Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

1 files changed, 0 insertions, 814 deletions

diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
deleted file mode 100644
index d91c47f..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
+++ /dev/null
@@ -1,814 +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 copyrightD
- *       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.Collections.Generic;
-using System.Reflection;
-using log4net;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSCharacter : BSPhysObject
-{
-    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS CHAR]";
-
-    // private bool _stopped;
-    private OMV.Vector3 _size;
-    private bool _grabbed;
-    private bool _selected;
-    private OMV.Vector3 _position;
-    private float _mass;
-    private float _avatarDensity;
-    private float _avatarVolume;
-    private OMV.Vector3 _force;
-    private OMV.Vector3 _velocity;
-    private OMV.Vector3 _torque;
-    private float _collisionScore;
-    private OMV.Vector3 _acceleration;
-    private OMV.Quaternion _orientation;
-    private int _physicsActorType;
-    private bool _isPhysical;
-    private bool _flying;
-    private bool _setAlwaysRun;
-    private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingObj;
-    private bool _floatOnWater;
-    private OMV.Vector3 _rotationalVelocity;
-    private bool _kinematic;
-    private float _buoyancy;
-
-    // The friction and velocity of the avatar is modified depending on whether walking or not.
-    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
-    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
-
-    private BSVMotor _velocityMotor;
-
-    private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
-    private float _PIDTau;
-    private bool _useHoverPID;
-    private float _PIDHoverHeight;
-    private PIDHoverType _PIDHoverType;
-    private float _PIDHoverTao;
-
-    public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
-            : base(parent_scene, localID, avName, "BSCharacter")
-    {
-        _physicsActorType = (int)ActorTypes.Agent;
-        _position = pos;
-
-        // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
-        //     replace with the default values.
-        _size = size;
-        if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
-        // A motor to control the acceleration and deceleration of the avatar movement.
-        // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
-        // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
-        // Infinite decay and timescale values so motor only changes current to target values.
-        _velocityMotor = new BSVMotor("BSCharacter.Velocity", 
-                                            0.2f,                       // time scale
-                                            BSMotor.Infinite,           // decay time scale
-                                            BSMotor.InfiniteVector,     // friction timescale
-                                            1f                          // efficiency
-        );
-        _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
-
-        _flying = isFlying;
-        _orientation = OMV.Quaternion.Identity;
-        _velocity = OMV.Vector3.Zero;
-        _appliedVelocity = OMV.Vector3.Zero;
-        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
-        _currentFriction = BSParam.AvatarStandingFriction;
-        _avatarDensity = BSParam.AvatarDensity;
-
-        // The dimensions of the avatar capsule are kept in the scale.
-        // Physics creates a unit capsule which is scaled by the physics engine.
-        ComputeAvatarScale(_size);
-        // set _avatarVolume and _mass based on capsule size, _density and Scale
-        ComputeAvatarVolumeAndMass();
-        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
-
-        // do actual creation in taint time
-        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
-        {
-            DetailLog("{0},BSCharacter.create,taint", LocalID);
-            // New body and shape into PhysBody and PhysShape
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
-
-            SetPhysicalProperties();
-        });
-        return;
-    }
-
-    // called when this character is being destroyed and the resources should be released
-    public override void Destroy()
-    {
-        base.Destroy();
-
-        DetailLog("{0},BSCharacter.Destroy", LocalID);
-        PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
-        {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
-            PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
-            PhysShape.Clear();
-        });
-    }
-
-    private void SetPhysicalProperties()
-    {
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        ZeroMotion(true);
-        ForcePosition = _position;
-        // Set the velocity and compute the proper friction
-        ForceVelocity = _velocity;
-        // Setting the current and target in the motor will cause it to start computing any deceleration.
-        _velocityMotor.Reset();
-        _velocityMotor.SetCurrent(_velocity);
-        _velocityMotor.SetTarget(_velocity);
-        _velocityMotor.Enabled = false;
-
-        // This will enable or disable the flying buoyancy of the avatar.
