Merge of ubitworkvarnew with opensim/master as of 20150905.

This integrates the OpenSim refactoring to make physics, etc into modules.
AVN physics hasn't been moved to new location.
Does not compile yet.

Merge branch 'osmaster' into mbworknew1

23 files changed, 5679 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/CTri.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/CTri.cs
new file mode 100644
index 0000000..7ad689e
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/CTri.cs
@@ -0,0 +1,341 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class Wpoint
+    {
+        public float3 mPoint;
+        public float mWeight;
+
+        public Wpoint(float3 p, float w)
+        {
+            mPoint = p;
+            mWeight = w;
+        }
+    }
+
+    public class CTri
+    {
+        private const int WSCALE = 4;
+
+        public float3 mP1;
+        public float3 mP2;
+        public float3 mP3;
+        public float3 mNear1;
+        public float3 mNear2;
+        public float3 mNear3;
+        public float3 mNormal;
+        public float mPlaneD;
+        public float mConcavity;
+        public float mC1;
+        public float mC2;
+        public float mC3;
+        public int mI1;
+        public int mI2;
+        public int mI3;
+        public int mProcessed; // already been added...
+
+        public CTri(float3 p1, float3 p2, float3 p3, int i1, int i2, int i3)
+        {
+            mProcessed = 0;
+            mI1 = i1;
+            mI2 = i2;
+            mI3 = i3;
+
+            mP1 = new float3(p1);
+            mP2 = new float3(p2);
+            mP3 = new float3(p3);
+
+            mNear1 = new float3();
+            mNear2 = new float3();
+            mNear3 = new float3();
+
+            mNormal = new float3();
+            mPlaneD = mNormal.ComputePlane(mP1, mP2, mP3);
+        }
+
+        public float Facing(CTri t)
+        {
+            return float3.dot(mNormal, t.mNormal);
+        }
+
+        public bool clip(float3 start, ref float3 end)
+        {
+            float3 sect = new float3();
+            bool hit = lineIntersectsTriangle(start, end, mP1, mP2, mP3, ref sect);
+
+            if (hit)
+                end = sect;
+            return hit;
+        }
+
+        public bool Concave(float3 p, ref float distance, ref float3 n)
+        {
+            n.NearestPointInTriangle(p, mP1, mP2, mP3);
+            distance = p.Distance(n);
+            return true;
+        }
+
+        public void addTri(int[] indices, int i1, int i2, int i3, ref int tcount)
+        {
+            indices[tcount * 3 + 0] = i1;
+            indices[tcount * 3 + 1] = i2;
+            indices[tcount * 3 + 2] = i3;
+            tcount++;
+        }
+
+        public float getVolume()
+        {
+            int[] indices = new int[8 * 3];
+
+            int tcount = 0;
+
+            addTri(indices, 0, 1, 2, ref tcount);
+            addTri(indices, 3, 4, 5, ref tcount);
+
+            addTri(indices, 0, 3, 4, ref tcount);
+            addTri(indices, 0, 4, 1, ref tcount);
+
+            addTri(indices, 1, 4, 5, ref tcount);
+            addTri(indices, 1, 5, 2, ref tcount);
+
+            addTri(indices, 0, 3, 5, ref tcount);
+            addTri(indices, 0, 5, 2, ref tcount);
+
+            List<float3> vertices = new List<float3> { mP1, mP2, mP3, mNear1, mNear2, mNear3 };
+            List<int> indexList = new List<int>(indices);
+
+            float v = Concavity.computeMeshVolume(vertices, indexList);
+            return v;
+        }
+
+        public float raySect(float3 p, float3 dir, ref float3 sect)
+        {
+            float4 plane = new float4();
+
+            plane.x = mNormal.x;
+            plane.y = mNormal.y;
+            plane.z = mNormal.z;
+            plane.w = mPlaneD;
+
+            float3 dest = p + dir * 100000f;
+
+            intersect(p, dest, ref sect, plane);
+
+            return sect.Distance(p); // return the intersection distance
+        }
+
+        public float planeDistance(float3 p)
+        {
+            float4 plane = new float4();
+
+            plane.x = mNormal.x;
+            plane.y = mNormal.y;
+            plane.z = mNormal.z;
+            plane.w = mPlaneD;
+
+            return DistToPt(p, plane);
+        }
+
+        public bool samePlane(CTri t)
+        {
+            const float THRESH = 0.001f;
+            float dd = Math.Abs(t.mPlaneD - mPlaneD);
+            if (dd > THRESH)
+                return false;
+            dd = Math.Abs(t.mNormal.x - mNormal.x);
+            if (dd > THRESH)
+                return false;
+            dd = Math.Abs(t.mNormal.y - mNormal.y);
+            if (dd > THRESH)
+                return false;
+            dd = Math.Abs(t.mNormal.z - mNormal.z);
+            if (dd > THRESH)
+                return false;
+            return true;
+        }
+
+        public bool hasIndex(int i)
+        {
+            if (i == mI1 || i == mI2 || i == mI3)
+                return true;
+            return false;
+        }
+
+        public bool sharesEdge(CTri t)
+        {
+            bool ret = false;
+            uint count = 0;
+
+            if (t.hasIndex(mI1))
+                count++;
+            if (t.hasIndex(mI2))
+                count++;
+            if (t.hasIndex(mI3))
+                count++;
+
+            if (count >= 2)
+                ret = true;
+
+            return ret;
+        }
+
+        public float area()
+        {
+            float a = mConcavity * mP1.Area(mP2, mP3);
+            return a;
+        }
+
+        public void addWeighted(List<Wpoint> list)
+        {
+            Wpoint p1 = new Wpoint(mP1, mC1);
+            Wpoint p2 = new Wpoint(mP2, mC2);
+            Wpoint p3 = new Wpoint(mP3, mC3);
+
+            float3 d1 = mNear1 - mP1;
+            float3 d2 = mNear2 - mP2;
+            float3 d3 = mNear3 - mP3;
+
+            d1 *= WSCALE;
+            d2 *= WSCALE;
+            d3 *= WSCALE;
+
+            d1 = d1 + mP1;
+            d2 = d2 + mP2;
+            d3 = d3 + mP3;
+
+            Wpoint p4 = new Wpoint(d1, mC1);
+            Wpoint p5 = new Wpoint(d2, mC2);
+            Wpoint p6 = new Wpoint(d3, mC3);
+
+            list.Add(p1);
+            list.Add(p2);
+            list.Add(p3);
+
+            list.Add(p4);
+            list.Add(p5);
+            list.Add(p6);
+        }
+
+        private static float DistToPt(float3 p, float4 plane)
+            {
+                    float x = p.x;
+                    float y = p.y;
+                    float z = p.z;
+                    float d = x*plane.x + y*plane.y + z*plane.z + plane.w;
+                    return d;
+            }
+
+        private static void intersect(float3 p1, float3 p2, ref float3 split, float4 plane)
+        {
+            float dp1 = DistToPt(p1, plane);
+
+            float3 dir = new float3();
+            dir.x = p2[0] - p1[0];
+            dir.y = p2[1] - p1[1];
+            dir.z = p2[2] - p1[2];
+
+            float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
+            float dot2 = dp1 - plane[3];
+
+            float t = -(plane[3] + dot2) / dot1;
+
+            split.x = (dir[0] * t) + p1[0];
+            split.y = (dir[1] * t) + p1[1];
+            split.z = (dir[2] * t) + p1[2];
+        }
+
+        private static bool rayIntersectsTriangle(float3 p, float3 d, float3 v0, float3 v1, float3 v2, out float t)
+        {
+            t = 0f;
+
+            float3 e1, e2, h, s, q;
+            float a, f, u, v;
+
+            e1 = v1 - v0;
+            e2 = v2 - v0;
+            h = float3.cross(d, e2);
+            a = float3.dot(e1, h);
+
+            if (a > -0.00001f && a < 0.00001f)
+                return false;
+
+            f = 1f / a;
+            s = p - v0;
+            u = f * float3.dot(s, h);
+
+            if (u < 0.0f || u > 1.0f)
+                return false;
+
+            q = float3.cross(s, e1);
+            v = f * float3.dot(d, q);
+            if (v < 0.0f || u + v > 1.0f)
+                return false;
+
+            // at this stage we can compute t to find out where
+            // the intersection point is on the line
+            t = f * float3.dot(e2, q);
+            if (t > 0f) // ray intersection
+                return true;
+            else // this means that there is a line intersection but not a ray intersection
+                return false;
+        }
+
+        private static bool lineIntersectsTriangle(float3 rayStart, float3 rayEnd, float3 p1, float3 p2, float3 p3, ref float3 sect)
+        {
+            float3 dir = rayEnd - rayStart;
+
+            float d = (float)Math.Sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
+            float r = 1.0f / d;
+
+            dir *= r;
+
+            float t;
+            bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, out t);
+
+            if (ret)
+            {
+                if (t > d)
+                {
+                    sect.x = rayStart.x + dir.x * t;
+                    sect.y = rayStart.y + dir.y * t;
+                    sect.z = rayStart.z + dir.z * t;
+                }
+                else
+                {
+                    ret = false;
+                }
+            }
+
+            return ret;
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Concavity.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Concavity.cs
new file mode 100644
index 0000000..4140d25
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Concavity.cs
@@ -0,0 +1,233 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public static class Concavity
+    {
+        // compute's how 'concave' this object is and returns the total volume of the
+        // convex hull as well as the volume of the 'concavity' which was found.
+        public static float computeConcavity(List<float3> vertices, List<int> indices, ref float4 plane, ref float volume)
+        {
+            float cret = 0f;
+            volume = 1f;
+
+            HullResult result = new HullResult();
+            HullDesc desc = new HullDesc();
+
+            desc.MaxFaces = 256;
+            desc.MaxVertices = 256;
+            desc.SetHullFlag(HullFlag.QF_TRIANGLES);
+            desc.Vertices = vertices;
+
+            HullError ret = HullUtils.CreateConvexHull(desc, ref result);
+
+            if (ret == HullError.QE_OK)
+            {
+                volume = computeMeshVolume2(result.OutputVertices, result.Indices);
+
+                // ok..now..for each triangle on the original mesh..
+                // we extrude the points to the nearest point on the hull.
+                List<CTri> tris = new List<CTri>();
+
+                for (int i = 0; i < result.Indices.Count / 3; i++)
+                {
+                    int i1 = result.Indices[i * 3 + 0];
+                    int i2 = result.Indices[i * 3 + 1];
+                    int i3 = result.Indices[i * 3 + 2];
+
+                    float3 p1 = result.OutputVertices[i1];
+                    float3 p2 = result.OutputVertices[i2];
+                    float3 p3 = result.OutputVertices[i3];
+
+                    CTri t = new CTri(p1, p2, p3, i1, i2, i3);
+                    tris.Add(t);
+                }
+
+                // we have not pre-computed the plane equation for each triangle in the convex hull..
+                float totalVolume = 0;
+
+                List<CTri> ftris = new List<CTri>(); // 'feature' triangles.
+                List<CTri> input_mesh = new List<CTri>();
+
+                for (int i = 0; i < indices.Count / 3; i++)
+                {
+                    int i1 = indices[i * 3 + 0];
+                    int i2 = indices[i * 3 + 1];
+                    int i3 = indices[i * 3 + 2];
+
+                    float3 p1 = vertices[i1];
+                    float3 p2 = vertices[i2];
+                    float3 p3 = vertices[i3];
+
+                    CTri t = new CTri(p1, p2, p3, i1, i2, i3);
+                    input_mesh.Add(t);
+                }
+
+                for (int i = 0; i < indices.Count / 3; i++)
+                {
+                    int i1 = indices[i * 3 + 0];
+                    int i2 = indices[i * 3 + 1];
+                    int i3 = indices[i * 3 + 2];
+
+                    float3 p1 = vertices[i1];
+                    float3 p2 = vertices[i2];
+                    float3 p3 = vertices[i3];
+
+                    CTri t = new CTri(p1, p2, p3, i1, i2, i3);
+
+                    featureMatch(t, tris, input_mesh);
+
+                    if (t.mConcavity > 0.05f)
+                    {
+                        float v = t.getVolume();
+                        totalVolume += v;
+                        ftris.Add(t);
+                    }
+                }
+
+                SplitPlane.computeSplitPlane(vertices, indices, ref plane);
+                cret = totalVolume;
+            }
+
+            return cret;
+        }
+
+        public static bool featureMatch(CTri m, List<CTri> tris, List<CTri> input_mesh)
+        {
+            bool ret = false;
+            float neardot = 0.707f;
+            m.mConcavity = 0;
+
+            for (int i = 0; i < tris.Count; i++)
+            {
+                CTri t = tris[i];
+
+                if (t.samePlane(m))
+                {
+                    ret = false;
+                    break;
+                }
+
+                float dot = float3.dot(t.mNormal, m.mNormal);
+
+                if (dot > neardot)
+                {
+                    float d1 = t.planeDistance(m.mP1);
+                    float d2 = t.planeDistance(m.mP2);
+                    float d3 = t.planeDistance(m.mP3);
+
+                    if (d1 > 0.001f || d2 > 0.001f || d3 > 0.001f) // can't be near coplaner!
+                    {
+                        neardot = dot;
+
+                        t.raySect(m.mP1, m.mNormal, ref m.mNear1);
+                        t.raySect(m.mP2, m.mNormal, ref m.mNear2);
+                        t.raySect(m.mP3, m.mNormal, ref m.mNear3);
+
+                        ret = true;
+                    }
+                }
+            }
+
+            if (ret)
+            {
+                m.mC1 = m.mP1.Distance(m.mNear1);
+                m.mC2 = m.mP2.Distance(m.mNear2);
+                m.mC3 = m.mP3.Distance(m.mNear3);
+
+                m.mConcavity = m.mC1;
+
+                if (m.mC2 > m.mConcavity)
+                    m.mConcavity = m.mC2;
+                if (m.mC3 > m.mConcavity)
+                    m.mConcavity = m.mC3;
+            }
+
+            return ret;
+        }
+
+        private static float det(float3 p1, float3 p2, float3 p3)
+        {
+            return p1.x * p2.y * p3.z + p2.x * p3.y * p1.z + p3.x * p1.y * p2.z - p1.x * p3.y * p2.z - p2.x * p1.y * p3.z - p3.x * p2.y * p1.z;
+        }
+
+        public static float computeMeshVolume(List<float3> vertices, List<int> indices)
+        {
+            float volume = 0f;
+
+            for (int i = 0; i < indices.Count / 3; i++)
+            {
+                float3 p1 = vertices[indices[i * 3 + 0]];
+                float3 p2 = vertices[indices[i * 3 + 1]];
+                float3 p3 = vertices[indices[i * 3 + 2]];
+
+                volume += det(p1, p2, p3); // compute the volume of the tetrahedran relative to the origin.
+            }
+
+            volume *= (1.0f / 6.0f);
+            if (volume < 0f)
+                return -volume;
+            return volume;
+        }
+
+        public static float computeMeshVolume2(List<float3> vertices, List<int> indices)
+        {
+            float volume = 0f;
+
+            float3 p0 = vertices[0];
+            for (int i = 0; i < indices.Count / 3; i++)
+            {
+                float3 p1 = vertices[indices[i * 3 + 0]];
+                float3 p2 = vertices[indices[i * 3 + 1]];
+                float3 p3 = vertices[indices[i * 3 + 2]];
+
+                volume += tetVolume(p0, p1, p2, p3); // compute the volume of the tetrahedron relative to the root vertice
+            }
+
+            return volume * (1.0f / 6.0f);
+        }
+
+        private static float tetVolume(float3 p0, float3 p1, float3 p2, float3 p3)
+        {
+            float3 a = p1 - p0;
+            float3 b = p2 - p0;
+            float3 c = p3 - p0;
+
+            float3 cross = float3.cross(b, c);
+            float volume = float3.dot(a, cross);
+
+            if (volume < 0f)
+                return -volume;
+            return volume;
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexBuilder.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexBuilder.cs
new file mode 100644
index 0000000..70c3a2b
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexBuilder.cs
@@ -0,0 +1,411 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class DecompDesc
+    {
+        public List<float3> mVertices;
+        public List<int> mIndices;
+
+        // options
+        public uint mDepth; // depth to split, a maximum of 10, generally not over 7.
+        public float mCpercent; // the concavity threshold percentage. 0=20 is reasonable.
+        public float mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.
+
+        // hull output limits.
+        public uint mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
+        public float mSkinWidth; // a skin width to apply to the output hulls.
+
+        public ConvexDecompositionCallback mCallback; // the interface to receive back the results.
+
+        public DecompDesc()
+        {
+            mDepth = 5;
+            mCpercent = 5;
+            mPpercent = 5;
+            mMaxVertices = 32;
+        }
+    }
+
+    public class CHull
+    {
+        public float[] mMin = new float[3];
+        public float[] mMax = new float[3];
+        public float mVolume;
+        public float mDiagonal;
+        public ConvexResult mResult;
+
+        public CHull(ConvexResult result)
+        {
+            mResult = new ConvexResult(result);
+            mVolume = Concavity.computeMeshVolume(result.HullVertices, result.HullIndices);
+
+            mDiagonal = getBoundingRegion(result.HullVertices, mMin, mMax);
+
+            float dx = mMax[0] - mMin[0];
+            float dy = mMax[1] - mMin[1];
+            float dz = mMax[2] - mMin[2];
+
+            dx *= 0.1f; // inflate 1/10th on each edge
+            dy *= 0.1f; // inflate 1/10th on each edge
+            dz *= 0.1f; // inflate 1/10th on each edge
+
+            mMin[0] -= dx;
+            mMin[1] -= dy;
+            mMin[2] -= dz;
+
+            mMax[0] += dx;
+            mMax[1] += dy;
+            mMax[2] += dz;
+        }
+
+        public void Dispose()
+        {
+            mResult = null;
+        }
+
+        public bool overlap(CHull h)
+        {
+            return overlapAABB(mMin, mMax, h.mMin, h.mMax);
+        }
+
+        // returns the d1Giagonal distance
+        private static float getBoundingRegion(List<float3> points, float[] bmin, float[] bmax)
+        {
+            float3 first = points[0];
+
+            bmin[0] = first.x;
+            bmin[1] = first.y;
+            bmin[2] = first.z;
+
+            bmax[0] = first.x;
+            bmax[1] = first.y;
+            bmax[2] = first.z;
+
+            for (int i = 1; i < points.Count; i++)
+            {
+                float3 p = points[i];
+
+                if (p[0] < bmin[0]) bmin[0] = p[0];
+                if (p[1] < bmin[1]) bmin[1] = p[1];
+                if (p[2] < bmin[2]) bmin[2] = p[2];
+
+                if (p[0] > bmax[0]) bmax[0] = p[0];
+                if (p[1] > bmax[1]) bmax[1] = p[1];
+                if (p[2] > bmax[2]) bmax[2] = p[2];
+            }
+
+            float dx = bmax[0] - bmin[0];
+            float dy = bmax[1] - bmin[1];
+            float dz = bmax[2] - bmin[2];
+
+            return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
+        }
+
+        // return true if the two AABB's overlap.
