set svn:eol-style

1 files changed, 477 insertions, 477 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index cda6af2..888f555 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -1,477 +1,477 @@
-using System;

-using System.Collections.Generic;

-using Axiom.Math;

-using Ode.NET;

-using OpenSim.Framework;

-using OpenSim.Region.Physics.Manager;

-

-namespace OpenSim.Region.Physics.OdePlugin

-{

-    public class OdeCharacter : PhysicsActor

-    {

-        private PhysicsVector _position;

-        private d.Vector3 _zeroPosition;

-        private bool _zeroFlag = false;

-        private bool m_lastUpdateSent = false;

-        private PhysicsVector _velocity;

-        private PhysicsVector _target_velocity;

-        private PhysicsVector _acceleration;

-        private PhysicsVector m_rotationalVelocity;

-        private static float PID_D = 3020.0f;

-        private static float PID_P = 7000.0f;

-        private static float POSTURE_SERVO = 10000.0f;

-        public static float CAPSULE_RADIUS = 0.5f;

-        public float CAPSULE_LENGTH = 0.79f;

-        private bool flying = false;

-        private bool m_iscolliding = false;

-        private bool m_iscollidingGround = false;

-        private bool m_wascolliding = false;

-        private bool m_wascollidingGround = false;

-        private bool m_alwaysRun = false;

-        private bool m_hackSentFall = false;

-        private bool m_hackSentFly = false;

-        private string m_name = "";

-

-        private bool[] m_colliderarr = new bool[11];

-        private bool[] m_colliderGroundarr = new bool[11];

-

-

-        private bool jumping = false;

-        //private float gravityAccel;

-        public IntPtr Body;

-        private OdeScene _parent_scene;

-        public IntPtr Shell;

-        public d.Mass ShellMass;

-        public bool collidelock = false;

-

-        public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)

-        {

-            _velocity = new PhysicsVector();

-            _target_velocity = new PhysicsVector();

-            _position = pos;

-            _acceleration = new PhysicsVector();

-            _parent_scene = parent_scene;

-

-            for (int i = 0; i < 11; i++)

-            {

-                m_colliderarr[i] = false;

-            }

-

-            lock (OdeScene.OdeLock)

-            {

-

-                Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);

-                d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);

-                Body = d.BodyCreate(parent_scene.world);

-                d.BodySetMass(Body, ref ShellMass);

-                d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);

-                d.GeomSetBody(Shell, Body);

-            }

-            m_name = avName;

-            parent_scene.geom_name_map[Shell] = avName;

-            parent_scene.actor_name_map[Shell] = (PhysicsActor)this;

-        }

-        public override int PhysicsActorType

-        {

-            get { return (int)ActorTypes.Agent; }

-            set { return; }

-        }

-        public override bool SetAlwaysRun

-        {

-            get { return m_alwaysRun; }

-            set { m_alwaysRun = value; }

-        }

-        public override bool IsPhysical

-        {

-            get { return false; }

-            set { return; }

-        }

-        public override bool ThrottleUpdates

-        {

-            get { return false; }

-            set { return; }

-        }

-        public override bool Flying

-        {

-            get { return flying; }

-            set { flying = value; }

-        }

-        public override bool IsColliding

-        {

-

-            get { return m_iscolliding; }

-            set

-            {

-                int i;

-                int truecount = 0;

-                int falsecount = 0;

-

-                if (m_colliderarr.Length >= 10)

-                {

-                    for (i = 0; i < 10; i++)

-                    {

-                        m_colliderarr[i] = m_colliderarr[i + 1];

-                    }

-                }

-                m_colliderarr[10] = value;

-

-                for (i = 0; i < 11; i++)

-                {

-                    if (m_colliderarr[i])

-                    {

-                        truecount++;

-                    }

-                    else

-                    {

-                        falsecount++;

-                    }

-                }

-

-                // Equal truecounts and false counts means we're colliding with something.

