1 files changed, 1104 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
new file mode 100644
index 0000000..6791671
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
@@ -0,0 +1,1104 @@
+using System;
+using System.Reflection;
+using BulletDotNET;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using log4net;
+namespace OpenSim.Region.Physics.BulletDotNETPlugin
+{
+    public class BulletDotNETCharacter : PhysicsActor
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        public btRigidBody Body;
+        public btCollisionShape Shell;
+        public btVector3 tempVector1;
+        public btVector3 tempVector2;
+        public btVector3 tempVector3;
+        public btVector3 tempVector4;
+        public btVector3 tempVector5RayCast;
+        public btVector3 tempVector6RayCast;
+        public btVector3 tempVector7RayCast;
+        public btQuaternion tempQuat1;
+        public btTransform tempTrans1;
+        public ClosestNotMeRayResultCallback ClosestCastResult;
+        private btTransform m_bodyTransform;
+        private btVector3 m_bodyPosition;
+        private btVector3 m_CapsuleOrientationAxis;
+        private btQuaternion m_bodyOrientation;
+        private btDefaultMotionState m_bodyMotionState;
+        private btGeneric6DofConstraint m_aMotor;
+        private PhysicsVector m_movementComparision;
+        private PhysicsVector m_position;
+        private PhysicsVector m_zeroPosition;
+        private bool m_zeroFlag = false;
+        private bool m_lastUpdateSent = false;
+        private PhysicsVector m_velocity;
+        private PhysicsVector m_target_velocity;
+        private PhysicsVector m_acceleration;
+        private PhysicsVector m_rotationalVelocity;
+        private bool m_pidControllerActive = true;
+        public float PID_D = 80.0f;
+        public float PID_P = 90.0f;
+        public float CAPSULE_RADIUS = 0.37f;
+        public float CAPSULE_LENGTH = 2.140599f;
+        public float heightFudgeFactor = 0.52f;
+        public float walkDivisor = 1.3f;
+        public float runDivisor = 0.8f;
+        private float m_mass = 80f;
+        public float m_density = 60f;
+        private bool m_flying = false;
+        private bool m_iscolliding = false;
+        private bool m_iscollidingGround = false;
+        private bool m_wascolliding = false;
+        private bool m_wascollidingGround = false;
+        private bool m_iscollidingObj = false;
+        private bool m_alwaysRun = false;
+        private bool m_hackSentFall = false;
+        private bool m_hackSentFly = false;
+        public uint m_localID = 0;
+        public bool m_returnCollisions = false;
+        // taints and their non-tainted counterparts
+        public bool m_isPhysical = false; // the current physical status
+        public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
+        private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. 
+        private bool m_taintRemove = false;
+        private bool m_taintedPosition = false;
+        private PhysicsVector m_taintedPosition_value;
+        private PhysicsVector m_taintedForce;
+        private float m_buoyancy = 0f;
+        // private CollisionLocker ode;
+        private string m_name = String.Empty;
+        private bool[] m_colliderarr = new bool[11];
+        private bool[] m_colliderGroundarr = new bool[11];
+        private BulletDotNETScene m_parent_scene;
+        public int m_eventsubscription = 0;
+        private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
+        public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
+        {
+            m_taintedForce = new PhysicsVector();
+            m_velocity = new PhysicsVector();
+            m_target_velocity = new PhysicsVector();
+            m_position = pos;
+            m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct.  Must make new, or m_zeroPosition will == position regardless
+            m_acceleration = new PhysicsVector();
+            m_parent_scene = parent_scene;
+            PID_D = pid_d;
+            PID_P = pid_p;
+            CAPSULE_RADIUS = capsule_radius;
+            m_density = density;
+            heightFudgeFactor = height_fudge_factor;
+            walkDivisor = walk_divisor;
+            runDivisor = rundivisor;
+            
+            for (int i = 0; i < 11; i++)
+            {
+                m_colliderarr[i] = false;
+            }
+            for (int i = 0; i < 11; i++)
+            {
+                m_colliderGroundarr[i] = false;
+            }
+            CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
+            m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
+            m_isPhysical = false; // current status: no ODE information exists
+            m_tainted_isPhysical = true; // new tainted status: need to create ODE information
+            m_parent_scene.AddPhysicsActorTaint(this);
+            
+            m_name = avName;
+            tempVector1 = new btVector3(0, 0, 0);
+            tempVector2 = new btVector3(0, 0, 0);
+            tempVector3 = new btVector3(0, 0, 0);
+            tempVector4 = new btVector3(0, 0, 0);
+            tempVector5RayCast = new btVector3(0, 0, 0);
+            tempVector6RayCast = new btVector3(0, 0, 0);
+            tempVector7RayCast = new btVector3(0, 0, 0);
+            tempQuat1 = new btQuaternion(0, 0, 0, 1);
+            tempTrans1 = new btTransform(tempQuat1, tempVector1);
+            m_movementComparision = new PhysicsVector(0, 0, 0);
+            m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
+            
+            
+        }
+        /// <summary>
+        /// This creates the Avatar's physical Surrogate at the position supplied
+        /// </summary>
+        /// <param name="npositionX"></param>
+        /// <param name="npositionY"></param>
+        /// <param name="npositionZ"></param>
+        // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
+        // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only 
+        // place that is safe to call this routine AvatarGeomAndBodyCreation.
