changed to native line ending encoding

2 files changed, 590 insertions, 590 deletions

diff --git a/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs
index bda35f7..42ccdff 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs
@@ -1,56 +1,56 @@
-/*

-* Copyright (c) Contributors, http://www.openmetaverse.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 copyright

-*       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 OpenSim 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.Reflection;

-using System.Runtime.InteropServices;

-// Information about this assembly is defined by the following

-// attributes.

-//

-// change them to the information which is associated with the assembly

-// you compile.

-

-[assembly: AssemblyTitle("BulletXPlugin")]

-[assembly: AssemblyDescription("")]

-[assembly: AssemblyConfiguration("")]

-[assembly: AssemblyCompany("")]

-[assembly: AssemblyProduct("BulletXPlugin")]

-[assembly: AssemblyCopyright("")]

-[assembly: AssemblyTrademark("")]

-[assembly: AssemblyCulture("")]

-

-// This sets the default COM visibility of types in the assembly to invisible.

-// If you need to expose a type to COM, use [ComVisible(true)] on that type.

-[assembly: ComVisible(false)]

-

-// The assembly version has following format :

-//

-// Major.Minor.Build.Revision

-//

-// You can specify all values by your own or you can build default build and revision

-// numbers with the '*' character (the default):

-

-[assembly: AssemblyVersion("1.0.0.0")]

+/*
+* Copyright (c) Contributors, http://www.openmetaverse.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 copyright
+*       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 OpenSim 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.Reflection;
+using System.Runtime.InteropServices;
+// Information about this assembly is defined by the following
+// attributes.
+//
+// change them to the information which is associated with the assembly
+// you compile.
+
+[assembly: AssemblyTitle("BulletXPlugin")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("BulletXPlugin")]
+[assembly: AssemblyCopyright("")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// This sets the default COM visibility of types in the assembly to invisible.
+// If you need to expose a type to COM, use [ComVisible(true)] on that type.
+[assembly: ComVisible(false)]
+
+// The assembly version has following format :
+//
+// Major.Minor.Build.Revision
+//
+// You can specify all values by your own or you can build default build and revision
+// numbers with the '*' character (the default):
+
+[assembly: AssemblyVersion("1.0.0.0")]
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index 1ca5efe..383dbc0 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -1,534 +1,534 @@
-/*

-* Copyright (c) Contributors, http://www.openmetaverse.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 copyright

-*       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 OpenSim 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.

-* 

-*/

-#region References

-using System;

-using System.Collections.Generic;

-using OpenSim.Physics.Manager;

-using Axiom.Math;

-//Specific References for BulletXPlugin

-using MonoXnaCompactMaths;

-using XnaDevRu.BulletX;

-using XnaDevRu.BulletX.Dynamics;

-#endregion

-

-namespace OpenSim.Region.Physics.BulletXPlugin

-{

-    /// <summary>

-    /// This Class converts objects and types for BulletX

-    /// </summary>

-    public class BulletXConversions

-    {

-        public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)

-        {

-            return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);

-        }

-        public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3)

-        {

-            XnaVector3.X = physicsVector.X;

-            XnaVector3.Y = physicsVector.Y;

-            XnaVector3.Z = physicsVector.Z;

-        }

-        public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)

-        {

-            return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);

-        }

-        /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector)

-        {

-            xnaVector3.X = physicsVector.X;

-            xnaVector3.Y = physicsVector.Y;

-            xnaVector3.Z = physicsVector.Z;

-        }*/

-        #region Axiom and Xna

-        ///// <summary>

-        ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know

-        ///// </summary>

-        ///// <param name="AxiomVector3"></param>

-        ///// <returns></returns>

-        //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3)

-        //{

-        //    return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z);

-        //}

-        #endregion

-    }

-    /// <summary>

-    /// PhysicsPlugin Class for BulletX

-    /// </summary>

-    public class BulletXPlugin : IPhysicsPlugin

-    {

-        private BulletXScene _mScene;

-

-        public BulletXPlugin()

-        {

-        }

-        public bool Init()

-        {

-            return true;

-        }

-        public PhysicsScene GetScene()

-        {

-            if (_mScene == null)

-            {

-                _mScene = new BulletXScene();

-            }

-            return (_mScene);

-        }

-        public string GetName()

-        {

-            return ("BulletXEngine");

-        }

-        public void Dispose()

