* Optimized usings

* Shortened type references
* Removed redundant 'this' qualifier

15 files changed, 1068 insertions, 1268 deletions

diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
index 2d4d898..a8f1de1 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
@@ -27,24 +27,26 @@
 */
 using System.Reflection;
 using System.Runtime.InteropServices;
+
 // Information about this assembly is defined by the following
 // attributes.
 //
 // change them to the information which is associated with the assembly
 // you compile.
 
-[assembly: AssemblyTitle("PhysXplugin")]
-[assembly: AssemblyDescription("")]
-[assembly: AssemblyConfiguration("")]
-[assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("PhysXplugin")]
-[assembly: AssemblyCopyright("")]
-[assembly: AssemblyTrademark("")]
-[assembly: AssemblyCulture("")]
+[assembly : AssemblyTitle("PhysXplugin")]
+[assembly : AssemblyDescription("")]
+[assembly : AssemblyConfiguration("")]
+[assembly : AssemblyCompany("")]
+[assembly : AssemblyProduct("PhysXplugin")]
+[assembly : AssemblyCopyright("")]
+[assembly : AssemblyTrademark("")]
+[assembly : AssemblyCulture("")]
 
 // This sets the default COM visibility of types in the assembly to invisible.
 // If you need to expose a type to COM, use [ComVisible(true)] on that type.
-[assembly: ComVisible(false)]
+
+[assembly : ComVisible(false)]
 
 // The assembly version has following format :
 //
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly: AssemblyVersion("1.0.*")]
+[assembly : AssemblyVersion("1.0.*")]
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
index 95e6095..b412818 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
@@ -39,7 +39,6 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
     {
         public BasicPhysicsPlugin()
         {
-
         }
 
         public bool Init()
@@ -59,7 +58,6 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         public void Dispose()
         {
-
         }
     }
 
@@ -70,7 +68,6 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         public BasicScene()
         {
-
         }
 
         public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
@@ -83,17 +80,15 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         public override void RemovePrim(PhysicsActor prim)
         {
-
         }
 
         public override void RemoveAvatar(PhysicsActor actor)
         {
-            BasicActor act = (BasicActor)actor;
+            BasicActor act = (BasicActor) actor;
             if (_actors.Contains(act))
             {
                 _actors.Remove(act);
             }
-
         }
 
 /*
@@ -102,7 +97,9 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             return null;
         }
 */
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+                                                  PhysicsVector size, Quaternion rotation)
         {
             return null;
         }
@@ -112,8 +109,8 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
         {
             foreach (BasicActor actor in _actors)
             {
-                actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep);
-                actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep);
+                actor.Position.X = actor.Position.X + (actor.Velocity.X*timeStep);
+                actor.Position.Y = actor.Position.Y + (actor.Velocity.Y*timeStep);
                 if (actor.Position.Y < 0)
                 {
                     actor.Position.Y = 0.1F;
@@ -132,17 +129,18 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
                     actor.Position.X = 255.9F;
                 }
 
-                float height = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 1.0f;
+                float height = _heightMap[(int) actor.Position.Y*256 + (int) actor.Position.X] + 1.0f;
                 if (actor.Flying)
                 {
-                    if (actor.Position.Z + (actor.Velocity.Z * timeStep) < _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 2)
+                    if (actor.Position.Z + (actor.Velocity.Z*timeStep) <
+                        _heightMap[(int) actor.Position.Y*256 + (int) actor.Position.X] + 2)
                     {
                         actor.Position.Z = height;
                         actor.Velocity.Z = 0;
                     }
                     else
                     {
-                        actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep);
+                        actor.Position.Z = actor.Position.Z + (actor.Velocity.Z*timeStep);
                     }
                 }
                 else
@@ -150,32 +148,26 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
                     actor.Position.Z = height;
                     actor.Velocity.Z = 0;
                 }
-
-
             }
         }
 
         public override void GetResults()
         {
-
         }
 
         public override bool IsThreaded
         {
-            get
-            {
-                return (false); // for now we won't be multithreaded
+            get { return (false); // for now we won't be multithreaded
             }
         }
 
         public override void SetTerrain(float[] heightMap)
         {
-            this._heightMap = heightMap;
+            _heightMap = heightMap;
         }
 
         public override void DeleteTerrain()
         {
-
         }
     }
 
@@ -185,6 +177,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
         private PhysicsVector _velocity;
         private PhysicsVector _acceleration;
         private bool flying;
+
         public BasicActor()
         {
             _velocity = new PhysicsVector();
@@ -194,97 +187,56 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         public override bool Flying
         {
-            get
-            {
-                return flying;
-            }
-            set
-            {
-                flying = value;
-            }
+            get { return flying; }
+            set { flying = value; }
         }
 
         public override PhysicsVector Position
         {
-            get
-            {
-                return _position;
-            }
-            set
-            {
-                _position = value;
-            }
+            get { return _position; }
+            set { _position = value; }
         }
 
         public override PhysicsVector Size
         {
-            get
-            {
-                return new PhysicsVector(0, 0, 0);
-            }
-            set
-            {
-            }
+            get { return new PhysicsVector(0, 0, 0); }
+            set { }
         }
 
         public override PhysicsVector Velocity
         {
-            get
-            {
-                return _velocity;
-            }
-            set
-            {
-                _velocity = value;
-            }
+            get { return _velocity; }
+            set { _velocity = value; }
         }
 
         public override Quaternion Orientation
         {
-            get
-            {
-                return Quaternion.Identity;
-            }
-            set
-            {
-
-            }
+            get { return Quaternion.Identity; }
+            set { }
         }
 
         public override PhysicsVector Acceleration
         {
-            get
-            {
-                return _acceleration;
-            }
-
+            get { return _acceleration; }
         }
 
         public override bool Kinematic
         {
-            get
-            {
-                return true;
-            }
-            set
-            {
-
-            }
+            get { return true; }
+            set { }
         }
+
         public void SetAcceleration(PhysicsVector accel)
         {
-            this._acceleration = accel;
+            _acceleration = accel;
         }
 
         public override void AddForce(PhysicsVector force)
         {
-
         }
 
         public override void SetMomentum(PhysicsVector momentum)
         {
-
         }
     }
-
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs
index 0180917..c8596f7 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs
@@ -1,4 +1,4 @@
-/*
+/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
@@ -27,24 +27,26 @@
 */
 using System.Reflection;
 using System.Runtime.InteropServices;
+
 // Information about this assembly is defined by the following
 // attributes.
 //
 // change them to the information which is associated with the assembly
 // you compile.
 
-[assembly: AssemblyTitle("BulletXPlugin")]
-[assembly: AssemblyDescription("")]
-[assembly: AssemblyConfiguration("")]
-[assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("BulletXPlugin")]
-[assembly: AssemblyCopyright("")]
-[assembly: AssemblyTrademark("")]
-[assembly: AssemblyCulture("")]
+[assembly : AssemblyTitle("BulletXPlugin")]
+[assembly : AssemblyDescription("")]
+[assembly : AssemblyConfiguration("")]
+[assembly : AssemblyCompany("")]
+[assembly : AssemblyProduct("BulletXPlugin")]
+[assembly : AssemblyCopyright("")]
+[assembly : AssemblyTrademark("")]
+[assembly : AssemblyCulture("")]
 
 // This sets the default COM visibility of types in the assembly to invisible.
 // If you need to expose a type to COM, use [ComVisible(true)] on that type.
-[assembly: ComVisible(false)]
+
+[assembly : ComVisible(false)]
 
 // The assembly version has following format :
 //
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly: AssemblyVersion("1.0.0.0")]
+[assembly : AssemblyVersion("1.0.0.0")]
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index 9fdc017..1658e2d 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -27,6 +27,7 @@
 */
 
 #region Copyright
+
 /*
 * Copyright (c) Contributors, http://www.openmetaverse.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
@@ -54,18 +55,21 @@
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * 
 */
+
 #endregion
+
 #region References
+
 using System;
 using System.Collections.Generic;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Framework;
-using Axiom.Math;
-using AxiomQuaternion = Axiom.Math.Quaternion;
-//Specific References for BulletXPlugin
 using MonoXnaCompactMaths;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
 using XnaDevRu.BulletX;
 using XnaDevRu.BulletX.Dynamics;
+using AxiomQuaternion = Axiom.Math.Quaternion;
+using BoxShape=XnaDevRu.BulletX.BoxShape;
+//Specific References for BulletXPlugin
 
 #endregion
 
@@ -80,27 +84,31 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         {
         }
     }
+
     /// <summary>
     /// BulletXConversions are called now BulletXMaths
     /// This Class converts objects and types for BulletX and give some operations
     /// </summary>
-    public class BulletXMaths 
+    public class BulletXMaths
     {
         //Vector3
-        public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
+        public static Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
         {
-            return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
+            return new Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
         }
-        public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)
+
+        public static PhysicsVector XnaVector3ToPhysicsVector(Vector3 xnaVector3)
         {
             return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
         }
+
         //Quaternion
-        public static MonoXnaCompactMaths.Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion)
+        public static Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion)
         {
-            return new MonoXnaCompactMaths.Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w);
+            return new Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w);
         }
-        public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(MonoXnaCompactMaths.Quaternion xnaQuaternion)
+
+        public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(Quaternion xnaQuaternion)
         {
             return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
         }
@@ -110,70 +118,79 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         //- GetRotation (class MatrixOperations)
         //- GetElement (class MathHelper)
         //- SetElement (class MathHelper)
-        internal static void SetRotation(ref Matrix m, MonoXnaCompactMaths.Quaternion q)
+        internal static void SetRotation(ref Matrix m, Quaternion q)
         {
             float d = q.LengthSquared();
-            float s = 2f / d;
-            float xs = q.X * s, ys = q.Y * s, zs = q.Z * s;
-            float wx = q.W * xs, wy = q.W * ys, wz = q.W * zs;
-            float xx = q.X * xs, xy = q.X * ys, xz = q.X * zs;
-            float yy = q.Y * ys, yz = q.Y * zs, zz = q.Z * zs;
+            float s = 2f/d;
+            float xs = q.X*s, ys = q.Y*s, zs = q.Z*s;
+            float wx = q.W*xs, wy = q.W*ys, wz = q.W*zs;
+            float xx = q.X*xs, xy = q.X*ys, xz = q.X*zs;
+            float yy = q.Y*ys, yz = q.Y*zs, zz = q.Z*zs;
             m = new Matrix(1 - (yy + zz), xy - wz, xz + wy, 0,
-                            xy + wz, 1 - (xx + zz), yz - wx, 0,
-                            xz - wy, yz + wx, 1 - (xx + yy), 0,
-                            m.M41, m.M42, m.M43, 1);
+                           xy + wz, 1 - (xx + zz), yz - wx, 0,
+                           xz - wy, yz + wx, 1 - (xx + yy), 0,
+                           m.M41, m.M42, m.M43, 1);
         }
-        internal static MonoXnaCompactMaths.Quaternion GetRotation(Matrix m)
+
+        internal static Quaternion GetRotation(Matrix m)
         {
-            MonoXnaCompactMaths.Quaternion q = new MonoXnaCompactMaths.Quaternion();
+            Quaternion q = new Quaternion();
 
             float trace = m.M11 + m.M22 + m.M33;
 
             if (trace > 0)
             {
-                float s = (float)Math.Sqrt(trace + 1);
-                q.W = s * 0.5f;
-                s = 0.5f / s;
+                float s = (float) Math.Sqrt(trace + 1);
+                q.W = s*0.5f;
+                s = 0.5f/s;
 
-                q.X = (m.M32 - m.M23) * s;
-                q.Y = (m.M13 - m.M31) * s;
-                q.Z = (m.M21 - m.M12) * s;
+                q.X = (m.M32 - m.M23)*s;
+                q.Y = (m.M13 - m.M31)*s;
+                q.Z = (m.M21 - m.M12)*s;
             }
             else
             {
-                int i = m.M11 < m.M22 ?
-                    (m.M22 < m.M33 ? 2 : 1) :
-                    (m.M11 < m.M33 ? 2 : 0);
-                int j = (i + 1) % 3;
-                int k = (i + 2) % 3;
-
-                float s = (float)Math.Sqrt(GetElement(m, i, i) - GetElement(m, j, j) - GetElement(m, k, k) + 1);
-                SetElement(ref q, i, s * 0.5f);
-                s = 0.5f / s;
-
-                q.W = (GetElement(m, k, j) - GetElement(m, j, k)) * s;
-                SetElement(ref q, j, (GetElement(m, j, i) + GetElement(m, i, j)) * s);
-                SetElement(ref q, k, (GetElement(m, k, i) + GetElement(m, i, k)) * s);
+                int i = m.M11 < m.M22
+                            ?
+                                (m.M22 < m.M33 ? 2 : 1)
+                            :
+                                (m.M11 < m.M33 ? 2 : 0);
+                int j = (i + 1)%3;
+                int k = (i + 2)%3;
+
+                float s = (float) Math.Sqrt(GetElement(m, i, i) - GetElement(m, j, j) - GetElement(m, k, k) + 1);
+                SetElement(ref q, i, s*0.5f);
+                s = 0.5f/s;
+
+                q.W = (GetElement(m, k, j) - GetElement(m, j, k))*s;
+                SetElement(ref q, j, (GetElement(m, j, i) + GetElement(m, i, j))*s);
+                SetElement(ref q, k, (GetElement(m, k, i) + GetElement(m, i, k))*s);
             }
 
             return q;
         }
-        internal static float SetElement(ref MonoXnaCompactMaths.Quaternion q, int index, float value)
+
+        internal static float SetElement(ref Quaternion q, int index, float value)
         {
             switch (index)
             {
                 case 0:
-                    q.X = value; break;
+                    q.X = value;
+                    break;
                 case 1:
-                    q.Y = value; break;
+                    q.Y = value;
+                    break;
                 case 2:
-                    q.Z = value; break;
+                    q.Z = value;
+                    break;
                 case 3:
-                    q.W = value; break;
+                    q.W = value;
+                    break;
             }
 
             return 0;
         }
+
         internal static float GetElement(Matrix mat, int row, int col)
         {
             switch (row)
@@ -187,7 +204,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                             return mat.M12;
                         case 2:
                             return mat.M13;
-                    } break;
+                    }
+                    break;
                 case 1:
                     switch (col)
                     {
@@ -197,7 +215,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                             return mat.M22;
                         case 2:
                             return mat.M23;
-                    } break;
+                    }
+                    break;
                 case 2:
                     switch (col)
                     {
@@ -207,12 +226,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                             return mat.M32;
                         case 2:
                             return mat.M33;
-                    } break;
+                    }
+                    break;
             }
 
             return 0;
         }
     }
+
     /// <summary>
     /// PhysicsPlugin Class for BulletX
     /// </summary>
@@ -223,10 +244,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         public BulletXPlugin()
         {
         }
+
         public bool Init()
         {
             return true;
         }
+
         public PhysicsScene GetScene()
         {
             if (_mScene == null)
@@ -235,20 +258,24 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
             return (_mScene);
         }
+
         public string GetName()
         {
-            return ("modified_BulletX");//Changed!! "BulletXEngine" To "modified_BulletX"
+            return ("modified_BulletX"); //Changed!! "BulletXEngine" To "modified_BulletX"
         }
+
         public void Dispose()
         {
         }
     }
+
     /// <summary>
     /// PhysicsScene Class for BulletX
     /// </summary>
     public class BulletXScene : PhysicsScene
     {
         #region BulletXScene Fields
+
         public DiscreteDynamicsWorld ddWorld;
         private CollisionDispatcher cDispatcher;
         private OverlappingPairCache opCache;
@@ -271,33 +298,58 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
         private List<BulletXPrim> _prims = new List<BulletXPrim>();
 
