1 files changed, 813 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
new file mode 100644
index 0000000..9c3f160
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -0,0 +1,813 @@
+/*
+ * 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.Reflection;
+using log4net;
+using OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSCharacter : BSPhysObject
+{
+    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS CHAR]";
+
+    // private bool _stopped;
+    private OMV.Vector3 _size;
+    private bool _grabbed;
+    private bool _selected;
+    private float _mass;
+    private float _avatarVolume;
+    private float _collisionScore;
+    private OMV.Vector3 _acceleration;
+    private int _physicsActorType;
+    private bool _isPhysical;
+    private bool _flying;
+    private bool _setAlwaysRun;
+    private bool _throttleUpdates;
+    private bool _floatOnWater;
+    private OMV.Vector3 _rotationalVelocity;
+    private bool _kinematic;
+    private float _buoyancy;
+
+    private BSActorAvatarMove m_moveActor;
+    private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
+
+    private OMV.Vector3 _PIDTarget;
+    private float _PIDTau;
+
+//        public override OMV.Vector3 RawVelocity 
+//        { get { return base.RawVelocity; } 
+//            set { 
+//                if (value != base.RawVelocity)
+//                    Util.PrintCallStack();
+//                Console.WriteLine("Set rawvel to {0}", value);
+//                base.RawVelocity = value; }
+//        }
+
+    // Avatars are always complete (in the physics engine sense)
+    public override bool IsIncomplete { get { return false; } }
+
+    public BSCharacter(
+            uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying)
+
+            : base(parent_scene, localID, avName, "BSCharacter")
+    {
+        _physicsActorType = (int)ActorTypes.Agent;
+        RawPosition = pos;        
+
+        _flying = isFlying;
+        RawOrientation = OMV.Quaternion.Identity;
+        RawVelocity = vel;
+        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+        Friction = BSParam.AvatarStandingFriction;
+        Density = BSParam.AvatarDensity;
+
+        // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
+        //     replace with the default values.
+        _size = size;
+        if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
+        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
+
+        // The dimensions of the physical capsule are kept in the scale.
+        // Physics creates a unit capsule which is scaled by the physics engine.
+        Scale = 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},pos={6},vel={7}",
+            LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos, vel);
+
+        // do actual creation in taint time
+        PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
+        {
+            DetailLog("{0},BSCharacter.create,taint", LocalID);
+
+            // New body and shape into PhysBody and PhysShape
+            PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this);
+
+            // The avatar's movement is controlled by this motor that speeds up and slows down
+            //    the avatar seeking to reach the motor's target speed.
+            // This motor runs as a prestep action for the avatar so it will keep the avatar
+            //    standing as well as moving. Destruction of the avatar will destroy the pre-step action.
+            m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName);
+            PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
+
+            SetPhysicalProperties();
+
+            IsInitialized = true;
+        });
+        return;
+    }
+
+    // called when this character is being destroyed and the resources should be released
+    public override void Destroy()
+    {
+        IsInitialized = false;
+
+        base.Destroy();
+
+        DetailLog("{0},BSCharacter.Destroy", LocalID);
+        PhysScene.TaintedObject(LocalID, "BSCharacter.destroy", delegate()
+        {
+            PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
+            PhysBody.Clear();
+            PhysShape.Dereference(PhysScene);
+            PhysShape = new BSShapeNull();
+        });
+    }
+
+    private void SetPhysicalProperties()
+    {
+        PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
+
+        ForcePosition = RawPosition;
+
+        // Set the velocity
+        if (m_moveActor != null)
+            m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false);
+
+        ForceVelocity = RawVelocity;
+        TargetVelocity = RawVelocity;
+
+        // This will enable or disable the flying buoyancy of the avatar.
+        // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
+        Flying = _flying;
+
+        PhysScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
+        PhysScene.PE.SetMargin(PhysShape.physShapeInfo, PhysScene.Params.collisionMargin);
+        PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
+        PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
+        if (BSParam.CcdMotionThreshold > 0f)
+        {
+            PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+            PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
+        }
+
+        UpdatePhysicalMassProperties(RawMass, false);
+
+        // Make so capsule does not fall over
+        PhysScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
+
+        // The avatar mover sets some parameters.
+        PhysicalActors.Refresh();
+
+        PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
+
+        PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody);
+
+        // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
+        PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
+        PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody);
+
+        // Do this after the object has been added to the world
+        if (BSParam.AvatarToAvatarCollisionsByDefault)
+            PhysBody.collisionType = CollisionType.Avatar;
+        else
+            PhysBody.collisionType = CollisionType.PhantomToOthersAvatar;
+
+        PhysBody.ApplyCollisionMask(PhysScene);
+    }
+
+    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 OMV.Vector3 Size {
+        get
+        {
+            // Avatar capsule size is kept in the scale parameter.
