path: root/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs

/*
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*       derived from this software without specific prior written permission.
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
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*/

using System;
using System.Collections.Generic;
using Axiom.Math;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Framework.Console;
using OpenSim.Region.Physics.Manager;

//using OpenSim.Region.Physics.OdePlugin.Meshing;

namespace OpenSim.Region.Physics.OdePlugin
{
    /// <summary>
    /// ODE plugin 
    /// </summary>
    public class OdePlugin : IPhysicsPlugin
    {
        private OdeScene _mScene;

        public OdePlugin()
        {
        }

        public bool Init()
        {
            return true;
        }

        public PhysicsScene GetScene()
        {
            if (_mScene == null)
            {
                _mScene = new OdeScene();
            }
            return (_mScene);
        }

        public string GetName()
        {
            return ("OpenDynamicsEngine");
        }

        public void Dispose()
        {
        }
    }

    public class OdeScene : PhysicsScene
    {
        private static float ODE_STEPSIZE = 0.004f;
        private static bool RENDER_FLAG = false;
        private static float metersInSpace = 29.9f;
        private IntPtr contactgroup;
        private IntPtr LandGeom = (IntPtr) 0;
        private double[] _heightmap;
        private d.NearCallback nearCallback;
        public d.TriCallback triCallback;
        public d.TriArrayCallback triArrayCallback;
        private List<OdeCharacter> _characters = new List<OdeCharacter>();
        private List<OdePrim> _prims = new List<OdePrim>();
        private List<OdePrim> _activeprims = new List<OdePrim>();
        private List<OdePrim> _taintedPrim = new List<OdePrim>();
        public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
        public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
        private d.ContactGeom[] contacts = new d.ContactGeom[30];
        private d.Contact contact;
        private d.Contact TerrainContact;
        private d.Contact AvatarMovementprimContact;
        private d.Contact AvatarMovementTerrainContact;
        
        private int m_physicsiterations = 10;
        private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
        private PhysicsActor PANull = new NullPhysicsActor();
        private float step_time = 0.0f;
        public IntPtr world;
        
        public IntPtr space;
        // split static geometry collision handling into spaces of 30 meters
        public IntPtr[,] staticPrimspace = new IntPtr[(int)(300/metersInSpace),(int)(300/metersInSpace)]; 
        
        public static Object OdeLock = new Object();

        public IMesher mesher;

        public OdeScene()
        {
            nearCallback = near;
            triCallback = TriCallback;
            triArrayCallback = TriArrayCallback;
            /*
            contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
            contact.surface.mu = 10.0f;
            contact.surface.bounce = 0.9f;
            contact.surface.soft_erp = 0.005f;
            contact.surface.soft_cfm = 0.00003f;
            */
            
            contact.surface.mu = 250.0f;
            contact.surface.bounce = 0.2f;

            TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
            TerrainContact.surface.mu = 250.0f;
            TerrainContact.surface.bounce = 0.1f;
            TerrainContact.surface.soft_erp = 0.1025f;

            AvatarMovementprimContact.surface.mu = 150.0f;
            AvatarMovementprimContact.surface.bounce = 0.2f;

            AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
            AvatarMovementTerrainContact.surface.mu = 150.0f;
            AvatarMovementTerrainContact.surface.bounce = 0.1f;
            AvatarMovementTerrainContact.surface.soft_erp = 0.1025f;

            lock (OdeLock)
            {
                world = d.WorldCreate();
                space = d.HashSpaceCreate(IntPtr.Zero);
                d.HashSpaceSetLevels(space, -4, 128);
                contactgroup = d.JointGroupCreate(0);
                //contactgroup

                            
                d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
                d.WorldSetAutoDisableFlag(world, false);
                d.WorldSetContactSurfaceLayer(world, 0.001f);
                d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
                d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
            }

            _heightmap = new double[514*514];

            for (int i = 0; i < staticPrimspace.GetLength(0); i++)
            {
                for (int j = 0; j < staticPrimspace.GetLength(1); j++)
                {
                    staticPrimspace[i,j] = IntPtr.Zero;
                }
            }
            
        }

        

        public override void Initialise(IMesher meshmerizer)
        {
            mesher = meshmerizer;

        }

        public string whichspaceamIin(PhysicsVector pos)
        {
            return calculateSpaceForGeom(pos).ToString();
        }

        private void near(IntPtr space, IntPtr g1, IntPtr g2)
        {
            //  no lock here!  It's invoked from within Simulate(), which is thread-locked
            if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2) )
            {
                // Separating static prim geometry spaces.   
                // We'll be calling near recursivly if one 
                // of them is a space to find all of the 
                // contact points in the space
                
                d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
                //Colliding a space or a geom with a space or a geom.

