1 files changed, 411 insertions, 291 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index e2f7af9..f33c124 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -28,62 +28,48 @@ using System;
 using System.Collections.Generic;
 using System.Reflection;
 using log4net;
-using OpenMetaverse;
+using OMV = OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-public class BSCharacter : PhysicsActor
+public sealed class BSCharacter : BSPhysObject
 {
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS CHAR]";
 
-    private BSScene _scene;
-    public BSScene Scene { get { return _scene; } }
-    private String _avName;
     // private bool _stopped;
-    private Vector3 _size;
-    private Vector3 _scale;
-    private PrimitiveBaseShape _pbs;
-    private uint _localID = 0;
+    private OMV.Vector3 _size;
     private bool _grabbed;
     private bool _selected;
-    private Vector3 _position;
+    private OMV.Vector3 _position;
     private float _mass;
-    public float _density;
-    public float _avatarVolume;
-    private Vector3 _force;
-    private Vector3 _velocity;
-    private Vector3 _torque;
+    private float _avatarDensity;
+    private float _avatarVolume;
+    private OMV.Vector3 _force;
+    private OMV.Vector3 _velocity;
+    private OMV.Vector3 _torque;
     private float _collisionScore;
-    private Vector3 _acceleration;
-    private Quaternion _orientation;
+    private OMV.Vector3 _acceleration;
+    private OMV.Quaternion _orientation;
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _isColliding;
-    private long _collidingStep;
-    private bool _collidingGround;
-    private long _collidingGroundStep;
     private bool _collidingObj;
     private bool _floatOnWater;
-    private Vector3 _rotationalVelocity;
+    private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
-    private BulletBody m_body;
-    public BulletBody Body { 
-        get { return m_body; }
-        set { m_body = value; }
-    }
-
-    private int _subscribedEventsMs = 0;
-    private int _nextCollisionOkTime = 0;
+    // The friction and velocity of the avatar is modified depending on whether walking or not.
+    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
+    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
 
-    private Vector3 _PIDTarget;
+    private OMV.Vector3 _PIDTarget;
     private bool _usePID;
     private float _PIDTau;
     private bool _useHoverPID;
@@ -91,332 +77,520 @@ public class BSCharacter : PhysicsActor
     private PIDHoverType _PIDHoverType;
     private float _PIDHoverTao;
 
-    public BSCharacter(uint localID, String avName, BSScene parent_scene, Vector3 pos, Vector3 size, bool isFlying)
+    public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
     {
-        _localID = localID;
-        _avName = avName;
-        _scene = parent_scene;
+        base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
+        _physicsActorType = (int)ActorTypes.Agent;
         _position = pos;
         _size = size;
         _flying = isFlying;
-        _orientation = Quaternion.Identity;
-        _velocity = Vector3.Zero;
+        _orientation = OMV.Quaternion.Identity;
+        _velocity = OMV.Vector3.Zero;
+        _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+        _avatarDensity = PhysicsScene.Params.avatarDensity;
+
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
-        _scale = new Vector3(_scene.Params.avatarCapsuleRadius, _scene.Params.avatarCapsuleRadius, size.Z);
-        _density = _scene.Params.avatarDensity;
-        ComputeAvatarVolumeAndMass();   // set _avatarVolume and _mass based on capsule size, _density and _scale
-
-        ShapeData shapeData = new ShapeData();
-        shapeData.ID = _localID;
-        shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
-        shapeData.Position = _position;
-        shapeData.Rotation = _orientation;
-        shapeData.Velocity = _velocity;
-        shapeData.Scale = _scale;
-        shapeData.Mass = _mass;
-        shapeData.Buoyancy = _buoyancy;
-        shapeData.Static = ShapeData.numericFalse;
-        shapeData.Friction = _scene.Params.avatarFriction;
-        shapeData.Restitution = _scene.Params.avatarRestitution;
+        ComputeAvatarScale(_size);
+        // set _avatarVolume and _mass based on capsule size, _density and Scale
+        ComputeAvatarVolumeAndMass();
+        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
+                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
 
         // do actual create at taint time
-        _scene.TaintedObject("BSCharacter.create", delegate()
+        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
-            BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
+            DetailLog("{0},BSCharacter.create,taint", LocalID);
+            // New body and shape into PhysBody and PhysShape
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null);
 
