* Split out the ODEPlugin Nested classes.

1 files changed, 3 insertions, 1139 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index e8ee33c..1e05274 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -1087,1143 +1087,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
         }
     }
-    # region ODE Actors
+    
 
-    public class OdeCharacter : PhysicsActor
-    {
-        private PhysicsVector _position;
-        private d.Vector3 _zeroPosition;
-        private bool _zeroFlag = false;
-        private bool m_lastUpdateSent = false;
-        private PhysicsVector _velocity;
-        private PhysicsVector _target_velocity;
-        private PhysicsVector _acceleration;
-        private PhysicsVector m_rotationalVelocity;
-        private static float PID_D = 3020.0f;
-        private static float PID_P = 7000.0f;
-        private static float POSTURE_SERVO = 10000.0f;
-        public static float CAPSULE_RADIUS = 0.5f;
-        public float CAPSULE_LENGTH = 0.79f;
-        private bool 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_alwaysRun = false;
-        private bool m_hackSentFall = false;
-        private bool m_hackSentFly = false;
-        private string m_name = "";
-        
-        private bool[] m_colliderarr = new bool[11];
-        private bool[] m_colliderGroundarr = new bool[11];
-
-
-        private bool jumping = false;
-        //private float gravityAccel;
-        public IntPtr Body;
-        private OdeScene _parent_scene;
-        public IntPtr Shell;
-        public d.Mass ShellMass;
-        public bool collidelock = false;
-
-        public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
-        {
-            _velocity = new PhysicsVector();
-            _target_velocity = new PhysicsVector();
-            _position = pos;
-            _acceleration = new PhysicsVector();
-            _parent_scene = parent_scene;
-            
-            for (int i = 0; i < 11; i++)
-            {
-                m_colliderarr[i] = false;
-            }
-
-            lock (OdeScene.OdeLock)
-            {
-
-                Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
-                d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
-                Body = d.BodyCreate(parent_scene.world);
-                d.BodySetMass(Body, ref ShellMass);
-                d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
-                d.GeomSetBody(Shell, Body);
-            }
-            m_name = avName;
-            parent_scene.geom_name_map[Shell] = avName;
-            parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
-        }
-        public override int PhysicsActorType
-        {
-            get { return (int)ActorTypes.Agent; }
-            set { return; }
-        }
-        public override bool SetAlwaysRun
-        {
-            get { return m_alwaysRun; }
-            set { m_alwaysRun = value;}
-        }
-        public override bool IsPhysical
-        {
-            get { return false; }
-            set { return; }
-        }
-        public override bool ThrottleUpdates
-        {
-            get { return false; }
-            set { return; }
-        }
-        public override bool Flying
-        {
-            get { return flying; }
-            set { flying = value; }
-        }
-        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.
-
-                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;
-            }
-        }
-        public override bool CollidingGround
-        {
-            get { return m_iscollidingGround; }
-            set
-            {
-                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;
-            }
-        }
-        public override bool CollidingObj
-        {
-            get { return false; }
-            set { return; }
-        }
-
-        public override PhysicsVector Position
-        {
-            get { return _position; }
-            set
-            {
-                lock (OdeScene.OdeLock)
-                {
-                    d.BodySetPosition(Body, value.X, value.Y, value.Z);
-                    _position = value;
-                }
-            }
-        }
-        public override PhysicsVector RotationalVelocity
-        {
-            get { return m_rotationalVelocity; }
-            set { m_rotationalVelocity = value; }
-        }
-        public override PhysicsVector Size
-        {
-            get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); }
-            set {
-                lock (OdeScene.OdeLock)
-                {
-                    PhysicsVector SetSize = value;
-                    float prevCapsule = CAPSULE_LENGTH;
-                    float capsuleradius = CAPSULE_RADIUS;
-                    capsuleradius = 0.2f;
-
-                    CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size
-                    d.BodyDestroy(Body);
-                    d.GeomDestroy(Shell);
-                    //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
-                    Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
-                    d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
-                    Body = d.BodyCreate(_parent_scene.world);
-                    d.BodySetMass(Body, ref ShellMass);
