aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
blob: fc4526bf4e0a362ef1b433c14485322cc15e1365 (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
/*
 * 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 copyrightD
 *       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 log4net;
using OMV = OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;

namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSCharacter : BSPhysObject
{
    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
    private static readonly string LogHeader = "[BULLETS CHAR]";

    // private bool _stopped;
    private OMV.Vector3 _size;
    private bool _grabbed;
    private bool _selected;
    private OMV.Vector3 _position;
    private float _mass;
    private float _avatarDensity;
    private float _avatarVolume;
    private OMV.Vector3 _force;
    private OMV.Vector3 _velocity;
    private OMV.Vector3 _torque;
    private float _collisionScore;
    private OMV.Vector3 _acceleration;
    private OMV.Quaternion _orientation;
    private int _physicsActorType;
    private bool _isPhysical;
    private bool _flying;
    private bool _setAlwaysRun;
    private bool _throttleUpdates;
    private bool _isColliding;
    private bool _collidingObj;
    private bool _floatOnWater;
    private OMV.Vector3 _rotationalVelocity;
    private bool _kinematic;
    private float _buoyancy;

    // The friction and velocity of the avatar is modified depending on whether walking or not.
    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
    private float _currentFriction;         // the friction currently being used (changed by setVelocity).

    private OMV.Vector3 _PIDTarget;
    private bool _usePID;
    private float _PIDTau;
    private bool _useHoverPID;
    private float _PIDHoverHeight;
    private PIDHoverType _PIDHoverType;
    private float _PIDHoverTao;

    public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
    {
        base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
        _physicsActorType = (int)ActorTypes.Agent;
        _position = pos;
        _size = size;
        _flying = isFlying;
        _orientation = OMV.Quaternion.Identity;
        _velocity = OMV.Vector3.Zero;
        _appliedVelocity = OMV.Vector3.Zero;
        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
        _avatarDensity = PhysicsScene.Params.avatarDensity;

        // The dimensions of the avatar capsule are kept in the scale.
        // Physics creates a unit capsule which is scaled by the physics engine.
        ComputeAvatarScale(_size);
        // set _avatarVolume and _mass based on capsule size, _density and Scale
        ComputeAvatarVolumeAndMass();
        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);

        ShapeData shapeData = new ShapeData();
        shapeData.ID = LocalID;
        shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
        shapeData.Position = _position;
        shapeData.Rotation = _orientation;
        shapeData.Velocity = _velocity;
        shapeData.Size = Scale;
        shapeData.Scale = Scale;
        shapeData.Mass = _mass;
        shapeData.Buoyancy = _buoyancy;
        shapeData.Static = ShapeData.numericFalse;
        shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
        shapeData.Restitution = PhysicsScene.Params.avatarRestitution;

        // do actual create at taint time
        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
        {
            DetailLog("{0},BSCharacter.create,taint", LocalID);
            // New body and shape into BSBody and BSShape
            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);

            SetPhysicalProperties();
        });
        return;
    }

    // called when this character is being destroyed and the resources should be released
    public override void Destroy()
    {
        DetailLog("{0},BSCharacter.Destroy", LocalID);
        PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
        {
            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
        });
    }

    private void SetPhysicalProperties()
    {
        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);

        ZeroMotion();
        ForcePosition = _position;
        // Set the velocity and compute the proper friction
        ForceVelocity = _velocity;
        BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
        BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
        BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
        {
            BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
            BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
        }

        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
        BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);

        BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);

        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);

        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);

        // Do this after the object has been added to the world
        BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
                        (uint)CollisionFilterGroups.AvatarFilter, 
                        (uint)CollisionFilterGroups.AvatarMask);
    }

    public override void RequestPhysicsterseUpdate()
    {
        base.RequestPhysicsterseUpdate();
    }
    // No one calls this method so I don't know what it could possibly mean
    public override bool Stopped { get { return false; } }
    public override OMV.Vector3 Size {
        get
        {
            // Avatar capsule size is kept in the scale parameter.
            return _size;
        }

        set {
            // When an avatar's size is set, only the height is changed.
            _size = value;
            ComputeAvatarScale(_size);
            ComputeAvatarVolumeAndMass();
            DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
                            LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw);

            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
            {
                BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
                BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
            });

        }
    }
    public override OMV.Vector3 Scale { get; set; }
    private PrimitiveBaseShape _pbs;
    public override PrimitiveBaseShape Shape
    {
        set { _pbs = value;}
    }

    public override bool Grabbed {
        set { _grabbed = value; }
    }
    public override bool Selected {
        set { _selected = value; }
    }
    public override void CrossingFailure() { return; }
    public override void link(PhysicsActor obj) { return; }
    public override void delink() { return; }

    // Set motion values to zero.
    // Do it to the properties so the values get set in the physics engine.
    // Push the setting of the values to the viewer.
    // Called at taint time!
    public override void ZeroMotion()
    {
        _velocity = OMV.Vector3.Zero;
        _acceleration = OMV.Vector3.Zero;
        _rotationalVelocity = OMV.Vector3.Zero;

