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diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
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+/*
+ * 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.IO;
+using System.Text;
+
+using OpenSim.Framework;
+
+using OpenMetaverse;
+
+using BulletXNA;
+using BulletXNA.LinearMath;
+using BulletXNA.BulletCollision;
+using BulletXNA.BulletDynamics;
+using BulletXNA.BulletCollision.CollisionDispatch;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSAPIXNA : BSAPITemplate
+{
+private sealed class BulletWorldXNA : BulletWorld
+{
+    public DiscreteDynamicsWorld world;
+    public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx)
+        : base(id, physScene)
+    {
+        world = xx;
+    }
+}
+
+private sealed class BulletBodyXNA : BulletBody
+{
+    public CollisionObject body;
+    public RigidBody rigidBody { get { return RigidBody.Upcast(body); } }
+
+    public BulletBodyXNA(uint id, CollisionObject xx)
+        : base(id)
+    {
+        body = xx;
+    }
+    public override bool HasPhysicalBody
+    {
+        get { return body != null; }
+    }
+    public override void Clear()
+    {
+        body = null;
+    }
+    public override string AddrString
+    {
+        get { return "XNARigidBody"; }
+    }
+}
+
+private sealed class BulletShapeXNA : BulletShape
+{
+    public CollisionShape shape;
+    public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) 
+        : base()
+    {
+        shape = xx;
+        type = typ;
+    }
+    public override bool HasPhysicalShape
+    {
+        get { return shape != null; }
+    }
+    public override void Clear()
+    {
+        shape = null;
+    }
+    public override BulletShape Clone()
+    {
+        return new BulletShapeXNA(shape, type);
+    }
+    public override bool ReferenceSame(BulletShape other)
+    {
+        BulletShapeXNA otheru = other as BulletShapeXNA;
+        return (otheru != null) && (this.shape == otheru.shape);
+
+    }
+    public override string AddrString
+    {
+        get { return "XNACollisionShape"; }
+    }
+}
+private sealed class BulletConstraintXNA : BulletConstraint
+{
+    public TypedConstraint constrain;
+    public BulletConstraintXNA(TypedConstraint xx) : base()
+    {
+        constrain = xx;
+    }
+
+    public override void Clear()
+    {
+        constrain = null;
+    }
+    public override bool HasPhysicalConstraint { get { return constrain != null; } }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public override string AddrString
+    {
+        get { return "XNAConstraint"; }
+    }
+}
+    internal int m_maxCollisions;
+    internal CollisionDesc[] m_collisionArray;
+
+    internal int m_maxUpdatesPerFrame;
+    internal EntityProperties[] m_updateArray;
+    
+    private static int m_collisionsThisFrame;
+    private BSScene PhysicsScene { get; set; }
+
+    public override string BulletEngineName { get { return "BulletXNA"; } }
+    public override string BulletEngineVersion { get; protected set; }
+
+    public BSAPIXNA(string paramName, BSScene physScene)
+    {
+        PhysicsScene = physScene;
+    }
+
+    /// <summary>
+    /// 
+    /// </summary>
+    /// <param name="p"></param>
+    /// <param name="p_2"></param>
+    public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+        world.RemoveRigidBody(body);
+        return true;
+    }
+
+    public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+        world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
+        
+        return true;
+
+    }
+
+    public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+        world.RemoveConstraint(constraint);
+        return true;
+    }
+
+    public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetRestitution(pRestitution);
+    }
+
+    public override int GetShapeType(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return (int)shape.GetShapeType();
+    }
+    public override void SetMargin(BulletShape pShape, float pMargin)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        shape.SetMargin(pMargin);
+    }
+
+    public override float GetMargin(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.GetMargin();
+    }
+
+    public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
+        shape.SetLocalScaling(ref vec);
+
+    }
+
+    public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetContactProcessingThreshold(contactprocessingthreshold);
+    }
+
+    public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
+    }
+
+    public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
+    }
+
+    public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
+    }
+
+    public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
+        existingcollisionFlags |= pcollisionFlags;
+        collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        return (CollisionFlags) (uint) existingcollisionFlags;
+    }
+
+    public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject cbody = (pBody as BulletBodyXNA).body;
+        RigidBody rbody = cbody as RigidBody;
+
+        // Bullet resets several variables when an object is added to the world. In particular,
+        //   BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
+        //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
+        IndexedMatrix origPos = cbody.GetWorldTransform();
+        if (rbody != null)
+        {
+            IndexedVector3 origGrav = rbody.GetGravity();
+            world.AddRigidBody(rbody);
+            rbody.SetGravity(origGrav);
+        }
+        else
+        {
+            world.AddCollisionObject(rbody);
+        }
+        cbody.SetWorldTransform(origPos);
+
+        pBody.ApplyCollisionMask(pWorld.physicsScene);
+
+        //if (body.GetBroadphaseHandle() != null)
+        //    world.UpdateSingleAabb(body);
+        return true;
+    }
+
+    public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
+    }
+
+    public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        world.UpdateSingleAabb(collisionObject);
+    }
+
+    public override void UpdateAabbs(BulletWorld pWorld) {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        world.UpdateAabbs();
+    }
+    public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        return world.GetForceUpdateAllAabbs();
+        
+    }
+    public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        world.SetForceUpdateAllAabbs(pForce);
+    }
+
+    public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+        if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0)
+            return false;
+        return true;
+    }
+
+    public override void ClearAllForces(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
+        collisionObject.SetInterpolationLinearVelocity(ref zeroVector);
+        collisionObject.SetInterpolationAngularVelocity(ref zeroVector);
+        IndexedMatrix bodytransform = collisionObject.GetWorldTransform();
+
+        collisionObject.SetInterpolationWorldTransform(ref bodytransform);
+
+        if (collisionObject is RigidBody)
+        {
+            RigidBody rigidbody = collisionObject as RigidBody;
+            rigidbody.SetLinearVelocity(zeroVector);
+            rigidbody.SetAngularVelocity(zeroVector);
+            rigidbody.ClearForces();
+        }
+    }
+
+    public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
