Merge commit 'f95033812402aaf31a9f2f66c946165d2d79669f' into bigmerge

Conflicts:
	OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
	OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
	prebuild.xml

1 files changed, 0 insertions, 1190 deletions

diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
deleted file mode 100644
index f13c323..0000000
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ /dev/null
@@ -1,1190 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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.Reflection;
-using BulletDotNET;
-using OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using log4net;
-
-namespace OpenSim.Region.Physics.BulletDotNETPlugin
-{
-    public class BulletDotNETCharacter : PhysicsActor
-    {
-        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-
-        public btRigidBody Body;
-        public btCollisionShape Shell;
-        public btVector3 tempVector1;
-        public btVector3 tempVector2;
-        public btVector3 tempVector3;
-        public btVector3 tempVector4;
-
-        public btVector3 tempVector5RayCast;
-        public btVector3 tempVector6RayCast;
-        public btVector3 tempVector7RayCast;
-
-        public btQuaternion tempQuat1;
-        public btTransform tempTrans1;
-
-        public ClosestNotMeRayResultCallback ClosestCastResult;
-        private btTransform m_bodyTransform;
-        private btVector3 m_bodyPosition;
-        private btVector3 m_CapsuleOrientationAxis;
-        private btQuaternion m_bodyOrientation;
-        private btDefaultMotionState m_bodyMotionState;
-        private btGeneric6DofConstraint m_aMotor;
-        // private Vector3 m_movementComparision;
-        private Vector3 m_position;
-        private Vector3 m_zeroPosition;
-        private bool m_zeroFlag = false;
-        private bool m_lastUpdateSent = false;
-        private Vector3 m_velocity;
-        private Vector3 m_target_velocity;
-        private Vector3 m_acceleration;
-        private Vector3 m_rotationalVelocity;
-        private bool m_pidControllerActive = true;
-        public float PID_D = 80.0f;
-        public float PID_P = 90.0f;
-        public float CAPSULE_RADIUS = 0.37f;
-        public float CAPSULE_LENGTH = 2.140599f;
-        public float heightFudgeFactor = 0.52f;
-        public float walkDivisor = 1.3f;
-        public float runDivisor = 0.8f;
-        private float m_mass = 80f;
-        public float m_density = 60f;
-        private bool m_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_iscollidingObj = false;
-        private bool m_alwaysRun = false;
-        private bool m_hackSentFall = false;
-        private bool m_hackSentFly = false;
-        public uint m_localID = 0;
-        public bool m_returnCollisions = false;
-        // taints and their non-tainted counterparts
-        public bool m_isPhysical = false; // the current physical status
-        public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
-        private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. 
-        private bool m_taintRemove = false;
-        // private bool m_taintedPosition = false;
-        // private Vector3 m_taintedPosition_value;
-        private Vector3 m_taintedForce;
-
-        private float m_buoyancy = 0f;
-
-        // private CollisionLocker ode;
-
-        // private string m_name = String.Empty;
-
-        private bool[] m_colliderarr = new bool[11];
-        private bool[] m_colliderGroundarr = new bool[11];
-
-        private BulletDotNETScene m_parent_scene;
-
-        public int m_eventsubscription = 0;
-        private CollisionEventUpdate CollisionEventsThisFrame = null;
-        private int m_requestedUpdateFrequency = 0;
-
-        public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
-        {
-            m_position = pos;
-            m_zeroPosition = pos;
-            m_parent_scene = parent_scene;
-            PID_D = pid_d;
-            PID_P = pid_p;
-            CAPSULE_RADIUS = capsule_radius;
-            m_density = density;
-            heightFudgeFactor = height_fudge_factor;
-            walkDivisor = walk_divisor;
-            runDivisor = rundivisor;
-            
-            for (int i = 0; i < 11; i++)
-            {
-                m_colliderarr[i] = false;
-            }
-            for (int i = 0; i < 11; i++)
-            {
-                m_colliderGroundarr[i] = false;
-            }
-            CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
-            m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
-            m_isPhysical = false; // current status: no ODE information exists
-            m_tainted_isPhysical = true; // new tainted status: need to create ODE information
-
-            m_parent_scene.AddPhysicsActorTaint(this);
-            
-            // m_name = avName;
-            tempVector1 = new btVector3(0, 0, 0);
-            tempVector2 = new btVector3(0, 0, 0);
-            tempVector3 = new btVector3(0, 0, 0);
-            tempVector4 = new btVector3(0, 0, 0);
-
-            tempVector5RayCast = new btVector3(0, 0, 0);
-            tempVector6RayCast = new btVector3(0, 0, 0);
-            tempVector7RayCast = new btVector3(0, 0, 0);
-
-            tempQuat1 = new btQuaternion(0, 0, 0, 1);
-            tempTrans1 = new btTransform(tempQuat1, tempVector1);
-            // m_movementComparision = new PhysicsVector(0, 0, 0);
-            m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
-        }
-
-        /// <summary>
-        /// This creates the Avatar's physical Surrogate at the position supplied
-        /// </summary>
-        /// <param name="npositionX"></param>
-        /// <param name="npositionY"></param>
-        /// <param name="npositionZ"></param>
-
-        // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
-        // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only 
-        // place that is safe to call this routine AvatarGeomAndBodyCreation.
