BulletSim: Update BSCharacter to use API2 interface.

Add capsule shape to BSShapeCollection().
Remember last updated values so inter frame diffs can be computed.
Parameterize avatarStandingFriction and reduce to 10 from 999.
    The latter high value made avatars very hard to push.
Set CCD parameters for prims and characters of specified.

6 files changed, 250 insertions, 93 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2e6b2da..7c2f856 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -41,8 +41,6 @@ public class BSCharacter : BSPhysObject
 
     // private bool _stopped;
     private OMV.Vector3 _size;
-    private OMV.Vector3 _scale;
-    private PrimitiveBaseShape _pbs;
     private bool _grabbed;
     private bool _selected;
     private OMV.Vector3 _position;
@@ -67,6 +65,10 @@ public class BSCharacter : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
+    // The friction and velocity of the avatar is modified depending on whether walking or not.
+    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
+    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
+
     private OMV.Vector3 _PIDTarget;
     private bool _usePID;
     private float _PIDTau;
@@ -84,13 +86,15 @@ public class BSCharacter : BSPhysObject
         _flying = isFlying;
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
+        _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
 
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
         ComputeAvatarScale(_size);
         _avatarDensity = PhysicsScene.Params.avatarDensity;
-        // set _avatarVolume and _mass based on capsule size, _density and _scale
+        // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
 
         ShapeData shapeData = new ShapeData();
@@ -99,24 +103,24 @@ public class BSCharacter : BSPhysObject
         shapeData.Position = _position;
         shapeData.Rotation = _orientation;
         shapeData.Velocity = _velocity;
-        shapeData.Scale = _scale;
+        shapeData.Scale = Scale;
         shapeData.Mass = _mass;
         shapeData.Buoyancy = _buoyancy;
         shapeData.Static = ShapeData.numericFalse;
-        shapeData.Friction = PhysicsScene.Params.avatarFriction;
+        shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
         shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
 
         // do actual create at taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
-            BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
+
+            SetPhysicalProperties();
 
             // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
             // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
-            BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
-
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
+            ForceBuoyancy = _buoyancy;
 
             // This works here because CreateObject has already put the character into the physical world.
             BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
@@ -131,10 +135,40 @@ public class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
+            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
         });
     }
 
+    private void SetPhysicalProperties()
+    {
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        ZeroMotion();
+
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
+        BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
+
+        // Set the velocity and compute the proper friction
+        ForceVelocity = _velocity;
+
+        BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+        BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
+
+        BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
+        BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+
+        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        {
+            BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+            BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+        }
+
+        BulletSimAPI.SetActivationState2(BSBody.ptr, (int)ActivationState.DISABLE_DEACTIVATION);
+
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+    }
+
     public override void RequestPhysicsterseUpdate()
     {
         base.RequestPhysicsterseUpdate();
@@ -147,7 +181,7 @@ public class BSCharacter : BSPhysObject
         get
         {
             // Avatar capsule size is kept in the scale parameter.
-            return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
+            return new OMV.Vector3(Scale.X * 2, Scale.Y * 2, Scale.Z);
         }
 
         set {
@@ -162,22 +196,25 @@ public class BSCharacter : BSPhysObject
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true);
+                BulletSimAPI.SetLocalScaling2(BSBody.ptr, Scale);
+                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
+                BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
             });
 
         }
     }
-    public override PrimitiveBaseShape Shape {
-        set { _pbs = value;
-        }
+    public override OMV.Vector3 Scale { get; set; }
+    private PrimitiveBaseShape _pbs;
+    public override PrimitiveBaseShape Shape
+    {
+        set { _pbs = value;}
     }
+
     public override bool Grabbed {
-        set { _grabbed = value;
-        }
+        set { _grabbed = value; }
     }
     public override bool Selected {
-        set { _selected = value;
-        }
+        set { _selected = value; }
     }
     public override void CrossingFailure() { return; }
     public override void link(PhysicsActor obj) { return; }
@@ -204,7 +241,7 @@ public class BSCharacter : BSPhysObject
 
     public override OMV.Vector3 Position {
         get {
-            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
             return _position;
         }
         set {
@@ -214,7 +251,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         }
     }
@@ -273,7 +310,7 @@ public class BSCharacter : BSPhysObject
             BSScene.TaintCallback sanityOperation = delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             };
             if (inTaintTime)
                 sanityOperation();
@@ -284,11 +321,7 @@ public class BSCharacter : BSPhysObject
         return ret;
     }
 