+        private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
+        {
+            
+            if (CAPSULE_LENGTH <= 0)
+            {
+                m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid!  Setting it to the smallest possible size!");
+                CAPSULE_LENGTH = 0.01f;
+            }
+            if (CAPSULE_RADIUS <= 0)
+            {
+                m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid!  Setting it to the smallest possible size!");
+                CAPSULE_RADIUS = 0.01f;
+            }
+            Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH);
+            if (m_bodyPosition == null)
+                m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ);
+            m_bodyPosition.setValue(npositionX, npositionY, npositionZ);
+            if (m_bodyOrientation == null)
+                m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90));
+            if (m_bodyTransform == null)
+                m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
+            else
+            {
+                m_bodyTransform.Dispose();
+                m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
+            }
+            if (m_bodyMotionState == null)
+                m_bodyMotionState = new btDefaultMotionState(m_bodyTransform);
+            else
+                m_bodyMotionState.setWorldTransform(m_bodyTransform);
+            m_mass = Mass;
+            Body = new btRigidBody(m_mass, m_bodyMotionState, Shell);
+            Body.setUserPointer(new IntPtr((int)Body.Handle));
+            
+            if (ClosestCastResult != null)
+                ClosestCastResult.Dispose();
+            ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
+            m_parent_scene.AddRigidBody(Body);
+            Body.setActivationState(4);
+            if (m_aMotor != null)
+            {
+                if (m_aMotor.Handle != IntPtr.Zero)
+                {
+                    m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
+                    m_aMotor.Dispose();
+                }
+                m_aMotor = null;
+            }
+            m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody,
+                                                                         m_parent_scene.TransZero,
+                                                                         m_parent_scene.TransZero, false);
+            m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero);
+            m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero);
+            
+           
+        }
+        public void Remove()
+        {
+            m_taintRemove = true;
+        }
+        public override bool Stopped
+        {
+            get { return m_zeroFlag; }
+        }
+        public override PhysicsVector Size
+        {
+            get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
+            set
+            {
+                m_pidControllerActive = true;
+               
+                    PhysicsVector SetSize = value;
+                    m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
+                    //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
+                    Velocity = new PhysicsVector(0f, 0f, 0f);
+               
+                m_parent_scene.AddPhysicsActorTaint(this);
+            }
+        }
+        /// <summary>
+        /// turn the PID controller on or off.