-                    d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH-prevCapsule));
-                    d.GeomSetBody(Shell, Body);
-                }
-                _parent_scene.geom_name_map[Shell] = m_name;
-                _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
-            }
-        }
-
-        public override PrimitiveBaseShape Shape
-        {
-            set
-            {
-                return;
-            }
-        }
-
-        public override PhysicsVector Velocity
-        {
-            get { return _velocity; }
-            set { _target_velocity = value; }
-        }
-
-        public override bool Kinematic
-        {
-            get { return false; }
-            set { }
-        }
-
-        public override Quaternion Orientation
-        {
-            get { return Quaternion.Identity; }
-            set { }
-        }
-
-        public override PhysicsVector Acceleration
-        {
-            get { return _acceleration; }
-        }
-
-        public void SetAcceleration(PhysicsVector accel)
-        {
-            _acceleration = accel;
-        }
-
-        public override void AddForce(PhysicsVector force)
-        {
-
-            _target_velocity.X += force.X;
-            _target_velocity.Y += force.Y;
-            _target_velocity.Z += force.Z;
-
-            //m_lastUpdateSent = false;
-        }
-        public void doForce(PhysicsVector force)
-        {
-            if (!collidelock)
-            {
-                d.BodyAddForce(Body, force.X, force.Y, force.Z);
-
-                //  ok -- let's stand up straight!
-                d.Vector3 feet;
-                d.Vector3 head;
-                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
-                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
-                float posture = head.Z - feet.Z;
-
-                // restoring force proportional to lack of posture:
-                float servo = (2.5f - posture) * POSTURE_SERVO;
-                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
-                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
-                //m_lastUpdateSent = false;
-               
-            }
-
-        }
-        public override void SetMomentum(PhysicsVector momentum)
-        {
-
-        }
-        
-        public void Move(float timeStep)
-        {
-            //  no lock; for now it's only called from within Simulate()
-            PhysicsVector vec = new PhysicsVector();
-            d.Vector3 vel = d.BodyGetLinearVel(Body);
-            float movementdivisor = 1f;
-
-            if (!m_alwaysRun)
-            {
-                movementdivisor = 1.3f;
-            }
-            else
-            {
-                movementdivisor = 0.8f;
-                
-            }
-
-            //  if velocity is zero, use position control; otherwise, velocity control
-            if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
-            {
-                //  keep track of where we stopped.  No more slippin' & slidin'
-                if (!_zeroFlag)
-                {
-                    _zeroFlag = true;
-                    _zeroPosition = d.BodyGetPosition(Body);
-                }
-                d.Vector3 pos = d.BodyGetPosition(Body);
-                vec.X = (_target_velocity.X - vel.X)*PID_D + (_zeroPosition.X - pos.X)*PID_P;
-                vec.Y = (_target_velocity.Y - vel.Y)*PID_D + (_zeroPosition.Y - pos.Y)*PID_P;
-                if (flying)
-                {
-                    vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
-                }
-            }
-            else
-            {
-                
-                _zeroFlag = false;
-                if (m_iscolliding || flying)
-                {
-
-                    vec.X = ((_target_velocity.X/movementdivisor) - vel.X) * PID_D;
-                    vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y) * PID_D;
-                }
-                if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
-                {
-                    d.Vector3 pos = d.BodyGetPosition(Body);
-                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
-                    if (_target_velocity.X > 0)
-                    {
-                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
-                    }
-                    if (_target_velocity.Y > 0)
-                    {
-                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
-                    }
-                }
-                else if (!m_iscolliding && !flying)
-                {
-                    d.Vector3 pos = d.BodyGetPosition(Body);
-                    if (_target_velocity.X > 0)
-                    {
-                        vec.X = ((_target_velocity.X - vel.X)/1.2f) * PID_D;
-                    }
-                    if (_target_velocity.Y > 0)
-                    {
-                        vec.Y = ((_target_velocity.Y - vel.Y)/1.2f) * PID_D;
-                    }
-
-                }
-
-
-                if (flying)
-                {
-                    vec.Z = (_target_velocity.Z - vel.Z)*PID_D;
-                }
-            }
-            if (flying)
-            {
-                vec.Z += 10.0f;
-            }
-            
-
-            doForce(vec);
-        }
-
-        public void UpdatePositionAndVelocity()
