From eb74688c185ddb44ae7fc58bd963bf53d379f57b Mon Sep 17 00:00:00 2001
From: erwin coumans <erwin.coumans@gmail.com>
Date: Tue, 20 May 2014 12:02:01 -0700
Subject: [PATCH] Add setUserIndex/getUserIndex (int index) to btCollisionShape
 Share physics setup of BasicDemo between different graphics frameworks, see
 Demos\BasicDemo\BasicDemoPhysicsSetup.* Plan is to do this for all Bullet
 demos. Improve gwen performance and cursor navigation for tree control. tweak
 shadowmap size SimpleOpenGL3App::registerCubeShape accepts half extents

---
 Demos/BasicDemo/BasicDemo.cpp                 | 156 ++-----------
 Demos/BasicDemo/BasicDemo.h                   |  19 +-
 Demos/BasicDemo/BasicDemoPhysicsSetup.cpp     | 171 +++++++++++++++
 Demos/BasicDemo/BasicDemoPhysicsSetup.h       |  94 ++++++++
 Demos/BasicDemo/CMakeLists.txt                |   6 +
 Demos3/AllBullet2Demos/CMakeLists.txt         |   2 +
 Demos3/AllBullet2Demos/main.cpp               |   2 +-
 Demos3/AllBullet2Demos/premake4.lua           |   2 +
 Demos3/bullet2/BasicDemo/BasicDemo.cpp        | 118 ++++------
 Demos3/bullet2/BasicDemo/BasicDemo.h          |  12 +
 btgui/Gwen/Controls/Base.cpp                  |  29 ++-
 btgui/Gwen/Controls/Base.h                    |  45 +++-
 btgui/Gwen/Controls/ScrollBar.h               |  10 +
 btgui/Gwen/Controls/TreeControl.cpp           | 206 ++++++++++++++----
 btgui/Gwen/Controls/TreeControl.h             |   1 +
 btgui/Gwen/Controls/TreeNode.cpp              |  10 +-
 btgui/GwenOpenGLTest/OpenGLSample.cpp         |   3 +
 btgui/GwenOpenGLTest/UnitTest.cpp             |   6 +-
 btgui/OpenGLWindow/GLInstancingRenderer.cpp   |   6 +-
 btgui/OpenGLWindow/GLInstancingRenderer.h     |  16 +-
 btgui/OpenGLWindow/SimpleOpenGL3App.cpp       |  27 ++-
 btgui/OpenGLWindow/SimpleOpenGL3App.h         |   2 +-
 .../CollisionShapes/btCollisionShape.h        |  17 +-
 23 files changed, 657 insertions(+), 303 deletions(-)
 create mode 100644 Demos/BasicDemo/BasicDemoPhysicsSetup.cpp
 create mode 100644 Demos/BasicDemo/BasicDemoPhysicsSetup.h

diff --git a/Demos/BasicDemo/BasicDemo.cpp b/Demos/BasicDemo/BasicDemo.cpp
index c8dcfcc5c..82229062c 100644
--- a/Demos/BasicDemo/BasicDemo.cpp
+++ b/Demos/BasicDemo/BasicDemo.cpp
@@ -40,7 +40,7 @@ subject to the following restrictions:
 static GLDebugDrawer gDebugDraw;
 
 ///The MyOverlapCallback is used to show how to collect object that overlap with a given bounding box defined by aabbMin and aabbMax. 
-///See m_dynamicsWorld->getBroadphase()->aabbTest.
+///See m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest.
 struct	MyOverlapCallback : public btBroadphaseAabbCallback
 {
 	btVector3 m_queryAabbMin;
@@ -68,23 +68,27 @@ void BasicDemo::clientMoveAndDisplay()
 	//simple dynamics world doesn't handle fixed-time-stepping
 	float ms = getDeltaTimeMicroseconds();
 	
+	m_physicsSetup.stepSimulation(ms/1000000.f);
+	m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
+
+	/*
 	///step the simulation
-	if (m_dynamicsWorld)
+	if (m_physicsSetup.m_dynamicsWorld)
 	{
-		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		m_physicsSetup.m_dynamicsWorld->stepSimulation(ms / 1000000.f);
 		//optional but useful: debug drawing
-		m_dynamicsWorld->debugDrawWorld();
+		m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
 
 		btVector3 aabbMin(1,1,1);
 		btVector3 aabbMax(2,2,2);
 
 		MyOverlapCallback aabbOverlap(aabbMin,aabbMax);
-		m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap);
+		m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap);
 		
 		//if (aabbOverlap.m_numOverlap)
 		//	printf("#aabb overlap = %d\n", aabbOverlap.m_numOverlap);
 	}
-		
+		*/
 	renderme(); 
 
 	glFlush();
@@ -102,8 +106,8 @@ void BasicDemo::displayCallback(void) {
 	renderme();
 
 	//optional but useful: debug drawing to detect problems
-	if (m_dynamicsWorld)
-		m_dynamicsWorld->debugDrawWorld();
+	if (m_physicsSetup.m_dynamicsWorld)
+		m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
 
 	glFlush();
 	swapBuffers();
@@ -120,105 +124,10 @@ void	BasicDemo::initPhysics()
 
 	setCameraDistance(btScalar(SCALING*50.));
 
-	///collision configuration contains default setup for memory, collision setup
-	m_collisionConfiguration = new btDefaultCollisionConfiguration();
-	//m_collisionConfiguration->setConvexConvexMultipointIterations();
+	m_physicsSetup.initPhysics();
 
