29 files changed, 629 insertions, 502 deletions
diff --git a/OpenSim/Framework/Monitoring/Watchdog.cs b/OpenSim/Framework/Monitoring/Watchdog.cs
index b709baa..eaddb8c 100644
--- a/OpenSim/Framework/Monitoring/Watchdog.cs
+++ b/OpenSim/Framework/Monitoring/Watchdog.cs
@@ -89,6 +89,17 @@ namespace OpenSim.Framework.Monitoring
                FirstTick = Environment.TickCount & Int32.MaxValue;
                LastTick = FirstTick;
            }
+            public ThreadWatchdogInfo(ThreadWatchdogInfo previousTwi)
+            {
+                Thread = previousTwi.Thread;
+                FirstTick = previousTwi.FirstTick;
+                LastTick = previousTwi.LastTick;
+                Timeout = previousTwi.Timeout;
+                IsTimedOut = previousTwi.IsTimedOut;
+                AlarmIfTimeout = previousTwi.AlarmIfTimeout;
+                AlarmMethod = previousTwi.AlarmMethod;
+            }
        }
        /// <summary>
@@ -335,7 +346,9 @@ namespace OpenSim.Framework.Monitoring
                                if (callbackInfos == null)
                                    callbackInfos = new List<ThreadWatchdogInfo>();
-                                callbackInfos.Add(threadInfo);
+                                // Send a copy of the watchdog info to prevent race conditions where the watchdog
+                                // thread updates the monitoring info after an alarm has been sent out.
+                                callbackInfos.Add(new ThreadWatchdogInfo(threadInfo));
                            }
                        }
                    }
diff --git a/OpenSim/Framework/RegionInfo.cs b/OpenSim/Framework/RegionInfo.cs
index 4bde7be..fcf1896 100644
--- a/OpenSim/Framework/RegionInfo.cs
+++ b/OpenSim/Framework/RegionInfo.cs
@@ -122,7 +122,9 @@ namespace OpenSim.Framework
        public UUID lastMapUUID = UUID.Zero;
        public string lastMapRefresh = "0";
+        private float m_nonphysPrimMin = 0;
        private int m_nonphysPrimMax = 0;
+        private float m_physPrimMin = 0;
        private int m_physPrimMax = 0;
        private bool m_clampPrimSize = false;
        private int m_objectCapacity = 0;
@@ -287,11 +289,21 @@ namespace OpenSim.Framework
            set { m_windlight = value; }
        }
+        public float NonphysPrimMin
+        {
+            get { return m_nonphysPrimMin; }
+        }
        public int NonphysPrimMax
        {
            get { return m_nonphysPrimMax; }
        }
+        public float PhysPrimMin
+        {
+            get { return m_physPrimMin; }
+        }
        public int PhysPrimMax
        {
            get { return m_physPrimMax; }
@@ -625,16 +637,28 @@ namespace OpenSim.Framework
            m_regionType = config.GetString("RegionType", String.Empty);
            allKeys.Remove("RegionType");
-            // Prim stuff
+            #region Prim stuff
-            //
+            m_nonphysPrimMin = config.GetFloat("NonphysicalPrimMin", 0);
+            allKeys.Remove("NonphysicalPrimMin");
            m_nonphysPrimMax = config.GetInt("NonphysicalPrimMax", 0);
            allKeys.Remove("NonphysicalPrimMax");
+            m_physPrimMin = config.GetFloat("PhysicalPrimMin", 0);
+            allKeys.Remove("PhysicalPrimMin");
            m_physPrimMax = config.GetInt("PhysicalPrimMax", 0);
            allKeys.Remove("PhysicalPrimMax");
+            
            m_clampPrimSize = config.GetBoolean("ClampPrimSize", false);
            allKeys.Remove("ClampPrimSize");
+            
            m_objectCapacity = config.GetInt("MaxPrims", 15000);
            allKeys.Remove("MaxPrims");
+            
+            #endregion
            m_agentCapacity = config.GetInt("MaxAgents", 100);
            allKeys.Remove("MaxAgents");
@@ -673,10 +697,18 @@ namespace OpenSim.Framework
            config.Set("ExternalHostName", m_externalHostName);
+            if (m_nonphysPrimMin != 0)
+                config.Set("NonphysicalPrimMax", m_nonphysPrimMin);
            if (m_nonphysPrimMax != 0)
                config.Set("NonphysicalPrimMax", m_nonphysPrimMax);
+            if (m_physPrimMin != 0)
+                config.Set("PhysicalPrimMax", m_physPrimMin);
+            
            if (m_physPrimMax != 0)
                config.Set("PhysicalPrimMax", m_physPrimMax);
+                        
            config.Set("ClampPrimSize", m_clampPrimSize.ToString());
            if (m_objectCapacity != 0)
@@ -759,9 +791,15 @@ namespace OpenSim.Framework
            configMember.addConfigurationOption("lastmap_refresh", ConfigurationOption.ConfigurationTypes.TYPE_STRING_NOT_EMPTY,
                                                "Last Map Refresh", Util.UnixTimeSinceEpoch().ToString(), true);
+            configMember.addConfigurationOption("nonphysical_prim_min", ConfigurationOption.ConfigurationTypes.TYPE_FLOAT,
+                                                "Minimum size for nonphysical prims", m_nonphysPrimMin.ToString(), true);
            configMember.addConfigurationOption("nonphysical_prim_max", ConfigurationOption.ConfigurationTypes.TYPE_INT32,
                                                "Maximum size for nonphysical prims", m_nonphysPrimMax.ToString(), true);
+            configMember.addConfigurationOption("physical_prim_min", ConfigurationOption.ConfigurationTypes.TYPE_FLOAT,
+                                                "Minimum size for nonphysical prims", m_physPrimMin.ToString(), true);
            configMember.addConfigurationOption("physical_prim_max", ConfigurationOption.ConfigurationTypes.TYPE_INT32,
                                                "Maximum size for physical prims", m_physPrimMax.ToString(), true);
diff --git a/OpenSim/Framework/Util.cs b/OpenSim/Framework/Util.cs
index 384f716..1a383ae 100644
--- a/OpenSim/Framework/Util.cs
+++ b/OpenSim/Framework/Util.cs
@@ -862,6 +862,12 @@ namespace OpenSim.Framework
            return Math.Min(Math.Max(x, min), max);
        }
+        public static Vector3 Clip(Vector3 vec, float min, float max)
+        {
+            return new Vector3(Clip(vec.X, min, max), Clip(vec.Y, min, max),
+                Clip(vec.Z, min, max));
+        }
        /// <summary>
        /// Convert an UUID to a raw uuid string.  Right now this is a string without hyphens.
        /// </summary>
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 57fcf51..0883913 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -103,8 +103,26 @@ namespace OpenSim.Region.Framework.Scenes
        /// </summary>
        public bool CollidablePrims { get; private set; }
+        /// <summary>
+        /// Minimum value of the size of a non-physical prim in each axis
+        /// </summary>
+        public float m_minNonphys = 0.01f;
+        /// <summary>
+        /// Maximum value of the size of a non-physical prim in each axis
+        /// </summary>
        public float m_maxNonphys = 256;
+        /// <summary>
+        /// Minimum value of the size of a physical prim in each axis
+        /// </summary>
+        public float m_minPhys = 0.01f;
+        /// <summary>
+        /// Maximum value of the size of a physical prim in each axis
+        /// </summary>
        public float m_maxPhys = 10;
        public bool m_clampPrimSize;
        public bool m_trustBinaries;
        public bool m_allowScriptCrossings;
@@ -746,12 +764,24 @@ namespace OpenSim.Region.Framework.Scenes
                    PhysicalPrims = startupConfig.GetBoolean("physical_prim", true);
                    CollidablePrims = startupConfig.GetBoolean("collidable_prim", true);
+                    m_minNonphys = startupConfig.GetFloat("NonphysicalPrimMin", m_minNonphys);
+                    if (RegionInfo.NonphysPrimMin > 0)
+                    {
+                        m_minNonphys = RegionInfo.NonphysPrimMin;
+                    }
                    m_maxNonphys = startupConfig.GetFloat("NonphysicalPrimMax", m_maxNonphys);
                    if (RegionInfo.NonphysPrimMax > 0)
                    {
                        m_maxNonphys = RegionInfo.NonphysPrimMax;
                    }
+                    m_minPhys = startupConfig.GetFloat("PhysicalPrimMin", m_minPhys);
+                    if (RegionInfo.PhysPrimMin > 0)
+                    {
+                        m_minPhys = RegionInfo.PhysPrimMin;
+                    }
                    m_maxPhys = startupConfig.GetFloat("PhysicalPrimMax", m_maxPhys);
                    if (RegionInfo.PhysPrimMax > 0)
diff --git a/OpenSim/Region/Framework/Scenes/SceneGraph.cs b/OpenSim/Region/Framework/Scenes/SceneGraph.cs
index e29b2c1..fa66858 100644
--- a/OpenSim/Region/Framework/Scenes/SceneGraph.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneGraph.cs
@@ -421,12 +421,9 @@ namespace OpenSim.Region.Framework.Scenes
                {
                    Vector3 scale = part.Shape.Scale;
-                    if (scale.X > m_parentScene.m_maxNonphys)
+                    scale.X = Math.Max(m_parentScene.m_minNonphys, Math.Min(m_parentScene.m_maxNonphys, scale.X));
-                        scale.X = m_parentScene.m_maxNonphys;
+                    scale.Y = Math.Max(m_parentScene.m_minNonphys, Math.Min(m_parentScene.m_maxNonphys, scale.Y));
-                    if (scale.Y > m_parentScene.m_maxNonphys)
+                    scale.Z = Math.Max(m_parentScene.m_minNonphys, Math.Min(m_parentScene.m_maxNonphys, scale.Z));
-                        scale.Y = m_parentScene.m_maxNonphys;
-                    if (scale.Z > m_parentScene.m_maxNonphys)
-                        scale.Z = m_parentScene.m_maxNonphys;
                    part.Shape.Scale = scale;
                }
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index cb4aa2d..6e48735 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -3438,17 +3438,17 @@ namespace OpenSim.Region.Framework.Scenes
        /// <param name="scale"></param>
        public void GroupResize(Vector3 scale)
        {
-            scale.X = Math.Min(scale.X, Scene.m_maxNonphys);
+            scale.X = Math.Max(Scene.m_minNonphys, Math.Min(Scene.m_maxNonphys, scale.X));
-            scale.Y = Math.Min(scale.Y, Scene.m_maxNonphys);
+            scale.Y = Math.Max(Scene.m_minNonphys, Math.Min(Scene.m_maxNonphys, scale.Y));
-            scale.Z = Math.Min(scale.Z, Scene.m_maxNonphys);
+            scale.Z = Math.Max(Scene.m_minNonphys, Math.Min(Scene.m_maxNonphys, scale.Z));
            PhysicsActor pa = m_rootPart.PhysActor;
            if (pa != null && pa.IsPhysical)
            {
-                scale.X = Math.Min(scale.X, Scene.m_maxPhys);
+                scale.X = Math.Max(Scene.m_minPhys, Math.Min(Scene.m_maxPhys, scale.X));
-                scale.Y = Math.Min(scale.Y, Scene.m_maxPhys);
+                scale.Y = Math.Max(Scene.m_minPhys, Math.Min(Scene.m_maxPhys, scale.Y));
-                scale.Z = Math.Min(scale.Z, Scene.m_maxPhys);
+                scale.Z = Math.Max(Scene.m_minPhys, Math.Min(Scene.m_maxPhys, scale.Z));
            }
            float x = (scale.X / RootPart.Scale.X);
@@ -3479,6 +3479,14 @@ namespace OpenSim.Region.Framework.Scenes
                                y *= a;
                                z *= a;
                            }
+                            else if (oldSize.X * x < m_scene.m_minPhys)
+                            {
+                                f = m_scene.m_minPhys / oldSize.X;
+                                a = f / x;
+                                x *= a;
+                                y *= a;
+                                z *= a;
+                            }
                            if (oldSize.Y * y > m_scene.m_maxPhys)
                            {
@@ -3488,6 +3496,14 @@ namespace OpenSim.Region.Framework.Scenes
                                y *= a;
                                z *= a;
                            }
+                            else if (oldSize.Y * y < m_scene.m_minPhys)
+                            {
+                                f = m_scene.m_minPhys / oldSize.Y;
+                                a = f / y;
+                                x *= a;
