Merge branch 'master' into careminster

8 files changed, 166 insertions, 149 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 3884a5d..192bcb5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -126,9 +126,9 @@ public sealed class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true /* inTaintTime */, null /* bodyCallback */);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true /* inTaintTime */, null /* bodyCallback */);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, null /* bodyCallback */);
             PhysShape.Clear();
         });
     }
@@ -557,11 +557,12 @@ public sealed class BSCharacter : BSPhysObject
     {
         get
         {
-            return _velocityMotor.TargetValue;
+            return m_targetVelocity;
         }
         set
         {
             DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
+            m_targetVelocity = value;
             OMV.Vector3 targetVel = value;
             if (_setAlwaysRun)
                 targetVel *= BSParam.AvatarAlwaysRunFactor;
@@ -591,7 +592,6 @@ public sealed class BSCharacter : BSPhysObject
                 _velocityMotor.Reset();
                 _velocityMotor.SetCurrent(_velocity);
                 _velocityMotor.SetTarget(_velocity);
-                // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
                 _velocityMotor.Enabled = false;
 
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 05ab180..8ecf2ff 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -581,9 +581,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         }
         #endregion // Vehicle parameter setting
 
+        public void Refresh()
+        {
+            // If asking for a refresh, reset the physical parameters before the next simulation step.
+            PhysicsScene.PostTaintObject("BSDynamics.Refresh", Prim.LocalID, delegate()
+            {
+                SetPhysicalParameters();
+            });
+        }
+
         // Some of the properties of this prim may have changed.
         // Do any updating needed for a vehicle
-        public void Refresh()
+        private void SetPhysicalParameters()
         {
             if (IsActive)
             {
@@ -614,7 +623,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
                 PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
 
-                VDetailLog("{0},BSDynamics.Refresh,mass={1},inert={2},grav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
+                VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
                         Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity,
                         BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
                         BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
@@ -622,26 +631,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
             else
             {
-                PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                if (Prim.PhysBody.HasPhysicalBody)
+                    PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
             }
         }
 
         public bool RemoveBodyDependencies(BSPhysObject prim)
         {
-            // If active, we need to add our properties back when the body is rebuilt.
-            return IsActive;
-        }
-
-        public void RestoreBodyDependencies(BSPhysObject prim)
-        {
-            if (Prim.LocalID != prim.LocalID)
-            {
-                // The call should be on us by our prim. Error if not.
-                PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
-                                LogHeader, prim.LocalID, Prim.LocalID);
-                return;
-            }
             Refresh();
+            return IsActive;
         }
 
