1 files changed, 3725 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..71aec4c
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -0,0 +1,3725 @@
+/*
+ * 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 by Ubit Umarov
+ *
+ * 
+ */
+/*
+ * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with  MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
+ */
+//#define SPAM
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Threading;
+using log4net;
+using OpenMetaverse;
+using OdeAPI;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    public class OdePrim : PhysicsActor
+    {
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        private bool m_isphysical;
+        private bool m_fakeisphysical;
+        private bool m_isphantom;
+        private bool m_fakeisphantom;
+        protected bool m_building;
+        private Quaternion m_lastorientation = new Quaternion();
+        private Quaternion _orientation;
+        private Vector3 _position;
+        private Vector3 _velocity;
+        private Vector3 _torque;
+        private Vector3 m_lastVelocity;
+        private Vector3 m_lastposition;
+        private Vector3 m_rotationalVelocity;
+        private Vector3 _size;
+        private Vector3 _acceleration;
+        private Vector3 m_angularlock = Vector3.One;
+        private IntPtr Amotor = IntPtr.Zero;
+        private Vector3 m_force;
+        private Vector3 m_forceacc;
+        private Vector3 m_angularForceacc;
+        private Vector3 m_PIDTarget;
+        private float m_PIDTau;
+        private float PID_D = 35f;
+        private float PID_G = 25f;
+        private bool m_usePID;
+        // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
+        // and are for non-VEHICLES only.
+        private float m_PIDHoverHeight;
+        private float m_PIDHoverTau;
+        private bool m_useHoverPID;
+        private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
+        private float m_targetHoverHeight;
+        private float m_groundHeight;
+        private float m_waterHeight;
+        private float m_buoyancy;                //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 
+        private int body_autodisable_frames = 20;
+        private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
+                                                        | CollisionCategories.Space
+                                                        | CollisionCategories.Body
+                                                        | CollisionCategories.Character
+                                                        );
+//        private bool m_collidesLand = true;
+        private bool m_collidesWater;
+        public bool m_returnCollisions;
+        private bool m_softcolide;
+        private bool m_NoColide;  // for now only for internal use for bad meshs
+        // Default we're a Geometry
+        private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
+        // Default, Collide with Other Geometries, spaces and Bodies
+        private CollisionCategories m_collisionFlags = m_default_collisionFlags;
+        public bool m_disabled;
+        public uint m_localID;
+        private PrimitiveBaseShape _pbs;
+        public OdeScene _parent_scene;
+        /// <summary>
+        /// The physics space which contains prim geometry
+        /// </summary>
+        public IntPtr m_targetSpace = IntPtr.Zero;
+        public IntPtr prim_geom;
+        public IntPtr _triMeshData;
+        private PhysicsActor _parent;
+        private List<OdePrim> childrenPrim = new List<OdePrim>();
+        private bool m_iscolliding;
+        public bool m_isSelected;
+        private bool m_delaySelect;
+        private bool m_lastdoneSelected;
+        public bool m_outbounds;
+        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
+        private bool m_throttleUpdates;
+        private int throttleCounter;
+        public float m_collisionscore;
+        int m_colliderfilter = 0;
+        public IntPtr collide_geom; // for objects: geom if single prim space it linkset
+        private float m_density = 10.000006836f; // Aluminum g/cm3;
+        private byte m_shapetype;
+        public bool _zeroFlag;
+        private bool m_lastUpdateSent;
+        public IntPtr Body = IntPtr.Zero;
+        public String Name { get; private set; }
+        private Vector3 _target_velocity;
+        public Vector3 primOOBsize; // prim real dimensions from mesh 
+        public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
+        public float primOOBradiusSQ;
+        public d.Mass primdMass; // prim inertia information on it's own referencial
+        float primMass; // prim own mass
+        float _mass; // object mass acording to case
+        private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
+        public int givefakepos = 0;
+        private Vector3 fakepos;
+        public int givefakeori = 0;
+        private Quaternion fakeori;
+        public int m_eventsubscription;
+        private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
+        public volatile bool childPrim;
+        public ODEDynamics m_vehicle;
+        internal int m_material = (int)Material.Wood;
+        private float mu;
+        private float bounce;
+        /// <summary>
+        /// Is this prim subject to physics?  Even if not, it's still solid for collision purposes.
+        /// </summary>
+        public override bool IsPhysical  // this is not reliable for internal use
+        {
+            get { return m_fakeisphysical; }
+            set
+            {
+                m_fakeisphysical = value; // we show imediatly to outside that we changed physical
+                // and also to stop imediatly some updates
+                // but real change will only happen in taintprocessing
+                if (!value) // Zero the remembered last velocity
+                    m_lastVelocity = Vector3.Zero;
+                AddChange(changes.Physical, value);
+            }
+        }
+        public override bool Phantom  // this is not reliable for internal use
+        {
+            get { return m_fakeisphantom; }
+            set
+            {
+                m_fakeisphantom = value; // we show imediatly to outside that we changed physical
+                // and also to stop imediatly some updates
+                // but real change will only happen in taintprocessing
+                AddChange(changes.Phantom, value);
+            }
+        }
+        public override bool Building  // this is not reliable for internal use
+        {
+            get { return m_building; }
+            set
+            {
+                if (value)
+                    m_building = true;
+                AddChange(changes.building, value);
+            }
+        }
+        public override void getContactData(ref ContactData cdata)
+        {
+            cdata.mu = mu;
+            cdata.bounce = bounce;
+            //            cdata.softcolide = m_softcolide;
+            cdata.softcolide = false;
+            if (m_isphysical)
+            {
+                ODEDynamics veh;
+                if (_parent != null)
+                    veh = ((OdePrim)_parent).m_vehicle;
+                else
+                    veh = m_vehicle;
+                if (veh != null && veh.Type != Vehicle.TYPE_NONE)
+                    cdata.mu *= veh.FrictionFactor;
+            }
+        }    
+        public override int PhysicsActorType
+        {
+            get { return (int)ActorTypes.Prim; }
+            set { return; }
+        }
+        public override bool SetAlwaysRun
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override uint LocalID
+        {
+            get
+            {
+                return m_localID;
+            }
+            set
+            {
+                //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
+                m_localID = value;
+            }
+        }
+        public override bool Grabbed
+        {
+            set { return; }
+        }
+        public override bool Selected
+        {
+            set
+            {
+                if (value)
+                    m_isSelected = value; // if true set imediatly to stop moves etc
+                AddChange(changes.Selected, value);
+            }
+        }
+        public override bool Flying
+        {
+            // no flying prims for you
+            get { return false; }
+            set { }
+        }
+        public override bool IsColliding
+        {
+            get { return m_iscolliding; }
+            set
+            {
+                if (value)
+                {
+                    m_colliderfilter += 2;
+                    if (m_colliderfilter > 2)
+                        m_colliderfilter = 2;
+                }
+                else
+                {
+                    m_colliderfilter--;
+                    if (m_colliderfilter < 0)
+                        m_colliderfilter = 0;
+                }
+                if (m_colliderfilter == 0)
+                {
+                    m_softcolide = false;
+                    m_iscolliding = false;
+                }
+                else
+                    m_iscolliding = true;
+            }
+        }
+        public override bool CollidingGround
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override bool CollidingObj
+        {
+            get { return false; }
+            set { return; }
+        }
+        public override bool ThrottleUpdates
+        {
+            get { return m_throttleUpdates; }
+            set { m_throttleUpdates = value; }
+        }
+        public override bool Stopped
+        {
+            get { return _zeroFlag; }
+        }
+        public override Vector3 Position
+        {
+            get
+            {
+                if (givefakepos > 0)
+                    return fakepos;
+                else
+                    return _position;
+            }
+            set
+            {
+                fakepos = value;
+                givefakepos++;
+                AddChange(changes.Position, value);
+            }
+        }
+        public override Vector3 Size
+        {
+            get { return _size; }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    AddChange(changes.Size, value);
+                }
+                else
+                {
+                    m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);
+                }
+            }
+        }
+        public override float Mass
+        {
+            get { return _mass; }
+        }
+        public override Vector3 Force
+        {
+            //get { return Vector3.Zero; }
+            get { return m_force; }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    AddChange(changes.Force, value);
+                }
+                else
+                {
+                    m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);
+                }
+            }
+        }
+        public override void SetVolumeDetect(int param)
+        {
+            AddChange(changes.VolumeDtc, (param != 0));
+        }
+        public override Vector3 GeometricCenter
+        {
+            get
+            {
+                return Vector3.Zero;
+            }
+        }
+        public override Vector3 CenterOfMass
+        {
+            get
+            {
+                d.Vector3 dtmp;
+                if (IsPhysical && !childPrim && Body != IntPtr.Zero)
+                {
+                    dtmp = d.BodyGetPosition(Body);
+                    return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
+                }
+                else if (prim_geom != IntPtr.Zero)
+                {
+                    d.Quaternion dq;
+                    d.GeomCopyQuaternion(prim_geom, out dq);
+                    Quaternion q;
+                    q.X = dq.X;
+                    q.Y = dq.Y;
+                    q.Z = dq.Z;
+                    q.W = dq.W;
+                    Vector3 vtmp = primOOBoffset * q;
+                    dtmp = d.GeomGetPosition(prim_geom);
+                    return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z);
+                }
+                else
+                    return Vector3.Zero;
+            }
+        }
+        /*
+                public override Vector3 PrimOOBsize
+                    {
+                    get
+                        {
+                        return primOOBsize;
+                        }
+                    }
+                public override Vector3 PrimOOBoffset
+                    {
+                    get
+                        {
+                        return primOOBoffset;
+                        }
+                    }
+                public override float PrimOOBRadiusSQ
+                    {
+                    get
+                        {
+                        return primOOBradiusSQ;
+                        }
+                    }
+        */
+        public override PrimitiveBaseShape Shape
+        {
+            set
+            {
+                AddChange(changes.Shape, value);
+            }
+        }
+        public override byte PhysicsShapeType
+        {
+            get
+            {
+                return m_shapetype;
+            }
+            set
+            {
+                m_shapetype = value;
+                AddChange(changes.Shape, null);
+            }
+        }
+        public override Vector3 Velocity
+        {
+            get
+            {
+                if (_zeroFlag)
+                    return Vector3.Zero;
+                return _velocity;
+            }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    AddChange(changes.Velocity, value);
+                    //                    _velocity = value;
+                }
+                else
+                {
+                    m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
+                }
+            }
+        }
+        public override Vector3 Torque
+        {
+            get
+            {
+                if (!IsPhysical || Body == IntPtr.Zero)
+                    return Vector3.Zero;
+                return _torque;
+            }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    AddChange(changes.Torque, value);
+                }
+                else
+                {
+                    m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);
+                }
+            }
+        }
+        public override float CollisionScore
+        {
+            get { return m_collisionscore; }
+            set { m_collisionscore = value; }
+        }
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+        public override Quaternion Orientation
+        {
+            get
+            {
+                if (givefakeori > 0)
+                    return fakeori;
+                else
+                    return _orientation;
+            }
+            set
+            {
+                if (QuaternionIsFinite(value))
+                {
+                    fakeori = value;
+                    givefakeori++;
+                    AddChange(changes.Orientation, value);
+                }
+                else
+                    m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name);
+            }
+        }
+        public override Vector3 Acceleration
+        {
+            get { return _acceleration; }
+            set { }
+        }
+        public override Vector3 RotationalVelocity
+        {
+            get
+            {
+                Vector3 pv = Vector3.Zero;
+                if (_zeroFlag)
+                    return pv;
+                m_lastUpdateSent = false;
+                if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
+                    return pv;
+                return m_rotationalVelocity;
+            }
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_rotationalVelocity = value;
+                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
+                        d.BodyEnable(Body);
+                }
+                else
+                {
+                    m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);
+                }
+            }
+        }
+        public override float Buoyancy
