20 files changed, 108 insertions, 103 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub
index 0967bca3f2..d8d0b930a5 100644
--- a/modules/bullet/SCsub
+++ b/modules/bullet/SCsub
@@ -3,12 +3,15 @@
 Import('env')
 Import('env_modules')
 
-# build only version 2
-# Bullet 2.87
-
 env_bullet = env_modules.Clone()
 
-bullet_src__2_x = [
+# Thirdparty source files
+
+if env['builtin_bullet']:
+    # Build only version 2 for now (as of 2.87)
+    thirdparty_dir = "#thirdparty/bullet/"
+
+    bullet2_src = [
         # BulletCollision
           "BulletCollision/BroadphaseCollision/btAxisSweep3.cpp"
         , "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp"
@@ -179,17 +182,10 @@ bullet_src__2_x = [
         , "LinearMath/btVector3.cpp"
     ]
 
-thirdparty_dir = "#thirdparty/bullet/"
-thirdparty_src = thirdparty_dir + "src/"
+    thirdparty_sources = [thirdparty_dir + file for file in bullet2_src]
 
-bullet_sources = [thirdparty_src + file for file in bullet_src__2_x]
-
-# include headers
-env_bullet.Append(CPPPATH=[thirdparty_src])
-
-env_bullet.add_source_files(env.modules_sources, bullet_sources)
+    env_bullet.add_source_files(env.modules_sources, thirdparty_sources)
+    env_bullet.Append(CPPPATH=[thirdparty_dir])
 
 # Godot source files
 env_bullet.add_source_files(env.modules_sources, "*.cpp")
-
-Export('env')
diff --git a/modules/bullet/SCsub_with_lib b/modules/bullet/SCsub_with_lib
deleted file mode 100644
index b362a686ff..0000000000
--- a/modules/bullet/SCsub_with_lib
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env python
-
-Import('env')
-
-thirdparty_dir = "#thirdparty/bullet/"
-thirdparty_lib = thirdparty_dir + "Win64/lib/"
-
-bullet_libs = [
-        "Bullet2FileLoader",
-        "Bullet3Collision",
-        "Bullet3Common",
-        "Bullet3Dynamics",
-        "Bullet3Geometry",
-        "Bullet3OpenCL_clew",
-        "BulletCollision",
-        "BulletDynamics",
-        "BulletInverseDynamics",
-        "BulletSoftBody",
-        "LinearMath"
-    ]
-
-thirdparty_src = thirdparty_dir + "src/"
-# include headers
-env.Append(CPPPATH=[thirdparty_src])
-
-# lib
-env.Append(LIBPATH=[thirdparty_dir + "/Win64/lib/"])
-
-bullet_libs = [file+'.lib' for file in bullet_libs]
-# LIBS doesn't work in windows
-env.Append(LINKFLAGS=bullet_libs)
-
-env.add_source_files(env.modules_sources, "*.cpp")
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp
index 9d46e4fe30..648919e612 100644
--- a/modules/bullet/area_bullet.cpp
+++ b/modules/bullet/area_bullet.cpp
@@ -236,7 +236,7 @@ void AreaBullet::set_param(PhysicsServer::AreaParameter p_param, const Variant &
 			set_spOv_gravityPointAttenuation(p_value);
 			break;
 		default:
-			print_line("The Bullet areas dosn't suppot this param: " + itos(p_param));
+			print_line("The Bullet areas doesn't suppot this param: " + itos(p_param));
 	}
 }
 
@@ -259,7 +259,7 @@ Variant AreaBullet::get_param(PhysicsServer::AreaParameter p_param) const {
 		case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
 			return spOv_gravityPointAttenuation;
 		default:
-			print_line("The Bullet areas dosn't suppot this param: " + itos(p_param));
+			print_line("The Bullet areas doesn't suppot this param: " + itos(p_param));
 			return Variant();
 	}
 }
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 51de4998fa..b646fc164d 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -70,8 +70,8 @@
 		return RID();                                                                             \
 	}
 
