/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyrightD
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the OpenSimulator Project nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
using System;
using System.Collections.Generic;
using System.IO;
using System.Runtime.InteropServices;
using System.Text;

using OpenSim.Framework;

using OpenMetaverse;

using BulletXNA;
using BulletXNA.LinearMath;
using BulletXNA.BulletCollision;
using BulletXNA.BulletDynamics;
using BulletXNA.BulletCollision.CollisionDispatch;

namespace OpenSim.Region.PhysicsModule.BulletS
{
    public sealed class BSAPIXNA : BSAPITemplate
    {
        private sealed class BulletWorldXNA : BulletWorld
        {
            public DiscreteDynamicsWorld world;
            public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx)
                : base(id, physScene)
            {
                world = xx;
            }
        }

        private sealed class BulletBodyXNA : BulletBody
        {
            public CollisionObject body;
            public RigidBody rigidBody { get { return RigidBody.Upcast(body); } }

            public BulletBodyXNA(uint id, CollisionObject xx)
                : base(id)
            {
                body = xx;
            }
            public override bool HasPhysicalBody
            {
                get { return body != null; }
            }
            public override void Clear()
            {
                body = null;
            }
            public override string AddrString
            {
                get { return "XNARigidBody"; }
            }
        }

        private sealed class BulletShapeXNA : BulletShape
        {
            public CollisionShape shape;
            public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ)
                : base()
            {
                shape = xx;
                shapeType = typ;
            }
            public override bool HasPhysicalShape
            {
                get { return shape != null; }
            }
            public override void Clear()
            {
                shape = null;
            }
            public override BulletShape Clone()
            {
                return new BulletShapeXNA(shape, shapeType);
            }
            public override bool ReferenceSame(BulletShape other)
            {
                BulletShapeXNA otheru = other as BulletShapeXNA;
                return (otheru != null) && (this.shape == otheru.shape);

            }
            public override string AddrString
            {
                get { return "XNACollisionShape"; }
            }
        }

        private sealed class BulletConstraintXNA : BulletConstraint
        {
            public TypedConstraint constrain;
            public BulletConstraintXNA(TypedConstraint xx) : base()
            {
                constrain = xx;
            }

            public override void Clear()
            {
                constrain = null;
            }
            public override bool HasPhysicalConstraint { get { return constrain != null; } }

            // Used for log messages for a unique display of the memory/object allocated to this instance
            public override string AddrString
            {
                get { return "XNAConstraint"; }
            }
        }

        internal int m_maxCollisions;
        internal CollisionDesc[] UpdatedCollisions;
        internal int LastCollisionDesc = 0;
        internal int m_maxUpdatesPerFrame;
        internal int LastEntityProperty = 0;

        internal EntityProperties[] UpdatedObjects;
        internal Dictionary<uint, GhostObject> specialCollisionObjects;

        private static int m_collisionsThisFrame;
        private BSScene PhysicsScene { get; set; }

        public override string BulletEngineName { get { return "BulletXNA"; } }
        public override string BulletEngineVersion { get; protected set; }

        public BSAPIXNA(string paramName, BSScene physScene)
        {
            PhysicsScene = physScene;
            BulletEngineVersion = "XNA";
        }

        /// <summary>
        ///
        /// </summary>
        /// <param name="p"></param>
        /// <param name="p_2"></param>
        public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
            CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
            if (body != null)
                world.RemoveRigidBody(body);
            else if (collisionObject != null)
                world.RemoveCollisionObject(collisionObject);
            else
                return false;
            return true;
        }

        public override bool ClearCollisionProxyCache(BulletWorld pWorld, BulletBody pBody)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
            CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
            if (body != null && collisionObject != null && collisionObject.GetBroadphaseHandle() != null)
            {
                world.RemoveCollisionObject(collisionObject);
                world.AddCollisionObject(collisionObject);
            }
            return true;
        }

        public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
            world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
	
            return true;
	
        }

        public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
            world.RemoveConstraint(constraint);
            return true;
        }

        public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            collisionObject.SetRestitution(pRestitution);
        }

        public override int GetShapeType(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return (int)shape.GetShapeType();
        }

        public override void SetMargin(BulletShape pShape, float pMargin)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            shape.SetMargin(pMargin);
        }
	
        public override float GetMargin(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.GetMargin();
        }
	
        public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
            shape.SetLocalScaling(ref vec);
        }

        public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            collisionObject.SetContactProcessingThreshold(contactprocessingthreshold);
        }

        public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
        }

        public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
        }

        public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
        }

        public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
            existingcollisionFlags |= pcollisionFlags;
            collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
            return (CollisionFlags) (uint) existingcollisionFlags;
        }

        public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionObject cbody = (pBody as BulletBodyXNA).body;
            RigidBody rbody = cbody as RigidBody;
	
            // Bullet resets several variables when an object is added to the world. In particular,
            //   BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
            //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
            IndexedMatrix origPos = cbody.GetWorldTransform();
            if (rbody != null)
            {
                IndexedVector3 origGrav = rbody.GetGravity();
                world.AddRigidBody(rbody);
                rbody.SetGravity(origGrav);
            }
            else
            {
                world.AddCollisionObject(cbody);
            }
            cbody.SetWorldTransform(origPos);
	
            pBody.ApplyCollisionMask(pWorld.physicsScene);
	
            //if (body.GetBroadphaseHandle() != null)
            //    world.UpdateSingleAabb(body);
            return true;
        }

        public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
        }

        public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            world.UpdateSingleAabb(collisionObject);
        }

        public override void UpdateAabbs(BulletWorld pWorld)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            world.UpdateAabbs();
        }

        public override bool GetForceUpdateAllAabbs(BulletWorld pWorld)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            return world.GetForceUpdateAllAabbs();
	
        }

        public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            world.SetForceUpdateAllAabbs(pForce);
        }

        public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
            collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
            if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0)
                return false;
            return true;
        }
	
        public override void ClearAllForces(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
            collisionObject.SetInterpolationLinearVelocity(ref zeroVector);
            collisionObject.SetInterpolationAngularVelocity(ref zeroVector);
            IndexedMatrix bodytransform = collisionObject.GetWorldTransform();
	
            collisionObject.SetInterpolationWorldTransform(ref bodytransform);
	
            if (collisionObject is RigidBody)
            {
                RigidBody rigidbody = collisionObject as RigidBody;
                rigidbody.SetLinearVelocity(zeroVector);
                rigidbody.SetAngularVelocity(zeroVector);
                rigidbody.ClearForces();
            }
        }
	
        public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
            collisionObject.SetInterpolationAngularVelocity(ref vec);
        }
	
        public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
            body.SetAngularVelocity(ref vec);
        }
        public override Vector3 GetTotalForce(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 iv3 = body.GetTotalForce();
            return new Vector3(iv3.X, iv3.Y, iv3.Z);
        }
        public override Vector3 GetTotalTorque(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 iv3 = body.GetTotalTorque();
            return new Vector3(iv3.X, iv3.Y, iv3.Z);
        }
        public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 iv3 = body.GetInvInertiaDiagLocal();
            return new Vector3(iv3.X, iv3.Y, iv3.Z);
        }
        public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z);
            body.SetInvInertiaDiagLocal(ref iv3);
        }
        public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z);
            IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
            body.ApplyForce(ref forceiv3, ref posiv3);
        }
        public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z);
            IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
            body.ApplyImpulse(ref impiv3, ref posiv3);
        }
	
        public override void ClearForces(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            body.ClearForces();
        }
	
        public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
            IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
                                                                  _orientation.W);
            IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
            mat._origin = vposition;
            collisionObject.SetWorldTransform(mat);
	
