Initial update to OpenSim 0.8.2.1 source code.

1 files changed, 1333 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
new file mode 100644
index 0000000..452ce55
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
@@ -0,0 +1,1333 @@
+/*
+ * 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.Linq;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using OpenSim.Framework;
+using OpenSim.Framework.Monitoring;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using Nini.Config;
+using log4net;
+using OpenMetaverse;
+using Mono.Addins;
+
+namespace OpenSim.Region.PhysicsModule.BulletS
+{
+    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "BulletSPhysicsScene")]
+    public sealed class BSScene : PhysicsScene, IPhysicsParameters, INonSharedRegionModule
+    {
+        internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+        internal static readonly string LogHeader = "[BULLETS SCENE]";
+
+        private bool m_Enabled = false;
+        private IConfigSource m_Config;
+
+        // The name of the region we're working for.
+        public string RegionName { get; private set; }
+
+        public string BulletSimVersion = "?";
+
+        // The handle to the underlying managed or unmanaged version of Bullet being used.
+        public string BulletEngineName { get; private set; }
+        public BSAPITemplate PE;
+
+        // If the physics engine is running on a separate thread
+        public Thread m_physicsThread;
+
+        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>();
+
+        // All the collision processing is protected with this lock object
+        public Object CollisionLock = new Object();
+
+        // Properties are updated here
+        public Object UpdateLock = new Object();
+        public HashSet<BSPhysObject> ObjectsWithUpdates = 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> AvatarsInScene = new HashSet<BSPhysObject>();
+        private Object AvatarsInSceneLock = new Object();
+
+        // 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 float m_physicsStepTime;   // if running independently, the interval simulated by default
+
+        internal int m_maxSubSteps;
+        internal float m_fixedTimeStep;
+
+        internal float m_simulatedTime;     // the time simulated previously. Used for physics framerate calc.
+
+        internal long m_simulationStep = 0; // The current simulation step.
+        public long SimulationStep { get { return m_simulationStep; } }
+        // A number to use for SimulationStep that is probably not any step value
+        // Used by the collision code (which remembers the step when a collision happens) to remember not any simulation step.
+        public static long NotASimulationStep = -1234;
+
+        internal float LastTimeStep { get; private set; }   // The simulation time from the last invocation of Simulate()
+
+        internal float NominalFrameRate { get; set; }       // Parameterized ideal frame rate that simulation is scaled to
+
+        // 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 PostStepAction 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;
+        internal CollisionDesc[] m_collisionArray;
+
+        internal int m_maxUpdatesPerFrame;
+        internal EntityProperties[] m_updateArray;
+
+        /// <summary>
+        /// Used to control physics simulation timing if Bullet is running on its own thread.
+        /// </summary>
+        private ManualResetEvent m_updateWaitEvent;
+
+        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 originator;
+            public String ident;
+            public TaintCallback callback;
+            public TaintCallbackEntry(string pIdent, TaintCallback pCallBack)
+            {
+                originator = BSScene.DetailLogZero;
+                ident = pIdent;
+                callback = pCallBack;
+            }
+            public TaintCallbackEntry(string pOrigin, string pIdent, TaintCallback pCallBack)
+            {
+                originator = pOrigin;
+                ident = pIdent;
+                callback = pCallBack;
+            }
+        }
+        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;
+
+        // Sometimes you just have to log everything.
