// Create terrain mesh from a heightmap.
        public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
                             Vector3 minCoords, Vector3 maxCoords)
            : base(physicsScene, regionBase, id)
        {
            int indicesCount;

            int[] indices;
            int   verticesCount;

            float[] vertices;

            m_savedHeightMap = initialMap;

            m_sizeX = (int)(maxCoords.X - minCoords.X);
            m_sizeY = (int)(maxCoords.Y - minCoords.Y);

            bool meshCreationSuccess = false;

            if (BSParam.TerrainMeshMagnification == 1)
            {
                // If a magnification of one, use the old routine that is tried and true.
                meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene,
                                                                           initialMap, m_sizeX, m_sizeY, // input size
                                                                           Vector3.Zero,                 // base for mesh
                                                                           out indicesCount, out indices, out verticesCount, out vertices);
            }
            else
            {
                // Other magnifications use the newer routine
                meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(PhysicsScene,
                                                                            initialMap, m_sizeX, m_sizeY, // input size
                                                                            BSParam.TerrainMeshMagnification,
                                                                            physicsScene.TerrainManager.WorldMax,
                                                                            Vector3.Zero, // base for mesh
                                                                            out indicesCount, out indices, out verticesCount, out vertices);
            }
            if (!meshCreationSuccess)
            {
                // DISASTER!!
                PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}",
                                       BSScene.DetailLogZero, ID);
                PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader,
                                                TerrainBase);
                // Something is very messed up and a crash is in our future.
                return;
            }

            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshid,id={1},indices={2},indSz={3},vertices={4},vertSz={5}",
                                   BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length);

            m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount,
                                                             vertices);

            if (!m_terrainShape.HasPhysicalShape)
            {
                // DISASTER!!
                PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero,
                                       ID);
                PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
                // Something is very messed up and a crash is in our future.
                return;
            }

            Vector3    pos = regionBase;
            Quaternion rot = Quaternion.Identity;

            m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
            if (!m_terrainBody.HasPhysicalBody)
            {
                // DISASTER!!
                PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
                // Something is very messed up and a crash is in our future.
                return;
            }

            physicsScene.PE.SetShapeCollisionMargin(m_terrainShape, BSParam.TerrainCollisionMargin);

            // Set current terrain attributes
            PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
            PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
            PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
            PhysicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold);
            PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);

            // Static objects are not very massive.
            PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);

            // Put the new terrain to the world of physical objects
            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);

            // Redo its bounding box now that it is in the world
            PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);

            m_terrainBody.collisionType = CollisionType.Terrain;
            m_terrainBody.ApplyCollisionMask(PhysicsScene);

            if (BSParam.UseSingleSidedMeshes)
            {
                PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id);
                PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
            }

            // Make it so the terrain will not move or be considered for movement.
            PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
        }