Initial bullet physics support

12 files changed, 718 insertions, 100 deletions

diff --git a/configure.in b/configure.in
index 74551a2..a66fb24 100644
--- a/configure.in
+++ b/configure.in
@@ -229,6 +229,52 @@ AC_SUBST(CURSES_CFLAGS)
 AC_SUBST(CURSES_LIBS)
 
 dnl ----------------------------------------------------------------
+dnl bullet
+dnl
+
+HAVE_BULLET=no
+
+AC_ARG_WITH(bullet,
+        AC_HELP_STRING([--with-bullet=DIR],
+                [use the bullet physics library in DIR (read the documentation)]
+        )
+)
+
+if test "x${with_bullet}" != "xno"; then
+	save_CPPFLAGS="$CPPFLAGS"
+	save_LDFLAGS="$LDFLAGS"
+
+	AC_MSG_CHECKING(for bullet directory)
+
+	BULLET_DIR="/usr/local"
+	if test "x${with_bullet}" != "x"; then
+		BULLET_DIR="${with_bullet}"
+	fi
+	AC_MSG_RESULT([$BULLET_DIR])
+
+	BULLET_CFLAGS="-I${BULLET_DIR}/include/bullet"
+	BULLET_LIBS="-L${BULLET_DIR}/lib"
+
+	CPPFLAGS="$save_CPPFLAGS $BULLET_CFLAGS"
+	LDFLAGS="$save_LDFLAGS $BULLET_LIBS"
+
+	AC_CHECK_HEADER(btBulletDynamicsCommon.h,
+		AC_DEFINE(HAVE_BULLET, yes, [Define this if you have the bullet physics library])
+		BULLET_LIBS="$BULLET_LIBS -lbulletmath -lbulletdynamics -lbulletcollision"
+		HAVE_BULLET="yes",
+		BULLET_LIBS=""
+		BULLET_CFLAGS=""
+		HAVE_BULLET="no"
+	)
+
+	CPPFLAGS="$save_CPPFLAGS"
+	LDFLAGS="$save_LDFLAGS"
+fi
+
+AC_SUBST(BULLET_CFLAGS)
+AC_SUBST(BULLET_LIBS)
+
+dnl ----------------------------------------------------------------
 dnl zlib
 dnl
 
@@ -392,6 +438,9 @@ fi
 CXXFLAGS="-pipe $DEBUG_CFLAGS $WARN_CFLAGS $CXXFLAGS"
 AC_SUBST(CXXFLAGS)
 
+CPPFLAGS="$CPPFLAGS $BULLET_CFLAGS"
+AC_SUBST(CPPFLAGS)
+
 dnl ---------------------------------------------------------------
 dnl   Installation paths
 
@@ -442,20 +491,27 @@ AC_MSG_RESULT([
 Project::OSiRiON $VERSION
 
 Configuration summary:
-	platform ........... $host
-	flags .............. $CXXFLAGS
-	libraries .......... $HOST_LIBS $LIBJPG_LIBS $LIBPNG_LIBS
-	curses ............. $HAVE_CURSES
-	build client ....... $BUILD_CLIENT
-	SDL .................$LIBSDL_LIBS
-	opengl ............. $GL_LIBS
-	openal ............. $AL_LIBS
 
+platform ........... $host
+flags .............. $CPPFLAGS $CXXFLAGS
+libraries .......... $HOST_LIBS $LIBJPG_LIBS $LIBPNG_LIBS $CURSES_LIBS $BULLET_LIBS
+curses ............. $HAVE_CURSES
+bullet ............. $HAVE_BULLET
+build client ....... $BUILD_CLIENT])
+
+if test "x$BUILD_CLIENT" = xyes; then
+AC_MSG_RESULT([SDL .................$LIBSDL_LIBS
+opengl ............. $GL_LIBS
+openal ............. $AL_LIBS])
+fi
+
+AC_MSG_RESULT([
 Installation directories:
-	installation type .. $INSTALLTYPE
-	prefix ............. $prefix
-	binaries ........... $bindir
-	documentation ...... $docdir
-	game data .......... $PACKAGE_DATADIR
+
+installation type .. $INSTALLTYPE
+prefix ............. $prefix
+binaries ........... $bindir
+documentation ...... $docdir
+game data .......... $PACKAGE_DATADIR
 ])
 