-	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
-	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
-
-	m_broadphase = new btDbvtBroadphase();
-
-	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
-	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
-	m_solver = sol;
-
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
 	m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
-	
-	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
-
-	///create a few basic rigid bodies
-	btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
-	//groundShape->initializePolyhedralFeatures();
-//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
-	
-	m_collisionShapes.push_back(groundShape);
-
-	btTransform groundTransform;
-	groundTransform.setIdentity();
-	groundTransform.setOrigin(btVector3(0,-50,0));
-
-	//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
-	{
-		btScalar mass(0.);
-
-		//rigidbody is dynamic if and only if mass is non zero, otherwise static
-		bool isDynamic = (mass != 0.f);
-
-		btVector3 localInertia(0,0,0);
-		if (isDynamic)
-			groundShape->calculateLocalInertia(mass,localInertia);
-
-		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
-		btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
-		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
-		btRigidBody* body = new btRigidBody(rbInfo);
-
-		//add the body to the dynamics world
-		m_dynamicsWorld->addRigidBody(body);
-	}
-
-
-	{
-		//create a few dynamic rigidbodies
-		// Re-using the same collision is better for memory usage and performance
-
-		btBoxShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
-		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
-		m_collisionShapes.push_back(colShape);
-
-		/// Create Dynamic Objects
-		btTransform startTransform;
-		startTransform.setIdentity();
-
-		btScalar	mass(1.f);
-
-		//rigidbody is dynamic if and only if mass is non zero, otherwise static
-		bool isDynamic = (mass != 0.f);
-
-		btVector3 localInertia(0,0,0);
-		if (isDynamic)
-			colShape->calculateLocalInertia(mass,localInertia);
-
-		float start_x = START_POS_X - ARRAY_SIZE_X/2;
-		float start_y = START_POS_Y;
-		float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
-
-		for (int k=0;k<ARRAY_SIZE_Y;k++)
-		{
-			for (int i=0;i<ARRAY_SIZE_X;i++)
-			{
-				for(int j = 0;j<ARRAY_SIZE_Z;j++)
-				{
-					startTransform.setOrigin(SCALING*btVector3(
-										btScalar(2.0*i + start_x),
-										btScalar(20+2.0*k + start_y),
-										btScalar(2.0*j + start_z)));
-
-			
-					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
-					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
-					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
-					btRigidBody* body = new btRigidBody(rbInfo);
-					
-
-					m_dynamicsWorld->addRigidBody(body);
-				}
-			}
-		}
-	}
-
 
 }
 void	BasicDemo::clientResetScene()
@@ -230,42 +139,7 @@ void	BasicDemo::clientResetScene()
 
 void	BasicDemo::exitPhysics()
 {
-
-	//cleanup in the reverse order of creation/initialization
-
-	//remove the rigidbodies from the dynamics world and delete them
-	int i;
-	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
-	{
-		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
-		btRigidBody* body = btRigidBody::upcast(obj);
-		if (body && body->getMotionState())
-		{
-			delete body->getMotionState();
-		}
-		m_dynamicsWorld->removeCollisionObject( obj );
-		delete obj;
-	}
-
-	//delete collision shapes
-	for (int j=0;j<m_collisionShapes.size();j++)
-	{
-		btCollisionShape* shape = m_collisionShapes[j];
-		delete shape;
-	}
-	m_collisionShapes.clear();
-
-	delete m_dynamicsWorld;
-	
-	delete m_solver;
-	
-	delete m_broadphase;
-	
-	delete m_dispatcher;
-
-	delete m_collisionConfiguration;
-
-	
+	m_physicsSetup.exitPhysics();	
 }
 
 
diff --git a/Demos/BasicDemo/BasicDemo.h b/Demos/BasicDemo/BasicDemo.h
index 7a6851f7d..ae6bf7149 100644
--- a/Demos/BasicDemo/BasicDemo.h
+++ b/Demos/BasicDemo/BasicDemo.h
@@ -24,30 +24,15 @@ subject to the following restrictions:
 #endif
 
 #include "LinearMath/btAlignedObjectArray.h"
+#include "BasicDemoPhysicsSetup.h"
 
-class btBroadphaseInterface;
-class btCollisionShape;
-class btOverlappingPairCache;
-class btCollisionDispatcher;
-class btConstraintSolver;
-struct btCollisionAlgorithmCreateFunc;
-class btDefaultCollisionConfiguration;
 
 ///BasicDemo is good starting point for learning the code base and porting.
 
 class BasicDemo : public PlatformDemoApplication
 {
 
-	//keep the collision shapes, for deletion/cleanup
-	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
-
-	btBroadphaseInterface*	m_broadphase;
-
-	btCollisionDispatcher*	m_dispatcher;
-
-	btConstraintSolver*	m_solver;
-
-	btDefaultCollisionConfiguration* m_collisionConfiguration;
+	BasicDemoPhysicsSetup m_physicsSetup;
 
 	public:
 
