1 files changed, 1896 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
new file mode 100644
index 0000000..a00991f
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
@@ -0,0 +1,1896 @@
+/*
+ * 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.Reflection;
+using System.Collections.Generic;
+using System.Xml;
+using log4net;
+using OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.ConvexDecompositionDotNet;
+using OpenSim.Region.OptionalModules.Scripting; // for ExtendedPhysics
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+    [Serializable]
+public class BSPrim : BSPhysObject
+{
+    protected static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS PRIM]";
+
+    // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
+    private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
+
+    private bool _grabbed;
+    private bool _isSelected;
+    private bool _isVolumeDetect;
+
+    private float _mass;    // the mass of this object
+    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 int CrossingFailures { get; set; }
+
+    // Keep a handle to the vehicle actor so it is easy to set parameters on same.
+    public const string VehicleActorName = "BasicVehicle";
+
+    // Parameters for the hover actor
+    public const string HoverActorName = "BSPrim.HoverActor";
+    // Parameters for the axis lock actor
+    public const String LockedAxisActorName = "BSPrim.LockedAxis";
+    // Parameters for the move to target actor
+    public const string MoveToTargetActorName = "BSPrim.MoveToTargetActor";
+    // Parameters for the setForce and setTorque actors
+    public const string SetForceActorName = "BSPrim.SetForceActor";
+    public const string SetTorqueActorName = "BSPrim.SetTorqueActor";
+
+    public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
+                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
+            : base(parent_scene, localID, primName, "BSPrim")
+    {
+        // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
+        _physicsActorType = (int)ActorTypes.Prim;
+        RawPosition = pos;
+        _size = size;
+        Scale = size;   // prims are the size the user wants them to be (different for BSCharactes).
+        RawOrientation = rotation;
+        _buoyancy = 0f;
+        RawVelocity = OMV.Vector3.Zero;
+        _rotationalVelocity = OMV.Vector3.Zero;
+        BaseShape = pbs;
+        _isPhysical = pisPhysical;
+        _isVolumeDetect = false;
+
+        _mass = CalculateMass();
+
+        DetailLog("{0},BSPrim.constructor,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(pbs));
+        // DetailLog("{0},BSPrim.constructor,call", LocalID);
+        // do the actual object creation at taint time
+        PhysScene.TaintedObject(LocalID, "BSPrim.create", delegate()
+        {
+            // Make sure the object is being created with some sanity.
+            ExtremeSanityCheck(true /* inTaintTime */);
+
+            CreateGeomAndObject(true);
+
+            CurrentCollisionFlags = PhysScene.PE.GetCollisionFlags(PhysBody);
+
+            IsInitialized = true;
+        });
+    }
+
+    // called when this prim is being destroyed and we should free all the resources
+    public override void Destroy()
+    {
+        // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
+        IsInitialized = false;
+
+        base.Destroy();
+
+        // Undo any vehicle properties
+        this.VehicleType = (int)Vehicle.TYPE_NONE;
+
+        PhysScene.TaintedObject(LocalID, "BSPrim.Destroy", delegate()
+        {
+            DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
+            // If there are physical body and shape, release my use of same.
+            PhysScene.Shapes.DereferenceBody(PhysBody, null);
+            PhysBody.Clear();
+            PhysShape.Dereference(PhysScene);
+            PhysShape = new BSShapeNull();
+        });
+    }
+
+    // No one uses this property.
+    public override bool Stopped {
+        get { return false; }
+    }
+
+    public override bool IsIncomplete {
+        get {
+            return ShapeRebuildScheduled;
+        }
+    }
+
+    // 'true' if this object's shape is in need of a rebuild and a rebuild has been queued.
+    // The prim is still available but its underlying shape will change soon.
+    // This is protected by a 'lock(this)'.
+    public bool ShapeRebuildScheduled { get; protected set; }
+
+    public override OMV.Vector3 Size {
+        get { return _size; }
+        set {
+            // We presume the scale and size are the same. If scale must be changed for
+            //     the physical shape, that is done when the geometry is built.
+            _size = value;
+            Scale = _size;
+            ForceBodyShapeRebuild(false);
+        }
+    }
+
+    public override PrimitiveBaseShape Shape {
+        set {
+            BaseShape = value;
+            DetailLog("{0},BSPrim.changeShape,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(BaseShape));
+            PrimAssetState = PrimAssetCondition.Unknown;
+            ForceBodyShapeRebuild(false);
+        }
+    }
+    // Cause the body and shape of the prim to be rebuilt if necessary.
+    // If there are no changes required, this is quick and does not make changes to the prim.
+    // If rebuilding is necessary (like changing from static to physical), that will happen.
+    // The 'ShapeRebuildScheduled' tells any checker that the body/shape may change shortly.
+    // The return parameter is not used by anyone.
+    public override bool ForceBodyShapeRebuild(bool inTaintTime)
+    {
+        if (inTaintTime)
+        {
+            // If called in taint time, do the operation immediately
+            _mass = CalculateMass();   // changing the shape changes the mass
+            CreateGeomAndObject(true);
+        }
+        else
+        {
+            lock (this)
+            {
+                // If a rebuild is not already in the queue
+                if (!ShapeRebuildScheduled)
+                {
+                    // Remember that a rebuild is queued -- this is used to flag an incomplete object
+                    ShapeRebuildScheduled = true;
+                    PhysScene.TaintedObject(LocalID, "BSPrim.ForceBodyShapeRebuild", delegate()
+                    {
+                        _mass = CalculateMass();   // changing the shape changes the mass
+                        CreateGeomAndObject(true);
+                        ShapeRebuildScheduled = false;
+                    });
+                }
+            }
+        }
+        return true;
+    }
+    public override bool Grabbed {
+        set { _grabbed = value;
+        }
+    }
+    public override bool Selected {
+        set
+        {
+            if (value != _isSelected)
+            {
+                _isSelected = value;
+                PhysScene.TaintedObject(LocalID, "BSPrim.setSelected", delegate()
+                {
+                    DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
+                    SetObjectDynamic(false);
+                });
+            }
+        }
+    }
+    public override bool IsSelected
+    {
+        get { return _isSelected; }
+    }
+
+    public override void CrossingFailure()
+    {
+        CrossingFailures++;
+        if (CrossingFailures > BSParam.CrossingFailuresBeforeOutOfBounds)
+        {
+            base.RaiseOutOfBounds(RawPosition);
+        }
+        else if (CrossingFailures == BSParam.CrossingFailuresBeforeOutOfBounds)
+        {
+            m_log.WarnFormat("{0} Too many crossing failures for {1}", LogHeader, Name);
+        }
+        return;
+    }
+
+    // link me to the specified parent
+    public override void link(PhysicsActor obj) {
+    }
+
+    // delink me from my linkset
+    public override void delink() {
+    }
+
+    // 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 in the physics engine
+        PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate()
+        {
+            if (PhysBody.HasPhysicalBody)
+                PhysScene.PE.ClearAllForces(PhysBody);
+        });
+    }
+    public override void ZeroAngularMotion(bool inTaintTime)
+    {
+        _rotationalVelocity = OMV.Vector3.Zero;
+        // Zero some other properties in the physics engine
+        PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate()
+        {
+            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
+                PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+            }
+        });
+    }
+
+    public override void LockAngularMotion(OMV.Vector3 axis)
+    {
+        DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
+
+        ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f);
+        if (axis.X != 1)
+        {
+            ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X, 0f, 0f);
+        }
+        if (axis.Y != 1)
+        {
+            ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y, 0f, 0f);
+        }
+        if (axis.Z != 1)
+        {
+            ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z, 0f, 0f);
+        }
+
+        InitializeAxisActor();
+
+        return;
+    }
+
+    public override OMV.Vector3 Position {
+        get {
+            // don't do the GetObjectPosition for root elements because this function is called a zillion times.
