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diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.h b/source/gameengine/Ketsji/KX_ObstacleSimulation.h
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+/**
+* Simulation for obstacle avoidance behavior 
+* (based on Cane Project - http://code.google.com/p/cane  by Mikko Mononen (c) 2009)
+*
+*
+* $Id$
+*
+* ***** 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+*
+* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+* All rights reserved.
+*
+* The Original Code is: all of this file.
+*
+* Contributor(s): none yet.
+*
+* ***** END GPL LICENSE BLOCK *****
+*/
+
+#ifndef __KX_OBSTACLESIMULATION
+#define __KX_OBSTACLESIMULATION
+
+#include <vector>
+#include "MT_Point2.h"
+#include "MT_Point3.h"
+
+class KX_GameObject;
+class KX_NavMeshObject;
+
+enum KX_OBSTACLE_TYPE
+{	
+	KX_OBSTACLE_OBJ, 
+	KX_OBSTACLE_NAV_MESH,
+};
+
+enum KX_OBSTACLE_SHAPE
+{	
+	KX_OBSTACLE_CIRCLE, 
+	KX_OBSTACLE_SEGMENT,
+};
+
+#define VEL_HIST_SIZE 6
+struct KX_Obstacle
+{
+	KX_OBSTACLE_TYPE m_type;
+	KX_OBSTACLE_SHAPE m_shape;
+	MT_Point3 m_pos;
+	MT_Point3 m_pos2;
+	MT_Scalar m_rad;
+	
+	float vel[2];
+	float pvel[2];
+	float dvel[2];
+	float nvel[2];
+	float hvel[VEL_HIST_SIZE*2];
+	int hhead;
+
+	
+	KX_GameObject* m_gameObj;
+};
+typedef std::vector<KX_Obstacle*> KX_Obstacles;
+
+class KX_ObstacleSimulation
+{
+protected:
+	KX_Obstacles m_obstacles;
+
+	MT_Scalar m_levelHeight;
+	bool m_enableVisualization;
+
+	KX_Obstacle* CreateObstacle(KX_GameObject* gameobj);
+public:
+	KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization);
+	virtual ~KX_ObstacleSimulation();
+
+	void DrawObstacles();
+	//void DebugDraw();
+
+	void AddObstacleForObj(KX_GameObject* gameobj);
+	void DestroyObstacleForObj(KX_GameObject* gameobj);
+	void AddObstaclesForNavMesh(KX_NavMeshObject* navmesh);
+	KX_Obstacle* GetObstacle(KX_GameObject* gameobj);
+	void UpdateObstacles();	
+	virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
+								MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);
+
+}; 
+class KX_ObstacleSimulationTOI: public KX_ObstacleSimulation
+{
+protected:
+	int m_maxSamples;				// Number of sample steps
+	float m_minToi;					// Min TOI
+	float m_maxToi;					// Max TOI
+	float m_velWeight;				// Sample selection angle weight
+	float m_curVelWeight;			// Sample selection current velocity weight
+	float m_toiWeight;				// Sample selection TOI weight
+	float m_collisionWeight;		// Sample selection collision weight
+
+	virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
+							const float maxDeltaAngle) = 0;
+public:
+	KX_ObstacleSimulationTOI(MT_Scalar levelHeight, bool enableVisualization);
+	virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
+		MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);
+};
+
+class KX_ObstacleSimulationTOI_rays: public KX_ObstacleSimulationTOI
+{
+protected:
+	virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
+							const float maxDeltaAngle);
+public:
+	KX_ObstacleSimulationTOI_rays(MT_Scalar levelHeight, bool enableVisualization);
+};
+
+class KX_ObstacleSimulationTOI_cells: public KX_ObstacleSimulationTOI
+{
+protected:
+	float m_bias;
+	bool m_adaptive;
+	int m_sampleRadius;
+	virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
+							const float maxDeltaAngle);
+public:
+	KX_ObstacleSimulationTOI_cells(MT_Scalar levelHeight, bool enableVisualization);
+};
+
+#endif