+        public LogWriter PhysicsLogging;
+        private bool m_physicsLoggingEnabled;
+        private string m_physicsLoggingDir;
+        private string m_physicsLoggingPrefix;
+        private int m_physicsLoggingFileMinutes;
+        private bool m_physicsLoggingDoFlush;
+        private bool m_physicsPhysicalDumpEnabled;
+        public int PhysicsMetricDumpFrames { get; set; }
+        // 'true' of the vehicle code is to log lots of details
+        public bool VehicleLoggingEnabled { get; private set; }
+        public bool VehiclePhysicalLoggingEnabled { get; private set; }
+
+        #region INonSharedRegionModule
+        public string Name
+        {
+            get { return "BulletSim"; }
+        }
+
+        public Type ReplaceableInterface
+        {
+            get { return null; }
+        }
+
+        public void Initialise(IConfigSource source)
+        {
+            // TODO: Move this out of Startup
+            IConfig config = source.Configs["Startup"];
+            if (config != null)
+            {
+                string physics = config.GetString("physics", string.Empty);
+                if (physics == Name)
+                {
+                    m_Enabled = true;
+                    m_Config = source;
+                }
+            }
+
+        }
+
+        public void Close()
+        {
+        }
+
+        public void AddRegion(Scene scene)
+        {
+            if (!m_Enabled)
+                return;
+
+            EngineType = Name;
+            RegionName = scene.RegionInfo.RegionName;
+            PhysicsSceneName = EngineType + "/" + RegionName;
+
+            scene.RegisterModuleInterface<PhysicsScene>(this);
+            Vector3 extent = new Vector3(scene.RegionInfo.RegionSizeX, scene.RegionInfo.RegionSizeY, scene.RegionInfo.RegionSizeZ);
+            Initialise(m_Config, extent);
+
+            base.Initialise(scene.PhysicsRequestAsset,
+                (scene.Heightmap != null ? scene.Heightmap.GetFloatsSerialised() : new float[scene.RegionInfo.RegionSizeX * scene.RegionInfo.RegionSizeY]),
+                (float)scene.RegionInfo.RegionSettings.WaterHeight);
+
+        }
+
+        public void RemoveRegion(Scene scene)
+        {
+            if (!m_Enabled)
+                return;
+        }
+
+        public void RegionLoaded(Scene scene)
+        {
+            if (!m_Enabled)
+                return;
+
+            mesher = scene.RequestModuleInterface<IMesher>();
+            if (mesher == null)
+                m_log.WarnFormat("{0} No mesher. Things will not work well.", LogHeader);
+
+            scene.PhysicsEnabled = true;
+        }
+        #endregion
+
+        #region Initialization
+
+        private void Initialise(IConfigSource config, Vector3 regionExtent)
+        {
+            _taintOperations = new List<TaintCallbackEntry>();
+            _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
+            _postStepOperations = new List<TaintCallbackEntry>();
+            PhysObjects = new Dictionary<uint, BSPhysObject>();
+            Shapes = new BSShapeCollection(this);
+
+            m_simulatedTime = 0f;
+            LastTimeStep = 0.1f;
+
+            // Allocate pinned memory to pass parameters.
+            UnmanagedParams = new ConfigurationParameters[1];
+
+            // Set default values for physics parameters plus any overrides from the ini file
+            GetInitialParameterValues(config);
+
+            // Force some parameters to values depending on other configurations
+            // Only use heightmap terrain implementation if terrain larger than legacy size
+            if ((uint)regionExtent.X > Constants.RegionSize || (uint)regionExtent.Y > Constants.RegionSize)
+            {
+                m_log.WarnFormat("{0} Forcing terrain implementation to heightmap for large region", LogHeader);
+                BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap;
+            }
+
+            // Get the connection to the physics engine (could be native or one of many DLLs)
+            PE = SelectUnderlyingBulletEngine(BulletEngineName);
+
+            // 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 LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes, m_physicsLoggingDoFlush);
+                PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output its own error messages.
+            }
+            else
+            {
+                PhysicsLogging = new LogWriter();
+            }
+
+            // Allocate memory for returning of the updates and collisions from the physics engine
+            m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
+            m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
+
+            // 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 = regionExtent;
+
+            World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
+
+            Constraints = new BSConstraintCollection(World);
+
+            TerrainManager = new BSTerrainManager(this, worldExtent);
+            TerrainManager.CreateInitialGroundPlaneAndTerrain();
+
+            // Put some informational messages into the log file.
+            m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
+
+            InTaintTime = false;
+            m_initialized = true;
+
+            // If the physics engine runs on its own thread, start same.
+            if (BSParam.UseSeparatePhysicsThread)
+            {
+                // The physics simulation should happen independently of the heartbeat loop
+                m_physicsThread 
+                    = WorkManager.StartThread(
+                        BulletSPluginPhysicsThread, 
+                        string.Format("{0} ({1})", BulletEngineName, RegionName), 
+                        ThreadPriority.Normal, 
+                        true, 
+                        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);
+
+                    // There are two Bullet implementations to choose from
+                    BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
+
+                    // Very detailed logging for physics debugging
+                    // TODO: the boolean values can be moved to the normal parameter processing.
