Merged the new ODE stuff

1 files changed, 456 insertions, 452 deletions

diff --git a/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim.Physics/OdePlugin/OdePlugin.cs
index 599dea8..137e44d 100644
--- a/OpenSim.Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim.Physics/OdePlugin/OdePlugin.cs
@@ -1,452 +1,456 @@
-/*

-* Copyright (c) OpenSim project, http://sim.opensecondlife.org/

-*

-* Redistribution and use in source and binary forms, with or without

-* modification, are permitted provided that the following conditions are met:

-*     * Redistributions of source code must retain the above copyright

-*       notice, this list of conditions and the following disclaimer.

-*     * Redistributions in binary form must reproduce the above copyright

-*       notice, this list of conditions and the following disclaimer in the

-*       documentation and/or other materials provided with the distribution.

-*     * Neither the name of the <organization> nor the

-*       names of its contributors may be used to endorse or promote products

-*       derived from this software without specific prior written permission.

-*

-* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY

-* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

-* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY

-* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

-* 

-*/

-using System;

-using System.Collections.Generic;

-using OpenSim.Physics.Manager;

-using Ode.NET;

-

-namespace OpenSim.Physics.OdePlugin

-{

-    /// <summary>

-    /// ODE plugin 

-    /// </summary>

-    public class OdePlugin : IPhysicsPlugin

-    {

-        private OdeScene _mScene;

-

-        public OdePlugin()

-        {

-

-        }

-

-        public bool Init()

-        {

-            return true;

-        }

-

-        public PhysicsScene GetScene()

-        {

-            if (_mScene == null)

-            {

-                _mScene = new OdeScene();

-            }

-            return (_mScene);

-        }

-

-        public string GetName()

-        {

-            return ("OpenDynamicsEngine");

-        }

-

-        public void Dispose()

-        {

-

-        }

-    }

-

-    public class OdeScene : PhysicsScene

-    {

-        static public IntPtr world;

-        static public IntPtr space;

-        static private IntPtr contactgroup;

-        static private IntPtr LandGeom;

-        //static private IntPtr Land;

-        private double[] _heightmap;

-        static private d.NearCallback nearCallback = near;

-        private List<OdeCharacter> _characters = new List<OdeCharacter>();

-        private static d.ContactGeom[] contacts = new d.ContactGeom[30];

-        private static d.Contact contact;

-

-        public OdeScene()

-        {

-            contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;

-            contact.surface.mu = d.Infinity;

-            contact.surface.mu2 = 0.0f;

-            contact.surface.bounce = 0.1f;

-            contact.surface.bounce_vel = 0.1f;

-            contact.surface.soft_cfm = 0.01f;

-

-            world = d.WorldCreate();

-            space = d.HashSpaceCreate(IntPtr.Zero);

-            contactgroup = d.JointGroupCreate(0);

-            d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);

-            //d.WorldSetCFM(world, 1e-5f);

-            d.WorldSetAutoDisableFlag(world, false);

-            d.WorldSetContactSurfaceLayer(world, 0.001f);

-           // d.CreatePlane(space, 0, 0, 1, 0);

-            this._heightmap = new double[65536];

-        }

-

-        // This function blatantly ripped off from BoxStack.cs

-        static private void near(IntPtr space, IntPtr g1, IntPtr g2)

-        {

-            //Console.WriteLine("collision callback");

-            IntPtr b1 = d.GeomGetBody(g1);

-            IntPtr b2 = d.GeomGetBody(g2);

-            if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))

-                return;

-

-            int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);

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

-            {

-                contact.geom = contacts[i];

-                IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);

-                d.JointAttach(joint, b1, b2);

-            }

-

-        }

-

-        public override PhysicsActor AddAvatar(PhysicsVector position)

-        {

-            PhysicsVector pos = new PhysicsVector();

-            pos.X = position.X;

-            pos.Y = position.Y;

-            pos.Z = position.Z + 20;

-            OdeCharacter newAv = new OdeCharacter(this, pos);

-            this._characters.Add(newAv);

-            return newAv;

-        }

-

-        public override void RemoveAvatar(PhysicsActor actor)

-        {

-

-        }

-

-        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)