-            m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
-            // avatars get all collisions no matter what
-            BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            SetPhysicalProperties();
         });
-            
         return;
     }
 
     // called when this character is being destroyed and the resources should be released
-    public void Destroy()
+    public override void Destroy()
     {
-        // DetailLog("{0},BSCharacter.Destroy", LocalID);
-        _scene.TaintedObject("BSCharacter.destroy", delegate()
+        DetailLog("{0},BSCharacter.Destroy", LocalID);
+        PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
         });
     }
 
+    private void SetPhysicalProperties()
+    {
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+
+        ZeroMotion(true);
+        ForcePosition = _position;
+        // Set the velocity and compute the proper friction
+        ForceVelocity = _velocity;
+
+        BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution);
+        BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
+        BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
+        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        {
+            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+        }
+
+        UpdatePhysicalMassProperties(RawMass);
+
+        // Make so capsule does not fall over
+        BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
+
+        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+
+        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+
+        // Do this after the object has been added to the world
+        BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr,
+                        (uint)CollisionFilterGroups.AvatarFilter,
+                        (uint)CollisionFilterGroups.AvatarMask);
+    }
+
     public override void RequestPhysicsterseUpdate()
     {
         base.RequestPhysicsterseUpdate();
     }
     // No one calls this method so I don't know what it could possibly mean
-    public override bool Stopped { 
-        get { return false; } 
-    }
-    public override Vector3 Size {
+    public override bool Stopped { get { return false; } }
+
+    public override OMV.Vector3 Size {
         get
         {
             // Avatar capsule size is kept in the scale parameter.
-            return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
+            // return _size;
+            return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z);
         }
 
-        set { 
-            // When an avatar's size is set, only the height is changed
-            //    and that really only depends on the radius.
+        set {
+            // When an avatar's size is set, only the height is changed.
             _size = value;
-            _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
-
-            // TODO: something has to be done with the avatar's vertical position
-
+            ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
+            DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
+                            LocalID, Scale, _avatarDensity, _avatarVolume, RawMass);
 
-            _scene.TaintedObject("BSCharacter.setSize", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true);
+                BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
+                UpdatePhysicalMassProperties(RawMass);
             });
 
-        } 
+        }
     }
-    public override PrimitiveBaseShape Shape { 
-        set { _pbs = value; 
-        } 
+
+    public override OMV.Vector3 Scale { get; set; }
+
+    public override PrimitiveBaseShape Shape
+    {
+        set { BaseShape = value; }
     }
-    public override uint LocalID { 
-        set { _localID = value; 
-        }
-        get { return _localID; }
+    // I want the physics engine to make an avatar capsule
+    public override ShapeData.PhysicsShapeType PreferredPhysicalShape
+    {
+        get {return ShapeData.PhysicsShapeType.SHAPE_AVATAR; }
     }
-    public override bool Grabbed { 
-        set { _grabbed = value; 
-        } 
+
+    public override bool Grabbed {
+        set { _grabbed = value; }
     }
-    public override bool Selected { 
-        set { _selected = value; 
-        } 
+    public override bool Selected {
+        set { _selected = value; }
     }
     public override void CrossingFailure() { return; }
     public override void link(PhysicsActor obj) { return; }
     public override void delink() { return; }
-    public override void LockAngularMotion(Vector3 axis) { return; }
 
-    public override Vector3 Position { 
+    // Set motion values to zero.
+    // Do it to the properties so the values get set in the physics engine.
+    // Push the setting of the values to the viewer.
+    // Called at taint time!
+    public override void ZeroMotion(bool inTaintTime)
+    {
+        _velocity = OMV.Vector3.Zero;
+        _acceleration = OMV.Vector3.Zero;
+        _rotationalVelocity = OMV.Vector3.Zero;
+
+        // Zero some other properties directly into the physics engine
+        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        {
+            BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+        });
+    }
+    public override void ZeroAngularMotion(bool inTaintTime)
+    {
+        _rotationalVelocity = OMV.Vector3.Zero;
+
+        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        {
+            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            // The next also get rid of applied linear force but the linear velocity is untouched.
+            BulletSimAPI.ClearForces2(PhysBody.ptr);
+        });
+    }
+
+
+    public override void LockAngularMotion(OMV.Vector3 axis) { return; }
+
+    public override OMV.Vector3 RawPosition
+    {
+        get { return _position; }
+        set { _position = value; }
+    }
+    public override OMV.Vector3 Position {
         get {
-            // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
-            return _position; 
-        } 
+            // Don't refetch the position because this function is called a zillion times
+            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
+            return _position;
+        }
         set {
             _position = value;
             PositionSanityCheck();
 
