Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

11 files changed, 623 insertions, 406 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2e6b2da..623ac8f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -41,8 +41,6 @@ public class BSCharacter : BSPhysObject
 
     // private bool _stopped;
     private OMV.Vector3 _size;
-    private OMV.Vector3 _scale;
-    private PrimitiveBaseShape _pbs;
     private bool _grabbed;
     private bool _selected;
     private OMV.Vector3 _position;
@@ -67,6 +65,10 @@ public class BSCharacter : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
+    // The friction and velocity of the avatar is modified depending on whether walking or not.
+    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
+    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
+
     private OMV.Vector3 _PIDTarget;
     private bool _usePID;
     private float _PIDTau;
@@ -84,14 +86,18 @@ public class BSCharacter : BSPhysObject
         _flying = isFlying;
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
+        _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+        _avatarDensity = PhysicsScene.Params.avatarDensity;
 
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
         ComputeAvatarScale(_size);
-        _avatarDensity = PhysicsScene.Params.avatarDensity;
-        // set _avatarVolume and _mass based on capsule size, _density and _scale
+        // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
+        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
+                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
 
         ShapeData shapeData = new ShapeData();
         shapeData.ID = LocalID;
@@ -99,28 +105,22 @@ public class BSCharacter : BSPhysObject
         shapeData.Position = _position;
         shapeData.Rotation = _orientation;
         shapeData.Velocity = _velocity;
-        shapeData.Scale = _scale;
+        shapeData.Size = Scale;
+        shapeData.Scale = Scale;
         shapeData.Mass = _mass;
         shapeData.Buoyancy = _buoyancy;
         shapeData.Static = ShapeData.numericFalse;
-        shapeData.Friction = PhysicsScene.Params.avatarFriction;
+        shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
         shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
 
         // do actual create at taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
-            BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
+            // New body and shape into BSBody and BSShape
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
 
-            // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
-            // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
-            BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
-
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
-
-            // This works here because CreateObject has already put the character into the physical world.
-            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
-                            (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
+            SetPhysicalProperties();
         });
         return;
     }
@@ -131,53 +131,85 @@ public class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
+            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
         });
     }
 
+    private void SetPhysicalProperties()
+    {
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        ZeroMotion();
+        ForcePosition = _position;
+        // Set the velocity and compute the proper friction
+        ForceVelocity = _velocity;
+        BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
+        BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
+        BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        {
+            BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+            BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+        }
+
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
+        BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
+
+        BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        // Do this after the object has been added to the world
+        BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
+                        (uint)CollisionFilterGroups.AvatarFilter, 
+                        (uint)CollisionFilterGroups.AvatarMask);
+    }
+
     public override void RequestPhysicsterseUpdate()
     {
         base.RequestPhysicsterseUpdate();
     }
     // No one calls this method so I don't know what it could possibly mean
-    public override bool Stopped {
-        get { return false; }
-    }
+    public override bool Stopped { get { return false; } }
     public override OMV.Vector3 Size {
         get
         {
             // Avatar capsule size is kept in the scale parameter.
-            return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
+            return _size;
         }
 
         set {
-            // When an avatar's size is set, only the height is changed
-            //    and that really only depends on the radius.
+            // When an avatar's size is set, only the height is changed.
             _size = value;
             ComputeAvatarScale(_size);
-
-            // TODO: something has to be done with the avatar's vertical position
-
             ComputeAvatarVolumeAndMass();
+            DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
+                            LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw);
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true);
+                BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
+                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
+                BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
             });
 
         }
     }
-    public override PrimitiveBaseShape Shape {
-        set { _pbs = value;
-        }
+    public override OMV.Vector3 Scale { get; set; }
+    public override PrimitiveBaseShape Shape
+    {
+        set { BaseShape = value; }
     }
+
     public override bool Grabbed {
-        set { _grabbed = value;
-        }
+        set { _grabbed = value; }
     }
     public override bool Selected {
-        set { _selected = value;
-        }
+        set { _selected = value; }
     }
     public override void CrossingFailure() { return; }
     public override void link(PhysicsActor obj) { return; }
@@ -204,7 +236,7 @@ public class BSCharacter : BSPhysObject
 
     public override OMV.Vector3 Position {
         get {
-            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
             return _position;
         }
         set {
@@ -214,7 +246,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         }
     }
@@ -263,7 +295,7 @@ public class BSCharacter : BSPhysObject
     // A version of the sanity check that also makes sure a new position value is
     //    pushed back to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool inTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -273,7 +305,7 @@ public class BSCharacter : BSPhysObject
             BSScene.TaintCallback sanityOperation = delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             };
             if (inTaintTime)
                 sanityOperation();
@@ -284,11 +316,7 @@ public class BSCharacter : BSPhysObject
         return ret;
     }
 
-    public override float Mass {
-        get {
-            return _mass;
-        }
-    }
+    public override float Mass { get { return _mass; } }
 
     // used when we only want this prim's mass and not the linkset thing
     public override float MassRaw { get {return _mass; } }
@@ -301,15 +329,13 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force);
+                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
             });
         }
     }
 
-    public override int VehicleType {
-        get { return 0; }
-        set { return; }
-    }
+    // Avatars don't do vehicles
+    public override int VehicleType { get { return 0; } set { return; } }
     public override void VehicleFloatParam(int param, float value) { }
     public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
@@ -328,15 +354,37 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+                ForceVelocity = _velocity;
             });
         }
     }
     public override OMV.Vector3 ForceVelocity {
         get { return _velocity; }
         set {
+            // Depending on whether the avatar is moving or not, change the friction
+            //    to keep the avatar from slipping around
+            if (_velocity.Length() == 0)
+            {
+                if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
+            else
+            {
+                if (_currentFriction != PhysicsScene.Params.avatarFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
             _velocity = value;
-            BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+            // Remember the set velocity so we can suppress the reduction by friction, ...
+            _appliedVelocity = value;
+
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+            BulletSimAPI.Activate2(BSBody.ptr, true);
         }
     }
     public override OMV.Vector3 Torque {
@@ -360,8 +408,8 @@ public class BSCharacter : BSPhysObject
             // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
             PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         }
     }
@@ -389,12 +437,18 @@ public class BSCharacter : BSPhysObject
         set { _isPhysical = value;
         }
     }
+    public override bool IsSolid {
+        get { return true; }
+    }
+    public override bool IsStatic {
+        get { return false; }
+    }
     public override bool Flying {
         get { return _flying; }
         set {
             _flying = value;
             // simulate flying by changing the effect of gravity
-            this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
+            Buoyancy = ComputeBuoyancyFromFlying(_flying);
         }
     }
     // Flying is implimented by changing the avatar's buoyancy.
@@ -454,10 +508,19 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
+                ForceBuoyancy = _buoyancy;
             });
         }
     }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set { _buoyancy = value;
+            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -518,27 +581,32 @@ public class BSCharacter : BSPhysObject
 
     private void ComputeAvatarScale(OMV.Vector3 size)
     {
-        _scale.X = PhysicsScene.Params.avatarCapsuleRadius;
-        _scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+        // The 'size' given by the simulator is the mid-point of the avatar
+        //    and X and Y are unspecified.
 
