1 files changed, 854 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
new file mode 100644
index 0000000..518be09
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -0,0 +1,854 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using Nini.Config;
+using log4net;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+using OpenSim.Region.Framework;
+
+// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
+// Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ...
+// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
+// Test sculpties
+// Compute physics FPS reasonably
+// Based on material, set density and friction
+// More efficient memory usage in passing hull information from BSPrim to BulletSim
+// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
+//     In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
+//     At the moment, physical and phantom causes object to drop through the terrain
+// Should prim.link() and prim.delink() membership checking happen at taint time?
+// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
+// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
+// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
+// Implement LockAngularMotion
+// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
+// Built Galton board (lots of MoveTo's) and some slats were not positioned correctly (mistakes scattered)
+//      No mistakes with ODE. Shape creation race condition?
+// Does NeedsMeshing() really need to exclude all the different shapes?
+// 
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSScene : PhysicsScene, IPhysicsParameters
+{
+    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS SCENE]";
+
+    public string BulletSimVersion = "?";
+
+    private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>();
+    private Dictionary<uint, BSPrim> m_prims = new Dictionary<uint, BSPrim>();
+    private List<BSPrim> m_vehicles = new List<BSPrim>();
+    private float[] m_heightMap;
+    private float m_waterLevel;
+    private uint m_worldID;
+    public uint WorldID { get { return m_worldID; } }
+
+    private bool m_initialized = false;
+
+    public IMesher mesher;
+    private int m_meshLOD;
+    public int MeshLOD
+    {
+        get { return m_meshLOD; }
+    }
+
+    private int m_maxSubSteps;
+    private float m_fixedTimeStep;
+    private long m_simulationStep = 0;
+    public long SimulationStep { get { return m_simulationStep; } }
+
+    // A value of the time now so all the collision and update routines do not have to get their own
+    // Set to 'now' just before all the prims and actors are called for collisions and updates
+    private int m_simulationNowTime;
+    public int SimulationNowTime { get { return m_simulationNowTime; } }
+
+    private int m_maxCollisionsPerFrame;
+    private CollisionDesc[] m_collisionArray;
+    private GCHandle m_collisionArrayPinnedHandle;
+
+    private int m_maxUpdatesPerFrame;
+    private EntityProperties[] m_updateArray;
+    private GCHandle m_updateArrayPinnedHandle;
+
+    private bool _meshSculptedPrim = true;         // cause scuplted prims to get meshed
+    private bool _forceSimplePrimMeshing = false;   // if a cube or sphere, let Bullet do internal shapes
+
+    public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
+    public const uint GROUNDPLANE_ID = 1;
+
+    public ConfigurationParameters Params
+    {
+        get { return m_params[0]; }
+    }
+    public Vector3 DefaultGravity
+    {
+        get { return new Vector3(0f, 0f, Params.gravity); }
+    }
+
+    private float m_maximumObjectMass;
+    public float MaximumObjectMass
+    {
+        get { return m_maximumObjectMass; }
+    }
+
+    public delegate void TaintCallback();
+    private List<TaintCallback> _taintedObjects;
+    private Object _taintLock = new Object();
+
+    // A pointer to an instance if this structure is passed to the C++ code
+    ConfigurationParameters[] m_params;
+    GCHandle m_paramsHandle;
+
+    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
+
+    public BSScene(string identifier)
+    {
+        m_initialized = false;
+    }
+
+    public override void Initialise(IMesher meshmerizer, IConfigSource config)
+    {
+        // Allocate pinned memory to pass parameters.
+        m_params = new ConfigurationParameters[1];
+        m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
+
+        // Set default values for physics parameters plus any overrides from the ini file
+        GetInitialParameterValues(config);
+
+        // allocate more pinned memory close to the above in an attempt to get the memory all together
+        m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
+        m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
+        m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
+        m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
+
+        // Get the version of the DLL
+        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
+        // BulletSimVersion = BulletSimAPI.GetVersion();
+        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
+
+        // if Debug, enable logging from the unmanaged code
+        if (m_log.IsDebugEnabled)
+        {
+            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
+            m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
+            BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
+        }
+
+        _taintedObjects = new List<TaintCallback>();
+
+        mesher = meshmerizer;
+        // The bounding box for the simulated world
+        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f);
+
+        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
+        m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
+                                        m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
+                                        m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
+
+        m_initialized = true;
+    }
+
+    // All default parameter values are set here. There should be no values set in the
+    // variable definitions.
