 +40,8 @@
 #include "IMB_imbuf_types.h"
 #include "IMB_imbuf.h"
 
+#include "BKE_global.h"
+
 #include "MEM_guardedalloc.h"
 
 static void cineon_conversion_parameters(LogImageByteConversionParameters *params)
@@ -58,7 +60,6 @@ static void cineon_conversion_parameters(LogImageByteConversionParameters *param
 
 static struct ImBuf *imb_load_dpx_cineon(unsigned char *mem, int use_cineon, int size, int flags)
 {
-	LogImageByteConversionParameters conversion;
 	ImBuf *ibuf;
 	LogImageFile *image;
 	int x, y;
@@ -66,7 +67,7 @@ static struct ImBuf *imb_load_dpx_cineon(unsigned char *mem, int use_cineon, int
 	int width, height, depth;
 	float *frow;
 
-	cineon_conversion_parameters(&conversion);
+	logImageSetVerbose((G.f & G_DEBUG) ? 1:0);
 	
 	image = logImageOpenFromMem(mem, size, use_cineon);
 	
@@ -87,15 +88,13 @@ static struct ImBuf *imb_load_dpx_cineon(unsigned char *mem, int use_cineon, int
 		return NULL;
 	}
 	
-	logImageSetByteConversion(image, &conversion);
-
 	ibuf = IMB_allocImBuf(width, height, 32, IB_rectfloat | flags, 0);
 
 	row = MEM_mallocN(sizeof(unsigned short)*width*depth, "row in cineon_dpx.c");
 	frow = ibuf->rect_float+width*height*4;
 	
 	for (y = 0; y < height; y++) {
-		logImageGetRowBytes(image, row, y);
+		logImageGetRowBytes(image, row, y); /* checks image->params.doLogarithm and convert */
 		upix = row;
 		frow -= width*4;
 		
@@ -145,7 +144,7 @@ static int imb_save_dpx_cineon(ImBuf *buf, char *filename, int use_cineon, int f
 		}
 	}
 	
-	logImageSetVerbose(0);
+	logImageSetVerbose((G.f & G_DEBUG) ? 1:0);
 	logImage = logImageCreate(filename, use_cineon, width, height, depth);
 
 	if (!logImage) return 0;
diff --git a/source/blender/imbuf/intern/cineon/dpxlib.c b/source/blender/imbuf/intern/cineon/dpxlib.c
index 7314e82a132..8459eb0f989 100644
--- a/source/blender/imbuf/intern/cineon/dpxlib.c
+++ b/source/blender/imbuf/intern/cineon/dpxlib.c
@@ -477,19 +477,49 @@ intern_dpxOpen(int mode, const char* bytestuff, int bufsize) {
 
 	logImageGetByteConversionDefaults(&dpx->params);
 	/* The SMPTE define this code:
+	 *  0 - User-defined
+	 *  1 - Printing density
 	 *  2 - Linear
 	 *  3 - Logarithmic
+	 *  4 - Unspecified video
+	 *  5 - SMPTE 240M
+	 *  6 - CCIR 709-1
+	 *  7 - CCIR 601-2 system B or G
+	 *  8 - CCIR 601-2 system M
+	 *  9 - NTSC composite video
+	 *  10 - PAL composite video
+	 *  11 - Z linear
+	 *  12 - homogeneous
 	 *
 	 * Note that transfer_characteristics is U8, don't need
 	 * check the byte order.
 	 */
+	
 	switch (header.imageInfo.channel[0].transfer_characteristics) {
-		case 2:
+		case 1:
+		case 2: /* linear */
 			dpx->params.doLogarithm= 0;
 			break;
+		
 		case 3:
 			dpx->params.doLogarithm= 1;
 			break;
+		
+		/* TODO - Unsupported, but for now just load them,
+		 * colors may look wrong, but can solve color conversion later
+		 */
+		case 4: 
+		case 5:
+		case 6:
+		case 7:
+		case 8:
+		case 9:
+		case 10:
+		case 11:
+		case 12:
+			if (verbose) d_printf("Un-supported Transfer Characteristics: %d using linear color conversion\n", header.imageInfo.channel[0].transfer_characteristics);
+			dpx->params.doLogarithm= 0;
+			break;
 		default:
 			if (verbose) d_printf("Un-supported Transfer Characteristics: %d\n", header.imageInfo.channel[0].transfer_characteristics);
 			dpxClose(dpx);
diff --git a/source/blender/imbuf/intern/openexr/openexr_api.cpp b/source/blender/imbuf/intern/openexr/openexr_api.cpp
index 3e618a483e3..e723609f3ae 100644
--- a/source/blender/imbuf/intern/openexr/openexr_api.cpp
+++ b/source/blender/imbuf/intern/openexr/openexr_api.cpp
@@ -861,7 +861,6 @@ static const char *exr_rgba_channelname(InputFile *file, const char *chan)
 	
 	for (ChannelList::ConstIterator i = channels.begin(); i != channels.end(); ++i)
 	{
-		const Channel &channel = i.channel();
 		const char *str= i.name();
 		int len= strlen(str);
 		if(len) {
diff --git a/source/blender/imbuf/intern/radiance_hdr.c b/source/blender/imbuf/intern/radiance_hdr.c
index b4e384ada72..d00e34cfdbe 100644
--- a/source/blender/imbuf/intern/radiance_hdr.c
+++ b/source/blender/imbuf/intern/radiance_hdr.c
@@ -180,7 +180,6 @@ struct ImBuf *imb_loadhdr(unsigned char *mem, int size, int flags)
 	int width=0, height=0;
 	int x, y;
 	unsigned char* ptr;
-	unsigned char* rect;
 	char oriY[80], oriX[80];
 
 	if (imb_is_a_hdr((void*)mem))
@@ -201,7 +200,7 @@ struct ImBuf *imb_loadhdr(unsigned char *mem, int size, int flags)
 			ptr++;
 
 			if (flags & IB_test) ibuf = IMB_allocImBuf(width, height, 32, 0, 0);
-			else ibuf = IMB_allocImBuf(width, height, 32, IB_rect|IB_rectfloat, 0);
+			else ibuf = IMB_allocImBuf(width, height, 32, (flags & IB_rect)|IB_rectfloat, 0);
 
 			if (ibuf==NULL) return NULL;
 			ibuf->ftype = RADHDR;
@@ -211,7 +210,6 @@ struct ImBuf *imb_loadhdr(unsigned char *mem, int size, int flags)
 
 			/* read in and decode the actual data */
 			sline = (RGBE*)MEM_mallocN(sizeof(RGBE)*width, "radhdr_read_tmpscan");
-			rect = (unsigned char*)ibuf->rect;
 			rect_float = (float *)ibuf->rect_float;
 			
 			for (y=0;y<height;y++) {
@@ -228,19 +226,15 @@ struct ImBuf *imb_loadhdr(unsigned char *mem, int size, int flags)
 					*rect_float++ = fcol[GRN];
 					*rect_float++ = fcol[BLU];
 					*rect_float++ = 1.0f;
-					/* Also old oldstyle for the rest of blender which is not using floats yet */
-					// e: changed to simpler tonemapping, previous code was rather slow (is this actually still relevant at all?)
-					fcol[RED] = fcol[RED]/(1.f + fcol[RED]);
-					fcol[GRN] = fcol[GRN]/(1.f + fcol[GRN]);
-					fcol[BLU] = fcol[BLU]/(1.f + fcol[BLU]);
-					*rect++ = (unsigned char)((fcol[RED] < 0.f) ? 0 : ((fcol[RED] > 1.f) ? 255 : (255.f*fcol[RED])));
-					*rect++ = (unsigned char)((fcol[GRN] < 0.f) ? 0 : ((fcol[GRN] > 1.f) ? 255 : (255.f*fcol[GRN])));
-					*rect++ = (unsigned char)((fcol[BLU] < 0.f) ? 0 : ((fcol[BLU] > 1.f) ? 255 : (255.f*fcol[BLU])));
-					*rect++ = 255;
 				}
 			}
 			MEM_freeN(sline);
 			if (oriY[0]=='-') IMB_flipy(ibuf);
+			
+			if (flags & IB_rect) {
+				IMB_rect_from_float(ibuf);
+			}
+			
 			return ibuf;
 		}
 		//else printf("Data not found!\n");
diff --git a/source/blender/makesdna/DNA_anim_types.h b/source/blender/makesdna/DNA_anim_types.h
index 3ce656faf92..9112a714857 100644
--- a/source/blender/makesdna/DNA_anim_types.h
+++ b/source/blender/makesdna/DNA_anim_types.h
@@ -69,21 +69,43 @@ typedef struct FMod_Generator {
 		/* generator based on PyExpression */
 	char expression[256];		/* python expression to use as generator */
 	
-		/* simple polynomial generator (y = C[0]*(x^(n)) + C[1]*(x^(n-1)) + ... C[n])  */
-	float *poly_coefficients;	/* array of the coefficients for the polynomial (poly_order + 1 items long) */
-	unsigned int poly_order;	/* order of the polynomial (i.e. 1 for linear, 2 for quadratic) */
+		/* general generator information */
+	float *coefficients;		/* coefficients array */
+	unsigned int arraysize;		/* size of the coefficients array */
+	
+	unsigned short poly_order;	/* order of polynomial generated (i.e. 1 for linear, 2 for quadratic) */
+	short func_type;			/* builtin math function eFMod_Generator_Functions */
+	
+	int pad;
 	
 		/* settings */
 	short flag;					/* settings */
-	short mode;					/* which 'generator' to use */
+	short mode;					/* which 'generator' to use eFMod_Generator_Modes */
 } FMod_Generator;
 
 /* generator modes */
 enum {
 	FCM_GENERATOR_POLYNOMIAL	= 0,
+	FCM_GENERATOR_POLYNOMIAL_FACTORISED,
+	FCM_GENERATOR_FUNCTION,
 	FCM_GENERATOR_EXPRESSION,
 } eFMod_Generator_Modes;
 
+/* generator flags */
+enum {
+		/* generator works in conjunction with other modifiers (i.e. doesn't replace those before it) */
+	FCM_GENERATOR_ADDITIVE	= (1<<0),
+} eFMod_Generator_Flags;
+
+/* 'function' generator types */
+enum {
+	FCM_GENERATOR_FN_SIN	= 0,
+	FCM_GENERATOR_FN_COS,
+	FCM_GENERATOR_FN_TAN,
+	FCM_GENERATOR_FN_SQRT,
+	FCM_GENERATOR_FN_LN,
+} eFMod_Generator_Functions;
+
 
 /* envelope modifier - envelope data */
 typedef struct FCM_EnvelopeData {
@@ -215,7 +237,7 @@ typedef struct FCurve {
 		/* motion data */
 	BezTriple *bezt;		/* user-editable keyframes (array) */
 	FPoint *fpt;			/* 'baked/imported' motion samples (array) */
-	int totvert;			/* total number of points which define the curve (i.e. size of arrays in FPoints) */
+	unsigned int totvert;	/* total number of points which define the curve (i.e. size of arrays in FPoints) */
 	
 		/* value cache + settings */
 	float curval;			/* value stored from last time curve was evaluated */
@@ -444,7 +466,6 @@ enum {
  * be generic (using various placeholder template tags that will be
  * replaced with appropriate information from the context). 
  */
-// TODO: how should templates work exactly? For now, we only implement the specific KeyingSets...
 typedef struct KS_Path {
 	struct KS_Path *next, *prev;
 	
@@ -452,6 +473,10 @@ typedef struct KS_Path {
 	ID *id;					/* ID block that keyframes are for */
 	char group[64];			/* name of the group to add to */
 	
+		/* relative paths only */
+	int idtype;				/* ID-type that path can be used on */
+	int templates;			/* Templates that will be encountered in the path (as set of bitflags) */
+	
 		/* all paths */
 	char *rna_path;			/* dynamically (or statically in the case of predefined sets) path */
 	int array_index;		/* index that path affects */
@@ -476,6 +501,20 @@ enum {
 	KSP_GROUP_KSNAME,
 } eKSP_Grouping;
 
+/* KS_Path->templates  (Template Flags)
+ *
+ * Templates in paths are used to substitute information from the 
+ * active context into relavent places in the path strings. This
+ * enum here defines the flags which define which templates are
+ * required by a path before it can be used
+ */
+enum {
+	KSP_TEMPLATE_OBJECT			= (1<<0),	/* #obj - selected object */
+	KSP_TEMPLATE_PCHAN 			= (1<<1),	/* #pch - selected posechannel */
+	KSP_TEMPLATE_CONSTRAINT 	= (1<<2),	/* #con - active only */
+	KSP_TEMPLATE_NODE		 	= (1<<3),	/* #nod - selected node */
+} eKSP_TemplateTypes;
+
 /* ---------------- */
  
 /* KeyingSet definition (ks)
diff --git a/source/blender/makesdna/DNA_curve_types.h b/source/blender/makesdna/DNA_curve_types.h
index d8b5c206ecf..f8ea5f95d65 100644
--- a/source/blender/makesdna/DNA_curve_types.h
+++ b/source/blender/makesdna/DNA_curve_types.h
@@ -263,7 +263,7 @@ typedef struct Curve {
 /* *************** BEZTRIPLE **************** */
 
 /* h1 h2 (beztriple) */
-enum {
+typedef enum eBezTriple_Handle {
 	HD_FREE	= 0,
 	HD_AUTO,
 	HD_VECT,
@@ -272,7 +272,7 @@ enum {
 } eBezTriple_Handle;
 
 /* interpolation modes (used only for BezTriple->ipo) */
-enum {
+typedef enum eBezTriple_Interpolation {
 	BEZT_IPO_CONST = 0,	/* constant interpolation */
 	BEZT_IPO_LIN,		/* linear interpolation */
 	BEZT_IPO_BEZ,		/* bezier interpolation */
diff --git a/source/blender/makesdna/DNA_object_types.h b/source/blender/makesdna/DNA_object_types.h
index 6826329627b..64e335fb3ad 100644
--- a/source/blender/makesdna/DNA_object_types.h
+++ b/source/blender/makesdna/DNA_object_types.h
@@ -427,6 +427,12 @@ extern Object workob;
 
 /* ob->gameflag2 */
 #define OB_NEVER_DO_ACTIVITY_CULLING	1
+#define OB_LOCK_RIGID_BODY_X_AXIS	4
+#define OB_LOCK_RIGID_BODY_Y_AXIS	8
+#define OB_LOCK_RIGID_BODY_Z_AXIS	16
+#define OB_LOCK_RIGID_BODY_X_ROT_AXIS	32
+#define OB_LOCK_RIGID_BODY_Y_ROT_AXIS	64
+#define OB_LOCK_RIGID_BODY_Z_ROT_AXIS	128
 
 #define OB_LIFE			(OB_PROP|OB_DYNAMIC|OB_ACTOR|OB_MAINACTOR|OB_CHILD)
 
diff --git a/source/blender/makesdna/DNA_oops_types.h b/source/blender/makesdna/DNA_outliner_types.h
index 0a6b1a45b11..b19db15d73b 100644
--- a/source/blender/makesdna/DNA_oops_types.h
+++ b/source/blender/makesdna/DNA_outliner_types.h
@@ -1,6 +1,4 @@
 /**
- * blenlib/DNA_oops_types.h (mar-2001 nzc)
- *	
  * $Id$ 
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
@@ -28,11 +26,8 @@
  *
  * ***** END GPL LICENSE BLOCK *****
  */
-#ifndef DNA_OOPS_TYPES_H
-#define DNA_OOPS_TYPES_H
-
-#define OOPSX	5.0
-#define OOPSY	1.8
+#ifndef DNA_OUTLINER_TYPES_H
+#define DNA_OUTLINER_TYPES_H
 
 #include "DNA_listBase.h"
 
@@ -48,30 +43,6 @@ typedef struct TreeStore {
 	TreeStoreElem *data;
 } TreeStore;
 
-typedef struct Oops {
-	struct Oops *next, *prev;
-	short type, flag, dt, hide;
-	float x, y;		/* left - bottom */
-	float dx, dy;	/* shuffle */
-	struct ID *id;
-	ListBase link;
-} Oops;
-
-#
-#
-typedef struct OopsLink {
-	struct OopsLink *next, *prev;
-	short type, flag;
-	struct ID **idfrom;
-	Oops *to, *from;	/* from is for temp */
-	float xof, yof;
-	char name[12];
-} OopsLink;
-
-/* oops->flag  (1==SELECT) */
-#define OOPS_DOSELECT	2
-#define OOPS_REFER		4
-
 /* TreeStoreElem->flag */
 #define TSE_CLOSED		1
 #define TSE_SELECTED	2
diff --git a/source/blender/makesdna/DNA_scene_types.h b/source/blender/makesdna/DNA_scene_types.h
index 047fcd3b94e..d5828f7e3a3 100644
--- a/source/blender/makesdna/DNA_scene_types.h
+++ b/source/blender/makesdna/DNA_scene_types.h
@@ -401,10 +401,9 @@ typedef struct Sculpt
 } Sculpt;
 
 typedef struct VPaint {
-	float r, g, b, a;					/* paint color */
-	float weight;						/* weight paint */
-	float size;							/* of brush */
-	float gamma, mul;
+	struct Brush *brush;
+
+	float gamma, mul;			/* should become part of struct Brush? */
 	short mode, flag;
 	int tot;							/* allocation size of prev buffers */
 	unsigned int *vpaint_prev;			/* previous mesh colors */
@@ -469,6 +468,9 @@ typedef struct ToolSettings {
 	/* Particle Editing */
 	struct ParticleEditSettings particle;
 	
+	/* Transform Proportional Area of Effect */
+	float proportional_size;
+
 	/* Select Group Threshold */
 	float select_thresh;
 	
@@ -500,12 +502,21 @@ typedef struct ToolSettings {
 	char  skgen_postpro_passes;
 	char  skgen_subdivisions[3];
 	char  skgen_multi_level;
-	char  skgen_optimisation_method;
-	
-	char tpad[6];
+	int   skgen_pad;
+	
+	/* Skeleton Sketching */
+	struct Object *skgen_template;
+	char bone_sketching;
+	char bone_sketching_convert;
+	char skgen_subdivision_number;
+	char skgen_retarget_options;
+	char skgen_retarget_roll;
+	char skgen_side_string[8];
+	char skgen_num_string[8];
 	
 	/* Alt+RMB option */
 	char edge_mode;
+	char pad3[2];
 } ToolSettings;
 
 typedef struct bStats {
@@ -773,6 +784,7 @@ typedef struct Scene {
 /* scene->snap_flag */
 #define SCE_SNAP				1
 #define SCE_SNAP_ROTATE			2
+#define SCE_SNAP_PEEL_OBJECT	4
 /* scene->snap_target */
 #define SCE_SNAP_TARGET_CLOSEST	0
 #define SCE_SNAP_TARGET_CENTER	1
@@ -782,6 +794,7 @@ typedef struct Scene {
 #define SCE_SNAP_MODE_VERTEX	0
 #define SCE_SNAP_MODE_EDGE		1
 #define SCE_SNAP_MODE_FACE		2
+#define SCE_SNAP_MODE_VOLUME	3
 
 /* sce->selectmode */
 #define SCE_SELECT_VERTEX	1 /* for mesh */
@@ -931,6 +944,25 @@ typedef enum SculptFlags {
 #define SKGEN_AVERAGE			1
 #define SKGEN_SHARPEN			2
 
+/* toolsettings->bone_sketching */
+#define BONE_SKETCHING			1
+#define BONE_SKETCHING_QUICK	2
+#define BONE_SKETCHING_ADJUST	4
+
+/* toolsettings->bone_sketching_convert */
+#define	SK_CONVERT_CUT_FIXED			0
+#define	SK_CONVERT_CUT_LENGTH			1
+#define	SK_CONVERT_CUT_ADAPTATIVE		2
+#define	SK_CONVERT_RETARGET				3
+
+/* toolsettings->skgen_retarget_options */
+#define	SK_RETARGET_AUTONAME			1
+
+/* toolsettings->skgen_retarget_roll */
+#define	SK_RETARGET_ROLL_VIEW			1
+#define	SK_RETARGET_ROLL_JOINT			2
+
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/source/blender/makesdna/DNA_screen_types.h b/source/blender/makesdna/DNA_screen_types.h
index d90527040dd..4ab9aa55b42 100644
--- a/source/blender/makesdna/DNA_screen_types.h
+++ b/source/blender/makesdna/DNA_screen_types.h
@@ -38,7 +38,9 @@ struct SpaceType;
 struct SpaceLink;
 struct ARegion;
 struct ARegionType;
+struct PanelType;
 struct Scene;
+struct uiLayout;
 struct wmTimer;
 
 typedef struct bScreen {
@@ -88,6 +90,9 @@ typedef struct ScrEdge {
 typedef struct Panel {		/* the part from uiBlock that needs saved in file */
 	struct Panel *next, *prev;
 
+	struct PanelType *type;		/* runtime */
+	struct uiLayout *layout;	/* runtime for drawing */
+
 	char panelname[64], tabname[64];	/* defined as UI_MAX_NAME_STR */
 	char drawname[64];					/* panelname is identifier for restoring location */
 	short ofsx, ofsy, sizex, sizey;
diff --git a/source/blender/makesdna/DNA_sensor_types.h b/source/blender/makesdna/DNA_sensor_types.h
index d8a1ffc6c24..2cae2cc8ccb 100644
--- a/source/blender/makesdna/DNA_sensor_types.h
+++ b/source/blender/makesdna/DNA_sensor_types.h
@@ -238,6 +238,7 @@ typedef struct bJoystickSensor {
  * */
 /*  #define SENS_COLLISION_PROPERTY 0  */
 #define SENS_COLLISION_MATERIAL 1
+#define SENS_COLLISION_PULSE 2
 /* ray specific mode */
 /* X-Ray means that the ray will traverse objects that don't have the property/material */
 #define SENS_RAY_XRAY			2
diff --git a/source/blender/makesdna/DNA_space_types.h b/source/blender/makesdna/DNA_space_types.h
index 8cca610b698..8a26a216e79 100644
--- a/source/blender/makesdna/DNA_space_types.h
+++ b/source/blender/makesdna/DNA_space_types.h
@@ -33,7 +33,7 @@
 
 #include "DNA_listBase.h"
 #include "DNA_vec_types.h"
-#include "DNA_oops_types.h"		/* for TreeStoreElem */
+#include "DNA_outliner_types.h"		/* for TreeStoreElem */
 #include "DNA_image_types.h"	/* ImageUser */
 /* Hum ... Not really nice... but needed for spacebuts. */
 #include "DNA_view2d_types.h"
@@ -52,6 +52,7 @@ struct FileList;
 struct bGPdata;
 struct bDopeSheet;
 struct FileSelectParams;
+struct FileLayout;
 struct bScreen;
 struct Scene;
 struct wmOperator;
@@ -179,16 +180,7 @@ typedef struct SpaceFile {
 
 	struct wmTimer *loadimage_timer;
 
-	/* view settings - XXX - move into own struct */
-	short prv_w;
-	short prv_h;
-	short tile_w;
-	short tile_h;
-	short tile_border_x;
-	short tile_border_y;
-	short prv_border_x;
-	short prv_border_y;
-
+	struct FileLayout *layout;
 	
 } SpaceFile;
 
@@ -202,10 +194,6 @@ typedef struct SpaceOops {
 
 	View2D v2d; /* depricated, copied to region */
 	
-	ListBase oops;
-	short pin, visiflag, flag, rt;
-	void *lockpoin;
-	
 	ListBase tree;
 	struct TreeStore *treestore;
 	
@@ -214,12 +202,7 @@ typedef struct SpaceOops {
 	struct TreeStoreElem search_tse;
 	int search_flags, do_;
 	
-	short type, outlinevis, storeflag;
-	short deps_flags;
-
-	/* RNA */
-	char *rnapath;
-	
+	short flag, outlinevis, storeflag, pad;
 } SpaceOops;
 
 typedef struct SpaceImage {
@@ -278,14 +261,12 @@ typedef struct SpaceText {
 
 	int top, viewlines;
 	short flags, menunr;	
-	int font_id;
 
 	int lheight;
 	int left;
 	int showlinenrs;
 	int tabnumber;
 
-	int pad;
 	int showsyntax;
 	int overwrite;
 	float pix_per_line;
@@ -590,6 +571,7 @@ typedef struct SpaceImaSel {
 #define SI_SMOOTH_UV	1<<20
 #define SI_DRAW_STRETCH	1<<21
 #define SI_DISPGP		1<<22
+#define SI_DRAW_OTHER	1<<23
 
 /* SpaceIpo->flag (Graph Editor Settings) */
 #define SIPO_LOCK_VIEW			(1<<0)
@@ -618,35 +600,12 @@ enum {
 /* stext->findstr/replacestr */
 #define ST_MAX_FIND_STR		256
 
-/* SpaceOops->type */
-#define SO_OOPS			0
-#define SO_OUTLINER		1
-#define SO_DEPSGRAPH    2
-
 /* SpaceOops->flag */
 #define SO_TESTBLOCKS	1
 #define SO_NEWSELECTED	2
 #define SO_HIDE_RESTRICTCOLS		4
 #define SO_HIDE_KEYINGSETINFO		8
 
-/* SpaceOops->visiflag */
-#define OOPS_SCE	1
-#define OOPS_OB		2
-#define OOPS_ME		4
-#define OOPS_CU		8
-#define OOPS_MB		16
-#define OOPS_LT		32
-#define OOPS_LA		64
-#define OOPS_MA		128
-#define OOPS_TE		256
-#define OOPS_IP		512
-#define OOPS_LAY	1024
-#define OOPS_LI		2048
-#define OOPS_IM		4096
-#define OOPS_AR		8192
-#define OOPS_GR		16384
-#define OOPS_CA		32768
-
 /* SpaceOops->outlinevis */
 #define SO_ALL_SCENES	0
 #define SO_CUR_SCENE	1
@@ -747,7 +706,7 @@ enum {
 	SPACE_EMPTY,
 	SPACE_VIEW3D,
 	SPACE_IPO,
-	SPACE_OOPS,
+	SPACE_OUTLINER,
 	SPACE_BUTS,
 	SPACE_FILE,
 	SPACE_IMAGE,		
diff --git a/source/blender/makesdna/intern/SConscript b/source/blender/makesdna/intern/SConscript
index 6c8f48da251..eae75a1658b 100644
--- a/source/blender/makesdna/intern/SConscript
+++ b/source/blender/makesdna/intern/SConscript
@@ -2,10 +2,13 @@
 import sys
 import os
 
+def normpath(path):
+	return os.path.abspath(os.path.normpath(path))
+
 Import ('env')
 cflags = ''
 defines = []
-root_build_dir=env['BF_BUILDDIR']
+root_build_dir=normpath(env['BF_BUILDDIR'])
 
 source_files = ['makesdna.c']
 header_files = env.Glob('../*.h')
@@ -31,14 +34,15 @@ if not USE_WINE:
 if sys.platform != 'cygwin':
 	makesdna_tool.Append (CCFLAGS = cflags)
 makesdna_tool.Append (CPPDEFINES = defines)
-targetdir = root_build_dir+'/lib'
+targetdir = normpath(root_build_dir+'/lib')
+
 if not (root_build_dir[0]==os.sep or root_build_dir[1]==':'):
 	targetdir = '#'+targetdir
 makesdna_tool.Append (LIBPATH = targetdir)
 if env['BF_PROFILE']:
 	makesdna_tool.Append (LINKFLAGS = env['BF_PROFILE_LINKFLAGS'])
 
-targetdir = root_build_dir + '/makesdna'
+targetdir = normpath(root_build_dir + '/makesdna')
 
 if not (root_build_dir[0]==os.sep or root_build_dir[1]==':'):
 	targetdir = '#' + targetdir
diff --git a/source/blender/makesdna/intern/makesdna.c b/source/blender/makesdna/intern/makesdna.c
index 17547c4eb1d..bf2f0f3900e 100644
--- a/source/blender/makesdna/intern/makesdna.c
+++ b/source/blender/makesdna/intern/makesdna.c
@@ -111,7 +111,7 @@ char *includefiles[] = {
 	"DNA_fileglobal_types.h",
 	"DNA_sequence_types.h",
 	"DNA_effect_types.h",
-	"DNA_oops_types.h",
+	"DNA_outliner_types.h",
 	"DNA_property_types.h",
 	"DNA_sensor_types.h",
 	"DNA_controller_types.h",
@@ -1135,7 +1135,7 @@ int main(int argc, char ** argv)
 #include "DNA_fileglobal_types.h"
 #include "DNA_sequence_types.h"
 #include "DNA_effect_types.h"
-#include "DNA_oops_types.h"
+#include "DNA_outliner_types.h"
 #include "DNA_property_types.h"
 #include "DNA_sensor_types.h"
 #include "DNA_controller_types.h"
diff --git a/source/blender/makesrna/RNA_access.h b/source/blender/makesrna/RNA_access.h
index 8bc8c58f425..e2d3f85f550 100644
--- a/source/blender/makesrna/RNA_access.h
+++ b/source/blender/makesrna/RNA_access.h
@@ -25,8 +25,13 @@
 #ifndef RNA_ACCESS
 #define RNA_ACCESS
 
+#include "DNA_listBase.h"
 #include "RNA_types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 struct bContext;
 struct ID;
 struct Main;
@@ -68,6 +73,7 @@ extern StructRNA RNA_ColorRamp;
 extern StructRNA RNA_ColorRampElement;
 extern StructRNA RNA_ColorSequence;
 extern StructRNA RNA_Constraint;
+extern StructRNA RNA_Context;
 extern StructRNA RNA_ControlFluidSettings;
 extern StructRNA RNA_Controller;
 extern StructRNA RNA_Curve;
@@ -303,6 +309,7 @@ PropertyRNA *RNA_struct_name_property(PointerRNA *ptr);
 PropertyRNA *RNA_struct_iterator_property(PointerRNA *ptr);
 
 int RNA_struct_is_ID(PointerRNA *ptr);
+int RNA_struct_is_a(PointerRNA *ptr, StructRNA *srna);
 
 PropertyRNA *RNA_struct_find_property(PointerRNA *ptr, const char *identifier);
 const struct ListBase *RNA_struct_defined_properties(StructRNA *srna);
@@ -327,6 +334,7 @@ void RNA_property_float_range(PointerRNA *ptr, PropertyRNA *prop, float *hardmin
 void RNA_property_float_ui_range(PointerRNA *ptr, PropertyRNA *prop, float *softmin, float *softmax, float *step, float *precision);
 
 int RNA_property_string_maxlength(PointerRNA *ptr, PropertyRNA *prop);
+StructRNA *RNA_property_pointer_type(PointerRNA *ptr, PropertyRNA *prop);
 
 void RNA_property_enum_items(PointerRNA *ptr, PropertyRNA *prop, const EnumPropertyItem **item, int *totitem);
 int RNA_property_enum_value(PointerRNA *ptr, PropertyRNA *prop, const char *identifier, int *value);
@@ -403,6 +411,8 @@ char *RNA_path_back(const char *path);
 int RNA_path_resolve(PointerRNA *ptr, const char *path,
 	PointerRNA *r_ptr, PropertyRNA **r_prop);
 
+char *RNA_path_from_ID_to_property(PointerRNA *ptr, PropertyRNA *prop);
+
 #if 0
 /* Dependency
  *
@@ -475,7 +485,9 @@ int RNA_property_is_set(PointerRNA *ptr, const char *name);
 /* python compatible string representation of this property, (must be freed!) */
 char *RNA_property_as_string(PointerRNA *ptr, PropertyRNA *prop);
 
-#endif /* RNA_ACCESS */
-
+#ifdef __cplusplus
+}
+#endif
 
+#endif /* RNA_ACCESS */
 
diff --git a/source/blender/makesrna/RNA_define.h b/source/blender/makesrna/RNA_define.h
index d80a4e4573e..94a2c51c660 100644
--- a/source/blender/makesrna/RNA_define.h
+++ b/source/blender/makesrna/RNA_define.h
@@ -33,6 +33,10 @@
 #include "DNA_listBase.h"
 #include "RNA_types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Blender RNA */
 
 BlenderRNA *RNA_create(void);
@@ -49,6 +53,7 @@ void RNA_def_struct_name_property(StructRNA *srna, PropertyRNA *prop);
 void RNA_def_struct_nested(BlenderRNA *brna, StructRNA *srna, const char *structname);
 void RNA_def_struct_flag(StructRNA *srna, int flag);
 void RNA_def_struct_refine_func(StructRNA *srna, const char *refine);
+void RNA_def_struct_path_func(StructRNA *srna, const char *path);
 void RNA_def_struct_identifier(StructRNA *srna, const char *identifier);
 void RNA_def_struct_ui_text(StructRNA *srna, const char *name, const char *description);
 void RNA_struct_free(BlenderRNA *brna, StructRNA *srna);
@@ -115,6 +120,7 @@ void RNA_def_property_pointer_sdna(PropertyRNA *prop, const char *structname, co
 void RNA_def_property_collection_sdna(PropertyRNA *prop, const char *structname, const char *propname, const char *lengthpropname);
 
 void RNA_def_property_flag(PropertyRNA *prop, int flag);
+void RNA_def_property_clear_flag(PropertyRNA *prop, int flag);
 void RNA_def_property_array(PropertyRNA *prop, int arraylength);
 void RNA_def_property_range(PropertyRNA *prop, double min, double max);
 
@@ -146,6 +152,9 @@ void RNA_def_property_string_funcs(PropertyRNA *prop, const char *get, const cha
 void RNA_def_property_pointer_funcs(PropertyRNA *prop, const char *get, const char *set);
 void RNA_def_property_collection_funcs(PropertyRNA *prop, const char *begin, const char *next, const char *end, const char *get, const char *length, const char *lookupint, const char *lookupstring);
 
-#endif /* RNA_DEFINE_H */
+#ifdef __cplusplus
+}
+#endif
 
+#endif /* RNA_DEFINE_H */
 
diff --git a/source/blender/makesrna/RNA_enum_types.h b/source/blender/makesrna/RNA_enum_types.h
new file mode 100644
index 00000000000..9cb49fcaf60
--- /dev/null
+++ b/source/blender/makesrna/RNA_enum_types.h
@@ -0,0 +1,37 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * Contributor(s): Blender Foundation (2008).
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#ifndef RNA_ENUM_TYPES
+#define RNA_ENUM_TYPES
+
+#include "RNA_types.h"
+
+/* Types */
+
+extern EnumPropertyItem prop_mode_items[];
+
+#endif /* RNA_ENUM_TYPES */
+
+
+
diff --git a/source/blender/makesrna/RNA_types.h b/source/blender/makesrna/RNA_types.h
index 03c6fc1a335..c3dcf4040ea 100644
--- a/source/blender/makesrna/RNA_types.h
+++ b/source/blender/makesrna/RNA_types.h
@@ -25,9 +25,14 @@
 #ifndef RNA_TYPES
 #define RNA_TYPES
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 struct PropertyRNA;
 struct StructRNA;
 struct BlenderRNA;
+struct IDProperty;
 
 /* Pointer
  *
@@ -38,7 +43,6 @@ struct BlenderRNA;
 
 typedef struct PointerRNA {
 	struct {
-		struct StructRNA *type;
 		void *data;
 	} id;
 
@@ -75,28 +79,13 @@ typedef enum PropertyFlag {
 	/* editable means the property is editable in the user
 	 * interface, properties are editable by default except
 	 * for pointers and collections. */
-	PROP_NOT_EDITABLE = 1,
+	PROP_EDITABLE = 1,
 
 	/* animateable means the property can be driven by some
 	 * other input, be it animation curves, expressions, ..
 	 * properties are animateable by default except for pointers
 	 * and collections */
-	PROP_NOT_ANIMATEABLE = 2,
-
-#if 0
-	/* for pointers and collections, means that the struct
-	 * depends on the data pointed to for evaluation, such
-	 * that a change in the data pointed to will affect the
-	 * evaluated result of this struct. */
-	PROP_EVALUATE_DEPENDENCY = 8,
-	PROP_INVERSE_EVALUATE_DEPENDENCY = 16,
-
-	/* for pointers and collections, means that the struct
-	 * requires the data pointed to for rendering in the,
-	 * be it the render engine or viewport */
-	PROP_RENDER_DEPENDENCY = 32,
-	PROP_INVERSE_RENDER_DEPENDENCY = 64,
-#endif
+	PROP_ANIMATEABLE = 2,
 
 	/* internal flags */
 	PROP_BUILTIN = 128,
@@ -118,6 +107,11 @@ typedef struct CollectionPropertyIterator {
 	PointerRNA ptr;
 } CollectionPropertyIterator;
 
+typedef struct CollectionPointerLink {
+	struct CollectionPointerLink *next, *prev;
+	PointerRNA ptr;
+} CollectionPointerLink;
+
 /* Iterator Utility */
 
 typedef struct EnumPropertyItem {
@@ -148,6 +142,10 @@ typedef struct StructRNA StructRNA;
 
 typedef struct BlenderRNA BlenderRNA;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* RNA_TYPES */
 
 
diff --git a/source/blender/makesrna/intern/CMakeLists.txt b/source/blender/makesrna/intern/CMakeLists.txt
index 15be45ae59b..934e009eebc 100644
--- a/source/blender/makesrna/intern/CMakeLists.txt
+++ b/source/blender/makesrna/intern/CMakeLists.txt
@@ -34,6 +34,7 @@ SET(DEFSRC
      rna_cloth.c
      rna_color.c
      rna_constraint.c
+     rna_context.c
      rna_controller.c
      rna_curve.c
      rna_fluidsim.c
@@ -97,7 +98,7 @@ ADD_CUSTOM_COMMAND(
 )
 
 # Build bf_rna
-SET(SRC rna_access.c rna_dependency.c ${GENSRC})
+SET(SRC rna_access.c ${GENSRC})
 BLENDERLIB(bf_rna "${SRC}" "${INC}")
 
 MESSAGE(STATUS "Configuring makesrna")
diff --git a/source/blender/makesrna/intern/Makefile b/source/blender/makesrna/intern/Makefile
index aad4acdbf38..070f6f264bd 100644
--- a/source/blender/makesrna/intern/Makefile
+++ b/source/blender/makesrna/intern/Makefile
@@ -26,7 +26,7 @@ LIBNAME = rna
 DIR = $(OCGDIR)/blender/makesrna
 
 ALLRNA = $(wildcard rna_*.c)
-DEFRNA = $(filter-out %rna_define.c, $(filter-out %rna_dependency.c, $(filter-out %rna_access.c, $(ALLRNA))))
+DEFRNA = $(filter-out %rna_define.c, $(filter-out %rna_access.c, $(ALLRNA)))
 
 GENSRCS = $(patsubst rna_%.c, rna_%_gen.c, $(DEFRNA))
 GENTARGET = $(patsubst %.c, $(DIR)/$(DEBUG_DIR)%.c, $(GENSRCS))
@@ -34,10 +34,14 @@ GENTARGET = $(patsubst %.c, $(DIR)/$(DEBUG_DIR)%.c, $(GENSRCS))
 MAKESRCS = $(DEFRNA) makesrna.c rna_define.c
 MAKEOBJS = $(patsubst %.c, $(DIR)/$(DEBUG_DIR)%.o, $(MAKESRCS))
 
-CSRCS = $(GENSRCS) rna_access.c rna_dependency.c
+CSRCS = $(GENSRCS) rna_access.c
 
 include nan_compile.mk
 
+ifdef NAN_DEPEND
+-include $(MAKESRCS:%.c=$(DIR)/$(DEBUG_DIR)%.d)
+endif
+
 CFLAGS += $(LEVEL_1_C_WARNINGS)
 
 CPPFLAGS += -I$(NAN_GUARDEDALLOC)/include
diff --git a/source/blender/makesrna/intern/SConscript b/source/blender/makesrna/intern/SConscript
index ac05eab14d1..7bd52114792 100644
--- a/source/blender/makesrna/intern/SConscript
+++ b/source/blender/makesrna/intern/SConscript
@@ -2,19 +2,19 @@
 import sys
 import os
 
-ap = os.path.abspath
+def normpath(path):
+	return os.path.abspath(os.path.normpath(path))
 
 Import ('env')
 cflags = '-Wall'
 defines = []
-root_build_dir=ap(env['BF_BUILDDIR'])
+root_build_dir=normpath(env['BF_BUILDDIR'])
 
 source_files = env.Glob('*.c')
 
 # making rna_access.c part of both makesrna and blender seems to
 # give conflict, how to solve?
 source_files.remove('rna_access.c')
-source_files.remove('rna_dependency.c')
 
 generated_files = source_files[:]
 generated_files.remove('rna_define.c')
@@ -76,20 +76,20 @@ rna_dict = rna.Dictionary()
 rna.Depends (generated_files, makesrna)
 
 # this seems bad, how to retrieve it from scons?
-build_dir = ap(root_build_dir + '/source/blender/makesrna/intern') + "/"
+build_dir = root_build_dir + '/source/blender/makesrna/intern/'
 
 if env['OURPLATFORM'] != 'linuxcross':
-    rna.Command (generated_files, '', ap(root_build_dir+os.sep+"makesrna ") + " \"" + build_dir + "\"")
+    rna.Command (generated_files, '', root_build_dir+os.sep+"makesrna " + build_dir)
 else:
-    rna.Command (generated_files, '', ap(root_build_dir+os.sep+"makesrna.exe") + " \""  + build_dir + "\"")
+    rna.Command (generated_files, '', root_build_dir+os.sep+"makesrna.exe "  + build_dir)
 	
     if USE_WINE:
-        rna.Command (generated_files, '', ap('wine ' + root_build_dir+os.sep+"makesrna.exe") + " \""  + build_dir + "\"")
+        rna.Command (generated_files, '', 'wine ' + root_build_dir+os.sep+"makesrna.exe "  + build_dir)
     else:
-        rna.Command (generated_files, '', ap(root_build_dir+os.sep+"makesrna.exe") + " \""  + build_dir + "\"")
+        rna.Command (generated_files, '', root_build_dir+os.sep+"makesrna.exe "  + build_dir)
 
 
-obj = ['intern/rna_access.c', 'intern/rna_dependency.c']
+obj = ['intern/rna_access.c']
 for generated_file in generated_files:
 	obj += ['intern/' + generated_file]
 
diff --git a/source/blender/makesrna/intern/makesrna.c b/source/blender/makesrna/intern/makesrna.c
index 4b7b5babc2e..0d124a121d5 100644
--- a/source/blender/makesrna/intern/makesrna.c
+++ b/source/blender/makesrna/intern/makesrna.c
@@ -261,9 +261,9 @@ static char *rna_def_property_get_func(FILE *f, StructRNA *srna, PropertyRNA *pr
 				PointerPropertyRNA *pprop= (PointerPropertyRNA*)prop;
 				rna_print_data_get(f, dp);
 				if(dp->dnapointerlevel == 0)
-					fprintf(f, "	return rna_pointer_inherit_refine(ptr, &RNA_%s, &data->%s);\n", (char*)pprop->structtype, dp->dnaname);
+					fprintf(f, "	return rna_pointer_inherit_refine(ptr, &RNA_%s, &data->%s);\n", (char*)pprop->type, dp->dnaname);
 				else
-					fprintf(f, "	return rna_pointer_inherit_refine(ptr, &RNA_%s, data->%s);\n", (char*)pprop->structtype, dp->dnaname);
+					fprintf(f, "	return rna_pointer_inherit_refine(ptr, &RNA_%s, data->%s);\n", (char*)pprop->type, dp->dnaname);
 			}
 			fprintf(f, "}\n\n");
 			break;
@@ -277,7 +277,7 @@ static char *rna_def_property_get_func(FILE *f, StructRNA *srna, PropertyRNA *pr
 				if(strcmp(manualfunc, "rna_iterator_listbase_get") == 0 ||
 				   strcmp(manualfunc, "rna_iterator_array_get") == 0 ||
 				   strcmp(manualfunc, "rna_iterator_array_dereference_get") == 0)
-					fprintf(f, "	return rna_pointer_inherit_refine(&iter->parent, &RNA_%s, %s(iter));\n", (cprop->structtype)? (char*)cprop->structtype: "UnknownType", manualfunc);
+					fprintf(f, "	return rna_pointer_inherit_refine(&iter->parent, &RNA_%s, %s(iter));\n", (cprop->type)? (char*)cprop->type: "UnknownType", manualfunc);
 				else
 					fprintf(f, "	return %s(iter);\n", manualfunc);
 			}
@@ -290,7 +290,7 @@ static char *rna_def_property_get_func(FILE *f, StructRNA *srna, PropertyRNA *pr
 				fprintf(f, "{\n");
 
 				if(manualfunc) {
-					fprintf(f, "	return %s(ptr, values);\n", manualfunc);
+					fprintf(f, "	%s(ptr, values);\n", manualfunc);
 				}
 				else {
 					rna_print_data_get(f, dp);
@@ -384,12 +384,14 @@ static char *rna_def_property_set_func(FILE *f, StructRNA *srna, PropertyRNA *pr
 	char *func;
 	int i;
 
-	if(prop->flag & (PROP_IDPROPERTY|PROP_NOT_EDITABLE))
+	if(!(prop->flag & PROP_EDITABLE))
+		return NULL;
+	if(prop->flag & PROP_IDPROPERTY)
 		return NULL;
 
 	if(!manualfunc) {
 		if(!dp->dnastructname || !dp->dnaname) {
-			if(!(prop->flag & PROP_NOT_EDITABLE)) {
+			if(prop->flag & PROP_EDITABLE) {
 				fprintf(stderr, "rna_def_property_set_func: %s.%s has no valid dna info.\n", srna->identifier, prop->identifier);
 				DefRNA.error= 1;
 			}
@@ -732,8 +734,8 @@ static void rna_def_property_funcs(FILE *f, PropertyDefRNA *dp)
 
 			pprop->get= (void*)rna_def_property_get_func(f, srna, prop, dp, (char*)pprop->get);
 			pprop->set= (void*)rna_def_property_set_func(f, srna, prop, dp, (char*)pprop->set);
-			if(!pprop->structtype && !pprop->get) {
-				fprintf(stderr, "rna_def_property_funcs: %s.%s, pointer must have either type function or fixed type.\n", srna->identifier, prop->identifier);
+			if(!pprop->type) {
+				fprintf(stderr, "rna_def_property_funcs: %s.%s, pointer must have a struct type.\n", srna->identifier, prop->identifier);
 				DefRNA.error= 1;
 			}
 			break;
@@ -764,8 +766,8 @@ static void rna_def_property_funcs(FILE *f, PropertyDefRNA *dp)
 					DefRNA.error= 1;
 				}
 			}
-			if(!cprop->structtype && !cprop->get) {
-				fprintf(stderr, "rna_def_property_funcs: %s.%s, collection must have either type function or fixed type.\n", srna->identifier, prop->identifier);
+			if(!cprop->type) {
+				fprintf(stderr, "rna_def_property_funcs: %s.%s, collection must have a struct type.\n", srna->identifier, prop->identifier);
 				DefRNA.error= 1;
 			}
 			break;
@@ -861,6 +863,154 @@ static void rna_def_property_funcs_header(FILE *f, PropertyDefRNA *dp)
 	fprintf(f, "\n");
 }
 
+static void rna_def_property_funcs_header_cpp(FILE *f, PropertyDefRNA *dp)
+{
+	PropertyRNA *prop;
+	StructRNA *srna;
+
+	srna= dp->srna;
+	prop= dp->prop;
+
+	if(prop->flag & (PROP_IDPROPERTY|PROP_BUILTIN))
+		return;
+	
+	if(prop->name && prop->description && strcmp(prop->description, "") != 0)
+		fprintf(f, "\t/* %s: %s */\n", prop->name, prop->description);
+	else if(prop->name)
+		fprintf(f, "\t/* %s */\n", prop->name);
+	else
+		fprintf(f, "\t/* */\n");
+
+	switch(prop->type) {
+		case PROP_BOOLEAN: {
+			if(!prop->arraylength)
+				fprintf(f, "\tbool %s(void);", prop->identifier);
+			else
+				fprintf(f, "\tArray<int, %d> %s(void);", prop->arraylength, prop->identifier);
+			break;
+		}
+		case PROP_INT: {
+			if(!prop->arraylength)
+				fprintf(f, "\tint %s(void);", prop->identifier);
+			else
+				fprintf(f, "\tArray<int, %d> %s(void);", prop->arraylength, prop->identifier);
+			break;
+		}
+		case PROP_FLOAT: {
+			if(!prop->arraylength)
+				fprintf(f, "\tfloat %s(void);", prop->identifier);
+			else
+				fprintf(f, "\tArray<float, %d> %s(void);", prop->arraylength, prop->identifier);
+			break;
+		}
+		case PROP_ENUM: {
+			EnumPropertyRNA *eprop= (EnumPropertyRNA*)prop;
+			int i;
+
+			if(eprop->item) {
+				fprintf(f, "\tenum %s_enum {\n", prop->identifier);
+
+				for(i=0; i<eprop->totitem; i++)
+					fprintf(f, "\t\t%s_%s = %d,\n", prop->identifier, eprop->item[i].identifier, eprop->item[i].value);
+
+				fprintf(f, "\t};\n");
+			}
+
+			fprintf(f, "\t%s_enum %s(void);", prop->identifier, prop->identifier);
+			break;
+		}
+		case PROP_STRING: {
+			fprintf(f, "\tstd::string %s(void);", prop->identifier);
+			break;
+		}
+		case PROP_POINTER: {
+			PointerPropertyRNA *pprop= (PointerPropertyRNA*)dp->prop;
+
+			if(pprop->type)
+				fprintf(f, "\t%s %s(void);", (char*)pprop->type, prop->identifier);
+			else
+				fprintf(f, "\t%s %s(void);", "UnknownType", prop->identifier);
+			break;
+		}
+		case PROP_COLLECTION: {
+			CollectionPropertyRNA *cprop= (CollectionPropertyRNA*)dp->prop;
+
+			if(cprop->type)
+				fprintf(f, "\tCOLLECTION_PROPERTY(%s, %s, %s)", (char*)cprop->type, srna->identifier, prop->identifier);
+			else
+				fprintf(f, "\tCOLLECTION_PROPERTY(%s, %s, %s)", "UnknownType", srna->identifier, prop->identifier);
+			break;
+		}
+	}
+
+	fprintf(f, "\n");
+}
+
+static void rna_def_property_funcs_impl_cpp(FILE *f, PropertyDefRNA *dp)
+{
+	PropertyRNA *prop;
+	StructRNA *srna;
+
+	srna= dp->srna;
+	prop= dp->prop;
+
+	if(prop->flag & (PROP_IDPROPERTY|PROP_BUILTIN))
+		return;
+
+	switch(prop->type) {
+		case PROP_BOOLEAN: {
+			if(!prop->arraylength)
+				fprintf(f, "\tBOOLEAN_PROPERTY(%s, %s)", srna->identifier, prop->identifier);
+			else
+				fprintf(f, "\tBOOLEAN_ARRAY_PROPERTY(%s, %d, %s)", srna->identifier, prop->arraylength, prop->identifier);
+			break;
+		}
+		case PROP_INT: {
+			if(!prop->arraylength)
+				fprintf(f, "\tINT_PROPERTY(%s, %s)", srna->identifier, prop->identifier);
+			else
+				fprintf(f, "\tINT_ARRAY_PROPERTY(%s, %d, %s)", srna->identifier, prop->arraylength, prop->identifier);
+			break;
+		}
+		case PROP_FLOAT: {
+			if(!prop->arraylength)
+				fprintf(f, "\tFLOAT_PROPERTY(%s, %s)", srna->identifier, prop->identifier);
+			else
+				fprintf(f, "\tFLOAT_ARRAY_PROPERTY(%s, %d, %s)", srna->identifier, prop->arraylength, prop->identifier);
+			break;
+		}
+		case PROP_ENUM: {
+			fprintf(f, "\tENUM_PROPERTY(%s_enum, %s, %s)", prop->identifier, srna->identifier, prop->identifier);
+
+			break;
+		}
+		case PROP_STRING: {
+			fprintf(f, "\tSTRING_PROPERTY(%s, %s)", srna->identifier, prop->identifier);
+			break;
+		}
+		case PROP_POINTER: {
+			PointerPropertyRNA *pprop= (PointerPropertyRNA*)dp->prop;
+
+			if(pprop->type)
+				fprintf(f, "\tPOINTER_PROPERTY(%s, %s, %s)", (char*)pprop->type, srna->identifier, prop->identifier);
+			else
+				fprintf(f, "\tPOINTER_PROPERTY(%s, %s, %s)", "UnknownType", srna->identifier, prop->identifier);
+			break;
+		}
+		case PROP_COLLECTION: {
+			/*CollectionPropertyRNA *cprop= (CollectionPropertyRNA*)dp->prop;
+
+			if(cprop->type)
+				fprintf(f, "\tCOLLECTION_PROPERTY(%s, %s, %s)", (char*)cprop->type, srna->identifier, prop->identifier);
+			else
+				fprintf(f, "\tCOLLECTION_PROPERTY(%s, %s, %s)", "UnknownType", srna->identifier, prop->identifier);*/
+			break;
+		}
+	}
+
+	fprintf(f, "\n");
+}
+
 static const char *rna_find_type(const char *type)
 {
 	StructDefRNA *ds;
@@ -890,14 +1040,14 @@ static void rna_auto_types()
 				if(dp->prop->type == PROP_POINTER) {
 					PointerPropertyRNA *pprop= (PointerPropertyRNA*)dp->prop;
 
-					if(!pprop->structtype && !pprop->get)
-						pprop->structtype= (StructRNA*)rna_find_type(dp->dnatype);
+					if(!pprop->type && !pprop->get)
+						pprop->type= (StructRNA*)rna_find_type(dp->dnatype);
 				}
 				else if(dp->prop->type== PROP_COLLECTION) {
 					CollectionPropertyRNA *cprop= (CollectionPropertyRNA*)dp->prop;
 
-					if(!cprop->structtype && !cprop->get && strcmp(dp->dnatype, "ListBase")==0)
-						cprop->structtype= (StructRNA*)rna_find_type(dp->dnatype);
+					if(!cprop->type && !cprop->get && strcmp(dp->dnatype, "ListBase")==0)
+						cprop->type= (StructRNA*)rna_find_type(dp->dnatype);
 				}
 			}
 		}
@@ -1022,7 +1172,7 @@ static void rna_generate_struct(BlenderRNA *brna, StructRNA *srna, FILE *f)
 		switch(prop->type) {
 			case PROP_ENUM: {
 				EnumPropertyRNA *eprop= (EnumPropertyRNA*)prop;
-				int i;
+				int i, defaultfound= 0;
 
 				if(eprop->item) {
 					fprintf(f, "static EnumPropertyItem rna_%s_%s_items[%d] = {", srna->identifier, prop->identifier, eprop->totitem);
@@ -1034,9 +1184,17 @@ static void rna_generate_struct(BlenderRNA *brna, StructRNA *srna, FILE *f)
 						rna_print_c_string(f, eprop->item[i].description); fprintf(f, "}");
 						if(i != eprop->totitem-1)
 							fprintf(f, ", ");
+
+						if(eprop->defaultvalue == eprop->item[i].value)
+							defaultfound= 1;
 					}
 
 					fprintf(f, "};\n\n");
+
+					if(!defaultfound) {
+						fprintf(stderr, "rna_generate_structs: %s.%s, enum default is not in items.\n", srna->identifier, prop->identifier);
+						DefRNA.error= 1;
+					}
 				}
 				else {
 					fprintf(stderr, "rna_generate_structs: %s.%s, enum must have items defined.\n", srna->identifier, prop->identifier);
@@ -1171,14 +1329,14 @@ static void rna_generate_struct(BlenderRNA *brna, StructRNA *srna, FILE *f)
 			case PROP_POINTER: {
 				PointerPropertyRNA *pprop= (PointerPropertyRNA*)prop;
 				fprintf(f, "\t%s, %s, ", rna_function_string(pprop->get), rna_function_string(pprop->set));
-				if(pprop->structtype) fprintf(f, "&RNA_%s\n", (char*)pprop->structtype);
+				if(pprop->type) fprintf(f, "&RNA_%s\n", (char*)pprop->type);
 				else fprintf(f, "NULL\n");
 				break;
 			}
 			case PROP_COLLECTION: {
 				CollectionPropertyRNA *cprop= (CollectionPropertyRNA*)prop;
 				fprintf(f, "\t%s, %s, %s, %s, %s, %s, %s, ", rna_function_string(cprop->begin), rna_function_string(cprop->next), rna_function_string(cprop->end), rna_function_string(cprop->get), rna_function_string(cprop->length), rna_function_string(cprop->lookupint), rna_function_string(cprop->lookupstring));
-				if(cprop->structtype) fprintf(f, "&RNA_%s\n", (char*)cprop->structtype);
+				if(cprop->type) fprintf(f, "&RNA_%s\n", (char*)cprop->type);
 				else fprintf(f, "NULL\n");
 				break;
 			}
@@ -1193,7 +1351,9 @@ static void rna_generate_struct(BlenderRNA *brna, StructRNA *srna, FILE *f)
 	else fprintf(f, "\tNULL, ");
 	if(srna->prev) fprintf(f, "&RNA_%s,\n", srna->prev->identifier);
 	else fprintf(f, "NULL,\n");
-
+	
+	fprintf(f, "\tNULL,\n"); /* PyType - Cant initialize here */
+	
 	fprintf(f, "\t");
 	rna_print_c_string(f, srna->identifier);
 	fprintf(f, ", %d, ", srna->flag);
@@ -1225,6 +1385,7 @@ static void rna_generate_struct(BlenderRNA *brna, StructRNA *srna, FILE *f)
 	else fprintf(f, "\tNULL,\n");
 
 	fprintf(f, "\t%s,\n", rna_function_string(srna->refine));
+	fprintf(f, "\t%s,\n", rna_function_string(srna->path));
 
 	prop= srna->properties.first;
 	if(prop) fprintf(f, "\t{(PropertyRNA*)&rna_%s_%s, ", srna->identifier, prop->identifier);
@@ -1245,6 +1406,7 @@ typedef struct RNAProcessItem {
 } RNAProcessItem;
 
 RNAProcessItem PROCESS_ITEMS[]= {
+	{"rna_rna.c", RNA_def_rna},
 	{"rna_ID.c", RNA_def_ID},
 	{"rna_texture.c", RNA_def_texture},
 	{"rna_action.c", RNA_def_action},
@@ -1256,6 +1418,7 @@ RNAProcessItem PROCESS_ITEMS[]= {
 	{"rna_cloth.c", RNA_def_cloth},
 	{"rna_color.c", RNA_def_color},
 	{"rna_constraint.c", RNA_def_constraint},
+	{"rna_context.c", RNA_def_context},
 	{"rna_controller.c", RNA_def_controller},
 	{"rna_curve.c", RNA_def_curve},
 	{"rna_fluidsim.c", RNA_def_fluidsim},
@@ -1277,7 +1440,6 @@ RNAProcessItem PROCESS_ITEMS[]= {
 	{"rna_pose.c", RNA_def_pose},
 	{"rna_property.c", RNA_def_gameproperty},
 	{"rna_radio.c", RNA_def_radio},
-	{"rna_rna.c", RNA_def_rna},
 	{"rna_scene.c", RNA_def_scene},
 	{"rna_screen.c", RNA_def_screen},
 	{"rna_scriptlink.c", RNA_def_scriptlink},
@@ -1357,6 +1519,8 @@ static void rna_generate_header(BlenderRNA *brna, FILE *f)
 
 	fprintf(f, "#include \"RNA_types.h\"\n\n");
 
+	fprintf(f, "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n");
+
 	fprintf(f, "#define FOREACH_BEGIN(property, sptr, itemptr) \\\n");
 	fprintf(f, "	{ \\\n");
 	fprintf(f, "		CollectionPropertyIterator rna_macro_iter; \\\n");
@@ -1383,7 +1547,172 @@ static void rna_generate_header(BlenderRNA *brna, FILE *f)
 			rna_def_property_funcs_header(f, dp);
 	}
 
-	fprintf(f, "#endif /* __RNA_BLENDER_H__ */\n");
+	fprintf(f, "#ifdef __cplusplus\n}\n#endif\n\n");
+
+	fprintf(f, "#endif /* __RNA_BLENDER_H__ */\n\n");
+}
+
+static const char *cpp_classes = ""
+"\n"
+"#include <string>\n"
+"\n"
+"namespace RNA {\n"
+"\n"
+"#define BOOLEAN_PROPERTY(sname, identifier) \\\n"
+"	bool sname::identifier(void) { return (bool)sname##_##identifier##_get(&ptr); }\n"
+"\n"
+"#define BOOLEAN_ARRAY_PROPERTY(sname, size, identifier) \\\n"
+"	Array<int,size> sname::identifier(void) \\\n"
+"		{ Array<int, size> ar; sname##_##identifier##_get(&ptr, ar.data); return ar; }\n"
+"\n"
+"#define INT_PROPERTY(sname, identifier) \\\n"
+"	int sname::identifier(void) { return sname##_##identifier##_get(&ptr); }\n"
+"\n"
+"#define INT_ARRAY_PROPERTY(sname, size, identifier) \\\n"
+"	Array<int,size> sname::identifier(void) \\\n"
+"		{ Array<int, size> ar; sname##_##identifier##_get(&ptr, ar.data); return ar; }\n"
+"\n"
+"#define FLOAT_PROPERTY(sname, identifier) \\\n"
+"	float sname::identifier(void) { return sname##_##identifier##_get(&ptr); }\n"
+"\n"
+"#define FLOAT_ARRAY_PROPERTY(sname, size, identifier) \\\n"
+"	Array<float,size> sname::identifier(void) \\\n"
+"		{ Array<float, size> ar; sname##_##identifier##_get(&ptr, ar.data); return ar; }\n"
+"\n"
+"#define ENUM_PROPERTY(type, sname, identifier) \\\n"
+"	sname::type sname::identifier(void) { return (type)sname##_##identifier##_get(&ptr); }\n"
+"\n"
+"#define STRING_PROPERTY(sname, identifier) \\\n"
+"	std::string sname::identifier(void) { \\\n"
+"		int len= sname##_##identifier##_length(&ptr); \\\n"
+"		std::string str; str.resize(len); \\\n"
+"		sname##_##identifier##_get(&ptr, &str[0]); return str; } \\\n"
+"\n"
+"#define POINTER_PROPERTY(type, sname, identifier) \\\n"
+"	type sname::identifier(void) { return type(sname##_##identifier##_get(&ptr)); }\n"
+"\n"
+"#define COLLECTION_PROPERTY(type, sname, identifier) \\\n"
+"	typedef CollectionIterator<type, sname##_##identifier##_begin, \\\n"
+"		sname##_##identifier##_next, sname##_##identifier##_end> identifier##_iterator; \\\n"
+"	Collection<sname, type, sname##_##identifier##_begin, \\\n"
+"		sname##_##identifier##_next, sname##_##identifier##_end> identifier;\n"
+"\n"
+"class Pointer {\n"
+"public:\n"
+"	Pointer(const PointerRNA& p) : ptr(p) { }\n"
+"	operator const PointerRNA&() { return ptr; }\n"
+"	bool is_a(StructRNA *type) { return RNA_struct_is_a(&ptr, type); }\n"
+"	operator void*() { return ptr.data; }\n"
+"	operator bool() { return ptr.data != NULL; }\n"
+"\n"
+"	PointerRNA ptr;\n"
+"};\n"
+"\n"
+"\n"
+"template<typename T, int Tsize>\n"
+"class Array {\n"
+"public:\n"
+"	T data[Tsize];\n"
+"	operator T*() { return data; }\n"
+"};\n"
+"\n"
+"typedef void (*TBeginFunc)(CollectionPropertyIterator *iter, PointerRNA *ptr);\n"
+"typedef void (*TNextFunc)(CollectionPropertyIterator *iter);\n"
+"typedef void (*TEndFunc)(CollectionPropertyIterator *iter);\n"
+"\n"
+"template<typename T, TBeginFunc Tbegin, TNextFunc Tnext, TEndFunc Tend>\n"
+"class CollectionIterator {\n"
+"public:\n"
+"	CollectionIterator() : t(iter.ptr), init(false) { iter.valid= false; }\n"
+"	~CollectionIterator(void) { if(init) Tend(&iter); };\n"
+"	const CollectionIterator<T, Tbegin, Tnext, Tend>& operator=(const CollectionIterator<T, Tbegin, Tnext, Tend>& copy)\n"
+"	{ if(init) Tend(&iter); iter= copy.iter; if(iter.internal) iter.internal= MEM_dupallocN(iter.internal); t= copy.t; init= copy.init; return *this; }\n"
+"\n"
+"	operator bool(void)\n"
+"	{ return iter.valid != 0; }\n"
+"	const CollectionIterator<T, Tbegin, Tnext, Tend>& operator++() { Tnext(&iter); t = T(iter.ptr); return *this; }\n"
+"	T& operator*(void) { return t; }\n"
+"	T* operator->(void) { return &t; }\n"
+"	bool operator==(const CollectionIterator<T, Tbegin, Tnext, Tend>& other) { return iter.valid == other.iter.valid; }\n"
+"	bool operator!=(const CollectionIterator<T, Tbegin, Tnext, Tend>& other) { return iter.valid != other.iter.valid; }\n"
+"\n"
+"	void begin(const Pointer& ptr)\n"
+"	{ if(init) Tend(&iter); Tbegin(&iter, (PointerRNA*)&ptr.ptr); t = T(iter.ptr); init = true; }\n"
+"\n"
+"private:\n"
+"	CollectionPropertyIterator iter;\n"
+"	T t;\n"
+"	bool init;\n"
+"};\n"
+"\n"
+"template<typename Tp, typename T, TBeginFunc Tbegin, TNextFunc Tnext, TEndFunc Tend>\n"
+"class Collection {\n"
+"public:\n"
+"	Collection(const PointerRNA& p) : ptr(p) {}\n"
+"\n"
+"	CollectionIterator<T, Tbegin, Tnext, Tend> begin()\n"
+"	{ CollectionIterator<T, Tbegin, Tnext, Tend> iter; iter.begin(ptr); return iter; }\n"
+"	CollectionIterator<T, Tbegin, Tnext, Tend> end()\n"
+"	{ return CollectionIterator<T, Tbegin, Tnext, Tend>(); } /* test */ \n"
+"\n"
+"private:\n"
+"	PointerRNA ptr;\n"
+"};\n"
+"\n";
+
+static void rna_generate_header_cpp(BlenderRNA *brna, FILE *f)
+{
+	StructDefRNA *ds;
+	PropertyDefRNA *dp;
+	StructRNA *srna;
+
+	fprintf(f, "\n#ifndef __RNA_BLENDER_CPP_H__\n");
+	fprintf(f, "#define __RNA_BLENDER_CPP_H__\n\n");
+
+	fprintf(f, "/* Automatically generated classes for the Data API.\n"
+	             "   Do not edit manually, changes will be overwritten. */\n\n");
+
+	fprintf(f, "#include \"RNA_blender.h\"\n");
+	fprintf(f, "#include \"RNA_types.h\"\n");
+
+	fprintf(f, cpp_classes);
+
+	fprintf(f, "/**************** Declarations ****************/\n\n");
+
+	for(ds=DefRNA.structs.first; ds; ds=ds->next)
+		fprintf(f, "class %s;\n", ds->srna->identifier);
+	fprintf(f, "\n");
+
+	for(ds=DefRNA.structs.first; ds; ds=ds->next) {
+		srna= ds->srna;
+
+		fprintf(f, "/**************** %s ****************/\n\n", srna->name);
+
+		fprintf(f, "class %s : public %s {\n", srna->identifier, (srna->base)? srna->base->identifier: "Pointer");
+		fprintf(f, "public:\n");
+		fprintf(f, "\t%s(const PointerRNA& ptr) :\n\t\t%s(ptr)", srna->identifier, (srna->base)? srna->base->identifier: "Pointer");
+		for(dp=ds->properties.first; dp; dp=dp->next)
+			if(!(dp->prop->flag & (PROP_IDPROPERTY|PROP_BUILTIN)))
+				if(dp->prop->type == PROP_COLLECTION)
+					fprintf(f, ",\n\t\t%s(ptr)", dp->prop->identifier);
+		fprintf(f, "\n\t\t{}\n\n");
+
+		for(dp=ds->properties.first; dp; dp=dp->next)
+			rna_def_property_funcs_header_cpp(f, dp);
+		fprintf(f, "};\n\n");
+	}
+
+
+	fprintf(f, "/**************** Implementation ****************/\n");
+
+	for(ds=DefRNA.structs.first; ds; ds=ds->next) {
+		for(dp=ds->properties.first; dp; dp=dp->next)
+			rna_def_property_funcs_impl_cpp(f, dp);
+
+		fprintf(f, "\n");
+	}
+
+	fprintf(f, "}\n\n#endif /* __RNA_BLENDER_CPP_H__ */\n\n");
 }
 
 static void make_bad_file(char *file)
@@ -1415,10 +1744,34 @@ static int rna_preprocess(char *outfile)
 	}
 
 	rna_auto_types();
-	rna_sort(brna);
+
+
+	/* create RNA_blender_cpp.h */
+	strcpy(deffile, outfile);
+	strcat(deffile, "RNA_blender_cpp.h");
 
 	status= (DefRNA.error != 0);
 
+	if(status) {
+		make_bad_file(deffile);
+	}
+	else {
+		file = fopen(deffile, "w");
+
+		if(!file) {
+			printf ("Unable to open file: %s\n", deffile);
+			status = 1;
+		}
+		else {
+			rna_generate_header_cpp(brna, file);
+			fclose(file);
+
+			status= (DefRNA.error != 0);
+		}
+	}
+
+	rna_sort(brna);
+
 	/* create rna_gen_*.c files */
 	for(i=0; PROCESS_ITEMS[i].filename; i++) {
 		strcpy(deffile, outfile);
diff --git a/source/blender/makesrna/intern/rna_ID.c b/source/blender/makesrna/intern/rna_ID.c
index 97c87c6a962..5955f16f916 100644
--- a/source/blender/makesrna/intern/rna_ID.c
+++ b/source/blender/makesrna/intern/rna_ID.c
@@ -33,6 +33,7 @@
 #ifdef RNA_RUNTIME
 
 #include "BKE_idprop.h"
+#include "BKE_library.h"
 
 /* name functions that ignore the first two ID characters */
 void rna_ID_name_get(PointerRNA *ptr, char *value)
@@ -51,6 +52,7 @@ void rna_ID_name_set(PointerRNA *ptr, const char *value)
 {
 	ID *id= (ID*)ptr->data;
 	BLI_strncpy(id->name+2, value, sizeof(id->name)-2);
+	test_idbutton(id->name+2);
 }
 
 StructRNA *rna_ID_refine(PointerRNA *ptr)
@@ -144,7 +146,8 @@ static void rna_def_ID_properties(BlenderRNA *brna)
 
 	/* IDP_GROUP */
 	prop= RNA_def_property(srna, "group", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_EXPORT|PROP_NOT_EDITABLE|PROP_IDPROPERTY);
+	RNA_def_property_flag(prop, PROP_EXPORT|PROP_IDPROPERTY);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "IDPropertyGroup");
 
 	prop= RNA_def_property(srna, "collection", PROP_COLLECTION, PROP_NONE);
@@ -171,7 +174,6 @@ static void rna_def_ID(BlenderRNA *brna)
 	RNA_def_struct_refine_func(srna, "rna_ID_refine");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* must be unique */
 	RNA_def_property_ui_text(prop, "Name", "Unique datablock ID name.");
 	RNA_def_property_string_funcs(prop, "rna_ID_name_get", "rna_ID_name_length", "rna_ID_name_set");
 	RNA_def_property_string_maxlength(prop, sizeof(((ID*)NULL)->name)-2);
@@ -179,7 +181,7 @@ static void rna_def_ID(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "users", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "us");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Users", "Number of times this datablock is referenced.");
 
 	prop= RNA_def_property(srna, "fake_user", PROP_BOOLEAN, PROP_NONE);
@@ -189,7 +191,7 @@ static void rna_def_ID(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "library", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "lib");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Library", "Library file the datablock is linked from.");
 }
 
@@ -203,7 +205,7 @@ static void rna_def_library(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "filename", PROP_STRING, PROP_FILEPATH);
 	RNA_def_property_string_sdna(prop, NULL, "name");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Filename", "Path to the library .blend file.");
 }
 void RNA_def_ID(BlenderRNA *brna)
diff --git a/source/blender/makesrna/intern/rna_access.c b/source/blender/makesrna/intern/rna_access.c
index b19faee38b9..3fcc2d18487 100644
--- a/source/blender/makesrna/intern/rna_access.c
+++ b/source/blender/makesrna/intern/rna_access.c
@@ -55,7 +55,6 @@ void RNA_exit()
 
 void RNA_main_pointer_create(struct Main *main, PointerRNA *r_ptr)
 {
-	r_ptr->id.type= NULL;
 	r_ptr->id.data= NULL;
 	r_ptr->type= &RNA_Main;
 	r_ptr->data= main;
@@ -72,7 +71,6 @@ void RNA_id_pointer_create(ID *id, PointerRNA *r_ptr)
 		idtype= rna_ID_refine(&tmp);
 	}
 
-	r_ptr->id.type= idtype;
 	r_ptr->id.data= id;
 	r_ptr->type= idtype;
 	r_ptr->data= id;
@@ -89,7 +87,6 @@ void RNA_pointer_create(ID *id, StructRNA *type, void *data, PointerRNA *r_ptr)
 		idtype= rna_ID_refine(&tmp);
 	}
 
-	r_ptr->id.type= idtype;
 	r_ptr->id.data= id;
 	r_ptr->type= type;
 	r_ptr->data= data;
@@ -99,22 +96,37 @@ static void rna_pointer_inherit_id(StructRNA *type, PointerRNA *parent, PointerR
 {
 	if(type && type->flag & STRUCT_ID) {
 		ptr->id.data= ptr->data;
-		ptr->id.type= type;
 	}
 	else {
 		ptr->id.data= parent->id.data;
-		ptr->id.type= parent->id.type;
 	}
 }
 
 void RNA_blender_rna_pointer_create(PointerRNA *r_ptr)
 {
-	r_ptr->id.type= NULL;
 	r_ptr->id.data= NULL;
 	r_ptr->type= &RNA_BlenderRNA;
 	r_ptr->data= &BLENDER_RNA;
 }
 
+PointerRNA rna_pointer_inherit_refine(PointerRNA *ptr, StructRNA *type, void *data)
+{
+	PointerRNA result;
+
+	if(data) {
+		result.data= data;
+		result.type= type;
+		rna_pointer_inherit_id(type, ptr, &result);
+
+		if(type->refine)
+			result.type= type->refine(&result);
+	}
+	else
+		memset(&result, 0, sizeof(result));
+	
+	return result;
+}
+
 /* ID Properties */
 
 IDProperty *rna_idproperties_get(PointerRNA *ptr, int create)
@@ -283,6 +295,18 @@ int RNA_struct_is_ID(PointerRNA *ptr)
 	return (ptr->type->flag & STRUCT_ID) != 0;
 }
 
+int RNA_struct_is_a(PointerRNA *ptr, StructRNA *srna)
+{
+	StructRNA *type;
+
+	/* ptr->type is always maximally refined */
+	for(type=ptr->type; type; type=type->base)
+		if(type == srna)
+			return 1;
+	
+	return 0;
+}
+
 PropertyRNA *RNA_struct_find_property(PointerRNA *ptr, const char *identifier)
 {
 	CollectionPropertyIterator iter;
@@ -294,7 +318,7 @@ PropertyRNA *RNA_struct_find_property(PointerRNA *ptr, const char *identifier)
 	prop= NULL;
 
 	for(; iter.valid; RNA_property_collection_next(&iter), i++) {
-		if(strcmp(identifier, RNA_property_identifier(&iter.ptr, iter.ptr.data)) == 0) {
+		if(strcmp(identifier, RNA_property_identifier(ptr, iter.ptr.data)) == 0) {
 			prop= iter.ptr.data;
 			break;
 		}
@@ -431,6 +455,19 @@ int RNA_property_string_maxlength(PointerRNA *ptr, PropertyRNA *prop)
 	return sprop->maxlength;
 }
 
+StructRNA *RNA_property_pointer_type(PointerRNA *ptr, PropertyRNA *prop)
+{
+	PointerPropertyRNA *pprop;
+	
+	rna_idproperty_check(&prop, ptr);
+	pprop= (PointerPropertyRNA*)prop;
+
+	if(pprop->type)
+		return pprop->type;
+
+	return &RNA_UnknownType;
+}
+
 void RNA_property_enum_items(PointerRNA *ptr, PropertyRNA *prop, const EnumPropertyItem **item, int *totitem)
 {
 	EnumPropertyRNA *eprop;
@@ -508,7 +545,7 @@ int RNA_property_editable(PointerRNA *ptr, PropertyRNA *prop)
 	else
 		flag= prop->flag;
 
-	return !(flag & PROP_NOT_EDITABLE);
+	return (flag & PROP_EDITABLE);
 }
 
 int RNA_property_animateable(PointerRNA *ptr, PropertyRNA *prop)
@@ -517,7 +554,7 @@ int RNA_property_animateable(PointerRNA *ptr, PropertyRNA *prop)
 
 	rna_idproperty_check(&prop, ptr);
 
-	if(prop->flag & PROP_NOT_ANIMATEABLE)
+	if(!(prop->flag & PROP_ANIMATEABLE))
 		return 0;
 
 	if(prop->editable)
@@ -525,7 +562,7 @@ int RNA_property_animateable(PointerRNA *ptr, PropertyRNA *prop)
 	else
 		flag= prop->flag;
 
-	return !(flag & PROP_NOT_EDITABLE);
+	return (flag & PROP_EDITABLE);
 }
 
 int RNA_property_animated(PointerRNA *ptr, PropertyRNA *prop)
@@ -569,7 +606,7 @@ void RNA_property_boolean_set(PointerRNA *ptr, PropertyRNA *prop, int value)
 		IDP_Int(idprop)= value;
 	else if(bprop->set)
 		bprop->set(ptr, value);
-	else if(!(prop->flag & PROP_NOT_EDITABLE)) {
+	else if(prop->flag & PROP_EDITABLE) {
 		IDPropertyTemplate val;
 		IDProperty *group;
 
@@ -586,8 +623,14 @@ void RNA_property_boolean_get_array(PointerRNA *ptr, PropertyRNA *prop, int *val
 	BooleanPropertyRNA *bprop= (BooleanPropertyRNA*)prop;
 	IDProperty *idprop;
 
-	if((idprop=rna_idproperty_check(&prop, ptr)))
-		memcpy(values, IDP_Array(idprop), sizeof(int)*idprop->len);
+	if((idprop=rna_idproperty_check(&prop, ptr))) {
+		if(prop->arraylength == 0)
+			values[0]= RNA_property_boolean_get(ptr, prop);
+		else
+			memcpy(values, IDP_Array(idprop), sizeof(int)*idprop->len);
+	}
+	else if(prop->arraylength == 0)
+		values[0]= RNA_property_boolean_get(ptr, prop);
 	else if(bprop->getarray)
 		bprop->getarray(ptr, values);
 	else if(bprop->defaultarray)
@@ -609,11 +652,17 @@ void RNA_property_boolean_set_array(PointerRNA *ptr, PropertyRNA *prop, const in
 	BooleanPropertyRNA *bprop= (BooleanPropertyRNA*)prop;
 	IDProperty *idprop;
 
-	if((idprop=rna_idproperty_check(&prop, ptr)))
-		memcpy(IDP_Array(idprop), values, sizeof(int)*idprop->len);
+	if((idprop=rna_idproperty_check(&prop, ptr))) {
+		if(prop->arraylength == 0)
+			IDP_Int(idprop)= values[0];
+		else
+			memcpy(IDP_Array(idprop), values, sizeof(int)*idprop->len);
+	}
+	else if(prop->arraylength == 0)
+		RNA_property_boolean_set(ptr, prop, values[0]);
 	else if(bprop->setarray)
 		bprop->setarray(ptr, values);
-	else if(!(prop->flag & PROP_NOT_EDITABLE)) {
+	else if(prop->flag & PROP_EDITABLE) {
 		IDPropertyTemplate val;
 		IDProperty *group;
 
@@ -660,7 +709,7 @@ void RNA_property_int_set(PointerRNA *ptr, PropertyRNA *prop, int value)
 		IDP_Int(idprop)= value;
 	else if(iprop->set)
 		iprop->set(ptr, value);
-	else if(!(prop->flag & PROP_NOT_EDITABLE)) {
+	else if(prop->flag & PROP_EDITABLE) {
 		IDPropertyTemplate val;
 		IDProperty *group;
 
@@ -677,8 +726,14 @@ void RNA_property_int_get_array(PointerRNA *ptr, PropertyRNA *prop, int *values)
 	IntPropertyRNA *iprop= (IntPropertyRNA*)prop;
 	IDProperty *idprop;
 
-	if((idprop=rna_idproperty_check(&prop, ptr)))
-		memcpy(values, IDP_Array(idprop), sizeof(int)*idprop->len);
+	if((idprop=rna_idproperty_check(&prop, ptr))) {
+		if(prop->arraylength == 0)
+			values[0]= RNA_property_int_get(ptr, prop);
+		else
+			memcpy(values, IDP_Array(idprop), sizeof(int)*idprop->len);
+	}
+	else if(prop->arraylength == 0)
+		values[0]= RNA_property_int_get(ptr, prop);
 	else if(iprop->getarray)
 		iprop->getarray(ptr, values);
 	else if(iprop->defaultarray)
@@ -700,11 +755,17 @@ void RNA_property_int_set_array(PointerRNA *ptr, PropertyRNA *prop, const int *v
 	IntPropertyRNA *iprop= (IntPropertyRNA*)prop;
 	IDProperty *idprop;
 
-	if((idprop=rna_idproperty_check(&prop, ptr)))
-		memcpy(IDP_Array(idprop), values, sizeof(int)*idprop->len);
+	if((idprop=rna_idproperty_check(&prop, ptr))) {
+		if(prop->arraylength == 0)
+			IDP_Int(idprop)= values[0];
+		else
+			memcpy(IDP_Array(idprop), values, sizeof(int)*idprop->len);\
+	}
+	else if(prop->arraylength == 0)
+		RNA_property_int_set(ptr, prop, values[0]);
 	else if(iprop->setarray)
 		iprop->setarray(ptr, values);
-	else if(!(prop->flag & PROP_NOT_EDITABLE)) {
+	else if(prop->flag & PROP_EDITABLE) {
 		IDPropertyTemplate val;
 		IDProperty *group;
 
@@ -760,7 +821,7 @@ void RNA_property_float_set(PointerRNA *ptr, PropertyRNA *prop, float value)
 	else if(fprop->set) {
 		fprop->set(ptr, value);
 	}
-	else if(!(prop->flag & PROP_NOT_EDITABLE)) {
+	else if(prop->flag & PROP_EDITABLE) {
 		IDPropertyTemplate val;
 		IDProperty *group;
 
@@ -779,7 +840,9 @@ void RNA_property_float_get_array(PointerRNA *ptr, PropertyRNA *prop, float *val
 	int i;
 
 	if((idprop=rna_idproperty_check(&prop, ptr))) {
-		if(idprop->subtype == IDP_FLOAT) {
+		if(prop->arraylength == 0)
+			values[0]= RNA_property_float_get(ptr, prop);
+		else if(idprop->subtype == IDP_FLOAT) {
 			memcpy(values, IDP_Array(idprop), sizeof(float)*idprop->len);
 		}
 		else {
@@ -787,13 +850,14 @@ void RNA_property_float_get_array(PointerRNA *ptr, PropertyRNA *prop, float *val
 				values[i]=  (float)(((double*)IDP_Array(idprop))[i]);
 		}
 	}
+	else if(prop->arraylength == 0)
+		values[0]= RNA_property_float_get(ptr, prop);
 	else if(fprop->getarray)
 		fprop->getarray(ptr, values);
 	else if(fprop->defaultarray)
 		memcpy(values, fprop->defaultarray, sizeof(float)*prop->arraylength);
 	else
 		memset(values, 0, sizeof(float)*prop->arraylength);
-
 }
 
 float RNA_property_float_get_index(PointerRNA *ptr, PropertyRNA *prop, int index)
@@ -811,7 +875,9 @@ void RNA_property_float_set_array(PointerRNA *ptr, PropertyRNA *prop, const floa
 	int i;
 
 	if((idprop=rna_idproperty_check(&prop, ptr))) {
-		if(idprop->subtype == IDP_FLOAT) {
+		if(prop->arraylength == 0)
+			IDP_Double(idprop)= values[0];
+		else if(idprop->subtype == IDP_FLOAT) {
 			memcpy(IDP_Array(idprop), values, sizeof(float)*idprop->len);
 		}
 		else {
@@ -819,10 +885,12 @@ void RNA_property_float_set_array(PointerRNA *ptr, PropertyRNA *prop, const floa
 				((double*)IDP_Array(idprop))[i]= values[i];
 		}
 	}
+	else if(prop->arraylength == 0)
+		RNA_property_float_set(ptr, prop, values[0]);
 	else if(fprop->setarray) {
 		fprop->setarray(ptr, values);
 	}
-	else if(!(prop->flag & PROP_NOT_EDITABLE)) {
+	else if(prop->flag & PROP_EDITABLE) {
 		IDPropertyTemplate val;
 		IDProperty *group;
 
@@ -899,7 +967,7 @@ void RNA_property_string_set(PointerRNA *ptr, PropertyRNA *prop, const char *val
 		IDP_AssignString(idprop, (char*)value);
 	else if(sprop->set)
 		sprop->set(ptr, value);
-	else if(!(prop->flag & PROP_NOT_EDITABLE)) {
+	else if(prop->flag & PROP_EDITABLE) {
 		IDPropertyTemplate val;
 		IDProperty *group;
 
@@ -935,7 +1003,7 @@ void RNA_property_enum_set(PointerRNA *ptr, PropertyRNA *prop, int value)
 	else if(eprop->set) {
 		eprop->set(ptr, value);
 	}
-	else if(!(prop->flag & PROP_NOT_EDITABLE)) {
+	else if(prop->flag & PROP_EDITABLE) {
 		IDPropertyTemplate val;
 		IDProperty *group;
 
@@ -956,7 +1024,7 @@ PointerRNA RNA_property_pointer_get(PointerRNA *ptr, PropertyRNA *prop)
 		pprop= (PointerPropertyRNA*)prop;
 
 		/* for groups, data is idprop itself */
-		return rna_pointer_inherit_refine(ptr, pprop->structtype, idprop);
+		return rna_pointer_inherit_refine(ptr, pprop->type, idprop);
 	}
 	else if(pprop->get) {
 		return pprop->get(ptr);
@@ -1002,8 +1070,8 @@ static void rna_property_collection_get_idp(CollectionPropertyIterator *iter)
 	CollectionPropertyRNA *cprop= (CollectionPropertyRNA*)iter->prop;
 
 	iter->ptr.data= rna_iterator_array_get(iter);
-	iter->ptr.type= cprop->structtype;
-	rna_pointer_inherit_id(cprop->structtype, &iter->parent, &iter->ptr);
+	iter->ptr.type= cprop->type;
+	rna_pointer_inherit_id(cprop->type, &iter->parent, &iter->ptr);
 }
 
 void RNA_property_collection_begin(PointerRNA *ptr, PropertyRNA *prop, CollectionPropertyIterator *iter)
@@ -1118,7 +1186,7 @@ void RNA_property_collection_add(PointerRNA *ptr, PropertyRNA *prop, PointerRNA
 			CollectionPropertyRNA *cprop= (CollectionPropertyRNA*)prop;
 
 			r_ptr->data= IDP_GetIndexArray(idprop, idprop->len-1);
-			r_ptr->type= cprop->structtype;
+			r_ptr->type= cprop->type;
 			rna_pointer_inherit_id(NULL, ptr, r_ptr);
 		}
 		else
@@ -1309,26 +1377,6 @@ void rna_iterator_array_end(CollectionPropertyIterator *iter)
 	MEM_freeN(iter->internal);
 }
 
-/* Pointer Handling */
-
-PointerRNA rna_pointer_inherit_refine(PointerRNA *ptr, StructRNA *type, void *data)
-{
-	PointerRNA result;
-
-	if(data) {
-		result.data= data;
-		result.type= type;
-		rna_pointer_inherit_id(type, ptr, &result);
-
-		if(type->refine)
-			result.type= type->refine(&result);
-	}
-	else
-		memset(&result, 0, sizeof(result));
-	
-	return result;
-}
-
 /* RNA Path - Experiment */
 
 static char *rna_path_token(const char **path, char *fixedbuf, int fixedlen, int bracket)
@@ -1414,7 +1462,7 @@ int RNA_path_resolve(PointerRNA *ptr, const char *path, PointerRNA *r_ptr, Prope
 		prop= NULL;
 
 		for(; iter.valid; RNA_property_collection_next(&iter)) {
-			if(strcmp(token, RNA_property_identifier(&iter.ptr, iter.ptr.data)) == 0) {
+			if(strcmp(token, RNA_property_identifier(&curptr, iter.ptr.data)) == 0) {
 				prop= iter.ptr.data;
 				break;
 			}
@@ -1574,6 +1622,33 @@ char *RNA_path_back(const char *path)
 	return result;
 }
 
+char *RNA_path_from_ID_to_property(PointerRNA *ptr, PropertyRNA *prop)
+{
+	char *ptrpath=NULL, *path;
+	const char *propname;
+
+	if(!ptr->id.data || !ptr->data || !prop)
+		return NULL;
+	
+	if(!RNA_struct_is_ID(ptr)) {
+		if(ptr->type->path)
+			ptrpath= ptr->type->path(ptr);
+		else
+			return NULL;
+	}
+
+	propname= RNA_property_identifier(ptr, prop);
+
+	if(ptrpath) {
+		path= BLI_sprintfN("%s.%s", ptrpath, propname);
+		MEM_freeN(ptrpath);
+	}
+	else
+		path= BLI_strdup(propname);
+	
+	return path;
+}
+
 /* Quick name based property access */
 
 int RNA_boolean_get(PointerRNA *ptr, const char *name)
diff --git a/source/blender/makesrna/intern/rna_action.c b/source/blender/makesrna/intern/rna_action.c
index ba5423f0408..6cb38ed9cdc 100755..100644
--- a/source/blender/makesrna/intern/rna_action.c
+++ b/source/blender/makesrna/intern/rna_action.c
@@ -139,7 +139,7 @@ void rna_def_channeldriver(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Driver Object", "Object that controls this Driver.");
 	
 	prop= RNA_def_property(srna, "rna_path", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_Driver_RnaPath_get", "rna_Driver_RnaPath_length", "rna_Driver_RnaPath_set");
 	RNA_def_property_ui_text(prop, "Driver RNA Path", "RNA Path (from Driver Object) to property used as Driver.");
 	
@@ -174,12 +174,12 @@ void rna_def_fcurve(BlenderRNA *brna)
 
 	/* Pointers */
 	prop= RNA_def_property(srna, "driver", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // xxx?
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // xxx?
 	RNA_def_property_ui_text(prop, "Driver", "Channel Driver (only set for Driver F-Curves)");
 	
 	/* Path + Array Index */
 	prop= RNA_def_property(srna, "rna_path", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_FCurve_RnaPath_get", "rna_FCurve_RnaPath_length", "rna_FCurve_RnaPath_set");
 	RNA_def_property_ui_text(prop, "RNA Path", "RNA Path to property affected by F-Curve.");
 	
@@ -236,9 +236,9 @@ void rna_def_action_group(BlenderRNA *brna)
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", AGRP_SELECTED);
 	RNA_def_property_ui_text(prop, "Selected", "Action Group is selected.");
 
-	prop= RNA_def_property(srna, "protected", PROP_BOOLEAN, PROP_NONE);
+	prop= RNA_def_property(srna, "locked", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", AGRP_PROTECTED);
-	RNA_def_property_ui_text(prop, "Protected", "Action Group is protected.");
+	RNA_def_property_ui_text(prop, "Locked", "Action Group is locked.");
 
 	prop= RNA_def_property(srna, "expanded", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", AGRP_EXPANDED);
diff --git a/source/blender/makesrna/intern/rna_actuator.c b/source/blender/makesrna/intern/rna_actuator.c
index 4ed4fe1d72e..531ae1e2790 100644
--- a/source/blender/makesrna/intern/rna_actuator.c
+++ b/source/blender/makesrna/intern/rna_actuator.c
@@ -71,7 +71,7 @@ void RNA_def_actuator(BlenderRNA *brna)
 
 	/* type is not editable, would need to do proper data free/alloc */
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, actuator_type_items);
 	RNA_def_property_ui_text(prop, "Type", "");
 
diff --git a/source/blender/makesrna/intern/rna_animation.c b/source/blender/makesrna/intern/rna_animation.c
index 95091741db4..160c0294f7f 100644
--- a/source/blender/makesrna/intern/rna_animation.c
+++ b/source/blender/makesrna/intern/rna_animation.c
@@ -106,7 +106,7 @@ void rna_def_keyingset_path(BlenderRNA *brna)
 	
 	/* Path + Array Index */
 	prop= RNA_def_property(srna, "rna_path", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_ksPath_RnaPath_get", "rna_ksPath_RnaPath_length", "rna_ksPath_RnaPath_set");
 	RNA_def_property_ui_text(prop, "RNA Path", "RNA Path to property setting.");
 	
@@ -140,14 +140,14 @@ void rna_def_keyingset(BlenderRNA *brna)
 	
 	/* Flags */
 	prop= RNA_def_property(srna, "builtin", PROP_BOOLEAN, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", KEYINGSET_BUILTIN);
 	RNA_def_property_ui_text(prop, "Built-In", "Keying Set is a built-in to Blender.");
 	
 		/* TODO: for now, this is editable, but do we really want this to happen? */
 	prop= RNA_def_property(srna, "absolute", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", KEYINGSET_ABSOLUTE);
-	RNA_def_property_ui_text(prop, "Absolute", "Keying Set defines specifc paths/settings to be keyframed (i.e. is not reliant on context info)");
+	RNA_def_property_ui_text(prop, "Absolute", "Keying Set defines specific paths/settings to be keyframed (i.e. is not reliant on context info)");
 	
 	/* Keyframing Flags */
 	prop= RNA_def_property(srna, "insertkey_needed", PROP_BOOLEAN, PROP_NONE);
@@ -169,7 +169,7 @@ void rna_def_animdata_common(StructRNA *srna)
 	
 	prop= RNA_def_property(srna, "animation_data", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "adt");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Animation Data", "Animation data for this datablock.");	
 }
 
diff --git a/source/blender/makesrna/intern/rna_armature.c b/source/blender/makesrna/intern/rna_armature.c
index 5c5457ceb84..a76dc2f0972 100644
--- a/source/blender/makesrna/intern/rna_armature.c
+++ b/source/blender/makesrna/intern/rna_armature.c
@@ -126,7 +126,7 @@ static void rna_def_bone(BlenderRNA *brna)
 	
 	/* strings */
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* must be unique */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* must be unique */
 	RNA_def_property_ui_text(prop, "Name", "");
 	RNA_def_struct_name_property(srna, prop);
 	
@@ -190,7 +190,7 @@ static void rna_def_bone(BlenderRNA *brna)
 	
 	prop= RNA_def_property(srna, "cyclic_offset", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_negative_sdna(prop, NULL, "flag", BONE_NO_CYCLICOFFSET);
-	RNA_def_property_ui_text(prop, "Cyclic Offset", "When bone doesn't have a parent, it recieves cyclic offset effects.");
+	RNA_def_property_ui_text(prop, "Cyclic Offset", "When bone doesn't have a parent, it receives cyclic offset effects.");
 	
 	prop= RNA_def_property(srna, "editmode_locked", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", BONE_EDITMODE_LOCKED);
@@ -244,7 +244,7 @@ static void rna_def_bone(BlenderRNA *brna)
 	
 	prop= RNA_def_property(srna, "roll", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_range(prop, 0.0f, 2.0f);
-	RNA_def_property_ui_text(prop, "Bone Roll", "In Edit Mode, the 'roll' (i.e. rotation around the bone vector, equivilant to local Y-axis rotation).");
+	RNA_def_property_ui_text(prop, "Bone Roll", "In Edit Mode, the 'roll' (i.e. rotation around the bone vector, equivalent to local Y-axis rotation).");
 }
 
 void rna_def_armature(BlenderRNA *brna)
diff --git a/source/blender/makesrna/intern/rna_brush.c b/source/blender/makesrna/intern/rna_brush.c
index d21c79fbe52..9f5b3ba3af7 100644
--- a/source/blender/makesrna/intern/rna_brush.c
+++ b/source/blender/makesrna/intern/rna_brush.c
@@ -198,7 +198,7 @@ void rna_def_brush(BlenderRNA *brna)
 	/* clone tool */
 	prop= RNA_def_property(srna, "clone_image", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "clone.image");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Clone Image", "Image for clone tool.");
 	
 	prop= RNA_def_property(srna, "clone_opacity", PROP_FLOAT, PROP_NONE);
diff --git a/source/blender/makesrna/intern/rna_cloth.c b/source/blender/makesrna/intern/rna_cloth.c
index bfcdf8ce13d..94537eecba9 100644
--- a/source/blender/makesrna/intern/rna_cloth.c
+++ b/source/blender/makesrna/intern/rna_cloth.c
@@ -188,7 +188,7 @@ static void rna_def_cloth_sim_settings(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "air_damping", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "Cvi");
 	RNA_def_property_range(prop, 0.0f, 10.0f);
-	RNA_def_property_ui_text(prop, "Air Damping", "Air has normaly some thickness which slows falling things down.");
+	RNA_def_property_ui_text(prop, "Air Damping", "Air has normally some thickness which slows falling things down.");
 
 	prop= RNA_def_property(srna, "pin_cloth", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flags", CLOTH_SIMSETTINGS_FLAG_GOAL);
diff --git a/source/blender/makesrna/intern/rna_color.c b/source/blender/makesrna/intern/rna_color.c
index 1009859798d..dcd5a494e5d 100644
--- a/source/blender/makesrna/intern/rna_color.c
+++ b/source/blender/makesrna/intern/rna_color.c
@@ -133,13 +133,13 @@ static void rna_def_curvemappoint(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "location", PROP_FLOAT, PROP_VECTOR);
 	RNA_def_property_float_sdna(prop, NULL, "x");
 	RNA_def_property_array(prop, 2);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Location", "X/Y coordinates of the curve point.");
 
 	prop= RNA_def_property(srna, "handle_type", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_bitflag_sdna(prop, NULL, "flag");
 	RNA_def_property_enum_items(prop, prop_handle_type_items);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Handle Type", "Curve interpolation at this point: bezier or vector.");
 
 	prop= RNA_def_property(srna, "selected", PROP_BOOLEAN, PROP_NONE);
@@ -165,7 +165,7 @@ static void rna_def_curvemap(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "extend", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_bitflag_sdna(prop, NULL, "flag");
 	RNA_def_property_enum_items(prop, prop_extend_items);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Extend", "Extrapolate the curve or extend it horizontally.");
 
 	prop= RNA_def_property(srna, "points", PROP_COLLECTION, PROP_NONE);
@@ -218,12 +218,12 @@ static void rna_def_curvemapping(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "black_level", PROP_FLOAT, PROP_COLOR);
 	RNA_def_property_float_sdna(prop, NULL, "black");
-	RNA_def_property_ui_text(prop, "Black Level", "For RGB curves, the colour that black is mapped to");
+	RNA_def_property_ui_text(prop, "Black Level", "For RGB curves, the color that black is mapped to");
 	RNA_def_property_float_funcs(prop, NULL, "rna_CurveMapping_black_level_set", NULL);
 
 	prop= RNA_def_property(srna, "white_level", PROP_FLOAT, PROP_COLOR);
 	RNA_def_property_float_sdna(prop, NULL, "white");
-	RNA_def_property_ui_text(prop, "White Level", "For RGB curves, the colour that white is mapped to");
+	RNA_def_property_ui_text(prop, "White Level", "For RGB curves, the color that white is mapped to");
 	RNA_def_property_float_funcs(prop, NULL, "rna_CurveMapping_white_level_set", NULL);
 }
 
diff --git a/source/blender/makesrna/intern/rna_constraint.c b/source/blender/makesrna/intern/rna_constraint.c
index 7cb57053272..774f2f9c0ef 100644
--- a/source/blender/makesrna/intern/rna_constraint.c
+++ b/source/blender/makesrna/intern/rna_constraint.c
@@ -187,7 +187,7 @@ static void rna_def_constraint_python(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "script_error", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", PYCON_SCRIPTERROR);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Script Error", "The linked Python script has thrown an error.");
 }
 
@@ -727,17 +727,17 @@ static void rna_def_constraint_rigid_body_joint(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "axis_x", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "axX");
 	RNA_def_property_range(prop, -360.0, 360.f);
-	RNA_def_property_ui_text(prop, "Axis X", "Rotate pivot on X axis in degress.");
+	RNA_def_property_ui_text(prop, "Axis X", "Rotate pivot on X axis in degrees.");
 
 	prop= RNA_def_property(srna, "axis_y", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "axY");
 	RNA_def_property_range(prop, -360.0, 360.f);
-	RNA_def_property_ui_text(prop, "Axis Y", "Rotate pivot on Y axis in degress.");
+	RNA_def_property_ui_text(prop, "Axis Y", "Rotate pivot on Y axis in degrees.");
 
 	prop= RNA_def_property(srna, "axis_z", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "axZ");
 	RNA_def_property_range(prop, -360.0, 360.f);
-	RNA_def_property_ui_text(prop, "Axis Z", "Rotate pivot on Z axis in degress.");
+	RNA_def_property_ui_text(prop, "Axis Z", "Rotate pivot on Z axis in degrees.");
 	
 	/* XXX not sure how to wrap the two 6 element arrays for the generic joint */
 	//float       minLimit[6];
@@ -1187,7 +1187,7 @@ void RNA_def_constraint(BlenderRNA *brna)
 	
 	/* enums */
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_sdna(prop, NULL, "type");
 	RNA_def_property_enum_items(prop, type_items);
 	RNA_def_property_ui_text(prop, "Type", "");
@@ -1200,7 +1200,7 @@ void RNA_def_constraint(BlenderRNA *brna)
 	
 		// XXX this is really an internal flag, but it may be useful for some tools to be able to access this...
 	prop= RNA_def_property(srna, "disabled", PROP_BOOLEAN, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", CONSTRAINT_DISABLE);
 	RNA_def_property_ui_text(prop, "Disabled", "Constraint has invalid settings and will not be evaluated.");
 	
diff --git a/source/blender/makesrna/intern/rna_context.c b/source/blender/makesrna/intern/rna_context.c
new file mode 100644
index 00000000000..d3089917649
--- /dev/null
+++ b/source/blender/makesrna/intern/rna_context.c
@@ -0,0 +1,150 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * Contributor(s): Blender Foundation (2009).
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#include <stdlib.h>
+
+#include "DNA_ID.h"
+
+#include "RNA_access.h"
+#include "RNA_define.h"
+#include "RNA_types.h"
+
+#ifdef RNA_RUNTIME
+
+#include "BKE_context.h"
+
+static PointerRNA rna_Context_manager_get(PointerRNA *ptr)
+{
+	bContext *C= (bContext*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_Region, CTX_wm_manager(C));
+}
+
+/*static PointerRNA rna_Context_window_get(PointerRNA *ptr)
+{
+	bContext *C= (bContext*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_Region, CTX_wm_window(C));
+}*/
+
+static PointerRNA rna_Context_screen_get(PointerRNA *ptr)
+{
+	bContext *C= (bContext*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_Region, CTX_wm_screen(C));
+}
+
+static PointerRNA rna_Context_area_get(PointerRNA *ptr)
+{
+	bContext *C= (bContext*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_Region, CTX_wm_area(C));
+}
+
+static PointerRNA rna_Context_space_data_get(PointerRNA *ptr)
+{
+	bContext *C= (bContext*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_Region, CTX_wm_space_data(C));
+}
+
+static PointerRNA rna_Context_region_get(PointerRNA *ptr)
+{
+	bContext *C= (bContext*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_Region, CTX_wm_region(C));
+}
+
+/*static PointerRNA rna_Context_region_data_get(PointerRNA *ptr)
+{
+	bContext *C= (bContext*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_Region, CTX_wm_region_data(C));
+}*/
+
+static PointerRNA rna_Context_main_get(PointerRNA *ptr)
+{
+	bContext *C= (bContext*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_Main, CTX_data_main(C));
+}
+
+static PointerRNA rna_Context_scene_get(PointerRNA *ptr)
+{
+	bContext *C= (bContext*)ptr->data;
+	return rna_pointer_inherit_refine(ptr, &RNA_Scene, CTX_data_scene(C));
+}
+
+#else
+
+void RNA_def_context(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	srna= RNA_def_struct(brna, "Context", NULL);
+	RNA_def_struct_ui_text(srna, "Context", "Current windowmanager and data context.");
+
+	/* WM */
+	prop= RNA_def_property(srna, "manager", PROP_POINTER, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_struct_type(prop, "WindowManager");
+	RNA_def_property_pointer_funcs(prop, "rna_Context_manager_get", NULL);
+
+	/* prop= RNA_def_property(srna, "window", PROP_POINTER, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_struct_type(prop, "Window");
+	RNA_def_property_pointer_funcs(prop, "rna_Context_window_get", NULL); */
+
+	prop= RNA_def_property(srna, "screen", PROP_POINTER, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_struct_type(prop, "Screen");
+	RNA_def_property_pointer_funcs(prop, "rna_Context_screen_get", NULL);
+
+	prop= RNA_def_property(srna, "area", PROP_POINTER, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_struct_type(prop, "Area");
+	RNA_def_property_pointer_funcs(prop, "rna_Context_area_get", NULL);
+
+	prop= RNA_def_property(srna, "space_data", PROP_POINTER, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_struct_type(prop, "Space");
+	RNA_def_property_pointer_funcs(prop, "rna_Context_space_data_get", NULL);
+
+	prop= RNA_def_property(srna, "region", PROP_POINTER, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_struct_type(prop, "Region");
+	RNA_def_property_pointer_funcs(prop, "rna_Context_region_get", NULL);
+
+	/*prop= RNA_def_property(srna, "region_data", PROP_POINTER, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_struct_type(prop, "RegionData");
+	RNA_def_property_pointer_funcs(prop, "rna_Context_region_data_get", NULL);*/
+
+	/* Data */
+	prop= RNA_def_property(srna, "main", PROP_POINTER, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_struct_type(prop, "Main");
+	RNA_def_property_pointer_funcs(prop, "rna_Context_main_get", NULL);
+
+	prop= RNA_def_property(srna, "scene", PROP_POINTER, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_struct_type(prop, "Scene");
+	RNA_def_property_pointer_funcs(prop, "rna_Context_scene_get", NULL);
+}
+
+#endif
+
diff --git a/source/blender/makesrna/intern/rna_controller.c b/source/blender/makesrna/intern/rna_controller.c
index c08233b9584..1c2e5ecee02 100644
--- a/source/blender/makesrna/intern/rna_controller.c
+++ b/source/blender/makesrna/intern/rna_controller.c
@@ -88,7 +88,7 @@ void RNA_def_controller(BlenderRNA *brna)
 
 	/* type is not editable, would need to do proper data free/alloc */
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, controller_type_items);
 	RNA_def_property_ui_text(prop, "Type", "");
 
diff --git a/source/blender/makesrna/intern/rna_curve.c b/source/blender/makesrna/intern/rna_curve.c
index 4a422cecbd7..dd1c620fe45 100644
--- a/source/blender/makesrna/intern/rna_curve.c
+++ b/source/blender/makesrna/intern/rna_curve.c
@@ -17,7 +17,7 @@
  * along with this program; if not, write to the Free Software Foundation,
  * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  *
- * Contributor(s): Blender Foundation (2008), Juho Vepsäläinen
+ * Contributor(s): Blender Foundation (2008), Juho Veps�l�inen
  *
  * ***** END GPL LICENSE BLOCK *****
  */
@@ -30,6 +30,7 @@
 #include "rna_internal.h"
 
 #include "DNA_curve_types.h"
+#include "DNA_material_types.h"
 
 #ifdef RNA_RUNTIME
 
@@ -90,7 +91,26 @@ static void rna_BezTriple_ctrlpoint_set(PointerRNA *ptr, const float *values)
 static int rna_Curve_texspace_editable(PointerRNA *ptr)
 {
 	Curve *cu= (Curve*)ptr->data;
-	return (cu->texflag & CU_AUTOSPACE)? PROP_NOT_EDITABLE: 0;
+	return (cu->texflag & CU_AUTOSPACE)? 0: PROP_EDITABLE;
+}
+
+static void rna_Curve_material_index_range(PointerRNA *ptr, int *min, int *max)
+{
+	Curve *cu= (Curve*)ptr->id.data;
+	*min= 0;
+	*max= cu->totcol-1;
+}
+
+static int rna_Nurb_length(PointerRNA *ptr)
+{
+	Nurb *nu= (Nurb*)ptr->data;
+	return nu->pntsv>0 ? nu->pntsu*nu->pntsv : nu->pntsu;
+}
+
+static void rna_BPoint_array_begin(CollectionPropertyIterator *iter, PointerRNA *ptr)
+{
+	Nurb *nu= (Nurb*)ptr->data;
+	rna_iterator_array_begin(iter, (void*)nu->bp, sizeof(BPoint*), nu->pntsv>0 ? nu->pntsu*nu->pntsv : nu->pntsu, NULL);
 }
 
 #else
@@ -132,7 +152,7 @@ static void rna_def_bpoint(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "bevel_radius", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "radius");
 	/*RNA_def_property_range(prop, 0.0f, 1.0f);*/
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Bevel Radius", "Radius for bevelling");
 }
 
@@ -187,7 +207,7 @@ static void rna_def_beztriple(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "interpolation", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_sdna(prop, NULL, "ipo");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, prop_mode_interpolation_items);
 	RNA_def_property_ui_text(prop, "Interpolation", "(For F-Curves Only) Interpolation to use for segment of curve starting from current BezTriple.");
 
@@ -220,7 +240,7 @@ static void rna_def_beztriple(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "bevel_radius", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "radius");
 	/*RNA_def_property_range(prop, 0.0f, 1.0f);*/
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Bevel Radius", "Radius for bevelling");
 }
 
@@ -451,7 +471,12 @@ void rna_def_curve(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "shape_keys", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "key");
 	RNA_def_property_ui_text(prop, "Shape Keys", "");
-	
+
+	prop= RNA_def_property(srna, "curves", PROP_COLLECTION, PROP_NONE);
+	RNA_def_property_collection_sdna(prop, NULL, "nurb", NULL);
+	RNA_def_property_struct_type(prop, "Nurb");
+	RNA_def_property_ui_text(prop, "Curves", "Collection of curves in this curve data object.");
+
 	rna_def_path(brna, srna);
 	rna_def_nurbs(brna, srna);
 	rna_def_font(brna, srna);
@@ -524,6 +549,126 @@ void rna_def_curve(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Retopo", "Turn on the re-topology tool.");
 }
 
+
+void rna_def_curve_nurb(BlenderRNA *brna)
+{
+	static EnumPropertyItem spline_interpolation_items[] = {
+		{BEZT_IPO_CONST, "LINEAR", "Linear", ""},
+		{BEZT_IPO_LIN, "CARDINAL", "Cardinal", ""},
+		{BEZT_IPO_BEZ, "BSPLINE", "BSpline", ""},
+		{BEZT_IPO_BEZ, "EASE", "Ease", ""},
+		{0, NULL, NULL, NULL}};
+
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	srna= RNA_def_struct(brna, "Nurb", NULL);
+	RNA_def_struct_ui_text(srna, "Nurb", "Element of a curve, either Nurb, Bezier or Polyline or a character with text objects.");
+
+	prop= RNA_def_property(srna, "points", PROP_COLLECTION, PROP_NONE);
+	RNA_def_property_collection_sdna(prop, NULL, "bp", NULL);
+	RNA_def_property_struct_type(prop, "CurvePoint");
+	RNA_def_property_collection_funcs(prop, "rna_BPoint_array_begin", "rna_iterator_array_next", "rna_iterator_array_end", "rna_iterator_array_get", "rna_Nurb_length", 0, 0);
+	RNA_def_property_ui_text(prop, "Points", "Collection of points for Poly and Nurbs curves.");
+
+	prop= RNA_def_property(srna, "bezier_points", PROP_COLLECTION, PROP_NONE);
+	RNA_def_property_struct_type(prop, "BezierCurvePoint");
+	RNA_def_property_collection_sdna(prop, NULL, "bezt", "pntsu");
+	RNA_def_property_ui_text(prop, "Bezier Points", "Collection of points bezier curves only.");
+
+	
+	prop= RNA_def_property(srna, "tilt_interpolation", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "tilt_interp");
+	RNA_def_property_enum_items(prop, spline_interpolation_items);
+	RNA_def_property_ui_text(prop, "Tilt Interpolation", "The type of tilt interpolation for 3D, Bezier curves.");
+
+	prop= RNA_def_property(srna, "radius_interpolation", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "radius_interp");
+	RNA_def_property_enum_items(prop, spline_interpolation_items);
+	RNA_def_property_ui_text(prop, "Radius Interpolation", "The type of radius interpolation for Bezier curves.");
+
+
+	prop= RNA_def_property(srna, "point_count_u", PROP_INT, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* editing this needs knot recalc*/
+	RNA_def_property_int_sdna(prop, NULL, "pntsu");
+	RNA_def_property_ui_text(prop, "Points U", "Total number points for the curve or surface in the U direction");
+
+	prop= RNA_def_property(srna, "point_count_v", PROP_INT, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* editing this needs knot recalc*/
+	RNA_def_property_int_sdna(prop, NULL, "pntsv");
+	RNA_def_property_ui_text(prop, "Points V", "Total number points for the surface on the V direction");
+
+
+	prop= RNA_def_property(srna, "order_u", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "orderu");
+	RNA_def_property_range(prop, 2, 6);
+	RNA_def_property_ui_text(prop, "Order U", "Nurbs order in the U direction (For curves and surfaces), Higher values let points influence a greater area");
+
+	prop= RNA_def_property(srna, "order_v", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "orderv");
+	RNA_def_property_range(prop, 2, 6);
+	RNA_def_property_ui_text(prop, "Order V", "Nurbs order in the V direction (For surfaces only), Higher values let points influence a greater area");
+
+
+	prop= RNA_def_property(srna, "resolution_u", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "resolu");
+	RNA_def_property_range(prop, 1, 1024);
+	RNA_def_property_ui_text(prop, "Resolution U", "Curve or Surface subdivisions per segment");
+
+	prop= RNA_def_property(srna, "resolution_v", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "resolv");
+	RNA_def_property_range(prop, 1, 1024);
+	RNA_def_property_ui_text(prop, "Resolution V", "Surface subdivisions per segment");
+
+	prop= RNA_def_property(srna, "cyclic_u", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flagu", CU_CYCLIC);
+	RNA_def_property_ui_text(prop, "Cyclic U", "Make this curve or surface a closed loop in the U direction.");
+
+	prop= RNA_def_property(srna, "cyclic_v", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flagv", CU_CYCLIC);
+	RNA_def_property_ui_text(prop, "Cyclic V", "Make this surface a closed loop in the V direction.");
+
+
+	/* Note, endpoint and bezier flags should never be on at the same time! */
+	prop= RNA_def_property(srna, "endpoint_u", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flagu", 2);
+	RNA_def_property_ui_text(prop, "Endpoint U", "Make this nurbs curve or surface meet the endpoints in the U direction (Cyclic U must be disabled).");
+
+	prop= RNA_def_property(srna, "endpoint_v", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flagv", 2);
+	RNA_def_property_ui_text(prop, "Endpoint V", "Make this nurbs surface meet the endpoints in the V direction (Cyclic V must be disabled).");
+
+	prop= RNA_def_property(srna, "bezier_u", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flagu", 4);
+	RNA_def_property_ui_text(prop, "Bezier U", "Make this nurbs curve or surface act like a bezier spline in the U direction (Order U must be 3 or 4, Cyclic U must be disabled).");
+
+	prop= RNA_def_property(srna, "bezier_v", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flagv", 4);
+	RNA_def_property_ui_text(prop, "Bezier V", "Make this nurbs surface act like a bezier spline in the V direction (Order V must be 3 or 4, Cyclic V must be disabled).");
+
+
+	prop= RNA_def_property(srna, "smooth", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", CU_SMOOTH);
+	RNA_def_property_ui_text(prop, "Smooth", "Smooth the normals of the surface or beveled curve.");
+
+	prop= RNA_def_property(srna, "hide", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "hide", 1);
+	RNA_def_property_ui_text(prop, "Hide", "Hide this curve in editmode.");
+
+	prop= RNA_def_property(srna, "material_index", PROP_INT, PROP_UNSIGNED);
+	RNA_def_property_int_sdna(prop, NULL, "mat_nr");
+	RNA_def_property_ui_text(prop, "Material Index", "");
+	RNA_def_property_range(prop, 0, MAXMAT-1);
+	RNA_def_property_int_funcs(prop, NULL, NULL, "rna_Curve_material_index_range");
+	
+	prop= RNA_def_property(srna, "character_index", PROP_INT, PROP_UNSIGNED);
+	RNA_def_property_int_sdna(prop, NULL, "charidx");
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* editing this needs knot recalc*/
+	RNA_def_property_ui_text(prop, "Character Index", "the location of this character in the text data (only for text curves)");
+}
+
+
+
 void RNA_def_curve(BlenderRNA *brna)
 {
 	rna_def_curve(brna);
@@ -531,6 +676,7 @@ void RNA_def_curve(BlenderRNA *brna)
 	rna_def_charinfo(brna);
 	rna_def_bpoint(brna);
 	rna_def_beztriple(brna);
+	rna_def_curve_nurb(brna);
 }
 
