set svn:eol-style

2 files changed, 1163 insertions, 1163 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index cda6af2..888f555 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -1,477 +1,477 @@
-using System;

-using System.Collections.Generic;

-using Axiom.Math;

-using Ode.NET;

-using OpenSim.Framework;

-using OpenSim.Region.Physics.Manager;

-

-namespace OpenSim.Region.Physics.OdePlugin

-{

-    public class OdeCharacter : PhysicsActor

-    {

-        private PhysicsVector _position;

-        private d.Vector3 _zeroPosition;

-        private bool _zeroFlag = false;

-        private bool m_lastUpdateSent = false;

-        private PhysicsVector _velocity;

-        private PhysicsVector _target_velocity;

-        private PhysicsVector _acceleration;

-        private PhysicsVector m_rotationalVelocity;

-        private static float PID_D = 3020.0f;

-        private static float PID_P = 7000.0f;

-        private static float POSTURE_SERVO = 10000.0f;

-        public static float CAPSULE_RADIUS = 0.5f;

-        public float CAPSULE_LENGTH = 0.79f;

-        private bool flying = false;

-        private bool m_iscolliding = false;

-        private bool m_iscollidingGround = false;

-        private bool m_wascolliding = false;

-        private bool m_wascollidingGround = false;

-        private bool m_alwaysRun = false;

-        private bool m_hackSentFall = false;

-        private bool m_hackSentFly = false;

-        private string m_name = "";

-

-        private bool[] m_colliderarr = new bool[11];

-        private bool[] m_colliderGroundarr = new bool[11];

-

-

-        private bool jumping = false;

-        //private float gravityAccel;

-        public IntPtr Body;

-        private OdeScene _parent_scene;

-        public IntPtr Shell;

-        public d.Mass ShellMass;

-        public bool collidelock = false;

-

-        public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)

-        {

-            _velocity = new PhysicsVector();

-            _target_velocity = new PhysicsVector();

-            _position = pos;

-            _acceleration = new PhysicsVector();

-            _parent_scene = parent_scene;

-

-            for (int i = 0; i < 11; i++)

-            {

-                m_colliderarr[i] = false;

-            }

-

-            lock (OdeScene.OdeLock)

-            {

-

-                Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);

-                d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);

-                Body = d.BodyCreate(parent_scene.world);

-                d.BodySetMass(Body, ref ShellMass);

-                d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);

-                d.GeomSetBody(Shell, Body);

-            }

-            m_name = avName;

-            parent_scene.geom_name_map[Shell] = avName;

-            parent_scene.actor_name_map[Shell] = (PhysicsActor)this;

-        }

-        public override int PhysicsActorType

-        {

-            get { return (int)ActorTypes.Agent; }

-            set { return; }

-        }

-        public override bool SetAlwaysRun

-        {

-            get { return m_alwaysRun; }

-            set { m_alwaysRun = value; }

-        }

-        public override bool IsPhysical

-        {

-            get { return false; }

-            set { return; }

-        }

-        public override bool ThrottleUpdates

-        {

-            get { return false; }

-            set { return; }

-        }

-        public override bool Flying

-        {

-            get { return flying; }

-            set { flying = value; }

-        }

-        public override bool IsColliding

-        {

-

-            get { return m_iscolliding; }

-            set

-            {

-                int i;

-                int truecount = 0;

-                int falsecount = 0;

-

-                if (m_colliderarr.Length >= 10)

-                {

-                    for (i = 0; i < 10; i++)

-                    {

-                        m_colliderarr[i] = m_colliderarr[i + 1];

-                    }

-                }

-                m_colliderarr[10] = value;

-

-                for (i = 0; i < 11; i++)

-                {

-                    if (m_colliderarr[i])

-                    {

-                        truecount++;

-                    }

-                    else

-                    {

-                        falsecount++;

-                    }

-                }

-

-                // Equal truecounts and false counts means we're colliding with something.

-

-                if (falsecount > 1.2 * truecount)

-                {

-                    m_iscolliding = false;

-                }

-                else

-                {

-                    m_iscolliding = true;

-                }

-                if (m_wascolliding != m_iscolliding)

-                {

-                    base.SendCollisionUpdate(new CollisionEventUpdate());

-                }

-                m_wascolliding = m_iscolliding;

-            }

-        }

-        public override bool CollidingGround

-        {

-            get { return m_iscollidingGround; }

-            set

-            {

-                int i;

-                int truecount = 0;

-                int falsecount = 0;

-

-                if (m_colliderGroundarr.Length >= 10)

-                {

-                    for (i = 0; i < 10; i++)

-                    {

-                        m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];

-                    }

-                }

-                m_colliderGroundarr[10] = value;

-

-                for (i = 0; i < 11; i++)

-                {

-                    if (m_colliderGroundarr[i])

-                    {

-                        truecount++;

-                    }

-                    else

-                    {

-                        falsecount++;

-                    }

-                }

-

-                // Equal truecounts and false counts means we're colliding with something.

-

-                if (falsecount > 1.2 * truecount)

-                {

-                    m_iscollidingGround = false;

-                }

-                else

-                {

-                    m_iscollidingGround = true;

-                }

-                if (m_wascollidingGround != m_iscollidingGround)

-                {

-                    //base.SendCollisionUpdate(new CollisionEventUpdate());

-                }

-                m_wascollidingGround = m_iscollidingGround;

-            }

-        }

-        public override bool CollidingObj

-        {

-            get { return false; }

-            set { return; }

-        }

-

-        public override PhysicsVector Position

-        {

-            get { return _position; }

-            set

-            {

-                lock (OdeScene.OdeLock)

-                {

-                    d.BodySetPosition(Body, value.X, value.Y, value.Z);

-                    _position = value;

-                }

-            }

-        }

-        public override PhysicsVector RotationalVelocity

-        {

-            get { return m_rotationalVelocity; }

-            set { m_rotationalVelocity = value; }

-        }

-        public override PhysicsVector Size

-        {

-            get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }

-            set

-            {

-                lock (OdeScene.OdeLock)

-                {

-                    PhysicsVector SetSize = value;

-                    float prevCapsule = CAPSULE_LENGTH;

-                    float capsuleradius = CAPSULE_RADIUS;

-                    capsuleradius = 0.2f;

-

-                    CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size

-                    d.BodyDestroy(Body);

-                    d.GeomDestroy(Shell);

-                    //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));

-                    Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);

-                    d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);

-                    Body = d.BodyCreate(_parent_scene.world);

-                    d.BodySetMass(Body, ref ShellMass);

-                    d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));

-                    d.GeomSetBody(Shell, Body);

-                }

-                _parent_scene.geom_name_map[Shell] = m_name;

-                _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;

-            }

-        }

-

-        public override PrimitiveBaseShape Shape

-        {

-            set

-            {

-                return;

-            }

-        }

-

-        public override PhysicsVector Velocity

-        {

-            get { return _velocity; }

-            set { _target_velocity = value; }

-        }

-

-        public override bool Kinematic

-        {

-            get { return false; }

-            set { }

-        }

-

-        public override Quaternion Orientation

-        {

-            get { return Quaternion.Identity; }

-            set { }

-        }

-

-        public override PhysicsVector Acceleration

-        {

-            get { return _acceleration; }

-        }

-

-        public void SetAcceleration(PhysicsVector accel)

-        {

-            _acceleration = accel;

-        }

-

-        public override void AddForce(PhysicsVector force)

-        {

-

-            _target_velocity.X += force.X;

-            _target_velocity.Y += force.Y;

-            _target_velocity.Z += force.Z;

-

-            //m_lastUpdateSent = false;

-        }

-        public void doForce(PhysicsVector force)

-        {

-            if (!collidelock)

-            {

-                d.BodyAddForce(Body, force.X, force.Y, force.Z);

-

-                //  ok -- let's stand up straight!