+    private void GetInitialParameterValues(IConfigSource config)
+    {
+        ConfigurationParameters parms = new ConfigurationParameters();
+
+        _meshSculptedPrim = true;           // mesh sculpted prims
+        _forceSimplePrimMeshing = false;    // use complex meshing if called for
+
+        m_meshLOD = 32;
+
+        m_maxSubSteps = 10;
+        m_fixedTimeStep = 1f / 60f;
+        m_maxCollisionsPerFrame = 2048;
+        m_maxUpdatesPerFrame = 2048;
+        m_maximumObjectMass = 10000.01f;
+
+        parms.defaultFriction = 0.5f;
+        parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
+        parms.defaultRestitution = 0f;
+        parms.collisionMargin = 0.0f;
+        parms.gravity = -9.80665f;
+
+        parms.linearDamping = 0.0f;
+        parms.angularDamping = 0.0f;
+        parms.deactivationTime = 0.2f;
+        parms.linearSleepingThreshold = 0.8f;
+        parms.angularSleepingThreshold = 1.0f;
+        parms.ccdMotionThreshold = 0.5f;    // set to zero to disable
+        parms.ccdSweptSphereRadius = 0.2f;
+
+        parms.terrainFriction = 0.5f;
+        parms.terrainHitFraction = 0.8f;
+        parms.terrainRestitution = 0f;
+        parms.avatarFriction = 0.0f;
+        parms.avatarDensity = 60f;
+        parms.avatarCapsuleRadius = 0.37f;
+        parms.avatarCapsuleHeight = 1.5f; // 2.140599f
+
+        if (config != null)
+        {
+            // If there are specifications in the ini file, use those values
+            // WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO UPDATE OpenSimDefaults.ini
+            // ALSO REMEMBER TO UPDATE THE RUNTIME SETTING OF THE PARAMETERS.
+            IConfig pConfig = config.Configs["BulletSim"];
+            if (pConfig != null)
+            {
+                _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
+                _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
+
+                m_meshLOD = pConfig.GetInt("MeshLevelOfDetail", m_meshLOD);
+
+                m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps);
+                m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep);
+                m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame);
+                m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
+                m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass);
+
+                parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
+                parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
+                parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
+                parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin);
+                parms.gravity = pConfig.GetFloat("Gravity", parms.gravity);
+
+                parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping);
+                parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping);
+                parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime);
+                parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", parms.linearSleepingThreshold);
+                parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold);
+                parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
+                parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
+
+                parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
+                parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction);
+                parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution);
+                parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction);
+                parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity);
+                parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius);
+                parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight);
+            }
+        }
+        m_params[0] = parms;
+    }
+
+    // Called directly from unmanaged code so don't do much
+    private void BulletLogger(string msg)
+    {
+        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
+    }
+
+    public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
+    {
+        m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
+        return null;
+    }
+
+    public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
+    {
+        // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
+        BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
+        lock (m_avatars) m_avatars.Add(localID, actor);
+        return actor;
+    }
+
+    public override void RemoveAvatar(PhysicsActor actor)
+    {
+        // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
+        if (actor is BSCharacter)
+        {
+            ((BSCharacter)actor).Destroy();
+        }
+        try
+        {
+            lock (m_avatars) m_avatars.Remove(actor.LocalID);
+        }
+        catch (Exception e)
+        {
+            m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
+        }
+    }
+
+    public override void RemovePrim(PhysicsActor prim)
+    {
+        // m_log.DebugFormat("{0}: RemovePrim", LogHeader);
+        if (prim is BSPrim)
+        {
+            ((BSPrim)prim).Destroy();
+        }
+        try
+        {
+            lock (m_prims) m_prims.Remove(prim.LocalID);
+        }
+        catch (Exception e)
+        {
+            m_log.WarnFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
+        }
+    }
+
+    public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                              Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
+    {
+        // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
+        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
+        lock (m_prims) m_prims.Add(localID, prim);
+        return prim;
+    }
+
+    // This is a call from the simulator saying that some physical property has been updated.