                //Collide all geoms in each space..   
                //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
                //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);

            } 
            else 
            {
                // Colliding Geom To Geom
                // This portion of the function 'was' blatantly ripped off from BoxStack.cs
                
                IntPtr b1 = d.GeomGetBody(g1);
                IntPtr b2 = d.GeomGetBody(g2);


                if (g1 == g2)
                    return; // Can't collide with yourself

                if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
                    return;


                d.GeomClassID id = d.GeomGetClass(g1);
                
                String name1 = null;
                String name2 = null;

                if (!geom_name_map.TryGetValue(g1, out name1))
                {
                    name1 = "null";
                }
                if (!geom_name_map.TryGetValue(g2, out name2))
                {
                    name2 = "null";
                }

                if (id == d.GeomClassID.TriMeshClass)
                {
                    

    //               MainLog.Instance.Verbose("near: A collision was detected between {1} and {2}", 0, name1, name2);
                    //System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
                }
                
                int count = 0;
                try
                {
                    count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
                }
                catch (System.Runtime.InteropServices.SEHException)
                {
                    MainLog.Instance.Error("PHYSICS", "The Operating system shut down ODE because of corrupt memory.  This could be a result of really irregular terrain.  If this repeats continuously, restart using Basic Physics and terrain fill your terrain.  Restarting the sim.");
                    base.TriggerPhysicsBasedRestart();
                }
             
                for (int i = 0; i < count; i++)
                {
                    IntPtr joint;
                    // If we're colliding with terrain, use 'TerrainContact' instead of contact.
                    // allows us to have different settings
                    PhysicsActor p1;
                    PhysicsActor p2;

                    if (!actor_name_map.TryGetValue(g2, out p1))
                    {
                        p1 = PANull;
                    }
                    if (!actor_name_map.TryGetValue(g2, out p2))
                    {
                        p2 = PANull;
                    }

                    // We only need to test p2 for 'jump crouch purposes'
                    p2.IsColliding = true;

                    switch(p1.PhysicsActorType) {
                        case (int)ActorTypes.Agent:
                            p2.CollidingObj = true;
                            break;
                        case (int)ActorTypes.Prim:
                            p2.CollidingObj = true;
                            break;
                        case (int)ActorTypes.Unknown:
                            p2.CollidingGround = true;
                            break;
                    }

                    if (name1 == "Terrain" || name2 == "Terrain")
                    {
                        if ((p2.PhysicsActorType == (int)ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
                        {
                            AvatarMovementTerrainContact.geom = contacts[i];
                            joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
                        }
                        else
                        {
                            TerrainContact.geom = contacts[i];
                            joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
                        }
                            
                        
                    }
                    else
                    {
                        if ((p2.PhysicsActorType == (int)ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
                        {
                            AvatarMovementprimContact.geom = contacts[i];
                            joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
                        }
                        else
                        {
                            contact.geom = contacts[i];
                            joint = d.JointCreateContact(world, contactgroup, ref contact);
                            
                        }
                        
                    }
                    
                    
                    d.JointAttach(joint, b1, b2);


                    
                    if (count > 3)
                    {
                        p2.ThrottleUpdates = true;
                    }
                    //System.Console.WriteLine(count.ToString());
                    //System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
                }
            }
        }

        private void collision_optimized(float timeStep)
        {

            foreach (OdeCharacter chr in _characters)
            {

                
                chr.IsColliding = false;
                chr.CollidingGround = false;
                chr.CollidingObj = false;
                d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
                
               
            }
            // If the sim is running slow this frame, 
            // don't process collision for prim!
            if (timeStep < (m_SkipFramesAtms / 2))
            {
                foreach (OdePrim chr in _activeprims)
                {
                    // This if may not need to be there..    it might be skipped anyway.
                    if (d.BodyIsEnabled(chr.Body))
                    {
                        d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
                        //foreach (OdePrim ch2 in _prims)
                        /// should be a separate space -- lots of avatars will be N**2 slow
                        //{
                            //if (ch2.IsPhysical && d.BodyIsEnabled(ch2.Body))
                            //{
                                // Only test prim that are 0.03 meters away in one direction.
                                // This should be Optimized!