 #endif
diff --git a/source/blender/makesrna/intern/rna_define.c b/source/blender/makesrna/intern/rna_define.c
index 48c93955784..15486efc9d0 100644
--- a/source/blender/makesrna/intern/rna_define.c
+++ b/source/blender/makesrna/intern/rna_define.c
@@ -113,6 +113,7 @@ static int rna_member_cmp(const char *name, const char *oname)
 	
 	while(1) {
 		if(name[a]=='[' && oname[a]==0) return 1;
+		if(name[a]=='[' && oname[a]=='[') return 1;
 		if(name[a]==0) break;
 		if(name[a] != oname[a]) return 0;
 		a++;
@@ -145,7 +146,11 @@ static int rna_find_sdna_member(SDNA *sdna, const char *structname, const char *
 		if(cmp == 1) {
 			smember->type= sdna->types[sp[0]];
 			smember->name= dnaname;
-			smember->arraylength= DNA_elem_array_size(smember->name, strlen(smember->name));
+
+			if(strstr(membername, "["))
+				smember->arraylength= 0;
+			else
+				smember->arraylength= DNA_elem_array_size(smember->name, strlen(smember->name));
 
 			smember->pointerlevel= 0;
 			for(b=0; dnaname[b] == '*'; b++)
@@ -403,12 +408,11 @@ StructRNA *RNA_def_struct(BlenderRNA *brna, const char *identifier, const char *
 			cprop->begin= rna_builtin_properties_begin;
 			cprop->next= rna_builtin_properties_next;
 			cprop->get= rna_builtin_properties_get;
-			cprop->structtype= &RNA_Property;
+			cprop->type= &RNA_Property;
 #endif
 		}
 
 		prop= RNA_def_property(srna, "rna_type", PROP_POINTER, PROP_NONE);
-		RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
 		RNA_def_property_ui_text(prop, "RNA", "RNA type definition.");
 
 		if(DefRNA.preprocess) {
@@ -419,7 +423,7 @@ StructRNA *RNA_def_struct(BlenderRNA *brna, const char *identifier, const char *
 #ifdef RNA_RUNTIME
 			PointerPropertyRNA *pprop= (PointerPropertyRNA*)prop;
 			pprop->get= rna_builtin_type_get;
-			pprop->structtype= &RNA_Struct;
+			pprop->type= &RNA_Struct;
 #endif
 		}
 	}
@@ -515,6 +519,16 @@ void RNA_def_struct_refine_func(StructRNA *srna, const char *refine)
 	if(refine) srna->refine= (StructRefineFunc)refine;
 }
 
+void RNA_def_struct_path_func(StructRNA *srna, const char *path)
+{
+	if(!DefRNA.preprocess) {
+		fprintf(stderr, "RNA_def_struct_path_func: only during preprocessing.\n");
+		return;
+	}
+
+	if(path) srna->path= (StructPathFunc)path;
+}
+
 void RNA_def_struct_identifier(StructRNA *srna, const char *identifier)
 {
 	if(DefRNA.preprocess) {
@@ -625,8 +639,8 @@ PropertyRNA *RNA_def_property(StructRNA *srna, const char *identifier, int type,
 	prop->name= identifier;
 	prop->description= "";
 
-	if(type == PROP_COLLECTION || type == PROP_POINTER)
-		prop->flag= PROP_NOT_EDITABLE|PROP_NOT_ANIMATEABLE;
+	if(type != PROP_COLLECTION && type != PROP_POINTER)
+		prop->flag= PROP_EDITABLE|PROP_ANIMATEABLE;
 
 	if(DefRNA.preprocess) {
 		switch(type) {
@@ -680,20 +694,12 @@ PropertyRNA *RNA_def_property(StructRNA *srna, const char *identifier, int type,
 
 void RNA_def_property_flag(PropertyRNA *prop, int flag)
 {
-#if 0
-	StructRNA *srna;
-#endif
-
 	prop->flag |= flag;
+}
 
-#if 0
-	if(prop->type != PROP_POINTER && prop->type != PROP_COLLECTION) {
-		if(flag & (PROP_EVALUATE_DEPENDENCY|PROP_INVERSE_EVALUATE_DEPENDENCY|PROP_RENDER_DEPENDENCY|PROP_INVERSE_RENDER_DEPENDENCY)) {
-			fprintf(stderr, "RNA_def_property_flag: %s.%s, only pointer and collection types can create dependencies.\n", ds->srna->identifier, prop->identifier);
-			DefRNA.error= 1;
-		}
-	}
-#endif
+void RNA_def_property_clear_flag(PropertyRNA *prop, int flag)
+{
+	prop->flag &= ~flag;
 }
 
 void RNA_def_property_array(PropertyRNA *prop, int arraylength)
@@ -798,12 +804,12 @@ void RNA_def_property_struct_type(PropertyRNA *prop, const char *type)
 	switch(prop->type) {
 		case PROP_POINTER: {
 			PointerPropertyRNA *pprop= (PointerPropertyRNA*)prop;
-			pprop->structtype = (StructRNA*)type;
+			pprop->type = (StructRNA*)type;
 			break;
 		}
 		case PROP_COLLECTION: {
 			CollectionPropertyRNA *cprop= (CollectionPropertyRNA*)prop;
-			cprop->structtype = (StructRNA*)type;
+			cprop->type = (StructRNA*)type;
 			break;
 		}
 		default:
@@ -825,12 +831,12 @@ void RNA_def_property_struct_runtime(PropertyRNA *prop, StructRNA *type)
 	switch(prop->type) {
 		case PROP_POINTER: {
 			PointerPropertyRNA *pprop= (PointerPropertyRNA*)prop;
-			pprop->structtype = type;
+			pprop->type = type;
 			break;
 		}
 		case PROP_COLLECTION: {
 			CollectionPropertyRNA *cprop= (CollectionPropertyRNA*)prop;
-			cprop->structtype = type;
+			cprop->type = type;
 			break;
 		}
 		default:
@@ -843,16 +849,23 @@ void RNA_def_property_struct_runtime(PropertyRNA *prop, StructRNA *type)
 void RNA_def_property_enum_items(PropertyRNA *prop, const EnumPropertyItem *item)
 {
 	StructRNA *srna= DefRNA.laststruct;
-	int i;
+	int i, defaultfound= 0;
 
 	switch(prop->type) {
 		case PROP_ENUM: {
 			EnumPropertyRNA *eprop= (EnumPropertyRNA*)prop;
 			eprop->item= item;
 			eprop->totitem= 0;
-			for(i=0; item[i].identifier; i++)
+			for(i=0; item[i].identifier; i++) {
 				eprop->totitem++;
 
+				if(item[i].value == eprop->defaultvalue)
+					defaultfound= 1;
+			}
+
+			if(!defaultfound)
+				eprop->defaultvalue= item[0].value;
+
 			break;
 		}
 		default:
@@ -1001,11 +1014,28 @@ void RNA_def_property_string_default(PropertyRNA *prop, const char *value)
 void RNA_def_property_enum_default(PropertyRNA *prop, int value)
 {
 	StructRNA *srna= DefRNA.laststruct;
+	int i, defaultfound= 0;
 
 	switch(prop->type) {
 		case PROP_ENUM: {
 			EnumPropertyRNA *eprop= (EnumPropertyRNA*)prop;
 			eprop->defaultvalue= value;
+
+			for(i=0; i<eprop->totitem; i++) {
+				if(eprop->item[i].value == eprop->defaultvalue)
+					defaultfound= 1;
+			}
+
+			if(!defaultfound && eprop->totitem) {
+				if(value == 0) {
+					eprop->defaultvalue= eprop->item[0].value;
+				}
+				else {
+					fprintf(stderr, "RNA_def_property_enum_default: %s.%s, default is not in items.\n", srna->identifier, prop->identifier);
+					DefRNA.error= 1;
+				}
+			}
+
 			break;
 		}
 		default:
@@ -1118,7 +1148,7 @@ void RNA_def_property_int_sdna(PropertyRNA *prop, const char *structname, const
 			iprop->softmax= 10000;
 		}
 
-		if(prop->subtype == PROP_UNSIGNED)
+		if(prop->subtype == PROP_UNSIGNED || prop->subtype == PROP_PERCENTAGE)
 			iprop->hardmin= iprop->softmin= 0;
 	}
 }
diff --git a/source/blender/makesrna/intern/rna_dependency.c b/source/blender/makesrna/intern/rna_dependency.c
deleted file mode 100644
index d867d2f7768..00000000000
--- a/source/blender/makesrna/intern/rna_dependency.c
+++ /dev/null
@@ -1,92 +0,0 @@
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "DNA_scene_types.h"
-
-#include "RNA_access.h"
-#include "RNA_types.h"
-
-#if 0
-typedef struct RNAGenDeps {
-	void *udata;
-	PropDependencyCallback cb;
-} RNAGenDeps;
-
-static void rna_generate_deps(RNAGenDeps *gen, PointerRNA *ptr, PointerRNA *idptr)
-{
-	PropertyRNA *prop;
-	PointerRNA pptr;
-	CollectionPropertyIterator iter;
-
-	/* traverse recursively into ID struct properties, other
-	 * pointers we potentially add as dependencies */
-
-	for(prop=ptr->type->properties.first; prop; prop=prop->next) {
-		if(prop->type == PROP_POINTER) {
-			RNA_property_pointer_get(ptr, prop, &pptr);
-
-			if(pptr.data && pptr.type) {
-				if(idptr && (pptr.type->flag & STRUCT_ID)) {
-					if(prop->flag & PROP_EVALUATE_DEPENDENCY)
-						gen->cb(gen->udata, ptr, &pptr);
-					else if(prop->flag & PROP_INVERSE_EVALUATE_DEPENDENCY)
-						gen->cb(gen->udata, ptr, &pptr);
-				}
-				else
-					rna_generate_deps(gen, &pptr, (idptr)? idptr: &pptr);
-			}
-		}
-		else if(prop->type == PROP_COLLECTION) {
-			RNA_property_collection_begin(ptr, prop, &iter);
-
-			while(iter.valid) {
-				RNA_property_collection_get(&pptr, prop, &iter);
-
-				if(pptr.data && pptr.type) {
-					if(idptr && (pptr.type->flag & STRUCT_ID)) {
-						if(prop->flag & PROP_EVALUATE_DEPENDENCY)
-							gen->cb(gen->udata, ptr, &pptr);
-						else if(prop->flag & PROP_INVERSE_EVALUATE_DEPENDENCY)
-							gen->cb(gen->udata, ptr, &pptr);
-					}
-					else
-						rna_generate_deps(gen, &pptr, (idptr)? idptr: &pptr);
-				}
-				
-				RNA_property_collection_next(prop, &iter);
-			}
-
-			RNA_property_collection_end(prop, &iter);
-		}
-	}
-}
-
-void RNA_generate_dependencies(PointerRNA *ptr, void *udata, PropDependencyCallback cb)
-{
-	RNAGenDeps gen;
-
-	gen.udata= udata;
-	gen.cb= cb;
-
-	rna_generate_deps(&gen, ptr, NULL);
-}
-
-void RNA_test_dependencies_cb(void *udata, PointerRNA *from, PointerRNA *to)
-{
-	PropertyRNA *prop;
-	char name[256], nameto[256];
-	
-	prop= from->type? from->type->nameproperty: NULL;
-	if(prop) RNA_property_string_get(prop, from, name);
-	else strcpy(name, "unknown");
-
-	prop= from->type? from->type->nameproperty: NULL;
-	if(prop) RNA_property_string_get(prop, to, nameto);
-	else strcpy(nameto, "unknown");
-	
-	printf("%s (%s) -> %s (%s)\n", name, from->type->identifier, nameto, to->type->identifier);
-}
-#endif
-
diff --git a/source/blender/makesrna/intern/rna_fluidsim.c b/source/blender/makesrna/intern/rna_fluidsim.c
index 89431604006..a8a471062f8 100644
--- a/source/blender/makesrna/intern/rna_fluidsim.c
+++ b/source/blender/makesrna/intern/rna_fluidsim.c
@@ -174,7 +174,7 @@ static void rna_def_fluidsim_domain(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "grid_levels", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "maxRefine");
 	RNA_def_property_range(prop, -1, 4);
-	RNA_def_property_ui_text(prop, "Grid Levels", "Number of coursened grids to use (-1 for automatic).");
+	RNA_def_property_ui_text(prop, "Grid Levels", "Number of coarsened grids to use (-1 for automatic).");
 
 	prop= RNA_def_property(srna, "compressibility", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "gstar");
@@ -413,13 +413,13 @@ void RNA_def_fluidsim(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "enabled", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "type", OB_FLUIDSIM_ENABLE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // needs to create modifier
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // needs to create modifier
 	RNA_def_property_ui_text(prop, "Enabled", "Sets object to participate in fluid simulation.");
 
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_bitflag_sdna(prop, NULL, "type");
 	RNA_def_property_enum_items(prop, prop_fluid_type_items);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // needs to update variables
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // needs to update variables
 	RNA_def_property_ui_text(prop, "Type", "Type of participation in the fluid simulation.");
 
 	//prop= RNA_def_property(srna, "ipo", PROP_POINTER, PROP_NONE);
diff --git a/source/blender/makesrna/intern/rna_image.c b/source/blender/makesrna/intern/rna_image.c
index c98a936030a..2e8659fd881 100644
--- a/source/blender/makesrna/intern/rna_image.c
+++ b/source/blender/makesrna/intern/rna_image.c
@@ -75,12 +75,12 @@ static void rna_def_imageuser(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "multilayer_layer", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "layer");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* image_multi_cb */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* image_multi_cb */
 	RNA_def_property_ui_text(prop, "Layer", "Layer in multilayer image.");
 
 	prop= RNA_def_property(srna, "multilayer_pass", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "pass");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* image_multi_cb */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* image_multi_cb */
 	RNA_def_property_ui_text(prop, "Pass", "Pass in multilayer image.");
 }
 
@@ -116,17 +116,17 @@ static void rna_def_image(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "filename", PROP_STRING, PROP_FILEPATH);
 	RNA_def_property_string_sdna(prop, NULL, "name");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* imagechanged */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* imagechanged */
 	RNA_def_property_ui_text(prop, "Filename", "Image/Movie file name.");
 
 	prop= RNA_def_property(srna, "source", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_items(prop, prop_source_items);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* imagechanged */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* imagechanged */
 	RNA_def_property_ui_text(prop, "Source", "Where the image comes from.");
 
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_items(prop, prop_type_items);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* imagechanged */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* imagechanged */
 	RNA_def_property_ui_text(prop, "Type", "How to generate the image.");
 
 	prop= RNA_def_property(srna, "packed_file", PROP_POINTER, PROP_NONE);
@@ -179,7 +179,7 @@ static void rna_def_image(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Display Aspect", "Display Aspect for this image, does not affect rendering.");
 
 	prop= RNA_def_property(srna, "animated", PROP_BOOLEAN, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* B_TWINANIM */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* B_TWINANIM */
 	RNA_def_property_boolean_sdna(prop, NULL, "tpageflag", IMA_TWINANIM);
 	RNA_def_property_ui_text(prop, "Animated", "Use as animated texture in the game engine.");
 
@@ -199,7 +199,7 @@ static void rna_def_image(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Animation Speed", "Speed of the animation in frames per second.");
 
 	prop= RNA_def_property(srna, "tiles", PROP_BOOLEAN, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* B_SIMAGETILE */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* B_SIMAGETILE */
 	RNA_def_property_boolean_sdna(prop, NULL, "tpageflag", IMA_TILES);
 	RNA_def_property_ui_text(prop, "Tiles", "Use of tilemode for faces (default shift-LMB to pick the tile for selected faces).");
 
@@ -230,4 +230,3 @@ void RNA_def_image(BlenderRNA *brna)
 
 #endif
 
-
diff --git a/source/blender/makesrna/intern/rna_internal.h b/source/blender/makesrna/intern/rna_internal.h
index 2665d8eab09..4101291e825 100644
--- a/source/blender/makesrna/intern/rna_internal.h
+++ b/source/blender/makesrna/intern/rna_internal.h
@@ -105,6 +105,7 @@ void RNA_def_camera(struct BlenderRNA *brna);
 void RNA_def_cloth(struct BlenderRNA *brna);
 void RNA_def_color(struct BlenderRNA *brna);
 void RNA_def_constraint(struct BlenderRNA *brna);
+void RNA_def_context(struct BlenderRNA *brna);
 void RNA_def_controller(struct BlenderRNA *brna);
 void RNA_def_curve(struct BlenderRNA *brna);
 void RNA_def_fluidsim(struct BlenderRNA *brna);
diff --git a/source/blender/makesrna/intern/rna_internal_types.h b/source/blender/makesrna/intern/rna_internal_types.h
index 0eea4ea5d39..bc0c2a07b35 100644
--- a/source/blender/makesrna/intern/rna_internal_types.h
+++ b/source/blender/makesrna/intern/rna_internal_types.h
@@ -41,6 +41,7 @@ struct bContext;
 typedef void (*UpdateFunc)(struct bContext *C, struct PointerRNA *ptr);
 typedef int (*EditableFunc)(struct PointerRNA *ptr);
 typedef struct StructRNA *(*StructRefineFunc)(struct PointerRNA *ptr);
+typedef char *(*StructPathFunc)(struct PointerRNA *ptr);
 
 typedef int (*PropBooleanGetFunc)(struct PointerRNA *ptr);
 typedef void (*PropBooleanSetFunc)(struct PointerRNA *ptr, int value);
@@ -186,7 +187,7 @@ typedef struct PointerPropertyRNA {
 	PropPointerGetFunc get;
 	PropPointerSetFunc set;
 
-	struct StructRNA *structtype;
+	struct StructRNA *type;
 } PointerPropertyRNA;
 
 typedef struct CollectionPropertyRNA {
@@ -200,7 +201,7 @@ typedef struct CollectionPropertyRNA {
 	PropCollectionLookupIntFunc lookupint;			/* optional */
 	PropCollectionLookupStringFunc lookupstring;	/* optional */
 
-	struct StructRNA *structtype;
+	struct StructRNA *type;
 } CollectionPropertyRNA;
 
 
@@ -208,6 +209,10 @@ typedef struct CollectionPropertyRNA {
 struct StructRNA {
 	struct StructRNA *next, *prev;
 
+	/* python type, this is a subtype of pyrna_struct_Type but used so each struct can have its own type
+	 * which is useful for subclassing RNA */
+	void *py_type;
+	
 	/* unique identifier */
 	const char *identifier;
 	/* various options */
@@ -236,6 +241,9 @@ struct StructRNA {
 	/* function to give the more specific type */
 	StructRefineFunc refine; 
 
+	/* function to find path to this struct in an ID */
+	StructPathFunc path; 
+
 	/* properties of this struct */
 	ListBase properties; 
 };
diff --git a/source/blender/makesrna/intern/rna_key.c b/source/blender/makesrna/intern/rna_key.c
index 753bd21d7b8..0a21ad1d940 100644
--- a/source/blender/makesrna/intern/rna_key.c
+++ b/source/blender/makesrna/intern/rna_key.c
@@ -1,5 +1,5 @@
 /**
- * $Id$
+ * $Id: rna_key.c 19382 2009-03-23 13:24:48Z blendix $
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
@@ -292,7 +292,7 @@ static void rna_def_keyblock(BlenderRNA *brna)
 
 	/* keys need to be sorted to edit this */
 	prop= RNA_def_property(srna, "frame", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_float_sdna(prop, NULL, "pos");
 	RNA_def_property_ui_text(prop, "Frame", "Frame for absolute keys.");
 	
@@ -311,7 +311,7 @@ static void rna_def_keyblock(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Vertex Group", "Vertex weight group, to blend with basis shape.");
 
 	prop= RNA_def_property(srna, "relative_key", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "ShapeKey");
 	RNA_def_property_ui_text(prop, "Relative Key", "Shape used as a relative key.");
 	RNA_def_property_pointer_funcs(prop, "rna_ShapeKey_relative_key_get", NULL);
@@ -332,6 +332,7 @@ static void rna_def_keyblock(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "data", PROP_COLLECTION, PROP_NONE);
 	RNA_def_property_collection_sdna(prop, NULL, "data", "totelem");
+	RNA_def_property_struct_type(prop, "UnknownType");
 	RNA_def_property_ui_text(prop, "Data", "");
 	RNA_def_property_collection_funcs(prop, "rna_ShapeKey_data_begin", 0, 0, "rna_ShapeKey_data_get", "rna_ShapeKey_data_length", 0, 0);
 }
@@ -345,7 +346,7 @@ static void rna_def_key(BlenderRNA *brna)
 	RNA_def_struct_ui_text(srna, "Key", "Shape keys datablock containing different shapes of geometric datablocks.");
 
 	prop= RNA_def_property(srna, "reference_key", PROP_POINTER, PROP_NEVER_NULL);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_pointer_sdna(prop, NULL, "refkey");
 	RNA_def_property_ui_text(prop, "Reference Key", "");
 
diff --git a/source/blender/makesrna/intern/rna_lamp.c b/source/blender/makesrna/intern/rna_lamp.c
index 80b7658c6ef..202d1af9154 100644
--- a/source/blender/makesrna/intern/rna_lamp.c
+++ b/source/blender/makesrna/intern/rna_lamp.c
@@ -311,7 +311,7 @@ static void rna_def_lamp(BlenderRNA *brna)
 	/* script link */
 	prop= RNA_def_property(srna, "script_link", PROP_POINTER, PROP_NEVER_NULL);
 	RNA_def_property_pointer_sdna(prop, NULL, "scriptlink");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Script Link", "Scripts linked to this lamp.");
 }
 
@@ -328,7 +328,7 @@ static void rna_def_lamp_falloff(StructRNA *srna)
 		{0, NULL, NULL, NULL}};
 
 	prop= RNA_def_property(srna, "falloff_type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* needs to be able to create curve mapping */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* needs to be able to create curve mapping */
 	RNA_def_property_enum_items(prop, prop_fallofftype_items);
 	RNA_def_property_ui_text(prop, "Falloff Type", "Intensity Decay with distance.");
 	RNA_def_property_update(prop, NC_LAMP|ND_LIGHTING, NULL);
diff --git a/source/blender/makesrna/intern/rna_lattice.c b/source/blender/makesrna/intern/rna_lattice.c
index d18142b3fcd..ca77d3b519f 100644
--- a/source/blender/makesrna/intern/rna_lattice.c
+++ b/source/blender/makesrna/intern/rna_lattice.c
@@ -1,5 +1,5 @@
 /**
- * $Id$
+ * $Id: rna_lattice.c 19382 2009-03-23 13:24:48Z blendix $
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
@@ -89,7 +89,7 @@ static void rna_def_latticepoint(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "co", PROP_FLOAT, PROP_VECTOR);
 	RNA_def_property_array(prop, 3);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_float_funcs(prop, "rna_LatticePoint_co_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Location", "");
 
@@ -120,17 +120,17 @@ static void rna_def_lattice(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "points_u", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "pntsu");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "U", "Points in U direction.");
 
 	prop= RNA_def_property(srna, "points_v", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "pntsv");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "V", "Points in V direction.");
 
 	prop= RNA_def_property(srna, "points_w", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "pntsw");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "W", "Points in W direction.");
 
 	prop= RNA_def_property(srna, "interpolation_type_u", PROP_ENUM, PROP_NONE);
diff --git a/source/blender/makesrna/intern/rna_main.c b/source/blender/makesrna/intern/rna_main.c
index 39fc1dbc5ad..03ce385be32 100644
--- a/source/blender/makesrna/intern/rna_main.c
+++ b/source/blender/makesrna/intern/rna_main.c
@@ -252,7 +252,7 @@ void RNA_def_main(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "filename", PROP_STRING, PROP_FILEPATH);
 	RNA_def_property_string_maxlength(prop, 240);
 	RNA_def_property_string_funcs(prop, "rna_Main_filename_get", "rna_Main_filename_length", "rna_Main_filename_set");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Filename", "Path to the .blend file.");
 
 	for(i=0; lists[i][0]; i++)
diff --git a/source/blender/makesrna/intern/rna_material.c b/source/blender/makesrna/intern/rna_material.c
index 6054d4e6a42..34a7ea7d1e9 100644
--- a/source/blender/makesrna/intern/rna_material.c
+++ b/source/blender/makesrna/intern/rna_material.c
@@ -923,7 +923,7 @@ void RNA_def_material(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "script_link", PROP_POINTER, PROP_NEVER_NULL);
 	RNA_def_property_pointer_sdna(prop, NULL, "scriptlink");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Script Link", "Scripts linked to this material.");
 
 	/* XXX: does Material.septex get RNA? */
@@ -952,7 +952,7 @@ void rna_def_mtex_common(StructRNA *srna, const char *begin, const char *activeg
 	RNA_def_property_ui_text(prop, "Textures", "Texture slots defining the mapping and influence of textures.");
 
 	prop= RNA_def_property(srna, "active_texture", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, structname);
 	RNA_def_property_pointer_funcs(prop, activeget, NULL);
 	RNA_def_property_ui_text(prop, "Active Texture", "Active texture slot being displayed.");
diff --git a/source/blender/makesrna/intern/rna_mesh.c b/source/blender/makesrna/intern/rna_mesh.c
index 46a2fcf998a..3f862199ea0 100644
--- a/source/blender/makesrna/intern/rna_mesh.c
+++ b/source/blender/makesrna/intern/rna_mesh.c
@@ -155,7 +155,7 @@ static void rna_MeshColor_color4_set(PointerRNA *ptr, const float *values)
 static int rna_Mesh_texspace_editable(PointerRNA *ptr)
 {
 	Mesh *me= (Mesh*)ptr->data;
-	return (me->texflag & AUTOSPACE)? PROP_NOT_EDITABLE: 0;
+	return (me->texflag & AUTOSPACE)? 0: PROP_EDITABLE;
 }
 
 static void rna_MeshVertex_groups_begin(CollectionPropertyIterator *iter, PointerRNA *ptr)
@@ -467,6 +467,111 @@ static int rna_Mesh_string_layers_length(PointerRNA *ptr)
 	return rna_CustomDataLayer_length(ptr, CD_PROP_STR);
 }
 
+/* path construction */
+
+static char *rna_VertexGroupElement_path(PointerRNA *ptr)
+{
+	Mesh *me= (Mesh*)ptr->id.data; /* XXX not always! */
+	MDeformWeight *dw= (MDeformWeight*)ptr->data;
+	MDeformVert *dvert;
+	int a, b;
+	
+	for(a=0, dvert=me->dvert; a<me->totvert; a++, dvert++)
+		for(b=0; b<dvert->totweight; b++)
+			if(dw == &dvert->dw[b])
+				return BLI_sprintfN("verts[%d].groups[%d]", a, b);
+
+	return NULL;
+}
+
+static char *rna_MeshFace_path(PointerRNA *ptr)
+{
+	return BLI_sprintfN("faces[%d]", (MFace*)ptr->data - ((Mesh*)ptr->id.data)->mface);
+}
+
+static char *rna_MeshEdge_path(PointerRNA *ptr)
+{
+	return BLI_sprintfN("edges[%d]", (MEdge*)ptr->data - ((Mesh*)ptr->id.data)->medge);
+}
+
+static char *rna_MeshVertex_path(PointerRNA *ptr)
+{
+	return BLI_sprintfN("verts[%d]", (MVert*)ptr->data - ((Mesh*)ptr->id.data)->mvert);
+}
+
+static char *rna_MeshTextureFaceLayer_path(PointerRNA *ptr)
+{
+	return BLI_sprintfN("uv_layers[%s]", ((CustomDataLayer*)ptr->data)->name);
+}
+
+static char *rna_CustomDataData_path(PointerRNA *ptr, char *collection, int type)
+{
+	Mesh *me= (Mesh*)ptr->id.data;
+	CustomDataLayer *cdl;
+	int a;
+	size_t b;
+
+	for(cdl=me->fdata.layers, a=0; a<me->fdata.totlayer; cdl++, a++) {
+		if(cdl->type == type) {
+			b= ((char*)ptr->data - ((char*)cdl->data))/CustomData_sizeof(type);
+			if(b >= 0 && b < me->totface)
+				return BLI_sprintfN("%s[%s].data[%d]", collection, cdl->name, b);
+		}
+	}
+
+	return NULL;
+}
+
+static char *rna_MeshTextureFace_path(PointerRNA *ptr)
+{
+	return rna_CustomDataData_path(ptr, "uv_layers", CD_MTFACE);
+}
+
+static char *rna_MeshColorLayer_path(PointerRNA *ptr)
+{
+	return BLI_sprintfN("vcol_layers[%s]", ((CustomDataLayer*)ptr->data)->name);
+}
+
+static char *rna_MeshColor_path(PointerRNA *ptr)
+{
+	return rna_CustomDataData_path(ptr, "vcol_layers", CD_MCOL);
+}
+
+static char *rna_MeshSticky_path(PointerRNA *ptr)
+{
+	return BLI_sprintfN("sticky[%d]", (MSticky*)ptr->data - ((Mesh*)ptr->id.data)->msticky);
+}
+
+static char *rna_MeshIntPropertyLayer_path(PointerRNA *ptr)
+{
+	return BLI_sprintfN("int_layers[%s]", ((CustomDataLayer*)ptr->data)->name);
+}
+
+static char *rna_MeshIntProperty_path(PointerRNA *ptr)
+{
+	return rna_CustomDataData_path(ptr, "int_layers", CD_MCOL);
+}
+
+static char *rna_MeshFloatPropertyLayer_path(PointerRNA *ptr)
+{
+	return BLI_sprintfN("float_layers[%s]", ((CustomDataLayer*)ptr->data)->name);
+}
+
+static char *rna_MeshFloatProperty_path(PointerRNA *ptr)
+{
+	return rna_CustomDataData_path(ptr, "float_layers", CD_MCOL);
+}
+
+static char *rna_MeshStringPropertyLayer_path(PointerRNA *ptr)
+{
+	return BLI_sprintfN("string_layers[%s]", ((CustomDataLayer*)ptr->data)->name);
+}
+
+static char *rna_MeshStringProperty_path(PointerRNA *ptr)
+{
+	return rna_CustomDataData_path(ptr, "string_layers", CD_MCOL);
+}
+
 #else
 
 static void rna_def_mvert_group(BlenderRNA *brna)
@@ -477,12 +582,13 @@ static void rna_def_mvert_group(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "VertexGroupElement", NULL);
 	RNA_def_struct_ui_text(srna, "Vertex Group Element", "Weight value of a vertex in a vertex group.");
 	RNA_def_struct_sdna(srna, "MDeformWeight");
+	RNA_def_struct_path_func(srna, "rna_VertexGroupElement_path");
 
 	/* we can't point to actual group, it is in the object and so
 	 * there is no unique group to point to, hence the index */
 	prop= RNA_def_property(srna, "group", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "def_nr");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Group Index", "");
 
 	prop= RNA_def_property(srna, "weight", PROP_FLOAT, PROP_NONE);
@@ -498,6 +604,7 @@ static void rna_def_mvert(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshVertex", NULL);
 	RNA_def_struct_sdna(srna, "MVert");
 	RNA_def_struct_ui_text(srna, "Mesh Vertex", "Vertex in a Mesh datablock.");
+	RNA_def_struct_path_func(srna, "rna_MeshVertex_path");
 
 	prop= RNA_def_property(srna, "co", PROP_FLOAT, PROP_VECTOR);
 	RNA_def_property_ui_text(prop, "Location", "");
@@ -505,7 +612,7 @@ static void rna_def_mvert(BlenderRNA *brna)
 	/*prop= RNA_def_property(srna, "no", PROP_FLOAT, PROP_VECTOR);
 	RNA_def_property_float_funcs(prop, "rna_MeshVertex_no_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Normal", "Vertex Normal");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);*/
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);*/
 
 	prop= RNA_def_property(srna, "selected", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", SELECT);
@@ -533,11 +640,12 @@ static void rna_def_medge(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshEdge", NULL);
 	RNA_def_struct_sdna(srna, "MEdge");
 	RNA_def_struct_ui_text(srna, "Mesh Edge", "Edge in a Mesh datablock.");
+	RNA_def_struct_path_func(srna, "rna_MeshEdge_path");
 
 	prop= RNA_def_property(srna, "verts", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "v1");
 	RNA_def_property_array(prop, 2);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Vertices", "Vertex indices");
 
 	prop= RNA_def_property(srna, "crease", PROP_FLOAT, PROP_NONE);
@@ -573,11 +681,12 @@ static void rna_def_mface(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshFace", NULL);
 	RNA_def_struct_sdna(srna, "MFace");
 	RNA_def_struct_ui_text(srna, "Mesh Face", "Face in a Mesh datablock.");
+	RNA_def_struct_path_func(srna, "rna_MeshFace_path");
 
 	prop= RNA_def_property(srna, "verts", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "v1");
 	RNA_def_property_array(prop, 4);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Vertices", "Vertex indices");
 
 	prop= RNA_def_property(srna, "material_index", PROP_INT, PROP_UNSIGNED);
@@ -613,6 +722,7 @@ static void rna_def_mtface(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshTextureFaceLayer", NULL);
 	RNA_def_struct_ui_text(srna, "Mesh Texture Face Layer", "Layer of texture faces in a Mesh datablock.");
 	RNA_def_struct_sdna(srna, "CustomDataLayer");
+	RNA_def_struct_path_func(srna, "rna_MeshTextureFaceLayer_path");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
 	RNA_def_struct_name_property(srna, prop);
@@ -635,6 +745,7 @@ static void rna_def_mtface(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshTextureFace", NULL);
 	RNA_def_struct_sdna(srna, "MTFace");
 	RNA_def_struct_ui_text(srna, "Mesh Texture Face", "UV mapping, texturing and game engine data for a face.");
+	RNA_def_struct_path_func(srna, "rna_MeshTextureFace_path");
 
 	/* prop= RNA_def_property(srna, "image", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "tpage");
@@ -735,6 +846,7 @@ static void rna_def_msticky(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshSticky", NULL);
 	RNA_def_struct_sdna(srna, "MSticky");
 	RNA_def_struct_ui_text(srna, "Mesh Vertex Sticky Texture Coordinate", "Stricky texture coordinate.");
+	RNA_def_struct_path_func(srna, "rna_MeshSticky_path");
 
 	prop= RNA_def_property(srna, "co", PROP_FLOAT, PROP_VECTOR);
 	RNA_def_property_ui_text(prop, "Location", "Sticky texture coordinate location.");
@@ -748,6 +860,7 @@ static void rna_def_mcol(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshColorLayer", NULL);
 	RNA_def_struct_ui_text(srna, "Mesh Vertex Color Layer", "Layer of vertex colors in a Mesh datablock.");
 	RNA_def_struct_sdna(srna, "CustomDataLayer");
+	RNA_def_struct_path_func(srna, "rna_MeshColorLayer_path");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
 	RNA_def_struct_name_property(srna, prop);
@@ -770,6 +883,7 @@ static void rna_def_mcol(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshColor", NULL);
 	RNA_def_struct_sdna(srna, "MCol");
 	RNA_def_struct_ui_text(srna, "Mesh Vertex Color", "Vertex colors for a face in a Mesh.");
+	RNA_def_struct_path_func(srna, "rna_MeshColor_path");
 
 	prop= RNA_def_property(srna, "color1", PROP_FLOAT, PROP_COLOR);
 	RNA_def_property_array(prop, 3);
@@ -801,6 +915,7 @@ static void rna_def_mproperties(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshFloatPropertyLayer", NULL);
 	RNA_def_struct_sdna(srna, "CustomDataLayer");
 	RNA_def_struct_ui_text(srna, "Mesh Float Property Layer", "User defined layer of floating pointer number values.");
+	RNA_def_struct_path_func(srna, "rna_MeshFloatPropertyLayer_path");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
 	RNA_def_struct_name_property(srna, prop);
@@ -814,6 +929,7 @@ static void rna_def_mproperties(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshFloatProperty", NULL);
 	RNA_def_struct_sdna(srna, "MFloatProperty");
 	RNA_def_struct_ui_text(srna, "Mesh Float Property", "User defined floating point number value in a float properties layer.");
+	RNA_def_struct_path_func(srna, "rna_MeshFloatProperty_path");
 
 	prop= RNA_def_property(srna, "value", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "f");
@@ -823,6 +939,7 @@ static void rna_def_mproperties(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshIntPropertyLayer", NULL);
 	RNA_def_struct_sdna(srna, "CustomDataLayer");
 	RNA_def_struct_ui_text(srna, "Mesh Int Property Layer", "User defined layer of integer number values.");
+	RNA_def_struct_path_func(srna, "rna_MeshIntPropertyLayer_path");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
 	RNA_def_struct_name_property(srna, prop);
@@ -836,6 +953,7 @@ static void rna_def_mproperties(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshIntProperty", NULL);
 	RNA_def_struct_sdna(srna, "MIntProperty");
 	RNA_def_struct_ui_text(srna, "Mesh Int Property", "User defined integer number value in an integer properties layer.");
+	RNA_def_struct_path_func(srna, "rna_MeshIntProperty_path");
 
 	prop= RNA_def_property(srna, "value", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "i");
@@ -845,6 +963,7 @@ static void rna_def_mproperties(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshStringPropertyLayer", NULL);
 	RNA_def_struct_sdna(srna, "CustomDataLayer");
 	RNA_def_struct_ui_text(srna, "Mesh String Property Layer", "User defined layer of string text values.");
+	RNA_def_struct_path_func(srna, "rna_MeshStringPropertyLayer_path");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
 	RNA_def_struct_name_property(srna, prop);
@@ -858,6 +977,7 @@ static void rna_def_mproperties(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "MeshStringProperty", NULL);
 	RNA_def_struct_sdna(srna, "MStringProperty");
 	RNA_def_struct_ui_text(srna, "Mesh String Property", "User defined string text value in a string properties layer.");
+	RNA_def_struct_path_func(srna, "rna_MeshStringProperty_path");
 
 	prop= RNA_def_property(srna, "value", PROP_STRING, PROP_NONE);
 	RNA_def_property_string_sdna(prop, NULL, "s");
@@ -896,7 +1016,6 @@ void rna_def_texmat_common(StructRNA *srna, const char *texspace_editable)
 	RNA_def_property_ui_text(prop, "Materials", "");
 }
 
-
 static void rna_def_mesh(BlenderRNA *brna)
 {
 	StructRNA *srna;
diff --git a/source/blender/makesrna/intern/rna_meta.c b/source/blender/makesrna/intern/rna_meta.c
index 5107ed0df70..737bb52a466 100644
--- a/source/blender/makesrna/intern/rna_meta.c
+++ b/source/blender/makesrna/intern/rna_meta.c
@@ -37,7 +37,7 @@
 static int rna_Meta_texspace_editable(PointerRNA *ptr)
 {
 	MetaBall *mb= (MetaBall*)ptr->data;
-	return (mb->texflag & AUTOSPACE)? PROP_NOT_EDITABLE: 0;
+	return (mb->texflag & AUTOSPACE)? 0: PROP_EDITABLE;
 }
 
 #else
@@ -60,7 +60,7 @@ void rna_def_metaelement(BlenderRNA *brna)
 	
 	/* enums */
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, prop_type_items);
 	RNA_def_property_ui_text(prop, "Type", "Metaball types.");
 	
diff --git a/source/blender/makesrna/intern/rna_modifier.c b/source/blender/makesrna/intern/rna_modifier.c
index 0284d428939..5c609550d3f 100644
--- a/source/blender/makesrna/intern/rna_modifier.c
+++ b/source/blender/makesrna/intern/rna_modifier.c
@@ -471,7 +471,7 @@ static void rna_def_modifier_decimate(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "face_count", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "faceCount");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Face Count", "The current number of faces in the decimated mesh.");
 }
 
@@ -1569,7 +1569,7 @@ void RNA_def_modifier(BlenderRNA *brna)
 	
 	/* enums */
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_sdna(prop, NULL, "type");
 	RNA_def_property_enum_items(prop, type_items);
 	RNA_def_property_ui_text(prop, "Type", "");
diff --git a/source/blender/makesrna/intern/rna_nodetree.c b/source/blender/makesrna/intern/rna_nodetree.c
index 1588544966a..6fb6a67650f 100644
--- a/source/blender/makesrna/intern/rna_nodetree.c
+++ b/source/blender/makesrna/intern/rna_nodetree.c
@@ -17,12 +17,13 @@
  * along with this program; if not, write to the Free Software Foundation,
  * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  *
- * Contributor(s): Blender Foundation (2008), Nathan Letwory
+ * Contributor(s): Blender Foundation (2008), Nathan Letwory, Robin Allen
  *
  * ***** END GPL LICENSE BLOCK *****
  */
 
 #include <stdlib.h>
+#include <string.h>
 
 #include "RNA_define.h"
 #include "RNA_types.h"
@@ -34,47 +35,436 @@
 
 #ifdef RNA_RUNTIME
 
-static void rna_Nodetree_nodes_begin(CollectionPropertyIterator *iter, PointerRNA *ptr)
+StructRNA *rna_Node_refine(struct PointerRNA *ptr)
 {
-	bNodeTree *ntree= (bNodeTree*)ptr->data;
-	rna_iterator_listbase_begin(iter, &ntree->nodes, NULL);
+	bNode *node= (bNode*)ptr->data;
+
+	switch(node->type) {
+		
+		#define DefNode(Category, ID, DefFunc, EnumName, StructName, UIName, UIDesc) \
+			case ID: return &RNA_##Category##StructName;
+				
+		#include "rna_nodetree_types.h"
+		
+		#undef DefNode
+		
+		default:
+			return &RNA_Node;
+	}
 }
 
 #else
 
+#define MaxNodes 1000
+
+enum
+{
+	Category_NoCategory,
+	Category_ShaderNode,
+	Category_CompositorNode,
+	Category_TextureNode
+};
+
+typedef struct NodeInfo
+{
+	int defined;
+	int category;
+	const char *enum_name;
+	const char *struct_name;
+	const char *base_name;
+	const char *ui_name;
+	const char *ui_desc;
+} NodeInfo;
+
+static NodeInfo nodes[MaxNodes];
+
+static void reg_node(
+	int ID, 
+	int category,
+	const char *enum_name,
+	const char *struct_name,
+	const char *base_name,
+	const char *ui_name,
+	const char *ui_desc
+){
+	NodeInfo *ni = nodes + ID;
+	
+	ni->defined = 1;
+	ni->category = category;
+	ni->enum_name = enum_name;
+	ni->struct_name = struct_name;
+	ni->base_name = base_name;
+	ni->ui_name = ui_name;
+	ni->ui_desc = ui_desc;
+}
+
+static void init(void)
+{
+	memset(nodes, 0, sizeof nodes);
+	
+	#define Str(x) #x
+	
+	#define DefNode(Category, ID, DefFunc, EnumName, StructName, UIName, UIDesc) \
+		reg_node(ID, Category_##Category, EnumName, Str(Category##StructName), #Category, UIName, UIDesc);
+		
+	#include "rna_nodetree_types.h"
+	
+	#undef DefNode
+	#undef Str
+}
+
+static StructRNA* def_node(BlenderRNA *brna, int node_id)
+{
+	StructRNA *srna;
+	NodeInfo *node = nodes + node_id;
+	
+	srna= RNA_def_struct(brna, node->struct_name, node->base_name);
+	RNA_def_struct_ui_text(srna, node->ui_name, node->ui_desc);
+	RNA_def_struct_sdna(srna, "bNode");
+	
+	return srna;
+}
+
+static EnumPropertyItem* alloc_node_type_items(int category)
+{
+	int i;
+	int count = 2;
+	EnumPropertyItem *item, *items;
+	
+	for(i=0; i<MaxNodes; i++)
+		if(nodes[i].defined && nodes[i].category == category)
+			count++;
+		
+	item = items = malloc(count * sizeof(EnumPropertyItem));
+	
+	for(i=0; i<MaxNodes; i++) {
+		NodeInfo *node = nodes + i;
+		if(node->defined && node->category == category) {
+			item->value = i;
+			item->identifier = node->enum_name;
+			item->name = node->ui_name;
+			item->description = node->ui_desc;
+		
+			item++;
+		}
+	}
+	
+	item->value = NODE_DYNAMIC;
+	item->identifier = "SCRIPT";
+	item->name = "Script";
+	item->description = "";
+	
+	item++;
+	
+	memset(item, 0, sizeof(EnumPropertyItem));
+	
+	return items;
+}
+
+
+/* -- Common nodes ---------------------------------------------------------- */
+
+static void def_math(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	static EnumPropertyItem items[] ={
+		{ 0, "ADD",          "Add",          ""},
+		{ 1, "SUBTRACT",     "Subtract",     ""},
+		{ 2, "MULTIPLY",     "Multiply",     ""},
+		{ 3, "DIVIDE",       "Divide",       ""},
+		{ 4, "SINE",         "Sine",         ""},
+		{ 5, "COSINE",       "Cosine",       ""},
+		{ 6, "TANGENT",      "Tangent",      ""},
+		{ 7, "ARCSINE",      "Arcsine",      ""},
+		{ 8, "ARCCOSINE",    "Arccosine",    ""},
+		{ 9, "ARCTANGENT",   "Arctangent",   ""},
+		{10, "POWER",        "Power",        ""},
+		{11, "LOGARITHM",    "Logarithm",    ""},
+		{12, "MINIMUM",      "Minimum",      ""},
+		{13, "MAXIMUM",      "Maximum",      ""},
+		{14, "ROUND",        "Round",        ""},
+		{15, "LESS_THAN",    "Less Than",    ""},
+		{16, "GREATER_THAN", "Greater Than", ""},
+		
+		{0, NULL, NULL, NULL}
+	};
+	
+	srna= def_node(brna, id);
+	
+	prop= RNA_def_property(srna, "operation", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "custom1");
+	RNA_def_property_enum_items(prop, items);
+	RNA_def_property_ui_text(prop, "Operation", "");
+}
+
+static void def_vector_math(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	static EnumPropertyItem items[] ={
+		{0, "ADD",           "Add",           ""},
+		{1, "SUBTRACT",      "Subtract",      ""},
+		{2, "AVERAGE",       "Average",       ""},
+		{3, "DOT_PRODUCT",   "Dot Product",   ""},
+		{4, "CROSS_PRODUCT", "Cross Product", ""},
+		{5, "NORMALIZE",     "Normalize",     ""},
+		
+		{0, NULL, NULL, NULL}
+	};
+	
+	srna= def_node(brna, id);
+	
+	prop= RNA_def_property(srna, "operation", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "custom1");
+	RNA_def_property_enum_items(prop, items);
+	RNA_def_property_ui_text(prop, "Operation", "");
+}
+
+static void def_rgb_curve(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	srna= def_node(brna, id);
+	
+	prop= RNA_def_property(srna, "mapping", PROP_POINTER, PROP_NONE);
+	RNA_def_property_pointer_sdna(prop, NULL, "storage");
+	RNA_def_property_struct_type(prop, "CurveMapping");
+	RNA_def_property_ui_text(prop, "Mapping", "");
+}
+
+static void def_vector_curve(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	srna= def_node(brna, id);
+	
+	prop= RNA_def_property(srna, "mapping", PROP_POINTER, PROP_NONE);
+	RNA_def_property_pointer_sdna(prop, NULL, "storage");
+	RNA_def_property_struct_type(prop, "CurveMapping");
+	RNA_def_property_ui_text(prop, "Mapping", "");
+}
+
+static void def_val_to_rgb(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	srna= def_node(brna, id);
+	
+	/* TODO: uncomment when ColorBand is wrapped */
+	/*prop= RNA_def_property(srna, "color_band", PROP_POINTER, PROP_NONE);
+	RNA_def_property_pointer_sdna(prop, NULL, "storage");
+	RNA_def_property_struct_type(prop, "ColorBand");
+	RNA_def_property_ui_text(prop, "Color Band", "");*/
+}
+
+static void def_mix_rgb(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	static EnumPropertyItem blend_type_items[] ={
+		{ 0, "MIX",        "Mix",         ""},
+		{ 1, "ADD",        "Add",         ""},
+		{ 3, "SUBTRACT",   "Subtract",    ""},
+		{ 2, "MULTIPLY",   "Multiply",    ""},
+		{ 4, "SCREEN",     "Screen",      ""},
+		{ 9, "OVERLAY",    "Overlay",     ""},
+		{ 5, "DIVIDE",     "Divide",      ""},
+		{ 6, "DIFFERENCE", "Difference",  ""},
+		{ 7, "DARKEN",     "Darken",      ""},
+		{ 8, "LIGHTEN",    "Lighten",     ""},
+		{10, "DODGE",      "Dodge",       ""},
+		{11, "BURN",       "Burn",        ""},
+		{15, "COLOR",      "Color",       ""},
+		{14, "VALUE",      "Value",       ""},
+		{13, "SATURATION", "Saturation",  ""},
+		{12, "HUE",        "Hue",         ""},
+		{0, NULL, NULL, NULL}
+	};
+	
+	srna= def_node(brna, id);
+	
+	prop= RNA_def_property(srna, "blend_type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "custom1");
+	RNA_def_property_enum_items(prop, blend_type_items);
+	RNA_def_property_ui_text(prop, "Blend Type", "");
+	
+	prop= RNA_def_property(srna, "alpha", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "custom2", 1);
+	RNA_def_property_ui_text(prop, "Diffuse", "Include alpha of second input in this operation");
+}
+
+
+/* -- Shader Node Storage Types --------------------------------------------- */
+
+static void rna_def_storage_node_geometry(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	srna= RNA_def_struct(brna, "NodeGeometry", NULL);
+	RNA_def_struct_ui_text(srna, "Node Geometry", "");
+	
+	prop= RNA_def_property(srna, "uv_layer", PROP_STRING, PROP_NONE);
+	RNA_def_property_string_sdna(prop, NULL, "uvname");
+	RNA_def_property_ui_text(prop, "UV Layer", "");
+	
+	prop= RNA_def_property(srna, "color_layer", PROP_STRING, PROP_NONE);
+	RNA_def_property_string_sdna(prop, NULL, "colname");
+	RNA_def_property_ui_text(prop, "Vertex Color Layer", "");
+}
+
+
+/* -- Shader Nodes ---------------------------------------------------------- */
+
+static void def_sh_texture(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	srna= def_node(brna, id);
+	
+	prop= RNA_def_property(srna, "texture", PROP_POINTER, PROP_NONE);
+	RNA_def_property_pointer_sdna(prop, NULL, "id");
+	RNA_def_property_struct_type(prop, "Texture");
+	RNA_def_property_ui_text(prop, "Texture", "");
+	
+	prop= RNA_def_property(srna, "node_output", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "custom1");
+	RNA_def_property_ui_text(prop, "Node Output", "For node-based textures, which output node to use");
+}
+
+static void def_sh_material(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	srna= def_node(brna, id);
+
+	prop= RNA_def_property(srna, "material", PROP_POINTER, PROP_NONE);
+	RNA_def_property_pointer_sdna(prop, NULL, "id");
+	RNA_def_property_struct_type(prop, "Material");
+	RNA_def_property_ui_text(prop, "Material", "");
+
+	prop= RNA_def_property(srna, "diffuse", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "custom1", SH_NODE_MAT_DIFF);
+	RNA_def_property_ui_text(prop, "Diffuse", "Material Node outputs Diffuse");
+
+	prop= RNA_def_property(srna, "specular", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "custom1", SH_NODE_MAT_SPEC);
+	RNA_def_property_ui_text(prop, "Specular", "Material Node outputs Specular");
+	
+	prop= RNA_def_property(srna, "invert_normal", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "custom1", SH_NODE_MAT_NEG);
+	RNA_def_property_ui_text(prop, "Invert Normal", "Material Node uses inverted normal");
+}
+
+static void def_sh_mapping(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	srna= def_node(brna, id);
+	
+	prop= RNA_def_property(srna, "mapping", PROP_POINTER, PROP_NONE);
+	RNA_def_property_pointer_sdna(prop, NULL, "storage");
+	RNA_def_property_struct_type(prop, "TexMapping");
+	RNA_def_property_ui_text(prop, "Mapping", "");
+}
+
+static void def_sh_geometry(BlenderRNA *brna, int id)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	srna= def_node(brna, id);
+	
+	prop= RNA_def_property(srna, "settings", PROP_POINTER, PROP_NONE);
+	RNA_def_property_pointer_sdna(prop, NULL, "storage");
+	RNA_def_property_struct_type(prop, "NodeGeometry");
+	RNA_def_property_ui_text(prop, "Settings", "");
+}
+
+/* -- Compositor Nodes ------------------------------------------------------ */
+
+/* -- Texture Nodes --------------------------------------------------------- */
+
+/* -------------------------------------------------------------------------- */
+
+static void rna_def_shader_node(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	EnumPropertyItem *node_type_items;
+	
+	node_type_items = alloc_node_type_items(Category_ShaderNode);
+
+	srna= RNA_def_struct(brna, "ShaderNode", "Node");
+	RNA_def_struct_ui_text(srna, "Shader Node", "Material shader node.");
+	RNA_def_struct_sdna(srna, "bNode");
+
+	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_enum_items(prop, node_type_items);
+	RNA_def_property_ui_text(prop, "Type", "");
+
+	/* Shader storage types */
+	rna_def_storage_node_geometry(brna);
+}
+
+static void rna_def_compositor_node(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	EnumPropertyItem *node_type_items;
+	
+	node_type_items = alloc_node_type_items(Category_CompositorNode);
+	
+	srna= RNA_def_struct(brna, "CompositorNode", "Node");
+	RNA_def_struct_ui_text(srna, "Compositor Node", "");
+	RNA_def_struct_sdna(srna, "bNode");
+
+	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_enum_items(prop, node_type_items);
+	RNA_def_property_ui_text(prop, "Type", "");
+}
+
+static void rna_def_texture_node(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	EnumPropertyItem *node_type_items;
+	
+	node_type_items = alloc_node_type_items(Category_TextureNode);
+	
+	srna= RNA_def_struct(brna, "TextureNode", "Node");
+	RNA_def_struct_ui_text(srna, "Texture Node", "");
+	RNA_def_struct_sdna(srna, "bNode");
+
+	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
+	RNA_def_property_enum_items(prop, node_type_items);
+	RNA_def_property_ui_text(prop, "Type", "");
+}
+
+/* -------------------------------------------------------------------------- */
+
 static void rna_def_node(BlenderRNA *brna)
 {
 	StructRNA *srna;
 	PropertyRNA *prop;
-	static EnumPropertyItem node_type_items[] ={
-		{SH_NODE_OUTPUT, "OUTPUT", "Output", ""},
-		{SH_NODE_MATERIAL, "MATERIAL", "Material", ""},
-		{SH_NODE_RGB, "RGB", "RGB", ""},
-		{SH_NODE_VALUE, "VALUE", "Value", ""},
-		{SH_NODE_MIX_RGB, "MIX_RGB", "Mix RGB", ""},
-		{SH_NODE_VALTORGB, "VALUE_TO_RGB", "Value to RGB", ""},
-		{SH_NODE_RGBTOBW, "RGB_TO_BW", "RGB to BW", ""},
-		{SH_NODE_TEXTURE, "TEXTURE", "Texture", ""},
-		{SH_NODE_NORMAL, "NORMAL", "Normal", ""},
-		{SH_NODE_GEOMETRY, "GEOMETRY", "Geometry", ""},
-		{SH_NODE_MAPPING, "MAPPING", "Mapping", ""},
-		{SH_NODE_CURVE_VEC, "VECTOR_CURVES", "Vector Curves", ""},
-		{SH_NODE_CURVE_RGB, "RGB_CURVES", "RGB Curves", ""},
-		{SH_NODE_CAMERA, "CAMERA", "Camera", ""},
-		{SH_NODE_MATH, "MATH", "Math", ""},
-		{SH_NODE_VECT_MATH, "VECTOR_MATH", "Vector Math", ""},
-		{SH_NODE_SQUEEZE, "SQUEEZE", "Squeeze", ""},
-		{SH_NODE_MATERIAL_EXT, "MATERIAL_EXTENDED", "Material Extended", ""},
-		{SH_NODE_INVERT, "INVERT", "Invert", ""},
-		{SH_NODE_SEPRGB, "SEPARATE_RGB", "Seperate RGB", ""},
-		{SH_NODE_COMBRGB, "COMBINE_RGB", "Combine RGB", ""},
-		{SH_NODE_HUE_SAT, "HUE_SATURATION", "Hue/Saturation", ""},
-		{NODE_DYNAMIC, "SCRIPT", "Script", ""},
-		{0, NULL, NULL, NULL}};
 	
 	srna= RNA_def_struct(brna, "Node", NULL);
 	RNA_def_struct_ui_text(srna, "Node", "Node in a node tree.");
 	RNA_def_struct_sdna(srna, "bNode");
+	RNA_def_struct_refine_func(srna, "rna_Node_refine");
 	
 	prop= RNA_def_property(srna, "location", PROP_FLOAT, PROP_VECTOR);
 	RNA_def_property_float_sdna(prop, NULL, "locx");
@@ -85,14 +475,9 @@ static void rna_def_node(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
 	RNA_def_property_ui_text(prop, "Name", "Node name.");
 	RNA_def_struct_name_property(srna, prop);
-	
-	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
-	RNA_def_property_enum_items(prop, node_type_items);
-	RNA_def_property_ui_text(prop, "Type", "");
 }
 
-void RNA_def_nodetree(BlenderRNA *brna)
+static void rna_def_nodetree(BlenderRNA *brna)
 {
 	StructRNA *srna;
 	PropertyRNA *prop;
@@ -103,11 +488,35 @@ void RNA_def_nodetree(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "nodes", PROP_COLLECTION, PROP_NONE);
 	RNA_def_property_collection_sdna(prop, NULL, "nodes", NULL);
-	RNA_def_property_collection_funcs(prop, "rna_Nodetree_nodes_begin", "rna_iterator_listbase_next", "rna_iterator_listbase_end", "rna_iterator_listbase_get", 0, 0, 0);
 	RNA_def_property_struct_type(prop, "Node");
 	RNA_def_property_ui_text(prop, "Nodes", "");
-	
+}
+
+static void define_simple_node(BlenderRNA *brna, int id)
+{
+	def_node(brna, id);
+}
+
+static void define_specific_node(BlenderRNA *brna, int id, void (*func)(BlenderRNA*, int))
+{
+	func(brna, id);
+}
+
+void RNA_def_nodetree(BlenderRNA *brna)
+{
+	init();
+	rna_def_nodetree(brna);
 	rna_def_node(brna);
+	rna_def_shader_node(brna);
+	rna_def_compositor_node(brna);
+	rna_def_texture_node(brna);
+	
+	#define DefNode(Category, ID, DefFunc, EnumName, StructName, UIName, UIDesc) \
+		define_specific_node(brna, ID, DefFunc ? DefFunc : define_simple_node);
+		
+	#include "rna_nodetree_types.h"
+	
+	#undef DefNode
 }
 
 #endif
diff --git a/source/blender/makesrna/intern/rna_nodetree_types.h b/source/blender/makesrna/intern/rna_nodetree_types.h
new file mode 100644
index 00000000000..00b7f7e62cb
--- /dev/null
+++ b/source/blender/makesrna/intern/rna_nodetree_types.h
@@ -0,0 +1,131 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * Contributor(s): Blender Foundation (2008), Robin Allen
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+/*       Tree type       Node ID                  RNA def function     Enum name         Struct name       UI Name              UI Description */
+DefNode( ShaderNode,     SH_NODE_OUTPUT,          0,                   "OUTPUT",         Output,           "Output",            ""              )
+DefNode( ShaderNode,     SH_NODE_MATERIAL,        def_sh_material,     "MATERIAL",       Material,         "Material",          ""              )
+DefNode( ShaderNode,     SH_NODE_RGB,             0,                   "RGB",            RGB,              "RGB",               ""              )
+DefNode( ShaderNode,     SH_NODE_VALUE,           0,                   "VALUE",          Value,            "Value",             ""              )
+DefNode( ShaderNode,     SH_NODE_MIX_RGB,         def_mix_rgb,         "MIX_RGB",        MixRGB,           "MixRGB",            ""              )
+DefNode( ShaderNode,     SH_NODE_VALTORGB,        def_val_to_rgb,      "VALTORGB",       ValToRGB,         "Value to RGB",      ""              )
+DefNode( ShaderNode,     SH_NODE_RGBTOBW,         0,                   "RGBTOBW",        RGBToBW,          "RGB to BW",         ""              )
+DefNode( ShaderNode,     SH_NODE_TEXTURE,         def_sh_texture,      "TEXTURE",        Texture,          "Texture",           ""              )
+DefNode( ShaderNode,     SH_NODE_NORMAL,          0,                   "NORMAL",         Normal,           "Normal",            ""              )
+DefNode( ShaderNode,     SH_NODE_GEOMETRY,        def_sh_geometry,     "GEOMETRY",       Geometry,         "Geometry",          ""              )
+DefNode( ShaderNode,     SH_NODE_MAPPING,         def_sh_mapping,      "MAPPING",        Mapping,          "Mapping",           ""              )
+DefNode( ShaderNode,     SH_NODE_CURVE_VEC,       def_vector_curve,    "CURVE_VEC",      VectorCurve,      "Vector Curve",      ""              )
+DefNode( ShaderNode,     SH_NODE_CURVE_RGB,       def_rgb_curve,       "CURVE_RGB",      RGBCurve,         "RGB Curve",         ""              )
+DefNode( ShaderNode,     SH_NODE_CAMERA,          0,                   "CAMERA",         CameraData,       "Camera Data",       ""              )
+DefNode( ShaderNode,     SH_NODE_MATH,            def_math,            "MATH",           Math,             "Math",              ""              )
+DefNode( ShaderNode,     SH_NODE_VECT_MATH,       def_vector_math,     "VECT_MATH",      VectorMath,       "Vector Math",       ""              )
+DefNode( ShaderNode,     SH_NODE_SQUEEZE,         0,                   "SQUEEZE",        Squeeze,          "Squeeze",           ""              )
+DefNode( ShaderNode,     SH_NODE_MATERIAL_EXT,    def_sh_material,     "MATERIAL_EXT",   ExtendedMaterial, "Extended Material", ""              )
+DefNode( ShaderNode,     SH_NODE_INVERT,          0,                   "INVERT",         Invert,           "Invert",            ""              )
+DefNode( ShaderNode,     SH_NODE_SEPRGB,          0,                   "SEPRGB",         SeparateRGB,      "Separate RGB",      ""              )
+DefNode( ShaderNode,     SH_NODE_COMBRGB,         0,                   "COMBRGB",        CombineRGB,       "Combine RGB",       ""              )
+DefNode( ShaderNode,     SH_NODE_HUE_SAT,         0,                   "HUE_SAT",        HueSaturation,    "Hue/Saturation",    ""              )
+                                                                                                                                                
+DefNode( CompositorNode, CMP_NODE_VIEWER,         0,                   "VIEWER",         Viewer,           "Viewer",            ""              )
+DefNode( CompositorNode, CMP_NODE_RGB,            0,                   "RGB",            RGB,              "RGB",               ""              )
+DefNode( CompositorNode, CMP_NODE_VALUE,          0,                   "VALUE",          Value,            "Value",             ""              )
+DefNode( CompositorNode, CMP_NODE_MIX_RGB,        0,                   "MIX_RGB",        MixRGB,           "Mix RGB",           ""              )
+DefNode( CompositorNode, CMP_NODE_VALTORGB,       0,                   "VALTORGB",       ValToRGB,         "Val to RGB",        ""              )
+DefNode( CompositorNode, CMP_NODE_RGBTOBW,        0,                   "RGBTOBW",        RGBToBW,          "RGB to BW",         ""              )
+DefNode( CompositorNode, CMP_NODE_NORMAL,         0,                   "NORMAL",         Normal,           "Normal",            ""              )
+DefNode( CompositorNode, CMP_NODE_CURVE_VEC,      0,                   "CURVE_VEC",      CurveVec,         "Vector Curve",      ""              )
+DefNode( CompositorNode, CMP_NODE_CURVE_RGB,      0,                   "CURVE_RGB",      CurveRGB,         "RGB Curve",         ""              )
+DefNode( CompositorNode, CMP_NODE_ALPHAOVER,      0,                   "ALPHAOVER",      AlphaOver,        "Alpha Over",        ""              )
+DefNode( CompositorNode, CMP_NODE_BLUR,           0,                   "BLUR",           Blur,             "Blur",              ""              )
+DefNode( CompositorNode, CMP_NODE_FILTER,         0,                   "FILTER",         Filter,           "Filter",            ""              )
+DefNode( CompositorNode, CMP_NODE_MAP_VALUE,      0,                   "MAP_VALUE",      MapValue,         "Map Value",         ""              )
+DefNode( CompositorNode, CMP_NODE_TIME,           0,                   "TIME",           Time,             "Time",              ""              )
+DefNode( CompositorNode, CMP_NODE_VECBLUR,        0,                   "VECBLUR",        VecBlur,          "Vector Blur",       ""              )
+DefNode( CompositorNode, CMP_NODE_SEPRGBA,        0,                   "SEPRGBA",        SepRGBA,          "Separate RGBA",     ""              )
+DefNode( CompositorNode, CMP_NODE_SEPHSVA,        0,                   "SEPHSVA",        SepHSVA,          "Separate HSVA",     ""              )
+DefNode( CompositorNode, CMP_NODE_SETALPHA,       0,                   "SETALPHA",       SetAlpha,         "Set Alpha",         ""              )
+DefNode( CompositorNode, CMP_NODE_HUE_SAT,        0,                   "HUE_SAT",        HueSat,           "Hue/Saturation",    ""              )
+DefNode( CompositorNode, CMP_NODE_IMAGE,          0,                   "IMAGE",          Image,            "Image",             ""              )
+DefNode( CompositorNode, CMP_NODE_R_LAYERS,       0,                   "R_LAYERS",       RLayers,          "Render Layers",     ""              )
+DefNode( CompositorNode, CMP_NODE_COMPOSITE,      0,                   "COMPOSITE",      Composite,        "Composite",         ""              )
+DefNode( CompositorNode, CMP_NODE_OUTPUT_FILE,    0,                   "OUTPUT_FILE",    OutputFile,       "Output File",       ""              )
+DefNode( CompositorNode, CMP_NODE_TEXTURE,        0,                   "TEXTURE",        Texture,          "Texture",           ""              )
+DefNode( CompositorNode, CMP_NODE_TRANSLATE,      0,                   "TRANSLATE",      Translate,        "Translate",         ""              )
+DefNode( CompositorNode, CMP_NODE_ZCOMBINE,       0,                   "ZCOMBINE",       Zcombine,         "Z Combine",         ""              )
+DefNode( CompositorNode, CMP_NODE_COMBRGBA,       0,                   "COMBRGBA",       CombRGBA,         "Combine RGBA",      ""              )
+DefNode( CompositorNode, CMP_NODE_DILATEERODE,    0,                   "DILATEERODE",    DilateErode,      "Dilate/Erode",      ""              )
+DefNode( CompositorNode, CMP_NODE_ROTATE,         0,                   "ROTATE",         Rotate,           "Rotate",            ""              )
+DefNode( CompositorNode, CMP_NODE_SCALE,          0,                   "SCALE",          Scale,            "Scale",             ""              )
+DefNode( CompositorNode, CMP_NODE_SEPYCCA,        0,                   "SEPYCCA",        SepYCCA,          "Separate YCCA",     ""              )
+DefNode( CompositorNode, CMP_NODE_COMBYCCA,       0,                   "COMBYCCA",       CombYCCA,         "Combine YCCA",      ""              )
+DefNode( CompositorNode, CMP_NODE_SEPYUVA,        0,                   "SEPYUVA",        SepYUVA,          "Separate YUVA",     ""              )
+DefNode( CompositorNode, CMP_NODE_COMBYUVA,       0,                   "COMBYUVA",       CombYUVA,         "Combine YUVA",      ""              )
+DefNode( CompositorNode, CMP_NODE_DIFF_MATTE,     0,                   "DIFF_MATTE",     DiffMatte,        "Diff Matte",        ""              )
+DefNode( CompositorNode, CMP_NODE_COLOR_SPILL,    0,                   "COLOR_SPILL",    ColorSpill,       "Color Spill",       ""              )
+DefNode( CompositorNode, CMP_NODE_CHROMA,         0,                   "CHROMA",         Chroma,           "Chroma",            ""              )
+DefNode( CompositorNode, CMP_NODE_CHANNEL_MATTE,  0,                   "CHANNEL_MATTE",  ChannelMatte,     "Channel Matte",     ""              )
+DefNode( CompositorNode, CMP_NODE_FLIP,           0,                   "FLIP",           Flip,             "Flip",              ""              )
+DefNode( CompositorNode, CMP_NODE_SPLITVIEWER,    0,                   "SPLITVIEWER",    SplitViewer,      "Split Viewer",      ""              )
+DefNode( CompositorNode, CMP_NODE_INDEX_MASK,     0,                   "INDEX_MASK",     IndexMask,        "Index Mask",        ""              )
+DefNode( CompositorNode, CMP_NODE_MAP_UV,         0,                   "MAP_UV",         MapUV,            "Map UV",            ""              )
+DefNode( CompositorNode, CMP_NODE_ID_MASK,        0,                   "ID_MASK",        IDMask,           "ID Mask",           ""              )
+DefNode( CompositorNode, CMP_NODE_DEFOCUS,        0,                   "DEFOCUS",        Defocus,          "Defocus",           ""              )
+DefNode( CompositorNode, CMP_NODE_DISPLACE,       0,                   "DISPLACE",       Displace,         "Displace",          ""              )
+DefNode( CompositorNode, CMP_NODE_COMBHSVA,       0,                   "COMBHSVA",       CombHSVA,         "Combine HSVA",      ""              )
+DefNode( CompositorNode, CMP_NODE_MATH,           def_math,            "MATH",           Math,             "Math",              ""              )
+DefNode( CompositorNode, CMP_NODE_LUMA_MATTE,     0,                   "LUMA_MATTE",     LumaMatte,        "Luma Matte",        ""              )
+DefNode( CompositorNode, CMP_NODE_BRIGHTCONTRAST, 0,                   "BRIGHTCONTRAST", BrightContrast,   "Bright Contrast",   ""              )
+DefNode( CompositorNode, CMP_NODE_GAMMA,          0,                   "GAMMA",          Gamma,            "Gamma",             ""              )
+DefNode( CompositorNode, CMP_NODE_INVERT,         0,                   "INVERT",         Invert,           "Invert",            ""              )
+DefNode( CompositorNode, CMP_NODE_NORMALIZE,      0,                   "NORMALIZE",      Normalize,        "Normalize",         ""              )
+DefNode( CompositorNode, CMP_NODE_CROP,           0,                   "CROP",           Crop,             "Crop",              ""              )
+DefNode( CompositorNode, CMP_NODE_DBLUR,          0,                   "DBLUR",          DBlur,            "DBlur",             ""              )
+DefNode( CompositorNode, CMP_NODE_BILATERALBLUR,  0,                   "BILATERALBLUR",  Bilateralblur,    "Bilateral Blur",    ""              )
+DefNode( CompositorNode, CMP_NODE_PREMULKEY,      0,                   "PREMULKEY",      PremulKey,        "Premul Key",        ""              )
+DefNode( CompositorNode, CMP_NODE_GLARE,          0,                   "GLARE",          Glare,            "Glare",             ""              )
+DefNode( CompositorNode, CMP_NODE_TONEMAP,        0,                   "TONEMAP",        Tonemap,          "Tonemap",           ""              )
+DefNode( CompositorNode, CMP_NODE_LENSDIST,       0,                   "LENSDIST",       Lensdist,         "Lensdist",          ""              )
+                                                                                                                                                
+DefNode( TextureNode,    TEX_NODE_OUTPUT,         0,                   "OUTPUT",         Output,           "Output",            ""              )
+DefNode( TextureNode,    TEX_NODE_CHECKER,        0,                   "CHECKER",        Checker,          "Checker",           ""              )
+DefNode( TextureNode,    TEX_NODE_TEXTURE,        0,                   "TEXTURE",        Texture,          "Texture",           ""              )
+DefNode( TextureNode,    TEX_NODE_BRICKS,         0,                   "BRICKS",         Bricks,           "Bricks",            ""              )
+DefNode( TextureNode,    TEX_NODE_MATH,           def_math,            "MATH",           Math,             "Math",              ""              )
+DefNode( TextureNode,    TEX_NODE_MIX_RGB,        def_mix_rgb,         "MIX_RGB",        MixRGB,           "Mix RGB",           ""              )
+DefNode( TextureNode,    TEX_NODE_RGBTOBW,        0,                   "RGBTOBW",        RGBToBW,          "RGB To BW",         ""              )
+DefNode( TextureNode,    TEX_NODE_VALTORGB,       def_val_to_rgb,      "VALTORGB",       ValToRGB,         "Val To RGB",        ""              )
+DefNode( TextureNode,    TEX_NODE_IMAGE,          0,                   "IMAGE",          Image,            "Image",             ""              )
+DefNode( TextureNode,    TEX_NODE_CURVE_RGB,      def_rgb_curve,       "CURVE_RGB",      CurveRGB,         "RGB Curve",         ""              )
+DefNode( TextureNode,    TEX_NODE_INVERT,         0,                   "INVERT",         Invert,           "Invert",            ""              )
+DefNode( TextureNode,    TEX_NODE_HUE_SAT,        0,                   "HUE_SAT",        HueSaturation,    "Hue/Saturation",    ""              )
+DefNode( TextureNode,    TEX_NODE_CURVE_TIME,     0,                   "CURVE_TIME",     CurveTime,        "Curve Time",        ""              )
+DefNode( TextureNode,    TEX_NODE_ROTATE,         0,                   "ROTATE",         Rotate,           "Rotate",            ""              )
+DefNode( TextureNode,    TEX_NODE_VIEWER,         0,                   "VIEWER",         Viewer,           "Viewer",            ""              )
+DefNode( TextureNode,    TEX_NODE_TRANSLATE,      0,                   "TRANSLATE",      Translate,        "Translate",         ""              )
+DefNode( TextureNode,    TEX_NODE_COORD,          0,                   "COORD",          Coordinates,      "Coordinates",       ""              )
+DefNode( TextureNode,    TEX_NODE_DISTANCE,       0,                   "DISTANCE",       Distance,         "Distance",          ""              )
+DefNode( TextureNode,    TEX_NODE_COMPOSE,        0,                   "COMPOSE",        Compose,          "Compose",           ""              )
+DefNode( TextureNode,    TEX_NODE_DECOMPOSE,      0,                   "DECOMPOSE",      Decompose,        "Decompose",         ""              )
+DefNode( TextureNode,    TEX_NODE_VALTONOR,       0,                   "VALTONOR",       ValToNor,         "Val to Nor",        ""              )
+DefNode( TextureNode,    TEX_NODE_SCALE,          0,                   "SCALE",          Scale,            "Scale",             ""              )
+                                                                 
diff --git a/source/blender/makesrna/intern/rna_object.c b/source/blender/makesrna/intern/rna_object.c
index 2907658b17e..534f1ea0e98 100644
--- a/source/blender/makesrna/intern/rna_object.c
+++ b/source/blender/makesrna/intern/rna_object.c
@@ -255,7 +255,7 @@ static void rna_def_vertex_group(BlenderRNA *brna)
 	RNA_def_struct_name_property(srna, prop);
 
 	prop= RNA_def_property(srna, "index", PROP_INT, PROP_UNSIGNED);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_int_funcs(prop, "rna_VertexGroup_index_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Index", "Index number of the vertex group.");
 }
@@ -324,7 +324,7 @@ static void rna_def_object_game_settings(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "physics_type", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_sdna(prop, NULL, "body_type");
 	RNA_def_property_enum_items(prop, body_type_items);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // this controls various gameflags
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // this controls various gameflags
 	RNA_def_property_ui_text(prop, "Physics Type",  "Selects the type of physical representation.");
 
 	prop= RNA_def_property(srna, "actor", PROP_BOOLEAN, PROP_NONE);
@@ -508,13 +508,13 @@ static StructRNA *rna_def_object(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "parent_type", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_bitflag_sdna(prop, NULL, "partype");
 	RNA_def_property_enum_items(prop, parent_type_items);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Parent Type", "Type of parent relation.");
 
 	prop= RNA_def_property(srna, "parent_vertices", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "par1");
 	RNA_def_property_array(prop, 3);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Parent Vertices", "Indices of vertices in cases of a vertex parenting relation.");
 
 	prop= RNA_def_property(srna, "parent_bone", PROP_STRING, PROP_NONE);
@@ -550,7 +550,7 @@ static StructRNA *rna_def_object(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Materials", "");
 
 	prop= RNA_def_property(srna, "active_material", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "Material");
 	RNA_def_property_pointer_funcs(prop, "rna_Object_active_material_get", NULL);
 	RNA_def_property_ui_text(prop, "Active Material", "Active material being displayed.");
@@ -704,7 +704,7 @@ static StructRNA *rna_def_object(BlenderRNA *brna)
 	
 	prop= RNA_def_property(srna, "draw_keys", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "ipoflag", OB_DRAWKEY);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // update ipo flag indirect
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // update ipo flag indirect
 	RNA_def_property_ui_text(prop, "Draw Keys", "Draw object as key positions.");
 
 	prop= RNA_def_property(srna, "draw_keys_selected", PROP_BOOLEAN, PROP_NONE);
@@ -722,22 +722,22 @@ static StructRNA *rna_def_object(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "dupli_frames", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "transflag", OB_DUPLIFRAMES);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // clear other flags
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // clear other flags
 	RNA_def_property_ui_text(prop, "Dupli Frames", "Make copy of object for every frame.");
 
 	prop= RNA_def_property(srna, "dupli_verts", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "transflag", OB_DUPLIVERTS);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // clear other flags
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // clear other flags
 	RNA_def_property_ui_text(prop, "Dupli Verts", "Duplicate child objects on all vertices.");
 
 	prop= RNA_def_property(srna, "dupli_faces", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "transflag", OB_DUPLIFACES);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // clear other flags
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // clear other flags
 	RNA_def_property_ui_text(prop, "Dupli Faces", "Duplicate child objects on all faces.");
 
 	prop= RNA_def_property(srna, "use_dupli_group", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "transflag", OB_DUPLIGROUP);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // clear other flags
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // clear other flags
 	RNA_def_property_ui_text(prop, "Use Dupli Group", "Enable group instancing.");
 
 	prop= RNA_def_property(srna, "dupli_frames_no_speed", PROP_BOOLEAN, PROP_NONE);
@@ -814,7 +814,7 @@ static StructRNA *rna_def_object(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "script_link", PROP_POINTER, PROP_NEVER_NULL);
 	RNA_def_property_pointer_sdna(prop, NULL, "scriptlink");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Script Link", "Scripts linked to this object.");
 
 	/* drawing */
@@ -830,7 +830,7 @@ static StructRNA *rna_def_object(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Draw Bounds", "Displays the object's bounds.");
 	RNA_def_property_update(prop, NC_OBJECT|ND_DRAW, NULL);
 
-	prop= RNA_def_property(srna, "draw_bounds_types", PROP_ENUM, PROP_NONE);
+	prop= RNA_def_property(srna, "draw_bounds_type", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_sdna(prop, NULL, "boundtype");
 	RNA_def_property_enum_items(prop, boundtype_items);
 	RNA_def_property_ui_text(prop, "Draw Bounds Type", "Object boundary display type.");
@@ -879,7 +879,7 @@ static StructRNA *rna_def_object(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "pose_mode", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", OB_POSEMODE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Pose Mode", "Object with armature data is in pose mode.");
 
 	// XXX this stuff should be moved to AnimData...
@@ -890,18 +890,18 @@ static StructRNA *rna_def_object(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "nla_collapsed", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "nlaflag", OB_NLA_COLLAPSED);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "NLA Collapsed", "");
 
 	prop= RNA_def_property(srna, "nla_override", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "nlaflag", OB_NLA_OVERRIDE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "NLA Override", "");
 
 	prop= RNA_def_property(srna, "nla_strips", PROP_COLLECTION, PROP_NONE);
 	RNA_def_property_collection_sdna(prop, NULL, "nlastrips", NULL);
 	RNA_def_property_struct_type(prop, "UnknownType");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "NLA Strips", "NLA strips of the object.");
 */
 	
@@ -909,12 +909,12 @@ static StructRNA *rna_def_object(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "shape_key_lock", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "shapeflag", OB_SHAPE_LOCK);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Shape Key Lock", "Always show the current Shape for this Object.");
 
 	prop= RNA_def_property(srna, "active_shape_key", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "shapenr");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Active Shape Key", "Current shape key index.");
 	
 	return srna;
diff --git a/source/blender/makesrna/intern/rna_packedfile.c b/source/blender/makesrna/intern/rna_packedfile.c
index 5645765ed83..6b6db71ef87 100644
--- a/source/blender/makesrna/intern/rna_packedfile.c
+++ b/source/blender/makesrna/intern/rna_packedfile.c
@@ -1,5 +1,5 @@
 /**
- * $Id$
+ * $Id: rna_packedfile.c 19382 2009-03-23 13:24:48Z blendix $
  *
  * ***** BEGIN GPL LICENSE BLOCK *****
  *
@@ -43,7 +43,7 @@ void RNA_def_packedfile(BlenderRNA *brna)
 	RNA_def_struct_ui_text(srna, "Packed File", "External file packed into the .blend file.");
 
 	prop= RNA_def_property(srna, "size", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Size", "Size of packed file in bytes.");
 
 }
diff --git a/source/blender/makesrna/intern/rna_particle.c b/source/blender/makesrna/intern/rna_particle.c
index 1e5ccfd9750..7de0b4e3400 100644
--- a/source/blender/makesrna/intern/rna_particle.c
+++ b/source/blender/makesrna/intern/rna_particle.c
@@ -32,6 +32,7 @@
 #include "rna_internal.h"
 
 #include "DNA_particle_types.h"
+#include "DNA_object_force.h"
 
 #ifdef RNA_RUNTIME
 
@@ -87,30 +88,24 @@ static float rna_PartSetting_linelenhead_get(struct PointerRNA *ptr)
 }
 #else
 
-static void rna_def_hair_key(BlenderRNA *brna)
+static void rna_def_particle_hair_key(BlenderRNA *brna)
 {
 	StructRNA *srna;
 	PropertyRNA *prop;
 
-	srna = RNA_def_struct(brna, "HairKey", NULL);
-	RNA_def_struct_ui_text(srna, "Hair Key", "DOC_BROKEN");
+	srna = RNA_def_struct(brna, "ParticleHairKey", NULL);
+	RNA_def_struct_sdna(srna, "HairKey");
+	RNA_def_struct_ui_text(srna, "Particle Hair Key", "Particle key for hair particle system.");
 
-	prop= RNA_def_property(srna, "hair_vertex_location", PROP_FLOAT, PROP_VECTOR);
+	prop= RNA_def_property(srna, "location", PROP_FLOAT, PROP_VECTOR);
 	RNA_def_property_float_sdna(prop, NULL, "co");
-	RNA_def_property_array(prop, 3);
-	//TODO:bounds
-	RNA_def_property_ui_text(prop, "Hair Vertex Location", "");
-
-	prop= RNA_def_property(srna, "time", PROP_FLOAT, PROP_NONE);
-//	RNA_def_property_range(prop, lowerLimitf, upperLimitf);
-	RNA_def_property_ui_text(prop, "Time", "Time along hair");
-
-	prop= RNA_def_property(srna, "weight", PROP_FLOAT, PROP_NONE);
-//	RNA_def_property_range(prop, lowerLimitf, upperLimitf);
-	RNA_def_property_ui_text(prop, "Softbody Weight", "");
+	RNA_def_property_ui_text(prop, "Location", "Key location.");
 
-//	short editflag;	/* saved particled edit mode flags */
+	prop= RNA_def_property(srna, "time", PROP_FLOAT, PROP_UNSIGNED);
+	RNA_def_property_ui_text(prop, "Time", "Relative time of key over hair length.");
 
+	prop= RNA_def_property(srna, "weight", PROP_FLOAT, PROP_UNSIGNED);
+	RNA_def_property_ui_text(prop, "Weight", "Weight for softbody simulation.");
 }
 
 static void rna_def_particle_key(BlenderRNA *brna)
@@ -119,36 +114,26 @@ static void rna_def_particle_key(BlenderRNA *brna)
 	PropertyRNA *prop;
 
 	srna = RNA_def_struct(brna, "ParticleKey", NULL);
-	RNA_def_struct_ui_text(srna, "Particle Key", "DOC_BROKEN");
+	RNA_def_struct_ui_text(srna, "Particle Key", "Key location for a particle over time.");
 
 	prop= RNA_def_property(srna, "location", PROP_FLOAT, PROP_VECTOR);
 	RNA_def_property_float_sdna(prop, NULL, "co");
-	RNA_def_property_array(prop, 3);
-	//TODO:bounds
-	RNA_def_property_ui_text(prop, "Location", "");
+	RNA_def_property_ui_text(prop, "Location", "Key location.");
 
 	prop= RNA_def_property(srna, "velocity", PROP_FLOAT, PROP_VECTOR);
 	RNA_def_property_float_sdna(prop, NULL, "vel");
-	RNA_def_property_array(prop, 3);
-	//TODO:bounds
-	RNA_def_property_ui_text(prop, "Velocity", "");
+	RNA_def_property_ui_text(prop, "Velocity", "Key velocity");
 
-	prop= RNA_def_property(srna, "rotation_quaternion", PROP_FLOAT, PROP_VECTOR);
+	prop= RNA_def_property(srna, "rotation", PROP_FLOAT, PROP_ROTATION);
 	RNA_def_property_float_sdna(prop, NULL, "rot");
-	RNA_def_property_array(prop, 4);
-	//TODO:bounds
-	RNA_def_property_ui_text(prop, "Rotation Quaternion", "");
+	RNA_def_property_ui_text(prop, "Rotation", "Key rotation quaterion.");
 
-	prop= RNA_def_property(srna, "angular_velocity", PROP_FLOAT, PROP_VECTOR);
+	prop= RNA_def_property(srna, "angular_velocity", PROP_FLOAT, PROP_ROTATION);
 	RNA_def_property_float_sdna(prop, NULL, "ave");
-	RNA_def_property_array(prop, 3);
-	//TODO:bounds
-	RNA_def_property_ui_text(prop, "Angular Velocity", "");
+	RNA_def_property_ui_text(prop, "Angular Velocity", "Key angular velocity.");
 
-	prop= RNA_def_property(srna, "time", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_float_sdna(prop, NULL, "time");//optional if prop names are the same
-//	RNA_def_property_range(prop, lowerLimitf, upperLimitf);
-	RNA_def_property_ui_text(prop, "Time", "Time along hair");
+	prop= RNA_def_property(srna, "time", PROP_FLOAT, PROP_UNSIGNED);
+	RNA_def_property_ui_text(prop, "Time", "Time of key over the simulation.");
 }
 
 static void rna_def_child_particle(BlenderRNA *brna)
@@ -157,7 +142,7 @@ static void rna_def_child_particle(BlenderRNA *brna)
 	//PropertyRNA *prop;
 
 	srna = RNA_def_struct(brna, "ChildParticle", NULL);
-	RNA_def_struct_ui_text(srna, "Child Particle", "DOC_BROKEN");
+	RNA_def_struct_ui_text(srna, "Child Particle", "Child particle interpolated from simulated or edited particles.");
 
 //	int num, parent;	/* num is face index on the final derived mesh */
 
@@ -167,7 +152,7 @@ static void rna_def_child_particle(BlenderRNA *brna)
 //	float rand[3];
 }
 
-static void rna_def_particle_data(BlenderRNA *brna)
+static void rna_def_particle(BlenderRNA *brna)
 {
 	StructRNA *srna;
 	PropertyRNA *prop;
@@ -299,14 +284,14 @@ static void rna_def_particle_data(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Alive State", "");
 
 	prop= RNA_def_property(srna, "loop", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	//TODO: bounds
 	RNA_def_property_ui_text(prop, "Loop", "How may times the particle life has looped");
 
 //	short rt2;
 }
 
-static void rna_def_particlesettings(BlenderRNA *brna)
+static void rna_def_particle_settings(BlenderRNA *brna)
 {
 	StructRNA *srna;
 	PropertyRNA *prop;
@@ -521,7 +506,7 @@ static void rna_def_particlesettings(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "branching", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", PART_BRANCHING);
-	RNA_def_property_ui_text(prop, "Branching", "Branch child paths from eachother.");
+	RNA_def_property_ui_text(prop, "Branching", "Branch child paths from each other.");
 
 	prop= RNA_def_property(srna, "animate_branching", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", PART_ANIM_BRANCHING);
@@ -1034,12 +1019,12 @@ static void rna_def_particlesettings(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "clump_factor", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "clumpfac");
 	RNA_def_property_range(prop, -1.0f, 1.0f);
-	RNA_def_property_ui_text(prop, "Clump", "Amount of clumpimg");
+	RNA_def_property_ui_text(prop, "Clump", "Amount of clumping");
 
 	prop= RNA_def_property(srna, "clumppow", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "clumppow");
 	RNA_def_property_range(prop, -0.999f, 0.999f);
-	RNA_def_property_ui_text(prop, "Shape", "Shape of clumpimg");
+	RNA_def_property_ui_text(prop, "Shape", "Shape of clumping");
 
 
 	/* kink */
@@ -1061,11 +1046,11 @@ static void rna_def_particlesettings(BlenderRNA *brna)
 	/* rough */
 	prop= RNA_def_property(srna, "rough1", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_range(prop, 0.0f, 10.0f);
-	RNA_def_property_ui_text(prop, "Rough1", "Amount of location dependant rough.");
+	RNA_def_property_ui_text(prop, "Rough1", "Amount of location dependent rough.");
 
 	prop= RNA_def_property(srna, "rough1_size", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_range(prop, 0.01f, 10.0f);
-	RNA_def_property_ui_text(prop, "Size1", "Size of location dependant rough.");
+	RNA_def_property_ui_text(prop, "Size1", "Size of location dependent rough.");
 
 	prop= RNA_def_property(srna, "rough2", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "rough2");
@@ -1173,7 +1158,7 @@ static void rna_def_particlesettings(BlenderRNA *brna)
 
 #if 0
 	prop= RNA_def_property(srna, "ipo", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_pointer_sdna(prop, NULL, "ipo");
 	RNA_def_property_struct_type(prop, "Ipo");
 	RNA_def_property_ui_text(prop, "Ipo", "");
@@ -1183,7 +1168,7 @@ static void rna_def_particlesettings(BlenderRNA *brna)
 //	struct PartDeflect *pd2;
 }
 
-static void rna_def_particlesystem(BlenderRNA *brna)
+static void rna_def_particle_system(BlenderRNA *brna)
 {
 	StructRNA *srna;
 	PropertyRNA *prop;
@@ -1205,10 +1190,24 @@ static void rna_def_particlesystem(BlenderRNA *brna)
 	RNA_def_property_struct_type(prop, "ChildParticle");
 	RNA_def_property_ui_text(prop, "Child Particles", "Child particles generated by the particle system.");
 
+	prop= RNA_def_property(srna, "seed", PROP_INT, PROP_UNSIGNED);
+	RNA_def_property_ui_text(prop, "Seed", "Offset in the random number table, to get a different randomized result.");
+
+	/* hair */
 	prop= RNA_def_property(srna, "softbody", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "soft");
 	RNA_def_property_ui_text(prop, "Soft Body", "Soft body settings for hair physics simulation.");
 
+	prop= RNA_def_property(srna, "use_softbody", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "softflag", OB_SB_ENABLE);
+	RNA_def_property_ui_text(prop, "Use Soft Body", "Enable use of soft body for hair physics simulation.");
+
+	prop= RNA_def_property(srna, "editable", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", PSYS_EDITED);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* various checks needed */
+	RNA_def_property_ui_text(prop, "Editable", "For hair particle systems, finalize the hair to enable editing.");
+
+	/* reactor */
 	prop= RNA_def_property(srna, "reactor_target_object", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "target_ob");
 	RNA_def_property_ui_text(prop, "Reactor Target Object", "For reactor systems, the object that has the target particle system (empty if same object).");
@@ -1218,10 +1217,12 @@ static void rna_def_particlesystem(BlenderRNA *brna)
 	RNA_def_property_range(prop, 1, INT_MAX);
 	RNA_def_property_ui_text(prop, "Reactor Target Particle System", "For reactor systems, index of particle system on the target object.");
 
+	/* boids */
 	prop= RNA_def_property(srna, "boids_surface_object", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "keyed_ob");
 	RNA_def_property_ui_text(prop, "Boids Surface Object", "For boids physics systems, constrain boids to this object's surface.");
 
+	/* keyed */
 	prop= RNA_def_property(srna, "keyed_object", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "keyed_ob");
 	RNA_def_property_ui_text(prop, "Keyed Object", "For keyed physics systems, the object that has the target particle system.");
@@ -1231,18 +1232,129 @@ static void rna_def_particlesystem(BlenderRNA *brna)
 	RNA_def_property_range(prop, 1, INT_MAX);
 	RNA_def_property_ui_text(prop, "Keyed Particle System", "For keyed physics systems, index of particle system on the keyed object.");
 
-	prop= RNA_def_property(srna, "seed", PROP_INT, PROP_UNSIGNED);
-	RNA_def_property_ui_text(prop, "Seed", "Offset in the random number table, to get a different randomized result.");
+	prop= RNA_def_property(srna, "keyed_first", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", PSYS_FIRST_KEYED);
+	RNA_def_property_ui_text(prop, "Keyed First", "Set the system to be the starting point of keyed particles");
+
+	prop= RNA_def_property(srna, "keyed_timed", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", PSYS_KEYED_TIME);
+	RNA_def_property_ui_text(prop, "Keyed Timed", "Use intermediate key times for keyed particles (setting for starting point only).");
+
+
+	/* billboard */
+	prop= RNA_def_property(srna, "billboard_normal_uv", PROP_STRING, PROP_NONE);
+	RNA_def_property_string_sdna(prop, NULL, "bb_uvname[0]");
+	RNA_def_property_string_maxlength(prop, 32);
+	RNA_def_property_ui_text(prop, "Billboard Normal UV", "UV Layer to control billboard normals.");
+
+	prop= RNA_def_property(srna, "billboard_time_index_uv", PROP_STRING, PROP_NONE);
+	RNA_def_property_string_sdna(prop, NULL, "bb_uvname[1]");
+	RNA_def_property_string_maxlength(prop, 32);
+	RNA_def_property_ui_text(prop, "Billboard Time Index UV", "UV Layer to control billboard time index (X-Y).");
+
+	prop= RNA_def_property(srna, "billboard_split_uv", PROP_STRING, PROP_NONE);
+	RNA_def_property_string_sdna(prop, NULL, "bb_uvname[2]");
+	RNA_def_property_string_maxlength(prop, 32);
+	RNA_def_property_ui_text(prop, "Billboard Split UV", "UV Layer to control billboard splitting.");
+
+	/* vertex groups */
+	prop= RNA_def_property(srna, "vertex_group_density", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[0]");
+	RNA_def_property_ui_text(prop, "Vertex Group Density", "Vertex group to control density.");
+
+	prop= RNA_def_property(srna, "vertex_group_density_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_DENSITY));
+	RNA_def_property_ui_text(prop, "Vertex Group Density Negate", "Negate the effect of the density vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_velocity", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[1]");
+	RNA_def_property_ui_text(prop, "Vertex Group Velocity", "Vertex group to control velocity.");
+
+	prop= RNA_def_property(srna, "vertex_group_velocity_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_VEL));
+	RNA_def_property_ui_text(prop, "Vertex Group Velocity Negate", "Negate the effect of the velocity vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_length", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[2]");
+	RNA_def_property_ui_text(prop, "Vertex Group Length", "Vertex group to control length.");
+
+	prop= RNA_def_property(srna, "vertex_group_length_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_LENGTH));
+	RNA_def_property_ui_text(prop, "Vertex Group Length Negate", "Negate the effect of the length vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_clump", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[3]");
+	RNA_def_property_ui_text(prop, "Vertex Group Clump", "Vertex group to control clump.");
+
+	prop= RNA_def_property(srna, "vertex_group_clump_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_CLUMP));
+	RNA_def_property_ui_text(prop, "Vertex Group Clump Negate", "Negate the effect of the clump vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_kink", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[4]");
+	RNA_def_property_ui_text(prop, "Vertex Group Kink", "Vertex group to control kink.");
+
+	prop= RNA_def_property(srna, "vertex_group_kink_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_KINK));
+	RNA_def_property_ui_text(prop, "Vertex Group Kink Negate", "Negate the effect of the kink vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_roughness1", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[5]");
+	RNA_def_property_ui_text(prop, "Vertex Group Roughness 1", "Vertex group to control roughness 1.");
+
+	prop= RNA_def_property(srna, "vertex_group_roughness1_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_ROUGH1));
+	RNA_def_property_ui_text(prop, "Vertex Group Roughness 1 Negate", "Negate the effect of the roughness 1 vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_roughness2", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[6]");
+	RNA_def_property_ui_text(prop, "Vertex Group Roughness 2", "Vertex group to control roughness 2.");
+
+	prop= RNA_def_property(srna, "vertex_group_roughness2_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_ROUGH2));
+	RNA_def_property_ui_text(prop, "Vertex Group Roughness 2 Negate", "Negate the effect of the roughness 2 vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_roughness_end", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[7]");
+	RNA_def_property_ui_text(prop, "Vertex Group Roughness End", "Vertex group to control roughness end.");
+
+	prop= RNA_def_property(srna, "vertex_group_roughness_end_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_ROUGHE));
+	RNA_def_property_ui_text(prop, "Vertex Group Roughness End Negate", "Negate the effect of the roughness end vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_size", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[8]");
+	RNA_def_property_ui_text(prop, "Vertex Group Size", "Vertex group to control size.");
+
+	prop= RNA_def_property(srna, "vertex_group_size_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_SIZE));
+	RNA_def_property_ui_text(prop, "Vertex Group Size Negate", "Negate the effect of the size vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_tangent", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[9]");
+	RNA_def_property_ui_text(prop, "Vertex Group Tangent", "Vertex group to control tangent.");
+
+	prop= RNA_def_property(srna, "vertex_group_tangent_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_TAN));
+	RNA_def_property_ui_text(prop, "Vertex Group Tangent Negate", "Negate the effect of the tangent vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_rotation", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[10]");
+	RNA_def_property_ui_text(prop, "Vertex Group Rotation", "Vertex group to control rotation.");
+
+	prop= RNA_def_property(srna, "vertex_group_rotation_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_ROT));
+	RNA_def_property_ui_text(prop, "Vertex Group Rotation Negate", "Negate the effect of the rotation vertex group.");
+
+	prop= RNA_def_property(srna, "vertex_group_field", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "vgroup[11]");
+	RNA_def_property_ui_text(prop, "Vertex Group Field", "Vertex group to control field.");
 
-	//	int seed;
-	//	int flag, rt;
-	//	short recalc, totkeyed, softflag, bakespace;
-	//
-	//	char bb_uvname[3][32];					/* billboard uv name */
-	//
-	//	/* if you change these remember to update array lengths to PSYS_TOT_VG! */
-	//	short vgroup[12], vg_neg, rt3;			/* vertex groups */
+	prop= RNA_def_property(srna, "vertex_group_field_negate", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "vg_neg", (1 << PSYS_VG_EFFECTOR));
+	RNA_def_property_ui_text(prop, "Vertex Group Field Negate", "Negate the effect of the field vertex group.");
 
+	/* pointcache */
 	prop= RNA_def_property(srna, "point_cache", PROP_POINTER, PROP_NEVER_NULL);
 	RNA_def_property_pointer_sdna(prop, NULL, "pointcache");
 	RNA_def_property_struct_type(prop, "PointCache");
@@ -1251,12 +1363,12 @@ static void rna_def_particlesystem(BlenderRNA *brna)
 
 void RNA_def_particle(BlenderRNA *brna)
 {
-	rna_def_hair_key(brna);
+	rna_def_particle_hair_key(brna);
 	rna_def_particle_key(brna);
 	rna_def_child_particle(brna);
-	rna_def_particle_data(brna);
-	rna_def_particlesystem(brna);
-	rna_def_particlesettings(brna);
+	rna_def_particle(brna);
+	rna_def_particle_system(brna);
+	rna_def_particle_settings(brna);
 }
 
 #endif
diff --git a/source/blender/makesrna/intern/rna_pose.c b/source/blender/makesrna/intern/rna_pose.c
index dbaf4279884..f7964ba52ef 100755..100644
--- a/source/blender/makesrna/intern/rna_pose.c
+++ b/source/blender/makesrna/intern/rna_pose.c
@@ -73,7 +73,7 @@ static void rna_def_pose_channel(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Constraints", "Constraints that act on this PoseChannel."); 
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Name", "");
 	RNA_def_struct_name_property(srna, prop);
 
@@ -112,27 +112,27 @@ static void rna_def_pose_channel(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "path_start_frame", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "pathsf");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Bone Paths Calculation Start Frame", "Starting frame of range of frames to use for Bone Path calculations.");
 
 	prop= RNA_def_property(srna, "path_end_frame", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "pathef");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Bone Paths Calculation End Frame", "End frame of range of frames to use for Bone Path calculations.");
 
 	prop= RNA_def_property(srna, "bone", PROP_POINTER, PROP_NEVER_NULL);
 	RNA_def_property_struct_type(prop, "Bone");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Bone", "Bone associated with this Pose Channel.");
 
 	prop= RNA_def_property(srna, "parent", PROP_POINTER, PROP_NONE);
 	RNA_def_property_struct_type(prop, "PoseChannel");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Parent", "Parent of this pose channel.");
 
 	prop= RNA_def_property(srna, "child", PROP_POINTER, PROP_NONE);
 	RNA_def_property_struct_type(prop, "PoseChannel");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Child", "Child of this pose channel.");
 
 	prop= RNA_def_property(srna, "location", PROP_FLOAT, PROP_VECTOR);
@@ -164,26 +164,26 @@ static void rna_def_pose_channel(BlenderRNA *brna)
 	/* These three matrix properties await an implementation of the PROP_MATRIX subtype, which currently doesn't exist. */
 /*	prop= RNA_def_property(srna, "channel_matrix", PROP_FLOAT, PROP_MATRIX);
 	RNA_def_property_struct_type(prop, "chan_mat");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Channel Matrix", "4x4 matrix, before constraints.");*/
 
 	/* kaito says this should be not user-editable; I disagree; power users should be able to force this in python; he's the boss. */
 /*	prop= RNA_def_property(srna, "pose_matrix", PROP_FLOAT, PROP_MATRIX);
 	RNA_def_property_struct_type(prop, "pose_mat");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); 
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); 
 	RNA_def_property_ui_text(prop, "Pose Matrix", "Final 4x4 matrix for this channel.");
 
 	prop= RNA_def_property(srna, "constraint_inverse_matrix", PROP_FLOAT, PROP_MATRIX);
 	RNA_def_property_struct_type(prop, "constinv");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Constraint Inverse Matrix", "4x4 matrix, defines transform from final position to unconstrained position."); */
 	
 	prop= RNA_def_property(srna, "pose_head", PROP_FLOAT, PROP_VECTOR);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Pose Head Position", "Location of head of the channel's bone.");
 
 	prop= RNA_def_property(srna, "pose_tail", PROP_FLOAT, PROP_VECTOR);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Pose Tail Position", "Location of tail of the channel's bone.");
 
 	prop= RNA_def_property(srna, "ik_min_limits", PROP_FLOAT, PROP_VECTOR);
diff --git a/source/blender/makesrna/intern/rna_property.c b/source/blender/makesrna/intern/rna_property.c
index 21d8958b665..c38b6342942 100644
--- a/source/blender/makesrna/intern/rna_property.c
+++ b/source/blender/makesrna/intern/rna_property.c
@@ -89,12 +89,12 @@ void RNA_def_gameproperty(BlenderRNA *brna)
 	RNA_def_struct_refine_func(srna, "rna_GameProperty_refine");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* must be unique */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* must be unique */
 	RNA_def_property_ui_text(prop, "Name", "Available as as GameObject attributes in the game engines python api");
 	RNA_def_struct_name_property(srna, prop);
 
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, gameproperty_type_items);
 	RNA_def_property_ui_text(prop, "Type", "");
 
diff --git a/source/blender/makesrna/intern/rna_radio.c b/source/blender/makesrna/intern/rna_radio.c
index 2668a17f979..54dbd59b52d 100644
--- a/source/blender/makesrna/intern/rna_radio.c
+++ b/source/blender/makesrna/intern/rna_radio.c
@@ -104,7 +104,7 @@ void RNA_def_radio(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "subshoot_patch", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "subshootp");
 	RNA_def_property_range(prop, 0, 10);
-	RNA_def_property_ui_text(prop, "SubShoot Patch", "Sets the number of times the environment is tested to detect pathes.");
+	RNA_def_property_ui_text(prop, "SubShoot Patch", "Sets the number of times the environment is tested to detect paths.");
 
 	prop= RNA_def_property(srna, "subshoot_element", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "subshoote");
diff --git a/source/blender/makesrna/intern/rna_rna.c b/source/blender/makesrna/intern/rna_rna.c
index 4b9c1e0067b..f2e3f27edad 100644
--- a/source/blender/makesrna/intern/rna_rna.c
+++ b/source/blender/makesrna/intern/rna_rna.c
@@ -199,14 +199,10 @@ void rna_builtin_properties_begin(CollectionPropertyIterator *iter, PointerRNA *
 	newptr.type= &RNA_Struct;
 	newptr.data= ptr->type;
 
-	if(ptr->type->flag & STRUCT_ID) {
-		newptr.id.type= ptr->type;
+	if(ptr->type->flag & STRUCT_ID)
 		newptr.id.data= ptr->data;
-	}
-	else {
-		newptr.id.type= NULL;
+	else
 		newptr.id.data= NULL;
-	}
 
 	iter->parent= newptr;
 
@@ -441,14 +437,14 @@ static PointerRNA rna_PointerProperty_fixed_type_get(PointerRNA *ptr)
 {
 	PropertyRNA *prop= (PropertyRNA*)ptr->data;
 	rna_idproperty_check(&prop, ptr);
-	return rna_pointer_inherit_refine(ptr, &RNA_Struct, ((PointerPropertyRNA*)prop)->structtype);
+	return rna_pointer_inherit_refine(ptr, &RNA_Struct, ((PointerPropertyRNA*)prop)->type);
 }
 
 static PointerRNA rna_CollectionProperty_fixed_type_get(PointerRNA *ptr)
 {
 	PropertyRNA *prop= (PropertyRNA*)ptr->data;
 	rna_idproperty_check(&prop, ptr);
-	return rna_pointer_inherit_refine(ptr, &RNA_Struct, ((CollectionPropertyRNA*)prop)->structtype);
+	return rna_pointer_inherit_refine(ptr, &RNA_Struct, ((CollectionPropertyRNA*)prop)->type);
 }
 
 /* Blender RNA */
@@ -469,41 +465,41 @@ static void rna_def_struct(BlenderRNA *brna)
 	RNA_def_struct_ui_text(srna, "Struct Definition", "RNA structure definition");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_Struct_name_get", "rna_Struct_name_length", NULL);
 	RNA_def_property_ui_text(prop, "Name", "Human readable name.");
 
 	prop= RNA_def_property(srna, "identifier", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_Struct_identifier_get", "rna_Struct_identifier_length", NULL);
 	RNA_def_property_ui_text(prop, "Identifier", "Unique name used in the code and scripting.");
 	RNA_def_struct_name_property(srna, prop);
 	
 	prop= RNA_def_property(srna, "description", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_Struct_description_get", "rna_Struct_description_length", NULL);
 	RNA_def_property_ui_text(prop, "Description", "Description of the Struct's purpose.");
 	
 	prop= RNA_def_property(srna, "base", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "Struct");
 	RNA_def_property_pointer_funcs(prop, "rna_Struct_base_get", NULL);
 	RNA_def_property_ui_text(prop, "Base", "Struct definition this is derived from.");
 
 	prop= RNA_def_property(srna, "nested", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "Struct");
 	RNA_def_property_pointer_funcs(prop, "rna_Struct_nested_get", NULL);
 	RNA_def_property_ui_text(prop, "Nested", "Struct in which this struct is always nested, and to which it logically belongs.");
 
 	prop= RNA_def_property(srna, "name_property", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "StringProperty");
 	RNA_def_property_pointer_funcs(prop, "rna_Struct_name_property_get", NULL);
 	RNA_def_property_ui_text(prop, "Name Property", "Property that gives the name of the struct.");
 
 	prop= RNA_def_property(srna, "properties", PROP_COLLECTION, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "Property");
 	RNA_def_property_collection_funcs(prop, "rna_Struct_properties_begin", "rna_Struct_properties_next", "rna_iterator_listbase_end", "rna_Struct_properties_get", 0, 0, 0);
 	RNA_def_property_ui_text(prop, "Properties", "Properties in the struct.");
@@ -540,35 +536,35 @@ static void rna_def_property(BlenderRNA *brna)
 	RNA_def_struct_refine_func(srna, "rna_Property_refine");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_Property_name_get", "rna_Property_name_length", NULL);
 	RNA_def_property_ui_text(prop, "Name", "Human readable name.");
 
 	prop= RNA_def_property(srna, "identifier", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_Property_identifier_get", "rna_Property_identifier_length", NULL);
 	RNA_def_property_ui_text(prop, "Identifier", "Unique name used in the code and scripting.");
 	RNA_def_struct_name_property(srna, prop);
 		
 	prop= RNA_def_property(srna, "description", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_Property_description_get", "rna_Property_description_length", NULL);
 	RNA_def_property_ui_text(prop, "Description", "Description of the property for tooltips.");
 
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, type_items);
 	RNA_def_property_enum_funcs(prop, "rna_Property_type_get", NULL);
 	RNA_def_property_ui_text(prop, "Type", "Data type of the property.");
 
 	prop= RNA_def_property(srna, "subtype", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, subtype_items);
 	RNA_def_property_enum_funcs(prop, "rna_Property_subtype_get", NULL);
 	RNA_def_property_ui_text(prop, "Subtype", "Semantic interpretation of the property.");
 
 	prop= RNA_def_property(srna, "editable", PROP_BOOLEAN, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_boolean_funcs(prop, "rna_Property_editable_get", NULL);
 	RNA_def_property_ui_text(prop, "Editable", "Property is editable through RNA.");
 }
@@ -578,7 +574,7 @@ static void rna_def_number_property(StructRNA *srna, PropertyType type)
 	PropertyRNA *prop;
 
 	prop= RNA_def_property(srna, "array_length", PROP_INT, PROP_UNSIGNED);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_int_funcs(prop, "rna_Property_array_length_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Array Length", "Maximum length of the array, 0 means unlimited.");
 
@@ -586,38 +582,38 @@ static void rna_def_number_property(StructRNA *srna, PropertyType type)
 		return;
 
 	prop= RNA_def_property(srna, "hard_min", type, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	if(type == PROP_INT) RNA_def_property_int_funcs(prop, "rna_IntProperty_hard_min_get", NULL, NULL);
 	else RNA_def_property_float_funcs(prop, "rna_FloatProperty_hard_min_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Hard Minimum", "Minimum value used by buttons.");
 
 	prop= RNA_def_property(srna, "hard_max", type, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	if(type == PROP_INT) RNA_def_property_int_funcs(prop, "rna_IntProperty_hard_max_get", NULL, NULL);
 	else RNA_def_property_float_funcs(prop, "rna_FloatProperty_hard_max_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Hard Maximum", "Maximum value used by buttons.");
 
 	prop= RNA_def_property(srna, "soft_min", type, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	if(type == PROP_INT) RNA_def_property_int_funcs(prop, "rna_IntProperty_soft_min_get", NULL, NULL);
 	else RNA_def_property_float_funcs(prop, "rna_FloatProperty_soft_min_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Soft Minimum", "Minimum value used by buttons.");
 
 	prop= RNA_def_property(srna, "soft_max", type, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	if(type == PROP_INT) RNA_def_property_int_funcs(prop, "rna_IntProperty_soft_max_get", NULL, NULL);
 	else RNA_def_property_float_funcs(prop, "rna_FloatProperty_soft_max_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Soft Maximum", "Maximum value used by buttons.");
 
 	prop= RNA_def_property(srna, "step", type, PROP_UNSIGNED);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	if(type == PROP_INT) RNA_def_property_int_funcs(prop, "rna_IntProperty_step_get", NULL, NULL);
 	else RNA_def_property_float_funcs(prop, "rna_FloatProperty_step_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Step", "Step size used by number buttons, for floats 1/100th of the step size.");
 
 	if(type == PROP_FLOAT) {
 		prop= RNA_def_property(srna, "precision", PROP_INT, PROP_UNSIGNED);
-		RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+		RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 		RNA_def_property_int_funcs(prop, "rna_FloatProperty_precision_get", NULL, NULL);
 		RNA_def_property_ui_text(prop, "Precision", "Number of digits after the dot used by buttons.");
 	}
@@ -628,7 +624,7 @@ static void rna_def_string_property(StructRNA *srna)
 	PropertyRNA *prop;
 
 	prop= RNA_def_property(srna, "max_length", PROP_INT, PROP_UNSIGNED);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_int_funcs(prop, "rna_StringProperty_max_length_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Maximum Length", "Maximum length of the string, 0 means unlimited.");
 }
@@ -638,7 +634,7 @@ static void rna_def_enum_property(BlenderRNA *brna, StructRNA *srna)
 	PropertyRNA *prop;
 
 	prop= RNA_def_property(srna, "items", PROP_COLLECTION, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "EnumPropertyItem");
 	RNA_def_property_collection_funcs(prop, "rna_EnumProperty_items_begin", "rna_iterator_array_next", "rna_iterator_array_end", "rna_iterator_array_get", 0, 0, 0);
 	RNA_def_property_ui_text(prop, "Items", "Possible values for the property.");
@@ -647,18 +643,18 @@ static void rna_def_enum_property(BlenderRNA *brna, StructRNA *srna)
 	RNA_def_struct_ui_text(srna, "Enum Item Definition", "Definition of a choice in an RNA enum property.");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_EnumPropertyItem_name_get", "rna_EnumPropertyItem_name_length", NULL);
 	RNA_def_property_ui_text(prop, "Name", "Human readable name.");
 
 	prop= RNA_def_property(srna, "identifier", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_EnumPropertyItem_identifier_get", "rna_EnumPropertyItem_identifier_length", NULL);
 	RNA_def_property_ui_text(prop, "Identifier", "Unique name used in the code and scripting.");
 	RNA_def_struct_name_property(srna, prop);
 
 	prop= RNA_def_property(srna, "value", PROP_INT, PROP_UNSIGNED);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_int_funcs(prop, "rna_EnumPropertyItem_value_get", NULL, NULL);
 	RNA_def_property_ui_text(prop, "Value", "Value of the item.");
 }
@@ -668,7 +664,7 @@ static void rna_def_pointer_property(StructRNA *srna, PropertyType type)
 	PropertyRNA *prop;
 
 	prop= RNA_def_property(srna, "fixed_type", PROP_POINTER, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "Struct");
 	if(type == PROP_POINTER)
 		RNA_def_property_pointer_funcs(prop, "rna_PointerProperty_fixed_type_get", NULL);
@@ -728,7 +724,7 @@ void RNA_def_rna(BlenderRNA *brna)
 	RNA_def_struct_ui_text(srna, "Blender RNA", "Blender RNA structure definitions.");
 
 	prop= RNA_def_property(srna, "structs", PROP_COLLECTION, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "Struct");
 	RNA_def_property_collection_funcs(prop, "rna_BlenderRNA_structs_begin", "rna_iterator_listbase_next", "rna_iterator_listbase_end", "rna_iterator_listbase_get", 0, 0, 0);
 	RNA_def_property_ui_text(prop, "Structs", "");
diff --git a/source/blender/makesrna/intern/rna_scene.c b/source/blender/makesrna/intern/rna_scene.c
index 281ab5b097b..6e4fd39d039 100644
--- a/source/blender/makesrna/intern/rna_scene.c
+++ b/source/blender/makesrna/intern/rna_scene.c
@@ -33,6 +33,17 @@
 
 #include "WM_types.h"
 
+/* prop_mode needs to be accessible from transform operator */
+EnumPropertyItem prop_mode_items[] ={
+	{PROP_SMOOTH, "SMOOTH", "Smooth", ""},
+	{PROP_SPHERE, "SPHERE", "Sphere", ""},
+	{PROP_ROOT, "ROOT", "Root", ""},
+	{PROP_SHARP, "SHARP", "Sharp", ""},
+	{PROP_LIN, "LINEAR", "Linear", ""},
+	{PROP_CONST, "CONSTANT", "Constant", ""},
+	{PROP_RANDOM, "RANDOM", "Random", ""},
+	{0, NULL, NULL, NULL}};
+
 #ifdef RNA_RUNTIME
 
 #include "BKE_context.h"
@@ -211,9 +222,9 @@ void rna_def_scene_render_data(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Resolution Y", "Number of vertical pixels in the rendered image.");
 	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
 	
-	prop= RNA_def_property(srna, "resolution_percentage", PROP_INT, PROP_NONE);
+	prop= RNA_def_property(srna, "resolution_percentage", PROP_INT, PROP_PERCENTAGE);
 	RNA_def_property_int_sdna(prop, NULL, "size");
-	RNA_def_property_range(prop, 1, 400);
+	RNA_def_property_ui_range(prop, 1, 100, 10, 1);
 	RNA_def_property_ui_text(prop, "Resolution %", "Preview scale for render resolution");
 	
 	prop= RNA_def_property(srna, "parts_x", PROP_INT, PROP_NONE);
@@ -311,6 +322,11 @@ void rna_def_scene_render_data(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Render Radiosity", "Calculate radiosity in a pre-process before rendering.");
 	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
 	
+	prop= RNA_def_property(srna, "render_sss", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "mode", R_SSS);
+	RNA_def_property_ui_text(prop, "Render SSS", "Calculate sub-surface scattering in materials rendering.");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+	
 	prop= RNA_def_property(srna, "render_raytracing", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "mode", R_RAYTRACE);
 	RNA_def_property_ui_text(prop, "Render Raytracing", "Pre-calculate the raytrace accelerator and render raytracing effects.");
@@ -354,21 +370,57 @@ void rna_def_scene_render_data(BlenderRNA *brna)
 	RNA_def_property_enum_items(prop, threads_mode_items);
 	RNA_def_property_ui_text(prop, "Threads Mode", "");
 	
