2 files changed, 302 insertions, 291 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
index b4af126..5f74a14 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -1,168 +1,171 @@
-/*

- * 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.Linq;

-using System.Text;

-

-using OMV = OpenMetaverse;

-

-namespace OpenSim.Region.Physics.BulletSPlugin

-{

-public class BSActorLockAxis : BSActor

-{

-    bool TryExperimentalLockAxisCode = false;

-    BSConstraint LockAxisConstraint = null;

-

-    public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)

-        : base(physicsScene, pObj,actorName)

-    {

-        LockAxisConstraint = null;

-    }

-

-    // BSActor.isActive

-    public override bool isActive

-    {

-        get { return Enabled && Prim.IsPhysicallyActive; }

-    }

-

-    // Release any connections and resources used by the actor.

-    // BSActor.Release()

-    public override void Release()

-    {

-        RemoveAxisLockConstraint();

-    }

-

-    // Called when physical parameters (properties set in Bullet) need to be re-applied.

-    // Called at taint-time.

-    // BSActor.Refresh()

-    public override void Refresh()

-    {

-        // If all the axis are free, we don't need to exist

-        if (Prim.LockedAxis == Prim.LockedAxisFree)

-        {

-            Prim.PhysicalActors.RemoveAndRelease(ActorName);

-            return;

-        }

-        // If the object is physically active, add the axis locking constraint

-        if (Enabled

-                && Prim.IsPhysicallyActive

-                && TryExperimentalLockAxisCode

-                && Prim.LockedAxis != Prim.LockedAxisFree)

-        {

-            if (LockAxisConstraint != null)

-                AddAxisLockConstraint();

-        }

-        else

-        {

-            RemoveAxisLockConstraint();

-        }

-    }

-

-    // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).

-    //     Register a prestep action to restore physical requirements before the next simulation step.

-    // Called at taint-time.

-    // BSActor.RemoveBodyDependencies()

-    public override void RemoveBodyDependencies()

-    {

-        if (LockAxisConstraint != null)

-        {

-            // If a constraint is set up, remove it from the physical scene

-            RemoveAxisLockConstraint();

-            // Schedule a call before the next simulation step to restore the constraint.

-            PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate()

-            {

-                Refresh();

-            });

-        }

-    }

-

-    private void AddAxisLockConstraint()

-    {

-        // Lock that axis by creating a 6DOF constraint that has one end in the world and

-        //    the other in the object.

-        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817

-        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380

-

-        // Remove any existing axis constraint (just to be sure)

-        RemoveAxisLockConstraint();

-

-        BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, 

-                            OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation),

-                            true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);

-        LockAxisConstraint = axisConstrainer;

-        PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);

-

-        // The constraint is tied to the world and oriented to the prim.

-

-        // Free to move linearly

-        OMV.Vector3 linearLow = OMV.Vector3.Zero;

-        OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;

-        axisConstrainer.SetLinearLimits(linearLow, linearHigh);

-

-        // Angular with some axis locked

-        float f2PI = (float)Math.PI * 2f;

-        OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);

-        OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);

-        if (Prim.LockedAxis.X != 1f)

-        {

-            angularLow.X = 0f;

-            angularHigh.X = 0f;

-        }

-        if (Prim.LockedAxis.Y != 1f)

-        {

-            angularLow.Y = 0f;

-            angularHigh.Y = 0f;

-        }

-        if (Prim.LockedAxis.Z != 1f)

-        {

-            angularLow.Z = 0f;

-            angularHigh.Z = 0f;

-        }

-        axisConstrainer.SetAngularLimits(angularLow, angularHigh);

-

-        PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",

-                                    Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh);

-

-        // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.

-        axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);

-

-        axisConstrainer.RecomputeConstraintVariables(Prim.RawMass);

-    }

-

-    private void RemoveAxisLockConstraint()

-    {

-        if (LockAxisConstraint != null)

-        {

-            PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);

-            LockAxisConstraint = null;

-            PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID);

