/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com

Copyright (c) 2012 I-maginer

This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.

This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/copyleft/lesser.txt

-----------------------------------------------------------------------------
*/


struct WalkSound = [
  WSND_sPath                 : S,
  WSND_asSound               : ObjAudio,
  WSND_iTimeStep             : I,
  WSND_iTick                 : I
  
  ]mkWalkSound;;
  
struct BasicNavigation = [
  BNAV_sGroupName           : S,
  BNAV_avBase               : SO3_OBJECT,
  BNAV_shell                : SO3_OBJECT,
  BNAV_camera               : SO3_OBJECT,
  BNAV_neckShell            : SO3_OBJECT,
  BNAV_camShell             : SO3_OBJECT,
  BNAV_collShell            : SO3_OBJECT,
  BNAV_shellBody            : SO3_PHYSICBODY,
  BNAV_camBody              : SO3_PHYSICBODY,
  BNAV_contraint            : SO3_PHYSICCONTRAINT,
  BNAV_qLastOrientation     : [F F F F],
  BNAV_vTargetTrans         : [F F F],
  BNAV_vTargetPos           : [F F F],
  BNAV_bTargetSwitch        : I,
  BNAV_pos                  : [[F F F] [F F F]],
  BNAV_move                 : [[F F F] [F F F]],
  BNAV_mouseMove            : [F F],
  BNAV_lastVelocity         : [F F F],
  BNAV_lControls            : [[S [[F F F] [F F F] F I I]] r1],
  BNAV_bHasMoved            : I,
  BNAV_fFov                 : F,
  BNAV_fWalkSpeed           : F,
  BNAV_fRunSpeed            : F,
  BNAV_bShiftMode           : I,
  BNAV_fMass                : F,
  BNAV_fJumpForce           : F,
  BNAV_bJumping             : I,
  BNAV_fCamHeight           : F,
  BNAV_fLastYPos            : F,
  BNAV_fLastYRef            : F,
  BNAV_tCamLimit            : [F F],
  BNAV_lPressedKeys         : [[I I] r1],
  BNAV_bHideMouse           : I,
  BNAV_bShiftState          : I,
  BNAV_bFocus               : I,
  BNAV_bIgnoreNextMove      : I,
  BNAV_bFlyMode             : I,
  BNAV_bCrouchState         : I,
  BNAV_bLastCrouchState     : I,
  BNAV_bKeyboard            : I,
  BNAV_bDisableDefControl   : I,
  BNAV_bMouse               : I,
  BNAV_leftPoint            : [I I I],
  BNAV_rightPoint           : [I I I],
  BNAV_sLastMaterial        : S,
  BNAV_iContactCount        : I,
  BNAV_iAirTick             : I,
  BNAV_bInAir               : I,
  BNAV_fInAirMaxVelocity    : F,
  BNAV_curState             : S,
  BNAV_lWSound              : [[S WalkSound] r1],
  BNAV_jumpSound            : ObjAudio,
  BNAV_hitSound             : ObjAudio,
  BNAV_slideSound           : ObjAudio,
  BNAV_bState               : I,
  BNAV_bFreeHead            : I,
  BNAV_bAutoHead            : I,
  BNAV_iTick                : I,
  BNAV_iNbUpDetections      : I,
  BNAV_bHeadRangeState      : I,
  BNAV_bShowFeetPos         : I,
  BNAV_vTranslate           : [F F F],
  BNAV_bSendFeetPosition    : I,
  BNAV_bSendHeadPosition    : I,  
  BNAV_bSendHipPosition     : I

  ]mkBasicNavigation;;

var fNeckOutdistance = 0.25;;
var fNeckMindistance = 0.15;;

fun playHitSound(bnavstr, impact)=
  let SO3ObjectGetGlobalPosition bnavstr.BNAV_shell -> pos in
  let SO3ObjectGetDerivedDirectionAxis bnavstr.BNAV_neckShell [0.0 0.0 1.0] -> dir in
  (
    _AudioSetPosition bnavstr.BNAV_hitSound pos dir;
    let min (ftoi (impact *. 100.0)) 100 -> vol in
      _AudioSetVolume bnavstr.BNAV_hitSound vol;
    
    if (_AudioIsPlaying bnavstr.BNAV_hitSound) then nil else
    (
      _AudioPlay3d bnavstr.BNAV_hitSound 0.8 0;
    );
  );
  0;;
  

fun playJumpSound(bnavstr)=
  let SO3ObjectGetGlobalPosition bnavstr.BNAV_shell -> pos in
  let SO3ObjectGetDerivedDirectionAxis bnavstr.BNAV_neckShell [0.0 0.0 1.0] -> dir in
  (
    _AudioSetPosition bnavstr.BNAV_jumpSound pos dir;
    _AudioPlay3d bnavstr.BNAV_jumpSound 0.8 0;
  );
  0;;


fun computeControls(sessionstr, bnavstr, vnbsec, fspeed)=
  let [fspeed fspeed fspeed] -> vspeed in
  // analogic data
  let [0.0 0.0 0.0] -> avec in
  let [0.0 0.0 0.0] -> aang in
  // real data
  let [0.0 0.0 0.0] -> vec in
  let [0.0 0.0 0.0] -> hvec in
  let [0.0 0.0 0.0] -> ang in
  
  let 0.0 -> ycam in
  let 0 -> angOverride in
  let 0 -> addCamHeight in
  let 0 -> havedata in
  (
    let sizelist bnavstr.BNAV_lControls -> size in
    let 0 -> i in
    while i < size do
    (
      let nth_list bnavstr.BNAV_lControls i -> [_ tcontrol] in
      let tcontrol -> [nvec nang nycam mode newdata] in
      if (!newdata && mode != 0) then nil else
      (
        if ((mode == 1) || (mode == 4)) then // accumulator
        (
          set vec = addVectorF vec nvec;
          
          if (angOverride) then nil else
            set ang = addVectorF ang nang;
          
          set ycam = ycam +. nycam;
          if (mode != 4) then nil else // add cam height
            set addCamHeight = 1;
          
          //reset control
          mutate tcontrol <- [[0.0 0.0 0.0] [0.0 0.0 0.0] 0.0 mode 0];
          0;
        )
        else if (mode == 2) || (mode == 3) then // override angle
        (
          set angOverride = 1;
          set hvec = addVectorF hvec nvec;
          set ang = nang;
          
          if (mode == 2) then
            set ycam = ycam +. nycam
          else
          (
            set addCamHeight = 0;
            set ycam = nycam;
          );
          //reset control
          mutate tcontrol <- [[0.0 0.0 0.0] [0.0 0.0 0.0] 0.0 mode 0];
          0;
        )
        else
        (
          set avec = addVectorF avec nvec;
          set aang = addVectorF aang nang;
          mutate tcontrol <- [_ _ _ _ 0];
          0;
        );
        set havedata = 1;
      );
      
      set i = i + 1;
    );
    
    // compute speed and time
    let if bnavstr.BNAV_bDisableDefControl then [[0.0 0.0 0.0] [0.0 0.0 0.0]] else bnavstr.BNAV_move -> [kvec kang] in
    let if bnavstr.BNAV_bDisableDefControl then [0.0 0.0] else bnavstr.BNAV_mouseMove -> [mx my] in
    (
      set avec = multiplyVectorF multiplyVectorF (addVectorF avec kvec) vnbsec [2.0 2.0 2.0]; //2 meter per second ?
      set aang = multiplyVectorF multiplyVectorF (addVectorF addVectorF aang kang [my mx 0.0]) vnbsec [90.0 90.0 90.0]; //90 degree per second ?
      set avec = multiplyVectorF avec vspeed;
      if (zeroVectorF bnavstr.BNAV_vTranslate) then nil else
        set avec = addVectorF avec (multiplyVectorF bnavstr.BNAV_vTranslate vspeed);
      
      let aang -> [pitch yaw roll] in
        set aang = [(SO3MathsDegreeToRadian pitch) (SO3MathsDegreeToRadian yaw) (SO3MathsDegreeToRadian roll)];
    );
    
    let ang -> [ax ay az] in
      set ang = [(SO3MathsDegreeToRadian ax) (SO3MathsDegreeToRadian ay) (SO3MathsDegreeToRadian az)];
    
    let ang -> [ax ay az] in
    let aang -> [pitch yaw roll] in
    let if (angOverride) then [ax (ay +. yaw) az] else (addVectorF aang ang) -> fang in
      [(addVectorF avec vec) hvec fang ycam angOverride addCamHeight havedata];
  );;


// ignore avatar bodies and disabled bodies
fun getValidRay(lray)=
  let nil -> body in
  let 0.0 -> dist in
  let [0.0 1.0 0.0] -> normal in
  (
    while ((lray != nil) && (body == nil)) do
    (
      let hd lray -> [tbody tdist tnormal] in
      (
        let SO3PhysicsGetMaterialName (SO3BodyGetMaterial tbody) -> bmat in
        if (((SO3BodyGetType tbody) & 1) || (SO3BodyGetIgnoreCollision tbody) || (SO3BodyGetFluid tbody) || (!strcmp bmat "ignore")) then nil else
        (
          set body = tbody;
          set dist = tdist;
          set normal = tnormal;
        );
      );
      set lray = tl lray;
    );    
    [body dist normal]
  );;


fun cbNavKeyDown(inst, viewstr, key, ascode, bnavstr)=
  if VUIisFocusedInput then nil else
  (
    if (!bnavstr.BNAV_bFocus) then nil else
    (
      let bnavstr.BNAV_move -> [vec ang] in
      if ((switch bnavstr.BNAV_lPressedKeys key) != nil) then nil else
      (
        let if (!strcmpi KEYBgetCurrentKeyboardType "azerty") then "Z" else "W" -> upkey in
        let "S" -> downkey in
        let if (!strcmpi KEYBgetCurrentKeyboardType "azerty") then "Q" else "A" -> leftkey in
        let "D" -> rightkey in
      
        let if ((key == (KEYBgetKeyNumber "UPARROW")) || (key == (KEYBgetKeyNumber upkey))) then // UP
              -.1.0
            else if ((key == (KEYBgetKeyNumber "DOWNARROW")) || (key == (KEYBgetKeyNumber downkey))) then // DOWN
              1.0
            else
              nil
        -> z in
        let if (key == (KEYBgetKeyNumber leftkey)) then // STRAFE LEFT
              -.1.0
            else if (key == (KEYBgetKeyNumber rightkey)) then // STRAFE RIGHT
              1.0
            else
              nil
        -> x in
        let if (key == (KEYBgetKeyNumber "LEFTARROW")) then // TURN LEFT
              1.0
            else if (key == (KEYBgetKeyNumber "RIGHTARROW")) then // TURN RIGHT
              -.1.0
            else
              nil
        -> yaw in
        (
          if z == nil then nil else
            mutate vec <- [_ _ z];
          
          if x == nil then nil else
            mutate vec <- [x _ _];
            
          if yaw == nil then nil else
            mutate ang <- [_ yaw _];
        );    
        
        if !(_keybdstate & 2) then nil else
          set bnavstr.BNAV_bCrouchState = 1;
        
        set bnavstr.BNAV_lPressedKeys = [key ascode]::bnavstr.BNAV_lPressedKeys;
      );
      
      if ((key == (KEYBgetKeyNumber "SPACE")) && (!bnavstr.BNAV_bJumping)) then // SPACE
      (
        let SO3ObjectGetGlobalPosition bnavstr.BNAV_shell -> [gx gy gz] in
        let getValidRay SO3PhysicsRayCastExt (V3DgetSession c3dXsession) [gx (gy +. 0.1) gz] [0.0 (-.1.0) 0.0] 0.15 -> [body dist normal] in 
        if ((body == nil) || (dist >. ((bnavstr.BNAV_fCamHeight /. 2.0) +. 0.1))) && (strcmpi "Climbing" bnavstr.BNAV_curState) then nil else
        (
          set bnavstr.BNAV_bJumping = 1;
          set bnavstr.BNAV_curState = "Jumping";
          SendPluginEvent inst bnavstr.BNAV_curState nil nil;
          SO3BodyAddImpulse bnavstr.BNAV_shellBody [0.0 bnavstr.BNAV_fJumpForce 0.0] [gx gy gz];
          playJumpSound bnavstr;
        );
      )
      else nil;
      
      if (!(_keybdstate & 4) && (key != 1)) then nil else
      (
        if (!bnavstr.BNAV_bHideMouse) then nil else
          V3DshowCursor viewstr 1;
        
        set bnavstr.BNAV_bFocus = 0;
        
        set bnavstr.BNAV_lastVelocity = [0.0 0.0 0.0];
        set bnavstr.BNAV_lPressedKeys = nil;
        set bnavstr.BNAV_move = [[0.0 0.0 0.0] [0.0 0.0 0.0]];
        set bnavstr.BNAV_mouseMove = [0.0 0.0];
        let SO3BodyGetVelocity bnavstr.BNAV_shellBody -> [velx vely velz] in
          SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 vely 0.0];
        SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
      );
    );
  );
  0;;


fun cbNavKeyUp(inst, viewstr, key, bnavstr)=
  if VUIisFocusedInput then nil else
  (
    if (!bnavstr.BNAV_bFocus) then nil else
    (
      let bnavstr.BNAV_move -> [vec ang] in
      let switch bnavstr.BNAV_lPressedKeys key -> ascode in
      
      let if (!strcmpi KEYBgetCurrentKeyboardType "azerty") then "Z" else "W" -> upkey in
      let "S" -> downkey in
      let if (!strcmpi KEYBgetCurrentKeyboardType "azerty") then "Q" else "A" -> leftkey in
      let "D" -> rightkey in
      (
        set bnavstr.BNAV_lPressedKeys = (remove_idx_from_list bnavstr.BNAV_lPressedKeys key);
        