-

-                if (falsecount > 1.2 * truecount)

-                {

-                    m_iscolliding = false;

-                }

-                else

-                {

-                    m_iscolliding = true;

-                }

-                if (m_wascolliding != m_iscolliding)

-                {

-                    base.SendCollisionUpdate(new CollisionEventUpdate());

-                }

-                m_wascolliding = m_iscolliding;

-            }

-        }

-        public override bool CollidingGround

-        {

-            get { return m_iscollidingGround; }

-            set

-            {

-                int i;

-                int truecount = 0;

-                int falsecount = 0;

-

-                if (m_colliderGroundarr.Length >= 10)

-                {

-                    for (i = 0; i < 10; i++)

-                    {

-                        m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];

-                    }

-                }

-                m_colliderGroundarr[10] = value;

-

-                for (i = 0; i < 11; i++)

-                {

-                    if (m_colliderGroundarr[i])

-                    {

-                        truecount++;

-                    }

-                    else

-                    {

-                        falsecount++;

-                    }

-                }

-

-                // Equal truecounts and false counts means we're colliding with something.

-

-                if (falsecount > 1.2 * truecount)

-                {

-                    m_iscollidingGround = false;

-                }

-                else

-                {

-                    m_iscollidingGround = true;

-                }

-                if (m_wascollidingGround != m_iscollidingGround)

-                {

-                    //base.SendCollisionUpdate(new CollisionEventUpdate());

-                }

-                m_wascollidingGround = m_iscollidingGround;

-            }

-        }

-        public override bool CollidingObj

-        {

-            get { return false; }

-            set { return; }

-        }

-

-        public override PhysicsVector Position

-        {

-            get { return _position; }

-            set

-            {

-                lock (OdeScene.OdeLock)

-                {

-                    d.BodySetPosition(Body, value.X, value.Y, value.Z);

-                    _position = value;

-                }

-            }

-        }

-        public override PhysicsVector RotationalVelocity

-        {

-            get { return m_rotationalVelocity; }

-            set { m_rotationalVelocity = value; }

-        }

-        public override PhysicsVector Size

-        {

-            get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }

-            set

-            {

-                lock (OdeScene.OdeLock)

-                {

-                    PhysicsVector SetSize = value;

-                    float prevCapsule = CAPSULE_LENGTH;

-                    float capsuleradius = CAPSULE_RADIUS;

-                    capsuleradius = 0.2f;

-

-                    CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size

-                    d.BodyDestroy(Body);

-                    d.GeomDestroy(Shell);

-                    //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));

-                    Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);

-                    d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);

-                    Body = d.BodyCreate(_parent_scene.world);

-                    d.BodySetMass(Body, ref ShellMass);

-                    d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));

-                    d.GeomSetBody(Shell, Body);

-                }

-                _parent_scene.geom_name_map[Shell] = m_name;

-                _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;

-            }

-        }

-

-        public override PrimitiveBaseShape Shape

-        {

-            set

-            {

-                return;

-            }

-        }

-

-        public override PhysicsVector Velocity

-        {

-            get { return _velocity; }

-            set { _target_velocity = value; }

-        }

-

-        public override bool Kinematic

-        {

-            get { return false; }

-            set { }

-        }

-

-        public override Quaternion Orientation

-        {

-            get { return Quaternion.Identity; }

-            set { }

-        }

-

-        public override PhysicsVector Acceleration

-        {

-            get { return _acceleration; }

-        }

-

-        public void SetAcceleration(PhysicsVector accel)

-        {

-            _acceleration = accel;

-        }

-

-        public override void AddForce(PhysicsVector force)

-        {

-

-            _target_velocity.X += force.X;

-            _target_velocity.Y += force.Y;

-            _target_velocity.Z += force.Z;

-

-            //m_lastUpdateSent = false;

-        }

-        public void doForce(PhysicsVector force)

-        {

-            if (!collidelock)

-            {

-                d.BodyAddForce(Body, force.X, force.Y, force.Z);

-

-                //  ok -- let's stand up straight!

