internal void Dispose()
        {
            m_parent_scene.RemoveAvatarFromList(this);
            if (Body != null)
            {
                if (Body.isInWorld())
                {
                    m_parent_scene.removeFromWorld(this, Body);
                    m_parent_scene.RemoveCollisionObject(Body);
                }
                Body.Dispose(); 
                Body = null;
            }

            if (m_aMotor != null)
            {
                if (m_aMotor.Handle != IntPtr.Zero)
                    m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);

                m_aMotor.Dispose(); m_aMotor = null;
            }
            if (ClosestCastResult != null)
            {
                ClosestCastResult.Dispose(); ClosestCastResult = null;
            }
            if (Shell != null)
            {
                Shell.Dispose(); Shell = null;
            }
            tempQuat1.Dispose();
            tempTrans1.Dispose();
            tempVector1.Dispose();
            tempVector2.Dispose();
            tempVector3.Dispose();
            tempVector4.Dispose();
            tempVector5RayCast.Dispose();
            tempVector6RayCast.Dispose();

        }
        public void CheckIfStandingOnObject()
        {
           
            float capsuleHalfHeight = ((CAPSULE_LENGTH + 2*CAPSULE_RADIUS)*0.5f);

            tempVector5RayCast.setValue(m_position.X, m_position.Y, m_position.Z);
            tempVector6RayCast.setValue(m_position.X, m_position.Y, m_position.Z - capsuleHalfHeight * 1.1f);


            ClosestCastResult.Dispose();
            ClosestCastResult = new ClosestNotMeRayResultCallback(Body);

            try
            {
                m_parent_scene.getBulletWorld().rayTest(tempVector5RayCast, tempVector6RayCast, ClosestCastResult);
            }
            catch (AccessViolationException)
            {
                m_log.Debug("BAD!");
            }
            if (ClosestCastResult.hasHit())
            {
                
                if (tempVector7RayCast != null)
                    tempVector7RayCast.Dispose();

                //tempVector7RayCast = ClosestCastResult.getHitPointWorld();

                /*if (tempVector7RayCast == null) // null == no result also
                {
                    CollidingObj = false;
                    IsColliding = false;
                    CollidingGround = false;
                   
                    return;
                }
                float zVal = tempVector7RayCast.getZ();
                if (zVal != 0)
                    m_log.Debug("[PHYSICS]: HAAAA");
                if (zVal < m_position.Z && zVal > ((CAPSULE_LENGTH + 2 * CAPSULE_RADIUS) *0.5f))
                {
                    CollidingObj = true;
                    IsColliding = true;
                }
                else
                {
                    CollidingObj = false;
                    IsColliding = false;
                    CollidingGround = false;
                }*/

                //height+2*radius = capsule full length
                //CollidingObj = true;
                //IsColliding = true;
                m_iscolliding = true;
            }
            else
            {
                //CollidingObj = false;
                //IsColliding = false;
                //CollidingGround = false;
                m_iscolliding = false;
            }
        }
        /// <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 opensim.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 opensim.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);
            
           
        }
        internal void Dispose()
        {
            if (Body.isInWorld())
                m_parent_scene.removeFromWorld(Body);

            if (m_aMotor.Handle != IntPtr.Zero)
                m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);

            m_aMotor.Dispose(); m_aMotor = null;
            ClosestCastResult.Dispose(); ClosestCastResult = null;
            Body.Dispose(); Body = null;
            Shell.Dispose(); Shell = null;
            tempQuat1.Dispose();
            tempTrans1.Dispose();
            tempVector1.Dispose();
            tempVector2.Dispose();
            tempVector3.Dispose();
            tempVector4.Dispose();
            tempVector5RayCast.Dispose();
            tempVector6RayCast.Dispose();

        }