+        /// The PID Controller will turn on all by itself in many situations
+        /// </summary>
+        /// <param name="status"></param>
+        public void SetPidStatus(bool status)
+        {
+            m_pidControllerActive = status;
+        }
+        public override PrimitiveBaseShape Shape
+        {
+            set { return; }
+        }
+        public override uint LocalID
+        {
+            set { m_localID = value; }
+        }
+        public override bool Grabbed
+        {
+            set { return; }
+        }
+        public override bool Selected
+        {
+            set { return; }
+        }
+        public override void CrossingFailure()
+        {
+            
+        }
+        public override void link(PhysicsActor obj)
+        {
+            
+        }
+        public override void delink()
+        {
+            
+        }
+        public override void LockAngularMotion(PhysicsVector axis)
+        {
+            
+        }
+        public override PhysicsVector Position
+        {
+            get { return m_position; }
+            set
+            {
+                m_taintedPosition_value = value;
+                m_position = value;
+                m_taintedPosition = true;
+            }
+        }
+        public override float Mass
+        {
+            get
+            {
+                float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
+                return m_density * AVvolume;
+            }
+        }
+        public override PhysicsVector Force
+        {
+            get { return new PhysicsVector(m_target_velocity.X, m_target_velocity.Y, m_target_velocity.Z); }
+            set { return; }
+        }
+        public override int VehicleType
+        {
+            get { return 0; }
+            set { return; }
+        }
+        public override void VehicleFloatParam(int param, float value)
+        {
+            
+        }
+        public override void VehicleVectorParam(int param, PhysicsVector value)
+        {
+            
+        }
+        public override void VehicleRotationParam(int param, Quaternion rotation)
+        {
+            
+        }
+        public override void SetVolumeDetect(int param)
+        {
+            
+        }
+        public override PhysicsVector GeometricCenter
+        {
+            get { return PhysicsVector.Zero; }
+        }
+        public override PhysicsVector CenterOfMass
+        {
+            get { return PhysicsVector.Zero; }
+        }
+        public override PhysicsVector Velocity
+        {
+            get
+            {
+                // There's a problem with PhysicsVector.Zero! Don't Use it Here!
+                if (m_zeroFlag)
+                    return new PhysicsVector(0f, 0f, 0f);
+                m_lastUpdateSent = false;
+                return m_velocity;
+            }
+            set
+            {
+                m_pidControllerActive = true;
+                m_target_velocity = value;
+            }
+        }
+        public override PhysicsVector Torque
+        {
+            get { return PhysicsVector.Zero; }
+            set { return; }
+        }
+        public override float CollisionScore
+        {
+            get { return 0f; }
+            set { }
+        }
+        public override PhysicsVector Acceleration
+        {
+            get { return m_acceleration; }
+        }
+        public override Quaternion Orientation
+        {
+            get { return Quaternion.Identity; }
+            set
+            {
+            }
+        }
+        public override int PhysicsActorType
+        {
+            get { return (int)ActorTypes.Agent; }
+            set { return; }
+        }
+        public override bool IsPhysical
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override bool Flying
+        {
+            get { return m_flying; }
+            set { m_flying = value; }
+        }
+        public override bool SetAlwaysRun
+        {
+            get { return m_alwaysRun; }
+            set { m_alwaysRun = value; }
+        }
+        public override bool ThrottleUpdates
+        {
+            get { return false; }
+            set { return; }
+        }
+        /// <summary>
+        /// Returns if the avatar is colliding in general.
+        /// This includes the ground and objects and avatar.
+        /// </summary>
+        public override bool IsColliding
+        {
+            get { return m_iscolliding; }
+            set
+            {
+                int i;
+                int truecount = 0;
+                int falsecount = 0;
+                if (m_colliderarr.Length >= 10)
+                {
+                    for (i = 0; i < 10; i++)
+                    {
+                        m_colliderarr[i] = m_colliderarr[i + 1];
+                    }
+                }
+                m_colliderarr[10] = value;
+                for (i = 0; i < 11; i++)
+                {
+                    if (m_colliderarr[i])
+                    {
+                        truecount++;
+                    }
+                    else
+                    {
+                        falsecount++;
+                    }
+                }
+                // Equal truecounts and false counts means we're colliding with something.
+                m_log.DebugFormat("[PHYSICS]: TrueCount:{0}, FalseCount:{1}",truecount,falsecount);
+                if (falsecount > 1.2 * truecount)
+                {
+                    m_iscolliding = false;
+                }
+                else
+                {
+                    m_iscolliding = true;
+                }
+                if (m_wascolliding != m_iscolliding)
+                {
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                m_wascolliding = m_iscolliding;
+            }
+        }
+        /// <summary>
+        /// Returns if an avatar is colliding with the ground
+        /// </summary>
+        public override bool CollidingGround
+        {
+            get { return m_iscollidingGround; }
+            set
+            {
+                // Collisions against the ground are not really reliable
+                // So, to get a consistant value we have to average the current result over time
+                // Currently we use 1 second = 10 calls to this.