+	prop= RNA_def_property(srna, "motion_blur", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "mode", R_MBLUR);
+	RNA_def_property_ui_text(prop, "Motion Blur", "Use multi-sampled 3D scene motion blur (uses number of anti-aliasing samples).");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+	
+	prop= RNA_def_property(srna, "border", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "mode", R_BORDER);
+	RNA_def_property_ui_text(prop, "Border", "Render a user-defined border region, within the frame size.");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+	
+	prop= RNA_def_property(srna, "crop_to_border", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "mode", R_CROP);
+	RNA_def_property_ui_text(prop, "Crop to Border", "Crop the rendered frame to the defined border size.");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+	
+	prop= RNA_def_property(srna, "placeholders", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "mode", R_TOUCH);
+	RNA_def_property_ui_text(prop, "Placeholders", "Create empty placeholder files while rendering frames (similar to Unix 'touch').");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+	
+	prop= RNA_def_property(srna, "no_overwrite", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "mode", R_NO_OVERWRITE);
+	RNA_def_property_ui_text(prop, "No Overwrite", "Skip and don't overwrite existing files while rendering");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+	
+	prop= RNA_def_property(srna, "do_composite", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "scemode", R_DOCOMP);
+	RNA_def_property_ui_text(prop, "Do Composite", "Process the render result through the compositing pipeline");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+	
+	prop= RNA_def_property(srna, "do_sequence", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "scemode", R_DOSEQ);
+	RNA_def_property_ui_text(prop, "Do Sequence", "Process the render (and composited) result through the video sequence editor pipeline");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+	
+	prop= RNA_def_property(srna, "file_extensions", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "scemode", R_EXTENSION);
+	RNA_def_property_ui_text(prop, "File Extensions", "Add the file format extensions to the rendered file name (eg: filename + .jpg)");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+	
+	prop= RNA_def_property(srna, "free_image_textures", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "scemode", R_FREE_IMAGE);
+	RNA_def_property_ui_text(prop, "Free Image Textures", "Free all image texture from memory after render, to save memory before compositing.");
+	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
+
 }
 
 void RNA_def_scene(BlenderRNA *brna)
 {
 	StructRNA *srna;
 	PropertyRNA *prop;
-	static EnumPropertyItem prop_mode_items[] ={
-		{PROP_SMOOTH, "SMOOTH", "Smooth", ""},
-		{PROP_SPHERE, "SPHERE", "Sphere", ""},
-		{PROP_ROOT, "ROOT", "Root", ""},
-		{PROP_SHARP, "SHARP", "Sharp", ""},
-		{PROP_LIN, "LINEAR", "Linear", ""},
-		{PROP_CONST, "CONSTANT", "Constant", ""},
-		{PROP_RANDOM, "RANDOM", "Random", ""},
-		{0, NULL, NULL, NULL}};
 	static EnumPropertyItem unwrapper_items[] = {
 		{0, "CONFORMAL", "Conformal", ""},
 		{1, "ANGLEBASED", "Angle Based", ""}, 
@@ -403,28 +455,28 @@ void RNA_def_scene(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Proportional Editing Falloff", "Falloff type for proportional editing mode.");
 
 	prop= RNA_def_property(srna, "current_frame", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_ANIMATEABLE);
+	RNA_def_property_clear_flag(prop, PROP_ANIMATEABLE);
 	RNA_def_property_int_sdna(prop, NULL, "r.cfra");
 	RNA_def_property_range(prop, MINFRAME, MAXFRAME);
 	RNA_def_property_ui_text(prop, "Current Frame", "");
 	RNA_def_property_update(prop, NC_SCENE|ND_FRAME, "rna_Scene_frame_update");
 	
 	prop= RNA_def_property(srna, "start_frame", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_ANIMATEABLE);
+	RNA_def_property_clear_flag(prop, PROP_ANIMATEABLE);
 	RNA_def_property_int_sdna(prop, NULL, "r.sfra");
 	RNA_def_property_int_funcs(prop, NULL, "rna_Scene_start_frame_set", NULL);
 	RNA_def_property_ui_text(prop, "Start Frame", "");
 	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
 	
 	prop= RNA_def_property(srna, "end_frame", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_ANIMATEABLE);
+	RNA_def_property_clear_flag(prop, PROP_ANIMATEABLE);
 	RNA_def_property_int_sdna(prop, NULL, "r.efra");
 	RNA_def_property_int_funcs(prop, NULL, "rna_Scene_end_frame_set", NULL);
 	RNA_def_property_ui_text(prop, "End Frame", "");
 	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
 	
 	prop= RNA_def_property(srna, "frame_step", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_ANIMATEABLE);
+	RNA_def_property_clear_flag(prop, PROP_ANIMATEABLE);
 	RNA_def_property_int_sdna(prop, NULL, "frame_step");
 	RNA_def_property_ui_text(prop, "Frame Step", "Number of frames to skip forward while rendering/playing back each frame");
 	RNA_def_property_update(prop, NC_SCENE|ND_RENDER_OPTIONS, NULL);
@@ -457,7 +509,7 @@ void RNA_def_scene(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Keying Sets", "Keying Sets for this Scene.");
 	
 	prop= RNA_def_property(srna, "active_keyingset", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Active Keying Set", "Current Keying Set index.");
 
 	prop= RNA_def_property(srna, "tool_settings", PROP_POINTER, PROP_NONE);
diff --git a/source/blender/makesrna/intern/rna_sensor.c b/source/blender/makesrna/intern/rna_sensor.c
index b8a1a1ade78..90a0972fa03 100644
--- a/source/blender/makesrna/intern/rna_sensor.c
+++ b/source/blender/makesrna/intern/rna_sensor.c
@@ -105,7 +105,7 @@ void rna_def_sensor(BlenderRNA *brna)
 
 	/* type is not editable, would need to do proper data free/alloc */
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, sensor_type_items);
 	RNA_def_property_ui_text(prop, "Type", "");
 
@@ -210,18 +210,18 @@ void rna_def_keyboard_sensor(BlenderRNA *brna)
 	RNA_def_struct_sdna_from(srna, "bKeyboardSensor", "data");
 
 	prop= RNA_def_property(srna, "key", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* need better range or enum check */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* need better range or enum check */
 	RNA_def_property_ui_text(prop, "Key", "Input key code.");
 	RNA_def_property_range(prop, 0, 255);
 
 	prop= RNA_def_property(srna, "modifier_key", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* need better range or enum check */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* need better range or enum check */
 	RNA_def_property_int_sdna(prop, NULL, "qual");
 	RNA_def_property_ui_text(prop, "Modifier Key", "Modifier key code.");
 	RNA_def_property_range(prop, 0, 255);
 
 	prop= RNA_def_property(srna, "second_modifier_key", PROP_INT, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); /* need better range or enum check */
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); /* need better range or enum check */
 	RNA_def_property_int_sdna(prop, NULL, "qual2");
 	RNA_def_property_ui_text(prop, "Second Modifier Key", "Modifier key code.");
 	RNA_def_property_range(prop, 0, 255);
@@ -407,7 +407,7 @@ void rna_def_ray_sensor(BlenderRNA *brna)
 		{0, NULL, NULL, NULL}};
 
 	srna= RNA_def_struct(brna, "RaySensor", "Sensor");
-	RNA_def_struct_ui_text(srna, "Ray Sensor", "Sensor to detect interestions with a ray emanating from the current object.");
+	RNA_def_struct_ui_text(srna, "Ray Sensor", "Sensor to detect intersections with a ray emanating from the current object.");
 	RNA_def_struct_sdna_from(srna, "bRaySensor", "data");
 
 	prop= RNA_def_property(srna, "property", PROP_STRING, PROP_NONE);
@@ -495,7 +495,7 @@ void rna_def_joystick_sensor(BlenderRNA *brna)
 	/* Axis */
 	prop= RNA_def_property(srna, "axis_number", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "axis");
-	RNA_def_property_ui_text(prop, "Axis Number", "Specify which axis pair to use, 1 is useually the main direction input.");
+	RNA_def_property_ui_text(prop, "Axis Number", "Specify which axis pair to use, 1 is usually the main direction input.");
 	RNA_def_property_range(prop, 1, 2);
 
 	prop= RNA_def_property(srna, "axis_threshold", PROP_INT, PROP_NONE);
diff --git a/source/blender/makesrna/intern/rna_sequence.c b/source/blender/makesrna/intern/rna_sequence.c
index 18af7913456..302e7623b18 100644
--- a/source/blender/makesrna/intern/rna_sequence.c
+++ b/source/blender/makesrna/intern/rna_sequence.c
@@ -283,7 +283,7 @@ static void rna_def_sequence(BlenderRNA *brna)
 	RNA_def_struct_name_property(srna, prop);
 
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_enum_items(prop, seq_type_items);
 	RNA_def_property_ui_text(prop, "Type", "");
 
@@ -320,39 +320,39 @@ static void rna_def_sequence(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "length", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "len");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // computed from other values
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // computed from other values
 	RNA_def_property_ui_text(prop, "Length", "The length of the contents of this strip before the handles are applied");
 	
 	prop= RNA_def_property(srna, "start_frame", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "start");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // overlap tests
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // overlap tests
 	RNA_def_property_ui_text(prop, "Start Frame", "");
 	
 	prop= RNA_def_property(srna, "start_offset", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "startofs");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // overlap tests
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // overlap tests
 	RNA_def_property_ui_text(prop, "Start Offset", "");
 	
 	prop= RNA_def_property(srna, "end_offset", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "endofs");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // overlap tests
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // overlap tests
 	RNA_def_property_ui_text(prop, "End offset", "");
 	
 	prop= RNA_def_property(srna, "start_still", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "startstill");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // overlap tests
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // overlap tests
 	RNA_def_property_range(prop, 0, MAXFRAME);
 	RNA_def_property_ui_text(prop, "Start Still", "");
 	
 	prop= RNA_def_property(srna, "end_still", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "endstill");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // overlap tests
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // overlap tests
 	RNA_def_property_range(prop, 0, MAXFRAME);
 	RNA_def_property_ui_text(prop, "End Still", "");
 	
 	prop= RNA_def_property(srna, "channel", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "machine");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // overlap test
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // overlap test
 	RNA_def_property_ui_text(prop, "Channel", "Y position of the sequence strip.");
 
 	/* blending */
@@ -426,7 +426,7 @@ static void rna_def_filter_video(StructRNA *srna)
 
 	prop= RNA_def_property(srna, "use_color_balance", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", SEQ_USE_COLOR_BALANCE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // allocate color balance
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // allocate color balance
 	RNA_def_property_ui_text(prop, "Use Color Balance", "(3-Way color correction) on input.");
 
 	prop= RNA_def_property(srna, "color_balance", PROP_POINTER, PROP_NONE);
@@ -435,7 +435,7 @@ static void rna_def_filter_video(StructRNA *srna)
 
 	prop= RNA_def_property(srna, "use_translation", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", SEQ_USE_TRANSFORM);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // allocate transform
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // allocate transform
 	RNA_def_property_ui_text(prop, "Use Translation", "Translate image before processing.");
 	
 	prop= RNA_def_property(srna, "transform", PROP_POINTER, PROP_NONE);
@@ -444,7 +444,7 @@ static void rna_def_filter_video(StructRNA *srna)
 
 	prop= RNA_def_property(srna, "use_crop", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", SEQ_USE_CROP);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // allocate crop
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // allocate crop
 	RNA_def_property_ui_text(prop, "Use Crop", "Crop image before processing.");
 
 	prop= RNA_def_property(srna, "crop", PROP_POINTER, PROP_NONE);
@@ -473,7 +473,7 @@ static void rna_def_proxy(StructRNA *srna)
 
 	prop= RNA_def_property(srna, "use_proxy", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", SEQ_USE_PROXY);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // allocate proxy
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // allocate proxy
 	RNA_def_property_ui_text(prop, "Use Proxy", "Use a preview proxy for this strip.");
 
 	prop= RNA_def_property(srna, "proxy", PROP_POINTER, PROP_NONE);
@@ -491,12 +491,12 @@ static void rna_def_input(StructRNA *srna)
 
 	prop= RNA_def_property(srna, "animation_start_offset", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "anim_startofs");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // overlap test
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // overlap test
 	RNA_def_property_ui_text(prop, "Animation Start Offset", "Animation start offset (trim start).");
 	
 	prop= RNA_def_property(srna, "animation_end_offset", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "anim_endofs");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE); // overlap test
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE); // overlap test
 	RNA_def_property_ui_text(prop, "Animation End Offset", "Animation end offset (trim end).");
 }
 
@@ -634,7 +634,7 @@ static void rna_def_plugin(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "filename", PROP_STRING, PROP_FILEPATH);
 	RNA_def_property_string_sdna(prop, NULL, "name");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Filename", "");
 	
 	/* plugin properties need custom wrapping code like ID properties */
diff --git a/source/blender/makesrna/intern/rna_space.c b/source/blender/makesrna/intern/rna_space.c
index c889a0ec195..5184e904927 100644
--- a/source/blender/makesrna/intern/rna_space.c
+++ b/source/blender/makesrna/intern/rna_space.c
@@ -49,7 +49,7 @@ static StructRNA* rna_Space_refine(struct PointerRNA *ptr)
 			return &RNA_SpaceView3D;
 		case SPACE_IPO:
 			return &RNA_SpaceGraphEditor;
-		case SPACE_OOPS:
+		case SPACE_OUTLINER:
 			return &RNA_SpaceOutliner;
 		case SPACE_BUTS:
 			return &RNA_SpaceButtonsWindow;
@@ -103,6 +103,14 @@ void rna_SpaceTextEditor_word_wrap_set(PointerRNA *ptr, int value)
 	st->left= 0;
 }
 
+void rna_SpaceTextEditor_text_set(PointerRNA *ptr, PointerRNA value)
+{
+	SpaceText *st= (SpaceText*)(ptr->data);
+
+	st->text= value.data;
+	st->top= 0;
+}
+
 #else
 
 static void rna_def_space(BlenderRNA *brna)
@@ -114,7 +122,7 @@ static void rna_def_space(BlenderRNA *brna)
 		{SPACE_EMPTY, "EMPTY", "Empty", ""},
 		{SPACE_VIEW3D, "VIEW_3D", "3D View", ""},
 		{SPACE_IPO, "GRAPH_EDITOR", "Graph Editor", ""},
-		{SPACE_OOPS, "OUTLINER", "Outliner", ""},
+		{SPACE_OUTLINER, "OUTLINER", "Outliner", ""},
 		{SPACE_BUTS, "BUTTONS_WINDOW", "Buttons Window", ""},
 		{SPACE_FILE, "FILE_BROWSER", "File Browser", ""},
 		{SPACE_IMAGE, "IMAGE_EDITOR", "Image Editor", ""},
@@ -138,7 +146,7 @@ static void rna_def_space(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_sdna(prop, NULL, "spacetype");
 	RNA_def_property_enum_items(prop, type_items);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Type", "Space data type.");
 }
 
@@ -218,9 +226,9 @@ static void rna_def_space_image_uv(BlenderRNA *brna)
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", SI_LOCAL_UV);
 	RNA_def_property_ui_text(prop, "Local View", "Draw only faces with the currently displayed image assigned.");*/
 
-	prop= RNA_def_property(srna, "display_normalized_coordinates", PROP_BOOLEAN, PROP_NONE);
+	prop= RNA_def_property(srna, "normalized_coordinates", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", SI_COORDFLOATS);
-	RNA_def_property_ui_text(prop, "Display Normalized Coordinates", "Display UV coordinates from 0.0 to 1.0 rather than in pixels.");
+	RNA_def_property_ui_text(prop, "Normalized Coordinates", "Display UV coordinates from 0.0 to 1.0 rather than in pixels.");
 
 	/* todo: move edge and face drawing options here from G.f */
 
@@ -330,7 +338,10 @@ static void rna_def_space_text(BlenderRNA *brna)
 
 	/* text */
 	prop= RNA_def_property(srna, "text", PROP_POINTER, PROP_NONE);
+	RNA_def_property_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Text", "Text displayed and edited in this space.");
+	RNA_def_property_pointer_funcs(prop, NULL, "rna_SpaceTextEditor_text_set");
+	RNA_def_property_update(prop, NC_TEXT|ND_CURSOR, NULL);
 
 	/* display */
 	prop= RNA_def_property(srna, "syntax_highlight", PROP_BOOLEAN, PROP_NONE);
diff --git a/source/blender/makesrna/intern/rna_text.c b/source/blender/makesrna/intern/rna_text.c
index 80b9e56eff5..838822119e8 100644
--- a/source/blender/makesrna/intern/rna_text.c
+++ b/source/blender/makesrna/intern/rna_text.c
@@ -36,6 +36,8 @@
 
 #include "DNA_text_types.h"
 
+#include "WM_types.h"
+
 #ifdef RNA_RUNTIME
 
 static void rna_Text_filename_get(PointerRNA *ptr, char *value)
@@ -83,7 +85,6 @@ static int rna_TextLine_line_length(PointerRNA *ptr)
 	return line->len;
 }
 
-#if 0
 static void rna_TextLine_line_set(PointerRNA *ptr, const char *value)
 {
 	TextLine *line= (TextLine*)ptr->data;
@@ -91,16 +92,14 @@ static void rna_TextLine_line_set(PointerRNA *ptr, const char *value)
 	if(line->line)
 		MEM_freeN(line->line);
 	
-	if(strlen(value)) {
-		line->line= BLI_strdup(value);
-		line->len= strlen(line->line);
-	}
-	else {
-		line->line= NULL;
-		line->len= 0;
+	line->line= BLI_strdup(value);
+	line->len= strlen(line->line);
+
+	if(line->format) {
+		MEM_freeN(line->format);
+		line->format= NULL;
 	}
 }
-#endif
 
 #else
 
@@ -113,9 +112,9 @@ static void rna_def_text_line(BlenderRNA *brna)
 	RNA_def_struct_ui_text(srna, "Text Line", "Line of text in a Text datablock.");
 	
 	prop= RNA_def_property(srna, "line", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_TextLine_line_get", "rna_TextLine_line_length", "rna_TextLine_line_set");
 	RNA_def_property_ui_text(prop, "Line", "Text in the line.");
+	RNA_def_property_update(prop, NC_TEXT|NA_EDITED, NULL);
 }
 
 static void rna_def_text_marker(BlenderRNA *brna)
@@ -128,30 +127,30 @@ static void rna_def_text_marker(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "line", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "lineno");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Line", "Line in which the marker is located.");
 	
 	prop= RNA_def_property(srna, "start", PROP_INT, PROP_UNSIGNED);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Start", "Start position of the marker in the line.");
 
 	prop= RNA_def_property(srna, "end", PROP_INT, PROP_UNSIGNED);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "End", "Start position of the marker in the line.");
 	
 	prop= RNA_def_property(srna, "group", PROP_INT, PROP_UNSIGNED);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_range(prop, 0, (int)0xFFFF);
 	RNA_def_property_ui_text(prop, "Group", "");
 	
 	prop= RNA_def_property(srna, "temporary", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flags", TMARK_TEMP);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Temporary", "Marker is temporary.");
 
 	prop= RNA_def_property(srna, "edit_all", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flags", TMARK_EDITALL);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Edit All", "Edit all markers of the same group as one.");
 	
 	prop= RNA_def_property(srna, "color", PROP_FLOAT, PROP_COLOR);
@@ -172,12 +171,12 @@ static void rna_def_text(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "dirty", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flags", TXT_ISDIRTY);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Dirty", "Text file has been edited since last save.");
 
 	prop= RNA_def_property(srna, "memory", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flags", TXT_ISMEM);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Memory", "Text file is in memory, without a corresponding file on disk.");
 	
 	prop= RNA_def_property(srna, "lines", PROP_COLLECTION, PROP_NONE);
@@ -186,24 +185,24 @@ static void rna_def_text(BlenderRNA *brna)
 	
 	prop= RNA_def_property(srna, "current_line", PROP_POINTER, PROP_NEVER_NULL);
 	RNA_def_property_pointer_sdna(prop, NULL, "curl");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "TextLine");
 	RNA_def_property_ui_text(prop, "Current Line", "Current line, and start line of selection if one exists.");
 
 	prop= RNA_def_property(srna, "current_character", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "curc");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Current Character", "Index of current character in current line, and also start index of character in selection if one exists.");
 	
 	prop= RNA_def_property(srna, "selection_end_line", PROP_POINTER, PROP_NEVER_NULL);
 	RNA_def_property_pointer_sdna(prop, NULL, "sell");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_struct_type(prop, "TextLine");
 	RNA_def_property_ui_text(prop, "Selection End Line", "End line of selection.");
 	
 	prop= RNA_def_property(srna, "selection_end_character", PROP_INT, PROP_UNSIGNED);
 	RNA_def_property_int_sdna(prop, NULL, "selc");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_ui_text(prop, "Selection End Character", "Index of character after end of selection in the selection end line.");
 	
 	prop= RNA_def_property(srna, "markers", PROP_COLLECTION, PROP_NONE);
diff --git a/source/blender/makesrna/intern/rna_texture.c b/source/blender/makesrna/intern/rna_texture.c
index 8a001168302..e8fd753d16a 100644
--- a/source/blender/makesrna/intern/rna_texture.c
+++ b/source/blender/makesrna/intern/rna_texture.c
@@ -35,6 +35,42 @@
 
 #ifdef RNA_RUNTIME
 
+StructRNA *rna_Texture_refine(struct PointerRNA *ptr)
+{
+	Tex *tex= (Tex*)ptr->data;
+
+	switch(tex->type) {
+		case TEX_CLOUDS:
+			return &RNA_CloudsTexture;
+		case TEX_WOOD:
+			return &RNA_WoodTexture;
+		case TEX_MARBLE:
+			return &RNA_MarbleTexture;
+		case TEX_MAGIC:
+			return &RNA_MagicTexture;
+		/*case TEX_BLEND:
+			return &RNA_BlendTexture; */
+		case TEX_STUCCI:
+			return &RNA_StucciTexture;
+		/*case TEX_NOISE:
+			return &RNA_NoiseTexture;
+		case TEX_IMAGE:
+			return &RNA_ImageTexture;
+		case TEX_PLUGIN:
+			return &RNA_PluginTexture;
+		case TEX_ENVMAP:
+			return &RNA_EnvironmentMapTexture;
+		case TEX_MUSGRAVE:
+			return &RNA_MusgraveTexture;
+		case TEX_VORONOI:
+			return &RNA_VoronoiTexture;
+		case TEX_DISTNOISE:
+			return &RNA_DistortedNoiseTexture; */
+		default:
+			return &RNA_Texture;
+	}
+}
+
 #else
 
 static void rna_def_color_ramp_element(BlenderRNA *brna)
@@ -55,8 +91,6 @@ static void rna_def_color_ramp_element(BlenderRNA *brna)
 	RNA_def_property_float_sdna(prop, NULL, "pos");
 	RNA_def_property_range(prop, 0, 1);
 	RNA_def_property_ui_text(prop, "Position", "");
-
-	/* XXX: CBData.cur? */
 }
 
 static void rna_def_color_ramp(BlenderRNA *brna)
@@ -81,14 +115,49 @@ static void rna_def_color_ramp(BlenderRNA *brna)
 	RNA_def_property_struct_type(prop, "ColorRampElement");
 	RNA_def_property_ui_text(prop, "Elements", "");
 
-	/* XXX: CBData.flag, tot, cur ? */
-
 	prop= RNA_def_property(srna, "interpolation", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_sdna(prop, NULL, "ipotype");
 	RNA_def_property_enum_items(prop, prop_interpolation_items);
 	RNA_def_property_ui_text(prop, "Interpolation", "");
 }
 
+static void rna_def_texmapping(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	srna= RNA_def_struct(brna, "TexMapping", NULL);
+	RNA_def_struct_ui_text(srna, "Texture Mapping", "Mapping settings");
+
+	prop= RNA_def_property(srna, "location", PROP_FLOAT, PROP_VECTOR);
+	RNA_def_property_float_sdna(prop, NULL, "loc");
+	RNA_def_property_ui_text(prop, "Location", "");
+	
+	prop= RNA_def_property(srna, "rotation", PROP_FLOAT, PROP_ROTATION);
+	RNA_def_property_float_sdna(prop, NULL, "rot");
+	RNA_def_property_ui_text(prop, "Rotation", "");
+	
+	prop= RNA_def_property(srna, "scale", PROP_FLOAT, PROP_VECTOR);
+	RNA_def_property_float_sdna(prop, NULL, "size");
+	RNA_def_property_ui_text(prop, "Scale", "");
+	
+	prop= RNA_def_property(srna, "minimum", PROP_FLOAT, PROP_VECTOR);
+	RNA_def_property_float_sdna(prop, NULL, "min");
+	RNA_def_property_ui_text(prop, "Minimum", "Minimum value for clipping");
+	
+	prop= RNA_def_property(srna, "maximum", PROP_FLOAT, PROP_VECTOR);
+	RNA_def_property_float_sdna(prop, NULL, "max");
+	RNA_def_property_ui_text(prop, "Maximum", "Maximum value for clipping");
+	
+	prop= RNA_def_property(srna, "has_minimum", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", TEXMAP_CLIP_MIN);
+	RNA_def_property_ui_text(prop, "Has Minimum", "Whether to use minimum clipping value");
+	
+	prop= RNA_def_property(srna, "has_maximum", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", TEXMAP_CLIP_MAX);
+	RNA_def_property_ui_text(prop, "Has Maximum", "Whether to use maximum clipping value");
+}
+
 static void rna_def_mtex(BlenderRNA *brna)
 {
 	StructRNA *srna;
@@ -238,7 +307,264 @@ static void rna_def_environment_map(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Depth", "Number of times a map will be rendered recursively (mirror effects.)");
 }
 
-void RNA_def_texture(BlenderRNA *brna)
+static EnumPropertyItem prop_noise_basis_items[] = {
+	{TEX_BLENDER, "BLENDER_ORIGINAL", "Blender Original", ""},
+	{TEX_STDPERLIN, "ORIGINAL_PERLIN", "Original Perlin", ""},
+	{TEX_NEWPERLIN, "IMPROVED_PERLIN", "Improved Perlin", ""},
+	{TEX_VORONOI_F1, "VORONOI_F1", "Voronoi F1", ""},
+	{TEX_VORONOI_F2, "VORONOI_F2", "Voronoi F2", ""},
+	{TEX_VORONOI_F3, "VORONOI_F3", "Voronoi F3", ""},
+	{TEX_VORONOI_F4, "VORONOI_F4", "Voronoi F4", ""},
+	{TEX_VORONOI_F2F1, "VORONOI_F2_F1", "Voronoi F2-F1", ""},
+	{TEX_VORONOI_CRACKLE, "VORONOI_CRACKLE", "Voronoi Crackle", ""},
+	{TEX_CELLNOISE, "CELL_NOISE", "Cell Noise", ""},
+	{0, NULL, NULL, NULL}};
+
+static EnumPropertyItem prop_noise_type[] = {
+	{TEX_NOISESOFT, "SOFT_NOISE", "Soft Noise", ""},
+	{TEX_NOISEPERL, "HARD_NOISE", "Hard Noise", ""},
+	{0, NULL, NULL, NULL}
+	};
+
+
+static void rna_def_texture_clouds(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	static EnumPropertyItem prop_clouds_stype[] = {
+	{TEX_DEFAULT, "DEFAULT", "Default", ""},
+	{TEX_COLOR, "COLOR", "Color", ""},
+	{0, NULL, NULL, NULL}
+	};
+
+	srna= RNA_def_struct(brna, "CloudsTexture", "Texture");
+	RNA_def_struct_ui_text(srna, "Clouds Texture", "Procedural noise texture.");
+	RNA_def_struct_sdna(srna, "Tex");
+
+	prop= RNA_def_property(srna, "noise_size", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "noisesize");
+	RNA_def_property_range(prop, 0.0001, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0001, 2, 10, 2);
+	RNA_def_property_ui_text(prop, "Noise Size", "Sets scaling for noise input");
+
+	prop= RNA_def_property(srna, "noise_depth", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "noisedepth");
+	RNA_def_property_range(prop, 0, INT_MAX);
+	RNA_def_property_ui_range(prop, 0, 6, 0, 2);
+	RNA_def_property_ui_text(prop, "Noise Depth", "Sets the depth of the cloud calculation");
+
+
+	prop= RNA_def_property(srna, "noise_basis", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "noisebasis");
+	RNA_def_property_enum_items(prop, prop_noise_basis_items);
+	RNA_def_property_ui_text(prop, "Noise Basis", "Sets the noise basis used for turbulence");
+
+	prop= RNA_def_property(srna, "noise_type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "noisetype");
+	RNA_def_property_enum_items(prop, prop_noise_type);
+	RNA_def_property_ui_text(prop, "Noise Type", "");
+
+	prop= RNA_def_property(srna, "stype", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "stype");
+	RNA_def_property_enum_items(prop, prop_clouds_stype);
+	RNA_def_property_ui_text(prop, "Color", "");
+
+	prop= RNA_def_property(srna, "nabla", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_range(prop, 0.001, 0.1);
+	RNA_def_property_ui_range(prop, 0.001, 0.1, 1, 2);
+	RNA_def_property_ui_text(prop, "Nabla", "Size of derivative offset used for calculating normal.");
+
+}
+
+static void rna_def_texture_wood(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	static EnumPropertyItem prop_wood_stype[] = {
+	{TEX_BAND, "BANDS", "Bands", "Uses standard wood texture in bands"},
+	{TEX_RING, "RINGS", "Rings", "Uses wood texture in rings"},
+	{TEX_BANDNOISE, "BANDNOISE", "BandNoise", "Adds noise to standard wood"},
+	{TEX_RINGNOISE, "RINGNOISE", "RingNoise", "Adds noise to rings"},
+	{0, NULL, NULL, NULL}
+	};
+
+	static EnumPropertyItem prop_wood_noisebasis2[] = {
+	{TEX_SIN, "SIN", "Sin", "Uses a sine wave to produce bands"},
+	{TEX_SAW, "SAW", "Saw", "Uses a saw wave to produce bands"},
+	{TEX_TRI, "TRI", "Tri", "Uses a triangle wave to produce bands"},
+	{0, NULL, NULL, NULL}
+	};
+
+	srna= RNA_def_struct(brna, "WoodTexture", "Texture");
+	RNA_def_struct_ui_text(srna, "Wood Texture", "Procedural noise texture.");
+	RNA_def_struct_sdna(srna, "Tex");
+
+	prop= RNA_def_property(srna, "noise_size", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "noisesize");
+	RNA_def_property_range(prop, 0.0001, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0001, 2, 10, 2);
+	RNA_def_property_ui_text(prop, "Noise Size", "Sets scaling for noise input");
+
+	prop= RNA_def_property(srna, "turbulence", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "turbul");
+	RNA_def_property_range(prop, 0.0001, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0001, 200, 10, 2);
+	RNA_def_property_ui_text(prop, "Turbulence", "Sets the turbulence of the bandnoise and ringnoise types");
+
+	prop= RNA_def_property(srna, "noise_basis", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "noisebasis");
+	RNA_def_property_enum_items(prop, prop_noise_basis_items);
+	RNA_def_property_ui_text(prop, "Noise Basis", "Sets the noise basis used for turbulence");
+
+	prop= RNA_def_property(srna, "noise_type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "noisetype");
+	RNA_def_property_enum_items(prop, prop_noise_type);
+	RNA_def_property_ui_text(prop, "Noise Type", "");
+
+	prop= RNA_def_property(srna, "stype", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "stype");
+	RNA_def_property_enum_items(prop, prop_wood_stype);
+	RNA_def_property_ui_text(prop, "Pattern", "");
+
+	prop= RNA_def_property(srna, "noisebasis2", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "noisebasis2");
+	RNA_def_property_enum_items(prop, prop_wood_noisebasis2);
+	RNA_def_property_ui_text(prop, "Noise Basis 2", "");
+
+	prop= RNA_def_property(srna, "nabla", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_range(prop, 0.001, 0.1);
+	RNA_def_property_ui_range(prop, 0.001, 0.1, 1, 2);
+	RNA_def_property_ui_text(prop, "Nabla", "Size of derivative offset used for calculating normal.");
+
+}
+
+static void rna_def_texture_marble(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	static EnumPropertyItem prop_marble_stype[] = {
+	{TEX_SOFT, "SOFT", "Soft", "Uses soft marble"},
+	{TEX_SHARP, "SHARP", "Sharp", "Uses more clearly defined marble"},
+	{TEX_SHARPER, "SHARPER", "Sharper", "Uses very clearly defined marble"},
+	{0, NULL, NULL, NULL}
+	};
+
+	static EnumPropertyItem prop_marble_noisebasis2[] = {
+	{TEX_SIN, "SIN", "Sin", "Uses a sine wave to produce bands"},
+	{TEX_SAW, "SAW", "Saw", "Uses a saw wave to produce bands"},
+	{TEX_TRI, "TRI", "Tri", "Uses a triangle wave to produce bands"},
+	{0, NULL, NULL, NULL}
+	};
+
+	srna= RNA_def_struct(brna, "MarbleTexture", "Texture");
+	RNA_def_struct_ui_text(srna, "Marble Texture", "Procedural noise texture.");
+	RNA_def_struct_sdna(srna, "Tex");
+
+	prop= RNA_def_property(srna, "noise_size", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "noisesize");
+	RNA_def_property_range(prop, 0.0001, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0001, 2, 10, 2);
+	RNA_def_property_ui_text(prop, "Noise Size", "Sets scaling for noise input");
+
+	prop= RNA_def_property(srna, "turbulence", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "turbul");
+	RNA_def_property_range(prop, 0.0001, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0001, 200, 10, 2);
+	RNA_def_property_ui_text(prop, "Turbulence", "Sets the turbulence of the bandnoise and ringnoise types");
+
+	prop= RNA_def_property(srna, "noise_depth", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "noisedepth");
+	RNA_def_property_range(prop, 0, INT_MAX);
+	RNA_def_property_ui_range(prop, 0, 6, 0, 2);
+	RNA_def_property_ui_text(prop, "Noise Depth", "Sets the depth of the cloud calculation");
+
+	prop= RNA_def_property(srna, "noise_type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "noisetype");
+	RNA_def_property_enum_items(prop, prop_noise_type);
+	RNA_def_property_ui_text(prop, "Noise Type", "");
+
+	prop= RNA_def_property(srna, "stype", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "stype");
+	RNA_def_property_enum_items(prop, prop_marble_stype);
+	RNA_def_property_ui_text(prop, "Pattern", "");
+
+	prop= RNA_def_property(srna, "noisebasis2", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "noisebasis2");
+	RNA_def_property_enum_items(prop, prop_marble_noisebasis2);
+	RNA_def_property_ui_text(prop, "Noise Basis 2", "");
+
+	prop= RNA_def_property(srna, "nabla", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_range(prop, 0.001, 0.1);
+	RNA_def_property_ui_range(prop, 0.001, 0.1, 1, 2);
+	RNA_def_property_ui_text(prop, "Nabla", "Size of derivative offset used for calculating normal.");
+
+}
+
+static void rna_def_texture_magic(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	srna= RNA_def_struct(brna, "MagicTexture", "Texture");
+	RNA_def_struct_ui_text(srna, "Magic Texture", "Procedural noise texture.");
+	RNA_def_struct_sdna(srna, "Tex");
+
+	prop= RNA_def_property(srna, "turbulence", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "turbul");
+	RNA_def_property_range(prop, 0.0001, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0001, 200, 10, 2);
+	RNA_def_property_ui_text(prop, "Turbulence", "Sets the turbulence of the bandnoise and ringnoise types");
+
+	prop= RNA_def_property(srna, "noise_depth", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "noisedepth");
+	RNA_def_property_range(prop, 0, INT_MAX);
+	RNA_def_property_ui_range(prop, 0, 6, 0, 2);
+	RNA_def_property_ui_text(prop, "Noise Depth", "Sets the depth of the cloud calculation");
+}
+
+static void rna_def_texture_stucci(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+
+	static EnumPropertyItem prop_stucci_stype[] = {
+	{TEX_PLASTIC, "PLASTIC", "Plastic", "Uses standard stucci"},
+	{TEX_WALLIN, "WALL_IN", "Wall in", "Creates Dimples"},
+	{TEX_WALLOUT, "WALL_OUT", "Wall out", "Creates Ridges"},
+	{0, NULL, NULL, NULL}
+	};
+
+	srna= RNA_def_struct(brna, "StucciTexture", "Texture");
+	RNA_def_struct_ui_text(srna, "Stucci Texture", "Procedural noise texture.");
+	RNA_def_struct_sdna(srna, "Tex");
+
+	prop= RNA_def_property(srna, "turbulence", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "turbul");
+	RNA_def_property_range(prop, 0.0001, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0001, 200, 10, 2);
+	RNA_def_property_ui_text(prop, "Turbulence", "Sets the turbulence of the bandnoise and ringnoise types");
+
+	prop= RNA_def_property(srna, "noise_size", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "noisesize");
+	RNA_def_property_range(prop, 0.0001, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0001, 2, 10, 2);
+	RNA_def_property_ui_text(prop, "Noise Size", "Sets scaling for noise input");
+
+	prop= RNA_def_property(srna, "noise_type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "noisetype");
+	RNA_def_property_enum_items(prop, prop_noise_type);
+	RNA_def_property_ui_text(prop, "Noise Type", "");
+
+	prop= RNA_def_property(srna, "stype", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "stype");
+	RNA_def_property_enum_items(prop, prop_stucci_stype);
+	RNA_def_property_ui_text(prop, "Pattern", "");
+}
+
+static void rna_def_texture(BlenderRNA *brna)
 {
 	StructRNA *srna;
 	PropertyRNA *prop;
@@ -260,56 +586,19 @@ void RNA_def_texture(BlenderRNA *brna)
 		{TEX_DISTNOISE, "DISTORTED_NOISE", "Distorted Noise", ""},
 		{0, NULL, NULL, NULL}};
 
-	static EnumPropertyItem prop_distance_metric_items[] = {
-		{TEX_DISTANCE, "DISTANCE", "Actual Distance", ""},
-		{TEX_DISTANCE_SQUARED, "DISTANCE_SQUARED", "Distance Squared", ""},
-		{TEX_MANHATTAN, "MANHATTAN", "Manhattan", ""},
-		{TEX_CHEBYCHEV, "CHEBYCHEV", "Chebychev", ""},
-		{TEX_MINKOVSKY_HALF, "MINKOVSKY_HALF", "Minkovsky 1/2", ""},
-		{TEX_MINKOVSKY_FOUR, "MINKOVSKY_FOUR", "Minkovsky 4", ""},
-		{TEX_MINKOVSKY, "MINKOVSKY", "Minkovsky", ""},
-		{0, NULL, NULL, NULL}};
-
-	static EnumPropertyItem prop_color_type_items[] = {
-		/* XXX: OK names / descriptions? */
-		{TEX_INTENSITY, "INTENSITY", "Intensity", "Only calculate intensity."},
-		{TEX_COL1, "POSITION", "Position", "Color cells by position."},
-		{TEX_COL2, "POSITION_OUTLINE", "Position and Outline", "Use position plus an outline based on F2-F.1"},
-		{TEX_COL3, "POSITION_OUTLINE_INTENSITY", "Position, Outline, and Intensity", "Multiply position and outline by intensity."},
-		{0, NULL, NULL, NULL}};
-
-	static EnumPropertyItem prop_noise_basis_items[] = {
-		{TEX_BLENDER, "BLENDER_ORIGINAL", "Blender Original", ""},
-		{TEX_STDPERLIN, "ORIGINAL_PERLIN", "Original Perlin", ""},
-		{TEX_NEWPERLIN, "IMPROVED_PERLIN", "Improved Perlin", ""},
-		{TEX_VORONOI_F1, "VORONOI_F1", "Voronoi F1", ""},
-		{TEX_VORONOI_F2, "VORONOI_F2", "Voronoi F2", ""},
-		{TEX_VORONOI_F3, "VORONOI_F3", "Voronoi F3", ""},
-		{TEX_VORONOI_F4, "VORONOI_F4", "Voronoi F4", ""},
-		{TEX_VORONOI_F2F1, "VORONOI_F2_F1", "Voronoi F2-F1", ""},
-		{TEX_VORONOI_CRACKLE, "VORONOI_CRACKLE", "Voronoi Crackle", ""},
-		{TEX_CELLNOISE, "CELL_NOISE", "Cell Noise", ""},
-		{0, NULL, NULL, NULL}};
-
 	srna= RNA_def_struct(brna, "Texture", "ID");
 	RNA_def_struct_sdna(srna, "Tex");
 	RNA_def_struct_ui_text(srna, "Texture", "Texture datablock used by materials, lamps, worlds and brushes.");
+	RNA_def_struct_refine_func(srna, "rna_Texture_refine");
 
 	prop= RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_items(prop, prop_type_items);
 	RNA_def_property_ui_text(prop, "Type", "");
 
-	prop= RNA_def_property(srna, "noise_size", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_float_sdna(prop, NULL, "noisesize");
-	RNA_def_property_range(prop, 0.0001, FLT_MAX);
-	RNA_def_property_ui_range(prop, 0.0001, 2, 10, 2);
-	RNA_def_property_ui_text(prop, "Noise Size", "");
-
-	prop= RNA_def_property(srna, "turbulence", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_float_sdna(prop, NULL, "turbul");
-	RNA_def_property_range(prop, 0, FLT_MAX);
-	RNA_def_property_ui_range(prop, 0, 200, 10, 2);
-	RNA_def_property_ui_text(prop, "Turbulence", "");
+	prop= RNA_def_property(srna, "color_ramp", PROP_POINTER, PROP_NEVER_NULL);
+	RNA_def_property_pointer_sdna(prop, NULL, "coba");
+	RNA_def_property_struct_type(prop, "ColorRamp");
+	RNA_def_property_ui_text(prop, "Color Ramp", "");
 
 	prop= RNA_def_property(srna, "brightness", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "bright");
@@ -328,6 +617,44 @@ void RNA_def_texture(BlenderRNA *brna)
 	RNA_def_property_range(prop, 0, 2);
 	RNA_def_property_ui_text(prop, "RGB Factor", "");
 
+	rna_def_animdata_common(srna);
+
+	/* specific types */
+	rna_def_texture_clouds(brna);
+	rna_def_texture_wood(brna);
+	rna_def_texture_marble(brna);
+	rna_def_texture_magic(brna);
+	rna_def_texture_stucci(brna);
+	/* XXX add more types here .. */
+
+	/* ********** XXX these should be moved to the specific types *****************/
+
+#if 0
+	static EnumPropertyItem prop_distance_metric_items[] = {
+		{TEX_DISTANCE, "DISTANCE", "Actual Distance", ""},
+		{TEX_DISTANCE_SQUARED, "DISTANCE_SQUARED", "Distance Squared", ""},
+		{TEX_MANHATTAN, "MANHATTAN", "Manhattan", ""},
+		{TEX_CHEBYCHEV, "CHEBYCHEV", "Chebychev", ""},
+		{TEX_MINKOVSKY_HALF, "MINKOVSKY_HALF", "Minkovsky 1/2", ""},
+		{TEX_MINKOVSKY_FOUR, "MINKOVSKY_FOUR", "Minkovsky 4", ""},
+		{TEX_MINKOVSKY, "MINKOVSKY", "Minkovsky", ""},
+		{0, NULL, NULL, NULL}};
+
+	static EnumPropertyItem prop_color_type_items[] = {
+		/* XXX: OK names / descriptions? */
+		{TEX_INTENSITY, "INTENSITY", "Intensity", "Only calculate intensity."},
+		{TEX_COL1, "POSITION", "Position", "Color cells by position."},
+		{TEX_COL2, "POSITION_OUTLINE", "Position and Outline", "Use position plus an outline based on F2-F.1"},
+		{TEX_COL3, "POSITION_OUTLINE_INTENSITY", "Position, Outline, and Intensity", "Multiply position and outline by intensity."},
+		{0, NULL, NULL, NULL}};
+
+
+	prop= RNA_def_property(srna, "turbulence", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "turbul");
+	RNA_def_property_range(prop, 0, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0, 200, 10, 2);
+	RNA_def_property_ui_text(prop, "Turbulence", "");
+
 	/* XXX: tex->filtersize */
 
 	/* Musgrave */
@@ -390,10 +717,6 @@ void RNA_def_texture(BlenderRNA *brna)
 	RNA_def_property_enum_items(prop, prop_color_type_items);
 	RNA_def_property_ui_text(prop, "Color Type", "");
 
-	prop= RNA_def_property(srna, "noise_basis", PROP_ENUM, PROP_NONE);
-	RNA_def_property_enum_sdna(prop, NULL, "noisebasis");
-	RNA_def_property_enum_items(prop, prop_noise_basis_items);
-	RNA_def_property_ui_text(prop, "Noise Basis", "");
 
 	/* XXX: noisebasis2 */
 	/* XXX: imaflag */
@@ -401,7 +724,7 @@ void RNA_def_texture(BlenderRNA *brna)
 	/* XXX: stype */
 
 	/* XXX: did this as an array, but needs better descriptions than "1 2 3 4"
-	        perhaps a new subtype could be added? */
+	perhaps a new subtype could be added? */
 	prop= RNA_def_property(srna, "crop_rectangle", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "cropxmin");
 	RNA_def_property_array(prop, 4);
@@ -413,17 +736,11 @@ void RNA_def_texture(BlenderRNA *brna)
 	RNA_def_property_range(prop, 0, 1);
 	RNA_def_property_ui_text(prop, "Checker Separation", "");
 	
-	prop= RNA_def_property(srna, "nabla", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_range(prop, 0.001, 0.1);
-	RNA_def_property_ui_range(prop, 0.001, 0.1, 1, 2);
-	RNA_def_property_ui_text(prop, "Nabla", "Size of derivative offset used for calculating normal.");
 
 	prop= RNA_def_property(srna, "normal_factor", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "norfac");
 	RNA_def_property_range(prop, 0, 25);
 	RNA_def_property_ui_text(prop, "Normal Factor", "Amount the texture affects normal values.");
-
-	rna_def_animdata_common(srna);
        
 	prop= RNA_def_property(srna, "image", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "ima");
@@ -432,20 +749,21 @@ void RNA_def_texture(BlenderRNA *brna)
 
 	/* XXX: plugin */
 
-	prop= RNA_def_property(srna, "color_ramp", PROP_POINTER, PROP_NEVER_NULL);
-	RNA_def_property_pointer_sdna(prop, NULL, "coba");
-	RNA_def_property_struct_type(prop, "ColorRamp");
-	RNA_def_property_ui_text(prop, "Color Ramp", "");
-
 	prop= RNA_def_property(srna, "environment_map", PROP_POINTER, PROP_NONE);
 	RNA_def_property_pointer_sdna(prop, NULL, "env");
 	RNA_def_property_struct_type(prop, "EnvironmentMap");
 	RNA_def_property_ui_text(prop, "Environment Map", "");
+#endif
+}
 
+void RNA_def_texture(BlenderRNA *brna)
+{
+	rna_def_texture(brna);
 	rna_def_mtex(brna);
 	rna_def_environment_map(brna);
 	rna_def_color_ramp(brna);
 	rna_def_color_ramp_element(brna);
+	rna_def_texmapping(brna);
 }
 
 #endif
diff --git a/source/blender/makesrna/intern/rna_timeline.c b/source/blender/makesrna/intern/rna_timeline.c
index d42603e1952..d42603e1952 100755..100644
--- a/source/blender/makesrna/intern/rna_timeline.c
+++ b/source/blender/makesrna/intern/rna_timeline.c
diff --git a/source/blender/makesrna/intern/rna_userdef.c b/source/blender/makesrna/intern/rna_userdef.c
index e5a5293c9ea..b6767eac989 100644
--- a/source/blender/makesrna/intern/rna_userdef.c
+++ b/source/blender/makesrna/intern/rna_userdef.c
@@ -1272,7 +1272,7 @@ static void rna_def_userdef_view(BlenderRNA *brna)
 	prop= RNA_def_property(srna, "smooth_view", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "smooth_viewtx");
 	RNA_def_property_range(prop, 0, 1000);
-	RNA_def_property_ui_text(prop, "Smooth View", "The time to animate the view in miliseconds, zero to disable.");
+	RNA_def_property_ui_text(prop, "Smooth View", "The time to animate the view in milliseconds, zero to disable.");
 
 	prop= RNA_def_property(srna, "rotation_angle", PROP_INT, PROP_NONE);
 	RNA_def_property_int_sdna(prop, NULL, "pad_rot_angle");
diff --git a/source/blender/makesrna/intern/rna_vfont.c b/source/blender/makesrna/intern/rna_vfont.c
index ace6e4a6d25..d18b87e73ee 100644
--- a/source/blender/makesrna/intern/rna_vfont.c
+++ b/source/blender/makesrna/intern/rna_vfont.c
@@ -45,7 +45,7 @@ void RNA_def_vfont(BlenderRNA *brna)
 	RNA_def_struct_sdna(srna, "VFont");
 
 	prop= RNA_def_property(srna, "filename", PROP_STRING, PROP_FILEPATH);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_sdna(prop, NULL, "name");
 	RNA_def_property_ui_text(prop, "Filename", "");
 
diff --git a/source/blender/makesrna/intern/rna_vpaint.c b/source/blender/makesrna/intern/rna_vpaint.c
index ae3491e857e..44219f032e7 100644
--- a/source/blender/makesrna/intern/rna_vpaint.c
+++ b/source/blender/makesrna/intern/rna_vpaint.c
@@ -72,20 +72,6 @@ void RNA_def_vpaint(BlenderRNA *brna)
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", VP_SPRAY);
 	RNA_def_property_ui_text(prop, "Spray", "Keep applying paint effect while holding mouse.");
 	
-	prop= RNA_def_property(srna, "color", PROP_FLOAT, PROP_COLOR);
-	RNA_def_property_float_sdna(prop, NULL, "r");
-	RNA_def_property_array(prop, 3);
-	RNA_def_property_ui_text(prop, "Color", "Brush color.");
-	
-	prop= RNA_def_property(srna, "opacity", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_float_sdna(prop, NULL, "a");
-	RNA_def_property_range(prop, 0.0f, 1.0f);
-	RNA_def_property_ui_text(prop, "Opacity", "Brush Opacity.");
-	
-	prop= RNA_def_property(srna, "size", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_range(prop, 2.0f, 64.0f);
-	RNA_def_property_ui_text(prop, "Size", "Brush Size.");
-	
 	prop= RNA_def_property(srna, "gamma", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_range(prop, 0.1f, 5.0f);
 	RNA_def_property_ui_text(prop, "Gamma", "Vpaint Gamma.");
diff --git a/source/blender/makesrna/intern/rna_wm.c b/source/blender/makesrna/intern/rna_wm.c
index 69e7578da1a..cabecaaf832 100644
--- a/source/blender/makesrna/intern/rna_wm.c
+++ b/source/blender/makesrna/intern/rna_wm.c
@@ -87,7 +87,7 @@ static void rna_def_operator(BlenderRNA *brna)
 	RNA_def_struct_sdna(srna, "wmOperator");
 
 	prop= RNA_def_property(srna, "name", PROP_STRING, PROP_NONE);
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
+	RNA_def_property_clear_flag(prop, PROP_EDITABLE);
 	RNA_def_property_string_funcs(prop, "rna_Operator_name_get", "rna_Operator_name_length", NULL);
 	RNA_def_property_ui_text(prop, "Name", "");
 	RNA_def_struct_name_property(srna, prop);
diff --git a/source/blender/makesrna/intern/rna_world.c b/source/blender/makesrna/intern/rna_world.c
index 0296361da56..0e3e68d1def 100644
--- a/source/blender/makesrna/intern/rna_world.c
+++ b/source/blender/makesrna/intern/rna_world.c
@@ -241,7 +241,7 @@ static void rna_def_world_mist(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "WorldMistSettings", NULL);
 	RNA_def_struct_sdna(srna, "World");
 	RNA_def_struct_nested(brna, srna, "World");
-	RNA_def_struct_ui_text(srna, "World Mist", "Mist settings for a World datatblock.");
+	RNA_def_struct_ui_text(srna, "World Mist", "Mist settings for a World data-block.");
 
 	prop= RNA_def_property(srna, "enabled", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "mode", WO_MIST);
@@ -284,7 +284,7 @@ static void rna_def_world_stars(BlenderRNA *brna)
 	srna= RNA_def_struct(brna, "WorldStarsSettings", NULL);
 	RNA_def_struct_sdna(srna, "World");
 	RNA_def_struct_nested(brna, srna, "World");
-	RNA_def_struct_ui_text(srna, "World Stars", "Stars setting for a World datatblock.");
+	RNA_def_struct_ui_text(srna, "World Stars", "Stars setting for a World data-block.");
 
 	prop= RNA_def_property(srna, "enabled", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "mode", WO_STARS);
@@ -411,7 +411,6 @@ void RNA_def_world(BlenderRNA *brna)
 
 	prop= RNA_def_property(srna, "script_link", PROP_POINTER, PROP_NEVER_NULL);
 	RNA_def_property_pointer_sdna(prop, NULL, "scriptlink");
-	RNA_def_property_flag(prop, PROP_NOT_EDITABLE);
 	RNA_def_property_ui_text(prop, "Script Link", "Scripts linked to this object.");
 
 	rna_def_ambient_occlusion(brna);
diff --git a/source/blender/nodes/TEX_node.h b/source/blender/nodes/TEX_node.h
index 40cb65eacce..c52fc757507 100644
--- a/source/blender/nodes/TEX_node.h
+++ b/source/blender/nodes/TEX_node.h
@@ -41,6 +41,7 @@
 extern bNodeType tex_node_math;
 extern bNodeType tex_node_mix_rgb;
 extern bNodeType tex_node_valtorgb;
+extern bNodeType tex_node_valtonor;
 extern bNodeType tex_node_rgbtobw;
 extern bNodeType tex_node_output;
 extern bNodeType tex_node_viewer;
@@ -57,6 +58,10 @@ extern bNodeType tex_node_distance;
 
 extern bNodeType tex_node_rotate;
 extern bNodeType tex_node_translate;
+extern bNodeType tex_node_scale;
+
+extern bNodeType tex_node_compose;
+extern bNodeType tex_node_decompose;
 
 extern bNodeType tex_node_proc_voronoi;
 extern bNodeType tex_node_proc_blend;
diff --git a/source/blender/nodes/intern/CMP_nodes/CMP_blur.c b/source/blender/nodes/intern/CMP_nodes/CMP_blur.c
index 2c7974d129d..a96f3489978 100644
--- a/source/blender/nodes/intern/CMP_nodes/CMP_blur.c
+++ b/source/blender/nodes/intern/CMP_nodes/CMP_blur.c
@@ -567,6 +567,11 @@ static void node_composit_exec_blur(void *data, bNode *node, bNodeStack **in, bN
 	
 	if(out[0]->hasoutput==0) return;
 	
+	if(nbd->relative) {
+		nbd->sizex= (int)(nbd->percentx*nbd->image_in_width);
+		nbd->sizey= (int)(nbd->percenty*nbd->image_in_height);
+	}
+
 	if (((NodeBlurData *)node->storage)->filtertype == R_FILTER_FAST_GAUSS) {
 		CompBuf *new, *img = in[0]->data;
 		/*from eeshlo's original patch, removed to fit in with the existing blur node */
diff --git a/source/blender/nodes/intern/TEX_nodes/TEX_compose.c b/source/blender/nodes/intern/TEX_nodes/TEX_compose.c
new file mode 100644
index 00000000000..26576befa3e
--- /dev/null
+++ b/source/blender/nodes/intern/TEX_nodes/TEX_compose.c
@@ -0,0 +1,71 @@
+/**
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2005 Blender Foundation.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#include "../TEX_util.h"                                                   
+
+static bNodeSocketType inputs[]= {
+	{ SOCK_VALUE, 1, "Red",   0.0f, 0.0f, 0.0f, 0.0f,  0.0f, 1.0f },
+	{ SOCK_VALUE, 1, "Green", 0.0f, 0.0f, 0.0f, 0.0f,  0.0f, 1.0f },
+	{ SOCK_VALUE, 1, "Blue",  0.0f, 0.0f, 0.0f, 0.0f,  0.0f, 1.0f },
+	{ SOCK_VALUE, 1, "Alpha", 1.0f, 0.0f, 0.0f, 0.0f,  0.0f, 1.0f },
+	{ -1, 0, "" }
+};
+static bNodeSocketType outputs[]= {
+	{ SOCK_RGBA, 0, "Color", 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 1.0f },
+	{ -1, 0, "" }
+};
+
+static void colorfn(float *out, float *coord, bNode *node, bNodeStack **in, short thread)
+{
+	int i;
+	for(i = 0; i < 4; i++)
+		out[i] = tex_input_value(in[i], coord, thread);
+}
+
+static void exec(void *data, bNode *node, bNodeStack **in, bNodeStack **out)
+{
+	tex_output(node, in, out[0], &colorfn);
+}
+
+bNodeType tex_node_compose= {
+	/* *next,*prev     */ NULL, NULL,
+	/* type code       */ TEX_NODE_COMPOSE,
+	/* name            */ "Compose RGBA",
+	/* width+range     */ 100, 60, 150,
+	/* class+opts      */ NODE_CLASS_OP_COLOR, 0,
+	/* input sock      */ inputs,
+	/* output sock     */ outputs,
+	/* storage         */ "", 
+	/* execfunc        */ exec,
+	/* butfunc         */ NULL,
+	/* initfunc        */ NULL,
+	/* freestoragefunc */ NULL,
+	/* copystoragefunc */ NULL,
+	/* id              */ NULL   
+	
+};
diff --git a/source/blender/nodes/intern/TEX_nodes/TEX_decompose.c b/source/blender/nodes/intern/TEX_nodes/TEX_decompose.c
new file mode 100644
index 00000000000..c08eb12a18f
--- /dev/null
+++ b/source/blender/nodes/intern/TEX_nodes/TEX_decompose.c
@@ -0,0 +1,92 @@
+/**
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2005 Blender Foundation.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#include "../TEX_util.h"                                                   
+#include <math.h>
+
+static bNodeSocketType inputs[]= {
+	{ SOCK_RGBA, 1, "Color", 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 1.0f },
+	{ -1, 0, "" }
+};
+static bNodeSocketType outputs[]= {
+	{ SOCK_VALUE, 0, "Red",   0.0f, 0.0f, 0.0f, 0.0f,  0.0f, 1.0f },
+	{ SOCK_VALUE, 0, "Green", 0.0f, 0.0f, 0.0f, 0.0f,  0.0f, 1.0f },
+	{ SOCK_VALUE, 0, "Blue",  0.0f, 0.0f, 0.0f, 0.0f,  0.0f, 1.0f },
+	{ SOCK_VALUE, 0, "Alpha", 1.0f, 0.0f, 0.0f, 0.0f,  0.0f, 1.0f },
+	{ -1, 0, "" }
+};
+
+static void valuefn_r(float *out, float *coord, bNode *node, bNodeStack **in, short thread)
+{
+	tex_input_rgba(out, in[0], coord, thread);
+	*out = out[0];
+}
+
+static void valuefn_g(float *out, float *coord, bNode *node, bNodeStack **in, short thread)
+{
+	tex_input_rgba(out, in[0], coord, thread);
+	*out = out[1];
+}
+
+static void valuefn_b(float *out, float *coord, bNode *node, bNodeStack **in, short thread)
+{
+	tex_input_rgba(out, in[0], coord, thread);
+	*out = out[2];
+}
+
+static void valuefn_a(float *out, float *coord, bNode *node, bNodeStack **in, short thread)
+{
+	tex_input_rgba(out, in[0], coord, thread);
+	*out = out[3];
+}
+
+static void exec(void *data, bNode *node, bNodeStack **in, bNodeStack **out)
+{
+	tex_output(node, in, out[0], &valuefn_r);
+	tex_output(node, in, out[1], &valuefn_g);
+	tex_output(node, in, out[2], &valuefn_b);
+	tex_output(node, in, out[3], &valuefn_a);
+}
+
+bNodeType tex_node_decompose= {
+	/* *next,*prev     */  NULL, NULL,
+	/* type code       */  TEX_NODE_DECOMPOSE,
+	/* name            */  "Decompose RGBA",
+	/* width+range     */  100, 60, 150,
+	/* class+opts      */  NODE_CLASS_OP_COLOR, 0,
+	/* input sock      */  inputs,
+	/* output sock     */  outputs,
+	/* storage         */  "", 
+	/* execfunc        */  exec,
+	/* butfunc         */  NULL,
+	/* initfunc        */  NULL,
+	/* freestoragefunc */  NULL,
+	/* copystoragefunc */  NULL,
+	/* id              */  NULL   
+	
+};
diff --git a/source/blender/nodes/intern/TEX_nodes/TEX_hueSatVal.c b/source/blender/nodes/intern/TEX_nodes/TEX_hueSatVal.c
index d1a33896fc3..bb1a49fb235 100644
--- a/source/blender/nodes/intern/TEX_nodes/TEX_hueSatVal.c
+++ b/source/blender/nodes/intern/TEX_nodes/TEX_hueSatVal.c
@@ -30,16 +30,16 @@
 
 
 static bNodeSocketType inputs[]= {
-	{	SOCK_VALUE, 1, "Hue",			0.5f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f},
-	{	SOCK_VALUE, 1, "Saturation",		1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 2.0f},
-	{	SOCK_VALUE, 1, "Value",			1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 2.0f},
-	{	SOCK_VALUE, 1, "Fac",			1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f},
-	{	SOCK_RGBA, 1, "Color",			0.8f, 0.8f, 0.8f, 1.0f, 0.0f, 1.0f},
-	{	-1, 0, ""	}
+	{ SOCK_VALUE, 1, "Hue",        0.0f, 0.0f, 0.0f, 0.0f, -0.5f, 0.5f },
+	{ SOCK_VALUE, 1, "Saturation", 1.0f, 0.0f, 0.0f, 0.0f,  0.0f, 2.0f },
+	{ SOCK_VALUE, 1, "Value",      1.0f, 0.0f, 0.0f, 0.0f,  0.0f, 2.0f },
+	{ SOCK_VALUE, 1, "Factor",     1.0f, 0.0f, 0.0f, 0.0f,  0.0f, 1.0f },
+	{ SOCK_RGBA,  1, "Color",      0.8f, 0.8f, 0.8f, 1.0f,  0.0f, 1.0f },
+	{ -1, 0, "" }
 };
 static bNodeSocketType outputs[]= {
-	{	SOCK_RGBA, 0, "Color",			0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 1.0f},
-	{	-1, 0, ""	}
+	{ SOCK_RGBA, 0, "Color",       0.0f, 0.0f, 0.0f, 1.0f,  0.0f, 1.0f },
+	{ -1, 0, "" }
 };
 
 static void do_hue_sat_fac(bNode *node, float *out, float hue, float sat, float val, float *in, float fac)
@@ -67,15 +67,19 @@ static void do_hue_sat_fac(bNode *node, float *out, float hue, float sat, float
 
 static void colorfn(float *out, float *coord, bNode *node, bNodeStack **in, short thread)
 {	
-	float in0 = tex_input_value(in[0], coord, thread);
-	float in1 = tex_input_value(in[1], coord, thread);
-	float in2 = tex_input_value(in[2], coord, thread);
-	float in3 = tex_input_value(in[3], coord, thread);
+	float hue = tex_input_value(in[0], coord, thread);
+	float sat = tex_input_value(in[1], coord, thread);
+	float val = tex_input_value(in[2], coord, thread);
+	float fac = tex_input_value(in[3], coord, thread);
 	
-	float in4[4];
-	tex_input_rgba(in4, in[4], coord, thread);
+	float col[4];
+	tex_input_rgba(col, in[4], coord, thread);
 	
-	do_hue_sat_fac(node, out, in0, in1, in2, in4, in3);
+	hue += 0.5f; /* [-.5, .5] -> [0, 1] */
+	
+	do_hue_sat_fac(node, out, hue, sat, val, col, fac);
+	
+	out[3] = col[3];
 }
 
 static void exec(void *data, bNode *node, bNodeStack **in, bNodeStack **out)
diff --git a/source/blender/nodes/intern/TEX_nodes/TEX_math.c b/source/blender/nodes/intern/TEX_nodes/TEX_math.c
index a2c66078692..bac91fc0901 100644
--- a/source/blender/nodes/intern/TEX_nodes/TEX_math.c
+++ b/source/blender/nodes/intern/TEX_nodes/TEX_math.c
@@ -143,6 +143,29 @@ static void valuefn(float *out, float *coord, bNode *node, bNodeStack **in, shor
 			*out= (int)(in0 + 0.5f);
 		}
 		break; 
+		
+	case 15: /* Less Than */
+		{
+			if( in0 < in1 )
+				*out= 1.0f;
+			else
+				*out= 0.0f;
+		}
+		break;
+		
+	case 16: /* Greater Than */
+		{
+			if( in0 > in1 )
+				*out= 1.0f;
+			else
+				*out= 0.0f;
+		}
+		break;
+		
+	default:
+		fprintf(stderr,
+			"%s:%d: unhandeld value in switch statement: %d\n",
+			__FILE__, __LINE__, node->custom1);
 	} 
 }
 
diff --git a/source/blender/nodes/intern/TEX_nodes/TEX_proc.c b/source/blender/nodes/intern/TEX_nodes/TEX_proc.c
index 9078dd1be21..ec65cf186a8 100644
--- a/source/blender/nodes/intern/TEX_nodes/TEX_proc.c
+++ b/source/blender/nodes/intern/TEX_nodes/TEX_proc.c
@@ -110,25 +110,25 @@ static int count_outputs(bNode *node)
 /* Boilerplate generators */
 
 #define ProcNoInputs(name) \
-	static void name##_map_inputs(Tex *tex, bNodeStack **in, float *coord, short thread) \
-	{}
+        static void name##_map_inputs(Tex *tex, bNodeStack **in, float *coord, short thread) \
+        {}
 
 #define ProcDef(name) \
-	static void name##_colorfn(float *result, float *coord, bNode *node, bNodeStack **in, short thread)  \
-	{                                                                                                    \
-		texfn(result, coord, node, in, 0, &name##_map_inputs, thread);                               \
-	}                                                                                                    \
-	static void name##_normalfn(float *result, float *coord, bNode *node, bNodeStack **in, short thread) \
-	{                                                                                                    \
-		texfn(result, coord, node, in, 1, &name##_map_inputs, thread);                               \
-	}                                                                                                    \
-	static void name##_exec(void *data, bNode *node, bNodeStack **in, bNodeStack **out)                  \
-	{                                                                                                    \
-		int outs = count_outputs(node);                                                              \
-		if(outs >= 1) tex_output(node, in, out[0], &name##_colorfn);                                 \
-		if(outs >= 2) tex_output(node, in, out[1], &name##_normalfn);                                \
-		if(outs >= 1) tex_do_preview(node, out[0], data);                                            \
-	}
+        static void name##_colorfn(float *result, float *coord, bNode *node, bNodeStack **in, short thread)  \
+        {                                                                                                    \
+                texfn(result, coord, node, in, 0, &name##_map_inputs, thread);                               \
+        }                                                                                                    \
+        static void name##_normalfn(float *result, float *coord, bNode *node, bNodeStack **in, short thread) \
+        {                                                                                                    \
+                texfn(result, coord, node, in, 1, &name##_map_inputs, thread);                               \
+        }                                                                                                    \
+        static void name##_exec(void *data, bNode *node, bNodeStack **in, bNodeStack **out)                  \
+        {                                                                                                    \
+                int outs = count_outputs(node);                                                              \
+                if(outs >= 1) tex_output(node, in, out[0], &name##_colorfn);                                 \
+                if(outs >= 2) tex_output(node, in, out[1], &name##_normalfn);                                \
+                if(outs >= 1) tex_do_preview(node, out[0], data);                                            \
+        }
 
 
 /* --- VORONOI -- */
diff --git a/source/blender/nodes/intern/TEX_nodes/TEX_rotate.c b/source/blender/nodes/intern/TEX_nodes/TEX_rotate.c
index 93bf17d4862..3a2c2b1def1 100644
--- a/source/blender/nodes/intern/TEX_nodes/TEX_rotate.c
+++ b/source/blender/nodes/intern/TEX_nodes/TEX_rotate.c
@@ -91,8 +91,6 @@ static void colorfn(float *out, float *coord, bNode *node, bNodeStack **in, shor
 static void exec(void *data, bNode *node, bNodeStack **in, bNodeStack **out) 
 {
 	tex_output(node, in, out[0], &colorfn);
-	
-	tex_do_preview(node, out[0], data);
 }
 
 bNodeType tex_node_rotate= {
diff --git a/source/blender/nodes/intern/TEX_nodes/TEX_scale.c b/source/blender/nodes/intern/TEX_nodes/TEX_scale.c
new file mode 100644
index 00000000000..792c3468e9f
--- /dev/null
+++ b/source/blender/nodes/intern/TEX_nodes/TEX_scale.c
@@ -0,0 +1,76 @@
+/**
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2005 Blender Foundation.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#include <math.h>
+#include "../TEX_util.h"
+
+static bNodeSocketType inputs[]= { 
+	{ SOCK_RGBA,   1, "Color", 0.0f, 0.0f, 0.0f, 1.0f,    0.0f,  1.0f },
+	{ SOCK_VECTOR, 1, "Scale", 1.0f, 1.0f, 1.0f, 0.0f,  -10.0f, 10.0f },
+	{ -1, 0, "" } 
+};
+
+static bNodeSocketType outputs[]= { 
+	{ SOCK_RGBA, 0, "Color", 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 1.0f}, 
+	{ -1, 0, "" } 
+};
+
+static void colorfn(float *out, float *coord, bNode *node, bNodeStack **in, short thread)
+{
+	float scale[3], new_coord[3];
+	
+	tex_input_vec(scale, in[1], coord, thread);
+	
+	new_coord[0] = coord[0] * scale[0];
+	new_coord[1] = coord[1] * scale[1];
+	new_coord[2] = coord[2] * scale[2];
+	
+	tex_input_rgba(out, in[0], new_coord, thread);
+}
+static void exec(void *data, bNode *node, bNodeStack **in, bNodeStack **out) 
+{
+	tex_output(node, in, out[0], &colorfn);
+}
+
+bNodeType tex_node_scale = {
+	/* *next,*prev */	NULL, NULL,
+	/* type code   */	TEX_NODE_SCALE, 
+	/* name        */	"Scale", 
+	/* width+range */	90, 80, 100, 
+	/* class+opts  */	NODE_CLASS_DISTORT, NODE_OPTIONS, 
+	/* input sock  */	inputs, 
+	/* output sock */	outputs, 
+	/* storage     */	"", 
+	/* execfunc    */	exec,
+	/* butfunc     */	NULL,
+	/* initfunc    */	NULL,
+	/* freestoragefunc    */	NULL,
+	/* copystoragefunc    */	NULL,
+	/* id          */	NULL
+};
+
diff --git a/source/blender/nodes/intern/TEX_nodes/TEX_translate.c b/source/blender/nodes/intern/TEX_nodes/TEX_translate.c
index bd7e61d0ff4..0e903301789 100644
--- a/source/blender/nodes/intern/TEX_nodes/TEX_translate.c
+++ b/source/blender/nodes/intern/TEX_nodes/TEX_translate.c
@@ -55,8 +55,6 @@ static void colorfn(float *out, float *coord, bNode *node, bNodeStack **in, shor
 static void exec(void *data, bNode *node, bNodeStack **in, bNodeStack **out) 
 {
 	tex_output(node, in, out[0], &colorfn);
-	
-	tex_do_preview(node, out[0], data);
 }
 
 bNodeType tex_node_translate = {
diff --git a/source/blender/nodes/intern/TEX_nodes/TEX_valToNor.c b/source/blender/nodes/intern/TEX_nodes/TEX_valToNor.c
new file mode 100644
index 00000000000..f63f5682030
--- /dev/null
+++ b/source/blender/nodes/intern/TEX_nodes/TEX_valToNor.c
@@ -0,0 +1,92 @@
+/**
+ *
+ * ***** BEGIN GPL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. 
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2005 Blender Foundation.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): Jucas.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#include "../TEX_util.h"
+
+static bNodeSocketType inputs[]= { 
+	{ SOCK_VALUE, 1, "Val",   0.0f,   0.0f, 0.0f, 1.0f,  0.0f,   1.0f },
+	{ SOCK_VALUE, 1, "Nabla", 0.025f, 0.0f, 0.0f, 0.0f,  0.001f, 0.1f },
+	{ -1, 0, "" } 
+};
+
+static bNodeSocketType outputs[]= { 
+	{ SOCK_VECTOR, 0, "Normal", 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f }, 
+	{ -1, 0, "" } 
+};
+
+static void normalfn(float *out, float *coord, bNode *node, bNodeStack **in, short thread)
+{
+	float new_coord[3];
+
+	float nabla = tex_input_value(in[1], coord, thread);	
+	float val;
+	float nor[2];
+
+	val = tex_input_value(in[0], coord, thread);
+
+	new_coord[0] = coord[0] + nabla;
+	new_coord[1] = coord[1];
+	new_coord[2] = coord[2];
+	nor[0] = tex_input_value(in[0], new_coord, thread);
+
+	new_coord[0] = coord[0];
+	new_coord[1] = coord[1] + nabla;
+	nor[1] = tex_input_value(in[0], new_coord, thread);
+	
+	new_coord[1] = coord[1];
+	new_coord[2] = coord[2] + nabla;
+	nor[2] = tex_input_value(in[0], new_coord, thread);
+
+	out[0] = val-nor[0];
+	out[1] = val-nor[1];
+	out[2] = val-nor[2];
+}
+static void exec(void *data, bNode *node, bNodeStack **in, bNodeStack **out) 
+{
+	tex_output(node, in, out[0], &normalfn);
+	
+	tex_do_preview(node, out[0], data);
+}
+
+bNodeType tex_node_valtonor = {
+	/* *next,*prev     */ NULL, NULL,
+	/* type code       */ TEX_NODE_VALTONOR, 
+	/* name            */ "Value to Normal", 
+	/* width+range     */ 90, 80, 100, 
+	/* class+opts      */ NODE_CLASS_CONVERTOR, NODE_OPTIONS, 
+	/* input sock      */ inputs, 
+	/* output sock     */ outputs, 
+	/* storage         */ "", 
+	/* execfunc        */ exec,
+	/* butfunc         */ NULL,
+	/* initfunc        */ NULL,
+	/* freestoragefunc */ NULL,
+	/* copystoragefunc */ NULL,
+	/* id              */ NULL
+};
+
diff --git a/source/blender/python/epy_doc_gen.py b/source/blender/python/epy_doc_gen.py
index f14cd2f90f9..a108929febc 100644
--- a/source/blender/python/epy_doc_gen.py
+++ b/source/blender/python/epy_doc_gen.py
@@ -39,11 +39,27 @@ def get_array_str(length):
 	if length > 0:	return ' array of %d items' % length
 	else:		return ''
 
+def full_rna_struct_path(rna_struct):
+	'''
+	Needed when referencing one struct from another
+	'''
+	nested = rna_struct.nested
+	if nested:
+		return "%s.%s" % (full_rna_struct_path(nested), rna_struct.identifier)
+	else:
+		return rna_struct.identifier
+
+
 def rna2epy(target_path):
 	
-
+	# Use for faster lookups
+	# use rna_struct.identifier as the key for each dict
+	rna_full_path_dict =	{}	# store the result of full_rna_struct_path(rna_struct)
+	rna_children_dict =		{}	# store all rna_structs nested from here
+	rna_references_dict =	{}	# store a list of rna path strings that reference this type
+	rna_words = set()
 	
-	def write_struct(rna_struct, structs, ident):
+	def write_struct(rna_struct, ident):
 		identifier = rna_struct.identifier
 		
 		rna_base = rna_struct.base
@@ -56,10 +72,30 @@ def rna2epy(target_path):
 		out.write(ident+ '\t"""\n')
 		
 		title = 'The %s Object' % rna_struct.name
-		
+		description = rna_struct.description
 		out.write(ident+ '\t%s\n' %  title)
 		out.write(ident+ '\t%s\n' %  ('=' * len(title)))
-		out.write(ident+ '\t\t%s\n' %  rna_struct.description)
+		out.write(ident+ '\t\t%s\n' %  description)
+		rna_words.update(description.split())
+		
+		
+		# For convenience, give a list of all places were used.
+		rna_refs= rna_references_dict[identifier]
+		
+		if rna_refs:
+			out.write(ident+ '\t\t\n')
+			out.write(ident+ '\t\tReferences\n')
+			out.write(ident+ '\t\t==========\n')
+			
+			for rna_ref_string in rna_refs:
+				out.write(ident+ '\t\t\t- L{%s}\n' % rna_ref_string)
+			
+			out.write(ident+ '\t\t\n')
+		
+		else:
+			out.write(ident+ '\t\t\n')
+			out.write(ident+ '\t\t(no references to this struct found)\n')
+			out.write(ident+ '\t\t\n')
 		
 		for rna_prop_identifier, rna_prop in rna_struct.properties.items():
 			
@@ -70,6 +106,8 @@ def rna2epy(target_path):
 				continue
 			
 			rna_desc = rna_prop.description
+			
+			if rna_desc: rna_words.update(rna_desc.split())
 			if not rna_desc: rna_desc = rna_prop.name
 			if not rna_desc: rna_desc = 'Note - No documentation for this property!'
 			
@@ -110,10 +148,8 @@ def rna2epy(target_path):
 		out.write(ident+ '\t"""\n\n')
 		
 		# Now write children recursively
-		for child in structs:
-			if rna_struct == child.nested:
-				write_struct(child, structs, ident + '\t')
-		
+		for child in rna_children_dict[identifier]:
+			write_struct(child, ident + '\t')
 	
 	out = open(target_path, 'w')
 
@@ -121,12 +157,33 @@ def rna2epy(target_path):
 		try:		return rna_struct.base.identifier
 		except:	return '' # invalid id
 
-	#structs = [(base_id(rna_struct), rna_struct.identifier, rna_struct) for rna_struct in bpydoc.structs.values()]
-	
+	#structs = [(base_id(rna_struct), rna_struct.identifier, rna_struct) for rna_struct in bpy.doc.structs.values()]
+	'''
 	structs = []
-	for rna_struct in bpydoc.structs.values():
+	for rna_struct in bpy.doc.structs.values():
 		structs.append( (base_id(rna_struct), rna_struct.identifier, rna_struct) )
-		
+	'''
+	structs = []
+	for rna_type_name in dir(bpy.types):
+		rna_type = getattr(bpy.types, rna_type_name)
+		if hasattr(rna_type, '__rna__'):
+			#if not rna_type_name.startswith('__'):
+			rna_struct = rna_type.__rna__
+			identifier = rna_struct.identifier
+			structs.append( (base_id(rna_struct), identifier, rna_struct) )	
+			
+			
+			
+			# Store full rna path 'GameObjectSettings' -> 'Object.GameObjectSettings'
+			rna_full_path_dict[identifier] = full_rna_struct_path(rna_struct)
+			
+			# fill in these later
+			rna_children_dict[identifier]= []
+			rna_references_dict[identifier]= []
+			
+		else:
+			print("Ignoring", rna_type_name)
+	
 	
 	
 	structs.sort() # not needed but speeds up sort below, setting items without an inheritance first
@@ -153,19 +210,50 @@ def rna2epy(target_path):
 					i+=1
 					
 				if not ok:
-					print('Dependancy "%s"could not be found for "%s"' % (identifier, rna_base))
+					print('Dependancy "%s" could not be found for "%s"' % (identifier, rna_base))
 				
 				break
 	
-	structs = [data[2] for data in structs]
 	# Done ordering structs
 	
 	
-	for rna_struct in structs:
+	# precalc vars to avoid a lot of looping
+	for (rna_base, identifier, rna_struct) in structs:
+		
+		
+		# rna_struct_path = full_rna_struct_path(rna_struct)
+		rna_struct_path = rna_full_path_dict[identifier]
+		
+		for rna_prop_identifier, rna_prop in rna_struct.properties.items():
+			if rna_prop_identifier=='RNA':
+				continue
+			
+			if rna_prop_identifier=='rna_type':
+				continue
+			
+			try:		rna_prop_ptr = rna_prop.fixed_type
+			except:	rna_prop_ptr = None
+			
+			# Does this property point to me?
+			if rna_prop_ptr:
+				rna_references_dict[rna_prop_ptr.identifier].append( "%s.%s" % (rna_struct_path, rna_prop_identifier) )
+		
+		
+		
+		# Store nested children
+		nested = rna_struct.nested
+		if nested:
+			rna_children_dict[nested.identifier].append(rna_struct)
+	
+	# Sort the refs, just reads nicer
+	for rna_refs in rna_references_dict.values():
+		rna_refs.sort()
+	
+	for (rna_base, identifier, rna_struct) in structs:
 		if rna_struct.nested:
 			continue
 		
-		write_struct(rna_struct, structs, '')
+		write_struct(rna_struct, '')
 		
 		
 	out.write('\n')
@@ -173,16 +261,89 @@ def rna2epy(target_path):
 	
 	# # We could also just run....
 	# os.system('epydoc source/blender/python/doc/rna.py -o ./source/blender/python/doc/html -v')
+	
+	
+	# Write graphviz
+	out= open(target_path.replace('.py', '.dot'), 'w')
+	out.write('digraph "rna data api" {\n')
+	out.write('\tnode [style=filled, shape = "box"];\n')
+	out.write('\toverlap=false;\n')
+	out.write('\trankdir = LR;\n')
+	out.write('\tsplines=true;\n')
+	out.write('\tratio=auto;\n')
+	
+	
+	
+	out.write('\tsize="10,10"\n')
+	#out.write('\tpage="8.5,11"\n')
+	#out.write('\tcenter=""\n')
+	
+	def isop(rna_struct):
+		return '_OT_' in rna_struct.identifier
+	
+	
+	for (rna_base, identifier, rna_struct) in structs:
+		if isop(rna_struct):
+			continue
+		
+		base = rna_struct.base
+		
+		
+		out.write('\t"%s";\n' % identifier)
+	
+	for (rna_base, identifier, rna_struct) in structs:
+		
+		if isop(rna_struct):
+			continue
+			
+		base = rna_struct.base
+		
+		if base and not isop(base):
+			out.write('\t"%s" -> "%s" [label="(base)" weight=1.0];\n' % (base.identifier, identifier))
+		
+		nested = rna_struct.nested
+		if nested and not isop(nested):
+			out.write('\t"%s" -> "%s" [label="(nested)"  weight=1.0];\n' % (nested.identifier, identifier))
+		
+		
+		
+		rna_refs= rna_references_dict[identifier]
+		
+		for rna_ref_string in rna_refs:
+			
+			if '_OT_' in rna_ref_string:
+				continue
+			
+			ref = rna_ref_string.split('.')[-2]
+			out.write('\t"%s" -> "%s" [label="%s" weight=0.01];\n' % (ref, identifier, rna_ref_string))
+		
+		
+	
+	out.write('}\n')
+	out.close()
+	
+	# # We could also just run....
+	# os.system('dot source/blender/python/doc/rna.dot -Tsvg -o ./source/blender/python/doc/rna.svg')
+	
+	
+	out= open(target_path.replace('.py', '.words'), 'w')
+	rna_words = list(rna_words)
+	rna_words.sort()
+	for w in rna_words:
+		out.write('%s\n' % w)
+	
+	
+	
+	
 
 def op2epy(target_path):
 	out = open(target_path, 'w')
 	
-	operators = dir(bpyoperator)
+	operators = dir(bpy.ops)
 	operators.remove('add')
 	operators.remove('remove')
 	operators.sort()
 	
-	
 	for op in operators:
 		
 		if op.startswith('__'):
@@ -192,7 +353,9 @@ def op2epy(target_path):
 		kw_args = [] # "foo = 1", "bar=0.5", "spam='ENUM'"
 		kw_arg_attrs = [] # "@type mode: int"
 		
-		rna = getattr(bpyoperator, op).rna
+		# rna = getattr(bpy.types, op).__rna__
+		rna = bpy.ops.__rna__(op)
+		
 		rna_struct = rna.rna_type
 		# print (dir(rna))
 		# print (dir(rna_struct))
@@ -210,14 +373,18 @@ def op2epy(target_path):
 			
 			try:
 				val = getattr(rna, rna_prop_identifier)
+				val_error = False
 			except:
-				val = '<UNDEFINED>'
+				val = "'<UNDEFINED>'"
+				val_error = True
 			
 			kw_type_str= "@type %s: %s%s" % (rna_prop_identifier, rna_prop_type, array_str)
 			kw_param_str= "@param %s: %s" % (rna_prop_identifier, rna_prop.description)
 			kw_param_set = False
 			
-			if rna_prop_type=='float':
+			if val_error:
+				val_str = val
+			elif rna_prop_type=='float':
 				if length==0:
 					val_str= '%g' % val
 					if '.' not in val_str:
diff --git a/source/blender/python/intern/bpy_compat.h b/source/blender/python/intern/bpy_compat.h
index e2337db4925..4f64c916ca2 100644
--- a/source/blender/python/intern/bpy_compat.h
+++ b/source/blender/python/intern/bpy_compat.h
@@ -37,7 +37,7 @@
 #undef PyUnicode_Check
 #define PyUnicode_Check PyString_Check
 
-#define PyLong_FromSize_t PyInt_FromLong
+#define PyLong_FromSsize_t PyInt_FromLong
 #define PyLong_AsSsize_t PyInt_AsLong
 
 #undef PyLong_Check
@@ -56,6 +56,18 @@
 
 #endif
 
+#ifndef Py_REFCNT
+#define Py_REFCNT(ob)		(((PyObject*)(ob))->ob_refcnt)
+#endif
+
+#ifndef Py_TYPE
+#define Py_TYPE(ob)		(((PyObject*)(ob))->ob_type)
+#endif
+
+#ifndef Py_TYPE
+#define Py_SIZE(ob)		(((PyVarObject*)(ob))->ob_size)
+#endif
+
 /* older then python 2.6 - define these */
 // #if (PY_VERSION_HEX < 0x02060000)
 // #endif
diff --git a/source/blender/python/intern/bpy_interface.c b/source/blender/python/intern/bpy_interface.c
index bb315cda47a..94ec8deebe4 100644
--- a/source/blender/python/intern/bpy_interface.c
+++ b/source/blender/python/intern/bpy_interface.c
@@ -34,36 +34,45 @@ void BPY_free_compiled_text( struct Text *text )
 
 static PyObject *CreateGlobalDictionary( bContext *C )
 {
+	PyObject *mod;
 	PyObject *dict = PyDict_New(  );
 	PyObject *item = PyUnicode_FromString( "__main__" );
 	PyDict_SetItemString( dict, "__builtins__", PyEval_GetBuiltins(  ) );
 	PyDict_SetItemString( dict, "__name__", item );
 	Py_DECREF(item);
 	
-	/* Add Modules */
-	item = BPY_rna_module();
-	PyDict_SetItemString( dict, "bpy", item );
-	Py_DECREF(item);
+	/* add bpy to global namespace */
+	mod = PyModule_New("bpy");
+	PyDict_SetItemString( dict, "bpy", mod );
+	Py_DECREF(mod);
 	
-	item = BPY_rna_doc();
-	PyDict_SetItemString( dict, "bpydoc", item );
-	Py_DECREF(item);
-
-	item = BPY_operator_module(C);
-	PyDict_SetItemString( dict, "bpyoperator", item );
-	Py_DECREF(item);
-
-	
-	// XXX very experemental, consiter this a test, especiall PyCObject is not meant to be perminant
-	item = BPY_ui_module();
-	PyDict_SetItemString( dict, "bpyui", item );
-	Py_DECREF(item);
+	PyModule_AddObject( mod, "data", BPY_rna_module() );
+	/* PyModule_AddObject( mod, "doc", BPY_rna_doc() ); */
+	PyModule_AddObject( mod, "types", BPY_rna_types() );
+	PyModule_AddObject( mod, "ops", BPY_operator_module(C) );
+	PyModule_AddObject( mod, "ui", BPY_ui_module() ); // XXX very experemental, consider this a test, especially PyCObject is not meant to be perminant
 	
 	// XXX - evil, need to access context
 	item = PyCObject_FromVoidPtr( C, NULL );
 	PyDict_SetItemString( dict, "__bpy_context__", item );
 	Py_DECREF(item);
 	
+	
+	// XXX - put somewhere more logical
+	{
+		PyMethodDef *ml;
+		static PyMethodDef bpy_prop_meths[] = {
+			{"FloatProperty", (PyCFunction)BPy_FloatProperty, METH_VARARGS|METH_KEYWORDS, ""},
+			{"IntProperty", (PyCFunction)BPy_IntProperty, METH_VARARGS|METH_KEYWORDS, ""},
+			{"BoolProperty", (PyCFunction)BPy_BoolProperty, METH_VARARGS|METH_KEYWORDS, ""},
+			{NULL, NULL, 0, NULL}
+		};
+		
+		for(ml = bpy_prop_meths; ml->ml_name; ml++) {
+			PyDict_SetItemString( dict, ml->ml_name, PyCFunction_New(ml, NULL));
+		}
+	}
+	
 	return dict;
 }
 
@@ -90,8 +99,10 @@ void BPY_end_python( void )
 	PyGILState_Ensure(); /* finalizing, no need to grab the state */
 	
 	// free other python data.
+	//BPY_rna_free_types();
 	
 	Py_Finalize(  );
+	
 	return;
 }
 
@@ -122,8 +133,10 @@ int BPY_run_python_script( bContext *C, const char *fn, struct Text *text )
 			MEM_freeN( buf );
 
 			if( PyErr_Occurred(  ) ) {
+				PyErr_Print();
 				BPY_free_compiled_text( text );
-				return NULL;
+				PyGILState_Release(gilstate);
+				return 0;
 			}
 		}
 		py_result =  PyEval_EvalCode( text->compiled, py_dict, py_dict );
@@ -253,6 +266,7 @@ int BPY_run_python_script_space(const char *modulename, const char *func)
 			PyErr_SetFormat(PyExc_SystemError, "module has no function '%s.%s'\n", scpt->script.filename, func);
 		}
 		else {
+			Py_DECREF(py_func);
 			if (!PyCallable_Check(py_func)) {
 				PyErr_SetFormat(PyExc_SystemError, "module item is not callable '%s.%s'\n", scpt->script.filename, func);
 			}
diff --git a/source/blender/python/intern/bpy_operator.c b/source/blender/python/intern/bpy_operator.c
index ec8227c670d..02f4723c037 100644
--- a/source/blender/python/intern/bpy_operator.c
+++ b/source/blender/python/intern/bpy_operator.c
@@ -107,109 +107,27 @@ int PYOP_props_from_dict(PointerRNA *ptr, PyObject *kw)
 	return error_val;
 }
 
-
-
-
-static int pyop_func_compare( BPy_OperatorFunc * a, BPy_OperatorFunc * b )
-{
-	return (strcmp(a->name, b->name)==0) ? 0 : -1;
-}
-
-/* For some reason python3 needs these :/ */
-static PyObject *pyop_func_richcmp(BPy_OperatorFunc * a, BPy_OperatorFunc * b, int op)
-{
-	int cmp_result= -1; /* assume false */
-	if (BPy_OperatorFunc_Check(a) && BPy_OperatorFunc_Check(b)) {
-		cmp_result= pyop_func_compare(a, b);
-	}
-
-	return Py_CmpToRich(op, cmp_result);
-}
-
-
-/*----------------------repr--------------------------------------------*/
-static PyObject *pyop_base_repr( BPy_OperatorBase * self )
-{
-	return PyUnicode_FromFormat( "[BPy_OperatorBase]");
-}
-
-static PyObject *pyop_func_repr( BPy_OperatorFunc * self )
-{
-	return PyUnicode_FromFormat( "[BPy_OperatorFunc \"%s\"]", self->name);
-}
-
+static PyObject *pyop_base_dir(PyObject *self);
+static PyObject *pyop_base_rna(PyObject *self, PyObject *pyname);
 static struct PyMethodDef pyop_base_methods[] = {
-	{"add", (PyCFunction)PYOP_wrap_add, METH_VARARGS, ""},
-	{"remove", (PyCFunction)PYOP_wrap_remove, METH_VARARGS, ""},
+	{"__dir__", (PyCFunction)pyop_base_dir, METH_NOARGS, ""},
+	{"__rna__", (PyCFunction)pyop_base_rna, METH_O, ""},
+	{"add", (PyCFunction)PYOP_wrap_add, METH_O, ""},
+	{"remove", (PyCFunction)PYOP_wrap_remove, METH_O, ""},
 	{NULL, NULL, 0, NULL}
 };
 
-//---------------getattr--------------------------------------------
-static PyObject *pyop_base_getattro( BPy_OperatorBase * self, PyObject *pyname )
-{
-	char *name = _PyUnicode_AsString(pyname);
-	PyObject *ret;
-	wmOperatorType *ot;
-	PyMethodDef *meth;
-	
-	if ((ot = WM_operatortype_find(name))) {
-		ret= pyop_func_CreatePyObject(self->C, name);
-	}
-	else if (strcmp(name, "__dict__")==0) {
-		ret = PyDict_New();
-
-		for(ot= WM_operatortype_first(); ot; ot= ot->next) {
-			PyDict_SetItemString(ret, ot->idname, Py_None);
-		}
-
-		for(meth=pyop_base_methods; meth->ml_name; meth++) {
-			PyDict_SetItemString(ret, meth->ml_name, Py_None);
-		}
-	}
-	else if ((ret = PyObject_GenericGetAttr((PyObject *)self, pyname))) {
-		/* do nothing, this accounts for methoddef's add and remove */
-	}
-	else {
-		PyErr_Format( PyExc_AttributeError, "Operator \"%s\" not found", name);
-		ret= NULL;
-	}
-
-	return ret;
-}
-
-/* getseter's */
-PyObject *pyop_func_get_rna(BPy_OperatorFunc *self)
-{
-	BPy_StructRNA *pyrna;
-	PointerRNA ptr;
-	wmOperatorType *ot;
-
-	ot= WM_operatortype_find(self->name);
-	if (ot == NULL) {
-		PyErr_SetString( PyExc_SystemError, "Operator could not be found");
-		return NULL;
-	}
-
-	pyrna= (BPy_StructRNA *)pyrna_struct_CreatePyObject(&ptr); /* were not really using &ptr, overwite next */
-
-	/* XXX POINTER - if this 'ot' is python generated, it could be free'd */
-	RNA_pointer_create(NULL, ot->srna, NULL, &pyrna->ptr);
-	pyrna->freeptr= 1;
-
-	return (PyObject *)pyrna;
-}
-
-static PyGetSetDef pyop_func_getseters[] = {
-	{"rna", (getter)pyop_func_get_rna, (setter)NULL, "Operator RNA properties", NULL},
-	{NULL,NULL,NULL,NULL,NULL}  /* Sentinel */
-};
-
-static PyObject * pyop_func_call(BPy_OperatorFunc * self, PyObject *args, PyObject *kw)
+/* 'self' stores the operator string */
+static PyObject *pyop_base_call( PyObject * self, PyObject * args,  PyObject * kw)
 {
 	wmOperatorType *ot;
-
 	int error_val = 0;
 	PointerRNA ptr;
+	
+	// XXX Todo, work out a better solution for passing on context, could make a tuple from self and pack the name and Context into it...
+	bContext *C = (bContext *)PyCObject_AsVoidPtr(PyDict_GetItemString(PyEval_GetGlobals(), "__bpy_context__"));
+	
+	char *opname = _PyUnicode_AsString(self);
 	char *report_str= NULL;
 
 	if (PyTuple_Size(args)) {
@@ -217,18 +135,18 @@ static PyObject * pyop_func_call(BPy_OperatorFunc * self, PyObject *args, PyObje
 		return NULL;
 	}
 
-	ot= WM_operatortype_find(self->name);
+	ot= WM_operatortype_find(opname);
 	if (ot == NULL) {
-		PyErr_SetString( PyExc_SystemError, "Operator could not be found");
+		PyErr_Format( PyExc_SystemError, "Operator \"%s\"could not be found", opname);
 		return NULL;
 	}
 	
-	if(ot->poll && (ot->poll(self->C) == 0)) {
+	if(ot->poll && (ot->poll(C) == 0)) {
 		PyErr_SetString( PyExc_SystemError, "Operator poll() function failed, context is incorrect");
 		return NULL;
 	}
 	
-	WM_operator_properties_create(&ptr, self->name);
+	WM_operator_properties_create(&ptr, opname);
 	
 	error_val= PYOP_props_from_dict(&ptr, kw);
 	
@@ -237,7 +155,7 @@ static PyObject * pyop_func_call(BPy_OperatorFunc * self, PyObject *args, PyObje
 
 		BKE_reports_init(&reports, RPT_STORE);
 
-		WM_operator_call_py(self->C, ot, &ptr, &reports);
+		WM_operator_call_py(C, ot, &ptr, &reports);
 
 		report_str= BKE_reports_string(&reports, RPT_ERROR);
 
@@ -258,11 +176,11 @@ static PyObject * pyop_func_call(BPy_OperatorFunc * self, PyObject *args, PyObje
 	{
 		/* no props */
 		if (kw != NULL) {
-			PyErr_Format(PyExc_AttributeError, "Operator \"%s\" does not take any args", self->name);
+			PyErr_Format(PyExc_AttributeError, "Operator \"%s\" does not take any args", opname);
 			return NULL;
 		}
 
-		WM_operator_name_call(self->C, self->name, WM_OP_EXEC_DEFAULT, NULL);
+		WM_operator_name_call(C, opname, WM_OP_EXEC_DEFAULT, NULL);
 	}
 #endif
 
@@ -273,222 +191,89 @@ static PyObject * pyop_func_call(BPy_OperatorFunc * self, PyObject *args, PyObje
 	Py_RETURN_NONE;
 }
 
-/*-----------------------BPy_OperatorBase method def------------------------------*/
-PyTypeObject pyop_base_Type = {
-#if (PY_VERSION_HEX >= 0x02060000)
-	PyVarObject_HEAD_INIT(NULL, 0)
-#else
-	/* python 2.5 and below */
-	PyObject_HEAD_INIT( NULL )  /* required py macro */
-	0,                          /* ob_size */
-#endif
-
-	"Operator",		/* tp_name */
-	sizeof( BPy_OperatorBase ),			/* tp_basicsize */
-	0,			/* tp_itemsize */
-	/* methods */
-	NULL,						/* tp_dealloc */
-	NULL,                       /* printfunc tp_print; */
-	NULL,						/* getattrfunc tp_getattr; */
-	NULL,                       /* setattrfunc tp_setattr; */
-	NULL,						/* tp_compare */
-	( reprfunc ) pyop_base_repr,	/* tp_repr */
-
-	/* Method suites for standard classes */
-
-	NULL,                       /* PyNumberMethods *tp_as_number; */
-	NULL,						/* PySequenceMethods *tp_as_sequence; */
-	NULL,						/* PyMappingMethods *tp_as_mapping; */
-
-	/* More standard operations (here for binary compatibility) */
-
-	NULL,						/* hashfunc tp_hash; */
-	NULL,                       /* ternaryfunc tp_call; */
-	NULL,                       /* reprfunc tp_str; */
-	( getattrofunc )pyop_base_getattro, /*PyObject_GenericGetAttr - MINGW Complains, assign later */	/* getattrofunc tp_getattro; */
-	NULL, /*PyObject_GenericSetAttr - MINGW Complains, assign later */	/* setattrofunc tp_setattro; */
-
-	/* Functions to access object as input/output buffer */
-	NULL,                       /* PyBufferProcs *tp_as_buffer; */
-
-  /*** Flags to define presence of optional/expanded features ***/
-	Py_TPFLAGS_DEFAULT,         /* long tp_flags; */
-
-	NULL,						/*  char *tp_doc;  Documentation string */
-  /*** Assigned meaning in release 2.0 ***/
-	/* call function for all accessible objects */
-	NULL,                       /* traverseproc tp_traverse; */
-
-	/* delete references to contained objects */
-	NULL,                       /* inquiry tp_clear; */
-
-  /***  Assigned meaning in release 2.1 ***/
-  /*** rich comparisons ***/
-	NULL,                       /* richcmpfunc tp_richcompare; */
-
-  /***  weak reference enabler ***/
-	0,                          /* long tp_weaklistoffset; */
-
-  /*** Added in release 2.2 ***/
-	/*   Iterators */
-	NULL,						/* getiterfunc tp_iter; */
-	NULL,                       /* iternextfunc tp_iternext; */
-
-  /*** Attribute descriptor and subclassing stuff ***/
-	pyop_base_methods,						/* struct PyMethodDef *tp_methods; */
-	NULL,                       /* struct PyMemberDef *tp_members; */
-	NULL,		/* struct PyGetSetDef *tp_getset; */
-	NULL,                       /* struct _typeobject *tp_base; */
-	NULL,                       /* PyObject *tp_dict; */
-	NULL,                       /* descrgetfunc tp_descr_get; */
-	NULL,                       /* descrsetfunc tp_descr_set; */
-	0,                          /* long tp_dictoffset; */
-	NULL,                       /* initproc tp_init; */
-	NULL,                       /* allocfunc tp_alloc; */
-	NULL,						/* newfunc tp_new; */
-	/*  Low-level free-memory routine */
-	NULL,                       /* freefunc tp_free;  */
-	/* For PyObject_IS_GC */
-	NULL,                       /* inquiry tp_is_gc;  */
-	NULL,                       /* PyObject *tp_bases; */
-	/* method resolution order */
-	NULL,                       /* PyObject *tp_mro;  */
-	NULL,                       /* PyObject *tp_cache; */
-	NULL,                       /* PyObject *tp_subclasses; */
-	NULL,                       /* PyObject *tp_weaklist; */
-	NULL
+static PyMethodDef pyop_base_call_meth[] = {
+	{"__op_call__", (PyCFunction)pyop_base_call, METH_VARARGS|METH_KEYWORDS, "generic operator calling function"}
 };
 
-/*-----------------------BPy_OperatorBase method def------------------------------*/
-PyTypeObject pyop_func_Type = {
-#if (PY_VERSION_HEX >= 0x02060000)
-	PyVarObject_HEAD_INIT(NULL, 0)
-#else
-	/* python 2.5 and below */
-	PyObject_HEAD_INIT( NULL )  /* required py macro */
-	0,                          /* ob_size */
-#endif
-
-	"OperatorFunc",		/* tp_name */
-	sizeof( BPy_OperatorFunc ),			/* tp_basicsize */
-	0,			/* tp_itemsize */
-	/* methods */
-	NULL,						/* tp_dealloc */
-	NULL,                       /* printfunc tp_print; */
-	NULL,						/* getattrfunc tp_getattr; */
-	NULL,                       /* setattrfunc tp_setattr; */
-	NULL,						/* tp_compare */ /* DEPRECATED in python 3.0! */
-	( reprfunc ) pyop_func_repr,	/* tp_repr */
-
-	/* Method suites for standard classes */
-
-	NULL,                       /* PyNumberMethods *tp_as_number; */
-	NULL,						/* PySequenceMethods *tp_as_sequence; */
-	NULL,						/* PyMappingMethods *tp_as_mapping; */
-
-	/* More standard operations (here for binary compatibility) */
-
-	NULL,						/* hashfunc tp_hash; */
-	(ternaryfunc)pyop_func_call,                       /* ternaryfunc tp_call; */
-	NULL,                       /* reprfunc tp_str; */
-	NULL,						/* getattrofunc tp_getattro; */
-	NULL, /*PyObject_GenericSetAttr - MINGW Complains, assign later */	/* setattrofunc tp_setattro; */
-
-	/* Functions to access object as input/output buffer */
-	NULL,                       /* PyBufferProcs *tp_as_buffer; */
-
-  /*** Flags to define presence of optional/expanded features ***/
-	Py_TPFLAGS_DEFAULT,         /* long tp_flags; */
-
-	NULL,						/*  char *tp_doc;  Documentation string */
-  /*** Assigned meaning in release 2.0 ***/
-	/* call function for all accessible objects */
-	NULL,                       /* traverseproc tp_traverse; */
-
-	/* delete references to contained objects */
-	NULL,                       /* inquiry tp_clear; */
-
-  /***  Assigned meaning in release 2.1 ***/
-  /*** rich comparisons ***/
-	(richcmpfunc)pyop_func_richcmp,	/* richcmpfunc tp_richcompare; */
-
-  /***  weak reference enabler ***/
-	0,                          /* long tp_weaklistoffset; */
-
-  /*** Added in release 2.2 ***/
-	/*   Iterators */
-	NULL,						/* getiterfunc tp_iter; */
-	NULL,                       /* iternextfunc tp_iternext; */
-
-  /*** Attribute descriptor and subclassing stuff ***/
-	NULL,						/* struct PyMethodDef *tp_methods; */
-	NULL,                       /* struct PyMemberDef *tp_members; */
-	pyop_func_getseters,		/* struct PyGetSetDef *tp_getset; */
-	NULL,                       /* struct _typeobject *tp_base; */
-	NULL,                       /* PyObject *tp_dict; */
-	NULL,                       /* descrgetfunc tp_descr_get; */
-	NULL,                       /* descrsetfunc tp_descr_set; */
-	0,                          /* long tp_dictoffset; */
-	NULL,                       /* initproc tp_init; */
-	NULL,                       /* allocfunc tp_alloc; */
-	NULL,						/* newfunc tp_new; */
-	/*  Low-level free-memory routine */
-	NULL,                       /* freefunc tp_free;  */
-	/* For PyObject_IS_GC */
-	NULL,                       /* inquiry tp_is_gc;  */
-	NULL,                       /* PyObject *tp_bases; */
-	/* method resolution order */
-	NULL,                       /* PyObject *tp_mro;  */
-	NULL,                       /* PyObject *tp_cache; */
-	NULL,                       /* PyObject *tp_subclasses; */
-	NULL,                       /* PyObject *tp_weaklist; */
-	NULL
-};
 
-PyObject *pyop_base_CreatePyObject( bContext *C )
+//---------------getattr--------------------------------------------
+static PyObject *pyop_base_getattro( BPy_OperatorBase * self, PyObject *pyname )
 {
-	BPy_OperatorBase *pyop;
-
-	pyop = ( BPy_OperatorBase * ) PyObject_NEW( BPy_OperatorBase, &pyop_base_Type );
-
-	if( !pyop ) {
-		PyErr_SetString( PyExc_MemoryError, "couldn't create BPy_OperatorBase object" );
-		return NULL;
+	char *name = _PyUnicode_AsString(pyname);
+	PyObject *ret;
+	wmOperatorType *ot;
+	
+	if ((ot= WM_operatortype_find(name))) {
+		ret = PyCFunction_New( pyop_base_call_meth, pyname); /* set the name string as self, PyCFunction_New incref's self */
+	}
+	else if ((ret = PyObject_GenericGetAttr((PyObject *)self, pyname))) {
+		/* do nothing, this accounts for methoddef's add and remove */
+	}
+	else {
+		PyErr_Format( PyExc_AttributeError, "Operator \"%s\" not found", name);
+		ret= NULL;
 	}
 
-	pyop->C = C; /* TODO - copy this? */
-
-	return ( PyObject * ) pyop;
+	return ret;
 }
 
-PyObject *pyop_func_CreatePyObject( bContext *C, char *name )
+static PyObject *pyop_base_dir(PyObject *self)
 {
-	BPy_OperatorFunc *pyop;
+	PyObject *list = PyList_New(0), *name;
+	wmOperatorType *ot;
+	PyMethodDef *meth;
+	
+	for(ot= WM_operatortype_first(); ot; ot= ot->next) {
+		name = PyUnicode_FromString(ot->idname);
+		PyList_Append(list, name);
+		Py_DECREF(name);
+	}
 
-	pyop = ( BPy_OperatorFunc * ) PyObject_NEW( BPy_OperatorFunc, &pyop_func_Type );
+	for(meth=pyop_base_methods; meth->ml_name; meth++) {
+		name = PyUnicode_FromString(meth->ml_name);
+		PyList_Append(list, name);
+		Py_DECREF(name);
+	}
+	
+	return list;
+}
 
-	if( !pyop ) {
-		PyErr_SetString( PyExc_MemoryError, "couldn't create BPy_OperatorFunc object" );
+static PyObject *pyop_base_rna(PyObject *self, PyObject *pyname)
+{
+	char *name = _PyUnicode_AsString(pyname);
+	wmOperatorType *ot;
+	
+	if ((ot= WM_operatortype_find(name))) {
+		BPy_StructRNA *pyrna;
+		PointerRNA ptr;
+		
+		/* XXX POINTER - if this 'ot' is python generated, it could be free'd */
+		RNA_pointer_create(NULL, ot->srna, NULL, &ptr);
+		
+		pyrna= (BPy_StructRNA *)pyrna_struct_CreatePyObject(&ptr); /* were not really using &ptr, overwite next */
+		//pyrna->freeptr= 1;
+		return (PyObject *)pyrna;
+	}
+	else {
+		PyErr_Format(PyExc_AttributeError, "Operator \"%s\" not found", name);
 		return NULL;
 	}
-
-	strcpy(pyop->name, name);
-	pyop->C= C; /* TODO - how should contexts be dealt with? */
-
-	return ( PyObject * ) pyop;
 }
 
+PyTypeObject pyop_base_Type = {NULL};
+
 PyObject *BPY_operator_module( bContext *C )
 {
+	pyop_base_Type.tp_name = "OperatorBase";
+	pyop_base_Type.tp_basicsize = sizeof( BPy_OperatorBase );
+	pyop_base_Type.tp_getattro = ( getattrofunc )pyop_base_getattro;
+	pyop_base_Type.tp_flags = Py_TPFLAGS_DEFAULT;
+	pyop_base_Type.tp_methods = pyop_base_methods;
+	
 	if( PyType_Ready( &pyop_base_Type ) < 0 )
 		return NULL;
 
-	if( PyType_Ready( &pyop_func_Type ) < 0 )
-		return NULL;
-
 	//submodule = Py_InitModule3( "operator", M_rna_methods, "rna module" );
-	return pyop_base_CreatePyObject(C);
+	return (PyObject *)PyObject_NEW( BPy_OperatorBase, &pyop_base_Type );
 }
 
-
-
diff --git a/source/blender/python/intern/bpy_operator.h b/source/blender/python/intern/bpy_operator.h
index 2dfd17bb01b..8eb0b887baa 100644
--- a/source/blender/python/intern/bpy_operator.h
+++ b/source/blender/python/intern/bpy_operator.h
@@ -33,28 +33,15 @@
 #include "BKE_context.h"
 
 extern PyTypeObject pyop_base_Type;
-extern PyTypeObject pyop_func_Type;
 
 #define BPy_OperatorBase_Check(v)	(PyObject_TypeCheck(v, &pyop_base_Type))
-#define BPy_OperatorFunc_Check(v)	(PyObject_TypeCheck(v, &pyop_func_Type))
-
 
 typedef struct {
 	PyObject_HEAD /* required python macro   */
-	bContext *C;
 } BPy_OperatorBase;
 
-typedef struct {
-	PyObject_HEAD /* required python macro   */
-	char name[OP_MAX_TYPENAME];
-	bContext *C;
-} BPy_OperatorFunc;
-
 PyObject *BPY_operator_module(bContext *C );
 
-PyObject *pyop_base_CreatePyObject(bContext *C );
-PyObject *pyop_func_CreatePyObject(bContext *C, char *name );
-
 /* fill in properties from a python dict */
 int PYOP_props_from_dict(PointerRNA *ptr, PyObject *kw);
 
diff --git a/source/blender/python/intern/bpy_opwrapper.c b/source/blender/python/intern/bpy_opwrapper.c
index ca6104d087f..b7d4c82588e 100644
--- a/source/blender/python/intern/bpy_opwrapper.c
+++ b/source/blender/python/intern/bpy_opwrapper.c
@@ -40,44 +40,19 @@
 #include "bpy_compat.h"
 #include "bpy_util.h"
 
+#define PYOP_ATTR_PROP			"__props__"
+#define PYOP_ATTR_UINAME		"__label__"
+#define PYOP_ATTR_IDNAME		"__name__"	/* use pythons class name */
+#define PYOP_ATTR_DESCRIPTION	"__doc__"	/* use pythons docstring */
+
 typedef struct PyOperatorType {
 	void *next, *prev;
 	char idname[OP_MAX_TYPENAME];
 	char name[OP_MAX_TYPENAME];
 	char description[OP_MAX_TYPENAME]; // XXX should be longer?
-	PyObject *py_invoke;
-	PyObject *py_exec;
+	PyObject *py_class;
 } PyOperatorType;
 
-static PyObject *pyop_kwargs_from_operator(wmOperator *op)
-{
-	PyObject *dict = PyDict_New();
-	PyObject *item;
-	PropertyRNA *prop, *iterprop;
-	CollectionPropertyIterator iter;
-	const char *arg_name;
-
-	iterprop= RNA_struct_iterator_property(op->ptr);
-	RNA_property_collection_begin(op->ptr, iterprop, &iter);
-
-	for(; iter.valid; RNA_property_collection_next(&iter)) {
-		prop= iter.ptr.data;
-
-		arg_name= RNA_property_identifier(&iter.ptr, prop);
-
-		if (strcmp(arg_name, "rna_type")==0) continue;
-
-		item = pyrna_prop_to_py(op->ptr, prop);
-		PyDict_SetItemString(dict, arg_name, item);
-		Py_DECREF(item);
-	}
-
-	RNA_property_collection_end(&iter);
-
-	return dict;
-}
-
-
 static PyObject *pyop_dict_from_event(wmEvent *event)
 {
 	PyObject *dict= PyDict_New();
@@ -191,33 +166,6 @@ static struct BPY_flag_def pyop_ret_flags[] = {
 	{NULL, 0}
 };
 
-/* exec only - no user input */
-static int PYTHON_OT_exec(bContext *C, wmOperator *op)
-{
-	PyOperatorType *pyot = op->type->pyop_data;
-	PyObject *args= PyTuple_New(0);
-	PyObject *kw= pyop_kwargs_from_operator(op);
-	PyObject *ret;
-	int ret_flag;
-
-	ret = PyObject_Call(pyot->py_exec, args, kw);
-
-	if (ret == NULL) {
-		pyop_error_report(op->reports);
-	}
-	else {
-		if (BPY_flag_from_seq(pyop_ret_flags, ret, &ret_flag) == -1) {
-			 /* the returned value could not be converted into a flag */
-			pyop_error_report(op->reports);
-		}
-	}
-
-	Py_DECREF(args);
-	Py_DECREF(kw);
-
-	return ret_flag;
-}
-
 /* This invoke function can take events and
  *
  * It is up to the pyot->py_invoke() python func to run pyot->py_exec()
@@ -233,26 +181,93 @@ static int PYTHON_OT_exec(bContext *C, wmOperator *op)
  *     op_exec(**prop_defs)
  *
  * when there is no invoke function, C calls exec and sets the props.
+ * python class instance is stored in op->customdata so exec() can access
  */
-static int PYTHON_OT_invoke(bContext *C, wmOperator *op, wmEvent *event)
-{
-	PyOperatorType *pyot = op->type->pyop_data;
-	PyObject *args= PyTuple_New(2);
-	PyObject *ret;
-	int ret_flag;
 
-	PyTuple_SET_ITEM(args, 0, pyop_dict_from_event(event));
-	PyTuple_SET_ITEM(args, 1, pyop_kwargs_from_operator(op));
 
-	ret = PyObject_Call(pyot->py_invoke, args, NULL);
+#define PYOP_EXEC 1
+#define PYOP_INVOKE 2
+#define PYOP_POLL 3
+	
+static int PYTHON_OT_generic(int mode, bContext *C, wmOperator *op, wmEvent *event)
+{
+	PyOperatorType *pyot = op->type->pyop_data;
+	PyObject *args;
+	PyObject *ret= NULL, *py_class_instance, *item;
+	int ret_flag= (mode==PYOP_POLL ? 0:OPERATOR_CANCELLED);
+	
+	args = PyTuple_New(1);
+	PyTuple_SET_ITEM(args, 0, PyObject_GetAttrString(pyot->py_class, "__rna__")); // need to use an rna instance as the first arg
+	py_class_instance = PyObject_Call(pyot->py_class, args, NULL);
+	Py_DECREF(args);
+	
+	if (py_class_instance) { /* Initializing the class worked, now run its invoke function */
+		
+		
+		/* Assign instance attributes from operator properties */
+		{
+			PropertyRNA *prop, *iterprop;
+			CollectionPropertyIterator iter;
+			const char *arg_name;
+
+			iterprop= RNA_struct_iterator_property(op->ptr);
+			RNA_property_collection_begin(op->ptr, iterprop, &iter);
+
+			for(; iter.valid; RNA_property_collection_next(&iter)) {
+				prop= iter.ptr.data;
+				arg_name= RNA_property_identifier(&iter.ptr, prop);
+
+				if (strcmp(arg_name, "rna_type")==0) continue;
+
+				item = pyrna_prop_to_py(op->ptr, prop);
+				PyObject_SetAttrString(py_class_instance, arg_name, item);
+				Py_DECREF(item);
+			}
 
+			RNA_property_collection_end(&iter);
+		}
+		
+		
+		if (mode==PYOP_INVOKE) {
+			item= PyObject_GetAttrString(pyot->py_class, "invoke");
+			args = PyTuple_New(2);
+			PyTuple_SET_ITEM(args, 1, pyop_dict_from_event(event));
+		}
+		else if (mode==PYOP_EXEC) {
+			item= PyObject_GetAttrString(pyot->py_class, "exec");
+			args = PyTuple_New(1);
+		}
+		else if (mode==PYOP_POLL) {
+			item= PyObject_GetAttrString(pyot->py_class, "poll");
+			args = PyTuple_New(2);
+			//XXX  Todo - wrap context in a useful way, None for now.
+			PyTuple_SET_ITEM(args, 1, Py_None);
+		}
+		PyTuple_SET_ITEM(args, 0, py_class_instance);
+	
+		ret = PyObject_Call(item, args, NULL);
+		
+		Py_DECREF(args);
+		Py_DECREF(item);
+	}
+	
 	if (ret == NULL) {
 		pyop_error_report(op->reports);
 	}
 	else {
-		if (BPY_flag_from_seq(pyop_ret_flags, ret, &ret_flag) == -1) {
+		if (mode==PYOP_POLL) {
+			if (PyBool_Check(ret) == 0) {
+				PyErr_SetString(PyExc_ValueError, "Python poll function return value ");
+				pyop_error_report(op->reports);
+			}
+			else {
+				ret_flag= ret==Py_True ? 1:0;
+			}
+			
+		} else if (BPY_flag_from_seq(pyop_ret_flags, ret, &ret_flag) == -1) {
 			 /* the returned value could not be converted into a flag */
 			pyop_error_report(op->reports);
+			
 		}
 		/* there is no need to copy the py keyword dict modified by
 		 * pyot->py_invoke(), back to the operator props since they are just
@@ -261,131 +276,238 @@ static int PYTHON_OT_invoke(bContext *C, wmOperator *op, wmEvent *event)
 		 * If we ever want to do this and use the props again,
 		 * it can be done with - PYOP_props_from_dict(op->ptr, kw)
 		 */
+		
+		Py_DECREF(ret);
 	}
 
-	
+	return ret_flag;
+}
+
+static int PYTHON_OT_invoke(bContext *C, wmOperator *op, wmEvent *event)
+{
+	return PYTHON_OT_generic(PYOP_INVOKE, C, op, event);	
+}
 
