* Tweak the character controller some more

* Add cursory integration with script engine.    
* LLMoveToTarget, LLSetBouyancy, LLSetStatus (Physical only), LLApplyImpulse, LLApplyTorque, LLPushObject..   etc.
* Still missing linked physical active and LLSetStatus with an axis lock.

OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs

@@ -963,7 +963,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             if (m_flying)
             {
                 // Slight PID correction
-                vec.Z += (((-1 * m_parent_scene.gravityz) * m_mass) * 0.035f);
+                vec.Z += (((-1 * m_parent_scene.gravityz) * m_mass) * 0.06f);
 
 
                 //auto fly height. Kitto Flora

OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs

@@ -43,6 +43,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
         private PhysicsVector _position;
+        private PhysicsVector m_zeroPosition;
         private PhysicsVector _velocity;
         private PhysicsVector _torque = new PhysicsVector(0, 0, 0);
         private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
@@ -168,6 +169,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         private btVector3 tempAngularVelocity2;
         private btVector3 tempInertia1;
         private btVector3 tempInertia2;
+        private btVector3 tempAddForce;
         private btQuaternion tempOrientation1;
         private btQuaternion tempOrientation2;
         private btMotionState tempMotionState1;
@@ -870,6 +872,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         {
 
             m_log.Debug("[PHYSICS]: _________ChangeMove");
+            if (!m_isphysical)
+            {
                 tempTransform2 = Body.getWorldTransform();
                 btQuaternion quat = tempTransform2.getRotation();
                 tempPosition2.setValue(_position.X, _position.Y, _position.Z);
@@ -880,6 +884,47 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                 changeSelectedStatus(timestep);
 
                 resetCollisionAccounting();
+            }
+            else
+            {
+                if (Body != null)
+                {
+                    if (Body.Handle != IntPtr.Zero)
+                    {
+                        _parent_scene.removeFromWorld(this, Body);
+                        //Body.Dispose();
+                    }
+                    //Body = null;
+                    // TODO: dispose parts that make up body
+                }
+                /*
+                if (_parent_scene.needsMeshing(_pbs))
+                {
+                    // Don't need to re-enable body..   it's done in SetMesh
+                    float meshlod = _parent_scene.meshSculptLOD;
+
+                    if (IsPhysical)
+                        meshlod = _parent_scene.MeshSculptphysicalLOD;
+
+                    IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
+                    // createmesh returns null when it doesn't mesh.
+                    CreateGeom(IntPtr.Zero, mesh);
+                }
+                else
+                {
+                    _mesh = null;
+                    CreateGeom(IntPtr.Zero, null);
+                }
+                SetCollisionShape(prim_geom);
+                */
+                if (m_isphysical)
+                    SetBody(Mass);
+                else
+                    SetBody(0);
+                changeSelectedStatus(timestep);
+
+                resetCollisionAccounting();
+            }
             m_taintposition = _position;
         }
 
@@ -1090,17 +1135,88 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
         private void changeAddForce(float timestep)
         {
-            // TODO: throw new NotImplementedException();
+            if (!m_isSelected)
+            {
+                lock (m_forcelist)
+                {
+                    //m_log.Info("[PHYSICS]: dequeing forcelist");
+                    if (IsPhysical)
+                    {
+                        PhysicsVector iforce = new PhysicsVector();
+                        for (int i = 0; i < m_forcelist.Count; i++)
+                        {
+                            iforce = iforce + m_forcelist[i];
+                        }
+
+                        if (Body != null && Body.Handle != IntPtr.Zero)
+                        {
+                            if (tempAddForce != null && tempAddForce.Handle != IntPtr.Zero)
+                                tempAddForce.Dispose();
+                            enableBodySoft();
+                            tempAddForce = new btVector3(iforce.X, iforce.Y, iforce.Z);
+                            Body.applyCentralImpulse(tempAddForce);
+                        }
+                    }
+                    m_forcelist.Clear();
+                }
+
+                m_collisionscore = 0;
+                m_interpenetrationcount = 0;
+            }
+
+            m_taintforce = false;
+
         }
 
         private void changeAddAngularForce(float timestep)
         {
-            // TODO: throw new NotImplementedException();
+            if (!m_isSelected)
+            {
+                lock (m_angularforcelist)
+                {
+                    //m_log.Info("[PHYSICS]: dequeing forcelist");
+                    if (IsPhysical)
+                    {
+                        PhysicsVector iforce = new PhysicsVector();
+                        for (int i = 0; i < m_angularforcelist.Count; i++)
+                        {
+                            iforce = iforce + m_angularforcelist[i];
+                        }
+
+                        if (Body != null && Body.Handle != IntPtr.Zero)
+                        {
+                            if (tempAddForce != null && tempAddForce.Handle != IntPtr.Zero)
+                                tempAddForce.Dispose();
+                            enableBodySoft();
+                            tempAddForce = new btVector3(iforce.X, iforce.Y, iforce.Z);
+                            Body.applyTorqueImpulse(tempAddForce);
+                        }
+
+                    }
+                    m_angularforcelist.Clear();
+                }
+
+                m_collisionscore = 0;
+                m_interpenetrationcount = 0;
+            }
+
+            m_taintaddangularforce = false;
         }
 