+                                y *= a;
+                                z *= a;
+                            }
                            if (oldSize.Z * z > m_scene.m_maxPhys)
                            {
@@ -3497,6 +3513,14 @@ namespace OpenSim.Region.Framework.Scenes
                                y *= a;
                                z *= a;
                            }
+                            else if (oldSize.Z * z < m_scene.m_minPhys)
+                            {
+                                f = m_scene.m_minPhys / oldSize.Z;
+                                a = f / z;
+                                x *= a;
+                                y *= a;
+                                z *= a;
+                            }
                        }
                        else
                        {
@@ -3508,6 +3532,14 @@ namespace OpenSim.Region.Framework.Scenes
                                y *= a;
                                z *= a;
                            }
+                            else if (oldSize.X * x < m_scene.m_minNonphys)
+                            {
+                                f = m_scene.m_minNonphys / oldSize.X;
+                                a = f / x;
+                                x *= a;
+                                y *= a;
+                                z *= a;
+                            }
                            if (oldSize.Y * y > m_scene.m_maxNonphys)
                            {
@@ -3517,6 +3549,14 @@ namespace OpenSim.Region.Framework.Scenes
                                y *= a;
                                z *= a;
                            }
+                            else if (oldSize.Y * y < m_scene.m_minNonphys)
+                            {
+                                f = m_scene.m_minNonphys / oldSize.Y;
+                                a = f / y;
+                                x *= a;
+                                y *= a;
+                                z *= a;
+                            }
                            if (oldSize.Z * z > m_scene.m_maxNonphys)
                            {
@@ -3526,6 +3566,14 @@ namespace OpenSim.Region.Framework.Scenes
                                y *= a;
                                z *= a;
                            }
+                            else if (oldSize.Z * z < m_scene.m_minNonphys)
+                            {
+                                f = m_scene.m_minNonphys / oldSize.Z;
+                                a = f / z;
+                                x *= a;
+                                y *= a;
+                                z *= a;
+                            }
                        }
                    }
                }
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index ce652b4..593e1d3 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -790,7 +790,7 @@ namespace OpenSim.Region.Framework.Scenes
                    }
                    catch (Exception e)
                    {
-                        m_log.Error("[SCENEOBJECTPART]: GROUP POSITION. " + e.Message);
+                        m_log.ErrorFormat("[SCENEOBJECTPART]: GROUP POSITION. {0}", e);
                    }
                }
            }
@@ -2969,17 +2969,16 @@ namespace OpenSim.Region.Framework.Scenes
        /// <param name="scale"></param>
        public void Resize(Vector3 scale)
        {
-            scale.X = Math.Min(scale.X, ParentGroup.Scene.m_maxNonphys);
+            scale.X = Math.Max(ParentGroup.Scene.m_minNonphys, Math.Min(ParentGroup.Scene.m_maxNonphys, scale.X));
-            scale.Y = Math.Min(scale.Y, ParentGroup.Scene.m_maxNonphys);
+            scale.Y = Math.Max(ParentGroup.Scene.m_minNonphys, Math.Min(ParentGroup.Scene.m_maxNonphys, scale.Y));
-            scale.Z = Math.Min(scale.Z, ParentGroup.Scene.m_maxNonphys);
+            scale.Z = Math.Max(ParentGroup.Scene.m_minNonphys, Math.Min(ParentGroup.Scene.m_maxNonphys, scale.Z));
            PhysicsActor pa = PhysActor;
            if (pa != null && pa.IsPhysical)
            {
-                scale.X = Math.Min(scale.X, ParentGroup.Scene.m_maxPhys);
+                scale.X = Math.Max(ParentGroup.Scene.m_minPhys, Math.Min(ParentGroup.Scene.m_maxPhys, scale.X));
-                scale.Y = Math.Min(scale.Y, ParentGroup.Scene.m_maxPhys);
+                scale.Y = Math.Max(ParentGroup.Scene.m_minPhys, Math.Min(ParentGroup.Scene.m_maxPhys, scale.Y));
-                scale.Z = Math.Min(scale.Z, ParentGroup.Scene.m_maxPhys);
+                scale.Z = Math.Max(ParentGroup.Scene.m_minPhys, Math.Min(ParentGroup.Scene.m_maxPhys, scale.Z));
            }
 //            m_log.DebugFormat("[SCENE OBJECT PART]: Resizing {0} {1} to {2}", Name, LocalId, scale);
@@ -4864,6 +4863,57 @@ namespace OpenSim.Region.Framework.Scenes
            ScheduleFullUpdate();
        }
+        public void UpdateSlice(float begin, float end)
+        {
+            if (end < begin)
+            {
+                float temp = begin;
+                begin = end;
+                end = temp;
+            }
+            end = Math.Min(1f, Math.Max(0f, end));
+            begin = Math.Min(Math.Min(1f, Math.Max(0f, begin)), end - 0.02f);
+            if (begin < 0.02f && end < 0.02f)
+            {
+                begin = 0f;
+                end = 0.02f;
+            }
+            ushort uBegin = (ushort)(50000.0 * begin);
+            ushort uEnd = (ushort)(50000.0 * (1f - end));
+            bool updatePossiblyNeeded = false;
+            PrimType primType = GetPrimType();
+            if (primType == PrimType.SPHERE || primType == PrimType.TORUS || primType == PrimType.TUBE || primType == PrimType.RING)
+            {
+                if (m_shape.ProfileBegin != uBegin || m_shape.ProfileEnd != uEnd)
+                {
+                    m_shape.ProfileBegin = uBegin;
+                    m_shape.ProfileEnd = uEnd;
+                    updatePossiblyNeeded = true;
+                }
+            }
+            else if (m_shape.PathBegin != uBegin || m_shape.PathEnd != uEnd)
+            {
+                m_shape.PathBegin = uBegin;
+                m_shape.PathEnd = uEnd;
+                updatePossiblyNeeded = true;
+            }
+            if (updatePossiblyNeeded && ParentGroup != null)
+            {
+                ParentGroup.HasGroupChanged = true;
+            }
+            if (updatePossiblyNeeded && PhysActor != null)
+            {
+                PhysActor.Shape = m_shape;
+                ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
+            }
+            if (updatePossiblyNeeded)
+            {
+                ScheduleFullUpdate();
+            }
+        }
        /// <summary>
        /// If the part is a sculpt/mesh, retrieve the mesh data and reinsert it into the shape so that the physics
        /// engine can use it.
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 47b2ead..cfd4a51 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1527,17 +1527,22 @@ namespace OpenSim.Region.Framework.Scenes
                bool DCFlagKeyPressed = false;
                Vector3 agent_control_v3 = Vector3.Zero;
-                bool oldflying = Flying;
+                bool newFlying = actor.Flying;
                if (ForceFly)
-                    actor.Flying = true;
+                    newFlying = true;
                else if (FlyDisabled)
-                    actor.Flying = false;
+                    newFlying = false;
                else
-                    actor.Flying = ((flags & AgentManager.ControlFlags.AGENT_CONTROL_FLY) != 0);
+                    newFlying = ((flags & AgentManager.ControlFlags.AGENT_CONTROL_FLY) != 0);
-                if (actor.Flying != oldflying)
+                if (actor.Flying != newFlying)
+                {
+                    // Note: ScenePresence.Flying is actually fetched from the physical actor
+                    //     so setting PhysActor.Flying here also sets the ScenePresence's value.
+                    actor.Flying = newFlying;
                    update_movementflag = true;
+                }
                if (ParentID == 0)
                {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index e2f7af9..1b23a36 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -124,10 +124,14 @@ public class BSCharacter : PhysicsActor
        // do actual create at taint time
        _scene.TaintedObject("BSCharacter.create", delegate()
        {
+            DetailLog("{0},BSCharacter.create", _localID);
            BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
+            // Set the buoyancy for flying. This will be refactored when all the settings happen in C#
+            BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
            m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
-            // avatars get all collisions no matter what
+            // avatars get all collisions no matter what (makes walking on ground and such work)
            BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
        });
            
@@ -137,7 +141,7 @@ public class BSCharacter : PhysicsActor
    // called when this character is being destroyed and the resources should be released
    public void Destroy()
    {
-        // DetailLog("{0},BSCharacter.Destroy", LocalID);
+        DetailLog("{0},BSCharacter.Destroy", LocalID);
        _scene.TaintedObject("BSCharacter.destroy", delegate()
        {
            BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
@@ -319,14 +323,13 @@ public class BSCharacter : PhysicsActor
    public override bool Flying { 
        get { return _flying; } 
        set {
-            if (_flying != value)
+            _flying = value;
-            {
+            // simulate flying by changing the effect of gravity
-                _flying = value;
+            this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
-                // simulate flying by changing the effect of gravity
-                this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
-            }
        } 
    }
+    // Flying is implimented by changing the avatar's buoyancy.
+    // Would this be done better with a vehicle type?
    private float ComputeBuoyancyFromFlying(bool ifFlying) {
        return ifFlying ? 1f : 0f;
    }
@@ -488,11 +491,9 @@ public class BSCharacter : PhysicsActor
        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
        // base.RequestPhysicsterseUpdate();
-        /*
        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
                entprop.Acceleration, entprop.RotationalVelocity);
-         */
    }
    // Called by the scene when a collision with this object is reported
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 5a9f135..d7213fc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -57,6 +57,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        private int frcount = 0;                                        // Used to limit dynamics debug output to
                                                                        // every 100th frame
+        private BSScene m_physicsScene;
        private BSPrim m_prim;      // the prim this dynamic controller belongs to
        // Vehicle properties
@@ -74,7 +75,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                                                                        // HOVER_UP_ONLY
                                                                        // LIMIT_MOTOR_UP
                                                                        // LIMIT_ROLL_ONLY
-        private VehicleFlag m_Hoverflags = (VehicleFlag)0;
        private Vector3 m_BlockingEndPoint = Vector3.Zero;
        private Quaternion m_RollreferenceFrame = Quaternion.Identity;
        // Linear properties
@@ -124,15 +124,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        private float m_verticalAttractionEfficiency = 1.0f;        // damped
        private float m_verticalAttractionTimescale = 500f;         // Timescale > 300  means no vert attractor.