-        private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
-        {
-            
-            if (CAPSULE_LENGTH <= 0)
-            {
-                m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid!  Setting it to the smallest possible size!");
-                CAPSULE_LENGTH = 0.01f;
-
-            }
-
-            if (CAPSULE_RADIUS <= 0)
-            {
-                m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid!  Setting it to the smallest possible size!");
-                CAPSULE_RADIUS = 0.01f;
-
-            }
-
-            Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH);
-
-            if (m_bodyPosition == null)
-                m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ);
-
-            m_bodyPosition.setValue(npositionX, npositionY, npositionZ);
-
-            if (m_bodyOrientation == null)
-                m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90));
-
-            if (m_bodyTransform == null)
-                m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
-            else
-            {
-                m_bodyTransform.Dispose();
-                m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
-            }
-
-            if (m_bodyMotionState == null)
-                m_bodyMotionState = new btDefaultMotionState(m_bodyTransform);
-            else
-                m_bodyMotionState.setWorldTransform(m_bodyTransform);
-
-            m_mass = Mass;
-
-            Body = new btRigidBody(m_mass, m_bodyMotionState, Shell);
-            // this is used for self identification. User localID instead of body handle
-            Body.setUserPointer(new IntPtr((int)m_localID));
-            
-            if (ClosestCastResult != null)
-                ClosestCastResult.Dispose();
-            ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
-
-            m_parent_scene.AddRigidBody(Body);
-            Body.setActivationState(4);
-            if (m_aMotor != null)
-            {
-                if (m_aMotor.Handle != IntPtr.Zero)
-                {
-                    m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
-                    m_aMotor.Dispose();
-                }
-                m_aMotor = null;
-            }
-
-            m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody,
-                                                                         m_parent_scene.TransZero,
-                                                                         m_parent_scene.TransZero, false);
-            m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero);
-            m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero);
-            
-           
-        }
-        public void Remove()
-        {
-            m_taintRemove = true;
-        }
-        public override bool Stopped
-        {
-            get { return m_zeroFlag; }
-        }
-
-        public override Vector3 Size
-        {
-            get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
-            set
-            {
-                m_pidControllerActive = true;
-
-                Vector3 SetSize = value;
-                    m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
-                    //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
-
-                    Velocity = Vector3.Zero;
-               
-                m_parent_scene.AddPhysicsActorTaint(this);
-            }
-        }
-
-        /// <summary>
-        /// turn the PID controller on or off.