        // UP & DOWN
        if ((key != (KEYBgetKeyNumber "UPARROW")) && (key != (KEYBgetKeyNumber upkey)) && (key != (KEYBgetKeyNumber "DOWNARROW")) && (key != (KEYBgetKeyNumber downkey))) then nil else
        (
          let if ((isT1InList bnavstr.BNAV_lPressedKeys (KEYBgetKeyNumber "UPARROW")) || (isT1InList bnavstr.BNAV_lPressedKeys (KEYBgetKeyNumber upkey))) then // UP
                -.1.0
              else if ((isT1InList bnavstr.BNAV_lPressedKeys (KEYBgetKeyNumber "DOWNARROW")) || (isT1InList bnavstr.BNAV_lPressedKeys (KEYBgetKeyNumber downkey))) then // DOWN
                1.0
              else
                0.0
          -> nv in
            mutate vec <- [_ _ nv];
        );
        
        // STRAFE LEFT RIGHT
        if (key != (KEYBgetKeyNumber leftkey)) && (key != (KEYBgetKeyNumber rightkey)) then nil else
        (
          let if (isT1InList bnavstr.BNAV_lPressedKeys (KEYBgetKeyNumber leftkey)) then // STRAFE LEFT
                -.1.0
              else if (isT1InList bnavstr.BNAV_lPressedKeys (KEYBgetKeyNumber rightkey)) then // STRAFE RIGHT
                1.0
              else
                0.0
          -> nv in
          mutate vec <- [nv _ _];
        );
        
        // TURN LEFT & RIGHT
        if (key != (KEYBgetKeyNumber "LEFTARROW")) && (key != (KEYBgetKeyNumber "RIGHTARROW")) then nil else
        (
          let if (isT1InList bnavstr.BNAV_lPressedKeys (KEYBgetKeyNumber "LEFTARROW")) then
                1.0
              else if (isT1InList bnavstr.BNAV_lPressedKeys (KEYBgetKeyNumber "RIGHTARROW")) then
                -.1.0
              else
                0.0
          -> na in
          mutate ang <- [_ na _];
        );
        
        if (key != (KEYBgetKeyNumber "SPACE")) then nil else // SPACE
          set bnavstr.BNAV_bJumping = 0;
        
        //uncrouch
        if (_keybdstate & 2) then nil else
          set bnavstr.BNAV_bCrouchState = 0;
      );
    );
  );
  0;;


fun yawCamera(bnavstr, ang, absolute)=
  if (absolute) then
  (
    V3DsetObjectOrientationDeg bnavstr.BNAV_neckShell [0.0 (SO3MathsRadianToDegree ang) 0.0];
    0;
  )
  else
  (
    SO3ObjectRotateYaw bnavstr.BNAV_neckShell ang SO3_LOCAL_TS;
    0;
  );
  0;;


fun rollCamera(bnavstr, ang, absolute)=
  if (absolute) then
  (
    V3DsetObjectOrientationDeg bnavstr.BNAV_camera [0.0 0.0 (SO3MathsRadianToDegree ang)];
    0;
  )
  else
  (
    SO3ObjectRotateRoll bnavstr.BNAV_camera ang SO3_LOCAL_TS;
    0;
  );
  0;;


fun pitchCamera(bnavstr, ang, absolute)=
  let SO3MathsQuatToEulerPYR SO3ObjectGetOrientation bnavstr.BNAV_camShell -> [ax _ _] in
  if (absolute) then
  (
    V3DsetObjectOrientationDeg bnavstr.BNAV_camShell [0.0 (SO3MathsRadianToDegree ang) 0.0];
    0;
  )
  else
  let bnavstr.BNAV_tCamLimit -> [lx lx2] in
  let if (absolute) then ang else (ax +. ang) -> tang in
  (
    if (tang <. lx) then
    (
      V3DsetObjectOrientationDeg bnavstr.BNAV_camShell [0.0 (SO3MathsRadianToDegree lx) 0.0];
      0;
    )
    else if (tang >. lx2) then
    (
      V3DsetObjectOrientationDeg bnavstr.BNAV_camShell [0.0 (SO3MathsRadianToDegree lx2) 0.0];
      0;
    )
    else
    (
      SO3ObjectRotatePitch bnavstr.BNAV_camShell ang SO3_LOCAL_TS;
      0;
    );
  );
  0;;


fun cbCursorClick(inst, viewstr, x, y, btn, bnavstr)=
  if (!bnavstr.BNAV_bHideMouse) then nil else
    V3DshowCursor viewstr 0;
  
  set bnavstr.BNAV_bFocus = 1;
  0;;


// multi touch
fun cbAddCursor(inst, viewstr, id, x, y, bnavstr)=
  if (bnavstr.BNAV_bKeyboard) then
  (
    set bnavstr.BNAV_mouseMove = [0.0 0.0];
    // right of the screen for rotations and left for translations
    let (V3DgetDefaultViewport viewstr) -> viewportstr in
    let SO3ViewportGetPixelPositionSize viewportstr.V3D_viewport -> [_ _ vw vh] in
    if (x >= (vw / 2)) && (bnavstr.BNAV_rightPoint == nil) then
      set bnavstr.BNAV_rightPoint = [id x y]
    else if (x < (vw / 2)) && (bnavstr.BNAV_leftPoint == nil) then
      set bnavstr.BNAV_leftPoint = [id x y]
    else nil;

    set bnavstr.BNAV_bMouse = 0;
    0;
  )
  else
  (
    if (bnavstr.BNAV_bDisableDefControl) then nil else
      V3DcenterMouseCursor viewstr;
    0;
  );
  0;;


fun cbUpdateCursor(inst, viewstr, id, x, y, vx, vy, bnavstr)=
  //do not use touch for navigation if a widget is used, it can be used as a control
  if (bnavstr.BNAV_bKeyboard) then
  (
    let c3dXsession -> sessionstr in
    let sessionstr.V3D_sessionView -> viewstr in
    let (V3DWidgetCtrlHasFocus viewstr) -> widgetctrl in  
    if (widgetctrl != nil) && (SO3WidgetGetMouseEnable widgetctrl) && ((SO3WidgetGetMode widgetctrl) != 3) /*&& (SO3WidgetIsMouseOver widgetctrl)*/ then nil else
    (
      set bnavstr.BNAV_mouseMove = [0.0 0.0];
      set bnavstr.BNAV_bMouse = 0;
    
      let bnavstr.BNAV_leftPoint -> [lid _ _] in
      let bnavstr.BNAV_rightPoint -> [rid _ _] in
      let bnavstr.BNAV_move -> [vec ang] in
      let (V3DgetDefaultViewport viewstr) -> viewportstr in
      let SO3ViewportGetPixelPositionSize viewportstr.V3D_viewport -> [_ _ vw vh] in
      let (itof (vw / 4)) -> xscratio in
      let (itof vh / 4) -> yscratio in
      if (id == lid) then
      (
        let bnavstr.BNAV_leftPoint -> [_ ox oy] in
        let ((itof (ox - x)) /. xscratio) *. (-.1.0) -> nx in 
        let if nx >. 1.0 then 1.0 else if nx <. (-.1.0) then (-.1.0) else nx -> nx in
        let ((itof (oy - y)) /. yscratio) *. (-.1.0) -> ny in 
        let if ny >. 1.0 then 1.0 else if ny <. (-.1.0) then (-.1.0) else ny -> ny in
        let if ((absf nx) <. 0.05) then 0.0 else nx -> nx in
        let if ((absf ny) <. 0.05) then 0.0 else ny -> ny in
          mutate vec <- [nx _ ny];
      )
      else if (id == rid) then
      (
        let bnavstr.BNAV_rightPoint -> [_ ox oy] in
        let ((itof (ox - x)) /. xscratio) -> nx in
        let if nx >. 1.0 then 1.0 else if nx <. (-.1.0) then (-.1.0) else nx -> nx in
        let ((itof (oy - y)) /. yscratio) -> ny in
        let if ny >. 1.0 then 1.0 else if ny <. (-.1.0) then (-.1.0) else ny -> ny in
        let if ((absf nx) <. 0.05) then 0.0 else nx -> nx in
        let if ((absf ny) <. 0.05) then 0.0 else ny -> ny in
          mutate ang <- [ny nx _];
      )
      else nil;
    );
    0;
  )
  else
  (
    if (bnavstr.BNAV_bDisableDefControl) then nil else
      V3DcenterMouseCursor viewstr;
    0;
  );
  0;;


fun cbRemoveCursor(inst, viewstr, id, bnavstr)=
  if (bnavstr.BNAV_bKeyboard) then
  (
    let bnavstr.BNAV_leftPoint -> [lid _ _] in
    let bnavstr.BNAV_rightPoint -> [rid _ _] in
    let bnavstr.BNAV_move -> [vec ang] in
    if (id == lid) then
    (
      mutate vec <- [0.0 _ 0.0];
      set bnavstr.BNAV_leftPoint = nil;
    )
    else if (id == rid) then
    (
      mutate ang <- [0.0 0.0 _];
      set bnavstr.BNAV_rightPoint = nil;
    )
    else nil;
    
    if (bnavstr.BNAV_leftPoint != nil || bnavstr.BNAV_rightPoint != nil) then nil else
    (
      set bnavstr.BNAV_mouseMove = [0.0 0.0];
      V3DcenterMouseCursor viewstr;
      set bnavstr.BNAV_bMouse = 1;
    );
    0;
  )
  else
  (
    if (bnavstr.BNAV_bDisableDefControl) then nil else
      V3DcenterMouseCursor viewstr;
    0;
  );
  0;;


fun cbNavPreRender2(inst, sessionstr, etime, bnavstr)=
  //update Y rotation on camera independently of physics
  if (!V3DphysGetState c3dXsession) then nil else
  (
    let sessionstr.V3D_sessionView -> viewstr in
    let (V3DWidgetCtrlHasFocus viewstr) -> widgetctrl in  
    let if (widgetctrl != nil) && (SO3WidgetGetMouseEnable widgetctrl) && ((SO3WidgetGetMode widgetctrl) != 3) /*&& (SO3WidgetIsMouseOver widgetctrl)*/ && bnavstr.BNAV_bMouse then 1 else 0 -> disablenavig in  
    if (disablenavig) /*|| (!bnavstr.BNAV_bFocus)*/ then nil else
      SO3ObjectSetGlobalOrientation bnavstr.BNAV_neckShell bnavstr.BNAV_qLastOrientation;
  );
  
