24 files changed, 820 insertions, 458 deletions
diff --git a/OpenSim/Region/CoreModules/Avatar/Friends/FriendsModule.cs b/OpenSim/Region/CoreModules/Avatar/Friends/FriendsModule.cs
index 11db18a..f1903c3 100644
--- a/OpenSim/Region/CoreModules/Avatar/Friends/FriendsModule.cs
+++ b/OpenSim/Region/CoreModules/Avatar/Friends/FriendsModule.cs
@@ -28,6 +28,7 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Linq;
 using System.Reflection;
 using System.Threading;
 using log4net;
@@ -495,42 +496,36 @@ namespace OpenSim.Region.CoreModules.Avatar.Friends
        protected virtual void StatusNotify(List<FriendInfo> friendList, UUID userID, bool online)
        {
-            foreach (FriendInfo friend in friendList)
+            List<string> friendStringIds = friendList.ConvertAll<string>(friend => friend.Friend);
+            List<string> remoteFriendStringIds = new List<string>();
+            foreach (string friendStringId in friendStringIds)
            {
-                UUID friendID;
+                UUID friendUuid;
-                if (UUID.TryParse(friend.Friend, out friendID))
+                if (UUID.TryParse(friendStringId, out friendUuid))
                {
-                    // Try local
+                    if (LocalStatusNotification(userID, friendUuid, online))
-                    if (LocalStatusNotification(userID, friendID, online))
                        continue;
-                    // The friend is not here [as root]. Let's forward.
+                    remoteFriendStringIds.Add(friendStringId);
-                    PresenceInfo[] friendSessions = PresenceService.GetAgents(new string[] { friendID.ToString() });
-                    if (friendSessions != null && friendSessions.Length > 0)
-                    {
-                        PresenceInfo friendSession = null;
-                        foreach (PresenceInfo pinfo in friendSessions)
-                        {
-                            if (pinfo.RegionID != UUID.Zero) // let's guard against sessions-gone-bad
-                            {
-                                friendSession = pinfo;
-                                break;
-                            }
-                        }
-                        if (friendSession != null)
-                        {
-                            GridRegion region = GridService.GetRegionByUUID(m_Scenes[0].RegionInfo.ScopeID, friendSession.RegionID);
-                            //m_log.DebugFormat("[FRIENDS]: Remote Notify to region {0}", region.RegionName);
-                            m_FriendsSimConnector.StatusNotify(region, userID, friendID, online);
-                        }
-                    }
-                    // Friend is not online. Ignore.
                }
                else
                {
-                    m_log.WarnFormat("[FRIENDS]: Error parsing friend ID {0}", friend.Friend);
+                    m_log.WarnFormat("[FRIENDS]: Error parsing friend ID {0}", friendStringId);
+                }
+            }
+            // We do this regrouping so that we can efficiently send a single request rather than one for each
+            // friend in what may be a very large friends list.
+            PresenceInfo[] friendSessions = PresenceService.GetAgents(remoteFriendStringIds.ToArray());
+            foreach (PresenceInfo friendSession in friendSessions)
+            {
+                // let's guard against sessions-gone-bad
+                if (friendSession.RegionID != UUID.Zero)
+                {
+                    GridRegion region = GridService.GetRegionByUUID(m_Scenes[0].RegionInfo.ScopeID, friendSession.RegionID);
+                    //m_log.DebugFormat("[FRIENDS]: Remote Notify to region {0}", region.RegionName);
+                    m_FriendsSimConnector.StatusNotify(region, userID, friendSession.UserID, online);
                }
            }
        }
diff --git a/OpenSim/Region/CoreModules/Scripting/DynamicTexture/DynamicTextureModule.cs b/OpenSim/Region/CoreModules/Scripting/DynamicTexture/DynamicTextureModule.cs
index 1f340df..93a045e 100644
--- a/OpenSim/Region/CoreModules/Scripting/DynamicTexture/DynamicTextureModule.cs
+++ b/OpenSim/Region/CoreModules/Scripting/DynamicTexture/DynamicTextureModule.cs
@@ -42,7 +42,7 @@ namespace OpenSim.Region.CoreModules.Scripting.DynamicTexture
 {
    public class DynamicTextureModule : IRegionModule, IDynamicTextureManager
    {
-        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
        private const int ALL_SIDES = -1;
diff --git a/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs b/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
index 2127f4d..ade5e76 100644
--- a/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
+++ b/OpenSim/Region/CoreModules/World/Archiver/ArchiveReadRequest.cs
@@ -290,7 +290,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
            foreach (DearchiveContext sceneContext in sceneContexts.Values)
            {
-                m_log.InfoFormat("[ARCHIVER:] Loading region {0}", sceneContext.Scene.RegionInfo.RegionName);
+                m_log.InfoFormat("[ARCHIVER]: Loading region {0}", sceneContext.Scene.RegionInfo.RegionName);
                if (!m_merge)
                {
@@ -324,7 +324,7 @@ namespace OpenSim.Region.CoreModules.World.Archiver
            Util.FireAndForget(delegate(object o)
            {
                Thread.Sleep(15000);
-                m_log.Info("Starting scripts in scene objects");
+                m_log.Info("[ARCHIVER]: Starting scripts in scene objects");
                foreach (DearchiveContext sceneContext in sceneContexts.Values)
                {
diff --git a/OpenSim/Region/Framework/Scenes/UuidGatherer.cs b/OpenSim/Region/Framework/Scenes/UuidGatherer.cs
index b5ef7b0..2279e62 100644
--- a/OpenSim/Region/Framework/Scenes/UuidGatherer.cs
+++ b/OpenSim/Region/Framework/Scenes/UuidGatherer.cs
@@ -66,9 +66,9 @@ namespace OpenSim.Region.Framework.Scenes
 //        /// </summary>
 //        private bool m_waitingForObjectAsset;
                
-        public UuidGatherer(IAssetService assetCache)
+        public UuidGatherer(IAssetService assetService)
        {
-            m_assetService = assetCache;
+            m_assetService = assetService;
        }
                
        /// <summary>
diff --git a/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs b/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs
index d68aabc..68bcb4a 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Attachments/AttachmentsCommandModule.cs
@@ -146,7 +146,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
            sb.AppendFormat("Attachments for {0}\n", sp.Name);
            ConsoleDisplayTable ct = new ConsoleDisplayTable() { Indent = 2 };
-            ct.Columns.Add(new ConsoleDisplayTableColumn("Attachment Name", 36));
+            ct.Columns.Add(new ConsoleDisplayTableColumn("Attachment Name", 50));
            ct.Columns.Add(new ConsoleDisplayTableColumn("Local ID", 10));
            ct.Columns.Add(new ConsoleDisplayTableColumn("Item ID", 36));
            ct.Columns.Add(new ConsoleDisplayTableColumn("Attach Point", 14));
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsMessagingModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsMessagingModule.cs
index 10b83e6..1528330 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsMessagingModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsMessagingModule.cs
@@ -27,6 +27,7 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using System.Reflection;
 using log4net;
 using Mono.Addins;
@@ -36,6 +37,8 @@ using OpenMetaverse.StructuredData;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Services.Interfaces;
+using PresenceInfo = OpenSim.Services.Interfaces.PresenceInfo;
 namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
 {
@@ -45,6 +48,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
        private List<Scene> m_sceneList = new List<Scene>();
+        private IPresenceService m_presenceService;
        private IMessageTransferModule m_msgTransferModule = null;
@@ -54,6 +58,27 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
        private bool m_groupMessagingEnabled = false;
        private bool m_debugEnabled = true;
+        /// <summary>
+        /// If enabled, module only tries to send group IMs to online users by querying cached presence information.
+        /// </summary>
+        private bool m_messageOnlineAgentsOnly;
+        /// <summary>
+        /// Cache for online users.
+        /// </summary>
+        /// <remarks>
+        /// Group ID is key, presence information for online members is value.
+        /// Will only be non-null if m_messageOnlineAgentsOnly = true
+        /// We cache here so that group messages don't constantly have to re-request the online user list to avoid
+        /// attempted expensive sending of messages to offline users.
+        /// The tradeoff is that a user that comes online will not receive messages consistently from all other users
+        /// until caches have updated.
+        /// Therefore, we set the cache expiry to just 20 seconds.
+        /// </remarks>
+        private ExpiringCache<UUID, PresenceInfo[]> m_usersOnlineCache;
+        private int m_usersOnlineCacheExpirySeconds = 20;
        #region IRegionModuleBase Members
        public void Initialise(IConfigSource config)
@@ -83,10 +108,17 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
                    return;
                }
+                m_messageOnlineAgentsOnly = groupsConfig.GetBoolean("MessageOnlineUsersOnly", false);
+                if (m_messageOnlineAgentsOnly)
+                     m_usersOnlineCache = new ExpiringCache<UUID, PresenceInfo[]>();
                m_debugEnabled = groupsConfig.GetBoolean("DebugEnabled", true);
            }
-            m_log.Info("[GROUPS-MESSAGING]: GroupsMessagingModule starting up");
+            m_log.InfoFormat(
+                "[GROUPS-MESSAGING]: GroupsMessagingModule enabled with MessageOnlineOnly = {0}, DebugEnabled = {1}",
+                m_messageOnlineAgentsOnly, m_debugEnabled);
        }
        public void AddRegion(Scene scene)
@@ -126,6 +158,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
                return;
            }
+            if (m_presenceService == null)
+                m_presenceService = scene.PresenceService;
            m_sceneList.Add(scene);
@@ -207,12 +241,42 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
        public void SendMessageToGroup(GridInstantMessage im, UUID groupID)
        {
            List<GroupMembersData> groupMembers = m_groupData.GetGroupMembers(new UUID(im.fromAgentID), groupID);
-            
+            int groupMembersCount = groupMembers.Count;
-            if (m_debugEnabled) 
-                m_log.DebugFormat(
+            if (m_messageOnlineAgentsOnly)
-                    "[GROUPS-MESSAGING]: SendMessageToGroup called for group {0} with {1} visible members", 
+            {
-                    groupID, groupMembers.Count);
+                string[] t1 = groupMembers.ConvertAll<string>(gmd => gmd.AgentID.ToString()).ToArray();
-            
+                // We cache in order not to overwhlem the presence service on large grids with many groups.  This does
+                // mean that members coming online will not see all group members until after m_usersOnlineCacheExpirySeconds has elapsed.