-                d.Vector3 feet;

-                d.Vector3 head;

-                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);

-                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);

-                float posture = head.Z - feet.Z;

-

-                // restoring force proportional to lack of posture:

-                float servo = (2.5f - posture) * POSTURE_SERVO;

-                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);

-                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);

-                //m_lastUpdateSent = false;

-

-            }

-

-        }

-        public override void SetMomentum(PhysicsVector momentum)

-        {

-

-        }

-

-        public void Move(float timeStep)

-        {

-            //  no lock; for now it's only called from within Simulate()

-            PhysicsVector vec = new PhysicsVector();

-            d.Vector3 vel = d.BodyGetLinearVel(Body);

-            float movementdivisor = 1f;

-

-            if (!m_alwaysRun)

-            {

-                movementdivisor = 1.3f;

-            }

-            else

-            {

-                movementdivisor = 0.8f;

-

-            }

-

-            //  if velocity is zero, use position control; otherwise, velocity control

-            if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)

-            {

-                //  keep track of where we stopped.  No more slippin' & slidin'

-                if (!_zeroFlag)

-                {

-                    _zeroFlag = true;

-                    _zeroPosition = d.BodyGetPosition(Body);

-                }

-                d.Vector3 pos = d.BodyGetPosition(Body);

-                vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;

-                vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;

-                if (flying)

-                {

-                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;

-                }

-            }

-            else

-            {

-

-                _zeroFlag = false;

-                if (m_iscolliding || flying)

-                {

-

-                    vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D;

-                    vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D;

-                }

-                if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)

-                {

-                    d.Vector3 pos = d.BodyGetPosition(Body);

-                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;

-                    if (_target_velocity.X > 0)

-                    {

-                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;

-                    }

-                    if (_target_velocity.Y > 0)

-                    {

-                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;

-                    }

-                }

-                else if (!m_iscolliding && !flying)

-                {

-                    d.Vector3 pos = d.BodyGetPosition(Body);

-                    if (_target_velocity.X > 0)

-                    {

-                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;

-                    }

-                    if (_target_velocity.Y > 0)

-                    {

-                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;

-                    }

-

-                }

-

-

-                if (flying)

-                {

-                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D;

-                }

-            }

-            if (flying)

-            {

-                vec.Z += 10.0f;

-            }

-

-

-            doForce(vec);

-        }

-

-        public void UpdatePositionAndVelocity()

-        {

-            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!

-            d.Vector3 vec = d.BodyGetPosition(Body);

-

-            //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)

-            if (vec.X < 0.0f) vec.X = 0.0f;

-            if (vec.Y < 0.0f) vec.Y = 0.0f;

-            if (vec.X > 255.95f) vec.X = 255.95f;

-            if (vec.Y > 255.95f) vec.Y = 255.95f;

-

-            _position.X = vec.X;

-            _position.Y = vec.Y;

-            _position.Z = vec.Z;

-

-            if (_zeroFlag)

-            {

-                _velocity.X = 0.0f;

-                _velocity.Y = 0.0f;

-                _velocity.Z = 0.0f;

-                if (!m_lastUpdateSent)

-                {

-                    m_lastUpdateSent = true;

-                    base.RequestPhysicsterseUpdate();

-                    string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);

-                    int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);

-                    if (primScenAvatarIn == "0")

-                    {

-                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());

-                    }

-                    else

-                    {

-                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());

-                    }

-

-                }

-            }

-            else

-            {

-                m_lastUpdateSent = false;

-                vec = d.BodyGetLinearVel(Body);

-                _velocity.X = (vec.X);

-                _velocity.Y = (vec.Y);

-

-                _velocity.Z = (vec.Z);

-                if (_velocity.Z < -6 && !m_hackSentFall)

-                {

-                    m_hackSentFall = true;