+                    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);
+                    m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", 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);
+                }
+                else
+                {
+                    // Nothing in the configuration INI file so assume unmanaged and other defaults.
+                    BulletEngineName = "BulletUnmanaged";
+                    m_physicsLoggingEnabled = false;
+                    VehicleLoggingEnabled = false;
+                }
+
+                // 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;
+        }
+
+        // Select the connection to the actual Bullet implementation.
+        // The main engine selection is the engineName up to the first hypen.
+        // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
+        //     is passed to the engine to do its special selection, etc.
+        private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
+        {
+            // For the moment, do a simple switch statement.
+            // Someday do fancyness with looking up the interfaces in the assembly.
+            BSAPITemplate ret = null;
+
+            string selectionName = engineName.ToLower();
+            int hyphenIndex = engineName.IndexOf("-");
+            if (hyphenIndex > 0)
+                selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);
+
+            switch (selectionName)
+            {
+                case "bullet":
+                case "bulletunmanaged":
+                    ret = new BSAPIUnman(engineName, this);
+                    break;
+                case "bulletxna":
+                    ret = new BSAPIXNA(engineName, this);
+                    // Disable some features that are not implemented in BulletXNA
+                    m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader);
+                    m_log.InfoFormat("{0}    Disabling ShouldUseBulletHACD", LogHeader);
+                    BSParam.ShouldUseBulletHACD = false;
+                    m_log.InfoFormat("{0}    Disabling ShouldUseSingleConvexHullForPrims", LogHeader);
+                    BSParam.ShouldUseSingleConvexHullForPrims = false;
+                    m_log.InfoFormat("{0}    Disabling ShouldUseGImpactShapeForPrims", LogHeader);
+                    BSParam.ShouldUseGImpactShapeForPrims = false;
+                    m_log.InfoFormat("{0}    Setting terrain implimentation to Heightmap", LogHeader);
+                    BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap;
+                    break;
+            }
+
+            if (ret == null)
+            {
+                m_log.ErrorFormat("{0} COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
+            }
+            else
+            {
+                m_log.InfoFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
+            }
+
+            return ret;
+        }
+
+        public override void Dispose()
+        {
+            // m_log.DebugFormat("{0}: Dispose()", LogHeader);
+
+            // make sure no stepping happens while we're deleting stuff
+            m_initialized = false;
+
+            lock (PhysObjects)
+            {
+                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
+            PE.Shutdown(World);
+
+            // 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 velocity, 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 velocity, 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, velocity, 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 (AvatarsInSceneLock)
+                AvatarsInScene.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(bsactor.LocalID);
+                    // Remove kludge someday
+                    lock (AvatarsInSceneLock)
+                        AvatarsInScene.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();
+            }
+            else
+            {
+                m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}",
+                                            LogHeader, actor.LocalID, actor.GetType().Name);
+            }
+        }
+
+        public override void RemovePrim(PhysicsActor prim)
+        {
+            if (!m_initialized) return;
+
+            BSPhysObject bsprim = prim as BSPhysObject;
+            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},BSScene.AddPrimShape,call", localID);
+
+            BSPhysObject prim = new BSPrimLinkable(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
+
+        // Call from the simulator to send physics information to the simulator objects.
+        // This pushes all the collision and property update events into the objects in
+        //    the simulator and, since it is on the heartbeat thread, there is an implicit
+        //    locking of those data structures from other heartbeat events.
+        // If the physics engine is running on a separate thread, the update information
+        //    will be in the ObjectsWithCollions and ObjectsWithUpdates structures.
+        public override float Simulate(float timeStep)
+        {
+            if (!BSParam.UseSeparatePhysicsThread)
+            {
+                DoPhysicsStep(timeStep);
+            }
+            return SendUpdatesToSimulator(timeStep);
+        }
+
+        // Call the physics engine to do one 'timeStep' and collect collisions and updates
+        //    into ObjectsWithCollisions and ObjectsWithUpdates data structures.
