BulletSim: remove trailing white space to make git happier. No functional changes.

20 files changed, 152 insertions, 152 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 8a22bc7..231f0f8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -75,7 +75,7 @@ private sealed class BulletBodyUnman : BulletBody
 private sealed class BulletShapeUnman : BulletShape
 {
     public IntPtr ptr;
-    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) 
+    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ)
         : base()
     {
         ptr = xx;
@@ -255,7 +255,7 @@ public override BulletShape CreateHullShape(BulletWorld world, int hullCount, fl
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     return new BulletShapeUnman(
-                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), 
+                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls),
                     BSPhysicsShapeType.SHAPE_HULL);
 }
 
@@ -1503,7 +1503,7 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
 public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, 
+public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight,
                                             [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
                                             float scaleFactor, float collisionMargin);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 1ef8b17..59780ae 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -81,7 +81,7 @@ private sealed class BulletBodyXNA : BulletBody
 private sealed class BulletShapeXNA : BulletShape
 {
     public CollisionShape shape;
-    public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) 
+    public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ)
         : base()
     {
         shape = xx;
@@ -137,8 +137,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
     internal int LastEntityProperty = 0;
 
     internal EntityProperties[] UpdatedObjects;
-    internal Dictionary<uint, GhostObject> specialCollisionObjects; 
-    
+    internal Dictionary<uint, GhostObject> specialCollisionObjects;
+
     private static int m_collisionsThisFrame;
     private BSScene PhysicsScene { get; set; }
 
@@ -151,7 +151,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
 
     /// <summary>
-    /// 
+    ///
     /// </summary>
     /// <param name="p"></param>
     /// <param name="p_2"></param>
@@ -174,7 +174,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
         world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
-        
+
         return true;
 
     }
@@ -300,7 +300,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
         DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         return world.GetForceUpdateAllAabbs();
-        
+
     }
     public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
     {
@@ -404,7 +404,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
         mat._origin = vposition;
         collisionObject.SetWorldTransform(mat);
-        
+
     }
 
     public override Vector3 GetPosition(BulletBody pCollisionObject)
@@ -457,7 +457,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
         collisionObject.Activate(pforceactivation);
-        
+
     }
 
     public override Quaternion GetOrientation(BulletBody pCollisionObject)
@@ -486,7 +486,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
         return collisionObject.GetCcdSweptSphereRadius();
-        
+
     }
 
     public override IntPtr GetUserPointer(BulletBody pCollisionObject)
@@ -559,8 +559,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
 
 
-    public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, 
-                                    Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, 
+    public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
+                                    Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
                                     bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
 
     {
@@ -604,7 +604,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
 
     /// <summary>
-    /// 
+    ///
     /// </summary>
     /// <param name="pWorld"></param>
     /// <param name="pBody1"></param>
@@ -824,7 +824,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         RigidBody body = (pBody as BulletBodyXNA).rigidBody;
         float angularDamping = body.GetAngularDamping();
-        body.SetDamping(lin_damping, angularDamping); 
+        body.SetDamping(lin_damping, angularDamping);
     }
 
     public override float GetLinearDamping(BulletBody pBody)
@@ -907,7 +907,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         RigidBody bo = co as RigidBody;
         if (bo == null)
         {
-            
+
             if (world.IsInWorld(co))
             {
                 world.RemoveCollisionObject(co);
@@ -915,7 +915,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         }
         else
         {
-            
+
             if (world.IsInWorld(bo))
             {
                 world.RemoveRigidBody(bo);
@@ -947,7 +947,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
         // TODO:  Turn this from a reference copy to a Value Copy.
         BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType()));
-        
+
         return shape2;
     }
 
@@ -957,7 +957,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return false;
     }
     //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-               
+
     public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
     {
         CollisionWorld world = (pWorld as BulletWorldXNA).world;
@@ -993,11 +993,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
             m_startWorldTransform = IndexedMatrix.Identity;
         */
         body.SetUserPointer(pLocalID);
-        
+
         return new BulletBodyXNA(pLocalID, body);
     }
 
-    
+
     public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
     {
 
@@ -1025,7 +1025,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
     {
 
-        /* TODO */ 
+        /* TODO */
         return Vector3.Zero;
     }
     public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
@@ -1035,7 +1035,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
         return collisionObject.IsStaticObject();
-        
+
     }
     public override bool IsKinematicObject(BulletBody pCollisionObject)
     {
@@ -1098,10 +1098,10 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
     }
 