-        {

-        }

-    }

-    /// <summary>

-    /// PhysicsScene Class for BulletX

-    /// </summary>

-    public class BulletXScene : PhysicsScene

-    {

-        public DiscreteDynamicsWorld ddWorld;

-                private CollisionDispatcher cDispatcher;

-                private OverlappingPairCache opCache;

-                private SequentialImpulseConstraintSolver sicSolver;

-

-        private const int minXY = 0;

-        private const int minZ = 0;

-        private const int maxXY = 256;

-        private const int maxZ = 4096;

-        private const int maxHandles = 32766; //Why? I don't know

-        private static float gravity = 9.8f;

-        private static float heightLevel0 = 77.0f;

-        private static float heightLevel1 = 200.0f;

-        private static float lowGravityFactor = 0.2f;

-

-        private float[] _heightmap;

-        private List<BulletXCharacter> _characters = new List<BulletXCharacter>();

-

-        public static float Gravity { get { return gravity; } }

-        public static float HeightLevel0 { get { return heightLevel0; } }

-        public static float HeightLevel1 { get { return heightLevel1; } }

-        public static float LowGravityFactor { get { return lowGravityFactor; } }

-

-        public BulletXScene()

-        {

-            cDispatcher = new CollisionDispatcher();

-            MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ);

-            MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ);

-            opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);

-            sicSolver = new SequentialImpulseConstraintSolver();

-

-            ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);

-            ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);

-

-            this._heightmap = new float[65536];

-        }

-

-        public override PhysicsActor AddAvatar(PhysicsVector position)

-        {

-            PhysicsVector pos = new PhysicsVector();

-            pos.X = position.X;

-            pos.Y = position.Y;

-            pos.Z = position.Z + 20;

-            BulletXCharacter newAv = new BulletXCharacter(this, pos);

-            this._characters.Add(newAv);

-            return newAv;

-        }

-

-        public override void RemoveAvatar(PhysicsActor actor)

-        {

-

-        }

-

-        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)

-        {

-            PhysicsVector pos = new PhysicsVector();

-            pos.X = position.X;

-            pos.Y = position.Y;

-            pos.Z = position.Z;

-            PhysicsVector siz = new PhysicsVector();

-            siz.X = size.X;

-            siz.Y = size.Y;

-            siz.Z = size.Z;

-            return new BulletXPrim();

-        }

-

-        public override void Simulate(float timeStep)

-        {

-            foreach (BulletXCharacter actor in _characters)

-            {

-                actor.Move(timeStep);

-

-            }

-            ddWorld.StepSimulation(timeStep, 0, timeStep);

-            foreach (BulletXCharacter actor in _characters)

-            {

-                actor.ValidateHeight(this._heightmap[

-                    (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256 

-                    + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]);

-            }

-            foreach (BulletXCharacter actor in _characters)

-            {

-                actor.UpdatePosition();

-            }

-

-        }

-

-        public override void GetResults()

-        {

-

-        }

-

-        public override bool IsThreaded

-        {

-            get

-            {

-                return (false); // for now we won't be multithreaded

-            }

-        }

-

-        public override void SetTerrain(float[] heightMap)

-        {

-            //As the same as ODE, heightmap (x,y) must be swapped for BulletX

-            for (int i = 0; i < 65536; i++)

-            {

-                // this._heightmap[i] = (double)heightMap[i];

-                // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)

-                int x = i & 0xff;

-                int y = i >> 8;

-                this._heightmap[i] = heightMap[x * 256 + y];

-            }

-        }

-

-        public override void DeleteTerrain()

-        {

-

-        }

-    }

-    /// <summary>

-    /// PhysicsActor Character Class for BulletX

-    /// </summary>

-    public class BulletXCharacter : PhysicsActor

-    {

-        private PhysicsVector _position;

-        private PhysicsVector _velocity;

-        private PhysicsVector _acceleration;

-        private bool flying;

-        private RigidBody rigidBody;

-        public Axiom.Math.Vector2 RigidBodyHorizontalPosition

-        {

-            get

-            {

-                return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);

-            }

-        }

-        public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)

-        {

-            _velocity = new PhysicsVector();

-            _position = pos;

-            _acceleration = new PhysicsVector();

-            float _mass = 50.0f; //This depends of avatar's dimensions

-            Matrix _startTransform = Matrix.Identity;

-            _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);

-            Matrix _centerOfMassOffset = Matrix.Identity;

-            CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f));

-            DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);

-            MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();

-            _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0

-

-            //The next values might change

-            float _linearDamping = 0.0f;