-        {
-            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
-            d.Vector3 vec = d.BodyGetPosition(Body);
-
-            //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
-            if (vec.X < 0.0f) vec.X = 0.0f;
-            if (vec.Y < 0.0f) vec.Y = 0.0f;
-            if (vec.X > 255.95f) vec.X = 255.95f;
-            if (vec.Y > 255.95f) vec.Y = 255.95f;
-
-            _position.X = vec.X;
-            _position.Y = vec.Y;
-            _position.Z = vec.Z;
-
-            if (_zeroFlag)
-            {
-                _velocity.X = 0.0f;
-                _velocity.Y = 0.0f;
-                _velocity.Z = 0.0f;
-                if (!m_lastUpdateSent)
-                {
-                    m_lastUpdateSent = true;
-                    base.RequestPhysicsterseUpdate();
-                    string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
-                    int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
-                    if (primScenAvatarIn == "0")
-                    {
-                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
-                    }
-                    else
-                    {
-                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
-                    }
-                    
-                }
-            }
-            else
-            {
-                m_lastUpdateSent = false;
-                vec = d.BodyGetLinearVel(Body);
-                _velocity.X = (vec.X);
-                _velocity.Y = (vec.Y);
-                
-                _velocity.Z = (vec.Z);
-                if (_velocity.Z < -6 && !m_hackSentFall)
-                {
-                    m_hackSentFall = true;
-                    base.SendCollisionUpdate(new CollisionEventUpdate());
-                }
-                else if (flying && !m_hackSentFly)
-                {
-                    //m_hackSentFly = true;
-                    //base.SendCollisionUpdate(new CollisionEventUpdate());
-                }
-                else
-                {
-                    m_hackSentFly = false;
-                    m_hackSentFall = false;
-                }
-            }
-        }
-
-        public void Destroy()
-        {
-            lock (OdeScene.OdeLock)
-            {
-                d.GeomDestroy(Shell);
-                _parent_scene.geom_name_map.Remove(Shell);
-                d.BodyDestroy(Body);
-            }
-        }
-    }
-
-    public class OdePrim : PhysicsActor
-    {
-        public PhysicsVector _position;
-        private PhysicsVector _velocity;
-        private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f,0.0f,0.0f);
-        private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
-        private PhysicsVector m_rotationalVelocity;
-        private PhysicsVector _size;
-        private PhysicsVector _acceleration;
-        private Quaternion _orientation;
-        private PhysicsVector m_taintposition;
-        private PhysicsVector m_taintsize;
-        private Quaternion m_taintrot;
-        private bool m_taintshape = false;
-        private bool m_taintPhysics = false;
-        public bool m_taintremove = false;
-
-        private IMesh _mesh;
-        private PrimitiveBaseShape _pbs;
-        private OdeScene _parent_scene;
-        public IntPtr m_targetSpace = (IntPtr)0;
-        public IntPtr prim_geom;
-        public IntPtr _triMeshData;
-        private bool iscolliding = false;
-        private bool m_isphysical = false;
-        private bool m_throttleUpdates = false;
-        private int throttleCounter = 0;
-        public bool outofBounds = false;
-        
-        public bool _zeroFlag = false;
-        private bool m_lastUpdateSent = false;
-
-        public IntPtr Body = (IntPtr) 0;
-        private String m_primName;
-        private PhysicsVector _target_velocity;
-        public d.Mass pMass;
-        private const float MassMultiplier = 150f; //  Ref: Water: 1000kg..  this iset to 500
-        private int debugcounter = 0;
-
-
-        public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size,
-                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
-        {
-            
-
-            _velocity = new PhysicsVector();
-            _position = pos;
-            m_taintposition = pos;
-            if (_position.X > 257)
-            {
-                _position.X = 257;
-            }
-            if (_position.X < 0)
-            {
-                _position.X = 0;
-            }
-            if (_position.Y > 257)
-            {
-                _position.Y = 257;
-            }
-            if (_position.Y < 0)
-            {
-                _position.Y = 0;
-            }
-
-            _size = size;
-            m_taintsize = _size;
-            _acceleration = new PhysicsVector();
-            m_rotationalVelocity = PhysicsVector.Zero;
-            _orientation = rotation;
-            m_taintrot = _orientation;
-            _mesh = mesh;
-            _pbs = pbs;
-
-            _parent_scene = parent_scene;
-            m_targetSpace = targetSpace;
-
-            if (pos.Z < 0)
-                m_isphysical = false;
-            else
-            {
-                m_isphysical = pisPhysical;
-                // If we're physical, we need to be in the master space for now.