-#define AddJointToSpace(body, joint, disableCollisionsBetweenLinkedBodies) \
-	body->get_space()->add_constraint(joint, disableCollisionsBetweenLinkedBodies);
+#define AddJointToSpace(body, joint) \
+	body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
 // <--------------- Joint creation asserts
 
 btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty());
@@ -987,6 +987,20 @@ int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const {
 	return 0;
 }
 
+void BulletPhysicsServer::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+	JointBullet *joint = joint_owner.get(p_joint);
+	ERR_FAIL_COND(!joint);
+
+	joint->disable_collisions_between_bodies(p_disable);
+}
+
+bool BulletPhysicsServer::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+	JointBullet *joint(joint_owner.get(p_joint));
+	ERR_FAIL_COND_V(!joint, false);
+
+	return joint->is_disabled_collisions_between_bodies();
+}
+
 RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
 	RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
 	ERR_FAIL_COND_V(!body_A, RID());
@@ -1003,7 +1017,7 @@ RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1071,7 +1085,7 @@ RID BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hin
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1091,7 +1105,7 @@ RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 &
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1143,7 +1157,7 @@ RID BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_lo
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1177,7 +1191,7 @@ RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform &
 	}
 
 	JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
@@ -1213,7 +1227,7 @@ RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform
 	ERR_FAIL_COND_V(body_A == body_B, RID());
 
 	JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
-	AddJointToSpace(body_A, joint, true);
+	AddJointToSpace(body_A, joint);
 
 	CreateThenReturnRID(joint_owner, joint);
 }
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 1c94428a2a..764ec2387c 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -154,7 +154,7 @@ public:
 	/// AREA_PARAM_GRAVITY_VECTOR
 	/// Otherwise you can set area parameters
 	virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value);
-	virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const;
+	virtual Variant area_get_param(RID p_area, AreaParameter p_param) const;
 
 	virtual void area_set_transform(RID p_area, const Transform &p_transform);
 	virtual Transform area_get_transform(RID p_area) const;
@@ -290,6 +290,9 @@ public:
 	virtual void joint_set_solver_priority(RID p_joint, int p_priority);
 	virtual int joint_get_solver_priority(RID p_joint) const;
 
+	virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable);
+	virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const;
+
 	virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B);
 
 	virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value);
@@ -301,7 +304,7 @@ public:
 	virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B);
 	virtual Vector3 pin_joint_get_local_b(RID p_joint) const;
 
-	virtual RID joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B);
+	virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B);
 	virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B);
 
 	virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value);
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 873c9c31b7..34aff68a4a 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -160,16 +160,13 @@ int CollisionObjectBullet::get_godot_object_flags() const {
 
 void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
 
-	btTransform btTrans;
-	Basis decomposed_basis;
+	set_body_scale(p_global_transform.basis.get_scale());
 
-	Vector3 decomposed_scale = p_global_transform.get_basis().rotref_posscale_decomposition(decomposed_basis);
+	btTransform bt_transform;
+	G_TO_B(p_global_transform, bt_transform);
+	UNSCALE_BT_BASIS(bt_transform);
 
-	G_TO_B(p_global_transform.get_origin(), btTrans.getOrigin());
-	G_TO_B(decomposed_basis, btTrans.getBasis());
-
-	set_body_scale(decomposed_scale);
-	set_transform__bullet(btTrans);
+	set_transform__bullet(bt_transform);
 }
 
 Transform CollisionObjectBullet::get_transform() const {
@@ -317,20 +314,22 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
 	}
 
 	// Insert all shapes
-
+	btVector3 body_scale(get_bt_body_scale());
 	for (i = 0; i < shapes_size; ++i) {
 		shpWrapper = &shapes[i];
 		if (shpWrapper->active) {
 			if (!shpWrapper->bt_shape) {
-				shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(shpWrapper->scale);
+				shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(shpWrapper->scale * body_scale);
 			}
-			compoundShape->addChildShape(shpWrapper->transform, shpWrapper->bt_shape);
+
+			btTransform scaled_shape_transform(shpWrapper->transform);
+			scaled_shape_transform.getOrigin() *= body_scale;
+			compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
 		} else {
-			compoundShape->addChildShape(shpWrapper->transform, BulletPhysicsServer::get_empty_shape());
+			compoundShape->addChildShape(btTransform(), BulletPhysicsServer::get_empty_shape());
 		}
 	}
 