+        private static bool overlapAABB(float[] bmin1, float[] bmax1, float[] bmin2, float[] bmax2)
+        {
+            if (bmax2[0] < bmin1[0]) return false; // if the maximum is less than our minimum on any axis
+            if (bmax2[1] < bmin1[1]) return false;
+            if (bmax2[2] < bmin1[2]) return false;
+
+            if (bmin2[0] > bmax1[0]) return false; // if the minimum is greater than our maximum on any axis
+            if (bmin2[1] > bmax1[1]) return false; // if the minimum is greater than our maximum on any axis
+            if (bmin2[2] > bmax1[2]) return false; // if the minimum is greater than our maximum on any axis
+
+            return true; // the extents overlap
+        }
+    }
+
+    public class ConvexBuilder
+    {
+        public List<CHull> mChulls = new List<CHull>();
+        private ConvexDecompositionCallback mCallback;
+
+        private int MAXDEPTH = 8;
+        private float CONCAVE_PERCENT = 1f;
+        private float MERGE_PERCENT = 2f;
+
+        public ConvexBuilder(ConvexDecompositionCallback callback)
+        {
+            mCallback = callback;
+        }
+
+        public void Dispose()
+        {
+            int i;
+            for (i = 0; i < mChulls.Count; i++)
+            {
+                CHull cr = mChulls[i];
+                cr.Dispose();
+            }
+        }
+
+        public bool isDuplicate(uint i1, uint i2, uint i3, uint ci1, uint ci2, uint ci3)
+        {
+            uint dcount = 0;
+
+            Debug.Assert(i1 != i2 && i1 != i3 && i2 != i3);
+            Debug.Assert(ci1 != ci2 && ci1 != ci3 && ci2 != ci3);
+
+            if (i1 == ci1 || i1 == ci2 || i1 == ci3)
+                dcount++;
+            if (i2 == ci1 || i2 == ci2 || i2 == ci3)
+                dcount++;
+            if (i3 == ci1 || i3 == ci2 || i3 == ci3)
+                dcount++;
+
+            return dcount == 3;
+        }
+
+        public void getMesh(ConvexResult cr, VertexPool vc, List<int> indices)
+        {
+            List<int> src = cr.HullIndices;
+
+            for (int i = 0; i < src.Count / 3; i++)
+            {
+                int i1 = src[i * 3 + 0];
+                int i2 = src[i * 3 + 1];
+                int i3 = src[i * 3 + 2];
+
+                float3 p1 = cr.HullVertices[i1];
+                float3 p2 = cr.HullVertices[i2];
+                float3 p3 = cr.HullVertices[i3];
+
+                i1 = vc.getIndex(p1);
+                i2 = vc.getIndex(p2);
+                i3 = vc.getIndex(p3);
+            }
+        }
+
+        public CHull canMerge(CHull a, CHull b)
+        {
+            if (!a.overlap(b)) // if their AABB's (with a little slop) don't overlap, then return.
+                return null;
+
+            CHull ret = null;
+
+            // ok..we are going to combine both meshes into a single mesh
+            // and then we are going to compute the concavity...
+
+            VertexPool vc = new VertexPool();
+
+            List<int> indices = new List<int>();
+
+            getMesh(a.mResult, vc, indices);
+            getMesh(b.mResult, vc, indices);
+
+            int vcount = vc.GetSize();
+            List<float3> vertices = vc.GetVertices();
+            int tcount = indices.Count / 3;
+
+            //don't do anything if hull is empty
+            if (tcount == 0)
+            {
+                vc.Clear();
+                return null;
+            }
+
+            HullResult hresult = new HullResult();
+            HullDesc desc = new HullDesc();
+
+            desc.SetHullFlag(HullFlag.QF_TRIANGLES);
+            desc.Vertices = vertices;
+
+            HullError hret = HullUtils.CreateConvexHull(desc, ref hresult);
+
+            if (hret == HullError.QE_OK)
+            {
+                float combineVolume = Concavity.computeMeshVolume(hresult.OutputVertices, hresult.Indices);
+                float sumVolume = a.mVolume + b.mVolume;
+
+                float percent = (sumVolume * 100) / combineVolume;
+                if (percent >= (100.0f - MERGE_PERCENT))
+                {
+                    ConvexResult cr = new ConvexResult(hresult.OutputVertices, hresult.Indices);
+                    ret = new CHull(cr);
+                }
+            }
+
+            vc.Clear();
+            return ret;
+        }
+
+        public bool combineHulls()
+        {
+            bool combine = false;
+
+            sortChulls(mChulls); // sort the convex hulls, largest volume to least...
+
+            List<CHull> output = new List<CHull>(); // the output hulls...
+
+            int i;
+            for (i = 0; i < mChulls.Count && !combine; ++i)
+            {
+                CHull cr = mChulls[i];
+
+                int j;
+                for (j = 0; j < mChulls.Count; j++)
+                {
+                    CHull match = mChulls[j];
+
+                    if (cr != match) // don't try to merge a hull with itself, that be stoopid
+                    {
+
+                        CHull merge = canMerge(cr, match); // if we can merge these two....
+
+                        if (merge != null)
+                        {
+                            output.Add(merge);
+
+                            ++i;
+                            while (i != mChulls.Count)
+                            {
+                                CHull cr2 = mChulls[i];
+                                if (cr2 != match)
+                                {
+                                    output.Add(cr2);
+                                }
+                                i++;
+                            }
+
+                            cr.Dispose();
+                            match.Dispose();
+                            combine = true;
+                            break;
+                        }
+                    }
+                }
+
+                if (combine)
+                {
+                    break;
+                }
+                else
+                {
+                    output.Add(cr);
+                }
+            }
+
+            if (combine)
+            {
+                mChulls.Clear();
+                mChulls = output;
+                output.Clear();
+            }
+
+            return combine;
+        }
+
+        public int process(DecompDesc desc)
+        {
+            int ret = 0;
+
+            MAXDEPTH = (int)desc.mDepth;
+            CONCAVE_PERCENT = desc.mCpercent;
+            MERGE_PERCENT = desc.mPpercent;
+
+            ConvexDecomposition.calcConvexDecomposition(desc.mVertices, desc.mIndices, ConvexDecompResult, 0f, 0, MAXDEPTH, CONCAVE_PERCENT, MERGE_PERCENT);
+
+            while (combineHulls()) // keep combinging hulls until I can't combine any more...
+                ;
+
+            int i;
+            for (i = 0; i < mChulls.Count; i++)
+            {
+                CHull cr = mChulls[i];
+
+                // before we hand it back to the application, we need to regenerate the hull based on the
+                // limits given by the user.
+
+                ConvexResult c = cr.mResult; // the high resolution hull...
+
+                HullResult result = new HullResult();
+                HullDesc hdesc = new HullDesc();
+
+                hdesc.SetHullFlag(HullFlag.QF_TRIANGLES);
+
+                hdesc.Vertices = c.HullVertices;
+                hdesc.MaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output
+
+                if (desc.mSkinWidth != 0f)
+                {
+                    hdesc.SkinWidth = desc.mSkinWidth;
+                    hdesc.SetHullFlag(HullFlag.QF_SKIN_WIDTH); // do skin width computation.
+                }
+
+                HullError ret2 = HullUtils.CreateConvexHull(hdesc, ref result);
+
+                if (ret2 == HullError.QE_OK)
+                {
+                    ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);
+
+                    r.mHullVolume = Concavity.computeMeshVolume(result.OutputVertices, result.Indices); // the volume of the hull.
+
+                    // compute the best fit OBB
+                    //computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);
+
+                    //r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.
+
+                    //fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.
+
+                    //fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.
+
+                    //r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
+                    //r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
+
+                    mCallback(r);
+                }
+
+                result = null;
+                cr.Dispose();
+            }
+
+            ret = mChulls.Count;
+
+            mChulls.Clear();
+
+            return ret;
+        }
+
+        public void ConvexDecompResult(ConvexResult result)
+        {
+            CHull ch = new CHull(result);
+            mChulls.Add(ch);
+        }
+
+        public void sortChulls(List<CHull> hulls)
+        {
+            hulls.Sort(delegate(CHull a, CHull b) { return a.mVolume.CompareTo(b.mVolume); });
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexDecomposition.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexDecomposition.cs
new file mode 100644
index 0000000..5046bce
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexDecomposition.cs
@@ -0,0 +1,200 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public delegate void ConvexDecompositionCallback(ConvexResult result);
+
+    public class FaceTri
+    {
+        public float3 P1;
+        public float3 P2;
+        public float3 P3;
+
+        public FaceTri() { }
+
+        public FaceTri(List<float3> vertices, int i1, int i2, int i3)
+        {
+            P1 = new float3(vertices[i1]);
+            P2 = new float3(vertices[i2]);
+            P3 = new float3(vertices[i3]);
+        }
+    }
+
+    public static class ConvexDecomposition
+    {
+        private static void addTri(VertexPool vl, List<int> list, float3 p1, float3 p2, float3 p3)
+        {
+            int i1 = vl.getIndex(p1);
+            int i2 = vl.getIndex(p2);
+            int i3 = vl.getIndex(p3);
+
+            // do *not* process degenerate triangles!
+            if ( i1 != i2 && i1 != i3 && i2 != i3 )
+            {
+                list.Add(i1);
+                list.Add(i2);
+                list.Add(i3);
+            }
+        }
+
+        public static void calcConvexDecomposition(List<float3> vertices, List<int> indices, ConvexDecompositionCallback callback, float masterVolume, int depth,
+            int maxDepth, float concavePercent, float mergePercent)
+        {
+            float4 plane = new float4();
+            bool split = false;
+
+            if (depth < maxDepth)
+            {
+                float volume = 0f;
+                float c = Concavity.computeConcavity(vertices, indices, ref plane, ref volume);
+
+                if (depth == 0)
+                {
+                    masterVolume = volume;
+                }
+
+                float percent = (c * 100.0f) / masterVolume;
+
+                if (percent > concavePercent) // if great than 5% of the total volume is concave, go ahead and keep splitting.
+                {
+                    split = true;
+                }
+            }
+
+            if (depth >= maxDepth || !split)
+            {
+                HullResult result = new HullResult();
+                HullDesc desc = new HullDesc();
+
+                desc.SetHullFlag(HullFlag.QF_TRIANGLES);
+
+                desc.Vertices = vertices;
+
+                HullError ret = HullUtils.CreateConvexHull(desc, ref result);
+
+                if (ret == HullError.QE_OK)
+                {
+                    ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);
+                    callback(r);
+                }
+
+                return;
+            }
+
+            List<int> ifront = new List<int>();
+            List<int> iback = new List<int>();
+
+            VertexPool vfront = new VertexPool();
+            VertexPool vback = new VertexPool();
+
+            // ok..now we are going to 'split' all of the input triangles against this plane!
+            for (int i = 0; i < indices.Count / 3; i++)
+            {
+                int i1 = indices[i * 3 + 0];
+                int i2 = indices[i * 3 + 1];
+                int i3 = indices[i * 3 + 2];
+
+                FaceTri t = new FaceTri(vertices, i1, i2, i3);
+
+                float3[] front = new float3[4];
+                float3[] back = new float3[4];
+
+                int fcount = 0;
+                int bcount = 0;
+
+                PlaneTriResult result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
+
+                if (fcount > 4 || bcount > 4)
+                {
+                    result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
+                }
+
+                switch (result)
+                {
+                    case PlaneTriResult.PTR_FRONT:
+                        Debug.Assert(fcount == 3);
+                        addTri(vfront, ifront, front[0], front[1], front[2]);
+                        break;
+                    case PlaneTriResult.PTR_BACK:
+                        Debug.Assert(bcount == 3);
+                        addTri(vback, iback, back[0], back[1], back[2]);
+                        break;
+                    case PlaneTriResult.PTR_SPLIT:
+                        Debug.Assert(fcount >= 3 && fcount <= 4);
+                        Debug.Assert(bcount >= 3 && bcount <= 4);
+
+                        addTri(vfront, ifront, front[0], front[1], front[2]);
+                        addTri(vback, iback, back[0], back[1], back[2]);
+
+                        if (fcount == 4)
+                        {
+                            addTri(vfront, ifront, front[0], front[2], front[3]);
+                        }
+
+                        if (bcount == 4)
+                        {
+                            addTri(vback, iback, back[0], back[2], back[3]);
+                        }
+
+                        break;
+                }
+            }
+
+            // ok... here we recursively call
+            if (ifront.Count > 0)
+            {
+                int vcount = vfront.GetSize();
+                List<float3> vertices2 = vfront.GetVertices();
+                for (int i = 0; i < vertices2.Count; i++)
+                    vertices2[i] = new float3(vertices2[i]);
+                int tcount = ifront.Count / 3;
+
+                calcConvexDecomposition(vertices2, ifront, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
+            }
+
+            ifront.Clear();
+            vfront.Clear();
+
+            if (iback.Count > 0)
+            {
+                int vcount = vback.GetSize();
+                List<float3> vertices2 = vback.GetVertices();
+                int tcount = iback.Count / 3;
+
+                calcConvexDecomposition(vertices2, iback, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
+            }
+
+            iback.Clear();
+            vback.Clear();
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexResult.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexResult.cs
new file mode 100644
index 0000000..44e3e50
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexResult.cs
@@ -0,0 +1,74 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class ConvexResult
+    {
+        public List<float3> HullVertices;
+        public List<int> HullIndices;
+
+        public float mHullVolume; // the volume of the convex hull.
+
+        //public float[] OBBSides = new float[3]; // the width, height and breadth of the best fit OBB
+        //public float[] OBBCenter = new float[3]; // the center of the OBB
+        //public float[] OBBOrientation = new float[4]; // the quaternion rotation of the OBB.
+        //public float[] OBBTransform = new float[16]; // the 4x4 transform of the OBB.
+        //public float OBBVolume; // the volume of the OBB
+
+        //public float SphereRadius; // radius and center of best fit sphere
+        //public float[] SphereCenter = new float[3];
+        //public float SphereVolume; // volume of the best fit sphere
+
+        public ConvexResult()
+        {
+            HullVertices = new List<float3>();
+            HullIndices = new List<int>();
+        }
+
+        public ConvexResult(List<float3> hvertices, List<int> hindices)
+        {
+            HullVertices = hvertices;
+            HullIndices = hindices;
+        }
+
+        public ConvexResult(ConvexResult r)
+        {
+            HullVertices = new List<float3>(r.HullVertices);
+            HullIndices = new List<int>(r.HullIndices);
+        }
+
+        public void Dispose()
+        {
+            HullVertices = null;
+            HullIndices = null;
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullClasses.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullClasses.cs
new file mode 100644
index 0000000..8a0164e
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullClasses.cs
@@ -0,0 +1,171 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class HullResult
+    {
+        public bool Polygons = true; // true if indices represents polygons, false indices are triangles
+        public List<float3> OutputVertices = new List<float3>();
+        public List<int> Indices;
+
+        // If triangles, then indices are array indexes into the vertex list.
+        // If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
+    }
+
+    public class PHullResult
+    {
+        public List<float3> Vertices = new List<float3>();
+        public List<int> Indices = new List<int>();
+    }
+
+    [Flags]
+    public enum HullFlag : int
+    {
+        QF_DEFAULT = 0,
+        QF_TRIANGLES = (1 << 0), // report results as triangles, not polygons.
+        QF_SKIN_WIDTH = (1 << 2) // extrude hull based on this skin width
+    }
+
+    public enum HullError : int
+    {
+        QE_OK, // success!
+        QE_FAIL // failed.
+    }
+
+    public class HullDesc
+    {
+        public HullFlag Flags; // flags to use when generating the convex hull.
+        public List<float3> Vertices;
+        public float NormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
+        public float SkinWidth;
+        public uint MaxVertices; // maximum number of vertices to be considered for the hull!
+        public uint MaxFaces;
+
+        public HullDesc()
+        {
+            Flags = HullFlag.QF_DEFAULT;
+            Vertices = new List<float3>();
+            NormalEpsilon = 0.001f;
+            MaxVertices = 4096;
+            MaxFaces = 4096;
+            SkinWidth = 0.01f;
+        }
+
+        public HullDesc(HullFlag flags, List<float3> vertices)
+        {
+            Flags = flags;
+            Vertices = new List<float3>(vertices);
+            NormalEpsilon = 0.001f;
+            MaxVertices = 4096;
+            MaxFaces = 4096;
+            SkinWidth = 0.01f;
+        }
+
+        public bool HasHullFlag(HullFlag flag)
+        {
+            return (Flags & flag) != 0;
+        }
+
+        public void SetHullFlag(HullFlag flag)
+        {
+            Flags |= flag;
+        }
+
+        public void ClearHullFlag(HullFlag flag)
+        {
+            Flags &= ~flag;
+        }
+    }
+
+    public class ConvexH
+    {
+        public struct HalfEdge
+        {
+            public short ea; // the other half of the edge (index into edges list)
+            public byte v; // the vertex at the start of this edge (index into vertices list)
+            public byte p; // the facet on which this edge lies (index into facets list)
+
+            public HalfEdge(short _ea, byte _v, byte _p)
+            {
+                ea = _ea;
+                v = _v;
+                p = _p;
+            }
+
+            public HalfEdge(HalfEdge e)
+            {
+                ea = e.ea;
+                v = e.v;
+                p = e.p;
+            }
+        }
+
+        public List<float3> vertices = new List<float3>();
+        public List<HalfEdge> edges = new List<HalfEdge>();
+        public List<Plane> facets = new List<Plane>();
+
+        public ConvexH(int vertices_size, int edges_size, int facets_size)
+        {
+            vertices = new List<float3>(vertices_size);
+            edges = new List<HalfEdge>(edges_size);
+            facets = new List<Plane>(facets_size);
+        }
+    }
+
+    public class VertFlag
+    {
+        public byte planetest;
+        public byte junk;
+        public byte undermap;
+        public byte overmap;
+    }
+
+    public class EdgeFlag
+    {
+        public byte planetest;
+        public byte fixes;
+        public short undermap;
+        public short overmap;
+    }
+
+    public class PlaneFlag
+    {
+        public byte undermap;
+        public byte overmap;
+    }
+
+    public class Coplanar
+    {
+        public ushort ea;
+        public byte v0;
+        public byte v1;
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullTriangle.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullTriangle.cs
new file mode 100644
index 0000000..d3f0052
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullTriangle.cs
@@ -0,0 +1,99 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class HullTriangle : int3
+    {
+        public int3 n = new int3();
+        public int id;
+        public int vmax;
+        public float rise;
+        private List<HullTriangle> tris;
+
+        public HullTriangle(int a, int b, int c, List<HullTriangle> tris)
+            : base(a, b, c)
+        {
+            this.tris = tris;
+
+            n = new int3(-1, -1, -1);
+            id = tris.Count;
+            tris.Add(this);
+            vmax = -1;
+            rise = 0.0f;
+        }
+
+        public void Dispose()
+        {
+            Debug.Assert(tris[id] == this);
+            tris[id] = null;
+        }
+
+        public int neib(int a, int b)
+        {
+            int i;
+
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                int i2 = (i + 2) % 3;
+                if ((this)[i] == a && (this)[i1] == b)
+                    return n[i2];
+                if ((this)[i] == b && (this)[i1] == a)
+                    return n[i2];
+            }
+
+            Debug.Assert(false);
+            return -1;
+        }
+
+        public void setneib(int a, int b, int value)
+        {
+            int i;
+
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                int i2 = (i + 2) % 3;
+                if ((this)[i] == a && (this)[i1] == b)
+                {
+                    n[i2] = value;
+                    return;
+                }
+                if ((this)[i] == b && (this)[i1] == a)
+                {
+                    n[i2] = value;
+                    return;
+                }
+            }
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs
new file mode 100644
index 0000000..3903254
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs
@@ -0,0 +1,1868 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public static class HullUtils
+    {
+        public static int argmin(float[] a, int n)
+        {
+            int r = 0;
+            for (int i = 1; i < n; i++)
+            {
+                if (a[i] < a[r])
+                {
+                    r = i;
+                }
+            }
+            return r;
+        }
+
+        public static float clampf(float a)
+        {
+            return Math.Min(1.0f, Math.Max(0.0f, a));
+        }
+
+        public static float Round(float a, float precision)
+        {
+            return (float)Math.Floor(0.5f + a / precision) * precision;
+        }
+
+        public static float Interpolate(float f0, float f1, float alpha)
+        {
+            return f0 * (1 - alpha) + f1 * alpha;
+        }
+
+        public static void Swap<T>(ref T a, ref T b)
+        {
+            T tmp = a;
+            a = b;
+            b = tmp;
+        }
+
+        public static bool above(List<float3> vertices, int3 t, float3 p, float epsilon)
+        {
+            float3 vtx = vertices[t.x];
+            float3 n = TriNormal(vtx, vertices[t.y], vertices[t.z]);
+            return (float3.dot(n, p - vtx) > epsilon); // EPSILON???