diff --git a/Demos/BasicDemo/BasicDemoPhysicsSetup.cpp b/Demos/BasicDemo/BasicDemoPhysicsSetup.cpp
new file mode 100644
index 000000000..f33d68e3b
--- /dev/null
+++ b/Demos/BasicDemo/BasicDemoPhysicsSetup.cpp
@@ -0,0 +1,171 @@
+
+
+#include "BasicDemoPhysicsSetup.h"
+#include "btBulletDynamicsCommon.h"
+#define ARRAY_SIZE_Y 5
+#define ARRAY_SIZE_X 5
+#define ARRAY_SIZE_Z 5
+
+void BasicDemoPhysicsSetup::initPhysics()
+{
+		///collision configuration contains default setup for memory, collision setup
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	//m_collisionConfiguration->setConvexConvexMultipointIterations();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+
+	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	
+	
+	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	//groundShape->initializePolyhedralFeatures();
+//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0));
+
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape);
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+
+		btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
+		m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0,0,0);
+		if (isDynamic)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+
+		for (int k=0;k<ARRAY_SIZE_Y;k++)
+		{
+			for (int i=0;i<ARRAY_SIZE_X;i++)
+			{
+				for(int j = 0;j<ARRAY_SIZE_Z;j++)
+				{
+					startTransform.setOrigin(btVector3(
+										btScalar(2.0*i),
+										btScalar(20+2.0*k),
+										btScalar(2.0*j)));
+
+			
+					createRigidBody(mass,startTransform,colShape);
+				}
+			}
+		}
+	}
+
+
+}
+
+
+
+void BasicDemoPhysicsSetup::stepSimulation(float deltaTime)
+{
+	m_dynamicsWorld->stepSimulation(deltaTime);
+}
+
+btBoxShape* BasicDemoPhysicsSetup::createBoxShape(const btVector3& halfExtents)
+{
+	btBoxShape* box = new btBoxShape(halfExtents);
+	return box;
+}
+
+btRigidBody*	BasicDemoPhysicsSetup::createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
+{
+	btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
+
+	//rigidbody is dynamic if and only if mass is non zero, otherwise static
+	bool isDynamic = (mass != 0.f);
+
+	btVector3 localInertia(0,0,0);
+	if (isDynamic)
+		shape->calculateLocalInertia(mass,localInertia);
+
+	//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+
+#define USE_MOTIONSTATE 1
+#ifdef USE_MOTIONSTATE
+	btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+
+	btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia);
+
+	btRigidBody* body = new btRigidBody(cInfo);
+	//body->setContactProcessingThreshold(m_defaultContactProcessingThreshold);
+
+#else
+	btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
+	body->setWorldTransform(startTransform);
+#endif//
+	
+	body->setUserIndex(-1);
+	m_dynamicsWorld->addRigidBody(body);
+	return body;
+}
+
+
+void BasicDemoPhysicsSetup::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+	
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject( obj );
+		delete obj;
+	}
+
+	//delete collision shapes
+	for (int j=0;j<m_collisionShapes.size();j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+	
+	delete m_solver;
+	
+	delete m_broadphase;
+	
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+
+}
diff --git a/Demos/BasicDemo/BasicDemoPhysicsSetup.h b/Demos/BasicDemo/BasicDemoPhysicsSetup.h
new file mode 100644
index 000000000..e335a3861
--- /dev/null
+++ b/Demos/BasicDemo/BasicDemoPhysicsSetup.h
@@ -0,0 +1,94 @@
+#ifndef BASIC_DEMO_PHYSICS_SETUP_H
+#define BASIC_DEMO_PHYSICS_SETUP_H
+
+class btRigidBody;
+class btCollisionShape;
+class btBroadphaseInterface;
+class btConstraintSolver;
+class btCollisionDispatcher;
+class btDefaultCollisionConfiguration;
+class btDiscreteDynamicsWorld;
+class btTransform;
+class btVector3;
+class btBoxShape;
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+struct BasicDemoPhysicsSetup
+{
+	//keep the collision shapes, for deletion/cleanup
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+	btBroadphaseInterface*	m_broadphase;
+	btCollisionDispatcher*	m_dispatcher;
+	btConstraintSolver*	m_solver;
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+	btDiscreteDynamicsWorld* m_dynamicsWorld;
+	
+	virtual void initPhysics();
+	
+	virtual void exitPhysics();
+	
+	virtual void stepSimulation(float deltaTime);
+	
+	virtual btRigidBody*	createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
+	
+	virtual btBoxShape* createBoxShape(const btVector3& halfExtents);
+
+/*
+
+	//bodies
+	virtual btRigidBody*  createRigidBody(bool isDynamic, 	btScalar mass, 	const btTransform& startTransform,	btCollisionShape* shape,const char* bodyName);
+	virtual btCollisionObject*  createCollisionObject(	const btTransform& startTransform,	btCollisionShape* shape,const char* bodyName);
+
+	///shapes
+
+	virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
+	
+	virtual btCollisionShape* createSphereShape(btScalar radius);
+	virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
+	virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
+	virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
+	
+	virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
+	virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
+	virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
+	virtual btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
+	virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
+	virtual btCollisionShape* createConeShapeZ(btScalar radius,btScalar height);
+	virtual class btTriangleIndexVertexArray*	createTriangleMeshContainer();
+	virtual	btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
+	virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
+	virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
+	virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
+
+	virtual class btConvexHullShape* createConvexHullShape();
+	virtual class btCompoundShape* createCompoundShape();
+	virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
+
+	virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
+
+	virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
+
+	///acceleration and connectivity structures
+	virtual btOptimizedBvh*	createOptimizedBvh();
+	virtual btTriangleInfoMap* createTriangleInfoMap();
+
+	///constraints
+	virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
+	virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
+	virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA=false);
+	virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA=false);
+	virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
+	virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
+	virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+    virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
+	virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+	virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+    virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
+	virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio);
+*/
+
+};
+
+#endif //BASIC_DEMO_PHYSICS_SETUP_H
diff --git a/Demos/BasicDemo/CMakeLists.txt b/Demos/BasicDemo/CMakeLists.txt
index eaf265a83..16bb9e404 100644
--- a/Demos/BasicDemo/CMakeLists.txt
+++ b/Demos/BasicDemo/CMakeLists.txt
@@ -28,6 +28,8 @@ ADD_EXECUTABLE(AppBasicDemo
 		main.cpp
 		BasicDemo.cpp 
 		BasicDemo.h
+		BasicDemoPhysicsSetup.cpp
+		BasicDemoPhysicsSetup.h
 		${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
 	)
 ELSE()
@@ -35,6 +37,8 @@ ELSE()
 		main.cpp
 		BasicDemo.cpp 
 		BasicDemo.h
+		BasicDemoPhysicsSetup.cpp
+		BasicDemoPhysicsSetup.h
 	)
 ENDIF()
 ELSE (USE_GLUT)
@@ -52,6 +56,8 @@ ELSE (USE_GLUT)
 		Win32BasicDemo.cpp
 		BasicDemo.cpp 
 		BasicDemo.h
+		BasicDemoPhysicsSetup.cpp
+		BasicDemoPhysicsSetup.h
 		${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
 	)
 	
diff --git a/Demos3/AllBullet2Demos/CMakeLists.txt b/Demos3/AllBullet2Demos/CMakeLists.txt
index 6023d44c6..06557e166 100644
--- a/Demos3/AllBullet2Demos/CMakeLists.txt
+++ b/Demos3/AllBullet2Demos/CMakeLists.txt
@@ -12,6 +12,8 @@ SET(App_AllBullet2Demos_SRCS
 	BulletDemoEntries.h
 	../bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp
 	../bullet2/BasicDemo/Bullet2RigidBodyDemo.h
+	../../Demos/BasicDemo/BasicDemoPhysicsSetup.cpp
+	../../Demos/BasicDemo/BasicDemoPhysicsSetup.h
 	../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
 	../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h
 	../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp
diff --git a/Demos3/AllBullet2Demos/main.cpp b/Demos3/AllBullet2Demos/main.cpp
index 3bae9da6f..2efe840f7 100644
--- a/Demos3/AllBullet2Demos/main.cpp
+++ b/Demos3/AllBullet2Demos/main.cpp
@@ -217,7 +217,7 @@ int main(int argc, char* argv[])
 		app->swapBuffer();
 	} while (!app->m_window->requestedExit());
 
