-added basic support for GameActuator 'load game', relative paths were broken, just load file into memory and load blend from memory.

-near sensor support
- python binding for PhysicsConstraints.setNumTimeSubSteps (dividing the physics timestep to tradeoff quality for performance)

extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp

@@ -307,26 +307,14 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
 	
 	GjkPairDetector::ClosestPointInput input;
 
-	SphereShape	sphere(0.2f);
-	MinkowskiSumShape	expanded0(min0,&sphere);
-	MinkowskiSumShape	expanded1(min1,&sphere);
 
-	if (dispatchInfo.m_useContinuous)
-	{
-		m_gjkPairDetector.SetMinkowskiA(&expanded0);
-		m_gjkPairDetector.SetMinkowskiB(&expanded1);
-		input.m_maximumDistanceSquared = expanded0.GetMargin()+expanded1.GetMargin();
-		input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
-	}
-	else
-	{
-		m_gjkPairDetector.SetMinkowskiA(min0);
-		m_gjkPairDetector.SetMinkowskiB(min1);
-		input.m_maximumDistanceSquared = min0->GetMargin() + min1->GetMargin() + m_manifoldPtr->GetContactBreakingTreshold();
-		input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
-	}
-
-	input.m_maximumDistanceSquared = 1e30f;//
+	//TODO: if (dispatchInfo.m_useContinuous)
+	m_gjkPairDetector.SetMinkowskiA(min0);
+	m_gjkPairDetector.SetMinkowskiB(min1);
+	input.m_maximumDistanceSquared = min0->GetMargin() + min1->GetMargin() + m_manifoldPtr->GetContactBreakingTreshold();
+	input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
+	
+	//input.m_maximumDistanceSquared = 1e30f;//
 	
 	input.m_transformA = col0->m_worldTransform;
 	input.m_transformB = col1->m_worldTransform;

extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp

@@ -112,6 +112,7 @@ SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
 
 
 
+
 float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
 {
 
@@ -125,7 +126,7 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 	{
 		manifoldPtr->RefreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
 		
-		const int numpoints = manifoldPtr->GetNumContacts();
+		int numpoints = manifoldPtr->GetNumContacts();
 
 		SimdVector3 color(0,1,0);
 		for (int i=0;i<numpoints ;i++)

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

@@ -23,6 +23,9 @@ subject to the following restrictions:
 #include "CcdPhysicsEnvironment.h"
 #include "SimdTransformUtil.h"
 
+#include "CollisionShapes/SphereShape.h"
+#include "CollisionShapes/ConeShape.h"
+
 class BP_Proxy;
 
 ///todo: fill all the empty CcdPhysicsController methods, hook them up to the RigidBody class
@@ -31,7 +34,7 @@ class BP_Proxy;
 float	gDeactivationTime = 2.f;
 bool	gDisableDeactivation = false;
 
-float gLinearSleepingTreshold = 0.8f;
+float gLinearSleepingTreshold = 0.4f;
 float gAngularSleepingTreshold = 1.0f;
 
 #include "Dynamics/MassProps.h"
@@ -486,3 +489,96 @@ bool CcdPhysicsController::wantsSleeping()
 	return false;
 }
 
+PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
+{
+	//very experimental, shape sharing is not implemented yet.
+	//just support SphereShape/ConeShape for now
+
+	CcdConstructionInfo cinfo = m_cci;
+	if (cinfo.m_collisionShape)
+	{
+		switch (cinfo.m_collisionShape->GetShapeType())
+		{
+		case SPHERE_SHAPE_PROXYTYPE:
+			{
+				SphereShape* orgShape = (SphereShape*)cinfo.m_collisionShape;
+				cinfo.m_collisionShape = new SphereShape(*orgShape);
+				break;
+			}
+
+			case CONE_SHAPE_PROXYTYPE:
+			{
+				ConeShape* orgShape = (ConeShape*)cinfo.m_collisionShape;
+				cinfo.m_collisionShape = new ConeShape(*orgShape);
+				break;
+			}
+
+
+		default:
+			{
+				return 0;
+			}
+		}
+	}
+
+	cinfo.m_MotionState = new DefaultMotionState();
+
+	CcdPhysicsController* replica = new CcdPhysicsController(cinfo);
+	return replica;
+}
+
+///////////////////////////////////////////////////////////
+///A small utility class, DefaultMotionState
+///
+///////////////////////////////////////////////////////////
+
+DefaultMotionState::DefaultMotionState()
+{
+	m_worldTransform.setIdentity();
+}
+
+
+DefaultMotionState::~DefaultMotionState()
+{
+
+}
+
+void	DefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
+{
+	posX = m_worldTransform.getOrigin().x();
+	posY = m_worldTransform.getOrigin().y();
+	posZ = m_worldTransform.getOrigin().z();
+}
+
+void	DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
+{
+	scaleX = 1.;
+	scaleY = 1.;
+	scaleZ = 1.;
+}
+
+void	DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
+{
+	quatIma0 = m_worldTransform.getRotation().x();
+	quatIma1 = m_worldTransform.getRotation().y();
+	quatIma2 = m_worldTransform.getRotation().z();
+	quatReal = m_worldTransform.getRotation()[3];
+}
+		
+void	DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
+{
+	SimdPoint3 pos(posX,posY,posZ);
+	m_worldTransform.setOrigin( pos );
+}
+
+void	DefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
+{
+	SimdQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
+	m_worldTransform.setRotation( orn );
+}
+		
+void	DefaultMotionState::calculateWorldTransformations()
+{
+
+}
+