+        private void DoPhysicsStep(float timeStep)
+        {
+            // prevent simulation until we've been initialized
+            if (!m_initialized) return;
+
+            LastTimeStep = timeStep;
+
+            int updatedEntityCount = 0;
+            int collidersCount = 0;
+
+            int beforeTime = Util.EnvironmentTickCount();
+            int simTime = 0;
+
+            int numTaints = _taintOperations.Count;
+            InTaintTime = true; // Only used for debugging so locking is not necessary.
+
+            // update the prim states while we know the physics engine is not busy
+            ProcessTaints();
+
+            // Some of the physical objects requre individual, pre-step calls
+            //      (vehicles and avatar movement, in particular)
+            TriggerPreStepEvent(timeStep);
+
+            // the prestep actions might have added taints
+            numTaints += _taintOperations.Count;
+            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.
+            if (m_physicsPhysicalDumpEnabled)
+                PE.DumpAllInfo(World);
+
+            // step the physical world one interval
+            m_simulationStep++;
+            int numSubSteps = 0;
+            try
+            {
+                numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
+
+            }
+            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;
+            }
+
+            // Make the physics engine dump useful statistics periodically
+            if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
+                PE.DumpPhysicsStatistics(World);
+
+            // Get a value for 'now' so all the collision and update routines don't have to get their own.
+            SimulationNowTime = Util.EnvironmentTickCount();
+
+            // Send collision information to the colliding objects. The objects decide if the collision
+            //     is 'real' (like linksets don't collide with themselves) and the individual objects
+            //     know if the simulator has subscribed to collisions.
+            lock (CollisionLock)
+            {
+                if (collidersCount > 0)
+                {
+                    lock (PhysObjects)
+                    {
+                        for (int ii = 0; ii < collidersCount; ii++)
+                        {
+                            uint cA = m_collisionArray[ii].aID;
+                            uint cB = m_collisionArray[ii].bID;
+                            Vector3 point = m_collisionArray[ii].point;
+                            Vector3 normal = m_collisionArray[ii].normal;
+                            float penetration = m_collisionArray[ii].penetration;
+                            SendCollision(cA, cB, point, normal, penetration);
+                            SendCollision(cB, cA, point, -normal, penetration);
+                        }
+                    }
+                }
+            }
+
+            // If any of the objects had updated properties, tell the managed objects about the update
+            //     and remember that there was a change so it will be passed to the simulator.
+            lock (UpdateLock)
+            {
+                if (updatedEntityCount > 0)
+                {
+                    lock (PhysObjects)
+                    {
+                        for (int ii = 0; ii < updatedEntityCount; ii++)
+                        {
+                            EntityProperties entprop = m_updateArray[ii];
+                            BSPhysObject pobj;
+                            if (PhysObjects.TryGetValue(entprop.ID, out pobj))
+                            {
+                                if (pobj.IsInitialized)
+                                    pobj.UpdateProperties(entprop);
+                            }
+                        }
+                    }
+                }
+            }
+
+            // Some actors want to know when the simulation step is complete.
+            TriggerPostStepEvent(timeStep);
+
+            simTime = Util.EnvironmentTickCountSubtract(beforeTime);
+            if (PhysicsLogging.Enabled)
+            {
+                DetailLog("{0},DoPhysicsStep,complete,frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
+                                        DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
+                                        updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
+            }
+
+            // 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.
+            if (m_physicsPhysicalDumpEnabled)
+                PE.DumpAllInfo(World);
+
+            // 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 a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
+            m_simulatedTime +=  (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
+        }
+
+        // Called by a BSPhysObject to note that it has changed properties and this information
+        //    should be passed up to the simulator at the proper time.
+        // Note: this is called by the BSPhysObject from invocation via DoPhysicsStep() above so
+        //    this is is under UpdateLock.
+        public void PostUpdate(BSPhysObject updatee)
+        {
+            lock (UpdateLock)
+            {
+                ObjectsWithUpdates.Add(updatee);
+            }
+        }
+
+        // The simulator thinks it is physics time so return all the collisions and position
+        //     updates that were collected in actual physics simulation.