diff --git a/doc/installation.html b/doc/installation.html
index 8f66113..7640057 100644
--- a/doc/installation.html
+++ b/doc/installation.html
@@ -173,7 +173,34 @@ svn co svn://intranifty.no-ip.org/osirion osirion
 	<a href="http://ingar.satgnu.net/osirion/files/osirion-src-latest.tar.bz2">osirion-src-latest.tar.bz2</a>
 </p>
 </div>
-
+<div class="subtitle">
+	Bullet physics support
+</div>
+<div class="text">
+<p>
+	Experimental support for the <a href="http://www.bulletphysics.com/wordpress/">Bullet Physics Library</a>
+	is under development. You can download the source code here:<br>
+	<a href="http://code.google.com/p/bullet/downloads/list">http://code.google.com/p/bullet/downloads/list</a>
+</p>
+<p>
+	To download and install the library:
+<div class="code">
+wget http://bullet.googlecode.com/files/bullet-2.75-rc3.tgz<br>
+tar zxvf bullet-2.75-rc3.tgz<br>
+cd bullet-2.75-rc3<br>
+./autogen.sh<br>
+./configure --prefix=/usr/local<br>
+make<br>
+sudo make install<br>
+sudo install --mode=644 src/BulletDynamics/Dynamics/btActionInterface.h /usr/local/include/bullet/BulletDynamics/Dynamics
+</div>
+</p>
+<p>
+	The osirion configure script will automaticly detect the bullet library in <i>/usr/local</i>.
+	If you use a different prefix, like <i>/opt/bullet</i>, you will have to call the osirion
+	configure script using the <i>--with-bullet=/opt/bullet</i> option.
+</p>
+</div>
 <div class="subtitle">
       Compiling the source code
 </div>
diff --git a/osirion.kdevelop b/osirion.kdevelop
index 45c0f6b..4872ec6 100644
--- a/osirion.kdevelop
+++ b/osirion.kdevelop
@@ -21,7 +21,7 @@
   </general>
   <kdevautoproject>
     <general>
-      <activetarget>src/core/libcore.la</activetarget>
+      <activetarget>src/game/base/libbase.la</activetarget>
       <useconfiguration>debug</useconfiguration>
     </general>
     <run>
diff --git a/src/Makefile.am b/src/Makefile.am
index 085f15f..ede200f 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -4,7 +4,7 @@ SUFFIXES = .rc
 .rc.o:
 	windres $< -o $@
 
-SUBDIRS = auxiliary sys filesystem math model core dedicated audio render ui \
+SUBDIRS = auxiliary math sys filesystem model core dedicated render ui audio \
 	client game
 
 noinst_HEADERS = config.h
@@ -26,7 +26,8 @@ osiriond_LDADD = $(top_builddir)/src/auxiliary/libauxiliary.la \
 	$(top_builddir)/src/core/libcore.la $(top_builddir)/src/filesystem/libfilesystem.la \
 	$(top_builddir)/src/game/libgame.la \
 	$(top_builddir)/src/model/libmodel.la $(top_builddir)/src/dedicated/libdedicated.la \
-	$(top_builddir)/src/math/libmath.la $(top_builddir)/src/sys/libsys.la $(HOST_LIBS) $(ICON_SERVER) $(CURSES_LIBS)
+	$(top_builddir)/src/math/libmath.la $(top_builddir)/src/sys/libsys.la \
+	$(HOST_LIBS) $(BULLET_LIBS) $(CURSES_LIBS) $(ICON_SERVER)
 
 # client
 osirion_SOURCES = osirion.cc
@@ -42,6 +43,6 @@ osirion_LDADD = $(top_builddir)/src/game/libgame.la $(top_builddir)/src/ui/libui
 	$(top_builddir)/src/filesystem/libfilesystem.la $(top_builddir)/src/model/libmodel.la \
 	$(top_builddir)/src/math/libmath.la $(top_builddir)/src/auxiliary/libauxiliary.la \
 	$(top_builddir)/src/filesystem/libfilesystem.la $(top_builddir)/src/sys/libsys.la \
-	$(top_builddir)/src/auxiliary/libauxiliary.la \
-	$(AL_LIBS) $(GL_LIBS) $(HOST_LIBS) $(LIBPNG_LIBS) $(LIBJPG_LIBS) $(ICON_CLIENT) $(SDLMAIN)
+	$(top_builddir)/src/auxiliary/libauxiliary.la $(AL_LIBS) $(GL_LIBS) $(HOST_LIBS) \
+	$(LIBPNG_LIBS) $(LIBJPG_LIBS) $(BULLET_LIBS) $(SDLMAIN) $(ICON_CLIENT)
 osirion_LDFLAGS = $(LIBSDL_LIBS)
diff --git a/src/game/base/Makefile.am b/src/game/base/Makefile.am
index 74b5d74..d2dfe64 100644
--- a/src/game/base/Makefile.am
+++ b/src/game/base/Makefile.am
@@ -2,7 +2,8 @@ INCLUDES = -I$(top_srcdir)/src -I$(top_srcdir)/src/game
 METASOURCES = AUTO
 libbase_la_LDFLAGS = -avoid-version
 noinst_LTLIBRARIES = libbase.la
-libbase_la_SOURCES = game.cc collision.cc jumppoint.cc navpoint.cc planet.cc racetrack.cc \
-	ship.cc shipdealer.cc shipmodel.cc star.cc station.cc
-noinst_HEADERS = game.h collision.h jumppoint.h navpoint.h planet.h racetrack.h ship.h \
-	shipdealer.h shipmodel.h star.h station.h
+libbase_la_SOURCES = collision.cc game.cc jumppoint.cc navpoint.cc physics.cc \
+	planet.cc racetrack.cc ship.cc shipdealer.cc shipmodel.cc star.cc station.cc
+noinst_HEADERS = game.h collision.h jumppoint.h navpoint.h physics.h planet.h \
+	racetrack.h ship.h shipdealer.h shipmodel.h star.h station.h
+
diff --git a/src/game/base/game.cc b/src/game/base/game.cc
index 4128af8..441e080 100644
--- a/src/game/base/game.cc
+++ b/src/game/base/game.cc
@@ -52,7 +52,6 @@ core::Cvar *Game::g_impulsespeed = 0;
 core::Cvar *Game::g_impulseacceleration = 0;
 core::Cvar *Game::g_jumppointrange = 0;
 core::Cvar *Game::g_devel = 0;
-core::Cvar *Game::g_collision = 0;
 
 core::Module *factory()
 {
@@ -235,10 +234,13 @@ void Game::func_launch(core::Player *player, std::string const &args)
 
 	assert(player->view()->zone() == player->control()->zone());
 	