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

@@ -27,6 +27,7 @@ subject to the following restrictions:
 #include "SimdTransform.h"
 #include "Dynamics/RigidBody.h"
 
+#include "PHY_IMotionState.h"
 
 #include "BroadphaseCollision/BroadphaseProxy.h" //for CollisionShape access
 class CollisionShape;
@@ -155,7 +156,8 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		// clientinfo for raycasts for example
 		virtual	void*				getNewClientInfo();
 		virtual	void				setNewClientInfo(void* clientinfo);
-		virtual PHY_IPhysicsController*	GetReplica() {return 0;}
+		virtual PHY_IPhysicsController*	GetReplica();
+		
 
 		virtual void	calcXform() {} ;
 		virtual void SetMargin(float margin) {};
@@ -184,4 +186,30 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 };
 
+
+
+
+///DefaultMotionState implements standard motionstate, using SimdTransform
+class	DefaultMotionState : public PHY_IMotionState
+
+{
+	public:
+		DefaultMotionState();
+
+		virtual ~DefaultMotionState();
+
+		virtual void	getWorldPosition(float& posX,float& posY,float& posZ);
+		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
+		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
+		
+		virtual void	setWorldPosition(float posX,float posY,float posZ);
+		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
+		
+		virtual	void	calculateWorldTransformations();
+		
+		SimdTransform	m_worldTransform;
+
+};
+
+
 #endif //BULLET2_PHYSICSCONTROLLER_H

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

@@ -29,6 +29,10 @@ subject to the following restrictions:
 #include "CollisionDispatch/CollisionWorld.h"
 
 #include "CollisionShapes/ConvexShape.h"
+#include "CollisionShapes/ConeShape.h"
+
+
+
 #include "BroadphaseCollision/Dispatcher.h"
 #include "NarrowPhaseCollision/PersistentManifold.h"
 #include "CollisionShapes/TriangleMeshShape.h"
@@ -321,6 +325,7 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
 CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
 :m_scalingPropagated(false),
 m_numIterations(10),
+m_numTimeSubSteps(1),
 m_ccdMode(0),
 m_solverType(-1),
 m_profileTimings(0),
@@ -342,9 +347,9 @@ m_enableSatCollisionDetection(false)
 		SimdVector3 worldMin(-10000,-10000,-10000);
 		SimdVector3 worldMax(10000,10000,10000);
 
-		//broadphase = new AxisSweep3(worldMin,worldMax);
+		broadphase = new AxisSweep3(worldMin,worldMax);
 
-		broadphase = new SimpleBroadphase();
+		//broadphase = new SimpleBroadphase();
 	}
 
 
@@ -498,6 +503,8 @@ void	CcdPhysicsEnvironment::beginFrame()
 
 bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 {
+	//printf("proceedDeltaTime\n");
+	
 
 #ifdef USE_QUICKPROF
 	//toggle Profiler
@@ -528,16 +535,38 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 
 	if (!SimdFuzzyZero(timeStep))
 	{
+		
+		{
+			//do the kinematic calculation here, over the full timestep
+			std::vector<CcdPhysicsController*>::iterator i;
+			for (i=m_controllers.begin();
+						!(i==m_controllers.end()); i++)
+			{
 
-		// define this in blender, the stepsize is 30 hertz, 60 hertz works much better 
-//#define SPLIT_TIMESTEP 1
+						CcdPhysicsController* ctrl = *i;
 
-#ifdef SPLIT_TIMESTEP
-		proceedDeltaTimeOneStep(0.5f*timeStep);
-		proceedDeltaTimeOneStep(0.5f*timeStep);
-#else		
-		proceedDeltaTimeOneStep(timeStep);
-#endif
+						SimdTransform predictedTrans;
+						RigidBody* body = ctrl->GetRigidBody();
+						if (body->GetActivationState() != ISLAND_SLEEPING)
+						{
+
+							if (body->IsStatic())
+							{
+								//to calculate velocities next frame
+								body->saveKinematicState(timeStep);
+							}
+						}
+			}
+		}
+
+
+		int i;
+		float subTimeStep = timeStep / float(m_numTimeSubSteps);
+
+		for (i=0;i<this->m_numTimeSubSteps;i++)
+		{
+			proceedDeltaTimeOneStep(subTimeStep);
+		}
 	} else
 	{
 		//todo: interpolate
@@ -563,7 +592,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 {
 