-        // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
-        // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
-        _scale.Z = (_size.Z) - (_scale.X + _scale.Y);
+        OMV.Vector3 newScale = OMV.Vector3.Zero;
+        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+
+        // From the total height, remote the capsule half spheres that are at each end 
+        newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y);
+        // newScale.Z = (size.Z * 2f);
+        Scale = newScale;
     }
 
-    // set _avatarVolume and _mass based on capsule size, _density and _scale
+    // set _avatarVolume and _mass based on capsule size, _density and Scale
     private void ComputeAvatarVolumeAndMass()
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * _scale.X
-                        * _scale.Y  // the area of capsule cylinder
-                        * _scale.Z  // times height of capsule cylinder
+                        * Scale.X
+                        * Scale.Y    // the area of capsule cylinder
+                        * Scale.Z    // times height of capsule cylinder
                       + 1.33333333f
                         * Math.PI
-                        * _scale.X
-                        * Math.Min(_scale.X, _scale.Y)
-                        * _scale.Y  // plus the volume of the capsule end caps
+                        * Scale.X
+                        * Math.Min(Scale.X, Scale.Y)
+                        * Scale.Y    // plus the volume of the capsule end caps
                         );
         _mass = _avatarDensity * _avatarVolume;
     }
@@ -553,7 +621,23 @@ public class BSCharacter : BSPhysObject
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck2(true);
+        PositionSanityCheck(true);
+
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
+
+        if (entprop.Velocity != LastEntityProperties.Velocity)
+        {
+            // Changes in the velocity are suppressed in avatars.
+            // That's just the way they are defined.
+            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
+            _velocity = avVel;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
+        }
+
+        // Tell the linkset about this
+        Linkset.UpdateProperties(this);
 
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
         // base.RequestPhysicsterseUpdate();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index cae599c..ead6a08 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -47,6 +47,7 @@ public abstract class BSPhysObject : PhysicsActor
         TypeName = typeName;
 
         Linkset = new BSLinkset(PhysicsScene, this);
+        LastAssetBuildFailed = false;
 
         CollisionCollection = new CollisionEventUpdate();
         SubscribedEventsMs = 0;
@@ -69,6 +70,23 @@ public abstract class BSPhysObject : PhysicsActor
     // Reference to the physical shape (btCollisionShape) of this object
     public BulletShape BSShape;
 
+    // 'true' if the mesh's underlying asset failed to build.
+    // This will keep us from looping after the first time the build failed.
+    public bool LastAssetBuildFailed { get; set; }
+
+    // The objects base shape information. Null if not a prim type shape.
+    public PrimitiveBaseShape BaseShape { get; protected set; }
+
+    // When the physical properties are updated, an EntityProperty holds the update values.
+    // Keep the current and last EntityProperties to enable computation of differences 
+    //      between the current update and the previous values.
+    public EntityProperties CurrentEntityProperties { get; set; }
+    public EntityProperties LastEntityProperties { get; set; }
+
+    public abstract OMV.Vector3 Scale { get; set; }
+    public abstract bool IsSolid { get; }
+    public abstract bool IsStatic { get; }
+
     // Stop all physical motion.
     public abstract void ZeroMotion();
 
@@ -89,6 +107,10 @@ public abstract class BSPhysObject : PhysicsActor
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
 
+    public abstract float ForceBuoyancy { get; set; }
+
+    public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
@@ -129,30 +151,28 @@ public abstract class BSPhysObject : PhysicsActor
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-            //                 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
 
             ret = true;
         }
         return ret;
     }
 
-    // Routine to send the collected collisions into the simulator.
-    // Also handles removal of this from the collection of objects with collisions if
-    //      there are no collisions from this object. Mechanism is create one last
-    //      collision event to make collision_end work.
+    // Send the collected collisions into the simulator.
     // Called at taint time from within the Step() function thus no locking problems
     //      with CollisionCollection and ObjectsWithNoMoreCollisions.
     // Return 'true' if there were some actual collisions passed up
     public virtual bool SendCollisions()
     {
         bool ret = true;
+        // If the 'no collision' call, force it to happen right now so quick collision_end
+        bool force = CollisionCollection.Count == 0;
 
         // throttle the collisions to the number of milliseconds specified in the subscription
-        int nowTime = PhysicsScene.SimulationNowTime;
-        if (nowTime >= NextCollisionOkTime)
+        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
         {
-            NextCollisionOkTime = nowTime + SubscribedEventsMs;
+            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
 
             // We are called if we previously had collisions. If there are no collisions
             //   this time, send up one last empty event so OpenSim can sense collision end.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6a4365c..aeeb4dd 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -46,12 +46,10 @@ public sealed class BSPrim : BSPhysObject
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
-    private PrimitiveBaseShape _pbs;
-
-    // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
-    // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
+    // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
+    // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
-    private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
+    // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
 