-                d.Vector3 feet;

-                d.Vector3 head;

-                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);

-                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);

-                float posture = head.Z - feet.Z;

-

-                // restoring force proportional to lack of posture:

-                float servo = (2.5f - posture) * POSTURE_SERVO;

-                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);

-                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);

-                //m_lastUpdateSent = false;

-

-            }

-

-        }

-        public override void SetMomentum(PhysicsVector momentum)

-        {

-

-        }

-

-        public void Move(float timeStep)

-        {

-            //  no lock; for now it's only called from within Simulate()

-            PhysicsVector vec = new PhysicsVector();

-            d.Vector3 vel = d.BodyGetLinearVel(Body);

-            float movementdivisor = 1f;

-

-            if (!m_alwaysRun)

-            {

-                movementdivisor = 1.3f;

-            }

-            else

-            {

-                movementdivisor = 0.8f;

-

-            }

-

-            //  if velocity is zero, use position control; otherwise, velocity control

-            if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)

-            {

-                //  keep track of where we stopped.  No more slippin' & slidin'

-                if (!_zeroFlag)

-                {

-                    _zeroFlag = true;

-                    _zeroPosition = d.BodyGetPosition(Body);

-                }

-                d.Vector3 pos = d.BodyGetPosition(Body);

-                vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;

-                vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;

-                if (flying)

-                {

-                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;

-                }

-            }

-            else

-            {

-

-                _zeroFlag = false;

-                if (m_iscolliding || flying)

-                {

-

-                    vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D;

-                    vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D;

-                }

-                if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)

-                {

-                    d.Vector3 pos = d.BodyGetPosition(Body);

-                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;

-                    if (_target_velocity.X > 0)

-                    {

-                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;

-                    }

-                    if (_target_velocity.Y > 0)

-                    {

-                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;

-                    }

-                }

-                else if (!m_iscolliding && !flying)

-                {

-                    d.Vector3 pos = d.BodyGetPosition(Body);

-                    if (_target_velocity.X > 0)

-                    {

-                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;

-                    }

-                    if (_target_velocity.Y > 0)

-                    {

-                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;

-                    }

-

-                }

-

-

-                if (flying)

-                {

-                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D;

-                }

-            }

-            if (flying)

-            {

-                vec.Z += 10.0f;

-            }

-

-

-            doForce(vec);

-        }

-

-        public void UpdatePositionAndVelocity()

-        {

-            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!

-            d.Vector3 vec = d.BodyGetPosition(Body);

-

-            //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)

-            if (vec.X < 0.0f) vec.X = 0.0f;

-            if (vec.Y < 0.0f) vec.Y = 0.0f;

-            if (vec.X > 255.95f) vec.X = 255.95f;

-            if (vec.Y > 255.95f) vec.Y = 255.95f;

-

-            _position.X = vec.X;

-            _position.Y = vec.Y;

-            _position.Z = vec.Z;

-

-            if (_zeroFlag)

-            {

-                _velocity.X = 0.0f;

-                _velocity.Y = 0.0f;

-                _velocity.Z = 0.0f;

-                if (!m_lastUpdateSent)

-                {

-                    m_lastUpdateSent = true;

-                    base.RequestPhysicsterseUpdate();

-                    string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);

-                    int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);

-                    if (primScenAvatarIn == "0")

-                    {

-                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());

-                    }

-                    else

-                    {

-                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());

-                    }

-

-                }

-            }

-            else

-            {

-                m_lastUpdateSent = false;

-                vec = d.BodyGetLinearVel(Body);

-                _velocity.X = (vec.X);

-                _velocity.Y = (vec.Y);

-

-                _velocity.Z = (vec.Z);

-                if (_velocity.Z < -6 && !m_hackSentFall)

-                {

-                    m_hackSentFall = true;

-                    base.SendCollisionUpdate(new CollisionEventUpdate());

-                }

-                else if (flying && !m_hackSentFly)

-                {

-                    //m_hackSentFly = true;

-                    //base.SendCollisionUpdate(new CollisionEventUpdate());

-                }

-                else

-                {

-                    m_hackSentFly = false;

-                    m_hackSentFall = false;

-                }

-            }

-        }

-

-        public void Destroy()

-        {

-            lock (OdeScene.OdeLock)

-            {

-                d.GeomDestroy(Shell);

-                _parent_scene.geom_name_map.Remove(Shell);

-                d.BodyDestroy(Body);