-        {

-            PhysicsVector pos = new PhysicsVector();

-            pos.X = position.X;

-            pos.Y = position.Y;

-            pos.Z = position.Z;

-            PhysicsVector siz = new PhysicsVector();

-            siz.X = size.X;

-            siz.Y = size.Y;

-            siz.Z = size.Z;

-            return new OdePrim();

-        }

-

-        public override void Simulate(float timeStep)

-        {

-            foreach (OdeCharacter actor in _characters)

-            {

-                actor.Move(timeStep * 5f);

-            }

-            d.SpaceCollide(space, IntPtr.Zero, nearCallback);

-            d.WorldQuickStep(world, timeStep * 5f);

-            d.JointGroupEmpty(contactgroup);

-            foreach (OdeCharacter actor in _characters)

-            {

-                actor.UpdatePosition();

-            }

-

-        }

-

-        public override void GetResults()

-        {

-

-        }

-

-        public override bool IsThreaded

-        {

-            get

-            {

-                return (false); // for now we won't be multithreaded

-            }

-        }

-

-        public override void SetTerrain(float[] heightMap)

-        {

-            for (int i = 0; i < 65536; i++)

-            {

-                this._heightmap[i] = (double)heightMap[i];

-            }

-            IntPtr HeightmapData = d.GeomHeightfieldDataCreate();

-            d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);

-            d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);

-            LandGeom = d.CreateHeightfield(space, HeightmapData, 1);

-            d.Matrix3 R = new d.Matrix3();

-            

-            Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));

-            Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));

-           //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));

-            

-            q1 = q1 * q2;

-            //q1 = q1 * q3;

-            Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();

-            float angle = 0;

-            q1.ToAngleAxis(ref angle, ref v3);

-

-            d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);

-            d.GeomSetRotation(LandGeom, ref R); 

-            d.GeomSetPosition(LandGeom, 128, 128, 0); 

-        }

-

-        public override void DeleteTerrain()

-        {

-

-        }

-    }

-

-    public class OdeCharacter : PhysicsActor

-    {

-        private PhysicsVector _position;

-        private PhysicsVector _velocity;

-        private PhysicsVector _acceleration;

-        private bool flying;

-        //private float gravityAccel;

-        private IntPtr BoundingCapsule;

-        IntPtr capsule_geom;

-        d.Mass capsule_mass;

-

-        public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)

-        {

-            _velocity = new PhysicsVector();

-            _position = pos;

-            _acceleration = new PhysicsVector();

-            d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);

-            capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);

-            this.BoundingCapsule = d.BodyCreate(OdeScene.world);

-            d.BodySetMass(BoundingCapsule, ref capsule_mass);

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

-            d.GeomSetBody(capsule_geom, BoundingCapsule);

-        }

-

-        public override bool Flying

-        {

-            get

-            {

-                return flying;

-            }

-            set

-            {

-                flying = value;

-            }

-        }

-

-        public override PhysicsVector Position

-        {

-            get

-            {

-                return _position;

-            }

-            set

-            {

-                _position = value;

-            }

-        }

-

-        public override PhysicsVector Velocity

-        {

-            get

-            {

-                return _velocity;

-            }

-            set

-            {

-                _velocity = value;

-            }

-        }

-

-        public override bool Kinematic

-        {

-            get

-            {

-                return false;

-            }

-            set

-            {

-

-            }

-        }

-

-        public override Axiom.MathLib.Quaternion Orientation

-        {

-            get

-            {

-                return Axiom.MathLib.Quaternion.Identity;

-            }

-            set

-            {

-

-            }

-        }

-

-        public override PhysicsVector Acceleration

-        {

-            get

-            {

-                return _acceleration;

-            }

-

-        }

-        public void SetAcceleration(PhysicsVector accel)

-        {

-            this._acceleration = accel;

-        }

-

-        public override void AddForce(PhysicsVector force)

-        {

-

-        }

-

-        public override void SetMomentum(PhysicsVector momentum)

-        {

-

-        }

-

-        public void Move(float timeStep)

-        {

-            PhysicsVector vec = new PhysicsVector();

-            vec.X = this._velocity.X * timeStep;

-            vec.Y = this._velocity.Y * timeStep;

-            if (flying)

