aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
blob: cc37ef5005b24bc8d1c76d87f06620890c634988 (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
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
1726
1727
1728
1729
1730
1731
1732
1733
1734
1735
1736
1737
1738
1739
1740
1741
1742
1743
1744
1745
1746
1747
1748
1749
1750
1751
1752
1753
1754
1755
1756
1757
1758
1759
1760
1761
1762
1763
1764
1765
1766
1767
1768
1769
1770
1771
1772
1773
1774
1775
1776
1777
1778
1779
1780
1781
1782
1783
1784
1785
1786
1787
1788
1789
1790
1791
1792
1793
1794
1795
1796
1797
1798
1799
1800
1801
1802
1803
1804
1805
1806
1807
1808
1809
1810
1811
1812
1813
1814
1815
1816
1817
1818
1819
1820
1821
1822
1823
1824
1825
1826
1827
1828
1829
1830
1831
1832
1833
1834
1835
1836
1837
1838
1839
1840
1841
1842
1843
1844
1845
1846
1847
/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the OpenSimulator Project nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */


// Revision by Ubit 2011/12

using System;
using System.Collections.Generic;
using System.Reflection;
using OpenMetaverse;
using OdeAPI;
using OpenSim.Framework;
using OpenSim.Region.PhysicsModules.SharedBase;
using log4net;

namespace OpenSim.Region.PhysicsModule.ubOde
{
    /// <summary>
    /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
    /// </summary>

    public enum dParam : int
    {
        LowStop = 0,
        HiStop = 1,
        Vel = 2,
        FMax = 3,
        FudgeFactor = 4,
        Bounce = 5,
        CFM = 6,
        StopERP = 7,
        StopCFM = 8,
        LoStop2 = 256,
        HiStop2 = 257,
        Vel2 = 258,
        FMax2 = 259,
        StopERP2 = 7 + 256,
        StopCFM2 = 8 + 256,
        LoStop3 = 512,
        HiStop3 = 513,
        Vel3 = 514,
        FMax3 = 515,
        StopERP3 = 7 + 512,
        StopCFM3 = 8 + 512
    }
 
    public class OdeCharacter : PhysicsActor
    {
        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);

        private Vector3 _position;
        private Vector3 _zeroPosition;
        private Vector3 _velocity;
        private Vector3 _target_velocity;
        private Vector3 _acceleration;
        private Vector3 m_rotationalVelocity;
        private Vector3 m_size;
        private Vector3 m_collideNormal;
        private Quaternion m_orientation;
        private Quaternion m_orientation2D;
        private float m_mass = 80f;
        public float m_density = 60f;
        private bool m_pidControllerActive = true;

        const float basePID_D = 0.55f; // scaled for unit mass unit time (2200 /(50*80))
        const float basePID_P = 0.225f; // scaled for unit mass unit time (900 /(50*80))
        public float PID_D;
        public float PID_P;

        private float timeStep;
        private float invtimeStep;

        private float m_feetOffset = 0;
        private float feetOff = 0;
        private float boneOff = 0;
        private float AvaAvaSizeXsq = 0.3f;
        private float AvaAvaSizeYsq = 0.2f;

        public float walkDivisor = 1.3f;
        public float runDivisor = 0.8f;
        private bool flying = false;
        private bool m_iscolliding = false;
        private bool m_iscollidingGround = false;
        private bool m_iscollidingObj = false;
        private bool m_alwaysRun = false;

        private bool _zeroFlag = false;


        private uint m_localID = 0;
        public bool m_returnCollisions = false;
        // taints and their non-tainted counterparts
        public bool m_isPhysical = false; // the current physical status
        public float MinimumGroundFlightOffset = 3f;

        private float m_buoyancy = 0f;

        private bool m_freemove = false;
        // private CollisionLocker ode;

//        private string m_name = String.Empty;
        // other filter control
        int m_colliderfilter = 0;
        int m_colliderGroundfilter = 0;
        int m_colliderObjectfilter = 0;

        // Default we're a Character
        private CollisionCategories m_collisionCategories = (CollisionCategories.Character);

        // Default, Collide with Other Geometries, spaces, bodies and characters.
        private CollisionCategories m_collisionFlags = (CollisionCategories.Character
                                                        | CollisionCategories.Geom
                                                        | CollisionCategories.VolumeDtc
                                                        );
        // we do land collisions not ode                | CollisionCategories.Land);
        public IntPtr Body = IntPtr.Zero;
        private ODEScene _parent_scene;
        private IntPtr capsule = IntPtr.Zero;
        public IntPtr collider = IntPtr.Zero;

        public IntPtr Amotor = IntPtr.Zero;

        public d.Mass ShellMass;

        public int m_eventsubscription = 0;
        private int m_cureventsubscription = 0;
        private CollisionEventUpdate CollisionEventsThisFrame = null;
        private bool SentEmptyCollisionsEvent;

        // unique UUID of this character object
        public UUID m_uuid;
        public bool bad = false;

        float mu;       

        public OdeCharacter(uint localID, String avName, ODEScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor)
        {
            m_uuid = UUID.Random();
            m_localID = localID;

            timeStep = parent_scene.ODE_STEPSIZE;
            invtimeStep = 1 / timeStep;

            if (pos.IsFinite())
            {
                if (pos.Z > 99999f)
                {
                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                }
                if (pos.Z < -100f) // shouldn't this be 0 ?
                {
                    pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                }
                _position = pos;
            }
            else
            {
                _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
                m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
            }

            _parent_scene = parent_scene;


            m_size.X = pSize.X;
            m_size.Y = pSize.Y;
            m_size.Z = pSize.Z;

            if(m_size.X <0.01f)
                m_size.X = 0.01f;
            if(m_size.Y <0.01f)
                m_size.Y = 0.01f;
            if(m_size.Z <0.01f)
                m_size.Z = 0.01f;

            m_feetOffset = pfeetOffset;
            m_orientation = Quaternion.Identity;
            m_orientation2D = Quaternion.Identity;
            m_density = density;