-	selectDemo(0);
+//	selectDemo(0);
 	delete gui;
 	delete app;
 	return 0;
diff --git a/Demos3/AllBullet2Demos/premake4.lua b/Demos3/AllBullet2Demos/premake4.lua
index c7002808d..948199b39 100644
--- a/Demos3/AllBullet2Demos/premake4.lua
+++ b/Demos3/AllBullet2Demos/premake4.lua
@@ -23,6 +23,8 @@
 		"**.h",
 		"../bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp",
 		"../bullet2/BasicDemo/Bullet2RigidBodyDemo.h",
+		"../../Demos/BasicDemo/BasicDemoPhysicsSetup.cpp",
+		"../../Demos/BasicDemo/BasicDemoPhysicsSetup.h",
 		"../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp",
 		"../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h",
 		"../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp",
diff --git a/Demos3/bullet2/BasicDemo/BasicDemo.cpp b/Demos3/bullet2/BasicDemo/BasicDemo.cpp
index 59980667a..f0386862b 100644
--- a/Demos3/bullet2/BasicDemo/BasicDemo.cpp
+++ b/Demos3/bullet2/BasicDemo/BasicDemo.cpp
@@ -32,6 +32,7 @@ void	BasicDemo::createGround(int cubeShapeId)
 		groundTransform.setIdentity();
 		groundTransform.setOrigin(btVector3(0,-50,0));
 		m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
+
 		btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
 		//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
 		{
@@ -52,88 +53,60 @@ void	BasicDemo::createGround(int cubeShapeId)
 }
 void	BasicDemo::initPhysics()
 {
-//	Bullet2RigidBodyDemo::initPhysics();
-
-	m_config = new btDefaultCollisionConfiguration;
-	m_dispatcher = new btCollisionDispatcher(m_config);
-	m_bp = new btDbvtBroadphase();
-	m_solver = new btNNCGConstraintSolver();
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
-
-	int curColor=0;
-	//create ground
-	int cubeShapeId = m_glApp->registerCubeShape();
-	float pos[]={0,0,0};
-	float orn[]={0,0,0,1};
-		
-
-	createGround(cubeShapeId);
-	
-
-	{
-		btVector4 halfExtents(scaling,scaling,scaling,1);
-		btVector4 colors[4] =
-		{
-			btVector4(1,0,0,1),
-			btVector4(0,1,0,1),
-			btVector4(0,1,1,1),
-			btVector4(1,1,0,1),
-		};
-		
-
-
-		btTransform startTransform;
-		startTransform.setIdentity();
-		btScalar mass = 1.f;
-		btVector3 localInertia;
-		btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
-		colShape ->calculateLocalInertia(mass,localInertia);
-		
-		for (int k=0;k<ARRAY_SIZE_Y;k++)
-		{
-			for (int i=0;i<ARRAY_SIZE_X;i++)
-			{
-				for(int j = 0;j<ARRAY_SIZE_Z;j++)
-				{
-					
-					btVector4 color = colors[curColor];
-					curColor++;
-					curColor&=3;
-					startTransform.setOrigin(btVector3(
-										btScalar(2.0*scaling*i),
-										btScalar(2.*scaling+2.0*scaling*k),
-										btScalar(2.0*scaling*j)));
-
-					m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
-			
-					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
-					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
-					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
-					btRigidBody* body = new btRigidBody(rbInfo);
-					
-
-					m_dynamicsWorld->addRigidBody(body);
-				}
-			}
-		}
-	}
+	m_physicsSetup.m_glApp = m_glApp;
+	m_physicsSetup.initPhysics();
+	m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
 
 	m_glApp->m_instancingRenderer->writeTransforms();
 }
 void	BasicDemo::exitPhysics()
 {
-	
-	Bullet2RigidBodyDemo::exitPhysics();
+	m_physicsSetup.exitPhysics();
+	m_dynamicsWorld = 0;
+	//Bullet2RigidBodyDemo::exitPhysics();
 }
+
+//SimpleOpenGL3App* m_glApp;
+
+btRigidBody*	MyBasicDemoPhysicsSetup::createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
+{
+	btRigidBody* body = BasicDemoPhysicsSetup::createRigidBody(mass,startTransform,shape);
+	int graphicsShapeId = shape->getUserIndex();
+	btAssert(graphicsShapeId>=0);
+	btVector3 localScaling = shape->getLocalScaling();
+	float color[]={0.3,0.3,1,1};
+	int graphicsInstanceId = m_glApp->m_instancingRenderer->registerGraphicsInstance(graphicsShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,localScaling);
+	body->setUserIndex(graphicsInstanceId);
+	
+	//todo: create graphics representation
+	return body;
+
+}
+	
+btBoxShape* MyBasicDemoPhysicsSetup::createBoxShape(const btVector3& halfExtents)
+{
+	btBoxShape* box = BasicDemoPhysicsSetup::createBoxShape(halfExtents);
+	int cubeShapeId = m_glApp->registerCubeShape(halfExtents.x(),halfExtents.y(),halfExtents.z());
+	box->setUserIndex(cubeShapeId);
+	//todo: create graphics representation
+	return box;
+}
+
+
 void	BasicDemo::renderScene()
 {
 	//sync graphics -> physics world transforms
 	{
 		for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
 		{
-			btVector3 pos = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getOrigin();
-			btQuaternion orn = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getRotation();
-			m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,i);
+			btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
+			btVector3 pos = colObj->getWorldTransform().getOrigin();
+			btQuaternion orn = colObj->getWorldTransform().getRotation();
+			int index = colObj ->getUserIndex();
+			if (index>=0)
+			{
+				m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,index);
+			}
 		}
 		m_glApp->m_instancingRenderer->writeTransforms();
 	}
@@ -144,7 +117,10 @@ void	BasicDemo::renderScene()
 	
 void	BasicDemo::stepSimulation(float dt)
 {
-	m_dynamicsWorld->stepSimulation(dt);
+	m_physicsSetup.stepSimulation(dt);
+	m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
+
+
 