+            return _size;
+        }
+
+        set {
+            // This is how much the avatar size is changing. Positive means getting bigger.
+            // The avatar altitude must be adjusted for this change.
+            float heightChange = value.Z - _size.Z;
+
+            _size = value;
+            // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
+            //     replace with the default values.
+            if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
+            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
+
+            Scale = ComputeAvatarScale(_size);
+            ComputeAvatarVolumeAndMass();
+            DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
+                            LocalID, _size, Scale, Density, _avatarVolume, RawMass);
+
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
+            {
+                if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
+                {
+                    PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
+                    UpdatePhysicalMassProperties(RawMass, true);
+
+                    // Adjust the avatar's position to account for the increase/decrease in size
+                    ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
+
+                    // Make sure this change appears as a property update event
+                    PhysScene.PE.PushUpdate(PhysBody);
+                }
+            });
+
+        }
+    }
+
+    public override PrimitiveBaseShape Shape
+    {
+        set { BaseShape = value; }
+    }
+
+    public override bool Grabbed {
+        set { _grabbed = value; }
+    }
+    public override bool Selected {
+        set { _selected = value; }
+    }
+    public override bool IsSelected
+    {
+        get { return _selected; }
+    }
+    public override void CrossingFailure() { return; }
+    public override void link(PhysicsActor obj) { return; }
+    public override void delink() { return; }
+
+    // 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)
+    {
+        RawVelocity = OMV.Vector3.Zero;
+        _acceleration = OMV.Vector3.Zero;
+        _rotationalVelocity = OMV.Vector3.Zero;
+
+        // Zero some other properties directly into the physics engine
+        PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
+        {
+            if (PhysBody.HasPhysicalBody)
+                PhysScene.PE.ClearAllForces(PhysBody);
+        });
+    }
+
+    public override void ZeroAngularMotion(bool inTaintTime)
+    {
+        _rotationalVelocity = OMV.Vector3.Zero;
+
+        PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
+        {
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                PhysScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
+                // The next also get rid of applied linear force but the linear velocity is untouched.
+                PhysScene.PE.ClearForces(PhysBody);
+            }
+        });
+    }
+
+
+    public override void LockAngularMotion(OMV.Vector3 axis) { return; }
+
+    public override OMV.Vector3 Position {
+        get {
+            // Don't refetch the position because this function is called a zillion times
+            // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
+            return RawPosition;
+        }
+        set {
+            RawPosition = value;
+
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setPosition", delegate()
+            {
+                DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
+                PositionSanityCheck();
+                ForcePosition = RawPosition;
+            });
+        }
+    }
+    public override OMV.Vector3 ForcePosition {
+        get {
+            RawPosition = PhysScene.PE.GetPosition(PhysBody);
+            return RawPosition;
+        }
+        set {
+            RawPosition = value;
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
+            }
+        }
+    }
+
+
+    // Check that the current position is sane and, if not, modify the position to make it so.
+    // 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;
+
+        // TODO: check for out of bounds
+        if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
+        {
+            // The character is out of the known/simulated area.
+            // Force the avatar position to be within known. ScenePresence will use the position
+            //    plus the velocity to decide if the avatar is moving out of the region.
+            RawPosition = PhysScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition);
+            DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition);
+            return true;
+        }
+
+        // If below the ground, move the avatar up
+        float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
+        if (Position.Z < terrainHeight)
+        {
+            DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
+            RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters);
+            ret = true;
+        }
+        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
+        {
+            float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
+            if (Position.Z < waterHeight)
+            {
+                RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight);
+                ret = true;
+            }
+        }
+
+        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.
+            PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.PositionSanityCheck", delegate()
+            {
+                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
+                ForcePosition = RawPosition;
+            });
+            ret = true;
+        }
+        return ret;
+    }
+
+    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 void UpdatePhysicalMassProperties(float physMass, bool inWorld)
+    {
+        OMV.Vector3 localInertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
+        PhysScene.PE.SetMassProps(PhysBody, physMass, localInertia);
+    }
+
+    public override OMV.Vector3 Force {
+        get { return RawForce; }
+        set {
+            RawForce = value;
+            // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
+            PhysScene.TaintedObject(LocalID, "BSCharacter.SetForce", delegate()
+            {
+                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce);
+                if (PhysBody.HasPhysicalBody)
+                    PhysScene.PE.SetObjectForce(PhysBody, RawForce);
+            });
+        }
+    }
+
+    // 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, 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 bool IsVolumeDetect { get { return false; } }
+
+    public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
+    public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
+
+    // Sets the target in the motor. This starts the changing of the avatar's velocity.
+    public override OMV.Vector3 TargetVelocity
+    {
+        get
+        {
+            return base.m_targetVelocity;
+        }
+        set
+        {
+            DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
+            m_targetVelocity = value;
+            OMV.Vector3 targetVel = value;
+            if (_setAlwaysRun && !_flying)
+                targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f);
+
+            if (m_moveActor != null)
+                m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */);
+        }
+    }
+    // Directly setting velocity means this is what the user really wants now.