            // force lower density for testing
            m_density = 3.0f;

            mu = parent_scene.AvatarFriction;

            walkDivisor = walk_divisor;
            runDivisor = rundivisor;

            m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default           

            PID_D = basePID_D * m_mass * invtimeStep;
            PID_P = basePID_P * m_mass * invtimeStep;

            m_isPhysical = false; // current status: no ODE information exists

            Name = avName;

            AddChange(changes.Add, null);
        }

        public override int PhysicsActorType
        {
            get { return (int)ActorTypes.Agent; }
            set { return; }
        }

        public override void getContactData(ref ContactData cdata)
        {
            cdata.mu = mu;
            cdata.bounce = 0;
            cdata.softcolide = false;
        }

        public override bool Building { get; set; }

        /// <summary>
        /// If this is set, the avatar will move faster
        /// </summary>
        public override bool SetAlwaysRun
        {
            get { return m_alwaysRun; }
            set { m_alwaysRun = value; }
        }

        public override uint LocalID
        {
            get { return m_localID; }     
            set { m_localID = value; }
        }

        public override PhysicsActor ParentActor
        {
            get { return (PhysicsActor)this; }
        }

        public override bool Grabbed
        {
            set { return; }
        }

        public override bool Selected
        {
            set { return; }
        }

        public override float Buoyancy
        {
            get { return m_buoyancy; }
            set { m_buoyancy = value; }
        }

        public override bool FloatOnWater
        {
            set { return; }
        }

        public override bool IsPhysical
        {
            get { return m_isPhysical; }
            set { return; }
        }

        public override bool ThrottleUpdates
        {
            get { return false; }
            set { return; }
        }

        public override bool Flying
        {
            get { return flying; }
            set
            {
                flying = value;
//                m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
            }
        }

        /// <summary>
        /// Returns if the avatar is colliding in general.
        /// This includes the ground and objects and avatar.
        /// </summary>
        public override bool IsColliding
        {
            get { return (m_iscolliding || m_iscollidingGround); }
            set
            {
                if (value)
                {
                    m_colliderfilter += 3;
                    if (m_colliderfilter > 3)
                        m_colliderfilter = 3;
                }
                else
                {
                    m_colliderfilter--;
                    if (m_colliderfilter < 0)
                        m_colliderfilter = 0;
                }

                if (m_colliderfilter == 0)
                    m_iscolliding = false;
                else
                {
                    m_pidControllerActive = true;
                    m_iscolliding = true;
                    m_freemove = false;
                }
            }
        }

        /// <summary>
        /// Returns if an avatar is colliding with the ground
        /// </summary>
        public override bool CollidingGround
        {
            get { return m_iscollidingGround; }
            set
            {
/*  we now control this
                if (value)
                    {
                    m_colliderGroundfilter += 2;
                    if (m_colliderGroundfilter > 2)
                        m_colliderGroundfilter = 2;
                    }
                else
                    {
                    m_colliderGroundfilter--;
                    if (m_colliderGroundfilter < 0)
                        m_colliderGroundfilter = 0;
                    }

                if (m_colliderGroundfilter == 0)
                    m_iscollidingGround = false;
                else
                    m_iscollidingGround = true;
 */
            }

        }

        /// <summary>
        /// Returns if the avatar is colliding with an object
        /// </summary>
        public override bool CollidingObj
        {
            get { return m_iscollidingObj; }
            set
            {
                // Ubit filter this also
                if (value)
                {
                    m_colliderObjectfilter += 2;
                    if (m_colliderObjectfilter > 2)
                        m_colliderObjectfilter = 2;
                }
                else
                {
                    m_colliderObjectfilter--;
                    if (m_colliderObjectfilter < 0)
                        m_colliderObjectfilter = 0;
                }

                if (m_colliderObjectfilter == 0)
                    m_iscollidingObj = false;
                else
                    m_iscollidingObj = true;

//            m_iscollidingObj = value;

                if (m_iscollidingObj)
                    m_pidControllerActive = false;
                else
                    m_pidControllerActive = true;
            }
        }

        /// <summary>
        /// turn the PID controller on or off.
        /// The PID Controller will turn on all by itself in many situations
        /// </summary>
        /// <param name="status"></param>
        public void SetPidStatus(bool status)
        {
            m_pidControllerActive = status;
        }

        public override bool Stopped
        {
            get { return _zeroFlag; }
        }

        /// <summary>
        /// This 'puts' an avatar somewhere in the physics space.
        /// Not really a good choice unless you 'know' it's a good
        /// spot otherwise you're likely to orbit the avatar.
        /// </summary>
        public override Vector3 Position
        {
            get { return _position; }
            set
            {
                if (value.IsFinite())
                {
                    if (value.Z > 9999999f)
                    {
                        value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                    }
                    if (value.Z < -100f)
                    {
                        value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
                    }
                    AddChange(changes.Position, value);
                }
                else
                {
                    m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
                }
            }
        }

        public override Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
        }

        /// <summary>
        /// This property sets the height of the avatar only.  We use the height to make sure the avatar stands up straight
        /// and use it to offset landings properly
        /// </summary>
        public override Vector3 Size
        {
            get
            {
                return m_size;
            }
            set
            {
                if (value.IsFinite())
                {
                    if(value.X <0.01f)
                        value.X = 0.01f;
                    if(value.Y <0.01f)
                        value.Y = 0.01f;
                    if(value.Z <0.01f)
                        value.Z = 0.01f;