-            {

-                vec.Z = (this._velocity.Z + 0.5f) * timeStep;

-            }

-            d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);

-        }

-

-        public void UpdatePosition()

-        {

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

-            this._position.X = vec.X;

-            this._position.Y = vec.Y;

-            this._position.Z = vec.Z;

-        }

-    }

-

-    public class OdePrim : PhysicsActor

-    {

-        private PhysicsVector _position;

-        private PhysicsVector _velocity;

-        private PhysicsVector _acceleration;

-

-        public OdePrim()

-        {

-            _velocity = new PhysicsVector();

-            _position = new PhysicsVector();

-            _acceleration = new PhysicsVector();

-        }

-        public override bool Flying

-        {

-            get

-            {

-                return false; //no flying prims for you

-            }

-            set

-            {

-

-            }

-        }

-        public override PhysicsVector Position

-        {

-            get

-            {

-                PhysicsVector pos = new PhysicsVector();

-                //      PhysicsVector vec = this._prim.Position;

-                //pos.X = vec.X;

-                //pos.Y = vec.Y;

-                //pos.Z = vec.Z;

-                return pos;

-

-            }

-            set

-            {

-                /*PhysicsVector vec = value;

-                PhysicsVector pos = new PhysicsVector();

-                pos.X = vec.X;

-                pos.Y = vec.Y;

-                pos.Z = vec.Z;

-                this._prim.Position = pos;*/

-            }

-        }

-

-        public override PhysicsVector Velocity

-        {

-            get

-            {

-                return _velocity;

-            }

-            set

-            {

-                _velocity = value;

-            }

-        }

-

-        public override bool Kinematic

-        {

-            get

-            {

-                return false;

-                //return this._prim.Kinematic;

-            }

-            set

-            {

-                //this._prim.Kinematic = value;

-            }

-        }

-

-        public override Axiom.MathLib.Quaternion Orientation

-        {

-            get

-            {

-                Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();

-                return res;

-            }

-            set

-            {

-

-            }

-        }

-

-        public override PhysicsVector Acceleration

-        {

-            get

-            {

-                return _acceleration;

-            }

-

-        }

-        public void SetAcceleration(PhysicsVector accel)

-        {

-            this._acceleration = accel;

-        }

-

-        public override void AddForce(PhysicsVector force)

-        {

-

-        }

-

-        public override void SetMomentum(PhysicsVector momentum)

