rename Ubit physics modules

1 files changed, 2825 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
new file mode 100644
index 0000000..a2dd885
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -0,0 +1,2825 @@
+/*
+ * 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.
+ */
+
+// Revision 2011/12/13 by Ubit Umarov
+//#define SPAM
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Threading;
+using System.IO;
+using System.Diagnostics;
+using log4net;
+using Nini.Config;
+using Mono.Addins;
+using OdeAPI;
+using OpenSim.Framework;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModule.ubOde
+{
+     // colision flags of things others can colide with
+    // rays, sensors, probes removed since can't  be colided with
+    // The top space where things are placed provided further selection
+    // ie physical are in active space nonphysical in static
+    // this should be exclusive as possible
+
+    [Flags]
+    public enum CollisionCategories : uint
+    {
+        Disabled = 0,
+        //by 'things' types
+        Space =         0x01,
+        Geom =          0x02, // aka prim/part
+        Character =     0x04,
+        Land =          0x08,
+        Water =         0x010,
+
+        // by state
+        Phantom =       0x01000,
+        VolumeDtc =     0x02000,
+        Selected =      0x04000,
+        NoShape =       0x08000,
+
+
+        All =           0xffffffff
+    }
+
+    /// <summary>
+    /// Material type for a primitive
+    /// </summary>
+    public enum Material : int
+    {
+        /// <summary></summary>
+        Stone = 0,
+        /// <summary></summary>
+        Metal = 1,
+        /// <summary></summary>
+        Glass = 2,
+        /// <summary></summary>
+        Wood = 3,
+        /// <summary></summary>
+        Flesh = 4,
+        /// <summary></summary>
+        Plastic = 5,
+        /// <summary></summary>
+        Rubber = 6,
+
+        light = 7 // compatibility with old viewers
+    }
+    
+    public enum changes : int
+    {
+        Add = 0,                // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
+        Remove,
+        Link,               // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root
+        //  or removes from a object if arg is null
+        DeLink,
+        Position,           // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child
+        Orientation,        // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child
+        PosOffset,          // not in use
+        // arg Vector3 new position in local coords. Changes prim position in object
+        OriOffset,          // not in use
+        // arg Vector3 new position in local coords. Changes prim position in object
+        Velocity,
+        AngVelocity,
+        Acceleration,
+        Force,
+        Torque,
+        Momentum,
+
+        AddForce,
+        AddAngForce,
+        AngLock,
+
+        Buoyancy,
+
+        PIDTarget,
+        PIDTau,
+        PIDActive,
+
+        PIDHoverHeight,
+        PIDHoverType,
+        PIDHoverTau,
+        PIDHoverActive,
+
+        Size,
+        AvatarSize,
+        Shape,
+        PhysRepData,
+        AddPhysRep,
+
+        CollidesWater,
+        VolumeDtc,
+
+        Physical,
+        Phantom,
+        Selected,
+        disabled,
+        building,
+
+        VehicleType,
+        VehicleFloatParam,
+        VehicleVectorParam,
+        VehicleRotationParam,
+        VehicleFlags,
+        SetVehicle,
+
+        Null             //keep this last used do dim the methods array. does nothing but pulsing the prim
+    }
+
+    public struct ODEchangeitem
+    {
+        public PhysicsActor actor;
+        public OdeCharacter character;
+        public changes what;
+        public Object arg;
+    }
+
+    public class ODEScene : PhysicsScene
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public bool m_ubOdeLib = false;
+        public bool m_suportCombine = false; // mega suport not tested
+        public Scene m_frameWorkScene = null;
+
+//        private int threadid = 0;
+
+//        const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
+
+        const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1 | d.ContactFlags.Slip1 | d.ContactFlags.Slip2;
+        const float comumContactERP = 0.7f;
+        const float comumContactCFM = 0.0001f;
+        const float comumContactSLIP = 0f;
+        
+        float frictionMovementMult = 0.8f;
+
+        float TerrainBounce = 0.1f;
+        float TerrainFriction = 0.3f;
+
+        public float AvatarFriction = 0;// 0.9f * 0.5f;
+
+        // this netx dimensions are only relevant for terrain partition (mega regions)
+        // WorldExtents below has the simulation dimensions
+        // they should be identical except on mega regions
+        private uint m_regionWidth = Constants.RegionSize;
+        private uint m_regionHeight = Constants.RegionSize;
+
+        public float ODE_STEPSIZE = 0.020f;
+        public float HalfOdeStep = 0.01f;
+        public int odetimestepMS = 20; // rounded
+        private float metersInSpace = 25.6f;
+        private float m_timeDilation = 1.0f;
+
+        private DateTime m_lastframe;
+        private DateTime m_lastMeshExpire;
+
+        public float gravityx = 0f;
+        public float gravityy = 0f;
+        public float gravityz = -9.8f;
+
+        private float waterlevel = 0f;
+        private int framecount = 0;
+
+//        private int m_meshExpireCntr;
+
+        private float avDensity = 80f;
+        private float avMovementDivisorWalk = 1.3f;
+        private float avMovementDivisorRun = 0.8f;
+        private float minimumGroundFlightOffset = 3f;
+        public float maximumMassObject = 10000.01f;
+
+
+        public float geomDefaultDensity = 10.000006836f;
+
+        public float bodyPIDD = 35f;
+        public float bodyPIDG = 25;
+
+        public int bodyFramesAutoDisable = 5;
+
+        private d.NearCallback nearCallback;
+
+        private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
+        private HashSet<OdePrim> _prims = new HashSet<OdePrim>();
+        private HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
+        private HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
+
+        public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
+
+        /// <summary>
+        /// A list of actors that should receive collision events.
+        /// </summary>
+        private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
+        private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
+        
+        private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
+//        public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
+        public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
+
+        private float contactsurfacelayer = 0.001f;
+
+        private int contactsPerCollision = 80;
+        internal IntPtr ContactgeomsArray = IntPtr.Zero;
+        private IntPtr GlobalContactsArray = IntPtr.Zero;
+        private d.Contact SharedTmpcontact = new d.Contact();
+
+        const int maxContactsbeforedeath = 4000;
+        private volatile int m_global_contactcount = 0;
+
+        private IntPtr contactgroup;
+
+        public ContactData[] m_materialContactsData = new ContactData[8];
+
+        private Dictionary<Vector3, IntPtr> RegionTerrain = new Dictionary<Vector3, IntPtr>();
+        private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
+        private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
+       
+        private int m_physicsiterations = 15;
+        private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
+//        private PhysicsActor PANull = new NullPhysicsActor();
+        private float step_time = 0.0f;
+
+        public IntPtr world;
+
+
+        // split the spaces acording to contents type
+        // ActiveSpace contains characters and active prims
+        // StaticSpace contains land and other that is mostly static in enviroment
+        // this can contain subspaces, like the grid in staticspace
+        // as now space only contains this 2 top spaces
+
+        public IntPtr TopSpace; // the global space
+        public IntPtr ActiveSpace; // space for active prims
+        public IntPtr CharsSpace; // space for active prims
+        public IntPtr StaticSpace; // space for the static things around
+        public IntPtr GroundSpace; // space for ground
+
+        // some speedup variables
+        private int spaceGridMaxX;
+        private int spaceGridMaxY;
+        private float spacesPerMeterX;
+        private float spacesPerMeterY;
+
+        // split static geometry collision into a grid as before
+        private IntPtr[,] staticPrimspace;
+        private IntPtr[] staticPrimspaceOffRegion;
+
+        public Object OdeLock;
+        public static Object SimulationLock;
+
+        public IMesher mesher;
+
+        public IConfigSource m_config;
+
+        public bool physics_logging = false;
+        public int physics_logging_interval = 0;
+        public bool physics_logging_append_existing_logfile = false;
+
+        private Vector3 m_worldOffset = Vector3.Zero;
+        public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
+        private PhysicsScene m_parentScene = null;
+
+        private ODERayCastRequestManager m_rayCastManager;
+        public ODEMeshWorker m_meshWorker;
+
+        /* maybe needed if ode uses tls
+                private void checkThread()
+                {
+
+                    int th = Thread.CurrentThread.ManagedThreadId;
+                    if(th != threadid)
+                    {
+                        threadid = th;
+                        d.AllocateODEDataForThread(~0U);
+                    }
+                }
+         */
+
+        IConfig physicsconfig = null;
+
+        public ODEScene(Scene pscene, IConfigSource psourceconfig, string pname, bool pubOdeLib)
+        {
+            OdeLock = new Object();
+
+            EngineType = pname;
+            PhysicsSceneName = EngineType + "/" + pscene.RegionInfo.RegionName;
+
+                        m_config = psourceconfig;
+            m_ubOdeLib = pubOdeLib;
+            m_frameWorkScene = pscene;
+
+            m_frameWorkScene.RegisterModuleInterface<PhysicsScene>(this);
+
+            Initialization();
+
+            base.Initialise(m_frameWorkScene.PhysicsRequestAsset,
+                (m_frameWorkScene.Heightmap != null ? m_frameWorkScene.Heightmap.GetFloatsSerialised() : new float[m_frameWorkScene.RegionInfo.RegionSizeX * m_frameWorkScene.RegionInfo.RegionSizeY]),
+                (float)m_frameWorkScene.RegionInfo.RegionSettings.WaterHeight);           
+        }
+
+        // core hack this just means all modules where loaded
+        // so now we can look for dependencies
+        public void RegionLoaded()
+        {
+            mesher = m_frameWorkScene.RequestModuleInterface<IMesher>();
+            if (mesher == null)
+            {
+                m_log.WarnFormat("[ubOde] No mesher. module disabled");
+                return;
+            }
+
+            m_meshWorker = new ODEMeshWorker(this, m_log, mesher, physicsconfig);
+            m_frameWorkScene.PhysicsEnabled = true;
+        }
+        /// <summary>
+        /// Initiailizes the scene
+        /// Sets many properties that ODE requires to be stable
+        /// These settings need to be tweaked 'exactly' right or weird stuff happens.