-            float _angularDamping = 0.0f;

-            float _friction = 0.5f;

-            float _restitution = 0.0f;

-

-            rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);

-            rigidBody.ActivationState = ActivationState.DisableDeactivation;

-

-            parent_scene.ddWorld.AddRigidBody(rigidBody);

-        }

-

-        public override bool Flying

-        {

-            get

-            {

-                return flying;

-            }

-            set

-            {

-                flying = value;

-            }

-        }

-

-        public override PhysicsVector Position

-        {

-            get

-            {

-                return _position;

-            }

-            set

-            {

-                _position = value;

-            }

-        }

-

-        public override PhysicsVector Velocity

-        {

-            get

-            {

-                return _velocity;

-            }

-            set

-            {

-                _velocity = value;

-            }

-        }

-

-        public override bool Kinematic

-        {

-            get

-            {

-                return false;

-            }

-            set

-            {

-

-            }

-        }

-

-        public override Axiom.Math.Quaternion Orientation

-        {

-            get

-            {

-                return Axiom.Math.Quaternion.Identity;

-            }

-            set

-            {

-

-            }

-        }

-

-        public override PhysicsVector Acceleration

-        {

-            get

-            {

-                return _acceleration;

-            }

-

-        }

-        public void SetAcceleration(PhysicsVector accel)

-        {

-            this._acceleration = accel;

-        }

-

-        public override void AddForce(PhysicsVector force)

-        {

-

-        }

-

-        public override void SetMomentum(PhysicsVector momentum)

-        {

-

-        }

-

-        public void Move(float timeStep)

-        {

-            MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();

-            //if (this._velocity.X == 0.0f)

-            //    vec.X = this.rigidBody.LinearVelocity.X; //current velocity

-            //else 

-                vec.X = this._velocity.X; //overrides current velocity

-

-            //if (this._velocity.Y == 0.0f)

-            //    vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity

-            //else

-                vec.Y = this._velocity.Y; //overrides current velocity

-

-            float nextZVelocity;

-            //if (this._velocity.Z == 0.0f)

-            //    nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity

-            //else

-                nextZVelocity = this._velocity.Z; //overrides current velocity

-

-            if (flying)

-            {

-                //Antigravity with movement

-                if (this._position.Z <= BulletXScene.HeightLevel0) 

-                {

-                    vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep;

-                }

-                //Lowgravity with movement

-                else if((this._position.Z > BulletXScene.HeightLevel0) 

-                    && (this._position.Z <= BulletXScene.HeightLevel1)) 

-                {

-                    vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);

-                }

-                //Lowgravity with...

-                else if (this._position.Z > BulletXScene.HeightLevel1) 

-                {

-                    if(nextZVelocity > 0) //no movement

-                        vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);

-                    else

-                        vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);

-

-                }

-            }

-            else

-            {

-                vec.Z = nextZVelocity;

-            }

-            rigidBody.LinearVelocity = vec;

-        }

-

-        public void UpdatePosition()

-        {

-            this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);

-        }

-

-        //This validation is very basic

-        internal void ValidateHeight(float heighmapPositionValue)

-        {

-            if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue)

-            {

-                Matrix m = rigidBody.WorldTransform;

-                MonoXnaCompactMaths.Vector3 v3 = m.Translation;

-                v3.Z = heighmapPositionValue;

-                m.Translation = v3;

-                rigidBody.WorldTransform = m;

-            }

-        }

-    }

-    /// <summary>

-    /// PhysicsActor Prim Class for BulletX

-    /// </summary>

-    public class BulletXPrim : PhysicsActor

-    {

-        private PhysicsVector _position;

-        private PhysicsVector _velocity;

-        private PhysicsVector _acceleration;

-

-        public BulletXPrim()

-        {

-            _velocity = new PhysicsVector();

-            _position = new PhysicsVector();

-            _acceleration = new PhysicsVector();

-        }

-        public override bool Flying

-        {

-            get

-            {

-                return false; //no flying prims for you

-            }

-            set

-            {

-

-            }

-        }

-        public override PhysicsVector Position

-        {

-            get

-            {

-                PhysicsVector pos = new PhysicsVector();

-                //      PhysicsVector vec = this._prim.Position;

-                //pos.X = vec.X;

-                //pos.Y = vec.Y;

-                //pos.Z = vec.Z;

-                return pos;

-

-            }

-            set

-            {

-                /*PhysicsVector vec = value;

