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

1 files changed, 0 insertions, 957 deletions

diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
deleted file mode 100644
index 1a7c34b..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
+++ /dev/null
@@ -1,957 +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.Runtime.InteropServices;
-using System.Text;
-using System.Threading;
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
-using OpenSim.Region.Physics.Manager;
-using Nini.Config;
-using log4net;
-using OpenMetaverse;
-
-// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Based on material, set density and friction
-// More efficient memory usage when passing hull information from BSPrim to BulletSim
-// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
-// Implement LockAngularMotion
-// Add PID movement operations. What does ScenePresence.MoveToTarget do?
-// Check terrain size. 128 or 127?
-// Raycast
-//
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSScene : PhysicsScene, IPhysicsParameters
-{
-    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS SCENE]";
-
-    // The name of the region we're working for.
-    public string RegionName { get; private set; }
-
-    public string BulletSimVersion = "?";
-
-    public Dictionary<uint, BSPhysObject> PhysObjects;
-    public BSShapeCollection Shapes;
-
-    // Keeping track of the objects with collisions so we can report begin and end of a collision
-    public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
-    public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
-    // Keep track of all the avatars so we can send them a collision event
-    //    every tick so OpenSim will update its animation.
-    private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
-
-    // let my minuions use my logger
-    public ILog Logger { get { return m_log; } }
-
-    public IMesher mesher;
-    public uint WorldID { get; private set; }
-    public BulletWorld World { get; private set; }
-
-    // All the constraints that have been allocated in this instance.
-    public BSConstraintCollection Constraints { get; private set; }
-
-    // Simulation parameters
-    internal int m_maxSubSteps;
-    internal float m_fixedTimeStep;
-    internal long m_simulationStep = 0;
-    public long SimulationStep { get { return m_simulationStep; } }
-    internal int m_taintsToProcessPerStep;
-    internal float LastTimeStep { get; private set; }
-
-    // Physical objects can register for prestep or poststep events
-    public delegate void PreStepAction(float timeStep);
-    public delegate void PostStepAction(float timeStep);
-    public event PreStepAction BeforeStep;
-    public event PreStepAction AfterStep;
-
-    // A value of the time now so all the collision and update routines do not have to get their own
-    // Set to 'now' just before all the prims and actors are called for collisions and updates
-    public int SimulationNowTime { get; private set; }
-
-    // True if initialized and ready to do simulation steps
-    private bool m_initialized = false;
-
-    // Flag which is true when processing taints.
-    // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
-    public bool InTaintTime { get; private set; }
-
-    // Pinned memory used to pass step information between managed and unmanaged
-    internal int m_maxCollisionsPerFrame;
-    private List<BulletXNA.CollisionDesc> m_collisionArray;
-    //private GCHandle m_collisionArrayPinnedHandle;
-
-    internal int m_maxUpdatesPerFrame;
-    private List<BulletXNA.EntityProperties> m_updateArray;
-    //private GCHandle m_updateArrayPinnedHandle;
-
-
-    public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
-    public const uint GROUNDPLANE_ID = 1;
-    public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
-
-    public float SimpleWaterLevel { get; set; }
-    public BSTerrainManager TerrainManager { get; private set; }
-
-    public ConfigurationParameters Params
-    {
-        get { return UnmanagedParams[0]; }
-    }
-    public Vector3 DefaultGravity
-    {
-        get { return new Vector3(0f, 0f, Params.gravity); }
-    }
-    // Just the Z value of the gravity
-    public float DefaultGravityZ
-    {
-        get { return Params.gravity; }
-    }
-
-    // When functions in the unmanaged code must be called, it is only
-    //   done at a known time just before the simulation step. The taint
-    //   system saves all these function calls and executes them in
-    //   order before the simulation.
