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

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

extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h

@@ -36,6 +36,7 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
 CONCAVE_SHAPES_START_HERE,
 	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
 	TRIANGLE_MESH_SHAPE_PROXYTYPE,
+	EMPTY_SHAPE_PROXYTYPE,
 
 	MAX_BROADPHASE_COLLISION_TYPES
 };

extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp

@@ -16,7 +16,7 @@
 #include "SimdTransform.h"
 #include "SimdMatrix3x3.h"
 #include <vector>
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 SimpleBroadphase::SimpleBroadphase()
 :  m_firstFreeProxy(0),
@@ -63,12 +63,34 @@ BroadphaseProxy*	SimpleBroadphase::CreateProxy( void *object, int type, const Si
 }
 void	SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxy)
 {
-		m_numProxies--;
+		
+		int i;
+		
 		BroadphaseProxy* proxy1 = &m_proxies[0];
 	
 		int index = proxy - proxy1;
 		m_freeProxies[--m_firstFreeProxy] = index;
 
+		for ( i=m_NumOverlapBroadphasePair-1;i>=0;i--)
+		{
+			BroadphasePair& pair = m_OverlappingPairs[i];
+			if (pair.m_pProxy0 == proxy ||
+					pair.m_pProxy1 == proxy)
+			{
+				RemoveOverlappingPair(pair);
+			}
+		}
+		
+		for (i=0;i<m_numProxies;i++)
+		{
+			if (m_pProxies[i] == proxy)
+			{
+				m_proxies[i] = m_proxies[m_numProxies-1];
+				break;
+			}
+		}
+		m_numProxies--;
+		
 }
 
 SimpleBroadphaseProxy*	SimpleBroadphase::GetSimpleProxyFromProxy(BroadphaseProxy* proxy)
@@ -76,7 +98,7 @@ SimpleBroadphaseProxy*	SimpleBroadphase::GetSimpleProxyFromProxy(BroadphaseProxy
 	SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy);
 
 	int index = proxy0 - &m_proxies[0];
-	assert(index < m_numProxies);
+	//assert(index < m_numProxies);
 
 	SimpleBroadphaseProxy* sbp = &m_proxies[index];
 	return sbp;
@@ -118,6 +140,8 @@ void	SimpleBroadphase::CleanProxyFromPairs(BroadphaseProxy* proxy)
 
 void	SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
 {
+	
+
 	BroadphasePair pair(*proxy0,*proxy1);
 	m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;
 

extern/bullet/Bullet/CollisionShapes/BoxShape.h

@@ -13,7 +13,7 @@
 #define OBB_BOX_MINKOWSKI_H
 
 #include "PolyhedralConvexShape.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 #include "BroadphaseCollision/BroadphaseProxy.h"
 #include "SimdPoint3.h"
 #include "SimdMinMax.h"

extern/bullet/Bullet/CollisionShapes/BvhTriangleMeshShape.cpp

@@ -0,0 +1,134 @@
+/*
+ * Copyright (c) 2006 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+//#define DISABLE_BVH
+
+
+#include "CollisionShapes/BvhTriangleMeshShape.h"
+#include "CollisionShapes/OptimizedBvh.h"
+
+///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
+///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
+BvhTriangleMeshShape::BvhTriangleMeshShape(StridingMeshInterface* meshInterface)
+:TriangleMeshShape(meshInterface)
+{
+	//construct bvh from meshInterface
+#ifndef DISABLE_BVH
+
+	m_bvh = new OptimizedBvh();
+	m_bvh->Build(meshInterface);
+
+#endif //DISABLE_BVH
+
+}
+
+BvhTriangleMeshShape::~BvhTriangleMeshShape()
+{
+	delete m_bvh;
+}
+
+//perform bvh tree traversal and report overlapping triangles to 'callback'
+void	BvhTriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+
+#ifdef DISABLE_BVH
+	//brute force traverse all triangles
+	TriangleMeshShape::ProcessAllTriangles(callback,aabbMin,aabbMax);
+#else
+
+	//first get all the nodes
+
+	
+	struct	MyNodeOverlapCallback : public NodeOverlapCallback
+	{
+		StridingMeshInterface*	m_meshInterface;
+		TriangleCallback*		m_callback;
+		SimdVector3				m_triangle[3];
+
+
+		MyNodeOverlapCallback(TriangleCallback* callback,StridingMeshInterface* meshInterface)
+			:m_callback(callback),
+			m_meshInterface(meshInterface)
+		{
+		}
+				
+		virtual void ProcessNode(const OptimizedBvhNode* node)
+		{
+			const unsigned char *vertexbase;
+			int numverts;
+			PHY_ScalarType type;
+			int stride;
+			const unsigned char *indexbase;
+			int indexstride;
+			int numfaces;
+			PHY_ScalarType indicestype;
+			
+
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				node->m_subPart);
+
+			int* gfxbase = (int*)(indexbase+node->m_triangleIndex*indexstride);
+			
+			const SimdVector3& meshScaling = m_meshInterface->getScaling();
+			for (int j=2;j>=0;j--)
+			{
+				
+				int graphicsindex = gfxbase[j];
+#ifdef DEBUG_TRIANGLE_MESH
+				printf("%d ,",graphicsindex);
+#endif //DEBUG_TRIANGLE_MESH
+				float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+
+				m_triangle[j] = SimdVector3(
+					graphicsbase[0]*meshScaling.getX(),
+					graphicsbase[1]*meshScaling.getY(),
+					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
+			}
+
+			m_callback->ProcessTriangle(m_triangle);
+			m_meshInterface->unLockReadOnlyVertexBase(node->m_subPart);
+		}
+
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+
+	m_bvh->ReportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
+
+
+#endif//DISABLE_BVH
+
+
+}
+
+
+void	BvhTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
+{
+	if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
+	{
+		TriangleMeshShape::setLocalScaling(scaling);
+		delete m_bvh;
+		m_bvh = new OptimizedBvh();
+		m_bvh->Build(m_meshInterface);
+		//rebuild the bvh...
+	}
+}

extern/bullet/Bullet/CollisionShapes/BvhTriangleMeshShape.h

@@ -0,0 +1,53 @@
+/*
+ * Copyright (c) 2006 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef BVH_TRIANGLE_MESH_SHAPE_H
+#define BVH_TRIANGLE_MESH_SHAPE_H
+
+#include "CollisionShapes/TriangleMeshShape.h"
+#include "CollisionShapes/OptimizedBvh.h"
+
+///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
+///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
+class BvhTriangleMeshShape : public TriangleMeshShape
+{
+
+	OptimizedBvh*	m_bvh;
+	
+	
+public:
+	BvhTriangleMeshShape(StridingMeshInterface* meshInterface);
+
+	virtual ~BvhTriangleMeshShape();
+
+	
+	/*
+	virtual int	GetShapeType() const
+	{
+		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
+	}
+	*/
+
+
+
+	virtual void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+
+
+	//debugging
+	virtual char*	GetName()const {return "BVHTRIANGLEMESH";}
+
+
+	virtual void	setLocalScaling(const SimdVector3& scaling);
+	
+
+
+};
+
+#endif //BVH_TRIANGLE_MESH_SHAPE_H

extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp

@@ -10,7 +10,7 @@
  */
 
 #include "ConvexHullShape.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 #include "SimdQuaternion.h"
 
@@ -75,29 +75,7 @@ SimdVector3	ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)con
 
 
 
-void	ConvexHullShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	//not yet, return box inertia
 
-	float margin = GetMargin();
-
-	SimdTransform ident;
-	ident.setIdentity();
-	SimdVector3 aabbMin,aabbMax;
-	GetAabb(ident,aabbMin,aabbMax);
-	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
-
-	SimdScalar lx=2.f*(halfExtents.x()+margin);
-	SimdScalar ly=2.f*(halfExtents.y()+margin);
-	SimdScalar lz=2.f*(halfExtents.z()+margin);
-	const SimdScalar x2 = lx*lx;
-	const SimdScalar y2 = ly*ly;
-	const SimdScalar z2 = lz*lz;
-	const SimdScalar scaledmass = mass * 0.08333333f;
-
-	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
-
-}
 
 
 

extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h

@@ -35,7 +35,6 @@ public:
 	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
 
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
 
 	virtual int	GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
 

extern/bullet/Bullet/CollisionShapes/ConvexShape.h

@@ -18,7 +18,7 @@
 #include "SimdTransform.h"
 #include "SimdMatrix3x3.h"
 #include <vector>
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 //todo: get rid of this ConvexCastResult thing!
 struct ConvexCastResult;

extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp

@@ -0,0 +1,86 @@
+#include "ConvexTriangleCallback.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "NarrowPhaseCollision/ManifoldContactAddResult.h"
+#include "NarrowPhaseCollision/GjkPairDetector.h"
+#include "NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h"
+
+
+
+#include "TriangleShape.h"
+
+//m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
+	//m_dispatcher->ReleaseManifold( m_manifoldPtr );
+
+ConvexTriangleCallback::ConvexTriangleCallback(PersistentManifold* manifold,ConvexShape* convexShape,const SimdTransform&convexTransform,const SimdTransform& triangleMeshTransform)
+:m_triangleMeshTransform(triangleMeshTransform),
+	m_convexTransform(convexTransform),
+	m_convexShape(convexShape),
+	m_manifoldPtr(manifold),
+	m_triangleCount(0)
+{
+}
+
+ConvexTriangleCallback::~ConvexTriangleCallback()
+{
+  
+}
+  
+
+void	ConvexTriangleCallback::ClearCache()
+{
+	m_manifoldPtr->ClearManifold();
+};
+
+
+
+void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle)
+{
+
+	//triangle, convex
+	TriangleShape tm(triangle[0],triangle[1],triangle[2]);	
+	tm.SetMargin(m_collisionMarginTriangle);
+	GjkPairDetector::ClosestPointInput input;
+	input.m_transformA = m_triangleMeshTransform;
+	input.m_transformB = m_convexTransform;
+	
+	ManifoldContactAddResult output(m_triangleMeshTransform,m_convexTransform,m_manifoldPtr);
+	
+	
+	VoronoiSimplexSolver simplexSolver;
+	MinkowskiPenetrationDepthSolver	penetrationDepthSolver;
+	
+	GjkPairDetector gjkDetector(&tm,m_convexShape,&simplexSolver,&penetrationDepthSolver);
+
+	gjkDetector.SetMinkowskiA(&tm);
+	gjkDetector.SetMinkowskiB(m_convexShape);
+	input.m_maximumDistanceSquared = tm.GetMargin()+ m_convexShape->GetMargin() + m_manifoldPtr->GetManifoldMargin();
+	input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
+
+	input.m_maximumDistanceSquared = 1e30f;//?
+	
+		
+	gjkDetector.GetClosestPoints(input,output);
+
+
+}
+
+
+
+void	ConvexTriangleCallback::Update(float collisionMarginTriangle)
+{
+	m_triangleCount = 0;
+	m_collisionMarginTriangle = collisionMarginTriangle;
+
+	SimdTransform boxInTriangleSpace;
+	boxInTriangleSpace = m_triangleMeshTransform.inverse() * m_convexTransform;
+
+	m_convexShape->GetAabb(boxInTriangleSpace,m_aabbMin,m_aabbMax);
+
+	float extraMargin = CONVEX_DISTANCE_MARGIN;
+
+	SimdVector3 extra(extraMargin,extraMargin,extraMargin);
+
+	m_aabbMax += extra;
+	m_aabbMin -= extra;
+	
+}

extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.h

@@ -0,0 +1,49 @@
+#ifndef CONVEX_TRIANGLE_CALLBACK_H
+#define CONVEX_TRIANGLE_CALLBACK_H
+
+#include "TriangleCallback.h"
+class ConvexShape;
+class PersistentManifold;
+#include "SimdTransform.h"
+///ConvexTriangleCallback processes the narrowphase convex-triangle collision detection
+class ConvexTriangleCallback: public TriangleCallback
+{
+	SimdVector3	m_aabbMin;
+	SimdVector3	m_aabbMax ;
+
+	SimdTransform	m_triangleMeshTransform;
+	SimdTransform	m_convexTransform;
+
+//	bool m_useContinuous;
+	float m_collisionMarginTriangle;
+	
+public:
+int	m_triangleCount;
+	
+	ConvexShape*	m_convexShape;
+
+	PersistentManifold*	m_manifoldPtr;
+
+	ConvexTriangleCallback(PersistentManifold* manifold,ConvexShape* convexShape,const SimdTransform&convexTransform,const SimdTransform& triangleMeshTransform);
+
+	void	Update(float collisionMarginTriangle);
+
+	virtual ~ConvexTriangleCallback();
+
+	virtual void ProcessTriangle(SimdVector3* triangle);
+	
+	void ClearCache();
+
+	inline const SimdVector3& GetAabbMin() const
+	{
+		return m_aabbMin;
+	}
+	inline const SimdVector3& GetAabbMax() const
+	{
+		return m_aabbMax;
+	}
+
+};
+
+
+#endif //CONVEX_TRIANGLE_CALLBACK_H

extern/bullet/Bullet/CollisionShapes/EmptyShape.cpp

@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#include "EmptyShape.h"
+
+
+#include "CollisionShape.h"
+
+
+EmptyShape::EmptyShape()
+{
+}
+
+
+EmptyShape::~EmptyShape()
+{
+}
+
+
+	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void EmptyShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
+{
+	SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
+
+	aabbMin = t.getOrigin() - margin;
+
+	aabbMax = t.getOrigin() + margin;
+
+}
+
+void	EmptyShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	assert(0);
+}
+
+	
+	

extern/bullet/Bullet/CollisionShapes/EmptyShape.h

@@ -0,0 +1,75 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#ifndef EMPTY_SHAPE_H
+#define EMPTY_SHAPE_H
+
+#include "CollisionShape.h"
+
+#include "SimdVector3.h"
+#include "SimdTransform.h"
+#include "SimdMatrix3x3.h"
+#include <vector>
+#include "CollisionShapes/CollisionMargin.h"
+
+
+
+
+/// EmptyShape is a collision shape without actual collision detection. It can be replaced by another shape during runtime
+class EmptyShape	: public CollisionShape
+{
+public:
+	EmptyShape();
+
+	virtual ~EmptyShape();
+
+
+	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+
+
+	virtual void	setLocalScaling(const SimdVector3& scaling)
+	{
+		m_localScaling = scaling;
+	}
+	virtual const SimdVector3& getLocalScaling() const 
+	{
+		return m_localScaling;
+	}
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+	
+	virtual int	GetShapeType() const { return EMPTY_SHAPE_PROXYTYPE;}
+
+	virtual void	SetMargin(float margin)
+	{
+		m_collisionMargin = margin;
+	}
+	virtual float	GetMargin() const
+	{
+		return m_collisionMargin;
+	}
+	virtual char*	GetName()const
+	{
+		return "Empty";
+	}
+
+
+private:
+	SimdScalar	m_collisionMargin;
+protected:
+	SimdVector3	m_localScaling;
+
+};
+
+
+
+#endif //EMPTY_SHAPE_H

extern/bullet/Bullet/CollisionShapes/MultiSphereShape.cpp

@@ -9,7 +9,7 @@
  * It is provided "as is" without express or implied warranty.
 */
 #include "MultiSphereShape.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 #include "SimdQuaternion.h"
 
 MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres)

extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp

@@ -0,0 +1,268 @@
+/*
+ * Copyright (c) 2006 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "OptimizedBvh.h"
+#include "StridingMeshInterface.h"
+#include "AabbUtil2.h"
+
+
+
+void OptimizedBvh::Build(StridingMeshInterface* triangles)
+{
+	int countTriangles = 0;
+
+	
+
+	// NodeArray	triangleNodes;
+
+	struct	NodeTriangleCallback : public InternalTriangleIndexCallback
+	{
+		NodeArray&	m_triangleNodes;
+
+		NodeTriangleCallback(NodeArray&	triangleNodes)
+			:m_triangleNodes(triangleNodes)
+		{
+
+		}
+
+		virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int  triangleIndex)
+		{
+
+			OptimizedBvhNode node;
+			node.m_aabbMin = SimdVector3(1e30f,1e30f,1e30f); 
+			node.m_aabbMax = SimdVector3(-1e30f,-1e30f,-1e30f); 
+			node.m_aabbMin.setMin(triangle[0]);
+			node.m_aabbMax.setMax(triangle[0]);
+			node.m_aabbMin.setMin(triangle[1]);
+			node.m_aabbMax.setMax(triangle[1]);
+			node.m_aabbMin.setMin(triangle[2]);
+			node.m_aabbMax.setMax(triangle[2]);
+
+			node.m_escapeIndex = -1;
+			node.m_leftChild = 0;
+			node.m_rightChild = 0;
+
+
+			//for child nodes
+			node.m_subPart = partId;
+			node.m_triangleIndex = triangleIndex;
+
+			
+			m_triangleNodes.push_back(node);
+		}
+	};
+
+	
+
+	NodeTriangleCallback	callback(m_leafNodes);
+
+	SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
+	SimdVector3 aabbMax(1e30f,1e30f,1e30f);
+
+	triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
+
+	//now we have an array of leafnodes in m_leafNodes
+
+	m_contiguousNodes = new OptimizedBvhNode[2*m_leafNodes.size()];
+	m_curNodeIndex = 0;
+
+	m_rootNode1 = BuildTree(m_leafNodes,0,m_leafNodes.size());
+
+
+	///create the leafnodes first
+//	OptimizedBvhNode* leafNodes = new OptimizedBvhNode;
+}
+
+
+OptimizedBvhNode*	OptimizedBvh::BuildTree	(NodeArray&	leafNodes,int startIndex,int endIndex)
+{
+
+	int numIndices =endIndex-startIndex;
+	assert(numIndices>0);
+
+	int curIndex = m_curNodeIndex;
+
+	if (numIndices==1)
+	{
+		return new (&m_contiguousNodes[m_curNodeIndex++]) OptimizedBvhNode(leafNodes[startIndex]);
+	}
+	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
+	
+	int splitAxis = CalcSplittingAxis(leafNodes,startIndex,endIndex);
+
+	int splitIndex = SortAndCalcSplittingIndex(leafNodes,startIndex,endIndex,splitAxis);
+
+	OptimizedBvhNode* internalNode = &m_contiguousNodes[m_curNodeIndex++];
+	
+	internalNode->m_aabbMax.setValue(-1e30f,-1e30f,-1e30f);
+	internalNode->m_aabbMin.setValue(1e30f,1e30f,1e30f);
+	
+	for (int i=startIndex;i<endIndex;i++)
+	{
+		internalNode->m_aabbMax.setMax(leafNodes[i].m_aabbMax);
+		internalNode->m_aabbMin.setMin(leafNodes[i].m_aabbMin);
+	}
+
+	
+
+	//internalNode->m_escapeIndex;
+	internalNode->m_leftChild = BuildTree(leafNodes,startIndex,splitIndex);
+	internalNode->m_rightChild = BuildTree(leafNodes,splitIndex,endIndex);
+
+	internalNode->m_escapeIndex  = m_curNodeIndex - curIndex;
+	return internalNode;
+}
+
+int	OptimizedBvh::SortAndCalcSplittingIndex(NodeArray&	leafNodes,int startIndex,int endIndex,int splitAxis)
+{
+	int splitIndex =startIndex;
+	int numIndices = endIndex - startIndex;
+
+	SimdVector3 means(0.f,0.f,0.f);
+	for (int i=startIndex;i<endIndex;i++)
+	{
+		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
+		means+=center;
+	}
+	means *= (1.f/(float)numIndices);
+	
+	float splitValue = means[splitAxis];
+	
+	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
+	for (int i=startIndex;i<endIndex;i++)
+	{
+		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
+		if (center[splitAxis] > splitValue)
+		{
+			//swap
+			OptimizedBvhNode tmp = leafNodes[i];
+			leafNodes[i] = leafNodes[splitIndex];
+			leafNodes[splitIndex] = tmp;
+			splitIndex++;
+		}
+	}
+	if ((splitIndex==startIndex) || (splitIndex == (endIndex-1)))
+	{
+		splitIndex = startIndex+ (numIndices>>1);
+	}
+	return splitIndex;
+}
+
+
+int	OptimizedBvh::CalcSplittingAxis(NodeArray&	leafNodes,int startIndex,int endIndex)
+{
+	SimdVector3 means(0.f,0.f,0.f);
+	int numIndices = endIndex-startIndex;
+
+	for (int i=startIndex;i<endIndex;i++)
+	{
+		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
+		means+=center;
+	}
+	means *= (1.f/(float)numIndices);
+		
+	SimdVector3 variance(0.f,0.f,0.f);
+
+	for (int i=startIndex;i<endIndex;i++)
+	{
+		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
+		SimdVector3 diff2 = center-means;
+		diff2 = diff2 * diff2;
+		variance += diff2;
+	}
+	variance *= (1.f/	((float)numIndices-1)	);
+	
+	int biggestAxis = variance.maxAxis();
+	return biggestAxis;
+
+}
+
+
+	
+void	OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+	if (aabbMin.length() > 1000.f)
+	{
+		for (int i=0;i<m_leafNodes.size();i++)
+		{
+			const OptimizedBvhNode&	node = m_leafNodes[i];
+			nodeCallback->ProcessNode(&node);
+		}
+	} else
+	{
+		//WalkTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
+		WalkStacklessTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
+	}
+}
+
+void	OptimizedBvh::WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+	bool aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
+	if (aabbOverlap)
+	{
+		bool isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
+		if (isLeafNode)
+		{
+			nodeCallback->ProcessNode(rootNode);
+		} else
+		{
+			WalkTree(rootNode->m_leftChild,nodeCallback,aabbMin,aabbMax);
+			WalkTree(rootNode->m_rightChild,nodeCallback,aabbMin,aabbMax);
+		}
+	}
+
+}
+
+int maxIterations = 0;
+
+void	OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+	int curIndex = 0;
+	int walkIterations = 0;
+
+	while (curIndex < m_curNodeIndex)
+	{
+		//catch bugs in tree data
+		assert (walkIterations < m_curNodeIndex);
+
+		walkIterations++;
+		bool aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
+		bool isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
+		
+		if (isLeafNode && aabbOverlap)
+		{
+			nodeCallback->ProcessNode(rootNode);
+		} 
+		
+		if (aabbOverlap || isLeafNode)
+		{
+			rootNode++;
+			curIndex++;
+		} else
+		{
+			int escapeIndex = rootNode->m_escapeIndex;
+			rootNode += escapeIndex;
+			curIndex += escapeIndex;
+		}
+		
+	}
+
+	if (maxIterations < walkIterations)
+		maxIterations = walkIterations;
+
+}
+
+
+void	OptimizedBvh::ReportSphereOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+
+}
+

extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h

@@ -0,0 +1,92 @@
+/*
+ * Copyright (c) 2006 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef OPTIMIZED_BVH_H
+#define OPTIMIZED_BVH_H
+#include "SimdVector3.h"
+#include <vector>
+
+class StridingMeshInterface;
+
+/// OptimizedBvhNode contains both internal and leaf node information.
+/// It hasn't been optimized yet for storage. Some obvious optimizations are:
+/// Removal of the pointers (can already be done, they are not used for traversal)
+/// and storing aabbmin/max as quantized integers.
+/// 'subpart' doesn't need an integer either. It allows to re-use graphics triangle
+/// meshes stored in a non-uniform way (like batches/subparts of triangle-fans
+struct OptimizedBvhNode
+{
+
+	SimdVector3	m_aabbMin;
+	SimdVector3	m_aabbMax;
+
+//these 2 pointers are obsolete, the stackless traversal just uses the escape index
+	OptimizedBvhNode*	m_leftChild;
+	OptimizedBvhNode*	m_rightChild;
+
+	int	m_escapeIndex;
+
+	//for child nodes
+	int	m_subPart;
+	int	m_triangleIndex;
+
+};
+
+class NodeOverlapCallback
+{
+public:
+	virtual void ProcessNode(const OptimizedBvhNode* node) = 0;
+};
+
+typedef std::vector<OptimizedBvhNode>	NodeArray;
+
+
+///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
+class OptimizedBvh
+{
+	OptimizedBvhNode*	m_rootNode1;
+	
+	OptimizedBvhNode*	m_contiguousNodes;
+	int					m_curNodeIndex;
+
+	int					m_numNodes;
+
+	NodeArray			m_leafNodes;
+
+public:
+	OptimizedBvh() :m_rootNode1(0), m_numNodes(0) { }
+	
+	void	Build(StridingMeshInterface* triangles);
+
+	OptimizedBvhNode*	BuildTree	(NodeArray&	leafNodes,int startIndex,int endIndex);
+
+	int	CalcSplittingAxis(NodeArray&	leafNodes,int startIndex,int endIndex);
+
+	int	SortAndCalcSplittingIndex(NodeArray&	leafNodes,int startIndex,int endIndex,int splitAxis);
+	
+	void	WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+	
+	void	WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+	
+
+	//OptimizedBvhNode*	GetRootNode() { return m_rootNode1;}
+
+	int					GetNumNodes() { return m_numNodes;}
+
+	void	ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+
+	void	ReportSphereOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+
+
+};
+
+
+#endif //OPTIMIZED_BVH_H

extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.cpp

@@ -50,3 +50,28 @@ SimdVector3	PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const S
 	return supVec;
 
 }
+
+void	PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	//not yet, return box inertia
+
+	float margin = GetMargin();
+
+	SimdTransform ident;
+	ident.setIdentity();
+	SimdVector3 aabbMin,aabbMax;
+	GetAabb(ident,aabbMin,aabbMax);
+	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
+
+	SimdScalar lx=2.f*(halfExtents.x()+margin);
+	SimdScalar ly=2.f*(halfExtents.y()+margin);
+	SimdScalar lz=2.f*(halfExtents.z()+margin);
+	const SimdScalar x2 = lx*lx;
+	const SimdScalar y2 = ly*ly;
+	const SimdScalar z2 = lz*lz;
+	const SimdScalar scaledmass = mass * 0.08333333f;
+
+	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
+
+}
+

extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.h

@@ -27,6 +27,9 @@ public:
 	//brute force implementations
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
 
+		virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+
+
 
 	virtual int	GetNumVertices() const = 0 ;
 	virtual int GetNumEdges() const = 0;

extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.h

@@ -38,10 +38,6 @@ public:
 		m_numVertices = 0;
 	}
 	
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-	{
-		inertia = SimdVector3(1.f,1.f,1.f);
-	}
 
 	virtual int	GetShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; }
 

extern/bullet/Bullet/CollisionShapes/SphereShape.cpp

@@ -10,7 +10,7 @@
  */
 
 #include "SphereShape.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 #include "SimdQuaternion.h"
 

extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp

@@ -14,3 +14,66 @@ StridingMeshInterface::~StridingMeshInterface()
 {
 
 }
+
+
+void	StridingMeshInterface::InternalProcessAllTriangles(InternalTriangleIndexCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+
+	SimdVector3 meshScaling = getScaling();
+
+	int numtotalphysicsverts = 0;
+	int part,graphicssubparts = getNumSubParts();
+	for (part=0;part<graphicssubparts ;part++)
+	{
+		const unsigned char * vertexbase;
+		const unsigned char * indexbase;
+		int indexstride;
+		PHY_ScalarType type;
+		PHY_ScalarType gfxindextype;
+		int stride,numverts,numtriangles;
+		getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
+
+		numtotalphysicsverts+=numtriangles*3; //upper bound
+
+	
+		int gfxindex;
+		SimdVector3 triangle[3];
+
+		for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+		{
+		
+			int	graphicsindex=0;
+
+#ifdef DEBUG_TRIANGLE_MESH
+			printf("triangle indices:\n");
+#endif //DEBUG_TRIANGLE_MESH
+			ASSERT(gfxindextype == PHY_INTEGER);
+			int* gfxbase = (int*)(indexbase+gfxindex*indexstride);
+
+			for (int j=2;j>=0;j--)
+			{
+				
+				graphicsindex = gfxbase[j];
+#ifdef DEBUG_TRIANGLE_MESH
+				printf("%d ,",graphicsindex);
+#endif //DEBUG_TRIANGLE_MESH
+				float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+
+				triangle[j] = SimdVector3(
+					graphicsbase[0]*meshScaling.getX(),
+					graphicsbase[1]*meshScaling.getY(),
+					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
+			}
+
+			
+			//check aabb in triangle-space, before doing this
+			callback->InternalProcessTriangleIndex(triangle,part,gfxindex);
+			
+		}
+		
+		unLockReadOnlyVertexBase(part);
+	}
+}

extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h

@@ -12,6 +12,7 @@
 #define STRIDING_MESHINTERFACE_H
 
 #include "SimdVector3.h"
+#include "TriangleCallback.h"
 
 /// PHY_ScalarType enumerates possible scalar types.
 /// See the StridingMeshInterface for its use
@@ -38,26 +39,36 @@ class  StridingMeshInterface
 		}
 
 		virtual ~StridingMeshInterface();
+
+
+
+		void	InternalProcessAllTriangles(InternalTriangleIndexCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+
+
 		/// get read and write access to a subpart of a triangle mesh
 		/// this subpart has a continuous array of vertices and indices
 		/// in this way the mesh can be handled as chunks of memory with striding
 		/// very similar to OpenGL vertexarray support
 		/// make a call to unLockVertexBase when the read and write access is finished	
-	virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
+		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
 		
-
+		virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0;
+	
 		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
 		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
 		virtual void	unLockVertexBase(int subpart)=0;
 
+		virtual void	unLockReadOnlyVertexBase(int subpart) const=0;
+
+
 		/// getNumSubParts returns the number of seperate subparts
 		/// each subpart has a continuous array of vertices and indices
-		virtual int		getNumSubParts()=0;
+		virtual int		getNumSubParts() const=0;
 
 		virtual void	preallocateVertices(int numverts)=0;
 		virtual void	preallocateIndices(int numindices)=0;
 