-                PhysicsVector pos = new PhysicsVector();

-                pos.X = vec.X;

-                pos.Y = vec.Y;

-                pos.Z = vec.Z;

-                this._prim.Position = pos;*/

-            }

-        }

-

-        public override PhysicsVector Velocity

-        {

-            get

-            {

-                return _velocity;

-            }

-            set

-            {

-                _velocity = value;

-            }

-        }

-

-        public override bool Kinematic

-        {

-            get

-            {

-                return false;

-                //return this._prim.Kinematic;

-            }

-            set

-            {

-                //this._prim.Kinematic = value;

-            }

-        }

-

-        public override Axiom.Math.Quaternion Orientation

-        {

-            get

-            {

-                Axiom.Math.Quaternion res = new Axiom.Math.Quaternion();

-                return res;

-            }

-            set

-            {

-

-            }

-        }

-

-        public override PhysicsVector Acceleration

-        {

-            get

-            {

-                return _acceleration;

-            }

-

-        }

-        public void SetAcceleration(PhysicsVector accel)

-        {

-            this._acceleration = accel;

-        }

-

-        public override void AddForce(PhysicsVector force)

-        {

-

-        }

-

-        public override void SetMomentum(PhysicsVector momentum)

-        {

-

-        }

-    }

-}

+/*
+* Copyright (c) Contributors, http://www.openmetaverse.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 copyright
+*       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 OpenSim 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.
+* 
+*/
+#region References
+using System;
+using System.Collections.Generic;
+using OpenSim.Physics.Manager;
+using Axiom.Math;
+//Specific References for BulletXPlugin
+using MonoXnaCompactMaths;
+using XnaDevRu.BulletX;
+using XnaDevRu.BulletX.Dynamics;
+#endregion
+
+namespace OpenSim.Region.Physics.BulletXPlugin
+{
+    /// <summary>
+    /// This Class converts objects and types for BulletX
+    /// </summary>
+    public class BulletXConversions
+    {
+        public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
+        {
+            return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
+        }
+        public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3)
+        {
+            XnaVector3.X = physicsVector.X;
+            XnaVector3.Y = physicsVector.Y;
+            XnaVector3.Z = physicsVector.Z;
+        }
+        public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)
+        {
+            return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
+        }
+        /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector)
+        {
+            xnaVector3.X = physicsVector.X;
+            xnaVector3.Y = physicsVector.Y;
+            xnaVector3.Z = physicsVector.Z;
+        }*/
+        #region Axiom and Xna
+        ///// <summary>
+        ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know
+        ///// </summary>
+        ///// <param name="AxiomVector3"></param>
+        ///// <returns></returns>
+        //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3)
+        //{
+        //    return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z);
+        //}
+        #endregion
+    }
+    /// <summary>
+    /// PhysicsPlugin Class for BulletX
+    /// </summary>
+    public class BulletXPlugin : IPhysicsPlugin
+    {
+        private BulletXScene _mScene;
+
+        public BulletXPlugin()
+        {
+        }
+        public bool Init()
+        {
+            return true;
+        }
+        public PhysicsScene GetScene()
+        {
+            if (_mScene == null)
+            {
+                _mScene = new BulletXScene();
+            }
+            return (_mScene);
+        }
+        public string GetName()
+        {
+            return ("BulletXEngine");
+        }
+        public void Dispose()
+        {
+        }
+    }
+    /// <summary>
+    /// PhysicsScene Class for BulletX
+    /// </summary>
+    public class BulletXScene : PhysicsScene
+    {
+        public DiscreteDynamicsWorld ddWorld;
+                private CollisionDispatcher cDispatcher;
+                private OverlappingPairCache opCache;
+                private SequentialImpulseConstraintSolver sicSolver;
+
+        private const int minXY = 0;
+        private const int minZ = 0;
+        private const int maxXY = 256;
+        private const int maxZ = 4096;
+        private const int maxHandles = 32766; //Why? I don't know
+        private static float gravity = 9.8f;
+        private static float heightLevel0 = 77.0f;
+        private static float heightLevel1 = 200.0f;
+        private static float lowGravityFactor = 0.2f;
+
+        private float[] _heightmap;
+        private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
+
+        public static float Gravity { get { return gravity; } }
+        public static float HeightLevel0 { get { return heightLevel0; } }
+        public static float HeightLevel1 { get { return heightLevel1; } }
+        public static float LowGravityFactor { get { return lowGravityFactor; } }
+
+        public BulletXScene()
+        {
+            cDispatcher = new CollisionDispatcher();
+            MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ);
+            MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ);
