Merge branch '0.6.9-post-fixes' into careminster

3 files changed, 398 insertions, 65 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index b713142..6b8d1e2 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -744,6 +744,11 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         }
         
+        public override void VehicleFlags(int param, bool remove)
+        {
+
+        }
+
         public override void SetVolumeDetect(int param)
         {
 
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
index 008070b..9beeabb 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
@@ -72,37 +72,40 @@ namespace OpenSim.Region.Physics.OdePlugin
 
 
         // Vehicle properties
-        private Vehicle m_type = Vehicle.TYPE_NONE;                                             // If a 'VEHICLE', and what kind
-        // private Quaternion m_referenceFrame = Quaternion.Identity;   // Axis modifier
-        private VehicleFlag m_flags = (VehicleFlag) 0;                                  // Boolean settings:
-                                                                                                                                                // HOVER_TERRAIN_ONLY
-                                                                                                                                                // HOVER_GLOBAL_HEIGHT
-                                                                                                                                                // NO_DEFLECTION_UP
-                                                                                                                                                // HOVER_WATER_ONLY
-                                                                                                                                                // HOVER_UP_ONLY
-                                                                                                                                                // LIMIT_MOTOR_UP
-                                                                                                                                                // LIMIT_ROLL_ONLY
-
+        private Vehicle m_type = Vehicle.TYPE_NONE;                     // If a 'VEHICLE', and what kind
+        // private Quaternion m_referenceFrame = Quaternion.Identity;   // Axis modifier
+        private VehicleFlag m_flags = (VehicleFlag) 0;                  // Boolean settings:
+                                                                        // HOVER_TERRAIN_ONLY
+                                                                        // HOVER_GLOBAL_HEIGHT
+                                                                        // NO_DEFLECTION_UP
+                                                                        // HOVER_WATER_ONLY
+                                                                        // HOVER_UP_ONLY
+                                                                        // LIMIT_MOTOR_UP
+                                                                        // LIMIT_ROLL_ONLY
+        private VehicleFlag m_Hoverflags = (VehicleFlag)0;
+        private Vector3 m_BlockingEndPoint = Vector3.Zero;
+        private Quaternion m_RollreferenceFrame = Quaternion.Identity;
         // Linear properties
-        private Vector3 m_linearMotorDirection = Vector3.Zero;                  // velocity requested by LSL, decayed by time
-        private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
-        private Vector3 m_dir = Vector3.Zero;                                                   // velocity applied to body
+        private Vector3 m_linearMotorDirection = Vector3.Zero;          // velocity requested by LSL, decayed by time
+        private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
+        private Vector3 m_dir = Vector3.Zero;                           // velocity applied to body
         private Vector3 m_linearFrictionTimescale = Vector3.Zero;
         private float m_linearMotorDecayTimescale = 0;
         private float m_linearMotorTimescale = 0;
         private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
+        private d.Vector3 m_lastPositionVector = new d.Vector3();
         // private bool m_LinearMotorSetLastFrame = false;
         // private Vector3 m_linearMotorOffset = Vector3.Zero;
 
         //Angular properties
-        private Vector3 m_angularMotorDirection = Vector3.Zero;                 // angular velocity requested by LSL motor
-        private int m_angularMotorApply = 0;                                                    // application frame counter
-        private Vector3 m_angularMotorVelocity = Vector3.Zero;                  // current angular motor velocity
-        private float m_angularMotorTimescale = 0;                                              // motor angular velocity ramp up rate
-        private float m_angularMotorDecayTimescale = 0;                                 // motor angular velocity decay rate
-        private Vector3 m_angularFrictionTimescale = Vector3.Zero;              // body angular velocity  decay rate
-        private Vector3 m_lastAngularVelocity = Vector3.Zero;                   // what was last applied to body
- //       private Vector3 m_lastVertAttractor = Vector3.Zero;                           // what VA was last applied to body
+        private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
+        private int m_angularMotorApply = 0;                            // application frame counter
+        private Vector3 m_angularMotorVelocity = Vector3.Zero;          // current angular motor velocity
+        private float m_angularMotorTimescale = 0;                      // motor angular velocity ramp up rate
+        private float m_angularMotorDecayTimescale = 0;                 // motor angular velocity decay rate
+        private Vector3 m_angularFrictionTimescale = Vector3.Zero;      // body angular velocity  decay rate
+        private Vector3 m_lastAngularVelocity = Vector3.Zero;           // what was last applied to body
+ //       private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
 