  //sync camera height with collshell
  if (!bnavstr.BNAV_bFreeHead) then
    SO3ObjectSetPosition bnavstr.BNAV_neckShell (SO3ObjectGetPosition bnavstr.BNAV_collShell)
  else
  (
    //use translation to keep physics behaviors
    let SO3ObjectGetPosition bnavstr.BNAV_neckShell -> [_ oy _] in
      SO3ObjectTranslate bnavstr.BNAV_neckShell [0.0 (bnavstr.BNAV_fLastYPos -. oy) 0.0] SO3_WORLD_TS;
    
    if (bnavstr.BNAV_vTargetTrans == nil) then nil else
    (
      let SO3ObjectGetGlobalPosition bnavstr.BNAV_neckShell -> cpos in
      let addVectorF cpos bnavstr.BNAV_vTargetTrans -> nvpos in
        SO3ObjectSetGlobalPosition bnavstr.BNAV_neckShell nvpos;
      
      set bnavstr.BNAV_vTargetTrans = nil;
    );
    
    if (bnavstr.BNAV_vTargetPos == nil) then nil else
    (
      let SO3ObjectGetGlobalPosition bnavstr.BNAV_neckShell -> [nx ny nz] in
      let bnavstr.BNAV_vTargetPos -> [tx ty tz] in
        SO3ObjectSetGlobalPosition bnavstr.BNAV_neckShell [tx ny tz];
        
      set bnavstr.BNAV_vTargetPos = nil;
    );
        
    if (!V3DphysGetState c3dXsession) then nil else
    let subVectorF (SO3ObjectGetGlobalPosition bnavstr.BNAV_neckShell) (SO3ObjectGetGlobalPosition bnavstr.BNAV_collShell) -> colldiff in
    let getVectorLengthF colldiff -> neckdist in
    if (neckdist >=. fNeckOutdistance) then
    (
      if (bnavstr.BNAV_bHeadRangeState < 20) then
      (
        set bnavstr.BNAV_bHeadRangeState = bnavstr.BNAV_bHeadRangeState + 1;
      )
      else if (bnavstr.BNAV_bHeadRangeState > 21) then nil else
      (
        SendPluginEvent inst "Head out of range" nil nil;
        set bnavstr.BNAV_bHeadRangeState = bnavstr.BNAV_bHeadRangeState + 1;
        
        if (bnavstr.BNAV_bShowFeetPos) then nil else
          SO3ObjectSetVisible bnavstr.BNAV_avBase 1 0;
      );
    )
    else if ((neckdist <. fNeckOutdistance) && bnavstr.BNAV_bHeadRangeState) then
    (
      set bnavstr.BNAV_bHeadRangeState = 0;
      SendPluginEvent inst "Head in range" nil nil;
      
      if (bnavstr.BNAV_bShowFeetPos) then nil else
        SO3ObjectSetVisible bnavstr.BNAV_avBase 0 0;
    )
    else nil;
  );
  
  0;;


fun cbNavPreRender(inst, sessionstr, etime, bnavstr)=
  set bnavstr.BNAV_iTick = bnavstr.BNAV_iTick + etime;  
  
  let (1000000 / SO3WorldGetFPS sessionstr.V3D_session) -> phystime in
  if ((V3DphysGetState c3dXsession) && (bnavstr.BNAV_iTick < phystime)) then nil else
  (
    let itof (SO3WorldGetFPS sessionstr.V3D_session) -> pfps in
    let maxf 0.000001 (itof (bnavstr.BNAV_iTick / 1000)) -> ftime in //milliseconds
    let ftime /. 1000.0 -> nbsec in
    let [nbsec nbsec nbsec] -> vnbsec in
    let sessionstr.V3D_sessionView -> viewstr in
    let (V3DWidgetCtrlHasFocus viewstr) -> widgetctrl in  
    let if (widgetctrl != nil) && (SO3WidgetGetMouseEnable widgetctrl) && ((SO3WidgetGetMode widgetctrl) != 3) /*&& (SO3WidgetIsMouseOver widgetctrl)*/ && bnavstr.BNAV_bMouse then 1 else 0 -> disablenavig in  
    // manage the case that a widget get the focus
    if (disablenavig) /*|| (!bnavstr.BNAV_bFocus)*/ then
    (
      set bnavstr.BNAV_lastVelocity = [0.0 0.0 0.0];
      set bnavstr.BNAV_lPressedKeys = nil;
      set bnavstr.BNAV_move = [[0.0 0.0 0.0] [0.0 0.0 0.0]];
      let SO3BodyGetVelocity bnavstr.BNAV_shellBody -> [velx vely velz] in
        SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 vely 0.0];
      SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
      0;
    )
    else
    (
      //mouse camera
      let sessionstr.V3D_selectedAxis -> [axisstr _] in
      if (!bnavstr.BNAV_bMouse || !bnavstr.BNAV_bFocus || bnavstr.BNAV_bDisableDefControl || ((axisstr != nil) && axisstr.V3D_iAxisMode)) then nil else
      let _GETscreenPos -> [mx my] in
      (
        V3DcenterMouseCursor viewstr;
        let _GETscreenPos -> [ox oy] in
        let [(ox - mx) (oy - my)] -> [nmx nmy] in
        let [((itof nmx) /. ftime) *. 0.4 ((itof nmy) /. ftime) *. 0.4] -> mmove in
          set bnavstr.BNAV_mouseMove = mmove;
      );
      
      let if (((_keybdstate & 1) || bnavstr.BNAV_bShiftState) && !bnavstr.BNAV_bShiftMode) then
            1
          else if (((_keybdstate & 1) || bnavstr.BNAV_bShiftState) && bnavstr.BNAV_bShiftMode) then
            0
          else if bnavstr.BNAV_bShiftMode then
            1
          else
            0
      -> isrunning in
      let if (isrunning) then bnavstr.BNAV_fRunSpeed else bnavstr.BNAV_fWalkSpeed -> speed in
      let computeControls sessionstr bnavstr vnbsec speed -> [vec hvec [pitch yaw roll] ycam angOverride addCamHeight havedata] in
      let bnavstr.BNAV_bHasMoved -> hasmoved in
      (
        set bnavstr.BNAV_bHasMoved = 0;
        
        if (V3DphysGetState c3dXsession) then
        (
          // for stairs / climb
          let V3DphysGetGravity c3dXsession -> gravity in
          let bnavstr.BNAV_fMass *. pfps -> msp in
          let [msp msp msp] -> vmsp in
          let SO3ObjectGetGlobalPosition bnavstr.BNAV_shell -> gpos in
          let SO3ObjectGetGlobalOrientation (if bnavstr.BNAV_bFlyMode then bnavstr.BNAV_camShell else bnavstr.BNAV_neckShell) -> gquat in
          let SO3MathsQuatAdd gquat (SO3MathsEulerXYZToQuat [yaw 0.0 0.0]) -> gquat in
          let addVectorF vec hvec -> mnvec in
          let SO3MathsQuatGetDirection gquat (addVectorF mnvec (multiplyVectorF (normalizeVectorF mnvec) [0.20 0.0 0.20])) -> mtvec in
          let gpos -> [gpx gpy gpz] in
          let addVectorF gpos mtvec -> [gx gy gz] in
          let if bnavstr.BNAV_bFlyMode then nil else getValidRay SO3PhysicsRayCastExt (V3DgetSession c3dXsession) [gx (gy +. 0.5) gz] [1.0 0.0 1.0] 1.5 -> [ftbody ftdist _] in
          let if ((ftdist >. 0.0) && (ftdist <. 0.30)) then [nil 0.0 [0.0 0.0 0.0]] else getValidRay SO3PhysicsRayCastExt (V3DgetSession c3dXsession) [gx (gy +. 1.0) gz] [0.0 (-.1.0) 0.0] 1.0 -> [ntbody ntdist [_ nty _]] in
          let if ((nty != nil) && (nty <. 0.65)) then 0.0 else ntdist -> ntdist in
          let if (ntbody == nil) then SO3PhysicsGetMaterialName SO3BodyGetMaterial ftbody else SO3PhysicsGetMaterialName SO3BodyGetMaterial ntbody -> climbmat in
          let if climbmat == nil then bnavstr.BNAV_sLastMaterial else climbmat -> climbmat in
          let if ((strfindi "climb" climbmat 0) != nil) then 1 else 0 -> climb in
          let if ((strfindi "stairs" climbmat 0) != nil) then 1 else 0 -> stairs in
          
          let if (bnavstr.BNAV_fMass >. 0.0) && (!bnavstr.BNAV_bFlyMode) && (!climb) then [1.0 0.0 1.0] else [1.0 1.0 1.0] -> vmul in
          let SO3ObjectGetGlobalOrientation (if bnavstr.BNAV_bFlyMode || climb then bnavstr.BNAV_camShell else bnavstr.BNAV_neckShell) -> pquat in
          let SO3MathsQuatAdd pquat (SO3MathsEulerXYZToQuat [yaw 0.0 0.0]) -> pquat in
          let SO3MathsQuatGetDirection pquat multiplyVectorF vec vmul -> mvec in
          let SO3MathsQuatGetDirection pquat multiplyVectorF hvec vmul -> hmvec in
          //let addVectorF gpos mvec -> gmove in
          // for normal and slide mode
          let getValidRay SO3PhysicsRayCastExt (V3DgetSession c3dXsession) [gpx (gpy +. 1.0) gpz] [0.0 (-.1.0) 0.0] 2.0 -> [tbody tdist [cnx cny cnz]] in
          let SO3PhysicsGetMaterialName SO3BodyGetMaterial tbody -> slidemat in
          let if ((strfindi "climb" slidemat 0) != nil) then 1 else climb -> sclimb in
          let if ((strfindi "stairs" slidemat 0) != nil) then 1 else stairs -> sstairs in
          
          let SO3BodyGetVelocity bnavstr.BNAV_shellBody -> [velx vely velz] in
          let (1.0 -. ntdist) -> nydist in
          let if (nydist >. 0.01) && (nydist <=. 0.50) then nydist else 0.0 -> nydist in
          
          let divideVectorF mvec vnbsec -> mvel in
          let if ((tbody != nil) && (tdist <. 1.1)) || (ntbody != nil) then 1 else 0 -> touch in
          
          // sliding ?
          let if ((cny <. 0.8) && !sclimb && !sstairs && !bnavstr.BNAV_bFlyMode && (!vectorIsZeroF gravity)) then 1 else 0 -> slide in
          // need to move to slide
          let if (slide && ((absf velx) <. 0.01) && ((absf velz) <. 0.01)) then 0 else slide -> slide in
          
          // cannot move in the air
          let if (!touch && (bnavstr.BNAV_sLastMaterial == nil) && !sclimb && !bnavstr.BNAV_bFlyMode && (!vectorIsZeroF gravity) && !slide) then 1 else 0 -> inair in
          let if slide then [velx 0.0 velz] else /*if inair then [velx 0.0 velz] else*/ mvel -> mvel in
          let if (bnavstr.BNAV_fMass >. 0.0) && (!bnavstr.BNAV_bFlyMode) && (!climb) then vely else 0.0 -> nvely in
          
          let SO3MathsQuatGetDirection (SO3MathsQuatAdd (SO3ObjectGetGlobalOrientation bnavstr.BNAV_neckShell) (SO3MathsEulerXYZToQuat [yaw 0.0 0.0])) [1.0 1.0 1.0] -> snddir in
          (
            //climb stairs
            if (sclimb || sclimb || (zeroVectorF vec) || (nydist == 0.0)) then nil else
            (
              //set nvely = nvely +. ((nydist /. nbsec) *. 0.5);
              set bnavstr.BNAV_iNbUpDetections = bnavstr.BNAV_iNbUpDetections + 1;
              
              if (bnavstr.BNAV_iNbUpDetections < 5) then nil else
              (
                //addLogMessage strcatn "Move up : "::(ftoa nydist)::" "::(ftoa nty)::nil;
                SO3ObjectTranslate bnavstr.BNAV_shell [0.0 nydist 0.0] SO3_WORLD_TS;
                set bnavstr.BNAV_iNbUpDetections = 0;
              );
            );
            
            if (!slide) then
            (
              if (strcmpi "Sliding" bnavstr.BNAV_curState) then nil else
                _AudioStop bnavstr.BNAV_slideSound;
              0;
            )
            else
            (
              _AudioSetPosition bnavstr.BNAV_jumpSound gpos snddir;
              
              if (!strcmpi "Sliding" bnavstr.BNAV_curState) then nil else
              (
                set bnavstr.BNAV_curState = "Sliding";
                _AudioPlay3d bnavstr.BNAV_slideSound 0.8 1;
                SendPluginEvent inst bnavstr.BNAV_curState nil nil;
              );
              
              set bnavstr.BNAV_fInAirMaxVelocity = minf bnavstr.BNAV_fInAirMaxVelocity nvely;
              0;
            );
            
            if (inair == bnavstr.BNAV_bInAir) then
            (
              if (!inair) then nil else
              (
                if (!strcmpi "Falling" bnavstr.BNAV_curState) || ((_tickcount - bnavstr.BNAV_iAirTick) < 300) then nil else
                (
                  set bnavstr.BNAV_curState = "Falling";
                  SendPluginEvent inst bnavstr.BNAV_curState nil nil;
                );
                
                set bnavstr.BNAV_fInAirMaxVelocity = minf bnavstr.BNAV_fInAirMaxVelocity nvely;
              );
              0;
            )
            else
            (
              set bnavstr.BNAV_bInAir = inair;
              
              if (!inair) then
              (
                if ((_tickcount - bnavstr.BNAV_iAirTick) < 300) then nil else
                (
                  let (absf bnavstr.BNAV_fInAirMaxVelocity) /. 10.0 -> vol in
                    playHitSound bnavstr vol;
                  