+            // RawPosition = ForcePosition;
+            return RawPosition;
+        }
+        set {
+            // If the position must be forced into the physics engine, use ForcePosition.
+            // All positions are given in world positions.
+            if (RawPosition == value)
+            {
+                DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
+                return;
+            }
+            RawPosition = value;
+            PositionSanityCheck(false);
+
+            PhysScene.TaintedObject(LocalID, "BSPrim.setPosition", delegate()
+            {
+                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
+                ForcePosition = RawPosition;
+            });
+        }
+    }
+
+    // NOTE: overloaded by BSPrimDisplaced to handle offset for center-of-gravity.
+    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);
+                ActivateIfPhysical(false);
+            }
+        }
+    }
+
+    // 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.
+    // Returns 'true' of the position was made sane by some action.
+    private bool PositionSanityCheck(bool inTaintTime)
+    {
+        bool ret = false;
+
+        // We don't care where non-physical items are placed
+        if (!IsPhysicallyActive)
+            return ret;
+
+        if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
+        {
+            // The physical object is out of the known/simulated area.
+            // Upper levels of code will handle the transition to other areas so, for
+            //     the time, we just ignore the position.
+            return ret;
+        }
+
+        float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
+        OMV.Vector3 upForce = OMV.Vector3.Zero;
+        float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z));
+        if ((RawPosition.Z + approxSize / 2f) < terrainHeight)
+        {
+            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
+            float targetHeight = terrainHeight + (Size.Z / 2f);
+            // If the object is below ground it just has to be moved up because pushing will
+            //     not get it through the terrain
+            RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, targetHeight);
+            if (inTaintTime)
+            {
+                ForcePosition = RawPosition;
+            }
+            // If we are throwing the object around, zero its other forces
+            ZeroMotion(inTaintTime);
+            ret = true;
+        }
+
+        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
+        {
+            float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
+            // TODO: a floating motor so object will bob in the water
+            if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
+            {
+                // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
+                upForce.Z = (waterHeight - RawPosition.Z) * 1f;
+
+                // Apply upforce and overcome gravity.
+                OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity;
+                DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce);
+                AddForce(correctionForce, false, inTaintTime);
+                ret = true;
+            }
+        }
+
+        return ret;
+    }
+
+    // Occasionally things will fly off and really get lost.
+    // Find the wanderers and bring them back.
+    // Return 'true' if some parameter need some sanity.
+    private bool ExtremeSanityCheck(bool inTaintTime)
+    {
+        bool ret = false;
+
+        int wayOverThere = -1000;
+        int wayOutThere = 10000;
+        // There have been instances of objects getting thrown way out of bounds and crashing
+        //    the border crossing code.
+        if (   RawPosition.X < wayOverThere || RawPosition.X > wayOutThere
+            || RawPosition.Y < wayOverThere || RawPosition.X > wayOutThere
+            || RawPosition.Z < wayOverThere || RawPosition.X > wayOutThere)
+        {
+            RawPosition = new OMV.Vector3(10, 10, 50);
+            ZeroMotion(inTaintTime);
+            ret = true;
+        }
+        if (RawVelocity.LengthSquared() > BSParam.MaxLinearVelocitySquared)
+        {
+            RawVelocity = Util.ClampV(RawVelocity, BSParam.MaxLinearVelocity);
+            ret = true;
+        }
+        if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
+        {
+            _rotationalVelocity = Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
+            ret = true;
+        }
+
+        return ret;
+    }
+
+    // Return the effective mass of the object.
+        // The definition of this call is to return the mass of the prim.
+        // If the simulator cares about the mass of the linkset, it will sum it itself.
+    public override float Mass
+    {
+        get { return _mass; }
+    }
+    // TotalMass returns the mass of the large object the prim may be in (overridden by linkset code)
+    public virtual float TotalMass
+    {
+        get { return _mass; }
+    }
+    // used when we only want this prim's mass and not the linkset thing
+    public override float RawMass {
+        get { return _mass; }
+    }
+    // Set the physical mass to the passed mass.
+    // Note that this does not change _mass!
+    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
+    {
+        if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
+        {
+            if (IsStatic)
+            {
+                PhysScene.PE.SetGravity(PhysBody, PhysScene.DefaultGravity);
+                Inertia = OMV.Vector3.Zero;
+                PhysScene.PE.SetMassProps(PhysBody, 0f, Inertia);
+                PhysScene.PE.UpdateInertiaTensor(PhysBody);
+            }
+            else
+            {
+                if (inWorld)
+                {
+                    // Changing interesting properties doesn't change proxy and collision cache
+                    //    information. The Bullet solution is to re-add the object to the world
+                    //    after parameters are changed.
+                    PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
+                }
+
+                // The computation of mass props requires gravity to be set on the object.