-        {

-

-        }

-

-

-    }

-

-}

+/*
+* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*     * Redistributions of source code must retain the above copyright
+*       notice, this list of conditions and the following disclaimer.
+*     * Redistributions in binary form must reproduce the above copyright
+*       notice, this list of conditions and the following disclaimer in the
+*       documentation and/or other materials provided with the distribution.
+*     * Neither the name of the <organization> nor the
+*       names of its contributors may be used to endorse or promote products
+*       derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY
+* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
+* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+* 
+*/
+using System;
+using System.Collections.Generic;
+using OpenSim.Physics.Manager;
+using Ode.NET;
+
+namespace OpenSim.Physics.OdePlugin
+{
+    /// <summary>
+    /// ODE plugin 
+    /// </summary>
+    public class OdePlugin : IPhysicsPlugin
+    {
+        private OdeScene _mScene;
+
+        public OdePlugin()
+        {
+
+        }
+
+        public bool Init()
+        {
+            return true;
+        }
+
+        public PhysicsScene GetScene()
+        {
+            if (_mScene == null)
+            {
+                _mScene = new OdeScene();
+            }
+            return (_mScene);
+        }
+
+        public string GetName()
+        {
+            return ("OpenDynamicsEngine");
+        }
+
+        public void Dispose()
+        {
+
+        }
+    }
+
+    public class OdeScene : PhysicsScene
+    {
+        static public IntPtr world;
+        static public IntPtr space;
+        static private IntPtr contactgroup;
+        static private IntPtr LandGeom;
+        //static private IntPtr Land;
+        private double[] _heightmap;
+        static private d.NearCallback nearCallback = near;
+        private List<OdeCharacter> _characters = new List<OdeCharacter>();
+        private static d.ContactGeom[] contacts = new d.ContactGeom[30];
+        private static d.Contact contact;
+
+        public OdeScene()
+        {
+            contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
+            contact.surface.mu = d.Infinity;
+            contact.surface.mu2 = 0.0f;
+            contact.surface.bounce = 0.1f;
+            contact.surface.bounce_vel = 0.1f;
+            contact.surface.soft_cfm = 0.01f;
+
+            world = d.WorldCreate();
+            space = d.HashSpaceCreate(IntPtr.Zero);
+            contactgroup = d.JointGroupCreate(0);
+            d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
+            //d.WorldSetCFM(world, 1e-5f);
+            d.WorldSetAutoDisableFlag(world, false);
+            d.WorldSetContactSurfaceLayer(world, 0.001f);
+           // d.CreatePlane(space, 0, 0, 1, 0);
+            this._heightmap = new double[65536];
+        }
+
+        // This function blatantly ripped off from BoxStack.cs
+        static private void near(IntPtr space, IntPtr g1, IntPtr g2)
+        {
+            //Console.WriteLine("collision callback");
+            IntPtr b1 = d.GeomGetBody(g1);
+            IntPtr b2 = d.GeomGetBody(g2);
+            if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
+                return;
+
+            int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
+            for (int i = 0; i < count; ++i)
+            {
+                contact.geom = contacts[i];
+                IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
+                d.JointAttach(joint, b1, b2);
+            }
+
+        }
+
+        public override PhysicsActor AddAvatar(PhysicsVector position)
+        {
+            PhysicsVector pos = new PhysicsVector();
+            pos.X = position.X;
+            pos.Y = position.Y;
+            pos.Z = position.Z + 20;
+            OdeCharacter newAv = new OdeCharacter(this, pos);
+            this._characters.Add(newAv);
+            return newAv;
+        }
+
+        public override void RemoveAvatar(PhysicsActor actor)
+        {
+
+        }
+
+        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
+        {
+            PhysicsVector pos = new PhysicsVector();
+            pos.X = position.X;
+            pos.Y = position.Y;
+            pos.Z = position.Z;
+            PhysicsVector siz = new PhysicsVector();
+            siz.X = size.X;
+            siz.Y = size.Y;
+            siz.Z = size.Z;
+            return new OdePrim();
+        }
+
+        public override void Simulate(float timeStep)
+        {
+            foreach (OdeCharacter actor in _characters)
+            {
+                actor.Move(timeStep * 5f);
+            }
+            d.SpaceCollide(space, IntPtr.Zero, nearCallback);
+            d.WorldQuickStep(world, timeStep * 5f);
+            d.JointGroupEmpty(contactgroup);
+            foreach (OdeCharacter actor in _characters)
+            {
+                actor.UpdatePosition();
+            }
+
+        }
+
+        public override void GetResults()
+        {
+
+        }
+
+        public override bool IsThreaded
+        {
+            get
+            {
+                return (false); // for now we won't be multithreaded
+            }
+        }
+
+        public override void SetTerrain(float[] heightMap)
+        {
+            for (int i = 0; i < 65536; i++)
+            {
+                // this._heightmap[i] = (double)heightMap[i];
+                // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
+                int x = i & 0xff;
+                int y = i >> 8;
+                this._heightmap[i] = (double)heightMap[x * 256 + y];
+            }
+            IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
+            d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
+            d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
+            LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
+            d.Matrix3 R = new d.Matrix3();
+            
+            Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
+            Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
+           //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