+        collisionObject.SetInterpolationAngularVelocity(ref vec);
+    }
+
+    public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
+        body.SetAngularVelocity(ref vec);
+    }
+    public override Vector3 GetTotalForce(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetTotalForce();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetTotalTorque(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetTotalTorque();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetInvInertiaDiagLocal();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z);
+        body.SetInvInertiaDiagLocal(ref iv3);
+    }
+    public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z);
+        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        body.ApplyForce(ref forceiv3, ref posiv3);
+    }
+    public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z);
+        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        body.ApplyImpulse(ref impiv3, ref posiv3);
+    }
+
+    public override void ClearForces(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.ClearForces();
+    }
+
+    public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
+        IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
+                                                              _orientation.W);
+        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
+        mat._origin = vposition;
+        collisionObject.SetWorldTransform(mat);
+        
+    }
+
+    public override Vector3 GetPosition(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin;
+        return new Vector3(pos.X, pos.Y, pos.Z);
+    }
+
+    public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        IndexedVector3 inertia = IndexedVector3.Zero;
+        shape.CalculateLocalInertia(pphysMass, out inertia);
+        return new Vector3(inertia.X, inertia.Y, inertia.Z);
+    }
+
+    public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
+        body.SetMassProps(pphysMass, inertia);
+    }
+
+
+    public override void SetObjectForce(BulletBody pBody, Vector3 _force)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
+        body.SetTotalForce(ref force);
+    }
+
+    public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetFriction(_currentFriction);
+    }
+
+    public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
+        body.SetLinearVelocity(velocity);
+    }
+
+    public override void Activate(BulletBody pCollisionObject, bool pforceactivation)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.Activate(pforceactivation);
+        
+    }
+
+    public override Quaternion GetOrientation(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation();
+        return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
+    }
+
+    public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
+        existingcollisionFlags &= ~pcollisionFlags;
+        collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+        return (CollisionFlags)(uint)existingcollisionFlags;
+    }
+
+    public override float GetCcdMotionThreshold(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.GetCcdSquareMotionThreshold();
+    }
+
+    public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.GetCcdSweptSphereRadius();
+        
+    }
+
+    public override IntPtr GetUserPointer(BulletBody pCollisionObject)
+    {
+        CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
+        return (IntPtr)shape.GetUserPointer();
+    }
+
+    public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val)
+    {
+        CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
+        shape.SetUserPointer(val);
+    }
+
+    public override void SetGravity(BulletBody pBody, Vector3 pGravity)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
+        body.SetGravity(gravity);
+    }
+
+    public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+        world.RemoveConstraint(constraint);
+        return true;
+    }
+
+    public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
+        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
+        constraint.SetLinearLowerLimit(lowlimit);
+        constraint.SetLinearUpperLimit(highlimit);
+        return true;
+    }
+
+    public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
+        IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
+        constraint.SetAngularLowerLimit(lowlimit);
+        constraint.SetAngularUpperLimit(highlimit);
+        return true;
+    }
+
+    public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.SetOverrideNumSolverIterations((int)cnt);
+    }
+
+    public override bool CalculateTransforms(BulletConstraint pConstraint)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.CalculateTransforms();
+        return true;
+    }
+
+    public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.SetEnabled((p_2 == 0) ? false : true);
+    }
+
+
+    //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+    public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
+        RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
+        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
+        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
+        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
+        frame1._origin = frame1v;
+
+        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
+        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
+        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
+        frame2._origin = frame1v;
+
+        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
+                                                                  puseLinearReferenceFrameA);
+        consttr.CalculateTransforms();
+        world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
+
+        return new BulletConstraintXNA(consttr);
+    }
+
+    
+    /// <summary>
+    /// 
+    /// </summary>
+    /// <param name="pWorld"></param>
+    /// <param name="pBody1"></param>
+    /// <param name="pBody2"></param>
+    /// <param name="pjoinPoint"></param>
+    /// <param name="puseLinearReferenceFrameA"></param>
+    /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
+    /// <returns></returns>
+    public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
+        RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
+        IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
+        IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
+
+        IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
+        IndexedMatrix mat = IndexedMatrix.Identity;
+        mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
+        frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
+        frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
+
+        Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
+        consttr.CalculateTransforms();
+        world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
+
+        return new BulletConstraintXNA(consttr);
+    }
+    //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+    public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
+        IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
+        IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
+        frame1._origin = frame1v;
+
+        IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