-	compoundShape->setLocalScaling(get_bt_body_scale());
 	compoundShape->recalculateLocalAabb();
 }
 
diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp
index b60e89b6fd..d15fb8de01 100644
--- a/modules/bullet/constraint_bullet.cpp
+++ b/modules/bullet/constraint_bullet.cpp
@@ -39,7 +39,8 @@
 
 ConstraintBullet::ConstraintBullet() :
 		space(NULL),
-		constraint(NULL) {}
+		constraint(NULL),
+		disabled_collisions_between_bodies(true) {}
 
 void ConstraintBullet::setup(btTypedConstraint *p_constraint) {
 	constraint = p_constraint;
@@ -53,3 +54,12 @@ void ConstraintBullet::set_space(SpaceBullet *p_space) {
 void ConstraintBullet::destroy_internal_constraint() {
 	space->remove_constraint(this);
 }
+
+void ConstraintBullet::disable_collisions_between_bodies(const bool p_disabled) {
+	disabled_collisions_between_bodies = p_disabled;
+
+	if (space) {
+		space->remove_constraint(this);
+		space->add_constraint(this, disabled_collisions_between_bodies);
+	}
+}
diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h
index 23be5a5063..ed3a318cbc 100644
--- a/modules/bullet/constraint_bullet.h
+++ b/modules/bullet/constraint_bullet.h
@@ -49,6 +49,7 @@ class ConstraintBullet : public RIDBullet {
 protected:
 	SpaceBullet *space;
 	btTypedConstraint *constraint;
+	bool disabled_collisions_between_bodies;
 
 public:
 	ConstraintBullet();
@@ -57,6 +58,9 @@ public:
 	virtual void set_space(SpaceBullet *p_space);
 	virtual void destroy_internal_constraint();
 
+	void disable_collisions_between_bodies(const bool p_disabled);
+	_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
+
 public:
 	virtual ~ConstraintBullet() {
 		bulletdelete(constraint);
diff --git a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
index 941a79e8ea..c7909c7d72 100644
--- a/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsDirectBodyState.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.0-beta">
+<class name="BulletPhysicsDirectBodyState" inherits="PhysicsDirectBodyState" category="Core" version="3.0-stable">
 	<brief_description>
 	</brief_description>
 	<description>
diff --git a/modules/bullet/doc_classes/BulletPhysicsServer.xml b/modules/bullet/doc_classes/BulletPhysicsServer.xml
index 515f0e292e..a59abb0ebb 100644
--- a/modules/bullet/doc_classes/BulletPhysicsServer.xml
+++ b/modules/bullet/doc_classes/BulletPhysicsServer.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.0-beta">
+<class name="BulletPhysicsServer" inherits="PhysicsServer" category="Core" version="3.0-stable">
 	<brief_description>
 	</brief_description>
 	<description>
diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h
index 2ebe368536..fe5d8418b7 100644
--- a/modules/bullet/godot_motion_state.h
+++ b/modules/bullet/godot_motion_state.h
@@ -41,7 +41,7 @@
 
 class RigidBodyBullet;
 
-// This clas is responsible to move kinematic actor
+// This class is responsible to move kinematic actor
 // and sincronize rendering engine with Bullet
 /// DOC:
 /// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/MotionStates#What.27s_a_MotionState.3F
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp
index 709eed9e40..4a511b39a7 100644
--- a/modules/bullet/godot_ray_world_algorithm.cpp
+++ b/modules/bullet/godot_ray_world_algorithm.cpp
@@ -35,6 +35,8 @@
 