+        {
+            get { return m_buoyancy; }
+            set
+            {
+                m_buoyancy = value;
+            }
+        }
+        public override bool FloatOnWater
+        {
+            set
+            {
+                AddChange(changes.CollidesWater, value);
+            }
+        }
+        public override Vector3 PIDTarget
+        {
+            set
+            {
+                if (value.IsFinite())
+                {
+                    m_PIDTarget = value;
+                }
+                else
+                    m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
+            }
+        }
+        public override bool PIDActive { set { m_usePID = value; } }
+        public override float PIDTau { set { m_PIDTau = value; } }
+        public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
+        public override bool PIDHoverActive { set { m_useHoverPID = value; } }
+        public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
+        public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
+        public override Quaternion APIDTarget { set { return; } }
+        public override bool APIDActive { set { return; } }
+        public override float APIDStrength { set { return; } }
+        public override float APIDDamping { set { return; } }
+        public override int VehicleType
+        {
+            // we may need to put a fake on this
+            get
+            {
+                if (m_vehicle == null)
+                    return (int)Vehicle.TYPE_NONE;
+                else
+                    return (int)m_vehicle.Type;
+            }
+            set
+            {
+                AddChange(changes.VehicleType, value);
+            }
+        }
+        public override void VehicleFloatParam(int param, float value)
+        {
+            strVehicleFloatParam fp = new strVehicleFloatParam();
+            fp.param = param;
+            fp.value = value;
+            AddChange(changes.VehicleFloatParam, fp);
+        }
+        public override void VehicleVectorParam(int param, Vector3 value)
+        {
+            strVehicleVectorParam fp = new strVehicleVectorParam();
+            fp.param = param;
+            fp.value = value;
+            AddChange(changes.VehicleVectorParam, fp);
+        }
+        public override void VehicleRotationParam(int param, Quaternion value)
+        {
+            strVehicleQuatParam fp = new strVehicleQuatParam();
+            fp.param = param;
+            fp.value = value;
+            AddChange(changes.VehicleRotationParam, fp);
+        }
+        public override void VehicleFlags(int param, bool value)
+        {
+            strVehicleBoolParam bp = new strVehicleBoolParam();
+            bp.param = param;
+            bp.value = value;
+            AddChange(changes.VehicleFlags, bp);
+        }
+        public override void SetVehicle(object vdata)
+        {
+            AddChange(changes.SetVehicle, vdata);
+        }
+        public void SetAcceleration(Vector3 accel)
+        {
+            _acceleration = accel;
+        }
+        public override void AddForce(Vector3 force, bool pushforce)
+        {
+            if (force.IsFinite())
+            {
+                AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE);
+            }
+            else
+            {
+                m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);
+            }
+            //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() +  " to prim at " + Position.ToString());
+        }
+        public override void AddAngularForce(Vector3 force, bool pushforce)
+        {
+            if (force.IsFinite())
+            {
+                AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE);
+            }
+            else
+            {
+                m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);
+            }
+        }
+        public override void CrossingFailure()
+        {
+            if (m_outbounds)
+            {
+                _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
+                _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
+                _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
+                m_lastposition = _position;
+                _velocity.X = 0;
+                _velocity.Y = 0;
+                _velocity.Z = 0;
+                m_lastVelocity = _velocity;
+                if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
+                    m_vehicle.Stop();
+                if(Body != IntPtr.Zero)
+                    d.BodySetLinearVel(Body, 0, 0, 0); // stop it
+                if (prim_geom != IntPtr.Zero)
+                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                m_outbounds = false;
+                changeDisable(false);
+                base.RequestPhysicsterseUpdate();
+            }
+        }
+        public override void SetMomentum(Vector3 momentum)
+        {
+        }
+        public override void SetMaterial(int pMaterial)
+        {
+            m_material = pMaterial;
+            mu = _parent_scene.m_materialContactsData[pMaterial].mu;
+            bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
+        }
+        public void setPrimForRemoval()
+        {
+            AddChange(changes.Remove, null);
+        }
+        public override void link(PhysicsActor obj)
+        {
+            AddChange(changes.Link, obj);
+        }
+        public override void delink()
+        {
+            AddChange(changes.DeLink, null);
+        }
+        public override void LockAngularMotion(Vector3 axis)
+        {
+            // reverse the zero/non zero values for ODE.
+            if (axis.IsFinite())
+            {
+                axis.X = (axis.X > 0) ? 1f : 0f;
+                axis.Y = (axis.Y > 0) ? 1f : 0f;
+                axis.Z = (axis.Z > 0) ? 1f : 0f;
+                m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
+                AddChange(changes.AngLock, axis);
+            }
+            else
+            {
+                m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
+            }
+        }
+        public override void SubscribeEvents(int ms)
+        {
+            m_eventsubscription = ms;
+            _parent_scene.AddCollisionEventReporting(this);
+        }
+        public override void UnSubscribeEvents()
+        {
+            _parent_scene.RemoveCollisionEventReporting(this);
+            m_eventsubscription = 0;
+        }
+        public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
+        {
+            if (CollisionEventsThisFrame == null)
+                CollisionEventsThisFrame = new CollisionEventUpdate();
+            CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
+        }
+        public void SendCollisions()
+        {
+            if (CollisionEventsThisFrame == null)
+                return;
+            base.SendCollisionUpdate(CollisionEventsThisFrame);
+            if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
+                CollisionEventsThisFrame = null;
+            else
+                CollisionEventsThisFrame = new CollisionEventUpdate();
+        }
+        public override bool SubscribedEvents()
+        {
+            if (m_eventsubscription > 0)
+                return true;
+            return false;
+        }
+        public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
+                       Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)
+        {
+            Name = primName;
+            LocalID = plocalID;
+            m_vehicle = null;
+            if (!pos.IsFinite())
+            {
+                pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
+                    parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
+                m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);
+            }
+            _position = pos;
+            givefakepos = 0;
+            PID_D = parent_scene.bodyPIDD;
+            PID_G = parent_scene.bodyPIDG;
+            m_density = parent_scene.geomDefaultDensity;
+            // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
+            body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
+            prim_geom = IntPtr.Zero;
+            collide_geom = IntPtr.Zero;
+            Body = IntPtr.Zero;
+            if (!size.IsFinite())
+            {
+                size = new Vector3(0.5f, 0.5f, 0.5f);
+                m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);
+            }
+            if (size.X <= 0) size.X = 0.01f;
+            if (size.Y <= 0) size.Y = 0.01f;
+            if (size.Z <= 0) size.Z = 0.01f;
+            _size = size;
+            if (!QuaternionIsFinite(rotation))
+            {
+                rotation = Quaternion.Identity;
+                m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);
+            }
+            _orientation = rotation;
+            givefakeori = 0;
+            _pbs = pbs;
+            _parent_scene = parent_scene;
+            m_targetSpace = IntPtr.Zero;
+            if (pos.Z < 0)
+            {
+                m_isphysical = false;
+            }
+            else
+            {
+                m_isphysical = pisPhysical;
+            }
+            m_fakeisphysical = m_isphysical;
+            m_isVolumeDetect = false;
+            m_force = Vector3.Zero;
+            m_iscolliding = false;
+            m_colliderfilter = 0;
+            m_softcolide = true;
+            m_NoColide = false;
+            hasOOBoffsetFromMesh = false;
+            _triMeshData = IntPtr.Zero;
+            m_shapetype = _shapeType;
+            m_lastdoneSelected = false;
+            m_isSelected = false;
+            m_delaySelect = false;
+            m_isphantom = pisPhantom;
+            m_fakeisphantom = pisPhantom;
+            mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
+            bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
+            CalcPrimBodyData();
+            m_building = true; // control must set this to false when done
+            AddChange(changes.Add, null);
+        }
+        private void resetCollisionAccounting()
+        {
+            m_collisionscore = 0;
+        }
+        private void createAMotor(Vector3 axis)
+        {
+            if (Body == IntPtr.Zero)
+                return;
+            if (Amotor != IntPtr.Zero)
+            {
+                d.JointDestroy(Amotor);
+                Amotor = IntPtr.Zero;
+            }
+            int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);
+            if (axisnum <= 0)
+                return;
+            // stop it
+            d.BodySetTorque(Body, 0, 0, 0);
+            d.BodySetAngularVel(Body, 0, 0, 0);
+            Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
+            d.JointAttach(Amotor, Body, IntPtr.Zero);
+            d.JointSetAMotorMode(Amotor, 0);
+            d.JointSetAMotorNumAxes(Amotor, axisnum);
+            // get current orientation to lock
+            d.Quaternion dcur = d.BodyGetQuaternion(Body);
+            Quaternion curr; // crap convertion between identical things
+            curr.X = dcur.X;
+            curr.Y = dcur.Y;
+            curr.Z = dcur.Z;
+            curr.W = dcur.W;
+            Vector3 ax;
+            int i = 0;
+            int j = 0;
+            if (axis.X == 0)
+            {
+                ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
+                // ODE should do this  with axis relative to body 1 but seems to fail
+                d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
+                d.JointSetAMotorAngle(Amotor, 0, 0);
+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);
+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);
+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
+                d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
+                i++;
+                j = 256; // move to next axis set
+            }
+            if (axis.Y == 0)
+            {
+                ax = (new Vector3(0, 1, 0)) * curr;
+                d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
+                d.JointSetAMotorAngle(Amotor, i, 0);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
+                i++;
+                j += 256;
+            }
+            if (axis.Z == 0)
+            {
+                ax = (new Vector3(0, 0, 1)) * curr;
+                d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
+                d.JointSetAMotorAngle(Amotor, i, 0);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
+                d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
+            }
+        }
+        private bool setMesh(OdeScene parent_scene)
+        {
+            if (Body != IntPtr.Zero)
+            {
+                if (childPrim)
+                {
+                    if (_parent != null)
+                    {
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.ChildDelink(this, false);
+                    }
+                }
+                else
+                {
+                    DestroyBody();
+                }
+            }
+            bool convex;
+            if (m_shapetype == 0)
+                convex = false;
+            else
+                convex = true;
+            IMesh mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true,convex);
+            if (mesh == null)
+            {
+                m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);
+                return false;
+            }
+            IntPtr vertices, indices;
+            int vertexCount, indexCount;
+            int vertexStride, triStride;
+            mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
+            mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
+            if (vertexCount == 0 || indexCount == 0)
+            {
+                m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
+                    Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
+                mesh.releaseSourceMeshData();
+                return false;
+            }
+            primOOBoffset = mesh.GetCentroid();
+            hasOOBoffsetFromMesh = true;
+            mesh.releaseSourceMeshData();
+            IntPtr geo = IntPtr.Zero;
+            try
+            {
+                _triMeshData = d.GeomTriMeshDataCreate();
+                d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
+                d.GeomTriMeshDataPreprocess(_triMeshData);
+                _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
+            }
+            catch (Exception e)
+            {
+                m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
+                if (_triMeshData != IntPtr.Zero)
+                {
+                    d.GeomTriMeshDataDestroy(_triMeshData);
+                    _triMeshData = IntPtr.Zero;
+                }
+                return false;
+            }
+            SetGeom(geo);
+            return true;
+        }
+        private void SetGeom(IntPtr geom)
+        {
+            prim_geom = geom;
+            //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
+            if (prim_geom != IntPtr.Zero)
+            {
+                if (m_NoColide)
+                {
+                    d.GeomSetCategoryBits(prim_geom, 0);
+                    if (m_isphysical)
+                    {
+                        d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                    }
+                    else
+                    {
+                        d.GeomSetCollideBits(prim_geom, 0);
+                        d.GeomDisable(prim_geom);
+                    }
+                }
+                else
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                }
+                CalcPrimBodyData();
+                _parent_scene.geom_name_map[prim_geom] = Name;
+                _parent_scene.actor_name_map[prim_geom] = this;
+            }
+            else
+                m_log.Warn("Setting bad Geom");
+        }
+        /// <summary>
+        /// Create a geometry for the given mesh in the given target space.
