aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
blob: 5c2db5303b94bbf1baf38a0f0ed29bda340c3866 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the OpenSimulator Project nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

using System;
using System.Collections.Generic;
using System.Reflection;
using System.IO;
using System.Diagnostics;
using System.Threading;
using log4net;
using Nini.Config;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenMetaverse;
using BulletDotNET;

namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
    public class BulletDotNETScene : PhysicsScene
    {
        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);

        private string m_sceneIdentifier = string.Empty;
        
        private List<BulletDotNETCharacter> m_characters = new List<BulletDotNETCharacter>();
        private List<BulletDotNETPrim> m_prims = new List<BulletDotNETPrim>();
        private List<BulletDotNETPrim> m_activePrims = new List<BulletDotNETPrim>();
        private List<PhysicsActor> m_taintedActors = new List<PhysicsActor>();
        private btDiscreteDynamicsWorld m_world;
        private btAxisSweep3 m_broadphase;
        private btCollisionConfiguration m_collisionConfiguration;
        private btConstraintSolver m_solver;
        private btCollisionDispatcher m_dispatcher;
        private btHeightfieldTerrainShape m_terrainShape;
        public btRigidBody TerrainBody;
        private btVector3 m_terrainPosition;
        private btVector3 m_gravity;
        public btMotionState m_terrainMotionState;
        public btTransform m_terrainTransform;
        public btVector3 VectorZero;
        public btQuaternion QuatIdentity;
        public btTransform TransZero;

        public float geomDefaultDensity = 10.000006836f;

        private float avPIDD = 65f;
        private float avPIDP = 21f;
        private float avCapRadius = 0.37f;
        private float avStandupTensor = 2000000f;
        private float avDensity = 80f;
        private float avHeightFudgeFactor = 0.52f;
        private float avMovementDivisorWalk = 1.8f;
        private float avMovementDivisorRun = 0.8f;

        private float minimumGroundFlightOffset = 3f;

        public bool meshSculptedPrim = true;

        public float meshSculptLOD = 32;
        public float MeshSculptphysicalLOD = 16;

        public float bodyPIDD = 35f;
        public float bodyPIDG = 25;
        internal int geomCrossingFailuresBeforeOutofbounds = 4;

        public float bodyMotorJointMaxforceTensor = 2;

        public int bodyFramesAutoDisable = 20;

        public float WorldTimeStep = 10f/60f;
        public const float WorldTimeComp = 1/60f;
        public float gravityz = -9.8f;

        private float[] _origheightmap;    // Used for Fly height. Kitto Flora
        private bool usingGImpactAlgorithm = false;

        private IConfigSource m_config;
        private readonly btVector3 worldAabbMin = new btVector3(-10f, -10f, 0);
        private readonly btVector3 worldAabbMax = new btVector3((int)Constants.RegionSize + 10f, (int)Constants.RegionSize + 10f, 9000);

        public IMesher mesher;

        public BulletDotNETScene(string sceneIdentifier)
        {
            m_sceneIdentifier = sceneIdentifier;
            VectorZero = new btVector3(0, 0, 0);
            QuatIdentity = new btQuaternion(0, 0, 0, 1);
            TransZero = new btTransform(QuatIdentity, VectorZero);
            m_gravity = new btVector3(0, 0, gravityz);
            _origheightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
        }

        public override void Initialise(IMesher meshmerizer, IConfigSource config)
        {
            mesher = meshmerizer;
            m_config = config;
            /*
            if (Environment.OSVersion.Platform == PlatformID.Unix)
            {
                m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently");
                Thread.Sleep(5000);
                Environment.Exit(0);
            }
            */
            m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
            m_collisionConfiguration = new btDefaultCollisionConfiguration();
            m_solver = new btSequentialImpulseConstraintSolver();
            m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
            m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
            m_world.setGravity(m_gravity);
        }

        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
        {
            BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP,
                                                                  avCapRadius, avStandupTensor, avDensity,
                                                                  avHeightFudgeFactor, avMovementDivisorWalk,
                                                                  avMovementDivisorRun);
            m_characters.Add(chr);
            AddPhysicsActorTaint(chr);
            return chr;
        }

        public override void RemoveAvatar(PhysicsActor actor)
        {
            BulletDotNETCharacter chr = (BulletDotNETCharacter) actor;

            m_characters.Remove(chr);
            m_world.removeRigidBody(chr.Body);
            m_world.removeCollisionObject(chr.Body);

            chr.Remove();
            AddPhysicsActorTaint(chr);
            //chr = null;
        }

        public override void RemovePrim(PhysicsActor prim)
        {
            if (prim is BulletDotNETPrim)
            {