+                int i;
+                int truecount = 0;
+                int falsecount = 0;
+                if (m_colliderGroundarr.Length >= 10)
+                {
+                    for (i = 0; i < 10; i++)
+                    {
+                        m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
+                    }
+                }
+                m_colliderGroundarr[10] = value;
+                for (i = 0; i < 11; i++)
+                {
+                    if (m_colliderGroundarr[i])
+                    {
+                        truecount++;
+                    }
+                    else
+                    {
+                        falsecount++;
+                    }
+                }
+                // Equal truecounts and false counts means we're colliding with something.
+                if (falsecount > 1.2 * truecount)
+                {
+                    m_iscollidingGround = false;
+                }
+                else
+                {
+                    m_iscollidingGround = true;
+                }
+                if (m_wascollidingGround != m_iscollidingGround)
+                {
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                m_wascollidingGround = m_iscollidingGround;
+            }
+        }
+        /// <summary>
+        /// Returns if the avatar is colliding with an object
+        /// </summary>
+        public override bool CollidingObj
+        {
+            get { return m_iscollidingObj; }
+            set
+            {
+                m_iscollidingObj = value;
+                if (value)
+                    m_pidControllerActive = false;
+                else
+                    m_pidControllerActive = true;
+            }
+        }
+        public override bool FloatOnWater
+        {
+            set { return; }
+        }
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+        public override float Buoyancy
+        {
+            get { return m_buoyancy; }
+            set { m_buoyancy = value; }
+        }
+        public override PhysicsVector PIDTarget { set { return; } }
+        public override bool PIDActive { set { return; } }
+        public override float PIDTau { set { return; } }
+        public override bool PIDHoverActive
+        {
+            set { return; }
+        }
+        public override float PIDHoverHeight
+        {
+            set { return; }
+        }
+        public override PIDHoverType PIDHoverType
+        {
+            set { return; }
+        }
+        public override float PIDHoverTau
+        {
+            set { return; }
+        }
+        /// <summary>
+        /// Adds the force supplied to the Target Velocity
+        /// The PID controller takes this target velocity and tries to make it a reality
+        /// </summary>
+        /// <param name="force"></param>
+        /// <param name="pushforce">Is this a push by a script?</param>
+        public override void AddForce(PhysicsVector force, bool pushforce)
+        {
+            if (pushforce)
+            {
+                m_pidControllerActive = false;
+                force *= 100f;
+                doForce(force, false);
+                //System.Console.WriteLine("Push!");
+                //_target_velocity.X += force.X;
+                // _target_velocity.Y += force.Y;
+                //_target_velocity.Z += force.Z;
+            }
+            else
+            {
+                m_pidControllerActive = true;
+                m_target_velocity.X += force.X;
+                m_target_velocity.Y += force.Y;
+                m_target_velocity.Z += force.Z;
+            }
+            //m_lastUpdateSent = false;
+        }
+        public void doForce(PhysicsVector force, bool now)
+        {
+            tempVector3.setValue(force.X, force.Y, force.Z);
+            if (now)
+            {
+                Body.applyCentralForce(tempVector3);
+            }
+            else
+            {
+                m_taintedForce += force;
+                m_parent_scene.AddPhysicsActorTaint(this);
+            }
+        }
+        public void doImpulse(PhysicsVector force, bool now)
+        {
+            tempVector3.setValue(force.X, force.Y, force.Z);
+            if (now)
+            {
+                Body.applyCentralImpulse(tempVector3);
+            }
+            else
+            {
+                m_taintedForce += force;
+                m_parent_scene.AddPhysicsActorTaint(this);
+            }
+        }
+        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        {
+        }
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+            
+        }
+        public override void SubscribeEvents(int ms)
+        {
+            m_eventsubscription = ms;
+            m_parent_scene.addCollisionEventReporting(this);
+        }
+        public override void UnSubscribeEvents()
+        {
+             m_parent_scene.remCollisionEventReporting(this);
+            m_eventsubscription = 0;
+        }
+        public override bool SubscribedEvents()
+        {
+            if (m_eventsubscription > 0)
+                return true;
+            return false;
+        }
+        internal void Dispose()
+        {
+            if (Body.isInWorld())
+                m_parent_scene.removeFromWorld(Body);
+            if (m_aMotor.Handle != IntPtr.Zero)
+                m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
+            m_aMotor.Dispose(); m_aMotor = null;
+            ClosestCastResult.Dispose(); ClosestCastResult = null;
+            Body.Dispose(); Body = null;
+            Shell.Dispose(); Shell = null;
+            tempQuat1.Dispose();
+            tempTrans1.Dispose();
+            tempVector1.Dispose();
+            tempVector2.Dispose();
+            tempVector3.Dispose();
+            tempVector4.Dispose();
+            tempVector5RayCast.Dispose();