+        /// </summary>
+        /// <param name="m_targetSpace"></param>
+        /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
+        private void CreateGeom()
+        {
+            if (_triMeshData != IntPtr.Zero)
+            {
+                d.GeomTriMeshDataDestroy(_triMeshData);
+                _triMeshData = IntPtr.Zero;
+            }
+            bool haveMesh = false;
+            hasOOBoffsetFromMesh = false;
+            m_NoColide = false;
+            if (_parent_scene.needsMeshing(_pbs))
+            {
+                haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
+                if (!haveMesh)
+                    m_NoColide = true;
+            }
+            if (!haveMesh)
+            {
+                if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
+                    && _size.X == _size.Y && _size.Y == _size.Z)
+                { // it's a sphere
+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                    try
+                    {
+                        SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);
+                        return;
+                    }
+                }
+                else
+                {// do it as a box
+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                    try
+                    {
+                        //Console.WriteLine("  CreateGeom 4");
+                        SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.Warn("[PHYSICS]: Create box failed: {0}", e);
+                        return;
+                    }
+                }
+            }
+        }
+        /// <summary>
+        /// Set a new geometry for this prim.
+        /// </summary>
+        /// <param name="geom"></param>
+        private void RemoveGeom()
+        {
+            if (prim_geom != IntPtr.Zero)
+            {
+                _parent_scene.geom_name_map.Remove(prim_geom);
+                _parent_scene.actor_name_map.Remove(prim_geom);
+                try
+                {
+                    d.GeomDestroy(prim_geom);
+                    if (_triMeshData != IntPtr.Zero)
+                    {
+                        d.GeomTriMeshDataDestroy(_triMeshData);
+                        _triMeshData = IntPtr.Zero;
+                    }
+                }
+                //                catch (System.AccessViolationException)
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
+                }
+                prim_geom = IntPtr.Zero;
+            }
+            else
+            {
+                m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);
+            }
+            Body = IntPtr.Zero;
+            hasOOBoffsetFromMesh = false;
+            CalcPrimBodyData();
+        }
+        private void ChildSetGeom(OdePrim odePrim)
+        {
+            // well.. 
+            DestroyBody();
+            MakeBody();
+        }
+        //sets non physical prim m_targetSpace to right space in spaces grid for static prims
+        // should only be called for non physical prims unless they are becoming non physical
+        private void SetInStaticSpace(OdePrim prim)
+        {
+            IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
+            prim.m_targetSpace = targetSpace;
+            d.GeomEnable(prim_geom);
+        }
+        public void enableBodySoft()
+        {
+            if (!childPrim && !m_isSelected)
+            {
+                if (m_isphysical && Body != IntPtr.Zero)
+                {
+                    if (m_isphantom && !m_isVolumeDetect)
+                    {
+                        m_collisionCategories = 0;
+                        m_collisionFlags = CollisionCategories.Land;
+                    }
+                    else
+                    {
+                        m_collisionCategories |= CollisionCategories.Body;
+                        m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+                    }
+                    foreach (OdePrim prm in childrenPrim)
+                    {
+                        prm.m_collisionCategories = m_collisionCategories;
+                        prm.m_collisionFlags = m_collisionFlags;
+                        if (prm.prim_geom != IntPtr.Zero)
+                        {
+                            if (prm.m_NoColide)
+                            {
+                                d.GeomSetCategoryBits(prm.prim_geom, 0);
+                                d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
+                            }
+                            else
+                            {
+                                d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
+                                d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
+                            }
+                            d.GeomEnable(prm.prim_geom);
+                        }
+                    }
+                    if (prim_geom != IntPtr.Zero)
+                    {
+                        if (m_NoColide)
+                        {
+                            d.GeomSetCategoryBits(prim_geom, 0);
+                            d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                        }
+                        else
+                        {
+                            d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                            d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                        }
+                        d.GeomEnable(prim_geom);
+                    }
+                    d.BodyEnable(Body);
+                }
+            }
+            m_disabled = false;
+            resetCollisionAccounting(); // this sets m_disable to false
+        }
+        private void disableBodySoft()
+        {
+            m_disabled = true;
+            if (!childPrim)
+            {
+                if (m_isphysical && Body != IntPtr.Zero)
+                {
+                    m_collisionCategories &= ~CollisionCategories.Body;
+                    m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
+                    foreach (OdePrim prm in childrenPrim)
+                    {
+                        prm.m_collisionCategories = m_collisionCategories;
+                        prm.m_collisionFlags = m_collisionFlags;
+                        if (prm.prim_geom != IntPtr.Zero)
+                        {
+                            if (prm.m_NoColide)
+                            {
+                                d.GeomSetCategoryBits(prm.prim_geom, 0);
+                                d.GeomSetCollideBits(prm.prim_geom, 0);
+                            }
+                            else
+                            {
+                                d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
+                                d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
+                            }
+                            d.GeomDisable(prm.prim_geom);
+                        }
+                    }
+                    if (prim_geom != IntPtr.Zero)
+                    {
+                        if (m_NoColide)
+                        {
+                            d.GeomSetCategoryBits(prim_geom, 0);
+                            d.GeomSetCollideBits(prim_geom, 0);
+                        }
+                        else
+                        {
+                            d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                            d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                        }
+                        d.GeomDisable(prim_geom);
+                    }
+                    d.BodyDisable(Body);
+                }
+            }
+        }
+        private void MakeBody()
+        {
+            if (!m_isphysical) // only physical get bodies
+                return;
+            if (childPrim)  // child prims don't get bodies;
+                return;
+            if (m_building)
+                return;
+            if (prim_geom == IntPtr.Zero)
+            {
+                m_log.Warn("[PHYSICS]: Unable to link the linkset.  Root has no geom yet");
+                return;
+            }
+            if (Body != IntPtr.Zero)
+            {
+                d.BodyDestroy(Body);
+                Body = IntPtr.Zero;
+                m_log.Warn("[PHYSICS]: MakeBody called having a body");
+            }
+            if (d.GeomGetBody(prim_geom) != IntPtr.Zero)
+            {
+                d.GeomSetBody(prim_geom, IntPtr.Zero);
+                m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");
+            }
+            d.Matrix3 mymat = new d.Matrix3();
+            d.Quaternion myrot = new d.Quaternion();
+            d.Mass objdmass = new d.Mass { };
+            Body = d.BodyCreate(_parent_scene.world);
+            DMassDup(ref primdMass, out objdmass);
+            // rotate inertia
+            myrot.X = _orientation.X;
+            myrot.Y = _orientation.Y;
+            myrot.Z = _orientation.Z;
+            myrot.W = _orientation.W;
+            d.RfromQ(out mymat, ref myrot);
+            d.MassRotate(ref objdmass, ref mymat);
+            // set the body rotation and position
+            d.BodySetRotation(Body, ref mymat);
+            // recompute full object inertia if needed
+            if (childrenPrim.Count > 0)
+            {
+                d.Matrix3 mat = new d.Matrix3();
+                d.Quaternion quat = new d.Quaternion();
+                d.Mass tmpdmass = new d.Mass { };
+                Vector3 rcm;
+                rcm.X = _position.X + objdmass.c.X;
+                rcm.Y = _position.Y + objdmass.c.Y;
+                rcm.Z = _position.Z + objdmass.c.Z;
+                lock (childrenPrim)
+                {
+                    foreach (OdePrim prm in childrenPrim)
+                    {
+                        if (prm.prim_geom == IntPtr.Zero)
+                        {
+                            m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it.  No geom yet");
+                            continue;
+                        }
+                        DMassCopy(ref prm.primdMass, ref tmpdmass);
+                        // apply prim current rotation to inertia
+                        quat.X = prm._orientation.X;
+                        quat.Y = prm._orientation.Y;
+                        quat.Z = prm._orientation.Z;
+                        quat.W = prm._orientation.W;
+                        d.RfromQ(out mat, ref quat);
+                        d.MassRotate(ref tmpdmass, ref mat);
+                        Vector3 ppos = prm._position;
+                        ppos.X += tmpdmass.c.X - rcm.X;
+                        ppos.Y += tmpdmass.c.Y - rcm.Y;
+                        ppos.Z += tmpdmass.c.Z - rcm.Z;
+                        // refer inertia to root prim center of mass position
+                        d.MassTranslate(ref tmpdmass,
+                            ppos.X,
+                            ppos.Y,
+                            ppos.Z);
+                        d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
+                        // fix prim colision cats
+                        if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)
+                        {
+                            d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
+                            m_log.Warn("[PHYSICS]: MakeBody child geom already had a body");
+                        }
+                        d.GeomClearOffset(prm.prim_geom);
+                        d.GeomSetBody(prm.prim_geom, Body);
+                        prm.Body = Body;
+                        d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
+                    }
+                }
+            }
+            d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset
+            // associate root geom with body
+            d.GeomSetBody(prim_geom, Body);
+            d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
+            d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
+            d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
+            myrot.W = -myrot.W;
+            d.RfromQ(out mymat, ref myrot);
+            d.MassRotate(ref objdmass, ref mymat);
+            d.BodySetMass(Body, ref objdmass);
+            _mass = objdmass.mass;
+            // disconnect from world gravity so we can apply buoyancy
+            d.BodySetGravityMode(Body, false);
+            d.BodySetAutoDisableFlag(Body, true);
+            d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
+            //            d.BodySetLinearDampingThreshold(Body, 0.01f);
+            //            d.BodySetAngularDampingThreshold(Body, 0.001f);
+            d.BodySetDamping(Body, .002f, .002f);
+                if (m_targetSpace != IntPtr.Zero)
+                {
+                    _parent_scene.waitForSpaceUnlock(m_targetSpace);
+                    if (d.SpaceQuery(m_targetSpace, prim_geom))
+                        d.SpaceRemove(m_targetSpace, prim_geom);
+                }
+            if (childrenPrim.Count == 0)
+            {
+                collide_geom = prim_geom;
+                m_targetSpace = _parent_scene.ActiveSpace;
+                d.SpaceAdd(m_targetSpace, prim_geom);
+            }
+            else
+            {
+                m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
+                d.HashSpaceSetLevels(m_targetSpace, -2, 8);
+                d.SpaceSetSublevel(m_targetSpace, 3);
+                d.SpaceSetCleanup(m_targetSpace, false);
+                d.SpaceAdd(m_targetSpace, prim_geom);
+                collide_geom = m_targetSpace;
+            }
+            if (m_delaySelect)
+            {
+                m_isSelected = true;
+                m_delaySelect = false;
+            }
+            lock (childrenPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    if (prm.prim_geom == IntPtr.Zero)
+                        continue;
+                    Vector3 ppos = prm._position;
+                    d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
+                    if (prm.m_targetSpace != m_targetSpace)
+                    {
+                        if (prm.m_targetSpace != IntPtr.Zero)
+                        {
+                            _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
+                            if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
+                                d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
+                        }
+                        prm.m_targetSpace = m_targetSpace;
+                        d.SpaceAdd(m_targetSpace, prm.prim_geom);
+                    }
+                    if (m_isSelected || m_disabled)
+                    {
+                        prm.m_collisionCategories &= ~CollisionCategories.Body;
+                        prm.m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