 	/*
 	//print applied force
diff --git a/Demos3/bullet2/BasicDemo/BasicDemo.h b/Demos3/bullet2/BasicDemo/BasicDemo.h
index 456dc4f27..d1da7ac62 100644
--- a/Demos3/bullet2/BasicDemo/BasicDemo.h
+++ b/Demos3/bullet2/BasicDemo/BasicDemo.h
@@ -4,10 +4,22 @@
 #include "LinearMath/btVector3.h"
 #include "Bullet2RigidBodyDemo.h"
 
+#include "../../../Demos/BasicDemo/BasicDemoPhysicsSetup.h"
 
 
+struct MyBasicDemoPhysicsSetup : public BasicDemoPhysicsSetup 
+{
+	SimpleOpenGL3App* m_glApp;
+
+	virtual btRigidBody*	createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
+	
+	virtual btBoxShape* createBoxShape(const btVector3& halfExtents);
+};
+
 class BasicDemo : public Bullet2RigidBodyDemo
 {
+	
+	MyBasicDemoPhysicsSetup m_physicsSetup;
 
 public:
 
diff --git a/btgui/Gwen/Controls/Base.cpp b/btgui/Gwen/Controls/Base.cpp
index ba856fb91..427d3b8a0 100644
--- a/btgui/Gwen/Controls/Base.cpp
+++ b/btgui/Gwen/Controls/Base.cpp
@@ -105,6 +105,8 @@ void Base::Invalidate()
 {
 	m_bNeedsLayout = true;
 	m_bCacheTextureDirty = true;
+	extern int avoidUpdate;
+	avoidUpdate = -3;
 }
 
 void Base::DelayedDelete()
@@ -403,12 +405,13 @@ void Base::OnBoundsChanged(Gwen::Rect oldBounds)
 	//Anything that needs to update on size changes
 	//Iterate my children and tell them I've changed
 	//
-	if ( GetParent() )
-		GetParent()->OnChildBoundsChanged( oldBounds, this );
+	
 
 
 	if ( m_Bounds.w != oldBounds.w || m_Bounds.h != oldBounds.h )
 	{
+		if ( GetParent() )
+			GetParent()->OnChildBoundsChanged( oldBounds, this );
 		Invalidate();
 	}
 
@@ -694,6 +697,8 @@ void Base::Layout( Skin::Base* skin )
 		skin->GetRender()->GetCTT()->CreateControlCacheTexture( this );
 }
 
+int avoidUpdate = -15;
+
 void Base::RecurseLayout( Skin::Base* skin )
 {
 	if ( m_Skin ) skin = m_Skin;
@@ -704,6 +709,10 @@ void Base::RecurseLayout( Skin::Base* skin )
 		m_bNeedsLayout = false;
 		Layout( skin );
 	}
+	
+
+	if (avoidUpdate>0)
+		return;
 
 	Gwen::Rect rBounds = GetRenderBounds();
 
@@ -713,13 +722,21 @@ void Base::RecurseLayout( Skin::Base* skin )
 	rBounds.y += m_Padding.top;
 	rBounds.h -= m_Padding.top + m_Padding.bottom;
 
+	int sz = Children.size();
+	if (sz>100)
+	{
+//		printf("!\n");
+		
+	}
+	int curChild = 0;
 	for (Base::List::iterator iter = Children.begin(); iter != Children.end(); ++iter)
 	{
 		Base* pChild = *iter;
-
+		curChild++;
 		if ( pChild->Hidden() )
 			continue;
 
+		
 		int iDock = pChild->GetDock();
 
 		if ( iDock & Pos::Fill )
@@ -768,10 +785,12 @@ void Base::RecurseLayout( Skin::Base* skin )
 		}
 
 		pChild->RecurseLayout( skin );
+
 	}
 
 	m_InnerBounds = rBounds;
 
+	curChild = 0;
 	//
 	// Fill uses the left over space, so do that now.
 	//
@@ -779,10 +798,12 @@ void Base::RecurseLayout( Skin::Base* skin )
 	{
 		Base* pChild = *iter;
 		int iDock = pChild->GetDock();
-
+		curChild++;
 		if ( !(iDock & Pos::Fill) )
 			continue;
 
+		
+
 		const Margin& margin = pChild->GetMargin();
 
 		pChild->SetBounds( rBounds.x + margin.left, rBounds.y + margin.top, rBounds.w - margin.left - margin.right, rBounds.h - margin.top - margin.bottom );
diff --git a/btgui/Gwen/Controls/Base.h b/btgui/Gwen/Controls/Base.h
index 46a4104c8..011a9e7bf 100644
--- a/btgui/Gwen/Controls/Base.h
+++ b/btgui/Gwen/Controls/Base.h
@@ -164,19 +164,43 @@ namespace Gwen
 				virtual void RestrictToParent( bool restrict ) { m_bRestrictToParent = restrict; }
 				virtual bool ShouldRestrictToParent() { return m_bRestrictToParent; }
 
-				virtual int X() const { return m_Bounds.x; }
-				virtual int Y() const { return m_Bounds.y; }
-				virtual int Width() const { return m_Bounds.w; }
-				virtual int Height() const { return m_Bounds.h; }
-				virtual int Bottom() const { return m_Bounds.y + m_Bounds.h + m_Margin.bottom; }
-				virtual int Right() const { return m_Bounds.x + m_Bounds.w + m_Margin.right; }
+				virtual int X() const 
+				{ 
+					return m_Bounds.x; 
+				}
+				virtual int Y() const 
+				{ 
+					return m_Bounds.y; 
+				}
+				virtual int Width() const 
+				{ 
+					return m_Bounds.w; 
+				}
+				virtual int Height() const 
+				{ 
+					return m_Bounds.h; 
+				}
+				virtual int Bottom() const 
+				{ 
+					return m_Bounds.y + m_Bounds.h + m_Margin.bottom; 
+				}
+				virtual int Right() const 
+				{
+					return m_Bounds.x + m_Bounds.w + m_Margin.right; 
+				}
 
 				virtual const Margin& GetMargin() const { return m_Margin; }
 				virtual const Padding& GetPadding() const { return m_Padding; }
 
 				virtual void SetPos( int x, int y );
-				virtual void SetWidth( int w ) { SetSize( w, Height()); }
-				virtual void SetHeight( int h ) { SetSize( Width(), h); }
+				virtual void SetWidth( int w ) 
+				{ 
+					SetSize( w, Height()); 
+				}
+				virtual void SetHeight( int h ) 
+				{ 
+SetSize( Width(), h); 
+				}
 				virtual bool SetSize( int w, int h );
 				virtual bool SetBounds( int x, int y, int w, int h );
 				virtual bool SetBounds( const Gwen::Rect& bounds );
@@ -188,7 +212,10 @@ namespace Gwen
 				virtual void MoveTo (int x, int y );
 				virtual void MoveBy (int x, int y );
 