-                // linksets *should* be in a space together..  but are not currently
-                if (m_isphysical)
-                    m_targetSpace = _parent_scene.space;
-
-            }
-            m_primName = primName;
-            
-            
-
-            lock (OdeScene.OdeLock)
-            {
-                if (mesh != null)
-                {
-                    setMesh(parent_scene, mesh);
-                }
-                else
-                {
-                    prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
-                }
-
-                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
-                d.Quaternion myrot = new d.Quaternion();
-                myrot.W = rotation.w;
-                myrot.X = rotation.x;
-                myrot.Y = rotation.y;
-                myrot.Z = rotation.z;
-                d.GeomSetQuaternion(prim_geom, ref myrot);
-                
-
-                if (m_isphysical && Body == (IntPtr)0) {
-                    enableBody();
-                }
-                parent_scene.geom_name_map[prim_geom] = primName;
-                parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
-                    //  don't do .add() here; old geoms get recycled with the same hash
-            }
-        }
-        public override int PhysicsActorType
-        {
-            get { return (int)ActorTypes.Prim; }
-            set { return; }
-        }
-        public override bool SetAlwaysRun
-        {
-            get { return false; }
-            set { return; }
-        }
-        public void enableBody()
-        {
-            // Sets the geom to a body
-            Body = d.BodyCreate(_parent_scene.world);
-
-            setMass();
-            d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
-            d.Quaternion myrot = new d.Quaternion();
-            myrot.W = _orientation.w;
-            myrot.X = _orientation.x;
-            myrot.Y = _orientation.y;
-            myrot.Z = _orientation.z;
-            d.BodySetQuaternion(Body, ref myrot);
-            d.GeomSetBody(prim_geom, Body);
-            d.BodySetAutoDisableFlag(Body, true);
-            d.BodySetAutoDisableSteps(Body,20);
-            
-            _parent_scene.addActivePrim(this);
-        }
-        public void setMass()
-        {
-            //Sets Mass based on member MassMultiplier.   
-            if (Body != (IntPtr)0)
-            {
-                d.MassSetBox(out pMass, (_size.X * _size.Y * _size.Z * MassMultiplier), _size.X, _size.Y, _size.Z);
-                d.BodySetMass(Body, ref pMass);
-            }
-        }
-        public void disableBody()
-        {
-            //this kills the body so things like 'mesh' can re-create it.
-            if (Body != (IntPtr)0)
-            {
-                _parent_scene.remActivePrim(this);
-                d.BodyDestroy(Body);
-                Body = (IntPtr)0;
-            }
-        }
-        public void setMesh(OdeScene parent_scene, IMesh mesh)
-        {
-            //Kill Body so that mesh can re-make the geom
-            if (IsPhysical && Body != (IntPtr)0)
-            {
-                disableBody();
-            }
-            float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
-            int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
-            int VertexCount = vertexList.GetLength(0)/3;
-            int IndexCount = indexList.GetLength(0);
-
-            _triMeshData = d.GeomTriMeshDataCreate();
-
-            d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3*sizeof (float), VertexCount, indexList, IndexCount,
-                                         3*sizeof (int));
-            d.GeomTriMeshDataPreprocess(_triMeshData);
-
-            prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null);
-            
-            if (IsPhysical && Body == (IntPtr)0)
-            {
-                // Recreate the body
-                enableBody();
-            }
-        }
-        public void ProcessTaints(float timestep)
-        {
-            if (m_taintposition != _position)
-                Move(timestep);
-
-            if (m_taintrot != _orientation)
-                rotate(timestep);
-            //
-
-            if (m_taintPhysics != m_isphysical)
-                changePhysicsStatus(timestep);
-            //
-
-            if (m_taintsize != _size)
-                changesize(timestep);
-            //
-
-            if (m_taintshape)
-                changeshape(timestep);
-            //
-
-        }
-        public void Move(float timestep)
-        {
-            if (m_isphysical)
-            {
-                // This is a fallback..   May no longer be necessary.