+        IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
+        IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
+        frame2._origin = frame1v;
+        constraint.SetFrames(ref frame1, ref frame2);
+        return true;
+    }
+
+    public override Vector3 GetLinearVelocity(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetLinearVelocity();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetAngularVelocity(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 = body.GetAngularVelocity();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3);
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+    public override void Translate(BulletBody pCollisionObject, Vector3 trans)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z));
+    }
+    public override void UpdateDeactivation(BulletBody pBody, float timeStep)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.UpdateDeactivation(timeStep);
+    }
+
+    public override bool WantsSleeping(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.WantsSleeping();
+    }
+
+    public override void SetAngularFactor(BulletBody pBody, float factor)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetAngularFactor(factor);
+    }
+
+    public override Vector3 GetAngularFactor(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 iv3 =  body.GetAngularFactor();
+        return new Vector3(iv3.X, iv3.Y, iv3.Z);
+    }
+
+    public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        return world.IsInWorld(collisionObject);
+    }
+
+    public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
+        body.AddConstraintRef(constrain);
+    }
+
+    public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
+        body.RemoveConstraintRef(constrain);
+    }
+
+    public override BulletConstraint GetConstraintRef(BulletBody pBody, int index)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return new BulletConstraintXNA(body.GetConstraintRef(index));
+    }
+
+    public override int GetNumConstraintRefs(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetNumConstraintRefs();
+    }
+
+    public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
+        collisionObject.SetInterpolationLinearVelocity(ref velocity);
+    }
+
+    public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.SetUseFrameOffset((onOff == 0) ? false : true);
+        return true;
+    }
+    //SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
+    public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
+    {
+        Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        constraint.SetBreakingImpulseThreshold(threshold);
+        return true;
+    }
+    //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
+    public override void SetAngularDamping(BulletBody pBody, float angularDamping)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        float lineardamping = body.GetLinearDamping();
+        body.SetDamping(lineardamping, angularDamping);
+
+    }
+
+    public override void UpdateInertiaTensor(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.UpdateInertiaTensor();
+    }
+
+    public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
+    {
+        CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
+        shape.RecalculateLocalAabb();
+    }
+
+    //BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
+    public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        uint flags = (uint)collisionObject.GetCollisionFlags();
+        return (CollisionFlags) flags;
+    }
+
+    public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetDamping(pLinear, pAngular);
+    }
+    //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
+    public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetDeactivationTime(pDeactivationTime);
+    }
+    //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+    public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
+    }
+
+    public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
+    }
+
+    public override void ApplyGravity(BulletBody pBody)
+    {
+
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.ApplyGravity();
+    }
+
+    public override Vector3 GetGravity(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 gravity = body.GetGravity();
+        return new Vector3(gravity.X, gravity.Y, gravity.Z);
+    }
+
+    public override void SetLinearDamping(BulletBody pBody, float lin_damping)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        float angularDamping = body.GetAngularDamping();
+        body.SetDamping(lin_damping, angularDamping); 
+    }
+
+    public override float GetLinearDamping(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetLinearDamping();
+    }
+
+    public override float GetAngularDamping(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetAngularDamping();
+    }
+
+    public override float GetLinearSleepingThreshold(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        return body.GetLinearSleepingThreshold();
+    }
+
+    public override void ApplyDamping(BulletBody pBody, float timeStep)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.ApplyDamping(timeStep);
+    }
+
+    public override Vector3 GetLinearFactor(BulletBody pBody)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 linearFactor = body.GetLinearFactor();
+        return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z);
+    }
+
+    public override void SetLinearFactor(BulletBody pBody, Vector3 factor)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z));
+    }
+
+    public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W);
+        IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat);
+        mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z);
+        body.SetCenterOfMassTransform( ref mat);
+        /* TODO: double check this */
+    }
+
+    //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum);
+    public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyCentralForce(ref fSum);
+    }
+    public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyCentralImpulse(ref fSum);
+    }
+    public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyTorque(ref fSum);
+    }
+    public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
+    {
+        RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+        IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
+        body.ApplyTorqueImpulse(ref fSum);
+    }
+
+    public override void DestroyObject(BulletWorld pWorld, BulletBody pBody)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject co = (pBody as BulletBodyXNA).rigidBody;
+        RigidBody bo = co as RigidBody;
+        if (bo == null)
+        {
+            
+            if (world.IsInWorld(co))
+            {
+                world.RemoveCollisionObject(co);
+            }
+        }
+        else
+        {
+            
+            if (world.IsInWorld(bo))
+            {
+                world.RemoveRigidBody(bo);
+            }
+        }
+       
+    }
+
+    public override void Shutdown(BulletWorld pWorld)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        world.Cleanup();
+    }
+
+    public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id)
+    {
+        CollisionShape shape1 = (pShape as BulletShapeXNA).shape;
+
+        // TODO:  Turn this from a reference copy to a Value Copy.