     private bool _grabbed;
     private bool _isSelected;
@@ -98,12 +96,12 @@ public sealed class BSPrim : BSPhysObject
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
-        _scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
+        Scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
         _orientation = rotation;
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
-        _pbs = pbs;
+        BaseShape = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
         _friction = PhysicsScene.Params.defaultFriction;  // TODO: compute based on object material
@@ -160,33 +158,32 @@ public sealed class BSPrim : BSPhysObject
         get { return _size; }
         set {
             _size = value;
-            PhysicsScene.TaintedObject("BSPrim.setSize", delegate()
-            {
-                _mass = CalculateMass();   // changing size changes the mass
-                // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
-                //   scale and margins are set.
-                CreateGeomAndObject(true);
-                // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
-            });
+            ForceBodyShapeRebuild(false);
         }
     }
     // Scale is what we set in the physics engine. It is different than 'size' in that
     //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public OMV.Vector3 Scale
-    {
-        get { return _scale; }
-        set { _scale = value; }
-    }
+    public override OMV.Vector3 Scale { get; set; }
+
     public override PrimitiveBaseShape Shape {
         set {
-            _pbs = value;
-            PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
-            {
-                _mass = CalculateMass();   // changing the shape changes the mass
-                CreateGeomAndObject(true);
-            });
+            BaseShape = value;
+            ForceBodyShapeRebuild(false);
         }
     }
+    public override bool ForceBodyShapeRebuild(bool inTaintTime)
+    {
+        BSScene.TaintCallback rebuildOperation = delegate()
+        {
+            _mass = CalculateMass();   // changing the shape changes the mass
+            CreateGeomAndObject(true);
+        };
+        if (inTaintTime)
+            rebuildOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation);
+        return true;
+    }
     public override bool Grabbed {
         set { _grabbed = value;
         }
@@ -325,9 +322,9 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // A version of the sanity check that also makes sure a new position value is
-    //    pushed back to the physics engine. This routine would be used by anyone
+    //    pushed to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool inTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -337,7 +334,7 @@ public sealed class BSPrim : BSPhysObject
             BSScene.TaintCallback sanityOperation = delegate()
             {
                 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                ForcePosition = _position;
             };
             if (inTaintTime)
                 sanityOperation();
@@ -547,13 +544,13 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // An object is static (does not move) if selected or not physical
-    private bool IsStatic
+    public override bool IsStatic
     {
         get { return _isSelected || !IsPhysical; }
     }
 
     // An object is solid if it's not phantom and if it's not doing VolumeDetect
-    public bool IsSolid
+    public override bool IsSolid
     {
         get { return !IsPhantom && !_isVolumeDetect; }
     }
@@ -631,6 +628,12 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
             // There is no inertia in a static object
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'disabled' so Bullet will not try to act on it.
@@ -662,6 +665,13 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
+
             // Various values for simulation limits
             BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
             BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
@@ -813,13 +823,20 @@ public sealed class BSPrim : BSPhysObject
             _buoyancy = value;
             PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
             {
-                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                // Buoyancy is faked by changing the gravity applied to the object
-                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-                BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+                ForceBuoyancy = _buoyancy;
             });
         }
     }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -907,19 +924,19 @@ public sealed class BSPrim : BSPhysObject
         float tmp;
 
         float returnMass = 0;
-        float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
+        float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
         float hollowVolume = hollowAmount * hollowAmount;
 
-        switch (_pbs.ProfileShape)
+        switch (BaseShape.ProfileShape)
         {
             case ProfileShape.Square:
                 // default box
 
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                     {
                     if (hollowAmount > 0.0)
                         {
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Square:
                             case HollowShape.Same:
@@ -943,19 +960,19 @@ public sealed class BSPrim : BSPhysObject
                         }
                     }
 
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                     {
                     //a tube
 
-                    volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
-                    tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
+                    volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
+                    tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
                     volume -= volume*tmp*tmp;
 
                     if (hollowAmount > 0.0)
                         {
                         hollowVolume *= hollowAmount;
    
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Square:
                             case HollowShape.Same:
@@ -980,13 +997,13 @@ public sealed class BSPrim : BSPhysObject
 
             case ProfileShape.Circle:
 
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                     {
                     volume *= 0.78539816339f; // elipse base
 
                     if (hollowAmount > 0.0)
                         {
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Circle:
@@ -1008,10 +1025,10 @@ public sealed class BSPrim : BSPhysObject
                         }
                     }
 
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                     {
-                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
                     volume *= (1.0f - tmp * tmp);
 
                     if (hollowAmount > 0.0)
@@ -1020,7 +1037,7 @@ public sealed class BSPrim : BSPhysObject
                         // calculate the hollow volume by it's shape compared to the prim shape
                         hollowVolume *= hollowAmount;
 
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Circle:
@@ -1044,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject
                 break;
 
             case ProfileShape.HalfCircle:
-                if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                 {
                 volume *= 0.52359877559829887307710723054658f;
                 }
@@ -1052,7 +1069,7 @@ public sealed class BSPrim : BSPhysObject
 
             case ProfileShape.EquilateralTriangle:
 
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                     {
                     volume *= 0.32475953f;
 
@@ -1060,7 +1077,7 @@ public sealed class BSPrim : BSPhysObject
                         {
 
                         // calculate the hollow volume by it's shape compared to the prim shape
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Triangle:
@@ -1085,11 +1102,11 @@ public sealed class BSPrim : BSPhysObject
                         volume *= (1.0f - hollowVolume);
                         }
                     }
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                     {
                     volume *= 0.32475953f;
-                    volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
                     volume *= (1.0f - tmp * tmp);
 
                     if (hollowAmount > 0.0)
@@ -1097,7 +1114,7 @@ public sealed class BSPrim : BSPhysObject
 
                         hollowVolume *= hollowAmount;
 
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Triangle:
@@ -1137,26 +1154,26 @@ public sealed class BSPrim : BSPhysObject
         float profileBegin;
         float profileEnd;
 
-        if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
+        if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
             {
-            taperX1 = _pbs.PathScaleX * 0.01f;
+            taperX1 = BaseShape.PathScaleX * 0.01f;
             if (taperX1 > 1.0f)
                 taperX1 = 2.0f - taperX1;
             taperX = 1.0f - taperX1;
 
-            taperY1 = _pbs.PathScaleY * 0.01f;
+            taperY1 = BaseShape.PathScaleY * 0.01f;
             if (taperY1 > 1.0f)
                 taperY1 = 2.0f - taperY1;
             taperY = 1.0f - taperY1;
             }
         else
             {
-            taperX = _pbs.PathTaperX * 0.01f;
+            taperX = BaseShape.PathTaperX * 0.01f;
             if (taperX < 0.0f)
                 taperX = -taperX;
             taperX1 = 1.0f - taperX;
 
-            taperY = _pbs.PathTaperY * 0.01f;
+            taperY = BaseShape.PathTaperY * 0.01f;
             if (taperY < 0.0f)
                 taperY = -taperY;
             taperY1 = 1.0f - taperY;
@@ -1166,13 +1183,13 @@ public sealed class BSPrim : BSPhysObject
 
         volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
 
-        pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
-        pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
+        pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
+        pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
         volume *= (pathEnd - pathBegin);
 