         #region Known vehicle value functions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 54dc458..0c4db40 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -219,43 +219,65 @@ public sealed class BSLinksetCompound : BSLinkset
             {
                 // Gather the child info. It might not be there if the linkset is in transition.
                 BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo;
-                if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null)
+                if (lsi != null)
                 {
-                    if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
+                    // Since the child moved or rotationed, it needs a new relative position within the linkset
+                    BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
+                    updated.LinksetInfo = newLsi;
+
+                    // Find the physical instance of the child 
+                    if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
                     {
-                        BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
-                        if (linksetChildShape.HasPhysicalShape)
+                        // It is possible that the linkset is still under construction and the child is not yet
+                        //    inserted into the compound shape. A rebuild of the linkset in a pre-step action will
+                        //    build the whole thing with the new position or rotation.
+                        // The index must be checked because Bullet references the child array but does no validity
+                        //    checking of the child index passed.
+                        int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape);
+                        if (lsi.Index < numLinksetChildren)
                         {
-                            // Compute the offset from the center-of-gravity
-                            BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
-                            PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
-                                                                        newLsi.OffsetFromCenterOfMass,
-                                                                        newLsi.OffsetRot,
-                                                                        true /* shouldRecalculateLocalAabb */);
-                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
-                                                                        updated.LocalID, whichUpdated, newLsi);
-                            updated.LinksetInfo = newLsi;
-                            updatedChild = true;
+                            BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
+                            if (linksetChildShape.HasPhysicalShape)
+                            {
+                                // Found the child shape within the compound shape
+                                PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
+                                                                            newLsi.OffsetFromCenterOfMass,
+                                                                            newLsi.OffsetRot,
+                                                                            true /* shouldRecalculateLocalAabb */);
+                                updatedChild = true;
+                                DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
+                                                                            updated.LocalID, whichUpdated, newLsi);
+                            }
+                            else    // DEBUG DEBUG
+                            {       // DEBUG DEBUG
+                                DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
+                                                                            updated.LocalID, linksetChildShape);
+                            }       // DEBUG DEBUG
                         }
                         else    // DEBUG DEBUG
                         {       // DEBUG DEBUG
-                            DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
-                                                                        updated.LocalID, linksetChildShape);
+                            // the child is not yet in the compound shape. This is non-fatal.
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
+                                                                        updated.LocalID, numLinksetChildren, lsi.Index);
                         }       // DEBUG DEBUG
                     }
                     else    // DEBUG DEBUG
                     {       // DEBUG DEBUG
-                        DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID);
+                        DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID);
                     }       // DEBUG DEBUG
                 }
                 else    // DEBUG DEBUG
                 {       // DEBUG DEBUG
-                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}",
-                                updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString());
+                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noLinkSetInfo,rootPhysShape={1}",
+                                                    updated.LocalID, LinksetRoot.PhysShape);
                 }       // DEBUG DEBUG
+
                 if (!updatedChild)
                 {
                     // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
+                    // Note: there are several ways through this code that will not update the child if
+                    //    the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since
+                    //    there will already be a rebuild scheduled.
                     DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
                                                                     updated.LocalID, whichUpdated);
                     updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.
@@ -274,13 +296,14 @@ public sealed class BSLinksetCompound : BSLinkset
         bool ret = false;
 
         DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
-                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child));
+                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
 
         if (!IsRoot(child))
         {
             // Because it is a convenient time, recompute child world position and rotation based on
             //    its position in the linkset.
-            RecomputeChildWorldPosition(child, true);
+            RecomputeChildWorldPosition(child, true /* inTaintTime */);
+            child.LinksetInfo = null;
         }
 
         // Cannot schedule a refresh/rebuild here because this routine is called when
@@ -295,6 +318,14 @@ public sealed class BSLinksetCompound : BSLinkset
     //    prim. The child prim's location must be recomputed based on the location of the root shape.
     private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
     {
+        // For the moment (20130201), disable this computation (converting the child physical addr back to
+        //    a region address) until we have a good handle on center-of-mass offsets and what the physics
+        //    engine moving a child actually means.
+        // The simulator keeps track of where children should be as the linkset moves. Setting
+        //    the pos/rot here does not effect that knowledge as there is no good way for the
+        //    physics engine to send the simulator an update for a child.
+
+        /*
         BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
         if (lci != null)
         {
@@ -323,6 +354,7 @@ public sealed class BSLinksetCompound : BSLinkset
             //                                 LogHeader, child.LocalID);
             DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
         }
+        */
     }
 
     // ================================================================
@@ -356,6 +388,7 @@ public sealed class BSLinksetCompound : BSLinkset
 
             // Cause the child's body to be rebuilt and thus restored to normal operation
             RecomputeChildWorldPosition(child, false);
+            child.LinksetInfo = null;
             child.ForceBodyShapeRebuild(false);
 
             if (!HasAnyChildren)
@@ -377,16 +410,16 @@ public sealed class BSLinksetCompound : BSLinkset
     // Constraint linksets are rebuilt every time.
     // Note that this works for rebuilding just the root after a linkset is taken apart.
     // Called at taint time!!
-    private bool disableCOM = true;     // disable until we get this debugged
+    private bool disableCOM = true;     // DEBUG DEBUG: disable until we get this debugged
     private void RecomputeLinksetCompound()
     {
         try
         {
-            // Suppress rebuilding while rebuilding
+            // Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.)
             Rebuilding = true;
 
             // Cause the root shape to be rebuilt as a compound object with just the root in it
-            LinksetRoot.ForceBodyShapeRebuild(true);
+            LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime */);
 