-		const SimdVector3&	getScaling() {
+		const SimdVector3&	getScaling() const {
 			return m_scaling;
 		}
 		void	setScaling(const SimdVector3& scaling)

extern/bullet/Bullet/CollisionShapes/TriangleCallback.cpp

@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2006 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "TriangleCallback.h"
+
+TriangleCallback::~TriangleCallback()
+{
+
+}
+
+
+InternalTriangleIndexCallback::~InternalTriangleIndexCallback()
+{
+
+}

extern/bullet/Bullet/CollisionShapes/TriangleCallback.h

@@ -22,4 +22,14 @@ public:
 	virtual void ProcessTriangle(SimdVector3* triangle) = 0;
 };
 
+class InternalTriangleIndexCallback
+{
+public:
+
+	virtual ~InternalTriangleIndexCallback();
+	virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int  triangleIndex) = 0;
+};
+
+
+
 #endif //TRIANGLE_CALLBACK_H

extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.cpp

@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2006 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "TriangleIndexVertexArray.h"
+
+TriangleIndexVertexArray::TriangleIndexVertexArray(int numTriangleIndices,int* triangleIndexBase,int triangleIndexStride,int numVertices,float* vertexBase,int vertexStride)
+:m_numTriangleIndices(numTriangleIndices),
+m_triangleIndexBase(triangleIndexBase),
+m_triangleIndexStride(triangleIndexStride),
+m_numVertices(numVertices),
+m_vertexBase(vertexBase),
+m_vertexStride(vertexStride)
+{
+}
+
+void	TriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
+{
+	numverts = m_numVertices;
+	(*vertexbase) = (unsigned char *)m_vertexBase;
+	type = PHY_FLOAT;
+	vertexStride = m_vertexStride;
+
+	numfaces = m_numTriangleIndices;
+	(*indexbase) = (unsigned char *)m_triangleIndexBase;
+	indexstride = m_triangleIndexStride;
+	indicestype = PHY_INTEGER;
+}
+
+void	TriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
+{
+	numverts = m_numVertices;
+	(*vertexbase) = (unsigned char *)m_vertexBase;
+	type = PHY_FLOAT;
+	vertexStride = m_vertexStride;
+
+	numfaces = m_numTriangleIndices;
+	(*indexbase) = (unsigned char *)m_triangleIndexBase;
+	indexstride = m_triangleIndexStride;
+	indicestype = PHY_INTEGER;
+}
+

extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2006 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "StridingMeshInterface.h"
+
+
+class TriangleIndexVertexArray : public StridingMeshInterface
+{
+
+	int			m_numTriangleIndices;
+	int*		m_triangleIndexBase;
+	int			m_triangleIndexStride;
+	int			m_numVertices;
+	float*		m_vertexBase;
+	int			m_vertexStride;
+	
+public:
+
+	TriangleIndexVertexArray(int numTriangleIndices,int* triangleIndexBase,int triangleIndexStride,int numVertices,float* vertexBase,int vertexStride);
+	
+	virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
+
+	virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
+
+	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
+	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
+	virtual void	unLockVertexBase(int subpart) {}
+
+	virtual void	unLockReadOnlyVertexBase(int subpart) const {}
+
+	/// getNumSubParts returns the number of seperate subparts
+	/// each subpart has a continuous array of vertices and indices
+	virtual int		getNumSubParts() const { return 1;}
+	
+	virtual void	preallocateVertices(int numverts){}
+	virtual void	preallocateIndices(int numindices){}
+
+};

extern/bullet/Bullet/CollisionShapes/TriangleMesh.cpp

@@ -33,7 +33,24 @@ void	TriangleMesh::getLockedVertexIndexBase(unsigned char **vertexbase, int& num
 
 }
 
-int		TriangleMesh::getNumSubParts()
+void	TriangleMesh::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
+{
+	numverts = 3;
+	*vertexbase = (unsigned char*)&m_triangles[subpart];
+	type = PHY_FLOAT;
+	stride = sizeof(SimdVector3);
+
+
+	numfaces = 1;
+	*indexbase = (unsigned char*) &myindices[0];
+	indicestype = PHY_INTEGER;
+	indexstride = sizeof(int);
+
+}
+
+
+
+int		TriangleMesh::getNumSubParts() const
 {
 	return m_triangles.size();
 }

extern/bullet/Bullet/CollisionShapes/TriangleMesh.h

@@ -46,13 +46,17 @@ class TriangleMesh : public StridingMeshInterface
 
 		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
 
+		virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
+
 		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
 		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
 		virtual void	unLockVertexBase(int subpart) {}
 
+		virtual void	unLockReadOnlyVertexBase(int subpart) const {}
+
 		/// getNumSubParts returns the number of seperate subparts
 		/// each subpart has a continuous array of vertices and indices
-		virtual int		getNumSubParts();
+		virtual int		getNumSubParts() const;
 		
 		virtual void	preallocateVertices(int numverts){}
 		virtual void	preallocateIndices(int numindices){}

extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp

@@ -13,7 +13,7 @@
 #include "SimdQuaternion.h"
 #include "StridingMeshInterface.h"
 #include "AabbUtil2.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 #include "stdio.h"
 
@@ -21,8 +21,10 @@ TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
 : m_meshInterface(meshInterface),
 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
 {
+	RecalcLocalAabb();
 }
 
+
 TriangleMeshShape::~TriangleMeshShape()
 {
 		
@@ -34,23 +36,39 @@ TriangleMeshShape::~TriangleMeshShape()
 void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
 {
 
+	SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
+	SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
+	
+	SimdMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+	SimdPoint3 center = trans(localCenter);
+
+	SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
+		   abs_b[1].dot(localHalfExtents),
+		  abs_b[2].dot(localHalfExtents));
+	extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
+
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+
+	
+}
+
+void	TriangleMeshShape::RecalcLocalAabb()
+{
 	for (int i=0;i<3;i++)
 	{
 		SimdVector3 vec(0.f,0.f,0.f);
 		vec[i] = 1.f;
-		SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
-		aabbMax[i] = tmp[i]+m_collisionMargin;
+		SimdVector3 tmp = LocalGetSupportingVertex(vec);
+		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
 		vec[i] = -1.f;
-		tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
-		aabbMin[i] = tmp[i]-m_collisionMargin;
+		tmp = LocalGetSupportingVertex(vec);
+		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
 	}
 }
 
 
-TriangleCallback::~TriangleCallback()
-{
-
-}
 
 class SupportVertexCallback : public TriangleCallback
 {
@@ -98,6 +116,7 @@ public:
 void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
 {
 	m_meshInterface->setScaling(scaling);
+	RecalcLocalAabb();
 }
 
 const SimdVector3& TriangleMeshShape::getLocalScaling() const
@@ -107,57 +126,43 @@ const SimdVector3& TriangleMeshShape::getLocalScaling() const
 
 
 
+
+
+
+//#define DEBUG_TRIANGLE_MESH
+
+
 void	TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
 
-	SimdVector3 meshScaling = m_meshInterface->getScaling();
-	int numtotalphysicsverts = 0;
-	int part,graphicssubparts = m_meshInterface->getNumSubParts();
-	for (part=0;part<graphicssubparts ;part++)
+	struct FilteredCallback : public InternalTriangleIndexCallback
 	{
-		unsigned char * vertexbase;
-		unsigned char * indexbase;
-		int indexstride;
-		PHY_ScalarType type;
-		PHY_ScalarType gfxindextype;
-		int stride,numverts,numtriangles;
-		m_meshInterface->getLockedVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
-		numtotalphysicsverts+=numtriangles*3; //upper bound
+		TriangleCallback* m_callback;
+		SimdVector3 m_aabbMin;
+		SimdVector3 m_aabbMax;
 
-	
-		int gfxindex;
-		SimdVector3 triangle[3];
-
-		for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+		FilteredCallback(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
+			:m_callback(callback),
+			m_aabbMin(aabbMin),
+			m_aabbMax(aabbMax)
 		{
-		
-			int	graphicsindex=0;
+		}
 
-			for (int j=2;j>=0;j--)
-			{
-				ASSERT(gfxindextype == PHY_INTEGER);
-				int* gfxbase = (int*)(indexbase+gfxindex*indexstride);
-				graphicsindex = gfxbase[j];
-				float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-
-				triangle[j] = SimdVector3(
-					graphicsbase[0]*meshScaling.getX(),
-					graphicsbase[1]*meshScaling.getY(),
-					graphicsbase[2]*meshScaling.getZ());
-			}
-
-			if (TestTriangleAgainstAabb2(&triangle[0],aabbMin,aabbMax))
+		virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
+		{
+			if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
 			{
 				//check aabb in triangle-space, before doing this
-				callback->ProcessTriangle(triangle);
-	
+				m_callback->ProcessTriangle(triangle);
 			}
 			
 		}
-		
-		m_meshInterface->unLockVertexBase(part);
-	}
 
+	};
+
+	FilteredCallback filterCallback(callback,aabbMin,aabbMax);
+
+	m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
 
 }
 

extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h

@@ -22,8 +22,10 @@
 ///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
 class TriangleMeshShape : public CollisionShape
 {
-
+protected:
 	StridingMeshInterface* m_meshInterface;
+	SimdVector3	m_localAabbMin;
+	SimdVector3	m_localAabbMax;
 	float m_collisionMargin;
 
 public:
@@ -41,6 +43,8 @@ public:
 		return LocalGetSupportingVertex(vec);
 	}
 
+	void	RecalcLocalAabb();
+
 	virtual int	GetShapeType() const
 	{
 		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
@@ -48,7 +52,7 @@ public:
 
 	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
 
-	void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+	virtual void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
 
 	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
 

extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.h

@@ -13,7 +13,8 @@
 #ifndef GJK_CONVEX_CAST_H
 #define GJK_CONVEX_CAST_H
 
-#include "CollisionMargin.h"
+#include <CollisionShapes/CollisionMargin.h>
+
 #include "SimdVector3.h"
 #include "ConvexCast.h"
 class ConvexShape;

extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h

@@ -17,7 +17,7 @@
 #include "DiscreteCollisionDetectorInterface.h"
 #include "SimdPoint3.h"
 