-                    base.SendCollisionUpdate(new CollisionEventUpdate());

-                }

-                else if (flying && !m_hackSentFly)

-                {

-                    //m_hackSentFly = true;

-                    //base.SendCollisionUpdate(new CollisionEventUpdate());

-                }

-                else

-                {

-                    m_hackSentFly = false;

-                    m_hackSentFall = false;

-                }

-            }

-        }

-

-        public void Destroy()

-        {

-            lock (OdeScene.OdeLock)

-            {

-                d.GeomDestroy(Shell);

-                _parent_scene.geom_name_map.Remove(Shell);

-                d.BodyDestroy(Body);

-            }

-        }

-    }

-

-}

+using System;
+using System.Collections.Generic;
+using Axiom.Math;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    public class OdeCharacter : PhysicsActor
+    {
+        private PhysicsVector _position;
+        private d.Vector3 _zeroPosition;
+        private bool _zeroFlag = false;
+        private bool m_lastUpdateSent = false;
+        private PhysicsVector _velocity;
+        private PhysicsVector _target_velocity;
+        private PhysicsVector _acceleration;
+        private PhysicsVector m_rotationalVelocity;
+        private static float PID_D = 3020.0f;
+        private static float PID_P = 7000.0f;
+        private static float POSTURE_SERVO = 10000.0f;
+        public static float CAPSULE_RADIUS = 0.5f;
+        public float CAPSULE_LENGTH = 0.79f;
+        private bool flying = false;
+        private bool m_iscolliding = false;
+        private bool m_iscollidingGround = false;
+        private bool m_wascolliding = false;
+        private bool m_wascollidingGround = false;
+        private bool m_alwaysRun = false;
+        private bool m_hackSentFall = false;
+        private bool m_hackSentFly = false;
+        private string m_name = "";
+
+        private bool[] m_colliderarr = new bool[11];
+        private bool[] m_colliderGroundarr = new bool[11];
+
+
+        private bool jumping = false;
+        //private float gravityAccel;
+        public IntPtr Body;
+        private OdeScene _parent_scene;
+        public IntPtr Shell;
+        public d.Mass ShellMass;
+        public bool collidelock = false;
+
+        public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
+        {
+            _velocity = new PhysicsVector();
+            _target_velocity = new PhysicsVector();
+            _position = pos;
+            _acceleration = new PhysicsVector();
+            _parent_scene = parent_scene;
+
+            for (int i = 0; i < 11; i++)
+            {
+                m_colliderarr[i] = false;
+            }
+
+            lock (OdeScene.OdeLock)
+            {
+
+                Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
+                d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
+                Body = d.BodyCreate(parent_scene.world);
+                d.BodySetMass(Body, ref ShellMass);
+                d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
+                d.GeomSetBody(Shell, Body);
+            }
+            m_name = avName;
+            parent_scene.geom_name_map[Shell] = avName;
+            parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
+        }
+        public override int PhysicsActorType
+        {
+            get { return (int)ActorTypes.Agent; }
+            set { return; }
+        }
+        public override bool SetAlwaysRun
+        {
+            get { return m_alwaysRun; }
+            set { m_alwaysRun = value; }
+        }
+        public override bool IsPhysical
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override bool ThrottleUpdates
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override bool Flying
+        {
+            get { return flying; }
+            set { flying = value; }
+        }
+        public override bool IsColliding
+        {
+
+            get { return m_iscolliding; }
+            set
+            {
+                int i;
+                int truecount = 0;
+                int falsecount = 0;
+
+                if (m_colliderarr.Length >= 10)
+                {
+                    for (i = 0; i < 10; i++)
+                    {
+                        m_colliderarr[i] = m_colliderarr[i + 1];
+                    }
+                }
+                m_colliderarr[10] = value;
+
+                for (i = 0; i < 11; i++)
+                {
+                    if (m_colliderarr[i])
+                    {
+                        truecount++;
+                    }
+                    else
+                    {
+                        falsecount++;
+                    }
+                }
+
+                // Equal truecounts and false counts means we're colliding with something.
+
+                if (falsecount > 1.2 * truecount)
+                {
+                    m_iscolliding = false;
+                }
+                else
+                {
+                    m_iscolliding = true;
+                }
+                if (m_wascolliding != m_iscolliding)
+                {
