Merge branch 'vehicles' of ssh://opensim@tor.k-grid.com/home/opensim/opensim into vehicles

1 files changed, 630 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments
new file mode 100644
index 0000000..1060aa6
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments
@@ -0,0 +1,630 @@
+/*
+ * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with  MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
+ * 
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above 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 OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using log4net;
+using OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    public class ODEDynamics
+    {
+        public Vehicle Type
+        {        
+            get { return m_type; }
+        }
+
+        public IntPtr Body
+        {
+            get { return m_body; }
+        }
+
+        private int frcount = 0;                                                                                // Used to limit dynamics debug output to 
+                                                                                                                                        // every 100th frame
+
+        // private OdeScene m_parentScene = null;
+        private IntPtr m_body = IntPtr.Zero;
+        private IntPtr m_jointGroup = IntPtr.Zero;
+        private IntPtr m_aMotor = IntPtr.Zero;
+ 
+
+        // Vehicle properties
+        private Vehicle m_type = Vehicle.TYPE_NONE;                                             // If a 'VEHICLE', and what kind
+        // private Quaternion m_referenceFrame = Quaternion.Identity;   // Axis modifier
+        private VehicleFlag m_flags = (VehicleFlag) 0;                                  // Boolean settings:
+                                                                                                                                                // HOVER_TERRAIN_ONLY
+                                                                                                                                                // HOVER_GLOBAL_HEIGHT
+                                                                                                                                                // NO_DEFLECTION_UP
+                                                                                                                                                // HOVER_WATER_ONLY
+                                                                                                                                                // HOVER_UP_ONLY
+                                                                                                                                                // LIMIT_MOTOR_UP
+                                                                                                                                                // LIMIT_ROLL_ONLY
+        
+        // Linear properties
+        private Vector3 m_linearMotorDirection = Vector3.Zero;                  // velocity requested by LSL, decayed by time
+        private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
+        private Vector3 m_dir = Vector3.Zero;                                                   // velocity applied to body
+        private Vector3 m_linearFrictionTimescale = Vector3.Zero;
+        private float m_linearMotorDecayTimescale = 0;
+        private float m_linearMotorTimescale = 0;
+        private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
+                // private bool m_LinearMotorSetLastFrame = false;
+        // private Vector3 m_linearMotorOffset = Vector3.Zero;
+        
+        //Angular properties
+        private Vector3 m_angularMotorDirection = Vector3.Zero;
+        private Vector3 m_angularMotorDirectionLASTSET = Vector3.Zero;
+        private Vector3 m_angularFrictionTimescale = Vector3.Zero;
+        private float m_angularMotorDecayTimescale = 0;
+        private float m_angularMotorTimescale = 0;
+        private Vector3 m_lastAngularVelocityVector = Vector3.Zero;
+
+                //Deflection properties        
+        // private float m_angularDeflectionEfficiency = 0;
+        // private float m_angularDeflectionTimescale = 0;
+        // private float m_linearDeflectionEfficiency = 0;
+        // private float m_linearDeflectionTimescale = 0;
+        
+        //Banking properties
+        // private float m_bankingEfficiency = 0;
+        // private float m_bankingMix = 0;
+        // private float m_bankingTimescale = 0;
+        
+        //Hover and Buoyancy properties
+        private float m_VhoverHeight = 0f;
+        private float m_VhoverEfficiency = 0f;
+        private float m_VhoverTimescale = 0f;
+        private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height 
+        private float m_VehicleBuoyancy = 0f;                   //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+                                // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 
+                                // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
+                                // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. 