                    AddChange(changes.Size, value);
                }
                else
                {
                    m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
                }
            }
        }

        public override void setAvatarSize(Vector3 size, float feetOffset)
        {
            if (size.IsFinite())
            {
                if (size.X < 0.01f)
                    size.X = 0.01f;
                if (size.Y < 0.01f)
                    size.Y = 0.01f;
                if (size.Z < 0.01f)
                    size.Z = 0.01f;

                strAvatarSize st = new strAvatarSize();
                st.size = size;
                st.offset = feetOffset;
                AddChange(changes.AvatarSize, st);
            }
            else
            {
                m_log.Warn("[PHYSICS]: Got a NaN AvatarSize from Scene on a Character");
            }
            
        }
        /// <summary>
        /// This creates the Avatar's physical Surrogate at the position supplied
        /// </summary>
        /// <param name="npositionX"></param>
        /// <param name="npositionY"></param>
        /// <param name="npositionZ"></param>

        //
        /// <summary>
        /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
        /// This may be used in calculations in the scene/scenepresence
        /// </summary>
        public override float Mass
        {
            get
            {
                return m_mass;
            }
        }
        public override void link(PhysicsActor obj)
        {

        }

        public override void delink()
        {

        }

        public override void LockAngularMotion(Vector3 axis)
        {

        }


        public override Vector3 Force
        {
            get { return _target_velocity; }
            set { return; }
        }

        public override int VehicleType
        {
            get { return 0; }
            set { return; }
        }

        public override void VehicleFloatParam(int param, float value)
        {

        }

        public override void VehicleVectorParam(int param, Vector3 value)
        {

        }

        public override void VehicleRotationParam(int param, Quaternion rotation)
        {

        }

        public override void VehicleFlags(int param, bool remove)
        {

        }

        public override void SetVolumeDetect(int param)
        {

        }

        public override Vector3 CenterOfMass
        {
            get
            {
                Vector3 pos = _position;
                return pos;
            }
        }

        public override Vector3 GeometricCenter
        {
            get
            {
                Vector3 pos = _position;
                return pos;
            }
        }

        public override PrimitiveBaseShape Shape
        {
            set { return; }
        }

        public override Vector3 Velocity
        {
            get
            {
                return _velocity;
            }
            set
            {
                if (value.IsFinite())
                {
                    AddChange(changes.Velocity, value);
                }
                else
                {
                    m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
                }
            }
        }

        public override Vector3 Torque
        {
            get { return Vector3.Zero; }
            set { return; }
        }

        public override float CollisionScore
        {
            get { return 0f; }
            set { }
        }

        public override bool Kinematic
        {
            get { return false; }
            set { }
        }

        public override Quaternion Orientation
        {
            get { return m_orientation; }
            set
            {
//                fakeori = value;
//                givefakeori++;
                value.Normalize();
                AddChange(changes.Orientation, value);
            }
        }

        public override Vector3 Acceleration
        {
            get { return _acceleration; }
            set { }
        }

        public void SetAcceleration(Vector3 accel)
        {
            m_pidControllerActive = true;
            _acceleration = accel;
        }

        /// <summary>
        /// Adds the force supplied to the Target Velocity
        /// The PID controller takes this target velocity and tries to make it a reality
        /// </summary>
        /// <param name="force"></param>
        public override void AddForce(Vector3 force, bool pushforce)
        {
            if (force.IsFinite())
            {
                if (pushforce)
                {
                    AddChange(changes.Force, force * m_density / (_parent_scene.ODE_STEPSIZE * 28f));
                }
                else
                {
                    AddChange(changes.Velocity, force);
                }
            }
            else
            {
                m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
            }
            //m_lastUpdateSent = false;
        }

        public override void AddAngularForce(Vector3 force, bool pushforce)
        {

        }

        public override void SetMomentum(Vector3 momentum)
        {
            if (momentum.IsFinite())
                AddChange(changes.Momentum, momentum);
        }


        private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
        {
            // sizes  one day should came from visual parameters
            float sx = m_size.X;
            float sy = m_size.Y;
            float sz = m_size.Z;

            float bot = -sz * 0.5f + m_feetOffset;
            boneOff = bot + 0.3f;

            float feetsz = sz * 0.45f;
            if (feetsz > 0.6f)
                feetsz = 0.6f;

            feetOff = bot + feetsz;

            AvaAvaSizeXsq = 0.4f * sx;
            AvaAvaSizeXsq *= AvaAvaSizeXsq;
            AvaAvaSizeYsq = 0.5f * sy;
            AvaAvaSizeYsq *= AvaAvaSizeYsq;

            _parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace);

            collider = d.HashSpaceCreate(_parent_scene.CharsSpace);
            d.HashSpaceSetLevels(collider, -4, 3);
            d.SpaceSetSublevel(collider, 3);
            d.SpaceSetCleanup(collider, false);
            d.GeomSetCategoryBits(collider, (uint)m_collisionCategories);
            d.GeomSetCollideBits(collider, (uint)m_collisionFlags);

            float r = m_size.X;
            if (m_size.Y > r)
                r = m_size.Y;
            float l = m_size.Z - r;
            r *= 0.5f;

            capsule = d.CreateCapsule(collider, r, l);

            m_mass = m_density * m_size.X * m_size.Y * m_size.Z;  // update mass

            d.MassSetBoxTotal(out ShellMass, m_mass, m_size.X, m_size.Y, m_size.Z);

            PID_D = basePID_D * m_mass / _parent_scene.ODE_STEPSIZE;
            PID_P = basePID_P * m_mass / _parent_scene.ODE_STEPSIZE;
            
            Body = d.BodyCreate(_parent_scene.world);

            _zeroFlag = false;
            m_pidControllerActive = true;
            m_freemove = false;

