protected virtual void OnCollisionEnter(Collision collision)
    {
        if (collision.impulse == Vector3.zero)
            return;

        Vector3 previousAvgVelocity = avgVelocity;

        if (printCollision && isDamaging && Time.time - lastDamageTime > 0.15f)
        {
            VRLog.Log(name + " Collision with " + collision.rigidbody.gameObject.name + " relative velocity " + collision.relativeVelocity + " ( " + collision.relativeVelocity.magnitude + " )  tracked velocity " + trackedVelocity + " ( " + trackedVelocity.magnitude + " ) rigidbody velocity " + GetComponent<Rigidbody>().velocity + " ( " + GetComponent<Rigidbody>().velocity.magnitude + " )  average velocity " + avgVelocity + " ( " + avgVelocity.magnitude + ")");
        }

        if (minimumDamageVelocity > 0f)
        {

            if (avgVelocity.magnitude < minimumDamageVelocity)
                return;
        }
        if (weaponBase != null && weaponBase.grabbedByHand != null)
        {
            weaponBase.grabbedByHand.HitSomething(collision.relativeVelocity - velocity, collision.gameObject);
        }
        else if (GetComponentInParent<Fist>() != null)
        {
            GetComponentInParent<Fist>().VibrateControllerPulse((collision.relativeVelocity - velocity).magnitude * 0.05f, 0.4f);
        }
        if (collision.rigidbody != null && isDamaging)
        {
            var db = collision.rigidbody.GetComponent<DamageRelay>();
            if (isPlayerFist && db != null && db.GetComponent<SeverableLimb>() != null && db.GetComponent<SeverableLimb>().armorPiece != null)
            {
                db = db.GetComponent<SeverableLimb>().armorPiece;
            }
            Vector3 relativeVel = collision.relativeVelocity;
            if (addKinematicVelocity)
            {
                relativeVel -= velocity;
            }
            if (avgVelocity.y > 0f && damageType != DamageType.Stab && damageType != DamageType.Cut)
            {

                avgVelocity.y *= 1.5f;
                if (isHeavy)
                    avgVelocity.y *= 2f;
            }
            if (!IsThisGameObjectMyWielder(db))
            {
                if (db != null)
                {


                    if (db != null && Time.time - lastDamageTime > 0.15f)
                    {
                        lastDamageTime = Time.time;
                        Vector3 damage = scaleDamage * relativeVel;
                        Vector3 hitNormal = Vector3.Cross(transform.forward, avgVelocity);
                        if (db.GetComponent<PlayerDamageRelay>() == null)
                        {
                            if (damageType == DamageType.Stab && !db.IsArmorPiece)
                            {
                                if (Vector3.Dot(avgVelocity.normalized, transform.forward) > 0.5f)
                                {

                                    Impale(db, collision.contacts[0].point);
                                }
                                else
                                {
                                    VRLog.Log("averagevelocity not correct: " + avgVelocity.normalized + ", " + transform.forward);
                                    return;
                                }
                            }


                            if (bonusVelocity != 0f)
                            {
                                var totalBonusVelocity = bonusVelocity + (IsWieldedByPlayer() ? playerWieldedBonusVelocity : 0f);
                                //print("Relative vel: " + relativeVel + ", avg: " + avgVelocity + ", " + collision.rigidbody.gameObject.name);
                                if (db.IsArmorPiece)
                                {
                                    if (!db.GetComponent<ArmorPiece>().detached)
                                    {


                                        db.GetComponent<ArmorPiece>().armoredTo.rigidbody.AddForceAtPosition(-relativeVel * totalBonusVelocity * 0.5f, collision.contacts[0].point, ForceMode.VelocityChange);

                                        if (isHeavy)
                                        {
                                            db.GetComponent<ArmorPiece>().armoredTo.owner.chest.GetComponent<Rigidbody>().AddForceAtPosition(avgVelocity * totalBonusVelocity * 0.25f, collision.contacts[0].point, ForceMode.VelocityChange);
                                            db.GetComponent<ArmorPiece>().armoredTo.owner.lowerChest.GetComponent<Rigidbody>().AddForceAtPosition(avgVelocity * totalBonusVelocity * 0.25f, collision.contacts[0].point, ForceMode.VelocityChange);
                                            db.GetComponent<ArmorPiece>().armoredTo.owner.pelvis.GetComponent<Rigidbody>().AddForceAtPosition(avgVelocity * totalBonusVelocity * 0.25f, collision.contacts[0].point, ForceMode.VelocityChange);