         // this is crude aproximation
-        profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
-        profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
+        profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
+        profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
         volume *= (profileEnd - profileBegin);
 
         returnMass = _density * volume;
@@ -1207,7 +1224,8 @@ public sealed class BSPrim : BSPhysObject
         shape.Position = _position;
         shape.Rotation = _orientation;
         shape.Velocity = _velocity;
-        shape.Scale = _scale;
+        shape.Size = _size;
+        shape.Scale = Scale;
         shape.Mass = _isPhysical ? _mass : 0f;
         shape.Buoyancy = _buoyancy;
         shape.HullKey = 0;
@@ -1217,7 +1235,6 @@ public sealed class BSPrim : BSPhysObject
         shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
         shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
         shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
-        shape.Size = _size;
     }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
@@ -1234,7 +1251,7 @@ public sealed class BSPrim : BSPhysObject
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, 
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, 
                         null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
@@ -1328,9 +1345,11 @@ public sealed class BSPrim : BSPhysObject
             _acceleration = entprop.Acceleration;
             _rotationalVelocity = entprop.RotationalVelocity;
 
-            PositionSanityCheck2(true);
+            // remember the current and last set values
+            LastEntityProperties = CurrentEntityProperties;
+            CurrentEntityProperties = entprop;
 
-            Linkset.UpdateProperties(this);
+            PositionSanityCheck(true);
 
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
@@ -1348,6 +1367,9 @@ public sealed class BSPrim : BSPhysObject
                     entprop.Acceleration, entprop.RotationalVelocity);
         }
              */
+        // The linkset implimentation might want to know about this.
+
+        Linkset.UpdateProperties(this);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 2c3c481..6621d39 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -256,14 +256,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
         // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-        WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
+        World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
                                         m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
                                         m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_DebugLogCallbackHandle);
-
-        // Initialization to support the transition to a new API which puts most of the logic
-        //   into the C# code so it is easier to modify and add to.
-        World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
+                                        m_DebugLogCallbackHandle));
 
         Constraints = new BSConstraintCollection(World);
 
@@ -360,7 +356,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         }
 
         // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown(WorldID);
+        BulletSimAPI.Shutdown2(World.ptr);
 
         // Not logging any more
         PhysicsLogging.Close();
@@ -498,7 +494,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         {
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
-            numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
+            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
 
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
@@ -536,26 +532,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
-        // This is a kludge to get avatar movement updates.
-        //   the simulator expects collisions for avatars even if there are have been no collisions. This updates
-        //   avatar animations and stuff.
-        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
-        foreach (BSPhysObject bsp in m_avatars)
-            bsp.SendCollisions();
-
         // The above SendCollision's batch up the collisions on the objects.
         //      Now push the collisions into the simulator.
         if (ObjectsWithCollisions.Count > 0)
         {
             foreach (BSPhysObject bsp in ObjectsWithCollisions)
-                if (!m_avatars.Contains(bsp))   // don't call avatars twice
-                    if (!bsp.SendCollisions())
-                    {
-                        // If the object is done colliding, see that it's removed from the colliding list
-                        ObjectsWithNoMoreCollisions.Add(bsp);
-                    }
+                if (!bsp.SendCollisions())
+                {
+                    // If the object is done colliding, see that it's removed from the colliding list
+                    ObjectsWithNoMoreCollisions.Add(bsp);
+                }
         }
 
+        // This is a kludge to get avatar movement updates.
+        // The simulator expects collisions for avatars even if there are have been no collisions. 
+        //    The event updates avatar animations and stuff.
+        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
+        foreach (BSPhysObject bsp in m_avatars)
+            if (!ObjectsWithCollisions.Contains(bsp))   // don't call avatars twice
+                bsp.SendCollisions();
+
         // Objects that are done colliding are removed from the ObjectsWithCollisions list.
         // Not done above because it is inside an iteration of ObjectWithCollisions.
         if (ObjectsWithNoMoreCollisions.Count > 0)
@@ -579,11 +575,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
+        // This causes the unmanaged code to output ALL the values found in ALL the objects in the world.
+        // Only enable this in a limited test world with few objects.
+        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
+
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // We multiply by 45 to give a recognizable running rate (45 or less).
-        return numSubSteps * m_fixedTimeStep * 1000 * 45;
-        // return timeStep * 1000 * 45;
+        // We multiply by 55 to give a recognizable running rate (55 or less).
+        return numSubSteps * m_fixedTimeStep * 1000 * 55;
+        // return timeStep * 1000 * 55;
     }
 
     // Something has collided
@@ -800,6 +800,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
     delegate float ParamGet(BSScene scene);
     delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
+    delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
 
     private struct ParameterDefn
     {
@@ -809,6 +810,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         public ParamUser userParam; // get the value from the configuration file
         public ParamGet getter;     // return the current value stored for this parameter
         public ParamSet setter;     // set the current value for this parameter
+        public SetOnObject onObject;    // set the value on an object in the physical domain
         public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
         {
             name = n;
@@ -817,6 +819,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             userParam = u;
             getter = g;
             setter = s;
+            onObject = null;
+        }
+        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
+        {
+            name = n;
+            desc = d;
+            defaultValue = v;
+            userParam = u;
+            getter = g;
+            setter = s;
+            onObject = o;
         }
     }
 
@@ -838,6 +851,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     //
     // The single letter parameters for the delegates are:
     //    s = BSScene
+    //    o = BSPhysObject
     //    p = string parameter name
     //    l = localID of referenced object
     //    v = float value
@@ -947,70 +961,84 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             -9.80665f,
             (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].gravity; },
-            (s,p,l,v) => { s.m_params[0].gravity = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); },
+            (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
 
 
         new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
             0f,
             (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
             0f,
             (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
             0.2f,
             (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].deactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ),
         new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
             0.8f,
             (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
             1.0f,
             (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
             0f,     // set to zero to disable
             (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
             0f,
             (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ),
         new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
             0.1f,
             (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].contactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ),
 
         new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
             0.5f,
             (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].terrainFriction; },
-            (s,p,l,v) => { s.m_params[0].terrainFriction = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainFriction = v;  /* TODO: set on real terrain */} ),
         new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
             0.8f,
             (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].terrainHitFraction; },
-            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ),
         new ParameterDefn("TerrainRestitution", "Bouncyness" ,
             0f,
             (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].terrainRestitution; },
-            (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainRestitution = v;  /* TODO: set on real terrain */ } ),
         new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
             0.2f,
             (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarFriction; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
+        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            10f,
+            (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].avatarStandingFriction; },
+            (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
         new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
             60f,
             (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
@@ -1227,52 +1255,54 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         return ret;
     }
 