 
-	//	printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
+	//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
 
 	if (SimdFuzzyZero(timeStep))
 		return true;
@@ -811,11 +840,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 					if (body->GetActivationState() != ISLAND_SLEEPING)
 					{
 
-						if (body->IsStatic())
-						{
-							//to calculate velocities next frame
-							body->saveKinematicState(timeStep);
-						} else
+						if (!body->IsStatic())
 						{
 							body->predictIntegratedTransform(timeStep*	toi, predictedTrans);
 							body->proceedToTransform( predictedTrans);
@@ -1392,10 +1417,34 @@ TypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
 
 void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 {
+
+	CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl;
+	std::vector<CcdPhysicsController*>::iterator i =
+		std::find(m_controllers.begin(), m_controllers.end(), ctrl);
+	if ((i == m_controllers.end()))
+	{
+		addCcdPhysicsController(ctrl1);
+	}
+
+	requestCollisionCallback(ctrl);
 	//printf("addSensor\n");
 }
+
+void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
+{
+	std::vector<CcdPhysicsController*>::iterator i =
+		std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
+	if (!(i == m_triggerControllers.end()))
+	{
+		std::swap(*i, m_triggerControllers.back());
+		m_triggerControllers.pop_back();
+	}
+}
+
+
 void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
 {
+	removeCollisionCallback(ctrl);
 	//printf("removeSensor\n");
 }
 void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
@@ -1584,3 +1633,41 @@ void	CcdPhysicsEnvironment::UpdateAabbs(float	timeStep)
 				}
 			}
 }
+
+PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
+{
+	
+	CcdConstructionInfo	cinfo;
+	cinfo.m_collisionShape = new SphereShape(radius);
+	cinfo.m_MotionState = 0;
+	cinfo.m_physicsEnv = this;
+	cinfo.m_collisionFlags |= CollisionObject::noContactResponse;
+	DefaultMotionState* motionState = new DefaultMotionState();
+	cinfo.m_MotionState = motionState;
+	motionState->m_worldTransform.setIdentity();
+	motionState->m_worldTransform.setOrigin(SimdVector3(position[0],position[1],position[2]));
+
+	CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
+	
+
+	return sphereController;
+}
+
+
+PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
+{
+	CcdConstructionInfo	cinfo;
+	cinfo.m_collisionShape = new ConeShape(coneradius,coneheight);
+	cinfo.m_MotionState = 0;
+	cinfo.m_physicsEnv = this;
+	DefaultMotionState* motionState = new DefaultMotionState();
+	cinfo.m_MotionState = motionState;
+	motionState->m_worldTransform.setIdentity();
+//	motionState->m_worldTransform.setOrigin(SimdVector3(position[0],position[1],position[2]));
+
+	CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
+
+
+	return sphereController;
+}
+	

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

@@ -48,7 +48,11 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 	SimdVector3 m_gravity;
 	
 	IDebugDraw*	m_debugDrawer;
+	//solver iterations
 	int	m_numIterations;
+	
+	//timestep subdivisions
+	int	m_numTimeSubSteps;
 	int	m_ccdMode;
 	int	m_solverType;
 	int	m_profileTimings;
@@ -74,6 +78,10 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		}
 
 		virtual void		setNumIterations(int numIter);
+		virtual void		setNumTimeSubSteps(int numTimeSubSteps)
+		{
+			m_numTimeSubSteps = numTimeSubSteps;
+		}
 		virtual void		setDeactivationTime(float dTime);
 		virtual	void		setDeactivationLinearTreshold(float linTresh) ;
 		virtual	void		setDeactivationAngularTreshold(float angTresh) ;
@@ -131,8 +139,10 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		virtual void removeSensor(PHY_IPhysicsController* ctrl);
 		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
 		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
-		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;};
-		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight){ return 0;};
+		virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl);
+
+		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
+		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
 	
 
 		virtual int	getNumContactPoints();

source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp

@@ -85,8 +85,24 @@
 
 static BlendFileData *load_game_data(char *filename) {
 	BlendReadError error;
-	BlendFileData *bfd= BLO_read_from_file(filename, &error);
-	
+	//this doesn't work anymore for relative paths, so use BLO_read_from_memory instead
+	//BlendFileData *bfd= BLO_read_from_file(filename, &error);
+	FILE* file = fopen(filename,"rb");
+	BlendFileData *bfd  = 0;
+	if (file)
+	{
+		fseek(file, 0L, SEEK_END);
+		int len= ftell(file);
+		fseek(file, 0L, SEEK_SET);	
+		char* filebuffer= new char[len];//MEM_mallocN(len, "text_buffer");
+		int sizeread = fread(filebuffer,len,1,file);
+		if (sizeread==1)
+		{
+			bfd = BLO_read_from_memory(filebuffer, len, &error);
+		}
+		fclose(file);
+	}
+
 	if (!bfd) {
 		printf("Loading %s failed: %s\n", filename, BLO_bre_as_string(error));
 	}
@@ -96,17 +112,17 @@ static BlendFileData *load_game_data(char *filename) {
 