+                Gravity = ComputeGravity(Buoyancy);
+                PhysScene.PE.SetGravity(PhysBody, Gravity);
+
+                // OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo);   // DEBUG DEBUG
+                // DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo);   // DEBUG DEBUG
+
+                Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
+                PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia);
+                PhysScene.PE.UpdateInertiaTensor(PhysBody);
+
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}",
+                                            LocalID, physMass, Inertia, Gravity, inWorld);
+
+                if (inWorld)
+                {
+                    AddObjectToPhysicalWorld();
+                }
+            }
+        }
+    }
+
+    // Return what gravity should be set to this very moment
+    public OMV.Vector3 ComputeGravity(float buoyancy)
+    {
+        OMV.Vector3 ret = PhysScene.DefaultGravity;
+
+        if (!IsStatic)
+        {
+            ret *= (1f - buoyancy);
+            ret *= GravModifier;
+        }
+
+        return ret;
+    }
+
+    // Is this used?
+    public override OMV.Vector3 CenterOfMass
+    {
+        get { return RawPosition; }
+    }
+
+    // Is this used?
+    public override OMV.Vector3 GeometricCenter
+    {
+        get { return RawPosition; }
+    }
+
+    public override OMV.Vector3 Force {
+        get { return RawForce; }
+        set {
+            RawForce = value;
+            EnableActor(RawForce != OMV.Vector3.Zero, SetForceActorName, delegate()
+            {
+                return new BSActorSetForce(PhysScene, this, SetForceActorName);
+            });
+
+            // Call update so actor Refresh() is called to start things off
+            PhysScene.TaintedObject(LocalID, "BSPrim.setForce", delegate()
+            {
+                UpdatePhysicalParameters();
+            });
+        }
+    }
+
+    // Find and return a handle to the current vehicle actor.
+    // Return 'null' if there is no vehicle actor.
+    public BSDynamics GetVehicleActor(bool createIfNone)
+    {
+        BSDynamics ret = null;
+        BSActor actor;
+        if (PhysicalActors.TryGetActor(VehicleActorName, out actor))
+        {
+            ret = actor as BSDynamics;
+        }
+        else
+        {
+            if (createIfNone)
+            {
+                ret = new BSDynamics(PhysScene, this, VehicleActorName);
+                PhysicalActors.Add(ret.ActorName, ret);
+            }
+        }
+        return ret;
+    }
+
+    public override int VehicleType {
+        get {
+            int ret = (int)Vehicle.TYPE_NONE;
+            BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
+            if (vehicleActor != null)
+                ret = (int)vehicleActor.Type;
+            return ret;
+        }
+        set {
+            Vehicle type = (Vehicle)value;
+
+            PhysScene.TaintedObject(LocalID, "setVehicleType", delegate()
+            {
+                // Some vehicle scripts change vehicle type on the fly as an easy way to
+                //    change all the parameters. Like a plane changing to CAR when on the
+                //    ground. In this case, don't want to zero motion.
+                // ZeroMotion(true /* inTaintTime */);
+                if (type == Vehicle.TYPE_NONE)
+                {
+                    // Vehicle type is 'none' so get rid of any actor that may have been allocated.
+                    BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
+                    if (vehicleActor != null)
+                    {
+                        PhysicalActors.RemoveAndRelease(vehicleActor.ActorName);
+                    }
+                }
+                else
+                {
+                    // Vehicle type is not 'none' so create an actor and set it running.
+                    BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+                    if (vehicleActor != null)
+                    {
+                        vehicleActor.ProcessTypeChange(type);
+                        ActivateIfPhysical(false);
+                    }
+                }
+            });
+        }
+    }
+    public override void VehicleFloatParam(int param, float value)
+    {
+        PhysScene.TaintedObject(LocalID, "BSPrim.VehicleFloatParam", delegate()
+        {
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+            if (vehicleActor != null)
+            {
+                vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
+                ActivateIfPhysical(false);
+            }
+        });
+    }
+    public override void VehicleVectorParam(int param, OMV.Vector3 value)
+    {
+        PhysScene.TaintedObject(LocalID, "BSPrim.VehicleVectorParam", delegate()
+        {
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+            if (vehicleActor != null)
+            {
+                vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
+                ActivateIfPhysical(false);
+            }
+        });
+    }
+    public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
+    {
+        PhysScene.TaintedObject(LocalID, "BSPrim.VehicleRotationParam", delegate()
+        {
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+            if (vehicleActor != null)
+            {
+                vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
+                ActivateIfPhysical(false);
+            }
+        });
+    }
+    public override void VehicleFlags(int param, bool remove)
+    {
+        PhysScene.TaintedObject(LocalID, "BSPrim.VehicleFlags", delegate()
+        {
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+            if (vehicleActor != null)
+            {
+                vehicleActor.ProcessVehicleFlags(param, remove);
+            }
+        });
+    }
+
+    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
+    public override void SetVolumeDetect(int param) {
+        bool newValue = (param != 0);
+        if (_isVolumeDetect != newValue)
+        {
+            _isVolumeDetect = newValue;
+            PhysScene.TaintedObject(LocalID, "BSPrim.SetVolumeDetect", delegate()
+            {
+                // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
+                SetObjectDynamic(true);
+            });
+        }
+        return;
+    }
+    public override bool IsVolumeDetect
+    {
+        get { return _isVolumeDetect; }
+    }
+    public override void SetMaterial(int material)
+    {
+        base.SetMaterial(material);
+        PhysScene.TaintedObject(LocalID, "BSPrim.SetMaterial", delegate()
+        {
+            UpdatePhysicalParameters();
+        });
+    }
+    public override float Friction
+    {
+        get { return base.Friction; }
+        set
+        {
+            if (base.Friction != value)
+            {
+                base.Friction = value;
+                PhysScene.TaintedObject(LocalID, "BSPrim.setFriction", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float Restitution
+    {
+        get { return base.Restitution; }
+        set
+        {
+            if (base.Restitution != value)
+            {
+                base.Restitution = value;
+                PhysScene.TaintedObject(LocalID, "BSPrim.setRestitution", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    // The simulator/viewer keep density as 100kg/m3.
+    // Remember to use BSParam.DensityScaleFactor to create the physical density.