-        public static float Gravity { get { return gravity; } }
-        public static float HeightLevel0 { get { return heightLevel0; } }
-        public static float HeightLevel1 { get { return heightLevel1; } }
-        public static float LowGravityFactor { get { return lowGravityFactor; } }
-        public static int MaxXY { get { return maxXY; } }
-        public static int MaxZ { get { return maxZ; } }
+        public static float Gravity
+        {
+            get { return gravity; }
+        }
+
+        public static float HeightLevel0
+        {
+            get { return heightLevel0; }
+        }
+
+        public static float HeightLevel1
+        {
+            get { return heightLevel1; }
+        }
+
+        public static float LowGravityFactor
+        {
+            get { return lowGravityFactor; }
+        }
+
+        public static int MaxXY
+        {
+            get { return maxXY; }
+        }
+
+        public static int MaxZ
+        {
+            get { return maxZ; }
+        }
 
         private List<RigidBody> _forgottenRigidBodies = new List<RigidBody>();
         internal string is_ex_message = "Can't remove rigidBody!: ";
+
         #endregion
 
         public BulletXScene()
         {
             cDispatcher = new CollisionDispatcher();
-            MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ);
-            MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ);
+            Vector3 worldMinDim = new Vector3((float) minXY, (float) minXY, (float) minZ);
+            Vector3 worldMaxDim = new Vector3((float) maxXY, (float) maxXY, (float) maxZ);
             opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
             sicSolver = new SequentialImpulseConstraintSolver();
 
             lock (BulletXLock)
             {
                 ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
-                ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
+                ddWorld.Gravity = new Vector3(0, 0, -gravity);
             }
             //this._heightmap = new float[65536];
         }
-        public override PhysicsActor  AddAvatar(string avName, PhysicsVector position)
+
+        public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
         {
             PhysicsVector pos = new PhysicsVector();
             pos.X = position.X;
@@ -311,6 +363,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
             return newAv;
         }
+
         public override void RemoveAvatar(PhysicsActor actor)
         {
             if (actor is BulletXCharacter)
@@ -319,20 +372,22 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 {
                     try
                     {
-                        ddWorld.RemoveRigidBody(((BulletXCharacter)actor).RigidBody);
+                        ddWorld.RemoveRigidBody(((BulletXCharacter) actor).RigidBody);
                     }
                     catch (Exception ex)
                     {
                         BulletXMessage(is_ex_message + ex.Message, true);
-                        ((BulletXCharacter)actor).RigidBody.ActivationState = ActivationState.DisableSimulation;
-                        AddForgottenRigidBody(((BulletXCharacter)actor).RigidBody);
+                        ((BulletXCharacter) actor).RigidBody.ActivationState = ActivationState.DisableSimulation;
+                        AddForgottenRigidBody(((BulletXCharacter) actor).RigidBody);
                     }
-                    _characters.Remove((BulletXCharacter)actor);
+                    _characters.Remove((BulletXCharacter) actor);
                 }
                 GC.Collect();
             }
         }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+                                                  PhysicsVector size, AxiomQuaternion rotation)
         {
             PhysicsActor result;
 
@@ -358,11 +413,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
 
             return result;
         }
-        public PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Axiom.Math.Quaternion rotation)
+
+        public PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
         {
             return AddPrim("", position, size, rotation, null, null);
         }
-        public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
+
+        public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation,
+                                    Mesh mesh, PrimitiveBaseShape pbs)
         {
             BulletXPrim newPrim = null;
             lock (BulletXLock)
@@ -372,6 +430,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
             return newPrim;
         }
+
         public override void RemovePrim(PhysicsActor prim)
         {
             if (prim is BulletXPrim)
@@ -380,19 +439,20 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 {
                     try
                     {
-                        ddWorld.RemoveRigidBody(((BulletXPrim)prim).RigidBody);
+                        ddWorld.RemoveRigidBody(((BulletXPrim) prim).RigidBody);
                     }
                     catch (Exception ex)
                     {
                         BulletXMessage(is_ex_message + ex.Message, true);
-                        ((BulletXPrim)prim).RigidBody.ActivationState = ActivationState.DisableSimulation;
-                        AddForgottenRigidBody(((BulletXPrim)prim).RigidBody);
+                        ((BulletXPrim) prim).RigidBody.ActivationState = ActivationState.DisableSimulation;
+                        AddForgottenRigidBody(((BulletXPrim) prim).RigidBody);
                     }
-                    _prims.Remove((BulletXPrim)prim);
+                    _prims.Remove((BulletXPrim) prim);
                 }
                 GC.Collect();
             }
         }
+
         public override void Simulate(float timeStep)
         {
             lock (BulletXLock)
@@ -408,6 +468,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 UpdateKineticsForAll();
             }
         }
+
         private void MoveAllObjects(float timeStep)
         {
             foreach (BulletXCharacter actor in _characters)
@@ -418,6 +479,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             {
             }
         }
+
         private void ValidateHeightForAll()
         {
             float _height;
@@ -431,7 +493,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             foreach (BulletXPrim prim in _prims)
             {
                 //_height = HeightValue(prim.RigidBodyPosition); 
-                _height = _simFlatPlanet.HeightValue(prim.RigidBodyPosition); 
+                _height = _simFlatPlanet.HeightValue(prim.RigidBodyPosition);
                 prim.ValidateHeight(_height);
                 //if (_simFlatPlanet.heightIsNotValid(prim.RigidBodyPosition, out _height)) prim.ValidateHeight(_height);
             }
@@ -444,6 +506,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             //    prim.ValidateHeight(0);
             //}
         }
+
         private void UpdateKineticsForAll()
         {
             //UpdatePosition > UpdateKinetics.
@@ -458,17 +521,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
             //if(this._simFlatPlanet!=null) this._simFlatPlanet.Restore();
         }
+
         public override void GetResults()
         {
-
         }
+
         public override bool IsThreaded
         {
-            get
-            {
-                return (false); // for now we won't be multithreaded
+            get { return (false); // for now we won't be multithreaded
             }
         }
+
         public override void SetTerrain(float[] heightMap)
         {
             ////As the same as ODE, heightmap (x,y) must be swapped for BulletX
@@ -494,41 +557,44 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             DeleteTerrain();
             //There is a BulletXLock inside the constructor of BulletXPlanet
             //this._simFlatPlanet = new BulletXPlanet(this, swappedHeightMap);
-            this._simFlatPlanet = new BulletXPlanet(this, heightMap);
+            _simFlatPlanet = new BulletXPlanet(this, heightMap);
             //this._heightmap = heightMap;
         }
+
         public override void DeleteTerrain()
         {
-            if (this._simFlatPlanet != null)
+            if (_simFlatPlanet != null)
             {
                 lock (BulletXLock)
                 {
                     try
                     {
-                        ddWorld.RemoveRigidBody(this._simFlatPlanet.RigidBody);
+                        ddWorld.RemoveRigidBody(_simFlatPlanet.RigidBody);
                     }
                     catch (Exception ex)
                     {
                         BulletXMessage(is_ex_message + ex.Message, true);
-                        this._simFlatPlanet.RigidBody.ActivationState = ActivationState.DisableSimulation;
-                        AddForgottenRigidBody(this._simFlatPlanet.RigidBody);
+                        _simFlatPlanet.RigidBody.ActivationState = ActivationState.DisableSimulation;
+                        AddForgottenRigidBody(_simFlatPlanet.RigidBody);
                     }
                 }
-                this._simFlatPlanet = null;
+                _simFlatPlanet = null;
                 GC.Collect();
                 BulletXMessage("Terrain erased!", false);
             }
             //this._heightmap = null;
         }
+
         internal void AddForgottenRigidBody(RigidBody forgottenRigidBody)
         {
             _forgottenRigidBodies.Add(forgottenRigidBody);
         }
+
         private void RemoveForgottenRigidBodies()
         {
             RigidBody forgottenRigidBody;
             int nRigidBodies = _forgottenRigidBodies.Count;
-            for(int i = nRigidBodies - 1; i >= 0; i--)
+            for (int i = nRigidBodies - 1; i >= 0; i--)
             {
                 forgottenRigidBody = _forgottenRigidBodies[i];
                 try
@@ -544,10 +610,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             }
             GC.Collect();
         }
+
         internal void BulletXMessage(string message, bool isWarning)
         {
             PhysicsPluginManager.PhysicsPluginMessage("[Modified BulletX]:\t" + message, isWarning);
         }
+
         //temp
         //private float HeightValue(MonoXnaCompactMaths.Vector3 position)
         //{
@@ -559,10 +627,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         //    height = this._heightmap[li_y * 256 + li_x];
         //    if (height < 0) height = 0;
         //    else if (height > maxZ) height = maxZ;
- 
+
         //    return height;
         //}
     }
+
     /// <summary>
     /// PhysicsActor Character Class for BulletX
     /// </summary>
@@ -576,21 +645,24 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         private bool flying;
         private RigidBody rigidBody;
 
-        public MonoXnaCompactMaths.Vector3 RigidBodyPosition
+        public Vector3 RigidBodyPosition
         {
-            get { return this.rigidBody.CenterOfMassPosition; }
+            get { return rigidBody.CenterOfMassPosition; }
         }
+
         public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
             : this("", parent_scene, pos)
         {
         }
+
         public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos)
             : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
-            AxiomQuaternion.Identity)
+                   AxiomQuaternion.Identity)
         {
         }
+
         public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
-            PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
+                                PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
         {
             //This fields will be removed. They're temporal
             float _sizeX = 0.5f;
@@ -622,23 +694,23 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 //For now, like ODE, collisionShape = sphere of radious = 1.0
                 CollisionShape _collisionShape = new SphereShape(1.0f);
                 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
-                MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
+                Vector3 _localInertia = new Vector3();
                 _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
-                rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
+                rigidBody =
+                    new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
+                                  _friction, _restitution);
                 //rigidBody.ActivationState = ActivationState.DisableDeactivation;
                 //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
-                MonoXnaCompactMaths.Vector3 _vDebugTranslation;
+                Vector3 _vDebugTranslation;
                 _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
                 rigidBody.Translate(_vDebugTranslation);
                 parent_scene.ddWorld.AddRigidBody(rigidBody);
             }
         }
+
         public override PhysicsVector Position
         {
-            get
-            {
-                return _position;
-            }
+            get { return _position; }
             set
             {
                 lock (BulletXScene.BulletXLock)
@@ -648,12 +720,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
+
         public override PhysicsVector Velocity
         {
-            get
-            {
-                return _velocity;
-            }
+            get { return _velocity; }
             set
             {
                 lock (BulletXScene.BulletXLock)
@@ -663,12 +733,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
+
         public override PhysicsVector Size
         {
-            get
-            {
-                return _size;
-            }
+            get { return _size; }
             set
             {
                 lock (BulletXScene.BulletXLock)
@@ -677,19 +745,15 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
+
         public override PhysicsVector Acceleration
         {
-            get
-            {
-                return _acceleration;
-            }
+            get { return _acceleration; }
         }
+
         public override AxiomQuaternion Orientation
         {
-            get
-            {
-                return _orientation;
-            }
+            get { return _orientation; }
             set
             {
                 lock (BulletXScene.BulletXLock)
@@ -698,24 +762,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
+
         public RigidBody RigidBody
         {
-            get
-            {
-                return rigidBody;
-            }
+            get { return rigidBody; }
         }
+
         public override bool Flying
         {
-            get
-            {
-                return flying;
-            }
-            set
-            {
-                flying = value;
-            }
+            get { return flying; }
+            set { flying = value; }
         }
+
         public void SetAcceleration(PhysicsVector accel)
         {
             lock (BulletXScene.BulletXLock)
@@ -723,116 +781,121 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 _acceleration = accel;
             }
         }
+
         public override bool Kinematic
         {
-            get
-            {
-                return false;
-            }
-            set
-            {
-
-            }
+            get { return false; }
+            set { }
         }
+
         public override void AddForce(PhysicsVector force)
         {
-
         }
+
         public override void SetMomentum(PhysicsVector momentum)
         {
-
         }
+
         internal void Move(float timeStep)
         {
-            MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
+            Vector3 vec = new Vector3();
             //At this point it's supossed that:
             //_velocity == rigidBody.LinearVelocity
-            vec.X = this._velocity.X; 
-            vec.Y = this._velocity.Y; 
-            vec.Z = this._velocity.Z;
+            vec.X = _velocity.X;
+            vec.Y = _velocity.Y;
+            vec.Z = _velocity.Z;
             if ((vec.X != 0.0f) || (vec.Y != 0.0f) || (vec.Z != 0.0f)) rigidBody.Activate();
             if (flying)
             {
                 //Antigravity with movement
-                if (this._position.Z <= BulletXScene.HeightLevel0)
+                if (_position.Z <= BulletXScene.HeightLevel0)
                 {
-                    vec.Z += BulletXScene.Gravity * timeStep;
+                    vec.Z += BulletXScene.Gravity*timeStep;
                 }
-                //Lowgravity with movement
-                else if ((this._position.Z > BulletXScene.HeightLevel0)
-                    && (this._position.Z <= BulletXScene.HeightLevel1))
+                    //Lowgravity with movement
+                else if ((_position.Z > BulletXScene.HeightLevel0)
+                         && (_position.Z <= BulletXScene.HeightLevel1))
                 {
-                    vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+                    vec.Z += BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor);
                 }
-                //Lowgravity with...
-                else if (this._position.Z > BulletXScene.HeightLevel1)
+                    //Lowgravity with...
+                else if (_position.Z > BulletXScene.HeightLevel1)
                 {
                     if (vec.Z > 0) //no movement
-                        vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+                        vec.Z = BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor);
                     else
-                        vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
-
+                        vec.Z += BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor);
                 }
             }
             rigidBody.LinearVelocity = vec;
         }
+
         //This validation is very basic
         internal void ValidateHeight(float heighmapPositionValue)
         {
-            if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f)
+            if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z/2.0f)
             {
                 Matrix m = rigidBody.WorldTransform;
-                MonoXnaCompactMaths.Vector3 v3 = m.Translation;
-                v3.Z = heighmapPositionValue + _size.Z / 2.0f;
+                Vector3 v3 = m.Translation;
+                v3.Z = heighmapPositionValue + _size.Z/2.0f;
                 m.Translation = v3;
                 rigidBody.WorldTransform = m;
                 //When an Avie touch the ground it's vertical velocity it's reduced to ZERO
-                Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f));
+                Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
             }
         }
+
         internal void UpdateKinetics()
         {
-            this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
-            this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
+            _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
+            _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
             //Orientation it seems that it will be the default.
             ReOrient();
         }
 