            _velocity = Vector3.Zero;

            d.BodySetAutoDisableFlag(Body, false);
            d.BodySetPosition(Body, npositionX, npositionY, npositionZ);

            _position.X = npositionX;
            _position.Y = npositionY;
            _position.Z = npositionZ;

            d.BodySetMass(Body, ref ShellMass);
            d.GeomSetBody(capsule, Body);

            // The purpose of the AMotor here is to keep the avatar's physical
            // surrogate from rotating while moving
            Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
            d.JointAttach(Amotor, Body, IntPtr.Zero);

            d.JointSetAMotorMode(Amotor, 0);
            d.JointSetAMotorNumAxes(Amotor, 3);
            d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
            d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
            d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);

            d.JointSetAMotorAngle(Amotor, 0, 0);
            d.JointSetAMotorAngle(Amotor, 1, 0);
            d.JointSetAMotorAngle(Amotor, 2, 0);

            d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
            d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
            d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
            d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
            d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
            d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);

            // These lowstops and high stops are effectively (no wiggle room)
            d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
            d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
            d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
            d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);

            d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
            d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
            d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);

            d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e8f);
            d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e8f);
            d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e8f);
        }

        /// <summary>
        /// Destroys the avatar body and geom

        private void AvatarGeomAndBodyDestroy()
        {
            // Kill the Amotor
            if (Amotor != IntPtr.Zero)
            {
                d.JointDestroy(Amotor);
                Amotor = IntPtr.Zero;
            }

            if (Body != IntPtr.Zero)
            {
                //kill the body
                d.BodyDestroy(Body);
                Body = IntPtr.Zero;
            }

            //kill the Geoms
            if (capsule != IntPtr.Zero)
            {
                _parent_scene.actor_name_map.Remove(capsule);
                _parent_scene.waitForSpaceUnlock(collider);
                d.GeomDestroy(capsule);
                capsule = IntPtr.Zero;
            }

            if (collider != IntPtr.Zero)
            {
                d.SpaceDestroy(collider);
                collider = IntPtr.Zero;
            }

        }

        //in place 2D rotation around Z assuming rot is normalised and is a rotation around Z
        public void RotateXYonZ(ref float x, ref float y, ref Quaternion rot)
        {
            float sin = 2.0f * rot.Z * rot.W;
            float cos = rot.W * rot.W - rot.Z * rot.Z;
            float tx = x;

            x = tx * cos - y * sin;
            y = tx * sin + y * cos;
        }
        public void RotateXYonZ(ref float x, ref float y, ref float sin, ref float cos)
        {
            float tx = x;
            x = tx * cos - y * sin;
            y = tx * sin + y * cos;
        }
        public void invRotateXYonZ(ref float x, ref float y, ref float sin, ref float cos)
        {
            float tx = x;
            x = tx * cos + y * sin;
            y = -tx * sin + y * cos;
        }

        public void invRotateXYonZ(ref float x, ref float y, ref Quaternion rot)
        {
            float sin = - 2.0f * rot.Z * rot.W;
            float cos = rot.W * rot.W - rot.Z * rot.Z;
            float tx = x;

            x = tx * cos - y * sin;
            y = tx * sin + y * cos;
        }
      
        public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact,
                ref d.ContactGeom altContact , ref bool useAltcontact, ref bool feetcollision)
        {
            feetcollision = false;
            useAltcontact = false;

            if (me == capsule)
            {
                Vector3 offset;

                float h = contact.pos.Z - _position.Z;
                offset.Z = h - feetOff;

                offset.X = contact.pos.X - _position.X;
                offset.Y = contact.pos.Y - _position.Y;

                d.GeomClassID gtype = d.GeomGetClass(other);
                if (gtype == d.GeomClassID.CapsuleClass)
                {
                    Vector3 roff = offset * Quaternion.Inverse(m_orientation2D);
                    float r = roff.X *roff.X / AvaAvaSizeXsq;
                    r += (roff.Y * roff.Y) / AvaAvaSizeYsq;
                    if (r > 1.0f)
                        return false;

                    float dp = 1.0f -(float)Math.Sqrt((double)r);
                    if (dp > 0.05f)
                        dp = 0.05f;

                    contact.depth = dp;

                    if (offset.Z < 0)
                    {
                        feetcollision = true;
                        if (h < boneOff)
                        {
                            m_collideNormal.X = contact.normal.X;
                            m_collideNormal.Y = contact.normal.Y;
                            m_collideNormal.Z = contact.normal.Z;
                            IsColliding = true;
                        }
                    }
                    return true;
                }               
/*
                d.AABB aabb;
                d.GeomGetAABB(other,out aabb);
                float othertop = aabb.MaxZ - _position.Z;
*/
//                if (offset.Z > 0 || othertop > -feetOff || contact.normal.Z > 0.35f)
                if (offset.Z > 0 || contact.normal.Z > 0.35f)
                {
                    if (offset.Z <= 0)
                    {
                        feetcollision = true;
                        if (h < boneOff)
                        {
                            m_collideNormal.X = contact.normal.X;
                            m_collideNormal.Y = contact.normal.Y;
                            m_collideNormal.Z = contact.normal.Z;
                            IsColliding = true;
                        }
                    }
                    return true;
                }

                altContact = contact;
                useAltcontact = true;

                offset.Z -= 0.2f;

                offset.Normalize();

                if (contact.depth > 0.1f)
                    contact.depth = 0.1f;

                if (reverse)
                {
                    altContact.normal.X = offset.X;
                    altContact.normal.Y = offset.Y;
                    altContact.normal.Z = offset.Z;
                }
                else
                {
                    altContact.normal.X = -offset.X;
                    altContact.normal.Y = -offset.Y;
                    altContact.normal.Z = -offset.Z;
                }

                feetcollision = true;
                if (h < boneOff)
                {
                    m_collideNormal.X = contact.normal.X;
                    m_collideNormal.Y = contact.normal.Y;
                    m_collideNormal.Z = contact.normal.Z;
                    IsColliding = true;
                }
                return true;
            }
            return false;
        }