        // Zero some other properties directly into the physics engine
        BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
        BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
        BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
        BulletSimAPI.ClearForces2(BSBody.ptr);
    }

    public override void LockAngularMotion(OMV.Vector3 axis) { return; }

    public override OMV.Vector3 Position {
        get {
            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
            return _position;
        }
        set {
            _position = value;
            PositionSanityCheck();

            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
            {
                DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
            });
        }
    }
    public override OMV.Vector3 ForcePosition {
        get {
            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
            return _position;
        }
        set {
            _position = value;
            PositionSanityCheck();
            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
        }
    }


    // Check that the current position is sane and, if not, modify the position to make it so.
    // Check for being below terrain and being out of bounds.
    // Returns 'true' of the position was made sane by some action.
    private bool PositionSanityCheck()
    {
        bool ret = false;
      
        // If below the ground, move the avatar up
        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
        if (Position.Z < terrainHeight)
        {
            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
            _position.Z = terrainHeight + 2.0f;
            ret = true;
        }
        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
        {
            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
            if (Position.Z < waterHeight)
            {
                _position.Z = waterHeight;
                ret = true;
            }
        }

        // TODO: check for out of bounds
        return ret;
    }

    // A version of the sanity check that also makes sure a new position value is
    //    pushed back to the physics engine. This routine would be used by anyone
    //    who is not already pushing the value.
    private bool PositionSanityCheck(bool inTaintTime)
    {
        bool ret = false;
        if (PositionSanityCheck())
        {
            // The new position value must be pushed into the physics engine but we can't
            //    just assign to "Position" because of potential call loops.
            BSScene.TaintCallback sanityOperation = delegate()
            {
                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
            };
            if (inTaintTime)
                sanityOperation();
            else
                PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);
            ret = true;
        }
        return ret;
    }

    public override float Mass { get { return _mass; } }

    // used when we only want this prim's mass and not the linkset thing
    public override float MassRaw { get {return _mass; } }

    public override OMV.Vector3 Force {
        get { return _force; }
        set {
            _force = value;
            // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
            {
                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
            });
        }
    }

    // Avatars don't do vehicles
    public override int VehicleType { get { return 0; } set { return; } }
    public override void VehicleFloatParam(int param, float value) { }
    public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
    public override void VehicleFlags(int param, bool remove) { }

    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
    public override void SetVolumeDetect(int param) { return; }

    public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
    public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
    public override OMV.Vector3 Velocity {
        get { return _velocity; }
        set {
            _velocity = value;
            // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
            PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
            {
                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
                ForceVelocity = _velocity;
            });
        }
    }
    public override OMV.Vector3 ForceVelocity {
        get { return _velocity; }
        set {
            // Depending on whether the avatar is moving or not, change the friction
            //    to keep the avatar from slipping around
            if (_velocity.Length() == 0)
            {
                if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
                {
                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
                }
            }
            else
            {
                if (_currentFriction != PhysicsScene.Params.avatarFriction)
                {
                    _currentFriction = PhysicsScene.Params.avatarFriction;
                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
                }
            }
            _velocity = value;
            // Remember the set velocity so we can suppress the reduction by friction, ...
            _appliedVelocity = value;