-    // check to see if we are updating a parameter for a particular or all of the prims
-    protected void UpdateParameterObject(ref float loc, string parm, uint localID, float val)
-    {
-        List<uint> operateOn;
-        lock (PhysObjects) operateOn = new List<uint>(PhysObjects.Keys);
-        UpdateParameterSet(operateOn, ref loc, parm, localID, val);
-    }
-
     // update all the localIDs specified
     // If the local ID is APPLY_TO_NONE, just change the default value
     // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
     // If the localID is a specific object, apply the parameter change to only that object
-    protected void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
+    protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
     {
+        List<uint> objectIDs = new List<uint>();
         switch (localID)
         {
             case PhysParameterEntry.APPLY_TO_NONE:
                 defaultLoc = val;   // setting only the default value
+                // This will cause a call into the physical world if some operation is specified (SetOnObject).
+                objectIDs.Add(TERRAIN_ID);
+                TaintedUpdateParameter(parm, objectIDs, val);
                 break;
             case PhysParameterEntry.APPLY_TO_ALL:
                 defaultLoc = val;  // setting ALL also sets the default value
-                List<uint> objectIDs = lIDs;
-                string xparm = parm.ToLower();
-                float xval = val;
-                TaintedObject("BSScene.UpdateParameterSet", delegate() {
-                    foreach (uint lID in objectIDs)
-                    {
-                        BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
-                    }
-                });
+                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
+                TaintedUpdateParameter(parm, objectIDs, val);
                 break;
             default:
                 // setting only one localID
-                TaintedUpdateParameter(parm, localID, val);
+                objectIDs.Add(localID);
+                TaintedUpdateParameter(parm, objectIDs, val);
                 break;
         }
     }
 
     // schedule the actual updating of the paramter to when the phys engine is not busy
-    protected void TaintedUpdateParameter(string parm, uint localID, float val)
+    protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
-        uint xlocalID = localID;
-        string xparm = parm.ToLower();
         float xval = val;
-        TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
-            BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
+        List<uint> xlIDs = lIDs;
+        string xparm = parm;
+        TaintedObject("BSScene.UpdateParameterSet", delegate() {
+            ParameterDefn thisParam;
+            if (TryGetParameter(xparm, out thisParam))
+            {
+                if (thisParam.onObject != null)
+                {
+                    foreach (uint lID in xlIDs)
+                    {
+                        BSPhysObject theObject = null;
+                        PhysObjects.TryGetValue(lID, out theObject);
+                        thisParam.onObject(this, theObject, xval);
+                    }
+                }
+            }
         });
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index d189f1d..d3ba273 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -51,7 +51,7 @@ public class BSShapeCollection : IDisposable
     }
 
     // Description of a hull.
-    // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects
+    // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
     private struct HullDesc
     {
         public IntPtr ptr;
@@ -59,17 +59,9 @@ public class BSShapeCollection : IDisposable
         public DateTime lastReferenced;
     }
 
-    private struct BodyDesc
-    {
-        public IntPtr ptr;
-        // Bodies are only used once so reference count is always either one or zero
-        public int referenceCount;
-        public DateTime lastReferenced;
-    }
-
+    // The sharable set of meshes and hulls. Indexed by their shape hash.
     private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
     private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
-    private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();
 
     public BSShapeCollection(BSScene physScene)
     {
@@ -92,8 +84,12 @@ public class BSShapeCollection : IDisposable
     // First checks the shape and updates that if necessary then makes
     //    sure the body is of the right type.
     // Return 'true' if either the body or the shape changed.
+    // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
+    //    the current shape or body is destroyed. This allows the caller to remove any
+    //    higher level dependencies on the shape or body. Mostly used for LinkSets to
+    //    remove the physical constraints before the body is destroyed.
     // Called at taint-time!!
-    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, 
+    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, 
                     ShapeData shapeData, PrimitiveBaseShape pbs,
                     ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
     {
@@ -103,7 +99,8 @@ public class BSShapeCollection : IDisposable
         lock (m_collectionActivityLock)
         {
             // Do we have the correct geometry for this type of object?
-            // Updates prim.BSShape with information/pointers to requested shape
+            // Updates prim.BSShape with information/pointers to shape.
+            // CreateGeom returns 'true' of BSShape as changed to a new shape.
             bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
             // If we had to select a new shape geometry for the object,
             //    rebuild the body around it.
@@ -120,40 +117,24 @@ public class BSShapeCollection : IDisposable
 
     // Track another user of a body
     // We presume the caller has allocated the body.
-    // Bodies only have one user so the reference count is either 1 or 0.
+    // Bodies only have one user so the body is just put into the world if not already there.
     public void ReferenceBody(BulletBody body, bool inTaintTime)
     {
         lock (m_collectionActivityLock)
         {
-            BodyDesc bodyDesc;
-            if (Bodies.TryGetValue(body.ID, out bodyDesc))
+            DetailLog("{0},BSShapeCollection.ReferenceBody,newBody", body.ID, body);
+            BSScene.TaintCallback createOperation = delegate()
             {
-                bodyDesc.referenceCount++;
-                DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount);
-            }
-            else
-            {
-                // New entry
-                bodyDesc.ptr = body.ptr;
-                bodyDesc.referenceCount = 1;
-                DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={2}",
-                                    body.ID, body, bodyDesc.referenceCount);
-                BSScene.TaintCallback createOperation = delegate()
+                if (!BulletSimAPI.IsInWorld2(body.ptr))
                 {
-                    if (!BulletSimAPI.IsInWorld2(body.ptr))
-                    {
-                        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
-                        DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", 
-                                        body.ID, body);
-                    }
-                };
-                if (inTaintTime)
-                    createOperation();
-                else
-                    PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
-            }
-            bodyDesc.lastReferenced = System.DateTime.Now;
-            Bodies[body.ID] = bodyDesc;
+                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
+                    DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
+                }
+            };
+            if (inTaintTime)
+                createOperation();
+            else
+                PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
         }
     }
 