+        /// </summary>
+        private void Initialization()
+        {
+            //            checkThread();
+            SimulationLock = new Object();
+
+            nearCallback = near;
+
+            m_rayCastManager = new ODERayCastRequestManager(this);
+
+            WorldExtents.X = m_frameWorkScene.RegionInfo.RegionSizeX;
+            m_regionWidth = (uint)WorldExtents.X;
+            WorldExtents.Y = m_frameWorkScene.RegionInfo.RegionSizeY;
+            m_regionHeight = (uint)WorldExtents.Y;
+
+            m_suportCombine = false;
+
+            lock (OdeLock)
+            {
+                // Create the world and the first space
+                try
+                {
+                    world = d.WorldCreate();
+                    TopSpace = d.HashSpaceCreate(IntPtr.Zero);
+
+                    // now the major subspaces
+                    ActiveSpace = d.HashSpaceCreate(TopSpace);
+                    CharsSpace = d.HashSpaceCreate(TopSpace);
+                    StaticSpace = d.HashSpaceCreate(TopSpace);
+                    GroundSpace = d.HashSpaceCreate(TopSpace);
+                }
+                catch
+                {
+                    // i must RtC#FM 
+                    // i did!
+                }
+
+                d.HashSpaceSetLevels(TopSpace, -2, 8);
+                d.HashSpaceSetLevels(ActiveSpace, -2, 8);
+                d.HashSpaceSetLevels(CharsSpace, -4, 3);
+                d.HashSpaceSetLevels(StaticSpace, -2, 8);
+                d.HashSpaceSetLevels(GroundSpace, 0, 8);
+
+                // demote to second level
+                d.SpaceSetSublevel(ActiveSpace, 1);
+                d.SpaceSetSublevel(CharsSpace, 1);
+                d.SpaceSetSublevel(StaticSpace, 1);
+                d.SpaceSetSublevel(GroundSpace, 1);
+
+                d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space |
+                                                        CollisionCategories.Geom |
+                                                        CollisionCategories.Character |
+                                                        CollisionCategories.Phantom |
+                                                        CollisionCategories.VolumeDtc
+                                                        ));
+                d.GeomSetCollideBits(ActiveSpace, (uint)(CollisionCategories.Space |
+                                                        CollisionCategories.Geom |
+                                                        CollisionCategories.Character |
+                                                        CollisionCategories.Phantom |
+                                                        CollisionCategories.VolumeDtc
+                                                        ));
+                d.GeomSetCategoryBits(CharsSpace, (uint)(CollisionCategories.Space |
+                                        CollisionCategories.Geom |
+                                        CollisionCategories.Character |
+                                        CollisionCategories.Phantom |
+                                        CollisionCategories.VolumeDtc
+                                        ));
+                d.GeomSetCollideBits(CharsSpace, 0);
+
+                d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space |
+                                                        CollisionCategories.Geom |
+                                                        //                                                        CollisionCategories.Land |
+                                                        //                                                        CollisionCategories.Water |
+                                                        CollisionCategories.Phantom |
+                                                        CollisionCategories.VolumeDtc
+                                                        ));
+                d.GeomSetCollideBits(StaticSpace, 0);
+
+                d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land));
+                d.GeomSetCollideBits(GroundSpace, 0);
+
+                contactgroup = d.JointGroupCreate(maxContactsbeforedeath + 1);
+                //contactgroup
+
+                d.WorldSetAutoDisableFlag(world, false);
+            }
+
+
+            //            checkThread();
+
+
+            // Defaults
+
+            int contactsPerCollision = 80;
+
+            physicsconfig = null;
+
+            if (m_config != null)
+            {
+                physicsconfig = m_config.Configs["ODEPhysicsSettings"];
+                if (physicsconfig != null)
+                {
+                    gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
+                    gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
+                    gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
+
+                    metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
+
+                    //                    contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
+
+                    ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
+
+                    avDensity = physicsconfig.GetFloat("av_density", avDensity);
+                    avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
+                    avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
+
+                    contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
+
+                    geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
+                    bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
+
+                    physics_logging = physicsconfig.GetBoolean("physics_logging", false);
+                    physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
+                    physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
+
+                    minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
+                    maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
+
+                    avDensity *= 3f / 80f;  // scale other engines density option to this
+                }
+            }
+
+            d.WorldSetCFM(world, comumContactCFM);
+            d.WorldSetERP(world, comumContactERP);
+
+            d.WorldSetGravity(world, gravityx, gravityy, gravityz);
+
+            d.WorldSetLinearDamping(world, 0.002f);
+            d.WorldSetAngularDamping(world, 0.002f);
+            d.WorldSetAngularDampingThreshold(world, 0f);
+            d.WorldSetLinearDampingThreshold(world, 0f);
+            d.WorldSetMaxAngularSpeed(world, 100f);
+
+            d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
+
+            d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
+            d.WorldSetContactMaxCorrectingVel(world, 60.0f);
+
+            HalfOdeStep = ODE_STEPSIZE * 0.5f;
+            odetimestepMS = (int)(1000.0f * ODE_STEPSIZE + 0.5f);
+
+            ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
+            GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
+
+            SharedTmpcontact.geom.g1 = IntPtr.Zero;
+            SharedTmpcontact.geom.g2 = IntPtr.Zero;
+
+            SharedTmpcontact.geom.side1 = -1;
+            SharedTmpcontact.geom.side2 = -1;
+
+            SharedTmpcontact.surface.mode = comumContactFlags;
+            SharedTmpcontact.surface.mu = 0;
+            SharedTmpcontact.surface.bounce = 0;
+            SharedTmpcontact.surface.soft_cfm = comumContactCFM;
+            SharedTmpcontact.surface.soft_erp = comumContactERP;
+            SharedTmpcontact.surface.slip1 = comumContactSLIP;
+            SharedTmpcontact.surface.slip2 = comumContactSLIP;
+
+            m_materialContactsData[(int)Material.Stone].mu = 0.8f;
+            m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
+
+            m_materialContactsData[(int)Material.Metal].mu = 0.3f;
+            m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
+
+            m_materialContactsData[(int)Material.Glass].mu = 0.2f;
+            m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
+
+            m_materialContactsData[(int)Material.Wood].mu = 0.6f;
+            m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
+
+            m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
+            m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
+
+            m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
+            m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
+
+            m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
+            m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
+
+            m_materialContactsData[(int)Material.light].mu = 0.0f;
+            m_materialContactsData[(int)Material.light].bounce = 0.0f;
+
+
+            spacesPerMeterX = 1.0f / metersInSpace;
+            spacesPerMeterY = spacesPerMeterX;
+            spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX);
+            spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY);
+
+            if (spaceGridMaxX > 24)
+            {
+                spaceGridMaxX = 24;
+                spacesPerMeterX = spaceGridMaxX / WorldExtents.X;
+            }
+
+            if (spaceGridMaxY > 24)
+            {
+                spaceGridMaxY = 24;
+                spacesPerMeterY = spaceGridMaxY / WorldExtents.Y;
+            }
+
+            staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
+
+            // create all spaces now
+            int i, j;
+            IntPtr newspace;
+
+            for (i = 0; i < spaceGridMaxX; i++)
+                for (j = 0; j < spaceGridMaxY; j++)
+                {
+                    newspace = d.HashSpaceCreate(StaticSpace);
+                    d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
+                    waitForSpaceUnlock(newspace);
+                    d.SpaceSetSublevel(newspace, 2);
+                    d.HashSpaceSetLevels(newspace, -2, 8);
+                    d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
+                                        CollisionCategories.Geom |
+                                        CollisionCategories.Land |
+                                        CollisionCategories.Water |
+                                        CollisionCategories.Phantom |
+                                        CollisionCategories.VolumeDtc
+                                        ));
+                    d.GeomSetCollideBits(newspace, 0);
+
+                    staticPrimspace[i, j] = newspace;
+                }
+
+            // let this now be index limit
+            spaceGridMaxX--;
+            spaceGridMaxY--;
+
+            // create 4 off world spaces (x<0,x>max,y<0,y>max)
+            staticPrimspaceOffRegion = new IntPtr[4];
+
+            for (i = 0; i < 4; i++)
+            {
+                newspace = d.HashSpaceCreate(StaticSpace);
+                d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
+                waitForSpaceUnlock(newspace);
+                d.SpaceSetSublevel(newspace, 2);
+                d.HashSpaceSetLevels(newspace, -2, 8);
+                d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
+                                    CollisionCategories.Geom |
+                                    CollisionCategories.Land |
+                                    CollisionCategories.Water |
+                                    CollisionCategories.Phantom |
+                                    CollisionCategories.VolumeDtc
+                                    ));
+                d.GeomSetCollideBits(newspace, 0);
+
+                staticPrimspaceOffRegion[i] = newspace;
+            }
+
+            m_lastframe = DateTime.UtcNow;
+            m_lastMeshExpire = m_lastframe;
+        }
+
+        internal void waitForSpaceUnlock(IntPtr space)
+        {
+            //if (space != IntPtr.Zero)
+                //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
+        }
+
+        #region Collision Detection
+
+        // sets a global contact for a joint for contactgeom , and base contact description)
+
+        
+
+        private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom)
+        {
+            if (m_global_contactcount >= maxContactsbeforedeath)
+                return IntPtr.Zero;
+
+            m_global_contactcount++;
+
+            SharedTmpcontact.geom.depth = contactGeom.depth;
+            SharedTmpcontact.geom.pos = contactGeom.pos;
+            SharedTmpcontact.geom.normal = contactGeom.normal;
+
+            IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
+            Marshal.StructureToPtr(SharedTmpcontact, contact, true);
+            return d.JointCreateContactPtr(world, contactgroup, contact);
+        }
+
+        private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
+        {
+            if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
+                return false;
+
+            IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
+            newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
+            return true;
+        }
+
+        /// <summary>
+        /// This is our near callback.  A geometry is near a body
+        /// </summary>
+        /// <param name="space">The space that contains the geoms.  Remember, spaces are also geoms</param>
+        /// <param name="g1">a geometry or space</param>
+        /// <param name="g2">another geometry or space</param>
+        /// 
+
+        private void near(IntPtr space, IntPtr g1, IntPtr g2)
+        {
+            //  no lock here!  It's invoked from within Simulate(), which is thread-locked
+
+            if (m_global_contactcount >= maxContactsbeforedeath)
+                return;
+
+            // Test if we're colliding a geom with a space.