+    // The BulletSim driver senses the changing of relevant properties so this taint 
+    // information call is not needed.
+    public override void AddPhysicsActorTaint(PhysicsActor prim) { }
+
+    // Simulate one timestep
+    public override float Simulate(float timeStep)
+    {
+        int updatedEntityCount;
+        IntPtr updatedEntitiesPtr;
+        int collidersCount;
+        IntPtr collidersPtr;
+
+        // prevent simulation until we've been initialized
+        if (!m_initialized) return 10.0f;
+
+        // update the prim states while we know the physics engine is not busy
+        ProcessTaints();
+
+        // Some of the prims operate with special vehicle properties
+        ProcessVehicles(timeStep);
+        ProcessTaints();    // the vehicles might have added taints
+
+        // step the physical world one interval
+        m_simulationStep++;
+        int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, 
+                    out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
+
+        // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
+
+        // Get a value for 'now' so all the collision and update routines don't have to get their own
+        m_simulationNowTime = Util.EnvironmentTickCount();
+
+        // If there were collisions, process them by sending the event to the prim.
+        // Collisions must be processed before updates.
+        if (collidersCount > 0)
+        {
+            for (int ii = 0; ii < collidersCount; ii++)
+            {
+                uint cA = m_collisionArray[ii].aID;
+                uint cB = m_collisionArray[ii].bID;
+                Vector3 point = m_collisionArray[ii].point;
+                Vector3 normal = m_collisionArray[ii].normal;
+                SendCollision(cA, cB, point, normal, 0.01f);
+                SendCollision(cB, cA, point, -normal, 0.01f);
+            }
+        }
+
+        // If any of the objects had updated properties, tell the object it has been changed by the physics engine
+        if (updatedEntityCount > 0)
+        {
+            for (int ii = 0; ii < updatedEntityCount; ii++)
+            {
+                EntityProperties entprop = m_updateArray[ii];
+                // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
+                BSCharacter actor;
+                if (m_avatars.TryGetValue(entprop.ID, out actor))
+                {
+                    actor.UpdateProperties(entprop);
+                    continue;
+                }
+                BSPrim prim;
+                if (m_prims.TryGetValue(entprop.ID, out prim))
+                {
+                    prim.UpdateProperties(entprop);
+                }
+            }
+        }
+
+        // TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
+        return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
+    }
+
+    // Something has collided
+    private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penitration)
+    {
+        if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID)
+        {
+            return;         // don't send collisions to the terrain
+        }
+
+        ActorTypes type = ActorTypes.Prim;
+        if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID)
+            type = ActorTypes.Ground;
+        else if (m_avatars.ContainsKey(collidingWith))
+            type = ActorTypes.Agent;
+
+        BSPrim prim;
+        if (m_prims.TryGetValue(localID, out prim)) {
+            prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
+            return;
+        }
+        BSCharacter actor;
+        if (m_avatars.TryGetValue(localID, out actor)) {
+            actor.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
+            return;
+        }
+        return;
+    }
+
+    public override void GetResults() { }
+
+    public override void SetTerrain(float[] heightMap) {
+        m_heightMap = heightMap;
+        this.TaintedObject(delegate()
+        {
+            BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
+        });
+    }
+
+    public float GetTerrainHeightAtXY(float tX, float tY)
+    {
+        return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)];
+    }
+
+    public override void SetWaterLevel(float baseheight) 
+    {
+        m_waterLevel = baseheight;
+    }
+    public float GetWaterLevel()
+    {
+        return m_waterLevel;
+    }
+
+    public override void DeleteTerrain() 
+    {
+        m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
+    }
+
+    public override void Dispose()
+    {
+        m_log.DebugFormat("{0}: Dispose()", LogHeader);
+    }
+
+    public override Dictionary<uint, float> GetTopColliders()
+    {
+        return new Dictionary<uint, float>();
+    }
+
+    public override bool IsThreaded { get { return false;  } }
+
+    /// <summary>
+    /// Routine to figure out if we need to mesh this prim with our mesher
+    /// </summary>
+    /// <param name="pbs"></param>
+    /// <returns>true if the prim needs meshing</returns>
+    public bool NeedsMeshing(PrimitiveBaseShape pbs)
+    {
+        // most of this is redundant now as the mesher will return null if it cant mesh a prim
+        // but we still need to check for sculptie meshing being enabled so this is the most
+        // convenient place to do it for now...