+                // (assuming this is the same across all grid simulators).
+                PresenceInfo[] onlineAgents;
+                if (!m_usersOnlineCache.TryGetValue(groupID, out onlineAgents))
+                {
+                    onlineAgents = m_presenceService.GetAgents(t1);
+                    m_usersOnlineCache.Add(groupID, onlineAgents, m_usersOnlineCacheExpirySeconds);
+                }
+                HashSet<string> onlineAgentsUuidSet = new HashSet<string>();
+                Array.ForEach<PresenceInfo>(onlineAgents, pi => onlineAgentsUuidSet.Add(pi.UserID));
+                groupMembers = groupMembers.Where(gmd => onlineAgentsUuidSet.Contains(gmd.AgentID.ToString())).ToList();
+    //            if (m_debugEnabled)
+//                    m_log.DebugFormat(
+//                        "[GROUPS-MESSAGING]: SendMessageToGroup called for group {0} with {1} visible members, {2} online",
+//                        groupID, groupMembersCount, groupMembers.Count());
+            }
+            else
+            {
+                if (m_debugEnabled)
+                    m_log.DebugFormat(
+                        "[GROUPS-MESSAGING]: SendMessageToGroup called for group {0} with {1} visible members",
+                        groupID, groupMembers.Count);
+            }
+            int requestStartTick = Environment.TickCount;
            foreach (GroupMembersData member in groupMembers)
            {
                if (m_groupData.hasAgentDroppedGroupChatSession(member.AgentID, groupID))
@@ -254,6 +318,12 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
                    ProcessMessageFromGroupSession(msg);
                }
            }
+            // Temporary for assessing how long it still takes to send messages to large online groups.
+            if (m_messageOnlineAgentsOnly)
+                m_log.DebugFormat(
+                    "[GROUPS-MESSAGING]: SendMessageToGroup for group {0} with {1} visible members, {2} online took {3}ms",
+                    groupID, groupMembersCount, groupMembers.Count(), Environment.TickCount - requestStartTick);
        }
        
        #region SimGridEventHandlers
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
index 65bd26c..79e9994 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
@@ -123,7 +123,36 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
        public void AddRegion(Scene scene)
        {
            if (m_groupsEnabled)
+            {
                scene.RegisterModuleInterface<IGroupsModule>(this);
+                scene.AddCommand(
+                    "debug",
+                    this,
+                    "debug groups verbose",
+                    "debug groups verbose <true|false>",
+                    "This setting turns on very verbose groups debugging",
+                    HandleDebugGroupsVerbose);
+            }
+        }
+        private void HandleDebugGroupsVerbose(object modules, string[] args)
+        {
+            if (args.Length < 4)
+            {
+                MainConsole.Instance.Output("Usage: debug groups verbose <true|false>");
+                return;
+            }
+            bool verbose = false;
+            if (!bool.TryParse(args[3], out verbose))
+            {
+                MainConsole.Instance.Output("Usage: debug groups verbose <true|false>");
+                return;
+            }
+            m_debugEnabled = verbose;
+            MainConsole.Instance.OutputFormat("{0} verbose logging set to {1}", Name, m_debugEnabled);
        }
        public void RegionLoaded(Scene scene)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2e6b2da..623ac8f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -41,8 +41,6 @@ public class BSCharacter : BSPhysObject
    // private bool _stopped;
    private OMV.Vector3 _size;
-    private OMV.Vector3 _scale;
-    private PrimitiveBaseShape _pbs;
    private bool _grabbed;
    private bool _selected;
    private OMV.Vector3 _position;
@@ -67,6 +65,10 @@ public class BSCharacter : BSPhysObject
    private bool _kinematic;
    private float _buoyancy;
+    // The friction and velocity of the avatar is modified depending on whether walking or not.
+    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
+    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
    private OMV.Vector3 _PIDTarget;
    private bool _usePID;
    private float _PIDTau;
@@ -84,14 +86,18 @@ public class BSCharacter : BSPhysObject
        _flying = isFlying;
        _orientation = OMV.Quaternion.Identity;
        _velocity = OMV.Vector3.Zero;
+        _appliedVelocity = OMV.Vector3.Zero;
        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+        _avatarDensity = PhysicsScene.Params.avatarDensity;
        // The dimensions of the avatar capsule are kept in the scale.
        // Physics creates a unit capsule which is scaled by the physics engine.
        ComputeAvatarScale(_size);
-        _avatarDensity = PhysicsScene.Params.avatarDensity;
+        // set _avatarVolume and _mass based on capsule size, _density and Scale
-        // set _avatarVolume and _mass based on capsule size, _density and _scale
        ComputeAvatarVolumeAndMass();
+        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
+                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
        ShapeData shapeData = new ShapeData();
        shapeData.ID = LocalID;
@@ -99,28 +105,22 @@ public class BSCharacter : BSPhysObject
        shapeData.Position = _position;
        shapeData.Rotation = _orientation;
        shapeData.Velocity = _velocity;
-        shapeData.Scale = _scale;
+        shapeData.Size = Scale;
+        shapeData.Scale = Scale;
        shapeData.Mass = _mass;
        shapeData.Buoyancy = _buoyancy;
        shapeData.Static = ShapeData.numericFalse;
-        shapeData.Friction = PhysicsScene.Params.avatarFriction;
+        shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
        shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
        // do actual create at taint time
        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
        {
            DetailLog("{0},BSCharacter.create,taint", LocalID);
-            BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
+            // New body and shape into BSBody and BSShape
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
-            // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
+            SetPhysicalProperties();
-            // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
-            BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
-            // This works here because CreateObject has already put the character into the physical world.
-            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
-                            (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
        });
        return;
    }
@@ -131,53 +131,85 @@ public class BSCharacter : BSPhysObject
        DetailLog("{0},BSCharacter.Destroy", LocalID);
        PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
        {
-            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
+            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
        });
    }
+    private void SetPhysicalProperties()
+    {
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        ZeroMotion();
+        ForcePosition = _position;
+        // Set the velocity and compute the proper friction
+        ForceVelocity = _velocity;
+        BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
+        BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
+        BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        {
+            BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+            BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+        }
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
+        BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
+        BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
+        // Do this after the object has been added to the world
+        BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
+                        (uint)CollisionFilterGroups.AvatarFilter, 
+                        (uint)CollisionFilterGroups.AvatarMask);
+    }
    public override void RequestPhysicsterseUpdate()
    {
        base.RequestPhysicsterseUpdate();
    }
    // No one calls this method so I don't know what it could possibly mean
-    public override bool Stopped {
+    public override bool Stopped { get { return false; } }
-        get { return false; }
-    }
    public override OMV.Vector3 Size {
        get
        {
            // Avatar capsule size is kept in the scale parameter.
-            return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
+            return _size;
        }
        set {
-            // When an avatar's size is set, only the height is changed
+            // When an avatar's size is set, only the height is changed.
-            //    and that really only depends on the radius.