+            // If so we have to drill down into the space recursively
+
+            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                return;
+
+            if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
+            {
+                // We'll be calling near recursivly if one
+                // of them is a space to find all of the
+                // contact points in the space
+                try
+                {
+                    d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide test a space");
+                    return;
+                }
+                //here one should check collisions of geoms inside a space
+                // but on each space we only should have geoms that not colide amoung each other
+                // so we don't dig inside spaces
+                return;
+            }
+
+            // get geom bodies to check if we already a joint contact
+            // guess this shouldn't happen now
+            IntPtr b1 = d.GeomGetBody(g1);
+            IntPtr b2 = d.GeomGetBody(g2);
+
+            // d.GeomClassID id = d.GeomGetClass(g1);
+
+            // Figure out how many contact points we have
+            int count = 0;
+            try
+            {
+                // Colliding Geom To Geom
+                // This portion of the function 'was' blatantly ripped off from BoxStack.cs
+
+                if (g1 == g2)
+                    return; // Can't collide with yourself
+
+                if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
+                    return;
+                /*
+                // debug
+                                PhysicsActor dp2;
+                                if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass)
+                                {
+                                    d.AABB aabb;
+                                    d.GeomGetAABB(g2, out aabb);
+                                    float x = aabb.MaxX - aabb.MinX;
+                                    float y = aabb.MaxY - aabb.MinY;
+                                    float z = aabb.MaxZ - aabb.MinZ;
+                                    if (x > 60.0f || y > 60.0f || z > 60.0f)
+                                    {
+                                        if (!actor_name_map.TryGetValue(g2, out dp2))
+                                            m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
+                                        else
+                                            m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5} ori {6},({7})",
+                                                dp2.Name, dp2.Size, x, y, z,
+                                                dp2.Position.ToString(),
+                                                dp2.Orientation.ToString(),
+                                                dp2.Orientation.Length());
+                                        return;
+                                    }
+                                }
+                //
+                */
+
+
+                if (d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc ||
+                    d.GeomGetCategoryBits(g2) == (uint)CollisionCategories.VolumeDtc)
+                {
+                    int cflags;
+                    unchecked
+                    {
+                        cflags = (int)(1 | d.CONTACTS_UNIMPORTANT);
+                    }
+                    count = d.CollidePtr(g1, g2, cflags, ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
+                }
+                else
+                    count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
+            }
+            catch (SEHException)
+            {
+                m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory.  This could be a result of really irregular terrain.  If this repeats continuously, restart using Basic Physics and terrain fill your terrain.  Restarting the sim.");
+                //                ode.drelease(world);
+                base.TriggerPhysicsBasedRestart();
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
+                return;
+            }
+
+            // contacts done
+            if (count == 0)
+                return;
+
+            // try get physical actors 
+            PhysicsActor p1;
+            PhysicsActor p2;
+
+            if (!actor_name_map.TryGetValue(g1, out p1))
+            {
+                m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1");
+                return;
+            }
+
+            if (!actor_name_map.TryGetValue(g2, out p2))
+            {
+                m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
+                return;
+            }
+
+            // update actors collision score
+            if (p1.CollisionScore >= float.MaxValue - count)
+                p1.CollisionScore = 0;
+            p1.CollisionScore += count;
+
+            if (p2.CollisionScore >= float.MaxValue - count)
+                p2.CollisionScore = 0;
+            p2.CollisionScore += count;
+
+            // get first contact
+            d.ContactGeom curContact = new d.ContactGeom();
+
+            if (!GetCurContactGeom(0, ref curContact))
+                return;
+
+            ContactPoint maxDepthContact = new ContactPoint();
+
+            // do volume detection case
+            if ((p1.IsVolumeDtc || p2.IsVolumeDtc))
+            {
+                maxDepthContact = new ContactPoint(
+                    new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
+                    new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
+                    curContact.depth, false
+                    );
+
+                collision_accounting_events(p1, p2, maxDepthContact);
+                return;
+            }
+
+            // big messy collision analises
+
+            float mu = 0;
+            float bounce = 0;
+//            bool IgnoreNegSides = false;
+
+            ContactData contactdata1 = new ContactData(0, 0, false);
+            ContactData contactdata2 = new ContactData(0, 0, false);
+
+            bool dop1ava = false;
+            bool dop2ava = false;
+            bool ignore = false;
+
+            switch (p1.PhysicsActorType)
+            {
+                case (int)ActorTypes.Agent:
+                    {
+                        dop1ava = true;
+                        switch (p2.PhysicsActorType)
+                        {
+                            case (int)ActorTypes.Agent:
+                            case (int)ActorTypes.Prim:
+                                break;
+
+                            default:
+                                ignore = true; // avatar to terrain and water ignored
+                                break;
+                        }
+                        break;
+                    }
+
+                case (int)ActorTypes.Prim:
+                    {
+                        switch (p2.PhysicsActorType)
+                        {
+                            case (int)ActorTypes.Agent:
+                                dop2ava = true;
+                                break;
+
+                            case (int)ActorTypes.Prim:
+                                Vector3 relV = p1.Velocity - p2.Velocity;
+                                float relVlenSQ = relV.LengthSquared();
+                                if (relVlenSQ > 0.0001f)
+                                {
+                                    p1.CollidingObj = true;
+                                    p2.CollidingObj = true;
+                                }
+                                p1.getContactData(ref contactdata1);
+                                p2.getContactData(ref contactdata2);
+                                bounce = contactdata1.bounce * contactdata2.bounce;
+                                mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
+
+                                if (relVlenSQ > 0.01f)
+                                    mu *= frictionMovementMult;
+
+                                break;
+
+                            case (int)ActorTypes.Ground:
+                                p1.getContactData(ref contactdata1);
+                                bounce = contactdata1.bounce * TerrainBounce;
+                                mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
+
+                                if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
+                                    mu *= frictionMovementMult;
+                                p1.CollidingGround = true;
+                                /*
+                                                            if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
+                                                            {
+                                                                if (curContact.side1 > 0)
+                                                                    IgnoreNegSides = true;
+                                                            }
+                                 */
+                                break;
+
+                            case (int)ActorTypes.Water:
+                            default:
+                                ignore = true;
+                                break;
+                        }
+                    }
+                    break;
+
+                case (int)ActorTypes.Ground:
+                    if (p2.PhysicsActorType == (int)ActorTypes.Prim)
+                    {
+                        p2.CollidingGround = true;
+                        p2.getContactData(ref contactdata2);
+                        bounce = contactdata2.bounce * TerrainBounce;
+                        mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
+
+//                        if (curContact.side1 > 0) // should be 2 ?
