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

        public override float Simulate(float timeStep)
        {
            
            lock (m_taintedActors)
            {
                foreach (PhysicsActor act in m_taintedActors)
                {
                    if (act is BulletDotNETCharacter)
                        ((BulletDotNETCharacter) act).ProcessTaints(timeStep);
                    if (act is BulletDotNETPrim)
                        ((BulletDotNETPrim)act).ProcessTaints(timeStep);
                }
                m_taintedActors.Clear();
            }

            lock (m_characters)
            {
                foreach (BulletDotNETCharacter chr in m_characters)
                {
                    chr.Move(timeStep);
                }
            }

            lock (m_prims)
            {
                foreach (BulletDotNETPrim prim in m_prims)
                {
                    if (prim != null)
                    prim.Move(timeStep);
                }
            }
            float steps = m_world.stepSimulation(timeStep, 10, WorldTimeComp);

            foreach (BulletDotNETCharacter chr in m_characters)
            {
                chr.UpdatePositionAndVelocity();
            }

            foreach (BulletDotNETPrim prm in m_activePrims)
            {
                /*
                if (prm != null)
                    if (prm.Body != null)
                */
                prm.UpdatePositionAndVelocity();
            }
            if (m_CollisionInterface != null)
            {
                List<BulletDotNETPrim> primsWithCollisions = new List<BulletDotNETPrim>();
                List<BulletDotNETCharacter> charactersWithCollisions = new List<BulletDotNETCharacter>();

                // get the collisions that happened this tick
                List<BulletDotNET.ContactAddedCallbackHandler.ContactInfo> collisions = m_CollisionInterface.GetContactList();
                // passed back the localID of the prim so we can associate the prim
                foreach (BulletDotNET.ContactAddedCallbackHandler.ContactInfo ci in collisions)
                {
                    // ContactPoint = { contactPoint, contactNormal, penetrationDepth }
                    ContactPoint contact = new ContactPoint(new Vector3(ci.pX, ci.pY, ci.pZ),
                                    new Vector3(ci.nX, ci.nY, ci.nZ), ci.depth);
                    
                    ProcessContact(ci.contact, ci.contactWith, contact, ref primsWithCollisions, ref charactersWithCollisions);
                    ProcessContact(ci.contactWith, ci.contact, contact, ref primsWithCollisions, ref charactersWithCollisions);

                }
                m_CollisionInterface.Clear();
                // for those prims and characters that had collisions cause collision events
                foreach (BulletDotNETPrim bdnp in primsWithCollisions)
                {
                    bdnp.SendCollisions();
                }
                foreach (BulletDotNETCharacter bdnc in charactersWithCollisions)
                {
                    bdnc.SendCollisions();
                }
            }
            return steps;
        }