+            tempVector6RayCast.Dispose();
+        }
+        public void ProcessTaints(float timestep)
+        {
+            if (m_tainted_isPhysical != m_isPhysical)
+            {
+                if (m_tainted_isPhysical)
+                {
+                    // Create avatar capsule and related ODE data
+                    if (!(Shell == null && Body == null))
+                    {
+                        m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
+                            + (Shell != null ? "Shell " : "")
+                            + (Body != null ? "Body " : ""));
+                    }
+                    AvatarGeomAndBodyCreation(m_position.X, m_position.Y, m_position.Z);
+                   
+                }
+                else
+                {
+                    // destroy avatar capsule and related ODE data
+                    Dispose();
+                    tempVector1 = new btVector3(0, 0, 0);
+                    tempVector2 = new btVector3(0, 0, 0);
+                    tempVector3 = new btVector3(0, 0, 0);
+                    tempVector4 = new btVector3(0, 0, 0);
+                    tempVector5RayCast = new btVector3(0, 0, 0);
+                    tempVector6RayCast = new btVector3(0, 0, 0);
+                    tempVector7RayCast = new btVector3(0, 0, 0);
+                    tempQuat1 = new btQuaternion(0, 0, 0, 1);
+                    tempTrans1 = new btTransform(tempQuat1, tempVector1);
+                    m_movementComparision = new PhysicsVector(0, 0, 0);
+                    m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
+                }
+                m_isPhysical = m_tainted_isPhysical;
+            }
+            if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
+            {
+                if (Body != null)
+                {
+                    m_pidControllerActive = true;
+                    // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
+                    //d.JointDestroy(Amotor);
+                    float prevCapsule = CAPSULE_LENGTH;
+                    CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
+                    //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
+                    Dispose();
+                    tempVector1 = new btVector3(0, 0, 0);
+                    tempVector2 = new btVector3(0, 0, 0);
+                    tempVector3 = new btVector3(0, 0, 0);
+                    tempVector4 = new btVector3(0, 0, 0);
+                    tempVector5RayCast = new btVector3(0, 0, 0);
+                    tempVector6RayCast = new btVector3(0, 0, 0);
+                    tempVector7RayCast = new btVector3(0, 0, 0);
+                    tempQuat1 = new btQuaternion(0, 0, 0, 1);
+                    tempTrans1 = new btTransform(tempQuat1, tempVector1);
+                    m_movementComparision = new PhysicsVector(0, 0, 0);
+                    m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
+                    AvatarGeomAndBodyCreation(m_position.X, m_position.Y,
+                                      m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
+                    Velocity = new PhysicsVector(0f, 0f, 0f);
+                }
+                else
+                {
+                    m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
+                        + (Shell == null ? "Shell " : "")
+                        + (Body == null ? "Body " : ""));
+                }
+            }
+            if (m_taintRemove)
+            {
+                Dispose();
+            }
+        }
+        /// <summary>
+        /// Called from Simulate
+        /// This is the avatar's movement control + PID Controller
+        /// </summary>
+        /// <param name="timeStep"></param>
+        public void Move(float timeStep)
+        {
+            //  no lock; for now it's only called from within Simulate()
+            // If the PID Controller isn't active then we set our force
+            // calculating base velocity to the current position
+            if (Body == null)
+                return;
+            tempTrans1.Dispose();
+            tempTrans1 = Body.getInterpolationWorldTransform();
+            tempVector1.Dispose();
+            tempVector1 = tempTrans1.getOrigin();
+            tempVector2.Dispose();
+            tempVector2 = Body.getInterpolationLinearVelocity();
+            if (m_pidControllerActive == false)
+            {
+                m_zeroPosition.X = tempVector1.getX();
+                m_zeroPosition.Y = tempVector1.getY();
+                m_zeroPosition.Z = tempVector1.getZ();
+            }
+            //PidStatus = true;
+            PhysicsVector vec = new PhysicsVector();
+            PhysicsVector vel = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
+            float movementdivisor = 1f;
+            if (!m_alwaysRun)
+            {
+                movementdivisor = walkDivisor;
+            }
+            else
+            {
+                movementdivisor = runDivisor;
+            }
+            //  if velocity is zero, use position control; otherwise, velocity control
+            if (m_target_velocity.X == 0.0f && m_target_velocity.Y == 0.0f && m_target_velocity.Z == 0.0f && m_iscolliding)
+            {
+                //  keep track of where we stopped.  No more slippin' & slidin'
+                if (!m_zeroFlag)
+                {
+                    m_zeroFlag = true;
+                    m_zeroPosition.X = tempVector1.getX();
+                    m_zeroPosition.Y = tempVector1.getY();
+                    m_zeroPosition.Z = tempVector1.getZ();
+                }
+                if (m_pidControllerActive)
+                {
+                    // We only want to deactivate the PID Controller if we think we want to have our surrogate
+                    // react to the physics scene by moving it's position.