        }
	
        public override Vector3 GetPosition(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin;
            return new Vector3(pos.X, pos.Y, pos.Z);
        }
	
        public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            IndexedVector3 inertia = IndexedVector3.Zero;
            shape.CalculateLocalInertia(pphysMass, out inertia);
            return new Vector3(inertia.X, inertia.Y, inertia.Z);
        }
	
        public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            if (body != null) // Can't set mass props on collision object.
            {
                IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
                body.SetMassProps(pphysMass, inertia);
            }
        }
	
	
        public override void SetObjectForce(BulletBody pBody, Vector3 _force)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
            body.SetTotalForce(ref force);
        }
	
        public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            collisionObject.SetFriction(_currentFriction);
        }
	
        public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
            body.SetLinearVelocity(velocity);
        }
	
        public override void Activate(BulletBody pCollisionObject, bool pforceactivation)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            collisionObject.Activate(pforceactivation);
	
        }
	
        public override Quaternion GetOrientation(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation();
            return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
        }
	
        public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
            existingcollisionFlags &= ~pcollisionFlags;
            collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
            return (CollisionFlags)(uint)existingcollisionFlags;
        }
	
        public override float GetCcdMotionThreshold(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            return collisionObject.GetCcdSquareMotionThreshold();
        }
	
        public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            return collisionObject.GetCcdSweptSphereRadius();
	
        }
	
        public override IntPtr GetUserPointer(BulletBody pCollisionObject)
        {
            CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
            return (IntPtr)shape.GetUserPointer();
        }
	
        public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val)
        {
            CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
            shape.SetUserPointer(val);
        }
	
        public override void SetGravity(BulletBody pBody, Vector3 pGravity)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            if (body != null) // Can't set collisionobject.set gravity
            {
                IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
                body.SetGravity(gravity);
            }
        }
	
        public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
            world.RemoveConstraint(constraint);
            return true;
        }
	
        public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
        {
            Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
            IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
            IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
            constraint.SetLinearLowerLimit(lowlimit);
            constraint.SetLinearUpperLimit(highlimit);
            return true;
        }
	
        public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
        {
            Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
            IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
            IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
            constraint.SetAngularLowerLimit(lowlimit);
            constraint.SetAngularUpperLimit(highlimit);
            return true;
        }
	
        public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
        {
            Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
            constraint.SetOverrideNumSolverIterations((int)cnt);
        }
	
        public override bool CalculateTransforms(BulletConstraint pConstraint)
        {
            Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
            constraint.CalculateTransforms();
            return true;
        }
	
        public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
        {
            Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
            constraint.SetEnabled((p_2 == 0) ? false : true);
        }
	
	
        public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
                                        Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
                                        bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
	
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
            IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
            IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
            IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
            frame1._origin = frame1v;
	
            IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
            IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
            IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
            frame2._origin = frame2v;
	
            Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
                                                                      puseLinearReferenceFrameA);
            consttr.CalculateTransforms();
            world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
	
            return new BulletConstraintXNA(consttr);
        }
	
        public override BulletConstraint Create6DofConstraintFixed(BulletWorld pWorld, BulletBody pBody1,
                                            Vector3 pframe1, Quaternion pframe1rot,
                                            bool pUseLinearReferenceFrameB, bool pdisableCollisionsBetweenLinkedBodies)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
            IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
            IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
            IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
            frame1._origin = frame1v;
	
            Generic6DofConstraint consttr = new Generic6DofConstraint(body1, ref frame1, pUseLinearReferenceFrameB);
            consttr.CalculateTransforms();
            world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
	
            return new BulletConstraintXNA(consttr);
        }
	
        /// <summary>
        ///
        /// </summary>
        /// <param name="pWorld"></param>
        /// <param name="pBody1"></param>
        /// <param name="pBody2"></param>
        /// <param name="pjoinPoint"></param>
        /// <param name="puseLinearReferenceFrameA"></param>
        /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
        /// <returns></returns>
        public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
            IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
            IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
	
            IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
            IndexedMatrix mat = IndexedMatrix.Identity;
            mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
            frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
            frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
	
            Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
            consttr.CalculateTransforms();
            world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
	
            return new BulletConstraintXNA(consttr);
        }
        //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
        public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
        {
            Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
            IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
            IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
            IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
            frame1._origin = frame1v;
	
            IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
            IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
            IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
            frame2._origin = frame2v;
            constraint.SetFrames(ref frame1, ref frame2);
            return true;
        }
	
        public override Vector3 GetLinearVelocity(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 iv3 = body.GetLinearVelocity();
            return new Vector3(iv3.X, iv3.Y, iv3.Z);
        }
        public override Vector3 GetAngularVelocity(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 iv3 = body.GetAngularVelocity();
            return new Vector3(iv3.X, iv3.Y, iv3.Z);
        }
        public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
            IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3);
            return new Vector3(iv3.X, iv3.Y, iv3.Z);
        }
        public override void Translate(BulletBody pCollisionObject, Vector3 trans)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z));
        }
        public override void UpdateDeactivation(BulletBody pBody, float timeStep)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            body.UpdateDeactivation(timeStep);
        }
	
        public override bool WantsSleeping(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            return body.WantsSleeping();
        }
	
        public override void SetAngularFactor(BulletBody pBody, float factor)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            body.SetAngularFactor(factor);
        }
	
        public override Vector3 GetAngularFactor(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 iv3 =  body.GetAngularFactor();
            return new Vector3(iv3.X, iv3.Y, iv3.Z);
        }
	
        public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            return world.IsInWorld(collisionObject);
        }
	
        public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
            body.AddConstraintRef(constrain);
        }
	
        public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
            body.RemoveConstraintRef(constrain);
        }
	
        public override BulletConstraint GetConstraintRef(BulletBody pBody, int index)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            return new BulletConstraintXNA(body.GetConstraintRef(index));
        }
	