+        }
+
+        public static int hasedge(int3 t, int a, int b)
+        {
+            for (int i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                if (t[i] == a && t[i1] == b)
+                    return 1;
+            }
+            return 0;
+        }
+
+        public static bool hasvert(int3 t, int v)
+        {
+            return (t[0] == v || t[1] == v || t[2] == v);
+        }
+
+        public static int shareedge(int3 a, int3 b)
+        {
+            int i;
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                if (hasedge(a, b[i1], b[i]) != 0)
+                    return 1;
+            }
+            return 0;
+        }
+
+        public static void b2bfix(HullTriangle s, HullTriangle t, List<HullTriangle> tris)
+        {
+            int i;
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                int i2 = (i + 2) % 3;
+                int a = (s)[i1];
+                int b = (s)[i2];
+                Debug.Assert(tris[s.neib(a, b)].neib(b, a) == s.id);
+                Debug.Assert(tris[t.neib(a, b)].neib(b, a) == t.id);
+                tris[s.neib(a, b)].setneib(b, a, t.neib(b, a));
+                tris[t.neib(b, a)].setneib(a, b, s.neib(a, b));
+            }
+        }
+
+        public static void removeb2b(HullTriangle s, HullTriangle t, List<HullTriangle> tris)
+        {
+            b2bfix(s, t, tris);
+            s.Dispose();
+            t.Dispose();
+        }
+
+        public static void checkit(HullTriangle t, List<HullTriangle> tris)
+        {
+            int i;
+            Debug.Assert(tris[t.id] == t);
+            for (i = 0; i < 3; i++)
+            {
+                int i1 = (i + 1) % 3;
+                int i2 = (i + 2) % 3;
+                int a = (t)[i1];
+                int b = (t)[i2];
+                Debug.Assert(a != b);
+                Debug.Assert(tris[t.n[i]].neib(b, a) == t.id);
+            }
+        }
+
+        public static void extrude(HullTriangle t0, int v, List<HullTriangle> tris)
+        {
+            int3 t = t0;
+            int n = tris.Count;
+            HullTriangle ta = new HullTriangle(v, t[1], t[2], tris);
+            ta.n = new int3(t0.n[0], n + 1, n + 2);
+            tris[t0.n[0]].setneib(t[1], t[2], n + 0);
+            HullTriangle tb = new HullTriangle(v, t[2], t[0], tris);
+            tb.n = new int3(t0.n[1], n + 2, n + 0);
+            tris[t0.n[1]].setneib(t[2], t[0], n + 1);
+            HullTriangle tc = new HullTriangle(v, t[0], t[1], tris);
+            tc.n = new int3(t0.n[2], n + 0, n + 1);
+            tris[t0.n[2]].setneib(t[0], t[1], n + 2);
+            checkit(ta, tris);
+            checkit(tb, tris);
+            checkit(tc, tris);
+            if (hasvert(tris[ta.n[0]], v))
+                removeb2b(ta, tris[ta.n[0]], tris);
+            if (hasvert(tris[tb.n[0]], v))
+                removeb2b(tb, tris[tb.n[0]], tris);
+            if (hasvert(tris[tc.n[0]], v))
+                removeb2b(tc, tris[tc.n[0]], tris);
+            t0.Dispose();
+        }
+
+        public static HullTriangle extrudable(float epsilon, List<HullTriangle> tris)
+        {
+            int i;
+            HullTriangle t = null;
+            for (i = 0; i < tris.Count; i++)
+            {
+                if (t == null || (tris.Count > i && (object)tris[i] != null && t.rise < tris[i].rise))
+                {
+                    t = tris[i];
+                }
+            }
+            return (t.rise > epsilon) ? t : null;
+        }
+
+        public static Quaternion RotationArc(float3 v0, float3 v1)
+        {
+            Quaternion q = new Quaternion();
+            v0 = float3.normalize(v0); // Comment these two lines out if you know its not needed.
+            v1 = float3.normalize(v1); // If vector is already unit length then why do it again?
+            float3 c = float3.cross(v0, v1);
+            float d = float3.dot(v0, v1);
+            if (d <= -1.0f) // 180 about x axis
+            {
+                return new Quaternion(1f, 0f, 0f, 0f);
+            }
+            float s = (float)Math.Sqrt((1 + d) * 2f);
+            q.x = c.x / s;
+            q.y = c.y / s;
+            q.z = c.z / s;
+            q.w = s / 2.0f;
+            return q;
+        }
+
+        public static float3 PlaneLineIntersection(Plane plane, float3 p0, float3 p1)
+        {
+            // returns the point where the line p0-p1 intersects the plane n&d
+            float3 dif = p1 - p0;
+            float dn = float3.dot(plane.normal, dif);
+            float t = -(plane.dist + float3.dot(plane.normal, p0)) / dn;
+            return p0 + (dif * t);
+        }
+
+        public static float3 LineProject(float3 p0, float3 p1, float3 a)
+        {
+            float3 w = new float3();
+            w = p1 - p0;
+            float t = float3.dot(w, (a - p0)) / (w.x * w.x + w.y * w.y + w.z * w.z);
+            return p0 + w * t;
+        }
+
+        public static float3 PlaneProject(Plane plane, float3 point)
+        {
+            return point - plane.normal * (float3.dot(point, plane.normal) + plane.dist);
+        }
+
+        public static float LineProjectTime(float3 p0, float3 p1, float3 a)
+        {
+            float3 w = new float3();
+            w = p1 - p0;
+            float t = float3.dot(w, (a - p0)) / (w.x * w.x + w.y * w.y + w.z * w.z);
+            return t;
+        }
+
+        public static float3 ThreePlaneIntersection(Plane p0, Plane p1, Plane p2)
+        {
+            float3x3 mp = float3x3.Transpose(new float3x3(p0.normal, p1.normal, p2.normal));
+            float3x3 mi = float3x3.Inverse(mp);
+            float3 b = new float3(p0.dist, p1.dist, p2.dist);
+            return -b * mi;
+        }
+
+        public static bool PolyHit(List<float3> vert, float3 v0, float3 v1)
+        {
+            float3 impact = new float3();
+            float3 normal = new float3();
+            return PolyHit(vert, v0, v1, out impact, out normal);
+        }
+
+        public static bool PolyHit(List<float3> vert, float3 v0, float3 v1, out float3 impact)
+        {
+            float3 normal = new float3();
+            return PolyHit(vert, v0, v1, out impact, out normal);
+        }
+
+        public static bool PolyHit(List<float3> vert, float3 v0, float3 v1, out float3 impact, out float3 normal)
+        {
+            float3 the_point = new float3();
+
+            impact = null;
+            normal = null;
+
+            int i;
+            float3 nrml = new float3(0, 0, 0);
+            for (i = 0; i < vert.Count; i++)
+            {
+                int i1 = (i + 1) % vert.Count;
+                int i2 = (i + 2) % vert.Count;
+                nrml = nrml + float3.cross(vert[i1] - vert[i], vert[i2] - vert[i1]);
+            }
+
+            float m = float3.magnitude(nrml);
+            if (m == 0.0)
+            {
+                return false;
+            }
+            nrml = nrml * (1.0f / m);
+            float dist = -float3.dot(nrml, vert[0]);
+            float d0;
+            float d1;
+            if ((d0 = float3.dot(v0, nrml) + dist) < 0 || (d1 = float3.dot(v1, nrml) + dist) > 0)
+            {
+                return false;
+            }
+
+            // By using the cached plane distances d0 and d1
+            // we can optimize the following:
+            //     the_point = planelineintersection(nrml,dist,v0,v1);
+            float a = d0 / (d0 - d1);
+            the_point = v0 * (1 - a) + v1 * a;
+
+
+            bool inside = true;
+            for (int j = 0; inside && j < vert.Count; j++)
+            {
+                // let inside = 0 if outside
+                float3 pp1 = new float3();
+                float3 pp2 = new float3();
+                float3 side = new float3();
+                pp1 = vert[j];
+                pp2 = vert[(j + 1) % vert.Count];
+                side = float3.cross((pp2 - pp1), (the_point - pp1));
+                inside = (float3.dot(nrml, side) >= 0.0);
+            }
+            if (inside)
+            {
+                if (normal != null)
+                {
+                    normal = nrml;
+                }
+                if (impact != null)
+                {
+                    impact = the_point;
+                }
+            }
+            return inside;
+        }
+
+        public static bool BoxInside(float3 p, float3 bmin, float3 bmax)
+        {
+            return (p.x >= bmin.x && p.x <= bmax.x && p.y >= bmin.y && p.y <= bmax.y && p.z >= bmin.z && p.z <= bmax.z);
+        }
+
+        public static bool BoxIntersect(float3 v0, float3 v1, float3 bmin, float3 bmax, float3 impact)
+        {
+            if (BoxInside(v0, bmin, bmax))
+            {
+                impact = v0;
+                return true;
+            }
+            if (v0.x <= bmin.x && v1.x >= bmin.x)
+            {
+                float a = (bmin.x - v0.x) / (v1.x - v0.x);
+                //v.x = bmin.x;
+                float vy = (1 - a) * v0.y + a * v1.y;
+                float vz = (1 - a) * v0.z + a * v1.z;
+                if (vy >= bmin.y && vy <= bmax.y && vz >= bmin.z && vz <= bmax.z)
+                {
+                    impact.x = bmin.x;
+                    impact.y = vy;
+                    impact.z = vz;
+                    return true;
+                }
+            }
+            else if (v0.x >= bmax.x && v1.x <= bmax.x)
+            {
+                float a = (bmax.x - v0.x) / (v1.x - v0.x);
+                //v.x = bmax.x;
+                float vy = (1 - a) * v0.y + a * v1.y;
+                float vz = (1 - a) * v0.z + a * v1.z;
+                if (vy >= bmin.y && vy <= bmax.y && vz >= bmin.z && vz <= bmax.z)
+                {
+                    impact.x = bmax.x;
+                    impact.y = vy;
+                    impact.z = vz;
+                    return true;
+                }
+            }
+            if (v0.y <= bmin.y && v1.y >= bmin.y)
+            {
+                float a = (bmin.y - v0.y) / (v1.y - v0.y);
+                float vx = (1 - a) * v0.x + a * v1.x;
+                //v.y = bmin.y;
+                float vz = (1 - a) * v0.z + a * v1.z;
+                if (vx >= bmin.x && vx <= bmax.x && vz >= bmin.z && vz <= bmax.z)
+                {
+                    impact.x = vx;
+                    impact.y = bmin.y;
+                    impact.z = vz;
+                    return true;
+                }
+            }
+            else if (v0.y >= bmax.y && v1.y <= bmax.y)
+            {
+                float a = (bmax.y - v0.y) / (v1.y - v0.y);
+                float vx = (1 - a) * v0.x + a * v1.x;
+                // vy = bmax.y;
+                float vz = (1 - a) * v0.z + a * v1.z;
+                if (vx >= bmin.x && vx <= bmax.x && vz >= bmin.z && vz <= bmax.z)
+                {
+                    impact.x = vx;
+                    impact.y = bmax.y;
+                    impact.z = vz;
+                    return true;
+                }
+            }
+            if (v0.z <= bmin.z && v1.z >= bmin.z)
+            {
+                float a = (bmin.z - v0.z) / (v1.z - v0.z);
+                float vx = (1 - a) * v0.x + a * v1.x;
+                float vy = (1 - a) * v0.y + a * v1.y;
+                // v.z = bmin.z;
+                if (vy >= bmin.y && vy <= bmax.y && vx >= bmin.x && vx <= bmax.x)
+                {
+                    impact.x = vx;
+                    impact.y = vy;
+                    impact.z = bmin.z;
+                    return true;
+                }
+            }
+            else if (v0.z >= bmax.z && v1.z <= bmax.z)
+            {
+                float a = (bmax.z - v0.z) / (v1.z - v0.z);
+                float vx = (1 - a) * v0.x + a * v1.x;
+                float vy = (1 - a) * v0.y + a * v1.y;
+                // v.z = bmax.z;
+                if (vy >= bmin.y && vy <= bmax.y && vx >= bmin.x && vx <= bmax.x)
+                {
+                    impact.x = vx;
+                    impact.y = vy;
+                    impact.z = bmax.z;
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir, float3 upoint)
+        {
+            return DistanceBetweenLines(ustart, udir, vstart, vdir, upoint, null);
+        }
+
+        public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir)
+        {
+            return DistanceBetweenLines(ustart, udir, vstart, vdir, null, null);
+        }
+
+        public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir, float3 upoint, float3 vpoint)
+        {
+            float3 cp = float3.normalize(float3.cross(udir, vdir));
+
+            float distu = -float3.dot(cp, ustart);
+            float distv = -float3.dot(cp, vstart);
+            float dist = (float)Math.Abs(distu - distv);
+            if (upoint != null)
+            {
+                Plane plane = new Plane();
+                plane.normal = float3.normalize(float3.cross(vdir, cp));
+                plane.dist = -float3.dot(plane.normal, vstart);
+                upoint = PlaneLineIntersection(plane, ustart, ustart + udir);
+            }
+            if (vpoint != null)
+            {
+                Plane plane = new Plane();
+                plane.normal = float3.normalize(float3.cross(udir, cp));
+                plane.dist = -float3.dot(plane.normal, ustart);
+                vpoint = PlaneLineIntersection(plane, vstart, vstart + vdir);
+            }
+            return dist;
+        }
+
+        public static float3 TriNormal(float3 v0, float3 v1, float3 v2)
+        {
+            // return the normal of the triangle
+            // inscribed by v0, v1, and v2
+            float3 cp = float3.cross(v1 - v0, v2 - v1);
+            float m = float3.magnitude(cp);
+            if (m == 0)
+                return new float3(1, 0, 0);
+            return cp * (1.0f / m);
+        }
+
+        public static int PlaneTest(Plane p, float3 v, float planetestepsilon)
+        {
+            float a = float3.dot(v, p.normal) + p.dist;
+            int flag = (a > planetestepsilon) ? (2) : ((a < -planetestepsilon) ? (1) : (0));
+            return flag;
+        }
+
+        public static int SplitTest(ref ConvexH convex, Plane plane, float planetestepsilon)
+        {
+            int flag = 0;
+            for (int i = 0; i < convex.vertices.Count; i++)
+            {
+                flag |= PlaneTest(plane, convex.vertices[i], planetestepsilon);
+            }
+            return flag;
+        }
+
+        public static Quaternion VirtualTrackBall(float3 cop, float3 cor, float3 dir1, float3 dir2)
+        {
+            // routine taken from game programming gems.
+            // Implement track ball functionality to spin stuf on the screen
+            //  cop   center of projection
+            //  cor   center of rotation
+            //  dir1  old mouse direction
+            //  dir2  new mouse direction
+            // pretend there is a sphere around cor.  Then find the points
+            // where dir1 and dir2 intersect that sphere.  Find the
+            // rotation that takes the first point to the second.