-    public override float Mass {
-        get {
-            return _mass;
-        }
-    }
+    public override float Mass { get { return _mass; } }
 
     // used when we only want this prim's mass and not the linkset thing
     public override float MassRaw { get {return _mass; } }
@@ -301,15 +334,13 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force);
+                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
             });
         }
     }
 
-    public override int VehicleType {
-        get { return 0; }
-        set { return; }
-    }
+    // Avatars don't do vehicles
+    public override int VehicleType { get { return 0; } set { return; } }
     public override void VehicleFloatParam(int param, float value) { }
     public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
@@ -328,15 +359,35 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+                ForceVelocity = _velocity;
             });
         }
     }
     public override OMV.Vector3 ForceVelocity {
         get { return _velocity; }
         set {
+            // Depending on whether the avatar is moving or not, change the friction
+            //    to keep the avatar from slipping around
+            if (_velocity.Length() == 0)
+            {
+                if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
+            else
+            {
+                if (_currentFriction == 999f)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
             _velocity = value;
-            BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+            _appliedVelocity = value;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+            BulletSimAPI.Activate2(BSBody.ptr, true);
         }
     }
     public override OMV.Vector3 Torque {
@@ -360,8 +411,8 @@ public class BSCharacter : BSPhysObject
             // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
             PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         }
     }
@@ -389,12 +440,18 @@ public class BSCharacter : BSPhysObject
         set { _isPhysical = value;
         }
     }
+    public override bool IsSolid {
+        get { return true; }
+    }
+    public override bool IsStatic {
+        get { return false; }
+    }
     public override bool Flying {
         get { return _flying; }
         set {
             _flying = value;
             // simulate flying by changing the effect of gravity
-            this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
+            Buoyancy = ComputeBuoyancyFromFlying(_flying);
         }
     }
     // Flying is implimented by changing the avatar's buoyancy.
@@ -454,10 +511,19 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
+                ForceBuoyancy = _buoyancy;
             });
         }
     }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set { _buoyancy = value;
+            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -518,27 +584,29 @@ public class BSCharacter : BSPhysObject
 
     private void ComputeAvatarScale(OMV.Vector3 size)
     {
-        _scale.X = PhysicsScene.Params.avatarCapsuleRadius;
-        _scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+        OMV.Vector3 newScale = OMV.Vector3.Zero;
+        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
 
         // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
-        // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
-        _scale.Z = (_size.Z) - (_scale.X + _scale.Y);
+        // Scale.Z = (_size.Z * 1.15f) - (Scale.X + Scale.Y);
+        newScale.Z = (_size.Z) - (Scale.X + Scale.Y);
+        Scale = newScale;
     }
 
-    // set _avatarVolume and _mass based on capsule size, _density and _scale
+    // set _avatarVolume and _mass based on capsule size, _density and Scale
     private void ComputeAvatarVolumeAndMass()
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * _scale.X
-                        * _scale.Y  // the area of capsule cylinder
-                        * _scale.Z  // times height of capsule cylinder
+                        * Scale.X
+                        * Scale.Y  // the area of capsule cylinder
+                        * Scale.Z  // times height of capsule cylinder
                       + 1.33333333f
                         * Math.PI
-                        * _scale.X
-                        * Math.Min(_scale.X, _scale.Y)
-                        * _scale.Y  // plus the volume of the capsule end caps
+                        * Scale.X
+                        * Math.Min(Scale.X, Scale.Y)
+                        * Scale.Y  // plus the volume of the capsule end caps
                         );
         _mass = _avatarDensity * _avatarVolume;
     }
@@ -555,6 +623,22 @@ public class BSCharacter : BSPhysObject
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
         PositionSanityCheck2(true);
 