-        /// The PID Controller will turn on all by itself in many situations
-        /// </summary>
-        /// <param name="status"></param>
-        public void SetPidStatus(bool status)
-        {
-            m_pidControllerActive = status;
-        }
-
-        public override PrimitiveBaseShape Shape
-        {
-            set { return; }
-        }
-
-        public override uint LocalID
-        {
-            set { m_localID = value; }
-        }
-
-        public override bool Grabbed
-        {
-            set { return; }
-        }
-
-        public override bool Selected
-        {
-            set { return; }
-        }
-
-
-        public override void CrossingFailure()
-        {
-            
-        }
-
-        public override void link(PhysicsActor obj)
-        {
-            
-        }
-
-        public override void delink()
-        {
-            
-        }
-
-        public override void LockAngularMotion(Vector3 axis)
-        {
-            
-        }
-
-        public override Vector3 Position
-        {
-            get { return m_position; }
-            set
-            {
-                // m_taintedPosition_value = value;
-                m_position = value;
-                // m_taintedPosition = true;
-            }
-        }
-
-        public override float Mass
-        {
-            get
-            {
-                float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
-                return m_density * AVvolume;
-            }
-        }
-
-        public override Vector3 Force
-        {
-            get { return m_target_velocity; }
-            set { return; }
-        }
-
-        public override int VehicleType
-        {
-            get { return 0; }
-            set { return; }
-        }
-
-        public override void VehicleFloatParam(int param, float value)
-        {
-            
-        }
-
-        public override void VehicleVectorParam(int param, Vector3 value)
-        {
-            
-        }
-
-        public override void VehicleRotationParam(int param, Quaternion rotation)
-        {
-            
-        }
-
-        public override void VehicleFlags(int param, bool remove)
-        {
-
-        }
-
-        public override void SetVolumeDetect(int param)
-        {
-            
-        }
-
-        public override Vector3 GeometricCenter
-        {
-            get { return Vector3.Zero; }
-        }
-
-        public override Vector3 CenterOfMass
-        {
-            get { return Vector3.Zero; }
-        }
-
-        public override Vector3 Velocity
-        {
-            get
-            {
-                if (m_zeroFlag)
-                    return Vector3.Zero;
-                m_lastUpdateSent = false;
-                return m_velocity;
-            }
-            set
-            {
-                m_pidControllerActive = true;
-                m_target_velocity = value;
-            }
-        }
-
-        public override Vector3 Torque
-        {
-            get { return Vector3.Zero; }
-            set { return; }
-        }
-
-        public override float CollisionScore
-        {
-            get { return 0f; }
-            set { }
-        }
-
-        public override Vector3 Acceleration
-        {
-            get { return m_acceleration; }
-        }
-
-        public override Quaternion Orientation
-        {
-            get { return Quaternion.Identity; }
-            set
-            {
-
-            }
-        }
-
-        public override int PhysicsActorType
-        {
-            get { return (int)ActorTypes.Agent; }
-            set { return; }
-        }
-
-        public override bool IsPhysical
-        {
-            get { return false; }
-            set { return; }
-        }
-
-        public override bool Flying
-        {
-            get { return m_flying; }
-            set { m_flying = value; }
-        }
-
-        public override bool SetAlwaysRun
-        {
-            get { return m_alwaysRun; }
-            set { m_alwaysRun = value; }
-        }
-
-
-        public override bool ThrottleUpdates
-        {
-            get { return false; }
-            set { return; }
-        }
-
-        /// <summary>
-        /// Returns if the avatar is colliding in general.
-        /// This includes the ground and objects and avatar.
-        /// </summary>
-        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.
-                m_log.DebugFormat("[PHYSICS]: TrueCount:{0}, FalseCount:{1}",truecount,falsecount);
-                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;
-            }
-        }
-
-        /// <summary>
-        /// Returns if an avatar is colliding with the ground
-        /// </summary>
-        public override bool CollidingGround
-        {
-            get { return m_iscollidingGround; }
-            set
-            {
-                // Collisions against the ground are not really reliable
-                // So, to get a consistant value we have to average the current result over time
-                // Currently we use 1 second = 10 calls to this.