+            opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
+            sicSolver = new SequentialImpulseConstraintSolver();
+
+            ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
+            ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
+
+            this._heightmap = new float[65536];
+        }
+
+        public override PhysicsActor AddAvatar(PhysicsVector position)
+        {
+            PhysicsVector pos = new PhysicsVector();
+            pos.X = position.X;
+            pos.Y = position.Y;
+            pos.Z = position.Z + 20;
+            BulletXCharacter newAv = new BulletXCharacter(this, pos);
+            this._characters.Add(newAv);
+            return newAv;
+        }
+
+        public override void RemoveAvatar(PhysicsActor actor)
+        {
+
+        }
+
+        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
+        {
+            PhysicsVector pos = new PhysicsVector();
+            pos.X = position.X;
+            pos.Y = position.Y;
+            pos.Z = position.Z;
+            PhysicsVector siz = new PhysicsVector();
+            siz.X = size.X;
+            siz.Y = size.Y;
+            siz.Z = size.Z;
+            return new BulletXPrim();
+        }
+
+        public override void Simulate(float timeStep)
+        {
+            foreach (BulletXCharacter actor in _characters)
+            {
+                actor.Move(timeStep);
+
+            }
+            ddWorld.StepSimulation(timeStep, 0, timeStep);
+            foreach (BulletXCharacter actor in _characters)
+            {
+                actor.ValidateHeight(this._heightmap[
+                    (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256 
+                    + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]);
+            }
+            foreach (BulletXCharacter actor in _characters)
+            {
+                actor.UpdatePosition();
+            }
+
+        }
+
+        public override void GetResults()
+        {
+
+        }
+
+        public override bool IsThreaded
+        {
+            get
+            {
+                return (false); // for now we won't be multithreaded
+            }
+        }
+
+        public override void SetTerrain(float[] heightMap)
+        {
+            //As the same as ODE, heightmap (x,y) must be swapped for BulletX
+            for (int i = 0; i < 65536; i++)
+            {
+                // this._heightmap[i] = (double)heightMap[i];
+                // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
+                int x = i & 0xff;
+                int y = i >> 8;
+                this._heightmap[i] = heightMap[x * 256 + y];
+            }
+        }
+
+        public override void DeleteTerrain()
+        {
+
+        }
+    }
+    /// <summary>
+    /// PhysicsActor Character Class for BulletX
+    /// </summary>
+    public class BulletXCharacter : PhysicsActor
+    {
+        private PhysicsVector _position;
+        private PhysicsVector _velocity;
+        private PhysicsVector _acceleration;
+        private bool flying;
+        private RigidBody rigidBody;
+        public Axiom.Math.Vector2 RigidBodyHorizontalPosition
+        {
+            get
+            {
+                return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
+            }
+        }
+        public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
+        {
+            _velocity = new PhysicsVector();
+            _position = pos;
+            _acceleration = new PhysicsVector();
+            float _mass = 50.0f; //This depends of avatar's dimensions
+            Matrix _startTransform = Matrix.Identity;
+            _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);
+            Matrix _centerOfMassOffset = Matrix.Identity;
+            CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f));
+            DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
+            MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
+            _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
+
+            //The next values might change
+            float _linearDamping = 0.0f;
+            float _angularDamping = 0.0f;
+            float _friction = 0.5f;
+            float _restitution = 0.0f;
+
+            rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
+            rigidBody.ActivationState = ActivationState.DisableDeactivation;
+
+            parent_scene.ddWorld.AddRigidBody(rigidBody);
+        }
+
+        public override bool Flying
+        {
+            get
+            {
+                return flying;
+            }
+            set
+            {
+                flying = value;
+            }
+        }
+
+        public override PhysicsVector Position
+        {
+            get
+            {
+                return _position;
+            }
+            set
+            {
+                _position = value;
+            }
+        }
+
+        public override PhysicsVector Velocity
+        {
+            get
+            {
+                return _velocity;
+            }
+            set
+            {
+                _velocity = value;
+            }
+        }
+
+        public override bool Kinematic
+        {
+            get
+            {
+                return false;
+            }
+            set
+            {
+
+            }
+        }
+
+        public override Axiom.Math.Quaternion Orientation
+        {
+            get
+            {
+                return Axiom.Math.Quaternion.Identity;
+            }
+            set
+            {
+
+            }