+                        d.GeomDisable(prm.prim_geom);
+                    }
+                    else
+                    {
+                        if (m_isphantom && !m_isVolumeDetect)
+                        {
+                            prm.m_collisionCategories = 0;
+                            prm.m_collisionFlags = CollisionCategories.Land;
+                        }
+                        else
+                        {
+                            prm.m_collisionCategories |= CollisionCategories.Body;
+                            prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+                        }
+                        d.GeomEnable(prm.prim_geom);
+                    }
+                    if (prm.m_NoColide)
+                    {
+                        d.GeomSetCategoryBits(prm.prim_geom, 0);
+                        d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
+                        d.GeomEnable(prm.prim_geom);
+                    }
+                    else
+                    {
+                        d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
+                        d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
+                    }
+                    prm.m_collisionscore = 0;
+                    if(!m_disabled)
+                        prm.m_disabled = false;
+                    _parent_scene.addActivePrim(prm);
+                }
+            }
+            // The body doesn't already have a finite rotation mode set here
+            if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
+            {
+                createAMotor(m_angularlock);
+            }
+            if (m_isSelected || m_disabled)
+            {
+                m_collisionCategories &= ~CollisionCategories.Body;
+                m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
+                d.GeomDisable(prim_geom);
+                d.BodyDisable(Body);
+            }
+            else
+            {
+                if (m_isphantom && !m_isVolumeDetect)
+                {
+                    m_collisionCategories = 0;
+                    m_collisionFlags = CollisionCategories.Land;
+                }
+                else
+                {
+                    m_collisionCategories |= CollisionCategories.Body;
+                    m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+                }
+                d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
+                d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
+            }
+            if (m_NoColide)
+            {
+                d.GeomSetCategoryBits(prim_geom, 0);
+                d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+            }
+            else
+            {
+                d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+            }
+            m_collisionscore = 0;
+            m_softcolide = true;
+            _parent_scene.addActivePrim(this);
+            _parent_scene.addActiveGroups(this);
+        }
+        private void DestroyBody()
+        {
+            if (Body != IntPtr.Zero)
+            {
+                _parent_scene.remActivePrim(this);
+                m_collisionCategories &= ~CollisionCategories.Body;
+                m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
+                if (prim_geom != IntPtr.Zero)
+                {
+                    if (m_NoColide)
+                    {
+                        d.GeomSetCategoryBits(prim_geom, 0);
+                        d.GeomSetCollideBits(prim_geom, 0);
+                    }
+                    else
+                    {
+                        d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                        d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                    }
+                    UpdateDataFromGeom();
+                    d.GeomSetBody(prim_geom, IntPtr.Zero);
+                    SetInStaticSpace(this);
+                }
+                if (!childPrim)
+                {
+                    lock (childrenPrim)
+                    {
+                        foreach (OdePrim prm in childrenPrim)
+                        {
+                            _parent_scene.remActivePrim(prm);
+                            prm.m_collisionCategories = m_collisionCategories;
+                            prm.m_collisionFlags = m_collisionFlags;
+                            if (prm.prim_geom != IntPtr.Zero)
+                            {
+                                if (prm.m_NoColide)
+                                {
+                                    d.GeomSetCategoryBits(prm.prim_geom, 0);
+                                    d.GeomSetCollideBits(prm.prim_geom, 0);
+                                }
+                                else
+                                {
+                                    d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
+                                    d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
+                                }
+                                prm.UpdateDataFromGeom();
+                                SetInStaticSpace(prm);
+                            }
+                            prm.Body = IntPtr.Zero;
+                            prm._mass = prm.primMass;
+                            prm.m_collisionscore = 0;
+                        }
+                    }
+                    if (Amotor != IntPtr.Zero)
+                    {
+                        d.JointDestroy(Amotor);
+                        Amotor = IntPtr.Zero;
+                    }
+                    _parent_scene.remActiveGroup(this);
+                    d.BodyDestroy(Body);
+                }
+                Body = IntPtr.Zero;
+            }
+            _mass = primMass;
+            m_collisionscore = 0;
+        }
+        #region Mass Calculation
+        private float CalculatePrimVolume()
+        {
+            float volume = _size.X * _size.Y * _size.Z; // default
+            float tmp;
+            float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
+            float hollowVolume = hollowAmount * hollowAmount;
+            switch (_pbs.ProfileShape)
+            {
+                case ProfileShape.Square:
+                    // default box
+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                        if (hollowAmount > 0.0)
+                        {
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Square:
+                                case HollowShape.Same:
+                                    break;
+                                case HollowShape.Circle:
+                                    hollowVolume *= 0.78539816339f;
+                                    break;
+                                case HollowShape.Triangle:
+                                    hollowVolume *= (0.5f * .5f);
+                                    break;
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        //a tube 
+                        volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
+                        tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
+                        volume -= volume * tmp * tmp;
+                        if (hollowAmount > 0.0)
+                        {
+                            hollowVolume *= hollowAmount;
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Square:
+                                case HollowShape.Same:
+                                    break;
+                                case HollowShape.Circle:
+                                    hollowVolume *= 0.78539816339f;
+                                    break;
+                                case HollowShape.Triangle:
+                                    hollowVolume *= 0.5f * 0.5f;
+                                    break;
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+                case ProfileShape.Circle:
+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                        volume *= 0.78539816339f; // elipse base
+                        if (hollowAmount > 0.0)
+                        {
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Circle:
+                                    break;
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.5f * 2.5984480504799f;
+                                    break;
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .5f * 1.27323954473516f;
+                                    break;
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
+                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                        volume *= (1.0f - tmp * tmp);
+                        if (hollowAmount > 0.0)
+                        {
+                            // calculate the hollow volume by it's shape compared to the prim shape
+                            hollowVolume *= hollowAmount;
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Circle:
+                                    break;
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.5f * 2.5984480504799f;
+                                    break;
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .5f * 1.27323954473516f;
+                                    break;
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+                case ProfileShape.HalfCircle:
+                    if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        volume *= 0.52359877559829887307710723054658f;
+                    }
+                    break;
+                case ProfileShape.EquilateralTriangle:
+                    if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                    {
+                        volume *= 0.32475953f;
+                        if (hollowAmount > 0.0)
+                        {
+                            // calculate the hollow volume by it's shape compared to the prim shape
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .25f;
+                                    break;
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.499849f * 3.07920140172638f;
+                                    break;
+                                case HollowShape.Circle:
+                                    // Hollow shape is a perfect cyllinder in respect to the cube's scale
+                                    // Cyllinder hollow volume calculation
+                                    hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                    break;
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                    {
+                        volume *= 0.32475953f;
+                        volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
+                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                        volume *= (1.0f - tmp * tmp);
+                        if (hollowAmount > 0.0)
+                        {
+                            hollowVolume *= hollowAmount;
+                            switch (_pbs.HollowShape)
+                            {
+                                case HollowShape.Same:
+                                case HollowShape.Triangle:
+                                    hollowVolume *= .25f;
+                                    break;
+                                case HollowShape.Square:
+                                    hollowVolume *= 0.499849f * 3.07920140172638f;
+                                    break;
+                                case HollowShape.Circle:
+                                    hollowVolume *= 0.1963495f * 3.07920140172638f;
+                                    break;
+                                default:
+                                    hollowVolume = 0;
+                                    break;
+                            }
+                            volume *= (1.0f - hollowVolume);
+                        }
+                    }
+                    break;
+                default:
+                    break;
+            }
+            float taperX1;
+            float taperY1;
+            float taperX;
+            float taperY;
+            float pathBegin;
+            float pathEnd;
+            float profileBegin;
+            float profileEnd;
+            if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
+            {
+                taperX1 = _pbs.PathScaleX * 0.01f;
+                if (taperX1 > 1.0f)
+                    taperX1 = 2.0f - taperX1;
+                taperX = 1.0f - taperX1;
+                taperY1 = _pbs.PathScaleY * 0.01f;
+                if (taperY1 > 1.0f)
+                    taperY1 = 2.0f - taperY1;
+                taperY = 1.0f - taperY1;
+            }
+            else
+            {
+                taperX = _pbs.PathTaperX * 0.01f;
+                if (taperX < 0.0f)
+                    taperX = -taperX;
+                taperX1 = 1.0f - taperX;
+                taperY = _pbs.PathTaperY * 0.01f;
+                if (taperY < 0.0f)
+                    taperY = -taperY;
+                taperY1 = 1.0f - taperY;
+            }
+            volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
+            pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
+            pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
+            volume *= (pathEnd - pathBegin);
+            // this is crude aproximation
+            profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
+            profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
+            volume *= (profileEnd - profileBegin);
+            return volume;
+        }
+        private void CalcPrimBodyData()
+        {
+            float volume;
+            if (prim_geom == IntPtr.Zero)
+            {
+                // Ubit let's have a initial basic OOB
+                primOOBsize.X = _size.X;
+                primOOBsize.Y = _size.Y;
+                primOOBsize.Z = _size.Z;
+                primOOBoffset = Vector3.Zero;
+            }
+            else
+            {
+                d.AABB AABB;
+                d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom
+                primOOBsize.X = (AABB.MaxX - AABB.MinX);
+                primOOBsize.Y = (AABB.MaxY - AABB.MinY);
+                primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);
+                if (!hasOOBoffsetFromMesh)
+                {
+                    primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;
+                    primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;
+                    primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;
+                }
+            }
+            // also its own inertia and mass
+            // keep using basic shape mass for now
+            volume = CalculatePrimVolume();
+            primMass = m_density * volume;
+            if (primMass <= 0)
+                primMass = 0.0001f;//ckrinke: Mass must be greater then zero.