 extern "C" void StartKetsjiShell(struct ScrArea *area,
 								 char* scenename,
-								 struct Main* maggie,
+								 struct Main* maggie1,
 								 struct SpaceIpo *sipo,
 								 int always_use_expand_framing)
 {
 	int exitrequested = KX_EXIT_REQUEST_NO_REQUEST;
 	
-	Main* blenderdata = maggie;
+	Main* blenderdata = maggie1;
 
 	char* startscenename = scenename;
 	char pathname[160];
-	strcpy (pathname, maggie->name);
+	strcpy (pathname, blenderdata->name);
 	STR_String exitstring = "";
 	BlendFileData *bfd= NULL;
 
@@ -257,8 +273,8 @@ extern "C" void StartKetsjiShell(struct ScrArea *area,
 		Scene *blscene = NULL;
 		if (!bfd)
 		{
-			blscene = (Scene*) maggie->scene.first;
-			for (Scene *sce= (Scene*) maggie->scene.first; sce; sce= (Scene*) sce->id.next)
+			blscene = (Scene*) blenderdata->scene.first;
+			for (Scene *sce= (Scene*) blenderdata->scene.first; sce; sce= (Scene*) sce->id.next)
 			{
 				if (startscenename == (sce->id.name+2))
 				{
@@ -292,7 +308,7 @@ extern "C" void StartKetsjiShell(struct ScrArea *area,
 			}
 			
 			// create a scene converter, create and convert the startingscene
-			KX_ISceneConverter* sceneconverter = new KX_BlenderSceneConverter(maggie,sipo, ketsjiengine);
+			KX_ISceneConverter* sceneconverter = new KX_BlenderSceneConverter(blenderdata,sipo, ketsjiengine);
 			ketsjiengine->SetSceneConverter(sceneconverter);
 			
 			if (always_use_expand_framing)

source/gameengine/Converter/KX_ConvertSensors.cpp

@@ -386,6 +386,11 @@ void BL_ConvertSensors(struct Object* blenderobject,
 					bool bFindMaterial = false;
 					PHY_IPhysicsController* physCtrl = kxscene->GetPhysicsEnvironment()->CreateSphereController(radius,pos);
 
+					if (isInActiveLayer)
+						kxscene->GetPhysicsEnvironment()->addSensor(physCtrl);
+
+						
+
 					gamesensor = new KX_NearSensor(eventmgr,gameobj,
 						blendernearsensor->dist,
 						blendernearsensor->resetdist,

source/gameengine/GameLogic/SCA_IScene.h

@@ -53,6 +53,8 @@ public:
 												int lifespan=0)=0;
 	virtual void	RemoveObject(class CValue* gameobj)=0;
 	virtual void	DelayedRemoveObject(class CValue* gameobj)=0;
+	virtual void	DelayedReleaseObject(class CValue* gameobj)=0;
+	
 	virtual void	ReplaceMesh(class CValue* gameobj,
 								void* meshobj)=0;
 	std::vector<SCA_DebugProp*>& GetDebugProperties();

source/gameengine/Ketsji/KX_NearSensor.cpp

@@ -80,7 +80,10 @@ KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr,
 
 void KX_NearSensor::RegisterSumo(KX_TouchEventManager *touchman)
 {
-	touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl);
+	if (m_physCtrl)
+	{
+		touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl);
+	}
 }
 
 CValue* KX_NearSensor::GetReplica()
@@ -96,7 +99,18 @@ CValue* KX_NearSensor::GetReplica()
 	
 	replica->m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::NEAR);
 	
-	replica->m_physCtrl = replica->m_physCtrl->GetReplica();
+	if (replica->m_physCtrl)
+	{
+		replica->m_physCtrl = replica->m_physCtrl->GetReplica();
+		if (replica->m_physCtrl)
+		{
+			//static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->addSensor(replica->m_physCtrl);
+			replica->m_physCtrl->SetMargin(m_Margin);
+			replica->m_physCtrl->setNewClientInfo(replica->m_client_info);
+		}
+		
+	}
+	//static_cast<KX_TouchEventManager*>(m_eventmgr)->RegisterSensor(this);
 	//todo: make sure replication works fine
 	//>m_sumoObj = new SM_Object(DT_NewSphere(0.0),NULL,NULL,NULL);
 	//replica->m_sumoObj->setMargin(m_Margin);
@@ -111,11 +125,21 @@ CValue* KX_NearSensor::GetReplica()
 
 void KX_NearSensor::ReParent(SCA_IObject* parent)
 {
+
 	SCA_ISensor::ReParent(parent);
 	
 	m_client_info->m_gameobject = static_cast<KX_GameObject*>(parent); 
 	m_client_info->m_sensors.push_back(this);
 	