+	Ship *ship = static_cast<Ship *>(player->control());
+	ship->shutdown_physics();
 	core::Entity *dock = player->view();
-	player->control()->entity_location.assign(dock->location() + (dock->axis().forward() * (player->control()->radius()+ dock->radius())*2.0f));
-	player->control()->entity_axis.assign(dock->axis());
-	player->control()->set_state(core::Entity::Normal);
+	ship->entity_location.assign(dock->location() + (dock->axis().forward() * (player->control()->radius()+ dock->radius())));
+	ship->entity_axis.assign(dock->axis());
+	ship->set_state(core::Entity::Normal);
+	ship->init_physics(ship->radius());
 	player->set_view(0);
 
 	player->send("^BLaunching from " + dock->name());
@@ -259,7 +261,7 @@ void Game::func_respawn(core::Player *player, std::string const &args)
 	player->control()->set_zone(Default::zone);
 	core::Entity *dock = player->control()->zone()->default_view();
 	if (dock) {
-		player->control()->entity_location.assign(dock->location() + (dock->axis().forward() * ((player->control()->radius()+ dock->radius())*2.0f)));
+		player->control()->entity_location.assign(dock->location() + (dock->axis().forward() * ((player->control()->radius()+ dock->radius()))));
 		player->control()->entity_axis.assign(dock->axis());
 		player->control()->set_state(core::Entity::Docked);
 		player->set_view(dock);
@@ -289,11 +291,18 @@ void Game::func_goto(core::Player *player, const std::string &args)
 		return;
 
 	core::Entity *dock = player->control()->zone()->search_entity(args);
+	Ship *ship = static_cast<Ship *>(player->control());
+
 	if (dock) {
-		player->control()->entity_location.assign(dock->location() + (dock->axis().forward() * (player->control()->radius()+dock->radius())*2.0f));
-		player->control()->entity_axis.assign(dock->axis());
-		player->control()->entity_axis.change_direction(180.0f);
-		player->control()->set_state(core::Entity::Normal);
+		ship->shutdown_physics();
+
+		ship->entity_location.assign(dock->location() + (dock->axis().forward() * (ship->radius()+dock->radius())));
+		ship->entity_axis.assign(dock->axis());
+		ship->entity_axis.change_direction(180.0f);
+		ship->set_state(core::Entity::Normal);
+
+		ship->init_physics(ship->radius());
+
 		player->set_view(0);
 		player->send("Going to " + dock->name());
 	} else {
@@ -307,6 +316,8 @@ Game::Game() : core::Module("Project::OSiRiON", true)
 {
 	Default::clear();
 	ShipModel::clear();
+	
+	Physics::init();
 
 	if (!load_ships()) {
 		abort();
@@ -371,9 +382,6 @@ Game::Game() : core::Module("Project::OSiRiON", true)
 
 	g_devel = core::Cvar::get("g_devel", "0", core::Cvar::Archive);
 	g_devel->set_info("[bool] enable or disable developer mode");
-
-	g_collision = core::Cvar::get("g_collision", "0", core::Cvar::Archive);
-	g_collision->set_info("[bool] enable or disable collision detection");
 }
 
 Game::~Game()
@@ -384,7 +392,12 @@ Game::~Game()
 	// remove engine core functions
 	core::Func::remove("list_ship");
 
+	// we explicity clear game data to prevent bullet from beeing confused
+	core::game()->clear();
+
 	ShipModel::clear();
+
+	Physics::shutdown();
 }
 
 bool Game::load_world()
@@ -401,7 +414,7 @@ bool Game::load_world()
 
 	con_print << "^BLoading world..." << std::endl;
 
-	core::Zone *zone = 0;
+	PhysicsZone *zone = 0;
 	std::string label;
 
 	while (worldini.getline()) {
@@ -420,7 +433,7 @@ bool Game::load_world()
 
 				if (worldini.got_key_string("zone", label)) {
 					aux::to_label(label);
-					zone = new core::Zone(label);
+					zone = new PhysicsZone(label);
 					core::Zone::add(zone);
 				} else {
 					worldini.unkown_key();
@@ -668,7 +681,13 @@ bool Game::validate_zone(core::Zone *zone)
 			// validate jump gate
 			JumpGate *jumpgate = static_cast<JumpGate *>(entity);
 			jumpgate->validate();
+
 		} else {
+			if (entity->entity_moduletypeid == station_enttype) {
+				Station *station = static_cast<Station *>(entity);
+				station->init_physics(0.0f);
+			}
+
 			if ((entity->flags() & core::Entity::Dockable) == core::Entity::Dockable)
 				load_menus(entity, "zones/" + zone->label() + "/" + entity->label());
 		} 
@@ -929,11 +948,7 @@ void Game::frame(float seconds)
 	if (!running())
 		return;
 