-            }

-        }

-    }

-

-}

+using System;
+using System.Collections.Generic;
+using Axiom.Math;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    public class OdeCharacter : PhysicsActor
+    {
+        private PhysicsVector _position;
+        private d.Vector3 _zeroPosition;
+        private bool _zeroFlag = false;
+        private bool m_lastUpdateSent = false;
+        private PhysicsVector _velocity;
+        private PhysicsVector _target_velocity;
+        private PhysicsVector _acceleration;
+        private PhysicsVector m_rotationalVelocity;
+        private static float PID_D = 3020.0f;
+        private static float PID_P = 7000.0f;
+        private static float POSTURE_SERVO = 10000.0f;
+        public static float CAPSULE_RADIUS = 0.5f;
+        public float CAPSULE_LENGTH = 0.79f;
+        private bool flying = false;
+        private bool m_iscolliding = false;
+        private bool m_iscollidingGround = false;
+        private bool m_wascolliding = false;
+        private bool m_wascollidingGround = false;
+        private bool m_alwaysRun = false;
+        private bool m_hackSentFall = false;
+        private bool m_hackSentFly = false;
+        private string m_name = "";
+
+        private bool[] m_colliderarr = new bool[11];
+        private bool[] m_colliderGroundarr = new bool[11];
+
+
+        private bool jumping = false;
+        //private float gravityAccel;
+        public IntPtr Body;
+        private OdeScene _parent_scene;
+        public IntPtr Shell;
+        public d.Mass ShellMass;
+        public bool collidelock = false;
+
+        public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
+        {
+            _velocity = new PhysicsVector();
+            _target_velocity = new PhysicsVector();
+            _position = pos;
+            _acceleration = new PhysicsVector();
+            _parent_scene = parent_scene;
+
+            for (int i = 0; i < 11; i++)
+            {
+                m_colliderarr[i] = false;
+            }
+
+            lock (OdeScene.OdeLock)
+            {
+
+                Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
+                d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
+                Body = d.BodyCreate(parent_scene.world);
+                d.BodySetMass(Body, ref ShellMass);
+                d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
+                d.GeomSetBody(Shell, Body);
+            }
+            m_name = avName;
+            parent_scene.geom_name_map[Shell] = avName;
+            parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
+        }
+        public override int PhysicsActorType
+        {
+            get { return (int)ActorTypes.Agent; }
+            set { return; }
+        }
+        public override bool SetAlwaysRun
+        {
+            get { return m_alwaysRun; }
+            set { m_alwaysRun = value; }
+        }
+        public override bool IsPhysical
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override bool ThrottleUpdates
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override bool Flying
+        {
+            get { return flying; }
+            set { flying = value; }
+        }
+        public override bool IsColliding
+        {
+
+            get { return m_iscolliding; }
+            set
+            {
+                int i;
+                int truecount = 0;
+                int falsecount = 0;
+
+                if (m_colliderarr.Length >= 10)
+                {
+                    for (i = 0; i < 10; i++)
+                    {
+                        m_colliderarr[i] = m_colliderarr[i + 1];
+                    }
+                }
+                m_colliderarr[10] = value;
+
+                for (i = 0; i < 11; i++)
+                {
+                    if (m_colliderarr[i])
+                    {
+                        truecount++;
+                    }
+                    else
+                    {
+                        falsecount++;
+                    }
+                }
+
+                // Equal truecounts and false counts means we're colliding with something.
+
+                if (falsecount > 1.2 * truecount)
+                {
+                    m_iscolliding = false;
+                }
+                else
+                {
+                    m_iscolliding = true;
+                }
+                if (m_wascolliding != m_iscolliding)
+                {
+                    base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                m_wascolliding = m_iscolliding;
+            }
+        }
+        public override bool CollidingGround
+        {
+            get { return m_iscollidingGround; }
+            set
+            {
+                int i;
+                int truecount = 0;
+                int falsecount = 0;
+
+                if (m_colliderGroundarr.Length >= 10)
+                {
+                    for (i = 0; i < 10; i++)
+                    {
+                        m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
+                    }
+                }
+                m_colliderGroundarr[10] = value;
+
+                for (i = 0; i < 11; i++)
+                {
+                    if (m_colliderGroundarr[i])
+                    {
+                        truecount++;
+                    }
+                    else
+                    {
+                        falsecount++;
+                    }
+                }
+
+                // Equal truecounts and false counts means we're colliding with something.
+
+                if (falsecount > 1.2 * truecount)
+                {
+                    m_iscollidingGround = false;
+                }
+                else
+                {
+                    m_iscollidingGround = true;
+                }
+                if (m_wascollidingGround != m_iscollidingGround)
+                {
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                m_wascollidingGround = m_iscollidingGround;
+            }
+        }
+        public override bool CollidingObj
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override PhysicsVector Position
+        {
+            get { return _position; }
+            set
+            {
+                lock (OdeScene.OdeLock)
+                {
+                    d.BodySetPosition(Body, value.X, value.Y, value.Z);
+                    _position = value;
+                }
+            }
+        }
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
+        public override PhysicsVector Size
+        {
+            get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
+            set
+            {
+                lock (OdeScene.OdeLock)
+                {
+                    PhysicsVector SetSize = value;
+                    float prevCapsule = CAPSULE_LENGTH;
+                    float capsuleradius = CAPSULE_RADIUS;
+                    capsuleradius = 0.2f;
+
+                    CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size
+                    d.BodyDestroy(Body);
+                    d.GeomDestroy(Shell);
+                    //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
+                    Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
+                    d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
+                    Body = d.BodyCreate(_parent_scene.world);
+                    d.BodySetMass(Body, ref ShellMass);
+                    d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
+                    d.GeomSetBody(Shell, Body);
+                }
+                _parent_scene.geom_name_map[Shell] = m_name;
+                _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
+            }
+        }
+
+        public override PrimitiveBaseShape Shape
+        {
+            set
+            {
+                return;
+            }
+        }
+
+        public override PhysicsVector Velocity
+        {
+            get { return _velocity; }
+            set { _target_velocity = value; }
+        }
+
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return Quaternion.Identity; }
+            set { }
+        }
+
+        public override PhysicsVector Acceleration
+        {
+            get { return _acceleration; }
+        }
+
+        public void SetAcceleration(PhysicsVector accel)
+        {
+            _acceleration = accel;
+        }
+
+        public override void AddForce(PhysicsVector force)
+        {
+
+            _target_velocity.X += force.X;
+            _target_velocity.Y += force.Y;
+            _target_velocity.Z += force.Z;
+
+            //m_lastUpdateSent = false;
+        }
+        public void doForce(PhysicsVector force)
+        {
+            if (!collidelock)
+            {
+                d.BodyAddForce(Body, force.X, force.Y, force.Z);
+
+                //  ok -- let's stand up straight!
+                d.Vector3 feet;
+                d.Vector3 head;
+                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
+                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
+                float posture = head.Z - feet.Z;
+
+                // restoring force proportional to lack of posture:
+                float servo = (2.5f - posture) * POSTURE_SERVO;
+                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
+                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
+                //m_lastUpdateSent = false;
+
+            }
+
+        }
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+
+        }
+
+        public void Move(float timeStep)
+        {
+            //  no lock; for now it's only called from within Simulate()
+            PhysicsVector vec = new PhysicsVector();
+            d.Vector3 vel = d.BodyGetLinearVel(Body);
+            float movementdivisor = 1f;
+
+            if (!m_alwaysRun)
+            {
+                movementdivisor = 1.3f;
+            }
+            else
+            {
+                movementdivisor = 0.8f;
+
+            }
+
+            //  if velocity is zero, use position control; otherwise, velocity control
+            if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
+            {
+                //  keep track of where we stopped.  No more slippin' & slidin'
+                if (!_zeroFlag)
+                {
+                    _zeroFlag = true;
+                    _zeroPosition = d.BodyGetPosition(Body);
+                }
+                d.Vector3 pos = d.BodyGetPosition(Body);
+                vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
+                vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
+                if (flying)
+                {
+                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
+                }
+            }
+            else
+            {
+
+                _zeroFlag = false;
+                if (m_iscolliding || flying)
+                {
+
+                    vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D;
+                    vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D;
+                }
+                if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
+                {
+                    d.Vector3 pos = d.BodyGetPosition(Body);
+                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
+                    if (_target_velocity.X > 0)
+                    {
+                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
+                    }
+                    if (_target_velocity.Y > 0)
+                    {
+                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
+                    }
+                }
+                else if (!m_iscolliding && !flying)
+                {
+                    d.Vector3 pos = d.BodyGetPosition(Body);
+                    if (_target_velocity.X > 0)
+                    {
+                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
+                    }
+                    if (_target_velocity.Y > 0)
+                    {
+                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
+                    }
+
+                }
+
+
+                if (flying)
+                {
+                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D;
+                }
+            }
+            if (flying)
+            {
+                vec.Z += 10.0f;
+            }
+
+
+            doForce(vec);
+        }
+
+        public void UpdatePositionAndVelocity()
+        {
+            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
+            d.Vector3 vec = d.BodyGetPosition(Body);
+
+            //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
+            if (vec.X < 0.0f) vec.X = 0.0f;
+            if (vec.Y < 0.0f) vec.Y = 0.0f;
+            if (vec.X > 255.95f) vec.X = 255.95f;
+            if (vec.Y > 255.95f) vec.Y = 255.95f;
+
+            _position.X = vec.X;
+            _position.Y = vec.Y;
+            _position.Z = vec.Z;
+
+            if (_zeroFlag)
+            {
+                _velocity.X = 0.0f;
+                _velocity.Y = 0.0f;
+                _velocity.Z = 0.0f;
+                if (!m_lastUpdateSent)
+                {
+                    m_lastUpdateSent = true;
+                    base.RequestPhysicsterseUpdate();
+                    string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
+                    int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
+                    if (primScenAvatarIn == "0")
+                    {
+                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
+                    }
+                    else
+                    {
+                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
+                    }
+
+                }
+            }
+            else
+            {
+                m_lastUpdateSent = false;
+                vec = d.BodyGetLinearVel(Body);
+                _velocity.X = (vec.X);
+                _velocity.Y = (vec.Y);
+
+                _velocity.Z = (vec.Z);
+                if (_velocity.Z < -6 && !m_hackSentFall)
+                {
+                    m_hackSentFall = true;
+                    base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                else if (flying && !m_hackSentFly)
+                {
+                    //m_hackSentFly = true;
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                else
+                {
+                    m_hackSentFly = false;
+                    m_hackSentFall = false;
+                }
+            }
+        }
+
+        public void Destroy()
+        {
+            lock (OdeScene.OdeLock)
+            {
+                d.GeomDestroy(Shell);
+                _parent_scene.geom_name_map.Remove(Shell);
+                d.BodyDestroy(Body);
+            }
+        }
+    }
+
+}
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index f423e82..19de4ca 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -1,686 +1,686 @@
-using System;