+        }
+
+        public override PhysicsVector Acceleration
+        {
+            get
+            {
+                return _acceleration;
+            }
+
+        }
+        public void SetAcceleration(PhysicsVector accel)
+        {
+            this._acceleration = accel;
+        }
+
+        public override void AddForce(PhysicsVector force)
+        {
+
+        }
+
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+
+        }
+
+        public void Move(float timeStep)
+        {
+            MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
+            //if (this._velocity.X == 0.0f)
+            //    vec.X = this.rigidBody.LinearVelocity.X; //current velocity
+            //else 
+                vec.X = this._velocity.X; //overrides current velocity
+
+            //if (this._velocity.Y == 0.0f)
+            //    vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity
+            //else
+                vec.Y = this._velocity.Y; //overrides current velocity
+
+            float nextZVelocity;
+            //if (this._velocity.Z == 0.0f)
+            //    nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity
+            //else
+                nextZVelocity = this._velocity.Z; //overrides current velocity
+
+            if (flying)
+            {
+                //Antigravity with movement
+                if (this._position.Z <= BulletXScene.HeightLevel0) 
+                {
+                    vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep;
+                }
+                //Lowgravity with movement
+                else if((this._position.Z > BulletXScene.HeightLevel0) 
+                    && (this._position.Z <= BulletXScene.HeightLevel1)) 
+                {
+                    vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+                }
+                //Lowgravity with...
+                else if (this._position.Z > BulletXScene.HeightLevel1) 
+                {
+                    if(nextZVelocity > 0) //no movement
+                        vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+                    else
+                        vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+
+                }
+            }
+            else
+            {
+                vec.Z = nextZVelocity;
+            }
+            rigidBody.LinearVelocity = vec;
+        }
+
+        public void UpdatePosition()
+        {
+            this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
+        }
+
+        //This validation is very basic
+        internal void ValidateHeight(float heighmapPositionValue)
+        {
+            if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue)
+            {
+                Matrix m = rigidBody.WorldTransform;
+                MonoXnaCompactMaths.Vector3 v3 = m.Translation;
+                v3.Z = heighmapPositionValue;
+                m.Translation = v3;
+                rigidBody.WorldTransform = m;
+            }
+        }
+    }
+    /// <summary>
+    /// PhysicsActor Prim Class for BulletX
+    /// </summary>
+    public class BulletXPrim : PhysicsActor
+    {
+        private PhysicsVector _position;
+        private PhysicsVector _velocity;
+        private PhysicsVector _acceleration;
+
+        public BulletXPrim()
+        {
+            _velocity = new PhysicsVector();
+            _position = new PhysicsVector();
+            _acceleration = new PhysicsVector();
+        }
+        public override bool Flying
+        {
+            get
+            {
+                return false; //no flying prims for you
+            }
+            set
+            {
+
+            }
+        }
+        public override PhysicsVector Position
+        {
+            get
+            {
+                PhysicsVector pos = new PhysicsVector();
+                //      PhysicsVector vec = this._prim.Position;
+                //pos.X = vec.X;
+                //pos.Y = vec.Y;
+                //pos.Z = vec.Z;
+                return pos;
+
+            }
+            set
+            {
+                /*PhysicsVector vec = value;
+                PhysicsVector pos = new PhysicsVector();
+                pos.X = vec.X;
+                pos.Y = vec.Y;
+                pos.Z = vec.Z;
+                this._prim.Position = pos;*/
+            }
+        }
+
+        public override PhysicsVector Velocity
+        {
+            get
+            {
+                return _velocity;
+            }
+            set
+            {
+                _velocity = value;
+            }
+        }
+
+        public override bool Kinematic
+        {
+            get
+            {
+                return false;
+                //return this._prim.Kinematic;
+            }
+            set
+            {
+                //this._prim.Kinematic = value;
+            }
+        }
+
+        public override Axiom.Math.Quaternion Orientation
+        {
+            get
+            {
+                Axiom.Math.Quaternion res = new Axiom.Math.Quaternion();
+                return res;
+            }
+            set
+            {
+
+            }
+        }
+
+        public override PhysicsVector Acceleration
+        {
+            get
+            {
+                return _acceleration;
+            }
+
+        }
+        public void SetAcceleration(PhysicsVector accel)
+        {
+            this._acceleration = accel;
+        }
+
+        public override void AddForce(PhysicsVector force)
+        {
+
+        }
+
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+
+        }
+    }
+}