+            if (primMass > _parent_scene.maximumMassObject)
+                primMass = _parent_scene.maximumMassObject;
+            _mass = primMass; // just in case
+            d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);
+            d.MassTranslate(ref primdMass,
+                                primOOBoffset.X,
+                                primOOBoffset.Y,
+                                primOOBoffset.Z);
+            primOOBsize *= 0.5f; // let obb size be a corner coords
+            primOOBradiusSQ = primOOBsize.LengthSquared();
+        }
+        #endregion
+        /// <summary>
+        /// Add a child prim to this parent prim.
+        /// </summary>
+        /// <param name="prim">Child prim</param>
+        // I'm the parent
+        // prim is the child
+        public void ParentPrim(OdePrim prim)
+        {
+            //Console.WriteLine("ParentPrim  " + m_primName);
+            if (this.m_localID != prim.m_localID)
+            {
+                DestroyBody();  // for now we need to rebuil entire object on link change
+                lock (childrenPrim)
+                {
+                    // adopt the prim
+                    if (!childrenPrim.Contains(prim))
+                        childrenPrim.Add(prim);
+                    // see if this prim has kids and adopt them also
+                    // should not happen for now
+                    foreach (OdePrim prm in prim.childrenPrim)
+                    {
+                        if (!childrenPrim.Contains(prm))
+                        {
+                            if (prm.Body != IntPtr.Zero)
+                            {
+                                if (prm.prim_geom != IntPtr.Zero)
+                                    d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
+                                if (prm.Body != prim.Body)
+                                    prm.DestroyBody(); // don't loose bodies around
+                                prm.Body = IntPtr.Zero;
+                            }
+                            childrenPrim.Add(prm);
+                            prm._parent = this;
+                        }
+                    }
+                }
+                //Remove old children from the prim
+                prim.childrenPrim.Clear();
+                if (prim.Body != IntPtr.Zero)
+                {
+                    if (prim.prim_geom != IntPtr.Zero)
+                        d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
+                    prim.DestroyBody(); // don't loose bodies around
+                    prim.Body = IntPtr.Zero;
+                }
+                prim.childPrim = true;
+                prim._parent = this;
+                MakeBody(); // full nasty reconstruction
+            }
+        }
+        private void UpdateChildsfromgeom()
+        {
+            if (childrenPrim.Count > 0)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                    prm.UpdateDataFromGeom();
+            }
+        }
+        private void UpdateDataFromGeom()
+        {
+            if (prim_geom != IntPtr.Zero)
+            {
+                d.Vector3 lpos;
+                d.GeomCopyPosition(prim_geom, out lpos);
+                _position.X = lpos.X;
+                _position.Y = lpos.Y;
+                _position.Z = lpos.Z;
+                d.Quaternion qtmp = new d.Quaternion { };
+                d.GeomCopyQuaternion(prim_geom, out qtmp);
+                _orientation.W = qtmp.W;
+                _orientation.X = qtmp.X;
+                _orientation.Y = qtmp.Y;
+                _orientation.Z = qtmp.Z;
+            }
+        }
+        private void ChildDelink(OdePrim odePrim, bool remakebodies)
+        {
+            // Okay, we have a delinked child.. destroy all body and remake
+            if (odePrim != this && !childrenPrim.Contains(odePrim))
+                return;
+            DestroyBody();
+            if (odePrim == this) // delinking the root prim
+            {
+                OdePrim newroot = null;
+                lock (childrenPrim)
+                {
+                    if (childrenPrim.Count > 0)
+                    {
+                        newroot = childrenPrim[0];
+                        childrenPrim.RemoveAt(0);
+                        foreach (OdePrim prm in childrenPrim)
+                        {
+                            newroot.childrenPrim.Add(prm);
+                        }
+                        childrenPrim.Clear();
+                    }
+                    if (newroot != null)
+                    {
+                        newroot.childPrim = false;
+                        newroot._parent = null;
+                        if (remakebodies)
+                            newroot.MakeBody();
+                    }
+                }
+            }
+            else
+            {
+                lock (childrenPrim)
+                {
+                    childrenPrim.Remove(odePrim);
+                    odePrim.childPrim = false;
+                    odePrim._parent = null;
+                    //                    odePrim.UpdateDataFromGeom();
+                    if (remakebodies)
+                        odePrim.MakeBody();
+                }
+            }
+            if (remakebodies)
+                MakeBody();
+        }
+        protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
+        {
+            // Okay, we have a delinked child.. destroy all body and remake
+            if (odePrim != this && !childrenPrim.Contains(odePrim))
+                return;
+            DestroyBody();
+            if (odePrim == this)
+            {
+                OdePrim newroot = null;
+                lock (childrenPrim)
+                {
+                    if (childrenPrim.Count > 0)
+                    {
+                        newroot = childrenPrim[0];
+                        childrenPrim.RemoveAt(0);
+                        foreach (OdePrim prm in childrenPrim)
+                        {
+                            newroot.childrenPrim.Add(prm);
+                        }
+                        childrenPrim.Clear();
+                    }
+                    if (newroot != null)
+                    {
+                        newroot.childPrim = false;
+                        newroot._parent = null;
+                        newroot.MakeBody();
+                    }
+                }
+                if (reMakeBody)
+                    MakeBody();
+                return;
+            }
+            else
+            {
+                lock (childrenPrim)
+                {
+                    childrenPrim.Remove(odePrim);
+                    odePrim.childPrim = false;
+                    odePrim._parent = null;
+                    if (reMakeBody)
+                        odePrim.MakeBody();
+                }
+            }
+            MakeBody();
+        }
+        #region changes
+        private void changeadd()
+        {
+            CreateGeom();
+            if (prim_geom != IntPtr.Zero)
+            {
+                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                d.Quaternion myrot = new d.Quaternion();
+                myrot.X = _orientation.X;
+                myrot.Y = _orientation.Y;
+                myrot.Z = _orientation.Z;
+                myrot.W = _orientation.W;
+                d.GeomSetQuaternion(prim_geom, ref myrot);
+                if (!m_isphysical)
+                    SetInStaticSpace(this);
+            }
+            if (m_isphysical && Body == IntPtr.Zero)
+            {
+                MakeBody();
+            }
+        }
+        private void changeAngularLock(Vector3 newLock)
+        {
+            // do we have a Physical object?
+            if (Body != IntPtr.Zero)
+            {
+                //Check that we have a Parent
+                //If we have a parent then we're not authorative here
+                if (_parent == null)
+                {
+                    if (!newLock.ApproxEquals(Vector3.One, 0f))
+                    {
+                        createAMotor(newLock);
+                    }
+                    else
+                    {
+                        if (Amotor != IntPtr.Zero)
+                        {
+                            d.JointDestroy(Amotor);
+                            Amotor = IntPtr.Zero;
+                        }
+                    }
+                }
+            }
+            // Store this for later in case we get turned into a separate body
+            m_angularlock = newLock;
+        }
+        private void changeLink(OdePrim NewParent)
+        {
+            if (_parent == null && NewParent != null)
+            {
+                NewParent.ParentPrim(this);
+            }
+            else if (_parent != null)
+            {
+                if (_parent is OdePrim)
+                {
+                    if (NewParent != _parent)
+                    {
+                        (_parent as OdePrim).ChildDelink(this, false); // for now...