-        public BSDynamics(BSPrim myPrim)
+        public BSDynamics(BSScene myScene, BSPrim myPrim)
        {
+            m_physicsScene = myScene;
            m_prim = myPrim;
            m_type = Vehicle.TYPE_NONE;
        }
        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep)
        {
-            DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
+            VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
            switch (pParam)
            {
                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
@@ -231,7 +232,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep)
        {
-            DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
+            VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
            switch (pParam)
            {
                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
@@ -266,7 +267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
        {
-            DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
+            VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
            switch (pParam)
            {
                case Vehicle.REFERENCE_FRAME:
@@ -280,164 +281,27 @@ namespace OpenSim.Region.Physics.BulletSPlugin
        internal void ProcessVehicleFlags(int pParam, bool remove)
        {
-            DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove);
+            VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove);
+            VehicleFlag parm = (VehicleFlag)pParam;
            if (remove)
            {
                if (pParam == -1)
                {
                    m_flags = (VehicleFlag)0;
-                    m_Hoverflags = (VehicleFlag)0;
-                    return;
                }
-                if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
+                else
-                {
-                    if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0)
-                        m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT);
-                }
-                if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
-                {
-                    if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0)
-                        m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY);
-                }
-                if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
-                {
-                    if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0)
-                        m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY);
-                }
-                if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
-                {
-                    if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0)
-                        m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY);
-                }
-                if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
-                {
-                    if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP);
-                }
-                if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY)
-                {
-                    if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
-                }
-                if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
-                {
-                    if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.MOUSELOOK_BANK);
-                }
-                if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
-                {
-                    if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.MOUSELOOK_STEER);
-                }
-                if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
-                {
-                    if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP);
-                }
-                if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
-                {
-                    if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED);
-                }
-                if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
-                {
-                    if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.NO_X);
-                }
-                if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
-                {
-                    if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.NO_Y);
-                }
-                if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
-                {
-                    if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.NO_Z);
-                }
-                if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
-                {
-                    if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0)
-                        m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT);
-                }
-                if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
-                {
-                    if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0)
-                        m_flags &= ~(VehicleFlag.NO_DEFLECTION);
-                }
-                if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
                {
-                    if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0)
+                    m_flags &= ~parm;
-                        m_flags &= ~(VehicleFlag.LOCK_ROTATION);
                }
            }
-            else
+            else {
-            {
+                m_flags |= parm;
-                if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
-                {
-                    m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags);
-                }
-                if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
-                {
-                    m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags);
-                }
-                if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
-                {
-                    m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags);
-                }
-                if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
-                {
-                    m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags);
-                }
-                if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
-                {
-                    m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags);
-                }
-                if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
-                {
-                    m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags);
-                }
-                if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
-                {
-                    m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags);
-                }
-                if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
-                {
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags);
-                }
-                if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
-                {
-                    m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags);
-                }
-                if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
-                {
-                    m_flags |= (VehicleFlag.NO_X);
-                }
-                if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
-                {
-                    m_flags |= (VehicleFlag.NO_Y);
-                }
-                if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
-                {
-                    m_flags |= (VehicleFlag.NO_Z);
-                }
-                if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
-                {
-                    m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT);
-                }
-                if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
-                {
-                    m_flags |= (VehicleFlag.NO_DEFLECTION);
-                }
-                if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
-                {
-                    m_flags |= (VehicleFlag.LOCK_ROTATION);
-                }
            }
        }//end ProcessVehicleFlags
-        internal void ProcessTypeChange(Vehicle pType)
+        internal void ProcessTypeChange(Vehicle pType, float stepSize)
        {
-            DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType);
+            VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType);
            // Set Defaults For Type
            m_type = pType;
            switch (pType)
@@ -478,10 +342,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // m_bankingMix = 1;
                    // m_bankingTimescale = 10;
                    // m_referenceFrame = Quaternion.Identity;
-                    m_Hoverflags &=
+                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+                    m_flags &=
                         ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
                           VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
-                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
                    break;
                case Vehicle.TYPE_CAR:
                    m_linearFrictionTimescale = new Vector3(100, 2, 1000);
@@ -506,10 +370,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // m_bankingMix = 1;
                    // m_bankingTimescale = 1;
                    // m_referenceFrame = Quaternion.Identity;
-                    m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
                                VehicleFlag.LIMIT_MOTOR_UP);
-                    m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY);
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.HOVER_UP_ONLY);
                    break;
                case Vehicle.TYPE_BOAT:
                    m_linearFrictionTimescale = new Vector3(10, 3, 2);
@@ -534,12 +398,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // m_bankingMix = 0.8f;
                    // m_bankingTimescale = 1;
                    // m_referenceFrame = Quaternion.Identity;
-                    m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
+                    m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
                            VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
                    m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
                                VehicleFlag.LIMIT_MOTOR_UP);
-                    m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY);
+                    m_flags |= (VehicleFlag.HOVER_WATER_ONLY);
                    break;
                case Vehicle.TYPE_AIRPLANE:
                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
@@ -564,7 +428,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // m_bankingMix = 0.7f;
                    // m_bankingTimescale = 2;
                    // m_referenceFrame = Quaternion.Identity;
-                    m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
                        VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
@@ -592,11 +456,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    // m_bankingMix = 0.7f;
                    // m_bankingTimescale = 5;
                    // m_referenceFrame = Quaternion.Identity;
-                    m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+                    m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
                        VehicleFlag.HOVER_UP_ONLY);
                    m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
                    m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
-                    m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
+                    m_flags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
                    break;
            }
        }//end SetDefaultsForType
@@ -613,7 +477,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            MoveAngular(pTimestep);
            LimitRotation(pTimestep);
-            DetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 
+            VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 
                    m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
        }// end Step
@@ -657,7 +521,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 */
-                DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}",
+                VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}",
                    m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
            }
            else
@@ -669,7 +533,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                m_lastLinearVelocityVector = Vector3.Zero;
            }
-            // convert requested object velocity to world-referenced vector
+            // convert requested object velocity to object relative vector
            Quaternion rotq = m_prim.Orientation;
            m_dir = m_lastLinearVelocityVector * rotq;
@@ -722,7 +586,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                if (changed)
                {
                    m_prim.Position = pos;
-                    DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
+                    VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
                                m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
                }
            }
@@ -732,32 +596,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            {
                pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2;
                m_prim.Position = pos;
-                DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
+                VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
            }
            // Check if hovering
-            if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+            if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
            {
                // We should hover, get the target height
-                if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
+                if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
                {
                    m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight;
                }
-                if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
+                if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
                {
                    m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
                }
-                if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
+                if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
                {
                    m_VhoverTargetHeight = m_VhoverHeight;
                }
-                if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
+                if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
                {
                    // If body is aready heigher, use its height as target height
                    if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
                }
-                if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
+                if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
                {
                    if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
                    {
@@ -779,7 +643,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                    }
                }
-                DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight);
+                VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight);
 //                m_VhoverEfficiency = 0f;    // 0=boucy, 1=Crit.damped
 //                m_VhoverTimescale = 0f;        // time to acheive height
@@ -815,7 +679,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                {
                    grav.Z = (float)(grav.Z * 1.037125);
                }
-                DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
+                VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
                //End Experimental Values
            }
            if ((m_flags & (VehicleFlag.NO_X)) != 0)
@@ -844,7 +708,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
            m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
-            DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", 
+            VDetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", 
                        m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount);
        } // end MoveLinear()
@@ -870,13 +734,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                // There are m_angularMotorApply steps.
                Vector3 origAngularVelocity = m_angularMotorVelocity;
                // ramp up to new value
-                //   current velocity  +=                         error                       /    (time to get there / step interval)
+                //   current velocity  +=                         error                            /    (time to get there / step interval)
                //                               requested speed            -  last motor speed
                m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) /  (m_angularMotorTimescale / pTimestep);
                m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) /  (m_angularMotorTimescale / pTimestep);
                m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) /  (m_angularMotorTimescale / pTimestep);
-                DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", 
+                VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", 
                        m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
                m_angularMotorApply--;        // This is done so that if script request rate is less than phys frame rate the expected
@@ -887,6 +751,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                // No motor recently applied, keep the body velocity
                // and decay the velocity
                m_angularMotorVelocity -= m_angularMotorVelocity /  (m_angularMotorDecayTimescale / pTimestep);
+                if (m_angularMotorVelocity.LengthSquared() < 0.00001)
+                    m_angularMotorVelocity = Vector3.Zero;
            } // end motor section
            // Vertical attractor section
@@ -924,7 +790,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                vertattr.X += bounce * angularVelocity.X;
                vertattr.Y += bounce * angularVelocity.Y;
-                DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", 
+                VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", 
                            m_prim.LocalID, verterr, bounce, vertattr);
            } // else vertical attractor is off
@@ -942,13 +808,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            {
                m_lastAngularVelocity.X = 0;
                m_lastAngularVelocity.Y = 0;
-                DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
+                VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
            }
            if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
            {
                m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
-                DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
+                VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
            }
             // apply friction
@@ -958,7 +824,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            // Apply to the body
            m_prim.RotationalVelocity = m_lastAngularVelocity;
-            DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity);
+            VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity);
        } //end MoveAngular
        internal void LimitRotation(float timestep)
@@ -1005,11 +871,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
            if (changed)
                m_prim.Orientation = m_rot;
-            DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
+            VDetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
        }
        // Invoke the detailed logger and output something if it's enabled.
-        private void DetailLog(string msg, params Object[] args)
+        private void VDetailLog(string msg, params Object[] args)
        {
            if (m_prim.Scene.VehicleLoggingEnabled)
                m_prim.Scene.PhysicsLogging.Write(msg, args);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 087b9bb..9e3f0db 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -42,6 +42,9 @@ public class BSLinkset
    private BSScene m_physicsScene;
    public BSScene PhysicsScene { get { return m_physicsScene; } }
+    static int m_nextLinksetID = 1;
+    public int LinksetID { get; private set; }
    // The children under the root in this linkset
    private List<BSPrim> m_children;
@@ -74,6 +77,10 @@ public class BSLinkset
    public BSLinkset(BSScene scene, BSPrim parent)
    {
        // A simple linkset of one (no children)
+        LinksetID = m_nextLinksetID++;
+        // We create LOTS of linksets.
+        if (m_nextLinksetID < 0) 
+            m_nextLinksetID = 1;
        m_physicsScene = scene;
        m_linksetRoot = parent;
        m_children = new List<BSPrim>();
@@ -258,8 +265,7 @@ public class BSLinkset
            BSPrim childx = child;
            m_physicsScene.TaintedObject("AddChildToLinkset", delegate()
            {
-                // DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
+                DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
-                // DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
                PhysicallyLinkAChildToRoot(rootx, childx);     // build the physical binding between me and the child
            });
        }
@@ -287,8 +293,7 @@ public class BSLinkset
            BSPrim childx = child;
            m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
            {
-                // DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
+                DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
-                // DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
                PhysicallyUnlinkAChildFromRoot(rootx, childx);
            });
@@ -319,7 +324,6 @@ public class BSLinkset
        // create a constraint that allows no freedom of movement between the two objects
        // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-        // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
        DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", 
            rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
        BS6DofConstraint constrain = new BS6DofConstraint(
@@ -328,10 +332,10 @@ public class BSLinkset
                        true,
                        true
                        );
-        /* NOTE: attempt to build constraint with full frame computation, etc.
+        /* NOTE: below is an attempt to build constraint with full frame computation, etc.
         *     Using the midpoint is easier since it lets the Bullet code use the transforms
         *     of the objects.
-         * Code left here as an example.
+         * Code left as a warning to future programmers.
        // ==================================================================================
        // relative position normalized to the root prim
        OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
@@ -343,7 +347,6 @@ public class BSLinkset
        // create a constraint that allows no freedom of movement between the two objects
        // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-        // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
        DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
        BS6DofConstraint constrain = new BS6DofConstraint(
                        PhysicsScene.World, rootPrim.Body, childPrim.Body,
@@ -382,8 +385,6 @@ public class BSLinkset
    // Called at taint time!
    private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim)
    {
-        // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", 
-        //             LogHeader, rootPrim.LocalID, childPrim.LocalID);
        DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
        // Find the constraint for this link and get rid of it from the overall collection and from my list
@@ -397,20 +398,12 @@ public class BSLinkset
    // Called at taint time!
    private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim)
    {
-        // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
        DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
        m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body);
    }
    // Invoke the detailed logger and output something if it's enabled.
-    private void DebugLog(string msg, params Object[] args)
-    {
-        if (m_physicsScene.ShouldDebugLog)
-            m_physicsScene.Logger.DebugFormat(msg, args);
-    }
-    // Invoke the detailed logger and output something if it's enabled.
    private void DetailLog(string msg, params Object[] args)
    {
        m_physicsScene.PhysicsLogging.Write(msg, args);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 9c20004..d3f1e9c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -42,8 +42,6 @@ public sealed class BSPrim : PhysicsActor
    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
    private static readonly string LogHeader = "[BULLETS PRIM]";
-    private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); }
    private IMesh _mesh;
    private PrimitiveBaseShape _pbs;
    private ShapeData.PhysicsShapeType _shapeType;
@@ -141,8 +139,8 @@ public sealed class BSPrim : PhysicsActor
        _friction = _scene.Params.defaultFriction;  // TODO: compute based on object material
        _density = _scene.Params.defaultDensity;    // TODO: compute based on object material
        _restitution = _scene.Params.defaultRestitution;
-        _linkset = new BSLinkset(_scene, this);     // a linkset of one
+        _linkset = new BSLinkset(Scene, this);     // a linkset of one
-        _vehicle = new BSDynamics(this);            // add vehicleness
+        _vehicle = new BSDynamics(Scene, this);            // add vehicleness
        _mass = CalculateMass();
        // do the actual object creation at taint time
        DetailLog("{0},BSPrim.constructor,call", LocalID);
@@ -193,7 +191,7 @@ public sealed class BSPrim : PhysicsActor
            {
                _mass = CalculateMass();   // changing size changes the mass
                BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
-                // DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
+                DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
                RecreateGeomAndObject();
            });
        } 
@@ -232,7 +230,6 @@ public sealed class BSPrim : PhysicsActor
        BSPrim parent = obj as BSPrim;
        if (parent != null)
        {
-            DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID);
            BSPrim parentBefore = _linkset.LinksetRoot;
            int childrenBefore = _linkset.NumberOfChildren;
@@ -248,8 +245,6 @@ public sealed class BSPrim : PhysicsActor
    public override void delink() {
        // TODO: decide if this parent checking needs to happen at taint time
        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
-        DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, 
-                            _linkset.LinksetRoot._avName+"/"+_linkset.LinksetRoot.LocalID.ToString());
        BSPrim parentBefore = _linkset.LinksetRoot;
        int childrenBefore = _linkset.NumberOfChildren;
@@ -280,7 +275,7 @@ public sealed class BSPrim : PhysicsActor
    public override void LockAngularMotion(OMV.Vector3 axis)
    { 
-        // DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
+        DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
        return;
    }
@@ -299,7 +294,7 @@ public sealed class BSPrim : PhysicsActor
            // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
            _scene.TaintedObject("BSPrim.setPosition", delegate()
            {
-                // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
            });
        } 
@@ -336,7 +331,7 @@ public sealed class BSPrim : PhysicsActor
            _force = value;
            _scene.TaintedObject("BSPrim.setForce", delegate()
            {
-                // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
+                DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
                // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
                BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
            });
@@ -354,7 +349,7 @@ public sealed class BSPrim : PhysicsActor
            {
                // Done at taint time so we're sure the physics engine is not using the variables
                // Vehicle code changes the parameters for this vehicle type.