                  SendPluginEvent inst "Hit velocity" ftoa (absf bnavstr.BNAV_fInAirMaxVelocity) nil;
                );
                0;
              )
              else
              (
                set bnavstr.BNAV_fInAirMaxVelocity = nvely;
                set bnavstr.BNAV_iAirTick = _tickcount;
                0;
              );
            );
            
            if ((!hasmoved) && (zeroVectorF vec) && (zeroVectorF hvec) && !inair && !slide && !sclimb) then //disabled
            (
              if (!strcmpi "Idle" bnavstr.BNAV_curState) then nil else
              (
                set bnavstr.BNAV_curState = "Idle";
                SendPluginEvent inst bnavstr.BNAV_curState nil nil;
              );
              0;
            )
            else
            (
              if (zeroVectorF vec) then nil else
                set bnavstr.BNAV_bHasMoved = 1;              
              
              let [velx vely velz] -> curvel in
              let divideVectorF hmvec vnbsec -> hmvel in
              let [0.0 0.0 0.0] -> dvel in            
              let !(zeroVectorF hmvec) -> mvhead in
              (
                let SO3ObjectGetGlobalPosition bnavstr.BNAV_neckShell -> gneckpos in
                let multiplyVectorF (subVectorF gneckpos (SO3ObjectGetGlobalPosition bnavstr.BNAV_shell)) [1.0 0.0 1.0] -> neckdiff in
                let multiplyVectorF subVectorF gneckpos (SO3ObjectGetGlobalPosition bnavstr.BNAV_collShell) [1.0 0.0 1.0] -> colldiff in
                let getVectorLengthF colldiff -> nlenght in
                (
                  let getVectorLengthF [velx 0.0 velz] -> vlenght in
                  let (vlenght >. 0.8) -> outside in
                  if ((bnavstr.BNAV_bFreeHead && ((nlenght <=. fNeckMindistance) || outside)) || bnavstr.BNAV_bHasMoved) then
                  (
                    if (!bnavstr.BNAV_bHasMoved && (zeroVectorF bnavstr.BNAV_lastVelocity)) then nil else
                    /*let if (slide || climb || bnavstr.BNAV_bTargetSwitch) then
                          mvel
                        else
                        let if (bnavstr.BNAV_bHeadRangeState) then 0.05 else 0.01 -> coef in
                        let multiplyVectorF (divideVectorF neckdiff vnbsec) [coef coef coef] -> hdiffvel in
                          addVectorF hdiffvel mvel
                    -> tovel in*/
                      set dvel = mvel;
                    
                    if (!bnavstr.BNAV_bTargetSwitch || bnavstr.BNAV_bHasMoved) then
                    (
                      set bnavstr.BNAV_vTargetTrans = hmvec;
                    )
                    else if (bnavstr.BNAV_bTargetSwitch) then
                    (
                      set bnavstr.BNAV_bTargetSwitch = 0;
                      SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 nvely 0.0];
                      SO3BodySetVelocity bnavstr.BNAV_camBody [0.0 nvely 0.0];
                      
                      let addVectorF (SO3ObjectGetGlobalPosition bnavstr.BNAV_neckShell) hmvec -> tovec in
                        set bnavstr.BNAV_vTargetPos = tovec;
                    )
                    else nil;
                    0;
                  )
                  else
                  (
                    //force body to neck pos direction
                    if (!mvhead && !climb) then nil else
                    (
                      let multiplyVectorF (divideVectorF neckdiff vnbsec) [0.02 0.02 0.02] -> hdiffvel in                      
                      let addVectorF hdiffvel hmvel -> tovel in
                      let getVectorLengthF tovel -> lenght in
                      if (lenght == 0.0) then nil else
                      (
                        set dvel = tovel;
                        
                        if (!mvhead) then nil else
                        (
                          let addVectorF (SO3ObjectGetGlobalPosition bnavstr.BNAV_neckShell) hmvec -> tovec in
                            set bnavstr.BNAV_vTargetPos = tovec;
                        );
                        
                        set bnavstr.BNAV_bTargetSwitch = 1;
                      );
                    );
                    0;            
                  );
                  
                  let getVectorLengthF dvel -> vlenght in
                  if (vlenght == 0.0) then nil else
                  (
                    let subVectorF (addVectorF dvel [0.0 nvely 0.0]) curvel -> nvel in
                    let multiplyVectorF nvel vmsp -> dforce in
                    let minf vlenght (pfps /. nbsec) -> maxlenght in
                    let multiplyVectorF divideVectorF dforce [vlenght vlenght vlenght] [maxlenght maxlenght maxlenght] -> nforce in
                      SO3BodyAddForce bnavstr.BNAV_shellBody nforce;
                  );
                  set bnavstr.BNAV_lastVelocity = mvel;
                );
              );
              
              // stop the physic body on motion stop
              if (!bnavstr.BNAV_bHasMoved && hasmoved && (bnavstr.BNAV_bFlyMode || !inair)) then
              (
                SO3BodySetForce bnavstr.BNAV_shellBody [0.0 0.0 0.0];
                SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 nvely 0.0];
                SO3BodySetForce bnavstr.BNAV_camBody [0.0 0.0 0.0];
                SO3BodySetVelocity bnavstr.BNAV_camBody [0.0 nvely 0.0];
              )
              else nil;
              
              if (slide || climb || inair || !(zeroVectorF vec) || !touch || (!strcmp bnavstr.BNAV_curState "Jumping")) then nil else
              if (!strcmpi "Idle" bnavstr.BNAV_curState) then nil else
              (
                set bnavstr.BNAV_curState = "Idle";
                SendPluginEvent inst bnavstr.BNAV_curState nil nil;
              );
              
              //walk sound
              if (inair || slide || !touch || (zeroVectorF vec)) then nil else
              (
                if (climb) then
                (
                  if (!strcmpi "Climbing" bnavstr.BNAV_curState) then nil else
                  (
                    set bnavstr.BNAV_curState = "Climbing";
                    SendPluginEvent inst bnavstr.BNAV_curState nil nil;
                  );
                )
                else if ((isrunning && (!strcmpi "Running" bnavstr.BNAV_curState)) || (!isrunning && (!strcmpi "Walking" bnavstr.BNAV_curState))) then nil else
                (
                  set bnavstr.BNAV_curState = if (isrunning) then "Running" else "Walking";
                  SendPluginEvent inst bnavstr.BNAV_curState nil nil;
                );
                
                let if climb then climbmat else if touch then SO3PhysicsGetMaterialName SO3BodyGetMaterial tbody else nil -> matname in
                (
                  let switchstr bnavstr.BNAV_lWSound matname -> sndstr in
                  let if (sndstr == nil) then switchstr bnavstr.BNAV_lWSound "default" else sndstr -> sndstr in
                  (
                    _AudioSetPosition sndstr.WSND_asSound gpos snddir;
                    
                    let addVectorF mvec hvec -> [mvx mvy mvz] in
                    if ((absf mvx) +. (absf mvy) +. (absf mvz)) <. (0.1 /. ftime) then nil else
                    let ftoi ((itof sndstr.WSND_iTimeStep) /. ((speed +. 0.001) /. 1.8)) -> step in
                    if ((sndstr.WSND_iTick != nil) && ((_tickcount - sndstr.WSND_iTick) < step)) then nil else
                    (
                      _AudioPlay3d sndstr.WSND_asSound 0.8 0;
                      //_AudioSetPitch sndstr.WSND_asSound speed /. 2.0;
                      set sndstr.WSND_iTick = _tickcount;
                    );
                  );
                );
              );
            );
            
            if (bnavstr.BNAV_vTranslate == nil) then nil else
            (
              let addVectorF (SO3MathsQuatGetDirection pquat bnavstr.BNAV_vTranslate) [0.0 nydist 0.0] -> mtvec in
              if (slide) then nil else
              (
                let mtvec -> [mvx mvy mvz] in
                let SO3ObjectGetGlobalPosition bnavstr.BNAV_shell -> [gx gy gz] in
                let SO3ObjectGetGlobalPosition bnavstr.BNAV_camera -> [_ cgy _]  in
                let (getVectorLengthF (multiplyVectorF mtvec [1.0 0.0 1.0])) +. 0.4 -> raylength in
                let multiplyVectorF mtvec [1.0 0.0 1.0] -> raydir in
                let getValidRay SO3PhysicsRayCastExt (V3DgetSession c3dXsession) [gx (gy +. 0.5) gz] raydir raylength -> [ftbody ftdist _] in
                let getValidRay SO3PhysicsRayCastExt (V3DgetSession c3dXsession) [gx (cgy +. 0.1) gz] raydir raylength -> [cftbody cftdist _] in
                let maxf 0.0 ((maxf ftdist cftdist) -. 0.4) -> ftdist in
                let if ((ftbody == nil) && (cftbody == nil)) then mtvec else addVectorF (multiplyVectorF (normalizeVectorF mtvec) [ftdist 0.0 ftdist]) [0.0 mvy 0.0] -> mtvec in
                let getValidRay SO3PhysicsRayCastExt (V3DgetSession c3dXsession) (addVectorF [gx (gy +. 1.0) gz] (multiplyVectorF mtvec [1.0 0.0 1.0])) [0.0 (-.1.0) 0.0] 2.0 -> [ntbody ntdist [_ cny _]] in
                let mtvec -> [mvx mvy mvz] in
                let if (ntbody == nil) then mtvec else addVectorF (multiplyVectorF (normalizeVectorF mtvec) [0.0 (1.0 -. ntdist) 0.0]) [mvx 0.0 mvz] -> mtvec in
                (
                  SO3BodySetForce bnavstr.BNAV_shellBody [0.0 0.0 0.0];
                  SO3BodySetForce bnavstr.BNAV_camBody [0.0 0.0 0.0];
                  SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 0.0 0.0];
                  SO3BodySetVelocity bnavstr.BNAV_camBody [0.0 0.0 0.0];
            
                  SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
                  SO3BodySetOmega bnavstr.BNAV_camBody [0.0 0.0 0.0];
                  
                  set bnavstr.BNAV_vTargetTrans = nil;
                  set bnavstr.BNAV_vTargetPos = nil;
                  
                  //reset neck offset
                  let SO3ObjectGetPosition bnavstr.BNAV_neckShell -> [_ nky _] in
                    SO3ObjectSetPosition bnavstr.BNAV_neckShell [0.0 nky 0.0];
                  
                  SO3ObjectTranslate bnavstr.BNAV_shell mtvec SO3_WORLD_TS;
                  
                  SO3BodySetInitialState bnavstr.BNAV_shellBody;
                  SO3BodySetInitialState bnavstr.BNAV_camBody;
                  
                  //reset control
                  set bnavstr.BNAV_lControls = nil;
                  
                  //reset contacts
                  set bnavstr.BNAV_iContactCount = 0;
                  
                  set bnavstr.BNAV_vTranslate = nil;
                );
              );
            );
          );
          
          SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
          SO3BodySetOmega bnavstr.BNAV_camBody [0.0 0.0 0.0];
          
          set bnavstr.BNAV_qLastOrientation = SO3MathsQuatAdd bnavstr.BNAV_qLastOrientation (SO3MathsEulerXYZToQuat [yaw 0.0 0.0]);
          0;
        )
        else
        (
          if (bnavstr.BNAV_bFlyMode) then
            let SO3MathsQuatGetDirection (SO3MathsQuatAdd (SO3ObjectGetGlobalOrientation bnavstr.BNAV_camShell) (SO3MathsEulerXYZToQuat [yaw 0.0 0.0])) addVectorF vec hvec -> mvec in
              SO3ObjectTranslate bnavstr.BNAV_shell mvec SO3_WORLD_TS
          else
            let SO3MathsQuatGetDirection (SO3MathsQuatAdd (SO3ObjectGetGlobalOrientation bnavstr.BNAV_neckShell) (SO3MathsEulerXYZToQuat [yaw 0.0 0.0])) addVectorF vec hvec -> mvec in
              SO3ObjectTranslate bnavstr.BNAV_shell mvec SO3_WORLD_TS;

          yawCamera bnavstr yaw 0;
          
          if (bnavstr.BNAV_vTranslate == nil) then nil else
          (
            //reset neck offset
            let SO3ObjectGetPosition bnavstr.BNAV_neckShell -> [_ nky _] in
              SO3ObjectSetPosition bnavstr.BNAV_neckShell [0.0 nky 0.0];
            
            set bnavstr.BNAV_vTranslate = nil;
            