+                        childPrim = false;
+                        if (NewParent != null)
+                        {
+                            NewParent.ParentPrim(this);
+                        }
+                    }
+                }
+            }
+            _parent = NewParent;
+        }
+        private void Stop()
+        {
+            if (!childPrim)
+            {
+                m_force = Vector3.Zero;
+                m_forceacc = Vector3.Zero;
+                m_angularForceacc = Vector3.Zero;
+                _torque = Vector3.Zero;
+                _velocity = Vector3.Zero;
+                _acceleration = Vector3.Zero;
+                m_rotationalVelocity = Vector3.Zero;
+                _target_velocity = Vector3.Zero;
+                if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
+                    m_vehicle.Stop();
+            }
+            if (Body != IntPtr.Zero)
+            {
+                d.BodySetForce(Body, 0f, 0f, 0f);
+                d.BodySetTorque(Body, 0f, 0f, 0f);
+                d.BodySetLinearVel(Body, 0f, 0f, 0f);
+                d.BodySetAngularVel(Body, 0f, 0f, 0f);
+            }
+        }
+        private void changePhantomStatus(bool newval)
+        {
+            m_isphantom = newval;
+            if (m_isSelected)
+            {
+                m_collisionCategories = CollisionCategories.Selected;
+                m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
+            }
+            else
+            {
+                if (m_isphantom && !m_isVolumeDetect)
+                {
+                    m_collisionCategories = 0;
+                    if (m_isphysical)
+                        m_collisionFlags = CollisionCategories.Land;
+                    else
+                        m_collisionFlags = 0; // should never happen
+                }
+                else
+                {
+                    m_collisionCategories = CollisionCategories.Geom;
+                    if (m_isphysical)
+                        m_collisionCategories |= CollisionCategories.Body;
+                    m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;
+                    if (m_collidesWater)
+                        m_collisionFlags |= CollisionCategories.Water;
+                }
+            }
+            if (!childPrim)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                {
+                    prm.m_collisionCategories = m_collisionCategories;
+                    prm.m_collisionFlags = m_collisionFlags;
+                    if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)
+                    {
+                        if (prm.m_NoColide)
+                        {
+                            d.GeomSetCategoryBits(prm.prim_geom, 0);
+                            if (m_isphysical)
+                                d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
+                            else
+                                d.GeomSetCollideBits(prm.prim_geom, 0);
+                        }
+                        else
+                        {
+                            d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
+                            d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
+                        }
+                        if(!m_isSelected)
+                            d.GeomEnable(prm.prim_geom);
+                    }
+                }
+            }
+            if (!m_disabled && prim_geom != IntPtr.Zero)
+            {
+                if (m_NoColide)
+                {
+                    d.GeomSetCategoryBits(prim_geom, 0);
+                    if (m_isphysical)
+                        d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                    else
+                        d.GeomSetCollideBits(prim_geom, 0);
+                }
+                else
+                {
+                    d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                    d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                }
+                if(!m_isSelected)
+                    d.GeomEnable(prim_geom);
+            }
+        }
+        private void changeSelectedStatus(bool newval)
+        {
+            if (m_lastdoneSelected == newval)
+                return;
+            m_lastdoneSelected = newval;
+            DoSelectedStatus(newval);
+        }
+        private void CheckDelaySelect()
+        {
+            if (m_delaySelect)
+            {
+                DoSelectedStatus(m_isSelected);
+            }
+        }
+        private void DoSelectedStatus(bool newval)
+        {
+            m_isSelected = newval;
+            Stop();
+            if (newval)
+            {
+                if (!childPrim && Body != IntPtr.Zero)
+                    d.BodyDisable(Body);
+                if (m_delaySelect || m_isphysical)
+                {
+                    m_collisionCategories = CollisionCategories.Selected;
+                    m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
+                    if (!childPrim)
+                    {
+                        foreach (OdePrim prm in childrenPrim)
+                        {
+                            prm.m_collisionCategories = m_collisionCategories;
+                            prm.m_collisionFlags = m_collisionFlags;
+                            if (prm.prim_geom != null)
+                            {
+                                if (prm.m_NoColide)
+                                {
+                                    d.GeomSetCategoryBits(prm.prim_geom, 0);
+                                    d.GeomSetCollideBits(prm.prim_geom, 0);
+                                }
+                                else
+                                {
+                                    d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
+                                    d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
+                                }
+                                d.GeomDisable(prm.prim_geom);
+                            }
+                            prm.m_delaySelect = false;
+                        }
+                    }
+                    if (prim_geom != null)
+                    {
+                        if (m_NoColide)
+                        {
+                            d.GeomSetCategoryBits(prim_geom, 0);
+                            d.GeomSetCollideBits(prim_geom, 0);
+                        }
+                        else
+                        {
+                            d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                            d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                        }
+                        d.GeomDisable(prim_geom);
+                    }
+                    m_delaySelect = false;
+                }
+                else if(!m_isphysical)
+                {
+                    m_delaySelect = true;
+                }
+            }
+            else
+            {
+                if (!childPrim && Body != IntPtr.Zero && !m_disabled)
+                    d.BodyEnable(Body);
+                if (m_isphantom && !m_isVolumeDetect)
+                {
+                    m_collisionCategories = 0;
+                    if(m_isphysical)
+                        m_collisionFlags = CollisionCategories.Land;
+                    else
+                        m_collisionFlags = 0;
+                }
+                else
+                {
+                    m_collisionCategories = CollisionCategories.Geom;
+                    if (m_isphysical)
+                        m_collisionCategories |= CollisionCategories.Body;
+                    m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;
+                    if (m_collidesWater)
+                        m_collisionFlags |= CollisionCategories.Water;
+                }
+                if (!childPrim)
+                {
+                    foreach (OdePrim prm in childrenPrim)
+                    {
+                        prm.m_collisionCategories = m_collisionCategories;
+                        prm.m_collisionFlags = m_collisionFlags;
+                        if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)
+                        {
+                            if (prm.m_NoColide)
+                            {
+                                d.GeomSetCategoryBits(prm.prim_geom, 0);
+                                if (m_isphysical)
+                                    d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
+                                else
+                                    d.GeomSetCollideBits(prm.prim_geom, 0);
+                            }
+                            else
+                            {
+                                d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
+                                d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
+                            }
+                            d.GeomEnable(prm.prim_geom);
+                        }
+                        prm.m_delaySelect = false;
+                        prm.m_softcolide = true;
+                    }
+                }
+                if (!m_disabled && prim_geom != IntPtr.Zero)
+                {
+                    if (m_NoColide)
+                    {
+                        d.GeomSetCategoryBits(prim_geom, 0);
+                        if (m_isphysical)
+                            d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
+                        else
+                            d.GeomSetCollideBits(prim_geom, 0);
+                    }
+                    else
+                    {
+                        d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+                        d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+                    }
+                    d.GeomEnable(prim_geom);
+                }
+                m_delaySelect = false;
+                m_softcolide = true;
+            }
+            resetCollisionAccounting();
+        }
+        private void changePosition(Vector3 newPos)
+        {
+            CheckDelaySelect();
+            if (m_isphysical)
+            {
+                if (childPrim)  // inertia is messed, must rebuild
+                {
+                    if (m_building)
+                    {
+                        _position = newPos;
+                    }
+                }
+                else
+                {
+                    if (_position != newPos)
+                    {
+                        d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
+                        _position = newPos;
+                    }
+                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
+                        d.BodyEnable(Body);
+                }
+            }
+            else
+            {
+                if (prim_geom != IntPtr.Zero)
+                {
+                    if (newPos != _position)
+                    {
+                        d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
+                        _position = newPos;
+                        m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
+                    }
+                }
+            }
+            givefakepos--;
+            if (givefakepos < 0)
+                givefakepos = 0;
+            //            changeSelectedStatus();
+            m_softcolide = true;
+            resetCollisionAccounting();
+        }
+        private void changeOrientation(Quaternion newOri)
+        {
+            CheckDelaySelect();
+            if (m_isphysical)
+            {
+                if (childPrim)  // inertia is messed, must rebuild
+                {
+                    if (m_building)
+                    {
+                        _orientation = newOri;
+                    }
+                }
+                else
+                {
+                    if (newOri != _orientation)
+                    {
+                        d.Quaternion myrot = new d.Quaternion();
+                        myrot.X = newOri.X;
+                        myrot.Y = newOri.Y;
+                        myrot.Z = newOri.Z;
+                        myrot.W = newOri.W;
+                        d.GeomSetQuaternion(prim_geom, ref myrot);
+                        _orientation = newOri;
+                        if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
+                            createAMotor(m_angularlock);
+                    }
+                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
+                        d.BodyEnable(Body);
+                }
+            }
+            else
+            {
+                if (prim_geom != IntPtr.Zero)
+                {
+                    if (newOri != _orientation)
+                    {
+                        d.Quaternion myrot = new d.Quaternion();
+                        myrot.X = newOri.X;
+                        myrot.Y = newOri.Y;
+                        myrot.Z = newOri.Z;
+                        myrot.W = newOri.W;
+                        d.GeomSetQuaternion(prim_geom, ref myrot);
+                        _orientation = newOri;
+                    }
+                }
+            }
+            givefakeori--;
+            if (givefakeori < 0)
+                givefakeori = 0;
+            m_softcolide = true;
+            resetCollisionAccounting();
+        }
+        private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
+        {
+            CheckDelaySelect();
+            if (m_isphysical)
+            {
+                if (childPrim && m_building)  // inertia is messed, must rebuild
+                {
+                    _position = newPos;
+                    _orientation = newOri;
+                }
+                else
+                {
+                    if (newOri != _orientation)
+                    {
+                        d.Quaternion myrot = new d.Quaternion();
+                        myrot.X = newOri.X;
+                        myrot.Y = newOri.Y;
+                        myrot.Z = newOri.Z;
+                        myrot.W = newOri.W;
+                        d.GeomSetQuaternion(prim_geom, ref myrot);
+                        _orientation = newOri;
+                        if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
+                            createAMotor(m_angularlock);
+                    }
+                    if (_position != newPos)
+                    {
+                        d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
+                        _position = newPos;
+                    }
+                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
+                        d.BodyEnable(Body);
+                }
+            }
+            else
+            {
+                // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
+                // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
+                if (prim_geom != IntPtr.Zero)
+                {
+                    if (newOri != _orientation)
+                    {
+                        d.Quaternion myrot = new d.Quaternion();
+                        myrot.X = newOri.X;
+                        myrot.Y = newOri.Y;
+                        myrot.Z = newOri.Z;
+                        myrot.W = newOri.W;
+                        d.GeomSetQuaternion(prim_geom, ref myrot);
+                        _orientation = newOri;
+                    }
+                    if (newPos != _position)
+                    {
+                        d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
+                        _position = newPos;
+                        m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
+                    }
+                }
+            }
+            givefakepos--;
+            if (givefakepos < 0)
+                givefakepos = 0;
+            givefakeori--;
+            if (givefakeori < 0)
+                givefakeori = 0;
+            m_softcolide = true;
+            resetCollisionAccounting();
+        }
+        private void changeDisable(bool disable)
+        {
+            if (disable)
+            {
+                if (!m_disabled)
+                    disableBodySoft();
+            }
+            else
+            {
+                if (m_disabled)
+                    enableBodySoft();
+            }
+        }
+        private void changePhysicsStatus(bool NewStatus)
+        {
+            CheckDelaySelect();
+            m_isphysical = NewStatus;
+            if (!childPrim)
+            {
+                if (NewStatus)
+                {
+                    if (Body == IntPtr.Zero)
+                        MakeBody();
+                }
+                else
+                {
+                    if (Body != IntPtr.Zero)
+                    {
+                        DestroyBody();
+                    }
+                    Stop();
+                }
+            }
+            resetCollisionAccounting();
+        }
+        private void changeprimsizeshape()
+        {
+            CheckDelaySelect();
+            OdePrim parent = (OdePrim)_parent;
+            bool chp = childPrim;
+            if (chp)
+            {
+                if (parent != null)
+                {
+                    parent.DestroyBody();
+                }
+            }
+            else
+            {
+                DestroyBody();
+            }
+            RemoveGeom();
+            // we don't need to do space calculation because the client sends a position update also.