        public override int GetNumConstraintRefs(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            return body.GetNumConstraintRefs();
        }
	
        public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
            collisionObject.SetInterpolationLinearVelocity(ref velocity);
        }
	
        public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
        {
            Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
            constraint.SetUseFrameOffset((onOff == 0) ? false : true);
            return true;
        }
        //SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
        public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
        {
            Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
            constraint.SetBreakingImpulseThreshold(threshold);
            return true;
        }
        public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation)
        {
            HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint;
            if (softness == HINGE_NOT_SPECIFIED)
                constraint.SetLimit(low, high);
            else
                constraint.SetLimit(low, high, softness, bias, relaxation);
            return true;
        }
        public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse)
        {
            Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
            constraint.EnableSpring(index, (numericTrueFalse == 0f ? false : true));
            return true;
        }
	
        public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint)
        {
            Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
            if (index == SPRING_NOT_SPECIFIED)
            {
                constraint.SetEquilibriumPoint();
            }
            else
            {
                if (equilibriumPoint == SPRING_NOT_SPECIFIED)
                    constraint.SetEquilibriumPoint(index);
                else
                    constraint.SetEquilibriumPoint(index, equilibriumPoint);
            }
            return true;
        }
	
        public override bool SpringSetStiffness(BulletConstraint pConstraint, int index, float stiffness)
        {
            Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
            constraint.SetStiffness(index, stiffness);
            return true;
        }
	
        public override bool SpringSetDamping(BulletConstraint pConstraint, int index, float damping)
        {
            Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
            constraint.SetDamping(index, damping);
            return true;
        }
	
        public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val)
        {
            SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
            switch (lowerUpper)
            {
                case SLIDER_LOWER_LIMIT:
                    switch (linAng)
                    {
                        case SLIDER_LINEAR:
                            constraint.SetLowerLinLimit(val);
                            break;
                        case SLIDER_ANGULAR:
                            constraint.SetLowerAngLimit(val);
                            break;
                    }
                    break;
                case SLIDER_UPPER_LIMIT:
                    switch (linAng)
                    {
                        case SLIDER_LINEAR:
                            constraint.SetUpperLinLimit(val);
                            break;
                        case SLIDER_ANGULAR:
                            constraint.SetUpperAngLimit(val);
                            break;
                    }
                    break;
            }
            return true;
        }
        public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val)
        {
            SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
            switch (softRestDamp)
            {
                case SLIDER_SET_SOFTNESS:
                    switch (dirLimOrtho)
                    {
                        case SLIDER_SET_DIRECTION:
                            switch (linAng)
                            {
                                case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break;
                                case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break;
                            }
                            break;
                        case SLIDER_SET_LIMIT:
                            switch (linAng)
                            {
                                case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break;
                                case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break;
                            }
                            break;
                        case SLIDER_SET_ORTHO:
                            switch (linAng)
                            {
                                case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break;
                                case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break;
                            }
                            break;
                    }
                    break;
                case SLIDER_SET_RESTITUTION:
                    switch (dirLimOrtho)
                    {
                        case SLIDER_SET_DIRECTION:
                            switch (linAng)
                            {
                                case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break;
                                case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break;
                            }
                            break;
                        case SLIDER_SET_LIMIT:
                            switch (linAng)
                            {
                                case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break;
                                case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break;
                            }
                            break;
                        case SLIDER_SET_ORTHO:
                            switch (linAng)
                            {
                                case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break;
                                case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break;
                            }
                            break;
                    }
                    break;
                case SLIDER_SET_DAMPING:
                    switch (dirLimOrtho)
                    {
                        case SLIDER_SET_DIRECTION:
                            switch (linAng)
                            {
                                case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break;
                                case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break;
                            }
                            break;
                        case SLIDER_SET_LIMIT:
                            switch (linAng)
                            {
                                case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break;
                                case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break;
                            }
                            break;
                        case SLIDER_SET_ORTHO:
                            switch (linAng)
                            {
                                case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break;
                                case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break;
                            }
                            break;
                    }
                    break;
            }
            return true;
        }
        public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse)
        {
            SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
            switch (linAng)
            {
                case SLIDER_LINEAR:
                    constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true);
                    break;
                case SLIDER_ANGULAR:
                    constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true);
                    break;
            }
            return true;
        }
        public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val)
        {
            SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
            switch (forceVel)
            {
                case SLIDER_MOTOR_VELOCITY:
                    switch (linAng)
                    {
                        case SLIDER_LINEAR:
                            constraint.SetTargetLinMotorVelocity(val);
                            break;
                        case SLIDER_ANGULAR:
                            constraint.SetTargetAngMotorVelocity(val);
                            break;
                    }
                    break;
                case SLIDER_MAX_MOTOR_FORCE:
                    switch (linAng)
                    {
                        case SLIDER_LINEAR:
                            constraint.SetMaxLinMotorForce(val);
                            break;
                        case SLIDER_ANGULAR:
                            constraint.SetMaxAngMotorForce(val);
                            break;
                    }
                    break;
            }
            return true;
        }
	
        //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
        public override void SetAngularDamping(BulletBody pBody, float angularDamping)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            float lineardamping = body.GetLinearDamping();
            body.SetDamping(lineardamping, angularDamping);
	
        }
	
        public override void UpdateInertiaTensor(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            if (body != null)  // can't update inertia tensor on CollisionObject
                body.UpdateInertiaTensor();
        }
	
        public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
        {
            CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
            shape.RecalculateLocalAabb();
        }
	
        //BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
        public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            uint flags = (uint)collisionObject.GetCollisionFlags();
            return (CollisionFlags) flags;
        }
	
        public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            body.SetDamping(pLinear, pAngular);
        }
        //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
        public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            collisionObject.SetDeactivationTime(pDeactivationTime);
        }
        //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
        public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
        }
	
        public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
        }
	
        public override void ApplyGravity(BulletBody pBody)
        {
	
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            body.ApplyGravity();
        }
	
        public override Vector3 GetGravity(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 gravity = body.GetGravity();
            return new Vector3(gravity.X, gravity.Y, gravity.Z);
        }
	
        public override void SetLinearDamping(BulletBody pBody, float lin_damping)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            float angularDamping = body.GetAngularDamping();
            body.SetDamping(lin_damping, angularDamping);
        }
	
        public override float GetLinearDamping(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            return body.GetLinearDamping();
        }
	
        public override float GetAngularDamping(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            return body.GetAngularDamping();
        }
	
        public override float GetLinearSleepingThreshold(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            return body.GetLinearSleepingThreshold();
        }
	
        public override void ApplyDamping(BulletBody pBody, float timeStep)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            body.ApplyDamping(timeStep);
        }
	
        public override Vector3 GetLinearFactor(BulletBody pBody)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 linearFactor = body.GetLinearFactor();
            return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z);
        }
	
        public override void SetLinearFactor(BulletBody pBody, Vector3 factor)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z));
        }
	
        public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W);
            IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat);
            mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z);
            body.SetCenterOfMassTransform( ref mat);
            /* TODO: double check this */
        }
	