-				virtual const Gwen::Rect& GetBounds() const { return m_Bounds; }
+				virtual const Gwen::Rect& GetBounds() const 
+				{ 
+					return m_Bounds; 
+				}
 
 				virtual Controls::Base* GetControlAt( int x, int y );
 
diff --git a/btgui/Gwen/Controls/ScrollBar.h b/btgui/Gwen/Controls/ScrollBar.h
index d6175dabe..a0cd02c42 100644
--- a/btgui/Gwen/Controls/ScrollBar.h
+++ b/btgui/Gwen/Controls/ScrollBar.h
@@ -61,6 +61,16 @@ namespace Gwen
 
 				Gwen::Event::Caller	onBarMoved;
 
+				float getContentSize() 
+				{
+						return m_fContentSize;
+				}
+				float getViewableContentSize() const
+				{
+				
+					return m_fViewableContentSize;
+				}
+
 			protected:
 
 				ControlsInternal::ScrollBarButton* m_ScrollButton[2];
diff --git a/btgui/Gwen/Controls/TreeControl.cpp b/btgui/Gwen/Controls/TreeControl.cpp
index 0a4fb123f..e75010bbd 100644
--- a/btgui/Gwen/Controls/TreeControl.cpp
+++ b/btgui/Gwen/Controls/TreeControl.cpp
@@ -42,9 +42,14 @@ void TreeControl::Render( Skin::Base* skin )
 		skin->DrawTreeControl( this );
 }
 
+void TreeControl::ForceUpdateScrollBars()
+{
+		m_ScrollControl->UpdateScrollBars();
+}
+
 void TreeControl::OnChildBoundsChanged( Gwen::Rect /*oldChildBounds*/, Base* /*pChild*/ )
 {
-	m_ScrollControl->UpdateScrollBars();
+	//m_ScrollControl->UpdateScrollBars();
 }
 
 void TreeControl::Clear()
@@ -74,7 +79,7 @@ void TreeControl::OnNodeSelection( Controls::Base* /*control*/ )
 }
 
 				
-void TreeControl::iterate(int action, int* curIndex, int* targetIndex)
+void TreeControl::iterate(int action, int* maxItem, int* curItem)
 {
 
 	Base::List& children = m_InnerPanel->GetChildren();
@@ -83,7 +88,7 @@ void TreeControl::iterate(int action, int* curIndex, int* targetIndex)
 		TreeNode* pChild = (*iter)->DynamicCastTreeNode();
 		if ( !pChild ) 
 			continue;
-		pChild->iterate(action ,curIndex, targetIndex);
+		pChild->iterate(action ,maxItem, curItem);
 	}
 	
 }
@@ -93,26 +98,52 @@ bool TreeControl::OnKeyUp( bool bDown )
 {
 	if (bDown)
 	{
+		ForceUpdateScrollBars();
 		int maxIndex = 0;
 		int newIndex = 0;
-		int curIndex=0;
-		int targetIndex=-1;
-		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&curIndex,&targetIndex);
-		maxIndex = curIndex;
-		if (targetIndex>0)
+		int maxItem=0;
+		int curItem=-1;
+		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItem,&curItem);
+		maxIndex = maxItem;
+		int targetItem = curItem;
+		if (curItem>0)
 		{
-			curIndex=0;
-			int deselectIndex = targetIndex;
-			targetIndex--;
-			newIndex = targetIndex;
-			iterate(ITERATE_ACTION_SELECT,&curIndex,&targetIndex);
-			if (targetIndex<0)
+			maxItem=0;
+			int deselectIndex = targetItem;
+			targetItem--;
+			newIndex = targetItem;
+			iterate(ITERATE_ACTION_SELECT,&maxItem,&targetItem);
+			if (targetItem<0)
 			{
-				curIndex=0;
-				iterate(ITERATE_ACTION_DESELECT_INDEX,&curIndex,&deselectIndex);
+				maxItem=0;
+				iterate(ITERATE_ACTION_DESELECT_INDEX,&maxItem,&deselectIndex);
 			}
+			curItem = newIndex;
 			float amount = float(newIndex)/float(maxIndex);
-			m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(amount,true);
+			float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
+			float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
+		
+			float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
+			float minCoordViewableWindow = curAmount*contSize;
+			float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+			float minCoordSelectedItem = curItem*16.f;
+			float maxCoordSelectedItem = (curItem+1)*16.f;
+			{
+				float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
+				if (newAmount<curAmount)
+				{
+					m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
+				}
+			}
+			{
+				int numItems = (viewSize)/16-1;
+				float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
+
+				if (newAmount>curAmount)
+				{
+					m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
+				}
+			}
 		}
 	}
 	return true;
@@ -123,26 +154,52 @@ bool TreeControl::OnKeyDown( bool bDown )
 {
 	if (bDown)
 	{
+		ForceUpdateScrollBars();
 		int maxIndex = 0;
 		int newIndex = 0;
-		int curIndex=0;
-		int targetIndex=-1;
-		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&curIndex,&targetIndex);
-		maxIndex = curIndex;
-		if (targetIndex>=0)
+		int maxItem=0;
+		int curItem=-1;
+		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItem,&curItem);
+		maxIndex = maxItem;
+		int targetItem = curItem;
+		if (curItem>=0)
 		{
-			curIndex=0;
-			int deselectIndex = targetIndex;
-			targetIndex++;
-			newIndex = targetIndex;
-			iterate(ITERATE_ACTION_SELECT,&curIndex,&targetIndex);
-			if (targetIndex<0)
+			maxItem=0;
+			int deselectIndex = targetItem;
+			targetItem++;
+			newIndex = targetItem;
+			iterate(ITERATE_ACTION_SELECT,&maxItem,&targetItem);
+			if (targetItem<0)
 			{
-				curIndex=0;
-				iterate(ITERATE_ACTION_DESELECT_INDEX,&curIndex,&deselectIndex);
+				maxItem=0;
+				iterate(ITERATE_ACTION_DESELECT_INDEX,&maxItem,&deselectIndex);
+			}
+			curItem= newIndex;
+			float amount = (int)float(newIndex)/float(maxIndex);
+			float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
+			float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
+		
+			float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
+			float minCoordViewableWindow = curAmount*contSize;
+			float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+			float minCoordSelectedItem = curItem*16.f;
+			float maxCoordSelectedItem = (curItem+1)*16.f;
+			{
+				float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
+				if (newAmount<curAmount)
+				{
+					m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
+				}
+			}
+			{
+				int numItems = (viewSize)/16-1;
+				float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
+
+				if (newAmount>curAmount)
+				{
+					m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
+				}
 			}
-			float amount = float(newIndex)/float(maxIndex);
-			m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(amount,true);
 		}
 	}
 	return true;
@@ -153,12 +210,39 @@ bool TreeControl::OnKeyRight( bool bDown )
 {
 	if (bDown)
 	{
+		extern int avoidUpdate;
+		avoidUpdate = -3;
+		ForceUpdateScrollBars();
 		iterate(ITERATE_ACTION_OPEN,0,0);
-		int curIndex=0;
-		int targetIndex=0;
-		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&curIndex,&targetIndex);
-		float amount = float(targetIndex)/float(curIndex);
-		m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(amount,true);
+		int maxItem=0;
+		int curItem=0;
+		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItem,&curItem);
+		float amount = float(curItem)/float(maxItem);
+		float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
+		float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
+		
+		float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
+		float minCoordViewableWindow = curAmount*contSize;
+		float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+		float minCoordSelectedItem = curItem*16.f;
+		float maxCoordSelectedItem = (curItem+1)*16.f;
+		{
+			float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
+			if (newAmount<curAmount)
+			{
+				m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
+			}
+		}
+		{
+			int numItems = (viewSize)/16-1;
+			float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
+
+			if (newAmount>curAmount)
+			{
+				m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
+			}
+		}
+		Invalidate();
 	}
 	return true;
 }
@@ -166,13 +250,51 @@ bool TreeControl::OnKeyLeft( bool bDown )
 {
 	if (bDown)
 	{
+		extern int avoidUpdate;
+		avoidUpdate = -3;
+
+		ForceUpdateScrollBars();
+
 		iterate(ITERATE_ACTION_CLOSE,0,0);
 