+    public override OMV.Vector3 Velocity {
+        get { return RawVelocity; }
+        set {
+            RawVelocity = value;
+                OMV.Vector3 vel = RawVelocity;
+
+            DetailLog("{0}: set Velocity = {1}", LocalID, value);
+
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate()
+            {
+                if (m_moveActor != null)
+                    m_moveActor.SetVelocityAndTarget(vel, vel, true /* inTaintTime */);
+
+                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, vel);
+                ForceVelocity = vel;
+            });
+        }
+    }
+
+    public override OMV.Vector3 ForceVelocity {
+        get { return RawVelocity; }
+        set {
+            PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
+//                Util.PrintCallStack();
+            DetailLog("{0}: set ForceVelocity = {1}", LocalID, value);
+
+            RawVelocity = value;
+            PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
+            PhysScene.PE.Activate(PhysBody, true);
+        }
+    }
+
+    public override OMV.Vector3 Torque {
+        get { return RawTorque; }
+        set { RawTorque = value;
+        }
+    }
+
+    public override float CollisionScore {
+        get { return _collisionScore; }
+        set { _collisionScore = value;
+        }
+    }
+    public override OMV.Vector3 Acceleration {
+        get { return _acceleration; }
+        set { _acceleration = value; }
+    }
+    public override OMV.Quaternion Orientation {
+        get { return RawOrientation; }
+        set {
+            // Orientation is set zillions of times when an avatar is walking. It's like
+            //      the viewer doesn't trust us.
+            if (RawOrientation != value)
+            {
+                RawOrientation = value;
+                PhysScene.TaintedObject(LocalID, "BSCharacter.setOrientation", delegate()
+                {
+                    // Bullet assumes we know what we are doing when forcing orientation
+                    //    so it lets us go against all the rules and just compensates for them later.
+                    // This forces rotation to be only around the Z axis and doesn't change any of the other axis.
+                    // This keeps us from flipping the capsule over which the veiwer does not understand.
+                    float oRoll, oPitch, oYaw;
+                    RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw);
+                    OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw);
+                    // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}",
+                    //                 LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation,
+                    //                 trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation);
+                    ForceOrientation = trimmedOrientation;
+                });
+            }
+        }
+    }
+    // Go directly to Bullet to get/set the value.
+    public override OMV.Quaternion ForceOrientation
+    {
+        get
+        {
+            RawOrientation = PhysScene.PE.GetOrientation(PhysBody);
+            return RawOrientation;
+        }
+        set
+        {
+            RawOrientation = value;
+            if (PhysBody.HasPhysicalBody)
+            {
+                // RawPosition = PhysicsScene.PE.GetPosition(BSBody);
+                PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
+            }
+        }
+    }
+    public override int PhysicsActorType {
+        get { return _physicsActorType; }
+        set { _physicsActorType = value;
+        }
+    }
+    public override bool IsPhysical {
+        get { return _isPhysical; }
+        set { _isPhysical = value;
+        }
+    }
+    public override bool IsSolid {
+        get { return true; }
+    }
+    public override bool IsStatic {
+        get { return false; }
+    }
+    public override bool IsPhysicallyActive {
+        get { return true; }
+    }
+    public override bool Flying {
+        get { return _flying; }
+        set {
+            _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 ThrottleUpdates {
+        get { return _throttleUpdates; }
+        set { _throttleUpdates = value; }
+    }
+    public override bool FloatOnWater {
+        set {
+            _floatOnWater = value;
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setFloatOnWater", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                {
+                    if (_floatOnWater)
+                        CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                    else
+                        CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
+                }
+            });
+        }
+    }
+    public override OMV.Vector3 RotationalVelocity {
+        get { return _rotationalVelocity; }
+        set { _rotationalVelocity = 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;
+            PhysScene.TaintedObject(LocalID, "BSCharacter.setBuoyancy", delegate()
+            {
+                DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+                ForceBuoyancy = _buoyancy;
+            });
+        }
+    }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set {
+            PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
+
+            _buoyancy = value;
+            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float  grav = BSParam.Gravity * (1f - _buoyancy);
+            Gravity = new OMV.Vector3(0f, 0f, grav);
+            if (PhysBody.HasPhysicalBody)
+                PhysScene.PE.SetGravity(PhysBody, Gravity);
+        }
+    }
+
+    // Used for MoveTo
+    public override OMV.Vector3 PIDTarget {
+        set { _PIDTarget = value; }
+    }
+
+    public override bool PIDActive { get; set; }
+
+    public override float PIDTau {
+        set { _PIDTau = value; }
+    }
+
+    public override void AddForce(OMV.Vector3 force, bool pushforce)
+    {
+        // Since this force is being applied in only one step, make this a force per second.