-        // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
-        Flying = _flying;
-
-        BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
-        BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
-        BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
-        if (BSParam.CcdMotionThreshold > 0f)
-        {
-            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
-        }
-
-        UpdatePhysicalMassProperties(RawMass, false);
-
-        // Make so capsule does not fall over
-        BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
-
-        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
-
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
-
-        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
-        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        // Do this after the object has been added to the world
-        PhysBody.collisionType = CollisionType.Avatar;
-        PhysBody.ApplyCollisionMask();
-    }
-
-    public override void RequestPhysicsterseUpdate()
-    {
-        base.RequestPhysicsterseUpdate();
-    }
-    // No one calls this method so I don't know what it could possibly mean
-    public override bool Stopped { get { return false; } }
-
-    public override OMV.Vector3 Size {
-        get
-        {
-            // Avatar capsule size is kept in the scale parameter.
-            return _size;
-        }
-
-        set {
-            // When an avatar's size is set, only the height is changed.
-            _size = value;
-            // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
-            //     replace with the default values.
-            if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
-            ComputeAvatarScale(_size);
-            ComputeAvatarVolumeAndMass();
-            DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
-
-            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
-            {
-                if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
-                {
-                    BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-                    UpdatePhysicalMassProperties(RawMass, true);
-                    // Make sure this change appears as a property update event
-                    BulletSimAPI.PushUpdate2(PhysBody.ptr);
-                }
-            });
-
-        }
-    }
-
-    public override PrimitiveBaseShape Shape
-    {
-        set { BaseShape = value; }
-    }
-    // I want the physics engine to make an avatar capsule
-    public override BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get {return BSPhysicsShapeType.SHAPE_CAPSULE; }
-    }
-
-    public override bool Grabbed {
-        set { _grabbed = value; }
-    }
-    public override bool Selected {
-        set { _selected = value; }
-    }
-    public override void CrossingFailure() { return; }
-    public override void link(PhysicsActor obj) { return; }
-    public override void delink() { return; }
-
-    // Set motion values to zero.
-    // Do it to the properties so the values get set in the physics engine.
-    // Push the setting of the values to the viewer.
-    // Called at taint time!
-    public override void ZeroMotion(bool inTaintTime)
-    {
-        _velocity = OMV.Vector3.Zero;
-        _acceleration = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
-
-        // Zero some other properties directly into the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
-        });
-    }
-    public override void ZeroAngularMotion(bool inTaintTime)
-    {
-        _rotationalVelocity = OMV.Vector3.Zero;
-
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-            {
-                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-                // The next also get rid of applied linear force but the linear velocity is untouched.
-                BulletSimAPI.ClearForces2(PhysBody.ptr);
-            }
-        });
-    }
-
-
-    public override void LockAngularMotion(OMV.Vector3 axis) { return; }
-
-    public override OMV.Vector3 RawPosition
-    {
-        get { return _position; }
-        set { _position = value; }
-    }
-    public override OMV.Vector3 Position {
-        get {
-            // Don't refetch the position because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
-            return _position;
-        }
-        set {
-            _position = value;
-            PositionSanityCheck();
-
-            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
-            {
-                DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            });
-        }
-    }
-    public override OMV.Vector3 ForcePosition {
-        get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
-            return _position;
-        }
-        set {
-            _position = value;
-            PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-        }
-    }
-
-
-    // Check that the current position is sane and, if not, modify the position to make it so.
-    // Check for being below terrain or on water.
-    // Returns 'true' of the position was made sane by some action.
-    private bool PositionSanityCheck()
-    {
-        bool ret = false;
-
-        // TODO: check for out of bounds
-        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
-        {
-            // The character is out of the known/simulated area.
-            // Upper levels of code will handle the transition to other areas so, for
-            //     the time, we just ignore the position.