+//                            IgnoreNegSides = true;
+
+                        if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
+                            mu *= frictionMovementMult;
+                    }
+                    else
+                        ignore = true;
+                    break;
+
+                case (int)ActorTypes.Water:
+                default:
+                    break;
+            }
+
+            if (ignore)
+                return;
+
+            IntPtr Joint;
+            bool FeetCollision = false;
+            int ncontacts = 0;
+
+            int i = 0;
+
+            maxDepthContact = new ContactPoint();
+            maxDepthContact.PenetrationDepth = float.MinValue;
+            ContactPoint minDepthContact = new ContactPoint();
+            minDepthContact.PenetrationDepth = float.MaxValue;
+
+            SharedTmpcontact.geom.depth = 0;
+            SharedTmpcontact.surface.mu = mu;
+            SharedTmpcontact.surface.bounce = bounce;
+
+            d.ContactGeom altContact = new d.ContactGeom();
+            bool useAltcontact = false;
+            bool noskip = true;
+
+            while (true)
+            {
+//                if (!(IgnoreNegSides && curContact.side1 < 0))
+                {
+                    noskip = true;
+                    useAltcontact = false;
+
+                    if (dop1ava)
+                    {
+                        if ((((OdeCharacter)p1).Collide(g1, g2, false, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision)))
+                        {
+                            if (p2.PhysicsActorType == (int)ActorTypes.Agent)
+                            {
+                                p1.CollidingObj = true;
+                                p2.CollidingObj = true;
+                            }
+                            else if (p2.Velocity.LengthSquared() > 0.0f)
+                                    p2.CollidingObj = true;
+                        }
+                        else
+                            noskip = false;
+                    }
+                    else if (dop2ava)
+                    {
+                        if ((((OdeCharacter)p2).Collide(g2, g1, true, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision)))
+                        {
+                            if (p1.PhysicsActorType == (int)ActorTypes.Agent)
+                            {
+                                p1.CollidingObj = true;
+                                p2.CollidingObj = true;
+                            }
+                            else if (p2.Velocity.LengthSquared() > 0.0f)
+                                p1.CollidingObj = true;
+                        }
+                        else
+                            noskip = false;
+                    }
+
+                    if (noskip)
+                    {
+                        if(useAltcontact)
+                            Joint = CreateContacJoint(ref altContact);
+                        else
+                            Joint = CreateContacJoint(ref curContact);
+
+                        if (Joint == IntPtr.Zero)
+                            break;
+
+                        d.JointAttach(Joint, b1, b2);
+
+                        ncontacts++;
+
+                        if (curContact.depth > maxDepthContact.PenetrationDepth)
+                        {
+                            maxDepthContact.Position.X = curContact.pos.X;
+                            maxDepthContact.Position.Y = curContact.pos.Y;
+                            maxDepthContact.Position.Z = curContact.pos.Z;
+                            maxDepthContact.PenetrationDepth = curContact.depth;
+                            maxDepthContact.CharacterFeet = FeetCollision;
+                        }
+
+                        if (curContact.depth < minDepthContact.PenetrationDepth)
+                        {
+                            minDepthContact.PenetrationDepth = curContact.depth;
+                            minDepthContact.SurfaceNormal.X = curContact.normal.X;
+                            minDepthContact.SurfaceNormal.Y = curContact.normal.Y;
+                            minDepthContact.SurfaceNormal.Z = curContact.normal.Z;
+                        }
+                    }
+                }
+                if (++i >= count)
+                    break;
+
+                if (!GetCurContactGeom(i, ref curContact))
+                    break;
+            }
+
+            if (ncontacts > 0)
+            {
+                maxDepthContact.SurfaceNormal.X = minDepthContact.SurfaceNormal.X;
+                maxDepthContact.SurfaceNormal.Y = minDepthContact.SurfaceNormal.Y;
+                maxDepthContact.SurfaceNormal.Z = minDepthContact.SurfaceNormal.Z;
+
+                collision_accounting_events(p1, p2, maxDepthContact);
+            }
+        }
+
+        private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
+        {
+            uint obj2LocalID = 0;
+
+            bool p1events = p1.SubscribedEvents();
+            bool p2events = p2.SubscribedEvents();
+
+            if (p1.IsVolumeDtc)
+                p2events = false;
+            if (p2.IsVolumeDtc)
+                p1events = false;
+
+            if (!p2events && !p1events)
+                return;
+
+            Vector3 vel = Vector3.Zero;
+            if (p2 != null && p2.IsPhysical)
+                vel = p2.Velocity;
+
+            if (p1 != null && p1.IsPhysical)
+                vel -= p1.Velocity;
+
+            contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal);
+
+            switch ((ActorTypes)p1.PhysicsActorType)
+            {
+                case ActorTypes.Agent:
+                case ActorTypes.Prim:
+                    {
+                        switch ((ActorTypes)p2.PhysicsActorType)
+                        {
+                            case ActorTypes.Agent:
+                            case ActorTypes.Prim:
+                                if (p2events)
+                                {
+                                    AddCollisionEventReporting(p2);
+                                    p2.AddCollisionEvent(p1.ParentActor.LocalID, contact);
+                                }
+                                obj2LocalID = p2.ParentActor.LocalID;
+                                break;
+
+                            case ActorTypes.Ground:
+                            case ActorTypes.Unknown:
+                            default:
+                                obj2LocalID = 0;
+                                break;
+                        }
+                        if (p1events)
+                        {
+                            contact.SurfaceNormal = -contact.SurfaceNormal;
+                            AddCollisionEventReporting(p1);
+                            p1.AddCollisionEvent(obj2LocalID, contact);
+                        }
+                        break;
+                    }
+                case ActorTypes.Ground:
+                case ActorTypes.Unknown:
+                default:
+                    {
+                        if (p2events && !p2.IsVolumeDtc)
+                        {
+                            AddCollisionEventReporting(p2);
+                            p2.AddCollisionEvent(0, contact);
+                        }
+                        break;
+                    }
+            }
+        }
+
+        /// <summary>
+        /// This is our collision testing routine in ODE
+        /// </summary>
+        /// <param name="timeStep"></param>
+        private void collision_optimized()
+        {
+            lock (_characters)
+                {
+                try
+                {
+                    foreach (OdeCharacter chr in _characters)
+                    {
+                        if (chr == null || chr.Body == IntPtr.Zero)
+                            continue;
+
+                        chr.IsColliding = false;
+                        //                    chr.CollidingGround = false; not done here
+                        chr.CollidingObj = false;
+                        // do colisions with static space
+                        d.SpaceCollide2(chr.collider, StaticSpace, IntPtr.Zero, nearCallback);
+
+                        // no coll with gnd
+                    }
+                    // chars with chars
+                    d.SpaceCollide(CharsSpace, IntPtr.Zero, nearCallback);
+
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
+                }
+
+            }
+
+            lock (_activeprims)
+            {
+                foreach (OdePrim aprim in _activeprims)
+                {
+                    aprim.CollisionScore = 0;
+                    aprim.IsColliding = false;
+                }
+            }
+
+            // collide active prims with static enviroment
+            lock (_activegroups)
+            {
+                try
+                {
+                    foreach (OdePrim prm in _activegroups)
+                    {
+                        if (!prm.m_outbounds)
+                        {
+                            if (d.BodyIsEnabled(prm.Body))
+                            {
+                                d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
+                                d.SpaceCollide2(GroundSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
+                            }
+                        }
+                    }
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
+                }
+            }
+            // colide active amoung them
+            try
+            {
+                d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
+            }
+            catch (AccessViolationException)
+            {
+                m_log.Warn("[PHYSICS]: Unable to collide Active with Characters space");
+            }
+            // and with chars
+            try
+            {
+                d.SpaceCollide2(CharsSpace,ActiveSpace, IntPtr.Zero, nearCallback);
+            }
+            catch (AccessViolationException)
+            {
+                m_log.Warn("[PHYSICS]: Unable to collide in Active space");
+            }
+            //            _perloopContact.Clear();
+        }
+
+        #endregion
+        /// <summary>
+        /// Add actor to the list that should receive collision events in the simulate loop.
+        /// </summary>
+        /// <param name="obj"></param>
+        public void AddCollisionEventReporting(PhysicsActor obj)
+        {
+            if (!_collisionEventPrim.Contains(obj))
+                _collisionEventPrim.Add(obj);
+        }
+
+        /// <summary>
+        /// Remove actor from the list that should receive collision events in the simulate loop.
+        /// </summary>
+        /// <param name="obj"></param>
+        public void RemoveCollisionEventReporting(PhysicsActor obj)
+        {
+            if (_collisionEventPrim.Contains(obj) && !_collisionEventPrimRemove.Contains(obj))
+                _collisionEventPrimRemove.Add(obj);
+        }
+
+        public override float TimeDilation
+        {
+            get { return m_timeDilation; }
+        }
+
+        public override bool SupportsNINJAJoints
+        {
+            get { return false; }
+        }
+
+        #region Add/Remove Entities
+
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
+        {
+            return null;
+        }
+
+        public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, float feetOffset, bool isFlying)
+        {
+             OdeCharacter newAv = new OdeCharacter(localID, avName, this, position,
+                size, feetOffset, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
+            newAv.Flying = isFlying;
+            newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
+            
+            return newAv;
+        }
+
+        public void AddCharacter(OdeCharacter chr)
+        {
+            lock (_characters)
+            {
+                if (!_characters.Contains(chr))
+                {
+                    _characters.Add(chr);
+                    if (chr.bad)
+                        m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
+                }
+            }
+        }
+
+        public void RemoveCharacter(OdeCharacter chr)
+        {
+            lock (_characters)
+            {
+                if (_characters.Contains(chr))
+                {
+                    _characters.Remove(chr);
+                }
+            }
+        }
+
+        public void BadCharacter(OdeCharacter chr)
+        {
+            lock (_badCharacter)
+            {
+                if (!_badCharacter.Contains(chr))
+                    _badCharacter.Add(chr);
+            }
+        }
+
+        public override void RemoveAvatar(PhysicsActor actor)
+        {
+            //m_log.Debug("[PHYSICS]:ODELOCK");
+            ((OdeCharacter) actor).Destroy();
+        }
+
+
+        public void addActivePrim(OdePrim activatePrim)
+        {
+            // adds active prim..   
+            lock (_activeprims)
+            {
+                if (!_activeprims.Contains(activatePrim))
+                    _activeprims.Add(activatePrim);
+            }
+        }
+
+        public void addActiveGroups(OdePrim activatePrim)
+        {
+            lock (_activegroups)
+            {
+                if (!_activegroups.Contains(activatePrim))
+                    _activegroups.Add(activatePrim);
+            }
+        }
+
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
+                                     PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID)
+        {
+            OdePrim newPrim;
+            lock (OdeLock)
+            {
+                newPrim = new OdePrim(name, this, position, size, rotation, pbs, isphysical, isPhantom, shapeType, localID);
+                lock (_prims)
+                    _prims.Add(newPrim);
+            }
+            return newPrim;
+        }
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
+        {
+            return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, 0 , localid);
+        }
+
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
+        {
+            return AddPrim(primName, position, size, rotation, pbs, isPhysical,false, 0, localid);
+        }
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid)
+        {
+
+            return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid);
+        }
+
+        public void remActivePrim(OdePrim deactivatePrim)
+        {
+            lock (_activeprims)
+            {
+                _activeprims.Remove(deactivatePrim);
+            }
+        }
+        public void remActiveGroup(OdePrim deactivatePrim)
+        {
+            lock (_activegroups)
+            {
+                _activegroups.Remove(deactivatePrim);
+            }
+        }
+
+        public override void RemovePrim(PhysicsActor prim)
+        {
+            // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
+            // removed in the next physics simulate pass.