+
+/*	KX_ClientObjectInfo *client_info = gameobj->getClientInfo();
+	client_info->m_gameobject = gameobj;
+	client_info->m_auxilary_info = NULL;
+	
+	client_info->m_sensors.push_back(this);
+	SCA_ISensor::ReParent(parent);
+*/
+
 	SynchronizeTransform();
 }
 
@@ -127,10 +151,11 @@ KX_NearSensor::~KX_NearSensor()
 	// for touchsensor, it's the parent
 	if (m_physCtrl)
 	{
-		static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->removeSensor(m_physCtrl);
+		//static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->removeSensor(m_physCtrl);
 		delete m_physCtrl;
 		m_physCtrl = NULL;
 	}
+	
 		
 	if (m_client_info)
 		delete m_client_info;

source/gameengine/Ketsji/KX_PyConstraintBinding.cpp

@@ -53,6 +53,9 @@ static char gPySetGravity__doc__[] = "setGravity(float x,float y,float z)";
 static char gPySetDebugMode__doc__[] = "setDebugMode(int mode)";
 
 static char gPySetNumIterations__doc__[] = "setNumIterations(int numiter) This sets the number of iterations for an iterative constraint solver";
+static char gPySetNumTimeSubSteps__doc__[] = "setNumTimeSubSteps(int numsubstep) This sets the number of substeps for each physics proceed. Tradeoff quality for performance.";
+
+
 static char gPySetDeactivationTime__doc__[] = "setDeactivationTime(float time) This sets the time after which a resting rigidbody gets deactived";
 static char gPySetDeactivationLinearTreshold__doc__[] = "setDeactivationLinearTreshold(float linearTreshold)";
 static char gPySetDeactivationAngularTreshold__doc__[] = "setDeactivationAngularTreshold(float angularTreshold)";
@@ -106,6 +109,24 @@ static PyObject* gPySetDebugMode(PyObject* self,
 	Py_INCREF(Py_None); return Py_None;
 }
 
+
+
+static PyObject* gPySetNumTimeSubSteps(PyObject* self,
+										 PyObject* args, 
+										 PyObject* kwds)
+{
+	int substep;
+	if (PyArg_ParseTuple(args,"i",&substep))
+	{
+		if (PHY_GetActiveEnvironment())
+		{
+			PHY_GetActiveEnvironment()->setNumTimeSubSteps(substep);
+		}
+	}
+	Py_INCREF(Py_None); return Py_None;
+}
+
+
 static PyObject* gPySetNumIterations(PyObject* self,
 										 PyObject* args, 
 										 PyObject* kwds)
@@ -411,6 +432,9 @@ static struct PyMethodDef physicsconstraints_methods[] = {
   {"setNumIterations",(PyCFunction) gPySetNumIterations,
    METH_VARARGS, gPySetNumIterations__doc__},
 
+   {"setNumTimeSubSteps",(PyCFunction) gPySetNumTimeSubSteps,
+   METH_VARARGS, gPySetNumTimeSubSteps__doc__},
+
   {"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
    METH_VARARGS, gPySetDeactivationTime__doc__},
 

source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp

@@ -318,7 +318,11 @@ void	KX_SCA_AddObjectActuator::InstantAddObject()
 
 		// keep a copy of the last object, to allow python scripters to change it
 		if (m_lastCreatedObject)
+		{
+			//careful with destruction, it might still have outstanding collision callbacks
+			m_scene->DelayedReleaseObject(m_lastCreatedObject);
 			m_lastCreatedObject->Release();
+		}
 		
 		m_lastCreatedObject = replica;
 		m_lastCreatedObject->AddRef();

source/gameengine/Ketsji/KX_Scene.cpp

@@ -125,6 +125,7 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
 	m_parentlist = new CListValue();
 	m_lightlist= new CListValue();
 	m_euthanasyobjects = new CListValue();
+	m_delayReleaseObjects = new CListValue();
 
 	m_logicmgr = new SCA_LogicManager();
 	
@@ -193,6 +194,8 @@ KX_Scene::~KX_Scene()
 
 	if (m_euthanasyobjects)
 		m_euthanasyobjects->Release();
+	if (m_delayReleaseObjects)
+		m_delayReleaseObjects->Release();
 
 	if (m_logicmgr)
 		delete m_logicmgr;
@@ -654,8 +657,13 @@ void KX_Scene::RemoveObject(class CValue* gameobj)
 		// recursively destruct
 		node->Destruct();
 	}
+	newobj->SetSGNode(0);
 }
 