+            float m;
+            // compute plane
+            float3 nrml = cor - cop;
+            float fudgefactor = 1.0f / (float3.magnitude(nrml) * 0.25f); // since trackball proportional to distance from cop
+            nrml = float3.normalize(nrml);
+            float dist = -float3.dot(nrml, cor);
+            float3 u = PlaneLineIntersection(new Plane(nrml, dist), cop, cop + dir1);
+            u = u - cor;
+            u = u * fudgefactor;
+            m = float3.magnitude(u);
+            if (m > 1)
+            {
+                u /= m;
+            }
+            else
+            {
+                u = u - (nrml * (float)Math.Sqrt(1 - m * m));
+            }
+            float3 v = PlaneLineIntersection(new Plane(nrml, dist), cop, cop + dir2);
+            v = v - cor;
+            v = v * fudgefactor;
+            m = float3.magnitude(v);
+            if (m > 1)
+            {
+                v /= m;
+            }
+            else
+            {
+                v = v - (nrml * (float)Math.Sqrt(1 - m * m));
+            }
+            return RotationArc(u, v);
+        }
+
+        public static bool AssertIntact(ConvexH convex, float planetestepsilon)
+        {
+            int i;
+            int estart = 0;
+            for (i = 0; i < convex.edges.Count; i++)
+            {
+                if (convex.edges[estart].p != convex.edges[i].p)
+                {
+                    estart = i;
+                }
+                int inext = i + 1;
+                if (inext >= convex.edges.Count || convex.edges[inext].p != convex.edges[i].p)
+                {
+                    inext = estart;
+                }
+                Debug.Assert(convex.edges[inext].p == convex.edges[i].p);
+                int nb = convex.edges[i].ea;
+                Debug.Assert(nb != 255);
+                if (nb == 255 || nb == -1)
+                    return false;
+                Debug.Assert(nb != -1);
+                Debug.Assert(i == convex.edges[nb].ea);
+            }
+            for (i = 0; i < convex.edges.Count; i++)
+            {
+                Debug.Assert((0) == PlaneTest(convex.facets[convex.edges[i].p], convex.vertices[convex.edges[i].v], planetestepsilon));
+                if ((0) != PlaneTest(convex.facets[convex.edges[i].p], convex.vertices[convex.edges[i].v], planetestepsilon))
+                    return false;
+                if (convex.edges[estart].p != convex.edges[i].p)
+                {
+                    estart = i;
+                }
+                int i1 = i + 1;
+                if (i1 >= convex.edges.Count || convex.edges[i1].p != convex.edges[i].p)
+                {
+                    i1 = estart;
+                }
+                int i2 = i1 + 1;
+                if (i2 >= convex.edges.Count || convex.edges[i2].p != convex.edges[i].p)
+                {
+                    i2 = estart;
+                }
+                if (i == i2) // i sliced tangent to an edge and created 2 meaningless edges
+                    continue;
+                float3 localnormal = TriNormal(convex.vertices[convex.edges[i].v], convex.vertices[convex.edges[i1].v], convex.vertices[convex.edges[i2].v]);
+                Debug.Assert(float3.dot(localnormal, convex.facets[convex.edges[i].p].normal) > 0);
+                if (float3.dot(localnormal, convex.facets[convex.edges[i].p].normal) <= 0)
+                    return false;
+            }
+            return true;
+        }
+
+        public static ConvexH test_btbq(float planetestepsilon)
+        {
+            // back to back quads
+            ConvexH convex = new ConvexH(4, 8, 2);
+            convex.vertices[0] = new float3(0, 0, 0);
+            convex.vertices[1] = new float3(1, 0, 0);
+            convex.vertices[2] = new float3(1, 1, 0);
+            convex.vertices[3] = new float3(0, 1, 0);
+            convex.facets[0] = new Plane(new float3(0, 0, 1), 0);
+            convex.facets[1] = new Plane(new float3(0, 0, -1), 0);
+            convex.edges[0] = new ConvexH.HalfEdge(7, 0, 0);
+            convex.edges[1] = new ConvexH.HalfEdge(6, 1, 0);
+            convex.edges[2] = new ConvexH.HalfEdge(5, 2, 0);
+            convex.edges[3] = new ConvexH.HalfEdge(4, 3, 0);
+
+            convex.edges[4] = new ConvexH.HalfEdge(3, 0, 1);
+            convex.edges[5] = new ConvexH.HalfEdge(2, 3, 1);
+            convex.edges[6] = new ConvexH.HalfEdge(1, 2, 1);
+            convex.edges[7] = new ConvexH.HalfEdge(0, 1, 1);
+            AssertIntact(convex, planetestepsilon);
+            return convex;
+        }
+
+        public static ConvexH test_cube()
+        {
+            ConvexH convex = new ConvexH(8, 24, 6);
+            convex.vertices[0] = new float3(0, 0, 0);
+            convex.vertices[1] = new float3(0, 0, 1);
+            convex.vertices[2] = new float3(0, 1, 0);
+            convex.vertices[3] = new float3(0, 1, 1);
+            convex.vertices[4] = new float3(1, 0, 0);
+            convex.vertices[5] = new float3(1, 0, 1);
+            convex.vertices[6] = new float3(1, 1, 0);
+            convex.vertices[7] = new float3(1, 1, 1);
+
+            convex.facets[0] = new Plane(new float3(-1, 0, 0), 0);
+            convex.facets[1] = new Plane(new float3(1, 0, 0), -1);
+            convex.facets[2] = new Plane(new float3(0, -1, 0), 0);
+            convex.facets[3] = new Plane(new float3(0, 1, 0), -1);
+            convex.facets[4] = new Plane(new float3(0, 0, -1), 0);
+            convex.facets[5] = new Plane(new float3(0, 0, 1), -1);
+
+            convex.edges[0] = new ConvexH.HalfEdge(11, 0, 0);
+            convex.edges[1] = new ConvexH.HalfEdge(23, 1, 0);
+            convex.edges[2] = new ConvexH.HalfEdge(15, 3, 0);
+            convex.edges[3] = new ConvexH.HalfEdge(16, 2, 0);
+
+            convex.edges[4] = new ConvexH.HalfEdge(13, 6, 1);
+            convex.edges[5] = new ConvexH.HalfEdge(21, 7, 1);
+            convex.edges[6] = new ConvexH.HalfEdge(9, 5, 1);
+            convex.edges[7] = new ConvexH.HalfEdge(18, 4, 1);
+
+            convex.edges[8] = new ConvexH.HalfEdge(19, 0, 2);
+            convex.edges[9] = new ConvexH.HalfEdge(6, 4, 2);
+            convex.edges[10] = new ConvexH.HalfEdge(20, 5, 2);
+            convex.edges[11] = new ConvexH.HalfEdge(0, 1, 2);
+
+            convex.edges[12] = new ConvexH.HalfEdge(22, 3, 3);
+            convex.edges[13] = new ConvexH.HalfEdge(4, 7, 3);
+            convex.edges[14] = new ConvexH.HalfEdge(17, 6, 3);
+            convex.edges[15] = new ConvexH.HalfEdge(2, 2, 3);
+
+            convex.edges[16] = new ConvexH.HalfEdge(3, 0, 4);
+            convex.edges[17] = new ConvexH.HalfEdge(14, 2, 4);
+            convex.edges[18] = new ConvexH.HalfEdge(7, 6, 4);
+            convex.edges[19] = new ConvexH.HalfEdge(8, 4, 4);
+
+            convex.edges[20] = new ConvexH.HalfEdge(10, 1, 5);
+            convex.edges[21] = new ConvexH.HalfEdge(5, 5, 5);
+            convex.edges[22] = new ConvexH.HalfEdge(12, 7, 5);
+            convex.edges[23] = new ConvexH.HalfEdge(1, 3, 5);
+
+            return convex;
+        }
+
+        public static ConvexH ConvexHMakeCube(float3 bmin, float3 bmax)
+        {
+            ConvexH convex = test_cube();
+            convex.vertices[0] = new float3(bmin.x, bmin.y, bmin.z);
+            convex.vertices[1] = new float3(bmin.x, bmin.y, bmax.z);
+            convex.vertices[2] = new float3(bmin.x, bmax.y, bmin.z);
+            convex.vertices[3] = new float3(bmin.x, bmax.y, bmax.z);
+            convex.vertices[4] = new float3(bmax.x, bmin.y, bmin.z);
+            convex.vertices[5] = new float3(bmax.x, bmin.y, bmax.z);
+            convex.vertices[6] = new float3(bmax.x, bmax.y, bmin.z);
+            convex.vertices[7] = new float3(bmax.x, bmax.y, bmax.z);
+
+            convex.facets[0] = new Plane(new float3(-1, 0, 0), bmin.x);
+            convex.facets[1] = new Plane(new float3(1, 0, 0), -bmax.x);
+            convex.facets[2] = new Plane(new float3(0, -1, 0), bmin.y);
+            convex.facets[3] = new Plane(new float3(0, 1, 0), -bmax.y);
+            convex.facets[4] = new Plane(new float3(0, 0, -1), bmin.z);
+            convex.facets[5] = new Plane(new float3(0, 0, 1), -bmax.z);
+            return convex;
+        }
+
+        public static ConvexH ConvexHCrop(ref ConvexH convex, Plane slice, float planetestepsilon)
+        {
+            int i;
+            int vertcountunder = 0;
+            int vertcountover = 0;
+            List<int> vertscoplanar = new List<int>(); // existing vertex members of convex that are coplanar
+            List<int> edgesplit = new List<int>(); // existing edges that members of convex that cross the splitplane
+
+            Debug.Assert(convex.edges.Count < 480);
+
+            EdgeFlag[] edgeflag = new EdgeFlag[512];
+            VertFlag[] vertflag = new VertFlag[256];
+            PlaneFlag[] planeflag = new PlaneFlag[128];
+            ConvexH.HalfEdge[] tmpunderedges = new ConvexH.HalfEdge[512];
+            Plane[] tmpunderplanes = new Plane[128];
+            Coplanar[] coplanaredges = new Coplanar[512];
+            int coplanaredges_num = 0;
+
+            List<float3> createdverts = new List<float3>();
+
+            // do the side-of-plane tests
+            for (i = 0; i < convex.vertices.Count; i++)
+            {
+                vertflag[i].planetest = (byte)PlaneTest(slice, convex.vertices[i], planetestepsilon);
+                if (vertflag[i].planetest == (0))
+                {
+                    // ? vertscoplanar.Add(i);
+                    vertflag[i].undermap = (byte)vertcountunder++;
+                    vertflag[i].overmap = (byte)vertcountover++;
+                }
+                else if (vertflag[i].planetest == (1))
+                {
+                    vertflag[i].undermap = (byte)vertcountunder++;
+                }
+                else
+                {
+                    Debug.Assert(vertflag[i].planetest == (2));
+                    vertflag[i].overmap = (byte)vertcountover++;
+                    vertflag[i].undermap = 255; // for debugging purposes
+                }
+            }
+            int vertcountunderold = vertcountunder; // for debugging only
+
+            int under_edge_count = 0;
+            int underplanescount = 0;
+            int e0 = 0;
+
+            for (int currentplane = 0; currentplane < convex.facets.Count; currentplane++)
+            {
+                int estart = e0;
+                int enextface = 0;
+                int planeside = 0;
+                int e1 = e0 + 1;
+                int vout = -1;
+                int vin = -1;
+                int coplanaredge = -1;
+                do
+                {
+
+                    if (e1 >= convex.edges.Count || convex.edges[e1].p != currentplane)
+                    {
+                        enextface = e1;
+                        e1 = estart;
+                    }
+                    ConvexH.HalfEdge edge0 = convex.edges[e0];
+                    ConvexH.HalfEdge edge1 = convex.edges[e1];
+                    ConvexH.HalfEdge edgea = convex.edges[edge0.ea];
+
+                    planeside |= vertflag[edge0.v].planetest;
+                    //if((vertflag[edge0.v].planetest & vertflag[edge1.v].planetest)  == COPLANAR) {
+                    //  assert(ecop==-1);
+                    //  ecop=e;
+                    //}
+
+                    if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (2))
+                    {
+                        // both endpoints over plane
+                        edgeflag[e0].undermap = -1;
+                    }
+                    else if ((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == (1))
+                    {
+                        // at least one endpoint under, the other coplanar or under
+
+                        edgeflag[e0].undermap = (short)under_edge_count;
+                        tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
+                        tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                        if (edge0.ea < e0)
+                        {
+                            // connect the neighbors
+                            Debug.Assert(edgeflag[edge0.ea].undermap != -1);
+                            tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap;
+                            tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count;
+                        }
+                        under_edge_count++;
+                    }
+                    else if ((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == (0))
+                    {
+                        // both endpoints coplanar 
+                        // must check a 3rd point to see if UNDER
+                        int e2 = e1 + 1;
+                        if (e2 >= convex.edges.Count || convex.edges[e2].p != currentplane)
+                        {
+                            e2 = estart;
+                        }
+                        Debug.Assert(convex.edges[e2].p == currentplane);
+                        ConvexH.HalfEdge edge2 = convex.edges[e2];
+                        if (vertflag[edge2.v].planetest == (1))
+                        {
+
+                            edgeflag[e0].undermap = (short)under_edge_count;
+                            tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
+                            tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                            tmpunderedges[under_edge_count].ea = -1;
+                            // make sure this edge is added to the "coplanar" list
+                            coplanaredge = under_edge_count;
+                            vout = vertflag[edge0.v].undermap;
+                            vin = vertflag[edge1.v].undermap;
+                            under_edge_count++;
+                        }
+                        else
+                        {
+                            edgeflag[e0].undermap = -1;
+                        }
+                    }
+                    else if (vertflag[edge0.v].planetest == (1) && vertflag[edge1.v].planetest == (2))
+                    {
+                        // first is under 2nd is over 
+
+                        edgeflag[e0].undermap = (short)under_edge_count;
+                        tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
+                        tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                        if (edge0.ea < e0)
+                        {
+                            Debug.Assert(edgeflag[edge0.ea].undermap != -1);
+                            // connect the neighbors
+                            tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap;
+                            tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count;
+                            vout = tmpunderedges[edgeflag[edge0.ea].undermap].v;
+                        }
+                        else
+                        {
+                            Plane p0 = convex.facets[edge0.p];
+                            Plane pa = convex.facets[edgea.p];
+                            createdverts.Add(ThreePlaneIntersection(p0, pa, slice));
+                            //createdverts.Add(PlaneProject(slice,PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v])));
+                            //createdverts.Add(PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v]));
+                            vout = vertcountunder++;
+                        }
+                        under_edge_count++;
+                        /// hmmm something to think about: i might be able to output this edge regarless of 
+                        // wheter or not we know v-in yet.  ok i;ll try this now:
+                        tmpunderedges[under_edge_count].v = (byte)vout;
+                        tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                        tmpunderedges[under_edge_count].ea = -1;
+                        coplanaredge = under_edge_count;
+                        under_edge_count++;
+
+                        if (vin != -1)
+                        {
+                            // we previously processed an edge  where we came under
+                            // now we know about vout as well
+
+                            // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!!
+                        }
+
+                    }
+                    else if (vertflag[edge0.v].planetest == (0) && vertflag[edge1.v].planetest == (2))
+                    {
+                        // first is coplanar 2nd is over 
+
+                        edgeflag[e0].undermap = -1;
+                        vout = vertflag[edge0.v].undermap;
+                        // I hate this but i have to make sure part of this face is UNDER before ouputting this vert
+                        int k = estart;
+                        Debug.Assert(edge0.p == currentplane);
+                        while (!((planeside & 1) != 0) && k < convex.edges.Count && convex.edges[k].p == edge0.p)
+                        {
+                            planeside |= vertflag[convex.edges[k].v].planetest;
+                            k++;
+                        }
+                        if ((planeside & 1) != 0)
+                        {
+                            tmpunderedges[under_edge_count].v = (byte)vout;
+                            tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                            tmpunderedges[under_edge_count].ea = -1;
+                            coplanaredge = under_edge_count; // hmmm should make a note of the edge # for later on
+                            under_edge_count++;
+
+                        }
+                    }
+                    else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (1))
+                    {
+                        // first is over next is under 
+                        // new vertex!!!
+                        Debug.Assert(vin == -1);
+                        if (e0 < edge0.ea)
+                        {
+                            Plane p0 = convex.facets[edge0.p];
+                            Plane pa = convex.facets[edgea.p];
+                            createdverts.Add(ThreePlaneIntersection(p0, pa, slice));
+                            //createdverts.Add(PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v]));
+                            //createdverts.Add(PlaneProject(slice,PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v])));
+                            vin = vertcountunder++;
+                        }
+                        else
+                        {
+                            // find the new vertex that was created by edge[edge0.ea]
+                            int nea = edgeflag[edge0.ea].undermap;
+                            Debug.Assert(tmpunderedges[nea].p == tmpunderedges[nea + 1].p);
+                            vin = tmpunderedges[nea + 1].v;
+                            Debug.Assert(vin < vertcountunder);
+                            Debug.Assert(vin >= vertcountunderold); // for debugging only
+                        }
+                        if (vout != -1)
+                        {
+                            // we previously processed an edge  where we went over
+                            // now we know vin too
+                            // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!!
+                        }
+                        // output edge
+                        tmpunderedges[under_edge_count].v = (byte)vin;
+                        tmpunderedges[under_edge_count].p = (byte)underplanescount;
+                        edgeflag[e0].undermap = (short)under_edge_count;
+                        if (e0 > edge0.ea)
+                        {
+                            Debug.Assert(edgeflag[edge0.ea].undermap != -1);
+                            // connect the neighbors
+                            tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap;
+                            tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count;
+                        }
+                        Debug.Assert(edgeflag[e0].undermap == under_edge_count);
+                        under_edge_count++;
+                    }
+                    else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (0))
+                    {
+                        // first is over next is coplanar 
+
+                        edgeflag[e0].undermap = -1;
+                        vin = vertflag[edge1.v].undermap;
+                        Debug.Assert(vin != -1);
+                        if (vout != -1)
+                        {
+                            // we previously processed an edge  where we came under
+                            // now we know both endpoints
+                            // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!!
+                        }
+
+                    }
+                    else
+                    {
+                        Debug.Assert(false);
+                    }
+
+
+                    e0 = e1;
+                    e1++; // do the modulo at the beginning of the loop
+
+                } while (e0 != estart);
+                e0 = enextface;
+                if ((planeside & 1) != 0)
+                {
+                    planeflag[currentplane].undermap = (byte)underplanescount;
+                    tmpunderplanes[underplanescount] = convex.facets[currentplane];
+                    underplanescount++;
+                }
+                else
+                {
+                    planeflag[currentplane].undermap = 0;
+                }
+                if (vout >= 0 && (planeside & 1) != 0)
+                {
+                    Debug.Assert(vin >= 0);
+                    Debug.Assert(coplanaredge >= 0);
+                    Debug.Assert(coplanaredge != 511);
+                    coplanaredges[coplanaredges_num].ea = (ushort)coplanaredge;
+                    coplanaredges[coplanaredges_num].v0 = (byte)vin;
+                    coplanaredges[coplanaredges_num].v1 = (byte)vout;
+                    coplanaredges_num++;
+                }
+            }
+
+            // add the new plane to the mix:
+            if (coplanaredges_num > 0)
+            {
+                tmpunderplanes[underplanescount++] = slice;
+            }
+            for (i = 0; i < coplanaredges_num - 1; i++)
+            {
+                if (coplanaredges[i].v1 != coplanaredges[i + 1].v0)
+                {
+                    int j = 0;
+                    for (j = i + 2; j < coplanaredges_num; j++)
+                    {
+                        if (coplanaredges[i].v1 == coplanaredges[j].v0)
+                        {
+                            Coplanar tmp = coplanaredges[i + 1];
+                            coplanaredges[i + 1] = coplanaredges[j];
+                            coplanaredges[j] = tmp;
+                            break;
+                        }
+                    }
+                    if (j >= coplanaredges_num)
+                    {
+                        Debug.Assert(j < coplanaredges_num);
+                        return null;
+                    }
+                }
+            }
+
+            ConvexH punder = new ConvexH(vertcountunder, under_edge_count + coplanaredges_num, underplanescount);
+            ConvexH under = punder;
+
+            {
+                int k = 0;
+                for (i = 0; i < convex.vertices.Count; i++)
+                {
+                    if (vertflag[i].planetest != (2))
+                    {
+                        under.vertices[k++] = convex.vertices[i];
+                    }
+                }
+                i = 0;
+                while (k < vertcountunder)
+                {
+                    under.vertices[k++] = createdverts[i++];
+                }
+                Debug.Assert(i == createdverts.Count);
+            }
+
+            for (i = 0; i < coplanaredges_num; i++)
+            {
+                ConvexH.HalfEdge edge = under.edges[under_edge_count + i];
+                edge.p = (byte)(underplanescount - 1);
+                edge.ea = (short)coplanaredges[i].ea;
+                edge.v = (byte)coplanaredges[i].v0;
+                under.edges[under_edge_count + i] = edge;
+
+                tmpunderedges[coplanaredges[i].ea].ea = (short)(under_edge_count + i);
+            }
+
+            under.edges = new List<ConvexH.HalfEdge>(tmpunderedges);
+            under.facets = new List<Plane>(tmpunderplanes);
+            return punder;
+        }
+
+        public static ConvexH ConvexHDup(ConvexH src)
+        {
+            ConvexH dst = new ConvexH(src.vertices.Count, src.edges.Count, src.facets.Count);
+            dst.vertices = new List<float3>(src.vertices.Count);
+            foreach (float3 f in src.vertices)
+                dst.vertices.Add(new float3(f));