        /// <summary>
        /// Called from Simulate
        /// This is the avatar's movement control + PID Controller
        /// </summary>
        /// <param name="timeStep"></param>
        public void Move(List<OdeCharacter> defects)
        {
            if (Body == IntPtr.Zero)
                return;

            d.Vector3 dtmp = d.BodyGetPosition(Body);
            Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);

            // the Amotor still lets avatar rotation to drift during colisions
            // so force it back to identity

            d.Quaternion qtmp;
            qtmp.W = m_orientation2D.W;
            qtmp.X = m_orientation2D.X;
            qtmp.Y = m_orientation2D.Y;
            qtmp.Z = m_orientation2D.Z;
            d.BodySetQuaternion(Body, ref qtmp);

            if (m_pidControllerActive == false)
            {
                _zeroPosition = localpos;
            }

            if (!localpos.IsFinite())
            {
                m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
                defects.Add(this);
                // _parent_scene.RemoveCharacter(this);

                // destroy avatar capsule and related ODE data
                AvatarGeomAndBodyDestroy();
                return;
            }

            // check outbounds forcing to be in world
            bool fixbody = false;
            if (localpos.X < 0.0f)
            {
                fixbody = true;
                localpos.X = 0.1f;
            }
            else if (localpos.X > _parent_scene.WorldExtents.X - 0.1f)
            {
                fixbody = true;
                localpos.X = _parent_scene.WorldExtents.X - 0.1f;
            }
            if (localpos.Y < 0.0f)
            {
                fixbody = true;
                localpos.Y = 0.1f;
            }
            else if (localpos.Y > _parent_scene.WorldExtents.Y - 0.1)
            {
                fixbody = true;
                localpos.Y = _parent_scene.WorldExtents.Y - 0.1f;
            }
            if (fixbody)
            {
                m_freemove = false;
                d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
            }

            float breakfactor;

            Vector3 vec = Vector3.Zero;
            dtmp = d.BodyGetLinearVel(Body);
            Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
            float velLengthSquared = vel.LengthSquared();


            Vector3 ctz = _target_velocity;

            float movementdivisor = 1f;
            //Ubit change divisions into multiplications below
            if (!m_alwaysRun)
                movementdivisor = 1 / walkDivisor;
            else
                movementdivisor = 1 / runDivisor;

            ctz.X *= movementdivisor;
            ctz.Y *= movementdivisor;

            //******************************************
            // colide with land

            d.AABB aabb;
//            d.GeomGetAABB(feetbox, out aabb);
            d.GeomGetAABB(capsule, out aabb);
            float chrminZ = aabb.MinZ; // move up a bit
            Vector3 posch = localpos;

            float ftmp;

            if (flying)
            {
                ftmp = timeStep;
                posch.X += vel.X * ftmp;
                posch.Y += vel.Y * ftmp;
            }

            float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
            if (chrminZ < terrainheight)
            {
                if (ctz.Z < 0)
                    ctz.Z = 0;

                Vector3 n = _parent_scene.GetTerrainNormalAtXY(posch.X, posch.Y);
                float depth = terrainheight - chrminZ;

                vec.Z = depth * PID_P * 50;

                if (!flying)
                    vec.Z += -vel.Z * PID_D;

                if (depth < 0.2f)
                {
                    m_colliderGroundfilter++;
                    if (m_colliderGroundfilter > 2)
                    {
                        m_iscolliding = true;
                        m_colliderfilter = 2;

                        if (m_colliderGroundfilter > 10)
                        {
                            m_colliderGroundfilter = 10;
                            m_freemove = false;
                        }

                        m_collideNormal.X = n.X;
                        m_collideNormal.Y = n.Y;
                        m_collideNormal.Z = n.Z;

                        m_iscollidingGround = true;


                        ContactPoint contact = new ContactPoint();
                        contact.PenetrationDepth = depth;
                        contact.Position.X = localpos.X;
                        contact.Position.Y = localpos.Y;
                        contact.Position.Z = terrainheight;
                        contact.SurfaceNormal.X = -n.X;
                        contact.SurfaceNormal.Y = -n.Y;
                        contact.SurfaceNormal.Z = -n.Z;
                        contact.RelativeSpeed = -vel.Z;
                        contact.CharacterFeet = true;
                        AddCollisionEvent(0, contact);

//                        vec.Z *= 0.5f;
                    }
                }

                else
                {
                    m_colliderGroundfilter -= 5;
                    if (m_colliderGroundfilter <= 0)
                    {
                        m_colliderGroundfilter = 0;
                        m_iscollidingGround = false;
                    }
                }
            }
            else
            {
                m_colliderGroundfilter -= 5;
                if (m_colliderGroundfilter <= 0)
                {
                    m_colliderGroundfilter = 0;
                    m_iscollidingGround = false;
                }
            }

            
            //******************************************
            if (!m_iscolliding)
                m_collideNormal.Z = 0;

            bool tviszero = (ctz.X == 0.0f && ctz.Y == 0.0f && ctz.Z == 0.0f);



            if (!tviszero)
            {
                m_freemove = false;

                // movement relative to surface if moving on it
                // dont disturbe vertical movement, ie jumps
                if (m_iscolliding && !flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f)
                {
                    float p = ctz.X * m_collideNormal.X + ctz.Y * m_collideNormal.Y;
                    ctz.X *= (float)Math.Sqrt(1 - m_collideNormal.X * m_collideNormal.X);
                    ctz.Y *= (float)Math.Sqrt(1 - m_collideNormal.Y * m_collideNormal.Y);
                    ctz.Z -= p;
                    if (ctz.Z < 0)
                        ctz.Z *= 2;