-#include "CollisionMargin.h"
+#include <CollisionShapes/CollisionMargin.h>
 
 class ConvexShape;
 #include "SimplexSolverInterface.h"

extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp

@@ -0,0 +1,33 @@
+
+#include "ManifoldContactAddResult.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+
+ManifoldContactAddResult::ManifoldContactAddResult(SimdTransform transA,SimdTransform transB,PersistentManifold* manifoldPtr)
+		:m_manifoldPtr(manifoldPtr)
+{
+	m_transAInv = transA.inverse();
+	m_transBInv = transB.inverse();
+
+}
+
+
+void ManifoldContactAddResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
+{
+	if (depth > m_manifoldPtr->GetManifoldMargin())
+		return;
+
+
+	SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
+	SimdVector3 localA = m_transAInv(pointA );
+	SimdVector3 localB = m_transBInv(pointInWorld);
+	ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
+
+	int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
+	if (insertIndex >= 0)
+	{
+		m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
+	} else
+	{
+		m_manifoldPtr->AddManifoldPoint(newPt);
+	}
+}

extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef MANIFOLD_CONTACT_ADD_RESULT_H
+#define MANIFOLD_CONTACT_ADD_RESULT_H
+
+#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
+class PersistentManifold;
+
+class ManifoldContactAddResult : public DiscreteCollisionDetectorInterface::Result
+{
+	PersistentManifold* m_manifoldPtr;
+	SimdTransform	m_transAInv;
+	SimdTransform	m_transBInv;
+
+public:
+
+	ManifoldContactAddResult(SimdTransform transA,SimdTransform transB,PersistentManifold* manifoldPtr);
+
+	virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth);
+
+};
+
+#endif //MANIFOLD_CONTACT_ADD_RESULT_H

extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp

@@ -131,7 +131,7 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
 
 	if (res.m_hasResult)
 	{
-		pa = res.m_pointInWorld - res.m_normalOnBInWorld*res.m_depth;
+		pa = res.m_pointInWorld - res.m_normalOnBInWorld*0.1f*res.m_depth;
 		pb = res.m_pointInWorld;
 	}
 	return res.m_hasResult;

extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp

@@ -38,7 +38,7 @@
 ///It improves the penetration depth handling dramatically
 //#define USE_EPA
 #ifdef USE_EPA
-#include "NarrowPhaseCollision/Solid3EpaPenetrationDepth.h"
+#include "../Extras/ExtraSolid35/Solid3EpaPenetrationDepth.h"
 bool gUseEpa = true;
 #else
 bool gUseEpa = false;
@@ -68,11 +68,10 @@ ConvexConvexAlgorithm::ConvexConvexAlgorithm(PersistentManifold* mf,const Collis
 m_gjkPairDetector(0,0,&m_simplexSolver,0),
 m_box0(*proxy0),
 m_box1(*proxy1),
-m_collisionImpulse(0.f),
 m_ownManifold (false),
 m_manifoldPtr(mf),
 m_lowLevelOfDetail(false),
-m_useEpa(gUseEpa)
+m_useEpa(!gUseEpa)
 {
 	CheckPenetrationDepthSolver();
 
@@ -137,30 +136,34 @@ public:
 
 };
 
+static MinkowskiPenetrationDepthSolver	gPenetrationDepthSolver;
+
+#ifdef USE_EPA
+Solid3EpaPenetrationDepth	gSolidEpaPenetrationSolver;
+#endif //USE_EPA
+
 void	ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
 {
-//	if (m_useEpa != gUseEpa)
+	if (m_useEpa != gUseEpa)
 	{
 		m_useEpa  = gUseEpa;
 		if (m_useEpa)
 		{
 			//not distributed, see top of this file
 			#ifdef USE_EPA
-			m_gjkPairDetector.SetPenetrationDepthSolver(new Solid3EpaPenetrationDepth);
+			m_gjkPairDetector.SetPenetrationDepthSolver(&gSolidEpaPenetrationSolver);
 			#else
-			m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);
+			m_gjkPairDetector.SetPenetrationDepthSolver(&gPenetrationDepthSolver);
 			#endif
 			
 		} else
 		{
-			m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);
+			m_gjkPairDetector.SetPenetrationDepthSolver(&gPenetrationDepthSolver);
 		}
 	}
 	
 }
-bool extra = false;
 
-float gFriction = 0.5f;
 //
 // box-box collision algorithm, for simplicity also applies resolution-impulse
 //
@@ -169,7 +172,7 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
 	CheckPenetrationDepthSolver();
 
 //	printf("ConvexConvexAlgorithm::ProcessCollision\n");
-m_collisionImpulse = 0.f;
+
 	
 	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
 	RigidBody* body1 = (RigidBody*)m_box1.m_clientObject;
@@ -227,7 +230,7 @@ float	ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,Broad
 
 	CheckPenetrationDepthSolver();
 
-	m_collisionImpulse = 0.f;
+
 	
 	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
 	RigidBody* body1 = (RigidBody*)m_box1.m_clientObject;

extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h

@@ -29,7 +29,7 @@ class ConvexConvexAlgorithm : public CollisionAlgorithm
 public:
 	BroadphaseProxy	m_box0;
 	BroadphaseProxy	m_box1;
-	float			m_collisionImpulse;
+
 	bool	m_ownManifold;
 	PersistentManifold*	m_manifoldPtr;
 	bool			m_lowLevelOfDetail;

extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp

@@ -139,28 +139,31 @@ SimdScalar rel_vel;
 */	
 	rel_vel = normal.dot(vel);
 	
-//	if (rel_vel< 0.f)//-SIMD_EPSILON) 
-//	{
 	float combinedRestitution = body1.getRestitution() * body2.getRestitution();
 
-	SimdScalar rest = restitutionCurve(rel_vel, combinedRestitution);
-//	SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
+	SimdScalar restitution = restitutionCurve(rel_vel, combinedRestitution);
 
-	SimdScalar timeCorrection = 0.5f / solverInfo.m_timeStep ;
+	SimdScalar Kfps = 1.f / solverInfo.m_timeStep ;
 
 	float damping = solverInfo.m_damping ;
-	float tau = solverInfo.m_tau;
-
+	float Kerp = solverInfo.m_tau;
+	
 	if (useGlobalSettingContacts)
 	{
 		damping = contactDamping;
-		tau = contactTau;
+		Kerp = contactTau;
 	} 
-	SimdScalar penetrationImpulse = (-distance* tau *timeCorrection)  * jacDiagABInv;
-		
+
+	float Kcor = Kerp *Kfps;
 
 
-	SimdScalar velocityImpulse = -(1.0f + rest) * damping * rel_vel * jacDiagABInv;
+	SimdScalar positionalError = Kcor *-distance;
+	//jacDiagABInv;
+	SimdScalar velocityError = -(1.0f + restitution) * damping * rel_vel;
+
+	SimdScalar penetrationImpulse = positionalError * jacDiagABInv;
+
+	SimdScalar	velocityImpulse = velocityError * jacDiagABInv;
 
 	SimdScalar friction_impulse = 0.f;
 
@@ -177,11 +180,11 @@ SimdScalar rel_vel;
 
 		{
 		
-				SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-	SimdVector3 vel = vel1 - vel2;
-	
-	rel_vel = normal.dot(vel);
+		SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
+		SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
+		SimdVector3 vel = vel1 - vel2;
+		
+		rel_vel = normal.dot(vel);
 
 #define PER_CONTACT_FRICTION
 #ifdef PER_CONTACT_FRICTION

extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h

@@ -16,7 +16,7 @@
 
 
 //notes:
-// Another memory optimization would be to store m_MbJ in the remaining 3 w components
+// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
 // which makes the JacobianEntry memory layout 16 bytes
 // if you only are interested in angular part, just feed massInvA and massInvB zero
 
@@ -32,59 +32,59 @@ public:
 		const SimdMatrix3x3& world2A,
 		const SimdMatrix3x3& world2B,
 		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
-		const SimdVector3& normal,
+		const SimdVector3& jointAxis,
 		const SimdVector3& inertiaInvA, 
 		const SimdScalar massInvA,
 		const SimdVector3& inertiaInvB,
 		const SimdScalar massInvB)
-		:m_normalAxis(normal)
+		:m_jointAxis(jointAxis)
 	{
-		m_aJ = world2A*(rel_pos1.cross(normal));
-		m_bJ = world2B*(rel_pos2.cross(normal));
-		m_MaJ	= inertiaInvA * m_aJ;
-		m_MbJ = inertiaInvB * m_bJ;
-		m_jacDiagAB = massInvA + m_MaJ.dot(m_aJ) + massInvB + m_MbJ.dot(m_bJ);
+		m_aJ = world2A*(rel_pos1.cross(m_jointAxis));
+		m_bJ = world2B*(rel_pos2.cross(m_jointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
 	}
 
 		//angular constraint between two different rigidbodies
-	JacobianEntry(const SimdVector3& normal,
+	JacobianEntry(const SimdVector3& jointAxis,
 		const SimdMatrix3x3& world2A,
 		const SimdMatrix3x3& world2B,
 		const SimdVector3& inertiaInvA,
 		const SimdVector3& inertiaInvB)
-		:m_normalAxis(normal)
+		:m_jointAxis(m_jointAxis)
 	{
-		m_aJ= world2A*normal;
-		m_bJ = world2B*-normal;
-		m_MaJ	= inertiaInvA * m_aJ;
-		m_MbJ = inertiaInvB * m_bJ;
-		m_jacDiagAB =  m_MaJ.dot(m_aJ) + m_MbJ.dot(m_bJ);
+		m_aJ= world2A*m_jointAxis;
+		m_bJ = world2B*-m_jointAxis;
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 	}
 
 	//constraint on one rigidbody
 	JacobianEntry(
 		const SimdMatrix3x3& world2A,
 		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
-		const SimdVector3& normal,
+		const SimdVector3& jointAxis,
 		const SimdVector3& inertiaInvA, 
 		const SimdScalar massInvA)
-		:m_normalAxis(normal)
+		:m_jointAxis(jointAxis)
 	{
-		m_aJ= world2A*(rel_pos1.cross(normal));
-		m_bJ = world2A*(rel_pos2.cross(normal));
-		m_MaJ	= inertiaInvA * m_aJ;
-		m_MbJ = SimdVector3(0.f,0.f,0.f);
-		m_jacDiagAB = massInvA + m_MaJ.dot(m_aJ);
+		m_aJ= world2A*(rel_pos1.cross(m_jointAxis));
+		m_bJ = world2A*(rel_pos2.cross(m_jointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = SimdVector3(0.f,0.f,0.f);
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
 	}
 