+                    // Avatar to Avatar collisions
+                    // Prim to avatar collisions
+                    PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
+                    vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2);
+                    vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2);
+                    if (m_flying)
+                    {
+                        vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D) + (m_zeroPosition.Z - pos.Z) * PID_P;
+                    }
+                }
+                //PidStatus = true;
+            }
+            else
+            {
+                m_pidControllerActive = true;
+                m_zeroFlag = false;
+                if (m_iscolliding && !m_flying)
+                {
+                    // We're standing on something
+                    vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
+                    vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
+                }
+                else if (m_iscolliding && m_flying)
+                {
+                    // We're flying and colliding with something
+                    vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
+                    vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
+                }
+                else if (!m_iscolliding && m_flying)
+                {
+                    // we're in mid air suspended
+                    vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
+                    vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
+                }
+                if (m_iscolliding && !m_flying && m_target_velocity.Z > 0.0f)
+                {
+                    // We're colliding with something and we're not flying but we're moving
+                    // This means we're walking or running.
+                    PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
+                    vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P;
+                    if (m_target_velocity.X > 0)
+                    {
+                        vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D;
+                    }
+                    if (m_target_velocity.Y > 0)
+                    {
+                        vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
+                    }
+                }
+                else if (!m_iscolliding && !m_flying)
+                {
+                    // we're not colliding and we're not flying so that means we're falling!
+                    // m_iscolliding includes collisions with the ground.
+                    // d.Vector3 pos = d.BodyGetPosition(Body);
+                    if (m_target_velocity.X > 0)
+                    {
+                        vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D;
+                    }
+                    if (m_target_velocity.Y > 0)
+                    {
+                        vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
+                    }
+                }
+                if (m_flying)
+                {
+                    vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D);
+                }
+            }
+            if (m_flying)
+            {
+                //vec.Z += ((-1 * m_parent_scene.gravityz) * m_mass);
+            }
+            if (Body != null && (((m_target_velocity.X > 0.2f || m_target_velocity.X < -0.2f) || (m_target_velocity.Y > 0.2f || m_target_velocity.Y < -0.2f))))
+            {
+                Body.setFriction(0.001f);
+                //m_log.DebugFormat("[PHYSICS]: Avatar force applied: {0}, Target:{1}", vec.ToString(), m_target_velocity.ToString());
+            }
+            if (Body != null)
+            {
+                int activationstate = Body.getActivationState();
+                if (activationstate == 0)
+                {
+                    Body.forceActivationState(1);
+                }
+               
+            }
+            doImpulse(vec, true);
+        }
+        /// <summary>
+        /// Updates the reported position and velocity.  This essentially sends the data up to ScenePresence.