+void KX_Scene::DelayedReleaseObject(CValue* gameobj)
+{
+	m_delayReleaseObjects->Add(gameobj->AddRef());
+}
 
 
 void KX_Scene::DelayedRemoveObject(class CValue* gameobj)
@@ -1087,12 +1095,22 @@ void KX_Scene::LogicEndFrame()
 {
 	m_logicmgr->EndFrame();
 	int numobj = m_euthanasyobjects->GetCount();
-
-	for (int i = numobj - 1; i >= 0; i--)
+	int i;
+	for (i = numobj - 1; i >= 0; i--)
 	{
 		KX_GameObject* gameobj = (KX_GameObject*)m_euthanasyobjects->GetValue(i);
 		this->RemoveObject(gameobj);
 	}
+
+	numobj=	m_delayReleaseObjects->GetCount();
+	for (i = numobj-1;i>=0;i--)
+	{
+		KX_GameObject* gameobj = (KX_GameObject*)m_delayReleaseObjects->GetValue(i);
+		m_delayReleaseObjects->RemoveValue(gameobj);	
+		
+	}
+	
+
 }
 
 

source/gameengine/Ketsji/KX_Scene.h

@@ -101,6 +101,11 @@ protected:
 	 * LogicEndFrame() via a call to RemoveObject().
 	 */
 	CListValue*	m_euthanasyobjects;
+	/**
+	* The list of objects that couldn't be released during logic update.
+	* for example, AddObject actuator sometimes releases an object that was cached from previous frame
+	*/
+	CListValue*	m_delayReleaseObjects;
 
 	CListValue*			m_objectlist;
 	CListValue*			m_parentlist; // all 'root' parents
@@ -288,6 +293,9 @@ public:
 								  CValue* gameobj);
 	void RemoveObject(CValue* gameobj);
 	void DelayedRemoveObject(CValue* gameobj);
+	
+	void DelayedReleaseObject(CValue* gameobj);
+
 	void NewRemoveObject(CValue* gameobj);
 	void ReplaceMesh(CValue* gameobj,
 					 void* meshobj);

source/gameengine/Physics/Bullet/CcdPhysicsController.cpp

@@ -23,6 +23,9 @@ subject to the following restrictions:
 #include "CcdPhysicsEnvironment.h"
 #include "SimdTransformUtil.h"
 
+#include "CollisionShapes/SphereShape.h"
+#include "CollisionShapes/ConeShape.h"
+
 class BP_Proxy;
 
 ///todo: fill all the empty CcdPhysicsController methods, hook them up to the RigidBody class
@@ -486,3 +489,96 @@ bool CcdPhysicsController::wantsSleeping()
 	return false;
 }
 
+PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
+{
+	//very experimental, shape sharing is not implemented yet.
+	//just support SphereShape/ConeShape for now
+
+	CcdConstructionInfo cinfo = m_cci;
+	if (cinfo.m_collisionShape)
+	{
+		switch (cinfo.m_collisionShape->GetShapeType())
+		{
+		case SPHERE_SHAPE_PROXYTYPE:
+			{
+				SphereShape* orgShape = (SphereShape*)cinfo.m_collisionShape;
+				cinfo.m_collisionShape = new SphereShape(*orgShape);
+				break;
+			}
+
+			case CONE_SHAPE_PROXYTYPE:
+			{
+				ConeShape* orgShape = (ConeShape*)cinfo.m_collisionShape;
+				cinfo.m_collisionShape = new ConeShape(*orgShape);
+				break;
+			}
+
+
+		default:
+			{
+				return 0;
+			}
+		}
+	}
+
+	cinfo.m_MotionState = new DefaultMotionState();
+
+	CcdPhysicsController* replica = new CcdPhysicsController(cinfo);
+	return replica;
+}
+
+///////////////////////////////////////////////////////////
+///A small utility class, DefaultMotionState
+///
+///////////////////////////////////////////////////////////
+
+DefaultMotionState::DefaultMotionState()
+{
+	m_worldTransform.setIdentity();
+}
+
+
+DefaultMotionState::~DefaultMotionState()
+{
+
+}
+
+void	DefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
+{
+	posX = m_worldTransform.getOrigin().x();
+	posY = m_worldTransform.getOrigin().y();
+	posZ = m_worldTransform.getOrigin().z();
+}
+
+void	DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
+{
+	scaleX = 1.;
+	scaleY = 1.;
+	scaleZ = 1.;
+}
+
+void	DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
+{
+	quatIma0 = m_worldTransform.getRotation().x();
+	quatIma1 = m_worldTransform.getRotation().y();
+	quatIma2 = m_worldTransform.getRotation().z();
+	quatReal = m_worldTransform.getRotation()[3];
+}
+		
+void	DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
+{
+	SimdPoint3 pos(posX,posY,posZ);
+	m_worldTransform.setOrigin( pos );
+}
+
+void	DefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
+{
+	SimdQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
+	m_worldTransform.setRotation( orn );
+}
+		
+void	DefaultMotionState::calculateWorldTransformations()
+{
+
+}
+

source/gameengine/Physics/Bullet/CcdPhysicsController.h

@@ -27,6 +27,7 @@ subject to the following restrictions:
 #include "SimdTransform.h"
 #include "Dynamics/RigidBody.h"
 