-	SimdScalar	getDiagonal() const { return m_jacDiagAB; }
+	SimdScalar	getDiagonal() const { return m_Adiag; }
 
 	// for two constraints on the same rigidbody (for example vehicle friction)
 	SimdScalar	getNonDiagonal(const JacobianEntry& jacB, const SimdScalar massInvA) const
 	{
 		const JacobianEntry& jacA = *this;
-		SimdScalar lin = massInvA * jacA.m_normalAxis.dot(jacB.m_normalAxis);
-		SimdScalar ang = jacA.m_MaJ.dot(jacB.m_aJ);
+		SimdScalar lin = massInvA * jacA.m_jointAxis.dot(jacB.m_jointAxis);
+		SimdScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
 		return lin + ang;
 	}
 
@@ -94,9 +94,9 @@ public:
 	SimdScalar	getNonDiagonal(const JacobianEntry& jacB,const SimdScalar massInvA,const SimdScalar massInvB) const
 	{
 		const JacobianEntry& jacA = *this;
-		SimdVector3 lin = jacA.m_normalAxis * jacB.m_normalAxis;
-		SimdVector3 ang0 = jacA.m_MaJ * jacB.m_aJ;
-		SimdVector3 ang1 = jacA.m_MbJ * jacB.m_bJ;
+		SimdVector3 lin = jacA.m_jointAxis* jacB.m_jointAxis;
+		SimdVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
+		SimdVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
 		SimdVector3 lin0 = massInvA * lin ;
 		SimdVector3 lin1 = massInvB * lin;
 		SimdVector3 sum = ang0+ang1+lin0+lin1;
@@ -108,7 +108,7 @@ public:
 		SimdVector3 linrel = linvelA - linvelB;
 		SimdVector3 angvela  = angvelA * m_aJ;
 		SimdVector3 angvelb  = angvelB * m_bJ;
-		linrel *= m_normalAxis;
+		linrel *= m_jointAxis;
 		angvela += angvelb;
 		angvela += linrel;
 		SimdScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
@@ -116,13 +116,13 @@ public:
 	}
 //private:
 
-	SimdVector3	m_normalAxis;
+	SimdVector3	m_jointAxis;
 	SimdVector3	m_aJ;
 	SimdVector3	m_bJ;
-	SimdVector3	m_MaJ;
-	SimdVector3	m_MbJ;
+	SimdVector3	m_0MinvJt;
+	SimdVector3	m_1MinvJt;
 	//Optimization: can be stored in the w/last component of one of the vectors
-	SimdScalar	m_jacDiagAB;
+	SimdScalar	m_Adiag;
 
 };
 

extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp

@@ -49,7 +49,7 @@ class BU_Joint;
 
 OdeConstraintSolver::OdeConstraintSolver():
 m_cfm(1e-5f),
-m_erp(0.3f)
+m_erp(0.4f)
 {
 }
 

extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp

@@ -58,11 +58,6 @@ void	RigidBody::getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const
 void	RigidBody::SetCollisionShape(CollisionShape* mink)
 {
 	m_collisionShape = mink;
-	SimdTransform ident;
-	ident.setIdentity();
-	SimdVector3 aabbMin,aabbMax;
-	m_collisionShape ->GetAabb(ident,aabbMin,aabbMax);
-	SimdVector3 diag = (aabbMax-aabbMin)*0.5f;
 }
 
 

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp

@@ -39,10 +39,12 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 	MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
 
 	m_body = new RigidBody(mp,0,0,ci.m_friction,ci.m_restitution);
+
+	m_body->SetCollisionShape( ci.m_collisionShape);
+
 	
 	m_broadphaseHandle = ci.m_broadphaseHandle;
 
-	m_collisionShape = ci.m_collisionShape;
 
 	//
 	// init the rigidbody properly
@@ -67,7 +69,6 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 CcdPhysicsController::~CcdPhysicsController()
 {
 	//will be reference counted, due to sharing
-	//delete m_collisionShape;
 	delete m_MotionState;
 	delete m_body;
 }
@@ -89,12 +90,18 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 	m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
 	
 	SimdVector3 scaling(scale[0],scale[1],scale[2]);
-	m_collisionShape->setLocalScaling(scaling);
-
+	m_body->GetCollisionShape()->setLocalScaling(scaling);
 
 	return true;
 }
 
+CollisionShape*	CcdPhysicsController::GetCollisionShape() 
+{ 
+	return m_body->GetCollisionShape();
+}
+
+
+
 		/**
 			WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding')
 		*/

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h

@@ -53,7 +53,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
 {
 	RigidBody* m_body;
 	class	PHY_IMotionState*			m_MotionState;
-	CollisionShape*			m_collisionShape;
 	void*		m_newClientInfo;
 
 	void GetWorldOrientation(SimdMatrix3x3& mat);
@@ -71,7 +70,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		RigidBody* GetRigidBody() { return m_body;}
 
-		CollisionShape*	GetCollisionShape() { return m_collisionShape;}
+		CollisionShape*	GetCollisionShape();
 		////////////////////////////////////
 		// PHY_IPhysicsController interface
 		////////////////////////////////////

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp

@@ -118,6 +118,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 	
 	BroadphaseInterface* scene =  m_broadphase;
 	
+
 	CollisionShape* shapeinterface = ctrl->GetCollisionShape();
 	
 	assert(shapeinterface);
@@ -171,7 +172,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 			maxAabb);
 	}
 	
-	body->SetCollisionShape( shapeinterface );
+	
 	
 	
 	

extern/bullet/LinearMath/SimdQuadWord.h

@@ -109,6 +109,38 @@ class	SimdQuadWord
 		}
 
 
+		SIMD_FORCE_INLINE void	setMax(const SimdQuadWord& other)
+		{
+			if (other.m_x > m_x)
+				m_x = other.m_x;
+
+			if (other.m_y > m_y)
+				m_y = other.m_y;
+
+			if (other.m_z > m_z)
+				m_z = other.m_z;
+
+			if (other.m_unusedW > m_unusedW)
+				m_unusedW = other.m_unusedW;
+		}
+
+		SIMD_FORCE_INLINE void	setMin(const SimdQuadWord& other)
+		{
+			if (other.m_x < m_x)
+				m_x = other.m_x;
+
+			if (other.m_y < m_y)
+				m_y = other.m_y;
+
+			if (other.m_z < m_z)
+				m_z = other.m_z;
+
+			if (other.m_unusedW < m_unusedW)
+				m_unusedW = other.m_unusedW;
+		}
+
+
+
 };
 
 #endif //SIMD_QUADWORD_H

extern/bullet/LinearMath/SimdScalar.h

@@ -39,7 +39,8 @@ DEALINGS IN THE SOFTWARE.
 #include <float.h>
 
 #ifdef WIN32
-
+#pragma warning(disable:4530)
+#pragma warning(disable:4996)
 #ifdef __MINGW32__
 #define SIMD_FORCE_INLINE inline
 #else
@@ -59,8 +60,6 @@ DEALINGS IN THE SOFTWARE.
 #endif
 
 
-
-
 #define ASSERT assert
 
 #endif
@@ -119,6 +118,16 @@ SIMD_FORCE_INLINE bool	SimdEqual(SimdScalar a, SimdScalar eps) {
 SIMD_FORCE_INLINE bool	SimdGreaterEqual (SimdScalar a, SimdScalar eps) {
 	return (!((a) <= eps));
 }
+
+/*SIMD_FORCE_INLINE SimdScalar SimdCos(SimdScalar x) { return cosf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdSin(SimdScalar x) { return sinf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdTan(SimdScalar x) { return tanf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAcos(SimdScalar x) { return acosf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAsin(SimdScalar x) { return asinf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAtan(SimdScalar x) { return atanf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAtan2(SimdScalar x, SimdScalar y) { return atan2f(x, y); }
+*/
+
 SIMD_FORCE_INLINE int       SimdSign(SimdScalar x) {
     return x < 0.0f ? -1 : x > 0.0f ? 1 : 0;
 }

extern/bullet/SConscript

@@ -57,7 +57,13 @@ bullet_sources = ['Bullet/BroadphaseCollision/BroadphaseProxy.cpp',
 				'Bullet/CollisionShapes/StridingMeshInterface.cpp',
 				'Bullet/CollisionShapes/TriangleMesh.cpp',
 				'Bullet/CollisionShapes/TriangleMeshShape.cpp',
-				
+				'Bullet/CollisionShapes/BvhTriangleMeshShape.cpp',
+				'Bullet/CollisionShapes/ConvexTriangleCallback.cpp',
+				'Bullet/CollisionShapes/EmptyShape.cpp',
+				'Bullet/CollisionShapes/OptimizedBvh.cpp',
+				'Bullet/CollisionShapes/TriangleCallback.cpp',
+				'Bullet/CollisionShapes/TriangleIndexVertexArray.cpp',
+											
 				'Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.cpp',
 				'Bullet/NarrowPhaseCollision/BU_Collidable.cpp',
 				'Bullet/NarrowPhaseCollision/BU_CollisionPair.cpp',
@@ -73,7 +79,8 @@ bullet_sources = ['Bullet/BroadphaseCollision/BroadphaseProxy.cpp',
 				'Bullet/NarrowPhaseCollision/RaycastCallback.cpp',
 				'Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp',
 				'Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.cpp',
-				
+				'Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp',
+								
 				'BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp',
 				'BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp',
 				'BulletDynamics/CollisionDispatch/EmptyCollisionAlgorithm.cpp',

intern/string/intern/STR_String.cpp

@@ -543,15 +543,10 @@ STR_String&	STR_String::Lower()
 STR_String&	STR_String::Capitalize()
 {
 	assertd(pData != NULL);
-#ifdef WIN32
-	if (Len>0) pData[0] = toupper(pData[0]);
-	if (Len>1) _strlwr(pData+1);
-#else
 	if (Len > 0)
 		pData[0] = (pData[0] >= 'A' && pData[0] <= 'A')?pData[0]+'a'-'A':pData[0];
 	for (int i=1;i<Len;i++)
 		pData[i] = (pData[i] >= 'a' && pData[i] <= 'z')?pData[i]+'A'-'a':pData[i];
-#endif
 	return *this;
 }
 