-                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;
-            }
-        }
-
-        /// <summary>
-        /// Returns if the avatar is colliding with an object
-        /// </summary>
-        public override bool CollidingObj
-        {
-            get { return m_iscollidingObj; }
-            set
-            {
-                m_iscollidingObj = value;
-                if (value)
-                    m_pidControllerActive = false;
-                else
-                    m_pidControllerActive = true;
-            }
-        }
-
-
-        public override bool FloatOnWater
-        {
-            set { return; }
-        }
-
-        public override Vector3 RotationalVelocity
-        {
-            get { return m_rotationalVelocity; }
-            set { m_rotationalVelocity = value; }
-        }
-
-        public override bool Kinematic
-        {
-            get { return false; }
-            set { }
-        }
-
-        public override float Buoyancy
-        {
-            get { return m_buoyancy; }
-            set { m_buoyancy = value; }
-        }
-
-        public override Vector3 PIDTarget { set { return; } }
-        public override bool PIDActive { set { return; } }
-        public override float PIDTau { set { return; } }
-
-        public override bool PIDHoverActive
-        {
-            set { return; }
-        }
-
-        public override float PIDHoverHeight
-        {
-            set { return; }
-        }
-
-        public override PIDHoverType PIDHoverType
-        {
-            set { return; }
-        }
-
-        public override float PIDHoverTau
-        {
-            set { return; }
-        }
-        
-        public override Quaternion APIDTarget 
-        { 
-            set { return; }
-        }
-        
-        public override bool APIDActive
-        { 
-            set { return; }
-        }
-        
-        public override float APIDStrength
-        { 
-            set { return; }
-        }
-        
-        public override float APIDDamping
-        { 
-            set { return; }
-        }
-
-        /// <summary>
-        /// Adds the force supplied to the Target Velocity
-        /// The PID controller takes this target velocity and tries to make it a reality
-        /// </summary>
-        /// <param name="force"></param>
-        /// <param name="pushforce">Is this a push by a script?</param>
-        public override void AddForce(Vector3 force, bool pushforce)
-        {
-            if (pushforce)
-            {
-                m_pidControllerActive = false;
-                force *= 100f;
-                doForce(force, false);
-                //System.Console.WriteLine("Push!");
-                //_target_velocity.X += force.X;
-                // _target_velocity.Y += force.Y;
-                //_target_velocity.Z += force.Z;
-            }
-            else
-            {
-                m_pidControllerActive = true;
-                m_target_velocity.X += force.X;
-                m_target_velocity.Y += force.Y;
-                m_target_velocity.Z += force.Z;
-            }
-            //m_lastUpdateSent = false;
-        }
-
-        public void doForce(Vector3 force, bool now)
-        {
-
-            tempVector3.setValue(force.X, force.Y, force.Z);
-            if (now)
-            {
-                Body.applyCentralForce(tempVector3);
-            }
-            else
-            {
-                m_taintedForce += force;
-                m_parent_scene.AddPhysicsActorTaint(this);
-            }
-        }
-
-        public void doImpulse(Vector3 force, bool now)
-        {
-
-            tempVector3.setValue(force.X, force.Y, force.Z);
-            if (now)
-            {
-                Body.applyCentralImpulse(tempVector3);
-            }
-            else
-            {
-                m_taintedForce += force;
-                m_parent_scene.AddPhysicsActorTaint(this);
-            }
-        }
-
-        public override void AddAngularForce(Vector3 force, bool pushforce)
-        {
-
-        }
-
-        public override void SetMomentum(Vector3 momentum)
-        {
-            
-        }
-
-        public override void SubscribeEvents(int ms)
-        {
-            m_eventsubscription = ms;
-            m_requestedUpdateFrequency = ms;
-            m_parent_scene.addCollisionEventReporting(this);
-        }
-
-        public override void UnSubscribeEvents()
-        {
-             m_parent_scene.remCollisionEventReporting(this);
-            m_eventsubscription = 0;
-            m_requestedUpdateFrequency = 0;
-        }
-
-        public override bool SubscribedEvents()
-        {
-            if (m_eventsubscription > 0)
-                return true;
-            return false;
-        }
-
-        public void AddCollision(uint collideWith, ContactPoint contact)
-        {
-            if (CollisionEventsThisFrame == null)
-            {
-                CollisionEventsThisFrame = new CollisionEventUpdate();
-            }
-            CollisionEventsThisFrame.addCollider(collideWith, contact);
-        }
-
-        public void SendCollisions()
-        {
-            if (m_eventsubscription >= m_requestedUpdateFrequency)
-            {
-                if (CollisionEventsThisFrame != null)
-                {
-                    base.SendCollisionUpdate(CollisionEventsThisFrame);
-                }
-                CollisionEventsThisFrame = new CollisionEventUpdate();
-                m_eventsubscription = 0;
-            }
-            return;
-        }
-
-        internal void Dispose()
-        {
-            if (Body.isInWorld())
-                m_parent_scene.removeFromWorld(Body);
-
-            if (m_aMotor.Handle != IntPtr.Zero)
-                m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
-
-            m_aMotor.Dispose(); m_aMotor = null;
-            ClosestCastResult.Dispose(); ClosestCastResult = null;
-            Body.Dispose(); Body = null;
-            Shell.Dispose(); Shell = null;
-            tempQuat1.Dispose();
-            tempTrans1.Dispose();