        //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum);
        public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
            body.ApplyCentralForce(ref fSum);
        }
        public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
            body.ApplyCentralImpulse(ref fSum);
        }
        public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
            body.ApplyTorque(ref fSum);
        }
        public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
        {
            RigidBody body = (pBody as BulletBodyXNA).rigidBody;
            IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
            body.ApplyTorqueImpulse(ref fSum);
        }
	
        public override void DestroyObject(BulletWorld pWorld, BulletBody pBody)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionObject co = (pBody as BulletBodyXNA).rigidBody;
            RigidBody bo = co as RigidBody;
            if (bo == null)
            {
	
                if (world.IsInWorld(co))
                {
                    world.RemoveCollisionObject(co);
                }
            }
            else
            {
	
                if (world.IsInWorld(bo))
                {
                    world.RemoveRigidBody(bo);
                }
            }
            if (co != null)
            {
                if (co.GetUserPointer() != null)
                {
                    uint localId = (uint) co.GetUserPointer();
                    if (specialCollisionObjects.ContainsKey(localId))
                    {
                        specialCollisionObjects.Remove(localId);
                    }
                }
            }
	
        }
	
        public override void Shutdown(BulletWorld pWorld)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            world.Cleanup();
        }
	
        public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id)
        {
            CollisionShape shape1 = (pShape as BulletShapeXNA).shape;
	
            // TODO:  Turn this from a reference copy to a Value Copy.
            BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType()));
	
            return shape2;
        }
	
        public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape)
        {
            //TODO:
            return false;
        }
        //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
	
        public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
        {
            CollisionWorld world = (pWorld as BulletWorldXNA).world;
            IndexedMatrix mat =
                IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
                                                                         pRawOrientation.Z, pRawOrientation.W));
            mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            //UpdateSingleAabb(world, shape);
            // TODO: Feed Update array into null
            SimMotionState motionState = new SimMotionState(this, pLocalID, mat, null);
            RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero);
            RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, motionState, shape, IndexedVector3.Zero)
                                                             {
                                                                 m_mass = 0
                                                             };
            /*
                m_mass = mass;
                m_motionState =motionState;
                m_collisionShape = collisionShape;
                m_localInertia = localInertia;
                m_linearDamping = 0f;
                m_angularDamping = 0f;
                m_friction = 0.5f;
                m_restitution = 0f;
                m_linearSleepingThreshold = 0.8f;
                m_angularSleepingThreshold = 1f;
                m_additionalDamping = false;
                m_additionalDampingFactor = 0.005f;
                m_additionalLinearDampingThresholdSqr = 0.01f;
                m_additionalAngularDampingThresholdSqr = 0.01f;
                m_additionalAngularDampingFactor = 0.01f;
                m_startWorldTransform = IndexedMatrix.Identity;
            */
            body.SetUserPointer(pLocalID);
	
            return new BulletBodyXNA(pLocalID, body);
        }
	
	
        public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
        {
	
            IndexedMatrix mat =
                IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
                                                                         pRawOrientation.Z, pRawOrientation.W));
            mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
	
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
	
            // TODO: Feed Update array into null
            RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
            body.SetWorldTransform(mat);
            body.SetUserPointer(pLocalID);
            return new BulletBodyXNA(pLocalID, body);
        }
        //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
        public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
            return (CollisionFlags)collisionObject.GetCollisionFlags();
        }
	
        public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
        {
	
            /* TODO */
            return Vector3.Zero;
        }
        public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
        public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
        public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; }
        public override bool IsStaticObject(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            return collisionObject.IsStaticObject();
	
        }
        public override bool IsKinematicObject(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            return collisionObject.IsKinematicObject();
        }
        public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            return collisionObject.IsStaticOrKinematicObject();
        }
        public override bool HasContactResponse(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            return collisionObject.HasContactResponse();
        }
        public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; }
        public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ }
        public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; }
        public override bool IsActive(BulletBody pBody) { /* TODO */ return false; }
        public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; }
        public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; }
        public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ }
        public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; }
	
        //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
        public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            collisionObject.SetHitFraction(pHitFraction);
        }
        //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
        public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
            CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
            capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
            capsuleShapeZ.SetLocalScaling(ref scale);
	
            return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE);
        }
	
        public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
                                                int maxCollisions, ref CollisionDesc[] collisionArray,
                                                int maxUpdates, ref EntityProperties[] updateArray
                                                )
        {
	
            UpdatedObjects = updateArray;
            UpdatedCollisions = collisionArray;
            /* TODO */
            ConfigurationParameters[] configparms = new ConfigurationParameters[1];
            configparms[0] = parms;
            Vector3 worldExtent = maxPosition;
            m_maxCollisions = maxCollisions;
            m_maxUpdatesPerFrame = maxUpdates;
            specialCollisionObjects = new Dictionary<uint, GhostObject>();
	
            return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
        }
	
        private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
                            ConfigurationParameters[] o,
                            int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
                            int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
                            object mDebugLogCallbackHandle)
        {
            CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
	
            p.angularDamping = BSParam.AngularDamping;
            p.defaultFriction = o[0].defaultFriction;
            p.defaultFriction = o[0].defaultFriction;
            p.defaultDensity = o[0].defaultDensity;
            p.defaultRestitution = o[0].defaultRestitution;
            p.collisionMargin = o[0].collisionMargin;
            p.gravity = o[0].gravity;
	
            p.linearDamping = BSParam.LinearDamping;
            p.angularDamping = BSParam.AngularDamping;
            p.deactivationTime = BSParam.DeactivationTime;
            p.linearSleepingThreshold = BSParam.LinearSleepingThreshold;
            p.angularSleepingThreshold = BSParam.AngularSleepingThreshold;
            p.ccdMotionThreshold = BSParam.CcdMotionThreshold;
            p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius;
            p.contactProcessingThreshold = BSParam.ContactProcessingThreshold;
	
            p.terrainImplementation = BSParam.TerrainImplementation;
            p.terrainFriction = BSParam.TerrainFriction;
	
            p.terrainHitFraction = BSParam.TerrainHitFraction;
            p.terrainRestitution = BSParam.TerrainRestitution;
            p.terrainCollisionMargin = BSParam.TerrainCollisionMargin;
	
            p.avatarFriction = BSParam.AvatarFriction;
            p.avatarStandingFriction = BSParam.AvatarStandingFriction;
            p.avatarDensity = BSParam.AvatarDensity;
            p.avatarRestitution = BSParam.AvatarRestitution;
            p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth;
            p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
            p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
            p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
	
            p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
	
            p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
            p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
            p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
            p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
            p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
            p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
            p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
            p.numberOfSolverIterations = o[0].numberOfSolverIterations;
	
            p.linksetImplementation = BSParam.LinksetImplementation;
            p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset);
            p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor);
            p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
            p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
            p.linkConstraintERP = BSParam.LinkConstraintERP;
            p.linkConstraintCFM = BSParam.LinkConstraintCFM;
            p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
            p.physicsLoggingFrames = o[0].physicsLoggingFrames;
            DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
	
            DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
            CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
	
	
            if (p.maxPersistantManifoldPoolSize > 0)
                cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
            if (p.shouldDisableContactPoolDynamicAllocation !=0)
                m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
            //if (p.maxCollisionAlgorithmPoolSize >0 )
	
            DbvtBroadphase m_broadphase = new DbvtBroadphase();
            //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
            //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
	
            //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
            m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
	
            SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
	
            DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
	
            world.LastCollisionDesc = 0;
            world.LastEntityProperty = 0;
	
            world.WorldSettings.Params = p;
            world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
            world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
            if (p.shouldRandomizeSolverOrder != 0)
                world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
	
            world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
            //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
	
            if (p.shouldEnableFrictionCaching != 0)
                world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
	
            if (p.numberOfSolverIterations > 0)
                world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
	
	
            world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
            world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
            world.GetSolverInfo().m_globalCfm = 0.0f;
            world.GetSolverInfo().m_tau = 0.6f;
            world.GetSolverInfo().m_friction = 0.3f;
            world.GetSolverInfo().m_maxErrorReduction = 20f;
            world.GetSolverInfo().m_numIterations = 10;
            world.GetSolverInfo().m_erp = 0.2f;
            world.GetSolverInfo().m_erp2 = 0.1f;
            world.GetSolverInfo().m_sor = 1.0f;
            world.GetSolverInfo().m_splitImpulse = false;
            world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
            world.GetSolverInfo().m_linearSlop = 0.0f;
            world.GetSolverInfo().m_warmstartingFactor = 0.85f;
            world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
            world.SetForceUpdateAllAabbs(true);
	
            //BSParam.TerrainImplementation = 0;
            world.SetGravity(new IndexedVector3(0,0,p.gravity));
	
            // Turn off Pooling since globals and pooling are bad for threading.
            BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false);
            BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false);
            BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false);
            BulletGlobals.CastResultPool.SetPoolingEnabled(false);
            BulletGlobals.SphereShapePool.SetPoolingEnabled(false);
            BulletGlobals.DbvtNodePool.SetPoolingEnabled(false);
            BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false);
            BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false);
            BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false);
            BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false);
            BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false);
            BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false);
            BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false);
	
            BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false);
            BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false);
            BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false);
            BulletGlobals.GJKPool.SetPoolingEnabled(false);
            BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false);
            BulletGlobals.TriangleShapePool.SetPoolingEnabled(false);
            BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false);
            BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false);
            BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false);
	
            return world;
        }
        //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
        public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
        {
            Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
            if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
            {
                constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
                constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
                constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
            }
            if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
            {
                constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
                constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
                constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
            }
            if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
            {
                constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
            }
            return true;
        }
	
        public override bool PushUpdate(BulletBody pCollisionObject)
        {
            bool ret = false;
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            RigidBody rb = collisionObject as RigidBody;
            if (rb != null)
            {
                SimMotionState sms = rb.GetMotionState() as SimMotionState;
                if (sms != null)
                {
                    IndexedMatrix wt = IndexedMatrix.Identity;
                    sms.GetWorldTransform(out wt);
                    sms.SetWorldTransform(ref wt, true);
                    ret = true;
                }
            }
            return ret;
	
        }
	
        public override float GetAngularMotionDisc(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.GetAngularMotionDisc();
        }
        public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.GetContactBreakingThreshold(defaultFactor);
        }
        public override bool IsCompound(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.IsCompound();
        }
        public override bool IsSoftBody(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.IsSoftBody();
        }
        public override bool IsPolyhedral(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.IsPolyhedral();
        }
        public override bool IsConvex2d(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.IsConvex2d();
        }
        public override bool IsConvex(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.IsConvex();
        }
        public override bool IsNonMoving(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.IsNonMoving();
        }
        public override bool IsConcave(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.IsConcave();
        }
        public override bool IsInfinite(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            return shape.IsInfinite();
        }
        public override bool IsNativeShape(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            bool ret;
            switch (shape.GetShapeType())
            {
                case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
                    case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
                    case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
                    case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
                    ret = true;
                    break;
                default:
                    ret = false;
                    break;
            }
            return ret;
        }
	
        public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            shape.SetMargin(pMargin);
        }
	
        //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
        public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            IndexedMatrix bodyTransform = new IndexedMatrix();
            bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
            bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
            GhostObject gObj = new PairCachingGhostObject();
            gObj.SetWorldTransform(bodyTransform);
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            gObj.SetCollisionShape(shape);
            gObj.SetUserPointer(pLocalID);
	
            if (specialCollisionObjects.ContainsKey(pLocalID))
                specialCollisionObjects[pLocalID] = gObj;
            else
                specialCollisionObjects.Add(pLocalID, gObj);
	
            // TODO: Add to Special CollisionObjects!
            return new BulletBodyXNA(pLocalID, gObj);
        }
	
        public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
            if (pShape == null)
            {
                collisionObject.SetCollisionShape(new EmptyShape());
            }
            else
            {
                CollisionShape shape = (pShape as BulletShapeXNA).shape;
                collisionObject.SetCollisionShape(shape);
            }
        }
        public override BulletShape GetCollisionShape(BulletBody pCollisionObject)
        {
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            CollisionShape shape = collisionObject.GetCollisionShape();
            return new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
        }
	
        //(PhysicsScene.World.ptr, nativeShapeData)
        public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionShape shape = null;
            switch (pShapeData.Type)
            {
                case BSPhysicsShapeType.SHAPE_BOX:
                    shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
                    break;
                case BSPhysicsShapeType.SHAPE_CONE:
                    shape = new ConeShapeZ(0.5f, 1.0f);
                    break;
                case BSPhysicsShapeType.SHAPE_CYLINDER:
                    shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
                    break;
                case BSPhysicsShapeType.SHAPE_SPHERE:
                    shape = new SphereShape(0.5f);
                    break;
	
            }
            if (shape != null)
            {
                IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
                shape.SetMargin(world.WorldSettings.Params.collisionMargin);
                shape.SetLocalScaling(ref scaling);
	