         #region Methods for updating values of RigidBody
+
         private void Translate()
         {
-            Translate(this._position);
+            Translate(_position);
         }
+
         private void Translate(PhysicsVector _newPos)
         {
-            MonoXnaCompactMaths.Vector3 _translation;
+            Vector3 _translation;
             _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
             rigidBody.Translate(_translation);
         }
+
         private void Speed()
         {
-            Speed(this._velocity);
+            Speed(_velocity);
         }
+
         private void Speed(PhysicsVector _newSpeed)
         {
-            MonoXnaCompactMaths.Vector3 _speed;
+            Vector3 _speed;
             _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
             rigidBody.LinearVelocity = _speed;
         }
+
         private void ReOrient()
         {
-            ReOrient(this._orientation);
+            ReOrient(_orientation);
         }
+
         private void ReOrient(AxiomQuaternion _newOrient)
         {
-            MonoXnaCompactMaths.Quaternion _newOrientation;
+            Quaternion _newOrientation;
             _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
             Matrix _comTransform = rigidBody.CenterOfMassTransform;
             BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
             rigidBody.CenterOfMassTransform = _comTransform;
         }
+
         #endregion
     }
+
     /// <summary>
     /// PhysicsActor Prim Class for BulletX
     /// </summary>
@@ -851,27 +914,32 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         //_physical value will be linked with the prim object value
         private Boolean _physical = false;
 
-        public MonoXnaCompactMaths.Vector3 RigidBodyPosition
+        public Vector3 RigidBodyPosition
         {
-            get { return this.rigidBody.CenterOfMassPosition; }
+            get { return rigidBody.CenterOfMassPosition; }
         }
+
         public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation)
             : this("", parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, null, null)
         {
         }
-        public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, 
-            AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
+
+        public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
+                           AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
             : this(primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs)
         {
         }
-        public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size,
-            PhysicsVector aceleration, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
+
+        public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
+                           PhysicsVector size,
+                           PhysicsVector aceleration, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
         {
             if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0");
             if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity;
 
             _position = pos;
-            if (_physical) _velocity = velocity; else _velocity = new PhysicsVector();
+            if (_physical) _velocity = velocity;
+            else _velocity = new PhysicsVector();
             _size = size;
             _acceleration = aceleration;
             _orientation = rotation;
@@ -889,26 +957,26 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             {
                 _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
                 //For now all prims are boxes
-                CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size) / 2.0f);
+                CollisionShape _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size)/2.0f);
                 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
-                MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
-                if(_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
-                rigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
+                Vector3 _localInertia = new Vector3();
+                if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
+                rigidBody =
+                    new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
+                                  _friction, _restitution);
                 //rigidBody.ActivationState = ActivationState.DisableDeactivation;
                 //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
-                MonoXnaCompactMaths.Vector3 _vDebugTranslation;
+                Vector3 _vDebugTranslation;
                 _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
                 rigidBody.Translate(_vDebugTranslation);
                 //---
                 parent_scene.ddWorld.AddRigidBody(rigidBody);
             }
         }
+
         public override PhysicsVector Position
         {
-            get
-            {
-                return _position;
-            }
+            get { return _position; }
             set
             {
                 lock (BulletXScene.BulletXLock)
@@ -918,12 +986,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
+
         public override PhysicsVector Velocity
         {
-            get
-            {
-                return _velocity;
-            }
+            get { return _velocity; }
             set
             {
                 lock (BulletXScene.BulletXLock)
@@ -941,12 +1007,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
+
         public override PhysicsVector Size
         {
-            get
-            {
-                return _size;
-            }
+            get { return _size; }
             set
             {
                 lock (BulletXScene.BulletXLock)
@@ -956,19 +1020,15 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
+
         public override PhysicsVector Acceleration
         {
-            get
-            {
-                return _acceleration;
-            }
+            get { return _acceleration; }
         }
+
         public override AxiomQuaternion Orientation
         {
-            get
-            {
-                return _orientation;
-            }
+            get { return _orientation; }
             set
             {
                 lock (BulletXScene.BulletXLock)
@@ -978,43 +1038,34 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
+
         public float Mass
         {
             get
             {
                 //For now all prims are boxes
-                return (_physical ? 1 : 0) * _density * _size.X * _size.Y * _size.Z;
+                return (_physical ? 1 : 0)*_density*_size.X*_size.Y*_size.Z;
             }
         }
+
         public RigidBody RigidBody
         {
-            get
-            {
-                return rigidBody;
-            }
+            get { return rigidBody; }
         }
+
         public override bool Flying
         {
-            get
-            {
-                return false; //no flying prims for you
-            }
-            set
-            {
-
+            get { return false; //no flying prims for you
             }
+            set { }
         }
+
         public Boolean Physical
         {
-            get
-            {
-                return _physical;
-            }
-            set
-            {
-                _physical = value;
-            }
+            get { return _physical; }
+            set { _physical = value; }
         }
+
         public void SetAcceleration(PhysicsVector accel)
         {
             lock (BulletXScene.BulletXLock)
@@ -1022,6 +1073,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 _acceleration = accel;
             }
         }
+
         public override bool Kinematic
         {
             get
@@ -1034,36 +1086,38 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 //this._prim.Kinematic = value;
             }
         }
+
         public override void AddForce(PhysicsVector force)
         {
-
         }
+
         public override void SetMomentum(PhysicsVector momentum)
         {
-
         }
+
         internal void ValidateHeight(float heighmapPositionValue)
         {
-            if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f)
+            if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z/2.0f)
             {
                 Matrix m = rigidBody.WorldTransform;
-                MonoXnaCompactMaths.Vector3 v3 = m.Translation;
-                v3.Z = heighmapPositionValue + _size.Z / 2.0f;
+                Vector3 v3 = m.Translation;
+                v3.Z = heighmapPositionValue + _size.Z/2.0f;
                 m.Translation = v3;
                 rigidBody.WorldTransform = m;
                 //When a Prim touch the ground it's vertical velocity it's reduced to ZERO
                 //Static objects don't have linear velocity
-                if(_physical)
-                    Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f));
+                if (_physical)
+                    Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
             }
         }
+
         internal void UpdateKinetics()
         {
             if (_physical) //Updates properties. Prim updates its properties physically
             {
-                this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
-                this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
-                this._orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation);
+                _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
+                _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
+                _orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation);
             }
             else //Doesn't updates properties. That's a cancel
             {
@@ -1074,35 +1128,41 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         }
 
         #region Methods for updating values of RigidBody
+
         private void Translate()
         {
-            Translate(this._position);
+            Translate(_position);
         }
+
         private void Translate(PhysicsVector _newPos)
         {
-            MonoXnaCompactMaths.Vector3 _translation;
+            Vector3 _translation;
             _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
             rigidBody.Translate(_translation);
         }
+
         private void Speed()
         {
-            Speed(this._velocity);
+            Speed(_velocity);
         }
+
         private void Speed(PhysicsVector _newSpeed)
         {
-            MonoXnaCompactMaths.Vector3 _speed;
+            Vector3 _speed;
             _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
             rigidBody.LinearVelocity = _speed;
         }
+
         private void ReSize()
         {
-            ReSize(this._size);
+            ReSize(_size);
         }
+
         private void ReSize(PhysicsVector _newSize)
         {
             //I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't
             //so i have to do it manually. That's recreating rigidbody
-            MonoXnaCompactMaths.Vector3 _newsize;
+            Vector3 _newsize;
             _newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize);
             if ((_newsize.X == 0) || (_newsize.Y == 0) || (_newsize.Z == 0)) throw new Exception("Size 0");
 
@@ -1114,67 +1174,77 @@ namespace OpenSim.Region.Physics.BulletXPlugin
             Matrix _startTransform = Matrix.Identity;
             Matrix _centerOfMassOffset = Matrix.Identity;
             RigidBody _tmpRigidBody;
-            _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(this._position);
+            _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_position);
             //For now all prims are boxes
-            CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize) / 2.0f);
+            CollisionShape _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize)/2.0f);
             DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
-            MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
+            Vector3 _localInertia = new Vector3();
             if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
-            _tmpRigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
+            _tmpRigidBody =
+                new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
+                              _friction, _restitution);
             //rigidBody.ActivationState = ActivationState.DisableDeactivation;
             //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
-            MonoXnaCompactMaths.Vector3 _vDebugTranslation;
+            Vector3 _vDebugTranslation;
             _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
             _tmpRigidBody.Translate(_vDebugTranslation);
             //---
             //There is a bug when trying to remove a rigidBody that is colliding with something..
             try
             {
-                this._parent_scene.ddWorld.RemoveRigidBody(rigidBody);
+                _parent_scene.ddWorld.RemoveRigidBody(rigidBody);
             }
-            catch(Exception ex)
+            catch (Exception ex)
             {
-                this._parent_scene.BulletXMessage(this._parent_scene.is_ex_message + ex.Message, true);
+                _parent_scene.BulletXMessage(_parent_scene.is_ex_message + ex.Message, true);
                 rigidBody.ActivationState = ActivationState.DisableSimulation;
-                this._parent_scene.AddForgottenRigidBody(rigidBody);
+                _parent_scene.AddForgottenRigidBody(rigidBody);
             }
             rigidBody = _tmpRigidBody;
-            this._parent_scene.ddWorld.AddRigidBody(rigidBody);
-            if (_physical) Speed();//Static objects don't have linear velocity
+            _parent_scene.ddWorld.AddRigidBody(rigidBody);
+            if (_physical) Speed(); //Static objects don't have linear velocity
             ReOrient();
             GC.Collect();
         }
+
         private void ReOrient()
         {
-            ReOrient(this._orientation);
+            ReOrient(_orientation);
         }
+
         private void ReOrient(AxiomQuaternion _newOrient)
         {
-            MonoXnaCompactMaths.Quaternion _newOrientation;
+            Quaternion _newOrientation;
             _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
             Matrix _comTransform = rigidBody.CenterOfMassTransform;
             BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
             rigidBody.CenterOfMassTransform = _comTransform;
         }
-        #endregion
 
+        #endregion
     }
+
     /// <summary>
     /// This Class manage a HeighField as a RigidBody. This is for to be added in the BulletXScene
     /// </summary>
     internal class BulletXPlanet
     {
         private PhysicsVector _staticPosition;
-        private PhysicsVector _staticVelocity; 
+        private PhysicsVector _staticVelocity;
         private AxiomQuaternion _staticOrientation;
         private float _mass;
         private BulletXScene _parentscene;
         internal float[] _heightField;
         private RigidBody _flatPlanet;
-        internal RigidBody RigidBody { get { return _flatPlanet; } }
+
+        internal RigidBody RigidBody
+        {
+            get { return _flatPlanet; }
+        }
+
         internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
         {
-            _staticPosition = new PhysicsVector(BulletXScene.MaxXY / 2, BulletXScene.MaxXY/2, 0);
+            _staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0);
             _staticVelocity = new PhysicsVector();
             _staticOrientation = AxiomQuaternion.Identity;
             _mass = 0; //No active
@@ -1193,40 +1263,45 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 try
                 {
                     _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_staticPosition);
-                    CollisionShape _collisionShape = new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField, (float)BulletXScene.MaxZ, 2, true, false);
+                    CollisionShape _collisionShape =
+                        new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField,
+                                                    (float) BulletXScene.MaxZ, 2, true, false);
                     DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
-                    MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
+                    Vector3 _localInertia = new Vector3();
                     //_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
-                    _flatPlanet = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
+                    _flatPlanet =
+                        new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping,
+                                      _angularDamping, _friction, _restitution);
                     //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
-                    MonoXnaCompactMaths.Vector3 _vDebugTranslation;
+                    Vector3 _vDebugTranslation;
                     _vDebugTranslation = _startTransform.Translation - _flatPlanet.CenterOfMassPosition;
                     _flatPlanet.Translate(_vDebugTranslation);
                     parent_scene.ddWorld.AddRigidBody(_flatPlanet);
                 }
                 catch (Exception ex)
                 {
-                    this._parentscene.BulletXMessage(ex.Message, true);
+                    _parentscene.BulletXMessage(ex.Message, true);
                 }
             }
-            this._parentscene.BulletXMessage("BulletXPlanet created.", false);
+            _parentscene.BulletXMessage("BulletXPlanet created.", false);
         }
-        internal float HeightValue(MonoXnaCompactMaths.Vector3 position)
+
+        internal float HeightValue(Vector3 position)
         {
             int li_x, li_y;
             float height;
-            li_x = (int)Math.Round(position.X); 
+            li_x = (int) Math.Round(position.X);
             if (li_x < 0) li_x = 0;
             if (li_x >= BulletXScene.MaxXY) li_x = BulletXScene.MaxXY - 1;
-            li_y = (int)Math.Round(position.Y); 
+            li_y = (int) Math.Round(position.Y);
             if (li_y < 0) li_y = 0;
             if (li_y >= BulletXScene.MaxXY) li_y = BulletXScene.MaxXY - 1;
 
-            height = ((HeightfieldTerrainShape)this._flatPlanet.CollisionShape).getHeightFieldValue(li_x, li_y);
+            height = ((HeightfieldTerrainShape) _flatPlanet.CollisionShape).getHeightFieldValue(li_x, li_y);
             if (height < 0) height = 0;
             else if (height > BulletXScene.MaxZ) height = BulletXScene.MaxZ;
 
             return height;
         }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/Manager/AssemblyInfo.cs b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs
index 2355e91..c213b64 100644
--- a/OpenSim/Region/Physics/Manager/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs
@@ -27,24 +27,26 @@
 */
 using System.Reflection;
 using System.Runtime.InteropServices;
+
 // Information about this assembly is defined by the following
 // attributes.
 //
 // change them to the information which is associated with the assembly
 // you compile.
 