-    private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, 
+    private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
                         ConfigurationParameters[] o,
                         int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
-                        int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, 
+                        int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
                         object mDebugLogCallbackHandle)
     {
         CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
@@ -1138,9 +1138,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
         p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
         p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
         p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
-       
+
         p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
-        
+
         p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
         p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
         p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
@@ -1160,7 +1160,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
         p.physicsLoggingFrames = o[0].physicsLoggingFrames;
         DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
-        
+
         DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
         CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
 
@@ -1263,7 +1263,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             }
         }
         return ret;
-        
+
     }
 
     public override float GetAngularMotionDisc(BulletShape pShape)
@@ -1353,10 +1353,10 @@ private sealed class BulletConstraintXNA : BulletConstraint
         CollisionShape shape = (pShape as BulletShapeXNA).shape;
         gObj.SetCollisionShape(shape);
         gObj.SetUserPointer(pLocalID);
-        
+
         if (specialCollisionObjects.ContainsKey(pLocalID))
             specialCollisionObjects[pLocalID] = gObj;
-        else 
+        else
             specialCollisionObjects.Add(pLocalID, gObj);
 
         // TODO: Add to Special CollisionObjects!
@@ -1447,8 +1447,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType()));
     }
 
-    public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { 
-        
+    public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
+
         if (cShape == null)
             return null;
         CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
@@ -1456,7 +1456,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
 
 
-        return retShape; 
+        return retShape;
     }
 
     public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
@@ -1598,8 +1598,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
     }
 
-    public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, 
-                                    Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, 
+    public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
+                                    Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
                                     bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
 
     {
@@ -1745,7 +1745,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
         CompoundShape compoundshape = new CompoundShape(false);
-        
+
         compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
         int ii = 1;
 
@@ -1761,7 +1761,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             int ender = ((ii + 4) + (vertexCount*3));
             for (int iii = ii + 4; iii < ender; iii+=3)
             {
-               
+
                 virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
             }
             ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
@@ -1769,7 +1769,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             compoundshape.AddChildShape(ref childTrans, convexShape);
             ii += (vertexCount*3 + 4);
         }
-        
+
         return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
     }
 
@@ -1791,13 +1791,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
     {
         //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
-        
+
         for (int iter = 0; iter < pVerticesCount; iter++)
         {
             if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
             if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
         }
-        
+
         ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
         ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
         DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
@@ -1811,7 +1811,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         mesh.m_vertexStride = 3;
         mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
         mesh.m_triangleIndexStride = 3;
-        
+
         TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
         tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
         BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
@@ -1822,7 +1822,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
     public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
     {
-        
+
         String fileName = "objTest3.raw";
         String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
         StreamWriter sw = new StreamWriter(completePath);
@@ -1848,7 +1848,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             string s = vertices[indices[i * 3]].ToString("0.0000");
             s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
             s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
-        
+
             sw.Write(s + "\n");
         }
 
@@ -1870,7 +1870,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         mesh.m_vertexStride = 3;
         mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
         mesh.m_triangleIndexStride = 3;
-        
+
         TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
         tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
 
@@ -1901,7 +1901,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             sw.Close();
     }
 
-    public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+    public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
                                                                 float scaleFactor, float collisionMargin)
     {
         const int upAxis = 2;
@@ -1943,14 +1943,14 @@ private sealed class BulletConstraintXNA : BulletConstraint
         /* TODO */
         updatedEntityCount = 0;
         collidersCount = 0;
-        
+
 
         int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
 
         return ret;
     }
 
-    private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, 
+    private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep,
                     out int updatedEntityCount, out EntityProperties[] updatedEntities,
                     out int collidersCount, out CollisionDesc[] colliders)
     {
@@ -1959,24 +1959,24 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return epic;
     }
 
-    private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, 
+    private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
         out  EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
     {
         int numSimSteps = 0;
         Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length);
         Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length);
         LastEntityProperty=0;
-        
+
 
 
 
 
 
         LastCollisionDesc=0;
-       
+
         updatedEntityCount = 0;
         collidersCount = 0;
-        
+
 
         if (pWorld is BulletWorldXNA)
         {
@@ -2033,7 +2033,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
 
             collidersCount = LastCollisionDesc;
             colliders = UpdatedCollisions;
-                
+
 