            _size = value;
            ComputeAvatarScale(_size);
-            // TODO: something has to be done with the avatar's vertical position
            ComputeAvatarVolumeAndMass();
+            DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
+                            LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw);
            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
            {
-                BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true);
+                BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
+                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
+                BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
            });
        }
    }
-    public override PrimitiveBaseShape Shape {
+    public override OMV.Vector3 Scale { get; set; }
-        set { _pbs = value;
+    public override PrimitiveBaseShape Shape
-        }
+    {
+        set { BaseShape = value; }
    }
    public override bool Grabbed {
-        set { _grabbed = value;
+        set { _grabbed = value; }
-        }
    }
    public override bool Selected {
-        set { _selected = value;
+        set { _selected = value; }
-        }
    }
    public override void CrossingFailure() { return; }
    public override void link(PhysicsActor obj) { return; }
@@ -204,7 +236,7 @@ public class BSCharacter : BSPhysObject
    public override OMV.Vector3 Position {
        get {
-            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
            return _position;
        }
        set {
@@ -214,7 +246,7 @@ public class BSCharacter : BSPhysObject
            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
            {
                DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
            });
        }
    }
@@ -263,7 +295,7 @@ public class BSCharacter : BSPhysObject
    // A version of the sanity check that also makes sure a new position value is
    //    pushed back to the physics engine. This routine would be used by anyone
    //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool inTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
    {
        bool ret = false;
        if (PositionSanityCheck())
@@ -273,7 +305,7 @@ public class BSCharacter : BSPhysObject
            BSScene.TaintCallback sanityOperation = delegate()
            {
                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
            };
            if (inTaintTime)
                sanityOperation();
@@ -284,11 +316,7 @@ public class BSCharacter : BSPhysObject
        return ret;
    }
-    public override float Mass {
+    public override float Mass { get { return _mass; } }
-        get {
-            return _mass;
-        }
-    }
    // used when we only want this prim's mass and not the linkset thing
    public override float MassRaw { get {return _mass; } }
@@ -301,15 +329,13 @@ public class BSCharacter : BSPhysObject
            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
            {
                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force);
+                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
            });
        }
    }
-    public override int VehicleType {
+    // Avatars don't do vehicles
-        get { return 0; }
+    public override int VehicleType { get { return 0; } set { return; } }
-        set { return; }
-    }
    public override void VehicleFloatParam(int param, float value) { }
    public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
@@ -328,15 +354,37 @@ public class BSCharacter : BSPhysObject
            PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
            {
                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+                ForceVelocity = _velocity;
            });
        }
    }
    public override OMV.Vector3 ForceVelocity {
        get { return _velocity; }
        set {
+            // Depending on whether the avatar is moving or not, change the friction
+            //    to keep the avatar from slipping around
+            if (_velocity.Length() == 0)
+            {
+                if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
+            else
+            {
+                if (_currentFriction != PhysicsScene.Params.avatarFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
            _velocity = value;
-            BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+            // Remember the set velocity so we can suppress the reduction by friction, ...
+            _appliedVelocity = value;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+            BulletSimAPI.Activate2(BSBody.ptr, true);
        }
    }
    public override OMV.Vector3 Torque {
@@ -360,8 +408,8 @@ public class BSCharacter : BSPhysObject
            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
            {
-                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
            });
        }
    }
@@ -389,12 +437,18 @@ public class BSCharacter : BSPhysObject
        set { _isPhysical = value;
        }
    }
+    public override bool IsSolid {
+        get { return true; }
+    }
+    public override bool IsStatic {
+        get { return false; }
+    }
    public override bool Flying {
        get { return _flying; }
        set {
            _flying = value;
            // simulate flying by changing the effect of gravity
-            this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
+            Buoyancy = ComputeBuoyancyFromFlying(_flying);
        }
    }
    // Flying is implimented by changing the avatar's buoyancy.
@@ -454,10 +508,19 @@ public class BSCharacter : BSPhysObject
            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
            {
                DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
+                ForceBuoyancy = _buoyancy;
            });
        }
    }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set { _buoyancy = value;
+            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
    // Used for MoveTo
    public override OMV.Vector3 PIDTarget {
@@ -518,27 +581,32 @@ public class BSCharacter : BSPhysObject
    private void ComputeAvatarScale(OMV.Vector3 size)
    {
-        _scale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        // The 'size' given by the simulator is the mid-point of the avatar
-        _scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+        //    and X and Y are unspecified.
-        // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
+        OMV.Vector3 newScale = OMV.Vector3.Zero;
-        // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
+        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
-        _scale.Z = (_size.Z) - (_scale.X + _scale.Y);
+        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+        // From the total height, remote the capsule half spheres that are at each end 
+        newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y);
+        // newScale.Z = (size.Z * 2f);
+        Scale = newScale;
    }
-    // set _avatarVolume and _mass based on capsule size, _density and _scale
+    // set _avatarVolume and _mass based on capsule size, _density and Scale
    private void ComputeAvatarVolumeAndMass()
    {
        _avatarVolume = (float)(
                        Math.PI
-                        * _scale.X
+                        * Scale.X
-                        * _scale.Y  // the area of capsule cylinder
+                        * Scale.Y    // the area of capsule cylinder
-                        * _scale.Z  // times height of capsule cylinder
+                        * Scale.Z    // times height of capsule cylinder
                      + 1.33333333f
                        * Math.PI
-                        * _scale.X
+                        * Scale.X
-                        * Math.Min(_scale.X, _scale.Y)
+                        * Math.Min(Scale.X, Scale.Y)
-                        * _scale.Y  // plus the volume of the capsule end caps
+                        * Scale.Y    // plus the volume of the capsule end caps
                        );
        _mass = _avatarDensity * _avatarVolume;
    }
@@ -553,7 +621,23 @@ public class BSCharacter : BSPhysObject
        _acceleration = entprop.Acceleration;
        _rotationalVelocity = entprop.RotationalVelocity;
        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck2(true);
+        PositionSanityCheck(true);
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
+        if (entprop.Velocity != LastEntityProperties.Velocity)
+        {
+            // Changes in the velocity are suppressed in avatars.
+            // That's just the way they are defined.
+            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
+            _velocity = avVel;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
+        }
+        // Tell the linkset about this
+        Linkset.UpdateProperties(this);
        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
        // base.RequestPhysicsterseUpdate();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index cae599c..ead6a08 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -47,6 +47,7 @@ public abstract class BSPhysObject : PhysicsActor
        TypeName = typeName;
        Linkset = new BSLinkset(PhysicsScene, this);
+        LastAssetBuildFailed = false;
        CollisionCollection = new CollisionEventUpdate();
        SubscribedEventsMs = 0;
@@ -69,6 +70,23 @@ public abstract class BSPhysObject : PhysicsActor
    // Reference to the physical shape (btCollisionShape) of this object
    public BulletShape BSShape;
+    // 'true' if the mesh's underlying asset failed to build.
+    // This will keep us from looping after the first time the build failed.
+    public bool LastAssetBuildFailed { get; set; }
+    // The objects base shape information. Null if not a prim type shape.
+    public PrimitiveBaseShape BaseShape { get; protected set; }
+    // When the physical properties are updated, an EntityProperty holds the update values.
+    // Keep the current and last EntityProperties to enable computation of differences 
+    //      between the current update and the previous values.
+    public EntityProperties CurrentEntityProperties { get; set; }
+    public EntityProperties LastEntityProperties { get; set; }
+    public abstract OMV.Vector3 Scale { get; set; }
+    public abstract bool IsSolid { get; }
+    public abstract bool IsStatic { get; }
    // Stop all physical motion.
    public abstract void ZeroMotion();
@@ -89,6 +107,10 @@ public abstract class BSPhysObject : PhysicsActor
    public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
+    public abstract float ForceBuoyancy { get; set; }
+    public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
    #region Collisions
    // Requested number of milliseconds between collision events. Zero means disabled.
@@ -129,30 +151,28 @@ public abstract class BSPhysObject : PhysicsActor
        // if someone has subscribed for collision events....
        if (SubscribedEvents()) {
            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-            //                 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
            ret = true;
        }
        return ret;
    }
-    // Routine to send the collected collisions into the simulator.
+    // Send the collected collisions into the simulator.
-    // Also handles removal of this from the collection of objects with collisions if
-    //      there are no collisions from this object. Mechanism is create one last
-    //      collision event to make collision_end work.
    // Called at taint time from within the Step() function thus no locking problems
    //      with CollisionCollection and ObjectsWithNoMoreCollisions.
    // Return 'true' if there were some actual collisions passed up
    public virtual bool SendCollisions()
    {
        bool ret = true;
+        // If the 'no collision' call, force it to happen right now so quick collision_end
+        bool force = CollisionCollection.Count == 0;
        // throttle the collisions to the number of milliseconds specified in the subscription
-        int nowTime = PhysicsScene.SimulationNowTime;
+        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
-        if (nowTime >= NextCollisionOkTime)
        {
-            NextCollisionOkTime = nowTime + SubscribedEventsMs;
+            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
            // We are called if we previously had collisions. If there are no collisions
            //   this time, send up one last empty event so OpenSim can sense collision end.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6a4365c..aeeb4dd 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -46,12 +46,10 @@ public sealed class BSPrim : BSPhysObject
    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
    private static readonly string LogHeader = "[BULLETS PRIM]";
-    private PrimitiveBaseShape _pbs;
+    // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
+    // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
-    // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
-    // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
    private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
-    private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
+    // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
    private bool _grabbed;
    private bool _isSelected;
@@ -98,12 +96,12 @@ public sealed class BSPrim : BSPhysObject
        _physicsActorType = (int)ActorTypes.Prim;
        _position = pos;
        _size = size;
-        _scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
+        Scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
        _orientation = rotation;
        _buoyancy = 1f;
        _velocity = OMV.Vector3.Zero;
        _rotationalVelocity = OMV.Vector3.Zero;
-        _pbs = pbs;
+        BaseShape = pbs;
        _isPhysical = pisPhysical;
        _isVolumeDetect = false;
        _friction = PhysicsScene.Params.defaultFriction;  // TODO: compute based on object material
@@ -160,33 +158,32 @@ public sealed class BSPrim : BSPhysObject
        get { return _size; }
        set {
            _size = value;
-            PhysicsScene.TaintedObject("BSPrim.setSize", delegate()
+            ForceBodyShapeRebuild(false);
-            {
-                _mass = CalculateMass();   // changing size changes the mass
-                // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
-                //   scale and margins are set.