                                //if ((Math.Abs(ch2.Position.X - chr.Position.X) < 0.03) || (Math.Abs(ch2.Position.Y - chr.Position.Y) < 0.03) || (Math.Abs(ch2.Position.X - chr.Position.X) < 0.03))
                                //{
                                    //d.SpaceCollide2(chr.prim_geom, ch2.prim_geom, IntPtr.Zero, nearCallback);
                                //}
                            //}
                        //}
                    }
                }
            }
            else
            {
                // Everything is going slow, so we're skipping object to object collisions
                // At least collide test against the ground.
                foreach (OdePrim chr in _activeprims)
                {
                    // This if may not need to be there..    it might be skipped anyway.
                    if (d.BodyIsEnabled(chr.Body))
                    {
                        d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback);
                        
                    }
                }
            }
        }

        public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
        {
            PhysicsVector pos = new PhysicsVector();
            pos.X = position.X;
            pos.Y = position.Y;
            pos.Z = position.Z;
            OdeCharacter newAv = new OdeCharacter(avName, this, pos);
            _characters.Add(newAv);
            return newAv;
        }

        public override void RemoveAvatar(PhysicsActor actor)
        {
            lock (OdeLock)
            {
                ((OdeCharacter) actor).Destroy();
                _characters.Remove((OdeCharacter) actor);
            }
        }

        public override void RemovePrim(PhysicsActor prim)
        {
            if (prim is OdePrim)
            {
                lock (OdeLock)
                {
                    OdePrim p = (OdePrim) prim;

                    p.setPrimForRemoval();
                    AddPhysicsActorTaint(prim);

                }
            }
        }
        public void RemovePrimThreadLocked(OdePrim prim)
        {
            lock (OdeLock)
            {
                
                if (prim.IsPhysical)
                {
                    prim.disableBody();
                }
                // we don't want to remove the main space
                if (prim.m_targetSpace != space && prim.IsPhysical == false)
                {
                    // If the geometry is in the targetspace, remove it from the target space
                    if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
                    {
                        if (!(prim.m_targetSpace.Equals(null)))
                        {
                            if (d.GeomIsSpace(prim.m_targetSpace))
                            {
                                d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
                            }
                            else
                            {
                                MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'removeprim from scene':" + ((OdePrim)prim).m_targetSpace.ToString());
                            }
                        }
                    }



                    //If there are no more geometries in the sub-space, we don't need it in the main space anymore
                    if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
                    {
                        if (!(prim.m_targetSpace.Equals(null)))
                        {
                            if (d.GeomIsSpace(prim.m_targetSpace))
                            {
                                d.SpaceRemove(space, prim.m_targetSpace);
                                // free up memory used by the space.
                                d.SpaceDestroy(prim.m_targetSpace);
                                int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
                                resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
                            }
                            else
                            {
                                MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'removeprim from scene':" + ((OdePrim)prim).m_targetSpace.ToString());
                            }
                        }
                    }   
                }

                d.GeomDestroy(prim.prim_geom);

                _prims.Remove(prim);
            }
                    
        }
        public void resetSpaceArrayItemToZero(IntPtr space)
        {
            for (int x = 0; x < staticPrimspace.GetLength(0); x++)
            {
                for (int y = 0; y < staticPrimspace.GetLength(1); y++)
                {
                    if (staticPrimspace[x, y] == space)
                        staticPrimspace[x, y] = IntPtr.Zero;
                }
            }
        }
        public void resetSpaceArrayItemToZero(int arrayitemX,int arrayitemY)
        {
            staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
        }

        public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
        {
            //Todo recalculate space the prim is in.
            // Called from setting the Position and Size of an ODEPrim so 
            // it's already in locked space.

            // we don't want to remove the main space
            // we don't need to test physical here because this function should 
            // never be called if the prim is physical(active)
            if (currentspace != space)
            {
                if (d.SpaceQuery(currentspace, geom) && currentspace != (IntPtr)0)
                {
                    if (d.GeomIsSpace(currentspace))
                    {

                        d.SpaceRemove(currentspace, geom);
                    }
                    else
                    {
                        MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + currentspace.ToString() + " Geom:" + geom.ToString());
                    }
                }
                else
                {
                    IntPtr sGeomIsIn = d.GeomGetSpace(geom);
                    if (!(sGeomIsIn.Equals(null)))
                    {
                        if (sGeomIsIn != (IntPtr)0)
                            if (d.GeomIsSpace(currentspace))
                            {
                                d.SpaceRemove(sGeomIsIn, geom);
                            }
                            else
                            {
                                MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + sGeomIsIn.ToString() + " Geom:" + geom.ToString());
                            }
                    }
                }