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
+
+        if (entprop.Velocity != LastEntityProperties.Velocity)
+        {
+            // Changes in the velocity are suppressed in avatars.
+            // That's just the way they are defined.
+            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
+            _velocity = avVel;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
+        }
+
+        // Tell the linkset about this
+        Linkset.UpdateProperties(this);
+
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
         // base.RequestPhysicsterseUpdate();
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index cae599c..34dec26 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -69,6 +69,16 @@ public abstract class BSPhysObject : PhysicsActor
     // Reference to the physical shape (btCollisionShape) of this object
     public BulletShape BSShape;
 
+    // When the physical properties are updated, an EntityProperty holds the update values.
+    // Keep the current and last EntityProperties to enable computation of differences 
+    //      between the current update and the previous values.
+    public EntityProperties CurrentEntityProperties { get; set; }
+    public EntityProperties LastEntityProperties { get; set; }
+
+    public abstract OMV.Vector3 Scale { get; set; }
+    public abstract bool IsSolid { get; }
+    public abstract bool IsStatic { get; }
+
     // Stop all physical motion.
     public abstract void ZeroMotion();
 
@@ -89,6 +99,8 @@ public abstract class BSPhysObject : PhysicsActor
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
 
+    public abstract float ForceBuoyancy { get; set; }
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6a4365c..3421e30 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -172,11 +172,8 @@ public sealed class BSPrim : BSPhysObject
     }
     // Scale is what we set in the physics engine. It is different than 'size' in that
     //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public OMV.Vector3 Scale
-    {
-        get { return _scale; }
-        set { _scale = value; }
-    }
+    public override OMV.Vector3 Scale { get; set; }
+
     public override PrimitiveBaseShape Shape {
         set {
             _pbs = value;
@@ -325,9 +322,9 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // A version of the sanity check that also makes sure a new position value is
-    //    pushed back to the physics engine. This routine would be used by anyone
+    //    pushed to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool inTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -336,8 +333,8 @@ public sealed class BSPrim : BSPhysObject
             //    just assign to "Position" because of potential call loops.
             BSScene.TaintCallback sanityOperation = delegate()
             {
-                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);

+                ForcePosition = _position;
             };
             if (inTaintTime)
                 sanityOperation();
@@ -547,13 +544,13 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // An object is static (does not move) if selected or not physical
-    private bool IsStatic
+    public override bool IsStatic
     {
         get { return _isSelected || !IsPhysical; }
     }
 
     // An object is solid if it's not phantom and if it's not doing VolumeDetect
-    public bool IsSolid
+    public override bool IsSolid
     {
         get { return !IsPhantom && !_isVolumeDetect; }
     }
@@ -631,6 +628,12 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
             // There is no inertia in a static object
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'disabled' so Bullet will not try to act on it.
@@ -662,6 +665,13 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
+
             // Various values for simulation limits
             BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
             BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
@@ -812,14 +822,21 @@ public sealed class BSPrim : BSPhysObject
         set {
             _buoyancy = value;
             PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
-            {
-                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                // Buoyancy is faked by changing the gravity applied to the object
-                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-                BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            {

+                ForceBuoyancy = _buoyancy;
             });
         }
     }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -1269,8 +1286,8 @@ public sealed class BSPrim : BSPhysObject
     const float VELOCITY_TOLERANCE = 0.001f;
     const float POSITION_TOLERANCE = 0.05f;
     const float ACCELERATION_TOLERANCE = 0.01f;
-    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
+    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;