+
+        // int iPropertiesNotSupportedDefault = 0;
+
+        if (pbs.SculptEntry && !_meshSculptedPrim)
+        {
+            // Render sculpties as boxes
+            return false;
+        }
+
+        // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet 
+        // can use an internal representation for the prim
+        if (!_forceSimplePrimMeshing)
+        {
+            // m_log.DebugFormat("{0}: NeedsMeshing: simple mesh: profshape={1}, curve={2}", LogHeader, pbs.ProfileShape, pbs.PathCurve);
+            if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
+                || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
+                && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
+            {
+
+                if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
+                    && pbs.ProfileHollow == 0
+                    && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
+                    && pbs.PathBegin == 0 && pbs.PathEnd == 0
+                    && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
+                    && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
+                    && pbs.PathShearX == 0 && pbs.PathShearY == 0)
+                {
+                    return false;
+                }
+            }
+        }
+
+        /*  TODO: verify that the mesher will now do all these shapes
+        if (pbs.ProfileHollow != 0)
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
+            iPropertiesNotSupportedDefault++; 
+
+        if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
+            iPropertiesNotSupportedDefault++;
+
+        if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
+            iPropertiesNotSupportedDefault++;
+
+        if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
+            iPropertiesNotSupportedDefault++;
+
+        if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
+            iPropertiesNotSupportedDefault++;
+
+        // test for torus
+        if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Straight)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+            // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
+            else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Straight)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+            else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        if (iPropertiesNotSupportedDefault == 0)
+        {
+            return false;
+        }
+         */
+        return true; 
+    }
+
+    // The calls to the PhysicsActors can't directly call into the physics engine
+    // because it might be busy. We we delay changes to a known time.
+    // We rely on C#'s closure to save and restore the context for the delegate.
+    public void TaintedObject(TaintCallback callback)
+    {
+        lock (_taintLock)
+            _taintedObjects.Add(callback);
+        return;
+    }
+
+    // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
+    // a callback into itself to do the actual property change. That callback is called
+    // here just before the physics engine is called to step the simulation.
+    public void ProcessTaints()
+    {
+        if (_taintedObjects.Count > 0)  // save allocating new list if there is nothing to process
+        {
+            // swizzle a new list into the list location so we can process what's there
+            List<TaintCallback> oldList;
+            lock (_taintLock)
+            {
+                oldList = _taintedObjects;
+                _taintedObjects = new List<TaintCallback>();
+            }
+
+            foreach (TaintCallback callback in oldList)
+            {
+                try
+                {
+                    callback();
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("{0}: ProcessTaints: Exception: {1}", LogHeader, e);
+                }
+            }
+            oldList.Clear();
+        }
+    }
+
+    #region Vehicles
+    // Make so the scene will call this prim for vehicle actions each tick.
+    // Safe to call if prim is already in the vehicle list.
+    public void AddVehiclePrim(BSPrim vehicle)
+    {
+        lock (m_vehicles)
+        {
+            if (!m_vehicles.Contains(vehicle))
+            {
+                m_vehicles.Add(vehicle);
+            }
+        }
+    }
+
+    // Remove a prim from our list of vehicles.
+    // Safe to call if the prim is not in the vehicle list.