source/gameengine/Converter/BL_BlenderDataConversion.cpp

@@ -961,11 +961,11 @@ static KX_GameObject *gameobject_from_blenderobject(
 	
 		//	If this is a skin object, make Skin Controller
 		if (ob->parent && ob->parent->type == OB_ARMATURE && ob->partype==PARSKEL && ((Mesh*)ob->data)->dvert){
-			BL_SkinDeformer *dcont = new BL_SkinDeformer(ob, (BL_SkinMeshObject*)meshobj);				
+			BL_SkinDeformer *dcont = new BL_SkinDeformer(ob, (BL_SkinMeshObject*)meshobj,ob->parent);				
 			((BL_DeformableGameObject*)gameobj)->m_pDeformer = dcont;
 		}
 		else if (((Mesh*)ob->data)->dvert){
-			BL_MeshDeformer *dcont = new BL_MeshDeformer(ob, (BL_SkinMeshObject*)meshobj);
+			BL_MeshDeformer *dcont = new BL_MeshDeformer(ob, (BL_SkinMeshObject*)meshobj,ob->parent);
 			((BL_DeformableGameObject*)gameobj)->m_pDeformer = dcont;
 		}
 		

source/gameengine/Converter/BL_MeshDeformer.h

@@ -48,12 +48,14 @@ public:
 	void VerifyStorage();
 	void RecalcNormals();
 	virtual void Relink(GEN_Map<class GEN_HashedPtr, void*>*map){};
-	BL_MeshDeformer(struct Object* obj, class BL_SkinMeshObject *meshobj):
+	BL_MeshDeformer(struct Object* obj, class BL_SkinMeshObject *meshobj,struct Object* armatureObj):
 		m_pMeshObject(meshobj),
 		m_bmesh((struct Mesh*)(obj->data)),
 		m_transnors(NULL),
 		m_transverts(NULL),
-		m_tvtot(0)
+		m_tvtot(0),
+		m_blenderMeshObject(obj),
+		m_blenderArmatureObj(armatureObj)
 	{};
 	virtual ~BL_MeshDeformer();
 	virtual void SetSimulatedTime(double time){};
@@ -67,6 +69,8 @@ protected:
 	MT_Point3 *m_transnors;
 	MT_Point3				*m_transverts;
 	int						m_tvtot;
+	Object*	m_blenderMeshObject;
+	Object*	m_blenderArmatureObj;
 
 };
 

source/gameengine/Converter/BL_SkinDeformer.cpp

@@ -145,6 +145,10 @@ void BL_SkinDeformer::ProcessReplica()
 {
 }
 
+//void where_is_pose (Object *ob);
+//void armature_deform_verts(Object *armOb, Object *target, float (*vertexCos)[3], int numVerts, int deformflag); 
+extern "C" void armature_deform_verts(struct Object *armOb, struct Object *target, float (*vertexCos)[3], int numVerts, int deformflag);
+
 void BL_SkinDeformer::Update(void)
 {
 
@@ -156,7 +160,8 @@ void BL_SkinDeformer::Update(void)
 		
 		/* XXX note: where_is_pose() (from BKE_armature.h) calculates all matrices needed to start deforming */
 		/* but it requires the blender object pointer... */
-//		void where_is_pose (Object *ob);
+		//void where_is_pose (Object *ob);
+		where_is_pose (m_blenderArmatureObj);
 		
 		/* store verts locally */
 		for (int v =0; v<m_bmesh->totvert; v++){
@@ -165,6 +170,11 @@ void BL_SkinDeformer::Update(void)
 			m_transverts[v]=MT_Point3(m_bmesh->mvert[v].co);
 		}
 		
+		float	test[1000][3];
+
+		armature_deform_verts(m_blenderArmatureObj,m_blenderMeshObject,test,m_bmesh->totvert,ARM_DEF_VGROUP);
+
+
 		/* XXX note: now use this call instead */
 //		void armature_deform_verts(Object *armOb, Object *target, float (*vertexCos)[3], int numVerts, int deformflag) 
 		//		- armOb = armature object

source/gameengine/Converter/BL_SkinDeformer.h

@@ -63,9 +63,10 @@ public:
 			m_armobj=NULL;
 	}
 	void SetArmature (class BL_ArmatureObject *armobj);
-	BL_SkinDeformer(	struct Object *bmeshobj,
-						class BL_SkinMeshObject *mesh)
-						:BL_MeshDeformer(bmeshobj, mesh),
+
+	BL_SkinDeformer(	struct Object *bmeshobj, 
+						class BL_SkinMeshObject *mesh,struct Object* blenderArmatureObj)
+						:BL_MeshDeformer(bmeshobj, mesh,blenderArmatureObj),
 						m_armobj(NULL),
 						m_lastUpdate(-1),
 						m_defbase(&bmeshobj->defbase)
@@ -85,8 +86,8 @@ public:
 
 	BL_SkinDeformer(	struct Object *bmeshobj_old,
 						struct Object *bmeshobj_new,
-						class BL_SkinMeshObject *mesh)
-						:BL_MeshDeformer(bmeshobj_old, mesh),
+						class BL_SkinMeshObject *mesh,struct Object *bArmatureObj)
+						:BL_MeshDeformer(bmeshobj_old, mesh,bArmatureObj),
 						m_armobj(NULL),
 						m_lastUpdate(-1),
 						m_defbase(&bmeshobj_old->defbase)

source/gameengine/Expressions/Value.cpp

@@ -558,6 +558,10 @@ void CValue::DisableRefCount()
 void CValue::AddDataToReplica(CValue *replica)
 {
 	replica->m_refcount = 1;
+
+	//register with Python
+	_Py_NewReference(replica);
+
 #ifdef _DEBUG
 	//gRefCountValue++;
 #endif

source/gameengine/Ketsji/KX_BulletPhysicsController.cpp

@@ -7,6 +7,14 @@
 
 #include "Dynamics/RigidBody.h"
 
+#include "SG_Spatial.h"
+
+#include "KX_GameObject.h"
+#include "KX_MotionState.h"
+#include "KX_ClientObjectInfo.h"
+
+#include "PHY_IPhysicsEnvironment.h"
+
 KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
 : KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
 CcdPhysicsController(ci)
@@ -38,6 +46,16 @@ void	KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_
 
 void	KX_BulletPhysicsController::SetObject (SG_IObject* object)
 {
+	SG_Controller::SetObject(object);
+
+	// cheating here...
+	//should not be necessary, is it for duplicates ?
+
+	KX_GameObject* gameobj = (KX_GameObject*)	object->GetSGClientObject();
+	gameobj->SetPhysicsController(this,gameobj->IsDynamic());
+	//GetSumoObject()->setClientObject(gameobj->getClientInfo());
+
+
 }
 
 void	KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
@@ -55,22 +73,25 @@ void	KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool lo
 
 void	KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
 {
+		CcdPhysicsController::ApplyTorque(torque.x(),torque.y(),torque.z(),local);
 }
 void	KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
 {
+	CcdPhysicsController::ApplyForce(force.x(),force.y(),force.z(),local);
 }
 MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
 {
-	assert(0);
-	return MT_Vector3(0.f,0.f,0.f);
-
+	float angVel[3];
+	CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
+	return MT_Vector3(angVel[0],angVel[1],angVel[2]);
 }
 MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
 {
-		assert(0);
-	return MT_Vector3(0.f,0.f,0.f);
-
+	float linVel[3];
+	CcdPhysicsController::GetLinearVelocity(linVel[0],linVel[1],linVel[2]);
+	return MT_Vector3(linVel[0],linVel[1],linVel[2]);
 }
+
 void	KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
 {
 	CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);
@@ -82,16 +103,21 @@ void	KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,boo
 }
 void	KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
 {
+	float myorn[4];
+	CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
+	orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
 }
 void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
 {
+	CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
 }
 void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
 {
-
+	CcdPhysicsController::setPosition(pos.x(),pos.y(),pos.z());
 }
 void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
 {
+	CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z());
 }
 MT_Scalar	KX_BulletPhysicsController::GetMass()
 {
@@ -113,6 +139,7 @@ void	KX_BulletPhysicsController::setRigidBody(bool rigid)
 
 void	KX_BulletPhysicsController::SuspendDynamics()
 {
+
 }
 void	KX_BulletPhysicsController::RestoreDynamics()
 {
@@ -120,8 +147,42 @@ void	KX_BulletPhysicsController::RestoreDynamics()
 
 SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
 {
-	assert(0);
-	return 0;
+	PHY_IMotionState* motionstate = new KX_MotionState(destnode);
+
+	KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this);
+
+	//parentcontroller is here be able to avoid collisions between parent/child
+
+	PHY_IPhysicsController* parentctrl = NULL;
+	
+	if (destnode != destnode->GetRootSGParent())
+	{
+		KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
+		if (clientgameobj)
+		{
+			parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
+		} else
+		{
+			// it could be a false node, try the children
+			NodeList::const_iterator childit;
+			for (
+				childit = destnode->GetSGChildren().begin();
+			childit!= destnode->GetSGChildren().end();
+			++childit
+				) {
+				KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
+				if (clientgameobj)
+				{
+					parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
+				}
+			}
+		}
+	}
+
+	physicsreplica->PostProcessReplica(motionstate,parentctrl);
+
+	return physicsreplica;
+	
 }
 
 

source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp

@@ -673,6 +673,7 @@ void	KX_ConvertODEEngineObject(KX_GameObject* gameobj,
 #include "CollisionShapes/ConvexHullShape.h"
 #include "CollisionShapes/TriangleMesh.h"
 #include "CollisionShapes/TriangleMeshShape.h"
+#include "CollisionShapes/BvhTriangleMeshShape.h"
 
 
 static GEN_Map<GEN_HashedPtr,CollisionShape*>	map_gamemesh_to_bulletshape;
@@ -770,8 +771,8 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p
 	} else
 	{
 		collisionMeshData = new TriangleMesh();
-		concaveShape = new TriangleMeshShape(collisionMeshData);
-		collisionMeshShape = concaveShape;
+//		concaveShape = new TriangleMeshShape(collisionMeshData);
+		//collisionMeshShape = concaveShape;
 