+#include "PHY_IMotionState.h"
 
 #include "BroadphaseCollision/BroadphaseProxy.h" //for CollisionShape access
 class CollisionShape;
@@ -155,7 +156,8 @@ class CcdPhysicsController : public PHY_IPhysicsController
 		// clientinfo for raycasts for example
 		virtual	void*				getNewClientInfo();
 		virtual	void				setNewClientInfo(void* clientinfo);
-		virtual PHY_IPhysicsController*	GetReplica() {return 0;}
+		virtual PHY_IPhysicsController*	GetReplica();
+		
 
 		virtual void	calcXform() {} ;
 		virtual void SetMargin(float margin) {};
@@ -184,4 +186,30 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 };
 
+
+
+
+///DefaultMotionState implements standard motionstate, using SimdTransform
+class	DefaultMotionState : public PHY_IMotionState
+
+{
+	public:
+		DefaultMotionState();
+
+		virtual ~DefaultMotionState();
+
+		virtual void	getWorldPosition(float& posX,float& posY,float& posZ);
+		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
+		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
+		
+		virtual void	setWorldPosition(float posX,float posY,float posZ);
+		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
+		
+		virtual	void	calculateWorldTransformations();
+		
+		SimdTransform	m_worldTransform;
+
+};
+
+
 #endif //BULLET2_PHYSICSCONTROLLER_H

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

@@ -29,6 +29,10 @@ subject to the following restrictions:
 #include "CollisionDispatch/CollisionWorld.h"
 
 #include "CollisionShapes/ConvexShape.h"
+#include "CollisionShapes/ConeShape.h"
+
+
+
 #include "BroadphaseCollision/Dispatcher.h"
 #include "NarrowPhaseCollision/PersistentManifold.h"
 #include "CollisionShapes/TriangleMeshShape.h"
@@ -321,6 +325,7 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
 CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
 :m_scalingPropagated(false),
 m_numIterations(10),
+m_numTimeSubSteps(1),
 m_ccdMode(0),
 m_solverType(-1),
 m_profileTimings(0),
@@ -342,9 +347,9 @@ m_enableSatCollisionDetection(false)
 		SimdVector3 worldMin(-10000,-10000,-10000);
 		SimdVector3 worldMax(10000,10000,10000);
 
-		//broadphase = new AxisSweep3(worldMin,worldMax);
+		broadphase = new AxisSweep3(worldMin,worldMax);
 
-		broadphase = new SimpleBroadphase();
+		//broadphase = new SimpleBroadphase();
 	}
 
 
@@ -498,6 +503,8 @@ void	CcdPhysicsEnvironment::beginFrame()
 
 bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 {
+	//printf("proceedDeltaTime\n");
+	
 
 #ifdef USE_QUICKPROF
 	//toggle Profiler
@@ -529,16 +536,37 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	if (!SimdFuzzyZero(timeStep))
 	{
 		
+		{
+			//do the kinematic calculation here, over the full timestep
+			std::vector<CcdPhysicsController*>::iterator i;
+			for (i=m_controllers.begin();
+						!(i==m_controllers.end()); i++)
+			{
 
-		// define this in blender, the stepsize is 30 hertz, 60 hertz works much better 
-//#define SPLIT_TIMESTEP 1
+						CcdPhysicsController* ctrl = *i;
 
-#ifdef SPLIT_TIMESTEP
-		proceedDeltaTimeOneStep(0.5f*timeStep);
-		proceedDeltaTimeOneStep(0.5f*timeStep);
-#else		
-		proceedDeltaTimeOneStep(timeStep);
-#endif
+						SimdTransform predictedTrans;
+						RigidBody* body = ctrl->GetRigidBody();
+						if (body->GetActivationState() != ISLAND_SLEEPING)
+						{
+
+							if (body->IsStatic())
+							{
+								//to calculate velocities next frame
+								body->saveKinematicState(timeStep);
+							}
+						}
+			}
+		}
+
+
+		int i;
+		float subTimeStep = timeStep / float(m_numTimeSubSteps);
+
+		for (i=0;i<this->m_numTimeSubSteps;i++)
+		{
+			proceedDeltaTimeOneStep(subTimeStep);
+		}
 	} else
 	{
 		//todo: interpolate
@@ -564,7 +592,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 {
 
 
-	//	printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
+	//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
 
 	if (SimdFuzzyZero(timeStep))
 		return true;
@@ -812,11 +840,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 					if (body->GetActivationState() != ISLAND_SLEEPING)
 					{
 