-            _scene.TaintedObject("BSCharacter.setPosition", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
             });
-        } 
+        }
     }
+    public override OMV.Vector3 ForcePosition {
+        get {
+            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            return _position;
+        }
+        set {
+            _position = value;
+            PositionSanityCheck();
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+        }
+    }
+
 
     // Check that the current position is sane and, if not, modify the position to make it so.
-    // Check for being below terrain and being out of bounds.
+    // Check for being below terrain or on water.
     // Returns 'true' of the position was made sane by some action.
     private bool PositionSanityCheck()
     {
         bool ret = false;
-        
+
         // If below the ground, move the avatar up
-        float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position);
-        if (_position.Z < terrainHeight)
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        if (Position.Z < terrainHeight)
         {
-            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation);
+            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
             _position.Z = terrainHeight + 2.0f;
             ret = true;
         }
+        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
+        {
+            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            if (Position.Z < waterHeight)
+            {
+                _position.Z = waterHeight;
+                ret = true;
+            }
+        }
 
         // TODO: check for out of bounds
+        return ret;
+    }
 
+    // A version of the sanity check that also makes sure a new position value is
+    //    pushed back to the physics engine. This routine would be used by anyone
+    //    who is not already pushing the value.
+    private bool PositionSanityCheck(bool inTaintTime)
+    {
+        bool ret = false;
+        if (PositionSanityCheck())
+        {
+            // The new position value must be pushed into the physics engine but we can't
+            //    just assign to "Position" because of potential call loops.
+            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
+            {
+                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            });
+            ret = true;
+        }
         return ret;
     }
 
-    public override float Mass { 
-        get { 
-            return _mass; 
-        } 
+    public override float Mass { get { return _mass; } }
+
+    // used when we only want this prim's mass and not the linkset thing
+    public override float RawMass { 
+        get {return _mass; }
     }
-    public override Vector3 Force { 
-        get { return _force; } 
+    public override void UpdatePhysicalMassProperties(float physMass)
+    {
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
+        BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
+    }
+
+    public override OMV.Vector3 Force {
+        get { return _force; }
         set {
             _force = value;
             // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
-            Scene.TaintedObject("BSCharacter.SetForce", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force);
+                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
-        } 
+        }
     }
 
-    public override int VehicleType { 
-        get { return 0; } 
-        set { return; } 
-    }
+    // Avatars don't do vehicles
+    public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
     public override void VehicleFloatParam(int param, float value) { }
-    public override void VehicleVectorParam(int param, Vector3 value) {}
-    public override void VehicleRotationParam(int param, Quaternion rotation) { }
+    public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
+    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
     public override void VehicleFlags(int param, bool remove) { }
 
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
     public override void SetVolumeDetect(int param) { return; }
 