-		int curIndex=0;
-		int targetIndex=0;
-		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&curIndex,&targetIndex);
-		float amount = float(targetIndex)/float(curIndex);
-		m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(amount,true);
+		int maxItems=0;
+		int curItem=0;
+		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItems,&curItem);
+		float amount = float(curItem)/float(maxItems);
+		
+	//	m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(amount,true);
+		float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
+		float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
+		
+		float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
+		float minCoordViewableWindow = curAmount*contSize;
+		float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+		float minCoordSelectedItem = curItem*16.f;
+		float maxCoordSelectedItem = (curItem+1)*16.f;
+		
+		{
+			float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
+			if (newAmount<curAmount)
+			{
+				m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
+			}
+		}
+		{
+			int numItems = (viewSize)/16-1;
+			float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
+
+			if (newAmount>curAmount)
+			{
+				m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
+			}
+			Invalidate();
+		}
+		//viewSize/contSize
+
+		printf("!\n");
+
+		//this->Layout(0);
+	
 
 	}
 	return true;
diff --git a/btgui/Gwen/Controls/TreeControl.h b/btgui/Gwen/Controls/TreeControl.h
index 7ab963185..79de3e9ff 100644
--- a/btgui/Gwen/Controls/TreeControl.h
+++ b/btgui/Gwen/Controls/TreeControl.h
@@ -43,6 +43,7 @@ namespace Gwen
 
 				virtual void iterate(int action,int* curIndex, int* resultIndex);
 				
+				virtual void ForceUpdateScrollBars();
 
 
 			private:
diff --git a/btgui/Gwen/Controls/TreeNode.cpp b/btgui/Gwen/Controls/TreeNode.cpp
index 732ef037d..e32ac7e52 100644
--- a/btgui/Gwen/Controls/TreeNode.cpp
+++ b/btgui/Gwen/Controls/TreeNode.cpp
@@ -73,6 +73,7 @@ void TreeNode::Render( Skin::Base* skin )
 
 TreeNode* TreeNode::AddNode( const UnicodeString& strLabel )
 {
+	int sz = sizeof(TreeNode);
 	TreeNode* node = new TreeNode( this );
 	node->SetText( strLabel );
 	node->Dock( Pos::Top );
@@ -112,9 +113,16 @@ void TreeNode::Layout( Skin::Base* skin )
 
 	BaseClass::Layout( skin );
 }
-
+//too many calls to PostLayout...
+//int numCalls = 0xfd;
 void TreeNode::PostLayout( Skin::Base* /*skin*/ )
 {
+	
+	//int bla = numCalls&0xffff;
+	//if (bla==0)
+	//	printf("TreeNode::PostLayout numCalls = %d\n", numCalls);
+
+	//numCalls++;
 	if ( SizeToChildren( false, true ) )
 	{
 		InvalidateParent();
diff --git a/btgui/GwenOpenGLTest/OpenGLSample.cpp b/btgui/GwenOpenGLTest/OpenGLSample.cpp
index 218a50d22..137716af8 100644
--- a/btgui/GwenOpenGLTest/OpenGLSample.cpp
+++ b/btgui/GwenOpenGLTest/OpenGLSample.cpp
@@ -456,6 +456,9 @@ int main()
  
 
 			pCanvas->RenderCanvas();
+			extern int avoidUpdate;
+			if (avoidUpdate<=0)
+				avoidUpdate++;
 