-                CreateGeomAndObject(true);
-                // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
-            });
        }
    }
    // Scale is what we set in the physics engine. It is different than 'size' in that
    //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public OMV.Vector3 Scale
+    public override OMV.Vector3 Scale { get; set; }
-    {
-        get { return _scale; }
-        set { _scale = value; }
-    }
    public override PrimitiveBaseShape Shape {
        set {
-            _pbs = value;
+            BaseShape = value;
-            PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
+            ForceBodyShapeRebuild(false);
-            {
-                _mass = CalculateMass();   // changing the shape changes the mass
-                CreateGeomAndObject(true);
-            });
        }
    }
+    public override bool ForceBodyShapeRebuild(bool inTaintTime)
+    {
+        BSScene.TaintCallback rebuildOperation = delegate()
+        {
+            _mass = CalculateMass();   // changing the shape changes the mass
+            CreateGeomAndObject(true);
+        };
+        if (inTaintTime)
+            rebuildOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation);
+        return true;
+    }
    public override bool Grabbed {
        set { _grabbed = value;
        }
@@ -325,9 +322,9 @@ public sealed class BSPrim : BSPhysObject
    }
    // A version of the sanity check that also makes sure a new position value is
-    //    pushed back to the physics engine. This routine would be used by anyone
+    //    pushed to the physics engine. This routine would be used by anyone
    //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool inTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
    {
        bool ret = false;
        if (PositionSanityCheck())
@@ -337,7 +334,7 @@ public sealed class BSPrim : BSPhysObject
            BSScene.TaintCallback sanityOperation = delegate()
            {
                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                ForcePosition = _position;
            };
            if (inTaintTime)
                sanityOperation();
@@ -547,13 +544,13 @@ public sealed class BSPrim : BSPhysObject
    }
    // An object is static (does not move) if selected or not physical
-    private bool IsStatic
+    public override bool IsStatic
    {
        get { return _isSelected || !IsPhysical; }
    }
    // An object is solid if it's not phantom and if it's not doing VolumeDetect
-    public bool IsSolid
+    public override bool IsSolid
    {
        get { return !IsPhantom && !_isVolumeDetect; }
    }
@@ -631,6 +628,12 @@ public sealed class BSPrim : BSPhysObject
            BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
            // There is no inertia in a static object
            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
            // There can be special things needed for implementing linksets
            Linkset.MakeStatic(this);
            // The activation state is 'disabled' so Bullet will not try to act on it.
@@ -662,6 +665,13 @@ public sealed class BSPrim : BSPhysObject
            BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
            // Various values for simulation limits
            BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
            BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
@@ -813,13 +823,20 @@ public sealed class BSPrim : BSPhysObject
            _buoyancy = value;
            PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
            {
-                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+                ForceBuoyancy = _buoyancy;
-                // Buoyancy is faked by changing the gravity applied to the object
-                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-                BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
            });
        }
    }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
    // Used for MoveTo
    public override OMV.Vector3 PIDTarget {
@@ -907,19 +924,19 @@ public sealed class BSPrim : BSPhysObject
        float tmp;
        float returnMass = 0;
-        float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
+        float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
        float hollowVolume = hollowAmount * hollowAmount;
-        switch (_pbs.ProfileShape)
+        switch (BaseShape.ProfileShape)
        {
            case ProfileShape.Square:
                // default box
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                    {
                    if (hollowAmount > 0.0)
                        {
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                            {
                            case HollowShape.Square:
                            case HollowShape.Same:
@@ -943,19 +960,19 @@ public sealed class BSPrim : BSPhysObject
                        }
                    }
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                    {
                    //a tube
-                    volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
+                    volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
-                    tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
+                    tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
                    volume -= volume*tmp*tmp;
                    if (hollowAmount > 0.0)
                        {
                        hollowVolume *= hollowAmount;
   
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                            {
                            case HollowShape.Square:
                            case HollowShape.Same:
@@ -980,13 +997,13 @@ public sealed class BSPrim : BSPhysObject
            case ProfileShape.Circle:
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                    {
                    volume *= 0.78539816339f; // elipse base
                    if (hollowAmount > 0.0)
                        {
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                            {
                            case HollowShape.Same:
                            case HollowShape.Circle:
@@ -1008,10 +1025,10 @@ public sealed class BSPrim : BSPhysObject
                        }
                    }
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                    {
-                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
+                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
                    volume *= (1.0f - tmp * tmp);
                    if (hollowAmount > 0.0)
@@ -1020,7 +1037,7 @@ public sealed class BSPrim : BSPhysObject
                        // calculate the hollow volume by it's shape compared to the prim shape
                        hollowVolume *= hollowAmount;
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                            {
                            case HollowShape.Same:
                            case HollowShape.Circle:
@@ -1044,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject
                break;
            case ProfileShape.HalfCircle:
-                if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                {
                volume *= 0.52359877559829887307710723054658f;
                }
@@ -1052,7 +1069,7 @@ public sealed class BSPrim : BSPhysObject
            case ProfileShape.EquilateralTriangle:
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                    {
                    volume *= 0.32475953f;
@@ -1060,7 +1077,7 @@ public sealed class BSPrim : BSPhysObject
                        {
                        // calculate the hollow volume by it's shape compared to the prim shape
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                            {
                            case HollowShape.Same:
                            case HollowShape.Triangle:
@@ -1085,11 +1102,11 @@ public sealed class BSPrim : BSPhysObject
                        volume *= (1.0f - hollowVolume);
                        }
                    }
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                    {
                    volume *= 0.32475953f;
-                    volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
+                    volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
                    volume *= (1.0f - tmp * tmp);
                    if (hollowAmount > 0.0)
@@ -1097,7 +1114,7 @@ public sealed class BSPrim : BSPhysObject
                        hollowVolume *= hollowAmount;
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                            {
                            case HollowShape.Same:
                            case HollowShape.Triangle:
@@ -1137,26 +1154,26 @@ public sealed class BSPrim : BSPhysObject
        float profileBegin;
        float profileEnd;
-        if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
+        if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
            {
-            taperX1 = _pbs.PathScaleX * 0.01f;
+            taperX1 = BaseShape.PathScaleX * 0.01f;
            if (taperX1 > 1.0f)
                taperX1 = 2.0f - taperX1;
            taperX = 1.0f - taperX1;
-            taperY1 = _pbs.PathScaleY * 0.01f;
+            taperY1 = BaseShape.PathScaleY * 0.01f;
            if (taperY1 > 1.0f)
                taperY1 = 2.0f - taperY1;
            taperY = 1.0f - taperY1;
            }
        else
            {
-            taperX = _pbs.PathTaperX * 0.01f;
+            taperX = BaseShape.PathTaperX * 0.01f;
            if (taperX < 0.0f)
                taperX = -taperX;
            taperX1 = 1.0f - taperX;
-            taperY = _pbs.PathTaperY * 0.01f;
+            taperY = BaseShape.PathTaperY * 0.01f;
            if (taperY < 0.0f)
                taperY = -taperY;
            taperY1 = 1.0f - taperY;
@@ -1166,13 +1183,13 @@ public sealed class BSPrim : BSPhysObject
        volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
-        pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
+        pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
-        pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
+        pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
        volume *= (pathEnd - pathBegin);
        // this is crude aproximation
-        profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
+        profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
-        profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
+        profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
        volume *= (profileEnd - profileBegin);
        returnMass = _density * volume;
@@ -1207,7 +1224,8 @@ public sealed class BSPrim : BSPhysObject
        shape.Position = _position;
        shape.Rotation = _orientation;
        shape.Velocity = _velocity;
-        shape.Scale = _scale;
+        shape.Size = _size;
+        shape.Scale = Scale;
        shape.Mass = _isPhysical ? _mass : 0f;
        shape.Buoyancy = _buoyancy;
        shape.HullKey = 0;
@@ -1217,7 +1235,6 @@ public sealed class BSPrim : BSPhysObject
        shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
        shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
        shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
-        shape.Size = _size;
    }
    // Rebuild the geometry and object.
    // This is called when the shape changes so we need to recreate the mesh/hull.
@@ -1234,7 +1251,7 @@ public sealed class BSPrim : BSPhysObject
        // Create the correct physical representation for this type of object.
        // Updates BSBody and BSShape with the new information.
        // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, 
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, 
                        null, delegate(BulletBody dBody)
        {
            // Called if the current prim body is about to be destroyed.
@@ -1328,9 +1345,11 @@ public sealed class BSPrim : BSPhysObject
            _acceleration = entprop.Acceleration;
            _rotationalVelocity = entprop.RotationalVelocity;
-            PositionSanityCheck2(true);
+            // remember the current and last set values
+            LastEntityProperties = CurrentEntityProperties;
+            CurrentEntityProperties = entprop;
-            Linkset.UpdateProperties(this);
+            PositionSanityCheck(true);
            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                    LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
@@ -1348,6 +1367,9 @@ public sealed class BSPrim : BSPhysObject
                    entprop.Acceleration, entprop.RotationalVelocity);
        }
             */
+        // The linkset implimentation might want to know about this.
+        Linkset.UpdateProperties(this);
    }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 2c3c481..6621d39 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -256,14 +256,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-        WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
+        World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
                                        m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
                                        m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_DebugLogCallbackHandle);
+                                        m_DebugLogCallbackHandle));
-        // Initialization to support the transition to a new API which puts most of the logic
-        //   into the C# code so it is easier to modify and add to.