-    public override Vector3 GeometricCenter { get { return Vector3.Zero; } }
-    public override Vector3 CenterOfMass { get { return Vector3.Zero; } }
-    public override Vector3 Velocity { 
-        get { return _velocity; } 
+    public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
+    public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
+    public override OMV.Vector3 Velocity {
+        get { return _velocity; }
         set {
             _velocity = value;
             // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
-            _scene.TaintedObject("BSCharacter.setVelocity", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
+                ForceVelocity = _velocity;
             });
-        } 
+        }
     }
-    public override Vector3 Torque { 
-        get { return _torque; } 
-        set { _torque = value; 
-        } 
+    public override OMV.Vector3 ForceVelocity {
+        get { return _velocity; }
+        set {
+            // Depending on whether the avatar is moving or not, change the friction
+            //    to keep the avatar from slipping around
+            if (_velocity.Length() == 0)
+            {
+                if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+                    BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                }
+            }
+            else
+            {
+                if (_currentFriction != PhysicsScene.Params.avatarFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarFriction;
+                    BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                }
+            }
+            _velocity = value;
+            // Remember the set velocity so we can suppress the reduction by friction, ...
+            _appliedVelocity = value;
+
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+            BulletSimAPI.Activate2(PhysBody.ptr, true);
+        }
     }
-    public override float CollisionScore { 
-        get { return _collisionScore; } 
-        set { _collisionScore = value; 
-        } 
+    public override OMV.Vector3 Torque {
+        get { return _torque; }
+        set { _torque = value;
+        }
+    }
+    public override float CollisionScore {
+        get { return _collisionScore; }
+        set { _collisionScore = value;
+        }
     }
-    public override Vector3 Acceleration { 
+    public override OMV.Vector3 Acceleration {
         get { return _acceleration; }
         set { _acceleration = value; }
     }
-    public override Quaternion Orientation { 
-        get { return _orientation; } 
+    public override OMV.Quaternion RawOrientation
+    {
+        get { return _orientation; }
+        set { _orientation = value; }
+    }
+    public override OMV.Quaternion Orientation {
+        get { return _orientation; }
         set {
             _orientation = value;
             // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
-            _scene.TaintedObject("BSCharacter.setOrientation", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
-                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
+                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
             });
-        } 
+        }
+    }
+    // Go directly to Bullet to get/set the value.
+    public override OMV.Quaternion ForceOrientation
+    {
+        get
+        {
+            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            return _orientation;
+        }
+        set
+        {
+            _orientation = value;
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+        }
     }
-    public override int PhysicsActorType { 
-        get { return _physicsActorType; } 
-        set { _physicsActorType = value; 
-        } 
+    public override int PhysicsActorType {
+        get { return _physicsActorType; }
+        set { _physicsActorType = value;
+        }
     }
-    public override bool IsPhysical { 
-        get { return _isPhysical; } 
+    public override bool IsPhysical {
+        get { return _isPhysical; }
         set { _isPhysical = value;
-        } 
+        }
     }
-    public override bool Flying { 
-        get { return _flying; } 
+    public override bool IsSolid {
+        get { return true; }
+    }
+    public override bool IsStatic {
+        get { return false; }
+    }
+    public override bool Flying {
+        get { return _flying; }
         set {
-            if (_flying != value)
-            {
-                _flying = value;
-                // simulate flying by changing the effect of gravity
-                this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
-            }
-        } 
+            _flying = value;
+            // simulate flying by changing the effect of gravity
+            Buoyancy = ComputeBuoyancyFromFlying(_flying);
+        }
     }
+    // Flying is implimented by changing the avatar's buoyancy.
+    // Would this be done better with a vehicle type?
     private float ComputeBuoyancyFromFlying(bool ifFlying) {
         return ifFlying ? 1f : 0f;
     }
-    public override bool 
-        SetAlwaysRun { 
-        get { return _setAlwaysRun; } 
-        set { _setAlwaysRun = value; } 
+    public override bool
+        SetAlwaysRun {
+        get { return _setAlwaysRun; }
+        set { _setAlwaysRun = value; }
     }
-    public override bool ThrottleUpdates { 
-        get { return _throttleUpdates; } 
-        set { _throttleUpdates = value; } 
+    public override bool ThrottleUpdates {
+        get { return _throttleUpdates; }
+        set { _throttleUpdates = value; }
     }
     public override bool IsColliding {
-        get { return (_collidingStep == _scene.SimulationStep); } 
-        set { _isColliding = value; } 
+        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        set { _isColliding = value; }
     }
     public override bool CollidingGround {
-        get { return (_collidingGroundStep == _scene.SimulationStep); } 
-        set { _collidingGround = value; } 
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        set { CollidingGround = value; }
     }
-    public override bool CollidingObj { 
-        get { return _collidingObj; } 
-        set { _collidingObj = value; } 
+    public override bool CollidingObj {
+        get { return _collidingObj; }
+        set { _collidingObj = value; }
     }
-    public override bool FloatOnWater { 
-        set { _floatOnWater = value; } 
+    public override bool FloatOnWater {
+        set {
+            _floatOnWater = value;
+            PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
+            {
+                if (_floatOnWater)
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                else
+                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+            });
+        }
     }
-    public override Vector3 RotationalVelocity { 
-        get { return _rotationalVelocity; } 
-        set { _rotationalVelocity = value; } 
+    public override OMV.Vector3 RotationalVelocity {
+        get { return _rotationalVelocity; }
+        set { _rotationalVelocity = value; }
     }
-    public override bool Kinematic { 
-        get { return _kinematic; } 
-        set { _kinematic = value; } 
+    public override OMV.Vector3 ForceRotationalVelocity {
+        get { return _rotationalVelocity; }
+        set { _rotationalVelocity = value; }
+    }
+    public override bool Kinematic {
+        get { return _kinematic; }
+        set { _kinematic = value; }
     }
     // neg=fall quickly, 0=1g, 1=0g, pos=float up
-    public override float Buoyancy { 
-        get { return _buoyancy; } 
-        set { _buoyancy = value; 
-            _scene.TaintedObject("BSCharacter.setBuoyancy", delegate()
+    public override float Buoyancy {
+        get { return _buoyancy; }
+        set { _buoyancy = value;
+            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
+                ForceBuoyancy = _buoyancy;
             });
-        } 
+        }
+    }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set { _buoyancy = value;
+            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
     }
 