+            
+            q1 = q1 * q2;
+            //q1 = q1 * q3;
+            Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
+            float angle = 0;
+            q1.ToAngleAxis(ref angle, ref v3);
+
+            d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
+            d.GeomSetRotation(LandGeom, ref R); 
+            d.GeomSetPosition(LandGeom, 128, 128, 0); 
+        }
+
+        public override void DeleteTerrain()
+        {
+
+        }
+    }
+
+    public class OdeCharacter : PhysicsActor
+    {
+        private PhysicsVector _position;
+        private PhysicsVector _velocity;
+        private PhysicsVector _acceleration;
+        private bool flying;
+        //private float gravityAccel;
+        private IntPtr BoundingCapsule;
+        IntPtr capsule_geom;
+        d.Mass capsule_mass;
+
+        public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
+        {
+            _velocity = new PhysicsVector();
+            _position = pos;
+            _acceleration = new PhysicsVector();
+            d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
+            capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
+            this.BoundingCapsule = d.BodyCreate(OdeScene.world);
+            d.BodySetMass(BoundingCapsule, ref capsule_mass);
+            d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
+            d.GeomSetBody(capsule_geom, BoundingCapsule);
+        }
+
+        public override bool Flying
+        {
+            get
+            {
+                return flying;
+            }
+            set
+            {
+                flying = value;
+            }
+        }
+
+        public override PhysicsVector Position
+        {
+            get
+            {
+                return _position;
+            }
+            set
+            {
+                _position = value;
+            }
+        }
+
+        public override PhysicsVector Velocity
+        {
+            get
+            {
+                return _velocity;
+            }
+            set
+            {
+                _velocity = value;
+            }
+        }
+
+        public override bool Kinematic
+        {
+            get
+            {
+                return false;
+            }
+            set
+            {
+
+            }
+        }
+
+        public override Axiom.MathLib.Quaternion Orientation
+        {
+            get
+            {
+                return Axiom.MathLib.Quaternion.Identity;
+            }
+            set
+            {
+
+            }
+        }
+
+        public override PhysicsVector Acceleration
+        {
+            get
+            {
+                return _acceleration;
+            }
+
+        }
+        public void SetAcceleration(PhysicsVector accel)
+        {
+            this._acceleration = accel;
+        }
+
+        public override void AddForce(PhysicsVector force)
+        {
+
+        }
+
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+
+        }
+
+        public void Move(float timeStep)
+        {
+            PhysicsVector vec = new PhysicsVector();
+            vec.X = this._velocity.X * timeStep;
+            vec.Y = this._velocity.Y * timeStep;
+            if (flying)
+            {
+                vec.Z = (this._velocity.Z + 0.5f) * timeStep;
+            }
+            d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
+        }
+
+        public void UpdatePosition()
+        {
+            d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
+            this._position.X = vec.X;
+            this._position.Y = vec.Y;
+            this._position.Z = vec.Z+1.0f;
+        }
+    }
+
+    public class OdePrim : PhysicsActor
+    {
+        private PhysicsVector _position;
+        private PhysicsVector _velocity;
+        private PhysicsVector _acceleration;
+
+        public OdePrim()
+        {
+            _velocity = new PhysicsVector();
+            _position = new PhysicsVector();
+            _acceleration = new PhysicsVector();
+        }
+        public override bool Flying
+        {
+            get
+            {
+                return false; //no flying prims for you
+            }
+            set
+            {
+
+            }
+        }
+        public override PhysicsVector Position
+        {
+            get
+            {
+                PhysicsVector pos = new PhysicsVector();
+                //      PhysicsVector vec = this._prim.Position;
+                //pos.X = vec.X;
+                //pos.Y = vec.Y;
+                //pos.Z = vec.Z;
+                return pos;
+
+            }
+            set
+            {
+                /*PhysicsVector vec = value;
+                PhysicsVector pos = new PhysicsVector();
+                pos.X = vec.X;
+                pos.Y = vec.Y;
+                pos.Z = vec.Z;
+                this._prim.Position = pos;*/
+            }
+        }
+
+        public override PhysicsVector Velocity
+        {
+            get
+            {
+                return _velocity;
+            }
+            set
+            {
+                _velocity = value;
+            }
+        }
+
+        public override bool Kinematic
+        {
+            get
+            {
+                return false;
+                //return this._prim.Kinematic;
+            }
+            set
+            {
+                //this._prim.Kinematic = value;
+            }
+        }
+
+        public override Axiom.MathLib.Quaternion Orientation
+        {
+            get
+            {
+                Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
+                return res;
+            }
+            set
+            {
+
+            }
+        }
+
+        public override PhysicsVector Acceleration
+        {
+            get
+            {
+                return _acceleration;
+            }
+
+        }
+        public void SetAcceleration(PhysicsVector accel)
+        {
+            this._acceleration = accel;
+        }
+
+        public override void AddForce(PhysicsVector force)
+        {
+
+        }
+
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+
+        }
+
+
+    }
+
+}