+    public void RemoveVehiclePrim(BSPrim vehicle)
+    {
+        lock (m_vehicles)
+        {
+            if (m_vehicles.Contains(vehicle))
+            {
+                m_vehicles.Remove(vehicle);
+            }
+        }
+    }
+
+    // Some prims have extra vehicle actions
+    // no locking because only called when physics engine is not busy
+    private void ProcessVehicles(float timeStep)
+    {
+        foreach (BSPrim prim in m_vehicles)
+        {
+            prim.StepVehicle(timeStep);
+        }
+    }
+    #endregion Vehicles
+
+    #region Runtime settable parameters
+    public static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[]
+    {
+        new PhysParameterEntry("MeshLOD", "Level of detail to render meshes (Power of two. Default 32)"),
+        new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"),
+        new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"),
+        new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"),
+
+        new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"),
+        new PhysParameterEntry("DefaultDensity", "Density for new objects" ),
+        new PhysParameterEntry("DefaultRestitution", "Bouncyness of an object" ),
+        // new PhysParameterEntry("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!!)" ),
+        new PhysParameterEntry("Gravity", "Vertical force of gravity (negative means down)" ),
+
+        new PhysParameterEntry("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)" ),
+        new PhysParameterEntry("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)" ),
+        new PhysParameterEntry("DeactivationTime", "Seconds before considering an object potentially static" ),
+        new PhysParameterEntry("LinearSleepingThreshold", "Seconds to measure linear movement before considering static" ),
+        new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ),
+        // new PhysParameterEntry("CcdMotionThreshold", "" ),
+        // new PhysParameterEntry("CcdSweptSphereRadius", "" ),
+
+        new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ),
+        new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ),
+        new PhysParameterEntry("TerrainRestitution", "Bouncyness" ),
+        new PhysParameterEntry("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation." ),
+        new PhysParameterEntry("AvatarDensity", "Density of an avatar. Changed on avatar recreation." ),
+        new PhysParameterEntry("AvatarRestitution", "Bouncyness. Changed on avatar recreation." ),
+        new PhysParameterEntry("AvatarCapsuleRadius", "Radius of space around an avatar" ),
+        new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" )
+    };
+
+    #region IPhysicsParameters
+    // Get the list of parameters this physics engine supports
+    public PhysParameterEntry[] GetParameterList()
+    {
+        return SettableParameters;
+    }
+
+    // Set parameter on a specific or all instances.
+    // Return 'false' if not able to set the parameter.
+    // Setting the value in the m_params block will change the value the physics engine
+    //   will use the next time since it's pinned and shared memory.
+    // Some of the values require calling into the physics engine to get the new
+    //   value activated ('terrainFriction' for instance).
+    public bool SetPhysicsParameter(string parm, float val, uint localID)
+    {
+        bool ret = true;
+        string lparm = parm.ToLower();
+        switch (lparm)
+        {
+            case "meshlod": m_meshLOD = (int)val; break;
+            case "maxsubstep": m_maxSubSteps = (int)val; break;
+            case "fixedtimestep": m_fixedTimeStep = val; break;
+            case "maxobjectmass": m_maximumObjectMass = val; break;
+
+            case "defaultfriction": m_params[0].defaultFriction = val; break;
+            case "defaultdensity": m_params[0].defaultDensity = val; break;
+            case "defaultrestitution": m_params[0].defaultRestitution = val; break;
+            case "collisionmargin": m_params[0].collisionMargin = val; break;
+            case "gravity": m_params[0].gravity = val;  TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break;
+
+            case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break;
+            case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
+            case "deactivationtime": UpdateParameterPrims(ref m_params[0].deactivationTime, lparm, localID, val); break;
+            case "linearsleepingthreshold": UpdateParameterPrims(ref m_params[0].linearSleepingThreshold, lparm, localID, val); break;
+            case "angularsleepingthreshold": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
+            case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break;
+            case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break;
+
+            // set a terrain physical feature and cause terrain to be recalculated
+            case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break;
+            case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break;
+            case "terrainrestitution": m_params[0].terrainRestitution = val; TaintedUpdateParameter("terrain", 0, val); break;