            //reset control
            set bnavstr.BNAV_lControls = nil;
          );
          0;
        );
        
        pitchCamera bnavstr pitch angOverride;
        rollCamera bnavstr roll angOverride;
        
        if (!havedata && (bnavstr.BNAV_bLastCrouchState == bnavstr.BNAV_bCrouchState)) then nil else
        let if (!addCamHeight) then
            (
              if (ycam == 0.0) then
                bnavstr.BNAV_fCamHeight
              else
                ycam
            )
            else
            (
              if (bnavstr.BNAV_fLastYPos == 0.0) then
                bnavstr.BNAV_fCamHeight +. ycam
              else
                bnavstr.BNAV_fLastYPos +. ycam
            )
        -> dscpos in
        (
          let if bnavstr.BNAV_bCrouchState then
                maxf 0.0 dscpos -. (bnavstr.BNAV_fCamHeight *. 0.4)
              else
                dscpos
          -> dhpos in
          (
            if (V3DphysGetState c3dXsession) then
            (
              let maxf (-.bnavstr.BNAV_fCamHeight *. 0.5) (dhpos -. bnavstr.BNAV_fCamHeight) -> dhpos in
                SO3PhysicsContraintSetSliderLimits bnavstr.BNAV_contraint dhpos dhpos;
              0;
            )
            else
            (
              SO3ObjectSetPosition bnavstr.BNAV_collShell [0.0 dhpos 0.0];
              0;
            );
            
            set bnavstr.BNAV_bLastCrouchState = bnavstr.BNAV_bCrouchState;
            set bnavstr.BNAV_fLastYPos = dhpos;
          );
        );
        0;
      );
    );
    
    set bnavstr.BNAV_iTick = 0;
    
    if (!bnavstr.BNAV_bSendFeetPosition && !bnavstr.BNAV_bSendHeadPosition && !bnavstr.BNAV_bSendHipPosition) then nil else
    (      
      if (!bnavstr.BNAV_bSendFeetPosition) then nil else
      let SO3ObjectGetPosition bnavstr.BNAV_shell -> [px py pz] in
      let SO3MathsQuatToEulerDegreePYR (SO3ObjectGetOrientation bnavstr.BNAV_shell) -> [fax fay faz] in
        SendPluginEvent inst "Feet position" strcatn (strcatnSep (ftoa px)::(ftoa py)::(ftoa pz)::nil " ")::"\n"::(strcatnSep (ftoa fax)::(ftoa fay)::(ftoa faz)::nil " ")::nil nil;
      
      if (!bnavstr.BNAV_bSendHeadPosition) then nil else
      let SO3ObjectGetGlobalPosition bnavstr.BNAV_camShell -> [px py pz] in
      let SO3MathsQuatToEulerDegreePYR (SO3ObjectGetGlobalOrientation bnavstr.BNAV_camShell) -> [fax fay faz] in
        SendPluginEvent inst "Head position" strcatn (strcatnSep (ftoa px)::(ftoa py)::(ftoa pz)::nil " ")::"\n"::(strcatnSep (ftoa fax)::(ftoa fay)::(ftoa faz)::nil " ")::nil nil;
      
      if (!bnavstr.BNAV_bSendHipPosition) then nil else
      let SO3ObjectGetPosition bnavstr.BNAV_shell -> [_ sy _] in
      let SO3ObjectGetGlobalPosition bnavstr.BNAV_neckShell -> [nx ny nz] in
      let sy +. ((ny -. sy) *. 0.65) -> py in
      let SO3MathsQuatToEulerDegreePYR SO3ObjectGetGlobalOrientation bnavstr.BNAV_neckShell -> [fax fay faz] in
        SendPluginEvent inst "Hip position" strcatn (strcatnSep (ftoa nx)::(ftoa py)::(ftoa nz)::nil " ")::"\n"::(strcatnSep (ftoa fax)::(ftoa fay)::(ftoa faz)::nil " ")::nil nil;
    );
  );
  0;;
  

fun deleteOb(inst, bnavstr)=
  let SO3ObjectGetChildren bnavstr.BNAV_camera -> lchild in
  let sizelist lchild -> size in
  let 0 -> i in
  while i < size do
  (
    let nth_list lchild i -> child in
      SO3ObjectUnlink child;
    
    set i = i + 1;
  );
  
  let sizelist bnavstr.BNAV_lWSound -> size in
  let 0 -> i in
  while i < size do
  (
    let nth_list bnavstr.BNAV_lWSound i -> [mat sndstr] in
      _DSAudio sndstr.WSND_asSound;      
    
    set i = i + 1;
  );
  
  _DSAudio bnavstr.BNAV_jumpSound;
  _DSAudio bnavstr.BNAV_hitSound;
  _DSAudio bnavstr.BNAV_slideSound;
  
  setPluginInstanceCbScenePreRenderPhysic inst nil;
  setPluginInstanceCbScenePreRender2 inst nil;
  
  if (bnavstr.BNAV_bDisableDefControl) then nil else
  (
    setPluginInstanceCbKeyDown inst nil;
    setPluginInstanceCbKeyUp inst nil;
    setPluginInstanceCbClick inst nil;
    setPluginInstanceCbFocusView inst nil;
    setPluginInstanceCbKillFocusView inst nil;
      
    setPluginInstanceCbTouchPointAdd inst nil;
    setPluginInstanceCbTouchPointRemove inst nil;
    setPluginInstanceCbTouchPointUpdate inst nil;
  );
  
  let c3dXsession -> sessionstr in
  if (!bnavstr.BNAV_bHideMouse) then nil else
    V3DshowCursor sessionstr.V3D_sessionView 1;
  
  SO3ObjectDestroy bnavstr.BNAV_avBase;
  SO3GroupDelete (V3DgetSession c3dXsession) bnavstr.BNAV_sGroupName;
  
  V3DdelCamera c3dXsession bnavstr.BNAV_camera;
  SO3ObjectDestroy bnavstr.BNAV_neckShell;
  SO3ObjectDestroy bnavstr.BNAV_camShell;
  SO3ObjectDestroy bnavstr.BNAV_shell;
  V3DenableNavigate c3dXsession 1;
  set bnavstr.BNAV_lControls = nil;
  0;;


fun cbRotateView(inst, from, action, param, reply, bnavstr)=
  if ((!bnavstr.BNAV_bState) || (param == nil)) then nil else
  (
    if (V3DphysGetState c3dXsession) then
    (
      SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
      SO3BodySetOmega bnavstr.BNAV_camBody [0.0 0.0 0.0];
      set bnavstr.BNAV_qLastOrientation = SO3MathsQuatAdd bnavstr.BNAV_qLastOrientation (SO3MathsEulerXYZToQuat [SO3MathsDegreeToRadian (atof param) 0.0 0.0]);
      0;
    )
    else  
    (
      yawCamera bnavstr SO3MathsDegreeToRadian (atof param) 0;
      0;
    );
  );
  0;;


fun cbTranslateView(inst, from, action, param, reply, bnavstr)=
  if ((!bnavstr.BNAV_bState) || (param == nil)) then nil else
  (
    let strextr param -> l in
    let hd l -> sv in
    let [atof(nth_list sv 0) atof(nth_list sv 1) atof(nth_list sv 2)] -> vec in
      set bnavstr.BNAV_vTranslate = vec;
  );
  0;;


fun cbShiftKey(inst, from, action, param, reply, bnavstr)=
  set bnavstr.BNAV_bShiftState = if (atoi param) == nil then 0 else (atoi param);
  0;;
  

fun cbCtrlKey(inst, from, action, param, reply, bnavstr)=
  let if (atoi param) == nil then 0 else (atoi param) -> nstate in
    set bnavstr.BNAV_bCrouchState = nstate;
  0;;


fun cbJump(inst, from, action, param, reply, bnavstr)=
  let SO3ObjectGetGlobalPosition bnavstr.BNAV_shell -> [gx gy gz] in
  let getValidRay SO3PhysicsRayCastExt (V3DgetSession c3dXsession) [gx (gy +. 0.1) gz] [0.0 (-.1.0) 0.0] 0.15 -> [body dist normal] in
  if (bnavstr.BNAV_bJumping) || (((body == nil) || (dist >. ((bnavstr.BNAV_fCamHeight /. 2.0) +. 0.05))) && (strcmpi "Climbing" bnavstr.BNAV_curState)) then nil else
  (
    set bnavstr.BNAV_curState = "Jumping";
    SendPluginEvent inst bnavstr.BNAV_curState nil nil;
    SO3BodyAddImpulse bnavstr.BNAV_shellBody [0.0 bnavstr.BNAV_fJumpForce 0.0] [gx gy gz];
    playJumpSound bnavstr;
  );
  0;;


fun cbControl(inst, from, action, param, reply, bnavstr)=
  //get the input control from the link
  let if reply == nil then "control" else reply -> reply in
  let switchstr bnavstr.BNAV_lControls reply -> icontrol in
  (
    // if not already int the list we add it
    if (icontrol != nil) then nil else
    (
      set bnavstr.BNAV_lControls = [reply [[0.0 0.0 0.0] [0.0 0.0 0.0] 0.0 0 1]]::bnavstr.BNAV_lControls;
      set icontrol = switchstr bnavstr.BNAV_lControls reply;
    );
    
    let strextr param -> l in
    let hd l -> sv in
    let hd tl l -> sa in
    let hd (hd tl tl l) -> mode in
    let icontrol -> [ovec oang ycam _ _] in
    let ovec -> [ovx ovy ovz] in
    let oang -> [oax oay oaz] in
    let if mode == nil then 0 else atoi mode -> imode in
    let [(nth_list sv 0) (nth_list sv 1) (nth_list sv 2)] -> [svx svy svz] in
    let [(if (!strcmp "_" svx) || (svx == nil) then ovx else (atof svx)) (if (!strcmp "_" svy) || (svy == nil) then ovy else (atof svy)) (if (!strcmp "_" svz) || (svz == nil) then ovz else (atof svz))] -> [vx vy vz] in
    let [(nth_list sa 0) (nth_list sa 1) (nth_list sa 2)] -> [sax say saz] in
    let [(if (!strcmp "_" sax) || (sax == nil) then oax else (atof sax)) (if (!strcmp "_" say) || (say == nil) then oay else (atof say)) (if (!strcmp "_" saz) || (saz == nil) then oaz else (atof saz))] -> [ax ay az] in
    (
      if ((imode == 1) || (imode == 4)) then
        // accumulator
        mutate icontrol <- [(addVectorF ovec [vx 0.0 vz]) (addVectorF oang [ax ay az]) (ycam +. vy) imode 1]
      else if (imode == 2) || (imode == 3) then
      (
        //update the head position in real time
        if (!bnavstr.BNAV_bAutoHead) then nil else
          set bnavstr.BNAV_bFreeHead = 1;
        // override orientation
        mutate icontrol <- [(addVectorF ovec [vx 0.0 vz]) [ax ay az] (if (imode == 2) then (ycam +. vy) else vy) imode 1]
      )
      else
        mutate icontrol <- [[vx vy vz] [ax ay az] 0.0 imode 1];
    );
  );
  0;;


fun cbSetPosition(inst, from, action, param, reply, bnavstr)=
  let strextr param -> l in
  let hd l -> sv in
  let hd tl l -> sa in
  let [atof(nth_list sv 0) atof(nth_list sv 1) atof(nth_list sv 2)] -> vec in
  let [atof(nth_list sa 0) atof(nth_list sa 1) atof(nth_list sa 2)] -> ang in
  (
    SO3BodySetForce bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetForce bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_camBody [0.0 0.0 0.0];
    
    let ang -> [ax ay az] in
    if (ang == nil) || ((ax == nil) && (ay == nil) && (az == nil)) then nil else
    (
      SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
      SO3BodySetOmega bnavstr.BNAV_camBody [0.0 0.0 0.0];
      
      let if ax == nil then 0.0 else ax -> ax in
      let if ay == nil then 0.0 else ay -> ay in
      let if az == nil then 0.0 else az -> az in
      (
        set bnavstr.BNAV_qLastOrientation = (SO3MathsEulerXYZToQuat [(SO3MathsDegreeToRadian ay) 0.0 0.0]);
        set bnavstr.BNAV_vTargetTrans = nil;
        set bnavstr.BNAV_vTargetPos = nil;
        SO3ObjectSetGlobalOrientation bnavstr.BNAV_neckShell (SO3MathsEulerXYZToQuat [(SO3MathsDegreeToRadian ay) 0.0 0.0]);
        SO3ObjectSetOrientation bnavstr.BNAV_camShell (SO3MathsEulerXYZToQuat [0.0 (SO3MathsDegreeToRadian ax) (SO3MathsDegreeToRadian az)]);
      );
    );
    
    //reset neck offset
    let SO3ObjectGetPosition bnavstr.BNAV_neckShell -> [_ nky _] in
      SO3ObjectSetPosition bnavstr.BNAV_neckShell [0.0 nky 0.0];
    
    SO3ObjectSetPosition bnavstr.BNAV_shell vec;
    SO3BodySetInitialState bnavstr.BNAV_shellBody;
    SO3BodySetInitialState bnavstr.BNAV_camBody;
    
    //reset control
    set bnavstr.BNAV_lControls = nil;
    
    //reset contacts
    set bnavstr.BNAV_iContactCount = 0;
    