-                if (Body == (IntPtr)0)
-                    enableBody();
-                //Prim auto disable after 20 frames, 
-                ///if you move it, re-enable the prim manually.
-                d.BodyEnable(Body);
-                d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
-            }
-            else
-            {
-                string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
-                int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
-                if (primScenAvatarIn == "0")
-                {
-                    OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in space with no prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + " . Arr:': " + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
-                }
-                else
-                {
-                    OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in Prim space with prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + ".  Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
-                }
-                m_targetSpace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
-                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
-                d.SpaceAdd(m_targetSpace, prim_geom);
-            }
-
-            m_taintposition = _position;
-        }
-        public void rotate(float timestep)
-        {
-            
-            d.Quaternion myrot = new d.Quaternion();
-            myrot.W = _orientation.w;
-            myrot.X = _orientation.x;
-            myrot.Y = _orientation.y;
-            myrot.Z = _orientation.z;
-            d.GeomSetQuaternion(prim_geom, ref myrot);
-            if (m_isphysical && Body != (IntPtr)0)
-            {
-                d.BodySetQuaternion(Body, ref myrot);
-            }
-            
-            m_taintrot = _orientation;
-        }
-        public void changePhysicsStatus(float timestap)
-        {
-            if (m_isphysical == true)
-            {
-                if (Body == (IntPtr)0)
-                {
-                    enableBody();
-                }
-
-            }
-            else
-            {
-                if (Body != (IntPtr)0)
-                {
-                    disableBody();
-                }
-            }
-            
-            
-            m_taintPhysics = m_isphysical;
-        }
-        public void changesize(float timestamp)
-        {
-            string oldname = _parent_scene.geom_name_map[prim_geom];
-
-            // Cleanup of old prim geometry
-            if (_mesh != null)
-            {
-                // Cleanup meshing here
-            }
-            //kill body to rebuild 
-            if (IsPhysical && Body != (IntPtr)0)
-            {
-                disableBody();
-            }
-            if (d.SpaceQuery(m_targetSpace, prim_geom))
-            {
-                d.SpaceRemove(m_targetSpace, prim_geom);
-            }
-            d.GeomDestroy(prim_geom);
-
-            // we don't need to do space calculation because the client sends a position update also.
-
-            // Construction of new prim
-            if (this._parent_scene.needsMeshing(_pbs))
-            {
-
-
-                // Don't need to re-enable body..   it's done in SetMesh
-                IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
-                // createmesh returns null when it's a shape that isn't a cube.
-                if (mesh != null)
-                {
-                    setMesh(_parent_scene, mesh);
-                }
-                else
-                {
-                    prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
-                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
-                    d.Quaternion myrot = new d.Quaternion();
-                    myrot.W = _orientation.w;
-                    myrot.X = _orientation.x;
-                    myrot.Y = _orientation.y;
-                    myrot.Z = _orientation.z;
-                    d.GeomSetQuaternion(prim_geom, ref myrot);
-
-
-                }
-            }
-            else
-            {
-                prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
-                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
-                d.Quaternion myrot = new d.Quaternion();
-                myrot.W = _orientation.w;
-                myrot.X = _orientation.x;
-                myrot.Y = _orientation.y;
-                myrot.Z = _orientation.z;
-                d.GeomSetQuaternion(prim_geom, ref myrot);
-
-
-                //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
-                if (IsPhysical && Body == (IntPtr)0)
-                {
-                    // Re creates body on size.