 #include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
 
+#define RAY_STABILITY_MARGIN 0.1
+
 /**
 	@author AndreaCatania
 */
@@ -97,10 +99,15 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo
 	m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult);
 
 	if (btResult.hasHit()) {
-		btVector3 ray_normal(to.getOrigin() - ray_transform.getOrigin());
+
+		btVector3 ray_normal(ray_transform.getOrigin() - to.getOrigin());
 		ray_normal.normalize();
-		ray_normal *= -1;
-		resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
+		btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
+
+		if (depth >= -RAY_STABILITY_MARGIN)
+			depth = 0;
+
+		resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, depth);
 	}
 }
 
diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h
index c716c1d88d..7383dad2bf 100644
--- a/modules/bullet/godot_ray_world_algorithm.h
+++ b/modules/bullet/godot_ray_world_algorithm.h
@@ -49,7 +49,7 @@ class GodotRayWorldAlgorithm : public btActivatingCollisionAlgorithm {
 	bool m_isSwapped;
 
 public:
-	GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *m_world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped);
+	GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped);
 	virtual ~GodotRayWorldAlgorithm();
 
 	virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut);
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h
index b18965a5b8..e1b0b1b421 100644
--- a/modules/bullet/godot_result_callbacks.h
+++ b/modules/bullet/godot_result_callbacks.h
@@ -205,6 +205,6 @@ struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
 		return m_pointCollisionObject;
 	}
 
-	virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth);
+	virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth);
 };
 #endif // GODOT_RESULT_CALLBACKS_H
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index f2115a5d50..f96218ef46 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -690,7 +690,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {
 		/// Calculate using the rule writte below the CCD swept sphere radius
 		///     CCD works on an embedded sphere of radius, make sure this radius
 		///     is embedded inside the convex objects, preferably smaller:
-		///     for an object of dimentions 1 meter, try 0.2
+		///     for an object of dimensions 1 meter, try 0.2
 		btVector3 center;
 		btScalar radius;
 		btBody->getCollisionShape()->getBoundingSphere(center, radius);
@@ -832,7 +832,8 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
 
 void RigidBodyBullet::reload_space_override_modificator() {
 
-	if (!is_active())
+	// Make sure that kinematic bodies have their total gravity calculated
+	if (!is_active() && PhysicsServer::BODY_MODE_KINEMATIC != mode)
 		return;
 
 	Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude());
@@ -955,7 +956,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
 	const bool isDynamic = p_mass != 0.f;
 	if (isDynamic) {
 
-		ERR_FAIL_COND(PhysicsServer::BODY_MODE_RIGID != mode && PhysicsServer::BODY_MODE_CHARACTER != mode);
+		if (PhysicsServer::BODY_MODE_RIGID != mode && PhysicsServer::BODY_MODE_CHARACTER != mode)
+			return;
 
 		m_isStatic = false;
 		compoundShape->calculateLocalInertia(p_mass, localInertia);
@@ -975,7 +977,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
 		}
 	} else {
 
-		ERR_FAIL_COND(PhysicsServer::BODY_MODE_STATIC != mode && PhysicsServer::BODY_MODE_KINEMATIC != mode);
+		if (PhysicsServer::BODY_MODE_STATIC != mode && PhysicsServer::BODY_MODE_KINEMATIC != mode)
+			return;
 
 		m_isStatic = true;
 		if (PhysicsServer::BODY_MODE_STATIC == mode) {
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index eb9417e391..c4a9676bdd 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -48,11 +48,11 @@ class GodotMotionState;
 class BulletPhysicsDirectBodyState;
 
 /// This class could be used in multi thread with few changes but currently
-/// is setted to be only in one single thread.
+/// is set to be only in one single thread.
 ///
 /// In the system there is only one object at a time that manage all bodies and is
 /// created by BulletPhysicsServer and is held by the "singleton" variable of this class
-/// Each time something require it, the body must be setted again.
+/// Each time something require it, the body must be set again.
 class BulletPhysicsDirectBodyState : public PhysicsDirectBodyState {
 	GDCLASS(BulletPhysicsDirectBodyState, PhysicsDirectBodyState)
 