                //If there are no more geometries in the sub-space, we don't need it in the main space anymore
                if (d.SpaceGetNumGeoms(currentspace) == 0)
                {
                    if (currentspace != (IntPtr)0)
                    {
                        if (d.GeomIsSpace(currentspace))
                        {
                            d.SpaceRemove(space, currentspace);
                            // free up memory used by the space.
                            d.SpaceDestroy(currentspace);
                            resetSpaceArrayItemToZero(currentspace);
                        }
                        else
                        {
                            MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + currentspace.ToString() + " Geom:" + geom.ToString());
                        }

                    }
                }
            }
            else
            {
                // this is a physical object that got disabled. ;.;
                if (d.SpaceQuery(currentspace, geom))
                {
                    if (currentspace != (IntPtr)0)
                        if (d.GeomIsSpace(currentspace))
                        {
                            d.SpaceRemove(currentspace, geom);
                        }
                        else
                        {
                            MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + currentspace.ToString() + " Geom:" + geom.ToString());

                        }
                }
                else
                {
                    IntPtr sGeomIsIn = d.GeomGetSpace(geom);
                    if (!(sGeomIsIn.Equals(null)))
                    {
                        if (sGeomIsIn != (IntPtr)0)
                        {
                            if (d.GeomIsSpace(sGeomIsIn))
                            {
                                d.SpaceRemove(sGeomIsIn, geom);
                            }
                            else
                            {
                                MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + sGeomIsIn.ToString() + " Geom:" + geom.ToString());

                            }
                        }
                    }
                }
            }

                
            // The routines in the Position and Size sections do the 'inserting' into the space, 
            // so all we have to do is make sure that the space that we're putting the prim into 
            // is in the 'main' space.
            int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
            IntPtr newspace = calculateSpaceForGeom(pos);

            if (newspace == IntPtr.Zero)
            {
                newspace = createprimspace(iprimspaceArrItem[0],iprimspaceArrItem[1]);
                d.HashSpaceSetLevels(newspace, -4, 66);
            }
                    
            return newspace;
        }

        public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY) {
            // creating a new space for prim and inserting it into main space.
            staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
            d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX,iprimspaceArrItemY]);
            return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
        }

        public IntPtr calculateSpaceForGeom(PhysicsVector pos)
        {
            int[] xyspace = calculateSpaceArrayItemFromPos(pos);
            //MainLog.Instance.Verbose("Physics", "Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
            IntPtr locationbasedspace = staticPrimspace[xyspace[0],xyspace[1]];

            //locationbasedspace = space;
            return locationbasedspace;
        }
        public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
        {
            int[] returnint = new int[2];
            
            returnint[0] = (int)(pos.X / metersInSpace);
            
            if (returnint[0] > ((int)(259f / metersInSpace)))
                returnint[0] = ((int)(259f / metersInSpace));
            if (returnint[0] < 0)
                returnint[0] = 0;

            returnint[1] = (int)(pos.Y / metersInSpace);
            if (returnint[0] > ((int)(259f / metersInSpace)))
                returnint[0] = ((int)(259f / metersInSpace));
            if (returnint[0] < 0)
                returnint[0] = 0;

            return returnint;
        }

        private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
                                     IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
        {

            PhysicsVector pos = new PhysicsVector();
            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 = new Quaternion();
            rot.w = rotation.w;
            rot.x = rotation.x;
            rot.y = rotation.y;
            rot.z = rotation.z;

            
            int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
            IntPtr targetspace = calculateSpaceForGeom(pos);

            if (targetspace == IntPtr.Zero)
                targetspace = createprimspace(iprimspaceArrItem[0],iprimspaceArrItem[1]);

            OdePrim newPrim;
            lock (OdeLock)
            {
                newPrim = new OdePrim(name, this, targetspace, pos, siz, rot, mesh, pbs, isphysical);
            
                _prims.Add(newPrim);
            }
            
            return newPrim;
        }

        public void addActivePrim(OdePrim activatePrim)
         {
            // adds active prim..   (ones that should be iterated over in collisions_optimized

                 _activeprims.Add(activatePrim);

        }
        public void remActivePrim(OdePrim deactivatePrim)
        {

                  _activeprims.Remove(deactivatePrim);
               

        }
        public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
        {
/*            String name1 = null;
            String name2 = null;

            if (!geom_name_map.TryGetValue(trimesh, out name1))
            {
                name1 = "null";
            }
            if (!geom_name_map.TryGetValue(refObject, out name2))
            {
                name2 = "null";
            }