+            if (prim is OdePrim)
+            {
+//                lock (OdeLock)
+                {
+                    
+                    OdePrim p = (OdePrim)prim;
+                    p.setPrimForRemoval();
+                }
+            }
+        }
+
+        public void RemovePrimThreadLocked(OdePrim prim)
+        {
+            //Console.WriteLine("RemovePrimThreadLocked " +  prim.m_primName);
+            lock (prim)
+            {
+//                RemoveCollisionEventReporting(prim);
+                lock (_prims)
+                    _prims.Remove(prim);
+            }
+
+        }
+
+        public bool havePrim(OdePrim prm)
+        {
+            lock (_prims)
+                return _prims.Contains(prm);
+        }
+
+        public bool haveActor(PhysicsActor actor)
+        {
+            if (actor is OdePrim)
+            {
+                lock (_prims)
+                    return _prims.Contains((OdePrim)actor);
+            }
+            else if (actor is OdeCharacter)
+            {
+                lock (_characters)
+                    return _characters.Contains((OdeCharacter)actor);
+            }
+            return false;
+        }
+
+        #endregion
+
+        #region Space Separation Calculation
+
+        /// <summary>
+        /// Called when a static prim moves or becomes static
+        /// Places the prim in a space one the static sub-spaces grid
+        /// </summary>
+        /// <param name="geom">the pointer to the geom that moved</param>
+        /// <param name="pos">the position that the geom moved to</param>
+        /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
+        /// <returns>a pointer to the new space it's in</returns>
+        public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
+        {
+            // moves a prim into another static sub-space or from another space into a static sub-space
+
+            // Called ODEPrim so
+            // it's already in locked space.
+
+            if (geom == IntPtr.Zero) // shouldn't happen
+                return IntPtr.Zero;
+
+            // get the static sub-space for current position
+            IntPtr newspace = calculateSpaceForGeom(pos);
+
+            if (newspace == currentspace) // if we are there all done
+                return newspace;
+
+            // else remove it from its current space
+            if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
+            {
+                if (d.GeomIsSpace(currentspace))
+                {
+                    waitForSpaceUnlock(currentspace);
+                    d.SpaceRemove(currentspace, geom);
+
+                    if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
+                    {
+                        d.SpaceDestroy(currentspace);
+                    }
+                }
+                else
+                {
+                    m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace +
+                                   " Geom:" + geom);
+                }
+            }
+            else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space
+            {
+                currentspace = d.GeomGetSpace(geom);
+                if (currentspace != IntPtr.Zero)
+                {
+                    if (d.GeomIsSpace(currentspace))
+                    {
+                        waitForSpaceUnlock(currentspace);
+                        d.SpaceRemove(currentspace, geom);
+
+                        if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
+                        {
+                            d.SpaceDestroy(currentspace);
+                        }
+
+                    }
+                }
+            }
+
+            // put the geom in the newspace
+            waitForSpaceUnlock(newspace);
+            d.SpaceAdd(newspace, geom);
+
+            // let caller know this newspace
+            return newspace;
+        }
+
+        /// <summary>
+        /// Calculates the space the prim should be in by its position
+        /// </summary>
+        /// <param name="pos"></param>
+        /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
+        public IntPtr calculateSpaceForGeom(Vector3 pos)
+        {
+            int x, y;
+
+            if (pos.X < 0)
+                return staticPrimspaceOffRegion[0];
+
+            if (pos.Y < 0)
+                return staticPrimspaceOffRegion[2];
+
+            x = (int)(pos.X * spacesPerMeterX);
+            if (x > spaceGridMaxX)
+                return staticPrimspaceOffRegion[1];
+            
+            y = (int)(pos.Y * spacesPerMeterY);
+            if (y > spaceGridMaxY)
+                return staticPrimspaceOffRegion[3];
+
+            return staticPrimspace[x, y];
+        }
+ 
+        #endregion
+
+
+        /// <summary>
+        /// Called to queue a change to a actor
+        /// to use in place of old taint mechanism so changes do have a time sequence
+        /// </summary>
+
+        public void AddChange(PhysicsActor actor, changes what, Object arg)
+        {
+            ODEchangeitem item = new ODEchangeitem();
+            item.actor = actor;
+            item.what = what;
+            item.arg = arg;
+            ChangesQueue.Enqueue(item);
+        }
+
+        /// <summary>
+        /// Called after our prim properties are set Scale, position etc.
+        /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
+        /// This assures us that we have no race conditions
+        /// </summary>
+        /// <param name="prim"></param>
+        public override void AddPhysicsActorTaint(PhysicsActor prim)
+        {
+        }
+
+        // does all pending changes generated during region load process
+        public override void PrepareSimulation()
+        {
+            lock (OdeLock)
+            {
+                if (world == IntPtr.Zero)
+                {
+                    ChangesQueue.Clear();
+                    return;
+                }
+
+                ODEchangeitem item;
+
+                int donechanges = 0;
+                if (ChangesQueue.Count > 0)
+                {
+                    m_log.InfoFormat("[ODE] start processing pending actor operations");
+                    int tstart = Util.EnvironmentTickCount();
+
+                    while (ChangesQueue.Dequeue(out item))
+                    {
+                        if (item.actor != null)
+                        {
+                            try
+                            {
+                                if (item.actor is OdeCharacter)
+                                    ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
+                                else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
+                                    RemovePrimThreadLocked((OdePrim)item.actor);
+                            }
+                            catch
+                            {
+                                m_log.WarnFormat("[PHYSICS]: Operation failed for a actor {0} {1}",
+                                    item.actor.Name, item.what.ToString());
+                            }
+                        }
+                        donechanges++;
+                    }
+                    int time = Util.EnvironmentTickCountSubtract(tstart);
+                    m_log.InfoFormat("[ODE] finished {0} operations in {1}ms", donechanges, time);
+                }
+            }
+        }
+
+        /// <summary>
+        /// This is our main simulate loop
+        /// It's thread locked by a Mutex in the scene.
+        /// It holds Collisions, it instructs ODE to step through the physical reactions
+        /// It moves the objects around in memory
+        /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
+        /// </summary>
+        /// <param name="timeStep"></param>
+        /// <returns></returns>
+        public override float Simulate(float timeStep)
+        {
+            DateTime now = DateTime.UtcNow;
+            TimeSpan timedif = now - m_lastframe;
+            timeStep = (float)timedif.TotalSeconds;
+            m_lastframe = now;
+            
+            // acumulate time so we can reduce error
+            step_time += timeStep;
+
+            if (step_time < HalfOdeStep)
+                return 0;
+
+            if (framecount < 0)
+                framecount = 0;
+
+            framecount++;
+
+//            int curphysiteractions;
+
+            // if in trouble reduce step resolution
+//            if (step_time >= m_SkipFramesAtms)
+//                curphysiteractions = m_physicsiterations / 2;
+//            else
+//                curphysiteractions = m_physicsiterations;
+
+//            checkThread();
+            int nodeframes = 0;
+
+            lock (SimulationLock)
+                lock(OdeLock)
+            {
+                if (world == IntPtr.Zero)
+                {
+                    ChangesQueue.Clear();
+                    return 0;
+                }
+
+                ODEchangeitem item;
+                
+//                d.WorldSetQuickStepNumIterations(world, curphysiteractions);
+
+                int loopstartMS = Util.EnvironmentTickCount();
+                int looptimeMS = 0;
+             
+
+                while (step_time > HalfOdeStep)
+                {
+                    try
+                    {
+                        // clear pointer/counter to contacts to pass into joints
+                        m_global_contactcount = 0;
+
+                        if (ChangesQueue.Count > 0)
+                        {
+                            int changestartMS = Util.EnvironmentTickCount();
+                            int ttmp;
+                            while (ChangesQueue.Dequeue(out item))
+                            {
+                                if (item.actor != null)
+                                {
+                                    try
+                                    {
+                                        if (item.actor is OdeCharacter)
+                                            ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
+                                        else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
+                                            RemovePrimThreadLocked((OdePrim)item.actor);
+                                    }
+                                    catch
+                                    {
+                                        m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}",
+                                            item.actor.Name, item.what.ToString());
+                                    }
+                                }
+                                ttmp = Util.EnvironmentTickCountSubtract(changestartMS);
+                                if (ttmp > 20)
+                                    break;
+                            }
+                        }
+
+                        // Move characters
+                        lock (_characters)
+                        {
+                            List<OdeCharacter> defects = new List<OdeCharacter>();
+                            foreach (OdeCharacter actor in _characters)
+                            {
+                                if (actor != null)
+                                    actor.Move(defects);
+                            }
+                            if (defects.Count != 0)
+                            {
+                                foreach (OdeCharacter defect in defects)
+                                {
+                                    RemoveCharacter(defect);
+                                }
+                                defects.Clear();
+                            }
+                        }
+
+                        // Move other active objects
+                        lock (_activegroups)
+                        {
+                            foreach (OdePrim aprim in _activegroups)
+                            {
+                                aprim.Move();
+                            }
+                        }
+ 
+                        m_rayCastManager.ProcessQueuedRequests();
+
+                        collision_optimized();
+
+                        foreach (PhysicsActor obj in _collisionEventPrim)
+                        {
+                            if (obj == null)
+                                continue;
+
+                            switch ((ActorTypes)obj.PhysicsActorType)
+                            {
+                                case ActorTypes.Agent:
+                                    OdeCharacter cobj = (OdeCharacter)obj;
+                                    cobj.AddCollisionFrameTime((int)(odetimestepMS));