+            dst.edges = new List<ConvexH.HalfEdge>(src.edges.Count);
+            foreach (ConvexH.HalfEdge e in src.edges)
+                dst.edges.Add(new ConvexH.HalfEdge(e));
+            dst.facets = new List<Plane>(src.facets.Count);
+            foreach (Plane p in src.facets)
+                dst.facets.Add(new Plane(p));
+            return dst;
+        }
+
+        public static int candidateplane(List<Plane> planes, int planes_count, ConvexH convex, float epsilon)
+        {
+            int p = 0;
+            float md = 0;
+            int i;
+            for (i = 0; i < planes_count; i++)
+            {
+                float d = 0;
+                for (int j = 0; j < convex.vertices.Count; j++)
+                {
+                    d = Math.Max(d, float3.dot(convex.vertices[j], planes[i].normal) + planes[i].dist);
+                }
+                if (i == 0 || d > md)
+                {
+                    p = i;
+                    md = d;
+                }
+            }
+            return (md > epsilon) ? p : -1;
+        }
+
+        public static float3 orth(float3 v)
+        {
+            float3 a = float3.cross(v, new float3(0f, 0f, 1f));
+            float3 b = float3.cross(v, new float3(0f, 1f, 0f));
+            return float3.normalize((float3.magnitude(a) > float3.magnitude(b)) ? a : b);
+        }
+
+        public static int maxdir(List<float3> p, int count, float3 dir)
+        {
+            Debug.Assert(count != 0);
+            int m = 0;
+            float currDotm = float3.dot(p[0], dir);
+            for (int i = 1; i < count; i++)
+            {
+                float currDoti = float3.dot(p[i], dir);
+                if (currDoti > currDotm)
+                {
+                    currDotm = currDoti;
+                    m = i;
+                }
+            }
+            return m;
+        }
+
+        public static int maxdirfiltered(List<float3> p, int count, float3 dir, byte[] allow)
+        {
+            //Debug.Assert(count != 0);
+            int m = 0;
+            float currDotm = float3.dot(p[0], dir);
+            float currDoti;
+
+            while (allow[m] == 0)
+                m++;
+
+            for (int i = 1; i < count; i++)
+            {
+                if (allow[i] != 0)
+                {
+                    currDoti = float3.dot(p[i], dir);
+                    if (currDoti > currDotm)
+                    {
+                        currDotm = currDoti;
+                        m = i;
+                    }
+                }
+            }
+            //Debug.Assert(m != -1);
+            return m;
+        }
+
+        public static int maxdirsterid(List<float3> p, int count, float3 dir, byte[] allow)
+        {
+            int m = -1;
+            while (m == -1)
+            {
+                m = maxdirfiltered(p, count, dir, allow);
+                if (allow[m] == 3)
+                    return m;
+                float3 u = orth(dir);
+                float3 v = float3.cross(u, dir);
+                int ma = -1;
+                for (float x = 0.0f; x <= 360.0f; x += 45.0f)
+                {
+                    int mb;
+                    {
+                        float s = (float)Math.Sin((3.14159264f / 180.0f) * (x));
+                        float c = (float)Math.Cos((3.14159264f / 180.0f) * (x));
+                        mb = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow);
+                    }
+                    if (ma == m && mb == m)
+                    {
+                        allow[m] = 3;
+                        return m;
+                    }
+                    if (ma != -1 && ma != mb) // Yuck - this is really ugly
+                    {
+                        int mc = ma;
+                        for (float xx = x - 40.0f; xx <= x; xx += 5.0f)
+                        {
+                            float s = (float)Math.Sin((3.14159264f / 180.0f) * (xx));
+                            float c = (float)Math.Cos((3.14159264f / 180.0f) * (xx));
+                            int md = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow);
+                            if (mc == m && md == m)
+                            {
+                                allow[m] = 3;
+                                return m;
+                            }
+                            mc = md;
+                        }
+                    }
+                    ma = mb;
+                }
+                allow[m] = 0;
+                m = -1;
+            }
+
+            Debug.Assert(false);
+            return m;
+        }
+
+        public static int4 FindSimplex(List<float3> verts, byte[] allow)
+        {
+            float3[] basis = new float3[3];
+            basis[0] = new float3(0.01f, 0.02f, 1.0f);
+            int p0 = maxdirsterid(verts, verts.Count, basis[0], allow);
+            int p1 = maxdirsterid(verts, verts.Count, -basis[0], allow);
+            basis[0] = verts[p0] - verts[p1];
+            if (p0 == p1 || basis[0] == new float3(0, 0, 0))
+                return new int4(-1, -1, -1, -1);
+            basis[1] = float3.cross(new float3(1, 0.02f, 0), basis[0]);
+            basis[2] = float3.cross(new float3(-0.02f, 1, 0), basis[0]);
+            basis[1] = float3.normalize((float3.magnitude(basis[1]) > float3.magnitude(basis[2])) ? basis[1] : basis[2]);
+            int p2 = maxdirsterid(verts, verts.Count, basis[1], allow);
+            if (p2 == p0 || p2 == p1)
+            {
+                p2 = maxdirsterid(verts, verts.Count, -basis[1], allow);
+            }
+            if (p2 == p0 || p2 == p1)
+                return new int4(-1, -1, -1, -1);
+            basis[1] = verts[p2] - verts[p0];
+            basis[2] = float3.normalize(float3.cross(basis[1], basis[0]));
+            int p3 = maxdirsterid(verts, verts.Count, basis[2], allow);
+            if (p3 == p0 || p3 == p1 || p3 == p2)
+                p3 = maxdirsterid(verts, verts.Count, -basis[2], allow);
+            if (p3 == p0 || p3 == p1 || p3 == p2)
+                return new int4(-1, -1, -1, -1);
+            Debug.Assert(!(p0 == p1 || p0 == p2 || p0 == p3 || p1 == p2 || p1 == p3 || p2 == p3));
+            if (float3.dot(verts[p3] - verts[p0], float3.cross(verts[p1] - verts[p0], verts[p2] - verts[p0])) < 0)
+            {
+                Swap(ref p2, ref p3);
+            }
+            return new int4(p0, p1, p2, p3);
+        }
+
+        public static float GetDist(float px, float py, float pz, float3 p2)
+        {
+            float dx = px - p2.x;
+            float dy = py - p2.y;
+            float dz = pz - p2.z;
+
+            return dx * dx + dy * dy + dz * dz;
+        }
+
+        public static void ReleaseHull(PHullResult result)
+        {
+            if (result.Indices != null)
+                result.Indices = null;
+            if (result.Vertices != null)
+                result.Vertices = null;
+        }
+
+        public static int calchullgen(List<float3> verts, int vlimit, List<HullTriangle> tris)
+        {
+            if (verts.Count < 4)
+                return 0;
+            if (vlimit == 0)
+                vlimit = 1000000000;
+            int j;
+            float3 bmin = new float3(verts[0]);
+            float3 bmax = new float3(verts[0]);
+            List<int> isextreme = new List<int>(verts.Count);
+            byte[] allow = new byte[verts.Count];
+            for (j = 0; j < verts.Count; j++)
+            {
+                allow[j] = 1;
+                isextreme.Add(0);
+                bmin = float3.VectorMin(bmin, verts[j]);
+                bmax = float3.VectorMax(bmax, verts[j]);
+            }
+            float epsilon = float3.magnitude(bmax - bmin) * 0.001f;
+
+            int4 p = FindSimplex(verts, allow);
+            if (p.x == -1) // simplex failed
+                return 0;
+
+            float3 center = (verts[p[0]] + verts[p[1]] + verts[p[2]] + verts[p[3]]) / 4.0f; // a valid interior point
+            HullTriangle t0 = new HullTriangle(p[2], p[3], p[1], tris);
+            t0.n = new int3(2, 3, 1);
+            HullTriangle t1 = new HullTriangle(p[3], p[2], p[0], tris);
+            t1.n = new int3(3, 2, 0);
+            HullTriangle t2 = new HullTriangle(p[0], p[1], p[3], tris);
+            t2.n = new int3(0, 1, 3);
+            HullTriangle t3 = new HullTriangle(p[1], p[0], p[2], tris);
+            t3.n = new int3(1, 0, 2);
+            isextreme[p[0]] = isextreme[p[1]] = isextreme[p[2]] = isextreme[p[3]] = 1;
+            checkit(t0, tris);
+            checkit(t1, tris);
+            checkit(t2, tris);
+            checkit(t3, tris);
+
+            for (j = 0; j < tris.Count; j++)
+            {
+                HullTriangle t = tris[j];
+                Debug.Assert((object)t != null);
+                Debug.Assert(t.vmax < 0);
+                float3 n = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]);
+                t.vmax = maxdirsterid(verts, verts.Count, n, allow);
+                t.rise = float3.dot(n, verts[t.vmax] - verts[(t)[0]]);
+            }
+            HullTriangle te;
+            vlimit -= 4;
+            while (vlimit > 0 && (te = extrudable(epsilon, tris)) != null)
+            {
+                int3 ti = te;
+                int v = te.vmax;
+                Debug.Assert(isextreme[v] == 0); // wtf we've already done this vertex
+                isextreme[v] = 1;
+                //if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already
+                j = tris.Count;
+                while (j-- != 0)
+                {
+                    if (tris.Count <= j || (object)tris[j] == null)
+                        continue;
+                    int3 t = tris[j];
+                    if (above(verts, t, verts[v], 0.01f * epsilon))
+                    {
+                        extrude(tris[j], v, tris);
+                    }
+                }
+                // now check for those degenerate cases where we have a flipped triangle or a really skinny triangle
+                j = tris.Count;
+                while (j-- != 0)
+                {
+                    if (tris.Count <= j || (object)tris[j] == null)
+                        continue;
+                    if (!hasvert(tris[j], v))
+                        break;
+                    int3 nt = tris[j];
+                    if (above(verts, nt, center, 0.01f * epsilon) || float3.magnitude(float3.cross(verts[nt[1]] - verts[nt[0]], verts[nt[2]] - verts[nt[1]])) < epsilon * epsilon * 0.1f)
+                    {
+                        HullTriangle nb = tris[tris[j].n[0]];
+                        Debug.Assert(nb != null);
+                        Debug.Assert(!hasvert(nb, v));
+                        Debug.Assert(nb.id < j);
+                        extrude(nb, v, tris);
+                        j = tris.Count;
+                    }
+                }
+                j = tris.Count;
+                while (j-- != 0)
+                {
+                    HullTriangle t = tris[j];
+                    if (t == null)
+                        continue;
+                    if (t.vmax >= 0)
+                        break;
+                    float3 n = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]);
+                    t.vmax = maxdirsterid(verts, verts.Count, n, allow);
+                    if (isextreme[t.vmax] != 0)
+                    {
+                        t.vmax = -1; // already done that vertex - algorithm needs to be able to terminate.
+                    }
+                    else
+                    {
+                        t.rise = float3.dot(n, verts[t.vmax] - verts[(t)[0]]);
+                    }
+                }
+                vlimit--;
+            }
+            return 1;
+        }
+
+        public static bool calchull(List<float3> verts, out List<int> tris_out, int vlimit, List<HullTriangle> tris)
+        {
+            tris_out = null;
+
+            int rc = calchullgen(verts, vlimit, tris);
+            if (rc == 0)
+                return false;
+            List<int> ts = new List<int>();
+            for (int i = 0; i < tris.Count; i++)
+            {
+                if ((object)tris[i] != null)
+                {
+                    for (int j = 0; j < 3; j++)
+                        ts.Add((tris[i])[j]);
+                    tris[i] = null;
+                }
+            }
+
+            tris_out = ts;
+            tris.Clear();
+            return true;
+        }
+
+        public static int calchullpbev(List<float3> verts, int vlimit, out List<Plane> planes, float bevangle, List<HullTriangle> tris)
+        {
+            int i;
+            int j;
+            planes = new List<Plane>();
+            int rc = calchullgen(verts, vlimit, tris);
+            if (rc == 0)
+                return 0;
+            for (i = 0; i < tris.Count; i++)
+            {
+                if (tris[i] != null)
+                {
+                    Plane p = new Plane();
+                    HullTriangle t = tris[i];
+                    p.normal = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]);
+                    p.dist = -float3.dot(p.normal, verts[(t)[0]]);
+                    planes.Add(p);
+                    for (j = 0; j < 3; j++)
+                    {
+                        if (t.n[j] < t.id)
+                            continue;
+                        HullTriangle s = tris[t.n[j]];
+                        float3 snormal = TriNormal(verts[(s)[0]], verts[(s)[1]], verts[(s)[2]]);
+                        if (float3.dot(snormal, p.normal) >= Math.Cos(bevangle * (3.14159264f / 180.0f)))
+                            continue;
+                        float3 n = float3.normalize(snormal + p.normal);
+                        planes.Add(new Plane(n, -float3.dot(n, verts[maxdir(verts, verts.Count, n)])));
+                    }
+                }
+            }
+
+            tris.Clear();
+            return 1;
+        }
+
+        public static int overhull(List<Plane> planes, List<float3> verts, int maxplanes, out List<float3> verts_out, out List<int> faces_out, float inflate)
+        {
+            verts_out = null;
+            faces_out = null;
+
+            int i;
+            int j;
+            if (verts.Count < 4)
+                return 0;
+            maxplanes = Math.Min(maxplanes, planes.Count);
+            float3 bmin = new float3(verts[0]);
+            float3 bmax = new float3(verts[0]);
+            for (i = 0; i < verts.Count; i++)
+            {
+                bmin = float3.VectorMin(bmin, verts[i]);
+                bmax = float3.VectorMax(bmax, verts[i]);
+            }
+            //  float diameter = magnitude(bmax-bmin);
+            //  inflate *=diameter;   // RELATIVE INFLATION
+            bmin -= new float3(inflate, inflate, inflate);
+            bmax += new float3(inflate, inflate, inflate);
+            for (i = 0; i < planes.Count; i++)
+            {
+                planes[i].dist -= inflate;
+            }
+            float3 emin = new float3(bmin);
+            float3 emax = new float3(bmax);
+            float epsilon = float3.magnitude(emax - emin) * 0.025f;
+            float planetestepsilon = float3.magnitude(emax - emin) * (0.001f);
+            // todo: add bounding cube planes to force bevel. or try instead not adding the diameter expansion ??? must think.
+            // ConvexH *convex = ConvexHMakeCube(bmin - float3(diameter,diameter,diameter),bmax+float3(diameter,diameter,diameter));
+            ConvexH c = ConvexHMakeCube(new float3(bmin), new float3(bmax));
+            int k;
+            while (maxplanes-- != 0 && (k = candidateplane(planes, planes.Count, c, epsilon)) >= 0)
+            {
+                ConvexH tmp = c;
+                c = ConvexHCrop(ref tmp, planes[k], planetestepsilon);
+                if (c == null) // might want to debug this case better!!!
+                {
+                    c = tmp;
+                    break;
+                }
+                if (AssertIntact(c, planetestepsilon) == false) // might want to debug this case better too!!!
+                {
+                    c = tmp;
+                    break;
+                }
+                tmp.edges = null;
+                tmp.facets = null;
+                tmp.vertices = null;
+            }
+
+            Debug.Assert(AssertIntact(c, planetestepsilon));
+            //return c;
+            //C++ TO C# CONVERTER TODO TASK: The memory management function 'malloc' has no equivalent in C#:
+            faces_out = new List<int>(); //(int)malloc(sizeof(int) * (1 + c.facets.Count + c.edges.Count)); // new int[1+c->facets.count+c->edges.count];
+            int faces_count_out = 0;
+            i = 0;
+            faces_out[faces_count_out++] = -1;
+            k = 0;
+            while (i < c.edges.Count)
+            {
+                j = 1;
+                while (j + i < c.edges.Count && c.edges[i].p == c.edges[i + j].p)
+                {
+                    j++;
+                }
+                faces_out[faces_count_out++] = j;
+                while (j-- != 0)
+                {
+                    faces_out[faces_count_out++] = c.edges[i].v;
+                    i++;
+                }
+                k++;
+            }
+            faces_out[0] = k; // number of faces.
+            Debug.Assert(k == c.facets.Count);
+            Debug.Assert(faces_count_out == 1 + c.facets.Count + c.edges.Count);
+            verts_out = c.vertices; // new float3[c->vertices.count];
+            int verts_count_out = c.vertices.Count;
+            for (i = 0; i < c.vertices.Count; i++)
+            {
+                verts_out[i] = new float3(c.vertices[i]);
+            }
+
+            c.edges = null;
+            c.facets = null;
+            c.vertices = null;
+            return 1;
+        }
+
+        public static int overhullv(List<float3> verts, int maxplanes, out List<float3> verts_out, out List<int> faces_out, float inflate, float bevangle, int vlimit, List<HullTriangle> tris)
+        {
+            verts_out = null;
+            faces_out = null;
+
+            if (verts.Count == 0)
+                return 0;
+            List<Plane> planes = new List<Plane>();
+            int rc = calchullpbev(verts, vlimit, out planes, bevangle, tris);
+            if (rc == 0)
+                return 0;
+            return overhull(planes, verts, maxplanes, out verts_out, out faces_out, inflate);
+        }
+
+        public static void addPoint(ref uint vcount, List<float3> p, float x, float y, float z)
+        {
+            p.Add(new float3(x, y, z));
+            vcount++;
+        }
+
+        public static bool ComputeHull(List<float3> vertices, ref PHullResult result, int vlimit, float inflate)
+        {
+            List<HullTriangle> tris = new List<HullTriangle>();
+            List<int> faces;
+            List<float3> verts_out;
+
+            if (inflate == 0.0f)
+            {
+                List<int> tris_out;
+                bool ret = calchull(vertices, out tris_out, vlimit, tris);
+                if (ret == false)
+                    return false;
+
+                result.Indices = tris_out;
+                result.Vertices = vertices;
+                return true;
+            }
+            else
+            {
+                int ret = overhullv(vertices, 35, out verts_out, out faces, inflate, 120.0f, vlimit, tris);
+                if (ret == 0)
+                    return false;
+
+                List<int3> tris2 = new List<int3>();
+                int n = faces[0];
+                int k = 1;
+                for (int i = 0; i < n; i++)
+                {
+                    int pn = faces[k++];
+                    for (int j = 2; j < pn; j++)
+                        tris2.Add(new int3(faces[k], faces[k + j - 1], faces[k + j]));
+                    k += pn;
+                }
+                Debug.Assert(tris2.Count == faces.Count - 1 - (n * 3));
+
+                result.Indices = new List<int>(tris2.Count * 3);
+                for (int i = 0; i < tris2.Count; i++)
+                {
+                    result.Indices.Add(tris2[i].x);
+                    result.Indices.Add(tris2[i].y);
+                    result.Indices.Add(tris2[i].z);
+                }
+                result.Vertices = verts_out;
+
+                return true;
+            }
+        }
+
+        private static bool CleanupVertices(List<float3> svertices, out List<float3> vertices, float normalepsilon, out float3 scale)
+        {
+            const float EPSILON = 0.000001f;
+
+            vertices = new List<float3>();
+            scale = new float3(1f, 1f, 1f);
+
+            if (svertices.Count == 0)
+                return false;
+
+            uint vcount = 0;
+
+            float[] recip = new float[3];
+
+            float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
+            float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue };
+
+            for (int i = 0; i < svertices.Count; i++)
+            {
+                float3 p = svertices[i];
+
+                for (int j = 0; j < 3; j++)
+                {
+                    if (p[j] < bmin[j])
+                        bmin[j] = p[j];
+                    if (p[j] > bmax[j])
+                        bmax[j] = p[j];
+                }
+            }
+
+            float dx = bmax[0] - bmin[0];
+            float dy = bmax[1] - bmin[1];
+            float dz = bmax[2] - bmin[2];
+
+            float3 center = new float3();
+
+            center.x = dx * 0.5f + bmin[0];
+            center.y = dy * 0.5f + bmin[1];
+            center.z = dz * 0.5f + bmin[2];
+
+            if (dx < EPSILON || dy < EPSILON || dz < EPSILON || svertices.Count < 3)
+            {
+                float len = Single.MaxValue;
+
+                if (dx > EPSILON && dx < len)
+                    len = dx;
+                if (dy > EPSILON && dy < len)
+                    len = dy;
+                if (dz > EPSILON && dz < len)
+                    len = dz;
+
+                if (len == Single.MaxValue)
+                {
+                    dx = dy = dz = 0.01f; // one centimeter
+                }
+                else
+                {
+                    if (dx < EPSILON) // 1/5th the shortest non-zero edge.
+                        dx = len * 0.05f;
+                    if (dy < EPSILON)
+                        dy = len * 0.05f;
+                    if (dz < EPSILON)
+                        dz = len * 0.05f;
+                }
+
+                float x1 = center[0] - dx;
+                float x2 = center[0] + dx;
+
+                float y1 = center[1] - dy;
+                float y2 = center[1] + dy;
+
+                float z1 = center[2] - dz;
+                float z2 = center[2] + dz;
+
+                addPoint(ref vcount, vertices, x1, y1, z1);
+                addPoint(ref vcount, vertices, x2, y1, z1);
+                addPoint(ref vcount, vertices, x2, y2, z1);
+                addPoint(ref vcount, vertices, x1, y2, z1);
+                addPoint(ref vcount, vertices, x1, y1, z2);
+                addPoint(ref vcount, vertices, x2, y1, z2);
+                addPoint(ref vcount, vertices, x2, y2, z2);
+                addPoint(ref vcount, vertices, x1, y2, z2);
+
+                return true; // return cube     
+            }
+            else
+            {
+                scale.x = dx;
+                scale.y = dy;
+                scale.z = dz;
+
+                recip[0] = 1f / dx;
+                recip[1] = 1f / dy;
+                recip[2] = 1f / dz;
+
+                center.x *= recip[0];
+                center.y *= recip[1];
+                center.z *= recip[2];
+            }
+
+            for (int i = 0; i < svertices.Count; i++)
+            {
+                float3 p = svertices[i];
+
+                float px = p[0];
+                float py = p[1];
+                float pz = p[2];
+
+                px = px * recip[0]; // normalize
+                py = py * recip[1]; // normalize
+                pz = pz * recip[2]; // normalize
+
+                if (true)
+                {
+                    int j;
+
+                    for (j = 0; j < vcount; j++)
+                    {
+                        float3 v = vertices[j];
+
+                        float x = v[0];
+                        float y = v[1];
+                        float z = v[2];
+
+                        float dx1 = Math.Abs(x - px);
+                        float dy1 = Math.Abs(y - py);
+                        float dz1 = Math.Abs(z - pz);
+
+                        if (dx1 < normalepsilon && dy1 < normalepsilon && dz1 < normalepsilon)
+                        {
+                            // ok, it is close enough to the old one
+                            // now let us see if it is further from the center of the point cloud than the one we already recorded.