            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
            BulletSimAPI.Activate2(BSBody.ptr, true);
        }
    }
    public override OMV.Vector3 Torque {
        get { return _torque; }
        set { _torque = value;
        }
    }
    public override float CollisionScore {
        get { return _collisionScore; }
        set { _collisionScore = value;
        }
    }
    public override OMV.Vector3 Acceleration {
        get { return _acceleration; }
        set { _acceleration = value; }
    }
    public override OMV.Quaternion Orientation {
        get { return _orientation; }
        set {
            _orientation = value;
            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
            {
                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
            });
        }
    }
    // Go directly to Bullet to get/set the value. 
    public override OMV.Quaternion ForceOrientation
    {
        get
        {
            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
            return _orientation;
        }
        set
        {
            _orientation = value;
            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
        }
    }
    public override int PhysicsActorType {
        get { return _physicsActorType; }
        set { _physicsActorType = value;
        }
    }
    public override bool IsPhysical {
        get { return _isPhysical; }
        set { _isPhysical = value;
        }
    }
    public override bool IsSolid {
        get { return true; }
    }
    public override bool IsStatic {
        get { return false; }
    }
    public override bool Flying {
        get { return _flying; }
        set {
            _flying = value;
            // simulate flying by changing the effect of gravity
            Buoyancy = ComputeBuoyancyFromFlying(_flying);
        }
    }
    // Flying is implimented by changing the avatar's buoyancy.
    // Would this be done better with a vehicle type?
    private float ComputeBuoyancyFromFlying(bool ifFlying) {
        return ifFlying ? 1f : 0f;
    }
    public override bool
        SetAlwaysRun {
        get { return _setAlwaysRun; }
        set { _setAlwaysRun = value; }
    }
    public override bool ThrottleUpdates {
        get { return _throttleUpdates; }
        set { _throttleUpdates = value; }
    }
    public override bool IsColliding {
        get { return (CollidingStep == PhysicsScene.SimulationStep); }
        set { _isColliding = value; }
    }
    public override bool CollidingGround {
        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
        set { CollidingGround = value; }
    }
    public override bool CollidingObj {
        get { return _collidingObj; }
        set { _collidingObj = value; }
    }
    public override bool FloatOnWater {
        set { 
            _floatOnWater = value;
            PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
            {
                if (_floatOnWater)
                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
                else
                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
            });
        }
    }
    public override OMV.Vector3 RotationalVelocity {
        get { return _rotationalVelocity; }
        set { _rotationalVelocity = value; }
    }
    public override OMV.Vector3 ForceRotationalVelocity {
        get { return _rotationalVelocity; }
        set { _rotationalVelocity = value; }
    }
    public override bool Kinematic {
        get { return _kinematic; }
        set { _kinematic = value; }
    }
    // neg=fall quickly, 0=1g, 1=0g, pos=float up
    public override float Buoyancy {
        get { return _buoyancy; }
        set { _buoyancy = value;
            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
            {
                DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                ForceBuoyancy = _buoyancy;
            });
        }
    }
    public override float ForceBuoyancy {
        get { return _buoyancy; }
        set { _buoyancy = value;
            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
            // Buoyancy is faked by changing the gravity applied to the object
            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
        }
    }

    // Used for MoveTo
    public override OMV.Vector3 PIDTarget {
        set { _PIDTarget = value; }
    }
    public override bool PIDActive {
        set { _usePID = value; }
    }
    public override float PIDTau {
        set { _PIDTau = value; }
    }

    // Used for llSetHoverHeight and maybe vehicle height
    // Hover Height will override MoveTo target's Z
    public override bool PIDHoverActive {
        set { _useHoverPID = value; }
    }
    public override float PIDHoverHeight {
        set { _PIDHoverHeight = value; }
    }
    public override PIDHoverType PIDHoverType {
        set { _PIDHoverType = value; }
    }
    public override float PIDHoverTau {
        set { _PIDHoverTao = value; }
    }

    // For RotLookAt
    public override OMV.Quaternion APIDTarget { set { return; } }
    public override bool APIDActive { set { return; } }
    public override float APIDStrength { set { return; } }
    public override float APIDDamping { set { return; } }

    public override void AddForce(OMV.Vector3 force, bool pushforce) {
        if (force.IsFinite())
        {
            _force.X += force.X;
            _force.Y += force.Y;
            _force.Z += force.Z;
            // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
            PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
            {
                DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
            });
        }
        else
        {
            m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
        }
        //m_lastUpdateSent = false;
    }

    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
    }
    public override void SetMomentum(OMV.Vector3 momentum) {
    }

    private void ComputeAvatarScale(OMV.Vector3 size)
    {
        // The 'size' given by the simulator is the mid-point of the avatar
        //    and X and Y are unspecified.

        OMV.Vector3 newScale = OMV.Vector3.Zero;
        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;

        // From the total height, remote the capsule half spheres that are at each end 
        newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y);
        // newScale.Z = (size.Z * 2f);
        Scale = newScale;
    }

    // set _avatarVolume and _mass based on capsule size, _density and Scale
    private void ComputeAvatarVolumeAndMass()
    {
        _avatarVolume = (float)(
                        Math.PI
                        * Scale.X
                        * Scale.Y    // the area of capsule cylinder
                        * Scale.Z    // times height of capsule cylinder
                      + 1.33333333f
                        * Math.PI
                        * Scale.X
                        * Math.Min(Scale.X, Scale.Y)
                        * Scale.Y    // plus the volume of the capsule end caps
                        );
        _mass = _avatarDensity * _avatarVolume;
    }

    // The physics engine says that properties have updated. Update same and inform
    // the world that things have changed.
    public override void UpdateProperties(EntityProperties entprop)
    {
        _position = entprop.Position;
        _orientation = entprop.Rotation;
        _velocity = entprop.Velocity;
        _acceleration = entprop.Acceleration;
        _rotationalVelocity = entprop.RotationalVelocity;
        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
        PositionSanityCheck(true);

        // remember the current and last set values
        LastEntityProperties = CurrentEntityProperties;
        CurrentEntityProperties = entprop;

        if (entprop.Velocity != LastEntityProperties.Velocity)
        {
            // Changes in the velocity are suppressed in avatars.
            // That's just the way they are defined.
            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
            _velocity = avVel;
            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
        }

        // Tell the linkset about this
        Linkset.UpdateProperties(this);

        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
        // base.RequestPhysicsterseUpdate();

        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
    }
}
}