BulletSim: Add axis locking enabled through the ExtendedPhysics module.

Allows locking of prim/linkset relative moving in each of the linear
and angular axis. Limits on movement or rotation can be set.

4 files changed, 404 insertions, 69 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
index 7e61007..48cab64 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -37,12 +37,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 public class BSActorLockAxis : BSActor
 {
     BSConstraint LockAxisConstraint = null;
+    // The lock access flags (which axises were locked) when the contraint was built.
+    // Used to see if locking has changed since when the constraint was built.
+    OMV.Vector3 LockAxisLinearFlags;
+    OMV.Vector3 LockAxisAngularFlags;
 
     public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
         : base(physicsScene, pObj, actorName)
     {
         m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
         LockAxisConstraint = null;
+
+        // we place our constraint just before the simulation step to make sure the linkset is complete
+        m_physicsScene.BeforeStep += PhysicsScene_BeforeStep;
     }
 
     // BSActor.isActive
@@ -55,6 +62,7 @@ public class BSActorLockAxis : BSActor
     // BSActor.Dispose()
     public override void Dispose()
     {
+        m_physicsScene.BeforeStep -= PhysicsScene_BeforeStep;
         RemoveAxisLockConstraint();
     }
 
@@ -63,10 +71,18 @@ public class BSActorLockAxis : BSActor
     // BSActor.Refresh()
     public override void Refresh()
     {
-        m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
-                                    m_controllingPrim.LocalID, m_controllingPrim.LockedAngularAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
+        // Since the axis logging is done with a constraint, Refresh() time is good for
+        //    changing parameters but this needs to wait until the prim/linkset is physically
+        //    constructed. Therefore, the constraint itself is placed at pre-step time.
+        /*
+        m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedLinear={1},lockedAngular={2},enabled={3},pActive={4}",
+                                    m_controllingPrim.LocalID,
+                                    m_controllingPrim.LockedLinearAxis,
+                                    m_controllingPrim.LockedAngularAxis,
+                                    Enabled, m_controllingPrim.IsPhysicallyActive);
         // If all the axis are free, we don't need to exist
-        if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree)
+        if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
+                && m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
         {
             Enabled = false;
         }
@@ -74,12 +90,21 @@ public class BSActorLockAxis : BSActor
         // If the object is physically active, add the axis locking constraint
         if (isActive)
         {
+            // Check to see if the locking parameters have changed
+            if (m_controllingPrim.LockedLinearAxis != this.LockAxisLinearFlags
+                || m_controllingPrim.LockedAngularAxis != this.LockAxisAngularFlags)
+            {
+                // The locking has changed. Remove the old constraint and build a new one
+                RemoveAxisLockConstraint();
+            }
+
             AddAxisLockConstraint();
         }
         else
         {
             RemoveAxisLockConstraint();
         }
+        */
     }
 
     // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
@@ -88,15 +113,35 @@ public class BSActorLockAxis : BSActor
     // BSActor.RemoveDependencies()
     public override void RemoveDependencies()
     {
-        if (LockAxisConstraint != null)
+        RemoveAxisLockConstraint();
+        // The pre-step action will restore the constraint of needed
+    }
+
+    private void PhysicsScene_BeforeStep(float timestep)
+    {
+        // If all the axis are free, we don't need to exist
+        if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
+                && m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
         {
-            // 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.
-            m_physicsScene.PostTaintObject("BSActorLockAxis:" + ActorName, m_controllingPrim.LocalID, delegate()
+            Enabled = false;
+        }
+
+        // If the object is physically active, add the axis locking constraint
+        if (isActive)
+        {
+            // Check to see if the locking parameters have changed
+            if (m_controllingPrim.LockedLinearAxis != this.LockAxisLinearFlags
+                || m_controllingPrim.LockedAngularAxis != this.LockAxisAngularFlags)
             {
-                Refresh();
-            });
+                // The locking has changed. Remove the old constraint and build a new one
+                RemoveAxisLockConstraint();
+            }
+
+            AddAxisLockConstraint();
+        }
+        else
+        {
+            RemoveAxisLockConstraint();
         }
     }
 
@@ -118,56 +163,30 @@ public class BSActorLockAxis : BSActor
             LockAxisConstraint = axisConstrainer;
             m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
 
+            // Remember the clocking being inforced so we can notice if they have changed
+            LockAxisLinearFlags = m_controllingPrim.LockedLinearAxis;
+            LockAxisAngularFlags = m_controllingPrim.LockedAngularAxis;
+
             // The constraint is tied to the world and oriented to the prim.
 