         }
         else
@@ -2041,15 +2041,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
             //if (updatedEntities is null)
             //updatedEntities = new List<BulletXNA.EntityProperties>();
             //updatedEntityCount = 0;
-            
-            
+
+
             //collidersCount = 0;
-           
+
             updatedEntities = new EntityProperties[0];
 
-            
+
             colliders = new CollisionDesc[0];
-        
+
         }
         return numSimSteps;
     }
@@ -2057,7 +2057,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     {
         IOverlappingPairCache cache = obj.GetOverlappingPairCache();
         ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
-        
+
         DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
         PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
         BroadphasePair collisionPair;
@@ -2069,7 +2069,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         ManifoldPoint pt;
 
         int numPairs = pairs.Count;
-        
+
         for (int i = 0; i < numPairs; i++)
         {
             manifoldArray.Clear();
@@ -2078,7 +2078,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
             if (collisionPair == null)
                 continue;
-            
+
             collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
             for (int j = 0; j < manifoldArray.Count; j++)
             {
@@ -2101,7 +2101,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
     }
     private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
     {
-       
+
         IndexedVector3 contactNormal = norm;
         if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
             (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
@@ -2171,11 +2171,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
             if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
             {
                 CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
-                
+
                 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
                 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
                 using (
-                    ClosestNotMeRayResultCallback rayCallback = 
+                    ClosestNotMeRayResultCallback rayCallback =
                                             new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
                     )
                 {
@@ -2191,9 +2191,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return false;
     }
 }
-  
 
-   
+
+
 
     public class SimMotionState : DefaultMotionState
     {
@@ -2286,12 +2286,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
                 m_lastProperties = m_properties;
                 if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length)
                     m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties);
-                
+
                 //(*m_updatesThisFrame)[m_properties.ID] = &m_properties;
             }
-                
-                
-                
+
+
+
 
         }
         public override void SetRigidBody(RigidBody body)
@@ -2314,7 +2314,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
             (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) &&
             (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon)));
         }
-        
+
     }
 }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
index ac05979..4e067b5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
@@ -115,7 +115,7 @@ public class BSActorAvatarMove : BSActor
         if (m_velocityMotor == null)
         {
             // Infinite decay and timescale values so motor only changes current to target values.
-            m_velocityMotor = new BSVMotor("BSCharacter.Velocity", 
+            m_velocityMotor = new BSVMotor("BSCharacter.Velocity",
                                                 0.2f,                       // time scale
                                                 BSMotor.Infinite,           // decay time scale
                                                 BSMotor.InfiniteVector,     // friction timescale
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
index 6059af5..7801d8e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -63,7 +63,7 @@ public class BSActorLockAxis : BSActor
     // BSActor.Refresh()
     public override void Refresh()
     {
-        m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", 
+        m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
                                     m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
         // If all the axis are free, we don't need to exist
         if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index 5e3f1c4..fff63e4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -117,7 +117,7 @@ public class BSActorCollection
 /// Each physical object can have 'actors' who are pushing the object around.
 /// This can be used for hover, locking axis, making vehicles, etc.
 /// Each physical object can have multiple actors acting on it.
-/// 
+///
 /// An actor usually registers itself with physics scene events (pre-step action)
 /// and modifies the parameters on the host physical object.
 /// </summary>
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index bfeec24..3378c93 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -298,7 +298,7 @@ public abstract class BSAPITemplate
 {
 // Returns the name of the underlying Bullet engine
 public abstract string BulletEngineName { get; }
-public abstract string BulletEngineVersion { get; protected set;} 
+public abstract string BulletEngineVersion { get; protected set;}
 
 // Initialization and simulation
 public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
@@ -373,7 +373,7 @@ public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
 // =====================================================================================
 public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin);
 
-public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
                                                                 float scaleFactor, float collisionMargin);
 
 // =====================================================================================
@@ -388,7 +388,7 @@ public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
 public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
-                    Vector3 frameInBloc, Quaternion frameInBrot, 
+                    Vector3 frameInBloc, Quaternion frameInBrot,
                     bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
 
 public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index e12fc8e..542f732 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -371,7 +371,7 @@ public sealed class BSCharacter : BSPhysObject
     public override float Mass { get { return _mass; } }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
+    public override float RawMass {
         get {return _mass; }
     }
     public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
@@ -586,7 +586,7 @@ public sealed class BSCharacter : BSPhysObject
     }
     public override float ForceBuoyancy {
         get { return _buoyancy; }
-        set { 
+        set {
             PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
 