-	// TODO check Module::frame() is execute before are Entity::frame()
-	
-	// collision
-	if (g_collision->value())
-		Collision::frame(seconds);
+	Physics::frame(seconds);
 }
 
 void Game::player_connect(core::Player *player)
diff --git a/src/game/base/physics.cc b/src/game/base/physics.cc
new file mode 100644
index 0000000..e0b6a70
--- /dev/null
+++ b/src/game/base/physics.cc
@@ -0,0 +1,308 @@
+/*
+   base/physics.cc
+   This file is part of the Osirion project and is distributed under
+   the terms of the GNU General Public License version 2.
+*/
+
+#include "base/physics.h"
+#include "base/collision.h"
+#include "base/game.h"
+#include "core/zone.h"
+#include "math/functions.h"
+#include "math/vector3f.h"
+#include "model/vertexarray.h"
+#include "sys/sys.h"
+
+#ifdef HAVE_BULLET
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/Gimpact/btGImpactShape.h"
+#endif
+
+namespace game
+{
+
+/* ---- class ColliderShape ---------------------------------------- */
+
+CollisionShape::Registry CollisionShape::shape_registry;
+
+CollisionShape::CollisionShape(model::Model *model, const bool moving)
+{
+	shape_label.assign(model->name());
+	shape_moving = moving;
+
+#ifdef HAVE_BULLET
+	btGImpactMeshShape *moving_shape = 0;
+	btBvhTriangleMeshShape *static_shape = 0;
+
+	shape_mesh = new btTriangleMesh();
+
+	size_t count = 0;
+
+	model::VertexArray *vertexarray = model::VertexArray::instance();
+
+	// iterate model FragmentGroups
+	for (model::Model::Groups::iterator git = model->groups().begin(); git != model->groups().end(); git++) {
+
+		model::FragmentGroup *group = (*git);
+
+		// FIXME ignore moving parts
+		if (group->type() == model::FragmentGroup::None) {
+
+			// for each fragment
+			for (model::FragmentGroup::iterator fit = group->begin(); fit != group->end(); fit++) {	
+				model::Fragment *fragment = (*fit);
+
+				const size_t index = fragment->index();		
+				const size_t triangle_count = (fragment->structural_size() + fragment->detail_size()) / 3; 
+				
+				// load vertices from the global VertexArray into the bullet shape
+				for (size_t i = 0; i < triangle_count; i++) {
+					float *f = vertexarray->vertex() + index + (i  * 9);
+
+					btVector3 v0(f[0], f[1], f[2]);
+					btVector3 v1(f[3], f[4], f[5]);
+					btVector3 v2(f[6], f[7], f[8]);
+
+					shape_mesh->addTriangle(v0, v1, v2);
+				}
+
+				count += triangle_count;
+			}
+		}
+	}
+
+	if (moving) {
+		moving_shape = new btGImpactMeshShape(shape_mesh);
+		moving_shape->updateBound();
+		moving_shape->postUpdate();
+		shape_bulletshape = moving_shape;
+
+	} else {
+		static_shape = new btBvhTriangleMeshShape(shape_mesh, true, false);
+		shape_bulletshape = static_shape;
+	}
+	
+	
+	con_debug << "  collision data for " << model->name() << ": " << count << " tris " << std::endl;
+#endif
+}
+
+CollisionShape::~CollisionShape()
+{
+	shape_label.clear();
+#ifdef HAVE_BULLET
+	delete shape_bulletshape;
+#endif
+}
+
+void CollisionShape::clear()
+{
+	for (Registry::iterator it = shape_registry.begin(); it != shape_registry.end(); it++) {
+		CollisionShape *shape = (*it);
+		delete shape;
+	}
+	shape_registry.clear();
+}
+
+CollisionShape *CollisionShape::add(model::Model *model, const bool moving)
+{
+	CollisionShape *shape = new CollisionShape(model, moving);
+
+	shape_registry.push_back(shape);
+	return shape;
+}
+
+CollisionShape *CollisionShape::find(model::Model *model, const bool moving)
+{
+	for (Registry::iterator it = shape_registry.begin(); it != shape_registry.end(); it++) {
+		CollisionShape *shape = (*it);
+
+		if ((shape->moving() == moving) && (shape->label().compare(model->name()) == 0)) {
+			return shape;
+		}
+	}
+	return 0;
+}
+
+/* ---- class Physics ---------------------------------------------- */
+
+#ifdef HAVE_BULLET
+
+btDefaultCollisionConfiguration *Physics::configuration;
+btCollisionDispatcher *Physics::dispatcher;
+btSequentialImpulseConstraintSolver *Physics::solver;
+
+void Physics::init()
+{
+	con_print << "^BInitializing bullet physics..." << std::endl;
+
+	configuration = new btDefaultCollisionConfiguration();	
+	dispatcher = new btCollisionDispatcher(configuration);
+	solver = new btSequentialImpulseConstraintSolver;
+	
+}
+
+void Physics::frame(const float seconds)
+{
+	for (core::Zone::Registry::iterator it = core::Zone::registry().begin(); it != core::Zone::registry().end(); it++) {
+		PhysicsZone *bz = static_cast<PhysicsZone *>((*it).second);
+		bz->dynamics_world()->stepSimulation(seconds);
+	}
+}
+
+void Physics::shutdown()
+{
+	con_print << "^BShutting down bullet physics..." << std::endl;
+
+	CollisionShape::clear();
+
+	delete solver;
+	delete dispatcher;
+	delete configuration;
+}
+
+#else
+
+void Physics::init()
+{
+}
+
+void Physics::frame(const float seconds)
+{
+	Collision::frame(seconds);
+}
+
+void Physics::shutdown()
+{
+}
+
+#endif
+
+/* ---- class PhysicsZone ------------------------------------------ */
+
+PhysicsZone::PhysicsZone(const std::string &label) : core::Zone(label)
+{
+#ifdef HAVE_BULLET
+	btVector3 worldAabbMin(-10000,-10000,-10000);
+	btVector3 worldAabbMax(10000,10000,10000);
+	const int maxProxies = 1024;
+	
+	zone_cache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
+	zone_dynamics_world = new btDiscreteDynamicsWorld(Physics::dispatcher, zone_cache, Physics::solver,Physics::configuration);
+
+	// disable gravity
+	zone_dynamics_world->setGravity(btVector3(0.0f, 0.0f, 0.0f));
+#endif
+}
+
+PhysicsZone::~PhysicsZone()
+{
+#ifdef HAVE_BULLET
+	if (zone_cache) {
+		delete zone_cache;
+		zone_cache = 0;
+	}
+
+	if (zone_dynamics_world) {
+		delete zone_dynamics_world;
+		zone_dynamics_world = 0;
+	}
+#endif
+}
+
+/* ---- class PhysicsBody ------------------------------------------ */
+
+PhysicsBody::PhysicsBody(core::Entity *entity)
+{
+	collider_entity = entity;
+	collider_shape = 0;
+	collider_mass = 0;
+#ifdef HAVE_BULLET
+	collider_body = 0;
+#endif
+}
+
+PhysicsBody::~PhysicsBody() 
+{
+#ifdef HAVE_BULLET
+	if (collider_body) {
+		delete collider_body;
+		collider_body = 0;
+	}
+#endif
+}
+
+void PhysicsBody::init_physics(const float mass)
+{
+	collider_mass = mass;
+
+#ifdef HAVE_BULLET
+	bool moving = (mass > 0.0f);
+
+	if (!entity()->model())
+		return;