+    public override float Density
+    {
+        get { return base.Density; }
+        set
+        {
+            if (base.Density != value)
+            {
+                base.Density = value;
+                PhysScene.TaintedObject(LocalID, "BSPrim.setDensity", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float GravModifier
+    {
+        get { return base.GravModifier; }
+        set
+        {
+            if (base.GravModifier != value)
+            {
+                base.GravModifier = value;
+                PhysScene.TaintedObject(LocalID, "BSPrim.setGravityModifier", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override OMV.Vector3 Velocity {
+        get { return RawVelocity; }
+        set {
+            RawVelocity = value;
+            PhysScene.TaintedObject(LocalID, "BSPrim.setVelocity", delegate()
+            {
+                // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity);
+                ForceVelocity = RawVelocity;
+            });
+        }
+    }
+    public override OMV.Vector3 ForceVelocity {
+        get { return RawVelocity; }
+        set {
+            PhysScene.AssertInTaintTime("BSPrim.ForceVelocity");
+
+            RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, RawVelocity);
+                PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
+                ActivateIfPhysical(false);
+            }
+        }
+    }
+    public override OMV.Vector3 Torque {
+        get { return RawTorque; }
+        set {
+            RawTorque = value;
+            EnableActor(RawTorque != OMV.Vector3.Zero, SetTorqueActorName, delegate()
+            {
+                return new BSActorSetTorque(PhysScene, this, SetTorqueActorName);
+            });
+            DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, RawTorque);
+
+            // Call update so actor Refresh() is called to start things off
+            PhysScene.TaintedObject(LocalID, "BSPrim.setTorque", delegate()
+            {
+                UpdatePhysicalParameters();
+            });
+        }
+    }
+    public override OMV.Vector3 Acceleration {
+        get { return _acceleration; }
+        set { _acceleration = value; }
+    }
+
+    public override OMV.Quaternion Orientation {
+        get {
+            return RawOrientation;
+        }
+        set {
+            if (RawOrientation == value)
+                return;
+            RawOrientation = value;
+
+            PhysScene.TaintedObject(LocalID, "BSPrim.setOrientation", delegate()
+            {
+                ForceOrientation = RawOrientation;
+            });
+        }
+    }
+    // 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)
+                PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
+        }
+    }
+    public override int PhysicsActorType {
+        get { return _physicsActorType; }
+        set { _physicsActorType = value; }
+    }
+    public override bool IsPhysical {
+        get { return _isPhysical; }
+        set {
+            if (_isPhysical != value)
+            {
+                _isPhysical = value;
+                PhysScene.TaintedObject(LocalID, "BSPrim.setIsPhysical", delegate()
+                {
+                    DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
+                    SetObjectDynamic(true);
+                    // whether phys-to-static or static-to-phys, the object is not moving.
+                    ZeroMotion(true);
+
+                });
+            }
+        }
+    }
+
+    // An object is static (does not move) if selected or not physical
+    public override bool IsStatic
+    {
+        get { return _isSelected || !IsPhysical; }
+    }
+
+    // An object is solid if it's not phantom and if it's not doing VolumeDetect
+    public override bool IsSolid
+    {
+        get { return !IsPhantom && !_isVolumeDetect; }
+    }
+
+    // The object is moving and is actively being dynamic in the physical world
+    public override bool IsPhysicallyActive
+    {
+        get { return !_isSelected && IsPhysical; }
+    }
+
+    // Make gravity work if the object is physical and not selected
+    // Called at taint-time!!
+    private void SetObjectDynamic(bool forceRebuild)
+    {
+        // Recreate the physical object if necessary
+        CreateGeomAndObject(forceRebuild);
+    }
+
+    // Convert the simulator's physical properties into settings on BulletSim objects.
+    // There are four flags we're interested in:
+    //     IsStatic: Object does not move, otherwise the object has mass and moves
+    //     isSolid: other objects bounce off of this object
+    //     isVolumeDetect: other objects pass through but can generate collisions
+    //     collisionEvents: whether this object returns collision events
+    // NOTE: overloaded by BSPrimLinkable to also update linkset physical parameters.
+    public virtual void UpdatePhysicalParameters()
+    {
+        if (!PhysBody.HasPhysicalBody)
+        {
+            // This would only happen if updates are called for during initialization when the body is not set up yet.
+            // DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID);
+            return;
+        }
+
+        // Mangling all the physical properties requires the object not be in the physical world.
+        // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
+        PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
+
+        // Set up the object physicalness (does gravity and collisions move this object)
+        MakeDynamic(IsStatic);
+
+        // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
+        PhysicalActors.Refresh();
+
+        // Arrange for collision events if the simulator wants them
+        EnableCollisions(SubscribedEvents());
+
+        // Make solid or not (do things bounce off or pass through this object).
+        MakeSolid(IsSolid);
+
+        AddObjectToPhysicalWorld();
+
+        // Rebuild its shape
+        PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody);
+
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
+                                    LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(),
+                                    CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
+    }
+
+    // "Making dynamic" means changing to and from static.
+    // When static, gravity does not effect the object and it is fixed in space.
+    // When dynamic, the object can fall and be pushed by others.
+    // This is independent of its 'solidness' which controls what passes through
+    //    this object and what interacts with it.
+    protected virtual void MakeDynamic(bool makeStatic)
+    {
+        if (makeStatic)
+        {
+            // Become a Bullet 'static' object type
+            CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
+            // Stop all movement
+            ZeroMotion(true);
+
+            // Set various physical properties so other object interact properly
+            PhysScene.PE.SetFriction(PhysBody, Friction);
+            PhysScene.PE.SetRestitution(PhysBody, Restitution);
+            PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
+
+            // Mass is zero which disables a bunch of physics stuff in Bullet
+            UpdatePhysicalMassProperties(0f, false);
+            // Set collision detection parameters
+            if (BSParam.CcdMotionThreshold > 0f)
+            {
+                PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
+            }
+
+            // The activation state is 'disabled' so Bullet will not try to act on it.
+            // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
+            // Start it out sleeping and physical actions could wake it up.