+        BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSPhysicsShapeType.SHAPE_UNKNOWN);
+        
+        return shape2;
+    }
+
+    public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape)
+    {
+        //TODO:
+        return false;
+    }
+    //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+               
+    public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+        CollisionWorld world = (pWorld as BulletWorldXNA).world;
+        IndexedMatrix mat =
+            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
+                                                                     pRawOrientation.Z, pRawOrientation.W));
+        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        //UpdateSingleAabb(world, shape);
+        // TODO: Feed Update array into null
+        SimMotionState motionState = new SimMotionState(world, pLocalID, mat, null);
+        RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero);
+        RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, new SimMotionState(world, pLocalID, mat, null),shape,IndexedVector3.Zero)
+                                                         {
+                                                             m_mass = 0
+                                                         };
+        /*
+            m_mass = mass;
+                        m_motionState =motionState;
+                        m_collisionShape = collisionShape;
+                        m_localInertia = localInertia;
+                        m_linearDamping = 0f;
+                        m_angularDamping = 0f;
+                        m_friction = 0.5f;
+                        m_restitution = 0f;
+                        m_linearSleepingThreshold = 0.8f;
+                        m_angularSleepingThreshold = 1f;
+                        m_additionalDamping = false;
+                        m_additionalDampingFactor = 0.005f;
+                        m_additionalLinearDampingThresholdSqr = 0.01f;
+                        m_additionalAngularDampingThresholdSqr = 0.01f;
+                        m_additionalAngularDampingFactor = 0.01f;
+            m_startWorldTransform = IndexedMatrix.Identity;
+        */
+        body.SetUserPointer(pLocalID);
+        
+        return new BulletBodyXNA(pLocalID, body);
+    }
+
+    
+    public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+
+        IndexedMatrix mat =
+            IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
+                                                                     pRawOrientation.Z, pRawOrientation.W));
+        mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+
+        // TODO: Feed Update array into null
+        RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
+        body.SetWorldTransform(mat);
+        body.SetUserPointer(pLocalID);
+        return new BulletBodyXNA(pLocalID, body);
+    }
+    //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+    public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
+        return (CollisionFlags)collisionObject.GetCollisionFlags();
+    }
+
+    public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
+    {
+
+        /* TODO */ 
+        return Vector3.Zero;
+    }
+    public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
+    public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
+    public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; }
+    public override bool IsStaticObject(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.IsStaticObject();
+        
+    }
+    public override bool IsKinematicObject(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.IsKinematicObject();
+    }
+    public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.IsStaticOrKinematicObject();
+    }
+    public override bool HasContactResponse(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        return collisionObject.HasContactResponse();
+    }
+    public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; }
+    public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ }
+    public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; }
+    public override bool IsActive(BulletBody pBody) { /* TODO */ return false; }
+    public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; }
+    public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; }
+    public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ }
+    public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; }
+
+    //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
+    public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        collisionObject.SetHitFraction(pHitFraction);
+    }
+    //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+    public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
+        CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
+        capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
+        capsuleShapeZ.SetLocalScaling(ref scale);
+
+        return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ;
+    }
+
+    public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+                                            int maxCollisions, ref CollisionDesc[] collisionArray,
+                                            int maxUpdates, ref EntityProperties[] updateArray
+                                            )
+    {
+
+        m_updateArray = updateArray;
+        m_collisionArray = collisionArray;
+        /* TODO */
+        ConfigurationParameters[] configparms = new ConfigurationParameters[1];
+        configparms[0] = parms;
+        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+        m_maxCollisions = maxCollisions;
+        m_maxUpdatesPerFrame = maxUpdates;
+
+
+        return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
+    }
+
+    private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, 
+                        ConfigurationParameters[] o,
+                        int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
+                        int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, 
+                        object mDebugLogCallbackHandle)
+    {
+        CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
+
+        p.angularDamping = o[0].XangularDamping;
+        p.defaultFriction = o[0].defaultFriction;
+        p.defaultFriction = o[0].defaultFriction;
+        p.defaultDensity = o[0].defaultDensity;
+        p.defaultRestitution = o[0].defaultRestitution;
+        p.collisionMargin = o[0].collisionMargin;
+        p.gravity = o[0].gravity;
+
+        p.linearDamping = o[0].XlinearDamping;
+        p.angularDamping = o[0].XangularDamping;
+        p.deactivationTime = o[0].XdeactivationTime;
+        p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
+        p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
+        p.ccdMotionThreshold = o[0].XccdMotionThreshold;
+        p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
+        p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
+
+        p.terrainImplementation = o[0].XterrainImplementation;
+        p.terrainFriction = o[0].XterrainFriction;
+
+        p.terrainHitFraction = o[0].XterrainHitFraction;
+        p.terrainRestitution = o[0].XterrainRestitution;
+        p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
+
+        p.avatarFriction = o[0].XavatarFriction;
+        p.avatarStandingFriction = o[0].XavatarStandingFriction;
+        p.avatarDensity = o[0].XavatarDensity;
+        p.avatarRestitution = o[0].XavatarRestitution;
+        p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
+        p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
+        p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