-                _vehicle.ProcessTypeChange(type);
+                _vehicle.ProcessTypeChange(type, Scene.LastSimulatedTimestep);
                // Tell the scene about the vehicle so it will get processing each frame.
                _scene.VehicleInSceneTypeChanged(this, type);
            });
@@ -414,7 +409,7 @@ public sealed class BSPrim : PhysicsActor
            _velocity = value;
            _scene.TaintedObject("BSPrim.setVelocity", delegate()
            {
-                // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
+                DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
                BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
            });
        } 
@@ -422,7 +417,7 @@ public sealed class BSPrim : PhysicsActor
    public override OMV.Vector3 Torque { 
        get { return _torque; } 
        set { _torque = value; 
-            // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
+            DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
        } 
    }
    public override float CollisionScore { 
@@ -449,7 +444,7 @@ public sealed class BSPrim : PhysicsActor
            _scene.TaintedObject("BSPrim.setOrientation", delegate()
            {
                // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
-                // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
            });
        } 
@@ -486,11 +481,8 @@ public sealed class BSPrim : PhysicsActor
    // No locking here because only called when it is safe
    private void SetObjectDynamic()
    {
-        // RA: remove this for the moment.
+        // If it's becoming dynamic, it will need hullness
-        // The problem is that dynamic objects are hulls so if we are becoming physical
+        VerifyCorrectPhysicalShape();
-        //    the shape has to be checked and possibly built.
-        //    Maybe a VerifyCorrectPhysicalShape() routine?
-        // RecreateGeomAndObject();
        // Bullet wants static objects to have a mass of zero
        float mass = IsStatic ? 0f : _mass;
@@ -501,13 +493,15 @@ public sealed class BSPrim : PhysicsActor
        _linkset.Refresh(this);
        CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
-        // DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
+        DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
    }
    // prims don't fly
    public override bool Flying { 
        get { return _flying; } 
-        set { _flying = value; } 
+        set {
+            _flying = value;
+        } 
    }
    public override bool SetAlwaysRun { 
        get { return _setAlwaysRun; } 
@@ -558,7 +552,7 @@ public sealed class BSPrim : PhysicsActor
            // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
            _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
            {
-                // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
            });
        } 
@@ -575,7 +569,7 @@ public sealed class BSPrim : PhysicsActor
            _buoyancy = value;
            _scene.TaintedObject("BSPrim.setBuoyancy", delegate()
            {
-                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+                DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
            });
        } 
@@ -638,17 +632,17 @@ public sealed class BSPrim : PhysicsActor
                }
                m_accumulatedForces.Clear();
            }
-            // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
+            DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
            BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
        });
    }
    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 
-        // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
+        DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
        // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
    }
    public override void SetMomentum(OMV.Vector3 momentum) { 
-        // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
+        DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
    }
    public override void SubscribeEvents(int ms) { 
        _subscribedEventsMs = ms;
@@ -992,7 +986,7 @@ public sealed class BSPrim : PhysicsActor
                    // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
                    if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
                    {
-                        // DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
+                        DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
                        _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
                        // Bullet native objects are scaled by the Bullet engine so pass the size in
                        _scale = _size;
@@ -1006,7 +1000,7 @@ public sealed class BSPrim : PhysicsActor
                // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
                if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
                {
-                    // DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
+                    DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
                    _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
                    _scale = _size;
                    // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
@@ -1042,19 +1036,26 @@ public sealed class BSPrim : PhysicsActor
    // No locking here because this is done when we know physics is not simulating
    private void CreateGeomMesh()
    {
-        float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
+        // level of detail based on size and type of the object
+        float lod = _scene.MeshLOD;
+        if (_pbs.SculptEntry) 
+            lod = _scene.SculptLOD;
+        float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z));
+        if (maxAxis > _scene.MeshMegaPrimThreshold) 
+            lod = _scene.MeshMegaPrimLOD;
        ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
        // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
        // if this new shape is the same as last time, don't recreate the mesh
        if (_meshKey == newMeshKey) return;
-        // DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
+        DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
        // Since we're recreating new, get rid of any previously generated shape
        if (_meshKey != 0)
        {
            // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
-            // DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
+            DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
            BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
            _mesh = null;
            _meshKey = 0;
@@ -1084,7 +1085,7 @@ public sealed class BSPrim : PhysicsActor
        _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
        // meshes are already scaled by the meshmerizer
        _scale = new OMV.Vector3(1f, 1f, 1f);
-        // DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
+        DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
        return;
    }
@@ -1098,13 +1099,13 @@ public sealed class BSPrim : PhysicsActor
        // if the hull hasn't changed, don't rebuild it
        if (newHullKey == _hullKey) return;
-        // DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
+        DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
        
        // Since we're recreating new, get rid of any previously generated shape
        if (_hullKey != 0)
        {
            // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
-            // DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
+            DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
            BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
            _hullKey = 0;
        }
@@ -1198,7 +1199,7 @@ public sealed class BSPrim : PhysicsActor
        _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
        // meshes are already scaled by the meshmerizer
        _scale = new OMV.Vector3(1f, 1f, 1f);
-        // DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
+        DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
        return;
    }
@@ -1210,6 +1211,27 @@ public sealed class BSPrim : PhysicsActor
        return;
    }
+    private void VerifyCorrectPhysicalShape()
+    {
+        if (IsStatic)
+        {
+            // if static, we don't need a hull so, if there is one, rebuild without it
+            if (_hullKey != 0)
+            {
+                RecreateGeomAndObject();
+            }
+        }
+        else
+        {
+            // if not static, it will need a hull to efficiently collide with things
+            if (_hullKey == 0)
+            {
+                RecreateGeomAndObject();
+            }
+        }
+    }
    // Create an object in Bullet if it has not already been created
    // No locking here because this is done when the physics engine is not simulating
    // Returns 'true' if an object was actually created.
@@ -1334,10 +1356,8 @@ public sealed class BSPrim : PhysicsActor
            _acceleration = entprop.Acceleration;
            _rotationalVelocity = entprop.RotationalVelocity;
-            // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", 
+            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-            //         LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
+                    LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
-            // DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-            //         LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
            base.RequestPhysicsterseUpdate();
        }
@@ -1353,6 +1373,7 @@ public sealed class BSPrim : PhysicsActor
    }
    // I've collided with something
+    // Called at taint time from within the Step() function
    CollisionEventUpdate collisionCollection;
    public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
    {
@@ -1366,6 +1387,15 @@ public sealed class BSPrim : PhysicsActor
        }
        // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
+        BSPrim collidingWithPrim;
+        if (_scene.Prims.TryGetValue(collidingWith, out collidingWithPrim))
+        {
+            // prims in the same linkset cannot collide with each other
+            if (this.Linkset.LinksetID == collidingWithPrim.Linkset.LinksetID)
+            {
+                return;
+            }
+        }
        // if someone is subscribed to collision events....
        if (_subscribedEventsMs != 0) {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index a31c578..56924aa 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -73,15 +73,22 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
    private static readonly string LogHeader = "[BULLETS SCENE]";
-    public void DebugLog(string mm, params Object[] xx) { if (ShouldDebugLog) m_log.DebugFormat(mm, xx); }
+    // The name of the region we're working for.
+    public string RegionName { get; private set; }
    public string BulletSimVersion = "?";
    private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>();
+    public Dictionary<uint, BSCharacter> Characters { get { return m_avatars; } }
    private Dictionary<uint, BSPrim> m_prims = new Dictionary<uint, BSPrim>();
+    public Dictionary<uint, BSPrim> Prims { get { return m_prims; } }
    private HashSet<BSCharacter> m_avatarsWithCollisions = new HashSet<BSCharacter>();
    private HashSet<BSPrim> m_primsWithCollisions = new HashSet<BSPrim>();
    private List<BSPrim> m_vehicles = new List<BSPrim>();
    private float[] m_heightMap;
    private float m_waterLevel;
    private uint m_worldID;
@@ -95,16 +102,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    private int m_detailedStatsStep = 0;
    public IMesher mesher;
-    private float m_meshLOD;
+    // Level of Detail values kept as float because that's what the Meshmerizer wants
-    public float MeshLOD
+    public float MeshLOD { get; private set; }
-    {
+    public float MeshMegaPrimLOD { get; private set; }
-        get { return m_meshLOD; }
+    public float MeshMegaPrimThreshold { get; private set; }
-    }
+    public float SculptLOD { get; private set; }
-    private float m_sculptLOD;
-    public float SculptLOD
-    {
-        get { return m_sculptLOD; }
-    }
    private BulletSim m_worldSim;
    public BulletSim World
@@ -179,8 +181,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    ConfigurationParameters[] m_params;
    GCHandle m_paramsHandle;
-    public bool ShouldDebugLog { get; private set; }
+    // Handle to the callback used by the unmanaged code to call into the managed code.
+    // Used for debug logging.
+    // Need to store the handle in a persistant variable so it won't be freed.
    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
    // Sometimes you just have to log everything.
@@ -196,6 +199,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
    public BSScene(string identifier)
    {
        m_initialized = false;
+        // we are passed the name of the region we're working for.
+        RegionName = identifier;
    }
    public override void Initialise(IMesher meshmerizer, IConfigSource config)
@@ -281,10 +286,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                // Very detailed logging for physics debugging
                m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
                m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
-                m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-");
+                m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
                m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
                // Very detailed logging for vehicle debugging
                m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
+                // Do any replacements in the parameters
+                m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
            }
        }
    }
@@ -362,7 +370,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        BSPrim bsprim = prim as BSPrim;
        if (bsprim != null)
        {
-            // DetailLog("{0},RemovePrim,call", bsprim.LocalID);
+            DetailLog("{0},RemovePrim,call", bsprim.LocalID);
            // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
            try
            {
@@ -388,7 +396,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        if (!m_initialized) return null;
-        // DetailLog("{0},AddPrimShape,call", localID);
+        DetailLog("{0},AddPrimShape,call", localID);
        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
        lock (m_prims) m_prims.Add(localID, prim);
@@ -429,13 +437,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        {
            numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
                        out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
-            // DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); 
+            DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); 
        }
        catch (Exception e)
        {
            m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e);
            // DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount);
-            // updatedEntityCount = 0;
+            updatedEntityCount = 0;
            collidersCount = 0;
        }
@@ -534,6 +542,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
        else if (m_avatars.ContainsKey(collidingWith))
            type = ActorTypes.Agent;
+        // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
        BSPrim prim;
        if (m_prims.TryGetValue(localID, out prim)) {
            prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
@@ -897,16 +907,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            (s) => { return s.NumericBool(s._forceSimplePrimMeshing); },
            (s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ),
-        new ParameterDefn("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
+        new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
            8f,
-            (s,cf,p,v) => { s.m_meshLOD = cf.GetInt(p, (int)v); },
+            (s,cf,p,v) => { s.MeshLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_meshLOD; },
+            (s) => { return s.MeshLOD; },
-            (s,p,l,v) => { s.m_meshLOD = (int)v; } ),
+            (s,p,l,v) => { s.MeshLOD = v; } ),
-        new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
+        new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
+            16f,
+            (s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return s.MeshMegaPrimLOD; },
+            (s,p,l,v) => { s.MeshMegaPrimLOD = v; } ),
+        new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
+            10f,
+            (s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
+            (s) => { return s.MeshMegaPrimThreshold; },
+            (s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ),
+        new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
            32f,
-            (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); },
+            (s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_sculptLOD; },
+            (s) => { return s.SculptLOD; },
-            (s,p,l,v) => { s.m_sculptLOD = (int)v; } ),
+            (s,p,l,v) => { s.SculptLOD = v; } ),
        new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
            10f,
@@ -1137,12 +1157,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
            (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); },
            (s) => { return (float)s.m_detailedStatsStep; },
            (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ),
-        new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.ShouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s.ShouldDebugLog); },
-            (s,p,l,v) => { s.ShouldDebugLog = s.BoolNumeric(v); } ),
    };
    // Convert a boolean to our numeric true and false values
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 3e1b43e..434638d 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -426,14 +426,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            return key;
        }
-        // convert a LSL_Rotation to a Quaternion
-        public static Quaternion Rot2Quaternion(LSL_Rotation r)
-        {
-            Quaternion q = new Quaternion((float)r.x, (float)r.y, (float)r.z, (float)r.s);
-            q.Normalize();
-            return q;
-        }
        //These are the implementations of the various ll-functions used by the LSL scripts.
        public LSL_Float llSin(double f)
        {
@@ -1240,9 +1232,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public LSL_Float llGround(LSL_Vector offset)
        {
            m_host.AddScriptLPS(1);
-            Vector3 pos = m_host.GetWorldPosition() + new Vector3((float)offset.x,
+            Vector3 pos = m_host.GetWorldPosition() + (Vector3)offset;
-                                                                  (float)offset.y,
-                                                                  (float)offset.z);
            //Get the slope normal.  This gives us the equation of the plane tangent to the slope.