-	Py_DECREF(args); /* also decref's kw */
+static int PYTHON_OT_exec(bContext *C, wmOperator *op)
+{
+	return PYTHON_OT_generic(PYOP_EXEC, C, op, NULL);
+}
 
-	return ret_flag;
+static int PYTHON_OT_poll(bContext *C)
+{
+	// XXX TODO - no way to get the operator type (and therefor class) from the poll function.
+	//return PYTHON_OT_generic(PYOP_POLL, C, NULL, NULL);
+	return 1;
 }
 
 void PYTHON_OT_wrapper(wmOperatorType *ot, void *userdata)
 {
 	PyOperatorType *pyot = (PyOperatorType *)userdata;
+	PyObject *py_class = pyot->py_class;
+	PyObject *props, *item;
 
 	/* identifiers */
 	ot->name= pyot->name;
 	ot->idname= pyot->idname;
 	ot->description= pyot->description;
 
-	/* api callbacks */
-	if (pyot->py_invoke != Py_None)
+	/* api callbacks, detailed checks dont on adding */ 
+	if (PyObject_HasAttrString(py_class, "invoke"))
 		ot->invoke= PYTHON_OT_invoke;
-	
-	ot->exec= PYTHON_OT_exec;
-
-	ot->poll= ED_operator_screenactive; /* how should this work?? */
-	/* ot->flag= OPTYPE_REGISTER; */
+	if (PyObject_HasAttrString(py_class, "exec"))
+		ot->exec= PYTHON_OT_exec;
+	if (PyObject_HasAttrString(py_class, "poll"))
+		ot->poll= PYTHON_OT_poll;
 	
 	ot->pyop_data= userdata;
 	
-	/* inspect function keyword args to get properties */
-	{
-		PropertyRNA *prop;
-
-		PyObject *var_names= PyObject_GetAttrString(PyFunction_GET_CODE(pyot->py_exec), "co_varnames");
-		PyObject *var_vals = PyFunction_GET_DEFAULTS(pyot->py_exec);
-		PyObject *py_val, *py_name;
+	props= PyObject_GetAttrString(py_class, PYOP_ATTR_PROP);
+	
+	if (props) {
+		PyObject *dummy_args = PyTuple_New(0);
 		int i;
-		char *name;
-
-		if (PyTuple_Size(var_names) != PyTuple_Size(var_vals)) {
-			printf("All args must be keywords");
-		}
-
-		for(i=0; i<PyTuple_Size(var_names); i++) {
-			py_name = PyTuple_GetItem(var_names, i);
-			name = _PyUnicode_AsString(py_name);
-			py_val = PyTuple_GetItem(var_vals, i);
-
-			if (PyBool_Check(py_val)) {
-				prop = RNA_def_property(ot->srna, name, PROP_BOOLEAN, PROP_NONE);
-				RNA_def_property_boolean_default(prop, PyObject_IsTrue(py_val));
-			}
-			else if (PyLong_Check(py_val)) {
-				prop = RNA_def_property(ot->srna, name, PROP_INT, PROP_NONE);
-				RNA_def_property_int_default(prop, (int)PyLong_AsSsize_t(py_val));
-			}
-			else if (PyFloat_Check(py_val)) {
-				prop = RNA_def_property(ot->srna, name, PROP_FLOAT, PROP_NONE);
-				RNA_def_property_float_default(prop, (float)PyFloat_AsDouble(py_val));
-			}
-			else if (PyUnicode_Check(py_val)) {
-				/* WARNING - holding a reference to the string from py_val is
-				 * not ideal since we rely on python keeping it,
-				 * however we're also keeping a reference to this function
-				 * so it should be OK!. just be careful with changes */
-				prop = RNA_def_property(ot->srna, name, PROP_STRING, PROP_NONE);
-				RNA_def_property_string_default(prop, _PyUnicode_AsString(py_val));
-			}
-			else {
-				printf("error, python function arg \"%s\" was not a bool, int, float or string type\n", name);
+		
+		Py_DECREF(props);
+
+		for(i=0; i<PyList_Size(props); i++) {
+			PyObject *py_func_ptr, *py_kw, *py_srna_cobject, *py_ret;
+			item = PyList_GET_ITEM(props, i);
+			
+			if (PyArg_ParseTuple(item, "O!O!", &PyCObject_Type, &py_func_ptr, &PyDict_Type, &py_kw)) {
+				
+				PyObject *(*pyfunc)(PyObject *, PyObject *, PyObject *);
+				pyfunc = PyCObject_AsVoidPtr(py_func_ptr);
+				py_srna_cobject = PyCObject_FromVoidPtr(ot->srna, NULL);
+				
+				py_ret = pyfunc(py_srna_cobject, dummy_args, py_kw);
+				if (py_ret) {
+					Py_DECREF(py_ret);
+				} else {
+					PyErr_Print();
+					PyErr_Clear();
+				}
+				Py_DECREF(py_srna_cobject);
+				
+			} else {
+				/* cant return NULL from here */ // XXX a bit ugly
+				PyErr_Print();
+				PyErr_Clear();
 			}
+			
+			// expect a tuple with a CObject and a dict
 		}
+		Py_DECREF(dummy_args);
+	} else {
+		PyErr_Clear();
 	}
-
 }
 
+
 /* pyOperators - Operators defined IN Python */
-PyObject *PYOP_wrap_add(PyObject *self, PyObject *args)
-{
+PyObject *PYOP_wrap_add(PyObject *self, PyObject *value)
+{	
+	PyObject *optype, *item;
+	
 	PyOperatorType *pyot;
-
 	char *idname= NULL;
 	char *name= NULL;
 	char *description= NULL;
-	PyObject *invoke= NULL;
-	PyObject *exec= NULL;
+	
+	static char *pyop_func_names[] = {"exec", "invoke", "poll", NULL};
+	static int pyop_func_nargs[] = {1, 2, 2, 0};
+
+	PyObject *pyargcount;
+	int i, argcount;
+
+
+	// in python would be...
+	//PyObject *optype = PyObject_GetAttrString(PyObject_GetAttrString(PyDict_GetItemString(PyEval_GetGlobals(), "bpy"), "types"), "Operator");
+	optype = PyObject_GetAttrStringArgs(PyDict_GetItemString(PyEval_GetGlobals(), "bpy"), 2, "types", "Operator");
+	Py_DECREF(optype);
 
-	if (!PyArg_ParseTuple(args, "sssOO", &idname, &name, &description, &invoke, &exec)) {
-		PyErr_SetString( PyExc_AttributeError, "expected 2 strings and 2 function objects");
+
+	if (!PyObject_IsSubclass(value, optype)) {
+		PyErr_SetString( PyExc_AttributeError, "expected Operator subclass of bpy.types.Operator");
 		return NULL;
 	}
-
+	
+	/* class name is used for operator ID - this can be changed later if we want */
+	item = PyObject_GetAttrString(value, PYOP_ATTR_IDNAME);
+	Py_DECREF(item);
+	idname =  _PyUnicode_AsString(item);
+	
+	
 	if (WM_operatortype_find(idname)) {
-		PyErr_Format( PyExc_AttributeError, "First argument \"%s\" operator alredy exists with this name", idname);
+		PyErr_Format( PyExc_AttributeError, "Operator alredy exists with this name \"%s\"", idname);
 		return NULL;
 	}
-
-	if (((PyFunction_Check(invoke) || invoke==Py_None) && PyFunction_Check(exec)) == 0) {
-		PyErr_SetString( PyExc_AttributeError, "the 2nd arg must be a function or None, the secons must be a function");
-		return NULL;
+	
+	/* Operator user readible name */
+	item = PyObject_GetAttrString(value, PYOP_ATTR_UINAME);
+	if (item) {
+		Py_DECREF(item);
+		name = _PyUnicode_AsString(item);
+	}
+	if (name == NULL) {
+		name = idname;
+		PyErr_Clear();
+	}
+	
+	/* use py docstring for description, should always be None or a string */
+	item = PyObject_GetAttrString(value, PYOP_ATTR_DESCRIPTION);
+	Py_DECREF(item);
+	
+	if (PyUnicode_Check(item)) {
+		description = _PyUnicode_AsString(item);
+	}
+	else {
+		description = "";
 	}
+	
+	/* Check known functions and argument lengths */
+	for (i=0; pyop_func_names[i]; i++) {
+		
+		item=PyObject_GetAttrString(value, pyop_func_names[i]);
+		if (item) {
+			Py_DECREF(item);
+
+			/* check its callable */
+			if (!PyFunction_Check(item)) {
+				PyErr_Format(PyExc_ValueError, "Cant register operator class -  %s.%s() is not a function", idname, pyop_func_names[i]);
+				return NULL;
+			}
+			/* check the number of args is correct */
+			/* MyClass.exec.func_code.co_argcount */
+			
+			pyargcount = PyObject_GetAttrString(PyFunction_GET_CODE(item), "co_argcount");
+			Py_DECREF(pyargcount);
+			argcount = PyLong_AsSsize_t(pyargcount);
+			
+			if (argcount != pyop_func_nargs[i]) {
+				PyErr_Format(PyExc_ValueError, "Cant register operator class - %s.%s() takes %d args, should be %d", idname, pyop_func_names[i], argcount, pyop_func_nargs[i]);
+				return NULL;
+			}
+			
+		} else {
+			PyErr_Clear();
+		}
+	}
+	
+	/* If we have properties set, check its a list of dicts */
+	item = PyObject_GetAttrString(value, PYOP_ATTR_PROP);
+	if (item) {
+		Py_DECREF(item);
 
+		if (!PyList_Check(item)) {
+			PyErr_Format(PyExc_ValueError, "Cant register operator class - %s.properties must be a list", idname);	
+			return NULL;
+		}
+		
+		for(i=0; i<PyList_Size(item); i++) {
+			PyObject *py_args = PyList_GET_ITEM(item, i);
+			PyObject *py_func_ptr, *py_kw; /* place holders */
+			
+			if (!PyArg_ParseTuple(py_args, "O!O!", &PyCObject_Type, &py_func_ptr, &PyDict_Type, &py_kw)) {
+				PyErr_Format(PyExc_ValueError, "Cant register operator class - %s.properties must contain values from FloatProperty", idname);
+				return NULL;				
+			}
+		}
+	}
+	else {
+		PyErr_Clear();
+	}
+	
 	pyot= MEM_callocN(sizeof(PyOperatorType), "PyOperatorType");
 
 	strncpy(pyot->idname, idname, sizeof(pyot->idname));
 	strncpy(pyot->name, name, sizeof(pyot->name));
 	strncpy(pyot->description, description, sizeof(pyot->description));
-	pyot->py_invoke= invoke;
-	pyot->py_exec= exec;
-	Py_INCREF(invoke);
-	Py_INCREF(exec);
+	pyot->py_class= value;
+	Py_INCREF(value);
 
 	WM_operatortype_append_ptr(PYTHON_OT_wrapper, pyot);
 
 	Py_RETURN_NONE;
 }
 
-PyObject *PYOP_wrap_remove(PyObject *self, PyObject *args)
+PyObject *PYOP_wrap_remove(PyObject *self, PyObject *value)
 {
 	char *idname= NULL;
 	wmOperatorType *ot;
 	PyOperatorType *pyot;
 
-	if (!PyArg_ParseTuple(args, "s", &idname))
+	if (PyUnicode_Check(value))
+		idname = _PyUnicode_AsString(value);
+	else if (PyCFunction_Check(value)) {
+		PyObject *cfunc_self = PyCFunction_GetSelf(value);
+		if (cfunc_self)
+			idname = _PyUnicode_AsString(cfunc_self);
+	}
+	
+	if (idname==NULL) {
+		PyErr_SetString( PyExc_ValueError, "Expected the operator name as a string or the operator function");
 		return NULL;
+	}
 
 	if (!(ot= WM_operatortype_find(idname))) {
 		PyErr_Format( PyExc_AttributeError, "Operator \"%s\" does not exists, cant remove", idname);
@@ -397,8 +519,7 @@ PyObject *PYOP_wrap_remove(PyObject *self, PyObject *args)
 		return NULL;
 	}
 	
-	Py_XDECREF(pyot->py_invoke);
-	Py_XDECREF(pyot->py_exec);
+	Py_XDECREF(pyot->py_class);
 	MEM_freeN(pyot);
 
 	WM_operatortype_remove(idname);
@@ -406,3 +527,5 @@ PyObject *PYOP_wrap_remove(PyObject *self, PyObject *args)
 	Py_RETURN_NONE;
 }
 
+
+
diff --git a/source/blender/python/intern/bpy_opwrapper.h b/source/blender/python/intern/bpy_opwrapper.h
index ae607735498..04120a81517 100644
--- a/source/blender/python/intern/bpy_opwrapper.h
+++ b/source/blender/python/intern/bpy_opwrapper.h
@@ -32,10 +32,3 @@ PyObject *PYOP_wrap_add(PyObject *self, PyObject *args);
 PyObject *PYOP_wrap_remove(PyObject *self, PyObject *args);
 
 #endif
-
-
-
-
-
-
-
diff --git a/source/blender/python/intern/bpy_rna.c b/source/blender/python/intern/bpy_rna.c
index c4ba79d8373..23eed552a2a 100644
--- a/source/blender/python/intern/bpy_rna.c
+++ b/source/blender/python/intern/bpy_rna.c
@@ -26,13 +26,15 @@
 #include "bpy_compat.h"
 //#include "blendef.h"
 #include "BLI_dynstr.h"
+#include "BLI_listbase.h"
+#include "float.h" /* FLT_MIN/MAX */
+
+#include "RNA_define.h" /* for defining our own rna */
 
 #include "MEM_guardedalloc.h"
+#include "BKE_context.h"
 #include "BKE_global.h" /* evil G.* */
 
-/* floats bigger then this are displayed as inf in the docstrings */
-#define MAXFLOAT_DOC 10000000
-
 static int pyrna_struct_compare( BPy_StructRNA * a, BPy_StructRNA * b )
 {
 	return (a->ptr.data==b->ptr.data) ? 0 : -1;
@@ -68,12 +70,39 @@ static PyObject *pyrna_prop_richcmp(BPy_PropertyRNA * a, BPy_PropertyRNA * b, in
 /*----------------------repr--------------------------------------------*/
 static PyObject *pyrna_struct_repr( BPy_StructRNA * self )
 {
+	PropertyRNA *prop;
+	char str[512];
+
+	/* print name if available */
+	prop= RNA_struct_name_property(&self->ptr);
+	if(prop) {
+		RNA_property_string_get(&self->ptr, prop, str);
+		return PyUnicode_FromFormat( "[BPy_StructRNA \"%s\" -> \"%s\"]", RNA_struct_identifier(&self->ptr), str);
+	}
+
 	return PyUnicode_FromFormat( "[BPy_StructRNA \"%s\"]", RNA_struct_identifier(&self->ptr));
 }
 
 static PyObject *pyrna_prop_repr( BPy_PropertyRNA * self )
 {
-	return PyUnicode_FromFormat( "[BPy_PropertyRNA \"%s\" -> \"%s\" ]", RNA_struct_identifier(&self->ptr), RNA_property_identifier(&self->ptr, self->prop) );
+	PropertyRNA *prop;
+	PointerRNA ptr;
+	char str[512];
+
+	/* if a pointer, try to print name of pointer target too */
+	if(RNA_property_type(&self->ptr, self->prop) == PROP_POINTER) {
+		ptr= RNA_property_pointer_get(&self->ptr, self->prop);
+
+		if(ptr.data) {
+			prop= RNA_struct_name_property(&ptr);
+			if(prop) {
+				RNA_property_string_get(&ptr, prop, str);
+				return PyUnicode_FromFormat( "[BPy_PropertyRNA \"%s\" -> \"%s\" -> \"%s\" ]", RNA_struct_identifier(&self->ptr), RNA_property_identifier(&self->ptr, self->prop), str);
+			}
+		}
+	}
+
+	return PyUnicode_FromFormat( "[BPy_PropertyRNA \"%s\" -> \"%s\"]", RNA_struct_identifier(&self->ptr), RNA_property_identifier(&self->ptr, self->prop));
 }
 
 static long pyrna_struct_hash( BPy_StructRNA * self )
@@ -91,7 +120,7 @@ static void pyrna_struct_dealloc( BPy_StructRNA * self )
 		self->ptr.data= NULL;
 	}
 
-	((PyObject *)self)->ob_type->tp_free(self);
+	Py_TYPE(self)->tp_free(self);
 	return;
 }
 
@@ -132,7 +161,7 @@ PyObject * pyrna_prop_to_py(PointerRNA *ptr, PropertyRNA *prop)
 		ret = PyBool_FromLong( RNA_property_boolean_get(ptr, prop) );
 		break;
 	case PROP_INT:
-		ret = PyLong_FromSize_t( (size_t)RNA_property_int_get(ptr, prop) );
+		ret = PyLong_FromSsize_t( (Py_ssize_t)RNA_property_int_get(ptr, prop) );
 		break;
 	case PROP_FLOAT:
 		ret = PyFloat_FromDouble( RNA_property_float_get(ptr, prop) );
@@ -348,8 +377,25 @@ int pyrna_py_to_prop(PointerRNA *ptr, PropertyRNA *prop, PyObject *value)
 		}
 		case PROP_POINTER:
 		{
-			PyErr_SetString(PyExc_AttributeError, "cant assign pointers yet");
-			return -1;
+			StructRNA *ptype= RNA_property_pointer_type(ptr, prop);
+
+			if(!BPy_StructRNA_Check(value)) {
+				PointerRNA tmp;
+				RNA_pointer_create(NULL, ptype, NULL, &tmp);
+				PyErr_Format(PyExc_TypeError, "expected a %s type", RNA_struct_identifier(&tmp));
+				return -1;
+			} else {
+				BPy_StructRNA *param= (BPy_StructRNA*)value;
+
+				if(RNA_struct_is_a(&param->ptr, ptype)) {
+					RNA_property_pointer_set(ptr, prop, param->ptr);
+				} else {
+					PointerRNA tmp;
+					RNA_pointer_create(NULL, ptype, NULL, &tmp);
+					PyErr_Format(PyExc_TypeError, "expected a %s type", RNA_struct_identifier(&tmp));
+					return -1;
+				}
+			}
 			break;
 		}
 		case PROP_COLLECTION:
@@ -378,7 +424,7 @@ static PyObject * pyrna_prop_to_py_index(PointerRNA *ptr, PropertyRNA *prop, int
 		ret = PyBool_FromLong( RNA_property_boolean_get_index(ptr, prop, index) );
 		break;
 	case PROP_INT:
-		ret = PyLong_FromSize_t( (size_t)RNA_property_int_get_index(ptr, prop, index) );
+		ret = PyLong_FromSsize_t( (Py_ssize_t)RNA_property_int_get_index(ptr, prop, index) );
 		break;
 	case PROP_FLOAT:
 		ret = PyFloat_FromDouble( RNA_property_float_get_index(ptr, prop, index) );
@@ -519,7 +565,7 @@ static int pyrna_prop_assign_subscript( BPy_PropertyRNA * self, PyObject *key, P
 	char *keyname = NULL;
 	
 	if (!RNA_property_editable(&self->ptr, self->prop)) {
-		PyErr_Format( PyExc_AttributeError, "Attribute \"%s\" from \"%s\" is read-only", RNA_property_identifier(&self->ptr, self->prop), RNA_struct_identifier(&self->ptr) );
+		PyErr_Format( PyExc_AttributeError, "PropertyRNA - attribute \"%s\" from \"%s\" is read-only", RNA_property_identifier(&self->ptr, self->prop), RNA_struct_identifier(&self->ptr) );
 		return -1;
 	}
 	
@@ -528,26 +574,26 @@ static int pyrna_prop_assign_subscript( BPy_PropertyRNA * self, PyObject *key, P
 	} else if (PyLong_Check(key)) {
 		keynum = PyLong_AsSsize_t(key);
 	} else {
-		PyErr_SetString(PyExc_AttributeError, "invalid key, key must be a string or an int");
+		PyErr_SetString(PyExc_AttributeError, "PropertyRNA - invalid key, key must be a string or an int");
 		return -1;
 	}
 	
 	if (RNA_property_type(&self->ptr, self->prop) == PROP_COLLECTION) {
-		PyErr_SetString(PyExc_AttributeError, "assignment is not supported for collections (yet)");
+		PyErr_SetString(PyExc_AttributeError, "PropertyRNA - assignment is not supported for collections (yet)");
 		ret = -1;
 	} else if (keyname) {
-		PyErr_SetString(PyExc_AttributeError, "string keys are only supported for collections");
+		PyErr_SetString(PyExc_AttributeError, "PropertyRNA - string keys are only supported for collections");
 		ret = -1;
 	} else {
 		int len = RNA_property_array_length(&self->ptr, self->prop);
 		
 		if (len==0) { /* not an array*/
-			PyErr_Format(PyExc_AttributeError, "not an array or collection %d", keynum);
+			PyErr_Format(PyExc_AttributeError, "PropertyRNA - not an array or collection %d", keynum);
 			ret = -1;
 		}
 		
 		if (keynum >= len){
-			PyErr_SetString(PyExc_AttributeError, "index out of range");
+			PyErr_SetString(PyExc_AttributeError, "PropertyRNA - index out of range");
 			ret = -1;
 		} else {
 			ret = pyrna_py_to_prop_index(&self->ptr, self->prop, keynum, value);
@@ -565,27 +611,34 @@ static PyMappingMethods pyrna_prop_as_mapping = {
 	( objobjargproc ) pyrna_prop_assign_subscript,	/* mp_ass_subscript */
 };
 
-//---------------getattr--------------------------------------------
-static PyObject *pyrna_struct_getattro( BPy_StructRNA * self, PyObject *pyname )
+static PyObject *pyrna_struct_dir(BPy_StructRNA * self)
 {
-	char *name = _PyUnicode_AsString(pyname);
-	PyObject *ret;
-	PropertyRNA *prop;
+	PyObject *ret, *dict;
+	PyObject *pystring;
 	
 	/* Include this incase this instance is a subtype of a python class
 	 * In these instances we may want to return a function or variable provided by the subtype
 	 * */
-	ret = PyObject_GenericGetAttr((PyObject *)self, pyname);
-	if (ret)	return ret;
-	else		PyErr_Clear();
-	/* done with subtypes */
 
-	prop = RNA_struct_find_property(&self->ptr, name);
-	
-	if (prop) {
-		ret = pyrna_prop_to_py(&self->ptr, prop);
+	if (BPy_StructRNA_CheckExact(self)) {
+		ret = PyList_New(0);
+	} else {
+		pystring = PyUnicode_FromString("__dict__");
+		dict = PyObject_GenericGetAttr((PyObject *)self, pystring);
+		Py_DECREF(pystring);
+
+		if (dict==NULL) {
+			PyErr_Clear();
+			ret = PyList_New(0);
+		}
+		else {
+			ret = PyDict_Keys(dict);
+			Py_DECREF(dict);
+		}
 	}
-	else if (strcmp(name, "__dict__")==0) { /* Not quite correct, adding this so dir() gives good feedback */
+	
+	/* Collect RNA items*/
+	{
 		PropertyRNA *iterprop, *nameprop;
 		CollectionPropertyIterator iter;
 		char name[256], *nameptr;
@@ -593,11 +646,13 @@ static PyObject *pyrna_struct_getattro( BPy_StructRNA * self, PyObject *pyname )
 		iterprop= RNA_struct_iterator_property(&self->ptr);
 		RNA_property_collection_begin(&self->ptr, iterprop, &iter);
 
-		ret = PyDict_New();
 		for(; iter.valid; RNA_property_collection_next(&iter)) {
 			if(iter.ptr.data && (nameprop = RNA_struct_name_property(&iter.ptr))) {
 				nameptr= RNA_property_string_get_alloc(&iter.ptr, nameprop, name, sizeof(name));
-				PyDict_SetItemString(ret, nameptr, Py_None);
+				
+				pystring = PyUnicode_FromString(nameptr);
+				PyList_Append(ret, pystring);
+				Py_DECREF(pystring);
 				
 				if ((char *)&name != nameptr)
 					MEM_freeN(nameptr);
@@ -606,8 +661,63 @@ static PyObject *pyrna_struct_getattro( BPy_StructRNA * self, PyObject *pyname )
 		
 		RNA_property_collection_end(&iter);
 	}
+	
+	return ret;
+}
+
+
+//---------------getattr--------------------------------------------
+static PyObject *pyrna_struct_getattro( BPy_StructRNA * self, PyObject *pyname )
+{
+	char *name = _PyUnicode_AsString(pyname);
+	PyObject *ret;
+	PropertyRNA *prop;
+	
+	/* Include this incase this instance is a subtype of a python class
+	 * In these instances we may want to return a function or variable provided by the subtype
+	 * 
+	 * Also needed to return methods when its not a subtype
+	 * */
+	ret = PyObject_GenericGetAttr((PyObject *)self, pyname);
+	if (ret)	return ret;
+	else		PyErr_Clear();
+	/* done with subtypes */
+
+	prop = RNA_struct_find_property(&self->ptr, name);
+	
+	if (prop) {
+		ret = pyrna_prop_to_py(&self->ptr, prop);
+	}
+	else if (/*self->ptr.type == &RNA_Context*/0) {
+		PointerRNA newptr;
+		ListBase newlb;
+
+		CTX_data_get(self->ptr.data, name, &newptr, &newlb);
+
+        if (newptr.data) {
+            ret = pyrna_struct_CreatePyObject(&newptr);
+		}
+		else if (newlb.first) {
+			CollectionPointerLink *link;
+			PyObject *linkptr;
+
+			ret = PyList_New(0);
+
+			for(link=newlb.first; link; link=link->next) {
+				linkptr= pyrna_struct_CreatePyObject(&link->ptr);
+				PyList_Append(ret, linkptr);
+				Py_DECREF(linkptr);
+			}
+		}
+        else {
+            ret = Py_None;
+            Py_INCREF(ret);
+        }
+
+		BLI_freelistN(&newlb);
+	}
 	else {
-		PyErr_Format( PyExc_AttributeError, "Attribute \"%s\" not found", name);
+		PyErr_Format( PyExc_AttributeError, "StructRNA - Attribute \"%s\" not found", name);
 		ret = NULL;
 	}
 	
@@ -621,12 +731,17 @@ static int pyrna_struct_setattro( BPy_StructRNA * self, PyObject *pyname, PyObje
 	PropertyRNA *prop = RNA_struct_find_property(&self->ptr, name);
 	
 	if (prop==NULL) {
-		PyErr_Format( PyExc_AttributeError, "Attribute \"%s\" not found", name);
-		return -1;
+		if (!BPy_StructRNA_CheckExact(self) && PyObject_GenericSetAttr((PyObject *)self, pyname, value) >= 0) {
+			return 0;
+		}
+		else {
+			PyErr_Format( PyExc_AttributeError, "StructRNA - Attribute \"%s\" not found", name);
+			return -1;
+		}
 	}		
 	
 	if (!RNA_property_editable(&self->ptr, prop)) {
-		PyErr_Format( PyExc_AttributeError, "Attribute \"%s\" from \"%s\" is read-only", RNA_property_identifier(&self->ptr, prop), RNA_struct_identifier(&self->ptr) );
+		PyErr_Format( PyExc_AttributeError, "StructRNA - Attribute \"%s\" from \"%s\" is read-only", RNA_property_identifier(&self->ptr, prop), RNA_struct_identifier(&self->ptr) );
 		return -1;
 	}
 		
@@ -765,10 +880,10 @@ PyObject *pyrna_prop_iter(BPy_PropertyRNA *self)
 	return NULL;
 }
 
-/*static struct PyMethodDef pyrna_struct_methods[] = {
+static struct PyMethodDef pyrna_struct_methods[] = {
 	{"__dir__", (PyCFunction)pyrna_struct_dir, METH_NOARGS, ""},
 	{NULL, NULL, 0, NULL}
-};*/
+};
 
 static struct PyMethodDef pyrna_prop_methods[] = {
 	{"keys", (PyCFunction)pyrna_prop_keys, METH_NOARGS, ""},
@@ -875,7 +990,7 @@ PyTypeObject pyrna_struct_Type = {
 	NULL,                       /* iternextfunc tp_iternext; */
 
   /*** Attribute descriptor and subclassing stuff ***/
-	NULL,			/* struct PyMethodDef *tp_methods; */
+	pyrna_struct_methods,			/* struct PyMethodDef *tp_methods; */
 	NULL,                       /* struct PyMemberDef *tp_members; */
 	NULL,      					/* struct PyGetSetDef *tp_getset; */
 	NULL,                       /* struct _typeobject *tp_base; */
@@ -985,17 +1100,101 @@ PyTypeObject pyrna_prop_Type = {
 	NULL
 };
 
+PyObject* pyrna_struct_Subtype(PointerRNA *ptr)
+{
+	PyObject *newclass = NULL;
+	PropertyRNA *nameprop;
+
+	if (ptr->type==NULL) {
+		newclass= NULL; /* Nothing to do */
+	} else if ((newclass= (PyObject *)BPy_RNA_PYTYPE(ptr->data))) {
+		Py_INCREF(newclass);
+	} else if ((nameprop = RNA_struct_name_property(ptr))) {
+		/* for now, return the base RNA type rather then a real module */
+		
+		/* Assume BPy_RNA_PYTYPE(ptr->data) was alredy checked */
+		
+		/* subclass equivelents
+		- class myClass(myBase):
+			some='value' # or ...
+		- myClass = type(name='myClass', bases=(myBase,), dict={'some':'value'})
+		*/
+		char name[256], *nameptr;
+
+		PyObject *args = PyTuple_New(3);
+		PyObject *bases = PyTuple_New(1);
+		PyObject *dict = PyDict_New();
+		
+		nameptr= RNA_property_string_get_alloc(ptr, nameprop, name, sizeof(name));
+		
+		// arg 1
+		//PyTuple_SET_ITEM(args, 0, PyUnicode_FromString(tp_name));
+		PyTuple_SET_ITEM(args, 0, PyUnicode_FromString(nameptr));
+		
+		// arg 2
+		PyTuple_SET_ITEM(bases, 0, (PyObject *)&pyrna_struct_Type);
+		Py_INCREF(&pyrna_struct_Type);
+
+		PyTuple_SET_ITEM(args, 1, bases);
+		
+		// arg 3 - add an instance of the rna 
+		PyTuple_SET_ITEM(args, 2, dict); // fill with useful subclass things!
+		
+		if (PyErr_Occurred()) {
+			PyErr_Print();
+			PyErr_Clear();
+		}
+		
+		newclass = PyObject_CallObject((PyObject *)&PyType_Type, args);
+		// Set this later
+		
+
+		if (newclass) {
+			PyObject *rna;
+			BPy_RNA_PYTYPE(ptr->data) = (void *)newclass; /* Store for later use */
+
+			/* Not 100% needed but useful,
+			 * having an instance within a type looks wrong however this instance IS an rna type */
+			rna = pyrna_struct_CreatePyObject(ptr);
+			PyDict_SetItemString(((PyTypeObject *)newclass)->tp_dict, "__rna__", rna);
+			Py_DECREF(rna);
+			/* done with rna instance */
+		}
+		
+		Py_DECREF(args);
+		
+		if ((char *)&name != nameptr)
+			MEM_freeN(nameptr);
+		
+	}
+	
+	return newclass;
+}
+
 /*-----------------------CreatePyObject---------------------------------*/
 PyObject *pyrna_struct_CreatePyObject( PointerRNA *ptr )
 {
-	BPy_StructRNA *pyrna;
+	BPy_StructRNA *pyrna= NULL;
 	
-	if (ptr->data==NULL) {
+	if (ptr->data==NULL && ptr->type==NULL) { /* Operator RNA has NULL data */
 		Py_RETURN_NONE;
 	}
-
-	pyrna = ( BPy_StructRNA * ) PyObject_NEW( BPy_StructRNA, &pyrna_struct_Type );
-
+	
+	if (ptr->type == &RNA_Struct) { /* always return a python subtype from rna struct types */
+		PyTypeObject *tp = (PyTypeObject *)pyrna_struct_Subtype(ptr);
+		
+		if (tp) {
+			pyrna = (BPy_StructRNA *) tp->tp_alloc(tp, 0);
+		}
+		else {
+			fprintf(stderr, "Could not make type\n");
+			pyrna = ( BPy_StructRNA * ) PyObject_NEW( BPy_StructRNA, &pyrna_struct_Type );
+		}
+	}
+	else {
+		pyrna = ( BPy_StructRNA * ) PyObject_NEW( BPy_StructRNA, &pyrna_struct_Type );
+	}
+	
 	if( !pyrna ) {
 		PyErr_SetString( PyExc_MemoryError, "couldn't create BPy_StructRNA object" );
 		return NULL;
@@ -1003,7 +1202,6 @@ PyObject *pyrna_struct_CreatePyObject( PointerRNA *ptr )
 	
 	pyrna->ptr= *ptr;
 	pyrna->freeptr= 0;
-	
 	return ( PyObject * ) pyrna;
 }
 
@@ -1029,23 +1227,24 @@ PyObject *BPY_rna_module( void )
 {
 	PointerRNA ptr;
 	
-	if( PyType_Ready( &pyrna_struct_Type ) < 0 )
-		return NULL;
-	
 	/* This can't be set in the pytype struct because some compilers complain */
 	pyrna_prop_Type.tp_getattro = PyObject_GenericGetAttr; 
 	pyrna_prop_Type.tp_setattro = PyObject_GenericSetAttr; 
 	
+	if( PyType_Ready( &pyrna_struct_Type ) < 0 )
+		return NULL;
+	
 	if( PyType_Ready( &pyrna_prop_Type ) < 0 )
 		return NULL;
+
 	
 	/* for now, return the base RNA type rather then a real module */
 	RNA_main_pointer_create(G.main, &ptr);
 	
-	//submodule = Py_InitModule3( "rna", M_rna_methods, "rna module" );
 	return pyrna_struct_CreatePyObject(&ptr);
 }
 
+#if 0
 /* This is a way we can access docstrings for RNA types
  * without having the datatypes in blender */
 PyObject *BPY_rna_doc( void )
@@ -1057,5 +1256,158 @@ PyObject *BPY_rna_doc( void )
 	
 	return pyrna_struct_CreatePyObject(&ptr);
 }
+#endif
+
+
+/* pyrna_basetype_* - BPy_BaseTypeRNA is just a BPy_PropertyRNA struct with a differnt type
+ * the self->ptr and self->prop are always set to the "structs" collection */
+//---------------getattr--------------------------------------------
+static PyObject *pyrna_basetype_getattro( BPy_BaseTypeRNA * self, PyObject *pyname )
+{
+	PointerRNA newptr;
+	PyObject *ret;
+	
+	ret = PyObject_GenericGetAttr((PyObject *)self, pyname);
+	if (ret)	return ret;
+	else		PyErr_Clear();
+	
+	if (RNA_property_collection_lookup_string(&self->ptr, self->prop, _PyUnicode_AsString(pyname), &newptr)) {
+		return pyrna_struct_Subtype(&newptr);
+	}
+	else { /* Override the error */
+		PyErr_Format(PyExc_AttributeError, "bpy.types.%s not a valid RNA_Struct", _PyUnicode_AsString(pyname));
+		return NULL;
+	}
+}
+
+static PyObject *pyrna_basetype_dir(BPy_BaseTypeRNA *self);
+static struct PyMethodDef pyrna_basetype_methods[] = {
+	{"__dir__", (PyCFunction)pyrna_basetype_dir, METH_NOARGS, ""},
+	{NULL, NULL, 0, NULL}
+};
+
+static PyObject *pyrna_basetype_dir(BPy_BaseTypeRNA *self)
+{
+	PyObject *list, *name;
+	PyMethodDef *meth;
+	
+	list= pyrna_prop_keys(self); /* like calling structs.keys(), avoids looping here */
+
+	for(meth=pyrna_basetype_methods; meth->ml_name; meth++) {
+		name = PyUnicode_FromString(meth->ml_name);
+		PyList_Append(list, name);
+		Py_DECREF(name);
+	}
+	
+	return list;
+}
+
+PyTypeObject pyrna_basetype_Type = {NULL};
+
+PyObject *BPY_rna_types(void)
+{
+	BPy_BaseTypeRNA *self;
+	pyrna_basetype_Type.tp_name = "RNA_Types";
+	pyrna_basetype_Type.tp_basicsize = sizeof( BPy_BaseTypeRNA );
+	pyrna_basetype_Type.tp_getattro = ( getattrofunc )pyrna_basetype_getattro;
+	pyrna_basetype_Type.tp_flags = Py_TPFLAGS_DEFAULT;
+	pyrna_basetype_Type.tp_methods = pyrna_basetype_methods;
+	
+	if( PyType_Ready( &pyrna_basetype_Type ) < 0 )
+		return NULL;
+	
+	self= (BPy_BaseTypeRNA *)PyObject_NEW( BPy_BaseTypeRNA, &pyrna_basetype_Type );
+	
+	/* avoid doing this lookup for every getattr */
+	RNA_blender_rna_pointer_create(&self->ptr);
+	self->prop = RNA_struct_find_property(&self->ptr, "structs");
+	
+	return (PyObject *)self;
+}
+
 
 
+/* Orphan functions, not sure where they should go */
+
+/* Function that sets RNA, NOTE - self is NULL when called from python, but being abused from C so we can pass the srna allong
+ * This isnt incorrect since its a python object - but be careful */
+PyObject *BPy_FloatProperty(PyObject *self, PyObject *args, PyObject *kw)
+{
+	static char *kwlist[] = {"attr", "name", "description", "min", "max", "soft_min", "soft_max", "default", NULL};
+	char *id, *name="", *description="";
+	float min=FLT_MIN, max=FLT_MAX, soft_min=FLT_MIN, soft_max=FLT_MAX, def=0.0f;
+	
+	if (!PyArg_ParseTupleAndKeywords(args, kw, "s|ssfffff:FloatProperty", kwlist, &id, &name, &description, &min, &max, &soft_min, &soft_max, &def))
+		return NULL;
+	
+	if (PyTuple_Size(args) > 0) {
+	 	PyErr_SetString(PyExc_ValueError, "all args must be keywors"); // TODO - py3 can enforce this.
+		return NULL;
+	}
+	
+	if (self) {
+		StructRNA *srna = PyCObject_AsVoidPtr(self);
+		RNA_def_float(srna, id, def, min, max, name, description, soft_min, soft_max);
+		Py_RETURN_NONE;
+	} else {
+		PyObject *ret = PyTuple_New(2);
+		PyTuple_SET_ITEM(ret, 0, PyCObject_FromVoidPtr((void *)BPy_FloatProperty, NULL));
+		PyTuple_SET_ITEM(ret, 1, kw);
+		Py_INCREF(kw);
+		return ret;
+	}
+}
+
+PyObject *BPy_IntProperty(PyObject *self, PyObject *args, PyObject *kw)
+{
+	static char *kwlist[] = {"attr", "name", "description", "min", "max", "soft_min", "soft_max", "default", NULL};
+	char *id, *name="", *description="";
+	int min=INT_MIN, max=INT_MAX, soft_min=INT_MIN, soft_max=INT_MAX, def=0;
+	
+	if (!PyArg_ParseTupleAndKeywords(args, kw, "s|ssiiiii:IntProperty", kwlist, &id, &name, &description, &min, &max, &soft_min, &soft_max, &def))
+		return NULL;
+	
+	if (PyTuple_Size(args) > 0) {
+	 	PyErr_SetString(PyExc_ValueError, "all args must be keywors"); // TODO - py3 can enforce this.
+		return NULL;
+	}
+	
+	if (self) {
+		StructRNA *srna = PyCObject_AsVoidPtr(self);
+		RNA_def_int(srna, id, def, min, max, name, description, soft_min, soft_max);
+		Py_RETURN_NONE;
+	} else {
+		PyObject *ret = PyTuple_New(2);
+		PyTuple_SET_ITEM(ret, 0, PyCObject_FromVoidPtr((void *)BPy_IntProperty, NULL));
+		PyTuple_SET_ITEM(ret, 1, kw);
+		Py_INCREF(kw);
+		return ret;
+	}
+}
+
+PyObject *BPy_BoolProperty(PyObject *self, PyObject *args, PyObject *kw)
+{
+	static char *kwlist[] = {"attr", "name", "description", "default", NULL};
+	char *id, *name="", *description="";
+	int def=0;
+	
+	if (!PyArg_ParseTupleAndKeywords(args, kw, "s|ssi:IntProperty", kwlist, &id, &name, &description, &def))
+		return NULL;
+	
+	if (PyTuple_Size(args) > 0) {
+	 	PyErr_SetString(PyExc_ValueError, "all args must be keywors"); // TODO - py3 can enforce this.
+		return NULL;
+	}
+	
+	if (self) {
+		StructRNA *srna = PyCObject_AsVoidPtr(self);
+		RNA_def_boolean(srna, id, def, name, description);
+		Py_RETURN_NONE;
+	} else {
+		PyObject *ret = PyTuple_New(2);
+		PyTuple_SET_ITEM(ret, 0, PyCObject_FromVoidPtr((void *)BPy_IntProperty, NULL));
+		PyTuple_SET_ITEM(ret, 1, kw);
+		Py_INCREF(kw);
+		return ret;
+	}
+}
diff --git a/source/blender/python/intern/bpy_rna.h b/source/blender/python/intern/bpy_rna.h
index fc16ad6ea9a..878b2a7d17a 100644
--- a/source/blender/python/intern/bpy_rna.h
+++ b/source/blender/python/intern/bpy_rna.h
@@ -33,8 +33,21 @@
 extern PyTypeObject pyrna_struct_Type;
 extern PyTypeObject pyrna_prop_Type;
 
-#define BPy_StructRNA_Check(v)		(PyObject_TypeCheck(v, &pyrna_struct_Type))
-#define BPy_PropertyRNA_Check(v)	(PyObject_TypeCheck(v, &pyrna_prop_Type))
+#define BPy_StructRNA_Check(v)			(PyObject_TypeCheck(v, &pyrna_struct_Type))
+#define BPy_StructRNA_CheckExact(v)		(Py_TYPE(v) == &pyrna_struct_Type)
+#define BPy_PropertyRNA_Check(v)		(PyObject_TypeCheck(v, &pyrna_prop_Type))
+#define BPy_PropertyRNA_CheckExact(v)	(Py_TYPE(v) == &pyrna_prop_Type)
+
+ //XXX add propper accessor function, we know this is just after next/prev pointers
+ 
+ #define BPy_RNA_PYTYPE( _data ) (((BPy_StructFakeType *)(_data))->py_type)
+
+typedef struct {
+	void * _a;
+	void * _b;
+	PyTypeObject *py_type;
+} BPy_StructFakeType;
+
 
 typedef struct {
 	PyObject_HEAD /* required python macro   */
@@ -48,8 +61,12 @@ typedef struct {
 	PropertyRNA *prop;
 } BPy_PropertyRNA;
 
+/* cheap trick */
+#define BPy_BaseTypeRNA BPy_PropertyRNA
+
 PyObject *BPY_rna_module( void );
-PyObject *BPY_rna_doc( void );
+/*PyObject *BPY_rna_doc( void );*/
+PyObject *BPY_rna_types( void );
 
 PyObject *pyrna_struct_CreatePyObject( PointerRNA *ptr );
 PyObject *pyrna_prop_CreatePyObject( PointerRNA *ptr, PropertyRNA *prop );
@@ -57,4 +74,11 @@ PyObject *pyrna_prop_CreatePyObject( PointerRNA *ptr, PropertyRNA *prop );
 /* operators also need this to set args */
 int pyrna_py_to_prop(PointerRNA *ptr, PropertyRNA *prop, PyObject *value);
 PyObject * pyrna_prop_to_py(PointerRNA *ptr, PropertyRNA *prop);
+
+/* functions for setting up new props - experemental */
+PyObject *BPy_FloatProperty(PyObject *self, PyObject *args, PyObject *kw);
+PyObject *BPy_IntProperty(PyObject *self, PyObject *args, PyObject *kw);
+PyObject *BPy_BoolProperty(PyObject *self, PyObject *args, PyObject *kw);
+
+
 #endif
diff --git a/source/blender/python/intern/bpy_ui.c b/source/blender/python/intern/bpy_ui.c
index 82d48b1dcda..7b3b4c01c55 100644
--- a/source/blender/python/intern/bpy_ui.c
+++ b/source/blender/python/intern/bpy_ui.c
@@ -115,7 +115,7 @@ static PyObject *Method_defAutoButR( PyObject * self, PyObject * args )
 		return NULL;
 	}
 	
-	return PyCObject_FromVoidPtr(   uiDefAutoButR(PyCObject_AsVoidPtr(py_block), &py_rna->ptr, prop, index, butname, xco, yco, width, height), NULL);
+	return PyCObject_FromVoidPtr(   uiDefAutoButR(PyCObject_AsVoidPtr(py_block), &py_rna->ptr, prop, index, butname, 0, xco, yco, width, height), NULL);
 }
 
 
@@ -267,7 +267,7 @@ static PyObject *Method_newPanel( PyObject * self, PyObject * args )
 	if( !PyArg_ParseTuple( args, "O!O!O!ssiiii:newPanel", &PyCObject_Type, &py_context, &PyCObject_Type, &py_area, &PyCObject_Type, &py_block, &panelname, &tabname, &ofsx, &ofsy, &sizex, &sizey))
 		return NULL;
 	
-	return PyLong_FromSize_t(uiNewPanel(PyCObject_AsVoidPtr(py_context), PyCObject_AsVoidPtr(py_area), PyCObject_AsVoidPtr(py_block), panelname, tabname, ofsx, ofsy, sizex, sizey));
+	return PyLong_FromSsize_t(uiNewPanel(PyCObject_AsVoidPtr(py_context), PyCObject_AsVoidPtr(py_area), PyCObject_AsVoidPtr(py_block), panelname, tabname, ofsx, ofsy, sizex, sizey));
 }
 
 /* similar to Draw.c */
@@ -418,7 +418,6 @@ static struct PyMethodDef ui_methods[] = {
 	{"registerKey", (PyCFunction)Method_registerKey, METH_VARARGS, ""}, // XXX could have this in another place too
 	
 	
-	
 	{"getRegonPtr", (PyCFunction)Method_getRegonPtr,	METH_NOARGS, ""}, // XXX Nasty, we really need to improve dealing with context!
 	{"getAreaPtr", (PyCFunction)Method_getAreaPtr,		METH_NOARGS, ""},
 	{"getScreenPtr", (PyCFunction)Method_getScreenPtr, METH_NOARGS, ""},
@@ -450,171 +449,171 @@ PyObject *BPY_ui_module( void )
 	/* uiBlock->flag (controls) */
 	mod = PyModule_New("ui");
 	PyModule_AddObject( submodule, "ui", mod );
-	PyModule_AddObject( mod, "BLOCK_LOOP", PyLong_FromSize_t(UI_BLOCK_LOOP) );
-	PyModule_AddObject( mod, "BLOCK_RET_1", PyLong_FromSize_t(UI_BLOCK_RET_1) );
-	PyModule_AddObject( mod, "BLOCK_NUMSELECT", PyLong_FromSize_t(UI_BLOCK_NUMSELECT) );
-	PyModule_AddObject( mod, "BLOCK_ENTER_OK", PyLong_FromSize_t(UI_BLOCK_ENTER_OK) );
-	PyModule_AddObject( mod, "BLOCK_NOSHADOW", PyLong_FromSize_t(UI_BLOCK_NOSHADOW) );
-	PyModule_AddObject( mod, "BLOCK_NO_HILITE", PyLong_FromSize_t(UI_BLOCK_NO_HILITE) );
-	PyModule_AddObject( mod, "BLOCK_MOVEMOUSE_QUIT", PyLong_FromSize_t(UI_BLOCK_MOVEMOUSE_QUIT) );
-	PyModule_AddObject( mod, "BLOCK_KEEP_OPEN", PyLong_FromSize_t(UI_BLOCK_KEEP_OPEN) );
-	PyModule_AddObject( mod, "BLOCK_POPUP", PyLong_FromSize_t(UI_BLOCK_POPUP) );
+	PyModule_AddObject( mod, "BLOCK_LOOP", PyLong_FromSsize_t(UI_BLOCK_LOOP) );
+	PyModule_AddObject( mod, "BLOCK_RET_1", PyLong_FromSsize_t(UI_BLOCK_RET_1) );
+	PyModule_AddObject( mod, "BLOCK_NUMSELECT", PyLong_FromSsize_t(UI_BLOCK_NUMSELECT) );
+	PyModule_AddObject( mod, "BLOCK_ENTER_OK", PyLong_FromSsize_t(UI_BLOCK_ENTER_OK) );
+	PyModule_AddObject( mod, "BLOCK_NOSHADOW", PyLong_FromSsize_t(UI_BLOCK_NOSHADOW) );
+	PyModule_AddObject( mod, "BLOCK_NO_HILITE", PyLong_FromSsize_t(UI_BLOCK_NO_HILITE) );
+	PyModule_AddObject( mod, "BLOCK_MOVEMOUSE_QUIT", PyLong_FromSsize_t(UI_BLOCK_MOVEMOUSE_QUIT) );
+	PyModule_AddObject( mod, "BLOCK_KEEP_OPEN", PyLong_FromSsize_t(UI_BLOCK_KEEP_OPEN) );
+	PyModule_AddObject( mod, "BLOCK_POPUP", PyLong_FromSsize_t(UI_BLOCK_POPUP) );
 	
 	/* for executing operators (XXX move elsewhere) */
 	mod = PyModule_New("wmTypes");
 	PyModule_AddObject( submodule, "wmTypes", mod );
-	PyModule_AddObject( mod, "OP_INVOKE_DEFAULT", PyLong_FromSize_t(WM_OP_INVOKE_DEFAULT) );
-	PyModule_AddObject( mod, "OP_INVOKE_REGION_WIN", PyLong_FromSize_t(WM_OP_INVOKE_REGION_WIN) );
-	PyModule_AddObject( mod, "OP_INVOKE_AREA", PyLong_FromSize_t(WM_OP_INVOKE_AREA) );
-	PyModule_AddObject( mod, "OP_INVOKE_SCREEN", PyLong_FromSize_t(WM_OP_INVOKE_SCREEN) );
-	PyModule_AddObject( mod, "OP_EXEC_DEFAULT", PyLong_FromSize_t(WM_OP_EXEC_DEFAULT) );
-	PyModule_AddObject( mod, "OP_EXEC_REGION_WIN", PyLong_FromSize_t(WM_OP_EXEC_REGION_WIN) );
-	PyModule_AddObject( mod, "OP_EXEC_AREA", PyLong_FromSize_t(WM_OP_EXEC_AREA) );
-	PyModule_AddObject( mod, "OP_EXEC_SCREEN", PyLong_FromSize_t(WM_OP_EXEC_SCREEN) );
+	PyModule_AddObject( mod, "OP_INVOKE_DEFAULT", PyLong_FromSsize_t(WM_OP_INVOKE_DEFAULT) );
+	PyModule_AddObject( mod, "OP_INVOKE_REGION_WIN", PyLong_FromSsize_t(WM_OP_INVOKE_REGION_WIN) );
+	PyModule_AddObject( mod, "OP_INVOKE_AREA", PyLong_FromSsize_t(WM_OP_INVOKE_AREA) );
+	PyModule_AddObject( mod, "OP_INVOKE_SCREEN", PyLong_FromSsize_t(WM_OP_INVOKE_SCREEN) );
+	PyModule_AddObject( mod, "OP_EXEC_DEFAULT", PyLong_FromSsize_t(WM_OP_EXEC_DEFAULT) );
+	PyModule_AddObject( mod, "OP_EXEC_REGION_WIN", PyLong_FromSsize_t(WM_OP_EXEC_REGION_WIN) );
+	PyModule_AddObject( mod, "OP_EXEC_AREA", PyLong_FromSsize_t(WM_OP_EXEC_AREA) );
+	PyModule_AddObject( mod, "OP_EXEC_SCREEN", PyLong_FromSsize_t(WM_OP_EXEC_SCREEN) );
 	
 	mod = PyModule_New("keyValTypes");
 	PyModule_AddObject( submodule, "keyValTypes", mod );
-	PyModule_AddObject( mod, "ANY", PyLong_FromSize_t(KM_ANY) );
-	PyModule_AddObject( mod, "NOTHING", PyLong_FromSize_t(KM_NOTHING) );
-	PyModule_AddObject( mod, "PRESS", PyLong_FromSize_t(KM_PRESS) );
-	PyModule_AddObject( mod, "RELEASE", PyLong_FromSize_t(KM_RELEASE) );
+	PyModule_AddObject( mod, "ANY", PyLong_FromSsize_t(KM_ANY) );
+	PyModule_AddObject( mod, "NOTHING", PyLong_FromSsize_t(KM_NOTHING) );
+	PyModule_AddObject( mod, "PRESS", PyLong_FromSsize_t(KM_PRESS) );
+	PyModule_AddObject( mod, "RELEASE", PyLong_FromSsize_t(KM_RELEASE) );
 	
 	mod = PyModule_New("keyModTypes");
 	PyModule_AddObject( submodule, "keyModTypes", mod );
-	PyModule_AddObject( mod, "SHIFT", PyLong_FromSize_t(KM_SHIFT) );
-	PyModule_AddObject( mod, "CTRL", PyLong_FromSize_t(KM_CTRL) );
-	PyModule_AddObject( mod, "ALT", PyLong_FromSize_t(KM_ALT) );
-	PyModule_AddObject( mod, "OSKEY", PyLong_FromSize_t(KM_OSKEY) );
+	PyModule_AddObject( mod, "SHIFT", PyLong_FromSsize_t(KM_SHIFT) );
+	PyModule_AddObject( mod, "CTRL", PyLong_FromSsize_t(KM_CTRL) );
+	PyModule_AddObject( mod, "ALT", PyLong_FromSsize_t(KM_ALT) );
+	PyModule_AddObject( mod, "OSKEY", PyLong_FromSsize_t(KM_OSKEY) );
 	
-	PyModule_AddObject( mod, "SHIFT2", PyLong_FromSize_t(KM_SHIFT2) );
-	PyModule_AddObject( mod, "CTRL2", PyLong_FromSize_t(KM_CTRL2) );
-	PyModule_AddObject( mod, "ALT2", PyLong_FromSize_t(KM_ALT2) );
-	PyModule_AddObject( mod, "OSKEY2", PyLong_FromSize_t(KM_OSKEY2) );
+	PyModule_AddObject( mod, "SHIFT2", PyLong_FromSsize_t(KM_SHIFT2) );
+	PyModule_AddObject( mod, "CTRL2", PyLong_FromSsize_t(KM_CTRL2) );
+	PyModule_AddObject( mod, "ALT2", PyLong_FromSsize_t(KM_ALT2) );
+	PyModule_AddObject( mod, "OSKEY2", PyLong_FromSsize_t(KM_OSKEY2) );
 	
 	mod = PyModule_New("keyTypes");
 	PyModule_AddObject( submodule, "keyTypes", mod );
-	PyModule_AddObject( mod, "A", PyLong_FromSize_t(AKEY) );
-	PyModule_AddObject( mod, "B", PyLong_FromSize_t(BKEY) );
-	PyModule_AddObject( mod, "C", PyLong_FromSize_t(CKEY) );
-	PyModule_AddObject( mod, "D", PyLong_FromSize_t(DKEY) );
-	PyModule_AddObject( mod, "E", PyLong_FromSize_t(EKEY) );
-	PyModule_AddObject( mod, "F", PyLong_FromSize_t(FKEY) );
-	PyModule_AddObject( mod, "G", PyLong_FromSize_t(GKEY) );
-	PyModule_AddObject( mod, "H", PyLong_FromSize_t(HKEY) );
-	PyModule_AddObject( mod, "I", PyLong_FromSize_t(IKEY) );
-	PyModule_AddObject( mod, "J", PyLong_FromSize_t(JKEY) );
-	PyModule_AddObject( mod, "K", PyLong_FromSize_t(KKEY) );
-	PyModule_AddObject( mod, "L", PyLong_FromSize_t(LKEY) );
-	PyModule_AddObject( mod, "M", PyLong_FromSize_t(MKEY) );
-	PyModule_AddObject( mod, "N", PyLong_FromSize_t(NKEY) );
-	PyModule_AddObject( mod, "O", PyLong_FromSize_t(OKEY) );
-	PyModule_AddObject( mod, "P", PyLong_FromSize_t(PKEY) );
-	PyModule_AddObject( mod, "Q", PyLong_FromSize_t(QKEY) );
-	PyModule_AddObject( mod, "R", PyLong_FromSize_t(RKEY) );
-	PyModule_AddObject( mod, "S", PyLong_FromSize_t(SKEY) );
-	PyModule_AddObject( mod, "T", PyLong_FromSize_t(TKEY) );
-	PyModule_AddObject( mod, "U", PyLong_FromSize_t(UKEY) );
-	PyModule_AddObject( mod, "V", PyLong_FromSize_t(VKEY) );
-	PyModule_AddObject( mod, "W", PyLong_FromSize_t(WKEY) );
-	PyModule_AddObject( mod, "X", PyLong_FromSize_t(XKEY) );
-	PyModule_AddObject( mod, "Y", PyLong_FromSize_t(YKEY) );
-	PyModule_AddObject( mod, "Z", PyLong_FromSize_t(ZKEY) );
-	PyModule_AddObject( mod, "ZERO", PyLong_FromSize_t(ZEROKEY) );
-	PyModule_AddObject( mod, "ONE", PyLong_FromSize_t(ONEKEY) );
-	PyModule_AddObject( mod, "TWO", PyLong_FromSize_t(TWOKEY) );
-	PyModule_AddObject( mod, "THREE", PyLong_FromSize_t(THREEKEY) );
-	PyModule_AddObject( mod, "FOUR", PyLong_FromSize_t(FOURKEY) );
-	PyModule_AddObject( mod, "FIVE", PyLong_FromSize_t(FIVEKEY) );
-	PyModule_AddObject( mod, "SIX", PyLong_FromSize_t(SIXKEY) );
-	PyModule_AddObject( mod, "SEVEN", PyLong_FromSize_t(SEVENKEY) );
-	PyModule_AddObject( mod, "EIGHT", PyLong_FromSize_t(EIGHTKEY) );
-	PyModule_AddObject( mod, "NINE", PyLong_FromSize_t(NINEKEY) );
-	PyModule_AddObject( mod, "CAPSLOCK", PyLong_FromSize_t(CAPSLOCKKEY) );
-	PyModule_AddObject( mod, "LEFTCTRL", PyLong_FromSize_t(LEFTCTRLKEY) );
-	PyModule_AddObject( mod, "LEFTALT", PyLong_FromSize_t(LEFTALTKEY) );
-	PyModule_AddObject( mod, "RIGHTALT", PyLong_FromSize_t(RIGHTALTKEY) );
-	PyModule_AddObject( mod, "RIGHTCTRL", PyLong_FromSize_t(RIGHTCTRLKEY) );
-	PyModule_AddObject( mod, "RIGHTSHIFT", PyLong_FromSize_t(RIGHTSHIFTKEY) );
-	PyModule_AddObject( mod, "LEFTSHIFT", PyLong_FromSize_t(LEFTSHIFTKEY) );
-	PyModule_AddObject( mod, "ESC", PyLong_FromSize_t(ESCKEY) );
-	PyModule_AddObject( mod, "TAB", PyLong_FromSize_t(TABKEY) );
-	PyModule_AddObject( mod, "RET", PyLong_FromSize_t(RETKEY) );
-	PyModule_AddObject( mod, "SPACE", PyLong_FromSize_t(SPACEKEY) );
-	PyModule_AddObject( mod, "LINEFEED", PyLong_FromSize_t(LINEFEEDKEY) );
-	PyModule_AddObject( mod, "BACKSPACE", PyLong_FromSize_t(BACKSPACEKEY) );
-	PyModule_AddObject( mod, "DEL", PyLong_FromSize_t(DELKEY) );
-	PyModule_AddObject( mod, "SEMICOLON", PyLong_FromSize_t(SEMICOLONKEY) );
-	PyModule_AddObject( mod, "PERIOD", PyLong_FromSize_t(PERIODKEY) );
-	PyModule_AddObject( mod, "COMMA", PyLong_FromSize_t(COMMAKEY) );
-	PyModule_AddObject( mod, "QUOTE", PyLong_FromSize_t(QUOTEKEY) );
-	PyModule_AddObject( mod, "ACCENTGRAVE", PyLong_FromSize_t(ACCENTGRAVEKEY) );
-	PyModule_AddObject( mod, "MINUS", PyLong_FromSize_t(MINUSKEY) );
-	PyModule_AddObject( mod, "SLASH", PyLong_FromSize_t(SLASHKEY) );
-	PyModule_AddObject( mod, "BACKSLASH", PyLong_FromSize_t(BACKSLASHKEY) );
-	PyModule_AddObject( mod, "EQUAL", PyLong_FromSize_t(EQUALKEY) );
-	PyModule_AddObject( mod, "LEFTBRACKET", PyLong_FromSize_t(LEFTBRACKETKEY) );
-	PyModule_AddObject( mod, "RIGHTBRACKET", PyLong_FromSize_t(RIGHTBRACKETKEY) );
-	PyModule_AddObject( mod, "LEFTARROW", PyLong_FromSize_t(LEFTARROWKEY) );
-	PyModule_AddObject( mod, "DOWNARROW", PyLong_FromSize_t(DOWNARROWKEY) );
-	PyModule_AddObject( mod, "RIGHTARROW", PyLong_FromSize_t(RIGHTARROWKEY) );
-	PyModule_AddObject( mod, "UPARROW", PyLong_FromSize_t(UPARROWKEY) );
-	PyModule_AddObject( mod, "PAD0", PyLong_FromSize_t(PAD0) );
-	PyModule_AddObject( mod, "PAD1", PyLong_FromSize_t(PAD1) );
-	PyModule_AddObject( mod, "PAD2", PyLong_FromSize_t(PAD2) );
-	PyModule_AddObject( mod, "PAD3", PyLong_FromSize_t(PAD3) );
-	PyModule_AddObject( mod, "PAD4", PyLong_FromSize_t(PAD4) );
-	PyModule_AddObject( mod, "PAD5", PyLong_FromSize_t(PAD5) );
-	PyModule_AddObject( mod, "PAD6", PyLong_FromSize_t(PAD6) );
-	PyModule_AddObject( mod, "PAD7", PyLong_FromSize_t(PAD7) );
-	PyModule_AddObject( mod, "PAD8", PyLong_FromSize_t(PAD8) );
-	PyModule_AddObject( mod, "PAD9", PyLong_FromSize_t(PAD9) );
-	PyModule_AddObject( mod, "PADPERIOD", PyLong_FromSize_t(PADPERIOD) );
-	PyModule_AddObject( mod, "PADSLASH", PyLong_FromSize_t(PADSLASHKEY) );
-	PyModule_AddObject( mod, "PADASTER", PyLong_FromSize_t(PADASTERKEY) );
-	PyModule_AddObject( mod, "PADMINUS", PyLong_FromSize_t(PADMINUS) );
-	PyModule_AddObject( mod, "PADENTER", PyLong_FromSize_t(PADENTER) );
-	PyModule_AddObject( mod, "PADPLUS", PyLong_FromSize_t(PADPLUSKEY) );
-	PyModule_AddObject( mod, "F1", PyLong_FromSize_t(F1KEY) );
-	PyModule_AddObject( mod, "F2", PyLong_FromSize_t(F2KEY) );
-	PyModule_AddObject( mod, "F3", PyLong_FromSize_t(F3KEY) );
-	PyModule_AddObject( mod, "F4", PyLong_FromSize_t(F4KEY) );
-	PyModule_AddObject( mod, "F5", PyLong_FromSize_t(F5KEY) );
-	PyModule_AddObject( mod, "F6", PyLong_FromSize_t(F6KEY) );
-	PyModule_AddObject( mod, "F7", PyLong_FromSize_t(F7KEY) );
-	PyModule_AddObject( mod, "F8", PyLong_FromSize_t(F8KEY) );
-	PyModule_AddObject( mod, "F9", PyLong_FromSize_t(F9KEY) );
-	PyModule_AddObject( mod, "F10", PyLong_FromSize_t(F10KEY) );
-	PyModule_AddObject( mod, "F11", PyLong_FromSize_t(F11KEY) );
-	PyModule_AddObject( mod, "F12", PyLong_FromSize_t(F12KEY) );
-	PyModule_AddObject( mod, "PAUSE", PyLong_FromSize_t(PAUSEKEY) );
-	PyModule_AddObject( mod, "INSERT", PyLong_FromSize_t(INSERTKEY) );
-	PyModule_AddObject( mod, "HOME", PyLong_FromSize_t(HOMEKEY) );
-	PyModule_AddObject( mod, "PAGEUP", PyLong_FromSize_t(PAGEUPKEY) );
-	PyModule_AddObject( mod, "PAGEDOWN", PyLong_FromSize_t(PAGEDOWNKEY) );
-	PyModule_AddObject( mod, "END", PyLong_FromSize_t(ENDKEY) );
-	PyModule_AddObject( mod, "UNKNOWN", PyLong_FromSize_t(UNKNOWNKEY) );
-	PyModule_AddObject( mod, "COMMAND", PyLong_FromSize_t(COMMANDKEY) );
-	PyModule_AddObject( mod, "GRLESS", PyLong_FromSize_t(GRLESSKEY) );
+	PyModule_AddObject( mod, "A", PyLong_FromSsize_t(AKEY) );
+	PyModule_AddObject( mod, "B", PyLong_FromSsize_t(BKEY) );
+	PyModule_AddObject( mod, "C", PyLong_FromSsize_t(CKEY) );
+	PyModule_AddObject( mod, "D", PyLong_FromSsize_t(DKEY) );
+	PyModule_AddObject( mod, "E", PyLong_FromSsize_t(EKEY) );
+	PyModule_AddObject( mod, "F", PyLong_FromSsize_t(FKEY) );
+	PyModule_AddObject( mod, "G", PyLong_FromSsize_t(GKEY) );
+	PyModule_AddObject( mod, "H", PyLong_FromSsize_t(HKEY) );
+	PyModule_AddObject( mod, "I", PyLong_FromSsize_t(IKEY) );
+	PyModule_AddObject( mod, "J", PyLong_FromSsize_t(JKEY) );
+	PyModule_AddObject( mod, "K", PyLong_FromSsize_t(KKEY) );
+	PyModule_AddObject( mod, "L", PyLong_FromSsize_t(LKEY) );
+	PyModule_AddObject( mod, "M", PyLong_FromSsize_t(MKEY) );
+	PyModule_AddObject( mod, "N", PyLong_FromSsize_t(NKEY) );
+	PyModule_AddObject( mod, "O", PyLong_FromSsize_t(OKEY) );
+	PyModule_AddObject( mod, "P", PyLong_FromSsize_t(PKEY) );
+	PyModule_AddObject( mod, "Q", PyLong_FromSsize_t(QKEY) );
+	PyModule_AddObject( mod, "R", PyLong_FromSsize_t(RKEY) );
+	PyModule_AddObject( mod, "S", PyLong_FromSsize_t(SKEY) );
+	PyModule_AddObject( mod, "T", PyLong_FromSsize_t(TKEY) );
+	PyModule_AddObject( mod, "U", PyLong_FromSsize_t(UKEY) );
+	PyModule_AddObject( mod, "V", PyLong_FromSsize_t(VKEY) );
+	PyModule_AddObject( mod, "W", PyLong_FromSsize_t(WKEY) );
+	PyModule_AddObject( mod, "X", PyLong_FromSsize_t(XKEY) );
+	PyModule_AddObject( mod, "Y", PyLong_FromSsize_t(YKEY) );
+	PyModule_AddObject( mod, "Z", PyLong_FromSsize_t(ZKEY) );
+	PyModule_AddObject( mod, "ZERO", PyLong_FromSsize_t(ZEROKEY) );
+	PyModule_AddObject( mod, "ONE", PyLong_FromSsize_t(ONEKEY) );
+	PyModule_AddObject( mod, "TWO", PyLong_FromSsize_t(TWOKEY) );
+	PyModule_AddObject( mod, "THREE", PyLong_FromSsize_t(THREEKEY) );
+	PyModule_AddObject( mod, "FOUR", PyLong_FromSsize_t(FOURKEY) );
+	PyModule_AddObject( mod, "FIVE", PyLong_FromSsize_t(FIVEKEY) );
+	PyModule_AddObject( mod, "SIX", PyLong_FromSsize_t(SIXKEY) );
+	PyModule_AddObject( mod, "SEVEN", PyLong_FromSsize_t(SEVENKEY) );
+	PyModule_AddObject( mod, "EIGHT", PyLong_FromSsize_t(EIGHTKEY) );
+	PyModule_AddObject( mod, "NINE", PyLong_FromSsize_t(NINEKEY) );
+	PyModule_AddObject( mod, "CAPSLOCK", PyLong_FromSsize_t(CAPSLOCKKEY) );
+	PyModule_AddObject( mod, "LEFTCTRL", PyLong_FromSsize_t(LEFTCTRLKEY) );
+	PyModule_AddObject( mod, "LEFTALT", PyLong_FromSsize_t(LEFTALTKEY) );
+	PyModule_AddObject( mod, "RIGHTALT", PyLong_FromSsize_t(RIGHTALTKEY) );
+	PyModule_AddObject( mod, "RIGHTCTRL", PyLong_FromSsize_t(RIGHTCTRLKEY) );
+	PyModule_AddObject( mod, "RIGHTSHIFT", PyLong_FromSsize_t(RIGHTSHIFTKEY) );
+	PyModule_AddObject( mod, "LEFTSHIFT", PyLong_FromSsize_t(LEFTSHIFTKEY) );
+	PyModule_AddObject( mod, "ESC", PyLong_FromSsize_t(ESCKEY) );
+	PyModule_AddObject( mod, "TAB", PyLong_FromSsize_t(TABKEY) );
+	PyModule_AddObject( mod, "RET", PyLong_FromSsize_t(RETKEY) );
+	PyModule_AddObject( mod, "SPACE", PyLong_FromSsize_t(SPACEKEY) );
+	PyModule_AddObject( mod, "LINEFEED", PyLong_FromSsize_t(LINEFEEDKEY) );
+	PyModule_AddObject( mod, "BACKSPACE", PyLong_FromSsize_t(BACKSPACEKEY) );
+	PyModule_AddObject( mod, "DEL", PyLong_FromSsize_t(DELKEY) );
+	PyModule_AddObject( mod, "SEMICOLON", PyLong_FromSsize_t(SEMICOLONKEY) );
+	PyModule_AddObject( mod, "PERIOD", PyLong_FromSsize_t(PERIODKEY) );
+	PyModule_AddObject( mod, "COMMA", PyLong_FromSsize_t(COMMAKEY) );
+	PyModule_AddObject( mod, "QUOTE", PyLong_FromSsize_t(QUOTEKEY) );
+	PyModule_AddObject( mod, "ACCENTGRAVE", PyLong_FromSsize_t(ACCENTGRAVEKEY) );
+	PyModule_AddObject( mod, "MINUS", PyLong_FromSsize_t(MINUSKEY) );
+	PyModule_AddObject( mod, "SLASH", PyLong_FromSsize_t(SLASHKEY) );
+	PyModule_AddObject( mod, "BACKSLASH", PyLong_FromSsize_t(BACKSLASHKEY) );
+	PyModule_AddObject( mod, "EQUAL", PyLong_FromSsize_t(EQUALKEY) );
+	PyModule_AddObject( mod, "LEFTBRACKET", PyLong_FromSsize_t(LEFTBRACKETKEY) );
+	PyModule_AddObject( mod, "RIGHTBRACKET", PyLong_FromSsize_t(RIGHTBRACKETKEY) );
+	PyModule_AddObject( mod, "LEFTARROW", PyLong_FromSsize_t(LEFTARROWKEY) );
+	PyModule_AddObject( mod, "DOWNARROW", PyLong_FromSsize_t(DOWNARROWKEY) );
+	PyModule_AddObject( mod, "RIGHTARROW", PyLong_FromSsize_t(RIGHTARROWKEY) );
+	PyModule_AddObject( mod, "UPARROW", PyLong_FromSsize_t(UPARROWKEY) );
+	PyModule_AddObject( mod, "PAD0", PyLong_FromSsize_t(PAD0) );
+	PyModule_AddObject( mod, "PAD1", PyLong_FromSsize_t(PAD1) );
+	PyModule_AddObject( mod, "PAD2", PyLong_FromSsize_t(PAD2) );
+	PyModule_AddObject( mod, "PAD3", PyLong_FromSsize_t(PAD3) );
+	PyModule_AddObject( mod, "PAD4", PyLong_FromSsize_t(PAD4) );
+	PyModule_AddObject( mod, "PAD5", PyLong_FromSsize_t(PAD5) );
+	PyModule_AddObject( mod, "PAD6", PyLong_FromSsize_t(PAD6) );
+	PyModule_AddObject( mod, "PAD7", PyLong_FromSsize_t(PAD7) );
+	PyModule_AddObject( mod, "PAD8", PyLong_FromSsize_t(PAD8) );
+	PyModule_AddObject( mod, "PAD9", PyLong_FromSsize_t(PAD9) );
+	PyModule_AddObject( mod, "PADPERIOD", PyLong_FromSsize_t(PADPERIOD) );
+	PyModule_AddObject( mod, "PADSLASH", PyLong_FromSsize_t(PADSLASHKEY) );
+	PyModule_AddObject( mod, "PADASTER", PyLong_FromSsize_t(PADASTERKEY) );
+	PyModule_AddObject( mod, "PADMINUS", PyLong_FromSsize_t(PADMINUS) );
+	PyModule_AddObject( mod, "PADENTER", PyLong_FromSsize_t(PADENTER) );
+	PyModule_AddObject( mod, "PADPLUS", PyLong_FromSsize_t(PADPLUSKEY) );
+	PyModule_AddObject( mod, "F1", PyLong_FromSsize_t(F1KEY) );
+	PyModule_AddObject( mod, "F2", PyLong_FromSsize_t(F2KEY) );
+	PyModule_AddObject( mod, "F3", PyLong_FromSsize_t(F3KEY) );
+	PyModule_AddObject( mod, "F4", PyLong_FromSsize_t(F4KEY) );
+	PyModule_AddObject( mod, "F5", PyLong_FromSsize_t(F5KEY) );
+	PyModule_AddObject( mod, "F6", PyLong_FromSsize_t(F6KEY) );
+	PyModule_AddObject( mod, "F7", PyLong_FromSsize_t(F7KEY) );
+	PyModule_AddObject( mod, "F8", PyLong_FromSsize_t(F8KEY) );
+	PyModule_AddObject( mod, "F9", PyLong_FromSsize_t(F9KEY) );
+	PyModule_AddObject( mod, "F10", PyLong_FromSsize_t(F10KEY) );
+	PyModule_AddObject( mod, "F11", PyLong_FromSsize_t(F11KEY) );
+	PyModule_AddObject( mod, "F12", PyLong_FromSsize_t(F12KEY) );
+	PyModule_AddObject( mod, "PAUSE", PyLong_FromSsize_t(PAUSEKEY) );
+	PyModule_AddObject( mod, "INSERT", PyLong_FromSsize_t(INSERTKEY) );
+	PyModule_AddObject( mod, "HOME", PyLong_FromSsize_t(HOMEKEY) );
+	PyModule_AddObject( mod, "PAGEUP", PyLong_FromSsize_t(PAGEUPKEY) );
+	PyModule_AddObject( mod, "PAGEDOWN", PyLong_FromSsize_t(PAGEDOWNKEY) );
+	PyModule_AddObject( mod, "END", PyLong_FromSsize_t(ENDKEY) );
+	PyModule_AddObject( mod, "UNKNOWN", PyLong_FromSsize_t(UNKNOWNKEY) );
+	PyModule_AddObject( mod, "COMMAND", PyLong_FromSsize_t(COMMANDKEY) );
+	PyModule_AddObject( mod, "GRLESS", PyLong_FromSsize_t(GRLESSKEY) );
 	
 	mod = PyModule_New("spaceTypes");
 	PyModule_AddObject( submodule, "spaceTypes", mod );
-	PyModule_AddObject( mod, "EMPTY", PyLong_FromSize_t(SPACE_EMPTY) );
-	PyModule_AddObject( mod, "VIEW3D", PyLong_FromSize_t(SPACE_VIEW3D) );
-	PyModule_AddObject( mod, "IPO", PyLong_FromSize_t(SPACE_IPO) );
-	PyModule_AddObject( mod, "OOPS", PyLong_FromSize_t(SPACE_OOPS) );
-	PyModule_AddObject( mod, "BUTS", PyLong_FromSize_t(SPACE_BUTS) );
-	PyModule_AddObject( mod, "FILE", PyLong_FromSize_t(SPACE_FILE) );
-	PyModule_AddObject( mod, "IMAGE", PyLong_FromSize_t(SPACE_IMAGE) );
-	PyModule_AddObject( mod, "INFO", PyLong_FromSize_t(SPACE_INFO) );
-	PyModule_AddObject( mod, "SEQ", PyLong_FromSize_t(SPACE_SEQ) );
-	PyModule_AddObject( mod, "TEXT", PyLong_FromSize_t(SPACE_TEXT) );
-	PyModule_AddObject( mod, "IMASEL", PyLong_FromSize_t(SPACE_IMASEL) );
-	PyModule_AddObject( mod, "SOUND", PyLong_FromSize_t(SPACE_SOUND) );
-	PyModule_AddObject( mod, "ACTION", PyLong_FromSize_t(SPACE_ACTION) );
-	PyModule_AddObject( mod, "NLA", PyLong_FromSize_t(SPACE_NLA) );
-	PyModule_AddObject( mod, "SCRIPT", PyLong_FromSize_t(SPACE_SCRIPT) );
-	PyModule_AddObject( mod, "TIME", PyLong_FromSize_t(SPACE_TIME) );
-	PyModule_AddObject( mod, "NODE", PyLong_FromSize_t(SPACE_NODE) );
+	PyModule_AddObject( mod, "EMPTY", PyLong_FromSsize_t(SPACE_EMPTY) );
+	PyModule_AddObject( mod, "VIEW3D", PyLong_FromSsize_t(SPACE_VIEW3D) );
+	PyModule_AddObject( mod, "IPO", PyLong_FromSsize_t(SPACE_IPO) );
+	PyModule_AddObject( mod, "OUTLINER", PyLong_FromSsize_t(SPACE_OUTLINER) );
+	PyModule_AddObject( mod, "BUTS", PyLong_FromSsize_t(SPACE_BUTS) );
+	PyModule_AddObject( mod, "FILE", PyLong_FromSsize_t(SPACE_FILE) );
+	PyModule_AddObject( mod, "IMAGE", PyLong_FromSsize_t(SPACE_IMAGE) );
+	PyModule_AddObject( mod, "INFO", PyLong_FromSsize_t(SPACE_INFO) );
+	PyModule_AddObject( mod, "SEQ", PyLong_FromSsize_t(SPACE_SEQ) );
+	PyModule_AddObject( mod, "TEXT", PyLong_FromSsize_t(SPACE_TEXT) );
+	PyModule_AddObject( mod, "IMASEL", PyLong_FromSsize_t(SPACE_IMASEL) );
+	PyModule_AddObject( mod, "SOUND", PyLong_FromSsize_t(SPACE_SOUND) );
+	PyModule_AddObject( mod, "ACTION", PyLong_FromSsize_t(SPACE_ACTION) );
+	PyModule_AddObject( mod, "NLA", PyLong_FromSsize_t(SPACE_NLA) );
+	PyModule_AddObject( mod, "SCRIPT", PyLong_FromSsize_t(SPACE_SCRIPT) );
+	PyModule_AddObject( mod, "TIME", PyLong_FromSsize_t(SPACE_TIME) );
+	PyModule_AddObject( mod, "NODE", PyLong_FromSsize_t(SPACE_NODE) );
 	
 	
 	
diff --git a/source/blender/python/intern/bpy_util.c b/source/blender/python/intern/bpy_util.c
index 8bdb6334a91..7979ca9cd37 100644
--- a/source/blender/python/intern/bpy_util.c
+++ b/source/blender/python/intern/bpy_util.c
@@ -163,7 +163,7 @@ void PyObSpit(char *name, PyObject *var) {
 }
 
 void PyLineSpit(void) {
-	char filename[512];
+	char *filename;
 	int lineno;
 
 	PyErr_Clear();
@@ -175,39 +175,69 @@ void PyLineSpit(void) {
 void BPY_getFileAndNum(char **filename, int *lineno)
 {
 	PyObject *getframe, *frame;
-	PyObject *f_lineno, *f_code, *co_filename;
+	PyObject *f_lineno= NULL, *co_filename= NULL;
 	
 	if (filename)	*filename= NULL;
 	if (lineno)		*lineno = -1;
 	
 	getframe = PySys_GetObject("_getframe"); // borrowed
-	if (getframe) {
-		frame = PyObject_CallObject(getframe, NULL);
-		if (frame) {
-			f_lineno= PyObject_GetAttrString(frame, "f_lineno");
-			f_code= PyObject_GetAttrString(frame, "f_code");
-			if (f_lineno && f_code) {
-				co_filename= PyObject_GetAttrString(f_code, "co_filename");
-				if (co_filename) {
-					
-					if (filename)	*filename = _PyUnicode_AsString(co_filename);
-					if (lineno)		*lineno = (int)PyLong_AsSsize_t(f_lineno);
-					
-					Py_DECREF(f_lineno);
-					Py_DECREF(f_code);
-					Py_DECREF(co_filename);
-					Py_DECREF(frame);
-					
-					return;
-				}
-			}
+	if (getframe==NULL) {
+		return;
+	}
+	
+	frame = PyObject_CallObject(getframe, NULL);
+	if (frame==NULL)
+		return;
+	
+	if (filename) {
+		co_filename= PyObject_GetAttrStringArgs(frame, 1, "f_code", "co_filename");
+		if (co_filename==NULL) {
+			PyErr_SetString(PyExc_SystemError, "Could not access sys._getframe().f_code.co_filename");
+			Py_DECREF(frame);
+			return;
+		}
+		
+		*filename = _PyUnicode_AsString(co_filename);
+		Py_DECREF(co_filename);
+	}
+	
+	if (lineno) {
+		f_lineno= PyObject_GetAttrString(frame, "f_lineno");
+		if (f_lineno==NULL) {
+			PyErr_SetString(PyExc_SystemError, "Could not access sys._getframe().f_lineno");
+			Py_DECREF(frame);
+			return;
 		}
+		
+		*lineno = (int)PyLong_AsSsize_t(f_lineno);
+		Py_DECREF(f_lineno);
 	}
+
+	Py_DECREF(frame);
+}
+
+/* Would be nice if python had this built in */
+PyObject *PyObject_GetAttrStringArgs(PyObject *o, Py_ssize_t n, ...)
+{
+	Py_ssize_t i;
+	PyObject *item= o;
+	char *attr;
 	
-	Py_XDECREF(co_filename);
-	Py_XDECREF(f_lineno);
-	Py_XDECREF(f_code);
-	Py_XDECREF(frame);
+	va_list vargs;
+
+	va_start(vargs, n);
+	for (i=0; i<n; i++) {
+		attr = va_arg(vargs, char *);
+		item = PyObject_GetAttrString(item, attr);
+		
+		if (item) 
+			Py_DECREF(item);
+		else /* python will set the error value here */
+			break;
+		
+	}
+	va_end(vargs);
 	
-	PyErr_SetString(PyExc_SystemError, "Could not access sys._getframe().f_code.co_filename");
+	Py_XINCREF(item); /* final value has is increfed, to match PyObject_GetAttrString */
+	return item;
 }
diff --git a/source/blender/python/intern/bpy_util.h b/source/blender/python/intern/bpy_util.h
index 4d4d552af4e..51e13f98a35 100644
--- a/source/blender/python/intern/bpy_util.h
+++ b/source/blender/python/intern/bpy_util.h
@@ -24,6 +24,11 @@
 
 #include <Python.h>
 
+#ifndef BPY_UTIL_H
+#define BPY_UTIL_H
+
+#include "bpy_compat.h"
+
 /* for internal use only, so python can interchange a sequence of strings with flags */
 typedef struct BPY_flag_def {
     const char	*name;
@@ -37,3 +42,8 @@ int BPY_flag_from_seq(BPY_flag_def *flagdef, PyObject *seq, int *flag);
 void PyObSpit(char *name, PyObject *var);
 void PyLineSpit(void);
 void BPY_getFileAndNum(char **filename, int *lineno);
+
+/* own python like utility function */
+PyObject *PyObject_GetAttrStringArgs(PyObject *o, Py_ssize_t n, ...);
+
+#endif
diff --git a/source/blender/python/rna_dump.py b/source/blender/python/rna_dump.py
new file mode 100644
index 00000000000..66fb76c35aa
--- /dev/null
+++ b/source/blender/python/rna_dump.py
@@ -0,0 +1,136 @@
+ # ***** BEGIN GPL LICENSE BLOCK *****
+ #
+ # This program is free software; you can redistribute it and/or
+ # modify it under the terms of the GNU General Public License
+ # as published by the Free Software Foundation; either version 2
+ # of the License, or (at your option) any later version.
+ #
+ # This program is distributed in the hope that it will be useful,
+ # but WITHOUT ANY WARRANTY; without even the implied warranty of
+ # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ # GNU General Public License for more details.
+ #
+ # You should have received a copy of the GNU General Public License
+ # along with this program; if not, write to the Free Software Foundation,
+ # Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ #
+ # Contributor(s): Campbell Barton
+ #
+ # #**** END GPL LICENSE BLOCK #****
+
+if 1:
+	# Print once every 1000
+	GEN_PATH = True
+	PRINT_DATA = False
+	PRINT_DATA_INT = 1000
+	VERBOSE = False
+	VERBOSE_TYPE = False
+	MAX_RECURSIVE = 8
+else:
+	# Print everything
+	GEN_PATH = True
+	PRINT_DATA = True
+	PRINT_DATA_INT = 0
+	VERBOSE = False
+	VERBOSE_TYPE = False
+	MAX_RECURSIVE = 8
+
+seek_count = [0]
+
+def seek(r, txt, recurs):
+	
+	seek_count[0] += 1
+	
+	if PRINT_DATA_INT:
+		if not (seek_count[0] % PRINT_DATA_INT):
+			print(seek_count[0], txt)
+	
+	if PRINT_DATA:
+		print(txt)
+	
+	newtxt = ''
+	
+	if recurs > MAX_RECURSIVE:
+		#print ("Recursion is over max")
+		#print (txt)
+		return
+	
+	type_r = type(r)
+	
+	# print(type_r)
+	# print(dir(r))
+	
+	# basic types
+	if type_r in (float, int, bool, type(None)):
+		if PRINT_DATA:
+			print(txt + ' -> ' + str(r))
+		return
+	
+	if type_r == str:
+		if PRINT_DATA:
+			print(txt + ' -> "' + str(r) + '"')
+		return
+	
+	try:	keys = r.keys()
+	except: keys = None
+	
+	if keys != None:
+		if PRINT_DATA:
+			print(txt + '.keys() - ' + str(r.keys()))
+	
+	try:	__members__ = dir(r)
+	except: __members__ = []
+	
+	for item in __members__:
+		if item.startswith('__'):
+			continue
+			
+		if GEN_PATH: newtxt = txt + '.' + item
+		
+		if item == 'rna_type' and VERBOSE_TYPE==False: # just avoid because it spits out loads of data
+			continue
+		
+		try:	value = getattr(r, item)
+		except:	value = None
+		
+		seek( value, newtxt, recurs + 1)
+	
+	
+	if keys:
+		for k in keys:
+			if GEN_PATH: newtxt = txt + '["' + k + '"]'
+			seek(r.__getitem__(k), newtxt, recurs+1)
+	
+	else:
+		try:	length = len( r )
+		except:	length = 0
+		
+		if VERBOSE==False and length >= 4:
+			for i in (0, length-1):
+				if i>0:
+					if PRINT_DATA:
+						print((' '*len(txt)) + ' ... skipping '+str(length-2)+' items ...')
+				
+				if GEN_PATH: newtxt = txt + '[' + str(i) + ']'
+				seek(r[i], newtxt, recurs+1)
+		else:
+			for i in range(length):
+				if GEN_PATH: newtxt = txt + '[' + str(i) + ']'
+				seek(r[i], newtxt, recurs+1)
+
+seek(bpy.data, 'bpy.data', 0)
+# seek(bpy.types, 'bpy.types', 0)
+'''
+for d in dir(bpy.types):
+	t = getattr(bpy.types, d)
+	try:	r = t.__rna__
+	except:	r = None
+	if r:
+		seek(r, 'bpy.types.' + d + '.__rna__', 0)
+'''
+
+#print dir(bpy)
+#import sys
+#sys.exit()
+
+print("iter over ", seek_count, "rna items")
diff --git a/source/blender/python/simple_enum_gen.py b/source/blender/python/simple_enum_gen.py
new file mode 100644
index 00000000000..59f048c2842
--- /dev/null
+++ b/source/blender/python/simple_enum_gen.py
@@ -0,0 +1,65 @@
+ # ***** BEGIN GPL LICENSE BLOCK *****
+ #
+ # This program is free software; you can redistribute it and/or
+ # modify it under the terms of the GNU General Public License
+ # as published by the Free Software Foundation; either version 2
+ # of the License, or (at your option) any later version.
+ #
+ # This program is distributed in the hope that it will be useful,
+ # but WITHOUT ANY WARRANTY; without even the implied warranty of
+ # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ # GNU General Public License for more details.
+ #
+ # You should have received a copy of the GNU General Public License
+ # along with this program; if not, write to the Free Software Foundation,
+ # Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ #
+ # Contributor(s): Campbell Barton
+ #
+ # #**** END GPL LICENSE BLOCK #****
+
+defs = """
+	SPACE_EMPTY,
+	SPACE_VIEW3D,
+	SPACE_IPO,
+	SPACE_OUTLINER,
+	SPACE_BUTS,
+	SPACE_FILE,
+	SPACE_IMAGE,		
+	SPACE_INFO,
+	SPACE_SEQ,
+	SPACE_TEXT,
+	SPACE_IMASEL,
+	SPACE_SOUND,
+	SPACE_ACTION,
+	SPACE_NLA,
+	SPACE_SCRIPT,
+	SPACE_TIME,
+	SPACE_NODE,
+	SPACEICONMAX
+"""
+
+print '\tmod = PyModule_New("dummy");'
+print '\tPyModule_AddObject( submodule, "key", mod );'
+
+for d in defs.split('\n'):
+	
+	d = d.replace(',', ' ')
+	w = d.split()
+	
+	if not w:
+		continue
+	
+	try:		w.remove("#define")
+	except:	pass
+	
+	# print w
+	
+	val = w[0]
+	py_val = w[0]
+	
+	print '\tPyModule_AddObject( mod, "%s", PyLong_FromSize_t(%s) );' % (val, py_val)
+	
+
+
+
diff --git a/source/blender/quicktime/apple/quicktime_import.c b/source/blender/quicktime/apple/quicktime_import.c
index 5a3c76b9d6f..1f3071f114c 100644
--- a/source/blender/quicktime/apple/quicktime_import.c
+++ b/source/blender/quicktime/apple/quicktime_import.c
@@ -159,6 +159,7 @@ int anim_is_quicktime (char *name)
 		BLI_testextensie(name, ".avi") ||	// wouldnt be appropriate ;)
 		BLI_testextensie(name, ".tga") ||
 		BLI_testextensie(name, ".png") ||
+		BLI_testextensie(name, ".bmp") ||
 		BLI_testextensie(name, ".jpg") ||
 		BLI_testextensie(name, ".wav") ||
 		BLI_testextensie(name, ".zip") ||
diff --git a/source/blender/windowmanager/intern/wm_cursors.c b/source/blender/windowmanager/intern/wm_cursors.c
index d1c268a1189..2c7493a51ab 100644
--- a/source/blender/windowmanager/intern/wm_cursors.c
+++ b/source/blender/windowmanager/intern/wm_cursors.c
@@ -935,6 +935,38 @@ BlenderCursor[BC_EYEDROPPER_CURSOR]=&EyedropperCursor;
 
 END_CURSOR_BLOCK
 
+/********************** Swap Area Cursor ***********************/
+BEGIN_CURSOR_BLOCK
+static char swap_sbm[]={
+        0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,
+        0x00,  0x00,  0x00,  0x00,  0xff,  0x07,  0xff,  0x07,
+        0xff,  0x07,  0xff,  0x07,  0xff,  0x07,  0xff,  0x07,
+        0xff,  0x07,  0xff,  0x07,  0xff,  0x07,  0xff,  0x07,
+};
+
+static char swap_smsk[]={
+        0xc0,  0xff,  0xc0,  0xff,  0xc0,  0xff,  0xc0,  0xff,
+        0xc0,  0xff,  0xc0,  0xff,  0xff,  0xff,  0xff,  0xff,
+        0xff,  0xff,  0xff,  0xff,  0xff,  0x07,  0xff,  0x07,
+        0xff,  0x07,  0xff,  0x07,  0xff,  0x07,  0xff,  0x07,
+};
+
+static BCursor SwapCursor = {
+	/*small*/
+	swap_sbm, swap_smsk,
+	16, 16, 
+	8,  8,
+	/*big*/
+	NULL, NULL,
+	32,32, 
+	15, 15,
+	/*color*/
+	BC_YELLOW, BC_BLUE
+};
+
+BlenderCursor[BC_SWAPAREA_CURSOR]=&SwapCursor;
+
+END_CURSOR_BLOCK
 /********************** Put the cursors in the array ***********************/
 	
 
diff --git a/source/blender/windowmanager/intern/wm_draw.c b/source/blender/windowmanager/intern/wm_draw.c
index 7dc30695862..ef89b2b35ad 100644
--- a/source/blender/windowmanager/intern/wm_draw.c
+++ b/source/blender/windowmanager/intern/wm_draw.c
@@ -111,9 +111,9 @@ static void wm_method_draw_full(bContext *C, wmWindow *win)
 	/* draw overlapping regions */
 	for(ar=screen->regionbase.first; ar; ar= ar->next) {
 		if(ar->swinid) {
-			CTX_wm_region_set(C, ar);
+			CTX_wm_menu_set(C, ar);
 			ED_region_do_draw(C, ar);
-			CTX_wm_region_set(C, NULL);
+			CTX_wm_menu_set(C, NULL);
 		}
 	}
 
@@ -245,9 +245,9 @@ static void wm_method_draw_overlap_all(bContext *C, wmWindow *win)
 	/* draw marked overlapping regions */
 	for(ar=screen->regionbase.first; ar; ar= ar->next) {
 		if(ar->swinid && ar->do_draw) {
-			CTX_wm_region_set(C, ar);
+			CTX_wm_menu_set(C, ar);
 			ED_region_do_draw(C, ar);
-			CTX_wm_region_set(C, NULL);
+			CTX_wm_menu_set(C, NULL);
 		}
 	}
 
@@ -558,9 +558,9 @@ static void wm_method_draw_triple(bContext *C, wmWindow *win)
 	/* draw overlapping regions */
 	for(ar=screen->regionbase.first; ar; ar= ar->next) {
 		if(ar->swinid) {
-			CTX_wm_region_set(C, ar);
+			CTX_wm_menu_set(C, ar);
 			ED_region_do_draw(C, ar);
-			CTX_wm_region_set(C, NULL);
+			CTX_wm_menu_set(C, NULL);
 		}
 	}
 
diff --git a/source/blender/windowmanager/intern/wm_event_system.c b/source/blender/windowmanager/intern/wm_event_system.c
index 8c06be7a37e..283f0819996 100644
--- a/source/blender/windowmanager/intern/wm_event_system.c
+++ b/source/blender/windowmanager/intern/wm_event_system.c
@@ -469,7 +469,12 @@ int WM_operator_call_py(bContext *C, wmOperatorType *ot, PointerRNA *properties,
 {
 	wmWindowManager *wm=	CTX_wm_manager(C);
 	wmOperator *op=			wm_operator_create(wm, ot, properties, reports);
-	int retval=				op->type->exec(C, op);
+	int retval= OPERATOR_CANCELLED;
+	
+	if (op->type->exec)
+		retval= op->type->exec(C, op);
+	else
+		printf("error \"%s\" operator has no exec function, python cannot call it\n", op->type->name);
 	
 	if (reports)
 		op->reports= NULL; /* dont let the operator free reports passed to this function */
@@ -544,14 +549,17 @@ void WM_event_remove_handlers(bContext *C, ListBase *handlers)
 		else if(handler->ui_remove) {
 			ScrArea *area= CTX_wm_area(C);
 			ARegion *region= CTX_wm_region(C);
+			ARegion *menu= CTX_wm_menu(C);
 			
 			if(handler->ui_area) CTX_wm_area_set(C, handler->ui_area);
 			if(handler->ui_region) CTX_wm_region_set(C, handler->ui_region);
+			if(handler->ui_menu) CTX_wm_menu_set(C, handler->ui_menu);
 
 			handler->ui_remove(C, handler->ui_userdata);
 
 			CTX_wm_area_set(C, area);
 			CTX_wm_region_set(C, region);
+			CTX_wm_menu_set(C, menu);
 		}
 
 		wm_event_free_handler(handler);
@@ -721,11 +729,13 @@ static int wm_handler_ui_call(bContext *C, wmEventHandler *handler, wmEvent *eve
 {
 	ScrArea *area= CTX_wm_area(C);
 	ARegion *region= CTX_wm_region(C);
+	ARegion *menu= CTX_wm_menu(C);
 	int retval;
 			
 	/* we set context to where ui handler came from */
 	if(handler->ui_area) CTX_wm_area_set(C, handler->ui_area);
 	if(handler->ui_region) CTX_wm_region_set(C, handler->ui_region);
+	if(handler->ui_menu) CTX_wm_menu_set(C, handler->ui_menu);
 
 	retval= handler->ui_handle(C, event, handler->ui_userdata);
 
@@ -733,11 +743,13 @@ static int wm_handler_ui_call(bContext *C, wmEventHandler *handler, wmEvent *eve
 	if((retval != WM_UI_HANDLER_BREAK) || wm_event_always_pass(event)) {
 		CTX_wm_area_set(C, area);
 		CTX_wm_region_set(C, region);
+		CTX_wm_menu_set(C, menu);
 	}
 	else {
 		/* this special cases is for areas and regions that get removed */
 		CTX_wm_area_set(C, NULL);
 		CTX_wm_region_set(C, NULL);
+		CTX_wm_menu_set(C, NULL);
 	}
 
 	if(retval == WM_UI_HANDLER_BREAK)
@@ -776,7 +788,7 @@ static int wm_handler_fileselect_call(bContext *C, ListBase *handlers, wmEventHa
 				sfile= (SpaceFile*)CTX_wm_space_data(C);
 				sfile->op= handler->op;
 				
-				ED_fileselect_set_params(sfile, filetype, handler->op->type->name, path, 0, 0, 0);
+				ED_fileselect_set_params(sfile, filetype, handler->op->type->name, path, 0, FILE_SHORTDISPLAY, 0);
 				MEM_freeN(path);
 				
 				action= WM_HANDLER_BREAK;
@@ -1192,6 +1204,7 @@ wmEventHandler *WM_event_add_ui_handler(bContext *C, ListBase *handlers, wmUIHan
 	handler->ui_userdata= userdata;
 	handler->ui_area= (C)? CTX_wm_area(C): NULL;
 	handler->ui_region= (C)? CTX_wm_region(C): NULL;
+	handler->ui_menu= (C)? CTX_wm_menu(C): NULL;
 	
 	BLI_addhead(handlers, handler);
 	
diff --git a/source/blender/windowmanager/intern/wm_init_exit.c b/source/blender/windowmanager/intern/wm_init_exit.c
index 01e959715d3..a0d170cc0f0 100644
--- a/source/blender/windowmanager/intern/wm_init_exit.c
+++ b/source/blender/windowmanager/intern/wm_init_exit.c
@@ -82,6 +82,7 @@
 #include "wm_files.h"
 #include "wm_window.h"
 
+#include "ED_armature.h"
 #include "ED_node.h"
 #include "ED_previewrender.h"
 #include "ED_space_api.h"
@@ -196,7 +197,13 @@ void WM_exit(bContext *C)
 	/* all non-screen and non-space stuff editors did, like editmode */
 	if(C)
 		ED_editors_exit(C);
-	
+
+//	XXX	
+//	BIF_GlobalReebFree();
+//	BIF_freeRetarget();
+	BIF_freeTemplates(C);
+	BIF_freeSketch(C);
+
 	/* Context should still working here. but radio tool needs cleaning... */
 	freeAllRad(CTX_data_scene(C));
 	
diff --git a/source/blender/windowmanager/intern/wm_subwindow.c b/source/blender/windowmanager/intern/wm_subwindow.c
index 255d22191e2..54074ec8f07 100644
--- a/source/blender/windowmanager/intern/wm_subwindow.c
+++ b/source/blender/windowmanager/intern/wm_subwindow.c
@@ -209,10 +209,10 @@ void wm_subwindow_position(wmWindow *win, int swinid, rcti *winrct)
 		    * fixed it). - zr  (2001!)
 			*/
 		
-		if (swin->winrct.xmax >= win->sizex)
-			swin->winrct.xmax= win->sizex-1;
-		if (swin->winrct.ymax >= win->sizey)
-			swin->winrct.ymax= win->sizey-1;
+		if (swin->winrct.xmax > win->sizex)
+			swin->winrct.xmax= win->sizex;
+		if (swin->winrct.ymax > win->sizey)
+			swin->winrct.ymax= win->sizey;
 		
 		/* extra service */
 		wmSubWindowSet(win, swinid);
diff --git a/source/blender/windowmanager/wm_cursors.h b/source/blender/windowmanager/wm_cursors.h
index 096e1916fa9..1a1a0d0b71d 100644
--- a/source/blender/windowmanager/wm_cursors.h
+++ b/source/blender/windowmanager/wm_cursors.h
@@ -92,6 +92,7 @@ enum {
 	BC_NS_SCROLLCURSOR,
 	BC_EW_SCROLLCURSOR,
 	BC_EYEDROPPER_CURSOR,
+	BC_SWAPAREA_CURSOR,
 /* --- ALWAYS LAST ----- */
 	BC_NUMCURSORS,
 };
diff --git a/source/blender/windowmanager/wm_event_system.h b/source/blender/windowmanager/wm_event_system.h
index 930f20dfa63..99853c77a55 100644
--- a/source/blender/windowmanager/wm_event_system.h
+++ b/source/blender/windowmanager/wm_event_system.h
@@ -58,6 +58,7 @@ typedef struct wmEventHandler {
 	void *ui_userdata;					/* user data pointer */
 	struct ScrArea *ui_area;			/* for derived/modal handlers */
 	struct ARegion *ui_region;			/* for derived/modal handlers */
+	struct ARegion *ui_menu;			/* for derived/modal handlers */
 	
 	/* fileselect handler re-uses modal operator data */
 	struct bScreen *filescreen;			/* screen it started in, to validate exec */
diff --git a/source/blender/windowmanager/wm_window.h b/source/blender/windowmanager/wm_window.h
index f386510a2eb..7bf08617fb6 100644
--- a/source/blender/windowmanager/wm_window.h
+++ b/source/blender/windowmanager/wm_window.h
@@ -52,13 +52,11 @@ void		wm_window_set_title		(wmWindow *win, char *title);
 void		wm_window_swap_buffers	(wmWindow *win);
 
 wmWindow	*wm_window_copy			(bContext *C, wmWindow *winorig);
-wmWindow	*wm_window_rip			(bContext *C, wmWindow *winorig);
 
 void		wm_window_testbreak		(void);
 
 /* *************** window operators ************** */
 int			wm_window_duplicate_op	(bContext *C, wmOperator *op);
-int			wm_window_rip_op	(bContext *C, wmOperator *op, struct wmEvent *event);
 int			wm_window_fullscreen_toggle_op(bContext *C, wmOperator *op);
 
 
diff --git a/source/creator/CMakeLists.txt b/source/creator/CMakeLists.txt
index 55e04783ab7..170d49fc1d8 100644
--- a/source/creator/CMakeLists.txt
+++ b/source/creator/CMakeLists.txt
@@ -210,7 +210,6 @@ IF(UNIX)
 	bf_editors
     bf_decimation 
     blender_BSP 
-    bf_soundsystem 
     bf_ghost 
     bf_string 
     blender_render 
@@ -271,10 +270,12 @@ IF(UNIX)
     bf_quicktime
     extern_binreloc
     extern_glew
+    extern_libopenjpeg
     bf_videotex
     bf_rna
     bf_dna
     bf_blenfont
+    bf_soundsystem 
   )
 
   FOREACH(SORTLIB ${BLENDER_SORTED_LIBS})
diff --git a/source/creator/Makefile b/source/creator/Makefile
index ea301ad80a9..3de46a68276 100644
--- a/source/creator/Makefile
+++ b/source/creator/Makefile
@@ -43,6 +43,7 @@ CPPFLAGS += -I../blender/radiosity/extern/include
 # two needed for the kernel
 CPPFLAGS += -I../blender/imbuf
 CPPFLAGS += -I../blender/makesdna
+CPPFLAGS += -I../blender/makesrna
 CPPFLAGS += -I../blender/blenlib
 CPPFLAGS += -I../blender/editors/include
 CPPFLAGS += -I../blender/renderconverter
@@ -59,6 +60,9 @@ CPPFLAGS += -I$(NAN_GLEW)/include
 ifeq ($(WITH_QUICKTIME), true)
 	CPPFLAGS += -I$(NAN_QUICKTIME)/include -DWITH_QUICKTIME
 endif
+ifeq ($(WITH_OPENJPEG), true)
+	CPPFLAGS += -DWITH_OPENJPEG
+endif
 
 ifeq ($(WITH_BINRELOC), true)
 	CPPFLAGS += -I$(NANBLENDERHOME)/extern/binreloc/include -DWITH_BINRELOC
diff --git a/source/creator/SConscript b/source/creator/SConscript
index 6c36a8f5b41..27cfc161c42 100644
--- a/source/creator/SConscript
+++ b/source/creator/SConscript
@@ -6,7 +6,7 @@ sources = 'creator.c'
 incs = '#/intern/guardedalloc ../blender/blenlib ../blender/blenkernel'
 incs += ' ../blender/editors/include ../blender/blenloader ../blender/imbuf'
 incs += ' ../blender/renderconverter ../blender/render/extern/include ../blender/windowmanager'
-incs += ' ../blender/makesdna ../kernel/gen_messaging'
+incs += ' ../blender/makesdna ../blender/makesrna ../kernel/gen_messaging'
 incs += ' ../kernel/gen_system #/extern/glew/include ../blender/gpu'
 incs += ' ' + env['BF_OPENGL_INC']
 
diff --git a/source/creator/creator.c b/source/creator/creator.c
index ad50e425415..69f80570334 100644
--- a/source/creator/creator.c
+++ b/source/creator/creator.c
@@ -751,7 +751,7 @@ int main(int argc, char **argv)
 						else if (!strcmp(argv[a],"CINEON")) scene->r.imtype = R_CINEON;
 						else if (!strcmp(argv[a],"DPX")) scene->r.imtype = R_DPX;
 #if WITH_OPENJPEG
-						else if (!strcmp(argv[a],"JP2")) G.scene->r.imtype = R_JP2;
+						else if (!strcmp(argv[a],"JP2")) scene->r.imtype = R_JP2;
 #endif
 						else printf("\nError: Format from '-F' not known or not compiled in this release.\n");
 					}
diff --git a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
index 8d443b9b386..90d5a1860aa 100644
--- a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
+++ b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp
@@ -576,10 +576,12 @@ extern "C" void StartKetsjiShellSimulation(struct ScrArea *area,
 
 		// get some preferences
 		SYS_SystemHandle syshandle = SYS_GetSystem();
+		/*
 		bool properties	= (SYS_GetCommandLineInt(syshandle, "show_properties", 0) != 0);
 		bool usefixed = (SYS_GetCommandLineInt(syshandle, "fixedtime", 0) != 0);
 		bool profile = (SYS_GetCommandLineInt(syshandle, "show_profile", 0) != 0);
 		bool frameRate = (SYS_GetCommandLineInt(syshandle, "show_framerate", 0) != 0);
+		*/
 		bool game2ipo = true;//(SYS_GetCommandLineInt(syshandle, "game2ipo", 0) != 0);
 		bool displaylists = (SYS_GetCommandLineInt(syshandle, "displaylists", 0) != 0);
 		bool usemat = false;
diff --git a/source/gameengine/BlenderRoutines/CMakeLists.txt b/source/gameengine/BlenderRoutines/CMakeLists.txt
index 2300323a55e..e090a4b9c56 100644
--- a/source/gameengine/BlenderRoutines/CMakeLists.txt
+++ b/source/gameengine/BlenderRoutines/CMakeLists.txt
@@ -40,5 +40,9 @@ SET(INC
   ${PYTHON_INC}
 )
 
+IF(WITH_FFMPEG)
+  ADD_DEFINITIONS(-DWITH_FFMPEG)
+ENDIF(WITH_FFMPEG)
+
 BLENDERLIB(bf_blroutines "${SRC}" "${INC}")
 #env.BlenderLib ( 'bf_bloutines', sources, Split(incs), [], libtype=['game', 'game2', 'player'], priority=[0, 0, 55] , compileflags=cxxflags)
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp
index 1797d6c1a0f..42ad7769cbd 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp
+++ b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.cpp
@@ -80,7 +80,7 @@ void KX_BlenderRenderTools::EndFrame(RAS_IRasterizer* rasty)
  * has a maximum of 8 lights (simultaneous), so 20 * 8 lights are possible in
  * a scene. */
 
-void KX_BlenderRenderTools::ProcessLighting(int layer, const MT_Transform& viewmat)
+void KX_BlenderRenderTools::ProcessLighting(RAS_IRasterizer *rasty, int layer, const MT_Transform& viewmat)
 {
 	if(m_lastlightlayer == layer)
 		return;
@@ -101,12 +101,12 @@ void KX_BlenderRenderTools::ProcessLighting(int layer, const MT_Transform& viewm
 	}
 
 	if(enable)
-		EnableOpenGLLights();
+		EnableOpenGLLights(rasty);
 	else
 		DisableOpenGLLights();
 }
 
-void KX_BlenderRenderTools::EnableOpenGLLights()
+void KX_BlenderRenderTools::EnableOpenGLLights(RAS_IRasterizer *rasty)
 {
 	if(m_lastlighting == true)
 		return;
@@ -115,7 +115,8 @@ void KX_BlenderRenderTools::EnableOpenGLLights()
 	glEnable(GL_COLOR_MATERIAL);
 
 	glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
-	glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, true);
+	glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);
+	glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, (rasty->GetCameraOrtho())? GL_FALSE: GL_TRUE);
 	if (GLEW_EXT_separate_specular_color || GLEW_VERSION_1_2)
 		glLightModeli(GL_LIGHT_MODEL_COLOR_CONTROL, GL_SEPARATE_SPECULAR_COLOR);
 	
diff --git a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h
index a7618462c9b..ebf7562503f 100644
--- a/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h
+++ b/source/gameengine/BlenderRoutines/KX_BlenderRenderTools.h
@@ -60,9 +60,9 @@ public:
 	void				EndFrame(RAS_IRasterizer* rasty);
 	void				BeginFrame(RAS_IRasterizer* rasty);
 
-	void				EnableOpenGLLights();
+	void				EnableOpenGLLights(RAS_IRasterizer *rasty);
 	void				DisableOpenGLLights();
-	void				ProcessLighting(int layer, const MT_Transform& viewmat);
+	void				ProcessLighting(RAS_IRasterizer *rasty, int layer, const MT_Transform& viewmat);
 
 	void			    RenderText2D(RAS_TEXT_RENDER_MODE mode,
 									 const char* text,
diff --git a/source/gameengine/BlenderRoutines/Makefile b/source/gameengine/BlenderRoutines/Makefile
index b1be56ac47f..03a7a247727 100644
--- a/source/gameengine/BlenderRoutines/Makefile
+++ b/source/gameengine/BlenderRoutines/Makefile
@@ -77,3 +77,6 @@ endif
 
 CPPFLAGS += -I$(NAN_PYTHON)/include/python$(NAN_PYTHON_VERSION)
 
+ifeq ($(WITH_FFMPEG), true)
+   CPPFLAGS += -DWITH_FFMPEG
+endif
diff --git a/source/gameengine/BlenderRoutines/SConscript b/source/gameengine/BlenderRoutines/SConscript
index f7a3971e288..020402e9bcd 100644
--- a/source/gameengine/BlenderRoutines/SConscript
+++ b/source/gameengine/BlenderRoutines/SConscript
@@ -2,6 +2,7 @@
 Import ('env')
 
 sources = env.Glob('*.cpp')
+defs = []
 
 incs = '. #source/kernel/gen_system #intern/string #intern/guardedalloc'
 incs += ' #source/gameengine/Rasterizer/RAS_OpenGLRasterizer #intern/bmfont'
@@ -12,19 +13,27 @@ incs += ' #source/blender/blenkernel #source/blender #source/blender/editors/inc
 incs += ' #source/blender/makesdna #source/gameengine/Rasterizer #source/gameengine/GameLogic'
 incs += ' #source/gameengine/Expressions #source/gameengine/Network'
 incs += ' #source/gameengine/SceneGraph #source/gameengine/Physics/common'
-incs += ' #source/gameengine/Physics/Bullet #source/gameengine/Physics/Sumo'
-incs += ' #source/gameengine/Physics/Sumo/Fuzzics/include #source/gameengine/Network/LoopBackNetwork'
+incs += ' #source/gameengine/Physics/Bullet'
+incs += ' #source/gameengine/Network/LoopBackNetwork'
 incs += ' #intern/SoundSystem #source/blender/misc #source/blender/blenloader'
 incs += ' #extern/glew/include #source/blender/gpu'
 incs += ' #source/blender/windowmanager'
 
+if env['WITH_BF_SOLID']:
+	incs += ' #source/gameengine/Physics/Sumo #source/gameengine/Physics/Sumo/Fuzzics/include'
+	incs += ' ' + env['BF_SOLID_INC']
+	defs.append('USE_SUMO_SOLID')
+
+if env['WITH_BF_FFMPEG']:
+    defs.append('WITH_FFMPEG')
+
 incs += ' ' + env['BF_PYTHON_INC']
-incs += ' ' + env['BF_SOLID_INC']
 incs += ' ' + env['BF_BULLET_INC']
 incs += ' ' + env['BF_OPENGL_INC']
 
 cxxflags = []
 if env['OURPLATFORM']=='win32-vc':
 	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
 
-env.BlenderLib ( 'bf_bloutines', sources, Split(incs), [], libtype=['core', 'player'], priority=[300, 45] , compileflags=cxxflags)
+env.BlenderLib ( 'bf_bloutines', sources, Split(incs), defs, libtype=['core', 'player'], priority=[300, 45] , cxx_compileflags=cxxflags)
diff --git a/source/gameengine/Converter/BL_ActionActuator.cpp b/source/gameengine/Converter/BL_ActionActuator.cpp
index 536faa11b03..ce555fc1aeb 100644
--- a/source/gameengine/Converter/BL_ActionActuator.cpp
+++ b/source/gameengine/Converter/BL_ActionActuator.cpp
@@ -391,7 +391,7 @@ bool BL_ActionActuator::Update(double curtime, bool frame)
 				
 				/* Find percentages */
 				newweight = (m_blendframe/(float)m_blendin);
-				blend_poses(m_pose, m_blendpose, 1.0 - newweight, ACTSTRIPMODE_BLEND);
+				// XXX blend_poses(m_pose, m_blendpose, 1.0 - newweight, ACTSTRIPMODE_BLEND);
 
 				/* Increment current blending percentage */
 				m_blendframe = (curtime - m_blendstart)*KX_KetsjiEngine::GetAnimFrameRate();
@@ -1035,8 +1035,8 @@ PyAttributeDef BL_ActionActuator::Attributes[] = {
 	{ NULL }	//Sentinel
 };
 
-PyObject* BL_ActionActuator::_getattr(const STR_String& attr) {
-	if (attr == "action")
+PyObject* BL_ActionActuator::_getattr(const char *attr) {
+	if (!strcmp(attr, "action"))
 		return PyString_FromString(m_action->id.name+2);
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
@@ -1044,8 +1044,8 @@ PyObject* BL_ActionActuator::_getattr(const STR_String& attr) {
 	_getattr_up(SCA_IActuator);
 }
 
-int BL_ActionActuator::_setattr(const STR_String& attr, PyObject* value) {
-	if (attr == "action")
+int BL_ActionActuator::_setattr(const char *attr, PyObject* value) {
+	if (!strcmp(attr, "action"))
 	{
 		if (!PyString_Check(value))
 		{
diff --git a/source/gameengine/Converter/BL_ActionActuator.h b/source/gameengine/Converter/BL_ActionActuator.h
index 6e291106553..6161048afb8 100644
--- a/source/gameengine/Converter/BL_ActionActuator.h
+++ b/source/gameengine/Converter/BL_ActionActuator.h
@@ -110,8 +110,8 @@ public:
 
 	KX_PYMETHOD_DOC(BL_ActionActuator,setChannel);
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject* value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject* value);
 
 	/* attribute check */
 	static int CheckFrame(void *self, const PyAttributeDef*)
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 45461205fbb..da74fa49cba 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -361,7 +361,7 @@ BL_Material* ConvertMaterial(
 			facetex = true;
 		if(validface && mat->mtex[0]) {
 			MTex *tmp = mat->mtex[0];
-			if(!tmp->tex || tmp->tex && !tmp->tex->ima )
+			if(!tmp->tex || (tmp->tex && !tmp->tex->ima))
 				facetex = true;
 		}
 		numchan = numchan>MAXTEX?MAXTEX:numchan;
@@ -593,7 +593,7 @@ BL_Material* ConvertMaterial(
 	MT_Point2 uv2[4];
 	const char *uvName = "", *uv2Name = "";
 
-	uv[0]= uv[1]= uv[2]= uv[3]= MT_Point2(0.0f, 0.0f);
+	
 	uv2[0]= uv2[1]= uv2[2]= uv2[3]= MT_Point2(0.0f, 0.0f);
 
 	if( validface ) {
@@ -607,12 +607,12 @@ BL_Material* ConvertMaterial(
 		material->tile	= tface->tile;
 		material->mode	= tface->mode;
 			