@@ -262,12 +262,12 @@ public:
 	Variant get_state(PhysicsServer::BodyState p_state) const;
 
 	void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
-	void apply_central_impulse(const Vector3 &p_force);
+	void apply_central_impulse(const Vector3 &p_impulse);
 	void apply_torque_impulse(const Vector3 &p_impulse);
 
 	void apply_force(const Vector3 &p_force, const Vector3 &p_pos);
 	void apply_central_force(const Vector3 &p_force);
-	void apply_torque(const Vector3 &p_force);
+	void apply_torque(const Vector3 &p_torque);
 
 	void set_applied_force(const Vector3 &p_force);
 	Vector3 get_applied_force() const;
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 27eac4e6ee..c6b9695d96 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -282,7 +282,7 @@ PhysicsServer::ShapeType ConvexPolygonShapeBullet::get_type() const {
 }
 
 void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
-	// Make a copy of verticies
+	// Make a copy of vertices
 	const int n_of_vertices = p_vertices.size();
 	vertices.resize(n_of_vertices);
 	for (int i = n_of_vertices - 1; 0 <= i; --i) {
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index 4a03c0f014..e04a3c808a 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -99,7 +99,7 @@ public:
 	virtual void set_data(const Variant &p_data);
 	virtual Variant get_data() const;
 	virtual PhysicsServer::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
+	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
 
 private:
 	void setup(const Plane &p_plane);
@@ -116,7 +116,7 @@ public:
 	virtual void set_data(const Variant &p_data);
 	virtual Variant get_data() const;
 	virtual PhysicsServer::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
+	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
 
 private:
 	void setup(real_t p_radius);
@@ -133,7 +133,7 @@ public:
 	virtual void set_data(const Variant &p_data);
 	virtual Variant get_data() const;
 	virtual PhysicsServer::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
+	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
 
 private:
 	void setup(const Vector3 &p_half_extents);
@@ -152,7 +152,7 @@ public:
 	virtual void set_data(const Variant &p_data);
 	virtual Variant get_data() const;
 	virtual PhysicsServer::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
+	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
 
 private:
 	void setup(real_t p_height, real_t p_radius);
@@ -169,7 +169,7 @@ public:
 	void get_vertices(Vector<Vector3> &out_vertices);
 	virtual Variant get_data() const;
 	virtual PhysicsServer::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
+	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
 
 private:
 	void setup(const Vector<Vector3> &p_vertices);
@@ -187,7 +187,7 @@ public:
 	virtual void set_data(const Variant &p_data);
 	virtual Variant get_data() const;
 	virtual PhysicsServer::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
+	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
 
 private:
 	void setup(PoolVector<Vector3> p_faces);
@@ -206,7 +206,7 @@ public:
 	virtual void set_data(const Variant &p_data);
 	virtual Variant get_data() const;
 	virtual PhysicsServer::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
+	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
 
 private:
 	void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
@@ -222,7 +222,7 @@ public:
 	virtual void set_data(const Variant &p_data);
 	virtual Variant get_data() const;
 	virtual PhysicsServer::ShapeType get_type() const;
-	virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
+	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
 
 private:
 	void setup(real_t p_length);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index d60d8ba0e2..88d9c20eba 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -116,7 +116,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V
 	}
 }
 
-int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *p_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
+int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
 	if (p_result_max <= 0)
 		return 0;
 
@@ -138,7 +138,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
 	collision_object.setCollisionShape(btConvex);
 	collision_object.setWorldTransform(bt_xform);
 
-	GodotAllContactResultCallback btQuery(&collision_object, p_results, p_result_max, &p_exclude);
+	GodotAllContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
 	btQuery.m_collisionFilterGroup = 0;
 	btQuery.m_collisionFilterMask = p_collision_mask;
 	btQuery.m_closestDistanceThreshold = 0;
@@ -979,6 +979,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
 			} else {
 				if (!l_has_penetration)
 					break;
+				else
+					has_penetration = true;
 			}
 		}
 	}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 0aeb407dcc..2b97f0b274 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -199,12 +199,12 @@ private:
 				local_shape_most_recovered(0) {}
 	};
 
-	bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+	bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
 	/// This is an API that recover a kinematic object from penetration
 	/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
-	bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+	bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
 	/// This is an API that recover a kinematic object from penetration
 	/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
-	bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+	bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
 };
 #endif