    V3DcameraTeleport (V3DgetSessionView c3dXsession) bnavstr.BNAV_camera;
  );
  0;;


fun cbGetPosition(inst, from, action, param, reply, bnavstr)=
  let SO3ObjectGetPosition bnavstr.BNAV_shell -> [px py pz] in
  let SO3MathsQuatToEulerXYZ (SO3ObjectGetGlobalOrientation bnavstr.BNAV_neckShell) -> [ay _ _] in
  let SO3MathsQuatToEulerXYZ (SO3ObjectGetOrientation bnavstr.BNAV_camShell) -> [_ ax az] in
  (
    SendPluginEvent inst "Position" strcatn (strcatnSep (ftoa px)::(ftoa py)::(ftoa pz)::nil " ")::"\n"::(strcatnSep (ftoa (SO3MathsRadianToDegree ax))::(ftoa (SO3MathsRadianToDegree ay))::(ftoa (SO3MathsRadianToDegree az))::nil " ")::nil nil;
  );
  0;;


fun cbSetAngleLimit(inst, from, action, param, reply, bnavstr)=
  if param == nil then nil else
  let bnavstr.BNAV_tCamLimit -> [_ otlimit] in
  let strextr param -> l in
  let SO3MathsDegreeToRadian (atof (nth_list (hd l) 0)) -> blimit in
  let SO3MathsDegreeToRadian (atof (nth_list (hd l) 1)) -> tlimit in
  if blimit == nil && tlimit == nil then nil else
  let if tlimit == nil then otlimit else tlimit -> tlimit in
  (
    set bnavstr.BNAV_tCamLimit = [blimit tlimit];
  );
  0;;


fun cbSetWalkSpeed(inst, from, action, param, reply, bnavstr)=
  if (atof param) == nil then nil else
    set bnavstr.BNAV_fWalkSpeed = atof param;
  0;;


fun cbSetRunSpeed(inst, from, action, param, reply, bnavstr)=
  if (atof param) == nil then nil else
    set bnavstr.BNAV_fRunSpeed = atof param;
  0;;


fun cbFocus(inst, viewstr, bnavstr)=
  if (!bnavstr.BNAV_bHideMouse) then nil else
    V3DshowCursor viewstr 0;
  
  set bnavstr.BNAV_bFocus = 1;
  0;;


fun cbKillFocus(inst, viewstr, bnavstr)=
  if (!bnavstr.BNAV_bHideMouse) then nil else
    V3DshowCursor viewstr 1;
  
  set bnavstr.BNAV_bFocus = 0;
  
  set bnavstr.BNAV_lastVelocity = [0.0 0.0 0.0];
  set bnavstr.BNAV_lPressedKeys = nil;
  set bnavstr.BNAV_move = [[0.0 0.0 0.0] [0.0 0.0 0.0]];
  set bnavstr.BNAV_mouseMove = [0.0 0.0];
  let SO3BodyGetVelocity bnavstr.BNAV_shellBody -> [velx vely velz] in
    SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 vely 0.0];
  SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
  0;;


fun cbEnableKeyboard(inst, from, action, param, reply, bnavstr)=
  set bnavstr.BNAV_bKeyboard = 1;
  
  if (!bnavstr.BNAV_bState || !(V3DgetNavigateControlState c3dXsession)) then nil else
  (
    setPluginInstanceCbKeyDown inst mkfun5 @cbNavKeyDown bnavstr;
    setPluginInstanceCbKeyUp inst mkfun4 @cbNavKeyUp bnavstr;
  );
  0;;


fun cbDisableKeyboard(inst, from, action, param, reply, bnavstr)=
  set bnavstr.BNAV_bKeyboard = 0;
  set bnavstr.BNAV_lPressedKeys = nil;
  setPluginInstanceCbKeyDown inst nil;
  setPluginInstanceCbKeyUp inst nil;
  set bnavstr.BNAV_move = [[0.0 0.0 0.0] [0.0 0.0 0.0]];
  0;;
  

fun cbEnableDefaultInputs(inst, from, action, param, reply, bnavstr)=
  set bnavstr.BNAV_bDisableDefControl = 0;
  set bnavstr.BNAV_bMouse = 1;
  
  if (!bnavstr.BNAV_bKeyboard) then nil else
  (
    setPluginInstanceCbKeyDown inst mkfun5 @cbNavKeyDown bnavstr;
    setPluginInstanceCbKeyUp inst mkfun4 @cbNavKeyUp bnavstr;
  );
  
  setPluginInstanceCbTouchPointAdd inst mkfun6 @cbAddCursor bnavstr;
  setPluginInstanceCbTouchPointRemove inst mkfun4 @cbRemoveCursor bnavstr;
  setPluginInstanceCbTouchPointUpdate inst mkfun8 @cbUpdateCursor bnavstr;
  setPluginInstanceCbClick inst mkfun6 @cbCursorClick bnavstr;
  setPluginInstanceCbFocusView inst mkfun3 @cbFocus bnavstr;
  setPluginInstanceCbKillFocusView inst mkfun3 @cbKillFocus bnavstr;
  0;;


fun cbDisableDefaultInputs(inst, from, action, param, reply, bnavstr)=
  set bnavstr.BNAV_bDisableDefControl = 1;
  set bnavstr.BNAV_bMouse = 0;

  setPluginInstanceCbKeyDown inst nil;
  setPluginInstanceCbKeyUp inst nil;
  setPluginInstanceCbClick inst nil;
  setPluginInstanceCbFocusView inst nil;
  setPluginInstanceCbKillFocusView inst nil;
  
  setPluginInstanceCbTouchPointAdd inst nil;
  setPluginInstanceCbTouchPointRemove inst nil;
  setPluginInstanceCbTouchPointUpdate inst nil;
  set bnavstr.BNAV_move = [[0.0 0.0 0.0] [0.0 0.0 0.0]];
  0;;


fun cbEnable(inst, from, action, param, reply, bnavstr)=
  let c3dXsession -> sessionstr in
  if (!(V3DgetNavigateControlState sessionstr)) then nil else
  (
    SO3BodySetForce bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetForce bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetOmega bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_camBody [0.0 0.0 0.0];
    
    set bnavstr.BNAV_lControls = nil;

    if (!bnavstr.BNAV_bHideMouse) then nil else
      V3DshowCursor sessionstr.V3D_sessionView 0;
    
    V3DcenterMouseCursor (sessionstr.V3D_sessionView);
    
    setPluginInstanceCbScenePreRenderPhysic inst mkfun4 @cbNavPreRender bnavstr;
    setPluginInstanceCbScenePreRender2 inst mkfun4 @cbNavPreRender2 bnavstr;
    
    if (bnavstr.BNAV_bDisableDefControl) then nil else
    (
      if (!bnavstr.BNAV_bKeyboard) then nil else
      (
        setPluginInstanceCbKeyDown inst mkfun5 @cbNavKeyDown bnavstr;
        setPluginInstanceCbKeyUp inst mkfun4 @cbNavKeyUp bnavstr;
      );
      
      setPluginInstanceCbTouchPointAdd inst mkfun6 @cbAddCursor bnavstr;
      setPluginInstanceCbTouchPointRemove inst mkfun4 @cbRemoveCursor bnavstr;
      setPluginInstanceCbTouchPointUpdate inst mkfun8 @cbUpdateCursor bnavstr;
      setPluginInstanceCbClick inst mkfun6 @cbCursorClick bnavstr;
      setPluginInstanceCbFocusView inst mkfun3 @cbFocus bnavstr;
      setPluginInstanceCbKillFocusView inst mkfun3 @cbKillFocus bnavstr;
    );
    
    V3DphysEnableBody bnavstr.BNAV_shellBody 1;
    V3DphysEnableBody bnavstr.BNAV_camBody 1;
    
    SO3BodySetGravityEnable bnavstr.BNAV_shellBody !bnavstr.BNAV_bFlyMode;
    SO3BodySetGravityEnable bnavstr.BNAV_camBody !bnavstr.BNAV_bFlyMode;
    SO3BodySetIgnoreCollision bnavstr.BNAV_shellBody 0;
    SO3BodySetIgnoreCollision bnavstr.BNAV_camBody 0;
    
    set bnavstr.BNAV_iAirTick = _tickcount;
    set bnavstr.BNAV_bInAir = 1;
    set bnavstr.BNAV_iTick = 0;
    
    SO3ObjectSetVisible bnavstr.BNAV_avBase bnavstr.BNAV_bShowFeetPos 0;    
    
    set bnavstr.BNAV_curState = "Idle";
    SendPluginEvent inst bnavstr.BNAV_curState nil nil;
  );
  set bnavstr.BNAV_bState = 1;
  0;;


fun cbDisable(inst, from, action, param, reply, bnavstr)=
  let c3dXsession -> sessionstr in
  (
    SO3BodySetForce bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetForce bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetOmega bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_camBody [0.0 0.0 0.0];
    
    if (!bnavstr.BNAV_bHideMouse) then nil else
      V3DshowCursor sessionstr.V3D_sessionView 1;

    setPluginInstanceCbScenePreRenderPhysic inst nil;
    setPluginInstanceCbScenePreRender2 inst nil;
      
    if (bnavstr.BNAV_bDisableDefControl) then nil else
    (
      setPluginInstanceCbKeyDown inst nil;
      setPluginInstanceCbKeyUp inst nil;
      setPluginInstanceCbClick inst nil;
      setPluginInstanceCbFocusView inst nil;
      setPluginInstanceCbKillFocusView inst nil;
      
      setPluginInstanceCbTouchPointAdd inst nil;
      setPluginInstanceCbTouchPointRemove inst nil;
      setPluginInstanceCbTouchPointUpdate inst nil;
    );
    
    SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetOmega bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_camBody [0.0 0.0 0.0];
    
    V3DphysEnableBody bnavstr.BNAV_shellBody 0;
    V3DphysEnableBody bnavstr.BNAV_camBody 0;
    
    SO3BodySetGravityEnable bnavstr.BNAV_shellBody 0;
    SO3BodySetGravityEnable bnavstr.BNAV_camBody 0;
    SO3BodySetIgnoreCollision bnavstr.BNAV_shellBody 1;
    SO3BodySetIgnoreCollision bnavstr.BNAV_camBody 1;
    
    SO3ObjectSetVisible bnavstr.BNAV_avBase 0 0;
    
    set bnavstr.BNAV_lPressedKeys = nil;
    set bnavstr.BNAV_move = [[0.0 0.0 0.0] [0.0 0.0 0.0]];
    set bnavstr.BNAV_bState = 0;
    set bnavstr.BNAV_lControls = nil;
    set bnavstr.BNAV_iTick = 0;
  );
  0;;


fun cbNavigationControlState(inst, sessionstr, state, bnavstr)=
  if (!state) then
  (
    let bnavstr.BNAV_bState -> prevstate in
    (
      cbDisable inst nil nil nil nil bnavstr;
      set bnavstr.BNAV_bState = prevstate;      
    );
  )
  else
  (
    if !bnavstr.BNAV_bState then nil else
      cbEnable inst nil nil nil nil bnavstr;
  );
  0;;


fun cbSetPlayerMass(inst, from, action, param, reply, bnavstr)=
  let atof param -> mass in
  let if mass == nil then 0.0 else mass -> mass in
  (
    set bnavstr.BNAV_fMass = mass;
    SO3BodySetMass bnavstr.BNAV_shellBody if mass <=. 0.0 then 0.0 else mass *. 0.8;
    SO3BodySetMass bnavstr.BNAV_camBody mass *. 0.2;
  );
  0;;
  

fun cbLookAtObject(inst, from, action, param, reply, bnavstr)=
  let V3DgetObjectByName c3dXsession param -> objsrc in
  if objsrc == nil then nil else
  (
    SO3BodySetForce bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetForce bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetOmega bnavstr.BNAV_camBody [0.0 0.0 0.0];
    
    let SO3ObjectGetGlobalPosition bnavstr.BNAV_camera -> src in
    let SO3ObjectGetGlobalPosition objsrc -> target in
    let lookAtPYR src target 1 -> [ax ay az] in
    (
      set bnavstr.BNAV_qLastOrientation = (SO3MathsEulerXYZToQuat [ay 0.0 0.0]);
      set bnavstr.BNAV_vTargetTrans = nil;
      set bnavstr.BNAV_vTargetPos = nil;
      SO3ObjectSetGlobalOrientation bnavstr.BNAV_neckShell (SO3MathsEulerXYZToQuat [ay 0.0 0.0]);
      SO3ObjectSetOrientation bnavstr.BNAV_camShell (SO3MathsEulerXYZToQuat [0.0 ax 0.0]);
    );
  );
  0;;
  