-		uv[0]	= MT_Point2(tface->uv[0]);
-		uv[1]	= MT_Point2(tface->uv[1]);
-		uv[2]	= MT_Point2(tface->uv[2]);
+		uv[0].setValue(tface->uv[0]);
+		uv[1].setValue(tface->uv[1]);
+		uv[2].setValue(tface->uv[2]);
 
 		if (mface->v4) 
-			uv[3]	= MT_Point2(tface->uv[3]);
+			uv[3].setValue(tface->uv[3]);
 
 		uvName = tfaceName;
 	} 
@@ -622,6 +622,8 @@ BL_Material* ConvertMaterial(
 		material->mode		= default_face_mode;	
 		material->transp	= TF_SOLID;
 		material->tile		= 0;
+		
+		uv[0]= uv[1]= uv[2]= uv[3]= MT_Point2(0.0f, 0.0f);
 	}
 
 	// with ztransp enabled, enforce alpha blending mode
@@ -665,14 +667,14 @@ BL_Material* ConvertMaterial(
 					{
 						MT_Point2 uvSet[4];
 
-						uvSet[0]	= MT_Point2(layer.face->uv[0]);
-						uvSet[1]	= MT_Point2(layer.face->uv[1]);
-						uvSet[2]	= MT_Point2(layer.face->uv[2]);
+						uvSet[0].setValue(layer.face->uv[0]);
+						uvSet[1].setValue(layer.face->uv[1]);
+						uvSet[2].setValue(layer.face->uv[2]);
 
 						if (mface->v4) 
-							uvSet[3]	= MT_Point2(layer.face->uv[3]);
+							uvSet[3].setValue(layer.face->uv[3]);
 						else
-							uvSet[3]	= MT_Point2(0.0f, 0.0f);
+							uvSet[3].setValue(0.0f, 0.0f);
 
 						if (isFirstSet)
 						{
@@ -790,10 +792,10 @@ RAS_MeshObject* BL_ConvertMesh(Mesh* mesh, Object* blenderobj, RAS_IRenderTools*
 		MT_Vector4 tan0(0,0,0,0), tan1(0,0,0,0), tan2(0,0,0,0), tan3(0,0,0,0);
 
 		/* get coordinates, normals and tangents */
-		pt0 = MT_Point3(mvert[mface->v1].co);
-		pt1 = MT_Point3(mvert[mface->v2].co);
-		pt2 = MT_Point3(mvert[mface->v3].co);
-		pt3 = (mface->v4)? MT_Point3(mvert[mface->v4].co): MT_Point3(0.0, 0.0, 0.0);
+		pt0.setValue(mvert[mface->v1].co);
+		pt1.setValue(mvert[mface->v2].co);
+		pt2.setValue(mvert[mface->v3].co);
+		if (mface->v4) pt3.setValue(mvert[mface->v4].co);
 
 		if(mface->flag & ME_SMOOTH) {
 			float n0[3], n1[3], n2[3], n3[3];
@@ -894,12 +896,12 @@ RAS_MeshObject* BL_ConvertMesh(Mesh* mesh, Object* blenderobj, RAS_IRenderTools*
 					
 					visible = !((mface->flag & ME_HIDE)||(tface->mode & TF_INVISIBLE));
 					
-					uv0 = MT_Point2(tface->uv[0]);
-					uv1 = MT_Point2(tface->uv[1]);
-					uv2 = MT_Point2(tface->uv[2]);
+					uv0.setValue(tface->uv[0]);
+					uv1.setValue(tface->uv[1]);
+					uv2.setValue(tface->uv[2]);
 	
 					if (mface->v4)
-						uv3 = MT_Point2(tface->uv[3]);
+						uv3.setValue(tface->uv[3]);
 				} 
 				else {
 					/* no texfaces, set COLLSION true and everything else FALSE */
@@ -960,7 +962,7 @@ RAS_MeshObject* BL_ConvertMesh(Mesh* mesh, Object* blenderobj, RAS_IRenderTools*
 					polymat->m_diffuse = MT_Vector3(ma->r, ma->g, ma->b)*(ma->emit + ma->ref);
 				}
 				else {
-					polymat->m_specular = MT_Vector3(0.0f,0.0f,0.0f);
+					polymat->m_specular.setValue(0.0f,0.0f,0.0f);
 					polymat->m_shininess = 35.0;
 				}
 			}
@@ -1313,6 +1315,12 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
 		CreateMaterialFromBlenderObject(blenderobject, kxscene);
 					
 	KX_ObjectProperties objprop;
+	objprop.m_lockXaxis = (blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_AXIS) !=0;
+	objprop.m_lockYaxis = (blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_AXIS) !=0;
+	objprop.m_lockZaxis = (blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_AXIS) !=0;
+	objprop.m_lockXRotaxis = (blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_ROT_AXIS) !=0;
+	objprop.m_lockYRotaxis = (blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_ROT_AXIS) !=0;
+	objprop.m_lockZRotaxis = (blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_ROT_AXIS) !=0;
 
 	objprop.m_isCompoundChild = isCompoundChild;
 	objprop.m_hasCompoundChildren = (blenderobject->gameflag & OB_CHILD) != 0;
@@ -1911,21 +1919,14 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 			MT_Matrix3x3 angor;			
 			if (converter->addInitFromFrame) blenderscene->r.cfra=blenderscene->r.sfra;
 			
-			MT_Point3 pos = MT_Point3(
+			MT_Point3 pos;
+			pos.setValue(
 				blenderobject->loc[0]+blenderobject->dloc[0],
 				blenderobject->loc[1]+blenderobject->dloc[1],
 				blenderobject->loc[2]+blenderobject->dloc[2]
 			);
-			MT_Vector3 eulxyz = MT_Vector3(
-				blenderobject->rot[0],
-				blenderobject->rot[1],
-				blenderobject->rot[2]
-			);
-			MT_Vector3 scale = MT_Vector3(
-				blenderobject->size[0],
-				blenderobject->size[1],
-				blenderobject->size[2]
-			);
+			MT_Vector3 eulxyz(blenderobject->rot);
+			MT_Vector3 scale(blenderobject->size);
 			if (converter->addInitFromFrame){//rcruiz
 				float eulxyzPrev[3];
 				blenderscene->r.cfra=blenderscene->r.sfra-1;
@@ -1997,18 +1998,18 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 				MT_Vector3 x(ori.getColumn(0));
 				MT_Vector3 y(ori.getColumn(1));
 				MT_Vector3 z(ori.getColumn(2));
-				MT_Vector3 scale(x.length(), y.length(), z.length());
-				if (!MT_fuzzyZero(scale[0]))
-					x /= scale[0];
-				if (!MT_fuzzyZero(scale[1]))
-					y /= scale[1];
-				if (!MT_fuzzyZero(scale[2]))
-					z /= scale[2];
+				MT_Vector3 parscale(x.length(), y.length(), z.length());
+				if (!MT_fuzzyZero(parscale[0]))
+					x /= parscale[0];
+				if (!MT_fuzzyZero(parscale[1]))
+					y /= parscale[1];
+				if (!MT_fuzzyZero(parscale[2]))
+					z /= parscale[2];
 				ori.setColumn(0, x);								
 				ori.setColumn(1, y);								
 				ori.setColumn(2, z);								
 				parentinversenode->SetLocalOrientation(ori);
-				parentinversenode->SetLocalScale(scale);
+				parentinversenode->SetLocalScale(parscale);
 				
 				parentinversenode->AddChild(gameobj->GetSGNode());
 			}
@@ -2113,21 +2114,13 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 							if (converter->addInitFromFrame) 
 								blenderscene->r.cfra=blenderscene->r.sfra;
 							
-							MT_Point3 pos = MT_Point3(
+							MT_Point3 pos(
 								blenderobject->loc[0]+blenderobject->dloc[0],
 								blenderobject->loc[1]+blenderobject->dloc[1],
 								blenderobject->loc[2]+blenderobject->dloc[2]
 							);
-							MT_Vector3 eulxyz = MT_Vector3(
-								blenderobject->rot[0],
-								blenderobject->rot[1],
-								blenderobject->rot[2]
-							);
-							MT_Vector3 scale = MT_Vector3(
-								blenderobject->size[0],
-								blenderobject->size[1],
-								blenderobject->size[2]
-							);
+							MT_Vector3 eulxyz(blenderobject->rot);
+							MT_Vector3 scale(blenderobject->size);
 							if (converter->addInitFromFrame){//rcruiz
 								float eulxyzPrev[3];
 								blenderscene->r.cfra=blenderscene->r.sfra-1;
@@ -2194,18 +2187,18 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 								MT_Vector3 x(ori.getColumn(0));
 								MT_Vector3 y(ori.getColumn(1));
 								MT_Vector3 z(ori.getColumn(2));
-								MT_Vector3 scale(x.length(), y.length(), z.length());
-								if (!MT_fuzzyZero(scale[0]))
-									x /= scale[0];
-								if (!MT_fuzzyZero(scale[1]))
-									y /= scale[1];
-								if (!MT_fuzzyZero(scale[2]))
-									z /= scale[2];
+								MT_Vector3 localscale(x.length(), y.length(), z.length());
+								if (!MT_fuzzyZero(localscale[0]))
+									x /= localscale[0];
+								if (!MT_fuzzyZero(localscale[1]))
+									y /= localscale[1];
+								if (!MT_fuzzyZero(localscale[2]))
+									z /= localscale[2];
 								ori.setColumn(0, x);								
 								ori.setColumn(1, y);								
 								ori.setColumn(2, z);								
 								parentinversenode->SetLocalOrientation(ori);
-								parentinversenode->SetLocalScale(scale);
+								parentinversenode->SetLocalScale(localscale);
 								
 								parentinversenode->AddChild(gameobj->GetSGNode());
 							}
diff --git a/source/gameengine/Converter/BL_MeshDeformer.cpp b/source/gameengine/Converter/BL_MeshDeformer.cpp
index fa3b8185fe2..80112346c72 100644
--- a/source/gameengine/Converter/BL_MeshDeformer.cpp
+++ b/source/gameengine/Converter/BL_MeshDeformer.cpp
@@ -51,7 +51,6 @@
 bool BL_MeshDeformer::Apply(RAS_IPolyMaterial*)
 {
 	size_t i;
-	float *co;
 
 	// only apply once per frame if the mesh is actually modified
 	if(m_pMeshObject->MeshModified() &&
@@ -70,8 +69,7 @@ bool BL_MeshDeformer::Apply(RAS_IPolyMaterial*)
 				//	For each vertex
 				for(i=it.startvertex; i<it.endvertex; i++) {
 					RAS_TexVert& v = it.vertex[i];
-					co = m_bmesh->mvert[v.getOrigIndex()].co;
-					v.SetXYZ(MT_Point3(co));
+					v.SetXYZ(m_bmesh->mvert[v.getOrigIndex()].co);
 				}
 			}
 		}
diff --git a/source/gameengine/Converter/BL_ShapeActionActuator.cpp b/source/gameengine/Converter/BL_ShapeActionActuator.cpp
index df1aed38ceb..f4e3e7e0ae8 100644
--- a/source/gameengine/Converter/BL_ShapeActionActuator.cpp
+++ b/source/gameengine/Converter/BL_ShapeActionActuator.cpp
@@ -484,8 +484,8 @@ PyAttributeDef BL_ShapeActionActuator::Attributes[] = {
 };
 
 
-PyObject* BL_ShapeActionActuator::_getattr(const STR_String& attr) {
-	if (attr == "action")
+PyObject* BL_ShapeActionActuator::_getattr(const char *attr) {
+	if (!strcmp(attr, "action"))
 		return PyString_FromString(m_action->id.name+2);
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
@@ -493,8 +493,8 @@ PyObject* BL_ShapeActionActuator::_getattr(const STR_String& attr) {
 	_getattr_up(SCA_IActuator);
 }
 
-int BL_ShapeActionActuator::_setattr(const STR_String& attr, PyObject* value) {
-	if (attr == "action")
+int BL_ShapeActionActuator::_setattr(const char *attr, PyObject* value) {
+	if (!strcmp(attr, "action"))
 	{
 		if (!PyString_Check(value))
 		{
@@ -911,6 +911,6 @@ PyObject* BL_ShapeActionActuator::PySetType(PyObject* self,
 		printf("Invalid type for action actuator: %d\n", typeArg); /* error */
     }
 	
-    Py_Return;
+    Py_RETURN_NONE;
 }
 
diff --git a/source/gameengine/Converter/BL_ShapeActionActuator.h b/source/gameengine/Converter/BL_ShapeActionActuator.h
index b521c0d98a6..7f2431bcfa5 100644
--- a/source/gameengine/Converter/BL_ShapeActionActuator.h
+++ b/source/gameengine/Converter/BL_ShapeActionActuator.h
@@ -103,8 +103,8 @@ public:
 	KX_PYMETHOD_DOC_NOARGS(BL_ShapeActionActuator,GetType);
 	KX_PYMETHOD_DOC(BL_ShapeActionActuator,SetType);
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject* value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject* value);
 
 	static int CheckBlendTime(void *self, const PyAttributeDef*)
 	{
@@ -169,8 +169,8 @@ protected:
 	short	m_playtype;
 	short	m_priority;
 	struct bAction *m_action;
-	STR_String	m_propname;
 	STR_String	m_framepropname;
+	STR_String	m_propname;
 	vector<float> m_blendshape;
 };
 
diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
index 7b68dbda176..7daca6c32fe 100644
--- a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
+++ b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp
@@ -321,7 +321,7 @@ void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
 				SYS_SystemHandle syshandle = SYS_GetSystem(); /*unused*/
 				int visualizePhysics = SYS_GetCommandLineInt(syshandle,"show_physics",0);
 				if (visualizePhysics)
-					ccdPhysEnv->setDebugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb|btIDebugDraw::DBG_DrawContactPoints|btIDebugDraw::DBG_DrawText);
+					ccdPhysEnv->setDebugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb|btIDebugDraw::DBG_DrawContactPoints|btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_DrawConstraintLimits|btIDebugDraw::DBG_DrawConstraints);
 		
 				//todo: get a button in blender ?
 				//disable / enable debug drawing (contact points, aabb's etc)	
@@ -663,7 +663,7 @@ extern "C"
 	Ipo *add_ipo( char *name, int idcode );
 	//XXX char *getIpoCurveName( IpoCurve * icu );
 	//XXX struct IpoCurve *verify_ipocurve(struct ID *, short, char *, char *, char *, int);
-	void testhandles_ipocurve(struct IpoCurve *icu);
+	//XXX void testhandles_ipocurve(struct IpoCurve *icu);
 	void insert_vert_icu(struct IpoCurve *, float, float, short);
 	void Mat3ToEul(float tmat[][3], float *eul);
 }
@@ -751,7 +751,7 @@ void	KX_BlenderSceneConverter::ResetPhysicsObjectsAnimationIpo(bool clearIpo)
 							}
 					  	}
 					} else
-					{	ipo = add_ipo(blenderObject->id.name+2, ID_OB);
+					{	ipo = NULL; // XXX add_ipo(blenderObject->id.name+2, ID_OB);
 						blenderObject->ipo = ipo;
 
 					}
@@ -907,7 +907,7 @@ void	KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber)
 							float curVal = position.x();
 							//XXX insert_vert_icu(icu1, frameNumber, curVal, 0);
 #ifdef TEST_HANDLES_GAME2IPO
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 #endif
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"LocY");
@@ -917,7 +917,7 @@ void	KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber)
 							//XXX insert_vert_icu(icu1, frameNumber, curVal, 0);
 #ifdef TEST_HANDLES_GAME2IPO
 
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 #endif
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"LocZ");
@@ -926,7 +926,7 @@ void	KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber)
 							float curVal = position.z();
 							//XXX insert_vert_icu(icu1, frameNumber, curVal, 0);
 #ifdef TEST_HANDLES_GAME2IPO
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 #endif
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"RotX");
@@ -936,7 +936,7 @@ void	KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber)
 							//XXX insert_vert_icu(icu1, frameNumber, curVal, 0);
 #ifdef TEST_HANDLES_GAME2IPO
 
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 #endif
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"RotY");
@@ -946,7 +946,7 @@ void	KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber)
 							//XXX insert_vert_icu(icu1, frameNumber, curVal, 0);
 #ifdef TEST_HANDLES_GAME2IPO
 
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 #endif
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"RotZ");
@@ -956,7 +956,7 @@ void	KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber)
 							//XXX insert_vert_icu(icu1, frameNumber, curVal, 0);
 #ifdef TEST_HANDLES_GAME2IPO
 							
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 #endif
 
 						}
@@ -1060,32 +1060,32 @@ void	KX_BlenderSceneConverter::TestHandlesPhysicsObjectToAnimationIpo()
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"LocX");
 						if (icu1)
 						{
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"LocY");
 						if (icu1)
 						{
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"LocZ");
 						if (icu1)
 						{
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"RotX");
 						if (icu1)
 						{
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"RotY");
 						if (icu1)
 						{
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 						}
 						icu1 = findIpoCurve((IpoCurve *)ipo->curve.first,"RotZ");
 						if (icu1)
 						{
-							testhandles_ipocurve(icu1);
+							//XXX testhandles_ipocurve(icu1);
 						}
 
 					}
diff --git a/source/gameengine/Converter/KX_ConvertControllers.cpp b/source/gameengine/Converter/KX_ConvertControllers.cpp
index da490b4ee85..fb100b0a68b 100644
--- a/source/gameengine/Converter/KX_ConvertControllers.cpp
+++ b/source/gameengine/Converter/KX_ConvertControllers.cpp
@@ -200,6 +200,13 @@ void BL_ConvertControllers(
 			gameobj->AddController(gamecontroller);
 			
 			converter->RegisterGameController(gamecontroller, bcontr);
+			
+			if (bcontr->type==CONT_PYTHON) {
+				/* not strictly needed but gives syntax errors early on and
+				 * gives more pradictable performance for larger scripts */
+				(static_cast<SCA_PythonController*>(gamecontroller))->Compile();
+			}
+			
 			//done with gamecontroller
 			gamecontroller->Release();
 		}
diff --git a/source/gameengine/Converter/KX_ConvertSensors.cpp b/source/gameengine/Converter/KX_ConvertSensors.cpp
index b7b47b3b39f..c91197b72a6 100644
--- a/source/gameengine/Converter/KX_ConvertSensors.cpp
+++ b/source/gameengine/Converter/KX_ConvertSensors.cpp
@@ -317,12 +317,12 @@ void BL_ConvertSensors(struct Object* blenderobject,
 				{
 					// collision sensor can sense both materials and properties. 
 					
-					bool bFindMaterial = false;
+					bool bFindMaterial = false, bTouchPulse = false;
 					
 					bCollisionSensor* blendertouchsensor = (bCollisionSensor*)sens->data;
 					
-					bFindMaterial = (blendertouchsensor->mode 
-						& SENS_COLLISION_MATERIAL);
+					bFindMaterial = (blendertouchsensor->mode & SENS_COLLISION_MATERIAL);
+					bTouchPulse = (blendertouchsensor->mode & SENS_COLLISION_PULSE);
 					
 					
 					STR_String touchPropOrMatName = ( bFindMaterial ? 
@@ -335,6 +335,7 @@ void BL_ConvertSensors(struct Object* blenderobject,
 						gamesensor = new KX_TouchSensor(eventmgr,
 							gameobj,
 							bFindMaterial,
+							bTouchPulse,
 							touchPropOrMatName);
 					}
 					
@@ -360,6 +361,7 @@ void BL_ConvertSensors(struct Object* blenderobject,
 						gamesensor = new KX_TouchSensor(eventmgr,
 							gameobj,
 							bFindMaterial,
+							false,
 							touchpropertyname);
 					}
 				}
diff --git a/source/gameengine/Converter/KX_IpoConvert.cpp b/source/gameengine/Converter/KX_IpoConvert.cpp
index ce004fa0504..f19390db8a9 100644
--- a/source/gameengine/Converter/KX_IpoConvert.cpp
+++ b/source/gameengine/Converter/KX_IpoConvert.cpp
@@ -311,67 +311,67 @@ void BL_ConvertIpos(struct Object* blenderobject,KX_GameObject* gameobj,KX_Blend
 		}
 		
 		{
-			KX_ObColorIpoSGController* ipocontr=NULL;
+			KX_ObColorIpoSGController* ipocontr_obcol=NULL;
 
 			ipo = ipoList->GetScalarInterpolator(OB_COL_R);
 			if (ipo)
 			{
-				if (!ipocontr)
+				if (!ipocontr_obcol)
 				{
-					ipocontr = new KX_ObColorIpoSGController();
-					gameobj->GetSGNode()->AddSGController(ipocontr);
-					ipocontr->SetObject(gameobj->GetSGNode());
+					ipocontr_obcol = new KX_ObColorIpoSGController();
+					gameobj->GetSGNode()->AddSGController(ipocontr_obcol);
+					ipocontr_obcol->SetObject(gameobj->GetSGNode());
 				}
 				KX_IInterpolator *interpolator =
 				new KX_ScalarInterpolator(
-					&ipocontr->m_rgba[0],
+					&ipocontr_obcol->m_rgba[0],
 					ipo);
-				ipocontr->AddInterpolator(interpolator);
+				ipocontr_obcol->AddInterpolator(interpolator);
 			}
 			ipo = ipoList->GetScalarInterpolator(OB_COL_G);
 			if (ipo)
 			{
-				if (!ipocontr)
+				if (!ipocontr_obcol)
 				{
-					ipocontr = new KX_ObColorIpoSGController();
-					gameobj->GetSGNode()->AddSGController(ipocontr);
-					ipocontr->SetObject(gameobj->GetSGNode());
+					ipocontr_obcol = new KX_ObColorIpoSGController();
+					gameobj->GetSGNode()->AddSGController(ipocontr_obcol);
+					ipocontr_obcol->SetObject(gameobj->GetSGNode());
 				}
 				KX_IInterpolator *interpolator =
 				new KX_ScalarInterpolator(
-					&ipocontr->m_rgba[1],
+					&ipocontr_obcol->m_rgba[1],
 					ipo);
-				ipocontr->AddInterpolator(interpolator);
+				ipocontr_obcol->AddInterpolator(interpolator);
 			}
 			ipo = ipoList->GetScalarInterpolator(OB_COL_B);
 			if (ipo)
 			{
-				if (!ipocontr)
+				if (!ipocontr_obcol)
 				{
-					ipocontr = new KX_ObColorIpoSGController();
-					gameobj->GetSGNode()->AddSGController(ipocontr);
-					ipocontr->SetObject(gameobj->GetSGNode());
+					ipocontr_obcol = new KX_ObColorIpoSGController();
+					gameobj->GetSGNode()->AddSGController(ipocontr_obcol);
+					ipocontr_obcol->SetObject(gameobj->GetSGNode());
 				}
 				KX_IInterpolator *interpolator =
 				new KX_ScalarInterpolator(
-					&ipocontr->m_rgba[2],
+					&ipocontr_obcol->m_rgba[2],
 					ipo);
-				ipocontr->AddInterpolator(interpolator);
+				ipocontr_obcol->AddInterpolator(interpolator);
 			}
 			ipo = ipoList->GetScalarInterpolator(OB_COL_A);
 			if (ipo)
 			{
-				if (!ipocontr)
+				if (!ipocontr_obcol)
 				{
-					ipocontr = new KX_ObColorIpoSGController();
-					gameobj->GetSGNode()->AddSGController(ipocontr);
-					ipocontr->SetObject(gameobj->GetSGNode());
+					ipocontr_obcol = new KX_ObColorIpoSGController();
+					gameobj->GetSGNode()->AddSGController(ipocontr_obcol);
+					ipocontr_obcol->SetObject(gameobj->GetSGNode());
 				}
 				KX_IInterpolator *interpolator =
 				new KX_ScalarInterpolator(
-					&ipocontr->m_rgba[3],
+					&ipocontr_obcol->m_rgba[3],
 					ipo);
-				ipocontr->AddInterpolator(interpolator);
+				ipocontr_obcol->AddInterpolator(interpolator);
 			}
 		}
 
diff --git a/source/gameengine/Converter/SConscript b/source/gameengine/Converter/SConscript
index 5c2ab49a04c..98b7c71bad2 100644
--- a/source/gameengine/Converter/SConscript
+++ b/source/gameengine/Converter/SConscript
@@ -2,6 +2,7 @@
 Import ('env')
 
 sources = env.Glob('*.cpp')
+defs = []
 
 incs = '. #source/kernel/gen_system #intern/string #intern/guardedalloc'
 incs += ' #source/gameengine/Rasterizer/RAS_OpenGLRasterizer #intern/bmfont'
@@ -14,13 +15,17 @@ incs += ' #source/blender/editors/include #source/blender/makesdna #source/gamee
 incs += ' #source/gameengine/Rasterizer/RAS_OpenGLRasterizer #source/gameengine/GameLogic'
 incs += ' #source/gameengine/Expressions #source/gameengine/Network #source/gameengine/SceneGraph'
 incs += ' #source/gameengine/Physics/common #source/gameengine/Physics/Bullet #source/gameengine/Physics/BlOde'
-incs += ' #source/gameengine/Physics/Dummy #source/gameengine/Physics/Sumo'
-incs += ' #source/gameengine/Physics/Sumo/Fuzzics/include #source/gameengine/Network/LoopBackNetwork'
+incs += ' #source/gameengine/Physics/Dummy'
+incs += ' #source/gameengine/Network/LoopBackNetwork'
 incs += ' #source/blender/misc #source/blender/blenloader #source/blender/gpu'
 incs += ' #source/blender/windowmanager'
 
+if env['WITH_BF_SOLID']:
+	incs += ' #source/gameengine/Physics/Sumo #source/gameengine/Physics/Sumo/Fuzzics/include'
+	incs += ' ' + env['BF_SOLID_INC']
+	defs.append('USE_SUMO_SOLID')
+
 incs += ' ' + env['BF_PYTHON_INC']
-incs += ' ' + env['BF_SOLID_INC']
 incs += ' ' + env['BF_BULLET_INC']
 
-env.BlenderLib ( 'bf_converter', sources, Split(incs), [], libtype=['core','player'], priority=[305,50] )
+env.BlenderLib ( 'bf_converter', sources, Split(incs), defs, libtype=['core','player'], priority=[305,50] )
diff --git a/source/gameengine/Expressions/FloatValue.cpp b/source/gameengine/Expressions/FloatValue.cpp
index 93f102d04a6..460eaa73f35 100644
--- a/source/gameengine/Expressions/FloatValue.cpp
+++ b/source/gameengine/Expressions/FloatValue.cpp
@@ -127,6 +127,9 @@ ret: a new object containing the result of applying operator op to val and
 		{
 			switch (op)
 			{
+			case VALUE_MOD_OPERATOR:
+				ret = new CFloatValue(fmod(((CIntValue *) val)->GetInt(), m_float));
+				break;
 			case VALUE_ADD_OPERATOR:
 				ret = new CFloatValue(((CIntValue *) val)->GetInt() + m_float);
 				break;
@@ -171,6 +174,9 @@ ret: a new object containing the result of applying operator op to val and
 		{
 			switch (op)
 			{
+			case VALUE_MOD_OPERATOR:
+				ret = new CFloatValue(fmod(((CFloatValue *) val)->GetFloat(), m_float));
+				break;
 			case VALUE_ADD_OPERATOR:
 				ret = new CFloatValue(((CFloatValue *) val)->GetFloat() + m_float);
 				break;
diff --git a/source/gameengine/Expressions/InputParser.cpp b/source/gameengine/Expressions/InputParser.cpp
index 32a9de32e21..94663c4a365 100644
--- a/source/gameengine/Expressions/InputParser.cpp
+++ b/source/gameengine/Expressions/InputParser.cpp
@@ -38,6 +38,9 @@
 // cool things like (IF(LOD==1,CCurvedValue,IF(LOD==2,CCurvedValue2)) etc...
 #include "IfExpr.h" 
 
+#if defined(WIN32) || defined(WIN64)
+#define strcasecmp _stricmp
+#endif /* Def WIN32 or Def WIN64 */
 
 #define NUM_PRIORITY 6
 //////////////////////////////////////////////////////////////////////
@@ -172,6 +175,9 @@ void CParser::NextSym()
     case ',':
 		sym = commasym; NextCh();
 		break;
+	case '%' :
+		sym = opsym; opkind = OPmodulus; NextCh();
+		break;
     case '+' :
 		sym = opsym; opkind = OPplus; NextCh();
 		break;
@@ -271,33 +277,30 @@ void CParser::NextSym()
 			} else if (((ch >= 'a') && (ch <= 'z'))
 				|| ((ch >= 'A') && (ch <= 'Z')))
 			{ // reserved word?
-				int start;
-				STR_String funstr;
+				
 				start = chcount;
 				CharRep();
 				GrabString(start);
-				funstr = const_as_string;
-				funstr.Upper();
-				if (funstr == STR_String("SUM")) {
+				if (!strcasecmp(const_as_string, "SUM")) {
 					sym = sumsym;
 				}
-				else if (funstr == STR_String("NOT")) {
+				else if (!strcasecmp(const_as_string, "NOT")) {
 					sym = opsym;
 					opkind = OPnot;
 				}
-				else if (funstr == STR_String("AND")) {
+				else if (!strcasecmp(const_as_string, "AND")) {
 					sym = opsym; opkind = OPand;
 				}
-				else if (funstr == STR_String("OR")) {
+				else if (!strcasecmp(const_as_string, "OR")) {
 					sym = opsym; opkind = OPor;
 				}
-				else if (funstr == STR_String("IF")) {
+				else if (!strcasecmp(const_as_string, "IF"))
 					sym = ifsym;
-				} else if (funstr == STR_String("WHOMADE")) {
+				else if (!strcasecmp(const_as_string, "WHOMADE"))
 					sym = whocodedsym;
-				} else if (funstr == STR_String("FALSE")) {
+				else if (!strcasecmp(const_as_string, "FALSE")) {
 					sym = constsym; constkind = booltype; boolvalue = false;
-				} else if (funstr == STR_String("TRUE")) {
+				} else if (!strcasecmp(const_as_string, "TRUE")) {
 					sym = constsym; constkind = booltype; boolvalue = true;
 				} else {
 					sym = idsym;
@@ -370,6 +373,7 @@ int CParser::Priority(int optorkind) {
 	case OPunequal: return 3;
     case OPplus:
     case OPminus: return 4;
+	case OPmodulus:
     case OPtimes:
     case OPdivide: return 5;
 	}
@@ -390,6 +394,7 @@ CExpression *CParser::Ex(int i) {
 			NextSym();
 			e2 = Ex(i + 1);
 			switch(opkind2) {
+			case OPmodulus: e1 = new COperator2Expr(VALUE_MOD_OPERATOR,e1, e2); break;
 			case OPplus: e1 = new COperator2Expr(VALUE_ADD_OPERATOR,e1, e2); break;
 			case OPminus: e1 = new COperator2Expr(VALUE_SUB_OPERATOR,e1, e2); break;
 			case OPtimes:	e1 = new COperator2Expr(VALUE_MUL_OPERATOR,e1, e2); break;
diff --git a/source/gameengine/Expressions/InputParser.h b/source/gameengine/Expressions/InputParser.h
index 4caa47cbb0c..f51c473ba18 100644
--- a/source/gameengine/Expressions/InputParser.h
+++ b/source/gameengine/Expressions/InputParser.h
@@ -49,6 +49,7 @@ private:
 	};			// all kinds of symbols
 
 	enum optype {
+		OPmodulus,
 		OPplus,
 		OPminus,
 		OPtimes,
diff --git a/source/gameengine/Expressions/IntValue.cpp b/source/gameengine/Expressions/IntValue.cpp
index fbf4f4f59e0..fb586cb4979 100644
--- a/source/gameengine/Expressions/IntValue.cpp
+++ b/source/gameengine/Expressions/IntValue.cpp
@@ -125,6 +125,9 @@ this object
 	case VALUE_INT_TYPE:
 		{
 			switch (op) {
+			case VALUE_MOD_OPERATOR:
+				ret = new CIntValue (((CIntValue *) val)->GetInt() % m_int);
+				break;
 			case VALUE_ADD_OPERATOR:
 				ret = new CIntValue (((CIntValue *) val)->GetInt() + m_int);
 				break;
@@ -181,6 +184,9 @@ this object
 	case VALUE_FLOAT_TYPE:
 		{
 			switch (op) {
+			case VALUE_MOD_OPERATOR:
+				ret = new CFloatValue(fmod(((CFloatValue *) val)->GetFloat(), m_int));
+				break;
 			case VALUE_ADD_OPERATOR:
 				ret = new CFloatValue (((CFloatValue *) val)->GetFloat() + m_int);
 				break;
diff --git a/source/gameengine/Expressions/ListValue.cpp b/source/gameengine/Expressions/ListValue.cpp
index 9ffdbb1223c..90a939af236 100644
--- a/source/gameengine/Expressions/ListValue.cpp
+++ b/source/gameengine/Expressions/ListValue.cpp
@@ -34,7 +34,12 @@ Py_ssize_t listvalue_bufferlen(PyObject* list)
 
 PyObject* listvalue_buffer_item(PyObject* list,Py_ssize_t index)
 {
-	if (index >= 0 && index < ((CListValue*) list)->GetCount())
+	int count = ((CListValue*) list)->GetCount();
+	
+	if (index < 0)
+		index = count+index;
+	
+	if (index >= 0 && index < count)
 	{
 		PyObject* pyobj = ((CListValue*) list)->GetValue(index)->ConvertValueToPython();
 		if (pyobj)
@@ -64,8 +69,7 @@ PyObject* listvalue_mapping_subscript(PyObject* list,PyObject* pyindex)
 	}
 	
 	PyObject *pyindex_str = PyObject_Repr(pyindex); /* new ref */
-	STR_String index_str(PyString_AsString(pyindex_str));
-	PyErr_Format(PyExc_KeyError, "'%s' not in list", index_str.Ptr());
+	PyErr_Format(PyExc_KeyError, "'%s' not in list", PyString_AsString(pyindex_str));
 	Py_DECREF(pyindex_str);
 	return NULL;
 }
@@ -220,17 +224,19 @@ PyParentObject CListValue::Parents[] = {
 
 
 PyMethodDef CListValue::Methods[] = {
-	{"append", (PyCFunction)CListValue::sPyappend,METH_VARARGS},
-	{"reverse", (PyCFunction)CListValue::sPyreverse,METH_VARARGS},
-	{"index", (PyCFunction)CListValue::sPyindex,METH_VARARGS},
-	{"count", (PyCFunction)CListValue::sPycount,METH_VARARGS},
+	{"append", (PyCFunction)CListValue::sPyappend,METH_O},
+	{"reverse", (PyCFunction)CListValue::sPyreverse,METH_NOARGS},
+	{"index", (PyCFunction)CListValue::sPyindex,METH_O},
+	{"count", (PyCFunction)CListValue::sPycount,METH_O},
 	
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef CListValue::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
-
-PyObject* CListValue::_getattr(const STR_String& attr) {
+PyObject* CListValue::_getattr(const char *attr) {
 	_getattr_up(CValue);
 }
 
@@ -399,34 +405,17 @@ void CListValue::MergeList(CListValue *otherlist)
 
 
 
-PyObject* CListValue::Pyappend(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* CListValue::Pyappend(PyObject* self, PyObject* value)
 {
-
-	PyObject* pyobj = NULL;
-	if (PyArg_ParseTuple(args,"O",&pyobj))
-	{
-		return listvalue_buffer_concat(self,pyobj);
-	}
-	else
-	{
-	   return NULL;	     
-	}
-
-	
+	return listvalue_buffer_concat(self, value);
 }
 
 
 
-PyObject* CListValue::Pyreverse(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* CListValue::Pyreverse(PyObject* self)
 {
 	std::reverse(m_pValueArray.begin(),m_pValueArray.end());
-
-	Py_Return;
-	
+	Py_RETURN_NONE;
 }
 
 
@@ -448,58 +437,56 @@ bool CListValue::CheckEqual(CValue* first,CValue* second)
 
 
 
-PyObject* CListValue::Pyindex(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* CListValue::Pyindex(PyObject* self, PyObject *value)
 {
 	PyObject* result = NULL;
 
-	PyObject* pyobj = NULL;
-	if (PyArg_ParseTuple(args,"O",&pyobj))
+	CValue* checkobj = ConvertPythonToValue(value);
+	if (checkobj==NULL)
+		return NULL; /* ConvertPythonToValue sets the error */
+
+	int numelem = GetCount();
+	for (int i=0;i<numelem;i++)
 	{
-	
-		CValue* checkobj = ConvertPythonToValue(pyobj);
-		int numelem = GetCount();
-		for (int i=0;i<numelem;i++)
+		CValue* elem = 			GetValue(i);
+		if (CheckEqual(checkobj,elem))
 		{
-			CValue* elem = 			GetValue(i);
-			if (CheckEqual(checkobj,elem))
-			{
-				result = PyInt_FromLong(i);
-				break;
-			}
+			result = PyInt_FromLong(i);
+			break;
 		}
-		checkobj->Release();
 	}
+	checkobj->Release();
 
+	if (result==NULL) {
+		PyErr_SetString(PyExc_ValueError, "ValueError: list.index(x): x not in CListValue");
+	}
 	return result;
 	
 }
 
 
 
-PyObject* CListValue::Pycount(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* CListValue::Pycount(PyObject* self, PyObject* value)
 {
-	
 	int numfound = 0;
 
-	PyObject* pyobj = NULL;
-	if (PyArg_ParseTuple(args,"O",&pyobj))
+	CValue* checkobj = ConvertPythonToValue(value);
+	
+	if (checkobj==NULL) { /* in this case just return that there are no items in the list */
+		PyErr_Clear();
+		PyInt_FromLong(0);
+	}
+
+	int numelem = GetCount();
+	for (int i=0;i<numelem;i++)
 	{
-		CValue* checkobj = ConvertPythonToValue(pyobj);
-		int numelem = GetCount();
-		for (int i=0;i<numelem;i++)
+		CValue* elem = 			GetValue(i);
+		if (CheckEqual(checkobj,elem))
 		{
-			CValue* elem = 			GetValue(i);
-			if (CheckEqual(checkobj,elem))
-			{
-				numfound ++;
-			}
+			numfound ++;
 		}
-		checkobj->Release();
 	}
+	checkobj->Release();
 
 	return PyInt_FromLong(numfound);
 }
diff --git a/source/gameengine/Expressions/ListValue.h b/source/gameengine/Expressions/ListValue.h
index 431f8f558a9..104e3e63283 100644
--- a/source/gameengine/Expressions/ListValue.h
+++ b/source/gameengine/Expressions/ListValue.h
@@ -59,12 +59,12 @@ public:
 
 	bool CheckEqual(CValue* first,CValue* second);
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
-	KX_PYMETHOD(CListValue,append);
-	KX_PYMETHOD(CListValue,reverse);
-	KX_PYMETHOD(CListValue,index);
-	KX_PYMETHOD(CListValue,count);
+	KX_PYMETHOD_O(CListValue,append);
+	KX_PYMETHOD_NOARGS(CListValue,reverse);
+	KX_PYMETHOD_O(CListValue,index);
+	KX_PYMETHOD_O(CListValue,count);
 
 	
 private:
diff --git a/source/gameengine/Expressions/PyObjectPlus.cpp b/source/gameengine/Expressions/PyObjectPlus.cpp
index 8fd99c8d267..1bead0a7664 100644
--- a/source/gameengine/Expressions/PyObjectPlus.cpp
+++ b/source/gameengine/Expressions/PyObjectPlus.cpp
@@ -94,7 +94,7 @@ PyObjectPlus::PyObjectPlus(PyTypeObject *T) 				// constructor
  * PyObjectPlus Methods 	-- Every class, even the abstract one should have a Methods
 ------------------------------*/
 PyMethodDef PyObjectPlus::Methods[] = {
-  {"isA",		 (PyCFunction) sPy_isA,			METH_VARARGS},
+  {"isA",		 (PyCFunction) sPy_isA,			METH_O},
   {NULL, NULL}		/* Sentinel */
 };
 
@@ -106,24 +106,24 @@ PyParentObject PyObjectPlus::Parents[] = {&PyObjectPlus::Type, NULL};
 /*------------------------------
  * PyObjectPlus attributes	-- attributes
 ------------------------------*/
-PyObject *PyObjectPlus::_getattr(const STR_String& attr)
+PyObject *PyObjectPlus::_getattr(const char *attr)
 {
-	if (attr == "__doc__" && GetType()->tp_doc)
+	if (!strcmp(attr, "__doc__") && GetType()->tp_doc)
 		return PyString_FromString(GetType()->tp_doc);
 
   //if (streq(attr, "type"))
   //  return Py_BuildValue("s", (*(GetParents()))->tp_name);
 
-  return Py_FindMethod(Methods, this, const_cast<char *>(attr.ReadPtr()));
+  return Py_FindMethod(Methods, this, attr);
 }
 
-int PyObjectPlus::_delattr(const STR_String& attr)
+int PyObjectPlus::_delattr(const char *attr)
 {
 	PyErr_SetString(PyExc_AttributeError, "attribute cant be deleted");
 	return 1;
 }
 
-int PyObjectPlus::_setattr(const STR_String& attr, PyObject *value)
+int PyObjectPlus::_setattr(const char *attr, PyObject *value)
 {
 	//return PyObject::_setattr(attr,value);
 	//cerr << "Unknown attribute" << endl;
@@ -131,12 +131,12 @@ int PyObjectPlus::_setattr(const STR_String& attr, PyObject *value)
 	return 1;
 }
 
-PyObject *PyObjectPlus::_getattr_self(const PyAttributeDef attrlist[], void *self, const STR_String &attr)
+PyObject *PyObjectPlus::_getattr_self(const PyAttributeDef attrlist[], void *self, const char *attr)
 {
 	const PyAttributeDef *attrdef;
 	for (attrdef=attrlist; attrdef->m_name != NULL; attrdef++)
 	{
-		if (attr == attrdef->m_name) 
+		if (!strcmp(attr, attrdef->m_name))
 		{
 			if (attrdef->m_type == KX_PYATTRIBUTE_TYPE_DUMMY)
 			{
@@ -147,7 +147,7 @@ PyObject *PyObjectPlus::_getattr_self(const PyAttributeDef attrlist[], void *sel
 			if (attrdef->m_length > 1)
 			{
 				PyObject* resultlist = PyList_New(attrdef->m_length);
-				for (int i=0; i<attrdef->m_length; i++)
+				for (unsigned int i=0; i<attrdef->m_length; i++)
 				{
 					switch (attrdef->m_type) {
 					case KX_PYATTRIBUTE_TYPE_BOOL:
@@ -238,7 +238,7 @@ PyObject *PyObjectPlus::_getattr_self(const PyAttributeDef attrlist[], void *sel
 	return NULL;
 }
 
-int PyObjectPlus::_setattr_self(const PyAttributeDef attrlist[], void *self, const STR_String &attr, PyObject *value)
+int PyObjectPlus::_setattr_self(const PyAttributeDef attrlist[], void *self, const char *attr, PyObject *value)
 {
 	const PyAttributeDef *attrdef;
 	void *undoBuffer = NULL;
@@ -247,7 +247,7 @@ int PyObjectPlus::_setattr_self(const PyAttributeDef attrlist[], void *self, con
 
 	for (attrdef=attrlist; attrdef->m_name != NULL; attrdef++)
 	{
-		if (attr == attrdef->m_name) 
+		if (!strcmp(attr, attrdef->m_name))
 		{
 			if (attrdef->m_access == KX_PYATTRIBUTE_RO ||
 				attrdef->m_type == KX_PYATTRIBUTE_TYPE_DUMMY)
@@ -688,23 +688,54 @@ bool PyObjectPlus::isA(const char *mytypename)		// check typename of each parent
   
   for (P = Ps[i=0]; P != NULL; P = Ps[i++])
   {
-      if (STR_String(P->tp_name) == STR_String(mytypename)	)
+      if (strcmp(P->tp_name, mytypename)==0)
 		  return true;
   }
 	
   return false;
 }
 
-PyObject *PyObjectPlus::Py_isA(PyObject *args)		// Python wrapper for isA
+PyObject *PyObjectPlus::Py_isA(PyObject *value)		// Python wrapper for isA
 {
-  char *mytypename;
-  if (!PyArg_ParseTuple(args, "s", &mytypename))
+  if (!PyString_Check(value)) {
+    PyErr_SetString(PyExc_TypeError, "expected a string");
     return NULL;
-  if(isA(mytypename))
+  }
+  if(isA(PyString_AsString(value)))
     Py_RETURN_TRUE;
   else
     Py_RETURN_FALSE;
 }
 
+/* Utility function called by the macro _getattr_up()
+ * for getting ob.__dict__() values from our PyObject
+ * this is used by python for doing dir() on an object, so its good
+ * if we return a list of attributes and methods.
+ * 
+ * Other then making dir() useful the value returned from __dict__() is not useful
+ * since every value is a Py_None
+ * */
+PyObject *_getattr_dict(PyObject *pydict, PyMethodDef *meth, PyAttributeDef *attrdef)
+{
+    if(pydict==NULL) { /* incase calling __dict__ on the parent of this object raised an error */
+    	PyErr_Clear();
+    	pydict = PyDict_New();
+    }
+	
+    if(meth) {
+		for (; meth->ml_name != NULL; meth++) {
+			PyDict_SetItemString(pydict, meth->ml_name, Py_None);
+		}
+	}
+	
+    if(attrdef) {
+		for (; attrdef->m_name != NULL; attrdef++) {
+			PyDict_SetItemString(pydict, attrdef->m_name, Py_None);
+		}
+	}
+
+	return pydict;
+}
+
 #endif //NO_EXP_PYTHON_EMBEDDING
 
diff --git a/source/gameengine/Expressions/PyObjectPlus.h b/source/gameengine/Expressions/PyObjectPlus.h
index e0e2213d984..1a5f50a3d23 100644
--- a/source/gameengine/Expressions/PyObjectPlus.h
+++ b/source/gameengine/Expressions/PyObjectPlus.h
@@ -72,11 +72,8 @@ typedef int Py_ssize_t;
 #define PY_METHODCHAR const char *
 #endif
 
-								// some basic python macros
-#define Py_Return { Py_INCREF(Py_None); return Py_None;}
-
 static inline void Py_Fatal(const char *M) {
-	//cout << M << endl; 
+	fprintf(stderr, "%s\n", M);
 	exit(-1);
 };
 
@@ -92,35 +89,22 @@ static inline void Py_Fatal(const char *M) {
   virtual PyParentObject *GetParents(void) {return Parents;}
 
 
+
 								// This defines the _getattr_up macro
 								// which allows attribute and method calls
 								// to be properly passed up the hierarchy.
 #define _getattr_up(Parent) \
-  PyObject *rvalue = NULL; \
-  if (attr=="__methods__") { \
-    PyObject *_attr_string = NULL; \
-    PyMethodDef *meth = Methods; \
-    rvalue = Parent::_getattr(attr); \
-    if (rvalue==NULL) { \
-    	PyErr_Clear(); \
-    	rvalue = PyList_New(0); \
-    } \
-    if (meth) { \
-      for (; meth->ml_name != NULL; meth++) { \
-        _attr_string = PyString_FromString(meth->ml_name); \
-		PyList_Append(rvalue, _attr_string); \
-		Py_DECREF(_attr_string); \
-	  } \
+	PyObject *rvalue = Py_FindMethod(Methods, this, attr); \
+	 \
+	if (rvalue == NULL) { \
+		PyErr_Clear(); \
+		rvalue = Parent::_getattr(attr); \
 	} \
-  } else { \
-    rvalue = Py_FindMethod(Methods, this, const_cast<char*>(attr.ReadPtr())); \
-    if (rvalue == NULL) { \
-      PyErr_Clear(); \
-      rvalue = Parent::_getattr(attr); \
-    } \
-  } \
-  return rvalue; \
-
+	if ((rvalue == NULL) && !strcmp(attr, "__dict__")) {\
+		PyErr_Clear(); \
+		rvalue = _getattr_dict(Parent::_getattr(attr), Methods, Attributes); \
+	} \
+	return rvalue; \
 
 /**
  * These macros are helpfull when embedding Python routines. The second
@@ -283,10 +267,17 @@ typedef struct KX_PYATTRIBUTE_DEF {
 #define KX_PYATTRIBUTE_SHORT_RO(name,object,field) \
 	{ name, KX_PYATTRIBUTE_TYPE_SHORT, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, 1, NULL, {NULL, &((object *)0)->field, NULL, NULL, NULL} }
 #define KX_PYATTRIBUTE_SHORT_ARRAY_RW(name,min,max,clamp,object,field,length) \
-	{ name, KX_PYATTRIBUTE_TYPE_SHORT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, NULL, {NULL, &((object *)0)->field, NULL, NULL, NULL} }
+	{ name, KX_PYATTRIBUTE_TYPE_SHORT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, NULL, {NULL, ((object *)0)->field, NULL, NULL, NULL} }
 #define KX_PYATTRIBUTE_SHORT_ARRAY_RW_CHECK(name,min,max,clamp,object,field,length,function) \
-	{ name, KX_PYATTRIBUTE_TYPE_SHORT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, &object::function, {NULL, &((object *)0)->field, NULL, NULL, NULL} }
+	{ name, KX_PYATTRIBUTE_TYPE_SHORT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, &object::function, {NULL, ((object *)0)->field, NULL, NULL, NULL} }
 #define KX_PYATTRIBUTE_SHORT_ARRAY_RO(name,object,field,length) \
+	{ name, KX_PYATTRIBUTE_TYPE_SHORT, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, length, NULL, {NULL, ((object *)0)->field, NULL, NULL, NULL} }
+// SHORT_LIST
+#define KX_PYATTRIBUTE_SHORT_LIST_RW(name,min,max,clamp,object,field,length) \
+	{ name, KX_PYATTRIBUTE_TYPE_SHORT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, NULL, {NULL, &((object *)0)->field, NULL, NULL, NULL} }
+#define KX_PYATTRIBUTE_SHORT_LIST_RW_CHECK(name,min,max,clamp,object,field,length,function) \
+	{ name, KX_PYATTRIBUTE_TYPE_SHORT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, &object::function, {NULL, &((object *)0)->field, NULL, NULL, NULL} }
+#define KX_PYATTRIBUTE_SHORT_LIST_RO(name,object,field,length) \
 	{ name, KX_PYATTRIBUTE_TYPE_SHORT, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, length, NULL, {NULL, &((object *)0)->field, NULL, NULL, NULL} }
 
 #define KX_PYATTRIBUTE_INT_RW(name,min,max,clamp,object,field) \
@@ -296,10 +287,17 @@ typedef struct KX_PYATTRIBUTE_DEF {
 #define KX_PYATTRIBUTE_INT_RO(name,object,field) \
 	{ name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, 1, NULL, {NULL, NULL, &((object *)0)->field, NULL, NULL} }
 #define KX_PYATTRIBUTE_INT_ARRAY_RW(name,min,max,clamp,object,field,length) \
-	{ name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, NULL, {NULL, NULL, &((object *)0)->field, NULL, NULL} }
+	{ name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, NULL, {NULL, NULL, ((object *)0)->field, NULL, NULL} }
 #define KX_PYATTRIBUTE_INT_ARRAY_RW_CHECK(name,min,max,clamp,object,field,length,function) \
-	{ name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, &object::function, {NULL, NULL, &((object *)0)->field, NULL, NULL} }
+	{ name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, &object::function, {NULL, NULL, ((object *)0)->field, NULL, NULL} }
 #define KX_PYATTRIBUTE_INT_ARRAY_RO(name,object,field,length) \
+	{ name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, length, NULL, {NULL, NULL, ((object *)0)->field, NULL, NULL} }
+// INT_LIST
+#define KX_PYATTRIBUTE_INT_LIST_RW(name,min,max,clamp,object,field,length) \
+	{ name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, NULL, {NULL, NULL, &((object *)0)->field, NULL, NULL} }
+#define KX_PYATTRIBUTE_INT_LIST_RW_CHECK(name,min,max,clamp,object,field,length,function) \
+	{ name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, &object::function, {NULL, NULL, &((object *)0)->field, NULL, NULL} }
+#define KX_PYATTRIBUTE_INT_LIST_RO(name,object,field,length) \
 	{ name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, length, NULL, {NULL, NULL, &((object *)0)->field, NULL, NULL} }
 
 // always clamp for float
@@ -310,11 +308,11 @@ typedef struct KX_PYATTRIBUTE_DEF {
 #define KX_PYATTRIBUTE_FLOAT_RO(name,object,field) \
 	{ name, KX_PYATTRIBUTE_TYPE_FLOAT, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, 1, NULL, {NULL, NULL, NULL, &((object *)0)->field, NULL} }
 #define KX_PYATTRIBUTE_FLOAT_ARRAY_RW(name,min,max,object,field,length) \
-	{ name, KX_PYATTRIBUTE_TYPE_FLOAT, KX_PYATTRIBUTE_RW, 0, 0, min, max, true, offsetof(object,field), 0, length, NULL, {NULL, NULL, NULL, &((object *)0)->field, NULL} }
+	{ name, KX_PYATTRIBUTE_TYPE_FLOAT, KX_PYATTRIBUTE_RW, 0, 0, min, max, true, offsetof(object,field), 0, length, NULL, {NULL, NULL, NULL, ((object *)0)->field, NULL} }
 #define KX_PYATTRIBUTE_FLOAT_ARRAY_RW_CHECK(name,min,max,object,field,length,function) \
-	{ name, KX_PYATTRIBUTE_TYPE_FLOAT, KX_PYATTRIBUTE_RW, 0, 0, min, max, true, offsetof(object,field), 0, length, &object::function, {NULL, NULL, NULL, &((object *)0)->field, NULL} }
+	{ name, KX_PYATTRIBUTE_TYPE_FLOAT, KX_PYATTRIBUTE_RW, 0, 0, min, max, true, offsetof(object,field), 0, length, &object::function, {NULL, NULL, NULL, ((object *)0)->field, NULL} }
 #define KX_PYATTRIBUTE_FLOAT_ARRAY_RO(name,object,field,length) \
-	{ name, KX_PYATTRIBUTE_TYPE_FLOAT, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, length, NULL, {NULL, NULL, NULL, &((object *)0)->field, NULL} }
+	{ name, KX_PYATTRIBUTE_TYPE_FLOAT, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, length, NULL, {NULL, NULL, NULL, ((object *)0)->field, NULL} }
 
 #define KX_PYATTRIBUTE_STRING_RW(name,min,max,clamp,object,field) \
 	{ name, KX_PYATTRIBUTE_TYPE_STRING, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, 1, NULL, {NULL, NULL, NULL, NULL, &((object *)0)->field} }
@@ -323,6 +321,10 @@ typedef struct KX_PYATTRIBUTE_DEF {
 #define KX_PYATTRIBUTE_STRING_RO(name,object,field) \
 	{ name, KX_PYATTRIBUTE_TYPE_STRING, KX_PYATTRIBUTE_RO, 0, 0, 0.f, 0.f, false, offsetof(object,field), 0, 1 , NULL, {NULL, NULL, NULL, NULL, &((object *)0)->field} }
 
+//Multiple integer
+#define KX_PYATTRIBUTE_MINT_RW_CHECK(name,min,max,clamp,object,field,length,function) \
+	 { name, KX_PYATTRIBUTE_TYPE_INT, KX_PYATTRIBUTE_RW, min, max, 0.f, 0.f, clamp, offsetof(object,field), 0, length, &object::function, {NULL, NULL, &((object *)0)->field, NULL, NULL} }
+
 /*------------------------------
  * PyObjectPlus
 ------------------------------*/
@@ -348,23 +350,23 @@ public:
 //		  Py_DECREF(this);
 //	  };				// decref method
 	
-	virtual PyObject *_getattr(const STR_String& attr);			// _getattr method
+	virtual PyObject *_getattr(const char *attr);			// _getattr method
 	static  PyObject *__getattr(PyObject * PyObj, char *attr) 	// This should be the entry in Type. 
 	{
-		return ((PyObjectPlus*) PyObj)->_getattr(STR_String(attr)); 
+		return ((PyObjectPlus*) PyObj)->_getattr(attr); 
 	}
-	static PyObject *_getattr_self(const PyAttributeDef attrlist[], void *self, const STR_String &attr);
-	static int _setattr_self(const PyAttributeDef attrlist[], void *self, const STR_String &attr, PyObject *value);
+	static PyObject *_getattr_self(const PyAttributeDef attrlist[], void *self, const char *attr);
+	static int _setattr_self(const PyAttributeDef attrlist[], void *self, const char *attr, PyObject *value);
 	
-	virtual int _delattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);		// _setattr method
+	virtual int _delattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);		// _setattr method
 	static  int __setattr(PyObject *PyObj, 			// This should be the entry in Type. 
 				char *attr, 
 				PyObject *value)
 	{ 
 		if (!value)
 			return ((PyObjectPlus*) PyObj)->_delattr(attr);
-		return ((PyObjectPlus*) PyObj)->_setattr(STR_String(attr), value);  
+		return ((PyObjectPlus*) PyObj)->_setattr(attr, value);  
 	}
 	
 	virtual PyObject *_repr(void);				// _repr method
@@ -376,13 +378,15 @@ public:
 									// isA methods
 	bool isA(PyTypeObject *T);
 	bool isA(const char *mytypename);
-	PyObject *Py_isA(PyObject *args);
-	static PyObject *sPy_isA(PyObject *self, PyObject *args, PyObject *kwd)
+	PyObject *Py_isA(PyObject *value);
+	static PyObject *sPy_isA(PyObject *self, PyObject *value)
 	{
-		return ((PyObjectPlus*)self)->Py_isA(args);
+		return ((PyObjectPlus*)self)->Py_isA(value);
 	}
 };
 
+PyObject *_getattr_dict(PyObject *pydict, PyMethodDef *meth, PyAttributeDef *attrdef);
+
 #endif //  _adr_py_lib_h_
 
 #endif //NO_EXP_PYTHON_EMBEDDING
diff --git a/source/gameengine/Expressions/SConscript b/source/gameengine/Expressions/SConscript
index f391afec60b..25adcf3e895 100644
--- a/source/gameengine/Expressions/SConscript
+++ b/source/gameengine/Expressions/SConscript
@@ -6,4 +6,9 @@ sources = env.Glob('*.cpp')
 incs ='. #source/kernel/gen_system #intern/string #intern/moto/include'
 incs += ' ' + env['BF_PYTHON_INC']
 
-env.BlenderLib ( 'bf_expressions', sources, Split(incs), [], libtype=['core','player'], priority = [310,120] )
+cxxflags = []
+if env['OURPLATFORM']=='win32-vc':
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
+
+env.BlenderLib ( 'bf_expressions', sources, Split(incs), [], libtype=['core','player'], priority = [360,120], cxx_compileflags=cxxflags)
diff --git a/source/gameengine/Expressions/Value.cpp b/source/gameengine/Expressions/Value.cpp
index f2b5569c76e..ebb12636ac2 100644
--- a/source/gameengine/Expressions/Value.cpp
+++ b/source/gameengine/Expressions/Value.cpp
@@ -52,6 +52,10 @@ PyObject* cvalue_div(PyObject*v, PyObject*w)
 {
 	return  ((CValue*)v)->Calc(VALUE_DIV_OPERATOR,(CValue*)w);
 }
+PyObject* cvalue_mod(PyObject*v, PyObject*w)
+{
+	return  ((CValue*)v)->Calc(VALUE_MOD_OPERATOR,(CValue*)w);
+}
 PyObject* cvalue_neg(PyObject*v)
 {
 	return  ((CValue*)v)->Calc(VALUE_NEG_OPERATOR,(CValue*)v);
@@ -112,7 +116,7 @@ static PyNumberMethods cvalue_as_number = {
 	(binaryfunc)cvalue_sub, /*nb_subtract*/
 	(binaryfunc)cvalue_mul, /*nb_multiply*/
 	(binaryfunc)cvalue_div, /*nb_divide*/
-	0,//(binaryfunc)cvalue_remainder,	/*nb_remainder*/
+	(binaryfunc)cvalue_mod, /*nb_remainder*/
 	0,//(binaryfunc)cvalue_divmod,	/*nb_divmod*/
 	0,//0,//0,//0,//(ternaryfunc)cvalue_pow, /*nb_power*/
 	(unaryfunc)cvalue_neg, /*nb_negative*/
@@ -257,6 +261,9 @@ STR_String CValue::op2str (VALUE_OPERATOR op)
 	
 	STR_String opmsg;
 	switch (op) {
+	case VALUE_MOD_OPERATOR:
+		opmsg = " % ";
+		break;
 	case VALUE_ADD_OPERATOR:
 		opmsg = " + ";
 		break;
@@ -673,10 +680,14 @@ static PyMethodDef	CValueMethods[] =
 	{ NULL,NULL}	// Sentinel
 };
 
+PyAttributeDef CValue::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
 
-PyObject*	CValue::_getattr(const STR_String& attr)
+PyObject*	CValue::_getattr(const char *attr)
 {
-	CValue* resultattr = FindIdentifier(attr);
+	CValue* resultattr = FindIdentifier(STR_String(attr));
 	STR_String text;
 	if (resultattr)
 	{
@@ -761,26 +772,27 @@ CValue* CValue::ConvertPythonToValue(PyObject* pyobj)
 
 }
 
-int	CValue::_delattr(const STR_String& attr)
+int	CValue::_delattr(const char *attr)
 {
-	if (!RemoveProperty(attr)) /* sets error */
+	if (!RemoveProperty(STR_String(attr))) /* sets error */
 		return 1;
 	return 0;
 }
 
-int	CValue::_setattr(const STR_String& attr,PyObject* pyobj)
+int	CValue::_setattr(const char *attr,PyObject* pyobj)
 {
 	CValue* vallie = ConvertPythonToValue(pyobj);
 	if (vallie)
 	{
-		CValue* oldprop = GetProperty(attr);
+		STR_String attr_str = attr;
+		CValue* oldprop = GetProperty(attr_str);
 		
 		if (oldprop)
 		{
 			oldprop->SetValue(vallie);
 		} else
 		{
-			SetProperty(attr,vallie);
+			SetProperty(attr_str, vallie);
 		}
 		vallie->Release();
 	} else
@@ -858,7 +870,42 @@ void CValue::SetDeprecationWarnings(bool ignoreDeprecationWarnings)
 
 void CValue::ShowDeprecationWarning(const char* old_way,const char* new_way)
 {
-	if (!m_ignore_deprecation_warnings)
+	if (!m_ignore_deprecation_warnings) {
 		printf("Method %s is deprecated, please use %s instead.\n", old_way, new_way);
+		
+		// import sys; print '\t%s:%d' % (sys._getframe(0).f_code.co_filename, sys._getframe(0).f_lineno)
+		
+		PyObject *getframe, *frame;
+		PyObject *f_lineno, *f_code, *co_filename;
+		
+		getframe = PySys_GetObject("_getframe"); // borrowed
+		if (getframe) {
+			frame = PyObject_CallObject(getframe, NULL);
+			if (frame) {
+				f_lineno= PyObject_GetAttrString(frame, "f_lineno");
+				f_code= PyObject_GetAttrString(frame, "f_code");
+				if (f_lineno && f_code) {
+					co_filename= PyObject_GetAttrString(f_code, "co_filename");
+					if (co_filename) {
+						
+						printf("\t%s:%d\n", PyString_AsString(co_filename), (int)PyInt_AsLong(f_lineno));
+						
+						Py_DECREF(f_lineno);
+						Py_DECREF(f_code);
+						Py_DECREF(co_filename);
+						Py_DECREF(frame);
+						return;
+					}
+				}
+				
+				Py_XDECREF(f_lineno);
+				Py_XDECREF(f_code);
+				Py_DECREF(frame);
+			}
+			
+		}
+		PyErr_Clear();
+		printf("\tERROR - Could not access sys._getframe(0).f_lineno or sys._getframe().f_code.co_filename\n");
+	}
 }
 
diff --git a/source/gameengine/Expressions/Value.h b/source/gameengine/Expressions/Value.h
index 56a4991af27..caf1064dc32 100644
--- a/source/gameengine/Expressions/Value.h
+++ b/source/gameengine/Expressions/Value.h
@@ -75,6 +75,7 @@
 
 enum VALUE_OPERATOR {
 	
+	VALUE_MOD_OPERATOR,			// %
 	VALUE_ADD_OPERATOR,			// +
 	VALUE_SUB_OPERATOR,			// -
 	VALUE_MUL_OPERATOR,			// *
@@ -223,7 +224,7 @@ public:
 
 
 
-	virtual PyObject*			_getattr(const STR_String& attr);
+	virtual PyObject*			_getattr(const char *attr);
 
 	void	SpecialRelease()
 	{
@@ -250,8 +251,8 @@ public:
 	virtual CValue*	ConvertPythonToValue(PyObject* pyobj);
 
 
-	virtual int				_delattr(const STR_String& attr);
-	virtual int				_setattr(const STR_String& attr,PyObject* value);
+	virtual int				_delattr(const char *attr);
+	virtual int				_setattr(const char *attr, PyObject* value);
 	
 	virtual PyObject* ConvertKeysToPython( void );
 	
diff --git a/source/gameengine/GameLogic/Joystick/SCA_Joystick.cpp b/source/gameengine/GameLogic/Joystick/SCA_Joystick.cpp
index e8e29fb2769..c21e5db1410 100644
--- a/source/gameengine/GameLogic/Joystick/SCA_Joystick.cpp
+++ b/source/gameengine/GameLogic/Joystick/SCA_Joystick.cpp
@@ -42,14 +42,14 @@ SCA_Joystick::SCA_Joystick(short int index)
 	m_axis21(0),
 	m_prec(3200),
 	m_buttonnum(-2),
+	m_axismax(-1),
 	m_hatdir(-2),
+	m_buttonmax(-1),
+	m_hatmax(-1),
 	m_isinit(0),
 	m_istrig_axis(0),
 	m_istrig_button(0),
-	m_istrig_hat(0),
-	m_axismax(-1),
-	m_buttonmax(-1),
-	m_hatmax(-1)
+	m_istrig_hat(0)
 {
 #ifndef DISABLE_SDL
 	m_private = new PrivateData();
diff --git a/source/gameengine/GameLogic/SCA_2DFilterActuator.cpp b/source/gameengine/GameLogic/SCA_2DFilterActuator.cpp
index a70830193db..7bf051f2b5c 100644
--- a/source/gameengine/GameLogic/SCA_2DFilterActuator.cpp
+++ b/source/gameengine/GameLogic/SCA_2DFilterActuator.cpp
@@ -113,7 +113,10 @@ PyMethodDef SCA_2DFilterActuator::Methods[] = {
     {NULL,NULL}
 };
 
+PyAttributeDef SCA_2DFilterActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
-PyObject* SCA_2DFilterActuator::_getattr(const STR_String& attr) {
+PyObject* SCA_2DFilterActuator::_getattr(const char *attr) {
     _getattr_up(SCA_IActuator);
 }
diff --git a/source/gameengine/GameLogic/SCA_2DFilterActuator.h b/source/gameengine/GameLogic/SCA_2DFilterActuator.h
index 7ec07cf5b19..9da0500afff 100644
--- a/source/gameengine/GameLogic/SCA_2DFilterActuator.h
+++ b/source/gameengine/GameLogic/SCA_2DFilterActuator.h
@@ -38,7 +38,7 @@ public:
     virtual bool Update();
 
     virtual CValue* GetReplica();
-    virtual PyObject* _getattr(const STR_String& attr);
+    virtual PyObject* _getattr(const char *attr);
 
 };
 #endif
diff --git a/source/gameengine/GameLogic/SCA_ANDController.cpp b/source/gameengine/GameLogic/SCA_ANDController.cpp
index cfc2d25e0ae..b67ef7dabaf 100644
--- a/source/gameengine/GameLogic/SCA_ANDController.cpp
+++ b/source/gameengine/GameLogic/SCA_ANDController.cpp
@@ -137,7 +137,11 @@ PyMethodDef SCA_ANDController::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* SCA_ANDController::_getattr(const STR_String& attr) {
+PyAttributeDef SCA_ANDController::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* SCA_ANDController::_getattr(const char *attr) {
 	_getattr_up(SCA_IController);
 }
 
diff --git a/source/gameengine/GameLogic/SCA_ANDController.h b/source/gameengine/GameLogic/SCA_ANDController.h
index 376f4a9a876..eba7e1b545a 100644
--- a/source/gameengine/GameLogic/SCA_ANDController.h
+++ b/source/gameengine/GameLogic/SCA_ANDController.h
@@ -48,7 +48,7 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 };
 
diff --git a/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp b/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp
index fae8d2ba5a7..7f8dbef7758 100644
--- a/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_ActuatorSensor.cpp
@@ -161,7 +161,7 @@ PyAttributeDef SCA_ActuatorSensor::Attributes[] = {
 	{ NULL }	//Sentinel
 };
 
-PyObject* SCA_ActuatorSensor::_getattr(const STR_String& attr) {
+PyObject* SCA_ActuatorSensor::_getattr(const char *attr) {
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
 		return object;
@@ -180,7 +180,7 @@ int SCA_ActuatorSensor::CheckActuator(void *self, const PyAttributeDef*)
 	return 1;
 }
 
-int SCA_ActuatorSensor::_setattr(const STR_String& attr, PyObject *value) {
+int SCA_ActuatorSensor::_setattr(const char *attr, PyObject *value) {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
 		return ret;
@@ -221,7 +221,7 @@ PyObject* SCA_ActuatorSensor::PySetActuator(PyObject* self, PyObject* args, PyOb
 	} else {
 		; /* error: bad actuator name */
 	}
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* eof */
diff --git a/source/gameengine/GameLogic/SCA_ActuatorSensor.h b/source/gameengine/GameLogic/SCA_ActuatorSensor.h
index 3d64247461c..75ee08f42d6 100644
--- a/source/gameengine/GameLogic/SCA_ActuatorSensor.h
+++ b/source/gameengine/GameLogic/SCA_ActuatorSensor.h
@@ -61,8 +61,8 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	/* 3. setProperty */
 	KX_PYMETHOD_DOC(SCA_ActuatorSensor,SetActuator);
diff --git a/source/gameengine/GameLogic/SCA_AlwaysSensor.cpp b/source/gameengine/GameLogic/SCA_AlwaysSensor.cpp
index f9fbf2387c4..154f0ad8cef 100644
--- a/source/gameengine/GameLogic/SCA_AlwaysSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_AlwaysSensor.cpp
@@ -135,7 +135,11 @@ PyMethodDef SCA_AlwaysSensor::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* SCA_AlwaysSensor::_getattr(const STR_String& attr) {
+PyAttributeDef SCA_AlwaysSensor::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* SCA_AlwaysSensor::_getattr(const char *attr) {
 	_getattr_up(SCA_ISensor);
 }
 
diff --git a/source/gameengine/GameLogic/SCA_AlwaysSensor.h b/source/gameengine/GameLogic/SCA_AlwaysSensor.h
index 8bf2a8aa98e..ebe6ba80208 100644
--- a/source/gameengine/GameLogic/SCA_AlwaysSensor.h
+++ b/source/gameengine/GameLogic/SCA_AlwaysSensor.h
@@ -52,7 +52,7 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 	
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 	
 };
diff --git a/source/gameengine/GameLogic/SCA_DelaySensor.cpp b/source/gameengine/GameLogic/SCA_DelaySensor.cpp
index f15d4c7249f..31a620b939d 100644
--- a/source/gameengine/GameLogic/SCA_DelaySensor.cpp
+++ b/source/gameengine/GameLogic/SCA_DelaySensor.cpp
@@ -53,10 +53,10 @@ SCA_DelaySensor::SCA_DelaySensor(class SCA_EventManager* eventmgr,
 								 int duration,
 								 bool repeat,
 								 PyTypeObject* T)
-	: SCA_ISensor(gameobj,eventmgr, T), 
+	: SCA_ISensor(gameobj,eventmgr, T),
+	m_repeat(repeat),
 	m_delay(delay),
-	m_duration(duration),
-	m_repeat(repeat)
+	m_duration(duration)
 {
 	Init();
 }
@@ -158,6 +158,7 @@ PyParentObject SCA_DelaySensor::Parents[] = {
 };
 
 PyMethodDef SCA_DelaySensor::Methods[] = {
+	//Deprecated functions ------>
 	/* setProperty */
 	{"setDelay", (PyCFunction) SCA_DelaySensor::sPySetDelay, METH_VARARGS, (PY_METHODCHAR)SetDelay_doc},
 	{"setDuration", (PyCFunction) SCA_DelaySensor::sPySetDuration, METH_VARARGS, (PY_METHODCHAR)SetDuration_doc},
@@ -166,13 +167,32 @@ PyMethodDef SCA_DelaySensor::Methods[] = {
 	{"getDelay", (PyCFunction) SCA_DelaySensor::sPyGetDelay, METH_NOARGS, (PY_METHODCHAR)GetDelay_doc},
 	{"getDuration", (PyCFunction) SCA_DelaySensor::sPyGetDuration, METH_NOARGS, (PY_METHODCHAR)GetDuration_doc},
 	{"getRepeat", (PyCFunction) SCA_DelaySensor::sPyGetRepeat, METH_NOARGS, (PY_METHODCHAR)GetRepeat_doc},
+	//<----- Deprecated
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* SCA_DelaySensor::_getattr(const STR_String& attr) {
+PyAttributeDef SCA_DelaySensor::Attributes[] = {
+	KX_PYATTRIBUTE_INT_RW("delay",0,100000,true,SCA_DelaySensor,m_delay),
+	KX_PYATTRIBUTE_INT_RW("duration",0,100000,true,SCA_DelaySensor,m_duration),
+	KX_PYATTRIBUTE_BOOL_RW("repeat",SCA_DelaySensor,m_repeat),
+	{ NULL }	//Sentinel
+};
+
+PyObject* SCA_DelaySensor::_getattr(const char *attr) {
+	PyObject* object = _getattr_self(Attributes, this, attr);
+	if (object != NULL)
+		return object;
 	_getattr_up(SCA_ISensor);
 }
 
+int SCA_DelaySensor::_setattr(const char *attr, PyObject *value) {
+	int ret = _setattr_self(Attributes, this, attr, value);
+	if (ret >= 0)
+		return ret;
+	return SCA_ISensor::_setattr(attr, value);
+}
+
+
 const char SCA_DelaySensor::SetDelay_doc[] = 
 "setDelay(delay)\n"
 "\t- delay: length of the initial OFF period as number of frame\n"
@@ -180,6 +200,7 @@ const char SCA_DelaySensor::SetDelay_doc[] =
 "\tSet the initial delay before the positive trigger\n";
 PyObject* SCA_DelaySensor::PySetDelay(PyObject* self, PyObject* args, PyObject* kwds)
 {
+	ShowDeprecationWarning("setDelay()", "the delay property");
 	int delay;
 	
 	if(!PyArg_ParseTuple(args, "i", &delay)) {
@@ -190,7 +211,7 @@ PyObject* SCA_DelaySensor::PySetDelay(PyObject* self, PyObject* args, PyObject*
 		return NULL;
 	}
 	m_delay = delay;
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 const char SCA_DelaySensor::SetDuration_doc[] = 
@@ -201,6 +222,7 @@ const char SCA_DelaySensor::SetDuration_doc[] =
 "\tIf > 0, a negative trigger is fired at the end of the ON pulse.\n";
 PyObject* SCA_DelaySensor::PySetDuration(PyObject* self, PyObject* args, PyObject* kwds)
 {
+	ShowDeprecationWarning("setDuration()", "the duration property");
 	int duration;
 	
 	if(!PyArg_ParseTuple(args, "i", &duration)) {
@@ -211,7 +233,7 @@ PyObject* SCA_DelaySensor::PySetDuration(PyObject* self, PyObject* args, PyObjec
 		return NULL;
 	}
 	m_duration = duration;
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 const char SCA_DelaySensor::SetRepeat_doc[] = 
@@ -221,13 +243,14 @@ const char SCA_DelaySensor::SetRepeat_doc[] =
 "\tSet the sensor repeat mode\n";
 PyObject* SCA_DelaySensor::PySetRepeat(PyObject* self, PyObject* args, PyObject* kwds)
 {
+	ShowDeprecationWarning("setRepeat()", "the repeat property");
 	int repeat;
 	
 	if(!PyArg_ParseTuple(args, "i", &repeat)) {
 		return NULL;
 	}
 	m_repeat = (repeat != 0);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 const char SCA_DelaySensor::GetDelay_doc[] = 
@@ -235,6 +258,7 @@ const char SCA_DelaySensor::GetDelay_doc[] =
 "\tReturn the delay parameter value\n";
 PyObject* SCA_DelaySensor::PyGetDelay(PyObject* self)
 {
+	ShowDeprecationWarning("getDelay()", "the delay property");
 	return PyInt_FromLong(m_delay);
 }
 
@@ -243,6 +267,7 @@ const char SCA_DelaySensor::GetDuration_doc[] =
 "\tReturn the duration parameter value\n";
 PyObject* SCA_DelaySensor::PyGetDuration(PyObject* self)
 {
+	ShowDeprecationWarning("getDuration()", "the duration property");
 	return PyInt_FromLong(m_duration);
 }
 
@@ -251,6 +276,7 @@ const char SCA_DelaySensor::GetRepeat_doc[] =
 "\tReturn the repeat parameter value\n";
 PyObject* SCA_DelaySensor::PyGetRepeat(PyObject* self)
 {
+	ShowDeprecationWarning("getRepeat()", "the repeat property");
 	return BoolToPyArg(m_repeat);
 }
 
diff --git a/source/gameengine/GameLogic/SCA_DelaySensor.h b/source/gameengine/GameLogic/SCA_DelaySensor.h
index ff3afe16542..491eee61da8 100644
--- a/source/gameengine/GameLogic/SCA_DelaySensor.h
+++ b/source/gameengine/GameLogic/SCA_DelaySensor.h
@@ -60,8 +60,8 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 	
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	/* setProperty */
 	KX_PYMETHOD_DOC(SCA_DelaySensor,SetDelay);
diff --git a/source/gameengine/GameLogic/SCA_ExpressionController.cpp b/source/gameengine/GameLogic/SCA_ExpressionController.cpp
index e9a543c9f31..8ed46beb7f3 100644
--- a/source/gameengine/GameLogic/SCA_ExpressionController.cpp
+++ b/source/gameengine/GameLogic/SCA_ExpressionController.cpp
@@ -49,7 +49,8 @@ SCA_ExpressionController::SCA_ExpressionController(SCA_IObject* gameobj,
 												   const STR_String& exprtext,
 												   PyTypeObject* T)
 	:SCA_IController(gameobj,T),
-	m_exprText(exprtext)
+	m_exprText(exprtext),
+	m_exprCache(NULL)
 {
 }
 
@@ -57,6 +58,8 @@ SCA_ExpressionController::SCA_ExpressionController(SCA_IObject* gameobj,
 
 SCA_ExpressionController::~SCA_ExpressionController()
 {
+	if (m_exprCache)
+		m_exprCache->Release();
 }
 
 
@@ -65,6 +68,7 @@ CValue* SCA_ExpressionController::GetReplica()
 {
 	SCA_ExpressionController* replica = new SCA_ExpressionController(*this);
 	replica->m_exprText = m_exprText;
+	replica->m_exprCache = NULL;
 	// this will copy properties and so on...
 	CValue::AddDataToReplica(replica);
 
@@ -72,18 +76,32 @@ CValue* SCA_ExpressionController::GetReplica()
 }
 
 
+// Forced deletion of precalculated expression to break reference loop
+// Use this function when you know that you won't use the sensor anymore
+void SCA_ExpressionController::Delete()
+{
+	if (m_exprCache)
+	{
+		m_exprCache->Release();
+		m_exprCache = NULL;
+	}
+	Release();
+}
+
 
 void SCA_ExpressionController::Trigger(SCA_LogicManager* logicmgr)
 {
 
 	bool expressionresult = false;
-
-	CParser parser;
-	parser.SetContext(this->AddRef());
-	CExpression* expr = parser.ProcessText(m_exprText);
-	if (expr)
+	if (!m_exprCache)
+	{
+		CParser parser;
+		parser.SetContext(this->AddRef());
+		m_exprCache = parser.ProcessText(m_exprText);
+	}
+	if (m_exprCache)
 	{
-		CValue* value = expr->Calculate();
+		CValue* value = m_exprCache->Calculate();
 		if (value)
 		{
 			if (value->IsError())
@@ -97,7 +115,8 @@ void SCA_ExpressionController::Trigger(SCA_LogicManager* logicmgr)
 			value->Release();
 
 		}
-		expr->Release();
+		//m_exprCache->Release();
+		//m_exprCache = NULL;
 	}
 
 	/*
diff --git a/source/gameengine/GameLogic/SCA_ExpressionController.h b/source/gameengine/GameLogic/SCA_ExpressionController.h
index f1db45a19e0..79c26eea1e7 100644
--- a/source/gameengine/GameLogic/SCA_ExpressionController.h
+++ b/source/gameengine/GameLogic/SCA_ExpressionController.h
@@ -38,6 +38,7 @@ class SCA_ExpressionController : public SCA_IController
 {
 //	Py_Header;
 	STR_String			m_exprText;
+	CExpression*		m_exprCache;
 
 public:
 	SCA_ExpressionController(SCA_IObject* gameobj,
@@ -48,12 +49,17 @@ public:
 	virtual CValue* GetReplica();
 	virtual void Trigger(SCA_LogicManager* logicmgr);
 	virtual CValue*		FindIdentifier(const STR_String& identifiername);
+	/** 
+	 *  used to release the expression cache
+	 *  so that self references are removed before the controller itself is released
+	 */
+	virtual void Delete();
 
 	/* --------------------------------------------------------------------- */
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-//	virtual PyObject* _getattr(const STR_String& attr);
+//	virtual PyObject* _getattr(const char *attr);
 
 };
 
diff --git a/source/gameengine/GameLogic/SCA_IActuator.cpp b/source/gameengine/GameLogic/SCA_IActuator.cpp
index eeca2d7b44c..309f3108418 100644
--- a/source/gameengine/GameLogic/SCA_IActuator.cpp
+++ b/source/gameengine/GameLogic/SCA_IActuator.cpp
@@ -36,8 +36,8 @@ using namespace std;
 
 SCA_IActuator::SCA_IActuator(SCA_IObject* gameobj,
 							 PyTypeObject* T) :
-	m_links(0),
-	SCA_ILogicBrick(gameobj,T) 
+	SCA_ILogicBrick(gameobj,T),
+	m_links(0)
 {
 	// nothing to do
 }
diff --git a/source/gameengine/GameLogic/SCA_IActuator.h b/source/gameengine/GameLogic/SCA_IActuator.h
index 7ffb21b5490..51bd6454d92 100644
--- a/source/gameengine/GameLogic/SCA_IActuator.h
+++ b/source/gameengine/GameLogic/SCA_IActuator.h
@@ -36,9 +36,9 @@ class SCA_IActuator : public SCA_ILogicBrick
 {
 	friend class SCA_LogicManager;
 protected:
-	std::vector<CValue*> m_events;
 	int					 m_links;	// number of active links to controllers
 									// when 0, the actuator is automatically stopped
+	std::vector<CValue*> m_events;
 	void RemoveAllEvents();
 
 public:
diff --git a/source/gameengine/GameLogic/SCA_IController.cpp b/source/gameengine/GameLogic/SCA_IController.cpp
index 0bd20117f31..f9c192cae5c 100644
--- a/source/gameengine/GameLogic/SCA_IController.cpp
+++ b/source/gameengine/GameLogic/SCA_IController.cpp
@@ -38,8 +38,8 @@
 SCA_IController::SCA_IController(SCA_IObject* gameobj,
 								 PyTypeObject* T)
 	:
-	m_statemask(0),
-	SCA_ILogicBrick(gameobj,T)
+	SCA_ILogicBrick(gameobj,T),
+	m_statemask(0)
 {
 }
 	
diff --git a/source/gameengine/GameLogic/SCA_ILogicBrick.cpp b/source/gameengine/GameLogic/SCA_ILogicBrick.cpp
index 8286c0829a7..49d39f75814 100644
--- a/source/gameengine/GameLogic/SCA_ILogicBrick.cpp
+++ b/source/gameengine/GameLogic/SCA_ILogicBrick.cpp
@@ -278,7 +278,7 @@ int SCA_ILogicBrick::CheckProperty(void *self, const PyAttributeDef *attrdef)
 }
 
 PyObject*
-SCA_ILogicBrick::_getattr(const STR_String& attr)
+SCA_ILogicBrick::_getattr(const char *attr)
 {
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
@@ -286,7 +286,7 @@ SCA_ILogicBrick::_getattr(const STR_String& attr)
   _getattr_up(CValue);
 }
 
-int SCA_ILogicBrick::_setattr(const STR_String& attr, PyObject *value)
+int SCA_ILogicBrick::_setattr(const char *attr, PyObject *value)
 {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
@@ -324,7 +324,7 @@ PyObject* SCA_ILogicBrick::PySetExecutePriority(PyObject* self,
 	
 	m_Execute_Ueber_Priority = priority;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
diff --git a/source/gameengine/GameLogic/SCA_ILogicBrick.h b/source/gameengine/GameLogic/SCA_ILogicBrick.h
index 772bd65d577..70d49941613 100644
--- a/source/gameengine/GameLogic/SCA_ILogicBrick.h
+++ b/source/gameengine/GameLogic/SCA_ILogicBrick.h
@@ -62,6 +62,7 @@ public:
 	SCA_IObject*	GetParent();
 	virtual void	ReParent(SCA_IObject* parent);
 	virtual void	Relink(GEN_Map<GEN_HashedPtr, void*> *obj_map);
+	virtual void Delete() { Release(); }
 
 	// act as a BoolValue (with value IsPositiveTrigger)
 	virtual CValue*	Calc(VALUE_OPERATOR op, CValue *val);
@@ -78,8 +79,8 @@ public:
 
 	virtual	bool		LessComparedTo(SCA_ILogicBrick* other);
 	
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	static class SCA_LogicManager*	m_sCurrentLogicManager;
 
diff --git a/source/gameengine/GameLogic/SCA_IObject.cpp b/source/gameengine/GameLogic/SCA_IObject.cpp
index b0f8decee26..debd62d44e6 100644
--- a/source/gameengine/GameLogic/SCA_IObject.cpp
+++ b/source/gameengine/GameLogic/SCA_IObject.cpp
@@ -40,7 +40,7 @@
 
 MT_Point3 SCA_IObject::m_sDummy=MT_Point3(0,0,0);
 
-SCA_IObject::SCA_IObject(PyTypeObject* T): m_initState(0), m_state(0), CValue(T)
+SCA_IObject::SCA_IObject(PyTypeObject* T): CValue(T), m_initState(0), m_state(0)
 {
 	m_suspended = false;
 }
@@ -59,7 +59,9 @@ SCA_IObject::~SCA_IObject()
 	SCA_ControllerList::iterator itc; 
 	for (itc = m_controllers.begin(); !(itc == m_controllers.end()); ++itc)
 	{
-		((CValue*)(*itc))->Release();
+		//Use Delete for controller to ensure proper cleaning (expression controller)
+		(*itc)->Delete();
+		//((CValue*)(*itc))->Release();
 	}
 	SCA_ActuatorList::iterator ita;
 	for (ita = m_registeredActuators.begin(); !(ita==m_registeredActuators.end()); ++ita)
@@ -407,9 +409,12 @@ PyMethodDef SCA_IObject::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef SCA_IObject::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
 
-PyObject* SCA_IObject::_getattr(const STR_String& attr) {
+PyObject* SCA_IObject::_getattr(const char *attr) {
 	_getattr_up(CValue);
 }
 
diff --git a/source/gameengine/GameLogic/SCA_IObject.h b/source/gameengine/GameLogic/SCA_IObject.h
index 38a7ed29dca..d47353b1ac0 100644
--- a/source/gameengine/GameLogic/SCA_IObject.h
+++ b/source/gameengine/GameLogic/SCA_IObject.h
@@ -145,7 +145,7 @@ public:
 //	const class MT_Point3&	ConvertPythonPylist(PyObject* pylist);
 	
 	// here come the python forwarded methods
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 	virtual int GetGameObjectType() {return -1;}
 	
diff --git a/source/gameengine/GameLogic/SCA_ISensor.cpp b/source/gameengine/GameLogic/SCA_ISensor.cpp
index 68a3a93eab0..e8a072f4c46 100644
--- a/source/gameengine/GameLogic/SCA_ISensor.cpp
+++ b/source/gameengine/GameLogic/SCA_ISensor.cpp
@@ -264,7 +264,7 @@ PyObject* SCA_ISensor::PySetUsePosPulseMode(PyObject* self, PyObject* args, PyOb
 	int pyarg = 0;
 	if(!PyArg_ParseTuple(args, "i", &pyarg)) { return NULL; }
 	m_pos_pulsemode = PyArgToBool(pyarg);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /**
@@ -303,7 +303,7 @@ PyObject* SCA_ISensor::PySetFrequency(PyObject* self, PyObject* args, PyObject*
 	};	
 	m_pulse_frequency = pulse_frequencyArg;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -326,7 +326,7 @@ PyObject* SCA_ISensor::PySetInvert(PyObject* self, PyObject* args, PyObject* kwd
 	int pyarg = 0;
 	if(!PyArg_ParseTuple(args, "i", &pyarg)) { return NULL; }
 	m_invert = PyArgToBool(pyarg);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 const char SCA_ISensor::GetLevel_doc[] = 
@@ -352,7 +352,7 @@ PyObject* SCA_ISensor::PySetLevel(PyObject* self, PyObject* args, PyObject* kwds
 	int pyarg = 0;
 	if(!PyArg_ParseTuple(args, "i", &pyarg)) { return NULL; }
 	m_level = PyArgToBool(pyarg);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 const char SCA_ISensor::GetUseNegPulseMode_doc[] = 
@@ -375,7 +375,7 @@ PyObject* SCA_ISensor::PySetUseNegPulseMode(PyObject* self, PyObject* args, PyOb
 	int pyarg = 0;
 	if(!PyArg_ParseTuple(args, "i", &pyarg)) { return NULL; }
 	m_neg_pulsemode = PyArgToBool(pyarg);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 //<------Deprecated
 
@@ -385,7 +385,7 @@ KX_PYMETHODDEF_DOC_NOARGS(SCA_ISensor, reset,
 "\tThe sensor is put in its initial state as if it was just activated.\n")
 {
 	Init();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* ----------------------------------------------- */
@@ -461,19 +461,19 @@ PyAttributeDef SCA_ISensor::Attributes[] = {
 };
 
 PyObject*
-SCA_ISensor::_getattr(const STR_String& attr)
+SCA_ISensor::_getattr(const char *attr)
 {
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
 		return object;
-	if (attr == "triggered")
+	if (!strcmp(attr, "triggered"))
 	{
 		int retval = 0;
 		if (SCA_PythonController::m_sCurrentController)
 			retval = SCA_PythonController::m_sCurrentController->IsTriggered(this);
 		return PyInt_FromLong(retval);
 	}
-	if (attr == "positive")
+	if (!strcmp(attr, "positive"))
 	{	
 		int retval = IsPositiveTrigger();
 		return PyInt_FromLong(retval);
@@ -481,7 +481,7 @@ SCA_ISensor::_getattr(const STR_String& attr)
 	_getattr_up(SCA_ILogicBrick);
 }
 
-int SCA_ISensor::_setattr(const STR_String& attr, PyObject *value)
+int SCA_ISensor::_setattr(const char *attr, PyObject *value)
 {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
diff --git a/source/gameengine/GameLogic/SCA_ISensor.h b/source/gameengine/GameLogic/SCA_ISensor.h
index 1b57c4621e4..23f2c76c19f 100644
--- a/source/gameengine/GameLogic/SCA_ISensor.h
+++ b/source/gameengine/GameLogic/SCA_ISensor.h
@@ -105,11 +105,6 @@ public:
 					  bool negmode,
 					  int freq);
 	
-	/** Release sensor
-	 *  For property sensor, it is used to release the pre-calculated expression
-	 *  so that self references are removed before the sensor itself is released
-	 */
-	virtual void Delete() { Release(); }
 	/** Set inversion of pulses on or off. */
 	void SetInvert(bool inv);
 	/** set the level detection on or off */
@@ -141,8 +136,8 @@ public:
 
 	/* Python functions: */
 	
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	//Deprecated functions ----->
 	KX_PYMETHOD_DOC_NOARGS(SCA_ISensor,IsPositive);
diff --git a/source/gameengine/GameLogic/SCA_JoystickSensor.cpp b/source/gameengine/GameLogic/SCA_JoystickSensor.cpp
index 694bca9bac5..c2d90c830cf 100644
--- a/source/gameengine/GameLogic/SCA_JoystickSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_JoystickSensor.cpp
@@ -331,8 +331,8 @@ PyAttributeDef SCA_JoystickSensor::Attributes[] = {
 	KX_PYATTRIBUTE_SHORT_RW("index",0,JOYINDEX_MAX-1,true,SCA_JoystickSensor,m_joyindex),
 	KX_PYATTRIBUTE_INT_RW("threshold",0,32768,true,SCA_JoystickSensor,m_precision),
 	KX_PYATTRIBUTE_INT_RW("button",0,100,false,SCA_JoystickSensor,m_button),
-	KX_PYATTRIBUTE_INT_ARRAY_RW_CHECK("axis",0,3,true,SCA_JoystickSensor,m_axis,2,CheckAxis),
-	KX_PYATTRIBUTE_INT_ARRAY_RW_CHECK("hat",0,12,true,SCA_JoystickSensor,m_hat,2,CheckHat),
+	KX_PYATTRIBUTE_INT_LIST_RW_CHECK("axis",0,3,true,SCA_JoystickSensor,m_axis,2,CheckAxis),
+	KX_PYATTRIBUTE_INT_LIST_RW_CHECK("hat",0,12,true,SCA_JoystickSensor,m_hat,2,CheckHat),
 	// dummy attributes will just be read-only in _setattr
 	// you still need to defined them in _getattr
 	KX_PYATTRIBUTE_DUMMY("axisPosition"),
@@ -343,24 +343,24 @@ PyAttributeDef SCA_JoystickSensor::Attributes[] = {
 	{ NULL }	//Sentinel
 };
 
-PyObject* SCA_JoystickSensor::_getattr(const STR_String& attr) {
+PyObject* SCA_JoystickSensor::_getattr(const char *attr) {
 	SCA_Joystick *joy = m_pJoystickMgr->GetJoystickDevice(m_joyindex);
-	if (attr == "axisPosition") {
+	if (!strcmp(attr, "axisPosition")) {
 		if(joy)
 			return Py_BuildValue("[iiii]", joy->GetAxis10(), joy->GetAxis11(), joy->GetAxis20(), joy->GetAxis21());
 		else
 			return Py_BuildValue("[iiii]", 0, 0, 0, 0);
 	}
-	if (attr == "numAxis") {
+	if (!strcmp(attr, "numAxis")) {
 		return PyInt_FromLong( joy ? joy->GetNumberOfAxes() : 0 );
 	}
-	if (attr == "numButtons") {
+	if (!strcmp(attr, "numButtons")) {
 		return PyInt_FromLong( joy ? joy->GetNumberOfButtons() : 0 );
 	}
-	if (attr == "numHats") {
+	if (!strcmp(attr, "numHats")) {
 		return PyInt_FromLong( joy ? joy->GetNumberOfHats() : 0 );
 	}
-	if (attr == "connected") {
+	if (!strcmp(attr, "connected")) {
 		return PyBool_FromLong( joy ? joy->Connected() : 0 );
 	}
 	PyObject* object = _getattr_self(Attributes, this, attr);
@@ -369,7 +369,7 @@ PyObject* SCA_JoystickSensor::_getattr(const STR_String& attr) {
 	_getattr_up(SCA_ISensor);
 }
 
-int SCA_JoystickSensor::_setattr(const STR_String& attr, PyObject *value) 
+int SCA_JoystickSensor::_setattr(const char *attr, PyObject *value) 
 {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
diff --git a/source/gameengine/GameLogic/SCA_JoystickSensor.h b/source/gameengine/GameLogic/SCA_JoystickSensor.h
index fa11f1cc3d0..49d220c056d 100644
--- a/source/gameengine/GameLogic/SCA_JoystickSensor.h
+++ b/source/gameengine/GameLogic/SCA_JoystickSensor.h
@@ -121,8 +121,8 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	/* Joystick Index */
 	KX_PYMETHOD_DOC_NOARGS(SCA_JoystickSensor,GetIndex);
diff --git a/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp b/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp
index 981d165287b..324e5eae98a 100644
--- a/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_KeyboardSensor.cpp
@@ -577,7 +577,7 @@ PyObject* SCA_KeyboardSensor::PySetKey(PyObject* self, PyObject* args, PyObject*
 	/* anything. It's up to the user to provide a sensible number.           */
 	m_hotkey = keyCode;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /** 3. GetHold1 : set the first bucky bit */
@@ -609,7 +609,7 @@ PyObject* SCA_KeyboardSensor::PySetHold1(PyObject* self, PyObject* args, PyObjec
 	/* anything. It's up to the user to provide a sensible number.           */
 	m_qual = keyCode;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 	
 /** 5. GetHold2 : get the second bucky bit */
@@ -641,7 +641,7 @@ PyObject* SCA_KeyboardSensor::PySetHold2(PyObject* self, PyObject* args, PyObjec
 	/* anything. It's up to the user to provide a sensible number.           */
 	m_qual2 = keyCode;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 	
@@ -682,7 +682,7 @@ PyObject* SCA_KeyboardSensor::PyGetPressedKeys(PyObject* self, PyObject* args, P
 		if (index>0) return resultlist;
 	}
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -725,7 +725,7 @@ SCA_IInputDevice* inputdev = m_pKeyboardMgr->GetInputDevice();
 		if (index > 0) return resultlist;
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 //<---- Deprecated
 
@@ -770,7 +770,7 @@ KX_PYMETHODDEF_DOC_O(SCA_KeyboardSensor, getKeyStatus,
 		return PyInt_FromLong(inevent.m_status);
 	}
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* ------------------------------------------------------------------------- */
@@ -831,7 +831,7 @@ PyAttributeDef SCA_KeyboardSensor::Attributes[] = {
 };
 
 PyObject*
-SCA_KeyboardSensor::_getattr(const STR_String& attr)
+SCA_KeyboardSensor::_getattr(const char *attr)
 {
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
@@ -839,7 +839,7 @@ SCA_KeyboardSensor::_getattr(const STR_String& attr)
   _getattr_up(SCA_ISensor);
 }
 
-int SCA_KeyboardSensor::_setattr(const STR_String& attr, PyObject *value)
+int SCA_KeyboardSensor::_setattr(const char *attr, PyObject *value)
 {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
diff --git a/source/gameengine/GameLogic/SCA_KeyboardSensor.h b/source/gameengine/GameLogic/SCA_KeyboardSensor.h
index 4efbe9366cc..bc2f86327a5 100644
--- a/source/gameengine/GameLogic/SCA_KeyboardSensor.h
+++ b/source/gameengine/GameLogic/SCA_KeyboardSensor.h
@@ -126,8 +126,8 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	//Deprecated functions ----->
 	/** 1. GetKey : check which key this sensor looks at */
diff --git a/source/gameengine/GameLogic/SCA_MouseSensor.cpp b/source/gameengine/GameLogic/SCA_MouseSensor.cpp
index 09b46e6443e..57535b29f32 100644
--- a/source/gameengine/GameLogic/SCA_MouseSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_MouseSensor.cpp
@@ -158,8 +158,8 @@ bool SCA_MouseSensor::Evaluate(CValue* event)
 	case KX_MOUSESENSORMODE_WHEELUP:
 	case KX_MOUSESENSORMODE_WHEELDOWN:
 		{
-			const SCA_InputEvent& event = mousedev->GetEventValue(m_hotkey);
-			switch (event.m_status){	
+			const SCA_InputEvent& mevent = mousedev->GetEventValue(m_hotkey);
+			switch (mevent.m_status){	
 			case SCA_InputEvent::KX_JUSTACTIVATED:
 				m_val = 1;
 				result = true;
@@ -282,7 +282,7 @@ KX_PYMETHODDEF_DOC_O(SCA_MouseSensor, getButtonStatus,
 		int button = PyInt_AsLong(value);
 		
 		if ((button < SCA_IInputDevice::KX_LEFTMOUSE)
-			|| (button > SCA_IInputDevice::KX_MIDDLEMOUSE)){
+			|| (button > SCA_IInputDevice::KX_RIGHTMOUSE)){
 			PyErr_SetString(PyExc_ValueError, "invalid button specified!");
 			return NULL;
 		}
@@ -292,7 +292,7 @@ KX_PYMETHODDEF_DOC_O(SCA_MouseSensor, getButtonStatus,
 		return PyInt_FromLong(event.m_status);
 	}
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* ------------------------------------------------------------------------- */
@@ -337,11 +337,11 @@ PyMethodDef SCA_MouseSensor::Methods[] = {
 
 PyAttributeDef SCA_MouseSensor::Attributes[] = {
 	KX_PYATTRIBUTE_SHORT_RW_CHECK("mode",KX_MOUSESENSORMODE_NODEF,KX_MOUSESENSORMODE_MAX-1,true,SCA_MouseSensor,m_mousemode,UpdateHotkey),
-	KX_PYATTRIBUTE_SHORT_ARRAY_RO("position",SCA_MouseSensor,m_x,2),
+	KX_PYATTRIBUTE_SHORT_LIST_RO("position",SCA_MouseSensor,m_x,2),
 	{ NULL }	//Sentinel
 };
 
-PyObject* SCA_MouseSensor::_getattr(const STR_String& attr) 
+PyObject* SCA_MouseSensor::_getattr(const char *attr) 
 {
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
@@ -349,7 +349,7 @@ PyObject* SCA_MouseSensor::_getattr(const STR_String& attr)
 	_getattr_up(SCA_ISensor);
 }
 
-int SCA_MouseSensor::_setattr(const STR_String& attr, PyObject *value)
+int SCA_MouseSensor::_setattr(const char *attr, PyObject *value)
 {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
diff --git a/source/gameengine/GameLogic/SCA_MouseSensor.h b/source/gameengine/GameLogic/SCA_MouseSensor.h
index 82af2ce9c04..30b43fe53cc 100644
--- a/source/gameengine/GameLogic/SCA_MouseSensor.h
+++ b/source/gameengine/GameLogic/SCA_MouseSensor.h
@@ -109,8 +109,8 @@ class SCA_MouseSensor : public SCA_ISensor
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	//Deprecated functions ----->
 	/* read x-coordinate */
diff --git a/source/gameengine/GameLogic/SCA_NANDController.cpp b/source/gameengine/GameLogic/SCA_NANDController.cpp
index 5b869ee8298..18426d75582 100644
--- a/source/gameengine/GameLogic/SCA_NANDController.cpp
+++ b/source/gameengine/GameLogic/SCA_NANDController.cpp
@@ -137,7 +137,11 @@ PyMethodDef SCA_NANDController::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* SCA_NANDController::_getattr(const STR_String& attr) {
+PyAttributeDef SCA_NANDController::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* SCA_NANDController::_getattr(const char *attr) {
 	_getattr_up(SCA_IController);
 }
 
diff --git a/source/gameengine/GameLogic/SCA_NANDController.h b/source/gameengine/GameLogic/SCA_NANDController.h
index 1193ff64f07..d88504cfc0d 100644
--- a/source/gameengine/GameLogic/SCA_NANDController.h
+++ b/source/gameengine/GameLogic/SCA_NANDController.h
@@ -48,7 +48,7 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 };
 
diff --git a/source/gameengine/GameLogic/SCA_NORController.cpp b/source/gameengine/GameLogic/SCA_NORController.cpp
index 2866dec0b74..1de6a641c3d 100644
--- a/source/gameengine/GameLogic/SCA_NORController.cpp
+++ b/source/gameengine/GameLogic/SCA_NORController.cpp
@@ -137,7 +137,11 @@ PyMethodDef SCA_NORController::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* SCA_NORController::_getattr(const STR_String& attr) {
+PyAttributeDef SCA_NORController::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* SCA_NORController::_getattr(const char *attr) {
 	_getattr_up(SCA_IController);
 }
 
diff --git a/source/gameengine/GameLogic/SCA_NORController.h b/source/gameengine/GameLogic/SCA_NORController.h
index aab59e3d46c..45b639f3f3f 100644
--- a/source/gameengine/GameLogic/SCA_NORController.h
+++ b/source/gameengine/GameLogic/SCA_NORController.h
@@ -48,7 +48,7 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 };
 
diff --git a/source/gameengine/GameLogic/SCA_ORController.cpp b/source/gameengine/GameLogic/SCA_ORController.cpp
index 2d4eb31f241..61fbc889d90 100644
--- a/source/gameengine/GameLogic/SCA_ORController.cpp
+++ b/source/gameengine/GameLogic/SCA_ORController.cpp
@@ -129,7 +129,12 @@ PyMethodDef SCA_ORController::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* SCA_ORController::_getattr(const STR_String& attr) {
+PyAttributeDef SCA_ORController::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+
+PyObject* SCA_ORController::_getattr(const char *attr) {
 	_getattr_up(SCA_IController);
 }
 
diff --git a/source/gameengine/GameLogic/SCA_ORController.h b/source/gameengine/GameLogic/SCA_ORController.h
index beb69aa2af9..9a6e9e75022 100644
--- a/source/gameengine/GameLogic/SCA_ORController.h
+++ b/source/gameengine/GameLogic/SCA_ORController.h
@@ -49,7 +49,7 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 };
 
 #endif //__KX_ORCONTROLLER
diff --git a/source/gameengine/GameLogic/SCA_PropertyActuator.cpp b/source/gameengine/GameLogic/SCA_PropertyActuator.cpp
index 566d3b63487..c9ace081bae 100644
--- a/source/gameengine/GameLogic/SCA_PropertyActuator.cpp
+++ b/source/gameengine/GameLogic/SCA_PropertyActuator.cpp
@@ -260,14 +260,14 @@ PyAttributeDef SCA_PropertyActuator::Attributes[] = {
 	{ NULL }	//Sentinel
 };
 
-PyObject* SCA_PropertyActuator::_getattr(const STR_String& attr) {
+PyObject* SCA_PropertyActuator::_getattr(const char *attr) {
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
 		return object;
 	_getattr_up(SCA_IActuator);
 }
 
-int SCA_PropertyActuator::_setattr(const STR_String& attr, PyObject *value) {
+int SCA_PropertyActuator::_setattr(const char *attr, PyObject *value) {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
 		return ret;
@@ -298,7 +298,7 @@ PyObject* SCA_PropertyActuator::PySetProperty(PyObject* self, PyObject* args, Py
 	}
 	prop->Release();
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 2. getProperty                                                        */
@@ -328,7 +328,7 @@ PyObject* SCA_PropertyActuator::PySetValue(PyObject* self, PyObject* args, PyObj
 	
 	if (valArg)	m_exprtxt = valArg;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 4. getValue                                                        */
diff --git a/source/gameengine/GameLogic/SCA_PropertyActuator.h b/source/gameengine/GameLogic/SCA_PropertyActuator.h
index cdfeee4c67d..444d9285796 100644
--- a/source/gameengine/GameLogic/SCA_PropertyActuator.h
+++ b/source/gameengine/GameLogic/SCA_PropertyActuator.h
@@ -85,8 +85,8 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject*  _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject*  _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	// python wrapped methods
 	KX_PYMETHOD_DOC(SCA_PropertyActuator,SetProperty);
diff --git a/source/gameengine/GameLogic/SCA_PropertySensor.cpp b/source/gameengine/GameLogic/SCA_PropertySensor.cpp
index a6f7a9cd82b..d683c8bb3e7 100644
--- a/source/gameengine/GameLogic/SCA_PropertySensor.cpp
+++ b/source/gameengine/GameLogic/SCA_PropertySensor.cpp
@@ -352,14 +352,14 @@ PyAttributeDef SCA_PropertySensor::Attributes[] = {
 };
 
 
-PyObject* SCA_PropertySensor::_getattr(const STR_String& attr) {
+PyObject* SCA_PropertySensor::_getattr(const char *attr) {
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
 		return object;
 	_getattr_up(SCA_ISensor); /* implicit return! */
 }
 
-int SCA_PropertySensor::_setattr(const STR_String& attr, PyObject *value) {
+int SCA_PropertySensor::_setattr(const char *attr, PyObject *value) {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
 		return ret;
@@ -397,7 +397,7 @@ PyObject* SCA_PropertySensor::PySetType(PyObject* self, PyObject* args, PyObject
 		m_checktype =  typeArg;
 	}
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 3. getProperty */
@@ -434,7 +434,7 @@ PyObject* SCA_PropertySensor::PySetProperty(PyObject* self, PyObject* args, PyOb
 		; /* error: bad property name */
 	}
 	prop->Release();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 5. getValue */
@@ -470,7 +470,7 @@ PyObject* SCA_PropertySensor::PySetValue(PyObject* self, PyObject* args, PyObjec
 		m_checkpropval = oldval;
 		return NULL;
 	}	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* eof */
diff --git a/source/gameengine/GameLogic/SCA_PropertySensor.h b/source/gameengine/GameLogic/SCA_PropertySensor.h
index e625e84a36f..2594e3fca9d 100644
--- a/source/gameengine/GameLogic/SCA_PropertySensor.h
+++ b/source/gameengine/GameLogic/SCA_PropertySensor.h
@@ -70,6 +70,10 @@ public:
 					  KX_PROPSENSOR_TYPE checktype,
 					  PyTypeObject* T=&Type );
 	
+	/** 
+	 *  For property sensor, it is used to release the pre-calculated expression
+	 *  so that self references are removed before the sensor itself is released
+	 */
 	virtual void Delete();
 	virtual ~SCA_PropertySensor();
 	virtual CValue* GetReplica();
@@ -85,8 +89,8 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	/* 1. getType */
 	KX_PYMETHOD_DOC(SCA_PropertySensor,GetType);
diff --git a/source/gameengine/GameLogic/SCA_PythonController.cpp b/source/gameengine/GameLogic/SCA_PythonController.cpp
index e879481a444..c75e36acab2 100644
--- a/source/gameengine/GameLogic/SCA_PythonController.cpp
+++ b/source/gameengine/GameLogic/SCA_PythonController.cpp
@@ -157,8 +157,40 @@ static const char* sPyGetCurrentController__doc__;
 
 PyObject* SCA_PythonController::sPyGetCurrentController(PyObject* self)
 {
-	m_sCurrentController->AddRef();
-	return m_sCurrentController;
+	return m_sCurrentController->AddRef();
+}
+
+SCA_IActuator* SCA_PythonController::LinkedActuatorFromPy(PyObject *value)
+{
+	// for safety, todo: only allow for registered actuators (pointertable)
+	// we don't want to crash gameengine/blender by python scripts
+	std::vector<SCA_IActuator*> lacts =  m_sCurrentController->GetLinkedActuators();
+	std::vector<SCA_IActuator*>::iterator it;
+	
+	if (PyString_Check(value)) {
+		/* get the actuator from the name */
+		char *name= PyString_AsString(value);
+		for(it = lacts.begin(); it!= lacts.end(); it++) {
+			if( name == (*it)->GetName() ) {
+				return *it;
+			}
+		}
+	}
+	else {
+		/* Expecting an actuator type */
+		for(it = lacts.begin(); it!= lacts.end(); it++) {
+			if( static_cast<SCA_IActuator*>(value) == (*it) ) {
+				return *it;
+			}
+		}
+	}
+	
+	/* set the exception */
+	PyObject *value_str = PyObject_Repr(value); /* new ref */
+	PyErr_Format(PyExc_ValueError, "'%s' not in this controllers actuator list", PyString_AsString(value_str));
+	Py_DECREF(value_str);
+	
+	return false;
 }
 
 #if 0
@@ -175,26 +207,14 @@ PyObject* SCA_PythonController::sPyAddActiveActuator(
 	int activate;
 	if (!PyArg_ParseTuple(args, "Oi", &ob1,&activate))
 		return NULL;
-
-	// for safety, todo: only allow for registered actuators (pointertable)
-	// we don't want to crash gameengine/blender by python scripts
-	std::vector<SCA_IActuator*> lacts =  m_sCurrentController->GetLinkedActuators();
 	
-	std::vector<SCA_IActuator*>::iterator it;
-	bool found = false;
-	CValue* act = (CValue*)ob1;
-
-	for(it = lacts.begin(); it!= lacts.end(); it++) {
-		if( static_cast<SCA_IActuator*>(act) == (*it) ) {
-			found=true;
-			break;
-		}
-	}
-	if(found){
-		CValue* boolval = new CBoolValue(activate!=0);
-		m_sCurrentLogicManager->AddActiveActuator((SCA_IActuator*)act,boolval);
-		boolval->Release();
-	}
+	SCA_IActuator* actu = LinkedActuatorFromPy(ob1);
+	if(actu==NULL)
+		return NULL;
+	
+	CValue* boolval = new CBoolValue(activate!=0);
+	m_sCurrentLogicManager->AddActiveActuator((SCA_IActuator*)actu,boolval);
+	boolval->Release();
 	Py_RETURN_NONE;
 }
 
@@ -229,18 +249,61 @@ PyParentObject SCA_PythonController::Parents[] = {
 	NULL
 };
 PyMethodDef SCA_PythonController::Methods[] = {
+	{"activate", (PyCFunction) SCA_PythonController::sPyActivate, METH_O},
+	{"deactivate", (PyCFunction) SCA_PythonController::sPyDeActivate, METH_O},
+	
 	{"getActuators", (PyCFunction) SCA_PythonController::sPyGetActuators, METH_NOARGS, (PY_METHODCHAR)SCA_PythonController::GetActuators_doc},
 	{"getActuator", (PyCFunction) SCA_PythonController::sPyGetActuator, METH_O, (PY_METHODCHAR)SCA_PythonController::GetActuator_doc},
 	{"getSensors", (PyCFunction) SCA_PythonController::sPyGetSensors, METH_NOARGS, (PY_METHODCHAR)SCA_PythonController::GetSensors_doc},
 	{"getSensor", (PyCFunction) SCA_PythonController::sPyGetSensor, METH_O, (PY_METHODCHAR)SCA_PythonController::GetSensor_doc},
-	{"setScript", (PyCFunction) SCA_PythonController::sPySetScript, METH_O},
 	//Deprecated functions ------>
+	{"setScript", (PyCFunction) SCA_PythonController::sPySetScript, METH_O},
 	{"getScript", (PyCFunction) SCA_PythonController::sPyGetScript, METH_NOARGS},
 	{"getState", (PyCFunction) SCA_PythonController::sPyGetState, METH_NOARGS},
 	//<----- Deprecated
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef SCA_PythonController::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+bool SCA_PythonController::Compile()
+{
+	//printf("py script modified '%s'\n", m_scriptName.Ptr());
+	
+	// if a script already exists, decref it before replace the pointer to a new script
+	if (m_bytecode)
+	{
+		Py_DECREF(m_bytecode);
+		m_bytecode=NULL;
+	}
+	// recompile the scripttext into bytecode
+	m_bytecode = Py_CompileString(m_scriptText.Ptr(), m_scriptName.Ptr(), Py_file_input);
+	m_bModified=false;
+	
+	if (m_bytecode)
+	{
+		
+		return true;
+	}
+	else {
+		// didn't compile, so instead of compile, complain
+		// something is wrong, tell the user what went wrong
+		printf("Python compile error from controller \"%s\": \n", GetName().Ptr());
+		//PyRun_SimpleString(m_scriptText.Ptr());
+		PyErr_Print();
+		
+		/* Added in 2.48a, the last_traceback can reference Objects for example, increasing
+		 * their user count. Not to mention holding references to wrapped data.
+		 * This is especially bad when the PyObject for the wrapped data is free'd, after blender 
+		 * has alredy dealocated the pointer */
+		PySys_SetObject( (char *)"last_traceback", Py_None);
+		PyErr_Clear(); /* just to be sure */
+		
+		return false;
+	}
+}
 
 void SCA_PythonController::Trigger(SCA_LogicManager* logicmgr)
 {
@@ -249,33 +312,13 @@ void SCA_PythonController::Trigger(SCA_LogicManager* logicmgr)
 	
 	if (m_bModified)
 	{
-		// if a script already exists, decref it before replace the pointer to a new script
-		if (m_bytecode)
-		{
-			Py_DECREF(m_bytecode);
-			m_bytecode=NULL;
-		}
-		// recompile the scripttext into bytecode
-		m_bytecode = Py_CompileString(m_scriptText.Ptr(), m_scriptName.Ptr(), Py_file_input);
-		if (!m_bytecode)
-		{
-			// didn't compile, so instead of compile, complain
-			// something is wrong, tell the user what went wrong
-			printf("Python compile error from controller \"%s\": \n", GetName().Ptr());
-			//PyRun_SimpleString(m_scriptText.Ptr());
-			PyErr_Print();
-			
-			/* Added in 2.48a, the last_traceback can reference Objects for example, increasing
-			 * their user count. Not to mention holding references to wrapped data.
-			 * This is especially bad when the PyObject for the wrapped data is free'd, after blender 
-			 * has alredy dealocated the pointer */
-			PySys_SetObject( "last_traceback", Py_None);
-			PyErr_Clear(); /* just to be sure */
-			
+		if (Compile()==false) // sets m_bModified to false
 			return;
-		}
-		m_bModified=false;
 	}
+	if (!m_bytecode) {
+		return;
+	}
+		
 	
 		/*
 		 * This part here with excdict is a temporary patch
@@ -313,7 +356,7 @@ void SCA_PythonController::Trigger(SCA_LogicManager* logicmgr)
 		 * their user count. Not to mention holding references to wrapped data.
 		 * This is especially bad when the PyObject for the wrapped data is free'd, after blender 
 		 * has alredy dealocated the pointer */
-		PySys_SetObject( "last_traceback", Py_None);
+		PySys_SetObject( (char *)"last_traceback", Py_None);
 		PyErr_Clear(); /* just to be sure */
 		
 		//PyRun_SimpleString(m_scriptText.Ptr());
@@ -329,30 +372,63 @@ void SCA_PythonController::Trigger(SCA_LogicManager* logicmgr)
 
 
 
-PyObject* SCA_PythonController::_getattr(const STR_String& attr)
+PyObject* SCA_PythonController::_getattr(const char *attr)
 {
-	if (attr == "script") {
-		return PyString_FromString(m_scriptText);
-	}
-	if (attr == "state") {
+	if (!strcmp(attr,"state")) {
 		return PyInt_FromLong(m_statemask);
 	}
+	if (!strcmp(attr,"script")) {
+		return PyString_FromString(m_scriptText);
+	}
 	_getattr_up(SCA_IController);
 }
 