-using System.Collections.Generic;

-using Axiom.Math;

-using Ode.NET;

-using OpenSim.Framework;

-using OpenSim.Region.Physics.Manager;

-

-namespace OpenSim.Region.Physics.OdePlugin

-{

-

-    public class OdePrim : PhysicsActor

-    {

-        public PhysicsVector _position;

-        private PhysicsVector _velocity;

-        private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);

-        private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);

-        private PhysicsVector m_rotationalVelocity;

-        private PhysicsVector _size;

-        private PhysicsVector _acceleration;

-        private Quaternion _orientation;

-        private PhysicsVector m_taintposition;

-        private PhysicsVector m_taintsize;

-        private Quaternion m_taintrot;

-        private bool m_taintshape = false;

-        private bool m_taintPhysics = false;

-        public bool m_taintremove = false;

-

-        private IMesh _mesh;

-        private PrimitiveBaseShape _pbs;

-        private OdeScene _parent_scene;

-        public IntPtr m_targetSpace = (IntPtr)0;

-        public IntPtr prim_geom;

-        public IntPtr _triMeshData;

-        private bool iscolliding = false;

-        private bool m_isphysical = false;

-        private bool m_throttleUpdates = false;

-        private int throttleCounter = 0;

-        public bool outofBounds = false;

-

-        public bool _zeroFlag = false;

-        private bool m_lastUpdateSent = false;

-

-        public IntPtr Body = (IntPtr)0;

-        private String m_primName;

-        private PhysicsVector _target_velocity;

-        public d.Mass pMass;

-        private const float MassMultiplier = 150f; //  Ref: Water: 1000kg..  this iset to 500

-        private int debugcounter = 0;

-

-

-        public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size,

-                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)

-        {

-

-

-            _velocity = new PhysicsVector();

-            _position = pos;

-            m_taintposition = pos;

-            if (_position.X > 257)

-            {

-                _position.X = 257;

-            }

-            if (_position.X < 0)

-            {

-                _position.X = 0;

-            }

-            if (_position.Y > 257)

-            {

-                _position.Y = 257;

-            }

-            if (_position.Y < 0)

-            {

-                _position.Y = 0;

-            }

-

-            _size = size;

-            m_taintsize = _size;

-            _acceleration = new PhysicsVector();

-            m_rotationalVelocity = PhysicsVector.Zero;

-            _orientation = rotation;

-            m_taintrot = _orientation;

-            _mesh = mesh;

-            _pbs = pbs;

-

-            _parent_scene = parent_scene;

-            m_targetSpace = targetSpace;

-

-            if (pos.Z < 0)

-                m_isphysical = false;

-            else

-            {

-                m_isphysical = pisPhysical;

-                // If we're physical, we need to be in the master space for now.

-                // linksets *should* be in a space together..  but are not currently

-                if (m_isphysical)

-                    m_targetSpace = _parent_scene.space;

-

-            }

-            m_primName = primName;

-

-

-

-            lock (OdeScene.OdeLock)

-            {

-                if (mesh != null)

-                {

-                    setMesh(parent_scene, mesh);

-                }

-                else

-                {

-                    prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);

-                }

-

-                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

-                d.Quaternion myrot = new d.Quaternion();

-                myrot.W = rotation.w;

-                myrot.X = rotation.x;

-                myrot.Y = rotation.y;

-                myrot.Z = rotation.z;

-                d.GeomSetQuaternion(prim_geom, ref myrot);

-

-

-                if (m_isphysical && Body == (IntPtr)0)

-                {

-                    enableBody();

-                }

-                parent_scene.geom_name_map[prim_geom] = primName;

-                parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;

-                //  don't do .add() here; old geoms get recycled with the same hash

-            }

-        }

-        public override int PhysicsActorType

-        {

-            get { return (int)ActorTypes.Prim; }

-            set { return; }

-        }

-        public override bool SetAlwaysRun

-        {

-            get { return false; }

-            set { return; }

-        }

-        public void enableBody()

-        {

-            // Sets the geom to a body

-            Body = d.BodyCreate(_parent_scene.world);

-

-            setMass();

-            d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);

-            d.Quaternion myrot = new d.Quaternion();

-            myrot.W = _orientation.w;

-            myrot.X = _orientation.x;

-            myrot.Y = _orientation.y;

-            myrot.Z = _orientation.z;

-            d.BodySetQuaternion(Body, ref myrot);

-            d.GeomSetBody(prim_geom, Body);

-            d.BodySetAutoDisableFlag(Body, true);

-            d.BodySetAutoDisableSteps(Body, 20);

-

-            _parent_scene.addActivePrim(this);

-        }

-        public void setMass()

-        {

-            //Sets Mass based on member MassMultiplier.   

-            if (Body != (IntPtr)0)

-            {

-                d.MassSetBox(out pMass, (_size.X * _size.Y * _size.Z * MassMultiplier), _size.X, _size.Y, _size.Z);

-                d.BodySetMass(Body, ref pMass);

-            }

-        }

-        public void disableBody()

-        {

-            //this kills the body so things like 'mesh' can re-create it.

-            if (Body != (IntPtr)0)

-            {

-                _parent_scene.remActivePrim(this);

-                d.BodyDestroy(Body);

-                Body = (IntPtr)0;

-            }

-        }

-        public void setMesh(OdeScene parent_scene, IMesh mesh)

-        {

-            //Kill Body so that mesh can re-make the geom

-            if (IsPhysical && Body != (IntPtr)0)

-            {

-                disableBody();

-            }

-            float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory

-            int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage

-            int VertexCount = vertexList.GetLength(0) / 3;

-            int IndexCount = indexList.GetLength(0);

-

-            _triMeshData = d.GeomTriMeshDataCreate();

-

-            d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3 * sizeof(float), VertexCount, indexList, IndexCount,

-                                         3 * sizeof(int));

-            d.GeomTriMeshDataPreprocess(_triMeshData);

-

-            prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null);

-

-            if (IsPhysical && Body == (IntPtr)0)

-            {

-                // Recreate the body

-                enableBody();

-            }

-        }

-        public void ProcessTaints(float timestep)

-        {

-            if (m_taintposition != _position)

-                Move(timestep);

-

-            if (m_taintrot != _orientation)

-                rotate(timestep);

-            //

-

-            if (m_taintPhysics != m_isphysical)

-                changePhysicsStatus(timestep);

-            //

-

-            if (m_taintsize != _size)

-                changesize(timestep);

-            //

-

-            if (m_taintshape)

-                changeshape(timestep);

-            //

-

-        }

-        public void Move(float timestep)

-        {

-            if (m_isphysical)

-            {

-                // This is a fallback..   May no longer be necessary.