+        p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
+       
+        p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
+        
+        p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
+        p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
+        p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
+        p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
+        p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
+        p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
+        p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
+        p.numberOfSolverIterations = o[0].numberOfSolverIterations;
+
+        p.linksetImplementation = o[0].XlinksetImplementation;
+        p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
+        p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
+        p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
+        p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
+        p.linkConstraintERP = o[0].XlinkConstraintERP;
+        p.linkConstraintCFM = o[0].XlinkConstraintCFM;
+        p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
+        p.physicsLoggingFrames = o[0].XphysicsLoggingFrames;
+        DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
+        
+        DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
+        CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
+
+
+        if (p.maxPersistantManifoldPoolSize > 0)
+            cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
+        if (p.shouldDisableContactPoolDynamicAllocation !=0)
+            m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
+        //if (p.maxCollisionAlgorithmPoolSize >0 )
+
+        DbvtBroadphase m_broadphase = new DbvtBroadphase();
+        //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
+        //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
+
+        //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
+        m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
+
+        SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
+
+        DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
+        
+        
+        world.UpdatedObjects = BSAPIXNA.GetBulletXNAEntityStruct(BSAPIXNA.BulletSimEntityStructToByteArray(updateArray, updateArray.Length));
+        world.UpdatedCollisions = BSAPIXNA.GetBulletXNACollisionStruct(BSAPIXNA.BulletSimCollisionStructToByteArray(collisionArray, collisionArray.Length));
+        world.LastCollisionDesc = 0;
+        world.LastEntityProperty = 0;
+
+        world.WorldSettings.Params = p;
+        world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
+        world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
+        if (p.shouldRandomizeSolverOrder != 0)
+            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
+
+        world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
+        //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
+
+        if (p.shouldEnableFrictionCaching != 0)
+            world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
+
+        if (p.numberOfSolverIterations > 0)
+            world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
+
+
+        world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
+        world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
+        world.GetSolverInfo().m_globalCfm = 0.0f;
+        world.GetSolverInfo().m_tau = 0.6f;
+        world.GetSolverInfo().m_friction = 0.3f;
+        world.GetSolverInfo().m_maxErrorReduction = 20f;
+        world.GetSolverInfo().m_numIterations = 10;
+        world.GetSolverInfo().m_erp = 0.2f;
+        world.GetSolverInfo().m_erp2 = 0.1f;
+        world.GetSolverInfo().m_sor = 1.0f;
+        world.GetSolverInfo().m_splitImpulse = false;
+        world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
+        world.GetSolverInfo().m_linearSlop = 0.0f;
+        world.GetSolverInfo().m_warmstartingFactor = 0.85f;
+        world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
+        world.SetForceUpdateAllAabbs(true);
+
+        //BSParam.TerrainImplementation = 0;
+        world.SetGravity(new IndexedVector3(0,0,p.gravity));
+
+        return world;
+    }
+    //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
+    public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
+    {
+        Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
+        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
+        }
+        if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
+        }
+        if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
+        {
+            constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
+        }
+        return true;
+    }
+
+    public override bool PushUpdate(BulletBody pCollisionObject)
+    {
+        bool ret = false;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        RigidBody rb = collisionObject as RigidBody;
+        if (rb != null)
+        {
+            SimMotionState sms = rb.GetMotionState() as SimMotionState;
+            if (sms != null)
+            {
+                IndexedMatrix wt = IndexedMatrix.Identity;
+                sms.GetWorldTransform(out wt);
+                sms.SetWorldTransform(ref wt, true);
+                ret = true;
+            }
+        }
+        return ret;
+        
+    }
+
+    public override float GetAngularMotionDisc(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.GetAngularMotionDisc();
+    }
+    public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.GetContactBreakingThreshold(defaultFactor);
+    }
+    public override bool IsCompound(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsCompound();
+    }
+    public override bool IsSoftBody(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsSoftBody();
+    }
+    public override bool IsPolyhedral(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsPolyhedral();
+    }
+    public override bool IsConvex2d(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsConvex2d();
+    }
+    public override bool IsConvex(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsConvex();
+    }
+    public override bool IsNonMoving(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsNonMoving();
+    }
+    public override bool IsConcave(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsConcave();
+    }
+    public override bool IsInfinite(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        return shape.IsInfinite();
+    }
+    public override bool IsNativeShape(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        bool ret;
+        switch (shape.GetShapeType())
+        {
+            case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
+                case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
+                ret = true;
+                break;
+            default:
+                ret = false;
+                break;
+        }
+        return ret;
+    }
+
+    public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        shape.SetMargin(pMargin);
+    }
+
+    //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
+    public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        IndexedMatrix bodyTransform = new IndexedMatrix();
+        bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
+        bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
+        GhostObject gObj = new PairCachingGhostObject();
+        gObj.SetWorldTransform(bodyTransform);
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        gObj.SetCollisionShape(shape);
+        gObj.SetUserPointer(pLocalID);
+        // TODO: Add to Special CollisionObjects!