+            PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
+
+            // This collides like a static object
+            PhysBody.collisionType = CollisionType.Static;
+        }
+        else
+        {
+            // Not a Bullet static object
+            CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
+
+            // Set various physical properties so other object interact properly
+            PhysScene.PE.SetFriction(PhysBody, Friction);
+            PhysScene.PE.SetRestitution(PhysBody, Restitution);
+            // DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution);
+
+            // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
+            // Since this can be called multiple times, only zero forces when becoming physical
+            // PhysicsScene.PE.ClearAllForces(BSBody);
+
+            // For good measure, make sure the transform is set through to the motion state
+            ForcePosition = RawPosition;
+            ForceVelocity = RawVelocity;
+            ForceRotationalVelocity = _rotationalVelocity;
+
+            // A dynamic object has mass
+            UpdatePhysicalMassProperties(RawMass, false);
+
+            // Set collision detection parameters
+            if (BSParam.CcdMotionThreshold > 0f)
+            {
+                PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
+            }
+
+            // Various values for simulation limits
+            PhysScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
+            PhysScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
+            PhysScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
+            PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
+
+            // This collides like an object.
+            PhysBody.collisionType = CollisionType.Dynamic;
+
+            // Force activation of the object so Bullet will act on it.
+            // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
+            PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
+        }
+    }
+
+    // "Making solid" means that other object will not pass through this object.
+    // To make transparent, we create a Bullet ghost object.
+    // Note: This expects to be called from the UpdatePhysicalParameters() routine as
+    //     the functions after this one set up the state of a possibly newly created collision body.
+    private void MakeSolid(bool makeSolid)
+    {
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysScene.PE.GetBodyType(PhysBody);
+        if (makeSolid)
+        {
+            // Verify the previous code created the correct shape for this type of thing.
+            if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
+            {
+                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
+            }
+            CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+        }
+        else
+        {
+            if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
+            {
+                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
+            }
+            CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+
+            // Change collision info from a static object to a ghosty collision object
+            PhysBody.collisionType = CollisionType.VolumeDetect;
+        }
+    }
+
+    // Turn on or off the flag controlling whether collision events are returned to the simulator.
+    private void EnableCollisions(bool wantsCollisionEvents)
+    {
+        if (wantsCollisionEvents)
+        {
+            CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
+        else
+        {
+            CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
+    }
+
+    // Add me to the physical world.
+    // Object MUST NOT already be in the world.
+    // This routine exists because some assorted properties get mangled by adding to the world.
+    internal void AddObjectToPhysicalWorld()
+    {
+        if (PhysBody.HasPhysicalBody)
+        {
+            PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody);
+        }
+        else
+        {
+            m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
+            DetailLog("{0},BSPrim.AddObjectToPhysicalWorld,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
+        }
+    }
+
+    // prims don't fly
+    public override bool Flying {
+        get { return _flying; }
+        set {
+            _flying = value;
+        }
+    }
+    public override bool SetAlwaysRun {
+        get { return _setAlwaysRun; }
+        set { _setAlwaysRun = value; }
+    }
+    public override bool ThrottleUpdates {
+        get { return _throttleUpdates; }
+        set { _throttleUpdates = value; }
+    }
+    public bool IsPhantom {
+        get {
+            // SceneObjectPart removes phantom objects from the physics scene
+            // so, although we could implement touching and such, we never
+            // are invoked as a phantom object
+            return false;
+        }
+    }
+    public override bool FloatOnWater {
+        set {
+            _floatOnWater = value;
+            PhysScene.TaintedObject(LocalID, "BSPrim.setFloatOnWater", delegate()
+            {
+                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;
+            Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
+            // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
+            PhysScene.TaintedObject(LocalID, "BSPrim.setRotationalVelocity", delegate()
+            {
+                ForceRotationalVelocity = _rotationalVelocity;
+            });
+        }
+    }
+    public override OMV.Vector3 ForceRotationalVelocity {
+        get {
+            return _rotationalVelocity;
+        }
+        set {
+            _rotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+                // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
+                ActivateIfPhysical(false);
+            }
+        }
+    }
+    public override bool Kinematic {
+        get { return _kinematic; }
+        set { _kinematic = value;
+            // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
+        }
+    }
+    public override float Buoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            PhysScene.TaintedObject(LocalID, "BSPrim.setBuoyancy", delegate()
+            {
+                ForceBuoyancy = _buoyancy;
+            });
+        }
+    }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Force the recalculation of the various inertia,etc variables in the object
+            UpdatePhysicalMassProperties(RawMass, true);
+            DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2},grav={3}", LocalID, _buoyancy, RawMass, Gravity);
+            ActivateIfPhysical(false);
+        }
+    }
+
+    public override bool PIDActive 
+    {
+        get
+        {
+            return MoveToTargetActive;
+        }
+
+        set 
+        {
+            MoveToTargetActive = value;
+
+            EnableActor(MoveToTargetActive, MoveToTargetActorName, delegate()
+            {
+                return new BSActorMoveToTarget(PhysScene, this, MoveToTargetActorName);
+            });
+
+            // Call update so actor Refresh() is called to start things off
+            PhysScene.TaintedObject(LocalID, "BSPrim.PIDActive", delegate()
+            {
+                UpdatePhysicalParameters();
+            });
+        }
+    }
+
+    public override OMV.Vector3 PIDTarget
+    {
+        set
+        {
+            base.PIDTarget = value;
+            BSActor actor;
+            if (PhysicalActors.TryGetActor(MoveToTargetActorName, out actor))
+            {
+                // if the actor exists, tell it to refresh its values.
+                actor.Refresh();
+            }
+            
+        }
+    }
+    // Used for llSetHoverHeight and maybe vehicle height
+    // Hover Height will override MoveTo target's Z
+    public override bool PIDHoverActive {
+        set {
+            base.HoverActive = value;
+            EnableActor(HoverActive, HoverActorName, delegate()
+            {
+                return new BSActorHover(PhysScene, this, HoverActorName);
+            });
+
+            // Call update so actor Refresh() is called to start things off
+            PhysScene.TaintedObject(LocalID, "BSPrim.PIDHoverActive", delegate()
+            {
+                UpdatePhysicalParameters();
+            });
+        }
+    }
+
+    public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        // Per documentation, max force is limited.
+        OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
+
+        // Since this force is being applied in only one step, make this a force per second.
+        addForce /= PhysScene.LastTimeStep;
+        AddForce(addForce, pushforce, false /* inTaintTime */);
+    }
+
+    // Applying a force just adds this to the total force on the object.
+    // This added force will only last the next simulation tick.