             _buoyancy = value;
@@ -647,7 +647,7 @@ public sealed class BSCharacter : BSPhysObject
     private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
     {
         OMV.Vector3 newScale;
-        
+
         // Bullet's capsule total height is the "passed height + radius * 2";
         // The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1)
         // The number we pass in for 'scaling' is the multiplier to get that base
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
index 7714a03..ed89f63 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
@@ -45,7 +45,7 @@ public sealed class BSConstraintHinge : BSConstraint
         m_body1 = obj1;
         m_body2 = obj2;
         m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
-                                pivotInA, pivotInB, axisInA, axisInB, 
+                                pivotInA, pivotInB, axisInA, axisInB,
                                 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 56d2415..f535e50 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1019,7 +1019,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 Vector3 origVelW = VehicleVelocity;         // DEBUG DEBUG
                 VehicleVelocity /= VehicleVelocity.Length();
                 VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
-                VDetailLog("{0},  MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", 
+                VDetailLog("{0},  MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
                             ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
             }
             else if (newVelocityLengthSq < 0.001f)
@@ -1094,7 +1094,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     if (VehiclePosition.Z > m_VhoverTargetHeight)
                         m_VhoverTargetHeight = VehiclePosition.Z;
                 }
-                
+
                 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
                 {
                     if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
@@ -1188,7 +1188,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //    used with conjunction with banking: the strength of the banking will decay when the
         //    vehicle no longer experiences collisions. The decay timescale is the same as
         //    VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
-        //    when they are in mid jump. 
+        //    when they are in mid jump.
         // TODO: this code is wrong. Also, what should it do for boats (height from water)?
         //    This is just using the ground and a general collision check. Should really be using
         //    a downward raycast to find what is below.
@@ -1254,7 +1254,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
             VehicleAddForce(appliedGravity);
 
-            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", 
+            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}",
                             ControllingPrim.LocalID, m_VehicleGravity,
                             ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
         }
@@ -1330,7 +1330,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
             //    This flag prevents linear deflection parallel to world z-axis. This is useful
             //    for preventing ground vehicles with large linear deflection, like bumper cars,
-            //    from climbing their linear deflection into the sky. 
+            //    from climbing their linear deflection into the sky.
             // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
             // TODO: This is here because this is where ODE put it but documentation says it
             //    is a linear effect. Where should this check go?
@@ -1463,7 +1463,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 VehicleRotationalVelocity += (vertContributionV * VehicleOrientation);
 
                 VDetailLog("{0},  MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}",
-                                Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, 
+                                Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV,
                                 m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
                 */
             }
@@ -1530,13 +1530,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //      produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
         //      of the yaw effect will be proportional to the
         //          VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
-        //                 velocity along its preferred axis of motion. 
+        //                 velocity along its preferred axis of motion.
         //          The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
         //                  positive rotation (by the right-hand rule) about the roll-axis will effect a
         //                  (negative) torque around the yaw-axis, making it turn to the right--that is the
         //                  vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
         //                  Negating the banking coefficient will make it so that the vehicle leans to the
-        //                  outside of the turn (not very "physical" but might allow interesting vehicles so why not?). 
+        //                  outside of the turn (not very "physical" but might allow interesting vehicles so why not?).
         //           The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
         //                  banking vehicles do what you want rather than what the laws of physics allow.
         //                  For example, consider a real motorcycle...it must be moving forward in order for
@@ -1548,11 +1548,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //                  totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
         //                  banking effect depends only on the vehicle's rotation about its roll-axis compared
         //                  to "dynamic" where the banking is also proportional to its velocity along its
-        //                  roll-axis. Finding the best value of the "mixture" will probably require trial and error. 
+        //                  roll-axis. Finding the best value of the "mixture" will probably require trial and error.
         //      The time it takes for the banking behavior to defeat a preexisting angular velocity about the
         //      world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
         //      bank quickly then give it a banking timescale of about a second or less, otherwise you can
-        //      make a sluggish vehicle by giving it a timescale of several seconds. 
+        //      make a sluggish vehicle by giving it a timescale of several seconds.
         public void ComputeAngularBanking()
         {
             if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
@@ -1581,7 +1581,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
                 VehicleRotationalVelocity += bankingContributionV;
-                
+
 