         //Deflection properties
         // private float m_angularDeflectionEfficiency = 0;
@@ -120,14 +123,14 @@ namespace OpenSim.Region.Physics.OdePlugin
 //        private float m_VhoverEfficiency = 0f;
         private float m_VhoverTimescale = 0f;
         private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height
-        private float m_VehicleBuoyancy = 0f;                   //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+        private float m_VehicleBuoyancy = 0f;           //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
                     // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
                     // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
                     // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
 
-        //Attractor properties
-        private float m_verticalAttractionEfficiency = 1.0f;            // damped
-        private float m_verticalAttractionTimescale = 500f;                     // Timescale > 300  means no vert attractor.
+        //Attractor properties
+        private float m_verticalAttractionEfficiency = 1.0f;        // damped
+        private float m_verticalAttractionTimescale = 500f;         // Timescale > 300  means no vert attractor.
 
         internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
         {
@@ -255,6 +258,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 case Vehicle.LINEAR_MOTOR_OFFSET:
                     // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     break;
+                case Vehicle.BLOCK_EXIT:
+                    m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    break;
             }
         }//end ProcessVectorVehicleParam
 
@@ -265,15 +271,189 @@ namespace OpenSim.Region.Physics.OdePlugin
                 case Vehicle.REFERENCE_FRAME:
                     // m_referenceFrame = pValue;
                     break;
+                case Vehicle.ROLL_FRAME:
+                    m_RollreferenceFrame = pValue;
+                    break;
             }
         }//end ProcessRotationVehicleParam
 
+        internal void ProcessVehicleFlags(int pParam, bool remove)
+        {
+            if (remove)
+            {
+                if (pParam == -1)
+                {
+                    m_flags = (VehicleFlag)0;
+                    m_Hoverflags = (VehicleFlag)0;
+                    return;
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
+                {
+                    if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
+                {
+                    if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
+                {
+                    if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
+                {
+                    if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY);
+                }
+                if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
+                {
+                    if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP);
+                }
+                if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY)
+                {
+                    if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
+                }
+                if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
+                {
+                    if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.MOUSELOOK_BANK);
+                }
+                if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
+                {
+                    if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.MOUSELOOK_STEER);
+                }
+                if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
+                {
+                    if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP);
+                }
+                if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
+                {
+                    if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED);
+                }
+                if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
+                {
+                    if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_X);
+                }
+                if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
+                {
+                    if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_Y);
+                }
+                if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
+                {
+                    if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_Z);
+                }
+                if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
+                {
+                    if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0)
+                        m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT);
+                }
+                if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
+                {
+                    if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.NO_DEFLECTION);
+                }
+                if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
+                {
+                    if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0)
+                        m_flags &= ~(VehicleFlag.LOCK_ROTATION);
+                }
+            }
+            else
+            {
+                if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
+                {
+                    m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
+                {
+                    m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
+                {
+                    m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
+                {
+                    m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
+                {
+                    m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
+                {
+                    m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
+                {
+                    m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
+                {
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
+                {
+                    m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags);
+                }
+                if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
+                {
+                    m_flags |= (VehicleFlag.NO_X);
+                }
+                if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
+                {
+                    m_flags |= (VehicleFlag.NO_Y);
+                }
+                if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
+                {
+                    m_flags |= (VehicleFlag.NO_Z);
+                }
+                if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
+                {
+                    m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT);
+                }
+                if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
+                {
+                    m_flags |= (VehicleFlag.NO_DEFLECTION);
+                }
+                if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
+                {
+                    m_flags |= (VehicleFlag.LOCK_ROTATION);
+                }
+            }
+        }//end ProcessVehicleFlags
+
         internal void ProcessTypeChange(Vehicle pType)
         {
             // Set Defaults For Type
             m_type = pType;
             switch (pType)
             {
+                    case Vehicle.TYPE_NONE:
+                    m_linearFrictionTimescale = new Vector3(0, 0, 0);
+                    m_angularFrictionTimescale = new Vector3(0, 0, 0);
+                    m_linearMotorDirection = Vector3.Zero;
+                    m_linearMotorTimescale = 0;
+                    m_linearMotorDecayTimescale = 0;
+                    m_angularMotorDirection = Vector3.Zero;
+                    m_angularMotorTimescale = 0;
+                    m_angularMotorDecayTimescale = 0;
+                    m_VhoverHeight = 0;
+                    m_VhoverTimescale = 0;
+                    m_VehicleBuoyancy = 0;
+                    m_flags = (VehicleFlag)0;
+                    break;
+
                 case Vehicle.TYPE_SLED:
                     m_linearFrictionTimescale = new Vector3(30, 1, 1000);
                     m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
@@ -295,9 +475,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // m_bankingMix = 1;
                     // m_bankingTimescale = 10;
                     // m_referenceFrame = Quaternion.Identity;
-                    m_flags &=
-                        ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
-                          VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_Hoverflags &=
+                         ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                           VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
                     m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
                     break;
                 case Vehicle.TYPE_CAR:
@@ -323,9 +503,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // m_bankingMix = 1;
                     // m_bankingTimescale = 1;
                     // m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
+                    m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
                                 VehicleFlag.LIMIT_MOTOR_UP);
+                    m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY);
                     break;
                 case Vehicle.TYPE_BOAT:
                     m_linearFrictionTimescale = new Vector3(10, 3, 2);
@@ -350,10 +531,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // m_bankingMix = 0.8f;
                     // m_bankingTimescale = 1;
                     // m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
+                    m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
                             VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
+                    m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
                                 VehicleFlag.LIMIT_MOTOR_UP);
+                    m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY);
                     break;
                 case Vehicle.TYPE_AIRPLANE:
                     m_linearFrictionTimescale = new Vector3(200, 10, 5);
@@ -378,8 +561,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // m_bankingMix = 0.7f;
                     // m_bankingTimescale = 2;
                     // m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
-                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
                     m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
                     break;
                 case Vehicle.TYPE_BALLOON:
@@ -405,9 +589,11 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // m_bankingMix = 0.7f;
                     // m_bankingTimescale = 5;
                     // m_referenceFrame = Quaternion.Identity;
-                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
-                        VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
-                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                        VehicleFlag.HOVER_UP_ONLY);
+                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+                    m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
                     break;
 