fun cbLookAtPos(inst, from, action, param, reply, bnavstr)=
  let strextr param -> l in
  let hd l -> sv in
  let [atof(nth_list sv 0) atof(nth_list sv 1) atof(nth_list sv 2)] -> target in
  if (target == nil) then nil else
  (
    SO3BodySetForce bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetForce bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetVelocity bnavstr.BNAV_camBody [0.0 0.0 0.0];
    SO3BodySetOmega bnavstr.BNAV_shellBody [0.0 0.0 0.0];
    SO3BodySetOmega bnavstr.BNAV_camBody [0.0 0.0 0.0];
    
    let SO3ObjectGetGlobalPosition bnavstr.BNAV_camera -> src in
    let lookAtPYR src target 1 -> [ax ay az] in
    (
      set bnavstr.BNAV_qLastOrientation = (SO3MathsEulerXYZToQuat [ay 0.0 0.0]);
      set bnavstr.BNAV_vTargetTrans = nil;
      set bnavstr.BNAV_vTargetPos = nil;
      SO3ObjectSetGlobalOrientation bnavstr.BNAV_neckShell (SO3MathsEulerXYZToQuat [ay 0.0 0.0]);
      SO3ObjectSetOrientation bnavstr.BNAV_camShell (SO3MathsEulerXYZToQuat [0.0 ax 0.0]);
    );
  );
  0;;


fun cbActiveCamera(inst, from, action, param, reply, bnavstr)=
  V3DsetDefaultCamera c3dXsession bnavstr.BNAV_camera;
  V3DcameraTeleport (V3DgetSessionView c3dXsession) bnavstr.BNAV_camera;
  
  if (!bnavstr.BNAV_bState) then nil else
    cbEnable inst from action param reply bnavstr;
  0;;


fun cbDeactivateCamera(inst, from, action, param, reply, bnavstr)=
  V3DremoveDefaultCamera c3dXsession bnavstr.BNAV_camera;
  let bnavstr.BNAV_bState -> prevstate in
  (
    cbDisable inst from action param reply bnavstr;
    set bnavstr.BNAV_bState = prevstate;
  );
  0;;


fun cbCameraFocalLength(inst, from, action, param, reply, bnavstr)=
  if ((atof param) == nil) then nil else
    SO3CameraSetFocalLength bnavstr.BNAV_camera (atof param);    
  0;;


fun cbCameraFov(inst, from, action, param, reply, bnavstr)=
  if ((atof param) == nil) then nil else
  (
    set bnavstr.BNAV_fFov = (atof param);
    SO3CameraSetFOVy bnavstr.BNAV_camera SO3MathsDegreeToRadian (atof param);
  );
  0;;


fun cbCameraClipping(inst, from, action, param, reply, bnavstr)=
  if ((atof param) == nil) then nil else
  let hd strextr param -> l in
  let atof (hd l) -> near in
  let atof (hd tl l) -> far in
  (
    SO3CameraSetNearClipDistance bnavstr.BNAV_camera near;
    SO3CameraSetFarClipDistance bnavstr.BNAV_camera far;
  );
  0;;


fun cbEnableFlyMode(inst, from, action, param, reply, bnavstr)=
  set bnavstr.BNAV_bFlyMode = 1;
  SO3BodySetGravityEnable bnavstr.BNAV_shellBody 0;
  SO3BodySetGravityEnable bnavstr.BNAV_camBody 0;
  0;;


fun cbDisableFlyMode(inst, from, action, param, reply, bnavstr)=
  set bnavstr.BNAV_bFlyMode = 0;
  SO3BodySetGravityEnable bnavstr.BNAV_shellBody 1;
  SO3BodySetGravityEnable bnavstr.BNAV_camBody 1;
  0;;


fun cbGeneric(inst, type, value, param, bnavstr)=
  let (SO3ObjectGetName bnavstr.BNAV_shell) -> objname in
  if (strcmpi objname value) then nil else
  (
    let strextr param -> lparam in
    let strcatnSep hd lparam " " -> secondBodyName in
    let strcatnSep hd tl lparam " " -> matname1 in
    let strcatnSep hd tl tl lparam " " -> matname2 in
    let if (!strcmp "avatar" matname1) then matname2 else matname1 -> material in
    let hd tl tl tl lparam -> spos in
    let [atof (hd spos) atof (hd tl spos) atof (hd tl tl spos)] -> pos in
    let hd tl tl tl tl lparam -> snormal in
    let [atof (hd snormal) atof (hd tl snormal) atof (hd tl tl snormal)] -> normal in
    let hd tl tl tl tl tl lparam -> sforce in
    let [atof (hd sforce) atof (hd tl sforce) atof (hd tl tl sforce)] -> force in    
    let atof (hd hd tl tl tl tl tl tl lparam) -> normalspeed in
    
    if (type == 16) then // "Ray intersect in"
      0
    else if (type == 17) then // "Ray intersect out"
      0
    else if (type == 18) then // "Contact"
      0
    else if (type == 19) then // "Overlap started"
    (      
      set bnavstr.BNAV_iContactCount = bnavstr.BNAV_iContactCount + 1;
      set bnavstr.BNAV_sLastMaterial = material;
      let if ((strfindi "climb" material 0) != nil) then 1 else 0 -> climb in
      if (bnavstr.BNAV_bFlyMode || !climb) then nil else
      (
        SO3BodySetGravityEnable bnavstr.BNAV_shellBody 0;
        SO3BodySetGravityEnable bnavstr.BNAV_camBody 0;
      );
      0;
    )
    else if (type == 20) then // "Overlap stopped"
    (
      set bnavstr.BNAV_iContactCount = bnavstr.BNAV_iContactCount - 1;
      
      if (bnavstr.BNAV_iContactCount >= 0) then nil else
        set bnavstr.BNAV_iContactCount = 0;
      
      let if ((strfindi "climb" material 0) != nil) then 1 else 0 -> climb in
      if (bnavstr.BNAV_bFlyMode || !climb) then nil else
      (
        SO3BodySetGravityEnable bnavstr.BNAV_shellBody 1;
        SO3BodySetGravityEnable bnavstr.BNAV_camBody 1;
      );
      if (bnavstr.BNAV_iContactCount > 0) then nil else
        set bnavstr.BNAV_sLastMaterial = nil;
      0;
    )
    else if (type == 21) then // "Grabed"
      0
    else if (type == 22) then // "Ungrabed"
      0
    else nil;
  );
  0;;


fun cbPhysCollision(scene, bnavstr, body1, body2, pos, normal, force, normalspeed)=  
  0;;


fun cbPhysOverlapStarted(scene, bnavstr, body1, body2)=
  if (body1 != bnavstr.BNAV_shellBody) && (body2 != bnavstr.BNAV_shellBody) then nil else
  (    
    set bnavstr.BNAV_iContactCount = bnavstr.BNAV_iContactCount + 1;  
    set bnavstr.BNAV_sLastMaterial = "default";
  );
  0;;


fun cbPhysOverlapEnded(scene, bnavstr, body1, body2)=
  if (body1 != bnavstr.BNAV_shellBody) && (body2 != bnavstr.BNAV_shellBody) then nil else
  (
    set bnavstr.BNAV_iContactCount = bnavstr.BNAV_iContactCount - 1;
    
    if (bnavstr.BNAV_iContactCount >= 0) then nil else
      set bnavstr.BNAV_iContactCount = 0;
    
    if (bnavstr.BNAV_iContactCount != 0) then nil else
    (
      set bnavstr.BNAV_sLastMaterial = nil;
    );
  );
  0;;


fun loadWalkSounds(inst, bnavstr)=
  let nil -> ndata in
  let 0 -> i in
  (
    let getPluginInstanceParam inst (strcat "mat_" (itoa i)) -> mat in
    let getPluginInstanceParam inst (strcat "snd_" (itoa i)) -> sound in
    while (mat != nil) do
    (
      let _CRAudio _channel strcatn (getPluginInstanceName inst)::"_walk_"::mat::nil (_checkpack sound) 0 -> wsnd in
      let mkWalkSound [sound wsnd 400 nil] -> sdnstr in
      (
        _AudioEnableSoundEffect wsnd 1;
        _AudioSetVolume wsnd 100;
        _AudioSetCone wsnd 360 360 10;
          
        set bnavstr.BNAV_lWSound = [mat sdnstr]::bnavstr.BNAV_lWSound;
      );
      
      set i = i + 1;
      set mat = getPluginInstanceParam inst (strcat "mat_" (itoa i));
      set sound = getPluginInstanceParam inst (strcat "snd_" (itoa i));
    );
    
    // default sound
    if (switchstr bnavstr.BNAV_lWSound "default") != nil then nil else 
    let strcatn (getPluginDirectory (getInstancePlugin inst))::"/medias/"::"step_default.ogg"::nil -> path in
    let _CRAudio _channel strcatn (getPluginInstanceName inst)::"_walk_"::"default"::nil (_checkpack path) 0 -> wsnd in
    let mkWalkSound [path wsnd 400 nil] -> sdnstr in
    (
      _AudioSetVolume wsnd 100;
      _AudioSetCone wsnd 360 360 10;
        
      set bnavstr.BNAV_lWSound = ["default" sdnstr]::bnavstr.BNAV_lWSound;
    );
  );
  0;;


fun loadSound(inst, bnavstr)=  
  //let strcatn (getPluginDirectory (getInstancePlugin inst))::"/medias/"::"slide.ogg"::nil -> path in
  let (getPluginInstanceParam inst "sndslide") -> path in
  if ((_checkpack path) == nil) then nil else
  let _CRAudio _channel strcatn (getPluginInstanceName inst)::"_slide"::nil (_checkpack path) 0 -> wsnd in
  (
    _AudioSetVolume wsnd 100;
    _AudioSetCone wsnd 360 360 10;
    
    set bnavstr.BNAV_slideSound = wsnd;
  );
  
  //let strcatn (getPluginDirectory (getInstancePlugin inst))::"/medias/"::"hit.ogg"::nil -> path in
  let (getPluginInstanceParam inst "sndhit") -> path in
  if ((_checkpack path) == nil) then nil else
  let _CRAudio _channel strcatn (getPluginInstanceName inst)::"_hit"::nil (_checkpack path) 0 -> wsnd in
  (
    _AudioSetVolume wsnd 100;
    _AudioSetCone wsnd 360 360 10;
      
    set bnavstr.BNAV_hitSound = wsnd;
  );
  
  //let strcatn (getPluginDirectory (getInstancePlugin inst))::"/medias/"::"jump.ogg"::nil -> path in
  let (getPluginInstanceParam inst "sndjump") -> path in
  if ((_checkpack path) == nil) then nil else
  let _CRAudio _channel strcatn (getPluginInstanceName inst)::"_jump"::nil (_checkpack path) 0 -> wsnd in
  (
    _AudioSetVolume wsnd 100;
    _AudioSetCone wsnd 360 360 10;
    
    set bnavstr.BNAV_jumpSound = wsnd;
  );
  
  loadWalkSounds inst bnavstr;
  0;;


fun newOb(inst)=
  V3DenableNavigate c3dXsession 0;
  let atof (getPluginInstanceParam inst "wspeed") -> wspeed in
  let atof (getPluginInstanceParam inst "rspeed") -> rspeed in
  let atof (getPluginInstanceParam inst "cameraheight") -> camheight in
  let atof (getPluginInstanceParam inst "jumpforce") -> jumpforce in
  let atof (getPluginInstanceParam inst "mass") -> mass in
  let atoi (getPluginInstanceParam inst "shiftmode") -> shiftmode in
  let atof (getPluginInstanceParam inst "posx") -> posx in
  let atof (getPluginInstanceParam inst "posy") -> posy in
  let atof (getPluginInstanceParam inst "posz") -> posz in
  let atof (getPluginInstanceParam inst "angx") -> ax in
  let atof (getPluginInstanceParam inst "angy") -> ay in
  let atof (getPluginInstanceParam inst "angz") -> az in
  let atof (getPluginInstanceParam inst "fovy") -> fovy in
  let atof (getPluginInstanceParam inst "nclip") -> nclip in
  let atof (getPluginInstanceParam inst "fclip") -> fclip in
  let atof (getPluginInstanceParam inst "focalelength") -> focalelength in
  let atof (getPluginInstanceParam inst "maxlookup") -> maxlookup in
  let atof (getPluginInstanceParam inst "maxlookdown") -> maxlookdown in
  let atoi (getPluginInstanceParam inst "hidemouse") -> hidemouse in
  let atoi (getPluginInstanceParam inst "enable") -> enable in
  let atoi (getPluginInstanceParam inst "keyboard") -> keyboard in
  let atoi (getPluginInstanceParam inst "flymode") -> flymode in
  let atoi (getPluginInstanceParam inst "feetpos") -> feetpos in
  let atoi (getPluginInstanceParam inst "initcam") -> initcam in
  let atoi (getPluginInstanceParam inst "disabledefcontrol") -> disabledefcontrol in
  let atoi (getPluginInstanceParam inst "freehead") -> freehead in  
  