+                    base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                m_wascolliding = m_iscolliding;
+            }
+        }
+        public override bool CollidingGround
+        {
+            get { return m_iscollidingGround; }
+            set
+            {
+                int i;
+                int truecount = 0;
+                int falsecount = 0;
+
+                if (m_colliderGroundarr.Length >= 10)
+                {
+                    for (i = 0; i < 10; i++)
+                    {
+                        m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
+                    }
+                }
+                m_colliderGroundarr[10] = value;
+
+                for (i = 0; i < 11; i++)
+                {
+                    if (m_colliderGroundarr[i])
+                    {
+                        truecount++;
+                    }
+                    else
+                    {
+                        falsecount++;
+                    }
+                }
+
+                // Equal truecounts and false counts means we're colliding with something.
+
+                if (falsecount > 1.2 * truecount)
+                {
+                    m_iscollidingGround = false;
+                }
+                else
+                {
+                    m_iscollidingGround = true;
+                }
+                if (m_wascollidingGround != m_iscollidingGround)
+                {
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                m_wascollidingGround = m_iscollidingGround;
+            }
+        }
+        public override bool CollidingObj
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override PhysicsVector Position
+        {
+            get { return _position; }
+            set
+            {
+                lock (OdeScene.OdeLock)
+                {
+                    d.BodySetPosition(Body, value.X, value.Y, value.Z);
+                    _position = value;
+                }
+            }
+        }
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
+        public override PhysicsVector Size
+        {
+            get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
+            set
+            {
+                lock (OdeScene.OdeLock)
+                {
+                    PhysicsVector SetSize = value;
+                    float prevCapsule = CAPSULE_LENGTH;
+                    float capsuleradius = CAPSULE_RADIUS;
+                    capsuleradius = 0.2f;
+
+                    CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size
+                    d.BodyDestroy(Body);
+                    d.GeomDestroy(Shell);
+                    //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
+                    Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
+                    d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
+                    Body = d.BodyCreate(_parent_scene.world);
+                    d.BodySetMass(Body, ref ShellMass);
+                    d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
+                    d.GeomSetBody(Shell, Body);
+                }
+                _parent_scene.geom_name_map[Shell] = m_name;
+                _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
+            }
+        }
+
+        public override PrimitiveBaseShape Shape
+        {
+            set
+            {
+                return;
+            }
+        }
+
+        public override PhysicsVector Velocity
+        {
+            get { return _velocity; }
+            set { _target_velocity = value; }
+        }
+
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return Quaternion.Identity; }
+            set { }
+        }
+
+        public override PhysicsVector Acceleration
+        {
+            get { return _acceleration; }
+        }
+
+        public void SetAcceleration(PhysicsVector accel)
+        {
+            _acceleration = accel;
+        }
+
+        public override void AddForce(PhysicsVector force)
+        {
+
+            _target_velocity.X += force.X;
+            _target_velocity.Y += force.Y;
+            _target_velocity.Z += force.Z;
+
+            //m_lastUpdateSent = false;
+        }
+        public void doForce(PhysicsVector force)
+        {
+            if (!collidelock)
+            {
+                d.BodyAddForce(Body, force.X, force.Y, force.Z);
+
+                //  ok -- let's stand up straight!
+                d.Vector3 feet;
+                d.Vector3 head;
+                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
+                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
+                float posture = head.Z - feet.Z;
+
+                // restoring force proportional to lack of posture:
+                float servo = (2.5f - posture) * POSTURE_SERVO;
+                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
+                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
+                //m_lastUpdateSent = false;
+
+            }
+
+        }
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+
+        }
+
+        public void Move(float timeStep)
+        {
+            //  no lock; for now it's only called from within Simulate()