+    public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
+        // for an object, doesn't matter if force is a pushforce or not
+        if (IsPhysicallyActive)
+        {
+            if (force.IsFinite())
+            {
+                // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
+
+                OMV.Vector3 addForce = force;
+                PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddForce", delegate()
+                {
+                    // Bullet adds this central force to the total force for this tick.
+                    // Deep down in Bullet:
+                    //      linearVelocity += totalForce / mass * timeStep;
+                    DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
+                    if (PhysBody.HasPhysicalBody)
+                    {
+                        PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
+                        ActivateIfPhysical(false);
+                    }
+                });
+            }
+            else
+            {
+                m_log.WarnFormat("{0}: AddForce: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
+                return;
+            }
+        }
+    }
+
+    public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
+        // for an object, doesn't matter if force is a pushforce or not
+        if (!IsPhysicallyActive)
+        {
+            if (impulse.IsFinite())
+            {
+                OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude);
+                // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
+
+                PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddImpulse", delegate()
+                {
+                    // Bullet adds this impulse immediately to the velocity
+                    DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse);
+                    if (PhysBody.HasPhysicalBody)
+                    {
+                        PhysScene.PE.ApplyCentralImpulse(PhysBody, addImpulse);
+                        ActivateIfPhysical(false);
+                    }
+                });
+            }
+            else
+            {
+                m_log.WarnFormat("{0}: AddForceImpulse: Got a NaN impulse applied to a prim. LocalID={1}", LogHeader, LocalID);
+                return;
+            }
+        }
+    }
+
+    // BSPhysObject.AddAngularForce()
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
+    {
+        if (force.IsFinite())
+        {
+            OMV.Vector3 angForce = force;
+            PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddAngularForce", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                {
+                    DetailLog("{0},BSPrim.AddAngularForce,taint,angForce={1}", LocalID, angForce);
+                    PhysScene.PE.ApplyTorque(PhysBody, angForce);
+                    ActivateIfPhysical(false);
+                }
+            });
+        }
+        else
+        {
+            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
+            return;
+        }
+    }
+
+    // A torque impulse.
+    // ApplyTorqueImpulse adds torque directly to the angularVelocity.
+    // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
+    // Computed as: angularVelocity += impulse * inertia;
+    public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
+    {
+        OMV.Vector3 applyImpulse = impulse;
+        PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ApplyTorqueImpulse", delegate()
+        {
+            if (PhysBody.HasPhysicalBody)
+            {
+                PhysScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
+                ActivateIfPhysical(false);
+            }
+        });
+    }
+
+    public override void SetMomentum(OMV.Vector3 momentum) {
+        // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
+    }
+    #region Mass Calculation
+
+    private float CalculateMass()
+    {
+        float volume = _size.X * _size.Y * _size.Z; // default
+        float tmp;
+
+        float returnMass = 0;
+        float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
+        float hollowVolume = hollowAmount * hollowAmount;
+
+        switch (BaseShape.ProfileShape)
+        {
+            case ProfileShape.Square:
+                // default box
+
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
+                    {
+                    if (hollowAmount > 0.0)
+                        {
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Square:
+                            case HollowShape.Same:
+                                break;
+
+                            case HollowShape.Circle:
+
+                                hollowVolume *= 0.78539816339f;
+                                break;
+
+                            case HollowShape.Triangle:
+
+                                hollowVolume *= (0.5f * .5f);
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                    //a tube
+
+                    volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
+                    tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
+                    volume -= volume*tmp*tmp;
+
+                    if (hollowAmount > 0.0)
+                        {
+                        hollowVolume *= hollowAmount;
+
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Square:
+                            case HollowShape.Same:
+                                break;
+
+                            case HollowShape.Circle:
+                                hollowVolume *= 0.78539816339f;;
+                                break;
+
+                            case HollowShape.Triangle:
+                                hollowVolume *= 0.5f * 0.5f;
+                                break;
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                break;
+
+            case ProfileShape.Circle:
+
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
+                    {
+                    volume *= 0.78539816339f; // elipse base
+
+                    if (hollowAmount > 0.0)
+                        {
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Circle:
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.5f * 2.5984480504799f;
+                                break;
+
+                            case HollowShape.Triangle:
+                                hollowVolume *= .5f * 1.27323954473516f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
+                    volume *= (1.0f - tmp * tmp);
+
+                    if (hollowAmount > 0.0)
+                        {
+
+                        // calculate the hollow volume by it's shape compared to the prim shape
+                        hollowVolume *= hollowAmount;
+
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Circle:
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.5f * 2.5984480504799f;
+                                break;
+
+                            case HollowShape.Triangle:
+                                hollowVolume *= .5f * 1.27323954473516f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                break;
+
+            case ProfileShape.HalfCircle:
+                if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
+                {
+                volume *= 0.52359877559829887307710723054658f;
+                }
+                break;
+
+            case ProfileShape.EquilateralTriangle:
+
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
+                    {
+                    volume *= 0.32475953f;
+
+                    if (hollowAmount > 0.0)
+                        {
+
+                        // calculate the hollow volume by it's shape compared to the prim shape
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Triangle:
+                                hollowVolume *= .25f;
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.499849f * 3.07920140172638f;
+                                break;
+
+                            case HollowShape.Circle:
+                                // Hollow shape is a perfect cyllinder in respect to the cube's scale
+                                // Cyllinder hollow volume calculation
+
+                                hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                    volume *= 0.32475953f;
+                    volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
+                    volume *= (1.0f - tmp * tmp);
+
+                    if (hollowAmount > 0.0)
+                        {
+
+                        hollowVolume *= hollowAmount;
+
+                        switch (BaseShape.HollowShape)
+                            {
+                            case HollowShape.Same:
+                            case HollowShape.Triangle:
+                                hollowVolume *= .25f;
+                                break;
+
+                            case HollowShape.Square:
+                                hollowVolume *= 0.499849f * 3.07920140172638f;
+                                break;
+
+                            case HollowShape.Circle:
+
+                                hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                break;
+
+                            default:
+                                hollowVolume = 0;
+                                break;
+                            }
+                        volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+
+            default:
+                break;
+            }
+
+
+
+        float taperX1;
+        float taperY1;
+        float taperX;
+        float taperY;
+        float pathBegin;
+        float pathEnd;
+        float profileBegin;
+        float profileEnd;
+
+        if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
+            {
+            taperX1 = BaseShape.PathScaleX * 0.01f;
+            if (taperX1 > 1.0f)
+                taperX1 = 2.0f - taperX1;
+            taperX = 1.0f - taperX1;
+
+            taperY1 = BaseShape.PathScaleY * 0.01f;
+            if (taperY1 > 1.0f)
+                taperY1 = 2.0f - taperY1;
+            taperY = 1.0f - taperY1;
+            }
+        else
+            {
+            taperX = BaseShape.PathTaperX * 0.01f;
+            if (taperX < 0.0f)
+                taperX = -taperX;
+            taperX1 = 1.0f - taperX;
+
+            taperY = BaseShape.PathTaperY * 0.01f;
+            if (taperY < 0.0f)
+                taperY = -taperY;
+            taperY1 = 1.0f - taperY;
+
+            }
+
+
+        volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
+
+        pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
+        pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
+        volume *= (pathEnd - pathBegin);
+
+        // this is crude aproximation
+        profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
+        profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
+        volume *= (profileEnd - profileBegin);
+
+        returnMass = Density * BSParam.DensityScaleFactor * volume;
+
+        returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
+        // DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
+        DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3},pathB={4},pathE={5},profB={6},profE={7},siz={8}",
+                            LocalID, Density, volume, returnMass, pathBegin, pathEnd, profileBegin, profileEnd, _size);
+
+        return returnMass;
+    }// end CalculateMass
+    #endregion Mass Calculation
+
+    // Rebuild the geometry and object.