+
+	if (!collider_shape) {
+		collider_shape = CollisionShape::find(entity()->model(), moving);
+		if (!collider_shape) {
+			collider_shape = CollisionShape::add(entity()->model(), moving);
+
+		}
+	}
+
+	if (!collider_body) {
+		btVector3 inertia(0,0,0);
+
+		btTransform t;
+		t.setIdentity();
+		t.setOrigin(to_btVector3(entity()->location()));
+		t.setBasis(to_btMatrix3x3(entity()->axis()));
+		
+		
+		if (moving) {
+			collider_shape->bullet_shape()->calculateLocalInertia(mass,inertia);
+
+			btMotionState *motionstate = new btDefaultMotionState(t);
+			btRigidBody::btRigidBodyConstructionInfo body_info(mass, motionstate, collider_shape->bullet_shape(), inertia);
+    			collider_body = new btRigidBody(body_info);
+			collider_body->setUserPointer((void *)entity());
+			collider_body->setLinearFactor(btVector3(1,1,1));
+			//collider_body->setCcdMotionThreshold(0.0001f);
+		} else {
+			collider_body = new btRigidBody(mass, 0, collider_shape->bullet_shape(), inertia);
+			collider_body->setWorldTransform(t);
+		}
+	}
+
+	if (entity()->zone()) {
+		PhysicsZone *zone = static_cast<PhysicsZone *>(entity()->zone());
+		zone->dynamics_world()->addRigidBody(collider_body);			
+		if (moving) {
+			//collider_body->setActivationState(ISLAND_SLEEPING);
+			//collider_body->setActivationState(ACTIVE_TAG);
+			//collider_body->activate(true);
+		}
+	}
+#endif
+}
+
+void PhysicsBody::shutdown_physics()
+{
+#ifdef HAVE_BULLET
+	if (collider_body && entity()->zone()) {
+		PhysicsZone *zone = static_cast<PhysicsZone *>(entity()->zone());
+
+		if(collider_body->getMotionState())
+		{
+			delete collider_body->getMotionState();
+		}
+		zone->dynamics_world()->removeCollisionObject(collider_body);
+
+		delete collider_body;
+		collider_body = 0;
+	}
+#endif
+	collider_mass = 0;
+}
+
+}
diff --git a/src/game/base/physics.h b/src/game/base/physics.h
new file mode 100644
index 0000000..37ed1cf
--- /dev/null
+++ b/src/game/base/physics.h
@@ -0,0 +1,166 @@
+/*
+   base/physics.h
+   This file is part of the Osirion project and is distributed under 
+   the terms and conditions of the GNU General Public License version 2 
+*/
+
+#ifndef __INCLUDED_BASE_PHYSICS_H__
+#define __INCLUDED_BASE_PHYSICS_H__
+
+#include "sys/sys.h"
+#include "core/zone.h"
+#include <vector>
+
+#ifdef HAVE_BULLET
+#include "btBulletDynamicsCommon.h"
+#include "BulletCollision/CollisionShapes/btTriangleMesh.h"
+#endif
+
+/*
+
+	This file provides the interface between the osirion game library
+	and the bullet physics library
+
+*/
+
+namespace game {
+
+#ifdef HAVE_BULLET
+/// helper function to convert math:Vector3f to btVector3
+inline btVector3 to_btVector3(const math::Vector3f & v)
+{
+	return btVector3(v[0], v[1], v[2]);
+}
+
+/// helper function to conver math::Axis to btMatrix3x3
+inline btMatrix3x3 to_btMatrix3x3(const math::Axis &a)
+{
+	return btMatrix3x3(a[0][0], a[0][1], a[0][2],
+			a[1][0], a[1][1], a[1][2],
+			a[2][0], a[2][1], a[2][2]);
+};
+#endif
+
+/* ---- class CollisionShape --------------------------------------- */
+
+/// a bullet collision shape
+class CollisionShape {
+public:
+	CollisionShape(model::Model *model, const bool moving);
+
+	~CollisionShape();
+
+	inline const std::string &label() const { return shape_label; }
+
+	inline const bool moving() const { return shape_moving; }
+
+#ifdef HAVE_BULLET
+	inline btCollisionShape *bullet_shape() { return shape_bulletshape; }
+#endif
+
+/* ----- static functions for the shape registry ------------------- */
+
+	/// tpye definition for the collision shape registry
+	typedef std::vector<CollisionShape *> Registry;
+
+	static void clear();
+
+	static CollisionShape *add(model::Model *model, const bool moving);
+
+	static CollisionShape *find(model::Model *model, const bool moving);
+
+private:
+	std::string shape_label;
+	bool shape_moving;
+
+#ifdef HAVE_BULLET
+	btCollisionShape *shape_bulletshape;
+	btTriangleMesh *shape_mesh;
+#endif
+
+	/// collision shape registry
+	static Registry shape_registry;
+};
+
+/* ---- class Physics ---------------------------------------------- */
+
+/// main physics functions
+class Physics {
+public:
+	/// intialize world physics
+	static void init();
+
+	/// run a world physics frame
+	static void frame(const float elapsed);
+
+	/// shutdown world physics
+	static void shutdown();
+
+#ifdef HAVE_BULLET
+	static btDefaultCollisionConfiguration *configuration;
+
+	static btCollisionDispatcher *dispatcher;
+
+	static btSequentialImpulseConstraintSolver *solver;
+#endif
+};
+
+/* ---- class PhysicsZone ------------------------------------------ */
+
+/// a zone containing collision objects
+class PhysicsZone : public core::Zone {
+public:
+	PhysicsZone(const std::string &label);
+	virtual ~PhysicsZone();
+
+#ifdef HAVE_BULLET
+	inline  btDiscreteDynamicsWorld *dynamics_world() { return zone_dynamics_world; }
+
+private:
+	btAxisSweep3			*zone_cache;
+	btDiscreteDynamicsWorld 	*zone_dynamics_world;
+#endif
+};
+
+/* ---- class PhysicsBody ------------------------------------------ */
+
+/// an object that is capable of colliding with other objects
+class PhysicsBody {
+public:
+	/// initialize a collider attached to an entity
+	/** 
+	 * a PhysicsBody with zero mass is considered non-moving
+	 */
+	PhysicsBody(core::Entity *entity);
+	~PhysicsBody();
+
+	/// initialize the collision body
+	void init_physics(const float mass);
+
+	/// shutdown the collision body
+	void shutdown_physics();
+
+	/// collider mass
+	inline const float mass() const { return collider_mass; }
+
+	/// the entity the collider is attached to
+	inline core::Entity *entity() { return collider_entity; }
+
+#ifdef HAVE_BULLET
+	/// the bullet rigid body associated with this collider
+	inline btRigidBody *body() { return collider_body; }
+#endif
+
+private:
+	CollisionShape	*collider_shape;
+	core::Entity	*collider_entity;
+#ifdef HAVE_BULLET
+	btRigidBody 	*collider_body;
+#endif
+	float		collider_mass;
+};
+
+}
+
+#endif // __INCLUDED_BASE_PHYSICS_H__
+
diff --git a/src/game/base/ship.cc b/src/game/base/ship.cc
index ba5d7ba..739b29a 100644
--- a/src/game/base/ship.cc
+++ b/src/game/base/ship.cc
@@ -24,7 +24,8 @@ namespace game {
 const float 		MIN_DELTA = 0.000001f;
 