                }

            }


            if (!m_freemove)
            {

                //  if velocity is zero, use position control; otherwise, velocity control
                if (tviszero && m_iscolliding && !flying)
                {
                    //  keep track of where we stopped.  No more slippin' & slidin'
                    if (!_zeroFlag)
                    {
                        _zeroFlag = true;
                        _zeroPosition = localpos;
                    }
                    if (m_pidControllerActive)
                    {
                        // We only want to deactivate the PID Controller if we think we want to have our surrogate
                        // react to the physics scene by moving it's position.
                        // Avatar to Avatar collisions
                        // Prim to avatar collisions

                        vec.X = -vel.X * PID_D * 2f + (_zeroPosition.X - localpos.X) * (PID_P * 5);
                        vec.Y = -vel.Y * PID_D * 2f + (_zeroPosition.Y - localpos.Y) * (PID_P * 5);
                        if(vel.Z > 0)
                            vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
                        else
                            vec.Z += (-vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P) * 0.2f;
/*
                        if (flying)
                        {
                            vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
                        }
*/
                    }
                    //PidStatus = true;
                }
                else
                {
                    m_pidControllerActive = true;
                    _zeroFlag = false;

                    if (m_iscolliding)
                    {
                        if (!flying)
                        {
                            // we are on a surface
                            if (ctz.Z > 0f)
                            {
                                // moving up or JUMPING
                                vec.Z += (ctz.Z - vel.Z) * PID_D * 2f;
                                vec.X += (ctz.X - vel.X) * (PID_D);
                                vec.Y += (ctz.Y - vel.Y) * (PID_D);
                            }
                            else
                            {
                                // we are moving down on a surface
                                if (ctz.Z == 0)
                                {
                                    if (vel.Z > 0)
                                        vec.Z -= vel.Z * PID_D * 2f;
                                    vec.X += (ctz.X - vel.X) * (PID_D);
                                    vec.Y += (ctz.Y - vel.Y) * (PID_D);
                                }
                                // intencionally going down
                                else
                                {
                                    if (ctz.Z < vel.Z)
                                        vec.Z += (ctz.Z - vel.Z) * PID_D;
                                    else
                                    {
                                    }

                                    if (Math.Abs(ctz.X) > Math.Abs(vel.X))
                                        vec.X += (ctz.X - vel.X) * (PID_D);
                                    if (Math.Abs(ctz.Y) > Math.Abs(vel.Y))
                                        vec.Y += (ctz.Y - vel.Y) * (PID_D);
                                }
                            }

                            // We're standing on something
                        }
                        else
                        {
                            // We're flying and colliding with something
                            vec.X += (ctz.X - vel.X) * (PID_D * 0.0625f);
                            vec.Y += (ctz.Y - vel.Y) * (PID_D * 0.0625f);
                            vec.Z += (ctz.Z - vel.Z) * (PID_D * 0.0625f);
                        }
                    }
                    else // ie not colliding
                    {
                        if (flying) //(!m_iscolliding && flying)
                        {
                            // we're in mid air suspended
                            vec.X += (ctz.X - vel.X) * (PID_D);
                            vec.Y += (ctz.Y - vel.Y) * (PID_D);
                            vec.Z += (ctz.Z - vel.Z) * (PID_D);
                        }

                        else
                        {
                            // we're not colliding and we're not flying so that means we're falling!
                            // m_iscolliding includes collisions with the ground.

                            // d.Vector3 pos = d.BodyGetPosition(Body);
                            vec.X += (ctz.X - vel.X) * PID_D * 0.833f;
                            vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f;
                            // hack for  breaking on fall
                            if (ctz.Z == -9999f)
                                vec.Z += -vel.Z * PID_D - _parent_scene.gravityz * m_mass;
                        }
                    }
                }

                if (velLengthSquared > 2500.0f) // 50m/s apply breaks
                {
                    breakfactor = 0.16f * m_mass;
                    vec.X -= breakfactor * vel.X;
                    vec.Y -= breakfactor * vel.Y;
                    vec.Z -= breakfactor * vel.Z;
                }
            }
            else
            {
                breakfactor = m_mass;
                vec.X -= breakfactor * vel.X;
                vec.Y -= breakfactor * vel.Y;
                if (flying)
                    vec.Z -= 0.5f * breakfactor * vel.Z;
                else
                    vec.Z -= .16f* m_mass * vel.Z;
            }

            if (flying)
            {
                vec.Z -= _parent_scene.gravityz * m_mass;

                //Added for auto fly height. Kitto Flora
                float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;

                if (localpos.Z < target_altitude)
                {
                    vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
                }
                // end add Kitto Flora
            }

            if (vec.IsFinite())
            {
                if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
                    d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
            }
            else
            {
                m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
                m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
                defects.Add(this);
                // _parent_scene.RemoveCharacter(this);
                // destroy avatar capsule and related ODE data
                AvatarGeomAndBodyDestroy();
                return;
            }