                 VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
                             ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 6d0d0eb..76c2187 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -214,7 +214,7 @@ public abstract class BSLinkset
     // I am the root of a linkset and a new child is being added
     // Called while LinkActivity is locked.
     protected abstract void AddChildToLinkset(BSPrimLinkable child);
-    
+
     // I am the root of a linkset and one of my children is being removed.
     // Safe to call even if the child is not really in my linkset.
     protected abstract void RemoveChildFromLinkset(BSPrimLinkable child);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 01ada3f..1fd541f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -114,7 +114,7 @@ public sealed class BSLinksetCompound : BSLinkset
     // Schedule a refresh to happen after all the other taint processing.
     private void ScheduleRebuild(BSPrimLinkable requestor)
     {
-        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", 
+        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
                             requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
         // When rebuilding, it is possible to set properties that would normally require a rebuild.
         //    If already rebuilding, don't request another rebuild.
@@ -208,7 +208,7 @@ public sealed class BSLinksetCompound : BSLinkset
             //     and that is caused by us updating the object.
             if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
             {
-                // Find the physical instance of the child 
+                // Find the physical instance of the child
                 if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo))
                 {
                     // It is possible that the linkset is still under construction and the child is not yet
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 9501e2d..0128d8d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -102,7 +102,7 @@ public class BSVMotor : BSMotor
         return ErrorIsZero(LastError);
     }
     public virtual bool ErrorIsZero(Vector3 err)
-    { 
+    {
         return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold));
     }
 
@@ -115,7 +115,7 @@ public class BSVMotor : BSMotor
         CurrentValue = TargetValue = Vector3.Zero;
         ErrorZeroThreshold = 0.001f;
     }
-    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
+    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
         : this(useName)
     {
         TimeScale = timeScale;
@@ -237,7 +237,7 @@ public class BSVMotor : BSMotor
         MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
         MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
                                 BSScene.DetailLogZero, UseName,
-                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, 
+                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency,
                                 CurrentValue, TargetValue);
 
         LastError = BSMotor.InfiniteVector;
@@ -248,7 +248,7 @@ public class BSVMotor : BSMotor
                             BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
         }
         MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
-        
+
 
     }
 
@@ -279,7 +279,7 @@ public class BSFMotor : BSMotor
         return ErrorIsZero(LastError);
     }
     public virtual bool ErrorIsZero(float err)
-    { 
+    {
         return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
     }
 
@@ -410,7 +410,7 @@ public class BSPIDVMotor : BSVMotor
     // The factors are vectors for the three dimensions. This is the proportional of each
     //    that is applied. This could be multiplied through the actual factors but it
     //    is sometimes easier to manipulate the factors and their mix separately.
-    //      to 
+    //      to
     public Vector3 FactorMix;
 
     // Arbritrary factor range.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 980d405..5ebeace 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -37,7 +37,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public static class BSParam
 {
-    private static string LogHeader = "[BULLETSIM PARAMETERS]"; 
+    private static string LogHeader = "[BULLETSIM PARAMETERS]";
 
     // Tuning notes:
     // From: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6575
@@ -51,7 +51,7 @@ public static class BSParam
     //    This is separate/independent from the collision margin. The collision margin increases the object a bit
     //    to improve collision detection performance and accuracy.
     // ===================
-    // From: 
+    // From:
 
     // Level of Detail values kept as float because that's what the Meshmerizer wants
     public static float MeshLOD { get; private set; }
@@ -636,7 +636,7 @@ public static class BSParam
             new ParameterDefn<bool>("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
             false,
             (s) => { return ShouldDisableContactPoolDynamicAllocation; },
-            (s,v) => { ShouldDisableContactPoolDynamicAllocation = v; 
+            (s,v) => { ShouldDisableContactPoolDynamicAllocation = v;
                         s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ),
             new ParameterDefn<bool>("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
             false,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 6a3ada2..28d4bd7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -38,7 +38,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  * Class to wrap all objects.
  * The rest of BulletSim doesn't need to keep checking for avatars or prims
  *        unless the difference is significant.
- * 
+ *
  *  Variables in the physicsl objects are in three forms:
  *      VariableName: used by the simulator and performs taint operations, etc
  *      RawVariableName: direct reference to the BulletSim storage for the variable value
@@ -52,7 +52,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  * SOP.ApplyImpulse     SOP.ApplyAngularImpulse     SOP.SetAngularImpulse   SOP.SetForce
  * SOG.ApplyImpulse     SOG.ApplyAngularImpulse     SOG.SetAngularImpulse
  * PA.AddForce          PA.AddAngularForce          PA.Torque = v           PA.Force = v
- * BS.ApplyCentralForce BS.ApplyTorque              
+ * BS.ApplyCentralForce BS.ApplyTorque
  */
 
 // Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
@@ -353,7 +353,7 @@ public abstract class BSPhysObject : PhysicsActor
     }
     public override bool CollidingObj {
         get { return (CollidingObjectStep == PhysScene.SimulationStep); }
-        set { 
+        set {
             if (value)
                 CollidingObjectStep = PhysScene.SimulationStep;
             else
@@ -447,7 +447,7 @@ public abstract class BSPhysObject : PhysicsActor
 
             // The CollisionCollection instance is passed around in the simulator.
             // Make sure we don't have a handle to that one and that a new one is used for next time.
-            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
+            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
             //    a race condition is created for the other users of this instance.
             CollisionCollection = new CollisionEventUpdate();
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 0d45579..7e2af78 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -420,7 +420,7 @@ public class BSPrim : BSPhysObject
         get { return _mass; }
     }
     // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
+    public override float RawMass {
         get { return _mass; }
     }
     // Set the physical mass to the passed mass.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index bfc7ae7..5c58ad5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -142,7 +142,7 @@ public abstract class BSShape
         // If the shape was successfully created, nothing more to do
         if (newShape.HasPhysicalShape)
             return newShape;
- 
+
         // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been
         //    fetched but we end up here again, the meshing of the asset must have failed.
         // Prevent trying to keep fetching the mesh by declaring failure.
@@ -155,7 +155,7 @@ public abstract class BSShape
         else
         {
             // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
-            if (prim.BaseShape.SculptEntry 
+            if (prim.BaseShape.SculptEntry
                 && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed
                 && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting
                 && prim.BaseShape.SculptTexture != OMV.UUID.Zero
@@ -164,7 +164,7 @@ public abstract class BSShape
                 physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset", prim.LocalID);
                 // Multiple requestors will know we're waiting for this asset
                 prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
- 
+
                 BSPhysObject xprim = prim;
                 Util.FireAndForget(delegate
                     {
@@ -245,8 +245,8 @@ public class BSShapeNative : BSShape
     {
     }
 
-    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, 
-                                            BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 
+    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
+                                            BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
     {
         // Native shapes are not shared and are always built anew.
         return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey));
@@ -379,7 +379,7 @@ public class BSShapeMesh : BSShape
     {
         BulletShape newShape = null;
 
-        IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, 
+        IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod,
                                         false,  // say it is not physical so a bounding box is not built
                                         false   // do not cache the mesh and do not use previously built versions
                                         );
@@ -671,8 +671,8 @@ public class BSShapeCompound : BSShape
     public BSShapeCompound(BulletShape pShape) : base(pShape)
     {
     }
-    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) 
-    { 
+    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim)
+    {
         // Compound shapes are not shared so a new one is created every time.
         return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene, prim));
     }
@@ -750,8 +750,8 @@ public class BSShapeAvatar : BSShape
     public BSShapeAvatar() : base()
     {
     }
-    public static BSShape GetReference(BSPhysObject prim) 
-    { 
+    public static BSShape GetReference(BSPhysObject prim)
+    {
         return new BSShapeNull();
     }
     public override void Dereference(BSScene physicsScene) { }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 5a19797..c7deb4e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -68,7 +68,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
 
     // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
     //         are the high and low points of the heightmap).
-    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
+    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
@@ -92,7 +92,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     private void BuildHeightmapTerrain()
     {
         // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID, 
+        m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID,
                                 new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
                                 m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);
 
@@ -103,7 +103,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
         centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
 
-        m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, 
+        m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape,
                                 m_mapInfo.ID, centerPos, Quaternion.Identity);
 