-int SCA_PythonController::_setattr(const STR_String& attr, PyObject *value)
+int SCA_PythonController::_setattr(const char *attr, PyObject *value)
 {
-	if (attr == "script") {
-		PyErr_SetString(PyExc_AttributeError, "script is read only, use setScript() to update the script");
+	if (!strcmp(attr,"state")) {
+		PyErr_SetString(PyExc_AttributeError, "state is read only");
 		return 1;
 	}
-	if (attr == "state") {
-		PyErr_SetString(PyExc_AttributeError, "state is read only");
+	if (!strcmp(attr,"script")) {
+		char *scriptArg = PyString_AsString(value);
+		
+		if (scriptArg==NULL) {
+			PyErr_SetString(PyExc_TypeError, "expected a string (script name)");
+			return -1;
+		}
+	
+		/* set scripttext sets m_bModified to true, 
+			so next time the script is needed, a reparse into byte code is done */
+		this->SetScriptText(scriptArg);
+		
 		return 1;
 	}
 	return SCA_IController::_setattr(attr, value);
 }
 
+PyObject* SCA_PythonController::PyActivate(PyObject* self, PyObject *value)
+{
+	SCA_IActuator* actu = LinkedActuatorFromPy(value);
+	if(actu==NULL)
+		return NULL;
+	
+	CValue* boolval = new CBoolValue(true);
+	m_sCurrentLogicManager->AddActiveActuator((SCA_IActuator*)actu, boolval);
+	boolval->Release();
+	Py_RETURN_NONE;
+}
+
+PyObject* SCA_PythonController::PyDeActivate(PyObject* self, PyObject *value)
+{
+	SCA_IActuator* actu = LinkedActuatorFromPy(value);
+	if(actu==NULL)
+		return NULL;
+	
+	CValue* boolval = new CBoolValue(false);
+	m_sCurrentLogicManager->AddActiveActuator((SCA_IActuator*)actu, boolval);
+	boolval->Release();
+	Py_RETURN_NONE;
+}
 
 PyObject* SCA_PythonController::PyGetActuators(PyObject* self)
 {
@@ -410,8 +486,7 @@ SCA_PythonController::PyGetActuator(PyObject* self, PyObject* value)
 	for (unsigned int index=0;index<m_linkedactuators.size();index++)
 	{
 		SCA_IActuator* actua = m_linkedactuators[index];
-		STR_String realname = actua->GetName();
-		if (realname == scriptArg)
+		if (actua->GetName() == scriptArg)
 		{
 			return actua->AddRef();
 		}
@@ -448,6 +523,9 @@ PyObject* SCA_PythonController::PyGetScript(PyObject* self)
 PyObject* SCA_PythonController::PySetScript(PyObject* self, PyObject* value)
 {
 	char *scriptArg = PyString_AsString(value);
+	
+	ShowDeprecationWarning("setScript()", "the script property");
+	
 	if (scriptArg==NULL) {
 		PyErr_SetString(PyExc_TypeError, "expected a string (script name)");
 		return NULL;
diff --git a/source/gameengine/GameLogic/SCA_PythonController.h b/source/gameengine/GameLogic/SCA_PythonController.h
index 1918cc488d8..4ec18f32c23 100644
--- a/source/gameengine/GameLogic/SCA_PythonController.h
+++ b/source/gameengine/GameLogic/SCA_PythonController.h
@@ -70,15 +70,20 @@ class SCA_PythonController : public SCA_IController
 	void	AddTriggeredSensor(class SCA_ISensor* sensor)
 		{ m_triggeredSensors.push_back(sensor); }
 	int		IsTriggered(class SCA_ISensor* sensor);
+	bool	Compile();
 
 	static const char* sPyGetCurrentController__doc__;
 	static PyObject* sPyGetCurrentController(PyObject* self);
 	static const char* sPyAddActiveActuator__doc__;
 	static PyObject* sPyAddActiveActuator(PyObject* self, 
 										  PyObject* args);
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	static SCA_IActuator* LinkedActuatorFromPy(PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
+		
+	KX_PYMETHOD_O(SCA_PythonController,Activate);
+	KX_PYMETHOD_O(SCA_PythonController,DeActivate);
 	KX_PYMETHOD_DOC_NOARGS(SCA_PythonController,GetSensors);
 	KX_PYMETHOD_DOC_NOARGS(SCA_PythonController,GetActuators);
 	KX_PYMETHOD_DOC_O(SCA_PythonController,GetSensor);
diff --git a/source/gameengine/GameLogic/SCA_RandomActuator.cpp b/source/gameengine/GameLogic/SCA_RandomActuator.cpp
index 840b95d559a..d6c73f21f37 100644
--- a/source/gameengine/GameLogic/SCA_RandomActuator.cpp
+++ b/source/gameengine/GameLogic/SCA_RandomActuator.cpp
@@ -369,22 +369,22 @@ PyAttributeDef SCA_RandomActuator::Attributes[] = {
 	{ NULL }	//Sentinel
 };	
 
-PyObject* SCA_RandomActuator::_getattr(const STR_String& attr) {
+PyObject* SCA_RandomActuator::_getattr(const char *attr) {
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
 		return object;
-	if (attr == "seed") {
+	if (!strcmp(attr, "seed")) {
 		return PyInt_FromLong(m_base->GetSeed());
 	}
 	_getattr_up(SCA_IActuator);
 }
 
-int SCA_RandomActuator::_setattr(const STR_String& attr, PyObject *value)
+int SCA_RandomActuator::_setattr(const char *attr, PyObject *value)
 {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
 		return ret;
-	if (attr == "seed") {
+	if (!strcmp(attr, "seed")) {
 		if (PyInt_Check(value))	{
 			int ival = PyInt_AsLong(value);
 			m_base->SetSeed(ival);
@@ -413,7 +413,7 @@ PyObject* SCA_RandomActuator::PySetSeed(PyObject* self, PyObject* args, PyObject
 	
 	m_base->SetSeed(seedArg);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 2. getSeed                                                            */
 const char SCA_RandomActuator::GetSeed_doc[] = 
@@ -478,7 +478,7 @@ PyObject* SCA_RandomActuator::PySetProperty(PyObject* self, PyObject* args, PyOb
 	}
 	prop->Release();
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 10. getProperty                                                       */
 const char SCA_RandomActuator::GetProperty_doc[] = 
@@ -506,7 +506,7 @@ PyObject* SCA_RandomActuator::PySetBoolConst(PyObject* self,
 	m_distribution = KX_RANDOMACT_BOOL_CONST;
 	m_parameter1 = (paraArg) ? 1.0 : 0.0;
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 12. setBoolUniform, */
 const char SCA_RandomActuator::SetBoolUniform_doc[] = 
@@ -518,7 +518,7 @@ PyObject* SCA_RandomActuator::PySetBoolUniform(PyObject* self,
 	/* no args */
 	m_distribution = KX_RANDOMACT_BOOL_UNIFORM;
 	enforceConstraints();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 13. setBoolBernouilli,  */
 const char SCA_RandomActuator::SetBoolBernouilli_doc[] = 
@@ -536,7 +536,7 @@ PyObject* SCA_RandomActuator::PySetBoolBernouilli(PyObject* self,
 	m_distribution = KX_RANDOMACT_BOOL_BERNOUILLI;
 	m_parameter1 = paraArg;	
 	enforceConstraints();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 14. setIntConst,*/
 const char SCA_RandomActuator::SetIntConst_doc[] = 
@@ -554,7 +554,7 @@ PyObject* SCA_RandomActuator::PySetIntConst(PyObject* self,
 	m_distribution = KX_RANDOMACT_INT_CONST;
 	m_parameter1 = paraArg;
 	enforceConstraints();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 15. setIntUniform,*/
 const char SCA_RandomActuator::SetIntUniform_doc[] = 
@@ -575,7 +575,7 @@ PyObject* SCA_RandomActuator::PySetIntUniform(PyObject* self,
 	m_parameter1 = paraArg1;
 	m_parameter2 = paraArg2;
 	enforceConstraints();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 16. setIntPoisson,		*/
 const char SCA_RandomActuator::SetIntPoisson_doc[] = 
@@ -595,7 +595,7 @@ PyObject* SCA_RandomActuator::PySetIntPoisson(PyObject* self,
 	m_distribution = KX_RANDOMACT_INT_POISSON;
 	m_parameter1 = paraArg;	
 	enforceConstraints();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 17. setFloatConst,*/
 const char SCA_RandomActuator::SetFloatConst_doc[] = 
@@ -613,7 +613,7 @@ PyObject* SCA_RandomActuator::PySetFloatConst(PyObject* self,
 	m_distribution = KX_RANDOMACT_FLOAT_CONST;
 	m_parameter1 = paraArg;	
 	enforceConstraints();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 18. setFloatUniform, */
 const char SCA_RandomActuator::SetFloatUniform_doc[] = 
@@ -634,7 +634,7 @@ PyObject* SCA_RandomActuator::PySetFloatUniform(PyObject* self,
 	m_parameter1 = paraArg1;
 	m_parameter2 = paraArg2;
 	enforceConstraints();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 19. setFloatNormal, */
 const char SCA_RandomActuator::SetFloatNormal_doc[] = 
@@ -655,7 +655,7 @@ PyObject* SCA_RandomActuator::PySetFloatNormal(PyObject* self,
 	m_parameter1 = paraArg1;
 	m_parameter2 = paraArg2;
 	enforceConstraints();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 20. setFloatNegativeExponential, */
 const char SCA_RandomActuator::SetFloatNegativeExponential_doc[] = 
@@ -674,7 +674,7 @@ PyObject* SCA_RandomActuator::PySetFloatNegativeExponential(PyObject* self,
 	m_distribution = KX_RANDOMACT_FLOAT_NEGATIVE_EXPONENTIAL;
 	m_parameter1 = paraArg;	
 	enforceConstraints();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 	
 /* eof */
diff --git a/source/gameengine/GameLogic/SCA_RandomActuator.h b/source/gameengine/GameLogic/SCA_RandomActuator.h
index de8faaf9c72..0d404fa8a9f 100644
--- a/source/gameengine/GameLogic/SCA_RandomActuator.h
+++ b/source/gameengine/GameLogic/SCA_RandomActuator.h
@@ -96,8 +96,8 @@ class SCA_RandomActuator : public SCA_IActuator
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	/* 1. setSeed                                                            */
 	KX_PYMETHOD_DOC(SCA_RandomActuator,SetSeed);
diff --git a/source/gameengine/GameLogic/SCA_RandomSensor.cpp b/source/gameengine/GameLogic/SCA_RandomSensor.cpp
index 8fae0bbeaba..5354c120f52 100644
--- a/source/gameengine/GameLogic/SCA_RandomSensor.cpp
+++ b/source/gameengine/GameLogic/SCA_RandomSensor.cpp
@@ -165,22 +165,22 @@ PyAttributeDef SCA_RandomSensor::Attributes[] = {
 	{NULL} //Sentinel
 };
 
-PyObject* SCA_RandomSensor::_getattr(const STR_String& attr) {
+PyObject* SCA_RandomSensor::_getattr(const char *attr) {
 	PyObject* object = _getattr_self(Attributes, this, attr);
 	if (object != NULL)
 		return object;
-	if (attr == "seed") {
+	if (!strcmp(attr,"seed")) {
 		return PyInt_FromLong(m_basegenerator->GetSeed());
 	}
 	_getattr_up(SCA_ISensor);
 }
 
-int SCA_RandomSensor::_setattr(const STR_String& attr, PyObject *value)
+int SCA_RandomSensor::_setattr(const char *attr, PyObject *value)
 {
 	int ret = _setattr_self(Attributes, this, attr, value);
 	if (ret >= 0)
 		return ret;
-	if (attr == "seed") {
+	if (!strcmp(attr,"seed")) {
 		if (PyInt_Check(value))	{
 			int ival = PyInt_AsLong(value);
 			m_basegenerator->SetSeed(ival);
@@ -209,7 +209,7 @@ PyObject* SCA_RandomSensor::PySetSeed(PyObject* self, PyObject* args, PyObject*
 	
 	m_basegenerator->SetSeed(seedArg);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 2. getSeed                                                            */
diff --git a/source/gameengine/GameLogic/SCA_RandomSensor.h b/source/gameengine/GameLogic/SCA_RandomSensor.h
index 009efc32aac..d808db07536 100644
--- a/source/gameengine/GameLogic/SCA_RandomSensor.h
+++ b/source/gameengine/GameLogic/SCA_RandomSensor.h
@@ -60,8 +60,8 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int _setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
 	/* 1. setSeed                                                            */
 	KX_PYMETHOD_DOC(SCA_RandomSensor,SetSeed);
diff --git a/source/gameengine/GameLogic/SCA_XNORController.cpp b/source/gameengine/GameLogic/SCA_XNORController.cpp
index 3ef7c07fe0a..b2734dd1b33 100644
--- a/source/gameengine/GameLogic/SCA_XNORController.cpp
+++ b/source/gameengine/GameLogic/SCA_XNORController.cpp
@@ -141,7 +141,11 @@ PyMethodDef SCA_XNORController::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* SCA_XNORController::_getattr(const STR_String& attr) {
+PyAttributeDef SCA_XNORController::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* SCA_XNORController::_getattr(const char *attr) {
 	_getattr_up(SCA_IController);
 }
 
diff --git a/source/gameengine/GameLogic/SCA_XNORController.h b/source/gameengine/GameLogic/SCA_XNORController.h
index 4b1eaee95d8..a431a72c177 100644
--- a/source/gameengine/GameLogic/SCA_XNORController.h
+++ b/source/gameengine/GameLogic/SCA_XNORController.h
@@ -48,7 +48,7 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 };
 
diff --git a/source/gameengine/GameLogic/SCA_XORController.cpp b/source/gameengine/GameLogic/SCA_XORController.cpp
index 6499c62f5f2..662ef523d56 100644
--- a/source/gameengine/GameLogic/SCA_XORController.cpp
+++ b/source/gameengine/GameLogic/SCA_XORController.cpp
@@ -141,7 +141,11 @@ PyMethodDef SCA_XORController::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* SCA_XORController::_getattr(const STR_String& attr) {
+PyAttributeDef SCA_XORController::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* SCA_XORController::_getattr(const char *attr) {
 	_getattr_up(SCA_IController);
 }
 
diff --git a/source/gameengine/GameLogic/SCA_XORController.h b/source/gameengine/GameLogic/SCA_XORController.h
index f50cd33c125..2fbc7866ecf 100644
--- a/source/gameengine/GameLogic/SCA_XORController.h
+++ b/source/gameengine/GameLogic/SCA_XORController.h
@@ -48,7 +48,7 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 };
 
diff --git a/source/gameengine/GameLogic/SConscript b/source/gameengine/GameLogic/SConscript
index 25cf73cd079..88e5f7e87cc 100644
--- a/source/gameengine/GameLogic/SConscript
+++ b/source/gameengine/GameLogic/SConscript
@@ -17,4 +17,9 @@ if env['WITH_BF_SDL']:
 else:
 	defs += ' DISABLE_SDL'
 
-env.BlenderLib ( 'bf_logic', sources, Split(incs), Split(defs), libtype=['core','player'], priority=[315, 100] )
+cxxflags = []
+if env['OURPLATFORM']=='win32-vc':
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
+
+env.BlenderLib ( 'bf_logic', sources, Split(incs), Split(defs), libtype=['core','player'], priority=[330, 100], cxx_compileflags=cxxflags )
diff --git a/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp b/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp
index 78d8eaf2aa3..c0d6248a3ca 100644
--- a/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp
+++ b/source/gameengine/GamePlayer/common/GPC_RenderTools.cpp
@@ -85,7 +85,7 @@ void GPC_RenderTools::EndFrame(RAS_IRasterizer* rasty)
  * has a maximum of 8 lights (simultaneous), so 20 * 8 lights are possible in
  * a scene. */
 
-void GPC_RenderTools::ProcessLighting(int layer, const MT_Transform& viewmat)
+void GPC_RenderTools::ProcessLighting(RAS_IRasterizer *rasty, int layer, const MT_Transform& viewmat)
 {
 	if(m_lastlightlayer == layer)
 		return;
@@ -106,12 +106,12 @@ void GPC_RenderTools::ProcessLighting(int layer, const MT_Transform& viewmat)
 	}
 
 	if(enable)
-		EnableOpenGLLights();
+		EnableOpenGLLights(rasty);
 	else
 		DisableOpenGLLights();
 }
 
-void GPC_RenderTools::EnableOpenGLLights()
+void GPC_RenderTools::EnableOpenGLLights(RAS_IRasterizer *rasty)
 {
 	if(m_lastlighting == true)
 		return;
@@ -120,7 +120,8 @@ void GPC_RenderTools::EnableOpenGLLights()
 	glEnable(GL_COLOR_MATERIAL);
 
 	glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
-	glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, true);
+	glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);
+	glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, (rasty->GetCameraOrtho())? GL_FALSE: GL_TRUE);
 	if (GLEW_EXT_separate_specular_color || GLEW_VERSION_1_2)
 		glLightModeli(GL_LIGHT_MODEL_COLOR_CONTROL, GL_SEPARATE_SPECULAR_COLOR);
 	
diff --git a/source/gameengine/GamePlayer/common/GPC_RenderTools.h b/source/gameengine/GamePlayer/common/GPC_RenderTools.h
index 382956e73ea..2a1b66a3aa9 100644
--- a/source/gameengine/GamePlayer/common/GPC_RenderTools.h
+++ b/source/gameengine/GamePlayer/common/GPC_RenderTools.h
@@ -65,9 +65,9 @@ public:
 	void				EndFrame(RAS_IRasterizer* rasty);
 	void				BeginFrame(RAS_IRasterizer* rasty);
 
-	void				EnableOpenGLLights();
+	void				EnableOpenGLLights(RAS_IRasterizer *rasty);
 	void				DisableOpenGLLights();
-	void				ProcessLighting(int layer, const MT_Transform& viewmat);
+	void				ProcessLighting(RAS_IRasterizer *rasty, int layer, const MT_Transform& viewmat);
 
 	/* @attention mode is ignored here */
 	void			    RenderText2D(RAS_TEXT_RENDER_MODE mode,
diff --git a/source/gameengine/GamePlayer/common/SConscript b/source/gameengine/GamePlayer/common/SConscript
index 30f20a670d3..23ad413350b 100644
--- a/source/gameengine/GamePlayer/common/SConscript
+++ b/source/gameengine/GamePlayer/common/SConscript
@@ -39,15 +39,13 @@ incs = ['.',
         '#source/gameengine/Network',
         '#source/gameengine/SceneGraph',
         '#source/gameengine/Physics/common',
-        '#source/gameengine/Physics/Sumo',
-        '#source/gameengine/Physics/Sumo/Fuzzics/include',
         '#source/gameengine/Network/LoopBackNetwork',
         '#source/gameengine/GamePlayer/ghost',
         '#source/blender/misc',
         '#source/blender/blenloader',
         '#source/blender/gpu',
 		'#extern/glew/include']
-                                
+
 #This is all plugin stuff!
 #if sys.platform=='win32':
 #   source_files += ['windows/GPW_Canvas.cpp',
@@ -62,13 +60,18 @@ incs = ['.',
 #                    'unix/GPU_System.cpp']
 #   gp_common_env.Append ( CPPPATH = ['unix'])
 
+if env['WITH_BF_SOLID']:
+	incs.append('#source/gameengine/Physics/Sumo')
+	incs.append('#source/gameengine/Physics/Sumo/Fuzzics/include')
+	incs += Split(env['BF_SOLID_INC'])
+
 incs += Split(env['BF_PYTHON_INC'])
-incs += Split(env['BF_SOLID_INC'])
 incs += Split(env['BF_PNG_INC'])
 incs += Split(env['BF_ZLIB_INC'])
 
-cflags=[]
+cxxflags = []
 if env['OURPLATFORM']=='win32-vc':
-    cflags = ['/GR']
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
 
-env.BlenderLib (libname='gp_common', sources=source_files, includes=incs, defines = [], libtype='player', priority=5, compileflags=cflags)
+env.BlenderLib (libname='gp_common', sources=source_files, includes=incs, defines = [], libtype='player', priority=5, cxx_compileflags=cxxflags)
diff --git a/source/gameengine/GamePlayer/ghost/GPG_ghost.cpp b/source/gameengine/GamePlayer/ghost/GPG_ghost.cpp
index c09772c6196..d993694ab4a 100644
--- a/source/gameengine/GamePlayer/ghost/GPG_ghost.cpp
+++ b/source/gameengine/GamePlayer/ghost/GPG_ghost.cpp
@@ -163,33 +163,39 @@ void usage(const char* program)
 	consoleoption = "";
 #endif
 	
-	printf("usage:   %s [-w l t w h] %s[-g gamengineoptions] "
+	printf("usage:   %s [-w [w h l t]] [-f [fw fh fb ff]] %s[-g gamengineoptions] "
 		"[-s stereomode] filename.blend\n", program, consoleoption);
-	printf("  -h: Prints this command summary\n");
+	printf("  -h: Prints this command summary\n\n");
 	printf("  -w: display in a window\n");
+	printf("       --Optional parameters--\n"); 
+	printf("       w = window width\n");
+	printf("       h = window height\n\n");
 	printf("       l = window left coordinate\n");
 	printf("       t = window top coordinate\n");
-	printf("       w = window width\n");
-	printf("       h = window height\n");
+	printf("       Note: If w or h is defined, both must be defined.\n");
+	printf("          Also, if l or t is defined, all options must be used.\n\n");
 	printf("  -f: start game in full screen mode\n");
+	printf("       --Optional parameters--\n");
 	printf("       fw = full screen mode pixel width\n");
-	printf("       fh = full screen mode pixel height\n");
+	printf("       fh = full screen mode pixel height\n\n");
 	printf("       fb = full screen mode bits per pixel\n");
 	printf("       ff = full screen mode frequency\n");
+	printf("       Note: If fw or fh is defined, both must be defined.\n");
+	printf("          Also, if fb is used, fw and fh must be used. ff requires all options.\n\n");
 	printf("  -s: start player in stereo\n");
 	printf("       stereomode: hwpageflip       (Quad buffered shutter glasses)\n");
 	printf("                   syncdoubling     (Above Below)\n");
 	printf("                   sidebyside       (Left Right)\n");
 	printf("                   anaglyph         (Red-Blue glasses)\n");
 	printf("                   vinterlace       (Vertical interlace for autostereo display)\n");
-	printf("                             depending on the type of stereo you want\n");
+	printf("                             depending on the type of stereo you want\n\n");
 #ifndef _WIN32
-	printf("  -i: parent windows ID \n");
+	printf("  -i: parent windows ID \n\n");
 #endif
 #ifdef _WIN32
-	printf("  -c: keep console window open\n");
+	printf("  -c: keep console window open\n\n");
 #endif
-	printf("  -d: turn debugging on\n");
+	printf("  -d: turn debugging on\n\n");
 	printf("  -g: game engine options:\n\n");
 	printf("       Name                       Default      Description\n");
 	printf("       ------------------------------------------------------------------------\n");
@@ -201,7 +207,7 @@ void usage(const char* program)
 	printf("       blender_material               0         Enable material settings\n");
 	printf("       ignore_deprecation_warnings    0         Ignore deprecation warnings\n");
 	printf("\n");
-	printf("example: %s -w 10 10 320 200 -g noaudio c:\\loadtest.blend\n", program);
+	printf("example: %s -w 320 200 10 10 -g noaudio c:\\loadtest.blend\n", program);
 	printf("example: %s -g show_framerate = 0 c:\\loadtest.blend\n", program);
 }
 
@@ -241,7 +247,7 @@ static void get_filename(int argc, char **argv, char *filename)
 		if (BLI_exists(gamefile))
 			BLI_strncpy(filename, gamefile, FILE_MAXDIR + FILE_MAXFILE);
 
-		delete gamefile;
+		delete [] gamefile;
 	}
 	
 #else
@@ -430,54 +436,41 @@ int main(int argc, char** argv)
 				G.f |= G_DEBUG;     /* std output printf's */
 				MEM_set_memory_debug();
 				break;
-				
-			case 'p':
-				// Parse window position and size options
-				if (argv[i][2] == 0) {
-					i++;
-					if ((i + 4) < argc)
-					{
-						windowLeft = atoi(argv[i++]);
-						windowTop = atoi(argv[i++]);
-						windowWidth = atoi(argv[i++]);
-						windowHeight = atoi(argv[i++]);
-						windowParFound = true;
-					}
-					else
-					{
-						error = true;
-						printf("error: too few options for window argument.\n");
-					}
-				} else { /* mac specific */
-				
-                    if (strncmp(argv[i], "-psn_", 5)==0) 
-                        i++; /* skip process serial number */
-				}
-				break;
+
 			case 'f':
 				i++;
 				fullScreen = true;
 				fullScreenParFound = true;
-				if ((i + 2) < argc && argv[i][0] != '-' && argv[i+1][0] != '-')
+				if ((i + 2) <= argc && argv[i][0] != '-' && argv[i+1][0] != '-')
 				{
 					fullScreenWidth = atoi(argv[i++]);
 					fullScreenHeight = atoi(argv[i++]);
-					if ((i + 1) < argc && argv[i][0] != '-')
+					if ((i + 1) <= argc && argv[i][0] != '-')
 					{
 						fullScreenBpp = atoi(argv[i++]);
-						if ((i + 1) < argc && argv[i][0] != '-')
+						if ((i + 1) <= argc && argv[i][0] != '-')
 							fullScreenFrequency = atoi(argv[i++]);
 					}
 				}
 				break;
 			case 'w':
 				// Parse window position and size options
+				i++;
+				fullScreen = false;
+				windowParFound = true;
+
+				if ((i + 2) <= argc && argv[i][0] != '-' && argv[i+1][0] != '-')
 				{
-					fullScreen = false;
-					fullScreenParFound = true;
-					i++;
+					windowWidth = atoi(argv[i++]);
+					windowHeight = atoi(argv[i++]);
+					if ((i +2) <= argc && argv[i][0] != '-' && argv[i+1][0] != '-')
+					{
+						windowLeft = atoi(argv[i++]);
+						windowTop = atoi(argv[i++]);
+					}
 				}
 				break;
+					
 			case 'h':
 				usage(argv[0]);
 				return 0;
diff --git a/source/gameengine/GamePlayer/ghost/SConscript b/source/gameengine/GamePlayer/ghost/SConscript
index 7ad2fdd37a7..9b17ed3757b 100644
--- a/source/gameengine/GamePlayer/ghost/SConscript
+++ b/source/gameengine/GamePlayer/ghost/SConscript
@@ -34,8 +34,6 @@ incs = ['.',
         '#source/gameengine/Network',
         '#source/gameengine/SceneGraph',
         '#source/gameengine/Physics/common',
-        '#source/gameengine/Physics/Sumo',
-        '#source/gameengine/Physics/Sumo/Fuzzics/include',
         '#source/gameengine/Network/LoopBackNetwork',
         '#source/gameengine/GamePlayer/common',
         '#source/blender/misc',
@@ -43,14 +41,19 @@ incs = ['.',
         '#source/blender/gpu',
         '#extern/glew/include']
 
+if env['WITH_BF_SOLID']:
+	incs.append(['#source/gameengine/Physics/Sumo', '#source/gameengine/Physics/Sumo/Fuzzics/include'])
+	incs += Split(env['BF_SOLID_INC'])
+
 incs += Split(env['BF_PYTHON_INC'])
-incs += Split(env['BF_SOLID_INC'])
-cflags = []
+
+cxxflags = []
 if env['OURPLATFORM']=='win32-vc':
-    cflags = ['/GR']
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
 
 defs = ''
 if env['WITH_BF_FFMPEG']:
     defs += ' WITH_FFMPEG'
 
-env.BlenderLib (libname='gp_ghost', sources=source_files, includes = incs, defines = Split(defs), libtype='player',priority=5, compileflags=cflags)
+env.BlenderLib (libname='gp_ghost', sources=source_files, includes = incs, defines = Split(defs), libtype='player',priority=5, cxx_compileflags=cxxflags)
diff --git a/source/gameengine/Ketsji/BL_Shader.cpp b/source/gameengine/Ketsji/BL_Shader.cpp
index 80892764089..60cb288436a 100644
--- a/source/gameengine/Ketsji/BL_Shader.cpp
+++ b/source/gameengine/Ketsji/BL_Shader.cpp
@@ -18,7 +18,7 @@
 #define spit(x) std::cout << x << std::endl;
 
 #define SORT_UNIFORMS 1
-#define UNIFORM_MAX_LEN sizeof(float)*16
+#define UNIFORM_MAX_LEN (int)sizeof(float)*16
 #define MAX_LOG_LEN 262144 // bounds
 
 BL_Uniform::BL_Uniform(int data_size)
@@ -108,7 +108,7 @@ void BL_Uniform::SetData(int location, int type,bool transpose)
 #endif
 }
 
-const bool BL_Shader::Ok()const
+bool BL_Shader::Ok()const
 {
 	return (mShader !=0 && mOk && mUse);
 }
@@ -729,7 +729,7 @@ void BL_Shader::SetUniform(int uniform, const int* val, int len)
 }
 
 
-PyObject* BL_Shader::_getattr(const STR_String& attr)
+PyObject* BL_Shader::_getattr(const char *attr)
 {
 	_getattr_up(PyObjectPlus);
 }
@@ -767,6 +767,9 @@ PyMethodDef BL_Shader::Methods[] =
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef BL_Shader::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
 PyTypeObject BL_Shader::Type = {
 	PyObject_HEAD_INIT(&PyType_Type)
@@ -796,7 +799,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setSource," setSource(vertexProgram, fragmentProg
 	if(mShader !=0 && mOk  )
 	{
 		// already set...
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	char *v,*f;
 	int apply=0;
@@ -807,12 +810,12 @@ KX_PYMETHODDEF_DOC( BL_Shader, setSource," setSource(vertexProgram, fragmentProg
 		if( LinkProgram() ) {
 			glUseProgramObjectARB( mShader );
 			mUse = apply!=0;
-			Py_Return;
+			Py_RETURN_NONE;
 		}
 		vertProg = 0;
 		fragProg = 0;
 		mUse = 0;
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -827,7 +830,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, delSource, "delSource( )" )
 	mShader		= 0;
 	mOk			= 0;
 	mUse		= 0;
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 KX_PYMETHODDEF_DOC( BL_Shader, isValid, "isValid()" )
@@ -871,7 +874,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, validate, "validate()")
 		MEM_freeN(logInf);
 		logInf=0;
 	}
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -912,7 +915,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setNumberOfPasses, "setNumberOfPasses( max-pass )
 		return NULL;
 
 	mPass = 1;
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /// access functions
@@ -935,7 +938,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniform1f, "setUniform1f(name, fx)" )
 			SetUniform( loc, (float)value );
 #endif
 		}
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -959,7 +962,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniform2f , "setUniform2f(name, fx, fy)")
 			SetUniform(loc, array, 2);
 #endif
 		}
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -983,7 +986,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniform3f, "setUniform3f(name, fx,fy,fz) ")
 			SetUniform(loc, array, 3);
 #endif
 		}
-		Py_Return;
+		Py_RETURN_NONE;
 
 	}
 	return NULL;
@@ -1008,7 +1011,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniform4f, "setUniform4f(name, fx,fy,fz, fw) "
 			SetUniform(loc, array, 4);
 #endif
 		}
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -1032,7 +1035,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniform1i, "setUniform1i(name, ix)" )
 			SetUniform(loc, (int)value);
 #endif
 		}
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -1056,7 +1059,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniform2i , "setUniform2i(name, ix, iy)")
 			SetUniform(loc, array, 2);
 #endif
 		}
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -1081,7 +1084,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniform3i, "setUniform3i(name, ix,iy,iz) ")
 			SetUniform(loc, array, 3);
 #endif
 		}
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -1104,7 +1107,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniform4i, "setUniform4i(name, ix,iy,iz, iw) "
 			SetUniform(loc, array, 4);
 #endif
 		}
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -1144,7 +1147,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformfv , "setUniformfv( float (list2 or lis
 #else
 						SetUniform(loc, array2, 2);						
 #endif
-						Py_Return;
+						Py_RETURN_NONE;
 					} break;
 				case 3:
 					{
@@ -1154,7 +1157,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformfv , "setUniformfv( float (list2 or lis
 #else
 						SetUniform(loc, array3, 3);	
 #endif
-						Py_Return;
+						Py_RETURN_NONE;
 					}break;
 				case 4:
 					{
@@ -1164,7 +1167,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformfv , "setUniformfv( float (list2 or lis
 #else
 						SetUniform(loc, array4, 4);	
 #endif
-						Py_Return;
+						Py_RETURN_NONE;
 					}break;
 				default:
 					{
@@ -1212,7 +1215,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformiv, "setUniformiv( int (list2 or list3
 #else
 						SetUniform(loc, array2, 2);						
 #endif
-						Py_Return;
+						Py_RETURN_NONE;
 					} break;
 				case 3:
 					{
@@ -1223,7 +1226,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformiv, "setUniformiv( int (list2 or list3
 #else
 						SetUniform(loc, array3, 3);	
 #endif
-						Py_Return;
+						Py_RETURN_NONE;
 					}break;
 				case 4:
 					{
@@ -1234,7 +1237,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformiv, "setUniformiv( int (list2 or list3
 #else
 						SetUniform(loc, array4, 4);	
 #endif
-						Py_Return;
+						Py_RETURN_NONE;
 					}break;
 				default:
 					{
@@ -1282,7 +1285,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformMatrix4,
 #else
 					SetUniform(loc,mat,(transp!=0));
 #endif
-					Py_Return;
+					Py_RETURN_NONE;
 				}
 			}
 		}
@@ -1323,7 +1326,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformMatrix3,
 #else
 					SetUniform(loc,mat,(transp!=0));
 #endif
-					Py_Return;
+					Py_RETURN_NONE;
 
 				}
 			}
@@ -1346,7 +1349,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setAttrib, "setAttrib(enum)" )
 		mAttr=SHD_TANGENT;
 		glUseProgramObjectARB(mShader);
 		glBindAttribLocationARB(mShader, mAttr, "Tangent");
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -1376,7 +1379,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformDef, "setUniformDef(name, enum)" )
 			}
 			if(defined)
 			{
-				Py_Return;
+				Py_RETURN_NONE;
 			}
 
 			BL_DefUniform *uni = new BL_DefUniform();
@@ -1384,7 +1387,7 @@ KX_PYMETHODDEF_DOC( BL_Shader, setUniformDef, "setUniformDef(name, enum)" )
 			uni->mType = nloc;
 			uni->mFlag = 0;
 			mPreDef.push_back(uni);
-			Py_Return;
+			Py_RETURN_NONE;
 		}
 	}
 	return NULL;
diff --git a/source/gameengine/Ketsji/BL_Shader.h b/source/gameengine/Ketsji/BL_Shader.h
index 18ca8f8b4f8..76acd5513ef 100644
--- a/source/gameengine/Ketsji/BL_Shader.h
+++ b/source/gameengine/Ketsji/BL_Shader.h
@@ -166,7 +166,7 @@ public:
 	//const BL_Sampler*	GetSampler(int i);
 	void				SetSampler(int loc, int unit);
 
-	const bool			Ok()const;
+	bool				Ok()const;
 	unsigned int		GetProg();
 	void				SetProg(bool enable);
 	int					GetAttribute(){return mAttr;};
@@ -202,7 +202,7 @@ public:
 	void SetUniform(int uniform, const int val);
 
 	// Python interface
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 	// -----------------------------------
 	KX_PYMETHOD_DOC( BL_Shader, setSource );
diff --git a/source/gameengine/Ketsji/BL_Texture.cpp b/source/gameengine/Ketsji/BL_Texture.cpp
index f0ef84032f7..5d40ba7d75c 100644
--- a/source/gameengine/Ketsji/BL_Texture.cpp
+++ b/source/gameengine/Ketsji/BL_Texture.cpp
@@ -609,7 +609,7 @@ int BL_Texture::GetPow2(int n)
 
 void BL_Texture::SplitEnvMap(EnvMap *map)
 {
-	if (!map || !map->ima || map->ima && !map->ima->ok) return;
+	if (!map || !map->ima || (map->ima && !map->ima->ok)) return;
 	ImBuf *ibuf= BKE_image_get_ibuf(map->ima, NULL);
 	if (ibuf)
 		my_envmap_split_ima(map, ibuf);
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.cpp b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.cpp
index 85921ae75ca..4e5f27df2da 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.cpp
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.cpp
@@ -143,7 +143,11 @@ PyMethodDef KX_NetworkMessageActuator::Methods[] = {
 	{NULL,NULL} // Sentinel
 };
 
-PyObject* KX_NetworkMessageActuator::_getattr(const STR_String& attr) {
+PyAttributeDef KX_NetworkMessageActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_NetworkMessageActuator::_getattr(const char *attr) {
 	_getattr_up(SCA_IActuator);
 }
 
@@ -162,7 +166,7 @@ PyObject* KX_NetworkMessageActuator::PySetToPropName(
 		return NULL;
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 // 2. SetSubject
@@ -180,7 +184,7 @@ PyObject* KX_NetworkMessageActuator::PySetSubject(
 		return NULL;
 	}
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 // 3. SetBodyType
@@ -198,7 +202,7 @@ PyObject* KX_NetworkMessageActuator::PySetBodyType(
 		return NULL;
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 // 4. SetBody
@@ -216,6 +220,6 @@ PyObject* KX_NetworkMessageActuator::PySetBody(
 		return NULL;
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.h b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.h
index 653107699c7..96b55ef839b 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.h
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageActuator.h
@@ -61,7 +61,7 @@ public:
 	/* Python interface ------------------------------------------- */
 	/* ------------------------------------------------------------ */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 	KX_PYMETHOD(KX_NetworkMessageActuator, SetToPropName);
 	KX_PYMETHOD(KX_NetworkMessageActuator, SetSubject);
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.cpp b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.cpp
index 8956df9c96b..ac89d8b0716 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.cpp
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.cpp
@@ -213,7 +213,11 @@ PyMethodDef KX_NetworkMessageSensor::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* KX_NetworkMessageSensor::_getattr(const STR_String& attr) {
+PyAttributeDef KX_NetworkMessageSensor::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_NetworkMessageSensor::_getattr(const char *attr) {
 	_getattr_up(SCA_ISensor); // implicit return!
 }
 
diff --git a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.h b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.h
index 8cdfd6cdb5a..26adbc9945a 100644
--- a/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.h
+++ b/source/gameengine/Ketsji/KXNetwork/KX_NetworkMessageSensor.h
@@ -72,7 +72,7 @@ public:
 	/* Python interface -------------------------------------------- */
 	/* ------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 	KX_PYMETHOD_DOC_O(KX_NetworkMessageSensor, SetSubjectFilterText);
 	KX_PYMETHOD_DOC_NOARGS(KX_NetworkMessageSensor, GetFrameMessageCount);
diff --git a/source/gameengine/Ketsji/KXNetwork/SConscript b/source/gameengine/Ketsji/KXNetwork/SConscript
index 93b65757ac5..b417edf6413 100644
--- a/source/gameengine/Ketsji/KXNetwork/SConscript
+++ b/source/gameengine/Ketsji/KXNetwork/SConscript
@@ -9,4 +9,10 @@ incs += ' #source/gameengine/Network'
 
 incs += ' ' + env['BF_PYTHON_INC']
 
-env.BlenderLib ( 'kx_network', Split(sources), Split(incs), defines=[],libtype=['core', 'player'], priority=[400, 145] )
+cxxflags = []
+if env['OURPLATFORM']=='win32-vc':
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
+
+
+env.BlenderLib ( 'kx_network', Split(sources), Split(incs), defines=[],libtype=['core', 'player'], priority=[400, 145], cxx_compileflags=cxxflags )
diff --git a/source/gameengine/Ketsji/KX_BlenderMaterial.cpp b/source/gameengine/Ketsji/KX_BlenderMaterial.cpp
index f92200780d5..b9bd7647f89 100644
--- a/source/gameengine/Ketsji/KX_BlenderMaterial.cpp
+++ b/source/gameengine/Ketsji/KX_BlenderMaterial.cpp
@@ -748,6 +748,9 @@ PyMethodDef KX_BlenderMaterial::Methods[] =
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_BlenderMaterial::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
 PyTypeObject KX_BlenderMaterial::Type = {
 	PyObject_HEAD_INIT(&PyType_Type)
@@ -772,12 +775,12 @@ PyParentObject KX_BlenderMaterial::Parents[] = {
 };
 
 
-PyObject* KX_BlenderMaterial::_getattr(const STR_String& attr)
+PyObject* KX_BlenderMaterial::_getattr(const char *attr)
 {
 	_getattr_up(PyObjectPlus);
 }
 
-int KX_BlenderMaterial::_setattr(const STR_String& attr, PyObject *pyvalue)
+int KX_BlenderMaterial::_setattr(const char *attr, PyObject *pyvalue)
 {
 	return PyObjectPlus::_setattr(attr, pyvalue);
 }
@@ -790,7 +793,7 @@ KX_PYMETHODDEF_DOC( KX_BlenderMaterial, getShader , "getShader()")
 			spit("Fragment shaders not supported");
 	
 		mModified = true;
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 
 	if( !GLEW_ARB_vertex_shader) {
@@ -798,14 +801,14 @@ KX_PYMETHODDEF_DOC( KX_BlenderMaterial, getShader , "getShader()")
 			spit("Vertex shaders not supported");
 
 		mModified = true;
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 
 	if(!GLEW_ARB_shader_objects)  {
 		if(!mModified)
 			spit("GLSL not supported");
 		mModified = true;
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	else {
 		// returns Py_None on error
@@ -838,7 +841,7 @@ KX_PYMETHODDEF_DOC( KX_BlenderMaterial, getShader , "getShader()")
 				}
 			}
 		}
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	PyErr_Format(PyExc_ValueError, "GLSL Error");
 	return NULL;
@@ -910,7 +913,7 @@ KX_PYMETHODDEF_DOC( KX_BlenderMaterial, setBlending , "setBlending( GameLogic.sr
 			return NULL;
 		}
 		mUserDefBlend = true;
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
diff --git a/source/gameengine/Ketsji/KX_BlenderMaterial.h b/source/gameengine/Ketsji/KX_BlenderMaterial.h
index 6e5db1b56c1..2cf623dbd85 100644
--- a/source/gameengine/Ketsji/KX_BlenderMaterial.h
+++ b/source/gameengine/Ketsji/KX_BlenderMaterial.h
@@ -82,8 +82,8 @@ public:
 	);
 	
 	// --------------------------------
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int       _setattr(const STR_String& attr, PyObject *pyvalue);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int       _setattr(const char *attr, PyObject *pyvalue);
 
 	KX_PYMETHOD_DOC( KX_BlenderMaterial, getShader );
 	KX_PYMETHOD_DOC( KX_BlenderMaterial, getMaterialIndex );
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index 534c48661b7..062e9f7df50 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -384,10 +384,10 @@ SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
 			childit!= destnode->GetSGChildren().end();
 			++childit
 				) {
-				KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
-				if (clientgameobj)
+				KX_GameObject *clientgameobj_child = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
+				if (clientgameobj_child)
 				{
-					parentKxCtrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
+					parentKxCtrl = (KX_BulletPhysicsController*)clientgameobj_child->GetPhysicsController();
 					parentctrl = parentKxCtrl;
 					ccdParent = parentKxCtrl;
 				}
diff --git a/source/gameengine/Ketsji/KX_CDActuator.cpp b/source/gameengine/Ketsji/KX_CDActuator.cpp
index a5d7f6d799a..ef7883910fd 100644
--- a/source/gameengine/Ketsji/KX_CDActuator.cpp
+++ b/source/gameengine/Ketsji/KX_CDActuator.cpp
@@ -197,9 +197,11 @@ PyMethodDef KX_CDActuator::Methods[] = {
 	{NULL,NULL,NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_CDActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
-
-PyObject* KX_CDActuator::_getattr(const STR_String& attr)
+PyObject* KX_CDActuator::_getattr(const char *attr)
 {
 	_getattr_up(SCA_IActuator);
 }
@@ -210,7 +212,7 @@ PyObject* KX_CDActuator::_getattr(const STR_String& attr)
 PyObject* KX_CDActuator::PyStartCD(PyObject* self, PyObject* args, PyObject* kwds)
 {
 	SND_CDObject::Instance()->SetPlaystate(SND_MUST_PLAY);
-	Py_Return;
+	Py_RETURN_NONE;
 }         
 
 
@@ -218,7 +220,7 @@ PyObject* KX_CDActuator::PyStartCD(PyObject* self, PyObject* args, PyObject* kwd
 PyObject* KX_CDActuator::PyPauseCD(PyObject* self, PyObject* args, PyObject* kwds)
 {
 	SND_CDObject::Instance()->SetPlaystate(SND_MUST_PAUSE);
-	Py_Return;
+	Py_RETURN_NONE;
 } 
 
 
@@ -226,7 +228,7 @@ PyObject* KX_CDActuator::PyPauseCD(PyObject* self, PyObject* args, PyObject* kwd
 PyObject* KX_CDActuator::PyStopCD(PyObject* self, PyObject* args, PyObject* kwds)
 {
 	SND_CDObject::Instance()->SetPlaystate(SND_MUST_STOP);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -239,7 +241,7 @@ PyObject* KX_CDActuator::PySetGain(PyObject* self, PyObject* args, PyObject* kwd
 	
 	SND_CDObject::Instance()->SetGain(gain);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }         
 
 
diff --git a/source/gameengine/Ketsji/KX_CDActuator.h b/source/gameengine/Ketsji/KX_CDActuator.h
index f46dd99b6dc..393c49083f9 100644
--- a/source/gameengine/Ketsji/KX_CDActuator.h
+++ b/source/gameengine/Ketsji/KX_CDActuator.h
@@ -81,7 +81,7 @@ public:
 	/* Python interface --------------------------------------------------- */
 	/* -------------------------------------------------------------------- */
 
-	virtual PyObject*  _getattr(const STR_String& attr);
+	virtual PyObject*  _getattr(const char *attr);
 
 	KX_PYMETHOD(KX_CDActuator,StartCD);
 	KX_PYMETHOD(KX_CDActuator,PauseCD);
diff --git a/source/gameengine/Ketsji/KX_Camera.cpp b/source/gameengine/Ketsji/KX_Camera.cpp
index fb91c793765..5caac2fc670 100644
--- a/source/gameengine/Ketsji/KX_Camera.cpp
+++ b/source/gameengine/Ketsji/KX_Camera.cpp
@@ -470,19 +470,23 @@ int KX_Camera::GetViewportTop() const
 
 PyMethodDef KX_Camera::Methods[] = {
 	KX_PYMETHODTABLE(KX_Camera, sphereInsideFrustum),
-	KX_PYMETHODTABLE(KX_Camera, boxInsideFrustum),
-	KX_PYMETHODTABLE(KX_Camera, pointInsideFrustum),
-	KX_PYMETHODTABLE(KX_Camera, getCameraToWorld),
-	KX_PYMETHODTABLE(KX_Camera, getWorldToCamera),
-	KX_PYMETHODTABLE(KX_Camera, getProjectionMatrix),
-	KX_PYMETHODTABLE(KX_Camera, setProjectionMatrix),
-	KX_PYMETHODTABLE(KX_Camera, enableViewport),
+	KX_PYMETHODTABLE_O(KX_Camera, boxInsideFrustum),
+	KX_PYMETHODTABLE_O(KX_Camera, pointInsideFrustum),
+	KX_PYMETHODTABLE_NOARGS(KX_Camera, getCameraToWorld),
+	KX_PYMETHODTABLE_NOARGS(KX_Camera, getWorldToCamera),
+	KX_PYMETHODTABLE_NOARGS(KX_Camera, getProjectionMatrix),
+	KX_PYMETHODTABLE_O(KX_Camera, setProjectionMatrix),
+	KX_PYMETHODTABLE_O(KX_Camera, enableViewport),
 	KX_PYMETHODTABLE(KX_Camera, setViewport),
-	KX_PYMETHODTABLE(KX_Camera, setOnTop),
+	KX_PYMETHODTABLE_NOARGS(KX_Camera, setOnTop),
 	
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_Camera::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
 char KX_Camera::doc[] = "Module KX_Camera\n\n"
 "Constants:\n"
 "\tINSIDE\n"
@@ -538,48 +542,48 @@ PyParentObject KX_Camera::Parents[] = {
 		NULL
 };
 
-PyObject* KX_Camera::_getattr(const STR_String& attr)
+PyObject* KX_Camera::_getattr(const char *attr)
 {
-	if (attr == "INSIDE")
+	if (!strcmp(attr, "INSIDE"))
 		return PyInt_FromLong(INSIDE); /* new ref */
-	if (attr == "OUTSIDE")
+	if (!strcmp(attr, "OUTSIDE"))
 		return PyInt_FromLong(OUTSIDE); /* new ref */
-	if (attr == "INTERSECT")
+	if (!strcmp(attr, "INTERSECT"))
 		return PyInt_FromLong(INTERSECT); /* new ref */
 	
-	if (attr == "lens")
+	if (!strcmp(attr, "lens"))
 		return PyFloat_FromDouble(GetLens()); /* new ref */
-	if (attr == "near")
+	if (!strcmp(attr, "near"))
 		return PyFloat_FromDouble(GetCameraNear()); /* new ref */
-	if (attr == "far")
+	if (!strcmp(attr, "far"))
 		return PyFloat_FromDouble(GetCameraFar()); /* new ref */
-	if (attr == "frustum_culling")
+	if (!strcmp(attr, "frustum_culling"))
 		return PyInt_FromLong(m_frustum_culling); /* new ref */
-	if (attr == "perspective")
+	if (!strcmp(attr, "perspective"))
 		return PyInt_FromLong(m_camdata.m_perspective); /* new ref */
-	if (attr == "projection_matrix")
+	if (!strcmp(attr, "projection_matrix"))
 		return PyObjectFrom(GetProjectionMatrix()); /* new ref */
-	if (attr == "modelview_matrix")
+	if (!strcmp(attr, "modelview_matrix"))
 		return PyObjectFrom(GetModelviewMatrix()); /* new ref */
-	if (attr == "camera_to_world")
+	if (!strcmp(attr, "camera_to_world"))
 		return PyObjectFrom(GetCameraToWorld()); /* new ref */
-	if (attr == "world_to_camera")
+	if (!strcmp(attr, "world_to_camera"))
 		return PyObjectFrom(GetWorldToCamera()); /* new ref */
 	
 	_getattr_up(KX_GameObject);
 }
 
-int KX_Camera::_setattr(const STR_String &attr, PyObject *pyvalue)
+int KX_Camera::_setattr(const char *attr, PyObject *pyvalue)
 {
 	if (PyInt_Check(pyvalue))
 	{
-		if (attr == "frustum_culling")
+		if (!strcmp(attr, "frustum_culling"))
 		{
 			m_frustum_culling = PyInt_AsLong(pyvalue);
 			return 0;
 		}
 		
-		if (attr == "perspective")
+		if (!strcmp(attr, "perspective"))
 		{
 			m_camdata.m_perspective = PyInt_AsLong(pyvalue);
 			return 0;
@@ -588,19 +592,19 @@ int KX_Camera::_setattr(const STR_String &attr, PyObject *pyvalue)
 	
 	if (PyFloat_Check(pyvalue))
 	{
-		if (attr == "lens")
+		if (!strcmp(attr, "lens"))
 		{
 			m_camdata.m_lens = PyFloat_AsDouble(pyvalue);
 			m_set_projection_matrix = false;
 			return 0;
 		}
-		if (attr == "near")
+		if (!strcmp(attr, "near"))
 		{
 			m_camdata.m_clipstart = PyFloat_AsDouble(pyvalue);
 			m_set_projection_matrix = false;
 			return 0;
 		}
-		if (attr == "far")
+		if (!strcmp(attr, "far"))
 		{
 			m_camdata.m_clipend = PyFloat_AsDouble(pyvalue);
 			m_set_projection_matrix = false;
@@ -610,7 +614,7 @@ int KX_Camera::_setattr(const STR_String &attr, PyObject *pyvalue)
 	
 	if (PyObject_IsMT_Matrix(pyvalue, 4))
 	{
-		if (attr == "projection_matrix")
+		if (!strcmp(attr, "projection_matrix"))
 		{
 			MT_Matrix4x4 mat;
 			if (PyMatTo(pyvalue, mat))
@@ -624,7 +628,7 @@ int KX_Camera::_setattr(const STR_String &attr, PyObject *pyvalue)
 	return KX_GameObject::_setattr(attr, pyvalue);
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, sphereInsideFrustum,
+KX_PYMETHODDEF_DOC_VARARGS(KX_Camera, sphereInsideFrustum,
 "sphereInsideFrustum(center, radius) -> Integer\n"
 "\treturns INSIDE, OUTSIDE or INTERSECT if the given sphere is\n"
 "\tinside/outside/intersects this camera's viewing frustum.\n\n"
@@ -658,7 +662,7 @@ KX_PYMETHODDEF_DOC(KX_Camera, sphereInsideFrustum,
 	return NULL;
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, boxInsideFrustum,
+KX_PYMETHODDEF_DOC_O(KX_Camera, boxInsideFrustum,
 "boxInsideFrustum(box) -> Integer\n"
 "\treturns INSIDE, OUTSIDE or INTERSECT if the given box is\n"
 "\tinside/outside/intersects this camera's viewing frustum.\n\n"
@@ -683,34 +687,27 @@ KX_PYMETHODDEF_DOC(KX_Camera, boxInsideFrustum,
 "\t\t# Box is outside the frustum !\n"
 )
 {
-	PyObject *pybox;
-	if (PyArg_ParseTuple(args, "O", &pybox))
+	unsigned int num_points = PySequence_Size(value);
+	if (num_points != 8)
 	{
-		unsigned int num_points = PySequence_Size(pybox);
-		if (num_points != 8)
-		{
-			PyErr_Format(PyExc_TypeError, "boxInsideFrustum: Expected eight (8) points, got %d", num_points);
+		PyErr_Format(PyExc_TypeError, "boxInsideFrustum: Expected eight (8) points, got %d", num_points);
+		return NULL;
+	}
+	
+	MT_Point3 box[8];
+	for (unsigned int p = 0; p < 8 ; p++)
+	{
+		PyObject *item = PySequence_GetItem(value, p); /* new ref */
+		bool error = !PyVecTo(item, box[p]);
+		Py_DECREF(item);
+		if (error)
 			return NULL;
-		}
-		
-		MT_Point3 box[8];
-		for (unsigned int p = 0; p < 8 ; p++)
-		{
-			PyObject *item = PySequence_GetItem(pybox, p); /* new ref */
-			bool error = !PyVecTo(item, box[p]);
-			Py_DECREF(item);
-			if (error)
-				return NULL;
-		}
-		
-		return PyInt_FromLong(BoxInsideFrustum(box)); /* new ref */
 	}
 	
-	PyErr_SetString(PyExc_TypeError, "boxInsideFrustum: Expected argument: list of points.");
-	return NULL;
+	return PyInt_FromLong(BoxInsideFrustum(box)); /* new ref */
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, pointInsideFrustum,
+KX_PYMETHODDEF_DOC_O(KX_Camera, pointInsideFrustum,
 "pointInsideFrustum(point) -> Bool\n"
 "\treturns 1 if the given point is inside this camera's viewing frustum.\n\n"
 "\tpoint = The point to test (in world coordinates.)\n\n"
@@ -727,7 +724,7 @@ KX_PYMETHODDEF_DOC(KX_Camera, pointInsideFrustum,
 )
 {
 	MT_Point3 point;
-	if (PyVecArgTo(args, point))
+	if (PyVecTo(value, point))
 	{
 		return PyInt_FromLong(PointInsideFrustum(point)); /* new ref */
 	}
@@ -736,7 +733,7 @@ KX_PYMETHODDEF_DOC(KX_Camera, pointInsideFrustum,
 	return NULL;
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, getCameraToWorld,
+KX_PYMETHODDEF_DOC_NOARGS(KX_Camera, getCameraToWorld,
 "getCameraToWorld() -> Matrix4x4\n"
 "\treturns the camera to world transformation matrix, as a list of four lists of four values.\n\n"
 "\tie: [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])\n"
@@ -745,7 +742,7 @@ KX_PYMETHODDEF_DOC(KX_Camera, getCameraToWorld,
 	return PyObjectFrom(GetCameraToWorld()); /* new ref */
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, getWorldToCamera,
+KX_PYMETHODDEF_DOC_NOARGS(KX_Camera, getWorldToCamera,
 "getWorldToCamera() -> Matrix4x4\n"
 "\treturns the world to camera transformation matrix, as a list of four lists of four values.\n\n"
 "\tie: [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])\n"
@@ -754,7 +751,7 @@ KX_PYMETHODDEF_DOC(KX_Camera, getWorldToCamera,
 	return PyObjectFrom(GetWorldToCamera()); /* new ref */
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, getProjectionMatrix,
+KX_PYMETHODDEF_DOC_NOARGS(KX_Camera, getProjectionMatrix,
 "getProjectionMatrix() -> Matrix4x4\n"
 "\treturns this camera's projection matrix, as a list of four lists of four values.\n\n"
 "\tie: [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])\n"
@@ -763,7 +760,7 @@ KX_PYMETHODDEF_DOC(KX_Camera, getProjectionMatrix,
 	return PyObjectFrom(GetProjectionMatrix()); /* new ref */
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, setProjectionMatrix,
+KX_PYMETHODDEF_DOC_O(KX_Camera, setProjectionMatrix,
 "setProjectionMatrix(MT_Matrix4x4 m) -> None\n"
 "\tSets this camera's projection matrix\n"
 "\n"
@@ -805,56 +802,50 @@ KX_PYMETHODDEF_DOC(KX_Camera, setProjectionMatrix,
 "\tcam = co.getOwner()\n"
 "\tcam.setProjectionMatrix(Perspective(-1.0, 1.0, -1.0, 1.0, 0.1, 1))\n")
 {
-	PyObject *pymat;
-	if (PyArg_ParseTuple(args, "O", &pymat))
+	MT_Matrix4x4 mat;
+	if (!PyMatTo(value, mat))
 	{
-		MT_Matrix4x4 mat;
-		if (PyMatTo(pymat, mat))
-		{
-			SetProjectionMatrix(mat);
-			Py_Return;
-		}
+		PyErr_SetString(PyExc_TypeError, "setProjectionMatrix: Expected 4x4 list as matrix argument.");
+		return NULL;
 	}
-
-	PyErr_SetString(PyExc_TypeError, "setProjectionMatrix: Expected 4x4 list as matrix argument.");
-	return NULL;
+	
+	SetProjectionMatrix(mat);
+	Py_RETURN_NONE;
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, enableViewport,
+KX_PYMETHODDEF_DOC_O(KX_Camera, enableViewport,
 "enableViewport(viewport)\n"
 "Sets this camera's viewport status\n"
 )
 {
-	int viewport;
-	if (PyArg_ParseTuple(args,"i",&viewport))
-	{
-		if(viewport)
-			EnableViewport(true);
-		else
-			EnableViewport(false);
-	}
-	else {
+	int viewport = PyObject_IsTrue(value);
+	
+	if (viewport == -1) {
+		PyErr_SetString(PyExc_ValueError, "expected True/False or 0/1");
 		return NULL;
 	}
 	
-	Py_Return;
+	if(viewport)
+		EnableViewport(true);
+	else
+		EnableViewport(false);
+	
+	Py_RETURN_NONE;
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, setViewport,
+KX_PYMETHODDEF_DOC_VARARGS(KX_Camera, setViewport,
 "setViewport(left, bottom, right, top)\n"
 "Sets this camera's viewport\n")
 {
 	int left, bottom, right, top;
-	if (PyArg_ParseTuple(args,"iiii",&left, &bottom, &right, &top))
-	{
-		SetViewport(left, bottom, right, top);
-	} else {
+	if (!PyArg_ParseTuple(args,"iiii:setViewport",&left, &bottom, &right, &top))
 		return NULL;
-	}
-	Py_Return;
+	
+	SetViewport(left, bottom, right, top);
+	Py_RETURN_NONE;
 }
 
-KX_PYMETHODDEF_DOC(KX_Camera, setOnTop,
+KX_PYMETHODDEF_DOC_NOARGS(KX_Camera, setOnTop,
 "setOnTop()\n"
 "Sets this camera's viewport on top\n")
 {
@@ -863,5 +854,5 @@ KX_PYMETHODDEF_DOC(KX_Camera, setOnTop,
 	scene = KX_GetActiveScene();
 	MT_assert(scene);
 	scene->SetCameraOnTop(this);
-	Py_Return;
+	Py_RETURN_NONE;
 }
diff --git a/source/gameengine/Ketsji/KX_Camera.h b/source/gameengine/Ketsji/KX_Camera.h
index 75d574cd697..efd18f99390 100644
--- a/source/gameengine/Ketsji/KX_Camera.h
+++ b/source/gameengine/Ketsji/KX_Camera.h
@@ -126,7 +126,7 @@ protected:
 	void ExtractFrustumSphere();
 public:
 
-	typedef enum { INSIDE, INTERSECT, OUTSIDE } ;
+	enum { INSIDE, INTERSECT, OUTSIDE } ;
 
 	KX_Camera(void* sgReplicationInfo,SG_Callbacks callbacks,const RAS_CameraData& camdata, bool frustum_culling = true, PyTypeObject *T = &Type);
 	virtual ~KX_Camera();
@@ -257,21 +257,21 @@ public:
 	int GetViewportTop() const;
 
 
-	KX_PYMETHOD_DOC(KX_Camera, sphereInsideFrustum);
-	KX_PYMETHOD_DOC(KX_Camera, boxInsideFrustum);
-	KX_PYMETHOD_DOC(KX_Camera, pointInsideFrustum);
+	KX_PYMETHOD_DOC_VARARGS(KX_Camera, sphereInsideFrustum);
+	KX_PYMETHOD_DOC_O(KX_Camera, boxInsideFrustum);
+	KX_PYMETHOD_DOC_O(KX_Camera, pointInsideFrustum);
 	
-	KX_PYMETHOD_DOC(KX_Camera, getCameraToWorld);
-	KX_PYMETHOD_DOC(KX_Camera, getWorldToCamera);
-	KX_PYMETHOD_DOC(KX_Camera, getProjectionMatrix);
-	KX_PYMETHOD_DOC(KX_Camera, setProjectionMatrix);
+	KX_PYMETHOD_DOC_NOARGS(KX_Camera, getCameraToWorld);
+	KX_PYMETHOD_DOC_NOARGS(KX_Camera, getWorldToCamera);
+	KX_PYMETHOD_DOC_NOARGS(KX_Camera, getProjectionMatrix);
+	KX_PYMETHOD_DOC_O(KX_Camera, setProjectionMatrix);
 	
-	KX_PYMETHOD_DOC(KX_Camera, enableViewport);
-	KX_PYMETHOD_DOC(KX_Camera, setViewport);	
-	KX_PYMETHOD_DOC(KX_Camera, setOnTop);	
+	KX_PYMETHOD_DOC_O(KX_Camera, enableViewport);
+	KX_PYMETHOD_DOC_VARARGS(KX_Camera, setViewport);	
+	KX_PYMETHOD_DOC_NOARGS(KX_Camera, setOnTop);	
 
-	virtual PyObject* _getattr(const STR_String& attr); /* lens, near, far, projection_matrix */
-	virtual int       _setattr(const STR_String& attr, PyObject *pyvalue);
+	virtual PyObject* _getattr(const char *attr); /* lens, near, far, projection_matrix */
+	virtual int       _setattr(const char *attr, PyObject *pyvalue);
 
 };
 
diff --git a/source/gameengine/Ketsji/KX_CameraActuator.cpp b/source/gameengine/Ketsji/KX_CameraActuator.cpp
index 4d24e83843e..30ecc5ad441 100644
--- a/source/gameengine/Ketsji/KX_CameraActuator.cpp
+++ b/source/gameengine/Ketsji/KX_CameraActuator.cpp
@@ -33,6 +33,7 @@
 #include "KX_CameraActuator.h"
 #include <iostream>
 #include <math.h>
+#include <float.h>
 #include "KX_GameObject.h"
 
 #include "PyObjectPlus.h" 
@@ -52,9 +53,9 @@ STR_String KX_CameraActuator::Y_AXIS_STRING = "y";
 KX_CameraActuator::KX_CameraActuator(
 	SCA_IObject* gameobj, 
 	SCA_IObject *obj,
-	MT_Scalar hght,
-	MT_Scalar minhght,
-	MT_Scalar maxhght,
+	float hght,
+	float minhght,
+	float maxhght,
 	bool  xytog,
 	PyTypeObject* T
 ): 
@@ -397,6 +398,7 @@ PyParentObject KX_CameraActuator::Parents[] = {
 };
 
 PyMethodDef KX_CameraActuator::Methods[] = {
+	// ---> deprecated (all)
 	{"setObject",(PyCFunction) KX_CameraActuator::sPySetObject, METH_O,			(PY_METHODCHAR)SetObject_doc},
 	{"getObject",(PyCFunction) KX_CameraActuator::sPyGetObject, METH_VARARGS,	(PY_METHODCHAR)GetObject_doc},
 	{"setMin"	,(PyCFunction) KX_CameraActuator::sPySetMin,	METH_VARARGS,	(PY_METHODCHAR)SetMin_doc},
@@ -410,9 +412,54 @@ PyMethodDef KX_CameraActuator::Methods[] = {
 	{NULL,NULL,NULL,NULL} //Sentinel
 };
 
-PyObject* KX_CameraActuator::_getattr(const STR_String& attr) {
+PyAttributeDef KX_CameraActuator::Attributes[] = {
+	KX_PYATTRIBUTE_FLOAT_RW("min",-FLT_MAX,FLT_MAX,KX_CameraActuator,m_minHeight),
+	KX_PYATTRIBUTE_FLOAT_RW("max",-FLT_MAX,FLT_MAX,KX_CameraActuator,m_maxHeight),
+	KX_PYATTRIBUTE_FLOAT_RW("height",-FLT_MAX,FLT_MAX,KX_CameraActuator,m_height),
+	KX_PYATTRIBUTE_BOOL_RW("xy",KX_CameraActuator,m_x),
+	{NULL}
+};
+
+PyObject* KX_CameraActuator::_getattr(const char *attr) {
+	PyObject* object;
+	
+	if (!strcmp(attr, "object")) {
+		if (!m_ob)	Py_RETURN_NONE;
+		else		return m_ob->AddRef();
+	}
+	
+	object = _getattr_self(Attributes, this, attr);
+	if (object != NULL)
+		return object;
 	_getattr_up(SCA_IActuator);
 }
+
+int KX_CameraActuator::_setattr(const char *attr, PyObject* value) {
+	int ret;
+	
+	if (!strcmp(attr, "object")) {
+		KX_GameObject *gameobj;
+		
+		if (!ConvertPythonToGameObject(value, &gameobj, true))
+			return 1; // ConvertPythonToGameObject sets the error
+		
+		if (m_ob != NULL)
+			m_ob->UnregisterActuator(this);	
+
+		m_ob = (SCA_IObject*)gameobj;
+		
+		if (m_ob)
+			m_ob->RegisterActuator(this);
+		
+		return 0;
+	}
+	
+	ret = _setattr_self(Attributes, this, attr, value);
+	if (ret >= 0)
+		return ret;
+	return SCA_IActuator::_setattr(attr, value);
+}
+
 /* get obj  ---------------------------------------------------------- */
 const char KX_CameraActuator::GetObject_doc[] = 
 "getObject(name_only = 1)\n"
@@ -421,6 +468,9 @@ const char KX_CameraActuator::GetObject_doc[] =
 PyObject* KX_CameraActuator::PyGetObject(PyObject* self, PyObject* args)
 {
 	int ret_name_only = 1;
+	
+	ShowDeprecationWarning("getObject()", "the object property");
+	
 	if (!PyArg_ParseTuple(args, "|i", &ret_name_only))
 		return NULL;
 	
@@ -441,6 +491,8 @@ PyObject* KX_CameraActuator::PySetObject(PyObject* self, PyObject* value)
 {
 	KX_GameObject *gameobj;
 	
+	ShowDeprecationWarning("setObject()", "the object property");
+	
 	if (!ConvertPythonToGameObject(value, &gameobj, true))
 		return NULL; // ConvertPythonToGameObject sets the error
 	
@@ -462,6 +514,7 @@ PyObject* KX_CameraActuator::PyGetMin(PyObject* self,
 										PyObject* args, 
 										PyObject* kwds)
 {
+	ShowDeprecationWarning("getMin()", "the min property");
 	return PyFloat_FromDouble(m_minHeight);
 }
 /* set min  ---------------------------------------------------------- */
@@ -472,11 +525,12 @@ PyObject* KX_CameraActuator::PySetMin(PyObject* self,
 										PyObject* args, 
 										PyObject* kwds)
 {
+	ShowDeprecationWarning("setMin()", "the min property");
 	float min;
 	if(PyArg_ParseTuple(args,"f", &min))
 	{
 		m_minHeight = min;
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -488,6 +542,7 @@ PyObject* KX_CameraActuator::PyGetMax(PyObject* self,
 										PyObject* args, 
 										PyObject* kwds)
 {
+	ShowDeprecationWarning("getMax()", "the max property");
 	return PyFloat_FromDouble(m_maxHeight);
 }
 /* set min  ---------------------------------------------------------- */
@@ -498,11 +553,12 @@ PyObject* KX_CameraActuator::PySetMax(PyObject* self,
 										PyObject* args, 
 										PyObject* kwds)
 {
+	ShowDeprecationWarning("getMax()", "the max property");
 	float max;
 	if(PyArg_ParseTuple(args,"f", &max))
 	{
 		m_maxHeight = max;
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -514,6 +570,7 @@ PyObject* KX_CameraActuator::PyGetHeight(PyObject* self,
 										PyObject* args, 
 										PyObject* kwds)
 {
+	ShowDeprecationWarning("getHeight()", "the height property");
 	return PyFloat_FromDouble(m_height);
 }
 /* set height  ---------------------------------------------------------- */
@@ -524,11 +581,12 @@ PyObject* KX_CameraActuator::PySetHeight(PyObject* self,
 										PyObject* args, 
 										PyObject* kwds)
 {
+	ShowDeprecationWarning("getHeight()", "the height property");
 	float height;
 	if(PyArg_ParseTuple(args,"f", &height))
 	{
 		m_height = height;
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -541,11 +599,12 @@ PyObject* KX_CameraActuator::PySetXY(PyObject* self,
 										PyObject* args, 
 										PyObject* kwds)
 {
+	ShowDeprecationWarning("setXY()", "the xy property");
 	int value;
 	if(PyArg_ParseTuple(args,"i", &value))
 	{
 		m_x = value != 0;
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	return NULL;
 }
@@ -559,6 +618,7 @@ PyObject* KX_CameraActuator::PyGetXY(PyObject* self,
 										PyObject* args, 
 										PyObject* kwds)
 {
+	ShowDeprecationWarning("getXY()", "the xy property");
 	return PyInt_FromLong(m_x);
 }
 
diff --git a/source/gameengine/Ketsji/KX_CameraActuator.h b/source/gameengine/Ketsji/KX_CameraActuator.h
index d53d12b3b82..3b08536fc21 100644
--- a/source/gameengine/Ketsji/KX_CameraActuator.h
+++ b/source/gameengine/Ketsji/KX_CameraActuator.h
@@ -59,13 +59,13 @@ private :
 	//const MT_Scalar m_maxHeight;
 	
 	/** height (float), */
-	MT_Scalar m_height;
+	float m_height;
 	
 	/** min (float), */
-	MT_Scalar m_minHeight;
+	float m_minHeight;
 	
 	/** max (float), */
-	MT_Scalar m_maxHeight;
+	float m_maxHeight;
 	
 	/** xy toggle (pick one): true == x, false == y */
 	bool m_x;
@@ -88,9 +88,9 @@ private :
 		SCA_IObject *gameobj,
 		//const CValue *ob,
 		SCA_IObject *ob,
-		MT_Scalar hght,
-		MT_Scalar minhght,
-		MT_Scalar maxhght,
+		float hght,
+		float minhght,
+		float maxhght,
 		bool xytog,
 		PyTypeObject* T=&Type
 
@@ -120,8 +120,9 @@ private :
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject* value);
+
 	/* set object to look at */
 	KX_PYMETHOD_DOC_O(KX_CameraActuator,SetObject);
 	/* get current object  */
diff --git a/source/gameengine/Ketsji/KX_ClientObjectInfo.h b/source/gameengine/Ketsji/KX_ClientObjectInfo.h
index 5e8af0f040c..7345edb054b 100644
--- a/source/gameengine/Ketsji/KX_ClientObjectInfo.h
+++ b/source/gameengine/Ketsji/KX_ClientObjectInfo.h
@@ -29,7 +29,10 @@
 #ifndef __KX_CLIENTOBJECT_INFO_H
 #define __KX_CLIENTOBJECT_INFO_H
 
+/* Note, the way this works with/without sumo is a bit odd */
+#ifdef USE_SUMO_SOLID
 #include <SM_Object.h>
+#endif //USE_SUMO_SOLID
 
 #include <list>
 
@@ -38,7 +41,10 @@ class KX_GameObject;
 /**
  * Client Type and Additional Info. This structure can be use instead of a bare void* pointer, for safeness, and additional info for callbacks
  */
-struct KX_ClientObjectInfo : public SM_ClientObject
+struct KX_ClientObjectInfo
+#ifdef USE_SUMO_SOLID
+  : public SM_ClientObject
+#endif
 {
 	enum clienttype {
 		STATIC,
@@ -52,14 +58,18 @@ struct KX_ClientObjectInfo : public SM_ClientObject
 	std::list<SCA_ISensor*>	m_sensors;
 public:
 	KX_ClientObjectInfo(KX_GameObject *gameobject, clienttype type = STATIC, void *auxilary_info = NULL) :
+#ifdef USE_SUMO_SOLID
 		SM_ClientObject(),
+#endif
 		m_type(type),
 		m_gameobject(gameobject),
 		m_auxilary_info(auxilary_info)
 	{}
 	
-	KX_ClientObjectInfo(const KX_ClientObjectInfo &copy)
-		: SM_ClientObject(copy),
+	KX_ClientObjectInfo(const KX_ClientObjectInfo &copy) :
+#ifdef USE_SUMO_SOLID		
+		  SM_ClientObject(copy),
+#endif
 		  m_type(copy.m_type),
 		  m_gameobject(copy.m_gameobject),
 		  m_auxilary_info(copy.m_auxilary_info)
diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
index 76357e9c58f..fba9544d702 100644
--- a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
@@ -56,9 +56,9 @@ KX_ConstraintActuator::KX_ConstraintActuator(SCA_IObject *gameobj,
 											 int option,
 											 char *property,
 											 PyTypeObject* T) : 
+	SCA_IActuator(gameobj, T),
 	m_refDirection(refDir),
-	m_currentTime(0),
-	SCA_IActuator(gameobj, T)
+	m_currentTime(0)
 {
 	m_posDampTime = posDampTime;
 	m_rotDampTime = rotDampTime;
@@ -612,7 +612,11 @@ PyMethodDef KX_ConstraintActuator::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* KX_ConstraintActuator::_getattr(const STR_String& attr) {
+PyAttributeDef KX_ConstraintActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_ConstraintActuator::_getattr(const char *attr) {
 	_getattr_up(SCA_IActuator);
 }
 
@@ -633,7 +637,7 @@ PyObject* KX_ConstraintActuator::PySetDamp(PyObject* self,
 	m_posDampTime = dampArg;
 	if (m_posDampTime < 0) m_posDampTime = 0;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 3. getDamp                                                                */
 const char KX_ConstraintActuator::GetDamp_doc[] = 
@@ -660,7 +664,7 @@ PyObject* KX_ConstraintActuator::PySetRotDamp(PyObject* self,
 	m_rotDampTime = dampArg;
 	if (m_rotDampTime < 0) m_rotDampTime = 0;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 3. getRotDamp                                                                */
 const char KX_ConstraintActuator::GetRotDamp_doc[] = 
@@ -695,7 +699,7 @@ PyObject* KX_ConstraintActuator::PySetDirection(PyObject* self,
 	}
 	m_refDirection = dir/len;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 3. getDirection                                                                */
 const char KX_ConstraintActuator::GetDirection_doc[] = 
@@ -730,7 +734,7 @@ PyObject* KX_ConstraintActuator::PySetOption(PyObject* self,
 	
 	m_option = option;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 3. getOption                                                              */
 const char KX_ConstraintActuator::GetOption_doc[] = 
@@ -759,7 +763,7 @@ PyObject* KX_ConstraintActuator::PySetTime(PyObject* self,
 		t = 0;
 	m_activeTime = t;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 3. getTime                                                                */
 const char KX_ConstraintActuator::GetTime_doc[] = 
@@ -789,7 +793,7 @@ PyObject* KX_ConstraintActuator::PySetProperty(PyObject* self,
 		m_property[sizeof(m_property)-1] = 0;
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 3. getProperty                                                                */
 const char KX_ConstraintActuator::GetProperty_doc[] = 
@@ -829,7 +833,7 @@ PyObject* KX_ConstraintActuator::PySetMin(PyObject* self,
 		break;
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 5. getDistance                                                                 */
 const char KX_ConstraintActuator::GetDistance_doc[] = 
@@ -874,7 +878,7 @@ PyObject* KX_ConstraintActuator::PySetMax(PyObject* self,
 		break;
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 7. getRayLength                                                                 */
 const char KX_ConstraintActuator::GetRayLength_doc[] = 
@@ -918,7 +922,7 @@ PyObject* KX_ConstraintActuator::PySetLimit(PyObject* self,
 	
 	if (IsValidMode((KX_CONSTRAINTTYPE)locrotArg)) m_locrot = locrotArg;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 9. getLimit                                                               */
 const char KX_ConstraintActuator::GetLimit_doc[] = 
diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.h b/source/gameengine/Ketsji/KX_ConstraintActuator.h
index 28b9b1e6a0b..132b8a7328a 100644
--- a/source/gameengine/Ketsji/KX_ConstraintActuator.h
+++ b/source/gameengine/Ketsji/KX_ConstraintActuator.h
@@ -142,7 +142,7 @@ protected:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 	KX_PYMETHOD_DOC(KX_ConstraintActuator,SetDamp);
 	KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetDamp);
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
index c9095ff34f6..f014c1896fe 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
@@ -92,32 +92,30 @@ PyParentObject KX_ConstraintWrapper::Parents[] = {
 	NULL
 };
 
-PyObject*	KX_ConstraintWrapper::_getattr(const STR_String& attr)
+PyObject*	KX_ConstraintWrapper::_getattr(const char *attr)
 {
 	//here you can search for existing data members (like mass,friction etc.)
 	_getattr_up(PyObjectPlus);
 }
 
-int	KX_ConstraintWrapper::_setattr(const STR_String& attr,PyObject* pyobj)
+int	KX_ConstraintWrapper::_setattr(const char *attr,PyObject* pyobj)
 {
-	
-	PyTypeObject* type = pyobj->ob_type;
 	int result = 1;
 
-	if (type == &PyList_Type)
+	if (PyList_Check(pyobj))
 	{
 		result = 0;
 	}
-	if (type == &PyFloat_Type)
+	if (PyFloat_Check(pyobj))
 	{
 		result = 0;
 
 	}
-	if (type == &PyInt_Type)
+	if (PyInt_Check(pyobj))
 	{
 		result = 0;
 	}
-	if (type == &PyString_Type)
+	if (PyString_Check(pyobj))
 	{
 		result = 0;
 	}
@@ -132,3 +130,7 @@ PyMethodDef KX_ConstraintWrapper::Methods[] = {
 	{"getConstraintId",(PyCFunction) KX_ConstraintWrapper::sPyGetConstraintId, METH_VARARGS},
 	{NULL,NULL} //Sentinel
 };
+
+PyAttributeDef KX_ConstraintWrapper::Attributes[] = {
+	{ NULL }	//Sentinel
+};
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.h b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
index 79fb3dc21aa..36606d2d67b 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.h
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
@@ -35,8 +35,8 @@
 class	KX_ConstraintWrapper : public PyObjectPlus
 {
 	Py_Header;
-	virtual PyObject*		_getattr(const STR_String& attr);
-	virtual int 			_setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject*		_getattr(const char *attr);
+	virtual int 			_setattr(const char *attr, PyObject *value);
 public:
 	KX_ConstraintWrapper(PHY_ConstraintType ctype,int constraintId,class PHY_IPhysicsEnvironment* physenv,PyTypeObject *T = &Type);
 	virtual ~KX_ConstraintWrapper ();
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
index 53486cecf73..3534500e619 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
@@ -32,7 +32,7 @@
 /* These are defined by the build system... */
 //but the build system is broken, because it doesn't allow for 2 or more defines at once.
 //Please leave Sumo _AND_ Bullet enabled
-#define USE_SUMO_SOLID
+//#define USE_SUMO_SOLID // scons defines this
 #define USE_BULLET
 
 //#define USE_ODE
@@ -127,6 +127,14 @@ struct KX_ObjectProperties
 
 	/////////////////////////
 	
+	bool	m_lockXaxis;
+	bool	m_lockYaxis;
+	bool	m_lockZaxis;
+	bool	m_lockXRotaxis;
+	bool	m_lockYRotaxis;
+	bool	m_lockZRotaxis;
+
+	/////////////////////////
 	double  m_margin;
 	KX_BoundBoxClass	m_boundclass;
 	union {
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 46e46b014b5..602486e0017 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -1101,8 +1101,24 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	{
 		btRigidBody* rbody = physicscontroller->GetRigidBody();
 
-		if (rbody && objprop->m_disableSleeping)
-			rbody->setActivationState(DISABLE_DEACTIVATION);
+		if (rbody)
+		{
+			btVector3 linearFactor(
+				objprop->m_lockXaxis? 0 : 1,
+				objprop->m_lockYaxis? 0 : 1,
+				objprop->m_lockZaxis? 0 : 1);
+			btVector3 angularFactor(
+				objprop->m_lockXRotaxis? 0 : 1,
+				objprop->m_lockYRotaxis? 0 : 1,
+				objprop->m_lockZRotaxis? 0 : 1);
+			rbody->setLinearFactor(linearFactor);
+			rbody->setAngularFactor(angularFactor);
+
+			if (rbody && objprop->m_disableSleeping)
+			{
+				rbody->setActivationState(DISABLE_DEACTIVATION);
+			}
+		}
 	}
 
 	CcdPhysicsController* parentCtrl = objprop->m_dynamic_parent ? (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController() : 0;
diff --git a/source/gameengine/Ketsji/KX_GameActuator.cpp b/source/gameengine/Ketsji/KX_GameActuator.cpp
index 76459e46731..3c0695b5952 100644
--- a/source/gameengine/Ketsji/KX_GameActuator.cpp
+++ b/source/gameengine/Ketsji/KX_GameActuator.cpp
@@ -132,7 +132,7 @@ bool KX_GameActuator::Update()
 			{
 				char mashal_path[512];
 				char *marshal_buffer = NULL;
-				int marshal_length;
+				unsigned int marshal_length;
 				FILE *fp = NULL;
 				
 				pathGamePythonConfig(mashal_path);
@@ -246,6 +246,10 @@ PyMethodDef KX_GameActuator::Methods[] =
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_GameActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
 /* getFile */
 const char KX_GameActuator::GetFile_doc[] = 
 "getFile()\n"
@@ -270,13 +274,13 @@ PyObject* KX_GameActuator::PySetFile(PyObject* self, PyObject* args, PyObject* k
 	
 	m_filename = STR_String(new_file);
 
-	Py_Return;
+	Py_RETURN_NONE;
 
 }
 	
 
 
-PyObject* KX_GameActuator::_getattr(const STR_String& attr)
+PyObject* KX_GameActuator::_getattr(const char *attr)
 {
 	_getattr_up(SCA_IActuator);
 }
diff --git a/source/gameengine/Ketsji/KX_GameActuator.h b/source/gameengine/Ketsji/KX_GameActuator.h
index bb3448995dc..856fa0c24e9 100644
--- a/source/gameengine/Ketsji/KX_GameActuator.h
+++ b/source/gameengine/Ketsji/KX_GameActuator.h
@@ -77,7 +77,7 @@ protected:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 	KX_PYMETHOD_DOC(KX_GameActuator,GetFile);
 	KX_PYMETHOD_DOC(KX_GameActuator,SetFile);
 	
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index 42316c6c873..95df9d51a26 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -521,7 +521,7 @@ KX_GameObject::UpdateMaterialData(
 			{
 				KX_BlenderMaterial *m =  static_cast<KX_BlenderMaterial*>(poly);
 				
-				if (matname_hash == NULL)
+				if (matname_hash == 0)
 				{
 					m->UpdateIPO(rgba, specrgb,hard,spec,ref,emit, alpha);
 					// if mesh has only one material attached to it then use original hack with no need to edit vertices (better performance)
@@ -690,9 +690,9 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac)
 	switch (axis)
 	{	
 		case 0: //x axis
-			ori = MT_Vector3(orimat[0][2], orimat[1][2], orimat[2][2]); //pivot axis
+			ori.setValue(orimat[0][2], orimat[1][2], orimat[2][2]); //pivot axis
 			if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON) //is the vector paralell to the pivot?
-				ori = MT_Vector3(orimat[0][1], orimat[1][1], orimat[2][1]); //change the pivot!
+				ori.setValue(orimat[0][1], orimat[1][1], orimat[2][1]); //change the pivot!
 			if (fac == 1.0) {
 				x = vect;
 			} else {
@@ -705,9 +705,9 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac)
 			z = x.cross(y);
 			break;
 		case 1: //y axis
-			ori = MT_Vector3(orimat[0][0], orimat[1][0], orimat[2][0]);
+			ori.setValue(orimat[0][0], orimat[1][0], orimat[2][0]);
 			if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
-				ori = MT_Vector3(orimat[0][2], orimat[1][2], orimat[2][2]);
+				ori.setValue(orimat[0][2], orimat[1][2], orimat[2][2]);
 			if (fac == 1.0) {
 				y = vect;
 			} else {
@@ -720,9 +720,9 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac)
 			x = y.cross(z);
 			break;
 		case 2: //z axis
-			ori = MT_Vector3(orimat[0][1], orimat[1][1], orimat[2][1]);
+			ori.setValue(orimat[0][1], orimat[1][1], orimat[2][1]);
 			if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
-				ori = MT_Vector3(orimat[0][0], orimat[1][0], orimat[2][0]);
+				ori.setValue(orimat[0][0], orimat[1][0], orimat[2][0]);
 			if (fac == 1.0) {
 				z = vect;
 			} else {
@@ -741,9 +741,9 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac)
 	x.normalize(); //normalize the vectors
 	y.normalize();
 	z.normalize();
-	orimat = MT_Matrix3x3(	x[0],y[0],z[0],
-							x[1],y[1],z[1],
-							x[2],y[2],z[2]);
+	orimat.setValue(	x[0],y[0],z[0],
+						x[1],y[1],z[1],
+						x[2],y[2],z[2]);
 	if (GetSGNode()->GetSGParent() != NULL)
 	{
 		// the object is a child, adapt its local orientation so that 
@@ -945,13 +945,11 @@ const MT_Vector3& KX_GameObject::NodeGetWorldScaling() const
 
 const MT_Point3& KX_GameObject::NodeGetWorldPosition() const
 {
-	static MT_Point3 defaultPosition = MT_Point3(0.0, 0.0, 0.0);
-
 	// check on valid node in case a python controller holds a reference to a deleted object
-	if (!GetSGNode())
-		return defaultPosition;
-
-	return GetSGNode()->GetWorldPosition();
+	if (GetSGNode())
+		return GetSGNode()->GetWorldPosition();
+	else
+		return MT_Point3(0.0, 0.0, 0.0);
 }
 
 /* Suspend/ resume: for the dynamic behaviour, there is a simple
@@ -1030,11 +1028,14 @@ PyMethodDef KX_GameObject::Methods[] = {
 	{"endObject",(PyCFunction) KX_GameObject::sPyEndObject, METH_NOARGS},
 	KX_PYMETHODTABLE(KX_GameObject, rayCastTo),
 	KX_PYMETHODTABLE(KX_GameObject, rayCast),
-	KX_PYMETHODTABLE(KX_GameObject, getDistanceTo),
-	KX_PYMETHODTABLE(KX_GameObject, getVectTo),
+	KX_PYMETHODTABLE_O(KX_GameObject, getDistanceTo),
+	KX_PYMETHODTABLE_O(KX_GameObject, getVectTo),
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_GameObject::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
 
 /*
@@ -1124,40 +1125,39 @@ PyParentObject KX_GameObject::Parents[] = {
 
 
 
-PyObject* KX_GameObject::_getattr(const STR_String& attr)
+PyObject* KX_GameObject::_getattr(const char *attr)
 {
 	if (m_pPhysicsController1)
 	{
-		if (attr == "mass")
+		if (!strcmp(attr, "mass"))
 			return PyFloat_FromDouble(m_pPhysicsController1->GetMass());
 	}
 
-	if (attr == "parent")
+	if (!strcmp(attr, "parent"))
 	{	
 		KX_GameObject* parent = GetParent();
 		if (parent)
-		{
-			parent->AddRef();
-			return parent;
-		}
+			return parent->AddRef();
 		Py_RETURN_NONE;
 	}
 
-	if (attr == "visible")
+	if (!strcmp(attr, "visible"))
 		return PyInt_FromLong(m_bVisible);
 	
-	if (attr == "position")
+	if (!strcmp(attr, "position"))
 		return PyObjectFrom(NodeGetWorldPosition());
 	
-	if (attr == "orientation")
+	if (!strcmp(attr, "orientation"))
 		return PyObjectFrom(NodeGetWorldOrientation());
 	
-	if (attr == "scaling")
+	if (!strcmp(attr, "scaling"))
 		return PyObjectFrom(NodeGetWorldScaling());
 		
-	if (attr == "name")
+	if (!strcmp(attr, "name"))
 		return PyString_FromString(m_name.ReadPtr());
-	if (attr == "timeOffset") {
+	
+	if (!strcmp(attr, "timeOffset"))
+	{
 		if (m_pSGNode->GetSGParent()->IsSlowParent()) {
 			return PyFloat_FromDouble(static_cast<KX_SlowParentRelation *>(m_pSGNode->GetSGParent()->GetParentRelation())->GetTimeOffset());
 		} else {
@@ -1169,18 +1169,18 @@ PyObject* KX_GameObject::_getattr(const STR_String& attr)
 	_getattr_up(SCA_IObject);
 }
 
-int KX_GameObject::_setattr(const STR_String& attr, PyObject *value)	// _setattr method
+int KX_GameObject::_setattr(const char *attr, PyObject *value)	// _setattr method
 {
 	
-	if (attr == "parent") {
-		PyErr_SetString(PyExc_AttributeError, "attribute \"mass\" is read only\nUse setParent()");
+	if (!strcmp(attr, "parent")) {
+		PyErr_SetString(PyExc_AttributeError, "attribute \"parent\" is read only\nUse setParent()");
 		return 1;
 	}
 		
 	if (PyInt_Check(value))
 	{
 		int val = PyInt_AsLong(value);
-		if (attr == "visible")
+		if (!strcmp(attr, "visible"))
 		{
 			SetVisible(val != 0, false);
 			UpdateBuckets(false);
@@ -1191,7 +1191,7 @@ int KX_GameObject::_setattr(const STR_String& attr, PyObject *value)	// _setattr
 	if (PyFloat_Check(value))
 	{
 		MT_Scalar val = PyFloat_AsDouble(value);
-		if (attr == "timeOffset") {
+		if (!strcmp(attr, "timeOffset")) {
 			if (m_pSGNode->GetSGParent() && m_pSGNode->GetSGParent()->IsSlowParent()) {
 				static_cast<KX_SlowParentRelation *>(m_pSGNode->GetSGParent()->GetParentRelation())->SetTimeOffset(val);
 				return 0;
@@ -1199,7 +1199,7 @@ int KX_GameObject::_setattr(const STR_String& attr, PyObject *value)	// _setattr
 				return 0;
 			}		
 		}
-		if (attr == "mass") {
+		if (!strcmp(attr, "mass")) {
 			if (m_pPhysicsController1)
 				m_pPhysicsController1->SetMass(val);
 			return 0;
@@ -1208,7 +1208,7 @@ int KX_GameObject::_setattr(const STR_String& attr, PyObject *value)	// _setattr
 	
 	if (PySequence_Check(value))
 	{
-		if (attr == "orientation")
+		if (!strcmp(attr, "orientation"))
 		{
 			MT_Matrix3x3 rot;
 			if (PyObject_IsMT_Matrix(value, 3))
@@ -1251,7 +1251,7 @@ int KX_GameObject::_setattr(const STR_String& attr, PyObject *value)	// _setattr
 			return 1;
 		}
 		
-		if (attr == "position")
+		if (!strcmp(attr, "position"))
 		{
 			MT_Point3 pos;
 			if (PyVecTo(value, pos))
@@ -1263,7 +1263,7 @@ int KX_GameObject::_setattr(const STR_String& attr, PyObject *value)	// _setattr
 			return 1;
 		}
 		
-		if (attr == "scaling")
+		if (!strcmp(attr, "scaling"))
 		{
 			MT_Vector3 scale;
 			if (PyVecTo(value, scale))
@@ -1278,10 +1278,16 @@ int KX_GameObject::_setattr(const STR_String& attr, PyObject *value)	// _setattr
 	
 	if (PyString_Check(value))
 	{
-		if (attr == "name")
+		if (!strcmp(attr, "name"))	
 		{
+#if 0		// was added in revision 2832, but never took into account Object name mappings from revision 2
+			// unlikely anyone ever used this successfully , removing.
 			m_name = PyString_AsString(value);
 			return 0;
+#else
+			PyErr_SetString(PyExc_AttributeError, "object name readonly");
+			return 1;
+#endif
 		}
 	}
 	
@@ -1295,7 +1301,7 @@ PyObject* KX_GameObject::PyApplyForce(PyObject* self, PyObject* args)
 	int local = 0;
 	PyObject* pyvect;
 
-	if (PyArg_ParseTuple(args, "O|i", &pyvect, &local)) {
+	if (PyArg_ParseTuple(args, "O|i:applyForce", &pyvect, &local)) {
 		MT_Vector3 force;
 		if (PyVecTo(pyvect, force)) {
 			ApplyForce(force, (local!=0));
@@ -1310,7 +1316,7 @@ PyObject* KX_GameObject::PyApplyTorque(PyObject* self, PyObject* args)
 	int local = 0;
 	PyObject* pyvect;
 
-	if (PyArg_ParseTuple(args, "O|i", &pyvect, &local)) {
+	if (PyArg_ParseTuple(args, "O|i:applyTorque", &pyvect, &local)) {
 		MT_Vector3 torque;
 		if (PyVecTo(pyvect, torque)) {
 			ApplyTorque(torque, (local!=0));
@@ -1325,7 +1331,7 @@ PyObject* KX_GameObject::PyApplyRotation(PyObject* self, PyObject* args)
 	int local = 0;
 	PyObject* pyvect;
 
-	if (PyArg_ParseTuple(args, "O|i", &pyvect, &local)) {
+	if (PyArg_ParseTuple(args, "O|i:applyRotation", &pyvect, &local)) {
 		MT_Vector3 rotation;
 		if (PyVecTo(pyvect, rotation)) {
 			ApplyRotation(rotation, (local!=0));
@@ -1340,7 +1346,7 @@ PyObject* KX_GameObject::PyApplyMovement(PyObject* self, PyObject* args)
 	int local = 0;
 	PyObject* pyvect;
 
-	if (PyArg_ParseTuple(args, "O|i", &pyvect, &local)) {
+	if (PyArg_ParseTuple(args, "O|i:applyMovement", &pyvect, &local)) {
 		MT_Vector3 movement;
 		if (PyVecTo(pyvect, movement)) {
 			ApplyMovement(movement, (local!=0));
@@ -1354,7 +1360,7 @@ PyObject* KX_GameObject::PyGetLinearVelocity(PyObject* self, PyObject* args)
 {
 	// only can get the velocity if we have a physics object connected to us...
 	int local = 0;
-	if (PyArg_ParseTuple(args,"|i",&local))
+	if (PyArg_ParseTuple(args,"|i:getLinearVelocity",&local))
 	{
 		return PyObjectFrom(GetLinearVelocity((local!=0)));
 	}
@@ -1369,7 +1375,7 @@ PyObject* KX_GameObject::PySetLinearVelocity(PyObject* self, PyObject* args)
 	int local = 0;
 	PyObject* pyvect;
 	
-	if (PyArg_ParseTuple(args,"O|i",&pyvect,&local)) {
+	if (PyArg_ParseTuple(args,"O|i:setLinearVelocity",&pyvect,&local)) {
 		MT_Vector3 velocity;
 		if (PyVecTo(pyvect, velocity)) {
 			setLinearVelocity(velocity, (local!=0));
@@ -1383,7 +1389,7 @@ PyObject* KX_GameObject::PyGetAngularVelocity(PyObject* self, PyObject* args)
 {
 	// only can get the velocity if we have a physics object connected to us...
 	int local = 0;
-	if (PyArg_ParseTuple(args,"|i",&local))
+	if (PyArg_ParseTuple(args,"|i:getAngularVelocity",&local))
 	{
 		return PyObjectFrom(GetAngularVelocity((local!=0)));
 	}
@@ -1398,7 +1404,7 @@ PyObject* KX_GameObject::PySetAngularVelocity(PyObject* self, PyObject* args)
 	int local = 0;
 	PyObject* pyvect;
 	
-	if (PyArg_ParseTuple(args,"O|i",&pyvect,&local)) {
+	if (PyArg_ParseTuple(args,"O|i:setAngularVelocity",&pyvect,&local)) {
 		MT_Vector3 velocity;
 		if (PyVecTo(pyvect, velocity)) {
 			setAngularVelocity(velocity, (local!=0));
@@ -1411,7 +1417,7 @@ PyObject* KX_GameObject::PySetAngularVelocity(PyObject* self, PyObject* args)
 PyObject* KX_GameObject::PySetVisible(PyObject* self, PyObject* args)
 {
 	int visible, recursive = 0;
-	if (!PyArg_ParseTuple(args,"i|i",&visible, &recursive))
+	if (!PyArg_ParseTuple(args,"i|i:setVisible",&visible, &recursive))
 		return NULL;
 	
 	SetVisible(visible ? true:false, recursive ? true:false);
@@ -1457,12 +1463,10 @@ PyObject* KX_GameObject::PySetState(PyObject* self, PyObject* value)
 PyObject* KX_GameObject::PyGetVelocity(PyObject* self, PyObject* args)
 {
 	// only can get the velocity if we have a physics object connected to us...
-	MT_Vector3 velocity(0.0,0.0,0.0);
 	MT_Point3 point(0.0,0.0,0.0);
-	
-	
 	PyObject* pypos = NULL;
-	if (PyArg_ParseTuple(args, "|O", &pypos))
+	
+	if (PyArg_ParseTuple(args, "|O:getVelocity", &pypos))
 	{
 		if (pypos)
 			PyVecTo(pypos, point);
@@ -1473,10 +1477,11 @@ PyObject* KX_GameObject::PyGetVelocity(PyObject* self, PyObject* args)
 	
 	if (m_pPhysicsController1)
 	{
-		velocity = m_pPhysicsController1->GetVelocity(point);
+		return PyObjectFrom(m_pPhysicsController1->GetVelocity(point));
+	}
+	else {
+		return PyObjectFrom(MT_Vector3(0.0,0.0,0.0));
 	}
-	
-	return PyObjectFrom(velocity);
 }
 
 
@@ -1518,10 +1523,7 @@ PyObject* KX_GameObject::PyGetParent(PyObject* self)
 {
 	KX_GameObject* parent = this->GetParent();
 	if (parent)
-	{
-		parent->AddRef();
-		return parent;
-	}
+		return parent->AddRef();
 	Py_RETURN_NONE;
 }
 
@@ -1590,7 +1592,7 @@ PyObject* KX_GameObject::PyGetMesh(PyObject* self, PyObject* args)
 {
 	int mesh = 0;
 
-	if (!PyArg_ParseTuple(args, "|i", &mesh))
+	if (!PyArg_ParseTuple(args, "|i:getMesh", &mesh))
 		return NULL; // python sets a simple error
 	
 	if (((unsigned int)mesh < m_meshes.size()) && mesh >= 0)
@@ -1636,7 +1638,7 @@ PyObject* KX_GameObject::PyApplyImpulse(PyObject* self, PyObject* args)
 		return NULL;
 	}
 	
-	if (PyArg_ParseTuple(args, "OO", &pyattach, &pyimpulse))
+	if (PyArg_ParseTuple(args, "OO:applyImpulse", &pyattach, &pyimpulse))
 	{
 		MT_Point3  attach;
 		MT_Vector3 impulse;
@@ -1703,7 +1705,7 @@ PyObject* KX_GameObject::PyAlignAxisToVect(PyObject* self, PyObject* args)
 	int axis = 2; //z axis is the default
 	float fac = 1.0;
 	
-	if (PyArg_ParseTuple(args,"O|if",&pyvect,&axis, &fac))
+	if (PyArg_ParseTuple(args,"O|if:alignAxisToVect",&pyvect,&axis, &fac))
 	{
 		MT_Vector3 vect;
 		if (PyVecTo(pyvect, vect))
@@ -1771,19 +1773,18 @@ PyObject* KX_GameObject::PyGetPropertyNames(PyObject* self)
 	return ConvertKeysToPython();
 }
 
-KX_PYMETHODDEF_DOC(KX_GameObject, getDistanceTo,
+KX_PYMETHODDEF_DOC_O(KX_GameObject, getDistanceTo,
 "getDistanceTo(other): get distance to another point/KX_GameObject")
 {
 	MT_Point3 b;
-	if (PyVecArgTo(args, b))
+	if (PyVecTo(value, b))
 	{
 		return PyFloat_FromDouble(NodeGetWorldPosition().distance(b));
 	}
 	PyErr_Clear();
 	
-	PyObject *pyother;
 	KX_GameObject *other;
-	if (PyArg_ParseTuple(args, "O", &pyother) && ConvertPythonToGameObject(pyother, &other, false))
+	if (ConvertPythonToGameObject(value, &other, false))
 	{
 		return PyFloat_FromDouble(NodeGetWorldPosition().distance(other->NodeGetWorldPosition()));
 	}
@@ -1791,7 +1792,7 @@ KX_PYMETHODDEF_DOC(KX_GameObject, getDistanceTo,
 	return NULL;
 }
 
-KX_PYMETHODDEF_DOC(KX_GameObject, getVectTo,
+KX_PYMETHODDEF_DOC_O(KX_GameObject, getVectTo,
 "getVectTo(other): get vector and the distance to another point/KX_GameObject\n"
 "Returns a 3-tuple with (distance,worldVector,localVector)\n")
 {
@@ -1800,14 +1801,13 @@ KX_PYMETHODDEF_DOC(KX_GameObject, getVectTo,
 	MT_Scalar distance;
 
 	PyObject *returnValue;
-	PyObject *pyother;
 
-	if (!PyVecArgTo(args, toPoint))
+	if (!PyVecTo(value, toPoint))
 	{
 		PyErr_Clear();
 		
 		KX_GameObject *other;
-		if (PyArg_ParseTuple(args, "O", &pyother) && ConvertPythonToGameObject(pyother, &other, false))
+		if (ConvertPythonToGameObject(value, &other, false))
 		{
 			toPoint = other->NodeGetWorldPosition();
 		} else
@@ -1892,7 +1892,7 @@ KX_PYMETHODDEF_DOC(KX_GameObject, rayCastTo,
 	float dist = 0.0f;
 	char *propName = NULL;
 
-	if (!PyArg_ParseTuple(args,"O|fs", &pyarg, &dist, &propName)) {
+	if (!PyArg_ParseTuple(args,"O|fs:rayCastTo", &pyarg, &dist, &propName)) {
 		return NULL; // python sets simple error
 	}
 
@@ -1935,10 +1935,8 @@ KX_PYMETHODDEF_DOC(KX_GameObject, rayCastTo,
 	KX_RayCast::RayTest(pe, fromPoint, toPoint, callback);
 
     if (m_pHitObject)
-	{
-		m_pHitObject->AddRef();
-		return m_pHitObject;
-	}
+		return m_pHitObject->AddRef();
+	
 	Py_RETURN_NONE;
 }
 
@@ -1971,7 +1969,7 @@ KX_PYMETHODDEF_DOC(KX_GameObject, rayCast,
 	KX_GameObject *other;
 	int face=0, xray=0, poly=0;
 
-	if (!PyArg_ParseTuple(args,"O|Ofsiii", &pyto, &pyfrom, &dist, &propName, &face, &xray, &poly)) {
+	if (!PyArg_ParseTuple(args,"O|Ofsiii:rayCast", &pyto, &pyfrom, &dist, &propName, &face, &xray, &poly)) {
 		return NULL; // Python sets a simple error
 	}
 
@@ -2047,8 +2045,8 @@ KX_PYMETHODDEF_DOC(KX_GameObject, rayCast,
 				if (callback.m_hitMesh)
 				{
 					// if this field is set, then we can trust that m_hitPolygon is a valid polygon
-					RAS_Polygon* poly = callback.m_hitMesh->GetPolygon(callback.m_hitPolygon);
-					KX_PolyProxy* polyproxy = new KX_PolyProxy(callback.m_hitMesh, poly);
+					RAS_Polygon* polygon = callback.m_hitMesh->GetPolygon(callback.m_hitPolygon);
+					KX_PolyProxy* polyproxy = new KX_PolyProxy(callback.m_hitMesh, polygon);
 					PyTuple_SET_ITEM(returnValue, 3, polyproxy);
 				}
 				else
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index 4f26031356f..211c9b7ca7d 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -756,19 +756,10 @@ public:
 	 * @section Python interface functions.
 	 */
 
-	virtual 
-		PyObject*			
-	_getattr(
-		const STR_String& attr
-	);
- 
-	virtual 
-		int 
-	_setattr(
-		const STR_String& attr, 
-		PyObject *value
-	);		// _setattr method
-
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);		// _setattr method
+	virtual PyObject* _repr(void) { return PyString_FromString(GetName().ReadPtr()); }
+	
 	KX_PYMETHOD_NOARGS(KX_GameObject,GetPosition);
 	KX_PYMETHOD_O(KX_GameObject,SetPosition);
 	KX_PYMETHOD_O(KX_GameObject,SetWorldPosition);
@@ -809,8 +800,8 @@ public:
 	KX_PYMETHOD_NOARGS(KX_GameObject,EndObject);
 	KX_PYMETHOD_DOC(KX_GameObject,rayCastTo);
 	KX_PYMETHOD_DOC(KX_GameObject,rayCast);
-	KX_PYMETHOD_DOC(KX_GameObject,getDistanceTo);
-	KX_PYMETHOD_DOC(KX_GameObject,getVectTo);
+	KX_PYMETHOD_DOC_O(KX_GameObject,getDistanceTo);
+	KX_PYMETHOD_DOC_O(KX_GameObject,getVectTo);
 	
 private :
 
diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.cpp b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
index 67d54cf0b0b..55a7e2ade60 100644
--- a/source/gameengine/Ketsji/KX_IPO_SGController.cpp
+++ b/source/gameengine/Ketsji/KX_IPO_SGController.cpp
@@ -58,8 +58,8 @@ KX_IpoSGController::KX_IpoSGController()
   m_ipo_add(false),
   m_ipo_local(false),
   m_modified(true),
-  m_ipo_start_initialized(false),
   m_ipotime(1.0),
+  m_ipo_start_initialized(false),
   m_ipo_start_euler(0.0,0.0,0.0),
   m_ipo_euler_initialized(false)
 {
diff --git a/source/gameengine/Ketsji/KX_IpoActuator.cpp b/source/gameengine/Ketsji/KX_IpoActuator.cpp
index f5e17118ffb..623a939bf62 100644
--- a/source/gameengine/Ketsji/KX_IpoActuator.cpp
+++ b/source/gameengine/Ketsji/KX_IpoActuator.cpp
@@ -457,7 +457,11 @@ PyMethodDef KX_IpoActuator::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* KX_IpoActuator::_getattr(const STR_String& attr) {
+PyAttributeDef KX_IpoActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_IpoActuator::_getattr(const char *attr) {
 	_getattr_up(SCA_IActuator);
 }
 
@@ -503,7 +507,7 @@ PyObject* KX_IpoActuator::PySet(PyObject* self,
 		; /* error */
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* set property  ----------------------------------------------------------- */
@@ -523,7 +527,7 @@ PyObject* KX_IpoActuator::PySetProperty(PyObject* self,
 
 	m_propname = propertyName;
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 4. setStart:                                                              */
@@ -541,7 +545,7 @@ PyObject* KX_IpoActuator::PySetStart(PyObject* self,
 	
 	m_startframe = startArg;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 5. getStart:                                                              */
 const char KX_IpoActuator::GetStart_doc[] = 
@@ -566,7 +570,7 @@ PyObject* KX_IpoActuator::PySetEnd(PyObject* self,
 	
 	m_endframe = endArg;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 7. getEnd:                                                                */
 const char KX_IpoActuator::GetEnd_doc[] = 
@@ -594,7 +598,7 @@ PyObject* KX_IpoActuator::PySetIpoAsForce(PyObject* self,
 	if (m_ipo_as_force)
 		m_ipo_add = false;
 	
-	Py_Return;	
+	Py_RETURN_NONE;	
 }
 /* 7. getIpoAsForce:                                                         */
 const char KX_IpoActuator::GetIpoAsForce_doc[] = 
@@ -622,7 +626,7 @@ PyObject* KX_IpoActuator::PySetIpoAdd(PyObject* self,
 	if (m_ipo_add)
 		m_ipo_as_force = false;
 	
-	Py_Return;	
+	Py_RETURN_NONE;	
 }
 /* 7. getIpoAsForce:                                                         */
 const char KX_IpoActuator::GetIpoAdd_doc[] = 
@@ -651,7 +655,7 @@ PyObject* KX_IpoActuator::PySetType(PyObject* self,
 		m_type = (IpoActType) typeArg;
 	}
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 /* 9. getType:                                                               */
 const char KX_IpoActuator::GetType_doc[] = 
@@ -679,7 +683,7 @@ PyObject* KX_IpoActuator::PySetForceIpoActsLocal(PyObject* self,
 
 	m_ipo_local = PyArgToBool(boolArg);
 	
-	Py_Return;	
+	Py_RETURN_NONE;	
 }
 /* 11. getForceIpoActsLocal:                                                */
 const char KX_IpoActuator::GetForceIpoActsLocal_doc[] = 
diff --git a/source/gameengine/Ketsji/KX_IpoActuator.h b/source/gameengine/Ketsji/KX_IpoActuator.h
index 8e5baed0530..12e1835ab49 100644
--- a/source/gameengine/Ketsji/KX_IpoActuator.h
+++ b/source/gameengine/Ketsji/KX_IpoActuator.h
@@ -141,7 +141,7 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 	//KX_PYMETHOD_DOC
 	KX_PYMETHOD_DOC(KX_IpoActuator,Set);
 	KX_PYMETHOD_DOC(KX_IpoActuator,SetProperty);
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
index 1271474802c..97b4213b8bd 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
@@ -59,7 +59,10 @@
 #include "KX_PythonInit.h"
 #include "KX_PyConstraintBinding.h"
 #include "PHY_IPhysicsEnvironment.h"
+
+#ifdef USE_SUMO_SOLID
 #include "SumoPhysicsEnvironment.h"
+#endif
 
 #include "SND_Scene.h"
 #include "SND_IAudioDevice.h"
@@ -713,7 +716,7 @@ void KX_KetsjiEngine::Render()
 		if (!BeginFrame())
 			return;
 
-		KX_SceneList::iterator sceneit;
+
 		for (sceneit = m_scenes.begin();sceneit != m_scenes.end(); sceneit++)
 		// for each scene, call the proceed functions
 		{
@@ -1109,6 +1112,11 @@ void KX_KetsjiEngine::RenderFrame(KX_Scene* scene, KX_Camera* cam)
 
 	scene->RenderBuckets(camtrans, m_rasterizer, m_rendertools);
 	
+	if (scene->GetPhysicsEnvironment())
+		scene->GetPhysicsEnvironment()->debugDrawWorld();
+	
+	m_rasterizer->FlushDebugLines();
+
 	PostRenderFrame();
 }
 
diff --git a/source/gameengine/Ketsji/KX_Light.cpp b/source/gameengine/Ketsji/KX_Light.cpp
index e0f171e78e0..a2e93ecdd36 100644
--- a/source/gameengine/Ketsji/KX_Light.cpp
+++ b/source/gameengine/Ketsji/KX_Light.cpp
@@ -172,65 +172,59 @@ void KX_LightObject::UnbindShadowBuffer(RAS_IRasterizer *ras)
 	GPU_lamp_shadow_buffer_unbind(lamp);
 }
 
-PyObject* KX_LightObject::_getattr(const STR_String& attr)
+PyObject* KX_LightObject::_getattr(const char *attr)
 {
-	if (attr == "layer")
+	if (!strcmp(attr, "layer"))
 		return PyInt_FromLong(m_lightobj.m_layer);
 	
-	if (attr == "energy")
+	if (!strcmp(attr, "energy"))
 		return PyFloat_FromDouble(m_lightobj.m_energy);
 	
-	if (attr == "distance")
+	if (!strcmp(attr, "distance"))
 		return PyFloat_FromDouble(m_lightobj.m_distance);
 	
-	if (attr == "colour" || attr == "color")
+	if (!strcmp(attr, "colour") || !strcmp(attr, "color"))
 		return Py_BuildValue("[fff]", m_lightobj.m_red, m_lightobj.m_green, m_lightobj.m_blue);
 		
-	if (attr == "lin_attenuation")
+	if (!strcmp(attr, "lin_attenuation"))
 		return PyFloat_FromDouble(m_lightobj.m_att1);
 	
-	if (attr == "quad_attenuation")
+	if (!strcmp(attr, "quad_attenuation"))
 		return PyFloat_FromDouble(m_lightobj.m_att2);
 	
-	if (attr == "spotsize")
+	if (!strcmp(attr, "spotsize"))
 		return PyFloat_FromDouble(m_lightobj.m_spotsize);
 	
-	if (attr == "spotblend")
+	if (!strcmp(attr, "spotblend"))
 		return PyFloat_FromDouble(m_lightobj.m_spotblend);
 		
-	if (attr == "SPOT")
+	if (!strcmp(attr, "SPOT"))
 		return PyInt_FromLong(RAS_LightObject::LIGHT_SPOT);
 		
-	if (attr == "SUN")
+	if (!strcmp(attr, "SUN"))
 		return PyInt_FromLong(RAS_LightObject::LIGHT_SUN);
 	
-	if (attr == "NORMAL")
+	if (!strcmp(attr, "NORMAL"))
 		return PyInt_FromLong(RAS_LightObject::LIGHT_NORMAL);
 	
-	if (attr == "type")
+	if (!strcmp(attr, "type"))
 		return PyInt_FromLong(m_lightobj.m_type);
 		
 	_getattr_up(KX_GameObject);
 }
 
-int       KX_LightObject::_setattr(const STR_String& attr, PyObject *pyvalue)
-{
-	if (attr == "SPOT" || attr == "SUN" || attr == "NORMAL")
-	{
-		PyErr_Format(PyExc_RuntimeError, "Attribute %s is read only.", attr.ReadPtr());
-		return 1;
-	}
-	
+int       KX_LightObject::_setattr(const char *attr, PyObject *pyvalue)
+{	
 	if (PyInt_Check(pyvalue))
 	{
 		int value = PyInt_AsLong(pyvalue);
-		if (attr == "layer")
+		if (!strcmp(attr, "layer"))
 		{
 			m_lightobj.m_layer = value;
 			return 0;
 		}
 		
-		if (attr == "type")
+		if (!strcmp(attr, "type"))
 		{
 			if (value >= RAS_LightObject::LIGHT_SPOT && value <= RAS_LightObject::LIGHT_NORMAL)
 				m_lightobj.m_type = (RAS_LightObject::LightType) value;
@@ -241,37 +235,37 @@ int       KX_LightObject::_setattr(const STR_String& attr, PyObject *pyvalue)
 	if (PyFloat_Check(pyvalue))
 	{
 		float value = PyFloat_AsDouble(pyvalue);
-		if (attr == "energy")
+		if (!strcmp(attr, "energy"))
 		{
 			m_lightobj.m_energy = value;
 			return 0;
 		}
 	
-		if (attr == "distance")
+		if (!strcmp(attr, "distance"))
 		{
 			m_lightobj.m_distance = value;
 			return 0;
 		}
 		
-		if (attr == "lin_attenuation")
+		if (!strcmp(attr, "lin_attenuation"))
 		{
 			m_lightobj.m_att1 = value;
 			return 0;
 		}
 		
-		if (attr == "quad_attenuation")
+		if (!strcmp(attr, "quad_attenuation"))
 		{
 			m_lightobj.m_att2 = value;
 			return 0;
 		}
 		
-		if (attr == "spotsize")
+		if (!strcmp(attr, "spotsize"))
 		{
 			m_lightobj.m_spotsize = value;
 			return 0;
 		}
 		
-		if (attr == "spotblend")
+		if (!strcmp(attr, "spotblend"))
 		{
 			m_lightobj.m_spotblend = value;
 			return 0;
@@ -280,7 +274,7 @@ int       KX_LightObject::_setattr(const STR_String& attr, PyObject *pyvalue)
 
 	if (PySequence_Check(pyvalue))
 	{
-		if (attr == "colour" || attr == "color")
+		if (!strcmp(attr, "colour") || !strcmp(attr, "color"))
 		{
 			MT_Vector3 color;
 			if (PyVecTo(pyvalue, color))
@@ -294,6 +288,12 @@ int       KX_LightObject::_setattr(const STR_String& attr, PyObject *pyvalue)
 		}
 	}
 	
+	if (!strcmp(attr, "SPOT") || !strcmp(attr, "SUN") || !strcmp(attr, "NORMAL"))
+	{
+		PyErr_Format(PyExc_RuntimeError, "Attribute %s is read only.", attr);
+		return 1;
+	}
+	
 	return KX_GameObject::_setattr(attr, pyvalue);
 }
 