-                if (Body == (IntPtr)0)

-                    enableBody();

-                //Prim auto disable after 20 frames, 

-                ///if you move it, re-enable the prim manually.

-                d.BodyEnable(Body);

-                d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);

-            }

-            else

-            {

-                string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);

-                int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);

-                if (primScenAvatarIn == "0")

-                {

-                    OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in space with no prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + " . Arr:': " + arrayitem[0].ToString() + "," + arrayitem[1].ToString());

-                }

-                else

-                {

-                    OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in Prim space with prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + ".  Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());

-                }

-                m_targetSpace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);

-                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

-                d.SpaceAdd(m_targetSpace, prim_geom);

-            }

-

-            m_taintposition = _position;

-        }

-        public void rotate(float timestep)

-        {

-

-            d.Quaternion myrot = new d.Quaternion();

-            myrot.W = _orientation.w;

-            myrot.X = _orientation.x;

-            myrot.Y = _orientation.y;

-            myrot.Z = _orientation.z;

-            d.GeomSetQuaternion(prim_geom, ref myrot);

-            if (m_isphysical && Body != (IntPtr)0)

-            {

-                d.BodySetQuaternion(Body, ref myrot);

-            }

-

-            m_taintrot = _orientation;

-        }

-        public void changePhysicsStatus(float timestap)

-        {

-            if (m_isphysical == true)

-            {

-                if (Body == (IntPtr)0)

-                {

-                    enableBody();

-                }

-

-            }

-            else

-            {

-                if (Body != (IntPtr)0)

-                {

-                    disableBody();

-                }

-            }

-

-

-            m_taintPhysics = m_isphysical;

-        }

-        public void changesize(float timestamp)

-        {

-            string oldname = _parent_scene.geom_name_map[prim_geom];

-

-            // Cleanup of old prim geometry

-            if (_mesh != null)

-            {

-                // Cleanup meshing here

-            }

-            //kill body to rebuild 

-            if (IsPhysical && Body != (IntPtr)0)

-            {

-                disableBody();

-            }

-            if (d.SpaceQuery(m_targetSpace, prim_geom))

-            {

-                d.SpaceRemove(m_targetSpace, prim_geom);

-            }

-            d.GeomDestroy(prim_geom);

-

-            // we don't need to do space calculation because the client sends a position update also.

-

-            // Construction of new prim

-            if (this._parent_scene.needsMeshing(_pbs))

-            {

-

-

-                // Don't need to re-enable body..   it's done in SetMesh

-                IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);

-                // createmesh returns null when it's a shape that isn't a cube.

-                if (mesh != null)

-                {

-                    setMesh(_parent_scene, mesh);

-                }

-                else

-                {

-                    prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);

-                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

-                    d.Quaternion myrot = new d.Quaternion();

-                    myrot.W = _orientation.w;

-                    myrot.X = _orientation.x;

-                    myrot.Y = _orientation.y;

-                    myrot.Z = _orientation.z;

-                    d.GeomSetQuaternion(prim_geom, ref myrot);

-

-

-                }

-            }

-            else

-            {

-                prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);

-                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

-                d.Quaternion myrot = new d.Quaternion();

-                myrot.W = _orientation.w;

-                myrot.X = _orientation.x;

-                myrot.Y = _orientation.y;

-                myrot.Z = _orientation.z;

-                d.GeomSetQuaternion(prim_geom, ref myrot);

-

-

-                //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);

-                if (IsPhysical && Body == (IntPtr)0)

-                {

-                    // Re creates body on size.

-                    // EnableBody also does setMass()

-                    enableBody();

-                    d.BodyEnable(Body);

-                }

-

-            }

-

-

-            _parent_scene.geom_name_map[prim_geom] = oldname;

-

-

-            m_taintsize = _size;

-        }

-        public void changeshape(float timestamp)

-        {

-            string oldname = _parent_scene.geom_name_map[prim_geom];

-

-            // Cleanup of old prim geometry and Bodies

-            if (IsPhysical && Body != (IntPtr)0)

-            {

-                disableBody();

-            }

-            d.GeomDestroy(prim_geom);

-            if (_mesh != null)

-            {

-

-                d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);

-

-            }

-

-            // Construction of new prim

-            if (this._parent_scene.needsMeshing(_pbs))

-            {

-                IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);

-                if (mesh != null)

-                {

-                    setMesh(_parent_scene, mesh);

-                }

-                else

-                {

-                    prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);

-                }

-            }

-            else

-            {

-                prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);

-            }

-            if (IsPhysical && Body == (IntPtr)0)

-            {

-                //re-create new body

-                enableBody();

-            }

-            else

-            {

-                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

-                d.Quaternion myrot = new d.Quaternion();

-                myrot.W = _orientation.w;

-                myrot.X = _orientation.x;

-                myrot.Y = _orientation.y;

-                myrot.Z = _orientation.z;

-                d.GeomSetQuaternion(prim_geom, ref myrot);

-            }

-            _parent_scene.geom_name_map[prim_geom] = oldname;

-

-

-

-

-            m_taintshape = false;

-        }

-        public override bool IsPhysical

-        {

-            get { return m_isphysical; }

-            set { m_isphysical = value; }

-        }

-        public void setPrimForRemoval()

-        {

-            m_taintremove = true;

-        }

-

-        public override bool Flying

-        {

-            get

-            {

-                return false; //no flying prims for you

-            }

-            set { }

-        }

-

-        public override bool IsColliding

-        {

-            get { return iscolliding; }

-            set { iscolliding = value; }

-        }

-        public override bool CollidingGround

-        {

-            get { return false; }

-            set { return; }

-        }

-        public override bool CollidingObj

-        {

-            get { return false; }

-            set { return; }

-        }

-        public override bool ThrottleUpdates

-        {

-            get { return m_throttleUpdates; }

-            set { m_throttleUpdates = value; }

-        }

-

-        public override PhysicsVector Position

-        {

-            get { return _position; }

-

-

-            set

-            {

-                _position = value;

-

-            }

-        }

-

-        public override PhysicsVector Size

-        {

-            get { return _size; }

-            set

-            {

-                _size = value;

-

-            }

-        }

-

-        public override PrimitiveBaseShape Shape

-        {

-            set

-            {

-                _pbs = value;

-

-            }

-        }

-

-        public override PhysicsVector Velocity

-        {

-            get

-            {

-                // Averate previous velocity with the new one so 

-                // client object interpolation works a 'little' better

-                PhysicsVector returnVelocity = new PhysicsVector();

-                returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;

-                returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;

-                returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;

-                return returnVelocity;

-            }

-            set { _velocity = value; }

-        }

-

-        public override bool Kinematic

-        {

-            get { return false; }

-            set { }

-        }

-

-        public override Quaternion Orientation

-        {

-            get { return _orientation; }

-            set

-            {

-                _orientation = value;

-

-            }

-        }

-

-        public override PhysicsVector Acceleration

-        {

-            get { return _acceleration; }

-        }

-

-

-        public void SetAcceleration(PhysicsVector accel)

-        {

-            _acceleration = accel;

-        }

-

-        public override void AddForce(PhysicsVector force)

-        {

-        }

-

-        public override PhysicsVector RotationalVelocity

-        {

-            get { return m_rotationalVelocity; }

-            set { m_rotationalVelocity = value; }

-        }

-

-        public void UpdatePositionAndVelocity()

-        {

-            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!