-            return ret;
-        }
-
-        // If below the ground, move the avatar up
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
-        if (Position.Z < terrainHeight)
-        {
-            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
-            _position.Z = terrainHeight + 2.0f;
-            ret = true;
-        }
-        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
-        {
-            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
-            if (Position.Z < waterHeight)
-            {
-                _position.Z = waterHeight;
-                ret = true;
-            }
-        }
-
-        return ret;
-    }
-
-    // A version of the sanity check that also makes sure a new position value is
-    //    pushed back to the physics engine. This routine would be used by anyone
-    //    who is not already pushing the value.
-    private bool PositionSanityCheck(bool inTaintTime)
-    {
-        bool ret = false;
-        if (PositionSanityCheck())
-        {
-            // The new position value must be pushed into the physics engine but we can't
-            //    just assign to "Position" because of potential call loops.
-            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
-            {
-                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            });
-            ret = true;
-        }
-        return ret;
-    }
-
-    public override float Mass { get { return _mass; } }
-
-    // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
-        get {return _mass; }
-    }
-    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
-    {
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-        BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
-    }
-
-    public override OMV.Vector3 Force {
-        get { return _force; }
-        set {
-            _force = value;
-            // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
-            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
-            {
-                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
-            });
-        }
-    }
-
-    public bool TouchingGround()
-    {
-        bool ret = BulletSimAPI.RayCastGround(PhysicsScene.World.ptr,_position,_size.Z * 0.55f, PhysBody.ptr);
-        return ret;
-    }
-    // Avatars don't do vehicles
-    public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
-    public override void VehicleFloatParam(int param, float value) { }
-    public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
-    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
-    public override void VehicleFlags(int param, bool remove) { }
-
-    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
-    public override void SetVolumeDetect(int param) { return; }
-
-    public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
-    public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
-
-    // Sets the target in the motor. This starts the changing of the avatar's velocity.
-    public override OMV.Vector3 TargetVelocity
-    {
-        get
-        {
-            return _velocityMotor.TargetValue;
-        }
-        set
-        {
-            DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
-
-            if (!_flying)
-                if ((value.Z >= 0.0001f) || (value.Z <= -0.0001f) || _velocity.Z < -0.0001f)
-                    if (!TouchingGround())
-                        value.Z = _velocity.Z;
-            if (_setAlwaysRun)
-                value *= 1.3f;
-
-            OMV.Vector3 targetVel = value;
-
-            PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
-            {
-                                                                                
-                _velocityMotor.Reset();
-                _velocityMotor.SetTarget(targetVel);
-                _velocityMotor.SetCurrent(_velocity);
-                _velocityMotor.Enabled = true;
-
-                // Make sure a property update happens next step so the motor gets incorporated.
-                BulletSimAPI.PushUpdate2(PhysBody.ptr);
-            });
-        }
-    }
-    // Directly setting velocity means this is what the user really wants now.
-    public override OMV.Vector3 Velocity {
-        get { return _velocity; }
-        set {
-            _velocity = value;
-            // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
-            PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
-            {
-                _velocityMotor.Reset();
-                _velocityMotor.SetCurrent(_velocity);
-                _velocityMotor.SetTarget(_velocity);
-                // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
-                _velocityMotor.Enabled = false;
-
-                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                ForceVelocity = _velocity;
-            });
-        }
-    }
-    public override OMV.Vector3 ForceVelocity {
-        get { return _velocity; }
-        set {
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
-
-            _velocity = value;
-            // Depending on whether the avatar is moving or not, change the friction
-            //    to keep the avatar from slipping around
-            if (_velocity.Length() == 0)
-            {
-                if (_currentFriction != BSParam.AvatarStandingFriction)
-                {
-                    _currentFriction = BSParam.AvatarStandingFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
-                }
-            }
-            else
-            {
-                if (_currentFriction != BSParam.AvatarFriction)
-                {
-                    _currentFriction = BSParam.AvatarFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
-                }
-            }
-            // Remember the set velocity so we can suppress the reduction by friction, ...