@@ -301,6 +301,10 @@ PyMethodDef KX_LightObject::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_LightObject::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
 char KX_LightObject::doc[] = "Module KX_LightObject\n\n"
 "Constants:\n"
 "\tSPOT\n"
diff --git a/source/gameengine/Ketsji/KX_Light.h b/source/gameengine/Ketsji/KX_Light.h
index e5dbf0b7f4a..47edd09b5b9 100644
--- a/source/gameengine/Ketsji/KX_Light.h
+++ b/source/gameengine/Ketsji/KX_Light.h
@@ -63,8 +63,8 @@ public:
 	void UnbindShadowBuffer(class RAS_IRasterizer *ras);
 	void Update();
 	
-	virtual PyObject* _getattr(const STR_String& attr); /* lens, near, far, projection_matrix */
-	virtual int       _setattr(const STR_String& attr, PyObject *pyvalue);
+	virtual PyObject* _getattr(const char *attr); /* lens, near, far, projection_matrix */
+	virtual int       _setattr(const char *attr, PyObject *pyvalue);
 
 	virtual bool IsLight(void) { return true; }
 };
diff --git a/source/gameengine/Ketsji/KX_MeshProxy.cpp b/source/gameengine/Ketsji/KX_MeshProxy.cpp
index 5cc102248f2..a0c0a496c06 100644
--- a/source/gameengine/Ketsji/KX_MeshProxy.cpp
+++ b/source/gameengine/Ketsji/KX_MeshProxy.cpp
@@ -86,6 +86,10 @@ KX_PYMETHODTABLE(KX_MeshProxy, reinstancePhysicsMesh),
   {NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_MeshProxy::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
 void KX_MeshProxy::SetMeshModified(bool v)
 {
 	m_meshobj->SetMeshModified(v);
@@ -93,9 +97,9 @@ void KX_MeshProxy::SetMeshModified(bool v)
 
 
 PyObject*
-KX_MeshProxy::_getattr(const STR_String& attr)
+KX_MeshProxy::_getattr(const char *attr)
 {
-	if (attr == "materials")
+	if (!strcmp(attr, "materials"))
 	{
 		PyObject *materials = PyList_New(0);
 		list<RAS_MeshMaterial>::iterator mit = m_meshobj->GetFirstMaterial();
diff --git a/source/gameengine/Ketsji/KX_MeshProxy.h b/source/gameengine/Ketsji/KX_MeshProxy.h
index 3335c349673..34f60a54a3a 100644
--- a/source/gameengine/Ketsji/KX_MeshProxy.h
+++ b/source/gameengine/Ketsji/KX_MeshProxy.h
@@ -53,7 +53,7 @@ public:
 	virtual CValue*		GetReplica();
 
 // stuff for python integration
-	virtual PyObject*  _getattr(const STR_String& attr);
+	virtual PyObject*  _getattr(const char *attr);
 	KX_PYMETHOD(KX_MeshProxy,GetNumMaterials);
 	KX_PYMETHOD(KX_MeshProxy,GetMaterialName);
 	KX_PYMETHOD(KX_MeshProxy,GetTextureName);
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
index 28279b9a6b8..384034485e7 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
@@ -42,6 +42,7 @@
 #include "KX_Scene.h"
 #include "KX_Camera.h"
 #include "KX_MouseFocusSensor.h"
+#include "KX_PyMath.h"
 
 #include "KX_RayCast.h"
 #include "KX_IPhysicsController.h"
@@ -320,18 +321,22 @@ PyParentObject KX_MouseFocusSensor::Parents[] = {
 };
 
 PyMethodDef KX_MouseFocusSensor::Methods[] = {
-	{"getRayTarget", (PyCFunction) KX_MouseFocusSensor::sPyGetRayTarget, METH_VARARGS, (PY_METHODCHAR)GetRayTarget_doc},
-	{"getRaySource", (PyCFunction) KX_MouseFocusSensor::sPyGetRaySource, METH_VARARGS, (PY_METHODCHAR)GetRaySource_doc},
-	{"getHitObject",(PyCFunction) KX_MouseFocusSensor::sPyGetHitObject,METH_VARARGS, (PY_METHODCHAR)GetHitObject_doc},
-	{"getHitPosition",(PyCFunction) KX_MouseFocusSensor::sPyGetHitPosition,METH_VARARGS, (PY_METHODCHAR)GetHitPosition_doc},
-	{"getHitNormal",(PyCFunction) KX_MouseFocusSensor::sPyGetHitNormal,METH_VARARGS, (PY_METHODCHAR)GetHitNormal_doc},
-	{"getRayDirection",(PyCFunction) KX_MouseFocusSensor::sPyGetRayDirection,METH_VARARGS, (PY_METHODCHAR)GetRayDirection_doc},
+	{"getRayTarget", (PyCFunction) KX_MouseFocusSensor::sPyGetRayTarget, METH_NOARGS, (PY_METHODCHAR)GetRayTarget_doc},
+	{"getRaySource", (PyCFunction) KX_MouseFocusSensor::sPyGetRaySource, METH_NOARGS, (PY_METHODCHAR)GetRaySource_doc},
+	{"getHitObject",(PyCFunction) KX_MouseFocusSensor::sPyGetHitObject,METH_NOARGS, (PY_METHODCHAR)GetHitObject_doc},
+	{"getHitPosition",(PyCFunction) KX_MouseFocusSensor::sPyGetHitPosition,METH_NOARGS, (PY_METHODCHAR)GetHitPosition_doc},
+	{"getHitNormal",(PyCFunction) KX_MouseFocusSensor::sPyGetHitNormal,METH_NOARGS, (PY_METHODCHAR)GetHitNormal_doc},
+	{"getRayDirection",(PyCFunction) KX_MouseFocusSensor::sPyGetRayDirection,METH_NOARGS, (PY_METHODCHAR)GetRayDirection_doc},
 
 
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* KX_MouseFocusSensor::_getattr(const STR_String& attr) {
+PyAttributeDef KX_MouseFocusSensor::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_MouseFocusSensor::_getattr(const char *attr) {
 	_getattr_up(SCA_MouseSensor);
 }
 
@@ -339,76 +344,40 @@ PyObject* KX_MouseFocusSensor::_getattr(const STR_String& attr) {
 const char KX_MouseFocusSensor::GetHitObject_doc[] = 
 "getHitObject()\n"
 "\tReturns the name of the object that was hit by this ray.\n";
-PyObject* KX_MouseFocusSensor::PyGetHitObject(PyObject* self, 
-										   PyObject* args, 
-										   PyObject* kwds)
+PyObject* KX_MouseFocusSensor::PyGetHitObject(PyObject* self)
 {
 	if (m_hitObject)
-	{
 		return m_hitObject->AddRef();
-	}
-	Py_Return;
+	
+	Py_RETURN_NONE;
 }
 
 
 const char KX_MouseFocusSensor::GetHitPosition_doc[] = 
 "getHitPosition()\n"
 "\tReturns the position (in worldcoordinates) where the object was hit by this ray.\n";
-PyObject* KX_MouseFocusSensor::PyGetHitPosition(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* KX_MouseFocusSensor::PyGetHitPosition(PyObject* self)
 {
-
-	MT_Point3 pos = m_hitPosition;
-
-	PyObject* resultlist = PyList_New(3);
-	int index;
-	for (index=0;index<3;index++)
-	{
-		PyList_SetItem(resultlist,index,PyFloat_FromDouble(pos[index]));
-	}
-	return resultlist;
-
+	return PyObjectFrom(m_hitPosition);
 }
 
 const char KX_MouseFocusSensor::GetRayDirection_doc[] = 
 "getRayDirection()\n"
 "\tReturns the direction from the ray (in worldcoordinates) .\n";
-PyObject* KX_MouseFocusSensor::PyGetRayDirection(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* KX_MouseFocusSensor::PyGetRayDirection(PyObject* self)
 {
 
 	MT_Vector3 dir = m_prevTargetPoint - m_prevSourcePoint;
 	dir.normalize();
-
-	PyObject* resultlist = PyList_New(3);
-	int index;
-	for (index=0;index<3;index++)
-	{
-		PyList_SetItem(resultlist,index,PyFloat_FromDouble(dir[index]));
-	}
-	return resultlist;
-
+	return PyObjectFrom(dir);
 }
 
 const char KX_MouseFocusSensor::GetHitNormal_doc[] = 
 "getHitNormal()\n"
 "\tReturns the normal (in worldcoordinates) of the object at the location where the object was hit by this ray.\n";
-PyObject* KX_MouseFocusSensor::PyGetHitNormal(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* KX_MouseFocusSensor::PyGetHitNormal(PyObject* self)
 {
-	MT_Vector3 pos = m_hitNormal;
-
-	PyObject* resultlist = PyList_New(3);
-	int index;
-	for (index=0;index<3;index++)
-	{
-		PyList_SetItem(resultlist,index,PyFloat_FromDouble(pos[index]));
-	}
-	return resultlist;
-
+	return PyObjectFrom(m_hitNormal);
 }
 
 
@@ -417,16 +386,8 @@ const char KX_MouseFocusSensor::GetRayTarget_doc[] =
 "getRayTarget()\n"
 "\tReturns the target of the ray that seeks the focus object,\n"
 "\tin worldcoordinates.";
-PyObject* KX_MouseFocusSensor::PyGetRayTarget(PyObject* self, 
-											  PyObject* args, 
-											  PyObject* kwds) {
-	PyObject *retVal = PyList_New(3);
-
-	PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_prevTargetPoint[0]));
-	PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_prevTargetPoint[1]));
-	PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_prevTargetPoint[2]));
-	
-	return retVal;
+PyObject* KX_MouseFocusSensor::PyGetRayTarget(PyObject* self) {
+	return PyObjectFrom(m_prevTargetPoint);
 }
 
 /*  getRayTarget                                                */
@@ -434,16 +395,8 @@ const char KX_MouseFocusSensor::GetRaySource_doc[] =
 "getRaySource()\n"
 "\tReturns the source of the ray that seeks the focus object,\n"
 "\tin worldcoordinates.";
-PyObject* KX_MouseFocusSensor::PyGetRaySource(PyObject* self, 
-											  PyObject* args, 
-											  PyObject* kwds) {
-	PyObject *retVal = PyList_New(3);
-
-	PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_prevSourcePoint[0]));
-	PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_prevSourcePoint[1]));
-	PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_prevSourcePoint[2]));
-	
-	return retVal;
+PyObject* KX_MouseFocusSensor::PyGetRaySource(PyObject* self) {
+	return PyObjectFrom(m_prevSourcePoint);
 }
 
 /* eof */
diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.h b/source/gameengine/Ketsji/KX_MouseFocusSensor.h
index 6731444699b..4979783032c 100644
--- a/source/gameengine/Ketsji/KX_MouseFocusSensor.h
+++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.h
@@ -87,15 +87,15 @@ class KX_MouseFocusSensor : public SCA_MouseSensor
 	/* --------------------------------------------------------------------- */
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
-	virtual PyObject*  _getattr(const STR_String& attr);
+	virtual PyObject*  _getattr(const char *attr);
 
-	KX_PYMETHOD_DOC(KX_MouseFocusSensor,GetRayTarget);
-	KX_PYMETHOD_DOC(KX_MouseFocusSensor,GetRaySource);
+	KX_PYMETHOD_DOC_NOARGS(KX_MouseFocusSensor,GetRayTarget);
+	KX_PYMETHOD_DOC_NOARGS(KX_MouseFocusSensor,GetRaySource);
 	
-	KX_PYMETHOD_DOC(KX_MouseFocusSensor,GetHitObject);
-	KX_PYMETHOD_DOC(KX_MouseFocusSensor,GetHitPosition);
-	KX_PYMETHOD_DOC(KX_MouseFocusSensor,GetHitNormal);
-	KX_PYMETHOD_DOC(KX_MouseFocusSensor,GetRayDirection);
+	KX_PYMETHOD_DOC_NOARGS(KX_MouseFocusSensor,GetHitObject);
+	KX_PYMETHOD_DOC_NOARGS(KX_MouseFocusSensor,GetHitPosition);
+	KX_PYMETHOD_DOC_NOARGS(KX_MouseFocusSensor,GetHitNormal);
+	KX_PYMETHOD_DOC_NOARGS(KX_MouseFocusSensor,GetRayDirection);
 
 	/* --------------------------------------------------------------------- */
 	SCA_IObject*	m_hitObject;
diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp
index bae87c28123..993a6b3d86c 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.cpp
+++ b/source/gameengine/Ketsji/KX_NearSensor.cpp
@@ -37,14 +37,13 @@
 #include "PHY_IPhysicsEnvironment.h"
 #include "PHY_IPhysicsController.h"
 
-
 #ifdef HAVE_CONFIG_H
 #include <config.h>
 #endif
 KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 							 KX_GameObject* gameobj,
-							 double margin,
-							 double resetmargin,
+							 float margin,
+							 float resetmargin,
 							 bool bFindMaterial,
 							 const STR_String& touchedpropname,
 							 class KX_Scene* scene,
@@ -53,6 +52,7 @@ KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 			 :KX_TouchSensor(eventmgr,
 							 gameobj,
 							 bFindMaterial,
+							 false,
 							 touchedpropname,
 							 /* scene, */
 							 T),
@@ -240,7 +240,7 @@ bool	KX_NearSensor::BroadPhaseFilterCollision(void*obj1,void*obj2)
 bool	KX_NearSensor::NewHandleCollision(void* obj1,void* obj2,const PHY_CollData * coll_data)
 {
 //	KX_TouchEventManager* toucheventmgr = static_cast<KX_TouchEventManager*>(m_eventmgr);
-	KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
+//	KX_GameObject* parent = static_cast<KX_GameObject*>(GetParent());
 	
 	// need the mapping from PHY_IPhysicsController to gameobjects now
 	
@@ -272,12 +272,20 @@ bool	KX_NearSensor::NewHandleCollision(void* obj1,void* obj2,const PHY_CollData
 		//}
 	}
 	
-	return DT_CONTINUE;
+	return false; // was DT_CONTINUE; but this was defined in Sumo as false
 }
 
 
+/* ------------------------------------------------------------------------- */
+/* Python Functions															 */
+/* ------------------------------------------------------------------------- */
+
+//No methods
+
+/* ------------------------------------------------------------------------- */
+/* Python Integration Hooks                                                  */
+/* ------------------------------------------------------------------------- */
 
-// python embedding
 PyTypeObject KX_NearSensor::Type = {
 	PyObject_HEAD_INIT(&PyType_Type)
 	0,
@@ -311,17 +319,31 @@ PyParentObject KX_NearSensor::Parents[] = {
 
 
 PyMethodDef KX_NearSensor::Methods[] = {
-	{"setProperty", (PyCFunction) KX_NearSensor::sPySetProperty,      METH_VARARGS, (PY_METHODCHAR)SetProperty_doc},
-	{"getProperty", (PyCFunction) KX_NearSensor::sPyGetProperty,      METH_VARARGS, (PY_METHODCHAR)GetProperty_doc},
-	{"getHitObject",(PyCFunction) KX_NearSensor::sPyGetHitObject,     METH_VARARGS, (PY_METHODCHAR)GetHitObject_doc},
-	{"getHitObjectList", (PyCFunction) KX_NearSensor::sPyGetHitObjectList, METH_VARARGS, (PY_METHODCHAR)GetHitObjectList_doc},
+	//No methods
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_NearSensor::Attributes[] = {
+	KX_PYATTRIBUTE_FLOAT_RW_CHECK("distance", 0, 100, KX_NearSensor, m_Margin, CheckResetDistance),
+	KX_PYATTRIBUTE_FLOAT_RW_CHECK("resetDistance", 0, 100, KX_NearSensor, m_ResetMargin, CheckResetDistance),
+	{NULL} //Sentinel
+};
 
-PyObject*
-KX_NearSensor::_getattr(const STR_String& attr)
+
+PyObject* KX_NearSensor::_getattr(const char *attr)
 {
-  _getattr_up(KX_TouchSensor);
+	PyObject* object = _getattr_self(Attributes, this, attr);
+	if (object != NULL)
+		return object;
+
+	_getattr_up(KX_TouchSensor);
 }
 
+int KX_NearSensor::_setattr(const char *attr, PyObject* value)
+{
+	int ret = _setattr_self(Attributes, this, attr, value);
+	if (ret >= 0)
+		return ret;
+
+	return KX_TouchSensor::_setattr(attr, value);
+}
diff --git a/source/gameengine/Ketsji/KX_NearSensor.h b/source/gameengine/Ketsji/KX_NearSensor.h
index 3f7078ef9fd..ee03992e734 100644
--- a/source/gameengine/Ketsji/KX_NearSensor.h
+++ b/source/gameengine/Ketsji/KX_NearSensor.h
@@ -42,15 +42,15 @@ class KX_NearSensor : public KX_TouchSensor
 {
 	Py_Header;
 protected:
-	double	m_Margin;
-	double  m_ResetMargin;
+	float	m_Margin;
+	float  m_ResetMargin;
 	KX_Scene*	m_scene;
 	KX_ClientObjectInfo*	m_client_info;
 public:
 	KX_NearSensor(class SCA_EventManager* eventmgr,
 			class KX_GameObject* gameobj,
-			double margin,
-			double resetmargin,
+			float margin,
+			float resetmargin,
 			bool bFindMaterial,
 			const STR_String& touchedpropname,
 			class KX_Scene* scene,
@@ -78,8 +78,25 @@ public:
 	virtual bool	BroadPhaseFilterCollision(void*obj1,void*obj2);
 	virtual void RegisterSumo(KX_TouchEventManager *touchman);
 	virtual void UnregisterSumo(KX_TouchEventManager* touchman);
-	
-	virtual PyObject* _getattr(const STR_String& attr);
+
+	/* --------------------------------------------------------------------- */
+	/* Python interface ---------------------------------------------------- */
+	/* --------------------------------------------------------------------- */
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject* value);
+
+	//No methods
+
+	//This method is used to make sure the distance does not exceed the reset distance
+	static int CheckResetDistance(void *self, const PyAttributeDef*)
+	{
+		KX_NearSensor* sensor = reinterpret_cast<KX_NearSensor*>(self);
+
+		if (sensor->m_Margin > sensor->m_ResetMargin)
+			sensor->m_ResetMargin = sensor->m_Margin;
+
+		return 0;
+	}
 
 };
 
diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.cpp b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
index 98e73d4f0d7..0666261b470 100644
--- a/source/gameengine/Ketsji/KX_ObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ObjectActuator.cpp
@@ -65,12 +65,12 @@ KX_ObjectActuator(
 	m_current_linear_factor(0.0),
 	m_current_angular_factor(0.0),
 	m_damping(damping),
+	m_previous_error(0.0,0.0,0.0),
+	m_error_accumulator(0.0,0.0,0.0),
 	m_bitLocalFlag (flag),
 	m_active_combined_velocity (false),
 	m_linear_damping_active(false),
-	m_angular_damping_active(false),
-	m_error_accumulator(0.0,0.0,0.0),
-	m_previous_error(0.0,0.0,0.0)
+	m_angular_damping_active(false)
 {
 	if (m_bitLocalFlag.ServoControl)
 	{
@@ -332,7 +332,11 @@ PyMethodDef KX_ObjectActuator::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* KX_ObjectActuator::_getattr(const STR_String& attr) {
+PyAttributeDef KX_ObjectActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_ObjectActuator::_getattr(const char *attr) {
 	_getattr_up(SCA_IActuator);
 };
 
@@ -365,7 +369,7 @@ PyObject* KX_ObjectActuator::PySetForce(PyObject* self,
 	m_force.setValue(vecArg);
 	m_bitLocalFlag.Force = PyArgToBool(bToggle);
 	UpdateFuzzyFlags();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 4. getTorque                                                              */
@@ -394,7 +398,7 @@ PyObject* KX_ObjectActuator::PySetTorque(PyObject* self,
 	m_torque.setValue(vecArg);
 	m_bitLocalFlag.Torque = PyArgToBool(bToggle);
 	UpdateFuzzyFlags();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 6. getDLoc                                                                */
@@ -423,7 +427,7 @@ PyObject* KX_ObjectActuator::PySetDLoc(PyObject* self,
 	m_dloc.setValue(vecArg);
 	m_bitLocalFlag.DLoc = PyArgToBool(bToggle);
 	UpdateFuzzyFlags();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 8. getDRot                                                                */
@@ -452,7 +456,7 @@ PyObject* KX_ObjectActuator::PySetDRot(PyObject* self,
 	m_drot.setValue(vecArg);
 	m_bitLocalFlag.DRot = PyArgToBool(bToggle);
 	UpdateFuzzyFlags();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 10. getLinearVelocity                                                 */
@@ -480,7 +484,7 @@ PyObject* KX_ObjectActuator::PySetLinearVelocity(PyObject* self,
 	m_linear_velocity.setValue(vecArg);
 	m_bitLocalFlag.LinearVelocity = PyArgToBool(bToggle);
 	UpdateFuzzyFlags();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -508,7 +512,7 @@ PyObject* KX_ObjectActuator::PySetAngularVelocity(PyObject* self,
 	m_angular_velocity.setValue(vecArg);
 	m_bitLocalFlag.AngularVelocity = PyArgToBool(bToggle);
 	UpdateFuzzyFlags();
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 13. setDamping                                                */
@@ -520,7 +524,7 @@ PyObject* KX_ObjectActuator::PySetDamping(PyObject* self,
 		return NULL;
 	}
 	m_damping = damping;
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 13. getVelocityDamping                                                */
@@ -551,7 +555,7 @@ PyObject* KX_ObjectActuator::PySetForceLimitX(PyObject* self,
 	m_drot[0] = vecArg[0];
 	m_dloc[0] = vecArg[1];
 	m_bitLocalFlag.Torque = PyArgToBool(bToggle);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 6. getForceLimitY                                                                */
@@ -578,7 +582,7 @@ PyObject* KX_ObjectActuator::PySetForceLimitY(PyObject* self,
 	m_drot[1] = vecArg[0];
 	m_dloc[1] = vecArg[1];
 	m_bitLocalFlag.DLoc = PyArgToBool(bToggle);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 6. getForceLimitZ                                                                */
@@ -605,7 +609,7 @@ PyObject* KX_ObjectActuator::PySetForceLimitZ(PyObject* self,
 	m_drot[2] = vecArg[0];
 	m_dloc[2] = vecArg[1];
 	m_bitLocalFlag.DRot = PyArgToBool(bToggle);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* 4. getPID                                                              */
@@ -629,7 +633,7 @@ PyObject* KX_ObjectActuator::PySetPID(PyObject* self,
 		return NULL;
 	}
 	m_torque.setValue(vecArg);
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.h b/source/gameengine/Ketsji/KX_ObjectActuator.h
index aa686f41233..0331c67617c 100644
--- a/source/gameengine/Ketsji/KX_ObjectActuator.h
+++ b/source/gameengine/Ketsji/KX_ObjectActuator.h
@@ -153,7 +153,7 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 	
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 	KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetForce);
 	KX_PYMETHOD(KX_ObjectActuator,SetForce);
diff --git a/source/gameengine/Ketsji/KX_ParentActuator.cpp b/source/gameengine/Ketsji/KX_ParentActuator.cpp
index 89549ca6b57..84d7ccb9c05 100644
--- a/source/gameengine/Ketsji/KX_ParentActuator.cpp
+++ b/source/gameengine/Ketsji/KX_ParentActuator.cpp
@@ -166,15 +166,48 @@ PyParentObject KX_ParentActuator::Parents[] = {
 };
 
 PyMethodDef KX_ParentActuator::Methods[] = {
+	// ---> deprecated (all)
 	{"setObject",         (PyCFunction) KX_ParentActuator::sPySetObject, METH_O, (PY_METHODCHAR)SetObject_doc},
 	{"getObject",         (PyCFunction) KX_ParentActuator::sPyGetObject, METH_VARARGS, (PY_METHODCHAR)GetObject_doc},
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* KX_ParentActuator::_getattr(const STR_String& attr) {
+PyAttributeDef KX_ParentActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_ParentActuator::_getattr(const char *attr) {	
+	
+	if (!strcmp(attr, "object")) {
+		if (!m_ob)	Py_RETURN_NONE;
+		else		return m_ob->AddRef();
+	}
+	
 	_getattr_up(SCA_IActuator);
 }
 
+int KX_ParentActuator::_setattr(const char *attr, PyObject* value) {
+	
+	if (!strcmp(attr, "object")) {
+		KX_GameObject *gameobj;
+		
+		if (!ConvertPythonToGameObject(value, &gameobj, true))
+			return 1; // ConvertPythonToGameObject sets the error
+		
+		if (m_ob != NULL)
+			m_ob->UnregisterActuator(this);	
+
+		m_ob = (SCA_IObject*)gameobj;
+		
+		if (m_ob)
+			m_ob->RegisterActuator(this);
+		
+		return 0;
+	}
+	
+	return SCA_IActuator::_setattr(attr, value);
+}
+
 /* 1. setObject                                                            */
 const char KX_ParentActuator::SetObject_doc[] = 
 "setObject(object)\n"
@@ -183,6 +216,8 @@ const char KX_ParentActuator::SetObject_doc[] =
 PyObject* KX_ParentActuator::PySetObject(PyObject* self, PyObject* value) {
 	KX_GameObject *gameobj;
 	
+	ShowDeprecationWarning("setObject()", "the object property");
+	
 	if (!ConvertPythonToGameObject(value, &gameobj, true))
 		return NULL; // ConvertPythonToGameObject sets the error
 	
@@ -206,6 +241,9 @@ const char KX_ParentActuator::GetObject_doc[] =
 PyObject* KX_ParentActuator::PyGetObject(PyObject* self, PyObject* args)
 {
 	int ret_name_only = 1;
+	
+	ShowDeprecationWarning("getObject()", "the object property");
+	
 	if (!PyArg_ParseTuple(args, "|i", &ret_name_only))
 		return NULL;
 	
diff --git a/source/gameengine/Ketsji/KX_ParentActuator.h b/source/gameengine/Ketsji/KX_ParentActuator.h
index e2b30ba2d0f..c974001c0d0 100644
--- a/source/gameengine/Ketsji/KX_ParentActuator.h
+++ b/source/gameengine/Ketsji/KX_ParentActuator.h
@@ -76,7 +76,8 @@ class KX_ParentActuator : public SCA_IActuator
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject* value);
 
 	/* 1. setObject                                                            */
 	KX_PYMETHOD_DOC_O(KX_ParentActuator,SetObject);
diff --git a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp
index da4f05ced7c..246c63feb21 100644
--- a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.cpp
@@ -142,23 +142,21 @@ PyParentObject KX_PhysicsObjectWrapper::Parents[] = {
 	NULL
 };
 
-PyObject*	KX_PhysicsObjectWrapper::_getattr(const STR_String& attr)
+PyObject*	KX_PhysicsObjectWrapper::_getattr(const char *attr)
 {
 	_getattr_up(PyObjectPlus);
 }
 
 
-int	KX_PhysicsObjectWrapper::_setattr(const STR_String& attr,PyObject* pyobj)
+int	KX_PhysicsObjectWrapper::_setattr(const char *attr,PyObject *pyobj)
 {
-	PyTypeObject* type = pyobj->ob_type;
 	int result = 1;
 
-
-	if (type == &PyInt_Type)
+	if (PyInt_Check(pyobj))
 	{
 		result = 0;
 	}
-	if (type == &PyString_Type)
+	if (PyString_Check(pyobj))
 	{
 		result = 0;
 	}
diff --git a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.h b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.h
index 3dbd1be9323..95560698896 100644
--- a/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.h
+++ b/source/gameengine/Ketsji/KX_PhysicsObjectWrapper.h
@@ -36,8 +36,8 @@ class	KX_PhysicsObjectWrapper : public PyObjectPlus
 {
 	Py_Header;
 
-	virtual PyObject*		_getattr(const STR_String& attr);
-	virtual int 			_setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject*		_getattr(const char *attr);
+	virtual int 			_setattr(const char *attr, PyObject *value);
 public:
 	KX_PhysicsObjectWrapper(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsEnvironment* physenv,PyTypeObject *T = &Type);
 	virtual ~KX_PhysicsObjectWrapper();
diff --git a/source/gameengine/Ketsji/KX_PolyProxy.cpp b/source/gameengine/Ketsji/KX_PolyProxy.cpp
index bb9072b34dc..b4bdd77fb66 100644
--- a/source/gameengine/Ketsji/KX_PolyProxy.cpp
+++ b/source/gameengine/Ketsji/KX_PolyProxy.cpp
@@ -77,18 +77,21 @@ PyMethodDef KX_PolyProxy::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject*
-KX_PolyProxy::_getattr(const STR_String& attr)
+PyAttributeDef KX_PolyProxy::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_PolyProxy::_getattr(const char *attr)
 {
-	if (attr == "matname")
+	if (!strcmp(attr, "matname"))
 	{
 		return PyString_FromString(m_polygon->GetMaterial()->GetPolyMaterial()->GetMaterialName());
 	}
-	if (attr == "texture")
+	if (!strcmp(attr, "texture"))
 	{
 		return PyString_FromString(m_polygon->GetMaterial()->GetPolyMaterial()->GetTextureName());
 	}
-	if (attr == "material")
+	if (!strcmp(attr, "material"))
 	{
 		RAS_IPolyMaterial *polymat = m_polygon->GetMaterial()->GetPolyMaterial();
 		if(polymat->GetFlag() & RAS_BLENDERMAT)
@@ -104,7 +107,7 @@ KX_PolyProxy::_getattr(const STR_String& attr)
 			return mat;
 		}
 	}
-	if (attr == "matid")
+	if (!strcmp(attr, "matid"))
 	{
 		// we'll have to scan through the material bucket of the mes and compare with 
 		// the one of the polygon
@@ -119,27 +122,27 @@ KX_PolyProxy::_getattr(const STR_String& attr)
 		}
 		return PyInt_FromLong(matid);
 	}
-	if (attr == "v1")
+	if (!strcmp(attr, "v1"))
 	{
 		return PyInt_FromLong(m_polygon->GetVertexOffset(0));
 	}
-	if (attr == "v2")
+	if (!strcmp(attr, "v2"))
 	{
 		return PyInt_FromLong(m_polygon->GetVertexOffset(1));
 	}
-	if (attr == "v3")
+	if (!strcmp(attr, "v3"))
 	{
 		return PyInt_FromLong(m_polygon->GetVertexOffset(2));
 	}
-	if (attr == "v4")
+	if (!strcmp(attr, "v4"))
 	{
 		return PyInt_FromLong(((m_polygon->VertexCount()>3)?m_polygon->GetVertexOffset(3):0));
 	}
-	if (attr == "visible")
+	if (!strcmp(attr, "visible"))
 	{
 		return PyInt_FromLong(m_polygon->IsVisible());
 	}
-	if (attr == "collide")
+	if (!strcmp(attr, "collide"))
 	{
 		return PyInt_FromLong(m_polygon->IsCollider());
 	}
@@ -147,8 +150,8 @@ KX_PolyProxy::_getattr(const STR_String& attr)
 }
 
 KX_PolyProxy::KX_PolyProxy(const RAS_MeshObject*mesh, RAS_Polygon* polygon)
-:	m_mesh((RAS_MeshObject*)mesh),
-	m_polygon(polygon)
+:	m_polygon(polygon),
+	m_mesh((RAS_MeshObject*)mesh)
 {
 }
 
diff --git a/source/gameengine/Ketsji/KX_PolyProxy.h b/source/gameengine/Ketsji/KX_PolyProxy.h
index 506e2c2a656..9b548f9490d 100644
--- a/source/gameengine/Ketsji/KX_PolyProxy.h
+++ b/source/gameengine/Ketsji/KX_PolyProxy.h
@@ -53,7 +53,7 @@ public:
 
 
 // stuff for python integration
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 	KX_PYMETHOD_DOC_NOARGS(KX_PolyProxy,getMaterialIndex)
 	KX_PYMETHOD_DOC_NOARGS(KX_PolyProxy,getNumVertex)
diff --git a/source/gameengine/Ketsji/KX_PolygonMaterial.cpp b/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
index c9180bf3a80..bbaf697b168 100644
--- a/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
+++ b/source/gameengine/Ketsji/KX_PolygonMaterial.cpp
@@ -180,6 +180,9 @@ PyMethodDef KX_PolygonMaterial::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_PolygonMaterial::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
 PyTypeObject KX_PolygonMaterial::Type = {
 	PyObject_HEAD_INIT(&PyType_Type)
@@ -202,17 +205,17 @@ PyParentObject KX_PolygonMaterial::Parents[] = {
 	NULL
 };
 
-PyObject* KX_PolygonMaterial::_getattr(const STR_String& attr)
+PyObject* KX_PolygonMaterial::_getattr(const char *attr)
 {
-	if (attr == "texture")
+	if (!strcmp(attr, "texture"))
 		return PyString_FromString(m_texturename.ReadPtr());
-	if (attr == "material")
+	if (!strcmp(attr, "material"))
 		return PyString_FromString(m_materialname.ReadPtr());
 		
-	if (attr == "tface")
+	if (!strcmp(attr, "tface"))
 		return PyCObject_FromVoidPtr(m_tface, NULL);
 		
-	if (attr == "gl_texture")
+	if (!strcmp(attr, "gl_texture"))
 	{
 		Image *ima = m_tface->tpage;
 		int bind = 0;
@@ -222,49 +225,49 @@ PyObject* KX_PolygonMaterial::_getattr(const STR_String& attr)
 		return PyInt_FromLong(bind);
 	}
 	
-	if (attr == "tile")
+	if (!strcmp(attr, "tile"))
 		return PyInt_FromLong(m_tile);
-	if (attr == "tilexrep")
+	if (!strcmp(attr, "tilexrep"))
 		return PyInt_FromLong(m_tilexrep);
-	if (attr == "tileyrep")
+	if (!strcmp(attr, "tileyrep"))
 		return PyInt_FromLong(m_tileyrep);
 	
-	if (attr == "drawingmode")
+	if (!strcmp(attr, "drawingmode"))
 		return PyInt_FromLong(m_drawingmode);
-	if (attr == "transparent")
+	if (!strcmp(attr, "transparent"))
 		return PyInt_FromLong(m_alpha);
-	if (attr == "zsort")
+	if (!strcmp(attr, "zsort"))
 		return PyInt_FromLong(m_zsort);
-	if (attr == "lightlayer")
+	if (!strcmp(attr, "lightlayer"))
 		return PyInt_FromLong(m_lightlayer);
-	if (attr == "triangle")
+	if (!strcmp(attr, "triangle"))
 		// deprecated, triangle/quads shouldn't have been a material property
 		return 0;
 		
-	if (attr == "diffuse")
+	if (!strcmp(attr, "diffuse"))
 		return PyObjectFrom(m_diffuse);
-	if (attr == "shininess")
+	if (!strcmp(attr, "shininess"))
 		return PyFloat_FromDouble(m_shininess);
-	if (attr == "specular")
+	if (!strcmp(attr, "specular"))
 		return PyObjectFrom(m_specular);
-	if (attr == "specularity")
+	if (!strcmp(attr, "specularity"))
 		return PyFloat_FromDouble(m_specularity);
 	
 	_getattr_up(PyObjectPlus);
 }
 
-int KX_PolygonMaterial::_setattr(const STR_String &attr, PyObject *pyvalue)
+int KX_PolygonMaterial::_setattr(const char *attr, PyObject *pyvalue)
 {
 	if (PyFloat_Check(pyvalue))
 	{
 		float value = PyFloat_AsDouble(pyvalue);
-		if (attr == "shininess")
+		if (!strcmp(attr, "shininess"))
 		{
 			m_shininess = value;
 			return 0;
 		}
 		
-		if (attr == "specularity")
+		if (!strcmp(attr, "specularity"))
 		{
 			m_specularity = value;
 			return 0;
@@ -274,50 +277,50 @@ int KX_PolygonMaterial::_setattr(const STR_String &attr, PyObject *pyvalue)
 	if (PyInt_Check(pyvalue))
 	{
 		int value = PyInt_AsLong(pyvalue);
-		if (attr == "tile")
+		if (!strcmp(attr, "tile"))
 		{
 			m_tile = value;
 			return 0;
 		}
 		
-		if (attr == "tilexrep")
+		if (!strcmp(attr, "tilexrep"))
 		{
 			m_tilexrep = value;
 			return 0;
 		}
 		
-		if (attr == "tileyrep")
+		if (!strcmp(attr, "tileyrep"))
 		{
 			m_tileyrep = value;
 			return 0;
 		}
 		
-		if (attr == "drawingmode")
+		if (!strcmp(attr, "drawingmode"))
 		{
 			m_drawingmode = value;
 			return 0;
 		}
 		
-		if (attr == "transparent")
+		if (!strcmp(attr, "transparent"))
 		{
 			m_alpha = value;
 			return 0;
 		}
 		
-		if (attr == "zsort")
+		if (!strcmp(attr, "zsort"))
 		{
 			m_zsort = value;
 			return 0;
 		}
 		
-		if (attr == "lightlayer")
+		if (!strcmp(attr, "lightlayer"))
 		{
 			m_lightlayer = value;
 			return 0;
 		}
 		
 		// This probably won't work...
-		if (attr == "triangle")
+		if (!strcmp(attr, "triangle"))
 		{
 			// deprecated, triangle/quads shouldn't have been a material property
 			return 0;
@@ -331,13 +334,13 @@ int KX_PolygonMaterial::_setattr(const STR_String &attr, PyObject *pyvalue)
 			MT_Vector3 value;
 			if (PyVecTo(pyvalue, value))
 			{
-				if (attr == "diffuse")
+				if (!strcmp(attr, "diffuse"))
 				{
 					m_diffuse = value;
 					return 0;
 				}
 				
-				if (attr == "specular")
+				if (!strcmp(attr, "specular"))
 				{
 					m_specular = value;
 					return 0;
@@ -354,12 +357,12 @@ KX_PYMETHODDEF_DOC(KX_PolygonMaterial, setCustomMaterial, "setCustomMaterial(mat
 	PyObject *material;
 	if (PyArg_ParseTuple(args, "O", &material))
 	{
-		if (m_pymaterial)
+		if (m_pymaterial) {
 			Py_DECREF(m_pymaterial);
-
+		}
 		m_pymaterial = material;
 		Py_INCREF(m_pymaterial);
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	
 	return NULL;
@@ -375,7 +378,7 @@ KX_PYMETHODDEF_DOC(KX_PolygonMaterial, updateTexture, "updateTexture(tface, rast
 		Image *ima = (Image*)tface->tpage;
 		GPU_update_image_time(ima, rasty->GetTime());
 
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	
 	return NULL;
@@ -388,7 +391,7 @@ KX_PYMETHODDEF_DOC(KX_PolygonMaterial, setTexture, "setTexture(tface)")
 	{
 		MTFace *tface = (MTFace*) PyCObject_AsVoidPtr(pytface);
 		GPU_set_tpage(tface);
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	
 	return NULL;
@@ -404,7 +407,7 @@ KX_PYMETHODDEF_DOC(KX_PolygonMaterial, activate, "activate(rasty, cachingInfo)")
 		if (rasty && cachingInfo)
 		{
 			DefaultActivate(rasty, *cachingInfo);
-			Py_Return;
+			Py_RETURN_NONE;
 		}
 	}
 	
diff --git a/source/gameengine/Ketsji/KX_PolygonMaterial.h b/source/gameengine/Ketsji/KX_PolygonMaterial.h
index fe116f757db..a3ef4ca51ef 100644
--- a/source/gameengine/Ketsji/KX_PolygonMaterial.h
+++ b/source/gameengine/Ketsji/KX_PolygonMaterial.h
@@ -115,8 +115,8 @@ public:
 	KX_PYMETHOD_DOC(KX_PolygonMaterial, setCustomMaterial);
 	KX_PYMETHOD_DOC(KX_PolygonMaterial, loadProgram);
 
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int       _setattr(const STR_String& attr, PyObject *pyvalue);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int       _setattr(const char *attr, PyObject *pyvalue);
 };
 
 #endif // __KX_POLYGONMATERIAL_H__
diff --git a/source/gameengine/Ketsji/KX_PyMath.cpp b/source/gameengine/Ketsji/KX_PyMath.cpp
index afb20acec2d..92f18590a7e 100644
--- a/source/gameengine/Ketsji/KX_PyMath.cpp
+++ b/source/gameengine/Ketsji/KX_PyMath.cpp
@@ -77,35 +77,92 @@ bool PyObject_IsMT_Matrix(PyObject *pymat, unsigned int rank)
 
 PyObject* PyObjectFrom(const MT_Matrix4x4 &mat)
 {
+#if 0
 	return Py_BuildValue("[[ffff][ffff][ffff][ffff]]",
 		mat[0][0], mat[0][1], mat[0][2], mat[0][3], 
 		mat[1][0], mat[1][1], mat[1][2], mat[1][3], 
 		mat[2][0], mat[2][1], mat[2][2], mat[2][3], 
 		mat[3][0], mat[3][1], mat[3][2], mat[3][3]);
+#else
+	PyObject *list = PyList_New(4);
+	PyObject *sublist;
+	int i;
+	
+	for(i=0; i < 4; i++) {
+		sublist = PyList_New(4);
+		PyList_SET_ITEM(sublist, 0, PyFloat_FromDouble(mat[i][0]));
+		PyList_SET_ITEM(sublist, 1, PyFloat_FromDouble(mat[i][1]));
+		PyList_SET_ITEM(sublist, 2, PyFloat_FromDouble(mat[i][2]));
+		PyList_SET_ITEM(sublist, 2, PyFloat_FromDouble(mat[i][3]));
+		PyList_SET_ITEM(list, i, sublist);
+	}
+	
+	return list;
+#endif
 }
 
 PyObject* PyObjectFrom(const MT_Matrix3x3 &mat)
 {
+#if 0
 	return Py_BuildValue("[[fff][fff][fff]]",
 		mat[0][0], mat[0][1], mat[0][2], 
 		mat[1][0], mat[1][1], mat[1][2], 
 		mat[2][0], mat[2][1], mat[2][2]);
+#else
+	PyObject *list = PyList_New(3);
+	PyObject *sublist;
+	int i;
+	
+	for(i=0; i < 3; i++) {
+		sublist = PyList_New(3);
+		PyList_SET_ITEM(sublist, 0, PyFloat_FromDouble(mat[i][0]));
+		PyList_SET_ITEM(sublist, 1, PyFloat_FromDouble(mat[i][1]));
+		PyList_SET_ITEM(sublist, 2, PyFloat_FromDouble(mat[i][2]));
+		PyList_SET_ITEM(list, i, sublist);
+	}
+	
+	return list;
+#endif
 }
 
 PyObject* PyObjectFrom(const MT_Tuple4 &vec)
 {
+#if 0
 	return Py_BuildValue("[ffff]", 
 		vec[0], vec[1], vec[2], vec[3]);
+#else
+	PyObject *list = PyList_New(4);
+	PyList_SET_ITEM(list, 0, PyFloat_FromDouble(vec[0]));
+	PyList_SET_ITEM(list, 1, PyFloat_FromDouble(vec[1]));
+	PyList_SET_ITEM(list, 2, PyFloat_FromDouble(vec[2]));
+	PyList_SET_ITEM(list, 3, PyFloat_FromDouble(vec[3]));
+	return list;
+#endif
 }
 
 PyObject* PyObjectFrom(const MT_Tuple3 &vec)
 {
+#if 0
 	return Py_BuildValue("[fff]", 
 		vec[0], vec[1], vec[2]);
+#else
+	PyObject *list = PyList_New(3);
+	PyList_SET_ITEM(list, 0, PyFloat_FromDouble(vec[0]));
+	PyList_SET_ITEM(list, 1, PyFloat_FromDouble(vec[1]));
+	PyList_SET_ITEM(list, 2, PyFloat_FromDouble(vec[2]));
+	return list;
+#endif	
 }
 
 PyObject* PyObjectFrom(const MT_Tuple2 &vec)
 {
+#if 0
 	return Py_BuildValue("[ff]",
 		vec[0], vec[1]);
+#else
+	PyObject *list = PyList_New(2);
+	PyList_SET_ITEM(list, 0, PyFloat_FromDouble(vec[0]));
+	PyList_SET_ITEM(list, 1, PyFloat_FromDouble(vec[1]));
+	return list;
+#endif
 }
diff --git a/source/gameengine/Ketsji/KX_PyMath.h b/source/gameengine/Ketsji/KX_PyMath.h
index 4e383e9b3d4..39c9c358792 100644
--- a/source/gameengine/Ketsji/KX_PyMath.h
+++ b/source/gameengine/Ketsji/KX_PyMath.h
@@ -131,20 +131,6 @@ bool PyVecTo(PyObject* pyval, T& vec)
 }
 
 /**
- *  Converts a python argument to an MT class.
- *  This paramater expects arguments as passed to a python method.
- */
-template<class T>
-bool PyVecArgTo(PyObject* args, T& vec)
-{
-	PyObject* pylist;
-	if (PyArg_ParseTuple(args,"O",&pylist))
-		return PyVecTo(pylist, vec);
-		
-	return false;
-}
-
-/**
  * Converts an MT_Matrix4x4 to a python object.
  */
 PyObject* PyObjectFrom(const MT_Matrix4x4 &mat);
diff --git a/source/gameengine/Ketsji/KX_PythonInit.cpp b/source/gameengine/Ketsji/KX_PythonInit.cpp
index 60921449037..965c4ed2ba3 100644
--- a/source/gameengine/Ketsji/KX_PythonInit.cpp
+++ b/source/gameengine/Ketsji/KX_PythonInit.cpp
@@ -47,6 +47,7 @@
 #include "KX_PyConstraintBinding.h"
 
 #include "KX_KetsjiEngine.h"
+#include "KX_RadarSensor.h"
 
 #include "SCA_IInputDevice.h"
 #include "SCA_PropertySensor.h"
@@ -128,10 +129,10 @@ static PyObject* gPyGetRandomFloat(PyObject*)
 	return PyFloat_FromDouble(MT_random());
 }
 
-static PyObject* gPySetGravity(PyObject*, PyObject* args)
+static PyObject* gPySetGravity(PyObject*, PyObject* value)
 {
-	MT_Vector3 vec = MT_Vector3(0., 0., 0.);
-	if (!PyVecArgTo(args, vec))
+	MT_Vector3 vec;
+	if (!PyVecTo(value, vec))
 		return NULL;
 
 	if (gp_KetsjiScene)
@@ -199,7 +200,7 @@ static PyObject* gPyGetSpectrum(PyObject*)
 }
 
 
-
+#if 0 // unused
 static PyObject* gPyStartDSP(PyObject*, PyObject* args)
 {
 	SND_IAudioDevice* audiodevice = SND_DeviceManager::Instance();
@@ -216,7 +217,7 @@ static PyObject* gPyStartDSP(PyObject*, PyObject* args)
 	
 	Py_RETURN_NONE;
 }
-
+#endif
 
 
 static PyObject* gPyStopDSP(PyObject*, PyObject* args)
@@ -260,7 +261,7 @@ static PyObject* gPySetPhysicsTicRate(PyObject*, PyObject* args)
 	PHY_GetActiveEnvironment()->setFixedTimeStep(true,ticrate);
 	Py_RETURN_NONE;
 }
-
+#if 0 // unused
 static PyObject* gPySetPhysicsDebug(PyObject*, PyObject* args)
 {
 	int debugMode;
@@ -270,7 +271,7 @@ static PyObject* gPySetPhysicsDebug(PyObject*, PyObject* args)
 	PHY_GetActiveEnvironment()->setDebugMode(debugMode);
 	Py_RETURN_NONE;
 }
-
+#endif
 
 
 static PyObject* gPyGetPhysicsTicRate(PyObject*)
@@ -332,6 +333,32 @@ static PyObject* gPyGetCurrentScene(PyObject* self)
 	return (PyObject*) gp_KetsjiScene;
 }
 
+static STR_String gPyGetSceneList_doc =  
+"getSceneList()\n"
+"Return a list of converted scenes.\n";
+static PyObject* gPyGetSceneList(PyObject* self)
+{
+	KX_KetsjiEngine* m_engine = KX_GetActiveEngine();
+	//CListValue* list = new CListValue();
+	PyObject* list;
+	KX_SceneList* scenes = m_engine->CurrentScenes();
+	int numScenes = scenes->size();
+	int i;
+	
+	list = PyList_New(numScenes);
+	
+	for (i=0;i<numScenes;i++)
+	{
+		KX_Scene* scene = scenes->at(i);
+		//list->Add(scene);
+		PyList_SET_ITEM(list, i, scene);
+		Py_INCREF(scene);
+		
+	}
+	
+	return (PyObject*)list;
+}
+
 static PyObject *pyPrintExt(PyObject *,PyObject *,PyObject *)
 {
 #define pprint(x) std::cout << x << std::endl;
@@ -411,11 +438,13 @@ static struct PyMethodDef game_methods[] = {
 	METH_NOARGS, (PY_METHODCHAR)SCA_PythonController::sPyGetCurrentController__doc__},
 	{"getCurrentScene", (PyCFunction) gPyGetCurrentScene,
 	METH_NOARGS, (PY_METHODCHAR)gPyGetCurrentScene_doc.Ptr()},
+	{"getSceneList", (PyCFunction) gPyGetSceneList,
+	METH_NOARGS, (PY_METHODCHAR)gPyGetSceneList_doc.Ptr()},
 	{"addActiveActuator",(PyCFunction) SCA_PythonController::sPyAddActiveActuator,
 	METH_VARARGS, (PY_METHODCHAR)SCA_PythonController::sPyAddActiveActuator__doc__},
 	{"getRandomFloat",(PyCFunction) gPyGetRandomFloat,
 	METH_NOARGS, (PY_METHODCHAR)gPyGetRandomFloat_doc.Ptr()},
-	{"setGravity",(PyCFunction) gPySetGravity, METH_VARARGS, (PY_METHODCHAR)"set Gravitation"},
+	{"setGravity",(PyCFunction) gPySetGravity, METH_O, (PY_METHODCHAR)"set Gravitation"},
 	{"getSpectrum",(PyCFunction) gPyGetSpectrum, METH_NOARGS, (PY_METHODCHAR)"get audio spectrum"},
 	{"stopDSP",(PyCFunction) gPyStopDSP, METH_VARARGS, (PY_METHODCHAR)"stop using the audio dsp (for performance reasons)"},
 	{"getLogicTicRate", (PyCFunction) gPyGetLogicTicRate, METH_NOARGS, (PY_METHODCHAR)"Gets the logic tic rate"},
@@ -545,11 +574,11 @@ static PyObject* gPyGetFocalLength(PyObject*, PyObject*, PyObject*)
 	Py_RETURN_NONE;
 }
 
-static PyObject* gPySetBackgroundColor(PyObject*, PyObject* args)
+static PyObject* gPySetBackgroundColor(PyObject*, PyObject* value)
 {
 	
-	MT_Vector4 vec = MT_Vector4(0., 0., 0.3, 0.);
-	if (!PyVecArgTo(args, vec))
+	MT_Vector4 vec;
+	if (!PyVecTo(value, vec))
 		return NULL;
 	
 	if (gp_Canvas)
@@ -561,11 +590,11 @@ static PyObject* gPySetBackgroundColor(PyObject*, PyObject* args)
 
 
 
-static PyObject* gPySetMistColor(PyObject*, PyObject* args)
+static PyObject* gPySetMistColor(PyObject*, PyObject* value)
 {
 	
-	MT_Vector3 vec = MT_Vector3(0., 0., 0.);
-	if (!PyVecArgTo(args, vec))
+	MT_Vector3 vec;
+	if (!PyVecTo(value, vec))
 		return NULL;
 	
 	if (!gp_Rasterizer) {
@@ -616,11 +645,11 @@ static PyObject* gPySetMistEnd(PyObject*, PyObject* args)
 }
 
 
-static PyObject* gPySetAmbientColor(PyObject*, PyObject* args)
+static PyObject* gPySetAmbientColor(PyObject*, PyObject* value)
 {
 	
-	MT_Vector3 vec = MT_Vector3(0., 0., 0.);
-	if (!PyVecArgTo(args, vec))
+	MT_Vector3 vec;
+	if (!PyVecTo(value, vec))
 		return NULL;
 	
 	if (!gp_Rasterizer) {
@@ -815,9 +844,9 @@ static PyObject* gPyDrawLine(PyObject*, PyObject* args)
 	if (!PyArg_ParseTuple(args,"OOO",&ob_from,&ob_to,&ob_color))
 		return NULL;
 
-	MT_Vector3 from(0., 0., 0.);
-	MT_Vector3 to(0., 0., 0.);
-	MT_Vector3 color(0., 0., 0.);
+	MT_Vector3 from;
+	MT_Vector3 to;
+	MT_Vector3 color;
 	if (!PyVecTo(ob_from, from))
 		return NULL;
 	if (!PyVecTo(ob_to, to))
@@ -843,9 +872,9 @@ static struct PyMethodDef rasterizer_methods[] = {
    METH_VARARGS, "showMouse(bool visible)"},
    {"setMousePosition",(PyCFunction) gPySetMousePosition,
    METH_VARARGS, "setMousePosition(int x,int y)"},
-  {"setBackgroundColor",(PyCFunction)gPySetBackgroundColor,METH_VARARGS,"set Background Color (rgb)"},
-	{"setAmbientColor",(PyCFunction)gPySetAmbientColor,METH_VARARGS,"set Ambient Color (rgb)"},
- {"setMistColor",(PyCFunction)gPySetMistColor,METH_VARARGS,"set Mist Color (rgb)"},
+  {"setBackgroundColor",(PyCFunction)gPySetBackgroundColor,METH_O,"set Background Color (rgb)"},
+	{"setAmbientColor",(PyCFunction)gPySetAmbientColor,METH_O,"set Ambient Color (rgb)"},
+ {"setMistColor",(PyCFunction)gPySetMistColor,METH_O,"set Mist Color (rgb)"},
   {"setMistStart",(PyCFunction)gPySetMistStart,METH_VARARGS,"set Mist Start(rgb)"},
   {"setMistEnd",(PyCFunction)gPySetMistEnd,METH_VARARGS,"set Mist End(rgb)"},
   {"enableMotionBlur",(PyCFunction)gPyEnableMotionBlur,METH_VARARGS,"enable motion blur"},
@@ -1035,6 +1064,14 @@ PyObject* initGameLogic(KX_KetsjiEngine *engine, KX_Scene* scene) // quick hack
 	KX_MACRO_addTypesToDict(d, KX_STATE29, (1<<28));
 	KX_MACRO_addTypesToDict(d, KX_STATE30, (1<<29));
 
+	/* Radar Sensor */
+	KX_MACRO_addTypesToDict(d, KX_RADAR_AXIS_POS_X, KX_RadarSensor::KX_RADAR_AXIS_POS_X);
+	KX_MACRO_addTypesToDict(d, KX_RADAR_AXIS_POS_Y, KX_RadarSensor::KX_RADAR_AXIS_POS_Y);
+	KX_MACRO_addTypesToDict(d, KX_RADAR_AXIS_POS_Z, KX_RadarSensor::KX_RADAR_AXIS_POS_Z);
+	KX_MACRO_addTypesToDict(d, KX_RADAR_AXIS_NEG_X, KX_RadarSensor::KX_RADAR_AXIS_NEG_Y);
+	KX_MACRO_addTypesToDict(d, KX_RADAR_AXIS_NEG_Y, KX_RadarSensor::KX_RADAR_AXIS_NEG_X);
+	KX_MACRO_addTypesToDict(d, KX_RADAR_AXIS_NEG_Z, KX_RadarSensor::KX_RADAR_AXIS_NEG_Z);
+
 	// Check for errors
 	if (PyErr_Occurred())
     {
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp
index 244e9b75d8e..fa8998cd81d 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.cpp
+++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp
@@ -28,6 +28,7 @@
 
 #include "KX_RadarSensor.h"
 #include "KX_GameObject.h"
+#include "KX_PyMath.h"
 #include "PHY_IPhysicsController.h"
 
 #ifdef HAVE_CONFIG_H
@@ -170,8 +171,18 @@ void KX_RadarSensor::SynchronizeTransform()
 		{
 		}
 	}
-	m_cone_origin = trans.getOrigin();
-	m_cone_target = trans(MT_Point3(0, -m_coneheight/2.0 ,0));
+	
+	//Using a temp variable to translate MT_Point3 to float[3].
+	//float[3] works better for the Python interface.
+	MT_Point3 temp = trans.getOrigin();
+	m_cone_origin[0] = temp[0];
+	m_cone_origin[1] = temp[1];
+	m_cone_origin[2] = temp[2];
+
+	temp = trans(MT_Point3(0, -m_coneheight/2.0 ,0));
+	m_cone_target[0] = temp[0];
+	m_cone_target[1] = temp[1];
+	m_cone_target[2] = temp[2];
 
 
 	if (m_physCtrl)
@@ -186,10 +197,58 @@ void KX_RadarSensor::SynchronizeTransform()
 }
 
 /* ------------------------------------------------------------------------- */
-/* Python functions                                                          */
+/* Python Functions															 */
 /* ------------------------------------------------------------------------- */
 
-/* Integration hooks ------------------------------------------------------- */
+//Deprecated ----->
+/* getConeOrigin */
+const char KX_RadarSensor::GetConeOrigin_doc[] = 
+"getConeOrigin()\n"
+"\tReturns the origin of the cone with which to test. The origin\n"
+"\tis in the middle of the cone.";
+PyObject* KX_RadarSensor::PyGetConeOrigin(PyObject* self) {
+	ShowDeprecationWarning("getConeOrigin()", "the coneOrigin property");
+
+	PyObject *retVal = PyList_New(3);
+	
+	PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_origin[0]));
+	PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_origin[1]));
+	PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_cone_origin[2]));
+	
+	return retVal;
+}
+
+/* getConeOrigin */
+const char KX_RadarSensor::GetConeTarget_doc[] = 
+"getConeTarget()\n"
+"\tReturns the center of the bottom face of the cone with which to test.\n";
+PyObject* KX_RadarSensor::PyGetConeTarget(PyObject* self) {
+	ShowDeprecationWarning("getConeTarget()", "the coneTarget property");
+
+	PyObject *retVal = PyList_New(3);
+	
+	PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_target[0]));
+	PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_target[1]));
+	PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_cone_target[2]));
+	
+	return retVal;
+}
+
+/* getConeHeight */
+const char KX_RadarSensor::GetConeHeight_doc[] = 
+"getConeHeight()\n"
+"\tReturns the height of the cone with which to test.\n";
+PyObject* KX_RadarSensor::PyGetConeHeight(PyObject* self) {
+											  
+	ShowDeprecationWarning("getConeHeight()", "the distance property");
+
+	return PyFloat_FromDouble(m_coneheight);
+}
+//<----- Deprecated
+
+/* ------------------------------------------------------------------------- */
+/* Python Integration Hooks                                                  */
+/* ------------------------------------------------------------------------- */
 PyTypeObject KX_RadarSensor::Type = {
 	PyObject_HEAD_INIT(&PyType_Type)
 	0,
@@ -220,60 +279,39 @@ PyParentObject KX_RadarSensor::Parents[] = {
 };
 
 PyMethodDef KX_RadarSensor::Methods[] = {
+	//Deprecated ----->
 	{"getConeOrigin", (PyCFunction) KX_RadarSensor::sPyGetConeOrigin, 
 	 METH_VARARGS, (PY_METHODCHAR)GetConeOrigin_doc},
 	{"getConeTarget", (PyCFunction) KX_RadarSensor::sPyGetConeTarget, 
 	 METH_VARARGS, (PY_METHODCHAR)GetConeTarget_doc},
 	{"getConeHeight", (PyCFunction) KX_RadarSensor::sPyGetConeHeight, 
 	 METH_VARARGS, (PY_METHODCHAR)GetConeHeight_doc},
-	{NULL,NULL,NULL,NULL} //Sentinel
+	 //<-----
+	{NULL} //Sentinel
 };
 
-PyObject* KX_RadarSensor::_getattr(const STR_String& attr) {
-	_getattr_up(KX_TouchSensor);
-}
-
-/* getConeOrigin */
-const char KX_RadarSensor::GetConeOrigin_doc[] = 
-"getConeOrigin()\n"
-"\tReturns the origin of the cone with which to test. The origin\n"
-"\tis in the middle of the cone.";
-PyObject* KX_RadarSensor::PyGetConeOrigin(PyObject* self, 
-										  PyObject* args, 
-										  PyObject* kwds) {
-	PyObject *retVal = PyList_New(3);
-	
-	PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_origin[0]));
-	PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_origin[1]));
-	PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_cone_origin[2]));
-	
-	return retVal;
-}
+PyAttributeDef KX_RadarSensor::Attributes[] = {
+	KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneOrigin", KX_RadarSensor, m_cone_origin, 3),
+	KX_PYATTRIBUTE_FLOAT_ARRAY_RO("coneTarget", KX_RadarSensor, m_cone_target, 3),
+	KX_PYATTRIBUTE_FLOAT_RW("angle", 0, 360, KX_RadarSensor, m_coneradius),
+	KX_PYATTRIBUTE_INT_RW("axis", 0, 5, true, KX_RadarSensor, m_axis),
+	{NULL} //Sentinel
+};
 
-/* getConeOrigin */
-const char KX_RadarSensor::GetConeTarget_doc[] = 
-"getConeTarget()\n"
-"\tReturns the center of the bottom face of the cone with which to test.\n";
-PyObject* KX_RadarSensor::PyGetConeTarget(PyObject* self, 
-										  PyObject* args, 
-										  PyObject* kwds) {
-	PyObject *retVal = PyList_New(3);
-	
-	PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_cone_target[0]));
-	PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_cone_target[1]));
-	PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_cone_target[2]));
-	
-	return retVal;
-}
+PyObject* KX_RadarSensor::_getattr(const char *attr)
+{
+	PyObject* object = _getattr_self(Attributes, this, attr);
+	if (object != NULL)
+		return object;
 
-/* getConeOrigin */
-const char KX_RadarSensor::GetConeHeight_doc[] = 
-"getConeHeight()\n"
-"\tReturns the height of the cone with which to test.\n";
-PyObject* KX_RadarSensor::PyGetConeHeight(PyObject* self, 
-										  PyObject* args, 
-										  PyObject* kwds) {
-	return PyFloat_FromDouble(m_coneheight);
+	_getattr_up(KX_NearSensor);
 }
 
+int KX_RadarSensor::_setattr(const char *attr, PyObject* value)
+{
+	int ret = _setattr_self(Attributes, this, attr, value);
+	if (ret >= 0)
+		return ret;
 
+	return KX_NearSensor::_setattr(attr, value);
+}
diff --git a/source/gameengine/Ketsji/KX_RadarSensor.h b/source/gameengine/Ketsji/KX_RadarSensor.h
index 7272b219e37..6dfe0c42f5d 100644
--- a/source/gameengine/Ketsji/KX_RadarSensor.h
+++ b/source/gameengine/Ketsji/KX_RadarSensor.h
@@ -40,23 +40,23 @@ class KX_RadarSensor : public KX_NearSensor
  protected:
 	Py_Header;
 		
-	MT_Scalar		m_coneradius;
+	float		m_coneradius;
 
 	/**
 	 * Height of the cone.
 	 */
-	MT_Scalar		m_coneheight;
+	float		m_coneheight;
 	int				m_axis;
 
 	/**
 	 * The previous position of the origin of the cone.
 	 */
-	MT_Point3       m_cone_origin;
+	float       m_cone_origin[3];
 
 	/**
 	 * The previous direction of the cone (origin to bottom plane).
 	 */
-	MT_Point3       m_cone_target;
+	float       m_cone_target[3];
 	
 public:
 
@@ -80,13 +80,23 @@ public:
 	/* --------------------------------------------------------------------- */
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
-	
-	virtual PyObject* _getattr(const STR_String& attr);
+	enum RadarAxis {
+		KX_RADAR_AXIS_POS_X = 0,
+		KX_RADAR_AXIS_POS_Y,
+		KX_RADAR_AXIS_POS_Z,
+		KX_RADAR_AXIS_NEG_X,
+		KX_RADAR_AXIS_NEG_Y,
+		KX_RADAR_AXIS_NEG_Z
+	};
 
-	KX_PYMETHOD_DOC(KX_RadarSensor,GetConeOrigin);
-	KX_PYMETHOD_DOC(KX_RadarSensor,GetConeTarget);
-	KX_PYMETHOD_DOC(KX_RadarSensor,GetConeHeight);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject* value);
 
+	//Deprecated ----->
+	KX_PYMETHOD_DOC_NOARGS(KX_RadarSensor,GetConeOrigin);
+	KX_PYMETHOD_DOC_NOARGS(KX_RadarSensor,GetConeTarget);
+	KX_PYMETHOD_DOC_NOARGS(KX_RadarSensor,GetConeHeight);
+	//<-----
 };
 
 #endif //__KX_RADAR_SENSOR_H
diff --git a/source/gameengine/Ketsji/KX_RaySensor.cpp b/source/gameengine/Ketsji/KX_RaySensor.cpp
index e24fb773eac..ce12b983147 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.cpp
+++ b/source/gameengine/Ketsji/KX_RaySensor.cpp
@@ -38,6 +38,7 @@
 #include "KX_GameObject.h"
 #include "KX_Scene.h"
 #include "KX_RayCast.h"
+#include "KX_PyMath.h"
 #include "PHY_IPhysicsEnvironment.h"
 #include "KX_IPhysicsController.h"
 #include "PHY_IPhysicsController.h"
@@ -179,8 +180,8 @@ bool KX_RaySensor::Evaluate(CValue* event)
 	bool reset = m_reset && m_level;
 	m_rayHit = false; 
 	m_hitObject = NULL;
-	m_hitPosition = MT_Vector3(0,0,0);
-	m_hitNormal = MT_Vector3(1,0,0);
+	m_hitPosition.setValue(0,0,0);
+	m_hitNormal.setValue(1,0,0);
 	
 	KX_GameObject* obj = (KX_GameObject*)GetParent();
 	MT_Point3 frompoint = obj->NodeGetWorldPosition();
@@ -335,89 +336,56 @@ PyParentObject KX_RaySensor::Parents[] = {
 };
 
 PyMethodDef KX_RaySensor::Methods[] = {
-	{"getHitObject",(PyCFunction) KX_RaySensor::sPyGetHitObject,METH_VARARGS, (PY_METHODCHAR)GetHitObject_doc},
-	{"getHitPosition",(PyCFunction) KX_RaySensor::sPyGetHitPosition,METH_VARARGS, (PY_METHODCHAR)GetHitPosition_doc},
-	{"getHitNormal",(PyCFunction) KX_RaySensor::sPyGetHitNormal,METH_VARARGS, (PY_METHODCHAR)GetHitNormal_doc},
-	{"getRayDirection",(PyCFunction) KX_RaySensor::sPyGetRayDirection,METH_VARARGS, (PY_METHODCHAR)GetRayDirection_doc},
+	{"getHitObject",(PyCFunction) KX_RaySensor::sPyGetHitObject,METH_NOARGS, (PY_METHODCHAR)GetHitObject_doc},
+	{"getHitPosition",(PyCFunction) KX_RaySensor::sPyGetHitPosition,METH_NOARGS, (PY_METHODCHAR)GetHitPosition_doc},
+	{"getHitNormal",(PyCFunction) KX_RaySensor::sPyGetHitNormal,METH_NOARGS, (PY_METHODCHAR)GetHitNormal_doc},
+	{"getRayDirection",(PyCFunction) KX_RaySensor::sPyGetRayDirection,METH_NOARGS, (PY_METHODCHAR)GetRayDirection_doc},
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_RaySensor::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
 const char KX_RaySensor::GetHitObject_doc[] = 
 "getHitObject()\n"
 "\tReturns the name of the object that was hit by this ray.\n";
-PyObject* KX_RaySensor::PyGetHitObject(PyObject* self, 
-										   PyObject* args, 
-										   PyObject* kwds)
+PyObject* KX_RaySensor::PyGetHitObject(PyObject* self)
 {
 	if (m_hitObject)
 	{
 		return m_hitObject->AddRef();
 	}
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
 const char KX_RaySensor::GetHitPosition_doc[] = 
 "getHitPosition()\n"
 "\tReturns the position (in worldcoordinates) where the object was hit by this ray.\n";
-PyObject* KX_RaySensor::PyGetHitPosition(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* KX_RaySensor::PyGetHitPosition(PyObject* self)
 {
-
-	MT_Point3 pos = m_hitPosition;
-
-	PyObject* resultlist = PyList_New(3);
-	int index;
-	for (index=0;index<3;index++)
-	{
-		PyList_SetItem(resultlist,index,PyFloat_FromDouble(pos[index]));
-	}
-	return resultlist;
-
+	return PyObjectFrom(m_hitPosition);
 }
 
 const char KX_RaySensor::GetRayDirection_doc[] = 
 "getRayDirection()\n"
 "\tReturns the direction from the ray (in worldcoordinates) .\n";
-PyObject* KX_RaySensor::PyGetRayDirection(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* KX_RaySensor::PyGetRayDirection(PyObject* self)
 {
-
-	MT_Vector3 dir = m_rayDirection;
-
-	PyObject* resultlist = PyList_New(3);
-	int index;
-	for (index=0;index<3;index++)
-	{
-		PyList_SetItem(resultlist,index,PyFloat_FromDouble(dir[index]));
-	}
-	return resultlist;
-
+	return PyObjectFrom(m_rayDirection);
 }
 
 const char KX_RaySensor::GetHitNormal_doc[] = 
 "getHitNormal()\n"
 "\tReturns the normal (in worldcoordinates) of the object at the location where the object was hit by this ray.\n";
-PyObject* KX_RaySensor::PyGetHitNormal(PyObject* self, 
-			       PyObject* args, 
-			       PyObject* kwds)
+PyObject* KX_RaySensor::PyGetHitNormal(PyObject* self)
 {
-	MT_Vector3 pos = m_hitNormal;
-
-	PyObject* resultlist = PyList_New(3);
-	int index;
-	for (index=0;index<3;index++)
-	{
-		PyList_SetItem(resultlist,index,PyFloat_FromDouble(pos[index]));
-	}
-	return resultlist;
-
+	return PyObjectFrom(m_hitNormal);
 }
 
 
 
-PyObject* KX_RaySensor::_getattr(const STR_String& attr) {
+PyObject* KX_RaySensor::_getattr(const char *attr) {
 	_getattr_up(SCA_ISensor);
 }
diff --git a/source/gameengine/Ketsji/KX_RaySensor.h b/source/gameengine/Ketsji/KX_RaySensor.h
index 02a755fedc1..09d8bc1369a 100644
--- a/source/gameengine/Ketsji/KX_RaySensor.h
+++ b/source/gameengine/Ketsji/KX_RaySensor.h
@@ -74,12 +74,12 @@ public:
 	bool RayHit(KX_ClientObjectInfo* client, KX_RayCast* result, void * const data);
 	bool NeedRayCast(KX_ClientObjectInfo* client);
 	
-	KX_PYMETHOD_DOC(KX_RaySensor,GetHitObject);
-	KX_PYMETHOD_DOC(KX_RaySensor,GetHitPosition);
-	KX_PYMETHOD_DOC(KX_RaySensor,GetHitNormal);
-	KX_PYMETHOD_DOC(KX_RaySensor,GetRayDirection);
+	KX_PYMETHOD_DOC_NOARGS(KX_RaySensor,GetHitObject);
+	KX_PYMETHOD_DOC_NOARGS(KX_RaySensor,GetHitPosition);
+	KX_PYMETHOD_DOC_NOARGS(KX_RaySensor,GetHitNormal);
+	KX_PYMETHOD_DOC_NOARGS(KX_RaySensor,GetRayDirection);
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 	
 };
 
diff --git a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
index 5777f54b799..68b704f4889 100644
--- a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp
@@ -188,9 +188,7 @@ PyParentObject KX_SCA_AddObjectActuator::Parents[] = {
 	NULL
 };
 PyMethodDef KX_SCA_AddObjectActuator::Methods[] = {
-  {"setObject", (PyCFunction) KX_SCA_AddObjectActuator::sPySetObject, METH_O, (PY_METHODCHAR)SetObject_doc},
   {"setTime", (PyCFunction) KX_SCA_AddObjectActuator::sPySetTime, METH_O, (PY_METHODCHAR)SetTime_doc},
-  {"getObject", (PyCFunction) KX_SCA_AddObjectActuator::sPyGetObject, METH_VARARGS, (PY_METHODCHAR)GetObject_doc},
   {"getTime", (PyCFunction) KX_SCA_AddObjectActuator::sPyGetTime, METH_NOARGS, (PY_METHODCHAR)GetTime_doc},
   {"getLinearVelocity", (PyCFunction) KX_SCA_AddObjectActuator::sPyGetLinearVelocity, METH_NOARGS, (PY_METHODCHAR)GetLinearVelocity_doc},
   {"setLinearVelocity", (PyCFunction) KX_SCA_AddObjectActuator::sPySetLinearVelocity, METH_VARARGS, (PY_METHODCHAR)SetLinearVelocity_doc},
@@ -199,15 +197,52 @@ PyMethodDef KX_SCA_AddObjectActuator::Methods[] = {
   {"getLastCreatedObject", (PyCFunction) KX_SCA_AddObjectActuator::sPyGetLastCreatedObject, METH_NOARGS,"getLastCreatedObject() : get the object handle to the last created object\n"},
   {"instantAddObject", (PyCFunction) KX_SCA_AddObjectActuator::sPyInstantAddObject, METH_NOARGS,"instantAddObject() : immediately add object without delay\n"},
   
+  // ---> deprecated
+  {"setObject", (PyCFunction) KX_SCA_AddObjectActuator::sPySetObject, METH_O, (PY_METHODCHAR)SetObject_doc},
+  {"getObject", (PyCFunction) KX_SCA_AddObjectActuator::sPyGetObject, METH_VARARGS, (PY_METHODCHAR)GetObject_doc},
+  
   {NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_SCA_AddObjectActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
-PyObject* KX_SCA_AddObjectActuator::_getattr(const STR_String& attr)
+PyObject* KX_SCA_AddObjectActuator::_getattr(const char *attr)
 {
+	if (!strcmp(attr, "object")) {
+		if (!m_OriginalObject)	Py_RETURN_NONE;
+		else					return m_OriginalObject->AddRef();
+	} else if (!strcmp(attr, "objectLastCreated")) {
+		if (!m_OriginalObject)	Py_RETURN_NONE;
+		else					return m_lastCreatedObject->AddRef();
+	}
+	
   _getattr_up(SCA_IActuator);
 }
 
+int KX_SCA_AddObjectActuator::_setattr(const char *attr, PyObject* value) {
+	
+	if (!strcmp(attr, "object")) {
+		KX_GameObject *gameobj;
+		
+		if (!ConvertPythonToGameObject(value, &gameobj, true))
+			return 1; // ConvertPythonToGameObject sets the error
+		
+		if (m_OriginalObject != NULL)
+			m_OriginalObject->UnregisterActuator(this);	
+
+		m_OriginalObject = (SCA_IObject*)gameobj;
+		
+		if (m_OriginalObject)
+			m_OriginalObject->RegisterActuator(this);
+		
+		return 0;
+	}
+	
+	return SCA_IActuator::_setattr(attr, value);
+}
+
 /* 1. setObject */
 const char KX_SCA_AddObjectActuator::SetObject_doc[] = 
 "setObject(object)\n"
@@ -218,6 +253,8 @@ PyObject* KX_SCA_AddObjectActuator::PySetObject(PyObject* self, PyObject* value)
 {
 	KX_GameObject *gameobj;
 	
+	ShowDeprecationWarning("setObject()", "the object property");
+	
 	if (!ConvertPythonToGameObject(value, &gameobj, true))
 		return NULL; // ConvertPythonToGameObject sets the error
 	
@@ -277,6 +314,9 @@ const char KX_SCA_AddObjectActuator::GetObject_doc[] =
 PyObject* KX_SCA_AddObjectActuator::PyGetObject(PyObject* self, PyObject* args)
 {
 	int ret_name_only = 1;
+	
+	ShowDeprecationWarning("getObject()", "the object property");
+	
 	if (!PyArg_ParseTuple(args, "|i", &ret_name_only))
 		return NULL;
 	
diff --git a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h
index 278d4180284..18298cbcb0c 100644
--- a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.h
@@ -60,13 +60,16 @@ class KX_SCA_AddObjectActuator : public SCA_IActuator
 
 	/// Linear velocity upon creation of the object. 
 	MT_Vector3  m_linear_velocity;
+	/// Apply the velocity locally 
+	bool m_localLinvFlag;
 	
 	/// Angular velocity upon creation of the object. 
 	MT_Vector3  m_angular_velocity;
-
 	/// Apply the velocity locally 
-	bool m_localLinvFlag;
-	bool m_localAngvFlag;
+	bool m_localAngvFlag; 
+	
+	
+	
 	
 	SCA_IObject*	m_lastCreatedObject;
 	
@@ -107,10 +110,8 @@ public:
 	virtual bool 
 	Update();
 
-	virtual PyObject*  
-	_getattr(
-		const STR_String& attr
-	);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject* value);
 
 		SCA_IObject*	
 	GetLastCreatedObject(
diff --git a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp
index 176ccf1a84a..394bb667728 100644
--- a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp
@@ -85,9 +85,12 @@ PyMethodDef KX_SCA_DynamicActuator::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_SCA_DynamicActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
 
-PyObject* KX_SCA_DynamicActuator::_getattr(const STR_String& attr)
+PyObject* KX_SCA_DynamicActuator::_getattr(const char *attr)
 {
   _getattr_up(SCA_IActuator);
 }
@@ -115,7 +118,7 @@ KX_PYMETHODDEF_DOC(KX_SCA_DynamicActuator, setOperation,
 		return NULL;
 	}
 	m_dyn_operation= dyn_operation;
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 KX_PYMETHODDEF_DOC(KX_SCA_DynamicActuator, getOperation,
diff --git a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h
index de2fab68d15..a82cddd66a7 100644
--- a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h
@@ -64,10 +64,7 @@ class KX_SCA_DynamicActuator : public SCA_IActuator
 	virtual bool 
 	Update();
 
-	virtual PyObject*  
-	_getattr(
-		const STR_String& attr
-	);
+	virtual PyObject* _getattr(const char *attr);
 
 	/* 1. setOperation */
 	KX_PYMETHOD_DOC(KX_SCA_DynamicActuator,setOperation);
diff --git a/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.cpp b/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.cpp
index ec29448907f..9268a1df5f0 100644
--- a/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.cpp
@@ -127,8 +127,11 @@ PyMethodDef KX_SCA_EndObjectActuator::Methods[] = {
   {NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_SCA_EndObjectActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
-PyObject* KX_SCA_EndObjectActuator::_getattr(const STR_String& attr)
+PyObject* KX_SCA_EndObjectActuator::_getattr(const char *attr)
 {
   _getattr_up(SCA_IActuator);
 }
diff --git a/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.h b/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.h
index add9c05b000..12118743f0a 100644
--- a/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_EndObjectActuator.h
@@ -64,10 +64,7 @@ class KX_SCA_EndObjectActuator : public SCA_IActuator
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject*  
-	_getattr(
-		const STR_String& attr
-	);
+	virtual PyObject* _getattr(const char *attr);
 	
 }; /* end of class KX_EditObjectActuator : public SCA_PropertyActuator */
 
diff --git a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp
index 261d9ec8f0c..502990b2b27 100644
--- a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.cpp
@@ -89,9 +89,11 @@ PyMethodDef KX_SCA_ReplaceMeshActuator::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_SCA_ReplaceMeshActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
-
-PyObject* KX_SCA_ReplaceMeshActuator::_getattr(const STR_String& attr)
+PyObject* KX_SCA_ReplaceMeshActuator::_getattr(const char *attr)
 {
   _getattr_up(SCA_IActuator);
 }
diff --git a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.h b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.h
index 1da154cc222..0ba60650683 100644
--- a/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.h
+++ b/source/gameengine/Ketsji/KX_SCA_ReplaceMeshActuator.h
@@ -69,10 +69,7 @@ class KX_SCA_ReplaceMeshActuator : public SCA_IActuator
 	virtual bool 
 	Update();
 
-	virtual PyObject*  
-	_getattr(
-		const STR_String& attr
-	);
+	virtual PyObject* _getattr(const char *attr);
 	void	InstantReplaceMesh();
 
 	/* 1. setMesh */
diff --git a/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp
index d651373869a..151270cbd68 100644
--- a/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp
+++ b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp
@@ -97,11 +97,11 @@ UpdateChildCoordinates(
 				child_transform = parent_matrix * child_transform;
 				
 				// Recompute the child transform components from the transform.
-				child_w_scale =  MT_Vector3( 
+				child_w_scale.setValue( 
 					MT_Vector3(child_transform[0][0], child_transform[0][1], child_transform[0][2]).length(),
 					MT_Vector3(child_transform[1][0], child_transform[1][1], child_transform[1][2]).length(),
 					MT_Vector3(child_transform[2][0], child_transform[2][1], child_transform[2][2]).length());
-				child_w_rotation = MT_Matrix3x3(child_transform[0][0], child_transform[0][1], child_transform[0][2], 
+				child_w_rotation.setValue(child_transform[0][0], child_transform[0][1], child_transform[0][2], 
 					child_transform[1][0], child_transform[1][1], child_transform[1][2], 
 					child_transform[2][0], child_transform[2][1], child_transform[2][2]);
 				child_w_rotation.scale(1.0/child_w_scale[0], 1.0/child_w_scale[1], 1.0/child_w_scale[2]);
@@ -113,16 +113,15 @@ UpdateChildCoordinates(
 		}
 	} 
 	
-	if (!valid_parent_transform)
+	if (valid_parent_transform)
 	{
-		child_w_scale = child_scale;
-		child_w_pos = child_pos;
-		child_w_rotation = child_rotation;
+		child->SetWorldScale(child_w_scale);
+		child->SetWorldPosition(child_w_pos);
+		child->SetWorldOrientation(child_w_rotation);
+	}
+	else {
+		child->SetWorldFromLocalTransform();
 	}
-
-	child->SetWorldScale(child_w_scale);
-	child->SetWorldPosition(child_w_pos);
-	child->SetWorldOrientation(child_w_rotation);
 	
 	return valid_parent_transform;
 }
diff --git a/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp b/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
index 0c8e7e28771..0729ec8a902 100644
--- a/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
+++ b/source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
@@ -55,43 +55,21 @@ UpdateChildCoordinates(
 ){
 	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.
-
-	const MT_Vector3 & child_scale = child->GetLocalScale();
-	const MT_Point3 & child_pos = child->GetLocalPosition();
-	const MT_Matrix3x3 & child_rotation = child->GetLocalOrientation();
-
-	// the childs world locations which we will update.	
-	
-	MT_Vector3 child_w_scale;
-	MT_Point3 child_w_pos;
-	MT_Matrix3x3 child_w_rotation;
-		
-	if (parent) {
-
+	if (parent==NULL) { /* Simple case */
+		child->SetWorldFromLocalTransform();
+		return false;
+	}
+	else {
+		// the childs world locations which we will update.	
 		const MT_Vector3 & p_world_scale = parent->GetWorldScaling();
 		const MT_Point3 & p_world_pos = parent->GetWorldPosition();
 		const MT_Matrix3x3 & p_world_rotation = parent->GetWorldOrientation();
 
-		child_w_scale = p_world_scale * child_scale;
-		child_w_rotation = p_world_rotation * child_rotation;
-
-		child_w_pos = p_world_pos + p_world_scale * 
-			(p_world_rotation * child_pos);
-		
-	} else {
-
-		child_w_scale = child_scale;
-		child_w_pos = child_pos;
-		child_w_rotation = child_rotation;
+		child->SetWorldScale(p_world_scale * child->GetLocalScale());
+		child->SetWorldOrientation(p_world_rotation * child->GetLocalOrientation());
+		child->SetWorldPosition(p_world_pos + p_world_scale * (p_world_rotation * child->GetLocalPosition()));
+		return true;
 	}
-
-	child->SetWorldScale(child_w_scale);
-	child->SetWorldPosition(child_w_pos);
-	child->SetWorldOrientation(child_w_rotation);
-	
-	return parent != NULL;
 }
 
 	SG_ParentRelation *
@@ -138,40 +116,14 @@ UpdateChildCoordinates(
 ){
 
 	MT_assert(child != NULL);
-
-	const MT_Vector3 & child_scale = child->GetLocalScale();
-	const MT_Point3 & child_pos = child->GetLocalPosition();
-	const MT_Matrix3x3 & child_rotation = child->GetLocalOrientation();
-
-	// the childs world locations which we will update.	
+	child->SetWorldScale(child->GetLocalScale());
 	
-	MT_Vector3 child_w_scale;
-	MT_Point3 child_w_pos;
-	MT_Matrix3x3 child_w_rotation;
-		
-	if (parent) {
-
-		// This is a vertex parent so we do not inherit orientation 
-		// information.
-
-		// const MT_Vector3 & p_world_scale = parent->GetWorldScaling(); /*unused*/
-		const MT_Point3 & p_world_pos = parent->GetWorldPosition();
-		// const MT_Matrix3x3 & p_world_rotation = parent->GetWorldOrientation(); /*unused*/
-
-		child_w_scale = child_scale;
-		child_w_rotation = child_rotation;
-		child_w_pos = p_world_pos + child_pos;
-	} else {
-
-		child_w_scale = child_scale;
-		child_w_pos = child_pos;
-		child_w_rotation = child_rotation;
-	}
-
-	child->SetWorldScale(child_w_scale);
-	child->SetWorldPosition(child_w_pos);
-	child->SetWorldOrientation(child_w_rotation);
+	if (parent)
+		child->SetWorldPosition(child->GetLocalPosition()+parent->GetWorldPosition());
+	else
+		child->SetWorldPosition(child->GetLocalPosition());
 	
+	child->SetWorldOrientation(child->GetLocalOrientation());
 	return parent != NULL;
 }
 
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index 476a931355f..0fded15f1a1 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -1014,6 +1014,12 @@ void KX_Scene::ReplaceMesh(class CValue* obj,void* meshobj)
 				blendmesh->dvert!=NULL;						// mesh has vertex group
 			bool releaseParent = true;
 
+			
+			if (oldblendobj==NULL) {
+				std::cout << "warning: ReplaceMesh() new mesh is not used in an object from the current scene, you will get incorrect behavior" << std::endl;
+				bHasShapeKey= bHasDvert= bHasArmature= false;
+			}
+			
 			if (bHasShapeKey)
 			{
 				BL_ShapeDeformer* shapeDeformer;
@@ -1511,14 +1517,6 @@ double KX_Scene::getSuspendedDelta()
 //----------------------------------------------------------------------------
 //Python
 
-PyMethodDef KX_Scene::Methods[] = {
-	KX_PYMETHODTABLE(KX_Scene, getLightList),
-	KX_PYMETHODTABLE(KX_Scene, getObjectList),
-	KX_PYMETHODTABLE(KX_Scene, getName),
-	
-	{NULL,NULL} //Sentinel
-};
-
 PyTypeObject KX_Scene::Type = {
 	PyObject_HEAD_INIT(&PyType_Type)
 		0,
@@ -1544,28 +1542,40 @@ PyParentObject KX_Scene::Parents[] = {
 		NULL
 };
 
-PyObject* KX_Scene::_getattr(const STR_String& attr)
+PyMethodDef KX_Scene::Methods[] = {
+	KX_PYMETHODTABLE(KX_Scene, getLightList),
+	KX_PYMETHODTABLE(KX_Scene, getObjectList),
+	KX_PYMETHODTABLE(KX_Scene, getName),
+	KX_PYMETHODTABLE(KX_Scene, addObject),
+	
+	{NULL,NULL} //Sentinel
+};
+
+PyAttributeDef KX_Scene::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_Scene::_getattr(const char *attr)
 {
-	if (attr == "name")
+	if (!strcmp(attr, "name"))
 		return PyString_FromString(GetName());
 	
-	if (attr == "active_camera")
-	{
-		KX_Camera *camera = GetActiveCamera();
-		camera->AddRef();
-		return (PyObject*) camera;
-	}
+	if (!strcmp(attr, "objects"))
+		return (PyObject*) m_objectlist->AddRef();
 	
-	if (attr == "suspended")
+	if (!strcmp(attr, "active_camera"))
+		return (PyObject*) GetActiveCamera()->AddRef();
+	
+	if (!strcmp(attr, "suspended"))
 		return PyInt_FromLong(m_suspend);
 	
-	if (attr == "activity_culling")
+	if (!strcmp(attr, "activity_culling"))
 		return PyInt_FromLong(m_activity_culling);
 	
-	if (attr == "activity_culling_radius")
+	if (!strcmp(attr, "activity_culling_radius"))
 		return PyFloat_FromDouble(m_activity_box_radius);
 	
-	PyObject* value = PyDict_GetItemString(m_attrlist, const_cast<char *>(attr.ReadPtr()));
+	PyObject* value = PyDict_GetItemString(m_attrlist, attr);
 	if (value)
 	{
 		Py_INCREF(value);
@@ -1575,43 +1585,63 @@ PyObject* KX_Scene::_getattr(const STR_String& attr)
 	_getattr_up(PyObjectPlus);
 }
 
-int KX_Scene::_delattr(const STR_String &attr)
+int KX_Scene::_delattr(const char *attr)
 {
-	PyDict_DelItemString(m_attrlist, const_cast<char *>(attr.ReadPtr()));
+	PyDict_DelItemString(m_attrlist, attr);
 	return 0;
 }
 
-int KX_Scene::_setattr(const STR_String &attr, PyObject *pyvalue)
+int KX_Scene::_setattr(const char *attr, PyObject *pyvalue)
 {
-
-	if (!PyDict_SetItemString(m_attrlist, const_cast<char *>(attr.ReadPtr()), pyvalue))
+	if (!PyDict_SetItemString(m_attrlist, attr, pyvalue))
 		return 0;
 
 	return PyObjectPlus::_setattr(attr, pyvalue);
 }
 
-KX_PYMETHODDEF_DOC(KX_Scene, getLightList,
+KX_PYMETHODDEF_DOC_NOARGS(KX_Scene, getLightList,
 "getLightList() -> list [KX_Light]\n"
 "Returns a list of all lights in the scene.\n"
 )
 {
-	m_lightlist->AddRef();
-	return (PyObject*) m_lightlist;
+	return (PyObject*) m_lightlist->AddRef();
 }
 
-KX_PYMETHODDEF_DOC(KX_Scene, getObjectList,
+KX_PYMETHODDEF_DOC_NOARGS(KX_Scene, getObjectList,
 "getObjectList() -> list [KX_GameObject]\n"
 "Returns a list of all game objects in the scene.\n"
 )
 {
-	m_objectlist->AddRef();
-	return (PyObject*) m_objectlist;
+	// ShowDeprecationWarning("getObjectList()", "the objects property"); // XXX Grr, why doesnt this work?
+	return (PyObject*) m_objectlist->AddRef();
 }
 
-KX_PYMETHODDEF_DOC(KX_Scene, getName,
+KX_PYMETHODDEF_DOC_NOARGS(KX_Scene, getName,
 "getName() -> string\n"
 "Returns the name of the scene.\n"
 )
 {
 	return PyString_FromString(GetName());
 }
+
+KX_PYMETHODDEF_DOC(KX_Scene, addObject,
+"addObject(object, other, time=0)\n"
+"Returns the added object.\n")
+{
+	PyObject *pyob, *pyother;
+	KX_GameObject *ob, *other;
+
+	int time = 0;
+
+	if (!PyArg_ParseTuple(args, "OO|i", &pyob, &pyother, &time))
+		return NULL;
+
+	if (!ConvertPythonToGameObject(pyob, &ob, false)
+		|| !ConvertPythonToGameObject(pyother, &other, false))
+		return NULL;
+
+
+	SCA_IObject* replica = AddReplicaObject((SCA_IObject*)ob, other, time);
+	replica->AddRef();
+	return replica;
+}
\ No newline at end of file
diff --git a/source/gameengine/Ketsji/KX_Scene.h b/source/gameengine/Ketsji/KX_Scene.h
index 5f7e1167e27..962db1a9b96 100644
--- a/source/gameengine/Ketsji/KX_Scene.h
+++ b/source/gameengine/Ketsji/KX_Scene.h
@@ -547,9 +547,10 @@ public:
 	 */
 	void SetNodeTree(SG_Tree* root);
 
-	KX_PYMETHOD_DOC(KX_Scene, getLightList);
-	KX_PYMETHOD_DOC(KX_Scene, getObjectList);
-	KX_PYMETHOD_DOC(KX_Scene, getName);
+	KX_PYMETHOD_DOC_NOARGS(KX_Scene, getLightList);
+	KX_PYMETHOD_DOC_NOARGS(KX_Scene, getObjectList);
+	KX_PYMETHOD_DOC_NOARGS(KX_Scene, getName);
+	KX_PYMETHOD_DOC(KX_Scene, addObject);
 /*	
 	KX_PYMETHOD_DOC(KX_Scene, getActiveCamera);
 	KX_PYMETHOD_DOC(KX_Scene, getActiveCamera);
@@ -564,10 +565,12 @@ public:
 	KX_PYMETHOD_DOC(KX_Scene, setSceneViewport);
 	*/
 
-	virtual PyObject* _getattr(const STR_String& attr); /* name, active_camera, gravity, suspended, viewport, framing, activity_culling, activity_culling_radius */
-	virtual int _setattr(const STR_String &attr, PyObject *pyvalue);
-	virtual int _delattr(const STR_String &attr);
+	virtual PyObject* _getattr(const char *attr); /* name, active_camera, gravity, suspended, viewport, framing, activity_culling, activity_culling_radius */
+	virtual int _setattr(const char *attr, PyObject *pyvalue);
+	virtual int _delattr(const char *attr);
+	virtual PyObject* _repr(void) { return PyString_FromString(GetName().ReadPtr()); }
 
+		
 	/**
 	 * Sets the time the scene was suspended
 	 */ 
diff --git a/source/gameengine/Ketsji/KX_SceneActuator.cpp b/source/gameengine/Ketsji/KX_SceneActuator.cpp
index 35484699b17..1cad4e21352 100644
--- a/source/gameengine/Ketsji/KX_SceneActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SceneActuator.cpp
@@ -268,9 +268,11 @@ PyMethodDef KX_SceneActuator::Methods[] =
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_SceneActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
-
-PyObject* KX_SceneActuator::_getattr(const STR_String& attr)
+PyObject* KX_SceneActuator::_getattr(const char *attr)
 {
 	_getattr_up(SCA_IActuator);
 }
@@ -295,7 +297,7 @@ PyObject* KX_SceneActuator::PySetUseRestart(PyObject* self,
 	
 	m_restart = boolArg != 0;
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -333,7 +335,7 @@ PyObject* KX_SceneActuator::PySetScene(PyObject* self,
 	/* Scene switch is done by name. */
 	m_nextSceneName = scene_name;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -368,7 +370,7 @@ PyObject* KX_SceneActuator::PySetCamera(PyObject* self,
 		m_camera = (KX_Camera*) cam;
 		if (m_camera)
 			m_camera->RegisterActuator(this);
-		Py_Return;
+		Py_RETURN_NONE;
 	}
 	PyErr_Clear();
 
@@ -388,7 +390,7 @@ PyObject* KX_SceneActuator::PySetCamera(PyObject* self,
 		m_camera->RegisterActuator(this);
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_SceneActuator.h b/source/gameengine/Ketsji/KX_SceneActuator.h
index 55aaf629d7c..af11af955bf 100644
--- a/source/gameengine/Ketsji/KX_SceneActuator.h
+++ b/source/gameengine/Ketsji/KX_SceneActuator.h
@@ -92,7 +92,7 @@ class KX_SceneActuator : public SCA_IActuator
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 
 	/* 1. set                                                                */
 	/* Removed */
diff --git a/source/gameengine/Ketsji/KX_SoundActuator.cpp b/source/gameengine/Ketsji/KX_SoundActuator.cpp
index afa5af3bc04..6de1d67bfdb 100644
--- a/source/gameengine/Ketsji/KX_SoundActuator.cpp
+++ b/source/gameengine/Ketsji/KX_SoundActuator.cpp
@@ -285,9 +285,11 @@ PyMethodDef KX_SoundActuator::Methods[] = {
 	{NULL,NULL,NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_SoundActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
-
-PyObject* KX_SoundActuator::_getattr(const STR_String& attr)
+PyObject* KX_SoundActuator::_getattr(const char *attr)
 {
 	_getattr_up(SCA_IActuator);
 }
@@ -302,7 +304,7 @@ PyObject* KX_SoundActuator::PySetFilename(PyObject* self, PyObject* args, PyObje
 	if (!PyArg_ParseTuple(args, "s", &soundName))
 		return NULL;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -332,7 +334,7 @@ PyObject* KX_SoundActuator::PyStartSound(PyObject* self, PyObject* args, PyObjec
 		// To start the sound you must activate the actuator. 
 		// This function is to restart the sound.
 		m_soundObject->StartSound();	
-	Py_Return;
+	Py_RETURN_NONE;
 }         
 
 
@@ -342,7 +344,7 @@ PyObject* KX_SoundActuator::PyPauseSound(PyObject* self, PyObject* args, PyObjec
 	if (m_soundObject)
 		// unfortunately, openal does not implement pause correctly, it is equivalent to a stop
 		m_soundObject->PauseSound();	
-	Py_Return;
+	Py_RETURN_NONE;
 } 
 
 
@@ -351,7 +353,7 @@ PyObject* KX_SoundActuator::PyStopSound(PyObject* self, PyObject* args, PyObject
 {
 	if (m_soundObject)
 		m_soundObject->StopSound();	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -365,7 +367,7 @@ PyObject* KX_SoundActuator::PySetGain(PyObject* self, PyObject* args, PyObject*
 	if (m_soundObject)
 		m_soundObject->SetGain(gain);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }         
 
 
@@ -389,7 +391,7 @@ PyObject* KX_SoundActuator::PySetPitch(PyObject* self, PyObject* args, PyObject*
 	if (m_soundObject)
 		m_soundObject->SetPitch(pitch);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }         
 
 
@@ -413,7 +415,7 @@ PyObject* KX_SoundActuator::PySetRollOffFactor(PyObject* self, PyObject* args, P
 	if (m_soundObject)
 		m_soundObject->SetRollOffFactor(rollofffactor);
 
-	Py_Return;
+	Py_RETURN_NONE;
 }         
 
 
@@ -437,14 +439,14 @@ PyObject* KX_SoundActuator::PySetLooping(PyObject* self, PyObject* args, PyObjec
 	if (m_soundObject)
 		m_soundObject->SetLoopMode(looping);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }         
 
 
 
 PyObject* KX_SoundActuator::PyGetLooping(PyObject* self, PyObject* args, PyObject* kwds)
 {
-	int looping = (m_soundObject) ? m_soundObject->GetLoopMode() : SND_LOOP_OFF;
+	int looping = (m_soundObject) ? m_soundObject->GetLoopMode() : (int)SND_LOOP_OFF;
 	PyObject* result = PyInt_FromLong(looping);
 	
 	return result;
@@ -465,7 +467,7 @@ PyObject* KX_SoundActuator::PySetPosition(PyObject* self, PyObject* args, PyObje
 	if (m_soundObject)
 		m_soundObject->SetPosition(pos);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }         
 
 
@@ -483,7 +485,7 @@ PyObject* KX_SoundActuator::PySetVelocity(PyObject* self, PyObject* args, PyObje
 	if (m_soundObject)
 		m_soundObject->SetVelocity(vel);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }         
 
 
@@ -507,7 +509,7 @@ PyObject* KX_SoundActuator::PySetOrientation(PyObject* self, PyObject* args, PyO
 	if (m_soundObject)
 		m_soundObject->SetOrientation(ori);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 PyObject* KX_SoundActuator::PySetType(PyObject* self, PyObject* args, PyObject* kwds)
@@ -523,7 +525,7 @@ PyObject* KX_SoundActuator::PySetType(PyObject* self, PyObject* args, PyObject*
 		m_type = (KX_SOUNDACT_TYPE) typeArg;
 	}
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 PyObject* KX_SoundActuator::PyGetType(PyObject* self, PyObject* args, PyObject* kwds)
diff --git a/source/gameengine/Ketsji/KX_SoundActuator.h b/source/gameengine/Ketsji/KX_SoundActuator.h
index 5a9edbc4c5e..68d5b792729 100644
--- a/source/gameengine/Ketsji/KX_SoundActuator.h
+++ b/source/gameengine/Ketsji/KX_SoundActuator.h
@@ -80,7 +80,7 @@ public:
 	/* Python interface --------------------------------------------------- */
 	/* -------------------------------------------------------------------- */
 
-	virtual PyObject*  _getattr(const STR_String& attr);
+	virtual PyObject*  _getattr(const char *attr);
 
 	KX_PYMETHOD(KX_SoundActuator,SetFilename);
 	KX_PYMETHOD(KX_SoundActuator,GetFilename);
diff --git a/source/gameengine/Ketsji/KX_StateActuator.cpp b/source/gameengine/Ketsji/KX_StateActuator.cpp
index e360c4bac1f..0de4da79bd8 100644
--- a/source/gameengine/Ketsji/KX_StateActuator.cpp
+++ b/source/gameengine/Ketsji/KX_StateActuator.cpp
@@ -146,10 +146,11 @@ KX_StateActuator::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* 
-KX_StateActuator::_getattr(
-	const STR_String& attr
-	) 
+PyAttributeDef KX_StateActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_StateActuator::_getattr(const char *attr)
 {
 	_getattr_up(SCA_IActuator);
 };
@@ -176,7 +177,7 @@ KX_StateActuator::PySetOperation(PyObject* self,
 
 	m_operation = oper;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* set mask ---------------------------------------------------------- */
@@ -201,7 +202,7 @@ KX_StateActuator::PySetMask(PyObject* self,
 
 	m_mask = mask;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_StateActuator.h b/source/gameengine/Ketsji/KX_StateActuator.h
index 8698e51b2c1..023b8993d7c 100644
--- a/source/gameengine/Ketsji/KX_StateActuator.h
+++ b/source/gameengine/Ketsji/KX_StateActuator.h
@@ -73,7 +73,7 @@ class KX_StateActuator : public SCA_IActuator
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 	//KX_PYMETHOD_DOC
 	KX_PYMETHOD_DOC(KX_StateActuator,SetOperation);
 	KX_PYMETHOD_DOC(KX_StateActuator,SetMask);
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp
index 1935a0bde39..705b54edd37 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.cpp
+++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp
@@ -34,7 +34,9 @@
 #include "SCA_LogicManager.h"
 #include "KX_GameObject.h"
 #include "KX_TouchEventManager.h"
-#include "KX_SumoPhysicsController.h"
+
+#include "PHY_IPhysicsController.h"
+
 #include <iostream>
 #include "PHY_IPhysicsEnvironment.h"
 
@@ -57,6 +59,7 @@ void KX_TouchSensor::EndFrame() {
 	m_colliders->ReleaseAndRemoveAll();
 	m_hitObject = NULL;
 	m_bTriggered = false;
+	m_bColliderHash = 0;
 }
 
 void KX_TouchSensor::UnregisterToManager()
@@ -70,7 +73,6 @@ bool KX_TouchSensor::Evaluate(CValue* event)
 {
 	bool result = false;
 	bool reset = m_reset && m_level;
-
 	m_reset = false;
 	if (m_bTriggered != m_bLastTriggered)
 	{
@@ -82,13 +84,24 @@ bool KX_TouchSensor::Evaluate(CValue* event)
 	if (reset)
 		// force an event
 		result = true;
+	
+	if (m_bTouchPulse) { /* pulse on changes to the colliders */
+		int count = m_colliders->GetCount();
+		
+		if (m_bLastCount!=count || m_bColliderHash!=m_bLastColliderHash) {
+			m_bLastCount = count;
+			m_bLastColliderHash= m_bColliderHash;
+			result = true;
+		}
+	}
 	return result;
 }
 
-KX_TouchSensor::KX_TouchSensor(SCA_EventManager* eventmgr,KX_GameObject* gameobj,bool bFindMaterial,const STR_String& touchedpropname,PyTypeObject* T)
+KX_TouchSensor::KX_TouchSensor(SCA_EventManager* eventmgr,KX_GameObject* gameobj,bool bFindMaterial,bool bTouchPulse,const STR_String& touchedpropname,PyTypeObject* T)
 :SCA_ISensor(gameobj,eventmgr,T),
 m_touchedpropname(touchedpropname),
 m_bFindMaterial(bFindMaterial),
+m_bTouchPulse(bTouchPulse),
 m_eventmgr(eventmgr)
 /*m_sumoObj(sumoObj),*/
 {
@@ -100,8 +113,8 @@ m_eventmgr(eventmgr)
 	m_colliders = new CListValue();
 	
 	KX_ClientObjectInfo *client_info = gameobj->getClientInfo();
-	client_info->m_gameobject = gameobj;
-	client_info->m_auxilary_info = NULL;
+	//client_info->m_gameobject = gameobj;
+	//client_info->m_auxilary_info = NULL;
 	client_info->m_sensors.push_back(this);
 	
 	m_physCtrl = dynamic_cast<PHY_IPhysicsController*>(gameobj->GetPhysicsController());
@@ -114,6 +127,8 @@ void KX_TouchSensor::Init()
 	m_bCollision = false;
 	m_bTriggered = false;
 	m_bLastTriggered = (m_invert)?true:false;
+	m_bLastCount = 0;
+	m_bColliderHash = m_bLastColliderHash = 0;
 	m_hitObject =  NULL;
 	m_reset = true;
 }
@@ -143,8 +158,8 @@ void	KX_TouchSensor::ReParent(SCA_IObject* parent)
 	
 //	m_solidHandle = m_sumoObj->getObjectHandle();
 	KX_ClientObjectInfo *client_info = gameobj->getClientInfo();
-	client_info->m_gameobject = gameobj;
-	client_info->m_auxilary_info = NULL;
+	//client_info->m_gameobject = gameobj;
+	//client_info->m_auxilary_info = NULL;
 	
 	client_info->m_sensors.push_back(this);
 	SCA_ISensor::ReParent(parent);
@@ -189,8 +204,6 @@ bool	KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_Coll
 	if (m_links && !m_suspended &&
 		gameobj && (gameobj != parent) && client_info->isActor())
 	{
-		if (!m_colliders->SearchValue(gameobj))
-			m_colliders->Add(gameobj->AddRef());
 		
 		bool found = m_touchedpropname.IsEmpty();
 		if (!found)
@@ -199,7 +212,7 @@ bool	KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_Coll
 			{
 				if (client_info->m_auxilary_info)
 				{
-					found = (m_touchedpropname == STR_String((char*)client_info->m_auxilary_info));
+					found = (!strcmp(m_touchedpropname.Ptr(), (char*)client_info->m_auxilary_info));
 				}
 			} else
 			{
@@ -208,13 +221,19 @@ bool	KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_Coll
 		}
 		if (found)
 		{
+			if (!m_colliders->SearchValue(gameobj)) {
+				m_colliders->Add(gameobj->AddRef());
+				
+				if (m_bTouchPulse)
+					m_bColliderHash += (uint_ptr)(static_cast<void *>(&gameobj));
+			}
 			m_bTriggered = true;
 			m_hitObject = gameobj;
 			//printf("KX_TouchSensor::HandleCollision\n");
 		}
 		
 	} 
-	return DT_CONTINUE;
+	return false; // was DT_CONTINUE but this was defined in sumo as false.
 }
 
 
@@ -250,21 +269,53 @@ PyParentObject KX_TouchSensor::Parents[] = {
 };
 
 PyMethodDef KX_TouchSensor::Methods[] = {
+	//Deprecated ----->
 	{"setProperty", 
-	 (PyCFunction) KX_TouchSensor::sPySetProperty,      METH_VARARGS, (PY_METHODCHAR)SetProperty_doc},
+	 (PyCFunction) KX_TouchSensor::sPySetProperty,      METH_O, (PY_METHODCHAR)SetProperty_doc},
 	{"getProperty", 
-	 (PyCFunction) KX_TouchSensor::sPyGetProperty,      METH_VARARGS, (PY_METHODCHAR)GetProperty_doc},
+	 (PyCFunction) KX_TouchSensor::sPyGetProperty,      METH_NOARGS, (PY_METHODCHAR)GetProperty_doc},
 	{"getHitObject", 
-	 (PyCFunction) KX_TouchSensor::sPyGetHitObject,     METH_VARARGS, (PY_METHODCHAR)GetHitObject_doc},
+	 (PyCFunction) KX_TouchSensor::sPyGetHitObject,     METH_NOARGS, (PY_METHODCHAR)GetHitObject_doc},
 	{"getHitObjectList", 
-	 (PyCFunction) KX_TouchSensor::sPyGetHitObjectList, METH_VARARGS, (PY_METHODCHAR)GetHitObjectList_doc},
+	 (PyCFunction) KX_TouchSensor::sPyGetHitObjectList, METH_NOARGS, (PY_METHODCHAR)GetHitObjectList_doc},
+	 //<-----
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* KX_TouchSensor::_getattr(const STR_String& attr) {
+PyAttributeDef KX_TouchSensor::Attributes[] = {
+	KX_PYATTRIBUTE_STRING_RW("property",0,100,false,KX_TouchSensor,m_touchedpropname),
+	KX_PYATTRIBUTE_BOOL_RW("useMaterial",KX_TouchSensor,m_bFindMaterial),
+	KX_PYATTRIBUTE_BOOL_RW("pulseCollisions",KX_TouchSensor,m_bTouchPulse),
+	KX_PYATTRIBUTE_DUMMY("objectHit"),
+	KX_PYATTRIBUTE_DUMMY("objectHitList"),
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_TouchSensor::_getattr(const char *attr)
+{	
+	if (!strcmp(attr, "objectHit")) {
+		if (m_hitObject)	return m_hitObject->AddRef();
+		else				Py_RETURN_NONE;
+	}
+	if (!strcmp(attr, "objectHitList")) {
+		return m_colliders->AddRef();
+	}
+
+	PyObject* object= _getattr_self(Attributes, this, attr);
+	if (object != NULL)
+		return object;
 	_getattr_up(SCA_ISensor);
 }
 
+int KX_TouchSensor::_setattr(const char *attr, PyObject *value)
+{
+	int ret = _setattr_self(Attributes, this, attr, value);
+	if (ret >= 0)
+		return ret;
+	
+	return SCA_ISensor::_setattr(attr, value);
+}
+
 /* Python API */
 
 /* 1. setProperty */
@@ -274,24 +325,17 @@ const char KX_TouchSensor::SetProperty_doc[] =
 "\tSet the property or material to collide with. Use\n"
 "\tsetTouchMaterial() to switch between properties and\n"
 "\tmaterials.";
-PyObject* KX_TouchSensor::PySetProperty(PyObject* self, 
-										PyObject* args, 
-										PyObject* kwds) {
-	char *nameArg;
-	if (!PyArg_ParseTuple(args, "s", &nameArg)) {
+PyObject* KX_TouchSensor::PySetProperty(PyObject* self, PyObject* value)
+{
+	ShowDeprecationWarning("setProperty()", "the propertyName property");
+	char *nameArg= PyString_AsString(value);
+	if (nameArg==NULL) {
+		PyErr_SetString(PyExc_ValueError, "expected a ");
 		return NULL;
 	}
-
-	CValue* prop = GetParent()->FindIdentifier(nameArg);
-
-	if (!prop->IsError()) {
-		m_touchedpropname = nameArg;
-	} else {
-		; /* not found ... */
-	}
-	prop->Release();
 	
-	Py_Return;
+	m_touchedpropname = nameArg;
+	Py_RETURN_NONE;
 }
 /* 2. getProperty */
 const char KX_TouchSensor::GetProperty_doc[] = 
@@ -299,111 +343,71 @@ const char KX_TouchSensor::GetProperty_doc[] =
 "\tReturns the property or material to collide with. Use\n"
 "\tgetTouchMaterial() to find out whether this sensor\n"
 "\tlooks for properties or materials.";
-PyObject*  KX_TouchSensor::PyGetProperty(PyObject* self, 
-										 PyObject* args, 
-										 PyObject* kwds) {
+PyObject*  KX_TouchSensor::PyGetProperty(PyObject* self) {
 	return PyString_FromString(m_touchedpropname);
 }
 
 const char KX_TouchSensor::GetHitObject_doc[] = 
 "getHitObject()\n"
 ;
-PyObject* KX_TouchSensor::PyGetHitObject(PyObject* self, 
-										 PyObject* args, 
-										 PyObject* kwds)
+PyObject* KX_TouchSensor::PyGetHitObject(PyObject* self)
 {
+	ShowDeprecationWarning("getHitObject()", "the objectHit property");
 	/* to do: do Py_IncRef if the object is already known in Python */
 	/* otherwise, this leaks memory */
 	if (m_hitObject)
 	{
 		return m_hitObject->AddRef();
 	}
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 const char KX_TouchSensor::GetHitObjectList_doc[] = 
 "getHitObjectList()\n"
 "\tReturn a list of the objects this object collided with,\n"
 "\tbut only those matching the property/material condition.\n";
-PyObject* KX_TouchSensor::PyGetHitObjectList(PyObject* self, 
-										 PyObject* args, 
-										 PyObject* kwds)
+PyObject* KX_TouchSensor::PyGetHitObjectList(PyObject* self)
 {
-
+	ShowDeprecationWarning("getHitObjectList()", "the objectHitList property");
 	/* to do: do Py_IncRef if the object is already known in Python */
-	/* otherwise, this leaks memory */
-
-	if ( m_touchedpropname.IsEmpty() ) {
-		return m_colliders->AddRef();
-	} else {
-		CListValue* newList = new CListValue();
-		int i = 0;
-		while (i < m_colliders->GetCount()) {
-			if (m_bFindMaterial) {
-				/* need to associate the CValues from the list to material
-				 * names. The collider list _should_ contains only
-				 * KX_GameObjects. I am loathe to cast them, though... The
-				 * material name must be retrieved from Sumo. To a Sumo
-				 * object, a client-info block is attached. This block
-				 * contains the material name. 
-				 * - this also doesn't work (obviously) for multi-materials... 
-				 */
-				KX_GameObject* gameob = (KX_GameObject*) m_colliders->GetValue(i);
-				PHY_IPhysicsController* spc = dynamic_cast<PHY_IPhysicsController*>(gameob->GetPhysicsController());
-				
-				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());
-					} 
-				}
-				
-			} else {
-				CValue* val = m_colliders->GetValue(i)->FindIdentifier(m_touchedpropname);
-				if (!val->IsError()) {
-					newList->Add(m_colliders->GetValue(i)->AddRef());
-				}
-				val->Release();
-			}
-			
-			i++;
-		}
-		return newList->AddRef();
-	}
-
+	/* otherwise, this leaks memory */ /* Edit, this seems ok and not to leak memory - Campbell */
+	return m_colliders->AddRef();
 }
 
+/*getTouchMaterial and setTouchMaterial were never added to the api,
+they can probably be removed with out anyone noticing*/
+
 /* 5. getTouchMaterial */
 const char KX_TouchSensor::GetTouchMaterial_doc[] = 
 "getTouchMaterial()\n"
 "\tReturns KX_TRUE if this sensor looks for a specific material,\n"
 "\tKX_FALSE if it looks for a specific property.\n" ;
-PyObject* KX_TouchSensor::PyGetTouchMaterial(PyObject* self, 
-											 PyObject* args, 
-											 PyObject* kwds)
+PyObject* KX_TouchSensor::PyGetTouchMaterial(PyObject* self)
 {
+	ShowDeprecationWarning("getTouchMaterial()", "the materialCheck property");
 	return PyInt_FromLong(m_bFindMaterial);
 }
 
 /* 6. setTouchMaterial */
+#if 0
 const char KX_TouchSensor::SetTouchMaterial_doc[] = 
 "setTouchMaterial(flag)\n"
 "\t- flag: KX_TRUE or KX_FALSE.\n"
 "\tSet flag to KX_TRUE to switch on positive pulse mode,\n"
 "\tKX_FALSE to switch off positive pulse mode.\n" ;
-PyObject* KX_TouchSensor::PySetTouchMaterial(PyObject* self, PyObject* args, PyObject* kwds)
+PyObject* KX_TouchSensor::PySetTouchMaterial(PyObject* self, PyObject *value)
 {
-	int pulseArg = 0;
+	int pulseArg = PyInt_AsLong(value);
 
-	if(!PyArg_ParseTuple(args, "i", &pulseArg)) {
+	if(pulseArg ==-1 && PyErr_Occurred()) {
+		PyErr_SetString(PyExc_ValueError, "expected a bool");
 		return NULL;
 	}
 	
 	m_bFindMaterial = pulseArg != 0;
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
-
+#endif
 
 /* eof */
diff --git a/source/gameengine/Ketsji/KX_TouchSensor.h b/source/gameengine/Ketsji/KX_TouchSensor.h
index 8fbb1c676ba..18ce9406a9b 100644
--- a/source/gameengine/Ketsji/KX_TouchSensor.h
+++ b/source/gameengine/Ketsji/KX_TouchSensor.h
@@ -39,6 +39,12 @@ struct PHY_CollData;
 
 #include "KX_ClientObjectInfo.h"
 
+#if defined(_WIN64)
+typedef unsigned __int64 uint_ptr;
+#else
+typedef unsigned long uint_ptr;
+#endif
+
 class KX_TouchEventManager;
 
 class KX_TouchSensor : public SCA_ISensor
@@ -51,6 +57,7 @@ protected:
 	 */
 	STR_String				m_touchedpropname;	
 	bool					m_bFindMaterial;
+	bool					m_bTouchPulse;		/* changes in the colliding objects trigger pulses */
 	class SCA_EventManager*	m_eventmgr;
 	
 	class PHY_IPhysicsController*	m_physCtrl;
@@ -58,13 +65,20 @@ protected:
 	bool					m_bCollision;
 	bool					m_bTriggered;
 	bool					m_bLastTriggered;
+
+	// Use with m_bTouchPulse to detect changes
+	int						m_bLastCount;		/* size of m_colliders last tick */
+	uint_ptr				m_bColliderHash;	/* hash collision objects pointers to trigger incase one object collides and another takes its place */
+	uint_ptr				m_bLastColliderHash;
+
 	SCA_IObject*		    m_hitObject;
 	class CListValue*		m_colliders;
 	
 public:
 	KX_TouchSensor(class SCA_EventManager* eventmgr,
 		class KX_GameObject* gameobj,
-		bool fFindMaterial,
+		bool bFindMaterial,
+		bool bTouchPulse,
 		const STR_String& touchedpropname,
 		PyTypeObject* T=&Type) ;
 	virtual ~KX_TouchSensor();
@@ -106,20 +120,25 @@ public:
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 	
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject *value);
 