             // The center of mass for the linkset is the geometric center of the group.
             // Compute a displacement for each component so it is relative to the center-of-mass.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index a113530..823402b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -190,18 +190,6 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
-    // The system is telling us the velocity it wants to move at.
-    // Velocity in world coordinates.
-    // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
-    public override OMV.Vector3 TargetVelocity
-    {
-        get { return m_targetVelocity; }
-        set
-        {
-            m_targetVelocity = value;
-            Velocity = value;
-        }
-    }
     public virtual float TargetSpeed
     {
         get
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b5dd131..54bf063 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -146,9 +146,9 @@ public sealed class BSPrim : BSPhysObject
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, null);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, null);
             PhysShape.Clear();
         });
     }
@@ -181,11 +181,19 @@ public sealed class BSPrim : BSPhysObject
 
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
+        if (inTaintTime)
         {
             _mass = CalculateMass();   // changing the shape changes the mass
             CreateGeomAndObject(true);
-        });
+        }
+        else
+        {
+            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", delegate()
+            {
+                _mass = CalculateMass();   // changing the shape changes the mass
+                CreateGeomAndObject(true);
+            });
+        }
         return true;
     }
     public override bool Grabbed {
@@ -1597,9 +1605,9 @@ public sealed class BSPrim : BSPhysObject
     public void CreateGeomAndObject(bool forceRebuild)
     {
         // Create the correct physical representation for this type of object.
-        // Updates PhysBody and PhysShape with the new information.
+        // Updates base.PhysBody and base.PhysShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
+        PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 473ef10..37bccbc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -116,8 +116,7 @@ public sealed class BSShapeCollection : IDisposable
             //    rebuild the body around it.
             // Updates prim.BSBody with information/pointers to requested body
             // Returns 'true' if BSBody was changed.
-            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
-                                    prim.PhysShape, bodyCallback);
+            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, bodyCallback);
             ret = newGeom || newBody;
         }
         DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
@@ -134,48 +133,44 @@ public sealed class BSShapeCollection : IDisposable
     // Track another user of a body.
     // We presume the caller has allocated the body.
     // 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)
+    private void ReferenceBody(BulletBody body)
     {
         lock (m_collectionActivityLock)
         {
             if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
+            if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
             {
-                if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
-                {
-                    PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
-                }
-            });
+                PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
+                if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
+            }
         }
     }
 
     // Release the usage of a body.
     // Called when releasing use of a BSBody. BSShape is handled separately.
-    public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
+    // Called in taint time.
+    public void DereferenceBody(BulletBody body, BodyDestructionCallback bodyCallback )
     {
         if (!body.HasPhysicalBody)
             return;
 
+        PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody");
+
         lock (m_collectionActivityLock)
         {
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
-            {
-                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
-                                            body.ID, body, inTaintTime);
-                // If the caller needs to know the old body is going away, pass the event up.
-                if (bodyCallback != null) bodyCallback(body);
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body);
+            // If the caller needs to know the old body is going away, pass the event up.
+            if (bodyCallback != null) bodyCallback(body);
 
-                if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
-                {
-                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
-                }
+            if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
+            {
+                PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
+                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
+            }
 
-                // Zero any reference to the shape so it is not freed when the body is deleted.
-                PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
-                PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
-            });
+            // Zero any reference to the shape so it is not freed when the body is deleted.
+            PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
+            PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
         }
     }
 
@@ -246,44 +241,43 @@ public sealed class BSShapeCollection : IDisposable
     }
 
     // Release the usage of a shape.
-    public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
+    public void DereferenceShape(BulletShape shape, ShapeDestructionCallback shapeCallback)
     {
         if (!shape.HasPhysicalShape)
             return;
 