+                                    cobj.SendCollisions();
+                                    break;
+
+                                case ActorTypes.Prim:
+                                    OdePrim pobj = (OdePrim)obj;
+                                    if (pobj.Body == IntPtr.Zero || (d.BodyIsEnabled(pobj.Body) && !pobj.m_outbounds))
+                                    if (!pobj.m_outbounds)
+                                    {
+                                        pobj.AddCollisionFrameTime((int)(odetimestepMS));
+                                        pobj.SendCollisions();
+                                    }
+                                    break;
+                            }
+                        }
+
+                        foreach (PhysicsActor obj in _collisionEventPrimRemove)
+                            _collisionEventPrim.Remove(obj);
+
+                        _collisionEventPrimRemove.Clear();
+
+                        // do a ode simulation step
+                        d.WorldQuickStep(world, ODE_STEPSIZE);
+//                        d.WorldStep(world, ODE_STEPSIZE);
+                        d.JointGroupEmpty(contactgroup);
+
+                        // update managed ideia of physical data and do updates to core
+        /*
+                        lock (_characters)
+                        {
+                            foreach (OdeCharacter actor in _characters)
+                            {
+                                if (actor != null)
+                                {
+                                    if (actor.bad)
+                                        m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
+
+                                    actor.UpdatePositionAndVelocity();
+                                }
+                            }
+                        }
+        */
+
+                        lock (_activegroups)
+                        {
+                            {
+                                foreach (OdePrim actor in _activegroups)
+                                {
+                                    if (actor.IsPhysical)
+                                    {
+                                        actor.UpdatePositionAndVelocity(framecount);
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
+//                        ode.dunlock(world);
+                    }
+
+                    step_time -= ODE_STEPSIZE;
+                    nodeframes++;
+
+                    looptimeMS = Util.EnvironmentTickCountSubtract(loopstartMS);
+                    if (looptimeMS > 100)
+                        break;
+                }
+
+                lock (_badCharacter)
+                {
+                    if (_badCharacter.Count > 0)
+                    {
+                        foreach (OdeCharacter chr in _badCharacter)
+                        {
+                            RemoveCharacter(chr);
+                        }
+
+                        _badCharacter.Clear();
+                    }
+                }
+
+                timedif = now - m_lastMeshExpire;
+
+                if (timedif.Seconds > 10)
+                {
+                    mesher.ExpireReleaseMeshs();
+                    m_lastMeshExpire = now;
+                }
+
+// information block running in debug only
+/*
+                int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
+                int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
+                int ngroundgeoms = d.SpaceGetNumGeoms(GroundSpace);
+
+                int nactivegeoms = 0;
+                int nactivespaces = 0;
+
+                int nstaticgeoms = 0;
+                int nstaticspaces = 0;
+                IntPtr sp;
+
+                for (int i = 0; i < ntopactivegeoms; i++)
+                {
+                    sp = d.SpaceGetGeom(ActiveSpace, i);
+                    if (d.GeomIsSpace(sp))
+                    {
+                        nactivespaces++;
+                        nactivegeoms += d.SpaceGetNumGeoms(sp);
+                    }
+                    else
+                        nactivegeoms++;
+                }
+
+                for (int i = 0; i < ntopstaticgeoms; i++)
+                {
+                    sp = d.SpaceGetGeom(StaticSpace, i);
+                    if (d.GeomIsSpace(sp))
+                    {
+                        nstaticspaces++;
+                        nstaticgeoms += d.SpaceGetNumGeoms(sp);
+                    }
+                    else
+                        nstaticgeoms++;
+                }
+
+                int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
+
+                int totgeoms = nstaticgeoms + nactivegeoms + ngroundgeoms + 1; // one ray
+                int nbodies = d.NTotalBodies;
+                int ngeoms = d.NTotalGeoms;
+*/
+                // Finished with all sim stepping. If requested, dump world state to file for debugging.
+                // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
+                // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
+                if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
+                {
+                    string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
+                    string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
+
+                    if (physics_logging_append_existing_logfile)
+                    {
+                        string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
+                        TextWriter fwriter = File.AppendText(fname);
+                        fwriter.WriteLine(header);
+                        fwriter.Close();
+                    }
+
+                    d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
+                }
+                
+                // think time dilation as to do with dinamic step size that we dont' have
+                // even so tell something to world
+                if (looptimeMS < 100) // we did the requested loops
+                    m_timeDilation = 1.0f;
+                else if (step_time > 0)
+                {
+                    m_timeDilation = timeStep / step_time;
+                    if (m_timeDilation > 1)
+                        m_timeDilation = 1;
+                    if (step_time > m_SkipFramesAtms)
+                        step_time = 0;
+                    m_lastframe = DateTime.UtcNow; // skip also the time lost
+                }
+            }
+            return (float)nodeframes * ODE_STEPSIZE / timeStep;
+        }
+
+        /// <summary>
+        public override void GetResults()
+        {
+        }
+
+        public override bool IsThreaded
+        {
+            // for now we won't be multithreaded
+            get { return (false); }
+        }
+
+        public float GetTerrainHeightAtXY(float x, float y)
+        {
+
+            int offsetX = 0;
+            int offsetY = 0;
+
+            if (m_suportCombine)
+            {
+                offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+                offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+            }
+
+            // get region map
+            IntPtr heightFieldGeom = IntPtr.Zero;
+            if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
+                return 0f;
+
+            if (heightFieldGeom == IntPtr.Zero)
+                return 0f;
+
+            if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
+                return 0f;
+
+            // TerrainHeightField for ODE as offset 1m
+            x += 1f - offsetX;
+            y += 1f - offsetY;
+
+            // make position fit into array
+            if (x < 0)
+                x = 0;
+            if (y < 0)
+                y = 0;
+
+            // integer indexs
+            int ix;
+            int iy;
+            //  interpolators offset
+            float dx;
+            float dy;
+
+            int regsizeX = (int)m_regionWidth + 3; // map size see setterrain number of samples
+            int regsizeY = (int)m_regionHeight + 3; // map size see setterrain number of samples
+            int regsize = regsizeX;
+
+            if (m_ubOdeLib)
+            {
+                if (x < regsizeX - 1)
+                {
+                    ix = (int)x;
+                    dx = x - (float)ix;
+                }
+                else // out world use external height
+                {
+                    ix = regsizeX - 2;
+                    dx = 0;
+                }
+                if (y < regsizeY - 1)
+                {
+                    iy = (int)y;
+                    dy = y - (float)iy;
+                }
+                else
+                {
+                    iy = regsizeY - 2;
+                    dy = 0;
+                }
+            }
+            else
+            {
+                // we  still have square fixed size regions
+                // also flip x and y because of how map is done for ODE fliped axis
+                // so ix,iy,dx and dy are inter exchanged
+
+                regsize = regsizeY;
+
+                if (x < regsizeX - 1)
+                {
+                    iy = (int)x;
+                    dy = x - (float)iy;
+                }
+                else // out world use external height
+                {
+                    iy = regsizeX - 2;
+                    dy = 0;
+                }
+                if (y < regsizeY - 1)
+                {
+                    ix = (int)y;
+                    dx = y - (float)ix;
+                }
+                else
+                {
+                    ix = regsizeY - 2;
+                    dx = 0;
+                }
+            }
+
+            float h0;
+            float h1;
+            float h2;
+
+            iy *= regsize;
+            iy += ix; // all indexes have iy + ix
+
+            float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
+            /*
+                        if ((dx + dy) <= 1.0f)
+                        {
+                            h0 = ((float)heights[iy]); // 0,0 vertice
+                            h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
+                            h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
+                        }
+                        else
+                        {
+                            h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
+                            h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
+                            h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
+                        }
+            */
+            h0 = ((float)heights[iy]); // 0,0 vertice
+
+            if (dy>dx)
+            {
+                iy += regsize;
+                h2 = (float)heights[iy]; // 0,1 vertice
+                h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0
+                h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1
+            }
+            else
+            {
+                iy++;
+                h2 = (float)heights[iy]; // vertice 1,0
+                h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0
+                h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0
+            }
+
+            return h0 + h1 + h2;
+        }
+
+        public Vector3 GetTerrainNormalAtXY(float x, float y)
+        {
+            int offsetX = 0;
+            int offsetY = 0;
+
+            if (m_suportCombine)
+            {
+                offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+                offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+            }
+
+            // get region map
+            IntPtr heightFieldGeom = IntPtr.Zero;
+            Vector3 norm = new Vector3(0, 0, 1);
+
+            if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
+                return norm; ;
+
+            if (heightFieldGeom == IntPtr.Zero)
+                return norm;
+
+            if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
+                return norm;
+
+            // TerrainHeightField for ODE as offset 1m
+            x += 1f - offsetX;
+            y += 1f - offsetY;
+
+            // make position fit into array
+            if (x < 0)
+                x = 0;
+            if (y < 0)
+                y = 0;
+
+            // integer indexs
+            int ix;
+            int iy;
+            //  interpolators offset
+            float dx;
+            float dy;
+
+            int regsizeX = (int)m_regionWidth + 3; // map size see setterrain number of samples
+            int regsizeY = (int)m_regionHeight + 3; // map size see setterrain number of samples