-            _appliedVelocity = value;
-
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-            BulletSimAPI.Activate2(PhysBody.ptr, true);
-        }
-    }
-    public override OMV.Vector3 Torque {
-        get { return _torque; }
-        set { _torque = value;
-        }
-    }
-    public override float CollisionScore {
-        get { return _collisionScore; }
-        set { _collisionScore = value;
-        }
-    }
-    public override OMV.Vector3 Acceleration {
-        get { return _acceleration; }
-        set { _acceleration = value; }
-    }
-    public override OMV.Quaternion RawOrientation
-    {
-        get { return _orientation; }
-        set { _orientation = value; }
-    }
-    public override OMV.Quaternion Orientation {
-        get { return _orientation; }
-        set {
-            _orientation = value;
-            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
-            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                }
-            });
-        }
-    }
-    // Go directly to Bullet to get/set the value.
-    public override OMV.Quaternion ForceOrientation
-    {
-        get
-        {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
-            return _orientation;
-        }
-        set
-        {
-            _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-        }
-    }
-    public override int PhysicsActorType {
-        get { return _physicsActorType; }
-        set { _physicsActorType = value;
-        }
-    }
-    public override bool IsPhysical {
-        get { return _isPhysical; }
-        set { _isPhysical = value;
-        }
-    }
-    public override bool IsSolid {
-        get { return true; }
-    }
-    public override bool IsStatic {
-        get { return false; }
-    }
-    public override bool Flying {
-        get { return _flying; }
-        set {
-            _flying = value;
-
-            // simulate flying by changing the effect of gravity
-            Buoyancy = ComputeBuoyancyFromFlying(_flying);
-        }
-    }
-    // Flying is implimented by changing the avatar's buoyancy.
-    // Would this be done better with a vehicle type?
-    private float ComputeBuoyancyFromFlying(bool ifFlying) {
-        return ifFlying ? 1f : 0f;
-    }
-    public override bool
-        SetAlwaysRun {
-        get { return _setAlwaysRun; }
-        set { _setAlwaysRun = value; }
-    }
-    public override bool ThrottleUpdates {
-        get { return _throttleUpdates; }
-        set { _throttleUpdates = value; }
-    }
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set { _isColliding = value; }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set { CollidingGround = value; }
-    }
-    public override bool CollidingObj {
-        get { return _collidingObj; }
-        set { _collidingObj = value; }
-    }
-    public override bool FloatOnWater {
-        set {
-            _floatOnWater = value;
-            PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    if (_floatOnWater)
-                        CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-                    else
-                        CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-                }
-            });
-        }
-    }
-    public override OMV.Vector3 RotationalVelocity {
-        get { return _rotationalVelocity; }
-        set { _rotationalVelocity = value; }
-    }
-    public override OMV.Vector3 ForceRotationalVelocity {
-        get { return _rotationalVelocity; }
-        set { _rotationalVelocity = value; }
-    }
-    public override bool Kinematic {
-        get { return _kinematic; }
-        set { _kinematic = value; }
-    }
-    // neg=fall quickly, 0=1g, 1=0g, pos=float up
-    public override float Buoyancy {
-        get { return _buoyancy; }
-        set { _buoyancy = value;
-            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
-            {
-                DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                ForceBuoyancy = _buoyancy;
-            });
-        }
-    }
-    public override float ForceBuoyancy {
-        get { return _buoyancy; }
-        set { 
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
-
-            _buoyancy = value;
-            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-            // Buoyancy is faked by changing the gravity applied to the object
-            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
-        }
-    }
-
-    // Used for MoveTo
-    public override OMV.Vector3 PIDTarget {
-        set { _PIDTarget = value; }
-    }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
-    public override float PIDTau {
-        set { _PIDTau = value; }
-    }
-
-    // Used for llSetHoverHeight and maybe vehicle height
-    // Hover Height will override MoveTo target's Z
-    public override bool PIDHoverActive {