-        }

-    }

-}

-}

+/*
+ * 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.Linq;
+using System.Text;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorLockAxis : BSActor
+{
+    bool TryExperimentalLockAxisCode = false;
+    BSConstraint LockAxisConstraint = null;
+
+    public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
+        : base(physicsScene, pObj,actorName)
+    {
+        PhysicsScene.DetailLog("{0},BSActorLockAxis,constructor", Prim.LocalID);
+        LockAxisConstraint = null;
+    }
+
+    // BSActor.isActive
+    public override bool isActive
+    {
+        get { return Enabled && Prim.IsPhysicallyActive; }
+    }
+
+    // Release any connections and resources used by the actor.
+    // BSActor.Dispose()
+    public override void Dispose()
+    {
+        RemoveAxisLockConstraint();
+    }
+
+    // Called when physical parameters (properties set in Bullet) need to be re-applied.
+    // Called at taint-time.
+    // BSActor.Refresh()
+    public override void Refresh()
+    {
+        PhysicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", 
+                                    Prim.LocalID, Prim.LockedAxis, Enabled, Prim.IsPhysicallyActive);
+        // If all the axis are free, we don't need to exist
+        if (Prim.LockedAxis == Prim.LockedAxisFree)
+        {
+            Prim.PhysicalActors.RemoveAndRelease(ActorName);
+            return;
+        }
+        // If the object is physically active, add the axis locking constraint
+        if (Enabled
+                && Prim.IsPhysicallyActive
+                && TryExperimentalLockAxisCode
+                && Prim.LockedAxis != Prim.LockedAxisFree)
+        {
+            if (LockAxisConstraint != null)
+                AddAxisLockConstraint();
+        }
+        else
+        {
+            RemoveAxisLockConstraint();
+        }
+    }
+
+    // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+    //     Register a prestep action to restore physical requirements before the next simulation step.
+    // Called at taint-time.
+    // BSActor.RemoveBodyDependencies()
+    public override void RemoveBodyDependencies()
+    {
+        if (LockAxisConstraint != null)
+        {
+            // If a constraint is set up, remove it from the physical scene
+            RemoveAxisLockConstraint();
+            // Schedule a call before the next simulation step to restore the constraint.
+            PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate()
+            {
+                Refresh();
+            });
+        }
+    }
+
+    private void AddAxisLockConstraint()
+    {
+        // Lock that axis by creating a 6DOF constraint that has one end in the world and
+        //    the other in the object.
+        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
+        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
+
+        // Remove any existing axis constraint (just to be sure)
+        RemoveAxisLockConstraint();
+
+        BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, 
+                            OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation),
+                            true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
+        LockAxisConstraint = axisConstrainer;
+        PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
+
+        // The constraint is tied to the world and oriented to the prim.
+
+        // Free to move linearly
+        OMV.Vector3 linearLow = OMV.Vector3.Zero;
+        OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
+        axisConstrainer.SetLinearLimits(linearLow, linearHigh);
+
+        // Angular with some axis locked
+        float f2PI = (float)Math.PI * 2f;
+        OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
+        OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
+        if (Prim.LockedAxis.X != 1f)
+        {
+            angularLow.X = 0f;
+            angularHigh.X = 0f;
+        }
+        if (Prim.LockedAxis.Y != 1f)
+        {
+            angularLow.Y = 0f;
+            angularHigh.Y = 0f;
+        }
+        if (Prim.LockedAxis.Z != 1f)
+        {
+            angularLow.Z = 0f;
+            angularHigh.Z = 0f;
+        }
+        axisConstrainer.SetAngularLimits(angularLow, angularHigh);
+
+        PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
+                                    Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
+
+        // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
+        axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
+
+        axisConstrainer.RecomputeConstraintVariables(Prim.RawMass);
+    }
+
+    private void RemoveAxisLockConstraint()
+    {
+        if (LockAxisConstraint != null)
+        {
+            PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
+            LockAxisConstraint = null;
+            PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID);
+        }
+    }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index b9b5ce1..3163440 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -1,123 +1,131 @@
-/*

- * 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.Text;

-

-namespace OpenSim.Region.Physics.BulletSPlugin

-{

-public class BSActorCollection

-{

-    private BSScene PhysicsScene { get; set; }

-    private Dictionary<string, BSActor> m_actors;

-

-    public BSActorCollection(BSScene physicsScene)

-    {

-        PhysicsScene = physicsScene;

-        m_actors = new Dictionary<string, BSActor>();

-    }

-    public void Add(string name, BSActor actor)

-    {

-        m_actors[name] = actor;

-    }

-    public bool RemoveAndRelease(string name)

-    {

-        bool ret = false;

-        if (m_actors.ContainsKey(name))

-        {

-            BSActor beingRemoved = m_actors[name];

-            beingRemoved.Release();

-            m_actors.Remove(name);

-            ret = true;

-        }

-        return ret;

-    }

-    public void Clear()

-    {

-        Release();

-        m_actors.Clear();