             }
@@ -431,6 +617,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             MoveLinear(pTimestep, pParentScene);
             MoveAngular(pTimestep);
+            LimitRotation(pTimestep);
         }// end Step
 
         private void MoveLinear(float pTimestep, OdeScene _pParentScene)
@@ -477,61 +664,152 @@ namespace OpenSim.Region.Physics.OdePlugin
             // .Z velocity and gravity. Therefore only 0g will used script-requested
             // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
             Vector3 grav = Vector3.Zero;
-            if (m_VehicleBuoyancy < 1.0f)
+            // There is some gravity, make a gravity force vector
+            // that is applied after object velocity.
+            d.Mass objMass;
+            d.BodyGetMass(Body, out objMass);
+            // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
+            grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
+            // Preserve the current Z velocity
+            d.Vector3 vel_now = d.BodyGetLinearVel(Body);
+            m_dir.Z = vel_now.Z;        // Preserve the accumulated falling velocity
+
+            d.Vector3 pos = d.BodyGetPosition(Body);
+            Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
+            Vector3 posChange = new Vector3();
+            posChange.X = pos.X - m_lastPositionVector.X;
+            posChange.Y = pos.Y - m_lastPositionVector.Y;
+            posChange.Z = pos.Z - m_lastPositionVector.Z;
+            double Zchange = Math.Abs(posChange.Z);
+            if (m_BlockingEndPoint != Vector3.Zero)
+            {
+                if (pos.X >= (m_BlockingEndPoint.X - (float)1))
+                {
+                    pos.X -= posChange.X + 1;
+                    d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
+                }
+                if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
+                {
+                    pos.Y -= posChange.Y + 1;
+                    d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
+                }
+                if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
+                {
+                    pos.Z -= posChange.Z + 1;
+                    d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
+                }
+                if (pos.X <= 0)
+                {
+                    pos.X += posChange.X + 1;
+                    d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
+                }
+                if (pos.Y <= 0)
+                {
+                    pos.Y += posChange.Y + 1;
+                    d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
+                }
+            }
+            if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
             {
-                // There is some gravity, make a gravity force vector
-                // that is applied after object velocity.
-                d.Mass objMass;
-                d.BodyGetMass(Body, out objMass);
-                // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
-                grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
-                // Preserve the current Z velocity
-                d.Vector3 vel_now = d.BodyGetLinearVel(Body);
-                m_dir.Z = vel_now.Z;        // Preserve the accumulated falling velocity
-            } // else its 1.0, no gravity.
+                pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
+                d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
+            }
 
             // Check if hovering
-            if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+            if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
             {
                 // We should hover, get the target height
-                d.Vector3 pos = d.BodyGetPosition(Body);
-                if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
+                if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
                 {
                     m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
                 }
-                else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
+                if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
                 {
                     m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
                 }
-                else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
+                if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
                 {
                     m_VhoverTargetHeight = m_VhoverHeight;
                 }
 