 	}
 
@@ -843,7 +844,20 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p
 
 	if (numvalidpolys > 0)
 	{
+		
 		//map_gamemesh_to_bulletshape.insert(GEN_HashedPtr(meshobj),collisionMeshShape);
+		if (!polytope)
+		{
+			concaveShape = new BvhTriangleMeshShape( collisionMeshData );
+			//concaveShape = new TriangleMeshShape( collisionMeshData );
+
+			concaveShape->RecalcLocalAabb();
+			collisionMeshShape = concaveShape;
+
+		} 
+		
+		
+
 		return collisionMeshShape;
 	}
 
@@ -1002,7 +1016,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_broadphaseHandle = 0;
 	ci.m_friction = smmaterial->m_friction;
 	ci.m_restitution = smmaterial->m_restitution;
-
+	ci.m_physicsEnv = env;
 	// drag / damping is inverted
 	ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
 	ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
@@ -1010,7 +1024,11 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	
 
 	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna);
-	env->addCcdPhysicsController( physicscontroller);
+
+	if (objprop->m_in_active_layer)
+	{
+		env->addCcdPhysicsController( physicscontroller);
+	}
 
 	
 	gameobj->SetPhysicsController(physicscontroller,isbulletdyna);

source/gameengine/Ketsji/KX_EmptyObject.cpp

@@ -35,3 +35,7 @@
 #include <config.h>
 #endif
 
+KX_EmptyObject::~KX_EmptyObject()
+{
+
+}

source/gameengine/Ketsji/KX_EmptyObject.h

@@ -39,7 +39,7 @@ public:
 	KX_EmptyObject(void* sgReplicationInfo,SG_Callbacks callbacks) :
 	KX_GameObject(sgReplicationInfo,callbacks) 
 	{};
-	virtual ~KX_EmptyObject() {};
+	virtual ~KX_EmptyObject();
 	
 };
 

source/gameengine/Ketsji/KX_Scene.cpp

@@ -732,7 +732,7 @@ void KX_Scene::ReplaceMesh(class CValue* gameobj,void* meshobj)
 		Object* blendobj = (struct Object*)m_logicmgr->FindBlendObjByGameObj(newobj);
 		Object* oldblendobj = (struct Object*)m_logicmgr->FindBlendObjByGameMeshName(mesh->GetName());
 		if (blendobj->parent && blendobj->parent->type == OB_ARMATURE && blendobj->partype==PARSKEL && ((Mesh*)blendobj->data)->dvert) {
-			BL_SkinDeformer* skindeformer = new BL_SkinDeformer(oldblendobj, blendobj, (BL_SkinMeshObject*)mesh);
+			BL_SkinDeformer* skindeformer = new BL_SkinDeformer(oldblendobj, blendobj, (BL_SkinMeshObject*)mesh,blendobj->parent);
 			skindeformer->SetArmature((BL_ArmatureObject*) newobj->GetParent());
 			
 			// FIXME: should the old m_pDeformer be deleted?
@@ -741,7 +741,7 @@ void KX_Scene::ReplaceMesh(class CValue* gameobj,void* meshobj)
 			((BL_DeformableGameObject*)newobj)->m_pDeformer = skindeformer;
 		}
 		else if (((Mesh*)blendobj->data)->dvert) {
-			BL_MeshDeformer* meshdeformer = new BL_MeshDeformer(oldblendobj, (BL_SkinMeshObject*)mesh);
+			BL_MeshDeformer* meshdeformer = new BL_MeshDeformer(oldblendobj, (BL_SkinMeshObject*)mesh,oldblendobj->parent);
 			
 			// FIXME: should the old m_pDeformer be deleted?
 			// delete ((BL_DeformableGameObject*)newobj)->m_pDeformer

source/gameengine/Physics/Bullet/CcdPhysicsController.cpp

@@ -4,6 +4,8 @@
 #include "PHY_IMotionState.h"
 #include "BroadphaseCollision/BroadphaseProxy.h"
 #include "CollisionShapes/ConvexShape.h"
+#include "CcdPhysicsEnvironment.h"
+
 
 class BP_Proxy;
 
@@ -20,6 +22,7 @@ float gAngularSleepingTreshold = 1.0f;
 
 SimdVector3 startVel(0,0,0);//-10000);
 CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
+:m_cci(ci)
 {
 	m_collisionDelay = 0;
 	m_newClientInfo = 0;
@@ -27,6 +30,22 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 	m_MotionState = ci.m_MotionState;
 
 
+	m_broadphaseHandle = ci.m_broadphaseHandle;
+
+	m_collisionShape = ci.m_collisionShape;
+
+	CreateRigidbody();
+
+	
+	#ifdef WIN32
+	if (m_body->getInvMass())
+		m_body->setLinearVelocity(startVel);
+	#endif
+
+}
+
+void CcdPhysicsController::CreateRigidbody()
+{
 	SimdTransform trans;
 	float tmp[3];
 	m_MotionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
@@ -36,31 +55,19 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 	m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
 	trans.setRotation(orn);
 
-	MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
+	MassProps mp(m_cci.m_mass, m_cci.m_localInertiaTensor);
 
-	m_body = new RigidBody(mp,0,0,ci.m_friction,ci.m_restitution);
+	m_body = new RigidBody(mp,0,0,m_cci.m_friction,m_cci.m_restitution);
 	
-	m_broadphaseHandle = ci.m_broadphaseHandle;
-
-	m_collisionShape = ci.m_collisionShape;
-
 	//
 	// init the rigidbody properly
 	//
 	
-	m_body->setMassProps(ci.m_mass, ci.m_localInertiaTensor);
-	m_body->setGravity( ci.m_gravity);
-
-	
-	m_body->setDamping(ci.m_linearDamping, ci.m_angularDamping);
-
-
+	m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor);
+	m_body->setGravity( m_cci.m_gravity);
+	m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
 	m_body->setCenterOfMassTransform( trans );
 
-	#ifdef WIN32
-	if (m_body->getInvMass())
-		m_body->setLinearVelocity(startVel);
-	#endif
 
 }
 
@@ -68,6 +75,7 @@ CcdPhysicsController::~CcdPhysicsController()
 {
 	//will be reference counted, due to sharing
 	//delete m_collisionShape;
+	m_cci.m_physicsEnv->removeCcdPhysicsController(this);
 	delete m_MotionState;
 	delete m_body;
 }
@@ -109,6 +117,45 @@ void		CcdPhysicsController::WriteDynamicsToMotionState()
 		// controller replication
 void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
 {
+
+	m_MotionState = motionstate;
+	m_broadphaseHandle = 0;
+	m_body = 0;
+	CreateRigidbody();
+			
+	m_cci.m_physicsEnv->addCcdPhysicsController(this);
+
+
+/*	SM_Object* dynaparent=0;
+	SumoPhysicsController* sumoparentctrl = (SumoPhysicsController* )parentctrl;
+	
+	if (sumoparentctrl)
+	{
+		dynaparent = sumoparentctrl->GetSumoObject();
+	}
+	
+	SM_Object* orgsumoobject = m_sumoObj;
+	
+	
+	m_sumoObj	=	new SM_Object(
+		orgsumoobject->getShapeHandle(), 
+		orgsumoobject->getMaterialProps(),			
+		orgsumoobject->getShapeProps(),
+		dynaparent);
+	
+	m_sumoObj->setRigidBody(orgsumoobject->isRigidBody());
+	
+	m_sumoObj->setMargin(orgsumoobject->getMargin());
+	m_sumoObj->setPosition(orgsumoobject->getPosition());
+	m_sumoObj->setOrientation(orgsumoobject->getOrientation());
+	//if it is a dyna, register for a callback
+	m_sumoObj->registerCallback(*this);
+	
+	m_sumoScene->add(* (m_sumoObj));
+	*/
+
+
+
 }
 
 		// kinematic methods
@@ -269,6 +316,15 @@ void		CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& l
 	linvZ = linvel.z();
 
 }
+
+void		CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ)
+{
+	const SimdVector3& angvel= m_body->getAngularVelocity();
+	angVelX = angvel.x();
+	angVelY = angvel.y();
+	angVelZ = angvel.z();
+}
+
 void		CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
 {
 	SimdVector3 pos(posX,posY,posZ);

source/gameengine/Physics/Bullet/CcdPhysicsController.h

@@ -16,6 +16,7 @@ extern float gDeactivationTime;
 extern float gLinearSleepingTreshold;
 extern float gAngularSleepingTreshold;
 extern bool gDisableDeactivation;
+class CcdPhysicsEnvironment;
 
 
 struct CcdConstructionInfo
@@ -27,7 +28,8 @@ struct CcdConstructionInfo
 		m_linearDamping(0.1f),
 		m_angularDamping(0.1f),
 		m_MotionState(0),
-		m_collisionShape(0)
+		m_collisionShape(0),
+		m_physicsEnv(0)
 
 	{
 	}
@@ -42,7 +44,7 @@ struct CcdConstructionInfo
 	class	PHY_IMotionState*			m_MotionState;
 
 	CollisionShape*			m_collisionShape;
-	
+	CcdPhysicsEnvironment*	m_physicsEnv; //needed for self-replication
 };
 
 
@@ -56,8 +58,11 @@ class CcdPhysicsController : public PHY_IPhysicsController
 	CollisionShape*			m_collisionShape;
 	void*		m_newClientInfo;
 
+	CcdConstructionInfo	m_cci;//needed for replication
 	void GetWorldOrientation(SimdMatrix3x3& mat);
 
+	void CreateRigidbody();
+
 	public:
 	
 		int				m_collisionDelay;
@@ -110,6 +115,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		// reading out information from physics
 		virtual void		GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
+		virtual void		GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ);
 		virtual void		GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ); 
 		virtual	void		getReactionForce(float& forceX,float& forceY,float& forceZ);
 

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

@@ -226,11 +226,13 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 		
 		if (removeFromBroadphase)
 		{
+
 		}
 		//
 		// only clear the cached algorithms
 		//
 		scene->CleanProxyFromPairs(bp);
+		scene->DestroyProxy(bp);//??
 	}
 	{
 		std::vector<CcdPhysicsController*>::iterator i =