-    public delegate void TaintCallback();
-    private struct TaintCallbackEntry
-    {
-        public String ident;
-        public TaintCallback callback;
-        public TaintCallbackEntry(string i, TaintCallback c)
-        {
-            ident = i;
-            callback = c;
-        }
-    }
-    private Object _taintLock = new Object();   // lock for using the next object
-    private List<TaintCallbackEntry> _taintOperations;
-    private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
-    private List<TaintCallbackEntry> _postStepOperations;
-
-    // A pointer to an instance if this structure is passed to the C++ code
-    // Used to pass basic configuration values to the unmanaged code.
-    internal ConfigurationParameters[] UnmanagedParams;
-    //GCHandle m_paramsHandle;
-
-    // Handle to the callback used by the unmanaged code to call into the managed code.
-    // Used for debug logging.
-    // Need to store the handle in a persistant variable so it won't be freed.
-    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
-
-    // Sometimes you just have to log everything.
-    public Logging.LogWriter PhysicsLogging;
-    private bool m_physicsLoggingEnabled;
-    private string m_physicsLoggingDir;
-    private string m_physicsLoggingPrefix;
-    private int m_physicsLoggingFileMinutes;
-    private bool m_physicsLoggingDoFlush;
-    // 'true' of the vehicle code is to log lots of details
-    public bool VehicleLoggingEnabled { get; private set; }
-    public bool VehiclePhysicalLoggingEnabled { get; private set; }
-
-    #region Construction and Initialization
-    public BSScene(string identifier)
-    {
-        m_initialized = false;
-        // we are passed the name of the region we're working for.
-        RegionName = identifier;
-    }
-
-    public override void Initialise(IMesher meshmerizer, IConfigSource config)
-    {
-        mesher = meshmerizer;
-        _taintOperations = new List<TaintCallbackEntry>();
-        _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
-        _postStepOperations = new List<TaintCallbackEntry>();
-        PhysObjects = new Dictionary<uint, BSPhysObject>();
-        Shapes = new BSShapeCollection(this);
-
-        // Allocate pinned memory to pass parameters.
-        UnmanagedParams = new ConfigurationParameters[1];
-        //m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
-
-        // Set default values for physics parameters plus any overrides from the ini file
-        GetInitialParameterValues(config);
-
-        // allocate more pinned memory close to the above in an attempt to get the memory all together
-        m_collisionArray = new List<BulletXNA.CollisionDesc>();
-        //m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
-        m_updateArray = new List<BulletXNA.EntityProperties>();
-        //m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
-
-        // Enable very detailed logging.
-        // By creating an empty logger when not logging, the log message invocation code
-        //     can be left in and every call doesn't have to check for null.
-        if (m_physicsLoggingEnabled)
-        {
-            PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
-            PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
-        }
-        else
-        {
-            PhysicsLogging = new Logging.LogWriter();
-        }
-
-        // If Debug logging level, enable logging from the unmanaged code
-        m_DebugLogCallbackHandle = null;
-        if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
-        {
-            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
-            if (PhysicsLogging.Enabled)
-                // The handle is saved in a variable to make sure it doesn't get freed after this call
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
-            else
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
-        }
-
-        // Get the version of the DLL
-        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
-        // BulletSimVersion = BulletSimAPI.GetVersion();
-        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
-
-        // The bounding box for the simulated world. The origin is 0,0,0 unless we're
-        //    a child in a mega-region.
-        // Bullet actually doesn't care about the extents of the simulated
-        //    area. It tracks active objects no matter where they are.
-        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
-
-        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-
-        World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams,
-                                        m_maxCollisionsPerFrame, ref m_collisionArray,
-                                        m_maxUpdatesPerFrame,ref m_updateArray,
-                                        m_DebugLogCallbackHandle));
-
-        Constraints = new BSConstraintCollection(World);
-
-        TerrainManager = new BSTerrainManager(this);
-        TerrainManager.CreateInitialGroundPlaneAndTerrain();
-
-        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
-
-        InTaintTime = false;
-        m_initialized = true;
-    }
-
-    // All default parameter values are set here. There should be no values set in the
-    // variable definitions.