+            int regsize = regsizeX;
+
+            int xstep = 1;
+            int ystep = regsizeX;
+            bool firstTri = false;
+
+            if (m_ubOdeLib)
+            {
+                if (x < regsizeX - 1)
+                {
+                    ix = (int)x;
+                    dx = x - (float)ix;
+                }
+                else // out world use external height
+                {
+                    ix = regsizeX - 2;
+                    dx = 0;
+                }
+                if (y < regsizeY - 1)
+                {
+                    iy = (int)y;
+                    dy = y - (float)iy;
+                }
+                else
+                {
+                    iy = regsizeY - 2;
+                    dy = 0;
+                }
+                firstTri = dy > dx;
+            }
+
+            else
+            {
+                xstep = regsizeY;
+                ystep = 1;
+                regsize = regsizeY;
+
+                // we  still have square fixed size regions
+                // also flip x and y because of how map is done for ODE fliped axis
+                // so ix,iy,dx and dy are inter exchanged
+                if (x < regsizeX - 1)
+                {
+                    iy = (int)x;
+                    dy = x - (float)iy;
+                }
+                else // out world use external height
+                {
+                    iy = regsizeX - 2;
+                    dy = 0;
+                }
+                if (y < regsizeY - 1)
+                {
+                    ix = (int)y;
+                    dx = y - (float)ix;
+                }
+                else
+                {
+                    ix = regsizeY - 2;
+                    dx = 0;
+                }
+                firstTri = dx > dy;
+            }
+
+            float h0;
+            float h1;
+            float h2;
+
+            iy *= regsize;
+            iy += ix; // all indexes have iy + ix
+
+            float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
+
+            if (firstTri)
+            {
+                h1 = ((float)heights[iy]); // 0,0 vertice
+                iy += ystep;
+                h0 = (float)heights[iy]; // 0,1
+                h2 = (float)heights[iy+xstep]; // 1,1 vertice
+                norm.X = h0 - h2;
+                norm.Y = h1 - h0;              
+            }
+            else
+            {
+                h2 = ((float)heights[iy]); // 0,0 vertice
+                iy += xstep;
+                h0 = ((float)heights[iy]); // 1,0 vertice
+                h1 = (float)heights[iy+ystep]; // vertice 1,1
+                norm.X = h2 - h0;
+                norm.Y = h0 - h1;
+            }
+            norm.Z = 1;
+            norm.Normalize();
+            return norm;
+        }
+
+        public override void SetTerrain(float[] heightMap)
+        {
+            if (m_worldOffset != Vector3.Zero && m_parentScene != null)
+            {
+                if (m_parentScene is ODEScene)
+                {
+                    ((ODEScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
+                }
+            }
+            else
+            {
+                SetTerrain(heightMap, m_worldOffset);
+            }
+        }
+
+        public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
+        {
+            if(m_suportCombine)
+                SetTerrain(heightMap, pOffset);
+        }
+
+        public void SetTerrain(float[] heightMap, Vector3 pOffset)
+        {
+            if (m_ubOdeLib)
+                ubSetTerrain(heightMap, pOffset);
+            else
+                OriSetTerrain(heightMap, pOffset);
+        }
+
+        public void OriSetTerrain(float[] heightMap, Vector3 pOffset)
+        {
+            // assumes 1m size grid and constante size square regions
+            // needs to know about sims around in future
+
+            float[] _heightmap;
+
+            uint regionsizeX = m_regionWidth;
+            uint regionsizeY = m_regionHeight;
+
+            // map is rotated
+            uint heightmapWidth = regionsizeY + 2;
+            uint heightmapHeight = regionsizeX + 2;
+
+            uint heightmapWidthSamples = heightmapWidth + 1;
+            uint heightmapHeightSamples = heightmapHeight + 1;
+
+            _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
+
+            const float scale = 1.0f;
+            const float offset = 0.0f;
+            const float thickness = 10f;
+            const int wrap = 0;
+
+ 
+            float hfmin = float.MaxValue;
+            float hfmax = float.MinValue;
+            float val;
+            uint xx;
+            uint yy;
+
+            uint maxXX = regionsizeX - 1;
+            uint maxYY = regionsizeY - 1;
+            // flipping map adding one margin all around so things don't fall in edges
+
+            uint xt = 0;
+            xx = 0;
+
+            for (uint x = 0; x < heightmapWidthSamples; x++)
+            {
+                if (x > 1 && xx < maxXX)
+                    xx++;
+                yy = 0;
+                for (uint y = 0; y < heightmapHeightSamples; y++)
+                {
+                    if (y > 1 && y < maxYY)
+                        yy += regionsizeX;
+
+                    val = heightMap[yy + xx];
+                    if (val < 0.0f)
+                        val = 0.0f; // no neg terrain as in chode
+                    _heightmap[xt + y] = val;
+
+                    if (hfmin > val)
+                        hfmin = val;
+                    if (hfmax < val)
+                        hfmax = val;
+                }
+                xt += heightmapHeightSamples;
+            }
+
+            lock (OdeLock)
+            {
+                IntPtr GroundGeom = IntPtr.Zero;
+                if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
+                {
+                    RegionTerrain.Remove(pOffset);
+                    if (GroundGeom != IntPtr.Zero)
+                    {
+                        actor_name_map.Remove(GroundGeom);
+                        d.GeomDestroy(GroundGeom);
+
+                        if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
+                            {
+                            TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
+                            TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
+                            TerrainHeightFieldHeights.Remove(GroundGeom);
+                            }
+                    }
+                }
+                IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
+
+                GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
+
+                d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight,
+                                                 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
+                                                 offset, thickness, wrap);
+
+                d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
+
+                GroundGeom = d.CreateHeightfield(GroundSpace, HeightmapData, 1);
+
+                if (GroundGeom != IntPtr.Zero)
+                {
+                    d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
+                    d.GeomSetCollideBits(GroundGeom, 0);
+
+                    PhysicsActor pa = new NullPhysicsActor();
+                    pa.Name = "Terrain";
+                    pa.PhysicsActorType = (int)ActorTypes.Ground;
+                    actor_name_map[GroundGeom] = pa;
+
+//                    geom_name_map[GroundGeom] = "Terrain";
+
+                    d.Matrix3 R = new d.Matrix3();
+
+                    Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
+                    Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
+
+
+                    q1 = q1 * q2;
+
+                    Vector3 v3;
+                    float angle;
+                    q1.GetAxisAngle(out v3, out angle);
+
+                    d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
+                    d.GeomSetRotation(GroundGeom, ref R);
+                    d.GeomSetPosition(GroundGeom, pOffset.X + m_regionWidth * 0.5f, pOffset.Y + m_regionHeight * 0.5f, 0);
+                    RegionTerrain.Add(pOffset, GroundGeom);
+                    TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
+                    TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
+                }
+            }
+        }
+
+        public void ubSetTerrain(float[] heightMap, Vector3 pOffset)
+        {
+            // assumes 1m size grid and constante size square regions
+            // needs to know about sims around in future
+
+            float[] _heightmap;
+
+            uint regionsizeX = m_regionWidth;
+            uint regionsizeY = m_regionHeight;
+
+            uint heightmapWidth = regionsizeX + 2;
+            uint heightmapHeight = regionsizeY + 2;
+
+            uint heightmapWidthSamples = heightmapWidth + 1;
+            uint heightmapHeightSamples = heightmapHeight + 1;
+
+            _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
+
+
+            float hfmin = float.MaxValue;
+//            float hfmax = float.MinValue;
+            float val;
+
+
+            uint maxXX = regionsizeX - 1;
+            uint maxYY = regionsizeY - 1;
+            // adding one margin all around so things don't fall in edges
+
+            uint xx;
+            uint yy = 0;
+            uint yt = 0;
+
+            for (uint y = 0; y < heightmapHeightSamples; y++)
+            {
+                if (y > 1 && y < maxYY)
+                    yy += regionsizeX;
+                xx = 0;
+                for (uint x = 0; x < heightmapWidthSamples; x++)
+                {
+                    if (x > 1 && x < maxXX)
+                        xx++;
+
+                    val = heightMap[yy + xx];
+                    if (val < 0.0f)
+                        val = 0.0f; // no neg terrain as in chode
+                    _heightmap[yt + x] = val;
+
+                    if (hfmin > val)
+                        hfmin = val;
+//                    if (hfmax < val)
+//                        hfmax = val;
+                }
+                yt += heightmapWidthSamples;
+            }
+            lock (OdeLock)
+            {
+                IntPtr GroundGeom = IntPtr.Zero;
+                if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
+                {
+                    RegionTerrain.Remove(pOffset);
+                    if (GroundGeom != IntPtr.Zero)
+                    {
+                        actor_name_map.Remove(GroundGeom);
+                        d.GeomDestroy(GroundGeom);
+
+                        if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
+                        {
+                            if (TerrainHeightFieldHeightsHandlers[GroundGeom].IsAllocated)
+                                TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
+                            TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
+                            TerrainHeightFieldHeights.Remove(GroundGeom);
+                        }
+                    }
+                }
+                IntPtr HeightmapData = d.GeomubTerrainDataCreate();
+
+                const int wrap = 0;
+                float thickness = hfmin;
+                if (thickness < 0)
+                    thickness = 1;
+
+                GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
+
+                d.GeomubTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f,
+                                                 (int)heightmapWidthSamples, (int)heightmapHeightSamples,
+                                                 thickness, wrap);
+
+//                d.GeomubTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
+                GroundGeom = d.CreateubTerrain(GroundSpace, HeightmapData, 1);
+                if (GroundGeom != IntPtr.Zero)
+                {
+                    d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
+                    d.GeomSetCollideBits(GroundGeom, 0);
+
+
+                    PhysicsActor pa = new NullPhysicsActor();
+                    pa.Name = "Terrain";
+                    pa.PhysicsActorType = (int)ActorTypes.Ground;
+                    actor_name_map[GroundGeom] = pa;
+
+//                    geom_name_map[GroundGeom] = "Terrain";
+
+                    d.GeomSetPosition(GroundGeom, pOffset.X + m_regionWidth * 0.5f, pOffset.Y + m_regionHeight * 0.5f, 0);
+                    RegionTerrain.Add(pOffset, GroundGeom);
+                    TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