-						if (body->IsStatic())
-						{
-							//to calculate velocities next frame
-							body->saveKinematicState(timeStep);
-						} else
+						if (!body->IsStatic())
 						{
 							body->predictIntegratedTransform(timeStep*	toi, predictedTrans);
 							body->proceedToTransform( predictedTrans);
@@ -1393,10 +1417,34 @@ TypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
 
 void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 {
+
+	CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl;
+	std::vector<CcdPhysicsController*>::iterator i =
+		std::find(m_controllers.begin(), m_controllers.end(), ctrl);
+	if ((i == m_controllers.end()))
+	{
+		addCcdPhysicsController(ctrl1);
+	}
+
+	requestCollisionCallback(ctrl);
 	//printf("addSensor\n");
 }
+
+void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
+{
+	std::vector<CcdPhysicsController*>::iterator i =
+		std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
+	if (!(i == m_triggerControllers.end()))
+	{
+		std::swap(*i, m_triggerControllers.back());
+		m_triggerControllers.pop_back();
+	}
+}
+
+
 void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
 {
+	removeCollisionCallback(ctrl);
 	//printf("removeSensor\n");
 }
 void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
@@ -1585,3 +1633,41 @@ void	CcdPhysicsEnvironment::UpdateAabbs(float	timeStep)
 				}
 			}
 }
+
+PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
+{
+	
+	CcdConstructionInfo	cinfo;
+	cinfo.m_collisionShape = new SphereShape(radius);
+	cinfo.m_MotionState = 0;
+	cinfo.m_physicsEnv = this;
+	cinfo.m_collisionFlags |= CollisionObject::noContactResponse;
+	DefaultMotionState* motionState = new DefaultMotionState();
+	cinfo.m_MotionState = motionState;
+	motionState->m_worldTransform.setIdentity();
+	motionState->m_worldTransform.setOrigin(SimdVector3(position[0],position[1],position[2]));
+
+	CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
+	
+
+	return sphereController;
+}
+
+
+PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
+{
+	CcdConstructionInfo	cinfo;
+	cinfo.m_collisionShape = new ConeShape(coneradius,coneheight);
+	cinfo.m_MotionState = 0;
+	cinfo.m_physicsEnv = this;
+	DefaultMotionState* motionState = new DefaultMotionState();
+	cinfo.m_MotionState = motionState;
+	motionState->m_worldTransform.setIdentity();
+//	motionState->m_worldTransform.setOrigin(SimdVector3(position[0],position[1],position[2]));
+
+	CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
+
+
+	return sphereController;
+}
+	

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h

@@ -48,7 +48,11 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 	SimdVector3 m_gravity;
 	
 	IDebugDraw*	m_debugDrawer;
+	//solver iterations
 	int	m_numIterations;
+	
+	//timestep subdivisions
+	int	m_numTimeSubSteps;
 	int	m_ccdMode;
 	int	m_solverType;
 	int	m_profileTimings;
@@ -74,6 +78,10 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		}
 
 		virtual void		setNumIterations(int numIter);
+		virtual void		setNumTimeSubSteps(int numTimeSubSteps)
+		{
+			m_numTimeSubSteps = numTimeSubSteps;
+		}
 		virtual void		setDeactivationTime(float dTime);
 		virtual	void		setDeactivationLinearTreshold(float linTresh) ;
 		virtual	void		setDeactivationAngularTreshold(float angTresh) ;
@@ -131,8 +139,10 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 		virtual void removeSensor(PHY_IPhysicsController* ctrl);
 		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
 		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
-		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;};
-		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight){ return 0;};
+		virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl);
+
+		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
+		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
 	
 
 		virtual int	getNumContactPoints();

source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h

@@ -57,6 +57,8 @@ class PHY_IPhysicsEnvironment
 		virtual void		setDebugMode(int debugMode) {}
 		///setNumIterations set the number of iterations for iterative solvers
 		virtual void		setNumIterations(int numIter) {}
+		///setNumTimeSubSteps set the number of divisions of the timestep. Tradeoff quality versus performance.
+		virtual void		setNumTimeSubSteps(int numTimeSubSteps){}
 		///setDeactivationTime sets the minimum time that an objects has to stay within the velocity tresholds until it gets fully deactivated
 		virtual void		setDeactivationTime(float dTime) {}
 		///setDeactivationLinearTreshold sets the linear velocity treshold, see setDeactivationTime

source/gameengine/SceneGraph/SG_Node.cpp

@@ -186,6 +186,9 @@ void SG_Node::RemoveChild(SG_Node* child)
 
 void SG_Node::UpdateWorldData(double time)
 {
+	//if (!GetSGParent())
+	//	return;
+
 	if (UpdateSpatialData(GetSGParent(),time))
 		ActivateUpdateTransformCallback();