-        World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
        Constraints = new BSConstraintCollection(World);
@@ -360,7 +356,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        }
        // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown(WorldID);
+        BulletSimAPI.Shutdown2(World.ptr);
        // Not logging any more
        PhysicsLogging.Close();
@@ -498,7 +494,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        {
            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
-            numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
+            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
                        out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
            if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
@@ -536,26 +532,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            }
        }
-        // This is a kludge to get avatar movement updates.
-        //   the simulator expects collisions for avatars even if there are have been no collisions. This updates
-        //   avatar animations and stuff.
-        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
-        foreach (BSPhysObject bsp in m_avatars)
-            bsp.SendCollisions();
        // The above SendCollision's batch up the collisions on the objects.
        //      Now push the collisions into the simulator.
        if (ObjectsWithCollisions.Count > 0)
        {
            foreach (BSPhysObject bsp in ObjectsWithCollisions)
-                if (!m_avatars.Contains(bsp))   // don't call avatars twice
+                if (!bsp.SendCollisions())
-                    if (!bsp.SendCollisions())
+                {
-                    {
+                    // If the object is done colliding, see that it's removed from the colliding list
-                        // If the object is done colliding, see that it's removed from the colliding list
+                    ObjectsWithNoMoreCollisions.Add(bsp);
-                        ObjectsWithNoMoreCollisions.Add(bsp);
+                }
-                    }
        }
+        // This is a kludge to get avatar movement updates.
+        // The simulator expects collisions for avatars even if there are have been no collisions. 
+        //    The event updates avatar animations and stuff.
+        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
+        foreach (BSPhysObject bsp in m_avatars)
+            if (!ObjectsWithCollisions.Contains(bsp))   // don't call avatars twice
+                bsp.SendCollisions();
        // Objects that are done colliding are removed from the ObjectsWithCollisions list.
        // Not done above because it is inside an iteration of ObjectWithCollisions.
        if (ObjectsWithNoMoreCollisions.Count > 0)
@@ -579,11 +575,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            }
        }
+        // This causes the unmanaged code to output ALL the values found in ALL the objects in the world.
+        // Only enable this in a limited test world with few objects.
+        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
        // The physics engine returns the number of milliseconds it simulated this call.
        // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // We multiply by 45 to give a recognizable running rate (45 or less).
+        // We multiply by 55 to give a recognizable running rate (55 or less).
-        return numSubSteps * m_fixedTimeStep * 1000 * 45;
+        return numSubSteps * m_fixedTimeStep * 1000 * 55;
-        // return timeStep * 1000 * 45;
+        // return timeStep * 1000 * 55;
    }
    // Something has collided
@@ -800,6 +800,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
    delegate float ParamGet(BSScene scene);
    delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
+    delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
    private struct ParameterDefn
    {
@@ -809,6 +810,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        public ParamUser userParam; // get the value from the configuration file
        public ParamGet getter;     // return the current value stored for this parameter
        public ParamSet setter;     // set the current value for this parameter
+        public SetOnObject onObject;    // set the value on an object in the physical domain
        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
        {
            name = n;
@@ -817,6 +819,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            userParam = u;
            getter = g;
            setter = s;
+            onObject = null;
+        }
+        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
+        {
+            name = n;
+            desc = d;
+            defaultValue = v;
+            userParam = u;
+            getter = g;
+            setter = s;
+            onObject = o;
        }
    }
@@ -838,6 +851,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    //
    // The single letter parameters for the delegates are:
    //    s = BSScene
+    //    o = BSPhysObject
    //    p = string parameter name
    //    l = localID of referenced object
    //    v = float value
@@ -947,70 +961,84 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            -9.80665f,
            (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].gravity; },
-            (s,p,l,v) => { s.m_params[0].gravity = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); },
+            (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
        new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
            0f,
            (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].linearDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
        new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
            0f,
            (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].angularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
        new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
            0.2f,
            (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].deactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ),
        new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
            0.8f,
            (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].linearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
        new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
            1.0f,
            (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].angularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
        new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
            0f,     // set to zero to disable
            (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].ccdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ),
        new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
            0f,
            (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].ccdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ),
        new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
            0.1f,
            (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].contactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ),
        new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
            0.5f,
            (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].terrainFriction; },
-            (s,p,l,v) => { s.m_params[0].terrainFriction = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainFriction = v;  /* TODO: set on real terrain */} ),
        new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
            0.8f,
            (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].terrainHitFraction; },
-            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ),
        new ParameterDefn("TerrainRestitution", "Bouncyness" ,
            0f,
            (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].terrainRestitution; },
-            (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainRestitution = v;  /* TODO: set on real terrain */ } ),
        new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
            0.2f,
            (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
            (s) => { return s.m_params[0].avatarFriction; },
            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
+        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            10f,
+            (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].avatarStandingFriction; },
+            (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
            60f,
            (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
@@ -1227,52 +1255,54 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        return ret;
    }
-    // check to see if we are updating a parameter for a particular or all of the prims
-    protected void UpdateParameterObject(ref float loc, string parm, uint localID, float val)
-    {
-        List<uint> operateOn;
-        lock (PhysObjects) operateOn = new List<uint>(PhysObjects.Keys);
-        UpdateParameterSet(operateOn, ref loc, parm, localID, val);
-    }
    // update all the localIDs specified
    // If the local ID is APPLY_TO_NONE, just change the default value
    // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
    // If the localID is a specific object, apply the parameter change to only that object
-    protected void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
+    protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
    {
+        List<uint> objectIDs = new List<uint>();
        switch (localID)
        {
            case PhysParameterEntry.APPLY_TO_NONE:
                defaultLoc = val;   // setting only the default value
+                // This will cause a call into the physical world if some operation is specified (SetOnObject).
+                objectIDs.Add(TERRAIN_ID);
+                TaintedUpdateParameter(parm, objectIDs, val);
                break;
            case PhysParameterEntry.APPLY_TO_ALL:
                defaultLoc = val;  // setting ALL also sets the default value
-                List<uint> objectIDs = lIDs;
+                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
-                string xparm = parm.ToLower();
+                TaintedUpdateParameter(parm, objectIDs, val);
-                float xval = val;
-                TaintedObject("BSScene.UpdateParameterSet", delegate() {
-                    foreach (uint lID in objectIDs)
-                    {
-                        BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
-                    }
-                });
                break;
            default:
                // setting only one localID
-                TaintedUpdateParameter(parm, localID, val);
+                objectIDs.Add(localID);
+                TaintedUpdateParameter(parm, objectIDs, val);
                break;
        }
    }
    // schedule the actual updating of the paramter to when the phys engine is not busy
-    protected void TaintedUpdateParameter(string parm, uint localID, float val)
+    protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
    {
-        uint xlocalID = localID;
-        string xparm = parm.ToLower();
        float xval = val;
-        TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
+        List<uint> xlIDs = lIDs;
-            BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
+        string xparm = parm;
+        TaintedObject("BSScene.UpdateParameterSet", delegate() {
+            ParameterDefn thisParam;
+            if (TryGetParameter(xparm, out thisParam))
+            {
+                if (thisParam.onObject != null)
+                {
+                    foreach (uint lID in xlIDs)
+                    {
+                        BSPhysObject theObject = null;
+                        PhysObjects.TryGetValue(lID, out theObject);
+                        thisParam.onObject(this, theObject, xval);
+                    }
+                }
+            }
        });
    }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index d189f1d..d3ba273 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -51,7 +51,7 @@ public class BSShapeCollection : IDisposable
    }
    // Description of a hull.
-    // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects
+    // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
    private struct HullDesc
    {
        public IntPtr ptr;
@@ -59,17 +59,9 @@ public class BSShapeCollection : IDisposable
        public DateTime lastReferenced;
    }
-    private struct BodyDesc
+    // The sharable set of meshes and hulls. Indexed by their shape hash.
-    {
-        public IntPtr ptr;
-        // Bodies are only used once so reference count is always either one or zero
-        public int referenceCount;
-        public DateTime lastReferenced;
-    }
    private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
    private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
-    private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();
    public BSShapeCollection(BSScene physScene)
    {
@@ -92,8 +84,12 @@ public class BSShapeCollection : IDisposable
    // First checks the shape and updates that if necessary then makes
    //    sure the body is of the right type.
    // Return 'true' if either the body or the shape changed.
+    // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
+    //    the current shape or body is destroyed. This allows the caller to remove any
+    //    higher level dependencies on the shape or body. Mostly used for LinkSets to
+    //    remove the physical constraints before the body is destroyed.
    // Called at taint-time!!
-    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, 
+    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, 
                    ShapeData shapeData, PrimitiveBaseShape pbs,
                    ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
    {
@@ -103,7 +99,8 @@ public class BSShapeCollection : IDisposable
        lock (m_collectionActivityLock)
        {
            // Do we have the correct geometry for this type of object?
-            // Updates prim.BSShape with information/pointers to requested shape
+            // Updates prim.BSShape with information/pointers to shape.
+            // CreateGeom returns 'true' of BSShape as changed to a new shape.
            bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
            // If we had to select a new shape geometry for the object,
            //    rebuild the body around it.
@@ -120,40 +117,24 @@ public class BSShapeCollection : IDisposable
    // Track another user of a body
    // We presume the caller has allocated the body.
-    // Bodies only have one user so the reference count is either 1 or 0.