            }
            return new BulletShapeXNA(shape, pShapeData.Type);
        }
        //PhysicsScene.World.ptr, false
        public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree)
        {
            return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND);
        }
	
        public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
        {
            CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
            return compoundshape.GetNumChildShapes();
        }
        //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
        public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
        {
            IndexedMatrix relativeTransform = new IndexedMatrix();
            CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
            CollisionShape addshape = (paddShape as BulletShapeXNA).shape;
	
            relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
            relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
            compoundshape.AddChildShape(ref relativeTransform, addshape);
	
        }
	
        public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
        {
            CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
            CollisionShape ret = null;
            ret = compoundshape.GetChildShape(pii);
            compoundshape.RemoveChildShapeByIndex(pii);
            return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType()));
        }
	
        public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
	
            if (cShape == null)
                return null;
            CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
            CollisionShape shape = compoundShape.GetChildShape(indx);
            BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
	
	
            return retShape;
        }
	
        public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
        {
            BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
            switch (pin)
            {
                case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_BOX;
                    break;
                case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
	
                case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_CONVEXHULL;
                    break;
                case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_HULL;
                    break;
                case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                //implicit convex shapes
                case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_SPHERE;
                    break;
                case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_CAPSULE;
                    break;
                case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_CONE;
                    break;
                case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_CONVEXHULL;
                    break;
                case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_CYLINDER;
                    break;
                case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                //concave shape
                case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
                case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_MESH;
                    break;
                case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_MESH;
                    break;
                ///used for demo integration FAST/Swift collision library and Bullet
                case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_MESH;
                    break;
                //terrain
                case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_HEIGHTMAP;
                    break;
                ///Used for GIMPACT Trimesh integration
                case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_GIMPACT;
                    break;
                ///Multimaterial mesh
                case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_MESH;
                    break;
	
                case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_GROUNDPLANE;
                    break;
                case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
	
                case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_COMPOUND;
                    break;
	
                case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_MESH;
                    break;
                case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
                case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE:
                    ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                    break;
            }
            return ret;
        }
	
        public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ }
        public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ }
	
        public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin)
        {
            StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
            m_planeshape.SetMargin(pcollisionMargin);
            m_planeshape.SetUserPointer(pLocalId);
            return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
        }
	
        public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
                                        Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
                                        bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
	
        {
            Generic6DofSpringConstraint constrain = null;
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
            if (body1 != null && body2 != null)
            {
                IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
                IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
                IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
                frame1._origin = frame1v;
	
                IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
                IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
                IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
                frame2._origin = frame2v;
	
                constrain = new Generic6DofSpringConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
                world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
	
                constrain.CalculateTransforms();
            }
	
            return new BulletConstraintXNA(constrain);
        }
	
        public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
                            Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB,
                            bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
        {
            HingeConstraint constrain = null;
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
            if (rb1 != null && rb2 != null)
            {
                IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
                IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
                IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
                IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
                constrain = new HingeConstraint(rb1, rb2, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB, puseLinearReferenceFrameA);
                world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
            }
            return new BulletConstraintXNA(constrain);
        }
	
        public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
                            Vector3 pframe1, Quaternion pframe1rot,
                            Vector3 pframe2, Quaternion pframe2rot,
                            bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
        {
            SliderConstraint constrain = null;
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
            if (rb1 != null && rb2 != null)
            {
                IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
                IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
                IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
                frame1._origin = frame1v;
	
                IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
                IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
                IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
                frame2._origin = frame2v;
	
                constrain = new SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA);
                world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
            }
            return new BulletConstraintXNA(constrain);
        }
	
        public override BulletConstraint CreateConeTwistConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
                            Vector3 pframe1, Quaternion pframe1rot,
                            Vector3 pframe2, Quaternion pframe2rot,
                            bool pdisableCollisionsBetweenLinkedBodies)
        {
            ConeTwistConstraint constrain = null;
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
            if (rb1 != null && rb2 != null)
            {
                IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
                IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
                IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
                frame1._origin = frame1v;
	
                IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
                IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
                IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
                frame2._origin = frame2v;
	
                constrain = new ConeTwistConstraint(rb1, rb2, ref frame1, ref frame2);
                world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
            }
            return new BulletConstraintXNA(constrain);
        }
	
        public override BulletConstraint CreateGearConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
                            Vector3 paxisInA, Vector3 paxisInB,
                            float pratio, bool pdisableCollisionsBetweenLinkedBodies)
        {
            Generic6DofConstraint constrain = null;
            /*   BulletXNA does not have a gear constraint
            GearConstraint constrain = null;
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
            if (rb1 != null && rb2 != null)
            {
                IndexedVector3 axis1 = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
                IndexedVector3 axis2 = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
                constrain = new GearConstraint(rb1, rb2, ref axis1, ref axis2, pratio);
                world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
            }
            */
            return new BulletConstraintXNA(constrain);
        }
	
        public override BulletConstraint CreatePoint2PointConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
                            Vector3 ppivotInA, Vector3 ppivotInB,
                            bool pdisableCollisionsBetweenLinkedBodies)
        {
            Point2PointConstraint constrain = null;
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
            RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
            if (rb1 != null && rb2 != null)
            {
                IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
                IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
                constrain = new Point2PointConstraint(rb1, rb2, ref pivotInA, ref pivotInB);
                world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
            }
            return new BulletConstraintXNA(constrain);
        }
	
        public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CompoundShape compoundshape = new CompoundShape(false);
	
            compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
            int ii = 1;
	
            for (int i = 0; i < pHullCount; i++)
            {
                int vertexCount = (int) pConvHulls[ii];
	
                IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
                IndexedMatrix childTrans = IndexedMatrix.Identity;
                childTrans._origin = centroid;
	
                List<IndexedVector3> virts = new List<IndexedVector3>();
                int ender = ((ii + 4) + (vertexCount*3));
                for (int iii = ii + 4; iii < ender; iii+=3)
                {
	
                    virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
                }
                ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
                convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
                compoundshape.AddChildShape(ref childTrans, convexShape);
                ii += (vertexCount*3 + 4);
            }
	
            return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
        }
	
        public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
        {
            /* TODO */ return null;
        }
	
        public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
        {
            /* TODO */ return null;
        }
	
        public override BulletShape CreateConvexHullShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
        {
            /* TODO */ return null;
        }
	
        public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
        {
            //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
	
            for (int iter = 0; iter < pVerticesCount; iter++)
            {
                if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
                if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
            }
	
            ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
            ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
            DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            IndexedMesh mesh = new IndexedMesh();
            mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
            mesh.m_numTriangles = pIndicesCount/3;
            mesh.m_numVertices = pVerticesCount;
            mesh.m_triangleIndexBase = indicesarr;
            mesh.m_vertexBase = vertices;
            mesh.m_vertexStride = 3;
            mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
            mesh.m_triangleIndexStride = 3;
	
            TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
            tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
            BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
            meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
           // world.UpdateSingleAabb(meshShape);
            return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
	
        }
        public override BulletShape CreateGImpactShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
        {
            // TODO:
            return null;
        }
        public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
        {
	
            String fileName = "objTest3.raw";
            String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
            StreamWriter sw = new StreamWriter(completePath);
            IndexedMesh mesh = new IndexedMesh();
	
            mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
            mesh.m_numTriangles = pIndicesCount / 3;
            mesh.m_numVertices = pVerticesCount;
            mesh.m_triangleIndexBase = indices;
            mesh.m_vertexBase = vertices;
            mesh.m_vertexStride = 3;
            mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
            mesh.m_triangleIndexStride = 3;
	
            TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
            tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
	
	
	
            for (int i = 0; i < pVerticesCount; i++)
            {
	
                string s = vertices[indices[i * 3]].ToString("0.0000");
                s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
                s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
	
                sw.Write(s + "\n");
            }
	
            sw.Close();
        }
        public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
        {
	
            String fileName = "objTest6.raw";
            String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
            StreamWriter sw = new StreamWriter(completePath);
            IndexedMesh mesh = new IndexedMesh();
	
            mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
            mesh.m_numTriangles = pIndicesCount / 3;
            mesh.m_numVertices = pVerticesCount;
            mesh.m_triangleIndexBase = indices;
            mesh.m_vertexBase = vertices;
            mesh.m_vertexStride = 3;
            mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
            mesh.m_triangleIndexStride = 3;
	
            TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
            tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
	
	
            sw.WriteLine("Indices");
            sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
            for (int iter = 0; iter < indices.Length; iter++)
            {
                sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
            }
            sw.WriteLine("VerticesFloats");
            sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
            for (int iter = 0; iter < vertices.Length; iter++)
            {
                sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
            }
	
                // for (int i = 0; i < pVerticesCount; i++)
                // {
                //
                //     string s = vertices[indices[i * 3]].ToString("0.0000");
                //     s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
                //    s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
                //
                //     sw.Write(s + "\n");
                //}
	
                sw.Close();
        }
	
        public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
                                    float scaleFactor, float collisionMargin)
        {
            const int upAxis = 2;
            HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
                                                                               heightMap,  scaleFactor,
                                                                               minHeight, maxHeight, upAxis,
                                                                                false);
            terrainShape.SetMargin(collisionMargin);
            terrainShape.SetUseDiamondSubdivision(true);
            terrainShape.SetUserPointer(id);
            return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
        }
	
        public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
        {
            TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
            bool onOff = ponOff != 0;
            bool ret = false;
	
            switch (tconstrain.GetConstraintType())
            {
                case TypedConstraintType.D6_CONSTRAINT_TYPE:
                    Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
                    constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
                    constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
                    constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
                    ret = true;
                    break;
            }
	
	
            return ret;
	
        }
	
        public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
                            out int updatedEntityCount, out int collidersCount)
        {
            /* TODO */
            updatedEntityCount = 0;
            collidersCount = 0;
	
	
            int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
	
            return ret;
        }
	
        private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep,
                        out int updatedEntityCount, out EntityProperties[] updatedEntities,
                        out int collidersCount, out CollisionDesc[] colliders)
        {
            int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
                                    out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame);
            return epic;
        }
	
        private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
            out  EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
        {
            int numSimSteps = 0;
            Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length);
            Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length);
            LastEntityProperty=0;
	
	
	
	
	
	
            LastCollisionDesc=0;
	
            updatedEntityCount = 0;
            collidersCount = 0;
	
	
            if (pWorld is BulletWorldXNA)
            {
                DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
	
                world.LastCollisionDesc = 0;
                world.LastEntityProperty = 0;
                numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
	
                PersistentManifold contactManifold;
                CollisionObject objA;
                CollisionObject objB;
                ManifoldPoint manifoldPoint;
                PairCachingGhostObject pairCachingGhostObject;
	
                m_collisionsThisFrame = 0;
                int numManifolds = world.GetDispatcher().GetNumManifolds();
                for (int j = 0; j < numManifolds; j++)
                {
                    contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
                    int numContacts = contactManifold.GetNumContacts();
                    if (numContacts == 0)
                        continue;
	
                    objA = contactManifold.GetBody0() as CollisionObject;
                    objB = contactManifold.GetBody1() as CollisionObject;
	
                    manifoldPoint = contactManifold.GetContactPoint(0);
                    //IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
                   // IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
	
                    RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance());
                    m_collisionsThisFrame ++;
                    if (m_collisionsThisFrame >= 9999999)
                        break;
	
	
                }
	
                foreach (GhostObject ghostObject in specialCollisionObjects.Values)
                {
                    pairCachingGhostObject = ghostObject as PairCachingGhostObject;
                    if (pairCachingGhostObject != null)
                    {
                        RecordGhostCollisions(pairCachingGhostObject);
                    }
	
                }
	
	
                updatedEntityCount = LastEntityProperty;
                updatedEntities = UpdatedObjects;
	
                collidersCount = LastCollisionDesc;
                colliders = UpdatedCollisions;
	
	
            }
            else
            {
                //if (updatedEntities is null)
                //updatedEntities = new List<BulletXNA.EntityProperties>();
                //updatedEntityCount = 0;
	
	
                //collidersCount = 0;
	
                updatedEntities = new EntityProperties[0];
	
	
                colliders = new CollisionDesc[0];
	
            }
            return numSimSteps;
        }
        public void RecordGhostCollisions(PairCachingGhostObject obj)
        {
            IOverlappingPairCache cache = obj.GetOverlappingPairCache();
            ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
	
            DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
            PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
            BroadphasePair collisionPair;
            PersistentManifold contactManifold;
	
            CollisionObject objA;
            CollisionObject objB;
	
            ManifoldPoint pt;
	
            int numPairs = pairs.Count;
	
            for (int i = 0; i < numPairs; i++)
            {
                manifoldArray.Clear();
                if (LastCollisionDesc < UpdatedCollisions.Length)
                    break;
                collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
                if (collisionPair == null)
                    continue;
	
                collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
                for (int j = 0; j < manifoldArray.Count; j++)
                {
                    contactManifold = manifoldArray[j];
                    int numContacts = contactManifold.GetNumContacts();
                    objA = contactManifold.GetBody0() as CollisionObject;
                    objB = contactManifold.GetBody1() as CollisionObject;
                    for (int p = 0; p < numContacts; p++)
                    {
                        pt = contactManifold.GetContactPoint(p);
                        if (pt.GetDistance() < 0.0f)
                        {
                            RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance());
                            break;
                        }
                    }
                }
            }
	