+        OMV.Vector3 addForce = force / PhysScene.LastTimeStep;
+        AddForce(addForce, pushforce, false);
+    }
+    public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
+        if (force.IsFinite())
+        {
+            OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
+            // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
+
+            PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate()
+            {
+                // Bullet adds this central force to the total force for this tick
+                // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
+                if (PhysBody.HasPhysicalBody)
+                {
+                    PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
+                }
+            });
+        }
+        else
+        {
+            m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID);
+            return;
+        }
+    }
+
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
+    }
+    public override void SetMomentum(OMV.Vector3 momentum) {
+    }
+
+    private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
+    {
+        OMV.Vector3 newScale = size;
+
+        // Bullet's capsule total height is the "passed height + radius * 2";
+        // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
+        // The number we pass in for 'scaling' is the multiplier to get that base
+        //     shape to be the size desired.
+        // So, when creating the scale for the avatar height, we take the passed height
+        //     (size.Z) and remove the caps.
+        // An oddity of the Bullet capsule implementation is that it presumes the Y
+        //     dimension is the radius of the capsule. Even though some of the code allows
+        //     for a asymmetrical capsule, other parts of the code presume it is cylindrical.
+
+        // Scale is multiplier of radius with one of "0.5"
+
+        float heightAdjust = BSParam.AvatarHeightMidFudge;
+        if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
+        {
+            const float AVATAR_LOW = 1.1f;
+            const float AVATAR_MID = 1.775f; // 1.87f
+            const float AVATAR_HI = 2.45f;
+            // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
+            float midHeightOffset = size.Z - AVATAR_MID;
+            if (midHeightOffset < 0f)
+            {
+                // Small avatar. Add the adjustment based on the distance from midheight
+                heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
+            }
+            else
+            {
+                // Large avatar. Add the adjustment based on the distance from midheight
+                heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
+            }
+        }
+        if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
+        {
+            newScale.X = size.X / 2f;
+            newScale.Y = size.Y / 2f;
+            // The total scale height is the central cylindar plus the caps on the two ends.
+            newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
+        }
+        else
+        {
+            newScale.Z = size.Z + heightAdjust;
+        }
+        // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
+
+        // If smaller than the endcaps, just fake like we're almost that small
+        if (newScale.Z < 0)
+            newScale.Z = 0.1f;
+
+        DetailLog("{0},BSCharacter.ComputerAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
+            LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
+
+        return newScale;
+    }
+
+    // set _avatarVolume and _mass based on capsule size, _density and Scale
+    private void ComputeAvatarVolumeAndMass()
+    {
+        _avatarVolume = (float)(
+                        Math.PI
+                        * Size.X / 2f
+                        * Size.Y / 2f    // the area of capsule cylinder
+                        * Size.Z         // times height of capsule cylinder
+                      + 1.33333333f
+                        * Math.PI
+                        * Size.X / 2f
+                        * Math.Min(Size.X, Size.Y) / 2
+                        * Size.Y / 2f    // plus the volume of the capsule end caps
+                        );
+        _mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
+    }
+
+    // The physics engine says that properties have updated. Update same and inform
+    // the world that things have changed.
+    public override void UpdateProperties(EntityProperties entprop)
+    {
+        // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
+        TriggerPreUpdatePropertyAction(ref entprop);
+
+        RawPosition = entprop.Position;
+        RawOrientation = entprop.Rotation;
+
+        // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
+        //    and will send agent updates to the clients if velocity changes by more than
+        //    0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
+        //    extra updates.
+        //
+        // XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to 
+        // avatar movement rather than removes it.  The larger the threshold, the bigger the jitter.
+        // This is most noticeable in level flight and can be seen with
+        // the "show updates" option in a viewer.  With an update threshold, the RawVelocity cycles between a lower
+        // bound and an upper bound, where the difference between the two is enough to trigger a large delta v update
+        // and subsequently trigger an update in ScenePresence.SendTerseUpdateToAllClients().  The cause of this cycle (feedback?)
+        // has not yet been identified.
+        //
+        // If there is a threshold below 0.4 or no threshold check at all (as in ODE), then RawVelocity stays constant and extra
+        // updates are not triggered in ScenePresence.SendTerseUpdateToAllClients().
+//        if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
+            RawVelocity = entprop.Velocity;
+
+        _acceleration = entprop.Acceleration;
+        _rotationalVelocity = entprop.RotationalVelocity;
+
+        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
+        if (PositionSanityCheck(true))
+        {
+            DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition);
+            entprop.Position = RawPosition;
+        }
+
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
+
+        // Tell the linkset about value changes
+        // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
+
+        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
+        // PhysScene.PostUpdate(this);
+
+        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+                LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity);
+    }
+}
+}