+

     public override void UpdateProperties(EntityProperties entprop)
     {
         /*
@@ -1326,11 +1343,13 @@ public sealed class BSPrim : BSPhysObject
             _orientation = entprop.Rotation;
             _velocity = entprop.Velocity;
             _acceleration = entprop.Acceleration;
-            _rotationalVelocity = entprop.RotationalVelocity;
+            _rotationalVelocity = entprop.RotationalVelocity;

+

+            // remember the current and last set values

+            LastEntityProperties = CurrentEntityProperties;

+            CurrentEntityProperties = entprop;
 
-            PositionSanityCheck2(true);
-
-            Linkset.UpdateProperties(this);
+            PositionSanityCheck(true);
 
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
@@ -1348,6 +1367,9 @@ public sealed class BSPrim : BSPhysObject
                     entprop.Acceleration, entprop.RotationalVelocity);
         }
              */
+        // The linkset implimentation might want to know about this.
+
+        Linkset.UpdateProperties(this);
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 2c3c481..5158011 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -256,10 +256,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
         // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-        WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
+        World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
                                         m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
                                         m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_DebugLogCallbackHandle);
+                                        m_DebugLogCallbackHandle));
 
         // Initialization to support the transition to a new API which puts most of the logic
         //   into the C# code so it is easier to modify and add to.
@@ -360,7 +360,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         }
 
         // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown(WorldID);
+        BulletSimAPI.Shutdown2(World.ptr);
 
         // Not logging any more
         PhysicsLogging.Close();
@@ -498,7 +498,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         {
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
-            numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
+            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
 
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
@@ -1011,6 +1011,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarFriction; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
+        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            10f,
+            (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].avatarStandingFriction; },
+            (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
         new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
             60f,
             (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
@@ -1246,7 +1251,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case PhysParameterEntry.APPLY_TO_NONE:
                 defaultLoc = val;   // setting only the default value
                 break;
-            case PhysParameterEntry.APPLY_TO_ALL:
+            case PhysParameterEntry.APPLY_TO_ALL:

+                m_log.ErrorFormat("{0} Cannot change parameters of multiple objects. Someday it will be added.", LogHeader);
+                /*
                 defaultLoc = val;  // setting ALL also sets the default value
                 List<uint> objectIDs = lIDs;
                 string xparm = parm.ToLower();
@@ -1257,6 +1264,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                         BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
                     }
                 });
+                 */
                 break;
             default:
                 // setting only one localID
@@ -1268,12 +1276,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // schedule the actual updating of the paramter to when the phys engine is not busy
     protected void TaintedUpdateParameter(string parm, uint localID, float val)
     {
+        m_log.ErrorFormat("{0} Cannot change parameters of base objects. Someday it will be added.", LogHeader);
+        /*
         uint xlocalID = localID;
         string xparm = parm.ToLower();
         float xval = val;
         TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
             BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
         });
+        */
     }
 
     // Get parameter.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index d189f1d..7d0f84a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -93,7 +93,7 @@ public class BSShapeCollection : IDisposable
     //    sure the body is of the right type.
     // Return 'true' if either the body or the shape changed.
     // Called at taint-time!!
-    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, 
+    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, 
                     ShapeData shapeData, PrimitiveBaseShape pbs,
                     ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
     {
@@ -351,19 +351,30 @@ public class BSShapeCollection : IDisposable
 
     // Create the geometry information in Bullet for later use.
     // The objects needs a hull if it's physical otherwise a mesh is enough.
-    // No locking here because this is done when we know physics is not simulating.
-    // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
+    // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
+    //     shared geometries will be used. If the parameters of the existing shape are the same
+    //     as this request, the shape is not rebuilt.
+    // Info in prim.BSShape is updated to the new shape.
     // Returns 'true' if the geometry was rebuilt.
     // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, 
+    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData, 
                             PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
         bool haveShape = false;
         bool nativeShapePossible = true;
 