+        private float SendUpdatesToSimulator(float timeStep)
+        {
+            if (!m_initialized) return 5.0f;
+
+            DetailLog("{0},SendUpdatesToSimulator,collisions={1},updates={2},simedTime={3}",
+                BSScene.DetailLogZero, ObjectsWithCollisions.Count, ObjectsWithUpdates.Count, m_simulatedTime);
+            // Push the collisions into the simulator.
+            lock (CollisionLock)
+            {
+                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.
+                // Note that we get a copy of the list to search because SendCollision() can take a while.
+                HashSet<BSPhysObject> tempAvatarsInScene;
+                lock (AvatarsInSceneLock)
+                {
+                    tempAvatarsInScene = new HashSet<BSPhysObject>(AvatarsInScene);
+                }
+                foreach (BSPhysObject actor in tempAvatarsInScene)
+                {
+                    if (!ObjectsWithCollisions.Contains(actor))   // don't call avatars twice
+                        actor.SendCollisions();
+                }
+                tempAvatarsInScene = null;
+
+                // 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 real collisions have happened on an object. This allows
+                //     the simulator to generate the 'collision end' event.
+                if (ObjectsWithNoMoreCollisions.Count > 0)
+                {
+                    foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
+                        ObjectsWithCollisions.Remove(po);
+                    ObjectsWithNoMoreCollisions.Clear();
+                }
+            }
+
+            // Call the simulator for each object that has physics property updates.
+            HashSet<BSPhysObject> updatedObjects = null;
+            lock (UpdateLock)
+            {
+                if (ObjectsWithUpdates.Count > 0)
+                {
+                    updatedObjects = ObjectsWithUpdates;
+                    ObjectsWithUpdates = new HashSet<BSPhysObject>();
+                }
+            }
+            if (updatedObjects != null)
+            {
+                foreach (BSPhysObject obj in updatedObjects)
+                {
+                    obj.RequestPhysicsterseUpdate();
+                }
+                updatedObjects.Clear();
+            }
+
+            // Return the framerate simulated to give the above returned results.
+            // (Race condition here but this is just bookkeeping so rare mistakes do not merit a lock).
+            float simTime = m_simulatedTime;
+            m_simulatedTime = 0f;
+            return simTime;
+        }
+
+        // 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;
+            // NOTE that PhysObjects was locked before the call to SendCollision().
+            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;
+            }
+
+            // Note: 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.IsInitialized)
+            {
+                if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
+                {
+                    // If a collision was 'good', remember to send it to the simulator
+                    lock (CollisionLock)
+                    {
+                        ObjectsWithCollisions.Add(collider);
+                    }
+                }
+            }
+
+            return;
+        }
+
+        public void BulletSPluginPhysicsThread()
+        {
+            Thread.CurrentThread.Priority = ThreadPriority.Highest;
+            m_updateWaitEvent = new ManualResetEvent(false);
+
+            while (m_initialized)
+            {
+                int beginSimulationRealtimeMS = Util.EnvironmentTickCount();
+
+                if (BSParam.Active)
+                    DoPhysicsStep(BSParam.PhysicsTimeStep);
+
+                int simulationRealtimeMS = Util.EnvironmentTickCountSubtract(beginSimulationRealtimeMS);
+                int simulationTimeVsRealtimeDifferenceMS = ((int)(BSParam.PhysicsTimeStep*1000f)) - simulationRealtimeMS;
+
+                if (simulationTimeVsRealtimeDifferenceMS > 0)
+                {
+                    // The simulation of the time interval took less than realtime.
+                    // Do a wait for the rest of realtime.
+                     m_updateWaitEvent.WaitOne(simulationTimeVsRealtimeDifferenceMS);
+                    //Thread.Sleep(simulationTimeVsRealtimeDifferenceMS);
+                }
+                else
+                {
+                    // The simulation took longer than realtime.
+                    // Do some scaling of simulation time.
+                    // TODO.