-            // Free to move linearly in the region
-            // OMV.Vector3 linearLow = OMV.Vector3.Zero;
-            // OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
-            OMV.Vector3 linearLow = new OMV.Vector3(-10000f, -10000f, -10000f);
-            OMV.Vector3 linearHigh = new OMV.Vector3(10000f, 10000f, 10000f);
-            if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis)
-            {
-                linearLow.X = m_controllingPrim.RawPosition.X;
-                linearHigh.X = m_controllingPrim.RawPosition.X;
-            }
-            if (m_controllingPrim.LockedLinearAxis.Y != BSPhysObject.FreeAxis)
+            if (!axisConstrainer.SetLinearLimits(m_controllingPrim.LockedLinearAxisLow, m_controllingPrim.LockedLinearAxisHigh))
             {
-                linearLow.Y = m_controllingPrim.RawPosition.Y;
-                linearHigh.Y = m_controllingPrim.RawPosition.Y;
+                m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetLinearLimits",
+                        m_controllingPrim.LocalID);
             }
-            if (m_controllingPrim.LockedLinearAxis.Z != BSPhysObject.FreeAxis)
-            {
-                linearLow.Z = m_controllingPrim.RawPosition.Z;
-                linearHigh.Z = m_controllingPrim.RawPosition.Z;
-            }
-            axisConstrainer.SetLinearLimits(linearLow, linearHigh);
 
-            // Angular with some axis locked
-            float fPI = (float)Math.PI;
-            OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
-            OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
-            if (m_controllingPrim.LockedAngularAxis.X != BSPhysObject.FreeAxis)
-            {
-                angularLow.X = 0f;
-                angularHigh.X = 0f;
-            }
-            if (m_controllingPrim.LockedAngularAxis.Y != BSPhysObject.FreeAxis)
-            {
-                angularLow.Y = 0f;
-                angularHigh.Y = 0f;
-            }
-            if (m_controllingPrim.LockedAngularAxis.Z != BSPhysObject.FreeAxis)
-            {
-                angularLow.Z = 0f;
-                angularHigh.Z = 0f;
-            }
-            if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
+            if (!axisConstrainer.SetAngularLimits(m_controllingPrim.LockedAngularAxisLow, m_controllingPrim.LockedAngularAxisHigh))
             {
-                m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
+                m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits",
+                        m_controllingPrim.LocalID);
             }
 
             m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
-                                        m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
+                                        m_controllingPrim.LocalID,
+                                        m_controllingPrim.LockedLinearAxisLow,
+                                        m_controllingPrim.LockedLinearAxisHigh,
+                                        m_controllingPrim.LockedAngularAxisLow,
+                                        m_controllingPrim.LockedAngularAxisHigh);
 
             // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
             axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index b444446..22b3f3f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -201,7 +201,10 @@ public sealed class BSLinksetCompound : BSLinkset
             if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
             {
                 // Find the physical instance of the child
-                if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo))
+                if (!RebuildScheduled   // if rebuilding, let the rebuild do it
+                        && !LinksetRoot.IsIncomplete    // if waiting for assets or whatever, don't change
+                        && LinksetRoot.PhysShape.HasPhysicalShape   // there must be a physical shape assigned
+                        && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo))
                 {
                     // It is possible that the linkset is still under construction and the child is not yet
                     //    inserted into the compound shape. A rebuild of the linkset in a pre-step action will
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 2b744a0..d20d094 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -309,11 +309,20 @@ public abstract class BSPhysObject : PhysicsActor
     // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
     public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
 