+    // This is called when the shape changes so we need to recreate the mesh/hull.
+    // Called at taint-time!!!
+    public void CreateGeomAndObject(bool forceRebuild)
+    {
+        // Create the correct physical representation for this type of object.
+        // Updates base.PhysBody and base.PhysShape with the new information.
+        // Ignore 'forceRebuild'. 'GetBodyAndShape' makes the right choices and changes of necessary.
+        PhysScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysScene.World, this, delegate(BulletBody pBody, BulletShape pShape)
+        {
+            // Called if the current prim body is about to be destroyed.
+            // Remove all the physical dependencies on the old body.
+            // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
+            // Note: this virtual function is overloaded by BSPrimLinkable to remove linkset constraints.
+            RemoveDependencies();
+        });
+
+        // Make sure the properties are set on the new object
+        UpdatePhysicalParameters();
+        return;
+    }
+
+    // Called at taint-time
+    protected virtual void RemoveDependencies()
+    {
+        PhysicalActors.RemoveDependencies();
+    }
+
+    #region Extension
+    public override object Extension(string pFunct, params object[] pParams)
+    {
+        DetailLog("{0} BSPrim.Extension,op={1}", LocalID, pFunct);
+        object ret = null;
+        switch (pFunct)
+        {
+            case ExtendedPhysics.PhysFunctAxisLockLimits:
+                ret = SetAxisLockLimitsExtension(pParams);
+                break;
+            default:
+                ret = base.Extension(pFunct, pParams);
+                break;
+        }
+        return ret;
+    }
+
+    private void InitializeAxisActor()
+    {
+        EnableActor(LockedAngularAxis != LockedAxisFree || LockedLinearAxis != LockedAxisFree,
+                                    LockedAxisActorName, delegate()
+        {
+            return new BSActorLockAxis(PhysScene, this, LockedAxisActorName);
+        });
+
+        // Update parameters so the new actor's Refresh() action is called at the right time.
+        PhysScene.TaintedObject(LocalID, "BSPrim.LockAxis", delegate()
+        {
+            UpdatePhysicalParameters();
+        });
+    }
+
+    // Passed an array of an array of parameters, set the axis locking.
+    // This expects an int (PHYS_AXIS_*) followed by none or two limit floats
+    //    followed by another int and floats, etc.
+    private object SetAxisLockLimitsExtension(object[] pParams)
+    {
+        DetailLog("{0} SetAxisLockLimitsExtension. parmlen={1}", LocalID, pParams.GetLength(0));
+        object ret = null;
+        try
+        {
+            if (pParams.GetLength(0) > 1)
+            {
+                int index = 2;
+                while (index < pParams.GetLength(0))
+                {
+                    var funct = pParams[index];
+                    DetailLog("{0} SetAxisLockLimitsExtension. op={1}, index={2}", LocalID, funct, index);
+                    if (funct is Int32 || funct is Int64)
+                    {
+                        switch ((int)funct)
+                        {
+                            // Those that take no parameters
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR:
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X:
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y:
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z:
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR:
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X:
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y:
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z:
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR:
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X:
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y:
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z:
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR:
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X:
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y:
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z:
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK:
+                                ApplyAxisLimits((int)funct, 0f, 0f);
+                                index += 1;
+                                break;
+                            // Those that take two parameters (the limits)
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X:
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y:
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z:
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X:
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y:
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z:
+                                ApplyAxisLimits((int)funct, (float)pParams[index + 1], (float)pParams[index + 2]);
+                                index += 3;
+                                break;
+                            default:
+                                m_log.WarnFormat("{0} SetSxisLockLimitsExtension. Unknown op={1}", LogHeader, funct);
+                                index += 1;
+                                break;
+                        }
+                    }
+                }
+                InitializeAxisActor();
+                ret = (object)index;
+            }
+        }
+        catch (Exception e)
+        {
+            m_log.WarnFormat("{0} SetSxisLockLimitsExtension exception in object {1}: {2}", LogHeader, this.Name, e);
+            ret = null;
+        }
+        return ret;    // not implemented yet
+    }
+
+        // Set the locking parameters.
+        // If an axis is locked, the limits for the axis are set to zero,
+        // If the axis is being constrained, the high and low value are passed and set.
+        // When done here, LockedXXXAxis flags are set and LockedXXXAxixLow/High are set to the range.