                                            db.GetComponent<ArmorPiece>().armoredTo.owner.Damage(damage.magnitude / 10f, 0f, this.gameObject, damageType);
                                        }
                                        else
                                        {
                                            db.GetComponent<ArmorPiece>().armoredTo.owner.chest.GetComponent<Rigidbody>().AddForceAtPosition(avgVelocity * totalBonusVelocity * 0.25f, collision.contacts[0].point, ForceMode.VelocityChange);
                                            db.GetComponent<ArmorPiece>().armoredTo.owner.lowerChest.GetComponent<Rigidbody>().AddForceAtPosition(avgVelocity * totalBonusVelocity * 0.25f, collision.contacts[0].point, ForceMode.VelocityChange);
                                            db.GetComponent<ArmorPiece>().armoredTo.owner.pelvis.GetComponent<Rigidbody>().AddForceAtPosition(avgVelocity * totalBonusVelocity * 0.25f, collision.contacts[0].point, ForceMode.VelocityChange);
                                        }

                                    }
                                }
                                else
                                {
                                    collision.rigidbody.AddForceAtPosition(-relativeVel * totalBonusVelocity * 0.5f, collision.contacts[0].point, ForceMode.VelocityChange);
                                    if ((weaponBase != null || isPlayerFist))
                                    {
                                        Vector3 actualVel = GetComponent<Rigidbody>().velocity + velocity;

                                        db.GetComponent<SeverableLimb>().owner.chest.GetComponent<Rigidbody>().AddForceAtPosition(avgVelocity * totalBonusVelocity * 0.35f, collision.contacts[0].point, ForceMode.VelocityChange);
                                        db.GetComponent<SeverableLimb>().owner.lowerChest.GetComponent<Rigidbody>().AddForceAtPosition(avgVelocity * totalBonusVelocity * 0.35f, collision.contacts[0].point, ForceMode.VelocityChange);
                                        db.GetComponent<SeverableLimb>().owner.pelvis.GetComponent<Rigidbody>().AddForceAtPosition(avgVelocity * totalBonusVelocity * 0.35f, collision.contacts[0].point, ForceMode.VelocityChange);
                                    }
                                }
                            }
                        }
                        DoDamage();
                        db.Damage(damageType, damage, collision.contacts[0].point, this.gameObject, hitNormal, collision);
                    }
                }
                else if (collision.rigidbody.GetComponent<WeaponImpactSound>() != null)
                {
                    if (collision.rigidbody.GetComponent<DamagerRigidbody>() != null && !HasSameWielder(collision.rigidbody.GetComponent<DamagerRigidbody>()) && Time.time - lastDamageTime > 0.15f)
                    {
                        lastDamageTime = Time.time + 0.1f;
                        if (GetComponent<Rigidbody>() != null)
                        {
                            GetComponent<Rigidbody>().AddForce(relativeVel * 0.9f, ForceMode.VelocityChange);
                        }
                        if (collision.rigidbody.GetComponent<DamagerRigidbody>().weaponBase != null)
                        {
                            bool byPlayer = false;
                            if (isPlayerFist)
                                byPlayer = true;
                            else if (weaponBase != null && weaponBase.wieldedByPlayer)
                                byPlayer = true;
                            if (byPlayer)
                                collision.rigidbody.GetComponent<DamagerRigidbody>().weaponBase.RecoilArm(-relativeVel * 0.75f, collision.contacts[0].point, byPlayer, this);
                        }

                        if (collision.rigidbody.GetComponent<DamagableShield>() != null)
                        {
                            //print(name + " damaging shield");
                            collision.rigidbody.GetComponent<DamagableShield>().Damage(collision, velocity, scaleDamage * relativeVel, damageType, isHeavy);
                        }

                    }
                }
                else if (GetComponent<FisticuffFist>() != null && collision.rigidbody.GetComponent<DamagerRigidbody>() != null && collision.rigidbody.GetComponent<DamagerRigidbody>().isPlayerFist)
                {
                    GetComponent<FisticuffFist>().owner.AI.InterruptAttack();
                }
            }

        }
        avgVelocity = previousAvgVelocity;
    }