@@ -166,43 +147,25 @@ public class BSShapeCollection : IDisposable
 
         lock (m_collectionActivityLock)
         {
-            BodyDesc bodyDesc;
-            if (Bodies.TryGetValue(body.ID, out bodyDesc))
+            BSScene.TaintCallback removeOperation = delegate()
             {
-                bodyDesc.referenceCount--;
-                bodyDesc.lastReferenced = System.DateTime.Now;
-                Bodies[body.ID] = bodyDesc;
-                DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount);
-
-                // If body is no longer being used, free it -- bodies can never be shared.
-                if (bodyDesc.referenceCount == 0)
-                {
-                    Bodies.Remove(body.ID);
-                    BSScene.TaintCallback removeOperation = delegate()
-                    {
-                        DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
-                                                    body.ID, body.ptr.ToString("X"), inTaintTime);
-                        // If the caller needs to know the old body is going away, pass the event up.
-                        if (bodyCallback != null) bodyCallback(body);
-
-                        // It may have already been removed from the world in which case the next is a NOOP.
-                        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
-
-                        // Zero any reference to the shape so it is not freed when the body is deleted.
-                        BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
-                        BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
-                    };
-                    // If already in taint-time, do the operations now. Otherwise queue for later.
-                    if (inTaintTime)
-                        removeOperation();
-                    else
-                        PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
-                }
-            }
+                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
+                                            body.ID, body.ptr.ToString("X"), inTaintTime);
+                // If the caller needs to know the old body is going away, pass the event up.
+                if (bodyCallback != null) bodyCallback(body);
+
+                // It may have already been removed from the world in which case the next is a NOOP.
+                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
+
+                // Zero any reference to the shape so it is not freed when the body is deleted.
+                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
+            };
+            // If already in taint-time, do the operations now. Otherwise queue for later.
+            if (inTaintTime)
+                removeOperation();
             else
-            {
-                DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount);
-            }
+                PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
         }
     }
 
@@ -271,7 +234,6 @@ public class BSShapeCollection : IDisposable
     }
 
     // Release the usage of a shape.
-    // The collisionObject is released since it is a copy of the real collision shape.
     public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
     {
         if (shape.ptr == IntPtr.Zero)
@@ -279,26 +241,32 @@ public class BSShapeCollection : IDisposable
 
         BSScene.TaintCallback dereferenceOperation = delegate()
         {
-            switch (shape.type)
+            if (shape.ptr != IntPtr.Zero)
             {
-                case ShapeData.PhysicsShapeType.SHAPE_HULL:
-                    DereferenceHull(shape, shapeCallback);
-                    break;
-                case ShapeData.PhysicsShapeType.SHAPE_MESH:
-                    DereferenceMesh(shape, shapeCallback);
-                    break;
-                case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
-                    break;
-                default:
+                if (shape.isNativeShape)
+                {
                     // Native shapes are not tracked and are released immediately
-                    if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
+                    DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
+                                    BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
+                    if (shapeCallback != null) shapeCallback(shape);
+                    BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+                }
+                else
+                {
+                    switch (shape.type)
                     {
-                        DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
-                                        BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
-                        if (shapeCallback != null) shapeCallback(shape);
-                        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+                        case ShapeData.PhysicsShapeType.SHAPE_HULL:
+                            DereferenceHull(shape, shapeCallback);
+                            break;
+                        case ShapeData.PhysicsShapeType.SHAPE_MESH:
+                            DereferenceMesh(shape, shapeCallback);
+                            break;
+                        case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
+                            break;
+                        default:
+                            break;
                     }
-                    break;
+                }
             }
         };
         if (inTaintTime)
@@ -351,19 +319,31 @@ public class BSShapeCollection : IDisposable
 
     // Create the geometry information in Bullet for later use.
     // The objects needs a hull if it's physical otherwise a mesh is enough.
-    // No locking here because this is done when we know physics is not simulating.
-    // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
+    // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
+    //     shared geometries will be used. If the parameters of the existing shape are the same
+    //     as this request, the shape is not rebuilt.
+    // Info in prim.BSShape is updated to the new shape.
     // Returns 'true' if the geometry was rebuilt.
     // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, 
+    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData, 
                             PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
         bool haveShape = false;
         bool nativeShapePossible = true;
 
+        if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            // an avatar capsule is close to a native shape (it is not shared)
+            ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, 
+                            ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
+            DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape);
+            haveShape = true;
+        }
         // If the prim attributes are simple, this could be a simple Bullet native shape
-        if (nativeShapePossible
+        if (!haveShape
+                && pbs != null
+                && nativeShapePossible
                 && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
                     || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
                         && pbs.ProfileHollow == 0
@@ -406,7 +386,7 @@ public class BSShapeCollection : IDisposable
         // If a simple shape is not happening, create a mesh and possibly a hull.
         // Note that if it's a native shape, the check for physical/non-physical is not
         //     made. Native shapes are best used in either case.
-        if (!haveShape)
+        if (!haveShape && pbs != null)
         {
             if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
             {
@@ -425,12 +405,12 @@ public class BSShapeCollection : IDisposable
         return ret;
     }
 
-    // Creates a native shape and assignes it to prim.BSShape
-    private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
+    // Creates a native shape and assignes it to prim.BSShape.
+    // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
+    private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData shapeData,
                             ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
                             ShapeDestructionCallback shapeCallback)
     {
-        BulletShape newShape;
 
         shapeData.Type = shapeType;
         // Bullet native objects are scaled by the Bullet engine so pass the size in
@@ -440,23 +420,42 @@ public class BSShapeCollection : IDisposable
         // release any previous shape
         DereferenceShape(prim.BSShape, true, shapeCallback);
 
-        // Native shapes are always built independently.
-        newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
-        newShape.shapeKey = (System.UInt64)shapeKey;
-        newShape.isNativeShape = true;
+        BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
 
-        // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
-        // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
+        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
+        DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", 
+                                shapeData.ID, newShape, shapeData.Scale);
 
         prim.BSShape = newShape;
         return true;
     }
 
+    private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, 
+                        ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
+    {
+        BulletShape newShape;
+
+        if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            newShape = new BulletShape(
+                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), 
+                        shapeType);
+        }
+        else
+        {
+            newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
+        }
+        newShape.shapeKey = (System.UInt64)shapeKey;
+        newShape.isNativeShape = true;
+
+        return newShape;
+    }
+
     // Builds a mesh shape in the physical world and updates prim.BSShape.
     // Dereferences previous shape in BSShape and adds a reference for this new shape.
     // Returns 'true' of a mesh was actually built. Otherwise .
     // Called at taint-time!
-    private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                 ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape = new BulletShape(IntPtr.Zero);
@@ -475,6 +474,8 @@ public class BSShapeCollection : IDisposable
         DereferenceShape(prim.BSShape, true, shapeCallback);
 
         newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
+        // Take evasive action if the mesh was not constructed.
+        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
 
         ReferenceShape(newShape);
 