 	//		SwapBuffers( GetDC( g_pHWND ) );
 		}
diff --git a/btgui/GwenOpenGLTest/UnitTest.cpp b/btgui/GwenOpenGLTest/UnitTest.cpp
index f2f0b0741..677d32884 100644
--- a/btgui/GwenOpenGLTest/UnitTest.cpp
+++ b/btgui/GwenOpenGLTest/UnitTest.cpp
@@ -84,8 +84,10 @@ GWEN_CONTROL_CONSTRUCTOR( UnitTest )
 			ctrl->Focus();
 			ctrl->SetKeyboardInputEnabled(true);
 
-			ctrl->SetBounds( 30, 30, 200, 200 );
-			ctrl->ExpandAll();
+			ctrl->SetBounds( 30, 30, 200, 30+16*10 );
+			//ctrl->ExpandAll();
+			ctrl->ForceUpdateScrollBars();
+			ctrl->OnKeyDown(true);
 	
 			
 		}
diff --git a/btgui/OpenGLWindow/GLInstancingRenderer.cpp b/btgui/OpenGLWindow/GLInstancingRenderer.cpp
index a81fa19e3..9436c09cd 100644
--- a/btgui/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/btgui/OpenGLWindow/GLInstancingRenderer.cpp
@@ -16,9 +16,9 @@ subject to the following restrictions:
 
 ///todo: make this configurable in the gui
 bool useShadowMap=true;
-float shadowMapWidth=16384;
-float shadowMapHeight=16384;
-float shadowMapWorldSize=1000;
+float shadowMapWidth=8192;
+float shadowMapHeight=8192;
+float shadowMapWorldSize=200;
 float WHEEL_MULTIPLIER=0.01f;
 float MOUSE_MOVE_MULTIPLIER = 0.4f;
 #define MAX_POINTS_IN_BATCH 1024
diff --git a/btgui/OpenGLWindow/GLInstancingRenderer.h b/btgui/OpenGLWindow/GLInstancingRenderer.h
index 2325006e7..f5faeea03 100644
--- a/btgui/OpenGLWindow/GLInstancingRenderer.h
+++ b/btgui/OpenGLWindow/GLInstancingRenderer.h
@@ -86,14 +86,14 @@ public:
     {
         float pos[4];
         float orn[4];
-        pos[0] = position[0];
-        pos[1] = position[1];
-        pos[2] = position[2];
-        pos[3] = position[3];
-        orn[0] =orientation[0];
-        orn[1] =orientation[1];
-        orn[2] =orientation[2];
-        orn[3] =orientation[3];
+        pos[0] = (float)position[0];
+        pos[1] = (float)position[1];
+        pos[2] = (float)position[2];
+        pos[3] = (float)position[3];
+        orn[0] =(float)orientation[0];
+        orn[1] =(float)orientation[1];
+        orn[2] =(float)orientation[2];
+        orn[3] =(float)orientation[3];
         writeSingleInstanceTransformToCPU(pos,orn,srcIndex);
 
     }
diff --git a/btgui/OpenGLWindow/SimpleOpenGL3App.cpp b/btgui/OpenGLWindow/SimpleOpenGL3App.cpp
index 9b89c62ee..fe69cfbf6 100644
--- a/btgui/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/btgui/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -210,12 +210,35 @@ void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
 
 	glDisable(GL_BLEND);
 }
-int SimpleOpenGL3App::registerCubeShape()
+int	SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ)
 {
+	struct GfxVertex
+	{
+		float x,y,z,w;
+		float nx,ny,nz;
+		float u,v;
+	};
+	
 	int strideInBytes = 9*sizeof(float);
 	int numVertices = sizeof(cube_vertices)/strideInBytes;
 	int numIndices = sizeof(cube_indices)/sizeof(int);
-	int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
+
+	b3AlignedObjectArray<GfxVertex> verts;
+	verts.resize(numVertices);
+	for (int i=0;i<numVertices;i++)
+	{
+		verts[i].x = halfExtentsX*cube_vertices[i*9];
+		verts[i].y = halfExtentsY*cube_vertices[i*9+1];
+		verts[i].z = halfExtentsZ*cube_vertices[i*9+2];
+		verts[i].w = cube_vertices[i*9+3];
+		verts[i].nx = cube_vertices[i*9+4];
+		verts[i].ny = cube_vertices[i*9+5];
+		verts[i].nz = cube_vertices[i*9+6];
+		verts[i].u = cube_vertices[i*9+7];
+		verts[i].v = cube_vertices[i*9+8];
+	}
+	
+	int shapeId = m_instancingRenderer->registerShape(&verts[0].x,numVertices,cube_indices,numIndices);
 	return shapeId;
 }
 
diff --git a/btgui/OpenGLWindow/SimpleOpenGL3App.h b/btgui/OpenGLWindow/SimpleOpenGL3App.h
index be50ee095..7bad61d70 100644
--- a/btgui/OpenGLWindow/SimpleOpenGL3App.h
+++ b/btgui/OpenGLWindow/SimpleOpenGL3App.h
@@ -16,7 +16,7 @@ struct SimpleOpenGL3App
 	SimpleOpenGL3App(const char* title, int width,int height);
 	virtual ~SimpleOpenGL3App();
 	
-	int	registerCubeShape();
+	int	registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f);
 	int	registerGraphicsSphereShape(float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10);
 
 	void drawGrid(int gridSize=10, float yOffset=0.001);
diff --git a/src/BulletCollision/CollisionShapes/btCollisionShape.h b/src/BulletCollision/CollisionShapes/btCollisionShape.h
index ff017a206..1d8a4dc30 100644
--- a/src/BulletCollision/CollisionShapes/btCollisionShape.h
+++ b/src/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -28,8 +28,13 @@ ATTRIBUTE_ALIGNED16(class) btCollisionShape
 {
 protected:
 	int m_shapeType;
-	void* m_userPointer;
 
+	union
+	{
+		void* m_userPointer;
+		int	m_userIndex;
+	};
+	
 public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -131,6 +136,16 @@ public:
 		return m_userPointer;
 	}
 
+	void setUserIndex(int index)
+	{
+		m_userIndex = index;
+	}
+
+	int	getUserIndex() const
+	{
+		return m_userIndex;
+	}
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)