-        PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
+        PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceShape");
+
+        if (shape.HasPhysicalShape)
         {
-            if (shape.HasPhysicalShape)
+            if (shape.isNativeShape)
             {
-                if (shape.isNativeShape)
-                {
-                    // Native shapes are not tracked and are released immediately
-                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
-                                    BSScene.DetailLogZero, shape.AddrString, inTaintTime);
-                    if (shapeCallback != null) shapeCallback(shape);
-                    PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
-                }
-                else
+                // Native shapes are not tracked and are released immediately
+                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1}",
+                                    BSScene.DetailLogZero, shape.AddrString);
+                if (shapeCallback != null) shapeCallback(shape);
+                PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
+            }
+            else
+            {
+                switch (shape.type)
                 {
-                    switch (shape.type)
-                    {
-                        case BSPhysicsShapeType.SHAPE_HULL:
-                            DereferenceHull(shape, shapeCallback);
-                            break;
-                        case BSPhysicsShapeType.SHAPE_MESH:
-                            DereferenceMesh(shape, shapeCallback);
-                            break;
-                        case BSPhysicsShapeType.SHAPE_COMPOUND:
-                            DereferenceCompound(shape, shapeCallback);
-                            break;
-                        case BSPhysicsShapeType.SHAPE_UNKNOWN:
-                            break;
-                        default:
-                            break;
-                    }
+                    case BSPhysicsShapeType.SHAPE_HULL:
+                        DereferenceHull(shape, shapeCallback);
+                        break;
+                    case BSPhysicsShapeType.SHAPE_MESH:
+                        DereferenceMesh(shape, shapeCallback);
+                        break;
+                    case BSPhysicsShapeType.SHAPE_COMPOUND:
+                        DereferenceCompound(shape, shapeCallback);
+                        break;
+                    case BSPhysicsShapeType.SHAPE_UNKNOWN:
+                        break;
+                    default:
+                        break;
                 }
             }
-        });
+        }
     }
 
     // Count down the reference count for a mesh shape
@@ -394,7 +388,7 @@ public sealed class BSShapeCollection : IDisposable
 
         if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
         {
-            DereferenceShape(shapeInfo, true, null);
+            DereferenceShape(shapeInfo, null);
         }
         else
         {
@@ -544,7 +538,7 @@ public sealed class BSShapeCollection : IDisposable
                             ShapeDestructionCallback shapeCallback)
     {
         // release any previous shape
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, shapeCallback);
 
         BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
 
@@ -612,7 +606,7 @@ public sealed class BSShapeCollection : IDisposable
                                 prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
 
         // Since we're recreating new, get rid of the reference to the previous shape
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, shapeCallback);
 
         newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
         // Take evasive action if the mesh was not constructed.
@@ -683,7 +677,7 @@ public sealed class BSShapeCollection : IDisposable
                         prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
 
         // Remove usage of the previous shape.
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, shapeCallback);
 
         newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
         newShape = VerifyMeshCreated(newShape, prim);
@@ -818,7 +812,6 @@ public sealed class BSShapeCollection : IDisposable
         // Don't need to do this as the shape is freed when the new root shape is created below.
         // DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-
         BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false);
 
         // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
@@ -933,8 +926,7 @@ public sealed class BSShapeCollection : IDisposable
     // 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, BSPhysObject prim, BulletWorld sim, BulletShape shape,
-                            BodyDestructionCallback bodyCallback)
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
 
@@ -951,27 +943,28 @@ public sealed class BSShapeCollection : IDisposable
             {
                 // If the collisionObject is not the correct type for solidness, rebuild what's there
                 mustRebuild = true;
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,forceRebuildBecauseChangingBodyType,bodyType={1}", prim.LocalID, bodyType);
             }
         }
 
         if (mustRebuild || forceRebuild)
         {
             // Free any old body
-            DereferenceBody(prim.PhysBody, true, bodyCallback);
+            DereferenceBody(prim.PhysBody, bodyCallback);
 
             BulletBody aBody;
             if (prim.IsSolid)
             {
-                aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                aBody = PhysicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
                 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody);
             }
             else
             {
-                aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                aBody = PhysicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
                 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
             }
 
-            ReferenceBody(aBody, true);
+            ReferenceBody(aBody);
 
             prim.PhysBody = aBody;
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index a95e169..a3b3556 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -6,6 +6,7 @@ One sided meshes? Should terrain be built into a closed shape?
         Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
 Deleting a linkset while standing on the root will leave the physical shape of the root behind.
         Not sure if it is because standing on it. Done with large prim linksets.
+Terrain detail: double terrain mesh detail
 Vehicle angular vertical attraction
 vehicle angular banking
 Center-of-gravity
@@ -34,34 +35,20 @@ Vehicle script tuning/debugging
         Weapon shooter script
 Add material densities to the material types
 