-[assembly: AssemblyTitle("PhysicsManager")]
-[assembly: AssemblyDescription("")]
-[assembly: AssemblyConfiguration("")]
-[assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("PhysicsManager")]
-[assembly: AssemblyCopyright("")]
-[assembly: AssemblyTrademark("")]
-[assembly: AssemblyCulture("")]
+[assembly : AssemblyTitle("PhysicsManager")]
+[assembly : AssemblyDescription("")]
+[assembly : AssemblyConfiguration("")]
+[assembly : AssemblyCompany("")]
+[assembly : AssemblyProduct("PhysicsManager")]
+[assembly : AssemblyCopyright("")]
+[assembly : AssemblyTrademark("")]
+[assembly : AssemblyCulture("")]
 
 // This sets the default COM visibility of types in the assembly to invisible.
 // If you need to expose a type to COM, use [ComVisible(true)] on that type.
-[assembly: ComVisible(false)]
+
+[assembly : ComVisible(false)]
 
 // The assembly version has following format :
 //
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly: AssemblyVersion("1.0.*")]
+[assembly : AssemblyVersion("1.0.*")]
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index 0fa7455..b59c13a 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -30,7 +30,9 @@ using Axiom.Math;
 namespace OpenSim.Region.Physics.Manager
 {
     public delegate void PositionUpdate(PhysicsVector position);
+
     public delegate void VelocityUpdate(PhysicsVector velocity);
+
     public delegate void OrientationUpdate(Quaternion orientation);
 
     public abstract class PhysicsActor
@@ -43,52 +45,22 @@ namespace OpenSim.Region.Physics.Manager
 
         public static PhysicsActor Null
         {
-            get
-            {
-                return new NullPhysicsActor();
-            }
+            get { return new NullPhysicsActor(); }
         }
 
-        public abstract PhysicsVector Size
-        {
-            get;
-            set;
-        }
+        public abstract PhysicsVector Size { get; set; }
 
-        public abstract PhysicsVector Position
-        {
-            get;
-            set;
-        }
+        public abstract PhysicsVector Position { get; set; }
 
-        public abstract PhysicsVector Velocity
-        {
-            get;
-            set;
-        }
+        public abstract PhysicsVector Velocity { get; set; }
 
-        public abstract PhysicsVector Acceleration
-        {
-            get;
-        }
+        public abstract PhysicsVector Acceleration { get; }
 
-        public abstract Quaternion Orientation
-        {
-            get;
-            set;
-        }
+        public abstract Quaternion Orientation { get; set; }
 
-        public abstract bool Flying
-        {
-            get;
-            set;
-        }
+        public abstract bool Flying { get; set; }
 
-        public abstract bool Kinematic
-        {
-            get;
-            set;
-        }
+        public abstract bool Kinematic { get; set; }
 
         public abstract void AddForce(PhysicsVector force);
 
@@ -99,50 +71,26 @@ namespace OpenSim.Region.Physics.Manager
     {
         public override PhysicsVector Position
         {
-            get
-            {
-                return PhysicsVector.Zero;
-            }
-            set
-            {
-                return;
-            }
+            get { return PhysicsVector.Zero; }
+            set { return; }
         }
 
         public override PhysicsVector Size
         {
-            get
-            {
-                return PhysicsVector.Zero;
-            }
-            set
-            {
-                return;
-            }
+            get { return PhysicsVector.Zero; }
+            set { return; }
         }
 
         public override PhysicsVector Velocity
         {
-            get
-            {
-                return PhysicsVector.Zero;
-            }
-            set
-            {
-                return;
-            }
+            get { return PhysicsVector.Zero; }
+            set { return; }
         }
 
         public override Quaternion Orientation
         {
-            get
-            {
-                return Quaternion.Identity;
-            }
-            set
-            {
-
-            }
+            get { return Quaternion.Identity; }
+            set { }
         }
 
         public override PhysicsVector Acceleration
@@ -152,26 +100,14 @@ namespace OpenSim.Region.Physics.Manager
 
         public override bool Flying
         {
-            get
-            {
-                return false;
-            }
-            set
-            {
-                return;
-            }
+            get { return false; }
+            set { return; }
         }
 
         public override bool Kinematic
         {
-            get
-            {
-                return true;
-            }
-            set
-            {
-                return;
-            }
+            get { return true; }
+            set { return; }
         }
 
         public override void AddForce(PhysicsVector force)
@@ -184,4 +120,4 @@ namespace OpenSim.Region.Physics.Manager
             return;
         }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
index 81bc938..09ebf29 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
@@ -33,77 +33,77 @@ using OpenSim.Framework.Console;
 
 namespace OpenSim.Region.Physics.Manager
 {
-        /// <summary>
-        /// Description of MyClass.
-        /// </summary>
-        public class PhysicsPluginManager
-        {
-                private Dictionary<string, IPhysicsPlugin> _plugins=new Dictionary<string, IPhysicsPlugin>();
-                
-                public PhysicsPluginManager()
-                {
-                        
-                }
-                
-                public PhysicsScene GetPhysicsScene(string engineName)
-                {
+    /// <summary>
+    /// Description of MyClass.
+    /// </summary>
+    public class PhysicsPluginManager
+    {
+        private Dictionary<string, IPhysicsPlugin> _plugins = new Dictionary<string, IPhysicsPlugin>();
+
+        public PhysicsPluginManager()
+        {
+        }
+
+        public PhysicsScene GetPhysicsScene(string engineName)
+        {
             if (String.IsNullOrEmpty(engineName))
             {
                 return PhysicsScene.Null;
             }
 
-                        if(_plugins.ContainsKey(engineName))
-                        {
-                                MainLog.Instance.Verbose("PHYSICS","creating "+engineName);
-                                return _plugins[engineName].GetScene();
-                        }
-                        else
+            if (_plugins.ContainsKey(engineName))
+            {
+                MainLog.Instance.Verbose("PHYSICS", "creating " + engineName);
+                return _plugins[engineName].GetScene();
+            }
+            else
             {
                 MainLog.Instance.Warn("PHYSICS", "couldn't find physicsEngine: {0}", engineName);
-                throw new ArgumentException(String.Format("couldn't find physicsEngine: {0}",engineName));
-                        }
-                }
-                
-                public void LoadPlugins()
-                {
-                        string path = Path.Combine(AppDomain.CurrentDomain.BaseDirectory ,"Physics");
-                string[] pluginFiles = Directory.GetFiles(path, "*.dll");
-        
+                throw new ArgumentException(String.Format("couldn't find physicsEngine: {0}", engineName));
+            }
+        }
+
+        public void LoadPlugins()
+        {
+            string path = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Physics");
+            string[] pluginFiles = Directory.GetFiles(path, "*.dll");
+
 
-                for(int i= 0; i<pluginFiles.Length; i++)
-                {
-                        this.AddPlugin(pluginFiles[i]);
-                }
+            for (int i = 0; i < pluginFiles.Length; i++)
+            {
+                AddPlugin(pluginFiles[i]);
+            }
         }
-                
-                private void AddPlugin(string FileName)
-                {
-                        Assembly pluginAssembly = Assembly.LoadFrom(FileName);
-                        
-                        foreach (Type pluginType in pluginAssembly.GetTypes())
-                        {
-                                if (pluginType.IsPublic) 
-                                {
-                                        if (!pluginType.IsAbstract)  
-                                        {
-                                                Type typeInterface = pluginType.GetInterface("IPhysicsPlugin", true);
-                                                
-                                                if (typeInterface != null)
-                                                {
-                                                        IPhysicsPlugin plug = (IPhysicsPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
-                                                        plug.Init();
-                                                        this._plugins.Add(plug.GetName(),plug);
-                            OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS","Added physics engine: " + plug.GetName());
-                                                        
-                                                }       
-                                                
-                                                typeInterface = null;                   
-                                        }                               
-                                }                       
-                        }
-                        
-                        pluginAssembly = null; 
-                }
+
+        private void AddPlugin(string FileName)
+        {
+            Assembly pluginAssembly = Assembly.LoadFrom(FileName);
+
+            foreach (Type pluginType in pluginAssembly.GetTypes())
+            {
+                if (pluginType.IsPublic)
+                {
+                    if (!pluginType.IsAbstract)
+                    {
+                        Type typeInterface = pluginType.GetInterface("IPhysicsPlugin", true);
+
+                        if (typeInterface != null)
+                        {
+                            IPhysicsPlugin plug =
+                                (IPhysicsPlugin) Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
+                            plug.Init();
+                            _plugins.Add(plug.GetName(), plug);
+                            MainLog.Instance.Verbose("PHYSICS", "Added physics engine: " + plug.GetName());
+                        }
+
+                        typeInterface = null;
+                    }
+                }
+            }
+
+            pluginAssembly = null;
+        }
+
         //---
         public static void PhysicsPluginMessage(string message, bool isWarning)
         {
@@ -116,14 +116,15 @@ namespace OpenSim.Region.Physics.Manager
                 MainLog.Instance.Verbose("PHYSICS", message);
             }
         }
+
         //---
-        }
+    }
 
-        public interface IPhysicsPlugin
-        {
-                bool Init();
-                PhysicsScene GetScene();
-                string GetName();
-                void Dispose();
-        }
-}
+    public interface IPhysicsPlugin
+    {
+        bool Init();
+        PhysicsScene GetScene();
+        string GetName();
+        void Dispose();
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 9ab2997..3f08234 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -25,9 +25,9 @@
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * 
 */
+using Axiom.Math;
 using OpenSim.Framework;
 using OpenSim.Framework.Console;
-using Axiom.Math;
 
 namespace OpenSim.Region.Physics.Manager
 {
@@ -35,10 +35,7 @@ namespace OpenSim.Region.Physics.Manager
     {
         public static PhysicsScene Null
         {
-            get
-            {
-                return new NullPhysicsScene();
-            }
+            get { return new NullPhysicsScene(); }
         }
 
         public abstract PhysicsActor AddAvatar(string avName, PhysicsVector position);
@@ -47,7 +44,8 @@ namespace OpenSim.Region.Physics.Manager
 
         public abstract void RemovePrim(PhysicsActor prim);
 
-        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation);
+        public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+                                                  PhysicsVector size, Quaternion rotation);
 
         public abstract void Simulate(float timeStep);
 
@@ -57,10 +55,7 @@ namespace OpenSim.Region.Physics.Manager
 
         public abstract void DeleteTerrain();
 
-        public abstract bool IsThreaded
-        {
-            get;
-        }
+        public abstract bool IsThreaded { get; }
 
         private class NullPhysicsScene : PhysicsScene
         {
@@ -74,12 +69,10 @@ namespace OpenSim.Region.Physics.Manager
 
             public override void RemoveAvatar(PhysicsActor actor)
             {
-
             }
 
             public override void RemovePrim(PhysicsActor prim)
             {
-
             }
 
 /*
@@ -89,7 +82,9 @@ namespace OpenSim.Region.Physics.Manager
                 return PhysicsActor.Null;
             }
 */
-            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
+
+            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+                                                      PhysicsVector size, Quaternion rotation)
             {
                 MainLog.Instance.Verbose("NullPhysicsScene : AddPrim({0},{1})", position, size);
                 return PhysicsActor.Null;
@@ -97,7 +92,7 @@ namespace OpenSim.Region.Physics.Manager
 
             public override void Simulate(float timeStep)
             {
-                m_workIndicator = (m_workIndicator + 1) % 10;
+                m_workIndicator = (m_workIndicator + 1)%10;
 
                 //OpenSim.Framework.Console.MainLog.Instance.SetStatus(m_workIndicator.ToString());
             }
@@ -114,7 +109,6 @@ namespace OpenSim.Region.Physics.Manager
 
             public override void DeleteTerrain()
             {
-
             }
 
             public override bool IsThreaded
@@ -123,4 +117,4 @@ namespace OpenSim.Region.Physics.Manager
             }
         }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/Manager/PhysicsVector.cs b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
index 722c5dd..7de37e4 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsVector.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
@@ -35,7 +35,6 @@ namespace OpenSim.Region.Physics.Manager
 
         public PhysicsVector()
         {
-
         }
 
         public PhysicsVector(float x, float y, float z)
@@ -49,7 +48,7 @@ namespace OpenSim.Region.Physics.Manager
 
         public override string ToString()
         {
-            return "<" + this.X + "," + this.Y + "," + this.Z + ">";
+            return "<" + X + "," + Y + "," + Z + ">";
         }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
index 3f840cc..d110a17 100644
--- a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
@@ -27,24 +27,26 @@
 */
 using System.Reflection;
 using System.Runtime.InteropServices;
+
 // Information about this assembly is defined by the following
 // attributes.
 //
 // change them to the information which is associated with the assembly
 // you compile.
 
-[assembly: AssemblyTitle("RealPhysXplugin")]
-[assembly: AssemblyDescription("")]
-[assembly: AssemblyConfiguration("")]
-[assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("RealPhysXplugin")]
-[assembly: AssemblyCopyright("")]
-[assembly: AssemblyTrademark("")]
-[assembly: AssemblyCulture("")]
+[assembly : AssemblyTitle("RealPhysXplugin")]
+[assembly : AssemblyDescription("")]
+[assembly : AssemblyConfiguration("")]
+[assembly : AssemblyCompany("")]
+[assembly : AssemblyProduct("RealPhysXplugin")]
+[assembly : AssemblyCopyright("")]
+[assembly : AssemblyTrademark("")]
+[assembly : AssemblyCulture("")]
 
 // This sets the default COM visibility of types in the assembly to invisible.
 // If you need to expose a type to COM, use [ComVisible(true)] on that type.
-[assembly: ComVisible(false)]
+
+[assembly : ComVisible(false)]
 
 // The assembly version has following format :
 //
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly: AssemblyVersion("1.0.*")]
+[assembly : AssemblyVersion("1.0.*")]
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs b/OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs
index 2ace097..13184e2 100644
--- a/OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs
+++ b/OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs
@@ -27,10 +27,9 @@
 */
 
 using System;
-using System.Globalization;
-using System.Diagnostics;
 using System.Collections.Generic;
-
+using System.Diagnostics;
+using System.Globalization;
 using OpenSim.Region.Physics.Manager;
 
 public class Vertex : IComparable<Vertex>
@@ -76,8 +75,6 @@ public class Vertex : IComparable<Vertex>
     {
         return me.CompareTo(other) < 0;
     }
-
-
 }
 
 public class Simplex : IComparable<Simplex>
@@ -122,8 +119,7 @@ public class Simplex : IComparable<Simplex>
 
         return 0;
     }
-
-};
+} ;
 
 public class Triangle
 {
@@ -131,9 +127,9 @@ public class Triangle
     public Vertex v2;
     public Vertex v3;
 
-    float radius_square;
-    float cx;
-    float cy;
+    private float radius_square;
+    private float cx;
+    private float cy;
 
     public Triangle(Vertex _v1, Vertex _v2, Vertex _v3)
     {
@@ -149,18 +145,18 @@ public class Triangle
         float dx, dy;
         float dd;
 
-        dx = x - this.cx;
-        dy = y - this.cy;
+        dx = x - cx;
+        dy = y - cy;
 
-        dd = dx * dx + dy * dy;
-        if (dd < this.radius_square)
+        dd = dx*dx + dy*dy;
+        if (dd < radius_square)
             return true;
         else
             return false;
     }
 
 
-    void CalcCircle()
+    private void CalcCircle()
     {
         // Calculate the center and the radius of a circle given by three points p1, p2, p3
         // It is assumed, that the triangles vertices are already set correctly
@@ -198,8 +194,8 @@ public class Triangle
         p3y = v3.point.Y;
 
         /* calc helping values first */
-        c1 = (p1x * p1x + p1y * p1y - p2x * p2x - p2y * p2y) / 2;
-        c2 = (p1x * p1x + p1y * p1y - p3x * p3x - p3y * p3y) / 2;
+        c1 = (p1x*p1x + p1y*p1y - p2x*p2x - p2y*p2y)/2;
+        c2 = (p1x*p1x + p1y*p1y - p3x*p3x - p3y*p3y)/2;
 
         v1x = p1x - p2x;
         v1y = p1y - p2y;
@@ -207,35 +203,34 @@ public class Triangle
         v2x = p1x - p3x;
         v2y = p1y - p3y;
 
-        z = (c1 * v2x - c2 * v1x);
-        n = (v1y * v2x - v2y * v1x);
+        z = (c1*v2x - c2*v1x);
+        n = (v1y*v2x - v2y*v1x);
 
-        if (n == 0.0)   // This is no triangle, i.e there are (at least) two points at the same location
+        if (n == 0.0) // This is no triangle, i.e there are (at least) two points at the same location
         {
             radius_square = 0.0f;
             return;
         }
 
-        this.cy = (float)(z / n);
+        cy = (float) (z/n);
 
         if (v2x != 0.0)
         {
-            this.cx = (float)((c2 - v2y * this.cy) / v2x);
+            cx = (float) ((c2 - v2y*cy)/v2x);
         }
         else if (v1x != 0.0)
         {
-            this.cx = (float)((c1 - v1y * this.cy) / v1x);
+            cx = (float) ((c1 - v1y*cy)/v1x);
         }
         else
         {
             Debug.Assert(false, "Malformed triangle"); /* Both terms zero means nothing good */
         }
 