+            if (_size.X <= 0)
+                _size.X = 0.01f;
+            if (_size.Y <= 0)
+                _size.Y = 0.01f;
+            if (_size.Z <= 0)
+                _size.Z = 0.01f;
+            // Construction of new prim
+            CreateGeom();
+            if (prim_geom != IntPtr.Zero)
+            {
+                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                d.Quaternion myrot = new d.Quaternion();
+                myrot.X = _orientation.X;
+                myrot.Y = _orientation.Y;
+                myrot.Z = _orientation.Z;
+                myrot.W = _orientation.W;
+                d.GeomSetQuaternion(prim_geom, ref myrot);
+            }
+            if (chp)
+            {
+                if (parent != null)
+                {
+                    parent.MakeBody();
+                }
+            }
+            else
+                MakeBody();
+            m_softcolide = true;
+            resetCollisionAccounting();
+        }
+        private void changeSize(Vector3 newSize)
+        {
+            _size = newSize;
+            changeprimsizeshape();
+        }
+        private void changeShape(PrimitiveBaseShape newShape)
+        {
+            if(newShape != null)
+                _pbs = newShape;
+            changeprimsizeshape();
+        }
+        private void changeFloatOnWater(bool newval)
+        {
+            m_collidesWater = newval;
+            if (prim_geom != IntPtr.Zero && !m_isphantom)
+            {
+                if (m_collidesWater)
+                {
+                    m_collisionFlags |= CollisionCategories.Water;
+                }
+                else
+                {
+                    m_collisionFlags &= ~CollisionCategories.Water;
+                }
+                d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+            }
+        }
+        private void changeSetTorque(Vector3 newtorque)
+        {
+            if (!m_isSelected)
+            {
+                if (m_isphysical && Body != IntPtr.Zero)
+                {
+                    if (m_disabled)
+                        enableBodySoft();
+                    else if (!d.BodyIsEnabled(Body))
+                        d.BodyEnable(Body);
+                }
+                _torque = newtorque;
+            }
+        }
+        private void changeForce(Vector3 force)
+        {
+            m_force = force;
+            if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
+                d.BodyEnable(Body);
+        }
+        private void changeAddForce(Vector3 force)
+        {
+            m_forceacc += force;
+            if (!m_isSelected)
+            {
+                lock (this)
+                {
+                    //m_log.Info("[PHYSICS]: dequeing forcelist");
+                    if (m_isphysical && Body != IntPtr.Zero)
+                    {
+                        if (m_disabled)
+                            enableBodySoft();
+                        else if (!d.BodyIsEnabled(Body))
+                            d.BodyEnable(Body);
+                    }
+                }
+                m_collisionscore = 0;
+            }
+        }
+        private void changeAddAngularForce(Vector3 aforce)
+        {
+            m_angularForceacc += aforce;
+            if (!m_isSelected)
+            {
+                lock (this)
+                {
+                    if (m_isphysical && Body != IntPtr.Zero)
+                    {
+                        if (m_disabled)
+                            enableBodySoft();
+                        else if (!d.BodyIsEnabled(Body))
+                            d.BodyEnable(Body);
+                    }
+                }
+                m_collisionscore = 0;
+            }
+        }
+        private void changevelocity(Vector3 newVel)
+        {
+            if (!m_isSelected)
+            {
+                if (Body != IntPtr.Zero)
+                {
+                    if (m_disabled)
+                        enableBodySoft();
+                    else if (!d.BodyIsEnabled(Body))
+                        d.BodyEnable(Body);
+                    d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
+                }
+                //resetCollisionAccounting();           
+            }
+            _velocity = newVel;
+        }
+        private void changeVolumedetetion(bool newVolDtc)
+        {
+            m_isVolumeDetect = newVolDtc;
+        }
+        protected void changeBuilding(bool newbuilding)
+        {
+            if ((bool)newbuilding)
+            {
+                m_building = true;
+                if (!childPrim)
+                    DestroyBody();
+            }
+            else
+            {
+                m_building = false;
+                CheckDelaySelect();
+                if (!childPrim)
+                    MakeBody();
+            }
+            if (!childPrim && childrenPrim.Count > 0)
+            {
+                foreach (OdePrim prm in childrenPrim)
+                    prm.changeBuilding(m_building); // call directly
+            }
+        }
+       public void changeSetVehicle(VehicleData vdata)
+        {
+            if (m_vehicle == null)
+                m_vehicle = new ODEDynamics(this);
+            m_vehicle.DoSetVehicle(vdata);
+        }
+        private void changeVehicleType(int value)
+        {
+            if (value == (int)Vehicle.TYPE_NONE)
+            {
+                if (m_vehicle != null)
+                    m_vehicle = null;
+            }
+            else
+            {
+                if (m_vehicle == null)
+                    m_vehicle = new ODEDynamics(this);
+                m_vehicle.ProcessTypeChange((Vehicle)value);
+            }
+        }
+        private void changeVehicleFloatParam(strVehicleFloatParam fp)
+        {
+            if (m_vehicle == null)
+                return;
+            m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
+        }
+        private void changeVehicleVectorParam(strVehicleVectorParam vp)
+        {
+            if (m_vehicle == null)
+                return;
+            m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
+        }
+        private void changeVehicleRotationParam(strVehicleQuatParam qp)
+        {
+            if (m_vehicle == null)
+                return;
+            m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
+        }
+        private void changeVehicleFlags(strVehicleBoolParam bp)
+        {
+            if (m_vehicle == null)
+                return;
+            m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
+        }
+        #endregion
+        public void Move()
+        {
+            if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
+                !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)
+            //                  !m_disabled && !m_isSelected && !m_building && !m_outbounds)
+            {
+//                if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
+                float timestep = _parent_scene.ODE_STEPSIZE;
+                // check outside region
+                d.Vector3 lpos;
+                d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
+                if (lpos.Z < -100 || lpos.Z > 100000f)
+                {
+                    m_outbounds = true;
+                    lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
+                    _acceleration.X = 0;
+                    _acceleration.Y = 0;
+                    _acceleration.Z = 0;
+                    _velocity.X = 0;
+                    _velocity.Y = 0;
+                    _velocity.Z = 0;
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
+                    d.BodySetLinearVel(Body, 0, 0, 0); // stop it
+                    d.BodySetAngularVel(Body, 0, 0, 0); // stop it
+                    d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere 
+                    m_lastposition = _position;
+                    m_lastorientation = _orientation;
+                    base.RequestPhysicsterseUpdate();
+                    m_throttleUpdates = false;
+                    throttleCounter = 0;
+                    _zeroFlag = true;
+                    disableBodySoft(); // disable it and colisions
+                    base.RaiseOutOfBounds(_position);
+                    return;
+                }
+                if (lpos.X < 0f)
+                {
+                    _position.X = Util.Clip(lpos.X, -2f, -0.1f);
+                    m_outbounds = true;
+                }
+                else if(lpos.X > _parent_scene.WorldExtents.X)
+                {
+                    _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
+                    m_outbounds = true;
+                }
+                if (lpos.Y < 0f)
+                {
+                    _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
+                    m_outbounds = true;
+                }
+                else if(lpos.Y > _parent_scene.WorldExtents.Y)
+                {
+                    _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
+                    m_outbounds = true;
+                }
+                if(m_outbounds)
+                {
+                    m_lastposition = _position;
+                    m_lastorientation = _orientation;
+                    d.Vector3 dtmp = d.BodyGetAngularVel(Body);
+                    m_rotationalVelocity.X = dtmp.X;
+                    m_rotationalVelocity.Y = dtmp.Y;
+                    m_rotationalVelocity.Z = dtmp.Z;
+                    dtmp = d.BodyGetLinearVel(Body);
+                    _velocity.X = dtmp.X;
+                    _velocity.Y = dtmp.Y;
+                    _velocity.Z = dtmp.Z;
+                    d.BodySetLinearVel(Body, 0, 0, 0); // stop it
+                    d.BodySetAngularVel(Body, 0, 0, 0);
+                    d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+                    disableBodySoft(); // stop collisions
+                    base.RequestPhysicsterseUpdate();
+                    return;
+                }
+                float fx = 0;
+                float fy = 0;
+                float fz = 0;
+                if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
+                {
+                    // 'VEHICLES' are dealt with in ODEDynamics.cs
+                    m_vehicle.Step();
+                }
+                else
+                {
+                    float m_mass = _mass;
+                    //                    fz = 0f;
+                    //m_log.Info(m_collisionFlags.ToString());
+                    if (m_usePID)
+                    {
+                        // If the PID Controller isn't active then we set our force
+                        // calculating base velocity to the current position
+                        if ((m_PIDTau < 1) && (m_PIDTau != 0))
+                        {
+                            //PID_G = PID_G / m_PIDTau;
+                            m_PIDTau = 1;
+                        }
+                        if ((PID_G - m_PIDTau) <= 0)
+                        {
+                            PID_G = m_PIDTau + 1;
+                        }
+                        d.Vector3 vel = d.BodyGetLinearVel(Body);
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        _target_velocity =
+                            new Vector3(
+                                (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
+                                (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
+                                (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
+                                );
+                        //  if velocity is zero, use position control; otherwise, velocity control
+                        if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
+                        {
+                            //  keep track of where we stopped.  No more slippin' & slidin'
+                            // 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
+                            //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
+                            //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
+                            //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
+                            d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
+                            d.BodySetLinearVel(Body, 0, 0, 0);
+                            d.BodyAddForce(Body, 0, 0, fz);
+                            return;
+                        }
+                        else
+                        {
+                            _zeroFlag = false;
+                            // We're flying and colliding with something
+                            fx = ((_target_velocity.X) - vel.X) * (PID_D);
+                            fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
+                            // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
+                            fz = ((_target_velocity.Z - vel.Z) * (PID_D));
+                        }
+                    }        // end if (m_usePID)
+                    // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
+                    else if (m_useHoverPID)
+                    {
+                        //Console.WriteLine("Hover " +  Name);
+                        // If we're using the PID controller, then we have no gravity
+                        //  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 ((m_PIDTau < 1))
+                        {
+                            PID_G = PID_G / m_PIDTau;
+                        }
+                        if ((PID_G - m_PIDTau) <= 0)
+                        {
+                            PID_G = m_PIDTau + 1;
+                        }
+                        // Where are we, and where are we headed?
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        d.Vector3 vel = d.BodyGetLinearVel(Body);
+                        //    Non-Vehicles have a limited set of Hover options.