-            tempVector1.Dispose();
-            tempVector2.Dispose();
-            tempVector3.Dispose();
-            tempVector4.Dispose();
-            tempVector5RayCast.Dispose();
-            tempVector6RayCast.Dispose();
-
-        }
-
-        public void ProcessTaints(float timestep)
-        {
-
-            if (m_tainted_isPhysical != m_isPhysical)
-            {
-                if (m_tainted_isPhysical)
-                {
-                    // Create avatar capsule and related ODE data
-                    if (!(Shell == null && Body == null))
-                    {
-                        m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
-                            + (Shell != null ? "Shell " : "")
-                            + (Body != null ? "Body " : ""));
-                    }
-                    AvatarGeomAndBodyCreation(m_position.X, m_position.Y, m_position.Z);
-
-                   
-                }
-                else
-                {
-                    // destroy avatar capsule and related ODE data
-
-                    Dispose();
-                    tempVector1 = new btVector3(0, 0, 0);
-                    tempVector2 = new btVector3(0, 0, 0);
-                    tempVector3 = new btVector3(0, 0, 0);
-                    tempVector4 = new btVector3(0, 0, 0);
-
-                    tempVector5RayCast = new btVector3(0, 0, 0);
-                    tempVector6RayCast = new btVector3(0, 0, 0);
-                    tempVector7RayCast = new btVector3(0, 0, 0);
-
-                    tempQuat1 = new btQuaternion(0, 0, 0, 1);
-                    tempTrans1 = new btTransform(tempQuat1, tempVector1);
-                    // m_movementComparision = new PhysicsVector(0, 0, 0);
-                    m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
-                }
-
-                m_isPhysical = m_tainted_isPhysical;
-            }
-
-            if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
-            {
-                if (Body != null)
-                {
-
-                    m_pidControllerActive = true;
-                    // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
-                    //d.JointDestroy(Amotor);
-                    float prevCapsule = CAPSULE_LENGTH;
-                    CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
-                    //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
-                    Dispose();
-
-                    tempVector1 = new btVector3(0, 0, 0);
-                    tempVector2 = new btVector3(0, 0, 0);
-                    tempVector3 = new btVector3(0, 0, 0);
-                    tempVector4 = new btVector3(0, 0, 0);
-
-                    tempVector5RayCast = new btVector3(0, 0, 0);
-                    tempVector6RayCast = new btVector3(0, 0, 0);
-                    tempVector7RayCast = new btVector3(0, 0, 0);
-
-                    tempQuat1 = new btQuaternion(0, 0, 0, 1);
-                    tempTrans1 = new btTransform(tempQuat1, tempVector1);
-                    // m_movementComparision = new PhysicsVector(0, 0, 0);
-                    m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
-
-                    AvatarGeomAndBodyCreation(m_position.X, m_position.Y,
-                                      m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
-                    Velocity = Vector3.Zero;
-
-                }
-                else
-                {
-                    m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
-                        + (Shell == null ? "Shell " : "")
-                        + (Body == null ? "Body " : ""));
-                }
-            }
-            if (m_taintRemove)
-            {
-                Dispose();
-            }
-        }
-
-        /// <summary>
-        /// Called from Simulate
-        /// This is the avatar's movement control + PID Controller
-        /// </summary>
-        /// <param name="timeStep"></param>
-        public void Move(float timeStep)
-        {
-            //  no lock; for now it's only called from within Simulate()
-
-            // If the PID Controller isn't active then we set our force
-            // calculating base velocity to the current position
-            if (Body == null)
-                return;
-            tempTrans1.Dispose();
-            tempTrans1 = Body.getInterpolationWorldTransform();
-            tempVector1.Dispose();
-            tempVector1 = tempTrans1.getOrigin();
-            tempVector2.Dispose();
-            tempVector2 = Body.getInterpolationLinearVelocity();
-
-            if (m_pidControllerActive == false)
-            {
-                m_zeroPosition.X = tempVector1.getX();
-                m_zeroPosition.Y = tempVector1.getY();
-                m_zeroPosition.Z = tempVector1.getZ();
-            }
-            //PidStatus = true;
-
-            Vector3 vec = Vector3.Zero;
-
-            Vector3 vel = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
-
-            float movementdivisor = 1f;
-
-            if (!m_alwaysRun)
-            {
-                movementdivisor = walkDivisor;
-            }
-            else
-            {
-                movementdivisor = runDivisor;
-            }
-
-            //  if velocity is zero, use position control; otherwise, velocity control
-            if (m_target_velocity.X == 0.0f && m_target_velocity.Y == 0.0f && m_target_velocity.Z == 0.0f && m_iscolliding)
-            {
-                //  keep track of where we stopped.  No more slippin' & slidin'
-                if (!m_zeroFlag)
-                {
-                    m_zeroFlag = true;
-                    m_zeroPosition.X = tempVector1.getX();
-                    m_zeroPosition.Y = tempVector1.getY();
-                    m_zeroPosition.Z = tempVector1.getZ();
-                }
-                if (m_pidControllerActive)
-                {
-                    // We only want to deactivate the PID Controller if we think we want to have our surrogate
-                    // react to the physics scene by moving it's position.