 Ship::Ship(core::Player *owner, ShipModel *shipmodel) :
-	core::EntityControlable(owner, ship_enttype)
+	core::EntityControlable(owner, ship_enttype),
+	PhysicsBody(this)
 {
 	set_modelname(shipmodel->modelname());
 	set_name(shipmodel->name());
@@ -50,7 +51,7 @@ Ship::Ship(core::Player *owner, ShipModel *shipmodel) :
 
 Ship::~Ship() 
 {
-
+	shutdown_physics();
 }
 
 void Ship::reset()
@@ -145,8 +146,6 @@ void Ship::func_jump(std::string const &args)
 		
 		owner()->send("Jumping to the " + jumptargetzone->name());
 		set_zone(jumptargetzone);
-		if (owner()->control() == (EntityControlable*) this)
-			owner()->set_zone(jumptargetzone);
 
 		ship_jumpdrive_timer = 0;
 		entity_timer = 0;
@@ -225,27 +224,40 @@ void Ship::explode()
 	}
 };
 
-void Ship::frame(float seconds) 
+void Ship::set_zone(core::Zone *zone)
 {
-	const float direction_change_speed = 2;
-	float cosangle;		// cosine of an angle
-	float angle;		// angle in radians	
-	math::Vector3f n;	// normal of a plane
+	shutdown_physics();
+
+	core::EntityControlable::set_zone(zone);
+
+	if (owner() && (owner()->control() == (EntityControlable*) this))
+		owner()->set_zone(zone);
+
+	init_physics(radius());
+}
 