-    private void GetInitialParameterValues(IConfigSource config)
-    {
-        ConfigurationParameters parms = new ConfigurationParameters();
-        UnmanagedParams[0] = parms;
-
-        BSParam.SetParameterDefaultValues(this);
-
-        if (config != null)
-        {
-            // If there are specifications in the ini file, use those values
-            IConfig pConfig = config.Configs["BulletSim"];
-            if (pConfig != null)
-            {
-                BSParam.SetParameterConfigurationValues(this, pConfig);
-
-                // Very detailed logging for physics debugging
-                m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
-                m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
-                m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
-                m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
-                m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
-                // Very detailed logging for vehicle debugging
-                VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
-                VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
-
-                // Do any replacements in the parameters
-                m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
-            }
-
-            // The material characteristics.
-            BSMaterials.InitializeFromDefaults(Params);
-            if (pConfig != null)
-            {
-                // Let the user add new and interesting material property values.
-                BSMaterials.InitializefromParameters(pConfig);
-            }
-        }
-    }
-
-    // A helper function that handles a true/false parameter and returns the proper float number encoding
-    float ParamBoolean(IConfig config, string parmName, float deflt)
-    {
-        float ret = deflt;
-        if (config.Contains(parmName))
-        {
-            ret = ConfigurationParameters.numericFalse;
-            if (config.GetBoolean(parmName, false))
-            {
-                ret = ConfigurationParameters.numericTrue;
-            }
-        }
-        return ret;
-    }
-
-    // Called directly from unmanaged code so don't do much
-    private void BulletLogger(string msg)
-    {
-        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
-    }
-
-    // Called directly from unmanaged code so don't do much
-    private void BulletLoggerPhysLog(string msg)
-    {
-        DetailLog("[BULLETS UNMANAGED]:" + msg);
-    }
-
-    public override void Dispose()
-    {
-        // m_log.DebugFormat("{0}: Dispose()", LogHeader);
-
-        // make sure no stepping happens while we're deleting stuff
-        m_initialized = false;
-
-        foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
-        {
-            kvp.Value.Destroy();
-        }
-        PhysObjects.Clear();
-
-        // Now that the prims are all cleaned up, there should be no constraints left
-        if (Constraints != null)
-        {
-            Constraints.Dispose();
-            Constraints = null;
-        }
-
-        if (Shapes != null)
-        {
-            Shapes.Dispose();
-            Shapes = null;
-        }
-
-        if (TerrainManager != null)
-        {
-            TerrainManager.ReleaseGroundPlaneAndTerrain();
-            TerrainManager.Dispose();
-            TerrainManager = null;
-        }
-
-        // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown2(World.ptr);
-
-        // Not logging any more
-        PhysicsLogging.Close();
-    }
-    #endregion // Construction and Initialization
-
-    #region Prim and Avatar addition and removal
-
-    public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
-    {
-        m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
-        return null;
-    }
-
-    public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
-    {
-        // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
-
-        if (!m_initialized) return null;
-
-        BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
-        lock (PhysObjects) PhysObjects.Add(localID, actor);
-
-        // TODO: Remove kludge someday.
-        // We must generate a collision for avatars whether they collide or not.
-        // This is required by OpenSim to update avatar animations, etc.