+            // set an avatar physical feature and cause avatar(s) to be recalculated
+            case "avatarfriction": UpdateParameterAvatars(ref m_params[0].avatarFriction, "avatar", localID, val); break;
+            case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val);  break;
+            case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break;
+            case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val);  break;
+            case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val);  break;
+
+            default: ret = false; break;
+        }
+        return ret;
+    }
+
+    // check to see if we are updating a parameter for a particular or all of the prims
+    private void UpdateParameterPrims(ref float loc, string parm, uint localID, float val)
+    {
+        List<uint> operateOn;
+        lock (m_prims) operateOn = new List<uint>(m_prims.Keys);
+        UpdateParameterSet(operateOn, ref loc, parm, localID, val);
+    }
+
+    // check to see if we are updating a parameter for a particular or all of the avatars
+    private void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val)
+    {
+        List<uint> operateOn;
+        lock (m_avatars) operateOn = new List<uint>(m_avatars.Keys);
+        UpdateParameterSet(operateOn, ref loc, parm, localID, val);
+    }
+
+    // update all the localIDs specified
+    // If the local ID is APPLY_TO_NONE, just change the default value
+    // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
+    // If the localID is a specific object, apply the parameter change to only that object
+    private void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
+    {
+        switch (localID)
+        {
+            case PhysParameterEntry.APPLY_TO_NONE:
+                defaultLoc = val;   // setting only the default value
+                break;
+            case PhysParameterEntry.APPLY_TO_ALL:
+                defaultLoc = val;  // setting ALL also sets the default value
+                List<uint> objectIDs = lIDs;
+                string xparm = parm.ToLower();
+                float xval = val;
+                TaintedObject(delegate() {
+                    foreach (uint lID in objectIDs)
+                    {
+                        BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval);
+                    }
+                });
+                break;
+            default: 
+                // setting only one localID
+                TaintedUpdateParameter(parm, localID, val);
+                break;
+        }
+    }
+
+    // schedule the actual updating of the paramter to when the phys engine is not busy
+    private void TaintedUpdateParameter(string parm, uint localID, float val)
+    {
+        uint xlocalID = localID;
+        string xparm = parm.ToLower();
+        float xval = val;
+        TaintedObject(delegate() {
+            BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval);
+        });
+    }
+
+    // Get parameter.
+    // Return 'false' if not able to get the parameter.
+    public bool GetPhysicsParameter(string parm, out float value)
+    {
+        float val = 0f;
+        bool ret = true;
+        switch (parm.ToLower())
+        {
+            case "meshlod": val = (float)m_meshLOD; break;
+            case "maxsubstep": val = (float)m_maxSubSteps; break;
+            case "fixedtimestep": val = m_fixedTimeStep; break;
+            case "maxobjectmass": val = m_maximumObjectMass; break;
+
+            case "defaultfriction": val = m_params[0].defaultFriction; break;
+            case "defaultdensity": val = m_params[0].defaultDensity; break;
+            case "defaultrestitution": val = m_params[0].defaultRestitution; break;
+            case "collisionmargin": val = m_params[0].collisionMargin; break;
+            case "gravity": val = m_params[0].gravity; break;
+
+            case "lineardamping": val = m_params[0].linearDamping; break;
+            case "angulardamping": val = m_params[0].angularDamping; break;
+            case "deactivationtime": val = m_params[0].deactivationTime; break;
+            case "linearsleepingthreshold": val = m_params[0].linearSleepingThreshold; break;
+            case "angularsleepingthreshold": val = m_params[0].angularDamping; break;
+            case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break;
+            case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break;
+
+            case "terrainfriction": val = m_params[0].terrainFriction; break;
+            case "terrainhitfraction": val = m_params[0].terrainHitFraction; break;
+            case "terrainrestitution": val = m_params[0].terrainRestitution; break;
+
+            case "avatarfriction": val = m_params[0].avatarFriction; break;
+            case "avatardensity": val = m_params[0].avatarDensity; break;
+            case "avatarrestitution": val = m_params[0].avatarRestitution; break;
+            case "avatarcapsuleradius": val = m_params[0].avatarCapsuleRadius; break;
+            case "avatarcapsuleheight": val = m_params[0].avatarCapsuleHeight; break;
+            default: ret = false; break;
+
+        }
+        value = val;
+        return ret;
+    }
+
+    #endregion IPhysicsParameters
+
+    #endregion Runtime settable parameters
+
+}
+}