-                if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
+                if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
                 {
                     // If body is aready heigher, use its height as target height
                     if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
                 }
+                if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
+                {
+                    if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
+                    {
+                        d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
+                    }
+                }
+                else
+                {
+                    float herr0 = pos.Z - m_VhoverTargetHeight;
+                    // Replace Vertical speed with correction figure if significant
+                    if (Math.Abs(herr0) > 0.01f)
+                    {
+                        m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
+                        //KF: m_VhoverEfficiency is not yet implemented
+                    }
+                    else
+                    {
+                        m_dir.Z = 0f;
+                    }
+                }
 
 //                m_VhoverEfficiency = 0f;    // 0=boucy, 1=Crit.damped
 //                m_VhoverTimescale = 0f;        // time to acheive height
 //                pTimestep  is time since last frame,in secs
-                float herr0 = pos.Z - m_VhoverTargetHeight;
-                // Replace Vertical speed with correction figure if significant
-                if (Math.Abs(herr0) > 0.01f)
+            }
+
+            if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
+            {
+                //Start Experimental Values
+                if (Zchange > .3)
                 {
-                    d.Mass objMass;
-                    d.BodyGetMass(Body, out objMass);
-                    m_dir.Z = - ((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
-                    //KF: m_VhoverEfficiency is not yet implemented
+                    grav.Z = (float)(grav.Z * 3);
                 }
-                else
+                if (Zchange > .15)
+                {
+                    grav.Z = (float)(grav.Z * 2);
+                }
+                if (Zchange > .75)
+                {
+                    grav.Z = (float)(grav.Z * 1.5);
+                }
+                if (Zchange > .05)
+                {
+                    grav.Z = (float)(grav.Z * 1.25);
+                }
+                if (Zchange > .025)
+                {
+                    grav.Z = (float)(grav.Z * 1.125);
+                }
+                float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
+                float postemp = (pos.Z - terraintemp);
+                if (postemp > 2.5f)
                 {
-                    m_dir.Z = 0f;
+                    grav.Z = (float)(grav.Z * 1.037125);
                 }
+                //End Experimental Values
+            }
+            if ((m_flags & (VehicleFlag.NO_X)) != 0)
+            {
+                m_dir.X = 0;
+            }
+            if ((m_flags & (VehicleFlag.NO_Y)) != 0)
+            {
+                m_dir.Y = 0;
+            }
+            if ((m_flags & (VehicleFlag.NO_Z)) != 0)
+            {
+                m_dir.Z = 0;
             }
 
+            m_lastPositionVector = d.BodyGetPosition(Body);
+
             // Apply velocity
             d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
             // apply gravity force
@@ -629,6 +907,12 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             // Sum velocities
             m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
+            
+            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
+            {
+                m_lastAngularVelocity.X = 0;
+                m_lastAngularVelocity.Y = 0;
+            }
 
             if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
             {
@@ -647,5 +931,44 @@ namespace OpenSim.Region.Physics.OdePlugin
             d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
 
         } //end MoveAngular
+        internal void LimitRotation(float timestep)
+        {
+            d.Quaternion rot = d.BodyGetQuaternion(Body);
+            Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);    // rotq = rotation of object
+            d.Quaternion m_rot = new d.Quaternion();
+            bool changed = false;
+            m_rot.X = rotq.X;
+            m_rot.Y = rotq.Y;
+            m_rot.Z = rotq.Z;
+            m_rot.W = rotq.W;
+            if (m_RollreferenceFrame != Quaternion.Identity)
+            {
+                if (rotq.X >= m_RollreferenceFrame.X)
+                {
+                    m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
+                }
+                if (rotq.Y >= m_RollreferenceFrame.Y)
+                {
+                    m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
+                }
+                if (rotq.X <= -m_RollreferenceFrame.X)
+                {
+                    m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
+                }
+                if (rotq.Y <= -m_RollreferenceFrame.Y)
+                {
+                    m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
+                }
+                changed = true;
+            }
+            if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
+            {
+                m_rot.X = 0;
+                m_rot.Y = 0;
+                changed = true;
+            }
+            if (changed)
+                d.BodySetQuaternion(Body, ref m_rot);
+        }
     }
 }
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index f354328..39cfa49 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -2357,12 +2357,17 @@ Console.WriteLine(" JointCreateFixed");
                 
         public override void VehicleFlagsSet(int flags)
         {
-
+            VehicleFlags(flags, false);
         }
         
         public override void VehicleFlagsRemove(int flags)
         {
+            VehicleFlags(flags, true);
+        }
 
+        public override void VehicleFlags(int param, bool remove)
+        {
+            m_vehicle.ProcessVehicleFlags(param, remove);
         }
 
         public override void SetVolumeDetect(int param)