-                    // Avatar to Avatar collisions
-                    // Prim to avatar collisions
-
-                    Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
-                    vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2);
-                    vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2);
-                    if (m_flying)
-                    {
-                        vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D) + (m_zeroPosition.Z - pos.Z) * PID_P;
-                    }
-                }
-                //PidStatus = true;
-            }
-            else
-            {
-                m_pidControllerActive = true;
-                m_zeroFlag = false;
-                if (m_iscolliding && !m_flying)
-                {
-                    // We're standing on something
-                    vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
-                    vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
-                }
-                else if (m_iscolliding && m_flying)
-                {
-                    // We're flying and colliding with something
-                    vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
-                    vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
-                }
-                else if (!m_iscolliding && m_flying)
-                {
-                    // we're in mid air suspended
-                    vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
-                    vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
-
-                    // We don't want linear velocity to cause our avatar to bounce, so we check target Z and actual velocity X, Y
-                    // rebound preventing
-                    if (m_target_velocity.Z < 0.025f && m_velocity.X < 0.25f && m_velocity.Y < 0.25f)
-                        m_zeroFlag = true;
-                }
-
-                if (m_iscolliding && !m_flying && m_target_velocity.Z > 0.0f)
-                {
-                    // We're colliding with something and we're not flying but we're moving
-                    // This means we're walking or running.
-                    Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
-                    vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P;
-                    if (m_target_velocity.X > 0)
-                    {
-                        vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D;
-                    }
-                    if (m_target_velocity.Y > 0)
-                    {
-                        vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
-                    }
-                }
-                else if (!m_iscolliding && !m_flying)
-                {
-                    // we're not colliding and we're not flying so that means we're falling!
-                    // m_iscolliding includes collisions with the ground.
-
-                    // d.Vector3 pos = d.BodyGetPosition(Body);
-                    if (m_target_velocity.X > 0)
-                    {
-                        vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D;
-                    }
-                    if (m_target_velocity.Y > 0)
-                    {
-                        vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
-                    }
-                }
-
-
-                if (m_flying)
-                {
-                    vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D);
-                }
-            }
-            if (m_flying)
-            {
-                // Slight PID correction
-                vec.Z += (((-1 * m_parent_scene.gravityz) * m_mass) * 0.06f);
-
-
-                //auto fly height. Kitto Flora
-                //d.Vector3 pos = d.BodyGetPosition(Body);
-                float target_altitude = m_parent_scene.GetTerrainHeightAtXY(m_position.X, m_position.Y) + 5.0f;
-
-                if (m_position.Z < target_altitude)
-                {
-                    vec.Z += (target_altitude - m_position.Z) * PID_P * 5.0f;
-                }
-
-            }
-            if (Body != null && (((m_target_velocity.X > 0.2f || m_target_velocity.X < -0.2f) || (m_target_velocity.Y > 0.2f || m_target_velocity.Y < -0.2f))))
-            {
-                Body.setFriction(0.001f);
-                //m_log.DebugFormat("[PHYSICS]: Avatar force applied: {0}, Target:{1}", vec.ToString(), m_target_velocity.ToString());
-            }
-
-            if (Body != null)
-            {
-                int activationstate = Body.getActivationState();
-                if (activationstate == 0)
-                {
-                    Body.forceActivationState(1);
-                }
-               
-
-            }
-            doImpulse(vec, true);
-        }
-
-        /// <summary>
-        /// Updates the reported position and velocity.  This essentially sends the data up to ScenePresence.