+    // Bodies only have one user so the body is just put into the world if not already there.
    public void ReferenceBody(BulletBody body, bool inTaintTime)
    {
        lock (m_collectionActivityLock)
        {
-            BodyDesc bodyDesc;
+            DetailLog("{0},BSShapeCollection.ReferenceBody,newBody", body.ID, body);
-            if (Bodies.TryGetValue(body.ID, out bodyDesc))
+            BSScene.TaintCallback createOperation = delegate()
            {
-                bodyDesc.referenceCount++;
+                if (!BulletSimAPI.IsInWorld2(body.ptr))
-                DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount);
-            }
-            else
-            {
-                // New entry
-                bodyDesc.ptr = body.ptr;
-                bodyDesc.referenceCount = 1;
-                DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={2}",
-                                    body.ID, body, bodyDesc.referenceCount);
-                BSScene.TaintCallback createOperation = delegate()
                {
-                    if (!BulletSimAPI.IsInWorld2(body.ptr))
+                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
-                    {
+                    DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
-                        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
+                }
-                        DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", 
+            };
-                                        body.ID, body);
+            if (inTaintTime)
-                    }
+                createOperation();
-                };
+            else
-                if (inTaintTime)
+                PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
-                    createOperation();
-                else
-                    PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
-            }
-            bodyDesc.lastReferenced = System.DateTime.Now;
-            Bodies[body.ID] = bodyDesc;
        }
    }
@@ -166,43 +147,25 @@ public class BSShapeCollection : IDisposable
        lock (m_collectionActivityLock)
        {
-            BodyDesc bodyDesc;
+            BSScene.TaintCallback removeOperation = delegate()
-            if (Bodies.TryGetValue(body.ID, out bodyDesc))
            {
-                bodyDesc.referenceCount--;
+                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
-                bodyDesc.lastReferenced = System.DateTime.Now;
+                                            body.ID, body.ptr.ToString("X"), inTaintTime);
-                Bodies[body.ID] = bodyDesc;
+                // If the caller needs to know the old body is going away, pass the event up.
-                DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount);
+                if (bodyCallback != null) bodyCallback(body);
-                // If body is no longer being used, free it -- bodies can never be shared.
+                // It may have already been removed from the world in which case the next is a NOOP.
-                if (bodyDesc.referenceCount == 0)
+                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
-                {
-                    Bodies.Remove(body.ID);
+                // Zero any reference to the shape so it is not freed when the body is deleted.
-                    BSScene.TaintCallback removeOperation = delegate()
+                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
-                    {
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
-                        DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
+            };
-                                                    body.ID, body.ptr.ToString("X"), inTaintTime);
+            // If already in taint-time, do the operations now. Otherwise queue for later.
-                        // If the caller needs to know the old body is going away, pass the event up.
+            if (inTaintTime)
-                        if (bodyCallback != null) bodyCallback(body);
+                removeOperation();
-                        // It may have already been removed from the world in which case the next is a NOOP.
-                        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
-                        // Zero any reference to the shape so it is not freed when the body is deleted.
-                        BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
-                        BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
-                    };
-                    // If already in taint-time, do the operations now. Otherwise queue for later.
-                    if (inTaintTime)
-                        removeOperation();
-                    else
-                        PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
-                }
-            }
            else
-            {
+                PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
-                DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount);
-            }
        }
    }
@@ -271,7 +234,6 @@ public class BSShapeCollection : IDisposable
    }
    // Release the usage of a shape.
-    // The collisionObject is released since it is a copy of the real collision shape.
    public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
    {
        if (shape.ptr == IntPtr.Zero)
@@ -279,26 +241,32 @@ public class BSShapeCollection : IDisposable
        BSScene.TaintCallback dereferenceOperation = delegate()
        {
-            switch (shape.type)
+            if (shape.ptr != IntPtr.Zero)
            {
-                case ShapeData.PhysicsShapeType.SHAPE_HULL:
+                if (shape.isNativeShape)
-                    DereferenceHull(shape, shapeCallback);
+                {
-                    break;
-                case ShapeData.PhysicsShapeType.SHAPE_MESH:
-                    DereferenceMesh(shape, shapeCallback);
-                    break;
-                case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
-                    break;
-                default:
                    // Native shapes are not tracked and are released immediately
-                    if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
+                    DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
+                                    BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
+                    if (shapeCallback != null) shapeCallback(shape);
+                    BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+                }
+                else
+                {
+                    switch (shape.type)
                    {
-                        DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
+                        case ShapeData.PhysicsShapeType.SHAPE_HULL:
-                                        BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
+                            DereferenceHull(shape, shapeCallback);
-                        if (shapeCallback != null) shapeCallback(shape);
+                            break;
-                        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+                        case ShapeData.PhysicsShapeType.SHAPE_MESH:
+                            DereferenceMesh(shape, shapeCallback);
+                            break;
+                        case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
+                            break;
+                        default:
+                            break;
                    }
-                    break;
+                }
            }
        };
        if (inTaintTime)
@@ -351,19 +319,31 @@ public class BSShapeCollection : IDisposable
    // Create the geometry information in Bullet for later use.
    // The objects needs a hull if it's physical otherwise a mesh is enough.
-    // No locking here because this is done when we know physics is not simulating.
+    // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
-    // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
+    //     shared geometries will be used. If the parameters of the existing shape are the same
+    //     as this request, the shape is not rebuilt.
+    // Info in prim.BSShape is updated to the new shape.
    // Returns 'true' if the geometry was rebuilt.
    // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, 
+    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData, 
                            PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
    {
        bool ret = false;
        bool haveShape = false;
        bool nativeShapePossible = true;
+        if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            // an avatar capsule is close to a native shape (it is not shared)
+            ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, 
+                            ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
+            DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape);
+            haveShape = true;
+        }
        // If the prim attributes are simple, this could be a simple Bullet native shape
-        if (nativeShapePossible
+        if (!haveShape
+                && pbs != null
+                && nativeShapePossible
                && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
                    || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
                        && pbs.ProfileHollow == 0
@@ -406,7 +386,7 @@ public class BSShapeCollection : IDisposable
        // If a simple shape is not happening, create a mesh and possibly a hull.
        // Note that if it's a native shape, the check for physical/non-physical is not
        //     made. Native shapes are best used in either case.
-        if (!haveShape)
+        if (!haveShape && pbs != null)
        {
            if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
            {
@@ -425,12 +405,12 @@ public class BSShapeCollection : IDisposable
        return ret;
    }
-    // Creates a native shape and assignes it to prim.BSShape
+    // Creates a native shape and assignes it to prim.BSShape.
-    private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
+    // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
+    private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData shapeData,
                            ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
                            ShapeDestructionCallback shapeCallback)
    {
-        BulletShape newShape;
        shapeData.Type = shapeType;
        // Bullet native objects are scaled by the Bullet engine so pass the size in
@@ -440,23 +420,42 @@ public class BSShapeCollection : IDisposable
        // release any previous shape
        DereferenceShape(prim.BSShape, true, shapeCallback);
-        // Native shapes are always built independently.
+        BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
-        newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
-        newShape.shapeKey = (System.UInt64)shapeKey;
-        newShape.isNativeShape = true;
-        // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
+        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
-        // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
+        DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", 
+                                shapeData.ID, newShape, shapeData.Scale);
        prim.BSShape = newShape;
        return true;
    }
+    private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, 
+                        ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
+    {
+        BulletShape newShape;
+        if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            newShape = new BulletShape(
+                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), 
+                        shapeType);
+        }
+        else
+        {
+            newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
+        }
+        newShape.shapeKey = (System.UInt64)shapeKey;
+        newShape.isNativeShape = true;
+        return newShape;
+    }
    // Builds a mesh shape in the physical world and updates prim.BSShape.
    // Dereferences previous shape in BSShape and adds a reference for this new shape.
    // Returns 'true' of a mesh was actually built. Otherwise .
    // Called at taint-time!
-    private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                ShapeDestructionCallback shapeCallback)
    {
        BulletShape newShape = new BulletShape(IntPtr.Zero);
@@ -475,6 +474,8 @@ public class BSShapeCollection : IDisposable
        DereferenceShape(prim.BSShape, true, shapeCallback);
        newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
+        // Take evasive action if the mesh was not constructed.
+        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
        ReferenceShape(newShape);
@@ -488,7 +489,7 @@ public class BSShapeCollection : IDisposable
    private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
    {
        IMesh meshData = null;
-        IntPtr meshPtr;
+        IntPtr meshPtr = IntPtr.Zero;
        MeshDesc meshDesc;
        if (Meshes.TryGetValue(newMeshKey, out meshDesc))
        {
@@ -500,23 +501,26 @@ public class BSShapeCollection : IDisposable
            // Pass false for physicalness as this creates some sort of bounding box which we don't need
            meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
-            int[] indices = meshData.getIndexListAsInt();
+            if (meshData != null)
-            List<OMV.Vector3> vertices = meshData.getVertexList();
-            float[] verticesAsFloats = new float[vertices.Count * 3];
-            int vi = 0;
-            foreach (OMV.Vector3 vv in vertices)
            {
-                verticesAsFloats[vi++] = vv.X;
+                int[] indices = meshData.getIndexListAsInt();
-                verticesAsFloats[vi++] = vv.Y;
+                List<OMV.Vector3> vertices = meshData.getVertexList();
-                verticesAsFloats[vi++] = vv.Z;
-            }
-            // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
+                float[] verticesAsFloats = new float[vertices.Count * 3];
-            //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
+                int vi = 0;
+                foreach (OMV.Vector3 vv in vertices)
+                {
+                    verticesAsFloats[vi++] = vv.X;
+                    verticesAsFloats[vi++] = vv.Y;
+                    verticesAsFloats[vi++] = vv.Z;
+                }
-            meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
+                // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
-                                indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
+                //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
+                meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
+                                    indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
+            }
        }
        BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
        newShape.shapeKey = newMeshKey;
@@ -526,7 +530,7 @@ public class BSShapeCollection : IDisposable
    // See that hull shape exists in the physical world and update prim.BSShape.