+                                                                                                        
+                //Attractor properties                                                                                                  
+        private float m_verticalAttractionEfficiency = 0;
+        private float m_verticalAttractionTimescale = 0;
+        
+        
+
+
+
+        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_angularDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_angularMotorTimescale = pValue;
+                    break;
+                case Vehicle.BANKING_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingEfficiency = pValue;
+                    break;
+                case Vehicle.BANKING_MIX:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingMix = pValue;
+                    break;
+                case Vehicle.BANKING_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_bankingTimescale = pValue;
+                    break;
+                case Vehicle.BUOYANCY:
+                        if (pValue < -1f) pValue = -1f;
+                        if (pValue > 1f) pValue = 1f;
+                    m_VehicleBuoyancy = pValue;
+                    break;
+                case Vehicle.HOVER_EFFICIENCY:
+                        if (pValue < 0f) pValue = 0f;
+                        if (pValue > 1f) pValue = 1f;
+                    m_VhoverEfficiency = pValue;
+                    break;
+                case Vehicle.HOVER_HEIGHT:
+                    m_VhoverHeight = pValue;
+                    break;
+                case Vehicle.HOVER_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_VhoverTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionEfficiency = pValue;
+                    break;
+                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    // m_linearDeflectionTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorDecayTimescale = pValue;
+                    break;
+                case Vehicle.LINEAR_MOTOR_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_linearMotorTimescale = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+                    if (pValue < 0.0f) pValue = 0.0f;
+                    if (pValue > 1.0f) pValue = 1.0f;
+                    m_verticalAttractionEfficiency = pValue;
+                    break;
+                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+                    if (pValue < 0.01f) pValue = 0.01f;
+                    m_verticalAttractionTimescale = pValue;
+                    break;
+                    
+                // These are vector properties but the engine lets you use a single float value to 
+                // set all of the components to the same value
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_angularMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    break;
+
+            }
+            
+        }//end ProcessFloatVehicleParam
+
+        internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.ANGULAR_MOTOR_DIRECTION:
+                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_angularMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+                case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
+            }
+            
+        }//end ProcessVectorVehicleParam
+
+        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+        {
+            switch (pParam)
+            {
+                case Vehicle.REFERENCE_FRAME:
+                    // m_referenceFrame = pValue;
+                    break;
+            }
+            
+        }//end ProcessRotationVehicleParam
+
+        internal void ProcessTypeChange(Vehicle pType)
+        {
+Console.WriteLine("ProcessTypeChange to " + pType);
+         
+                        // Set Defaults For Type
+            m_type = pType;
+            switch (pType)
+            {
+                case Vehicle.TYPE_SLED:
+                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1000;
+                    m_linearMotorDecayTimescale = 120;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1000;
+                    m_angularMotorDecayTimescale = 120;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 1;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 1;
+                    // m_linearDeflectionTimescale = 1;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 1000;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 10;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &=
+                        ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                          VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_CAR:
+                    m_linearFrictionTimescale = new Vector3(100, 2, 1000);
+                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 1;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 1;
+                    m_angularMotorDecayTimescale = 0.8f;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // // m_linearDeflectionEfficiency = 1;
+                    // // m_linearDeflectionTimescale = 2;
+                    // // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 10;
+                    m_verticalAttractionEfficiency = 1;
+                    m_verticalAttractionTimescale = 10;
+                    // m_bankingEfficiency = -0.2f;
+                    // m_bankingMix = 1;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_BOAT:
+                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
+                    m_angularFrictionTimescale = new Vector3(10,10,10);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 2;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 0.5f;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 0.5f;
+                    m_verticalAttractionTimescale = 5;
+                    // m_bankingEfficiency = -0.3f;
+                    // m_bankingMix = 0.8f;
+                    // m_bankingTimescale = 1;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY | 
+                                VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
+                                VehicleFlag.LIMIT_MOTOR_UP);
+                    break;
+                case Vehicle.TYPE_AIRPLANE:
+                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
+                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 2;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 4;