-        lock (m_avatars) m_avatars.Add(actor);
-
-        return actor;
-    }
-
-    public override void RemoveAvatar(PhysicsActor actor)
-    {
-        // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
-
-        if (!m_initialized) return;
-
-        BSCharacter bsactor = actor as BSCharacter;
-        if (bsactor != null)
-        {
-            try
-            {
-                lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
-                // Remove kludge someday
-                lock (m_avatars) m_avatars.Remove(bsactor);
-            }
-            catch (Exception e)
-            {
-                m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
-            }
-            bsactor.Destroy();
-            // bsactor.dispose();
-        }
-    }
-
-    public override void RemovePrim(PhysicsActor prim)
-    {
-        if (!m_initialized) return;
-
-        BSPrim bsprim = prim as BSPrim;
-        if (bsprim != null)
-        {
-            DetailLog("{0},RemovePrim,call", bsprim.LocalID);
-            // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
-            try
-            {
-                lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
-            }
-            catch (Exception e)
-            {
-                m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
-            }
-            bsprim.Destroy();
-            // bsprim.dispose();
-        }
-        else
-        {
-            m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
-        }
-    }
-
-    public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                              Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
-    {
-        // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
-
-        if (!m_initialized) return null;
-
-        DetailLog("{0},AddPrimShape,call", localID);
-
-        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
-        lock (PhysObjects) PhysObjects.Add(localID, prim);
-        return prim;
-    }
-
-    // This is a call from the simulator saying that some physical property has been updated.
-    // The BulletSim driver senses the changing of relevant properties so this taint
-    // information call is not needed.
-    public override void AddPhysicsActorTaint(PhysicsActor prim) { }
-
-    #endregion // Prim and Avatar addition and removal
-
-    #region Simulation
-    // Simulate one timestep
-    public override float Simulate(float timeStep)
-    {
-        // prevent simulation until we've been initialized
-        if (!m_initialized) return 5.0f;
-
-        LastTimeStep = timeStep;
-
-        int updatedEntityCount = 0;
-        //Object updatedEntitiesPtr;
-        int collidersCount = 0;
-        //Object collidersPtr;
-
-        int beforeTime = 0;
-        int simTime = 0;
-
-        // update the prim states while we know the physics engine is not busy
-        int numTaints = _taintOperations.Count;
-
-        InTaintTime = true; // Only used for debugging so locking is not necessary.
-
-        ProcessTaints();
-
-        // Some of the physical objects requre individual, pre-step calls
-        TriggerPreStepEvent(timeStep);
-
-        // the prestep actions might have added taints
-        ProcessTaints();
-
-        InTaintTime = false; // Only used for debugging so locking is not necessary.
-
-        // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
-        // Only enable this in a limited test world with few objects.
-        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
-
-        // step the physical world one interval
-        m_simulationStep++;
-        int numSubSteps = 0;
-
-        try
-        {
-            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
-
-            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
-                        out updatedEntityCount, out m_updateArray, out collidersCount, out m_collisionArray);
-
-            if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
-            DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
-                                    DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, 
-                                    updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
-        }
-        catch (Exception e)
-        {
-            m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
-                        LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
-            DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
-                        DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
-            updatedEntityCount = 0;
-            collidersCount = 0;
-        }
-
-        // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
-
-        // Get a value for 'now' so all the collision and update routines don't have to get their own.
-        SimulationNowTime = Util.EnvironmentTickCount();
-
-        // If there were collisions, process them by sending the event to the prim.
-        // Collisions must be processed before updates.
-        if (collidersCount > 0)
-        {
-            for (int ii = 0; ii < collidersCount; ii++)
-            {
-                uint cA = m_collisionArray[ii].aID;
-                uint cB = m_collisionArray[ii].bID;
-                Vector3 point = new Vector3(m_collisionArray[ii].point.X, m_collisionArray[ii].point.Y,
-                                            m_collisionArray[ii].point.Z);
-                Vector3 normal = new Vector3(m_collisionArray[ii].normal.X, m_collisionArray[ii].normal.Y,
-                                            m_collisionArray[ii].normal.Z); 
-                SendCollision(cA, cB, point, normal, 0.01f);
-                SendCollision(cB, cA, point, -normal, 0.01f);
-            }
-        }
-
-        // The above SendCollision's batch up the collisions on the objects.
-        //      Now push the collisions into the simulator.
-        if (ObjectsWithCollisions.Count > 0)
-        {
-            foreach (BSPhysObject bsp in ObjectsWithCollisions)
-                if (!bsp.SendCollisions())
-                {
-                    // If the object is done colliding, see that it's removed from the colliding list
-                    ObjectsWithNoMoreCollisions.Add(bsp);
-                }
-        }
-
-        // This is a kludge to get avatar movement updates.