                BulletDotNETPrim p = (BulletDotNETPrim)prim;

                p.setPrimForRemoval();
                AddPhysicsActorTaint(prim);
                //RemovePrimThreadLocked(p);
                
            }
        }

        private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
                                    IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
        {
            PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
            //pos.X = position.X;
            //pos.Y = position.Y;
            //pos.Z = position.Z;
            PhysicsVector siz = new PhysicsVector();
            siz.X = size.X;
            siz.Y = size.Y;
            siz.Z = size.Z;
            Quaternion rot = rotation;

            BulletDotNETPrim newPrim;
            
            newPrim = new BulletDotNETPrim(name, this, pos, siz, rot, mesh, pbs, isphysical);

            //lock (m_prims)
            //    m_prims.Add(newPrim);
            

            return newPrim;
        }

        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
        {
            return AddPrimShape(primName, pbs, position, size, rotation, false);
        }

        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation, bool isPhysical)
        {
            PhysicsActor result;
            IMesh mesh = null;

            //switch (pbs.ProfileShape)
            //{
            //    case ProfileShape.Square:
            //         //support simple box & hollow box now; later, more shapes
            //        if (needsMeshing(pbs))
            //        {
            //            mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
            //        }

            //        break;
            //}

            if (needsMeshing(pbs))
                mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);

            result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);

            return result;
        }

        public override void AddPhysicsActorTaint(PhysicsActor prim)
        {
            lock (m_taintedActors)
            {
                if (!m_taintedActors.Contains(prim))
                {
                    m_taintedActors.Add(prim);
                }
            }
        }
        internal void SetUsingGImpact()
        {
            if (!usingGImpactAlgorithm)
                btGImpactCollisionAlgorithm.registerAlgorithm(m_dispatcher);
                usingGImpactAlgorithm = true;
        }

        public override float Simulate(float timeStep)
        {
            
            lock (m_taintedActors)
            {
                foreach (PhysicsActor act in m_taintedActors)
                {
                    if (act is BulletDotNETCharacter)
                        ((BulletDotNETCharacter) act).ProcessTaints(timeStep);
                    if (act is BulletDotNETPrim)
                        ((BulletDotNETPrim)act).ProcessTaints(timeStep);
                }
                m_taintedActors.Clear();
            }

            lock (m_characters)
            {
                foreach (BulletDotNETCharacter chr in m_characters)
                {
                    chr.Move(timeStep);
                }
            }

            lock (m_prims)
            {
                foreach (BulletDotNETPrim prim in m_prims)
                {
                    if (prim != null)
                    prim.Move(timeStep);
                }
            }
            float steps = m_world.stepSimulation(timeStep * 10, 10, WorldTimeComp);

            foreach (BulletDotNETCharacter chr in m_characters)
            {
                chr.UpdatePositionAndVelocity();
            }

            foreach (BulletDotNETPrim prm in m_activePrims)
            {
                /*
                if (prm != null)
                    if (prm.Body != null)
                */
                prm.UpdatePositionAndVelocity();
            }

            return steps;
        }

        public override void GetResults()
        {
            
        }

        public override void SetTerrain(float[] heightMap)
        {
            if (m_terrainShape != null)
                DeleteTerrain();

            float hfmax = -9000;
            float hfmin = 90000;
            
            for (int i = 0; i <heightMap.Length;i++)
            {
                if (Single.IsNaN(heightMap[i]) || Single.IsInfinity(heightMap[i]))
                {
                    heightMap[i] = 0f;
                }

                hfmin = (heightMap[i] < hfmin) ? heightMap[i] : hfmin;
                hfmax = (heightMap[i] > hfmax) ? heightMap[i] : hfmax;
            }
            // store this for later reference.
            // Note, we're storing it  after we check it for anomolies above
            _origheightmap = heightMap;

            hfmin = 0;
            hfmax = 256;