+                    m_angularMotorDecayTimescale = 4;
+                    m_VhoverHeight = 0;
+                    m_VhoverEfficiency = 0.5f;
+                    m_VhoverTimescale = 1000;
+                    m_VehicleBuoyancy = 0;
+                    // m_linearDeflectionEfficiency = 0.5f;
+                    // m_linearDeflectionTimescale = 3;
+                    // m_angularDeflectionEfficiency = 1;
+                    // m_angularDeflectionTimescale = 2;
+                    m_verticalAttractionEfficiency = 0.9f;
+                    m_verticalAttractionTimescale = 2;
+                    // m_bankingEfficiency = 1;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 2;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    break;
+                case Vehicle.TYPE_BALLOON:
+                    m_linearFrictionTimescale = new Vector3(5, 5, 5);
+                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 5;
+                    m_linearMotorDecayTimescale = 60;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 6;
+                    m_angularMotorDecayTimescale = 10;
+                    m_VhoverHeight = 5;
+                    m_VhoverEfficiency = 0.8f;
+                    m_VhoverTimescale = 10;
+                    m_VehicleBuoyancy = 1;
+                    // m_linearDeflectionEfficiency = 0;
+                    // m_linearDeflectionTimescale = 5;
+                    // m_angularDeflectionEfficiency = 0;
+                    // m_angularDeflectionTimescale = 5;
+                    m_verticalAttractionEfficiency = 1;
+                    m_verticalAttractionTimescale = 1000;
+                    // m_bankingEfficiency = 0;
+                    // m_bankingMix = 0.7f;
+                    // m_bankingTimescale = 5;
+                    // m_referenceFrame = Quaternion.Identity;
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    break;
+
+            }
+        }//end SetDefaultsForType
+
+        internal void Enable(IntPtr pBody, OdeScene pParentScene)
+        {
+//Console.WriteLine("Enable  m_type=" + m_type + "   m_VehicleBuoyancy=" + m_VehicleBuoyancy);
+            if (m_type == Vehicle.TYPE_NONE)
+                return;
+
+            m_body = pBody;
+            //KF: This  used to set up the linear and angular joints
+        }
+
+        internal void Step(float pTimestep,  OdeScene pParentScene)
+        {
+            if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
+                return;
+            frcount++;                                  // used to limit debug comment output
+            if (frcount > 100)
+                frcount = 0;
+
+                        MoveLinear(pTimestep, pParentScene);
+            MoveAngular(pTimestep);
+        }// end Step
+
+        private void MoveLinear(float pTimestep, OdeScene _pParentScene)
+        {
+            if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))              // requested m_linearMotorDirection is significant
+            {
+                 if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body);
+
+                // add drive to body
+                Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
+                m_lastLinearVelocityVector += (addAmount*10);                                   // lastLinearVelocityVector is the current body velocity vector?
+        
+                // This will work temporarily, but we really need to compare speed on an axis
+                // KF: Limit body velocity to applied velocity?
+                if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
+                    m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
+                if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
+                    m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
+                if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
+                    m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
+                
+                // decay applied velocity
+                Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
+                //Console.WriteLine("decay: " + decayfraction);
+                m_linearMotorDirection -= m_linearMotorDirection * decayfraction;
+                //Console.WriteLine("actual: " + m_linearMotorDirection);
+            }
+            else
+            {           // requested is not significant
+                                        // if what remains of applied is small, zero it.
+                                if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
+                                        m_lastLinearVelocityVector = Vector3.Zero;
+                        }
+                                    
+                        
+                        // convert requested object velocity to world-referenced vector
+            m_dir = m_lastLinearVelocityVector;
+            d.Quaternion rot = d.BodyGetQuaternion(Body);
+                Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);   // rotq = rotation of object
+                m_dir *= rotq;                                                  // apply obj rotation to velocity vector
+
+                        // add Gravity andBuoyancy
+                        // KF: So far I have found no good method to combine a script-requested
+                        // .Z velocity and gravity. Therefore only 0g will used script-requested
+                        // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
+            Vector3 grav = Vector3.Zero;
+                        if(m_VehicleBuoyancy < 1.0f)
+                        {
+                                // There is some gravity, make a gravity force vector
+                                // that is applied after object velocity.     
+                    d.Mass objMass;
+                    d.BodyGetMass(Body, out objMass);
+                    // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 
+                    grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
+                    // Preserve the current Z velocity
+                                d.Vector3 vel_now = d.BodyGetLinearVel(Body);
+                    m_dir.Z = vel_now.Z;                // Preserve the accumulated falling velocity
+                } // else its 1.0, no gravity.