    // We could be creating the hull because scale changed or whatever.
-    private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                ShapeDestructionCallback shapeCallback)
    {
        BulletShape newShape;
@@ -545,6 +549,7 @@ public class BSShapeCollection : IDisposable
        DereferenceShape(prim.BSShape, true, shapeCallback);
        newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
+        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
        ReferenceShape(newShape);
@@ -558,7 +563,7 @@ public class BSShapeCollection : IDisposable
    private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
    {
-        IntPtr hullPtr;
+        IntPtr hullPtr = IntPtr.Zero;
        HullDesc hullDesc;
        if (Hulls.TryGetValue(newHullKey, out hullDesc))
        {
@@ -570,86 +575,89 @@ public class BSShapeCollection : IDisposable
            // Build a new hull in the physical world
            // Pass false for physicalness as this creates some sort of bounding box which we don't need
            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
+            if (meshData != null)
-            int[] indices = meshData.getIndexListAsInt();
-            List<OMV.Vector3> vertices = meshData.getVertexList();
-            //format conversion from IMesh format to DecompDesc format
-            List<int> convIndices = new List<int>();
-            List<float3> convVertices = new List<float3>();
-            for (int ii = 0; ii < indices.GetLength(0); ii++)
            {
-                convIndices.Add(indices[ii]);
-            }
-            foreach (OMV.Vector3 vv in vertices)
-            {
-                convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
-            }
-            // setup and do convex hull conversion
+                int[] indices = meshData.getIndexListAsInt();
-            m_hulls = new List<ConvexResult>();
+                List<OMV.Vector3> vertices = meshData.getVertexList();
-            DecompDesc dcomp = new DecompDesc();
-            dcomp.mIndices = convIndices;
-            dcomp.mVertices = convVertices;
-            ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
-            // create the hull into the _hulls variable
-            convexBuilder.process(dcomp);
-            // Convert the vertices and indices for passing to unmanaged.
-            // The hull information is passed as a large floating point array.
-            // The format is:
-            //  convHulls[0] = number of hulls
-            //  convHulls[1] = number of vertices in first hull
-            //  convHulls[2] = hull centroid X coordinate
-            //  convHulls[3] = hull centroid Y coordinate
-            //  convHulls[4] = hull centroid Z coordinate
-            //  convHulls[5] = first hull vertex X
-            //  convHulls[6] = first hull vertex Y
-            //  convHulls[7] = first hull vertex Z
-            //  convHulls[8] = second hull vertex X
-            //  ...
-            //  convHulls[n] = number of vertices in second hull
-            //  convHulls[n+1] = second hull centroid X coordinate
-            //  ...
-            //
-            // TODO: is is very inefficient. Someday change the convex hull generator to return
-            //   data structures that do not need to be converted in order to pass to Bullet.
-            //   And maybe put the values directly into pinned memory rather than marshaling.
-            int hullCount = m_hulls.Count;
-            int totalVertices = 1;          // include one for the count of the hulls
-            foreach (ConvexResult cr in m_hulls)
-            {
-                totalVertices += 4;                         // add four for the vertex count and centroid
-                totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
-            }
-            float[] convHulls = new float[totalVertices];
-            convHulls[0] = (float)hullCount;
+                //format conversion from IMesh format to DecompDesc format
-            int jj = 1;
+                List<int> convIndices = new List<int>();
-            foreach (ConvexResult cr in m_hulls)
+                List<float3> convVertices = new List<float3>();
-            {
+                for (int ii = 0; ii < indices.GetLength(0); ii++)
-                // copy vertices for index access
+                {
-                float3[] verts = new float3[cr.HullVertices.Count];
+                    convIndices.Add(indices[ii]);
-                int kk = 0;
+                }
-                foreach (float3 ff in cr.HullVertices)
+                foreach (OMV.Vector3 vv in vertices)
                {
-                    verts[kk++] = ff;
+                    convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
                }
-                // add to the array one hull's worth of data
+                // setup and do convex hull conversion
-                convHulls[jj++] = cr.HullIndices.Count;
+                m_hulls = new List<ConvexResult>();
-                convHulls[jj++] = 0f;   // centroid x,y,z
+                DecompDesc dcomp = new DecompDesc();
-                convHulls[jj++] = 0f;
+                dcomp.mIndices = convIndices;
-                convHulls[jj++] = 0f;
+                dcomp.mVertices = convVertices;
-                foreach (int ind in cr.HullIndices)
+                ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
+                // create the hull into the _hulls variable
+                convexBuilder.process(dcomp);
+                // Convert the vertices and indices for passing to unmanaged.
+                // The hull information is passed as a large floating point array.
+                // The format is:
+                //  convHulls[0] = number of hulls
+                //  convHulls[1] = number of vertices in first hull
+                //  convHulls[2] = hull centroid X coordinate
+                //  convHulls[3] = hull centroid Y coordinate
+                //  convHulls[4] = hull centroid Z coordinate
+                //  convHulls[5] = first hull vertex X
+                //  convHulls[6] = first hull vertex Y
+                //  convHulls[7] = first hull vertex Z
+                //  convHulls[8] = second hull vertex X
+                //  ...
+                //  convHulls[n] = number of vertices in second hull
+                //  convHulls[n+1] = second hull centroid X coordinate
+                //  ...
+                //
+                // TODO: is is very inefficient. Someday change the convex hull generator to return
+                //   data structures that do not need to be converted in order to pass to Bullet.
+                //   And maybe put the values directly into pinned memory rather than marshaling.
+                int hullCount = m_hulls.Count;
+                int totalVertices = 1;          // include one for the count of the hulls
+                foreach (ConvexResult cr in m_hulls)
                {
-                    convHulls[jj++] = verts[ind].x;
+                    totalVertices += 4;                         // add four for the vertex count and centroid
-                    convHulls[jj++] = verts[ind].y;
+                    totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
-                    convHulls[jj++] = verts[ind].z;
                }
+                float[] convHulls = new float[totalVertices];
+                convHulls[0] = (float)hullCount;
+                int jj = 1;
+                foreach (ConvexResult cr in m_hulls)
+                {
+                    // copy vertices for index access
+                    float3[] verts = new float3[cr.HullVertices.Count];
+                    int kk = 0;
+                    foreach (float3 ff in cr.HullVertices)
+                    {
+                        verts[kk++] = ff;
+                    }
+                    // add to the array one hull's worth of data
+                    convHulls[jj++] = cr.HullIndices.Count;
+                    convHulls[jj++] = 0f;   // centroid x,y,z
+                    convHulls[jj++] = 0f;
+                    convHulls[jj++] = 0f;
+                    foreach (int ind in cr.HullIndices)
+                    {
+                        convHulls[jj++] = verts[ind].x;
+                        convHulls[jj++] = verts[ind].y;
+                        convHulls[jj++] = verts[ind].z;
+                    }
+                }
+                // create the hull data structure in Bullet
+                hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
            }
-            // create the hull data structure in Bullet
-            hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
        }
        BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
@@ -690,11 +698,55 @@ public class BSShapeCollection : IDisposable
        return ComputeShapeKey(shapeData, pbs, out lod);
    }
+    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
+    {
+        // If the shape was successfully created, nothing more to do
+        if (newShape.ptr != IntPtr.Zero)
+            return newShape;
+        // The most common reason for failure is that an underlying asset is not available
+        // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
+        if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
+        {
+            prim.LastAssetBuildFailed = true;
+            BSPhysObject xprim = prim;
+            Util.FireAndForget(delegate
+                {
+                    RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
+                    if (assetProvider != null)
+                    {
+                        BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
+                        assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
+                        {
+                            if (!yprim.BaseShape.SculptEntry)
+                                return;
+                            if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
+                                return;
+                            yprim.BaseShape.SculptData = new byte[asset.Data.Length];
+                            asset.Data.CopyTo(yprim.BaseShape.SculptData, 0);
+                            // This will cause the prim to see that the filler shape is not the right
+                            //    one and try again to build the object.
+                            yprim.ForceBodyShapeRebuild(false);
+                        });
+                    }
+                });
+        }
+        // While we figure out the real problem, stick a simple native shape on the object.
+        BulletShape fillinShape =
+            BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE);
+        return fillinShape;
+    }
    // Create a body object in Bullet.
    // Updates prim.BSBody with the information about the new body if one is created.
    // Returns 'true' if an object was actually created.
    // Called at taint-time.
-    private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, 
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, 
                            ShapeData shapeData, BodyDestructionCallback bodyCallback)
    {
        bool ret = false;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index caf411e..4106534 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -114,6 +114,7 @@ public class BSTerrainManager
                        BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
                                                            Vector3.Zero, Quaternion.Identity));
        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
        // Ground plane does not move
        BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
        // Everything collides with the ground plane.
@@ -334,7 +335,8 @@ public class BSTerrainManager
                // Make sure the new shape is processed.
                // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
-                BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+                BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
+                // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
                m_terrainModified = true;
            };
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 276111c..5ffd591 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -223,6 +223,7 @@ public struct ShapeData
        KEY_SPHERE      = 2,
        KEY_CONE        = 3,
        KEY_CYLINDER    = 4,
+        KEY_CAPSULE     = 5,
    }
 }
 [StructLayout(LayoutKind.Sequential)]
@@ -282,6 +283,7 @@ public struct ConfigurationParameters
    public float terrainHitFraction;
    public float terrainRestitution;
    public float avatarFriction;
+    public float avatarStandingFriction;
    public float avatarDensity;
    public float avatarRestitution;
    public float avatarCapsuleRadius;
@@ -388,7 +390,7 @@ public enum CollisionFilterGroups : uint
    VolumeDetectMask        = ~BSensorTrigger,
    TerrainFilter           = BTerrainFilter,
    TerrainMask             = BAllFilter & ~BStaticFilter,
-    GroundPlaneFilter       = BAllFilter,
+    GroundPlaneFilter       = BGroundPlaneFilter,
    GroundPlaneMask         = BAllFilter
 };
@@ -428,6 +430,7 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg
 [return: MarshalAs(UnmanagedType.LPStr)]
 public static extern string GetVersion();
+/* Remove the linkage to the old api methods
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
                        int maxCollisions, IntPtr collisionArray,
@@ -531,7 +534,7 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
 // ===============================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpBulletStatistics();
+*/
 // Log a debug message
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetDebugLogCallback(DebugLogCallback callback);
@@ -562,7 +565,8 @@ public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
                                                                                        int maxCollisions,  IntPtr collisionArray,
-                                                                                        int maxUpdates, IntPtr updateArray);
+                                                                                        int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
@@ -604,6 +608,9 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
 public static extern bool IsNativeShape2(IntPtr shape);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateCompoundShape2(IntPtr sim);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 17e3de1..de49d6d 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -4125,6 +4125,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        }
        /// <summary>
+        /// Returns the name of the child prim or seated avatar matching the
+        /// specified link number.
+        /// </summary>
+        /// <param name="linknum">
+        /// The number of a link in the linkset or a link-related constant.
+        /// </param>
+        /// <returns>
+        /// The name determined to match the specified link number.
+        /// </returns>
+        /// <remarks>
        /// The rules governing the returned name are not simple. The only
        /// time a blank name is returned is if the target prim has a blank
        /// name. If no prim with the given link number can be found then
@@ -4152,10 +4162,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        /// Mentions NULL_KEY being returned
        /// http://wiki.secondlife.com/wiki/LlGetLinkName
        /// Mentions using the LINK_* constants, some of which are negative
-        /// </summary>
+        /// </remarks>
        public LSL_String llGetLinkName(int linknum)
        {
            m_host.AddScriptLPS(1);
+            // simplest case, this prims link number
+            if (linknum == m_host.LinkNum || linknum == ScriptBaseClass.LINK_THIS)
+                return m_host.Name;
            // parse for sitting avatare-names
            List<String> nametable = new List<String>();
            World.ForEachRootScenePresence(delegate(ScenePresence presence)
@@ -4179,10 +4193,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    return nametable[totalprims - linknum];
            }
-            // simplest case, this prims link number
-            if (m_host.LinkNum == linknum)
-                return m_host.Name;
            // Single prim
            if (m_host.LinkNum == 0)
            {
diff --git a/OpenSim/Services/Connectors/Friends/FriendsSimConnector.cs b/OpenSim/Services/Connectors/Friends/FriendsSimConnector.cs
index 4ec1edc..45f4514 100644
--- a/OpenSim/Services/Connectors/Friends/FriendsSimConnector.cs
+++ b/OpenSim/Services/Connectors/Friends/FriendsSimConnector.cs
@@ -128,7 +128,7 @@ namespace OpenSim.Services.Connectors.Friends
            return Call(region, sendData);
        }
-        public bool StatusNotify(GridRegion region, UUID userID, UUID friendID, bool online)
+        public bool StatusNotify(GridRegion region, UUID userID, string friendID, bool online)
        {
            Dictionary<string, object> sendData = new Dictionary<string, object>();
            //sendData["VERSIONMIN"] = ProtocolVersions.ClientProtocolVersionMin.ToString();
@@ -136,7 +136,7 @@ namespace OpenSim.Services.Connectors.Friends
            sendData["METHOD"] = "status";
            sendData["FromID"] = userID.ToString();
-            sendData["ToID"] = friendID.ToString();
+            sendData["ToID"] = friendID;
            sendData["Online"] = online.ToString();
            return Call(region, sendData);
diff --git a/OpenSim/Services/HypergridService/HGFriendsService.cs b/OpenSim/Services/HypergridService/HGFriendsService.cs
index 98423d7..a8bcfb2 100644
--- a/OpenSim/Services/HypergridService/HGFriendsService.cs
+++ b/OpenSim/Services/HypergridService/HGFriendsService.cs
@@ -397,7 +397,7 @@ namespace OpenSim.Services.HypergridService
                    if (region != null)
                    {
                        m_log.DebugFormat("[HGFRIENDS SERVICE]: Remote Notify to region {0}, user {1} is {2}", region.RegionName, foreignUserID, (online ? "online" : "offline"));
-                        m_FriendsSimConnector.StatusNotify(region, foreignUserID, userID, online);
+                        m_FriendsSimConnector.StatusNotify(region, foreignUserID, userID.ToString(), online);
                    }
                }
            }
diff --git a/OpenSim/Services/HypergridService/UserAgentService.cs b/OpenSim/Services/HypergridService/UserAgentService.cs
index 56aafe6..416ad16 100644
--- a/OpenSim/Services/HypergridService/UserAgentService.cs
+++ b/OpenSim/Services/HypergridService/UserAgentService.cs
@@ -502,7 +502,7 @@ namespace OpenSim.Services.HypergridService
                    if (region != null)
                    {
                        m_log.DebugFormat("[USER AGENT SERVICE]: Remote Notify to region {0}, user {1} is {2}", region.RegionName, foreignUserID, (online ? "online" : "offline"));
-                        m_FriendsSimConnector.StatusNotify(region, foreignUserID, userID, online);
+                        m_FriendsSimConnector.StatusNotify(region, foreignUserID, userID.ToString(), online);
                    }
                }
            }
diff --git a/OpenSim/Services/Interfaces/IPresenceService.cs b/OpenSim/Services/Interfaces/IPresenceService.cs
index 8d583ff..90f9842 100644
--- a/OpenSim/Services/Interfaces/IPresenceService.cs
+++ b/OpenSim/Services/Interfaces/IPresenceService.cs
@@ -61,13 +61,49 @@ namespace OpenSim.Services.Interfaces
    public interface IPresenceService
    {
+        /// <summary>
+        /// Store session information.
+        /// </summary>
+        /// <returns>/returns>
+        /// <param name='userID'></param>
+        /// <param name='sessionID'></param>
+        /// <param name='secureSessionID'></param>
        bool LoginAgent(string userID, UUID sessionID, UUID secureSessionID);
+        /// <summary>
+        /// Remove session information.
+        /// </summary>
+        /// <returns></returns>
+        /// <param name='sessionID'></param>
        bool LogoutAgent(UUID sessionID);
+        /// <summary>
+        /// Remove session information for all agents in the given region.
+        /// </summary>
+        /// <returns></returns>
+        /// <param name='regionID'></param>
        bool LogoutRegionAgents(UUID regionID);
+        /// <summary>
+        /// Update data for an existing session.
+        /// </summary>
+        /// <returns></returns>
+        /// <param name='sessionID'></param>
+        /// <param name='regionID'></param>
        bool ReportAgent(UUID sessionID, UUID regionID);
+        /// <summary>
+        /// Get session information for a given session ID.
+        /// </summary>
+        /// <returns></returns>
+        /// <param name='sessionID'></param>
        PresenceInfo GetAgent(UUID sessionID);
+        /// <summary>
+        /// Get session information for a collection of users.
+        /// </summary>
+        /// <returns>Session information for the users.</returns>
+        /// <param name='userIDs'></param>
        PresenceInfo[] GetAgents(string[] userIDs);
    }
-}
+}
+\ No newline at end of file
diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index 7d321a7..efcca70 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -1573,6 +1573,11 @@
    ;MessagingModule = GroupsMessagingModule
    ;MessagingEnabled = true 
+    ; Experimental option to only message cached online users rather than all users
+    ; Should make large group with few online members messaging faster, as the expense of more calls to ROBUST presence service
+    ; This currently only applies to the Flotsam XmlRpc backend
+    MessageOnlineUsersOnly = false
    ; Service connectors to the Groups Service.  Select one depending on whether you're using a Flotsam XmlRpc backend or a SimianGrid backend
  
    ; SimianGrid Service for Groups
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 785f01f..f976efe 100755
--- a/bin/lib32/BulletSim.dll
+++ b/bin/lib32/BulletSim.dll
Binary files differ
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
index 6af2fb4..a00bc3a 100755
--- a/bin/lib32/libBulletSim.so
+++ b/bin/lib32/libBulletSim.so
Binary files differ
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index e9e521a..acaa9c8 100755
--- a/bin/lib64/BulletSim.dll
+++ b/bin/lib64/BulletSim.dll
Binary files differ
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
index cbf4f79..996ea21 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so
Binary files differ