+        /// </summary>
+        public void UpdatePositionAndVelocity()
+        {
+            if (Body == null)
+                return;
+            //int val = Environment.TickCount;
+            CheckIfStandingOnObject();
+            //m_log.DebugFormat("time:{0}", Environment.TickCount - val);
+            //IsColliding = Body.checkCollideWith(m_parent_scene.TerrainBody);
+            
+            tempTrans1.Dispose();
+            tempTrans1 = Body.getInterpolationWorldTransform();
+            tempVector1.Dispose();
+            tempVector1 = tempTrans1.getOrigin();
+            tempVector2.Dispose();
+            tempVector2 = Body.getInterpolationLinearVelocity();
+            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
+            PhysicsVector vec = new PhysicsVector(tempVector1.getX(),tempVector1.getY(),tempVector1.getZ());
+            //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
+            if (vec.X < 0.0f) vec.X = 0.0f;
+            if (vec.Y < 0.0f) vec.Y = 0.0f;
+            if (vec.X > (int)Constants.RegionSize - 0.2f) vec.X = (int)Constants.RegionSize - 0.2f;
+            if (vec.Y > (int)Constants.RegionSize - 0.2f) vec.Y = (int)Constants.RegionSize - 0.2f;
+            m_position.X = vec.X;
+            m_position.Y = vec.Y;
+            m_position.Z = vec.Z;
+            // Did we move last? = zeroflag
+            // This helps keep us from sliding all over
+            if (m_zeroFlag)
+            {
+                m_velocity.X = 0.0f;
+                m_velocity.Y = 0.0f;
+                m_velocity.Z = 0.0f;
+                // Did we send out the 'stopped' message?
+                if (!m_lastUpdateSent)
+                {
+                    m_lastUpdateSent = true;
+                    //base.RequestPhysicsterseUpdate();
+                }
+            }
+            else
+            {
+                m_lastUpdateSent = false;
+                vec = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
+                m_velocity.X = (vec.X);
+                m_velocity.Y = (vec.Y);
+                m_velocity.Z = (vec.Z);
+                if (m_velocity.Z < -6 && !m_hackSentFall)
+                {
+                    m_hackSentFall = true;
+                    m_pidControllerActive = false;
+                }
+                else if (m_flying && !m_hackSentFly)
+                {
+                    //m_hackSentFly = true;
+                    //base.SendCollisionUpdate(new CollisionEventUpdate());
+                }
+                else
+                {
+                    m_hackSentFly = false;
+                    m_hackSentFall = false;
+                }
+            }
+            if (Body != null)
+            {
+                if (Body.getFriction() < 0.9f)
+                    Body.setFriction(0.9f);
+            }
+            //if (Body != null)
+            //    Body.clearForces();
+        }
+        public void CheckIfStandingOnObject()
+        {
+           
+            float capsuleHalfHeight = ((CAPSULE_LENGTH + 2*CAPSULE_RADIUS)*0.5f);
+            tempVector5RayCast.setValue(m_position.X, m_position.Y, m_position.Z);
+            tempVector6RayCast.setValue(m_position.X, m_position.Y, m_position.Z - 1 * capsuleHalfHeight * 1.1f);
+            ClosestCastResult.Dispose();
+            ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
+            try
+            {
+                m_parent_scene.getBulletWorld().rayTest(tempVector5RayCast, tempVector6RayCast, ClosestCastResult);
+            }
+            catch (AccessViolationException)
+            {
+                m_log.Debug("BAD!");
+            }
+            if (ClosestCastResult.hasHit())
+            {
+                
+                if (tempVector7RayCast != null)
+                    tempVector7RayCast.Dispose();
+                //tempVector7RayCast = ClosestCastResult.getHitPointWorld();
+                /*if (tempVector7RayCast == null) // null == no result also
+                {
+                    CollidingObj = false;
+                    IsColliding = false;
+                    CollidingGround = false;
+                   
+                    return;
+                }
+                float zVal = tempVector7RayCast.getZ();
+                if (zVal != 0)
+                    m_log.Debug("[PHYSICS]: HAAAA");
+                if (zVal < m_position.Z && zVal > ((CAPSULE_LENGTH + 2 * CAPSULE_RADIUS) *0.5f))
+                {
+                    CollidingObj = true;
+                    IsColliding = true;
+                }
+                else
+                {
+                    CollidingObj = false;
+                    IsColliding = false;
+                    CollidingGround = false;
+                }*/
+                //height+2*radius = capsule full length
+                //CollidingObj = true;
+                //IsColliding = true;
+                m_iscolliding = true;
+            }
+            else
+            {
+                //CollidingObj = false;
+                //IsColliding = false;
+                //CollidingGround = false;
+                m_iscolliding = false;
+            }
+        }
+    }
+}