        }
        private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
        {
	
            IndexedVector3 contactNormal = norm;
            if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
                (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
            {
                return;
            }
            uint idA = (uint)objA.GetUserPointer();
            uint idB = (uint)objB.GetUserPointer();
            if (idA > idB)
            {
                uint temp = idA;
                idA = idB;
                idB = temp;
                contactNormal = -contactNormal;
            }
	
            //ulong collisionID = ((ulong) idA << 32) | idB;
	
            CollisionDesc cDesc = new CollisionDesc()
                                                {
                                                    aID = idA,
                                                    bID = idB,
                                                    point = new Vector3(contact.X,contact.Y,contact.Z),
                                                    normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z),
                                                    penetration = penetration
	
                                                };
            if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
                world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
            m_collisionsThisFrame++;
	
	
        }
        private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject)
        {
            EntityProperties ent = new EntityProperties();
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            IndexedMatrix transform = collisionObject.GetWorldTransform();
            IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity();
            IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity();
            IndexedQuaternion rotation = transform.GetRotation();
            ent.Acceleration = Vector3.Zero;
            ent.ID = (uint)collisionObject.GetUserPointer();
            ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
            ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
            ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
            ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
            return ent;
        }
	
        public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */
            return false; }
	
        public override Vector3 GetLocalScaling(BulletShape pShape)
        {
            CollisionShape shape = (pShape as BulletShapeXNA).shape;
            IndexedVector3 scale = shape.GetLocalScaling();
            return new Vector3(scale.X,scale.Y,scale.Z);
        }
	
        public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            if (world != null)
            {
                if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
                {
                    CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
	
                    IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
                    IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
                    using (
                        ClosestNotMeRayResultCallback rayCallback =
                                                new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
                        )
                    {
                        world.RayTest(ref rOrigin, ref rEnd, rayCallback);
                        if (rayCallback.HasHit())
                        {
                            IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
                        }
                        return rayCallback.HasHit();
                    }
               }
            }
            return false;
        }
	
        public override SweepHit ConvexSweepTest2(BulletWorld world, BulletBody obj, Vector3 from, Vector3 to, float margin) {
            return new SweepHit();
        }
	
        public override RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask) {
            return new RaycastHit();
        }
    }


    public class SimMotionState : DefaultMotionState
    {
        public RigidBody Rigidbody;
        public Vector3 ZeroVect;

        private IndexedMatrix m_xform;

        private EntityProperties m_properties;
        private EntityProperties m_lastProperties;
        private BSAPIXNA m_world;

        const float POSITION_TOLERANCE = 0.05f;
        const float VELOCITY_TOLERANCE = 0.001f;
        const float ROTATION_TOLERANCE = 0.01f;
        const float ANGULARVELOCITY_TOLERANCE = 0.01f;

        public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates)
        {
            IndexedQuaternion OrientationQuaterion = starTransform.GetRotation();
            m_properties = new EntityProperties()
                               {
                                   ID = id,
                                   Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z),
                                   Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W)
                               };
            m_lastProperties = new EntityProperties()
            {
                ID = id,
                Position = new Vector3(starTransform._origin.X, starTransform._origin.Y, starTransform._origin.Z),
                Rotation = new Quaternion(OrientationQuaterion.X, OrientationQuaterion.Y, OrientationQuaterion.Z, OrientationQuaterion.W)
            };
            m_world = pWorld;
            m_xform = starTransform;
        }

        public override void GetWorldTransform(out IndexedMatrix worldTrans)
        {
            worldTrans = m_xform;
        }

        public override void SetWorldTransform(IndexedMatrix worldTrans)
        {
            SetWorldTransform(ref worldTrans);
        }

        public override void SetWorldTransform(ref IndexedMatrix worldTrans)
        {
            SetWorldTransform(ref worldTrans, false);
        }

        public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force)
        {
            m_xform = worldTrans;
            // Put the new transform into m_properties
            IndexedQuaternion OrientationQuaternion = m_xform.GetRotation();
            IndexedVector3 LinearVelocityVector = Rigidbody.GetLinearVelocity();
            IndexedVector3 AngularVelocityVector = Rigidbody.GetAngularVelocity();
            m_properties.Position = new Vector3(m_xform._origin.X, m_xform._origin.Y, m_xform._origin.Z);
            m_properties.Rotation = new Quaternion(OrientationQuaternion.X, OrientationQuaternion.Y,
                                                   OrientationQuaternion.Z, OrientationQuaternion.W);
            // A problem with stock Bullet is that we don't get an event when an object is deactivated.
            // This means that the last non-zero values for linear and angular velocity
            // are left in the viewer who does dead reconning and the objects look like
            // they float off.
            // BulletSim ships with a patch to Bullet which creates such an event.
            m_properties.Velocity = new Vector3(LinearVelocityVector.X, LinearVelocityVector.Y, LinearVelocityVector.Z);
            m_properties.RotationalVelocity = new Vector3(AngularVelocityVector.X, AngularVelocityVector.Y, AngularVelocityVector.Z);

            if (force

                || !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE)
                || !AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE)
                // If the Velocity and AngularVelocity are zero, most likely the object has
                //    been deactivated. If they both are zero and they have become zero recently,
                //    make sure a property update is sent so the zeros make it to the viewer.
                || ((m_properties.Velocity == ZeroVect && m_properties.RotationalVelocity == ZeroVect)
                    &&
                    (m_properties.Velocity != m_lastProperties.Velocity ||
                     m_properties.RotationalVelocity != m_lastProperties.RotationalVelocity))
                // If Velocity and AngularVelocity are non-zero but have changed, send an update.
                || !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE)
                ||
                !AlmostEqual(ref m_properties.RotationalVelocity, ref m_lastProperties.RotationalVelocity,
                             ANGULARVELOCITY_TOLERANCE)
                )


            {
                // Add this update to the list of updates for this frame.
                m_lastProperties = m_properties;
                if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length)
                    m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties);

                //(*m_updatesThisFrame)[m_properties.ID] = &m_properties;
            }




        }

        public override void SetRigidBody(RigidBody body)
        {
            Rigidbody = body;
        }

        internal static bool AlmostEqual(ref Vector3 v1, ref Vector3 v2, float nEpsilon)
        {
            return
            (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) &&
            (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) &&
            (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon)));
        }

        internal static bool AlmostEqual(ref Quaternion v1, ref Quaternion v2, float nEpsilon)
        {
            return
            (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) &&
            (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) &&
            (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) &&
            (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon)));
        }
    }
}