            // update our local ideia of position velocity and aceleration
            //            _position = localpos;
            _position = localpos;

            if (_zeroFlag)
            {
                _velocity = Vector3.Zero;
                _acceleration = Vector3.Zero;
                m_rotationalVelocity = Vector3.Zero;
            }
            else
            {
                Vector3 a =_velocity; // previus velocity
                SetSmooth(ref _velocity, ref vel, 2);
                a = (_velocity - a) * invtimeStep;
                SetSmooth(ref _acceleration, ref a, 2);

                dtmp = d.BodyGetAngularVel(Body);
                m_rotationalVelocity.X = 0f;
                m_rotationalVelocity.Y = 0f;
                m_rotationalVelocity.Z = dtmp.Z;
                Math.Round(m_rotationalVelocity.Z,3);
            }
        }

        public void round(ref Vector3 v, int digits)
        {
            v.X = (float)Math.Round(v.X, digits);
            v.Y = (float)Math.Round(v.Y, digits);
            v.Z = (float)Math.Round(v.Z, digits);
         }

        public void SetSmooth(ref Vector3 dst, ref Vector3 value)
        {
            dst.X = 0.1f * dst.X + 0.9f * value.X;
            dst.Y = 0.1f * dst.Y + 0.9f * value.Y;
            dst.Z = 0.1f * dst.Z + 0.9f * value.Z;
        }

        public void SetSmooth(ref Vector3 dst, ref Vector3 value, int rounddigits)
        {
            dst.X = 0.4f * dst.X + 0.6f * value.X;
            dst.X = (float)Math.Round(dst.X, rounddigits);

            dst.Y = 0.4f * dst.Y + 0.6f * value.Y;
            dst.Y = (float)Math.Round(dst.Y, rounddigits);

            dst.Z = 0.4f * dst.Z + 0.6f * value.Z;
            dst.Z = (float)Math.Round(dst.Z, rounddigits);
        }


        /// <summary>
        /// Updates the reported position and velocity.
        /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
        /// also outbounds checking
        /// copy and outbounds now done in move(..) at ode rate
        /// 
        /// </summary>
        public void UpdatePositionAndVelocity()
        {
            return;

//            if (Body == IntPtr.Zero)
//                return;

        }

        /// <summary>
        /// Cleanup the things we use in the scene.
        /// </summary>
        public void Destroy()
        {
            AddChange(changes.Remove, null);
        }

        public override void CrossingFailure()
        {
        }

        public override Vector3 PIDTarget { set { return; } }
        public override bool PIDActive {get {return m_pidControllerActive;} set { return; } }
        public override float PIDTau { set { return; } }

        public override float PIDHoverHeight { set { return; } }
        public override bool PIDHoverActive { set { return; } }
        public override PIDHoverType PIDHoverType { set { return; } }
        public override float PIDHoverTau { set { return; } }

        public override Quaternion APIDTarget { set { return; } }

        public override bool APIDActive { set { return; } }

        public override float APIDStrength { set { return; } }

        public override float APIDDamping { set { return; } }


        public override void SubscribeEvents(int ms)
        {
            m_eventsubscription = ms;
            m_cureventsubscription = 0;
            if (CollisionEventsThisFrame == null)
                CollisionEventsThisFrame = new CollisionEventUpdate();
            SentEmptyCollisionsEvent = false;
        }

        public override void UnSubscribeEvents()
        {
            if (CollisionEventsThisFrame != null)
            {
                lock (CollisionEventsThisFrame)
                {
                    CollisionEventsThisFrame.Clear();
                    CollisionEventsThisFrame = null;
                }
            }
            m_eventsubscription = 0;
        }

        public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
        {
            if (CollisionEventsThisFrame == null)
                CollisionEventsThisFrame = new CollisionEventUpdate();
            lock (CollisionEventsThisFrame)
            {
                CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
                _parent_scene.AddCollisionEventReporting(this);
            }
        }

        public void SendCollisions()
        {
            if (CollisionEventsThisFrame == null)
                return;

            lock (CollisionEventsThisFrame)
            {
                if (m_cureventsubscription < m_eventsubscription)
                    return;

                m_cureventsubscription = 0;

                int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count;

                if (!SentEmptyCollisionsEvent || ncolisions > 0)
                {
                    base.SendCollisionUpdate(CollisionEventsThisFrame);

                    if (ncolisions == 0)
                    {
                        SentEmptyCollisionsEvent = true;
                        _parent_scene.RemoveCollisionEventReporting(this);
                    }
                    else
                    {
                        SentEmptyCollisionsEvent = false;
                        CollisionEventsThisFrame.Clear();
                    }
                }
            }           
        }

        internal void AddCollisionFrameTime(int t)
        {
            // protect it from overflow crashing
            if (m_cureventsubscription < 50000)
                m_cureventsubscription += t;
        }

        public override bool SubscribedEvents()
        {
            if (m_eventsubscription > 0)
                return true;
            return false;
        }

        private void changePhysicsStatus(bool NewStatus)
        {
            if (NewStatus != m_isPhysical)
            {
                if (NewStatus)
                {
                    AvatarGeomAndBodyDestroy();

                    AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);

                    _parent_scene.actor_name_map[collider] = (PhysicsActor)this;
                    _parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
                    _parent_scene.AddCharacter(this);
                }
                else
                {
                    _parent_scene.RemoveCollisionEventReporting(this);
                    _parent_scene.RemoveCharacter(this);
                    // destroy avatar capsule and related ODE data
                    AvatarGeomAndBodyDestroy();
                }
                m_freemove = false;
                m_isPhysical = NewStatus;
            }
        }

        private void changeAdd()
        {
            changePhysicsStatus(true);
        }

        private void changeRemove()
        {
            changePhysicsStatus(false);
        }

        private void changeShape(PrimitiveBaseShape arg)
        {
        }

        private void changeAvatarSize(strAvatarSize st)
        {
            m_feetOffset = st.offset;
            changeSize(st.size);
        }

        private void changeSize(Vector3 pSize)
        {
            if (pSize.IsFinite())
            {
                // for now only look to Z changes since viewers also don't change X and Y
                if (pSize.Z != m_size.Z)
                {
                    AvatarGeomAndBodyDestroy();


                    float oldsz = m_size.Z;
                    m_size = pSize;


                    AvatarGeomAndBodyCreation(_position.X, _position.Y,
                                      _position.Z + (m_size.Z - oldsz) * 0.5f);

                    Velocity = Vector3.Zero;
                    