-        rx = (p1x - this.cx);
-        ry = (p1y - this.cy);
-
-        this.radius_square = (float)(rx * rx + ry * ry);
+        rx = (p1x - cx);
+        ry = (p1y - cy);
 
+        radius_square = (float) (rx*rx + ry*ry);
     }
 
     public List<Simplex> GetSimplices()
@@ -254,17 +249,18 @@ public class Triangle
 
     public override String ToString()
     {
-
         NumberFormatInfo nfi = new NumberFormatInfo();
         nfi.CurrencyDecimalDigits = 2;
         nfi.CurrencyDecimalSeparator = ".";
 
-        String s1 = "<" + v1.point.X.ToString(nfi) + "," + v1.point.Y.ToString(nfi) + "," + v1.point.Z.ToString(nfi) + ">";
-        String s2 = "<" + v2.point.X.ToString(nfi) + "," + v2.point.Y.ToString(nfi) + "," + v2.point.Z.ToString(nfi) + ">";
-        String s3 = "<" + v3.point.X.ToString(nfi) + "," + v3.point.Y.ToString(nfi) + "," + v3.point.Z.ToString(nfi) + ">";
+        String s1 = "<" + v1.point.X.ToString(nfi) + "," + v1.point.Y.ToString(nfi) + "," + v1.point.Z.ToString(nfi) +
+                    ">";
+        String s2 = "<" + v2.point.X.ToString(nfi) + "," + v2.point.Y.ToString(nfi) + "," + v2.point.Z.ToString(nfi) +
+                    ">";
+        String s3 = "<" + v3.point.X.ToString(nfi) + "," + v3.point.Y.ToString(nfi) + "," + v3.point.Z.ToString(nfi) +
+                    ">";
 
         return s1 + ";" + s2 + ";" + s3;
-
     }
 
     public PhysicsVector getNormal()
@@ -281,12 +277,12 @@ public class Triangle
         // Cross product for normal
         PhysicsVector n = new PhysicsVector();
         float nx, ny, nz;
-        n.X = e1.Y * e2.Z - e1.Z * e2.Y;
-        n.Y = e1.Z * e2.X - e1.X * e2.Z;
-        n.Z = e1.X * e2.Y - e1.Y * e2.X;
+        n.X = e1.Y*e2.Z - e1.Z*e2.Y;
+        n.Y = e1.Z*e2.X - e1.X*e2.Z;
+        n.Z = e1.X*e2.Y - e1.Y*e2.X;
 
         // Length
-        float l = (float)Math.Sqrt(n.X * n.X + n.Y * n.Y + n.Z * n.Z);
+        float l = (float) Math.Sqrt(n.X*n.X + n.Y*n.Y + n.Z*n.Z);
 
         // Normalized "normal"
         n.X /= l;
@@ -303,6 +299,4 @@ public class Triangle
         v1 = v2;
         v2 = vt;
     }
-}
-
-
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs
index dd18e24..46de15e 100644
--- a/OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs
@@ -27,12 +27,8 @@
 */
 
 using System;
-using System.Globalization;
-using System.Diagnostics;
 using System.Collections.Generic;
-using System.Text;
 using System.Runtime.InteropServices;
-
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
 
@@ -75,14 +71,14 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public float[] getVertexListAsFloat()
         {
-            float[] result = new float[vertices.Count * 3];
+            float[] result = new float[vertices.Count*3];
             for (int i = 0; i < vertices.Count; i++)
             {
                 Vertex v = vertices[i];
                 PhysicsVector point = v.point;
-                result[3 * i + 0] = point.X;
-                result[3 * i + 1] = point.Y;
-                result[3 * i + 2] = point.Z;
+                result[3*i + 0] = point.X;
+                result[3*i + 1] = point.Y;
+                result[3*i + 2] = point.Z;
             }
             GCHandle.Alloc(result, GCHandleType.Pinned);
             return result;
@@ -90,13 +86,13 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public int[] getIndexListAsInt()
         {
-            int[] result = new int[triangles.Count * 3];
+            int[] result = new int[triangles.Count*3];
             for (int i = 0; i < triangles.Count; i++)
             {
                 Triangle t = triangles[i];
-                result[3 * i + 0] = vertices.IndexOf(t.v1);
-                result[3 * i + 1] = vertices.IndexOf(t.v2);
-                result[3 * i + 2] = vertices.IndexOf(t.v3);
+                result[3*i + 0] = vertices.IndexOf(t.v1);
+                result[3*i + 1] = vertices.IndexOf(t.v2);
+                result[3*i + 2] = vertices.IndexOf(t.v3);
             }
             GCHandle.Alloc(result, GCHandleType.Pinned);
             return result;
@@ -110,16 +106,13 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             foreach (Triangle t in newMesh.triangles)
                 Add(t);
-
         }
     }
 
 
-
     public class Meshmerizer
     {
-
-        static List<Triangle> FindInfluencedTriangles(List<Triangle> triangles, Vertex v) 
+        private static List<Triangle> FindInfluencedTriangles(List<Triangle> triangles, Vertex v)
         {
             List<Triangle> influenced = new List<Triangle>();
             foreach (Triangle t in triangles)
@@ -133,9 +126,10 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
             return influenced;
         }
-        
-        
-        static void InsertVertices(List<Vertex> vertices, int usedForSeed, List<Triangle> triangles, List<int> innerBorders) 
+
+
+        private static void InsertVertices(List<Vertex> vertices, int usedForSeed, List<Triangle> triangles,
+                                           List<int> innerBorders)
         {
             // This is a variant of the delaunay algorithm
             // each time a new vertex is inserted, all triangles that are influenced by it are deleted
@@ -143,7 +137,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             // It is not very time efficient but easy to implement.
 
             int iCurrentVertex;
-            int iMaxVertex=vertices.Count;
+            int iMaxVertex = vertices.Count;
             for (iCurrentVertex = usedForSeed; iCurrentVertex < iMaxVertex; iCurrentVertex++)
             {
                 // Background: A triangle mesh fulfills the delaunay condition if (iff!)
@@ -154,8 +148,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // do not fulfill this condition with respect to the new triangle
 
                 // Find the triangles that are influenced by the new vertex
-                Vertex v=vertices[iCurrentVertex];
-                List<Triangle> influencedTriangles=FindInfluencedTriangles(triangles, v);
+                Vertex v = vertices[iCurrentVertex];
+                List<Triangle> influencedTriangles = FindInfluencedTriangles(triangles, v);
 
                 List<Simplex> simplices = new List<Simplex>();
 
@@ -175,10 +169,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                 // Look for duplicate simplices here. 
                 // Remember, they are directly side by side in the list right now
                 int iSimplex;
-                List<Simplex> innerSimplices=new List<Simplex>();
+                List<Simplex> innerSimplices = new List<Simplex>();
                 for (iSimplex = 1; iSimplex < simplices.Count; iSimplex++) // Startindex=1, so we can refer backwards
                 {
-                    if (simplices[iSimplex - 1].CompareTo(simplices[iSimplex])==0)
+                    if (simplices[iSimplex - 1].CompareTo(simplices[iSimplex]) == 0)
                     {
                         innerSimplices.Add(simplices[iSimplex - 1]);
                         innerSimplices.Add(simplices[iSimplex]);
@@ -187,7 +181,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 foreach (Simplex s in innerSimplices)
                 {
-                        simplices.Remove(s);
+                    simplices.Remove(s);
                 }
 
                 // each simplex still in the list belongs to the hull of the region in question
@@ -210,7 +204,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             foreach (Triangle t in triangles)
             {
                 if (
-                       innerBorders.Contains(vertices.IndexOf(t.v1))
+                    innerBorders.Contains(vertices.IndexOf(t.v1))
                     && innerBorders.Contains(vertices.IndexOf(t.v2))
                     && innerBorders.Contains(vertices.IndexOf(t.v3))
                     )
@@ -223,18 +217,18 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
 
-        static Mesh CreateBoxMeshX(PrimitiveBaseShape primShape, PhysicsVector size)
-        // Builds the x (+ and -) surfaces of a box shaped prim
+        private static Mesh CreateBoxMeshX(PrimitiveBaseShape primShape, PhysicsVector size)
+            // Builds the x (+ and -) surfaces of a box shaped prim
         {
             UInt16 hollowFactor = primShape.ProfileHollow;
             Mesh meshMX = new Mesh();
 
 
             // Surface 0, -X
-            meshMX.Add(new Vertex("-X-Y-Z", -size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
-            meshMX.Add(new Vertex("-X+Y-Z", -size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
-            meshMX.Add(new Vertex("-X-Y+Z", -size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f));
-            meshMX.Add(new Vertex("-X+Y+Z", -size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f));
+            meshMX.Add(new Vertex("-X-Y-Z", -size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
+            meshMX.Add(new Vertex("-X+Y-Z", -size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
+            meshMX.Add(new Vertex("-X-Y+Z", -size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f));
+            meshMX.Add(new Vertex("-X+Y+Z", -size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f));
 
             meshMX.Add(new Triangle(meshMX.vertices[0], meshMX.vertices[2], meshMX.vertices[1]));
             meshMX.Add(new Triangle(meshMX.vertices[1], meshMX.vertices[2], meshMX.vertices[3]));
@@ -242,10 +236,10 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             Mesh meshPX = new Mesh();
             // Surface 1, +X
-            meshPX.Add(new Vertex("+X-Y-Z", +size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
-            meshPX.Add(new Vertex("+X+Y-Z", +size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
-            meshPX.Add(new Vertex("+X-Y+Z", +size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f));
-            meshPX.Add(new Vertex("+X+Y+Z", +size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f));
+            meshPX.Add(new Vertex("+X-Y-Z", +size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
+            meshPX.Add(new Vertex("+X+Y-Z", +size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
+            meshPX.Add(new Vertex("+X-Y+Z", +size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f));
+            meshPX.Add(new Vertex("+X+Y+Z", +size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f));
 
 
             meshPX.Add(new Triangle(meshPX.vertices[0], meshPX.vertices[1], meshPX.vertices[2]));
@@ -254,17 +248,17 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             if (hollowFactor > 0)
             {
-                float hollowFactorF = (float)hollowFactor / (float)50000;
+                float hollowFactorF = (float) hollowFactor/(float) 50000;
 
                 Vertex IPP;
                 Vertex IPM;
                 Vertex IMP;
                 Vertex IMM;
 
-                IPP = new Vertex("Inner-X+Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
-                IPM = new Vertex("Inner-X+Y-Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
-                IMP = new Vertex("Inner-X-Y+Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
-                IMM = new Vertex("Inner-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
+                IPP = new Vertex("Inner-X+Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
+                IPM = new Vertex("Inner-X+Y-Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
+                IMP = new Vertex("Inner-X-Y+Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
+                IMM = new Vertex("Inner-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
 
                 meshMX.Add(IPP);
                 meshMX.Add(IPM);
@@ -280,11 +274,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
 
 
-
-                IPP = new Vertex("Inner+X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
-                IPM = new Vertex("Inner+X+Y-Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
-                IMP = new Vertex("Inner+X-Y+Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
-                IMM = new Vertex("Inner+X-Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
+                IPP = new Vertex("Inner+X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
+                IPM = new Vertex("Inner+X+Y-Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
+                IMP = new Vertex("Inner+X-Y+Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
+                IMM = new Vertex("Inner+X-Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
 
                 meshPX.Add(IPP);
                 meshPX.Add(IPM);
@@ -308,18 +301,17 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
 
-
-        static Mesh CreateBoxMeshY(PrimitiveBaseShape primShape, PhysicsVector size)
-        // Builds the y (+ and -) surfaces of a box shaped prim
+        private static Mesh CreateBoxMeshY(PrimitiveBaseShape primShape, PhysicsVector size)
+            // Builds the y (+ and -) surfaces of a box shaped prim
         {
             UInt16 hollowFactor = primShape.ProfileHollow;
 
             // (M)inus Y
             Mesh MeshMY = new Mesh();
-            MeshMY.Add(new Vertex("-X-Y-Z", -size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
-            MeshMY.Add(new Vertex("+X-Y-Z", +size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
-            MeshMY.Add(new Vertex("-X-Y+Z", -size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f));
-            MeshMY.Add(new Vertex("+X-Y+Z", +size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f));
+            MeshMY.Add(new Vertex("-X-Y-Z", -size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
+            MeshMY.Add(new Vertex("+X-Y-Z", +size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
+            MeshMY.Add(new Vertex("-X-Y+Z", -size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f));
+            MeshMY.Add(new Vertex("+X-Y+Z", +size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f));
 
             MeshMY.Add(new Triangle(MeshMY.vertices[0], MeshMY.vertices[1], MeshMY.vertices[2]));
             MeshMY.Add(new Triangle(MeshMY.vertices[2], MeshMY.vertices[1], MeshMY.vertices[3]));
@@ -327,27 +319,27 @@ namespace OpenSim.Region.Physics.OdePlugin
             // (P)lus Y
             Mesh MeshPY = new Mesh();
 
-            MeshPY.Add(new Vertex("-X+Y-Z", -size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
-            MeshPY.Add(new Vertex("+X+Y-Z", +size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
-            MeshPY.Add(new Vertex("-X+Y+Z", -size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f));
-            MeshPY.Add(new Vertex("+X+Y+Z", +size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f));
+            MeshPY.Add(new Vertex("-X+Y-Z", -size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
+            MeshPY.Add(new Vertex("+X+Y-Z", +size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
+            MeshPY.Add(new Vertex("-X+Y+Z", -size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f));
+            MeshPY.Add(new Vertex("+X+Y+Z", +size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f));
 
             MeshPY.Add(new Triangle(MeshPY.vertices[1], MeshPY.vertices[0], MeshPY.vertices[2]));
             MeshPY.Add(new Triangle(MeshPY.vertices[1], MeshPY.vertices[2], MeshPY.vertices[3]));
 
             if (hollowFactor > 0)
             {
-                float hollowFactorF = (float)hollowFactor / (float)50000;
+                float hollowFactorF = (float) hollowFactor/(float) 50000;
 
                 Vertex IPP;
                 Vertex IPM;
                 Vertex IMP;
                 Vertex IMM;
 
-                IPP = new Vertex("Inner+X-Y+Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
-                IPM = new Vertex("Inner+X-Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
-                IMP = new Vertex("Inner-X-Y+Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
-                IMM = new Vertex("Inner-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
+                IPP = new Vertex("Inner+X-Y+Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
+                IPM = new Vertex("Inner+X-Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
+                IMP = new Vertex("Inner-X-Y+Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
+                IMM = new Vertex("Inner-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
 
                 MeshMY.Add(IPP);
                 MeshMY.Add(IPM);
@@ -363,11 +355,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
 
 
-
-                IPP = new Vertex("Inner+X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
-                IPM=new Vertex("Inner+X+Y-Z", +size.X * hollowFactorF / 2.0f, +size.Y  * hollowFactorF / 2.0f, -size.Z / 2.0f);
-                IMP=new Vertex("Inner-X+Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y  * hollowFactorF / 2.0f, +size.Z / 2.0f);
-                IMM=new Vertex("Inner-X+Y-Z", -size.X * hollowFactorF / 2.0f, +size.Y  * hollowFactorF / 2.0f, -size.Z / 2.0f);
+                IPP = new Vertex("Inner+X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
+                IPM = new Vertex("Inner+X+Y-Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
+                IMP = new Vertex("Inner-X+Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
+                IMM = new Vertex("Inner-X+Y-Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
 