-

-            if (Body != (IntPtr)0)

-            {

-                d.Vector3 vec = d.BodyGetPosition(Body);

-                d.Quaternion ori = d.BodyGetQuaternion(Body);

-                d.Vector3 vel = d.BodyGetLinearVel(Body);

-                d.Vector3 rotvel = d.BodyGetAngularVel(Body);

-

-                PhysicsVector l_position = new PhysicsVector();

-                //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)

-                if (vec.X < 0.0f) vec.X = 0.0f;

-                if (vec.Y < 0.0f) vec.Y = 0.0f;

-                if (vec.X > 255.95f) vec.X = 255.95f;

-                if (vec.Y > 255.95f) vec.Y = 255.95f;

-                m_lastposition = _position;

-

-                l_position.X = vec.X;

-                l_position.Y = vec.Y;

-                l_position.Z = vec.Z;

-                if (l_position.Z < 0)

-                {

-                    // This is so prim that get lost underground don't fall forever and suck up 

-                    // 

-                    // Sim resources and memory.

-                    // Disables the prim's movement physics....  

-                    // It's a hack and will generate a console message if it fails.

-

-

-

-

-                    //IsPhysical = false;

-                    base.RaiseOutOfBounds(_position);

-                    _velocity.X = 0;

-                    _velocity.Y = 0;

-                    _velocity.Z = 0;

-                    m_rotationalVelocity.X = 0;

-                    m_rotationalVelocity.Y = 0;

-                    m_rotationalVelocity.Z = 0;

-                    base.RequestPhysicsterseUpdate();

-                    m_throttleUpdates = false;

-                    throttleCounter = 0;

-                    _zeroFlag = true;

-                    //outofBounds = true;

-                }

-

-                if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)

-                    && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)

-                    && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02))

-                {

-

-                    _zeroFlag = true;

-                }

-                else

-                {

-                    //System.Console.WriteLine(Math.Abs(m_lastposition.X - l_position.X).ToString());

-                    _zeroFlag = false;

-                }

-

-

-

-                if (_zeroFlag)

-                {

-                    // Supposedly this is supposed to tell SceneObjectGroup that 

-                    // no more updates need to be sent..  

-                    // but it seems broken.

-                    _velocity.X = 0.0f;

-                    _velocity.Y = 0.0f;

-                    _velocity.Z = 0.0f;

-                    //_orientation.w = 0f;

-                    //_orientation.x = 0f;

-                    //_orientation.y = 0f;

-                    //_orientation.z = 0f;

-                    m_rotationalVelocity.X = 0;

-                    m_rotationalVelocity.Y = 0;

-                    m_rotationalVelocity.Z = 0;

-                    if (!m_lastUpdateSent)

-                    {

-                        m_throttleUpdates = false;

-                        throttleCounter = 0;

-                        base.RequestPhysicsterseUpdate();

-                        m_lastUpdateSent = true;

-                    }

-

-                }

-                else

-                {

-                    m_lastVelocity = _velocity;

-

-                    _position = l_position;

-

-                    _velocity.X = vel.X;

-                    _velocity.Y = vel.Y;

-                    _velocity.Z = vel.Z;

-

-                    m_rotationalVelocity.X = rotvel.X;

-                    m_rotationalVelocity.Y = rotvel.Y;

-                    m_rotationalVelocity.Z = rotvel.Z;

-                    //System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString());

-                    _orientation.w = ori.W;

-                    _orientation.x = ori.X;

-                    _orientation.y = ori.Y;

-                    _orientation.z = ori.Z;

-                    m_lastUpdateSent = false;

-                    if (!m_throttleUpdates || throttleCounter > 15)

-                    {

-                        base.RequestPhysicsterseUpdate();

-                    }

-                    else

-                    {

-                        throttleCounter++;

-                    }

-                }

-                m_lastposition = l_position;

-            }

-            else

-            {

-                // Not a body..   so Make sure the client isn't interpolating

-                _velocity.X = 0;

-                _velocity.Y = 0;

-                _velocity.Z = 0;

-                m_rotationalVelocity.X = 0;

-                m_rotationalVelocity.Y = 0;

-                m_rotationalVelocity.Z = 0;

-                _zeroFlag = true;

-            }

-

-        }

-        public override void SetMomentum(PhysicsVector momentum)