            MainLog.Instance.Verbose("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
*/
            return 1;
        }

        public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
        {
            String name1 = null;
            String name2 = null;

            if (!geom_name_map.TryGetValue(trimesh, out name1))
            {
                name1 = "null";
            }
            if (!geom_name_map.TryGetValue(refObject, out name2))
            {
                name2 = "null";
            }

//            MainLog.Instance.Verbose("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);

            d.Vector3 v0 = new d.Vector3();
            d.Vector3 v1 = new d.Vector3();
            d.Vector3 v2 = new d.Vector3();

            d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
//            MainLog.Instance.Debug("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);

            return 1;
        }

        
        public bool needsMeshing(PrimitiveBaseShape pbs)
        {
            if (pbs.ProfileHollow != 0)
                return true;

            if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
                return true;

            return false;
        }

        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
                                                  PhysicsVector size, Quaternion rotation) //To be removed
        {
            return this.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);
                    }
                   
                    break;
            }
           
            result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);


            return result;
        }

        public override void AddPhysicsActorTaint(PhysicsActor prim)
        {
            if (prim is OdePrim)
            {
                OdePrim taintedprim = ((OdePrim)prim);
                if (!(_taintedPrim.Contains(taintedprim)))
                    _taintedPrim.Add(taintedprim);

            }
        }

        public override void Simulate(float timeStep)
        {
            
            step_time += timeStep;

                
                // If We're loaded down by something else, 
                // or debugging with the Visual Studio project on pause
                // skip a few frames to catch up gracefully.
                // without shooting the physicsactors all over the place
                


                if (step_time >= m_SkipFramesAtms)
                {
                    // Instead of trying to catch up, it'll do one physics frame only
                    step_time = ODE_STEPSIZE;
                    this.m_physicsiterations = 5;
                }
                else
                {
                    m_physicsiterations = 10;
                }
                lock (OdeLock)
                {
                // Process 10 frames if the sim is running normal..  
                // process 5 frames if the sim is running slow
                    try{
                        d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
                    }
                    catch (System.StackOverflowException)
                    {
                        MainLog.Instance.Error("PHYSICS", "The operating system wasn't able to allocate enough memory for the simulation.  Restarting the sim.");
                        base.TriggerPhysicsBasedRestart();
                    }

                int i = 0;
                while (step_time > 0.0f)
                {
                    foreach (OdeCharacter actor in _characters)
                    {
                            actor.Move(timeStep);
                            actor.collidelock = true;
                    }

                    
                    collision_optimized(timeStep);
                    d.WorldQuickStep(world, ODE_STEPSIZE);
                    d.JointGroupEmpty(contactgroup);
                    foreach (OdeCharacter actor in _characters)
                    {
                        actor.collidelock = false;
                    }
                    
                    step_time -= ODE_STEPSIZE;
                    i++;
                }

                foreach (OdeCharacter actor in _characters)
                {
                    actor.UpdatePositionAndVelocity();
                    
                }
                bool processedtaints = false;
                foreach (OdePrim prim in _taintedPrim)
                {
                    prim.ProcessTaints(timeStep);
                    if (prim.m_taintremove)
                    {
                        RemovePrimThreadLocked(prim);
                    }
                    processedtaints = true;
                }
                if (processedtaints)
                    _taintedPrim = new List<OdePrim>();

                if (timeStep < 0.2f)
                {
                    foreach (OdePrim actor in _activeprims)
                    {
                        if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
                        {
                            actor.UpdatePositionAndVelocity();
                            
                        }
                    }
                }
            }
        }

        public override void GetResults()
        {
        }

        public override bool IsThreaded
        {
            get { return (false); // for now we won't be multithreaded
            }
        }
        public float[] ResizeTerrain512(float[] heightMap)
        {
            float[] returnarr = new float[262144];
            float[,] resultarr = new float[256, 256];

            // Filling out the array into it's multi-dimentional components
            for (int y = 0; y < 256; y++)
            {
                for (int x = 0; x < 256; x++)
                {
                    resultarr[y,x] = heightMap[y * 256 + x];
                }
            }

            // Resize using interpolation
                       
            // This particular way is quick but it only works on a multiple of the original

            // The idea behind this method can be described with the following diagrams
            // second pass and third pass happen in the same loop really..  just separated 
            // them to show what this does.
            