-        // The simulator expects collisions for avatars even if there are have been no collisions.
-        //    The event updates avatar animations and stuff.
-        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
-        foreach (BSPhysObject bsp in m_avatars)
-            if (!ObjectsWithCollisions.Contains(bsp))   // don't call avatars twice
-                bsp.SendCollisions();
-
-        // Objects that are done colliding are removed from the ObjectsWithCollisions list.
-        // Not done above because it is inside an iteration of ObjectWithCollisions.
-        // This complex collision processing is required to create an empty collision
-        //     event call after all collisions have happened on an object. This enables
-        //     the simulator to generate the 'collision end' event.
-        if (ObjectsWithNoMoreCollisions.Count > 0)
-        {
-            foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
-                ObjectsWithCollisions.Remove(po);
-            ObjectsWithNoMoreCollisions.Clear();
-        }
-        // Done with collisions.
-
-        // If any of the objects had updated properties, tell the object it has been changed by the physics engine
-        if (updatedEntityCount > 0)
-        {
-            for (int ii = 0; ii < updatedEntityCount; ii++)
-            {
-
-                BulletXNA.EntityProperties entprop = m_updateArray[ii];
-                BSPhysObject pobj;
-                if (PhysObjects.TryGetValue(entprop.ID, out pobj))
-                {
-                    EntityProperties prop = new EntityProperties()
-                                                {
-                                                    Acceleration = new Vector3(entprop.Acceleration.X, entprop.Acceleration.Y, entprop.Acceleration.Z),
-                                                    ID = entprop.ID,
-                                                    Position = new Vector3(entprop.Position.X,entprop.Position.Y,entprop.Position.Z),
-                                                    Rotation = new Quaternion(entprop.Rotation.X,entprop.Rotation.Y,entprop.Rotation.Z,entprop.Rotation.W),
-                                                    RotationalVelocity = new Vector3(entprop.AngularVelocity.X,entprop.AngularVelocity.Y,entprop.AngularVelocity.Z),
-                                                    Velocity = new Vector3(entprop.Velocity.X,entprop.Velocity.Y,entprop.Velocity.Z)
-                                                };
-                    //m_log.Debug(pobj.Name + ":" + prop.ToString() + "\n");
-                    pobj.UpdateProperties(prop);
-                }
-            }
-        }
-
-        TriggerPostStepEvent(timeStep);
-
-        // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
-        // Only enable this in a limited test world with few objects.
-        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
-
-        // The physics engine returns the number of milliseconds it simulated this call.
-        // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // Multiply by 55 to give a nominal frame rate of 55.
-        return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
-    }
-
-    // Something has collided
-    private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
-    {
-        if (localID <= TerrainManager.HighestTerrainID)
-        {
-            return;         // don't send collisions to the terrain
-        }
-
-        BSPhysObject collider;
-        if (!PhysObjects.TryGetValue(localID, out collider))
-        {
-            // If the object that is colliding cannot be found, just ignore the collision.
-            DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
-            return;
-        }
-
-        // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
-        BSPhysObject collidee = null;
-        PhysObjects.TryGetValue(collidingWith, out collidee);
-
-        // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
-
-        if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
-        {
-            // If a collision was posted, remember to send it to the simulator
-            ObjectsWithCollisions.Add(collider);
-        }
-
-        return;
-    }
-
-    #endregion // Simulation
-
-    public override void GetResults() { }
-
-    #region Terrain
-
-    public override void SetTerrain(float[] heightMap) {
-        TerrainManager.SetTerrain(heightMap);
-    }
-
-    public override void SetWaterLevel(float baseheight)
-    {
-        SimpleWaterLevel = baseheight;
-    }
-
-    public override void DeleteTerrain()
-    {
-        // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
-    }
-
-    // Although no one seems to check this, I do support combining.