-        {

-        }

-    }

-}

+using System;
+using System.Collections.Generic;
+using Axiom.Math;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+
+    public class OdePrim : PhysicsActor
+    {
+        public PhysicsVector _position;
+        private PhysicsVector _velocity;
+        private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private PhysicsVector m_rotationalVelocity;
+        private PhysicsVector _size;
+        private PhysicsVector _acceleration;
+        private Quaternion _orientation;
+        private PhysicsVector m_taintposition;
+        private PhysicsVector m_taintsize;
+        private Quaternion m_taintrot;
+        private bool m_taintshape = false;
+        private bool m_taintPhysics = false;
+        public bool m_taintremove = false;
+
+        private IMesh _mesh;
+        private PrimitiveBaseShape _pbs;
+        private OdeScene _parent_scene;
+        public IntPtr m_targetSpace = (IntPtr)0;
+        public IntPtr prim_geom;
+        public IntPtr _triMeshData;
+        private bool iscolliding = false;
+        private bool m_isphysical = false;
+        private bool m_throttleUpdates = false;
+        private int throttleCounter = 0;
+        public bool outofBounds = false;
+
+        public bool _zeroFlag = false;
+        private bool m_lastUpdateSent = false;
+
+        public IntPtr Body = (IntPtr)0;
+        private String m_primName;
+        private PhysicsVector _target_velocity;
+        public d.Mass pMass;
+        private const float MassMultiplier = 150f; //  Ref: Water: 1000kg..  this iset to 500
+        private int debugcounter = 0;
+
+
+        public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size,
+                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
+        {
+
+
+            _velocity = new PhysicsVector();
+            _position = pos;
+            m_taintposition = pos;
+            if (_position.X > 257)
+            {
+                _position.X = 257;
+            }
+            if (_position.X < 0)
+            {
+                _position.X = 0;
+            }
+            if (_position.Y > 257)
+            {
+                _position.Y = 257;
+            }
+            if (_position.Y < 0)
+            {
+                _position.Y = 0;
+            }
+
+            _size = size;
+            m_taintsize = _size;
+            _acceleration = new PhysicsVector();
+            m_rotationalVelocity = PhysicsVector.Zero;
+            _orientation = rotation;
+            m_taintrot = _orientation;
+            _mesh = mesh;
+            _pbs = pbs;
+
+            _parent_scene = parent_scene;
+            m_targetSpace = targetSpace;
+
+            if (pos.Z < 0)
+                m_isphysical = false;
+            else
+            {
+                m_isphysical = pisPhysical;
+                // If we're physical, we need to be in the master space for now.
+                // linksets *should* be in a space together..  but are not currently
+                if (m_isphysical)
+                    m_targetSpace = _parent_scene.space;
+
+            }
+            m_primName = primName;
+
+
+
+            lock (OdeScene.OdeLock)
+            {
+                if (mesh != null)
+                {
+                    setMesh(parent_scene, mesh);
+                }
+                else
+                {
+                    prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
+                }
+
+                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                d.Quaternion myrot = new d.Quaternion();
+                myrot.W = rotation.w;
+                myrot.X = rotation.x;
+                myrot.Y = rotation.y;
+                myrot.Z = rotation.z;
+                d.GeomSetQuaternion(prim_geom, ref myrot);
+
+
+                if (m_isphysical && Body == (IntPtr)0)
+                {
+                    enableBody();
+                }
+                parent_scene.geom_name_map[prim_geom] = primName;
+                parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
+                //  don't do .add() here; old geoms get recycled with the same hash
+            }
+        }
+        public override int PhysicsActorType
+        {
+            get { return (int)ActorTypes.Prim; }
+            set { return; }
+        }
+        public override bool SetAlwaysRun
+        {
+            get { return false; }
+            set { return; }
+        }
+        public void enableBody()
+        {
+            // Sets the geom to a body
+            Body = d.BodyCreate(_parent_scene.world);
+
+            setMass();
+            d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+            d.Quaternion myrot = new d.Quaternion();
+            myrot.W = _orientation.w;
+            myrot.X = _orientation.x;
+            myrot.Y = _orientation.y;
+            myrot.Z = _orientation.z;
+            d.BodySetQuaternion(Body, ref myrot);
+            d.GeomSetBody(prim_geom, Body);
+            d.BodySetAutoDisableFlag(Body, true);
+            d.BodySetAutoDisableSteps(Body, 20);
+
+            _parent_scene.addActivePrim(this);
+        }
+        public void setMass()
+        {
+            //Sets Mass based on member MassMultiplier.   
+            if (Body != (IntPtr)0)
+            {
+                d.MassSetBox(out pMass, (_size.X * _size.Y * _size.Z * MassMultiplier), _size.X, _size.Y, _size.Z);
+                d.BodySetMass(Body, ref pMass);
+            }
+        }
+        public void disableBody()
+        {
+            //this kills the body so things like 'mesh' can re-create it.
+            if (Body != (IntPtr)0)
+            {
+                _parent_scene.remActivePrim(this);
+                d.BodyDestroy(Body);
+                Body = (IntPtr)0;
+            }
+        }
+        public void setMesh(OdeScene parent_scene, IMesh mesh)
+        {
+            //Kill Body so that mesh can re-make the geom
+            if (IsPhysical && Body != (IntPtr)0)
+            {
+                disableBody();
+            }
+            float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
+            int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
+            int VertexCount = vertexList.GetLength(0) / 3;
+            int IndexCount = indexList.GetLength(0);
+
+            _triMeshData = d.GeomTriMeshDataCreate();
+
+            d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3 * sizeof(float), VertexCount, indexList, IndexCount,
+                                         3 * sizeof(int));
+            d.GeomTriMeshDataPreprocess(_triMeshData);
+
+            prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null);
+
+            if (IsPhysical && Body == (IntPtr)0)
+            {
+                // Recreate the body
+                enableBody();
+            }
+        }
+        public void ProcessTaints(float timestep)
+        {
+            if (m_taintposition != _position)
+                Move(timestep);
+
+            if (m_taintrot != _orientation)
+                rotate(timestep);
+            //
+
+            if (m_taintPhysics != m_isphysical)
+                changePhysicsStatus(timestep);
+            //
+
+            if (m_taintsize != _size)
+                changesize(timestep);
+            //
+
+            if (m_taintshape)
+                changeshape(timestep);
+            //
+
+        }
+        public void Move(float timestep)
+        {
+            if (m_isphysical)
+            {
+                // This is a fallback..   May no longer be necessary.
+                if (Body == (IntPtr)0)
+                    enableBody();
+                //Prim auto disable after 20 frames, 
+                ///if you move it, re-enable the prim manually.
+                d.BodyEnable(Body);
+                d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
+            }
+            else
+            {
+                string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
+                int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
+                if (primScenAvatarIn == "0")
+                {
+                    OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in space with no prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + " . Arr:': " + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
+                }
+                else
+                {
+                    OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in Prim space with prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + ".  Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
+                }
+                m_targetSpace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
+                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                d.SpaceAdd(m_targetSpace, prim_geom);
+            }
+
+            m_taintposition = _position;
+        }
+        public void rotate(float timestep)
+        {
+
+            d.Quaternion myrot = new d.Quaternion();
+            myrot.W = _orientation.w;
+            myrot.X = _orientation.x;
+            myrot.Y = _orientation.y;
+            myrot.Z = _orientation.z;
+            d.GeomSetQuaternion(prim_geom, ref myrot);
+            if (m_isphysical && Body != (IntPtr)0)
+            {
+                d.BodySetQuaternion(Body, ref myrot);
+            }
+
+            m_taintrot = _orientation;
+        }
+        public void changePhysicsStatus(float timestap)
+        {
+            if (m_isphysical == true)
+            {
+                if (Body == (IntPtr)0)
+                {
+                    enableBody();
+                }
+
+            }
+            else
+            {
+                if (Body != (IntPtr)0)
+                {
+                    disableBody();
+                }
+            }
+
+
+            m_taintPhysics = m_isphysical;
+        }
+        public void changesize(float timestamp)
+        {
+            string oldname = _parent_scene.geom_name_map[prim_geom];
+
+            // Cleanup of old prim geometry
+            if (_mesh != null)
+            {
+                // Cleanup meshing here
+            }
+            //kill body to rebuild 
+            if (IsPhysical && Body != (IntPtr)0)
+            {
+                disableBody();
+            }
+            if (d.SpaceQuery(m_targetSpace, prim_geom))
+            {
+                d.SpaceRemove(m_targetSpace, prim_geom);
+            }
+            d.GeomDestroy(prim_geom);
+
+            // we don't need to do space calculation because the client sends a position update also.
+
+            // Construction of new prim
+            if (this._parent_scene.needsMeshing(_pbs))
+            {
+
+
+                // Don't need to re-enable body..   it's done in SetMesh
+                IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