+                            // in which case we keep this one instead.
+                            float dist1 = GetDist(px, py, pz, center);
+                            float dist2 = GetDist(v[0], v[1], v[2], center);
+
+                            if (dist1 > dist2)
+                            {
+                                v.x = px;
+                                v.y = py;
+                                v.z = pz;
+                            }
+
+                            break;
+                        }
+                    }
+
+                    if (j == vcount)
+                    {
+                        float3 dest = new float3(px, py, pz);
+                        vertices.Add(dest);
+                        vcount++;
+                    }
+                }
+            }
+
+            // ok..now make sure we didn't prune so many vertices it is now invalid.
+            if (true)
+            {
+                float[] bmin2 = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
+                float[] bmax2 = { Single.MinValue, Single.MinValue, Single.MinValue };
+
+                for (int i = 0; i < vcount; i++)
+                {
+                    float3 p = vertices[i];
+                    for (int j = 0; j < 3; j++)
+                    {
+                        if (p[j] < bmin2[j])
+                            bmin2[j] = p[j];
+                        if (p[j] > bmax2[j])
+                            bmax2[j] = p[j];
+                    }
+                }
+
+                float dx2 = bmax2[0] - bmin2[0];
+                float dy2 = bmax2[1] - bmin2[1];
+                float dz2 = bmax2[2] - bmin2[2];
+
+                if (dx2 < EPSILON || dy2 < EPSILON || dz2 < EPSILON || vcount < 3)
+                {
+                    float cx = dx2 * 0.5f + bmin2[0];
+                    float cy = dy2 * 0.5f + bmin2[1];
+                    float cz = dz2 * 0.5f + bmin2[2];
+
+                    float len = Single.MaxValue;
+
+                    if (dx2 >= EPSILON && dx2 < len)
+                        len = dx2;
+                    if (dy2 >= EPSILON && dy2 < len)
+                        len = dy2;
+                    if (dz2 >= EPSILON && dz2 < len)
+                        len = dz2;
+
+                    if (len == Single.MaxValue)
+                    {
+                        dx2 = dy2 = dz2 = 0.01f; // one centimeter
+                    }
+                    else
+                    {
+                        if (dx2 < EPSILON) // 1/5th the shortest non-zero edge.
+                            dx2 = len * 0.05f;
+                        if (dy2 < EPSILON)
+                            dy2 = len * 0.05f;
+                        if (dz2 < EPSILON)
+                            dz2 = len * 0.05f;
+                    }
+
+                    float x1 = cx - dx2;
+                    float x2 = cx + dx2;
+
+                    float y1 = cy - dy2;
+                    float y2 = cy + dy2;
+
+                    float z1 = cz - dz2;
+                    float z2 = cz + dz2;
+
+                    vcount = 0; // add box
+
+                    addPoint(ref vcount, vertices, x1, y1, z1);
+                    addPoint(ref vcount, vertices, x2, y1, z1);
+                    addPoint(ref vcount, vertices, x2, y2, z1);
+                    addPoint(ref vcount, vertices, x1, y2, z1);
+                    addPoint(ref vcount, vertices, x1, y1, z2);
+                    addPoint(ref vcount, vertices, x2, y1, z2);
+                    addPoint(ref vcount, vertices, x2, y2, z2);
+                    addPoint(ref vcount, vertices, x1, y2, z2);
+
+                    return true;
+                }
+            }
+
+            return true;
+        }
+
+        private static void BringOutYourDead(List<float3> verts, out List<float3> overts, List<int> indices)
+        {
+            int[] used = new int[verts.Count];
+            int ocount = 0;
+
+            overts = new List<float3>();
+
+            for (int i = 0; i < indices.Count; i++)
+            {
+                int v = indices[i]; // original array index
+
+                Debug.Assert(v >= 0 && v < verts.Count);
+
+                if (used[v] != 0) // if already remapped
+                {
+                    indices[i] = used[v] - 1; // index to new array
+                }
+                else
+                {
+                    indices[i] = ocount; // new index mapping
+
+                    overts.Add(verts[v]); // copy old vert to new vert array
+
+                    ocount++; // increment output vert count
+
+                    Debug.Assert(ocount >= 0 && ocount <= verts.Count);
+
+                    used[v] = ocount; // assign new index remapping
+                }
+            }
+        }
+
+        public static HullError CreateConvexHull(HullDesc desc, ref HullResult result)
+        {
+            HullError ret = HullError.QE_FAIL;
+
+            PHullResult hr = new PHullResult();
+
+            uint vcount = (uint)desc.Vertices.Count;
+            if (vcount < 8)
+                vcount = 8;
+
+            List<float3> vsource;
+            float3 scale = new float3();
+
+            bool ok = CleanupVertices(desc.Vertices, out vsource, desc.NormalEpsilon, out scale); // normalize point cloud, remove duplicates!
+
+            if (ok)
+            {
+                if (true) // scale vertices back to their original size.
+                {
+                    for (int i = 0; i < vsource.Count; i++)
+                    {
+                        float3 v = vsource[i];
+                        v.x *= scale[0];
+                        v.y *= scale[1];
+                        v.z *= scale[2];
+                    }
+                }
+
+                float skinwidth = 0;
+                if (desc.HasHullFlag(HullFlag.QF_SKIN_WIDTH))
+                    skinwidth = desc.SkinWidth;
+
+                ok = ComputeHull(vsource, ref hr, (int)desc.MaxVertices, skinwidth);
+
+                if (ok)
+                {
+                    List<float3> vscratch;
+                    BringOutYourDead(hr.Vertices, out vscratch, hr.Indices);
+
+                    ret = HullError.QE_OK;
+
+                    if (desc.HasHullFlag(HullFlag.QF_TRIANGLES)) // if he wants the results as triangle!
+                    {
+                        result.Polygons = false;
+                        result.Indices = hr.Indices;
+                        result.OutputVertices = vscratch;
+                    }
+                    else
+                    {
+                        result.Polygons = true;
+                        result.OutputVertices = vscratch;
+
+                        if (true)
+                        {
+                            List<int> source = hr.Indices;
+                            List<int> dest = new List<int>();
+                            for (int i = 0; i < hr.Indices.Count / 3; i++)
+                            {
+                                dest.Add(3);
+                                dest.Add(source[i * 3 + 0]);
+                                dest.Add(source[i * 3 + 1]);
+                                dest.Add(source[i * 3 + 2]);
+                            }
+
+                            result.Indices = dest;
+                        }
+                    }
+                }
+            }
+
+            return ret;
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/LICENSE.txt b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/LICENSE.txt
new file mode 100644
index 0000000..714ae89
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/LICENSE.txt
@@ -0,0 +1,28 @@
+ConvexDecompositionDotNet
+-------------------------
+
+The MIT License
+
+Copyright (c) 2010 Intel Corporation.
+All rights reserved.
+
+Based on the convexdecomposition library from 
+<http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Plane.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Plane.cs
new file mode 100644
index 0000000..da9ae0c
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Plane.cs
@@ -0,0 +1,99 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class Plane
+    {
+        public float3 normal = new float3();
+        public float dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0
+
+        public Plane(float3 n, float d)
+        {
+            normal = new float3(n);
+            dist = d;
+        }
+
+        public Plane(Plane p)
+        {
+            normal = new float3(p.normal);
+            dist = p.dist;
+        }
+
+        public Plane()
+        {
+            dist = 0;
+        }
+
+        public void Transform(float3 position, Quaternion orientation)
+        {
+            //   Transforms the plane to the space defined by the
+            //   given position/orientation
+            float3 newNormal = Quaternion.Inverse(orientation) * normal;
+            float3 origin = Quaternion.Inverse(orientation) * (-normal * dist - position);
+
+            normal = newNormal;
+            dist = -float3.dot(newNormal, origin);
+        }
+
+        public override int GetHashCode()
+        {
+            return normal.GetHashCode() ^ dist.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            Plane p = obj as Plane;
+            if (p == null)
+                return false;
+
+            return this == p;
+        }
+
+        public static bool operator ==(Plane a, Plane b)
+        {
+            return (a.normal == b.normal && a.dist == b.dist);
+        }
+
+        public static bool operator !=(Plane a, Plane b)
+        {
+            return !(a == b);
+        }
+
+        public static Plane PlaneFlip(Plane plane)
+        {
+            return new Plane(-plane.normal, -plane.dist);
+        }
+
+        public static bool coplanar(Plane a, Plane b)
+        {
+            return (a == b || a == PlaneFlip(b));
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/PlaneTri.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/PlaneTri.cs
new file mode 100644
index 0000000..42f7a22
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/PlaneTri.cs
@@ -0,0 +1,211 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public enum PlaneTriResult : int
+    {
+        PTR_FRONT,
+        PTR_BACK,
+        PTR_SPLIT
+    }
+
+    public static class PlaneTri
+    {
+        private static float DistToPt(float3 p, float4 plane)
+        {
+            return p.x * plane.x + p.y * plane.y + p.z * plane.z + plane.w;
+        }
+
+        private static PlaneTriResult getSidePlane(float3 p, float4 plane, float epsilon)
+        {
+            float d = DistToPt(p, plane);
+
+            if ((d + epsilon) > 0f)
+                return PlaneTriResult.PTR_FRONT; // it is 'in front' within the provided epsilon value.
+
+            return PlaneTriResult.PTR_BACK;
+        }
+
+        private static void add(float3 p, float3[] dest, ref int pcount)
+        {
+            dest[pcount++] = new float3(p);
+            Debug.Assert(pcount <= 4);
+        }
+
+        // assumes that the points are on opposite sides of the plane!
+        private static void intersect(float3 p1, float3 p2, float3 split, float4 plane)
+        {
+            float dp1 = DistToPt(p1, plane);
+            float[] dir = new float[3];
+
+            dir[0] = p2[0] - p1[0];
+            dir[1] = p2[1] - p1[1];
+            dir[2] = p2[2] - p1[2];
+
+            float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
+            float dot2 = dp1 - plane[3];
+
+            float t = -(plane[3] + dot2) / dot1;
+
+            split.x = (dir[0] * t) + p1[0];
+            split.y = (dir[1] * t) + p1[1];
+            split.z = (dir[2] * t) + p1[2];
+        }
+
+        public static PlaneTriResult planeTriIntersection(float4 plane, FaceTri triangle, float epsilon, ref float3[] front, out int fcount, ref float3[] back, out int bcount)
+        {
+            fcount = 0;
+            bcount = 0;
+
+            // get the three vertices of the triangle.
+            float3 p1 = triangle.P1;
+            float3 p2 = triangle.P2;
+            float3 p3 = triangle.P3;
+
+            PlaneTriResult r1 = getSidePlane(p1, plane, epsilon); // compute the side of the plane each vertex is on
+            PlaneTriResult r2 = getSidePlane(p2, plane, epsilon);
+            PlaneTriResult r3 = getSidePlane(p3, plane, epsilon);
+
+            if (r1 == r2 && r1 == r3) // if all three vertices are on the same side of the plane.
+            {
+                if (r1 == PlaneTriResult.PTR_FRONT) // if all three are in front of the plane, then copy to the 'front' output triangle.
+                {
+                    add(p1, front, ref fcount);
+                    add(p2, front, ref fcount);
+                    add(p3, front, ref fcount);
+                }
+                else
+                {
+                    add(p1, back, ref bcount); // if all three are in 'back' then copy to the 'back' output triangle.
+                    add(p2, back, ref bcount);
+                    add(p3, back, ref bcount);
+                }
+                return r1; // if all three points are on the same side of the plane return result
+            }
+
+            // ok.. we need to split the triangle at the plane.
+
+            // First test ray segment P1 to P2
+            if (r1 == r2) // if these are both on the same side...
+            {
+                if (r1 == PlaneTriResult.PTR_FRONT)
+                {
+                    add(p1, front, ref fcount);
+                    add(p2, front, ref fcount);
+                }
+                else
+                {
+                    add(p1, back, ref bcount);
+                    add(p2, back, ref bcount);
+                }
+            }
+            else
+            {
+                float3 split = new float3();
+                intersect(p1, p2, split, plane);
+
+                if (r1 == PlaneTriResult.PTR_FRONT)
+                {
+
+                    add(p1, front, ref fcount);
+                    add(split, front, ref fcount);
+
+                    add(split, back, ref bcount);
+                    add(p2, back, ref bcount);
+
+                }
+                else
+                {
+                    add(p1, back, ref bcount);
+                    add(split, back, ref bcount);
+
+                    add(split, front, ref fcount);
+                    add(p2, front, ref fcount);
+                }
+
+            }
+
+            // Next test ray segment P2 to P3
+            if (r2 == r3) // if these are both on the same side...
+            {
+                if (r3 == PlaneTriResult.PTR_FRONT)
+                {
+                    add(p3, front, ref fcount);
+                }
+                else
+                {
+                    add(p3, back, ref bcount);
+                }
+            }
+            else
+            {
+                float3 split = new float3(); // split the point
+                intersect(p2, p3, split, plane);
+
+                if (r3 == PlaneTriResult.PTR_FRONT)
+                {
+                    add(split, front, ref fcount);
+                    add(split, back, ref bcount);
+
+                    add(p3, front, ref fcount);
+                }
+                else
+                {
+                    add(split, front, ref fcount);
+                    add(split, back, ref bcount);
+
+                    add(p3, back, ref bcount);
+                }
+            }
+
+            // Next test ray segment P3 to P1
+            if (r3 != r1) // if these are both on the same side...
+            {
+                float3 split = new float3(); // split the point
+                intersect(p3, p1, split, plane);
+
+                if (r1 == PlaneTriResult.PTR_FRONT)
+                {
+                    add(split, front, ref fcount);
+                    add(split, back, ref bcount);
+                }
+                else
+                {
+                    add(split, front, ref fcount);
+                    add(split, back, ref bcount);
+                }
+            }
+
+            return PlaneTriResult.PTR_SPLIT;
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
new file mode 100644
index 0000000..c5867b2
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("ConvexDecompositionDotNet")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("Intel Corporation")]
+[assembly: AssemblyProduct("ConvexDecompositionDotNet")]
+[assembly: AssemblyCopyright("Copyright © Intel Corporation 2010")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("2a1c9467-1a17-4c8d-bf9f-4b4d86dd0cbb")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers 
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("0.8.2.*")]
+
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Quaternion.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Quaternion.cs
new file mode 100644
index 0000000..045f620
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Quaternion.cs
@@ -0,0 +1,209 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class Quaternion : float4
+    {
+        public Quaternion()
+        {
+            x = y = z = 0.0f;
+            w = 1.0f;
+        }
+
+        public Quaternion(float3 v, float t)
+        {
+            v = float3.normalize(v);
+            w = (float)Math.Cos(t / 2.0f);
+            v = v * (float)Math.Sin(t / 2.0f);
+            x = v.x;
+            y = v.y;
+            z = v.z;
+        }
+
+        public Quaternion(float _x, float _y, float _z, float _w)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+            w = _w;
+        }
+
+        public float angle()
+        {
+            return (float)Math.Acos(w) * 2.0f;
+        }
+
+        public float3 axis()
+        {
+            float3 a = new float3(x, y, z);
+            if (Math.Abs(angle()) < 0.0000001f)
+                return new float3(1f, 0f, 0f);
+            return a * (1 / (float)Math.Sin(angle() / 2.0f));
+        }
+
+        public float3 xdir()
+        {
+            return new float3(1 - 2 * (y * y + z * z), 2 * (x * y + w * z), 2 * (x * z - w * y));
+        }
+
+        public float3 ydir()
+        {
+            return new float3(2 * (x * y - w * z), 1 - 2 * (x * x + z * z), 2 * (y * z + w * x));
+        }
+
+        public float3 zdir()
+        {
+            return new float3(2 * (x * z + w * y), 2 * (y * z - w * x), 1 - 2 * (x * x + y * y));
+        }
+
+        public float3x3 getmatrix()
+        {
+            return new float3x3(xdir(), ydir(), zdir());
+        }
+
+        public static implicit operator float3x3(Quaternion q)
+        {
+            return q.getmatrix();
+        }
+
+        public static Quaternion operator *(Quaternion a, Quaternion b)
+        {
+            Quaternion c = new Quaternion();
+            c.w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z;
+            c.x = a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y;
+            c.y = a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x;
+            c.z = a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w;
+            return c;
+        }
+
+        public static float3 operator *(Quaternion q, float3 v)
+        {
+            // The following is equivalent to:
+            //return (q.getmatrix() * v);
+            float qx2 = q.x * q.x;
+            float qy2 = q.y * q.y;
+            float qz2 = q.z * q.z;
+
+            float qxqy = q.x * q.y;
+            float qxqz = q.x * q.z;
+            float qxqw = q.x * q.w;
+            float qyqz = q.y * q.z;
+            float qyqw = q.y * q.w;
+            float qzqw = q.z * q.w;
+            return new float3((1 - 2 * (qy2 + qz2)) * v.x + (2 * (qxqy - qzqw)) * v.y + (2 * (qxqz + qyqw)) * v.z, (2 * (qxqy + qzqw)) * v.x + (1 - 2 * (qx2 + qz2)) * v.y + (2 * (qyqz - qxqw)) * v.z, (2 * (qxqz - qyqw)) * v.x + (2 * (qyqz + qxqw)) * v.y + (1 - 2 * (qx2 + qy2)) * v.z);
+        }
+
+        public static Quaternion operator +(Quaternion a, Quaternion b)
+        {
+            return new Quaternion(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
+        }
+
+        public static Quaternion operator *(Quaternion a, float b)
+            {
+                    return new Quaternion(a.x *b, a.y *b, a.z *b, a.w *b);
+            }
+
+        public static Quaternion normalize(Quaternion a)
+        {
+            float m = (float)Math.Sqrt(a.w * a.w + a.x * a.x + a.y * a.y + a.z * a.z);
+            if (m < 0.000000001f)
+            {
+                a.w = 1;
+                a.x = a.y = a.z = 0;
+                return a;
+            }
+            return a * (1f / m);
+        }
+
+        public static float dot(Quaternion a, Quaternion b)
+        {
+            return (a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z);
+        }
+
+        public static Quaternion slerp(Quaternion a, Quaternion b, float interp)
+        {
+            if (dot(a, b) < 0.0)
+            {
+                a.w = -a.w;
+                a.x = -a.x;
+                a.y = -a.y;
+                a.z = -a.z;
+            }
+            float d = dot(a, b);
+            if (d >= 1.0)
+            {
+                return a;
+            }
+            float theta = (float)Math.Acos(d);
+            if (theta == 0.0f)
+            {
+                return (a);
+            }
+            return a * ((float)Math.Sin(theta - interp * theta) / (float)Math.Sin(theta)) + b * ((float)Math.Sin(interp * theta) / (float)Math.Sin(theta));
+        }
+
+        public static Quaternion Interpolate(Quaternion q0, Quaternion q1, float alpha)
+        {
+            return slerp(q0, q1, alpha);
+        }
+
+        public static Quaternion Inverse(Quaternion q)
+        {
+            return new Quaternion(-q.x, -q.y, -q.z, q.w);
+        }
+
+        public static Quaternion YawPitchRoll(float yaw, float pitch, float roll)
+        {
+            roll *= (3.14159264f / 180.0f);
+            yaw *= (3.14159264f / 180.0f);
+            pitch *= (3.14159264f / 180.0f);
+            return new Quaternion(new float3(0.0f, 0.0f, 1.0f), yaw) * new Quaternion(new float3(1.0f, 0.0f, 0.0f), pitch) * new Quaternion(new float3(0.0f, 1.0f, 0.0f), roll);
+        }
+
+        public static float Yaw(Quaternion q)
+        {
+            float3 v = q.ydir();
+            return (v.y == 0.0 && v.x == 0.0) ? 0.0f : (float)Math.Atan2(-v.x, v.y) * (180.0f / 3.14159264f);
+        }
+
+        public static float Pitch(Quaternion q)
+        {
+            float3 v = q.ydir();
+            return (float)Math.Atan2(v.z, Math.Sqrt(v.x * v.x + v.y * v.y)) * (180.0f / 3.14159264f);
+        }
+
+        public static float Roll(Quaternion q)
+        {
+            q = new Quaternion(new float3(0.0f, 0.0f, 1.0f), -Yaw(q) * (3.14159264f / 180.0f)) * q;
+            q = new Quaternion(new float3(1.0f, 0.0f, 0.0f), -Pitch(q) * (3.14159264f / 180.0f)) * q;
+            return (float)Math.Atan2(-q.xdir().z, q.xdir().x) * (180.0f / 3.14159264f);
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/README.txt b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/README.txt
new file mode 100644
index 0000000..fc53ae7
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/README.txt
@@ -0,0 +1,7 @@
+ConvexDecompositionDotNet
+=========================
+
+A C# port of the ConvexDecomposition library by John W. Ratcliff and Stan Melax. 