            // First Pass
            // ResultArr:
            // 1,1,1,1,1,1
            // 1,1,1,1,1,1
            // 1,1,1,1,1,1
            // 1,1,1,1,1,1
            // 1,1,1,1,1,1
            // 1,1,1,1,1,1

            // Second Pass
            // ResultArr2:
            // 1,,1,,1,,1,,1,,1,
            // ,,,,,,,,,,
            // 1,,1,,1,,1,,1,,1,
            // ,,,,,,,,,,
            // 1,,1,,1,,1,,1,,1,
            // ,,,,,,,,,,
            // 1,,1,,1,,1,,1,,1,
            // ,,,,,,,,,,
            // 1,,1,,1,,1,,1,,1,
            // ,,,,,,,,,,
            // 1,,1,,1,,1,,1,,1,

            // Third pass fills in the blanks
            // ResultArr2:
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1
            // 1,1,1,1,1,1,1,1,1,1,1,1

            // X,Y = .
            // X+1,y = ^
            // X,Y+1 = *
            // X+1,Y+1 = #

            // Filling in like this;
            // .*
            // ^#
            // 1st .
            // 2nd *
            // 3rd ^
            // 4th #
            // on single loop.

            float[,] resultarr2 = new float[512, 512];
            for (int y = 0; y < 256; y++)
            {
                for (int x = 0; x < 256; x++)
                {
                    resultarr2[y*2,x*2] = resultarr[y,x];

                    if (y < 256)
                    {
                        if (y + 1 < 256)
                        {
                            if (x + 1 < 256)
                            {
                                resultarr2[(y * 2) + 1, x * 2] = ((resultarr[y, x] + resultarr[y + 1, x] + resultarr[y, x+1] + resultarr[y+1, x+1])/4);
                            }
                            else
                            {
                                resultarr2[(y * 2) + 1, x * 2] = ((resultarr[y, x] + resultarr[y + 1, x]) / 2);
                            }
                        }
                        else
                        {
                            resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
                        }
                    }
                    if (x < 256)
                    {
                        if (x + 1 < 256)
                        {
                            if (y + 1 < 256)
                            {
                                resultarr2[y * 2, (x * 2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + resultarr[y, x + 1] + resultarr[y + 1, x + 1]) / 4);
                            }
                            else
                            {
                                resultarr2[y * 2, (x * 2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1]) / 2);
                            }
                        }
                        else
                        {
                            resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
                        }
                    }
                    if (x < 256 && y < 256)
                    {
                        if ((x + 1 < 256) && (y + 1 < 256))
                        {
                            resultarr2[(y * 2) + 1, (x * 2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + resultarr[y, x + 1] + resultarr[y + 1, x + 1]) / 4);
                        }
                        else
                        {
                            resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
                        }
                    }
                }

            }
            //Flatten out the array
            int i = 0;
            for (int y = 0; y < 512; y++)
            {
                for (int x = 0; x < 512; x++)
                {
                    returnarr[i] = resultarr2[y, x];
                    i++;
                }
            }

            return returnarr;

        }
        public override void SetTerrain(float[] heightMap)
        {
            // this._heightmap[i] = (double)heightMap[i];
            // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
            // also, creating a buffer zone of one extra sample all around

            //Double resolution
            heightMap = ResizeTerrain512(heightMap);
            for (int x = 0; x < 514; x++)
            {
                for (int y = 0; y < 514; y++)
                {
                    int xx = x - 1;
                    if (xx < 0) xx = 0;
                    if (xx > 511) xx = 511;
                    int yy = y - 1;
                    if (yy < 0) yy = 0;
                    if (yy > 511) yy = 511;

                    double val = (double) heightMap[yy*512 + xx];
                    _heightmap[x*514 + y] = val;
                }
            }

            lock (OdeLock)
            {
                if (!(LandGeom == (IntPtr) 0))
                {
                    d.SpaceRemove(space, LandGeom);
                }
                IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
                d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 258, 258, 514, 514, 1.0f, 0.0f, 2.0f, 0);
                d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
                LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
                geom_name_map[LandGeom] = "Terrain";

                d.Matrix3 R = new d.Matrix3();

                Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0));
                Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
                //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));

                q1 = q1*q2;
                //q1 = q1 * q3;
                Vector3 v3 = new Vector3();
                float angle = 0;
                q1.ToAngleAxis(ref angle, ref v3);

                d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
                d.GeomSetRotation(LandGeom, ref R);
                d.GeomSetPosition(LandGeom, 128, 128, 0);
            }
        }

        public override void DeleteTerrain()
        {
        }
    }
    

    
}