+                        // determine what our target height really is based on HoverType
+                        switch (m_PIDHoverType)
+                        {
+                            case PIDHoverType.Ground:
+                                m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                                m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
+                                break;
+                            case PIDHoverType.GroundAndWater:
+                                m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                                m_waterHeight = _parent_scene.GetWaterLevel();
+                                if (m_groundHeight > m_waterHeight)
+                                {
+                                    m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
+                                }
+                                else
+                                {
+                                    m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
+                                }
+                                break;
+                        }     // end switch (m_PIDHoverType)
+                        _target_velocity =
+                            new Vector3(0.0f, 0.0f,
+                                (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
+                                );
+                        //  if velocity is zero, use position control; otherwise, velocity control
+                        if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
+                        {
+                            //  keep track of where we stopped.  No more slippin' & slidin'
+                            // 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
+                            d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
+                            d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
+                            // ?                        d.BodyAddForce(Body, 0, 0, fz);
+                            return;
+                        }
+                        else
+                        {
+                            _zeroFlag = false;
+                            // We're flying and colliding with something
+                            fz = ((_target_velocity.Z - vel.Z) * (PID_D));
+                        }
+                    }
+                    else
+                    {
+                        float b = (1.0f - m_buoyancy);
+                        fx = _parent_scene.gravityx * b;
+                        fy = _parent_scene.gravityy * b;
+                        fz = _parent_scene.gravityz * b;
+                    }
+                    fx *= m_mass;
+                    fy *= m_mass;
+                    fz *= m_mass;
+                    // constant force
+                    fx += m_force.X;
+                    fy += m_force.Y;
+                    fz += m_force.Z;
+                    fx += m_forceacc.X;
+                    fy += m_forceacc.Y;
+                    fz += m_forceacc.Z;
+                    m_forceacc = Vector3.Zero;
+                    //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
+                    if (fx != 0 || fy != 0 || fz != 0)
+                    {
+                        d.BodyAddForce(Body, fx, fy, fz);
+                        //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
+                    }
+                    Vector3 trq;
+                    trq = _torque;
+                    trq += m_angularForceacc;
+                    m_angularForceacc = Vector3.Zero;
+                    if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
+                    {
+                        d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
+                    }
+                }
+            }
+            else
+            {    // is not physical, or is not a body or is selected
+                //  _zeroPosition = d.BodyGetPosition(Body);
+                return;
+                //Console.WriteLine("Nothing " +  Name);
+            }
+        }
+        public void UpdatePositionAndVelocity(float simulatedtime)
+        {
+            //  no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
+            if (_parent == null && !m_disabled && !m_building && !m_outbounds)
+            {
+                if (Body != IntPtr.Zero)
+                {
+                    Vector3 pv = Vector3.Zero;
+                    bool lastZeroFlag = _zeroFlag;
+                    d.Vector3 lpos;
+                    d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
+                    d.Quaternion ori;
+                    d.GeomCopyQuaternion(prim_geom, out ori);
+                    d.Vector3 vel = d.BodyGetLinearVel(Body);
+                    d.Vector3 rotvel = d.BodyGetAngularVel(Body);
+                    if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01)
+                        && (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01)
+                        && (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01)
+                        && (Math.Abs(m_lastorientation.X - ori.X) < 0.0001)
+                        && (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001)
+                        && (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001)
+                        )
+                    {
+                        _zeroFlag = true;
+                        //Console.WriteLine("ZFT 2");
+                        m_throttleUpdates = false;
+                    }
+                    else
+                    {
+                        //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
+                        _zeroFlag = false;
+                        m_lastUpdateSent = false;
+                        //m_throttleUpdates = false;
+                    }
+                    if (_zeroFlag)
+                    {
+                        m_lastposition = _position;
+                        m_lastorientation = _orientation;
+                        _velocity.X = 0.0f;
+                        _velocity.Y = 0.0f;
+                        _velocity.Z = 0.0f;
+                        _acceleration.X = 0;
+                        _acceleration.Y = 0;
+                        _acceleration.Z = 0;
+                        m_rotationalVelocity.X = 0;
+                        m_rotationalVelocity.Y = 0;
+                        m_rotationalVelocity.Z = 0;
+                        if (!m_lastUpdateSent)
+                        {
+                            m_throttleUpdates = false;
+                            throttleCounter = 0;
+                            m_rotationalVelocity = pv;
+                            base.RequestPhysicsterseUpdate();
+                            m_lastUpdateSent = true;
+                        }
+                    }
+                    else
+                    {
+                        if (lastZeroFlag != _zeroFlag)
+                        {
+                            base.RequestPhysicsterseUpdate();
+                        }
+                        m_lastVelocity = _velocity;
+                        _position.X = lpos.X;
+                        _position.Y = lpos.Y;
+                        _position.Z = lpos.Z;
+                        _velocity.X = vel.X;
+                        _velocity.Y = vel.Y;
+                        _velocity.Z = vel.Z;
+                        _orientation.X = ori.X;
+                        _orientation.Y = ori.Y;
+                        _orientation.Z = ori.Z;
+                        _orientation.W = ori.W;
+                        _acceleration = ((_velocity - m_lastVelocity) / simulatedtime);
+                        if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
+                        {
+                            m_rotationalVelocity = pv;
+                        }
+                        else
+                        {
+                            m_rotationalVelocity.X = rotvel.X;
+                            m_rotationalVelocity.Y = rotvel.Y;
+                            m_rotationalVelocity.Z = rotvel.Z;
+                        }
+                        m_lastUpdateSent = false;
+                        if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
+                        {
+                            m_lastposition = _position;
+                            m_lastorientation = _orientation;
+                            base.RequestPhysicsterseUpdate();
+                        }
+                        else
+                        {
+                            throttleCounter++;
+                        }
+                    }
+                }
+                else if (!m_lastUpdateSent || !_zeroFlag)
+                {
+                    // Not a body..   so Make sure the client isn't interpolating
+                    _velocity.X = 0;
+                    _velocity.Y = 0;
+                    _velocity.Z = 0;
+                    _acceleration.X = 0;
+                    _acceleration.Y = 0;
+                    _acceleration.Z = 0;
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
+                    _zeroFlag = true;
+                    if (!m_lastUpdateSent)
+                    {
+                        m_throttleUpdates = false;
+                        throttleCounter = 0;
+                        base.RequestPhysicsterseUpdate();
+                        m_lastUpdateSent = true;
+                    }
+                }
+            }
+        }
+        internal static bool QuaternionIsFinite(Quaternion q)
+        {
+            if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
+                return false;
+            if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
+                return false;
+            if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
+                return false;
+            if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
+                return false;
+            return true;
+        }
+        internal static void DMassCopy(ref d.Mass src, ref d.Mass dst)
+        {
+            dst.c.W = src.c.W;
+            dst.c.X = src.c.X;
+            dst.c.Y = src.c.Y;
+            dst.c.Z = src.c.Z;
+            dst.mass = src.mass;
+            dst.I.M00 = src.I.M00;
+            dst.I.M01 = src.I.M01;
+            dst.I.M02 = src.I.M02;
+            dst.I.M10 = src.I.M10;
+            dst.I.M11 = src.I.M11;
+            dst.I.M12 = src.I.M12;
+            dst.I.M20 = src.I.M20;
+            dst.I.M21 = src.I.M21;
+            dst.I.M22 = src.I.M22;
+        }
+        private static void DMassDup(ref d.Mass src, out d.Mass dst)
+        {
+            dst = new d.Mass { };
+            dst.c.W = src.c.W;
+            dst.c.X = src.c.X;
+            dst.c.Y = src.c.Y;
+            dst.c.Z = src.c.Z;
+            dst.mass = src.mass;
+            dst.I.M00 = src.I.M00;
+            dst.I.M01 = src.I.M01;
+            dst.I.M02 = src.I.M02;
+            dst.I.M10 = src.I.M10;
+            dst.I.M11 = src.I.M11;
+            dst.I.M12 = src.I.M12;
+            dst.I.M20 = src.I.M20;
+            dst.I.M21 = src.I.M21;
+            dst.I.M22 = src.I.M22;
+        }
+        private void donullchange()
+        {
+        }
+        public bool DoAChange(changes what, object arg)
+        {
+            if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)
+            {
+                return false;
+            }
+            // nasty switch
+            switch (what)
+            {
+                case changes.Add:
+                    changeadd();
+                    break;
+                case changes.Remove:
+                    //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...
+                    //When we return true, it destroys all of the prims in the linkset anyway
+                    if (_parent != null)
+                    {
+                        OdePrim parent = (OdePrim)_parent;
+                        parent.ChildRemove(this, false);
+                    }
+                    else
+                        ChildRemove(this, false);
+                    m_vehicle = null;
+                    RemoveGeom();
+                    m_targetSpace = IntPtr.Zero;
+                    if (m_eventsubscription > 0)
+                        UnSubscribeEvents();
+                    return true;
+                case changes.Link:
+                    OdePrim tmp = (OdePrim)arg;
+                    changeLink(tmp);
+                    break;
+                case changes.DeLink:
+                    changeLink(null);
+                    break;
+                case changes.Position:
+                    changePosition((Vector3)arg);
+                    break;
+                case changes.Orientation:
+                    changeOrientation((Quaternion)arg);
+                    break;
+                case changes.PosOffset:
+                    donullchange();
+                    break;
+                case changes.OriOffset:
+                    donullchange();
+                    break;
+                case changes.Velocity:
+                    changevelocity((Vector3)arg);
+                    break;
+                //                case changes.Acceleration:
+                //                    changeacceleration((Vector3)arg);
+                //                    break;
+                //                case changes.AngVelocity:
+                //                    changeangvelocity((Vector3)arg);
+                //                    break;
+                case changes.Force:
+                    changeForce((Vector3)arg);
+                    break;
+                case changes.Torque:
+                    changeSetTorque((Vector3)arg);
+                    break;
+                case changes.AddForce:
+                    changeAddForce((Vector3)arg);
+                    break;
+                case changes.AddAngForce:
+                    changeAddAngularForce((Vector3)arg);
+                    break;
+                case changes.AngLock:
+                    changeAngularLock((Vector3)arg);
+                    break;
+                case changes.Size:
+                    changeSize((Vector3)arg);
+                    break;
+                case changes.Shape:
+                    changeShape((PrimitiveBaseShape)arg);
+                    break;
+                case changes.CollidesWater:
+                    changeFloatOnWater((bool)arg);
+                    break;
+                case changes.VolumeDtc:
+                    changeVolumedetetion((bool)arg);
+                    break;
+                case changes.Phantom:
+                    changePhantomStatus((bool)arg);
+                    break;
+                case changes.Physical:
+                    changePhysicsStatus((bool)arg);
+                    break;
+                case changes.Selected:
+                    changeSelectedStatus((bool)arg);
+                    break;
+                case changes.disabled:
+                    changeDisable((bool)arg);
+                    break;
+                case changes.building:
+                    changeBuilding((bool)arg);
+                    break;
+                case changes.VehicleType:
+                    changeVehicleType((int)arg);
+                    break;
+                case changes.VehicleFlags:
+                    changeVehicleFlags((strVehicleBoolParam) arg);
+                    break;
+                case changes.VehicleFloatParam:
+                    changeVehicleFloatParam((strVehicleFloatParam) arg);
+                    break;
+                case changes.VehicleVectorParam:
+                    changeVehicleVectorParam((strVehicleVectorParam) arg);
+                    break;
+                case changes.VehicleRotationParam:
+                    changeVehicleRotationParam((strVehicleQuatParam) arg);
+                    break;
+                case changes.SetVehicle:
+                    changeSetVehicle((VehicleData) arg);
+                    break;
+                case changes.Null:
+                    donullchange();
+                    break;
+                default:
+                    donullchange();
+                    break;
+            }
+            return false;
+        }
+        public void AddChange(changes what, object arg)
+        {
+            _parent_scene.AddChange((PhysicsActor) this, what, arg);
+        }
+        private struct strVehicleBoolParam
+        {
+            public int param;
+            public bool value;
+        }
+        private struct strVehicleFloatParam
+        {
+            public int param;
+            public float value;
+        }
+        private struct strVehicleQuatParam
+        {
+            public int param;
+            public Quaternion value;
+        }
+        private struct strVehicleVectorParam
+        {
+            public int param;
+            public Vector3 value;
+        }
+    }
+}
+\ No newline at end of file