+        return new BulletBodyXNA(pLocalID, gObj);
+    }
+
+    public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+        if (pShape == null)
+        {
+            collisionObject.SetCollisionShape(new EmptyShape());
+        }
+        else
+        {
+            CollisionShape shape = (pShape as BulletShapeXNA).shape;
+            collisionObject.SetCollisionShape(shape);
+        }
+    }
+    public override BulletShape GetCollisionShape(BulletBody pCollisionObject)
+    {
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        CollisionShape shape = collisionObject.GetCollisionShape();
+        return new BulletShapeXNA(shape,BSPhysicsShapeType.SHAPE_UNKNOWN);
+    }
+
+    //(PhysicsScene.World.ptr, nativeShapeData)
+    public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionShape shape = null;
+        switch (pShapeData.Type)
+        {
+            case BSPhysicsShapeType.SHAPE_BOX:
+                shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
+                break;
+            case BSPhysicsShapeType.SHAPE_CONE:
+                shape = new ConeShapeZ(0.5f, 1.0f);
+                break;
+            case BSPhysicsShapeType.SHAPE_CYLINDER:
+                shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
+                break;
+            case BSPhysicsShapeType.SHAPE_SPHERE:
+                shape = new SphereShape(0.5f);
+                break;
+
+        }
+        if (shape != null)
+        {
+            IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
+            shape.SetMargin(world.WorldSettings.Params.collisionMargin);
+            shape.SetLocalScaling(ref scaling);
+
+        }
+        return new BulletShapeXNA(shape, pShapeData.Type);
+    }
+    //PhysicsScene.World.ptr, false
+    public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree)
+    {
+        return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND);
+    }
+
+    public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
+    {
+        CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
+        return compoundshape.GetNumChildShapes();
+    }
+    //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
+    public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
+    {
+        IndexedMatrix relativeTransform = new IndexedMatrix();
+        CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
+        CollisionShape addshape = (paddShape as BulletShapeXNA).shape;
+
+        relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
+        relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
+        compoundshape.AddChildShape(ref relativeTransform, addshape);
+
+    }
+
+    public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
+    {
+        CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
+        CollisionShape ret = null;
+        ret = compoundshape.GetChildShape(pii);
+        compoundshape.RemoveChildShapeByIndex(pii);
+        return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN);
+    }
+
+    public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; }
+    public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ }
+    public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ }
+
+    public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin)
+    {
+        StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
+        m_planeshape.SetMargin(pcollisionMargin);
+        m_planeshape.SetUserPointer(pLocalId);
+        return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+    }
+
+    public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+    {
+        HingeConstraint constrain = null;
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
+        RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
+        if (rb1 != null && rb2 != null)
+        {
+            IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
+            IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
+            IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
+            IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
+            world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
+        }
+        return new BulletConstraintXNA(constrain);
+    }
+
+    public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CompoundShape compoundshape = new CompoundShape(false);
+        
+        compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
+        int ii = 1;
+
+        for (int i = 0; i < pHullCount; i++)
+        {
+            int vertexCount = (int) pConvHulls[ii];
+
+            IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
+            IndexedMatrix childTrans = IndexedMatrix.Identity;
+            childTrans._origin = centroid;
+
+            List<IndexedVector3> virts = new List<IndexedVector3>();
+            int ender = ((ii + 4) + (vertexCount*3));
+            for (int iii = ii + 4; iii < ender; iii+=3)
+            {
+               
+                virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
+            }
+            ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
+            convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
+            compoundshape.AddChildShape(ref childTrans, convexShape);
+            ii += (vertexCount*3 + 4);
+        }
+        
+        return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
+    }
+
+    public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+    {
+        /* TODO */ return null;
+
+    }
+
+    public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
+    {
+        //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
+        
+        for (int iter = 0; iter < pVerticesCount; iter++)
+        {
+            if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
+            if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
+        }
+        
+        ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
+        ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
+        DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        IndexedMesh mesh = new IndexedMesh();
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount/3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indicesarr;
+        mesh.m_vertexBase = vertices;
+        mesh.m_vertexStride = 3;
+        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
+        mesh.m_triangleIndexStride = 3;
+        
+        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
+        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
+        BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
+        meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
+       // world.UpdateSingleAabb(meshShape);
+        return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
+
+    }
+    public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
+    {
+        
+        String fileName = "objTest3.raw";
+        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
+        StreamWriter sw = new StreamWriter(completePath);
+        IndexedMesh mesh = new IndexedMesh();
+
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount / 3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indices;
+        mesh.m_vertexBase = vertices;
+        mesh.m_vertexStride = 3;
+        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
+        mesh.m_triangleIndexStride = 3;
+
+        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
+        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
+
+
+
+        for (int i = 0; i < pVerticesCount; i++)
+        {
+
+            string s = vertices[indices[i * 3]].ToString("0.0000");
+            s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
+            s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
+        
+            sw.Write(s + "\n");
+        }
+
+        sw.Close();
+    }
+    public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
+    {
+
+        String fileName = "objTest6.raw";
+        String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