     // Used for MoveTo
-    public override Vector3 PIDTarget { 
-        set { _PIDTarget = value; } 
+    public override OMV.Vector3 PIDTarget {
+        set { _PIDTarget = value; }
     }
-    public override bool PIDActive { 
-        set { _usePID = value; } 
+    public override bool PIDActive {
+        set { _usePID = value; }
     }
-    public override float PIDTau { 
-        set { _PIDTau = value; } 
+    public override float PIDTau {
+        set { _PIDTau = value; }
     }
 
     // Used for llSetHoverHeight and maybe vehicle height
     // Hover Height will override MoveTo target's Z
-    public override bool PIDHoverActive { 
+    public override bool PIDHoverActive {
         set { _useHoverPID = value; }
     }
-    public override float PIDHoverHeight { 
+    public override float PIDHoverHeight {
         set { _PIDHoverHeight = value; }
     }
-    public override PIDHoverType PIDHoverType { 
+    public override PIDHoverType PIDHoverType {
         set { _PIDHoverType = value; }
     }
-    public override float PIDHoverTau { 
+    public override float PIDHoverTau {
         set { _PIDHoverTao = value; }
     }
 
     // For RotLookAt
-    public override Quaternion APIDTarget { set { return; } }
+    public override OMV.Quaternion APIDTarget { set { return; } }
     public override bool APIDActive { set { return; } }
     public override float APIDStrength { set { return; } }
     public override float APIDDamping { set { return; } }
 
-    public override void AddForce(Vector3 force, bool pushforce) { 
+    public override void AddForce(OMV.Vector3 force, bool pushforce) {
         if (force.IsFinite())
         {
             _force.X += force.X;
             _force.Y += force.Y;
             _force.Z += force.Z;
             // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
-            _scene.TaintedObject("BSCharacter.AddForce", delegate()
+            PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
-                BulletSimAPI.AddObjectForce2(Body.Ptr, _force);
+                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
         }
         else
@@ -426,129 +600,75 @@ public class BSCharacter : PhysicsActor
         //m_lastUpdateSent = false;
     }
 
-    public override void AddAngularForce(Vector3 force, bool pushforce) { 
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
     }
-    public override void SetMomentum(Vector3 momentum) { 
+    public override void SetMomentum(OMV.Vector3 momentum) {
     }
 
-    // Turn on collision events at a rate no faster than one every the given milliseconds
-    public override void SubscribeEvents(int ms) {
-        _subscribedEventsMs = ms;
-        if (ms > 0)
-        {
-            // make sure first collision happens
-            _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
+    private void ComputeAvatarScale(OMV.Vector3 size)
+    {
+        // The 'size' given by the simulator is the mid-point of the avatar
+        //    and X and Y are unspecified.
 