-    public override bool SupportsCombining()
-    {
-        return TerrainManager.SupportsCombining();
-    }
-    // This call says I am a child to region zero in a mega-region. 'pScene' is that
-    //    of region zero, 'offset' is my offset from regions zero's origin, and
-    //    'extents' is the largest XY that is handled in my region.
-    public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
-    {
-        TerrainManager.Combine(pScene, offset, extents);
-    }
-
-    // Unhook all the combining that I know about.
-    public override void UnCombine(PhysicsScene pScene)
-    {
-        TerrainManager.UnCombine(pScene);
-    }
-
-    #endregion // Terrain
-
-    public override Dictionary<uint, float> GetTopColliders()
-    {
-        return new Dictionary<uint, float>();
-    }
-
-    public override bool IsThreaded { get { return false;  } }
-
-    #region Taints
-    // The simulation execution order is:
-    // Simulate()
-    //    DoOneTimeTaints
-    //    TriggerPreStepEvent
-    //    DoOneTimeTaints
-    //    Step()
-    //       ProcessAndForwardCollisions
-    //       ProcessAndForwardPropertyUpdates
-    //    TriggerPostStepEvent
-
-    // Calls to the PhysicsActors can't directly call into the physics engine
-    //       because it might be busy. We delay changes to a known time.
-    // We rely on C#'s closure to save and restore the context for the delegate.
-    public void TaintedObject(String ident, TaintCallback callback)
-    {
-        if (!m_initialized) return;
-
-        lock (_taintLock)
-        {
-            _taintOperations.Add(new TaintCallbackEntry(ident, callback));
-        }
-
-        return;
-    }
-
-    // Sometimes a potentially tainted operation can be used in and out of taint time.
-    // This routine executes the command immediately if in taint-time otherwise it is queued.
-    public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback)
-    {
-        if (inTaintTime)
-            callback();
-        else
-            TaintedObject(ident, callback);
-    }
-
-    private void TriggerPreStepEvent(float timeStep)
-    {
-        PreStepAction actions = BeforeStep;
-        if (actions != null)
-            actions(timeStep);
-
-    }
-
-    private void TriggerPostStepEvent(float timeStep)
-    {
-        PreStepAction actions = AfterStep;
-        if (actions != null)
-            actions(timeStep);
-
-    }
-
-    // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
-    // a callback into itself to do the actual property change. That callback is called
-    // here just before the physics engine is called to step the simulation.
-    public void ProcessTaints()
-    {
-        ProcessRegularTaints();
-        ProcessPostTaintTaints();
-    }
-
-    private void ProcessRegularTaints()
-    {
-        if (_taintOperations.Count > 0)  // save allocating new list if there is nothing to process
-        {
-            // swizzle a new list into the list location so we can process what's there
-            List<TaintCallbackEntry> oldList;
-            lock (_taintLock)
-            {
-                oldList = _taintOperations;
-                _taintOperations = new List<TaintCallbackEntry>();
-            }
-
-            foreach (TaintCallbackEntry tcbe in oldList)
-            {
-                try
-                {
-                    DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
-                    tcbe.callback();
-                }
-                catch (Exception e)
-                {
-                    m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
-                }
-            }
-            oldList.Clear();
-        }
-    }
-
-    // Schedule an update to happen after all the regular taints are processed.
-    // Note that new requests for the same operation ("ident") for the same object ("ID")
-    //     will replace any previous operation by the same object.
-    public void PostTaintObject(String ident, uint ID, TaintCallback callback)
-    {
-        string uniqueIdent = ident + "-" + ID.ToString();
-        lock (_taintLock)
-        {
-            _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback);
-        }
-
-        return;
-    }
-
-    // Taints that happen after the normal taint processing but before the simulation step.