@@ -488,7 +489,7 @@ public class BSShapeCollection : IDisposable
     private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
         IMesh meshData = null;
-        IntPtr meshPtr;
+        IntPtr meshPtr = IntPtr.Zero;
         MeshDesc meshDesc;
         if (Meshes.TryGetValue(newMeshKey, out meshDesc))
         {
@@ -500,23 +501,26 @@ public class BSShapeCollection : IDisposable
             // Pass false for physicalness as this creates some sort of bounding box which we don't need
             meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
 
-            int[] indices = meshData.getIndexListAsInt();
-            List<OMV.Vector3> vertices = meshData.getVertexList();
-
-            float[] verticesAsFloats = new float[vertices.Count * 3];
-            int vi = 0;
-            foreach (OMV.Vector3 vv in vertices)
+            if (meshData != null)
             {
-                verticesAsFloats[vi++] = vv.X;
-                verticesAsFloats[vi++] = vv.Y;
-                verticesAsFloats[vi++] = vv.Z;
-            }
+                int[] indices = meshData.getIndexListAsInt();
+                List<OMV.Vector3> vertices = meshData.getVertexList();
 
-            // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
-            //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
+                float[] verticesAsFloats = new float[vertices.Count * 3];
+                int vi = 0;
+                foreach (OMV.Vector3 vv in vertices)
+                {
+                    verticesAsFloats[vi++] = vv.X;
+                    verticesAsFloats[vi++] = vv.Y;
+                    verticesAsFloats[vi++] = vv.Z;
+                }
 
-            meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
-                                indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
+                // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
+                //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
+
+                meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
+                                    indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
+            }
         }
         BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
         newShape.shapeKey = newMeshKey;
@@ -526,7 +530,7 @@ public class BSShapeCollection : IDisposable
 
     // See that hull shape exists in the physical world and update prim.BSShape.
     // We could be creating the hull because scale changed or whatever.
-    private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                 ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape;
@@ -545,6 +549,7 @@ public class BSShapeCollection : IDisposable
         DereferenceShape(prim.BSShape, true, shapeCallback);
 
         newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
+        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
 
         ReferenceShape(newShape);
 
@@ -558,7 +563,7 @@ public class BSShapeCollection : IDisposable
     private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
 
-        IntPtr hullPtr;
+        IntPtr hullPtr = IntPtr.Zero;
         HullDesc hullDesc;
         if (Hulls.TryGetValue(newHullKey, out hullDesc))
         {
@@ -570,86 +575,89 @@ public class BSShapeCollection : IDisposable
             // Build a new hull in the physical world
             // Pass false for physicalness as this creates some sort of bounding box which we don't need
             IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
-
-            int[] indices = meshData.getIndexListAsInt();
-            List<OMV.Vector3> vertices = meshData.getVertexList();
-
-            //format conversion from IMesh format to DecompDesc format
-            List<int> convIndices = new List<int>();
-            List<float3> convVertices = new List<float3>();
-            for (int ii = 0; ii < indices.GetLength(0); ii++)
+            if (meshData != null)
             {
-                convIndices.Add(indices[ii]);
-            }
-            foreach (OMV.Vector3 vv in vertices)
-            {
-                convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
-            }
 
-            // setup and do convex hull conversion
-            m_hulls = new List<ConvexResult>();
-            DecompDesc dcomp = new DecompDesc();
-            dcomp.mIndices = convIndices;
-            dcomp.mVertices = convVertices;
-            ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
-            // create the hull into the _hulls variable
-            convexBuilder.process(dcomp);
-
-            // Convert the vertices and indices for passing to unmanaged.
-            // The hull information is passed as a large floating point array.
-            // The format is:
-            //  convHulls[0] = number of hulls
-            //  convHulls[1] = number of vertices in first hull
-            //  convHulls[2] = hull centroid X coordinate
-            //  convHulls[3] = hull centroid Y coordinate
-            //  convHulls[4] = hull centroid Z coordinate
-            //  convHulls[5] = first hull vertex X
-            //  convHulls[6] = first hull vertex Y
-            //  convHulls[7] = first hull vertex Z
-            //  convHulls[8] = second hull vertex X
-            //  ...
-            //  convHulls[n] = number of vertices in second hull
-            //  convHulls[n+1] = second hull centroid X coordinate
-            //  ...
-            //
-            // TODO: is is very inefficient. Someday change the convex hull generator to return
-            //   data structures that do not need to be converted in order to pass to Bullet.
-            //   And maybe put the values directly into pinned memory rather than marshaling.
-            int hullCount = m_hulls.Count;
-            int totalVertices = 1;          // include one for the count of the hulls
-            foreach (ConvexResult cr in m_hulls)
-            {
-                totalVertices += 4;                         // add four for the vertex count and centroid
-                totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
-            }
-            float[] convHulls = new float[totalVertices];
+                int[] indices = meshData.getIndexListAsInt();
+                List<OMV.Vector3> vertices = meshData.getVertexList();
 
-            convHulls[0] = (float)hullCount;
-            int jj = 1;
-            foreach (ConvexResult cr in m_hulls)
-            {
-                // copy vertices for index access
-                float3[] verts = new float3[cr.HullVertices.Count];
-                int kk = 0;
-                foreach (float3 ff in cr.HullVertices)
+                //format conversion from IMesh format to DecompDesc format
+                List<int> convIndices = new List<int>();
+                List<float3> convVertices = new List<float3>();
+                for (int ii = 0; ii < indices.GetLength(0); ii++)
+                {
+                    convIndices.Add(indices[ii]);
+                }
+                foreach (OMV.Vector3 vv in vertices)
                 {
-                    verts[kk++] = ff;
+                    convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
                 }
 