+    protected void ApplyAxisLimits(int funct, float low, float high)
+    {
+        DetailLog("{0} ApplyAxisLimits. op={1}, low={2}, high={3}", LocalID, funct, low, high);
+        float linearMax = 23000f;
+        float angularMax = (float)Math.PI;
+
+        switch (funct)
+        {
+            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR:
+                this.LockedLinearAxis = new OMV.Vector3(LockedAxis, LockedAxis, LockedAxis);
+                this.LockedLinearAxisLow = OMV.Vector3.Zero;
+                this.LockedLinearAxisHigh = OMV.Vector3.Zero;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X:
+                this.LockedLinearAxis.X = LockedAxis;
+                this.LockedLinearAxisLow.X = 0f;
+                this.LockedLinearAxisHigh.X = 0f;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X:
+                this.LockedLinearAxis.X = LockedAxis;
+                this.LockedLinearAxisLow.X = Util.Clip(low, -linearMax, linearMax);
+                this.LockedLinearAxisHigh.X = Util.Clip(high, -linearMax, linearMax);
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y:
+                this.LockedLinearAxis.Y = LockedAxis;
+                this.LockedLinearAxisLow.Y = 0f;
+                this.LockedLinearAxisHigh.Y = 0f;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y:
+                this.LockedLinearAxis.Y = LockedAxis;
+                this.LockedLinearAxisLow.Y = Util.Clip(low, -linearMax, linearMax);
+                this.LockedLinearAxisHigh.Y = Util.Clip(high, -linearMax, linearMax);
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z:
+                this.LockedLinearAxis.Z = LockedAxis;
+                this.LockedLinearAxisLow.Z = 0f;
+                this.LockedLinearAxisHigh.Z = 0f;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z:
+                this.LockedLinearAxis.Z = LockedAxis;
+                this.LockedLinearAxisLow.Z = Util.Clip(low, -linearMax, linearMax);
+                this.LockedLinearAxisHigh.Z = Util.Clip(high, -linearMax, linearMax);
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR:
+                this.LockedAngularAxis = new OMV.Vector3(LockedAxis, LockedAxis, LockedAxis);
+                this.LockedAngularAxisLow = OMV.Vector3.Zero;
+                this.LockedAngularAxisHigh = OMV.Vector3.Zero;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X:
+                this.LockedAngularAxis.X = LockedAxis;
+                this.LockedAngularAxisLow.X = 0;
+                this.LockedAngularAxisHigh.X = 0;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X:
+                this.LockedAngularAxis.X = LockedAxis;
+                this.LockedAngularAxisLow.X = Util.Clip(low, -angularMax, angularMax);
+                this.LockedAngularAxisHigh.X = Util.Clip(high, -angularMax, angularMax);
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y:
+                this.LockedAngularAxis.Y = LockedAxis;
+                this.LockedAngularAxisLow.Y = 0;
+                this.LockedAngularAxisHigh.Y = 0;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y:
+                this.LockedAngularAxis.Y = LockedAxis;
+                this.LockedAngularAxisLow.Y = Util.Clip(low, -angularMax, angularMax);
+                this.LockedAngularAxisHigh.Y = Util.Clip(high, -angularMax, angularMax);
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z:
+                this.LockedAngularAxis.Z = LockedAxis;
+                this.LockedAngularAxisLow.Z = 0;
+                this.LockedAngularAxisHigh.Z = 0;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z:
+                this.LockedAngularAxis.Z = LockedAxis;
+                this.LockedAngularAxisLow.Z = Util.Clip(low, -angularMax, angularMax);
+                this.LockedAngularAxisHigh.Z = Util.Clip(high, -angularMax, angularMax);
+                break;
+            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR:
+                this.LockedLinearAxis = LockedAxisFree;
+                this.LockedLinearAxisLow = new OMV.Vector3(-linearMax, -linearMax, -linearMax);
+                this.LockedLinearAxisHigh = new OMV.Vector3(linearMax, linearMax, linearMax);
+                break;
+            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X:
+                this.LockedLinearAxis.X = FreeAxis;
+                this.LockedLinearAxisLow.X = -linearMax;
+                this.LockedLinearAxisHigh.X = linearMax;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y:
+                this.LockedLinearAxis.Y = FreeAxis;
+                this.LockedLinearAxisLow.Y = -linearMax;
+                this.LockedLinearAxisHigh.Y = linearMax;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z:
+                this.LockedLinearAxis.Z = FreeAxis;
+                this.LockedLinearAxisLow.Z = -linearMax;
+                this.LockedLinearAxisHigh.Z = linearMax;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR:
+                this.LockedAngularAxis = LockedAxisFree;
+                this.LockedAngularAxisLow = new OMV.Vector3(-angularMax, -angularMax, -angularMax);
+                this.LockedAngularAxisHigh = new OMV.Vector3(angularMax, angularMax, angularMax);
+                break;
+            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X:
+                this.LockedAngularAxis.X = FreeAxis;
+                this.LockedAngularAxisLow.X = -angularMax;
+                this.LockedAngularAxisHigh.X = angularMax;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y:
+                this.LockedAngularAxis.Y = FreeAxis;
+                this.LockedAngularAxisLow.Y = -angularMax;
+                this.LockedAngularAxisHigh.Y = angularMax;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z:
+                this.LockedAngularAxis.Z = FreeAxis;
+                this.LockedAngularAxisLow.Z = -angularMax;
+                this.LockedAngularAxisHigh.Z = angularMax;
+                break;
+            case ExtendedPhysics.PHYS_AXIS_UNLOCK:
+                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR, 0f, 0f);
+                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f);
+                break;
+            default:
+                break;
+        }
+        return;
+    }
+    #endregion  // Extension
+
+    // The physics engine says that properties have updated. Update same and inform
+    // the world that things have changed.
+    // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims.
+    // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimDisplaced which handles mapping physical position to simulator position.
+    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);
+
+        // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+
+        // Assign directly to the local variables so the normal set actions do not happen
+        RawPosition = entprop.Position;
+        RawOrientation = entprop.Rotation;
+        // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
+        //    very sensitive to velocity changes.
+        if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold))
+            RawVelocity = entprop.Velocity;
+        _acceleration = entprop.Acceleration;
+        _rotationalVelocity = entprop.RotationalVelocity;
+
+        // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+
+        // The sanity check can change the velocity and/or position.
+        if (PositionSanityCheck(true /* inTaintTime */ ))
+        {
+            entprop.Position = RawPosition;
+            entprop.Velocity = RawVelocity;
+            entprop.RotationalVelocity = _rotationalVelocity;
+            entprop.Acceleration = _acceleration;
+        }
+
+        OMV.Vector3 direction = OMV.Vector3.UnitX * RawOrientation;   // DEBUG DEBUG DEBUG
+        DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
+
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
+
+        PhysScene.PostUpdate(this);
+    }
+}
+}