+        if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            // an avatar capsule is close to a native shape (it is not shared)
+            ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, 
+                            ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
+            haveShape = true;
+        }
         // If the prim attributes are simple, this could be a simple Bullet native shape
-        if (nativeShapePossible
+        if (!haveShape
+                && pbs != null
+                && nativeShapePossible
                 && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
                     || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
                         && pbs.ProfileHollow == 0
@@ -406,7 +417,7 @@ public class BSShapeCollection : IDisposable
         // If a simple shape is not happening, create a mesh and possibly a hull.
         // Note that if it's a native shape, the check for physical/non-physical is not
         //     made. Native shapes are best used in either case.
-        if (!haveShape)
+        if (!haveShape && pbs != null)
         {
             if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
             {
@@ -425,8 +436,9 @@ public class BSShapeCollection : IDisposable
         return ret;
     }
 
-    // Creates a native shape and assignes it to prim.BSShape
-    private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
+    // Creates a native shape and assignes it to prim.BSShape.
+    // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
+    private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData shapeData,
                             ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
                             ShapeDestructionCallback shapeCallback)
     {
@@ -440,10 +452,19 @@ public class BSShapeCollection : IDisposable
         // release any previous shape
         DereferenceShape(prim.BSShape, true, shapeCallback);
 
-        // Native shapes are always built independently.
-        newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
-        newShape.shapeKey = (System.UInt64)shapeKey;
-        newShape.isNativeShape = true;
+        if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            newShape = new BulletShape(BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, shapeData), shapeType);
+            newShape.shapeKey = (System.UInt64)shapeKey;
+            newShape.isNativeShape = true;
+        }
+        else
+        {
+            // Native shapes are always built independently.
+            newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
+            newShape.shapeKey = (System.UInt64)shapeKey;
+            newShape.isNativeShape = true;
+        }
 
         // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
         // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
@@ -456,7 +477,7 @@ public class BSShapeCollection : IDisposable
     // Dereferences previous shape in BSShape and adds a reference for this new shape.
     // Returns 'true' of a mesh was actually built. Otherwise .
     // Called at taint-time!
-    private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                 ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape = new BulletShape(IntPtr.Zero);
@@ -526,7 +547,7 @@ public class BSShapeCollection : IDisposable
 
     // See that hull shape exists in the physical world and update prim.BSShape.
     // We could be creating the hull because scale changed or whatever.
-    private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                 ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape;
@@ -694,7 +715,7 @@ public class BSShapeCollection : IDisposable
     // Updates prim.BSBody with the information about the new body if one is created.
     // Returns 'true' if an object was actually created.
     // Called at taint-time.
-    private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, 
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, 
                             ShapeData shapeData, BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 276111c..30754a7 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -223,6 +223,7 @@ public struct ShapeData
         KEY_SPHERE      = 2,
         KEY_CONE        = 3,
         KEY_CYLINDER    = 4,
+        KEY_CAPSULE     = 5,
     }
 }
 [StructLayout(LayoutKind.Sequential)]
@@ -282,6 +283,7 @@ public struct ConfigurationParameters
     public float terrainHitFraction;
     public float terrainRestitution;
     public float avatarFriction;
+    public float avatarStandingFriction;
     public float avatarDensity;
     public float avatarRestitution;
     public float avatarCapsuleRadius;
@@ -428,6 +430,7 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg
 [return: MarshalAs(UnmanagedType.LPStr)]
 public static extern string GetVersion();
 
+/* Remove the linkage to the old api methods
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
                         int maxCollisions, IntPtr collisionArray,
@@ -531,7 +534,7 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
 // ===============================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpBulletStatistics();
-
+*/
 // Log a debug message
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetDebugLogCallback(DebugLogCallback callback);
@@ -562,7 +565,8 @@ public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
                                                                                         int maxCollisions,  IntPtr collisionArray,
-                                                                                        int maxUpdates, IntPtr updateArray);
+                                                                                        int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
@@ -604,6 +608,9 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
 public static extern bool IsNativeShape2(IntPtr shape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, ShapeData shapeData);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateCompoundShape2(IntPtr sim);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]