+The original C++ version is available at <http://codesuppository.googlecode.com/>. 
+See the blog post at <http://codesuppository.blogspot.com/2006/08/approximate-convexdecomposition.html> 
+for a thorough explanation of generating convex hulls from concave meshes.
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs
new file mode 100644
index 0000000..9f56bc5
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs
@@ -0,0 +1,265 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class Rect3d
+    {
+        public float[] mMin = new float[3];
+        public float[] mMax = new float[3];
+
+        public Rect3d()
+        {
+        }
+
+        public Rect3d(float[] bmin, float[] bmax)
+        {
+            mMin[0] = bmin[0];
+            mMin[1] = bmin[1];
+            mMin[2] = bmin[2];
+
+            mMax[0] = bmax[0];
+            mMax[1] = bmax[1];
+            mMax[2] = bmax[2];
+        }
+
+        public void SetMin(float[] bmin)
+        {
+            mMin[0] = bmin[0];
+            mMin[1] = bmin[1];
+            mMin[2] = bmin[2];
+        }
+
+        public void SetMax(float[] bmax)
+        {
+            mMax[0] = bmax[0];
+            mMax[1] = bmax[1];
+            mMax[2] = bmax[2];
+        }
+
+        public void SetMin(float x, float y, float z)
+        {
+            mMin[0] = x;
+            mMin[1] = y;
+            mMin[2] = z;
+        }
+
+        public void SetMax(float x, float y, float z)
+        {
+            mMax[0] = x;
+            mMax[1] = y;
+            mMax[2] = z;
+        }
+    }
+
+    public static class SplitPlane
+    {
+        public static bool computeSplitPlane(List<float3> vertices, List<int> indices, ref float4 plane)
+        {
+            float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
+            float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue };
+
+            for (int i = 0; i < vertices.Count; i++)
+            {
+                float3 p = vertices[i];
+
+                if (p[0] < bmin[0])
+                    bmin[0] = p[0];
+                if (p[1] < bmin[1])
+                    bmin[1] = p[1];
+                if (p[2] < bmin[2])
+                    bmin[2] = p[2];
+
+                if (p[0] > bmax[0])
+                    bmax[0] = p[0];
+                if (p[1] > bmax[1])
+                    bmax[1] = p[1];
+                if (p[2] > bmax[2])
+                    bmax[2] = p[2];
+            }
+
+            float dx = bmax[0] - bmin[0];
+            float dy = bmax[1] - bmin[1];
+            float dz = bmax[2] - bmin[2];
+
+            float laxis = dx;
+
+            int axis = 0;
+
+            if (dy > dx)
+            {
+                axis = 1;
+                laxis = dy;
+            }
+
+            if (dz > dx && dz > dy)
+            {
+                axis = 2;
+                laxis = dz;
+            }
+
+            float[] p1 = new float[3];
+            float[] p2 = new float[3];
+            float[] p3 = new float[3];
+
+            p3[0] = p2[0] = p1[0] = bmin[0] + dx * 0.5f;
+            p3[1] = p2[1] = p1[1] = bmin[1] + dy * 0.5f;
+            p3[2] = p2[2] = p1[2] = bmin[2] + dz * 0.5f;
+
+            Rect3d b = new Rect3d(bmin, bmax);
+
+            Rect3d b1 = new Rect3d();
+            Rect3d b2 = new Rect3d();
+
+            splitRect(axis, b, b1, b2, p1);
+
+            switch (axis)
+            {
+                case 0:
+                    p2[1] = bmin[1];
+                    p2[2] = bmin[2];
+
+                    if (dz > dy)
+                    {
+                        p3[1] = bmax[1];
+                        p3[2] = bmin[2];
+                    }
+                    else
+                    {
+                        p3[1] = bmin[1];
+                        p3[2] = bmax[2];
+                    }
+
+                    break;
+                case 1:
+                    p2[0] = bmin[0];
+                    p2[2] = bmin[2];
+
+                    if (dx > dz)
+                    {
+                        p3[0] = bmax[0];
+                        p3[2] = bmin[2];
+                    }
+                    else
+                    {
+                        p3[0] = bmin[0];
+                        p3[2] = bmax[2];
+                    }
+
+                    break;
+                case 2:
+                    p2[0] = bmin[0];
+                    p2[1] = bmin[1];
+
+                    if (dx > dy)
+                    {
+                        p3[0] = bmax[0];
+                        p3[1] = bmin[1];
+                    }
+                    else
+                    {
+                        p3[0] = bmin[0];
+                        p3[1] = bmax[1];
+                    }
+
+                    break;
+            }
+
+            computePlane(p1, p2, p3, plane);
+
+            return true;
+        }
+
+        internal static void computePlane(float[] A, float[] B, float[] C, float4 plane)
+        {
+            float vx = (B[0] - C[0]);
+            float vy = (B[1] - C[1]);
+            float vz = (B[2] - C[2]);
+
+            float wx = (A[0] - B[0]);
+            float wy = (A[1] - B[1]);
+            float wz = (A[2] - B[2]);
+
+            float vw_x = vy * wz - vz * wy;
+            float vw_y = vz * wx - vx * wz;
+            float vw_z = vx * wy - vy * wx;
+
+            float mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
+
+            if (mag < 0.000001f)
+            {
+                mag = 0;
+            }
+            else
+            {
+                mag = 1.0f / mag;
+            }
+
+            float x = vw_x * mag;
+            float y = vw_y * mag;
+            float z = vw_z * mag;
+
+            float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2]));
+
+            plane.x = x;
+            plane.y = y;
+            plane.z = z;
+            plane.w = D;
+        }
+
+        public static void splitRect(int axis, Rect3d source, Rect3d b1, Rect3d b2, float[] midpoint)
+        {
+            switch (axis)
+            {
+                case 0:
+                    b1.SetMin(source.mMin);
+                    b1.SetMax(midpoint[0], source.mMax[1], source.mMax[2]);
+
+                    b2.SetMin(midpoint[0], source.mMin[1], source.mMin[2]);
+                    b2.SetMax(source.mMax);
+                    break;
+                case 1:
+                    b1.SetMin(source.mMin);
+                    b1.SetMax(source.mMax[0], midpoint[1], source.mMax[2]);
+
+                    b2.SetMin(source.mMin[0], midpoint[1], source.mMin[2]);
+                    b2.SetMax(source.mMax);
+                    break;
+                case 2:
+                    b1.SetMin(source.mMin);
+                    b1.SetMax(source.mMax[0], source.mMax[1], midpoint[2]);
+
+                    b2.SetMin(source.mMin[0], source.mMin[1], midpoint[2]);
+                    b2.SetMax(source.mMax);
+                    break;
+            }
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/VertexLookup.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/VertexLookup.cs
new file mode 100644
index 0000000..bfe11e5
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/VertexLookup.cs
@@ -0,0 +1,70 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class VertexPool
+    {
+        private List<float3> mVertices = new List<float3>();
+        private Dictionary<float3, int> mIndices = new Dictionary<float3, int>();
+
+        public int getIndex(float3 vtx)
+        {
+            int idx;
+            if (mIndices.TryGetValue(vtx, out idx))
+                return idx;
+
+            idx = mVertices.Count;
+            mVertices.Add(vtx);
+            mIndices.Add(vtx, idx);
+            return idx;
+        }
+
+        public float3 Get(int idx)
+        {
+            return mVertices[idx];
+        }
+
+        public int GetSize()
+        {
+            return mVertices.Count;
+        }
+
+        public List<float3> GetVertices()
+        {
+            return mVertices;
+        }
+
+        public void Clear()
+        {
+            mVertices.Clear();
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float2.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float2.cs
new file mode 100644
index 0000000..e7358c1
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float2.cs
@@ -0,0 +1,70 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class float2
+    {
+        public float x;
+        public float y;
+
+        public float2()
+        {
+        }
+
+        public float2(float _x, float _y)
+        {
+            x = _x;
+            y = _y;
+        }
+
+        public float this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public static float2 operator -(float2 a, float2 b)
+        {
+            return new float2(a.x - b.x, a.y - b.y);
+        }
+
+        public static float2 operator +(float2 a, float2 b)
+        {
+            return new float2(a.x + b.x, a.y + b.y);
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs
new file mode 100644
index 0000000..fde9b32
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs
@@ -0,0 +1,444 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class float3 : IEquatable<float3>
+    {
+        public float x;
+        public float y;
+        public float z;
+
+        public float3()
+        {
+            x = 0;
+            y = 0;
+            z = 0;
+        }
+
+        public float3(float _x, float _y, float _z)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+        }
+
+        public float3(float3 f)
+        {
+            x = f.x;
+            y = f.y;
+            z = f.z;
+        }
+
+        public float this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public float Distance(float3 a)
+        {
+            float3 d = new float3(a.x - x, a.y - y, a.z - z);
+            return d.Length();
+        }
+
+        public float Distance2(float3 a)
+        {
+            float dx = a.x - x;
+            float dy = a.y - y;
+            float dz = a.z - z;
+            return dx * dx + dy * dy + dz * dz;
+        }
+
+        public float Length()
+        {
+            return (float)Math.Sqrt(x * x + y * y + z * z);
+        }
+
+        public float Area(float3 p1, float3 p2)
+        {
+            float A = Partial(p1);
+            A += p1.Partial(p2);
+            A += p2.Partial(this);
+            return A * 0.5f;
+        }
+
+        public float Partial(float3 p)
+        {
+            return (x * p.y) - (p.x * y);
+        }
+
+        // Given a point and a line (defined by two points), compute the closest point
+        // in the line.  (The line is treated as infinitely long.)
+        public void NearestPointInLine(float3 point, float3 line0, float3 line1)
+        {
+            float3 nearestPoint = new float3();
+            float3 lineDelta = line1 - line0;
+
+            // Handle degenerate lines
+            if (lineDelta == float3.Zero)
+            {
+                nearestPoint = line0;
+            }
+            else
+            {
+                float delta = float3.dot(point - line0, lineDelta) / float3.dot(lineDelta, lineDelta);
+                nearestPoint = line0 + lineDelta * delta;
+            }
+
+            this.x = nearestPoint.x;
+            this.y = nearestPoint.y;
+            this.z = nearestPoint.z;
+        }
+
+        // Given a point and a line segment (defined by two points), compute the closest point
+        // in the line.  Cap the point at the endpoints of the line segment.
+        public void NearestPointInLineSegment(float3 point, float3 line0, float3 line1)
+        {
+            float3 nearestPoint = new float3();
+            float3 lineDelta = line1 - line0;
+
+            // Handle degenerate lines
+            if (lineDelta == Zero)
+            {
+                nearestPoint = line0;
+            }
+            else
+            {
+                float delta = float3.dot(point - line0, lineDelta) / float3.dot(lineDelta, lineDelta);
+
+                // Clamp the point to conform to the segment's endpoints
+                if (delta < 0)
+                    delta = 0;
+                else if (delta > 1)
+                    delta = 1;
+
+                nearestPoint = line0 + lineDelta * delta;
+            }
+
+            this.x = nearestPoint.x;
+            this.y = nearestPoint.y;
+            this.z = nearestPoint.z;
+        }
+
+        // Given a point and a triangle (defined by three points), compute the closest point
+        // in the triangle.  Clamp the point so it's confined to the area of the triangle.
+        public void NearestPointInTriangle(float3 point, float3 triangle0, float3 triangle1, float3 triangle2)
+        {
+            float3 nearestPoint = new float3();
+
+            float3 lineDelta0 = triangle1 - triangle0;
+            float3 lineDelta1 = triangle2 - triangle0;
+
+            // Handle degenerate triangles
+            if ((lineDelta0 == Zero) || (lineDelta1 == Zero))
+            {
+                nearestPoint.NearestPointInLineSegment(point, triangle1, triangle2);
+            }
+            else if (lineDelta0 == lineDelta1)
+            {
+                nearestPoint.NearestPointInLineSegment(point, triangle0, triangle1);
+            }
+            else
+            {
+                float3[] axis = new float3[3] { new float3(), new float3(), new float3() };
+                axis[0].NearestPointInLine(triangle0, triangle1, triangle2);
+                axis[1].NearestPointInLine(triangle1, triangle0, triangle2);
+                axis[2].NearestPointInLine(triangle2, triangle0, triangle1);
+
+                float3 axisDot = new float3();
+                axisDot.x = dot(triangle0 - axis[0], point - axis[0]);
+                axisDot.y = dot(triangle1 - axis[1], point - axis[1]);
+                axisDot.z = dot(triangle2 - axis[2], point - axis[2]);
+
+                bool bForce = true;
+                float bestMagnitude2 = 0;
+                float closeMagnitude2;
+                float3 closePoint = new float3();
+
+                if (axisDot.x < 0f)
+                {
+                    closePoint.NearestPointInLineSegment(point, triangle1, triangle2);
+                    closeMagnitude2 = point.Distance2(closePoint);
+                    if (bForce || (bestMagnitude2 > closeMagnitude2))
+                    {
+                        bForce = false;
+                        bestMagnitude2 = closeMagnitude2;
+                        nearestPoint = closePoint;
+                    }
+                }
+                if (axisDot.y < 0f)
+                {
+                    closePoint.NearestPointInLineSegment(point, triangle0, triangle2);
+                    closeMagnitude2 = point.Distance2(closePoint);
+                    if (bForce || (bestMagnitude2 > closeMagnitude2))
+                    {
+                        bForce = false;
+                        bestMagnitude2 = closeMagnitude2;
+                        nearestPoint = closePoint;
+                    }
+                }
+                if (axisDot.z < 0f)
+                {
+                    closePoint.NearestPointInLineSegment(point, triangle0, triangle1);
+                    closeMagnitude2 = point.Distance2(closePoint);
+                    if (bForce || (bestMagnitude2 > closeMagnitude2))
+                    {
+                        bForce = false;
+                        bestMagnitude2 = closeMagnitude2;
+                        nearestPoint = closePoint;
+                    }
+                }
+
+                // If bForce is true at this point, it means the nearest point lies
+                // inside the triangle; use the nearest-point-on-a-plane equation
+                if (bForce)
+                {
+                    float3 normal;
+
+                    // Get the normal of the polygon (doesn't have to be a unit vector)
+                    normal = float3.cross(lineDelta0, lineDelta1);
+
+                    float3 pointDelta = point - triangle0;
+                    float delta = float3.dot(normal, pointDelta) / float3.dot(normal, normal);
+
+                    nearestPoint = point - normal * delta;
+                }
+            }
+
+            this.x = nearestPoint.x;
+            this.y = nearestPoint.y;
+            this.z = nearestPoint.z;
+        }
+
+        public static float3 operator +(float3 a, float3 b)
+        {
+            return new float3(a.x + b.x, a.y + b.y, a.z + b.z);
+        }
+
+        public static float3 operator -(float3 a, float3 b)
+        {
+            return new float3(a.x - b.x, a.y - b.y, a.z - b.z);
+        }
+
+        public static float3 operator -(float3 a, float s)
+        {
+            return new float3(a.x - s, a.y - s, a.z - s);
+        }
+
+        public static float3 operator -(float3 v)
+        {
+            return new float3(-v.x, -v.y, -v.z);
+        }
+
+        public static float3 operator *(float3 v, float s)
+        {
+            return new float3(v.x * s, v.y * s, v.z * s);
+        }
+
+        public static float3 operator *(float s, float3 v)
+        {
+            return new float3(v.x * s, v.y * s, v.z * s);
+        }
+
+        public static float3 operator *(float3 v, float3x3 m)
+        {
+            return new float3((m.x.x * v.x + m.y.x * v.y + m.z.x * v.z), (m.x.y * v.x + m.y.y * v.y + m.z.y * v.z), (m.x.z * v.x + m.y.z * v.y + m.z.z * v.z));
+        }
+
+        public static float3 operator *(float3x3 m, float3 v)
+        {
+            return new float3(dot(m.x, v), dot(m.y, v), dot(m.z, v));
+        }
+
+        public static float3 operator /(float3 v, float s)
+        {
+            float sinv = 1.0f / s;
+            return new float3(v.x * sinv, v.y * sinv, v.z * sinv);
+        }
+
+        public bool Equals(float3 other)
+        {
+            return this == other;
+        }
+
+        public override bool Equals(object obj)
+        {
+            float3 f = obj as float3;
+            if (f == null)
+                return false;
+
+            return this == f;
+        }
+
+        public override int GetHashCode()
+        {
+            return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode();
+        }
+
+        public static bool operator ==(float3 a, float3 b)
+        {
+            // If both are null, or both are same instance, return true.
+            if (System.Object.ReferenceEquals(a, b))
+                return true;
+            // If one is null, but not both, return false.