-    public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free.
-    public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free.
+    public OMV.Vector3 LockedLinearAxis;   // zero means locked. one means free.
+    public OMV.Vector3 LockedAngularAxis;  // zero means locked. one means free.
     public const float FreeAxis = 1f;
+    public const float LockedAxis = 0f;
     public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis);  // All axis are free
 
+    // If an axis is locked (flagged above) then the limits of that axis are specified here.
+    // Linear axis limits are relative to the object's starting coordinates.
+    // Angular limits are limited to -PI to +PI
+    public OMV.Vector3 LockedLinearAxisLow;
+    public OMV.Vector3 LockedLinearAxisHigh;
+    public OMV.Vector3 LockedAngularAxisLow;
+    public OMV.Vector3 LockedAngularAxisHigh;
+
     // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
     //     they need waking up when parameters are changed.
     // Called in taint-time!!
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c88a5c2..9695fcf 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -34,6 +34,7 @@ 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
 {
@@ -285,23 +286,21 @@ public class BSPrim : BSPhysObject
     {
         DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
 
-        // "1" means free, "0" means locked
-        OMV.Vector3 locking = LockedAxisFree;
-        if (axis.X != 1) locking.X = 0f;
-        if (axis.Y != 1) locking.Y = 0f;
-        if (axis.Z != 1) locking.Z = 0f;
-        LockedAngularAxis = locking;
-
-        EnableActor(LockedAngularAxis != LockedAxisFree, LockedAxisActorName, delegate()
+        ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f);
+        if (axis.X != 1)
         {
-            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.LockAngularMotion", delegate()
+            ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X, 0f, 0f);
+        }
+        if (axis.Y != 1)
         {
-            UpdatePhysicalParameters();
-        });
+            ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y, 0f, 0f);
+        }
+        if (axis.Z != 1)
+        {
+            ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z, 0f, 0f);
+        }
+
+        InitializeAxisActor();
 
         return;
     }
@@ -533,6 +532,12 @@ public class BSPrim : BSPhysObject
             {
                 return new BSActorSetForce(PhysScene, this, SetForceActorName);
             });
+
+            // Call update so actor Refresh() is called to start things off
+            PhysScene.TaintedObject(LocalID, "BSPrim.setForce", delegate()
+            {
+                UpdatePhysicalParameters();
+            });
         }
     }
 
@@ -766,6 +771,12 @@ public class BSPrim : BSPhysObject
                 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 {
@@ -1138,6 +1149,12 @@ public class BSPrim : BSPhysObject
             {
                 return new BSActorMoveToTarget(PhysScene, this, MoveToTargetActorName);
             });
+
+            // Call update so actor Refresh() is called to start things off
+            PhysScene.TaintedObject(LocalID, "BSPrim.PIDActive", delegate()
+            {
+                UpdatePhysicalParameters();
+            });
         }
     }
 
@@ -1164,6 +1181,12 @@ public class BSPrim : BSPhysObject
             {
                 return new BSActorHover(PhysScene, this, HoverActorName);
             });
+
+            // Call update so actor Refresh() is called to start things off
+            PhysScene.TaintedObject(LocalID, "BSPrim.PIDHoverActive", delegate()
+            {
+                UpdatePhysicalParameters();
+            });
         }
     }
 
@@ -1601,12 +1624,293 @@ public class BSPrim : BSPhysObject
         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)
+                        {
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X, (float)pParams[index + 1], (float)pParams[index + 2]);
+                                index += 3;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y, (float)pParams[index + 1], (float)pParams[index + 2]);
+                                index += 3;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z, (float)pParams[index + 1], (float)pParams[index + 2]);
+                                index += 3;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X, (float)pParams[index + 1], (float)pParams[index + 2]);
+                                index += 3;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y, (float)pParams[index + 1], (float)pParams[index + 2]);
+                                index += 3;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z, (float)pParams[index + 1], (float)pParams[index + 2]);
+                                index += 3;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z, 0f, 0f);
+                                index += 1;
+                                break;
+                            case ExtendedPhysics.PHYS_AXIS_UNLOCK:
+                                ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK, 0f, 0f);
+                                index += 1;
+                                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 ((int)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