-        /// </summary>
-        public void UpdatePositionAndVelocity()
-        {
-            if (Body == null)
-                return;
-            //int val = Environment.TickCount;
-            CheckIfStandingOnObject();
-            //m_log.DebugFormat("time:{0}", Environment.TickCount - val);
-
-            //IsColliding = Body.checkCollideWith(m_parent_scene.TerrainBody);
-            
-            tempTrans1.Dispose();
-            tempTrans1 = Body.getInterpolationWorldTransform();
-            tempVector1.Dispose();
-            tempVector1 = tempTrans1.getOrigin();
-            tempVector2.Dispose();
-            tempVector2 = Body.getInterpolationLinearVelocity();
-
-            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
-            Vector3 vec = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
-
-            //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
-            if (vec.X < -10.0f) vec.X = 0.0f;
-            if (vec.Y < -10.0f) vec.Y = 0.0f;
-            if (vec.X > (int)Constants.RegionSize + 10.2f) vec.X = (int)Constants.RegionSize + 10.2f;
-            if (vec.Y > (int)Constants.RegionSize + 10.2f) vec.Y = (int)Constants.RegionSize + 10.2f;
-
-            m_position.X = vec.X;
-            m_position.Y = vec.Y;
-            m_position.Z = vec.Z;
-
-            // Did we move last? = zeroflag
-            // This helps keep us from sliding all over
-
-            if (m_zeroFlag)
-            {
-                m_velocity.X = 0.0f;
-                m_velocity.Y = 0.0f;
-                m_velocity.Z = 0.0f;
-
-                // Did we send out the 'stopped' message?
-                if (!m_lastUpdateSent)
-                {
-                    m_lastUpdateSent = true;
-                    //base.RequestPhysicsterseUpdate();
-
-                }
-            }
-            else
-            {
-                m_lastUpdateSent = false;
-                vec = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
-                m_velocity.X = (vec.X);
-                m_velocity.Y = (vec.Y);
-
-                m_velocity.Z = (vec.Z);
-                //m_log.Debug(m_target_velocity);
-                if (m_velocity.Z < -6 && !m_hackSentFall)
-                {
-                    m_hackSentFall = true;
-                    m_pidControllerActive = false;
-                }
-                else if (m_flying && !m_hackSentFly)
-                {
-                    //m_hackSentFly = true;
-                    //base.SendCollisionUpdate(new CollisionEventUpdate());
-                }
-                else
-                {
-                    m_hackSentFly = false;
-                    m_hackSentFall = false;
-                }
-            }
-            if (Body != null)
-            {
-                if (Body.getFriction() < 0.9f)
-                    Body.setFriction(0.9f);
-            }
-            //if (Body != null)
-            //    Body.clearForces();
-        }
-
-        public void CheckIfStandingOnObject()
-        {
-           
-            float capsuleHalfHeight = ((CAPSULE_LENGTH + 2*CAPSULE_RADIUS)*0.5f);
-
-            tempVector5RayCast.setValue(m_position.X, m_position.Y, m_position.Z);
-            tempVector6RayCast.setValue(m_position.X, m_position.Y, m_position.Z - 1 * capsuleHalfHeight * 1.1f);
-
-
-            ClosestCastResult.Dispose();
-            ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
-
-            try
-            {
-                m_parent_scene.getBulletWorld().rayTest(tempVector5RayCast, tempVector6RayCast, ClosestCastResult);
-            }
-            catch (AccessViolationException)
-            {
-                m_log.Debug("BAD!");
-            }
-            if (ClosestCastResult.hasHit())
-            {
-                
-                if (tempVector7RayCast != null)
-                    tempVector7RayCast.Dispose();
-
-                //tempVector7RayCast = ClosestCastResult.getHitPointWorld();
-
-                /*if (tempVector7RayCast == null) // null == no result also
-                {
-                    CollidingObj = false;
-                    IsColliding = false;
-                    CollidingGround = false;
-                   
-                    return;
-                }
-                float zVal = tempVector7RayCast.getZ();
-                if (zVal != 0)
-                    m_log.Debug("[PHYSICS]: HAAAA");
-                if (zVal < m_position.Z && zVal > ((CAPSULE_LENGTH + 2 * CAPSULE_RADIUS) *0.5f))
-                {
-                    CollidingObj = true;
-                    IsColliding = true;
-                }
-                else
-                {
-                    CollidingObj = false;
-                    IsColliding = false;
-                    CollidingGround = false;
-                }*/
-
-                //height+2*radius = capsule full length
-                //CollidingObj = true;
-                //IsColliding = true;
-                m_iscolliding = true;
-            }
-            else
-            {
-                //CollidingObj = false;
-                //IsColliding = false;
-                //CollidingGround = false;
-                m_iscolliding = false;
-            }
-        }
-    }
-
-}