-            Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate()
-            {
-                BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-            });
-        }
-    }
-    // Stop collision events
-    public override void UnSubscribeEvents() { 
-        _subscribedEventsMs = 0;
-        // Avatars get all their collision events
-        // Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate()
-        // {
-        //     BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        // });
-    }
-    // Return 'true' if someone has subscribed to events
-    public override bool SubscribedEvents() {
-        return (_subscribedEventsMs > 0);
+        OMV.Vector3 newScale = OMV.Vector3.Zero;
+        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+
+        // From the total height, remove the capsule half spheres that are at each end
+        newScale.Z = size.Z- (newScale.X + newScale.Y);
+        Scale = newScale;
     }
 
-    // set _avatarVolume and _mass based on capsule size, _density and _scale
+    // set _avatarVolume and _mass based on capsule size, _density and Scale
     private void ComputeAvatarVolumeAndMass()
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * _scale.X
-                        * _scale.Y  // the area of capsule cylinder
-                        * _scale.Z  // times height of capsule cylinder
+                        * Scale.X
+                        * Scale.Y    // the area of capsule cylinder
+                        * Scale.Z    // times height of capsule cylinder
                       + 1.33333333f
                         * Math.PI
-                        * _scale.X
-                        * Math.Min(_scale.X, _scale.Y)
-                        * _scale.Y  // plus the volume of the capsule end caps
+                        * Scale.X
+                        * Math.Min(Scale.X, Scale.Y)
+                        * Scale.Y    // plus the volume of the capsule end caps
                         );
-        _mass = _density * _avatarVolume;
+        _mass = _avatarDensity * _avatarVolume;
     }
 
     // The physics engine says that properties have updated. Update same and inform
     // the world that things have changed.
-    public void UpdateProperties(EntityProperties entprop)
+    public override void UpdateProperties(EntityProperties entprop)
     {
         _position = entprop.Position;
         _orientation = entprop.Rotation;
         _velocity = entprop.Velocity;
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
-        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
-        // base.RequestPhysicsterseUpdate();
-
-        /*
-        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
-                entprop.Acceleration, entprop.RotationalVelocity);
-         */
-    }
+        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
+        PositionSanityCheck(true);
 
-    // Called by the scene when a collision with this object is reported
-    // The collision, if it should be reported to the character, is placed in a collection
-    //   that will later be sent to the simulator when SendCollisions() is called.
-    CollisionEventUpdate collisionCollection = null;
-    public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
-    {
-        // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
 
-        // The following makes IsColliding() and IsCollidingGround() work
-        _collidingStep = _scene.SimulationStep;
-        if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
+        if (entprop.Velocity != LastEntityProperties.Velocity)
         {
-            _collidingGroundStep = _scene.SimulationStep;
+            // Changes in the velocity are suppressed in avatars.
+            // That's just the way they are defined.
+            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
+            _velocity = avVel;
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
         }
-        // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith);
 
-        // throttle collisions to the rate specified in the subscription
-        if (_subscribedEventsMs != 0) {
-            int nowTime = _scene.SimulationNowTime;
-            if (nowTime >= _nextCollisionOkTime) {
-                _nextCollisionOkTime = nowTime + _subscribedEventsMs;
+        // Tell the linkset about value changes
+        Linkset.UpdateProperties(this);
 
-                if (collisionCollection == null)
-                    collisionCollection = new CollisionEventUpdate();
-                collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            }
-        }
-    }
+        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
+        // base.RequestPhysicsterseUpdate();
 
-    public void SendCollisions()
-    {
-        /*
-        if (collisionCollection != null && collisionCollection.Count > 0)
-        {
-            base.SendCollisionUpdate(collisionCollection);
-            collisionCollection = null;
-        }
-         */
-        // Kludge to make a collision call even if there are no collisions.
-        // This causes the avatar animation to get updated.
-        if (collisionCollection == null)
-            collisionCollection = new CollisionEventUpdate();
-        base.SendCollisionUpdate(collisionCollection);
-        // If there were any collisions in the collection, make sure we don't use the
-        //    same instance next time.
-        if (collisionCollection.Count > 0)
-            collisionCollection = null;
-        // End kludge
-    }
-
-    // Invoke the detailed logger and output something if it's enabled.
-    private void DetailLog(string msg, params Object[] args)
-    {
-        Scene.PhysicsLogging.Write(msg, args);
+        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+                LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
     }
 }
 }