         private void changeSetTorque(float timestep)
         {
-            // TODO: throw new NotImplementedException();
+            if (!m_isSelected)
+            {
+                if (IsPhysical)
+                {
+                    if (Body != null && Body.Handle != IntPtr.Zero)
+                    {
+                        tempAngularVelocity2.setValue(m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
+                        Body.applyTorque(tempAngularVelocity2);
+                    }
+                }
+            }
+            m_taintTorque = new PhysicsVector(0, 0, 0);
         }
 
         private void changedisable(float timestep)
@@ -1113,10 +1229,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             // TODO: throw new NotImplementedException();
             if (m_taintselected)
             {
+                Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE);
                 disableBodySoft();
+                
             }
             else
             {
+                Body.setCollisionFlags(0);
                 enableBodySoft();
             }
             m_isSelected = m_taintselected;
@@ -1125,7 +1244,20 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
         private void changevelocity(float timestep)
         {
-            // TODO: throw new NotImplementedException();
+            if (!m_isSelected)
+            {
+                if (IsPhysical)
+                {
+                    if (Body != null && Body.Handle != IntPtr.Zero)
+                    {
+                        tempLinearVelocity2.setValue(m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
+                        Body.setLinearVelocity(tempLinearVelocity2);
+                    }
+                }
+
+                //resetCollisionAccounting();
+            }
+            m_taintVelocity = PhysicsVector.Zero;
         }
 
         private void changelink(float timestep)
@@ -1165,23 +1297,25 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                 {
                     if (m_buoyancy > 0)
                     {
-                        fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass);
+                        fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass) * 0.035f;
 
                         //d.Vector3 l_velocity = d.BodyGetLinearVel(Body);
                         //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + "  Pos: " + Position.ToString());
                     }
                     else
                     {
-                        fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass));
+                        fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass) * 0.035f);
                     }
                 }
 
                 if (m_usePID)
                 {
+                    PID_D = 61f;
+                    PID_G = 65f;
                     //if (!d.BodyIsEnabled(Body))
                     //d.BodySetForce(Body, 0f, 0f, 0f);
                     // If we're using the PID controller, then we have no gravity
-                    fz = (-1 * _parent_scene.gravityz) * m_mass;
+                    fz = ((-1 * _parent_scene.gravityz) * m_mass) * 1.025f;
 
                     //  no lock; for now it's only called from within Simulate()
 
@@ -1202,8 +1336,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     // TODO: NEED btVector3 for Linear Velocity
                     // NEED btVector3 for Position
 
-                    PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet
+                    PhysicsVector pos = new PhysicsVector(_position.X, _position.Y, _position.Z); //TODO: Insert values gotten from bullet
-                    PhysicsVector vel = new PhysicsVector(0, 0, 0);
+                    PhysicsVector vel = new PhysicsVector(_velocity.X, _velocity.Y, _velocity.Z);
 
                     _target_velocity =
                         new PhysicsVector(
@@ -1301,6 +1435,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                         d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
                         d.BodyAddForce(Body, 0, 0, fz);
                         */
+                        if (Body != null && Body.Handle != IntPtr.Zero)
+                        {
+                            Body.setLinearVelocity(_parent_scene.VectorZero);
+                            Body.clearForces();
+                        }
                         return;
                     }
                     else
@@ -1349,11 +1488,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
 
                     // TODO: Do Bullet Equiv
                     // d.BodyAddForce(Body, fx, fy, fz);
+                    if (Body != null && Body.Handle != IntPtr.Zero)
+                    {
+                        Body.activate(true);
+                        if (tempAddForce != null && tempAddForce.Handle != IntPtr.Zero)
+                            tempAddForce.Dispose();
+
+                        tempAddForce = new btVector3(fx * 0.01f, fy * 0.01f, fz * 0.01f);
+                        Body.applyCentralImpulse(tempAddForce);
+                    }
                 }
             }
             else
             {
-                // _zeroPosition = d.BodyGetPosition(Body);
+                if (m_zeroPosition == null)
+                    m_zeroPosition = new PhysicsVector(0, 0, 0);
+                 m_zeroPosition.setValues(_position.X,_position.Y,_position.Z);
                 return;
             }
         }
@@ -2065,6 +2215,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         }
 
         public void UpdatePositionAndVelocity()
+        {
+            if (!m_isSelected)
             {
                 if (_parent == null)
                 {
@@ -2092,7 +2244,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
                     tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
 
-                _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(), tempAngularVelocity1.getZ());
+                    _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
+                                      tempAngularVelocity1.getZ());
                     PhysicsVector l_position = new PhysicsVector();
                     Quaternion l_orientation = new Quaternion();
                     m_lastposition = _position;
@@ -2218,7 +2371,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                         _velocity.Z = tempLinearVelocity1.getZ();
 
                         _acceleration = ((_velocity - m_lastVelocity)/0.1f);
-                    _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
+                        _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X/0.1f,
+                                                          _velocity.Y - m_lastVelocity.Y/0.1f,
+                                                          _velocity.Z - m_lastVelocity.Z/0.1f);
                         //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
 
                         if (_velocity.IsIdentical(pv, 0.5f))
@@ -2228,7 +2383,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                         else
                         {
 
-                        m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ());
+                            m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(),
+                                                           tempAngularVelocity1.getZ());
                         }
 
                         //m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
@@ -2274,6 +2430,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
                     _zeroFlag = true;
                 }
             }
+        }
 
 
         internal void setPrimForRemoval()