+void Ship::frame(float seconds) 
+{
 	float actual_maxspeed = ship_shipmodel->maxspeed();
 	float actual_turnspeed = ship_shipmodel->turnspeed();
 	float actual_acceleration = ship_shipmodel->acceleration();
+	float actual_thrust = 0;
 
+#ifndef HAVE_BULLET
+	const float direction_change_speed = 2;
+	float cosangle;					// cosine of an angle
+	float angle;					// angle in radians	
+	math::Vector3f n;				// normal of a plane
+	math::Axis target_axis(entity_axis);		// target axis
+#endif
 	entity_movement = 0;
 
-	// speed might get set to 0 on this update
+	/* -- update state ----------------------------------------- */
+
+	// speed might be set to 0 on this update
 	if (entity_speed != 0.0f)
 		entity_dirty = true;
 
-	// jumpdrive
-	// target axis
-	math::Axis target_axis(entity_axis);
-
 	if (entity_state == core::Entity::Docked) {
 
 		target_thrust = 0;
@@ -257,7 +269,6 @@ void Ship::frame(float seconds)
 		
 		entity_speed = 0;
 		entity_thrust = 0;
-		return;
 
 	} else if (entity_state == core::Entity::JumpInitiate) {
 
@@ -267,10 +278,6 @@ void Ship::frame(float seconds)
 			if (entity_timer <= 0) {
 				if (ship_jumpdepart && ship_jumpdepart->target()) {
 					set_state(core::Entity::Jump);
-					set_zone(ship_jumpdepart->target()->zone());
-					if (owner() && owner()->control() == (EntityControlable*) this)
-						owner()->set_zone(ship_jumpdepart->target()->zone());
-
 					if (ship_jumpdepart->moduletype() == jumpgate_enttype) {
 						entity_axis.assign(ship_jumpdepart->target()->axis());
 						entity_location.assign(ship_jumpdepart->target()->location());
@@ -278,6 +285,8 @@ void Ship::frame(float seconds)
 					} else {
 						entity_location.assign(ship_jumpdepart->target()->location() + location() - ship_jumpdepart->location());
 					}
+
+					set_zone(ship_jumpdepart->target()->zone());
 					owner()->send("^BJumping to the " + ship_jumpdepart->target()->zone()->name());
 				} else {
 					set_state(core::Entity::Normal);
@@ -302,6 +311,7 @@ void Ship::frame(float seconds)
 		target_thrust = 0.1;
 
 	} else if (entity_state == core::Entity::Jump) {
+
 		// control is disabled while the jumpdrive is activated
 		target_thrust = 0;
 		target_pitch = 0;
@@ -345,6 +355,7 @@ void Ship::frame(float seconds)
 		math::clamp(target_roll, -1.0f, 1.0f);
 		math::clamp(target_direction, -1.0f, 1.0f);
 		math::clamp(target_afterburner, -1.0f, 1.0f);
+
 		actual_turnspeed *= 0.5;
 
 	} else if (entity_state == core::Entity::Impulse) {
@@ -355,6 +366,7 @@ void Ship::frame(float seconds)
 		math::clamp(target_roll, -1.0f, 1.0f);
 		math::clamp(target_direction, -1.0f, 1.0f);
 		target_afterburner = 0.0f;
+
 		actual_maxspeed = Game::g_impulsespeed->value();
 		actual_acceleration = Game::g_impulseacceleration->value();
 		actual_turnspeed *= 0.5;
@@ -385,6 +397,41 @@ void Ship::frame(float seconds)
 		entity_thrust = 0;
 	}
 
+	// update afterburner
+	if (current_target_afterburner < target_afterburner) {
+		current_target_afterburner += 2.0f * seconds;
+		if (current_target_afterburner > target_afterburner)
+			current_target_afterburner = target_afterburner;
+	} else if (current_target_afterburner > target_afterburner) {
+		current_target_afterburner -= 2.0f * seconds;
+		if (current_target_afterburner < target_afterburner)
+			current_target_afterburner = target_afterburner;
+	}
+
+	// update thrust
+	if (current_target_afterburner < 0.0f) {
+		target_thrust = 0;
+	}
+
+	if (entity_thrust < target_thrust) {
+		entity_thrust += seconds  * 0.5f;
+		if (entity_thrust > target_thrust)
+			entity_thrust = target_thrust;
+	} else if (entity_thrust > target_thrust) {
+		entity_thrust -= seconds * 0.5f;
+		if (entity_thrust < target_thrust)
+			entity_thrust = target_thrust;
+	}
+	math::clamp(entity_thrust, 0.0f, 1.0f);
+	actual_thrust = entity_thrust + current_target_afterburner * 0.15f;
+	if ((entity_state == core::Entity::ImpulseInitiate) || (entity_state == core::Entity::Impulse)) {
+		actual_thrust = 1.0f;
+	}
+	
+#ifndef HAVE_BULLET
+
+	/* -- original frame --------------------------------------- */
+
 	// update roll
 	if (current_target_roll < target_roll) {
 		current_target_roll += direction_change_speed * seconds;
@@ -450,38 +497,6 @@ void Ship::frame(float seconds)
 			entity_axis.rotate(n, -angle);
 	}
 