            LSL_Vector vsn = llGroundNormal(offset);
@@ -1492,31 +1482,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            if (part == null || part.ParentGroup.IsDeleted)
                return;
-            if (scale.x < 0.01)
+            // First we need to check whether or not we need to clamp the size of a physics-enabled prim
-                scale.x = 0.01;
-            if (scale.y < 0.01)
-                scale.y = 0.01;
-            if (scale.z < 0.01)
-                scale.z = 0.01;
            PhysicsActor pa = part.ParentGroup.RootPart.PhysActor;
            if (pa != null && pa.IsPhysical)
            {
-                if (scale.x > World.m_maxPhys)
+                scale.x = Math.Max(World.m_minPhys, Math.Min(World.m_maxPhys, scale.x));
-                    scale.x = World.m_maxPhys;
+                scale.y = Math.Max(World.m_minPhys, Math.Min(World.m_maxPhys, scale.y));
-                if (scale.y > World.m_maxPhys)
+                scale.z = Math.Max(World.m_minPhys, Math.Min(World.m_maxPhys, scale.z));
-                    scale.y = World.m_maxPhys;
-                if (scale.z > World.m_maxPhys)
-                    scale.z = World.m_maxPhys;
            }
-            if (scale.x > World.m_maxNonphys)
+            // Next we clamp the scale to the non-physical min/max
-                scale.x = World.m_maxNonphys;
+            scale.x = Math.Max(World.m_minNonphys, Math.Min(World.m_maxNonphys, scale.x));
-            if (scale.y > World.m_maxNonphys)
+            scale.y = Math.Max(World.m_minNonphys, Math.Min(World.m_maxNonphys, scale.y));
-                scale.y = World.m_maxNonphys;
+            scale.z = Math.Max(World.m_minNonphys, Math.Min(World.m_maxNonphys, scale.z));
-            if (scale.z > World.m_maxNonphys)
-                scale.z = World.m_maxNonphys;
            Vector3 tmp = part.Scale;
            tmp.X = (float)scale.x;
@@ -1590,7 +1568,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            if (face == ScriptBaseClass.ALL_SIDES)
                face = SceneObjectPart.ALL_SIDES;
-            m_host.SetFaceColor(new Vector3((float)color.x, (float)color.y, (float)color.z), face);
+            m_host.SetFaceColor(color, face);
        }
        public void SetTexGen(SceneObjectPart part, int face,int style)
@@ -2220,7 +2198,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            bool sameParcel = here.GlobalID == there.GlobalID;
-            if (!sameParcel && !World.Permissions.CanObjectEntry(m_host.UUID, false, new Vector3((float)pos.x, (float)pos.y, (float)pos.z)))
+            if (!sameParcel && !World.Permissions.CanRezObject(
+                m_host.ParentGroup.PrimCount, m_host.ParentGroup.OwnerID, pos))
            {
                return 0;
            }
@@ -2279,16 +2258,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            if (part.ParentGroup.RootPart == part)
            {
                SceneObjectGroup parent = part.ParentGroup;
-                Vector3 dest = new Vector3((float)toPos.x, (float)toPos.y, (float)toPos.z);
+                if (!World.Permissions.CanObjectEntry(parent.UUID, false, (Vector3)toPos))
-                if (!World.Permissions.CanObjectEntry(parent.UUID, false, dest))
                    return;
                Util.FireAndForget(delegate(object x) {
-                    parent.UpdateGroupPosition(dest);
+                    parent.UpdateGroupPosition((Vector3)toPos);
                });
            }
            else
            {
-                part.OffsetPosition = new Vector3((float)toPos.x, (float)toPos.y, (float)toPos.z);
+                part.OffsetPosition = (Vector3)toPos;
                SceneObjectGroup parent = part.ParentGroup;
                parent.HasGroupChanged = true;
                parent.ScheduleGroupForTerseUpdate();
@@ -2326,7 +2304,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    pos = part.AbsolutePosition;
            }
-            return new LSL_Vector(pos.X, pos.Y, pos.Z);
+//            m_log.DebugFormat("[LSL API]: Returning {0} in GetPartLocalPos()", pos);
+            return new LSL_Vector(pos);
        }
        public void llSetRot(LSL_Rotation rot)
@@ -2343,7 +2323,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                // using it would cause attachments and HUDs to rotate
                // to the wrong positions.
                
-                SetRot(m_host, Rot2Quaternion(rot));
+                SetRot(m_host, rot);
            }
            else
            {
@@ -2353,7 +2333,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                {
                    rootPart = m_host.ParentGroup.RootPart;
                    if (rootPart != null)
-                        SetRot(m_host, rootPart.RotationOffset * Rot2Quaternion(rot));
+                        SetRot(m_host, rootPart.RotationOffset * (Quaternion)rot);
                }
            }
@@ -2363,8 +2343,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public void llSetLocalRot(LSL_Rotation rot)
        {
            m_host.AddScriptLPS(1);
+            SetRot(m_host, rot);
-            SetRot(m_host, Rot2Quaternion(rot));
            ScriptSleep(200);
        }
@@ -2476,7 +2455,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                if (local != 0)
                    force *= llGetRot();
-                m_host.ParentGroup.RootPart.SetForce(new Vector3((float)force.x, (float)force.y, (float)force.z));
+                m_host.ParentGroup.RootPart.SetForce(force);
            }
        }
@@ -2488,10 +2467,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            if (!m_host.ParentGroup.IsDeleted)
            {
-                Vector3 tmpForce = m_host.ParentGroup.RootPart.GetForce();
+                force = m_host.ParentGroup.RootPart.GetForce();
-                force.x = tmpForce.X;
-                force.y = tmpForce.Y;
-                force.z = tmpForce.Z;
            }
            return force;
@@ -2500,8 +2476,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public LSL_Integer llTarget(LSL_Vector position, double range)
        {
            m_host.AddScriptLPS(1);
-            return m_host.ParentGroup.registerTargetWaypoint(
+            return m_host.ParentGroup.registerTargetWaypoint(position,
-                new Vector3((float)position.x, (float)position.y, (float)position.z), (float)range);
+                (float)range);
        }
        public void llTargetRemove(int number)
@@ -2513,8 +2489,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public LSL_Integer llRotTarget(LSL_Rotation rot, double error)
        {
            m_host.AddScriptLPS(1);
-            return m_host.ParentGroup.registerRotTargetWaypoint(
+            return m_host.ParentGroup.registerRotTargetWaypoint(rot, (float)error);
-                new Quaternion((float)rot.x, (float)rot.y, (float)rot.z, (float)rot.s), (float)error);
        }
        public void llRotTargetRemove(int number)
@@ -2526,7 +2501,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public void llMoveToTarget(LSL_Vector target, double tau)
        {
            m_host.AddScriptLPS(1);
-            m_host.MoveToTarget(new Vector3((float)target.x, (float)target.y, (float)target.z), (float)tau);
+            m_host.MoveToTarget(target, (float)tau);
        }
        public void llStopMoveToTarget()
@@ -2539,7 +2514,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        {
            m_host.AddScriptLPS(1);
            //No energy force yet
-            Vector3 v = new Vector3((float)force.x, (float)force.y, (float)force.z);
+            Vector3 v = force;
            if (v.Length() > 20000.0f)
            {
                v.Normalize();
@@ -2552,13 +2527,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public void llApplyRotationalImpulse(LSL_Vector force, int local)
        {
            m_host.AddScriptLPS(1);
-            m_host.ParentGroup.RootPart.ApplyAngularImpulse(new Vector3((float)force.x, (float)force.y, (float)force.z), local != 0);
+            m_host.ParentGroup.RootPart.ApplyAngularImpulse(force, local != 0);
        }
        public void llSetTorque(LSL_Vector torque, int local)
        {
            m_host.AddScriptLPS(1);
-            m_host.ParentGroup.RootPart.SetAngularImpulse(new Vector3((float)torque.x, (float)torque.y, (float)torque.z), local != 0);
+            m_host.ParentGroup.RootPart.SetAngularImpulse(torque, local != 0);
        }
        public LSL_Vector llGetTorque()
@@ -3123,13 +3098,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    return;
                }
-                Vector3 llpos = new Vector3((float)pos.x, (float)pos.y, (float)pos.z);
-                Vector3 llvel = new Vector3((float)vel.x, (float)vel.y, (float)vel.z);
                // need the magnitude later
                // float velmag = (float)Util.GetMagnitude(llvel);
-                SceneObjectGroup new_group = World.RezObject(m_host, item, llpos, Rot2Quaternion(rot), llvel, param);
+                SceneObjectGroup new_group = World.RezObject(m_host, item, pos, rot, vel, param);
                // If either of these are null, then there was an unknown error.
                if (new_group == null)
@@ -3156,11 +3128,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                PhysicsActor pa = new_group.RootPart.PhysActor;
-                if (pa != null && pa.IsPhysical && llvel != Vector3.Zero)
+                if (pa != null && pa.IsPhysical && (Vector3)vel != Vector3.Zero)
                {
                    float groupmass = new_group.GetMass();
-                    llvel *= -groupmass;
+                    vel *= -groupmass;
-                    llApplyImpulse(new LSL_Vector(llvel.X, llvel.Y,llvel.Z), 0);
+                    llApplyImpulse(vel, 0);
                }
                // Variable script delay? (see (http://wiki.secondlife.com/wiki/LSL_Delay)
                return;
@@ -3211,7 +3183,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    return;
                }
-                m_host.StartLookAt(Rot2Quaternion(r3 * r2 * r1), (float)strength, (float)damping);
+                m_host.StartLookAt((Quaternion)(r3 * r2 * r1), (float)strength, (float)damping);
            }
        }
@@ -3637,7 +3609,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            }
            else
            {
-                m_host.RotLookAt(Rot2Quaternion(target), (float)strength, (float)damping);
+                m_host.RotLookAt(target, (float)strength, (float)damping);
            }
        }
@@ -3718,7 +3690,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        protected void TargetOmega(SceneObjectPart part, LSL_Vector axis, double spinrate, double gain)
        {
-            part.UpdateAngularVelocity(new Vector3((float)(axis.x * spinrate), (float)(axis.y * spinrate), (float)(axis.z * spinrate)));
+            part.UpdateAngularVelocity(axis * spinrate);
         }
        public LSL_Integer llGetStartParameter()
@@ -3928,7 +3900,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                try
                {
                    foreach (SceneObjectPart part in parts)
-                        part.SetFaceColor(new Vector3((float)color.x, (float)color.y, (float)color.z), face);
+                        part.SetFaceColor(color, face);
                }
                finally
                {
@@ -4398,9 +4370,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public void llSetText(string text, LSL_Vector color, double alpha)
        {
            m_host.AddScriptLPS(1);
-            Vector3 av3 = new Vector3(Util.Clip((float)color.x, 0.0f, 1.0f),
+            Vector3 av3 = Util.Clip(color, 0.0f, 1.0f);
-                                      Util.Clip((float)color.y, 0.0f, 1.0f),
-                                      Util.Clip((float)color.z, 0.0f, 1.0f));
            m_host.SetText(text.Length > 254 ? text.Remove(254) : text, av3, Util.Clip((float)alpha, 0.0f, 1.0f));
            //m_host.ParentGroup.HasGroupChanged = true;
            //m_host.ParentGroup.ScheduleGroupForFullUpdate();
@@ -4616,14 +4586,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            ScriptSleep(5000);
        }
-        public void llTeleportAgent(string agent, string destination, LSL_Vector pos, LSL_Vector lookAt)
+        public void llTeleportAgent(string agent, string destination, LSL_Vector targetPos, LSL_Vector targetLookAt)
        {
            m_host.AddScriptLPS(1);
            UUID agentId = new UUID();
-            Vector3 targetPos = new Vector3((float)pos.x, (float)pos.y, (float)pos.z);
-            Vector3 targetLookAt = new Vector3((float)lookAt.x, (float)lookAt.y, (float)lookAt.z);
            if (UUID.TryParse(agent, out agentId))
            {
                ScenePresence presence = World.GetScenePresence(agentId);
@@ -4652,15 +4619,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            }
        }
-        public void llTeleportAgentGlobalCoords(string agent, LSL_Vector global_coords, LSL_Vector pos, LSL_Vector lookAt)
+        public void llTeleportAgentGlobalCoords(string agent, LSL_Vector global_coords, LSL_Vector targetPos, LSL_Vector targetLookAt)
        {
            m_host.AddScriptLPS(1);
            UUID agentId = new UUID();
            ulong regionHandle = Utils.UIntsToLong((uint)global_coords.x, (uint)global_coords.y);
-            Vector3 targetPos = new Vector3((float)pos.x, (float)pos.y, (float)pos.z);
-            Vector3 targetLookAt = new Vector3((float)lookAt.x, (float)lookAt.y, (float)lookAt.z);
            if (UUID.TryParse(agent, out agentId))
            {
                ScenePresence presence = World.GetScenePresence(agentId);
@@ -4957,7 +4922,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    distance_attenuation = 1f / normalized_units;
                }
-                Vector3 applied_linear_impulse = new Vector3((float)impulse.x, (float)impulse.y, (float)impulse.z);
+                Vector3 applied_linear_impulse = impulse;
                {
                    float impulse_length = applied_linear_impulse.Length();
@@ -6525,9 +6490,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            //Plug the x,y coordinates of the slope normal into the equation of the plane to get
            //the height of that point on the plane.  The resulting vector gives the slope.