  let if initcam == nil then 1 else initcam -> initcam in  
  let if wspeed == nil then 1.0 else wspeed -> wspeed in
  let if rspeed == nil then 2.0 else rspeed -> rspeed in
  let if camheight == nil then 1.60 else camheight -> camheight in
  let if jumpforce == nil then 5.0 else jumpforce -> jumpforce in
  let if mass == nil then 60.0 else mass -> mass in
  let if shiftmode == nil then 0 else shiftmode -> shiftmode in
  let if posx == nil then 0.0 else posx -> posx in
  let if posy == nil then 0.0 else posy -> posy in
  let if posz == nil then 0.0 else posz -> posz in
  let if ax == nil then 0.0 else ax -> ax in
  let if ay == nil then 0.0 else ay -> ay in
  let if az == nil then 0.0 else az -> az in
  let if fovy == nil then 45.0 else fovy -> fovy in
  let if nclip == nil then 0.1 else nclip -> nclip in
  let if fclip == nil then 10000.0 else fclip -> fclip in
  let if focalelength == nil then 1.0 else focalelength -> focalelength in
  let if maxlookup == nil then SO3MathsDegreeToRadian 80.0 else SO3MathsDegreeToRadian maxlookup -> maxlookup in
  let if maxlookdown == nil then SO3MathsDegreeToRadian -.85.0 else SO3MathsDegreeToRadian maxlookdown -> maxlookdown in
  let if hidemouse == nil then 1 else hidemouse -> hidemouse in
  let if flymode == nil then 0 else flymode -> flymode in
  let if feetpos == nil then 0 else feetpos -> feetpos in
  let if enable == nil then 1 else enable -> enable in
  let if keyboard == nil then 1 else keyboard -> keyboard in
  let if disabledefcontrol == nil then 0 else disabledefcontrol -> disabledefcontrol in
  let if freehead == nil then 1 else freehead -> freehead in
  
  let (IsInEditor inst) || IsEventLinked inst "Feet position" -> bfeetpos in
  let (IsInEditor inst) || IsEventLinked inst "Head position" -> bheadpos in
  let (IsInEditor inst) || IsEventLinked inst "Hip position" -> bhippos in
  
  let 0.20 -> bodyradius in
  let (strreplace (getPluginInstanceName inst) " " "_") -> instname in
  let V3DaddShell c3dXsession strcat instname "_FPSNav_dummy" nil nil [posx posy posz] [0.0 0.0 0.0 1.0] -> shell in
  //let SO3BodyCreateCapsule shell 0.20 camheight -> body in
  let SO3BodyCreateCapsuleExt shell bodyradius (camheight /. 1.8) [0.0 (camheight /. 3.6) 0.0] [0.0 0.0 0.0 1.0] -> body in
  let V3DaddShell c3dXsession strcat instname "_FPSNav_coll_dummy" nil nil [0.0 camheight 0.0] [0.0 0.0 0.0 1.0] -> collshell in
  let V3DaddShell c3dXsession strcat instname "_FPSNav_neck_dummy" nil nil [0.0 camheight 0.0] [0.0 0.0 0.0 1.0] -> neckshell in
  let V3DaddShell c3dXsession strcat instname "_FPSNav_cam_dummy" nil nil [0.0 0.0 0.0] [0.0 0.0 0.0 1.0] -> camshell in
  let SO3BodyCreateCapsuleExt collshell (bodyradius *. 0.8) (camheight /. 2.5) [0.0 (-. camheight /. 10.0) 0.0] [0.0 0.0 0.0 1.0] -> cambody in
  let V3DaddCamera c3dXsession strcat instname "_FPSNav_camera" -> cam in
  let strcat (getPluginInstanceName inst) "_Group" -> grpname in
  let mkBasicNavigation [grpname nil shell cam neckshell camshell collshell body cambody nil nil nil nil 0 [[posx posy posz] [ax ay az]] [[0.0 0.0 0.0] [0.0 0.0 0.0]] [0.0 0.0] [0.0 0.0 0.0] nil 0
                         fovy wspeed rspeed shiftmode mass jumpforce 0 camheight 0.0 0.0 [maxlookdown maxlookup] nil hidemouse 0 1 0 flymode 0 0 keyboard disabledefcontrol !disabledefcontrol
                         nil nil nil 0 0 1 0.0 "Idle" nil nil nil nil enable 0 freehead 0 0 0 feetpos nil bfeetpos bheadpos bhippos] -> bnavstr in
  (
    SO3ObjectSetNavigationType shell SO3_NAVIGATION_CYLINDER_OBSTACLE;
    SO3ObjectSetNavigationSize shell 0.20 camheight;
    
    let strcat (getPluginInstanceName inst) "_Group" -> grpname in
    let strcatn (getPluginDirectory (getInstancePlugin inst))::"/res/"::"avbase.mesh"::nil -> meshpath in
    let strcatn (getPluginDirectory (getInstancePlugin inst))::"/res/"::"avbase.material"::nil -> matpath in
    (
      SO3GroupCreate (V3DgetSession c3dXsession) grpname;
      V3DaddResource c3dXsession matpath grpname SO3_RESOURCE_MATERIAL;
      V3DaddResource c3dXsession meshpath grpname SO3_RESOURCE_MESH;
      set bnavstr.BNAV_avBase = SO3SceneLoadEntity (V3DgetSession c3dXsession) grpname (strcatn "base_mesh_"::instname::nil) (_checkpack meshpath);
      
      SO3ObjectSetRenderQueue bnavstr.BNAV_avBase 65;
      SO3ObjectSetCastShadows bnavstr.BNAV_avBase 0;
    );
    
    SO3BodySetLinearDamping body 0.0;
    SO3BodySetAngularDamping body [0.0 0.0 0.0];
    SO3BodyCreateBasicJointUpVector body [0.0 1.0 0.0];
    SO3BodySetContiniousCollisionMode body 1;
    SO3BodySetType body 1;
    SO3BodySetLinearDamping cambody 0.0;
    SO3BodySetAngularDamping cambody [0.0 0.0 0.0];
    SO3BodySetContiniousCollisionMode cambody 1;
    SO3BodySetType cambody 1;  
    SO3BodySetType cambody 1;
    
    let V3DgetAvatarMaterial c3dXsession -> mat1 in
    let V3DgetDefaultMaterial c3dXsession -> mat2 in
    (
      SO3CbMaterialOverlapStarted mat1 mat2 @cbPhysOverlapStarted bnavstr;
      SO3CbMaterialOverlapEnded mat1 mat2 @cbPhysOverlapEnded bnavstr;
      SO3CbMaterialCollision mat1 mat2 @cbPhysCollision bnavstr;
    );
    
    V3DphysSetBodyMaterial c3dXsession body "avatar";
    V3DphysSetBodyMaterial c3dXsession cambody "avatar";
    
    SO3ObjectLink bnavstr.BNAV_avBase shell;
    SO3ObjectSetVisible bnavstr.BNAV_avBase 0 0;
    SO3ObjectLink collshell shell;
    SO3ObjectLink neckshell shell;
    SO3ObjectLink camshell neckshell;
    SO3ObjectLink cam camshell;
    V3DsetCamera cam focalelength (SO3MathsDegreeToRadian fovy) nclip fclip;
    
    set bnavstr.BNAV_contraint = SO3PhysicsContraintCreateSlider (V3DgetSession c3dXsession) cambody body SO3ObjectGetGlobalPosition bnavstr.BNAV_camShell [0.0 1.0 0.0] 1 1;
    (
      SO3PhysicsContraintSetSliderLimits bnavstr.BNAV_contraint 0.0 0.0;
      SO3PhysicsContraintSetCollisionState bnavstr.BNAV_contraint 0;
      SO3PhysicsContraintSetSliderFriction bnavstr.BNAV_contraint 10.0;
      SO3PhysicsContraintSetSliderSpring bnavstr.BNAV_contraint 2000.0 300.0;
    );
    
    set bnavstr.BNAV_qLastOrientation = (SO3MathsEulerXYZToQuat [(SO3MathsDegreeToRadian ay) 0.0 0.0]);
    SO3ObjectSetGlobalOrientation bnavstr.BNAV_neckShell (SO3MathsEulerXYZToQuat [(SO3MathsDegreeToRadian ay) 0.0 0.0]);
    SO3ObjectSetOrientation bnavstr.BNAV_camShell (SO3MathsEulerXYZToQuat [0.0 (SO3MathsDegreeToRadian ax) (SO3MathsDegreeToRadian az)]);
    
    SO3BodySetInitialState body;
    SO3BodySetInitialState cambody;
    
    SO3BodySetMass body if mass <=. 0.0 then 0.0 else mass *. 0.8;
    SO3BodySetMass cambody mass *. 0.2;
    SO3BodySetAutoSleep body 0;
    SO3BodySetAutoSleep cambody 0;
    SO3BodySetFreeze body 0;
    SO3BodySetFreeze cambody 0;
    
    setPluginInstanceCbDel inst mkfun2 @deleteOb bnavstr;
    setPluginInstanceCbNavigateControlState inst mkfun4 @cbNavigationControlState bnavstr;
    PluginRegisterAction inst "Control" mkfun6 @cbControl bnavstr;
    PluginRegisterAction inst "Enable control" mkfun6 @cbEnable bnavstr;
    PluginRegisterAction inst "Disable control" mkfun6 @cbDisable bnavstr;
    PluginRegisterAction inst "Rotate view" mkfun6 @cbRotateView bnavstr; 
    PluginRegisterAction inst "Translate view" mkfun6 @cbTranslateView bnavstr;
    PluginRegisterAction inst "Enable keyboard" mkfun6 @cbEnableKeyboard bnavstr;
    PluginRegisterAction inst "Disable keyboard" mkfun6 @cbDisableKeyboard bnavstr;
    PluginRegisterAction inst "Enable default inputs" mkfun6 @cbEnableDefaultInputs bnavstr;
    PluginRegisterAction inst "Disable default inputs" mkfun6 @cbDisableDefaultInputs bnavstr;
    PluginRegisterAction inst "Set position" mkfun6 @cbSetPosition bnavstr;
    PluginRegisterAction inst "Get position" mkfun6 @cbGetPosition bnavstr;
    PluginRegisterAction inst "Set angle limit" mkfun6 @cbSetAngleLimit bnavstr;
    PluginRegisterAction inst "Jump" mkfun6 @cbJump bnavstr;
    PluginRegisterAction inst "Shift key" mkfun6 @cbShiftKey bnavstr;
    PluginRegisterAction inst "Ctrl key" mkfun6 @cbCtrlKey bnavstr;
    PluginRegisterAction inst "Set walk speed" mkfun6 @cbSetWalkSpeed bnavstr;
    PluginRegisterAction inst "Set run speed" mkfun6 @cbSetRunSpeed bnavstr;
    PluginRegisterAction inst "Active camera" mkfun6 @cbActiveCamera bnavstr;
    PluginRegisterAction inst "Deactivate camera" mkfun6 @cbDeactivateCamera bnavstr;
    PluginRegisterAction inst "Set camera FOV" mkfun6 @cbCameraFov bnavstr;
    PluginRegisterAction inst "Set camera clipping" mkfun6 @cbCameraClipping bnavstr;
    PluginRegisterAction inst "Set camera focal length" mkfun6 @cbCameraFocalLength bnavstr;
    PluginRegisterAction inst "Enable fly mode" mkfun6 @cbEnableFlyMode bnavstr;
    PluginRegisterAction inst "Disable fly mode" mkfun6 @cbDisableFlyMode bnavstr;
    PluginRegisterAction inst "Set player mass" mkfun6 @cbSetPlayerMass bnavstr;
    PluginRegisterAction inst "Look at object" mkfun6 @cbLookAtObject bnavstr;
    PluginRegisterAction inst "Look at position" mkfun6 @cbLookAtPos bnavstr;
    // keep for retro compatibility
    PluginRegisterAction inst "Enable" mkfun6 @cbEnable bnavstr;
    PluginRegisterAction inst "Disable" mkfun6 @cbDisable bnavstr;
    
    loadSound inst bnavstr;
    
    setPluginInstanceCbGeneric inst mkfun5 @cbGeneric bnavstr;
    
    if (!initcam) then nil else
    (
      V3DsetDefaultCamera c3dXsession bnavstr.BNAV_camera;
      V3DcameraTeleport (V3DgetSessionView c3dXsession) bnavstr.BNAV_camera;
    );

    if (!initcam || !enable) then
      cbDisable inst nil nil nil nil bnavstr
    else
      cbEnable inst nil nil nil nil bnavstr; 
  );
  0;;


fun IniPlug(file)=
  PlugRegister @newOb nil;
  setPluginEditor @dynamicedit;
  0;;