+                    DetailLog("{0},BulletSPluginPhysicsThread,longerThanRealtime={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS);
+                }
+
+                Watchdog.UpdateThread();
+            }
+
+            Watchdog.RemoveThread();
+        }
+
+        #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()
+        {
+            Dictionary<uint, float> topColliders;
+
+            lock (PhysObjects)
+            {
+                foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
+                {
+                    kvp.Value.ComputeCollisionScore();
+                }
+
+                List<BSPhysObject> orderedPrims = new List<BSPhysObject>(PhysObjects.Values);
+                orderedPrims.OrderByDescending(p => p.CollisionScore);
+                topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
+            }
+
+            return topColliders;
+        }
+
+        public override bool IsThreaded { get { return false;  } }
+
+        #region Extensions
+        public override object Extension(string pFunct, params object[] pParams)
+        {
+            DetailLog("{0} BSScene.Extension,op={1}", DetailLogZero, pFunct);
+            return base.Extension(pFunct, pParams);
+        }
+        #endregion // Extensions
+
+        public static string PrimitiveBaseShapeToString(PrimitiveBaseShape pbs)
+        {
+            float pathShearX = pbs.PathShearX < 128 ? (float)pbs.PathShearX * 0.01f : (float)(pbs.PathShearX - 256) * 0.01f;
+            float pathShearY = pbs.PathShearY < 128 ? (float)pbs.PathShearY * 0.01f : (float)(pbs.PathShearY - 256) * 0.01f;
+            float pathBegin = (float)pbs.PathBegin * 2.0e-5f;
+            float pathEnd = 1.0f - (float)pbs.PathEnd * 2.0e-5f;
+            float pathScaleX = (float)(200 - pbs.PathScaleX) * 0.01f;
+            float pathScaleY = (float)(200 - pbs.PathScaleY) * 0.01f;
+            float pathTaperX = pbs.PathTaperX * 0.01f;
+            float pathTaperY = pbs.PathTaperY * 0.01f;
+
+            float profileBegin = (float)pbs.ProfileBegin * 2.0e-5f;
+            float profileEnd = 1.0f - (float)pbs.ProfileEnd * 2.0e-5f;
+            float profileHollow = (float)pbs.ProfileHollow * 2.0e-5f;
+            if (profileHollow > 0.95f)
+                profileHollow = 0.95f;
+
+            StringBuilder buff = new StringBuilder();
+            buff.Append("shape=");
+            buff.Append(((ProfileShape)pbs.ProfileShape).ToString());
+            buff.Append(",");
+            buff.Append("hollow=");
+            buff.Append(((HollowShape)pbs.HollowShape).ToString());
+            buff.Append(",");
+            buff.Append("pathCurve=");
+            buff.Append(((Extrusion)pbs.PathCurve).ToString());
+            buff.Append(",");
+            buff.Append("profCurve=");
+            buff.Append(((Extrusion)pbs.ProfileCurve).ToString());
+            buff.Append(",");
+            buff.Append("profHollow=");
+            buff.Append(profileHollow.ToString());
+            buff.Append(",");
+            buff.Append("pathBegEnd=");
+            buff.Append(pathBegin.ToString());
+            buff.Append("/");
+            buff.Append(pathEnd.ToString());
+            buff.Append(",");
+            buff.Append("profileBegEnd=");
+            buff.Append(profileBegin.ToString());
+            buff.Append("/");
+            buff.Append(profileEnd.ToString());
+            buff.Append(",");
+            buff.Append("scaleXY=");
+            buff.Append(pathScaleX.ToString());
+            buff.Append("/");
+            buff.Append(pathScaleY.ToString());
+            buff.Append(",");
+            buff.Append("shearXY=");
+            buff.Append(pathShearX.ToString());
+            buff.Append("/");
+            buff.Append(pathShearY.ToString());
+            buff.Append(",");
+            buff.Append("taperXY=");
+            buff.Append(pbs.PathTaperX.ToString());
+            buff.Append("/");
+            buff.Append(pbs.PathTaperY.ToString());
+            buff.Append(",");
+            buff.Append("skew=");
+            buff.Append(pbs.PathSkew.ToString());
+            buff.Append(",");
+            buff.Append("twist/Beg=");
+            buff.Append(pbs.PathTwist.ToString());
+            buff.Append("/");
+            buff.Append(pbs.PathTwistBegin.ToString());
+
+            return buff.ToString();
+        }
+
+        #region Taints
+        // The simulation execution order is:
+        // Simulate()
+        //    DoOneTimeTaints
+        //    TriggerPreStepEvent
+        //    DoOneTimeTaints
+        //    Step()
+        //       ProcessAndSendToSimulatorCollisions
+        //       ProcessAndSendToSimulatorPropertyUpdates
+        //    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 pOriginator, string pIdent, TaintCallback pCallback)
+        {
+            TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback);