-    }

-    public bool HasActor(string name)

-    {

-        return m_actors.ContainsKey(name);

-    }

-    public void ForEachActor(Action<BSActor> act)

-    {

-        foreach (KeyValuePair<string, BSActor> kvp in m_actors)

-            act(kvp.Value);

-    }

-

-    public void Release()

-    {

-        ForEachActor(a => a.Release());

-    }

-    public void Refresh()

-    {

-        ForEachActor(a => a.Refresh());

-    }

-    public void RemoveBodyDependencies()

-    {

-        ForEachActor(a => a.RemoveBodyDependencies());

-    }

-}

-

-// =============================================================================

-public abstract class BSActor

-{

-    protected BSScene PhysicsScene { get; private set; }

-    protected BSPhysObject Prim { get; private set; }

-    protected bool Enabled { get; set; }

-    public string ActorName { get; private set; }

-

-    public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)

-    {

-        PhysicsScene = physicsScene;

-        Prim = pObj;

-        ActorName = actorName;

-        Enabled = true;

-    }

-

-    // Return 'true' if activily updating the prim

-    public virtual bool isActive

-    {

-        get { return Enabled; }

-    }

-    // Turn the actor on an off.

-    public virtual void Enable(bool setEnabled)

-    {

-        Enabled = setEnabled;

-    }

-    // Release any connections and resources used by the actor.

-    public abstract void Release();

-    // Called when physical parameters (properties set in Bullet) need to be re-applied.

-    public abstract void Refresh();

-    // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).

-    //     Register a prestep action to restore physical requirements before the next simulation step.

-    public abstract void RemoveBodyDependencies();

-

-}

-}

+/*
+ * 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.Text;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorCollection
+{
+    private BSScene PhysicsScene { get; set; }
+    private Dictionary<string, BSActor> m_actors;
+
+    public BSActorCollection(BSScene physicsScene)
+    {
+        PhysicsScene = physicsScene;
+        m_actors = new Dictionary<string, BSActor>();
+    }
+    public void Add(string name, BSActor actor)
+    {
+        m_actors[name] = actor;
+    }
+    public bool RemoveAndRelease(string name)
+    {
+        bool ret = false;
+        if (m_actors.ContainsKey(name))
+        {
+            BSActor beingRemoved = m_actors[name];
+            beingRemoved.Dispose();
+            m_actors.Remove(name);
+            ret = true;
+        }
+        return ret;
+    }
+    public void Clear()
+    {
+        Release();
+        m_actors.Clear();
+    }
+    public bool HasActor(string name)
+    {
+        return m_actors.ContainsKey(name);
+    }
+    public void ForEachActor(Action<BSActor> act)
+    {
+        foreach (KeyValuePair<string, BSActor> kvp in m_actors)
+            act(kvp.Value);
+    }
+
+    public void Release()
+    {
+        ForEachActor(a => a.Dispose());
+    }
+    public void Refresh()
+    {
+        ForEachActor(a => a.Refresh());
+    }
+    public void RemoveBodyDependencies()
+    {
+        ForEachActor(a => a.RemoveBodyDependencies());
+    }
+}
+
+// =============================================================================
+/// <summary>
+/// Each physical object can have 'actors' who are pushing the object around.
+/// This can be used for hover, locking axis, making vehicles, etc.
+/// Each physical object can have multiple actors acting on it.
+/// 
+/// An actor usually registers itself with physics scene events (pre-step action)
+/// and modifies the parameters on the host physical object.
+/// </summary>
+public abstract class BSActor
+{
+    protected BSScene PhysicsScene { get; private set; }
+    protected BSPhysObject Prim { get; private set; }
+    protected bool Enabled { get; set; }
+    public string ActorName { get; private set; }
+
+    public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
+    {
+        PhysicsScene = physicsScene;
+        Prim = pObj;
+        ActorName = actorName;
+        Enabled = true;
+    }
+
+    // Return 'true' if activily updating the prim
+    public virtual bool isActive
+    {
+        get { return Enabled; }
+    }
+    // Turn the actor on an off.
+    public virtual void Enable(bool setEnabled)
+    {
+        Enabled = setEnabled;
+    }
+    // Release any connections and resources used by the actor.
+    public abstract void Dispose();
+    // Called when physical parameters (properties set in Bullet) need to be re-applied.
+    public abstract void Refresh();
+    // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+    //     Register a prestep action to restore physical requirements before the next simulation step.
+    public abstract void RemoveBodyDependencies();
+
+}
+}