+        StreamWriter sw = new StreamWriter(completePath);
+        IndexedMesh mesh = new IndexedMesh();
+
+        mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
+        mesh.m_numTriangles = pIndicesCount / 3;
+        mesh.m_numVertices = pVerticesCount;
+        mesh.m_triangleIndexBase = indices;
+        mesh.m_vertexBase = vertices;
+        mesh.m_vertexStride = 3;
+        mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
+        mesh.m_triangleIndexStride = 3;
+        
+        TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
+        tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
+
+
+        sw.WriteLine("Indices");
+        sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
+        for (int iter = 0; iter < indices.Length; iter++)
+        {
+            sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
+        }
+        sw.WriteLine("VerticesFloats");
+        sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
+        for (int iter = 0; iter < vertices.Length; iter++)
+        {
+            sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
+        }
+
+            // for (int i = 0; i < pVerticesCount; i++)
+            // {
+            //
+            //     string s = vertices[indices[i * 3]].ToString("0.0000");
+            //     s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
+            //    s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
+            //
+            //     sw.Write(s + "\n");
+            //}
+
+            sw.Close();
+    }
+
+    public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+                                                                float scaleFactor, float collisionMargin)
+    {
+        const int upAxis = 2;
+        HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
+                                                                           heightMap,  scaleFactor,
+                                                                           minHeight, maxHeight, upAxis,
+                                                                            false);
+        terrainShape.SetMargin(collisionMargin + 0.5f);
+        terrainShape.SetUseDiamondSubdivision(true);
+        terrainShape.SetUserPointer(id);
+        return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
+    }
+
+    public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
+    {
+        TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
+        bool onOff = ponOff != 0;
+        bool ret = false;
+
+        switch (tconstrain.GetConstraintType())
+        {
+            case TypedConstraintType.D6_CONSTRAINT_TYPE:
+                Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
+                constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
+                constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
+                constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
+                ret = true;
+                break;
+        }
+
+
+        return ret;
+
+    }
+
+    public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount)
+    {
+        /* TODO */
+        updatedEntityCount = 0;
+        collidersCount = 0;
+        
+
+        int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
+
+        return ret;
+    }
+
+    private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, 
+                    out int updatedEntityCount, out EntityProperties[] updatedEntities,
+                    out int collidersCount, out CollisionDesc[] colliders)
+    {
+        int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
+                                out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame);
+        return epic;
+    }
+
+    private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, 
+        out  EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
+    {
+        int numSimSteps = 0;
+
+        updatedEntityCount = 0;
+        collidersCount = 0;
+        
+
+        if (pWorld is BulletWorldXNA)
+        {
+            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+
+            world.LastCollisionDesc = 0;
+            world.LastEntityProperty = 0;
+            world.UpdatedObjects = new BulletXNA.EntityProperties[maxUpdates];
+            world.UpdatedCollisions = new BulletXNA.CollisionDesc[maxCollisions];
+            numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
+            int updates = 0;
+
+            
+            
+
+            m_collisionsThisFrame = 0;
+            int numManifolds = world.GetDispatcher().GetNumManifolds();
+            for (int j = 0; j < numManifolds; j++)
+            {
+                PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
+                int numContacts = contactManifold.GetNumContacts();
+                if (numContacts == 0)
+                    continue;
+
+                CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
+                CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
+
+                ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
+                IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
+                IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
+
+                RecordCollision(world, objA, objB, contactPoint, contactNormal);
+                m_collisionsThisFrame ++;
+                if (m_collisionsThisFrame >= 9999999)
+                    break;
+
+
+            }
+
+            updatedEntityCount = world.LastEntityProperty;
+            updatedEntities = GetBulletSimEntityStruct(BulletXNAEntityStructToByteArray(world.UpdatedObjects, world.LastEntityProperty));
+
+
+
+
+            collidersCount = world.LastCollisionDesc;
+            colliders =
+                GetBulletSimCollisionStruct(BulletXNACollisionStructToByteArray(world.UpdatedCollisions, world.LastCollisionDesc));//new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
+
+        }
+        else
+        {
+            //if (updatedEntities is null)
+            //updatedEntities = new List<BulletXNA.EntityProperties>();
+            //updatedEntityCount = 0;
+            //if (colliders is null)
+            //colliders = new List<BulletXNA.CollisionDesc>();
+            //collidersCount = 0;
+           
+            updatedEntities = new EntityProperties[0];
+
+            
+            colliders = new CollisionDesc[0];
+        
+        }
+        return numSimSteps;
+    }
+
+    private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
+    {
+       
+        IndexedVector3 contactNormal = norm;
+        if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
+            (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
+        {
+            return;
+        }
+        uint idA = (uint)objA.GetUserPointer();
+        uint idB = (uint)objB.GetUserPointer();
+        if (idA > idB)
+        {
+            uint temp = idA;
+            idA = idB;
+            idB = temp;
+            contactNormal = -contactNormal;
+        }
+
+        ulong collisionID = ((ulong) idA << 32) | idB;
+
+        BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
+                                            {
+                                                aID = idA,
+                                                bID = idB,
+                                                point = contact,
+                                                normal = contactNormal
+                                            };
+        if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
+            world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
+        m_collisionsThisFrame++;
+
+
+    }
+    private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject)
+    {
+        EntityProperties ent = new EntityProperties();
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+        IndexedMatrix transform = collisionObject.GetWorldTransform();
+        IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity();