+            PhysicsVector vec = new PhysicsVector();
+            d.Vector3 vel = d.BodyGetLinearVel(Body);
+            float movementdivisor = 1f;
+
+            if (!m_alwaysRun)
+            {
+                movementdivisor = 1.3f;
+            }
+            else
+            {
+                movementdivisor = 0.8f;
+
+            }
+
+            //  if velocity is zero, use position control; otherwise, velocity control
+            if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
+            {
+                //  keep track of where we stopped.  No more slippin' & slidin'
+                if (!_zeroFlag)
+                {
+                    _zeroFlag = true;
+                    _zeroPosition = d.BodyGetPosition(Body);
+                }
+                d.Vector3 pos = d.BodyGetPosition(Body);
+                vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
+                vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
+                if (flying)
+                {
+                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
+                }
+            }
+            else
+            {
+
+                _zeroFlag = false;
+                if (m_iscolliding || flying)
+                {
+
+                    vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D;
+                    vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D;
+                }
+                if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
+                {
+                    d.Vector3 pos = d.BodyGetPosition(Body);
+                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
+                    if (_target_velocity.X > 0)
+                    {
+                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
+                    }
+                    if (_target_velocity.Y > 0)
+                    {
+                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
+                    }
+                }
+                else if (!m_iscolliding && !flying)
+                {
+                    d.Vector3 pos = d.BodyGetPosition(Body);
+                    if (_target_velocity.X > 0)
+                    {
+                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
+                    }
+                    if (_target_velocity.Y > 0)
+                    {
+                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
+                    }
+
+                }
+
+
+                if (flying)
+                {
+                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D;
+                }
+            }
+            if (flying)
+            {
+                vec.Z += 10.0f;
+            }
+
+
+            doForce(vec);
+        }
+
+        public void UpdatePositionAndVelocity()
+        {
+            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
+            d.Vector3 vec = d.BodyGetPosition(Body);
+
+            //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
+            if (vec.X < 0.0f) vec.X = 0.0f;
+            if (vec.Y < 0.0f) vec.Y = 0.0f;
+            if (vec.X > 255.95f) vec.X = 255.95f;
+            if (vec.Y > 255.95f) vec.Y = 255.95f;
+
+            _position.X = vec.X;
+            _position.Y = vec.Y;
+            _position.Z = vec.Z;
+
+            if (_zeroFlag)
+            {
+                _velocity.X = 0.0f;
+                _velocity.Y = 0.0f;
+                _velocity.Z = 0.0f;
+                if (!m_lastUpdateSent)
+                {
+                    m_lastUpdateSent = true;
+                    base.RequestPhysicsterseUpdate();
+                    string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
+                    int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
+                    if (primScenAvatarIn == "0")
+                    {
+                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
+                    }
+                    else
+                    {
+                        OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
+                    }
+
+                }
+            }
+            else
+            {
+                m_lastUpdateSent = false;
+                vec = d.BodyGetLinearVel(Body);
+                _velocity.X = (vec.X);
+                _velocity.Y = (vec.Y);
+
+                _velocity.Z = (vec.Z);
+                if (_velocity.Z < -6 && !m_hackSentFall)
+                {
+                    m_hackSentFall = true;
+                    base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                else if (flying && !m_hackSentFly)
+                {
+                    //m_hackSentFly = true;
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                else
+                {
+                    m_hackSentFly = false;
+                    m_hackSentFall = false;
+                }
+            }
+        }
+
+        public void Destroy()
+        {
+            lock (OdeScene.OdeLock)
+            {
+                d.GeomDestroy(Shell);
+                _parent_scene.geom_name_map.Remove(Shell);
+                d.BodyDestroy(Body);
+            }
+        }
+    }
+
+}