-            Vector3 vsl = new Vector3();
+            Vector3 vsl = vsn;
-            vsl.X = (float)vsn.x;
-            vsl.Y = (float)vsn.y;
            vsl.Z = (float)(((vsn.x * vsn.x) + (vsn.y * vsn.y)) / (-1 * vsn.z));
            vsl.Normalize();
            //Normalization might be overkill here
@@ -6538,9 +6501,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public LSL_Vector llGroundNormal(LSL_Vector offset)
        {
            m_host.AddScriptLPS(1);
-            Vector3 pos = m_host.GetWorldPosition() + new Vector3((float)offset.x,
+            Vector3 pos = m_host.GetWorldPosition() + (Vector3)offset;
-                                                                (float)offset.y,
-                                                                (float)offset.z);
            // Clamp to valid position
            if (pos.X < 0)
                pos.X = 0;
@@ -6994,8 +6955,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            if (!m_host.ParentGroup.IsDeleted)
            {
-                m_host.ParentGroup.RootPart.SetVehicleVectorParam(param,
+                m_host.ParentGroup.RootPart.SetVehicleVectorParam(param, vec);
-                    new Vector3((float)vec.x, (float)vec.y, (float)vec.z));
            }
        }
@@ -7007,7 +6967,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            if (!m_host.ParentGroup.IsDeleted)
            {
-                m_host.ParentGroup.RootPart.SetVehicleRotationParam(param, Rot2Quaternion(rot));
+                m_host.ParentGroup.RootPart.SetVehicleRotationParam(param, rot);
            }
        }
@@ -7037,8 +6997,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            if (rot.s == 0 && rot.x == 0 && rot.y == 0 && rot.z == 0)
                rot.s = 1; // ZERO_ROTATION = 0,0,0,1
-            part.SitTargetPosition = new Vector3((float)offset.x, (float)offset.y, (float)offset.z);
+            part.SitTargetPosition = offset;
-            part.SitTargetOrientation = Rot2Quaternion(rot);
+            part.SitTargetOrientation = rot;
            part.ParentGroup.HasGroupChanged = true;
        }
@@ -7141,13 +7101,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public void llSetCameraEyeOffset(LSL_Vector offset)
        {
            m_host.AddScriptLPS(1);
-            m_host.SetCameraEyeOffset(new Vector3((float)offset.x, (float)offset.y, (float)offset.z));
+            m_host.SetCameraEyeOffset(offset);
        }
        public void llSetCameraAtOffset(LSL_Vector offset)
        {
            m_host.AddScriptLPS(1);
-            m_host.SetCameraAtOffset(new Vector3((float)offset.x, (float)offset.y, (float)offset.z));
+            m_host.SetCameraAtOffset(offset);
        }
        public LSL_String llDumpList2String(LSL_List src, string seperator)
@@ -7169,7 +7129,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
        public LSL_Integer llScriptDanger(LSL_Vector pos)
        {
            m_host.AddScriptLPS(1);
-            bool result = World.ScriptDanger(m_host.LocalId, new Vector3((float)pos.x, (float)pos.y, (float)pos.z));
+            bool result = World.ScriptDanger(m_host.LocalId, pos);
            if (result)
            {
                return 1;
@@ -8103,13 +8063,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                            if (rootPart == part)
                            {
                                // special case: If we are root, rotate complete SOG to new rotation
-                                SetRot(part, Rot2Quaternion(q));
+                                SetRot(part, q);
                            }
                            else
                            {
                                // we are a child. The rotation values will be set to the one of root modified by rot, as in SL. Don't ask.
                                // sounds like sl bug that we need to replicate
-                                SetRot(part, rootPart.RotationOffset * Rot2Quaternion(q));
+                                SetRot(part, rootPart.RotationOffset * (Quaternion)q);
                            }
                            break;
@@ -8283,7 +8243,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                            LSL_Vector color=rules.GetVector3Item(idx++);
                            double alpha=(double)rules.GetLSLFloatItem(idx++);
-                            part.SetFaceColor(new Vector3((float)color.x, (float)color.y, (float)color.z), face);
+                            part.SetFaceColor(color, face);
                            SetAlpha(part, alpha, face);
                            break;
@@ -8432,9 +8392,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                            string primText = rules.GetLSLStringItem(idx++);
                            LSL_Vector primTextColor = rules.GetVector3Item(idx++);
                            LSL_Float primTextAlpha = rules.GetLSLFloatItem(idx++);
-                            Vector3 av3 = new Vector3(Util.Clip((float)primTextColor.x, 0.0f, 1.0f),
+                            Vector3 av3 = Util.Clip(primTextColor, 0.0f, 1.0f);
-                                          Util.Clip((float)primTextColor.y, 0.0f, 1.0f),
-                                          Util.Clip((float)primTextColor.z, 0.0f, 1.0f));
                            part.SetText(primText, av3, Util.Clip((float)primTextAlpha, 0.0f, 1.0f));
                            break;
@@ -8453,8 +8411,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                        case (int)ScriptBaseClass.PRIM_ROT_LOCAL:
                            if (remain < 1)
                                return null;
-                            LSL_Rotation lr = rules.GetQuaternionItem(idx++);
+                            SetRot(part, rules.GetQuaternionItem(idx++));
-                            SetRot(part, Rot2Quaternion(lr));
                            break;
                        case (int)ScriptBaseClass.PRIM_OMEGA:
                            if (remain < 3)
@@ -8464,7 +8421,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                            LSL_Float gain = rules.GetLSLFloatItem(idx++);
                            TargetOmega(part, axis, (double)spinrate, (double)gain);
                            break;
+                        case (int)ScriptBaseClass.PRIM_SLICE:
+                            if (remain < 1)
+                                return null;
+                            LSL_Vector slice = rules.GetVector3Item(idx++);
+                            part.UpdateSlice((float)slice.x, (float)slice.y);
+                            break;
                        case (int)ScriptBaseClass.PRIM_LINK_TARGET:
                            if (remain < 3) // setting to 3 on the basis that parsing any usage of PRIM_LINK_TARGET that has nothing following it is pointless.
                                return null;
@@ -8473,6 +8435,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    }
                }
            }
+            catch (InvalidCastException e)
+            {
+                ShoutError(e.Message);
+            }
            finally
            {
                if (positionChanged)
@@ -8481,12 +8447,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    {
                        SceneObjectGroup parent = part.ParentGroup;
                        Util.FireAndForget(delegate(object x) {
-                            parent.UpdateGroupPosition(new Vector3((float)currentPosition.x, (float)currentPosition.y, (float)currentPosition.z));
+                            parent.UpdateGroupPosition(currentPosition);
                        });
                    }
                    else
                    {
-                        part.OffsetPosition = new Vector3((float)currentPosition.x, (float)currentPosition.y, (float)currentPosition.z);
+                        part.OffsetPosition = currentPosition;
                        SceneObjectGroup parent = part.ParentGroup;
                        parent.HasGroupChanged = true;
                        parent.ScheduleGroupForTerseUpdate();
@@ -9570,7 +9536,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    case (int)ScriptBaseClass.PRIM_POS_LOCAL:
                        res.Add(new LSL_Vector(GetPartLocalPos(part)));
                        break;
                    case (int)ScriptBaseClass.PRIM_LINK_TARGET:
                        if (remain < 3) // setting to 3 on the basis that parsing any usage of PRIM_LINK_TARGET that has nothing following it is pointless.
                            return res;
@@ -9579,6 +9544,15 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                        LSL_List tres = llGetLinkPrimitiveParams((int)new_linknumber, new_rules);
                        res += tres;
                        return res;                       
+                    case (int)ScriptBaseClass.PRIM_SLICE:
+                        PrimType prim_type = part.GetPrimType();
+                        bool useProfileBeginEnd = (prim_type == PrimType.SPHERE || prim_type == PrimType.TORUS || prim_type == PrimType.TUBE || prim_type == PrimType.RING);
+                        res.Add(new LSL_Vector(
+                            (useProfileBeginEnd ? part.Shape.ProfileBegin : part.Shape.PathBegin) / 50000.0,
+                            1 - (useProfileBeginEnd ? part.Shape.ProfileEnd : part.Shape.PathEnd) / 50000.0,
+                            0
+                        ));
+                        break;
                }
            }
            return res;
@@ -11164,9 +11138,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            ScenePresence avatar = World.GetScenePresence(detectedParams.Key);
            if (avatar != null)
            {
-                avatar.ControllingClient.SendScriptTeleportRequest(m_host.Name, simname,
+                avatar.ControllingClient.SendScriptTeleportRequest(m_host.Name,
-                                                                   new Vector3((float)pos.x, (float)pos.y, (float)pos.z),
+                    simname, pos, lookAt);
-                                                                   new Vector3((float)lookAt.x, (float)lookAt.y, (float)lookAt.z));
            }
            
            ScriptSleep(1000);
@@ -11901,13 +11874,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                    else
                                        rot = obj.GetWorldRotation();
-                                    LSL_Rotation objrot = new LSL_Rotation(rot.X, rot.Y, rot.Z, rot.W);
+                                    LSL_Rotation objrot = new LSL_Rotation(rot);
                                    ret.Add(objrot);
                                }
                                break;
                            case ScriptBaseClass.OBJECT_VELOCITY:
-                                Vector3 ovel = obj.Velocity;
+                                ret.Add(new LSL_Vector(obj.Velocity));
-                                ret.Add(new LSL_Vector(ovel.X, ovel.Y, ovel.Z));
                                break;
                            case ScriptBaseClass.OBJECT_OWNER:
                                ret.Add(new LSL_String(obj.OwnerID.ToString()));
@@ -12513,8 +12485,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            m_host.AddScriptLPS(1);
-            Vector3 rayStart = new Vector3((float)start.x, (float)start.y, (float)start.z);
+            Vector3 rayStart = start;
-            Vector3 rayEnd = new Vector3((float)end.x, (float)end.y, (float)end.z);
+            Vector3 rayEnd = end;
            Vector3 dir = rayEnd - rayStart;
            float dist = Vector3.Mag(dir);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs
index 795de80..ceb4660 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LS_Api.cs
@@ -304,7 +304,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    case (int)ScriptBaseClass.WL_CLOUD_DETAIL_XY_DENSITY:
                        idx++;
                        iV = rules.GetVector3Item(idx);
-                        wl.cloudDetailXYDensity = new Vector3((float)iV.x, (float)iV.y, (float)iV.z);
+                        wl.cloudDetailXYDensity = iV;
                        break;
                    case (int)ScriptBaseClass.WL_CLOUD_SCALE:
                        idx++;
@@ -329,7 +329,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    case (int)ScriptBaseClass.WL_CLOUD_XY_DENSITY:
                        idx++;
                        iV = rules.GetVector3Item(idx);
-                        wl.cloudXYDensity = new Vector3((float)iV.x, (float)iV.y, (float)iV.z);
+                        wl.cloudXYDensity = iV;
                        break;
                    case (int)ScriptBaseClass.WL_DENSITY_MULTIPLIER:
                        idx++;
@@ -384,7 +384,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    case (int)ScriptBaseClass.WL_REFLECTION_WAVELET_SCALE:
                        idx++;
                        iV = rules.GetVector3Item(idx);
-                        wl.reflectionWaveletScale = new Vector3((float)iV.x, (float)iV.y, (float)iV.z);
+                        wl.reflectionWaveletScale = iV;
                        break;
                    case (int)ScriptBaseClass.WL_REFRACT_SCALE_ABOVE:
                        idx++;
@@ -422,7 +422,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    case (int)ScriptBaseClass.WL_WATER_COLOR:
                        idx++;
                        iV = rules.GetVector3Item(idx);
-                        wl.waterColor = new Vector3((float)iV.x, (float)iV.y, (float)iV.z);
+                        wl.waterColor = iV;
                        break;
                    case (int)ScriptBaseClass.WL_WATER_FOG_DENSITY_EXPONENT:
                        idx++;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs
index 7844c75..84cf6ca 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/MOD_Api.cs
@@ -333,8 +333,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            {
                if (type == typeof(OpenMetaverse.Quaternion))
                {
-                    LSL_Rotation rot = (LSL_Rotation)lslparm;
+                    return (OpenMetaverse.Quaternion)((LSL_Rotation)lslparm);
-                    return new OpenMetaverse.Quaternion((float)rot.x,(float)rot.y,(float)rot.z,(float)rot.s);
                }
            }
@@ -343,8 +342,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            {
                if (type == typeof(OpenMetaverse.Vector3))
                {
-                    LSL_Vector vect = (LSL_Vector)lslparm;
+                    return (OpenMetaverse.Vector3)((LSL_Vector)lslparm);
-                    return new OpenMetaverse.Vector3((float)vect.x,(float)vect.y,(float)vect.z);
                }
            }
@@ -367,13 +365,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                            result[i] = new UUID((LSL_Key)plist[i]);
                        else if (plist[i] is LSL_Rotation)
                        {
-                            LSL_Rotation rot = (LSL_Rotation)plist[i];
+                            result[i] = (OpenMetaverse.Quaternion)(
-                            result[i] = new OpenMetaverse.Quaternion((float)rot.x,(float)rot.y,(float)rot.z,(float)rot.s);
+                                (LSL_Rotation)plist[i]);
                        }
                        else if (plist[i] is LSL_Vector)
                        {
-                            LSL_Vector vect = (LSL_Vector)plist[i];
+                            result[i] = (OpenMetaverse.Vector3)(
-                            result[i] = new OpenMetaverse.Vector3((float)vect.x,(float)vect.y,(float)vect.z);
+                                (LSL_Vector)plist[i]);
                        }
                        else
                            MODError("unknown LSL list element type");
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
index 2f02f1f..37766fb 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
@@ -782,10 +782,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                        // We will launch the teleport on a new thread so that when the script threads are terminated
                        // before teleport in ScriptInstance.GetXMLState(), we don't end up aborting the one doing the teleporting.                        