                    _parent_scene.actor_name_map[collider] = (PhysicsActor)this;
                    _parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
                }
                m_freemove = false;
                m_pidControllerActive = true;
            }
            else
            {
                m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
            }
        }

        private void changePosition( Vector3 newPos)
            {
                if (Body != IntPtr.Zero)
                    d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
                _position = newPos;
                m_freemove = false;
                m_pidControllerActive = true;               
            }

        private void changeOrientation(Quaternion newOri)
        {
            if (m_orientation != newOri)
            {
                m_orientation = newOri; // keep a copy for core use
                // but only use rotations around Z

                m_orientation2D.W = newOri.W;
                m_orientation2D.Z = newOri.Z;

                float t = m_orientation2D.W * m_orientation2D.W + m_orientation2D.Z * m_orientation2D.Z;
                if (t > 0)
                {
                    t = 1.0f / (float)Math.Sqrt(t);
                    m_orientation2D.W *= t;
                    m_orientation2D.Z *= t;
                }
                else
                {
                    m_orientation2D.W = 1.0f;
                    m_orientation2D.Z = 0f;
                }
                m_orientation2D.Y = 0f;
                m_orientation2D.X = 0f;

                d.Quaternion myrot = new d.Quaternion();
                myrot.X = m_orientation2D.X;
                myrot.Y = m_orientation2D.Y;
                myrot.Z = m_orientation2D.Z;
                myrot.W = m_orientation2D.W;
                d.BodySetQuaternion(Body, ref myrot);
            }
        }

        private void changeVelocity(Vector3 newVel)
        {
            m_pidControllerActive = true;
            m_freemove = false;
            _target_velocity = newVel;
        }

        private void changeSetTorque(Vector3 newTorque)
        {
        }                                 

        private void changeAddForce(Vector3 newForce)
        {
        }                                 

        private void changeAddAngularForce(Vector3 arg)
        {
        }                                 

        private void changeAngularLock(Vector3 arg)
        {
        }                                 

        private void changeFloatOnWater(bool arg)
        {
        }                                 

        private void changeVolumedetetion(bool arg)
        {
        }                                 

        private void changeSelectedStatus(bool arg)
        {
        }                                 

        private void changeDisable(bool arg)
        {
        }                                 

        private void changeBuilding(bool arg)
        {
        }

        private void setFreeMove()
        {
            m_pidControllerActive = true;
            _zeroFlag = false;
            _target_velocity = Vector3.Zero;
            m_freemove = true;
            m_colliderfilter = -1;
            m_colliderObjectfilter = -1;
            m_colliderGroundfilter = -1;

            m_iscolliding = false;
            m_iscollidingGround = false;
            m_iscollidingObj = false;

            CollisionEventsThisFrame.Clear();
        }

        private void changeForce(Vector3 newForce)
        {
            setFreeMove();

            if (Body != IntPtr.Zero)
            {
                if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
                    d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
            }
        }

        // for now momentum is actually velocity
        private void changeMomentum(Vector3 newmomentum)
        {
            _velocity = newmomentum;
            setFreeMove();

            if (Body != IntPtr.Zero)
                d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
        }

        private void donullchange()
        {
        }

        public bool DoAChange(changes what, object arg)
        {
            if (collider == IntPtr.Zero && what != changes.Add && what != changes.Remove)
            {
                return false;
            }

            // nasty switch
            switch (what)
            {
                case changes.Add:
                    changeAdd();
                    break;
                case changes.Remove:
                    changeRemove();
                    break;

                case changes.Position:
                    changePosition((Vector3)arg);
                    break;

                case changes.Orientation:
                    changeOrientation((Quaternion)arg);
                    break;

                case changes.PosOffset:
                    donullchange();
                    break;

                case changes.OriOffset:
                    donullchange();
                    break;

                case changes.Velocity:
                    changeVelocity((Vector3)arg);
                    break;

                //                case changes.Acceleration:
                //                    changeacceleration((Vector3)arg);
                //                    break;
                //                case changes.AngVelocity:
                //                    changeangvelocity((Vector3)arg);
                //                    break;

                case changes.Force:
                    changeForce((Vector3)arg);
                    break;

                case changes.Torque:
                    changeSetTorque((Vector3)arg);
                    break;

                case changes.AddForce:
                    changeAddForce((Vector3)arg);
                    break;

                case changes.AddAngForce:
                    changeAddAngularForce((Vector3)arg);
                    break;

                case changes.AngLock:
                    changeAngularLock((Vector3)arg);
                    break;

                case changes.Size:
                    changeSize((Vector3)arg);
                    break;

                case changes.AvatarSize:
                    changeAvatarSize((strAvatarSize)arg);
                    break;

                case changes.Momentum:
                    changeMomentum((Vector3)arg);
                    break;
/* not in use for now
                case changes.Shape:
                    changeShape((PrimitiveBaseShape)arg);
                    break;

                case changes.CollidesWater:
                    changeFloatOnWater((bool)arg);
                    break;

                case changes.VolumeDtc:
                    changeVolumedetetion((bool)arg);
                    break;

                case changes.Physical:
                    changePhysicsStatus((bool)arg);
                    break;

                case changes.Selected:
                    changeSelectedStatus((bool)arg);
                    break;

                case changes.disabled:
                    changeDisable((bool)arg);
                    break;

                case changes.building:
                    changeBuilding((bool)arg);
                    break;
*/
                case changes.Null:
                    donullchange();
                    break;

                default:
                    donullchange();
                    break;
            }
            return false;
        }

        public void AddChange(changes what, object arg)
        {
            _parent_scene.AddChange((PhysicsActor)this, what, arg);
        }

        private struct strAvatarSize
        {
            public Vector3 size;
            public float offset;
        }

    }
}