-	// update afterburner
-	if (current_target_afterburner < target_afterburner) {
-		current_target_afterburner += 2.0f * seconds;
-		if (current_target_afterburner > target_afterburner)
-			current_target_afterburner = target_afterburner;
-	} else if (current_target_afterburner > target_afterburner) {
-		current_target_afterburner -= 2.0f * seconds;
-		if (current_target_afterburner < target_afterburner)
-			current_target_afterburner = target_afterburner;
-	}
-
-	// update thrust
-	if (current_target_afterburner < 0.0f) {
-		target_thrust = 0;
-	}
-
-	if (entity_thrust < target_thrust) {
-		entity_thrust += seconds  * 0.5f;
-		if (entity_thrust > target_thrust)
-			entity_thrust = target_thrust;
-	} else if (entity_thrust > target_thrust) {
-		entity_thrust -= seconds * 0.5f;
-		if (entity_thrust < target_thrust)
-			entity_thrust = target_thrust;
-	}
-	math::clamp(entity_thrust, 0.0f, 1.0f);
-	float actual_thrust = entity_thrust + current_target_afterburner * 0.15f;
-
-	if ((entity_state == core::Entity::ImpulseInitiate) || (entity_state == core::Entity::Impulse)) {
-		actual_thrust = 1.0f;
-	}
-
 	// update speed
 	if (entity_speed < actual_thrust * actual_maxspeed) {
 		entity_speed += actual_acceleration * seconds;
@@ -510,6 +525,31 @@ void Ship::frame(float seconds)
 		entity_location += entity_axis.left() * (current_target_strafe * 0.15f * actual_maxspeed) * seconds;
 	}
 
+	if (entity_speed) {
+		entity_location += entity_axis.forward() * entity_speed * seconds;
+	}
+
+#else /* #ifndef HAVE_BULLET */
+
+	/* -- bullet frame ----------------------------------------- */
+
+	// get entity speed from physics body
+	btVector3 velocity(body()->getInterpolationLinearVelocity());
+	entity_speed = velocity.length();
+
+	// get physics body world transformation
+	btTransform t;
+	body()->getMotionState()->getWorldTransform(t);
+
+	// get entity location from physics body
+	btVector3 v(t.getOrigin());
+	location().assign(v[0], v[1], v[2]);
+
+	// apply engine trust to the body
+	body()->applyCentralImpulse(to_btVector3(axis().forward() * actual_thrust * actual_acceleration * seconds * 10.0f));
+
+#endif /* else #ifndef HAVE_BULLET */
+
 	entity_movement = target_thrust;
 	entity_movement = math::max(entity_movement, fabs(current_target_pitch));
 	entity_movement = math::max(entity_movement, fabs(current_target_direction));
@@ -517,10 +557,7 @@ void Ship::frame(float seconds)
 	entity_movement = math::max(entity_movement, fabs(current_target_afterburner));
 	entity_movement = math::max(entity_movement, fabs(current_target_strafe));
 
-	if (entity_speed) {
-		entity_location += entity_axis.forward() * entity_speed * seconds;
-		entity_dirty = true;
-	} else if (entity_movement > 0.0f) {
+	if ((entity_movement  > 0)|| (entity_speed > 0)) {
 		entity_dirty = true;
 	}
 }
diff --git a/src/game/base/ship.h b/src/game/base/ship.h
index 37f8b88..21987e7 100644
--- a/src/game/base/ship.h
+++ b/src/game/base/ship.h
@@ -9,6 +9,7 @@
 
 #include "core/player.h"
 #include "core/entity.h"
+#include "base/physics.h"
 #include "base/shipmodel.h"
 #include "base/jumppoint.h"
 #include "math/vector3f.h"
@@ -16,7 +17,7 @@
 namespace game {
 
 /// A ship in the game, controled by a player
-class Ship : public core::EntityControlable
+class Ship : public core::EntityControlable, public PhysicsBody
 {
 public:
 	Ship(core::Player *owner, ShipModel *shipmodel);
@@ -25,6 +26,9 @@ public:
 	/// update the ship state
 	virtual void frame(float seconds);
 
+	/// move the ship to a different zone
+	virtual void set_zone(core::Zone *zone);
+
 	/// true if the ship is equiped with a jumpdrive
 	inline bool jumpdrive() const { return ship_jumpdrive; }
 
diff --git a/src/game/base/station.cc b/src/game/base/station.cc
index 69949fb..67c1595 100644
--- a/src/game/base/station.cc
+++ b/src/game/base/station.cc
@@ -10,7 +10,7 @@
 
 namespace game {
 
-Station::Station() : Entity()
+Station::Station() : Entity(), PhysicsBody(this)
 {
 	entity_moduletypeid = station_enttype;
 	set_flag(core::Entity::Dockable);
@@ -22,6 +22,8 @@ Station::~Station()
 {
 	if (station_shipdealer)
 		delete station_shipdealer;
+
+	shutdown_physics();
 }
 
 void Station::set_shipdealer(ShipDealer *shipdealer)
diff --git a/src/game/base/station.h b/src/game/base/station.h
index 3fc2158..ae4d0f4 100644
--- a/src/game/base/station.h
+++ b/src/game/base/station.h
@@ -8,10 +8,11 @@
 #define __INCLUDED_BASE_STATION_H__
 
 #include "base/shipdealer.h"
+#include "base/physics.h"
 
 namespace game {
 
-class Station : public core::Entity
+class Station : public core::Entity, public PhysicsBody
 {
 public:
 	Station();