+            if (((object)a == null) || ((object)b == null))
+                return false;
+
+            return (a.x == b.x && a.y == b.y && a.z == b.z);
+        }
+
+        public static bool operator !=(float3 a, float3 b)
+        {
+            return (a.x != b.x || a.y != b.y || a.z != b.z);
+        }
+
+        public static float dot(float3 a, float3 b)
+        {
+            return a.x * b.x + a.y * b.y + a.z * b.z;
+        }
+
+        public static float3 cmul(float3 v1, float3 v2)
+        {
+            return new float3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
+        }
+
+        public static float3 cross(float3 a, float3 b)
+        {
+            return new float3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
+        }
+
+        public static float3 Interpolate(float3 v0, float3 v1, float alpha)
+        {
+            return v0 * (1 - alpha) + v1 * alpha;
+        }
+
+        public static float3 Round(float3 a, int digits)
+        {
+            return new float3((float)Math.Round(a.x, digits), (float)Math.Round(a.y, digits), (float)Math.Round(a.z, digits));
+        }
+
+        public static float3 VectorMax(float3 a, float3 b)
+        {
+            return new float3(Math.Max(a.x, b.x), Math.Max(a.y, b.y), Math.Max(a.z, b.z));
+        }
+
+        public static float3 VectorMin(float3 a, float3 b)
+        {
+            return new float3(Math.Min(a.x, b.x), Math.Min(a.y, b.y), Math.Min(a.z, b.z));
+        }
+
+        public static float3 vabs(float3 v)
+        {
+            return new float3(Math.Abs(v.x), Math.Abs(v.y), Math.Abs(v.z));
+        }
+
+        public static float magnitude(float3 v)
+        {
+            return (float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
+        }
+
+        public static float3 normalize(float3 v)
+        {
+            float d = magnitude(v);
+            if (d == 0)
+                d = 0.1f;
+            d = 1 / d;
+            return new float3(v.x * d, v.y * d, v.z * d);
+        }
+
+        public static float3 safenormalize(float3 v)
+        {
+            if (magnitude(v) <= 0.0f)
+                return new float3(1, 0, 0);
+            else
+                return normalize(v);
+        }
+
+        public static float Yaw(float3 v)
+        {
+            return (v.y == 0.0 && v.x == 0.0) ? 0.0f : (float)Math.Atan2(-v.x, v.y) * (180.0f / 3.14159264f);
+        }
+
+        public static float Pitch(float3 v)
+        {
+            return (float)Math.Atan2(v.z, Math.Sqrt(v.x * v.x + v.y * v.y)) * (180.0f / 3.14159264f);
+        }
+
+        public float ComputePlane(float3 A, float3 B, float3 C)
+        {
+            float vx, vy, vz, wx, wy, wz, vw_x, vw_y, vw_z, mag;
+
+            vx = (B.x - C.x);
+            vy = (B.y - C.y);
+            vz = (B.z - C.z);
+
+            wx = (A.x - B.x);
+            wy = (A.y - B.y);
+            wz = (A.z - B.z);
+
+            vw_x = vy * wz - vz * wy;
+            vw_y = vz * wx - vx * wz;
+            vw_z = vx * wy - vy * wx;
+
+            mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
+
+            if (mag < 0.000001f)
+            {
+                mag = 0;
+            }
+            else
+            {
+                mag = 1.0f / mag;
+            }
+
+            x = vw_x * mag;
+            y = vw_y * mag;
+            z = vw_z * mag;
+
+            float D = 0.0f - ((x * A.x) + (y * A.y) + (z * A.z));
+            return D;
+        }
+
+        public override string ToString()
+        {
+            return String.Format("<{0}, {1}, {2}>", x, y, z);
+        }
+
+        public static readonly float3 Zero = new float3();
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs
new file mode 100644
index 0000000..c420fde
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs
@@ -0,0 +1,195 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class float3x3
+    {
+        public float3 x = new float3();
+        public float3 y = new float3();
+        public float3 z = new float3();
+
+        public float3x3()
+        {
+        }
+
+        public float3x3(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)
+        {
+            x = new float3(xx, xy, xz);
+            y = new float3(yx, yy, yz);
+            z = new float3(zx, zy, zz);
+        }
+
+        public float3x3(float3 _x, float3 _y, float3 _z)
+        {
+            x = new float3(_x);
+            y = new float3(_y);
+            z = new float3(_z);
+        }
+
+        public float3 this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public float this[int i, int j]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0:
+                        switch (j)
+                        {
+                            case 0: return x.x;
+                            case 1: return x.y;
+                            case 2: return x.z;
+                        }
+                        break;
+                    case 1:
+                        switch (j)
+                        {
+                            case 0: return y.x;
+                            case 1: return y.y;
+                            case 2: return y.z;
+                        }
+                        break;
+                    case 2:
+                        switch (j)
+                        {
+                            case 0: return z.x;
+                            case 1: return z.y;
+                            case 2: return z.z;
+                        }
+                        break;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+            set
+            {
+                switch (i)
+                {
+                    case 0:
+                        switch (j)
+                        {
+                            case 0: x.x = value; return;
+                            case 1: x.y = value; return;
+                            case 2: x.z = value; return;
+                        }
+                        break;
+                    case 1:
+                        switch (j)
+                        {
+                            case 0: y.x = value; return;
+                            case 1: y.y = value; return;
+                            case 2: y.z = value; return;
+                        }
+                        break;
+                    case 2:
+                        switch (j)
+                        {
+                            case 0: z.x = value; return;
+                            case 1: z.y = value; return;
+                            case 2: z.z = value; return;
+                        }
+                        break;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public static float3x3 Transpose(float3x3 m)
+        {
+            return new float3x3(new float3(m.x.x, m.y.x, m.z.x), new float3(m.x.y, m.y.y, m.z.y), new float3(m.x.z, m.y.z, m.z.z));
+        }
+
+        public static float3x3 operator *(float3x3 a, float3x3 b)
+        {
+            return new float3x3(a.x * b, a.y * b, a.z * b);
+        }
+
+        public static float3x3 operator *(float3x3 a, float s)
+        {
+            return new float3x3(a.x * s, a.y * s, a.z * s);
+        }
+
+        public static float3x3 operator /(float3x3 a, float s)
+        {
+            float t = 1f / s;
+            return new float3x3(a.x * t, a.y * t, a.z * t);
+        }
+
+        public static float3x3 operator +(float3x3 a, float3x3 b)
+        {
+            return new float3x3(a.x + b.x, a.y + b.y, a.z + b.z);
+        }
+
+        public static float3x3 operator -(float3x3 a, float3x3 b)
+        {
+            return new float3x3(a.x - b.x, a.y - b.y, a.z - b.z);
+        }
+
+        public static float Determinant(float3x3 m)
+        {
+            return m.x.x * m.y.y * m.z.z + m.y.x * m.z.y * m.x.z + m.z.x * m.x.y * m.y.z - m.x.x * m.z.y * m.y.z - m.y.x * m.x.y * m.z.z - m.z.x * m.y.y * m.x.z;
+        }
+
+        public static float3x3 Inverse(float3x3 a)
+        {
+            float3x3 b = new float3x3();
+            float d = Determinant(a);
+            Debug.Assert(d != 0);
+            for (int i = 0; i < 3; i++)
+            {
+                for (int j = 0; j < 3; j++)
+                {
+                    int i1 = (i + 1) % 3;
+                    int i2 = (i + 2) % 3;
+                    int j1 = (j + 1) % 3;
+                    int j2 = (j + 2) % 3;
+
+                    // reverse indexs i&j to take transpose
+                    b[i, j] = (a[i1][j1] * a[i2][j2] - a[i1][j2] * a[i2][j1]) / d;
+                }
+            }
+            return b;
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4.cs
new file mode 100644
index 0000000..b2b6fd3
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4.cs
@@ -0,0 +1,170 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class float4
+    {
+        public float x;
+        public float y;
+        public float z;
+        public float w;
+
+        public float4()
+        {
+            x = 0;
+            y = 0;
+            z = 0;
+            w = 0;
+        }
+
+        public float4(float _x, float _y, float _z, float _w)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+            w = _w;
+        }
+
+        public float4(float3 v, float _w)
+        {
+            x = v.x;
+            y = v.y;
+            z = v.z;
+            w = _w;
+        }
+
+        public float4(float4 f)
+        {
+            x = f.x;
+            y = f.y;
+            z = f.z;
+            w = f.w;
+        }
+
+        public float this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                    case 3: return w;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public float3 xyz()
+        {
+            return new float3(x, y, z);
+        }
+
+        public void setxyz(float3 xyz)
+        {
+            x = xyz.x;
+            y = xyz.y;
+            z = xyz.z;
+        }
+
+        public override int GetHashCode()
+        {
+            return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode() ^ w.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            float4 f = obj as float4;
+            if (f == null)
+                return false;
+
+            return this == f;
+        }
+
+        public static float4 Homogenize(float3 v3)
+        {
+            return Homogenize(v3, 1.0f);
+        }
+
+        //C++ TO C# CONVERTER NOTE: C# does not allow default values for parameters. Overloaded methods are inserted above.
+        //ORIGINAL LINE: float4 Homogenize(const float3 &v3, const float &w =1.0f)
+        public static float4 Homogenize(float3 v3, float w)
+        {
+            return new float4(v3.x, v3.y, v3.z, w);
+        }
+
+        public static float4 cmul(float4 a, float4 b)
+        {
+            return new float4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w);
+        }
+
+        public static float4 operator +(float4 a, float4 b)
+        {
+            return new float4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
+        }
+        public static float4 operator -(float4 a, float4 b)
+        {
+            return new float4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w);
+        }
+
+        public static float4 operator *(float4 v, float4x4 m)
+        {
+            return v.x * m.x + v.y * m.y + v.z * m.z + v.w * m.w; // yes this actually works
+        }
+
+        public static bool operator ==(float4 a, float4 b)
+        {
+            // If both are null, or both are same instance, return true.
+            if (System.Object.ReferenceEquals(a, b))
+                return true;
+            // If one is null, but not both, return false.
+            if (((object)a == null) || ((object)b == null))
+                return false;
+
+            return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w);
+        }
+
+        public static bool operator !=(float4 a, float4 b)
+        {
+            return !(a == b);
+        }
+
+        public static float4 operator *(float4 v, float s)
+        {
+            return new float4(v.x * s, v.y * s, v.z * s, v.w * s);
+        }
+
+        public static float4 operator *(float s, float4 v)
+        {
+            return new float4(v.x * s, v.y * s, v.z * s, v.w * s);
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs
new file mode 100644
index 0000000..087eba7
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs
@@ -0,0 +1,284 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class float4x4
+    {
+        public float4 x = new float4();
+        public float4 y = new float4();
+        public float4 z = new float4();
+        public float4 w = new float4();
+
+        public float4x4()
+        {
+        }
+
+        public float4x4(float4 _x, float4 _y, float4 _z, float4 _w)
+        {
+            x = new float4(_x);
+            y = new float4(_y);
+            z = new float4(_z);
+            w = new float4(_w);
+        }
+
+        public float4x4(
+            float m00, float m01, float m02, float m03,
+            float m10, float m11, float m12, float m13,
+            float m20, float m21, float m22, float m23,
+            float m30, float m31, float m32, float m33)
+        {
+            x = new float4(m00, m01, m02, m03);
+            y = new float4(m10, m11, m12, m13);
+            z = new float4(m20, m21, m22, m23);
+            w = new float4(m30, m31, m32, m33);
+        }
+
+        public float4x4(float4x4 m)
+        {
+            x = new float4(m.x);
+            y = new float4(m.y);
+            z = new float4(m.z);
+            w = new float4(m.w);
+        }
+
+        public float4 this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                    case 3: return w;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+            set
+            {
+                switch (i)
+                {
+                    case 0: x = value; return;
+                    case 1: y = value; return;
+                    case 2: z = value; return;
+                    case 3: w = value; return;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public override int GetHashCode()
+        {
+            return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode() ^ w.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            float4x4 m = obj as float4x4;
+            if (m == null)
+                return false;
+
+            return this == m;
+        }
+
+        public static float4x4 operator *(float4x4 a, float4x4 b)
+        {
+            return new float4x4(a.x * b, a.y * b, a.z * b, a.w * b);
+        }
+
+        public static bool operator ==(float4x4 a, float4x4 b)
+        {
+            return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w);
+        }
+
+        public static bool operator !=(float4x4 a, float4x4 b)
+        {
+            return !(a == b);
+        }
+
+        public static float4x4 Inverse(float4x4 m)
+            {
+                    float4x4 d = new float4x4();
+                    //float dst = d.x.x;
+                    float[] tmp = new float[12]; // temp array for pairs
+                    float[] src = new float[16]; // array of transpose source matrix
+                    float det; // determinant
+                    // transpose matrix
+                    for (int i = 0; i < 4; i++)
+                    {
+                            src[i] = m[i].x;
+                            src[i + 4] = m[i].y;
+                            src[i + 8] = m[i].z;
+                            src[i + 12] = m[i].w;
+                    }
+                    // calculate pairs for first 8 elements (cofactors)
+                    tmp[0] = src[10] * src[15];
+                    tmp[1] = src[11] * src[14];
+                    tmp[2] = src[9] * src[15];
+                    tmp[3] = src[11] * src[13];
+                    tmp[4] = src[9] * src[14];
+                    tmp[5] = src[10] * src[13];
+                    tmp[6] = src[8] * src[15];
+                    tmp[7] = src[11] * src[12];
+                    tmp[8] = src[8] * src[14];
+                    tmp[9] = src[10] * src[12];
+                    tmp[10] = src[8] * src[13];
+                    tmp[11] = src[9] * src[12];
+                    // calculate first 8 elements (cofactors)
+                    d.x.x = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
+                    d.x.x -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
+                    d.x.y = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
+                    d.x.y -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
+                    d.x.z = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
+                    d.x.z -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
+                    d.x.w = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
+                    d.x.w -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
+                    d.y.x = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
+                    d.y.x -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
+                    d.y.y = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
+                    d.y.y -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
+                    d.y.z = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
+                    d.y.z -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
+                    d.y.w = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
+                    d.y.w -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
+                    // calculate pairs for second 8 elements (cofactors)
+                    tmp[0] = src[2]*src[7];
+                    tmp[1] = src[3]*src[6];
+                    tmp[2] = src[1]*src[7];
+                    tmp[3] = src[3]*src[5];
+                    tmp[4] = src[1]*src[6];
+                    tmp[5] = src[2]*src[5];
+                    tmp[6] = src[0]*src[7];
+                    tmp[7] = src[3]*src[4];
+                    tmp[8] = src[0]*src[6];
+                    tmp[9] = src[2]*src[4];
+                    tmp[10] = src[0]*src[5];
+                    tmp[11] = src[1]*src[4];
+                    // calculate second 8 elements (cofactors)
+                    d.z.x = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
+                    d.z.x -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
+                    d.z.y = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
+                    d.z.y -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
+                    d.z.z = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
+                    d.z.z -= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
+                    d.z.w = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
+                    d.z.w-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
+                    d.w.x = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
+                    d.w.x-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
+                    d.w.y = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
+                    d.w.y-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
+                    d.w.z = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
+                    d.w.z-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
+                    d.w.w = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
+                    d.w.w-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
+                    // calculate determinant
+            det = src[0] * d.x.x + src[1] * d.x.y + src[2] * d.x.z + src[3] * d.x.w;
+                    // calculate matrix inverse
+                    det = 1/det;
+            for (int j = 0; j < 4; j++)
+                d[j] *= det;
+                    return d;
+            }
+
+        public static float4x4 MatrixRigidInverse(float4x4 m)
+        {
+            float4x4 trans_inverse = MatrixTranslation(-m.w.xyz());
+            float4x4 rot = new float4x4(m);
+            rot.w = new float4(0f, 0f, 0f, 1f);
+            return trans_inverse * MatrixTranspose(rot);
+        }
+        public static float4x4 MatrixTranspose(float4x4 m)
+        {
+            return new float4x4(m.x.x, m.y.x, m.z.x, m.w.x, m.x.y, m.y.y, m.z.y, m.w.y, m.x.z, m.y.z, m.z.z, m.w.z, m.x.w, m.y.w, m.z.w, m.w.w);
+        }
+        public static float4x4 MatrixPerspectiveFov(float fovy, float aspect, float zn, float zf)
+        {
+            float h = 1.0f / (float)Math.Tan(fovy / 2.0f); // view space height
+            float w = h / aspect; // view space width
+            return new float4x4(w, 0, 0, 0, 0, h, 0, 0, 0, 0, zf / (zn - zf), -1, 0, 0, zn * zf / (zn - zf), 0);
+        }
+        public static float4x4 MatrixTranslation(float3 t)
+        {
+            return new float4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, t.x, t.y, t.z, 1);
+        }
+        public static float4x4 MatrixRotationZ(float angle_radians)
+        {
+            float s = (float)Math.Sin(angle_radians);
+            float c = (float)Math.Cos(angle_radians);
+            return new float4x4(c, s, 0, 0, -s, c, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
+        }
+        public static float4x4 MatrixLookAt(float3 eye, float3 at, float3 up)
+        {
+            float4x4 m = new float4x4();
+            m.w.w = 1.0f;
+            m.w.setxyz(eye);
+            m.z.setxyz(float3.normalize(eye - at));
+            m.x.setxyz(float3.normalize(float3.cross(up, m.z.xyz())));
+            m.y.setxyz(float3.cross(m.z.xyz(), m.x.xyz()));
+            return MatrixRigidInverse(m);
+        }
+
+        public static float4x4 MatrixFromQuatVec(Quaternion q, float3 v)
+        {
+            // builds a 4x4 transformation matrix based on orientation q and translation v
+            float qx2 = q.x * q.x;
+            float qy2 = q.y * q.y;
+            float qz2 = q.z * q.z;
+
+            float qxqy = q.x * q.y;
+            float qxqz = q.x * q.z;
+            float qxqw = q.x * q.w;
+            float qyqz = q.y * q.z;
+            float qyqw = q.y * q.w;
+            float qzqw = q.z * q.w;
+
+            return new float4x4(
+                1 - 2 * (qy2 + qz2),
+                2 * (qxqy + qzqw),
+                2 * (qxqz - qyqw),
+                0,
+                2 * (qxqy - qzqw),
+                1 - 2 * (qx2 + qz2),
+                2 * (qyqz + qxqw),
+                0,
+                2 * (qxqz + qyqw),
+                2 * (qyqz - qxqw),
+                1 - 2 * (qx2 + qy2),
+                0,
+                v.x,
+                v.y,
+                v.z,
+                1.0f);
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int3.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int3.cs
new file mode 100644
index 0000000..90624eb
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int3.cs
@@ -0,0 +1,128 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class int3
+    {
+        public int x;
+        public int y;
+        public int z;
+
+        public int3()
+        {
+        }
+
+        public int3(int _x, int _y, int _z)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+        }
+
+        public int this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+            set
+            {
+                switch (i)
+                {
+                    case 0: x = value; return;
+                    case 1: y = value; return;
+                    case 2: z = value; return;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        public override int GetHashCode()
+        {
+            return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            int3 i = obj as int3;
+            if (i == null)
+                return false;
+
+            return this == i;
+        }
+
+        public static bool operator ==(int3 a, int3 b)
+        {
+            // If both are null, or both are same instance, return true.
+            if (System.Object.ReferenceEquals(a, b))
+                return true;
+            // If one is null, but not both, return false.
+            if (((object)a == null) || ((object)b == null))
+                return false;
+
+            for (int i = 0; i < 3; i++)
+            {
+                if (a[i] != b[i])
+                    return false;
+            }
+            return true;
+        }
+
+        public static bool operator !=(int3 a, int3 b)
+        {
+            return !(a == b);
+        }
+
+        public static int3 roll3(int3 a)
+        {
+            int tmp = a[0];
+            a[0] = a[1];
+            a[1] = a[2];
+            a[2] = tmp;
+            return a;
+        }
+
+        public static bool isa(int3 a, int3 b)
+        {
+            return (a == b || roll3(a) == b || a == roll3(b));
+        }
+
+        public static bool b2b(int3 a, int3 b)
+        {
+            return isa(a, new int3(b[2], b[1], b[0]));
+        }
+    }
+}
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int4.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int4.cs
new file mode 100644
index 0000000..e9320c0
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int4.cs
@@ -0,0 +1,66 @@
+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+
+namespace OpenSim.Region.PhysicsModule.ConvexDecompositionDotNet
+{
+    public class int4
+    {
+        public int x;
+        public int y;
+        public int z;
+        public int w;
+
+        public int4()
+        {
+        }
+
+        public int4(int _x, int _y, int _z, int _w)
+        {
+            x = _x;
+            y = _y;
+            z = _z;
+            w = _w;
+        }
+
+        public int this[int i]
+        {
+            get
+            {
+                switch (i)
+                {
+                    case 0: return x;
+                    case 1: return y;
+                    case 2: return z;
+                    case 3: return w;
+                }
+                throw new ArgumentOutOfRangeException();
+            }
+        }
+    }
+}