-                // add to the array one hull's worth of data
-                convHulls[jj++] = cr.HullIndices.Count;
-                convHulls[jj++] = 0f;   // centroid x,y,z
-                convHulls[jj++] = 0f;
-                convHulls[jj++] = 0f;
-                foreach (int ind in cr.HullIndices)
+                // setup and do convex hull conversion
+                m_hulls = new List<ConvexResult>();
+                DecompDesc dcomp = new DecompDesc();
+                dcomp.mIndices = convIndices;
+                dcomp.mVertices = convVertices;
+                ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
+                // create the hull into the _hulls variable
+                convexBuilder.process(dcomp);
+
+                // Convert the vertices and indices for passing to unmanaged.
+                // The hull information is passed as a large floating point array.
+                // The format is:
+                //  convHulls[0] = number of hulls
+                //  convHulls[1] = number of vertices in first hull
+                //  convHulls[2] = hull centroid X coordinate
+                //  convHulls[3] = hull centroid Y coordinate
+                //  convHulls[4] = hull centroid Z coordinate
+                //  convHulls[5] = first hull vertex X
+                //  convHulls[6] = first hull vertex Y
+                //  convHulls[7] = first hull vertex Z
+                //  convHulls[8] = second hull vertex X
+                //  ...
+                //  convHulls[n] = number of vertices in second hull
+                //  convHulls[n+1] = second hull centroid X coordinate
+                //  ...
+                //
+                // TODO: is is very inefficient. Someday change the convex hull generator to return
+                //   data structures that do not need to be converted in order to pass to Bullet.
+                //   And maybe put the values directly into pinned memory rather than marshaling.
+                int hullCount = m_hulls.Count;
+                int totalVertices = 1;          // include one for the count of the hulls
+                foreach (ConvexResult cr in m_hulls)
                 {
-                    convHulls[jj++] = verts[ind].x;
-                    convHulls[jj++] = verts[ind].y;
-                    convHulls[jj++] = verts[ind].z;
+                    totalVertices += 4;                         // add four for the vertex count and centroid
+                    totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
                 }
+                float[] convHulls = new float[totalVertices];
+
+                convHulls[0] = (float)hullCount;
+                int jj = 1;
+                foreach (ConvexResult cr in m_hulls)
+                {
+                    // copy vertices for index access
+                    float3[] verts = new float3[cr.HullVertices.Count];
+                    int kk = 0;
+                    foreach (float3 ff in cr.HullVertices)
+                    {
+                        verts[kk++] = ff;
+                    }
+
+                    // add to the array one hull's worth of data
+                    convHulls[jj++] = cr.HullIndices.Count;
+                    convHulls[jj++] = 0f;   // centroid x,y,z
+                    convHulls[jj++] = 0f;
+                    convHulls[jj++] = 0f;
+                    foreach (int ind in cr.HullIndices)
+                    {
+                        convHulls[jj++] = verts[ind].x;
+                        convHulls[jj++] = verts[ind].y;
+                        convHulls[jj++] = verts[ind].z;
+                    }
+                }
+                // create the hull data structure in Bullet
+                hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
             }
-            // create the hull data structure in Bullet
-            hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
         }
 
         BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
@@ -690,11 +698,55 @@ public class BSShapeCollection : IDisposable
         return ComputeShapeKey(shapeData, pbs, out lod);
     }
 
+    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
+    {
+        // If the shape was successfully created, nothing more to do
+        if (newShape.ptr != IntPtr.Zero)
+            return newShape;
+
+        // The most common reason for failure is that an underlying asset is not available
+
+        // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
+        if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
+        {
+            prim.LastAssetBuildFailed = true;
+            BSPhysObject xprim = prim;
+            Util.FireAndForget(delegate
+                {
+                    RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
+                    if (assetProvider != null)
+                    {
+                        BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
+                        assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
+                        {
+                            if (!yprim.BaseShape.SculptEntry)
+                                return;
+                            if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
+                                return;
+
+                            yprim.BaseShape.SculptData = new byte[asset.Data.Length];
+                            asset.Data.CopyTo(yprim.BaseShape.SculptData, 0);
+                            // This will cause the prim to see that the filler shape is not the right
+                            //    one and try again to build the object.
+                            yprim.ForceBodyShapeRebuild(false);
+
+                        });
+                    }
+                });
+        }
+
+        // While we figure out the real problem, stick a simple native shape on the object.
+        BulletShape fillinShape =
+            BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE);
+
+        return fillinShape;
+    }
+
     // Create a body object in Bullet.
     // Updates prim.BSBody with the information about the new body if one is created.
     // Returns 'true' if an object was actually created.
     // Called at taint-time.
-    private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, 
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, 
                             ShapeData shapeData, BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index caf411e..4106534 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -114,6 +114,7 @@ public class BSTerrainManager
                         BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
                                                             Vector3.Zero, Quaternion.Identity));
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
         // Ground plane does not move
         BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
         // Everything collides with the ground plane.
@@ -334,7 +335,8 @@ public class BSTerrainManager
 
                 // Make sure the new shape is processed.
                 // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
-                BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+                BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
+                // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
 
                 m_terrainModified = true;
             };
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 276111c..5ffd591 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -223,6 +223,7 @@ public struct ShapeData
         KEY_SPHERE      = 2,
         KEY_CONE        = 3,
         KEY_CYLINDER    = 4,
+        KEY_CAPSULE     = 5,
     }
 }
 [StructLayout(LayoutKind.Sequential)]
@@ -282,6 +283,7 @@ public struct ConfigurationParameters
     public float terrainHitFraction;
     public float terrainRestitution;
     public float avatarFriction;
+    public float avatarStandingFriction;
     public float avatarDensity;
     public float avatarRestitution;
     public float avatarCapsuleRadius;
@@ -388,7 +390,7 @@ public enum CollisionFilterGroups : uint
     VolumeDetectMask        = ~BSensorTrigger,
     TerrainFilter           = BTerrainFilter,
     TerrainMask             = BAllFilter & ~BStaticFilter,
-    GroundPlaneFilter       = BAllFilter,
+    GroundPlaneFilter       = BGroundPlaneFilter,
     GroundPlaneMask         = BAllFilter
 
 };
@@ -428,6 +430,7 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg
 [return: MarshalAs(UnmanagedType.LPStr)]
 public static extern string GetVersion();
 
+/* Remove the linkage to the old api methods
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
                         int maxCollisions, IntPtr collisionArray,
@@ -531,7 +534,7 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
 // ===============================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpBulletStatistics();
-
+*/
 // Log a debug message
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetDebugLogCallback(DebugLogCallback callback);
@@ -562,7 +565,8 @@ public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
                                                                                         int maxCollisions,  IntPtr collisionArray,
-                                                                                        int maxUpdates, IntPtr updateArray);
+                                                                                        int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
@@ -604,6 +608,9 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
 public static extern bool IsNativeShape2(IntPtr shape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateCompoundShape2(IntPtr sim);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 785f01f..f976efe 100755
--- a/bin/lib32/BulletSim.dll
+++ b/bin/lib32/BulletSim.dll
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
index 6af2fb4..a00bc3a 100755
--- a/bin/lib32/libBulletSim.so
+++ b/bin/lib32/libBulletSim.so
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index e9e521a..acaa9c8 100755
--- a/bin/lib64/BulletSim.dll
+++ b/bin/lib64/BulletSim.dll
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
index cbf4f79..996ea21 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so