-                    // EnableBody also does setMass()
-                    enableBody();
-                    d.BodyEnable(Body);
-                }
-
-            }
-
-
-            _parent_scene.geom_name_map[prim_geom] = oldname;
-
-            
-            m_taintsize = _size;
-        }
-        public void changeshape(float timestamp)
-        {
-            string oldname = _parent_scene.geom_name_map[prim_geom];
-
-            // Cleanup of old prim geometry and Bodies
-            if (IsPhysical && Body != (IntPtr)0)
-            {
-                disableBody();
-            }
-            d.GeomDestroy(prim_geom);
-            if (_mesh != null)
-            {
-
-                d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
-
-            }
-
-            // Construction of new prim
-            if (this._parent_scene.needsMeshing(_pbs))
-            {
-                IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
-                if (mesh != null)
-                {
-                    setMesh(_parent_scene, mesh);
-                }
-                else
-                {
-                    prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
-                }
-            }
-            else
-            {
-                prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
-            }
-            if (IsPhysical && Body == (IntPtr)0)
-            {
-                //re-create new body
-                enableBody();
-            }
-            else
-            {
-                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
-                d.Quaternion myrot = new d.Quaternion();
-                myrot.W = _orientation.w;
-                myrot.X = _orientation.x;
-                myrot.Y = _orientation.y;
-                myrot.Z = _orientation.z;
-                d.GeomSetQuaternion(prim_geom, ref myrot);
-            }
-            _parent_scene.geom_name_map[prim_geom] = oldname;
-
-
-
-            
-            m_taintshape = false;
-        }
-        public override bool IsPhysical
-        {
-            get { return m_isphysical; }
-            set{ m_isphysical = value;}
-        }
-        public void setPrimForRemoval()
-        {
-            m_taintremove = true;
-        }
-
-        public override bool Flying
-        {
-            get { return false; //no flying prims for you
-            }
-            set { }
-        }
-
-        public override bool IsColliding
-        {
-            get { return iscolliding; }
-            set { iscolliding = value; }
-        }
-        public override bool CollidingGround
-        {
-            get { return false; }
-            set { return; }
-        }
-        public override bool CollidingObj
-        {
-            get { return false; }
-            set { return; }
-        }
-        public override bool ThrottleUpdates
-        {
-            get { return m_throttleUpdates; }
-            set { m_throttleUpdates=value; }
-        }
-
-        public override PhysicsVector Position
-        {
-            get {return _position; }
-                
-           
-            set
-            {
-                _position = value;
-                
-            }
-        }
-
-        public override PhysicsVector Size
-        {
-            get { return _size; }
-            set
-            {
-                _size = value;
-                
-            }
-        }
-
-        public override PrimitiveBaseShape Shape
-        {
-            set
-            {
-                _pbs = value;
-                
-            }
-        }
-
-        public override PhysicsVector Velocity
-        {
-            get { 
-                // Averate previous velocity with the new one so 
-                // client object interpolation works a 'little' better
-                PhysicsVector returnVelocity = new PhysicsVector();
-                returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
-                returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
-                returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
-                return returnVelocity;
-            }
-            set { _velocity = value; }
-        }
-
-        public override bool Kinematic
-        {
-            get { return false; }
-            set { }
-        }
-
-        public override Quaternion Orientation
-        {
-            get { return _orientation; }
-            set
-            {
-                _orientation = value;
-                
-            }
-        }
-
-        public override PhysicsVector Acceleration
-        {
-            get { return _acceleration; }
-        }
-
-
-        public void SetAcceleration(PhysicsVector accel)
-        {
-            _acceleration = accel;
-        }
-
-        public override void AddForce(PhysicsVector force)
-        {
-        }
-
-        public override PhysicsVector RotationalVelocity
-        {
-            get{ return m_rotationalVelocity;}
-            set { m_rotationalVelocity = value; }
-        }
-
-        public void UpdatePositionAndVelocity() {
-         //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
-            
-            if (Body != (IntPtr)0)
-            {
-                d.Vector3 vec = d.BodyGetPosition(Body);
-                d.Quaternion ori = d.BodyGetQuaternion(Body);
-                d.Vector3 vel = d.BodyGetLinearVel(Body);
-                d.Vector3 rotvel = d.BodyGetAngularVel(Body);
-               
-                PhysicsVector l_position = new PhysicsVector();
-                //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
-                if (vec.X < 0.0f) vec.X = 0.0f;
-                if (vec.Y < 0.0f) vec.Y = 0.0f;
-                if (vec.X > 255.95f) vec.X = 255.95f;
-                if (vec.Y > 255.95f) vec.Y = 255.95f;
-                m_lastposition = _position;
-
-                l_position.X = vec.X;
-                l_position.Y = vec.Y;
-                l_position.Z = vec.Z;
-                if (l_position.Z < 0)
-                {
-                    // This is so prim that get lost underground don't fall forever and suck up 
-                    // 
-                    // Sim resources and memory.