-        set { _useHoverPID = value; }
-    }
-    public override float PIDHoverHeight {
-        set { _PIDHoverHeight = value; }
-    }
-    public override PIDHoverType PIDHoverType {
-        set { _PIDHoverType = value; }
-    }
-    public override float PIDHoverTau {
-        set { _PIDHoverTao = value; }
-    }
-
-    // For RotLookAt
-    public override OMV.Quaternion APIDTarget { set { return; } }
-    public override bool APIDActive { set { return; } }
-    public override float APIDStrength { set { return; } }
-    public override float APIDDamping { set { return; } }
-
-    public override void AddForce(OMV.Vector3 force, bool pushforce) {
-        if (force.IsFinite())
-        {
-            _force.X += force.X;
-            _force.Y += force.Y;
-            _force.Z += force.Z;
-            // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
-            PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
-            {
-                DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
-            });
-        }
-        else
-        {
-            m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
-        }
-        //m_lastUpdateSent = false;
-    }
-
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
-    }
-    public override void SetMomentum(OMV.Vector3 momentum) {
-    }
-
-    private void ComputeAvatarScale(OMV.Vector3 size)
-    {
-        OMV.Vector3 newScale = size;
-        // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
-        // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
-
-        // From the total height, remove the capsule half spheres that are at each end
-        // The 1.15f came from ODE. Not sure what this factors in.
-        // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
-
-        // The total scale height is the central cylindar plus the caps on the two ends.
-        newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
-
-        // Convert diameters to radii and height to half height -- the way Bullet expects it.
-        Scale = newScale / 2f;
-    }
-
-    // set _avatarVolume and _mass based on capsule size, _density and Scale
-    private void ComputeAvatarVolumeAndMass()
-    {
-        _avatarVolume = (float)(
-                        Math.PI
-                        * Scale.X
-                        * Scale.Y    // the area of capsule cylinder
-                        * Scale.Z    // times height of capsule cylinder
-                      + 1.33333333f
-                        * Math.PI
-                        * Scale.X
-                        * Math.Min(Scale.X, Scale.Y)
-                        * Scale.Y    // plus the volume of the capsule end caps
-                        );
-        _mass = _avatarDensity * _avatarVolume;
-    }
-
-    // The physics engine says that properties have updated. Update same and inform
-    // the world that things have changed.
-    public override void UpdateProperties(EntityProperties entprop)
-    {
-        _position = entprop.Position;
-        _orientation = entprop.Rotation;
-        _velocity = entprop.Velocity;
-        _acceleration = entprop.Acceleration;
-        _rotationalVelocity = entprop.RotationalVelocity;
-
-        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck(true);
-
-        if (_velocityMotor.Enabled)
-        {
-            // TODO: Decide if the step parameters should be changed depending on the avatar's
-            //     state (flying, colliding, ...).
-
-            OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
-
-            // If falling, we keep the world's downward vector no matter what the other axis specify.
-            if (!Flying && !IsColliding)
-            {
-                stepVelocity.Z = entprop.Velocity.Z;
-                DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
-            }
-
-            // If the user has said stop and we've stopped applying velocity correction,
-            //     the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
-            if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
-            {
-                ZeroMotion(true);
-                stepVelocity = OMV.Vector3.Zero;
-                _velocityMotor.Enabled = false;
-                DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
-            }
-
-            _velocity = stepVelocity;
-            entprop.Velocity = _velocity;
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-        }
-
-        // remember the current and last set values
-        LastEntityProperties = CurrentEntityProperties;
-        CurrentEntityProperties = entprop;
-
-        // Tell the linkset about value changes
-        Linkset.UpdateProperties(this, true);
-
-        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
-        // base.RequestPhysicsterseUpdate();
-
-        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
-    }
-}
-}