+                // createmesh returns null when it's a shape that isn't a cube.
+                if (mesh != null)
+                {
+                    setMesh(_parent_scene, mesh);
+                }
+                else
+                {
+                    prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
+                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                    d.Quaternion myrot = new d.Quaternion();
+                    myrot.W = _orientation.w;
+                    myrot.X = _orientation.x;
+                    myrot.Y = _orientation.y;
+                    myrot.Z = _orientation.z;
+                    d.GeomSetQuaternion(prim_geom, ref myrot);
+
+
+                }
+            }
+            else
+            {
+                prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
+                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                d.Quaternion myrot = new d.Quaternion();
+                myrot.W = _orientation.w;
+                myrot.X = _orientation.x;
+                myrot.Y = _orientation.y;
+                myrot.Z = _orientation.z;
+                d.GeomSetQuaternion(prim_geom, ref myrot);
+
+
+                //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
+                if (IsPhysical && Body == (IntPtr)0)
+                {
+                    // Re creates body on size.
+                    // EnableBody also does setMass()
+                    enableBody();
+                    d.BodyEnable(Body);
+                }
+
+            }
+
+
+            _parent_scene.geom_name_map[prim_geom] = oldname;
+
+
+            m_taintsize = _size;
+        }
+        public void changeshape(float timestamp)
+        {
+            string oldname = _parent_scene.geom_name_map[prim_geom];
+
+            // Cleanup of old prim geometry and Bodies
+            if (IsPhysical && Body != (IntPtr)0)
+            {
+                disableBody();
+            }
+            d.GeomDestroy(prim_geom);
+            if (_mesh != null)
+            {
+
+                d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
+
+            }
+
+            // Construction of new prim
+            if (this._parent_scene.needsMeshing(_pbs))
+            {
+                IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
+                if (mesh != null)
+                {
+                    setMesh(_parent_scene, mesh);
+                }
+                else
+                {
+                    prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
+                }
+            }
+            else
+            {
+                prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
+            }
+            if (IsPhysical && Body == (IntPtr)0)
+            {
+                //re-create new body
+                enableBody();
+            }
+            else
+            {
+                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                d.Quaternion myrot = new d.Quaternion();
+                myrot.W = _orientation.w;
+                myrot.X = _orientation.x;
+                myrot.Y = _orientation.y;
+                myrot.Z = _orientation.z;
+                d.GeomSetQuaternion(prim_geom, ref myrot);
+            }
+            _parent_scene.geom_name_map[prim_geom] = oldname;
+
+
+
+
+            m_taintshape = false;
+        }
+        public override bool IsPhysical
+        {
+            get { return m_isphysical; }
+            set { m_isphysical = value; }
+        }
+        public void setPrimForRemoval()
+        {
+            m_taintremove = true;
+        }
+
+        public override bool Flying
+        {
+            get
+            {
+                return false; //no flying prims for you
+            }
+            set { }
+        }
+
+        public override bool IsColliding
+        {
+            get { return iscolliding; }
+            set { iscolliding = value; }
+        }
+        public override bool CollidingGround
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override bool CollidingObj
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override bool ThrottleUpdates
+        {
+            get { return m_throttleUpdates; }
+            set { m_throttleUpdates = value; }
+        }
+
+        public override PhysicsVector Position
+        {
+            get { return _position; }
+
+
+            set
+            {
+                _position = value;
+
+            }
+        }
+
+        public override PhysicsVector Size
+        {
+            get { return _size; }
+            set
+            {
+                _size = value;
+
+            }
+        }
+
+        public override PrimitiveBaseShape Shape
+        {
+            set
+            {
+                _pbs = value;
+
+            }
+        }
+
+        public override PhysicsVector Velocity
+        {
+            get
+            {
+                // Averate previous velocity with the new one so 
+                // client object interpolation works a 'little' better
+                PhysicsVector returnVelocity = new PhysicsVector();
+                returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
+                returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
+                returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
+                return returnVelocity;
+            }
+            set { _velocity = value; }
+        }
+
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return _orientation; }
+            set
+            {
+                _orientation = value;
+
+            }
+        }
+
+        public override PhysicsVector Acceleration
+        {
+            get { return _acceleration; }
+        }
+
+
+        public void SetAcceleration(PhysicsVector accel)
+        {
+            _acceleration = accel;
+        }
+
+        public override void AddForce(PhysicsVector force)
+        {
+        }
+
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
+
+        public void UpdatePositionAndVelocity()
+        {
+            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
+
+            if (Body != (IntPtr)0)
+            {
+                d.Vector3 vec = d.BodyGetPosition(Body);
+                d.Quaternion ori = d.BodyGetQuaternion(Body);
+                d.Vector3 vel = d.BodyGetLinearVel(Body);
+                d.Vector3 rotvel = d.BodyGetAngularVel(Body);
+
+                PhysicsVector l_position = new PhysicsVector();
+                //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
+                if (vec.X < 0.0f) vec.X = 0.0f;
+                if (vec.Y < 0.0f) vec.Y = 0.0f;
+                if (vec.X > 255.95f) vec.X = 255.95f;
+                if (vec.Y > 255.95f) vec.Y = 255.95f;
+                m_lastposition = _position;
+
+                l_position.X = vec.X;
+                l_position.Y = vec.Y;
+                l_position.Z = vec.Z;
+                if (l_position.Z < 0)
+                {
+                    // This is so prim that get lost underground don't fall forever and suck up 
+                    // 
+                    // Sim resources and memory.
+                    // Disables the prim's movement physics....  
+                    // It's a hack and will generate a console message if it fails.
+
+
+
+
+                    //IsPhysical = false;
+                    base.RaiseOutOfBounds(_position);
+                    _velocity.X = 0;
+                    _velocity.Y = 0;
+                    _velocity.Z = 0;
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
+                    base.RequestPhysicsterseUpdate();
+                    m_throttleUpdates = false;
+                    throttleCounter = 0;
+                    _zeroFlag = true;
+                    //outofBounds = true;
+                }
+
+                if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
+                    && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
+                    && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02))
+                {
+
+                    _zeroFlag = true;
+                }
+                else
+                {
+                    //System.Console.WriteLine(Math.Abs(m_lastposition.X - l_position.X).ToString());
+                    _zeroFlag = false;
+                }
+
+
+
+                if (_zeroFlag)
+                {
+                    // Supposedly this is supposed to tell SceneObjectGroup that 
+                    // no more updates need to be sent..  
+                    // but it seems broken.
+                    _velocity.X = 0.0f;
+                    _velocity.Y = 0.0f;
+                    _velocity.Z = 0.0f;
+                    //_orientation.w = 0f;
+                    //_orientation.x = 0f;
+                    //_orientation.y = 0f;
+                    //_orientation.z = 0f;
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
+                    if (!m_lastUpdateSent)
+                    {
+                        m_throttleUpdates = false;
+                        throttleCounter = 0;
+                        base.RequestPhysicsterseUpdate();
+                        m_lastUpdateSent = true;
+                    }
+
+                }
+                else
+                {
+                    m_lastVelocity = _velocity;
+
+                    _position = l_position;
+
+                    _velocity.X = vel.X;
+                    _velocity.Y = vel.Y;
+                    _velocity.Z = vel.Z;
+
+                    m_rotationalVelocity.X = rotvel.X;
+                    m_rotationalVelocity.Y = rotvel.Y;
+                    m_rotationalVelocity.Z = rotvel.Z;
+                    //System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString());
+                    _orientation.w = ori.W;
+                    _orientation.x = ori.X;
+                    _orientation.y = ori.Y;
+                    _orientation.z = ori.Z;
+                    m_lastUpdateSent = false;
+                    if (!m_throttleUpdates || throttleCounter > 15)
+                    {
+                        base.RequestPhysicsterseUpdate();
+                    }
+                    else
+                    {
+                        throttleCounter++;
+                    }
+                }
+                m_lastposition = l_position;
+            }
+            else
+            {
+                // Not a body..   so Make sure the client isn't interpolating
+                _velocity.X = 0;
+                _velocity.Y = 0;
+                _velocity.Z = 0;
+                m_rotationalVelocity.X = 0;
+                m_rotationalVelocity.Y = 0;
+                m_rotationalVelocity.Z = 0;
+                _zeroFlag = true;
+            }
+
+        }
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+        }
+    }
+}