+                    TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
+                }
+            }
+        }
+
+        public override void DeleteTerrain()
+        {
+        }
+
+        public float GetWaterLevel()
+        {
+            return waterlevel;
+        }
+
+        public override bool SupportsCombining()
+        {
+            return m_suportCombine;
+        }
+
+        public override void SetWaterLevel(float baseheight)
+        {
+            waterlevel = baseheight;
+        }
+
+        public override void Dispose()
+        {
+            if (m_rayCastManager == null) // if this is null we already did dispose
+                return;
+            lock (OdeLock)
+            {
+                if (m_meshWorker != null)
+                m_meshWorker.Stop();
+
+                if (m_rayCastManager != null)
+                {
+                    m_rayCastManager.Dispose();
+                    m_rayCastManager = null;
+                }
+
+                lock (_prims)
+                {
+                    ChangesQueue.Clear();
+                    foreach (OdePrim prm in _prims)
+                    {
+                        prm.DoAChange(changes.Remove, null);
+                        _collisionEventPrim.Remove(prm);
+                    }
+                    _prims.Clear();
+                }
+
+                OdeCharacter[] chtorem;
+                lock (_characters)
+                {
+                    chtorem = new OdeCharacter[_characters.Count];
+                    _characters.CopyTo(chtorem);
+                }
+
+                ChangesQueue.Clear();
+                foreach (OdeCharacter ch in chtorem)
+                    ch.DoAChange(changes.Remove, null);
+
+
+                foreach (IntPtr GroundGeom in RegionTerrain.Values)
+                {
+                    if (GroundGeom != IntPtr.Zero)
+                        d.GeomDestroy(GroundGeom);
+                }
+
+
+                RegionTerrain.Clear();
+
+                if (TerrainHeightFieldHeightsHandlers.Count > 0)
+                {
+                    foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values)
+                    {
+                        if (gch.IsAllocated)
+                            gch.Free();
+                    }
+                }
+
+                TerrainHeightFieldHeightsHandlers.Clear();
+                TerrainHeightFieldHeights.Clear();
+
+                if (ContactgeomsArray != IntPtr.Zero)
+                    Marshal.FreeHGlobal(ContactgeomsArray);
+                if (GlobalContactsArray != IntPtr.Zero)
+                    Marshal.FreeHGlobal(GlobalContactsArray);
+
+
+                d.WorldDestroy(world);
+                world = IntPtr.Zero;
+                //d.CloseODE();
+            }
+        }
+
+        public override Dictionary<uint, float> GetTopColliders()
+        {
+            Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
+            int cnt = 0;
+            lock (_prims)
+            {
+                foreach (OdePrim prm in _prims)
+                {
+                    if (prm.CollisionScore > 0)
+                    {
+                        returncolliders.Add(prm.LocalID, prm.CollisionScore);
+                        cnt++;
+                        prm.CollisionScore = 0f;
+                        if (cnt > 25)
+                        {
+                            break;
+                        }
+                    }
+                }
+            }
+            return returncolliders;
+        }
+
+        public override bool SupportsRayCast()
+        {
+            return true;
+        }
+
+        public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            if (retMethod != null)
+            {
+                ODERayRequest req = new ODERayRequest();
+                req.actor = null;
+                req.callbackMethod = retMethod;
+                req.length = length;
+                req.Normal = direction;
+                req.Origin = position;
+                req.Count = 0;
+                req.filter = RayFilterFlags.AllPrims;
+
+                m_rayCastManager.QueueRequest(req);
+            }
+        }
+
+        public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
+        {
+            if (retMethod != null)
+            {
+                ODERayRequest req = new ODERayRequest();
+                req.actor = null;
+                req.callbackMethod = retMethod;
+                req.length = length;
+                req.Normal = direction;
+                req.Origin = position;
+                req.Count = Count;
+                req.filter = RayFilterFlags.AllPrims;
+
+                m_rayCastManager.QueueRequest(req);
+            }
+        }
+
+       
+        public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
+        {
+            List<ContactResult> ourresults = new List<ContactResult>();
+            object SyncObject = new object();
+
+            RayCallback retMethod = delegate(List<ContactResult> results)
+            {
+                lock (SyncObject)
+                {
+                    ourresults = results;
+                    Monitor.PulseAll(SyncObject);
+                }
+            };
+
+            ODERayRequest req = new ODERayRequest();
+            req.actor = null;
+            req.callbackMethod = retMethod;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+            req.Count = Count;
+            req.filter = RayFilterFlags.AllPrims;
+
+            lock (SyncObject)
+            {
+                m_rayCastManager.QueueRequest(req);
+                if (!Monitor.Wait(SyncObject, 500))
+                    return null;
+                else
+                    return ourresults;
+            }
+        }
+
+        public override bool SupportsRaycastWorldFiltered()
+        {
+            return true;
+        }
+
+        public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
+        {
+            object SyncObject = new object();
+            List<ContactResult> ourresults = new List<ContactResult>();
+
+            RayCallback retMethod = delegate(List<ContactResult> results)
+            {
+                lock (SyncObject)
+                {
+                    ourresults = results;
+                    Monitor.PulseAll(SyncObject);
+                }
+            };
+
+            ODERayRequest req = new ODERayRequest();
+            req.actor = null;
+            req.callbackMethod = retMethod;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+            req.Count = Count;
+            req.filter = filter;
+
+            lock (SyncObject)
+            {
+                m_rayCastManager.QueueRequest(req);
+                if (!Monitor.Wait(SyncObject, 500))
+                    return null;
+                else
+                    return ourresults;
+            }
+        }
+
+        public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags flags)
+        {
+            if (actor == null)
+                return new List<ContactResult>();
+
+            IntPtr geom;
+            if (actor is OdePrim)
+                geom = ((OdePrim)actor).prim_geom;
+            else if (actor is OdeCharacter)
+                geom = ((OdePrim)actor).prim_geom;
+            else
+                return new List<ContactResult>();
+
+            if (geom == IntPtr.Zero)
+                return new List<ContactResult>();
+
+            List<ContactResult> ourResults = null;
+            object SyncObject = new object();
+
+            RayCallback retMethod = delegate(List<ContactResult> results)
+            {
+                lock (SyncObject)
+                {
+                    ourResults = results;
+                    Monitor.PulseAll(SyncObject);
+                }
+            };
+
+            ODERayRequest req = new ODERayRequest();
+            req.actor = actor;
+            req.callbackMethod = retMethod;
+            req.length = length;
+            req.Normal = direction;
+            req.Origin = position;
+            req.Count = Count;
+            req.filter = flags;
+
+            lock (SyncObject)
+            {
+                m_rayCastManager.QueueRequest(req);
+                if (!Monitor.Wait(SyncObject, 500))
+                    return new List<ContactResult>();
+            }
+
+            if (ourResults == null)
+                return new List<ContactResult>();
+            return ourResults;
+        }
+
+        public override List<ContactResult> BoxProbe(Vector3 position, Vector3 size, Quaternion orientation, int Count, RayFilterFlags flags)
+        {
+            List<ContactResult> ourResults = null;
+            object SyncObject = new object();
+
+            ProbeBoxCallback retMethod = delegate(List<ContactResult> results)
+            {
+                lock (SyncObject)
+                {
+                    ourResults = results;
+                    Monitor.PulseAll(SyncObject);
+                }
+            };
+
+            ODERayRequest req = new ODERayRequest();
+            req.actor = null;
+            req.callbackMethod = retMethod;
+            req.Normal = size;
+            req.Origin = position;
+            req.orientation = orientation;
+            req.Count = Count;
+            req.filter = flags;
+
+            lock (SyncObject)
+            {
+                m_rayCastManager.QueueRequest(req);
+                if (!Monitor.Wait(SyncObject, 500))
+                    return new List<ContactResult>();
+            }
+
+            if (ourResults == null)
+                return new List<ContactResult>();
+            return ourResults;
+        }
+
+        public override List<ContactResult> SphereProbe(Vector3 position, float radius, int Count, RayFilterFlags flags)
+        {
+            List<ContactResult> ourResults = null;
+            object SyncObject = new object();
+
+            ProbeSphereCallback retMethod = delegate(List<ContactResult> results)
+            {
+                ourResults = results;
+                Monitor.PulseAll(SyncObject);
+            };
+
+            ODERayRequest req = new ODERayRequest();
+            req.actor = null;
+            req.callbackMethod = retMethod;
+            req.length = radius;
+            req.Origin = position;
+            req.Count = Count;
+            req.filter = flags;
+
+
+            lock (SyncObject)
+            {
+                m_rayCastManager.QueueRequest(req);
+                if (!Monitor.Wait(SyncObject, 500))
+                    return new List<ContactResult>();
+            }
+
+            if (ourResults == null)
+                return new List<ContactResult>();
+            return ourResults;
+        }
+
+        public override List<ContactResult> PlaneProbe(PhysicsActor actor, Vector4 plane, int Count, RayFilterFlags flags)
+        {
+            IntPtr geom = IntPtr.Zero;;
+
+            if (actor != null)
+            {
+                if (actor is OdePrim)
+                    geom = ((OdePrim)actor).prim_geom;
+                else if (actor is OdeCharacter)
+                    geom = ((OdePrim)actor).prim_geom;
+            }
+
+            List<ContactResult> ourResults = null;
+            object SyncObject = new object();
+
+            ProbePlaneCallback retMethod = delegate(List<ContactResult> results)
+            {
+                ourResults = results;
+                Monitor.PulseAll(SyncObject);
+            };
+
+            ODERayRequest req = new ODERayRequest();
+            req.actor = null;
+            req.callbackMethod = retMethod;
+            req.length = plane.W;
+            req.Normal.X = plane.X;
+            req.Normal.Y = plane.Y;
+            req.Normal.Z = plane.Z;
+            req.Count = Count;
+            req.filter = flags;
+
+            lock (SyncObject)
+            {
+                m_rayCastManager.QueueRequest(req);
+                if (!Monitor.Wait(SyncObject, 500))
+                    return new List<ContactResult>();
+            }
+
+            if (ourResults == null)
+                return new List<ContactResult>();
+            return ourResults;
+        }
+
+        public override int SitAvatar(PhysicsActor actor, Vector3 AbsolutePosition, Vector3 CameraPosition, Vector3 offset, Vector3 AvatarSize, SitAvatarCallback PhysicsSitResponse)
+        {
+            Util.FireAndForget( delegate
+            {
+                ODESitAvatar sitAvatar = new ODESitAvatar(this, m_rayCastManager);
+                if(sitAvatar != null)
+                    sitAvatar.Sit(actor, AbsolutePosition, CameraPosition, offset, AvatarSize, PhysicsSitResponse);
+            });
+            return 1;
+        }
+
+    }
+}