                 MeshPY.Add(IPP);
                 MeshPY.Add(IPM);
@@ -381,9 +372,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 {
                     PhysicsVector n = t.getNormal();
                 }
-
-
-
             }
 
 
@@ -393,9 +381,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             return result;
         }
-            
-        static Mesh CreateBoxMeshZ(PrimitiveBaseShape primShape, PhysicsVector size)
-        // Builds the z (+ and -) surfaces of a box shaped prim
+
+        private static Mesh CreateBoxMeshZ(PrimitiveBaseShape primShape, PhysicsVector size)
+            // Builds the z (+ and -) surfaces of a box shaped prim
         {
             UInt16 hollowFactor = primShape.ProfileHollow;
 
@@ -403,10 +391,10 @@ namespace OpenSim.Region.Physics.OdePlugin
             // (M)inus Z
             Mesh MZ = new Mesh();
 
-            MZ.Add(new Vertex("-X-Y-Z", -size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
-            MZ.Add(new Vertex("+X-Y-Z", +size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
-            MZ.Add(new Vertex("-X+Y-Z", -size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
-            MZ.Add(new Vertex("+X+Y-Z", +size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
+            MZ.Add(new Vertex("-X-Y-Z", -size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
+            MZ.Add(new Vertex("+X-Y-Z", +size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
+            MZ.Add(new Vertex("-X+Y-Z", -size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
+            MZ.Add(new Vertex("+X+Y-Z", +size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
 
 
             MZ.Add(new Triangle(MZ.vertices[1], MZ.vertices[0], MZ.vertices[2]));
@@ -415,10 +403,10 @@ namespace OpenSim.Region.Physics.OdePlugin
             // (P)lus Z
             Mesh PZ = new Mesh();
 
-            PZ.Add(new Vertex("-X-Y+Z", -size.X / 2.0f, -size.Y / 2.0f, 0.0f));
-            PZ.Add(new Vertex("+X-Y+Z", +size.X / 2.0f, -size.Y / 2.0f, 0.0f));
-            PZ.Add(new Vertex("-X+Y+Z", -size.X / 2.0f, +size.Y / 2.0f, 0.0f));
-            PZ.Add(new Vertex("+X+Y+Z", +size.X / 2.0f, +size.Y / 2.0f, 0.0f));
+            PZ.Add(new Vertex("-X-Y+Z", -size.X/2.0f, -size.Y/2.0f, 0.0f));
+            PZ.Add(new Vertex("+X-Y+Z", +size.X/2.0f, -size.Y/2.0f, 0.0f));
+            PZ.Add(new Vertex("-X+Y+Z", -size.X/2.0f, +size.Y/2.0f, 0.0f));
+            PZ.Add(new Vertex("+X+Y+Z", +size.X/2.0f, +size.Y/2.0f, 0.0f));
 
             // Surface 5, +Z
             PZ.Add(new Triangle(PZ.vertices[0], PZ.vertices[1], PZ.vertices[2]));
@@ -426,12 +414,12 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             if (hollowFactor > 0)
             {
-                float hollowFactorF = (float)hollowFactor / (float)50000;
+                float hollowFactorF = (float) hollowFactor/(float) 50000;
 
-                MZ.Add(new Vertex("-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f));
-                MZ.Add(new Vertex("-X+Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f));
-                MZ.Add(new Vertex("-X-Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f));
-                MZ.Add(new Vertex("-X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f));
+                MZ.Add(new Vertex("-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f));
+                MZ.Add(new Vertex("-X+Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f));
+                MZ.Add(new Vertex("-X-Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f));
+                MZ.Add(new Vertex("-X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f));
 
                 List<int> innerBorders = new List<int>();
                 innerBorders.Add(4);
@@ -441,10 +429,10 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                 InsertVertices(MZ.vertices, 4, MZ.triangles, innerBorders);
 
-                PZ.Add(new Vertex("-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f));
-                PZ.Add(new Vertex("-X+Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f));
-                PZ.Add(new Vertex("-X-Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f));
-                PZ.Add(new Vertex("-X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f));
+                PZ.Add(new Vertex("-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f));
+                PZ.Add(new Vertex("-X+Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f));
+                PZ.Add(new Vertex("-X-Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f));
+                PZ.Add(new Vertex("-X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f));
 
                 innerBorders = new List<int>();
                 innerBorders.Add(4);
@@ -453,16 +441,15 @@ namespace OpenSim.Region.Physics.OdePlugin
                 innerBorders.Add(7);
 
                 InsertVertices(PZ.vertices, 4, PZ.triangles, innerBorders);
-
             }
 
             foreach (Vertex v in PZ.vertices)
             {
-                v.point.Z = size.Z / 2.0f;
+                v.point.Z = size.Z/2.0f;
             }
             foreach (Vertex v in MZ.vertices)
             {
-                v.point.Z = -size.Z / 2.0f;
+                v.point.Z = -size.Z/2.0f;
             }
 
             foreach (Triangle t in MZ.triangles)
@@ -486,15 +473,14 @@ namespace OpenSim.Region.Physics.OdePlugin
             return result;
         }
 
-        static Mesh CreateBoxMesh(PrimitiveBaseShape primShape, PhysicsVector size)
+        private static Mesh CreateBoxMesh(PrimitiveBaseShape primShape, PhysicsVector size)
         {
             Mesh result = new Mesh();
 
 
-
-            Mesh MeshX = Meshmerizer.CreateBoxMeshX(primShape, size);
-            Mesh MeshY = Meshmerizer.CreateBoxMeshY(primShape, size);
-            Mesh MeshZ = Meshmerizer.CreateBoxMeshZ(primShape, size);
+            Mesh MeshX = CreateBoxMeshX(primShape, size);
+            Mesh MeshY = CreateBoxMeshY(primShape, size);
+            Mesh MeshZ = CreateBoxMeshZ(primShape, size);
 
             result.Append(MeshX);
             result.Append(MeshY);
@@ -504,64 +490,63 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
 
-        public static void CalcNormals(Mesh mesh) 
+        public static void CalcNormals(Mesh mesh)
         {
             int iTriangles = mesh.triangles.Count;
 
             mesh.normals = new float[iTriangles*3];
 
-            int i=0;
+            int i = 0;
             foreach (Triangle t in mesh.triangles)
             {
-
                 float ux, uy, uz;
                 float vx, vy, vz;
                 float wx, wy, wz;
 
-                    ux = t.v1.point.X;
-                    uy = t.v1.point.Y;
-                    uz = t.v1.point.Z;
+                ux = t.v1.point.X;
+                uy = t.v1.point.Y;
+                uz = t.v1.point.Z;
 
-                    vx = t.v2.point.X;
-                    vy = t.v2.point.Y;
-                    vz = t.v2.point.Z;
+                vx = t.v2.point.X;
+                vy = t.v2.point.Y;
+                vz = t.v2.point.Z;
 
-                    wx = t.v3.point.X;
-                    wy = t.v3.point.Y;
-                    wz = t.v3.point.Z;
+                wx = t.v3.point.X;
+                wy = t.v3.point.Y;
+                wz = t.v3.point.Z;
 
-                    // Vectors for edges
-                    float e1x, e1y, e1z;
-                    float e2x, e2y, e2z;
+                // Vectors for edges
+                float e1x, e1y, e1z;
+                float e2x, e2y, e2z;
 
-                    e1x = ux - vx;
-                    e1y = uy - vy;
-                    e1z = uz - vz;
+                e1x = ux - vx;
+                e1y = uy - vy;
+                e1z = uz - vz;
 
-                    e2x = ux - wx;
-                    e2y = uy - wy;
-                    e2z = uz - wz;
+                e2x = ux - wx;
+                e2y = uy - wy;
+                e2z = uz - wz;
 
 
-                    // Cross product for normal
-                    float nx, ny, nz;
-                    nx = e1y * e2z - e1z * e2y;
-                    ny = e1z * e2x - e1x * e2z;
-                    nz = e1x * e2y - e1y * e2x;
+                // Cross product for normal
+                float nx, ny, nz;
+                nx = e1y*e2z - e1z*e2y;
+                ny = e1z*e2x - e1x*e2z;
+                nz = e1x*e2y - e1y*e2x;
 
-                    // Length
-                    float l = (float)Math.Sqrt(nx * nx + ny * ny + nz * nz);
+                // Length
+                float l = (float) Math.Sqrt(nx*nx + ny*ny + nz*nz);
 
-                    // Normalized "normal"
-                    nx /= l;
-                    ny /= l;
-                    nz /= l;
+                // Normalized "normal"
+                nx /= l;
+                ny /= l;
+                nz /= l;
 
                 mesh.normals[i] = nx;
                 mesh.normals[i + 1] = ny;
                 mesh.normals[i + 2] = nz;
 
-                i+=3;
+                i += 3;
             }
         }
 
@@ -572,18 +557,15 @@ namespace OpenSim.Region.Physics.OdePlugin
             switch (primShape.ProfileShape)
             {
                 case ProfileShape.Square:
-                    mesh=CreateBoxMesh(primShape, size);
+                    mesh = CreateBoxMesh(primShape, size);
                     CalcNormals(mesh);
                     break;
                 default:
-                    mesh=null;
+                    mesh = null;
                     break;
             }
 
             return mesh;
-
         }
     }
-}
-
-
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index a20452f..c9af6dd 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -25,19 +25,14 @@
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * 
 */
+
 using System;
-using System.Threading;
 using System.Collections.Generic;
-
-using libsecondlife;
-
 using Axiom.Math;
 using Ode.NET;
 using OpenSim.Framework;
-using OpenSim.Framework.Console;
 using OpenSim.Region.Physics.Manager;
 
-
 namespace OpenSim.Region.Physics.OdePlugin
 {
     /// <summary>
@@ -49,7 +44,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public OdePlugin()
         {
-
         }
 
         public bool Init()
@@ -73,7 +67,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public void Dispose()
         {
-
         }
     }
 
@@ -82,17 +75,17 @@ namespace OpenSim.Region.Physics.OdePlugin
         private static float ODE_STEPSIZE = 0.004f;
         private static bool RENDER_FLAG = false;
         private IntPtr contactgroup;
-        private IntPtr LandGeom=(IntPtr)0;
+        private IntPtr LandGeom = (IntPtr) 0;
         private double[] _heightmap;
         private d.NearCallback nearCallback;
         public d.TriCallback triCallback;
         public d.TriArrayCallback triArrayCallback;
         private List<OdeCharacter> _characters = new List<OdeCharacter>();
         private List<OdePrim> _prims = new List<OdePrim>();
-        public Dictionary<IntPtr, String> geom_name_map=new Dictionary<IntPtr, String>();
+        public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
         private d.ContactGeom[] contacts = new d.ContactGeom[30];
         private d.Contact contact;
-        private float step_time=0.0f;
+        private float step_time = 0.0f;
         public IntPtr world;
         public IntPtr space;
         public static Object OdeLock = new Object();
@@ -140,7 +133,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 return;
 
             d.GeomClassID id = d.GeomGetClass(g1);
-            if (id==d.GeomClassID.TriMeshClass)
+            if (id == d.GeomClassID.TriMeshClass)
             {
                 String name1 = null;
                 String name2 = null;
@@ -163,7 +156,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
                 d.JointAttach(joint, b1, b2);
             }
-
         }
 
         private void collision_optimized()
@@ -171,7 +163,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             foreach (OdeCharacter chr in _characters)
             {
                 d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
-                foreach (OdeCharacter ch2 in _characters)           /// should be a separate space -- lots of avatars will be N**2 slow
+                foreach (OdeCharacter ch2 in _characters)
+                    /// should be a separate space -- lots of avatars will be N**2 slow
                 {
                     d.SpaceCollide2(chr.Shell, ch2.Shell, IntPtr.Zero, nearCallback);
                 }
@@ -193,8 +186,8 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             lock (OdeLock)
             {
-                ((OdeCharacter)actor).Destroy();
-                _characters.Remove((OdeCharacter)actor);
+                ((OdeCharacter) actor).Destroy();
+                _characters.Remove((OdeCharacter) actor);
             }
         }
 
@@ -204,13 +197,14 @@ namespace OpenSim.Region.Physics.OdePlugin
             {
                 lock (OdeLock)
                 {
-                    d.GeomDestroy(((OdePrim)prim).prim_geom);
-                    _prims.Remove((OdePrim)prim);
+                    d.GeomDestroy(((OdePrim) prim).prim_geom);
+                    _prims.Remove((OdePrim) prim);
                 }
             }
         }
 
-        PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
+        private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
+                                     Mesh mesh, PrimitiveBaseShape pbs)
         {
             PhysicsVector pos = new PhysicsVector();
             pos.X = position.X;
@@ -235,7 +229,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
 
-        public int TriArrayCallback(System.IntPtr trimesh, System.IntPtr refObject, int[] triangleIndex, int triCount)
+        public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
         {
 /*            String name1 = null;
             String name2 = null;
@@ -254,15 +248,14 @@ namespace OpenSim.Region.Physics.OdePlugin
             return 1;
         }
 
-        public int TriCallback(System.IntPtr trimesh, System.IntPtr refObject, int triangleIndex)
+        public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
         {
-
             String name1 = null;
             String name2 = null;
 
             if (!geom_name_map.TryGetValue(trimesh, out name1))
             {
-                name1 = "null";     
+                name1 = "null";
             }
             if (!geom_name_map.TryGetValue(refObject, out name2))
             {
@@ -282,11 +275,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+                                                  PhysicsVector size, Quaternion rotation)
         {
             PhysicsActor result;
 
-            switch(pbs.ProfileShape)
+            switch (pbs.ProfileShape)
             {
                 case ProfileShape.Square:
                     /// support simple box & hollow box now; later, more shapes
@@ -310,7 +304,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
 
