Some more code refactoring, plus a restructuring of the directories so that the Grid servers can be a separate solution to the region server.

1 files changed, 452 insertions, 456 deletions

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

+* 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)

+        {

+

+        }

+

+

+    }

+

+}