-                    // Disables the prim's movement physics....  
-                    // It's a hack and will generate a console message if it fails.
-                    
-                       
-                    
-                    
-                    //IsPhysical = false;
-                    base.RaiseOutOfBounds(_position);
-                    _velocity.X = 0;
-                    _velocity.Y = 0;
-                    _velocity.Z = 0;
-                    m_rotationalVelocity.X = 0;
-                    m_rotationalVelocity.Y = 0;
-                    m_rotationalVelocity.Z = 0;
-                    base.RequestPhysicsterseUpdate();
-                    m_throttleUpdates = false;
-                    throttleCounter = 0;
-                    _zeroFlag = true;
-                    //outofBounds = true;
-                }
-
-                if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) 
-                    && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) 
-                    && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02 ))
-                {
-                    
-                    _zeroFlag = true;
-                }
-                else
-                {
-                    //System.Console.WriteLine(Math.Abs(m_lastposition.X - l_position.X).ToString());
-                    _zeroFlag = false;
-                }
-                
-
-
-                if (_zeroFlag)
-                {
-                    // Supposedly this is supposed to tell SceneObjectGroup that 
-                    // no more updates need to be sent..  
-                    // but it seems broken.
-                    _velocity.X = 0.0f;
-                    _velocity.Y = 0.0f;
-                    _velocity.Z = 0.0f;
-                    //_orientation.w = 0f;
-                    //_orientation.x = 0f;
-                    //_orientation.y = 0f;
-                    //_orientation.z = 0f;
-                    m_rotationalVelocity.X = 0;
-                    m_rotationalVelocity.Y = 0;
-                    m_rotationalVelocity.Z = 0;
-                    if (!m_lastUpdateSent)
-                    {
-                        m_throttleUpdates = false;
-                        throttleCounter = 0;
-                        base.RequestPhysicsterseUpdate();
-                        m_lastUpdateSent = true;
-                    }
-
-                }
-                else
-                {
-                    m_lastVelocity = _velocity;
-
-                    _position = l_position;
-
-                    _velocity.X = vel.X;
-                    _velocity.Y = vel.Y;
-                    _velocity.Z = vel.Z;
-
-                    m_rotationalVelocity.X = rotvel.X;
-                    m_rotationalVelocity.Y = rotvel.Y;
-                    m_rotationalVelocity.Z = rotvel.Z;
-                    //System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString());
-                    _orientation.w = ori.W;
-                    _orientation.x = ori.X;
-                    _orientation.y = ori.Y;
-                    _orientation.z = ori.Z;
-                    m_lastUpdateSent = false;
-                    if (!m_throttleUpdates || throttleCounter > 15)
-                    {
-                        base.RequestPhysicsterseUpdate();
-                    }
-                    else
-                    {
-                        throttleCounter++;
-                    }
-                }
-                m_lastposition = l_position;
-            }
-            else
-            {
-                // Not a body..   so Make sure the client isn't interpolating
-                _velocity.X = 0;
-                _velocity.Y = 0;
-                _velocity.Z = 0;
-                m_rotationalVelocity.X = 0;
-                m_rotationalVelocity.Y = 0;
-                m_rotationalVelocity.Z = 0;
-                _zeroFlag = true;
-            }
-
-        }
-        public override void SetMomentum(PhysicsVector momentum)
-        {
-        }
-    }
-}
-    #endregion
\ No newline at end of file
+    
+}
\ No newline at end of file