            m_terrainShape = new btHeightfieldTerrainShape((int)Constants.RegionSize, (int)Constants.RegionSize, heightMap,
                                                           1.0f, hfmin, hfmax, (int)btHeightfieldTerrainShape.UPAxis.Z,
                                                           (int)btHeightfieldTerrainShape.PHY_ScalarType.PHY_FLOAT, false);
            float AabbCenterX = Constants.RegionSize/2f;
            float AabbCenterY = Constants.RegionSize/2f;

            float AabbCenterZ = 0;
            float temphfmin, temphfmax;

            temphfmin = hfmin;
            temphfmax = hfmax;

            if (temphfmin < 0)
            {
                temphfmax = 0 - temphfmin;
                temphfmin = 0 - temphfmin;
            }
            else if (temphfmin > 0)
            {
                temphfmax = temphfmax + (0 - temphfmin);
                //temphfmin = temphfmin + (0 - temphfmin);
            }
            AabbCenterZ = temphfmax/2f;
            
            if (m_terrainPosition == null)
            {
                m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
            }
            else
            {
                try
                {
                    m_terrainPosition.setValue(AabbCenterX, AabbCenterY, AabbCenterZ);
                } 
                catch (ObjectDisposedException)
                {
                    m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
                }
            }
            if (m_terrainMotionState != null)
            {
                m_terrainMotionState.Dispose();
                m_terrainMotionState = null;
            }
            m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
            m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
            TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape);
            m_world.addRigidBody(TerrainBody);


        }

        public override void SetWaterLevel(float baseheight)
        {
            
        }

        public override void DeleteTerrain()
        {
            if (TerrainBody != null)
            {
                m_world.removeRigidBody(TerrainBody);
            }

            if (m_terrainShape != null)
            {
                m_terrainShape.Dispose();
                m_terrainShape = null;
            }

            if (m_terrainMotionState != null)
            {
                m_terrainMotionState.Dispose();
                m_terrainMotionState = null;
            }
            
            if (m_terrainTransform != null)
            {
                m_terrainTransform.Dispose();
                m_terrainTransform = null;
            }

            if (m_terrainPosition != null)
            {
                m_terrainPosition.Dispose();
                m_terrainPosition = null;
            }
        }

        public override void Dispose()
        {
            disposeAllBodies();
            m_world.Dispose();
            m_broadphase.Dispose();
            ((btDefaultCollisionConfiguration) m_collisionConfiguration).Dispose();
            ((btSequentialImpulseConstraintSolver) m_solver).Dispose();
            worldAabbMax.Dispose();
            worldAabbMin.Dispose();
            VectorZero.Dispose();
            QuatIdentity.Dispose();
            m_gravity.Dispose();
            VectorZero = null;
            QuatIdentity = null;
        }

        public override Dictionary<uint, float> GetTopColliders()
        {
            return new Dictionary<uint, float>();
        }

        public btDiscreteDynamicsWorld getBulletWorld()
        {
            return m_world;
        }

        private void disposeAllBodies()
        {
            lock (m_prims)
            {
                foreach ( BulletDotNETPrim prim in m_prims)
                {
                    if (prim.Body != null)
                        m_world.removeRigidBody(prim.Body);

                    prim.Dispose();
                }
                m_prims.Clear();

                foreach (BulletDotNETCharacter chr in m_characters)
                {
                    if (chr.Body != null)
                        m_world.removeRigidBody(chr.Body);
                    chr.Dispose();
                }
                m_characters.Clear();
            }
        }

        public override bool IsThreaded
        {
            get { return false; }
        }

        internal void addCollisionEventReporting(PhysicsActor bulletDotNETCharacter)
        {
            //TODO: FIXME:
        }

        internal void remCollisionEventReporting(PhysicsActor bulletDotNETCharacter)
        {
            //TODO: FIXME:
        }

        internal void AddRigidBody(btRigidBody Body)
        {
            m_world.addRigidBody(Body);
        }
        [Obsolete("bad!")]
        internal void removeFromWorld(btRigidBody body)
        {
            
            m_world.removeRigidBody(body);
        }

        internal void removeFromWorld(BulletDotNETPrim prm ,btRigidBody body)
        {
            lock (m_prims)
            {
                if (m_prims.Contains(prm))
                {
                    m_world.removeRigidBody(body);
                }
                remActivePrim(prm);
                m_prims.Remove(prm);
            }