+        }
+        public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback)
+        {
+            TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
+        }
+        public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback)
+        {
+            TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback);
+        }
+        public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback)
+        {
+            TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
+        }
+        // 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 pOriginator, string pIdent, TaintCallback pCallback)
+        {
+            if (!m_initialized) return;
+
+            if (inTaintTime)
+                pCallback();
+            else
+            {
+                lock (_taintLock)
+                {
+                    _taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback));
+                }
+            }
+        }
+
+        private void TriggerPreStepEvent(float timeStep)
+        {
+            PreStepAction actions = BeforeStep;
+            if (actions != null)
+                actions(timeStep);
+
+        }
+
+        private void TriggerPostStepEvent(float timeStep)
+        {
+            PostStepAction 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 (m_initialized && _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}", tcbe.originator, 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 IDAsString = ID.ToString();
+            string uniqueIdent = ident + "-" + IDAsString;
+            lock (_taintLock)
+            {
+                _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(IDAsString, uniqueIdent, callback);
+            }
+
+            return;
+        }
+
+        // Taints that happen after the normal taint processing but before the simulation step.
+        private void ProcessPostTaintTaints()
+        {
+            if (m_initialized && _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 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, string val, uint localID)
+        {
+            bool ret = false;
+
+            BSParam.ParameterDefnBase theParam;
+            if (BSParam.TryGetParameter(parm, out theParam))
+            {
+                // Set the value in the C# code
+                theParam.SetValue(this, val);
+
+                // Optionally set the parameter in the unmanaged code
+                if (theParam.HasSetOnObject)
+                {
+                    // 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
+                    List<uint> objectIDs = new List<uint>();
+                    switch (localID)
+                    {
+                        case PhysParameterEntry.APPLY_TO_NONE:
+                            // 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:
+                            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;
+                    }
+                }
+
+                ret = true;
+            }
+            return ret;
+        }
+
+        // schedule the actual updating of the paramter to when the phys engine is not busy
+        private void TaintedUpdateParameter(string parm, List<uint> lIDs, string val)
+        {
+            string xval = val;
+            List<uint> xlIDs = lIDs;
+            string xparm = parm;
+            TaintedObject(DetailLogZero, "BSScene.UpdateParameterSet", delegate() {
+                BSParam.ParameterDefnBase thisParam;
+                if (BSParam.TryGetParameter(xparm, out thisParam))
+                {
+                    if (thisParam.HasSetOnObject)
+                    {
+                        foreach (uint lID in xlIDs)
+                        {
+                            BSPhysObject theObject = null;
+                            if (PhysObjects.TryGetValue(lID, out theObject))
+                                thisParam.SetOnObject(this, theObject);
+                        }
+                    }
+                }
+            });
+        }
+
+        // Get parameter.
+        // Return 'false' if not able to get the parameter.
+        public bool GetPhysicsParameter(string parm, out string value)
+        {
+            string val = String.Empty;
+            bool ret = false;
+            BSParam.ParameterDefnBase theParam;
+            if (BSParam.TryGetParameter(parm, out theParam))
+            {
+                val = theParam.GetValue(this);
+                ret = true;
+            }
+            value = val;
+            return ret;
+        }
+
+        #endregion IPhysicsParameters
+
+        // Invoke the detailed logger and output something if it's enabled.
+        public void DetailLog(string msg, params Object[] args)
+        {
+            PhysicsLogging.Write(msg, args);
+        }
+        // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
+        public const string DetailLogZero = "0000000000";
+
+    }
+}