OpenSim.Region.Physics.BulletDotNETPlugin.BulletDotNETScene.AddRigidBody C# (CSharp) Method

        internal void AddRigidBody(btRigidBody Body)
        {
            m_world.addRigidBody(Body);
        }
        [Obsolete("bad!")]

        /// <summary>
        /// This creates the Avatar's physical Surrogate at the position supplied
        /// </summary>
        /// <param name="npositionX"></param>
        /// <param name="npositionY"></param>
        /// <param name="npositionZ"></param>

        // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
        // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
        // place that is safe to call this routine AvatarGeomAndBodyCreation.
        private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
        {
            if (CAPSULE_LENGTH <= 0)
            {
                m_log.Warn("[PHYSICS]: The capsule size you specified in aurora.ini is invalid!  Setting it to the smallest possible size!");
                CAPSULE_LENGTH = 0.01f;
            }

            if (CAPSULE_RADIUS <= 0)
            {
                m_log.Warn("[PHYSICS]: The capsule size you specified in aurora.ini is invalid!  Setting it to the smallest possible size!");
                CAPSULE_RADIUS = 0.01f;
            }

            Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH);

            if (m_bodyPosition == null)
            {
                m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ);
            }

            m_bodyPosition.setValue(npositionX, npositionY, npositionZ);

            if (m_bodyOrientation == null)
            {
                m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90));
            }

            if (m_bodyTransform == null)
            {
                m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
            }
            else
            {
                m_bodyTransform.Dispose();
                m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
            }

            if (m_bodyMotionState == null)
            {
                m_bodyMotionState = new btDefaultMotionState(m_bodyTransform);
            }
            else
            {
                m_bodyMotionState.setWorldTransform(m_bodyTransform);
            }

            m_mass = Mass;

            Body = new btRigidBody(m_mass, m_bodyMotionState, Shell);
            // this is used for self identification. User localID instead of body handle
            Body.setUserPointer(new IntPtr((int)m_localID));

            if (ClosestCastResult != null)
            {
                ClosestCastResult.Dispose();
            }
            ClosestCastResult = new ClosestNotMeRayResultCallback(Body);

            m_parent_scene.AddRigidBody(Body);
            Body.setActivationState(4);
            if (m_aMotor != null)
            {
                if (m_aMotor.Handle != IntPtr.Zero)
                {
                    m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
                    m_aMotor.Dispose();
                }
                m_aMotor = null;
            }

            m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody,
                                                   m_parent_scene.TransZero,
                                                   m_parent_scene.TransZero, false);
            m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero);
            m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero);
        }