+	//Deprecated ----->
 	/* 1. setProperty */
-	KX_PYMETHOD_DOC(KX_TouchSensor,SetProperty);
+	KX_PYMETHOD_DOC_O(KX_TouchSensor,SetProperty);
 	/* 2. getProperty */
-	KX_PYMETHOD_DOC(KX_TouchSensor,GetProperty);
+	KX_PYMETHOD_DOC_NOARGS(KX_TouchSensor,GetProperty);
 	/* 3. getHitObject */
-	KX_PYMETHOD_DOC(KX_TouchSensor,GetHitObject);
+	KX_PYMETHOD_DOC_NOARGS(KX_TouchSensor,GetHitObject);
 	/* 4. getHitObject */
-	KX_PYMETHOD_DOC(KX_TouchSensor,GetHitObjectList);
+	KX_PYMETHOD_DOC_NOARGS(KX_TouchSensor,GetHitObjectList);
 	/* 5. getTouchMaterial */
-	KX_PYMETHOD_DOC(KX_TouchSensor,GetTouchMaterial);
+	KX_PYMETHOD_DOC_NOARGS(KX_TouchSensor,GetTouchMaterial);
+#if 0
 	/* 6. setTouchMaterial */
-	KX_PYMETHOD_DOC(KX_TouchSensor,SetTouchMaterial);
+	KX_PYMETHOD_DOC_O(KX_TouchSensor,SetTouchMaterial);
+#endif
+	//<-----
 	
 };
 
diff --git a/source/gameengine/Ketsji/KX_TrackToActuator.cpp b/source/gameengine/Ketsji/KX_TrackToActuator.cpp
index acc4a6ab5d7..8637bc92d39 100644
--- a/source/gameengine/Ketsji/KX_TrackToActuator.cpp
+++ b/source/gameengine/Ketsji/KX_TrackToActuator.cpp
@@ -258,18 +258,18 @@ bool KX_TrackToActuator::Update(double curtime, bool frame)
 		{
 		case 0:
 			{
-				up = MT_Vector3(1.0,0,0);
+				up.setValue(1.0,0,0);
 				break;
 			} 
 		case 1:
 			{
-				up = MT_Vector3(0,1.0,0);
+				up.setValue(0,1.0,0);
 				break;
 			}
 		case 2:
 		default:
 			{
-				up = MT_Vector3(0,0,1.0);
+				up.setValue(0,0,1.0);
 			}
 		}
 #endif 
@@ -456,23 +456,54 @@ PyParentObject KX_TrackToActuator::Parents[] = {
 
 
 PyMethodDef KX_TrackToActuator::Methods[] = {
-	{"setObject", (PyCFunction) KX_TrackToActuator::sPySetObject, METH_O, (PY_METHODCHAR)SetObject_doc},
-	{"getObject", (PyCFunction) KX_TrackToActuator::sPyGetObject, METH_VARARGS, (PY_METHODCHAR)GetObject_doc},
 	{"setTime", (PyCFunction) KX_TrackToActuator::sPySetTime, METH_VARARGS, (PY_METHODCHAR)SetTime_doc},
 	{"getTime", (PyCFunction) KX_TrackToActuator::sPyGetTime, METH_VARARGS, (PY_METHODCHAR)GetTime_doc},
 	{"setUse3D", (PyCFunction) KX_TrackToActuator::sPySetUse3D, METH_VARARGS, (PY_METHODCHAR)SetUse3D_doc},
 	{"getUse3D", (PyCFunction) KX_TrackToActuator::sPyGetUse3D, METH_VARARGS, (PY_METHODCHAR)GetUse3D_doc},
+	
+	// ---> deprecated
+	{"setObject", (PyCFunction) KX_TrackToActuator::sPySetObject, METH_O, (PY_METHODCHAR)SetObject_doc},
+	{"getObject", (PyCFunction) KX_TrackToActuator::sPyGetObject, METH_VARARGS, (PY_METHODCHAR)GetObject_doc},
+	
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_TrackToActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
 
 
-PyObject* KX_TrackToActuator::_getattr(const STR_String& attr)
+PyObject* KX_TrackToActuator::_getattr(const char *attr)
 {
+	if (!strcmp(attr, "object")) {
+		if (!m_object)		Py_RETURN_NONE;
+		else				return m_object->AddRef();
+	}
+	
 	_getattr_up(SCA_IActuator);
 }
 
+int KX_TrackToActuator::_setattr(const char *attr, PyObject* value)
+{
+	if (!strcmp(attr, "object")) {
+		KX_GameObject *gameobj;
+		
+		if (!ConvertPythonToGameObject(value, &gameobj, true))
+			return 1; // ConvertPythonToGameObject sets the error
+		
+		if (m_object != NULL)
+			m_object->UnregisterActuator(this);	
 
+		m_object = (SCA_IObject*)gameobj;
+		
+		if (m_object)
+			m_object->RegisterActuator(this);
+		
+		return 0;
+	}
+	
+	return SCA_IActuator::_setattr(attr, value);
+}
 
 /* 1. setObject */
 const char KX_TrackToActuator::SetObject_doc[] = 
@@ -483,6 +514,8 @@ PyObject* KX_TrackToActuator::PySetObject(PyObject* self, PyObject* value)
 {
 	KX_GameObject *gameobj;
 	
+	ShowDeprecationWarning("setObject()", "the object property");
+	
 	if (!ConvertPythonToGameObject(value, &gameobj, true))
 		return NULL; // ConvertPythonToGameObject sets the error
 	
@@ -506,6 +539,9 @@ const char KX_TrackToActuator::GetObject_doc[] =
 PyObject* KX_TrackToActuator::PyGetObject(PyObject* self, PyObject* args)
 {
 	int ret_name_only = 1;
+	
+	ShowDeprecationWarning("getObject()", "the object property");
+	
 	if (!PyArg_ParseTuple(args, "|i", &ret_name_only))
 		return NULL;
 	
@@ -536,7 +572,7 @@ PyObject* KX_TrackToActuator::PySetTime(PyObject* self, PyObject* args, PyObject
 	
 	m_time= timeArg;
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
@@ -580,7 +616,7 @@ PyObject* KX_TrackToActuator::PySetUse3D(PyObject* self, PyObject* args, PyObjec
 	
 	m_allow3D = !(boolArg == 0);
 	
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 /* eof */
diff --git a/source/gameengine/Ketsji/KX_TrackToActuator.h b/source/gameengine/Ketsji/KX_TrackToActuator.h
index 445132a6094..392e55402f1 100644
--- a/source/gameengine/Ketsji/KX_TrackToActuator.h
+++ b/source/gameengine/Ketsji/KX_TrackToActuator.h
@@ -72,7 +72,8 @@ class KX_TrackToActuator : public SCA_IActuator
 	virtual bool Update(double curtime, bool frame);
 
 	/* Python part */
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int _setattr(const char *attr, PyObject* value);
 	
 	/* 1. setObject */
 	KX_PYMETHOD_DOC_O(KX_TrackToActuator,SetObject);
diff --git a/source/gameengine/Ketsji/KX_VehicleWrapper.cpp b/source/gameengine/Ketsji/KX_VehicleWrapper.cpp
index 028f96f6c5b..8d5af1b9216 100644
--- a/source/gameengine/Ketsji/KX_VehicleWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_VehicleWrapper.cpp
@@ -322,13 +322,13 @@ PyParentObject KX_VehicleWrapper::Parents[] = {
 	NULL
 };
 
-PyObject*	KX_VehicleWrapper::_getattr(const STR_String& attr)
+PyObject*	KX_VehicleWrapper::_getattr(const char *attr)
 {
 	//here you can search for existing data members (like mass,friction etc.)
 	_getattr_up(PyObjectPlus);
 }
 
-int	KX_VehicleWrapper::_setattr(const STR_String& attr,PyObject* pyobj)
+int	KX_VehicleWrapper::_setattr(const char *attr,PyObject* pyobj)
 {
 	
 	PyTypeObject* type = pyobj->ob_type;
@@ -382,3 +382,6 @@ PyMethodDef KX_VehicleWrapper::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_VehicleWrapper::Attributes[] = {
+	{ NULL }	//Sentinel
+};
diff --git a/source/gameengine/Ketsji/KX_VehicleWrapper.h b/source/gameengine/Ketsji/KX_VehicleWrapper.h
index b98369d401a..cad926ce85a 100644
--- a/source/gameengine/Ketsji/KX_VehicleWrapper.h
+++ b/source/gameengine/Ketsji/KX_VehicleWrapper.h
@@ -12,8 +12,8 @@ class PHY_IMotionState;
 class	KX_VehicleWrapper : public PyObjectPlus
 {
 	Py_Header;
-	virtual PyObject*		_getattr(const STR_String& attr);
-	virtual int 			_setattr(const STR_String& attr, PyObject *value);
+	virtual PyObject*		_getattr(const char *attr);
+	virtual int 			_setattr(const char *attr, PyObject *value);
 
 	std::vector<PHY_IMotionState*> m_motionStates;
 
diff --git a/source/gameengine/Ketsji/KX_VertexProxy.cpp b/source/gameengine/Ketsji/KX_VertexProxy.cpp
index 25205714308..da0e3dbdd8d 100644
--- a/source/gameengine/Ketsji/KX_VertexProxy.cpp
+++ b/source/gameengine/Ketsji/KX_VertexProxy.cpp
@@ -63,31 +63,63 @@ PyParentObject KX_VertexProxy::Parents[] = {
 };
 
 PyMethodDef KX_VertexProxy::Methods[] = {
-{"getXYZ", (PyCFunction)KX_VertexProxy::sPyGetXYZ,METH_VARARGS},
-{"setXYZ", (PyCFunction)KX_VertexProxy::sPySetXYZ,METH_VARARGS},
-{"getUV", (PyCFunction)KX_VertexProxy::sPyGetUV,METH_VARARGS},
-{"setUV", (PyCFunction)KX_VertexProxy::sPySetUV,METH_VARARGS},
+{"getXYZ", (PyCFunction)KX_VertexProxy::sPyGetXYZ,METH_NOARGS},
+{"setXYZ", (PyCFunction)KX_VertexProxy::sPySetXYZ,METH_O},
+{"getUV", (PyCFunction)KX_VertexProxy::sPyGetUV,METH_NOARGS},
+{"setUV", (PyCFunction)KX_VertexProxy::sPySetUV,METH_O},
 
-{"getUV2", (PyCFunction)KX_VertexProxy::sPyGetUV2,METH_VARARGS},
+{"getUV2", (PyCFunction)KX_VertexProxy::sPyGetUV2,METH_NOARGS},
 {"setUV2", (PyCFunction)KX_VertexProxy::sPySetUV2,METH_VARARGS},
 
-{"getRGBA", (PyCFunction)KX_VertexProxy::sPyGetRGBA,METH_VARARGS},
-{"setRGBA", (PyCFunction)KX_VertexProxy::sPySetRGBA,METH_VARARGS},
-{"getNormal", (PyCFunction)KX_VertexProxy::sPyGetNormal,METH_VARARGS},
-{"setNormal", (PyCFunction)KX_VertexProxy::sPySetNormal,METH_VARARGS},
+{"getRGBA", (PyCFunction)KX_VertexProxy::sPyGetRGBA,METH_NOARGS},
+{"setRGBA", (PyCFunction)KX_VertexProxy::sPySetRGBA,METH_O},
+{"getNormal", (PyCFunction)KX_VertexProxy::sPyGetNormal,METH_NOARGS},
+{"setNormal", (PyCFunction)KX_VertexProxy::sPySetNormal,METH_O},
   {NULL,NULL} //Sentinel
 };
 
+PyAttributeDef KX_VertexProxy::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
 PyObject*
-KX_VertexProxy::_getattr(const STR_String& attr)
+KX_VertexProxy::_getattr(const char *attr)
 {
-  if (attr == "XYZ")
+  
+  if (attr[1]=='\0') { // Group single letters
+    // pos
+    if (attr[0]=='x')
+    	return PyFloat_FromDouble(m_vertex->getXYZ()[0]);
+    if (attr[0]=='y')
+    	return PyFloat_FromDouble(m_vertex->getXYZ()[1]);
+    if (attr[0]=='z')
+    	return PyFloat_FromDouble(m_vertex->getXYZ()[2]);
+
+    // Col
+    if (attr[0]=='r')
+    	return PyFloat_FromDouble(m_vertex->getRGBA()[0]/255.0);
+    if (attr[0]=='g')
+    	return PyFloat_FromDouble(m_vertex->getRGBA()[1]/255.0);
+    if (attr[0]=='b')
+    	return PyFloat_FromDouble(m_vertex->getRGBA()[2]/255.0);
+    if (attr[0]=='a')
+    	return PyFloat_FromDouble(m_vertex->getRGBA()[3]/255.0);
+
+    // UV
+    if (attr[0]=='u')
+    	return PyFloat_FromDouble(m_vertex->getUV1()[0]);
+    if (attr[0]=='v')
+    	return PyFloat_FromDouble(m_vertex->getUV1()[1]);
+  }
+  
+  
+  if (!strcmp(attr, "XYZ"))
   	return PyObjectFrom(MT_Vector3(m_vertex->getXYZ()));
 
-  if (attr == "UV")
+  if (!strcmp(attr, "UV"))
   	return PyObjectFrom(MT_Point2(m_vertex->getUV1()));
 
-  if (attr == "colour" || attr == "color")
+  if (!strcmp(attr, "color") || !strcmp(attr, "colour"))
   {
   	const unsigned char *colp = m_vertex->getRGBA();
 	MT_Vector4 color(colp[0], colp[1], colp[2], colp[3]);
@@ -95,43 +127,19 @@ KX_VertexProxy::_getattr(const STR_String& attr)
   	return PyObjectFrom(color);
   }
   
-  if (attr == "normal")
+  if (!strcmp(attr, "normal"))
   {
 	return PyObjectFrom(MT_Vector3(m_vertex->getNormal()));
   }
-
-  // pos
-  if (attr == "x")
-  	return PyFloat_FromDouble(m_vertex->getXYZ()[0]);
-  if (attr == "y")
-  	return PyFloat_FromDouble(m_vertex->getXYZ()[1]);
-  if (attr == "z")
-  	return PyFloat_FromDouble(m_vertex->getXYZ()[2]);
-
-  // Col
-  if (attr == "r")
-  	return PyFloat_FromDouble(m_vertex->getRGBA()[0]/255.0);
-  if (attr == "g")
-  	return PyFloat_FromDouble(m_vertex->getRGBA()[1]/255.0);
-  if (attr == "b")
-  	return PyFloat_FromDouble(m_vertex->getRGBA()[2]/255.0);
-  if (attr == "a")
-  	return PyFloat_FromDouble(m_vertex->getRGBA()[3]/255.0);
-
-  // UV
-  if (attr == "u")
-  	return PyFloat_FromDouble(m_vertex->getUV1()[0]);
-  if (attr == "v")
-  	return PyFloat_FromDouble(m_vertex->getUV1()[1]);
-
+  
   _getattr_up(SCA_IObject);
 }
 
-int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
+int    KX_VertexProxy::_setattr(const char *attr, PyObject *pyvalue)
 {
   if (PySequence_Check(pyvalue))
   {
-  	if (attr == "XYZ")
+	if (!strcmp(attr, "XYZ"))
 	{
 		MT_Point3 vec;
 		if (PyVecTo(pyvalue, vec))
@@ -143,7 +151,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 		return 1;
 	}
 	
-	if (attr == "UV")
+	if (!strcmp(attr, "UV"))
 	{
 		MT_Point2 vec;
 		if (PyVecTo(pyvalue, vec))
@@ -155,7 +163,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 		return 1;
 	}
 	
-	if (attr == "colour" || attr == "color")
+	if (!strcmp(attr, "color") || !strcmp(attr, "colour"))
 	{
 		MT_Vector4 vec;
 		if (PyVecTo(pyvalue, vec))
@@ -167,7 +175,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 		return 1;
 	}
 	
-	if (attr == "normal")
+	if (!strcmp(attr, "normal"))
 	{
 		MT_Vector3 vec;
 		if (PyVecTo(pyvalue, vec))
@@ -185,7 +193,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
   	float val = PyFloat_AsDouble(pyvalue);
   	// pos
 	MT_Point3 pos(m_vertex->getXYZ());
-  	if (attr == "x")
+  	if (!strcmp(attr, "x"))
 	{
 		pos.x() = val;
 		m_vertex->SetXYZ(pos);
@@ -193,7 +201,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 		return 0;
 	}
 	
-  	if (attr == "y")
+  	if (!strcmp(attr, "y"))
 	{
 		pos.y() = val;
 		m_vertex->SetXYZ(pos);
@@ -201,7 +209,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 		return 0;
 	}
 	
-	if (attr == "z")
+	if (!strcmp(attr, "z"))
 	{
 		pos.z() = val;
 		m_vertex->SetXYZ(pos);
@@ -211,7 +219,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 	
 	// uv
 	MT_Point2 uv = m_vertex->getUV1();
-	if (attr == "u")
+	if (!strcmp(attr, "u"))
 	{
 		uv[0] = val;
 		m_vertex->SetUV(uv);
@@ -219,7 +227,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 		return 0;
 	}
 
-	if (attr == "v")
+	if (!strcmp(attr, "v"))
 	{
 		uv[1] = val;
 		m_vertex->SetUV(uv);
@@ -229,7 +237,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 
 	// uv
 	MT_Point2 uv2 = m_vertex->getUV2();
-	if (attr == "u2")
+	if (!strcmp(attr, "u2"))
 	{
 		uv[0] = val;
 		m_vertex->SetUV2(uv);
@@ -237,7 +245,7 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 		return 0;
 	}
 
-	if (attr == "v2")
+	if (!strcmp(attr, "v2"))
 	{
 		uv[1] = val;
 		m_vertex->SetUV2(uv);
@@ -249,28 +257,28 @@ int    KX_VertexProxy::_setattr(const STR_String& attr, PyObject *pyvalue)
 	unsigned int icol = *((const unsigned int *)m_vertex->getRGBA());
 	unsigned char *cp = (unsigned char*) &icol;
 	val *= 255.0;
-	if (attr == "r")
+	if (!strcmp(attr, "r"))
 	{
 		cp[0] = (unsigned char) val;
 		m_vertex->SetRGBA(icol);
 		m_mesh->SetMeshModified(true);
 		return 0;
 	}
-	if (attr == "g")
+	if (!strcmp(attr, "g"))
 	{
 		cp[1] = (unsigned char) val;
 		m_vertex->SetRGBA(icol);
 		m_mesh->SetMeshModified(true);
 		return 0;
 	}
-	if (attr == "b")
+	if (!strcmp(attr, "b"))
 	{
 		cp[2] = (unsigned char) val;
 		m_vertex->SetRGBA(icol);
 		m_mesh->SetMeshModified(true);
 		return 0;
 	}
-	if (attr == "a")
+	if (!strcmp(attr, "a"))
 	{
 		cp[3] = (unsigned char) val;
 		m_vertex->SetRGBA(icol);
@@ -308,130 +316,103 @@ void		KX_VertexProxy::ReplicaSetName(STR_String) {};
 
 // stuff for python integration
 	
-PyObject* KX_VertexProxy::PyGetXYZ(PyObject*, 
-			       PyObject*, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PyGetXYZ(PyObject*)
 {
 	return PyObjectFrom(MT_Point3(m_vertex->getXYZ()));
 }
 
-PyObject* KX_VertexProxy::PySetXYZ(PyObject*, 
-			       PyObject* args, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PySetXYZ(PyObject*, PyObject* value)
 {
 	MT_Point3 vec;
-	if (PyVecArgTo(args, vec))
-	{
-		m_vertex->SetXYZ(vec);
-		m_mesh->SetMeshModified(true);
-		Py_Return;
-	}
-	
-	return NULL;
+	if (!PyVecTo(value, vec))
+		return NULL;
+		
+	m_vertex->SetXYZ(vec);
+	m_mesh->SetMeshModified(true);
+	Py_RETURN_NONE;
 }
 
-PyObject* KX_VertexProxy::PyGetNormal(PyObject*, 
-			       PyObject*, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PyGetNormal(PyObject*)
 {
 	return PyObjectFrom(MT_Vector3(m_vertex->getNormal()));
 }
 
-PyObject* KX_VertexProxy::PySetNormal(PyObject*, 
-			       PyObject* args, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PySetNormal(PyObject*, PyObject* value)
 {
 	MT_Vector3 vec;
-	if (PyVecArgTo(args, vec))
-	{
-		m_vertex->SetNormal(vec);
-		m_mesh->SetMeshModified(true);
-		Py_Return;
-	}
+	if (!PyVecTo(value, vec))
+		return NULL;
 	
-	return NULL;
+	m_vertex->SetNormal(vec);
+	m_mesh->SetMeshModified(true);
+	Py_RETURN_NONE;
 }
 
 
-PyObject* KX_VertexProxy::PyGetRGBA(PyObject*,
-			       PyObject*, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PyGetRGBA(PyObject*)
 {
 	int *rgba = (int *) m_vertex->getRGBA();
 	return PyInt_FromLong(*rgba);
 }
 
-PyObject* KX_VertexProxy::PySetRGBA(PyObject*, 
-			       PyObject* args, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PySetRGBA(PyObject*, PyObject* value)
 {
-	float r, g, b, a;
-	if (PyArg_ParseTuple(args, "(ffff)", &r, &g, &b, &a))
-	{
-		m_vertex->SetRGBA(MT_Vector4(r, g, b, a));
-		m_mesh->SetMeshModified(true);
-		Py_Return;
-	}
-	PyErr_Clear();
-	
-	int rgba;
-	if (PyArg_ParseTuple(args,"i",&rgba))
-	{
+	if PyInt_Check(value) {
+		int rgba = PyInt_AsLong(value);
 		m_vertex->SetRGBA(rgba);
 		m_mesh->SetMeshModified(true);
-		Py_Return;
+		Py_RETURN_NONE;
+	}
+	else {	
+		MT_Vector4 vec;
+		if (PyVecTo(value, vec))
+		{
+			m_vertex->SetRGBA(vec);
+			m_mesh->SetMeshModified(true);
+			Py_RETURN_NONE;
+		}
 	}
 	
+	PyErr_SetString(PyExc_TypeError, "expected a 4D vector or an int");
 	return NULL;
 }
 
 
-PyObject* KX_VertexProxy::PyGetUV(PyObject*, 
-			       PyObject*, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PyGetUV(PyObject*)
 {
 	return PyObjectFrom(MT_Vector2(m_vertex->getUV1()));
 }
 
-PyObject* KX_VertexProxy::PySetUV(PyObject*, 
-			       PyObject* args, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PySetUV(PyObject*, PyObject* value)
 {
 	MT_Point2 vec;
-	if (PyVecArgTo(args, vec))
-	{
-		m_vertex->SetUV(vec);
-		m_mesh->SetMeshModified(true);
-		Py_Return;
-	}
+	if (!PyVecTo(value, vec))
+		return NULL;
 	
-	return NULL;
+	m_vertex->SetUV(vec);
+	m_mesh->SetMeshModified(true);
+	Py_RETURN_NONE;
 }
 
-PyObject* KX_VertexProxy::PyGetUV2(PyObject*, 
-			       PyObject*, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PyGetUV2(PyObject*)
 {
 	return PyObjectFrom(MT_Vector2(m_vertex->getUV2()));
 }
 
-PyObject* KX_VertexProxy::PySetUV2(PyObject*, 
-			       PyObject* args, 
-			       PyObject*)
+PyObject* KX_VertexProxy::PySetUV2(PyObject*, PyObject* args)
 {
 	MT_Point2 vec;
 	unsigned int unit=0;
-	PyObject* list=0;
-	if(PyArg_ParseTuple(args, "Oi", &list, &unit))
-	{
-		if (PyVecTo(list, vec))
-		{
-			m_vertex->SetFlag((m_vertex->getFlag()|RAS_TexVert::SECOND_UV));
-			m_vertex->SetUnit(unit);
-			m_vertex->SetUV2(vec);
-			m_mesh->SetMeshModified(true);
-			Py_Return;
-		}
-	}
-	return NULL;
+	PyObject* list= NULL;
+	if(!PyArg_ParseTuple(args, "Oi:setUV2", &list, &unit))
+		return NULL;
+	
+	if (!PyVecTo(list, vec))
+		return NULL;
+	
+	m_vertex->SetFlag((m_vertex->getFlag()|RAS_TexVert::SECOND_UV));
+	m_vertex->SetUnit(unit);
+	m_vertex->SetUV2(vec);
+	m_mesh->SetMeshModified(true);
+	Py_RETURN_NONE;
 }
diff --git a/source/gameengine/Ketsji/KX_VertexProxy.h b/source/gameengine/Ketsji/KX_VertexProxy.h
index e154ea11b40..28196075904 100644
--- a/source/gameengine/Ketsji/KX_VertexProxy.h
+++ b/source/gameengine/Ketsji/KX_VertexProxy.h
@@ -54,21 +54,21 @@ public:
 
 
 // stuff for python integration
-	virtual PyObject* _getattr(const STR_String& attr);
-	virtual int    _setattr(const STR_String& attr, PyObject *pyvalue);
+	virtual PyObject* _getattr(const char *attr);
+	virtual int    _setattr(const char *attr, PyObject *pyvalue);
 
-	KX_PYMETHOD(KX_VertexProxy,GetXYZ);
-	KX_PYMETHOD(KX_VertexProxy,SetXYZ);
-	KX_PYMETHOD(KX_VertexProxy,GetUV);
-	KX_PYMETHOD(KX_VertexProxy,SetUV);
+	KX_PYMETHOD_NOARGS(KX_VertexProxy,GetXYZ);
+	KX_PYMETHOD_O(KX_VertexProxy,SetXYZ);
+	KX_PYMETHOD_NOARGS(KX_VertexProxy,GetUV);
+	KX_PYMETHOD_O(KX_VertexProxy,SetUV);
 	
-	KX_PYMETHOD(KX_VertexProxy,GetUV2);
-	KX_PYMETHOD(KX_VertexProxy,SetUV2);
+	KX_PYMETHOD_NOARGS(KX_VertexProxy,GetUV2);
+	KX_PYMETHOD_VARARGS(KX_VertexProxy,SetUV2);
 
-	KX_PYMETHOD(KX_VertexProxy,GetRGBA);
-	KX_PYMETHOD(KX_VertexProxy,SetRGBA);
-	KX_PYMETHOD(KX_VertexProxy,GetNormal);
-	KX_PYMETHOD(KX_VertexProxy,SetNormal);
+	KX_PYMETHOD_NOARGS(KX_VertexProxy,GetRGBA);
+	KX_PYMETHOD_O(KX_VertexProxy,SetRGBA);
+	KX_PYMETHOD_NOARGS(KX_VertexProxy,GetNormal);
+	KX_PYMETHOD_O(KX_VertexProxy,SetNormal);
 
 };
 
diff --git a/source/gameengine/Ketsji/KX_VisibilityActuator.cpp b/source/gameengine/Ketsji/KX_VisibilityActuator.cpp
index 4b0db5a7953..0ec280080bd 100644
--- a/source/gameengine/Ketsji/KX_VisibilityActuator.cpp
+++ b/source/gameengine/Ketsji/KX_VisibilityActuator.cpp
@@ -126,10 +126,11 @@ KX_VisibilityActuator::Methods[] = {
 	{NULL,NULL} //Sentinel
 };
 
-PyObject* 
-KX_VisibilityActuator::_getattr(
-	const STR_String& attr
-	) 
+PyAttributeDef KX_VisibilityActuator::Attributes[] = {
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_VisibilityActuator::_getattr(const char *attr) 
 {
 	_getattr_up(SCA_IActuator);
 };
@@ -155,7 +156,7 @@ KX_VisibilityActuator::PySetVisible(PyObject* self,
 
 	m_visible = PyArgToBool(vis);
 
-	Py_Return;
+	Py_RETURN_NONE;
 }
 
 
diff --git a/source/gameengine/Ketsji/KX_VisibilityActuator.h b/source/gameengine/Ketsji/KX_VisibilityActuator.h
index d1b85ab998c..323280de8cb 100644
--- a/source/gameengine/Ketsji/KX_VisibilityActuator.h
+++ b/source/gameengine/Ketsji/KX_VisibilityActuator.h
@@ -67,7 +67,7 @@ class KX_VisibilityActuator : public SCA_IActuator
 	/* Python interface ---------------------------------------------------- */
 	/* --------------------------------------------------------------------- */
 
-	virtual PyObject* _getattr(const STR_String& attr);
+	virtual PyObject* _getattr(const char *attr);
 	//KX_PYMETHOD_DOC
 	KX_PYMETHOD_DOC(KX_VisibilityActuator,SetVisible);
 
diff --git a/source/gameengine/Ketsji/SConscript b/source/gameengine/Ketsji/SConscript
index 13a0d321cff..950c82b2795 100644
--- a/source/gameengine/Ketsji/SConscript
+++ b/source/gameengine/Ketsji/SConscript
@@ -4,6 +4,7 @@ import sys
 Import ('env')
 
 sources = env.Glob('*.cpp')
+defs = ''
 
 #XXX
 # Mathutils C files.
@@ -31,21 +32,27 @@ incs += ' #source/blender/makesdna #source/blender/python #source/gameengine/Ras
 incs += ' #source/gameengine/GameLogic #source/gameengine/Expressions #source/gameengine/Network'
 incs += ' #source/gameengine/SceneGraph #source/gameengine/Physics/common #source/gameengine/Physics/Bullet'
 incs += ' #source/gameengine/Physics/BlOde #source/gameengine/Physics/Dummy'
-incs += ' #source/gameengine/Physics/Sumo #source/gameengine/Physics/Sumo/include'
-incs += ' #source/gameengine/Physics/Sumo/Fuzzics/include #source/gameengine/Network/LoopBackNetwork'
 incs += ' #source/blender/misc #source/blender/blenloader #extern/glew/include #source/blender/gpu'
 
-cflags = []
-if env['OURPLATFORM'] == 'win32-vc':
-	cflags.append('/GR')
-	cflags.append('/Ox')
+if env['WITH_BF_SOLID']:
+	incs += ' #source/gameengine/Physics/Sumo #source/gameengine/Physics/Sumo/include'
+	incs += ' #source/gameengine/Physics/Sumo/Fuzzics/include #source/gameengine/Network/LoopBackNetwork'
+	incs += ' ' + env['BF_SOLID_INC']
+	defs += ' USE_SUMO_SOLID'
+
 
-incs += ' ' + env['BF_SOLID_INC']
 incs += ' ' + env['BF_PYTHON_INC']
 incs += ' ' + env['BF_BULLET_INC']
 incs += ' ' + env['BF_OPENGL_INC']
 
 if  env['WITH_BF_SDL']:
     incs += ' ' + env['BF_SDL_INC']
-
-env.BlenderLib ( 'bf_ketsji', sources, Split(incs), [], libtype=['core','player'], priority=[320, 60], compileflags = cflags )
+else:
+	defs += ' DISABLE_SDL'
+	
+cxxflags = []
+if env['OURPLATFORM']=='win32-vc':
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
+
+env.BlenderLib ( 'bf_ketsji', sources, Split(incs), Split(defs), libtype=['core','player'], priority=[320, 60], cxx_compileflags = cxxflags )
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index d09ad58fe3b..eecdea55349 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -1240,7 +1240,7 @@ void	DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,flo
 		
 void	DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
 {
-	btPoint3 pos(posX,posY,posZ);
+	btVector3 pos(posX,posY,posZ);
 	m_worldTransform.setOrigin( pos );
 }
 
@@ -1328,7 +1328,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 				for (int i=0;i<poly->VertexCount();i++)
 				{
 					const float* vtx = poly->GetVertex(i)->getXYZ();
-					btPoint3 point(vtx[0],vtx[1],vtx[2]);
+					btVector3	point(vtx[0],vtx[1],vtx[2]);
 					//avoid duplicates (could better directly use vertex offsets, rather than a vertex compare)
 					bool found = false;
 					for (int j=0;j<m_vertexArray.size();j++)
@@ -1348,13 +1348,13 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 			{
 				{
 					const float* vtx = poly->GetVertex(2)->getXYZ();
-					btPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
+					btVector3 vertex0(vtx[0],vtx[1],vtx[2]);
 
 					vtx = poly->GetVertex(1)->getXYZ();
-					btPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
+					btVector3 vertex1(vtx[0],vtx[1],vtx[2]);
 
 					vtx = poly->GetVertex(0)->getXYZ();
-					btPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
+					btVector3 vertex2(vtx[0],vtx[1],vtx[2]);
 
 					m_vertexArray.push_back(vertex0);
 					m_vertexArray.push_back(vertex1);
@@ -1365,13 +1365,13 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo
 				if (poly->VertexCount() == 4)
 				{
 					const float* vtx = poly->GetVertex(3)->getXYZ();
-					btPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
+					btVector3 vertex0(vtx[0],vtx[1],vtx[2]);
 
 					vtx = poly->GetVertex(2)->getXYZ();
-					btPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
+					btVector3 vertex1(vtx[0],vtx[1],vtx[2]);
 
 					vtx = poly->GetVertex(0)->getXYZ();
-					btPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
+					btVector3 vertex2(vtx[0],vtx[1],vtx[2]);
 
 					m_vertexArray.push_back(vertex0);
 					m_vertexArray.push_back(vertex1);
@@ -1442,7 +1442,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 		break;
 
 	case PHY_SHAPE_POLYTOPE:
-		collisionShape = new btConvexHullShape(&m_vertexArray.begin()->getX(), m_vertexArray.size());
+		collisionShape = new btConvexHullShape(&m_vertexArray[0].getX(), m_vertexArray.size());
 		break;
 
 	case PHY_SHAPE_MESH:
@@ -1457,12 +1457,14 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 		{
 				collisionMeshData = new btTriangleMesh();
 				
+				bool removeDuplicateVertices=true;
 
 				// m_vertexArray is necessarily a multiple of 3
-				for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); )
+				for (int i=0;i<m_vertexArray.size(); i+=3 )
 				{
-					collisionMeshData->addTriangle(*it++,*it++,*it++);
+					collisionMeshData->addTriangle(m_vertexArray[i+2],m_vertexArray[i+1],m_vertexArray[i],removeDuplicateVertices);
 				}
+				
 				btGImpactMeshShape* gimpactShape =  new btGImpactMeshShape(collisionMeshData);
 
 				collisionShape = gimpactShape;
@@ -1475,10 +1477,11 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
 				collisionMeshData = new btTriangleMesh(true,false);
 				collisionMeshData->m_weldingThreshold = m_weldingThreshold;
 
+				bool removeDuplicateVertices=true;
 				// m_vertexArray is necessarily a multiple of 3
-				for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); )
+				for (int i=0;i<m_vertexArray.size(); i+=3 )
 				{
-					collisionMeshData->addTriangle(*it++,*it++,*it++);
+					collisionMeshData->addTriangle(m_vertexArray[i+2],m_vertexArray[i+1],m_vertexArray[i],removeDuplicateVertices);
 				}
 				// this shape will be shared and not deleted until shapeInfo is deleted
 				m_unscaledShape = new btBvhTriangleMeshShape( collisionMeshData, true );
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index c771aa2624b..deb3c0880e9 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -161,7 +161,7 @@ public:
 	btTransform				m_childTrans;
 	btVector3				m_childScale;
 	void*					m_userData;	
-	std::vector<btPoint3>	m_vertexArray;	// Contains both vertex array for polytope shape and
+	btAlignedObjectArray<btVector3>	m_vertexArray;	// Contains both vertex array for polytope shape and
 											// triangle array for concave mesh shape.
 											// In this case a triangle is made of 3 consecutive points
 	std::vector<int>		m_polygonIndexArray;	// Contains the array of polygon index in the 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index d2274c1e8d6..dd21e58bd68 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -317,8 +317,8 @@ static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVec
 
 
 CcdPhysicsEnvironment::CcdPhysicsEnvironment(btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
-:m_scalingPropagated(false),
-m_numIterations(10),
+:m_numIterations(10),
+m_scalingPropagated(false),
 m_numTimeSubSteps(1),
 m_ccdMode(0),
 m_solverType(-1),
@@ -326,8 +326,8 @@ m_profileTimings(0),
 m_enableSatCollisionDetection(false),
 m_solver(NULL),
 m_ownPairCache(NULL),
-m_ownDispatcher(NULL),
-m_filterCallback(NULL)
+m_filterCallback(NULL),
+m_ownDispatcher(NULL)
 {
 
 	for (int i=0;i<PHY_NUM_RESPONSE;i++)
@@ -337,6 +337,7 @@ m_filterCallback(NULL)
 
 //	m_collisionConfiguration = new btDefaultCollisionConfiguration();
 	m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+	//m_collisionConfiguration->setConvexConvexMultipointIterations();
 
 	if (!dispatcher)
 	{
@@ -356,6 +357,8 @@ m_filterCallback(NULL)
 	setSolverType(1);//issues with quickstep and memory allocations
 //	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
 	m_dynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	//m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.01f;
+	//m_dynamicsWorld->getSolverInfo().m_solverMode=	SOLVER_USE_WARMSTARTING +	SOLVER_USE_2_FRICTION_DIRECTIONS +	SOLVER_RANDMIZE_ORDER +	SOLVER_USE_FRICTION_WARMSTARTING;
 
 	m_debugDrawer = 0;
 	m_gravity = btVector3(0.f,-10.f,0.f);
@@ -414,7 +417,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 	const btTransform& t = ctrl->GetCollisionObject()->getWorldTransform();
 	
 
-	btPoint3 minAabb,maxAabb;
+	btVector3 minAabb,maxAabb;
 
 	shapeinterface->getAabb(t,minAabb,maxAabb);
 
@@ -560,6 +563,11 @@ void	CcdPhysicsEnvironment::beginFrame()
 
 }
 
+void CcdPhysicsEnvironment::debugDrawWorld()
+{
+	if (m_dynamicsWorld->getDebugDrawer() &&  m_dynamicsWorld->getDebugDrawer()->getDebugMode() >0)
+			m_dynamicsWorld->debugDrawWorld();
+}
 
 bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 {
@@ -596,9 +604,6 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 		veh->SyncWheels();
 	}
 
-	if (m_dynamicsWorld->getDebugDrawer() &&  m_dynamicsWorld->getDebugDrawer()->getDebugMode() >0)
-		m_dynamicsWorld->debugDrawWorld();
-
 
 	CallbackTriggers();
 
@@ -845,7 +850,8 @@ void		CcdPhysicsEnvironment::setSolverType(int solverType)
 			{
 
 				m_solver = new btSequentialImpulseConstraintSolver();
-//				((btSequentialImpulseConstraintSolver*)m_solver)->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
+				
+				
 				break;
 			}
 		}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index 4b28d3fddfc..2f1f0bb254b 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -110,6 +110,8 @@ protected:
 		virtual void		endFrame() {};
 		/// Perform an integration step of duration 'timeStep'.
 		virtual	bool		proceedDeltaTime(double curTime,float timeStep);
+		
+		virtual void		debugDrawWorld();
 //		virtual bool		proceedDeltaTimeOneStep(float timeStep);
 
 		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
diff --git a/source/gameengine/Physics/Bullet/SConscript b/source/gameengine/Physics/Bullet/SConscript
index 51dbb4d86da..db9f3387bfe 100644
--- a/source/gameengine/Physics/Bullet/SConscript
+++ b/source/gameengine/Physics/Bullet/SConscript
@@ -7,9 +7,9 @@ incs = '. ../common #source/kernel/gen_system #intern/string #intern/moto/includ
 
 incs += ' ' + env['BF_BULLET_INC']
 
-cflags = []
+cxxflags = []
 if env['OURPLATFORM']=='win32-vc':
-    cflags.append('/GR')
-    cflags.append('/O2')
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
 
-env.BlenderLib ( 'bf_bullet', Split(sources), Split(incs), [], libtype=['core','player'], priority=[360,80] )
+env.BlenderLib ( 'bf_bullet', Split(sources), Split(incs), [], libtype=['core','player'], priority=[350,80], cxx_compileflags=cxxflags )
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h
index 2326bdee523..3d8eef2bae0 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h
@@ -46,7 +46,7 @@
 
 #include "SM_Object.h"
 
-typedef enum
+enum
 {
 	FH_RESPONSE,
 	SENSOR_RESPONSE,		/* Touch Sensors */
diff --git a/source/gameengine/Physics/common/PHY_DynamicTypes.h b/source/gameengine/Physics/common/PHY_DynamicTypes.h
index 09126264dcc..c5cf92b553a 100644
--- a/source/gameengine/Physics/common/PHY_DynamicTypes.h
+++ b/source/gameengine/Physics/common/PHY_DynamicTypes.h
@@ -36,7 +36,7 @@ struct	PHY__Vector3
 };
 //typedef 	float	PHY__Vector3[4];
 
-typedef enum
+enum
 {
 	PHY_FH_RESPONSE,
 	PHY_SENSOR_RESPONSE,	/* Touch Sensors */
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index 0e9c571924c..226ba3a7e74 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -90,6 +90,8 @@ class PHY_IPhysicsEnvironment
 		virtual void		endFrame() = 0;
 		/// Perform an integration step of duration 'timeStep'.
 		virtual	bool		proceedDeltaTime(double curTime,float timeStep)=0;
+		///draw debug lines (make sure to call this during the render phase, otherwise lines are not drawn properly)
+		virtual void		debugDrawWorld(){}
 		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0;
 		//returns 0.f if no fixed timestep is used
 		virtual	float		getFixedTimeStep()=0;
diff --git a/source/gameengine/Physics/common/SConscript b/source/gameengine/Physics/common/SConscript
index aead31fb73e..4d7c808f49b 100644
--- a/source/gameengine/Physics/common/SConscript
+++ b/source/gameengine/Physics/common/SConscript
@@ -5,4 +5,9 @@ sources = 'PHY_IMotionState.cpp PHY_IPhysicsController.cpp PHY_IPhysicsEnvironme
 
 incs = '. ../Dummy #intern/moto/include'
 
-env.BlenderLib ( 'bf_common', Split(sources), Split(incs), [], libtype=['core','player'], priority=[350, 90] )
+cxxflags = []
+if env['OURPLATFORM']=='win32-vc':
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
+
+env.BlenderLib ( 'bf_common', Split(sources), Split(incs), [], libtype=['core','player'], priority=[360, 90], cxx_compileflags = cxxflags )
diff --git a/source/gameengine/PyDoc/GameLogic.py b/source/gameengine/PyDoc/GameLogic.py
index 9dab7db6081..0524a9df355 100644
--- a/source/gameengine/PyDoc/GameLogic.py
+++ b/source/gameengine/PyDoc/GameLogic.py
@@ -140,6 +140,14 @@ Documentation for the GameLogic Module.
 @var KX_SOUNDACT_LOOPEND:		    See L{KX_SoundActuator}
 @var KX_SOUNDACT_LOOPBIDIRECTIONAL:	    See L{KX_SoundActuator}
 @var KX_SOUNDACT_LOOPBIDIRECTIONAL_STOP:    See L{KX_SoundActuator}
+
+@group Radar Sensor: KX_RADAR_AXIS_POS_X, KX_RADAR_AXIS_POS_Y, KX_RADAR_AXIS_POS_Z, KX_RADAR_AXIS_NEG_X, KX_RADAR_AXIS_NEG_Y, KX_RADAR_AXIS_NEG_Z
+@var KX_RADAR_AXIS_POS_X:		    See L{KX_RadarSensor}
+@var KX_RADAR_AXIS_POS_Y:		    See L{KX_RadarSensor}
+@var KX_RADAR_AXIS_POS_Z:		    See L{KX_RadarSensor}
+@var KX_RADAR_AXIS_NEG_X:		    See L{KX_RadarSensor}
+@var KX_RADAR_AXIS_NEG_Y:		    See L{KX_RadarSensor}
+@var KX_RADAR_AXIS_NEG_Z:		    See L{KX_RadarSensor}
 """
 
 
@@ -159,7 +167,7 @@ def addActiveActuator(actuator, activate):
 	"""
 	Activates the given actuator.
 	
-	@type actuator: L{SCA_IActuator}
+	@type actuator: L{SCA_IActuator} or the actuator name as a string.
 	@type activate: boolean
 	@param activate: whether to activate or deactivate the given actuator.
 	"""
diff --git a/source/gameengine/PyDoc/KX_CameraActuator.py b/source/gameengine/PyDoc/KX_CameraActuator.py
index 9a9abaf3d57..6ffc55a5854 100644
--- a/source/gameengine/PyDoc/KX_CameraActuator.py
+++ b/source/gameengine/PyDoc/KX_CameraActuator.py
@@ -6,6 +6,16 @@ class KX_CameraActuator(SCA_IActuator):
 	"""
 	Applies changes to a camera.
 	
+	@ivar min: minimum distance to the target object maintained by the actuator
+	@type min: float
+	@ivar max: maximum distance to stay from the target object
+	@type max: float
+	@ivar height: height to stay above the target object
+	@type height: float
+	@ivar xy: axis this actuator is tracking, true=X, false=Y
+	@type xy: boolean
+	@ivar object: the object this actuator tracks.
+	@type object: KX_GameObject or None
 	@author: snail
 	"""
 	def getObject(name_only = 1):
diff --git a/source/gameengine/PyDoc/KX_GameObject.py b/source/gameengine/PyDoc/KX_GameObject.py
index efeffab2eed..4f389a1ae4f 100644
--- a/source/gameengine/PyDoc/KX_GameObject.py
+++ b/source/gameengine/PyDoc/KX_GameObject.py
@@ -7,7 +7,7 @@ class KX_GameObject:
 	
 	Properties assigned to game objects are accessible as attributes of this class.
 	
-	@ivar name: The object's name.
+	@ivar name: The object's name. (Read only)
 	@type name: string.
 	@ivar mass: The object's mass (provided the object has a physics controller). Read only.
 	@type mass: float
diff --git a/source/gameengine/PyDoc/KX_NearSensor.py b/source/gameengine/PyDoc/KX_NearSensor.py
index fef2e4b2acc..a8c408827fe 100644
--- a/source/gameengine/PyDoc/KX_NearSensor.py
+++ b/source/gameengine/PyDoc/KX_NearSensor.py
@@ -5,5 +5,10 @@ from KX_TouchSensor import *
 class KX_NearSensor(KX_TouchSensor):
 	"""
 	A near sensor is a specialised form of touch sensor.
+	
+	@ivar distance: The near sensor activates when an object is within this distance.
+	@type distance: float
+	@ivar resetDistance: The near sensor deactivates when the object exceeds this distance.
+	@type resetDistance: float
 	"""
 
diff --git a/source/gameengine/PyDoc/KX_ParentActuator.py b/source/gameengine/PyDoc/KX_ParentActuator.py
index 6d6e0937257..7b5625ec82d 100644
--- a/source/gameengine/PyDoc/KX_ParentActuator.py
+++ b/source/gameengine/PyDoc/KX_ParentActuator.py
@@ -5,6 +5,9 @@ from SCA_IActuator import *
 class KX_ParentActuator(SCA_IActuator):
 	"""
 	The parent actuator can set or remove an objects parent object.
+	
+	@ivar object: the object this actuator sets the parent too.
+	@type object: KX_GameObject or None
 	"""
 	def setObject(object):
 		"""
diff --git a/source/gameengine/PyDoc/KX_RadarSensor.py b/source/gameengine/PyDoc/KX_RadarSensor.py
index 64be858371a..b68bf4ea0f3 100644
--- a/source/gameengine/PyDoc/KX_RadarSensor.py
+++ b/source/gameengine/PyDoc/KX_RadarSensor.py
@@ -5,8 +5,26 @@ from KX_NearSensor import *
 class KX_RadarSensor(KX_NearSensor):
 	"""
 	Radar sensor is a near sensor with a conical sensor object.
+	
+	@ivar coneOrigin: The origin of the cone with which to test. The origin
+						is in the middle of the cone.
+						(Read only)
+	@type coneOrigin: list of floats [x, y, z]
+	@ivar coneTarget: The center of the bottom face of the cone with which to test.
+						(Read only)
+	@type coneTarget: list of floats [x, y, z]
+	@ivar distance: The height of the cone with which to test.
+	@type distance: float
+	@ivar angle: The angle of the cone (in degrees) with which to test.
+	@type angle: float from 0 to 360
+	@ivar axis: The axis on which the radar cone is cast
+	@type axis: int from 0 to 5
+		KX_RADAR_AXIS_POS_X, KX_RADAR_AXIS_POS_Y, KX_RADAR_AXIS_POS_Z,
+		KX_RADAR_AXIS_NEG_X, KX_RADAR_AXIS_NEG_Y, KX_RADAR_AXIS_NEG_Z
 	"""
 	
+	
+	#--The following methods are deprecated, please use properties instead.
 	def getConeOrigin():
 		"""
 		Returns the origin of the cone with which to test. The origin
diff --git a/source/gameengine/PyDoc/KX_SCA_AddObjectActuator.py b/source/gameengine/PyDoc/KX_SCA_AddObjectActuator.py
index c3b2e947ddb..56068fa641a 100644
--- a/source/gameengine/PyDoc/KX_SCA_AddObjectActuator.py
+++ b/source/gameengine/PyDoc/KX_SCA_AddObjectActuator.py
@@ -5,6 +5,10 @@ from SCA_IActuator import *
 class KX_SCA_AddObjectActuator(SCA_IActuator):
 	"""
 	Edit Object Actuator (in Add Object Mode)
+	@ivar object: the object this actuator adds.
+	@type object: KX_GameObject or None
+	@ivar objectLastCreated: the last added object from this actuator (read only).
+	@type objectLastCreated: KX_GameObject or None
 	
 	@warning: An Add Object actuator will be ignored if at game start, the linked object doesn't exist
 		  (or is empty) or the linked object is in an active layer.
diff --git a/source/gameengine/PyDoc/KX_Scene.py b/source/gameengine/PyDoc/KX_Scene.py
index 4a0a7a9556d..5e357e6eefc 100644
--- a/source/gameengine/PyDoc/KX_Scene.py
+++ b/source/gameengine/PyDoc/KX_Scene.py
@@ -39,6 +39,8 @@ class KX_Scene:
 		
 	@ivar name: The scene's name
 	@type name: string
+	@type objects: A list of objects in the scene.
+	@type objects: list [L{KX_GameObject}]
 	@ivar active_camera: The current active camera
 	@type active_camera: L{KX_Camera}
 	@ivar suspended: True if the scene is suspended.
@@ -68,3 +70,16 @@ class KX_Scene:
 		@rtype: string
 		"""
 
+	def addObject(object, other, time=0)
+		"""
+		Adds an object to the scene like the Add Object Actuator would, and returns the created object.
+		
+		@param object: The object to add
+		@type object: L{KX_GameObject} or string
+		@param other: The object's center to use when adding the object
+		@type other: L{KX_GameObject} or string
+		@param time: The lifetime of the added object, in frames. A time of 0 means the object will last forever.
+		@type time: int
+		
+		@rtype: L{KX_GameObject}
+		"""
diff --git a/source/gameengine/PyDoc/KX_TouchSensor.py b/source/gameengine/PyDoc/KX_TouchSensor.py
index f2cc101af10..d7277be4c2a 100644
--- a/source/gameengine/PyDoc/KX_TouchSensor.py
+++ b/source/gameengine/PyDoc/KX_TouchSensor.py
@@ -1,36 +1,55 @@
 # $Id$
 # Documentation for KX_TouchSensor
 from SCA_ISensor import *
+from KX_GameObject import *
 
 class KX_TouchSensor(SCA_ISensor):
 	"""
 	Touch sensor detects collisions between objects.
+	
+	@ivar property: The property or material to collide with.
+	@type property: string
+	@ivar useMaterial: Determines if the sensor is looking for a property or material.
+						KX_True = Find material; KX_False = Find property
+	@type useMaterial: boolean
+	@ivar pulseCollisions: The last collided object.
+	@type pulseCollisions: bool
+	@ivar objectHit: The last collided object. (Read Only)
+	@type objectHit: L{KX_GameObject} or None
+	@ivar objectHitList: A list of colliding objects. (Read Only)
+	@type objectHitList: list
 	"""
+		
+	#--The following methods are deprecated, please use properties instead.
 	def setProperty(name):
 		"""
+		DEPRECATED: use the property property
 		Set the property or material to collide with. Use
 		setTouchMaterial() to switch between properties and
 		materials.
 		@type name: string
 		"""
+		
 	def getProperty():
 		"""
+		DEPRECATED: use the property property
 		Returns the property or material to collide with. Use
 		getTouchMaterial() to find out whether this sensor
-		looks for properties or materials.
+		looks for properties or materials. (B{deprecated})
 		
 		@rtype: string
 		"""
-
 	def getHitObject():
 		"""
-		Returns the last object hit by this touch sensor.
+		DEPRECATED: use the objectHit property
+		Returns the last object hit by this touch sensor. (B{deprecated})
 		
 		@rtype: L{KX_GameObject}
 		"""
 	def getHitObjectList():
 		"""
-		Returns a list of all objects hit in the last frame.
+		DEPRECATED: use the objectHitList property
+		Returns a list of all objects hit in the last frame. (B{deprecated})
 		
 		Only objects that have the requisite material/property are listed.
 		
@@ -38,13 +57,7 @@ class KX_TouchSensor(SCA_ISensor):
 		"""
 	def getTouchMaterial():
 		"""
+		DEPRECATED: use the useMaterial property
 		Returns KX_TRUE if this sensor looks for a specific material,
-		KX_FALSE if it looks for a specific property.
-		"""
-	def setTouchMaterial(flag):
-		"""
-		Set flag to KX_TRUE to switch on positive pulse mode,
-		KX_FALSE to switch off positive pulse mode.
-		
-		@type flag: KX_TRUE or KX_FALSE.
+		KX_FALSE if it looks for a specific property. (B{deprecated})
 		"""
diff --git a/source/gameengine/PyDoc/KX_TrackToActuator.py b/source/gameengine/PyDoc/KX_TrackToActuator.py
index 948302991b7..730ab21166b 100644
--- a/source/gameengine/PyDoc/KX_TrackToActuator.py
+++ b/source/gameengine/PyDoc/KX_TrackToActuator.py
@@ -13,6 +13,8 @@ class KX_TrackToActuator(SCA_IActuator):
 		
 		C{ERROR: GameObject I{OBName} no object in EditObjectActuator I{ActuatorName}}
 
+	@ivar object: the object this actuator tracks.
+	@type object: KX_GameObject or None
 	"""
 	def setObject(object):
 		"""
diff --git a/source/gameengine/PyDoc/SCA_DelaySensor.py b/source/gameengine/PyDoc/SCA_DelaySensor.py
index b99ed08bed5..6560df6573e 100644
--- a/source/gameengine/PyDoc/SCA_DelaySensor.py
+++ b/source/gameengine/PyDoc/SCA_DelaySensor.py
@@ -20,10 +20,9 @@ class SCA_DelaySensor(SCA_ISensor):
 	@type delay: integer.
 	@ivar duration: length of the ON period in number of frame after the initial OFF period.
 	                If duration is greater than 0, a negative trigger is sent at the end of the ON pulse.
-    @type duration: integer
-    @ivar repeat: 1 if the OFF-ON cycle should be repeated indefinately, 0 if it should run once.
-    @type repeat: integer
-    
+	@type duration: integer
+	@ivar repeat: 1 if the OFF-ON cycle should be repeated indefinately, 0 if it should run once.
+	@type repeat: integer
 	"""
 	def setDelay(delay):
 		"""
diff --git a/source/gameengine/PyDoc/SCA_PythonController.py b/source/gameengine/PyDoc/SCA_PythonController.py
index 06f2b7e9d1d..9684b41d481 100644
--- a/source/gameengine/PyDoc/SCA_PythonController.py
+++ b/source/gameengine/PyDoc/SCA_PythonController.py
@@ -15,7 +15,17 @@ class SCA_PythonController(SCA_IController):
 	             This can be used with the GameObject's state to test if the controller is active.
 	@type state: integer
 	"""
-
+	def activate(actuator):
+		"""
+		Activates an actuator attached to this controller.
+		@type actuator: actuator or the actuator name as a string
+		"""
+	def deactivate(actuator):
+		"""
+		Deactivates an actuator attached to this controller.
+		@type actuator: actuator or the actuator name as a string
+		"""
+		
 	def getSensors():
 		"""
 		Gets a list of all sensors attached to this controller.
diff --git a/source/gameengine/Rasterizer/RAS_IPolygonMaterial.cpp b/source/gameengine/Rasterizer/RAS_IPolygonMaterial.cpp
index fb3607f89f4..cd88112007b 100644
--- a/source/gameengine/Rasterizer/RAS_IPolygonMaterial.cpp
+++ b/source/gameengine/Rasterizer/RAS_IPolygonMaterial.cpp
@@ -143,7 +143,7 @@ const STR_String& RAS_IPolyMaterial::GetTextureName() const
 	return m_texturename;
 }
 
-const unsigned int	RAS_IPolyMaterial::GetFlag() const
+unsigned int	RAS_IPolyMaterial::GetFlag() const
 {
 	return m_flag;
 }
diff --git a/source/gameengine/Rasterizer/RAS_IPolygonMaterial.h b/source/gameengine/Rasterizer/RAS_IPolygonMaterial.h
index 218dd91cb30..e5b24070c4b 100644
--- a/source/gameengine/Rasterizer/RAS_IPolygonMaterial.h
+++ b/source/gameengine/Rasterizer/RAS_IPolygonMaterial.h
@@ -138,7 +138,7 @@ public:
 	const STR_String&	GetMaterialName() const;
 	dword				GetMaterialNameHash() const;
 	const STR_String&	GetTextureName() const;
-	const unsigned int	GetFlag() const;
+	unsigned int		GetFlag() const;
 
 	virtual bool		UsesLighting(RAS_IRasterizer *rasty) const;
 	virtual bool		UsesObjectColor() const;
diff --git a/source/gameengine/Rasterizer/RAS_IRasterizer.h b/source/gameengine/Rasterizer/RAS_IRasterizer.h
index b4b90c3608b..83adcfd8321 100644
--- a/source/gameengine/Rasterizer/RAS_IRasterizer.h
+++ b/source/gameengine/Rasterizer/RAS_IRasterizer.h
@@ -255,6 +255,8 @@ public:
 	/**
 	 */
 	virtual const	MT_Point3& GetCameraPosition()=0;
+	virtual bool	GetCameraOrtho()=0;
+
 	/**
 	 */
 	virtual void	SetFog(float start,
@@ -359,6 +361,8 @@ public:
 	virtual void	SetPolygonOffset(float mult, float add) = 0;
 	
 	virtual	void	DrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color)=0;
+	virtual	void	FlushDebugLines()=0;
+	
 
 
 	virtual void	SetTexCoordNum(int num) = 0;
diff --git a/source/gameengine/Rasterizer/RAS_IRenderTools.h b/source/gameengine/Rasterizer/RAS_IRenderTools.h
index 57f331e64cb..a289ffed492 100644
--- a/source/gameengine/Rasterizer/RAS_IRenderTools.h
+++ b/source/gameengine/Rasterizer/RAS_IRenderTools.h
@@ -134,6 +134,7 @@ public:
 	virtual 
 		void		
 	ProcessLighting(
+		RAS_IRasterizer *rasty,
 		int layer,
 		const MT_Transform& trans
 	)=0;
diff --git a/source/gameengine/Rasterizer/RAS_MaterialBucket.cpp b/source/gameengine/Rasterizer/RAS_MaterialBucket.cpp
index ad8d7ebd5b0..d8631c1edf6 100644
--- a/source/gameengine/Rasterizer/RAS_MaterialBucket.cpp
+++ b/source/gameengine/Rasterizer/RAS_MaterialBucket.cpp
@@ -517,9 +517,9 @@ bool RAS_MaterialBucket::ActivateMaterial(const MT_Transform& cameratrans, RAS_I
 		return false;
 	
 	if (m_material->UsesLighting(rasty))
-		rendertools->ProcessLighting(RAS_IRenderTools::RAS_LIGHT_OBJECT_LAYER, cameratrans);
+		rendertools->ProcessLighting(rasty, RAS_IRenderTools::RAS_LIGHT_OBJECT_LAYER, cameratrans);
 	else
-		rendertools->ProcessLighting(-1, cameratrans);
+		rendertools->ProcessLighting(rasty, -1, cameratrans);
 	
 	return true;
 }
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp
index 3cad5fe74f2..d4d1b73c772 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp
@@ -59,6 +59,8 @@ RAS_OpenGLRasterizer::RAS_OpenGLRasterizer(RAS_ICanvas* canvas)
 	m_2DCanvas(canvas),
 	m_fogenabled(false),
 	m_time(0.0),
+	m_campos(0.0f, 0.0f, 0.0f),
+	m_camortho(false),
 	m_stereomode(RAS_STEREO_NOSTEREO),
 	m_curreye(RAS_STEREO_LEFTEYE),
 	m_eyeseparation(0.0),
@@ -325,13 +327,12 @@ void RAS_OpenGLRasterizer::ClearCachingInfo(void)
 	m_materialCachingInfo = 0;
 }
 
-
-void RAS_OpenGLRasterizer::EndFrame()
+void	RAS_OpenGLRasterizer::FlushDebugLines()
 {
+//DrawDebugLines
 	glDisable(GL_LIGHTING);
 	glDisable(GL_TEXTURE_2D);
 
-	//DrawDebugLines
 	glBegin(GL_LINES);
 	for (unsigned int i=0;i<m_debugLines.size();i++)
 	{
@@ -346,8 +347,19 @@ void RAS_OpenGLRasterizer::EndFrame()
 	}
 	glEnd();
 
+	glEnable(GL_LIGHTING);
+	glEnable(GL_TEXTURE_2D);
+
 	m_debugLines.clear();
 
+}
+
+void RAS_OpenGLRasterizer::EndFrame()
+{
+	
+
+	FlushDebugLines();
+
 	glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
 	m_2DCanvas->EndFrame();
 }	
@@ -756,8 +768,9 @@ void RAS_OpenGLRasterizer::SetProjectionMatrix(MT_CmMatrix4x4 &mat)
 	glMatrixMode(GL_PROJECTION);
 	double* matrix = &mat(0,0);
 	glLoadMatrixd(matrix);
-}
 
+	m_camortho= (mat(3, 3) != 0.0f);
+}
 
 void RAS_OpenGLRasterizer::SetProjectionMatrix(const MT_Matrix4x4 & mat)
 {
@@ -767,6 +780,8 @@ void RAS_OpenGLRasterizer::SetProjectionMatrix(const MT_Matrix4x4 & mat)
 	mat.getValue(matrix);
 	/* Internally, MT_Matrix4x4 uses doubles (MT_Scalar). */
 	glLoadMatrixd(matrix);	
+
+	m_camortho= (mat[3][3] != 0.0f);
 }
 
 MT_Matrix4x4 RAS_OpenGLRasterizer::GetFrustumMatrix(
@@ -883,6 +898,10 @@ const MT_Point3& RAS_OpenGLRasterizer::GetCameraPosition()
 	return m_campos;
 }
 
+bool RAS_OpenGLRasterizer::GetCameraOrtho()
+{
+	return m_camortho;
+}
 
 void RAS_OpenGLRasterizer::SetCullFace(bool enable)
 {
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h
index d39fd642f86..83a9f759a8b 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h
@@ -80,6 +80,7 @@ class RAS_OpenGLRasterizer : public RAS_IRasterizer
 	MT_Matrix4x4	m_viewmatrix;
 	MT_Matrix4x4	m_viewinvmatrix;
 	MT_Point3		m_campos;
+	bool			m_camortho;
 
 	StereoMode		m_stereomode;
 	StereoEye		m_curreye;
@@ -168,6 +169,7 @@ public:
 					);
 
 	virtual const	MT_Point3& GetCameraPosition();
+	virtual bool	GetCameraOrtho();
 	
 	virtual void	SetFog(
 						float start,
@@ -238,6 +240,8 @@ public:
 
 	virtual void	SetPolygonOffset(float mult, float add);
 
+	virtual	void	FlushDebugLines();
+
 	virtual	void	DrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color)
 	{
 		OglDebugLine line;
diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/SConscript b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/SConscript
index b9358ffde6b..c0b73e7644f 100644
--- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/SConscript
+++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/SConscript
@@ -6,4 +6,9 @@ sources = env.Glob('*.cpp')
 incs = '. #source/kernel/gen_system #intern/string #intern/moto/include #source/gameengine/Rasterizer #source/gameengine/BlenderRoutines '
 incs += ' #source/blender/gpu #extern/glew/include ' + env['BF_OPENGL_INC']
 
-env.BlenderLib ( 'bf_oglrasterizer', Split(sources), Split(incs), [], libtype=['core','player'], priority=[350, 115] )
+cxxflags = []
+if env['OURPLATFORM']=='win32-vc':
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
+
+env.BlenderLib ( 'bf_oglrasterizer', Split(sources), Split(incs), [], libtype=['core','player'], priority=[350, 115], cxx_compileflags = cxxflags )
diff --git a/source/gameengine/Rasterizer/RAS_TexVert.cpp b/source/gameengine/Rasterizer/RAS_TexVert.cpp
index b92965ed1cc..210addfb927 100644
--- a/source/gameengine/Rasterizer/RAS_TexVert.cpp
+++ b/source/gameengine/Rasterizer/RAS_TexVert.cpp
@@ -59,10 +59,10 @@ const MT_Point3& RAS_TexVert::xyz()
 void RAS_TexVert::SetRGBA(const MT_Vector4& rgba)
 {
 	unsigned char *colp = (unsigned char*) &m_rgba;
-	colp[0] = (unsigned char) (rgba[0]*255.0);
-	colp[1] = (unsigned char) (rgba[1]*255.0);
-	colp[2] = (unsigned char) (rgba[2]*255.0);
-	colp[3] = (unsigned char) (rgba[3]*255.0);
+	colp[0] = (unsigned char) (rgba[0]*255.0f);
+	colp[1] = (unsigned char) (rgba[1]*255.0f);
+	colp[2] = (unsigned char) (rgba[2]*255.0f);
+	colp[3] = (unsigned char) (rgba[3]*255.0f);
 }
 
 
@@ -71,7 +71,10 @@ void RAS_TexVert::SetXYZ(const MT_Point3& xyz)
 	xyz.getValue(m_localxyz);
 }
 
-
+void RAS_TexVert::SetXYZ(const float *xyz)
+{
+	m_localxyz[0]= xyz[0]; m_localxyz[1]= xyz[1]; m_localxyz[2]= xyz[2];
+}
 
 void RAS_TexVert::SetUV(const MT_Point2& uv)
 {
@@ -111,15 +114,18 @@ void RAS_TexVert::SetTangent(const MT_Vector3& tangent)
 }
 
 // compare two vertices, and return TRUE if both are almost identical (they can be shared)
+#define _VEC_EQUAL3(_v1, _v2) (_v1[0]==_v2[0] && _v1[1]==_v2[1] && _v1[2]==_v2[2])
+#define _VEC_EQUAL2(_v1, _v2) (_v1[0]==_v2[0] && _v1[1]==_v2[1])
 bool RAS_TexVert::closeTo(const RAS_TexVert* other)
 {
 	return (m_flag == other->m_flag &&
 		m_rgba == other->m_rgba &&
-		MT_fuzzyEqual(MT_Vector3(m_normal), MT_Vector3(other->m_normal)) &&
-		MT_fuzzyEqual(MT_Vector3(m_tangent), MT_Vector3(other->m_tangent)) &&
-		MT_fuzzyEqual(MT_Vector2(m_uv1), MT_Vector2(other->m_uv1)) &&
-		MT_fuzzyEqual(MT_Vector2(m_uv2), MT_Vector2(other->m_uv2)) && // p --
-		MT_fuzzyEqual(MT_Vector3(m_localxyz), MT_Vector3(other->m_localxyz))) ;
+		_VEC_EQUAL3(m_normal, other->m_normal) &&
+		_VEC_EQUAL3(m_tangent, other->m_tangent) &&
+		_VEC_EQUAL2(m_uv1, other->m_uv1) &&
+		_VEC_EQUAL2(m_uv2, other->m_uv2) // p --
+		/* we know the verts must be shared so dont need to check this */
+		/*&& FAST_MT_fuzzyEqual3(m_localxyz, other->m_localxyz)*/) ;
 }
 
 short RAS_TexVert::getFlag() const
diff --git a/source/gameengine/Rasterizer/RAS_TexVert.h b/source/gameengine/Rasterizer/RAS_TexVert.h
index 54da109cbf1..811867f3579 100644
--- a/source/gameengine/Rasterizer/RAS_TexVert.h
+++ b/source/gameengine/Rasterizer/RAS_TexVert.h
@@ -110,11 +110,12 @@ public:
 		return (unsigned char *) &m_rgba;
 	}
 
-	const unsigned int getOrigIndex() const {
+	unsigned int getOrigIndex() const {
 		return m_origindex;
 	}
 
 	void				SetXYZ(const MT_Point3& xyz);
+	void				SetXYZ(const float *xyz);
 	void				SetUV(const MT_Point2& uv);
 	void				SetUV2(const MT_Point2& uv);
 
diff --git a/source/gameengine/Rasterizer/SConscript b/source/gameengine/Rasterizer/SConscript
index ebb2f28ec16..9f4cd61e7bb 100644
--- a/source/gameengine/Rasterizer/SConscript
+++ b/source/gameengine/Rasterizer/SConscript
@@ -7,9 +7,9 @@ sources = env.Glob('*.cpp')
 incs = '. #source/kernel/gen_system #intern/string #intern/moto/include #source/gameengine/BlenderRoutines #extern/glew/include #source/gameengine/Expressions #source/blender/blenkernel #source/blender/makesdna'
 incs += ' ' + env['BF_PYTHON_INC']
 
+cxxflags = []
 if env['OURPLATFORM']=='win32-vc':
-	cflags = []
-	cflags.append('/Ox')
-	env.BlenderLib ( 'bf_rasterizer', sources, Split(incs), [], libtype=['core','player'], priority=[350,115], compileflags = cflags )
-else:
-	env.BlenderLib ( 'bf_rasterizer', sources, Split(incs), [], libtype=['core','player'], priority=[350,115] )
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
+
+env.BlenderLib ( 'bf_rasterizer', sources, Split(incs), [], libtype=['core','player'], priority=[350,115], cxx_compileflags = cxxflags )
diff --git a/source/gameengine/SConscript b/source/gameengine/SConscript
index 39824cac1aa..864e4c3ebee 100644
--- a/source/gameengine/SConscript
+++ b/source/gameengine/SConscript
@@ -15,10 +15,12 @@ SConscript(['BlenderRoutines/SConscript',
             'Rasterizer/RAS_OpenGLRasterizer/SConscript',
             'SceneGraph/SConscript',
             'Physics/Bullet/SConscript',
-            'Physics/Sumo/SConscript',
             'VideoTexture/SConscript'
             ])
 
+if env['WITH_BF_SOLID']:
+	SConscript(['Physics/Sumo/SConscript'])
+
 if env['WITH_BF_PLAYER']:
     SConscript(['GamePlayer/SConscript'])
 
diff --git a/source/gameengine/SceneGraph/SConscript b/source/gameengine/SceneGraph/SConscript
index a0733b6c51c..0692b170a61 100644
--- a/source/gameengine/SceneGraph/SConscript
+++ b/source/gameengine/SceneGraph/SConscript
@@ -6,4 +6,9 @@ sources = env.Glob('*.cpp')
 
 incs = '. #intern/moto/include'
 
-env.BlenderLib ( 'bf_scenegraph', sources, Split(incs), [], libtype=['core','player'], priority=[280,125] )
+cxxflags = []
+if env['OURPLATFORM']=='win32-vc':
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
+
+env.BlenderLib ( 'bf_scenegraph', sources, Split(incs), [], libtype=['core','player'], priority=[325,125], cxx_compileflags = cxxflags )
diff --git a/source/gameengine/SceneGraph/SG_BBox.cpp b/source/gameengine/SceneGraph/SG_BBox.cpp
index 4bd2805978e..a44262d04f7 100644
--- a/source/gameengine/SceneGraph/SG_BBox.cpp
+++ b/source/gameengine/SceneGraph/SG_BBox.cpp
@@ -34,8 +34,8 @@
  #include "SG_Node.h"
  
 SG_BBox::SG_BBox() :
-	m_min(MT_Point3(0., 0., 0.)),
-	m_max(MT_Point3(0., 0., 0.))
+	m_min(0., 0., 0.),
+	m_max(0., 0., 0.)
 {
 }
 
diff --git a/source/gameengine/SceneGraph/SG_Spatial.cpp b/source/gameengine/SceneGraph/SG_Spatial.cpp
index 5ba116e59db..99aeb3e72ee 100644
--- a/source/gameengine/SceneGraph/SG_Spatial.cpp
+++ b/source/gameengine/SceneGraph/SG_Spatial.cpp
@@ -44,13 +44,13 @@ SG_Spatial(
 ): 
 
 	SG_IObject(clientobj,clientinfo,callbacks),
-	m_localPosition(MT_Point3(0.0,0.0,0.0)),
-	m_localRotation(MT_Matrix3x3(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)),
-	m_localScaling(MT_Vector3(1.f,1.f,1.f)),
+	m_localPosition(0.0,0.0,0.0),
+	m_localRotation(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0),
+	m_localScaling(1.f,1.f,1.f),
 	
-	m_worldPosition(MT_Point3(0.0,0.0,0.0)),
-	m_worldRotation(MT_Matrix3x3(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)),
-	m_worldScaling(MT_Vector3(1.f,1.f,1.f)),
+	m_worldPosition(0.0,0.0,0.0),
+	m_worldRotation(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0),
+	m_worldScaling(1.f,1.f,1.f),
 
 	m_parent_relation (NULL),
 	
@@ -297,6 +297,13 @@ GetWorldScaling(
 	return m_worldScaling;
 }
 
+void SG_Spatial::SetWorldFromLocalTransform()
+{
+	m_worldPosition= m_localPosition;
+	m_worldScaling= m_localScaling;
+	m_worldRotation= m_localRotation;
+}
+
 SG_BBox& SG_Spatial::BBox()
 {
 	return m_bbox;
diff --git a/source/gameengine/SceneGraph/SG_Spatial.h b/source/gameengine/SceneGraph/SG_Spatial.h
index 28848b0f933..6ccec2aa9c1 100644
--- a/source/gameengine/SceneGraph/SG_Spatial.h
+++ b/source/gameengine/SceneGraph/SG_Spatial.h
@@ -176,6 +176,8 @@ public:
 	GetWorldScaling(
 	) const	;
 
+	void SetWorldFromLocalTransform();
+
 	MT_Transform GetWorldTransform() const;
 
 	bool	ComputeWorldTransforms(		const SG_Spatial *parent);
diff --git a/source/gameengine/VideoTexture/CMakeLists.txt b/source/gameengine/VideoTexture/CMakeLists.txt
index 12b6b83cabe..9d1bb89d2ca 100644
--- a/source/gameengine/VideoTexture/CMakeLists.txt
+++ b/source/gameengine/VideoTexture/CMakeLists.txt
@@ -53,7 +53,7 @@ SET(INC
 )
 
 IF(WITH_FFMPEG)
-  SET(INC ${INC} ${FFMPEG_INC})
+  SET(INC ${INC} ${FFMPEG_INC} ${PTHREADS_INC})
   ADD_DEFINITIONS(-DWITH_FFMPEG)
   ADD_DEFINITIONS(-D__STDC_CONSTANT_MACROS)
 ENDIF(WITH_FFMPEG)
diff --git a/source/gameengine/VideoTexture/FilterBase.cpp b/source/gameengine/VideoTexture/FilterBase.cpp
index b0112cd355b..b2abd4354fd 100644
--- a/source/gameengine/VideoTexture/FilterBase.cpp
+++ b/source/gameengine/VideoTexture/FilterBase.cpp
@@ -69,7 +69,7 @@ FilterBase * FilterBase::findFirst (void)
 {
 	// find first filter in chain
 	FilterBase * frst;
-	for (frst = this; frst->m_previous != NULL; frst = frst->m_previous->m_filter);
+	for (frst = this; frst->m_previous != NULL; frst = frst->m_previous->m_filter) {};
 	// set first filter
 	return frst;
 }
diff --git a/source/gameengine/VideoTexture/FilterSource.h b/source/gameengine/VideoTexture/FilterSource.h
index 7e90747d252..6385ed5108f 100644
--- a/source/gameengine/VideoTexture/FilterSource.h
+++ b/source/gameengine/VideoTexture/FilterSource.h
@@ -189,9 +189,10 @@ protected:
 		int d = m_buffU[offset] - 128;
 		int e = m_buffV[offset] - 128;
 		// if horizontal interpolation is needed
-		if ((x & 1) == 1)
+		if ((x & 1) == 1) {
 			// if vertical interpolation is needed too
 			if ((y & 1) == 1)
+			{
 				// if this pixel is on the edge
 				if (isEdge(x, y, size))
 				{
@@ -206,7 +207,8 @@ protected:
 					e = interpolVH(m_buffV + offset) - 128;
 				}
 				// otherwise use horizontal interpolation only
-			else
+			}
+			else {
 				// if this pixel is on the edge
 				if (isEdge(x, y, size))
 				{
@@ -221,6 +223,8 @@ protected:
 					e = interpolH(m_buffV + offset) - 128;
 				}
 				// otherwise if only vertical interpolation is needed
+			}
+		}
 		else if ((y & 1) == 1)
 			// if this pixel is on the edge
 			if (isEdge(x, y, size))
diff --git a/source/gameengine/VideoTexture/Makefile b/source/gameengine/VideoTexture/Makefile
index e4a70428c60..8677ed5c177 100644
--- a/source/gameengine/VideoTexture/Makefile
+++ b/source/gameengine/VideoTexture/Makefile
@@ -60,6 +60,9 @@ CPPFLAGS += -I$(NAN_GUARDEDALLOC)/include
 ifeq ($(WITH_FFMPEG),true)
     CPPFLAGS += -DWITH_FFMPEG
     CPPFLAGS += $(NAN_FFMPEGCFLAGS)
+	ifdef NAN_PTHREADS
+		CPPFLAGS += -I$(NAN_PTHREADS)/include
+	endif
 endif
 
 
diff --git a/source/gameengine/VideoTexture/SConscript b/source/gameengine/VideoTexture/SConscript
index 36bb1ea6257..920da8ffb2e 100644
--- a/source/gameengine/VideoTexture/SConscript
+++ b/source/gameengine/VideoTexture/SConscript
@@ -15,18 +15,19 @@ incs += ' #source/blender/gpu #source/kernel/gen_system #intern/string #intern/m
 incs += ' #intern/guardedalloc #intern/SoundSystem'
 incs += ' #extern/glew/include'
 
-cflags = []
 defs = ''
-if env['OURPLATFORM'] == 'win32-vc':
-	cflags.append('/GR')
-	cflags.append('/Ox')
+cxxflags = []
+if env['OURPLATFORM']=='win32-vc':
+	cxxflags.append ('/GR')
+	cxxflags.append ('/O2')
+
 
 incs += ' ' + env['BF_PYTHON_INC']
 #incs += ' ' + env['BF_OPENGL_INC']
 
 if env['WITH_BF_FFMPEG']:
     defs += ' WITH_FFMPEG'
-    incs += ' ' + env['BF_FFMPEG_INC']
+    incs += ' ' + env['BF_FFMPEG_INC'] + ' ' + env['BF_PTHREADS_INC']
     defs += ' __STDC_CONSTANT_MACROS'
 
-env.BlenderLib ( 'bf_videotex', sources, Split(incs), Split(defs), libtype=['core','player'], priority=[300, 72], compileflags = cflags )
+env.BlenderLib ( 'bf_videotex', sources, Split(incs), Split(defs), libtype=['core','player'], priority=[300, 72], cxx_compileflags = cxxflags )
diff --git a/source/gameengine/VideoTexture/VideoFFmpeg.cpp b/source/gameengine/VideoTexture/VideoFFmpeg.cpp
index 02798c7e596..5265b0ecb93 100644
--- a/source/gameengine/VideoTexture/VideoFFmpeg.cpp
+++ b/source/gameengine/VideoTexture/VideoFFmpeg.cpp
@@ -55,7 +55,8 @@ m_codec(NULL), m_formatCtx(NULL), m_codecCtx(NULL),
 m_frame(NULL), m_frameDeinterlaced(NULL), m_frameRGB(NULL), m_imgConvertCtx(NULL),
 m_deinterlace(false), m_preseek(0),	m_videoStream(-1), m_baseFrameRate(25.0),
 m_lastFrame(-1),  m_eof(false), m_curPosition(-1), m_startTime(0), 
-m_captWidth(0), m_captHeight(0), m_captRate(0.f), m_isImage(false)
+m_captWidth(0), m_captHeight(0), m_captRate(0.f), m_isImage(false),
+m_isThreaded(false), m_stopThread(false), m_cacheStarted(false)
 {
 	// set video format
 	m_format = RGB24;
@@ -63,6 +64,12 @@ m_captWidth(0), m_captHeight(0), m_captRate(0.f), m_isImage(false)
 	setFlip(true);
 	// construction is OK
 	*hRslt = S_OK;
+	m_thread.first = m_thread.last = NULL;
+	pthread_mutex_init(&m_cacheMutex, NULL);
+	m_frameCacheFree.first = m_frameCacheFree.last = NULL;
+	m_frameCacheBase.first = m_frameCacheBase.last = NULL;
+	m_packetCacheFree.first = m_packetCacheFree.last = NULL;
+	m_packetCacheBase.first = m_packetCacheBase.last = NULL;
 }
 
 // destructor
@@ -75,6 +82,7 @@ VideoFFmpeg::~VideoFFmpeg ()
 bool VideoFFmpeg::release()
 {
 	// release
+	stopCache();
 	if (m_codecCtx)
 	{
 		avcodec_close(m_codecCtx);
@@ -112,6 +120,29 @@ bool VideoFFmpeg::release()
 	return true;
 }
 
+AVFrame	*VideoFFmpeg::allocFrameRGB()
+{
+	AVFrame *frame;
+	frame = avcodec_alloc_frame();
+	if (m_format == RGBA32)
+	{
+		avpicture_fill((AVPicture*)frame, 
+			(uint8_t*)MEM_callocN(avpicture_get_size(
+				PIX_FMT_RGBA,
+				m_codecCtx->width, m_codecCtx->height),
+				"ffmpeg rgba"),
+			PIX_FMT_RGBA, m_codecCtx->width, m_codecCtx->height);
+	} else 
+	{
+		avpicture_fill((AVPicture*)frame, 
+			(uint8_t*)MEM_callocN(avpicture_get_size(
+				PIX_FMT_RGB24,
+				m_codecCtx->width, m_codecCtx->height),
+				"ffmpeg rgb"),
+			PIX_FMT_RGB24, m_codecCtx->width, m_codecCtx->height);
+	}
+	return frame;
+}
 
 // set initial parameters
 void VideoFFmpeg::initParams (short width, short height, float rate, bool image)
@@ -122,6 +153,7 @@ void VideoFFmpeg::initParams (short width, short height, float rate, bool image)
 	m_isImage = image;
 }
 
+
 int VideoFFmpeg::openStream(const char *filename, AVInputFormat *inputFormat, AVFormatParameters *formatParams)
 {
 	AVFormatContext *formatCtx;
@@ -189,7 +221,6 @@ int VideoFFmpeg::openStream(const char *filename, AVInputFormat *inputFormat, AV
 	m_videoStream = videoStream;
 	m_frame = avcodec_alloc_frame();
 	m_frameDeinterlaced = avcodec_alloc_frame();
-	m_frameRGB = avcodec_alloc_frame();
 
 	// allocate buffer if deinterlacing is required
 	avpicture_fill((AVPicture*)m_frameDeinterlaced, 
@@ -207,12 +238,6 @@ int VideoFFmpeg::openStream(const char *filename, AVInputFormat *inputFormat, AV
 	{
 		// allocate buffer to store final decoded frame
 		m_format = RGBA32;
-		avpicture_fill((AVPicture*)m_frameRGB, 
-			(uint8_t*)MEM_callocN(avpicture_get_size(
-			PIX_FMT_RGBA,
-			m_codecCtx->width, m_codecCtx->height),
-			"ffmpeg rgba"),
-			PIX_FMT_RGBA, m_codecCtx->width, m_codecCtx->height);
 		// allocate sws context
 		m_imgConvertCtx = sws_getContext(
 			m_codecCtx->width,
@@ -227,12 +252,6 @@ int VideoFFmpeg::openStream(const char *filename, AVInputFormat *inputFormat, AV
 	{
 		// allocate buffer to store final decoded frame
 		m_format = RGB24;
-		avpicture_fill((AVPicture*)m_frameRGB, 
-			(uint8_t*)MEM_callocN(avpicture_get_size(
-			PIX_FMT_RGB24,
-			m_codecCtx->width, m_codecCtx->height),
-			"ffmpeg rgb"),
-			PIX_FMT_RGB24, m_codecCtx->width, m_codecCtx->height);
 		// allocate sws context
 		m_imgConvertCtx = sws_getContext(
 			m_codecCtx->width,
@@ -244,19 +263,247 @@ int VideoFFmpeg::openStream(const char *filename, AVInputFormat *inputFormat, AV
 			SWS_FAST_BILINEAR,
 			NULL, NULL, NULL);
 	}
+	m_frameRGB = allocFrameRGB();
+
 	if (!m_imgConvertCtx) {
 		avcodec_close(m_codecCtx);
+		m_codecCtx = NULL;
 		av_close_input_file(m_formatCtx);
+		m_formatCtx = NULL;
 		av_free(m_frame);
+		m_frame = NULL;
 		MEM_freeN(m_frameDeinterlaced->data[0]);
 		av_free(m_frameDeinterlaced);
+		m_frameDeinterlaced = NULL;
 		MEM_freeN(m_frameRGB->data[0]);
 		av_free(m_frameRGB);
+		m_frameRGB = NULL;
 		return -1;
 	}
 	return 0;
 }
 
+/*
+ * This thread is used to load video frame asynchronously.
+ * It provides a frame caching service. 
+ * The main thread is responsible for positionning the frame pointer in the
+ * file correctly before calling startCache() which starts this thread.
+ * The cache is organized in two layers: 1) a cache of 20-30 undecoded packets to keep
+ * memory and CPU low 2) a cache of 5 decoded frames. 
+ * If the main thread does not find the frame in the cache (because the video has restarted
+ * or because the GE is lagging), it stops the cache with StopCache() (this is a synchronous
+ * function: it sends a signal to stop the cache thread and wait for confirmation), then
+ * change the position in the stream and restarts the cache thread.
+ */
+void *VideoFFmpeg::cacheThread(void *data)
+{
+	VideoFFmpeg* video = (VideoFFmpeg*)data;
+	// holds the frame that is being decoded
+	CacheFrame *currentFrame = NULL;
+	CachePacket *cachePacket;
+	bool endOfFile = false;
+	int frameFinished = 0;
+
+	while (!video->m_stopThread)
+	{
+		// packet cache is used solely by this thread, no need to lock
+		// In case the stream/file contains other stream than the one we are looking for,
+		// allow a bit of cycling to get rid quickly of those frames
+		frameFinished = 0;
+		while (	   !endOfFile 
+				&& (cachePacket = (CachePacket *)video->m_packetCacheFree.first) != NULL 
+				&& frameFinished < 25)
+		{
+			// free packet => packet cache is not full yet, just read more
+			if (av_read_frame(video->m_formatCtx, &cachePacket->packet)>=0) 
+			{
+				if (cachePacket->packet.stream_index == video->m_videoStream)
+				{
+					// make sure fresh memory is allocated for the packet and move it to queue
+					av_dup_packet(&cachePacket->packet);
+					BLI_remlink(&video->m_packetCacheFree, cachePacket);
+					BLI_addtail(&video->m_packetCacheBase, cachePacket);
+					break;
+				} else {
+					// this is not a good packet for us, just leave it on free queue
+					// Note: here we could handle sound packet
+					av_free_packet(&cachePacket->packet);
+					frameFinished++;
+				}
+				
+			} else {
+				if (video->m_isFile)
+					// this mark the end of the file
+					endOfFile = true;
+				// if we cannot read a packet, no need to continue
+				break;
+			}
+		}
+		// frame cache is also used by main thread, lock
+		if (currentFrame == NULL) 
+		{
+			// no current frame being decoded, take free one
+			pthread_mutex_lock(&video->m_cacheMutex);
+			if ((currentFrame = (CacheFrame *)video->m_frameCacheFree.first) != NULL)
+				BLI_remlink(&video->m_frameCacheFree, currentFrame);
+			pthread_mutex_unlock(&video->m_cacheMutex);
+		}
+		if (currentFrame != NULL)
+		{
+			// this frame is out of free and busy queue, we can manipulate it without locking
+			frameFinished = 0;
+			while (!frameFinished && (cachePacket = (CachePacket *)video->m_packetCacheBase.first) != NULL)
+			{
+				BLI_remlink(&video->m_packetCacheBase, cachePacket);
+				// use m_frame because when caching, it is not used in main thread
+				// we can't use currentFrame directly because we need to convert to RGB first
+				avcodec_decode_video(video->m_codecCtx, 
+					video->m_frame, &frameFinished, 
+					cachePacket->packet.data, cachePacket->packet.size);
+				if(frameFinished) 
+				{
+					AVFrame * input = video->m_frame;
+
+					/* This means the data wasnt read properly, this check stops crashing */
+					if (   input->data[0]!=0 || input->data[1]!=0 
+						|| input->data[2]!=0 || input->data[3]!=0)
+					{
+						if (video->m_deinterlace) 
+						{
+							if (avpicture_deinterlace(
+								(AVPicture*) video->m_frameDeinterlaced,
+								(const AVPicture*) video->m_frame,
+								video->m_codecCtx->pix_fmt,
+								video->m_codecCtx->width,
+								video->m_codecCtx->height) >= 0)
+							{
+								input = video->m_frameDeinterlaced;
+							}
+						}
+						// convert to RGB24
+						sws_scale(video->m_imgConvertCtx,
+							input->data,
+							input->linesize,
+							0,
+							video->m_codecCtx->height,
+							currentFrame->frame->data,
+							currentFrame->frame->linesize);
+						// move frame to queue, this frame is necessarily the next one
+						currentFrame->framePosition = ++video->m_curPosition;
+						pthread_mutex_lock(&video->m_cacheMutex);
+						BLI_addtail(&video->m_frameCacheBase, currentFrame);
+						pthread_mutex_unlock(&video->m_cacheMutex);
+						currentFrame = NULL;
+					}
+				}
+				av_free_packet(&cachePacket->packet);
+				BLI_addtail(&video->m_packetCacheFree, cachePacket);
+			} 
+			if (currentFrame && endOfFile) 
+			{
+				// no more packet and end of file => put a special frame that indicates that
+				currentFrame->framePosition = -1;
+				pthread_mutex_lock(&video->m_cacheMutex);
+				BLI_addtail(&video->m_frameCacheBase, currentFrame);
+				pthread_mutex_unlock(&video->m_cacheMutex);
+				currentFrame = NULL;
+				// no need to stay any longer in this thread
+				break;
+			}
+		}
+		// small sleep to avoid unnecessary looping
+		PIL_sleep_ms(10);
+	}
+	// before quitting, put back the current frame to queue to allow freeing
+	if (currentFrame)
+	{
+		pthread_mutex_lock(&video->m_cacheMutex);
+		BLI_addtail(&video->m_frameCacheFree, currentFrame);
+		pthread_mutex_unlock(&video->m_cacheMutex);
+	}
+	return 0;
+}
+
+// start thread to cache video frame from file/capture/stream
+// this function should be called only when the position in the stream is set for the
+// first frame to cache
+bool VideoFFmpeg::startCache()
+{
+	if (!m_cacheStarted && m_isThreaded)
+	{
+		m_stopThread = false;
+		for (int i=0; i<CACHE_FRAME_SIZE; i++)
+		{
+			CacheFrame *frame = new CacheFrame();
+			frame->frame = allocFrameRGB();
+			BLI_addtail(&m_frameCacheFree, frame);
+		}
+		for (int i=0; i<CACHE_PACKET_SIZE; i++) 
+		{
+			CachePacket *packet = new CachePacket();
+			BLI_addtail(&m_packetCacheFree, packet);
+		}
+		BLI_init_threads(&m_thread, cacheThread, 1);
+		BLI_insert_thread(&m_thread, this);
+		m_cacheStarted = true;
+	}
+	return m_cacheStarted;
+}
+
+void VideoFFmpeg::stopCache()
+{
+	if (m_cacheStarted)
+	{
+		m_stopThread = true;
+		BLI_end_threads(&m_thread);
+		// now delete the cache
+		CacheFrame *frame;
+		CachePacket *packet;
+		while ((frame = (CacheFrame *)m_frameCacheBase.first) != NULL)
+		{
+			BLI_remlink(&m_frameCacheBase, frame);
+			MEM_freeN(frame->frame->data[0]);
+			av_free(frame->frame);
+			delete frame;
+		}
+		while ((frame = (CacheFrame *)m_frameCacheFree.first) != NULL)
+		{
+			BLI_remlink(&m_frameCacheFree, frame);
+			MEM_freeN(frame->frame->data[0]);
+			av_free(frame->frame);
+			delete frame;
+		}
+		while((packet = (CachePacket *)m_packetCacheBase.first) != NULL)
+		{
+			BLI_remlink(&m_packetCacheBase, packet);
+			av_free_packet(&packet->packet);
+			delete packet;
+		}
+		while((packet = (CachePacket *)m_packetCacheFree.first) != NULL)
+		{
+			BLI_remlink(&m_packetCacheFree, packet);
+			delete packet;
+		}
+		m_cacheStarted = false;
+	}
+}
+
+void VideoFFmpeg::releaseFrame(AVFrame* frame)
+{
+	if (frame == m_frameRGB)
+	{
+		// this is not a frame from the cache, ignore
+		return;
+	}
+	// this frame MUST be the first one of the queue
+	pthread_mutex_lock(&m_cacheMutex);
+	CacheFrame *cacheFrame = (CacheFrame *)m_frameCacheBase.first;
+	assert (cacheFrame != NULL && cacheFrame->frame == frame);
+	BLI_remlink(&m_frameCacheBase, cacheFrame);
+	BLI_addtail(&m_frameCacheFree, cacheFrame);
+	pthread_mutex_unlock(&m_cacheMutex);
+}
+
 // open video file
 void VideoFFmpeg::openFile (char * filename)
 {
@@ -280,8 +527,12 @@ void VideoFFmpeg::openFile (char * filename)
 	VideoBase::openFile(filename);
 
 	if (
+		// ffmpeg reports that http source are actually non stream
+		// but it is really not desirable to seek on http file, so force streaming.
+		// It would be good to find this information from the context but there are no simple indication
+		!strncmp(filename, "http://", 7) ||
 #ifdef FFMPEG_PB_IS_POINTER
-        m_formatCtx->pb && m_formatCtx->pb->is_streamed
+        (m_formatCtx->pb && m_formatCtx->pb->is_streamed)
 #else
         m_formatCtx->pb.is_streamed
 #endif
@@ -304,7 +555,13 @@ void VideoFFmpeg::openFile (char * filename)
 		m_avail = false;
 		play();
 	}
-
+	// check if we should do multi-threading?
+	if (!m_isImage && BLI_system_thread_count() > 1)
+	{
+		// never thread image: there are no frame to read ahead
+		// no need to thread if the system has a single core
+		m_isThreaded =  true;
+	}
 }
 
 
@@ -385,6 +642,12 @@ void VideoFFmpeg::openCam (char * file, short camIdx)
 	m_formatCtx->flags |= AVFMT_FLAG_NONBLOCK;
 	// open base class
 	VideoBase::openCam(file, camIdx);
+	// check if we should do multi-threading?
+	if (BLI_system_thread_count() > 1)
+	{
+		// no need to thread if the system has a single core
+		m_isThreaded =  true;
+	}
 }
 
 // play video
@@ -427,9 +690,12 @@ void VideoFFmpeg::setRange (double start, double stop)
 	try
 	{
 		// set range
-		VideoBase::setRange(start, stop);
-		// set range for video
-		setPositions();
+		if (m_isFile)
+		{
+			VideoBase::setRange(start, stop);
+			// set range for video
+			setPositions();
+		}
 	}
 	CATCH_EXCP;
 }
@@ -451,43 +717,61 @@ void VideoFFmpeg::calcImage (unsigned int texId)
 // load frame from video
 void VideoFFmpeg::loadFrame (void)
 {
-	// get actual time
-	double actTime = PIL_check_seconds_timer() - m_startTime;
-	// if video has ended
-	if (m_isFile && actTime * m_frameRate >= m_range[1])
-	{
-		// if repeats are set, decrease them
-		if (m_repeat > 0) 
-			--m_repeat;
-		// if video has to be replayed
-		if (m_repeat != 0)
-		{
-			// reset its position
-			actTime -= (m_range[1] - m_range[0]) / m_frameRate;
-			m_startTime += (m_range[1] - m_range[0]) / m_frameRate;
-		}
-		// if video has to be stopped, stop it
-		else 
-			m_status = SourceStopped;
-	}
-	// if video is playing
 	if (m_status == SourcePlaying)
 	{
+		// get actual time
+		double startTime = PIL_check_seconds_timer();
+		double actTime = startTime - m_startTime;
+		// if video has ended
+		if (m_isFile && actTime * m_frameRate >= m_range[1])
+		{
+			// in any case, this resets the cache
+			stopCache();
+			// if repeats are set, decrease them
+			if (m_repeat > 0) 
+				--m_repeat;
+			// if video has to be replayed
+			if (m_repeat != 0)
+			{
+				// reset its position
+				actTime -= (m_range[1] - m_range[0]) / m_frameRate;
+				m_startTime += (m_range[1] - m_range[0]) / m_frameRate;
+			}
+			// if video has to be stopped, stop it
+			else 
+			{
+				m_status = SourceStopped;
+				return;
+			}
+		}
 		// actual frame
-		long actFrame = m_isFile ? long(actTime * actFrameRate()) : m_lastFrame + 1;
+		long actFrame = (m_isImage) ? m_lastFrame+1 : long(actTime * actFrameRate());
 		// if actual frame differs from last frame
 		if (actFrame != m_lastFrame)
 		{
+			AVFrame* frame;
 			// get image
-			if(grabFrame(actFrame))
+			if((frame = grabFrame(actFrame)) != NULL)
 			{
-				AVFrame* frame = getFrame();
+				if (!m_isFile && !m_cacheStarted) 
+				{
+					// streaming without cache: detect synchronization problem
+					double execTime = PIL_check_seconds_timer() - startTime;
+					if (execTime > 0.005) 
+					{
+						// exec time is too long, it means that the function was blocking
+						// resynchronize the stream from this time
+						m_startTime += execTime;
+					}
+				}
 				// save actual frame
 				m_lastFrame = actFrame;
 				// init image, if needed
 				init(short(m_codecCtx->width), short(m_codecCtx->height));
 				// process image
 				process((BYTE*)(frame->data[0]));
+				// finished with the frame, release it so that cache can reuse it
+				releaseFrame(frame);
 				// in case it is an image, automatically stop reading it
 				if (m_isImage)
 				{
@@ -495,6 +779,12 @@ void VideoFFmpeg::loadFrame (void)
 					// close the file as we don't need it anymore
 					release();
 				}
+			} else if (!m_isFile)
+			{
+				// we didn't get a frame and we are streaming, this may be due to
+				// a delay in the network or because we are getting the frame too fast.
+				// In the later case, shift time by a small amount to compensate for a drift
+				m_startTime += 0.01;
 			}
 		}
 	}
@@ -507,77 +797,135 @@ void VideoFFmpeg::setPositions (void)
 	// set video start time
 	m_startTime = PIL_check_seconds_timer();
 	// if file is played and actual position is before end position
-	if (m_isFile && !m_eof && m_lastFrame >= 0 && m_lastFrame < m_range[1] * actFrameRate())
+	if (!m_eof && m_lastFrame >= 0 && (!m_isFile || m_lastFrame < m_range[1] * actFrameRate()))
 		// continue from actual position
 		m_startTime -= double(m_lastFrame) / actFrameRate();
-	else
+	else {
 		m_startTime -= m_range[0];
+		// start from begining, stop cache just in case
+		stopCache();
+	}
 }
 
 // position pointer in file, position in second
-bool VideoFFmpeg::grabFrame(long position)
+AVFrame *VideoFFmpeg::grabFrame(long position)
 {
 	AVPacket packet;
 	int frameFinished;
 	int posFound = 1;
 	bool frameLoaded = false;
 	long long targetTs = 0;
+	CacheFrame *frame;
 
-	// first check if the position that we are looking for is in the preseek range
-	// if so, just read the frame until we get there
-	if (position > m_curPosition + 1 
-		&& m_preseek 
-		&& position - (m_curPosition + 1) < m_preseek) 
+	if (m_cacheStarted)
 	{
-		while(av_read_frame(m_formatCtx, &packet)>=0) 
+		// when cache is active, we must not read the file directly
+		do {
+			pthread_mutex_lock(&m_cacheMutex);
+			frame = (CacheFrame *)m_frameCacheBase.first;
+			pthread_mutex_unlock(&m_cacheMutex);
+			// no need to remove the frame from the queue: the cache thread does not touch the head, only the tail
+			if (frame == NULL)
+			{
+				// no frame in cache, in case of file it is an abnormal situation
+				if (m_isFile)
+				{
+					// go back to no threaded reading
+					stopCache();
+					break;
+				}
+				return NULL;
+			}
+			if (frame->framePosition == -1) 
+			{
+				// this frame mark the end of the file (only used for file)
+				// leave in cache to make sure we don't miss it
+				m_eof = true;
+				return NULL;
+			}
+			// for streaming, always return the next frame, 
+			// that's what grabFrame does in non cache mode anyway.
+			if (!m_isFile || frame->framePosition == position)
+			{
+				return frame->frame;
+			}
+			// this frame is not useful, release it
+			pthread_mutex_lock(&m_cacheMutex);
+			BLI_remlink(&m_frameCacheBase, frame);
+			BLI_addtail(&m_frameCacheFree, frame);
+			pthread_mutex_unlock(&m_cacheMutex);
+		} while (true);
+	}
+	// come here when there is no cache or cache has been stopped
+	// locate the frame, by seeking if necessary (seeking is only possible for files)
+	if (m_isFile)
+	{
+		// first check if the position that we are looking for is in the preseek range
+		// if so, just read the frame until we get there
+		if (position > m_curPosition + 1 
+			&& m_preseek 
+			&& position - (m_curPosition + 1) < m_preseek) 
 		{
-			if (packet.stream_index == m_videoStream) 
+			while(av_read_frame(m_formatCtx, &packet)>=0) 
 			{
-				avcodec_decode_video(
-					m_codecCtx, 
-					m_frame, &frameFinished, 
-					packet.data, packet.size);
-				if (frameFinished)
-					m_curPosition++;
+				if (packet.stream_index == m_videoStream) 
+				{
+					avcodec_decode_video(
+						m_codecCtx, 
+						m_frame, &frameFinished, 
+						packet.data, packet.size);
+					if (frameFinished)
+						m_curPosition++;
+				}
+				av_free_packet(&packet);
+				if (position == m_curPosition+1)
+					break;
 			}
-			av_free_packet(&packet);
-			if (position == m_curPosition+1)
-				break;
 		}
-	}
-	// if the position is not in preseek, do a direct jump
-	if (position != m_curPosition + 1) 
-	{ 
-		double timeBase = av_q2d(m_formatCtx->streams[m_videoStream]->time_base);
-		long long pos = (long long)
-			((long long) (position - m_preseek) * AV_TIME_BASE / m_baseFrameRate);
-		long long startTs = m_formatCtx->streams[m_videoStream]->start_time;
+		// if the position is not in preseek, do a direct jump
+		if (position != m_curPosition + 1) 
+		{ 
+			double timeBase = av_q2d(m_formatCtx->streams[m_videoStream]->time_base);
+			long long pos = (long long)
+				((long long) (position - m_preseek) * AV_TIME_BASE / m_baseFrameRate);
+			long long startTs = m_formatCtx->streams[m_videoStream]->start_time;
 
-		if (pos < 0)
-			pos = 0;
+			if (pos < 0)
+				pos = 0;
 
-		if (startTs != AV_NOPTS_VALUE)
-			pos += (long long)(startTs * AV_TIME_BASE * timeBase);
+			if (startTs != AV_NOPTS_VALUE)
+				pos += (long long)(startTs * AV_TIME_BASE * timeBase);
 
-		if (position <= m_curPosition || !m_eof)
-		{
-			// no need to seek past the end of the file
-			if (av_seek_frame(m_formatCtx, -1, pos, AVSEEK_FLAG_BACKWARD) >= 0)
+			if (position <= m_curPosition || !m_eof)
 			{
-				// current position is now lost, guess a value. 
-				// It's not important because it will be set at this end of this function
-				m_curPosition = position - m_preseek - 1;
+				// no need to seek past the end of the file
+				if (av_seek_frame(m_formatCtx, -1, pos, AVSEEK_FLAG_BACKWARD) >= 0)
+				{
+					// current position is now lost, guess a value. 
+					// It's not important because it will be set at this end of this function
+					m_curPosition = position - m_preseek - 1;
+				}
 			}
-		}
-		// this is the timestamp of the frame we're looking for
-		targetTs = (long long)(((double) position) / m_baseFrameRate / timeBase);
-		if (startTs != AV_NOPTS_VALUE)
-			targetTs += startTs;
+			// this is the timestamp of the frame we're looking for
+			targetTs = (long long)(((double) position) / m_baseFrameRate / timeBase);
+			if (startTs != AV_NOPTS_VALUE)
+				targetTs += startTs;
 
-		posFound = 0;
-		avcodec_flush_buffers(m_codecCtx);
+			posFound = 0;
+			avcodec_flush_buffers(m_codecCtx);
+		}
+	} else if (m_isThreaded)
+	{
+		// cache is not started but threading is possible
+		// better not read the stream => make take some time, better start caching
+		if (startCache())
+			return NULL;
+		// Abnormal!!! could not start cache, fall back on direct read
+		m_isThreaded = false;
 	}
 
+	// find the correct frame, in case of streaming and no cache, it means just
+	// return the next frame. This is not quite correct, may need more work
 	while(av_read_frame(m_formatCtx, &packet)>=0) 
 	{
 		if(packet.stream_index == m_videoStream) 
@@ -632,10 +980,22 @@ bool VideoFFmpeg::grabFrame(long position)
 		}
 		av_free_packet(&packet);
 	}
-	m_eof = !frameLoaded;
+	m_eof = m_isFile && !frameLoaded;
 	if (frameLoaded)
+	{
 		m_curPosition = position;
-	return frameLoaded;
+		if (m_isThreaded)
+		{
+			// normal case for file: first locate, then start cache
+			if (!startCache())
+			{
+				// Abnormal!! could not start cache, return to non-cache mode
+				m_isThreaded = false;
+			}
+		}
+		return m_frameRGB;
+	}
+	return NULL;
 }
 
 
diff --git a/source/gameengine/VideoTexture/VideoFFmpeg.h b/source/gameengine/VideoTexture/VideoFFmpeg.h
index e60f1727aab..51ce2c4eebe 100644
--- a/source/gameengine/VideoTexture/VideoFFmpeg.h
+++ b/source/gameengine/VideoTexture/VideoFFmpeg.h
@@ -24,12 +24,17 @@ http://www.gnu.org/copyleft/lesser.txt.
 
 #ifdef WITH_FFMPEG
 extern "C" {
+#include <pthread.h>
 #include <ffmpeg/avformat.h>
 #include <ffmpeg/avcodec.h>
 #include <ffmpeg/rational.h>
 #include <ffmpeg/swscale.h>
+#include "DNA_listBase.h"
+#include "BLI_threads.h"
+#include "BLI_blenlib.h"
 }
 
+
 #if LIBAVFORMAT_VERSION_INT < (49 << 16)
 #define FFMPEG_OLD_FRAME_RATE 1
 #else
@@ -54,6 +59,8 @@ static inline AVCodecContext* get_codec_from_stream(AVStream* stream)
 
 #include "VideoBase.h"
 
+#define CACHE_FRAME_SIZE	5
+#define CACHE_PACKET_SIZE	30
 
 // type VideoFFmpeg declaration
 class VideoFFmpeg : public VideoBase
@@ -91,7 +98,6 @@ public:
 	char *getImageName(void) { return (m_isImage) ? m_imageName.Ptr() : NULL; }
 
 protected:
-
 	// format and codec information
 	AVCodec	*m_codec;
 	AVFormatContext *m_formatCtx;
@@ -138,6 +144,9 @@ protected:
 	/// is file an image?
 	bool m_isImage;
 
+	/// is image loading done in a separate thread?
+	bool m_isThreaded;
+
 	/// keep last image name
 	STR_String m_imageName;
 
@@ -157,10 +166,37 @@ protected:
 	int openStream(const char *filename, AVInputFormat *inputFormat, AVFormatParameters *formatParams);
 
 	/// check if a frame is available and load it in pFrame, return true if a frame could be retrieved
-	bool grabFrame(long frame);
-
-	/// return the frame in RGB24 format, the image data is found in AVFrame.data[0]
-	AVFrame* getFrame(void) { return m_frameRGB; }
+	AVFrame* grabFrame(long frame);
+
+	/// in case of caching, put the frame back in free queue
+	void releaseFrame(AVFrame* frame);
+
+	/// start thread to load the video file/capture/stream 
+	bool startCache();
+	void stopCache();
+
+private:
+	typedef struct {
+		Link link;
+		long framePosition;
+		AVFrame *frame;
+	} CacheFrame;
+	typedef struct {
+		Link link;
+		AVPacket packet;
+	} CachePacket;
+
+	bool m_stopThread;
+	bool m_cacheStarted;
+	ListBase m_thread;
+	ListBase m_frameCacheBase;	// list of frames that are ready
+	ListBase m_frameCacheFree;	// list of frames that are unused
+	ListBase m_packetCacheBase;	// list of packets that are ready for decoding
+	ListBase m_packetCacheFree;	// list of packets that are unused
+	pthread_mutex_t m_cacheMutex;
+
+	AVFrame	*allocFrameRGB();
+	static void *cacheThread(void *);
 };
 
 inline VideoFFmpeg * getFFmpeg (PyImage * self) 
diff --git a/source/kernel/SConscript b/source/kernel/SConscript
index 21584583844..908e059ceab 100644
--- a/source/kernel/SConscript
+++ b/source/kernel/SConscript
@@ -7,4 +7,4 @@ sources += ' gen_system/SYS_System.cpp'
 
 incs = 'gen_messaging gen_system #/intern/string #/intern/moto/include #/source/blender/blenloader '
 
-env.BlenderLib ( 'bf_kernel', Split(sources), Split(incs), [], libtype = ['core', 'player'], priority = [15, 150] )
+env.BlenderLib ( 'bf_kernel', Split(sources), Split(incs), [], libtype = ['core', 'player'], priority = [400, 150] )
diff --git a/source/nan_compile.mk b/source/nan_compile.mk
index 0ac712b3a18..a2fcfad3a9e 100644
--- a/source/nan_compile.mk
+++ b/source/nan_compile.mk
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
diff --git a/source/nan_definitions.mk b/source/nan_definitions.mk
index 495eb60a7f8..60fc56408b2 100644
--- a/source/nan_definitions.mk
+++ b/source/nan_definitions.mk
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
@@ -31,14 +33,25 @@
 
 sinclude ../user-def.mk
 
+# This warning only takes place once in source/
+ifeq (debug, $(findstring debug, $(MAKECMDGOALS)))
+  ifeq (all, $(findstring all, $(MAKECMDGOALS)))
+    export ERRTXT = "ERROR: all and debug targets cannot be used together anymore"
+    export ERRTXT += "Use something like ..make all && make debug.. instead"
+  endif
+endif
+
+ifdef ERRTXT
+$(error $(ERRTXT))
+endif
+
 ifndef CONFIG_GUESS
   ifeq (debug, $(findstring debug, $(MAKECMDGOALS)))
-    ifeq (all, $(findstring all, $(MAKECMDGOALS)))
-all debug::
-      ERRTXT = "ERROR: all and debug targets cannot be used together anymore"
-      ERRTXT += "Use something like ..make all && make debug.. instead"
-      $(error $(ERRTXT))
-    endif
+    export DEBUG_DIR = debug/
+    export ALL_OR_DEBUG = debug
+  endif
+  ifeq (all, $(findstring all, $(MAKECMDGOALS)))
+    export ALL_OR_DEBUG ?= all
   endif
 
   # First generic defaults for all platforms which should be constant.
@@ -111,6 +124,7 @@ endif
 
     export WITH_OPENEXR ?= true
     export WITH_DDS ?= true
+    export WITH_OPENJPEG ?= true
 
     ifeq ($(OS),windows)
       export NAN_WINTAB ?= $(LCGDIR)/wintab
@@ -135,9 +149,9 @@ endif
       else
         ifeq ($(OS),linux)
           ifeq ($(WITH_OPENEXR), true)
-            NAN_OPENEXR?=$(shell pkg-config --variable=prefix OpenEXR )
-            NAN_OPENEXR_INC?=$(shell pkg-config --cflags OpenEXR )
-            NAN_OPENEXR_LIBS?=$(addprefix ${NAN_OPENEXR}/lib/lib,$(addsuffix .a,$(shell pkg-config --libs-only-l OpenEXR | sed -s "s/-l//g" )))
+            export NAN_OPENEXR?=$(shell pkg-config --variable=prefix OpenEXR )
+            export NAN_OPENEXR_INC?=$(shell pkg-config --cflags OpenEXR )
+            export NAN_OPENEXR_LIBS?=$(addprefix ${NAN_OPENEXR}/lib/lib,$(addsuffix .a,$(shell pkg-config --libs-only-l OpenEXR | sed -s "s/-l//g" )))
           endif
         else
           ifeq ($(OS), solaris)
@@ -157,9 +171,9 @@ endif
           endif
         endif
       endif
-		 	ifeq ($(WITH_OPENEXR), true)
-				export NAN_OPENEXR_INC ?= -I$(NAN_OPENEXR)/include -I$(NAN_OPENEXR)/include/OpenEXR
-			endif
+      ifeq ($(WITH_OPENEXR), true)
+        export NAN_OPENEXR_INC ?= -I$(NAN_OPENEXR)/include -I$(NAN_OPENEXR)/include/OpenEXR
+      endif
 
     endif
   # Platform Dependent settings go below:
diff --git a/source/nan_link.mk b/source/nan_link.mk
index e92103f56d9..42b17b425b3 100644
--- a/source/nan_link.mk
+++ b/source/nan_link.mk
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
diff --git a/source/nan_subdirs.mk b/source/nan_subdirs.mk
index 85360eab7bc..c33e0fa2ccc 100644
--- a/source/nan_subdirs.mk
+++ b/source/nan_subdirs.mk
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
diff --git a/source/nan_warn.mk b/source/nan_warn.mk
index 97a8bbf09e4..5841cdf5908 100644
--- a/source/nan_warn.mk
+++ b/source/nan_warn.mk
@@ -1,3 +1,5 @@
+# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
+# vim: tabstop=8
 #
 # $Id$
 #
@@ -22,7 +24,7 @@
 #
 # The Original Code is: all of this file.
 #
-# Contributor(s): none yet.
+# Contributor(s): GSR
 #
 # ***** END GPL LICENSE BLOCK *****
 #
diff --git a/tools/Blender.py b/tools/Blender.py
index 99c4a7753fb..ede99fb6e8b 100644
--- a/tools/Blender.py
+++ b/tools/Blender.py
@@ -434,11 +434,11 @@ class BlenderEnvironment(SConsEnvironment):
 					lenv.Append(CCFLAGS = lenv['BF_PROFILE_CCFLAGS'])
 					lenv.Append(CXXFLAGS = lenv['BF_PROFILE_CXXFLAGS'])
 			if compileflags:
-				lenv.Append(CFLAGS = compileflags)
+				lenv.Replace(CFLAGS = compileflags)
 			if cc_compileflags:
-				lenv.Append(CCFLAGS = cc_compileflags)
+				lenv.Replace(CCFLAGS = cc_compileflags)
 			if cxx_compileflags:
-				lenv.Append(CXXFLAGS = cxx_compileflags)
+				lenv.Replace(CXXFLAGS = cxx_compileflags)
 			lenv.Append(CFLAGS = lenv['C_WARN'])
 			lenv.Append(CCFLAGS = lenv['CC_WARN'])
 			lenv.Append(CXXFLAGS = lenv['CXX_WARN'])
diff --git a/tools/btools.py b/tools/btools.py
index 6cf9058886b..3c6b63c30cc 100755
--- a/tools/btools.py
+++ b/tools/btools.py
@@ -44,7 +44,7 @@ def validate_arguments(args, bc):
 			'BF_GETTEXT', 'BF_GETTEXT_INC', 'BF_GETTEXT_LIB', 'BF_GETTEXT_LIBPATH',
 			'WITH_BF_ICONV', 'BF_ICONV', 'BF_ICONV_INC', 'BF_ICONV_LIB', 'BF_ICONV_LIBPATH',
 			'WITH_BF_ODE', 'BF_ODE', 'BF_ODE_INC', 'BF_ODE_LIB',
-			'WITH_BF_GAMEENGINE', 'WITH_BF_BULLET', 'BF_BULLET', 'BF_BULLET_INC', 'BF_BULLET_LIB',
+			'WITH_BF_GAMEENGINE', 'WITH_BF_SOLID', 'WITH_BF_BULLET', 'BF_BULLET', 'BF_BULLET_INC', 'BF_BULLET_LIB',
 			'BF_SOLID', 'BF_SOLID_INC', 'BF_WINTAB', 'BF_WINTAB_INC',
 			'WITH_BF_YAFRAY',
 			'WITH_BF_FREETYPE', 'BF_FREETYPE', 'BF_FREETYPE_INC', 'BF_FREETYPE_LIB', 'BF_FREETYPE_LIBPATH',
@@ -264,6 +264,7 @@ def read_opts(cfg, args):
 		('BF_BULLET_INC', 'Bullet include path', ''),
 		('BF_BULLET_LIB', 'Bullet library', ''),
 		
+		(BoolVariable('WITH_BF_SOLID', 'Use Sumo/Solid deprecated physics system if true', True)),
 		('BF_SOLID', 'Solid base dir', '#/extern/solid'),
 		('BF_SOLID_INC', 'Solid include path', ''),
 		('BF_WINTAB', 'WinTab base dir', ''),