+                
+                // Check if hovering
+                if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+                {       
+                        // We should hover, get the target height
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
+                        {
+                                m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
+                        }
+                        else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
+                        {
+                                m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
+                        }
+                        else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
+                        {
+                                m_VhoverTargetHeight = m_VhoverHeight;
+                        }
+                        
+                                if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
+                                {
+                                        // If body is aready heigher, use its height as target height
+                                        if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
+                                }
+                                
+//                  m_VhoverEfficiency = 0f;    // 0=boucy, 1=Crit.damped
+//                              m_VhoverTimescale = 0f;         // time to acheive height
+//                              pTimestep  is time since last frame,in secs 
+                                float herr0 = pos.Z - m_VhoverTargetHeight;
+//if(frcount == 0) Console.WriteLine("herr0=" + herr0);                 
+                                // Replace Vertical speed with correction figure if significant
+                                if(Math.Abs(herr0) > 0.01f )
+                                {
+                            d.Mass objMass;
+                            d.BodyGetMass(Body, out objMass);
+                                        m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
+                                        // m_VhoverEfficiency is not yet implemented
+                                }
+                                else
+                                {
+                                        m_dir.Z = 0f;
+                                }
+                        }
+                        
+                // Apply velocity
+                d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);        
+//if(frcount == 0) Console.WriteLine("Move  " + Body + ":"+ m_dir.X + " " + m_dir.Y + " " + m_dir.Z);
+            // apply gravity force
+                        d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);           
+//if(frcount == 0) Console.WriteLine("Force " + Body + ":" + grav.X + " " + grav.Y + " " + grav.Z);     
+
+
+                        // apply friction
+            Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
+            m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
+        } // end MoveLinear()
+        
+        private void MoveAngular(float pTimestep)
+        {
+        
+                // m_angularMotorDirection                      is the latest value from the script, and is decayed here
+                // m_angularMotorDirectionLASTSET               is the latest value from the script
+                // m_lastAngularVelocityVector                  is what is being applied to the Body, varied up and down here
+                
+            if (!m_angularMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
+            {
+                                if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body);
+                                // ramp up to new value
+                Vector3 addAmount = m_angularMotorDirection / (m_angularMotorTimescale / pTimestep);
+                m_lastAngularVelocityVector += (addAmount * 10f);
+//if(frcount == 0) Console.WriteLine("add: " + addAmount);
+
+                                // limit applied value to what was set by script
+                // This will work temporarily, but we really need to compare speed on an axis
+                if (Math.Abs(m_lastAngularVelocityVector.X) > Math.Abs(m_angularMotorDirectionLASTSET.X))
+                    m_lastAngularVelocityVector.X = m_angularMotorDirectionLASTSET.X;
+                if (Math.Abs(m_lastAngularVelocityVector.Y) > Math.Abs(m_angularMotorDirectionLASTSET.Y))
+                    m_lastAngularVelocityVector.Y = m_angularMotorDirectionLASTSET.Y;
+                if (Math.Abs(m_lastAngularVelocityVector.Z) > Math.Abs(m_angularMotorDirectionLASTSET.Z))
+                    m_lastAngularVelocityVector.Z = m_angularMotorDirectionLASTSET.Z;
+
+                                // decay the requested value
+                Vector3 decayfraction = ((Vector3.One / (m_angularMotorDecayTimescale / pTimestep)));
+                //Console.WriteLine("decay: " + decayfraction);
+                m_angularMotorDirection -= m_angularMotorDirection * decayfraction;
+                //Console.WriteLine("actual: " + m_linearMotorDirection);
+            }
+            // KF: m_lastAngularVelocityVector is rotational speed in rad/sec ?
+            
+            // Vertical attractor section
+            
+//            d.Mass objMass;
+//            d.BodyGetMass(Body, out objMass);
+//            float servo = 100f * objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
+            float servo = 0.1f * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
+            // get present body rotation
+            d.Quaternion rot = d.BodyGetQuaternion(Body);
+            Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
+            // make a vector pointing up
+                        Vector3 verterr = Vector3.Zero;
+                        verterr.Z = 1.0f;
+                        // rotate it to Body Angle
+                        verterr = verterr * rotq;
+                        // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
+                        // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
+                        // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
+                        if (verterr.Z < 0.0f)
+                        {
+                                verterr.X = 2.0f - verterr.X;
+                                verterr.Y = 2.0f - verterr.Y;
+                        }
+                        // Error is 0 (no error) to +/- 2 (max error)
+                        // scale it by servo
+                        verterr = verterr * servo;
+                        
+                        // rotate to object frame
+        //              verterr = verterr * rotq;
+                        
+                        // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so 
+                        // Change  Body angular velocity  X based on Y, and Y based on X. Z is not changed.
+                        m_lastAngularVelocityVector.X += verterr.Y;
+                        m_lastAngularVelocityVector.Y -= verterr.X;
+/*
+if(frcount == 0) 
+        {
+//                      Console.WriteLine("AngleMotor " + m_lastAngularVelocityVector);
+                        Console.WriteLine(String.Format("VA Body:{0} servo:{1} err:<{2},{3},{4}>  VAE:{5}", 
+                                        Body, servo, verterr.X, verterr.Y, verterr.Z, m_verticalAttractionEfficiency)); 
+        }
+        */
+                        d.BodySetAngularVel (Body, m_lastAngularVelocityVector.X, m_lastAngularVelocityVector.Y, m_lastAngularVelocityVector.Z);
+                        // apply friction
+            Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
+            m_lastAngularVelocityVector -= m_lastAngularVelocityVector * decayamount;
+
+        } //end MoveAngular
+    }
+}