         // Set current terrain attributes
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 0d16eda..c4807c4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -135,7 +135,7 @@ public sealed class BSTerrainManager : IDisposable
         DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName);
         // The ground plane is here to catch things that are trying to drop to negative infinity
         BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
-        m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, 
+        m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape,
                                         BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);
 
         m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane);
@@ -318,8 +318,8 @@ public sealed class BSTerrainManager : IDisposable
     // TODO: redo terrain implementation selection to allow other base types than heightMap.
     private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
     {
-        m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 
-                                            LogHeader, m_physicsScene.RegionName, terrainRegionBase, 
+        m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
+                                            LogHeader, m_physicsScene.RegionName, terrainRegionBase,
                                             (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
         BSTerrainPhys newTerrainPhys = null;
         switch ((int)BSParam.TerrainImplementation)
@@ -334,8 +334,8 @@ public sealed class BSTerrainManager : IDisposable
                 break;
             default:
                 m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
-                                            LogHeader, 
-                                            (int)BSParam.TerrainImplementation, 
+                                            LogHeader,
+                                            (int)BSParam.TerrainImplementation,
                                             BSParam.TerrainImplementation,
                                             m_physicsScene.RegionName, terrainRegionBase);
                 break;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index ee2a1f2..e4ca098 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -51,7 +51,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
     BulletShape m_terrainShape;
     BulletBody m_terrainBody;
 
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) 
+    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
         : base(physicsScene, regionBase, id)
     {
     }
@@ -62,7 +62,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
     }
 
     // Create terrain mesh from a heightmap.
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
+    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
@@ -104,7 +104,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
             return;
         }
 
-        m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", 
+        m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}",
                                 BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length);
 
         m_terrainShape = m_physicsScene.PE.CreateMeshShape(m_physicsScene.World, indicesCount, indices, verticesCount, vertices);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index 906e4f9..d5060e3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -224,42 +224,42 @@ public static class BulletSimData
 // As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
 //     but, instead, use references to this dictionary. Finding and debugging
 //     collision flag problems will be made easier.
-public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks 
+public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
             = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
 {
-    { CollisionType.Avatar, 
-                new CollisionTypeFilterGroup(CollisionType.Avatar, 
-                                (uint)CollisionFilterGroups.BCharacterGroup, 
+    { CollisionType.Avatar,
+                new CollisionTypeFilterGroup(CollisionType.Avatar,
+                                (uint)CollisionFilterGroups.BCharacterGroup,
                                 (uint)CollisionFilterGroups.BAllGroup)
     },
-    { CollisionType.Groundplane, 
-                new CollisionTypeFilterGroup(CollisionType.Groundplane, 
-                                (uint)CollisionFilterGroups.BGroundPlaneGroup, 
+    { CollisionType.Groundplane,
+                new CollisionTypeFilterGroup(CollisionType.Groundplane,
+                                (uint)CollisionFilterGroups.BGroundPlaneGroup,
                                 (uint)CollisionFilterGroups.BAllGroup)
     },
-    { CollisionType.Terrain, 
-                new CollisionTypeFilterGroup(CollisionType.Terrain, 
-                                (uint)CollisionFilterGroups.BTerrainGroup, 
+    { CollisionType.Terrain,
+                new CollisionTypeFilterGroup(CollisionType.Terrain,
+                                (uint)CollisionFilterGroups.BTerrainGroup,
                                 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
     },
-    { CollisionType.Static, 
-                new CollisionTypeFilterGroup(CollisionType.Static, 
-                                (uint)CollisionFilterGroups.BStaticGroup, 
+    { CollisionType.Static,
+                new CollisionTypeFilterGroup(CollisionType.Static,
+                                (uint)CollisionFilterGroups.BStaticGroup,
                                 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
     },
-    { CollisionType.Dynamic, 
-                new CollisionTypeFilterGroup(CollisionType.Dynamic, 
-                                (uint)CollisionFilterGroups.BSolidGroup, 
+    { CollisionType.Dynamic,
+                new CollisionTypeFilterGroup(CollisionType.Dynamic,
+                                (uint)CollisionFilterGroups.BSolidGroup,
                                 (uint)(CollisionFilterGroups.BAllGroup))
     },
-    { CollisionType.VolumeDetect, 
-                new CollisionTypeFilterGroup(CollisionType.VolumeDetect, 
-                                (uint)CollisionFilterGroups.BSensorTrigger, 
+    { CollisionType.VolumeDetect,
+                new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
+                                (uint)CollisionFilterGroups.BSensorTrigger,
                                 (uint)(~CollisionFilterGroups.BSensorTrigger))
     },
     { CollisionType.LinksetChild,
-                new CollisionTypeFilterGroup(CollisionType.LinksetChild, 
-                                (uint)CollisionFilterGroups.BLinksetChildGroup, 
+                new CollisionTypeFilterGroup(CollisionType.LinksetChild,
+                                (uint)CollisionFilterGroups.BLinksetChildGroup,
                                 (uint)(CollisionFilterGroups.BNoneGroup))
                                 // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
     },