        }

        internal float GetWaterLevel()
        {
            throw new NotImplementedException();
        }

        // Recovered for use by fly height. Kitto Flora
        public float GetTerrainHeightAtXY(float x, float y)
        {
            // Teravus: Kitto, this code causes recurring errors that stall physics permenantly unless 
            // the values are checked, so checking below.
            // Is there any reason that we don't do this in ScenePresence?   
            // The only physics engine that benefits from it in the physics plugin is this one

            if (x > (int)Constants.RegionSize || y > (int)Constants.RegionSize ||
                x < 0.001f || y < 0.001f)
                return 0;

            return _origheightmap[(int)y * Constants.RegionSize + (int)x];
        }
        // End recovered. Kitto Flora

        /// <summary>
        /// Routine to figure out if we need to mesh this prim with our mesher
        /// </summary>
        /// <param name="pbs"></param>
        /// <returns></returns>
        public bool needsMeshing(PrimitiveBaseShape pbs)
        {
            // most of this is redundant now as the mesher will return null if it cant mesh a prim
            // but we still need to check for sculptie meshing being enabled so this is the most
            // convenient place to do it for now...

            //    //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
            //    //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
            int iPropertiesNotSupportedDefault = 0;

            if (pbs.SculptEntry && !meshSculptedPrim)
            {
#if SPAM
                m_log.Warn("NonMesh");
#endif
                return false;
            }

            // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
            if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
                || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
                && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
            {

                if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
                    && pbs.ProfileHollow == 0
                    && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
                    && pbs.PathBegin == 0 && pbs.PathEnd == 0
                    && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
                    && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
                    && pbs.PathShearX == 0 && pbs.PathShearY == 0)
                {
#if SPAM
                    m_log.Warn("NonMesh");
#endif
                    return false;
                }
            }

            if (pbs.ProfileHollow != 0)
                iPropertiesNotSupportedDefault++;

            if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
                iPropertiesNotSupportedDefault++;

            if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
                iPropertiesNotSupportedDefault++;

            if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
                iPropertiesNotSupportedDefault++;

            if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
                iPropertiesNotSupportedDefault++;

            if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
                iPropertiesNotSupportedDefault++;

            if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
                iPropertiesNotSupportedDefault++;

            if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
                iPropertiesNotSupportedDefault++;

            // test for torus
            if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
            {
                if (pbs.PathCurve == (byte)Extrusion.Curve1)
                {
                    iPropertiesNotSupportedDefault++;
                }
            }
            else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
            {
                if (pbs.PathCurve == (byte)Extrusion.Straight)
                {
                    iPropertiesNotSupportedDefault++;
                }

                // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
                else if (pbs.PathCurve == (byte)Extrusion.Curve1)
                {
                    iPropertiesNotSupportedDefault++;
                }
            }
            else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
            {
                if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
                {
                    iPropertiesNotSupportedDefault++;
                }
            }
            else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
            {
                if (pbs.PathCurve == (byte)Extrusion.Straight)
                {
                    iPropertiesNotSupportedDefault++;
                }
                else if (pbs.PathCurve == (byte)Extrusion.Curve1)
                {
                    iPropertiesNotSupportedDefault++;
                }
            }


            if (iPropertiesNotSupportedDefault == 0)
            {
#if SPAM              
                m_log.Warn("NonMesh");
#endif
                return false;
            }
#if SPAM
            m_log.Debug("Mesh");
#endif
            return true;
        }

        internal void addActivePrim(BulletDotNETPrim pPrim)
        {
            lock (m_activePrims)
            {
                if (!m_activePrims.Contains(pPrim))
                {
                    m_activePrims.Add(pPrim);
                }
            }
        }

        public void remActivePrim(BulletDotNETPrim pDeactivatePrim)
        {
            lock (m_activePrims)
            {
                m_activePrims.Remove(pDeactivatePrim);
            }
        }

        internal void AddPrimToScene(BulletDotNETPrim pPrim)
        {
            lock (m_prims)
            {
                if (!m_prims.Contains(pPrim))
                {
                    m_prims.Add(pPrim);
                    m_world.addRigidBody(pPrim.Body);
                    m_log.Debug("ADDED");
                }
            }
        }
    }
}