-CRASHES
-=================================================
-Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim
-        m1:logs/20130115.0934/physics-BulletSim-20130115083613.log
-        Creation of Neb's terrain made the terrain "disappear". Everything started to fall
-                and then get restored to be above terrain.
-20121129.1411: editting/moving phys object across region boundries causes crash
-    getPos-> btRigidBody::upcast -> getBodyType -> BOOM
-20121128.1600: mesh object not rezzing (no physics mesh).
-    Causes many errors. Doesn't stop after first error with box shape.
-    Eventually crashes when deleting the object.
-20121206.1434: rez Sam-pan into OSGrid BulletSim11 region
-        Immediate simulator crash. Mono does not output any stacktrace and
-        log just stops after reporting taint-time linking of the linkset.
-
 VEHICLES TODO LIST:
 =================================================
 Border crossing with linked vehicle causes crash
+        20121129.1411: editting/moving phys object across region boundries causes crash
+            getPos-> btRigidBody::upcast -> getBodyType -> BOOM
 Vehicles (Move smoothly)
 Some vehicles should not be able to turn if no speed or off ground.
+What to do if vehicle and prim buoyancy differ?
 Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
 Neb car jiggling left and right
         Happens on terrain and any other mesh object. Flat cubes are much smoother.
         This has been reduced but not eliminated.
 Implement referenceFrame for all the motion routines.
 For limitMotorUp, use raycast down to find if vehicle is in the air.
-Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
-        Verify that angular motion specified around Z moves in the vehicle coordinates.
 Verify llGetVel() is returning a smooth and good value for vehicle movement.
 llGetVel() should return the root's velocity if requested in a child prim.
 Implement function efficiency for lineaar and angular motion.
@@ -73,10 +60,15 @@ Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
 Incorporate inter-relationship of angular corrections. For instance, angularDeflection
         and angularMotorUp will compute same X or Y correction. When added together
         creates over-correction and over-shoot and wabbling.
+Vehicle attributes are not restored when a vehicle is rezzed on region creation
+        Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized.
 
 GENERAL TODO LIST:
 =================================================
-Avatar standing on a moving object should start to move with the object.
+Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.
+        If arrow show at prim, collision reported about 1/3 of time. If collision reported,
+        both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times.
+        Shooting 5m sphere "arrows" at 60m/s.
 llMoveToTarget objects are not effected by gravity until target is removed.
 Compute CCD parameters based on body size
 Can solver iterations be changed per body/shape? Can be for constraints but what
@@ -135,6 +127,7 @@ Physical and phantom will drop through the terrain
 
 LINKSETS
 ======================================================
+Child prims do not report collisions
 Editing a child of a linkset causes the child to go phantom
         Move a child prim once when it is physical and can never move it again without it going phantom
 Offset the center of the linkset to be the geometric center of all the prims
@@ -330,4 +323,8 @@ Boats float low in the water (DONE)
 Boats floating at proper level (DONE)
 When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
         (Resolution: setForce registers a prestep action which keeps applying the force)
-Child movement in linkset (don't rebuild linkset) (DONE 20130122))
\ No newline at end of file
+Child movement in linkset (don't rebuild linkset) (DONE 20130122))
+Avatar standing on a moving object should start to move with the object. (DONE 20130125)
+Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
+        Verify that angular motion specified around Z moves in the vehicle coordinates.
+        DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index fe418d3..20a70b4 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -47,7 +47,7 @@ namespace OpenSim.Region.Physics.Manager
     public delegate void JointDeactivated(PhysicsJoint joint);
     public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation"
 
-    public enum RayFilterFlags:ushort
+    public enum RayFilterFlags : ushort
     {
         // the flags
         water = 0x01,
@@ -64,7 +64,7 @@ namespace OpenSim.Region.Physics.Manager
         ClosestHit = 0x8000,
 
         // some combinations
-        LSLPhanton = phantom | volumedtc,
+        LSLPhantom = phantom | volumedtc,
         PrimsNonPhantom = nonphysical | physical,
         PrimsNonPhantomAgents = nonphysical | physical | agent,