-    private void ProcessPostTaintTaints()
-    {
-        if (_postTaintOperations.Count > 0)
-        {
-            Dictionary<string, TaintCallbackEntry> oldList;
-            lock (_taintLock)
-            {
-                oldList = _postTaintOperations;
-                _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
-            }
-
-            foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
-            {
-                try
-                {
-                    DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
-                    kvp.Value.callback();
-                }
-                catch (Exception e)
-                {
-                    m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
-                }
-            }
-            oldList.Clear();
-        }
-    }
-
-    // Only used for debugging. Does not change state of anything so locking is not necessary.
-    public bool AssertInTaintTime(string whereFrom)
-    {
-        if (!InTaintTime)
-        {
-            DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
-            m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
-            Util.PrintCallStack(DetailLog);
-        }
-        return InTaintTime;
-    }
-
-    #endregion // Taints
-
-    #region INI and command line parameter processing
-
-    #region IPhysicsParameters
-    // Get the list of parameters this physics engine supports
-    public PhysParameterEntry[] GetParameterList()
-    {
-        BSParam.BuildParameterTable();
-        return BSParam.SettableParameters;
-    }
-
-    // Set parameter on a specific or all instances.
-    // Return 'false' if not able to set the parameter.
-    // Setting the value in the m_params block will change the value the physics engine
-    //   will use the next time since it's pinned and shared memory.
-    // Some of the values require calling into the physics engine to get the new
-    //   value activated ('terrainFriction' for instance).
-    public bool SetPhysicsParameter(string parm, float val, uint localID)
-    {
-        bool ret = false;
-        BSParam.ParameterDefn theParam;
-        if (BSParam.TryGetParameter(parm, out theParam))
-        {
-            theParam.setter(this, parm, localID, val);
-            ret = true;
-        }
-        return ret;
-    }
-
-    // update all the localIDs specified
-    // If the local ID is APPLY_TO_NONE, just change the default value
-    // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
-    // If the localID is a specific object, apply the parameter change to only that object
-    internal delegate void AssignVal(float x);
-    internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val)
-    {
-        List<uint> objectIDs = new List<uint>();
-        switch (localID)
-        {
-            case PhysParameterEntry.APPLY_TO_NONE:
-                setDefault(val);            // setting only the default value
-                // This will cause a call into the physical world if some operation is specified (SetOnObject).
-                objectIDs.Add(TERRAIN_ID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            case PhysParameterEntry.APPLY_TO_ALL:
-                setDefault(val);  // setting ALL also sets the default value
-                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            default:
-                // setting only one localID
-                objectIDs.Add(localID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-        }
-    }
-
-    // schedule the actual updating of the paramter to when the phys engine is not busy
-    private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
-    {
-        float xval = val;
-        List<uint> xlIDs = lIDs;
-        string xparm = parm;
-        TaintedObject("BSScene.UpdateParameterSet", delegate() {
-            BSParam.ParameterDefn thisParam;
-            if (BSParam.TryGetParameter(xparm, out thisParam))
-            {
-                if (thisParam.onObject != null)
-                {
-                    foreach (uint lID in xlIDs)
-                    {
-                        BSPhysObject theObject = null;
-                        PhysObjects.TryGetValue(lID, out theObject);
-                        thisParam.onObject(this, theObject, xval);
-                    }
-                }
-            }
-        });
-    }
-
-    // Get parameter.
-    // Return 'false' if not able to get the parameter.
-    public bool GetPhysicsParameter(string parm, out float value)
-    {
-        float val = 0f;
-        bool ret = false;
-        BSParam.ParameterDefn theParam;
-        if (BSParam.TryGetParameter(parm, out theParam))
-        {
-            val = theParam.getter(this);
-            ret = true;
-        }
-        value = val;
-        return ret;
-    }
-
-    #endregion IPhysicsParameters
-
-    #endregion Runtime settable parameters
-
-    // Invoke the detailed logger and output something if it's enabled.
-    public void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsLogging.Write(msg, args);
-        // Add the Flush() if debugging crashes. Gets all the messages written out.
-        if (m_physicsLoggingDoFlush) PhysicsLogging.Flush();
-    }
-    // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
-    public const string DetailLogZero = "0000000000";
-
-}
-}