-                        Util.FireAndForget(
+                        Util.FireAndForget(o => World.RequestTeleportLocation(
-                            o => World.RequestTeleportLocation(presence.ControllingClient, regionName,
+                            presence.ControllingClient, regionName, position,
-                                new Vector3((float)position.x, (float)position.y, (float)position.z),
+                            lookat, (uint)TPFlags.ViaLocation));
-                                new Vector3((float)lookat.x, (float)lookat.y, (float)lookat.z), (uint)TPFlags.ViaLocation));
                        ScriptSleep(5000);
@@ -828,10 +827,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                        // We will launch the teleport on a new thread so that when the script threads are terminated
                        // before teleport in ScriptInstance.GetXMLState(), we don't end up aborting the one doing the teleporting.
-                        Util.FireAndForget(
+                        Util.FireAndForget(o => World.RequestTeleportLocation(
-                            o => World.RequestTeleportLocation(presence.ControllingClient, regionHandle,
+                            presence.ControllingClient, regionHandle, 
-                                new Vector3((float)position.x, (float)position.y, (float)position.z),
+                            position, lookat, (uint)TPFlags.ViaLocation));
-                                new Vector3((float)lookat.x, (float)lookat.y, (float)lookat.z), (uint)TPFlags.ViaLocation));
                        ScriptSleep(5000);
@@ -2355,7 +2353,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                    ownerID = m_host.OwnerID;
                UUID x = module.CreateNPC(firstname,
                                          lastname,
-                                          new Vector3((float) position.x, (float) position.y, (float) position.z),
+                                          position,
                                          ownerID,
                                          senseAsAgent,
                                          World,
@@ -2478,7 +2476,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
            return new LSL_Vector(0, 0, 0);
        }
-        public void osNpcMoveTo(LSL_Key npc, LSL_Vector position)
+        public void osNpcMoveTo(LSL_Key npc, LSL_Vector pos)
        {
            CheckThreatLevel(ThreatLevel.High, "osNpcMoveTo");
            m_host.AddScriptLPS(1);
@@ -2493,7 +2491,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                if (!module.CheckPermissions(npcId, m_host.OwnerID))
                    return;
                
-                Vector3 pos = new Vector3((float) position.x, (float) position.y, (float) position.z);
                module.MoveToTarget(npcId, World, pos, false, true, false);
            }
        }
@@ -2513,11 +2510,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                if (!module.CheckPermissions(npcId, m_host.OwnerID))
                    return;
-                Vector3 pos = new Vector3((float)target.x, (float)target.y, (float)target.z);
                module.MoveToTarget(
                    new UUID(npc.m_string),
                    World,
-                    pos,
+                    target,
                    (options & ScriptBaseClass.OS_NPC_NO_FLY) != 0,
                    (options & ScriptBaseClass.OS_NPC_LAND_AT_TARGET) != 0,
                    (options & ScriptBaseClass.OS_NPC_RUNNING) != 0);
@@ -2569,7 +2565,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                ScenePresence sp = World.GetScenePresence(npcId);
                if (sp != null)
-                    sp.Rotation = LSL_Api.Rot2Quaternion(rotation);
+                    sp.Rotation = rotation;
            }
        }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
index 678f9d5..4dd795d 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
@@ -352,7 +352,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                q = avatar.Rotation;
            }
-            LSL_Types.Quaternion r = new LSL_Types.Quaternion(q.X, q.Y, q.Z, q.W);
+            LSL_Types.Quaternion r = new LSL_Types.Quaternion(q);
            LSL_Types.Vector3 forward_dir = (new LSL_Types.Vector3(1, 0, 0) * r);
            double mag_fwd = LSL_Types.Vector3.Mag(forward_dir);
@@ -429,9 +429,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                            try
                            {
                                Vector3 diff = toRegionPos - fromRegionPos;
-                                LSL_Types.Vector3 obj_dir = new LSL_Types.Vector3(diff.X, diff.Y, diff.Z);
+                                double dot = LSL_Types.Vector3.Dot(forward_dir, diff);
-                                double dot = LSL_Types.Vector3.Dot(forward_dir, obj_dir);
+                                double mag_obj = LSL_Types.Vector3.Mag(diff);
-                                double mag_obj = LSL_Types.Vector3.Mag(obj_dir);
                                ang_obj = Math.Acos(dot / (mag_fwd * mag_obj));
                            }
                            catch
@@ -483,7 +482,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                q = avatar.Rotation;
            }
-            LSL_Types.Quaternion r = new LSL_Types.Quaternion(q.X, q.Y, q.Z, q.W);
+            LSL_Types.Quaternion r = new LSL_Types.Quaternion(q);
            LSL_Types.Vector3 forward_dir = (new LSL_Types.Vector3(1, 0, 0) * r);
            double mag_fwd = LSL_Types.Vector3.Mag(forward_dir);
            bool attached = (SensePoint.ParentGroup.AttachmentPoint != 0);
@@ -564,8 +563,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
                        double ang_obj = 0;
                        try
                        {
-                            Vector3 diff = toRegionPos - fromRegionPos;
+                            LSL_Types.Vector3 obj_dir = new LSL_Types.Vector3(
-                            LSL_Types.Vector3 obj_dir = new LSL_Types.Vector3(diff.X, diff.Y, diff.Z);
+                                toRegionPos - fromRegionPos);
                            double dot = LSL_Types.Vector3.Dot(forward_dir, obj_dir);
                            double mag_obj = LSL_Types.Vector3.Mag(obj_dir);
                            ang_obj = Math.Acos(dot / (mag_fwd * mag_obj));
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
index f989cc6..05ba222 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
@@ -329,6 +329,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
        public const int PRIM_OMEGA = 32;
        public const int PRIM_POS_LOCAL = 33;
        public const int PRIM_LINK_TARGET = 34;
+        public const int PRIM_SLICE = 35;
        public const int PRIM_TEXGEN_DEFAULT = 0;
        public const int PRIM_TEXGEN_PLANAR = 1;
diff --git a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
index 9e5fb24..22804f5 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
@@ -164,11 +164,11 @@ namespace OpenSim.Region.ScriptEngine.Shared
                else
                {
                    // Set the values from the touch data provided by the client
-                    touchST = new LSL_Types.Vector3(value.STCoord.X, value.STCoord.Y, value.STCoord.Z);
+                    touchST = new LSL_Types.Vector3(value.STCoord);
-                    touchUV = new LSL_Types.Vector3(value.UVCoord.X, value.UVCoord.Y, value.UVCoord.Z);
+                    touchUV = new LSL_Types.Vector3(value.UVCoord);
-                    touchNormal = new LSL_Types.Vector3(value.Normal.X, value.Normal.Y, value.Normal.Z);
+                    touchNormal = new LSL_Types.Vector3(value.Normal);
-                    touchBinormal = new LSL_Types.Vector3(value.Binormal.X, value.Binormal.Y, value.Binormal.Z);
+                    touchBinormal = new LSL_Types.Vector3(value.Binormal);
-                    touchPos = new LSL_Types.Vector3(value.Position.X, value.Position.Y, value.Position.Z);
+                    touchPos = new LSL_Types.Vector3(value.Position);
                    touchFace = value.FaceIndex;
                }
            }
@@ -189,19 +189,13 @@ namespace OpenSim.Region.ScriptEngine.Shared
                    Country = account.UserCountry;
                Owner = Key;
-                Position = new LSL_Types.Vector3(
+                Position = new LSL_Types.Vector3(presence.AbsolutePosition);
-                        presence.AbsolutePosition.X,
-                        presence.AbsolutePosition.Y,
-                        presence.AbsolutePosition.Z);
                Rotation = new LSL_Types.Quaternion(
                        presence.Rotation.X,
                        presence.Rotation.Y,
                        presence.Rotation.Z,
                        presence.Rotation.W);
-                Velocity = new LSL_Types.Vector3(
+                Velocity = new LSL_Types.Vector3(presence.Velocity);
-                        presence.Velocity.X,
-                        presence.Velocity.Y,
-                        presence.Velocity.Z);
                Type = 0x01; // Avatar
                if (presence.PresenceType == PresenceType.Npc)
@@ -254,16 +248,12 @@ namespace OpenSim.Region.ScriptEngine.Shared
                }
            }
-            Position = new LSL_Types.Vector3(part.AbsolutePosition.X,
+            Position = new LSL_Types.Vector3(part.AbsolutePosition);
-                                             part.AbsolutePosition.Y,
-                                             part.AbsolutePosition.Z);
            Quaternion wr = part.ParentGroup.GroupRotation;
            Rotation = new LSL_Types.Quaternion(wr.X, wr.Y, wr.Z, wr.W);
-            Velocity = new LSL_Types.Vector3(part.Velocity.X,
+            Velocity = new LSL_Types.Vector3(part.Velocity);
-                                             part.Velocity.Y,
-                                             part.Velocity.Z);
        }
    }
diff --git a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
index 8adf4c5..c9c4753 100644
--- a/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/LSL_Types.cs
@@ -31,6 +31,11 @@ using System.Globalization;
 using System.Text.RegularExpressions;
 using OpenSim.Framework;
+using OpenMetaverse;
+using OMV_Vector3 = OpenMetaverse.Vector3;
+using OMV_Vector3d = OpenMetaverse.Vector3d;
+using OMV_Quaternion = OpenMetaverse.Quaternion;
 namespace OpenSim.Region.ScriptEngine.Shared
 {
    [Serializable]
@@ -54,6 +59,20 @@ namespace OpenSim.Region.ScriptEngine.Shared
                z = (float)vector.z;
            }
+            public Vector3(OMV_Vector3 vector)
+            {
+                x = vector.X;
+                y = vector.Y;
+                z = vector.Z;
+            }
+            public Vector3(OMV_Vector3d vector)
+            {
+                x = vector.X;
+                y = vector.Y;
+                z = vector.Z;
+            }
            public Vector3(double X, double Y, double Z)
            {
                x = X;
@@ -109,6 +128,26 @@ namespace OpenSim.Region.ScriptEngine.Shared
                return new list(new object[] { vec });
            }
+            public static implicit operator OMV_Vector3(Vector3 vec)
+            {
+                return new OMV_Vector3((float)vec.x, (float)vec.y, (float)vec.z);
+            }
+            public static implicit operator Vector3(OMV_Vector3 vec)
+            {
+                return new Vector3(vec);
+            }
+            public static implicit operator OMV_Vector3d(Vector3 vec)
+            {
+                return new OMV_Vector3d(vec.x, vec.y, vec.z);
+            }
+            public static implicit operator Vector3(OMV_Vector3d vec)
+            {
+                return new Vector3(vec);
+            }
            public static bool operator ==(Vector3 lhs, Vector3 rhs)
            {
                return (lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z);
@@ -322,6 +361,14 @@ namespace OpenSim.Region.ScriptEngine.Shared
                    s = 1;
            }
+            public Quaternion(OMV_Quaternion rot)
+            {
+                x = rot.X;
+                y = rot.Y;
+                z = rot.Z;
+                s = rot.W;
+            }
            #endregion
            #region Overriders
@@ -368,6 +415,21 @@ namespace OpenSim.Region.ScriptEngine.Shared
                return new list(new object[] { r });
            }
+            public static implicit operator OMV_Quaternion(Quaternion rot)
+            {
+                // LSL quaternions can normalize to 0, normal Quaternions can't.