+        IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity();
+        IndexedQuaternion rotation = transform.GetRotation();
+        ent.Acceleration = Vector3.Zero;
+        ent.ID = (uint)collisionObject.GetUserPointer();
+        ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
+        ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
+        ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
+        ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
+        return ent;
+    }
+
+    public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; }
+
+    public override Vector3 GetLocalScaling(BulletShape pShape)
+    {
+        CollisionShape shape = (pShape as BulletShapeXNA).shape;
+        IndexedVector3 scale = shape.GetLocalScaling();
+        return new Vector3(scale.X,scale.Y,scale.Z);
+    }
+
+    public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
+    {
+        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+        if (world != null)
+        {
+            if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
+            {
+                CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
+                
+                IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
+                IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
+                using (
+                    ClosestNotMeRayResultCallback rayCallback = 
+                                            new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
+                    )
+                {
+                    world.RayTest(ref rOrigin, ref rEnd, rayCallback);
+                    if (rayCallback.HasHit())
+                    {
+                        IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
+                    }
+                    return rayCallback.HasHit();
+                }
+           }
+        }
+        return false;
+    }
+    
+    public static unsafe BulletXNA.CollisionDesc[] GetBulletXNACollisionStruct(byte[] buffer)
+    {
+        int count = buffer.Length/sizeof (BulletXNA.CollisionDesc);
+        BulletXNA.CollisionDesc[] result = new BulletXNA.CollisionDesc[count];
+        BulletXNA.CollisionDesc* ptr;
+        fixed (byte* localBytes = new byte[buffer.Length])
+        {
+            for (int i = 0; i < buffer.Length; i++)
+            {
+                localBytes[i] = buffer[i];
+            }
+            for (int i=0;i<count;i++)
+            {
+                ptr = (BulletXNA.CollisionDesc*) (localBytes + sizeof (BulletXNA.CollisionDesc)*i);
+                result[i] = new BulletXNA.CollisionDesc();
+                result[i] = *ptr;
+            }
+        }
+        return result;
+    }
+
+    public static unsafe CollisionDesc[] GetBulletSimCollisionStruct(byte[] buffer)
+    {
+        int count = buffer.Length / sizeof(CollisionDesc);
+        CollisionDesc[] result = new CollisionDesc[count];
+        CollisionDesc* ptr;
+        fixed (byte* localBytes = new byte[buffer.Length])
+        {
+            for (int i = 0; i < buffer.Length; i++)
+            {
+                localBytes[i] = buffer[i];
+            }
+            for (int i = 0; i < count; i++)
+            {
+                ptr = (CollisionDesc*)(localBytes + sizeof(CollisionDesc) * i);
+                result[i] = new CollisionDesc();
+                result[i] = *ptr;
+            }
+        }
+        return result;
+    }
+    public static unsafe byte[] BulletSimCollisionStructToByteArray(CollisionDesc[] CollisionDescArray, int count)
+    {
+        int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+        byte[] byteArray = new byte[sizeof(CollisionDesc) * arrayLength];
+        fixed (CollisionDesc* floatPointer = CollisionDescArray)
+        {
+            fixed (byte* bytePointer = byteArray)
+            {
+                CollisionDesc* read = floatPointer;
+                CollisionDesc* write = (CollisionDesc*)bytePointer;
+                for (int i = 0; i < arrayLength; i++)
+                {
+                    *write++ = *read++;
+                }
+            }
+        }
+        return byteArray;
+    }
+    public static unsafe byte[] BulletXNACollisionStructToByteArray(BulletXNA.CollisionDesc[] CollisionDescArray, int count)
+    {
+        int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+        byte[] byteArray = new byte[sizeof(BulletXNA.CollisionDesc) * arrayLength];
+        fixed (BulletXNA.CollisionDesc* floatPointer = CollisionDescArray)
+        {
+            fixed (byte* bytePointer = byteArray)
+            {
+                BulletXNA.CollisionDesc* read = floatPointer;
+                BulletXNA.CollisionDesc* write = (BulletXNA.CollisionDesc*)bytePointer;
+                for (int i = 0; i < arrayLength; i++)
+                {
+                    *write++ = *read++;
+                }
+            }
+        }
+        return byteArray;
+    }
+    public static unsafe BulletXNA.EntityProperties[] GetBulletXNAEntityStruct(byte[] buffer)
+    {
+        int count = buffer.Length / sizeof(BulletXNA.EntityProperties);
+        BulletXNA.EntityProperties[] result = new BulletXNA.EntityProperties[count];
+        BulletXNA.EntityProperties* ptr;
+        fixed (byte* localBytes = new byte[buffer.Length])
+        {
+            for (int i = 0; i < buffer.Length; i++)
+            {
+                localBytes[i] = buffer[i];
+            }
+            for (int i = 0; i < count; i++)
+            {
+                ptr = (BulletXNA.EntityProperties*)(localBytes + sizeof(BulletXNA.EntityProperties) * i);
+                result[i] = new BulletXNA.EntityProperties();
+                result[i] = *ptr;
+            }
+        }
+        return result;
+    }
+
+    public static unsafe EntityProperties[] GetBulletSimEntityStruct(byte[] buffer)
+    {
+        int count = buffer.Length / sizeof(EntityProperties);
+        EntityProperties[] result = new EntityProperties[count];
+        EntityProperties* ptr;
+        fixed (byte* localBytes = new byte[buffer.Length])
+        {
+            for (int i = 0; i < buffer.Length; i++)
+            {
+                localBytes[i] = buffer[i];
+            }
+            for (int i = 0; i < count; i++)
+            {
+                ptr = (EntityProperties*)(localBytes + sizeof(EntityProperties) * i);
+                result[i] = new EntityProperties();
+                result[i] = *ptr;
+            }
+        }
+        return result;
+    }
+    public static unsafe byte[] BulletSimEntityStructToByteArray(EntityProperties[] CollisionDescArray, int count)
+    {
+        int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+        byte[] byteArray = new byte[sizeof(EntityProperties) * arrayLength];
+        fixed (EntityProperties* floatPointer = CollisionDescArray)
+        {
+            fixed (byte* bytePointer = byteArray)
+            {
+                EntityProperties* read = floatPointer;
+                EntityProperties* write = (EntityProperties*)bytePointer;
+                for (int i = 0; i < arrayLength; i++)
+                {
+                    *write++ = *read++;
+                }
+            }
+        }
+        return byteArray;
+    }
+    public static unsafe byte[] BulletXNAEntityStructToByteArray(BulletXNA.EntityProperties[] CollisionDescArray, int count)
+    {
+        int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+        byte[] byteArray = new byte[sizeof(BulletXNA.EntityProperties) * arrayLength];
+        fixed (BulletXNA.EntityProperties* floatPointer = CollisionDescArray)
+        {
+            fixed (byte* bytePointer = byteArray)
+            {
+                BulletXNA.EntityProperties* read = floatPointer;
+                BulletXNA.EntityProperties* write = (BulletXNA.EntityProperties*)bytePointer;
+                for (int i = 0; i < arrayLength; i++)
+                {
+                    *write++ = *read++;
+                }
+            }
+        }
+        return byteArray;
+    }
+}
+}