-
         public override void Simulate(float timeStep)
         {
             step_time += timeStep;
@@ -327,11 +320,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                         Vector3 rx, ry, rz;
                         p.Orientation.ToAxes(out rx, out ry, out rz);
                         Console.WriteLine("RENDER: block; " + p.Size.X + ", " + p.Size.Y + ", " + p.Size.Z + "; " +
-                            "  0, 0, 1;  " + //shape, size, color
-                        (p.Position.X - 128.0f) + ", " + (p.Position.Y - 128.0f) + ", " + (p.Position.Z - 33.0f) + ";  " + // position
-                        rx.x + "," + ry.x + "," + rz.x + ", " + // rotation
-                        rx.y + "," + ry.y + "," + rz.y + ", " +
-                        rx.z + "," + ry.z + "," + rz.z);
+                                          "  0, 0, 1;  " + //shape, size, color
+                                          (p.Position.X - 128.0f) + ", " + (p.Position.Y - 128.0f) + ", " +
+                                          (p.Position.Z - 33.0f) + ";  " + // position
+                                          rx.x + "," + ry.x + "," + rz.x + ", " + // rotation
+                                          rx.y + "," + ry.y + "," + rz.y + ", " +
+                                          rx.z + "," + ry.z + "," + rz.z);
                     }
                 }
                 int i = 0;
@@ -357,22 +351,27 @@ namespace OpenSim.Region.Physics.OdePlugin
                         float Zoff = -33.0f;
                         d.Matrix3 temp = d.BodyGetRotation(actor.Body);
                         Console.WriteLine("RENDER: cylinder; " + // shape
-                            OdeCharacter.CAPSULE_RADIUS + ", " + OdeCharacter.CAPSULE_LENGTH + //size
-                            "; 0, 1, 0;  " + // color
-                            (actor.Position.X - 128.0f) + ", " + (actor.Position.Y - 128.0f) + ", " + (actor.Position.Z + Zoff) + ";  " + // position
-                            temp.M00 + "," + temp.M10 + "," + temp.M20 + ", " + // rotation
-                            temp.M01 + "," + temp.M11 + "," + temp.M21 + ", " +
-                            temp.M02 + "," + temp.M12 + "," + temp.M22);
-                        d.Vector3 caphead; d.BodyGetRelPointPos(actor.Body, 0, 0, OdeCharacter.CAPSULE_LENGTH * .5f, out caphead);
-                        d.Vector3 capfoot; d.BodyGetRelPointPos(actor.Body, 0, 0, -OdeCharacter.CAPSULE_LENGTH * .5f, out capfoot);
+                                          OdeCharacter.CAPSULE_RADIUS + ", " + OdeCharacter.CAPSULE_LENGTH + //size
+                                          "; 0, 1, 0;  " + // color
+                                          (actor.Position.X - 128.0f) + ", " + (actor.Position.Y - 128.0f) + ", " +
+                                          (actor.Position.Z + Zoff) + ";  " + // position
+                                          temp.M00 + "," + temp.M10 + "," + temp.M20 + ", " + // rotation
+                                          temp.M01 + "," + temp.M11 + "," + temp.M21 + ", " +
+                                          temp.M02 + "," + temp.M12 + "," + temp.M22);
+                        d.Vector3 caphead;
+                        d.BodyGetRelPointPos(actor.Body, 0, 0, OdeCharacter.CAPSULE_LENGTH*.5f, out caphead);
+                        d.Vector3 capfoot;
+                        d.BodyGetRelPointPos(actor.Body, 0, 0, -OdeCharacter.CAPSULE_LENGTH*.5f, out capfoot);
                         Console.WriteLine("RENDER: sphere;  " + OdeCharacter.CAPSULE_RADIUS + // shape, size
-                            "; 1, 0, 1;  " +  //color
-                            (caphead.X - 128.0f) + ", " + (caphead.Y - 128.0f) + ", " + (caphead.Z + Zoff) + ";  " + // position
-                            "1,0,0, 0,1,0, 0,0,1"); // rotation
+                                          "; 1, 0, 1;  " + //color
+                                          (caphead.X - 128.0f) + ", " + (caphead.Y - 128.0f) + ", " + (caphead.Z + Zoff) +
+                                          ";  " + // position
+                                          "1,0,0, 0,1,0, 0,0,1"); // rotation
                         Console.WriteLine("RENDER: sphere;  " + OdeCharacter.CAPSULE_RADIUS + // shape, size
-                            "; 1, 0, 0;  " +  //color
-                            (capfoot.X - 128.0f) + ", " + (capfoot.Y - 128.0f) + ", " + (capfoot.Z + Zoff) + ";  " + // position
-                            "1,0,0, 0,1,0, 0,0,1"); // rotation
+                                          "; 1, 0, 0;  " + //color
+                                          (capfoot.X - 128.0f) + ", " + (capfoot.Y - 128.0f) + ", " + (capfoot.Z + Zoff) +
+                                          ";  " + // position
+                                          "1,0,0, 0,1,0, 0,0,1"); // rotation
                     }
                 }
             }
@@ -380,14 +379,11 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override void GetResults()
         {
-
         }
 
         public override bool IsThreaded
         {
-            get
-            {
-                return (false); // for now we won't be multithreaded
+            get { return (false); // for now we won't be multithreaded
             }
         }
 
@@ -400,21 +396,21 @@ namespace OpenSim.Region.Physics.OdePlugin
             {
                 for (int y = 0; y < 258; y++)
                 {
-                    int xx = x-1;
+                    int xx = x - 1;
                     if (xx < 0) xx = 0;
                     if (xx > 255) xx = 255;
-                    int yy = y-1;
+                    int yy = y - 1;
                     if (yy < 0) yy = 0;
                     if (yy > 255) yy = 255;
 
-                    double val = (double)heightMap[yy * 256 + xx];
-                    _heightmap[x * 258 + y] = val;
+                    double val = (double) heightMap[yy*256 + xx];
+                    _heightmap[x*258 + y] = val;
                 }
             }
 
             lock (OdeLock)
             {
-                if (!(LandGeom == (IntPtr)0))
+                if (!(LandGeom == (IntPtr) 0))
                 {
                     d.SpaceRemove(space, LandGeom);
                 }
@@ -422,7 +418,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 258, 258, 258, 258, 1.0f, 0.0f, 2.0f, 0);
                 d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
                 LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
-                this.geom_name_map[LandGeom]="Terrain";
+                geom_name_map[LandGeom] = "Terrain";
 
                 d.Matrix3 R = new d.Matrix3();
 
@@ -430,7 +426,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
                 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
 
-                q1 = q1 * q2;
+                q1 = q1*q2;
                 //q1 = q1 * q3;
                 Vector3 v3 = new Vector3();
                 float angle = 0;
@@ -444,7 +440,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override void DeleteTerrain()
         {
-
         }
     }
 
@@ -452,12 +447,12 @@ namespace OpenSim.Region.Physics.OdePlugin
     {
         private PhysicsVector _position;
         private d.Vector3 _zeroPosition;
-        private bool _zeroFlag=false;
+        private bool _zeroFlag = false;
         private PhysicsVector _velocity;
         private PhysicsVector _target_velocity;
         private PhysicsVector _acceleration;
-        private static float PID_D=4000.0f;
-        private static float PID_P=7000.0f;
+        private static float PID_D = 4000.0f;
+        private static float PID_P = 7000.0f;
         private static float POSTURE_SERVO = 10000.0f;
         public static float CAPSULE_RADIUS = 0.5f;
         public static float CAPSULE_LENGTH = 0.9f;
@@ -484,28 +479,18 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
                 d.GeomSetBody(Shell, Body);
             }
-            parent_scene.geom_name_map[Shell]=avName;
-
+            parent_scene.geom_name_map[Shell] = avName;
         }
 
         public override bool Flying
         {
-            get
-            {
-                return flying;
-            }
-            set
-            {
-                flying = value;
-            }
+            get { return flying; }
+            set { flying = value; }
         }
 
         public override PhysicsVector Position
         {
-            get
-            {
-                return _position;
-            }
+            get { return _position; }
             set
             {
                 lock (OdeScene.OdeLock)
@@ -518,60 +503,34 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override PhysicsVector Size
         {
-            get
-            {
-                return new PhysicsVector(0,0,0);
-            }
-            set
-            {
-            }
+            get { return new PhysicsVector(0, 0, 0); }
+            set { }
         }
 
 
         public override PhysicsVector Velocity
         {
-            get
-            {
-                return _velocity;
-            }
-            set
-            {
-                _target_velocity = value;
-            }
+            get { return _velocity; }
+            set { _target_velocity = value; }
         }
 
         public override bool Kinematic
         {
-            get
-            {
-                return false;
-            }
-            set
-            {
-
-            }
+            get { return false; }
+            set { }
         }
 
         public override Quaternion Orientation
         {
-            get
-            {
-                return Quaternion.Identity;
-            }
-            set
-            {
-
-            }
+            get { return Quaternion.Identity; }
+            set { }
         }
 
         public override PhysicsVector Acceleration
         {
-            get
-            {
-                return _acceleration;
-            }
-
+            get { return _acceleration; }
         }
+
         public void SetAcceleration(PhysicsVector accel)
         {
             _acceleration = accel;
@@ -579,12 +538,10 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override void AddForce(PhysicsVector force)
         {
-
         }
 
         public override void SetMomentum(PhysicsVector momentum)
         {
-
         }
 
         public void Move(float timeStep)
@@ -603,28 +560,28 @@ namespace OpenSim.Region.Physics.OdePlugin
                     _zeroPosition = d.BodyGetPosition(Body);
                 }
                 d.Vector3 pos = d.BodyGetPosition(Body);
-                vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
-                vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
+                vec.X = (_target_velocity.X - vel.X)*PID_D + (_zeroPosition.X - pos.X)*PID_P;
+                vec.Y = (_target_velocity.Y - vel.Y)*PID_D + (_zeroPosition.Y - pos.Y)*PID_P;
                 if (flying)
                 {
-                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
+                    vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
                 }
             }
             else
             {
                 _zeroFlag = false;
-                vec.X = (_target_velocity.X - vel.X) * PID_D;
-                vec.Y = (_target_velocity.Y - vel.Y) * PID_D;
+                vec.X = (_target_velocity.X - vel.X)*PID_D;
+                vec.Y = (_target_velocity.Y - vel.Y)*PID_D;
                 if (flying)
                 {
-                    vec.Z = (_target_velocity.Z - vel.Z) * PID_D;
+                    vec.Z = (_target_velocity.Z - vel.Z)*PID_D;
                 }
             }
             if (flying)
             {
                 vec.Z += 10.0f;
             }
-            d.BodyAddForce(this.Body, vec.X, vec.Y, vec.Z);
+            d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
 
             //  ok -- let's stand up straight!
             d.Vector3 feet;
@@ -634,7 +591,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             float posture = head.Z - feet.Z;
 
             // restoring force proportional to lack of posture:
-            float servo = (2.5f-posture) * POSTURE_SERVO;
+            float servo = (2.5f - posture)*POSTURE_SERVO;
             d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
             d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
         }
@@ -650,9 +607,9 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (vec.X > 255.95f) vec.X = 255.95f;
             if (vec.Y > 255.95f) vec.Y = 255.95f;
 
-            this._position.X = vec.X;
-            this._position.Y = vec.Y;
-            this._position.Z = vec.Z;
+            _position.X = vec.X;
+            _position.Y = vec.Y;
+            _position.Z = vec.Z;
 
             if (_zeroFlag)
             {
@@ -673,9 +630,9 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             lock (OdeScene.OdeLock)
             {
-                d.GeomDestroy(this.Shell);
-                this._parent_scene.geom_name_map.Remove(this.Shell);
-                d.BodyDestroy(this.Body);
+                d.GeomDestroy(Shell);
+                _parent_scene.geom_name_map.Remove(Shell);
+                d.BodyDestroy(Body);
             }
         }
     }
@@ -693,7 +650,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         public IntPtr prim_geom;
         public IntPtr _triMeshData;
 
-        public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, 
+        public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
                        Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
         {
             _velocity = new PhysicsVector();
@@ -707,7 +664,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             lock (OdeScene.OdeLock)
             {
-                if (mesh!=null)
+                if (mesh != null)
                 {
                     setMesh(parent_scene, mesh);
                 }
@@ -723,20 +680,22 @@ namespace OpenSim.Region.Physics.OdePlugin
                 myrot.Y = rotation.y;
                 myrot.Z = rotation.z;
                 d.GeomSetQuaternion(prim_geom, ref myrot);
-                parent_scene.geom_name_map[prim_geom] = primName;       //  don't do .add() here; old geoms get recycled with the same hash
+                parent_scene.geom_name_map[prim_geom] = primName;
+                    //  don't do .add() here; old geoms get recycled with the same hash
             }
         }
 
-        public void setMesh(OdeScene parent_scene, Mesh mesh) 
+        public void setMesh(OdeScene parent_scene, Mesh mesh)
         {
             float[] vertexList = mesh.getVertexListAsFloat(); // Note, that vertextList is pinned in memory
             int[] indexList = mesh.getIndexListAsInt(); // Also pinned, needs release after usage
-            int VertexCount = vertexList.GetLength(0) / 3;
+            int VertexCount = vertexList.GetLength(0)/3;
             int IndexCount = indexList.GetLength(0);
 
             _triMeshData = d.GeomTriMeshDataCreate();
 
-            d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3 * sizeof(float), VertexCount, indexList, IndexCount, 3 * sizeof(int));
+            d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3*sizeof (float), VertexCount, indexList, IndexCount,
+                                         3*sizeof (int));
             d.GeomTriMeshDataPreprocess(_triMeshData);
 
             prim_geom = d.CreateTriMesh(parent_scene.space, _triMeshData, parent_scene.triCallback, null, null);
@@ -744,21 +703,14 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override bool Flying
         {
-            get
-            {
-                return false; //no flying prims for you
-            }
-            set
-            {
+            get { return false; //no flying prims for you
             }
+            set { }
         }
 
         public override PhysicsVector Position
         {
-            get
-            {
-                return _position;
-            }
+            get { return _position; }
             set
             {
                 _position = value;
@@ -771,10 +723,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override PhysicsVector Size
         {
-            get
-            {
-                return _size;
-            }
+            get { return _size; }
             set
             {
                 _size = value;
@@ -798,33 +747,19 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override PhysicsVector Velocity
         {
-            get
-            {
-                return _velocity;
-            }
-            set
-            {
-                _velocity = value;
-            }
+            get { return _velocity; }
+            set { _velocity = value; }
         }
 
         public override bool Kinematic
         {
-            get
-            {
-                return false;
-            }
-            set
-            {
-            }
+            get { return false; }
+            set { }
         }
 
         public override Quaternion Orientation
         {
-            get
-            {
-                return _orientation;
-            }
+            get { return _orientation; }
             set
             {
                 _orientation = value;
@@ -842,15 +777,12 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override PhysicsVector Acceleration
         {
-            get
-            {
-                return _acceleration;
-            }
+            get { return _acceleration; }
         }
 
         public void SetAcceleration(PhysicsVector accel)
         {
-            this._acceleration = accel;
+            _acceleration = accel;
         }
 
         public override void AddForce(PhysicsVector force)
@@ -861,4 +793,4 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
         }
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs
index 3f840cc..d110a17 100644
--- a/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs
@@ -27,24 +27,26 @@
 */
 using System.Reflection;
 using System.Runtime.InteropServices;
+
 // Information about this assembly is defined by the following
 // attributes.
 //
 // change them to the information which is associated with the assembly
 // you compile.
 