+                if (rot.s == 0 && rot.x == 0 && rot.y == 0 && rot.z == 0)
+                    rot.z = 1; // ZERO_ROTATION = 0,0,0,1
+                OMV_Quaternion omvrot = new OMV_Quaternion((float)rot.x, (float)rot.y, (float)rot.z, (float)rot.s);
+                omvrot.Normalize();
+                return omvrot;
+            }
+            public static implicit operator Quaternion(OMV_Quaternion rot)
+            {
+                return new Quaternion(rot);
+            }
            public static bool operator ==(Quaternion lhs, Quaternion rhs)
            {
                // Return true if the fields match:
@@ -562,12 +624,23 @@ namespace OpenSim.Region.ScriptEngine.Shared
                else if (m_data[itemIndex] is LSL_Types.LSLString)
                    return new LSLInteger(m_data[itemIndex].ToString());
                else
-                    throw new InvalidCastException();
+                    throw new InvalidCastException(string.Format(
+                        "{0} expected but {1} given",
+                        typeof(LSL_Types.LSLInteger).Name,
+                        m_data[itemIndex] != null ?
+                        m_data[itemIndex].GetType().Name : "null"));
            }
            public LSL_Types.Vector3 GetVector3Item(int itemIndex)
            {
-              return (LSL_Types.Vector3)m_data[itemIndex];
+                if(m_data[itemIndex] is LSL_Types.Vector3)
+                    return (LSL_Types.Vector3)m_data[itemIndex];
+                else
+                    throw new InvalidCastException(string.Format(
+                        "{0} expected but {1} given",
+                        typeof(LSL_Types.Vector3).Name,
+                        m_data[itemIndex] != null ?
+                        m_data[itemIndex].GetType().Name : "null"));
            }
            public LSL_Types.Quaternion GetQuaternionItem(int itemIndex)
diff --git a/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs b/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs
index 5c4174e..cee10df 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/EventManager.cs
@@ -152,9 +152,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            det[0] = new DetectParams();
            det[0].Key = remoteClient.AgentId;
            det[0].Populate(myScriptEngine.World);
-            det[0].OffsetPos = new LSL_Types.Vector3(offsetPos.X,
+            det[0].OffsetPos = offsetPos;
-                                                     offsetPos.Y,
-                                                     offsetPos.Z);
            if (originalID == 0)
            {
@@ -298,9 +296,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            foreach (DetectedObject detobj in col.Colliders)
            {
                DetectParams d = new DetectParams();
-                d.Position = new LSL_Types.Vector3(detobj.posVector.X,
+                d.Position = detobj.posVector;
-                    detobj.posVector.Y,
-                    detobj.posVector.Z);
                d.Populate(myScriptEngine.World);
                det.Add(d);
                myScriptEngine.PostObjectEvent(localID, new EventParams(
@@ -318,9 +314,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            foreach (DetectedObject detobj in col.Colliders)
            {
                DetectParams d = new DetectParams();
-                d.Position = new LSL_Types.Vector3(detobj.posVector.X,
+                d.Position = detobj.posVector;
-                    detobj.posVector.Y,
-                    detobj.posVector.Z);
                d.Populate(myScriptEngine.World);
                det.Add(d);
                myScriptEngine.PostObjectEvent(localID, new EventParams(
@@ -337,9 +331,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            foreach (DetectedObject detobj in col.Colliders)
            {
                DetectParams d = new DetectParams();
-                d.Position = new LSL_Types.Vector3(detobj.posVector.X,
+                d.Position = detobj.posVector;
-                    detobj.posVector.Y,
-                    detobj.posVector.Z);
                d.Populate(myScriptEngine.World);
                det.Add(d);
                myScriptEngine.PostObjectEvent(localID, new EventParams(
@@ -381,8 +373,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            myScriptEngine.PostObjectEvent(localID, new EventParams(
                    "at_target", new object[] {
                    new LSL_Types.LSLInteger(handle),
-                    new LSL_Types.Vector3(targetpos.X,targetpos.Y,targetpos.Z),
+                    new LSL_Types.Vector3(targetpos),
-                    new LSL_Types.Vector3(atpos.X,atpos.Y,atpos.Z) },
+                    new LSL_Types.Vector3(atpos) },
                    new DetectParams[0]));
        }
@@ -399,8 +391,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
            myScriptEngine.PostObjectEvent(localID, new EventParams(
                    "at_rot_target", new object[] {
                    new LSL_Types.LSLInteger(handle),
-                    new LSL_Types.Quaternion(targetrot.X,targetrot.Y,targetrot.Z,targetrot.W),
+                    new LSL_Types.Quaternion(targetrot),
-                    new LSL_Types.Quaternion(atrot.X,atrot.Y,atrot.Z,atrot.W) },
+                    new LSL_Types.Quaternion(atrot) },
                    new DetectParams[0]));
        }
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
index f6cb7df..f5ad990 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
@@ -1053,10 +1053,12 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                return false;
            }
-            UUID assetID = item.AssetID;
+            m_log.DebugFormat(
+                "[XEngine] Loading script {0}.{1}, item UUID {2}, prim UUID {3} @ {4}.{5}",
+                part.ParentGroup.RootPart.Name, item.Name, itemID, part.UUID,
+                part.ParentGroup.RootPart.AbsolutePosition, part.ParentGroup.Scene.RegionInfo.RegionName);
-            //m_log.DebugFormat("[XEngine] Compiling script {0} ({1} on object {2})",
+            UUID assetID = item.AssetID;
-            //        item.Name, itemID.ToString(), part.ParentGroup.RootPart.Name);
            ScenePresence presence = m_Scene.GetScenePresence(item.OwnerID);
@@ -1235,10 +1237,10 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                                              item.Name, startParam, postOnRez,
                                              stateSource, m_MaxScriptQueue);
-                m_log.DebugFormat(
+//                m_log.DebugFormat(
-                        "[XEngine] Loaded script {0}.{1}, script UUID {2}, prim UUID {3} @ {4}.{5}",
+//                        "[XEngine] Loaded script {0}.{1}, script UUID {2}, prim UUID {3} @ {4}.{5}",
-                        part.ParentGroup.RootPart.Name, item.Name, assetID, part.UUID, 
+//                        part.ParentGroup.RootPart.Name, item.Name, assetID, part.UUID, 
-                        part.ParentGroup.RootPart.AbsolutePosition, part.ParentGroup.Scene.RegionInfo.RegionName);
+//                        part.ParentGroup.RootPart.AbsolutePosition, part.ParentGroup.Scene.RegionInfo.RegionName);
                if (presence != null)
                {
@@ -1554,9 +1556,9 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                else if (p[i] is string)
                    lsl_p[i] = new LSL_Types.LSLString((string)p[i]);
                else if (p[i] is Vector3)
-                    lsl_p[i] = new LSL_Types.Vector3(((Vector3)p[i]).X, ((Vector3)p[i]).Y, ((Vector3)p[i]).Z);
+                    lsl_p[i] = new LSL_Types.Vector3((Vector3)p[i]);
                else if (p[i] is Quaternion)
-                    lsl_p[i] = new LSL_Types.Quaternion(((Quaternion)p[i]).X, ((Quaternion)p[i]).Y, ((Quaternion)p[i]).Z, ((Quaternion)p[i]).W);
+                    lsl_p[i] = new LSL_Types.Quaternion((Quaternion)p[i]);
                else if (p[i] is float)
                    lsl_p[i] = new LSL_Types.LSLFloat((float)p[i]);
                else
@@ -1580,9 +1582,9 @@ namespace OpenSim.Region.ScriptEngine.XEngine
                else if (p[i] is string)
                    lsl_p[i] = new LSL_Types.LSLString((string)p[i]);
                else if (p[i] is Vector3)
-                    lsl_p[i] = new LSL_Types.Vector3(((Vector3)p[i]).X, ((Vector3)p[i]).Y, ((Vector3)p[i]).Z);
+                    lsl_p[i] = new LSL_Types.Vector3((Vector3)p[i]);
                else if (p[i] is Quaternion)
-                    lsl_p[i] = new LSL_Types.Quaternion(((Quaternion)p[i]).X, ((Quaternion)p[i]).Y, ((Quaternion)p[i]).Z, ((Quaternion)p[i]).W);
+                    lsl_p[i] = new LSL_Types.Quaternion((Quaternion)p[i]);
                else if (p[i] is float)
                    lsl_p[i] = new LSL_Types.LSLFloat((float)p[i]);
                else
diff --git a/bin/OpenSim.ini.example b/bin/OpenSim.ini.example
index 9c68b65..eac30b8 100644
--- a/bin/OpenSim.ini.example
+++ b/bin/OpenSim.ini.example
@@ -87,10 +87,18 @@
    ;; from the selected region_info_source.
    ; allow_regionless = false
+    ;# {NonPhysicalPrimMin} {} {Minimum size of nonphysical prims?} {} 0.01
+    ;; Minimum size for non-physical prims.  Affects resizing of existing prims.  This can be overriden in the region config file (as NonphysicalPrimMin!).
+    ; NonphysicalPrimMin = 0.01
    ;# {NonPhysicalPrimMax} {} {Maximum size of nonphysical prims?} {} 256
    ;; Maximum size for non-physical prims.  Affects resizing of existing prims.  This can be overriden in the region config file (as NonphysicalPrimMax!).
    ; NonphysicalPrimMax = 256
+    ;# {PhysicalPrimMin} {} {Minimum size of physical prims?} {} 10
+    ;; Maximum size where a prim can be physical.  Affects resizing of existing prims.  This can be overriden in the region config file.
+    ; PhysicalPrimMin = 0.01
    ;# {PhysicalPrimMax} {} {Maximum size of physical prims?} {} 10
    ;; Maximum size where a prim can be physical.  Affects resizing of existing prims.  This can be overriden in the region config file.
    ; PhysicalPrimMax = 10
@@ -675,7 +683,9 @@
    ;; Maximum number of events to queue for a script (excluding timers)
    ; MaxScriptEventQueue = 300
-    ;; Stack size per thread created
+    ;; Stack size per script engine thread in bytes.
+    ;; If you are experiencing StackOverflowExceptions you may want to increase this (e.g. double it).
+    ;; The trade-off may be increased memory usage by the script engine.
    ; ThreadStackSize = 262144
    ;# {DeleteScriptsOnStartup} {} {Delete previously compiled script DLLs on startup?} (true false) true
diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index 554aafa..1f2d189 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -931,6 +931,9 @@
    ; level of detail for physical meshes. 32,16,8 or 4 with 32 being full detail
    MeshLevelOfDetail = 8
+    ; if mesh size is > threshold meters, we need to add more detail because people will notice
+    MeshLevelOfDetailMegaPrimThreshold = 10
+    MeshLevelOfDetailMegaPrim = 16
    ; number^2 non-physical level of detail of the sculpt texture.  32x32 - 1024 verticies
    SculptLevelOfDetail = 32
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 0f2d522..cc55f00 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 783c9a2..26ad52b 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 c2a2bda..94dae95 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 74d4f98..52e9960 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so
Binary files differ