-[assembly: AssemblyTitle("RealPhysXplugin")]
-[assembly: AssemblyDescription("")]
-[assembly: AssemblyConfiguration("")]
-[assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("RealPhysXplugin")]
-[assembly: AssemblyCopyright("")]
-[assembly: AssemblyTrademark("")]
-[assembly: AssemblyCulture("")]
+[assembly : AssemblyTitle("RealPhysXplugin")]
+[assembly : AssemblyDescription("")]
+[assembly : AssemblyConfiguration("")]
+[assembly : AssemblyCompany("")]
+[assembly : AssemblyProduct("RealPhysXplugin")]
+[assembly : AssemblyCopyright("")]
+[assembly : AssemblyTrademark("")]
+[assembly : AssemblyCulture("")]
 
 // This sets the default COM visibility of types in the assembly to invisible.
 // If you need to expose a type to COM, use [ComVisible(true)] on that type.
-[assembly: ComVisible(false)]
+
+[assembly : ComVisible(false)]
 
 // The assembly version has following format :
 //
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly: AssemblyVersion("1.0.*")]
+[assembly : AssemblyVersion("1.0.*")]
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
index a7cef88..4896359 100644
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
@@ -34,102 +34,99 @@ using Quaternion=Axiom.Math.Quaternion;
 
 namespace OpenSim.Region.Physics.PhysXPlugin
 {
-        /// <summary>
-        /// Will be the PhysX plugin but for now will be a very basic physics engine
-        /// </summary>
-        public class PhysXPlugin : IPhysicsPlugin
-        {
-                private PhysXScene _mScene;
-                
-                public PhysXPlugin()
-                {
-                        
-                }
-                
-                public bool Init()
-                {
-                        return true;
-                }
-                
-                public PhysicsScene GetScene()
-                {
-                        if(_mScene == null)
-                        {
-                                _mScene = new PhysXScene();
-                        }
-                        return(_mScene);
-                }
-                
-                public string GetName()
-                {
-                        return("RealPhysX");
-                }
-                
-                public void Dispose()
-                {
-                        
-                }
-        }
-        
-        public class PhysXScene :PhysicsScene
-        {
-                private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
-                private List<PhysXPrim> _prims = new List<PhysXPrim>();
-                private float[] _heightMap = null;
-                private NxPhysicsSDK mySdk;
-                private NxScene scene;
-                
-                public PhysXScene()
-                {
-                        mySdk = NxPhysicsSDK.CreateSDK();
-                        Console.WriteLine("Sdk created - now creating scene");
-                        scene = mySdk.CreateScene();
-                
-                }
-                
-                public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
-                {
-                        Vec3 pos = new Vec3();
-                        pos.X = position.X;
-                        pos.Y = position.Y;
-                        pos.Z = position.Z;
-                        PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos));
+    /// <summary>
+    /// Will be the PhysX plugin but for now will be a very basic physics engine
+    /// </summary>
+    public class PhysXPlugin : IPhysicsPlugin
+    {
+        private PhysXScene _mScene;
+
+        public PhysXPlugin()
+        {
+        }
+
+        public bool Init()
+        {
+            return true;
+        }
+
+        public PhysicsScene GetScene()
+        {
+            if (_mScene == null)
+            {
+                _mScene = new PhysXScene();
+            }
+            return (_mScene);
+        }
+
+        public string GetName()
+        {
+            return ("RealPhysX");
+        }
+
+        public void Dispose()
+        {
+        }
+    }
+
+    public class PhysXScene : PhysicsScene
+    {
+        private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
+        private List<PhysXPrim> _prims = new List<PhysXPrim>();
+        private float[] _heightMap = null;
+        private NxPhysicsSDK mySdk;
+        private NxScene scene;
+
+        public PhysXScene()
+        {
+            mySdk = NxPhysicsSDK.CreateSDK();
+            Console.WriteLine("Sdk created - now creating scene");
+            scene = mySdk.CreateScene();
+        }
+
+        public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
+        {
+            Vec3 pos = new Vec3();
+            pos.X = position.X;
+            pos.Y = position.Y;
+            pos.Z = position.Z;
+            PhysXCharacter act = new PhysXCharacter(scene.AddCharacter(pos));
             act.Position = position;
-                        _characters.Add(act);
-                        return act;
-                }
+            _characters.Add(act);
+            return act;
+        }
 
         public override void RemovePrim(PhysicsActor prim)
         {
-
         }
 
         public override void RemoveAvatar(PhysicsActor actor)
         {
+        }
 
+        private PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        {
+            Vec3 pos = new Vec3();
+            pos.X = position.X;
+            pos.Y = position.Y;
+            pos.Z = position.Z;
+            Vec3 siz = new Vec3();
+            siz.X = size.X;
+            siz.Y = size.Y;
+            siz.Z = size.Z;
+            PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz));
+            _prims.Add(act);
+            return act;
         }
-                
-                PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
-                {
-                        Vec3 pos = new Vec3();
-                        pos.X = position.X;
-                        pos.Y = position.Y;
-                        pos.Z = position.Z;
-                        Vec3 siz = new Vec3();
-                        siz.X = size.X;
-                        siz.Y = size.Y;
-                        siz.Z = size.Z;
-                        PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
-                        _prims.Add(act);
-                        return act;
-                }
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+                                                  PhysicsVector size, Quaternion rotation)
         {
             return AddPrim(position, size, rotation);
         }
 
-                public override void Simulate(float timeStep)
-                {
+        public override void Simulate(float timeStep)
+        {
             try
             {
                 foreach (PhysXCharacter actor in _characters)
@@ -149,309 +146,237 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             {
                 Console.WriteLine(e.Message);
             }
-                                
-                }
-                
-                public override void GetResults()
-                {
-                
-                }
-                
-                public override bool IsThreaded
-                {
-                        get
-                        {
-                                return(false); // for now we won't be multithreaded
-                        }
-                }
-                
-                public override void SetTerrain(float[] heightMap)
-                {
-            if (this._heightMap != null)
+        }
+
+        public override void GetResults()
+        {
+        }
+
+        public override bool IsThreaded
+        {
+            get { return (false); // for now we won't be multithreaded
+            }
+        }
+
+        public override void SetTerrain(float[] heightMap)
+        {
+            if (_heightMap != null)
             {
                 Console.WriteLine("PhysX - deleting old terrain");
-                this.scene.DeleteTerrain();
+                scene.DeleteTerrain();
             }
-                        this._heightMap = heightMap;
-                        this.scene.AddTerrain(heightMap);
-                }
+            _heightMap = heightMap;
+            scene.AddTerrain(heightMap);
+        }
 
         public override void DeleteTerrain()
         {
-            this.scene.DeleteTerrain();
-        }       
+            scene.DeleteTerrain();
+        }
     }
-        
-        public  class PhysXCharacter : PhysicsActor
-        {
-                private PhysicsVector _position;
-                private PhysicsVector _velocity;
-                private PhysicsVector _acceleration;
-                private NxCharacter _character;
-                private bool flying;
-                private float gravityAccel;
-                
-                public PhysXCharacter(NxCharacter character)
-                {
-                        _velocity = new PhysicsVector();
-                        _position = new PhysicsVector();
-                        _acceleration = new PhysicsVector();
-                        _character = character;
-                }
-                
-                public override bool Flying
-                {
-                        get
-                        {
-                                return flying;
-                        }
-                        set
-                        {
-                                flying = value;
-                        }
-                }
-                
-                public override PhysicsVector Position
-                {
-                        get
-                        {
-                                return _position;
-                        }
-                        set
-                        {
-                                _position = value;
+
+    public class PhysXCharacter : PhysicsActor
+    {
+        private PhysicsVector _position;
+        private PhysicsVector _velocity;
+        private PhysicsVector _acceleration;
+        private NxCharacter _character;
+        private bool flying;
+        private float gravityAccel;
+
+        public PhysXCharacter(NxCharacter character)
+        {
+            _velocity = new PhysicsVector();
+            _position = new PhysicsVector();
+            _acceleration = new PhysicsVector();
+            _character = character;
+        }
+
+        public override bool Flying
+        {
+            get { return flying; }
+            set { flying = value; }
+        }
+
+        public override PhysicsVector Position
+        {
+            get { return _position; }
+            set
+            {
+                _position = value;
                 Vec3 ps = new Vec3();
                 ps.X = value.X;
                 ps.Y = value.Y;
                 ps.Z = value.Z;
-                this._character.Position = ps;
-                        }
-                }
+                _character.Position = ps;
+            }
+        }
 
         public override PhysicsVector Size
         {
-            get
+            get { return new PhysicsVector(0, 0, 0); }
+            set { }
+        }
+
+        public override PhysicsVector Velocity
+        {
+            get { return _velocity; }
+            set { _velocity = value; }
+        }
+
+        public override bool Kinematic
+        {
+            get { return false; }
+            set { }
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return Quaternion.Identity; }
+            set { }
+        }
+
+        public override PhysicsVector Acceleration
+        {
+            get { return _acceleration; }
+        }
+
+        public void SetAcceleration(PhysicsVector accel)
+        {
+            _acceleration = accel;
+        }
+
+        public override void AddForce(PhysicsVector force)
+        {
+        }
+
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+        }
+
+        public void Move(float timeStep)
+        {
+            Vec3 vec = new Vec3();
+            vec.X = _velocity.X*timeStep;
+            vec.Y = _velocity.Y*timeStep;
+            if (flying)
             {
-                return new PhysicsVector(0,0,0);
+                vec.Z = (_velocity.Z)*timeStep;
             }
-            set
+            else
+            {
+                gravityAccel += -9.8f;
+                vec.Z = (gravityAccel + _velocity.Z)*timeStep;
+            }
+            int res = _character.Move(vec);
+            if (res == 1)
             {
+                gravityAccel = 0;
             }
         }
-                public override PhysicsVector Velocity
-                {
-                        get
-                        {
-                                return _velocity;
-                        }
-                        set
-                        {
-                                _velocity = value;
-                        }
-                }
-                
-                public override bool Kinematic
-                {
-                        get
-                        {
-                                return false;
-                        }
-                        set
-                        {
-                                
-                        }
-                }
-                
-                public override Quaternion Orientation
-                {
-                        get
-                        {
-                                return Quaternion.Identity;
-                        }
-                        set
-                        {
-                                
-                        }
-                }
-                
-                public override PhysicsVector Acceleration
-                {
-                        get
-                        {
-                                return _acceleration;
-                        }
-                        
-                }
-                public void SetAcceleration (PhysicsVector accel)
-                {
-                        this._acceleration = accel;
-                }
-                
-                public override void AddForce(PhysicsVector force)
-                {
-                        
-                }
-                
-                public override void SetMomentum(PhysicsVector momentum)
-                {
-                        
-                }
-                
-                public void Move(float timeStep)
-                {
-                        Vec3 vec = new Vec3();
-                        vec.X = this._velocity.X * timeStep;
-                        vec.Y = this._velocity.Y * timeStep;
-                        if(flying)
-                        {
-                                vec.Z = ( this._velocity.Z) * timeStep;
-                        }
-                        else
-                        {
-                                gravityAccel+= -9.8f;
-                                vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
-                        }
-                        int res = this._character.Move(vec);
-                        if(res == 1)
-                        {
-                                gravityAccel = 0;
-                        }
-                }
-                
-                public void UpdatePosition()
-                {
-                        Vec3 vec = this._character.Position;
-                        this._position.X = vec.X;
-                        this._position.Y = vec.Y;
-                        this._position.Z = vec.Z;
-                }
-        }
-        
-        public  class PhysXPrim : PhysicsActor
-        {
-                private PhysicsVector _position;
-                private PhysicsVector _velocity;
-                private PhysicsVector _acceleration;
-                private NxActor _prim;
-                
-                public PhysXPrim(NxActor prim)
-                {
-                        _velocity = new PhysicsVector();
-                        _position = new PhysicsVector();
-                        _acceleration = new PhysicsVector();
-                        _prim = prim;
-                }
-                public override bool Flying
-                {
-                        get
-                        {
-                                return false; //no flying prims for you
-                        }
-                        set
-                        {
-                                
-                        }
-                }
-                public override PhysicsVector Position
-                {
-                        get
-                        {
-                                PhysicsVector pos = new PhysicsVector();
-                                Vec3 vec = this._prim.Position;
-                                pos.X = vec.X;
-                                pos.Y = vec.Y;
-                                pos.Z = vec.Z;
-                                return pos;
-                                
-                        }
-                        set
-                        {
-                                PhysicsVector vec = value;
-                                Vec3 pos = new Vec3();
-                                pos.X = vec.X;
-                                pos.Y = vec.Y;
-                                pos.Z = vec.Z;
-                                this._prim.Position = pos;
-                        }
-                }
 
-        public override PhysicsVector Size
+        public void UpdatePosition()
+        {
+            Vec3 vec = _character.Position;
+            _position.X = vec.X;
+            _position.Y = vec.Y;
+            _position.Z = vec.Z;
+        }
+    }
+
+    public class PhysXPrim : PhysicsActor
+    {
+        private PhysicsVector _position;
+        private PhysicsVector _velocity;
+        private PhysicsVector _acceleration;
+        private NxActor _prim;
+
+        public PhysXPrim(NxActor prim)
+        {
+            _velocity = new PhysicsVector();
+            _position = new PhysicsVector();
+            _acceleration = new PhysicsVector();
+            _prim = prim;
+        }
+
+        public override bool Flying
+        {
+            get { return false; //no flying prims for you
+            }
+            set { }
+        }
+
+        public override PhysicsVector Position
         {
             get
             {
-                return new PhysicsVector(0, 0, 0);
+                PhysicsVector pos = new PhysicsVector();
+                Vec3 vec = _prim.Position;
+                pos.X = vec.X;
+                pos.Y = vec.Y;
+                pos.Z = vec.Z;
+                return pos;
             }
             set
             {
+                PhysicsVector vec = value;
+                Vec3 pos = new Vec3();
+                pos.X = vec.X;
+                pos.Y = vec.Y;
+                pos.Z = vec.Z;
+                _prim.Position = pos;
             }
         }
 
-                public override PhysicsVector Velocity
-                {
-                        get
-                        {
-                                return _velocity;
-                        }
-                        set
-                        {
-                                _velocity = value;
-                        }
-                }
-                
-                public override bool Kinematic
-                {
-                        get
-                        {
-                                return this._prim.Kinematic;
-                        }
-                        set
-                        {
-                                this._prim.Kinematic = value;
-                        }
-                }
-                
-                public override Quaternion Orientation
-                {
-                        get
-                        {
-                                Quaternion res = new Quaternion();
-                                PhysXWrapper.Quaternion quat = this._prim.GetOrientation();
-                                res.w = quat.W;
-                                res.x = quat.X;
-                                res.y = quat.Y;
-                                res.z = quat.Z;
-                                return res;
-                        }
-                        set
-                        {
-                                
-                        }
-                }
-                
-                public override PhysicsVector Acceleration
-                {
-                        get
-                        {
-                                return _acceleration;
-                        }
-                        
-                }
-                public void SetAcceleration (PhysicsVector accel)
-                {
-                        this._acceleration = accel;
-                }
-                
-                public override void AddForce(PhysicsVector force)
-                {
-                        
-                }
-                
-                public override void SetMomentum(PhysicsVector momentum)
-                {
-                        
-                }
-                
-                
-        }
-
-}
+        public override PhysicsVector Size
+        {
+            get { return new PhysicsVector(0, 0, 0); }
+            set { }
+        }
+
+        public override PhysicsVector Velocity
+        {
+            get { return _velocity; }
+            set { _velocity = value; }
+        }
+
+        public override bool Kinematic
+        {
+            get { return _prim.Kinematic; }
+            set { _prim.Kinematic = value; }
+        }
+
+        public override Quaternion Orientation
+        {
+            get
+            {
+                Quaternion res = new Quaternion();
+                PhysXWrapper.Quaternion quat = _prim.GetOrientation();
+                res.w = quat.W;
+                res.x = quat.X;
+                res.y = quat.Y;
+                res.z = quat.Z;
+                return res;
+            }
+            set { }
+        }
+
+        public override PhysicsVector Acceleration
+        {
+            get { return _acceleration; }
+        }
+
+        public void SetAcceleration(PhysicsVector accel)
+        {
+            _acceleration = accel;
+        }
+
+        public override void AddForce(PhysicsVector force)
+        {
+        }
+
+        public override void SetMomentum(PhysicsVector momentum)
+        {
+        }
+    }
+}
\ No newline at end of file